+ python -m lidar_slam --result /working/result.json --no-model /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 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 0.003133365 Adjusted end_distance from 9.223372036854776e+18 to 372.893133365 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003133365 meters Centerline goodness : 0.092552 with order 1 Centerline is valid? [0, False] SLAMing on 0.063133365 meters Centerline goodness : 0.128098 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999815e-01 -4.24991941e-05 -6.07205162e-04 4.51290305e-03] [ 4.25355548e-05 9.99999997e-01 5.98692006e-05 -3.75763766e-04] [ 6.07202616e-04 -5.98950174e-05 9.99999814e-01 -1.49555712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123133365 meters Centerline goodness : 0.138317 with order 2 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99996532e-01 -2.99777379e-04 -2.61651486e-03 2.97404497e-02] [ 3.00317128e-04 9.99999934e-01 2.05894920e-04 -3.65063332e-03] [ 2.61645297e-03 -2.06679991e-04 9.99996556e-01 -1.66500075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183133365 meters Centerline goodness : 0.177218 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 9.99992068e-01 -6.85671993e-04 -3.92345101e-03 5.05945497e-02] [ 6.87880687e-04 9.99999606e-01 5.61625033e-04 -9.94577409e-03] [ 3.92306438e-03 -5.64319444e-04 9.99992146e-01 -2.82421614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243133365 meters Centerline goodness : 0.161662 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99986729e-01 -5.85350323e-04 -5.11849342e-03 6.44514726e-02] [ 5.90261922e-04 9.99999367e-01 9.58121164e-04 -1.36403531e-02] [ 5.11792935e-03 -9.61129701e-04 9.99986441e-01 -3.54627703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303133365 meters Centerline goodness : 0.051988 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.05 [[ 0.99997618 0.00114466 -0.00680603 0.08692045] [-0.00112997 0.99999702 0.00216227 -0.0144587 ] [ 0.00680849 -0.00215453 0.9999745 -0.04925939] [ 0. 0. 0. 1. ]] SLAMing on 0.363133365 meters Centerline goodness : 0.222938 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.06 [[ 0.99997897 0.00260992 -0.00593743 0.09869487] [-0.00259181 0.99999197 0.00305631 -0.01331097] [ 0.00594536 -0.00304085 0.9999777 -0.05717336] [ 0. 0. 0. 1. ]] SLAMing on 0.423133365 meters Centerline goodness : 0.306482 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99996868 0.00295407 -0.00734203 0.11772159] [-0.00293172 0.99999104 0.00305204 -0.00993585] [ 0.00735098 -0.00303042 0.99996839 -0.06793779] [ 0. 0. 0. 1. ]] SLAMing on 0.483133365 meters Centerline goodness : 0.052964 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.07 [[ 9.99992697e-01 3.80590295e-03 -3.47957549e-04 1.55255514e-01] [-3.80476225e-03 9.99987571e-01 3.22218921e-03 -5.60531703e-03] [ 3.60216564e-04 -3.22084179e-03 9.99994748e-01 -6.88251015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5431333650000001 meters Centerline goodness : 0.284173 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.08 [[ 9.99989779e-01 4.07656892e-03 -1.95523644e-03 1.74452333e-01] [-4.07094094e-03 9.99987584e-01 2.87380825e-03 -4.85712936e-04] [ 1.96692744e-03 -2.86581922e-03 9.99993959e-01 -7.89324164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.603133365 meters Centerline goodness : 0.449231 with order 2 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.09 [[ 0.99998526 0.00442897 -0.00314152 0.18865257] [-0.00442123 0.99998719 0.0024642 0.00635571] [ 0.00315239 -0.00245027 0.99999203 -0.08627012] [ 0. 0. 0. 1. ]] SLAMing on 0.663133365 meters Centerline goodness : 0.312202 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.09 [[ 0.99998067 0.00560638 -0.00268832 0.20081841] [-0.00559949 0.99998104 0.00256197 0.01789896] [ 0.00270263 -0.00254687 0.9999931 -0.09391096] [ 0. 0. 0. 1. ]] SLAMing on 0.723133365 meters Centerline goodness : 0.453807 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.10 [[ 0.99997648 0.00583476 -0.00360599 0.21337417] [-0.00582748 0.99998097 0.0020267 0.02721182] [ 0.00361775 -0.00200564 0.99999144 -0.10066317] [ 0. 0. 0. 1. ]] SLAMing on 0.7831333650000001 meters Centerline goodness : 0.092927 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.11 [[ 9.99973276e-01 5.63897986e-03 -4.65289200e-03 2.29187243e-01] [-5.63624941e-03 9.99983936e-01 5.99732639e-04 4.22747832e-02] [ 4.65619913e-03 -5.73491752e-04 9.99988995e-01 -1.09903335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.843133365 meters Centerline goodness : 0.414160 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.11 [[ 9.99977877e-01 4.62647873e-03 -4.77916733e-03 2.33179004e-01] [-4.63021586e-03 9.99988983e-01 -7.71194985e-04 5.20953253e-02] [ 4.77554676e-03 7.93306500e-04 9.99988282e-01 -1.10017755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.903133365 meters Centerline goodness : 0.381321 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.12 [[ 0.99998542 0.0020274 -0.00500418 0.24417789] [-0.00204218 0.99999357 -0.0029492 0.06287325] [ 0.00499817 0.00295938 0.99998313 -0.11503952] [ 0. 0. 0. 1. ]] SLAMing on 0.963133365 meters Centerline goodness : 0.062943 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.12 [[ 9.99985298e-01 -2.27659348e-04 -5.41781581e-03 2.55663256e-01] [ 2.04917895e-04 9.99991169e-01 -4.19771668e-03 6.70033201e-02] [ 5.41872361e-03 4.19654476e-03 9.99976513e-01 -1.21073464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.023133365 meters Centerline goodness : 0.065534 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.12 [[ 0.99998176 -0.00218878 -0.00562969 0.26299533] [ 0.00216151 0.99998592 -0.00484548 0.06533706] [ 0.00564022 0.00483322 0.99997241 -0.12377321] [ 0. 0. 0. 1. ]] SLAMing on 1.0831333650000001 meters Centerline goodness : 0.079952 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:-0.13 [[ 0.99997584 -0.00335669 -0.00608725 0.27538452] [ 0.0033278 0.99998318 -0.00474998 0.06028887] [ 0.00610309 0.0047296 0.99997019 -0.13044794] [ 0. 0. 0. 1. ]] SLAMing on 1.143133365 meters Centerline goodness : 0.073428 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:-0.13 [[ 0.99997426 -0.0033159 -0.00636226 0.27793057] [ 0.00328645 0.99998386 -0.00463396 0.05973878] [ 0.00637752 0.00461293 0.99996902 -0.13151308] [ 0. 0. 0. 1. ]] SLAMing on 1.203133365 meters Centerline goodness : 0.073938 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.06, Z:-0.14 [[ 9.99978011e-01 2.85625726e-04 -6.62538712e-03 2.88326020e-01] [-2.90887413e-04 9.99999643e-01 -7.93220391e-04 5.68327289e-02] [ 6.62515819e-03 7.95130191e-04 9.99977737e-01 -1.37305922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.263133365 meters Centerline goodness : 0.082458 with order 2 Centerline is valid? [False, False] Translation: X:0.30, Y:0.06, Z:-0.14 [[ 9.99973823e-01 1.56991064e-03 -7.06312405e-03 2.99458742e-01] [-1.57004431e-03 9.99998767e-01 -1.33808071e-05 5.72329246e-02] [ 7.06309434e-03 2.44698746e-05 9.99975056e-01 -1.42904552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.323133365 meters Centerline goodness : 0.073933 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.06, Z:-0.14 [[ 9.99976361e-01 1.63014304e-03 -6.67981812e-03 3.02223608e-01] [-1.62789048e-03 9.99998616e-01 3.42641281e-04 5.51966602e-02] [ 6.68036743e-03 -3.31759169e-04 9.99977631e-01 -1.43070546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.383133365 meters Centerline goodness : 0.074947 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.15 [[ 9.99973806e-01 8.37545740e-04 -7.18932489e-03 3.15035657e-01] [-8.34593837e-04 9.99999566e-01 4.13585572e-04 5.11976668e-02] [ 7.18966817e-03 -4.07574573e-04 9.99974071e-01 -1.50219965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.443133365 meters Centerline goodness : 0.073814 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.17 [[ 9.99998779e-01 -5.79711599e-04 1.45144904e-03 3.22564679e-01] [ 5.79355233e-04 9.99999802e-01 2.45932526e-04 4.75366841e-02] [-1.45159132e-03 -2.45091321e-04 9.99998916e-01 -1.70217243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.503133365 meters Centerline goodness : 0.074478 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.17 [[ 9.99996377e-01 -1.99247566e-03 1.80988803e-03 3.30336408e-01] [ 1.99211744e-03 9.99997996e-01 1.99708169e-04 4.27143014e-02] [-1.81028232e-03 -1.96101936e-04 9.99998342e-01 -1.74194973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.563133365 meters Centerline goodness : 0.068394 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.18 [[ 0.99999513 -0.00187372 0.00249559 0.33462299] [ 0.00187011 0.9999972 0.00144791 0.03445506] [-0.00249829 -0.00144324 0.99999584 -0.17537936] [ 0. 0. 0. 1. ]] SLAMing on 1.623133365 meters Centerline goodness : 0.108645 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.18 [[ 0.99999332 -0.00152548 0.00332288 0.33669975] [ 0.00151801 0.99999632 0.0022472 0.03008672] [-0.0033263 -0.00224214 0.99999195 -0.17657863] [ 0. 0. 0. 1. ]] SLAMing on 1.683133365 meters Centerline goodness : 0.050022 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.18 [[ 9.99990007e-01 -5.80433977e-05 4.47010329e-03 3.43064919e-01] [ 4.02236038e-05 9.99992053e-01 3.98642569e-03 2.27737031e-02] [-4.47029915e-03 -3.98620605e-03 9.99982063e-01 -1.80485106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.743133365 meters Centerline goodness : 0.495494 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.18 [[ 9.99985461e-01 3.32696004e-04 5.38209554e-03 3.44357552e-01] [-3.57747533e-04 9.99989105e-01 4.65431220e-03 1.95400442e-02] [-5.38048843e-03 -4.65616996e-03 9.99974685e-01 -1.80762620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8031333649999999 meters Centerline goodness : 0.476319 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.19 [[ 0.99991625 0.00988303 0.00835593 0.37437914] [-0.00991505 0.99994363 0.0037995 0.01704585] [-0.00831791 -0.00388203 0.99995787 -0.18909934] [ 0. 0. 0. 1. ]] SLAMing on 1.863133365 meters Centerline goodness : 0.544715 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.20 [[ 0.99991208 0.01097103 0.00744767 0.38614327] [-0.01100379 0.9999299 0.0043724 0.01834588] [-0.00739918 -0.00445397 0.99996271 -0.19673251] [ 0. 0. 0. 1. ]] SLAMing on 1.923133365 meters Centerline goodness : 0.545507 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.20 [[ 0.99991055 0.01033877 0.00848565 0.39177252] [-0.01037457 0.99993742 0.00418631 0.01934365] [-0.00844184 -0.00427397 0.99995523 -0.20004025] [ 0. 0. 0. 1. ]] SLAMing on 1.983133365 meters Centerline goodness : 0.085855 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.20 [[ 0.99996497 0.00633989 0.00546433 0.42108539] [-0.00637346 0.99996079 0.00614731 0.0244183 ] [-0.00542514 -0.00618192 0.99996618 -0.20181534] [ 0. 0. 0. 1. ]] SLAMing on 2.043133365 meters Centerline goodness : 0.541749 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:-0.21 [[ 0.99994374 0.00844918 0.0064137 0.43101384] [-0.00850611 0.9999242 0.00890179 0.03047921] [-0.006338 -0.00895584 0.99993981 -0.20768006] [ 0. 0. 0. 1. ]] SLAMing on 2.103133365 meters Centerline goodness : 0.542100 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:-0.21 [[ 0.99994453 0.00704316 0.00783174 0.43646792] [-0.00710521 0.99994336 0.00792362 0.03933164] [-0.00777549 -0.00797883 0.99993794 -0.21074654] [ 0. 0. 0. 1. ]] SLAMing on 2.163133365 meters Centerline goodness : 0.058542 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:-0.22 [[ 0.99996137 0.00504739 0.00719535 0.44674085] [-0.00509367 0.99996636 0.00642845 0.04572632] [-0.00716266 -0.00646485 0.99995345 -0.21641313] [ 0. 0. 0. 1. ]] SLAMing on 2.223133365 meters Centerline goodness : 0.077086 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:-0.22 [[ 9.99962574e-01 2.58913738e-04 8.64774352e-03 4.48614343e-01] [-2.76135439e-04 9.99997981e-01 1.99033302e-03 5.49825809e-02] [-8.64721074e-03 -1.99264648e-03 9.99960627e-01 -2.17830578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.283133365 meters Centerline goodness : 0.090204 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.23 [[ 0.99995175 -0.0015656 0.00969752 0.46194045] [ 0.00155214 0.99999782 0.00139566 0.0617199 ] [-0.00969968 -0.00138054 0.999952 -0.22532857] [ 0. 0. 0. 1. ]] SLAMing on 2.343133365 meters Centerline goodness : 0.174125 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:-0.22 [[ 9.99994194e-01 -1.63715070e-03 2.98875110e-03 5.12871351e-01] [ 1.63549686e-03 9.99998508e-01 5.55716026e-04 6.61267760e-02] [-2.98965643e-03 -5.50824706e-04 9.99995379e-01 -2.24759337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.403133365 meters Centerline goodness : 0.150793 with order 3 Centerline is valid? [False, False] Translation: X:0.52, Y:0.07, Z:-0.23 [[ 9.99987442e-01 -2.21424058e-03 4.49591914e-03 5.23918529e-01] [ 2.21241266e-03 9.99997468e-01 4.11506518e-04 6.91777415e-02] [-4.49681893e-03 -4.01554521e-04 9.99989809e-01 -2.32263899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.463133365 meters Centerline goodness : 0.073940 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:-0.23 [[ 9.99979457e-01 -2.44012388e-03 5.92713831e-03 5.28060892e-01] [ 2.43415566e-03 9.99996523e-01 1.01393569e-03 6.73132788e-02] [-5.92959183e-03 -9.99487285e-04 9.99981920e-01 -2.34462551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.523133365 meters Centerline goodness : 0.176407 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.07, Z:-0.24 [[ 0.99996922 -0.0026178 0.00739676 0.54211894] [ 0.00260926 0.99999592 0.00116448 0.06592148] [-0.00739978 -0.00114514 0.99997197 -0.24304418] [ 0. 0. 0. 1. ]] SLAMing on 2.583133365 meters Centerline goodness : 0.116867 with order 2 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.25 [[ 9.99915941e-01 1.86211518e-04 1.29643902e-02 5.90595243e-01] [-2.18255920e-04 9.99996925e-01 2.47035365e-03 6.67287803e-02] [-1.29638903e-02 -2.47297555e-03 9.99912907e-01 -2.47926837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6431333649999997 meters Centerline goodness : 0.233290 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.25 [[ 0.99990801 0.00312871 0.01319794 0.60262189] [-0.00319155 0.99998366 0.00474248 0.06531171] [-0.01318288 -0.00478416 0.99990166 -0.25457422] [ 0. 0. 0. 1. ]] SLAMing on 2.703133365 meters Centerline goodness : 0.474557 with order 2 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99990575 0.00510152 0.01274605 0.61757923] [-0.00517821 0.99996865 0.00599089 0.06438879] [-0.01271508 -0.00605633 0.99990082 -0.26221985] [ 0. 0. 0. 1. ]] SLAMing on 2.763133365 meters SLAMing on 2.823133365 meters SLAMing on 2.883133365 meters Centerline goodness : 0.461363 with order 2 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.26 [[ 0.99965267 0.01966415 0.01754568 0.76182125] [-0.01977781 0.99978438 0.00632772 0.07195328] [-0.01741747 -0.00667254 0.99982604 -0.26464242] [ 0. 0. 0. 1. ]] SLAMing on 2.943133365 meters SLAMing on 3.003133365 meters SLAMing on 3.063133365 meters SLAMing on 3.123133365 meters SLAMing on 3.1831333649999998 meters Centerline goodness : 0.138546 with order 3 Centerline is valid? [False, False] Translation: X:0.85, Y:0.07, Z:-0.28 [[ 9.98909437e-01 -1.23297703e-03 4.66735040e-02 8.48630716e-01] [ 8.40461615e-04 9.99964126e-01 8.42850284e-03 6.70946777e-02] [-4.66822218e-02 -8.38008374e-03 9.98874639e-01 -2.77993463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.243133365 meters Centerline goodness : 0.066427 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.28 [[ 0.99919251 -0.00306944 0.04006124 0.90008553] [ 0.00275752 0.99996547 0.00783917 0.07088379] [-0.04008392 -0.00772237 0.99916647 -0.27513139] [ 0. 0. 0. 1. ]] SLAMing on 3.303133365 meters Centerline goodness : 0.064617 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:-0.27 [[ 0.99940627 -0.00242894 0.03436872 0.95067681] [ 0.00219019 0.99997322 0.00698263 0.07621283] [-0.03438476 -0.00690321 0.99938483 -0.27394858] [ 0. 0. 0. 1. ]] SLAMing on 3.363133365 meters Centerline goodness : 0.497024 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:-0.28 [[ 0.99966537 0.00384493 0.02558059 1.02301076] [-0.0040668 0.99995452 0.00862701 0.08920529] [-0.02554625 -0.00872816 0.99963554 -0.27535843] [ 0. 0. 0. 1. ]] SLAMing on 3.423133365 meters Centerline goodness : 0.068206 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:-0.29 [[ 0.99936407 0.01318776 0.03312906 1.05187195] [-0.01346598 0.99987579 0.0081892 0.10596974] [-0.03301695 -0.0086301 0.99941753 -0.28526986] [ 0. 0. 0. 1. ]] SLAMing on 3.483133365 meters Centerline goodness : 0.155296 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.12, Z:-0.28 [[ 0.9994718 0.01696019 0.02772137 1.09863982] [-0.01721957 0.99980991 0.0091446 0.11867895] [-0.02756101 -0.00961712 0.99957386 -0.28144333] [ 0. 0. 0. 1. ]] SLAMing on 3.543133365 meters Centerline goodness : 0.066660 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.14, Z:-0.29 [[ 0.999355 0.01227931 0.03374615 1.12940576] [-0.01271676 0.99983748 0.01277901 0.13553015] [-0.03358375 -0.01319991 0.99934874 -0.29157161] [ 0. 0. 0. 1. ]] SLAMing on 3.6031333649999997 meters Centerline goodness : 0.095805 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:-0.29 [[ 0.99945454 0.0048195 0.03267099 1.15469585] [-0.00522671 0.99990958 0.01238986 0.14689003] [-0.03260832 -0.01255386 0.99938936 -0.29026555] [ 0. 0. 0. 1. ]] SLAMing on 3.6631333649999998 meters Centerline goodness : 0.230070 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.30 [[ 0.99921773 -0.00240955 0.03947311 1.18164004] [ 0.0018157 0.99988474 0.01507334 0.16087563] [-0.03950489 -0.01498988 0.99910694 -0.29697056] [ 0. 0. 0. 1. ]] SLAMing on 3.723133365 meters Centerline goodness : 0.102018 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.17, Z:-0.30 [[ 0.99945762 -0.00386449 0.03270359 1.22430643] [ 0.0034078 0.99989606 0.01400892 0.17267922] [-0.03275433 -0.01388987 0.99936691 -0.29772271] [ 0. 0. 0. 1. ]] SLAMing on 3.783133365 meters Centerline goodness : 0.107605 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.18, Z:-0.30 [[ 0.99938722 -0.00474655 0.03467938 1.22577357] [ 0.00430448 0.99990867 0.01281085 0.18296197] [-0.03473702 -0.01265372 0.99931638 -0.29769104] [ 0. 0. 0. 1. ]] SLAMing on 3.843133365 meters Centerline goodness : 0.224065 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.19, Z:-0.30 [[ 0.99927527 -0.00594089 0.03759838 1.23138153] [ 0.00550706 0.99991719 0.01163156 0.19355718] [-0.03766437 -0.01141608 0.99922523 -0.29998631] [ 0. 0. 0. 1. ]] SLAMing on 3.903133365 meters Centerline goodness : 0.243304 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.20, Z:-0.31 [[ 0.99899183 -0.01290245 0.04299822 1.25883232] [ 0.01232583 0.99983088 0.01364858 0.20371979] [-0.04316705 -0.01310483 0.99898192 -0.30704485] [ 0. 0. 0. 1. ]] SLAMing on 3.963133365 meters SLAMing on 4.023133365 meters SLAMing on 4.083133365 meters SLAMing on 4.143133365 meters SLAMing on 4.203133365 meters Centerline goodness : 0.170593 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.20, Z:-0.31 [[ 0.99691499 0.00151785 0.07847414 1.31922966] [-0.00261101 0.99990096 0.01382939 0.20368299] [-0.07844538 -0.01399162 0.99682022 -0.31398021] [ 0. 0. 0. 1. ]] SLAMing on 4.263133365 meters Centerline goodness : 0.172117 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.21, Z:-0.32 [[ 0.9966425 0.00472761 0.08173974 1.31895371] [-0.00612012 0.99984024 0.01679376 0.21190034] [-0.08164729 -0.01723763 0.99651221 -0.31573975] [ 0. 0. 0. 1. ]] SLAMing on 4.323133365 meters Centerline goodness : 0.183331 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.22, Z:-0.32 [[ 0.99637725 0.00447688 0.08492541 1.3171464 ] [-0.00587219 0.99985173 0.0161872 0.21807024] [-0.08484035 -0.01662726 0.99625582 -0.31693349] [ 0. 0. 0. 1. ]] SLAMing on 4.383133365 meters Centerline goodness : 0.186743 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.22, Z:-0.32 [[ 0.9961566 0.00397393 0.08749988 1.31662526] [-0.00534402 0.99986668 0.01542956 0.22304905] [-0.08742689 -0.01583786 0.99604503 -0.31680625] [ 0. 0. 0. 1. ]] SLAMing on 4.443133365 meters Centerline goodness : 0.076241 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.22, Z:-0.32 [[ 0.99587815 0.00339007 0.09063788 1.31408995] [-0.0047968 0.99987134 0.01530697 0.2243379 ] [-0.09057432 -0.01567865 0.99576627 -0.31697751] [ 0. 0. 0. 1. ]] SLAMing on 4.503133365 meters Centerline goodness : 0.078549 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.23, Z:-0.32 [[ 0.99551236 -0.00578536 0.09445462 1.33317676] [ 0.00434235 0.99987082 0.0154756 0.22901319] [-0.09453195 -0.014996 0.99540888 -0.31953749] [ 0. 0. 0. 1. ]] SLAMing on 4.563133365 meters Centerline goodness : 0.071707 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.23, Z:-0.32 [[ 0.99461773 -0.00710061 0.10336904 1.29084334] [ 0.00551662 0.99986307 0.01560148 0.22674973] [-0.10346567 -0.01494726 0.99452071 -0.31906735] [ 0. 0. 0. 1. ]] SLAMing on 4.623133365 meters Centerline goodness : 0.070182 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.23, Z:-0.32 [[ 0.99444285 -0.00714736 0.10503489 1.29041263] [ 0.00556563 0.99986678 0.01534456 0.22884214] [-0.10513057 -0.0146747 0.99435015 -0.31949936] [ 0. 0. 0. 1. ]] SLAMing on 4.683133365 meters Centerline goodness : 0.076686 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.23, Z:-0.32 [[ 0.99429085 -0.00712999 0.10646536 1.28972823] [ 0.00550318 0.9998637 0.01556611 0.22830229] [-0.10656184 -0.01489134 0.99419456 -0.31861004] [ 0. 0. 0. 1. ]] SLAMing on 4.743133365 meters Centerline goodness : 0.199907 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.23, Z:-0.32 [[ 0.9942058 -0.00721809 0.10725075 1.28987889] [ 0.00554064 0.99985775 0.01593029 0.22614806] [-0.10735048 -0.01524375 0.99410437 -0.31904012] [ 0. 0. 0. 1. ]] SLAMing on 4.803133365 meters Centerline goodness : 0.076654 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.22, Z:-0.32 [[ 0.9940617 -0.00743273 0.10856374 1.28931519] [ 0.00568723 0.99984968 0.01637888 0.22276516] [-0.10866916 -0.01566419 0.99395455 -0.31865083] [ 0. 0. 0. 1. ]] SLAMing on 4.8631333649999995 meters Centerline goodness : 0.217422 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.22, Z:-0.32 [[ 0.99402612 -0.00739552 0.10889158 1.28974195] [ 0.00560273 0.99984383 0.01676079 0.22118282] [-0.10899853 -0.01605058 0.99391232 -0.31861288] [ 0. 0. 0. 1. ]] SLAMing on 4.923133365 meters Centerline goodness : 0.207989 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:0.21, Z:-0.32 [[ 9.94221173e-01 -1.27043348e-04 1.07351026e-01 1.27383504e+00] [-1.46473508e-03 9.99890158e-01 1.47488114e-02 2.14840036e-01] [-1.07341108e-01 -1.48208213e-02 9.94111779e-01 -3.19310303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983133365 meters Centerline goodness : 0.206668 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:0.21, Z:-0.32 [[ 9.94229597e-01 -9.80162248e-05 1.07273013e-01 1.27418259e+00] [-1.49222271e-03 9.99890190e-01 1.47438522e-02 2.14992683e-01] [-1.07262679e-01 -1.48188494e-02 9.94120274e-01 -3.19408667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043133365 meters Centerline goodness : 0.206491 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 9.94107788e-01 -1.20094366e-04 1.08395993e-01 1.27335984e+00] [-1.46740835e-03 9.99892840e-01 1.45655159e-02 2.15865371e-01] [-1.08386127e-01 -1.46387540e-02 9.94001084e-01 -3.19210027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.103133365 meters Centerline goodness : 0.199990 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 9.94090429e-01 -1.23609777e-04 1.08555071e-01 1.27367962e+00] [-1.47023293e-03 9.99892302e-01 1.46021824e-02 2.15718117e-01] [-1.08545185e-01 -1.46754910e-02 9.93983185e-01 -3.19625434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163133365 meters Centerline goodness : 0.221729 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 9.94075271e-01 -1.47262817e-04 1.08693766e-01 1.27419885e+00] [-1.44177382e-03 9.99893240e-01 1.45406572e-02 2.16145405e-01] [-1.08684303e-01 -1.46112196e-02 9.93968930e-01 -3.20152386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223133365 meters Centerline goodness : 0.293235 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 9.94063256e-01 -2.22498310e-04 1.08803465e-01 1.27420398e+00] [-1.32388993e-03 9.99899145e-01 1.41402318e-02 2.18066664e-01] [-1.08795637e-01 -1.42003287e-02 9.93962706e-01 -3.20068895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283133364999999 meters Centerline goodness : 0.279073 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 0.99404441 0.00332058 0.10892511 1.27441855] [-0.00527866 0.99982953 0.0176929 0.22085615] [-0.10884779 -0.01816251 0.99389249 -0.32057486] [ 0. 0. 0. 1. ]] SLAMing on 5.343133365 meters Centerline goodness : 0.270895 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 0.99404269 0.00323214 0.10894351 1.27446325] [-0.00515468 0.99983584 0.01737007 0.22219229] [-0.10886948 -0.01782816 0.99389617 -0.32004679] [ 0. 0. 0. 1. ]] SLAMing on 5.4031333649999995 meters Centerline goodness : 0.269349 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.32 [[ 0.99404816 0.00306078 0.10889849 1.27480795] [-0.00500895 0.9998322 0.01762073 0.22058848] [-0.10882629 -0.01806132 0.99389669 -0.3194654 ] [ 0. 0. 0. 1. ]] SLAMing on 5.463133365 meters Centerline goodness : 0.224812 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.32 [[ 0.9943126 -0.00507763 0.10637984 1.25505848] [ 0.00308571 0.99981698 0.01888085 0.21907095] [-0.10645624 -0.01844521 0.99414629 -0.31802832] [ 0. 0. 0. 1. ]] SLAMing on 5.523133365 meters Centerline goodness : 0.135514 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.32 [[ 0.99430701 -0.00494362 0.10643835 1.25505705] [ 0.00287223 0.99980367 0.01960542 0.21537996] [-0.10651437 -0.01918809 0.994126 -0.31745826] [ 0. 0. 0. 1. ]] SLAMing on 5.583133365 meters Centerline goodness : 0.230859 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.21, Z:-0.32 [[ 0.99437429 0.00380118 0.10585522 1.23451066] [-0.00583956 0.99980332 0.018953 0.20932392] [-0.10576236 -0.01946453 0.99420091 -0.31603533] [ 0. 0. 0. 1. ]] SLAMing on 5.643133365 meters Centerline goodness : 0.234139 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:-0.32 [[ 0.99448425 0.01193779 0.10420441 1.21571781] [-0.01387606 0.99974357 0.01789555 0.20124423] [-0.10396405 -0.01924279 0.99439489 -0.31550703] [ 0. 0. 0. 1. ]] SLAMing on 5.703133365 meters Centerline goodness : 0.188043 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:-0.32 [[ 0.99442477 0.00533752 0.10531329 1.23886648] [-0.00753442 0.999762 0.02047377 0.20068972] [-0.10517895 -0.0211531 0.99422831 -0.31982065] [ 0. 0. 0. 1. ]] SLAMing on 5.763133365 meters Centerline goodness : 0.206566 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:-0.32 [[ 9.94659386e-01 -3.07386427e-03 1.03166164e-01 1.21802200e+00] [ 8.44720111e-04 9.99765383e-01 2.16440566e-02 1.98479144e-01] [-1.03208491e-01 -2.14413175e-02 9.94428619e-01 -3.17467147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8231333649999995 meters Centerline goodness : 0.097778 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:-0.32 [[ 9.94670439e-01 -3.04724819e-03 1.03060334e-01 1.21845083e+00] [ 7.58986980e-04 9.99752483e-01 2.22350533e-02 1.95119291e-01] [-1.03102581e-01 -2.20383288e-02 9.94426553e-01 -3.17568855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.883133365 meters Centerline goodness : 0.195615 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.32 [[ 0.9949626 0.00489517 0.10012727 1.20082183] [-0.00701935 0.99975748 0.02087349 0.1913066 ] [-0.10000081 -0.02147117 0.99475566 -0.31753173] [ 0. 0. 0. 1. ]] SLAMing on 5.943133365 meters SLAMing on 6.003133365 meters Centerline goodness : 0.106271 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99500145 -0.00439061 0.09976395 1.17681479] [ 0.00230199 0.99977596 0.0210411 0.19012721] [-0.09983399 -0.02070627 0.99478863 -0.3127098 ] [ 0. 0. 0. 1. ]] SLAMing on 6.063133365 meters Centerline goodness : 0.181962 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.9949544 -0.00789978 0.10001669 1.17667348] [ 0.00618498 0.99982872 0.01744359 0.18807098] [-0.10013736 -0.01673698 0.99483284 -0.31315397] [ 0. 0. 0. 1. ]] SLAMing on 6.123133365 meters Centerline goodness : 0.184087 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99496142 -0.00779919 0.09995474 1.17683456] [ 0.0060613 0.99982535 0.01767868 0.18714154] [-0.10007516 -0.01698375 0.99483492 -0.31314978] [ 0. 0. 0. 1. ]] SLAMing on 6.183133365 meters Centerline goodness : 0.103399 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:-0.31 [[ 0.99497031 0.00155944 0.10015815 1.15402341] [-0.0033498 0.99983756 0.0177096 0.18209901] [-0.10011426 -0.01795604 0.99481391 -0.30984895] [ 0. 0. 0. 1. ]] SLAMing on 6.243133365 meters Centerline goodness : 0.171103 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.18, Z:-0.31 [[ 0.99502825 0.00231106 0.09956626 1.15580305] [-0.00409145 0.99983531 0.01768092 0.18489933] [-0.099509 -0.01800039 0.99487383 -0.31135404] [ 0. 0. 0. 1. ]] SLAMing on 6.303133365 meters Centerline goodness : 0.168268 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.18, Z:-0.31 [[ 0.99503053 0.00225136 0.09954487 1.15587503] [-0.00402201 0.99983719 0.01759033 0.18496293] [-0.09948906 -0.01790329 0.99487758 -0.31143861] [ 0. 0. 0. 1. ]] SLAMing on 6.3631333649999995 meters Centerline goodness : 0.169484 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.18, Z:-0.31 [[ 9.95039573e-01 -1.19671274e-03 9.94726879e-02 1.15574953e+00] [-2.11682313e-04 9.99899906e-01 1.41468504e-02 1.82670043e-01] [-9.94796610e-02 -1.40977326e-02 9.94939722e-01 -3.10875208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423133365 meters Centerline goodness : 0.167478 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.18, Z:-0.31 [[ 0.995262 -0.00972741 0.09674156 1.13634896] [ 0.00827694 0.99984741 0.01538321 0.18203689] [-0.09687644 -0.0145096 0.99519065 -0.30990524] [ 0. 0. 0. 1. ]] SLAMing on 6.483133365 meters Centerline goodness : 0.090697 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.18, Z:-0.31 [[ 0.99541568 -0.00405963 0.09555699 1.11523205] [ 0.00289621 0.99992003 0.01231073 0.17597303] [-0.09559932 -0.01197755 0.99534783 -0.30709201] [ 0. 0. 0. 1. ]] SLAMing on 6.543133365 meters Centerline goodness : 0.169466 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.31 [[ 0.9954529 -0.00418464 0.09516313 1.11625722] [ 0.00299565 0.99991571 0.01263356 0.17369792] [-0.09520798 -0.01229104 0.99538152 -0.3072646 ] [ 0. 0. 0. 1. ]] SLAMing on 6.603133365 meters Centerline goodness : 0.161791 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.31 [[ 0.99558363 -0.00609046 0.09368111 1.12170974] [ 0.00506075 0.99992419 0.01122525 0.16848195] [-0.09374237 -0.01070158 0.99553897 -0.31026799] [ 0. 0. 0. 1. ]] SLAMing on 6.663133365 meters Centerline goodness : 0.227021 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.16, Z:-0.30 [[ 0.9956942 -0.00793007 0.09235892 1.07487948] [ 0.00700296 0.99992183 0.0103579 0.15993193] [-0.09243384 -0.00966652 0.99567191 -0.30320943] [ 0. 0. 0. 1. ]] SLAMing on 6.723133365 meters Centerline goodness : 0.100242 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.30 [[ 0.99555842 -0.00302594 0.09409716 1.05444316] [ 0.00230753 0.99996736 0.00774259 0.14802545] [-0.09411751 -0.00749107 0.99553291 -0.30145963] [ 0. 0. 0. 1. ]] SLAMing on 6.783133364999999 meters Centerline goodness : 0.163466 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.14, Z:-0.30 [[ 0.99566931 -0.00480281 0.09284162 1.05889702] [ 0.00421212 0.99996963 0.0065572 0.14080069] [-0.0928703 -0.00613775 0.9956593 -0.30377453] [ 0. 0. 0. 1. ]] SLAMing on 6.843133365 meters Centerline goodness : 0.109233 with order 2 Centerline is valid? [False, False] Translation: X:1.06, Y:0.14, Z:-0.30 [[ 0.99568275 -0.00467364 0.09270393 1.05917353] [ 0.00402846 0.99996636 0.00714549 0.13786039] [-0.0927342 -0.00674118 0.99566808 -0.30359107] [ 0. 0. 0. 1. ]] SLAMing on 6.9031333649999995 meters Centerline goodness : 0.164540 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.13, Z:-0.30 [[ 0.99557547 -0.00669769 0.09372631 1.05546081] [ 0.00617488 0.99996372 0.00586704 0.13047156] [-0.0937622 -0.00526233 0.99558071 -0.30119395] [ 0. 0. 0. 1. ]] SLAMing on 6.963133365 meters Centerline goodness : 0.231458 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:-0.30 [[ 0.99548873 -0.00898928 0.09445309 1.05235069] [ 0.00856653 0.9999514 0.00488024 0.1188933 ] [-0.09449237 -0.00404909 0.99551735 -0.2983358 ] [ 0. 0. 0. 1. ]] SLAMing on 7.023133365 meters Centerline goodness : 0.148315 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:-0.30 [[ 0.9954934 -0.00851856 0.09444746 1.05238237] [ 0.00794421 0.99994761 0.00645555 0.11022977] [-0.0944975 -0.00567615 0.99550892 -0.29802347] [ 0. 0. 0. 1. ]] SLAMing on 7.083133365 meters Centerline goodness : 0.108304 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:-0.30 [[ 0.99577243 -0.00242629 0.09182252 1.03140446] [ 0.00199961 0.99998677 0.00473857 0.09376561] [-0.0918328 -0.00453493 0.99576411 -0.2954024 ] [ 0. 0. 0. 1. ]] SLAMing on 7.143133365 meters Centerline goodness : 0.154297 with order 2 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:-0.30 [[ 0.99578838 -0.00201119 0.0916595 1.03189669] [ 0.00147476 0.99998139 0.00591985 0.08826995] [-0.0916697 -0.00575974 0.99577281 -0.29548135] [ 0. 0. 0. 1. ]] SLAMing on 7.203133364999999 meters Centerline goodness : 0.138890 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.29 [[ 9.95675659e-01 -1.29159706e-03 9.28887212e-02 1.02853147e+00] [ 6.46339431e-04 9.99975456e-01 6.97631434e-03 8.38224719e-02] [-9.28954520e-02 -6.88610873e-03 9.95652056e-01 -2.94215333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263133365 meters Centerline goodness : 0.125735 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.29 [[ 9.95670021e-01 -8.50936949e-04 9.29542120e-02 1.02866223e+00] [ 1.58507874e-04 9.99972189e-01 7.45627046e-03 8.23746133e-02] [-9.29579716e-02 -7.40925099e-03 9.95642465e-01 -2.94870903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3231333649999995 meters Centerline goodness : 0.126651 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.29 [[ 0.995756 0.0073775 0.09173635 1.00939782] [-0.00800951 0.99994665 0.00652316 0.07425144] [-0.09168333 -0.00723024 0.99576197 -0.29494835] [ 0. 0. 0. 1. ]] SLAMing on 7.383133365 meters Centerline goodness : 0.124183 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.30 [[ 0.99579617 0.00763598 0.09127806 1.01094539] [-0.00827267 0.99994401 0.00659896 0.07424868] [-0.09122256 -0.00732633 0.99580358 -0.29620473] [ 0. 0. 0. 1. ]] SLAMing on 7.443133365 meters Centerline goodness : 0.147247 with order 2 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.30 [[ 0.99581118 0.00780146 0.09110013 1.01130025] [-0.00845284 0.99994138 0.00676649 0.07411237] [-0.091042 -0.0075082 0.99581875 -0.29619214] [ 0. 0. 0. 1. ]] SLAMing on 7.503133365 meters Centerline goodness : 0.136454 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.30 [[ 0.99585228 0.00793308 0.09063834 1.01255575] [-0.00863295 0.99993585 0.00733216 0.07092586] [-0.09057436 -0.00808423 0.99585688 -0.2965296 ] [ 0. 0. 0. 1. ]] SLAMing on 7.563133365 meters Centerline goodness : 0.138048 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:-0.30 [[ 9.96044863e-01 -3.98326703e-04 8.88508371e-02 9.94036545e-01] [-4.30041120e-04 9.99956626e-01 9.30379163e-03 7.10185536e-02] [-8.88506893e-02 -9.30520338e-03 9.96001490e-01 -2.96572686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623133365 meters Centerline goodness : 0.140027 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.29 [[ 0.99609117 0.005832 0.08813836 0.97198451] [-0.00643595 0.99995771 0.00656968 0.06492445] [-0.08809632 -0.00711126 0.99608658 -0.29384061] [ 0. 0. 0. 1. ]] SLAMing on 7.683133365 meters Centerline goodness : 0.134827 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.29 [[ 0.99606848 0.00598777 0.08838403 0.97102675] [-0.00662852 0.99995382 0.00695787 0.06357231] [-0.08833829 -0.00751637 0.99606217 -0.29304157] [ 0. 0. 0. 1. ]] SLAMing on 7.743133364999999 meters Centerline goodness : 0.121054 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.29 [[ 0.9960726 0.00596332 0.08833915 0.97127814] [-0.00661026 0.99995342 0.00703261 0.06267466] [-0.0882931 -0.00758893 0.99606563 -0.29329386] [ 0. 0. 0. 1. ]] SLAMing on 7.803133365 meters Centerline goodness : 0.140055 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.29 [[ 0.99611388 -0.00351971 0.0880043 0.94893674] [ 0.0028225 0.99996365 0.00804558 0.05977221] [-0.08802942 -0.00776592 0.9960876 -0.29097104] [ 0. 0. 0. 1. ]] SLAMing on 7.8631333649999995 meters Centerline goodness : 0.142149 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.29 [[ 0.99607918 -0.00686889 0.08819912 0.94841413] [ 0.00645398 0.99996673 0.00498858 0.05589085] [-0.08823045 -0.00439979 0.99609037 -0.29054687] [ 0. 0. 0. 1. ]] SLAMing on 7.923133365 meters Centerline goodness : 0.140716 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:-0.29 [[ 0.99611434 -0.00678807 0.0878074 0.94952612] [ 0.00628983 0.99996252 0.00594971 0.05010279] [-0.0878445 -0.0053743 0.9961197 -0.29068371] [ 0. 0. 0. 1. ]] SLAMing on 7.983133365 meters Centerline goodness : 0.429550 with order 2 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:-0.29 [[ 0.99615482 -0.00670251 0.08735361 0.95093651] [ 0.00620301 0.99996283 0.00598831 0.04987548] [-0.0873905 -0.00542343 0.99615937 -0.29148176] [ 0. 0. 0. 1. ]] SLAMing on 8.043133365 meters Centerline goodness : 0.144566 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.29 [[ 0.99646324 -0.00623335 0.08379827 0.90656907] [ 0.00565293 0.99995838 0.00716183 0.04535061] [-0.08383942 -0.0066628 0.996457 -0.285871 ] [ 0. 0. 0. 1. ]] SLAMing on 8.103133365 meters Centerline goodness : 0.148747 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.29 [[ 0.99643685 -0.00631366 0.08410548 0.90540426] [ 0.00579246 0.99996249 0.00643957 0.0492633 ] [-0.08414298 -0.00592945 0.99643605 -0.28523739] [ 0. 0. 0. 1. ]] SLAMing on 8.163133365 meters Centerline goodness : 0.144141 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.28 [[ 0.99639383 -0.00644058 0.08460415 0.90379166] [ 0.00597696 0.99996571 0.00573207 0.05329547] [-0.08463817 -0.00520573 0.99639815 -0.28459124] [ 0. 0. 0. 1. ]] SLAMing on 8.223133364999999 meters Centerline goodness : 0.152385 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.28 [[ 0.99642468 -0.00689208 0.08420429 0.90451538] [ 0.00648716 0.99996605 0.00508147 0.05569948] [-0.08423645 -0.00451705 0.99643556 -0.28437719] [ 0. 0. 0. 1. ]] SLAMing on 8.283133365 meters Centerline goodness : 0.129525 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.28 [[ 0.99643321 -0.00773877 0.08402958 0.90450725] [ 0.00733186 0.99995986 0.00514998 0.05245283] [-0.08406606 -0.00451552 0.99644995 -0.28333395] [ 0. 0. 0. 1. ]] SLAMing on 8.343133365 meters Centerline goodness : 0.126156 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.28 [[ 0.99637018 -0.01038332 0.08449054 0.90193657] [ 0.01016162 0.99994371 0.00305362 0.0474079 ] [-0.08451749 -0.00218398 0.9964196 -0.28078002] [ 0. 0. 0. 1. ]] SLAMing on 8.403133365 meters Centerline goodness : 0.146723 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.28 [[ 0.99633383 -0.01047049 0.08490746 0.90108888] [ 0.01017543 0.9999406 0.00390709 0.04103403] [-0.08494333 -0.00302879 0.99638118 -0.28054007] [ 0. 0. 0. 1. ]] SLAMing on 8.463133365 meters Centerline goodness : 0.127292 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.28 [[ 0.99633757 -0.01032256 0.08488167 0.90108362] [ 0.00998189 0.99994034 0.00443694 0.03827369] [-0.0849224 -0.00357341 0.99638116 -0.2802882 ] [ 0. 0. 0. 1. ]] SLAMing on 8.523133365 meters Centerline goodness : 0.146496 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.28 [[ 0.99637514 -0.00999181 0.0844793 0.90193849] [ 0.0095604 0.99993912 0.00550977 0.0327016 ] [-0.08452921 -0.00468215 0.99641 -0.27998639] [ 0. 0. 0. 1. ]] SLAMing on 8.583133365 meters Centerline goodness : 0.142679 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.28 [[ 0.99636859 -0.00482122 0.08500815 0.88012735] [ 0.00459625 0.9999854 0.00284191 0.02091314] [-0.08502061 -0.00244087 0.9963762 -0.27771554] [ 0. 0. 0. 1. ]] SLAMing on 8.643133365 meters Centerline goodness : 0.145903 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.28 [[ 0.99636421 -0.00462215 0.08507055 0.87990914] [ 0.00432635 0.99998394 0.00366114 0.01647505] [-0.08508611 -0.00327978 0.9963682 -0.27743187] [ 0. 0. 0. 1. ]] SLAMing on 8.703133365 meters Centerline goodness : 0.145495 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.28 [[ 0.99637402 -0.0042601 0.08497452 0.88032163] [ 0.00387209 0.99998131 0.00473048 0.01137805] [-0.08499309 -0.0043843 0.99637189 -0.27764693] [ 0. 0. 0. 1. ]] SLAMing on 8.763133365 meters Centerline goodness : 0.142678 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:-0.27 [[ 0.99662966 -0.00489532 0.08188623 0.83666495] [ 0.00447872 0.99997608 0.00527035 0.00640687] [-0.08191007 -0.00488584 0.99662775 -0.27285526] [ 0. 0. 0. 1. ]] SLAMing on 8.823133365 meters Centerline goodness : 0.136445 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.27 [[ 0.99668324 -0.00463421 0.08124684 0.83857214] [ 0.00418448 0.99997497 0.00570477 0.00457541] [-0.08127124 -0.00534587 0.99667768 -0.27379314] [ 0. 0. 0. 1. ]] SLAMing on 8.883133364999999 meters Centerline goodness : 0.139189 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.27 [[ 0.99667158 -0.00450479 0.08139698 0.83788994] [ 0.00402844 0.99997379 0.0060155 0.00338174] [-0.08142194 -0.00566758 0.99666361 -0.27316044] [ 0. 0. 0. 1. ]] SLAMing on 8.943133365 meters Centerline goodness : 0.146060 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.27 [[ 0.99664671 -0.00443811 0.08170459 0.83697903] [ 0.00392505 0.99997157 0.00643895 0.00121206] [-0.08173085 -0.00609666 0.99663579 -0.27259183] [ 0. 0. 0. 1. ]] SLAMing on 9.003133365 meters Centerline goodness : 0.143424 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:-0.27 [[ 0.99663399 -0.00454004 0.08185405 0.83613919] [ 0.00398548 0.999968 0.00693708 -0.00275683] [-0.08188292 -0.0065875 0.99662018 -0.2714657 ] [ 0. 0. 0. 1. ]] SLAMing on 9.063133365 meters Centerline goodness : 0.144592 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.27 [[ 0.99672655 0.00335368 0.08077703 0.81707772] [-0.00387626 0.99997256 0.00631344 -0.0105873 ] [-0.08075364 -0.00660589 0.9967122 -0.27077902] [ 0. 0. 0. 1. ]] SLAMing on 9.123133365 meters SLAMing on 9.183133365 meters Centerline goodness : 0.136171 with order 3 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.27 [[ 0.99667379 0.00404281 0.08139417 0.81554236] [-0.00462522 0.99996503 0.00696813 -0.01271965] [-0.08136315 -0.00732142 0.99665763 -0.27041773] [ 0. 0. 0. 1. ]] SLAMing on 9.243133365 meters Centerline goodness : 0.142702 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.27 [[ 0.99661668 0.00432444 0.08207613 0.8137941 ] [-0.00492622 0.99996244 0.00713089 -0.0124671 ] [-0.08204221 -0.00751109 0.99660055 -0.27007536] [ 0. 0. 0. 1. ]] SLAMing on 9.303133364999999 meters Centerline goodness : 0.137375 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.27 [[ 0.99661405 0.00441025 0.08210348 0.81374711] [-0.00503136 0.99996026 0.00735956 -0.01374679] [-0.08206776 -0.00774774 0.99659664 -0.27010262] [ 0. 0. 0. 1. ]] SLAMing on 9.363133365 meters Centerline goodness : 0.142932 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.27 [[ 0.99663351 0.00440986 0.08186695 0.81465407] [-0.00505303 0.99995797 0.00765074 -0.01594005] [-0.08182977 -0.00803866 0.9966139 -0.27076861] [ 0. 0. 0. 1. ]] SLAMing on 9.423133365 meters Centerline goodness : 0.153333 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.27 [[ 0.99663923 0.00453604 0.08179039 0.81483108] [-0.00521305 0.99995388 0.00806574 -0.01769913] [-0.08175003 -0.00846501 0.99661692 -0.27073667] [ 0. 0. 0. 1. ]] SLAMing on 9.483133365 meters Centerline goodness : 0.139225 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.27 [[ 0.99673548 -0.00552443 0.08054733 0.79230507] [ 0.00488048 0.99995456 0.0081893 -0.0208413 ] [-0.08058891 -0.00776946 0.99671714 -0.26787491] [ 0. 0. 0. 1. ]] SLAMing on 9.543133365 meters Centerline goodness : 0.136424 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.27 [[ 0.99677059 -0.00543678 0.08011761 0.79352892] [ 0.00475747 0.99995112 0.00866736 -0.02358854] [-0.08016082 -0.00825821 0.99674773 -0.26830926] [ 0. 0. 0. 1. ]] SLAMing on 9.603133365 meters Centerline goodness : 0.126942 with order 3 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.27 [[ 0.99679001 -0.00524744 0.07988834 0.79431421] [ 0.0045163 0.99994628 0.00932992 -0.02688652] [-0.079933 -0.00893917 0.99676015 -0.26865316] [ 0. 0. 0. 1. ]] SLAMing on 9.663133365 meters Centerline goodness : 0.151454 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.27 [[ 0.99679465 -0.00512044 0.07983867 0.79424102] [ 0.00434314 0.9999415 0.0099064 -0.03004731] [-0.07988473 -0.0095279 0.99675857 -0.26816653] [ 0. 0. 0. 1. ]] SLAMing on 9.723133364999999 meters Centerline goodness : 0.133335 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.27 [[ 0.99680531 -0.00495216 0.07971608 0.79425533] [ 0.004125 0.99993597 0.01053768 -0.03343359] [-0.07976316 -0.01017518 0.99676191 -0.26747493] [ 0. 0. 0. 1. ]] SLAMing on 9.783133365 meters Centerline goodness : 0.122290 with order 3 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.27 [[ 0.99679324 -0.00476002 0.07987849 0.79352863] [ 0.00391615 0.9999349 0.01071772 -0.03356514] [-0.07992431 -0.01037053 0.99674699 -0.26680197] [ 0. 0. 0. 1. ]] SLAMing on 9.843133365 meters Centerline goodness : 0.131077 with order 3 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.27 [[ 0.99667552 0.00336478 0.08140381 0.77106769] [-0.00422752 0.99993669 0.01042826 -0.03798769] [-0.08136357 -0.01073772 0.99662665 -0.26526708] [ 0. 0. 0. 1. ]] SLAMing on 9.903133365 meters Centerline goodness : 0.190338 with order 3 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.27 [[ 0.99667489 0.00329047 0.08141457 0.7710861 ] [-0.00414943 0.99993748 0.01038349 -0.03800071] [-0.08137531 -0.01068679 0.99662623 -0.26538145] [ 0. 0. 0. 1. ]] SLAMing on 9.963133365 meters Centerline goodness : 0.137314 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.26 [[ 0.99669942 -0.00580992 0.08097225 0.75079169] [ 0.00488709 0.99992089 0.01159041 -0.03569458] [-0.08103318 -0.01115644 0.99664896 -0.26470878] [ 0. 0. 0. 1. ]] SLAMing on 10.023133365 meters Centerline goodness : 0.141950 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.26 [[ 0.99665823 -0.00614515 0.08145314 0.74926622] [ 0.00520828 0.99991788 0.01170953 -0.03751022] [-0.08151841 -0.01124617 0.99660838 -0.26362143] [ 0. 0. 0. 1. ]] SLAMing on 10.083133365 meters Centerline goodness : 0.124829 with order 3 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.26 [[ 0.99668061 -0.00619444 0.08117504 0.75002462] [ 0.00524241 0.99991502 0.01193593 -0.03895386] [-0.08124208 -0.01147076 0.99662839 -0.26383832] [ 0. 0. 0. 1. ]] SLAMing on 10.143133364999999 meters Centerline goodness : 0.131993 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.26 [[ 0.99695259 0.00106013 0.07800266 0.7328851 ] [-0.00187658 0.99994422 0.01039433 -0.04365098] [-0.07798729 -0.01050904 0.99689896 -0.26423879] [ 0. 0. 0. 1. ]] SLAMing on 10.203133365 meters Centerline goodness : 0.385116 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.27 [[ 9.96977161e-01 9.55054457e-04 7.76893089e-02 7.34048083e-01] [-1.75452274e-03 9.99946205e-01 1.02229771e-02 -4.33281893e-02] [-7.76753660e-02 -1.03283823e-02 9.96925204e-01 -2.65126392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263133365 meters Centerline goodness : 0.152517 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.27 [[ 9.97008492e-01 8.56162404e-04 7.72873473e-02 7.35282957e-01] [-1.64276231e-03 9.99947497e-01 1.01145990e-02 -4.34042481e-02] [-7.72746297e-02 -1.02113058e-02 9.96957552e-01 -2.65739971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323133365 meters Centerline goodness : 0.144945 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.26 [[ 9.97175758e-01 -5.42381343e-04 7.51013531e-02 6.88849217e-01] [-2.15230926e-04 9.99949178e-01 1.00794035e-02 -4.60720425e-02] [-7.51030032e-02 -1.00671009e-02 9.97124963e-01 -2.59542516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383133364999999 meters Centerline goodness : 0.143441 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.26 [[ 9.97155260e-01 -4.69095506e-04 7.53735159e-02 6.87921791e-01] [-2.93998671e-04 9.99948822e-01 1.01127540e-02 -4.56711039e-02] [-7.53744022e-02 -1.01061455e-02 9.97104090e-01 -2.58987067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443133365 meters Centerline goodness : 0.142240 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.26 [[ 9.97123725e-01 -3.29276163e-04 7.57902920e-02 6.86985384e-01] [-4.59969612e-04 9.99945856e-01 1.03958558e-02 -4.63609728e-02] [-7.57896115e-02 -1.04008157e-02 9.97069585e-01 -2.59003759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503133365 meters Centerline goodness : 0.125992 with order 3 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.26 [[ 9.97123978e-01 -3.25460683e-04 7.57869767e-02 6.86896954e-01] [-4.70857153e-04 9.99944876e-01 1.04892125e-02 -4.70674495e-02] [-7.57862129e-02 -1.04947301e-02 9.97068859e-01 -2.58817074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563133364999999 meters Centerline goodness : 0.128684 with order 3 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.26 [[ 9.97078478e-01 -2.47194342e-04 7.63835623e-02 6.84652022e-01] [-5.64241756e-04 9.99943644e-01 1.06014134e-02 -4.73110762e-02] [-7.63818783e-02 -1.06135399e-02 9.97022147e-01 -2.57091190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623133365 meters Centerline goodness : 0.136000 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.26 [[ 9.97044347e-01 -2.30314317e-04 7.68278341e-02 6.83793906e-01] [-5.69066747e-04 9.99945936e-01 1.03827819e-02 -4.58544574e-02] [-7.68260718e-02 -1.03958142e-02 9.96990312e-01 -2.57484749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683133365 meters Centerline goodness : 0.133113 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.26 [[ 0.99699024 0.00758958 0.07715477 0.66263694] [-0.00832817 0.99992248 0.00925566 -0.04939482] [-0.07707854 -0.00987036 0.99697617 -0.25702024] [ 0. 0. 0. 1. ]] SLAMing on 10.743133365 meters Centerline goodness : 0.203055 with order 3 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.26 [[ 0.99698507 0.0074992 0.07723043 0.66247993] [-0.00821299 0.99992641 0.00892889 -0.04799445] [-0.07715779 -0.00953626 0.99697329 -0.25718155] [ 0. 0. 0. 1. ]] SLAMing on 10.803133364999999 meters Centerline goodness : 0.125339 with order 2 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.26 [[ 9.97133474e-01 -1.23666308e-03 7.56525261e-02 6.44482865e-01] [ 4.58089038e-04 9.99946767e-01 1.03079352e-02 -4.42267301e-02] [-7.56612463e-02 -1.02437317e-02 9.97080960e-01 -2.58071779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863133365 meters Centerline goodness : 0.158576 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.26 [[ 9.97158721e-01 -1.35881986e-03 7.53169238e-02 6.45936464e-01] [ 5.98552366e-04 9.99948654e-01 1.01158989e-02 -4.36702120e-02] [-7.53268022e-02 -1.00420756e-02 9.97108334e-01 -2.59540846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923133365 meters Centerline goodness : 0.151234 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.26 [[ 9.97170137e-01 -1.40502683e-03 7.51647837e-02 6.46321975e-01] [ 6.51212669e-04 9.99949261e-01 1.00523899e-02 -4.34123136e-02] [-7.51750938e-02 -9.97499473e-03 9.97120456e-01 -2.59715364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983133365 meters Centerline goodness : 0.139010 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.26 [[ 0.99731727 -0.00994341 0.07252167 0.62754324] [ 0.00913427 0.99989238 0.01148047 -0.04100035] [-0.07262802 -0.01078724 0.99730076 -0.25994612] [ 0. 0. 0. 1. ]] SLAMing on 11.043133365 meters Centerline goodness : 0.134099 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.26 [[ 0.99731738 -0.00267537 0.07314974 0.60799285] [ 0.00191902 0.99994399 0.01040811 -0.04655884] [-0.07317349 -0.01023981 0.99726666 -0.25972019] [ 0. 0. 0. 1. ]] SLAMing on 11.103133365 meters Centerline goodness : 0.134216 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.26 [[ 0.99731093 -0.00265817 0.07323827 0.60770853] [ 0.00189681 0.99994346 0.01046326 -0.04661575] [-0.07326194 -0.0102962 0.99725958 -0.25957669] [ 0. 0. 0. 1. ]] SLAMing on 11.163133365 meters Centerline goodness : 0.139120 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.26 [[ 0.99727445 -0.00263536 0.07373416 0.60631717] [ 0.00185934 0.99994218 0.01059117 -0.0472562 ] [-0.0737578 -0.01042521 0.99722169 -0.25912035] [ 0. 0. 0. 1. ]] SLAMing on 11.223133364999999 meters Centerline goodness : 0.134488 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.26 [[ 0.99728488 -0.00268242 0.07359123 0.60664861] [ 0.00191664 0.9999433 0.01047445 -0.04682473] [-0.07361515 -0.01030496 0.99723348 -0.25914244] [ 0. 0. 0. 1. ]] SLAMing on 11.283133365 meters Centerline goodness : 0.133544 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.26 [[ 0.99722735 -0.00251087 0.07437283 0.60409804] [ 0.00172151 0.99994153 0.01067578 -0.04702095] [-0.07439528 -0.01051814 0.99717336 -0.2576842 ] [ 0. 0. 0. 1. ]] SLAMing on 11.343133365 meters Centerline goodness : 0.154641 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.26 [[ 0.99718105 -0.00262794 0.07498698 0.60206252] [ 0.0018027 0.99993709 0.01107076 -0.05019718] [-0.07501136 -0.01090437 0.99712306 -0.25635441] [ 0. 0. 0. 1. ]] SLAMing on 11.403133365 meters Centerline goodness : 0.146644 with order 3 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:-0.25 [[ 0.99740178 -0.00481928 0.07187813 0.56076398] [ 0.00401921 0.9999284 0.01127138 -0.06130009] [-0.07192731 -0.0109532 0.99734973 -0.253443 ] [ 0. 0. 0. 1. ]] SLAMing on 11.463133365 meters Centerline goodness : 0.135931 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.25 [[ 0.99744505 -0.00478265 0.07127765 0.56251849] [ 0.00394519 0.99992158 0.01188538 -0.06535287] [-0.0713289 -0.01157381 0.9973857 -0.25402537] [ 0. 0. 0. 1. ]] SLAMing on 11.523133365 meters Centerline goodness : 0.138414 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.25 [[ 0.99743004 -0.00432194 0.07151665 0.56201499] [ 0.00342769 0.99991446 0.01262201 -0.06803943] [-0.07156508 -0.01234444 0.99735954 -0.25402188] [ 0. 0. 0. 1. ]] SLAMing on 11.583133365 meters Centerline goodness : 0.142007 with order 3 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.25 [[ 0.99757171 0.00363691 0.06955181 0.54357885] [-0.00442967 0.99992694 0.01124727 -0.07118418] [-0.06950582 -0.01152805 0.99751493 -0.25493939] [ 0. 0. 0. 1. ]] SLAMing on 11.643133364999999 meters Centerline goodness : 0.093501 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.26 [[ 0.99755156 0.00754508 0.0695266 0.54395798] [-0.00855299 0.99986244 0.01421049 -0.06402734] [-0.06940981 -0.01477036 0.99747888 -0.25598156] [ 0. 0. 0. 1. ]] SLAMing on 11.703133365 meters Centerline goodness : 0.139576 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.26 [[ 0.99754701 0.01039132 0.06922417 0.54505257] [-0.01149447 0.99981292 0.01555661 -0.05184134] [-0.06904957 -0.01631415 0.99747983 -0.25716855] [ 0. 0. 0. 1. ]] SLAMing on 11.763133365 meters Centerline goodness : 0.134232 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.04, Z:-0.26 [[ 0.99754226 0.0134063 0.06877292 0.54647627] [-0.01466076 0.99973464 0.01776836 -0.04459115] [-0.06851647 -0.01873295 0.9974741 -0.25806477] [ 0. 0. 0. 1. ]] SLAMing on 11.823133365 meters Centerline goodness : 0.136277 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:-0.26 [[ 0.99757324 0.00482147 0.06945772 0.52517048] [-0.00605304 0.99982799 0.0175316 -0.02949989] [-0.06936125 -0.01790948 0.99743083 -0.25751092] [ 0. 0. 0. 1. ]] SLAMing on 11.883133364999999 meters Centerline goodness : 0.149730 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.26 [[ 0.99756038 0.00438885 0.06967078 0.52415441] [-0.0055794 0.99984157 0.01690293 -0.02679038] [-0.06958555 -0.01725041 0.99742683 -0.25661646] [ 0. 0. 0. 1. ]] SLAMing on 11.943133365 meters Centerline goodness : 0.141500 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.25 [[ 0.99755391 -0.00702303 0.06954759 0.50066221] [ 0.00594615 0.99985939 0.01567911 -0.02393664] [-0.06964793 -0.01522722 0.99745541 -0.25407766] [ 0. 0. 0. 1. ]] SLAMing on 12.003133365 meters Centerline goodness : 0.138075 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.25 [[ 0.99758383 -0.0073552 0.06908254 0.50197501] [ 0.00628827 0.99985777 0.01564905 -0.02459599] [-0.06918782 -0.01517683 0.9974882 -0.25448254] [ 0. 0. 0. 1. ]] SLAMing on 12.063133364999999 meters Centerline goodness : 0.145357 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.25 [[ 0.99764384 -0.0019156 0.06857911 0.47955977] [ 0.0010284 0.99991536 0.01296997 -0.02982898] [-0.06859815 -0.01286889 0.99756137 -0.2521799 ] [ 0. 0. 0. 1. ]] SLAMing on 12.123133365 meters Centerline goodness : 0.148463 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.25 [[ 9.97644492e-01 -1.88700360e-03 6.85704453e-02 4.79086392e-01] [ 9.63010276e-04 9.99908331e-01 1.35056542e-02 -3.32950288e-02] [-6.85896448e-02 -1.34078075e-02 9.97554856e-01 -2.51125764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183133365 meters Centerline goodness : 0.135018 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:-0.25 [[ 0.99776746 -0.00286947 0.06672229 0.43265368] [ 0.0019284 0.99989782 0.01416441 -0.03941522] [-0.06675611 -0.01400412 0.99767104 -0.24611482] [ 0. 0. 0. 1. ]] SLAMing on 12.243133365 meters Centerline goodness : 0.137744 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:-0.25 [[ 0.99781882 -0.00436578 0.06586754 0.43556612] [ 0.00351851 0.99990965 0.01297373 -0.04459636] [-0.06591823 -0.01271368 0.99774403 -0.24722022] [ 0. 0. 0. 1. ]] SLAMing on 12.303133364999999 meters Centerline goodness : 0.137557 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.25 [[ 0.99785348 -0.00428182 0.06534605 0.43725345] [ 0.00341324 0.99990442 0.01339787 -0.04667765] [-0.06539717 -0.01314607 0.99777271 -0.24808682] [ 0. 0. 0. 1. ]] SLAMing on 12.363133365 meters Centerline goodness : 0.137305 with order 3 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.25 [[ 9.97934094e-01 5.96817750e-04 6.42431907e-02 4.15593023e-01] [-1.23428424e-03 9.99950395e-01 9.88347830e-03 -5.24041615e-02] [-6.42341053e-02 -9.94235432e-03 9.97885329e-01 -2.46929276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423133365 meters Centerline goodness : 0.138106 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.24 [[ 9.97857435e-01 -1.32225169e-03 6.54124758e-02 4.11153773e-01] [ 7.87728472e-04 9.99966096e-01 8.19669555e-03 -5.45860429e-02] [-6.54210962e-02 -8.12760632e-03 9.97824645e-01 -2.44511310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483133365 meters Centerline goodness : 0.144525 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.24 [[ 0.99784674 -0.00491768 0.06540408 0.41097961] [ 0.0045882 0.99997602 0.005187 -0.05945399] [-0.06542802 -0.00487574 0.99784538 -0.24403403] [ 0. 0. 0. 1. ]] SLAMing on 12.543133365 meters Centerline goodness : 0.149299 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.24 [[ 0.99797045 -0.00725492 0.0632641 0.36477656] [ 0.00693546 0.99996207 0.00526775 -0.06973133] [-0.06329991 -0.00481829 0.99798292 -0.23855465] [ 0. 0. 0. 1. ]] SLAMing on 12.603133365 meters Centerline goodness : 0.130173 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.08, Z:-0.24 [[ 0.99794406 -0.00743333 0.06365839 0.36330088] [ 0.00707137 0.99995754 0.00590938 -0.07510935] [-0.06369961 -0.00544707 0.99795425 -0.23728596] [ 0. 0. 0. 1. ]] SLAMing on 12.663133365 meters Centerline goodness : 0.147111 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.08, Z:-0.24 [[ 0.99795145 -0.00726723 0.06356166 0.36350156] [ 0.00686062 0.9999546 0.00661315 -0.07813884] [-0.06360683 -0.00616353 0.997956 -0.23726815] [ 0. 0. 0. 1. ]] SLAMing on 12.723133364999999 meters Centerline goodness : 0.136278 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.09, Z:-0.24 [[ 9.98019063e-01 9.33768836e-04 6.29053026e-02 3.43241059e-01] [-1.32613902e-03 9.99979925e-01 6.19601070e-03 -8.53493000e-02] [-6.28982542e-02 -6.26715798e-03 9.98000267e-01 -2.36854178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783133365 meters Centerline goodness : 0.128463 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:-0.24 [[ 0.99809608 0.00352804 0.06157741 0.34711186] [-0.00404467 0.99995765 0.00826717 -0.08238561] [-0.06154564 -0.00850049 0.99806807 -0.23735305] [ 0. 0. 0. 1. ]] SLAMing on 12.843133365 meters Centerline goodness : 0.128766 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:-0.24 [[ 0.99810551 0.00703205 0.06112241 0.34845267] [-0.00775747 0.99990217 0.01163915 -0.0808691 ] [-0.06103458 -0.01209125 0.99806241 -0.23738269] [ 0. 0. 0. 1. ]] SLAMing on 12.903133365 meters Centerline goodness : 0.135142 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:-0.24 [[ 0.9980661 0.01048597 0.06127081 0.34781062] [-0.0113959 0.99982963 0.01452044 -0.07645179] [-0.06110811 -0.0151906 0.99801555 -0.23647923] [ 0. 0. 0. 1. ]] SLAMing on 12.963133365 meters Centerline goodness : 0.134801 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:-0.24 [[ 0.99804592 0.01393475 0.06091116 0.34944879] [-0.01502268 0.99973506 0.01743958 -0.07178856] [-0.06065201 -0.01832055 0.99799083 -0.2376131 ] [ 0. 0. 0. 1. ]] SLAMing on 13.023133365 meters Centerline goodness : 0.145238 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:-0.24 [[ 0.9980608 0.01388204 0.06067891 0.35028579] [-0.01493079 0.9997463 0.01686447 -0.06875848] [-0.0604294 -0.01773775 0.99801486 -0.23832489] [ 0. 0. 0. 1. ]] SLAMing on 13.083133365 meters Centerline goodness : 0.093021 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.24 [[ 0.99817807 0.00519715 0.0601127 0.33210189] [-0.00627701 0.99982206 0.01778908 -0.06042091] [-0.06000956 -0.018134 0.99803307 -0.2388774 ] [ 0. 0. 0. 1. ]] SLAMing on 13.143133364999999 meters Centerline goodness : 0.235767 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.24 [[ 0.99818731 0.00502468 0.05997372 0.33258933] [-0.00607985 0.9998297 0.0174244 -0.05876844] [-0.05987596 -0.01775745 0.99804787 -0.23926844] [ 0. 0. 0. 1. ]] SLAMing on 13.203133365 meters Centerline goodness : 0.153322 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.23 [[ 0.99828921 0.00238989 0.05842039 0.28397008] [-0.00336545 0.99985644 0.01660625 -0.06038172] [-0.05837232 -0.01677445 0.99815394 -0.23349865] [ 0. 0. 0. 1. ]] SLAMing on 13.263133365 meters Centerline goodness : 0.131142 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.23 [[ 9.98272307e-01 -9.74293902e-04 5.87490538e-02 2.83023365e-01] [ 2.14437191e-04 9.99916266e-01 1.29388571e-02 -5.93938602e-02] [-5.87567407e-02 -1.29039048e-02 9.98188927e-01 -2.33277246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323133365 meters Centerline goodness : 0.132578 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:-0.23 [[ 9.98318226e-01 -1.25271076e-03 5.79581701e-02 2.85220046e-01] [ 5.12982993e-04 9.99918249e-01 1.27762501e-02 -5.95295228e-02] [-5.79694369e-02 -1.27250318e-02 9.98237255e-01 -2.33892400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383133364999999 meters Centerline goodness : 0.133470 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.23 [[ 0.99820574 0.00601894 0.05957418 0.26491898] [-0.00676525 0.99990105 0.01233375 -0.06542669] [-0.05949405 -0.01271466 0.99814768 -0.23336389] [ 0. 0. 0. 1. ]] SLAMing on 13.443133365 meters Centerline goodness : 0.151493 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.23 [[ 0.99818344 0.00292183 0.06017708 0.26261046] [-0.00346776 0.99995376 0.00896962 -0.06557057] [-0.06014809 -0.00916201 0.99814742 -0.23208709] [ 0. 0. 0. 1. ]] SLAMing on 13.503133365 meters Centerline goodness : 0.137866 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:-0.23 [[ 0.99822694 -0.00534567 0.05928242 0.24310263] [ 0.00470578 0.99992921 0.01092824 -0.0636621 ] [-0.05933664 -0.01062989 0.99818143 -0.23149884] [ 0. 0. 0. 1. ]] SLAMing on 13.563133364999999 meters Centerline goodness : 0.140480 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:-0.23 [[ 0.99818988 0.00183206 0.06011325 0.22342236] [-0.00243778 0.99994698 0.01000453 -0.07162036] [-0.06009173 -0.01013296 0.99814143 -0.23175781] [ 0. 0. 0. 1. ]] SLAMing on 13.623133365 meters Centerline goodness : 0.136516 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:-0.23 [[ 0.99821356 0.00182845 0.05971889 0.22458831] [-0.00243714 0.99994581 0.01012145 -0.07269455] [-0.05969714 -0.01024892 0.99816392 -0.23221099] [ 0. 0. 0. 1. ]] SLAMing on 13.683133365 meters Centerline goodness : 0.120717 with order 3 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.23 [[ 0.99823281 0.00192793 0.05939314 0.22556456] [-0.00254114 0.99994423 0.01025077 -0.07296087] [-0.05937006 -0.01038358 0.99818204 -0.23269091] [ 0. 0. 0. 1. ]] SLAMing on 13.743133365 meters Centerline goodness : 0.134038 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.23 [[ 0.99821659 0.00193893 0.05966472 0.2250382 ] [-0.00255445 0.99994429 0.01024188 -0.07276612] [-0.05964154 -0.01037602 0.99816593 -0.23292379] [ 0. 0. 0. 1. ]] SLAMing on 13.803133364999999 meters Centerline goodness : 0.137633 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:-0.23 [[ 0.99826849 -0.00690709 0.058415 0.20514145] [ 0.00625441 0.99991604 0.01134858 -0.06859007] [-0.05848848 -0.01096358 0.99822788 -0.23268473] [ 0. 0. 0. 1. ]] SLAMing on 13.863133365 meters Centerline goodness : 0.135968 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.23 [[ 0.99828106 -0.00706902 0.0581803 0.20614563] [ 0.00646794 0.99992382 0.01051312 -0.06389996] [-0.05825018 -0.01011875 0.99825073 -0.23377715] [ 0. 0. 0. 1. ]] SLAMing on 13.923133365 meters Centerline goodness : 0.133572 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.23 [[ 0.99828358 -0.00727799 0.05811125 0.20614539] [ 0.00671506 0.99992868 0.00987647 -0.06081438] [-0.05817899 -0.0094693 0.99826126 -0.23367374] [ 0. 0. 0. 1. ]] SLAMing on 13.983133364999999 meters Centerline goodness : 0.120598 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.23 [[ 0.99828223 -0.00745916 0.05811153 0.20603017] [ 0.00692054 0.99993126 0.00946449 -0.0590757 ] [-0.05817813 -0.00904607 0.99826523 -0.23353764] [ 0. 0. 0. 1. ]] SLAMing on 14.043133365 meters Centerline goodness : 0.138378 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.23 [[ 9.98218573e-01 3.26990064e-04 5.96621545e-02 1.84293979e-01] [-8.56558158e-04 9.99960464e-01 8.85075524e-03 -6.09353622e-02] [-5.96569016e-02 -8.88609237e-03 9.98179388e-01 -2.32772451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103133365 meters Centerline goodness : 0.127852 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.23 [[ 0.99818346 0.00286356 0.06017954 0.18167298] [-0.00349118 0.99994059 0.01032657 -0.05195028] [-0.06014639 -0.01051791 0.99813415 -0.23111944] [ 0. 0. 0. 1. ]] SLAMing on 14.163133365 meters Centerline goodness : 0.134844 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:-0.23 [[ 0.99832726 0.0029287 0.05774164 0.13585221] [-0.00352135 0.99994214 0.01016466 -0.04642958] [-0.05770853 -0.01035098 0.99827981 -0.22700678] [ 0. 0. 0. 1. ]] SLAMing on 14.223133364999999 meters Centerline goodness : 0.133851 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.23 [[ 0.99838015 0.00539145 0.0566393 0.13979855] [-0.00607468 0.99991077 0.01189759 -0.03907471] [-0.0565701 -0.01222238 0.99832381 -0.2293225 ] [ 0. 0. 0. 1. ]] SLAMing on 14.283133365 meters Centerline goodness : 0.137455 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.23 [[ 0.99838623 -0.00424128 0.05662999 0.11773434] [ 0.00355798 0.99991972 0.01216145 -0.03562248] [-0.05667702 -0.01194034 0.99832116 -0.22788158] [ 0. 0. 0. 1. ]] SLAMing on 14.343133365 meters Centerline goodness : 0.138209 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.23 [[ 0.99838136 -0.00422929 0.05671653 0.11748122] [ 0.00353619 0.99991791 0.01231509 -0.03634664] [-0.05676396 -0.01209459 0.99831437 -0.22773893] [ 0. 0. 0. 1. ]] SLAMing on 14.403133364999999 meters Centerline goodness : 0.139518 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.23 [[ 0.99836626 0.00358543 0.05702594 0.09742079] [-0.00423154 0.99992817 0.01121335 -0.04138751] [-0.05698164 -0.01143634 0.99830972 -0.22795115] [ 0. 0. 0. 1. ]] SLAMing on 14.463133365 meters Centerline goodness : 0.182206 with order 3 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.23 [[ 0.99837167 0.00358534 0.05693109 0.09764063] [-0.00422741 0.99992877 0.01116173 -0.0411621 ] [-0.05688701 -0.01138423 0.99831572 -0.22802273] [ 0. 0. 0. 1. ]] SLAMing on 14.523133365 meters Centerline goodness : 0.142810 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.22 [[ 0.99853841 0.00309566 0.05395793 0.0537003 ] [-0.00373059 0.99992494 0.01167037 -0.04437551] [-0.05391775 -0.01185461 0.99847501 -0.22481818] [ 0. 0. 0. 1. ]] SLAMing on 14.583133365 meters Centerline goodness : 0.140592 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.23 [[ 0.99856177 0.0031877 0.05351846 0.05538792] [-0.00381457 0.99992527 0.01161499 -0.0435611 ] [-0.05347744 -0.01180244 0.99849931 -0.22621826] [ 0. 0. 0. 1. ]] SLAMing on 14.643133364999999 meters Centerline goodness : 0.133829 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.23 [[ 0.99855735 0.00311752 0.05360496 0.05520642] [-0.00373581 0.99992761 0.01143798 -0.0427754 ] [-0.05356542 -0.01162174 0.99849671 -0.22633718] [ 0. 0. 0. 1. ]] SLAMing on 14.703133365 meters Centerline goodness : 0.136004 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.22 [[ 0.99849844 0.00304849 0.05469526 0.05187524] [-0.00366963 0.99992988 0.01125946 -0.04120578] [-0.0546571 -0.01144326 0.99843961 -0.22487227] [ 0. 0. 0. 1. ]] SLAMing on 14.763133365 meters Centerline goodness : 0.139325 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.23 [[ 0.99850062 0.00281596 0.05466793 0.0520927 ] [-0.0034164 0.99993483 0.0108931 -0.04009506] [-0.0546337 -0.01106353 0.99844517 -0.22515543] [ 0. 0. 0. 1. ]] SLAMing on 14.823133365 meters Centerline goodness : 0.130259 with order 3 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.22 [[ 0.99870644 -0.00407715 0.05068354 0.03209831] [ 0.00340984 0.99990646 0.01324563 -0.03712909] [-0.05073281 -0.01305568 0.99862692 -0.22353157] [ 0. 0. 0. 1. ]] SLAMing on 14.883133364999999 meters Centerline goodness : 0.139711 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.22 [[ 0.99869725 -0.00434648 0.05084197 0.03129023] [ 0.00370778 0.99991311 0.01264992 -0.03490676] [-0.05089253 -0.01244492 0.99862659 -0.22284209] [ 0. 0. 0. 1. ]] SLAMing on 14.943133365 meters Centerline goodness : 0.186441 with order 3 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.22 [[ 0.99869105 -0.00446093 0.05095372 0.03110987] [ 0.00384028 0.99991732 0.01227218 -0.03299938] [-0.05100425 -0.01206044 0.99862561 -0.22315152] [ 0. 0. 0. 1. ]] SLAMing on 15.003133365 meters Centerline goodness : 0.141975 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.22 [[ 0.99875747 0.00380401 0.04968944 0.01006745] [-0.00436345 0.99992826 0.0111552 -0.0330853 ] [-0.04964344 -0.01135816 0.99870242 -0.22263753] [ 0. 0. 0. 1. ]] SLAMing on 15.063133364999999 meters Centerline goodness : 0.144491 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.22 [[ 0.99875102 0.00374698 0.04982325 0.00941728] [-0.00429381 0.99993167 0.01087279 -0.03144367] [-0.0497791 -0.01107314 0.99869887 -0.22212637] [ 0. 0. 0. 1. ]] SLAMing on 15.123133365 meters Centerline goodness : 0.129567 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:-0.22 [[ 0.99874354 -0.00457078 0.04990435 -0.01176107] [ 0.0039576 0.99991555 0.01237894 -0.02863955] [-0.04995672 -0.01216588 0.99867728 -0.22181791] [ 0. 0. 0. 1. ]] SLAMing on 15.183133365 meters Centerline goodness : 0.135589 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:-0.22 [[ 0.99880671 -0.00420662 0.04865663 -0.0080958 ] [ 0.00362523 0.99992106 0.01203081 -0.02542866] [-0.0487034 -0.01184007 0.99874311 -0.22370111] [ 0. 0. 0. 1. ]] SLAMing on 15.243133365 meters Centerline goodness : 0.137195 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:-0.22 [[ 0.99876418 0.00451342 0.04949479 -0.03142524] [-0.00509592 0.99991916 0.01164912 -0.02636463] [-0.04943821 -0.01188695 0.99870645 -0.22211449] [ 0. 0. 0. 1. ]] SLAMing on 15.303133364999999 meters Centerline goodness : 0.167227 with order 3 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.22 [[ 0.9987472 0.00451381 0.0498362 -0.03255119] [-0.00506901 0.99992643 0.01101961 -0.02207028] [-0.04978279 -0.01125842 0.99869661 -0.22177313] [ 0. 0. 0. 1. ]] SLAMing on 15.363133365 meters Centerline goodness : 0.137369 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.22 [[ 0.99887635 -0.00470756 0.04715789 -0.05277985] [ 0.00418294 0.99992834 0.01121722 -0.01952534] [-0.04720732 -0.01100736 0.99882446 -0.22128737] [ 0. 0. 0. 1. ]] SLAMing on 15.423133365 meters Centerline goodness : 0.137762 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.22 [[ 0.99880638 -0.00641081 0.04842223 -0.05736271] [ 0.00593869 0.99993348 0.00988767 -0.01929259] [-0.0484824 -0.0095883 0.99877801 -0.21873829] [ 0. 0. 0. 1. ]] SLAMing on 15.483133364999999 meters Centerline goodness : 0.130013 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.22 [[ 0.99879592 -0.00670598 0.04859776 -0.05791453] [ 0.00622902 0.999931 0.00995923 -0.02053481] [-0.0486612 -0.00964452 0.99876878 -0.21826383] [ 0. 0. 0. 1. ]] SLAMing on 15.543133365 meters Centerline goodness : 0.142616 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.22 [[ 0.99881715 -0.00716378 0.04809343 -0.05659858] [ 0.00669202 0.99992797 0.0099632 -0.02260212] [-0.04816134 -0.00962957 0.99879315 -0.21837437] [ 0. 0. 0. 1. ]] SLAMing on 15.603133365 meters Centerline goodness : 0.140179 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-0.22 [[ 9.98826151e-01 -2.18362138e-04 4.84383359e-02 -7.45829768e-02] [-1.98973593e-04 9.99962906e-01 8.61082568e-03 -3.06995787e-02] [-4.84384195e-02 -8.61035582e-03 9.98789057e-01 -2.19813337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663133365 meters Centerline goodness : 0.134802 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:-0.22 [[ 9.98807463e-01 -2.05708754e-04 4.88222177e-02 -7.54865963e-02] [-2.20123423e-04 9.99961986e-01 8.71656127e-03 -3.15320433e-02] [-4.88221549e-02 -8.71691337e-03 9.98769449e-01 -2.19738542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723133364999999 meters Centerline goodness : 0.132721 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.22 [[ 0.99881498 0.00951174 0.04773002 -0.09738804] [-0.0099287 0.99991453 0.00850631 -0.02969511] [-0.04764503 -0.00897012 0.99882405 -0.21844585] [ 0. 0. 0. 1. ]] SLAMing on 15.783133365 meters Centerline goodness : 0.130817 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:-0.22 [[ 0.99888959 0.00416948 0.04692752 -0.11736527] [-0.00473909 0.99991637 0.01203326 -0.02255125] [-0.04687343 -0.01224229 0.99882581 -0.21859754] [ 0. 0. 0. 1. ]] SLAMing on 15.843133365 meters Centerline goodness : 0.136356 with order 1 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.02, Z:-0.22 [[ 0.99893714 0.00432837 0.04588953 -0.11419653] [-0.00484609 0.9999258 0.01117662 -0.01652308] [-0.04583775 -0.01138713 0.99888399 -0.22041114] [ 0. 0. 0. 1. ]] SLAMing on 15.903133364999999 meters Centerline goodness : 0.134263 with order 1 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.01, Z:-0.22 [[ 0.99894419 0.00414218 0.04575314 -0.11389782] [-0.00462307 0.99993513 0.01040953 -0.01243735] [-0.04570706 -0.01061006 0.99889854 -0.22063889] [ 0. 0. 0. 1. ]] SLAMing on 15.963133365 meters Centerline goodness : 0.136125 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.00, Z:-0.22 [[ 0.99893887 -0.00444441 0.0458409 -0.13463712] [ 0.00395888 0.99993516 0.0106769 -0.00237924] [-0.04588538 -0.01048409 0.99889169 -0.22125013] [ 0. 0. 0. 1. ]] SLAMing on 16.023133365 meters Centerline goodness : 0.122678 with order 2 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.00, Z:-0.22 [[ 0.9991015 -0.00481317 0.04210736 -0.17727723] [ 0.00434054 0.99992663 0.01130866 -0.00133363] [-0.04215871 -0.01111573 0.99904909 -0.21862186] [ 0. 0. 0. 1. ]] SLAMing on 16.083133365 meters Centerline goodness : 0.127522 with order 3 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.00, Z:-0.22 [[ 0.99909443 -0.00540171 0.0422035 -0.17766768] [ 0.00494077 0.99992709 0.01101858 -0.00200744] [-0.04225994 -0.01080008 0.99904827 -0.21806709] [ 0. 0. 0. 1. ]] SLAMing on 16.143133365 meters Centerline goodness : 0.123230 with order 3 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.01, Z:-0.22 [[ 0.99898234 -0.00138358 0.04508189 -0.19849024] [ 0.0010203 0.99996683 0.0080802 -0.00937452] [-0.04509158 -0.00802598 0.99895062 -0.21800586] [ 0. 0. 0. 1. ]] SLAMing on 16.203133365 meters Centerline goodness : 0.126245 with order 3 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.01, Z:-0.22 [[ 9.98957809e-01 -1.25075841e-03 4.56259884e-02 -1.99968085e-01] [ 8.80715883e-04 9.99966567e-01 8.12954638e-03 -8.75468723e-03] [-4.56346311e-02 -8.08089031e-03 9.98925513e-01 -2.17584955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263133364999998 meters Centerline goodness : 0.121685 with order 2 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.01, Z:-0.22 [[ 9.98952250e-01 -8.78503775e-04 4.57562061e-02 -2.00311427e-01] [ 5.18580337e-04 9.99968838e-01 7.87738834e-03 -6.30686671e-03] [-4.57617006e-02 -7.84540654e-03 9.98921577e-01 -2.17741559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323133365 meters Centerline goodness : 0.141633 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.01, Z:-0.22 [[ 0.99897971 0.00738224 0.04455374 -0.22052381] [-0.0076827 0.99994886 0.00657643 -0.00935609] [-0.04450291 -0.00691201 0.99898534 -0.21800423] [ 0. 0. 0. 1. ]] SLAMing on 16.383133365 meters Centerline goodness : 0.135957 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.01, Z:-0.22 [[ 0.99898717 0.00733656 0.04439385 -0.22002997] [-0.00762585 0.99995076 0.0063506 -0.00820378] [-0.04434507 -0.00668271 0.99899392 -0.21836555] [ 0. 0. 0. 1. ]] SLAMing on 16.443133364999998 meters Centerline goodness : 0.146922 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.00, Z:-0.22 [[ 9.99038209e-01 9.55362634e-04 4.38377000e-02 -2.42161619e-01] [-1.36597408e-03 9.99955470e-01 9.33762958e-03 -3.62621216e-03] [-4.38268271e-02 -9.38852990e-03 9.98995027e-01 -2.18438706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503133365 meters Centerline goodness : 0.147712 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.00, Z:-0.22 [[ 9.99061675e-01 7.17167982e-04 4.33042229e-02 -2.40432515e-01] [-1.08894531e-03 9.99962750e-01 8.56226561e-03 3.27517294e-04] [-4.32964693e-02 -8.60138735e-03 9.99025241e-01 -2.19548482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563133365 meters Centerline goodness : 0.148245 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.00, Z:-0.22 [[ 9.99065911e-01 5.76267508e-04 4.32084869e-02 -2.40352484e-01] [-9.36856958e-04 9.99964903e-01 8.32555345e-03 1.21921625e-03] [-4.32021727e-02 -8.35825682e-03 9.99031387e-01 -2.19317428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623133365 meters Centerline goodness : 0.167845 with order 3 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.00, Z:-0.22 [[ 9.99049795e-01 4.88098626e-04 4.35806054e-02 -2.41461055e-01] [-8.46792438e-04 9.99965918e-01 8.21250226e-03 2.18889309e-03] [-4.35751115e-02 -8.24160243e-03 9.99016159e-01 -2.18943586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683133365 meters Centerline goodness : 0.147845 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.00, Z:-0.22 [[ 9.99049799e-01 3.70428866e-04 4.35816654e-02 -2.41328011e-01] [-7.18815200e-04 9.99967913e-01 7.97847438e-03 3.34424321e-03] [-4.35773116e-02 -8.00222039e-03 9.99018009e-01 -2.19222078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743133365 meters Centerline goodness : 0.155389 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.00, Z:-0.22 [[ 0.99919145 -0.00168459 0.04016985 -0.28560919] [ 0.00143534 0.99997954 0.00623299 0.00359203] [-0.04017952 -0.00617029 0.99917343 -0.21581462] [ 0. 0. 0. 1. ]] SLAMing on 16.803133365 meters Centerline goodness : 0.164726 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.01, Z:-0.21 [[ 0.99916042 -0.00175236 0.04093134 -0.28811223] [ 0.0015072 0.99998075 0.00601946 0.00500957] [-0.0409411 -0.00595272 0.99914383 -0.21453001] [ 0. 0. 0. 1. ]] SLAMing on 16.863133365 meters Centerline goodness : 0.150955 with order 1 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:-0.21 [[ 0.9991526 0.00440015 0.04092347 -0.31089418] [-0.0045226 0.99998557 0.00290018 0.00272834] [-0.04091012 -0.00308281 0.99915807 -0.21321731] [ 0. 0. 0. 1. ]] SLAMing on 16.923133364999998 meters Centerline goodness : 0.151152 with order 1 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:-0.21 [[ 0.99913664 0.00444379 0.04130657 -0.31203695] [-0.00457852 0.9999845 0.00316769 0.00124048] [-0.04129185 -0.00335408 0.9991415 -0.21275705] [ 0. 0. 0. 1. ]] SLAMing on 16.983133365 meters Centerline goodness : 0.156068 with order 1 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.00, Z:-0.21 [[ 9.99161470e-01 -4.84640677e-03 4.06554883e-02 -3.34548626e-01] [ 4.69539470e-03 9.99981722e-01 3.80909741e-03 -4.14381586e-05] [-4.06732056e-02 -3.61500980e-03 9.99165963e-01 -2.11766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043133365 meters Centerline goodness : 0.417764 with order 1 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:-0.21 [[ 9.99319797e-01 -3.58616288e-05 3.68774042e-02 -3.14467304e-01] [-3.19338597e-05 9.99998311e-01 1.83781120e-03 -8.15971819e-03] [-3.68774078e-02 -1.83773875e-03 9.99318107e-01 -2.10741078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103133364999998 meters Centerline goodness : 0.126122 with order 3 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.01, Z:-0.21 [[ 9.99363793e-01 6.14239758e-03 3.51323382e-02 -3.35093621e-01] [-6.11556815e-03 9.99980920e-01 -8.71078021e-04 -1.45747313e-02] [-3.51370184e-02 6.55669626e-04 9.99382289e-01 -2.10542610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163133365 meters Centerline goodness : 0.133213 with order 3 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:-0.21 [[ 9.99370675e-01 6.39796774e-03 3.48901212e-02 -3.34143853e-01] [-6.38242332e-03 9.99979477e-01 -5.56883778e-04 -1.58215982e-02] [-3.48929681e-02 3.33849794e-04 9.99390999e-01 -2.11239175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223133365 meters Centerline goodness : 0.127715 with order 3 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.02, Z:-0.21 [[ 9.99481112e-01 8.26070260e-03 3.11330607e-02 -3.76220068e-01] [-8.29223685e-03 9.99965228e-01 8.83907525e-04 -1.66815875e-02] [-3.11246764e-02 -1.14161159e-03 9.99514858e-01 -2.09668465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283133365 meters Centerline goodness : 0.141563 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.01, Z:-0.21 [[ 0.99955975 0.00122448 0.02964478 -0.39277792] [-0.00131488 0.99999455 0.00303 -0.01085817] [-0.02964091 -0.00306765 0.9995559 -0.21221009] [ 0. 0. 0. 1. ]] SLAMing on 17.343133365 meters Centerline goodness : 0.148246 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.01, Z:-0.21 [[ 0.99954629 0.00113494 0.03009863 -0.39423104] [-0.00121029 0.99999618 0.00248509 -0.00788656] [-0.0300957 -0.00252039 0.99954384 -0.21177638] [ 0. 0. 0. 1. ]] SLAMing on 17.403133365 meters Centerline goodness : 0.126236 with order 3 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.01, Z:-0.21 [[ 9.99551993e-01 9.58458288e-04 2.99147964e-02 -3.93455726e-01] [-1.01881099e-03 9.99997476e-01 2.00230979e-03 -5.44274672e-03] [-2.99128018e-02 -2.03189026e-03 9.99550447e-01 -2.12474374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463133365 meters Centerline goodness : 0.148739 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.00, Z:-0.21 [[ 9.99553711e-01 6.56302043e-04 2.98654860e-02 -3.93566497e-01] [-6.94912238e-04 9.99998936e-01 1.28244230e-03 -2.16905990e-03] [-2.98646126e-02 -1.30262385e-03 9.99553104e-01 -2.12221103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523133365 meters Centerline goodness : 0.154733 with order 1 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.00, Z:-0.21 [[ 9.99515901e-01 -7.85333648e-04 3.11022163e-02 -4.43920249e-01] [ 7.65677394e-04 9.99999500e-01 6.43893826e-04 -2.27016165e-03] [-3.11027064e-02 -6.19767854e-04 9.99516002e-01 -2.07637884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583133365 meters Centerline goodness : 0.149596 with order 1 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.00, Z:-0.21 [[ 9.99514475e-01 -1.00682389e-03 3.11416097e-02 -4.44323855e-01] [ 9.90932908e-04 9.99999371e-01 5.25710562e-04 -2.56936824e-03] [-3.11421194e-02 -4.94596070e-04 9.99514844e-01 -2.07054659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643133365 meters Centerline goodness : 0.127275 with order 2 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.00, Z:-0.21 [[ 9.99508857e-01 -9.41729892e-04 3.13234420e-02 -4.44817752e-01] [ 9.12458870e-04 9.99999134e-01 9.48757588e-04 -4.87002152e-03] [-3.13243083e-02 -9.19710260e-04 9.99508850e-01 -2.06786343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703133365 meters Centerline goodness : 0.131768 with order 3 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.01, Z:-0.21 [[ 9.99501682e-01 -7.83754471e-04 3.15558648e-02 -4.45724038e-01] [ 7.41805565e-04 9.99998826e-01 1.34103883e-03 -6.86669644e-03] [-3.15568788e-02 -1.31696225e-03 9.99501090e-01 -2.06186411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763133364999998 meters Centerline goodness : 0.137651 with order 2 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.01, Z:-0.21 [[ 0.99949671 0.00847943 0.03056848 -0.46601344] [-0.00852502 0.99996273 0.00136114 -0.01382271] [-0.0305558 -0.00162106 0.99953175 -0.20680629] [ 0. 0. 0. 1. ]] SLAMing on 17.823133365 meters Centerline goodness : 0.128170 with order 3 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.01, Z:-0.21 [[ 0.99950456 0.00868356 0.0302528 -0.4646057 ] [-0.00872712 0.99996106 0.00130804 -0.01366307] [-0.03024027 -0.00157141 0.99954142 -0.20808216] [ 0. 0. 0. 1. ]] SLAMing on 17.883133365 meters Centerline goodness : 0.129434 with order 3 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.01, Z:-0.21 [[ 0.9996054 0.00345878 0.02787615 -0.48519267] [-0.00359825 0.99998125 0.00495456 -0.0132925 ] [-0.02785849 -0.00505291 0.99959911 -0.2070879 ] [ 0. 0. 0. 1. ]] SLAMing on 17.943133364999998 meters Centerline goodness : 0.128428 with order 3 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.02, Z:-0.21 [[ 0.9996032 0.00360697 0.02793619 -0.48527542] [-0.00375747 0.9999787 0.00533686 -0.0151224 ] [-0.02791634 -0.00543971 0.99959546 -0.20716441] [ 0. 0. 0. 1. ]] SLAMing on 18.003133365 meters Centerline goodness : 0.154829 with order 3 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.02, Z:-0.21 [[ 0.99965982 -0.00598989 0.02538448 -0.50514381] [ 0.00584091 0.9999653 0.00593926 -0.01853666] [-0.02541918 -0.00578897 0.99966012 -0.20720119] [ 0. 0. 0. 1. ]] SLAMing on 18.063133365 meters Centerline goodness : 0.124848 with order 3 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:-0.21 [[ 0.99967781 -0.00620055 0.02461375 -0.50295034] [ 0.00604616 0.99996161 0.00634228 -0.02207125] [-0.02465213 -0.00619142 0.99967692 -0.20766876] [ 0. 0. 0. 1. ]] SLAMing on 18.123133365 meters Centerline goodness : 0.127237 with order 3 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:-0.21 [[ 0.99968398 -0.00612701 0.02438048 -0.5025684 ] [ 0.00595573 0.99995712 0.00709156 -0.02650101] [-0.02442288 -0.00694411 0.9996776 -0.20711346] [ 0. 0. 0. 1. ]] SLAMing on 18.183133365 meters Centerline goodness : 0.124986 with order 3 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:-0.21 [[ 0.99970162 0.00227046 0.02432091 -0.52417985] [-0.00242583 0.99997683 0.00636049 -0.03157038] [-0.0243059 -0.00641759 0.99968397 -0.20645785] [ 0. 0. 0. 1. ]] SLAMing on 18.243133365 meters Centerline goodness : 0.126040 with order 3 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:-0.21 [[ 0.9996832 0.00607448 0.02442522 -0.52438344] [-0.00630065 0.99993789 0.00919366 -0.02551289] [-0.02436786 -0.00934464 0.99965938 -0.20684518] [ 0. 0. 0. 1. ]] SLAMing on 18.303133365 meters Centerline goodness : 0.124544 with order 3 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.02, Z:-0.21 [[ 0.99967858 0.00600426 0.02463108 -0.52486385] [-0.00621825 0.99994351 0.00862008 -0.02235353] [-0.02457793 -0.00877047 0.99965944 -0.20705876] [ 0. 0. 0. 1. ]] SLAMing on 18.363133365 meters Centerline goodness : 0.290585 with order 2 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:-0.21 [[ 0.99965243 0.00874015 0.02487232 -0.52672662] [-0.00899973 0.999906 0.01034352 -0.01431441] [-0.02477957 -0.01056377 0.99963712 -0.20578988] [ 0. 0. 0. 1. ]] SLAMing on 18.423133364999998 meters Centerline goodness : 0.148106 with order 1 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:-0.21 [[ 0.99964759 0.00841182 0.02517824 -0.52810343] [-0.00864578 0.99992032 0.00919796 -0.00548509] [-0.02509886 -0.0094124 0.99964066 -0.20518973] [ 0. 0. 0. 1. ]] SLAMing on 18.483133365 meters Centerline goodness : 0.147875 with order 1 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.00, Z:-0.21 [[ 0.99964859 0.0081438 0.02522656 -0.52813414] [-0.00835839 0.99992968 0.00841247 -0.00131138] [-0.02515628 -0.00862037 0.99964636 -0.20550495] [ 0. 0. 0. 1. ]] SLAMing on 18.543133365 meters Centerline goodness : 0.152178 with order 1 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.00, Z:-0.21 [[ 0.99966124 0.0076907 0.02486476 -0.52725281] [-0.00787871 0.99994104 0.00747229 0.00232006] [-0.02480583 -0.00766566 0.9996629 -0.20568896] [ 0. 0. 0. 1. ]] SLAMing on 18.603133364999998 meters Centerline goodness : 0.157718 with order 1 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.01, Z:-0.21 [[ 9.99740991e-01 -4.21395801e-04 2.27546238e-02 -5.45384498e-01] [ 2.13661809e-04 9.99958289e-01 9.13096861e-03 7.12366523e-03] [-2.27575224e-02 -9.12374182e-03 9.99699381e-01 -2.06944028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663133365 meters Centerline goodness : 0.163520 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:-0.21 [[ 0.99975485 0.00448355 0.02168257 -0.56717005] [-0.00459337 0.99997686 0.00501768 0.00535172] [-0.02165958 -0.00511605 0.99975231 -0.20653834] [ 0. 0. 0. 1. ]] SLAMing on 18.723133365 meters Centerline goodness : 0.153295 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:-0.21 [[ 0.99976051 0.00433416 0.02145088 -0.56613067] [-0.00443295 0.99997978 0.00456018 0.00771733] [-0.02143068 -0.00465418 0.9997595 -0.20751176] [ 0. 0. 0. 1. ]] SLAMing on 18.783133364999998 meters Centerline goodness : 0.155089 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:-0.21 [[ 0.99976613 0.00402501 0.02124795 -0.56530104] [-0.00410142 0.99998527 0.00355372 0.01296953] [-0.02123334 -0.00364003 0.99976792 -0.20830741] [ 0. 0. 0. 1. ]] SLAMing on 18.843133365 meters Centerline goodness : 0.163513 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.02, Z:-0.21 [[ 0.999774 0.00374231 0.02092715 -0.56467439] [-0.00380286 0.9999887 0.00285434 0.01636671] [-0.02091623 -0.00293328 0.99977693 -0.20823221] [ 0. 0. 0. 1. ]] SLAMing on 18.903133365 meters Centerline goodness : 0.164509 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.02, Z:-0.21 [[ 0.99977102 0.00358036 0.02109734 -0.56494535] [-0.00363691 0.99998989 0.00264257 0.0171285 ] [-0.02108767 -0.00271869 0.99977393 -0.20845349] [ 0. 0. 0. 1. ]] SLAMing on 18.963133365 meters Centerline goodness : 0.154254 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:-0.20 [[ 9.99752955e-01 1.42050827e-03 2.21813105e-02 -5.70368448e-01] [-1.43408834e-03 9.99998794e-01 5.96335400e-04 1.72795942e-02] [-2.21804366e-02 -6.27998037e-04 9.99753787e-01 -2.04821191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023133365 meters Centerline goodness : 0.171998 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:-0.21 [[ 9.99752311e-01 1.19535167e-03 2.22235698e-02 -5.70273300e-01] [-1.20650677e-03 9.99999153e-01 4.88547783e-04 1.67542268e-02] [-2.22229669e-02 -5.15239663e-04 9.99752907e-01 -2.05027001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083133365 meters Centerline goodness : 0.164796 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:-0.20 [[ 9.99753754e-01 1.24081785e-03 2.21560684e-02 -5.70316161e-01] [-1.25572987e-03 9.99998994e-01 6.59144495e-04 1.59283899e-02] [-2.21552283e-02 -6.86804221e-04 9.99754307e-01 -2.04703193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143133365 meters Centerline goodness : 0.126047 with order 2 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:-0.20 [[ 0.99978288 -0.00525226 0.02016471 -0.59207746] [ 0.00517572 0.99997921 0.00384626 0.01474419] [-0.02018449 -0.00374106 0.99978927 -0.20355138] [ 0. 0. 0. 1. ]] SLAMing on 19.203133365 meters Centerline goodness : 0.155182 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:-0.20 [[ 0.99977895 -0.00523233 0.02036348 -0.59281823] [ 0.00515225 0.99997879 0.00398298 0.01364622] [-0.02038389 -0.00387718 0.99978471 -0.20308968] [ 0. 0. 0. 1. ]] SLAMing on 19.263133364999998 meters Centerline goodness : 0.159856 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:-0.20 [[ 0.99977445 -0.00511346 0.02061302 -0.59348189] [ 0.00502852 0.99997866 0.0041705 0.01298626] [-0.0206339 -0.0040659 0.99977883 -0.20292739] [ 0. 0. 0. 1. ]] SLAMing on 19.323133365 meters Centerline goodness : 0.159109 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:-0.20 [[ 0.99977152 -0.00498799 0.0207851 -0.59405216] [ 0.00489601 0.99997801 0.00447391 0.01162545] [-0.02080696 -0.00437113 0.99977396 -0.20266318] [ 0. 0. 0. 1. ]] SLAMing on 19.383133365 meters Centerline goodness : 0.161107 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:-0.20 [[ 0.99976919 -0.00480822 0.02093935 -0.59447578] [ 0.00470807 0.99997725 0.00482979 0.01045203] [-0.0209621 -0.00473009 0.99976908 -0.20249691] [ 0. 0. 0. 1. ]] SLAMing on 19.443133364999998 meters Centerline goodness : 0.168491 with order 1 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.00, Z:-0.20 [[ 0.9998147 0.00113304 0.01921672 -0.61333399] [-0.00115736 0.99999854 0.00125476 0.0048839 ] [-0.01921527 -0.00127677 0.99981455 -0.20297658] [ 0. 0. 0. 1. ]] SLAMing on 19.503133365 meters Centerline goodness : 0.101185 with order 1 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.01, Z:-0.20 [[ 0.99983357 -0.00415464 0.01776458 -0.63525262] [ 0.00405952 0.99997725 0.00538711 0.00579605] [-0.01778656 -0.00531409 0.99982768 -0.20274566] [ 0. 0. 0. 1. ]] SLAMing on 19.563133365 meters Centerline goodness : 0.163972 with order 1 Centerline is valid? [False, False] Translation: X:-0.63, Y:0.01, Z:-0.20 [[ 0.99984599 -0.00431309 0.01701175 -0.63274558] [ 0.00423041 0.99997908 0.00489324 0.00727002] [-0.0170325 -0.00482052 0.99984332 -0.20407639] [ 0. 0. 0. 1. ]] SLAMing on 19.623133365 meters Centerline goodness : 0.121972 with order 2 Centerline is valid? [False, False] Translation: X:-0.65, Y:0.00, Z:-0.20 [[ 0.99985363 0.00418324 0.01658964 -0.65328339] [-0.00425498 0.99998174 0.00429161 0.00178287] [-0.01657139 -0.00436157 0.99985317 -0.20417482] [ 0. 0. 0. 1. ]] SLAMing on 19.683133365 meters Centerline goodness : 0.154629 with order 1 Centerline is valid? [False, False] Translation: X:-0.65, Y:0.00, Z:-0.20 [[ 9.99845053e-01 4.22859694e-03 1.70877040e-02 -6.54993538e-01] [-4.30809639e-03 9.99980056e-01 4.61830669e-03 1.36070852e-04] [-1.70678342e-02 -4.69120657e-03 9.99843329e-01 -2.03153884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743133365 meters Centerline goodness : 0.163590 with order 1 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.00, Z:-0.20 [[ 9.99856332e-01 9.86460249e-04 1.69216333e-02 -6.54956869e-01] [-1.00835351e-03 9.99998666e-01 1.28532004e-03 -3.98267836e-04] [-1.69203428e-02 -1.30219837e-03 9.99855993e-01 -2.02820349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803133365 meters Centerline goodness : 0.277890 with order 2 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.00, Z:-0.20 [[ 0.99986029 0.00117151 0.01667418 -0.65396919] [-0.00120239 0.99999758 0.00184208 -0.00322828] [-0.01667198 -0.00186187 0.99985928 -0.20336339] [ 0. 0. 0. 1. ]] SLAMing on 19.863133365 meters Centerline goodness : 0.105486 with order 2 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.01, Z:-0.20 [[ 9.99844711e-01 -4.32484833e-04 1.76172590e-02 -6.56946371e-01] [ 4.21027554e-04 9.99999697e-01 6.54047823e-04 -8.85974483e-03] [-1.76175365e-02 -6.46528905e-04 9.99844590e-01 -2.02419279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923133364999998 meters Centerline goodness : 0.165627 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.20 [[ 9.99884317e-01 -5.73751641e-05 1.52101564e-02 -7.03477008e-01] [ 3.67465200e-05 9.99999079e-01 1.35651742e-03 -1.37421078e-02] [-1.52102202e-02 -1.35580158e-03 9.99883399e-01 -1.99654111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983133365 meters Centerline goodness : 0.166163 with order 3 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.01, Z:-0.20 [[ 9.99868783e-01 8.89893940e-04 1.61748090e-02 -7.06169928e-01] [-9.14437407e-04 9.99998442e-01 1.51005579e-03 -1.05623881e-02] [-1.61734400e-02 -1.52464849e-03 9.99868039e-01 -1.99376246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043133365 meters Centerline goodness : 0.156095 with order 1 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.01, Z:-0.20 [[ 9.99870767e-01 1.26037398e-03 1.60268882e-02 -7.05680813e-01] [-1.27520926e-03 9.99998768e-01 9.15463679e-04 -5.24285431e-03] [-1.60257146e-02 -9.35783007e-04 9.99871142e-01 -2.00069977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103133364999998 meters Centerline goodness : 0.161827 with order 1 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.00, Z:-0.20 [[ 0.99988071 -0.00704803 0.01374364 -0.72505642] [ 0.00702047 0.99997325 0.00205223 -0.00163773] [-0.01375773 -0.0019555 0.99990345 -0.20124085] [ 0. 0. 0. 1. ]] SLAMing on 20.163133365 meters Centerline goodness : 0.113282 with order 2 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.00, Z:-0.20 [[ 9.99880151e-01 -8.70754000e-03 1.28008840e-02 -7.22100198e-01] [ 8.69970561e-03 9.99961934e-01 6.67577826e-04 -3.62752668e-04] [-1.28062097e-02 -5.56133895e-04 9.99917842e-01 -2.02081694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223133365 meters Centerline goodness : 0.164476 with order 1 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.20 [[ 9.99933331e-01 -1.11317505e-03 1.14931985e-02 -7.40114632e-01] [ 1.12088999e-03 9.99999151e-01 -6.64841639e-04 -6.81733700e-03] [-1.14924487e-02 6.77679926e-04 9.99933730e-01 -2.02871798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283133364999998 meters Centerline goodness : 0.144305 with order 2 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:-0.20 [[ 0.99995649 -0.00318441 0.00876847 -0.78540754] [ 0.00319855 0.99999361 -0.00159864 -0.00942218] [-0.00876333 0.00162662 0.99996028 -0.2005882 ] [ 0. 0. 0. 1. ]] SLAMing on 20.343133365 meters Centerline goodness : 0.168645 with order 1 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:-0.20 [[ 0.99995638 -0.00353272 0.00864578 -0.78554966] [ 0.0035474 0.99999229 -0.0016838 -0.01009326] [-0.00863977 0.00171439 0.99996121 -0.19979497] [ 0. 0. 0. 1. ]] SLAMing on 20.403133365 meters Centerline goodness : 0.157354 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:-0.20 [[ 0.9999697 -0.00429485 0.00649223 -0.83220782] [ 0.00430508 0.99998951 -0.00156204 -0.01535771] [-0.00648546 0.00158994 0.99997771 -0.19731704] [ 0. 0. 0. 1. ]] SLAMing on 20.463133365 meters Centerline goodness : 0.171342 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.02, Z:-0.19 [[ 9.99984477e-01 7.83903105e-04 5.51644619e-03 -8.18547992e-01] [-7.64256405e-04 9.99993362e-01 -3.56268502e-03 -2.40936772e-02] [-5.51920237e-03 3.55841374e-03 9.99978438e-01 -1.93086799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523133365 meters Centerline goodness : 0.159832 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:-0.19 [[ 0.99995309 -0.00822274 0.00511873 -0.84150651] [ 0.00823513 0.9999632 -0.0024041 -0.02657609] [-0.00509878 0.00244614 0.99998401 -0.19244929] [ 0. 0. 0. 1. ]] SLAMing on 20.583133365 meters Centerline goodness : 0.163549 with order 1 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.04, Z:-0.19 [[ 0.99998736 -0.00157866 0.00477382 -0.85905384] [ 0.00159602 0.99999212 -0.00363494 -0.04142395] [-0.00476805 0.00364251 0.999982 -0.19448223] [ 0. 0. 0. 1. ]] SLAMing on 20.643133365 meters Centerline goodness : 0.167019 with order 1 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.05, Z:-0.19 [[ 0.99998605 -0.0022499 0.00477795 -0.858961 ] [ 0.00226551 0.99999211 -0.00326272 -0.05267963] [-0.00477057 0.0032735 0.99998326 -0.19450498] [ 0. 0. 0. 1. ]] SLAMing on 20.703133365 meters Centerline goodness : 0.128637 with order 2 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:-0.19 [[ 0.99998736 -0.00187248 0.00466647 -0.85848959] [ 0.00188494 0.99999467 -0.00266748 -0.05504312] [-0.00466145 0.00267625 0.99998555 -0.19487022] [ 0. 0. 0. 1. ]] SLAMing on 20.763133364999998 meters Centerline goodness : 0.133244 with order 3 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:-0.20 [[ 0.99996255 0.00732826 0.00460299 -0.87882927] [-0.00731712 0.99997027 -0.00243193 -0.06489371] [-0.00462068 0.00239816 0.99998645 -0.19627596] [ 0. 0. 0. 1. ]] SLAMing on 20.823133365 meters Centerline goodness : 0.140188 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:-0.20 [[ 9.99996418e-01 -6.17554445e-04 2.60430945e-03 -8.98079444e-01] [ 6.20348093e-04 9.99999233e-01 -1.07203088e-03 -6.91281274e-02] [-2.60364541e-03 1.07364262e-03 9.99996034e-01 -1.96353022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883133365 meters Centerline goodness : 0.149054 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:-0.20 [[ 9.99995521e-01 -2.65839121e-04 2.98130982e-03 -8.99204274e-01] [ 2.67003824e-04 9.99999888e-01 -3.90277269e-04 -7.18434293e-02] [-2.98120573e-03 3.91071542e-04 9.99995480e-01 -1.95961109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943133364999998 meters Centerline goodness : 0.148584 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:-0.20 [[ 9.99995890e-01 -3.08275038e-05 2.86676821e-03 -8.98935281e-01] [ 3.03547825e-05 9.99999986e-01 1.64940304e-04 -7.45722644e-02] [-2.86677325e-03 -1.64852606e-04 9.99995877e-01 -1.95922734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003133365 meters Centerline goodness : 0.144813 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:-0.20 [[ 9.99995271e-01 1.27999766e-04 3.07262640e-03 -8.99760834e-01] [-1.30121109e-04 9.99999753e-01 6.90210741e-04 -7.74568689e-02] [-3.07253729e-03 -6.90607291e-04 9.99995041e-01 -1.95321304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063133365 meters Centerline goodness : 0.145970 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:-0.19 [[ 9.99994783e-01 3.43217094e-04 3.21184439e-03 -9.00378305e-01] [-3.48176949e-04 9.99998748e-01 1.54380716e-03 -8.19734301e-02] [-3.21131051e-03 -1.54491740e-03 9.99993650e-01 -1.94719703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123133364999997 meters Centerline goodness : 0.122654 with order 2 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:-0.20 [[ 9.99996737e-01 3.49161712e-04 2.53047747e-03 -8.98440610e-01] [-3.53971959e-04 9.99998131e-01 1.90072602e-03 -8.45393507e-02] [-2.52980908e-03 -1.90161554e-03 9.99994992e-01 -1.95166005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183133365 meters Centerline goodness : 0.420811 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:-0.20 [[ 9.99997358e-01 4.02783043e-04 2.26317972e-03 -8.97496807e-01] [-4.07191952e-04 9.99998020e-01 1.94798078e-03 -8.46364783e-02] [-2.26239062e-03 -1.94889718e-03 9.99995542e-01 -1.95706835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243133365 meters Centerline goodness : 0.147839 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:-0.20 [[ 0.99995662 0.0089798 0.00247228 -0.91875913] [-0.0089828 0.99995893 0.00120155 -0.08701458] [-0.00246139 -0.0012237 0.99999622 -0.1963833 ] [ 0. 0. 0. 1. ]] SLAMing on 21.303133365 meters Centerline goodness : 0.137033 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:-0.20 [[ 9.99952944e-01 9.09156758e-03 3.38434542e-03 -9.21677350e-01] [-9.09375440e-03 9.99958452e-01 6.31330235e-04 -8.30560630e-02] [-3.37846503e-03 -6.62076933e-04 9.99994074e-01 -1.95354259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363133365 meters Centerline goodness : 0.141722 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:-0.20 [[ 9.99953101e-01 9.07274974e-03 3.38829664e-03 -9.21597107e-01] [-9.07273285e-03 9.99958842e-01 -2.03571634e-05 -7.85954403e-02] [-3.38834188e-03 -1.03849015e-05 9.99994259e-01 -1.95716052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423133364999998 meters Centerline goodness : 0.142740 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:-0.20 [[ 9.99952904e-01 8.91586684e-03 3.83356181e-03 -9.22707578e-01] [-8.91362343e-03 9.99960092e-01 -6.01890860e-04 -7.53106984e-02] [-3.83877520e-03 5.67691587e-04 9.99992471e-01 -1.95788484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483133365 meters Centerline goodness : 0.145181 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:-0.20 [[ 9.99984280e-01 2.10950643e-03 5.19510929e-03 -9.43081755e-01] [-2.11284616e-03 9.99997565e-01 6.37456468e-04 -6.35962641e-02] [-5.19375192e-03 -6.48422914e-04 9.99986302e-01 -1.98272638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543133365 meters Centerline goodness : 0.134919 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:-0.20 [[ 9.99984950e-01 1.75387944e-03 5.19847957e-03 -9.42638704e-01] [-1.75187226e-03 9.99998389e-01 -3.90639116e-04 -5.85349368e-02] [-5.19915633e-03 3.81526164e-04 9.99986412e-01 -1.99289778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603133364999998 meters Centerline goodness : 0.128272 with order 3 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:-0.20 [[ 0.99998579 0.00150114 0.00511563 -0.94177403] [-0.00149489 0.99999813 -0.00122473 -0.05375375] [-0.00511745 0.00121707 0.99998617 -0.20051475] [ 0. 0. 0. 1. ]] SLAMing on 21.663133365 meters Centerline goodness : 0.144566 with order 3 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.06, Z:-0.20 [[ 9.99998531e-01 -2.68559390e-04 1.69293709e-03 -9.84452855e-01] [ 2.72838780e-04 9.99996767e-01 -2.52806622e-03 -5.58099111e-02] [-1.69225268e-03 2.52852440e-03 9.99995371e-01 -2.00614741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723133365 meters Centerline goodness : 0.121148 with order 3 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.06, Z:-0.20 [[ 9.99999376e-01 -5.05088601e-04 9.96464739e-04 -9.82067175e-01] [ 5.07845213e-04 9.99996040e-01 -2.76808193e-03 -5.51279736e-02] [-9.95062666e-04 2.76858625e-03 9.99995672e-01 -2.01771451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783133364999998 meters Centerline goodness : 0.186958 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:-0.20 [[ 9.99995241e-01 -2.90495703e-03 1.03897686e-03 -1.03256453e+00] [ 2.90881819e-03 9.99988797e-01 -3.73431684e-03 -6.14189349e-02] [-1.02811719e-03 3.73732127e-03 9.99992488e-01 -1.98495047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843133365 meters Centerline goodness : 0.147605 with order 1 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:-0.20 [[ 9.99995661e-01 -2.93960528e-03 1.92498497e-04 -1.03026089e+00] [ 2.94022990e-03 9.99990136e-01 -3.32917336e-03 -6.38804535e-02] [-1.82710143e-04 3.32972491e-03 9.99994440e-01 -1.98940960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903133365 meters Centerline goodness : 0.149209 with order 1 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.07, Z:-0.20 [[ 0.99998349 -0.00484525 -0.00308953 -1.07279546] [ 0.00483346 0.99998105 -0.00381323 -0.07267479] [ 0.00310795 0.00379823 0.99998796 -0.19866717] [ 0. 0. 0. 1. ]] SLAMing on 21.963133365 meters Centerline goodness : 0.141250 with order 1 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:-0.20 [[ 0.99998574 -0.00480728 -0.00232507 -1.07520476] [ 0.0047998 0.99998332 -0.00321264 -0.07599817] [ 0.00234048 0.00320143 0.99999214 -0.19751613] [ 0. 0. 0. 1. ]] SLAMing on 22.023133365 meters Centerline goodness : 0.137484 with order 3 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:-0.20 [[ 0.99998609 -0.00477163 -0.00224741 -1.07520268] [ 0.00476546 0.99998488 -0.00274443 -0.07918241] [ 0.00226047 0.00273368 0.99999371 -0.19772019] [ 0. 0. 0. 1. ]] SLAMing on 22.083133365 meters Centerline goodness : 0.147833 with order 1 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.20 [[ 0.99999487 0.0029353 -0.00127879 -1.09422908] [-0.00293986 0.99998928 -0.00357843 -0.08576834] [ 0.00126827 0.00358217 0.99999278 -0.19979557] [ 0. 0. 0. 1. ]] SLAMing on 22.143133365 meters Centerline goodness : 0.143983 with order 1 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.20 [[ 9.99995264e-01 3.06679021e-03 -2.60167189e-04 -1.09723666e+00] [-3.06763350e-03 9.99989832e-01 -3.30536951e-03 -8.72831187e-02] [ 2.50027669e-04 3.30615195e-03 9.99994503e-01 -1.98768348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203133365 meters Centerline goodness : 0.147647 with order 1 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.20 [[ 9.99994824e-01 3.18341120e-03 -4.66282253e-04 -1.09636852e+00] [-3.18489808e-03 9.99989733e-01 -3.22354732e-03 -8.75013058e-02] [ 4.56015588e-04 3.22501570e-03 9.99994696e-01 -1.99500471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263133364999998 meters Centerline goodness : 0.136223 with order 1 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.20 [[ 9.99992918e-01 3.71420366e-03 -6.07349162e-04 -1.09530356e+00] [-3.71604209e-03 9.99988431e-01 -3.05440801e-03 -8.67878338e-02] [ 5.95997442e-04 3.05664332e-03 9.99995151e-01 -2.00875830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323133365 meters Centerline goodness : 0.136047 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:-0.20 [[ 9.99994542e-01 -2.72802456e-03 1.86396610e-03 -1.12196252e+00] [ 2.72969569e-03 9.99995874e-01 -8.94591926e-04 -8.38359180e-02] [-1.86151794e-03 8.99675104e-04 9.99997863e-01 -1.99656989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383133365 meters Centerline goodness : 0.157033 with order 3 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:-0.20 [[ 9.99999279e-01 -1.54774209e-04 1.19084431e-03 -1.11764733e+00] [ 1.53620493e-04 9.99999519e-01 9.68852702e-04 -7.88669509e-02] [-1.19099369e-03 -9.68669065e-04 9.99998822e-01 -2.03305851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443133364999998 meters Centerline goodness : 0.145826 with order 1 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.08, Z:-0.20 [[ 9.99964905e-01 8.33626897e-03 -8.33795732e-04 -1.13719164e+00] [-8.33640863e-03 9.99965238e-01 -1.64167017e-04 -8.02816823e-02] [ 8.32398207e-04 1.71112118e-04 9.99999639e-01 -2.04526222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503133365 meters Centerline goodness : 0.133680 with order 3 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.07, Z:-0.20 [[ 9.99929436e-01 1.18398678e-02 -9.70025413e-04 -1.13699490e+00] [-1.18374370e-02 9.99926873e-01 2.47444202e-03 -7.43326609e-02] [ 9.99251545e-04 -2.46278480e-03 9.99996468e-01 -2.04514925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563133365 meters Centerline goodness : 0.412737 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.06, Z:-0.21 [[ 0.9999855 0.00404324 -0.00355687 -1.15432092] [-0.00403176 0.99998666 0.00322899 -0.06255172] [ 0.00356988 -0.00321461 0.99998846 -0.20744738] [ 0. 0. 0. 1. ]] SLAMing on 22.623133364999997 meters Centerline goodness : 0.169991 with order 3 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.06, Z:-0.21 [[ 0.99998601 0.00365532 -0.00382393 -1.15384366] [-0.0036454 0.99998998 0.0025995 -0.06022184] [ 0.0038334 -0.00258553 0.99998931 -0.20721369] [ 0. 0. 0. 1. ]] SLAMing on 22.683133365 meters Centerline goodness : 0.413094 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.21 [[ 9.99992873e-01 -1.21475182e-04 -3.77357097e-03 -1.15520363e+00] [ 1.17382330e-04 9.99999405e-01 -1.08481246e-03 -5.94539593e-02] [ 3.77370050e-03 1.08436177e-03 9.99992292e-01 -2.05591801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743133365 meters Centerline goodness : 0.213344 with order 3 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.21 [[ 9.99994360e-01 -2.93753301e-04 -3.34572051e-03 -1.15628624e+00] [ 2.90098093e-04 9.99999361e-01 -1.09293564e-03 -5.96665198e-02] [ 3.34603942e-03 1.09195889e-03 9.99993806e-01 -2.05386032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803133365 meters Centerline goodness : 0.146476 with order 1 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.06, Z:-0.20 [[ 9.99979056e-01 4.80081546e-04 -6.45421731e-03 -1.20121526e+00] [-4.82061739e-04 9.99999837e-01 -3.05253913e-04 -5.92841605e-02] [ 6.45406971e-03 3.08358851e-04 9.99979125e-01 -2.04633805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863133365 meters Centerline goodness : 0.134414 with order 1 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.21 [[ 9.99977849e-01 7.55704246e-04 -6.61283768e-03 -1.20077450e+00] [-7.61663848e-04 9.99999306e-01 -8.98745044e-04 -5.46068059e-02] [ 6.61215390e-03 9.03761896e-04 9.99977731e-01 -2.05064137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923133364999998 meters Centerline goodness : 0.136695 with order 1 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.21 [[ 9.99979453e-01 5.75009423e-04 -6.38458423e-03 -1.20142007e+00] [-5.85341121e-04 9.99998522e-01 -1.61647509e-03 -5.09918582e-02] [ 6.38364530e-03 1.62017903e-03 9.99978312e-01 -2.05114813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983133365 meters Centerline goodness : 0.226192 with order 3 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.20 [[ 9.99984636e-01 3.31443886e-04 -5.53330455e-03 -1.20422558e+00] [-3.45564561e-04 9.99996686e-01 -2.55118147e-03 -4.54760477e-02] [ 5.53244064e-03 2.55305439e-03 9.99981437e-01 -2.04191505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043133365 meters Centerline goodness : 0.132969 with order 1 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.04, Z:-0.20 [[ 9.99986343e-01 9.77041560e-05 -5.22535366e-03 -1.20538947e+00] [-1.13320366e-04 9.99995529e-01 -2.98833343e-03 -4.35417821e-02] [ 5.22503833e-03 2.98888475e-03 9.99981883e-01 -2.03557802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103133364999998 meters Centerline goodness : 0.181327 with order 3 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.04, Z:-0.20 [[ 9.99982765e-01 -3.71504436e-04 -5.85929812e-03 -1.20360298e+00] [ 3.51793405e-04 9.99994277e-01 -3.36473200e-03 -4.31240804e-02] [ 5.86051460e-03 3.36261275e-03 9.99977173e-01 -2.03903842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163133365 meters Centerline goodness : 0.133448 with order 3 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.20 [[ 0.99994908 -0.00193984 -0.00990277 -1.244825 ] [ 0.00189723 0.99998891 -0.00431102 -0.04793665] [ 0.00991103 0.00429201 0.99994167 -0.2046012 ] [ 0. 0. 0. 1. ]] SLAMing on 23.223133365 meters Centerline goodness : 0.219676 with order 3 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.20 [[ 0.99995107 -0.00210486 -0.00966568 -1.24565565] [ 0.00206613 0.9999898 -0.00401571 -0.05041861] [ 0.00967403 0.00399554 0.99994522 -0.20399295] [ 0. 0. 0. 1. ]] SLAMing on 23.283133364999998 meters Centerline goodness : 0.134079 with order 1 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.20 [[ 0.99994969 -0.00195831 -0.0098376 -1.24534668] [ 0.00192269 0.99999157 -0.00362878 -0.05228882] [ 0.00984462 0.00360969 0.99994503 -0.20380572] [ 0. 0. 0. 1. ]] SLAMing on 23.343133365 meters Centerline goodness : 0.141357 with order 1 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.20 [[ 0.99994574 -0.001872 -0.01024774 -1.24396456] [ 0.00183516 0.99999183 -0.00360294 -0.0520788 ] [ 0.0102544 0.00358394 0.999941 -0.20450624] [ 0. 0. 0. 1. ]] SLAMing on 23.403133365 meters Centerline goodness : 0.130399 with order 1 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.20 [[ 0.99994839 -0.00184776 -0.00999004 -1.24504591] [ 0.0018132 0.99999235 -0.00346729 -0.05317654] [ 0.00999637 0.003449 0.99994409 -0.20378426] [ 0. 0. 0. 1. ]] SLAMing on 23.463133365 meters Centerline goodness : 0.131721 with order 1 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.20 [[ 0.99993174 0.00455609 -0.01075925 -1.26707227] [-0.0046188 0.99997245 -0.00581052 -0.05900822] [ 0.01073248 0.00585982 0.99992524 -0.20368187] [ 0. 0. 0. 1. ]] SLAMing on 23.523133365 meters Centerline goodness : 0.134117 with order 1 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.20 [[ 0.99990526 -0.00252483 -0.01353138 -1.24472506] [ 0.00245886 0.99998502 -0.00489034 -0.05445235] [ 0.01354352 0.0048566 0.99989649 -0.20352449] [ 0. 0. 0. 1. ]] SLAMing on 23.583133365 meters Centerline goodness : 0.136670 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.20 [[ 0.99986582 -0.00161932 -0.01630102 -1.28957889] [ 0.00155226 0.99999029 -0.00412548 -0.05699491] [ 0.01630754 0.00409962 0.99985862 -0.2031322 ] [ 0. 0. 0. 1. ]] SLAMing on 23.643133365 meters Centerline goodness : 0.220861 with order 3 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.20 [[ 9.99879424e-01 -1.32862281e-03 -1.54716859e-02 -1.29181052e+00] [ 1.26391785e-03 9.99990418e-01 -4.19118040e-03 -5.57751836e-02] [ 1.54771061e-02 4.17112011e-03 9.99871522e-01 -2.02821853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703133365 meters Centerline goodness : 0.237247 with order 3 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.20 [[ 9.99876747e-01 -1.16694903e-03 -1.56566278e-02 -1.29089348e+00] [ 1.10431182e-03 9.99991355e-01 -4.00873256e-03 -5.61336458e-02] [ 1.56611704e-02 3.99094867e-03 9.99869392e-01 -2.03648720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763133364999998 meters Centerline goodness : 0.130247 with order 2 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.20 [[ 9.99875117e-01 -1.21869029e-03 -1.57564363e-02 -1.29013389e+00] [ 1.15831133e-03 9.99991954e-01 -3.84057686e-03 -5.79753328e-02] [ 1.57609900e-02 3.82184638e-03 9.99868484e-01 -2.04345425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823133365 meters Centerline goodness : 0.096228 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.20 [[ 9.99877265e-01 -1.19173222e-03 -1.56216359e-02 -1.29072114e+00] [ 1.13213300e-03 9.99992050e-01 -3.82345997e-03 -5.79345670e-02] [ 1.56260682e-02 3.80530493e-03 9.99870664e-01 -2.03961009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883133365 meters Centerline goodness : 0.165039 with order 3 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.20 [[ 9.99876901e-01 2.66048870e-03 -1.54629812e-02 -1.29113129e+00] [-2.66917498e-03 9.99996291e-01 -5.41136581e-04 -5.41884995e-02] [ 1.54614842e-02 5.82343371e-04 9.99880295e-01 -2.03955202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943133364999998 meters Centerline goodness : 0.149729 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.05, Z:-0.20 [[ 0.99983572 0.00283519 -0.01790245 -1.33758477] [-0.00286048 0.99999495 -0.0013873 -0.05144892] [ 0.01789843 0.00143828 0.99983878 -0.20283276] [ 0. 0. 0. 1. ]] SLAMing on 24.003133365 meters Centerline goodness : 0.097645 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.05, Z:-0.20 [[ 0.99983656 0.00267294 -0.01788046 -1.33780674] [-0.00270788 0.99999447 -0.00193022 -0.0486388 ] [ 0.0178752 0.00197833 0.99983827 -0.20272999] [ 0. 0. 0. 1. ]] SLAMing on 24.063133365 meters Centerline goodness : 0.151673 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.20 [[ 0.99983906 0.00223846 -0.01780009 -1.33851769] [-0.00229767 0.99999189 -0.00330667 -0.03928318] [ 0.01779255 0.00334704 0.9998361 -0.20233118] [ 0. 0. 0. 1. ]] SLAMing on 24.123133364999997 meters Centerline goodness : 0.155979 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.20 [[ 0.99983735 0.00178997 -0.0179462 -1.33870932] [-0.00186789 0.9999889 -0.00432617 -0.03455333] [ 0.01793825 0.00435899 0.99982959 -0.20168085] [ 0. 0. 0. 1. ]] SLAMing on 24.183133365 meters Centerline goodness : 0.103639 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.20 [[ 9.99829529e-01 1.31206319e-03 -1.84171334e-02 -1.33796272e+00] [-1.41526792e-03 9.99983364e-01 -5.59182008e-03 -2.72115650e-02] [ 1.84094902e-02 5.61693202e-03 9.99814753e-01 -2.01304417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243133365 meters Centerline goodness : 0.227571 with order 3 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.20 [[ 9.99827814e-01 8.38563917e-04 -1.85374921e-02 -1.33794425e+00] [-9.62345933e-04 9.99977296e-01 -6.66947569e-03 -2.24596275e-02] [ 1.85314784e-02 6.68616678e-03 9.99805921e-01 -2.01010786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303133365 meters Centerline goodness : 0.098918 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.20 [[ 9.99830079e-01 5.91690151e-04 -1.84245489e-02 -1.33912152e+00] [-7.31801630e-04 9.99970861e-01 -7.59879509e-03 -1.65789348e-02] [ 1.84195159e-02 7.61098701e-03 9.99801377e-01 -1.99900292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363133365 meters Centerline goodness : 0.230660 with order 3 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.02, Z:-0.20 [[ 9.99761518e-01 -4.14086973e-04 -2.18342602e-02 -1.38206586e+00] [ 2.22225665e-04 9.99961353e-01 -8.78886203e-03 -1.65408640e-02] [ 2.18370557e-02 8.78191392e-03 9.99722972e-01 -2.00313476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423133364999998 meters Centerline goodness : 0.144470 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.01, Z:-0.20 [[ 9.99757992e-01 -8.59449678e-04 -2.19822518e-02 -1.38142351e+00] [ 6.47251932e-04 9.99953147e-01 -9.65843356e-03 -1.24378099e-02] [ 2.19895228e-02 9.64186809e-03 9.99711706e-01 -2.00883722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483133365 meters Centerline goodness : 0.089307 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.01, Z:-0.20 [[ 9.99764950e-01 -9.79191293e-04 -2.16583809e-02 -1.38279608e+00] [ 7.57575862e-04 9.99947302e-01 -1.02381567e-02 -8.50992127e-03] [ 2.16672647e-02 1.02193423e-02 9.99713006e-01 -2.00111041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543133365 meters Centerline goodness : 0.243438 with order 3 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.20 [[ 0.99969056 -0.00226502 -0.02477193 -1.42576829] [ 0.00195833 0.99992123 -0.01239789 -0.0039148 ] [ 0.02479806 0.01234554 0.99961625 -0.20050519] [ 0. 0. 0. 1. ]] SLAMing on 24.603133364999998 meters Centerline goodness : 0.088697 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.20 [[ 9.99684833e-01 -2.46267360e-03 -2.49833827e-02 -1.42535978e+00] [ 2.13916821e-03 9.99913633e-01 -1.29672947e-02 -8.06526497e-04] [ 2.50131592e-02 1.29097642e-02 9.99603761e-01 -2.00432138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663133365 meters Centerline goodness : 0.094486 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.20 [[ 9.99692226e-01 -3.24215987e-03 -2.45955440e-02 -1.42715852e+00] [ 2.91159244e-03 9.99905116e-01 -1.34640612e-02 -3.17015102e-04] [ 2.46368630e-02 1.33883052e-02 9.99606812e-01 -1.99027080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723133365 meters SLAMing on 24.783133364999998 meters Centerline goodness : 0.097891 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.20 [[ 0.99968446 -0.00838614 -0.02367824 -1.43042135] [ 0.00798946 0.99982698 -0.01679816 -0.01271168] [ 0.02381501 0.01660368 0.99957849 -0.19721653] [ 0. 0. 0. 1. ]] SLAMing on 24.843133365 meters Centerline goodness : 0.101444 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.02, Z:-0.20 [[ 0.99975619 -0.0021207 -0.02197857 -1.45474469] [ 0.00170554 0.99982009 -0.01889104 -0.02235583] [ 0.02201467 0.01884895 0.99957995 -0.19694159] [ 0. 0. 0. 1. ]] SLAMing on 24.903133365 meters Centerline goodness : 0.243994 with order 3 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.02, Z:-0.20 [[ 9.99732935e-01 -1.75725665e-03 -2.30427876e-02 -1.45171288e+00] [ 1.33069689e-03 9.99827717e-01 -1.85139230e-02 -2.37979493e-02] [ 2.30713514e-02 1.84783156e-02 9.99563037e-01 -1.97742590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963133365 meters Centerline goodness : 0.088817 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.03, Z:-0.20 [[ 9.99738089e-01 -1.09159216e-03 -2.28595991e-02 -1.45226577e+00] [ 6.84569860e-04 9.99841234e-01 -1.78055741e-02 -2.61820471e-02] [ 2.28754062e-02 1.77852616e-02 9.99580112e-01 -1.97648325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023133365 meters Centerline goodness : 0.232202 with order 3 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.03, Z:-0.20 [[ 9.99744547e-01 -8.02725219e-04 -2.25875210e-02 -1.45332082e+00] [ 4.15144053e-04 9.99852695e-01 -1.71585439e-02 -2.93035926e-02] [ 2.25979673e-02 1.71447836e-02 9.99597613e-01 -1.97089928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083133365 meters Centerline goodness : 0.159218 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.04, Z:-0.20 [[ 9.99744977e-01 -2.33264122e-04 -2.25815519e-02 -1.45292771e+00] [-1.24586606e-04 9.99874463e-01 -1.58443350e-02 -3.59943779e-02] [ 2.25824130e-02 1.58431077e-02 9.99619443e-01 -1.97637229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143133365 meters Centerline goodness : 0.161268 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.04, Z:-0.20 [[ 9.99749185e-01 1.14651683e-04 -2.23953952e-02 -1.45368654e+00] [-4.51302051e-04 9.99886977e-01 -1.50276488e-02 -3.99844224e-02] [ 2.23911410e-02 1.50339868e-02 9.99636242e-01 -1.97136339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203133365 meters Centerline goodness : 0.159826 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.04, Z:-0.20 [[ 9.99750453e-01 1.01790819e-03 -2.23158172e-02 -1.45374066e+00] [-1.33420864e-03 9.99898802e-01 -1.41635196e-02 -4.19765971e-02] [ 2.22991417e-02 1.41897591e-02 9.99650638e-01 -1.97474256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263133364999998 meters Centerline goodness : 0.156554 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.04, Z:-0.20 [[ 9.99735678e-01 1.32268886e-03 -2.29526756e-02 -1.45176000e+00] [-1.64810112e-03 9.99898321e-01 -1.41644105e-02 -4.13644366e-02] [ 2.29316067e-02 1.41984949e-02 9.99636206e-01 -1.98325560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323133365 meters Centerline goodness : 0.161899 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.20 [[ 0.99963354 0.00324095 -0.02687527 -1.49315452] [-0.00357773 0.99991557 -0.01249237 -0.04535578] [ 0.02683251 0.01258394 0.99956073 -0.19912803] [ 0. 0. 0. 1. ]] SLAMing on 25.383133365 meters Centerline goodness : 0.158845 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.20 [[ 0.99964022 0.00313407 -0.02663833 -1.49402298] [-0.00347143 0.99991424 -0.0126275 -0.04516113] [ 0.02659647 0.01271543 0.99956538 -0.19870733] [ 0. 0. 0. 1. ]] SLAMing on 25.443133364999998 meters Centerline goodness : 0.162960 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.04, Z:-0.20 [[ 0.99964186 0.00299439 -0.02659294 -1.49412676] [-0.00334241 0.99990923 -0.01305214 -0.04274775] [ 0.02655145 0.01313635 0.99956113 -0.19880773] [ 0. 0. 0. 1. ]] SLAMing on 25.503133365 meters Centerline goodness : 0.158169 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.04, Z:-0.20 [[ 0.99963387 0.00277095 -0.02691561 -1.49282868] [-0.00314061 0.9999012 -0.01370123 -0.0397227 ] [ 0.02687499 0.01378075 0.99954381 -0.19966136] [ 0. 0. 0. 1. ]] SLAMing on 25.563133365 meters Centerline goodness : 0.159077 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.20 [[ 0.99962881 0.00264218 -0.02711553 -1.49231367] [-0.00303844 0.99988905 -0.01458293 -0.03413499] [ 0.02707399 0.01465991 0.99952593 -0.1999514 ] [ 0. 0. 0. 1. ]] SLAMing on 25.623133364999997 meters Centerline goodness : 0.240367 with order 3 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.20 [[ 0.99962709 0.00242279 -0.02719932 -1.49232177] [-0.00284289 0.99987711 -0.01541727 -0.02917358] [ 0.02715862 0.01548885 0.99951113 -0.19972383] [ 0. 0. 0. 1. ]] SLAMing on 25.683133365 meters Centerline goodness : 0.236251 with order 3 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.02, Z:-0.20 [[ 0.99963366 0.00183732 -0.02700313 -1.49327743] [-0.00229195 0.999856 -0.01681473 -0.0210839 ] [ 0.02696835 0.01687046 0.99949392 -0.1992732 ] [ 0. 0. 0. 1. ]] SLAMing on 25.743133365 meters Centerline goodness : 0.098215 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.01, Z:-0.20 [[ 0.9996654 0.00417693 -0.02552722 -1.49903981] [-0.00456365 0.99987542 -0.01510987 -0.01432458] [ 0.02546093 0.01522131 0.99955993 -0.19661541] [ 0. 0. 0. 1. ]] SLAMing on 25.803133365 meters Centerline goodness : 0.111617 with order 2 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.01, Z:-0.20 [[ 0.99966565 0.00345214 -0.02562571 -1.4995769 ] [-0.00388133 0.99985272 -0.01671768 -0.00528472] [ 0.02556422 0.01681156 0.99953181 -0.19566399] [ 0. 0. 0. 1. ]] SLAMing on 25.863133365 meters Centerline goodness : 0.218185 with order 3 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.00, Z:-0.20 [[ 9.99671146e-01 3.19134864e-03 -2.54443661e-02 -1.50028621e+00] [-3.63976963e-03 9.99838539e-01 -1.75967959e-02 3.65002657e-04] [ 2.53841003e-02 1.76836207e-02 9.99521354e-01 -1.95346324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923133364999998 meters Centerline goodness : 0.230939 with order 3 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.01, Z:-0.19 [[ 0.99970921 -0.00479402 -0.02363304 -1.48381183] [ 0.00440254 0.9998527 -0.01658898 0.01087406] [ 0.02370908 0.01648011 0.99958306 -0.1927095 ] [ 0. 0. 0. 1. ]] SLAMing on 25.983133365 meters Centerline goodness : 0.133384 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.01, Z:-0.19 [[ 0.99970524 -0.00508278 -0.02374009 -1.48358541] [ 0.00467533 0.99984136 -0.01718734 0.01372326] [ 0.02382368 0.01707128 0.99957041 -0.19270701] [ 0. 0. 0. 1. ]] SLAMing on 26.043133365 meters SLAMing on 26.103133364999998 meters Centerline goodness : 0.241833 with order 3 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.01, Z:-0.20 [[ 0.99965509 -0.01230525 -0.0232011 -1.54566904] [ 0.01189583 0.99977253 -0.01770254 0.0061473 ] [ 0.02341366 0.01742044 0.99957407 -0.19543891] [ 0. 0. 0. 1. ]] SLAMing on 26.163133365 meters Centerline goodness : 0.087011 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.00, Z:-0.20 [[ 0.99971476 -0.0045322 -0.02344919 -1.56319101] [ 0.0040817 0.99980687 -0.01922405 -0.00201964] [ 0.02353179 0.01912286 0.99954018 -0.19842503] [ 0. 0. 0. 1. ]] SLAMing on 26.223133365 meters Centerline goodness : 0.179626 with order 3 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.00, Z:-0.20 [[ 9.99686253e-01 -4.09541867e-03 -2.47107986e-02 -1.55956758e+00] [ 3.62065279e-03 9.99808586e-01 -1.92271378e-02 -5.71772978e-04] [ 2.47848118e-02 1.91316361e-02 9.99509727e-01 -1.99484217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283133364999998 meters Centerline goodness : 0.095549 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.00, Z:-0.20 [[ 0.99963532 0.00535145 -0.02646865 -1.57920789] [-0.00587934 0.99978456 -0.01990663 -0.00310826] [ 0.02635642 0.02005499 0.99945142 -0.20075686] [ 0. 0. 0. 1. ]] SLAMing on 26.343133365 meters SLAMing on 26.403133365 meters Centerline goodness : 0.209253 with order 3 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.00, Z:-0.20 [[ 0.99963284 0.0054274 -0.02654687 -1.57851894] [-0.00595066 0.99978878 -0.01967191 -0.00476953] [ 0.0264345 0.01982266 0.99945399 -0.20156505] [ 0. 0. 0. 1. ]] SLAMing on 26.463133364999997 meters Centerline goodness : 0.101013 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.01, Z:-0.20 [[ 0.99963462 0.00552765 -0.0264588 -1.57890088] [-0.00603672 0.99979745 -0.01919916 -0.00729652] [ 0.02634732 0.01935187 0.99946552 -0.20125435] [ 0. 0. 0. 1. ]] SLAMing on 26.523133365 meters Centerline goodness : 0.235542 with order 3 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.01, Z:-0.20 [[ 0.99967378 0.0035387 -0.02529443 -1.58387315] [-0.00405195 0.99978636 -0.02026862 -0.0143539 ] [ 0.0252173 0.0203645 0.99947455 -0.19880771] [ 0. 0. 0. 1. ]] SLAMing on 26.583133365 meters SLAMing on 26.643133365 meters Centerline goodness : 0.229420 with order 3 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.02, Z:-0.20 [[ 0.99960301 -0.00503894 -0.02772045 -1.60395792] [ 0.00452443 0.99981691 -0.01859224 -0.02298452] [ 0.02780906 0.01845944 0.9994428 -0.19964868] [ 0. 0. 0. 1. ]] SLAMing on 26.703133365 meters SLAMing on 26.763133364999998 meters Centerline goodness : 0.096315 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.04, Z:-0.20 [[ 0.99956944 -0.00551016 -0.02881952 -1.6532944 ] [ 0.00497847 0.99981668 -0.01848819 -0.03603834] [ 0.02891611 0.01833676 0.99941364 -0.19857649] [ 0. 0. 0. 1. ]] SLAMing on 26.823133365 meters Centerline goodness : 0.100491 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.03, Z:-0.20 [[ 0.99956626 -0.00555972 -0.02892025 -1.65324471] [ 0.00501479 0.99980916 -0.01888112 -0.03416512] [ 0.0290197 0.0187279 0.99940338 -0.1984021 ] [ 0. 0. 0. 1. ]] SLAMing on 26.883133365 meters Centerline goodness : 0.238833 with order 3 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.03, Z:-0.20 [[ 9.99582273e-01 -1.71564314e-03 -2.88502390e-02 -1.65355693e+00] [ 1.26955076e-03 9.99879471e-01 -1.54735606e-02 -3.21308335e-02] [ 2.88733089e-02 1.54304700e-02 9.99463973e-01 -1.98318007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943133364999998 meters Centerline goodness : 0.099901 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.03, Z:-0.20 [[ 9.99588475e-01 -1.97326343e-03 -2.86179391e-02 -1.65499011e+00] [ 1.50893311e-03 9.99867022e-01 -1.62376783e-02 -2.83348113e-02] [ 2.86461748e-02 1.61878135e-02 9.99458529e-01 -1.97158330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003133365 meters Centerline goodness : 0.223827 with order 3 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.20 [[ 9.99595934e-01 -2.11370570e-03 -2.83460845e-02 -1.65611538e+00] [ 1.65293295e-03 9.99866287e-01 -1.62688435e-02 -2.87206221e-02] [ 2.83766818e-02 1.62154156e-02 9.99465769e-01 -1.96429595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063133365 meters Centerline goodness : 0.103149 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.20 [[ 0.99961138 -0.00305769 -0.02770825 -1.65829494] [ 0.00260316 0.99986171 -0.01642531 -0.03198422] [ 0.02775464 0.0163468 0.9994811 -0.19536306] [ 0. 0. 0. 1. ]] SLAMing on 27.123133364999997 meters Centerline goodness : 0.097449 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.20 [[ 0.99961898 -0.00338108 -0.02739459 -1.65908489] [ 0.00294414 0.99986806 -0.01597457 -0.03616117] [ 0.02744499 0.01588783 0.99949705 -0.19515293] [ 0. 0. 0. 1. ]] SLAMing on 27.183133365 meters Centerline goodness : 0.086309 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.20 [[ 0.99961041 -0.00310881 -0.02773725 -1.65816913] [ 0.0026917 0.99988293 -0.01506243 -0.04059555] [ 0.02778082 0.0149819 0.99950176 -0.19515459] [ 0. 0. 0. 1. ]] SLAMing on 27.243133365 meters Centerline goodness : 0.104826 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.20 [[ 0.99959297 -0.00276161 -0.02839492 -1.65593795] [ 0.00235692 0.99989532 -0.01427564 -0.04455625] [ 0.02843138 0.01420291 0.99949484 -0.19607615] [ 0. 0. 0. 1. ]] SLAMing on 27.303133365 meters Centerline goodness : 0.108568 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.20 [[ 0.99958506 0.00633851 -0.02809873 -1.67678094] [-0.00674476 0.99987375 -0.0143869 -0.05312365] [ 0.02800399 0.01457045 0.99950162 -0.19764231] [ 0. 0. 0. 1. ]] SLAMing on 27.363133365 meters Centerline goodness : 0.099274 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.20 [[ 0.99958608 0.00648245 -0.02802935 -1.67662811] [-0.00688716 0.99987308 -0.01436661 -0.05296313] [ 0.02793266 0.0145537 0.99950386 -0.19822797] [ 0. 0. 0. 1. ]] SLAMing on 27.423133364999998 meters Centerline goodness : 0.171139 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.20 [[ 0.999554 0.01015323 -0.02808411 -1.67590914] [-0.0104735 0.99988152 -0.01128065 -0.0502002 ] [ 0.02796624 0.01156976 0.99954191 -0.19906894] [ 0. 0. 0. 1. ]] SLAMing on 27.483133365 meters Centerline goodness : 0.101815 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.04, Z:-0.20 [[ 0.99959691 0.00346082 -0.02817857 -1.69595628] [-0.00373958 0.99994454 -0.0098457 -0.04294231] [ 0.02814293 0.00994711 0.99955442 -0.20111007] [ 0. 0. 0. 1. ]] SLAMing on 27.543133365 meters Centerline goodness : 0.168363 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.04, Z:-0.20 [[ 0.99957843 0.00359831 -0.02880993 -1.69433617] [-0.00390005 0.99993806 -0.01042405 -0.03798541] [ 0.02877063 0.01053201 0.99953055 -0.20152031] [ 0. 0. 0. 1. ]] SLAMing on 27.603133364999998 meters SLAMing on 27.663133365 meters Centerline goodness : 0.223066 with order 3 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.04, Z:-0.20 [[ 0.99961087 -0.00631282 -0.0271709 -1.76648017] [ 0.00599823 0.99991422 -0.01164399 -0.04247521] [ 0.02724207 0.01147648 0.99956298 -0.20019294] [ 0. 0. 0. 1. ]] SLAMing on 27.723133365 meters Centerline goodness : 0.171231 with order 3 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.04, Z:-0.20 [[ 0.99962062 -0.00629246 -0.0268144 -1.76800553] [ 0.00598695 0.99991643 -0.01145855 -0.04279186] [ 0.02688427 0.01129367 0.99957475 -0.19906263] [ 0. 0. 0. 1. ]] SLAMing on 27.783133364999998 meters Centerline goodness : 0.205639 with order 3 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.04, Z:-0.20 [[ 0.99961839 -0.00640795 -0.02687027 -1.76796987] [ 0.0060947 0.9999127 -0.0117237 -0.04170145] [ 0.02694305 0.01155546 0.99957018 -0.19895472] [ 0. 0. 0. 1. ]] SLAMing on 27.843133365 meters Centerline goodness : 0.100377 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.04, Z:-0.20 [[ 0.9996183 -0.00646772 -0.02685934 -1.76814455] [ 0.00614901 0.99990991 -0.01193193 -0.04068378] [ 0.02693409 0.01176221 0.99956801 -0.19881146] [ 0. 0. 0. 1. ]] SLAMing on 27.903133365 meters Centerline goodness : 0.096145 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.04, Z:-0.20 [[ 0.99962329 -0.00642493 -0.02668329 -1.76844166] [ 0.00610604 0.99990917 -0.01201547 -0.03978339] [ 0.02675807 0.01184801 0.99957172 -0.19910249] [ 0. 0. 0. 1. ]] SLAMing on 27.963133364999997 meters Centerline goodness : 0.228411 with order 3 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.04, Z:-0.20 [[ 0.99961695 -0.00635548 -0.02693607 -1.76782395] [ 0.00602723 0.9999068 -0.01225006 -0.03846881] [ 0.02701141 0.01208302 0.9995621 -0.19926065] [ 0. 0. 0. 1. ]] SLAMing on 28.023133365 meters Centerline goodness : 0.088551 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.04, Z:-0.20 [[ 0.99958651 -0.00384384 -0.02849636 -1.81533274] [ 0.00353684 0.99993525 -0.01081591 -0.03970816] [ 0.02853609 0.01071065 0.99953538 -0.19899261] [ 0. 0. 0. 1. ]] SLAMing on 28.083133365 meters Centerline goodness : 0.096115 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.04, Z:-0.20 [[ 9.99606525e-01 -1.80607673e-04 -2.80492789e-02 -1.81679315e+00] [-3.61787056e-05 9.99970137e-01 -7.72806853e-03 -3.67088333e-02] [ 2.80498370e-02 7.72604251e-03 9.99576668e-01 -1.98610586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143133365 meters Centerline goodness : 0.212316 with order 3 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.03, Z:-0.20 [[ 9.99603726e-01 -3.91567265e-04 -2.81467215e-02 -1.81615267e+00] [ 1.55793192e-04 9.99964889e-01 -8.37831370e-03 -3.35505973e-02] [ 2.81490139e-02 8.37060852e-03 9.99568690e-01 -1.99450959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203133365 meters Centerline goodness : 0.102678 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.03, Z:-0.20 [[ 9.99604918e-01 -5.79570517e-04 -2.81011040e-02 -1.81657776e+00] [ 3.39480371e-04 9.99963409e-01 -8.54781582e-03 -3.31273250e-02] [ 2.81050298e-02 8.53489896e-03 9.99568538e-01 -1.98976609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263133364999998 meters SLAMing on 28.323133365 meters Centerline goodness : 0.087421 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:-0.20 [[ 0.99955265 -0.00546168 -0.02940534 -1.86753129] [ 0.00520392 0.99994743 -0.00883508 -0.03830847] [ 0.02945204 0.0086781 0.99952852 -0.20363466] [ 0. 0. 0. 1. ]] SLAMing on 28.383133365 meters Centerline goodness : 0.233841 with order 3 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:-0.20 [[ 0.99952548 -0.00593258 -0.03022612 -1.86552063] [ 0.00566997 0.9999455 -0.00876673 -0.04058301] [ 0.03027648 0.00859119 0.99950464 -0.20358542] [ 0. 0. 0. 1. ]] SLAMing on 28.443133364999998 meters Centerline goodness : 0.087033 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.05, Z:-0.20 [[ 9.99647531e-01 -9.56950714e-06 -2.65483425e-02 -1.88759816e+00] [-2.51887059e-04 9.99951506e-01 -9.84495810e-03 -4.93668355e-02] [ 2.65471493e-02 9.84817524e-03 9.99599051e-01 -2.04523743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503133365 meters Centerline goodness : 0.074792 with order 3 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.05, Z:-0.20 [[ 9.99649631e-01 1.18588650e-04 -2.64688857e-02 -1.88790859e+00] [-3.60602400e-04 9.99958176e-01 -9.13874384e-03 -5.29558244e-02] [ 2.64666949e-02 9.14508665e-03 9.99607864e-01 -2.04230450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563133365 meters SLAMing on 28.623133364999997 meters Centerline goodness : 0.086602 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.06, Z:-0.21 [[ 9.99747533e-01 -4.75312406e-04 -2.24642949e-02 -1.93068682e+00] [ 2.60244678e-04 9.99954118e-01 -9.57571219e-03 -6.28945797e-02] [ 2.24678157e-02 9.56744842e-03 9.99701786e-01 -2.05696207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683133365 meters Centerline goodness : 0.092040 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.06, Z:-0.21 [[ 9.99753010e-01 -2.95076102e-04 -2.22223318e-02 -1.93150055e+00] [ 8.89185333e-05 9.99956959e-01 -9.27746162e-03 -6.40379159e-02] [ 2.22241129e-02 9.27319420e-03 9.99710006e-01 -2.05348838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743133365 meters Centerline goodness : 0.092859 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.07, Z:-0.21 [[ 9.99748772e-01 -8.11863892e-05 -2.24139571e-02 -1.93060046e+00] [-1.22196863e-04 9.99958837e-01 -9.07243689e-03 -6.50406665e-02] [ 2.24137710e-02 9.07289656e-03 9.99707610e-01 -2.06136491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803133364999997 meters Centerline goodness : 0.229402 with order 3 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.07, Z:-0.21 [[ 9.99759060e-01 1.20700375e-04 -2.19501189e-02 -1.93188606e+00] [-3.10763646e-04 9.99962491e-01 -8.65566714e-03 -6.71937021e-02] [ 2.19482508e-02 8.66040294e-03 9.99721597e-01 -2.05927442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863133365 meters Centerline goodness : 0.097765 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.07, Z:-0.21 [[ 9.99767286e-01 2.36983111e-04 -2.15712379e-02 -1.93287804e+00] [-4.14422109e-04 9.99966116e-01 -8.22162299e-03 -6.97693560e-02] [ 2.15685586e-02 8.22864930e-03 9.99733508e-01 -2.05771314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923133364999998 meters Centerline goodness : 0.247692 with order 3 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.07, Z:-0.21 [[ 9.99739898e-01 3.92963705e-04 -2.28030956e-02 -1.92852942e+00] [-5.64551510e-04 9.99971574e-01 -7.51880962e-03 -7.39206343e-02] [ 2.27994928e-02 7.52972749e-03 9.99711702e-01 -2.07939371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983133365 meters Centerline goodness : 0.244425 with order 3 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.08, Z:-0.21 [[ 0.99973807 -0.0029517 -0.02269525 -1.9292665 ] [ 0.00273286 0.99994953 -0.00966773 -0.08224123] [ 0.02272264 0.00960318 0.99969568 -0.20717625] [ 0. 0. 0. 1. ]] SLAMing on 29.043133365 meters Centerline goodness : 0.101311 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.09, Z:-0.21 [[ 0.99972358 -0.00648681 -0.02259842 -1.92968264] [ 0.00621176 0.99990603 -0.01222045 -0.08871466] [ 0.02267557 0.0120767 0.99966993 -0.20678652] [ 0. 0. 0. 1. ]] SLAMing on 29.103133364999998 meters Centerline goodness : 0.099799 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.10, Z:-0.21 [[ 0.99970232 -0.00951578 -0.02246599 -1.92834539] [ 0.00920009 0.99985807 -0.01411366 -0.0972653 ] [ 0.02259711 0.01390277 0.99964798 -0.20854228] [ 0. 0. 0. 1. ]] SLAMing on 29.163133365 meters Centerline goodness : 0.415947 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.10, Z:-0.21 [[ 0.9997046 -0.00913679 -0.02252174 -1.92787771] [ 0.00883353 0.99986947 -0.013528 -0.09955711] [ 0.0226424 0.01332506 0.99965482 -0.20907955] [ 0. 0. 0. 1. ]] SLAMing on 29.223133365 meters Centerline goodness : 0.093274 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.10, Z:-0.21 [[ 9.99684637e-01 1.34372796e-03 -2.50762967e-02 -1.94622366e+00] [-1.67071339e-03 9.99913798e-01 -1.30232300e-02 -1.03363799e-01] [ 2.50566354e-02 1.30610182e-02 9.99600708e-01 -2.10263012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283133364999998 meters Centerline goodness : 0.237824 with order 3 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.10, Z:-0.21 [[ 9.99704040e-01 1.86857821e-03 -2.42557516e-02 -1.94872386e+00] [-2.17964898e-03 9.99915643e-01 -1.28045223e-02 -1.02389957e-01] [ 2.42297792e-02 1.28536017e-02 9.99623781e-01 -2.09602546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343133365 meters Centerline goodness : 0.102872 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.10, Z:-0.21 [[ 9.99715757e-01 1.76109080e-03 -2.37761235e-02 -1.94980589e+00] [-2.07162429e-03 9.99912798e-01 -1.30424211e-02 -1.01561894e-01] [ 2.37510813e-02 1.30879690e-02 9.99632228e-01 -2.09789728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403133365 meters Centerline goodness : 0.226810 with order 3 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.10, Z:-0.21 [[ 9.99717720e-01 1.76535885e-03 -2.36931379e-02 -1.95044518e+00] [-2.06926068e-03 9.99915831e-01 -1.28081942e-02 -1.02565011e-01] [ 2.36685326e-02 1.28536059e-02 9.99637227e-01 -2.09118459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463133364999997 meters Centerline goodness : 0.169519 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.10, Z:-0.21 [[ 9.99733823e-01 1.63423674e-03 -2.30133072e-02 -1.95259520e+00] [-1.92790396e-03 9.99916929e-01 -1.27443573e-02 -1.03348823e-01] [ 2.29905682e-02 1.27853325e-02 9.99653925e-01 -2.08240895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523133365 meters Centerline goodness : 0.238568 with order 3 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.11, Z:-0.21 [[ 9.99656427e-01 9.81868912e-04 -2.61928257e-02 -1.99618178e+00] [-1.32721441e-03 9.99912383e-01 -1.31706115e-02 -1.05781611e-01] [ 2.61775989e-02 1.32008500e-02 9.99570143e-01 -2.09125168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583133365 meters Centerline goodness : 0.413283 with order 1 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.10, Z:-0.21 [[ 9.99651964e-01 7.15516000e-04 -2.63711748e-02 -1.99546395e+00] [-1.07936237e-03 9.99904393e-01 -1.37854731e-02 -1.03001987e-01] [ 2.63587899e-02 1.38091393e-02 9.99557163e-01 -2.09616100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643133365 meters Centerline goodness : 0.233111 with order 3 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.10, Z:-0.21 [[ 9.99664451e-01 7.26161064e-04 -2.58932145e-02 -1.99746232e+00] [-1.09101396e-03 9.99900286e-01 -1.40793340e-02 -1.00716481e-01] [ 2.58804088e-02 1.41028595e-02 9.99565563e-01 -2.08438873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703133365 meters Centerline goodness : 0.097210 with order 1 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.10, Z:-0.21 [[ 0.99965595 -0.00561191 -0.02562197 -2.01921853] [ 0.00532218 0.99992129 -0.011362 -0.09738019] [ 0.02568372 0.01122173 0.99960713 -0.20943729] [ 0. 0. 0. 1. ]] SLAMing on 29.763133364999998 meters Centerline goodness : 0.097399 with order 1 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.09, Z:-0.21 [[ 0.99963732 -0.00597623 -0.02625847 -2.01683549] [ 0.00566035 0.99991092 -0.01208753 -0.09482399] [ 0.02632837 0.01193451 0.9995821 -0.21084969] [ 0. 0. 0. 1. ]] SLAMing on 29.823133365 meters Centerline goodness : 0.089153 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.10, Z:-0.21 [[ 0.99960506 0.0033255 -0.02790452 -2.03902647] [-0.00366423 0.99992012 -0.0120966 -0.09586875] [ 0.02786206 0.01219407 0.9995374 -0.21070183] [ 0. 0. 0. 1. ]] SLAMing on 29.883133365 meters Centerline goodness : 0.218749 with order 3 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.10, Z:-0.21 [[ 0.99961625 0.00311399 -0.02752547 -2.04047335] [-0.00345366 0.99991837 -0.0123015 -0.09593343] [ 0.02748491 0.01239184 0.99954541 -0.20988358] [ 0. 0. 0. 1. ]] SLAMing on 29.943133364999998 meters Centerline goodness : 0.096270 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.10, Z:-0.21 [[ 0.99962589 0.00323773 -0.02715865 -2.04184047] [-0.00355834 0.99992446 -0.01176497 -0.09843746] [ 0.0271185 0.01185721 0.9995619 -0.20905269] [ 0. 0. 0. 1. ]] SLAMing on 30.003133365 meters Centerline goodness : 0.133120 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.10, Z:-0.21 [[ 0.99960932 0.00319368 -0.02776716 -2.03935768] [-0.00350913 0.99992978 -0.01131904 -0.10265099] [ 0.02772906 0.01141206 0.99955033 -0.21039293] [ 0. 0. 0. 1. ]] SLAMing on 30.063133365 meters Centerline goodness : 0.209210 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.11, Z:-0.21 [[ 0.999616 0.00347802 -0.02749116 -2.04045033] [-0.00377514 0.99993495 -0.01076355 -0.1051862 ] [ 0.02745194 0.0108632 0.9995641 -0.2097827 ] [ 0. 0. 0. 1. ]] SLAMing on 30.123133364999997 meters Centerline goodness : 0.131599 with order 2 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.11, Z:-0.21 [[ 0.99961514 0.00370104 -0.02749325 -2.04077982] [-0.00398058 0.99994087 -0.01011995 -0.10919558] [ 0.02745417 0.01022549 0.99957076 -0.20927835] [ 0. 0. 0. 1. ]] SLAMing on 30.183133365 meters Centerline goodness : 0.087813 with order 3 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.11, Z:-0.21 [[ 0.99962356 0.00402268 -0.02713975 -2.04188327] [-0.00427045 0.99994968 -0.00907742 -0.1146233 ] [ 0.02710186 0.0091899 0.99959043 -0.20885701] [ 0. 0. 0. 1. ]] SLAMing on 30.243133365 meters Centerline goodness : 0.131570 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.13, Z:-0.21 [[ 9.99633549e-01 5.43407893e-04 -2.70642318e-02 -2.04125573e+00] [-8.47705292e-04 9.99936545e-01 -1.12333223e-02 -1.26441223e-01] [ 2.70564102e-02 1.12521483e-02 9.99570578e-01 -2.09773210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303133364999997 meters Centerline goodness : 0.156840 with order 1 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.13, Z:-0.21 [[ 0.99956188 -0.00839514 -0.02838273 -2.06335797] [ 0.00812103 0.9999194 -0.00975916 -0.13444252] [ 0.02846237 0.00952439 0.99954949 -0.21015206] [ 0. 0. 0. 1. ]] SLAMing on 30.363133365 meters Centerline goodness : 0.149846 with order 1 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.14, Z:-0.21 [[ 0.99956131 -0.00800186 -0.02851605 -2.06265182] [ 0.00775121 0.99993044 -0.00888962 -0.13855701] [ 0.0285852 0.00866468 0.99955381 -0.21065074] [ 0. 0. 0. 1. ]] SLAMing on 30.423133364999998 meters Centerline goodness : 0.157906 with order 1 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.14, Z:-0.21 [[ 0.99957292 -0.00746016 -0.0282545 -2.06341028] [ 0.00724161 0.99994313 -0.00782967 -0.14353756] [ 0.02831131 0.00762172 0.9995701 -0.2104282 ] [ 0. 0. 0. 1. ]] SLAMing on 30.483133365 meters Centerline goodness : 0.146528 with order 1 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.15, Z:-0.21 [[ 0.99956087 -0.00719133 -0.02874645 -2.06153137] [ 0.00697986 0.99994789 -0.00744992 -0.14524246] [ 0.02879853 0.007246 0.99955897 -0.21148241] [ 0. 0. 0. 1. ]] SLAMing on 30.543133365 meters Centerline goodness : 0.098403 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99563728e-01 9.12063454e-04 -2.95215386e-02 -2.08045590e+00] [-1.16830011e-03 9.99961788e-01 -8.66356648e-03 -1.53323813e-01] [ 2.95125088e-02 8.69427683e-03 9.99526599e-01 -2.13869705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603133364999998 meters Centerline goodness : 0.240038 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99576483e-01 1.36820077e-03 -2.90685848e-02 -2.08171235e+00] [-1.61210886e-03 9.99963680e-01 -8.36900147e-03 -1.53091474e-01] [ 2.90560786e-02 8.41231878e-03 9.99542384e-01 -2.13732776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663133365 meters Centerline goodness : 0.149446 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99565048e-01 1.53319167e-03 -2.94510323e-02 -2.08063388e+00] [-1.77739208e-03 9.99964245e-01 -8.26735538e-03 -1.53562802e-01] [ 2.94373039e-02 8.31610551e-03 9.99532034e-01 -2.14093539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723133365 meters Centerline goodness : 0.147467 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99555840e-01 1.71063111e-03 -2.97522637e-02 -2.07968628e+00] [-1.94732777e-03 9.99966673e-01 -7.92843023e-03 -1.54919419e-01] [ 2.97377095e-02 7.98284614e-03 9.99525859e-01 -2.14465838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783133364999998 meters Centerline goodness : 0.224407 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.16, Z:-0.21 [[ 9.99569456e-01 1.67702273e-03 -2.92931609e-02 -2.08125665e+00] [-1.90905735e-03 9.99967012e-01 -7.89494896e-03 -1.55390838e-01] [ 2.92789546e-02 7.94747216e-03 9.99539684e-01 -2.13728501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843133365 meters Centerline goodness : 0.129202 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99574253e-01 1.72471330e-03 -2.91262402e-02 -2.08176100e+00] [-1.95760571e-03 9.99966328e-01 -7.96934413e-03 -1.54227428e-01] [ 2.91115146e-02 8.02296890e-03 9.99543972e-01 -2.13640621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903133365 meters Centerline goodness : 0.145828 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99570212e-01 1.33323708e-03 -2.92850363e-02 -2.08136101e+00] [-1.59439173e-03 9.99959157e-01 -8.89614240e-03 -1.50080453e-01] [ 2.92719795e-02 8.93901077e-03 9.99531513e-01 -2.13789935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963133364999997 meters Centerline goodness : 0.150146 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99565776e-01 1.18700014e-03 -2.94423203e-02 -2.08127939e+00] [-1.46457509e-03 9.99954671e-01 -9.40798119e-03 -1.46822147e-01] [ 2.94298185e-02 9.44701651e-03 9.99522206e-01 -2.13491081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023133365 meters Centerline goodness : 0.115128 with order 2 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 9.99571787e-01 4.45825977e-04 -2.92582342e-02 -2.08211513e+00] [-7.36881293e-04 9.99950348e-01 -9.93778053e-03 -1.45693693e-01] [ 2.92523509e-02 9.95508489e-03 9.99522484e-01 -2.12823554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083133365 meters Centerline goodness : 0.412947 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 0.99956163 -0.00365149 -0.02938063 -2.08214403] [ 0.00324941 0.99990058 -0.01372136 -0.14679316] [ 0.02942781 0.01361987 0.99947411 -0.21235704] [ 0. 0. 0. 1. ]] SLAMing on 31.143133365 meters Centerline goodness : 0.118955 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 0.9995819 -0.00348951 -0.02870266 -2.08403661] [ 0.00312295 0.99991312 -0.01280595 -0.15105997] [ 0.02874486 0.01271096 0.99950596 -0.21171757] [ 0. 0. 0. 1. ]] SLAMing on 31.203133365 meters Centerline goodness : 0.150107 with order 1 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.15, Z:-0.21 [[ 0.99957102 -0.00337425 -0.02909286 -2.08279701] [ 0.00301366 0.99991821 -0.01242937 -0.15379256] [ 0.02913242 0.01233636 0.99949943 -0.2120991 ] [ 0. 0. 0. 1. ]] SLAMing on 31.263133364999998 meters Centerline goodness : 0.208580 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.16, Z:-0.21 [[ 0.99955279 -0.0028974 -0.02976278 -2.08075711] [ 0.00254491 0.99992626 -0.01187439 -0.155303 ] [ 0.02979499 0.01179334 0.99948646 -0.21281842] [ 0. 0. 0. 1. ]] SLAMing on 31.323133365 meters Centerline goodness : 0.098222 with order 3 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.17, Z:-0.21 [[ 0.9996183 0.00226191 -0.02753443 -2.10478211] [-0.00266138 0.99989162 -0.01448006 -0.16637034] [ 0.02749869 0.01454781 0.99951597 -0.21349968] [ 0. 0. 0. 1. ]] SLAMing on 31.383133365 meters Centerline goodness : 0.133829 with order 2 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.18, Z:-0.21 [[ 9.99639044e-01 1.21990896e-03 -2.68382867e-02 -2.10684290e+00] [-1.60619264e-03 9.99895368e-01 -1.43761617e-02 -1.76127629e-01] [ 2.68179410e-02 1.44140800e-02 9.99536409e-01 -2.12959386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443133364999998 meters Centerline goodness : 0.210708 with order 3 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.18, Z:-0.21 [[ 0.99955962 -0.00871239 -0.02836641 -2.12856678] [ 0.00832106 0.99986898 -0.01388449 -0.1815439 ] [ 0.02848366 0.01364233 0.99950116 -0.21359364] [ 0. 0. 0. 1. ]] SLAMing on 31.503133365 meters Centerline goodness : 0.314617 with order 1 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.19, Z:-0.21 [[ 0.99955883 -0.01182615 -0.02724487 -2.13313426] [ 0.01141077 0.99981705 -0.01535146 -0.19386668] [ 0.02742143 0.0150338 0.99951091 -0.21100736] [ 0. 0. 0. 1. ]] SLAMing on 31.563133365 meters Centerline goodness : 0.127087 with order 3 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.21, Z:-0.21 [[ 0.99952623 -0.01420316 -0.02730555 -2.13249644] [ 0.01376363 0.99977375 -0.01621778 -0.20561631] [ 0.02752972 0.01583427 0.99949557 -0.21132649] [ 0. 0. 0. 1. ]] SLAMing on 31.623133364999997 meters Centerline goodness : 0.138294 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.21, Z:-0.21 [[ 0.99961019 -0.00703042 -0.02701936 -2.14936626] [ 0.00656493 0.99982917 -0.01727818 -0.2145689 ] [ 0.02713622 0.01709406 0.99948558 -0.21465271] [ 0. 0. 0. 1. ]] SLAMing on 31.683133365 meters Centerline goodness : 0.135853 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.22, Z:-0.22 [[ 0.99960066 -0.00677452 -0.02743403 -2.14794672] [ 0.00632361 0.99984404 -0.01648949 -0.2191286 ] [ 0.02754146 0.01630942 0.9994876 -0.21525853] [ 0. 0. 0. 1. ]] SLAMing on 31.743133365 meters Centerline goodness : 0.135687 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.22, Z:-0.22 [[ 0.99958617 -0.00656823 -0.02800628 -2.14564331] [ 0.00612396 0.99985452 -0.01591981 -0.22233045] [ 0.02810677 0.01574171 0.99948097 -0.21666645] [ 0. 0. 0. 1. ]] SLAMing on 31.803133364999997 meters Centerline goodness : 0.136368 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.23, Z:-0.22 [[ 9.99602567e-01 1.60354863e-03 -2.81449143e-02 -2.16607993e+00] [-2.06245146e-03 9.99865287e-01 -1.62835515e-02 -2.30289705e-01] [ 2.81150114e-02 1.63351274e-02 9.99471215e-01 -2.17899960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863133365 meters Centerline goodness : 0.127630 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.23, Z:-0.22 [[ 9.99604563e-01 1.79434023e-03 -2.80623879e-02 -2.16636037e+00] [-2.24172286e-03 9.99870770e-01 -1.59191031e-02 -2.31920740e-01] [ 2.80301972e-02 1.59757162e-02 9.99479407e-01 -2.17781034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923133364999998 meters Centerline goodness : 0.128778 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.23, Z:-0.22 [[ 9.99596959e-01 1.96817172e-03 -2.83203978e-02 -2.16561306e+00] [-2.40655474e-03 9.99877689e-01 -1.54536605e-02 -2.34408755e-01] [ 2.82865184e-02 1.55155866e-02 9.99479434e-01 -2.18042073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983133365 meters Centerline goodness : 0.137960 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.22 [[ 9.99598730e-01 2.09658139e-03 -2.82485992e-02 -2.16574055e+00] [-2.52057069e-03 9.99884587e-01 -1.49819765e-02 -2.37357748e-01] [ 2.82139280e-02 1.50471673e-02 9.99488648e-01 -2.18082895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043133364999996 meters Centerline goodness : 0.144020 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.22 [[ 0.99960162 0.00229526 -0.02813075 -2.16682672] [-0.00270119 0.99989266 -0.01440049 -0.2405273 ] [ 0.02809468 0.01447074 0.99950052 -0.21687552] [ 0. 0. 0. 1. ]] SLAMing on 32.103133365 meters Centerline goodness : 0.134847 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.22 [[ 0.99961237 0.00254154 -0.02772444 -2.16820567] [-0.00292409 0.99990096 -0.01376665 -0.24357787] [ 0.0276867 0.01384238 0.9995208 -0.21627001] [ 0. 0. 0. 1. ]] SLAMing on 32.16313336499999 meters Centerline goodness : 0.132468 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.25, Z:-0.21 [[ 9.99651334e-01 4.94016891e-04 -2.64001299e-02 -2.17317969e+00] [-8.90206605e-04 9.99887135e-01 -1.49974673e-02 -2.50840230e-01] [ 2.63897413e-02 1.50157398e-02 9.99538948e-01 -2.14209324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223133364999995 meters Centerline goodness : 0.130895 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.26, Z:-0.21 [[ 9.99641225e-01 7.29540455e-04 -2.67747944e-02 -2.17201917e+00] [-1.10945006e-03 9.99898886e-01 -1.41769652e-02 -2.55837026e-01] [ 2.67617444e-02 1.42015842e-02 9.99540957e-01 -2.14587248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283133365 meters Centerline goodness : 0.128973 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.26, Z:-0.22 [[ 9.99636598e-01 1.28687759e-03 -2.69261076e-02 -2.17133330e+00] [-1.63534280e-03 9.99915151e-01 -1.29235207e-02 -2.61835121e-01] [ 2.69071919e-02 1.29628577e-02 9.99553884e-01 -2.15014388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34313336499999 meters Centerline goodness : 0.155553 with order 3 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.27, Z:-0.22 [[ 0.99960486 0.00940931 -0.02648767 -2.19195215] [-0.00976431 0.9998638 -0.0133054 -0.2703382 ] [ 0.02635887 0.01355878 0.99956059 -0.21679178] [ 0. 0. 0. 1. ]] SLAMing on 32.403133364999995 meters Centerline goodness : 0.131040 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.27, Z:-0.22 [[ 0.99954076 0.01206101 -0.02779932 -2.18626076] [-0.01237752 0.9998602 -0.01124165 -0.2700936 ] [ 0.02765985 0.01158057 0.99955031 -0.21940785] [ 0. 0. 0. 1. ]] SLAMing on 32.463133365 meters Centerline goodness : 0.128119 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.27, Z:-0.22 [[ 0.99953844 0.01279203 -0.02755477 -2.18699698] [-0.01309536 0.99985532 -0.01085607 -0.27031736] [ 0.02741192 0.0112119 0.99956134 -0.21914078] [ 0. 0. 0. 1. ]] SLAMing on 32.52313336499999 meters Centerline goodness : 0.132628 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.27, Z:-0.22 [[ 0.9995401 0.01300648 -0.0273937 -2.18765393] [-0.01329799 0.99985659 -0.01048624 -0.27195896] [ 0.02725338 0.01084569 0.99956972 -0.21877792] [ 0. 0. 0. 1. ]] SLAMing on 32.583133364999995 meters Centerline goodness : 0.130056 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.27, Z:-0.22 [[ 0.99956804 0.00617517 -0.02873336 -2.16745069] [-0.00643756 0.99993834 -0.00904819 -0.26968866] [ 0.02867571 0.00922925 0.99954616 -0.21777314] [ 0. 0. 0. 1. ]] SLAMing on 32.643133365 meters Centerline goodness : 0.143651 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.27, Z:-0.22 [[ 0.9995915 0.00275543 -0.0284472 -2.16831397] [-0.00310541 0.99991995 -0.01226592 -0.27195374] [ 0.02841112 0.01234925 0.99952004 -0.21774262] [ 0. 0. 0. 1. ]] SLAMing on 32.70313336499999 meters Centerline goodness : 0.138439 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.27, Z:-0.22 [[ 0.99959144 0.0029723 -0.02842756 -2.16860022] [-0.00331227 0.99992348 -0.01191932 -0.27289448] [ 0.02838996 0.01200861 0.99952479 -0.21744373] [ 0. 0. 0. 1. ]] SLAMing on 32.763133364999995 meters Centerline goodness : 0.133855 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.27, Z:-0.22 [[ 0.99959084 0.00285681 -0.02846035 -2.16865318] [-0.00320655 0.99991982 -0.01225066 -0.27133443] [ 0.02842307 0.01233691 0.99951985 -0.21729521] [ 0. 0. 0. 1. ]] SLAMing on 32.823133365 meters Centerline goodness : 0.128510 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.27, Z:-0.22 [[ 9.99678536e-01 -1.76882756e-03 -2.52921918e-02 -2.14938685e+00] [ 1.54707188e-03 9.99960218e-01 -8.78463361e-03 -2.65643044e-01] [ 2.53067241e-02 8.74268083e-03 9.99641503e-01 -2.16395961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88313336499999 meters Centerline goodness : 0.130235 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.27, Z:-0.22 [[ 0.99968246 0.00548453 -0.02459473 -2.17036293] [-0.00574724 0.99992705 -0.01062395 -0.26535302] [ 0.02453467 0.01076192 0.99964105 -0.2174979 ] [ 0. 0. 0. 1. ]] SLAMing on 32.943133364999994 meters Centerline goodness : 0.129677 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.26, Z:-0.22 [[ 9.99706967e-01 -1.01761854e-03 -2.41856317e-02 -2.19457519e+00] [ 8.26364119e-04 9.99968323e-01 -7.91644974e-03 -2.58129993e-01] [ 2.41929215e-02 7.89414382e-03 9.99676140e-01 -2.17226252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003133365 meters Centerline goodness : 0.122033 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.26, Z:-0.22 [[ 9.99682320e-01 -1.76403719e-03 -2.51425240e-02 -2.19248158e+00] [ 1.54926061e-03 9.99962169e-01 -8.55928440e-03 -2.57320260e-01] [ 2.51566717e-02 8.51761297e-03 9.99647234e-01 -2.16911555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063133365 meters Centerline goodness : 0.135115 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.26, Z:-0.22 [[ 0.99960274 0.00593566 -0.02755235 -2.21086676] [-0.00619536 0.9999371 -0.00934983 -0.26282406] [ 0.02749512 0.00951682 0.99957663 -0.21856796] [ 0. 0. 0. 1. ]] SLAMing on 33.123133364999994 meters Centerline goodness : 0.134819 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.26, Z:-0.22 [[ 0.99960742 0.00598328 -0.02737178 -2.21128408] [-0.00623551 0.9999388 -0.00913892 -0.26438676] [ 0.02731542 0.00930601 0.99958355 -0.21854943] [ 0. 0. 0. 1. ]] SLAMing on 33.183133364999996 meters Centerline goodness : 0.123243 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.26, Z:-0.22 [[ 0.99959536 0.00605085 -0.02779407 -2.20962852] [-0.00630733 0.99993825 -0.00914981 -0.26415893] [ 0.02773699 0.00932141 0.99957179 -0.2196225 ] [ 0. 0. 0. 1. ]] SLAMing on 33.243133365 meters Centerline goodness : 0.129771 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.27, Z:-0.22 [[ 0.99957624 0.00604796 -0.02847375 -2.20716495] [-0.00630456 0.99994025 -0.00893072 -0.26601405] [ 0.02841804 0.00910645 0.99955464 -0.22093534] [ 0. 0. 0. 1. ]] SLAMing on 33.303133364999994 meters Centerline goodness : 0.125338 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.27, Z:-0.22 [[ 0.99960386 0.00312447 -0.02797083 -2.21053972] [-0.00343203 0.99993411 -0.01095456 -0.27244634] [ 0.02793476 0.01104621 0.99954871 -0.21837728] [ 0. 0. 0. 1. ]] SLAMing on 33.363133364999996 meters Centerline goodness : 0.125807 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.27, Z:-0.22 [[ 9.99613380e-01 -6.60020015e-04 -2.77966580e-02 -2.21132015e+00] [ 2.62039479e-04 9.99897447e-01 -1.43187774e-02 -2.74801925e-01] [ 2.78032581e-02 1.43059577e-02 9.99511040e-01 -2.17930886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423133365 meters Centerline goodness : 0.126542 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.28, Z:-0.22 [[ 9.99629929e-01 -4.71543376e-04 -2.71989571e-02 -2.21336325e+00] [ 9.89179133e-05 9.99906150e-01 -1.36997096e-02 -2.77582216e-01] [ 2.72028645e-02 1.36919493e-02 9.99536160e-01 -2.17028008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48313336499999 meters Centerline goodness : 0.123286 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.28, Z:-0.21 [[ 0.99964246 -0.00343774 -0.02651654 -2.21731782] [ 0.00301865 0.99987016 -0.01582879 -0.28324016] [ 0.02656752 0.01574308 0.99952305 -0.21418712] [ 0. 0. 0. 1. ]] SLAMing on 33.543133364999996 meters Centerline goodness : 0.240599 with order 3 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.29, Z:-0.21 [[ 0.99964774 -0.00349719 -0.02630921 -2.21837209] [ 0.00309093 0.9998756 -0.01546681 -0.28587221] [ 0.02636003 0.01538004 0.99953419 -0.21333842] [ 0. 0. 0. 1. ]] SLAMing on 33.603133365 meters Centerline goodness : 0.124054 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.29, Z:-0.21 [[ 0.9996582 -0.00362856 -0.02589033 -2.21967066] [ 0.0032545 0.99988993 -0.01447559 -0.29255365] [ 0.02594001 0.01438638 0.99955998 -0.21282561] [ 0. 0. 0. 1. ]] SLAMing on 33.66313336499999 meters Centerline goodness : 0.130735 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.30, Z:-0.21 [[ 0.99963531 -0.00411046 -0.02668987 -2.21729603] [ 0.00372788 0.99988982 -0.01436852 -0.29596174] [ 0.02674599 0.01426378 0.99954049 -0.21345165] [ 0. 0. 0. 1. ]] SLAMing on 33.723133364999995 meters Centerline goodness : 0.123174 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.30, Z:-0.21 [[ 0.99963787 -0.00698076 -0.02598837 -2.22073855] [ 0.00656505 0.99984968 -0.0160473 -0.3042517 ] [ 0.02609649 0.01587088 0.99953344 -0.21126847] [ 0. 0. 0. 1. ]] SLAMing on 33.783133365 meters Centerline goodness : 0.224933 with order 3 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.32, Z:-0.21 [[ 0.99950629 -0.00945399 -0.02996332 -2.25652934] [ 0.00894718 0.9998154 -0.01700356 -0.31919647] [ 0.03011854 0.01672708 0.99940636 -0.21400117] [ 0. 0. 0. 1. ]] SLAMing on 33.84313336499999 meters Centerline goodness : 0.132254 with order 1 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.32, Z:-0.21 [[ 0.9995129 -0.00929667 -0.0297914 -2.25752422] [ 0.0088263 0.99983492 -0.01588147 -0.3243455 ] [ 0.02993412 0.01561079 0.99942996 -0.21367609] [ 0. 0. 0. 1. ]] SLAMing on 33.903133364999995 meters Centerline goodness : 0.128799 with order 1 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.33, Z:-0.21 [[ 0.99950188 -0.00922456 -0.03018102 -2.25639464] [ 0.00877354 0.99984837 -0.01504225 -0.32903993] [ 0.0303152 0.01476996 0.99943126 -0.21424358] [ 0. 0. 0. 1. ]] SLAMing on 33.963133365 meters Centerline goodness : 0.132457 with order 1 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.34, Z:-0.22 [[ 9.99418736e-01 -1.83684115e-04 -3.40904163e-02 -2.26929972e+00] [-3.63034594e-04 9.99871438e-01 -1.60304313e-02 -3.39470257e-01] [ 3.40889781e-02 1.60334893e-02 9.99290182e-01 -2.15584027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02313336499999 meters Centerline goodness : 0.240365 with order 3 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.34, Z:-0.21 [[ 0.99936904 -0.00788461 -0.03463167 -2.24905113] [ 0.00736872 0.99986036 -0.01499894 -0.3374896 ] [ 0.0347451 0.01473429 0.99928759 -0.21350481] [ 0. 0. 0. 1. ]] SLAMing on 34.083133364999995 meters Centerline goodness : 0.222682 with order 3 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.34, Z:-0.21 [[ 9.99475058e-01 1.20642016e-03 -3.23752040e-02 -2.23252412e+00] [-1.67989413e-03 9.99891983e-01 -1.46013733e-02 -3.43837936e-01] [ 3.23540915e-02 1.46480953e-02 9.99369124e-01 -2.13025407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143133365 meters Centerline goodness : 0.145970 with order 3 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.34, Z:-0.21 [[ 9.99482631e-01 1.11283317e-03 -3.21439204e-02 -2.23311957e+00] [-1.58958367e-03 9.99889062e-01 -1.48100031e-02 -3.42821041e-01] [ 3.21238734e-02 1.48534363e-02 9.99373520e-01 -2.12956299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20313336499999 meters Centerline goodness : 0.123583 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.33, Z:-0.21 [[ 0.99947996 -0.00581026 -0.03171834 -2.21576475] [ 0.00538175 0.99989333 -0.01357839 -0.33322579] [ 0.03179385 0.01340063 0.99940461 -0.20967071] [ 0. 0. 0. 1. ]] SLAMing on 34.263133364999995 meters Centerline goodness : 0.132706 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.33, Z:-0.21 [[ 0.99950832 -0.00687104 -0.03059265 -2.2194289 ] [ 0.00644793 0.99988249 -0.0139078 -0.33328075] [ 0.03068462 0.01370371 0.99943517 -0.20956708] [ 0. 0. 0. 1. ]] SLAMing on 34.323133365 meters Centerline goodness : 0.254997 with order 3 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.34, Z:-0.21 [[ 0.99949471 -0.007867 -0.03079677 -2.21839843] [ 0.00744546 0.99987735 -0.01377851 -0.33665981] [ 0.03090139 0.01354225 0.99943069 -0.210302 ] [ 0. 0. 0. 1. ]] SLAMing on 34.38313336499999 meters Centerline goodness : 0.120078 with order 1 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.33, Z:-0.21 [[ 0.99941052 -0.01633398 -0.03019638 -2.19736995] [ 0.01593671 0.99978387 -0.01335032 -0.33355852] [ 0.03040791 0.01286122 0.99945483 -0.20918205] [ 0. 0. 0. 1. ]] SLAMing on 34.443133364999994 meters Centerline goodness : 0.222948 with order 3 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.33, Z:-0.21 [[ 0.9994519 -0.00462257 -0.03278003 -2.21321313] [ 0.00418644 0.99990197 -0.01336105 -0.33303912] [ 0.03283858 0.01321649 0.99937328 -0.20929233] [ 0. 0. 0. 1. ]] SLAMing on 34.503133365 meters Centerline goodness : 0.126705 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.33, Z:-0.21 [[ 0.9994895 -0.0026658 -0.03183774 -2.16757381] [ 0.0022336 0.99990498 -0.013603 -0.3255485 ] [ 0.03187097 0.01352494 0.99940048 -0.20944211] [ 0. 0. 0. 1. ]] SLAMing on 34.563133365 meters Centerline goodness : 0.240948 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.32, Z:-0.21 [[ 0.99949397 -0.00322639 -0.03164495 -2.16816594] [ 0.00278311 0.99989754 -0.01404176 -0.32352027] [ 0.03168701 0.01394658 0.99940053 -0.2093714 ] [ 0. 0. 0. 1. ]] SLAMing on 34.623133364999994 meters Centerline goodness : 0.125005 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.32, Z:-0.21 [[ 0.99946375 -0.00380227 -0.03252314 -2.1655953 ] [ 0.00334632 0.99989552 -0.01406217 -0.32337958] [ 0.03257321 0.01394579 0.99937205 -0.21012497] [ 0. 0. 0. 1. ]] SLAMing on 34.683133364999996 meters Centerline goodness : 0.124816 with order 1 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.32, Z:-0.21 [[ 0.9994116 -0.00491641 -0.0339452 -2.16163679] [ 0.00441326 0.99987953 -0.01488139 -0.32219636] [ 0.03401427 0.01472282 0.9993129 -0.21103244] [ 0. 0. 0. 1. ]] SLAMing on 34.743133365 meters Centerline goodness : 0.225067 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.32, Z:-0.21 [[ 0.999451 -0.00306585 -0.03298932 -2.1656574 ] [ 0.0026249 0.99990675 -0.01340158 -0.31677787] [ 0.03302733 0.01330763 0.99936585 -0.20894472] [ 0. 0. 0. 1. ]] SLAMing on 34.803133364999994 meters Centerline goodness : 0.259151 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.31, Z:-0.21 [[ 9.99461045e-01 -8.55647881e-07 -3.28271190e-02 -2.16618154e+00] [-3.46469320e-04 9.99944026e-01 -1.05747382e-02 -3.13533608e-01] [ 3.28252906e-02 1.05804125e-02 9.99405101e-01 -2.08746207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863133364999996 meters Centerline goodness : 0.124923 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.31, Z:-0.21 [[ 9.99466244e-01 -2.29974442e-04 -3.26676197e-02 -2.16666978e+00] [-1.34815907e-04 9.99937671e-01 -1.11640842e-02 -3.09970955e-01] [ 3.26681510e-02 1.11625294e-02 9.99403917e-01 -2.08507847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923133365 meters Centerline goodness : 0.123131 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.30, Z:-0.21 [[ 0.9994724 0.00316813 -0.03232462 -2.16838402] [-0.0034565 0.9999547 -0.00886896 -0.30135484] [ 0.03229506 0.00897601 0.99943807 -0.20707978] [ 0. 0. 0. 1. ]] SLAMing on 34.98313336499999 meters Centerline goodness : 0.228438 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.30, Z:-0.21 [[ 0.99945481 0.00670157 -0.03232926 -2.16842135] [-0.00690117 0.99995779 -0.00606621 -0.29588801] [ 0.03228725 0.00628602 0.99945886 -0.20686639] [ 0. 0. 0. 1. ]] SLAMing on 35.043133364999996 meters Centerline goodness : 0.093216 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.28, Z:-0.21 [[ 0.99949078 0.00792395 -0.03090925 -2.17262366] [-0.00811637 0.99994843 -0.00610489 -0.28362898] [ 0.03085929 0.00635265 0.99950355 -0.20551105] [ 0. 0. 0. 1. ]] SLAMing on 35.103133365 meters Centerline goodness : 0.127838 with order 2 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.27, Z:-0.21 [[ 9.99608241e-01 2.12944196e-03 -2.79075385e-02 -2.19452391e+00] [-2.26662669e-03 9.99985500e-01 -4.88497519e-03 -2.67032884e-01] [ 2.78967316e-02 4.94631743e-03 9.99598573e-01 -2.06475549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16313336499999 meters SLAMing on 35.223133364999995 meters Centerline goodness : 0.096963 with order 1 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.24, Z:-0.21 [[ 0.99949423 -0.01429611 -0.02840617 -2.2285764 ] [ 0.01418678 0.99989117 -0.00404659 -0.24026462] [ 0.02846093 0.00364155 0.99958827 -0.20905697] [ 0. 0. 0. 1. ]] SLAMing on 35.283133365 meters Centerline goodness : 0.124774 with order 3 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.23, Z:-0.21 [[ 9.99516620e-01 -1.17551422e-02 -2.87809654e-02 -2.22767139e+00] [ 1.17044241e-02 9.99929638e-01 -1.93004634e-03 -2.34028075e-01] [ 2.88016283e-02 1.59224876e-03 9.99583879e-01 -2.09102673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34313336499999 meters Centerline goodness : 0.180865 with order 2 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.23, Z:-0.21 [[ 0.99949852 -0.00378019 -0.03143898 -2.24725983] [ 0.00368138 0.9999881 -0.0032002 -0.23152881] [ 0.03145071 0.00308286 0.99950055 -0.21053868] [ 0. 0. 0. 1. ]] SLAMing on 35.403133364999995 meters Centerline goodness : 0.105356 with order 3 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.23, Z:-0.21 [[ 0.99949465 -0.00423093 -0.03150459 -2.24693566] [ 0.00409992 0.99998268 -0.00422196 -0.22544339] [ 0.0315219 0.00409066 0.99949469 -0.21067372] [ 0. 0. 0. 1. ]] SLAMing on 35.463133365 meters Centerline goodness : 0.161734 with order 3 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.21 [[ 0.99940889 -0.00397623 -0.03414756 -2.29245836] [ 0.00384885 0.99998539 -0.00379512 -0.22139696] [ 0.03416215 0.00366144 0.9994096 -0.21052391] [ 0. 0. 0. 1. ]] SLAMing on 35.52313336499999 meters Centerline goodness : 0.143827 with order 1 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.21 [[ 0.99936419 -0.00249153 -0.03556698 -2.28660902] [ 0.00239921 0.99999364 -0.00263803 -0.21688372] [ 0.03557333 0.00255102 0.99936381 -0.21330292] [ 0. 0. 0. 1. ]] SLAMing on 35.583133364999995 meters Centerline goodness : 0.142110 with order 1 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.21, Z:-0.21 [[ 9.99275293e-01 -1.96139534e-03 -3.80137128e-02 -2.33234063e+00] [ 1.87296813e-03 9.99995457e-01 -2.36166494e-03 -2.10393790e-01] [ 3.80181722e-02 2.28875496e-03 9.99274427e-01 -2.13201361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643133365 meters Centerline goodness : 0.148410 with order 1 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.20, Z:-0.21 [[ 9.99322522e-01 -8.79191380e-05 -3.68033940e-02 -2.33699412e+00] [ 4.58898254e-05 9.99999346e-01 -1.14283874e-03 -2.04725768e-01] [ 3.68034704e-02 1.14037559e-03 9.99321872e-01 -2.11289112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70313336499999 meters Centerline goodness : 0.123264 with order 3 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.20, Z:-0.21 [[ 9.99339112e-01 -3.68174842e-04 -3.63483705e-02 -2.33843281e+00] [ 3.00975678e-04 9.99998236e-01 -1.85420765e-03 -2.01201681e-01] [ 3.63489891e-02 1.84204225e-03 9.99337459e-01 -2.10733538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763133364999995 meters Centerline goodness : 0.130850 with order 3 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.19, Z:-0.21 [[ 9.99365772e-01 -9.33320863e-03 -3.43648848e-02 -2.36159277e+00] [ 9.27173693e-03 9.99955120e-01 -1.94772123e-03 -1.93930956e-01] [ 3.43815210e-02 1.62786376e-03 9.99407455e-01 -2.11515077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823133365 meters Centerline goodness : 0.106824 with order 3 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.19, Z:-0.21 [[ 9.99366318e-01 -9.49081836e-03 -3.43057935e-02 -2.36191183e+00] [ 9.42864262e-03 9.99953601e-01 -1.97372307e-03 -1.94073416e-01] [ 3.43229340e-02 1.64901529e-03 9.99409434e-01 -2.11371776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88313336499999 meters Centerline goodness : 0.150358 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.19, Z:-0.21 [[ 9.99252127e-01 -1.04121178e-02 -3.72394083e-02 -2.40646189e+00] [ 1.03220481e-02 9.99943320e-01 -2.61011403e-03 -1.90754985e-01] [ 3.72644744e-02 2.22377504e-03 9.99302964e-01 -2.11610321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943133364999994 meters Centerline goodness : 0.148087 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.19, Z:-0.21 [[ 9.99284915e-01 -7.40649955e-03 -3.70783240e-02 -2.40695888e+00] [ 7.42070854e-03 9.99972436e-01 2.45607363e-04 -1.88488511e-01] [ 3.70754829e-02 -5.20579169e-04 9.99312332e-01 -2.11629916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003133365 meters Centerline goodness : 0.421472 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.18, Z:-0.21 [[ 9.99357721e-01 -5.43532122e-03 -3.54203792e-02 -2.41226863e+00] [ 5.50003289e-03 9.99983379e-01 1.72977971e-03 -1.83212513e-01] [ 3.54103886e-02 -1.92348196e-03 9.99371004e-01 -2.10310771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06313336499999 meters Centerline goodness : 0.421402 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.18, Z:-0.21 [[ 9.99319412e-01 -5.86728626e-03 -3.64182248e-02 -2.40888700e+00] [ 5.91565399e-03 9.99981758e-01 1.22050561e-03 -1.81304162e-01] [ 3.64103994e-02 -1.43511257e-03 9.99335891e-01 -2.11812726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123133364999994 meters Centerline goodness : 0.154611 with order 3 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.18, Z:-0.21 [[ 9.99278875e-01 -6.58900660e-03 -3.73940484e-02 -2.40581517e+00] [ 6.61636921e-03 9.99977927e-01 6.08033151e-04 -1.79815769e-01] [ 3.73892167e-02 -8.55007514e-04 9.99300413e-01 -2.13023751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183133364999996 meters Centerline goodness : 0.125748 with order 3 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.18, Z:-0.21 [[ 9.99293206e-01 -6.83248409e-03 -3.69649128e-02 -2.40740958e+00] [ 6.85038820e-03 9.99976472e-01 3.57719071e-04 -1.79025150e-01] [ 3.69615990e-02 -6.10690240e-04 9.99316500e-01 -2.12211051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.243133365 meters Centerline goodness : 0.145390 with order 2 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.18, Z:-0.21 [[ 9.99294215e-01 -7.14910193e-03 -3.68776747e-02 -2.40760069e+00] [ 7.14289652e-03 9.99974444e-01 -3.00020594e-04 -1.76289516e-01] [ 3.68788772e-02 3.63954293e-05 9.99319742e-01 -2.12166206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303133364999994 meters Centerline goodness : 0.143906 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.17, Z:-0.21 [[ 0.99933082 -0.00325774 -0.03643212 -2.40900465] [ 0.00336197 0.99999043 0.00279998 -0.17150509] [ 0.03642265 -0.00292059 0.99933221 -0.21160119] [ 0. 0. 0. 1. ]] SLAMing on 36.363133364999996 meters Centerline goodness : 0.125088 with order 3 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.16, Z:-0.21 [[ 9.99234727e-01 6.71185707e-03 -3.85345516e-02 -2.42924897e+00] [-6.64027900e-03 9.99975983e-01 1.98519230e-03 -1.64422220e-01] [ 3.85469504e-02 -1.72779291e-03 9.99255296e-01 -2.11823803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423133365 meters Centerline goodness : 0.144209 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.16, Z:-0.21 [[ 9.99239749e-01 1.87479937e-03 -3.89411078e-02 -2.40812377e+00] [-1.68863855e-03 9.99986992e-01 4.81291463e-03 -1.55301484e-01] [ 3.89496245e-02 -4.74349815e-03 9.99229916e-01 -2.10321541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48313336499999 meters Centerline goodness : 0.127301 with order 3 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.21 [[ 0.9992713 0.00416083 -0.03794153 -2.41171005] [-0.00392865 0.99997311 0.00619205 -0.1470936 ] [ 0.03796627 -0.00603847 0.99926078 -0.2090429 ] [ 0. 0. 0. 1. ]] SLAMing on 36.543133364999996 meters Centerline goodness : 0.128127 with order 3 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.21 [[ 0.99928847 0.00384627 -0.0375202 -2.41313384] [-0.00363642 0.99997737 0.00565942 -0.14468843] [ 0.03754112 -0.00551896 0.99927984 -0.20844672] [ 0. 0. 0. 1. ]] SLAMing on 36.603133365 meters Centerline goodness : 0.159106 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.21 [[ 0.99929819 0.00310744 -0.03732936 -2.41330355] [-0.0029241 0.9999834 0.00496489 -0.14316299] [ 0.03734417 -0.00485225 0.99929068 -0.20892845] [ 0. 0. 0. 1. ]] SLAMing on 36.66313336499999 meters Centerline goodness : 0.141721 with order 2 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.21 [[ 0.99928181 0.0029774 -0.0377756 -2.41197533] [-0.00280508 0.99998542 0.00461394 -0.14116508] [ 0.03778879 -0.00450467 0.9992756 -0.20921973] [ 0. 0. 0. 1. ]] SLAMing on 36.723133364999995 meters Centerline goodness : 0.127086 with order 3 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.13, Z:-0.21 [[ 0.99917631 0.00601551 -0.04013119 -2.45675789] [-0.00580956 0.99996936 0.00524662 -0.12842225] [ 0.04016152 -0.00500915 0.99918064 -0.20886636] [ 0. 0. 0. 1. ]] SLAMing on 36.783133365 meters Centerline goodness : 0.128480 with order 3 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.12, Z:-0.21 [[ 0.99915931 0.00930101 -0.03992691 -2.45681288] [-0.00902278 0.99993378 0.00714304 -0.11962595] [ 0.0399907 -0.00677678 0.99917707 -0.20920281] [ 0. 0. 0. 1. ]] SLAMing on 36.84313336499999 meters Centerline goodness : 0.127277 with order 3 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.11, Z:-0.21 [[ 0.999154 0.00959051 -0.03999126 -2.45667333] [-0.00933405 0.99993469 0.00659465 -0.11253078] [ 0.04005189 -0.00621579 0.99917827 -0.2090271 ] [ 0. 0. 0. 1. ]] SLAMing on 36.903133364999995 meters Centerline goodness : 0.111267 with order 2 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.10, Z:-0.21 [[ 9.99169776e-01 1.46296333e-03 -4.07138613e-02 -2.47516123e+00] [-1.17211197e-03 9.99973632e-01 7.16674582e-03 -1.04970157e-01] [ 4.07232724e-02 -7.11307461e-03 9.99145144e-01 -2.10904116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963133365 meters Centerline goodness : 0.128468 with order 3 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.10, Z:-0.21 [[ 9.99185035e-01 1.38936421e-03 -4.03402556e-02 -2.47632885e+00] [-1.11462284e-03 9.99976038e-01 6.83229333e-03 -1.02820096e-01] [ 4.03487816e-02 -6.78176107e-03 9.99162641e-01 -2.10461835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02313336499999 meters Centerline goodness : 0.154837 with order 1 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.10, Z:-0.21 [[ 9.99168343e-01 1.44795587e-03 -4.07495378e-02 -2.47511285e+00] [-1.17239157e-03 9.99976291e-01 6.78547558e-03 -1.02272296e-01] [ 4.07583967e-02 -6.73205798e-03 9.99146352e-01 -2.10824553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083133364999995 meters Centerline goodness : 0.125301 with order 3 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.10, Z:-0.21 [[ 9.99195433e-01 1.98935644e-03 -4.00565795e-02 -2.47739269e+00] [-1.70826535e-03 9.99973687e-01 7.05035640e-03 -1.02386180e-01] [ 4.00695511e-02 -6.97625665e-03 9.99172539e-01 -2.09915277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143133365 meters Centerline goodness : 0.144364 with order 2 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.10, Z:-0.21 [[ 0.99915992 0.01247319 -0.03903687 -2.50261089] [-0.01219297 0.99989822 0.00740826 -0.10308058] [ 0.0391253 -0.00692606 0.99921031 -0.20973436] [ 0. 0. 0. 1. ]] SLAMing on 37.20313336499999 meters Centerline goodness : 0.147866 with order 1 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.10, Z:-0.21 [[ 0.99914959 0.0134123 -0.03898991 -2.50306628] [-0.01312864 0.99988552 0.00752231 -0.09996134] [ 0.03908634 -0.00700403 0.99921129 -0.20921529] [ 0. 0. 0. 1. ]] SLAMing on 37.263133364999995 meters Centerline goodness : 0.135533 with order 3 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.09, Z:-0.21 [[ 0.99911223 0.01487589 -0.039414 -2.55325507] [-0.01458139 0.99986366 0.00774896 -0.09406094] [ 0.0395239 -0.00716737 0.99919292 -0.20787257] [ 0. 0. 0. 1. ]] SLAMing on 37.323133365 meters Centerline goodness : 0.143482 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.09, Z:-0.21 [[ 0.9991241 0.01474209 -0.03916261 -2.55370077] [-0.01446426 0.99986824 0.00736812 -0.09212933] [ 0.03926607 -0.00679521 0.99920568 -0.20809749] [ 0. 0. 0. 1. ]] SLAMing on 37.38313336499999 meters SLAMing on 37.443133364999994 meters Centerline goodness : 0.154153 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.08, Z:-0.21 [[ 0.99921613 0.00669466 -0.03901668 -2.57124952] [-0.00636566 0.99994318 0.00855041 -0.0825125 ] [ 0.0390717 -0.00829534 0.99920198 -0.21109924] [ 0. 0. 0. 1. ]] SLAMing on 37.503133365 meters Centerline goodness : 0.151698 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.08, Z:-0.21 [[ 0.99915052 0.00716777 -0.04058164 -2.56670234] [-0.006829 0.99994072 0.00848025 -0.07921965] [ 0.04064002 -0.00819592 0.99914024 -0.21232099] [ 0. 0. 0. 1. ]] SLAMing on 37.56313336499999 meters SLAMing on 37.623133364999994 meters SLAMing on 37.683133364999996 meters Centerline goodness : 0.095299 with order 1 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.07, Z:-0.22 [[ 0.99906279 0.01050869 -0.04198936 -2.56247367] [-0.01011576 0.99990314 0.0095594 -0.06922266] [ 0.04208575 -0.00912568 0.99907233 -0.21546734] [ 0. 0. 0. 1. ]] SLAMing on 37.743133365 meters Centerline goodness : 0.234807 with order 3 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.06, Z:-0.22 [[ 0.99906034 0.01111881 -0.04189054 -2.56282685] [-0.01075032 0.99990161 0.00901143 -0.06380451] [ 0.04198662 -0.00855263 0.99908157 -0.21606641] [ 0. 0. 0. 1. ]] SLAMing on 37.803133364999994 meters Centerline goodness : 0.241501 with order 2 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.06, Z:-0.22 [[ 0.99907957 0.01185856 -0.04122371 -2.56560919] [-0.01149786 0.99989361 0.00897595 -0.0576379 ] [ 0.04132577 -0.00849371 0.99910962 -0.21500512] [ 0. 0. 0. 1. ]] SLAMing on 37.863133364999996 meters Centerline goodness : 0.214974 with order 2 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.05, Z:-0.21 [[ 0.99908521 0.00422182 -0.042555 -2.54914857] [-0.00384954 0.99995364 0.00882641 -0.05115908] [ 0.04259029 -0.00865452 0.99905514 -0.21270302] [ 0. 0. 0. 1. ]] SLAMing on 37.923133365 meters Centerline goodness : 0.242780 with order 2 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.05, Z:-0.21 [[ 0.99912285 0.00427814 -0.04165604 -2.55222525] [-0.00390906 0.99995242 0.00893778 -0.05235143] [ 0.0416923 -0.00876711 0.99909203 -0.21130607] [ 0. 0. 0. 1. ]] SLAMing on 37.98313336499999 meters SLAMing on 38.043133364999996 meters Centerline goodness : 0.088230 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.07, Z:-0.21 [[ 0.99911117 0.01231958 -0.04031252 -2.57093446] [-0.01203281 0.9999006 0.00734853 -0.06550938] [ 0.04039904 -0.00685693 0.9991601 -0.21388842] [ 0. 0. 0. 1. ]] SLAMing on 38.103133365 meters Centerline goodness : 0.096964 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.06, Z:-0.22 [[ 0.99909624 0.01264854 -0.04057977 -2.57013494] [-0.01237476 0.99989899 0.0069908 -0.06382838] [ 0.04066409 -0.00648231 0.99915185 -0.2151116 ] [ 0. 0. 0. 1. ]] SLAMing on 38.16313336499999 meters Centerline goodness : 0.120374 with order 2 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.06, Z:-0.22 [[ 0.99906798 0.013303 -0.04106327 -2.56855765] [-0.01302411 0.99989032 0.00705188 -0.06188448] [ 0.04115258 -0.00651049 0.99913166 -0.21588069] [ 0. 0. 0. 1. ]] SLAMing on 38.223133364999995 meters Centerline goodness : 0.123031 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.06, Z:-0.22 [[ 0.9990548 0.01364262 -0.04127202 -2.56744606] [-0.01336848 0.99988676 0.00691091 -0.05984966] [ 0.04136163 -0.00635263 0.99912405 -0.21698003] [ 0. 0. 0. 1. ]] SLAMing on 38.283133365 meters SLAMing on 38.34313336499999 meters Centerline goodness : 0.090787 with order 1 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.06, Z:-0.22 [[ 0.99888225 0.01423772 -0.04507256 -2.60693271] [-0.01395907 0.9998815 0.00649094 -0.05770345] [ 0.04515963 -0.00585451 0.99896263 -0.22009925] [ 0. 0. 0. 1. ]] SLAMing on 38.403133364999995 meters Centerline goodness : 0.091047 with order 1 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.05, Z:-0.22 [[ 0.99896471 0.00549587 -0.04515873 -2.62838864] [-0.005194 0.9999634 0.00679912 -0.05421414] [ 0.04519444 -0.00655753 0.99895669 -0.2212117 ] [ 0. 0. 0. 1. ]] SLAMing on 38.463133365 meters Centerline goodness : 0.097505 with order 1 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.06, Z:-0.22 [[ 9.98949148e-01 2.05352846e-03 -4.57862620e-02 -2.62663467e+00] [-1.88834523e-03 9.99991553e-01 3.65066409e-03 -5.50872958e-02] [ 4.57933720e-02 -3.56036752e-03 9.98944588e-01 -2.21588246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52313336499999 meters Centerline goodness : 0.184670 with order 3 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.06, Z:-0.22 [[ 9.98976358e-01 2.04857292e-03 -4.51889245e-02 -2.62847218e+00] [-1.87879729e-03 9.99991018e-01 3.79917086e-03 -5.61314734e-02] [ 4.51963015e-02 -3.71038105e-03 9.98971235e-01 -2.21056106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583133364999995 meters Centerline goodness : 0.085820 with order 1 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.06, Z:-0.22 [[ 9.98994539e-01 2.12064971e-03 -4.47818574e-02 -2.63005255e+00] [-1.94025733e-03 9.99989830e-01 4.07132879e-03 -5.77417092e-02] [ 4.47900358e-02 -3.98034690e-03 9.98988493e-01 -2.20207305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643133365 meters SLAMing on 38.70313336499999 meters Centerline goodness : 0.191947 with order 3 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.07, Z:-0.22 [[ 9.98903371e-01 2.34017562e-03 -4.67608705e-02 -2.67552728e+00] [-2.17959901e-03 9.99991553e-01 3.48468812e-03 -6.82587242e-02] [ 4.67686303e-02 -3.37894676e-03 9.98900034e-01 -2.21455365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.763133364999995 meters Centerline goodness : 0.199987 with order 3 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.07, Z:-0.22 [[ 9.98952791e-01 2.64233453e-03 -4.56764635e-02 -2.67884068e+00] [-2.46822944e-03 9.99989474e-01 3.86768176e-03 -7.01532540e-02] [ 4.56862024e-02 -3.75089150e-03 9.98948798e-01 -2.20522911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823133365 meters SLAMing on 38.88313336499999 meters SLAMing on 38.943133364999994 meters Centerline goodness : 0.091910 with order 1 Centerline is valid? [False, False] Translation: X:-2.74, Y:-0.09, Z:-0.22 [[ 9.98870214e-01 9.92059560e-03 -4.64744752e-02 -2.73814910e+00] [-9.81142737e-03 9.99948547e-01 2.57652398e-03 -9.23653935e-02] [ 4.64976446e-02 -2.11763212e-03 9.98916155e-01 -2.24332798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003133365 meters Centerline goodness : 0.088549 with order 3 Centerline is valid? [False, False] Translation: X:-2.74, Y:-0.10, Z:-0.22 [[ 9.98890182e-01 6.42148506e-03 -4.66601466e-02 -2.73728229e+00] [-6.42957780e-03 9.99979330e-01 -2.33562497e-05 -9.83778458e-02] [ 4.66590322e-02 3.23335372e-04 9.98910822e-01 -2.24971587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06313336499999 meters Centerline goodness : 0.233220 with order 3 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.11, Z:-0.23 [[ 9.98740131e-01 5.26667068e-03 -4.99040438e-02 -2.78010529e+00] [-5.31250354e-03 9.99985580e-01 -7.85823074e-04 -1.06851676e-01] [ 4.98991855e-02 1.04994845e-03 9.98753708e-01 -2.26515505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123133364999994 meters SLAMing on 39.183133364999996 meters Centerline goodness : 0.455676 with order 3 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.12, Z:-0.23 [[ 9.98488229e-01 9.21551291e-03 -5.41879221e-02 -2.82026374e+00] [-9.17348767e-03 9.99957398e-01 1.02422928e-03 -1.21625621e-01] [ 5.41950524e-02 -5.25588645e-04 9.98530230e-01 -2.27378647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243133365 meters Centerline goodness : 0.166122 with order 2 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.12, Z:-0.23 [[ 0.99856422 0.00387945 -0.05342706 -2.79784911] [-0.00367049 0.99998523 0.00400861 -0.11867573] [ 0.05344182 -0.00380675 0.99856371 -0.22719151] [ 0. 0. 0. 1. ]] SLAMing on 39.303133364999994 meters Centerline goodness : 0.225658 with order 3 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.12, Z:-0.23 [[ 0.99858278 0.00469259 -0.05301333 -2.79873668] [-0.00446563 0.99998035 0.00439891 -0.11791764] [ 0.05303294 -0.00415594 0.99858412 -0.22754776] [ 0. 0. 0. 1. ]] SLAMing on 39.363133364999996 meters Centerline goodness : 0.153838 with order 1 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.12, Z:-0.23 [[ 0.99857707 0.00449229 -0.05313803 -2.7980086 ] [-0.00429368 0.99998337 0.00385122 -0.11595524] [ 0.05315445 -0.00361758 0.99857975 -0.2283754 ] [ 0. 0. 0. 1. ]] SLAMing on 39.423133365 meters Centerline goodness : 0.135652 with order 3 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.11, Z:-0.23 [[ 0.99860846 0.00449423 -0.0525447 -2.80006136] [-0.0043055 0.99998387 0.00370431 -0.11425236] [ 0.0525605 -0.00347292 0.9986117 -0.22761935] [ 0. 0. 0. 1. ]] SLAMing on 39.48313336499999 meters Centerline goodness : 0.146436 with order 1 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.11, Z:-0.23 [[ 0.99860942 0.00427852 -0.05254446 -2.8000461 ] [-0.004103 0.99998564 0.00344775 -0.11367515] [ 0.05255846 -0.00322737 0.99861263 -0.22766754] [ 0. 0. 0. 1. ]] SLAMing on 39.543133364999996 meters Centerline goodness : 0.129408 with order 3 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.11, Z:-0.23 [[ 0.99852688 0.00376832 -0.05412823 -2.79554295] [-0.00360221 0.9999885 0.00316606 -0.11352795] [ 0.05413954 -0.00296642 0.99852897 -0.22857569] [ 0. 0. 0. 1. ]] SLAMing on 39.603133365 meters Centerline goodness : 0.212775 with order 3 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.11, Z:-0.23 [[ 0.99846225 -0.0060948 -0.05509989 -2.81730482] [ 0.00628556 0.99997484 0.00328954 -0.11400172] [ 0.05507845 -0.00363081 0.99847543 -0.22964451] [ 0. 0. 0. 1. ]] SLAMing on 39.66313336499999 meters Centerline goodness : 0.241467 with order 3 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.12, Z:-0.23 [[ 9.98678907e-01 -2.36333490e-03 -5.13308480e-02 -2.79809076e+00] [ 2.35690325e-03 9.99997205e-01 -1.85828361e-04 -1.19553810e-01] [ 5.13311437e-02 6.46010223e-05 9.98681686e-01 -2.29074192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723133364999995 meters Centerline goodness : 0.142105 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.12, Z:-0.23 [[ 9.98547353e-01 -1.72890688e-03 -5.38534642e-02 -2.84222143e+00] [ 1.76297185e-03 9.99998275e-01 5.85050111e-04 -1.23979277e-01] [ 5.38523598e-02 -6.79142381e-04 9.98548678e-01 -2.31444291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783133365 meters Centerline goodness : 0.140362 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.12, Z:-0.23 [[ 9.98551376e-01 -1.76538420e-03 -5.37776297e-02 -2.84252168e+00] [ 1.79495445e-03 9.99998263e-01 5.01567286e-04 -1.24222353e-01] [ 5.37766509e-02 -5.97369099e-04 9.98552810e-01 -2.31337962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84313336499999 meters Centerline goodness : 0.134347 with order 3 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.13, Z:-0.23 [[ 9.98552929e-01 -1.45309239e-03 -5.37581377e-02 -2.84233842e+00] [ 1.50637333e-03 9.99998414e-01 9.50617234e-04 -1.26090966e-01] [ 5.37566711e-02 -1.03022145e-03 9.98553533e-01 -2.31739935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903133364999995 meters Centerline goodness : 0.416168 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.13, Z:-0.23 [[ 9.98534671e-01 -5.06469519e-03 -5.38781962e-02 -2.84120705e+00] [ 4.95353019e-03 9.99985319e-01 -2.19660655e-03 -1.29696411e-01] [ 5.38885303e-02 1.92650053e-03 9.98545099e-01 -2.32862213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963133365 meters Centerline goodness : 0.408262 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.13, Z:-0.23 [[ 9.98540694e-01 -4.63641554e-03 -5.38050795e-02 -2.84144599e+00] [ 4.57446600e-03 9.99988725e-01 -1.27446712e-03 -1.33918816e-01] [ 5.38103818e-02 1.02647778e-03 9.98550644e-01 -2.32671333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02313336499999 meters Centerline goodness : 0.197947 with order 3 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.14, Z:-0.23 [[ 9.98580832e-01 -6.68387488e-03 -5.28360448e-02 -2.84523259e+00] [ 6.56190104e-03 9.99975391e-01 -2.48167317e-03 -1.41724833e-01] [ 5.28513317e-02 2.13144636e-03 9.98600117e-01 -2.31020004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083133364999995 meters Centerline goodness : 0.128251 with order 2 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.15, Z:-0.23 [[ 9.98693154e-01 1.87314496e-03 -5.10732290e-02 -2.82719831e+00] [-2.03223206e-03 9.99993244e-01 -3.06313014e-03 -1.50276424e-01] [ 5.10671462e-02 3.16291976e-03 9.98690213e-01 -2.28420744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143133365 meters Centerline goodness : 0.221918 with order 3 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.15, Z:-0.23 [[ 9.98695969e-01 2.18428948e-03 -5.10057975e-02 -2.82685511e+00] [-2.31634479e-03 9.99994117e-01 -2.53005707e-03 -1.52604660e-01] [ 5.09999710e-02 2.64490481e-03 9.98695152e-01 -2.29215450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20313336499999 meters Centerline goodness : 0.154412 with order 3 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.16, Z:-0.23 [[ 9.98683086e-01 2.50977763e-03 -5.12424999e-02 -2.82558304e+00] [-2.60752485e-03 9.99994906e-01 -1.84077894e-03 -1.55983251e-01] [ 5.12376189e-02 1.97197089e-03 9.98684544e-01 -2.30194168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.263133364999995 meters Centerline goodness : 0.141048 with order 1 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.16, Z:-0.23 [[ 9.98597792e-01 5.30841940e-04 -5.29355133e-02 -2.81898910e+00] [-6.99503548e-04 9.99994738e-01 -3.16769483e-03 -1.61986640e-01] [ 5.29335532e-02 3.20028164e-03 9.98592909e-01 -2.32937696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323133365 meters Centerline goodness : 0.223723 with order 3 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.17, Z:-0.23 [[ 9.98621309e-01 7.22030674e-04 -5.24877049e-02 -2.82006241e+00] [-8.46629329e-04 9.99996876e-01 -2.35166826e-03 -1.66832484e-01] [ 5.24858430e-02 2.39286367e-03 9.98618801e-01 -2.32816058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38313336499999 meters Centerline goodness : 0.141353 with order 1 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.18, Z:-0.23 [[ 0.99880825 0.00610349 -0.04842332 -2.80138978] [-0.00636708 0.99996573 -0.00529119 -0.17534414] [ 0.04838937 0.0055932 0.99881289 -0.23226978] [ 0. 0. 0. 1. ]] SLAMing on 40.443133364999994 meters Centerline goodness : 0.133024 with order 1 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.18, Z:-0.23 [[ 9.98693502e-01 -3.00583277e-03 -5.10122967e-02 -2.82334651e+00] [ 2.78484425e-03 9.99986431e-01 -4.40258808e-03 -1.83380165e-01] [ 5.10248379e-02 4.25477481e-03 9.98688321e-01 -2.32577569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503133365 meters Centerline goodness : 0.129942 with order 1 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.19, Z:-0.23 [[ 0.99867434 -0.0067733 -0.05102638 -2.82302468] [ 0.00640234 0.9999519 -0.00742985 -0.18801044] [ 0.05107425 0.00709331 0.99866967 -0.23283852] [ 0. 0. 0. 1. ]] SLAMing on 40.56313336499999 meters Centerline goodness : 0.128804 with order 1 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.20, Z:-0.23 [[ 0.99871066 -0.00599758 -0.05040886 -2.82517604] [ 0.00571824 0.9999675 -0.00568373 -0.19714916] [ 0.05044131 0.00538816 0.99871249 -0.23180771] [ 0. 0. 0. 1. ]] SLAMing on 40.623133364999994 meters Centerline goodness : 0.130046 with order 1 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.20, Z:-0.23 [[ 0.99872411 -0.00568036 -0.05017858 -2.82605373] [ 0.00542967 0.9999721 -0.00513081 -0.20010911] [ 0.05020632 0.00485181 0.99872708 -0.23135043] [ 0. 0. 0. 1. ]] SLAMing on 40.683133364999996 meters Centerline goodness : 0.131434 with order 3 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.20, Z:-0.23 [[ 0.9987329 -0.00525495 -0.05004984 -2.82628514] [ 0.0050177 0.99997558 -0.00486472 -0.19978693] [ 0.05007418 0.00460742 0.99873487 -0.23157914] [ 0. 0. 0. 1. ]] SLAMing on 40.743133365 meters Centerline goodness : 0.126249 with order 1 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.20, Z:-0.23 [[ 9.98629317e-01 2.55407905e-03 -5.22777622e-02 -2.84514060e+00] [-2.88703216e-03 9.99976023e-01 -6.29439987e-03 -2.02714908e-01] [ 5.22604323e-02 6.43669982e-03 9.98612746e-01 -2.34426654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803133364999994 meters Centerline goodness : 0.127764 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.20, Z:-0.23 [[ 9.98628335e-01 2.47304334e-03 -5.23004033e-02 -2.84483293e+00] [-2.81282054e-03 9.99975410e-01 -6.42403771e-03 -2.02245471e-01] [ 5.22832303e-02 6.56233773e-03 9.98610735e-01 -2.34835277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863133364999996 meters Centerline goodness : 0.129655 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.20, Z:-0.23 [[ 9.98629410e-01 2.23059390e-03 -5.22907897e-02 -2.84475974e+00] [-2.58034226e-03 9.99974745e-01 -6.62197101e-03 -2.01996202e-01] [ 5.22746982e-02 6.74782313e-03 9.98609945e-01 -2.34966342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923133365 meters Centerline goodness : 0.130427 with order 1 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.20, Z:-0.24 [[ 9.98641159e-01 2.17933364e-03 -5.20680902e-02 -2.84500253e+00] [-2.53730993e-03 9.99973592e-01 -6.81004498e-03 -2.00307107e-01] [ 5.20518738e-02 6.93290409e-03 9.98620317e-01 -2.35409526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98313336499999 meters Centerline goodness : 0.131650 with order 1 Centerline is valid? [False, False] Translation: X:-2.87, Y:-0.20, Z:-0.24 [[ 0.99866743 -0.00611602 -0.05124405 -2.86561061] [ 0.0058213 0.99996566 -0.00589866 -0.19512261] [ 0.05127837 0.00559249 0.99866874 -0.23779434] [ 0. 0. 0. 1. ]] SLAMing on 41.043133364999996 meters Centerline goodness : 0.130340 with order 1 Centerline is valid? [False, False] Translation: X:-2.86, Y:-0.19, Z:-0.24 [[ 0.99863797 -0.00631059 -0.05179167 -2.86376909] [ 0.00598741 0.99996164 -0.0063928 -0.1926771 ] [ 0.05183003 0.006074 0.99863745 -0.23864419] [ 0. 0. 0. 1. ]] SLAMing on 41.103133365 meters Centerline goodness : 0.131774 with order 1 Centerline is valid? [False, False] Translation: X:-2.88, Y:-0.19, Z:-0.24 [[ 0.99854088 0.00356278 -0.05388332 -2.88291344] [-0.00390392 0.99997299 -0.00622715 -0.19187479] [ 0.05385968 0.00642842 0.99852782 -0.24042183] [ 0. 0. 0. 1. ]] SLAMing on 41.16313336499999 meters Centerline goodness : 0.131632 with order 1 Centerline is valid? [False, False] Translation: X:-2.88, Y:-0.19, Z:-0.24 [[ 0.99855927 0.00351824 -0.0535444 -2.88395823] [-0.00387714 0.9999707 -0.00660048 -0.18946306] [ 0.05351961 0.00679857 0.99854365 -0.24018384] [ 0. 0. 0. 1. ]] SLAMing on 41.223133364999995 meters Centerline goodness : 0.134103 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 0.99860496 0.00362576 -0.05267816 -2.8869042 ] [-0.00401169 0.99996587 -0.00722219 -0.1829895 ] [ 0.05265018 0.00742345 0.99858543 -0.23927589] [ 0. 0. 0. 1. ]] SLAMing on 41.283133365 meters Centerline goodness : 0.132267 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 0.99860664 0.00335936 -0.05266395 -2.88721044] [-0.00376734 0.99996365 -0.00764952 -0.18146652] [ 0.05263634 0.00783726 0.99858299 -0.23894487] [ 0. 0. 0. 1. ]] SLAMing on 41.34313336499999 meters Centerline goodness : 0.133288 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 0.99862665 0.00308792 -0.05229987 -2.88855788] [-0.00347976 0.99996655 -0.00740269 -0.18356694] [ 0.05227526 0.00757451 0.99860399 -0.23818157] [ 0. 0. 0. 1. ]] SLAMing on 41.403133364999995 meters Centerline goodness : 0.132597 with order 3 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.19, Z:-0.24 [[ 9.98666676e-01 -5.92829760e-04 -5.16189737e-02 -2.89026323e+00] [ 4.62516133e-05 9.99943931e-01 -1.05892569e-02 -1.85920961e-01] [ 5.16223572e-02 1.05727506e-02 9.98610710e-01 -2.38035758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463133365 meters Centerline goodness : 0.132514 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.19, Z:-0.24 [[ 9.98671200e-01 -2.96920235e-04 -5.15339358e-02 -2.89013729e+00] [-2.06097535e-04 9.99952395e-01 -9.75531491e-03 -1.90754243e-01] [ 5.15343791e-02 9.75297306e-03 9.98623596e-01 -2.38400277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52313336499999 meters Centerline goodness : 0.131257 with order 1 Centerline is valid? [False, False] Translation: X:-2.88, Y:-0.19, Z:-0.24 [[ 9.98579969e-01 3.36153598e-04 -5.32722490e-02 -2.88478485e+00] [-8.30175582e-04 9.99956858e-01 -9.25167644e-03 -1.92157321e-01] [ 5.32668407e-02 9.28276409e-03 9.98537167e-01 -2.40188509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583133364999995 meters Centerline goodness : 0.133234 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.19, Z:-0.24 [[ 9.98616107e-01 7.42494104e-04 -5.25863137e-02 -2.88639263e+00] [-1.22632236e-03 9.99957212e-01 -9.16898135e-03 -1.91597374e-01] [ 5.25772557e-02 9.22078023e-03 9.98574288e-01 -2.40477131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643133365 meters Centerline goodness : 0.127714 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.19, Z:-0.24 [[ 9.98614873e-01 9.08721212e-04 -5.26071182e-02 -2.88599694e+00] [-1.42320321e-03 9.99951522e-01 -9.74306814e-03 -1.86898757e-01] [ 5.25957142e-02 9.80444338e-03 9.98567756e-01 -2.41213732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70313336499999 meters Centerline goodness : 0.132361 with order 1 Centerline is valid? [False, False] Translation: X:-2.88, Y:-0.18, Z:-0.24 [[ 9.98595874e-01 8.79865358e-04 -5.29670323e-02 -2.88426347e+00] [-1.42828883e-03 9.99945757e-01 -1.03170911e-02 -1.82136781e-01] [ 5.29550816e-02 1.03782568e-02 9.98542964e-01 -2.42483265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763133364999995 meters Centerline goodness : 0.134133 with order 1 Centerline is valid? [False, False] Translation: X:-2.88, Y:-0.18, Z:-0.24 [[ 9.98594582e-01 5.69172882e-05 -5.29986521e-02 -2.88490917e+00] [-6.64244117e-04 9.99934320e-01 -1.14417443e-02 -1.78152766e-01] [ 5.29945199e-02 1.14608679e-02 9.98529033e-01 -2.41504896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823133365 meters Centerline goodness : 0.134062 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 9.98600112e-01 -7.49021937e-04 -5.28890885e-02 -2.88569448e+00] [ 1.14672598e-04 9.99928039e-01 -1.19959709e-02 -1.76830205e-01] [ 5.28942678e-02 1.19731130e-02 9.98528338e-01 -2.40737134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88313336499999 meters Centerline goodness : 0.135293 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 9.98673221e-01 -1.03428952e-03 -5.14852198e-02 -2.88972211e+00] [ 4.23681616e-04 9.99929467e-01 -1.18693693e-02 -1.77741921e-01] [ 5.14938647e-02 1.18318079e-02 9.98603220e-01 -2.39761649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943133364999994 meters Centerline goodness : 0.139097 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 9.98675215e-01 -1.20891590e-03 -5.14427108e-02 -2.88981875e+00] [ 5.96819385e-04 9.99928868e-01 -1.19123035e-02 -1.78227548e-01] [ 5.14534525e-02 1.18658202e-02 9.98604899e-01 -2.39682747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003133365 meters Centerline goodness : 0.093662 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 9.98655594e-01 -1.23965193e-03 -5.18214946e-02 -2.88833464e+00] [ 6.13241656e-04 9.99926580e-01 -1.21019996e-02 -1.77083777e-01] [ 5.18326922e-02 1.20539505e-02 9.98583033e-01 -2.40483679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06313336499999 meters Centerline goodness : 0.117825 with order 3 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 9.98661361e-01 -1.23156756e-03 -5.17104453e-02 -2.88925151e+00] [ 6.03306221e-04 9.99925840e-01 -1.21634538e-02 -1.76699047e-01] [ 5.17215906e-02 1.21159741e-02 9.98588043e-01 -2.39586086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123133364999994 meters Centerline goodness : 0.116268 with order 3 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:-0.24 [[ 9.98672656e-01 -1.13025808e-03 -5.14941567e-02 -2.88918503e+00] [ 4.99390692e-04 9.99924688e-01 -1.22624618e-02 -1.75647683e-01] [ 5.15041384e-02 1.22204696e-02 9.98598009e-01 -2.40466074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183133364999996 meters Centerline goodness : 0.145485 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.17, Z:-0.24 [[ 9.98668475e-01 -6.26704175e-04 -5.15837656e-02 -2.88842602e+00] [-2.29699220e-05 9.99920705e-01 -1.25929895e-02 -1.71375690e-01] [ 5.15875674e-02 1.25774065e-02 9.98589271e-01 -2.41482022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24313336499999 meters Centerline goodness : 0.144718 with order 2 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.17, Z:-0.24 [[ 9.98658408e-01 -2.17602361e-04 -5.17816297e-02 -2.88783127e+00] [-4.57574476e-04 9.99915044e-01 -1.30267138e-02 -1.66563339e-01] [ 5.17800652e-02 1.30329313e-02 9.98573466e-01 -2.41885053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.303133364999994 meters Centerline goodness : 0.173110 with order 3 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.16, Z:-0.24 [[ 9.98648030e-01 -3.82027202e-04 -5.19804384e-02 -2.88745778e+00] [-3.45250250e-04 9.99902192e-01 -1.39816697e-02 -1.60727138e-01] [ 5.19806957e-02 1.39807131e-02 9.98550223e-01 -2.41964830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363133364999996 meters Centerline goodness : 0.135208 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.16, Z:-0.24 [[ 9.98644311e-01 -7.27682700e-04 -5.20481514e-02 -2.88723816e+00] [-2.78159334e-05 9.99894678e-01 -1.45131818e-02 -1.58385825e-01] [ 5.20532306e-02 1.44949542e-02 9.98539112e-01 -2.42077565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423133365 meters Centerline goodness : 0.174566 with order 3 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.16, Z:-0.24 [[ 9.98674413e-01 -1.14140081e-03 -5.14598347e-02 -2.88924044e+00] [ 3.84532367e-04 9.99891648e-01 -1.47154477e-02 -1.58488049e-01] [ 5.14710551e-02 1.46761531e-02 9.98566643e-01 -2.41193490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48313336499999 meters Centerline goodness : 0.137253 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.16, Z:-0.24 [[ 9.98636051e-01 -1.52291208e-03 -5.21892618e-02 -2.88686963e+00] [ 7.34980155e-04 9.99885515e-01 -1.51134549e-02 -1.57037585e-01] [ 5.22063034e-02 1.50544828e-02 9.98522841e-01 -2.41943760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543133364999996 meters Centerline goodness : 0.128564 with order 2 Centerline is valid? [False, False] Translation: X:-2.88, Y:-0.15, Z:-0.24 [[ 9.98600791e-01 -1.67106482e-03 -5.28551670e-02 -2.88438889e+00] [ 8.49061865e-04 9.99878410e-01 -1.55706212e-02 -1.54399411e-01] [ 5.28747598e-02 1.55039574e-02 9.98480790e-01 -2.43160889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603133365 meters Centerline goodness : 0.157752 with order 2 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.15, Z:-0.24 [[ 0.99854899 0.00767292 -0.05330147 -2.90812902] [-0.00853099 0.99983736 -0.01588951 -0.15239151] [ 0.05317088 0.01632117 0.99845204 -0.24268885] [ 0. 0. 0. 1. ]] SLAMing on 42.66313336499999 meters Centerline goodness : 0.147612 with order 1 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.14, Z:-0.24 [[ 9.98717975e-01 2.36654323e-03 -5.05648602e-02 -2.93116131e+00] [-3.07781780e-03 9.99897351e-01 -1.39933474e-02 -1.41609761e-01] [ 5.05265540e-02 1.41310370e-02 9.98622742e-01 -2.44113057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723133364999995 meters Centerline goodness : 0.095175 with order 1 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.13, Z:-0.24 [[ 0.99872383 -0.00516754 -0.05023956 -2.91372222] [ 0.00452633 0.99990695 -0.01286849 -0.13384365] [ 0.05030139 0.01262467 0.99865429 -0.24107957] [ 0. 0. 0. 1. ]] SLAMing on 42.783133365 meters Centerline goodness : 0.141604 with order 3 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.14, Z:-0.24 [[ 0.99895531 -0.00618776 -0.04527703 -2.95834245] [ 0.00561188 0.99990188 -0.01283516 -0.13629361] [ 0.04535201 0.01256767 0.99889201 -0.24445441] [ 0. 0. 0. 1. ]] SLAMing on 42.84313336499999 meters Centerline goodness : 0.191023 with order 3 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.14, Z:-0.24 [[ 0.99893832 -0.00629912 -0.04563496 -2.95735411] [ 0.00571668 0.99990068 -0.01288231 -0.13675642] [ 0.04571157 0.01260775 0.99887512 -0.24457947] [ 0. 0. 0. 1. ]] SLAMing on 42.903133364999995 meters Centerline goodness : 0.410070 with order 2 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.14, Z:-0.25 [[ 0.99880318 -0.00520914 -0.04863197 -3.0008924 ] [ 0.00463267 0.99991776 -0.01195891 -0.13943668] [ 0.04869027 0.0117193 0.99874517 -0.24630719] [ 0. 0. 0. 1. ]] SLAMing on 42.963133365 meters Centerline goodness : 0.140420 with order 1 Centerline is valid? [False, False] Translation: X:-2.98, Y:-0.14, Z:-0.24 [[ 9.98880115e-01 2.89341716e-03 -4.72244081e-02 -2.98128290e+00] [-3.52834981e-03 9.99904430e-01 -1.33671941e-02 -1.40926560e-01] [ 4.71812180e-02 1.35188486e-02 9.98794861e-01 -2.44350916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02313336499999 meters Centerline goodness : 0.142898 with order 1 Centerline is valid? [False, False] Translation: X:-2.98, Y:-0.14, Z:-0.24 [[ 9.98876974e-01 2.96110117e-03 -4.72865982e-02 -2.98102166e+00] [-3.59872853e-03 9.99903675e-01 -1.34048790e-02 -1.40464127e-01] [ 4.72423501e-02 1.35599967e-02 9.98791413e-01 -2.44574121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083133364999995 meters Centerline goodness : 0.139566 with order 2 Centerline is valid? [False, False] Translation: X:-2.98, Y:-0.14, Z:-0.24 [[ 9.98873809e-01 2.92002564e-03 -4.73559589e-02 -2.98062880e+00] [-3.56051589e-03 9.99903255e-01 -1.34463104e-02 -1.40549302e-01] [ 4.73121139e-02 1.35997790e-02 9.98787570e-01 -2.44910927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143133365 meters Centerline goodness : 0.148674 with order 1 Centerline is valid? [False, False] Translation: X:-2.98, Y:-0.14, Z:-0.25 [[ 0.99886981 0.00300487 -0.04743488 -2.98023318] [-0.00364148 0.99990439 -0.01333994 -0.1408649 ] [ 0.04739026 0.0134976 0.99878525 -0.24521638] [ 0. 0. 0. 1. ]] SLAMing on 43.20313336499999 meters Centerline goodness : 0.236372 with order 3 Centerline is valid? [False, False] Translation: X:-2.98, Y:-0.14, Z:-0.25 [[ 0.99887976 0.00302726 -0.04722351 -2.98074582] [-0.00364751 0.99990814 -0.0130537 -0.14303149] [ 0.04717965 0.01321132 0.99879905 -0.24517633] [ 0. 0. 0. 1. ]] SLAMing on 43.263133364999995 meters Centerline goodness : 0.148137 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.14, Z:-0.24 [[ 9.98723269e-01 -3.13816077e-03 -5.04180832e-02 -2.96387993e+00] [ 2.53940616e-03 9.99925545e-01 -1.19354618e-02 -1.43818851e-01] [ 5.04517847e-02 1.17921914e-02 9.98656879e-01 -2.41724194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323133365 meters Centerline goodness : 0.153334 with order 1 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.16, Z:-0.24 [[ 0.99853257 -0.00528548 -0.05389588 -3.00416341] [ 0.00461853 0.99991131 -0.01249185 -0.15683875] [ 0.05395713 0.0122246 0.99846842 -0.24471026] [ 0. 0. 0. 1. ]] SLAMing on 43.38313336499999 meters Centerline goodness : 0.158963 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.17, Z:-0.24 [[ 0.99859297 -0.00668672 -0.05260586 -3.00864118] [ 0.00602753 0.99990145 -0.01267947 -0.16622474] [ 0.05268546 0.01234454 0.99853485 -0.2428908 ] [ 0. 0. 0. 1. ]] SLAMing on 43.443133364999994 meters Centerline goodness : 0.152630 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.17, Z:-0.24 [[ 0.99858641 -0.00634541 -0.05277227 -3.00773595] [ 0.0057283 0.99991353 -0.01183692 -0.17087082] [ 0.05284282 0.01151789 0.99853642 -0.24345066] [ 0. 0. 0. 1. ]] SLAMing on 43.503133365 meters Centerline goodness : 0.156785 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.18, Z:-0.24 [[ 0.99855739 -0.00592143 -0.05336737 -3.00520589] [ 0.00534456 0.99992581 -0.01094579 -0.17570179] [ 0.05342822 0.01064478 0.99851495 -0.24490283] [ 0. 0. 0. 1. ]] SLAMing on 43.56313336499999 meters Centerline goodness : 0.151016 with order 1 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.19, Z:-0.25 [[ 9.98625659e-01 1.85435580e-03 -5.23770340e-02 -3.02492181e+00] [-2.44277485e-03 9.99934602e-01 -1.11725134e-02 -1.86548613e-01] [ 5.23528908e-02 1.12851039e-02 9.98564881e-01 -2.47181406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.623133364999994 meters Centerline goodness : 0.150379 with order 1 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.19, Z:-0.25 [[ 9.98649973e-01 -1.67523411e-03 -5.19174913e-02 -3.02676905e+00] [ 9.61079500e-04 9.99904624e-01 -1.37774823e-02 -1.92873255e-01] [ 5.19356202e-02 1.37089854e-02 9.98556335e-01 -2.46214340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683133364999996 meters Centerline goodness : 0.135831 with order 1 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.20, Z:-0.25 [[ 9.98637253e-01 -2.19266605e-03 -5.21423987e-02 -3.02581402e+00] [ 1.50527745e-03 9.99911498e-01 -1.32185300e-02 -2.03191112e-01] [ 5.21667678e-02 1.31220277e-02 9.98552172e-01 -2.46657828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74313336499999 meters Centerline goodness : 0.244585 with order 3 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.21, Z:-0.25 [[ 9.98637854e-01 -1.70989165e-03 -5.21489452e-02 -3.02528514e+00] [ 1.07915552e-03 9.99925960e-01 -1.21206574e-02 -2.09607673e-01] [ 5.21658091e-02 1.20478705e-02 9.98565760e-01 -2.47228266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.803133364999994 meters Centerline goodness : 0.125574 with order 3 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.21, Z:-0.25 [[ 9.98645794e-01 -1.29075048e-03 -5.20087767e-02 -3.02546652e+00] [ 6.74477070e-04 9.99929378e-01 -1.18652212e-02 -2.09927460e-01] [ 5.20204188e-02 1.18140745e-02 9.98576138e-01 -2.47546972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863133364999996 meters Centerline goodness : 0.149267 with order 1 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.20, Z:-0.25 [[ 9.98607174e-01 2.43971719e-03 -5.27044614e-02 -3.02233013e+00] [-2.92704372e-03 9.99953660e-01 -9.17119175e-03 -2.04856821e-01] [ 5.26796439e-02 9.31268614e-03 9.98568039e-01 -2.49653557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923133365 meters Centerline goodness : 0.148733 with order 1 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.20, Z:-0.25 [[ 9.98635612e-01 2.28668710e-03 -5.21697704e-02 -3.02387742e+00] [-2.80374822e-03 9.99947654e-01 -9.84009341e-03 -2.01108097e-01] [ 5.21445383e-02 9.97293861e-03 9.98589749e-01 -2.49502664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98313336499999 meters Centerline goodness : 0.146134 with order 1 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.20, Z:-0.25 [[ 9.98629991e-01 2.13513779e-03 -5.22836717e-02 -3.02381457e+00] [-2.65969329e-03 9.99946807e-01 -9.96535338e-03 -2.00784844e-01] [ 5.22596132e-02 1.00907593e-02 9.98582550e-01 -2.49220090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043133364999996 meters Centerline goodness : 0.151070 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.20, Z:-0.25 [[ 0.99853931 -0.00763462 -0.05348792 -3.04449039] [ 0.00713455 0.9999291 -0.00953405 -0.19916862] [ 0.05355692 0.00913852 0.99852298 -0.2505988 ] [ 0. 0. 0. 1. ]] SLAMing on 44.103133365 meters Centerline goodness : 0.147919 with order 1 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.20, Z:-0.25 [[ 9.98573401e-01 -7.58967747e-04 -5.33908846e-02 -3.02636845e+00] [ 1.54855512e-04 9.99935936e-01 -1.13181217e-02 -2.02837114e-01] [ 5.33960542e-02 1.12937074e-02 9.98509546e-01 -2.47784022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16313336499999 meters Centerline goodness : 0.151736 with order 1 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.21, Z:-0.25 [[ 9.98440612e-01 -1.06399731e-03 -5.58140929e-02 -3.07216456e+00] [ 4.55872179e-04 9.99940411e-01 -1.09071486e-02 -2.06090093e-01] [ 5.58223721e-02 1.08646961e-02 9.98381601e-01 -2.48659204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223133364999995 meters Centerline goodness : 0.149454 with order 1 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.21, Z:-0.25 [[ 9.98426973e-01 -1.19298122e-03 -5.60549455e-02 -3.07127172e+00] [ 5.84339640e-04 9.99940716e-01 -1.08730824e-02 -2.06955698e-01] [ 5.60645936e-02 1.08232236e-02 9.98368479e-01 -2.49038439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283133365 meters Centerline goodness : 0.143540 with order 1 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.21, Z:-0.25 [[ 9.98448896e-01 -1.14845637e-03 -5.56640247e-02 -3.07259455e+00] [ 5.69368712e-04 9.99945569e-01 -1.04180087e-02 -2.09422166e-01] [ 5.56729594e-02 1.03701560e-02 9.98395203e-01 -2.48444490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34313336499999 meters Centerline goodness : 0.149227 with order 1 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.21, Z:-0.25 [[ 9.98442313e-01 -1.03815116e-03 -5.57841405e-02 -3.07215904e+00] [ 4.69957034e-04 9.99947891e-01 -1.01977385e-02 -2.10420137e-01] [ 5.57918204e-02 1.01556375e-02 9.98390773e-01 -2.48624977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403133364999995 meters Centerline goodness : 0.142739 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.22, Z:-0.25 [[ 0.99841644 0.00677125 -0.05584585 -3.09128437] [-0.00741756 0.9999078 -0.01137403 -0.21653077] [ 0.05576369 0.01177026 0.99837462 -0.25154817] [ 0. 0. 0. 1. ]] SLAMing on 44.463133365 meters Centerline goodness : 0.121575 with order 3 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.22, Z:-0.25 [[ 0.99849508 0.00489305 -0.05462262 -3.09599577] [-0.00559344 0.999904 -0.01267689 -0.2205261 ] [ 0.05455535 0.01296334 0.99842659 -0.24982951] [ 0. 0. 0. 1. ]] SLAMing on 44.52313336499999 meters Centerline goodness : 0.136836 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.22, Z:-0.25 [[ 9.98514056e-01 1.00886659e-03 -5.44854353e-02 -3.09670449e+00] [-1.87274769e-03 9.99873315e-01 -1.58065380e-02 -2.24469271e-01] [ 5.44625861e-02 1.58850878e-02 9.98389448e-01 -2.49441567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583133364999995 meters Centerline goodness : 0.142832 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.23, Z:-0.25 [[ 9.98559021e-01 -1.98117214e-03 -5.36279532e-02 -3.09955959e+00] [ 1.05915781e-03 9.99851237e-01 -1.72157573e-02 -2.33901652e-01] [ 5.36540827e-02 1.71341493e-02 9.98412570e-01 -2.48470930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643133365 meters Centerline goodness : 0.148508 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.24, Z:-0.25 [[ 0.99855143 -0.00599802 -0.05347024 -3.10036773] [ 0.00493779 0.99978902 -0.01993839 -0.24172589] [ 0.05357855 0.01964548 0.99837037 -0.24784899] [ 0. 0. 0. 1. ]] SLAMing on 44.70313336499999 meters Centerline goodness : 0.143323 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.25, Z:-0.25 [[ 0.99848412 -0.00589182 -0.05472431 -3.09627082] [ 0.00485873 0.99980783 -0.01899196 -0.24904905] [ 0.05482569 0.01869728 0.99832087 -0.24921784] [ 0. 0. 0. 1. ]] SLAMing on 44.763133364999995 meters Centerline goodness : 0.138710 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.26, Z:-0.25 [[ 9.98524932e-01 1.80683504e-03 -5.42650555e-02 -3.11619621e+00] [-2.88025070e-03 9.99801604e-01 -1.97092871e-02 -2.57987072e-01] [ 5.42186781e-02 1.98365116e-02 9.98332033e-01 -2.51739040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823133365 meters Centerline goodness : 0.251711 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.26, Z:-0.25 [[ 9.98532680e-01 2.02111171e-03 -5.41147091e-02 -3.11679955e+00] [-3.07946562e-03 9.99805478e-01 -1.94813670e-02 -2.58954346e-01] [ 5.40648085e-02 1.96194260e-02 9.98344667e-01 -2.51449332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88313336499999 meters Centerline goodness : 0.144552 with order 1 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.26, Z:-0.25 [[ 9.98540002e-01 2.18402130e-03 -5.39730930e-02 -3.11716142e+00] [-3.21631756e-03 9.99813422e-01 -1.90466744e-02 -2.60976756e-01] [ 5.39214245e-02 1.91924609e-02 9.98360721e-01 -2.51521572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943133364999994 meters Centerline goodness : 0.121947 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.26, Z:-0.25 [[ 9.98536382e-01 2.24063584e-03 -5.40376955e-02 -3.11698608e+00] [-3.26047106e-03 9.99818100e-01 -1.87918951e-02 -2.62406664e-01] [ 5.39857603e-02 1.89405793e-02 9.98362055e-01 -2.51603600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003133365 meters Centerline goodness : 0.140172 with order 3 Centerline is valid? [False, False] Translation: X:-3.11, Y:-0.27, Z:-0.25 [[ 9.98507963e-01 -1.06509317e-03 -5.45959063e-02 -3.11477170e+00] [-6.60726947e-05 9.99785463e-01 -2.07128860e-02 -2.69259974e-01] [ 5.46062546e-02 2.06855889e-02 9.98293676e-01 -2.53443222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06313336499999 meters Centerline goodness : 0.126481 with order 3 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.27, Z:-0.25 [[ 0.99845028 -0.01088645 -0.05457586 -3.09161133] [ 0.00976231 0.99973553 -0.02082216 -0.27055538] [ 0.05478811 0.02025711 0.9982925 -0.25271807] [ 0. 0. 0. 1. ]] SLAMing on 45.123133364999994 meters Centerline goodness : 0.129741 with order 3 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.28, Z:-0.25 [[ 0.99846136 -0.01440901 -0.05354704 -3.09527953] [ 0.01321488 0.99965751 -0.02258808 -0.2789274 ] [ 0.05385418 0.02184571 0.99830982 -0.25223316] [ 0. 0. 0. 1. ]] SLAMing on 45.183133364999996 meters Centerline goodness : 0.222671 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.29, Z:-0.25 [[ 0.99853376 -0.00748698 -0.05361233 -3.08055451] [ 0.00626074 0.99971577 -0.02300397 -0.28870409] [ 0.05376932 0.02263458 0.99829682 -0.24984492] [ 0. 0. 0. 1. ]] SLAMing on 45.24313336499999 meters Centerline goodness : 0.127997 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.29, Z:-0.25 [[ 0.9984924 -0.00715842 -0.05442132 -3.07803129] [ 0.00591551 0.99971876 -0.02296553 -0.28802931] [ 0.05457041 0.02260898 0.99825393 -0.25032602] [ 0. 0. 0. 1. ]] SLAMing on 45.303133364999994 meters Centerline goodness : 0.175020 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.29, Z:-0.25 [[ 0.99850206 -0.00736713 -0.05421583 -3.07888888] [ 0.00611206 0.99971032 -0.02327906 -0.28712176] [ 0.05437163 0.02291282 0.99825785 -0.24981387] [ 0. 0. 0. 1. ]] SLAMing on 45.363133364999996 meters Centerline goodness : 0.130011 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.29, Z:-0.25 [[ 0.99848845 -0.00749991 -0.05444776 -3.07857259] [ 0.0062662 0.99972054 -0.0227941 -0.28949597] [ 0.0546035 0.02241847 0.99825642 -0.25017848] [ 0. 0. 0. 1. ]] SLAMing on 45.423133365 meters Centerline goodness : 0.085326 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.29, Z:-0.25 [[ 0.99846103 -0.00803679 -0.05487233 -3.07750411] [ 0.00681156 0.9997241 -0.02247928 -0.29173646] [ 0.05503786 0.02207092 0.99824031 -0.25022834] [ 0. 0. 0. 1. ]] SLAMing on 45.48313336499999 meters Centerline goodness : 0.235479 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.30, Z:-0.25 [[ 0.99848698 -0.00881761 -0.05427716 -3.07942749] [ 0.00762175 0.99972449 -0.0222002 -0.29605988] [ 0.05445796 0.02175293 0.99827909 -0.24953938] [ 0. 0. 0. 1. ]] SLAMing on 45.543133364999996 meters Centerline goodness : 0.159087 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.30, Z:-0.25 [[ 0.99849545 -0.00872695 -0.05413567 -3.08023139] [ 0.00756969 0.99973921 -0.02154536 -0.29918291] [ 0.05430958 0.02110316 0.99830112 -0.24899347] [ 0. 0. 0. 1. ]] SLAMing on 45.603133365 meters Centerline goodness : 0.092591 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.30, Z:-0.25 [[ 0.9985525 -0.0082242 -0.05315321 -3.08343842] [ 0.00710727 0.99975066 -0.02116838 -0.29914422] [ 0.05331405 0.02075996 0.99836198 -0.24776801] [ 0. 0. 0. 1. ]] SLAMing on 45.66313336499999 meters Centerline goodness : 0.097273 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.30, Z:-0.25 [[ 0.99856875 -0.00466112 -0.05327977 -3.0837502 ] [ 0.0037134 0.99983338 -0.01787266 -0.29824658] [ 0.05335419 0.01764923 0.99841967 -0.24718841] [ 0. 0. 0. 1. ]] SLAMing on 45.723133364999995 meters Centerline goodness : 0.222743 with order 3 Centerline is valid? [False, False] Translation: X:-3.06, Y:-0.29, Z:-0.25 [[ 0.99848554 -0.00918547 -0.05424259 -3.06126084] [ 0.00842029 0.99986203 -0.0143183 -0.29258308] [ 0.05436662 0.01383988 0.99842512 -0.24611435] [ 0. 0. 0. 1. ]] SLAMing on 45.783133365 meters Centerline goodness : 0.176703 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.30, Z:-0.25 [[ 9.98574527e-01 -1.12203665e-03 -5.33634171e-02 -3.08121385e+00] [ 2.42209496e-04 9.99863984e-01 -1.64910691e-02 -2.95451965e-01] [ 5.33746624e-02 1.64546364e-02 9.98438977e-01 -2.47940466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84313336499999 meters Centerline goodness : 0.177563 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.29, Z:-0.25 [[ 9.98522886e-01 6.94308928e-04 -5.43282913e-02 -3.07720780e+00] [-1.50894268e-03 9.99887028e-01 -1.49550684e-02 -2.90744385e-01] [ 5.43117703e-02 1.50149563e-02 9.98411129e-01 -2.49538581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903133364999995 meters Centerline goodness : 0.086302 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.28, Z:-0.25 [[ 0.99833674 -0.00715192 -0.05720675 -3.0934209 ] [ 0.00637173 0.99988435 -0.01380899 -0.28003778] [ 0.0572989 0.01342152 0.99826685 -0.25170371] [ 0. 0. 0. 1. ]] SLAMing on 45.963133365 meters Centerline goodness : 0.262581 with order 3 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.27, Z:-0.25 [[ 9.98352084e-01 -3.59992810e-03 -5.72726618e-02 -3.09283068e+00] [ 2.96566329e-03 9.99933376e-01 -1.11556214e-02 -2.73180025e-01] [ 5.73090055e-02 1.09673865e-02 9.98296246e-01 -2.52256580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02313336499999 meters Centerline goodness : 0.100481 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.27, Z:-0.25 [[ 0.99833816 -0.00404037 -0.05748567 -3.09187947] [ 0.00335682 0.99992257 -0.01198249 -0.26860942] [ 0.05752964 0.01176961 0.99827442 -0.25281646] [ 0. 0. 0. 1. ]] SLAMing on 46.083133364999995 meters Centerline goodness : 0.096487 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.26, Z:-0.25 [[ 9.98294073e-01 -2.40632806e-03 -5.83365516e-02 -3.08877941e+00] [ 1.79298279e-03 9.99942592e-01 -1.05639743e-02 -2.63092608e-01] [ 5.83586231e-02 1.04413565e-02 9.98241078e-01 -2.53893409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143133365 meters Centerline goodness : 0.246147 with order 3 Centerline is valid? [False, False] Translation: X:-3.11, Y:-0.25, Z:-0.26 [[ 0.99829007 -0.01114283 -0.0573827 -3.10978684] [ 0.01057426 0.99989204 -0.01020243 -0.25375859] [ 0.05749019 0.00957821 0.99830012 -0.2556486 ] [ 0. 0. 0. 1. ]] SLAMing on 46.20313336499999 meters Centerline goodness : 0.219374 with order 2 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.25, Z:-0.25 [[ 9.98377283e-01 -2.67540789e-03 -5.68827129e-02 -3.08989176e+00] [ 2.06863893e-03 9.99940365e-01 -1.07232267e-02 -2.53579581e-01] [ 5.69080097e-02 1.05881562e-02 9.98323279e-01 -2.54832755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.263133364999995 meters Centerline goodness : 0.222877 with order 3 Centerline is valid? [False, False] Translation: X:-3.11, Y:-0.24, Z:-0.26 [[ 0.99837344 -0.01041457 -0.0560537 -3.10975837] [ 0.0098781 0.9999028 -0.00983912 -0.24469183] [ 0.05615072 0.00926941 0.99837927 -0.25679972] [ 0. 0. 0. 1. ]] SLAMing on 46.323133365 meters Centerline goodness : 0.231069 with order 1 Centerline is valid? [False, False] Translation: X:-3.11, Y:-0.24, Z:-0.25 [[ 0.99845913 -0.00815283 -0.05488988 -3.1145476 ] [ 0.00773613 0.99993966 -0.00779979 -0.24128242] [ 0.05495016 0.00736313 0.99846195 -0.25492778] [ 0. 0. 0. 1. ]] SLAMing on 46.38313336499999 meters SLAMing on 46.443133364999994 meters SLAMing on 46.503133365 meters Centerline goodness : 0.245253 with order 1 Centerline is valid? [False, False] Translation: X:-3.16, Y:-0.22, Z:-0.26 [[ 0.998255 -0.01403544 -0.05735817 -3.16069458] [ 0.01357791 0.99987288 -0.00835865 -0.21985647] [ 0.05746819 0.00756526 0.99831867 -0.25617303] [ 0. 0. 0. 1. ]] SLAMing on 46.56313336499999 meters Centerline goodness : 0.168010 with order 1 Centerline is valid? [False, False] Translation: X:-3.14, Y:-0.22, Z:-0.26 [[ 0.99837725 -0.00493095 -0.05673236 -3.14022505] [ 0.00445629 0.99995403 -0.00849011 -0.22246485] [ 0.05677161 0.00822351 0.99835332 -0.25505421] [ 0. 0. 0. 1. ]] SLAMing on 46.623133364999994 meters SLAMing on 46.683133364999996 meters Centerline goodness : 0.161682 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:-0.21, Z:-0.26 [[ 0.99839149 0.00345227 -0.05659068 -3.20233469] [-0.00384949 0.9999687 -0.0069118 -0.20922914] [ 0.05656505 0.00711852 0.99837354 -0.25792018] [ 0. 0. 0. 1. ]] SLAMing on 46.74313336499999 meters Centerline goodness : 0.228054 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.20, Z:-0.26 [[ 0.99837605 -0.00493246 -0.05675326 -3.22168349] [ 0.00459144 0.99997062 -0.00613758 -0.20278529] [ 0.05678187 0.00586703 0.99836937 -0.25995832] [ 0. 0. 0. 1. ]] SLAMing on 46.803133364999994 meters Centerline goodness : 0.169281 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.20, Z:-0.26 [[ 9.98401242e-01 -1.95398565e-03 -5.64901945e-02 -3.22286075e+00] [ 1.76080336e-03 9.99992432e-01 -3.46932076e-03 -1.99114598e-01] [ 5.64965459e-02 3.36430604e-03 9.98397126e-01 -2.59396266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863133364999996 meters Centerline goodness : 0.098421 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.20, Z:-0.26 [[ 9.98397246e-01 -2.07733831e-03 -5.65563724e-02 -3.22254486e+00] [ 1.86271390e-03 9.99990864e-01 -3.84732782e-03 -1.96719764e-01] [ 5.65638479e-02 3.73581316e-03 9.98391995e-01 -2.59555969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923133365 meters SLAMing on 46.98313336499999 meters Centerline goodness : 0.151717 with order 1 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.18, Z:-0.26 [[ 9.98569962e-01 -7.95481025e-03 -5.28654208e-02 -3.24503171e+00] [ 7.78575784e-03 9.99963900e-01 -3.40296505e-03 -1.76111520e-01] [ 5.28905823e-02 2.98650131e-03 9.98595848e-01 -2.59810608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043133364999996 meters Centerline goodness : 0.132843 with order 3 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.17, Z:-0.26 [[ 0.99857097 -0.00836491 -0.05278304 -3.24549927] [ 0.00815902 0.99995825 -0.0041149 -0.17292496] [ 0.05281526 0.00367836 0.99859753 -0.25941424] [ 0. 0. 0. 1. ]] SLAMing on 47.103133365 meters Centerline goodness : 0.126136 with order 3 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.17, Z:-0.26 [[ 9.98514000e-01 -6.60694241e-03 -5.40938174e-02 -3.23999297e+00] [ 6.45008488e-03 9.99974474e-01 -3.07380234e-03 -1.65459998e-01] [ 5.41127451e-02 2.72032495e-03 9.98531127e-01 -2.61950768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16313336499999 meters Centerline goodness : 0.124826 with order 3 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.16, Z:-0.26 [[ 9.98528532e-01 -3.26752319e-03 -5.41303394e-02 -3.23983896e+00] [ 3.22047512e-03 9.99994357e-01 -9.56366693e-04 -1.56196293e-01] [ 5.41331589e-02 7.80634019e-04 9.98533420e-01 -2.62037220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223133364999995 meters Centerline goodness : 0.144747 with order 2 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.15, Z:-0.26 [[ 9.98557223e-01 2.67572950e-04 -5.36972980e-02 -3.24119653e+00] [-1.86084063e-04 9.99998824e-01 1.52255426e-03 -1.49307532e-01] [ 5.36976422e-02 -1.51036534e-03 9.98556099e-01 -2.61578231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283133365 meters Centerline goodness : 0.127799 with order 3 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.14, Z:-0.26 [[ 9.98556095e-01 3.09394902e-03 -5.36297683e-02 -3.23991602e+00] [-2.94237031e-03 9.99991451e-01 2.90511716e-03 -1.37539033e-01] [ 5.36382982e-02 -2.74312381e-03 9.98556663e-01 -2.63152700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34313336499999 meters Centerline goodness : 0.153604 with order 1 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.13, Z:-0.26 [[ 9.98513950e-01 2.44935544e-03 -5.44416388e-02 -3.23710885e+00] [-2.36297701e-03 9.99995845e-01 1.65093762e-03 -1.30009620e-01] [ 5.44454563e-02 -1.51983991e-03 9.98515589e-01 -2.64228340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403133364999995 meters Centerline goodness : 0.148865 with order 1 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.13, Z:-0.26 [[ 9.98592153e-01 7.32531114e-04 -5.30393662e-02 -3.24154865e+00] [-7.38801250e-04 9.99999722e-01 -9.86101603e-05 -1.26251836e-01] [ 5.30392793e-02 1.37656882e-04 9.98592417e-01 -2.62975556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463133365 meters Centerline goodness : 0.142265 with order 1 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.13, Z:-0.26 [[ 9.98567902e-01 3.88772288e-04 -5.34976074e-02 -3.23988545e+00] [-4.09658497e-04 9.99999844e-01 -3.79448705e-04 -1.25636263e-01] [ 5.34974515e-02 4.00821047e-04 9.98567906e-01 -2.63831896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52313336499999 meters Centerline goodness : 0.243704 with order 3 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.12, Z:-0.27 [[ 9.98544144e-01 -7.72306626e-03 -5.33848950e-02 -3.26049813e+00] [ 7.75102496e-03 9.99969910e-01 3.16694596e-04 -1.17728310e-01] [ 5.33808428e-02 -7.30021188e-04 9.98573960e-01 -2.65709296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583133364999995 meters Centerline goodness : 0.147941 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.11, Z:-0.26 [[ 9.98616692e-01 -5.71761665e-03 -5.22686444e-02 -3.26587480e+00] [ 5.82162941e-03 9.99981365e-01 1.83793176e-03 -1.13975560e-01] [ 5.22571618e-02 -2.13967801e-03 9.98631369e-01 -2.62870469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643133365 meters Centerline goodness : 0.145167 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.11, Z:-0.26 [[ 9.98603278e-01 -5.74257105e-03 -5.25215701e-02 -3.26491622e+00] [ 5.83273941e-03 9.99981767e-01 1.56366905e-03 -1.11875799e-01] [ 5.25116330e-02 -1.86782967e-03 9.98618566e-01 -2.63371427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70313336499999 meters Centerline goodness : 0.124103 with order 3 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.11, Z:-0.26 [[ 9.98645094e-01 -2.00005663e-03 -5.19997629e-02 -3.26652591e+00] [ 2.24788128e-03 9.99986392e-01 4.70783303e-03 -1.08295707e-01] [ 5.19896393e-02 -4.81834366e-03 9.98636000e-01 -2.62970776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763133364999995 meters Centerline goodness : 0.150559 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.10, Z:-0.26 [[ 9.98728135e-01 -1.48349086e-04 -5.04191442e-02 -3.27295306e+00] [ 4.31547580e-04 9.99984193e-01 5.60604457e-03 -1.00150942e-01] [ 5.04175156e-02 -5.62067270e-03 9.98712412e-01 -2.60046311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823133365 meters Centerline goodness : 0.146320 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.09, Z:-0.26 [[ 9.98771258e-01 1.48211208e-03 -4.95356123e-02 -3.27553185e+00] [-1.16491318e-03 9.99978638e-01 6.43170838e-03 -9.23008072e-02] [ 4.95440866e-02 -6.36610078e-03 9.98751649e-01 -2.59528368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88313336499999 meters Centerline goodness : 0.212904 with order 3 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.08, Z:-0.26 [[ 9.98771619e-01 6.48961788e-04 -4.95462527e-02 -3.27544216e+00] [-4.23800746e-04 9.99989537e-01 4.55483168e-03 -8.04189306e-02] [ 4.95486902e-02 -4.52823887e-03 9.98761444e-01 -2.59557630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.943133364999994 meters Centerline goodness : 0.148455 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.07, Z:-0.26 [[ 9.98745785e-01 4.97163169e-05 -5.00684939e-02 -3.27321221e+00] [ 1.23352498e-04 9.99994029e-01 3.45354521e-03 -7.26439892e-02] [ 5.00683666e-02 -3.45538979e-03 9.98739815e-01 -2.60686953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003133365 meters Centerline goodness : 0.137371 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.07, Z:-0.26 [[ 9.98723868e-01 -1.25243870e-03 -5.04882794e-02 -3.27144896e+00] [ 1.35788934e-03 9.99996968e-01 2.05436962e-03 -6.85831995e-02] [ 5.04855534e-02 -2.12030547e-03 9.98722541e-01 -2.61766145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06313336499999 meters Centerline goodness : 0.137948 with order 3 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.07, Z:-0.26 [[ 9.98728360e-01 -1.45538134e-03 -5.03938942e-02 -3.27127055e+00] [ 1.54629777e-03 9.99997247e-01 1.76517629e-03 -6.73077928e-02] [ 5.03911865e-02 -1.84085559e-03 9.98727861e-01 -2.62394449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.123133364999994 meters Centerline goodness : 0.134903 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.07, Z:-0.26 [[ 9.98708342e-01 -1.59953098e-03 -5.07847389e-02 -3.26977652e+00] [ 1.69703221e-03 9.99996799e-01 1.87683087e-03 -6.84363288e-02] [ 5.07815743e-02 -1.96058998e-03 9.98707859e-01 -2.63308151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183133364999996 meters Centerline goodness : 0.135700 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.07, Z:-0.26 [[ 9.98689334e-01 -1.38781294e-03 -5.11633389e-02 -3.26835726e+00] [ 1.51062679e-03 9.99996070e-01 2.36183510e-03 -7.06499792e-02] [ 5.11598601e-02 -2.43602823e-03 9.98687506e-01 -2.64097812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24313336499999 meters Centerline goodness : 0.133611 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.07, Z:-0.26 [[ 9.98702339e-01 -1.16773355e-03 -5.09143912e-02 -3.26941241e+00] [ 1.31814031e-03 9.99994866e-01 2.92063307e-03 -7.41207896e-02] [ 5.09107193e-02 -2.98395539e-03 9.98698751e-01 -2.63597276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.303133364999994 meters Centerline goodness : 0.139170 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.08, Z:-0.26 [[ 9.98696822e-01 -7.99741636e-04 -5.10295743e-02 -3.26942798e+00] [ 9.69862500e-04 9.99994055e-01 3.30909513e-03 -7.51404173e-02] [ 5.10266245e-02 -3.35427446e-03 9.98691660e-01 -2.63178306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363133364999996 meters Centerline goodness : 0.141141 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.08, Z:-0.26 [[ 9.98674143e-01 -3.10074064e-04 -5.14767976e-02 -3.26854061e+00] [ 5.11747905e-04 9.99992246e-01 3.90462791e-03 -7.72813177e-02] [ 5.14751878e-02 -3.92579408e-03 9.98666558e-01 -2.62922956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423133365 meters Centerline goodness : 0.123320 with order 3 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.08, Z:-0.26 [[ 9.98777219e-01 1.48834510e-03 -4.94150879e-02 -3.27609702e+00] [-1.21654199e-03 9.99983969e-01 5.53002796e-03 -7.87459408e-02] [ 4.94225264e-02 -5.46315042e-03 9.98763019e-01 -2.59924666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48313336499999 meters Centerline goodness : 0.136504 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.08, Z:-0.26 [[ 9.98798611e-01 1.38270440e-03 -4.89839070e-02 -3.27740403e+00] [-1.12104111e-03 9.99984959e-01 5.36889179e-03 -7.82565227e-02] [ 4.89905939e-02 -5.30752869e-03 9.98785138e-01 -2.59602984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543133364999996 meters Centerline goodness : 0.131966 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.08, Z:-0.26 [[ 9.98778158e-01 1.23594254e-03 -4.94030646e-02 -3.27612695e+00] [-9.75759589e-04 9.99985530e-01 5.29030525e-03 -7.84573551e-02] [ 4.94088883e-02 -5.23563582e-03 9.98764912e-01 -2.60072063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603133365 meters Centerline goodness : 0.129590 with order 3 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.07, Z:-0.26 [[ 9.98776760e-01 9.89395879e-04 -4.94368742e-02 -3.27643718e+00] [-7.61082063e-04 9.99988960e-01 4.63690074e-03 -7.48891061e-02] [ 4.94409161e-02 -4.59360318e-03 9.98766487e-01 -2.59455713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66313336499999 meters Centerline goodness : 0.129713 with order 3 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.07, Z:-0.26 [[ 0.99881853 0.00373009 -0.04845228 -3.28082403] [-0.0034277 0.99997414 0.00632258 -0.06678016] [ 0.04847461 -0.00614903 0.99880549 -0.2571068 ] [ 0. 0. 0. 1. ]] SLAMing on 48.723133364999995 meters Centerline goodness : 0.150971 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.06, Z:-0.26 [[ 9.98824326e-01 3.48398263e-03 -4.83510924e-02 -3.28068107e+00] [-3.22625449e-03 9.99980176e-01 5.40736694e-03 -6.10151874e-02] [ 4.83689730e-02 -5.24501671e-03 9.98815765e-01 -2.57530923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783133365 meters Centerline goodness : 0.134374 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.06, Z:-0.26 [[ 9.98803236e-01 3.20547409e-03 -4.88038929e-02 -3.27860418e+00] [-2.97386915e-03 9.99983974e-01 4.81749639e-03 -5.80296376e-02] [ 4.88185531e-02 -4.66659459e-03 9.98796762e-01 -2.58979792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84313336499999 meters Centerline goodness : 0.151997 with order 3 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.05, Z:-0.26 [[ 0.99867494 -0.00448002 -0.05126688 -3.29679098] [ 0.0047968 0.99997015 0.00605778 -0.05108391] [ 0.05123821 -0.00629567 0.99866662 -0.26098098] [ 0. 0. 0. 1. ]] SLAMing on 48.903133364999995 meters Centerline goodness : 0.137544 with order 3 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.05, Z:-0.26 [[ 0.99858642 -0.00521857 -0.0528955 -3.29195612] [ 0.00551382 0.99997002 0.00543746 -0.04990716] [ 0.05286554 -0.00572143 0.99858525 -0.26237131] [ 0. 0. 0. 1. ]] SLAMing on 48.963133365 meters SLAMing on 49.02313336499999 meters Centerline goodness : 0.243946 with order 3 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.04, Z:-0.26 [[ 0.99859108 0.00797493 -0.05246194 -3.3190408 ] [-0.00763468 0.99994852 0.00668289 -0.03678429] [ 0.05251253 -0.00627295 0.99860056 -0.26022515] [ 0. 0. 0. 1. ]] SLAMing on 49.083133364999995 meters Centerline goodness : 0.136554 with order 1 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.03, Z:-0.26 [[ 0.99853906 0.01171052 -0.0527505 -3.31798169] [-0.01122068 0.99989122 0.00957264 -0.03196702] [ 0.05285686 -0.00896676 0.99856184 -0.26061606] [ 0. 0. 0. 1. ]] SLAMing on 49.143133365 meters Centerline goodness : 0.139279 with order 1 Centerline is valid? [False, False] Translation: X:-3.34, Y:-0.02, Z:-0.26 [[ 0.99871021 0.00759616 -0.05020179 -3.33839955] [-0.00703202 0.99991024 0.01140463 -0.01816665] [ 0.05028392 -0.0110369 0.99867398 -0.26220744] [ 0. 0. 0. 1. ]] SLAMing on 49.20313336499999 meters Centerline goodness : 0.178332 with order 3 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.01, Z:-0.26 [[ 9.98847240e-01 -1.13854057e-03 -4.79884805e-02 -3.32062443e+00] [ 1.70176546e-03 9.99930134e-01 1.16974471e-02 -1.02956531e-02] [ 4.79718098e-02 -1.17656279e-02 9.98779393e-01 -2.60242941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.263133364999995 meters Centerline goodness : 0.134153 with order 1 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.01, Z:-0.26 [[ 9.98865405e-01 -1.50992029e-03 -4.75985677e-02 -3.32201213e+00] [ 2.04845085e-03 9.99934424e-01 1.12672594e-02 -8.57334434e-03] [ 4.75784337e-02 -1.13519789e-02 9.98802996e-01 -2.59430986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323133365 meters Centerline goodness : 0.240219 with order 3 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.00, Z:-0.26 [[ 9.99042400e-01 -5.00286233e-04 -4.37496500e-02 -3.29505801e+00] [ 8.45020697e-04 9.99968740e-01 7.86156943e-03 -4.48626816e-03] [ 4.37443494e-02 -7.89101056e-03 9.99011593e-01 -2.58866246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38313336499999 meters Centerline goodness : 0.091657 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.00, Z:-0.26 [[ 9.99029507e-01 -9.18911213e-04 -4.40363543e-02 -3.29406283e+00] [ 1.23686087e-03 9.99973362e-01 7.19346047e-03 -1.54815987e-03] [ 4.40285711e-02 -7.24094610e-03 9.99004031e-01 -2.59305051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.443133364999994 meters Centerline goodness : 0.090848 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:0.00, Z:-0.26 [[ 9.99012463e-01 -1.08917281e-03 -4.44174695e-02 -3.29280013e+00] [ 1.39373800e-03 9.99975728e-01 6.82648657e-03 6.27887212e-04] [ 4.44089562e-02 -6.88165148e-03 9.98989733e-01 -2.59753265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503133365 meters Centerline goodness : 0.133216 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:0.01, Z:-0.26 [[ 9.98973091e-01 -1.27080945e-03 -4.52896180e-02 -3.29022304e+00] [ 1.54012719e-03 9.99981337e-01 5.91216927e-03 7.52020514e-03] [ 4.52812595e-02 -5.97584978e-03 9.98956404e-01 -2.60241137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56313336499999 meters SLAMing on 49.623133364999994 meters SLAMing on 49.683133364999996 meters Centerline goodness : 0.247889 with order 3 Centerline is valid? [False, False] Translation: X:-3.30, Y:0.04, Z:-0.26 [[ 0.99904289 0.00850866 -0.04290574 -3.29690729] [-0.00825236 0.99994705 0.00614718 0.04240036] [ 0.04295577 -0.00578722 0.99906021 -0.26002737] [ 0. 0. 0. 1. ]] SLAMing on 49.74313336499999 meters Centerline goodness : 0.211729 with order 3 Centerline is valid? [False, False] Translation: X:-3.30, Y:0.05, Z:-0.26 [[ 0.99900003 0.0118539 -0.04310953 -3.29611803] [-0.01152194 0.99990209 0.0079407 0.05035108] [ 0.04319944 -0.00743606 0.99903879 -0.26112055] [ 0. 0. 0. 1. ]] SLAMing on 49.803133364999994 meters Centerline goodness : 0.239802 with order 3 Centerline is valid? [False, False] Translation: X:-3.31, Y:0.07, Z:-0.26 [[ 0.99919744 0.00706446 -0.03942803 -3.31455306] [-0.00675597 0.99994556 0.00795195 0.06972893] [ 0.03948206 -0.00767919 0.99919077 -0.26430577] [ 0. 0. 0. 1. ]] SLAMing on 49.863133364999996 meters Centerline goodness : 0.146486 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:0.08, Z:-0.26 [[ 0.99926085 0.00693214 -0.03781127 -3.26943121] [-0.00662156 0.99994336 0.00833317 0.07759254] [ 0.0378669 -0.00807664 0.99925015 -0.26351364] [ 0. 0. 0. 1. ]] SLAMing on 49.923133365 meters Centerline goodness : 0.092815 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:0.08, Z:-0.26 [[ 0.99924564 0.00670839 -0.03825112 -3.26789661] [-0.00642692 0.99995139 0.00747684 0.08249137] [ 0.03829942 -0.00722537 0.99924019 -0.26415131] [ 0. 0. 0. 1. ]] SLAMing on 49.98313336499999 meters Centerline goodness : 0.244938 with order 3 Centerline is valid? [False, False] Translation: X:-3.27, Y:0.09, Z:-0.26 [[ 0.99923465 0.00667522 -0.03854284 -3.2670822 ] [-0.00641088 0.9999551 0.00697793 0.08570072] [ 0.03858769 -0.0067255 0.99923258 -0.26434429] [ 0. 0. 0. 1. ]] SLAMing on 50.043133364999996 meters Centerline goodness : 0.144495 with order 1 Centerline is valid? [False, False] Translation: X:-3.23, Y:0.09, Z:-0.26 [[ 0.99933812 0.00705244 -0.03568739 -3.22601827] [-0.00676629 0.99994404 0.00813282 0.0870053 ] [ 0.03574275 -0.00788597 0.99932991 -0.26243062] [ 0. 0. 0. 1. ]] SLAMing on 50.103133365 meters Centerline goodness : 0.108874 with order 1 Centerline is valid? [False, False] Translation: X:-3.23, Y:0.09, Z:-0.26 [[ 0.9993277 0.00752992 -0.03588097 -3.2252971 ] [-0.00723955 0.99994005 0.00821544 0.08785529] [ 0.03594068 -0.00795016 0.9993223 -0.26292536] [ 0. 0. 0. 1. ]] SLAMing on 50.16313336499999 meters Centerline goodness : 0.275802 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.08, Z:-0.26 [[ 0.99941052 0.00761599 -0.03347548 -3.18264093] [-0.00731293 0.99993125 0.00916647 0.08373917] [ 0.03354299 -0.00891627 0.9993975 -0.26292748] [ 0. 0. 0. 1. ]] SLAMing on 50.223133364999995 meters Centerline goodness : 0.237034 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.08, Z:-0.26 [[ 0.99940035 0.00786504 -0.03372068 -3.18214072] [-0.00754906 0.9999265 0.00948761 0.08198798] [ 0.03379282 -0.00922736 0.99938626 -0.26298049] [ 0. 0. 0. 1. ]] SLAMing on 50.283133365 meters Centerline goodness : 0.139164 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.08, Z:-0.26 [[ 0.99934168 0.00939639 -0.03504147 -3.17758891] [-0.00903097 0.99990333 0.01057203 0.07957776] [ 0.03513742 -0.01024861 0.99932994 -0.26478487] [ 0. 0. 0. 1. ]] SLAMing on 50.34313336499999 meters Centerline goodness : 0.163655 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.08, Z:-0.26 [[ 0.99932759 0.01050769 -0.03512781 -3.17752259] [-0.01011733 0.99988529 0.01127193 0.07716338] [ 0.03524223 -0.01090895 0.99931926 -0.26458502] [ 0. 0. 0. 1. ]] SLAMing on 50.403133364999995 meters Centerline goodness : 0.187745 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.07, Z:-0.26 [[ 0.99932686 0.01078121 -0.03506564 -3.17754957] [-0.01037705 0.99987786 0.01168725 0.07433629] [ 0.03518736 -0.0113155 0.99931667 -0.26474049] [ 0. 0. 0. 1. ]] SLAMing on 50.463133365 meters Centerline goodness : 0.143735 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.07, Z:-0.26 [[ 0.99936212 0.00744798 -0.03492665 -3.17829513] [-0.00712705 0.99993132 0.00930415 0.06683997] [ 0.03499355 -0.00904929 0.99934657 -0.26412038] [ 0. 0. 0. 1. ]] SLAMing on 50.52313336499999 meters Centerline goodness : 0.147102 with order 1 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.06, Z:-0.26 [[ 0.99940517 0.00389902 -0.03426522 -3.18081057] [-0.00366806 0.99997015 0.0068007 0.05766926] [ 0.03429072 -0.00667096 0.99938964 -0.2627172 ] [ 0. 0. 0. 1. ]] SLAMing on 50.583133364999995 meters Centerline goodness : 0.128909 with order 3 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.05, Z:-0.26 [[ 9.99424955e-01 2.55016587e-03 -3.38120781e-02 -3.18391742e+00] [-2.35152147e-03 9.99979751e-01 5.91341928e-03 5.07819506e-02] [ 3.38264736e-02 -5.83050897e-03 9.99410714e-01 -2.60400767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643133365 meters Centerline goodness : 0.223526 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:0.04, Z:-0.26 [[ 0.99938839 0.0126149 -0.03261461 -3.20402275] [-0.0124085 0.99990173 0.00652301 0.03843538] [ 0.03269369 -0.00611432 0.99944672 -0.26255961] [ 0. 0. 0. 1. ]] SLAMing on 50.70313336499999 meters Centerline goodness : 0.231792 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:0.04, Z:-0.26 [[ 0.99937045 0.01308025 -0.032979 -3.20317565] [-0.01286211 0.99989404 0.00681788 0.03642748] [ 0.03306469 -0.0063894 0.99943279 -0.26265515] [ 0. 0. 0. 1. ]] SLAMing on 50.763133364999995 meters Centerline goodness : 0.230981 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:0.03, Z:-0.26 [[ 0.99931367 0.01404121 -0.03427889 -3.19910414] [-0.01378549 0.99987544 0.00768502 0.03411578] [ 0.03438253 -0.0072072 0.99938276 -0.26414221] [ 0. 0. 0. 1. ]] SLAMing on 50.823133365 meters Centerline goodness : 0.181636 with order 2 Centerline is valid? [False, False] Translation: X:-3.20, Y:0.03, Z:-0.26 [[ 0.99930667 0.0145169 -0.03428477 -3.19877141] [-0.01423177 0.9998622 0.0085458 0.02971457] [ 0.0344041 -0.00805194 0.99937557 -0.2646948 ] [ 0. 0. 0. 1. ]] SLAMing on 50.88313336499999 meters Centerline goodness : 0.233775 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.03, Z:-0.27 [[ 0.999415 0.00652327 -0.03357238 -3.22137319] [-0.00621537 0.99993774 0.0092676 0.02705337] [ 0.03363074 -0.00905352 0.99939332 -0.2653409 ] [ 0. 0. 0. 1. ]] SLAMing on 50.943133364999994 meters Centerline goodness : 0.219039 with order 3 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.02, Z:-0.27 [[ 0.99939904 0.00695382 -0.03395875 -3.21972055] [-0.00661325 0.99992681 0.01013095 0.02264683] [ 0.03402671 -0.00990029 0.99937189 -0.26634523] [ 0. 0. 0. 1. ]] SLAMing on 51.003133365 meters Centerline goodness : 0.102028 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.02, Z:-0.27 [[ 0.99938177 0.007206 -0.03441148 -3.2182635 ] [-0.00685075 0.99992213 0.01043049 0.02139291] [ 0.03448396 -0.0101883 0.99935332 -0.26691499] [ 0. 0. 0. 1. ]] SLAMing on 51.06313336499999 meters Centerline goodness : 0.236829 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.02, Z:-0.27 [[ 0.99937945 0.00762078 -0.03438942 -3.21866136] [-0.00726066 0.99991762 0.01058443 0.02153968] [ 0.03446724 -0.01032818 0.99935246 -0.2665809 ] [ 0. 0. 0. 1. ]] SLAMing on 51.123133364999994 meters Centerline goodness : 0.079961 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.02, Z:-0.27 [[ 0.99937483 0.00783436 -0.03447562 -3.21837568] [-0.00748032 0.99991808 0.01038614 0.02338022] [ 0.03455416 -0.01012176 0.99935157 -0.26695787] [ 0. 0. 0. 1. ]] SLAMing on 51.183133364999996 meters Centerline goodness : 0.101485 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.02, Z:-0.27 [[ 0.99940169 0.00784067 -0.03368664 -3.22126962] [-0.0074955 0.99991824 0.01036049 0.02388272] [ 0.03376512 -0.01010179 0.99937874 -0.26562018] [ 0. 0. 0. 1. ]] SLAMing on 51.24313336499999 meters Centerline goodness : 0.135281 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.03, Z:-0.27 [[ 0.99939769 0.00774372 -0.03382732 -3.22054072] [-0.00740571 0.99992151 0.01010627 0.02541644] [ 0.03390293 -0.00984967 0.99937659 -0.26622569] [ 0. 0. 0. 1. ]] SLAMing on 51.303133364999994 meters Centerline goodness : 0.229789 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.03, Z:-0.27 [[ 0.99939194 0.00763974 -0.03402022 -3.21997709] [-0.00731317 0.99992608 0.00971354 0.02783772] [ 0.03409191 -0.00945883 0.99937394 -0.26648038] [ 0. 0. 0. 1. ]] SLAMing on 51.363133364999996 meters SLAMing on 51.42313336499999 meters Centerline goodness : 0.237273 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:0.03, Z:-0.27 [[ 9.99403259e-01 2.70554297e-03 -3.44355195e-02 -3.28309984e+00] [-2.39902775e-03 9.99957165e-01 8.93934328e-03 3.22568208e-02] [ 3.44582303e-02 -8.85139704e-03 9.99366941e-01 -2.68500192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48313336499999 meters Centerline goodness : 0.182852 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:0.03, Z:-0.27 [[ 9.99407985e-01 2.75539495e-03 -3.42941320e-02 -3.28361541e+00] [-2.44558284e-03 9.99955852e-01 9.07263932e-03 3.18519002e-02] [ 3.43176167e-02 -8.98339904e-03 9.99370602e-01 -2.68245230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543133364999996 meters SLAMing on 51.603133365 meters Centerline goodness : 0.208746 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:0.02, Z:-0.27 [[ 0.99940152 0.00670006 -0.03393696 -3.35692383] [-0.00646869 0.99995511 0.00692277 0.01660085] [ 0.03398182 -0.0066991 0.9994 -0.26948603] [ 0. 0. 0. 1. ]] SLAMing on 51.66313336499999 meters Centerline goodness : 0.234776 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:0.01, Z:-0.27 [[ 0.99940104 0.00698448 -0.03389368 -3.35692898] [-0.00673533 0.99994949 0.00745948 0.01436881] [ 0.03394407 -0.00722673 0.99939761 -0.26957944] [ 0. 0. 0. 1. ]] SLAMing on 51.723133364999995 meters SLAMing on 51.783133365 meters Centerline goodness : 0.180384 with order 3 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.00, Z:-0.27 [[ 0.99934029 0.00388359 -0.03610946 -3.40220625] [-0.00369413 0.99997907 0.00531225 -0.00464877] [ 0.03612934 -0.00517535 0.99933372 -0.26938124] [ 0. 0. 0. 1. ]] SLAMing on 51.84313336499999 meters Centerline goodness : 0.097550 with order 2 Centerline is valid? [False, False] Translation: X:-3.38, Y:-0.01, Z:-0.27 [[ 0.99938212 -0.00580101 -0.03466584 -3.38156603] [ 0.00602111 0.99996235 0.00624807 -0.01140877] [ 0.03462829 -0.00645294 0.99937943 -0.26866077] [ 0. 0. 0. 1. ]] SLAMing on 51.903133364999995 meters SLAMing on 51.963133365 meters SLAMing on 52.02313336499999 meters SLAMing on 52.083133364999995 meters Centerline goodness : 0.178541 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.06, Z:-0.27 [[ 9.99471656e-01 5.08755972e-03 -3.21017925e-02 -3.46947186e+00] [-5.00130364e-03 9.99983666e-01 2.76667983e-03 -6.25489283e-02] [ 3.21153438e-02 -2.60466726e-03 9.99480775e-01 -2.69446344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143133365 meters Centerline goodness : 0.243270 with order 3 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.07, Z:-0.27 [[ 9.99492524e-01 1.69126371e-03 -3.18093507e-02 -3.46982049e+00] [-1.67896099e-03 9.99998505e-01 4.13470307e-04 -6.99912878e-02] [ 3.18100024e-02 -3.59853821e-04 9.99493869e-01 -2.69764381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20313336499999 meters SLAMing on 52.263133364999995 meters Centerline goodness : 0.231356 with order 3 Centerline is valid? [False, False] Translation: X:-3.49, Y:-0.09, Z:-0.27 [[ 9.99352286e-01 9.70761989e-03 -3.46521284e-02 -3.48519983e+00] [-9.72531333e-03 9.99952650e-01 -3.42082402e-04 -8.77311624e-02] [ 3.46471668e-02 6.78863636e-04 9.99399376e-01 -2.72614360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323133365 meters Centerline goodness : 0.147017 with order 1 Centerline is valid? [False, False] Translation: X:-3.48, Y:-0.09, Z:-0.27 [[ 9.99339425e-01 1.05849887e-02 -3.47659425e-02 -3.48422885e+00] [-1.05761530e-02 9.99943975e-01 4.38045790e-04 -8.94816257e-02] [ 3.47686315e-02 -7.00665020e-05 9.99395386e-01 -2.73761821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38313336499999 meters Centerline goodness : 0.155242 with order 1 Centerline is valid? [False, False] Translation: X:-3.48, Y:-0.09, Z:-0.27 [[ 9.99324738e-01 1.13551535e-02 -3.49446493e-02 -3.48349531e+00] [-1.13412224e-02 9.99935508e-01 5.96858289e-04 -8.79121537e-02] [ 3.49491731e-02 -2.00140212e-04 9.99389071e-01 -2.74558068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.443133364999994 meters Centerline goodness : 0.152902 with order 1 Centerline is valid? [False, False] Translation: X:-3.48, Y:-0.09, Z:-0.27 [[ 9.99329013e-01 1.15595763e-02 -3.47548662e-02 -3.48401291e+00] [-1.15558133e-02 9.99933182e-01 3.09147026e-04 -8.50420268e-02] [ 3.47561176e-02 9.26811536e-05 9.99395819e-01 -2.74680789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503133365 meters Centerline goodness : 0.162914 with order 2 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.08, Z:-0.28 [[ 9.99382955e-01 2.48931581e-03 -3.50358629e-02 -3.50630434e+00] [-2.49307352e-03 9.99996890e-01 -6.35666326e-05 -8.03706019e-02] [ 3.50355957e-02 1.50874391e-04 9.99386054e-01 -2.75319532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56313336499999 meters Centerline goodness : 0.150755 with order 1 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.08, Z:-0.27 [[ 9.99391321e-01 2.38427878e-03 -3.48037792e-02 -3.50730996e+00] [-2.40094462e-03 9.99997022e-01 -4.37065489e-04 -7.77936701e-02] [ 3.48026335e-02 5.20361403e-04 9.99394069e-01 -2.74754628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.623133364999994 meters Centerline goodness : 0.142870 with order 1 Centerline is valid? [False, False] Translation: X:-3.49, Y:-0.07, Z:-0.27 [[ 9.99476298e-01 -5.66170459e-03 -3.18602283e-02 -3.49039532e+00] [ 5.68352823e-03 9.99983672e-01 5.94459662e-04 -7.03225772e-02] [ 3.18563425e-02 -7.75226849e-04 9.99492157e-01 -2.72311695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683133364999996 meters SLAMing on 52.74313336499999 meters SLAMing on 52.803133364999994 meters Centerline goodness : 0.143126 with order 1 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.09, Z:-0.27 [[ 9.99496552e-01 -8.90040310e-03 -3.04536711e-02 -3.57405506e+00] [ 8.82366059e-03 9.99957550e-01 -2.65343838e-03 -9.05382751e-02] [ 3.04759950e-02 2.38338966e-03 9.99532657e-01 -2.73627591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863133364999996 meters Centerline goodness : 0.142901 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.09, Z:-0.28 [[ 9.99488146e-01 4.17284180e-04 -3.19886149e-02 -3.59240127e+00] [-5.21361820e-04 9.99994598e-01 -3.24531190e-03 -9.47173170e-02] [ 3.19870879e-02 3.26032841e-03 9.99482965e-01 -2.76253671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92313336499999 meters Centerline goodness : 0.140252 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.09, Z:-0.28 [[ 9.99487534e-01 7.60039271e-04 -3.20014207e-02 -3.59192196e+00] [-8.70087671e-04 9.99993756e-01 -3.42507469e-03 -9.26392453e-02] [ 3.19986177e-02 3.45116350e-03 9.99481955e-01 -2.77239777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98313336499999 meters Centerline goodness : 0.144394 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.09, Z:-0.28 [[ 9.99463127e-01 8.28018211e-04 -3.27532026e-02 -3.58932985e+00] [-9.45757545e-04 9.99993147e-01 -3.57941353e-03 -9.16169417e-02] [ 3.27500143e-02 3.60846843e-03 9.99457060e-01 -2.78642340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043133364999996 meters SLAMing on 53.103133365 meters Centerline goodness : 0.144345 with order 1 Centerline is valid? [False, False] Translation: X:-3.63, Y:-0.09, Z:-0.28 [[ 9.99378233e-01 3.41009505e-04 -3.52566326e-02 -3.63357469e+00] [-4.77878422e-04 9.99992383e-01 -3.87372177e-03 -9.34311162e-02] [ 3.52550431e-02 3.88816160e-03 9.99370784e-01 -2.79344172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16313336499999 meters Centerline goodness : 0.143765 with order 1 Centerline is valid? [False, False] Translation: X:-3.64, Y:-0.09, Z:-0.28 [[ 9.99424010e-01 -1.02212651e-03 -3.39205406e-02 -3.63833757e+00] [ 8.60762991e-04 9.99988247e-01 -4.77136533e-03 -9.41661342e-02] [ 3.39250189e-02 4.73941953e-03 9.99413143e-01 -2.77273445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223133364999995 meters SLAMing on 53.283133365 meters Centerline goodness : 0.138192 with order 1 Centerline is valid? [False, False] Translation: X:-3.69, Y:-0.10, Z:-0.28 [[ 9.99392255e-01 -4.14842614e-05 -3.48585522e-02 -3.68833262e+00] [-1.18775748e-04 9.99989434e-01 -4.59535394e-03 -9.61759182e-02] [ 3.48583745e-02 4.59670149e-03 9.99381691e-01 -2.76384484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34313336499999 meters Centerline goodness : 0.138159 with order 1 Centerline is valid? [False, False] Translation: X:-3.71, Y:-0.10, Z:-0.28 [[ 0.99936617 0.00860425 -0.03454312 -3.70989263] [-0.00881684 0.99994309 -0.00600666 -0.09713771] [ 0.03448947 0.00630742 0.99938516 -0.27830481] [ 0. 0. 0. 1. ]] SLAMing on 53.403133364999995 meters Centerline goodness : 0.220619 with order 3 Centerline is valid? [False, False] Translation: X:-3.69, Y:-0.09, Z:-0.28 [[ 9.99398245e-01 3.46518501e-03 -3.45129039e-02 -3.68949778e+00] [-3.58136120e-03 9.99988126e-01 -3.30491533e-03 -8.71698392e-02] [ 3.45010420e-02 3.42652976e-03 9.99398788e-01 -2.77004355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463133365 meters SLAMing on 53.52313336499999 meters Centerline goodness : 0.141231 with order 1 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.08, Z:-0.28 [[ 0.99930742 0.00449883 -0.03693839 -3.76538475] [-0.00464326 0.9999819 -0.003825 -0.08297831] [ 0.03692051 0.00399386 0.99931022 -0.28360409] [ 0. 0. 0. 1. ]] SLAMing on 53.583133364999995 meters Centerline goodness : 0.229750 with order 3 Centerline is valid? [False, False] Translation: X:-3.75, Y:-0.08, Z:-0.28 [[ 9.99357926e-01 -4.05436219e-03 -3.55991314e-02 -3.74762045e+00] [ 3.94771445e-03 9.99987509e-01 -3.06557550e-03 -7.64523345e-02] [ 3.56111157e-02 2.92307197e-03 9.99361448e-01 -2.81336543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643133365 meters Centerline goodness : 0.141273 with order 1 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.08, Z:-0.28 [[ 9.99274644e-01 -3.59392550e-03 -3.79113298e-02 -3.79230695e+00] [ 3.47820975e-03 9.99989091e-01 -3.11778771e-03 -7.88620344e-02] [ 3.79221213e-02 2.98366265e-03 9.99276243e-01 -2.82386890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70313336499999 meters Centerline goodness : 0.133747 with order 1 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.08, Z:-0.28 [[ 9.99303334e-01 -3.33486377e-03 -3.71715753e-02 -3.79463473e+00] [ 3.22161233e-03 9.99989986e-01 -3.10620214e-03 -7.71427865e-02] [ 3.71815618e-02 2.98428575e-03 9.99304071e-01 -2.81701625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.763133364999995 meters SLAMing on 53.823133365 meters Centerline goodness : 0.128806 with order 2 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.07, Z:-0.29 [[ 9.99181391e-01 -1.24459329e-04 -4.04540797e-02 -3.83147047e+00] [ 3.31190148e-05 9.99997449e-01 -2.25853878e-03 -7.26142659e-02] [ 4.04542576e-02 2.25535012e-03 9.99178846e-01 -2.85930590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88313336499999 meters Centerline goodness : 0.151604 with order 2 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.07, Z:-0.29 [[ 9.99174047e-01 -3.54194869e-04 -4.06336994e-02 -3.83096713e+00] [ 2.44059907e-04 9.99996284e-01 -2.71536260e-03 -7.12638646e-02] [ 4.06345102e-02 2.70320279e-03 9.99170421e-01 -2.86236492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943133364999994 meters Centerline goodness : 0.321364 with order 1 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.07, Z:-0.29 [[ 9.99182698e-01 -3.28566968e-04 -4.04206275e-02 -3.83196989e+00] [ 2.17965238e-04 9.99996221e-01 -2.74064601e-03 -7.07462784e-02] [ 4.04213752e-02 2.72959579e-03 9.99178994e-01 -2.85566129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003133365 meters Centerline goodness : 0.169044 with order 3 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.07, Z:-0.29 [[ 9.99214169e-01 -2.79289170e-04 -3.96354214e-02 -3.83438668e+00] [ 1.52048610e-04 9.99994826e-01 -3.21325206e-03 -6.67109541e-02] [ 3.96361138e-02 3.20470047e-03 9.99209041e-01 -2.85010603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06313336499999 meters Centerline goodness : 0.133715 with order 1 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.06, Z:-0.28 [[ 9.99212668e-01 -5.07911729e-04 -3.96709778e-02 -3.83473861e+00] [ 3.54569820e-04 9.99992440e-01 -3.87228250e-03 -6.29464940e-02] [ 3.96726447e-02 3.85516760e-03 9.99205294e-01 -2.84600704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.123133364999994 meters Centerline goodness : 0.141611 with order 3 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.06, Z:-0.28 [[ 9.99223221e-01 -6.96263832e-04 -3.94013888e-02 -3.83590312e+00] [ 5.38894576e-04 9.99991837e-01 -4.00448256e-03 -6.27556558e-02] [ 3.94038553e-02 3.98013876e-03 9.99215440e-01 -2.83823540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183133364999996 meters Centerline goodness : 0.137403 with order 2 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.07, Z:-0.28 [[ 0.99925271 -0.00425616 -0.03841761 -3.84015536] [ 0.00400691 0.99997044 -0.00656268 -0.06771311] [ 0.03844441 0.00640384 0.99924022 -0.28131788] [ 0. 0. 0. 1. ]] SLAMing on 54.24313336499999 meters Centerline goodness : 0.100684 with order 1 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.07, Z:-0.28 [[ 0.99923564 -0.00747442 -0.03837026 -3.83880098] [ 0.00714099 0.99993561 -0.0088195 -0.07336549] [ 0.03843371 0.00853876 0.99922467 -0.28281593] [ 0. 0. 0. 1. ]] SLAMing on 54.303133364999994 meters SLAMing on 54.363133364999996 meters Centerline goodness : 0.090700 with order 1 Centerline is valid? [False, False] Translation: X:-3.88, Y:-0.09, Z:-0.29 [[ 0.99916627 -0.00802313 -0.04002992 -3.88193913] [ 0.00768401 0.99993334 -0.00861835 -0.08974422] [ 0.0400964 0.00830357 0.99916131 -0.2850367 ] [ 0. 0. 0. 1. ]] SLAMing on 54.42313336499999 meters Centerline goodness : 0.097065 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.10, Z:-0.29 [[ 9.99092763e-01 -1.02737831e-04 -4.25868495e-02 -3.89782796e+00] [-3.39706698e-04 9.99946049e-01 -1.03818619e-02 -9.69991722e-02] [ 4.25856185e-02 1.03869102e-02 9.99038827e-01 -2.88691111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48313336499999 meters Centerline goodness : 0.171699 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.10, Z:-0.29 [[ 9.99070455e-01 1.36874252e-04 -4.31069385e-02 -3.89582395e+00] [-5.74371556e-04 9.99948455e-01 -1.01368937e-02 -9.76363239e-02] [ 4.31033290e-02 1.01522304e-02 9.99019036e-01 -2.89946849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543133364999996 meters Centerline goodness : 0.144941 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.10, Z:-0.29 [[ 9.99065707e-01 2.48242121e-04 -4.32163338e-02 -3.89528213e+00] [-6.82278252e-04 9.99949477e-01 -1.00288754e-02 -9.77491182e-02] [ 4.32116608e-02 1.00489910e-02 9.99015400e-01 -2.90375982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603133365 meters Centerline goodness : 0.210162 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.10, Z:-0.29 [[ 9.99061341e-01 1.18298002e-04 -4.33177014e-02 -3.89533546e+00] [-5.55606843e-04 9.99949006e-01 -1.00834840e-02 -9.85621149e-02] [ 4.33142996e-02 1.00980867e-02 9.99010460e-01 -2.90065286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66313336499999 meters Centerline goodness : 0.092841 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.10, Z:-0.29 [[ 9.99082722e-01 3.56117984e-04 -4.28204209e-02 -3.89741001e+00] [-7.87089601e-04 9.99949206e-01 -1.00481900e-02 -9.70859129e-02] [ 4.28146676e-02 1.00726765e-02 9.99032254e-01 -2.88926356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723133364999995 meters Centerline goodness : 0.224312 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99095639e-01 1.10659215e-04 -4.25193131e-02 -3.89815967e+00] [-5.61515892e-04 9.99943748e-01 -1.05917771e-02 -9.49056482e-02] [ 4.25157493e-02 1.06060736e-02 9.99039500e-01 -2.89053182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783133365 meters Centerline goodness : 0.245619 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99117386e-01 6.00989872e-06 -4.20053507e-02 -3.90034302e+00] [-4.62753272e-04 9.99940881e-01 -1.08637421e-02 -9.34102827e-02] [ 4.20028021e-02 1.08735917e-02 9.99058321e-01 -2.87709347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84313336499999 meters Centerline goodness : 0.087078 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99112682e-01 2.85527634e-05 -4.21170642e-02 -3.89973504e+00] [-4.95347784e-04 9.99938571e-01 -1.10728811e-02 -9.17284103e-02] [ 4.21141609e-02 1.10839185e-02 9.99051322e-01 -2.88289446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903133364999995 meters Centerline goodness : 0.252016 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99102648e-01 -2.33248105e-06 -4.23544502e-02 -3.89928269e+00] [-4.79450145e-04 9.99935303e-01 -1.13648563e-02 -9.00819615e-02] [ 4.23517365e-02 1.13749648e-02 9.99038008e-01 -2.88201763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963133365 meters Centerline goodness : 0.134493 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99114944e-01 3.60844551e-07 -4.20633782e-02 -3.90050507e+00] [-4.80424159e-04 9.99934871e-01 -1.14027488e-02 -8.95914541e-02] [ 4.20606346e-02 1.14128650e-02 9.99049873e-01 -2.87500006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02313336499999 meters Centerline goodness : 0.151683 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99121870e-01 -2.37537159e-06 -4.18985605e-02 -3.90087381e+00] [-4.72936196e-04 9.99935651e-01 -1.13344256e-02 -8.99495707e-02] [ 4.18958913e-02 1.13442878e-02 9.99057577e-01 -2.87538804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083133364999995 meters Centerline goodness : 0.144367 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99101306e-01 -1.22147889e-04 -4.23859132e-02 -3.89960781e+00] [-3.60625895e-04 9.99935156e-01 -1.13821252e-02 -9.04180285e-02] [ 4.23845550e-02 1.13871816e-02 9.99036477e-01 -2.87623383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143133365 meters Centerline goodness : 0.203476 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99102761e-01 -1.00987273e-04 -4.23516490e-02 -3.90017102e+00] [-3.83311453e-04 9.99934637e-01 -1.14269034e-02 -8.98899298e-02] [ 4.23500348e-02 1.14328846e-02 9.99037419e-01 -2.86961721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20313336499999 meters Centerline goodness : 0.091429 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.09, Z:-0.29 [[ 9.99087533e-01 -1.06317586e-04 -4.27093628e-02 -3.89888790e+00] [-3.58958907e-04 9.99940679e-01 -1.08861996e-02 -9.35503001e-02] [ 4.27079866e-02 1.08915972e-02 9.99028228e-01 -2.87486514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.263133364999995 meters Centerline goodness : 0.091960 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.10, Z:-0.29 [[ 9.99071536e-01 -3.84938111e-03 -4.29097755e-02 -3.89851224e+00] [ 3.26997579e-03 9.99902646e-01 -1.35648957e-02 -1.00539640e-01] [ 4.29578145e-02 1.34119873e-02 9.98986859e-01 -2.87122223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323133365 meters Centerline goodness : 0.096680 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.11, Z:-0.29 [[ 9.99048624e-01 -3.77862018e-03 -4.34461613e-02 -3.89669180e+00] [ 3.22834204e-03 9.99913772e-01 -1.27289424e-02 -1.06329778e-01] [ 4.34905129e-02 1.25765733e-02 9.98974677e-01 -2.87714275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38313336499999 meters Centerline goodness : 0.222608 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.11, Z:-0.29 [[ 9.99043191e-01 -3.42495479e-03 -4.36001353e-02 -3.89556371e+00] [ 2.90711262e-03 9.99924550e-01 -1.19349470e-02 -1.10717175e-01] [ 4.36377223e-02 1.17967771e-02 9.98977770e-01 -2.88717113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.443133364999994 meters Centerline goodness : 0.135061 with order 1 Centerline is valid? [False, False] Translation: X:-3.92, Y:-0.12, Z:-0.29 [[ 0.99897603 0.00626223 -0.04480716 -3.91594761] [-0.00680812 0.99990433 -0.01204095 -0.11633313] [ 0.04472747 0.01233368 0.99892309 -0.28982018] [ 0. 0. 0. 1. ]] SLAMing on 55.503133365 meters Centerline goodness : 0.097852 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.11, Z:-0.29 [[ 9.99043021e-01 -1.53260897e-03 -4.37114764e-02 -3.89716233e+00] [ 1.05983649e-03 9.99940718e-01 -1.08368762e-02 -1.11940245e-01] [ 4.37254938e-02 1.07801785e-02 9.98985420e-01 -2.88500446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56313336499999 meters Centerline goodness : 0.099621 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.12, Z:-0.29 [[ 9.99059056e-01 -1.52769875e-03 -4.33436113e-02 -3.89853911e+00] [ 1.08148017e-03 9.99946199e-01 -1.03164915e-02 -1.15436991e-01] [ 4.33570398e-02 1.02599090e-02 9.99006958e-01 -2.87715931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.623133364999994 meters Centerline goodness : 0.212105 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.12, Z:-0.29 [[ 9.98986162e-01 -1.57489967e-03 -4.49907552e-02 -3.94716774e+00] [ 1.12919888e-03 9.99950057e-01 -9.93019456e-03 -1.22517450e-01] [ 4.50041472e-02 9.86932344e-03 9.98938048e-01 -2.85794084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683133364999996 meters Centerline goodness : 0.219342 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.12, Z:-0.29 [[ 9.98986145e-01 -1.34121362e-03 -4.49986922e-02 -3.94720759e+00] [ 9.17448335e-04 9.99955053e-01 -9.43661107e-03 -1.24552324e-01] [ 4.50093261e-02 9.38575975e-03 9.98942475e-01 -2.85655816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74313336499999 meters Centerline goodness : 0.099635 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.13, Z:-0.28 [[ 9.99001107e-01 -1.16223291e-03 -4.46703259e-02 -3.94837405e+00] [ 7.75277296e-04 9.99962038e-01 -8.67882437e-03 -1.28911510e-01] [ 4.46787170e-02 8.63552326e-03 9.98964083e-01 -2.84990589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.803133364999994 meters Centerline goodness : 0.145987 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.14, Z:-0.29 [[ 9.98883536e-01 -1.96032692e-03 -4.71999871e-02 -3.99223981e+00] [ 1.52144457e-03 9.99955294e-01 -9.33248874e-03 -1.36989242e-01] [ 4.72161717e-02 9.25025719e-03 9.98841862e-01 -2.86302156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863133364999996 meters Centerline goodness : 0.239097 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.15, Z:-0.28 [[ 0.99872778 0.00419794 -0.0502513 -3.97378584] [-0.00471539 0.99993703 -0.01018318 -0.14560233] [ 0.05020539 0.01040718 0.99868469 -0.28302498] [ 0. 0. 0. 1. ]] SLAMing on 55.92313336499999 meters Centerline goodness : 0.234147 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.15, Z:-0.28 [[ 0.99875144 0.00488602 -0.04971604 -3.97505776] [-0.00536636 0.99994016 -0.00953267 -0.147335 ] [ 0.04966649 0.00978756 0.9987179 -0.28317294] [ 0. 0. 0. 1. ]] SLAMing on 55.98313336499999 meters Centerline goodness : 0.101773 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.15, Z:-0.28 [[ 0.99874356 0.00496081 -0.04986677 -3.97415834] [-0.0054345 0.99994135 -0.00936807 -0.14864575] [ 0.04981737 0.0096273 0.99871194 -0.28400439] [ 0. 0. 0. 1. ]] SLAMing on 56.043133364999996 meters Centerline goodness : 0.238177 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.15, Z:-0.29 [[ 0.9986851 0.00504059 -0.05101625 -3.97024106] [-0.00550847 0.99994401 -0.00903464 -0.15117485] [ 0.05096785 0.00930378 0.99865696 -0.28563239] [ 0. 0. 0. 1. ]] SLAMing on 56.103133365 meters Centerline goodness : 0.175897 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.15, Z:-0.29 [[ 9.98709339e-01 1.16482058e-03 -5.07769475e-02 -3.97120300e+00] [-1.78832984e-03 9.99923542e-01 -1.22356742e-02 -1.54599101e-01] [ 5.07588128e-02 1.23106881e-02 9.98635063e-01 -2.85089329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16313336499999 meters Centerline goodness : 0.176132 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.16, Z:-0.29 [[ 9.98671073e-01 3.74078018e-04 -5.15358877e-02 -3.96847425e+00] [-1.00682141e-03 9.99924431e-01 -1.22523100e-02 -1.60575500e-01] [ 5.15274099e-02 1.22879150e-02 9.98595981e-01 -2.86010297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223133364999995 meters SLAMing on 56.283133365 meters SLAMing on 56.34313336499999 meters SLAMing on 56.403133364999995 meters Centerline goodness : 0.098150 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.20, Z:-0.29 [[ 9.98798343e-01 -2.69307626e-03 -4.89348225e-02 -4.11496701e+00] [ 2.02476852e-03 9.99904079e-01 -1.37015415e-02 -1.97610884e-01] [ 4.89670279e-02 1.35859952e-02 9.98707991e-01 -2.92055063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463133365 meters Centerline goodness : 0.092047 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.20, Z:-0.29 [[ 9.98815695e-01 -2.45458489e-03 -4.85920017e-02 -4.11585136e+00] [ 1.80264591e-03 9.99907841e-01 -1.34558699e-02 -1.98185974e-01] [ 4.86205520e-02 1.33523399e-02 9.98728070e-01 -2.92046272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52313336499999 meters Centerline goodness : 0.165019 with order 1 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.20, Z:-0.29 [[ 9.98644454e-01 -1.33959323e-03 -5.20332599e-02 -4.15743702e+00] [ 6.57496655e-04 9.99913664e-01 -1.31237632e-02 -2.00551912e-01] [ 5.20463481e-02 1.30717616e-02 9.98559115e-01 -2.94059257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583133364999995 meters Centerline goodness : 0.170767 with order 1 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.20, Z:-0.29 [[ 9.98655976e-01 -9.72052367e-04 -5.18198421e-02 -4.15830932e+00] [ 2.85410595e-04 9.99912091e-01 -1.32563105e-02 -1.98558819e-01] [ 5.18281725e-02 1.32237038e-02 9.98568462e-01 -2.93717289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643133365 meters Centerline goodness : 0.168504 with order 1 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.20, Z:-0.29 [[ 9.98660564e-01 -1.03051437e-03 -5.17302305e-02 -4.15886420e+00] [ 3.27937433e-04 9.99907622e-01 -1.35882054e-02 -1.96867719e-01] [ 5.17394546e-02 1.35530406e-02 9.98568648e-01 -2.93382561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70313336499999 meters SLAMing on 56.763133364999995 meters SLAMing on 56.823133365 meters Centerline goodness : 0.168611 with order 1 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.20, Z:-0.30 [[ 9.98705124e-01 3.74509393e-03 -5.07350962e-02 -4.24359363e+00] [-4.38192334e-03 9.99912936e-01 -1.24466389e-02 -2.00598610e-01] [ 5.06840652e-02 1.26528394e-02 9.98634583e-01 -2.97290644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88313336499999 meters Centerline goodness : 0.215504 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.19, Z:-0.30 [[ 0.99869036 0.00731202 -0.05063703 -4.24437632] [-0.00781762 0.99992148 -0.00979406 -0.19471385] [ 0.05056144 0.01017709 0.9986691 -0.29656942] [ 0. 0. 0. 1. ]] SLAMing on 56.943133364999994 meters Centerline goodness : 0.171510 with order 1 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.18, Z:-0.29 [[ 9.98561401e-01 2.87181267e-03 -5.35432657e-02 -4.22489293e+00] [-3.28233608e-03 9.99965878e-01 -7.58077466e-03 -1.81182370e-01] [ 5.35196682e-02 7.74561596e-03 9.98536755e-01 -2.93713675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003133365 meters Centerline goodness : 0.219642 with order 3 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.17, Z:-0.29 [[ 9.98547171e-01 2.19454892e-03 -5.38398698e-02 -4.22436830e+00] [-2.68226395e-03 9.99956009e-01 -8.98803624e-03 -1.74580780e-01] [ 5.38177766e-02 9.11939090e-03 9.98509130e-01 -2.93543187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06313336499999 meters Centerline goodness : 0.100309 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.17, Z:-0.29 [[ 0.9986 -0.00675499 -0.05246333 -4.20668799] [ 0.00632493 0.99994506 -0.00835897 -0.16612528] [ 0.05251691 0.00801545 0.99858787 -0.29064956] [ 0. 0. 0. 1. ]] SLAMing on 57.123133364999994 meters Centerline goodness : 0.261402 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.17, Z:-0.29 [[ 0.99856145 -0.00801256 -0.0530172 -4.20521891] [ 0.0075375 0.99992969 -0.00915439 -0.16660184] [ 0.05308682 0.0087416 0.99855164 -0.2906477 ] [ 0. 0. 0. 1. ]] SLAMing on 57.183133364999996 meters Centerline goodness : 0.239430 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.17, Z:-0.29 [[ 0.99857785 -0.00831108 -0.05266122 -4.20661789] [ 0.0078583 0.99993041 -0.0087992 -0.16902244] [ 0.05273068 0.00837286 0.99857367 -0.28965766] [ 0. 0. 0. 1. ]] SLAMing on 57.24313336499999 meters Centerline goodness : 0.243199 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.17, Z:-0.29 [[ 9.98740546e-01 1.45182231e-04 -5.01727138e-02 -4.18895625e+00] [-6.56502740e-04 9.99948019e-01 -1.01748776e-02 -1.66870852e-01] [ 5.01686286e-02 1.01950013e-02 9.98688726e-01 -2.86980132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.303133364999994 meters SLAMing on 57.363133364999996 meters Centerline goodness : 0.250826 with order 3 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.16, Z:-0.29 [[ 0.99852834 0.01339476 -0.05255215 -4.25147373] [-0.01392976 0.99985468 -0.00982734 -0.16261853] [ 0.05241288 0.01054492 0.99856982 -0.29006599] [ 0. 0. 0. 1. ]] SLAMing on 57.42313336499999 meters Centerline goodness : 0.282334 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.16, Z:-0.29 [[ 0.99854483 0.01326544 -0.05227089 -4.25264249] [-0.01381287 0.99985333 -0.0101255 -0.16140562] [ 0.0521289 0.01083278 0.99858161 -0.28951703] [ 0. 0. 0. 1. ]] SLAMing on 57.48313336499999 meters Centerline goodness : 0.249650 with order 3 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.16, Z:-0.29 [[ 0.99857875 0.01323477 -0.05162666 -4.25458217] [-0.01377783 0.99985329 -0.01017725 -0.16109738] [ 0.05148439 0.01087409 0.9986146 -0.28905756] [ 0. 0. 0. 1. ]] SLAMing on 57.543133364999996 meters Centerline goodness : 0.247277 with order 3 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.16, Z:-0.29 [[ 0.99842582 0.00634667 -0.05572793 -4.27038823] [-0.00682183 0.99994195 -0.00834033 -0.15783872] [ 0.05567176 0.00870737 0.99841116 -0.29199833] [ 0. 0. 0. 1. ]] SLAMing on 57.60313336499999 meters Centerline goodness : 0.240951 with order 3 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.16, Z:-0.29 [[ 0.99838338 0.00641255 -0.05647569 -4.26828112] [-0.00687192 0.99994484 -0.00794349 -0.1605659 ] [ 0.05642164 0.00831875 0.99837237 -0.29236902] [ 0. 0. 0. 1. ]] SLAMing on 57.66313336499999 meters Centerline goodness : 0.197429 with order 3 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.17, Z:-0.29 [[ 9.98391521e-01 3.11721330e-03 -5.66096619e-02 -4.26855984e+00] [-3.68872977e-03 9.99943254e-01 -9.99405570e-03 -1.68586571e-01] [ 5.65752959e-02 1.01867982e-02 9.98346365e-01 -2.91634586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723133364999995 meters Centerline goodness : 0.104086 with order 1 Centerline is valid? [False, False] Translation: X:-4.28, Y:-0.18, Z:-0.29 [[ 9.98498233e-01 3.38628093e-04 -5.47828758e-02 -4.27513904e+00] [-9.51351072e-04 9.99937285e-01 -1.11588795e-02 -1.79563606e-01] [ 5.47756614e-02 1.11942392e-02 9.98435935e-01 -2.88938265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783133365 meters Centerline goodness : 0.250454 with order 3 Centerline is valid? [False, False] Translation: X:-4.28, Y:-0.19, Z:-0.29 [[ 9.98526869e-01 -3.11025944e-03 -5.41702775e-02 -4.27761460e+00] [ 2.38997236e-03 9.99907943e-01 -1.33564297e-02 -1.88443248e-01] [ 5.42068327e-02 1.32072885e-02 9.98442380e-01 -2.87647680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84313336499999 meters Centerline goodness : 0.231954 with order 3 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.20, Z:-0.29 [[ 9.98325333e-01 -3.04958130e-03 -5.77687549e-02 -4.31908365e+00] [ 2.30357287e-03 9.99913156e-01 -1.29758953e-02 -1.97436404e-01] [ 5.78033091e-02 1.28210904e-02 9.98245660e-01 -2.90009960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903133364999995 meters SLAMing on 57.963133365 meters Centerline goodness : 0.240850 with order 3 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.21, Z:-0.29 [[ 0.99832319 -0.00614189 -0.05755938 -4.31975882] [ 0.00530215 0.99987744 -0.01473055 -0.2091776 ] [ 0.0576428 0.01440066 0.9982334 -0.28959545] [ 0. 0. 0. 1. ]] SLAMing on 58.02313336499999 meters SLAMing on 58.083133364999995 meters Centerline goodness : 0.415763 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.21, Z:-0.29 [[ 9.98268429e-01 3.25897853e-03 -5.87326416e-02 -4.33819861e+00] [-4.17502611e-03 9.99871446e-01 -1.54809516e-02 -2.12848068e-01] [ 5.86746392e-02 1.56993555e-02 9.98153704e-01 -2.92778527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143133365 meters Centerline goodness : 0.092717 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.21, Z:-0.29 [[ 9.98250844e-01 3.24835550e-03 -5.90313586e-02 -4.33758390e+00] [-4.17694496e-03 9.99869372e-01 -1.56138648e-02 -2.12026396e-01] [ 5.89729280e-02 1.58331245e-02 9.98134012e-01 -2.92707907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20313336499999 meters Centerline goodness : 0.095039 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.21, Z:-0.29 [[ 9.98244609e-01 3.24803606e-03 -5.91367188e-02 -4.33709261e+00] [-4.19485264e-03 9.99864890e-01 -1.58935401e-02 -2.10114288e-01] [ 5.90771060e-02 1.61137106e-02 9.98123361e-01 -2.93098984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.263133364999995 meters SLAMing on 58.323133365 meters SLAMing on 58.38313336499999 meters Centerline goodness : 0.178501 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.21, Z:-0.30 [[ 0.99831897 0.01426279 -0.05617659 -4.44101466] [-0.01514813 0.99976719 -0.01536583 -0.21086906] [ 0.05594435 0.01619097 0.9983026 -0.29862871] [ 0. 0. 0. 1. ]] SLAMing on 58.443133364999994 meters Centerline goodness : 0.175223 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.20, Z:-0.30 [[ 0.99827429 0.01736416 -0.05609747 -4.44265237] [-0.01814732 0.99974443 -0.01348162 -0.20213825] [ 0.05584904 0.01447637 0.99833427 -0.29695969] [ 0. 0. 0. 1. ]] SLAMing on 58.503133365 meters SLAMing on 58.56313336499999 meters Centerline goodness : 0.252413 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.20, Z:-0.30 [[ 0.99852073 0.01138603 -0.05316688 -4.51387462] [-0.01213151 0.99983228 -0.0137198 -0.1951497 ] [ 0.05300175 0.0143445 0.99849139 -0.29838942] [ 0. 0. 0. 1. ]] SLAMing on 58.623133364999994 meters Centerline goodness : 0.097382 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:-0.30 [[ 9.98428775e-01 2.71243061e-03 -5.59698526e-02 -4.53169901e+00] [-3.44113247e-03 9.99910518e-01 -1.29272769e-02 -1.93307775e-01] [ 5.59297799e-02 1.30995650e-02 9.98348767e-01 -3.01019717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683133364999996 meters Centerline goodness : 0.099302 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:-0.30 [[ 9.98427771e-01 2.55940594e-03 -5.59949611e-02 -4.53136357e+00] [-3.29652396e-03 9.99909077e-01 -1.30756023e-02 -1.93027543e-01] [ 5.59564041e-02 1.32396331e-02 9.98345428e-01 -3.01370205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74313336499999 meters SLAMing on 58.803133364999994 meters Centerline goodness : 0.183927 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.20, Z:-0.30 [[ 0.99830832 -0.00560799 -0.05787095 -4.55153134] [ 0.00494466 0.9999205 -0.01159911 -0.19669439] [ 0.05793139 0.01129334 0.99825669 -0.30260824] [ 0. 0. 0. 1. ]] SLAMing on 58.863133364999996 meters Centerline goodness : 0.104509 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.20, Z:-0.30 [[ 0.99830127 -0.00927 -0.05752077 -4.55267585] [ 0.00846976 0.99986415 -0.01414044 -0.20434455] [ 0.05764404 0.01362923 0.99824416 -0.30207011] [ 0. 0. 0. 1. ]] SLAMing on 58.92313336499999 meters Centerline goodness : 0.250148 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.22, Z:-0.30 [[ 0.99812574 -0.00993409 -0.06038474 -4.59543134] [ 0.00910902 0.99986157 -0.01392363 -0.22087149] [ 0.0605147 0.01334749 0.99807806 -0.30437721] [ 0. 0. 0. 1. ]] SLAMing on 58.98313336499999 meters SLAMing on 59.043133364999996 meters Centerline goodness : 0.169231 with order 1 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.23, Z:-0.31 [[ 0.99818028 0.0070119 -0.05989127 -4.59328842] [-0.00791819 0.99985751 -0.01490826 -0.23409757] [ 0.0597782 0.01535536 0.99809357 -0.30630375] [ 0. 0. 0. 1. ]] SLAMing on 59.10313336499999 meters SLAMing on 59.16313336499999 meters Centerline goodness : 0.171693 with order 1 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.24, Z:-0.31 [[ 0.99813556 0.00783157 -0.06053155 -4.64350438] [-0.00874527 0.99985157 -0.01484438 -0.23783037] [ 0.06040631 0.01534607 0.9980559 -0.30711191] [ 0. 0. 0. 1. ]] SLAMing on 59.223133364999995 meters Centerline goodness : 0.171001 with order 1 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.24, Z:-0.31 [[ 0.99814203 0.00760667 -0.06045354 -4.64418127] [-0.00854917 0.99984568 -0.01534711 -0.23527435] [ 0.06032747 0.01583543 0.99805302 -0.30654228] [ 0. 0. 0. 1. ]] SLAMing on 59.283133365 meters Centerline goodness : 0.246370 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.24, Z:-0.31 [[ 9.98094367e-01 2.19280936e-03 -6.16670529e-02 -4.69839899e+00] [-3.11840205e-03 9.99883868e-01 -1.49172819e-02 -2.37315957e-01] [ 6.16271807e-02 1.50811577e-02 9.97985295e-01 -3.11809467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34313336499999 meters Centerline goodness : 0.254465 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.24, Z:-0.31 [[ 9.98118267e-01 1.62513346e-03 -6.12966865e-02 -4.69956220e+00] [-2.56310494e-03 9.99880783e-01 -1.52266329e-02 -2.37593267e-01] [ 6.12646336e-02 1.53550903e-02 9.98003440e-01 -3.11301305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403133364999995 meters Centerline goodness : 0.106739 with order 1 Centerline is valid? [False, False] Translation: X:-4.68, Y:-0.23, Z:-0.31 [[ 0.99815315 -0.00664136 -0.06038365 -4.68055591] [ 0.00580271 0.99988441 -0.01405335 -0.23222093] [ 0.06047001 0.01367701 0.99807631 -0.30896558] [ 0. 0. 0. 1. ]] SLAMing on 59.463133365 meters Centerline goodness : 0.240160 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.24, Z:-0.31 [[ 9.98100277e-01 1.39034905e-03 -6.15946799e-02 -4.70015803e+00] [-2.34010514e-03 9.99879443e-01 -1.53499970e-02 -2.35761145e-01] [ 6.15659124e-02 1.54649743e-02 9.97983203e-01 -3.10487431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52313336499999 meters Centerline goodness : 0.250601 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.23, Z:-0.31 [[ 9.98108265e-01 1.24639004e-03 -6.14681795e-02 -4.70081644e+00] [-2.22315952e-03 9.99872308e-01 -1.58248220e-02 -2.33110078e-01] [ 6.14406066e-02 1.59315392e-02 9.97983586e-01 -3.10035134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583133364999995 meters Centerline goodness : 0.217256 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.23, Z:-0.31 [[ 9.98100574e-01 1.25468714e-03 -6.15927715e-02 -4.70062059e+00] [-2.21621751e-03 9.99876709e-01 -1.55452580e-02 -2.34943333e-01] [ 6.15656732e-02 1.56522339e-02 9.97980298e-01 -3.09904200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643133365 meters Centerline goodness : 0.246257 with order 3 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.23, Z:-0.31 [[ 0.99800492 -0.00720345 -0.06272389 -4.72192688] [ 0.00629105 0.99987169 -0.0147317 -0.23454206] [ 0.06282196 0.01430771 0.99792219 -0.31071797] [ 0. 0. 0. 1. ]] SLAMing on 59.70313336499999 meters Centerline goodness : 0.239992 with order 3 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.24, Z:-0.31 [[ 0.99800266 -0.00703518 -0.06277903 -4.72225808] [ 0.00615286 0.99987972 -0.01423666 -0.23763494] [ 0.06287164 0.01382195 0.9979259 -0.31010965] [ 0. 0. 0. 1. ]] SLAMing on 59.763133364999995 meters Centerline goodness : 0.416775 with order 1 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.24, Z:-0.31 [[ 0.99802044 -0.00659887 -0.0625433 -4.72311743] [ 0.0057825 0.99989583 -0.0132249 -0.24237013] [ 0.06262405 0.01283706 0.99795463 -0.30966005] [ 0. 0. 0. 1. ]] SLAMing on 59.823133365 meters Centerline goodness : 0.098242 with order 1 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.26, Z:-0.31 [[ 9.98240035e-01 -2.44237463e-03 -5.92525661e-02 -4.74524956e+00] [ 1.54118050e-03 9.99882520e-01 -1.52503035e-02 -2.56279208e-01] [ 5.92828520e-02 1.51321446e-02 9.98126526e-01 -3.10759215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88313336499999 meters Centerline goodness : 0.095812 with order 1 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.27, Z:-0.31 [[ 9.98253420e-01 -3.93265185e-03 -5.89461068e-02 -4.74634442e+00] [ 3.02307708e-03 9.99875114e-01 -1.55118587e-02 -2.66152617e-01] [ 5.89997480e-02 1.53065674e-02 9.98140641e-01 -3.10250301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943133364999994 meters Centerline goodness : 0.230419 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.27, Z:-0.31 [[ 9.98257462e-01 -3.73549705e-03 -5.88904589e-02 -4.74672278e+00] [ 2.87457698e-03 9.99887862e-01 -1.46969518e-02 -2.71336289e-01] [ 5.89387554e-02 1.45020566e-02 9.98156257e-01 -3.09850252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003133365 meters Centerline goodness : 0.254889 with order 3 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.28, Z:-0.31 [[ 9.98157196e-01 -5.51091718e-03 -6.04304632e-02 -4.74007786e+00] [ 4.58432865e-03 9.99869961e-01 -1.54610749e-02 -2.79966945e-01] [ 6.05078096e-02 1.51555501e-02 9.98052661e-01 -3.13046708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06313336499999 meters Centerline goodness : 0.096236 with order 1 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.29, Z:-0.31 [[ 0.99812183 -0.00918103 -0.06056832 -4.73964346] [ 0.00810156 0.99980437 -0.01804392 -0.28720346] [ 0.06072214 0.01751933 0.99800095 -0.31308608] [ 0. 0. 0. 1. ]] SLAMing on 60.123133364999994 meters Centerline goodness : 0.095602 with order 1 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.29, Z:-0.31 [[ 0.99805907 -0.00881605 -0.06164709 -4.73633626] [ 0.00778939 0.99982728 -0.01687438 -0.29354625] [ 0.06178521 0.01636144 0.99795536 -0.31394907] [ 0. 0. 0. 1. ]] SLAMing on 60.183133364999996 meters Centerline goodness : 0.096769 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.30, Z:-0.32 [[ 9.98052413e-01 -6.77445254e-04 -6.23772565e-02 -4.75592225e+00] [-4.23906864e-04 9.99844289e-01 -1.76413824e-02 -3.00276579e-01] [ 6.23794947e-02 1.76334664e-02 9.97896718e-01 -3.15999800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24313336499999 meters SLAMing on 60.303133364999994 meters Centerline goodness : 0.179802 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.31, Z:-0.31 [[ 9.98107268e-01 -6.04070025e-03 -6.11995986e-02 -4.76096731e+00] [ 4.74315565e-03 9.99761345e-01 -2.13249842e-02 -3.10685532e-01] [ 6.13138108e-02 2.09943425e-02 9.97897717e-01 -3.13277888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363133364999996 meters Centerline goodness : 0.345645 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.32, Z:-0.31 [[ 0.99809637 -0.00932086 -0.06096527 -4.76308564] [ 0.00788851 0.99968816 -0.02369311 -0.31592412] [ 0.0611671 0.02316708 0.99785864 -0.31158867] [ 0. 0. 0. 1. ]] SLAMing on 60.42313336499999 meters Centerline goodness : 0.234045 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.32, Z:-0.31 [[ 0.9981225 -0.01241728 -0.05997734 -4.76673089] [ 0.01090672 0.99961666 -0.02544758 -0.32409088] [ 0.06027034 0.02474565 0.99787531 -0.31017251] [ 0. 0. 0. 1. ]] SLAMing on 60.48313336499999 meters SLAMing on 60.543133364999996 meters Centerline goodness : 0.420637 with order 3 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.34, Z:-0.31 [[ 0.9979903 -0.01734273 -0.06094739 -4.76365363] [ 0.01562815 0.9994717 -0.02849714 -0.34371991] [ 0.06140941 0.02748738 0.9977341 -0.31116947] [ 0. 0. 0. 1. ]] SLAMing on 60.60313336499999 meters Centerline goodness : 0.097102 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.35, Z:-0.31 [[ 0.99801146 -0.0087095 -0.06242805 -4.78396878] [ 0.00691704 0.99955921 -0.02887117 -0.35112235] [ 0.06265199 0.02838194 0.99763179 -0.31236173] [ 0. 0. 0. 1. ]] SLAMing on 60.66313336499999 meters Centerline goodness : 0.419200 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.35, Z:-0.31 [[ 0.99800073 -0.00846623 -0.06263283 -4.78362475] [ 0.00665774 0.99955645 -0.02902702 -0.35000693] [ 0.0628508 0.028552 0.99761443 -0.31210631] [ 0. 0. 0. 1. ]] SLAMing on 60.723133364999995 meters Centerline goodness : 0.091368 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.35, Z:-0.31 [[ 0.99804118 -0.00854838 -0.06197356 -4.78600125] [ 0.00672554 0.99954031 -0.02956226 -0.34731737] [ 0.06219778 0.02908755 0.99763989 -0.31103779] [ 0. 0. 0. 1. ]] SLAMing on 60.783133365 meters Centerline goodness : 0.101265 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.34, Z:-0.31 [[ 0.99801208 -0.0089823 -0.0623796 -4.78517312] [ 0.00710401 0.99951659 -0.03026738 -0.34437141] [ 0.06262132 0.02976406 0.99759344 -0.31086286] [ 0. 0. 0. 1. ]] SLAMing on 60.84313336499999 meters Centerline goodness : 0.141126 with order 3 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.34, Z:-0.31 [[ 0.99805857 -0.01034404 -0.06141734 -4.78824074] [ 0.00841489 0.9994656 -0.03158651 -0.3407762 ] [ 0.06171125 0.03100836 0.99761225 -0.31006103] [ 0. 0. 0. 1. ]] SLAMing on 60.903133364999995 meters Centerline goodness : 0.427267 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.34, Z:-0.31 [[ 0.99802681 -0.01130297 -0.06176345 -4.78759312] [ 0.0092928 0.99942079 -0.03273712 -0.33603469] [ 0.0620977 0.03209857 0.99755379 -0.30981026] [ 0. 0. 0. 1. ]] SLAMing on 60.963133365 meters Centerline goodness : 0.423030 with order 2 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.33, Z:-0.31 [[ 0.99799164 -0.00987285 -0.06257172 -4.78345014] [ 0.00789115 0.99946185 -0.03183917 -0.3298863 ] [ 0.06285239 0.03128146 0.99753248 -0.31194732] [ 0. 0. 0. 1. ]] SLAMing on 61.02313336499999 meters Centerline goodness : 0.091169 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.32, Z:-0.31 [[ 0.99805099 -0.00727124 -0.06197865 -4.78666411] [ 0.00538738 0.99951999 -0.03050845 -0.31919853] [ 0.06217073 0.03011508 0.99761109 -0.30970871] [ 0. 0. 0. 1. ]] SLAMing on 61.083133364999995 meters Centerline goodness : 0.099907 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.31, Z:-0.31 [[ 9.98047080e-01 -3.91760202e-03 -6.23432270e-02 -4.78534103e+00] [ 2.14692372e-03 9.99593088e-01 -2.84437786e-02 -3.08497896e-01] [ 6.24292902e-02 2.82543841e-02 9.97649374e-01 -3.10075163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143133365 meters Centerline goodness : 0.085516 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.30, Z:-0.31 [[ 9.97986689e-01 -4.08838479e-03 -6.32918081e-02 -4.78285610e+00] [ 2.23132494e-03 9.99565702e-01 -2.93841601e-02 -3.01682356e-01] [ 6.33844543e-02 2.91837760e-02 9.97562388e-01 -3.10073505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20313336499999 meters Centerline goodness : 0.133489 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.29, Z:-0.31 [[ 9.97973365e-01 -1.87008646e-03 -6.36055385e-02 -4.78303046e+00] [ 4.64353421e-05 9.99589198e-01 -2.86606643e-02 -2.90814955e-01] [ 6.36330071e-02 2.85996261e-02 9.97563483e-01 -3.08725723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.263133364999995 meters Centerline goodness : 0.129114 with order 3 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.28, Z:-0.31 [[ 0.99795465 -0.00768832 -0.06346178 -4.76139738] [ 0.00599373 0.99962151 -0.02684976 -0.27895866] [ 0.06364419 0.02641447 0.99762302 -0.30685875] [ 0. 0. 0. 1. ]] SLAMing on 61.323133365 meters Centerline goodness : 0.218192 with order 3 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.28, Z:-0.31 [[ 0.99795677 -0.00868999 -0.06329905 -4.76207177] [ 0.00694223 0.99958998 -0.02777899 -0.27614299] [ 0.0635145 0.02728279 0.99760792 -0.30638062] [ 0. 0. 0. 1. ]] SLAMing on 61.38313336499999 meters Centerline goodness : 0.139467 with order 3 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.28, Z:-0.30 [[ 0.9980291 -0.00988091 -0.06196996 -4.76622389] [ 0.00812602 0.99956057 -0.02850684 -0.27629506] [ 0.06222441 0.02794708 0.99767083 -0.30497602] [ 0. 0. 0. 1. ]] SLAMing on 61.443133364999994 meters Centerline goodness : 0.136198 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.28, Z:-0.30 [[ 0.99805875 -0.01001582 -0.06146883 -4.76777279] [ 0.00827817 0.99956069 -0.02845876 -0.27714146] [ 0.06172686 0.02789467 0.9977032 -0.30443839] [ 0. 0. 0. 1. ]] SLAMing on 61.503133365 meters Centerline goodness : 0.129632 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.28, Z:-0.30 [[ 9.98090043e-01 -6.23966319e-03 -6.14600166e-02 -4.76754795e+00] [ 4.71325350e-03 9.99677600e-01 -2.49495563e-02 -2.76274170e-01] [ 6.15958787e-02 2.46122271e-02 9.97797668e-01 -3.04768134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56313336499999 meters Centerline goodness : 0.147572 with order 3 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.27, Z:-0.30 [[ 9.98119331e-01 -3.16906262e-03 -6.12189397e-02 -4.76855428e+00] [ 1.78426079e-03 9.99741594e-01 -2.26619169e-02 -2.71460032e-01] [ 6.12749373e-02 2.25100668e-02 9.97867065e-01 -3.04306380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.623133364999994 meters Centerline goodness : 0.131710 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.27, Z:-0.31 [[ 9.98085393e-01 -3.43583374e-03 -6.17555156e-02 -4.76641604e+00] [ 2.00394543e-03 9.99728060e-01 -2.32334023e-02 -2.68663655e-01] [ 6.18185479e-02 2.30651648e-02 9.97820858e-01 -3.05407916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683133364999996 meters Centerline goodness : 0.130120 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.27, Z:-0.31 [[ 9.98082062e-01 -4.23955028e-03 -6.17594067e-02 -4.76612845e+00] [ 2.79651637e-03 9.99721495e-01 -2.34331383e-02 -2.70346705e-01] [ 6.18415524e-02 2.32154838e-02 9.97815947e-01 -3.05855877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74313336499999 meters Centerline goodness : 0.129621 with order 3 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.27, Z:-0.31 [[ 0.99785562 -0.01378962 -0.06398448 -4.78557231] [ 0.01232797 0.99965523 -0.02318273 -0.26992952] [ 0.0642821 0.02234422 0.99768159 -0.30731201] [ 0. 0. 0. 1. ]] SLAMing on 61.803133364999994 meters Centerline goodness : 0.132346 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.28, Z:-0.31 [[ 0.99774993 -0.01717846 -0.06480716 -4.7820839 ] [ 0.01556744 0.99955913 -0.0252823 -0.27737803] [ 0.0652129 0.02421653 0.99757748 -0.30915157] [ 0. 0. 0. 1. ]] SLAMing on 61.863133364999996 meters Centerline goodness : 0.132560 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.28, Z:-0.31 [[ 0.99768516 -0.0207901 -0.06474634 -4.78192429] [ 0.01901499 0.99942948 -0.02791304 -0.28341398] [ 0.06528972 0.02661727 0.99751129 -0.30943975] [ 0. 0. 0. 1. ]] SLAMing on 61.92313336499999 meters Centerline goodness : 0.137947 with order 1 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.29, Z:-0.31 [[ 0.99783563 -0.0124531 -0.06456766 -4.80135464] [ 0.01063909 0.99954107 -0.02836297 -0.29374036] [ 0.06489123 0.02761464 0.99751018 -0.3124443 ] [ 0. 0. 0. 1. ]] SLAMing on 61.98313336499999 meters Centerline goodness : 0.135932 with order 1 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.30, Z:-0.31 [[ 0.9979228 -0.00861322 -0.06384269 -4.80399566] [ 0.00705767 0.99967367 -0.02455096 -0.29589579] [ 0.06403332 0.02404938 0.99765794 -0.3116322 ] [ 0. 0. 0. 1. ]] SLAMing on 62.043133364999996 meters Centerline goodness : 0.135816 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.97958706e-01 -5.09498725e-03 -6.36589453e-02 -4.80537921e+00] [ 3.74057933e-03 9.99764486e-01 -2.13770995e-02 -2.96079901e-01] [ 6.37528688e-02 2.10953412e-02 9.97742732e-01 -3.10752008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10313336499999 meters Centerline goodness : 0.134622 with order 1 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.30, Z:-0.31 [[ 9.97950750e-01 -5.07667036e-03 -6.37850074e-02 -4.80497137e+00] [ 3.71431248e-03 9.99762828e-01 -2.14590457e-02 -2.95434749e-01] [ 6.38788199e-02 2.11781533e-02 9.97732921e-01 -3.10910231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16313336499999 meters Centerline goodness : 0.133621 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.97959302e-01 -5.04037990e-03 -6.36539513e-02 -4.80514617e+00] [ 3.68094172e-03 9.99763019e-01 -2.14559405e-02 -2.95167285e-01] [ 6.37470125e-02 2.11778490e-02 9.97741358e-01 -3.11186984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223133364999995 meters Centerline goodness : 0.134068 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.97955176e-01 -5.01365834e-03 -6.37207253e-02 -4.80519298e+00] [ 3.66558657e-03 9.99767362e-01 -2.12552646e-02 -2.96213531e-01] [ 6.38124681e-02 2.09782275e-02 9.97741391e-01 -3.10971033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283133365 meters Centerline goodness : 0.133001 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.97977803e-01 -4.93653884e-03 -6.33714040e-02 -4.80640436e+00] [ 3.61316165e-03 9.99773356e-01 -2.09805179e-02 -2.97591401e-01] [ 6.34606124e-02 2.07091201e-02 9.97769454e-01 -3.10530418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34313336499999 meters Centerline goodness : 0.135948 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.98001107e-01 -5.01557208e-03 -6.29970981e-02 -4.80751076e+00] [ 3.68992123e-03 9.99769678e-01 -2.11417898e-02 -2.97298212e-01] [ 6.30886266e-02 2.08670753e-02 9.97789753e-01 -3.10271738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403133364999995 meters Centerline goodness : 0.132724 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.98008665e-01 -7.91805117e-04 -6.30720059e-02 -4.80724017e+00] [-3.04473476e-04 9.99849086e-01 -1.73698739e-02 -2.96310994e-01] [ 6.30762410e-02 1.73544884e-02 9.97857810e-01 -3.10414720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463133365 meters Centerline goodness : 0.134603 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.30, Z:-0.31 [[ 9.98018001e-01 2.81331059e-03 -6.28661668e-02 -4.80772849e+00] [-3.71213342e-03 9.99892495e-01 -1.41851790e-02 -2.95445550e-01] [ 6.28195010e-02 1.43904316e-02 9.97921152e-01 -3.10463802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52313336499999 meters Centerline goodness : 0.144322 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.29, Z:-0.31 [[ 9.98094208e-01 3.25299013e-03 -6.16228043e-02 -4.81114276e+00] [-4.13679735e-03 9.99890332e-01 -1.42200620e-02 -2.94032625e-01] [ 6.15697885e-02 1.44478826e-02 9.97998206e-01 -3.09896545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583133364999995 meters Centerline goodness : 0.132949 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.29, Z:-0.31 [[ 9.98133714e-01 -9.12516861e-04 -6.10594426e-02 -4.83017264e+00] [ 2.71529204e-04 9.99944782e-01 -1.05052387e-02 -2.87567737e-01] [ 6.10656572e-02 1.04690535e-02 9.98078847e-01 -3.12589916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643133365 meters Centerline goodness : 0.131195 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.29, Z:-0.31 [[ 9.98113819e-01 2.74807888e-03 -6.13290432e-02 -4.82925228e+00] [-3.20490461e-03 9.99967840e-01 -7.35164057e-03 -2.85679101e-01] [ 6.13068680e-02 7.53432778e-03 9.98090528e-01 -3.12936260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70313336499999 meters Centerline goodness : 0.130940 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.28, Z:-0.31 [[ 0.99815933 0.00589811 -0.06035866 -4.83315944] [-0.00622548 0.99996691 -0.00523716 -0.27918572] [ 0.06032577 0.00560329 0.99816301 -0.31122079] [ 0. 0. 0. 1. ]] SLAMing on 62.763133364999995 meters Centerline goodness : 0.257566 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.27, Z:-0.31 [[ 0.99810726 0.00582316 -0.06122089 -4.8306925 ] [-0.00621056 0.99996187 -0.00613941 -0.27363501] [ 0.0611828 0.006508 0.99810536 -0.31185378] [ 0. 0. 0. 1. ]] SLAMing on 62.823133365 meters Centerline goodness : 0.241260 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.27, Z:-0.31 [[ 9.98053158e-01 9.47164735e-03 -6.16456150e-02 -4.82932078e+00] [-9.69214473e-03 9.99947655e-01 -3.27880757e-03 -2.69032430e-01] [ 6.16113324e-02 3.86990247e-03 9.98092715e-01 -3.12207749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88313336499999 meters Centerline goodness : 0.126012 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.26, Z:-0.31 [[ 9.98081140e-01 9.46505137e-03 -6.11919101e-02 -4.83129125e+00] [-9.73561386e-03 9.99944100e-01 -4.12489664e-03 -2.63821431e-01] [ 6.11494471e-02 4.71272235e-03 9.98117496e-01 -3.11247950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.943133364999994 meters Centerline goodness : 0.125200 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.26, Z:-0.31 [[ 9.98127233e-01 9.75846670e-03 -6.03887276e-02 -4.83371821e+00] [-1.00480496e-02 9.99939421e-01 -4.49349496e-03 -2.60696286e-01] [ 6.03412196e-02 5.09186862e-03 9.98164821e-01 -3.10896781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003133365 meters Centerline goodness : 0.209305 with order 3 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.25, Z:-0.31 [[ 9.98372721e-01 2.23337316e-03 -5.69817696e-02 -4.85458964e+00] [-2.47435417e-03 9.99988291e-01 -4.15888618e-03 -2.52590050e-01] [ 5.69718140e-02 4.29311159e-03 9.98366557e-01 -3.13515855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06313336499999 meters Centerline goodness : 0.241287 with order 3 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.25, Z:-0.31 [[ 9.98354679e-01 2.38092980e-03 -5.72910702e-02 -4.85356534e+00] [-2.62237137e-03 9.99987994e-01 -4.13948481e-03 -2.53158024e-01] [ 5.72805265e-02 4.28291249e-03 9.98348936e-01 -3.13881431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.123133364999994 meters Centerline goodness : 0.201095 with order 3 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.25, Z:-0.31 [[ 9.98344258e-01 2.87791428e-03 -5.74496270e-02 -4.85303318e+00] [-3.10985267e-03 9.99987370e-01 -3.94825242e-03 -2.52954765e-01] [ 5.74375387e-02 4.12037501e-03 9.98340599e-01 -3.14165444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183133364999996 meters Centerline goodness : 0.241461 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.25, Z:-0.31 [[ 9.98341004e-01 3.82275283e-03 -5.74510732e-02 -4.85300850e+00] [-4.02900933e-03 9.99985847e-01 -3.47472182e-03 -2.53418485e-01] [ 5.74369770e-02 3.70042818e-03 9.98342276e-01 -3.14190168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24313336499999 meters SLAMing on 63.303133364999994 meters Centerline goodness : 0.097471 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.26, Z:-0.31 [[ 9.98129388e-01 2.16671254e-02 -5.71687049e-02 -4.85253152e+00] [-2.19625748e-02 9.99748464e-01 -4.54472476e-03 -2.63852254e-01] [ 5.70558537e-02 5.79179530e-03 9.98354188e-01 -3.14894914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363133364999996 meters Centerline goodness : 0.402872 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.26, Z:-0.32 [[ 9.98228456e-01 1.28892712e-02 -5.80845614e-02 -4.87128243e+00] [-1.31328446e-02 9.99906488e-01 -3.81363608e-03 -2.62300606e-01] [ 5.80299748e-02 4.56969558e-03 9.98304382e-01 -3.16644008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42313336499999 meters Centerline goodness : 0.130764 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.27, Z:-0.32 [[ 9.98190659e-01 1.33019230e-02 -5.86384473e-02 -4.86888372e+00] [-1.35111734e-02 9.99903684e-01 -3.17343593e-03 -2.65230615e-01] [ 5.85905867e-02 3.95996833e-03 9.98274242e-01 -3.18259152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48313336499999 meters SLAMing on 63.543133364999996 meters Centerline goodness : 0.123688 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.27, Z:-0.32 [[ 9.98171633e-01 1.50532451e-02 -5.85387911e-02 -4.91725608e+00] [-1.52329393e-02 9.99880527e-01 -2.62460610e-03 -2.70344229e-01] [ 5.84922885e-02 3.51152521e-03 9.98281684e-01 -3.19204639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60313336499999 meters Centerline goodness : 0.128586 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.27, Z:-0.32 [[ 9.98264414e-01 6.02155128e-03 -5.85824179e-02 -4.89644886e+00] [-6.15364801e-03 9.99978914e-01 -2.07474401e-03 -2.69334902e-01] [ 5.85686895e-02 2.43163870e-03 9.98280419e-01 -3.17509814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66313336499999 meters Centerline goodness : 0.090028 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.28, Z:-0.31 [[ 9.98337651e-01 3.29423172e-03 -5.75420096e-02 -4.90153078e+00] [-3.49556038e-03 9.99988116e-01 -3.39850778e-03 -2.79279239e-01] [ 5.75301303e-02 3.59399984e-03 9.98337301e-01 -3.14613023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723133364999995 meters SLAMing on 63.783133365 meters Centerline goodness : 0.134135 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.30, Z:-0.32 [[ 9.98080034e-01 3.01464409e-03 -6.18640214e-02 -4.93995635e+00] [-3.28351231e-03 9.99985600e-01 -4.24491310e-03 -2.95746988e-01] [ 6.18503337e-02 4.43989428e-03 9.98075560e-01 -3.17214962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84313336499999 meters Centerline goodness : 0.191848 with order 3 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.30, Z:-0.32 [[ 9.98128723e-01 4.65077344e-03 -6.09706637e-02 -4.94239085e+00] [-4.82483315e-03 9.99984694e-01 -2.70789738e-03 -2.98529673e-01] [ 6.09571366e-02 2.99700343e-03 9.98135885e-01 -3.17010415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903133364999995 meters Centerline goodness : 0.128456 with order 3 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.30, Z:-0.32 [[ 9.98136672e-01 4.94258404e-03 -6.08173955e-02 -4.94245846e+00] [-5.09941569e-03 9.99984060e-01 -2.42378929e-03 -3.00146486e-01] [ 6.08044463e-02 2.72940615e-03 9.98145966e-01 -3.17576859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963133365 meters Centerline goodness : 0.223986 with order 3 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.30, Z:-0.32 [[ 9.98153733e-01 5.24240224e-03 -6.05115052e-02 -4.94337711e+00] [-5.37097471e-03 9.99983651e-01 -1.96230326e-03 -3.01828403e-01] [ 6.05002288e-02 2.28368609e-03 9.98165571e-01 -3.17377866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02313336499999 meters Centerline goodness : 0.128170 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.30, Z:-0.32 [[ 9.98157583e-01 5.28434581e-03 -6.04443090e-02 -4.94348201e+00] [-5.40319866e-03 9.99983777e-01 -1.80304217e-03 -3.02839973e-01] [ 6.04338005e-02 2.12631283e-03 9.98169943e-01 -3.17465457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.083133365 meters Centerline goodness : 0.139048 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.31, Z:-0.32 [[ 9.98140538e-01 5.42468203e-03 -6.07127545e-02 -4.94283076e+00] [-5.51229483e-03 9.99983994e-01 -1.27567477e-03 -3.05793850e-01] [ 6.07048626e-02 1.60796930e-03 9.98154464e-01 -3.17401909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.143133365 meters Centerline goodness : 0.140157 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.31, Z:-0.32 [[ 9.98113869e-01 5.48035734e-03 -6.11446597e-02 -4.94109660e+00] [-5.55628878e-03 9.99983989e-01 -1.07187275e-03 -3.07238085e-01] [ 6.11378065e-02 1.40958844e-03 9.98128339e-01 -3.18368892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.203133365 meters Centerline goodness : 0.128431 with order 3 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.31, Z:-0.32 [[ 9.98122121e-01 5.61132765e-03 -6.09979025e-02 -4.94180710e+00] [-5.66564365e-03 9.99983693e-01 -7.17534766e-04 -3.09150429e-01] [ 6.09928815e-02 1.06177970e-03 9.98137636e-01 -3.17849946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26313336499999 meters Centerline goodness : 0.143003 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.31, Z:-0.32 [[ 9.98114633e-01 5.78788981e-03 -6.11038456e-02 -4.94139778e+00] [-5.80900248e-03 9.99983114e-01 -1.67883166e-04 -3.11834073e-01] [ 6.11018421e-02 5.22519035e-04 9.98131400e-01 -3.17998257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32313336499999 meters Centerline goodness : 0.139671 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.31, Z:-0.32 [[ 9.98110304e-01 5.88484573e-03 -6.11652579e-02 -4.94123980e+00] [-5.89647224e-03 9.99982616e-01 -9.58498648e-06 -3.12383302e-01] [ 6.11641381e-02 3.70226118e-04 9.98127653e-01 -3.17989144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38313336499999 meters Centerline goodness : 0.207199 with order 3 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.31, Z:-0.32 [[ 9.98094123e-01 5.92921872e-03 -6.14244781e-02 -4.94008480e+00] [-5.98098954e-03 9.99981897e-01 -6.59006503e-04 -3.08543191e-01] [ 6.14194587e-02 1.02512968e-03 9.98111516e-01 -3.18925190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.443133365 meters Centerline goodness : 0.136728 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.30, Z:-0.32 [[ 9.98067913e-01 9.95455550e-03 -6.13298348e-02 -4.94004188e+00] [-9.83462912e-03 9.99949092e-01 2.25699245e-03 -3.02154793e-01] [ 6.13491799e-02 -1.64947556e-03 9.98115002e-01 -3.19476460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.503133365 meters Centerline goodness : 0.142949 with order 1 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.30, Z:-0.32 [[ 9.97925640e-01 8.44751497e-03 -6.38205056e-02 -4.98577979e+00] [-8.45660496e-03 9.99964234e-01 1.27700583e-04 -2.98438650e-01] [ 6.38193018e-02 4.12269119e-04 9.97961385e-01 -3.21278935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.563133365 meters Centerline goodness : 0.129885 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.29, Z:-0.32 [[ 9.98035417e-01 6.31896627e-04 -6.26490782e-02 -4.96824319e+00] [-5.43800994e-04 9.99998839e-01 1.42321715e-03 -2.91915427e-01] [ 6.26499048e-02 -1.38635249e-03 9.98034602e-01 -3.18239996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.623133365 meters Centerline goodness : 0.141183 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.29, Z:-0.32 [[ 9.98072448e-01 6.52413899e-04 -6.20561248e-02 -4.97007842e+00] [-5.47876373e-04 9.99998402e-01 1.70156523e-03 -2.93465306e-01] [ 6.20571357e-02 -1.66428629e-03 9.98071211e-01 -3.17561809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68313336499999 meters Centerline goodness : 0.141133 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98050938e-01 8.23638274e-04 -6.23990900e-02 -4.96898654e+00] [-6.72357091e-04 9.99996784e-01 2.44537219e-03 -2.97964282e-01] [ 6.24009034e-02 -2.39865154e-03 9.98048282e-01 -3.17756189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74313336499999 meters Centerline goodness : 0.130154 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98020762e-01 1.05877696e-03 -6.28763605e-02 -4.96657037e+00] [-8.63252940e-04 9.99994708e-01 3.13674324e-03 -3.03027272e-01] [ 6.28793489e-02 -3.07625668e-03 9.98016395e-01 -3.19295977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.803133365 meters Centerline goodness : 0.140893 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98085989e-01 1.84140362e-03 -6.18139764e-02 -4.96933660e+00] [-1.59209003e-03 9.99990400e-01 4.08229999e-03 -3.06202083e-01] [ 6.18209002e-02 -3.97607301e-03 9.98079339e-01 -3.18966816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.863133365 meters Centerline goodness : 0.101811 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98051814e-01 2.10489064e-03 -6.23550014e-02 -4.96729953e+00] [-1.85472411e-03 9.99989999e-01 4.06958258e-03 -3.05608900e-01] [ 6.23629438e-02 -3.94600296e-03 9.98045737e-01 -3.20177151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.923133365 meters Centerline goodness : 0.145611 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98028901e-01 2.35248851e-03 -6.27118621e-02 -4.96594050e+00] [-2.10670999e-03 9.99989841e-01 3.98500609e-03 -3.04260715e-01] [ 6.27205997e-02 -3.84503554e-03 9.98023718e-01 -3.21077531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.983133365 meters Centerline goodness : 0.240686 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98048694e-01 2.21389264e-03 -6.24011401e-02 -4.96693071e+00] [-1.98605946e-03 9.99991135e-01 3.71289626e-03 -3.02985709e-01] [ 6.24088069e-02 -3.58171889e-03 9.98044244e-01 -3.20813678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04313336499999 meters Centerline goodness : 0.120848 with order 2 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98045955e-01 1.96941667e-03 -6.24531277e-02 -4.96624995e+00] [-1.75793784e-03 9.99992535e-01 3.44096804e-03 -3.01896848e-01] [ 6.24594381e-02 -3.32445552e-03 9.98041966e-01 -3.21604041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10313336499999 meters Centerline goodness : 0.101258 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98088934e-01 1.66991947e-03 -6.17712756e-02 -4.96823913e+00] [-1.46358144e-03 9.99993198e-01 3.38545182e-03 -3.02238096e-01] [ 6.17765089e-02 -3.28857471e-03 9.98084590e-01 -3.21026350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.163133365 meters Centerline goodness : 0.159660 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98089085e-01 -2.41454323e-03 -6.17442182e-02 -4.96803887e+00] [ 2.40549448e-03 9.99997082e-01 -2.20885466e-04 -3.03194254e-01] [ 6.17445714e-02 7.19379958e-05 9.98091981e-01 -3.21265706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223133365 meters Centerline goodness : 0.204373 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98081853e-01 -2.46356498e-03 -6.18590854e-02 -4.96733315e+00] [ 2.47044143e-03 9.99996948e-01 3.46804053e-05 -3.05014069e-01] [ 6.18588112e-02 -1.87433131e-04 9.98084892e-01 -3.21736971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.283133365 meters Centerline goodness : 0.106495 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98084498e-01 -2.35083427e-03 -6.18207819e-02 -4.96754915e+00] [ 2.37409513e-03 9.99997136e-01 3.02810798e-04 -3.06375516e-01] [ 6.18198930e-02 -4.48999181e-04 9.98087220e-01 -3.21529855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.343133365 meters Centerline goodness : 0.239175 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98099296e-01 -1.96116689e-03 -6.15950428e-02 -4.96763357e+00] [ 2.02874907e-03 9.99997407e-01 1.03468092e-03 -3.09603133e-01] [ 6.15928539e-02 -1.15767518e-03 9.98100686e-01 -3.22132958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40313336499999 meters Centerline goodness : 0.103866 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98113138e-01 -1.64867883e-03 -6.13795271e-02 -4.96804341e+00] [ 1.72282004e-03 9.99997849e-01 1.15501099e-03 -3.09204920e-01] [ 6.13774909e-02 -1.25857752e-03 9.98113831e-01 -3.22388053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46313336499999 meters Centerline goodness : 0.101214 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.31, Z:-0.32 [[ 9.98145340e-01 -7.93752290e-04 -6.08707669e-02 -4.96948236e+00] [ 8.83551585e-04 9.99998561e-01 1.44834300e-03 -3.07558294e-01] [ 6.08695297e-02 -1.49943928e-03 9.98144605e-01 -3.22337540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52313336499999 meters Centerline goodness : 0.152614 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98120622e-01 2.36807844e-03 -6.12341097e-02 -4.96685543e+00] [-2.15094403e-03 9.99991165e-01 3.61164584e-03 -3.01465806e-01] [ 6.12421213e-02 -3.47314705e-03 9.98116897e-01 -3.24536821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.583133365 meters Centerline goodness : 0.098915 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98143139e-01 2.04201101e-03 -6.08777870e-02 -4.96826353e+00] [-1.86222016e-03 9.99993736e-01 3.00989825e-03 -2.99219061e-01] [ 6.08835519e-02 -2.89094144e-03 9.98140689e-01 -3.23910628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.643133365 meters Centerline goodness : 0.100454 with order 1 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.30, Z:-0.32 [[ 9.98265876e-01 1.02937189e-04 -5.88662083e-02 -4.97597187e+00] [-2.04623717e-05 9.99999017e-01 1.40165644e-03 -2.98532438e-01] [ 5.88662947e-02 -1.39802125e-03 9.98264897e-01 -3.20771036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.703133365 meters Centerline goodness : 0.104348 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.30, Z:-0.32 [[ 9.98223307e-01 -3.13164895e-03 -5.95014434e-02 -4.97202571e+00] [ 3.06422827e-03 9.99994556e-01 -1.22430344e-03 -3.01894329e-01] [ 5.95049536e-02 1.03980223e-03 9.98227469e-01 -3.23329727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76313336499999 meters Centerline goodness : 0.097815 with order 1 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.31, Z:-0.32 [[ 9.98259543e-01 -5.43756723e-03 -5.87223771e-02 -4.97590014e+00] [ 5.28931851e-03 9.99982421e-01 -2.67971052e-03 -3.07607285e-01] [ 5.87359159e-02 2.36444524e-03 9.98270756e-01 -3.21116945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82313336499999 meters Centerline goodness : 0.092548 with order 1 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.31, Z:-0.32 [[ 9.98323557e-01 -5.95026458e-03 -5.75731664e-02 -4.97971034e+00] [ 5.81420385e-03 9.99979896e-01 -2.53048927e-03 -3.12928999e-01] [ 5.75870660e-02 2.19150493e-03 9.98338083e-01 -3.19667336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88313336499999 meters SLAMing on 65.943133365 meters Centerline goodness : 0.242184 with order 3 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.33, Z:-0.32 [[ 9.98100523e-01 -3.62398408e-03 -6.14996931e-02 -5.01933506e+00] [ 3.59540240e-03 9.99993371e-01 -5.75401791e-04 -3.25163843e-01] [ 6.15013707e-02 3.53192684e-04 9.98106936e-01 -3.23834094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.003133365 meters Centerline goodness : 0.196237 with order 2 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.33, Z:-0.33 [[ 9.97980379e-01 6.74403630e-03 -6.31639239e-02 -5.03855822e+00] [-6.77231188e-03 9.99977040e-01 -2.33565561e-04 -3.27249450e-01] [ 6.31608985e-02 6.60859639e-04 9.98003138e-01 -3.26252805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.063133365 meters Centerline goodness : 0.192720 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.32, Z:-0.33 [[ 9.97918279e-01 9.76713607e-03 -6.37472496e-02 -5.03474543e+00] [-9.69865724e-03 9.99952010e-01 1.38358912e-03 -3.19804938e-01] [ 6.37577040e-02 -7.62446149e-04 9.97965117e-01 -3.29300057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.123133365 meters Centerline goodness : 0.156911 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:-0.33 [[ 9.97849514e-01 1.37084873e-02 -6.40969892e-02 -5.03364765e+00] [-1.34580432e-02 9.99900029e-01 4.33741094e-03 -3.13944221e-01] [ 6.41500407e-02 -3.46546335e-03 9.97934248e-01 -3.29793786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18313336499999 meters Centerline goodness : 0.159740 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.31, Z:-0.33 [[ 9.97889345e-01 1.31104157e-02 -6.36000994e-02 -5.03559916e+00] [-1.29163817e-02 9.99910590e-01 3.46106143e-03 -3.10439045e-01] [ 6.36397889e-02 -2.63227316e-03 9.97969463e-01 -3.28879192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24313336499999 meters Centerline goodness : 0.110632 with order 2 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98060939e-01 4.64873000e-03 -6.20705346e-02 -5.05869897e+00] [-4.40749976e-03 9.99982196e-01 4.02274419e-03 -3.04328231e-01] [ 6.20881302e-02 -3.74136798e-03 9.98063658e-01 -3.31265213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.303133365 meters Centerline goodness : 0.226571 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98150218e-01 2.95506031e-03 -6.07240480e-02 -5.06324282e+00] [-2.80425650e-03 9.99992769e-01 2.56849977e-03 -3.01742341e-01] [ 6.07311990e-02 -2.39346280e-03 9.98151288e-01 -3.29691089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.363133365 meters Centerline goodness : 0.166170 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98114534e-01 2.52738266e-03 -6.13269132e-02 -5.06186693e+00] [-2.38418450e-03 9.99994258e-01 2.40806107e-03 -3.02009201e-01] [ 6.13326472e-02 -2.25730608e-03 9.98114829e-01 -3.29458356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.423133365 meters Centerline goodness : 0.251293 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98087992e-01 -1.65395284e-03 -6.17869356e-02 -5.06009051e+00] [ 1.59556677e-03 9.99998233e-01 -9.94285886e-04 -3.04996693e-01] [ 6.17884709e-02 8.93799622e-04 9.98088867e-01 -3.30071739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483133365 meters Centerline goodness : 0.140190 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98152239e-01 -3.84653733e-03 -6.06408469e-02 -5.06439383e+00] [ 3.71619945e-03 9.99990537e-01 -2.26197567e-03 -3.11082741e-01] [ 6.06489738e-02 2.03244260e-03 9.98157087e-01 -3.28393797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54313336499999 meters Centerline goodness : 0.090334 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98138896e-01 -3.94488639e-03 -6.08537703e-02 -5.06337048e+00] [ 3.81381308e-03 9.99990151e-01 -2.26990629e-03 -3.12071958e-01] [ 6.08621255e-02 2.03359685e-03 9.98144111e-01 -3.29035361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60313336499999 meters Centerline goodness : 0.212621 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98094837e-01 -3.52309025e-03 -6.15977581e-02 -5.06113983e+00] [ 3.38286644e-03 9.99991444e-01 -2.38058299e-03 -3.09638322e-01] [ 6.16056181e-02 2.16767061e-03 9.98098216e-01 -3.29836726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.663133365 meters Centerline goodness : 0.103370 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98111875e-01 -3.29573254e-03 -6.13337058e-02 -5.06210614e+00] [ 3.13772146e-03 9.99991506e-01 -2.67238877e-03 -3.06990096e-01] [ 6.13419924e-02 2.47489488e-03 9.98113738e-01 -3.29590019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.723133365 meters Centerline goodness : 0.147634 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98127174e-01 -3.28042954e-03 -6.10850435e-02 -5.06245560e+00] [ 3.12808533e-03 9.99991755e-01 -2.58943116e-03 -3.07492598e-01] [ 6.10930343e-02 2.39350238e-03 9.98129206e-01 -3.29973454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.783133365 meters Centerline goodness : 0.095150 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98118301e-01 -3.30336677e-03 -6.12286278e-02 -5.06157041e+00] [ 3.15040514e-03 9.99991672e-01 -2.59457454e-03 -3.07741212e-01] [ 6.12366887e-02 2.39679734e-03 9.98120395e-01 -3.30750800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.843133365 meters Centerline goodness : 0.091927 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98119254e-01 -3.12059414e-03 -6.12226871e-02 -5.06164637e+00] [ 2.97152120e-03 9.99992395e-01 -2.52582655e-03 -3.07088890e-01] [ 6.12301036e-02 2.33915160e-03 9.98120936e-01 -3.30746715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90313336499999 meters Centerline goodness : 0.158400 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98130462e-01 -2.95182769e-03 -6.10480834e-02 -5.06165017e+00] [ 2.79802861e-03 9.99992693e-01 -2.60464404e-03 -3.06033806e-01] [ 6.10553258e-02 2.42896027e-03 9.98131428e-01 -3.31482086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96313336499999 meters Centerline goodness : 0.162238 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98145950e-01 -2.98368479e-03 -6.07927569e-02 -5.06230400e+00] [ 2.82353753e-03 9.99992314e-01 -2.72004965e-03 -3.05621874e-01] [ 6.08004055e-02 2.54335591e-03 9.98146704e-01 -3.31539445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02313336499999 meters Centerline goodness : 0.177140 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98158770e-01 -2.99163619e-03 -6.05815120e-02 -5.06282792e+00] [ 2.83601384e-03 9.99992455e-01 -2.65463058e-03 -3.06232049e-01] [ 6.05889966e-02 2.47793279e-03 9.98159723e-01 -3.31561221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.083133365 meters Centerline goodness : 0.171553 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98145681e-01 -2.96871383e-03 -6.07979197e-02 -5.06242941e+00] [ 2.83366519e-03 9.99993323e-01 -2.30737067e-03 -3.08382279e-01] [ 6.08043637e-02 2.13081112e-03 9.98147428e-01 -3.31237559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.143133365 meters Centerline goodness : 0.166406 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.31, Z:-0.33 [[ 9.98128307e-01 -2.88689510e-03 -6.10864078e-02 -5.06147452e+00] [ 2.76198637e-03 9.99993919e-01 -2.12912762e-03 -3.09210960e-01] [ 6.10921829e-02 1.95642272e-03 9.98130211e-01 -3.31534990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.203133365 meters Centerline goodness : 0.170707 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.31, Z:-0.33 [[ 9.98230727e-01 -1.48706483e-03 -5.94407625e-02 -5.06716760e+00] [ 1.42333889e-03 9.99998366e-01 -1.11441689e-03 -3.08216787e-01] [ 5.94423225e-02 1.02784084e-03 9.98231213e-01 -3.29755504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26313336499999 meters Centerline goodness : 0.091460 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.31, Z:-0.33 [[ 9.98209660e-01 -1.14289452e-03 -5.98010729e-02 -5.06624058e+00] [ 1.06512329e-03 9.99998545e-01 -1.33235915e-03 -3.05723369e-01] [ 5.98025087e-02 1.26627826e-03 9.98209425e-01 -3.30105590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32313336499999 meters Centerline goodness : 0.148788 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98151434e-01 -9.23527786e-04 -6.07689229e-02 -5.06338175e+00] [ 8.22978612e-04 9.99998251e-01 -1.67962314e-03 -3.03054439e-01] [ 6.07703678e-02 1.62650672e-03 9.98150448e-01 -3.31078766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38313336499999 meters Centerline goodness : 0.173481 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98131006e-01 -1.04299046e-03 -6.11016114e-02 -5.06248360e+00] [ 9.28552143e-04 9.99997761e-01 -1.90128284e-03 -3.01927428e-01] [ 6.11034576e-02 1.84099332e-03 9.98129740e-01 -3.31208881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.443133365 meters Centerline goodness : 0.152913 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98146711e-01 -1.27523192e-03 -6.08400993e-02 -5.06316062e+00] [ 1.12874473e-03 9.99996381e-01 -2.44204836e-03 -2.98915412e-01] [ 6.08429934e-02 2.36884960e-03 9.98144538e-01 -3.31303803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.503133365 meters Centerline goodness : 0.171740 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.30, Z:-0.33 [[ 9.98134200e-01 -1.51795047e-03 -6.10394570e-02 -5.06275156e+00] [ 1.34491760e-03 9.99994961e-01 -2.87575579e-03 -2.97016982e-01] [ 6.10435147e-02 2.78829716e-03 9.98131211e-01 -3.31208030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.563133365 meters Centerline goodness : 0.155819 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.29, Z:-0.33 [[ 9.98115666e-01 -1.88594831e-03 -6.13315620e-02 -5.06198139e+00] [ 1.67356522e-03 9.99992425e-01 -3.51405306e-03 -2.94001927e-01] [ 6.13377247e-02 3.40478904e-03 9.98111262e-01 -3.31291272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.623133365 meters Centerline goodness : 0.094270 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.29, Z:-0.33 [[ 9.98122229e-01 -2.23905824e-03 -6.12127704e-02 -5.06276374e+00] [ 1.99761528e-03 9.99989984e-01 -4.00523616e-03 -2.91881795e-01] [ 6.12211252e-02 3.87543568e-03 9.98116704e-01 -3.30605549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68313336499999 meters Centerline goodness : 0.235321 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.29, Z:-0.33 [[ 9.98145809e-01 -2.49897026e-03 -6.08169392e-02 -5.06428365e+00] [ 2.25123235e-03 9.99988889e-01 -4.14168102e-03 -2.91766085e-01] [ 6.08266134e-02 3.99708849e-03 9.98140344e-01 -3.29703590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74313336499999 meters Centerline goodness : 0.242404 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.29, Z:-0.33 [[ 9.98145957e-01 -2.81687412e-03 -6.08005987e-02 -5.06430788e+00] [ 2.57291217e-03 9.99988324e-01 -4.09040958e-03 -2.92996332e-01] [ 6.08114109e-02 3.92639118e-03 9.98141551e-01 -3.29554773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.803133365 meters Centerline goodness : 0.109048 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.29, Z:-0.33 [[ 9.98139769e-01 -2.82141094e-03 -6.09018902e-02 -5.06388617e+00] [ 2.58104401e-03 9.99988568e-01 -4.02509702e-03 -2.93534569e-01] [ 6.09125504e-02 3.86041896e-03 9.98135641e-01 -3.29792761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.863133365 meters SLAMing on 67.923133365 meters Centerline goodness : 0.109595 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.30, Z:-0.33 [[ 0.99809831 0.0054007 -0.06140525 -5.0839504 ] [-0.00575687 0.99996761 -0.00562488 -0.29573121] [ 0.06137288 0.00596769 0.99809707 -0.33227259] [ 0. 0. 0. 1. ]] SLAMing on 67.983133365 meters Centerline goodness : 0.108231 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.29, Z:-0.33 [[ 0.99810955 0.00542395 -0.06122022 -5.08429531] [-0.00578923 0.99996647 -0.00579085 -0.29443444] [ 0.06118676 0.00613432 0.99810748 -0.33250292] [ 0. 0. 0. 1. ]] SLAMing on 68.04313336499999 meters Centerline goodness : 0.231067 with order 3 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.29, Z:-0.33 [[ 0.99814027 0.00534877 -0.06072385 -5.08571301] [-0.00571928 0.99996607 -0.00592937 -0.29397896] [ 0.06069007 0.00626564 0.99813699 -0.33226019] [ 0. 0. 0. 1. ]] SLAMing on 68.10313336499999 meters SLAMing on 68.163133365 meters Centerline goodness : 0.149001 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.29, Z:-0.33 [[ 9.98054762e-01 8.05231803e-03 -6.18211352e-02 -5.08076637e+00] [-8.34081912e-03 9.99955490e-01 -4.41005521e-03 -2.87963427e-01] [ 6.17828724e-02 4.91711550e-03 9.98077501e-01 -3.34830798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.223133365 meters SLAMing on 68.283133365 meters Centerline goodness : 0.181656 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.29, Z:-0.34 [[ 9.97917925e-01 1.13179468e-02 -6.34958245e-02 -5.15939953e+00] [-1.15892180e-02 9.99925215e-01 -3.90558048e-03 -2.90125588e-01] [ 6.34468729e-02 4.63331573e-03 9.97974462e-01 -3.41008177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.343133365 meters SLAMing on 68.40313336499999 meters Centerline goodness : 0.239890 with order 3 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.29, Z:-0.34 [[ 9.98137355e-01 6.40945829e-03 -6.06691054e-02 -5.18383434e+00] [-6.49402994e-03 9.99978197e-01 -1.19690760e-03 -2.85199739e-01] [ 6.06601111e-02 1.58866517e-03 9.98157216e-01 -3.42311402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46313336499999 meters Centerline goodness : 0.104915 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.28, Z:-0.34 [[ 9.98142338e-01 -2.41681521e-03 -6.08771896e-02 -5.16323566e+00] [ 2.38197383e-03 9.99996955e-01 -6.44887187e-04 -2.82449721e-01] [ 6.08785628e-02 4.98681332e-04 9.98145056e-01 -3.40722026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52313336499999 meters Centerline goodness : 0.200733 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.28, Z:-0.34 [[ 9.98149883e-01 -2.40836482e-03 -6.07536979e-02 -5.16372359e+00] [ 2.37577922e-03 9.99996993e-01 -6.08585718e-04 -2.82545109e-01] [ 6.07549809e-02 4.63122391e-04 9.98152602e-01 -3.40440905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.583133365 meters Centerline goodness : 0.245191 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.28, Z:-0.34 [[ 9.98135471e-01 -2.54309209e-03 -6.09845389e-02 -5.16275013e+00] [ 2.49102167e-03 9.99996465e-01 -9.29842372e-04 -2.81324119e-01] [ 6.09866880e-02 7.76194846e-04 9.98138278e-01 -3.41141278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.643133365 meters SLAMing on 68.703133365 meters Centerline goodness : 0.181630 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.28, Z:-0.34 [[ 9.98084802e-01 -1.96280537e-03 -6.18294055e-02 -5.20896985e+00] [ 1.86508928e-03 9.99996919e-01 -1.63808885e-03 -2.79621662e-01] [ 6.18324302e-02 1.51963422e-03 9.98085388e-01 -3.43600238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76313336499999 meters Centerline goodness : 0.239364 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.28, Z:-0.34 [[ 9.98088560e-01 -2.11538966e-03 -6.17636776e-02 -5.20905678e+00] [ 1.97713975e-03 9.99995402e-01 -2.29939958e-03 -2.75301573e-01] [ 6.17682577e-02 2.17288899e-03 9.98088153e-01 -3.43886076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82313336499999 meters Centerline goodness : 0.238313 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.27, Z:-0.34 [[ 9.98086732e-01 -2.67000674e-03 -6.17717264e-02 -5.20939008e+00] [ 2.45689045e-03 9.99990766e-01 -3.52576070e-03 -2.69368428e-01] [ 6.17805699e-02 3.36724862e-03 9.98084076e-01 -3.43642285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88313336499999 meters SLAMing on 68.943133365 meters Centerline goodness : 0.240555 with order 3 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.26, Z:-0.35 [[ 9.97992386e-01 -7.25305157e-03 -6.29173250e-02 -5.27033777e+00] [ 7.07850850e-03 9.99970457e-01 -2.99662610e-03 -2.63171967e-01] [ 6.29372009e-02 2.54524921e-03 9.98014244e-01 -3.47370123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.003133365 meters Centerline goodness : 0.094268 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.26, Z:-0.35 [[ 9.97971514e-01 -8.16370073e-03 -6.31364553e-02 -5.27012631e+00] [ 7.96938002e-03 9.99962703e-01 -3.32901177e-03 -2.64029556e-01] [ 6.31612775e-02 2.81910051e-03 9.97999352e-01 -3.46793153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.063133365 meters Centerline goodness : 0.099563 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.27, Z:-0.35 [[ 0.9979342 -0.01206571 -0.06310119 -5.27013813] [ 0.01167115 0.99990999 -0.00661768 -0.26663611] [ 0.06317536 0.00586755 0.99798519 -0.3467222 ] [ 0. 0. 0. 1. ]] SLAMing on 69.123133365 meters Centerline goodness : 0.117930 with order 2 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.28, Z:-0.35 [[ 0.99818512 -0.00737658 -0.05976668 -5.29274255] [ 0.00688817 0.99994121 -0.0083739 -0.27848377] [ 0.05982494 0.00794701 0.99817725 -0.34716595] [ 0. 0. 0. 1. ]] SLAMing on 69.18313336499999 meters Centerline goodness : 0.100387 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.28, Z:-0.35 [[ 0.99820306 -0.00706833 -0.05950371 -5.29305311] [ 0.00662785 0.99994918 -0.00759671 -0.28277671] [ 0.05955438 0.00718868 0.99819918 -0.34752888] [ 0. 0. 0. 1. ]] SLAMing on 69.24313336499999 meters Centerline goodness : 0.135611 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98091088e-01 2.08825871e-03 -6.17237271e-02 -5.31145863e+00] [-2.59740223e-03 9.99963254e-01 -8.16966279e-03 -2.88160489e-01] [ 6.17043986e-02 8.31438897e-03 9.98059837e-01 -3.50153940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.303133365 meters Centerline goodness : 0.091308 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98083425e-01 2.80723107e-03 -6.18190600e-02 -5.31091455e+00] [-3.31910639e-03 9.99961042e-01 -8.17908529e-03 -2.86145628e-01] [ 6.17936911e-02 8.36859350e-03 9.98053859e-01 -3.50916134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.363133365 meters Centerline goodness : 0.141444 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98088000e-01 3.06781948e-03 -6.17327476e-02 -5.31107813e+00] [-3.57803837e-03 9.99960337e-01 -8.15611454e-03 -2.85336737e-01] [ 6.17052776e-02 8.36140219e-03 9.98059390e-01 -3.51170920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.423133365 meters Centerline goodness : 0.243423 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98096394e-01 3.23158053e-03 -6.15885153e-02 -5.31151285e+00] [-3.71026126e-03 9.99963783e-01 -7.65946198e-03 -2.87972181e-01] [ 6.15615325e-02 7.87339086e-03 9.98072236e-01 -3.51020198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.483133365 meters Centerline goodness : 0.104369 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.29, Z:-0.35 [[ 9.98166853e-01 1.00979433e-03 -6.05137481e-02 -5.31511485e+00] [-1.56529329e-03 9.99957068e-01 -9.13301382e-03 -2.93187101e-01] [ 6.05019277e-02 9.21099343e-03 9.98125580e-01 -3.50071261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54313336499999 meters Centerline goodness : 0.113151 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98128015e-01 1.16812973e-03 -6.11481886e-02 -5.31302789e+00] [-1.72663563e-03 9.99957271e-01 -9.08160299e-03 -2.92838238e-01] [ 6.11349673e-02 9.17018300e-03 9.98087383e-01 -3.50922295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60313336499999 meters Centerline goodness : 0.243133 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98120089e-01 1.18548565e-03 -6.12770997e-02 -5.31226849e+00] [-1.75810993e-03 9.99955285e-01 -9.29176161e-03 -2.91538665e-01] [ 6.12633444e-02 9.38202580e-03 9.98077542e-01 -3.51727992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.663133365 meters Centerline goodness : 0.103927 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98120544e-01 1.15116230e-03 -6.12703373e-02 -5.31217687e+00] [-1.72879155e-03 9.99954556e-01 -9.37537468e-03 -2.91141125e-01] [ 6.12567604e-02 9.46367772e-03 9.98077175e-01 -3.51936049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.723133365 meters Centerline goodness : 0.104808 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98114885e-01 1.22363446e-03 -6.13610511e-02 -5.31201336e+00] [-1.79996128e-03 9.99954780e-01 -9.33799224e-03 -2.90764957e-01] [ 6.13468500e-02 9.43083657e-03 9.98071953e-01 -3.51907252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.783133365 meters Centerline goodness : 0.129794 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98125082e-01 1.02145246e-03 -6.11986629e-02 -5.31233527e+00] [-1.61655087e-03 9.99951886e-01 -9.67532009e-03 -2.89466958e-01] [ 6.11858355e-02 9.75611042e-03 9.98078710e-01 -3.52077432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.843133365 meters Centerline goodness : 0.103531 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.29, Z:-0.35 [[ 9.98129627e-01 8.81843667e-04 -6.11266744e-02 -5.31265404e+00] [-1.49455744e-03 9.99949095e-01 -9.97867602e-03 -2.87926792e-01] [ 6.11147631e-02 1.00513695e-02 9.98080135e-01 -3.51939683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90313336499999 meters Centerline goodness : 0.106912 with order 1 Centerline is valid? [False, False] Translation: X:-5.33, Y:-0.28, Z:-0.35 [[ 0.99798866 -0.00730193 -0.0629707 -5.3314315 ] [ 0.00673328 0.99993466 -0.00923791 -0.282539 ] [ 0.06303404 0.00879533 0.99797262 -0.3549333 ] [ 0. 0. 0. 1. ]] SLAMing on 69.96313336499999 meters Centerline goodness : 0.106637 with order 1 Centerline is valid? [False, False] Translation: X:-5.33, Y:-0.28, Z:-0.35 [[ 0.99802514 -0.00757668 -0.06235713 -5.33385644] [ 0.00698826 0.99992903 -0.009649 -0.28055157] [ 0.06242581 0.00919418 0.99800726 -0.35370024] [ 0. 0. 0. 1. ]] SLAMing on 70.02313336499999 meters Centerline goodness : 0.256523 with order 3 Centerline is valid? [False, False] Translation: X:-5.33, Y:-0.28, Z:-0.35 [[ 0.99802099 -0.00777165 -0.06239949 -5.33374271] [ 0.00716149 0.99992439 -0.00999587 -0.27918294] [ 0.06247246 0.00952922 0.9980012 -0.3537422 ] [ 0. 0. 0. 1. ]] SLAMing on 70.083133365 meters Centerline goodness : 0.104160 with order 1 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.28, Z:-0.35 [[ 0.99797585 -0.00678399 -0.06323115 -5.38195404] [ 0.00617334 0.99993245 -0.00984787 -0.2782367 ] [ 0.06329369 0.00943759 0.99795032 -0.3548686 ] [ 0. 0. 0. 1. ]] SLAMing on 70.143133365 meters Centerline goodness : 0.178149 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.28, Z:-0.36 [[ 9.98025332e-01 1.43794689e-03 -6.27962436e-02 -5.40369214e+00] [-2.14399976e-03 9.99935230e-01 -1.11776163e-02 -2.79868642e-01] [ 6.27761035e-02 1.12901794e-02 9.97963773e-01 -3.55999958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.203133365 meters Centerline goodness : 0.169868 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.28, Z:-0.36 [[ 9.98017429e-01 1.28358614e-03 -6.29250691e-02 -5.40326434e+00] [-2.01461850e-03 9.99931204e-01 -1.15554349e-02 -2.77848200e-01] [ 6.29059077e-02 1.16592954e-02 9.97951355e-01 -3.56288052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26313336499999 meters SLAMing on 70.32313336499999 meters Centerline goodness : 0.108695 with order 1 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.27, Z:-0.36 [[ 9.97796360e-01 2.77251978e-03 -6.62928087e-02 -5.44169557e+00] [-3.59112647e-03 9.99918733e-01 -1.22323745e-02 -2.71681881e-01] [ 6.62535068e-02 1.24434846e-02 9.97725229e-01 -3.60664060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38313336499999 meters Centerline goodness : 0.094742 with order 1 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.26, Z:-0.36 [[ 0.99778224 0.00656132 -0.06623853 -5.44214007] [-0.00722408 0.99992617 -0.00977114 -0.26285908] [ 0.06616953 0.01022799 0.99775597 -0.3604922 ] [ 0. 0. 0. 1. ]] SLAMing on 70.443133365 meters Centerline goodness : 0.110900 with order 1 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.26, Z:-0.36 [[ 0.99779631 0.00613646 -0.0660671 -5.44307368] [-0.00686288 0.99991841 -0.01077382 -0.25830407] [ 0.0659956 0.01120349 0.99775702 -0.36000923] [ 0. 0. 0. 1. ]] SLAMing on 70.503133365 meters Centerline goodness : 0.142922 with order 1 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.26, Z:-0.36 [[ 9.97863617e-01 -2.00301855e-03 -6.53007601e-02 -5.46433290e+00] [ 1.35340323e-03 9.99949175e-01 -9.99077050e-03 -2.55676873e-01] [ 6.53174529e-02 9.88104813e-03 9.97815612e-01 -3.62567305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563133365 meters Centerline goodness : 0.180398 with order 3 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.26, Z:-0.36 [[ 9.97845077e-01 -2.06033489e-03 -6.55816919e-02 -5.46342957e+00] [ 1.41965827e-03 9.99950831e-01 -9.81424174e-03 -2.57143297e-01] [ 6.55986880e-02 9.69998921e-03 9.97798939e-01 -3.62749286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62313336499999 meters SLAMing on 70.68313336499999 meters Centerline goodness : 0.106830 with order 1 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.26, Z:-0.36 [[ 9.97874844e-01 -1.84316108e-03 -6.51336976e-02 -5.46529108e+00] [ 1.22810329e-03 9.99954293e-01 -9.48178088e-03 -2.58787246e-01] [ 6.51481969e-02 9.38163971e-03 9.97831497e-01 -3.61629562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74313336499999 meters Centerline goodness : 0.142452 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.26, Z:-0.36 [[ 9.97892593e-01 -1.83930372e-03 -6.48613140e-02 -5.46611553e+00] [ 1.22201982e-03 9.99953600e-01 -9.55536982e-03 -2.58101676e-01] [ 6.48758797e-02 9.45597096e-03 9.97848538e-01 -3.61515547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.803133365 meters SLAMing on 70.863133365 meters Centerline goodness : 0.169487 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.27, Z:-0.37 [[ 9.98025765e-01 -1.08863839e-03 -6.27963966e-02 -5.54609484e+00] [ 4.23349359e-04 9.99943658e-01 -1.06067151e-02 -2.66143217e-01] [ 6.28044054e-02 1.05591901e-02 9.97969995e-01 -3.67689731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923133365 meters Centerline goodness : 0.139241 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.26, Z:-0.37 [[ 9.97921637e-01 -8.67836323e-04 -6.44333303e-02 -5.54093105e+00] [ 1.62104331e-04 9.99939954e-01 -1.09573227e-02 -2.63132543e-01] [ 6.44389705e-02 1.09241045e-02 9.97861856e-01 -3.69545379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983133365 meters Centerline goodness : 0.144459 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.26, Z:-0.37 [[ 9.98031264e-01 -2.11809188e-04 -6.27180313e-02 -5.54762205e+00] [-4.21959684e-04 9.99948989e-01 -1.00916328e-02 -2.64062827e-01] [ 6.27169695e-02 1.00982295e-02 9.97980264e-01 -3.66451030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04313336499999 meters Centerline goodness : 0.234123 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.27, Z:-0.37 [[ 9.97994840e-01 -4.27942170e-03 -6.31505088e-02 -5.54590214e+00] [ 3.43377212e-03 9.99903063e-01 -1.34934781e-02 -2.67112482e-01] [ 6.32021314e-02 1.32495770e-02 9.97912791e-01 -3.67196440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10313336499999 meters Centerline goodness : 0.097282 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.28, Z:-0.37 [[ 0.99792564 -0.00891635 -0.06375667 -5.54387245] [ 0.00787251 0.99983114 -0.01660484 -0.27744778] [ 0.06389395 0.01606847 0.99782732 -0.36756935] [ 0. 0. 0. 1. ]] SLAMing on 71.163133365 meters Centerline goodness : 0.126773 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.29, Z:-0.37 [[ 0.99797816 -0.0106939 -0.06265172 -5.54767415] [ 0.00964208 0.99980786 -0.01706669 -0.28750134] [ 0.06282219 0.01642809 0.99788952 -0.36615857] [ 0. 0. 0. 1. ]] SLAMing on 71.223133365 meters Centerline goodness : 0.090628 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.30, Z:-0.37 [[ 9.97766941e-01 -4.19749791e-04 -6.67903903e-02 -5.56007554e+00] [-6.90486348e-04 9.99861993e-01 -1.65987399e-02 -2.95640048e-01] [ 6.67881400e-02 1.66077917e-02 9.97628952e-01 -3.70977239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.283133365 meters Centerline goodness : 0.090459 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.30, Z:-0.37 [[ 9.97762790e-01 2.57145511e-04 -6.68531832e-02 -5.55989989e+00] [-1.34627661e-03 9.99867105e-01 -1.62468459e-02 -2.95850799e-01] [ 6.68401210e-02 1.63005012e-02 9.97630539e-01 -3.71211508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.343133365 meters SLAMing on 71.40313336499999 meters Centerline goodness : 0.139096 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:-0.37 [[ 9.97670215e-01 3.86001584e-03 -6.81119886e-02 -5.60907247e+00] [-4.84971112e-03 9.99884970e-01 -1.43710459e-02 -3.07628778e-01] [ 6.80486812e-02 1.46678879e-02 9.97574173e-01 -3.71910513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46313336499999 meters Centerline goodness : 0.097081 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:-0.37 [[ 9.97685638e-01 4.00441403e-03 -6.78773265e-02 -5.60984994e+00] [-4.97180037e-03 9.99888384e-01 -1.40890457e-02 -3.08938481e-01] [ 6.78133319e-02 1.43939111e-02 9.97594190e-01 -3.71661831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52313336499999 meters Centerline goodness : 0.090333 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:-0.37 [[ 9.97696999e-01 4.16450790e-03 -6.77004805e-02 -5.61060730e+00] [-5.11313714e-03 9.99891081e-01 -1.38449132e-02 -3.09565241e-01] [ 6.76354494e-02 1.41591902e-02 9.97609625e-01 -3.71175558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583133365 meters Centerline goodness : 0.096759 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:-0.37 [[ 9.97734655e-01 4.06468805e-03 -6.71493552e-02 -5.61248463e+00] [-5.01467696e-03 9.99889632e-01 -1.39849080e-02 -3.09481773e-01] [ 6.70850997e-02 1.42899596e-02 9.97644920e-01 -3.70469281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643133365 meters Centerline goodness : 0.215235 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:-0.37 [[ 9.97753904e-01 4.18000203e-03 -6.68556326e-02 -5.61307116e+00] [-5.14029071e-03 9.99885990e-01 -1.41980506e-02 -3.07449292e-01] [ 6.67886625e-02 1.45098178e-02 9.97661636e-01 -3.70828471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703133365 meters Centerline goodness : 0.090216 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.30, Z:-0.37 [[ 9.97754690e-01 4.14467385e-03 -6.68460945e-02 -5.61270051e+00] [-5.13419802e-03 9.99879677e-01 -1.46380280e-02 -3.04796347e-01] [ 6.67773815e-02 1.49483621e-02 9.97655917e-01 -3.71539689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76313336499999 meters Centerline goodness : 0.119526 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.30, Z:-0.37 [[ 9.97642363e-01 -4.25604849e-03 -6.84952705e-02 -5.63199481e+00] [ 3.28355770e-03 9.99892297e-01 -1.43042554e-02 -3.00234321e-01] [ 6.85487730e-02 1.40456230e-02 9.97548889e-01 -3.73834513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82313336499999 meters Centerline goodness : 0.132878 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.30, Z:-0.37 [[ 0.99765064 -0.01319564 -0.06722402 -5.6121222 ] [ 0.0122959 0.99982944 -0.01378052 -0.297206 ] [ 0.0673944 0.01292156 0.99764274 -0.37191932] [ 0. 0. 0. 1. ]] SLAMing on 71.88313336499999 meters Centerline goodness : 0.137147 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.30, Z:-0.37 [[ 9.97751814e-01 -4.33031020e-03 -6.68772473e-02 -5.63300065e+00] [ 3.39614531e-03 9.99895165e-01 -1.40757301e-02 -3.02934656e-01] [ 6.69311885e-02 1.38169604e-02 9.97661920e-01 -3.73834570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.943133365 meters Centerline goodness : 0.096112 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.30, Z:-0.37 [[ 9.97683548e-01 -4.05662552e-03 -6.79049478e-02 -5.63025229e+00] [ 3.06247978e-03 9.99886700e-01 -1.47379572e-02 -2.98194454e-01] [ 6.79570406e-02 1.44958598e-02 9.97582934e-01 -3.74557944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.003133365 meters Centerline goodness : 0.099772 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.29, Z:-0.38 [[ 9.97612759e-01 -1.39871906e-03 -6.90422047e-02 -5.62576433e+00] [ 4.95678710e-04 9.99914135e-01 -1.30949404e-02 -2.91396824e-01] [ 6.90545925e-02 1.30294569e-02 9.97527792e-01 -3.76608785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.063133365 meters SLAMing on 72.12313336499999 meters Centerline goodness : 0.128622 with order 2 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.28, Z:-0.38 [[ 9.97433759e-01 -1.66052770e-03 -7.15761025e-02 -5.67186879e+00] [ 6.05105455e-04 9.99890814e-01 -1.47646176e-02 -2.80665876e-01] [ 7.15928044e-02 1.46834170e-02 9.97325858e-01 -3.77485434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18313336499999 meters Centerline goodness : 0.090261 with order 2 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.28, Z:-0.38 [[ 9.97413456e-01 -2.38887345e-03 -7.18379562e-02 -5.67083690e+00] [ 1.31641443e-03 9.99887039e-01 -1.49725047e-02 -2.80924936e-01] [ 7.18656087e-02 1.48392091e-02 9.97303932e-01 -3.77799641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24313336499999 meters SLAMing on 72.303133365 meters SLAMing on 72.363133365 meters SLAMing on 72.423133365 meters SLAMing on 72.483133365 meters SLAMing on 72.54313336499999 meters SLAMing on 72.60313336499999 meters SLAMing on 72.663133365 meters SLAMing on 72.723133365 meters Centerline goodness : 0.232449 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.62, Z:-0.37 [[ 9.86767817e-01 -1.52128195e-01 5.60917742e-02 -5.90759327e+00] [ 1.62088586e-01 9.34230985e-01 -3.17710177e-01 -6.21187826e-01] [-4.06999776e-03 3.22598015e-01 9.46527314e-01 -3.73160715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.783133365 meters Centerline goodness : 0.137776 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.63, Z:-0.38 [[ 0.98801165 -0.14359066 0.0566983 -5.92603592] [ 0.15420579 0.93534127 -0.31836659 -0.63013193] [-0.00731779 0.3232931 0.94627058 -0.37651476] [ 0. 0. 0. 1. ]] SLAMing on 72.843133365 meters Centerline goodness : 0.232934 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.64, Z:-0.38 [[ 0.98921058 -0.13517549 0.05648019 -5.94370611] [ 0.14617392 0.93643704 -0.31893395 -0.64198647] [-0.00977809 0.32374876 0.94609256 -0.37998683] [ 0. 0. 0. 1. ]] SLAMing on 72.90313336499999 meters Centerline goodness : 0.142984 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.65, Z:-0.38 [[ 0.99032791 -0.12673938 0.05646033 -5.96128399] [ 0.13818703 0.9374875 -0.3194081 -0.6523923 ] [-0.01244927 0.32412084 0.94593377 -0.38358237] [ 0. 0. 0. 1. ]] SLAMing on 72.96313336499999 meters Centerline goodness : 0.228320 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.66, Z:-0.39 [[ 0.99133988 -0.11846658 0.05666486 -5.97969381] [ 0.13043402 0.93833018 -0.32019282 -0.66256938] [-0.0152382 0.32481094 0.9456562 -0.38658559] [ 0. 0. 0. 1. ]] SLAMing on 73.02313336499999 meters Centerline goodness : 0.138863 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.67, Z:-0.39 [[ 0.99246365 -0.10919872 0.05560156 -5.99925246] [ 0.12132284 0.93941325 -0.32059869 -0.66924347] [-0.01722387 0.32492829 0.9455818 -0.38758427] [ 0. 0. 0. 1. ]] SLAMing on 73.083133365 meters Centerline goodness : 0.140285 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.67, Z:-0.39 [[ 0.99350469 -0.10002883 0.0542463 -6.01769784] [ 0.11221951 0.94024201 -0.32148365 -0.67368679] [-0.01884702 0.32548301 0.94536004 -0.38891263] [ 0. 0. 0. 1. ]] SLAMing on 73.143133365 meters Centerline goodness : 0.093770 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.68, Z:-0.39 [[ 0.99445572 -0.0908562 0.05294318 -6.03806345] [ 0.1031368 0.94091618 -0.32255161 -0.67612715] [-0.02050928 0.32622369 0.94507009 -0.38868909] [ 0. 0. 0. 1. ]] SLAMing on 73.203133365 meters Centerline goodness : 0.141510 with order 1 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.68, Z:-0.39 [[ 0.99495757 -0.08433744 0.05428279 -6.06188738] [ 0.09747488 0.9405788 -0.32528474 -0.68116387] [-0.02362355 0.32893573 0.94405679 -0.38759163] [ 0. 0. 0. 1. ]] SLAMing on 73.26313336499999 meters Centerline goodness : 0.214250 with order 3 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.68, Z:-0.39 [[ 0.99583493 -0.07454025 0.05250274 -6.08318387] [ 0.08762913 0.94151283 -0.32538396 -0.68315666] [-0.0251778 0.32862948 0.94412327 -0.38615704] [ 0. 0. 0. 1. ]] SLAMing on 73.32313336499999 meters Centerline goodness : 0.383188 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.68, Z:-0.39 [[ 0.99661078 -0.06423405 0.05139012 -6.1025672 ] [ 0.07753057 0.94225337 -0.32580301 -0.68179175] [-0.02749487 0.32868309 0.94403996 -0.38550948] [ 0. 0. 0. 1. ]] SLAMing on 73.38313336499999 meters Centerline goodness : 0.085937 with order 1 Centerline is valid? [False, False] Translation: X:-6.12, Y:-0.68, Z:-0.39 [[ 0.99730434 -0.05244281 0.05132053 -6.12267677] [ 0.06630079 0.9437072 -0.32406933 -0.68430592] [-0.03143645 0.32659834 0.94464029 -0.3855568 ] [ 0. 0. 0. 1. ]] SLAMing on 73.443133365 meters Centerline goodness : 0.190057 with order 3 Centerline is valid? [False, False] Translation: X:-6.14, Y:-0.68, Z:-0.38 [[ 0.99781109 -0.04289657 0.05032799 -6.14280397] [ 0.05698232 0.9439297 -0.32519184 -0.6814687 ] [-0.03355647 0.32734783 0.94430787 -0.38369544] [ 0. 0. 0. 1. ]] SLAMing on 73.503133365 meters Centerline goodness : 0.133041 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.68, Z:-0.38 [[ 0.99815296 -0.03356918 0.05063378 -6.16495688] [ 0.04826191 0.94438211 -0.32528944 -0.68066391] [-0.03689794 0.3271323 0.94425791 -0.38182455] [ 0. 0. 0. 1. ]] SLAMing on 73.563133365 meters Centerline goodness : 0.085803 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.68, Z:-0.38 [[ 0.99813246 -0.03412178 0.05066849 -6.16555967] [ 0.0488169 0.94416937 -0.32582376 -0.67945949] [-0.03672195 0.32768875 0.94407181 -0.38024285] [ 0. 0. 0. 1. ]] SLAMing on 73.62313336499999 meters Centerline goodness : 0.149505 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.68, Z:-0.38 [[ 0.99784901 -0.04324248 0.04926897 -6.18658971] [ 0.0569803 0.94374923 -0.32571556 -0.67804441] [-0.03241281 0.32782231 0.94418321 -0.37834581] [ 0. 0. 0. 1. ]] SLAMing on 73.68313336499999 meters Centerline goodness : 0.121655 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.68, Z:-0.38 [[ 0.99777166 -0.04433693 0.04985931 -6.18855033] [ 0.05822122 0.94355406 -0.32606139 -0.680267 ] [-0.0325884 0.32823769 0.94403285 -0.37740794] [ 0. 0. 0. 1. ]] SLAMing on 73.74313336499999 meters Centerline goodness : 0.127318 with order 1 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.69, Z:-0.38 [[ 0.99797775 -0.03848877 0.05058677 -6.20903552] [ 0.05304903 0.94274469 -0.32926927 -0.68819411] [-0.03501723 0.33128698 0.94288002 -0.37924083] [ 0. 0. 0. 1. ]] SLAMing on 73.803133365 meters Centerline goodness : 0.184974 with order 3 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.70, Z:-0.38 [[ 0.99835149 -0.02966909 0.04913292 -6.22681253] [ 0.0442693 0.94288618 -0.33016038 -0.69575483] [-0.03653119 0.33179119 0.94264526 -0.38218783] [ 0. 0. 0. 1. ]] SLAMing on 73.863133365 meters Centerline goodness : 0.127564 with order 1 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.70, Z:-0.39 [[ 0.99839381 -0.02941904 0.04841822 -6.22452085] [ 0.04375438 0.94328767 -0.32908043 -0.7024303 ] [-0.03599108 0.33067037 0.94305978 -0.38524875] [ 0. 0. 0. 1. ]] SLAMing on 73.923133365 meters Centerline goodness : 0.233170 with order 1 Centerline is valid? [False, False] Translation: X:-6.24, Y:-0.71, Z:-0.39 [[ 0.99853141 -0.02229997 0.04937345 -6.24316396] [ 0.03740455 0.94305284 -0.33053326 -0.71390384] [-0.03919089 0.33189464 0.942502 -0.39051842] [ 0. 0. 0. 1. ]] SLAMing on 73.983133365 meters Centerline goodness : 0.189036 with order 3 Centerline is valid? [False, False] Translation: X:-6.24, Y:-0.72, Z:-0.39 [[ 0.99853701 -0.02192505 0.04942796 -6.24356989] [ 0.03701756 0.94349528 -0.32931195 -0.72123481] [-0.03941486 0.33065987 0.94292657 -0.39220205] [ 0. 0. 0. 1. ]] SLAMing on 74.04313336499999 meters SLAMing on 74.10313336499999 meters SLAMing on 74.163133365 meters SLAMing on 74.223133365 meters SLAMing on 74.283133365 meters SLAMing on 74.343133365 meters Centerline goodness : 0.144655 with order 1 Centerline is valid? [False, False] Translation: X:-6.51, Y:-0.82, Z:-0.42 [[ 0.99871345 0.00978861 0.04975564 -6.5062975 ] [ 0.00714971 0.944209 -0.32926927 -0.81760302] [-0.05020282 0.32920139 0.94292424 -0.42122943] [ 0. 0. 0. 1. ]] SLAMing on 74.40313336499999 meters SLAMing on 74.46313336499999 meters SLAMing on 74.52313336499999 meters SLAMing on 74.583133365 meters SLAMing on 74.643133365 meters SLAMing on 74.703133365 meters Centerline goodness : 0.127098 with order 1 Centerline is valid? [False, False] Translation: X:-6.88, Y:-0.90, Z:-0.44 [[ 0.99818694 -0.02408045 0.05516302 -6.87619995] [ 0.04105161 0.94261193 -0.33135708 -0.90263686] [-0.04401809 0.33302085 0.94189146 -0.4377709 ] [ 0. 0. 0. 1. ]] SLAMing on 74.76313336499999 meters SLAMing on 74.82313336499999 meters SLAMing on 74.88313336499999 meters Centerline goodness : 0.114114 with order 1 Centerline is valid? [False, False] Translation: X:-6.94, Y:-0.93, Z:-0.44 [[ 0.9983931 -0.01808589 0.0537039 -6.94069934] [ 0.03493686 0.94261224 -0.3320566 -0.93085302] [-0.04461642 0.33339927 0.94172942 -0.44497519] [ 0. 0. 0. 1. ]] SLAMing on 74.943133365 meters SLAMing on 75.003133365 meters SLAMing on 75.063133365 meters SLAMing on 75.12313336499999 meters Centerline goodness : 0.137175 with order 2 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.97, Z:-0.45 [[ 0.99840734 -0.00951159 0.05560851 -7.03763419] [ 0.02758538 0.94212403 -0.33412776 -0.96644565] [-0.04921203 0.33512959 0.94088593 -0.45287224] [ 0. 0. 0. 1. ]] SLAMing on 75.18313336499999 meters SLAMing on 75.24313336499999 meters Centerline goodness : 0.195733 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.97, Z:-0.45 [[ 9.98356362e-01 2.57567413e-04 5.73106222e-02 -7.06058048e+00] [ 1.89135539e-02 9.42485456e-01 -3.33711617e-01 -9.72552636e-01] [-5.41003812e-02 3.34247064e-01 9.40931480e-01 -4.53644977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.303133365 meters Centerline goodness : 0.136390 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.98, Z:-0.46 [[ 0.99835271 0.01149885 0.05621072 -7.07775647] [ 0.0078561 0.9430862 -0.33245557 -0.97602572] [-0.05683441 0.33234952 0.94144232 -0.45657213] [ 0. 0. 0. 1. ]] SLAMing on 75.363133365 meters Centerline goodness : 0.089280 with order 2 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.97, Z:-0.46 [[ 0.99838724 0.01153763 0.05558606 -7.07600276] [ 0.00763964 0.9429199 -0.33293197 -0.97330534] [-0.05625445 0.33281968 0.94131105 -0.45664468] [ 0. 0. 0. 1. ]] SLAMing on 75.423133365 meters SLAMing on 75.483133365 meters Centerline goodness : 0.086246 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.97, Z:-0.46 [[ 0.99838343 0.01163272 0.05563456 -7.07608918] [ 0.00755588 0.94298041 -0.33276246 -0.97405014] [-0.05633323 0.3326449 0.94136812 -0.45699006] [ 0. 0. 0. 1. ]] SLAMing on 75.54313336499999 meters SLAMing on 75.60313336499999 meters SLAMing on 75.663133365 meters SLAMing on 75.723133365 meters SLAMing on 75.783133365 meters SLAMing on 75.843133365 meters Centerline goodness : 0.250472 with order 3 Centerline is valid? [False, False] Translation: X:-7.44, Y:-1.06, Z:-0.47 [[ 0.99816779 -0.01022165 0.05963706 -7.4389179 ] [ 0.0297878 0.94092694 -0.33729687 -1.06302384] [-0.05266639 0.33845533 0.93950745 -0.46770308] [ 0. 0. 0. 1. ]] SLAMing on 75.90313336499999 meters Centerline goodness : 0.205355 with order 3 Centerline is valid? [False, False] Translation: X:-7.44, Y:-1.07, Z:-0.47 [[ 0.99803547 -0.0113605 0.06161277 -7.44463965] [ 0.03152385 0.94092411 -0.33714695 -1.07336701] [-0.05414278 0.33842688 0.93943377 -0.46902913] [ 0. 0. 0. 1. ]] SLAMing on 75.96313336499999 meters SLAMing on 76.02313336499999 meters SLAMing on 76.083133365 meters SLAMing on 76.143133365 meters Centerline goodness : 0.096780 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:-1.11, Z:-0.48 [[ 9.98200069e-01 6.61261041e-03 5.96061784e-02 -7.52322183e+00] [ 1.39181653e-02 9.41222819e-01 -3.37499466e-01 -1.11243409e+00] [-5.83344477e-02 3.37721599e-01 9.39436647e-01 -4.78969216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.203133365 meters SLAMing on 76.26313336499999 meters SLAMing on 76.32313336499999 meters Centerline goodness : 0.098323 with order 1 Centerline is valid? [False, False] Translation: X:-7.57, Y:-1.13, Z:-0.48 [[ 0.99839274 0.00756735 0.05616639 -7.56621976] [ 0.01181562 0.94147495 -0.33687581 -1.12954099] [-0.0554285 0.336998 0.93987235 -0.48189143] [ 0. 0. 0. 1. ]] SLAMing on 76.38313336499999 meters SLAMing on 76.443133365 meters SLAMing on 76.503133365 meters Centerline goodness : 0.103884 with order 3 Centerline is valid? [False, False] Translation: X:-7.62, Y:-1.13, Z:-0.48 [[ 0.99846066 0.01003771 0.05454862 -7.61714086] [ 0.00888348 0.94184963 -0.3359172 -1.13249212] [-0.05474843 0.33588469 0.94031063 -0.47572523] [ 0. 0. 0. 1. ]] SLAMing on 76.563133365 meters Centerline goodness : 0.085995 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-1.13, Z:-0.47 [[ 9.98408541e-01 1.28197022e-02 5.49184872e-02 -7.61862040e+00] [ 6.22558212e-03 9.42813583e-01 -3.33262343e-01 -1.13043806e+00] [-5.60502197e-02 3.33073869e-01 9.41233324e-01 -4.73887107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62313336499999 meters Centerline goodness : 0.237144 with order 3 Centerline is valid? [False, False] Translation: X:-7.62, Y:-1.13, Z:-0.47 [[ 9.98399750e-01 1.27804810e-02 5.50871874e-02 -7.61933914e+00] [ 6.31563900e-03 9.42832845e-01 -3.33206150e-01 -1.13088896e+00] [-5.61965445e-02 3.33020848e-01 9.41243360e-01 -4.73341464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68313336499999 meters Centerline goodness : 0.087561 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-1.14, Z:-0.47 [[ 9.98399341e-01 1.18792649e-02 5.52959214e-02 -7.61974883e+00] [ 7.24185790e-03 9.42794062e-01 -3.33297033e-01 -1.13532097e+00] [-5.60919901e-02 3.33163983e-01 9.41198942e-01 -4.74784785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74313336499999 meters SLAMing on 76.803133365 meters Centerline goodness : 0.137618 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:-1.15, Z:-0.47 [[ 0.99852692 0.00983868 0.05335906 -7.66706732] [ 0.00857373 0.94245634 -0.3342193 -1.14927639] [-0.05357686 0.33418445 0.94098367 -0.47439046] [ 0. 0. 0. 1. ]] SLAMing on 76.863133365 meters SLAMing on 76.923133365 meters Centerline goodness : 0.139567 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:-1.16, Z:-0.48 [[ 9.98712701e-01 1.40899825e-02 4.87279487e-02 -7.70623682e+00] [ 2.90775889e-03 9.43162983e-01 -3.32317820e-01 -1.15843420e+00] [-5.06407497e-02 3.32031717e-01 9.41907880e-01 -4.75127020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.983133365 meters Centerline goodness : 0.221322 with order 3 Centerline is valid? [False, False] Translation: X:-7.71, Y:-1.16, Z:-0.48 [[ 9.98710681e-01 1.42421281e-02 4.87251306e-02 -7.70601002e+00] [ 2.73585936e-03 9.43341958e-01 -3.31810889e-01 -1.16106358e+00] [-5.06901533e-02 3.31516384e-01 9.42086724e-01 -4.76497236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04313336499999 meters SLAMing on 77.10313336499999 meters Centerline goodness : 0.141704 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-1.18, Z:-0.48 [[ 9.98857753e-01 1.37669282e-02 4.57565332e-02 -7.75038257e+00] [ 2.17988596e-03 9.43469709e-01 -3.31451591e-01 -1.17751089e+00] [-4.77329733e-02 3.31172735e-01 9.42362023e-01 -4.78694802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.163133365 meters SLAMing on 77.223133365 meters Centerline goodness : 0.122995 with order 2 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.18, Z:-0.48 [[ 0.99864537 0.02520257 0.04552202 -7.77014383] [-0.00880126 0.94408067 -0.32959706 -1.18407922] [-0.05128316 0.32874992 0.94302361 -0.48134552] [ 0. 0. 0. 1. ]] SLAMing on 77.283133365 meters Centerline goodness : 0.104232 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.19, Z:-0.48 [[ 0.99863612 0.02497812 0.04584758 -7.77107243] [-0.00851329 0.94428454 -0.3290201 -1.18910697] [-0.05151147 0.32818104 0.94320929 -0.48259671] [ 0. 0. 0. 1. ]] SLAMing on 77.343133365 meters Centerline goodness : 0.156599 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.19, Z:-0.48 [[ 0.9986324 0.02511267 0.04585503 -7.77106686] [-0.00866752 0.94447076 -0.32848113 -1.19181234] [-0.05155777 0.32763445 0.94339677 -0.48346788] [ 0. 0. 0. 1. ]] SLAMing on 77.40313336499999 meters Centerline goodness : 0.150843 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.20, Z:-0.49 [[ 0.99859922 0.02537176 0.04643134 -7.77248903] [-0.00878429 0.94485267 -0.32737788 -1.19766626] [-0.05217693 0.32651143 0.94375201 -0.48513127] [ 0. 0. 0. 1. ]] SLAMing on 77.46313336499999 meters Centerline goodness : 0.137969 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.20, Z:-0.49 [[ 0.99860242 0.02555264 0.04626303 -7.7720043 ] [-0.0090389 0.94502825 -0.32686373 -1.20021482] [-0.0520721 0.32598875 0.94393847 -0.48617947] [ 0. 0. 0. 1. ]] SLAMing on 77.52313336499999 meters Centerline goodness : 0.420350 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.20, Z:-0.49 [[ 0.99858315 0.02586221 0.04650629 -7.77232248] [-0.0092897 0.94525823 -0.32619101 -1.20295022] [-0.05239647 0.32529682 0.9441592 -0.48759599] [ 0. 0. 0. 1. ]] SLAMing on 77.583133365 meters Centerline goodness : 0.136027 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.20, Z:-0.49 [[ 0.99858215 0.0259751 0.04646495 -7.77210278] [-0.00942988 0.94538015 -0.32583348 -1.20482612] [-0.05239059 0.32493334 0.94428468 -0.48846912] [ 0. 0. 0. 1. ]] SLAMing on 77.643133365 meters Centerline goodness : 0.138666 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.21, Z:-0.49 [[ 0.99854656 0.02567951 0.04738486 -7.77471446] [-0.00888012 0.94556762 -0.3253045 -1.2115183 ] [-0.05315925 0.32441091 0.94442133 -0.48989095] [ 0. 0. 0. 1. ]] SLAMing on 77.703133365 meters Centerline goodness : 0.145895 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.22, Z:-0.50 [[ 9.98653868e-01 2.31055669e-02 4.64390468e-02 -7.77094786e+00] [-6.67796033e-03 9.45126297e-01 -3.26636936e-01 -1.21990617e+00] [-5.14378959e-02 3.25887121e-01 9.44008330e-01 -4.95376314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76313336499999 meters Centerline goodness : 0.230438 with order 3 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.23, Z:-0.50 [[ 9.98714755e-01 2.30712211e-02 4.51282241e-02 -7.76710983e+00] [-7.11807354e-03 9.45411223e-01 -3.25802013e-01 -1.22594910e+00] [-5.01813798e-02 3.25062051e-01 9.44360361e-01 -4.98898031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82313336499999 meters Centerline goodness : 0.100420 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.23, Z:-0.50 [[ 9.98705899e-01 2.32612357e-02 4.52265641e-02 -7.76742942e+00] [-7.32295149e-03 9.45777911e-01 -3.24731456e-01 -1.23332653e+00] [-5.03279403e-02 3.23980029e-01 9.44724319e-01 -5.01203575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88313336499999 meters Centerline goodness : 0.143193 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.24, Z:-0.50 [[ 0.99869643 0.0237099 0.04520273 -7.76725655] [-0.00781472 0.94615356 -0.3236238 -1.23849989] [-0.05044181 0.32284869 0.94510547 -0.50311543] [ 0. 0. 0. 1. ]] SLAMing on 77.943133365 meters Centerline goodness : 0.160054 with order 3 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.24, Z:-0.50 [[ 0.998613 0.02723391 0.0450599 -7.76672644] [-0.01139932 0.94736552 -0.31995098 -1.24019552] [-0.05140171 0.31899355 0.94636197 -0.50373874] [ 0. 0. 0. 1. ]] SLAMing on 78.003133365 meters Centerline goodness : 0.135961 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.24, Z:-0.50 [[ 0.9985767 0.02740446 0.0457556 -7.76900507] [-0.01135259 0.94745152 -0.31969788 -1.24144494] [-0.05211236 0.31872341 0.94641412 -0.50281775] [ 0. 0. 0. 1. ]] SLAMing on 78.063133365 meters Centerline goodness : 0.128675 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.24, Z:-0.50 [[ 0.9985557 0.02743903 0.04619111 -7.77037743] [-0.01126096 0.94754207 -0.31943264 -1.24330663] [-0.05253294 0.31845112 0.94648253 -0.50269936] [ 0. 0. 0. 1. ]] SLAMing on 78.12313336499999 meters Centerline goodness : 0.130058 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.25, Z:-0.50 [[ 0.99852776 0.02764466 0.0466699 -7.7717278 ] [-0.01134397 0.94778593 -0.31870542 -1.24681255] [-0.05304357 0.31770679 0.94670416 -0.50332043] [ 0. 0. 0. 1. ]] SLAMing on 78.18313336499999 meters Centerline goodness : 0.131805 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.25, Z:-0.50 [[ 0.99854037 0.02761447 0.04641728 -7.77102157] [-0.01141104 0.94787706 -0.31843189 -1.24897355] [-0.05279121 0.31743742 0.94680862 -0.50424332] [ 0. 0. 0. 1. ]] SLAMing on 78.24313336499999 meters Centerline goodness : 0.130096 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.25, Z:-0.51 [[ 0.99855125 0.02776698 0.04609113 -7.76962038] [-0.01167765 0.94798304 -0.31810658 -1.24987677] [-0.05252647 0.31710749 0.9469339 -0.50578951] [ 0. 0. 0. 1. ]] SLAMing on 78.303133365 meters Centerline goodness : 0.219953 with order 3 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.25, Z:-0.51 [[ 9.98784610e-01 1.91811499e-02 4.54025003e-02 -7.78887400e+00] [-3.80030493e-03 9.48395552e-01 -3.17066924e-01 -1.24596538e+00] [-4.91412376e-02 3.16509021e-01 9.47315775e-01 -5.05137415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.363133365 meters Centerline goodness : 0.131616 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.25, Z:-0.51 [[ 9.98805703e-01 1.92466207e-02 4.49080840e-02 -7.78696743e+00] [-4.01904614e-03 9.48392841e-01 -3.17072336e-01 -1.24531420e+00] [-4.86930763e-02 3.16513169e-01 9.47337531e-01 -5.06499015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.423133365 meters Centerline goodness : 0.131445 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.25, Z:-0.51 [[ 9.98778778e-01 1.90755740e-02 4.55749307e-02 -7.78858961e+00] [-3.66596405e-03 9.48528503e-01 -3.16670555e-01 -1.24863692e+00] [-4.92697934e-02 3.16116754e-01 9.47440070e-01 -5.07266845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.483133365 meters Centerline goodness : 0.131321 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.25, Z:-0.51 [[ 9.98838253e-01 1.87190287e-02 4.44043117e-02 -7.78520453e+00] [-3.70879021e-03 9.48597455e-01 -3.16463446e-01 -1.25148974e+00] [-4.80457054e-02 3.15931109e-01 9.47564850e-01 -5.09473787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54313336499999 meters Centerline goodness : 0.131316 with order 1 Centerline is valid? [False, False] Translation: X:-7.78, Y:-1.26, Z:-0.51 [[ 9.98857026e-01 1.88964090e-02 4.39040588e-02 -7.78363725e+00] [-4.08914711e-03 9.48950446e-01 -3.15398685e-01 -1.25892251e+00] [-4.76226787e-02 3.14858662e-01 9.47943091e-01 -5.12584650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60313336499999 meters Centerline goodness : 0.131213 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.26, Z:-0.51 [[ 9.98827425e-01 1.91173070e-02 4.44781250e-02 -7.78551561e+00] [-4.16098695e-03 9.49231438e-01 -3.14551050e-01 -1.26389799e+00] [-4.82334035e-02 3.13997143e-01 9.48197940e-01 -5.13073102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.663133365 meters Centerline goodness : 0.129790 with order 1 Centerline is valid? [False, False] Translation: X:-7.78, Y:-1.27, Z:-0.51 [[ 9.98841142e-01 1.94687503e-02 4.40152302e-02 -7.78428661e+00] [-4.66795382e-03 9.49408040e-01 -3.14010485e-01 -1.26629690e+00] [-4.79018051e-02 3.13441130e-01 9.48398690e-01 -5.14158236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.723133365 meters Centerline goodness : 0.126234 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.27, Z:-0.51 [[ 9.98742141e-01 2.04520512e-02 4.57804476e-02 -7.78928519e+00] [-5.10039037e-03 9.49734005e-01 -3.13016461e-01 -1.26847092e+00] [-4.98810765e-02 3.12389232e-01 9.48643687e-01 -5.13259779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.783133365 meters Centerline goodness : 0.128820 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.27, Z:-0.51 [[ 9.98648315e-01 2.11584995e-02 4.74748499e-02 -7.79390440e+00] [-5.27145901e-03 9.49913402e-01 -3.12468783e-01 -1.26907400e+00] [-5.17083668e-02 3.11796161e-01 9.48740954e-01 -5.12190821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.843133365 meters Centerline goodness : 0.112266 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.27, Z:-0.51 [[ 9.98635686e-01 2.11696184e-02 4.77348384e-02 -7.79431123e+00] [-5.19929531e-03 9.49904995e-01 -3.12495548e-01 -1.26876672e+00] [-5.19589729e-02 3.11821018e-01 9.48719093e-01 -5.12546656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90313336499999 meters Centerline goodness : 0.119264 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:-1.27, Z:-0.51 [[ 9.98757443e-01 1.19767917e-02 4.83748551e-02 -7.81664301e+00] [ 3.70356316e-03 9.50169917e-01 -3.11710463e-01 -1.26741118e+00] [-4.96976234e-02 3.11502304e-01 9.48944920e-01 -5.11582436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96313336499999 meters Centerline goodness : 0.128239 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:-1.27, Z:-0.51 [[ 9.98762365e-01 1.16246081e-02 4.83591405e-02 -7.81639786e+00] [ 4.03817628e-03 9.50140471e-01 -3.11796053e-01 -1.26850612e+00] [-4.95724834e-02 3.11605447e-01 9.48917602e-01 -5.12239945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02313336499999 meters Centerline goodness : 0.127439 with order 1 Centerline is valid? [False, False] Translation: X:-7.81, Y:-1.27, Z:-0.51 [[ 9.98782266e-01 1.15085015e-02 4.79743547e-02 -7.81494305e+00] [ 4.05890190e-03 9.49947193e-01 -3.12384149e-01 -1.26508905e+00] [-4.91681770e-02 3.12198472e-01 9.48743698e-01 -5.12366834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.083133365 meters Centerline goodness : 0.134432 with order 1 Centerline is valid? [False, False] Translation: X:-7.81, Y:-1.26, Z:-0.51 [[ 9.98743405e-01 1.49748656e-02 4.78264076e-02 -7.81442539e+00] [ 5.71512530e-04 9.50849170e-01 -3.09653885e-01 -1.25975689e+00] [-5.01127253e-02 3.09292109e-01 9.49645779e-01 -5.10987646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.143133365 meters Centerline goodness : 0.113244 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.25, Z:-0.51 [[ 9.98949419e-01 6.64878893e-03 4.53415137e-02 -7.83282561e+00] [ 7.67364736e-03 9.51179646e-01 -3.08542374e-01 -1.25348625e+00] [-4.51793581e-02 3.08566160e-01 9.50129334e-01 -5.09471759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.203133365 meters Centerline goodness : 0.137674 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.25, Z:-0.51 [[ 9.99043797e-01 5.41630607e-03 4.33838104e-02 -7.82682120e+00] [ 8.31305851e-03 9.50661121e-01 -3.10119859e-01 -1.24880326e+00] [-4.29230059e-02 3.10183973e-01 9.49707070e-01 -5.10634928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26313336499999 meters Centerline goodness : 0.113882 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.25, Z:-0.51 [[ 9.99048461e-01 5.36948750e-03 4.32821044e-02 -7.82657453e+00] [ 8.33180290e-03 9.50618956e-01 -3.10248581e-01 -1.24795684e+00] [-4.28106648e-02 3.10313985e-01 9.49669668e-01 -5.10425795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32313336499999 meters Centerline goodness : 0.119931 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.25, Z:-0.51 [[ 9.99031799e-01 5.25252034e-03 4.36792410e-02 -7.82819353e+00] [ 8.57255058e-03 9.50573939e-01 -3.10379926e-01 -1.24709298e+00] [-4.31506250e-02 3.10453858e-01 9.49608564e-01 -5.08840676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38313336499999 meters Centerline goodness : 0.132606 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.25, Z:-0.51 [[ 9.99044003e-01 5.06728787e-03 4.34212174e-02 -7.82734712e+00] [ 8.68350281e-03 9.50464548e-01 -3.10711668e-01 -1.24561215e+00] [-4.28447932e-02 3.10791677e-01 9.49511905e-01 -5.08899385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.443133365 meters Centerline goodness : 0.122821 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.24, Z:-0.51 [[ 9.99071342e-01 4.74422884e-03 4.28245918e-02 -7.82596902e+00] [ 8.82185859e-03 9.50339571e-01 -3.11089819e-01 -1.24429752e+00] [-4.21737854e-02 3.11178715e-01 9.49415177e-01 -5.08496866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.503133365 meters Centerline goodness : 0.122114 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-1.25, Z:-0.51 [[ 9.99065921e-01 4.54906014e-03 4.29719798e-02 -7.82661935e+00] [ 9.05274904e-03 9.50342629e-01 -3.11073841e-01 -1.24516482e+00] [-4.22531979e-02 3.11172288e-01 9.49413753e-01 -5.08093590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.563133365 meters Centerline goodness : 0.125788 with order 1 Centerline is valid? [False, False] Translation: X:-7.85, Y:-1.25, Z:-0.51 [[ 9.99063965e-01 -5.15714977e-03 4.29487753e-02 -7.84857825e+00] [ 1.82555333e-02 9.50386146e-01 -3.10536486e-01 -1.24520401e+00] [-3.92164379e-02 3.11029866e-01 9.49590698e-01 -5.07340206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62313336499999 meters Centerline goodness : 0.132588 with order 1 Centerline is valid? [False, False] Translation: X:-7.85, Y:-1.25, Z:-0.51 [[ 9.99060826e-01 -5.23462743e-03 4.30123862e-02 -7.84881209e+00] [ 1.83231243e-02 9.50589587e-01 -3.09909180e-01 -1.24936440e+00] [-3.92648674e-02 3.10406242e-01 9.49792733e-01 -5.08272203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68313336499999 meters Centerline goodness : 0.124155 with order 1 Centerline is valid? [False, False] Translation: X:-7.87, Y:-1.26, Z:-0.51 [[ 9.98972746e-01 -2.95414288e-04 4.53140795e-02 -7.87213472e+00] [ 1.44511321e-02 9.49843838e-01 -3.12390537e-01 -1.25957041e+00] [-4.29490146e-02 3.12724472e-01 9.48872376e-01 -5.10297569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74313336499999 meters Centerline goodness : 0.131683 with order 1 Centerline is valid? [False, False] Translation: X:-7.87, Y:-1.26, Z:-0.51 [[ 9.98960948e-01 3.63839990e-03 4.54289248e-02 -7.87291453e+00] [ 1.05554695e-02 9.51232555e-01 -3.08294028e-01 -1.26192595e+00] [-4.43351692e-02 3.08453218e-01 9.50205770e-01 -5.10114509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.803133365 meters Centerline goodness : 0.129463 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-1.26, Z:-0.51 [[ 9.98986625e-01 1.34264822e-02 4.29587425e-02 -7.89065329e+00] [ 4.79994768e-04 9.51235659e-01 -3.08464731e-01 -1.26414900e+00] [-4.50054839e-02 3.08172761e-01 9.50265256e-01 -5.11844180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.863133365 meters Centerline goodness : 0.127500 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-1.26, Z:-0.51 [[ 9.98941361e-01 1.68112037e-02 4.28198566e-02 -7.89021025e+00] [-2.94413259e-03 9.52287716e-01 -3.05187545e-01 -1.26472033e+00] [-4.59073935e-02 3.04738394e-01 9.51329082e-01 -5.12222501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.923133365 meters Centerline goodness : 0.130422 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-1.27, Z:-0.51 [[ 9.98849336e-01 2.00244062e-02 4.35778343e-02 -7.89230260e+00] [-5.95198004e-03 9.53394531e-01 -3.01667768e-01 -1.26682436e+00] [-4.75875868e-02 3.01061275e-01 9.52416679e-01 -5.12021016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.983133365 meters Centerline goodness : 0.130170 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-1.27, Z:-0.51 [[ 9.98862774e-01 2.00043231e-02 4.32780113e-02 -7.89153855e+00] [-6.02621251e-03 9.53412800e-01 -3.01608551e-01 -1.26742974e+00] [-4.72952848e-02 3.01004752e-01 9.52449104e-01 -5.12343026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04313336499999 meters Centerline goodness : 0.131384 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-1.26, Z:-0.52 [[ 0.9989078 0.02198777 0.04122798 -7.88362823] [-0.00861548 0.95390239 -0.29999333 -1.26316081] [-0.04592365 0.29931048 0.95304997 -0.5154492 ] [ 0. 0. 0. 1. ]] SLAMing on 80.10313336499999 meters Centerline goodness : 0.129763 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-1.26, Z:-0.51 [[ 0.99893957 0.02193347 0.04048033 -7.88161729] [-0.00875308 0.95367028 -0.30072642 -1.25824081] [-0.04520086 0.30005319 0.95285097 -0.51451999] [ 0. 0. 0. 1. ]] SLAMing on 80.163133365 meters Centerline goodness : 0.138606 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-1.26, Z:-0.51 [[ 0.99893814 0.02174922 0.04061474 -7.88255954] [-0.00852531 0.95359627 -0.30096755 -1.25780361] [-0.04527588 0.30030171 0.95276911 -0.51315931] [ 0. 0. 0. 1. ]] SLAMing on 80.223133365 meters Centerline goodness : 0.140955 with order 1 Centerline is valid? [False, False] Translation: X:-7.90, Y:-1.25, Z:-0.51 [[ 9.99077624e-01 1.29558398e-02 4.09395691e-02 -7.90418572e+00] [-8.15007818e-05 9.53968626e-01 -2.99906408e-01 -1.25451687e+00] [-4.29406038e-02 2.99626445e-01 9.53089764e-01 -5.11384528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.283133365 meters Centerline goodness : 0.133701 with order 1 Centerline is valid? [False, False] Translation: X:-7.92, Y:-1.25, Z:-0.51 [[ 9.99207556e-01 3.51396355e-03 3.96473527e-02 -7.92339519e+00] [ 8.52159593e-03 9.54112253e-01 -2.99327897e-01 -1.25139469e+00] [-3.88798523e-02 2.99428556e-01 9.53326228e-01 -5.10816087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.343133365 meters Centerline goodness : 0.140637 with order 1 Centerline is valid? [False, False] Translation: X:-7.92, Y:-1.25, Z:-0.51 [[ 9.99210369e-01 3.25618129e-03 3.95984272e-02 -7.92350241e+00] [ 8.76735451e-03 9.53999723e-01 -2.99679265e-01 -1.25014277e+00] [-3.87526986e-02 2.99789803e-01 9.53217867e-01 -5.09999439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40313336499999 meters Centerline goodness : 0.130590 with order 1 Centerline is valid? [False, False] Translation: X:-7.92, Y:-1.25, Z:-0.51 [[ 9.99213424e-01 3.19931099e-03 3.95259216e-02 -7.92349747e+00] [ 8.80191055e-03 9.53983679e-01 -2.99729321e-01 -1.24980271e+00] [-3.86660115e-02 2.99841464e-01 9.53205138e-01 -5.09533360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46313336499999 meters SLAMing on 80.52313336499999 meters Centerline goodness : 0.133017 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:-1.25, Z:-0.51 [[ 9.99197384e-01 -9.60489979e-04 4.00457903e-02 -7.98468872e+00] [ 1.28907423e-02 9.54242972e-01 -2.98754379e-01 -1.25194894e+00] [-3.79264633e-02 2.99030814e-01 9.53489463e-01 -5.06443761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583133365 meters Centerline goodness : 0.123884 with order 3 Centerline is valid? [False, False] Translation: X:-7.98, Y:-1.25, Z:-0.51 [[ 9.99212115e-01 2.31964720e-03 3.96203074e-02 -7.98389197e+00] [ 9.52078322e-03 9.55130810e-01 -2.96031232e-01 -1.24920410e+00] [-3.85292643e-02 2.96175210e-01 9.54356192e-01 -5.05468711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643133365 meters Centerline goodness : 0.137827 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:-1.24, Z:-0.50 [[ 9.99200114e-01 6.03332250e-03 3.95313903e-02 -7.98397218e+00] [ 5.82298091e-03 9.56064684e-01 -2.93097958e-01 -1.24497012e+00] [-3.95629207e-02 2.93093703e-01 9.55264810e-01 -5.03883722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703133365 meters Centerline goodness : 0.132291 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:-1.24, Z:-0.50 [[ 9.99179507e-01 9.50372777e-03 3.93699328e-02 -7.98383684e+00] [ 2.31441741e-03 9.57091726e-01 -2.89775899e-01 -1.24436230e+00] [-4.04345882e-02 2.89629258e-01 9.56284443e-01 -5.03315823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76313336499999 meters Centerline goodness : 0.147150 with order 1 Centerline is valid? [False, False] Translation: X:-8.00, Y:-1.24, Z:-0.50 [[ 9.99247039e-01 6.87438223e-04 3.87928071e-02 -8.00498386e+00] [ 1.05702764e-02 9.57199022e-01 -2.89237449e-01 -1.23985011e+00] [-3.73312699e-02 2.89429715e-01 9.56471022e-01 -5.01035683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82313336499999 meters Centerline goodness : 0.131124 with order 1 Centerline is valid? [False, False] Translation: X:-8.00, Y:-1.24, Z:-0.50 [[ 9.99256325e-01 6.05006842e-04 3.85542476e-02 -8.00470777e+00] [ 1.05834538e-02 9.57172640e-01 -2.89324259e-01 -1.23963776e+00] [-3.70781141e-02 2.89517133e-01 9.56454412e-01 -5.00415814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88313336499999 meters Centerline goodness : 0.132893 with order 1 Centerline is valid? [False, False] Translation: X:-8.01, Y:-1.24, Z:-0.50 [[ 9.99238322e-01 3.54128514e-03 3.88617501e-02 -8.00570286e+00] [ 7.73681323e-03 9.58125722e-01 -2.86243327e-01 -1.23859908e+00] [-3.82481116e-02 2.86325968e-01 9.57368540e-01 -4.99383683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.943133365 meters Centerline goodness : 0.209964 with order 3 Centerline is valid? [False, False] Translation: X:-8.00, Y:-1.24, Z:-0.50 [[ 9.99264528e-01 3.30923412e-03 3.82027658e-02 -8.00403611e+00] [ 7.79802800e-03 9.57914048e-01 -2.86949240e-01 -1.23541632e+00] [-3.75445483e-02 2.87036103e-01 9.57183724e-01 -4.98780862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.003133365 meters Centerline goodness : 0.096540 with order 1 Centerline is valid? [False, False] Translation: X:-8.03, Y:-1.23, Z:-0.49 [[ 9.99464425e-01 1.58440724e-03 3.26856718e-02 -8.02778957e+00] [ 7.70425935e-03 9.59358394e-01 -2.82085300e-01 -1.23226641e+00] [-3.18042116e-02 2.82186041e-01 9.58832379e-01 -4.94170738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.063133365 meters Centerline goodness : 0.142070 with order 3 Centerline is valid? [False, False] Translation: X:-8.03, Y:-1.23, Z:-0.49 [[ 9.99438974e-01 4.83817454e-03 3.31410429e-02 -8.02935370e+00] [ 4.61407221e-03 9.60186315e-01 -2.79322308e-01 -1.22798816e+00] [-3.31729859e-02 2.79318516e-01 9.59625302e-01 -4.92123833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12313336499999 meters Centerline goodness : 0.141012 with order 1 Centerline is valid? [False, False] Translation: X:-8.03, Y:-1.23, Z:-0.49 [[ 9.99448476e-01 4.64829492e-03 3.28806648e-02 -8.02856676e+00] [ 4.73659952e-03 9.60075931e-01 -2.79699431e-01 -1.22602978e+00] [-3.28680603e-02 2.79700913e-01 9.59524408e-01 -4.91935575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18313336499999 meters Centerline goodness : 0.134131 with order 1 Centerline is valid? [False, False] Translation: X:-8.07, Y:-1.23, Z:-0.49 [[ 9.99547416e-01 3.87369383e-03 2.98321560e-02 -8.07278138e+00] [ 4.63329499e-03 9.60018043e-01 -2.79899783e-01 -1.22955084e+00] [-2.97236541e-02 2.79911326e-01 9.59565607e-01 -4.90365640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24313336499999 meters Centerline goodness : 0.187390 with order 3 Centerline is valid? [False, False] Translation: X:-8.07, Y:-1.23, Z:-0.49 [[ 9.99530293e-01 3.15265649e-03 3.04836863e-02 -8.07479545e+00] [ 5.51443155e-03 9.59957134e-01 -2.80092650e-01 -1.23094693e+00] [-3.01460680e-02 2.80129189e-01 9.59488850e-01 -4.89566286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.303133365 meters Centerline goodness : 0.135267 with order 1 Centerline is valid? [False, False] Translation: X:-8.08, Y:-1.23, Z:-0.49 [[ 9.99521185e-01 3.15940607e-03 3.07801708e-02 -8.07601969e+00] [ 5.58305522e-03 9.60030557e-01 -2.79839524e-01 -1.23247949e+00] [-3.04340312e-02 2.79877380e-01 9.59553241e-01 -4.88907141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.363133365 meters Centerline goodness : 0.147643 with order 1 Centerline is valid? [False, False] Translation: X:-8.07, Y:-1.23, Z:-0.49 [[ 9.99535926e-01 3.18126929e-03 3.02954167e-02 -8.07437594e+00] [ 5.41782082e-03 9.60110162e-01 -2.79569533e-01 -1.23425317e+00] [-2.99763234e-02 2.79603928e-01 9.59647364e-01 -4.90253185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.423133365 meters Centerline goodness : 0.238875 with order 3 Centerline is valid? [False, False] Translation: X:-8.08, Y:-1.24, Z:-0.49 [[ 9.99526848e-01 3.40158636e-03 3.05697359e-02 -8.07562839e+00] [ 5.26150298e-03 9.60308708e-01 -2.78889766e-01 -1.23788605e+00] [-3.03050512e-02 2.78918652e-01 9.59836439e-01 -4.90118669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.483133365 meters Centerline goodness : 0.146220 with order 1 Centerline is valid? [False, False] Translation: X:-8.07, Y:-1.24, Z:-0.49 [[ 9.99541409e-01 3.44718774e-03 3.00846878e-02 -8.07443998e+00] [ 5.07121501e-03 9.60412936e-01 -2.78534155e-01 -1.24018020e+00] [-2.98538828e-02 2.78558988e-01 9.59955018e-01 -4.90810144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54313336499999 meters Centerline goodness : 0.138718 with order 1 Centerline is valid? [False, False] Translation: X:-8.07, Y:-1.25, Z:-0.49 [[ 9.99546114e-01 3.67943757e-03 2.99002957e-02 -8.07415215e+00] [ 4.76932386e-03 9.60669815e-01 -2.77652229e-01 -1.24507192e+00] [-2.97459155e-02 2.77668811e-01 9.60216232e-01 -4.91848246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60313336499999 meters Centerline goodness : 0.140951 with order 1 Centerline is valid? [False, False] Translation: X:-8.10, Y:-1.25, Z:-0.49 [[ 9.99548195e-01 -4.94914672e-03 2.96464531e-02 -8.09551890e+00] [ 1.29589651e-02 9.60925526e-01 -2.76503524e-01 -1.24536279e+00] [-2.71195771e-02 2.76762785e-01 9.60555511e-01 -4.91494656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.663133365 meters Centerline goodness : 0.137246 with order 1 Centerline is valid? [False, False] Translation: X:-8.09, Y:-1.25, Z:-0.49 [[ 9.99555957e-01 -4.72634635e-03 2.94202314e-02 -8.09477680e+00] [ 1.26726829e-02 9.61025946e-01 -2.76167584e-01 -1.24670105e+00] [-2.69683420e-02 2.76417787e-01 9.60659105e-01 -4.92253229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.723133365 meters Centerline goodness : 0.136170 with order 3 Centerline is valid? [False, False] Translation: X:-8.10, Y:-1.25, Z:-0.49 [[ 9.99565174e-01 -1.01302703e-03 2.94692622e-02 -8.09556297e+00] [ 9.00595572e-03 9.62142563e-01 -2.72397837e-01 -1.24832563e+00] [-2.80776851e-02 2.72544790e-01 9.61733321e-01 -4.91737412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.783133365 meters Centerline goodness : 0.243138 with order 3 Centerline is valid? [False, False] Translation: X:-8.10, Y:-1.25, Z:-0.49 [[ 9.99566652e-01 -1.02957481e-03 2.94184932e-02 -8.09526215e+00] [ 9.01147472e-03 9.62109085e-01 -2.72515873e-01 -1.24785973e+00] [-2.80232241e-02 2.72662883e-01 9.61701436e-01 -4.92048782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.843133365 meters Centerline goodness : 0.132087 with order 1 Centerline is valid? [False, False] Translation: X:-8.10, Y:-1.25, Z:-0.49 [[ 9.99563845e-01 -8.98594292e-04 2.95179828e-02 -8.09565939e+00] [ 8.90220605e-03 9.62210136e-01 -2.72162459e-01 -1.24960841e+00] [-2.81579386e-02 2.72306529e-01 9.61798464e-01 -4.92246354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90313336499999 meters Centerline goodness : 0.128098 with order 3 Centerline is valid? [False, False] Translation: X:-8.09, Y:-1.26, Z:-0.49 [[ 9.99577569e-01 -1.05055152e-03 2.90444430e-02 -8.09435421e+00] [ 8.89935119e-03 9.62407326e-01 -2.71464437e-01 -1.25606971e+00] [-2.76673973e-02 2.71608238e-01 9.62010125e-01 -4.94198502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96313336499999 meters Centerline goodness : 0.131480 with order 1 Centerline is valid? [False, False] Translation: X:-8.09, Y:-1.26, Z:-0.50 [[ 9.99579888e-01 -4.34255775e-03 2.86563943e-02 -8.09356174e+00] [ 1.20234262e-02 9.61753360e-01 -2.73652903e-01 -1.26406435e+00] [-2.63720299e-02 2.73882486e-01 9.61401529e-01 -4.96169221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02313336499999 meters Centerline goodness : 0.132810 with order 1 Centerline is valid? [False, False] Translation: X:-8.09, Y:-1.27, Z:-0.50 [[ 9.99587387e-01 -4.08503329e-03 2.84318299e-02 -8.09296239e+00] [ 1.16900757e-02 9.62007559e-01 -2.72772430e-01 -1.26884878e+00] [-2.62373509e-02 2.72992251e-01 9.61658376e-01 -4.97484467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.083133365 meters Centerline goodness : 0.131498 with order 1 Centerline is valid? [False, False] Translation: X:-8.11, Y:-1.28, Z:-0.50 [[ 9.99631886e-01 4.34344362e-03 2.67810917e-02 -8.11234884e+00] [ 3.12700028e-03 9.62079395e-01 -2.72751645e-01 -1.28124591e+00] [-2.69502179e-02 2.72734985e-01 9.61711658e-01 -5.00233032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.143133365 meters Centerline goodness : 0.132162 with order 1 Centerline is valid? [False, False] Translation: X:-8.11, Y:-1.28, Z:-0.50 [[ 9.99605569e-01 8.34515989e-03 2.68153978e-02 -8.11288019e+00] [-8.38473803e-04 9.63273173e-01 -2.68522049e-01 -1.28419210e+00] [-2.80714128e-02 2.68393652e-01 9.62900225e-01 -5.00249334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.203133365 meters Centerline goodness : 0.271650 with order 3 Centerline is valid? [False, False] Translation: X:-8.12, Y:-1.28, Z:-0.50 [[ 9.99566425e-01 9.10202436e-03 2.80020652e-02 -8.11625158e+00] [-1.25917080e-03 9.63364532e-01 -2.68192454e-01 -1.28407428e+00] [-2.94172907e-02 2.68040913e-01 9.62958302e-01 -4.99302281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26313336499999 meters Centerline goodness : 0.137472 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-1.28, Z:-0.50 [[ 9.99538120e-01 1.27005576e-02 2.76087217e-02 -8.11527916e+00] [-4.93403908e-03 9.64251156e-01 -2.64944074e-01 -1.28225511e+00] [-2.99866793e-02 2.64685480e-01 9.63868454e-01 -4.98985550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32313336499999 meters Centerline goodness : 0.126308 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-1.28, Z:-0.50 [[ 9.99526483e-01 1.26579855e-02 2.80461213e-02 -8.11654245e+00] [-4.76271782e-03 9.64126649e-01 -2.65399926e-01 -1.27946890e+00] [-3.03994414e-02 2.65140679e-01 9.63730405e-01 -4.97907373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38313336499999 meters Centerline goodness : 0.135483 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:-1.28, Z:-0.49 [[ 9.99590099e-01 1.32365067e-02 2.53855851e-02 -8.16216337e+00] [-6.03816863e-03 9.64228022e-01 -2.65005399e-01 -1.27617750e+00] [-2.79852383e-02 2.64743491e-01 9.63912709e-01 -4.93977817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443133365 meters Centerline goodness : 0.136383 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:-1.27, Z:-0.49 [[ 9.99702345e-01 8.48621097e-03 2.28736673e-02 -8.14225144e+00] [-2.18267344e-03 9.64905385e-01 -2.62588715e-01 -1.26785711e+00] [-2.42993080e-02 2.62460628e-01 9.64636700e-01 -4.90043751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503133365 meters Centerline goodness : 0.135258 with order 3 Centerline is valid? [False, False] Translation: X:-8.17, Y:-1.26, Z:-0.49 [[ 9.99663010e-01 -2.22099497e-04 2.59579851e-02 -8.16779455e+00] [ 7.02878095e-03 9.64925970e-01 -2.62428024e-01 -1.26233872e+00] [-2.49892488e-02 2.62522042e-01 9.64602361e-01 -4.87615380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.563133365 meters Centerline goodness : 0.133689 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 0.99963476 -0.00951043 0.02529611 -8.18972658] [ 0.01580653 0.96498387 -0.26183255 -1.26029068] [-0.02192019 0.26213676 0.96478175 -0.48676764] [ 0. 0. 0. 1. ]] SLAMing on 82.62313336499999 meters Centerline goodness : 0.125173 with order 3 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 0.99965323 -0.00963455 0.02450714 -8.18700763] [ 0.01572683 0.96489319 -0.26217133 -1.25820221] [-0.02112087 0.26246584 0.96471011 -0.48792821] [ 0. 0. 0. 1. ]] SLAMing on 82.68313336499999 meters Centerline goodness : 0.142678 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 0.999653 -0.00969338 0.02449303 -8.18691024] [ 0.0157843 0.96483771 -0.26237195 -1.25716195] [-0.02108853 0.26266752 0.96465592 -0.48789892] [ 0. 0. 0. 1. ]] SLAMing on 82.74313336499999 meters Centerline goodness : 0.135527 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 9.99688131e-01 -6.48391608e-03 2.41163576e-02 -8.18625426e+00] [ 1.25130376e-02 9.65785997e-01 -2.59038284e-01 -1.25740384e+00] [-2.16116579e-02 2.59259267e-01 9.65565932e-01 -4.87655952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.803133365 meters Centerline goodness : 0.222472 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 9.99694140e-01 -6.54301587e-03 2.38498567e-02 -8.18501401e+00] [ 1.25042004e-02 9.65747301e-01 -2.59182939e-01 -1.25667422e+00] [-2.13370966e-02 2.59401889e-01 9.65533732e-01 -4.88645622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.863133365 meters Centerline goodness : 0.122400 with order 3 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 9.99687661e-01 -6.54282804e-03 2.41199464e-02 -8.18601446e+00] [ 1.25708422e-02 9.65785732e-01 -2.59036472e-01 -1.25783106e+00] [-2.15998690e-02 2.59258773e-01 9.65566328e-01 -4.88247485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.923133365 meters Centerline goodness : 0.301429 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:-1.26, Z:-0.49 [[ 9.99700516e-01 -6.53890435e-03 2.35822060e-02 -8.18481173e+00] [ 1.24210602e-02 9.65867538e-01 -2.58738510e-01 -1.25967441e+00] [-2.10854209e-02 2.58953938e-01 9.65659496e-01 -4.88611600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.983133365 meters Centerline goodness : 0.123074 with order 3 Centerline is valid? [False, False] Translation: X:-8.18, Y:-1.26, Z:-0.49 [[ 9.99712920e-01 -6.64010698e-03 2.30214275e-02 -8.18324341e+00] [ 1.23744791e-02 9.65856419e-01 -2.58782244e-01 -1.25999111e+00] [-2.05170517e-02 2.58992831e-01 9.65661309e-01 -4.89138927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04313336499999 meters Centerline goodness : 0.137377 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:-1.26, Z:-0.49 [[ 9.99712675e-01 -6.55823713e-03 2.30555288e-02 -8.18367718e+00] [ 1.23017322e-02 9.65888606e-01 -2.58665552e-01 -1.26036042e+00] [-2.05726826e-02 2.58874854e-01 9.65691760e-01 -4.88651358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10313336499999 meters Centerline goodness : 0.132477 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.26, Z:-0.49 [[ 9.99682745e-01 -5.26081726e-03 2.46319716e-02 -8.18961366e+00] [ 1.14188574e-02 9.66331815e-01 -2.57045586e-01 -1.26438380e+00] [-2.24503880e-02 2.57245305e-01 9.66085313e-01 -4.86149940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.163133365 meters Centerline goodness : 0.135229 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-1.27, Z:-0.49 [[ 9.99667537e-01 -5.30650105e-03 2.52320681e-02 -8.19150900e+00] [ 1.16154773e-02 9.66351852e-01 -2.56961436e-01 -1.26568438e+00] [-2.30194896e-02 2.57169088e-01 9.66092213e-01 -4.85606258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223133365 meters Centerline goodness : 0.134589 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-1.27, Z:-0.48 [[ 9.99740271e-01 -3.64205333e-03 2.24972614e-02 -8.23656162e+00] [ 9.25600818e-03 9.66954119e-01 -2.54782373e-01 -1.27034944e+00] [-2.08258886e-02 2.54924433e-01 9.66736684e-01 -4.84620957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.283133365 meters Centerline goodness : 0.130783 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-1.27, Z:-0.48 [[ 9.99741844e-01 -3.71184039e-03 2.24157899e-02 -8.23647004e+00] [ 9.30627889e-03 9.66909980e-01 -2.54948004e-01 -1.27008793e+00] [-2.07277247e-02 2.55090795e-01 9.66694909e-01 -4.84428403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.343133365 meters Centerline goodness : 0.130085 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.27, Z:-0.49 [[ 9.99768272e-01 -5.15765221e-05 2.15267314e-02 -8.23416424e+00] [ 5.45932054e-03 9.67912346e-01 -2.51228754e-01 -1.27076380e+00] [-2.08230316e-02 2.51288058e-01 9.67688335e-01 -4.85206383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40313336499999 meters Centerline goodness : 0.128622 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.27, Z:-0.49 [[ 9.99782351e-01 -4.51634085e-05 2.08626175e-02 -8.23227064e+00] [ 5.28468156e-03 9.67931640e-01 -2.51158143e-01 -1.27126346e+00] [-2.01822444e-02 2.51213731e-01 9.67721209e-01 -4.86012335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46313336499999 meters Centerline goodness : 0.142755 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.27, Z:-0.49 [[ 9.99794238e-01 -1.24468311e-04 2.02846530e-02 -8.23135203e+00] [ 5.20904936e-03 9.68023654e-01 -2.50804846e-01 -1.27376455e+00] [-1.96048067e-02 2.50858903e-01 9.67825120e-01 -4.85874637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52313336499999 meters Centerline goodness : 0.133805 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.28, Z:-0.49 [[ 9.99770682e-01 -4.22050342e-04 2.14103997e-02 -8.23456354e+00] [ 5.77347128e-03 9.68096280e-01 -2.50511996e-01 -1.27640927e+00] [-2.06215996e-02 2.50578161e-01 9.67876715e-01 -4.85158054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583133365 meters Centerline goodness : 0.127848 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.28, Z:-0.49 [[ 9.99778526e-01 -5.13588766e-04 2.10389139e-02 -8.23367094e+00] [ 5.76516206e-03 9.68143575e-01 -2.50329346e-01 -1.27798985e+00] [-2.02401230e-02 2.50395197e-01 9.67932117e-01 -4.85586586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643133365 meters Centerline goodness : 0.131567 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.28, Z:-0.49 [[ 9.99789031e-01 -5.88169493e-04 2.05316413e-02 -8.23260653e+00] [ 5.70397796e-03 9.68224202e-01 -2.50018719e-01 -1.28045022e+00] [-1.97321787e-02 2.50083084e-01 9.68023291e-01 -4.85902579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703133365 meters Centerline goodness : 0.125905 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:-1.28, Z:-0.49 [[ 9.99784138e-01 -5.76545912e-04 2.07688702e-02 -8.23357448e+00] [ 5.74672715e-03 9.68290850e-01 -2.49759494e-01 -1.28240919e+00] [-1.99663092e-02 2.49824933e-01 9.68085146e-01 -4.85671098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76313336499999 meters Centerline goodness : 0.128307 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-1.28, Z:-0.49 [[ 9.99767799e-01 -2.67735770e-04 2.15470512e-02 -8.23586575e+00] [ 5.63029072e-03 9.68433600e-01 -2.49208070e-01 -1.28449082e+00] [-2.08001664e-02 2.49271520e-01 9.68210237e-01 -4.85351980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82313336499999 meters Centerline goodness : 0.128672 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-1.28, Z:-0.48 [[ 9.99752480e-01 2.93105715e-03 2.20542174e-02 -8.23739258e+00] [ 2.59008815e-03 9.69209736e-01 -2.46223028e-01 -1.28411583e+00] [-2.20968560e-02 2.46219205e-01 9.68962245e-01 -4.84822340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88313336499999 meters Centerline goodness : 0.128271 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-1.28, Z:-0.49 [[ 9.99748329e-01 6.64125041e-03 2.14283254e-02 -8.23529848e+00] [-1.23356307e-03 9.70005468e-01 -2.43079965e-01 -1.28057362e+00] [-2.23999478e-02 2.42992356e-01 9.69769538e-01 -4.85083666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.943133365 meters Centerline goodness : 0.131253 with order 1 Centerline is valid? [False, False] Translation: X:-8.26, Y:-1.28, Z:-0.48 [[ 0.99967943 0.01589038 0.01971105 -8.25571514] [-0.01060865 0.96977633 -0.2437649 -1.27944196] [-0.02298883 0.24347765 0.96963403 -0.4849899 ] [ 0. 0. 0. 1. ]] SLAMing on 84.003133365 meters Centerline goodness : 0.129788 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:-1.27, Z:-0.48 [[ 9.99799012e-01 7.59837586e-03 1.85526361e-02 -8.27519906e+00] [-2.87467630e-03 9.70166334e-01 -2.42423227e-01 -1.27495621e+00] [-1.98411658e-02 2.42321170e-01 9.69993185e-01 -4.84457755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063133365 meters Centerline goodness : 0.130116 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:-1.28, Z:-0.48 [[ 9.99809256e-01 7.23799939e-03 1.81400813e-02 -8.27415743e+00] [-2.62585547e-03 9.70177851e-01 -2.42379955e-01 -1.27640402e+00] [-1.93534510e-02 2.42286089e-01 9.70011801e-01 -4.84914730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12313336499999 meters Centerline goodness : 0.131828 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-1.28, Z:-0.49 [[ 9.99831458e-01 -3.99240614e-03 1.79197133e-02 -8.29719052e+00] [ 8.21954320e-03 9.70123558e-01 -2.42472105e-01 -1.28365796e+00] [-1.64162889e-02 2.42578530e-01 9.69992867e-01 -4.85501426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18313336499999 meters Centerline goodness : 0.130527 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-1.29, Z:-0.49 [[ 9.99850313e-01 -4.40644426e-03 1.67312816e-02 -8.29400462e+00] [ 8.32679522e-03 9.70220285e-01 -2.42081109e-01 -1.28856420e+00] [-1.51663119e-02 2.42184191e-01 9.70111747e-01 -4.87216483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24313336499999 meters Centerline goodness : 0.128702 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-1.29, Z:-0.49 [[ 9.99861493e-01 -4.42368704e-03 1.60444768e-02 -8.29196032e+00] [ 8.16717963e-03 9.70387933e-01 -2.41413662e-01 -1.29360854e+00] [-1.45014282e-02 2.41511263e-01 9.70289657e-01 -4.89018072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.303133365 meters Centerline goodness : 0.129866 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-1.30, Z:-0.49 [[ 9.99866569e-01 -5.54497306e-04 1.63259244e-02 -8.29326137e+00] [ 4.41326985e-03 9.71428114e-01 -2.37292947e-01 -1.29663915e+00] [-1.57278837e-02 2.37333336e-01 9.71300943e-01 -4.88767997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.363133365 meters Centerline goodness : 0.127757 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-1.30, Z:-0.49 [[ 9.99862987e-01 -4.88674305e-04 1.65459455e-02 -8.29401573e+00] [ 4.40122957e-03 9.71432951e-01 -2.37273368e-01 -1.29691429e+00] [-1.59573273e-02 2.37313681e-01 9.71302003e-01 -4.88465766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423133365 meters Centerline goodness : 0.127996 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-1.30, Z:-0.49 [[ 9.99864526e-01 -4.23050997e-04 1.64545025e-02 -8.29372844e+00] [ 4.31203653e-03 9.71489021e-01 -2.37045330e-01 -1.29826191e+00] [-1.58850862e-02 2.37084169e-01 9.71359234e-01 -4.88994400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48313336499999 meters Centerline goodness : 0.128520 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-1.30, Z:-0.49 [[ 9.99861837e-01 -3.80822166e-04 1.66181397e-02 -8.29455822e+00] [ 4.30206036e-03 9.71603392e-01 -2.36576291e-01 -1.30109878e+00] [-1.60561474e-02 2.36615097e-01 9.71470790e-01 -4.88816080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54313336499999 meters Centerline goodness : 0.129063 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-1.31, Z:-0.49 [[ 9.99858449e-01 -2.94871826e-04 1.68224304e-02 -8.29545336e+00] [ 4.25261678e-03 9.71810671e-01 -2.35724276e-01 -1.30613268e+00] [-1.62787090e-02 2.35762448e-01 9.71674365e-01 -4.89153455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60313336499999 meters Centerline goodness : 0.125278 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-1.31, Z:-0.49 [[ 9.99854270e-01 8.98940491e-05 1.70713637e-02 -8.29612348e+00] [ 3.92061847e-03 9.72048921e-01 -2.34745659e-01 -1.31085727e+00] [-1.66153029e-02 2.34778380e-01 9.71906911e-01 -4.90033399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.663133365 meters Centerline goodness : 0.127988 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:-1.32, Z:-0.49 [[ 9.99823850e-01 8.23703071e-03 1.68647365e-02 -8.31599763e+00] [-4.03541593e-03 9.71879597e-01 -2.35443761e-01 -1.31769402e+00] [-1.83298508e-02 2.35334231e-01 9.71741641e-01 -4.92541082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723133365 meters Centerline goodness : 0.123899 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:-1.32, Z:-0.49 [[ 9.99826251e-01 8.94044591e-03 1.63565402e-02 -8.31424620e+00] [-4.85437374e-03 9.72079181e-01 -2.34602856e-01 -1.32030684e+00] [-1.79973063e-02 2.34482694e-01 9.71953684e-01 -4.94297380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.783133365 meters Centerline goodness : 0.124051 with order 3 Centerline is valid? [False, False] Translation: X:-8.33, Y:-1.32, Z:-0.49 [[ 9.99903795e-01 6.92288867e-04 1.38535757e-02 -8.33305126e+00] [ 2.55614124e-03 9.72452100e-01 -2.33088782e-01 -1.32077474e+00] [-1.36333035e-02 2.33101769e-01 9.72356775e-01 -4.94277450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.843133365 meters SLAMing on 84.90313336499999 meters Centerline goodness : 0.135672 with order 3 Centerline is valid? [False, False] Translation: X:-8.36, Y:-1.33, Z:-0.50 [[ 9.99844085e-01 9.76917286e-03 1.47094608e-02 -8.35507883e+00] [-6.07439806e-03 9.72466860e-01 -2.32962033e-01 -1.32614911e+00] [-1.65803095e-02 2.32836359e-01 9.72374580e-01 -4.95891812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96313336499999 meters Centerline goodness : 0.122945 with order 3 Centerline is valid? [False, False] Translation: X:-8.35, Y:-1.32, Z:-0.50 [[ 0.99983406 0.01221459 0.01351507 -8.35029629] [-0.00876161 0.972891 -0.23109809 -1.3211429 ] [-0.01597146 0.23094133 0.97283658 -0.49727608] [ 0. 0. 0. 1. ]] SLAMing on 85.02313336499999 meters Centerline goodness : 0.123907 with order 3 Centerline is valid? [False, False] Translation: X:-8.37, Y:-1.32, Z:-0.49 [[ 9.99933554e-01 6.58838541e-03 9.45943133e-03 -8.37339660e+00] [-4.25116670e-03 9.73499281e-01 -2.28650556e-01 -1.31726164e+00] [-1.07151876e-02 2.28595149e-01 9.73462605e-01 -4.93826923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.083133365 meters Centerline goodness : 0.121835 with order 3 Centerline is valid? [False, False] Translation: X:-8.38, Y:-1.31, Z:-0.49 [[ 9.99961428e-01 -3.65639288e-03 7.98583689e-03 -8.38104267e+00] [ 5.34549188e-03 9.74798078e-01 -2.23024959e-01 -1.31112260e+00] [-6.96911158e-03 2.23059044e-01 9.74780023e-01 -4.87922816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.143133365 meters Centerline goodness : 0.121079 with order 2 Centerline is valid? [False, False] Translation: X:-8.39, Y:-1.31, Z:-0.49 [[ 9.99935088e-01 -5.10019436e-03 1.01886405e-02 -8.38754646e+00] [ 7.25485906e-03 9.74519387e-01 -2.24185930e-01 -1.30998185e+00] [-8.78563592e-03 2.24245294e-01 9.74493130e-01 -4.85397603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.203133365 meters Centerline goodness : 0.125535 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:-1.31, Z:-0.48 [[ 9.99926636e-01 -5.58561165e-03 1.07481829e-02 -8.38938805e+00] [ 7.85487031e-03 9.74479671e-01 -2.24338296e-01 -1.31030671e+00] [-9.22081912e-03 2.24406263e-01 9.74452054e-01 -4.84417074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26313336499999 meters Centerline goodness : 0.143174 with order 3 Centerline is valid? [False, False] Translation: X:-8.43, Y:-1.32, Z:-0.48 [[ 9.99934824e-01 -7.91435094e-03 8.22861412e-03 -8.43387032e+00] [ 9.56427083e-03 9.74269817e-01 -2.25181810e-01 -1.31692846e+00] [-6.23472251e-03 2.25245834e-01 9.74282014e-01 -4.84554812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32313336499999 meters Centerline goodness : 0.128678 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:-1.32, Z:-0.48 [[ 9.99930643e-01 -8.11863820e-03 8.53208749e-03 -8.43488801e+00] [ 9.82792021e-03 9.74397379e-01 -2.24617810e-01 -1.32189561e+00] [-6.49005296e-03 2.24686084e-01 9.74409587e-01 -4.84931339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38313336499999 meters Centerline goodness : 0.128358 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:-1.32, Z:-0.49 [[ 9.99957282e-01 -4.48821743e-03 8.08025135e-03 -8.43311950e+00] [ 6.16166689e-03 9.75301972e-01 -2.20789711e-01 -1.32423317e+00] [-6.88973285e-03 2.20830067e-01 9.75287964e-01 -4.86401882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.443133365 meters Centerline goodness : 0.131891 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:-1.32, Z:-0.49 [[ 9.99968480e-01 -9.82660418e-04 7.87865651e-03 -8.43226983e+00] [ 2.67221346e-03 9.76074429e-01 -2.17420257e-01 -1.32426588e+00] [-7.47650487e-03 2.17434457e-01 9.76046289e-01 -4.87038151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.503133365 meters Centerline goodness : 0.143689 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:-1.32, Z:-0.49 [[ 9.99967669e-01 2.58299484e-03 7.61511913e-03 -8.43196111e+00] [-8.92835104e-04 9.76814142e-01 -2.14087215e-01 -1.32348336e+00] [-7.99154223e-03 2.14073494e-01 9.76784866e-01 -4.86533198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.563133365 meters Centerline goodness : 0.129642 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:-1.32, Z:-0.49 [[ 9.99970953e-01 2.48490197e-03 7.20538328e-03 -8.43065739e+00] [-8.82522800e-04 9.76751618e-01 -2.14372337e-01 -1.32189407e+00] [-7.57056402e-03 2.14359751e-01 9.76725439e-01 -4.86880765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62313336499999 meters Centerline goodness : 0.145193 with order 1 Centerline is valid? [False, False] Translation: X:-8.45, Y:-1.32, Z:-0.49 [[ 9.99967723e-01 -6.33362315e-03 4.94351893e-03 -8.45039713e+00] [ 7.24309840e-03 9.76915957e-01 -2.13501174e-01 -1.31800861e+00] [-3.47716654e-03 2.13530090e-01 9.76930300e-01 -4.86253422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68313336499999 meters Centerline goodness : 0.133862 with order 1 Centerline is valid? [False, False] Translation: X:-8.45, Y:-1.32, Z:-0.48 [[ 9.99966654e-01 -6.37421980e-03 5.10500081e-03 -8.45160854e+00] [ 7.31701147e-03 9.76928928e-01 -2.13439291e-01 -1.31848743e+00] [-3.62671401e-03 2.13469527e-01 9.76942991e-01 -4.84938136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74313336499999 meters Centerline goodness : 0.127071 with order 3 Centerline is valid? [False, False] Translation: X:-8.45, Y:-1.32, Z:-0.48 [[ 9.99966482e-01 -6.61632491e-03 4.82283914e-03 -8.45101806e+00] [ 7.49411568e-03 9.76875090e-01 -2.13679426e-01 -1.31825093e+00] [-3.29753890e-03 2.13708407e-01 9.76891930e-01 -4.84708969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.803133365 meters Centerline goodness : 0.137102 with order 1 Centerline is valid? [False, False] Translation: X:-8.45, Y:-1.32, Z:-0.48 [[ 9.99984600e-01 -3.13864635e-03 4.57692528e-03 -8.45075828e+00] [ 4.03217134e-03 9.77565048e-01 -2.10595153e-01 -1.31544528e+00] [-3.81325847e-03 2.10610365e-01 9.77562649e-01 -4.83802225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.863133365 meters Centerline goodness : 0.123922 with order 3 Centerline is valid? [False, False] Translation: X:-8.45, Y:-1.31, Z:-0.48 [[ 9.99980639e-01 -3.22633011e-03 5.32095485e-03 -8.45330254e+00] [ 4.27662130e-03 9.77469493e-01 -2.11033410e-01 -1.31297650e+00] [-4.52020760e-03 2.11052080e-01 9.77464366e-01 -4.82033976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.923133365 meters Centerline goodness : 0.136341 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.31, Z:-0.48 [[ 9.99916012e-01 -1.20927484e-02 4.66211098e-03 -8.47323408e+00] [ 1.28026838e-02 9.77567332e-01 -2.10233685e-01 -1.30808727e+00] [-2.01522434e-03 2.10275715e-01 9.77640047e-01 -4.81942171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98313336499999 meters Centerline goodness : 0.145907 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.31, Z:-0.48 [[ 9.99914566e-01 -1.21124370e-02 4.91415614e-03 -8.47411955e+00] [ 1.28744172e-02 9.77614310e-01 -2.10010741e-01 -1.30939841e+00] [-2.26040751e-03 2.10056066e-01 9.77686729e-01 -4.81622159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04313336499999 meters Centerline goodness : 0.146682 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.31, Z:-0.48 [[ 9.99912791e-01 -1.22715381e-02 4.88060838e-03 -8.47384415e+00] [ 1.30222204e-02 9.77679486e-01 -2.09697985e-01 -1.31209583e+00] [-2.19835388e-03 2.09743254e-01 9.77754026e-01 -4.82394089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10313336499999 meters Centerline goodness : 0.147050 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.31, Z:-0.48 [[ 9.99917621e-01 -1.20767939e-02 4.34760076e-03 -8.47185737e+00] [ 1.27192632e-02 9.77774721e-01 -2.09272109e-01 -1.31350625e+00] [-1.72363799e-03 2.09310168e-01 9.77847781e-01 -4.83898612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.163133365 meters Centerline goodness : 0.125996 with order 3 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.32, Z:-0.48 [[ 9.99920590e-01 -1.19197116e-02 4.09083882e-03 -8.47115384e+00] [ 1.25110030e-02 9.77903923e-01 -2.08680120e-01 -1.31706034e+00] [-1.51304049e-03 2.08714729e-01 9.77975395e-01 -4.84734480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.223133365 meters Centerline goodness : 0.136811 with order 3 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.32, Z:-0.49 [[ 9.99928037e-01 -1.14746240e-02 3.50043109e-03 -8.46961196e+00] [ 1.19512477e-02 9.78160626e-01 -2.07506522e-01 -1.32263287e+00] [-1.04292454e-03 2.07533424e-01 9.78227371e-01 -4.86084939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.283133365 meters Centerline goodness : 0.136994 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.33, Z:-0.49 [[ 9.99930350e-01 -1.13578510e-02 3.20861415e-03 -8.46849549e+00] [ 1.17757929e-02 9.78337136e-01 -2.06682797e-01 -1.32824153e+00] [-7.91633979e-04 2.06706185e-01 9.78402742e-01 -4.87736143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.343133365 meters Centerline goodness : 0.134720 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.34, Z:-0.49 [[ 9.99898178e-01 -1.36487328e-02 4.16484241e-03 -8.47212524e+00] [ 1.42161592e-02 9.78090138e-01 -2.07695890e-01 -1.33915046e+00] [-1.23880557e-03 2.07733950e-01 9.78184579e-01 -4.87902724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40313336499999 meters Centerline goodness : 0.133171 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.35, Z:-0.49 [[ 9.99902729e-01 -1.34884719e-02 3.54874163e-03 -8.47021367e+00] [ 1.39307731e-02 9.78289724e-01 -2.06773183e-01 -1.34680727e+00] [-6.82643206e-04 2.06802507e-01 9.78382470e-01 -4.89914427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46313336499999 meters Centerline goodness : 0.132971 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.36, Z:-0.49 [[ 9.99892441e-01 -1.41619252e-02 3.81406079e-03 -8.47052158e+00] [ 1.46440226e-02 9.78411301e-01 -2.06147710e-01 -1.35964670e+00] [-8.12271744e-04 2.06181390e-01 9.78513452e-01 -4.92593989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52313336499999 meters Centerline goodness : 0.137714 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.36, Z:-0.49 [[ 9.99900205e-01 -1.36060700e-02 3.80206146e-03 -8.47021165e+00] [ 1.40967480e-02 9.78617233e-01 -2.05206222e-01 -1.36401391e+00] [-9.28712651e-04 2.05239340e-01 9.78711373e-01 -4.93785892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.583133365 meters Centerline goodness : 0.126187 with order 3 Centerline is valid? [False, False] Translation: X:-8.47, Y:-1.37, Z:-0.49 [[ 9.99942527e-01 -9.99817449e-03 3.87033838e-03 -8.47113177e+00] [ 1.05731919e-02 9.79410494e-01 -2.01601815e-01 -1.36610443e+00] [-1.77499990e-03 2.01631150e-01 9.79459917e-01 -4.93338439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.643133365 meters SLAMing on 86.703133365 meters Centerline goodness : 0.143378 with order 3 Centerline is valid? [False, False] Translation: X:-8.52, Y:-1.37, Z:-0.49 [[ 9.99946175e-01 9.61192924e-03 3.90625475e-03 -8.51878505e+00] [-8.64179657e-03 9.79939080e-01 -1.99109817e-01 -1.36842180e+00] [-5.74172116e-03 1.99065343e-01 9.79969398e-01 -4.91977467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76313336499999 meters SLAMing on 86.82313336499999 meters Centerline goodness : 0.240947 with order 3 Centerline is valid? [False, False] Translation: X:-8.52, Y:-1.35, Z:-0.49 [[ 9.99904706e-01 1.31927558e-02 4.06582736e-03 -8.51927546e+00] [-1.21336046e-02 9.80333879e-01 -1.96972741e-01 -1.35478521e+00] [-6.58448157e-03 1.96904637e-01 9.80400535e-01 -4.89361610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88313336499999 meters Centerline goodness : 0.141582 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.35, Z:-0.49 [[ 9.99979930e-01 4.61921809e-03 4.33620621e-03 -8.53895121e+00] [-3.68042957e-03 9.80622094e-01 -1.95874358e-01 -1.34888478e+00] [-5.15696599e-03 1.95854468e-01 9.80619413e-01 -4.89794668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.943133365 meters Centerline goodness : 0.137148 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.34, Z:-0.49 [[ 9.99947900e-01 -9.87244525e-03 2.59453128e-03 -8.53989447e+00] [ 1.01877710e-02 9.81089358e-01 -1.93287045e-01 -1.33839293e+00] [-6.37251253e-04 1.93303408e-01 9.81138821e-01 -4.86577127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.003133365 meters Centerline goodness : 0.142605 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.34, Z:-0.49 [[ 9.99946305e-01 -1.00627440e-02 2.47567714e-03 -8.53981556e+00] [ 1.03516114e-02 9.81045368e-01 -1.93501498e-01 -1.33721578e+00] [-4.81595555e-04 1.93516735e-01 9.81096856e-01 -4.86015955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.063133365 meters Centerline goodness : 0.148558 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.34, Z:-0.49 [[ 9.99937668e-01 -1.09132420e-02 2.35820084e-03 -8.53947279e+00] [ 1.11634167e-02 9.80922104e-01 -1.94080407e-01 -1.33692415e+00] [-1.95164879e-04 1.94094635e-01 9.80982790e-01 -4.85915886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12313336499999 meters Centerline goodness : 0.155339 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.34, Z:-0.49 [[ 9.99934731e-01 -1.13279190e-02 1.48743235e-03 -8.53707937e+00] [ 1.14011453e-02 9.80904806e-01 -1.94153999e-01 -1.33801008e+00] [ 7.40331239e-04 1.94158285e-01 9.80969934e-01 -4.86657067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18313336499999 meters Centerline goodness : 0.126502 with order 2 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.34, Z:-0.49 [[ 9.99926321e-01 -1.20988603e-02 9.85170682e-04 -8.53513694e+00] [ 1.20596162e-02 9.80857327e-01 -1.94353981e-01 -1.34021054e+00] [ 1.38514980e-03 1.94351542e-01 9.80930966e-01 -4.87953799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24313336499999 meters Centerline goodness : 0.132582 with order 3 Centerline is valid? [False, False] Translation: X:-8.53, Y:-1.34, Z:-0.49 [[ 9.99927624e-01 -1.20101695e-02 7.09145096e-04 -8.53451063e+00] [ 1.19195263e-02 9.80924906e-01 -1.94021273e-01 -1.34201964e+00] [ 1.63461029e-03 1.94015683e-01 9.80997066e-01 -4.88278864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.303133365 meters Centerline goodness : 0.128185 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.34, Z:-0.49 [[ 9.99930765e-01 -1.17275587e-02 9.63833770e-04 -8.53554843e+00] [ 1.16924860e-02 9.81042395e-01 -1.93440185e-01 -1.34460631e+00] [ 1.32301933e-03 1.93438062e-01 9.81111597e-01 -4.87950816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.363133365 meters SLAMing on 87.423133365 meters Centerline goodness : 0.133118 with order 3 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.35, Z:-0.49 [[ 9.99984730e-01 -4.24768323e-03 3.53514047e-03 -8.55672164e+00] [ 4.85148229e-03 9.81087820e-01 -1.93502334e-01 -1.35373509e+00] [-2.64634664e-03 1.93516530e-01 9.81093446e-01 -4.90770903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48313336499999 meters Centerline goodness : 0.152843 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99986524e-01 -4.02778192e-03 3.27562768e-03 -8.55584125e+00] [ 4.58426595e-03 9.81188320e-01 -1.92998612e-01 -1.35576254e+00] [-2.43665130e-03 1.93011028e-01 9.81193562e-01 -4.91606492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54313336499999 meters Centerline goodness : 0.156910 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99986064e-01 -4.07191112e-03 3.36012873e-03 -8.55650985e+00] [ 4.64286448e-03 9.81265636e-01 -1.92603729e-01 -1.35890838e+00] [-2.51291358e-03 1.92616646e-01 9.81270866e-01 -4.91385700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60313336499999 meters Centerline goodness : 0.131931 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99987950e-01 -3.85179150e-03 3.04349486e-03 -8.55551007e+00] [ 4.36381804e-03 9.81442987e-01 -1.91704512e-01 -1.36343016e+00] [-2.24861088e-03 1.91715483e-01 9.81447970e-01 -4.92630559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.663133365 meters Centerline goodness : 0.241425 with order 3 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.37, Z:-0.49 [[ 9.99988523e-01 -3.73113238e-03 3.00527489e-03 -8.55526727e+00] [ 4.23732348e-03 9.81507449e-01 -1.91377045e-01 -1.36513334e+00] [-2.23564660e-03 1.91387583e-01 9.81511994e-01 -4.93187438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.723133365 meters Centerline goodness : 0.132901 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99994654e-01 1.72290424e-04 3.26534147e-03 -8.55637808e+00] [ 4.43833910e-04 9.82217315e-01 -1.87747034e-01 -1.36405369e+00] [-3.23962195e-03 1.87747479e-01 9.82211988e-01 -4.92289519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.783133365 meters Centerline goodness : 0.135482 with order 3 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99990263e-01 3.47395733e-03 2.72124129e-03 -8.55523891e+00] [-2.91149796e-03 9.82785631e-01 -1.84726627e-01 -1.36290136e+00] [-3.31612926e-03 1.84716906e-01 9.82786176e-01 -4.92021441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.843133365 meters Centerline goodness : 0.133707 with order 2 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99990859e-01 3.33202264e-03 2.67950241e-03 -8.55502796e+00] [-2.77828899e-03 9.82704844e-01 -1.85157959e-01 -1.36085642e+00] [-3.25011051e-03 1.85148822e-01 9.82705119e-01 -4.91962252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90313336499999 meters Centerline goodness : 0.129508 with order 3 Centerline is valid? [False, False] Translation: X:-8.56, Y:-1.36, Z:-0.49 [[ 9.99976242e-01 6.36849897e-03 2.63779415e-03 -8.55509715e+00] [-5.78218660e-03 9.83286396e-01 -1.81973706e-01 -1.36099567e+00] [-3.75260646e-03 1.81954130e-01 9.83299859e-01 -4.91659182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96313336499999 meters Centerline goodness : 0.123997 with order 3 Centerline is valid? [False, False] Translation: X:-8.55, Y:-1.36, Z:-0.49 [[ 9.99978134e-01 6.25530435e-03 2.14552065e-03 -8.55367383e+00] [-5.76117630e-03 9.83326967e-01 -1.81755011e-01 -1.36276897e+00] [-3.24668122e-03 1.81738676e-01 9.83341504e-01 -4.92389267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02313336499999 meters Centerline goodness : 0.134721 with order 3 Centerline is valid? [False, False] Translation: X:-8.58, Y:-1.36, Z:-0.49 [[ 9.99992977e-01 -2.69542836e-03 2.60377966e-03 -8.57642370e+00] [ 3.12087495e-03 9.83593668e-01 -1.80371162e-01 -1.36337847e+00] [-2.07488364e-03 1.80378021e-01 9.83595173e-01 -4.92479643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.083133365 meters Centerline goodness : 0.155263 with order 1 Centerline is valid? [False, False] Translation: X:-8.58, Y:-1.36, Z:-0.49 [[ 9.99992255e-01 -2.56741377e-03 2.98297243e-03 -8.57734094e+00] [ 3.06257445e-03 9.83651011e-01 -1.80059184e-01 -1.36483679e+00] [-2.47191741e-03 1.80066925e-01 9.83651255e-01 -4.92675907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.143133365 meters SLAMing on 88.203133365 meters Centerline goodness : 0.126684 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.37, Z:-0.49 [[ 9.99993317e-01 -3.64227574e-03 -3.15603825e-04 -8.62114915e+00] [ 3.52580958e-03 9.83629112e-01 -1.80170306e-01 -1.37150471e+00] [ 9.66667044e-04 1.80167989e-01 9.83635380e-01 -4.93810224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26313336499999 meters Centerline goodness : 0.245191 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.37, Z:-0.49 [[ 9.99993285e-01 -3.60989186e-03 -6.30856999e-04 -8.62070851e+00] [ 3.43763185e-03 9.83696673e-01 -1.79802775e-01 -1.37385103e+00] [ 1.26964050e-03 1.79799399e-01 9.83702477e-01 -4.93783172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32313336499999 meters Centerline goodness : 0.159877 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.37, Z:-0.50 [[ 9.99992972e-01 -3.64563858e-03 -8.75189599e-04 -8.61940731e+00] [ 3.42910346e-03 9.83724943e-01 -1.79648207e-01 -1.37455935e+00] [ 1.51587827e-03 1.79643944e-01 9.83730530e-01 -4.95090309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38313336499999 meters Centerline goodness : 0.158311 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.38, Z:-0.50 [[ 9.99992223e-01 -3.76186248e-03 -1.18420395e-03 -8.61875393e+00] [ 3.48809167e-03 9.83741079e-01 -1.79558688e-01 -1.37579021e+00] [ 1.84042516e-03 1.79553161e-01 9.83746550e-01 -4.95208865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443133365 meters Centerline goodness : 0.129830 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.38, Z:-0.50 [[ 9.99991913e-01 -3.62691699e-03 -1.73777374e-03 -8.61778948e+00] [ 3.25744578e-03 9.83855939e-01 -1.78932612e-01 -1.37875372e+00] [ 2.35869274e-03 1.78925504e-01 9.83859797e-01 -4.95183150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.503133365 meters Centerline goodness : 0.129802 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.38, Z:-0.49 [[ 9.99992708e-01 -3.53923249e-03 -1.43481688e-03 -8.61875041e+00] [ 3.22574289e-03 9.83887500e-01 -1.78759564e-01 -1.37954015e+00] [ 2.04437005e-03 1.78753632e-01 9.83891742e-01 -4.94895454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.563133365 meters Centerline goodness : 0.153478 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.38, Z:-0.49 [[ 9.99999340e-01 -1.08210034e-04 -1.14422065e-03 -8.61986647e+00] [-9.43675280e-05 9.84466049e-01 -1.75575026e-01 -1.37860638e+00] [ 1.14544537e-03 1.75575018e-01 9.84465389e-01 -4.94102581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62313336499999 meters Centerline goodness : 0.240412 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.37, Z:-0.49 [[ 9.99993793e-01 3.10009642e-03 -1.67438773e-03 -8.61795124e+00] [-3.34347919e-03 9.84845392e-01 -1.73402348e-01 -1.37236347e+00] [ 1.11144904e-03 1.73406870e-01 9.84849644e-01 -4.94170775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68313336499999 meters Centerline goodness : 0.133487 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.37, Z:-0.49 [[ 9.99974053e-01 6.92433424e-03 -1.98650881e-03 -8.61723011e+00] [-7.16118495e-03 9.85433551e-01 -1.69910076e-01 -1.37066026e+00] [ 7.81058274e-04 1.69919893e-01 9.85457569e-01 -4.93929834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74313336499999 meters SLAMing on 88.803133365 meters Centerline goodness : 0.156779 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-1.37, Z:-0.49 [[ 9.99975747e-01 6.75611925e-03 -1.69140026e-03 -8.61793154e+00] [-6.94549212e-03 9.85362519e-01 -1.70330461e-01 -1.36888976e+00] [ 5.15869520e-04 1.70338077e-01 9.85385546e-01 -4.93748194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.863133365 meters Centerline goodness : 0.132092 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-1.37, Z:-0.49 [[ 9.99995875e-01 6.50680341e-05 -2.87170969e-03 -8.63896796e+00] [-5.44214334e-04 9.85928174e-01 -1.67168597e-01 -1.36621851e+00] [ 2.82042216e-03 1.67169470e-01 9.85924142e-01 -4.93393356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.923133365 meters Centerline goodness : 0.132710 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-1.36, Z:-0.49 [[ 9.99989644e-01 3.57468650e-03 -2.81658154e-03 -8.63953478e+00] [-3.98854176e-03 9.86428063e-01 -1.64145568e-01 -1.36356594e+00] [ 2.19158613e-03 1.64155102e-01 9.86432106e-01 -4.92348876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98313336499999 meters Centerline goodness : 0.171259 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-1.36, Z:-0.49 [[ 9.99969475e-01 7.21208280e-03 -3.00595819e-03 -8.63942424e+00] [-7.60223791e-03 9.86901849e-01 -1.61142627e-01 -1.35971523e+00] [ 1.80441173e-03 1.61160560e-01 9.86926551e-01 -4.91366735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04313336499999 meters Centerline goodness : 0.131628 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:-1.35, Z:-0.49 [[ 9.99935717e-01 1.08742301e-02 -3.21146445e-03 -8.63854811e+00] [-1.12454084e-02 9.87339093e-01 -1.58224702e-01 -1.35456927e+00] [ 1.45023259e-03 1.58250645e-01 9.87397909e-01 -4.91179857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10313336499999 meters Centerline goodness : 0.132648 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99984470e-01 5.45782541e-03 -1.12772359e-03 -8.65882717e+00] [-5.56688217e-03 9.87770473e-01 -1.55815601e-01 -1.34328959e+00] [ 2.63517716e-04 1.55819459e-01 9.87785517e-01 -4.91206230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.163133365 meters Centerline goodness : 0.129136 with order 2 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99985566e-01 5.24094603e-03 -1.18326637e-03 -8.65898305e+00] [-5.36143904e-03 9.87712705e-01 -1.56188564e-01 -1.34171856e+00] [ 3.50151395e-04 1.56192654e-01 9.87726547e-01 -4.90546254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.223133365 meters Centerline goodness : 0.129595 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99989217e-01 4.41154440e-03 -1.45057022e-03 -8.65780121e+00] [-4.58445141e-03 9.87614603e-01 -1.56832328e-01 -1.34095574e+00] [ 7.40731551e-04 1.56837287e-01 9.87624178e-01 -4.91156670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.283133365 meters Centerline goodness : 0.153185 with order 3 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99989073e-01 4.32013314e-03 -1.78592465e-03 -8.65684971e+00] [-4.54691981e-03 9.87592802e-01 -1.56970644e-01 -1.34016958e+00] [ 1.08563225e-03 1.56977049e-01 9.87601654e-01 -4.91294089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.343133365 meters Centerline goodness : 0.126622 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99988745e-01 4.30999264e-03 -1.98337945e-03 -8.65613452e+00] [-4.56801195e-03 9.87579123e-01 -1.57056072e-01 -1.33932045e+00] [ 1.28183362e-03 1.57063365e-01 9.87587696e-01 -4.91574227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40313336499999 meters Centerline goodness : 0.135479 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99989106e-01 4.11007996e-03 -2.21243371e-03 -8.65522853e+00] [-4.40748776e-03 9.87484562e-01 -1.57654094e-01 -1.33632962e+00] [ 1.53677320e-03 1.57662128e-01 9.87491920e-01 -4.91810960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46313336499999 meters Centerline goodness : 0.131967 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:-1.33, Z:-0.49 [[ 9.99971352e-01 7.01376623e-03 -2.84650912e-03 -8.65320467e+00] [-7.37009282e-03 9.87899155e-01 -1.54922370e-01 -1.33439196e+00] [ 1.72547467e-03 1.54938911e-01 9.87922546e-01 -4.92151534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52313336499999 meters Centerline goodness : 0.141245 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99980886e-01 6.09346106e-03 -1.04799001e-03 -8.65872505e+00] [-6.18233960e-03 9.87749235e-01 -1.55926995e-01 -1.33220417e+00] [ 8.50162524e-05 1.55930494e-01 9.87768026e-01 -4.89722483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583133365 meters Centerline goodness : 0.228948 with order 3 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99971761e-01 -6.37209699e-03 -3.98415822e-03 -8.66458684e+00] [ 5.69514427e-03 9.88445252e-01 -1.51471284e-01 -1.33183385e+00] [ 4.90331199e-03 1.51444316e-01 9.88453629e-01 -4.86353144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643133365 meters Centerline goodness : 0.145435 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99969570e-01 -6.50087708e-03 -4.31246654e-03 -8.66386154e+00] [ 5.77409422e-03 9.88484464e-01 -1.51212184e-01 -1.33402978e+00] [ 5.24581800e-03 1.51182682e-01 9.88491921e-01 -4.86463383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703133365 meters Centerline goodness : 0.129166 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:-1.34, Z:-0.49 [[ 9.99971565e-01 -6.54195636e-03 -3.75125806e-03 -8.66581004e+00] [ 5.90145159e-03 9.88544887e-01 -1.50811733e-01 -1.33686320e+00] [ 4.69489075e-03 1.50785307e-01 9.88555385e-01 -4.85695175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76313336499999 meters Centerline goodness : 0.130027 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:-1.34, Z:-0.49 [[ 9.99973373e-01 -6.34957768e-03 -3.59662846e-03 -8.66602089e+00] [ 5.73657524e-03 9.88612198e-01 -1.50376238e-01 -1.33867387e+00] [ 4.51049637e-03 1.50351601e-01 9.88622300e-01 -4.86176640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82313336499999 meters Centerline goodness : 0.127845 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.34, Z:-0.49 [[ 9.99971804e-01 -6.04832374e-03 -4.45069973e-03 -8.66332721e+00] [ 5.30958471e-03 9.88593431e-01 -1.50515236e-01 -1.33726935e+00] [ 5.31029739e-03 1.50487360e-01 9.88597671e-01 -4.87312169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88313336499999 meters Centerline goodness : 0.124866 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99984180e-01 -2.04611159e-03 -5.23962565e-03 -8.66055575e+00] [ 1.25084749e-03 9.89059726e-01 -1.47510321e-01 -1.33176515e+00] [ 5.48412528e-03 1.47501433e-01 9.89046638e-01 -4.88311196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.943133365 meters Centerline goodness : 0.128585 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99979286e-01 -2.20997874e-04 -6.43261887e-03 -8.65553820e+00] [-7.22958696e-04 9.89229216e-01 -1.46372931e-01 -1.32670972e+00] [ 6.39568263e-03 1.46374549e-01 9.89208566e-01 -4.90480418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.003133365 meters Centerline goodness : 0.138253 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99974158e-01 2.94272555e-03 -6.55925056e-03 -8.65525312e+00] [-3.85297798e-03 9.89657500e-01 -1.43398699e-01 -1.32501367e+00] [ 6.06942850e-03 1.43420266e-01 9.89643264e-01 -4.90260581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.063133365 meters Centerline goodness : 0.138261 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.32, Z:-0.49 [[ 0.99989629 -0.01112057 -0.00915062 -8.65935345] [ 0.00972667 0.99005391 -0.14035185 -1.32312991] [ 0.0106204 0.14024829 0.9900594 -0.48794045] [ 0. 0. 0. 1. ]] SLAMing on 90.12313336499999 meters Centerline goodness : 0.127635 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 0.99988985 -0.01129881 -0.00962412 -8.65784704] [ 0.00984085 0.99010462 -0.13998573 -1.32549173] [ 0.01111056 0.1398756 0.99010675 -0.48874577] [ 0. 0. 0. 1. ]] SLAMing on 90.18313336499999 meters Centerline goodness : 0.129294 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:-1.33, Z:-0.49 [[ 0.99973319 -0.02089878 -0.00983769 -8.68004133] [ 0.01932581 0.9900612 -0.13930304 -1.32622841] [ 0.01265118 0.13907576 0.99020093 -0.48941168] [ 0. 0. 0. 1. ]] SLAMing on 90.24313336499999 meters Centerline goodness : 0.242841 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-1.33, Z:-0.49 [[ 9.99764681e-01 -2.06792093e-02 -6.55383579e-03 -8.64091887e+00] [ 1.95637947e-02 9.90035316e-01 -1.39453690e-01 -1.32629942e+00] [ 9.37232094e-03 1.39292656e-01 9.90206905e-01 -4.87465474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.303133365 meters Centerline goodness : 0.129580 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99909026e-01 -1.22889142e-02 -5.56084453e-03 -8.66249216e+00] [ 1.13923903e-02 9.90139971e-01 -1.39617516e-01 -1.33241050e+00] [ 7.22176212e-03 1.39541463e-01 9.90189894e-01 -4.89382407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.363133365 meters Centerline goodness : 0.126060 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99906470e-01 -1.23334557e-02 -5.91077676e-03 -8.66098779e+00] [ 1.13865805e-02 9.90120035e-01 -1.39759303e-01 -1.33229691e+00] [ 7.57609366e-03 1.39678927e-01 9.90167865e-01 -4.90522645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.423133365 meters Centerline goodness : 0.129539 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99941633e-01 -8.77657789e-03 -6.30096904e-03 -8.65981232e+00] [ 7.83647459e-03 9.90644672e-01 -1.36241414e-01 -1.33276588e+00] [ 7.43775480e-03 1.36184085e-01 9.90655629e-01 -4.91060483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48313336499999 meters Centerline goodness : 0.126507 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99969566e-01 -5.25199947e-03 -5.76924694e-03 -8.66141029e+00] [ 4.43819993e-03 9.91107883e-01 -1.32986718e-01 -1.33183043e+00] [ 6.41639229e-03 1.32957066e-01 9.91101028e-01 -4.90585270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54313336499999 meters Centerline goodness : 0.125631 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-1.33, Z:-0.49 [[ 9.99983649e-01 -1.68905837e-03 -5.46342960e-03 -8.66228851e+00] [ 9.67227916e-04 9.91576457e-01 -1.29519087e-01 -1.33137859e+00] [ 5.63617347e-03 1.29511685e-01 9.91561878e-01 -4.90307634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60313336499999 meters Centerline goodness : 0.251777 with order 3 Centerline is valid? [False, False] Translation: X:-8.68, Y:-1.33, Z:-0.49 [[ 9.99921028e-01 -9.96288966e-03 -7.66017888e-03 -8.68076265e+00] [ 8.89766158e-03 9.91689808e-01 -1.28343899e-01 -1.32674444e+00] [ 8.87519743e-03 1.28265606e-01 9.91700139e-01 -4.91550962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.663133365 meters Centerline goodness : 0.125563 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:-1.33, Z:-0.49 [[ 9.99919464e-01 -9.96014843e-03 -7.86523281e-03 -8.67994667e+00] [ 8.86821553e-03 9.91684071e-01 -1.28390253e-01 -1.32639136e+00] [ 9.07861207e-03 1.28310163e-01 9.91692534e-01 -4.92117137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.723133365 meters Centerline goodness : 0.124465 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:-1.33, Z:-0.49 [[ 9.99919113e-01 -1.00984412e-02 -7.73235531e-03 -8.68078875e+00] [ 9.01971731e-03 9.91643958e-01 -1.28689181e-01 -1.32515797e+00] [ 8.96730355e-03 1.28609028e-01 9.91654832e-01 -4.91175029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.783133365 meters Centerline goodness : 0.124191 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:-1.32, Z:-0.49 [[ 9.99939690e-01 -6.66711549e-03 -8.72730315e-03 -8.67814368e+00] [ 5.52012657e-03 9.92088435e-01 -1.25419560e-01 -1.32398060e+00] [ 9.49444321e-03 1.25363820e-01 9.92065405e-01 -4.91578708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.843133365 meters Centerline goodness : 0.123960 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:-1.32, Z:-0.49 [[ 9.99941939e-01 -4.37909616e-03 -9.84589804e-03 -8.67333572e+00] [ 3.12795260e-03 9.92317933e-01 -1.23674312e-01 -1.31970086e+00] [ 1.03118429e-02 1.23636334e-01 9.92274016e-01 -4.93681483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90313336499999 meters Centerline goodness : 0.126443 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:-1.32, Z:-0.49 [[ 0.9998836 -0.01108672 -0.01048158 -8.69625312] [ 0.00973391 0.9925669 -0.12131034 -1.31565835] [ 0.01174861 0.12119419 0.99255929 -0.49322405] [ 0. 0. 0. 1. ]] SLAMing on 90.96313336499999 meters Centerline goodness : 0.127368 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:-1.31, Z:-0.49 [[ 9.99894718e-01 -8.87765652e-03 -1.14778307e-02 -8.69233718e+00] [ 7.44434724e-03 9.92819438e-01 -1.19390721e-01 -1.31182259e+00] [ 1.24553232e-02 1.19292707e-01 9.92781001e-01 -4.94658049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02313336499999 meters Centerline goodness : 0.130321 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:-1.31, Z:-0.49 [[ 9.99897184e-01 -9.07527683e-03 -1.11022889e-02 -8.69352757e+00] [ 7.67971027e-03 9.92761686e-01 -1.19855145e-01 -1.30931724e+00] [ 1.21096457e-02 1.19757560e-01 9.92729310e-01 -4.93957022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.083133365 meters Centerline goodness : 0.131067 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:-1.30, Z:-0.49 [[ 0.99983044 -0.01543772 -0.01003866 -8.71694 ] [ 0.0141541 0.99299208 -0.11733023 -1.30283349] [ 0.01177962 0.11716825 0.99304222 -0.49322909] [ 0. 0. 0. 1. ]] SLAMing on 91.143133365 meters Centerline goodness : 0.129201 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:-1.30, Z:-0.49 [[ 0.99986853 -0.01251749 -0.01030714 -8.71688634] [ 0.01125394 0.99334242 -0.1146481 -1.30030383] [ 0.01167363 0.11451704 0.99335269 -0.49236824] [ 0. 0. 0. 1. ]] SLAMing on 91.203133365 meters Centerline goodness : 0.135325 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.29, Z:-0.49 [[ 0.99972237 -0.02134973 -0.00996838 -8.73840891] [ 0.02007057 0.99323336 -0.11438819 -1.2936026 ] [ 0.01234309 0.11415636 0.99338612 -0.49268966] [ 0. 0. 0. 1. ]] SLAMing on 91.26313336499999 meters Centerline goodness : 0.128884 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.29, Z:-0.49 [[ 0.99971849 -0.02144526 -0.01015088 -8.73790567] [ 0.020143 0.99321687 -0.1145186 -1.29298605] [ 0.01253791 0.11428189 0.99336924 -0.49278096] [ 0. 0. 0. 1. ]] SLAMing on 91.32313336499999 meters Centerline goodness : 0.132315 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.30, Z:-0.49 [[ 0.99970812 -0.02194766 -0.01009843 -8.73835569] [ 0.0206487 0.99321169 -0.11447342 -1.29529184] [ 0.0125423 0.11423149 0.99337498 -0.49231944] [ 0. 0. 0. 1. ]] SLAMing on 91.38313336499999 meters Centerline goodness : 0.134544 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.30, Z:-0.49 [[ 0.99970914 -0.02214514 -0.00955107 -8.73985991] [ 0.02091391 0.99326776 -0.11393755 -1.2992863 ] [ 0.01200993 0.11370466 0.993442 -0.49215211] [ 0. 0. 0. 1. ]] SLAMing on 91.443133365 meters Centerline goodness : 0.139186 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.30, Z:-0.49 [[ 0.99969876 -0.02272511 -0.00927168 -8.74047787] [ 0.02152487 0.99328329 -0.11368813 -1.30421943] [ 0.01179298 0.11345431 0.99347322 -0.4923842 ] [ 0. 0. 0. 1. ]] SLAMing on 91.503133365 meters Centerline goodness : 0.135070 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.31, Z:-0.49 [[ 0.9996101 -0.02630625 -0.00936066 -8.73920709] [ 0.02503789 0.99287338 -0.11651415 -1.30924546] [ 0.012359 0.11623435 0.99314492 -0.49401145] [ 0. 0. 0. 1. ]] SLAMing on 91.563133365 meters Centerline goodness : 0.130577 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.31, Z:-0.50 [[ 0.99961275 -0.02606199 -0.00975359 -8.73788002] [ 0.02476218 0.99299513 -0.11553141 -1.31458534] [ 0.01269625 0.11524515 0.99325594 -0.49500471] [ 0. 0. 0. 1. ]] SLAMing on 91.62313336499999 meters Centerline goodness : 0.131623 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.32, Z:-0.50 [[ 0.99962377 -0.02561074 -0.0098187 -8.73755547] [ 0.02432003 0.99312945 -0.11446589 -1.31977459] [ 0.01268279 0.11418403 0.99337866 -0.49563481] [ 0. 0. 0. 1. ]] SLAMing on 91.68313336499999 meters Centerline goodness : 0.134105 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.33, Z:-0.50 [[ 0.99978838 -0.017565 -0.01070804 -8.75651004] [ 0.01621566 0.99321053 -0.11519499 -1.3275269 ] [ 0.01265874 0.11499697 0.99328518 -0.49846168] [ 0. 0. 0. 1. ]] SLAMing on 91.74313336499999 meters Centerline goodness : 0.131287 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.33, Z:-0.50 [[ 0.99979033 -0.01735081 -0.01087426 -8.7558511 ] [ 0.01599149 0.99328356 -0.11459515 -1.3303619 ] [ 0.01278954 0.11439722 0.99335276 -0.49920526] [ 0. 0. 0. 1. ]] SLAMing on 91.803133365 meters Centerline goodness : 0.138499 with order 3 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.34, Z:-0.50 [[ 0.99951076 -0.02881228 -0.01216973 -8.77742123] [ 0.02722006 0.99296177 -0.11526484 -1.33609894] [ 0.01540512 0.11487719 0.99326024 -0.49999477] [ 0. 0. 0. 1. ]] SLAMing on 91.863133365 meters Centerline goodness : 0.137078 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.34, Z:-0.50 [[ 0.99949263 -0.02925252 -0.0126007 -8.77611665] [ 0.02761547 0.99300564 -0.11479188 -1.34046991] [ 0.01587052 0.11438567 0.99330964 -0.50071631] [ 0. 0. 0. 1. ]] SLAMing on 91.923133365 meters Centerline goodness : 0.135967 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.34, Z:-0.50 [[ 0.99948211 -0.02944553 -0.01297942 -8.7748582 ] [ 0.02777256 0.99306224 -0.11426318 -1.34419724] [ 0.01625391 0.11384354 0.99336572 -0.50150608] [ 0. 0. 0. 1. ]] SLAMing on 91.98313336499999 meters Centerline goodness : 0.209908 with order 3 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.35, Z:-0.50 [[ 0.99947143 -0.03002365 -0.01246751 -8.77683119] [ 0.02840724 0.9930587 -0.1141378 -1.34763783] [ 0.0158078 0.11372331 0.99338669 -0.50082416] [ 0. 0. 0. 1. ]] SLAMing on 92.04313336499999 meters Centerline goodness : 0.122307 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:-1.36, Z:-0.50 [[ 0.99966299 -0.02394342 -0.01003072 -8.79675823] [ 0.02263237 0.99310654 -0.11500945 -1.36052597] [ 0.01271529 0.11474367 0.99331375 -0.50359384] [ 0. 0. 0. 1. ]] SLAMing on 92.10313336499999 meters Centerline goodness : 0.135749 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:-1.36, Z:-0.50 [[ 0.99966365 -0.02392935 -0.00999875 -8.79684258] [ 0.02262392 0.9931236 -0.11486371 -1.36149039] [ 0.01267861 0.11459887 0.99333094 -0.50363601] [ 0. 0. 0. 1. ]] SLAMing on 92.163133365 meters Centerline goodness : 0.132749 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.36, Z:-0.50 [[ 0.99982971 -0.01543578 -0.01011357 -8.77712067] [ 0.01416497 0.99320414 -0.11552012 -1.36483853] [ 0.01182798 0.11535719 0.99325365 -0.50297502] [ 0. 0. 0. 1. ]] SLAMing on 92.223133365 meters Centerline goodness : 0.138582 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.36, Z:-0.50 [[ 0.99987876 -0.01175759 -0.01020878 -8.77712844] [ 0.01053833 0.99362767 -0.11221853 -1.36168753] [ 0.01146314 0.11209734 0.99363111 -0.50267335] [ 0. 0. 0. 1. ]] SLAMing on 92.283133365 meters Centerline goodness : 0.140080 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.36, Z:-0.50 [[ 0.99987271 -0.01205374 -0.01045307 -8.77619723] [ 0.0107975 0.99355067 -0.11287376 -1.35871179] [ 0.01174621 0.11274653 0.99355435 -0.5030312 ] [ 0. 0. 0. 1. ]] SLAMing on 92.343133365 meters Centerline goodness : 0.140355 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.36, Z:-0.50 [[ 0.99987017 -0.01244466 -0.0102362 -8.77700454] [ 0.01120523 0.99349555 -0.11331832 -1.35678309] [ 0.01157982 0.11318891 0.993506 -0.50270442] [ 0. 0. 0. 1. ]] SLAMing on 92.40313336499999 meters SLAMing on 92.46313336499999 meters Centerline goodness : 0.127388 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.35, Z:-0.50 [[ 9.99864707e-01 -1.41975667e-02 -8.30640826e-03 -8.78241812e+00] [ 1.31618604e-02 9.93430925e-01 -1.13673935e-01 -1.35416860e+00] [ 9.86573611e-03 1.13549228e-01 9.93483387e-01 -5.03242292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52313336499999 meters Centerline goodness : 0.275757 with order 2 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.35, Z:-0.50 [[ 9.99861925e-01 -1.44706758e-02 -8.16886568e-03 -8.78266457e+00] [ 1.34460150e-02 9.93394284e-01 -1.13960524e-01 -1.35245275e+00] [ 9.76399028e-03 1.13834950e-01 9.93451694e-01 -5.03574654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.583133365 meters Centerline goodness : 0.086050 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.35, Z:-0.50 [[ 9.99859766e-01 -1.45959809e-02 -8.21008008e-03 -8.78231062e+00] [ 1.35644089e-02 9.93376315e-01 -1.14103036e-01 -1.35160809e+00] [ 9.82114484e-03 1.13975670e-01 9.93434996e-01 -5.04053837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.643133365 meters Centerline goodness : 0.098674 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.35, Z:-0.50 [[ 0.99981208 -0.01625735 -0.01055936 -8.82746784] [ 0.01493531 0.99324549 -0.11506665 -1.34707478] [ 0.01235871 0.11488732 0.99330165 -0.50348966] [ 0. 0. 0. 1. ]] SLAMing on 92.703133365 meters Centerline goodness : 0.088729 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.34, Z:-0.50 [[ 0.99985421 -0.01365416 -0.01025293 -8.82879691] [ 0.01241302 0.99355734 -0.11264873 -1.34367394] [ 0.011725 0.11250504 0.99358198 -0.50278439] [ 0. 0. 0. 1. ]] SLAMing on 92.76313336499999 meters Centerline goodness : 0.087613 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.34, Z:-0.50 [[ 0.99985017 -0.01394761 -0.01025172 -8.82887235] [ 0.01269769 0.99348584 -0.113246 -1.34126223] [ 0.01176445 0.11309886 0.99351409 -0.50245399] [ 0. 0. 0. 1. ]] SLAMing on 92.82313336499999 meters Centerline goodness : 0.095634 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.34, Z:-0.50 [[ 0.9998469 -0.01401047 -0.01048233 -8.82805959] [ 0.01273165 0.99346264 -0.11344556 -1.340036 ] [ 0.01200323 0.11329474 0.99348892 -0.50279711] [ 0. 0. 0. 1. ]] SLAMing on 92.88313336499999 meters Centerline goodness : 0.088929 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.34, Z:-0.50 [[ 0.99984572 -0.0141312 -0.01043304 -8.8282242 ] [ 0.01285647 0.99345404 -0.11350675 -1.33993025] [ 0.01196874 0.1133551 0.99348245 -0.50283678] [ 0. 0. 0. 1. ]] SLAMing on 92.943133365 meters Centerline goodness : 0.095762 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.34, Z:-0.50 [[ 0.99984743 -0.01409473 -0.01031792 -8.82834528] [ 0.01283553 0.99347594 -0.11331729 -1.34066157] [ 0.01184778 0.11316756 0.99350528 -0.50328184] [ 0. 0. 0. 1. ]] SLAMing on 93.003133365 meters SLAMing on 93.063133365 meters SLAMing on 93.12313336499999 meters Centerline goodness : 0.117644 with order 2 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.34, Z:-0.50 [[ 0.99982042 -0.01422472 -0.01252158 -8.82268422] [ 0.01271977 0.99351338 -0.11300166 -1.34325993] [ 0.01404778 0.1128221 0.9935159 -0.50473745] [ 0. 0. 0. 1. ]] SLAMing on 93.18313336499999 meters Centerline goodness : 0.088417 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.34, Z:-0.50 [[ 0.99982165 -0.01421323 -0.01243589 -8.82317111] [ 0.01271751 0.99350929 -0.11303784 -1.34314665] [ 0.0139618 0.11285953 0.99351286 -0.50423999] [ 0. 0. 0. 1. ]] SLAMing on 93.24313336499999 meters Centerline goodness : 0.095950 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.34, Z:-0.50 [[ 0.9998194 -0.01424604 -0.01257816 -8.82297919] [ 0.01273091 0.99348386 -0.11325961 -1.34217821] [ 0.0141097 0.11307903 0.99348581 -0.50376256] [ 0. 0. 0. 1. ]] SLAMing on 93.303133365 meters Centerline goodness : 0.312860 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.34, Z:-0.50 [[ 0.99986332 -0.01081657 -0.01250371 -8.8239881 ] [ 0.00937259 0.99385724 -0.11027216 -1.33976277] [ 0.01361967 0.1101399 0.99382277 -0.50238302] [ 0. 0. 0. 1. ]] SLAMing on 93.363133365 meters Centerline goodness : 0.097348 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.34, Z:-0.50 [[ 9.99895530e-01 -7.30241267e-03 -1.24741194e-02 -8.82409778e+00] [ 5.92323043e-03 9.94216854e-01 -1.07227619e-01 -1.33720652e+00] [ 1.31850001e-02 1.07142530e-01 9.94156242e-01 -5.02036637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.423133365 meters Centerline goodness : 0.095939 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.33, Z:-0.50 [[ 9.99917847e-01 -3.67507694e-03 -1.22797635e-02 -8.82518110e+00] [ 2.37667900e-03 9.94561581e-01 -1.04123062e-01 -1.33423501e+00] [ 1.25956413e-02 1.04085323e-01 9.94488610e-01 -5.00945041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48313336499999 meters Centerline goodness : 0.218089 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.33, Z:-0.50 [[ 9.99926309e-01 -4.73020022e-05 -1.21397725e-02 -8.82616182e+00] [-1.18466318e-03 9.94839481e-01 -1.01454437e-01 -1.32807347e+00] [ 1.20819240e-02 1.01461342e-01 9.94766115e-01 -4.99351572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54313336499999 meters Centerline goodness : 0.088719 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.33, Z:-0.50 [[ 9.99920171e-01 3.59652119e-03 -1.21126335e-02 -8.82570281e+00] [-4.76809760e-03 9.95162330e-01 -9.81285000e-02 -1.32551656e+00] [ 1.17011154e-02 9.81784208e-02 9.95100036e-01 -4.99795458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60313336499999 meters Centerline goodness : 0.088217 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.32, Z:-0.50 [[ 9.99911524e-01 7.13667163e-03 -1.12255431e-02 -8.82840693e+00] [-8.16827259e-03 9.95471157e-01 -9.47124881e-02 -1.32446866e+00] [ 1.04987725e-02 9.47958015e-02 9.95441375e-01 -4.98693993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.663133365 meters Centerline goodness : 0.153729 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.32, Z:-0.50 [[ 0.99988134 0.01067531 -0.0111062 -8.82875735] [-0.01164852 0.99572676 -0.09161073 -1.32233748] [ 0.01008077 0.09172923 0.99573296 -0.49821708] [ 0. 0. 0. 1. ]] SLAMing on 93.723133365 meters Centerline goodness : 0.122963 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.32, Z:-0.50 [[ 0.99987971 0.01067791 -0.01124946 -8.82822261] [-0.01166877 0.99568598 -0.09205038 -1.31969504] [ 0.01021802 0.09217057 0.9956908 -0.49832718] [ 0. 0. 0. 1. ]] SLAMing on 93.783133365 meters SLAMing on 93.843133365 meters Centerline goodness : 0.124415 with order 3 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.32, Z:-0.50 [[ 0.99983988 0.01286099 -0.01244255 -8.82282256] [-0.01393266 0.99581979 -0.0902708 -1.31737411] [ 0.01122957 0.09042971 0.99583953 -0.50106846] [ 0. 0. 0. 1. ]] SLAMing on 93.90313336499999 meters Centerline goodness : 0.144016 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.31, Z:-0.50 [[ 9.99888498e-01 4.65226859e-03 -1.41896820e-02 -8.84172915e+00] [-5.89929864e-03 9.96000950e-01 -8.91476582e-02 -1.31308094e+00] [ 1.37181979e-02 8.92214272e-02 9.95917340e-01 -5.01610429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96313336499999 meters Centerline goodness : 0.148317 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.31, Z:-0.50 [[ 9.99855778e-01 8.41181057e-03 -1.47534491e-02 -8.84020608e+00] [-9.64154451e-03 9.96303016e-01 -8.53659193e-02 -1.31383591e+00] [ 1.39808239e-02 8.54958537e-02 9.96240431e-01 -5.01846898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02313336499999 meters Centerline goodness : 0.228107 with order 3 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.31, Z:-0.50 [[ 9.99847460e-01 8.67849188e-03 -1.51571931e-02 -8.83898977e+00] [-9.94059112e-03 9.96307297e-01 -8.52816206e-02 -1.31380758e+00] [ 1.43611062e-02 8.54192832e-02 9.96241590e-01 -5.02335283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.083133365 meters Centerline goodness : 0.120602 with order 3 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.32, Z:-0.50 [[ 0.99980153 0.01255679 -0.0154667 -8.83827448] [-0.01377234 0.99660502 -0.0811711 -1.31680542] [ 0.01439494 0.081368 0.99658017 -0.50252282] [ 0. 0. 0. 1. ]] SLAMing on 94.143133365 meters Centerline goodness : 0.138604 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.32, Z:-0.50 [[ 0.9998001 0.01273607 -0.01541249 -8.83881005] [-0.01393931 0.99664408 -0.08066148 -1.31973939] [ 0.01433346 0.0808602 0.99662239 -0.50215497] [ 0. 0. 0. 1. ]] SLAMing on 94.203133365 meters Centerline goodness : 0.136792 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.33, Z:-0.50 [[ 0.99979767 0.01324989 -0.01513475 -8.83995798] [-0.01441173 0.99673616 -0.07943135 -1.32598108] [ 0.0140329 0.0796334 0.99672544 -0.5019273 ] [ 0. 0. 0. 1. ]] SLAMing on 94.26313336499999 meters Centerline goodness : 0.140465 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.33, Z:-0.50 [[ 0.99979544 0.01363628 -0.01493726 -8.84033445] [-0.01477054 0.99679195 -0.07866154 -1.32941499] [ 0.01381669 0.07886608 0.99678947 -0.50231435] [ 0. 0. 0. 1. ]] SLAMing on 94.32313336499999 meters Centerline goodness : 0.151117 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.33, Z:-0.50 [[ 9.99858856e-01 7.23567810e-03 -1.51629009e-02 -8.82314757e+00] [-8.38097222e-03 9.97004825e-01 -7.68839236e-02 -1.32755585e+00] [ 1.45611781e-02 7.70001517e-02 9.96924746e-01 -5.00344095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38313336499999 meters Centerline goodness : 0.151863 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.33, Z:-0.50 [[ 9.99881459e-01 1.65124993e-03 -1.53082325e-02 -8.84517145e+00] [-2.76991100e-03 9.97302762e-01 -7.33452758e-02 -1.32831104e+00] [ 1.51458312e-02 7.33789838e-02 9.97189114e-01 -5.00531326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.443133365 meters Centerline goodness : 0.144066 with order 3 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.33, Z:-0.50 [[ 9.99879286e-01 1.96186403e-03 -1.54131245e-02 -8.84494102e+00] [-3.07506594e-03 9.97361047e-01 -7.25361018e-02 -1.33277469e+00] [ 1.52301441e-02 7.25747420e-02 9.97246684e-01 -5.00828694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503133365 meters Centerline goodness : 0.124061 with order 3 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.33, Z:-0.50 [[ 9.99875628e-01 2.08772524e-03 -1.56323238e-02 -8.84405640e+00] [-3.21112422e-03 9.97385916e-01 -7.21874181e-02 -1.33449528e+00] [ 1.54407521e-02 7.22286374e-02 9.97268573e-01 -5.01533533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.563133365 meters Centerline goodness : 0.104386 with order 3 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.34, Z:-0.50 [[ 9.99876324e-01 2.36883371e-03 -1.55474912e-02 -8.84411148e+00] [-3.47509773e-03 9.97433307e-01 -7.15172816e-02 -1.33750976e+00] [ 1.53381730e-02 7.15624657e-02 9.97318181e-01 -5.02013838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62313336499999 meters Centerline goodness : 0.123435 with order 3 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.34, Z:-0.50 [[ 9.99879704e-01 2.64988015e-03 -1.52824959e-02 -8.84516915e+00] [-3.72530127e-03 9.97485265e-01 -7.07761832e-02 -1.34128840e+00] [ 1.50565161e-02 7.08246010e-02 9.97375144e-01 -5.01569041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68313336499999 meters Centerline goodness : 0.125457 with order 3 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.34, Z:-0.50 [[ 9.99880378e-01 2.81717904e-03 -1.52083580e-02 -8.84542701e+00] [-3.88097020e-03 9.97512845e-01 -7.03779904e-02 -1.34320794e+00] [ 1.49722650e-02 7.04285948e-02 9.97404454e-01 -5.01557298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74313336499999 meters Centerline goodness : 0.131161 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.34, Z:-0.50 [[ 9.99881216e-01 2.87117912e-03 -1.51430129e-02 -8.84527866e+00] [-3.92902764e-03 9.97518374e-01 -7.02969094e-02 -1.34370458e+00] [ 1.49035986e-02 7.03480566e-02 9.97411166e-01 -5.02146276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.803133365 meters Centerline goodness : 0.129384 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.34, Z:-0.50 [[ 9.99881466e-01 2.89317913e-03 -1.51223167e-02 -8.84508263e+00] [-3.95019468e-03 9.97515100e-01 -7.03421701e-02 -1.34341761e+00] [ 1.48812267e-02 7.03935682e-02 9.97408289e-01 -5.02605752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.863133365 meters Centerline goodness : 0.138959 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.35, Z:-0.50 [[ 9.99880244e-01 3.07731171e-03 -1.51666623e-02 -8.84533726e+00] [-4.13090501e-03 9.97543096e-01 -6.99335980e-02 -1.34518773e+00] [ 1.49141918e-02 6.99878751e-02 9.97436346e-01 -5.02149598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.923133365 meters Centerline goodness : 0.129218 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.34, Z:-0.50 [[ 9.99854132e-01 -5.87579699e-03 -1.60371180e-02 -8.86552060e+00] [ 4.75744412e-03 9.97611978e-01 -6.89036083e-02 -1.34448843e+00] [ 1.64036846e-02 6.88172618e-02 9.97494413e-01 -5.03050524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98313336499999 meters Centerline goodness : 0.137122 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:-1.35, Z:-0.50 [[ 9.99850765e-01 -5.74344084e-03 -1.62929438e-02 -8.86473100e+00] [ 4.61352195e-03 9.97636379e-01 -6.85592540e-02 -1.34616993e+00] [ 1.66481994e-02 6.84738547e-02 9.97513994e-01 -5.03423281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04313336499999 meters Centerline goodness : 0.129427 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:-1.35, Z:-0.50 [[ 9.99847623e-01 -5.46218233e-03 -1.65799943e-02 -8.86398049e+00] [ 4.32709888e-03 9.97693560e-01 -6.77409527e-02 -1.35045092e+00] [ 1.69117669e-02 6.76588873e-02 9.97565169e-01 -5.03753924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10313336499999 meters Centerline goodness : 0.137939 with order 1 Centerline is valid? [False, False] Translation: X:-8.89, Y:-1.35, Z:-0.50 [[ 0.99974205 -0.01450843 -0.01747377 -8.88553481] [ 0.01331221 0.99768227 -0.06672982 -1.3518452 ] [ 0.01840141 0.06647999 0.99761806 -0.50381789] [ 0. 0. 0. 1. ]] SLAMing on 95.163133365 meters Centerline goodness : 0.139172 with order 1 Centerline is valid? [False, False] Translation: X:-8.89, Y:-1.36, Z:-0.50 [[ 0.99974548 -0.01424129 -0.01749751 -8.88524371] [ 0.01305661 0.99773099 -0.06604839 -1.35515892] [ 0.01839842 0.06580312 0.99766299 -0.50433441] [ 0. 0. 0. 1. ]] SLAMing on 95.223133365 meters Centerline goodness : 0.131674 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.36, Z:-0.50 [[ 9.99859660e-01 -5.66620214e-03 -1.57655834e-02 -8.86670845e+00] [ 4.60281940e-03 9.97763345e-01 -6.66867401e-02 -1.36379734e+00] [ 1.61081818e-02 6.66048152e-02 9.97649400e-01 -5.03277571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.283133365 meters Centerline goodness : 0.132698 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.37, Z:-0.50 [[ 9.99863970e-01 -5.34881102e-03 -1.56023114e-02 -8.86719446e+00] [ 4.30862289e-03 9.97813182e-01 -6.59567247e-02 -1.36718235e+00] [ 1.59209820e-02 6.58805281e-02 9.97700495e-01 -5.03303663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.343133365 meters SLAMing on 95.40313336499999 meters Centerline goodness : 0.131468 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:-1.37, Z:-0.51 [[ 9.99857194e-01 -4.62343963e-03 -1.62547188e-02 -8.86460101e+00] [ 3.56375842e-03 9.97903120e-01 -6.46271006e-02 -1.37447611e+00] [ 1.65194341e-02 6.45599436e-02 9.97777090e-01 -5.05025863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46313336499999 meters Centerline goodness : 0.131484 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.38, Z:-0.51 [[ 9.99865292e-01 -4.45461144e-03 -1.57972827e-02 -8.86574640e+00] [ 3.42834103e-03 9.97917819e-01 -6.44070852e-02 -1.37573591e+00] [ 1.60512985e-02 6.43442505e-02 9.97798664e-01 -5.05007617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52313336499999 meters Centerline goodness : 0.134050 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.38, Z:-0.51 [[ 9.99864466e-01 -4.15696729e-03 -1.59301657e-02 -8.86500134e+00] [ 3.12885772e-03 9.97943170e-01 -6.40284276e-02 -1.37703955e+00] [ 1.61635641e-02 6.39699064e-02 9.97820921e-01 -5.05834152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.583133365 meters Centerline goodness : 0.160091 with order 1 Centerline is valid? [False, False] Translation: X:-8.88, Y:-1.38, Z:-0.51 [[ 0.99973995 -0.01190195 -0.01945202 -8.88312999] [ 0.01067265 0.99801145 -0.06212282 -1.37875567] [ 0.02015272 0.06189906 0.99787894 -0.50700535] [ 0. 0. 0. 1. ]] SLAMing on 95.643133365 meters Centerline goodness : 0.162869 with order 1 Centerline is valid? [False, False] Translation: X:-8.88, Y:-1.38, Z:-0.51 [[ 0.99974218 -0.01173404 -0.0194391 -8.88336007] [ 0.0105199 0.99805625 -0.06142515 -1.38271507] [ 0.02012208 0.06120482 0.99792238 -0.50680298] [ 0. 0. 0. 1. ]] SLAMing on 95.703133365 meters Centerline goodness : 0.138918 with order 3 Centerline is valid? [False, False] Translation: X:-8.88, Y:-1.39, Z:-0.51 [[ 0.99975108 -0.01159605 -0.0190605 -8.88452132] [ 0.01042361 0.99811377 -0.06049997 -1.38808209] [ 0.01972611 0.06028623 0.9979862 -0.50646957] [ 0. 0. 0. 1. ]] SLAMing on 95.76313336499999 meters Centerline goodness : 0.203375 with order 3 Centerline is valid? [False, False] Translation: X:-8.88, Y:-1.39, Z:-0.51 [[ 0.99970712 -0.01517087 -0.01885534 -8.8845299 ] [ 0.01395159 0.99790369 -0.06319476 -1.39416777] [ 0.01977453 0.06291319 0.99782308 -0.5071514 ] [ 0. 0. 0. 1. ]] SLAMing on 95.82313336499999 meters Centerline goodness : 0.192482 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-1.40, Z:-0.51 [[ 0.99971575 -0.01480108 -0.01869089 -8.88502042] [ 0.0136073 0.99795489 -0.06245695 -1.39720241] [ 0.0195771 0.06218487 0.99787263 -0.50709107] [ 0. 0. 0. 1. ]] SLAMing on 95.88313336499999 meters Centerline goodness : 0.139164 with order 3 Centerline is valid? [False, False] Translation: X:-8.88, Y:-1.40, Z:-0.51 [[ 0.99971705 -0.01461377 -0.01876862 -8.88494633] [ 0.01342797 0.99799684 -0.06182235 -1.40149045] [ 0.01963448 0.06155283 0.99791069 -0.50705984] [ 0. 0. 0. 1. ]] SLAMing on 95.943133365 meters SLAMing on 96.003133365 meters SLAMing on 96.063133365 meters SLAMing on 96.12313336499999 meters Centerline goodness : 0.092413 with order 1 Centerline is valid? [False, False] Translation: X:-8.97, Y:-1.45, Z:-0.51 [[ 0.99956571 -0.0241073 -0.01694784 -8.96560179] [ 0.0230313 0.99786908 -0.06104804 -1.45342944] [ 0.01838343 0.0606312 0.99799094 -0.51422284] [ 0. 0. 0. 1. ]] SLAMing on 96.18313336499999 meters SLAMing on 96.24313336499999 meters Centerline goodness : 0.147818 with order 1 Centerline is valid? [False, False] Translation: X:-8.98, Y:-1.47, Z:-0.52 [[ 0.99971537 -0.01696813 -0.01677098 -8.98205632] [ 0.0159196 0.99802356 -0.06079096 -1.47434331] [ 0.01776934 0.06050667 0.99800962 -0.51802602] [ 0. 0. 0. 1. ]] SLAMing on 96.303133365 meters Centerline goodness : 0.125942 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-1.48, Z:-0.52 [[ 0.99971337 -0.01688015 -0.01697731 -8.98109324] [ 0.01582378 0.99804027 -0.06054111 -1.47584971] [ 0.01796599 0.06025511 0.99802132 -0.51884639] [ 0. 0. 0. 1. ]] SLAMing on 96.363133365 meters Centerline goodness : 0.147229 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-1.48, Z:-0.52 [[ 9.99836369e-01 -9.66215460e-03 -1.52930979e-02 -9.00193309e+00] [ 8.71463713e-03 9.98108547e-01 -6.08554236e-02 -1.48284250e+00] [ 1.58521663e-02 6.07121920e-02 9.98029428e-01 -5.20471417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.423133365 meters Centerline goodness : 0.147856 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-1.48, Z:-0.52 [[ 9.99841855e-01 -9.85720660e-03 -1.48020600e-02 -9.00360263e+00] [ 8.94045252e-03 9.98111621e-01 -6.07722049e-02 -1.48396357e+00] [ 1.53731522e-02 6.06302569e-02 9.98041902e-01 -5.19745484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48313336499999 meters Centerline goodness : 0.149207 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-1.48, Z:-0.52 [[ 0.999838 -0.0101904 -0.01483661 -9.00354796] [ 0.00927101 0.99810874 -0.06076999 -1.48482763] [ 0.01542782 0.0606226 0.99804152 -0.51979196] [ 0. 0. 0. 1. ]] SLAMing on 96.54313336499999 meters Centerline goodness : 0.149103 with order 3 Centerline is valid? [False, False] Translation: X:-9.01, Y:-1.49, Z:-0.52 [[ 0.99984371 -0.01066894 -0.0140971 -9.00569703] [ 0.00979611 0.99811423 -0.06059718 -1.48581875] [ 0.01471703 0.06044961 0.99806275 -0.52009422] [ 0. 0. 0. 1. ]] SLAMing on 96.60313336499999 meters Centerline goodness : 0.156225 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-1.49, Z:-0.52 [[ 0.99983273 -0.01086339 -0.01471409 -9.00407471] [ 0.00995867 0.99813524 -0.06022347 -1.48701547] [ 0.01534088 0.06006686 0.99807646 -0.52149061] [ 0. 0. 0. 1. ]] SLAMing on 96.663133365 meters Centerline goodness : 0.148327 with order 1 Centerline is valid? [False, False] Translation: X:-8.99, Y:-1.49, Z:-0.52 [[ 9.99889318e-01 -2.81366525e-03 -1.46094340e-02 -8.98818362e+00] [ 1.92702911e-03 9.98175269e-01 -6.03524578e-02 -1.49247685e+00] [ 1.47525873e-02 6.03176251e-02 9.98070211e-01 -5.21501133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.723133365 meters Centerline goodness : 0.136842 with order 3 Centerline is valid? [False, False] Translation: X:-8.97, Y:-1.49, Z:-0.52 [[ 0.99984483 -0.01007179 -0.01445254 -8.96928546] [ 0.00920157 0.99821174 -0.05906483 -1.48791714] [ 0.01502158 0.05892268 0.99814952 -0.51905182] [ 0. 0. 0. 1. ]] SLAMing on 96.783133365 meters Centerline goodness : 0.188006 with order 3 Centerline is valid? [False, False] Translation: X:-8.99, Y:-1.50, Z:-0.52 [[ 9.99868857e-01 -9.93193572e-04 -1.61642373e-02 -8.98588276e+00] [ 2.84496654e-05 9.98223835e-01 -5.95749457e-02 -1.49528030e+00] [ 1.61946964e-02 5.95666730e-02 9.98092953e-01 -5.21131841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.843133365 meters Centerline goodness : 0.123923 with order 1 Centerline is valid? [False, False] Translation: X:-8.97, Y:-1.50, Z:-0.52 [[ 0.99983122 -0.01012439 -0.0153305 -8.96536788] [ 0.0091936 0.99817917 -0.05961392 -1.49580796] [ 0.01590614 0.05946291 0.99810378 -0.52023855] [ 0. 0. 0. 1. ]] SLAMing on 96.90313336499999 meters Centerline goodness : 0.207365 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-1.50, Z:-0.52 [[ 0.99966557 -0.02290713 -0.01200048 -8.95177492] [ 0.02215374 0.99797996 -0.05954165 -1.50041838] [ 0.01334017 0.05925588 0.99815369 -0.52096393] [ 0. 0. 0. 1. ]] SLAMing on 96.96313336499999 meters Centerline goodness : 0.448112 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-1.51, Z:-0.52 [[ 0.99965947 -0.02329782 -0.01175435 -8.95251873] [ 0.02257148 0.99802972 -0.05854232 -1.5051354 ] [ 0.0130951 0.05825707 0.99821572 -0.52221161] [ 0. 0. 0. 1. ]] SLAMing on 97.02313336499999 meters Centerline goodness : 0.155244 with order 1 Centerline is valid? [False, False] Translation: X:-8.95, Y:-1.51, Z:-0.52 [[ 0.99965841 -0.02313054 -0.01216688 -8.95159988] [ 0.02239605 0.99810081 -0.05738625 -1.50983388] [ 0.01347114 0.05709416 0.99827791 -0.52307154] [ 0. 0. 0. 1. ]] SLAMing on 97.083133365 meters Centerline goodness : 0.399435 with order 3 Centerline is valid? [False, False] Translation: X:-8.97, Y:-1.52, Z:-0.52 [[ 0.99980622 -0.01578052 -0.01176857 -8.96672394] [ 0.01504647 0.99808197 -0.06004993 -1.52048201] [ 0.01269361 0.05986122 0.998126 -0.52480955] [ 0. 0. 0. 1. ]] SLAMing on 97.143133365 meters Centerline goodness : 0.147897 with order 1 Centerline is valid? [False, False] Translation: X:-8.95, Y:-1.53, Z:-0.52 [[ 9.99895642e-01 -6.76176343e-03 -1.27664713e-02 -8.94709827e+00] [ 5.98888932e-03 9.98202217e-01 -5.96361280e-02 -1.52740577e+00] [ 1.31467653e-02 5.95534475e-02 9.98138542e-01 -5.24700459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.203133365 meters SLAMing on 97.26313336499999 meters Centerline goodness : 0.131966 with order 3 Centerline is valid? [False, False] Translation: X:-8.92, Y:-1.53, Z:-0.53 [[ 9.99885245e-01 4.57616258e-03 -1.44414377e-02 -8.92124201e+00] [-5.41176196e-03 9.98280758e-01 -5.83630180e-02 -1.53048911e+00] [ 1.41495307e-02 5.84344742e-02 9.98190965e-01 -5.26506881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32313336499999 meters Centerline goodness : 0.147442 with order 3 Centerline is valid? [False, False] Translation: X:-8.92, Y:-1.53, Z:-0.53 [[ 9.99885779e-01 4.63772658e-03 -1.43847240e-02 -8.92130280e+00] [-5.46837128e-03 9.98286826e-01 -5.82538344e-02 -1.53082401e+00] [ 1.40899151e-02 5.83258416e-02 9.98198162e-01 -5.26648207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38313336499999 meters SLAMing on 97.443133365 meters Centerline goodness : 0.127404 with order 1 Centerline is valid? [False, False] Translation: X:-8.92, Y:-1.53, Z:-0.53 [[ 9.99883101e-01 4.19140475e-03 -1.47043025e-02 -8.92057273e+00] [-5.03420001e-03 9.98318057e-01 -5.77556446e-02 -1.53341270e+00] [ 1.44374934e-02 5.78229174e-02 9.98222455e-01 -5.26581741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.503133365 meters Centerline goodness : 0.146356 with order 1 Centerline is valid? [False, False] Translation: X:-8.90, Y:-1.53, Z:-0.53 [[ 9.99888798e-01 -3.45301804e-03 -1.45075158e-02 -8.89940440e+00] [ 2.62287425e-03 9.98378949e-01 -5.68559051e-02 -1.53223358e+00] [ 1.46803228e-02 5.68115313e-02 9.98276985e-01 -5.25364088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.563133365 meters Centerline goodness : 0.146248 with order 1 Centerline is valid? [False, False] Translation: X:-8.90, Y:-1.53, Z:-0.52 [[ 9.99882393e-01 -1.15236745e-04 -1.53357938e-02 -8.89791988e+00] [-7.02976032e-04 9.98576319e-01 -5.33370527e-02 -1.53462566e+00] [ 1.53201069e-02 5.33415606e-02 9.98458798e-01 -5.24978115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62313336499999 meters Centerline goodness : 0.247890 with order 3 Centerline is valid? [False, False] Translation: X:-8.90, Y:-1.54, Z:-0.52 [[ 9.99879641e-01 3.67616635e-03 -1.50728042e-02 -8.89950450e+00] [-4.41850462e-03 9.98763534e-01 -4.95164611e-02 -1.53558192e+00] [ 1.48721365e-02 4.95771006e-02 9.98659567e-01 -5.23672325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68313336499999 meters Centerline goodness : 0.238385 with order 3 Centerline is valid? [False, False] Translation: X:-8.90, Y:-1.54, Z:-0.52 [[ 9.99878682e-01 3.78544744e-03 -1.51093330e-02 -8.89968777e+00] [-4.52515378e-03 9.98777370e-01 -4.92268953e-02 -1.53695758e+00] [ 1.49045141e-02 4.92892952e-02 9.98673330e-01 -5.23330748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74313336499999 meters Centerline goodness : 0.242188 with order 3 Centerline is valid? [False, False] Translation: X:-8.90, Y:-1.54, Z:-0.52 [[ 9.99879321e-01 3.60053306e-03 -1.51122660e-02 -8.89998326e+00] [-4.33735761e-03 9.98788838e-01 -4.90106480e-02 -1.53907504e+00] [ 1.49174981e-02 4.90702807e-02 9.98683922e-01 -5.22983103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.803133365 meters Centerline goodness : 0.248839 with order 3 Centerline is valid? [False, False] Translation: X:-8.90, Y:-1.54, Z:-0.52 [[ 9.99874489e-01 3.33934242e-03 -1.54872400e-02 -8.89938967e+00] [-4.08980407e-03 9.98806000e-01 -4.86810755e-02 -1.54198125e+00] [ 1.53061855e-02 4.87383053e-02 9.98694297e-01 -5.22699573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.863133365 meters SLAMing on 97.923133365 meters Centerline goodness : 0.156391 with order 3 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.54, Z:-0.52 [[ 9.99890109e-01 2.27868801e-03 -1.46484761e-02 -8.85221779e+00] [-3.00906504e-03 9.98743021e-01 -5.00332335e-02 -1.54248731e+00] [ 1.45160531e-02 5.00718135e-02 9.98640124e-01 -5.22325905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98313336499999 meters Centerline goodness : 0.125187 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.54, Z:-0.52 [[ 9.99859617e-01 5.25879568e-03 -1.59088175e-02 -8.84865227e+00] [-6.00025015e-03 9.98880458e-01 -4.69236371e-02 -1.54267001e+00] [ 1.56442451e-02 4.70125068e-02 9.98771787e-01 -5.23021177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04313336499999 meters Centerline goodness : 0.124745 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.54, Z:-0.52 [[ 9.99855890e-01 5.31570143e-03 -1.61227065e-02 -8.84809087e+00] [-6.06495380e-03 9.98886581e-01 -4.67847599e-02 -1.54321240e+00] [ 1.58560614e-02 4.68758012e-02 9.98774872e-01 -5.23121396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10313336499999 meters Centerline goodness : 0.152022 with order 3 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.54, Z:-0.52 [[ 9.99852579e-01 5.46793158e-03 -1.62764498e-02 -8.84761532e+00] [-6.21955389e-03 9.98899302e-01 -4.64919544e-02 -1.54413757e+00] [ 1.60043195e-02 4.65863327e-02 9.98786051e-01 -5.23351396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.163133365 meters Centerline goodness : 0.253103 with order 3 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.55, Z:-0.52 [[ 9.99850674e-01 5.46847528e-03 -1.63928448e-02 -8.84721473e+00] [-6.21891463e-03 9.98918271e-01 -4.60826740e-02 -1.54692760e+00] [ 1.61231102e-02 4.61777383e-02 9.98803115e-01 -5.23679120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.223133365 meters Centerline goodness : 0.230439 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.54, Z:-0.52 [[ 9.99849384e-01 -1.38978418e-03 -1.72996333e-02 -8.82806424e+00] [ 6.12904299e-04 9.98994359e-01 -4.48318503e-02 -1.54411659e+00] [ 1.73445427e-02 4.48144949e-02 9.98844747e-01 -5.21208282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283133365 meters Centerline goodness : 0.167889 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-1.54, Z:-0.52 [[ 9.99808589e-01 -8.15819467e-03 -1.77828291e-02 -8.80837767e+00] [ 7.37529965e-03 9.99019448e-01 -4.36548756e-02 -1.53967848e+00] [ 1.81215371e-02 4.35153659e-02 9.98888394e-01 -5.19265616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.343133365 meters Centerline goodness : 0.226283 with order 3 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.53, Z:-0.52 [[ 0.99970729 -0.01476363 -0.01916703 -8.78898251] [ 0.01393153 0.99898466 -0.04284355 -1.53435388] [ 0.01978009 0.04256398 0.99889792 -0.5170993 ] [ 0. 0. 0. 1. ]] SLAMing on 98.40313336499999 meters SLAMing on 98.46313336499999 meters Centerline goodness : 0.135371 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.54, Z:-0.51 [[ 9.99821725e-01 -4.93850190e-03 -1.82244342e-02 -8.77614971e+00] [ 4.16765446e-03 9.99104892e-01 -4.20956792e-02 -1.53552309e+00] [ 1.84160109e-02 4.20122215e-02 9.98947358e-01 -5.14554470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52313336499999 meters Centerline goodness : 0.133854 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.53, Z:-0.51 [[ 9.99822686e-01 -5.20105186e-03 -1.80982018e-02 -8.77678745e+00] [ 4.42250527e-03 9.99074080e-01 -4.27951356e-02 -1.53202432e+00] [ 1.83040240e-02 4.27075080e-02 9.98919932e-01 -5.13900755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583133365 meters SLAMing on 98.643133365 meters Centerline goodness : 0.200885 with order 3 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.51, Z:-0.51 [[ 9.99815315e-01 -1.82922216e-03 -1.91308657e-02 -8.77423845e+00] [ 1.04386717e-03 9.99159363e-01 -4.09814215e-02 -1.51385321e+00] [ 1.91897477e-02 4.09538828e-02 9.98976743e-01 -5.13276651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.703133365 meters Centerline goodness : 0.128561 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.50, Z:-0.51 [[ 9.99800504e-01 -8.93542821e-03 -1.78636553e-02 -8.75689901e+00] [ 8.20446496e-03 9.99142537e-01 -4.05817396e-02 -1.50029958e+00] [ 1.82109531e-02 4.04270820e-02 9.99016523e-01 -5.10051345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76313336499999 meters Centerline goodness : 0.140234 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.50, Z:-0.51 [[ 9.99795847e-01 -9.37388293e-03 -1.78995595e-02 -8.75682732e+00] [ 8.62609468e-03 9.99105139e-01 -4.14066598e-02 -1.49566418e+00] [ 1.82716831e-02 4.12438033e-02 9.98982029e-01 -5.09837117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82313336499999 meters Centerline goodness : 0.153554 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.49, Z:-0.51 [[ 9.99793873e-01 -7.45006644e-03 -1.88867044e-02 -8.75370491e+00] [ 6.68845109e-03 9.99174377e-01 -4.00727967e-02 -1.48813161e+00] [ 1.91696561e-02 3.99382138e-02 9.99018250e-01 -5.10625876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88313336499999 meters Centerline goodness : 0.131539 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.48, Z:-0.51 [[ 9.99805568e-01 -3.99127561e-03 -1.93105317e-02 -8.75306961e+00] [ 3.27355827e-03 9.99307790e-01 -3.70570339e-02 -1.48408794e+00] [ 1.94450696e-02 3.69866146e-02 9.99126558e-01 -5.09981223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.943133365 meters Centerline goodness : 0.132143 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.48, Z:-0.51 [[ 9.99809018e-01 -3.62693604e-04 -1.95395881e-02 -8.75263263e+00] [-3.07932968e-04 9.99411277e-01 -3.43074906e-02 -1.47818476e+00] [ 1.95405278e-02 3.43069554e-02 9.99220296e-01 -5.09556992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003133365 meters Centerline goodness : 0.178268 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.47, Z:-0.51 [[ 9.99795594e-01 4.67866512e-03 -1.96692834e-02 -8.75267206e+00] [-5.28993847e-03 9.99500994e-01 -3.11412840e-02 -1.46536995e+00] [ 1.95137687e-02 3.12389678e-02 9.99321440e-01 -5.08407493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.063133365 meters Centerline goodness : 0.101313 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.46, Z:-0.51 [[ 9.99772496e-01 8.50967916e-03 -1.95586774e-02 -8.75314523e+00] [-9.06492889e-03 9.99553321e-01 -2.84778211e-02 -1.45824773e+00] [ 1.93076038e-02 2.86486403e-02 9.99403058e-01 -5.07708395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12313336499999 meters Centerline goodness : 0.255759 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.45, Z:-0.51 [[ 0.99973617 0.01203194 -0.01956606 -8.75314191] [-0.01253705 0.99958589 -0.02590101 -1.452068 ] [ 0.01924631 0.02613948 0.99947301 -0.50734743] [ 0. 0. 0. 1. ]] SLAMing on 99.18313336499999 meters Centerline goodness : 0.138978 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.44, Z:-0.51 [[ 0.99969302 0.01557718 -0.01926724 -8.75378262] [-0.0160299 0.99959366 -0.02357026 -1.44369352] [ 0.01889225 0.02387188 0.9995365 -0.50702486] [ 0. 0. 0. 1. ]] SLAMing on 99.24313336499999 meters Centerline goodness : 0.120494 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.44, Z:-0.51 [[ 0.99968099 0.01612984 -0.01943589 -8.75278222] [-0.01658941 0.99958096 -0.02372111 -1.43678244] [ 0.01904513 0.02403597 0.99952967 -0.5073379 ] [ 0. 0. 0. 1. ]] SLAMing on 99.303133365 meters Centerline goodness : 0.144175 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.43, Z:-0.51 [[ 0.99967327 0.01605078 -0.01989264 -8.75155678] [-0.01653767 0.99956161 -0.02455805 -1.43214633] [ 0.01948974 0.024879 0.99950047 -0.50731297] [ 0. 0. 0. 1. ]] SLAMing on 99.363133365 meters SLAMing on 99.423133365 meters Centerline goodness : 0.219628 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.42, Z:-0.50 [[ 9.99755961e-01 8.11455479e-03 -2.05468492e-02 -8.73361789e+00] [-8.61163737e-03 9.99669540e-01 -2.42208691e-02 -1.42295414e+00] [ 2.03435177e-02 2.43919003e-02 9.99495461e-01 -5.04910457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48313336499999 meters Centerline goodness : 0.119327 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.42, Z:-0.51 [[ 9.99774766e-01 -4.07519306e-04 -2.12191088e-02 -8.75288023e+00] [-6.99314936e-05 9.99746944e-01 -2.24953803e-02 -1.41963493e+00] [ 2.12229065e-02 2.24917975e-02 9.99521739e-01 -5.06679166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54313336499999 meters Centerline goodness : 0.152432 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.42, Z:-0.51 [[ 9.99766851e-01 -4.06488588e-04 -2.15888527e-02 -8.75226648e+00] [-8.41511563e-05 9.99741847e-01 -2.27207622e-02 -1.41924034e+00] [ 2.15925152e-02 2.27172816e-02 9.99508724e-01 -5.05986260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60313336499999 meters Centerline goodness : 0.173417 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.42, Z:-0.51 [[ 9.99741898e-01 3.57785075e-03 -2.24351613e-02 -8.75030570e+00] [-4.00005705e-03 9.99815217e-01 -1.88024054e-02 -1.41982546e+00] [ 2.23637435e-02 1.88872944e-02 9.99571475e-01 -5.05969434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.663133365 meters SLAMing on 99.723133365 meters SLAMing on 99.783133365 meters Centerline goodness : 0.126596 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.42, Z:-0.50 [[ 9.99722629e-01 7.10064962e-03 -2.24554326e-02 -8.75122053e+00] [-7.45421689e-03 9.99848946e-01 -1.57009788e-02 -1.41833131e+00] [ 2.23405535e-02 1.58640115e-02 9.99624546e-01 -5.04561286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.843133365 meters SLAMing on 99.90313336499999 meters SLAMing on 99.96313336499999 meters Centerline goodness : 0.134997 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.41, Z:-0.50 [[ 0.99969756 0.01081013 -0.02208926 -8.75187777] [-0.01109894 0.99985397 -0.01299396 -1.41200677] [ 0.02194557 0.0132352 0.99967156 -0.50461625] [ 0. 0. 0. 1. ]] SLAMing on 100.02313336499999 meters SLAMing on 100.083133365 meters Centerline goodness : 0.132955 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.41, Z:-0.50 [[ 0.99969312 0.01085508 -0.02226731 -8.75139683] [-0.01113938 0.99985751 -0.01268365 -1.41406096] [ 0.02212646 0.01292781 0.99967159 -0.50472557] [ 0. 0. 0. 1. ]] SLAMing on 100.143133365 meters SLAMing on 100.203133365 meters SLAMing on 100.26313336499999 meters Centerline goodness : 0.115108 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.43, Z:-0.50 [[ 9.99784216e-01 2.43161012e-03 -2.06302869e-02 -8.73098190e+00] [-2.67262348e-03 9.99928413e-01 -1.16629848e-02 -1.42503284e+00] [ 2.06004502e-02 1.17156051e-02 9.99719144e-01 -5.03505399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32313336499999 meters Centerline goodness : 0.124468 with order 2 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.42, Z:-0.50 [[ 9.99779033e-01 3.77230568e-03 -2.06798036e-02 -8.73065399e+00] [-4.00055174e-03 9.99931419e-01 -1.10069119e-02 -1.42440829e+00] [ 2.06368640e-02 1.10872104e-02 9.99725559e-01 -5.04076564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38313336499999 meters Centerline goodness : 0.125382 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.42, Z:-0.50 [[ 9.99766825e-01 4.44550813e-03 -2.11313316e-02 -8.72937575e+00] [-4.67615866e-03 9.99929896e-01 -1.08782453e-02 -1.42273951e+00] [ 2.10814909e-02 1.09745222e-02 9.99717525e-01 -5.04641334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.443133365 meters Centerline goodness : 0.126291 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.42, Z:-0.50 [[ 9.99778707e-01 4.52486177e-03 -2.05441865e-02 -8.73088916e+00] [-4.75174143e-03 9.99928118e-01 -1.10081450e-02 -1.42152348e+00] [ 2.04928994e-02 1.11033296e-02 9.99728342e-01 -5.04531392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.503133365 meters Centerline goodness : 0.180047 with order 2 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.42, Z:-0.50 [[ 9.99785646e-01 4.43435086e-03 -2.02237045e-02 -8.73211765e+00] [-4.65913506e-03 9.99927745e-01 -1.10813477e-02 -1.42137081e+00] [ 2.01731046e-02 1.11731973e-02 9.99734067e-01 -5.03854538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.563133365 meters Centerline goodness : 0.119161 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:-1.42, Z:-0.50 [[ 9.99789307e-01 4.42958132e-03 -2.00429829e-02 -8.73278333e+00] [-4.64870809e-03 9.99929793e-01 -1.08994908e-02 -1.42222242e+00] [ 1.99932956e-02 1.09903684e-02 9.99739706e-01 -5.03543030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62313336499999 meters SLAMing on 100.68313336499999 meters Centerline goodness : 0.123477 with order 3 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.43, Z:-0.50 [[ 9.99769496e-01 1.11827324e-03 -2.14407229e-02 -8.77919022e+00] [-1.36223263e-03 9.99934465e-01 -1.13670926e-02 -1.42826292e+00] [ 2.14266063e-02 1.13936797e-02 9.99705499e-01 -5.03542566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74313336499999 meters Centerline goodness : 0.128258 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.43, Z:-0.50 [[ 9.99761477e-01 1.07538338e-03 -2.18135705e-02 -8.77826290e+00] [-1.32290170e-03 9.99934873e-01 -1.13357330e-02 -1.42878410e+00] [ 2.17999596e-02 1.13618864e-02 9.99697789e-01 -5.03645001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.803133365 meters Centerline goodness : 0.112986 with order 3 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.43, Z:-0.50 [[ 9.99768833e-01 1.18397762e-03 -2.14681095e-02 -8.77921344e+00] [-1.42463910e-03 9.99936282e-01 -1.11983590e-02 -1.42908948e+00] [ 2.14534830e-02 1.12263546e-02 9.99706816e-01 -5.03453867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.863133365 meters SLAMing on 100.923133365 meters Centerline goodness : 0.230532 with order 3 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.43, Z:-0.50 [[ 9.99753703e-01 1.05954317e-03 -2.21677827e-02 -8.77715890e+00] [-1.30806520e-03 9.99936429e-01 -1.11994606e-02 -1.43096314e+00] [ 2.21545072e-02 1.12256992e-02 9.99691533e-01 -5.04025466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98313336499999 meters Centerline goodness : 0.125798 with order 2 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.43, Z:-0.50 [[ 9.99755934e-01 1.30733751e-03 -2.20536376e-02 -8.77805920e+00] [-1.54287625e-03 9.99941920e-01 -1.06666352e-02 -1.43325560e+00] [ 2.20384118e-02 1.06980579e-02 9.99699885e-01 -5.03075904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04313336499999 meters Centerline goodness : 0.126217 with order 2 Centerline is valid? [False, False] Translation: X:-8.78, Y:-1.44, Z:-0.50 [[ 9.99758130e-01 1.53925031e-03 -2.19388273e-02 -8.77863853e+00] [-1.76295095e-03 9.99946619e-01 -1.01808724e-02 -1.43529969e+00] [ 2.19219853e-02 1.02170871e-02 9.99707476e-01 -5.02615327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10313336499999 meters SLAMing on 101.163133365 meters Centerline goodness : 0.122962 with order 3 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.44, Z:-0.51 [[ 9.99883588e-01 1.21588377e-03 -1.52096304e-02 -8.82189430e+00] [-1.35516700e-03 9.99957214e-01 -9.15061609e-03 -1.43714880e+00] [ 1.51978535e-02 9.17016243e-03 9.99842454e-01 -5.05003271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.223133365 meters Centerline goodness : 0.126074 with order 2 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.44, Z:-0.51 [[ 9.99864080e-01 8.11909936e-04 -1.64669952e-02 -8.81830316e+00] [-9.68223202e-04 9.99954531e-01 -9.48676917e-03 -1.43657774e+00] [ 1.64585440e-02 9.50142345e-03 9.99819403e-01 -5.06080882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283133365 meters Centerline goodness : 0.124812 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:-1.44, Z:-0.51 [[ 9.99853839e-01 5.69212826e-04 -1.70873006e-02 -8.81664510e+00] [-7.29226015e-04 9.99955931e-01 -9.35968141e-03 -1.43787827e+00] [ 1.70812199e-02 9.37077390e-03 9.99810192e-01 -5.06375749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34313336499999 meters Centerline goodness : 0.235711 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.45, Z:-0.50 [[ 9.99891504e-01 -4.15537670e-03 -1.41319962e-02 -8.82659770e+00] [ 3.98872508e-03 9.99922418e-01 -1.18003145e-02 -1.44801285e+00] [ 1.41799346e-02 1.17426656e-02 9.99830505e-01 -5.04029334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40313336499999 meters Centerline goodness : 0.123401 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.45, Z:-0.50 [[ 9.99896573e-01 -4.20203473e-03 -1.37544729e-02 -8.82767851e+00] [ 4.05138083e-03 9.99931701e-01 -1.09626828e-02 -1.45152421e+00] [ 1.37995990e-02 1.09058243e-02 9.99845305e-01 -5.04391909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46313336499999 meters Centerline goodness : 0.108171 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.45, Z:-0.50 [[ 9.99895703e-01 -4.30815183e-03 -1.37849126e-02 -8.82773159e+00] [ 4.16321089e-03 9.99935934e-01 -1.05259388e-02 -1.45423461e+00] [ 1.38293768e-02 1.04674515e-02 9.99849579e-01 -5.04454293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52313336499999 meters Centerline goodness : 0.112666 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.46, Z:-0.50 [[ 9.99895900e-01 -4.05946734e-03 -1.38459184e-02 -8.82793203e+00] [ 3.92436267e-03 9.99944562e-01 -9.77097733e-03 -1.45788233e+00] [ 1.38848157e-02 9.71562377e-03 9.99856399e-01 -5.03961643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.583133365 meters Centerline goodness : 0.128100 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.46, Z:-0.50 [[ 9.99894762e-01 -4.07578012e-03 -1.39231046e-02 -8.82780805e+00] [ 3.94703080e-03 9.99949315e-01 -9.26216686e-03 -1.46031463e+00] [ 1.39601495e-02 9.20623720e-03 9.99860170e-01 -5.04268396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.643133365 meters Centerline goodness : 0.109965 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.46, Z:-0.50 [[ 9.99917405e-01 -4.58676223e-03 -1.20060282e-02 -8.83351408e+00] [ 4.47721872e-03 9.99948251e-01 -9.13507307e-03 -1.46125284e+00] [ 1.20473073e-02 9.08056494e-03 9.99886196e-01 -5.02935692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703133365 meters SLAMing on 101.76313336499999 meters Centerline goodness : 0.125761 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.46, Z:-0.50 [[ 9.99944949e-01 -5.49260291e-03 -8.94042498e-03 -8.79249403e+00] [ 5.39273333e-03 9.99923221e-01 -1.11565994e-02 -1.45927113e+00] [ 9.00101731e-03 1.11077719e-02 9.99897794e-01 -5.02935602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82313336499999 meters Centerline goodness : 0.124968 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.46, Z:-0.50 [[ 9.99861423e-01 -1.47787765e-02 -7.66309270e-03 -8.77226595e+00] [ 1.46931197e-02 9.99830257e-01 -1.11161796e-02 -1.45864561e+00] [ 7.82607548e-03 1.10020444e-02 9.99908850e-01 -5.01935876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88313336499999 meters Centerline goodness : 0.109268 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.47, Z:-0.50 [[ 9.99935511e-01 -6.64974425e-03 -9.20626268e-03 -8.78678437e+00] [ 6.53271365e-03 9.99898211e-01 -1.26843021e-02 -1.46673605e+00] [ 9.28967295e-03 1.26233422e-02 9.99877169e-01 -5.04252316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.943133365 meters Centerline goodness : 0.103259 with order 2 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.46, Z:-0.50 [[ 9.99864368e-01 -1.42826825e-02 -8.20068712e-03 -8.76738016e+00] [ 1.41838622e-02 9.99827580e-01 -1.19845449e-02 -1.45943746e+00] [ 8.37044461e-03 1.18666020e-02 9.99894554e-01 -5.03436503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.003133365 meters Centerline goodness : 0.224294 with order 3 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.46, Z:-0.50 [[ 9.99957124e-01 -3.92262180e-03 -8.38829273e-03 -8.78617210e+00] [ 3.81367061e-03 9.99908675e-01 -1.29652690e-02 -1.45958595e+00] [ 8.43838452e-03 1.29327229e-02 9.99880762e-01 -5.02998505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.063133365 meters Centerline goodness : 0.100896 with order 3 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.45, Z:-0.50 [[ 9.99920009e-01 -8.74992773e-03 -9.13319142e-03 -8.76506144e+00] [ 8.65552773e-03 9.99909236e-01 -1.03247798e-02 -1.45162594e+00] [ 9.22270353e-03 1.02449013e-02 9.99904987e-01 -5.02119490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12313336499999 meters Centerline goodness : 0.141085 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.45, Z:-0.50 [[ 9.99940172e-01 -5.95248326e-03 -9.17719927e-03 -8.76495296e+00] [ 5.87991412e-03 9.99951394e-01 -7.91435288e-03 -1.44774685e+00] [ 9.22386325e-03 7.85991823e-03 9.99926568e-01 -5.02246048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18313336499999 meters Centerline goodness : 0.189256 with order 3 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.44, Z:-0.50 [[ 9.99941378e-01 -6.27370772e-03 -8.82507111e-03 -8.76617380e+00] [ 6.19810354e-03 9.99944081e-01 -8.56839674e-03 -1.44459677e+00] [ 8.87833324e-03 8.51319573e-03 9.99924347e-01 -5.01780039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24313336499999 meters Centerline goodness : 0.106947 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.44, Z:-0.50 [[ 9.99857534e-01 -1.52856295e-02 -7.15975503e-03 -8.74734012e+00] [ 1.52251490e-02 9.99848579e-01 -8.42695914e-03 -1.43789949e+00] [ 7.28748227e-03 8.31675025e-03 9.99938860e-01 -5.00676622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.303133365 meters Centerline goodness : 0.112206 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.44, Z:-0.50 [[ 9.99851661e-01 -1.57519727e-02 -6.96643480e-03 -8.74740023e+00] [ 1.56929796e-02 9.99841208e-01 -8.44329233e-03 -1.43743797e+00] [ 7.09832710e-03 8.33271574e-03 9.99940088e-01 -5.02342061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.363133365 meters Centerline goodness : 0.240463 with order 3 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.44, Z:-0.50 [[ 9.99843155e-01 -1.58586730e-02 -7.88471407e-03 -8.74426512e+00] [ 1.57920454e-02 9.99839660e-01 -8.44186937e-03 -1.43687989e+00] [ 8.01732668e-03 8.31602954e-03 9.99933281e-01 -5.04428648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.423133365 meters Centerline goodness : 0.111321 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.44, Z:-0.50 [[ 9.99941019e-01 -6.48528582e-03 -8.71209398e-03 -8.76261857e+00] [ 6.39863540e-03 9.99930151e-01 -9.93731569e-03 -1.43747887e+00] [ 8.77593178e-03 9.88098406e-03 9.99912671e-01 -5.04871249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48313336499999 meters Centerline goodness : 0.118409 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.43, Z:-0.51 [[ 9.99940752e-01 -6.76367988e-03 -8.52909684e-03 -8.76253671e+00] [ 6.67361742e-03 9.99922140e-01 -1.05440519e-02 -1.43384275e+00] [ 8.59974935e-03 1.04865072e-02 9.99908035e-01 -5.05505806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54313336499999 meters Centerline goodness : 0.258071 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.43, Z:-0.51 [[ 9.99940378e-01 -6.79929663e-03 -8.54460521e-03 -8.76212035e+00] [ 6.70836962e-03 9.99921046e-01 -1.06254348e-02 -1.43221183e+00] [ 8.61617606e-03 1.05674809e-02 9.99907041e-01 -5.05996416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60313336499999 meters Centerline goodness : 0.270654 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.43, Z:-0.51 [[ 9.99958737e-01 -3.73013376e-03 -8.28311952e-03 -8.76312938e+00] [ 3.66750275e-03 9.99964670e-01 -7.56364230e-03 -1.43085609e+00] [ 8.31104028e-03 7.53295184e-03 9.99937089e-01 -5.05521119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.663133365 meters Centerline goodness : 0.130489 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.43, Z:-0.51 [[ 9.99961599e-01 -3.44899598e-04 -8.75681960e-03 -8.76127758e+00] [ 3.06573676e-04 9.99990371e-01 -4.37765950e-03 -1.42872706e+00] [ 8.75824514e-03 4.37480678e-03 9.99952076e-01 -5.06525639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.723133365 meters Centerline goodness : 0.121133 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.43, Z:-0.51 [[ 9.99954398e-01 2.67229012e-03 -9.16845532e-03 -8.75968110e+00] [-2.68572332e-03 9.99995338e-01 -1.45315431e-03 -1.42700185e+00] [ 9.16452933e-03 1.47771198e-03 9.99956913e-01 -5.07306865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.783133365 meters Centerline goodness : 0.131345 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.42, Z:-0.51 [[ 9.99958980e-01 2.71021617e-03 -8.64247420e-03 -8.76118833e+00] [-2.72500180e-03 9.99994843e-01 -1.69949331e-03 -1.42488533e+00] [ 8.63782363e-03 1.72297435e-03 9.99961209e-01 -5.06920405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84313336499999 meters Centerline goodness : 0.185514 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.42, Z:-0.51 [[ 9.99942601e-01 6.27354558e-03 -8.68542307e-03 -8.76103856e+00] [-6.25951469e-03 9.99979061e-01 1.64169588e-03 -1.42277624e+00] [ 8.69554046e-03 -1.58723511e-03 9.99960933e-01 -5.06894089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90313336499999 meters Centerline goodness : 0.134239 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.42, Z:-0.51 [[ 9.99943374e-01 6.08204037e-03 -8.73257716e-03 -8.76046043e+00] [-6.06937202e-03 9.99980491e-01 1.47646929e-03 -1.42196277e+00] [ 8.74138674e-03 -1.42338443e-03 9.99960780e-01 -5.07634596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96313336499999 meters Centerline goodness : 0.155781 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.42, Z:-0.51 [[ 9.99947928e-01 6.02116055e-03 -8.23938688e-03 -8.76147552e+00] [-6.00905203e-03 9.99980830e-01 1.49355732e-03 -1.42106811e+00] [ 8.24822188e-03 -1.44396864e-03 9.99964940e-01 -5.07882304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02313336499999 meters Centerline goodness : 0.151677 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-1.42, Z:-0.51 [[ 9.99945923e-01 5.87068821e-03 -8.58405518e-03 -8.76020659e+00] [-5.86052276e-03 9.99982096e-01 1.20889929e-03 -1.41875950e+00] [ 8.59099857e-03 -1.15852686e-03 9.99962426e-01 -5.08555072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.083133365 meters Centerline goodness : 0.122871 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:-1.41, Z:-0.51 [[ 9.99918518e-01 7.61075431e-03 -1.02485941e-02 -8.75393899e+00] [-7.58385964e-03 9.99967703e-01 2.66054153e-03 -1.41468817e+00] [ 1.02685118e-02 -2.58260085e-03 9.99943942e-01 -5.11442688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.143133365 meters Centerline goodness : 0.204609 with order 3 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.40, Z:-0.51 [[ 9.99920911e-01 -6.08588149e-05 -1.25764779e-02 -8.76894116e+00] [ 1.12810580e-04 9.99991464e-01 4.13019949e-03 -1.40163305e+00] [ 1.25761192e-02 -4.13129159e-03 9.99912383e-01 -5.14881464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.203133365 meters Centerline goodness : 0.126186 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.40, Z:-0.52 [[ 9.99920312e-01 -5.72444988e-04 -1.26112136e-02 -8.76846341e+00] [ 6.13667884e-04 9.99994481e-01 3.26512213e-03 -1.39689749e+00] [ 1.26092749e-02 -3.27260103e-03 9.99915145e-01 -5.15559227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26313336499999 meters Centerline goodness : 0.145924 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-1.39, Z:-0.52 [[ 9.99918997e-01 -1.22151193e-03 -1.26691655e-02 -8.76794684e+00] [ 1.25317460e-03 9.99996111e-01 2.49155375e-03 -1.39311179e+00] [ 1.26660728e-02 -2.50722860e-03 9.99916639e-01 -5.16048026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32313336499999 meters Centerline goodness : 0.245600 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.39, Z:-0.52 [[ 9.99864247e-01 -1.04846983e-02 -1.27105629e-02 -8.78757599e+00] [ 1.05235119e-02 9.99940154e-01 2.99062184e-03 -1.38516925e+00] [ 1.26784465e-02 -3.12397561e-03 9.99914745e-01 -5.18742412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38313336499999 meters Centerline goodness : 0.094479 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.39, Z:-0.52 [[ 9.99866598e-01 -1.09877872e-02 -1.20853012e-02 -8.78905428e+00] [ 1.10226477e-02 9.99935267e-01 2.82172488e-03 -1.38507583e+00] [ 1.20535143e-02 -2.95456048e-03 9.99922989e-01 -5.18823959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.443133365 meters Centerline goodness : 0.226690 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:-1.38, Z:-0.52 [[ 9.99862892e-01 -1.10384388e-02 -1.23429810e-02 -8.78788176e+00] [ 1.10734996e-02 9.99934834e-01 2.77581679e-03 -1.38461213e+00] [ 1.23115360e-02 -2.91211620e-03 9.99919970e-01 -5.19735676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.503133365 meters Centerline goodness : 0.100020 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.38, Z:-0.52 [[ 9.99819472e-01 -1.06512092e-02 -1.57345367e-02 -8.83181824e+00] [ 1.07072713e-02 9.99936609e-01 3.48305939e-03 -1.38171887e+00] [ 1.56964405e-02 -3.65090456e-03 9.99870138e-01 -5.19813645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.563133365 meters Centerline goodness : 0.236730 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.38, Z:-0.52 [[ 9.99851010e-01 -6.90000090e-03 -1.58224109e-02 -8.83070378e+00] [ 7.00475705e-03 9.99953851e-01 6.57491072e-03 -1.37757263e+00] [ 1.57763138e-02 -6.68476326e-03 9.99853200e-01 -5.21226819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62313336499999 meters Centerline goodness : 0.097447 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.38, Z:-0.52 [[ 9.99867754e-01 -3.31848925e-03 -1.59205184e-02 -8.83048804e+00] [ 3.47391539e-03 9.99946483e-01 9.74492892e-03 -1.37513844e+00] [ 1.58873279e-02 -9.79894673e-03 9.99825772e-01 -5.21337936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68313336499999 meters Centerline goodness : 0.239589 with order 3 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.38, Z:-0.52 [[ 9.99876249e-01 2.45449190e-04 -1.57297652e-02 -8.83127648e+00] [-3.35938261e-05 9.99909311e-01 1.34672870e-02 -1.37514375e+00] [ 1.57316442e-02 -1.34650920e-02 9.99785580e-01 -5.20956895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74313336499999 meters SLAMing on 103.803133365 meters SLAMing on 103.863133365 meters Centerline goodness : 0.174792 with order 2 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.37, Z:-0.52 [[ 9.99846893e-01 1.84953757e-04 -1.74973024e-02 -8.82588333e+00] [ 7.78510235e-05 9.99887223e-01 1.50178580e-02 -1.36511939e+00] [ 1.74981067e-02 -1.50169208e-02 9.99734119e-01 -5.24582452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.923133365 meters Centerline goodness : 0.147669 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.37, Z:-0.52 [[ 9.99810993e-01 8.10277351e-04 -1.94247826e-02 -8.87217493e+00] [-4.84571950e-04 9.99859317e-01 1.67663651e-02 -1.36557114e+00] [ 1.94356353e-02 -1.67537834e-02 9.99670729e-01 -5.23867138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98313336499999 meters Centerline goodness : 0.157047 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.37, Z:-0.52 [[ 9.99807927e-01 1.03282169e-03 -1.95714544e-02 -8.87171436e+00] [-6.98177356e-04 9.99853580e-01 1.70977178e-02 -1.36591364e+00] [ 1.95862477e-02 -1.70807695e-02 9.99662256e-01 -5.23988234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04313336499999 meters Centerline goodness : 0.144949 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.37, Z:-0.52 [[ 9.99795554e-01 9.31836390e-04 -2.01985541e-02 -8.86977455e+00] [-5.82327580e-04 9.99850129e-01 1.73026350e-02 -1.36654572e+00] [ 2.02116501e-02 -1.72873354e-02 9.99646256e-01 -5.24661672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10313336499999 meters Centerline goodness : 0.139013 with order 2 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.37, Z:-0.53 [[ 9.99793149e-01 9.85424865e-04 -2.03147311e-02 -8.86914721e+00] [-6.23116290e-04 9.99840778e-01 1.78333922e-02 -1.36820948e+00] [ 2.03290700e-02 -1.78170449e-02 9.99634574e-01 -5.25186266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.163133365 meters Centerline goodness : 0.212305 with order 3 Centerline is valid? [False, False] Translation: X:-8.91, Y:-1.37, Z:-0.53 [[ 9.99728209e-01 -1.17706014e-03 -2.32835143e-02 -8.91154616e+00] [ 1.57995979e-03 9.99849212e-01 1.72932535e-02 -1.37020536e+00] [ 2.32596483e-02 -1.73253403e-02 9.99579322e-01 -5.26202227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.223133365 meters Centerline goodness : 0.181521 with order 3 Centerline is valid? [False, False] Translation: X:-8.91, Y:-1.37, Z:-0.53 [[ 9.99711381e-01 -1.17719364e-03 -2.39951993e-02 -8.90954514e+00] [ 1.60515431e-03 9.99839855e-01 1.78238118e-02 -1.37259213e+00] [ 2.39703745e-02 -1.78571835e-02 9.99553171e-01 -5.26801110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.283133365 meters Centerline goodness : 0.132151 with order 3 Centerline is valid? [False, False] Translation: X:-8.91, Y:-1.37, Z:-0.53 [[ 9.99707945e-01 -1.19803384e-03 -2.41368747e-02 -8.90901369e+00] [ 1.64005613e-03 9.99831165e-01 1.83016893e-02 -1.37491711e+00] [ 2.41108735e-02 -1.83359300e-02 9.99541124e-01 -5.27179312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34313336499999 meters Centerline goodness : 0.237274 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-1.38, Z:-0.53 [[ 9.99614510e-01 -3.54212038e-03 -2.75369782e-02 -8.94995813e+00] [ 4.02619186e-03 9.99837996e-01 1.75434379e-02 -1.37752112e+00] [ 2.74703761e-02 -1.76475442e-02 9.99466829e-01 -5.28806680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40313336499999 meters Centerline goodness : 0.102560 with order 2 Centerline is valid? [False, False] Translation: X:-8.99, Y:-1.38, Z:-0.53 [[ 9.99527362e-01 -3.67624886e-03 -3.05210942e-02 -8.99197024e+00] [ 4.25024482e-03 9.99814925e-01 1.87630073e-02 -1.37924925e+00] [ 3.04464681e-02 -1.88838613e-02 9.99358000e-01 -5.30230433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46313336499999 meters Centerline goodness : 0.234145 with order 3 Centerline is valid? [False, False] Translation: X:-8.99, Y:-1.38, Z:-0.53 [[ 9.99531838e-01 -3.64518187e-03 -3.03779103e-02 -8.99245013e+00] [ 4.22990799e-03 9.99806592e-01 1.92064181e-02 -1.38149965e+00] [ 3.03020240e-02 -1.93259221e-02 9.99353939e-01 -5.30084251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52313336499999 meters SLAMing on 104.583133365 meters Centerline goodness : 0.093033 with order 1 Centerline is valid? [False, False] Translation: X:-9.04, Y:-1.39, Z:-0.53 [[ 9.99512085e-01 -5.91830711e-03 -3.06686286e-02 -9.03974892e+00] [ 6.56158970e-03 9.99759678e-01 2.09172505e-02 -1.38698554e+00] [ 3.05374636e-02 -2.11082796e-02 9.99310714e-01 -5.29372757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.643133365 meters Centerline goodness : 0.151778 with order 1 Centerline is valid? [False, False] Translation: X:-9.04, Y:-1.40, Z:-0.53 [[ 9.99472018e-01 -8.12417291e-03 -3.14592287e-02 -9.03669877e+00] [ 8.75852819e-03 9.99760025e-01 2.00793394e-02 -1.39708413e+00] [ 3.12885512e-02 -2.03442745e-02 9.99303326e-01 -5.30558496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.703133365 meters Centerline goodness : 0.158234 with order 1 Centerline is valid? [False, False] Translation: X:-9.04, Y:-1.40, Z:-0.53 [[ 9.99469434e-01 -7.83669102e-03 -3.16138716e-02 -9.03663135e+00] [ 8.49813463e-03 9.99746649e-01 2.08427565e-02 -1.40095254e+00] [ 3.14425240e-02 -2.11003570e-02 9.99282814e-01 -5.30097816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76313336499999 meters Centerline goodness : 0.133576 with order 1 Centerline is valid? [False, False] Translation: X:-9.10, Y:-1.40, Z:-0.53 [[ 9.99503664e-01 -3.14695782e-03 -3.13452020e-02 -9.09641981e+00] [ 3.81337024e-03 9.99767486e-01 2.12233890e-02 -1.40309170e+00] [ 3.12711247e-02 -2.13323859e-02 9.99283266e-01 -5.32088209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82313336499999 meters Centerline goodness : 0.153328 with order 1 Centerline is valid? [False, False] Translation: X:-9.09, Y:-1.41, Z:-0.53 [[ 9.99490070e-01 3.17312238e-04 -3.19295845e-02 -9.09428517e+00] [ 4.74612935e-04 9.99692528e-01 2.47916032e-02 -1.40557745e+00] [ 3.19276338e-02 -2.47941154e-02 9.99182605e-01 -5.32900804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88313336499999 meters Centerline goodness : 0.149615 with order 3 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99409605e-01 1.45379001e-03 -3.43267804e-02 -9.14028771e+00] [-5.35527160e-04 9.99642154e-01 2.67446810e-02 -1.40610060e+00] [ 3.43533778e-02 -2.67105081e-02 9.99052748e-01 -5.32181000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.943133365 meters Centerline goodness : 0.144771 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99389794e-01 1.91098260e-03 -3.48767476e-02 -9.13866372e+00] [-9.50626530e-04 9.99620483e-01 2.75315492e-02 -1.40825863e+00] [ 3.49161236e-02 -2.74815945e-02 9.99012325e-01 -5.32584770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.003133365 meters Centerline goodness : 0.155675 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99394478e-01 2.14388735e-03 -3.47286640e-02 -9.13981874e+00] [-1.16042833e-03 9.99598410e-01 2.83138080e-02 -1.41226158e+00] [ 3.47754189e-02 -2.82563632e-02 9.98995620e-01 -5.31289937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.063133365 meters Centerline goodness : 0.131059 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99413863e-01 2.37240024e-03 -3.41511633e-02 -9.14154320e+00] [-1.39777283e-03 9.99591838e-01 2.85342659e-02 -1.41178520e+00] [ 3.42049187e-02 -2.84698054e-02 9.99009256e-01 -5.30684823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12313336499999 meters Centerline goodness : 0.144970 with order 3 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99411963e-01 2.42104882e-03 -3.42033071e-02 -9.14129643e+00] [-1.44639302e-03 9.99592974e-01 2.84920080e-02 -1.41071788e+00] [ 3.42583660e-02 -2.84257822e-02 9.99008678e-01 -5.30873806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18313336499999 meters Centerline goodness : 0.151411 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99404743e-01 2.30680124e-03 -3.44214732e-02 -9.14096425e+00] [-1.31835759e-03 9.99586884e-01 2.87110153e-02 -1.41075780e+00] [ 3.44734837e-02 -2.86485451e-02 9.98994915e-01 -5.30631543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24313336499999 meters Centerline goodness : 0.118107 with order 3 Centerline is valid? [False, False] Translation: X:-9.14, Y:-1.41, Z:-0.53 [[ 9.99435493e-01 1.79666190e-03 -3.35479764e-02 -9.14354582e+00] [-8.32101074e-04 9.99586473e-01 2.87435395e-02 -1.41163187e+00] [ 3.35857459e-02 -2.86993983e-02 9.99023695e-01 -5.29662336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.303133365 meters Centerline goodness : 0.148431 with order 1 Centerline is valid? [False, False] Translation: X:-9.16, Y:-1.41, Z:-0.53 [[ 9.99429904e-01 -7.57256003e-03 -3.29017183e-02 -9.16480260e+00] [ 8.55152780e-03 9.99521795e-01 2.97161931e-02 -1.40790922e+00] [ 3.26609569e-02 -2.99806119e-02 9.99016729e-01 -5.30569824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.363133365 meters Centerline goodness : 0.147556 with order 3 Centerline is valid? [False, False] Translation: X:-9.17, Y:-1.41, Z:-0.53 [[ 9.99437411e-01 -7.94702638e-03 -3.25838349e-02 -9.16585448e+00] [ 8.92691282e-03 9.99508881e-01 3.00384286e-02 -1.40996911e+00] [ 3.23291162e-02 -3.03124024e-02 9.99017511e-01 -5.30165049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.423133365 meters Centerline goodness : 0.134020 with order 3 Centerline is valid? [False, False] Translation: X:-9.16, Y:-1.42, Z:-0.53 [[ 0.99939044 -0.0114274 -0.03298719 -9.16405589] [ 0.01235692 0.99952836 0.02811339 -1.41800365] [ 0.03265037 -0.02850388 0.9990603 -0.53097288] [ 0. 0. 0. 1. ]] SLAMing on 105.48313336499999 meters Centerline goodness : 0.170394 with order 1 Centerline is valid? [False, False] Translation: X:-9.16, Y:-1.42, Z:-0.53 [[ 0.99937646 -0.01138672 -0.03342198 -9.16309313] [ 0.0123538 0.99950675 0.02887277 -1.42237665] [ 0.03307673 -0.02926766 0.99902419 -0.53090125] [ 0. 0. 0. 1. ]] SLAMing on 105.54313336499999 meters Centerline goodness : 0.162659 with order 1 Centerline is valid? [False, False] Translation: X:-9.18, Y:-1.43, Z:-0.53 [[ 9.99376953e-01 -3.47507003e-03 -3.51230590e-02 -9.18242577e+00] [ 4.47230064e-03 9.99587942e-01 2.83539110e-02 -1.42802649e+00] [ 3.50100545e-02 -2.84933261e-02 9.98980694e-01 -5.32668446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60313336499999 meters Centerline goodness : 0.185844 with order 3 Centerline is valid? [False, False] Translation: X:-9.21, Y:-1.43, Z:-0.53 [[ 9.99372701e-01 5.59412178e-03 -3.49701482e-02 -9.20543687e+00] [-4.59035320e-03 9.99577006e-01 2.87182604e-02 -1.43051627e+00] [ 3.51160095e-02 -2.85397201e-02 9.98975650e-01 -5.32967616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.663133365 meters Centerline goodness : 0.167195 with order 3 Centerline is valid? [False, False] Translation: X:-9.21, Y:-1.43, Z:-0.53 [[ 9.99375841e-01 8.24034351e-03 -3.43514933e-02 -9.20860346e+00] [-7.19084191e-03 9.99506938e-01 3.05642265e-02 -1.42651543e+00] [ 3.45864157e-02 -3.02981334e-02 9.98942342e-01 -5.31146414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.723133365 meters Centerline goodness : 0.141935 with order 1 Centerline is valid? [False, False] Translation: X:-9.21, Y:-1.42, Z:-0.53 [[ 9.99378535e-01 8.41506701e-03 -3.42305601e-02 -9.20857356e+00] [-7.37774483e-03 9.99513069e-01 3.03182195e-02 -1.42405055e+00] [ 3.44690220e-02 -3.00468335e-02 9.98953990e-01 -5.31592709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.783133365 meters Centerline goodness : 0.163728 with order 3 Centerline is valid? [False, False] Translation: X:-9.26, Y:-1.42, Z:-0.53 [[ 9.99322333e-01 8.35597522e-03 -3.58476358e-02 -9.25613949e+00] [-7.23251936e-03 9.99482120e-01 3.13557555e-02 -1.41962162e+00] [ 3.60910789e-02 -3.10752380e-02 9.98865238e-01 -5.30912185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84313336499999 meters Centerline goodness : 0.129151 with order 1 Centerline is valid? [False, False] Translation: X:-9.26, Y:-1.42, Z:-0.53 [[ 9.99322355e-01 8.23878822e-03 -3.58741257e-02 -9.25634081e+00] [-7.12264476e-03 9.99489960e-01 3.11301793e-02 -1.41804428e+00] [ 3.61123034e-02 -3.08535654e-02 9.98871343e-01 -5.30526287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90313336499999 meters Centerline goodness : 0.153749 with order 1 Centerline is valid? [False, False] Translation: X:-9.26, Y:-1.42, Z:-0.53 [[ 9.99320733e-01 8.01156521e-03 -3.59706468e-02 -9.25578490e+00] [-6.90536453e-03 9.99502561e-01 3.07724798e-02 -1.41653373e+00] [ 3.61992893e-02 -3.05031867e-02 9.98878955e-01 -5.31040687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96313336499999 meters Centerline goodness : 0.142624 with order 3 Centerline is valid? [False, False] Translation: X:-9.27, Y:-1.41, Z:-0.53 [[ 9.99360098e-01 -3.84847971e-04 -3.57665528e-02 -9.27430497e+00] [ 1.52558304e-03 9.99490792e-01 3.18720906e-02 -1.40833129e+00] [ 3.57360743e-02 -3.19062604e-02 9.98851803e-01 -5.33208961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02313336499999 meters Centerline goodness : 0.154998 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:-1.41, Z:-0.53 [[ 9.99353874e-01 -6.11626789e-04 -3.59368995e-02 -9.27393771e+00] [ 1.75266104e-03 9.99494999e-01 3.17281317e-02 -1.40762018e+00] [ 3.58993455e-02 -3.17706166e-02 9.98850272e-01 -5.33260743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.083133365 meters Centerline goodness : 0.136041 with order 3 Centerline is valid? [False, False] Translation: X:-9.32, Y:-1.41, Z:-0.53 [[ 9.99268375e-01 -3.89612172e-03 -3.80464829e-02 -9.31860185e+00] [ 5.06499416e-03 9.99516599e-01 3.06743242e-02 -1.40655264e+00] [ 3.79085803e-02 -3.08445873e-02 9.98805062e-01 -5.33742118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.143133365 meters Centerline goodness : 0.154713 with order 3 Centerline is valid? [False, False] Translation: X:-9.36, Y:-1.41, Z:-0.54 [[ 9.99099078e-01 -7.74266251e-03 -4.17262913e-02 -9.35655961e+00] [ 9.00837314e-03 9.99502329e-01 3.02314932e-02 -1.41106893e+00] [ 4.14714531e-02 -3.05801430e-02 9.98671604e-01 -5.36696064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.203133365 meters Centerline goodness : 0.189077 with order 1 Centerline is valid? [False, False] Translation: X:-9.36, Y:-1.41, Z:-0.54 [[ 9.99106231e-01 -7.69092178e-03 -4.15642742e-02 -9.35735630e+00] [ 8.97250146e-03 9.99487277e-01 3.07356180e-02 -1.41341464e+00] [ 4.13065780e-02 -3.10810829e-02 9.98662973e-01 -5.36113006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26313336499999 meters Centerline goodness : 0.096079 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-1.41, Z:-0.54 [[ 9.99174258e-01 6.97602473e-04 -4.06240813e-02 -9.37985362e+00] [ 5.15123690e-04 9.99554726e-01 2.98342791e-02 -1.41204876e+00] [ 4.06268050e-02 -2.98305701e-02 9.98728992e-01 -5.37133572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32313336499999 meters Centerline goodness : 0.133888 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-1.40, Z:-0.54 [[ 9.99176910e-01 5.54638011e-03 -4.01838407e-02 -9.38126064e+00] [-4.22408628e-03 9.99449175e-01 3.29166035e-02 -1.39997316e+00] [ 4.03442745e-02 -3.27197702e-02 9.98649967e-01 -5.36676668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38313336499999 meters Centerline goodness : 0.157430 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-1.39, Z:-0.54 [[ 9.99154017e-01 9.14017009e-03 -4.00962275e-02 -9.38130701e+00] [-7.71139745e-03 9.99334775e-01 3.56446521e-02 -1.39435493e+00] [ 4.03953526e-02 -3.53052994e-02 9.98559839e-01 -5.36724474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.443133365 meters Centerline goodness : 0.195419 with order 3 Centerline is valid? [False, False] Translation: X:-9.43, Y:-1.38, Z:-0.54 [[ 9.99069745e-01 8.26298282e-03 -4.23245592e-02 -9.42856394e+00] [-6.77993360e-03 9.99362057e-01 3.50643930e-02 -1.38466169e+00] [ 4.25872950e-02 -3.47448165e-02 9.98488418e-01 -5.36506295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.503133365 meters Centerline goodness : 0.137048 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-1.38, Z:-0.54 [[ 9.99054252e-01 7.67141793e-03 -4.27989488e-02 -9.42738736e+00] [-6.21835402e-03 9.99403122e-01 3.39813485e-02 -1.37928169e+00] [ 4.30340882e-02 -3.36830717e-02 9.98505642e-01 -5.36591515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.563133365 meters Centerline goodness : 0.209771 with order 2 Centerline is valid? [False, False] Translation: X:-9.45, Y:-1.37, Z:-0.54 [[ 9.99043301e-01 -1.39784026e-03 -4.37095978e-02 -9.44682294e+00] [ 2.90704709e-03 9.99401037e-01 3.44835685e-02 -1.37040294e+00] [ 4.36352148e-02 -3.45776440e-02 9.98448974e-01 -5.38689168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62313336499999 meters SLAMing on 106.68313336499999 meters Centerline goodness : 0.171364 with order 3 Centerline is valid? [False, False] Translation: X:-9.46, Y:-1.36, Z:-0.54 [[ 9.98989778e-01 -9.41144312e-03 -4.39414202e-02 -9.46406110e+00] [ 1.09975448e-02 9.99291465e-01 3.59947421e-02 -1.35577520e+00] [ 4.35715237e-02 -3.64416272e-02 9.98385462e-01 -5.41929937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74313336499999 meters SLAMing on 106.803133365 meters Centerline goodness : 0.110594 with order 1 Centerline is valid? [False, False] Translation: X:-9.53, Y:-1.34, Z:-0.55 [[ 9.99113384e-01 -4.64416944e-03 -4.18434896e-02 -9.52533667e+00] [ 6.14472376e-03 9.99339934e-01 3.58041786e-02 -1.34092528e+00] [ 4.16495895e-02 -3.60295508e-02 9.98482440e-01 -5.45741228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.863133365 meters Centerline goodness : 0.089386 with order 1 Centerline is valid? [False, False] Translation: X:-9.52, Y:-1.34, Z:-0.55 [[ 9.99100563e-01 -4.81970906e-03 -4.21287950e-02 -9.52432586e+00] [ 6.32161037e-03 9.99346480e-01 3.55900327e-02 -1.33994738e+00] [ 4.19297294e-02 -3.58243436e-02 9.98478099e-01 -5.46323742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.923133365 meters Centerline goodness : 0.233344 with order 3 Centerline is valid? [False, False] Translation: X:-9.55, Y:-1.34, Z:-0.55 [[ 9.98979721e-01 -1.02429398e-06 -4.51610209e-02 -9.54765327e+00] [ 1.48753773e-03 9.99458125e-01 3.28822569e-02 -1.33887561e+00] [ 4.51365156e-02 -3.29158865e-02 9.98438400e-01 -5.46002177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98313336499999 meters Centerline goodness : 0.153826 with order 3 Centerline is valid? [False, False] Translation: X:-9.54, Y:-1.34, Z:-0.55 [[ 9.98936740e-01 -6.01471247e-04 -4.60980309e-02 -9.54446045e+00] [ 2.09581035e-03 9.99473592e-01 3.23750777e-02 -1.33811338e+00] [ 4.60542919e-02 -3.24372673e-02 9.98412152e-01 -5.47420512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04313336499999 meters Centerline goodness : 0.111797 with order 3 Centerline is valid? [False, False] Translation: X:-9.54, Y:-1.34, Z:-0.55 [[ 9.98926605e-01 -6.18245891e-04 -4.63168973e-02 -9.54369397e+00] [ 2.11370330e-03 9.99477744e-01 3.22454987e-02 -1.33714234e+00] [ 4.62727723e-02 -3.23087868e-02 9.98406216e-01 -5.47812360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10313336499999 meters Centerline goodness : 0.245995 with order 3 Centerline is valid? [False, False] Translation: X:-9.55, Y:-1.33, Z:-0.55 [[ 9.98976149e-01 1.90016537e-03 -4.52000329e-02 -9.54857881e+00] [-3.54774005e-04 9.99415851e-01 3.41735288e-02 -1.33281910e+00] [ 4.52385647e-02 -3.41225044e-02 9.98393273e-01 -5.45435415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.163133365 meters Centerline goodness : 0.108176 with order 1 Centerline is valid? [False, False] Translation: X:-9.61, Y:-1.33, Z:-0.55 [[ 9.99095425e-01 3.97381135e-03 -4.23383961e-02 -9.60862124e+00] [-2.60644325e-03 9.99474738e-01 3.23025586e-02 -1.32530053e+00] [ 4.24445216e-02 -3.21629859e-02 9.98580996e-01 -5.47484260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223133365 meters SLAMing on 107.283133365 meters SLAMing on 107.34313336499999 meters Centerline goodness : 0.098778 with order 1 Centerline is valid? [False, False] Translation: X:-9.63, Y:-1.30, Z:-0.55 [[ 0.99889286 0.01449512 -0.04475431 -9.63125776] [-0.01293569 0.99930571 0.03493933 -1.30051945] [ 0.04522968 -0.03432172 0.99838685 -0.54885649] [ 0. 0. 0. 1. ]] SLAMing on 107.40313336499999 meters Centerline goodness : 0.131096 with order 3 Centerline is valid? [False, False] Translation: X:-9.65, Y:-1.29, Z:-0.55 [[ 9.98908318e-01 6.12930836e-03 -4.63098587e-02 -9.64941840e+00] [-4.46714683e-03 9.99345015e-01 3.59107904e-02 -1.29253882e+00] [ 4.64996347e-02 -3.56647143e-02 9.98281429e-01 -5.50849859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46313336499999 meters Centerline goodness : 0.225355 with order 1 Centerline is valid? [False, False] Translation: X:-9.69, Y:-1.29, Z:-0.55 [[ 9.98735068e-01 4.43980762e-03 -5.00854392e-02 -9.69279122e+00] [-2.66712982e-03 9.99369503e-01 3.54045463e-02 -1.28921979e+00] [ 5.02110498e-02 -3.52261776e-02 9.98117211e-01 -5.52116844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52313336499999 meters Centerline goodness : 0.101252 with order 2 Centerline is valid? [False, False] Translation: X:-9.69, Y:-1.29, Z:-0.55 [[ 9.98745421e-01 4.11399624e-03 -4.99065079e-02 -9.69325918e+00] [-2.33496502e-03 9.99361490e-01 3.56533420e-02 -1.29085636e+00] [ 5.00213198e-02 -3.54920822e-02 9.98117318e-01 -5.52104322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.583133365 meters Centerline goodness : 0.128616 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-1.29, Z:-0.55 [[ 9.98706424e-01 -6.35144048e-03 -5.04493605e-02 -9.71508035e+00] [ 8.15063150e-03 9.99335087e-01 3.55380267e-02 -1.29046214e+00] [ 5.01900984e-02 -3.59032497e-02 9.98094139e-01 -5.52717614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.643133365 meters Centerline goodness : 0.237354 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:-1.30, Z:-0.56 [[ 9.98600784e-01 -8.48633021e-03 -5.21963308e-02 -9.70864171e+00] [ 1.03085878e-02 9.99343146e-01 3.47420573e-02 -1.29837191e+00] [ 5.18672128e-02 -3.52315161e-02 9.98032330e-01 -5.55047632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.703133365 meters Centerline goodness : 0.239055 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:-1.31, Z:-0.56 [[ 9.98674926e-01 -1.53650882e-03 -5.14395918e-02 -9.72687268e+00] [ 3.28272040e-03 9.99420531e-01 3.38795864e-02 -1.30590741e+00] [ 5.13577279e-02 -3.40035552e-02 9.98101268e-01 -5.57707625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76313336499999 meters Centerline goodness : 0.222510 with order 1 Centerline is valid? [False, False] Translation: X:-9.77, Y:-1.31, Z:-0.56 [[ 9.98550183e-01 -5.52006489e-04 -5.38258985e-02 -9.77474657e+00] [ 2.47132598e-03 9.99363139e-01 3.55978836e-02 -1.30611471e+00] [ 5.37719686e-02 -3.56792945e-02 9.97915609e-01 -5.57268384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82313336499999 meters Centerline goodness : 0.089580 with order 1 Centerline is valid? [False, False] Translation: X:-9.77, Y:-1.31, Z:-0.56 [[ 9.98551459e-01 -4.40887895e-04 -5.38032517e-02 -9.77480734e+00] [ 2.36925910e-03 9.99356787e-01 3.57826481e-02 -1.30671133e+00] [ 5.37528686e-02 -3.58582893e-02 9.97910223e-01 -5.57215319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88313336499999 meters SLAMing on 107.943133365 meters Centerline goodness : 0.228268 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.30, Z:-0.56 [[ 9.98719478e-01 5.10662743e-03 -5.03321709e-02 -9.83803710e+00] [-3.32583414e-03 9.99367644e-01 3.54012725e-02 -1.30125060e+00] [ 5.04811242e-02 -3.51885439e-02 9.98104916e-01 -5.60158046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.003133365 meters SLAMing on 108.063133365 meters SLAMing on 108.12313336499999 meters Centerline goodness : 0.103546 with order 1 Centerline is valid? [False, False] Translation: X:-9.92, Y:-1.28, Z:-0.56 [[ 9.98955977e-01 1.23820910e-03 -4.56664289e-02 -9.91978032e+00] [ 4.96560760e-04 9.99279251e-01 3.79569640e-02 -1.27541019e+00] [ 4.56805135e-02 -3.79400122e-02 9.98235366e-01 -5.61679745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18313336499999 meters Centerline goodness : 0.136506 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:-1.27, Z:-0.56 [[ 9.98994927e-01 1.26287658e-03 -4.48055877e-02 -9.92202085e+00] [ 4.21912476e-04 9.99293802e-01 3.75728397e-02 -1.27283830e+00] [ 4.48213959e-02 -3.75539803e-02 9.98288907e-01 -5.61238212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24313336499999 meters Centerline goodness : 0.132208 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-1.27, Z:-0.56 [[ 9.99002840e-01 1.07262815e-03 -4.46337998e-02 -9.92241318e+00] [ 5.79310522e-04 9.99315781e-01 3.69815498e-02 -1.26964563e+00] [ 4.46429280e-02 -3.69705300e-02 9.98318681e-01 -5.61348864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.303133365 meters Centerline goodness : 0.097576 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:-1.27, Z:-0.56 [[ 9.98898735e-01 8.82284967e-04 -4.69099060e-02 -9.91500114e+00] [ 8.48406316e-04 9.99320034e-01 3.68612343e-02 -1.26755186e+00] [ 4.69105310e-02 -3.68604390e-02 9.98218769e-01 -5.64094376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.363133365 meters Centerline goodness : 0.241212 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-1.27, Z:-0.56 [[ 9.98846153e-01 1.08079086e-04 -4.80244737e-02 -9.91192578e+00] [ 1.66390949e-03 9.99319198e-01 3.68561061e-02 -1.26965232e+00] [ 4.79957619e-02 -3.68934882e-02 9.98165957e-01 -5.64723277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.423133365 meters SLAMing on 108.48313336499999 meters SLAMing on 108.54313336499999 meters Centerline goodness : 0.212361 with order 3 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.26, Z:-0.57 [[ 0.99871392 -0.01159476 -0.0493565 -9.97604562] [ 0.01352601 0.9991486 0.03897602 -1.25579946] [ 0.04886256 -0.03959349 0.99802044 -0.56868662] [ 0. 0. 0. 1. ]] SLAMing on 108.60313336499999 meters SLAMing on 108.663133365 meters Centerline goodness : 0.235111 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:-1.25, Z:-0.57 [[ 9.98779799e-01 -3.02847607e-03 -4.92924059e-02 -9.99888354e+00] [ 4.95326942e-03 9.99227976e-01 3.89732939e-02 -1.25477142e+00] [ 4.91363213e-02 -3.91698972e-02 9.98023718e-01 -5.69814668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.723133365 meters SLAMing on 108.783133365 meters SLAMing on 108.84313336499999 meters Centerline goodness : 0.096173 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:-1.24, Z:-0.57 [[ 9.98897201e-01 -3.81500268e-03 -4.67955979e-02 -1.00949451e+01] [ 5.73722861e-03 9.99142191e-01 4.10117948e-02 -1.24019127e+00] [ 4.65989961e-02 -4.12350441e-02 9.98062225e-01 -5.73104087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90313336499999 meters Centerline goodness : 0.236655 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-1.24, Z:-0.57 [[ 9.98904817e-01 -3.76255173e-03 -4.66369995e-02 -1.00953876e+01] [ 5.67728680e-03 9.99143348e-01 4.09919295e-02 -1.23964694e+00] [ 4.64428135e-02 -4.12118075e-02 9.98070464e-01 -5.73042252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96313336499999 meters Centerline goodness : 0.236595 with order 3 Centerline is valid? [False, False] Translation: X:-10.12, Y:-1.24, Z:-0.57 [[ 9.98853790e-01 4.17584684e-03 -4.76830061e-02 -1.01154155e+01] [-2.27218099e-03 9.99200775e-01 3.99079874e-02 -1.24181481e+00] [ 4.78115463e-02 -3.97539000e-02 9.98064970e-01 -5.74930237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02313336499999 meters Centerline goodness : 0.329336 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-1.24, Z:-0.58 [[ 9.98651797e-01 5.14815390e-03 -5.16535054e-02 -1.01546395e+01] [-3.01127935e-03 9.99139678e-01 4.13622517e-02 -1.23727075e+00] [ 5.18220059e-02 -4.11509439e-02 9.97808138e-01 -5.78033260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.083133365 meters Centerline goodness : 0.098540 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-1.23, Z:-0.58 [[ 9.98631834e-01 4.99321909e-03 -5.20531275e-02 -1.01533942e+01] [-2.86753834e-03 9.99161922e-01 4.08317314e-02 -1.23462351e+00] [ 5.22133847e-02 -4.06266024e-02 9.97809221e-01 -5.78411058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.143133365 meters Centerline goodness : 0.128571 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-1.23, Z:-0.58 [[ 9.98497841e-01 4.29796878e-03 -5.46222406e-02 -1.01991717e+01] [-2.09743261e-03 9.99186226e-01 4.02800992e-02 -1.22817676e+00] [ 5.47509131e-02 -4.01050256e-02 9.97694304e-01 -5.78919814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.203133365 meters Centerline goodness : 0.090342 with order 3 Centerline is valid? [False, False] Translation: X:-10.20, Y:-1.23, Z:-0.58 [[ 9.98471023e-01 8.33798461e-03 -5.46451705e-02 -1.01990392e+01] [-5.94135465e-03 9.99019377e-01 4.38746500e-02 -1.22609034e+00] [ 5.49574103e-02 -4.34829004e-02 9.97541438e-01 -5.79036622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26313336499999 meters Centerline goodness : 0.162583 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-1.22, Z:-0.58 [[ 9.98507561e-01 8.27217206e-03 -5.39835274e-02 -1.02013309e+01] [-5.93594890e-03 9.99044727e-01 4.32943183e-02 -1.22266160e+00] [ 5.42900964e-02 -4.29092607e-02 9.97602817e-01 -5.78027650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32313336499999 meters Centerline goodness : 0.099159 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-1.22, Z:-0.58 [[ 9.98373627e-01 8.95311436e-03 -5.63022382e-02 -1.02475463e+01] [-6.46645623e-03 9.99002025e-01 4.41943355e-02 -1.21585200e+00] [ 5.66417269e-02 -4.37583831e-02 9.97435170e-01 -5.78631345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38313336499999 meters Centerline goodness : 0.088540 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-1.21, Z:-0.58 [[ 9.98340652e-01 8.74852661e-03 -5.69157698e-02 -1.02453035e+01] [-6.26842333e-03 9.99029032e-01 4.36084804e-02 -1.21248820e+00] [ 5.72420164e-02 -4.31793466e-02 9.97426135e-01 -5.79760570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.443133365 meters Centerline goodness : 0.087760 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-1.21, Z:-0.58 [[ 9.98349810e-01 8.51863984e-03 -5.67898814e-02 -1.02461085e+01] [-6.07017987e-03 9.99050238e-01 4.31482894e-02 -1.20983770e+00] [ 5.71035092e-02 -4.27323617e-02 9.97453324e-01 -5.79151089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.503133365 meters Centerline goodness : 0.096393 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-1.20, Z:-0.58 [[ 9.98361041e-01 5.16279369e-04 -5.72273194e-02 -1.02650924e+01] [ 2.04723195e-03 9.98997124e-01 4.47275576e-02 -1.20177325e+00] [ 5.71930194e-02 -4.47714086e-02 9.97358752e-01 -5.81821680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.563133365 meters Centerline goodness : 0.085351 with order 1 Centerline is valid? [False, False] Translation: X:-10.26, Y:-1.20, Z:-0.58 [[ 9.98292913e-01 -9.33464596e-04 -5.83985244e-02 -1.02610090e+01] [ 3.47304167e-03 9.99051711e-01 4.34006426e-02 -1.19901662e+00] [ 5.83026328e-02 -4.35293744e-02 9.97349486e-01 -5.83369054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62313336499999 meters Centerline goodness : 0.248697 with order 3 Centerline is valid? [False, False] Translation: X:-10.30, Y:-1.19, Z:-0.59 [[ 9.98106429e-01 -1.60400801e-03 -6.14896989e-02 -1.03049135e+01] [ 4.28356110e-03 9.99045539e-01 4.34702541e-02 -1.19487376e+00] [ 6.13612827e-02 -4.36513349e-02 9.97160646e-01 -5.85228172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68313336499999 meters Centerline goodness : 0.129712 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-1.19, Z:-0.58 [[ 9.98124513e-01 -1.76098661e-03 -6.11911451e-02 -1.03059482e+01] [ 4.40843462e-03 9.99058568e-01 4.31571903e-02 -1.19309834e+00] [ 6.10575386e-02 -4.33460067e-02 9.97192610e-01 -5.84918063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74313336499999 meters Centerline goodness : 0.099998 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-1.19, Z:-0.59 [[ 9.98120630e-01 -1.87863447e-03 -6.12509518e-02 -1.03057079e+01] [ 4.52511919e-03 9.99060636e-01 4.30972089e-02 -1.19267983e+00] [ 6.11124510e-02 -4.32933812e-02 9.97191532e-01 -5.85132051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.803133365 meters Centerline goodness : 0.097379 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-1.19, Z:-0.59 [[ 9.97997753e-01 -4.11570117e-03 -6.31153315e-02 -1.03518395e+01] [ 6.78586248e-03 9.99088239e-01 4.21502480e-02 -1.19224159e+00] [ 6.28843076e-02 -4.24941447e-02 9.97115746e-01 -5.85934328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.863133365 meters Centerline goodness : 0.097582 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-1.19, Z:-0.59 [[ 9.97971391e-01 -4.43617857e-03 -6.35092315e-02 -1.03508142e+01] [ 7.13027148e-03 9.99081335e-01 4.22569079e-02 -1.19422977e+00] [ 6.32634285e-02 -4.26240232e-02 9.97086221e-01 -5.86092046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.923133365 meters Centerline goodness : 0.095061 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-1.20, Z:-0.59 [[ 9.97987058e-01 -4.27675038e-03 -6.32735404e-02 -1.03520402e+01] [ 6.98493427e-03 9.99065994e-01 4.26421237e-02 -1.19545925e+00] [ 6.30320728e-02 -4.29982491e-02 9.97084805e-01 -5.85137645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98313336499999 meters Centerline goodness : 0.226940 with order 3 Centerline is valid? [False, False] Translation: X:-10.37, Y:-1.20, Z:-0.59 [[ 9.98113441e-01 3.08456019e-03 -6.13191974e-02 -1.03731012e+01] [-5.16886041e-04 9.99123950e-01 4.18457377e-02 -1.19866712e+00] [ 6.13945544e-02 -4.17350982e-02 9.97240638e-01 -5.87137771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04313336499999 meters Centerline goodness : 0.138553 with order 3 Centerline is valid? [False, False] Translation: X:-10.42, Y:-1.19, Z:-0.59 [[ 9.98020404e-01 3.35510291e-03 -6.28014023e-02 -1.04201016e+01] [-7.01662082e-04 9.99107849e-01 4.22257541e-02 -1.19373101e+00] [ 6.28870457e-02 -4.20980988e-02 9.97132373e-01 -5.88343200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10313336499999 meters Centerline goodness : 0.174620 with order 3 Centerline is valid? [False, False] Translation: X:-10.42, Y:-1.19, Z:-0.59 [[ 9.98012414e-01 3.29245503e-03 -6.29315665e-02 -1.04196259e+01] [-6.60599010e-04 9.99125945e-01 4.17960553e-02 -1.19081500e+00] [ 6.30141725e-02 -4.16714095e-02 9.97142271e-01 -5.88482908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.163133365 meters Centerline goodness : 0.186539 with order 3 Centerline is valid? [False, False] Translation: X:-10.47, Y:-1.18, Z:-0.59 [[ 9.97872126e-01 4.25076640e-03 -6.50626644e-02 -1.04671342e+01] [-1.48881883e-03 9.99097894e-01 4.24403299e-02 -1.18148700e+00] [ 6.51843749e-02 -4.22531558e-02 9.96978269e-01 -5.88614079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223133365 meters SLAMing on 110.283133365 meters Centerline goodness : 0.095360 with order 1 Centerline is valid? [False, False] Translation: X:-10.51, Y:-1.17, Z:-0.59 [[ 9.97744635e-01 2.22009197e-03 -6.70873599e-02 -1.05126748e+01] [ 6.19221455e-04 9.99105938e-01 4.22722248e-02 -1.17060174e+00] [ 6.71212278e-02 -4.22184275e-02 9.96851215e-01 -5.91161926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34313336499999 meters Centerline goodness : 0.249567 with order 3 Centerline is valid? [False, False] Translation: X:-10.51, Y:-1.17, Z:-0.59 [[ 9.97707254e-01 -1.52740990e-03 -6.76601914e-02 -1.05105798e+01] [ 4.19001041e-03 9.99221496e-01 3.92281329e-02 -1.17251392e+00] [ 6.75476002e-02 -3.94216897e-02 9.96936935e-01 -5.91958096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40313336499999 meters Centerline goodness : 0.253010 with order 3 Centerline is valid? [False, False] Translation: X:-10.56, Y:-1.17, Z:-0.59 [[ 9.97543044e-01 -3.11907601e-03 -6.99867603e-02 -1.05562520e+01] [ 5.83607554e-03 9.99235736e-01 3.86508011e-02 -1.17181791e+00] [ 6.98127172e-02 -3.89642858e-02 9.96798861e-01 -5.93452105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46313336499999 meters Centerline goodness : 0.096378 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:-1.17, Z:-0.59 [[ 9.97561986e-01 -3.14906257e-03 -6.97149017e-02 -1.05574178e+01] [ 5.84676105e-03 9.99240493e-01 3.85259918e-02 -1.17095216e+00] [ 6.95406320e-02 -3.88396712e-02 9.96822743e-01 -5.92737375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52313336499999 meters Centerline goodness : 0.097805 with order 1 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.17, Z:-0.59 [[ 9.97497875e-01 5.60845334e-03 -7.04736494e-02 -1.05785796e+01] [-2.96810153e-03 9.99291664e-01 3.75148119e-02 -1.16817798e+00] [ 7.06341304e-02 -3.72117722e-02 9.96807957e-01 -5.94763127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.583133365 meters Centerline goodness : 0.237304 with order 3 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.16, Z:-0.59 [[ 9.97498165e-01 5.52262605e-03 -7.04763140e-02 -1.05785541e+01] [-2.93278098e-03 9.99318405e-01 3.67984371e-02 -1.16378265e+00] [ 7.06315016e-02 -3.64996819e-02 9.96834472e-01 -5.94795319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.643133365 meters Centerline goodness : 0.174063 with order 3 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.16, Z:-0.59 [[ 9.97518491e-01 5.39302464e-03 -7.01981159e-02 -1.05793263e+01] [-2.86298315e-03 9.99344360e-01 3.60922812e-02 -1.15946543e+00] [ 7.03467378e-02 -3.58017418e-02 9.96879918e-01 -5.94685454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.703133365 meters Centerline goodness : 0.258814 with order 3 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.15, Z:-0.60 [[ 9.97521892e-01 4.89019023e-03 -7.01866165e-02 -1.05791539e+01] [-2.43112431e-03 9.99381590e-01 3.50788582e-02 -1.15472654e+00] [ 7.03147547e-02 -3.48212966e-02 9.96916904e-01 -5.95051348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76313336499999 meters Centerline goodness : 0.236393 with order 3 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.15, Z:-0.60 [[ 9.97525768e-01 4.54793949e-03 -7.01545292e-02 -1.05792831e+01] [-2.12498914e-03 9.99399903e-01 3.45733752e-02 -1.15257908e+00] [ 7.02696673e-02 -3.43387551e-02 9.96936820e-01 -5.95066426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82313336499999 meters Centerline goodness : 0.102005 with order 1 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.15, Z:-0.60 [[ 9.97494551e-01 4.18100862e-03 -7.06196838e-02 -1.05780220e+01] [-1.77975780e-03 9.99419182e-01 3.40313264e-02 -1.15003760e+00] [ 7.07209519e-02 -3.38203767e-02 9.96922629e-01 -5.95253231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88313336499999 meters Centerline goodness : 0.136313 with order 1 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.14, Z:-0.60 [[ 9.97480257e-01 3.65465031e-03 -7.08504097e-02 -1.05772902e+01] [-1.32467255e-03 9.99457606e-01 3.29050086e-02 -1.14428755e+00] [ 7.09322371e-02 -3.27282428e-02 9.96944071e-01 -5.95504818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.943133365 meters SLAMing on 111.003133365 meters Centerline goodness : 0.137218 with order 1 Centerline is valid? [False, False] Translation: X:-10.63, Y:-1.13, Z:-0.60 [[ 9.97402358e-01 3.06551139e-03 -7.19662350e-02 -1.06251515e+01] [-7.33935433e-04 9.99474638e-01 3.24023058e-02 -1.13093858e+00] [ 7.20277563e-02 -3.22653176e-02 9.96880611e-01 -5.96270613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.063133365 meters SLAMing on 111.12313336499999 meters Centerline goodness : 0.162848 with order 1 Centerline is valid? [False, False] Translation: X:-10.67, Y:-1.13, Z:-0.60 [[ 9.97181953e-01 4.75304588e-04 -7.50195036e-02 -1.06674437e+01] [ 1.86068015e-03 9.99515622e-01 3.10654019e-02 -1.12567067e+00] [ 7.49979314e-02 -3.11174455e-02 9.96698056e-01 -5.98978189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18313336499999 meters SLAMing on 111.24313336499999 meters SLAMing on 111.303133365 meters SLAMing on 111.363133365 meters Centerline goodness : 0.098528 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-1.10, Z:-0.61 [[ 9.97351868e-01 4.53962224e-03 -7.25854249e-02 -1.07523748e+01] [-2.10513244e-03 9.99433781e-01 3.35810399e-02 -1.10454415e+00] [ 7.26967709e-02 -3.33393109e-02 9.96796704e-01 -6.06188515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.423133365 meters Centerline goodness : 0.103243 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-1.10, Z:-0.61 [[ 9.97344266e-01 4.74802197e-03 -7.26764810e-02 -1.07523438e+01] [-2.32770453e-03 9.99440985e-01 3.33511605e-02 -1.10257311e+00] [ 7.27942058e-02 -3.30934193e-02 9.96797788e-01 -6.05881082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48313336499999 meters Centerline goodness : 0.099669 with order 1 Centerline is valid? [False, False] Translation: X:-10.80, Y:-1.09, Z:-0.61 [[ 9.97250962e-01 6.31282240e-03 -7.38286353e-02 -1.08002167e+01] [-3.83649531e-03 9.99426806e-01 3.36353949e-02 -1.09428843e+00] [ 7.39986514e-02 -3.32596867e-02 9.96703563e-01 -6.06778910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54313336499999 meters Centerline goodness : 0.313850 with order 3 Centerline is valid? [False, False] Translation: X:-10.80, Y:-1.09, Z:-0.61 [[ 9.97246220e-01 6.16850984e-03 -7.39048517e-02 -1.07998237e+01] [-3.71773938e-03 9.99440053e-01 3.32529488e-02 -1.09236755e+00] [ 7.40685901e-02 -3.28866185e-02 9.96710748e-01 -6.07085574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60313336499999 meters Centerline goodness : 0.220290 with order 2 Centerline is valid? [False, False] Translation: X:-10.80, Y:-1.09, Z:-0.61 [[ 9.97240273e-01 6.24073701e-03 -7.39789879e-02 -1.07997589e+01] [-3.77627938e-03 9.99434725e-01 3.34061261e-02 -1.09289894e+00] [ 7.41456483e-02 -3.30345690e-02 9.96700125e-01 -6.06993141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.663133365 meters Centerline goodness : 0.140745 with order 1 Centerline is valid? [False, False] Translation: X:-10.80, Y:-1.09, Z:-0.61 [[ 9.97251769e-01 6.33052264e-03 -7.38162159e-02 -1.08003576e+01] [-3.85563105e-03 9.99427178e-01 3.36221717e-02 -1.09386483e+00] [ 7.39867783e-02 -3.32451621e-02 9.96704929e-01 -6.06736187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.723133365 meters Centerline goodness : 0.086327 with order 1 Centerline is valid? [False, False] Translation: X:-10.81, Y:-1.10, Z:-0.60 [[ 9.97347406e-01 3.72951030e-03 -7.26927936e-02 -1.08056578e+01] [-1.44252084e-03 9.99503084e-01 3.14881643e-02 -1.09721721e+00] [ 7.27741068e-02 -3.12997781e-02 9.96857188e-01 -6.04124316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.783133365 meters SLAMing on 111.84313336499999 meters Centerline goodness : 0.420073 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-1.09, Z:-0.61 [[ 9.97276113e-01 4.39816258e-03 -7.36275100e-02 -1.08529684e+01] [-2.05310805e-03 9.99489094e-01 3.18956856e-02 -1.09016491e+00] [ 7.37301757e-02 -3.16576402e-02 9.96775629e-01 -6.05329371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90313336499999 meters Centerline goodness : 0.137007 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-1.08, Z:-0.61 [[ 9.97229205e-01 8.26638668e-03 -7.39295609e-02 -1.08516094e+01] [-5.70568629e-03 9.99378657e-01 3.47813971e-02 -1.08445744e+00] [ 7.41711418e-02 -3.42632061e-02 9.96656749e-01 -6.06102800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96313336499999 meters SLAMing on 112.02313336499999 meters SLAMing on 112.083133365 meters SLAMing on 112.143133365 meters Centerline goodness : 0.143144 with order 3 Centerline is valid? [False, False] Translation: X:-10.95, Y:-1.06, Z:-0.62 [[ 0.99701448 -0.0216217 -0.07412576 -10.94563979] [ 0.02429105 0.99908148 0.03530076 -1.05739876] [ 0.07329441 -0.03699596 0.99662391 -0.6159189 ] [ 0. 0. 0. 1. ]] SLAMing on 112.203133365 meters Centerline goodness : 0.099549 with order 1 Centerline is valid? [False, False] Translation: X:-10.94, Y:-1.06, Z:-0.62 [[ 9.97343732e-01 -1.02009290e-02 -7.21208731e-02 -1.09445901e+01] [ 1.25085853e-02 9.99421747e-01 3.16181547e-02 -1.06330134e+00] [ 7.17566344e-02 -3.24362986e-02 9.96894614e-01 -6.16631783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26313336499999 meters Centerline goodness : 0.098950 with order 1 Centerline is valid? [False, False] Translation: X:-10.96, Y:-1.07, Z:-0.62 [[ 9.97304351e-01 -2.05702428e-03 -7.33471176e-02 -1.09642180e+01] [ 4.27705869e-03 9.99537040e-01 3.01233008e-02 -1.06585358e+00] [ 7.32511964e-02 -3.03558089e-02 9.96851437e-01 -6.19191458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32313336499999 meters Centerline goodness : 0.128398 with order 3 Centerline is valid? [False, False] Translation: X:-10.96, Y:-1.07, Z:-0.62 [[ 0.99725664 0.01533003 -0.07241671 -10.9643303 ] [ -0.01328302 0.99950082 0.02866467 -1.06742075] [ 0.07281999 -0.02762412 0.99696247 -0.61915506] [ 0. 0. 0. 1. ]] SLAMing on 112.38313336499999 meters SLAMing on 112.443133365 meters Centerline goodness : 0.087938 with order 1 Centerline is valid? [False, False] Translation: X:-11.03, Y:-1.06, Z:-0.62 [[ 0.99725313 0.02370246 -0.07017399 -11.03062519] [ -0.02175979 0.99936204 0.02831991 -1.05606086] [ 0.07080048 -0.02671515 0.99713269 -0.62368002] [ 0. 0. 0. 1. ]] SLAMing on 112.503133365 meters Centerline goodness : 0.101633 with order 1 Centerline is valid? [False, False] Translation: X:-11.03, Y:-1.05, Z:-0.62 [[ 0.99726528 0.02349222 -0.07007199 -11.03122706] [ -0.02159101 0.99938121 0.0277674 -1.05337394] [ 0.07068095 -0.02617854 0.9971554 -0.62320249] [ 0. 0. 0. 1. ]] SLAMing on 112.563133365 meters Centerline goodness : 0.087195 with order 1 Centerline is valid? [False, False] Translation: X:-11.05, Y:-1.04, Z:-0.63 [[ 0.99726579 0.01559042 -0.07223489 -11.04747406] [ -0.01353154 0.99949058 0.02890476 -1.04300482] [ 0.07264872 -0.02784828 0.99696872 -0.62628433] [ 0. 0. 0. 1. ]] SLAMing on 112.62313336499999 meters Centerline goodness : 0.089352 with order 1 Centerline is valid? [False, False] Translation: X:-11.07, Y:-1.03, Z:-0.63 [[ 9.97375098e-01 7.23128391e-03 -7.20459797e-02 -1.10674258e+01] [-5.13146948e-03 9.99557841e-01 2.92880556e-02 -1.03371267e+00] [ 7.22259142e-02 -2.88414756e-02 9.96971207e-01 -6.28217476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68313336499999 meters SLAMing on 112.74313336499999 meters Centerline goodness : 0.096267 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:-1.02, Z:-0.63 [[ 9.97399865e-01 6.03066734e-03 -7.18132336e-02 -1.11170448e+01] [-4.02320050e-03 9.99597979e-01 2.80659029e-02 -1.02417540e+00] [ 7.19536193e-02 -2.77040087e-02 9.97023151e-01 -6.28692813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.803133365 meters SLAMing on 112.863133365 meters SLAMing on 112.923133365 meters SLAMing on 112.98313336499999 meters SLAMing on 113.04313336499999 meters Centerline goodness : 0.092758 with order 1 Centerline is valid? [False, False] Translation: X:-11.22, Y:-0.96, Z:-0.64 [[ 0.99772285 0.01358086 -0.06606569 -11.21651548] [ -0.01155197 0.99945275 0.03099589 -0.96001902] [ 0.06645049 -0.03016212 0.99733374 -0.63759431] [ 0. 0. 0. 1. ]] SLAMing on 113.10313336499999 meters SLAMing on 113.163133365 meters Centerline goodness : 0.234132 with order 3 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.95, Z:-0.64 [[ 0.99758006 0.01705522 -0.06740282 -11.26665448] [ -0.01487188 0.99935251 0.03276259 -0.9516633 ] [ 0.06791795 -0.0316809 0.99718778 -0.63706702] [ 0. 0. 0. 1. ]] SLAMing on 113.223133365 meters Centerline goodness : 0.224420 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:-0.95, Z:-0.64 [[ 0.99746076 0.02116636 -0.0680001 -11.26418487] [ -0.01877443 0.9991889 0.03562404 -0.94582919] [ 0.06869897 -0.03425692 0.9970491 -0.63831651] [ 0. 0. 0. 1. ]] SLAMing on 113.283133365 meters Centerline goodness : 0.228503 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:-0.94, Z:-0.64 [[ 0.99737603 0.02474791 -0.06803377 -11.26360264] [ -0.02218156 0.99902306 0.03822175 -0.94063741] [ 0.06891321 -0.03661236 0.9969506 -0.63882951] [ 0. 0. 0. 1. ]] SLAMing on 113.34313336499999 meters Centerline goodness : 0.281466 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:-0.93, Z:-0.64 [[ 0.99725275 0.02777348 -0.06867017 -11.26076148] [ -0.02508114 0.9988943 0.03976312 -0.93142607] [ 0.0696986 -0.03793155 0.99684668 -0.64039036] [ 0. 0. 0. 1. ]] SLAMing on 113.40313336499999 meters Centerline goodness : 0.230964 with order 1 Centerline is valid? [False, False] Translation: X:-11.28, Y:-0.92, Z:-0.64 [[ 0.99725702 0.01952289 -0.07139538 -11.27831254] [ -0.0166695 0.99904672 0.0403457 -0.92352364] [ 0.07211498 -0.03904491 0.99663179 -0.64337907] [ 0. 0. 0. 1. ]] SLAMing on 113.46313336499999 meters Centerline goodness : 0.280884 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:-0.92, Z:-0.64 [[ 9.97281324e-01 1.18907388e-02 -7.27225670e-02 -1.12568853e+01] [-8.91715690e-03 9.99116141e-01 4.10782393e-02 -9.17547535e-01] [ 7.31467411e-02 -4.03180823e-02 9.96505899e-01 -6.41905757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52313336499999 meters Centerline goodness : 0.098723 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:-0.92, Z:-0.64 [[ 9.97286462e-01 1.19196920e-02 -7.26473256e-02 -1.12572942e+01] [-8.94247748e-03 9.99112134e-01 4.11700931e-02 -9.17964510e-01] [ 7.30735594e-02 -4.04087294e-02 9.96507596e-01 -6.41580240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.583133365 meters Centerline goodness : 0.420019 with order 3 Centerline is valid? [False, False] Translation: X:-11.26, Y:-0.92, Z:-0.64 [[ 9.97374424e-01 8.07523705e-03 -7.19656149e-02 -1.12597789e+01] [-5.37231266e-03 9.99275669e-01 3.76732786e-02 -9.18982475e-01] [ 7.22177086e-02 -3.71877428e-02 9.96695377e-01 -6.40699288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.643133365 meters Centerline goodness : 0.097646 with order 1 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.92, Z:-0.64 [[ 9.97539081e-01 -1.87523929e-03 -7.00875555e-02 -1.12402290e+01] [ 4.53524780e-03 9.99274548e-01 3.78128186e-02 -9.23197972e-01] [ 6.99658023e-02 -3.80376288e-02 9.96823919e-01 -6.39421055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.703133365 meters Centerline goodness : 0.303701 with order 1 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.93, Z:-0.64 [[ 9.97586801e-01 -4.27001631e-03 -6.92989327e-02 -1.12424656e+01] [ 6.77729690e-03 9.99329314e-01 3.59859721e-02 -9.28389632e-01] [ 6.90987942e-02 -3.63687902e-02 9.96946672e-01 -6.38970939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76313336499999 meters Centerline goodness : 0.244639 with order 1 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.93, Z:-0.64 [[ 9.97562797e-01 -3.83166519e-03 -6.96691096e-02 -1.12412813e+01] [ 6.40143286e-03 9.99305841e-01 3.66995628e-02 -9.31499230e-01] [ 6.94801277e-02 -3.70561006e-02 9.96894858e-01 -6.39130669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82313336499999 meters Centerline goodness : 0.413166 with order 1 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.94, Z:-0.64 [[ 9.97493110e-01 1.15377935e-02 -6.98167203e-02 -1.12405216e+01] [-9.14506815e-03 9.99363041e-01 3.44946301e-02 -9.41776427e-01] [ 7.01702418e-02 -3.37696772e-02 9.96963262e-01 -6.38798767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88313336499999 meters Centerline goodness : 0.129252 with order 1 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.94, Z:-0.64 [[ 9.97532134e-01 1.25674800e-02 -6.90774956e-02 -1.12428196e+01] [-1.01576506e-02 9.99331231e-01 3.51271045e-02 -9.42104419e-01] [ 6.94727578e-02 -3.43387504e-02 9.96992671e-01 -6.38174104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943133365 meters Centerline goodness : 0.247163 with order 1 Centerline is valid? [False, False] Translation: X:-11.25, Y:-0.94, Z:-0.64 [[ 9.97580392e-01 1.33346030e-02 -6.82315918e-02 -1.12452574e+01] [-1.09405207e-02 9.99315398e-01 3.53417695e-02 -9.40991673e-01] [ 6.86561487e-02 -3.45097672e-02 9.97043334e-01 -6.37803419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003133365 meters Centerline goodness : 0.131562 with order 3 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.94, Z:-0.64 [[ 0.99754518 0.01390734 -0.0686309 -11.24405633] [ -0.01149403 0.99930591 0.03543417 -0.93972867] [ 0.06907606 -0.03455834 0.99701265 -0.63831264] [ 0. 0. 0. 1. ]] SLAMing on 114.063133365 meters Centerline goodness : 0.133149 with order 3 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.94, Z:-0.64 [[ 0.99756016 0.01411411 -0.06837045 -11.24492173] [ -0.01169606 0.99929629 0.03563898 -0.94032631] [ 0.06882535 -0.03475236 0.99702324 -0.63805619] [ 0. 0. 0. 1. ]] SLAMing on 114.12313336499999 meters Centerline goodness : 0.129534 with order 3 Centerline is valid? [False, False] Translation: X:-11.25, Y:-0.94, Z:-0.64 [[ 9.97706515e-01 1.16500300e-02 -6.66782269e-02 -1.12512680e+01] [-9.42088387e-03 9.99389318e-01 3.36487400e-02 -9.44004628e-01] [ 6.70295166e-02 -3.29433993e-02 9.97206988e-01 -6.35761376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18313336499999 meters Centerline goodness : 0.131009 with order 3 Centerline is valid? [False, False] Translation: X:-11.25, Y:-0.95, Z:-0.64 [[ 9.97770199e-01 7.89846106e-03 -6.62740149e-02 -1.12520403e+01] [-5.88856374e-03 9.99518403e-01 3.04678051e-02 -9.46265637e-01] [ 6.64827463e-02 -3.00096092e-02 9.97336186e-01 -6.36074015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24313336499999 meters Centerline goodness : 0.129667 with order 3 Centerline is valid? [False, False] Translation: X:-11.25, Y:-0.95, Z:-0.64 [[ 9.97785619e-01 4.15647652e-03 -6.63820869e-02 -1.12514539e+01] [-2.35027225e-03 9.99625501e-01 2.72641634e-02 -9.48534667e-01] [ 6.64705497e-02 -2.70477742e-02 9.97421718e-01 -6.36496254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.303133365 meters Centerline goodness : 0.130141 with order 3 Centerline is valid? [False, False] Translation: X:-11.25, Y:-0.95, Z:-0.64 [[ 9.97792857e-01 6.93169907e-04 -6.63998040e-02 -1.12513213e+01] [ 9.42435093e-04 9.99696975e-01 2.45981880e-02 -9.53356635e-01] [ 6.63967339e-02 -2.46064738e-02 9.97489847e-01 -6.36535330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.363133365 meters Centerline goodness : 0.133432 with order 3 Centerline is valid? [False, False] Translation: X:-11.25, Y:-0.96, Z:-0.64 [[ 9.97757537e-01 -2.71518887e-03 -6.68769462e-02 -1.12498172e+01] [ 4.17544156e-03 9.99755703e-01 2.17048297e-02 -9.56888223e-01] [ 6.68016757e-02 -2.19353982e-02 9.97525125e-01 -6.36861189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.423133365 meters Centerline goodness : 0.128690 with order 3 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.97, Z:-0.64 [[ 9.97698375e-01 2.72512060e-03 -6.77534296e-02 -1.12719673e+01] [-1.42831994e-03 9.99815006e-01 1.91810805e-02 -9.65429345e-01] [ 6.77931664e-02 -1.90401593e-02 9.97517699e-01 -6.37943826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48313336499999 meters Centerline goodness : 0.126803 with order 3 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.97, Z:-0.64 [[ 9.97716304e-01 3.38938120e-03 -6.74587941e-02 -1.12729947e+01] [-2.01311564e-03 9.99788664e-01 2.04591059e-02 -9.71228081e-01] [ 6.75138813e-02 -2.02765811e-02 9.97512274e-01 -6.37350939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54313336499999 meters Centerline goodness : 0.138111 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.97, Z:-0.64 [[ 9.97716491e-01 3.70063456e-03 -6.74396652e-02 -1.12732560e+01] [-2.28070701e-03 9.99774354e-01 2.11196263e-02 -9.74769572e-01] [ 6.75026038e-02 -2.09175893e-02 9.97499801e-01 -6.36959803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60313336499999 meters Centerline goodness : 0.146185 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.98, Z:-0.64 [[ 9.97717375e-01 4.12454314e-03 -6.74019856e-02 -1.12731458e+01] [-2.64640005e-03 9.99754361e-01 2.20048514e-02 -9.79309300e-01] [ 6.74761890e-02 -2.17762500e-02 9.97483212e-01 -6.37108767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.663133365 meters Centerline goodness : 0.133472 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.98, Z:-0.64 [[ 9.97731323e-01 5.37821999e-04 -6.73195250e-02 -1.12729197e+01] [ 7.48636152e-04 9.99817622e-01 1.90830469e-02 -9.83706578e-01] [ 6.73175107e-02 -1.90901514e-02 9.97548956e-01 -6.37596179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.723133365 meters Centerline goodness : 0.140719 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-0.99, Z:-0.64 [[ 9.97674096e-01 -1.01248171e-03 -6.81569806e-02 -1.12692082e+01] [ 2.28065592e-03 9.99825677e-01 1.85314272e-02 -9.93325158e-01] [ 6.81263365e-02 -1.86437675e-02 9.97502487e-01 -6.39135746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783133365 meters Centerline goodness : 0.135580 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-1.00, Z:-0.64 [[ 9.97681299e-01 -6.12640883e-04 -6.80562349e-02 -1.12694783e+01] [ 1.93376578e-03 9.99810938e-01 1.93480715e-02 -9.97389252e-01] [ 6.80315147e-02 -1.94348139e-02 9.97493860e-01 -6.38965619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84313336499999 meters Centerline goodness : 0.140412 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-1.00, Z:-0.64 [[ 9.97684863e-01 -2.20397905e-04 -6.80063585e-02 -1.12692143e+01] [ 1.58415010e-03 9.99798724e-01 2.00000274e-02 -1.00019575e+00] [ 6.79882626e-02 -2.00614568e-02 9.97484403e-01 -6.39467308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90313336499999 meters Centerline goodness : 0.140162 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-1.01, Z:-0.64 [[ 9.97675552e-01 -3.58688249e-03 -6.80487133e-02 -1.12690003e+01] [ 4.77630155e-03 9.99838515e-01 1.73242956e-02 -1.00514333e+00] [ 6.79755842e-02 -1.76090473e-02 9.97531574e-01 -6.39541884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96313336499999 meters Centerline goodness : 0.140813 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-1.01, Z:-0.64 [[ 9.97706279e-01 -6.09716155e-03 -6.74166571e-02 -1.12718827e+01] [ 7.17676308e-03 9.99849680e-01 1.57832887e-02 -1.01206220e+00] [ 6.73102898e-02 -1.62309196e-02 9.97600061e-01 -6.38014804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02313336499999 meters Centerline goodness : 0.133375 with order 1 Centerline is valid? [False, False] Translation: X:-11.29, Y:-1.02, Z:-0.64 [[ 9.97896572e-01 -2.54262227e-03 -6.47762808e-02 -1.12903431e+01] [ 3.41335395e-03 9.99905259e-01 1.33350173e-02 -1.02393138e+00] [ 6.47362379e-02 -1.35280724e-02 9.97810709e-01 -6.40927135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083133365 meters Centerline goodness : 0.141894 with order 1 Centerline is valid? [False, False] Translation: X:-11.29, Y:-1.03, Z:-0.64 [[ 9.97879235e-01 -6.12922742e-03 -6.48032768e-02 -1.12899031e+01] [ 6.82093757e-03 9.99922048e-01 1.04581490e-02 -1.02820531e+00] [ 6.47341248e-02 -1.08779889e-02 9.97843255e-01 -6.41233700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143133365 meters Centerline goodness : 0.127888 with order 2 Centerline is valid? [False, False] Translation: X:-11.31, Y:-1.04, Z:-0.64 [[ 9.98026578e-01 9.97360142e-04 -6.27849927e-02 -1.13084790e+01] [-3.25572395e-04 9.99942603e-01 1.07091355e-02 -1.03944499e+00] [ 6.27920699e-02 -1.06675608e-02 9.97969618e-01 -6.43611098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20313336499999 meters Centerline goodness : 0.125919 with order 3 Centerline is valid? [False, False] Translation: X:-11.31, Y:-1.04, Z:-0.64 [[ 9.98014845e-01 1.25628921e-03 -6.29665915e-02 -1.13077896e+01] [-5.56438763e-04 9.99937894e-01 1.11309351e-02 -1.04150091e+00] [ 6.29766646e-02 -1.10738014e-02 9.97953561e-01 -6.43908629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26313336499999 meters Centerline goodness : 0.125070 with order 3 Centerline is valid? [False, False] Translation: X:-11.31, Y:-1.04, Z:-0.64 [[ 9.98018559e-01 -1.84353390e-03 -6.28932180e-02 -1.13079689e+01] [ 2.36775127e-03 9.99963070e-01 8.26152487e-03 -1.04407666e+00] [ 6.28756650e-02 -8.39407065e-03 9.97986067e-01 -6.44022885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32313336499999 meters Centerline goodness : 0.134281 with order 1 Centerline is valid? [False, False] Translation: X:-11.31, Y:-1.05, Z:-0.64 [[ 9.98038807e-01 -1.47094338e-03 -6.25809633e-02 -1.13090905e+01] [ 2.02970920e-03 9.99958636e-01 8.86605099e-03 -1.04621772e+00] [ 6.25653333e-02 -8.97568411e-03 9.98000509e-01 -6.43499486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38313336499999 meters Centerline goodness : 0.146251 with order 1 Centerline is valid? [False, False] Translation: X:-11.33, Y:-1.05, Z:-0.64 [[ 9.98251296e-01 3.61276448e-03 -5.90025225e-02 -1.13344252e+01] [-3.21376358e-03 9.99971334e-01 6.85593152e-03 -1.05336697e+00] [ 5.90256000e-02 -6.65432237e-03 9.98234290e-01 -6.44139666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.443133365 meters Centerline goodness : 0.151226 with order 3 Centerline is valid? [False, False] Translation: X:-11.33, Y:-1.05, Z:-0.64 [[ 9.98250628e-01 3.66622509e-03 -5.90105370e-02 -1.13342606e+01] [-3.26546591e-03 9.99970957e-01 6.88631629e-03 -1.05341115e+00] [ 5.90340700e-02 -6.68157266e-03 9.98233608e-01 -6.44378270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.503133365 meters Centerline goodness : 0.135254 with order 3 Centerline is valid? [False, False] Translation: X:-11.33, Y:-1.05, Z:-0.65 [[ 9.98239260e-01 3.88912836e-03 -5.91882887e-02 -1.13333672e+01] [-3.48928062e-03 9.99970400e-01 6.85737583e-03 -1.05261943e+00] [ 5.92132060e-02 -6.63877723e-03 9.98223283e-01 -6.45112566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.563133365 meters Centerline goodness : 0.119830 with order 2 Centerline is valid? [False, False] Translation: X:-11.33, Y:-1.05, Z:-0.65 [[ 9.98247928e-01 3.93682732e-03 -5.90387554e-02 -1.13336127e+01] [-3.54713931e-03 9.99971237e-01 6.70389502e-03 -1.05155278e+00] [ 5.90634494e-02 -6.48273063e-03 9.98233181e-01 -6.45359382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62313336499999 meters SLAMing on 115.68313336499999 meters Centerline goodness : 0.134138 with order 1 Centerline is valid? [False, False] Translation: X:-11.33, Y:-1.05, Z:-0.65 [[ 9.98207121e-01 3.82939800e-03 -5.97317339e-02 -1.13314010e+01] [-3.43467158e-03 9.99971592e-01 6.70959242e-03 -1.05276028e+00] [ 5.97557307e-02 -6.49240404e-03 9.98191916e-01 -6.46057542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74313336499999 meters Centerline goodness : 0.136172 with order 1 Centerline is valid? [False, False] Translation: X:-11.33, Y:-1.06, Z:-0.64 [[ 9.98260172e-01 1.42024425e-03 -5.89458397e-02 -1.13346069e+01] [-1.13893897e-03 9.99987804e-01 4.80558962e-03 -1.05563958e+00] [ 5.89519459e-02 -4.73009300e-03 9.98249615e-01 -6.44875074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.803133365 meters Centerline goodness : 0.161777 with order 3 Centerline is valid? [False, False] Translation: X:-11.38, Y:-1.07, Z:-0.65 [[ 9.98138701e-01 -2.43565820e-03 -6.09360353e-02 -1.13801839e+01] [ 2.68060080e-03 9.99988652e-01 3.93824168e-03 -1.06549452e+00] [ 6.09257516e-02 -4.09425662e-03 9.98133904e-01 -6.45770378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.863133365 meters Centerline goodness : 0.159589 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:-1.07, Z:-0.64 [[ 9.98189076e-01 -5.04072589e-03 -5.99429718e-02 -1.13842665e+01] [ 5.16986298e-03 9.99984637e-01 1.99943879e-03 -1.07009231e+00] [ 5.99319723e-02 -2.30571491e-03 9.98199801e-01 -6.43939405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.923133365 meters Centerline goodness : 0.138498 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:-1.07, Z:-0.64 [[ 9.98178245e-01 -4.75797182e-03 -6.01460992e-02 -1.13834602e+01] [ 4.92336083e-03 9.99984495e-01 2.60189150e-03 -1.07291062e+00] [ 6.01327869e-02 -2.89327244e-03 9.98186194e-01 -6.44343283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98313336499999 meters Centerline goodness : 0.161975 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:-1.08, Z:-0.65 [[ 9.98140174e-01 -4.63525992e-03 -6.07841119e-02 -1.13810947e+01] [ 4.83010128e-03 9.99983656e-01 3.05892381e-03 -1.07613015e+00] [ 6.07689396e-02 -3.34682816e-03 9.98146249e-01 -6.45345691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04313336499999 meters Centerline goodness : 0.162044 with order 1 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.09, Z:-0.65 [[ 9.98283805e-01 4.83247110e-04 -5.85594604e-02 -1.13952419e+01] [-3.41016009e-04 9.99996968e-01 2.43880126e-03 -1.08845534e+00] [ 5.85604614e-02 -2.41464609e-03 9.98280943e-01 -6.49487506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10313336499999 meters Centerline goodness : 0.131756 with order 3 Centerline is valid? [False, False] Translation: X:-11.39, Y:-1.09, Z:-0.65 [[ 9.98261662e-01 7.48480897e-04 -5.89329650e-02 -1.13938829e+01] [-5.69899056e-04 9.99995195e-01 3.04700303e-03 -1.09183063e+00] [ 5.89349625e-02 -3.00812047e-03 9.98257292e-01 -6.50035896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.163133365 meters Centerline goodness : 0.130832 with order 3 Centerline is valid? [False, False] Translation: X:-11.39, Y:-1.09, Z:-0.65 [[ 9.98254648e-01 1.02573909e-03 -5.90474852e-02 -1.13938940e+01] [-8.14960922e-04 9.99993211e-01 3.59360931e-03 -1.09449704e+00] [ 5.90507704e-02 -3.53921581e-03 9.98248707e-01 -6.49567812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.223133365 meters Centerline goodness : 0.124374 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.10, Z:-0.65 [[ 9.98335716e-01 2.26608996e-03 -5.76251992e-02 -1.13985390e+01] [-1.99224603e-03 9.99986451e-01 4.80916150e-03 -1.09681944e+00] [ 5.76353164e-02 -4.68635412e-03 9.98326704e-01 -6.48039021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.283133365 meters Centerline goodness : 0.187297 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.10, Z:-0.65 [[ 9.98343859e-01 2.27839732e-03 -5.74834513e-02 -1.13990799e+01] [-2.00276880e-03 9.99986223e-01 4.85207467e-03 -1.09764733e+00] [ 5.74937143e-02 -4.72891289e-03 9.98334668e-01 -6.47717000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34313336499999 meters Centerline goodness : 0.122866 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.10, Z:-0.65 [[ 9.98344568e-01 2.35398580e-03 -5.74680927e-02 -1.13993643e+01] [-2.06900927e-03 9.99985270e-01 5.01786216e-03 -1.09849868e+00] [ 5.74790582e-02 -4.89065342e-03 9.98334733e-01 -6.47357801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40313336499999 meters Centerline goodness : 0.124280 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.10, Z:-0.65 [[ 9.98276027e-01 2.08944682e-03 -5.86566974e-02 -1.13959006e+01] [-1.79344768e-03 9.99985394e-01 5.09848820e-03 -1.10021648e+00] [ 5.86664937e-02 -4.98450083e-03 9.98265194e-01 -6.48090665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46313336499999 meters Centerline goodness : 0.127284 with order 3 Centerline is valid? [False, False] Translation: X:-11.39, Y:-1.10, Z:-0.65 [[ 9.98255168e-01 2.06273322e-03 -5.90115651e-02 -1.13948543e+01] [-1.75365334e-03 9.99984476e-01 5.28892404e-03 -1.10174292e+00] [ 5.90215586e-02 -5.17620993e-03 9.98243288e-01 -6.48303690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52313336499999 meters Centerline goodness : 0.144976 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.11, Z:-0.65 [[ 9.98305436e-01 -4.88677474e-04 -5.81894936e-02 -1.13981180e+01] [ 6.89786555e-04 9.99993859e-01 3.43607038e-03 -1.10595345e+00] [ 5.81874571e-02 -3.47038607e-03 9.98299643e-01 -6.46893067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.583133365 meters Centerline goodness : 0.145732 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.11, Z:-0.65 [[ 9.98315138e-01 -4.98494902e-04 -5.80227189e-02 -1.13986324e+01] [ 6.96450703e-04 9.99994006e-01 3.39152266e-03 -1.10574903e+00] [ 5.80206804e-02 -3.42621838e-03 9.98309502e-01 -6.46715326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.643133365 meters Centerline goodness : 0.127006 with order 3 Centerline is valid? [False, False] Translation: X:-11.40, Y:-1.10, Z:-0.65 [[ 9.98326019e-01 -5.66670896e-04 -5.78345717e-02 -1.13992006e+01] [ 7.48070607e-04 9.99994869e-01 3.11492516e-03 -1.10428744e+00] [ 5.78325098e-02 -3.15297518e-03 9.98321321e-01 -6.46572347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70313336499999 meters SLAMing on 116.76313336499999 meters Centerline goodness : 0.221961 with order 3 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.11, Z:-0.65 [[ 9.98239050e-01 6.30071698e-03 -5.89838925e-02 -1.14182057e+01] [-6.22390416e-03 9.99979527e-01 1.48589405e-03 -1.10673566e+00] [ 5.89920472e-02 -1.11616737e-03 9.98257829e-01 -6.48265046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82313336499999 meters Centerline goodness : 0.124089 with order 3 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.11, Z:-0.65 [[ 9.98222962e-01 6.24659821e-03 -5.92612662e-02 -1.14179404e+01] [-6.14140714e-03 9.99979226e-01 1.95700876e-03 -1.10908534e+00] [ 5.92722597e-02 -1.58958351e-03 9.98240588e-01 -6.47964804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88313336499999 meters SLAMing on 116.943133365 meters Centerline goodness : 0.123976 with order 3 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.11, Z:-0.65 [[ 9.98222831e-01 6.43060706e-03 -5.92437940e-02 -1.14176338e+01] [-6.35091205e-03 9.99978657e-01 1.53339941e-03 -1.10612854e+00] [ 5.92523902e-02 -1.15442218e-03 9.98242366e-01 -6.48161825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.003133365 meters Centerline goodness : 0.144760 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98073700e-01 7.60729612e-03 -6.15712536e-02 -1.14601086e+01] [-7.49208657e-03 9.99969725e-01 2.10181275e-03 -1.10397847e+00] [ 6.15853787e-02 -1.63646687e-03 9.98100477e-01 -6.48836697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.063133365 meters Centerline goodness : 0.143672 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98049977e-01 1.13364411e-02 -6.13818317e-02 -1.14612598e+01] [-1.10444913e-02 9.99926035e-01 5.09349925e-03 -1.10040893e+00] [ 6.14350338e-02 -4.40563570e-03 9.98101361e-01 -6.47682604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12313336499999 meters Centerline goodness : 0.138380 with order 2 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98063603e-01 1.14514661e-02 -6.11384390e-02 -1.14618526e+01] [-1.11654756e-02 9.99925076e-01 5.01735678e-03 -1.09909562e+00] [ 6.11913144e-02 -4.32500144e-03 9.98116685e-01 -6.47703267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18313336499999 meters Centerline goodness : 0.124225 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98071224e-01 1.13153958e-02 -6.10392782e-02 -1.14624762e+01] [-1.10415532e-02 9.99927415e-01 4.82178023e-03 -1.09850796e+00] [ 6.10894080e-02 -4.13851165e-03 9.98123718e-01 -6.47231175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24313336499999 meters SLAMing on 117.303133365 meters Centerline goodness : 0.136933 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98118323e-01 6.98480197e-03 -6.09181917e-02 -1.14623808e+01] [-6.89022998e-03 9.99974709e-01 1.76237212e-03 -1.10339469e+00] [ 6.09289609e-02 -1.33931556e-03 9.98141206e-01 -6.48207821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363133365 meters Centerline goodness : 0.133316 with order 2 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98092347e-01 7.05888679e-03 -6.13338252e-02 -1.14608316e+01] [-6.95245356e-03 9.99973933e-01 1.94855106e-03 -1.10420800e+00] [ 6.13459810e-02 -1.51841333e-03 9.98115407e-01 -6.48924030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423133365 meters Centerline goodness : 0.141781 with order 2 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98076885e-01 3.77781219e-03 -6.18729275e-02 -1.14588039e+01] [-3.86521597e-03 9.99991694e-01 -1.29300345e-03 -1.10476359e+00] [ 6.18675289e-02 1.52966908e-03 9.98083197e-01 -6.49774612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48313336499999 meters Centerline goodness : 0.133871 with order 2 Centerline is valid? [False, False] Translation: X:-11.48, Y:-1.11, Z:-0.65 [[ 9.98159956e-01 1.15162136e-02 -5.95321765e-02 -1.14788691e+01] [-1.16504354e-02 9.99930311e-01 -1.90799341e-03 -1.11280535e+00] [ 5.95060549e-02 2.59805840e-03 9.98224564e-01 -6.51953240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54313336499999 meters Centerline goodness : 0.137971 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.11, Z:-0.65 [[ 9.98340509e-01 3.46909498e-03 -5.74821190e-02 -1.14613420e+01] [-3.53242670e-03 9.99993261e-01 -1.00019049e-03 -1.10857401e+00] [ 5.74782619e-02 1.20158205e-03 9.98346035e-01 -6.49955216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60313336499999 meters Centerline goodness : 0.089960 with order 1 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.11, Z:-0.65 [[ 9.98340924e-01 3.59755404e-03 -5.74670029e-02 -1.14615951e+01] [-3.64556840e-03 9.99993088e-01 -7.30696778e-04 -1.10989257e+00] [ 5.74639769e-02 9.38984387e-04 9.98347139e-01 -6.49634471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.663133365 meters SLAMing on 117.723133365 meters SLAMing on 117.783133365 meters Centerline goodness : 0.181497 with order 2 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.11, Z:-0.65 [[ 9.98543278e-01 8.03890749e-03 -5.33544602e-02 -1.14223613e+01] [-7.97795909e-03 9.99967257e-01 1.35521667e-03 -1.10972320e+00] [ 5.33636077e-02 -9.27582793e-04 9.98574717e-01 -6.47422358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84313336499999 meters Centerline goodness : 0.087926 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.11, Z:-0.65 [[ 9.98539096e-01 8.20501101e-03 -5.34074077e-02 -1.14217812e+01] [-8.17802532e-03 9.99966297e-01 7.23803419e-04 -1.10555188e+00] [ 5.34115465e-02 -2.85978879e-04 9.98572544e-01 -6.47933950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90313336499999 meters Centerline goodness : 0.130643 with order 3 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.10, Z:-0.65 [[ 9.98471362e-01 1.12819153e-02 -5.41078299e-02 -1.14187647e+01] [-1.11482272e-02 9.99934014e-01 2.77196976e-03 -1.09888413e+00] [ 5.41355327e-02 -2.16452604e-03 9.98531251e-01 -6.49324912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96313336499999 meters Centerline goodness : 0.089112 with order 1 Centerline is valid? [False, False] Translation: X:-11.44, Y:-1.09, Z:-0.65 [[ 9.98534922e-01 3.19007107e-03 -5.40169775e-02 -1.14374396e+01] [-3.01997158e-03 9.99990222e-01 3.23033243e-03 -1.08613949e+00] [ 5.40267543e-02 -3.06247001e-03 9.98534792e-01 -6.51499599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02313336499999 meters Centerline goodness : 0.088882 with order 2 Centerline is valid? [False, False] Translation: X:-11.44, Y:-1.08, Z:-0.65 [[ 9.98549917e-01 -5.65899319e-04 -5.38306918e-02 -1.14382001e+01] [ 5.41820173e-04 9.99999747e-01 -4.61905390e-04 -1.08178701e+00] [ 5.38309395e-02 4.32069034e-04 9.98549970e-01 -6.51296688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.083133365 meters Centerline goodness : 0.126426 with order 3 Centerline is valid? [False, False] Translation: X:-11.44, Y:-1.08, Z:-0.65 [[ 9.98559575e-01 -8.81672369e-04 -5.36469815e-02 -1.14386436e+01] [ 8.52166956e-04 9.99999473e-01 -5.72864135e-04 -1.08155405e+00] [ 5.36474583e-02 5.26322782e-04 9.98559800e-01 -6.51344511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.143133365 meters Centerline goodness : 0.232311 with order 3 Centerline is valid? [False, False] Translation: X:-11.48, Y:-1.09, Z:-0.65 [[ 9.98427982e-01 -5.21192659e-03 -5.58068189e-02 -1.14814706e+01] [ 5.11720400e-03 9.99985214e-01 -1.84009529e-03 -1.08878681e+00] [ 5.58155842e-02 1.55162775e-03 9.98439890e-01 -6.53547128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20313336499999 meters Centerline goodness : 0.146625 with order 1 Centerline is valid? [False, False] Translation: X:-11.48, Y:-1.09, Z:-0.65 [[ 9.98364608e-01 -5.45811026e-03 -5.69062201e-02 -1.14784851e+01] [ 5.38254017e-03 9.99984417e-01 -1.48116669e-03 -1.09219093e+00] [ 5.69134177e-02 1.17244439e-03 9.98378429e-01 -6.53924836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26313336499999 meters Centerline goodness : 0.238756 with order 3 Centerline is valid? [False, False] Translation: X:-11.48, Y:-1.09, Z:-0.65 [[ 9.98372450e-01 -5.30176089e-03 -5.67832895e-02 -1.14790179e+01] [ 5.25270964e-03 9.99985691e-01 -1.01305229e-03 -1.09468192e+00] [ 5.67878480e-02 7.13137368e-04 9.98386013e-01 -6.53478953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32313336499999 meters Centerline goodness : 0.228943 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.10, Z:-0.65 [[ 9.98530937e-01 6.00780962e-03 -5.38504748e-02 -1.14620573e+01] [-6.03458789e-03 9.99981736e-01 -3.34682561e-04 -1.09511270e+00] [ 5.38474806e-02 6.59156315e-04 9.98548954e-01 -6.51270862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38313336499999 meters Centerline goodness : 0.122343 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.09, Z:-0.65 [[ 9.98497057e-01 9.72812112e-03 -5.39350569e-02 -1.14613501e+01] [-9.63333956e-03 9.99951564e-01 2.01703190e-03 -1.08751333e+00] [ 5.39520665e-02 -1.49442570e-03 9.98542408e-01 -6.51499433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443133365 meters Centerline goodness : 0.125253 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.08, Z:-0.65 [[ 9.98429970e-01 1.23068543e-02 -5.46455555e-02 -1.14582538e+01] [-1.21579165e-02 9.99921416e-01 3.05713867e-03 -1.07769318e+00] [ 5.46788851e-02 -2.38796277e-03 9.98501135e-01 -6.52877986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503133365 meters Centerline goodness : 0.231567 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.07, Z:-0.65 [[ 9.98358860e-01 1.55309192e-02 -5.51214690e-02 -1.14565897e+01] [-1.52730375e-02 9.99870371e-01 5.09662904e-03 -1.06989047e+00] [ 5.51934790e-02 -4.24639250e-03 9.98466648e-01 -6.53482460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.563133365 meters Centerline goodness : 0.118167 with order 3 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.06, Z:-0.65 [[ 9.98395405e-01 1.51410561e-02 -5.45652272e-02 -1.14583524e+01] [-1.49365863e-02 9.99879818e-01 4.15314420e-03 -1.06402468e+00] [ 5.46215524e-02 -3.33146185e-03 9.98501571e-01 -6.53412146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62313336499999 meters Centerline goodness : 0.115741 with order 3 Centerline is valid? [False, False] Translation: X:-11.48, Y:-1.06, Z:-0.66 [[ 9.98472707e-01 4.97720102e-03 -5.50225425e-02 -1.14794610e+01] [-4.74967582e-03 9.99979624e-01 4.26512341e-03 -1.06006616e+00] [ 5.50426498e-02 -3.99727008e-03 9.98476003e-01 -6.55189810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68313336499999 meters Centerline goodness : 0.135165 with order 1 Centerline is valid? [False, False] Translation: X:-11.46, Y:-1.06, Z:-0.65 [[ 9.98512112e-01 -3.49085025e-03 -5.44185238e-02 -1.14594615e+01] [ 3.75815931e-03 9.99981367e-01 4.81053807e-03 -1.05540365e+00] [ 5.44007170e-02 -5.00789401e-03 9.98506626e-01 -6.53224213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74313336499999 meters Centerline goodness : 0.133036 with order 1 Centerline is valid? [False, False] Translation: X:-11.53, Y:-1.06, Z:-0.65 [[ 9.98394934e-01 -1.46168944e-02 -5.47165595e-02 -1.15305206e+01] [ 1.49000055e-02 9.99877612e-01 4.76975425e-03 -1.06310602e+00] [ 5.46401439e-02 -5.57737552e-03 9.98490535e-01 -6.54680379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.803133365 meters Centerline goodness : 0.126109 with order 3 Centerline is valid? [False, False] Translation: X:-11.51, Y:-1.07, Z:-0.65 [[ 9.98501656e-01 -8.26455483e-03 -5.40938053e-02 -1.15074716e+01] [ 8.39919263e-03 9.99962168e-01 2.26209996e-03 -1.06518479e+00] [ 5.40730636e-02 -2.71305485e-03 9.98533296e-01 -6.54300495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.863133365 meters Centerline goodness : 0.144771 with order 1 Centerline is valid? [False, False] Translation: X:-11.51, Y:-1.07, Z:-0.66 [[ 9.98472256e-01 -1.13933701e-02 -5.40679640e-02 -1.15055372e+01] [ 1.14181076e-02 9.99934800e-01 1.48634939e-04 -1.07187657e+00] [ 5.40627453e-02 -7.65761695e-04 9.98537247e-01 -6.56277098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.923133365 meters Centerline goodness : 0.129633 with order 3 Centerline is valid? [False, False] Translation: X:-11.52, Y:-1.08, Z:-0.66 [[ 9.98691264e-01 -5.69178592e-03 -5.08267970e-02 -1.15228730e+01] [ 5.69018144e-03 9.99983795e-01 -1.76269074e-04 -1.08052764e+00] [ 5.08269766e-02 -1.13175312e-04 9.98707467e-01 -6.59540618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98313336499999 meters Centerline goodness : 0.244327 with order 3 Centerline is valid? [False, False] Translation: X:-11.52, Y:-1.08, Z:-0.66 [[ 9.98692693e-01 -5.58428743e-03 -5.08106354e-02 -1.15228899e+01] [ 5.58285823e-03 9.99984401e-01 -1.70055035e-04 -1.08020937e+00] [ 5.08107924e-02 -1.13835853e-04 9.98708291e-01 -6.59653505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04313336499999 meters Centerline goodness : 0.118606 with order 3 Centerline is valid? [False, False] Translation: X:-11.53, Y:-1.08, Z:-0.66 [[ 9.98769921e-01 -4.75950053e-03 -4.93557644e-02 -1.15268557e+01] [ 4.78305178e-03 9.99988497e-01 3.59075855e-04 -1.07982603e+00] [ 4.93534876e-02 -5.94705340e-04 9.98781197e-01 -6.59170250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10313336499999 meters SLAMing on 119.163133365 meters Centerline goodness : 0.249718 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98758543e-01 -9.78378259e-04 -4.98037664e-02 -1.15461554e+01] [ 7.86856935e-04 9.99992221e-01 -3.86498004e-03 -1.08521782e+00] [ 4.98071604e-02 3.82099340e-03 9.98751544e-01 -6.61866332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.223133365 meters Centerline goodness : 0.120080 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98761146e-01 -4.84949641e-03 -4.95242926e-02 -1.15463300e+01] [ 4.49365692e-03 9.99963302e-01 -7.29396592e-03 -1.08661968e+00] [ 4.95578472e-02 7.06238458e-03 9.98746285e-01 -6.62384975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.283133365 meters Centerline goodness : 0.121454 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98753123e-01 -4.81625713e-03 -4.96890613e-02 -1.15461348e+01] [ 4.46710684e-03 9.99964565e-01 -7.13536443e-03 -1.08770373e+00] [ 4.97216663e-02 6.90450116e-03 9.98739247e-01 -6.62056648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34313336499999 meters Centerline goodness : 0.238792 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98731727e-01 -4.63354078e-03 -5.01344944e-02 -1.15452730e+01] [ 4.30484159e-03 9.99968540e-01 -6.66234172e-03 -1.09020651e+00] [ 5.01637874e-02 6.43807100e-03 9.98720254e-01 -6.61746596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40313336499999 meters Centerline goodness : 0.225000 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98736792e-01 -4.39568128e-03 -5.00549576e-02 -1.15455440e+01] [ 4.09145686e-03 9.99972542e-01 -6.17865050e-03 -1.09244154e+00] [ 5.00807426e-02 5.96604788e-03 9.98727353e-01 -6.61581282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46313336499999 meters Centerline goodness : 0.119953 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.10, Z:-0.66 [[ 9.98781585e-01 -4.10329535e-03 -4.91783340e-02 -1.15477270e+01] [ 3.83111993e-03 9.99976827e-01 -5.62744213e-03 -1.09506147e+00] [ 4.92002855e-02 5.43217747e-03 9.98774160e-01 -6.61461036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52313336499999 meters Centerline goodness : 0.117997 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98806518e-01 -3.89117755e-03 -4.86867378e-02 -1.15485990e+01] [ 3.63047089e-03 9.99978602e-01 -5.44206298e-03 -1.09496853e+00] [ 4.87068720e-02 5.25881219e-03 9.98799272e-01 -6.61955915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.583133365 meters Centerline goodness : 0.123850 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:-1.09, Z:-0.66 [[ 9.98791445e-01 -3.84511870e-03 -4.89986157e-02 -1.15472742e+01] [ 3.58427545e-03 9.99978941e-01 -5.41023607e-03 -1.09493413e+00] [ 4.90183869e-02 5.22807297e-03 9.98784193e-01 -6.62855878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.643133365 meters Centerline goodness : 0.130176 with order 3 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.10, Z:-0.67 [[ 9.98571205e-01 -4.99937181e-03 -5.32029598e-02 -1.15868555e+01] [ 4.73788631e-03 9.99976076e-01 -5.03985792e-03 -1.09921432e+00] [ 5.32268831e-02 4.78058742e-03 9.98571001e-01 -6.65872153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70313336499999 meters Centerline goodness : 0.115798 with order 3 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.10, Z:-0.67 [[ 9.98582344e-01 -4.96124026e-03 -5.29970538e-02 -1.15879356e+01] [ 4.70202777e-03 9.99976372e-01 -5.01463952e-03 -1.09924537e+00] [ 5.30206804e-02 4.75833687e-03 9.98582078e-01 -6.65023046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76313336499999 meters SLAMing on 119.82313336499999 meters Centerline goodness : 0.237702 with order 3 Centerline is valid? [False, False] Translation: X:-11.61, Y:-1.10, Z:-0.67 [[ 9.98507307e-01 3.54726630e-03 -5.45029745e-02 -1.16084223e+01] [-3.86106045e-03 9.99976567e-01 -5.65315732e-03 -1.09963611e+00] [ 5.44816440e-02 5.85515817e-03 9.98497605e-01 -6.66904728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88313336499999 meters Centerline goodness : 0.121668 with order 3 Centerline is valid? [False, False] Translation: X:-11.61, Y:-1.10, Z:-0.67 [[ 9.98484009e-01 3.37418280e-03 -5.49390501e-02 -1.16074351e+01] [-3.70222835e-03 9.99975916e-01 -5.87040121e-03 -1.09894418e+00] [ 5.49179191e-02 6.06489864e-03 9.98472453e-01 -6.66867785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.943133365 meters Centerline goodness : 0.088627 with order 1 Centerline is valid? [False, False] Translation: X:-11.61, Y:-1.10, Z:-0.67 [[ 9.98505442e-01 -6.55178805e-04 -5.46484571e-02 -1.16085292e+01] [ 1.30180806e-04 9.99953816e-01 -9.60982853e-03 -1.09938098e+00] [ 5.46522294e-02 9.58835190e-03 9.98459412e-01 -6.66423848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.003133365 meters Centerline goodness : 0.117688 with order 3 Centerline is valid? [False, False] Translation: X:-11.66, Y:-1.11, Z:-0.67 [[ 9.98423346e-01 -2.87734014e-03 -5.60583928e-02 -1.16559195e+01] [ 2.35239461e-03 9.99952788e-01 -9.42800136e-03 -1.10590007e+00] [ 5.60828737e-02 9.28126520e-03 9.98382977e-01 -6.66743083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.063133365 meters Centerline goodness : 0.125659 with order 3 Centerline is valid? [False, False] Translation: X:-11.66, Y:-1.11, Z:-0.67 [[ 9.98463631e-01 -2.57269241e-03 -5.53512329e-02 -1.16578053e+01] [ 2.08222926e-03 9.99958077e-01 -8.91677291e-03 -1.10743681e+00] [ 5.53718526e-02 8.78781949e-03 9.98427129e-01 -6.66468959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12313336499999 meters Centerline goodness : 0.116950 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98449286e-01 5.09090416e-03 -5.54356090e-02 -1.16784579e+01] [-5.65126351e-03 9.99934466e-01 -9.95622649e-03 -1.11235570e+00] [ 5.53812899e-02 1.02540685e-02 9.98412624e-01 -6.68557781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18313336499999 meters Centerline goodness : 0.123222 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98403054e-01 5.44868539e-03 -5.62285818e-02 -1.16759388e+01] [-6.02984848e-03 9.99930091e-01 -1.01712446e-02 -1.11006311e+00] [ 5.61692310e-02 1.04940515e-02 9.98366111e-01 -6.69248141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24313336499999 meters Centerline goodness : 0.118928 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98424597e-01 5.86491600e-03 -5.58025628e-02 -1.16765592e+01] [-6.44056146e-03 9.99927832e-01 -1.01415098e-02 -1.10833666e+00] [ 5.57390566e-02 1.04849327e-02 9.98390316e-01 -6.69940181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.303133365 meters Centerline goodness : 0.236516 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98434657e-01 5.81528838e-03 -5.56274898e-02 -1.16766840e+01] [-6.41061297e-03 9.99924014e-01 -1.05295362e-02 -1.10640025e+00] [ 5.55620306e-02 1.08696602e-02 9.98396069e-01 -6.70481793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.363133365 meters Centerline goodness : 0.121615 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98430449e-01 5.87277055e-03 -5.56969356e-02 -1.16761154e+01] [-6.47093353e-03 9.99923247e-01 -1.05653438e-02 -1.10568613e+00] [ 5.56306129e-02 1.09091722e-02 9.98391819e-01 -6.71156595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.423133365 meters Centerline goodness : 0.129224 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98437687e-01 5.86489414e-03 -5.55678684e-02 -1.16764995e+01] [-6.45784627e-03 9.99924049e-01 -1.04972246e-02 -1.10612798e+00] [ 5.55020829e-02 1.08396734e-02 9.98399730e-01 -6.71057922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48313336499999 meters Centerline goodness : 0.123331 with order 3 Centerline is valid? [False, False] Translation: X:-11.68, Y:-1.11, Z:-0.67 [[ 9.98439562e-01 5.80337312e-03 -5.55406243e-02 -1.16767980e+01] [-6.39581121e-03 9.99924472e-01 -1.04949511e-02 -1.10649240e+00] [ 5.54755233e-02 1.08338018e-02 9.98401270e-01 -6.70749135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54313336499999 meters Centerline goodness : 0.121496 with order 3 Centerline is valid? [False, False] Translation: X:-11.67, Y:-1.10, Z:-0.67 [[ 9.98415295e-01 5.73273274e-03 -5.59824506e-02 -1.16749659e+01] [-6.34670368e-03 9.99921584e-01 -1.07955765e-02 -1.10465187e+00] [ 5.59161725e-02 1.11337728e-02 9.98373387e-01 -6.71880913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60313336499999 meters Centerline goodness : 0.225319 with order 3 Centerline is valid? [False, False] Translation: X:-11.69, Y:-1.10, Z:-0.67 [[ 9.98282189e-01 -2.14426184e-03 -5.85497437e-02 -1.16926268e+01] [ 1.60699538e-03 9.99956187e-01 -9.22178296e-03 -1.09831016e+00] [ 5.85669524e-02 9.11185252e-03 9.98241898e-01 -6.74462745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.663133365 meters Centerline goodness : 0.131251 with order 3 Centerline is valid? [False, False] Translation: X:-11.67, Y:-1.09, Z:-0.67 [[ 9.98367257e-01 6.38532783e-03 -5.67630899e-02 -1.16725195e+01] [-7.02689174e-03 9.99913591e-01 -1.11100815e-02 -1.09271984e+00] [ 5.66872436e-02 1.14908096e-02 9.98325857e-01 -6.73007470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.723133365 meters Centerline goodness : 0.125841 with order 2 Centerline is valid? [False, False] Translation: X:-11.69, Y:-1.09, Z:-0.67 [[ 9.98447350e-01 -2.09789201e-04 -5.57031939e-02 -1.16949564e+01] [-2.55036329e-04 9.99965210e-01 -8.33744381e-03 -1.08670980e+00] [ 5.57030051e-02 8.33870502e-03 9.98412561e-01 -6.74582109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.783133365 meters Centerline goodness : 0.127721 with order 3 Centerline is valid? [False, False] Translation: X:-11.70, Y:-1.08, Z:-0.67 [[ 9.98451274e-01 -4.96008456e-04 -5.56309914e-02 -1.16951455e+01] [-2.12106795e-06 9.99959914e-01 -8.95375658e-03 -1.08384397e+00] [ 5.56332026e-02 8.94000767e-03 9.98411249e-01 -6.74624075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84313336499999 meters SLAMing on 120.90313336499999 meters Centerline goodness : 0.135581 with order 1 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.08, Z:-0.68 [[ 9.98263567e-01 -1.96910232e-04 -5.89051140e-02 -1.17372380e+01] [-2.87597387e-04 9.99966202e-01 -8.21663074e-03 -1.07516063e+00] [ 5.89047410e-02 8.21930407e-03 9.98229770e-01 -6.76783704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96313336499999 meters Centerline goodness : 0.212803 with order 3 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.07, Z:-0.68 [[ 9.98281050e-01 -5.85390874e-04 -5.86054869e-02 -1.17381145e+01] [ 5.13999947e-05 9.99958477e-01 -9.11271203e-03 -1.07079052e+00] [ 5.86083879e-02 9.09403541e-03 9.98239628e-01 -6.76722993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02313336499999 meters Centerline goodness : 0.238444 with order 3 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.07, Z:-0.68 [[ 9.98300235e-01 -8.38702033e-04 -5.82746716e-02 -1.17393448e+01] [ 2.72496306e-04 9.99952689e-01 -9.72342205e-03 -1.06745195e+00] [ 5.82800696e-02 9.69101488e-03 9.98253233e-01 -6.76232511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.083133365 meters Centerline goodness : 0.160587 with order 3 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.06, Z:-0.68 [[ 9.98305029e-01 -1.22654791e-03 -5.81856020e-02 -1.17399485e+01] [ 6.22416456e-04 9.99945727e-01 -1.03998212e-02 -1.06392214e+00] [ 5.81952000e-02 1.03459782e-02 9.98251611e-01 -6.75781496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.143133365 meters Centerline goodness : 0.177441 with order 3 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.06, Z:-0.68 [[ 9.98309455e-01 -1.34657997e-03 -5.81069522e-02 -1.17402656e+01] [ 7.30474795e-04 9.99943309e-01 -1.06228896e-02 -1.06286722e+00] [ 5.81179626e-02 1.05624855e-02 9.98253844e-01 -6.75611916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20313336499999 meters Centerline goodness : 0.125972 with order 3 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.06, Z:-0.68 [[ 9.98306750e-01 -1.64132524e-03 -5.81458424e-02 -1.17400905e+01] [ 9.95984868e-04 9.99937609e-01 -1.11258931e-02 -1.06083170e+00] [ 5.81604758e-02 1.10491418e-02 9.98246100e-01 -6.75810106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26313336499999 meters Centerline goodness : 0.126767 with order 1 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.06, Z:-0.68 [[ 9.98310839e-01 -1.80790469e-03 -5.80706503e-02 -1.17399642e+01] [ 1.14347579e-03 9.99933530e-01 -1.14729255e-02 -1.05889731e+00] [ 5.80875323e-02 1.13871435e-02 9.98246548e-01 -6.76305572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32313336499999 meters Centerline goodness : 0.226404 with order 3 Centerline is valid? [False, False] Translation: X:-11.76, Y:-1.06, Z:-0.68 [[ 9.98299569e-01 5.16440486e-03 -5.80628844e-02 -1.17587679e+01] [-5.94724878e-03 9.99893625e-01 -1.33179812e-02 -1.06211482e+00] [ 5.79879285e-02 1.36406493e-02 9.98224089e-01 -6.79419591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38313336499999 meters Centerline goodness : 0.128901 with order 1 Centerline is valid? [False, False] Translation: X:-11.76, Y:-1.06, Z:-0.68 [[ 9.98293029e-01 4.69552950e-03 -5.82149504e-02 -1.17579220e+01] [-5.54140375e-03 9.99881286e-01 -1.43772802e-02 -1.05711819e+00] [ 5.81405306e-02 1.46753312e-02 9.98200538e-01 -6.80153402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.443133365 meters Centerline goodness : 0.129336 with order 1 Centerline is valid? [False, False] Translation: X:-11.76, Y:-1.05, Z:-0.68 [[ 9.98247060e-01 4.41233264e-03 -5.90198101e-02 -1.17553909e+01] [-5.32013391e-03 9.99869817e-01 -1.52330175e-02 -1.05253987e+00] [ 5.89449136e-02 1.55203082e-02 9.98140580e-01 -6.81023036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.503133365 meters Centerline goodness : 0.132161 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.04, Z:-0.68 [[ 9.98089919e-01 -3.16561854e-03 -6.16967842e-02 -1.17730458e+01] [ 2.32217266e-03 9.99902936e-01 -1.37377363e-02 -1.04236453e+00] [ 6.17342841e-02 1.35682255e-02 9.98000391e-01 -6.83126659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.563133365 meters Centerline goodness : 0.131764 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.04, Z:-0.68 [[ 9.98097911e-01 -3.40869700e-03 -6.15543786e-02 -1.17736684e+01] [ 2.54655341e-03 9.99897640e-01 -1.40792331e-02 -1.04104029e+00] [ 6.15960698e-02 1.38957017e-02 9.98004426e-01 -6.82788309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62313336499999 meters Centerline goodness : 0.132373 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.04, Z:-0.68 [[ 9.98096838e-01 -3.96659907e-03 -6.15383422e-02 -1.17741851e+01] [ 3.09076879e-03 9.99892673e-01 -1.43209382e-02 -1.04177590e+00] [ 6.15885429e-02 1.41034823e-02 9.98001976e-01 -6.82084776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68313336499999 meters Centerline goodness : 0.132908 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.04, Z:-0.68 [[ 9.98116179e-01 -4.09520063e-03 -6.12153769e-02 -1.17753212e+01] [ 3.23486651e-03 9.99894697e-01 -1.41467200e-02 -1.04307742e+00] [ 6.12668644e-02 1.39220465e-02 9.98024322e-01 -6.81539774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74313336499999 meters Centerline goodness : 0.135686 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.04, Z:-0.68 [[ 9.98094591e-01 -4.19888961e-03 -6.15593712e-02 -1.17740659e+01] [ 3.31628566e-03 9.99890345e-01 -1.44326100e-02 -1.04151747e+00] [ 6.16132219e-02 1.42009615e-02 9.97999070e-01 -6.82121857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.803133365 meters Centerline goodness : 0.132963 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.04, Z:-0.68 [[ 9.98096861e-01 -4.21324196e-03 -6.15215828e-02 -1.17741919e+01] [ 3.31461931e-03 9.99886435e-01 -1.47013830e-02 -1.03983398e+00] [ 6.15765366e-02 1.44694836e-02 9.97997477e-01 -6.82128622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.863133365 meters Centerline goodness : 0.132228 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.04, Z:-0.68 [[ 9.98199970e-01 -2.82262088e-03 -5.99070414e-02 -1.17799795e+01] [ 2.02075417e-03 9.99907616e-01 -1.34415479e-02 -1.04047037e+00] [ 5.99394474e-02 1.32962953e-02 9.98113456e-01 -6.80153648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.923133365 meters Centerline goodness : 0.140703 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.04, Z:-0.68 [[ 9.98246021e-01 -2.76672012e-03 -5.91373587e-02 -1.17826494e+01] [ 1.97441433e-03 9.99907569e-01 -1.34519559e-02 -1.04019027e+00] [ 5.91691104e-02 1.33115998e-02 9.98159215e-01 -6.79056333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98313336499999 meters Centerline goodness : 0.131312 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.04, Z:-0.68 [[ 9.98223186e-01 1.36012283e-03 -5.95702955e-02 -1.17815655e+01] [-1.94531156e-03 9.99950413e-01 -9.76660789e-03 -1.03891375e+00] [ 5.95540578e-02 9.86513723e-03 9.98176334e-01 -6.79145776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04313336499999 meters Centerline goodness : 0.128813 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.04, Z:-0.68 [[ 9.98268574e-01 1.34315042e-03 -5.88051834e-02 -1.17836872e+01] [-1.94218804e-03 9.99946796e-01 -1.01308471e-02 -1.03701861e+00] [ 5.87884475e-02 1.02275170e-02 9.98218071e-01 -6.78794445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10313336499999 meters Centerline goodness : 0.128571 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.04, Z:-0.68 [[ 9.98279254e-01 1.54515779e-03 -5.86186201e-02 -1.17841403e+01] [-2.15194557e-03 9.99944744e-01 -1.02897374e-02 -1.03534771e+00] [ 5.85994818e-02 1.03981754e-02 9.98227418e-01 -6.78891899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.163133365 meters Centerline goodness : 0.131010 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.03, Z:-0.68 [[ 9.98199653e-01 2.03918128e-03 -5.99440971e-02 -1.17802970e+01] [-2.67173262e-03 9.99941576e-01 -1.04740995e-02 -1.03228566e+00] [ 5.99192364e-02 1.06153970e-02 9.98146782e-01 -6.80005110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223133365 meters Centerline goodness : 0.143107 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.02, Z:-0.68 [[ 9.98110316e-01 4.33871600e-03 -6.12941411e-02 -1.17755444e+01] [-4.93325613e-03 9.99942212e-01 -9.55178677e-03 -1.02343271e+00] [ 6.12491565e-02 9.83611662e-03 9.98074041e-01 -6.81863272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.283133365 meters Centerline goodness : 0.143693 with order 1 Centerline is valid? [False, False] Translation: X:-11.78, Y:-1.02, Z:-0.68 [[ 9.98076773e-01 8.29344885e-03 -6.14326773e-02 -1.17750494e+01] [-8.70009546e-03 9.99941960e-01 -6.35485418e-03 -1.01904544e+00] [ 6.13764081e-02 6.87710251e-03 9.98090999e-01 -6.82090785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34313336499999 meters Centerline goodness : 0.121555 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.02, Z:-0.68 [[ 9.98072418e-01 7.98626682e-03 -6.15440372e-02 -1.17745173e+01] [-8.43930958e-03 9.99939148e-01 -7.10485205e-03 -1.01548219e+00] [ 6.14835509e-02 7.61054605e-03 9.98079081e-01 -6.82540800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40313336499999 meters Centerline goodness : 0.127198 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:-1.01, Z:-0.68 [[ 9.98073716e-01 7.54643708e-03 -6.15784785e-02 -1.17746669e+01] [-8.03477849e-03 9.99938177e-01 -7.68662526e-03 -1.01338486e+00] [ 6.15166649e-02 8.16658807e-03 9.98072646e-01 -6.82203765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46313336499999 meters Centerline goodness : 0.150265 with order 1 Centerline is valid? [False, False] Translation: X:-11.80, Y:-1.01, Z:-0.68 [[ 9.98062812e-01 -1.66225855e-03 -6.21921157e-02 -1.17962032e+01] [ 1.20675344e-03 9.99972179e-01 -7.36100660e-03 -1.00841338e+00] [ 6.22026214e-02 7.27169640e-03 9.98037052e-01 -6.83542222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52313336499999 meters Centerline goodness : 0.128400 with order 3 Centerline is valid? [False, False] Translation: X:-11.80, Y:-1.01, Z:-0.68 [[ 9.98052098e-01 -1.79432317e-03 -6.23601588e-02 -1.17958953e+01] [ 1.31551921e-03 9.99969349e-01 -7.71825270e-03 -1.00634683e+00] [ 6.23720964e-02 7.62118231e-03 9.98023867e-01 -6.83432635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.583133365 meters Centerline goodness : 0.134157 with order 1 Centerline is valid? [False, False] Translation: X:-11.82, Y:-1.01, Z:-0.69 [[ 9.97974907e-01 6.38342738e-03 -6.32877373e-02 -1.18162919e+01] [-6.94222042e-03 9.99938805e-01 -8.61343839e-03 -1.00901676e+00] [ 6.32288812e-02 9.03535280e-03 9.97958151e-01 -6.85396947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.643133365 meters Centerline goodness : 0.135095 with order 1 Centerline is valid? [False, False] Translation: X:-11.82, Y:-1.01, Z:-0.68 [[ 9.97989619e-01 6.19685382e-03 -6.30739152e-02 -1.18174653e+01] [-6.76710993e-03 9.99938104e-01 -8.83146705e-03 -1.00833037e+00] [ 6.30152839e-02 9.24054056e-03 9.97969782e-01 -6.84520371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70313336499999 meters Centerline goodness : 0.139274 with order 1 Centerline is valid? [False, False] Translation: X:-11.84, Y:-1.00, Z:-0.69 [[ 9.97995071e-01 -2.46401358e-03 -6.32437140e-02 -1.18377651e+01] [ 1.96911062e-03 9.99966963e-01 -7.88646732e-03 -1.00365145e+00] [ 6.32610570e-02 7.74612164e-03 9.97966951e-01 -6.87060361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76313336499999 meters Centerline goodness : 0.146566 with order 1 Centerline is valid? [False, False] Translation: X:-11.84, Y:-1.00, Z:-0.69 [[ 9.97981947e-01 -2.72598470e-03 -6.34397614e-02 -1.18370677e+01] [ 2.20054511e-03 9.99962709e-01 -8.35089447e-03 -1.00169091e+00] [ 6.34601601e-02 8.19443986e-03 9.97950730e-01 -6.87399207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82313336499999 meters Centerline goodness : 0.144258 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.00, Z:-0.69 [[ 9.97784667e-01 -2.35081498e-03 -6.64848187e-02 -1.18811678e+01] [ 1.84501482e-03 9.99968897e-01 -7.66813202e-03 -1.00047849e+00] [ 6.65007772e-02 7.52847908e-03 9.97757971e-01 -6.89054328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88313336499999 meters Centerline goodness : 0.121697 with order 3 Centerline is valid? [False, False] Translation: X:-11.86, Y:-1.00, Z:-0.69 [[ 9.98021790e-01 3.07456120e-03 -6.27937459e-02 -1.18603607e+01] [-3.76155605e-03 9.99934331e-01 -1.08252119e-02 -9.95485430e-01] [ 6.27563395e-02 1.10399996e-02 9.97967815e-01 -6.88265242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.943133365 meters Centerline goodness : 0.122824 with order 3 Centerline is valid? [False, False] Translation: X:-11.86, Y:-1.00, Z:-0.69 [[ 9.98046238e-01 2.86676371e-03 -6.24138508e-02 -1.18617595e+01] [-3.56007274e-03 9.99933162e-01 -1.09998838e-02 -9.95092172e-01] [ 6.23781451e-02 1.12005905e-02 9.97989736e-01 -6.87609889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.003133365 meters Centerline goodness : 0.126835 with order 3 Centerline is valid? [False, False] Translation: X:-11.88, Y:-0.99, Z:-0.69 [[ 9.97961699e-01 -6.17278369e-03 -6.35164907e-02 -1.18829034e+01] [ 5.54717448e-03 9.99934400e-01 -1.00211943e-02 -9.94614827e-01] [ 6.35741827e-02 9.64843100e-03 9.97930474e-01 -6.89248216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.063133365 meters Centerline goodness : 0.428316 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.00, Z:-0.69 [[ 9.97948283e-01 -6.25168687e-03 -6.37192424e-02 -1.18823773e+01] [ 5.63726362e-03 9.99935913e-01 -9.81789248e-03 -9.96388223e-01] [ 6.37765372e-02 9.43854677e-03 9.97919569e-01 -6.89234667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12313336499999 meters Centerline goodness : 0.151296 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.00, Z:-0.69 [[ 9.97931983e-01 -6.62214926e-03 -6.39367148e-02 -1.18820803e+01] [ 6.01727155e-03 9.99935347e-01 -9.64849982e-03 -9.99773419e-01] [ 6.39964750e-02 9.24382199e-03 9.97907312e-01 -6.88821957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18313336499999 meters Centerline goodness : 0.119933 with order 3 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.00, Z:-0.69 [[ 9.97906929e-01 -6.46878462e-03 -6.43421805e-02 -1.18804208e+01] [ 5.88065050e-03 9.99939221e-01 -9.32591289e-03 -1.00156357e+00] [ 6.43985971e-02 8.92801922e-03 9.97884318e-01 -6.89691349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24313336499999 meters Centerline goodness : 0.119270 with order 3 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.01, Z:-0.69 [[ 9.98022695e-01 2.22053165e-03 -6.28153589e-02 -1.19035226e+01] [-2.82135525e-03 9.99951104e-01 -9.47783325e-03 -1.00603535e+00] [ 6.27912417e-02 9.63631713e-03 9.97980161e-01 -6.91832676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.303133365 meters Centerline goodness : 0.118446 with order 3 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.00, Z:-0.69 [[ 9.98055424e-01 2.47167975e-03 -6.22837224e-02 -1.19049375e+01] [-3.07052581e-03 9.99949961e-01 -9.52092860e-03 -1.00463212e+00] [ 6.22570731e-02 9.69365820e-03 9.98013071e-01 -6.91723069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.363133365 meters Centerline goodness : 0.139329 with order 1 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.00, Z:-0.69 [[ 9.98032293e-01 2.38502654e-03 -6.26566380e-02 -1.19039499e+01] [-3.03096310e-03 9.99943220e-01 -1.02161232e-02 -1.00078407e+00] [ 6.26287147e-02 1.03859308e-02 9.97982854e-01 -6.92033392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.423133365 meters Centerline goodness : 0.121813 with order 3 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.00, Z:-0.69 [[ 9.98031236e-01 2.25402058e-03 -6.26783102e-02 -1.19038756e+01] [-2.92651553e-03 9.99939116e-01 -1.06395748e-02 -9.98329951e-01] [ 6.26505122e-02 1.08020571e-02 9.97977068e-01 -6.92151551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48313336499999 meters Centerline goodness : 0.420864 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-0.99, Z:-0.69 [[ 9.98039597e-01 -6.76617127e-03 -6.22188242e-02 -1.19267942e+01] [ 6.13911421e-03 9.99928479e-01 -1.02639079e-02 -9.93999807e-01] [ 6.22838216e-02 9.86181804e-03 9.98009755e-01 -6.93065706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54313336499999 meters Centerline goodness : 0.139916 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.00, Z:-0.69 [[ 9.98081051e-01 -8.65858490e-03 -6.13126750e-02 -1.19314084e+01] [ 7.95766176e-03 9.99900274e-01 -1.16669189e-02 -9.95280483e-01] [ 6.14075796e-02 1.11566252e-02 9.98050419e-01 -6.90423161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60313336499999 meters Centerline goodness : 0.149407 with order 3 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.00, Z:-0.69 [[ 9.97987654e-01 -1.10676598e-02 -6.24351630e-02 -1.19264351e+01] [ 1.02704264e-02 9.99861765e-01 -1.30755013e-02 -1.00132398e+00] [ 6.25712475e-02 1.24079532e-02 9.97963367e-01 -6.92608129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.663133365 meters Centerline goodness : 0.140102 with order 1 Centerline is valid? [False, False] Translation: X:-11.94, Y:-1.01, Z:-0.70 [[ 9.98197717e-01 -5.02317829e-03 -5.98003827e-02 -1.19442087e+01] [ 4.20798507e-03 9.99896609e-01 -1.37500433e-02 -1.01015229e+00] [ 5.98632688e-02 1.34736227e-02 9.98115650e-01 -6.95408785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.723133365 meters Centerline goodness : 0.228641 with order 3 Centerline is valid? [False, False] Translation: X:-11.95, Y:-1.01, Z:-0.69 [[ 9.98238241e-01 -4.81413746e-03 -5.91374515e-02 -1.19461587e+01] [ 4.01207562e-03 9.99898458e-01 -1.36739289e-02 -1.00992319e+00] [ 5.91972748e-02 1.34125749e-02 9.98156193e-01 -6.94931440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.783133365 meters Centerline goodness : 0.155090 with order 1 Centerline is valid? [False, False] Translation: X:-11.96, Y:-1.01, Z:-0.70 [[ 9.98110839e-01 4.38723020e-03 -6.12821769e-02 -1.19644424e+01] [-5.26959299e-03 9.99884661e-01 -1.42441693e-02 -1.01292411e+00] [ 6.12126162e-02 1.45401919e-02 9.98018837e-01 -6.97612905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84313336499999 meters Centerline goodness : 0.150217 with order 1 Centerline is valid? [False, False] Translation: X:-11.97, Y:-1.01, Z:-0.70 [[ 9.98121424e-01 4.58085765e-03 -6.10953209e-02 -1.19651173e+01] [-5.44883877e-03 9.99886476e-01 -1.40479679e-02 -1.01369238e+00] [ 6.10240334e-02 1.43544762e-02 9.98033074e-01 -6.97397359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90313336499999 meters Centerline goodness : 0.145239 with order 1 Centerline is valid? [False, False] Translation: X:-11.97, Y:-1.02, Z:-0.70 [[ 9.98249742e-01 2.50657671e-03 -5.90861251e-02 -1.19722764e+01] [-3.41949919e-03 9.99876263e-01 -1.53546646e-02 -1.02000836e+00] [ 5.90403263e-02 1.55298349e-02 9.98134793e-01 -6.95151087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96313336499999 meters Centerline goodness : 0.132096 with order 1 Centerline is valid? [False, False] Translation: X:-11.97, Y:-1.02, Z:-0.70 [[ 9.98264679e-01 2.86819381e-03 -5.88166986e-02 -1.19728871e+01] [-3.72320412e-03 9.99888915e-01 -1.44324314e-02 -1.02425267e+00] [ 5.87687700e-02 1.46263731e-02 9.98164466e-01 -6.95228295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02313336499999 meters Centerline goodness : 0.152701 with order 1 Centerline is valid? [False, False] Translation: X:-11.97, Y:-1.03, Z:-0.70 [[ 9.98225292e-01 2.89318705e-03 -5.94802206e-02 -1.19708019e+01] [-3.73012418e-03 9.99895532e-01 -1.39646337e-02 -1.02774460e+00] [ 5.94336046e-02 1.41617192e-02 9.98131801e-01 -6.95828708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.083133365 meters Centerline goodness : 0.142008 with order 1 Centerline is valid? [False, False] Translation: X:-11.97, Y:-1.03, Z:-0.70 [[ 9.98195082e-01 3.01444978e-03 -5.99790974e-02 -1.19697052e+01] [-3.82678527e-03 9.99902445e-01 -1.34333887e-02 -1.03091509e+00] [ 5.99327519e-02 1.36386697e-02 9.98109238e-01 -6.95674618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.143133365 meters Centerline goodness : 0.131429 with order 1 Centerline is valid? [False, False] Translation: X:-11.99, Y:-1.03, Z:-0.70 [[ 9.98094279e-01 -5.15793790e-03 -6.14915095e-02 -1.19894151e+01] [ 4.44552072e-03 9.99921474e-01 -1.17168057e-02 -1.03046659e+00] [ 6.15471154e-02 1.14211149e-02 9.98038832e-01 -6.97380403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20313336499999 meters Centerline goodness : 0.133359 with order 1 Centerline is valid? [False, False] Translation: X:-11.99, Y:-1.03, Z:-0.70 [[ 9.98135482e-01 -8.85699192e-03 -6.03913287e-02 -1.19924078e+01] [ 7.98462767e-03 9.99860490e-01 -1.46712468e-02 -1.03441624e+00] [ 6.05128467e-02 1.41616898e-02 9.98066953e-01 -6.96930011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26313336499999 meters Centerline goodness : 0.137285 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.04, Z:-0.70 [[ 9.98345197e-01 -4.42618259e-03 -5.73347774e-02 -1.20129137e+01] [ 3.48418128e-03 9.99857475e-01 -1.65193997e-02 -1.04354026e+00] [ 5.73997236e-02 1.62922986e-02 9.98218329e-01 -6.99171487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32313336499999 meters Centerline goodness : 0.137446 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.05, Z:-0.70 [[ 9.98325762e-01 -8.19991641e-03 -5.72576093e-02 -1.20128495e+01] [ 7.09057555e-03 9.99783719e-01 -1.95509157e-02 -1.04719273e+00] [ 5.74055415e-02 1.91121934e-02 9.98167986e-01 -6.99395826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38313336499999 meters Centerline goodness : 0.140190 with order 1 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.06, Z:-0.70 [[ 9.98167934e-01 -1.13160872e-02 -5.94366952e-02 -1.20564884e+01] [ 1.01043816e-02 9.99735753e-01 -2.06476364e-02 -1.05597464e+00] [ 5.96546397e-02 2.00092375e-02 9.98018514e-01 -7.01642910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.443133365 meters Centerline goodness : 0.141021 with order 1 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.07, Z:-0.70 [[ 0.99810701 -0.01453439 -0.05975909 -12.05506775] [ 0.01322023 0.99966329 -0.02232789 -1.06504617] [ 0.06006349 0.02149559 0.99796308 -0.70281914] [ 0. 0. 0. 1. ]] SLAMing on 124.503133365 meters Centerline goodness : 0.139558 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.07, Z:-0.70 [[ 0.99803512 -0.01471769 -0.060904 -12.05210983] [ 0.01339728 0.9996675 -0.02203203 -1.0681991 ] [ 0.06120801 0.02117279 0.99790044 -0.70317528] [ 0. 0. 0. 1. ]] SLAMing on 124.563133365 meters Centerline goodness : 0.150914 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.07, Z:-0.70 [[ 0.99802319 -0.01427514 -0.06120404 -12.05116993] [ 0.01299952 0.99969095 -0.02118995 -1.07121975] [ 0.06148762 0.02035244 0.99790032 -0.70362818] [ 0. 0. 0. 1. ]] SLAMing on 124.62313336499999 meters Centerline goodness : 0.266772 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.08, Z:-0.71 [[ 9.98082639e-01 -7.09875271e-03 -6.14870183e-02 -1.20676773e+01] [ 5.67569586e-03 9.99712690e-01 -2.32878371e-02 -1.08012175e+00] [ 6.16346670e-02 2.28942043e-02 9.97836171e-01 -7.06527801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68313336499999 meters Centerline goodness : 0.141729 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.08, Z:-0.71 [[ 9.98103720e-01 -7.45433931e-03 -6.11015237e-02 -1.20687950e+01] [ 6.03657530e-03 9.99709003e-01 -2.33552581e-02 -1.08065340e+00] [ 6.12578414e-02 2.29421260e-02 9.97858274e-01 -7.06611878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74313336499999 meters Centerline goodness : 0.142150 with order 1 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.09, Z:-0.70 [[ 9.98149470e-01 -2.01754262e-04 -6.08078484e-02 -1.20555913e+01] [-1.21319977e-03 9.99729377e-01 -2.32314481e-02 -1.08798864e+00] [ 6.07960795e-02 2.32622297e-02 9.97879104e-01 -7.04779013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.803133365 meters Centerline goodness : 0.155415 with order 3 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.09, Z:-0.70 [[ 9.98251876e-01 -1.04519931e-03 -5.90939940e-02 -1.20604543e+01] [-3.50496445e-04 9.99721350e-01 -2.36029366e-02 -1.08757946e+00] [ 5.91021973e-02 2.35823880e-02 9.97973347e-01 -7.03596829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863133365 meters Centerline goodness : 0.142948 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.08, Z:-0.71 [[ 9.98158878e-01 -9.20951921e-03 -5.99503084e-02 -1.20787629e+01] [ 7.92070778e-03 9.99733145e-01 -2.17002521e-02 -1.08290442e+00] [ 6.01341593e-02 2.11854505e-02 9.97965460e-01 -7.06031632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923133365 meters Centerline goodness : 0.128268 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.08, Z:-0.71 [[ 9.98149123e-01 -9.26742941e-03 -6.01035992e-02 -1.20785741e+01] [ 7.99585234e-03 9.99739820e-01 -2.13625344e-02 -1.08454513e+00] [ 6.02859372e-02 2.08424155e-02 9.97963526e-01 -7.06230774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98313336499999 meters Centerline goodness : 0.156918 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.09, Z:-0.71 [[ 9.98173005e-01 -9.40178598e-03 -5.96846548e-02 -1.20798672e+01] [ 8.14481525e-03 9.99740619e-01 -2.12686598e-02 -1.08528914e+00] [ 5.98691371e-02 2.07436816e-02 9.97990674e-01 -7.06074531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04313336499999 meters Centerline goodness : 0.091256 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.09, Z:-0.71 [[ 9.98215450e-01 -9.27291048e-03 -5.89909225e-02 -1.20814253e+01] [ 8.09398087e-03 9.99763345e-01 -2.01925855e-02 -1.08929333e+00] [ 5.91642060e-02 1.96790795e-02 9.98054272e-01 -7.07067223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10313336499999 meters Centerline goodness : 0.136778 with order 1 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.10, Z:-0.71 [[ 9.98174554e-01 4.28542905e-04 -6.03935085e-02 -1.20953692e+01] [-1.71851243e-03 9.99771459e-01 -2.13090851e-02 -1.09632169e+00] [ 6.03705742e-02 2.13739735e-02 9.97947166e-01 -7.09759852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.163133365 meters Centerline goodness : 0.144309 with order 1 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.10, Z:-0.71 [[ 9.98165820e-01 7.94366654e-04 -6.05340037e-02 -1.20952092e+01] [-2.05702048e-03 9.99781559e-01 -2.07991265e-02 -1.09737069e+00] [ 6.05042584e-02 2.08854969e-02 9.97949413e-01 -7.09387756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.223133365 meters Centerline goodness : 0.146193 with order 1 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.10, Z:-0.71 [[ 9.98129377e-01 4.87373475e-03 -6.09425347e-02 -1.20945788e+01] [-5.89903338e-03 9.99843887e-01 -1.66554381e-02 -1.09936237e+00] [ 6.08518465e-02 1.69837841e-02 9.98002307e-01 -7.08915159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.283133365 meters Centerline goodness : 0.140433 with order 1 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.10, Z:-0.71 [[ 9.98025676e-01 6.43502667e-03 -6.24767144e-02 -1.20899187e+01] [-7.41090607e-03 9.99853937e-01 -1.54007425e-02 -1.10267934e+00] [ 6.23684847e-02 1.58333455e-02 9.97927591e-01 -7.10047100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34313336499999 meters Centerline goodness : 0.129921 with order 3 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.10, Z:-0.71 [[ 9.98006341e-01 6.77219527e-03 -6.27493537e-02 -1.20894500e+01] [-7.73260924e-03 9.99856460e-01 -1.50753722e-02 -1.10410843e+00] [ 6.26382533e-02 1.55305333e-02 9.97915453e-01 -7.09714237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40313336499999 meters Centerline goodness : 0.132951 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.10, Z:-0.71 [[ 9.98039052e-01 2.22250643e-03 -6.25548655e-02 -1.20678964e+01] [-2.94194232e-03 9.99930563e-01 -1.14111223e-02 -1.10447071e+00] [ 6.25251606e-02 1.15727785e-02 9.97976290e-01 -7.08267729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46313336499999 meters Centerline goodness : 0.134407 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.11, Z:-0.71 [[ 9.98078717e-01 -4.94191041e-03 -6.17612456e-02 -1.20484242e+01] [ 4.34566957e-03 9.99942687e-01 -9.78456404e-03 -1.10517809e+00] [ 6.18060603e-02 9.49737116e-03 9.98042990e-01 -7.06527873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52313336499999 meters Centerline goodness : 0.133908 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.11, Z:-0.70 [[ 9.98055935e-01 3.28209681e-03 -6.22380756e-02 -1.20306446e+01] [-3.88550369e-03 9.99946594e-01 -9.57658933e-03 -1.11360432e+00] [ 6.22033204e-02 9.79979809e-03 9.98015386e-01 -7.04833480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.583133365 meters Centerline goodness : 0.141223 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.12, Z:-0.71 [[ 9.98054152e-01 3.41727103e-03 -6.22593966e-02 -1.20302437e+01] [-4.00255379e-03 9.99948944e-01 -9.27842075e-03 -1.11516201e+00] [ 6.22245110e-02 9.50956293e-03 9.98016873e-01 -7.05317763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.643133365 meters Centerline goodness : 0.144150 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.11, Z:-0.70 [[ 9.98021724e-01 -3.39229860e-03 -6.27784238e-02 -1.20115395e+01] [ 2.89692599e-03 9.99963962e-01 -7.98015051e-03 -1.11043041e+00] [ 6.28032325e-02 7.78249912e-03 9.97995585e-01 -7.02805628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70313336499999 meters Centerline goodness : 0.137362 with order 3 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.11, Z:-0.70 [[ 9.98084818e-01 -2.77886405e-03 -6.17978451e-02 -1.20142620e+01] [ 2.30034897e-03 9.99966832e-01 -7.81303133e-03 -1.10902167e+00] [ 6.18175067e-02 7.65591134e-03 9.98058106e-01 -7.02373575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76313336499999 meters Centerline goodness : 0.135796 with order 3 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.11, Z:-0.70 [[ 9.98079328e-01 -2.54138456e-03 -6.18966663e-02 -1.20134765e+01] [ 2.04176538e-03 9.99964836e-01 -8.13373969e-03 -1.10622861e+00] [ 6.19151607e-02 7.99173897e-03 9.98049420e-01 -7.03288604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82313336499999 meters Centerline goodness : 0.151016 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.10, Z:-0.70 [[ 9.98085197e-01 -2.40225839e-03 -6.18075051e-02 -1.20132972e+01] [ 1.88781024e-03 9.99963101e-01 -8.38044339e-03 -1.10420574e+00] [ 6.18253565e-02 8.24771565e-03 9.98052905e-01 -7.03978993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88313336499999 meters Centerline goodness : 0.134859 with order 1 Centerline is valid? [False, False] Translation: X:-12.02, Y:-1.10, Z:-0.70 [[ 9.98114675e-01 -2.39287980e-03 -6.13300119e-02 -1.20151869e+01] [ 1.88294440e-03 9.99963189e-01 -8.37106112e-03 -1.10429621e+00] [ 6.13477853e-02 8.23979794e-03 9.98082439e-01 -7.02971500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.943133365 meters Centerline goodness : 0.133490 with order 2 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.11, Z:-0.71 [[ 9.98097486e-01 5.28606510e-03 -6.14285477e-02 -1.20337208e+01] [-5.84646369e-03 9.99942887e-01 -8.94661426e-03 -1.11103288e+00] [ 6.13777469e-02 9.28873297e-03 9.98071386e-01 -7.05701235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.003133365 meters Centerline goodness : 0.135461 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.11, Z:-0.71 [[ 9.98092043e-01 5.52322187e-03 -6.14960752e-02 -1.20335299e+01] [-6.05507467e-03 9.99945834e-01 -8.46556726e-03 -1.11315473e+00] [ 6.14459869e-02 8.82177865e-03 9.98071424e-01 -7.05683988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.063133365 meters Centerline goodness : 0.131567 with order 3 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.12, Z:-0.70 [[ 9.98099721e-01 5.68242168e-03 -6.13568059e-02 -1.20343596e+01] [-6.18727602e-03 9.99948526e-01 -8.04131293e-03 -1.11550225e+00] [ 6.13079535e-02 8.40566368e-03 9.98083503e-01 -7.04915224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12313336499999 meters SLAMing on 126.18313336499999 meters SLAMing on 126.24313336499999 meters SLAMing on 126.303133365 meters Centerline goodness : 0.128953 with order 3 Centerline is valid? [False, False] Translation: X:-12.01, Y:-1.13, Z:-0.70 [[ 9.97989572e-01 -2.29243772e-03 -6.33368633e-02 -1.20080180e+01] [ 1.87299609e-03 9.99975928e-01 -6.68097455e-03 -1.12897267e+00] [ 6.33506544e-02 6.54891323e-03 9.97969842e-01 -7.04180889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.363133365 meters SLAMing on 126.423133365 meters Centerline goodness : 0.167975 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.15, Z:-0.70 [[ 9.98282185e-01 -1.66106111e-03 -5.85655242e-02 -1.20295465e+01] [ 1.09073711e-03 9.99951689e-01 -9.76884345e-03 -1.14612001e+00] [ 5.85789215e-02 9.68818279e-03 9.98235768e-01 -7.04757437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48313336499999 meters Centerline goodness : 0.136745 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.15, Z:-0.70 [[ 9.98293249e-01 -1.47292311e-03 -5.83816777e-02 -1.20298543e+01] [ 9.28663091e-04 9.99955871e-01 -9.34848117e-03 -1.14860718e+00] [ 5.83928710e-02 9.27830873e-03 9.98250563e-01 -7.04855338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54313336499999 meters SLAMing on 126.60313336499999 meters Centerline goodness : 0.141662 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.15, Z:-0.71 [[ 9.98144986e-01 6.67539268e-05 -6.08817169e-02 -1.20724984e+01] [-5.11782149e-04 9.99973266e-01 -7.29415440e-03 -1.15343688e+00] [ 6.08796024e-02 7.31178182e-03 9.98118336e-01 -7.07775299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.663133365 meters Centerline goodness : 0.164437 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.15, Z:-0.71 [[ 9.98164293e-01 1.73379649e-04 -6.05641347e-02 -1.20734931e+01] [-6.15847423e-04 9.99973258e-01 -7.28718238e-03 -1.15293802e+00] [ 6.05612517e-02 7.31110351e-03 9.98137707e-01 -7.07483581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.723133365 meters Centerline goodness : 0.148520 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.15, Z:-0.71 [[ 9.98153090e-01 2.59879681e-04 -6.07481817e-02 -1.20723347e+01] [-6.94712306e-04 9.99974290e-01 -7.13694176e-03 -1.15365964e+00] [ 6.07447651e-02 7.16596298e-03 9.98127608e-01 -7.08527028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.783133365 meters Centerline goodness : 0.167202 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.15, Z:-0.71 [[ 9.98178221e-01 5.34306069e-04 -6.03320259e-02 -1.20733540e+01] [-9.50051893e-04 9.99976002e-01 -6.86248897e-03 -1.15394541e+00] [ 6.03269114e-02 6.90730558e-03 9.98154774e-01 -7.08537857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84313336499999 meters SLAMing on 126.90313336499999 meters SLAMing on 126.96313336499999 meters Centerline goodness : 0.139518 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.17, Z:-0.71 [[ 9.97930211e-01 5.28729190e-03 -6.40885218e-02 -1.21322196e+01] [-5.76049192e-03 9.99957480e-01 -7.20100598e-03 -1.17406633e+00] [ 6.40477230e-02 7.55528283e-03 9.97918237e-01 -7.13680314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02313336499999 meters Centerline goodness : 0.118564 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.71 [[ 9.97918397e-01 5.54128574e-03 -6.42508099e-02 -1.21318739e+01] [-5.97547312e-03 9.99960580e-01 -6.56750096e-03 -1.17743104e+00] [ 6.42118847e-02 6.93775902e-03 9.97912171e-01 -7.13476162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.083133365 meters Centerline goodness : 0.126628 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.71 [[ 9.97999818e-01 2.61308436e-03 -6.31627595e-02 -1.21347592e+01] [-3.16930829e-03 9.99957066e-01 -8.70761395e-03 -1.18311197e+00] [ 6.31372940e-02 8.89037940e-03 9.97965252e-01 -7.13125534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143133365 meters SLAMing on 127.20313336499999 meters Centerline goodness : 0.098821 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.71 [[ 9.97946230e-01 3.45704541e-03 -6.39638317e-02 -1.21317176e+01] [-3.99767391e-03 9.99957347e-01 -8.32604367e-03 -1.18382429e+00] [ 6.39323200e-02 8.56465043e-03 9.97917484e-01 -7.14682718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26313336499999 meters Centerline goodness : 0.210224 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.71 [[ 9.97992952e-01 3.71241462e-03 -6.32161873e-02 -1.21334449e+01] [-4.25541470e-03 9.99955183e-01 -8.45710022e-03 -1.18176820e+00] [ 6.31819579e-02 8.70913750e-03 9.97964023e-01 -7.14934263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32313336499999 meters Centerline goodness : 0.152633 with order 3 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.18, Z:-0.71 [[ 9.98046368e-01 3.69162126e-03 -6.23684164e-02 -1.21360529e+01] [-4.24021003e-03 9.99953461e-01 -8.66587292e-03 -1.18022185e+00] [ 6.23335227e-02 8.91339818e-03 9.98015573e-01 -7.14247849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38313336499999 meters SLAMing on 127.443133365 meters Centerline goodness : 0.111823 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.72 [[ 9.98033115e-01 -6.39908293e-04 -6.26856564e-02 -1.21347011e+01] [-1.02584202e-04 9.99929890e-01 -1.18407607e-02 -1.18478549e+00] [ 6.26888386e-02 1.18239019e-02 9.97963078e-01 -7.15074092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.503133365 meters Centerline goodness : 0.150464 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.19, Z:-0.72 [[ 9.98009069e-01 -3.20242629e-03 -6.29892277e-02 -1.21322748e+01] [ 2.36748239e-03 9.99908409e-01 -1.33255179e-02 -1.19198901e+00] [ 6.30261325e-02 1.31498618e-02 9.97925242e-01 -7.16709001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.563133365 meters Centerline goodness : 0.141050 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.19, Z:-0.72 [[ 9.98018882e-01 -2.89125310e-03 -6.28486409e-02 -1.21326140e+01] [ 2.09383517e-03 9.99916522e-01 -1.27500722e-02 -1.19432857e+00] [ 6.28802582e-02 1.25932181e-02 9.97941624e-01 -7.16708203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62313336499999 meters Centerline goodness : 0.141986 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.19, Z:-0.72 [[ 9.98059342e-01 -2.70737457e-03 -6.22110952e-02 -1.21340460e+01] [ 1.92315668e-03 9.99917982e-01 -1.26621790e-02 -1.19435928e+00] [ 6.22402741e-02 1.25179644e-02 9.97982690e-01 -7.16864666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68313336499999 meters Centerline goodness : 0.169240 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.19, Z:-0.72 [[ 9.97996303e-01 -1.70442578e-03 -6.32493056e-02 -1.21303801e+01] [ 9.24238658e-04 9.99923156e-01 -1.23623182e-02 -1.19150887e+00] [ 6.32655159e-02 1.22790904e-02 9.97921188e-01 -7.18562365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74313336499999 meters Centerline goodness : 0.091677 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.19, Z:-0.72 [[ 9.98022578e-01 -1.38689868e-03 -6.28411562e-02 -1.21314955e+01] [ 5.95842716e-04 9.99920374e-01 -1.26051749e-02 -1.18846325e+00] [ 6.28536345e-02 1.25428057e-02 9.97943936e-01 -7.18559115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.803133365 meters Centerline goodness : 0.146926 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.19, Z:-0.72 [[ 9.98021364e-01 -1.63811319e-03 -6.28543880e-02 -1.21310563e+01] [ 8.04448067e-04 9.99911408e-01 -1.32864504e-02 -1.18518904e+00] [ 6.28705843e-02 1.32095982e-02 9.97934264e-01 -7.19246013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.863133365 meters Centerline goodness : 0.169340 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.72 [[ 9.98040216e-01 -1.86838081e-03 -6.25478676e-02 -1.21320316e+01] [ 1.00421555e-03 9.99903654e-01 -1.38446494e-02 -1.18188600e+00] [ 6.25677085e-02 1.37547053e-02 9.97945935e-01 -7.19045692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.923133365 meters Centerline goodness : 0.144200 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.72 [[ 9.98024025e-01 -2.26663272e-03 -6.27925856e-02 -1.21315402e+01] [ 1.35810266e-03 9.99893836e-01 -1.45076524e-02 -1.17923216e+00] [ 6.28188029e-02 1.43937068e-02 9.97921149e-01 -7.18899527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98313336499999 meters Centerline goodness : 0.145405 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.18, Z:-0.72 [[ 9.97998389e-01 -2.66025661e-03 -6.31833690e-02 -1.21302206e+01] [ 1.69662243e-03 9.99881506e-01 -1.53001485e-02 -1.17543541e+00] [ 6.32165845e-02 1.51623252e-02 9.97884646e-01 -7.19454474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043133365 meters Centerline goodness : 0.127916 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.17, Z:-0.72 [[ 9.98001745e-01 -2.87623736e-03 -6.31208685e-02 -1.21305328e+01] [ 1.88454046e-03 9.99873949e-01 -1.57649944e-02 -1.17307641e+00] [ 6.31582559e-02 1.56145381e-02 9.97881366e-01 -7.19251295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103133365 meters Centerline goodness : 0.146624 with order 1 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.17, Z:-0.72 [[ 9.98101908e-01 -5.24774695e-03 -6.13599467e-02 -1.21377986e+01] [ 4.16243043e-03 9.99832865e-01 -1.78021684e-02 -1.17204775e+00] [ 6.14431125e-02 1.75129717e-02 9.97956933e-01 -7.15949471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.163133365 meters Centerline goodness : 0.141804 with order 1 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.17, Z:-0.72 [[ 9.98153957e-01 -5.70719015e-03 -6.04657484e-02 -1.21403672e+01] [ 4.64225781e-03 9.99831892e-01 -1.77380211e-02 -1.17384628e+00] [ 6.05568179e-02 1.74245783e-02 9.98012653e-01 -7.15306145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.223133365 meters Centerline goodness : 0.140627 with order 3 Centerline is valid? [False, False] Translation: X:-12.18, Y:-1.18, Z:-0.72 [[ 9.97964687e-01 -7.93182512e-03 -6.32737607e-02 -1.21837585e+01] [ 6.81510564e-03 9.99817532e-01 -1.78453601e-02 -1.17808141e+00] [ 6.34037615e-02 1.73778218e-02 9.97836647e-01 -7.17780067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.283133365 meters Centerline goodness : 0.139959 with order 1 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.19, Z:-0.72 [[ 9.98049837e-01 2.33813452e-03 -6.23783299e-02 -1.21700980e+01] [-3.32166989e-03 9.99871728e-01 -1.56682214e-02 -1.18582580e+00] [ 6.23336942e-02 1.58448661e-02 9.97929582e-01 -7.15895667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.343133365 meters Centerline goodness : 0.147252 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.18, Z:-0.71 [[ 9.98007250e-01 -5.17717101e-03 -6.28866081e-02 -1.21503391e+01] [ 4.23931826e-03 9.99877941e-01 -1.50376806e-02 -1.18096990e+00] [ 6.29567849e-02 1.47411179e-02 9.97907382e-01 -7.13620087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.403133365 meters Centerline goodness : 0.143386 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.18, Z:-0.71 [[ 9.97969249e-01 -4.94357752e-03 -6.35054314e-02 -1.21481987e+01] [ 4.01348526e-03 9.99882935e-01 -1.47650982e-02 -1.18163178e+00] [ 6.35709896e-02 1.44802358e-02 9.97872262e-01 -7.14615805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.463133365 meters Centerline goodness : 0.144838 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.18, Z:-0.72 [[ 9.97991557e-01 -4.83551440e-03 -6.31622589e-02 -1.21487897e+01] [ 3.94518804e-03 9.99891207e-01 -1.42129809e-02 -1.18315248e+00] [ 6.32241144e-02 1.39352479e-02 9.97902059e-01 -7.15444947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52313336499998 meters Centerline goodness : 0.134220 with order 3 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.18, Z:-0.72 [[ 9.97945574e-01 -4.62101067e-03 -6.39005232e-02 -1.21463830e+01] [ 3.73687942e-03 9.99895730e-01 -1.39486581e-02 -1.18380867e+00] [ 6.39583171e-02 1.36812131e-02 9.97858787e-01 -7.16461548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58313336499998 meters Centerline goodness : 0.150569 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.18, Z:-0.72 [[ 9.97919025e-01 -4.47263509e-03 -6.43242972e-02 -1.21450403e+01] [ 3.58881891e-03 9.99897658e-01 -1.38489920e-02 -1.18373868e+00] [ 6.43796556e-02 1.35893244e-02 9.97832947e-01 -7.16977614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64313336499998 meters Centerline goodness : 0.149206 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.18, Z:-0.72 [[ 9.97916009e-01 -4.80386848e-03 -6.43472016e-02 -1.21450823e+01] [ 3.92876599e-03 9.99898167e-01 -1.37193350e-02 -1.18460131e+00] [ 6.44065548e-02 1.34379390e-02 9.97833261e-01 -7.17568296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70313336499999 meters Centerline goodness : 0.211861 with order 3 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.19, Z:-0.72 [[ 9.97929121e-01 -5.67360642e-03 -6.40724592e-02 -1.21467036e+01] [ 4.79230762e-03 9.99891905e-01 -1.39000409e-02 -1.18580955e+00] [ 6.41443967e-02 1.35642007e-02 9.97848440e-01 -7.17248994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763133365 meters Centerline goodness : 0.231267 with order 3 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.19, Z:-0.72 [[ 9.97910745e-01 -5.90379596e-03 -6.43373148e-02 -1.21461139e+01] [ 5.03628874e-03 9.99894320e-01 -1.36375818e-02 -1.18722841e+00] [ 6.44110292e-02 1.32850682e-02 9.97835020e-01 -7.17851636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823133365 meters Centerline goodness : 0.183105 with order 3 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.20, Z:-0.72 [[ 9.97825329e-01 -8.84332409e-03 -6.53177524e-02 -1.21426572e+01] [ 7.91734303e-03 9.99864654e-01 -1.44218337e-02 -1.19611206e+00] [ 6.54364488e-02 1.38733279e-02 9.97760293e-01 -7.21129420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.883133365 meters Centerline goodness : 0.214741 with order 3 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.20, Z:-0.72 [[ 9.97866537e-01 -3.58879699e-03 -6.51881563e-02 -1.21229696e+01] [ 2.46323486e-03 9.99846642e-01 -1.73385328e-02 -1.20471405e+00] [ 6.52403836e-02 1.71409680e-02 9.97722346e-01 -7.19627001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.943133365 meters Centerline goodness : 0.230488 with order 3 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.21, Z:-0.72 [[ 9.97859298e-01 -3.44924806e-03 -6.53063874e-02 -1.21229730e+01] [ 2.38100652e-03 9.99862214e-01 -1.64281528e-02 -1.20945746e+00] [ 6.53540539e-02 1.62374901e-02 9.97730019e-01 -7.19296763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.003133365 meters Centerline goodness : 0.133984 with order 3 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.22, Z:-0.72 [[ 9.97864419e-01 -2.96052867e-03 -6.52521069e-02 -1.21236700e+01] [ 1.96315807e-03 9.99880351e-01 -1.53437016e-02 -1.21500374e+00] [ 6.52897251e-02 1.51828337e-02 9.97750837e-01 -7.18500639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.063133365 meters Centerline goodness : 0.145402 with order 3 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.22, Z:-0.72 [[ 9.98005393e-01 6.52391983e-03 -6.27907117e-02 -1.21057260e+01] [-7.53138563e-03 9.99846467e-01 -1.58215324e-02 -1.21945703e+00] [ 6.26778528e-02 1.62628757e-02 9.97901301e-01 -7.16307061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.123133365 meters Centerline goodness : 0.195427 with order 3 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.22, Z:-0.72 [[ 9.98038477e-01 7.20832471e-03 -6.21871202e-02 -1.21077065e+01] [-8.19818575e-03 9.99843498e-01 -1.56770120e-02 -1.21802288e+00] [ 6.20643828e-02 1.61560828e-02 9.97941378e-01 -7.15506671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.183133365 meters Centerline goodness : 0.133693 with order 3 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.21, Z:-0.71 [[ 9.98021304e-01 1.15684263e-02 -6.18033042e-02 -1.21090550e+01] [-1.23654625e-02 9.99845042e-01 -1.25294479e-02 -1.21224074e+00] [ 6.16487813e-02 1.32688824e-02 9.98009702e-01 -7.14701474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.243133365 meters Centerline goodness : 0.137519 with order 3 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.21, Z:-0.71 [[ 9.98014013e-01 1.16032674e-02 -6.19144154e-02 -1.21087731e+01] [-1.24356267e-02 9.99837182e-01 -1.30753327e-02 -1.20844341e+00] [ 6.17526181e-02 1.38193098e-02 9.97995812e-01 -7.14740580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30313336499998 meters Centerline goodness : 0.133849 with order 3 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.20, Z:-0.71 [[ 9.97885235e-01 5.47085326e-03 -6.47697991e-02 -1.20910850e+01] [-6.30633391e-03 9.99899442e-01 -1.27018206e-02 -1.20065008e+00] [ 6.46937962e-02 1.30834192e-02 9.97819391e-01 -7.10757447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36313336499998 meters Centerline goodness : 0.188979 with order 3 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.20, Z:-0.71 [[ 9.97872063e-01 5.26348901e-03 -6.49895514e-02 -1.20905587e+01] [-6.12945958e-03 9.99894977e-01 -1.31325764e-02 -1.19844319e+00] [ 6.49136028e-02 1.35029819e-02 9.97799526e-01 -7.10760593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42313336499998 meters Centerline goodness : 0.243902 with order 3 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.19, Z:-0.71 [[ 9.97855655e-01 4.91380532e-03 -6.52682696e-02 -1.20892748e+01] [-5.83461187e-03 9.99886021e-01 -1.39249165e-02 -1.19406609e+00] [ 6.51924060e-02 1.42758717e-02 9.97770590e-01 -7.11581819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.483133365 meters Centerline goodness : 0.215313 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.19, Z:-0.71 [[ 9.97865083e-01 8.88887907e-05 -6.53090179e-02 -1.20679025e+01] [-8.11906717e-04 9.99938681e-01 -1.10442638e-02 -1.18779396e+00] [ 6.53040314e-02 1.10737101e-02 9.97803967e-01 -7.09836830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543133365 meters Centerline goodness : 0.131222 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.18, Z:-0.71 [[ 9.97836196e-01 -2.58957237e-04 -6.57484471e-02 -1.20666110e+01] [-5.23270723e-04 9.99929296e-01 -1.18797847e-02 -1.18369358e+00] [ 6.57468748e-02 1.18884834e-02 9.97765510e-01 -7.10100238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603133365 meters Centerline goodness : 0.136569 with order 3 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.18, Z:-0.71 [[ 9.97757229e-01 2.26370367e-03 -6.68983355e-02 -1.20624630e+01] [-2.92928855e-03 9.99947170e-01 -9.85278251e-03 -1.18035173e+00] [ 6.68724974e-02 1.00266495e-02 9.97711148e-01 -7.11328856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.663133365 meters Centerline goodness : 0.135070 with order 3 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.18, Z:-0.71 [[ 9.97767655e-01 2.53959285e-03 -6.67327219e-02 -1.20629790e+01] [-3.22534869e-03 9.99943078e-01 -1.01704274e-02 -1.17728358e+00] [ 6.67030946e-02 1.03629598e-02 9.97719052e-01 -7.11169261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.723133365 meters Centerline goodness : 0.129380 with order 3 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.17, Z:-0.71 [[ 9.97792883e-01 2.75022273e-03 -6.63460551e-02 -1.20645097e+01] [-3.45141732e-03 9.99939373e-01 -1.04564414e-02 -1.17496082e+00] [ 6.63132752e-02 1.06623507e-02 9.97741882e-01 -7.10296955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.783133365 meters Centerline goodness : 0.154872 with order 3 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.17, Z:-0.71 [[ 9.97773659e-01 3.35487176e-03 -6.66068367e-02 -1.20638885e+01] [-4.04903765e-03 9.99938863e-01 -1.02895812e-02 -1.17371885e+00] [ 6.65682443e-02 1.05363667e-02 9.97726242e-01 -7.10361549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.843133365 meters Centerline goodness : 0.133152 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.17, Z:-0.71 [[ 9.97655429e-01 -3.58457471e-03 -6.83432258e-02 -1.20434637e+01] [ 2.93574798e-03 9.99949689e-01 -9.59172547e-03 -1.17020033e+00] [ 6.83741696e-02 9.36859849e-03 9.97615759e-01 -7.08325817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.903133365 meters Centerline goodness : 0.131745 with order 3 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.18, Z:-0.71 [[ 9.97635536e-01 4.23230972e-03 -6.85961052e-02 -1.20278480e+01] [-4.92082773e-03 9.99939168e-01 -9.87141108e-03 -1.17871768e+00] [ 6.85501535e-02 1.01856201e-02 9.97595674e-01 -7.05271467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.963133365 meters Centerline goodness : 0.132862 with order 3 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.18, Z:-0.70 [[ 9.97547009e-01 7.44489209e-03 -6.96027252e-02 -1.20255333e+01] [-7.98245839e-03 9.99940399e-01 -7.44840263e-03 -1.17579281e+00] [ 6.95431242e-02 7.98573262e-03 9.97546982e-01 -7.04490055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02313336499998 meters Centerline goodness : 0.136796 with order 1 Centerline is valid? [False, False] Translation: X:-12.02, Y:-1.17, Z:-0.70 [[ 9.97514612e-01 8.07719456e-03 -6.99954172e-02 -1.20242218e+01] [-8.61231341e-03 9.99935925e-01 -7.34664461e-03 -1.17435941e+00] [ 6.99315920e-02 7.93120782e-03 9.97520260e-01 -7.04735402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08313336499998 meters Centerline goodness : 0.132481 with order 3 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.17, Z:-0.70 [[ 9.97571482e-01 8.41685395e-03 -6.91396759e-02 -1.20264242e+01] [-8.94101266e-03 9.99933563e-01 -7.27519322e-03 -1.17310907e+00] [ 6.90738482e-02 7.87570400e-03 9.97580461e-01 -7.04531497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14313336499998 meters SLAMing on 130.20313336499999 meters Centerline goodness : 0.144303 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.18, Z:-0.70 [[ 9.97658299e-01 6.01434041e-03 -6.81303607e-02 -1.20306193e+01] [-6.64901170e-03 9.99936556e-01 -9.09261101e-03 -1.17702847e+00] [ 6.80713522e-02 9.52431840e-03 9.97634993e-01 -7.02989989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263133365 meters Centerline goodness : 0.138968 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.18, Z:-0.70 [[ 9.97596238e-01 4.86501123e-03 -6.91236356e-02 -1.20276846e+01] [-5.54878948e-03 9.99937524e-01 -9.70354388e-03 -1.18313680e+00] [ 6.90721092e-02 1.00637714e-02 9.97560908e-01 -7.03755399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323133365 meters Centerline goodness : 0.132522 with order 3 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.19, Z:-0.70 [[ 9.97858078e-01 1.20472301e-03 -6.54049302e-02 -1.20013412e+01] [-1.76382070e-03 9.99962394e-01 -8.49117980e-03 -1.18757521e+00] [ 6.53922411e-02 8.58835492e-03 9.97822677e-01 -7.02116086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383133365 meters Centerline goodness : 0.125720 with order 3 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.19, Z:-0.70 [[ 9.97865470e-01 1.31547110e-03 -6.52899109e-02 -1.20018280e+01] [-1.87340546e-03 9.99962247e-01 -8.48500444e-03 -1.18706628e+00] [ 6.52762842e-02 8.58920742e-03 9.97830262e-01 -7.01809702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443133365 meters Centerline goodness : 0.151733 with order 1 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.19, Z:-0.70 [[ 9.97800408e-01 1.60631693e-03 -6.62704018e-02 -1.19988081e+01] [-2.18426075e-03 9.99960207e-01 -8.64946111e-03 -1.18512630e+00] [ 6.62538709e-02 8.77518766e-03 9.97764211e-01 -7.02795171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503133365 meters Centerline goodness : 0.143111 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.19, Z:-0.70 [[ 9.97668408e-01 1.72304898e-03 -6.82259454e-02 -1.20454140e+01] [-2.25112008e-03 9.99968098e-01 -7.66390813e-03 -1.18503755e+00] [ 6.82105636e-02 7.79962382e-03 9.97640459e-01 -7.03665564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.563133365 meters Centerline goodness : 0.129374 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97673992e-01 1.63624463e-03 -6.81463796e-02 -1.20459684e+01] [-2.16913991e-03 9.99967642e-01 -7.74660057e-03 -1.18496173e+00] [ 6.81314992e-02 7.87640095e-03 9.97645258e-01 -7.03160132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.623133365 meters Centerline goodness : 0.145290 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97655683e-01 1.68040345e-03 -6.84128269e-02 -1.20449904e+01] [-2.20234786e-03 9.99969038e-01 -7.55462769e-03 -1.18577827e+00] [ 6.83980139e-02 7.68758609e-03 9.97628494e-01 -7.03668424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.683133365 meters Centerline goodness : 0.126495 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97650983e-01 1.70127812e-03 -6.84808061e-02 -1.20447809e+01] [-2.21879471e-03 9.99969550e-01 -7.48175191e-03 -1.18618830e+00] [ 6.84659923e-02 7.61612200e-03 9.97624380e-01 -7.03749205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.743133365 meters Centerline goodness : 0.132116 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97637666e-01 1.71196775e-03 -6.86742808e-02 -1.20446448e+01] [-2.20610799e-03 9.99972217e-01 -7.12022354e-03 -1.18848608e+00] [ 6.86601832e-02 7.25490607e-03 9.97613726e-01 -7.03263121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80313336499998 meters Centerline goodness : 0.133575 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97624743e-01 1.85901805e-03 -6.88579490e-02 -1.20439142e+01] [-2.32064643e-03 9.99975364e-01 -6.62468248e-03 -1.19119885e+00] [ 6.88439372e-02 6.76874211e-03 9.97604479e-01 -7.03658686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86313336499998 meters Centerline goodness : 0.249673 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97632089e-01 1.98977070e-03 -6.87477721e-02 -1.20440578e+01] [-2.43724831e-03 9.99976385e-01 -6.42571239e-03 -1.19206757e+00] [ 6.87333629e-02 6.57805227e-03 9.97613379e-01 -7.03856369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92313336499998 meters Centerline goodness : 0.162688 with order 1 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97635847e-01 2.03375332e-03 -6.86919209e-02 -1.20444780e+01] [-2.48759958e-03 9.99975637e-01 -6.52208781e-03 -1.19108944e+00] [ 6.86769830e-02 6.67754659e-03 9.97616601e-01 -7.03547239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.983133365 meters Centerline goodness : 0.154418 with order 1 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97636582e-01 2.04054757e-03 -6.86810468e-02 -1.20447073e+01] [-2.50221126e-03 9.99974848e-01 -6.63649238e-03 -1.19000278e+00] [ 6.86657772e-02 6.79266206e-03 9.97616595e-01 -7.03309927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043133365 meters Centerline goodness : 0.157485 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.19, Z:-0.70 [[ 9.97633122e-01 1.89402573e-03 -6.87354860e-02 -1.20453185e+01] [-2.35573160e-03 9.99975202e-01 -6.63670452e-03 -1.19075606e+00] [ 6.87212114e-02 6.78291860e-03 9.97612844e-01 -7.02285695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.103133365 meters Centerline goodness : 0.159180 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.19, Z:-0.70 [[ 9.97631013e-01 1.84726917e-03 -6.87673577e-02 -1.20452582e+01] [-2.30624197e-03 9.99975590e-01 -6.59549022e-03 -1.19138492e+00] [ 6.87534954e-02 6.73845976e-03 9.97610921e-01 -7.02216727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.163133365 meters Centerline goodness : 0.162084 with order 1 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.19, Z:-0.70 [[ 9.97617260e-01 1.79074511e-03 -6.89680827e-02 -1.20444237e+01] [-2.27023001e-03 9.99973793e-01 -6.87451994e-03 -1.18973272e+00] [ 6.89539648e-02 7.01471315e-03 9.97595181e-01 -7.02764769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.223133365 meters Centerline goodness : 0.211771 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.19, Z:-0.70 [[ 9.97636839e-01 2.10224031e-03 -6.86754541e-02 -1.20452501e+01] [-2.59283873e-03 9.99971749e-01 -7.05536676e-03 -1.18708577e+00] [ 6.86586819e-02 7.21675817e-03 9.97614106e-01 -7.02748003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.283133365 meters Centerline goodness : 0.118555 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.19, Z:-0.70 [[ 9.97659233e-01 1.98540724e-03 -6.83528629e-02 -1.20464833e+01] [-2.48847308e-03 9.99970437e-01 -7.27547588e-03 -1.18641805e+00] [ 6.83363974e-02 7.42853995e-03 9.97634679e-01 -7.02163725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.343133365 meters Centerline goodness : 0.148730 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.18, Z:-0.70 [[ 9.97631486e-01 -4.44951737e-03 -6.86412364e-02 -1.20686350e+01] [ 4.19590427e-03 9.99983830e-01 -3.83849740e-03 -1.18444779e+00] [ 6.86572059e-02 3.54139381e-03 9.97634024e-01 -7.03465212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.403133365 meters Centerline goodness : 0.124910 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.19, Z:-0.70 [[ 9.97685524e-01 3.55272282e-03 -6.79041502e-02 -1.20496977e+01] [-3.97911465e-03 9.99973202e-01 -6.14509531e-03 -1.18577809e+00] [ 6.78804987e-02 6.40107103e-03 9.97672924e-01 -7.00622935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.463133365 meters Centerline goodness : 0.136356 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97700847e-01 3.68623564e-03 -6.76714932e-02 -1.20505554e+01] [-4.11517140e-03 9.99972311e-01 -6.20019445e-03 -1.18431514e+00] [ 6.76467641e-02 6.46441905e-03 9.97688392e-01 -7.00344477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52313336499998 meters Centerline goodness : 0.125349 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97715081e-01 3.56730966e-03 -6.74677050e-02 -1.20509029e+01] [-4.01775159e-03 9.99970530e-01 -6.54189767e-03 -1.18258355e+00] [ 6.74423797e-02 6.79801844e-03 9.97700011e-01 -7.00614428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58313336499998 meters Centerline goodness : 0.126666 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97703014e-01 3.37041470e-03 -6.76560164e-02 -1.20506825e+01] [-3.83910498e-03 9.99969519e-01 -6.79872490e-03 -1.18164402e+00] [ 6.76310397e-02 7.04284687e-03 9.97685542e-01 -7.00347474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64313336499998 meters Centerline goodness : 0.156506 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97709273e-01 3.36756275e-03 -6.75637916e-02 -1.20510403e+01] [-3.83592042e-03 9.99969498e-01 -6.80354566e-03 -1.18125245e+00] [ 6.75388195e-02 7.04712992e-03 9.97691759e-01 -7.00188022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70313336499999 meters Centerline goodness : 0.132428 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97694882e-01 3.09862765e-03 -6.77887916e-02 -1.20506171e+01] [-3.58659662e-03 9.99968520e-01 -7.07785131e-03 -1.18101052e+00] [ 6.77647259e-02 7.30466708e-03 9.97674588e-01 -7.00039473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763133365 meters Centerline goodness : 0.130844 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97672708e-01 3.08151447e-03 -6.81151416e-02 -1.20494615e+01] [-3.58885844e-03 9.99966715e-01 -7.32721399e-03 -1.17900014e+00] [ 6.80902955e-02 7.55461702e-03 9.97650560e-01 -7.00655106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823133365 meters Centerline goodness : 0.125402 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.18, Z:-0.70 [[ 9.97698124e-01 3.03192731e-03 -6.77440903e-02 -1.20507935e+01] [-3.57235134e-03 9.99962747e-01 -7.85771663e-03 -1.17542644e+00] [ 6.77177425e-02 8.08163482e-03 9.97671787e-01 -7.00151215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.883133365 meters Centerline goodness : 0.154972 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.17, Z:-0.70 [[ 9.97716373e-01 2.95915498e-03 -6.74780142e-02 -1.20519515e+01] [-3.51961647e-03 9.99960280e-01 -8.18846775e-03 -1.17349888e+00] [ 6.74511030e-02 8.40726508e-03 9.97687159e-01 -6.99531843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.943133365 meters Centerline goodness : 0.142436 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.17, Z:-0.70 [[ 9.97752879e-01 3.21884256e-03 -6.69240764e-02 -1.20532665e+01] [-3.76472117e-03 9.99960655e-01 -8.03216860e-03 -1.17288511e+00] [ 6.68955890e-02 8.26606983e-03 9.97725740e-01 -6.99603472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.003133365 meters Centerline goodness : 0.155158 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.17, Z:-0.70 [[ 9.97771537e-01 2.98015716e-03 -6.66564195e-02 -1.20543398e+01] [-3.53863619e-03 9.99959608e-01 -8.26197529e-03 -1.17321144e+00] [ 6.66291052e-02 8.47943660e-03 9.97741781e-01 -6.98997887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.063133365 meters Centerline goodness : 0.138587 with order 2 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.17, Z:-0.70 [[ 9.97758336e-01 2.88550209e-03 -6.68578857e-02 -1.20537339e+01] [-3.47088523e-03 9.99956641e-01 -8.64113014e-03 -1.17132510e+00] [ 6.68300528e-02 8.85381568e-03 9.97725089e-01 -6.99262190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.123133365 meters Centerline goodness : 0.122495 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.17, Z:-0.70 [[ 9.97744952e-01 6.99727883e-03 -6.67536372e-02 -1.20531366e+01] [-7.36842357e-03 9.99958726e-01 -5.31532682e-03 -1.16718452e+00] [ 6.67136892e-02 5.79520958e-03 9.97755330e-01 -7.00474338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.183133365 meters Centerline goodness : 0.154035 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.16, Z:-0.70 [[ 9.97728760e-01 6.61748418e-03 -6.70338028e-02 -1.20522383e+01] [-7.05286789e-03 9.99955531e-01 -6.26041203e-03 -1.16283393e+00] [ 6.69893937e-02 6.71897369e-03 9.97731064e-01 -7.00882754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.243133365 meters Centerline goodness : 0.137568 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.16, Z:-0.70 [[ 9.97694639e-01 6.25891345e-03 -6.75739072e-02 -1.20506012e+01] [-6.75588142e-03 9.99951771e-01 -7.12841842e-03 -1.15844729e+00] [ 6.75260320e-02 7.56850614e-03 9.97688806e-01 -7.01439626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30313336499998 meters Centerline goodness : 0.154371 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.15, Z:-0.70 [[ 9.97948406e-01 -5.84719483e-04 -6.40205992e-02 -1.20788439e+01] [ 2.28238006e-04 9.99984431e-01 -5.57540276e-03 -1.15004061e+00] [ 6.40228625e-02 5.54935236e-03 9.97933003e-01 -7.01073879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36313336499998 meters Centerline goodness : 0.138332 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.15, Z:-0.70 [[ 9.97946122e-01 -9.67947415e-04 -6.40515469e-02 -1.20791269e+01] [ 5.79245289e-04 9.99981307e-01 -6.08687457e-03 -1.14806455e+00] [ 6.40562414e-02 6.03727131e-03 9.97928028e-01 -7.00610891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42313336499998 meters Centerline goodness : 0.123907 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.15, Z:-0.70 [[ 9.97894470e-01 -1.29908430e-03 -6.48455095e-02 -1.20763617e+01] [ 8.70903097e-04 9.99977636e-01 -6.63092730e-03 -1.14587477e+00] [ 6.48526734e-02 6.56049152e-03 9.97873284e-01 -7.01861224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.483133365 meters Centerline goodness : 0.141563 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.14, Z:-0.70 [[ 9.97893747e-01 -1.56368447e-03 -6.48507906e-02 -1.20766073e+01] [ 1.08759978e-03 9.99972206e-01 -7.37588519e-03 -1.14140399e+00] [ 6.48605217e-02 7.28981800e-03 9.97867712e-01 -7.01669586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543133365 meters Centerline goodness : 0.117902 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.14, Z:-0.70 [[ 9.97886640e-01 -1.74933724e-03 -6.49553161e-02 -1.20761717e+01] [ 1.23986570e-03 9.99968161e-01 -7.88289782e-03 -1.13883333e+00] [ 6.49670378e-02 7.78570255e-03 9.97857037e-01 -7.02015353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.603133365 meters Centerline goodness : 0.229392 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.14, Z:-0.70 [[ 9.97882084e-01 -1.85309440e-03 -6.50223992e-02 -1.20759212e+01] [ 1.32863281e-03 9.99966246e-01 -8.10817474e-03 -1.13784990e+00] [ 6.50352296e-02 8.00461141e-03 9.97850863e-01 -7.02183532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.663133365 meters Centerline goodness : 0.120245 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.14, Z:-0.70 [[ 9.97873774e-01 -1.99269592e-03 -6.51456812e-02 -1.20762575e+01] [ 1.45993292e-03 9.99965112e-01 -8.22460699e-03 -1.13771407e+00] [ 6.51597975e-02 8.11201129e-03 9.97841869e-01 -7.01342862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.723133365 meters SLAMing on 132.783133365 meters Centerline goodness : 0.146954 with order 1 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.14, Z:-0.71 [[ 9.98113124e-01 -5.63210392e-03 -6.11430415e-02 -1.21183617e+01] [ 5.12453137e-03 9.99951125e-01 -8.45503621e-03 -1.14290066e+00] [ 6.11876728e-02 8.12575317e-03 9.98093202e-01 -7.05091724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.843133365 meters Centerline goodness : 0.137288 with order 3 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.15, Z:-0.71 [[ 9.98119981e-01 1.48743466e-03 -6.12722739e-02 -1.21374374e+01] [-2.06344784e-03 9.99954265e-01 -9.33867567e-03 -1.15164429e+00] [ 6.12555810e-02 9.44755092e-03 9.98077401e-01 -7.07219335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.903133365 meters Centerline goodness : 0.141025 with order 1 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.15, Z:-0.71 [[ 9.98105560e-01 1.56786525e-03 -6.15047423e-02 -1.21368059e+01] [-2.13753580e-03 9.99955417e-01 -9.19751863e-03 -1.15237397e+00] [ 6.14875798e-02 9.31156307e-03 9.98064413e-01 -7.07288229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.963133365 meters Centerline goodness : 0.144598 with order 3 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.15, Z:-0.71 [[ 9.98159680e-01 1.75671539e-03 -6.06149129e-02 -1.21394511e+01] [-2.31807484e-03 9.99955066e-01 -9.19200177e-03 -1.15183811e+00] [ 6.05960415e-02 9.31559545e-03 9.98118900e-01 -7.06554531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02313336499998 meters Centerline goodness : 0.132257 with order 1 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.15, Z:-0.71 [[ 9.98145774e-01 5.50144023e-03 -6.06196953e-02 -1.21391418e+01] [-5.89142424e-03 9.99963073e-01 -6.25643406e-03 -1.14824793e+00] [ 6.05830374e-02 6.60196956e-03 9.98141327e-01 -7.06986698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08313336499998 meters Centerline goodness : 0.129620 with order 2 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.15, Z:-0.71 [[ 9.98141559e-01 5.41847702e-03 -6.06965224e-02 -1.21386126e+01] [-5.82939062e-03 9.99961262e-01 -6.59494016e-03 -1.14637002e+00] [ 6.06584366e-02 6.93650760e-03 9.98134479e-01 -7.07530274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14313336499998 meters Centerline goodness : 0.148085 with order 1 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.14, Z:-0.71 [[ 9.98121300e-01 5.50884143e-03 -6.10206802e-02 -1.21375558e+01] [-5.96523253e-03 9.99955565e-01 -7.29964010e-03 -1.14147032e+00] [ 6.09777561e-02 7.64992881e-03 9.98109810e-01 -7.08162480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20313336499999 meters Centerline goodness : 0.130241 with order 2 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.14, Z:-0.71 [[ 9.98249152e-01 -8.92766249e-04 -5.91424847e-02 -1.21616617e+01] [ 6.19654280e-04 9.99989062e-01 -4.63604336e-03 -1.13683338e+00] [ 5.91459766e-02 4.59127846e-03 9.98238786e-01 -7.09232341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263133365 meters Centerline goodness : 0.136660 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.14, Z:-0.71 [[ 9.98264987e-01 -1.03973824e-03 -5.88721826e-02 -1.21623958e+01] [ 7.50446693e-04 9.99987537e-01 -4.93578814e-03 -1.13528739e+00] [ 5.88765809e-02 4.88304405e-03 9.98253327e-01 -7.09155914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323133365 meters Centerline goodness : 0.132055 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.13, Z:-0.71 [[ 9.98270202e-01 -1.11124168e-03 -5.87823925e-02 -1.21626799e+01] [ 8.12265793e-04 9.99986615e-01 -5.10979653e-03 -1.13417038e+00] [ 5.87872839e-02 5.05321069e-03 9.98257742e-01 -7.09104750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.383133365 meters Centerline goodness : 0.144595 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.13, Z:-0.71 [[ 9.98285401e-01 -1.07793539e-03 -5.85243230e-02 -1.21632285e+01] [ 7.69594114e-04 9.99985707e-01 -5.29088410e-03 -1.13226824e+00] [ 5.85291898e-02 5.23677238e-03 9.98271962e-01 -7.09275690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.443133365 meters Centerline goodness : 0.138514 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.13, Z:-0.71 [[ 9.98255427e-01 -1.37905059e-03 -5.90271174e-02 -1.21611557e+01] [ 1.03033596e-03 9.99981841e-01 -5.93772987e-03 -1.12951324e+00] [ 5.90342339e-02 5.86655330e-03 9.98238720e-01 -7.10537838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.503133365 meters Centerline goodness : 0.127408 with order 3 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.13, Z:-0.71 [[ 9.98249898e-01 -1.40589616e-03 -5.91199204e-02 -1.21608700e+01] [ 1.03822046e-03 9.99979933e-01 -6.24940760e-03 -1.12721115e+00] [ 5.91275200e-02 6.17709099e-03 9.98231326e-01 -7.10713726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.563133365 meters Centerline goodness : 0.134102 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.12, Z:-0.71 [[ 9.98293331e-01 -1.50710017e-03 -5.83793989e-02 -1.21628846e+01] [ 1.12140789e-03 9.99977334e-01 -6.63884859e-03 -1.12487568e+00] [ 5.83880810e-02 6.56205116e-03 9.98272393e-01 -7.10497195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.623133365 meters Centerline goodness : 0.126785 with order 3 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.12, Z:-0.71 [[ 9.98313934e-01 -1.81912598e-03 -5.80170652e-02 -1.21636591e+01] [ 1.40266561e-03 9.99972965e-01 -7.21815507e-03 -1.12223255e+00] [ 5.80286274e-02 7.12460624e-03 9.98289496e-01 -7.10730987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.683133365 meters Centerline goodness : 0.124657 with order 3 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.12, Z:-0.71 [[ 9.98330282e-01 -1.90817897e-03 -5.77321982e-02 -1.21645772e+01] [ 1.47999106e-03 9.99971089e-01 -7.45864396e-03 -1.12061653e+00] [ 5.77447615e-02 7.36074699e-03 9.98304243e-01 -7.10477094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.743133365 meters Centerline goodness : 0.134904 with order 1 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.12, Z:-0.71 [[ 9.98345949e-01 -2.21016135e-03 -5.74498155e-02 -1.21656047e+01] [ 1.75021483e-03 9.99966025e-01 -8.05514105e-03 -1.11790017e+00] [ 5.74656668e-02 7.94126792e-03 9.98315899e-01 -7.10069041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80313336499998 meters Centerline goodness : 0.124100 with order 3 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.11, Z:-0.71 [[ 9.98325291e-01 -1.35048740e-03 -5.78341472e-02 -1.21644466e+01] [ 8.80459924e-04 9.99966385e-01 -8.15187240e-03 -1.10856666e+00] [ 5.78432121e-02 8.08729974e-03 9.98292922e-01 -7.10556186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86313336499998 meters Centerline goodness : 0.125078 with order 3 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.10, Z:-0.71 [[ 9.98337251e-01 -1.74958023e-03 -5.76166043e-02 -1.21651059e+01] [ 1.21504727e-03 9.99955912e-01 -9.31113776e-03 -1.10251201e+00] [ 5.76303547e-02 9.22564878e-03 9.98295362e-01 -7.10528326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92313336499998 meters Centerline goodness : 0.122084 with order 3 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.10, Z:-0.71 [[ 9.98331237e-01 6.73007879e-03 -5.73537114e-02 -1.21886463e+01] [-7.32618370e-03 9.99921247e-01 -1.01895630e-02 -1.09972116e+00] [ 5.72806180e-02 1.05927429e-02 9.98301921e-01 -7.11550025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.983133365 meters Centerline goodness : 0.302317 with order 2 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.09, Z:-0.71 [[ 9.98322324e-01 1.01532830e-02 -5.70039267e-02 -1.21897377e+01] [-1.06234162e-02 9.99911963e-01 -7.95040703e-03 -1.09025483e+00] [ 5.69181855e-02 8.54264527e-03 9.98342298e-01 -7.11260756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043133365 meters Centerline goodness : 0.407633 with order 1 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.08, Z:-0.71 [[ 9.98346059e-01 9.69422743e-03 -5.66671746e-02 -1.21906305e+01] [-1.02306199e-02 9.99905497e-01 -9.18323184e-03 -1.08272898e+00] [ 5.65727950e-02 9.74778364e-03 9.98350890e-01 -7.11287096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.103133365 meters Centerline goodness : 0.156793 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.07, Z:-0.71 [[ 9.98356123e-01 3.65445068e-03 -5.71987386e-02 -1.22130344e+01] [-4.04780338e-03 9.99968941e-01 -6.76259874e-03 -1.07335531e+00] [ 5.71722484e-02 6.98301111e-03 9.98339908e-01 -7.12644731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.163133365 meters Centerline goodness : 0.151200 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.06, Z:-0.71 [[ 9.98369266e-01 2.92614761e-03 -5.70109368e-02 -1.22136871e+01] [-3.40624819e-03 9.99959538e-01 -8.32584627e-03 -1.06429631e+00] [ 5.69842673e-02 8.50646243e-03 9.98338837e-01 -7.12558449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.223133365 meters Centerline goodness : 0.152233 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.06, Z:-0.71 [[ 9.98368837e-01 2.72024147e-03 -5.70286369e-02 -1.22139259e+01] [-3.22769128e-03 9.99956000e-01 -8.80793649e-03 -1.06136311e+00] [ 5.70021679e-02 8.97764015e-03 9.98333689e-01 -7.12239671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.283133365 meters Centerline goodness : 0.155350 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.06, Z:-0.71 [[ 9.98362409e-01 2.48806772e-03 -5.71516303e-02 -1.22131945e+01] [-3.01764657e-03 9.99953293e-01 -9.18177463e-03 -1.05962630e+00] [ 5.71261161e-02 9.33920207e-03 9.98323287e-01 -7.12845704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.343133365 meters Centerline goodness : 0.229101 with order 3 Centerline is valid? [False, False] Translation: X:-12.22, Y:-1.06, Z:-0.71 [[ 9.98443535e-01 5.90049306e-04 -5.57688035e-02 -1.22180071e+01] [-1.19595736e-03 9.99940618e-01 -1.08318915e-02 -1.05840167e+00] [ 5.57591005e-02 1.08817292e-02 9.98384951e-01 -7.11304297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.403133365 meters Centerline goodness : 0.156556 with order 1 Centerline is valid? [False, False] Translation: X:-12.22, Y:-1.06, Z:-0.71 [[ 9.98457823e-01 5.51625715e-04 -5.55128051e-02 -1.22188474e+01] [-1.15901876e-03 9.99939814e-01 -1.09098942e-02 -1.05782537e+00] [ 5.55034459e-02 1.09574096e-02 9.98398369e-01 -7.11054385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.463133365 meters SLAMing on 134.52313336499998 meters Centerline goodness : 0.159262 with order 1 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.06, Z:-0.71 [[ 9.98298929e-01 -1.03023161e-04 -5.83029900e-02 -1.22639022e+01] [-5.66030718e-04 9.99934185e-01 -1.14588332e-02 -1.06170086e+00] [ 5.83003333e-02 1.14723422e-02 9.98233167e-01 -7.13411046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58313336499998 meters Centerline goodness : 0.090641 with order 1 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.06, Z:-0.71 [[ 9.98258642e-01 2.83451683e-05 -5.89888342e-02 -1.22615893e+01] [-6.81370058e-04 9.99938712e-01 -1.10502289e-02 -1.06434629e+00] [ 5.89849056e-02 1.10711797e-02 9.98197480e-01 -7.14354598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64313336499998 meters Centerline goodness : 0.149853 with order 1 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.07, Z:-0.72 [[ 9.98228073e-01 1.91186757e-04 -5.95035914e-02 -1.22596971e+01] [-8.20134698e-04 9.99944057e-01 -1.05456730e-02 -1.06740893e+00] [ 5.94982463e-02 1.05757878e-02 9.98172386e-01 -7.15289284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70313336499999 meters Centerline goodness : 0.094259 with order 1 Centerline is valid? [False, False] Translation: X:-12.22, Y:-1.07, Z:-0.71 [[ 9.98407707e-01 8.60693200e-04 -5.64030946e-02 -1.22209568e+01] [-1.44459191e-03 9.99945783e-01 -1.03122916e-02 -1.06749831e+00] [ 5.63911609e-02 1.03773509e-02 9.98354820e-01 -7.11499792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763133365 meters Centerline goodness : 0.209804 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-1.07, Z:-0.71 [[ 9.98524098e-01 9.68477929e-03 -5.34399813e-02 -1.22459813e+01] [-1.02457143e-02 9.99895154e-01 -1.02325771e-02 -1.07115079e+00] [ 5.33352781e-02 1.07650056e-02 9.98518634e-01 -7.13129442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823133365 meters Centerline goodness : 0.149586 with order 1 Centerline is valid? [False, False] Translation: X:-12.24, Y:-1.07, Z:-0.72 [[ 9.98421739e-01 1.18724009e-02 -5.48914956e-02 -1.22395948e+01] [-1.23815767e-02 9.99883332e-01 -8.94527598e-03 -1.06578473e+00] [ 5.47788896e-02 9.61080127e-03 9.98452255e-01 -7.16405336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.883133365 meters Centerline goodness : 0.155724 with order 1 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.06, Z:-0.72 [[ 9.98214294e-01 7.41485241e-03 -5.92726097e-02 -1.22603463e+01] [-7.77629209e-03 9.99952538e-01 -5.86958195e-03 -1.06099609e+00] [ 5.92262744e-02 6.32002174e-03 9.98224577e-01 -7.17204569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.943133365 meters Centerline goodness : 0.211516 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.05, Z:-0.72 [[ 9.98232567e-01 7.14648462e-03 -5.89972097e-02 -1.22613267e+01] [-7.56262544e-03 9.99948055e-01 -6.83329953e-03 -1.05412275e+00] [ 5.89453110e-02 7.26739593e-03 9.98234760e-01 -7.16997400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.003133365 meters Centerline goodness : 0.157491 with order 1 Centerline is valid? [False, False] Translation: X:-12.24, Y:-1.04, Z:-0.71 [[ 9.98264081e-01 -9.05159170e-05 -5.88966607e-02 -1.22446659e+01] [-2.63576465e-04 9.99981939e-01 -6.00429966e-03 -1.04310077e+00] [ 5.88961404e-02 6.00940046e-03 9.98246028e-01 -7.13877912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.063133365 meters Centerline goodness : 0.233754 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:-1.04, Z:-0.71 [[ 9.98253947e-01 -4.87650668e-04 -5.90662257e-02 -1.22440987e+01] [ 7.97156817e-05 9.99976132e-01 -6.90855951e-03 -1.03839193e+00] [ 5.90681849e-02 6.89178829e-03 9.98230160e-01 -7.14232598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.123133365 meters Centerline goodness : 0.161628 with order 2 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.03, Z:-0.71 [[ 9.98081622e-01 -1.93705881e-04 -6.19115373e-02 -1.22898293e+01] [-2.21473284e-04 9.99977536e-01 -6.69907359e-03 -1.03288441e+00] [ 6.19114441e-02 6.69993398e-03 9.98059159e-01 -7.14979672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.183133365 meters Centerline goodness : 0.160210 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.03, Z:-0.72 [[ 9.98065506e-01 -6.02306314e-04 -6.21681890e-02 -1.22890408e+01] [ 1.34133786e-04 9.99971605e-01 -7.53463973e-03 -1.02910741e+00] [ 6.21709619e-02 7.51172516e-03 9.98037247e-01 -7.15354507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.243133365 meters Centerline goodness : 0.137375 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.03, Z:-0.72 [[ 9.98064362e-01 -9.37157500e-04 -6.21823989e-02 -1.22889923e+01] [ 4.34908221e-04 9.99967180e-01 -8.09007624e-03 -1.02666924e+00] [ 6.21879397e-02 8.04737314e-03 9.98032013e-01 -7.15402924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30313336499998 meters Centerline goodness : 0.098795 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.03, Z:-0.71 [[ 9.98120468e-01 -1.30276205e-03 -6.12685479e-02 -1.22919206e+01] [ 7.98001639e-04 9.99965549e-01 -8.26223928e-03 -1.02654625e+00] [ 6.12772008e-02 8.19781773e-03 9.98087121e-01 -7.14308170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36313336499998 meters SLAMing on 135.42313336499998 meters SLAMing on 135.483133365 meters Centerline goodness : 0.096717 with order 1 Centerline is valid? [False, False] Translation: X:-12.39, Y:-1.04, Z:-0.72 [[ 9.98033701e-01 -3.15943933e-03 -6.25999217e-02 -1.23913055e+01] [ 2.24574448e-03 9.99890003e-01 -1.46607712e-02 -1.04046812e+00] [ 6.26393557e-02 1.44913603e-02 9.97931015e-01 -7.21311545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543133365 meters Centerline goodness : 0.105439 with order 1 Centerline is valid? [False, False] Translation: X:-12.39, Y:-1.04, Z:-0.72 [[ 9.98010957e-01 -2.80861105e-03 -6.29780974e-02 -1.23903787e+01] [ 1.89171352e-03 9.99891422e-01 -1.46138946e-02 -1.03910767e+00] [ 6.30123041e-02 1.44656905e-02 9.97907908e-01 -7.21467688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.603133365 meters Centerline goodness : 0.115719 with order 2 Centerline is valid? [False, False] Translation: X:-12.39, Y:-1.04, Z:-0.72 [[ 9.97991349e-01 -2.69675220e-03 -6.32929238e-02 -1.23892018e+01] [ 1.77997127e-03 9.99892753e-01 -1.45366496e-02 -1.03912669e+00] [ 6.33253375e-02 1.43947910e-02 9.97889118e-01 -7.22077764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663133365 meters Centerline goodness : 0.183798 with order 3 Centerline is valid? [False, False] Translation: X:-12.39, Y:-1.04, Z:-0.72 [[ 9.97993060e-01 -2.70270730e-03 -6.32656849e-02 -1.23893895e+01] [ 1.80370860e-03 9.99896656e-01 -1.42626975e-02 -1.04151981e+00] [ 6.32976946e-02 1.41199602e-02 9.97894798e-01 -7.21859427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723133365 meters Centerline goodness : 0.134139 with order 2 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.06, Z:-0.72 [[ 9.98316870e-01 1.69401529e-03 -5.79703125e-02 -1.24153061e+01] [-2.58119747e-03 9.99880645e-01 -1.52326223e-02 -1.05524388e+00] [ 5.79375892e-02 1.53566167e-02 9.98202089e-01 -7.21911275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.783133365 meters Centerline goodness : 0.155301 with order 3 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.06, Z:-0.72 [[ 9.98277604e-01 1.38544359e-03 -5.86507072e-02 -1.24133382e+01] [-2.26157341e-03 9.99886813e-01 -1.48743529e-02 -1.06331326e+00] [ 5.86234611e-02 1.49813763e-02 9.98167746e-01 -7.22297118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.843133365 meters Centerline goodness : 0.150194 with order 1 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.07, Z:-0.72 [[ 9.98198143e-01 1.29002664e-03 -5.99900310e-02 -1.24087068e+01] [-2.15907366e-03 9.99893638e-01 -1.44239614e-02 -1.06958660e+00] [ 5.99650430e-02 1.45274944e-02 9.98094758e-01 -7.24073153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.903133365 meters Centerline goodness : 0.128941 with order 2 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.08, Z:-0.72 [[ 9.98201641e-01 2.11275139e-03 -5.99084365e-02 -1.24083736e+01] [-2.89718628e-03 9.99911168e-01 -1.30100605e-02 -1.07551086e+00] [ 5.98756278e-02 1.31602297e-02 9.98119090e-01 -7.24761573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.963133365 meters Centerline goodness : 0.154824 with order 1 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.08, Z:-0.73 [[ 9.98190813e-01 2.46449716e-03 -6.00751797e-02 -1.24076662e+01] [-3.22935306e-03 9.99914924e-01 -1.26378825e-02 -1.07711267e+00] [ 6.00389227e-02 1.28090221e-02 9.98113850e-01 -7.25273780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02313336499998 meters Centerline goodness : 0.151842 with order 1 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.08, Z:-0.73 [[ 9.98152006e-01 2.84996217e-03 -6.06996821e-02 -1.24053644e+01] [-3.61688949e-03 9.99914972e-01 -1.25286597e-02 -1.07681612e+00] [ 6.06588147e-02 1.27250509e-02 9.98077443e-01 -7.26531151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08313336499998 meters Centerline goodness : 0.150999 with order 1 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.08, Z:-0.73 [[ 9.98214637e-01 3.28636675e-03 -5.96384027e-02 -1.24083833e+01] [-4.02665486e-03 9.99916281e-01 -1.22970128e-02 -1.07636035e+00] [ 5.95929973e-02 1.25152014e-02 9.98144300e-01 -7.25957517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14313336499998 meters Centerline goodness : 0.156216 with order 1 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.08, Z:-0.73 [[ 9.98188029e-01 2.91871368e-03 -6.01010883e-02 -1.24072228e+01] [-3.67601739e-03 9.99915192e-01 -1.24937903e-02 -1.07703515e+00] [ 6.00595255e-02 1.26920845e-02 9.98114104e-01 -7.25944771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20313336499999 meters Centerline goodness : 0.148962 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.08, Z:-0.73 [[ 9.98130988e-01 -2.56663852e-04 -6.11102723e-02 -1.24028681e+01] [-6.80002535e-04 9.99882622e-01 -1.53061882e-02 -1.07876563e+00] [ 6.11070279e-02 1.53191359e-02 9.98013655e-01 -7.28055567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263133365 meters Centerline goodness : 0.150905 with order 1 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.08, Z:-0.73 [[ 9.98172873e-01 -9.59668241e-03 -5.96558444e-02 -1.23841894e+01] [ 8.73045702e-03 9.99852889e-01 -1.47641071e-02 -1.07707980e+00] [ 5.97887549e-02 1.42163084e-02 9.98109814e-01 -7.25164072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323133365 meters Centerline goodness : 0.148782 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.09, Z:-0.73 [[ 9.98347078e-01 -5.87883214e-03 -5.71712480e-02 -1.24040953e+01] [ 4.87214005e-03 9.99830908e-01 -1.77318378e-02 -1.08535767e+00] [ 5.72658232e-02 1.74239821e-02 9.98206908e-01 -7.27014642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.383133365 meters Centerline goodness : 0.379347 with order 1 Centerline is valid? [False, False] Translation: X:-12.45, Y:-1.09, Z:-0.73 [[ 9.98188299e-01 -7.45940677e-03 -5.97032350e-02 -1.24486075e+01] [ 6.37013285e-03 9.99810148e-01 -1.84143876e-02 -1.09046865e+00] [ 5.98292607e-02 1.80007087e-02 9.98046309e-01 -7.28866366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.443133365 meters Centerline goodness : 0.128218 with order 3 Centerline is valid? [False, False] Translation: X:-12.45, Y:-1.10, Z:-0.73 [[ 9.98162299e-01 -7.83846787e-03 -6.00881312e-02 -1.24473767e+01] [ 6.77372719e-03 9.99816784e-01 -1.79029140e-02 -1.09590298e+00] [ 6.02174535e-02 1.74629931e-02 9.98032516e-01 -7.29075118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.503133365 meters Centerline goodness : 0.153492 with order 1 Centerline is valid? [False, False] Translation: X:-12.45, Y:-1.10, Z:-0.73 [[ 9.98189686e-01 -7.79671982e-03 -5.96369124e-02 -1.24489696e+01] [ 6.77976831e-03 9.99828467e-01 -1.72357619e-02 -1.10019169e+00] [ 5.97610651e-02 1.68002354e-02 9.98071324e-01 -7.28270354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563133365 meters Centerline goodness : 0.139904 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.11, Z:-0.73 [[ 9.98393721e-01 -1.60299151e-03 -5.66339893e-02 -1.24670874e+01] [ 6.20190327e-04 9.99848992e-01 -1.73668733e-02 -1.11104244e+00] [ 5.66532761e-02 1.73038534e-02 9.98243950e-01 -7.31336434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623133365 meters Centerline goodness : 0.138598 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98387662e-01 -1.08153462e-03 -5.67530317e-02 -1.24667758e+01] [ 1.61577904e-04 9.99868565e-01 -1.62119107e-02 -1.11728729e+00] [ 5.67631061e-02 1.61766016e-02 9.98256614e-01 -7.31328234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.683133365 meters Centerline goodness : 0.136047 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98367347e-01 -6.84677702e-04 -5.71154300e-02 -1.24654956e+01] [-2.13334180e-04 9.99876486e-01 -1.57151756e-02 -1.11906618e+00] [ 5.71191353e-02 1.57017029e-02 9.98243888e-01 -7.31931295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.743133365 meters Centerline goodness : 0.122666 with order 3 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.12, Z:-0.73 [[ 9.98338309e-01 -1.05893294e-04 -5.76247315e-02 -1.24638606e+01] [-7.88485499e-04 9.99879591e-01 -1.54977871e-02 -1.11880870e+00] [ 5.76194341e-02 1.55174709e-02 9.98218017e-01 -7.32631585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80313336499998 meters Centerline goodness : 0.136912 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.12, Z:-0.73 [[ 9.98346661e-01 8.65240197e-05 -5.74798913e-02 -1.24638451e+01] [-9.84757134e-04 9.99877847e-01 -1.55987690e-02 -1.11773355e+00] [ 5.74715203e-02 1.56295827e-02 9.98224795e-01 -7.33263097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86313336499998 meters Centerline goodness : 0.176821 with order 3 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98403626e-01 6.96270039e-04 -5.64775543e-02 -1.24668237e+01] [-1.56219914e-03 9.99881887e-01 -1.52895695e-02 -1.11691711e+00] [ 5.64602379e-02 1.53533908e-02 9.98286790e-01 -7.32641841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92313336499998 meters Centerline goodness : 0.142670 with order 3 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98403717e-01 7.37562876e-04 -5.64754285e-02 -1.24672121e+01] [-1.60142881e-03 9.99882390e-01 -1.52525862e-02 -1.11702904e+00] [ 5.64575367e-02 1.53186801e-02 9.98287476e-01 -7.32095115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.983133365 meters Centerline goodness : 0.139690 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98404598e-01 5.47761581e-04 -5.64620037e-02 -1.24675338e+01] [-1.40807843e-03 9.99883506e-01 -1.51984371e-02 -1.11885165e+00] [ 5.64471011e-02 1.52536924e-02 9.98289061e-01 -7.31674250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043133365 meters Centerline goodness : 0.134963 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98383085e-01 6.93291113e-04 -5.68395565e-02 -1.24663765e+01] [-1.52774903e-03 9.99891680e-01 -1.46387979e-02 -1.12178378e+00] [ 5.68232507e-02 1.47019647e-02 9.98275999e-01 -7.31961402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.103133365 meters Centerline goodness : 0.119740 with order 3 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.12, Z:-0.73 [[ 9.98379351e-01 6.74273464e-04 -5.69053310e-02 -1.24661690e+01] [-1.50076033e-03 9.99893998e-01 -1.44824066e-02 -1.12330173e+00] [ 5.68895338e-02 1.45443369e-02 9.98274533e-01 -7.32009104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.163133365 meters Centerline goodness : 0.146049 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.13, Z:-0.73 [[ 9.98373495e-01 7.94073386e-04 -5.70064434e-02 -1.24660438e+01] [-1.59710823e-03 9.99900123e-01 -1.40425608e-02 -1.12586682e+00] [ 5.69895990e-02 1.41107660e-02 9.98275048e-01 -7.31811336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.223133365 meters Centerline goodness : 0.119983 with order 3 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.13, Z:-0.73 [[ 9.98351860e-01 1.01377052e-03 -5.73806182e-02 -1.24650561e+01] [-1.78818887e-03 9.99907994e-01 -1.34464297e-02 -1.12889399e+00] [ 5.73617072e-02 1.35268755e-02 9.98261818e-01 -7.31854644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.283133365 meters Centerline goodness : 0.121070 with order 3 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.13, Z:-0.73 [[ 9.98336845e-01 1.11914007e-03 -5.76393167e-02 -1.24649559e+01] [-1.86740365e-03 9.99914665e-01 -1.29295997e-02 -1.13246599e+00] [ 5.76199281e-02 1.30157316e-02 9.98253743e-01 -7.31087311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.343133365 meters Centerline goodness : 0.130405 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.13, Z:-0.73 [[ 9.98357504e-01 1.38540008e-03 -5.72745501e-02 -1.24658093e+01] [-2.11276116e-03 9.99917868e-01 -1.26409489e-02 -1.13294214e+00] [ 5.72523333e-02 1.27411937e-02 9.98278434e-01 -7.31207428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.403133365 meters Centerline goodness : 0.132472 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.14, Z:-0.73 [[ 9.98246138e-01 1.87336106e-03 -5.91704161e-02 -1.25124013e+01] [-2.56917751e-03 9.99928420e-01 -1.16856465e-02 -1.13589981e+00] [ 5.91442893e-02 1.18171708e-02 9.98179497e-01 -7.32226034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.463133365 meters Centerline goodness : 0.132210 with order 1 Centerline is valid? [False, False] Translation: X:-12.49, Y:-1.14, Z:-0.73 [[ 9.98373766e-01 -2.09597959e-03 -5.69686860e-02 -1.24914921e+01] [ 1.66314733e-03 9.99969401e-01 -7.64407297e-03 -1.13521231e+00] [ 5.69829646e-02 7.53689460e-03 9.98346702e-01 -7.30372604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52313336499998 meters Centerline goodness : 0.237177 with order 3 Centerline is valid? [False, False] Translation: X:-12.49, Y:-1.14, Z:-0.73 [[ 9.98394961e-01 -1.97997909e-03 -5.66001901e-02 -1.24923291e+01] [ 1.55436935e-03 9.99970195e-01 -7.56261667e-03 -1.13524686e+00] [ 5.66134770e-02 7.46250078e-03 9.98368281e-01 -7.30516755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58313336499998 meters Centerline goodness : 0.184205 with order 3 Centerline is valid? [False, False] Translation: X:-12.49, Y:-1.13, Z:-0.73 [[ 9.98417119e-01 -2.05143269e-03 -5.62054162e-02 -1.24935300e+01] [ 1.61587497e-03 9.99968323e-01 -7.79374135e-03 -1.13442463e+00] [ 5.62196241e-02 7.69058386e-03 9.98388806e-01 -7.30310139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64313336499998 meters Centerline goodness : 0.130797 with order 1 Centerline is valid? [False, False] Translation: X:-12.49, Y:-1.13, Z:-0.73 [[ 9.98433285e-01 -1.90454205e-03 -5.59226967e-02 -1.24942619e+01] [ 1.47185135e-03 9.99968672e-01 -7.77746832e-03 -1.13364940e+00] [ 5.59357573e-02 7.68297334e-03 9.98404809e-01 -7.30330619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70313336499999 meters Centerline goodness : 0.133812 with order 1 Centerline is valid? [False, False] Translation: X:-12.49, Y:-1.13, Z:-0.73 [[ 9.98405321e-01 -2.09328434e-03 -5.64130627e-02 -1.24926929e+01] [ 1.64211812e-03 9.99966309e-01 -8.04271777e-03 -1.13332235e+00] [ 5.64279977e-02 7.93725531e-03 9.98375120e-01 -7.30899029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763133365 meters Centerline goodness : 0.133693 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.14, Z:-0.73 [[ 9.98269439e-01 5.57770375e-03 -5.85407281e-02 -1.25105229e+01] [-6.14201124e-03 9.99936352e-01 -9.46406695e-03 -1.13676777e+00] [ 5.84842143e-02 9.80724661e-03 9.98240159e-01 -7.34251357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.823133365 meters Centerline goodness : 0.134511 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.13, Z:-0.74 [[ 9.98249089e-01 5.63664768e-03 -5.88810987e-02 -1.25092077e+01] [-6.23401024e-03 9.99930901e-01 -9.96647247e-03 -1.13339686e+00] [ 5.88208526e-02 1.03160874e-02 9.98215250e-01 -7.35163736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883133365 meters Centerline goodness : 0.132742 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.13, Z:-0.74 [[ 9.98256192e-01 5.48057740e-03 -5.87753266e-02 -1.25095299e+01] [-6.10470324e-03 9.99926819e-01 -1.04445440e-02 -1.13077049e+00] [ 5.87137832e-02 1.07851367e-02 9.98216596e-01 -7.35159790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943133365 meters Centerline goodness : 0.120126 with order 3 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.13, Z:-0.74 [[ 9.98235115e-01 5.29168885e-03 -5.91494181e-02 -1.25080266e+01] [-5.95726305e-03 9.99920850e-01 -1.10817515e-02 -1.12713259e+00] [ 5.90860953e-02 1.14145621e-02 9.98187628e-01 -7.36140103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003133365 meters Centerline goodness : 0.131010 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.12, Z:-0.74 [[ 9.98203630e-01 5.08781548e-03 -5.96961275e-02 -1.25060257e+01] [-5.80022332e-03 9.99913947e-01 -1.17666981e-02 -1.12336930e+00] [ 5.96311237e-02 1.20918117e-02 9.98147242e-01 -7.37207996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063133365 meters Centerline goodness : 0.243116 with order 3 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.12, Z:-0.74 [[ 9.98230937e-01 4.88752849e-03 -5.92546113e-02 -1.25076974e+01] [-5.64271519e-03 9.99904895e-01 -1.25841549e-02 -1.11785863e+00] [ 5.91874704e-02 1.28962496e-02 9.98163579e-01 -7.36586360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123133365 meters Centerline goodness : 0.144532 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.11, Z:-0.74 [[ 9.98253988e-01 4.55061279e-03 -5.88919957e-02 -1.25090391e+01] [-5.34672460e-03 9.99896354e-01 -1.33676573e-02 -1.11384927e+00] [ 5.88250607e-02 1.36591965e-02 9.98174854e-01 -7.36100515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183133365 meters Centerline goodness : 0.145734 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.11, Z:-0.74 [[ 9.98257025e-01 4.20553961e-03 -5.88661687e-02 -1.25088032e+01] [-5.05141523e-03 9.99886016e-01 -1.42280450e-02 -1.10916212e+00] [ 5.87996224e-02 1.45006033e-02 9.98164484e-01 -7.36648393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243133365 meters Centerline goodness : 0.145778 with order 3 Centerline is valid? [False, False] Translation: X:-12.54, Y:-1.10, Z:-0.74 [[ 9.98462235e-01 -2.68376207e-03 -5.53711416e-02 -1.25354390e+01] [ 1.96811683e-03 9.99913884e-01 -1.29750011e-02 -1.10205221e+00] [ 5.54011951e-02 1.28460717e-02 9.98381533e-01 -7.36357054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30313336499998 meters Centerline goodness : 0.143389 with order 1 Centerline is valid? [False, False] Translation: X:-12.54, Y:-1.10, Z:-0.74 [[ 9.98473955e-01 -2.77831883e-03 -5.51547196e-02 -1.25362712e+01] [ 2.06525402e-03 9.99913607e-01 -1.29812364e-02 -1.10223561e+00] [ 5.51860207e-02 1.28475179e-02 9.98393432e-01 -7.35949746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36313336499998 meters Centerline goodness : 0.130335 with order 1 Centerline is valid? [False, False] Translation: X:-12.54, Y:-1.10, Z:-0.74 [[ 9.98505248e-01 -3.24281883e-03 -5.45596281e-02 -1.25380269e+01] [ 2.53143020e-03 9.99910950e-01 -1.31027966e-02 -1.10316096e+00] [ 5.45972596e-02 1.29450973e-02 9.98424541e-01 -7.35360873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42313336499998 meters Centerline goodness : 0.125392 with order 2 Centerline is valid? [False, False] Translation: X:-12.54, Y:-1.11, Z:-0.73 [[ 9.98553993e-01 -3.41896552e-03 -5.36491818e-02 -1.25410540e+01] [ 2.73217158e-03 9.99913449e-01 -1.28696981e-02 -1.10503506e+00] [ 5.36885395e-02 1.27045096e-02 9.98476908e-01 -7.34091858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.483133365 meters Centerline goodness : 0.129586 with order 1 Centerline is valid? [False, False] Translation: X:-12.57, Y:-1.11, Z:-0.73 [[ 9.98696296e-01 2.45570992e-03 -5.09870280e-02 -1.25650102e+01] [-3.20765982e-03 9.99887226e-01 -1.46712807e-02 -1.11110951e+00] [ 5.09452496e-02 1.48157028e-02 9.98591546e-01 -7.34935759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543133365 meters Centerline goodness : 0.131615 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.11, Z:-0.74 [[ 9.98683271e-01 2.57756475e-03 -5.12355325e-02 -1.25643677e+01] [-3.33998370e-03 9.99884886e-01 -1.48006233e-02 -1.10998430e+00] [ 5.11914850e-02 1.49522608e-02 9.98576918e-01 -7.35095994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.603133365 meters Centerline goodness : 0.132105 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.11, Z:-0.74 [[ 9.98650351e-01 2.51260386e-03 -5.18764135e-02 -1.25621118e+01] [-3.29688013e-03 9.99881486e-01 -1.50381332e-02 -1.10935428e+00] [ 5.18324805e-02 1.51888674e-02 9.98540281e-01 -7.36209165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.663133365 meters Centerline goodness : 0.124846 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.11, Z:-0.74 [[ 9.98668764e-01 2.57596163e-03 -5.15176122e-02 -1.25634569e+01] [-3.34697057e-03 9.99883607e-01 -1.48852621e-02 -1.11029260e+00] [ 5.14732720e-02 1.50378743e-02 9.98561147e-01 -7.35636063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.723133365 meters Centerline goodness : 0.129757 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.11, Z:-0.74 [[ 9.98649368e-01 2.46411789e-03 -5.18976675e-02 -1.25616807e+01] [-3.24393255e-03 9.99883023e-01 -1.49471369e-02 -1.11065527e+00] [ 5.18547652e-02 1.50953014e-02 9.98540543e-01 -7.36847695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.783133365 meters Centerline goodness : 0.132887 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.11, Z:-0.74 [[ 9.98603902e-01 2.37682812e-03 -5.27692896e-02 -1.25587847e+01] [-3.17220472e-03 9.99882550e-01 -1.49940818e-02 -1.11087579e+00] [ 5.27274535e-02 1.51405436e-02 9.98494156e-01 -7.38062372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843133365 meters Centerline goodness : 0.131816 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.11, Z:-0.74 [[ 9.98580075e-01 2.27274390e-03 -5.32228157e-02 -1.25572273e+01] [-3.07297262e-03 9.99883394e-01 -1.49584409e-02 -1.11130561e+00] [ 5.31826129e-02 1.51007533e-02 9.98470619e-01 -7.38725819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.903133365 meters Centerline goodness : 0.136811 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.12, Z:-0.74 [[ 9.98434355e-01 -2.71665803e-04 -5.59353561e-02 -1.26013571e+01] [-6.34403535e-04 9.99868892e-01 -1.61801146e-02 -1.11776567e+00] [ 5.59324181e-02 1.61902679e-02 9.98303280e-01 -7.40066261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.963133365 meters Centerline goodness : 0.133302 with order 1 Centerline is valid? [False, False] Translation: X:-12.58, Y:-1.12, Z:-0.74 [[ 9.98433384e-01 -8.65498036e-03 -5.52799230e-02 -1.25807916e+01] [ 7.83149666e-03 9.99855380e-01 -1.50959141e-02 -1.11707579e+00] [ 5.54025832e-02 1.46393401e-02 9.98356772e-01 -7.37883886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02313336499998 meters Centerline goodness : 0.130001 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:-1.12, Z:-0.74 [[ 9.98493173e-01 -1.06412824e-02 -5.38344327e-02 -1.25858096e+01] [ 9.77846993e-03 9.99819895e-01 -1.62652474e-02 -1.12240532e+00] [ 5.39978199e-02 1.57143201e-02 9.98417395e-01 -7.36147588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08313336499998 meters Centerline goodness : 0.134406 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:-1.12, Z:-0.74 [[ 9.98487766e-01 -1.04650743e-02 -5.39691050e-02 -1.25855316e+01] [ 9.62498553e-03 9.99828804e-01 -1.58026038e-02 -1.12484170e+00] [ 5.41252411e-02 1.52592547e-02 9.98417555e-01 -7.36032022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14313336499998 meters Centerline goodness : 0.135554 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:-1.13, Z:-0.74 [[ 9.98473337e-01 -1.02731858e-02 -5.42720621e-02 -1.25850121e+01] [ 9.45144953e-03 9.99837110e-01 -1.53760895e-02 -1.12705993e+00] [ 5.44211832e-02 1.48396658e-02 9.98407792e-01 -7.35767490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20313336499999 meters Centerline goodness : 0.129666 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98553028e-01 -3.06020361e-03 -5.36887852e-02 -1.26021928e+01] [ 2.21845552e-03 9.99873801e-01 -1.57308818e-02 -1.13877360e+00] [ 5.37301495e-02 1.55890134e-02 9.98433800e-01 -7.38881676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263133365 meters Centerline goodness : 0.118766 with order 3 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98573160e-01 -2.88307968e-03 -5.33229064e-02 -1.26034585e+01] [ 2.06817291e-03 9.99880329e-01 -1.53313605e-02 -1.14078365e+00] [ 5.33607267e-02 1.51992041e-02 9.98459622e-01 -7.38323171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.323133365 meters Centerline goodness : 0.127579 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98583790e-01 -2.74498579e-03 -5.31307764e-02 -1.26040684e+01] [ 1.93958747e-03 9.99882525e-01 -1.52044215e-02 -1.14109627e+00] [ 5.31662708e-02 1.50798370e-02 9.98471805e-01 -7.38200186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.383133365 meters Centerline goodness : 0.129059 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98588284e-01 -2.65244343e-03 -5.30509596e-02 -1.26047433e+01] [ 1.86452179e-03 9.99887308e-01 -1.48961472e-02 -1.14324065e+00] [ 5.30844923e-02 1.47762034e-02 9.98480696e-01 -7.37548207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.443133365 meters Centerline goodness : 0.126509 with order 1 Centerline is valid? [False, False] Translation: X:-12.61, Y:-1.15, Z:-0.74 [[ 9.98603254e-01 -2.46827056e-03 -5.27773469e-02 -1.26059345e+01] [ 1.71224528e-03 9.99895349e-01 -1.43652265e-02 -1.14606596e+00] [ 5.28072810e-02 1.42547941e-02 9.98502975e-01 -7.36829177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.503133365 meters Centerline goodness : 0.130549 with order 1 Centerline is valid? [False, False] Translation: X:-12.61, Y:-1.15, Z:-0.74 [[ 9.98627604e-01 -2.16147111e-03 -5.23281677e-02 -1.26073464e+01] [ 1.44332739e-03 9.99904316e-01 -1.37577477e-02 -1.14846572e+00] [ 5.23528977e-02 1.36633399e-02 9.98535171e-01 -7.36338386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563133365 meters Centerline goodness : 0.127952 with order 1 Centerline is valid? [False, False] Translation: X:-12.61, Y:-1.15, Z:-0.74 [[ 9.98616411e-01 -2.29570721e-03 -5.25356395e-02 -1.26067237e+01] [ 1.56160474e-03 9.99900633e-01 -1.40102029e-02 -1.14812166e+00] [ 5.25625825e-02 1.39087787e-02 9.98520766e-01 -7.36492986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.623133365 meters Centerline goodness : 0.126662 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98522797e-01 5.90007174e-04 -5.43311729e-02 -1.26003461e+01] [-1.24929140e-03 9.99925995e-01 -1.21013849e-02 -1.14309740e+00] [ 5.43200122e-02 1.21513841e-02 9.98449638e-01 -7.39053241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683133365 meters Centerline goodness : 0.125652 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98519726e-01 7.82862607e-04 -5.43851353e-02 -1.26002830e+01] [-1.46063593e-03 9.99921754e-01 -1.24238440e-02 -1.14051331e+00] [ 5.43711537e-02 1.24848902e-02 9.98442740e-01 -7.39102403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74313336499998 meters Centerline goodness : 0.126327 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98529042e-01 7.62759968e-04 -5.42141159e-02 -1.26008600e+01] [-1.44578042e-03 9.99920069e-01 -1.25604693e-02 -1.13983474e+00] [ 5.42002019e-02 1.26203751e-02 9.98450331e-01 -7.38972893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80313336499998 meters Centerline goodness : 0.127596 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98516110e-01 8.10053311e-04 -5.44510933e-02 -1.25995863e+01] [-1.49629045e-03 9.99919960e-01 -1.25632307e-02 -1.13952914e+00] [ 5.44365581e-02 1.26260629e-02 9.98437401e-01 -7.40044078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86313336499998 meters Centerline goodness : 0.127474 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98506823e-01 6.71275854e-04 -5.46230098e-02 -1.25994848e+01] [-1.37068487e-03 9.99917548e-01 -1.27678370e-02 -1.13899963e+00] [ 5.46099353e-02 1.28236433e-02 9.98425415e-01 -7.39660125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92313336499998 meters Centerline goodness : 0.131289 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.14, Z:-0.74 [[ 9.98489058e-01 9.97919914e-04 -5.49418360e-02 -1.25982602e+01] [-1.70641112e-03 9.99915981e-01 -1.28498940e-02 -1.13572671e+00] [ 5.49243966e-02 1.29242319e-02 9.98406868e-01 -7.40407117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.983133365 meters Centerline goodness : 0.129233 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98522003e-01 8.91148038e-04 -5.43416466e-02 -1.26002833e+01] [-1.62446969e-03 9.99908199e-01 -1.34519755e-02 -1.13172605e+00] [ 5.43246702e-02 1.35203698e-02 9.98431785e-01 -7.39755607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043133365 meters Centerline goodness : 0.126885 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98542321e-01 7.77139761e-04 -5.39687776e-02 -1.26022222e+01] [-1.51719375e-03 9.99905369e-01 -1.36730159e-02 -1.13048872e+00] [ 5.39530447e-02 1.37349661e-02 9.98449007e-01 -7.38324667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.103133365 meters Centerline goodness : 0.128061 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98552441e-01 3.66266635e-04 -5.37855827e-02 -1.26029318e+01] [-1.11827867e-03 9.99902037e-01 -1.39522359e-02 -1.13004645e+00] [ 5.37752035e-02 1.39921865e-02 9.98455030e-01 -7.37922752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.163133365 meters Centerline goodness : 0.129538 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98580413e-01 -8.34376822e-04 -5.32584417e-02 -1.26045051e+01] [ 5.12502684e-05 9.99891890e-01 -1.47039432e-02 -1.12944558e+00] [ 5.32649525e-02 1.46803402e-02 9.98472500e-01 -7.37393576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.223133365 meters Centerline goodness : 0.131164 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98574659e-01 -9.42876966e-04 -5.33644179e-02 -1.26042385e+01] [ 1.56074694e-04 9.99891257e-01 -1.47461966e-02 -1.12955672e+00] [ 5.33725187e-02 1.47168494e-02 9.98466218e-01 -7.37390393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.283133365 meters Centerline goodness : 0.121278 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98570589e-01 -1.16784565e-03 -5.34360763e-02 -1.26039955e+01] [ 3.76445311e-04 9.99890138e-01 -1.48178943e-02 -1.12994661e+00] [ 5.34475107e-02 1.47765976e-02 9.98461324e-01 -7.37428132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.343133365 meters Centerline goodness : 0.131529 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-1.13, Z:-0.74 [[ 9.98580968e-01 -1.41224109e-03 -5.32358609e-02 -1.26048602e+01] [ 6.23934225e-04 9.99889960e-01 -1.48215288e-02 -1.13110148e+00] [ 5.32509344e-02 1.47672809e-02 9.98471965e-01 -7.36893468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.403133365 meters Centerline goodness : 0.132118 with order 3 Centerline is valid? [False, False] Translation: X:-12.65, Y:-1.13, Z:-0.74 [[ 9.98393351e-01 -3.32629689e-03 -5.65654749e-02 -1.26480797e+01] [ 2.43504904e-03 9.99871928e-01 -1.58176718e-02 -1.13436280e+00] [ 5.66108447e-02 1.56545187e-02 9.98273584e-01 -7.38415854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.463133365 meters Centerline goodness : 0.142172 with order 1 Centerline is valid? [False, False] Translation: X:-12.65, Y:-1.13, Z:-0.74 [[ 9.98384680e-01 -3.33571480e-03 -5.67177550e-02 -1.26474268e+01] [ 2.44263283e-03 9.99872060e-01 -1.58081157e-02 -1.13461325e+00] [ 5.67632299e-02 1.56440398e-02 9.98265095e-01 -7.38831607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52313336499998 meters Centerline goodness : 0.132137 with order 1 Centerline is valid? [False, False] Translation: X:-12.65, Y:-1.13, Z:-0.74 [[ 9.98384253e-01 -3.23951623e-03 -5.67308381e-02 -1.26475713e+01] [ 2.35290327e-03 9.99874164e-01 -1.56882402e-02 -1.13492232e+00] [ 5.67745216e-02 1.55294098e-02 9.98266243e-01 -7.38634879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58313336499998 meters Centerline goodness : 0.133512 with order 1 Centerline is valid? [False, False] Translation: X:-12.64, Y:-1.14, Z:-0.74 [[ 9.98329386e-01 -2.97310284e-03 -5.77026667e-02 -1.26446518e+01] [ 2.08211183e-03 9.99877777e-01 -1.54950556e-02 -1.13522651e+00] [ 5.77416824e-02 1.53490259e-02 9.98213557e-01 -7.39522322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64313336499998 meters Centerline goodness : 0.103751 with order 2 Centerline is valid? [False, False] Translation: X:-12.64, Y:-1.14, Z:-0.74 [[ 9.98319710e-01 -2.94910311e-03 -5.78710651e-02 -1.26435006e+01] [ 2.06102202e-03 9.99879296e-01 -1.53995479e-02 -1.13604747e+00] [ 5.79094947e-02 1.52543986e-02 9.98205286e-01 -7.40549438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70313336499999 meters Centerline goodness : 0.132766 with order 1 Centerline is valid? [False, False] Translation: X:-12.64, Y:-1.14, Z:-0.74 [[ 9.98325599e-01 -2.86021395e-03 -5.77738430e-02 -1.26440415e+01] [ 1.99154104e-03 9.99884190e-01 -1.50877328e-02 -1.13802385e+00] [ 5.78103064e-02 1.49474109e-02 9.98215680e-01 -7.40106503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763133365 meters Centerline goodness : 0.131377 with order 1 Centerline is valid? [False, False] Translation: X:-12.65, Y:-1.14, Z:-0.74 [[ 9.98364547e-01 -2.53159903e-03 -5.71123642e-02 -1.26461949e+01] [ 1.69282853e-03 9.99890076e-01 -1.47299236e-02 -1.13906515e+00] [ 5.71433765e-02 1.46091521e-02 9.98259088e-01 -7.39328796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823133365 meters Centerline goodness : 0.119931 with order 3 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98398259e-01 6.35575186e-03 -5.62185120e-02 -1.26693829e+01] [-7.19558369e-03 9.99865337e-01 -1.47489186e-02 -1.14408779e+00] [ 5.61172010e-02 1.51298197e-02 9.98309545e-01 -7.40373844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.883133365 meters Centerline goodness : 0.134778 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98414367e-01 6.65542486e-03 -5.58968495e-02 -1.26704738e+01] [-7.49122694e-03 9.99863056e-01 -1.47563802e-02 -1.14275755e+00] [ 5.57909848e-02 1.51517180e-02 9.98327497e-01 -7.39986646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943133365 meters Centerline goodness : 0.129485 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98385369e-01 6.87029942e-03 -5.63866462e-02 -1.26689037e+01] [-7.73399669e-03 9.99855873e-01 -1.51135059e-02 -1.14000429e+00] [ 5.62746851e-02 1.55251973e-02 9.98294610e-01 -7.40724280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003133365 meters Centerline goodness : 0.130018 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98391318e-01 6.82702941e-03 -5.62864859e-02 -1.26692834e+01] [-7.69766846e-03 9.99853841e-01 -1.52657206e-02 -1.13916377e+00] [ 5.61740396e-02 1.56744377e-02 9.98297946e-01 -7.40605568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063133365 meters Centerline goodness : 0.126006 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98411591e-01 6.82405499e-03 -5.59260839e-02 -1.26709082e+01] [-7.69011890e-03 9.99853600e-01 -1.52853167e-02 -1.13894273e+00] [ 5.58135885e-02 1.56911156e-02 9.98317901e-01 -7.39575770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123133365 meters Centerline goodness : 0.131299 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98387543e-01 6.68435837e-03 -5.63704960e-02 -1.26690323e+01] [-7.58459551e-03 9.99846860e-01 -1.57712104e-02 -1.13643924e+00] [ 5.62564430e-02 1.61733274e-02 9.98285348e-01 -7.40767532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183133365 meters Centerline goodness : 0.130611 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.13, Z:-0.74 [[ 9.98369871e-01 6.71656724e-03 -5.66788263e-02 -1.26679369e+01] [-7.63470528e-03 9.99842875e-01 -1.59979992e-02 -1.13450361e+00] [ 5.65624690e-02 1.64046466e-02 9.98264281e-01 -7.41316054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24313336499998 meters Centerline goodness : 0.134562 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.13, Z:-0.74 [[ 9.98390867e-01 6.61855526e-03 -5.63193723e-02 -1.26695092e+01] [-7.53256441e-03 9.99843101e-01 -1.60322577e-02 -1.13473414e+00] [ 5.62044255e-02 1.64306889e-02 9.98284075e-01 -7.40386841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30313336499998 meters Centerline goodness : 0.121400 with order 3 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.14, Z:-0.74 [[ 9.98424496e-01 3.08509359e-03 -5.60268592e-02 -1.26710013e+01] [-4.14816311e-03 9.99813380e-01 -1.88679113e-02 -1.13795694e+00] [ 5.59581942e-02 1.90705933e-02 9.98250967e-01 -7.39597274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36313336499998 meters Centerline goodness : 0.125283 with order 3 Centerline is valid? [False, False] Translation: X:-12.71, Y:-1.14, Z:-0.74 [[ 9.98286090e-01 1.95916051e-04 -5.85221688e-02 -1.27144137e+01] [-1.36330014e-03 9.99800877e-01 -1.99084646e-02 -1.14488342e+00] [ 5.85066154e-02 1.99541266e-02 9.98087576e-01 -7.41615513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42313336499998 meters Centerline goodness : 0.122386 with order 3 Centerline is valid? [False, False] Translation: X:-12.72, Y:-1.15, Z:-0.74 [[ 9.98302217e-01 -2.50113390e-04 -5.82462102e-02 -1.27152099e+01] [-9.08285824e-04 9.99802345e-01 -1.98606519e-02 -1.14690918e+00] [ 5.82396650e-02 1.98798370e-02 9.98104671e-01 -7.41328712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.483133365 meters Centerline goodness : 0.122992 with order 3 Centerline is valid? [False, False] Translation: X:-12.72, Y:-1.15, Z:-0.74 [[ 9.98305157e-01 -2.51086706e-04 -5.81957924e-02 -1.27153762e+01] [-9.03351989e-04 9.99803355e-01 -1.98099937e-02 -1.14699140e+00] [ 5.81893225e-02 1.98289901e-02 9.98108618e-01 -7.41270552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543133365 meters Centerline goodness : 0.128019 with order 3 Centerline is valid? [False, False] Translation: X:-12.72, Y:-1.15, Z:-0.74 [[ 9.98300107e-01 -3.96168094e-04 -5.82815467e-02 -1.27152790e+01] [-7.69080492e-04 9.99800291e-01 -1.99696504e-02 -1.14660165e+00] [ 5.82778187e-02 1.99805274e-02 9.98100433e-01 -7.41123386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603133365 meters Centerline goodness : 0.128319 with order 3 Centerline is valid? [False, False] Translation: X:-12.74, Y:-1.14, Z:-0.74 [[ 9.98201998e-01 -9.34249264e-03 -5.92071643e-02 -1.27358727e+01] [ 8.22238129e-03 9.99783118e-01 -1.91339849e-02 -1.14496935e+00] [ 5.93730825e-02 1.86127580e-02 9.98062324e-01 -7.42702540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.663133365 meters Centerline goodness : 0.125158 with order 3 Centerline is valid? [False, False] Translation: X:-12.74, Y:-1.15, Z:-0.74 [[ 9.98207607e-01 -9.26273333e-03 -5.91250838e-02 -1.27361611e+01] [ 8.16259932e-03 9.99789542e-01 -1.88213717e-02 -1.14673083e+00] [ 5.92869778e-02 1.83050220e-02 9.98073134e-01 -7.42590534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.723133365 meters Centerline goodness : 0.140104 with order 2 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.16, Z:-0.75 [[ 9.98423567e-01 -3.46050764e-03 -5.60214833e-02 -1.27532964e+01] [ 2.40361969e-03 9.99818071e-01 -1.89221610e-02 -1.15691620e+00] [ 5.60767717e-02 1.87576771e-02 9.98250242e-01 -7.45364265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.783133365 meters Centerline goodness : 0.128895 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.16, Z:-0.75 [[ 9.98404785e-01 -6.97654457e-03 -5.60286766e-02 -1.27529209e+01] [ 5.78465581e-03 9.99754111e-01 -2.14069142e-02 -1.16385186e+00] [ 5.61642460e-02 2.10486589e-02 9.98199645e-01 -7.45750773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.843133365 meters Centerline goodness : 0.128685 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.17, Z:-0.75 [[ 9.98389605e-01 -6.81966909e-03 -5.63177460e-02 -1.27522664e+01] [ 5.67560466e-03 9.99774778e-01 -2.04494770e-02 -1.17104111e+00] [ 5.64445207e-02 2.00969080e-02 9.98203451e-01 -7.45719224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.903133365 meters Centerline goodness : 0.122386 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.18, Z:-0.75 [[ 9.98382161e-01 -6.28078618e-03 -5.65120628e-02 -1.27518511e+01] [ 5.20155825e-03 9.99801668e-01 -1.92241705e-02 -1.17717014e+00] [ 5.66215975e-02 1.88991181e-02 9.98216819e-01 -7.45658402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.963133365 meters Centerline goodness : 0.153655 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.18, Z:-0.75 [[ 9.98378709e-01 -5.67621430e-03 -5.66368631e-02 -1.27515934e+01] [ 4.66069128e-03 9.99826287e-01 -1.80464323e-02 -1.18350092e+00] [ 5.67294599e-02 1.77532069e-02 9.98231733e-01 -7.45572887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02313336499998 meters Centerline goodness : 0.132542 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-1.19, Z:-0.75 [[ 9.98400507e-01 2.09527636e-03 -5.64981167e-02 -1.27712651e+01] [-3.16432908e-03 9.99817521e-01 -1.88391014e-02 -1.19212160e+00] [ 5.64483339e-02 1.89877470e-02 9.98224950e-01 -7.48357594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08313336499998 meters Centerline goodness : 0.139160 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-1.19, Z:-0.75 [[ 9.98413392e-01 2.51786793e-03 -5.62526436e-02 -1.27721139e+01] [-3.55351668e-03 9.99825892e-01 -1.83182341e-02 -1.19391651e+00] [ 5.61967266e-02 1.84890649e-02 9.98248507e-01 -7.48050103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14313336499998 meters Centerline goodness : 0.122863 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:-1.20, Z:-0.75 [[ 9.98422027e-01 2.72146908e-03 -5.60896640e-02 -1.27727971e+01] [-3.73394446e-03 9.99831839e-01 -1.79541271e-02 -1.19545903e+00] [ 5.60313703e-02 1.81352317e-02 9.98264293e-01 -7.47704771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20313336499999 meters Centerline goodness : 0.143645 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.20, Z:-0.75 [[ 9.98576666e-01 -5.61783558e-03 -5.30384966e-02 -1.27537456e+01] [ 4.72078531e-03 9.99843948e-01 -1.70233492e-02 -1.20344045e+00] [ 5.31258542e-02 1.67487359e-02 9.98447356e-01 -7.46027849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263133365 meters Centerline goodness : 0.130021 with order 2 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.21, Z:-0.75 [[ 9.98542996e-01 -5.55138888e-03 -5.36755667e-02 -1.27512214e+01] [ 4.69500823e-03 9.99859883e-01 -1.60677101e-02 -1.21317209e+00] [ 5.37572439e-02 1.57922922e-02 9.98429147e-01 -7.47250128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.323133365 meters Centerline goodness : 0.138765 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.22, Z:-0.75 [[ 9.98497966e-01 -5.34808769e-03 -5.45271442e-02 -1.27478721e+01] [ 4.52813036e-03 9.99874978e-01 -1.51500709e-02 -1.22148492e+00] [ 5.46013510e-02 1.48804089e-02 9.98397349e-01 -7.48802117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.383133365 meters Centerline goodness : 0.155364 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.23, Z:-0.75 [[ 9.98448120e-01 -4.39326113e-03 -5.55162266e-02 -1.27450928e+01] [ 3.64239004e-03 9.99900620e-01 -1.36192082e-02 -1.22961881e+00] [ 5.55705421e-02 1.33958611e-02 9.98364896e-01 -7.49256173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.443133365 meters Centerline goodness : 0.134414 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:-1.23, Z:-0.75 [[ 9.98478477e-01 -3.67923456e-03 -5.50199516e-02 -1.27463800e+01] [ 2.97921065e-03 9.99913642e-01 -1.27997043e-02 -1.23248521e+00] [ 5.50622934e-02 1.26163133e-02 9.98403211e-01 -7.49171996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.503133365 meters SLAMing on 142.563133365 meters Centerline goodness : 0.142817 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-1.24, Z:-0.75 [[ 9.98641455e-01 5.08397484e-03 -5.18594074e-02 -1.27714327e+01] [-5.71929296e-03 9.99910318e-01 -1.21097439e-02 -1.23960761e+00] [ 5.17931909e-02 1.23898914e-02 9.98580971e-01 -7.50596686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.623133365 meters Centerline goodness : 0.173046 with order 3 Centerline is valid? [False, False] Translation: X:-12.79, Y:-1.24, Z:-0.75 [[ 9.98451868e-01 -6.72641109e-04 -5.56184795e-02 -1.27935709e+01] [ 1.64069916e-04 9.99958143e-01 -9.14798543e-03 -1.23880463e+00] [ 5.56223048e-02 9.12469782e-03 9.98410186e-01 -7.50468236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.683133365 meters Centerline goodness : 0.135748 with order 3 Centerline is valid? [False, False] Translation: X:-12.79, Y:-1.24, Z:-0.75 [[ 9.98433999e-01 -7.48820955e-04 -5.59373661e-02 -1.27923485e+01] [ 2.18430499e-04 9.99954970e-01 -9.48737553e-03 -1.23652744e+00] [ 5.59419516e-02 9.46029987e-03 9.98389203e-01 -7.51225910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74313336499998 meters Centerline goodness : 0.132900 with order 3 Centerline is valid? [False, False] Translation: X:-12.79, Y:-1.24, Z:-0.75 [[ 9.98438906e-01 -9.16711536e-04 -5.58472093e-02 -1.27930204e+01] [ 3.74560361e-04 9.99952714e-01 -9.71745156e-03 -1.23542305e+00] [ 5.58534766e-02 9.68136355e-03 9.98392037e-01 -7.50628681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80313336499998 meters Centerline goodness : 0.156954 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:-1.24, Z:-0.75 [[ 9.98451558e-01 -1.76347563e-03 -5.56001409e-02 -1.27946421e+01] [ 1.19638497e-03 9.99946945e-01 -1.02310825e-02 -1.23515993e+00] [ 5.56152333e-02 1.01487211e-02 9.98400696e-01 -7.49144252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86313336499998 meters Centerline goodness : 0.136370 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:-1.24, Z:-0.75 [[ 9.98432698e-01 -2.12247028e-03 -5.59253394e-02 -1.27935811e+01] [ 1.54280268e-03 9.99944664e-01 -1.04061628e-02 -1.23536516e+00] [ 5.59443315e-02 1.03035715e-02 9.98380723e-01 -7.49479744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92313336499998 meters Centerline goodness : 0.136435 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.23, Z:-0.75 [[ 9.98465963e-01 -2.46165623e-03 -5.53141987e-02 -1.27956940e+01] [ 1.86891296e-03 9.99940308e-01 -1.07651077e-02 -1.23447125e+00] [ 5.53373969e-02 1.06452162e-02 9.98410963e-01 -7.48560011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.983133365 meters Centerline goodness : 0.134420 with order 2 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.23, Z:-0.75 [[ 9.98466870e-01 -2.58363260e-03 -5.52922594e-02 -1.27955358e+01] [ 1.94894052e-03 9.99931631e-01 -1.15297048e-02 -1.22685406e+00] [ 5.53182676e-02 1.14042669e-02 9.98403642e-01 -7.48861360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043133365 meters Centerline goodness : 0.153163 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98464525e-01 -1.00662441e-03 -5.53857230e-02 -1.27956494e+01] [ 4.04081962e-04 9.99940630e-01 -1.08891445e-02 -1.21914721e+00] [ 5.53933961e-02 1.08500441e-02 9.98405653e-01 -7.48647380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.103133365 meters Centerline goodness : 0.136563 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.21, Z:-0.75 [[ 9.98481018e-01 1.30740569e-03 -5.50812839e-02 -1.27985069e+01] [-1.84962528e-03 9.99950325e-01 -9.79416138e-03 -1.20981842e+00] [ 5.50657428e-02 9.88116396e-03 9.98433837e-01 -7.46557375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163133365 meters Centerline goodness : 0.131753 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.20, Z:-0.75 [[ 9.98495301e-01 9.86383164e-04 -5.48284715e-02 -1.27994117e+01] [-1.57465573e-03 9.99941651e-01 -1.06871616e-02 -1.20480947e+00] [ 5.48147307e-02 1.07574167e-02 9.98438593e-01 -7.46267865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.223133365 meters Centerline goodness : 0.133696 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.20, Z:-0.75 [[ 9.98499716e-01 8.32802897e-04 -5.47505664e-02 -1.27996894e+01] [-1.44288141e-03 9.99937304e-01 -1.11042869e-02 -1.20209352e+00] [ 5.47378861e-02 1.11666258e-02 9.98438316e-01 -7.46211467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.283133365 meters Centerline goodness : 0.136138 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.20, Z:-0.75 [[ 9.98505623e-01 4.68647944e-04 -5.46470641e-02 -1.28000602e+01] [-1.10067667e-03 9.99932851e-01 -1.15361252e-02 -1.20049708e+00] [ 5.46379882e-02 1.15790346e-02 9.98439090e-01 -7.46057895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.343133365 meters Centerline goodness : 0.129612 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.20, Z:-0.75 [[ 9.98481080e-01 3.86219663e-04 -5.50943245e-02 -1.27985978e+01] [-1.02984566e-03 9.99931556e-01 -1.16543435e-02 -1.20000711e+00] [ 5.50860524e-02 1.16933801e-02 9.98413137e-01 -7.46599050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.403133365 meters Centerline goodness : 0.136505 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.20, Z:-0.75 [[ 9.98467209e-01 3.93080198e-04 -5.53450824e-02 -1.27976800e+01] [-1.04173335e-03 9.99931106e-01 -1.16917971e-02 -1.19954289e+00] [ 5.53366736e-02 1.17315309e-02 9.98398830e-01 -7.47087228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.463133365 meters Centerline goodness : 0.136306 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.20, Z:-0.75 [[ 9.98481087e-01 3.01059246e-04 -5.50947261e-02 -1.27987740e+01] [-9.22312376e-04 9.99936280e-01 -1.12510116e-02 -1.20336603e+00] [ 5.50878283e-02 1.12847368e-02 9.98417741e-01 -7.46305434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52313336499998 meters Centerline goodness : 0.134466 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.21, Z:-0.75 [[ 9.98468840e-01 3.20457555e-04 -5.53161143e-02 -1.27980614e+01] [-9.19946719e-04 9.99941121e-01 -1.08123908e-02 -1.20680441e+00] [ 5.53093924e-02 1.08467232e-02 9.98410346e-01 -7.46514937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58313336499998 meters Centerline goodness : 0.125484 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.21, Z:-0.75 [[ 9.98458514e-01 4.18044959e-04 -5.55015494e-02 -1.27973984e+01] [-9.94681039e-04 9.99945815e-01 -1.03623313e-02 -1.20994590e+00] [ 5.54942101e-02 1.04015643e-02 9.98404828e-01 -7.46819233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64313336499998 meters Centerline goodness : 0.124515 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.21, Z:-0.75 [[ 9.98436232e-01 7.21637436e-04 -5.58978604e-02 -1.27961138e+01] [-1.26549788e-03 9.99952204e-01 -9.69475373e-03 -1.21315543e+00] [ 5.58881926e-02 9.75033200e-03 9.98389423e-01 -7.47316273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70313336499999 meters Centerline goodness : 0.143819 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.21, Z:-0.75 [[ 9.98427047e-01 7.98545676e-04 -5.60606371e-02 -1.27957468e+01] [-1.33118750e-03 9.99954325e-01 -9.46447323e-03 -1.21478854e+00] [ 5.60505187e-02 9.52421327e-03 9.98382506e-01 -7.47265665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763133365 meters Centerline goodness : 0.138617 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98432470e-01 9.79476817e-04 -5.59610952e-02 -1.27963241e+01] [-1.49475874e-03 9.99956867e-01 -9.16674507e-03 -1.21608197e+00] [ 5.59497029e-02 9.23602425e-03 9.98390869e-01 -7.46813666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.823133365 meters Centerline goodness : 0.154260 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98478259e-01 1.24436252e-03 -5.51327376e-02 -1.27988555e+01] [-1.73674746e-03 9.99959029e-01 -8.88388761e-03 -1.21706733e+00] [ 5.51194240e-02 8.96612027e-03 9.98439511e-01 -7.46066724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.883133365 meters Centerline goodness : 0.142217 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98477573e-01 1.36938005e-03 -5.51421826e-02 -1.27985317e+01] [-1.86260750e-03 9.99958711e-01 -8.89424904e-03 -1.21612663e+00] [ 5.51277262e-02 8.98341644e-03 9.98438897e-01 -7.46577094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.943133365 meters Centerline goodness : 0.125182 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98467776e-01 1.38299248e-03 -5.53189716e-02 -1.27979759e+01] [-1.87780687e-03 9.99958686e-01 -8.89377183e-03 -1.21607647e+00] [ 5.53043862e-02 8.98402292e-03 9.98429122e-01 -7.46782151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003133365 meters Centerline goodness : 0.162293 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98487869e-01 1.21691414e-03 -5.49590267e-02 -1.27995112e+01] [-1.69818735e-03 9.99960616e-01 -8.71109416e-03 -1.21852743e+00] [ 5.49462615e-02 8.79125257e-03 9.98450611e-01 -7.45819180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.063133365 meters Centerline goodness : 0.154931 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98477172e-01 1.31570388e-03 -5.51507618e-02 -1.27988863e+01] [-1.77386893e-03 9.99964317e-01 -8.25937267e-03 -1.22084039e+00] [ 5.51379270e-02 8.34462528e-03 9.98443877e-01 -7.46047474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.123133365 meters Centerline goodness : 0.141726 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.22, Z:-0.75 [[ 9.98433124e-01 1.20046697e-03 -5.59451154e-02 -1.27964528e+01] [-1.65288222e-03 9.99966303e-01 -8.04119961e-03 -1.22307441e+00] [ 5.59335770e-02 8.12107073e-03 9.98401464e-01 -7.46767741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.183133365 meters Centerline goodness : 0.135244 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:-1.23, Z:-0.74 [[ 9.98513498e-01 -5.35473593e-04 -5.45023562e-02 -1.28022398e+01] [ 4.06523534e-05 9.99958779e-01 -9.07960006e-03 -1.22759216e+00] [ 5.45049714e-02 9.06388757e-03 9.98472360e-01 -7.44164268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24313336499998 meters Centerline goodness : 0.143534 with order 1 Centerline is valid? [False, False] Translation: X:-12.81, Y:-1.23, Z:-0.74 [[ 9.98577060e-01 -3.11467657e-03 -5.32367809e-02 -1.28073013e+01] [ 2.54165735e-03 9.99938146e-01 -1.08279123e-02 -1.23319661e+00] [ 5.32672134e-02 1.06771952e-02 9.98523210e-01 -7.41925147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30313336499998 meters Centerline goodness : 0.196103 with order 3 Centerline is valid? [False, False] Translation: X:-12.81, Y:-1.24, Z:-0.74 [[ 9.98562293e-01 -6.94306043e-03 -5.31520526e-02 -1.28073267e+01] [ 6.21752533e-03 9.99885398e-01 -1.38033878e-02 -1.23807993e+00] [ 5.32417991e-02 1.34530684e-02 9.98491024e-01 -7.42104162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36313336499998 meters SLAMing on 144.42313336499998 meters Centerline goodness : 0.142835 with order 3 Centerline is valid? [False, False] Translation: X:-12.81, Y:-1.26, Z:-0.74 [[ 9.98580211e-01 -1.17400472e-02 -5.19589611e-02 -1.28116170e+01] [ 1.09758534e-02 9.99827720e-01 -1.49686329e-02 -1.25548695e+00] [ 5.21257421e-02 1.43770867e-02 9.98537033e-01 -7.42395564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.483133365 meters SLAMing on 144.543133365 meters Centerline goodness : 0.134055 with order 3 Centerline is valid? [False, False] Translation: X:-12.81, Y:-1.27, Z:-0.74 [[ 0.99842797 -0.01648254 -0.05357162 -12.80716052] [ 0.01559843 0.99973585 -0.01687965 -1.27166676] [ 0.05383569 0.01601748 0.99842133 -0.744548 ] [ 0. 0. 0. 1. ]] SLAMing on 144.603133365 meters SLAMing on 144.663133365 meters Centerline goodness : 0.186989 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.29, Z:-0.75 [[ 9.98642972e-01 -1.07496024e-02 -5.09574297e-02 -1.28212671e+01] [ 9.92231716e-03 9.99815289e-01 -1.64601019e-02 -1.29147602e+00] [ 5.11249569e-02 1.59321494e-02 9.98565173e-01 -7.47211399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723133365 meters SLAMing on 144.783133365 meters Centerline goodness : 0.194853 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.30, Z:-0.75 [[ 9.98543408e-01 -1.30707892e-02 -5.23470831e-02 -1.28163386e+01] [ 1.21781786e-02 9.99775577e-01 -1.73346026e-02 -1.30096038e+00] [ 5.25619121e-02 1.66718610e-02 9.98478490e-01 -7.49501556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843133365 meters Centerline goodness : 0.145431 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.30, Z:-0.75 [[ 9.98526677e-01 -1.28547289e-02 -5.27184221e-02 -1.28156305e+01] [ 1.19817099e-02 9.99786357e-01 -1.68427947e-02 -1.30325117e+00] [ 5.29236687e-02 1.61863230e-02 9.98467370e-01 -7.49347755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903133365 meters Centerline goodness : 0.148345 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.31, Z:-0.75 [[ 9.98592720e-01 -1.31256735e-02 -5.13838186e-02 -1.28200808e+01] [ 1.23015632e-02 9.99791112e-01 -1.63218737e-02 -1.30587262e+00] [ 5.15873208e-02 1.56668029e-02 9.98545592e-01 -7.48331583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.963133365 meters SLAMing on 145.02313336499998 meters Centerline goodness : 0.221087 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.32, Z:-0.75 [[ 9.98883336e-01 -9.74709737e-03 -4.62285119e-02 -1.28408290e+01] [ 8.91553986e-03 9.99795339e-01 -1.81601849e-02 -1.31778380e+00] [ 4.63960598e-02 1.77277540e-02 9.98765805e-01 -7.51705573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08313336499998 meters Centerline goodness : 0.115477 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.32, Z:-0.75 [[ 9.98935762e-01 -1.00654864e-02 -4.50114250e-02 -1.28447952e+01] [ 9.29154260e-03 9.99805945e-01 -1.73706785e-02 -1.32110222e+00] [ 4.51775346e-02 1.69339664e-02 9.98835437e-01 -7.51373374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14313336499998 meters Centerline goodness : 0.137281 with order 1 Centerline is valid? [False, False] Translation: X:-12.83, Y:-1.33, Z:-0.75 [[ 9.98976096e-01 -2.08514269e-03 -4.51930585e-02 -1.28257866e+01] [ 1.23698570e-03 9.99822739e-01 -1.87872643e-02 -1.32634163e+00] [ 4.52242217e-02 1.87121247e-02 9.98801595e-01 -7.49624371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20313336499999 meters Centerline goodness : 0.256885 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.33, Z:-0.75 [[ 9.99023909e-01 -1.33341862e-03 -4.41526000e-02 -1.27813310e+01] [ 4.68901654e-04 9.99808090e-01 -1.95847754e-02 -1.32537259e+00] [ 4.41702414e-02 1.95449557e-02 9.98832811e-01 -7.48303426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263133365 meters Centerline goodness : 0.258560 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.32, Z:-0.75 [[ 9.99003006e-01 1.90428690e-03 -4.46023185e-02 -1.27801795e+01] [-2.63716677e-03 9.99862388e-01 -1.63783567e-02 -1.32434311e+00] [ 4.45649916e-02 1.64796514e-02 9.98870553e-01 -7.48439977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.323133365 meters Centerline goodness : 0.240048 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.32, Z:-0.75 [[ 9.98988243e-01 1.37447196e-03 -4.49511045e-02 -1.27790585e+01] [-2.16852401e-03 9.99842390e-01 -1.76208053e-02 -1.31815160e+00] [ 4.49198005e-02 1.77004548e-02 9.98833773e-01 -7.48722207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.383133365 meters Centerline goodness : 0.133850 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.31, Z:-0.75 [[ 9.98855712e-01 -2.57245791e-03 -4.77561329e-02 -1.27565913e+01] [ 1.85684702e-03 9.99885424e-01 -1.50230111e-02 -1.30923434e+00] [ 4.77893073e-02 1.49171446e-02 9.98746044e-01 -7.47518314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.443133365 meters Centerline goodness : 0.157980 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.31, Z:-0.75 [[ 9.98850566e-01 -2.86080409e-03 -4.78472924e-02 -1.27562390e+01] [ 2.11287290e-03 9.99874909e-01 -1.56749087e-02 -1.30557757e+00] [ 4.78861499e-02 1.55557962e-02 9.98731663e-01 -7.47757160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.503133365 meters Centerline goodness : 0.163866 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.30, Z:-0.75 [[ 9.98832406e-01 -3.90800903e-03 -4.81513410e-02 -1.27559109e+01] [ 3.11555392e-03 9.99858654e-01 -1.65216671e-02 -1.30296500e+00] [ 4.82091018e-02 1.63523584e-02 9.98703401e-01 -7.47183617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.563133365 meters Centerline goodness : 0.142461 with order 2 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.30, Z:-0.75 [[ 9.98832387e-01 -4.15782340e-03 -4.81308104e-02 -1.27561426e+01] [ 3.36560178e-03 9.99857720e-01 -1.65291163e-02 -1.30201451e+00] [ 4.81926875e-02 1.63478276e-02 9.98704267e-01 -7.46927955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.623133365 meters Centerline goodness : 0.122249 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.30, Z:-0.75 [[ 9.98848816e-01 -4.66740464e-03 -4.77415852e-02 -1.27575594e+01] [ 3.85903466e-03 9.99847866e-01 -1.70103771e-02 -1.30038475e+00] [ 4.78137164e-02 1.68065586e-02 9.98714868e-01 -7.46186325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.683133365 meters Centerline goodness : 0.150612 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.30, Z:-0.74 [[ 9.98891447e-01 -2.80947034e-03 -4.69891992e-02 -1.27610176e+01] [ 2.08913395e-03 9.99879663e-01 -1.53719202e-02 -1.29605588e+00] [ 4.70267316e-02 1.52567129e-02 9.98777112e-01 -7.44434337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74313336499998 meters Centerline goodness : 0.163691 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.29, Z:-0.74 [[ 9.98925611e-01 3.27219520e-04 -4.63413003e-02 -1.27626418e+01] [-9.30523768e-04 9.99915093e-01 -1.29977425e-02 -1.28978680e+00] [ 4.63331125e-02 1.30268995e-02 9.98841100e-01 -7.44104028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80313336499998 meters Centerline goodness : 0.150542 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.28, Z:-0.74 [[ 9.98927391e-01 -5.39023144e-05 -4.63040429e-02 -1.27627560e+01] [-5.95959174e-04 9.99901527e-01 -1.40207401e-02 -1.28355717e+00] [ 4.63002390e-02 1.40332966e-02 9.98828992e-01 -7.43952305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86313336499998 meters Centerline goodness : 0.098272 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.28, Z:-0.75 [[ 9.98862406e-01 2.20846220e-03 -4.76342059e-02 -1.27578244e+01] [-2.80206328e-03 9.99919210e-01 -1.23984830e-02 -1.27658506e+00] [ 4.76029759e-02 1.25178526e-02 9.98787895e-01 -7.45756124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92313336499998 meters Centerline goodness : 0.149415 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.27, Z:-0.75 [[ 9.98854152e-01 2.01858798e-03 -4.78153465e-02 -1.27570552e+01] [-2.63621374e-03 9.99913866e-01 -1.28573559e-02 -1.27313365e+00] [ 4.77852743e-02 1.29686748e-02 9.98773438e-01 -7.46162571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.983133365 meters Centerline goodness : 0.146875 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.26, Z:-0.74 [[ 9.98914751e-01 3.23753744e-03 -4.64632958e-02 -1.27615403e+01] [-3.81977935e-03 9.99915226e-01 -1.24479108e-02 -1.26432486e+00] [ 4.64190563e-02 1.26118813e-02 9.98842436e-01 -7.44551409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.043133365 meters Centerline goodness : 0.120126 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.25, Z:-0.75 [[ 9.98937427e-01 -4.74561874e-03 -4.58420847e-02 -1.27790645e+01] [ 4.22231255e-03 9.99924895e-01 -1.15055040e-02 -1.25385401e+00] [ 4.58932425e-02 1.12997189e-02 9.98882439e-01 -7.47423058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.103133365 meters Centerline goodness : 0.128880 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-1.25, Z:-0.75 [[ 9.98882364e-01 -2.66412391e-03 -4.71903068e-02 -1.27735123e+01] [ 2.21463779e-03 9.99951709e-01 -9.57469139e-03 -1.24978172e+00] [ 4.72135361e-02 9.45948093e-03 9.98840027e-01 -7.49988360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.163133365 meters Centerline goodness : 0.094883 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:-1.24, Z:-0.75 [[ 9.98774742e-01 -9.38232055e-03 -4.85899889e-02 -1.27941168e+01] [ 9.04640574e-03 9.99933671e-01 -7.12856050e-03 -1.24150858e+00] [ 4.86536484e-02 6.68026142e-03 9.98793370e-01 -7.50447513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.223133365 meters Centerline goodness : 0.179406 with order 3 Centerline is valid? [False, False] Translation: X:-12.81, Y:-1.24, Z:-0.75 [[ 9.98817020e-01 -1.88598911e-03 -4.85901615e-02 -1.28131280e+01] [ 1.48878913e-03 9.99965194e-01 -8.20938915e-03 -1.24238799e+00] [ 4.86039531e-02 8.12733710e-03 9.98785063e-01 -7.52541948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.283133365 meters Centerline goodness : 0.175410 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:-1.24, Z:-0.75 [[ 9.98719369e-01 -2.23769518e-03 -5.05431874e-02 -1.28579517e+01] [ 1.84332411e-03 9.99967506e-01 -7.84792166e-03 -1.23719495e+00] [ 5.05591062e-02 7.74470389e-03 9.98691041e-01 -7.53628592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.343133365 meters Centerline goodness : 0.099416 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:-1.23, Z:-0.75 [[ 9.98704182e-01 1.23607603e-03 -5.08766094e-02 -1.28566331e+01] [-1.48496159e-03 9.99987115e-01 -4.85443610e-03 -1.23337848e+00] [ 5.08699534e-02 4.92369545e-03 9.98693149e-01 -7.54260075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.403133365 meters Centerline goodness : 0.236124 with order 2 Centerline is valid? [False, False] Translation: X:-12.86, Y:-1.23, Z:-0.75 [[ 9.98717423e-01 1.03073167e-03 -5.06206227e-02 -1.28576803e+01] [-1.30509031e-03 9.99984638e-01 -5.38714420e-03 -1.22958551e+00] [ 5.06142924e-02 5.44629926e-03 9.98703425e-01 -7.53461937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.463133365 meters Centerline goodness : 0.186365 with order 2 Centerline is valid? [False, False] Translation: X:-12.90, Y:-1.22, Z:-0.75 [[ 9.98635762e-01 4.40246590e-04 -5.22151326e-02 -1.29040123e+01] [-7.29232468e-04 9.99984523e-01 -5.51560116e-03 -1.22310644e+00] [ 5.22118963e-02 5.54615354e-03 9.98620628e-01 -7.53764524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52313336499998 meters Centerline goodness : 0.096323 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:-1.22, Z:-0.75 [[ 9.98646109e-01 8.69115359e-05 -5.20186584e-02 -1.29044676e+01] [-4.06892917e-04 9.99981063e-01 -6.14072235e-03 -1.21979057e+00] [ 5.20171396e-02 6.15357450e-03 9.98627233e-01 -7.53681244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58313336499998 meters Centerline goodness : 0.101525 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.21, Z:-0.76 [[ 9.98648314e-01 -8.12913457e-03 -5.13367439e-02 -1.29236803e+01] [ 7.88034890e-03 9.99956214e-01 -5.04670658e-03 -1.21007112e+00] [ 5.13755215e-02 4.63533357e-03 9.98668648e-01 -7.56136689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64313336499998 meters Centerline goodness : 0.103811 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.21, Z:-0.76 [[ 9.98648052e-01 -8.47636539e-03 -5.12856571e-02 -1.29237763e+01] [ 8.20178065e-03 9.99950896e-01 -5.56211826e-03 -1.20746259e+00] [ 5.13302853e-02 5.13396486e-03 9.98668536e-01 -7.56086152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70313336499999 meters SLAMing on 146.763133365 meters SLAMing on 146.823133365 meters Centerline goodness : 0.132711 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-1.17, Z:-0.76 [[ 9.98575163e-01 -1.68735018e-02 -5.06253724e-02 -1.29841301e+01] [ 1.66741786e-02 9.99851483e-01 -4.35701015e-03 -1.17128215e+00] [ 5.06913717e-02 3.50666562e-03 9.98708210e-01 -7.59744667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.883133365 meters Centerline goodness : 0.214447 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-1.17, Z:-0.76 [[ 9.98551867e-01 -1.68651235e-02 -5.10855821e-02 -1.29823751e+01] [ 1.66520614e-02 9.99850793e-01 -4.59347050e-03 -1.16909315e+00] [ 5.11554292e-02 3.73613829e-03 9.98683715e-01 -7.60798479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.943133365 meters SLAMing on 147.003133365 meters Centerline goodness : 0.162534 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:-1.16, Z:-0.76 [[ 9.98618359e-01 -6.31706285e-03 -5.21676891e-02 -1.30022166e+01] [ 6.03830032e-03 9.99966647e-01 -5.49946913e-03 -1.16008573e+00] [ 5.22006897e-02 5.17686667e-03 9.98623196e-01 -7.61263006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.063133365 meters Centerline goodness : 0.162963 with order 2 Centerline is valid? [False, False] Translation: X:-13.00, Y:-1.15, Z:-0.76 [[ 9.98557946e-01 -4.26488272e-03 -5.35148435e-02 -1.29973483e+01] [ 4.05665853e-03 9.99983776e-01 -3.99898235e-03 -1.15481288e+00] [ 5.35310305e-02 3.77612415e-03 9.98559047e-01 -7.62966656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.123133365 meters Centerline goodness : 0.144678 with order 1 Centerline is valid? [False, False] Translation: X:-13.00, Y:-1.15, Z:-0.76 [[ 9.98619698e-01 -2.67095520e-03 -5.24553645e-02 -1.30013813e+01] [ 2.51389733e-03 9.99992159e-01 -3.05987500e-03 -1.14908430e+00] [ 5.24631260e-02 2.92378404e-03 9.98618582e-01 -7.61367522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183133365 meters Centerline goodness : 0.140365 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:-1.14, Z:-0.76 [[ 9.98700305e-01 -9.81898594e-04 -5.09581868e-02 -1.30080654e+01] [ 8.64649912e-04 9.99996928e-01 -2.32287400e-03 -1.14110144e+00] [ 5.09603111e-02 2.27579398e-03 9.98698086e-01 -7.57771038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24313336499998 meters Centerline goodness : 0.141635 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:-1.14, Z:-0.76 [[ 9.98672414e-01 -1.42686825e-03 -5.14914926e-02 -1.30059541e+01] [ 1.26632291e-03 9.99994236e-01 -3.15038978e-03 -1.13692644e+00] [ 5.14956910e-02 3.08100251e-03 9.98668464e-01 -7.58879089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30313336499998 meters SLAMing on 147.36313336499998 meters Centerline goodness : 0.130299 with order 2 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.12, Z:-0.76 [[ 9.98741928e-01 -1.87250461e-03 -5.01104197e-02 -1.30529742e+01] [ 1.66757964e-03 9.99990077e-01 -4.13096365e-03 -1.11729050e+00] [ 5.01176577e-02 4.04220348e-03 9.98735141e-01 -7.59144424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42313336499998 meters Centerline goodness : 0.139893 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.11, Z:-0.76 [[ 9.98734636e-01 -2.19916539e-03 -5.02423167e-02 -1.30519225e+01] [ 1.95649759e-03 9.99986186e-01 -4.87861861e-03 -1.11308784e+00] [ 5.02523515e-02 4.77414641e-03 9.98725142e-01 -7.60118565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.483133365 meters Centerline goodness : 0.139083 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.11, Z:-0.76 [[ 9.98735948e-01 -2.43222973e-03 -5.02054749e-02 -1.30517993e+01] [ 2.16767170e-03 9.99983482e-01 -5.32328195e-03 -1.11077355e+00] [ 5.02175931e-02 5.20772406e-03 9.98724723e-01 -7.60443250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.543133365 meters Centerline goodness : 0.141672 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.11, Z:-0.76 [[ 9.98729444e-01 -2.69162215e-03 -5.03214947e-02 -1.30515953e+01] [ 2.40643985e-03 9.99980705e-01 -5.72693408e-03 -1.10895862e+00] [ 5.03359385e-02 5.59856203e-03 9.98716651e-01 -7.60304705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.603133365 meters Centerline goodness : 0.141871 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.11, Z:-0.76 [[ 9.98715209e-01 -2.91713138e-03 -5.05907263e-02 -1.30509245e+01] [ 2.60593316e-03 9.99977284e-01 -6.21615955e-03 -1.10670423e+00] [ 5.06077105e-02 6.07633704e-03 9.98700124e-01 -7.60299485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.663133365 meters Centerline goodness : 0.138220 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.10, Z:-0.76 [[ 9.98651361e-01 -9.33817017e-04 -5.19094156e-02 -1.30454394e+01] [ 7.04269127e-04 9.99989894e-01 -4.44020135e-03 -1.10435845e+00] [ 5.19130373e-02 4.39765493e-03 9.98641926e-01 -7.62748031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.723133365 meters Centerline goodness : 0.141214 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.10, Z:-0.76 [[ 9.98643105e-01 3.02570266e-03 -5.19883938e-02 -1.30454119e+01] [-3.08603702e-03 9.99994655e-01 -1.08030086e-03 -1.10139644e+00] [ 5.19848473e-02 1.23927311e-03 9.98647105e-01 -7.62467915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.783133365 meters Centerline goodness : 0.139334 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.10, Z:-0.76 [[ 9.98651288e-01 2.93974227e-03 -5.18359319e-02 -1.30461888e+01] [-3.03096501e-03 9.99993993e-01 -1.68131448e-03 -1.09805382e+00] [ 5.18306779e-02 1.83615977e-03 9.98654199e-01 -7.61720964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.843133365 meters Centerline goodness : 0.139290 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.10, Z:-0.76 [[ 9.98652367e-01 2.72756446e-03 -5.18267396e-02 -1.30464336e+01] [-2.84652802e-03 9.99993481e-01 -2.22173459e-03 -1.09549995e+00] [ 5.18203418e-02 2.36626677e-03 9.98653620e-01 -7.61370033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.903133365 meters Centerline goodness : 0.132100 with order 1 Centerline is valid? [False, False] Translation: X:-13.05, Y:-1.09, Z:-0.76 [[ 9.98644878e-01 6.31766575e-03 -5.16574716e-02 -1.30470602e+01] [-6.30691097e-03 9.99980042e-01 3.71201342e-04 -1.08863394e+00] [ 5.16587858e-02 -4.48992448e-05 9.98664793e-01 -7.60883292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.963133365 meters Centerline goodness : 0.136289 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.08, Z:-0.76 [[ 9.98753917e-01 -2.23856944e-04 -4.99055409e-02 -1.30643871e+01] [ 2.78731874e-04 9.99999364e-01 1.09261914e-03 -1.07631576e+00] [ 4.99052646e-02 -1.10516791e-03 9.98753345e-01 -7.64090126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02313336499998 meters Centerline goodness : 0.134751 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:-1.07, Z:-0.76 [[ 9.98768963e-01 -5.99612471e-04 -4.96003944e-02 -1.30656258e+01] [ 6.14054082e-04 9.99999773e-01 2.75921666e-04 -1.07210739e+00] [ 4.96002177e-02 -3.06039321e-04 9.98769105e-01 -7.63351181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08313336499998 meters Centerline goodness : 0.136421 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:-1.07, Z:-0.76 [[ 9.98791578e-01 -9.48209667e-04 -4.91373975e-02 -1.30669344e+01] [ 9.28773985e-04 9.99999481e-01 -4.18368527e-04 -1.06859805e+00] [ 4.91377687e-02 3.72225425e-04 9.98791941e-01 -7.63020715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14313336499998 meters Centerline goodness : 0.141330 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.07, Z:-0.76 [[ 9.98722839e-01 -1.87790010e-03 -5.04892425e-02 -1.30631947e+01] [ 1.80987689e-03 9.99997392e-01 -1.39296626e-03 -1.06587192e+00] [ 5.04917266e-02 1.29980791e-03 9.98723633e-01 -7.63840057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20313336499999 meters Centerline goodness : 0.136974 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.06, Z:-0.76 [[ 9.98704302e-01 -1.92650581e-03 -5.08527931e-02 -1.30623597e+01] [ 1.84902414e-03 9.99997057e-01 -1.57064692e-03 -1.06419951e+00] [ 5.08556693e-02 1.47458380e-03 9.98704925e-01 -7.63807178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263133365 meters Centerline goodness : 0.136393 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.06, Z:-0.76 [[ 9.98725580e-01 -2.15329301e-03 -5.04239974e-02 -1.30640272e+01] [ 2.04659986e-03 9.99995557e-01 -2.16745638e-03 -1.06101517e+00] [ 5.04284405e-02 2.06149639e-03 9.98725549e-01 -7.62796251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.323133365 meters Centerline goodness : 0.131276 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.06, Z:-0.76 [[ 9.98741718e-01 1.35568587e-03 -5.01312473e-02 -1.30648519e+01] [-1.33177671e-03 9.99998983e-01 5.10331052e-04 -1.05584816e+00] [ 5.01318881e-02 -4.42925284e-04 9.98742508e-01 -7.62562780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.383133365 meters Centerline goodness : 0.137547 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.05, Z:-0.76 [[ 9.98716656e-01 5.03085736e-03 -5.03957429e-02 -1.30640579e+01] [-4.85436781e-03 9.99981651e-01 3.62385882e-03 -1.05242829e+00] [ 5.04130493e-02 -3.37456869e-03 9.98722753e-01 -7.62736887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.443133365 meters Centerline goodness : 0.125158 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.05, Z:-0.76 [[ 9.98698689e-01 4.68132677e-03 -5.07839973e-02 -1.30629687e+01] [-4.54698388e-03 9.99985852e-01 2.76058813e-03 -1.04781975e+00] [ 5.07962020e-02 -2.52608173e-03 9.98705845e-01 -7.62846818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.503133365 meters Centerline goodness : 0.133045 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.04, Z:-0.76 [[ 9.98715530e-01 4.23386423e-03 -5.04912238e-02 -1.30642952e+01] [-4.15295948e-03 9.99989919e-01 1.70715642e-03 -1.04154704e+00] [ 5.04979427e-02 -1.49527562e-03 9.98723046e-01 -7.61898521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.563133365 meters Centerline goodness : 0.130554 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:-1.04, Z:-0.76 [[ 9.98736740e-01 3.91231371e-03 -5.00960969e-02 -1.30657708e+01] [-3.86961509e-03 9.99992062e-01 9.49293415e-04 -1.03781885e+00] [ 5.00994132e-02 -7.54241598e-04 9.98743951e-01 -7.61023058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.623133365 meters Centerline goodness : 0.247482 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-1.03, Z:-0.76 [[ 9.98744359e-01 3.80598768e-03 -4.99521777e-02 -1.30664910e+01] [-3.79786456e-03 9.99992755e-01 2.57532352e-04 -1.03300166e+00] [ 4.99527959e-02 -6.74973787e-05 9.98751578e-01 -7.60329606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.683133365 meters Centerline goodness : 0.140432 with order 1 Centerline is valid? [False, False] Translation: X:-13.09, Y:-1.02, Z:-0.76 [[ 9.98635911e-01 -4.23957671e-04 -5.22124263e-02 -1.30852025e+01] [ 5.80265722e-04 9.99995396e-01 2.97857197e-03 -1.01910832e+00] [ 5.22109231e-02 -3.00480602e-03 9.98631559e-01 -7.61292075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74313336499998 meters Centerline goodness : 0.131937 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.01, Z:-0.76 [[ 9.98621241e-01 3.15026338e-03 -5.23993583e-02 -1.30846501e+01] [-2.84725050e-03 9.99978798e-01 5.85640298e-03 -1.01484007e+00] [ 5.24166965e-02 -5.69913432e-03 9.98609038e-01 -7.61410466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80313336499998 meters Centerline goodness : 0.132146 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.01, Z:-0.76 [[ 9.98594894e-01 2.83493350e-03 -5.29169161e-02 -1.30828300e+01] [-2.57607118e-03 9.99984384e-01 4.95942932e-03 -1.00943119e+00] [ 5.29301494e-02 -4.81614306e-03 9.98586603e-01 -7.62149753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86313336499998 meters Centerline goodness : 0.157528 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.00, Z:-0.76 [[ 9.98581449e-01 6.16173076e-03 -5.28878301e-02 -1.30827735e+01] [-5.79157131e-03 9.99957671e-01 7.14936245e-03 -1.00149060e+00] [ 5.29296439e-02 -6.83291708e-03 9.98574867e-01 -7.62151979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92313336499998 meters Centerline goodness : 0.132895 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.99, Z:-0.76 [[ 9.98589754e-01 1.63968425e-03 -5.30642589e-02 -1.30636385e+01] [-1.10112771e-03 9.99947609e-01 1.01767838e-02 -9.88401636e-01] [ 5.30781655e-02 -1.01040015e-02 9.98539242e-01 -7.59565083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.983133365 meters Centerline goodness : 0.133452 with order 2 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.98, Z:-0.76 [[ 9.98586032e-01 4.87287399e-03 -5.29357320e-02 -1.30629787e+01] [-4.23550765e-03 9.99917265e-01 1.21458990e-02 -9.78553798e-01] [ 5.29905378e-02 -1.19045154e-02 9.98524053e-01 -7.60542819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.043133365 meters Centerline goodness : 0.153240 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.97, Z:-0.76 [[ 9.98659957e-01 6.18491934e-03 -5.13812940e-02 -1.30680019e+01] [-5.57506334e-03 9.99912407e-01 1.20040782e-02 -9.65711627e-01] [ 5.14510376e-02 -1.17015382e-02 9.98606962e-01 -7.58958683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.103133365 meters Centerline goodness : 0.156398 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.96, Z:-0.76 [[ 9.98674307e-01 5.82245800e-03 -5.11441871e-02 -1.30690598e+01] [-5.23701217e-03 9.99919310e-01 1.15735283e-02 -9.63334896e-01] [ 5.12074466e-02 -1.12903427e-02 9.98624216e-01 -7.58303720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.163133365 meters Centerline goodness : 0.147564 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.96, Z:-0.76 [[ 9.98655835e-01 4.66637632e-03 -5.16212077e-02 -1.30672400e+01] [-4.11264729e-03 9.99932920e-01 1.08277995e-02 -9.63243098e-01] [ 5.16682716e-02 -1.06009453e-02 9.98608036e-01 -7.59359773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.223133365 meters Centerline goodness : 0.118371 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.97, Z:-0.76 [[ 9.98625779e-01 3.89678877e-03 -5.22625018e-02 -1.30653607e+01] [-3.32902696e-03 9.99934546e-01 1.09463105e-02 -9.66487294e-01] [ 5.23017365e-02 -1.07572845e-02 9.98573387e-01 -7.60122128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.283133365 meters Centerline goodness : 0.154076 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.97, Z:-0.76 [[ 9.98662347e-01 3.68876736e-03 -5.15743042e-02 -1.30671101e+01] [-3.11432463e-03 9.99932270e-01 1.12140878e-02 -9.69106728e-01] [ 5.16121773e-02 -1.10384681e-02 9.98606196e-01 -7.60069903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.343133365 meters Centerline goodness : 0.159256 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.97, Z:-0.76 [[ 9.98616775e-01 3.15712620e-03 -5.24839962e-02 -1.30640729e+01] [-2.56824163e-03 9.99933036e-01 1.12839277e-02 -9.74092048e-01] [ 5.25161065e-02 -1.11335279e-02 9.98558012e-01 -7.61374886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.403133365 meters Centerline goodness : 0.146124 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.98, Z:-0.76 [[ 9.98593878e-01 3.39468547e-03 -5.29031392e-02 -1.30627711e+01] [-2.77294243e-03 9.99926279e-01 1.18214513e-02 -9.76636525e-01] [ 5.29393693e-02 -1.16581315e-02 9.98529675e-01 -7.61845356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.463133365 meters Centerline goodness : 0.176108 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.98, Z:-0.76 [[ 9.98582634e-01 3.51506883e-03 -5.31071317e-02 -1.30624606e+01] [-2.87685282e-03 9.99922785e-01 1.20891888e-02 -9.78235081e-01] [ 5.31455253e-02 -1.19192726e-02 9.98515640e-01 -7.61637471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52313336499998 meters Centerline goodness : 0.223509 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.98, Z:-0.76 [[ 9.98668910e-01 4.07918688e-03 -5.14175944e-02 -1.30674614e+01] [-3.44105401e-03 9.99916036e-01 1.24932083e-02 -9.79462229e-01] [ 5.14642393e-02 -1.22996480e-02 9.98599094e-01 -7.60298881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58313336499998 meters Centerline goodness : 0.129430 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.98, Z:-0.76 [[ 9.98648245e-01 4.20977584e-03 -5.18069608e-02 -1.30665440e+01] [-3.55869118e-03 9.99913611e-01 1.26533470e-02 -9.79994004e-01] [ 5.18557530e-02 -1.24518778e-02 9.98576953e-01 -7.60304819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64313336499998 meters Centerline goodness : 0.134311 with order 2 Centerline is valid? [False, False] Translation: X:-13.08, Y:-0.98, Z:-0.76 [[ 9.98557794e-01 -3.33479472e-03 -5.35836799e-02 -1.30846510e+01] [ 4.07851002e-03 9.99896786e-01 1.37761619e-02 -9.76362646e-01] [ 5.35322086e-02 -1.39748354e-02 9.98468330e-01 -7.61640518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70313336499999 meters Centerline goodness : 0.141618 with order 2 Centerline is valid? [False, False] Translation: X:-13.09, Y:-0.98, Z:-0.76 [[ 9.98672895e-01 -1.23875061e-03 -5.14870280e-02 -1.30925819e+01] [ 2.04955041e-03 9.99874681e-01 1.56978388e-02 -9.77001851e-01] [ 5.14611300e-02 -1.57825314e-02 9.98550281e-01 -7.58286192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763133365 meters Centerline goodness : 0.136596 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:-0.98, Z:-0.76 [[ 9.98698180e-01 -1.20477203e-03 -5.09950416e-02 -1.30943257e+01] [ 2.00545327e-03 9.99875475e-01 1.56529047e-02 -9.76535375e-01] [ 5.09698332e-02 -1.57347956e-02 9.98576233e-01 -7.57461255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.823133365 meters SLAMing on 149.883133365 meters Centerline goodness : 0.182468 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:-0.97, Z:-0.76 [[ 9.98561514e-01 6.66217507e-04 -5.36139748e-02 -1.31365164e+01] [ 1.53927928e-04 9.99883064e-01 1.52916494e-02 -9.68793130e-01] [ 5.36178930e-02 -1.52779053e-02 9.98444644e-01 -7.58825129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.943133365 meters Centerline goodness : 0.126261 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:-0.97, Z:-0.76 [[ 9.98594545e-01 1.26326763e-03 -5.29843334e-02 -1.31391366e+01] [-4.50747546e-04 9.99882169e-01 1.53442477e-02 -9.65185116e-01] [ 5.29974741e-02 -1.52987995e-02 9.98477448e-01 -7.57336702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003133365 meters SLAMing on 150.063133365 meters SLAMing on 150.123133365 meters Centerline goodness : 0.143479 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:-0.93, Z:-0.76 [[ 9.98535534e-01 7.26511689e-03 -5.36097582e-02 -1.31837381e+01] [-6.34963480e-03 9.99831435e-01 1.72273913e-02 -9.31407913e-01] [ 5.37258805e-02 -1.68617600e-02 9.98413347e-01 -7.58486208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.183133365 meters Centerline goodness : 0.139210 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.92, Z:-0.76 [[ 9.98496088e-01 -5.98171260e-04 -5.48197387e-02 -1.32015201e+01] [ 1.56603933e-03 9.99843631e-01 1.76142106e-02 -9.19111871e-01] [ 5.48006303e-02 -1.76735702e-02 9.98340892e-01 -7.61502709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24313336499998 meters Centerline goodness : 0.159753 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.92, Z:-0.76 [[ 9.98493537e-01 -8.40915404e-04 -5.48630028e-02 -1.32012166e+01] [ 1.78790379e-03 9.99850227e-01 1.72141676e-02 -9.16778862e-01] [ 5.48403102e-02 -1.72863248e-02 9.98345493e-01 -7.61778984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30313336499998 meters Centerline goodness : 0.190977 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.92, Z:-0.76 [[ 9.98503553e-01 -1.22606034e-03 -5.46731361e-02 -1.32014028e+01] [ 2.14744308e-03 9.99856614e-01 1.67970062e-02 -9.15460966e-01] [ 5.46447026e-02 -1.68892778e-02 9.98363015e-01 -7.62190118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36313336499998 meters Centerline goodness : 0.089346 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.91, Z:-0.76 [[ 9.98485709e-01 -1.53931488e-03 -5.49901781e-02 -1.32007455e+01] [ 2.44164891e-03 9.99863421e-01 1.63455900e-02 -9.13925451e-01] [ 5.49575065e-02 -1.64551047e-02 9.98353095e-01 -7.62076530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42313336499998 meters Centerline goodness : 0.088349 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.91, Z:-0.76 [[ 9.98473782e-01 -1.54368953e-03 -5.52061902e-02 -1.32001041e+01] [ 2.44225025e-03 9.99865583e-01 1.62126894e-02 -9.12914721e-01] [ 5.51737422e-02 -1.63227726e-02 9.98343340e-01 -7.62264723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.483133365 meters Centerline goodness : 0.185895 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.91, Z:-0.76 [[ 9.98477606e-01 -1.55933586e-03 -5.51365477e-02 -1.32002674e+01] [ 2.45058866e-03 9.99867375e-01 1.61005518e-02 -9.12160763e-01] [ 5.51041290e-02 -1.62111574e-02 9.98349004e-01 -7.62307870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.543133365 meters Centerline goodness : 0.088872 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.91, Z:-0.76 [[ 9.98469573e-01 -1.60941836e-03 -5.52803950e-02 -1.31999095e+01] [ 2.49567177e-03 9.99869410e-01 1.59666757e-02 -9.11424654e-01] [ 5.52474789e-02 -1.60802016e-02 9.98343199e-01 -7.62372018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.603133365 meters Centerline goodness : 0.168539 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.91, Z:-0.76 [[ 9.98476430e-01 -1.76723571e-03 -5.51515745e-02 -1.32004783e+01] [ 2.62698571e-03 9.99876103e-01 1.55202560e-02 -9.09257537e-01] [ 5.51173134e-02 -1.56414922e-02 9.98357364e-01 -7.62033502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.663133365 meters Centerline goodness : 0.228809 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.91, Z:-0.76 [[ 9.98499455e-01 2.12223751e-03 -5.47205201e-02 -1.32015544e+01] [-1.09803884e-03 9.99823784e-01 1.87401792e-02 -9.05635730e-01] [ 5.47506486e-02 -1.86519735e-02 9.98325834e-01 -7.62048251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.723133365 meters Centerline goodness : 0.130476 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.90, Z:-0.76 [[ 9.98517757e-01 1.92483028e-03 -5.43928716e-02 -1.32022967e+01] [-9.49745826e-04 9.99838491e-01 1.79468615e-02 -9.02172266e-01] [ 5.44186313e-02 -1.78686005e-02 9.98358315e-01 -7.62305202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783133365 meters Centerline goodness : 0.213123 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.90, Z:-0.76 [[ 9.98522469e-01 1.62413565e-03 -5.43161126e-02 -1.32026489e+01] [-6.84430534e-04 9.99849853e-01 1.73147982e-02 -8.98926064e-01] [ 5.43360788e-02 -1.72520394e-02 9.98373656e-01 -7.62112614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.843133365 meters Centerline goodness : 0.146293 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.90, Z:-0.76 [[ 9.98486843e-01 9.08379319e-04 -5.49836253e-02 -1.32006438e+01] [ 1.19741751e-05 9.99859943e-01 1.67360400e-02 -8.97963670e-01] [ 5.49911271e-02 -1.67113741e-02 9.98346987e-01 -7.62811301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.903133365 meters Centerline goodness : 0.125818 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.90, Z:-0.76 [[ 9.98468348e-01 8.76281944e-04 -5.53189900e-02 -1.31996994e+01] [ 4.26289014e-05 9.99862081e-01 1.66077634e-02 -8.96915396e-01] [ 5.53259135e-02 -1.65846843e-02 9.98330602e-01 -7.62986857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.963133365 meters Centerline goodness : 0.213640 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.89, Z:-0.76 [[ 9.98522416e-01 3.44702625e-03 -5.42319381e-02 -1.32043485e+01] [-2.46069569e-03 9.99830545e-01 1.82435362e-02 -8.90684646e-01] [ 5.42856342e-02 -1.80831315e-02 9.98361693e-01 -7.60655792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02313336499998 meters Centerline goodness : 0.115709 with order 3 Centerline is valid? [False, False] Translation: X:-13.21, Y:-0.87, Z:-0.76 [[ 9.98590167e-01 8.67898183e-03 -5.23674789e-02 -1.32103874e+01] [-7.67586551e-03 9.99783767e-01 1.93261417e-02 -8.73348105e-01] [ 5.25238866e-02 -1.88969294e-02 9.98440858e-01 -7.60983476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08313336499998 meters Centerline goodness : 0.237969 with order 3 Centerline is valid? [False, False] Translation: X:-13.21, Y:-0.86, Z:-0.76 [[ 9.98521418e-01 1.22723968e-02 -5.29562596e-02 -1.32085733e+01] [-1.11818472e-02 9.99720275e-01 2.08407855e-02 -8.64015097e-01] [ 5.31972128e-02 -2.02178219e-02 9.98379335e-01 -7.63028942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14313336499998 meters Centerline goodness : 0.215048 with order 3 Centerline is valid? [False, False] Translation: X:-13.21, Y:-0.85, Z:-0.76 [[ 0.99846232 0.01494824 -0.05338114 -13.20814289] [ -0.01382064 0.99967481 0.02143051 -0.85368814] [ 0.05368413 -0.0206598 0.99834422 -0.7638736 ] [ 0. 0. 0. 1. ]] SLAMing on 151.20313336499999 meters Centerline goodness : 0.244711 with order 3 Centerline is valid? [False, False] Translation: X:-13.21, Y:-0.84, Z:-0.76 [[ 0.99842057 0.01838172 -0.05308929 -13.21129432] [ -0.01722614 0.9996064 0.0221429 -0.83783899] [ 0.05347542 -0.0211934 0.99834424 -0.76244766] [ 0. 0. 0. 1. ]] SLAMing on 151.263133365 meters Centerline goodness : 0.235701 with order 3 Centerline is valid? [False, False] Translation: X:-13.23, Y:-0.82, Z:-0.77 [[ 9.98684767e-01 1.34225497e-02 -4.94830367e-02 -1.32305922e+01] [-1.22893659e-02 9.99656836e-01 2.31340095e-02 -8.21565546e-01] [ 4.97765732e-02 -2.24954677e-02 9.98507009e-01 -7.65328996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.323133365 meters Centerline goodness : 0.234752 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:-0.81, Z:-0.76 [[ 9.98908285e-01 1.16050491e-02 -4.52499930e-02 -1.31938532e+01] [-1.05897490e-02 9.99688204e-01 2.26131010e-02 -8.10694883e-01] [ 4.54983104e-02 -2.21092278e-02 9.98719723e-01 -7.62907062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.383133365 meters SLAMing on 151.443133365 meters Centerline goodness : 0.238953 with order 3 Centerline is valid? [False, False] Translation: X:-13.17, Y:-0.81, Z:-0.76 [[ 9.98802872e-01 1.71749882e-03 -4.88863364e-02 -1.31663978e+01] [-6.33946744e-04 9.99753979e-01 2.21716031e-02 -8.05559570e-01] [ 4.89123890e-02 -2.21140695e-02 9.98558234e-01 -7.63152746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.503133365 meters SLAMing on 151.563133365 meters Centerline goodness : 0.244624 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:-0.80, Z:-0.76 [[ 9.98684635e-01 1.07577913e-02 -5.01325304e-02 -1.31432549e+01] [-9.65547057e-03 9.99707396e-01 2.21786807e-02 -8.04947414e-01] [ 5.03564550e-02 -2.16654545e-02 9.98496287e-01 -7.61979662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.623133365 meters SLAMing on 151.683133365 meters Centerline goodness : 0.184049 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:-0.81, Z:-0.76 [[ 0.99835961 0.02821313 -0.04982067 -13.0969412 ] [ -0.02710753 0.99937408 0.02272968 -0.80502057] [ 0.05043076 -0.02134188 0.99849951 -0.76082627] [ 0. 0. 0. 1. ]] SLAMing on 151.74313336499998 meters Centerline goodness : 0.159581 with order 3 Centerline is valid? [False, False] Translation: X:-13.11, Y:-0.79, Z:-0.76 [[ 0.99863571 0.02255649 -0.04709474 -13.11350089] [ -0.02145808 0.99948879 0.02370024 -0.79323144] [ 0.04760526 -0.02265735 0.99860922 -0.76422322] [ 0. 0. 0. 1. ]] SLAMing on 151.80313336499998 meters Centerline goodness : 0.158550 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:-0.78, Z:-0.76 [[ 0.99872806 0.01504471 -0.048124 -13.093714 ] [ -0.0138622 0.99959601 0.02481228 -0.78456035] [ 0.04847785 -0.02411361 0.99853314 -0.76202957] [ 0. 0. 0. 1. ]] SLAMing on 151.86313336499998 meters Centerline goodness : 0.167173 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.78, Z:-0.76 [[ 9.98828065e-01 5.75346110e-03 -4.80561501e-02 -1.30742108e+01] [-4.53912045e-03 9.99668580e-01 2.53402195e-02 -7.80081392e-01] [ 4.81860173e-02 -2.50923897e-02 9.98523149e-01 -7.60285680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92313336499998 meters Centerline goodness : 0.226571 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.78, Z:-0.76 [[ 9.98835018e-01 1.96614183e-03 -4.82155762e-02 -1.30747543e+01] [-9.11357633e-04 9.99759999e-01 2.18886535e-02 -7.81173834e-01] [ 4.82470407e-02 -2.18192119e-02 9.98597088e-01 -7.59159824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.983133365 meters SLAMing on 152.043133365 meters Centerline goodness : 0.227141 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:-0.79, Z:-0.76 [[ 9.99019860e-01 1.85607515e-03 -4.42252640e-02 -1.30518877e+01] [-1.11168310e-03 9.99857403e-01 1.68504813e-02 -7.94524157e-01] [ 4.42502333e-02 -1.67848010e-02 9.98879466e-01 -7.58368463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.103133365 meters Centerline goodness : 0.164567 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.80, Z:-0.76 [[ 9.98850877e-01 8.24181463e-03 -4.72122552e-02 -1.30320840e+01] [-7.44542983e-03 9.99827440e-01 1.70192740e-02 -8.04755584e-01] [ 4.73443780e-02 -1.66482012e-02 9.98739880e-01 -7.56403191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.163133365 meters Centerline goodness : 0.139255 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.81, Z:-0.76 [[ 9.98834261e-01 8.70623174e-03 -4.74796928e-02 -1.30314893e+01] [-7.87482436e-03 9.99812865e-01 1.76698306e-02 -8.07613047e-01] [ 4.76246453e-02 -1.72753379e-02 9.98715903e-01 -7.56402995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.223133365 meters Centerline goodness : 0.152856 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:-0.82, Z:-0.75 [[ 9.98650034e-01 1.26676667e-02 -5.03750010e-02 -1.30117645e+01] [-1.19234108e-02 9.99815686e-01 1.50474895e-02 -8.17478077e-01] [ 5.05563328e-02 -1.44265340e-02 9.98617010e-01 -7.54087135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.283133365 meters Centerline goodness : 0.235042 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:-0.82, Z:-0.75 [[ 9.98665637e-01 1.31519839e-02 -4.99396635e-02 -1.30134022e+01] [-1.23772312e-02 9.99798696e-01 1.57914736e-02 -8.22254494e-01] [ 5.01372997e-02 -1.51522872e-02 9.98627388e-01 -7.53166319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.343133365 meters Centerline goodness : 0.243866 with order 3 Centerline is valid? [False, False] Translation: X:-13.04, Y:-0.83, Z:-0.75 [[ 9.98718613e-01 5.26959464e-03 -5.03325299e-02 -1.30353018e+01] [-4.44098137e-03 9.99853004e-01 1.65604486e-02 -8.26353704e-01] [ 5.04123981e-02 -1.63157024e-02 9.98595207e-01 -7.54586897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403133365 meters Centerline goodness : 0.122602 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.84, Z:-0.75 [[ 9.98496470e-01 7.27090015e-03 -5.43316995e-02 -1.30156680e+01] [-6.51412770e-03 9.99879471e-01 1.40928829e-02 -8.42834702e-01] [ 5.44276189e-02 -1.37177702e-02 9.98423486e-01 -7.53176618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.463133365 meters Centerline goodness : 0.169628 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.85, Z:-0.75 [[ 9.98515032e-01 7.81723826e-03 -5.39131008e-02 -1.30171295e+01] [-7.01366844e-03 9.99861721e-01 1.50780407e-02 -8.50571014e-01] [ 5.40235144e-02 -1.46775217e-02 9.98431785e-01 -7.52270415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52313336499998 meters Centerline goodness : 0.278688 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.86, Z:-0.75 [[ 9.98579133e-01 6.56441708e-03 -5.28831173e-02 -1.30208388e+01] [-5.80861096e-03 9.99878966e-01 1.44330537e-02 -8.59936121e-01] [ 5.29714612e-02 -1.41053688e-02 9.98496401e-01 -7.50789400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58313336499998 meters Centerline goodness : 0.208828 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.86, Z:-0.75 [[ 9.98512772e-01 7.48754708e-03 -5.40016797e-02 -1.30169255e+01] [-6.65922631e-03 9.99857654e-01 1.55024573e-02 -8.64638273e-01] [ 5.41100682e-02 -1.51197922e-02 9.98420499e-01 -7.52351434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64313336499998 meters Centerline goodness : 0.123934 with order 1 Centerline is valid? [False, False] Translation: X:-13.04, Y:-0.87, Z:-0.75 [[ 0.9984438 0.01619677 -0.05336335 -13.03724865] [ -0.01544261 0.9997754 0.01451466 -0.87379998] [ 0.05358646 -0.013668 0.99846967 -0.7539884 ] [ 0. 0. 0. 1. ]] SLAMing on 152.70313336499999 meters Centerline goodness : 0.168201 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:-0.88, Z:-0.75 [[ 0.99856775 0.01523306 -0.05128748 -13.04524034] [ -0.01454217 0.99979878 0.01381728 -0.87783382] [ 0.05148764 -0.01305166 0.99858834 -0.75063255] [ 0. 0. 0. 1. ]] SLAMing on 152.763133365 meters Centerline goodness : 0.224548 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.88, Z:-0.75 [[ 9.98703439e-01 6.80758560e-03 -5.04489550e-02 -1.30261965e+01] [-6.05169594e-03 9.99867359e-01 1.51208898e-02 -8.77169304e-01] [ 5.05452002e-02 -1.47959829e-02 9.98612168e-01 -7.49458115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.823133365 meters Centerline goodness : 0.123001 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.88, Z:-0.75 [[ 9.98680474e-01 3.19899435e-03 -5.12550183e-02 -1.30236350e+01] [-2.58415289e-03 9.99923966e-01 1.20575137e-02 -8.81254766e-01] [ 5.12896931e-02 -1.19091527e-02 9.98612808e-01 -7.50253336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.883133365 meters Centerline goodness : 0.119317 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.89, Z:-0.75 [[ 9.98646042e-01 2.62515938e-03 -5.19537515e-02 -1.30216204e+01] [-1.96771755e-03 9.99917397e-01 1.27014734e-02 -8.92588141e-01] [ 5.19828033e-02 -1.25820458e-02 9.98568716e-01 -7.50452015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.943133365 meters Centerline goodness : 0.151956 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.90, Z:-0.75 [[ 9.98708374e-01 7.51417232e-04 -5.08037294e-02 -1.30256026e+01] [-1.62492454e-04 9.99932759e-01 1.15952931e-02 -8.99323137e-01] [ 5.08090263e-02 -1.15720611e-02 9.98641342e-01 -7.49101046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.003133365 meters Centerline goodness : 0.203644 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.91, Z:-0.75 [[ 9.98705399e-01 1.39074089e-03 -5.08487225e-02 -1.30245116e+01] [-7.35155335e-04 9.99916401e-01 1.29092924e-02 -9.06802787e-01] [ 5.08624251e-02 -1.28551984e-02 9.98622931e-01 -7.50159752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.063133365 meters Centerline goodness : 0.218986 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.91, Z:-0.75 [[ 9.98705933e-01 1.59574972e-03 -5.08321959e-02 -1.30243574e+01] [-9.12342700e-04 9.99908930e-01 1.34647404e-02 -9.10406409e-01] [ 5.08490530e-02 -1.34009398e-02 9.98616437e-01 -7.50327176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.123133365 meters Centerline goodness : 0.269898 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:-0.92, Z:-0.75 [[ 9.98599622e-01 9.68598530e-03 -5.20093816e-02 -1.30033643e+01] [-9.00763530e-03 9.99871490e-01 1.32614410e-02 -9.17524120e-01] [ 5.21311480e-02 -1.27743884e-02 9.98558540e-01 -7.48122885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.183133365 meters SLAMing on 153.24313336499998 meters SLAMing on 153.30313336499998 meters SLAMing on 153.36313336499998 meters Centerline goodness : 0.094980 with order 1 Centerline is valid? [False, False] Translation: X:-13.16, Y:-0.95, Z:-0.76 [[ 9.98456535e-01 2.55692779e-02 -4.93027356e-02 -1.31585985e+01] [-2.50909943e-02 9.99632153e-01 1.02956792e-02 -9.54701634e-01] [ 4.95478528e-02 -9.04273354e-03 9.98730814e-01 -7.56801893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42313336499998 meters SLAMing on 153.483133365 meters Centerline goodness : 0.089972 with order 1 Centerline is valid? [False, False] Translation: X:-13.18, Y:-0.95, Z:-0.76 [[ 9.98713633e-01 1.76358645e-02 -4.75400318e-02 -1.31820133e+01] [-1.71524643e-02 9.99797149e-01 1.05571474e-02 -9.51839750e-01] [ 4.77165727e-02 -9.72813839e-03 9.98813542e-01 -7.57636720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.543133365 meters SLAMing on 153.603133365 meters SLAMing on 153.663133365 meters Centerline goodness : 0.100163 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:-0.97, Z:-0.76 [[ 9.98769187e-01 1.05451792e-02 -4.84655576e-02 -1.32471046e+01] [-1.01384175e-02 9.99911355e-01 8.63098353e-03 -9.69753198e-01] [ 4.85522766e-02 -8.12899634e-03 9.98787563e-01 -7.61117389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.723133365 meters Centerline goodness : 0.230269 with order 1 Centerline is valid? [False, False] Translation: X:-13.24, Y:-0.97, Z:-0.76 [[ 9.98735641e-01 8.32266950e-03 -4.95767379e-02 -1.32422340e+01] [-7.99900657e-03 9.99945405e-01 6.72335822e-03 -9.73714203e-01] [ 4.96299875e-02 -6.31829283e-03 9.98747688e-01 -7.63647456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.783133365 meters SLAMing on 153.843133365 meters Centerline goodness : 0.232198 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-0.99, Z:-0.77 [[ 9.98626896e-01 1.81106303e-02 -4.91561612e-02 -1.33045450e+01] [-1.78067577e-02 9.99819579e-01 6.61271338e-03 -9.89443731e-01] [ 4.92670528e-02 -5.72832159e-03 9.98769215e-01 -7.67691513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.903133365 meters SLAMing on 153.963133365 meters SLAMing on 154.02313336499998 meters SLAMing on 154.08313336499998 meters SLAMing on 154.14313336499998 meters SLAMing on 154.20313336499999 meters SLAMing on 154.263133365 meters Centerline goodness : 0.091543 with order 1 Centerline is valid? [False, False] Translation: X:-13.68, Y:-1.08, Z:-0.72 [[ 0.99343172 -0.08359572 -0.07813562 -13.6784662 ] [ 0.07737273 0.99382433 -0.07954038 -1.07830326] [ 0.08430232 0.07297237 0.99376464 -0.71815919] [ 0. 0. 0. 1. ]] SLAMing on 154.323133365 meters Centerline goodness : 0.431749 with order 1 Centerline is valid? [False, False] Translation: X:-13.68, Y:-1.08, Z:-0.72 [[ 0.99468179 -0.07011487 -0.07544558 -13.68163722] [ 0.0638565 0.99455223 -0.08239064 -1.08363002] [ 0.08081138 0.07713478 0.99374028 -0.71752995] [ 0. 0. 0. 1. ]] SLAMing on 154.383133365 meters Centerline goodness : 0.212903 with order 3 Centerline is valid? [False, False] Translation: X:-13.69, Y:-1.09, Z:-0.72 [[ 0.99549534 -0.05865112 -0.07449209 -13.68551983] [ 0.05207702 0.99481805 -0.08732142 -1.08902546] [ 0.07922757 0.08304874 0.99339111 -0.71649178] [ 0. 0. 0. 1. ]] SLAMing on 154.443133365 meters Centerline goodness : 0.122184 with order 1 Centerline is valid? [False, False] Translation: X:-13.70, Y:-1.09, Z:-0.72 [[ 0.99559618 -0.05112138 -0.07858018 -13.70218058] [ 0.04409232 0.9950801 -0.08872122 -1.09399699] [ 0.08272912 0.08486573 0.99295201 -0.71964335] [ 0. 0. 0. 1. ]] SLAMing on 154.503133365 meters Centerline goodness : 0.194230 with order 2 Centerline is valid? [False, False] Translation: X:-13.72, Y:-1.10, Z:-0.72 [[ 0.99597041 -0.04292784 -0.07874104 -13.72025619] [ 0.03581049 0.99532714 -0.08967442 -1.10244321] [ 0.08222262 0.08649331 0.99285364 -0.72295975] [ 0. 0. 0. 1. ]] SLAMing on 154.563133365 meters Centerline goodness : 0.165801 with order 3 Centerline is valid? [False, False] Translation: X:-13.74, Y:-1.11, Z:-0.73 [[ 0.99635878 -0.03454315 -0.07794842 -13.73903037] [ 0.02746771 0.99555531 -0.09008416 -1.11080853] [ 0.08071376 0.08761508 0.99287909 -0.72661243] [ 0. 0. 0. 1. ]] SLAMing on 154.623133365 meters Centerline goodness : 0.100450 with order 1 Centerline is valid? [False, False] Translation: X:-13.76, Y:-1.12, Z:-0.73 [[ 0.99671038 -0.02623625 -0.07668164 -13.75821137] [ 0.01926808 0.99573378 -0.09023842 -1.12043301] [ 0.07872202 0.08846406 0.99296372 -0.73027072] [ 0. 0. 0. 1. ]] SLAMing on 154.683133365 meters Centerline goodness : 0.313060 with order 1 Centerline is valid? [False, False] Translation: X:-13.76, Y:-1.13, Z:-0.73 [[ 0.99666588 -0.02598644 -0.07734225 -13.75536995] [ 0.01902415 0.99581124 -0.08943187 -1.12629309] [ 0.0793423 0.08766232 0.99298546 -0.73200675] [ 0. 0. 0. 1. ]] SLAMing on 154.74313336499998 meters Centerline goodness : 0.101997 with order 1 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.14, Z:-0.74 [[ 9.96730012e-01 -1.76365786e-02 -7.88557803e-02 -1.37728496e+01] [ 1.04856551e-02 9.95868973e-01 -9.01944566e-02 -1.13538938e+00] [ 8.01207466e-02 8.90726673e-02 9.92797424e-01 -7.36067376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80313336499998 meters SLAMing on 154.86313336499998 meters Centerline goodness : 0.099809 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.15, Z:-0.74 [[ 9.97000079e-01 -8.57472263e-03 -7.69240982e-02 -1.37948568e+01] [ 1.64783865e-03 9.95970760e-01 -8.96634204e-02 -1.14746731e+00] [ 7.73829915e-02 8.92676787e-02 9.92997056e-01 -7.39194285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92313336499998 meters Centerline goodness : 0.188300 with order 2 Centerline is valid? [False, False] Translation: X:-13.80, Y:-1.15, Z:-0.74 [[ 9.97018920e-01 -8.44279729e-03 -7.66941517e-02 -1.37956659e+01] [ 1.54506803e-03 9.95980615e-01 -8.95557253e-02 -1.14773930e+00] [ 7.71419892e-02 8.91702548e-02 9.93024561e-01 -7.39021068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.983133365 meters SLAMing on 155.043133365 meters SLAMing on 155.103133365 meters Centerline goodness : 0.121542 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.16, Z:-0.75 [[ 9.97280234e-01 -6.17973987e-03 -7.34434809e-02 -1.38942331e+01] [-5.09985740e-04 9.95876231e-01 -9.07208464e-02 -1.15966597e+00] [ 7.37012482e-02 9.05115621e-02 9.93164530e-01 -7.47237488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.163133365 meters Centerline goodness : 0.095152 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.16, Z:-0.75 [[ 9.97278029e-01 -6.28735809e-03 -7.34642903e-02 -1.38942517e+01] [-4.12767382e-04 9.95866018e-01 -9.08333843e-02 -1.15921817e+00] [ 7.37316922e-02 9.06164621e-02 9.93152704e-01 -7.47177197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.223133365 meters SLAMing on 155.283133365 meters Centerline goodness : 0.164389 with order 1 Centerline is valid? [False, False] Translation: X:-13.95, Y:-1.17, Z:-0.76 [[ 9.97304201e-01 -1.12857771e-02 -7.25049069e-02 -1.39518444e+01] [ 4.70783517e-03 9.95906925e-01 -9.02620256e-02 -1.16871295e+00] [ 7.32268160e-02 8.96773562e-02 9.93275292e-01 -7.55102075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.343133365 meters Centerline goodness : 0.103840 with order 1 Centerline is valid? [False, False] Translation: X:-13.95, Y:-1.17, Z:-0.76 [[ 9.97272580e-01 -1.10335215e-02 -7.29771439e-02 -1.39496160e+01] [ 4.45972082e-03 9.95964534e-01 -8.96368154e-02 -1.17181867e+00] [ 7.36716568e-02 8.90668804e-02 9.93297326e-01 -7.56663675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.403133365 meters SLAMing on 155.463133365 meters Centerline goodness : 0.164822 with order 1 Centerline is valid? [False, False] Translation: X:-13.95, Y:-1.17, Z:-0.76 [[ 9.97273585e-01 -1.10003407e-02 -7.29684058e-02 -1.39494379e+01] [ 4.43323002e-03 9.95971765e-01 -8.95577410e-02 -1.17396909e+00] [ 7.36596376e-02 8.89900838e-02 9.93305101e-01 -7.57053413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52313336499998 meters Centerline goodness : 0.315401 with order 1 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.17, Z:-0.76 [[ 9.97009913e-01 -1.55410553e-02 -7.56948425e-02 -1.39710897e+01] [ 8.98510977e-03 9.96237963e-01 -8.61927392e-02 -1.17287713e+00] [ 7.67496019e-02 8.52548889e-02 9.93398763e-01 -7.58762172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58313336499998 meters SLAMing on 155.64313336499998 meters Centerline goodness : 0.103102 with order 1 Centerline is valid? [False, False] Translation: X:-14.02, Y:-1.17, Z:-0.76 [[ 9.97040347e-01 -1.07486330e-02 -7.61249851e-02 -1.40208285e+01] [ 4.29223649e-03 9.96416439e-01 -8.44739958e-02 -1.16979698e+00] [ 7.67601666e-02 8.38972357e-02 9.93513528e-01 -7.59727616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70313336499999 meters SLAMing on 155.763133365 meters Centerline goodness : 0.122303 with order 1 Centerline is valid? [False, False] Translation: X:-14.06, Y:-1.16, Z:-0.76 [[ 9.96791275e-01 -9.40004880e-03 -7.94908354e-02 -1.40633126e+01] [ 2.63780582e-03 9.96398748e-01 -8.47500846e-02 -1.16142447e+00] [ 8.00012238e-02 8.42684635e-02 9.93226374e-01 -7.63015308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823133365 meters Centerline goodness : 0.320991 with order 1 Centerline is valid? [False, False] Translation: X:-14.06, Y:-1.15, Z:-0.76 [[ 9.96786659e-01 -1.00322125e-02 -7.94714466e-02 -1.40640117e+01] [ 3.16880343e-03 9.96288133e-01 -8.60227609e-02 -1.15370152e+00] [ 8.00394577e-02 8.54945111e-02 9.93118509e-01 -7.61920375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883133365 meters Centerline goodness : 0.176141 with order 1 Centerline is valid? [False, False] Translation: X:-14.06, Y:-1.15, Z:-0.76 [[ 9.96790239e-01 -1.02373058e-02 -7.94003632e-02 -1.40647351e+01] [ 3.34324679e-03 9.96248155e-01 -8.64779577e-02 -1.15080139e+00] [ 7.99877666e-02 8.59349291e-02 9.93084662e-01 -7.61089001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.943133365 meters Centerline goodness : 0.127065 with order 1 Centerline is valid? [False, False] Translation: X:-14.07, Y:-1.15, Z:-0.76 [[ 9.96811231e-01 -1.08992603e-02 -7.90479339e-02 -1.40660687e+01] [ 3.99541100e-03 9.96202476e-01 -8.69750699e-02 -1.15057470e+00] [ 7.96957114e-02 8.63818976e-02 9.93069364e-01 -7.60459712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.003133365 meters Centerline goodness : 0.170141 with order 3 Centerline is valid? [False, False] Translation: X:-14.07, Y:-1.15, Z:-0.76 [[ 9.96793375e-01 -1.07913056e-02 -7.92875445e-02 -1.40655529e+01] [ 3.88055403e-03 9.96217955e-01 -8.68028118e-02 -1.15078465e+00] [ 7.99243911e-02 8.62167881e-02 9.93065334e-01 -7.60319141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.063133365 meters Centerline goodness : 0.234373 with order 1 Centerline is valid? [False, False] Translation: X:-14.06, Y:-1.15, Z:-0.76 [[ 9.96779236e-01 -1.07124674e-02 -7.94757630e-02 -1.40649213e+01] [ 3.78796797e-03 9.96221053e-01 -8.67713312e-02 -1.15049445e+00] [ 8.01049634e-02 8.61908096e-02 9.93053039e-01 -7.60561239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123133365 meters SLAMing on 156.183133365 meters Centerline goodness : 0.194102 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.15, Z:-0.76 [[ 9.96686049e-01 -6.76192344e-03 -8.10629098e-02 -1.41109775e+01] [-1.46385166e-04 9.96388247e-01 -8.49143105e-02 -1.15154386e+00] [ 8.13443147e-02 8.46447751e-02 9.93085276e-01 -7.63331110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24313336499998 meters SLAMing on 156.30313336499998 meters Centerline goodness : 0.267464 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.15, Z:-0.76 [[ 9.96694539e-01 -6.74411087e-03 -8.09599432e-02 -1.41114181e+01] [-1.64553545e-04 9.96378721e-01 -8.50259759e-02 -1.15103101e+00] [ 8.12401893e-02 8.47582481e-02 9.93084121e-01 -7.63119374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36313336499998 meters Centerline goodness : 0.230055 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.15, Z:-0.76 [[ 9.96685688e-01 -6.76753575e-03 -8.10668899e-02 -1.41109625e+01] [-1.48878662e-04 9.96380163e-01 -8.50091032e-02 -1.15134651e+00] [ 8.13487432e-02 8.47394256e-02 9.93076841e-01 -7.63390947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42313336499998 meters Centerline goodness : 0.305624 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.15, Z:-0.76 [[ 9.96712740e-01 -6.60136965e-03 -8.07473542e-02 -1.41118596e+01] [-2.94440535e-04 9.96373112e-01 -8.50913312e-02 -1.14949074e+00] [ 8.10162119e-02 8.48353892e-02 9.93095831e-01 -7.63174482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.483133365 meters Centerline goodness : 0.098792 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.15, Z:-0.76 [[ 9.96778830e-01 -3.20585197e-03 -8.01354286e-02 -1.41141534e+01] [-3.41119552e-03 9.96601743e-01 -8.23002417e-02 -1.14735883e+00] [ 8.01269502e-02 8.23084962e-02 9.93380583e-01 -7.62287330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.543133365 meters Centerline goodness : 0.250997 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.14, Z:-0.77 [[ 9.96594233e-01 -1.03071498e-02 -8.18150256e-02 -1.41314990e+01] [ 3.69576973e-03 9.96743519e-01 -8.05524642e-02 -1.14356790e+00] [ 8.23788628e-02 7.99757517e-02 9.93386935e-01 -7.66141110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.603133365 meters Centerline goodness : 0.182345 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.14, Z:-0.77 [[ 9.96539571e-01 -1.07979166e-02 -8.24153353e-02 -1.41296257e+01] [ 4.11695138e-03 9.96721194e-01 -8.08078661e-02 -1.14425000e+00] [ 8.30176680e-02 8.01889363e-02 9.93316567e-01 -7.66636879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.663133365 meters Centerline goodness : 0.118345 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.15, Z:-0.77 [[ 9.96614786e-01 -1.11342458e-02 -8.14554883e-02 -1.41326283e+01] [ 4.53639484e-03 9.96724849e-01 -8.07403089e-02 -1.14599828e+00] [ 8.20876917e-02 8.00974714e-02 9.93401231e-01 -7.65738705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.723133365 meters Centerline goodness : 0.169508 with order 3 Centerline is valid? [False, False] Translation: X:-14.16, Y:-1.15, Z:-0.77 [[ 9.96607404e-01 -1.96857758e-02 -7.99134081e-02 -1.41564866e+01] [ 1.32852654e-02 9.96718459e-01 -7.98487057e-02 -1.14884090e+00] [ 8.12230527e-02 7.85161404e-02 9.93598526e-01 -7.68364189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.783133365 meters Centerline goodness : 0.168931 with order 3 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.15, Z:-0.77 [[ 9.96555572e-01 -1.96980387e-02 -8.05542003e-02 -1.41542037e+01] [ 1.32728320e-02 9.96743800e-01 -7.95338201e-02 -1.15155369e+00] [ 8.18585600e-02 7.81906892e-02 9.93572037e-01 -7.69343065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.843133365 meters SLAMing on 156.903133365 meters Centerline goodness : 0.233772 with order 1 Centerline is valid? [False, False] Translation: X:-14.19, Y:-1.16, Z:-0.78 [[ 9.96226663e-01 -1.76368371e-02 -8.49786889e-02 -1.41915987e+01] [ 1.09227016e-02 9.96827738e-01 -7.88362576e-02 -1.16024793e+00] [ 8.60995364e-02 7.76105850e-02 9.93259013e-01 -7.75275268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.963133365 meters SLAMing on 157.02313336499998 meters Centerline goodness : 0.163668 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.18, Z:-0.78 [[ 9.96075991e-01 -2.05998643e-02 -8.60712812e-02 -1.42346343e+01] [ 1.37100654e-02 9.96709784e-01 -7.98851741e-02 -1.17861800e+00] [ 8.74337118e-02 7.83916611e-02 9.93081111e-01 -7.79862734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08313336499998 meters Centerline goodness : 0.299699 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.18, Z:-0.78 [[ 0.99598444 -0.0242978 -0.08616616 -14.23342366] [ 0.01717473 0.99644597 -0.08246486 -1.1848918 ] [ 0.08786363 0.08065384 0.99286199 -0.78103057] [ 0. 0. 0. 1. ]] SLAMing on 157.14313336499998 meters Centerline goodness : 0.098004 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:-1.20, Z:-0.78 [[ 0.99596535 -0.02758935 -0.08539227 -14.23524196] [ 0.0204056 0.99626654 -0.0838844 -1.19832067] [ 0.08738778 0.08180347 0.99280994 -0.78146159] [ 0. 0. 0. 1. ]] SLAMing on 157.20313336499999 meters Centerline goodness : 0.306663 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:-1.21, Z:-0.78 [[ 0.99590559 -0.03226307 -0.08444615 -14.23795668] [ 0.0249498 0.99595945 -0.08626869 -1.2145859 ] [ 0.08688823 0.08380856 0.99268654 -0.7812959 ] [ 0. 0. 0. 1. ]] SLAMing on 157.263133365 meters Centerline goodness : 0.134152 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:-1.23, Z:-0.78 [[ 0.9958468 -0.03435168 -0.08431559 -14.23783531] [ 0.02699553 0.99585248 -0.08688539 -1.22574969] [ 0.08695055 0.08424839 0.99264385 -0.78213601] [ 0. 0. 0. 1. ]] SLAMing on 157.323133365 meters Centerline goodness : 0.245254 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.25, Z:-0.79 [[ 0.99622218 -0.03275545 -0.08042668 -14.25418894] [ 0.02551443 0.99566313 -0.08946472 -1.24606834] [ 0.08300834 0.0870747 0.99273743 -0.78720748] [ 0. 0. 0. 1. ]] SLAMing on 157.383133365 meters Centerline goodness : 0.093266 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.25, Z:-0.79 [[ 0.99624032 -0.03253693 -0.0802906 -14.25454633] [ 0.02535598 0.99571871 -0.08888938 -1.24968868] [ 0.08283904 0.08651934 0.99280013 -0.78732725] [ 0. 0. 0. 1. ]] SLAMing on 157.443133365 meters Centerline goodness : 0.099415 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.26, Z:-0.79 [[ 0.99609484 -0.03153073 -0.08246745 -14.30064779] [ 0.02426263 0.99585178 -0.08769579 -1.26062017] [ 0.08489047 0.08535245 0.99272784 -0.79033745] [ 0. 0. 0. 1. ]] SLAMing on 157.503133365 meters Centerline goodness : 0.096011 with order 1 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.27, Z:-0.80 [[ 0.99614674 -0.02412771 -0.08431801 -14.31618643] [ 0.01658989 0.99589515 -0.08898102 -1.27116178] [ 0.0861188 0.08723932 0.99245799 -0.79553137] [ 0. 0. 0. 1. ]] SLAMing on 157.563133365 meters Centerline goodness : 0.177607 with order 2 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.28, Z:-0.80 [[ 0.99605304 -0.0244374 -0.08532963 -14.31289643] [ 0.01684579 0.99592654 -0.08858068 -1.27667397] [ 0.08714673 0.08679362 0.99240733 -0.79689687] [ 0. 0. 0. 1. ]] SLAMing on 157.623133365 meters Centerline goodness : 0.101920 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.28, Z:-0.80 [[ 0.99604986 -0.02465483 -0.08530427 -14.3131206 ] [ 0.01710106 0.99595823 -0.08817459 -1.2809865 ] [ 0.08713341 0.08636749 0.99244568 -0.79696154] [ 0. 0. 0. 1. ]] SLAMing on 157.683133365 meters Centerline goodness : 0.091548 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.29, Z:-0.80 [[ 0.99595701 -0.02843719 -0.08521125 -14.3125548 ] [ 0.02066377 0.99565867 -0.09075693 -1.28757218] [ 0.0874222 0.08862922 0.99222085 -0.797988 ] [ 0. 0. 0. 1. ]] SLAMing on 157.74313336499998 meters Centerline goodness : 0.245738 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.29, Z:-0.80 [[ 0.99594654 -0.0287104 -0.08524199 -14.31156024] [ 0.02097752 0.99569684 -0.0902649 -1.2926662 ] [ 0.08746672 0.08811085 0.9922631 -0.79938067] [ 0. 0. 0. 1. ]] SLAMing on 157.80313336499998 meters Centerline goodness : 0.092762 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.30, Z:-0.80 [[ 0.99597082 -0.02861991 -0.08498836 -14.31238496] [ 0.0209517 0.99574072 -0.08978556 -1.29596209] [ 0.08719602 0.08764315 0.99232834 -0.79939155] [ 0. 0. 0. 1. ]] SLAMing on 157.86313336499998 meters Centerline goodness : 0.096939 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.30, Z:-0.80 [[ 0.99597587 -0.02855103 -0.08495235 -14.31236004] [ 0.0209294 0.99578561 -0.08929155 -1.29951874] [ 0.0871437 0.08715422 0.992376 -0.7997639 ] [ 0. 0. 0. 1. ]] SLAMing on 157.92313336499998 meters Centerline goodness : 0.141752 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.30, Z:-0.80 [[ 0.99595235 -0.02837393 -0.08528682 -14.31113726] [ 0.02078671 0.99585321 -0.08856808 -1.30400823] [ 0.08744617 0.08643675 0.99241214 -0.80066772] [ 0. 0. 0. 1. ]] SLAMing on 157.983133365 meters Centerline goodness : 0.096943 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.31, Z:-0.80 [[ 0.99598259 -0.02844702 -0.08490852 -14.31221024] [ 0.02092688 0.9958848 -0.08817899 -1.30758887] [ 0.08706753 0.08604787 0.99247922 -0.80071606] [ 0. 0. 0. 1. ]] SLAMing on 158.043133365 meters SLAMing on 158.103133365 meters Centerline goodness : 0.260883 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.32, Z:-0.80 [[ 0.99596273 -0.03085542 -0.08429817 -14.31418744] [ 0.02330305 0.99574557 -0.08915001 -1.31721049] [ 0.08669029 0.08682568 0.9924445 -0.8008246 ] [ 0. 0. 0. 1. ]] SLAMing on 158.163133365 meters Centerline goodness : 0.137332 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.32, Z:-0.80 [[ 0.99637494 -0.02530822 -0.08121871 -14.33872107] [ 0.01783286 0.99564728 -0.09147941 -1.32473428] [ 0.08318037 0.08969942 0.99248931 -0.80345648] [ 0. 0. 0. 1. ]] SLAMing on 158.223133365 meters Centerline goodness : 0.091823 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.33, Z:-0.80 [[ 0.99606785 -0.0235099 -0.08541736 -14.29613788] [ 0.01578273 0.99581328 -0.09003785 -1.32621991] [ 0.08717652 0.08833569 0.99226864 -0.79918718] [ 0. 0. 0. 1. ]] SLAMing on 158.283133365 meters Centerline goodness : 0.347336 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.32, Z:-0.80 [[ 0.99603066 -0.02340412 -0.08587887 -14.29414821] [ 0.01562329 0.99580287 -0.09018066 -1.32466741] [ 0.08762902 0.08848099 0.99221584 -0.80024683] [ 0. 0. 0. 1. ]] SLAMing on 158.343133365 meters Centerline goodness : 0.130220 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.99602581 -0.02339846 -0.08593659 -14.29405304] [ 0.01561355 0.99580411 -0.09016867 -1.32516894] [ 0.08768581 0.08846855 0.99221193 -0.80025233] [ 0. 0. 0. 1. ]] SLAMing on 158.403133365 meters SLAMing on 158.463133365 meters Centerline goodness : 0.148850 with order 2 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.99585272 -0.0265443 -0.08702164 -14.28882752] [ 0.01849133 0.99558054 -0.0920731 -1.33098908] [ 0.08908107 0.0900821 0.99194243 -0.80361834] [ 0. 0. 0. 1. ]] SLAMing on 158.52313336499998 meters Centerline goodness : 0.125390 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.80 [[ 0.99586893 -0.02712005 -0.08665779 -14.28965788] [ 0.01911736 0.9955867 -0.0918784 -1.33507419] [ 0.08876709 0.08984217 0.99199233 -0.80406231] [ 0. 0. 0. 1. ]] SLAMing on 158.58313336499998 meters Centerline goodness : 0.225115 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.80 [[ 0.99589048 -0.02700417 -0.08644611 -14.29073879] [ 0.01903588 0.99560396 -0.09170817 -1.33528539] [ 0.08854259 0.08968572 0.99202655 -0.80337669] [ 0. 0. 0. 1. ]] SLAMing on 158.64313336499998 meters Centerline goodness : 0.139696 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.99591942 -0.02707812 -0.0860888 -14.29158107] [ 0.01912437 0.99558388 -0.09190753 -1.33390428] [ 0.0881973 0.0898861 0.99203918 -0.80333506] [ 0. 0. 0. 1. ]] SLAMing on 158.70313336499999 meters Centerline goodness : 0.131149 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.99590517 -0.02716019 -0.08622775 -14.2908749 ] [ 0.01917685 0.99556526 -0.09209814 -1.33263269] [ 0.08834675 0.09006744 0.99200943 -0.8037386 ] [ 0. 0. 0. 1. ]] SLAMing on 158.763133365 meters Centerline goodness : 0.108144 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.99589008 -0.02733572 -0.08634639 -14.29023127] [ 0.01931226 0.99553221 -0.09242653 -1.33085721] [ 0.08848716 0.09037912 0.99196857 -0.80408644] [ 0. 0. 0. 1. ]] SLAMing on 158.823133365 meters Centerline goodness : 0.126856 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.99595815 -0.02785566 -0.08538989 -14.29328354] [ 0.01988361 0.99548356 -0.09282842 -1.33055534] [ 0.08759002 0.09075537 0.99201384 -0.8032356 ] [ 0. 0. 0. 1. ]] SLAMing on 158.883133365 meters Centerline goodness : 0.125479 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.80 [[ 0.9959328 -0.02815783 -0.08558622 -14.29218015] [ 0.02016609 0.9954762 -0.09284648 -1.33173806] [ 0.0878134 0.09074292 0.99199523 -0.80416855] [ 0. 0. 0. 1. ]] SLAMing on 158.943133365 meters Centerline goodness : 0.138938 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.81 [[ 0.99590961 -0.02902905 -0.085565 -14.29168791] [ 0.02101056 0.9954289 -0.09316581 -1.33352125] [ 0.08787838 0.09098696 0.99196712 -0.80505185] [ 0. 0. 0. 1. ]] SLAMing on 159.003133365 meters Centerline goodness : 0.138288 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.33, Z:-0.81 [[ 0.99587581 -0.02893946 -0.08598771 -14.29009978] [ 0.02090973 0.99545986 -0.09285718 -1.33478093] [ 0.08828455 0.09067624 0.9919595 -0.80592099] [ 0. 0. 0. 1. ]] SLAMing on 159.063133365 meters Centerline goodness : 0.133698 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.81 [[ 0.99588549 -0.02890391 -0.08588746 -14.29038986] [ 0.02089311 0.99547044 -0.09274742 -1.33549796] [ 0.08817919 0.09057135 0.99197846 -0.8059584 ] [ 0. 0. 0. 1. ]] SLAMing on 159.123133365 meters Centerline goodness : 0.131135 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.81 [[ 0.9959005 -0.02878369 -0.08575369 -14.29071741] [ 0.02079892 0.99548685 -0.0925923 -1.3357247 ] [ 0.08803182 0.09042913 0.99200452 -0.80601877] [ 0. 0. 0. 1. ]] SLAMing on 159.183133365 meters Centerline goodness : 0.132809 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.81 [[ 0.99585715 -0.02864084 -0.08630317 -14.28870269] [ 0.02064106 0.99552653 -0.09220016 -1.33787056] [ 0.08855778 0.09003679 0.99199339 -0.80709627] [ 0. 0. 0. 1. ]] SLAMing on 159.24313336499998 meters Centerline goodness : 0.131245 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.81 [[ 0.99584626 -0.02848658 -0.08647967 -14.28809802] [ 0.02049186 0.99555136 -0.09196511 -1.33854263] [ 0.08871472 0.08981098 0.99199984 -0.80737578] [ 0. 0. 0. 1. ]] SLAMing on 159.30313336499998 meters Centerline goodness : 0.131027 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.34, Z:-0.81 [[ 0.9958368 -0.02834666 -0.08663444 -14.28778814] [ 0.02035832 0.99557505 -0.09173797 -1.33941554] [ 0.08885155 0.08959232 0.99200737 -0.80738531] [ 0. 0. 0. 1. ]] SLAMing on 159.36313336499998 meters Centerline goodness : 0.125352 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.34, Z:-0.81 [[ 9.96051314e-01 -1.96630875e-02 -8.65744955e-02 -1.43088687e+01] [ 1.16400787e-02 9.95670678e-01 -9.22193528e-02 -1.34319802e+00] [ 8.80130039e-02 9.08474736e-02 9.91967967e-01 -8.10202035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42313336499998 meters Centerline goodness : 0.121009 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.34, Z:-0.81 [[ 9.96095714e-01 -1.97018753e-02 -8.60532690e-02 -1.43103774e+01] [ 1.17332971e-02 9.95676649e-01 -9.21430446e-02 -1.34440045e+00] [ 8.74966213e-02 9.07736032e-02 9.92020410e-01 -8.09990012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.483133365 meters Centerline goodness : 0.202799 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.35, Z:-0.81 [[ 0.99597104 -0.02822129 -0.08511907 -14.28963416] [ 0.02043035 0.9956367 -0.09105032 -1.34549713] [ 0.08731723 0.08894447 0.99220189 -0.80762355] [ 0. 0. 0. 1. ]] SLAMing on 159.543133365 meters Centerline goodness : 0.122709 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.35, Z:-0.81 [[ 0.99594207 -0.0283824 -0.08540393 -14.28875863] [ 0.02062046 0.99568912 -0.09043219 -1.35044294] [ 0.08760245 0.08830415 0.99223394 -0.808411 ] [ 0. 0. 0. 1. ]] SLAMing on 159.603133365 meters Centerline goodness : 0.124208 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.36, Z:-0.81 [[ 0.99584431 -0.0323496 -0.08513296 -14.28915505] [ 0.02437831 0.99536193 -0.09306092 -1.35814114] [ 0.08774859 0.09059879 0.99201414 -0.80923421] [ 0. 0. 0. 1. ]] SLAMing on 159.663133365 meters Centerline goodness : 0.134235 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.36, Z:-0.81 [[ 0.99589026 -0.03216225 -0.08466507 -14.290172 ] [ 0.02430396 0.99543802 -0.092263 -1.36281696] [ 0.08724622 0.08982612 0.9921287 -0.8099501 ] [ 0. 0. 0. 1. ]] SLAMing on 159.723133365 meters Centerline goodness : 0.138050 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.37, Z:-0.81 [[ 0.99618157 -0.02461327 -0.08376432 -14.31037469] [ 0.01677502 0.99552254 -0.09302408 -1.37279636] [ 0.08567889 0.09126373 0.99213409 -0.81464292] [ 0. 0. 0. 1. ]] SLAMing on 159.783133365 meters Centerline goodness : 0.151239 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.38, Z:-0.81 [[ 9.96233665e-01 -1.69556341e-02 -8.50352407e-02 -1.42921108e+01] [ 9.00438492e-03 9.95622468e-01 -9.30312986e-02 -1.38153851e+00] [ 8.62404009e-02 9.19152215e-02 9.92025295e-01 -8.12714043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.843133365 meters Centerline goodness : 0.127058 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.39, Z:-0.81 [[ 9.96252620e-01 -1.67773042e-02 -8.48483249e-02 -1.42919994e+01] [ 8.90131827e-03 9.95685493e-01 -9.23643078e-02 -1.38646616e+00] [ 8.60318703e-02 9.12629217e-02 9.92103622e-01 -8.13971154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.903133365 meters Centerline goodness : 0.124298 with order 2 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.39, Z:-0.81 [[ 9.96216415e-01 -1.65770396e-02 -8.53115296e-02 -1.42903280e+01] [ 8.70303464e-03 9.95734433e-01 -9.18542100e-02 -1.38912950e+00] [ 8.64702984e-02 9.07642026e-02 9.92111257e-01 -8.14999250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.963133365 meters Centerline goodness : 0.128997 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.39, Z:-0.82 [[ 9.96203610e-01 -1.60664395e-02 -8.55583879e-02 -1.42896013e+01] [ 8.25771428e-03 9.95830242e-01 -9.08511920e-02 -1.39372996e+00] [ 8.66612853e-02 8.97997686e-02 9.92182354e-01 -8.15668345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02313336499998 meters Centerline goodness : 0.137600 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.40, Z:-0.82 [[ 9.96240663e-01 -1.61372223e-02 -8.51124644e-02 -1.42912973e+01] [ 8.43372107e-03 9.95896635e-01 -9.01041879e-02 -1.40183565e+00] [ 8.62172482e-02 8.90476411e-02 9.92288821e-01 -8.15874203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08313336499998 meters Centerline goodness : 0.137198 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.41, Z:-0.82 [[ 9.96260341e-01 -1.57853990e-02 -8.49479530e-02 -1.42919655e+01] [ 8.16844950e-03 9.95973303e-01 -8.92774160e-02 -1.40618860e+00] [ 8.60151729e-02 8.82496558e-02 9.92377644e-01 -8.16041799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14313336499998 meters Centerline goodness : 0.261478 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.41, Z:-0.82 [[ 9.96266007e-01 -1.55201464e-02 -8.49303792e-02 -1.42920314e+01] [ 7.95107441e-03 9.96022761e-01 -8.87436749e-02 -1.40888634e+00] [ 8.59699056e-02 8.77370188e-02 9.92427020e-01 -8.16316858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20313336499999 meters Centerline goodness : 0.130677 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.41, Z:-0.82 [[ 9.96275191e-01 -1.50964392e-02 -8.48990056e-02 -1.42922237e+01] [ 7.60430338e-03 9.96101337e-01 -8.78880073e-02 -1.41337982e+00] [ 8.58948089e-02 8.69150435e-02 9.92505847e-01 -8.16662114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.263133365 meters Centerline goodness : 0.124730 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.42, Z:-0.82 [[ 9.96282328e-01 -1.48502728e-02 -8.48586628e-02 -1.42925613e+01] [ 7.41678551e-03 9.96158736e-01 -8.72511585e-02 -1.41715310e+00] [ 8.58284018e-02 8.62974088e-02 9.92565485e-01 -8.16773674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.323133365 meters Centerline goodness : 0.247695 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.42, Z:-0.82 [[ 9.96364450e-01 -1.51521896e-02 -8.38349168e-02 -1.42958541e+01] [ 7.82957684e-03 9.96178034e-01 -8.69943781e-02 -1.42173190e+00] [ 8.48326579e-02 8.60217137e-02 9.92675015e-01 -8.16336777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.383133365 meters Centerline goodness : 0.170360 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.42, Z:-0.82 [[ 9.96371386e-01 -1.15842937e-02 -8.43200226e-02 -1.42946359e+01] [ 4.53571818e-03 9.96513414e-01 -8.33093259e-02 -1.42420960e+00] [ 8.49911132e-02 8.26245766e-02 9.92949994e-01 -8.16880834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.443133365 meters Centerline goodness : 0.130135 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.42, Z:-0.82 [[ 9.96352136e-01 -1.14015570e-02 -8.45720138e-02 -1.42938344e+01] [ 4.35156099e-03 9.96533280e-01 -8.30811942e-02 -1.42473485e+00] [ 8.52260813e-02 8.24101050e-02 9.92947677e-01 -8.17128342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.503133365 meters Centerline goodness : 0.133387 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.42, Z:-0.82 [[ 9.96405665e-01 -1.13421943e-02 -8.39470393e-02 -1.42958286e+01] [ 4.32867886e-03 9.96518304e-01 -8.32618302e-02 -1.42339730e+00] [ 8.45991331e-02 8.25991795e-02 9.92985580e-01 -8.16323916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.563133365 meters Centerline goodness : 0.132621 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.42, Z:-0.82 [[ 9.96360556e-01 -1.13731401e-02 -8.44765884e-02 -1.42938688e+01] [ 4.30199384e-03 9.96505173e-01 -8.34202246e-02 -1.42211827e+00] [ 8.51301072e-02 8.27532036e-02 9.92927375e-01 -8.17111133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.623133365 meters Centerline goodness : 0.130806 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.42, Z:-0.82 [[ 9.96343317e-01 -1.13761610e-02 -8.46792648e-02 -1.42927344e+01] [ 4.29532803e-03 9.96512218e-01 -8.33363637e-02 -1.42231494e+00] [ 8.53319699e-02 8.26679038e-02 9.92917153e-01 -8.18061125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.683133365 meters Centerline goodness : 0.243474 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.42, Z:-0.82 [[ 9.96284866e-01 -1.15252536e-02 -8.53442086e-02 -1.42902925e+01] [ 4.40659193e-03 9.96528616e-01 -8.31342200e-02 -1.42425804e+00] [ 8.60060891e-02 8.24492881e-02 9.92877166e-01 -8.19398194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74313336499998 meters Centerline goodness : 0.135800 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.43, Z:-0.82 [[ 9.96222073e-01 -1.15638360e-02 -8.60689222e-02 -1.42878693e+01] [ 4.42731862e-03 9.96568831e-01 -8.26496465e-02 -1.42768689e+00] [ 8.67293522e-02 8.19563476e-02 9.92855063e-01 -8.20653536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80313336499998 meters Centerline goodness : 0.124283 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.43, Z:-0.82 [[ 9.96243321e-01 -1.14641813e-02 -8.58359981e-02 -1.42891143e+01] [ 4.35327543e-03 9.96575258e-01 -8.25760523e-02 -1.42777435e+00] [ 8.64886988e-02 8.18921728e-02 9.92881351e-01 -8.19824731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86313336499998 meters Centerline goodness : 0.130796 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.42, Z:-0.82 [[ 9.96178034e-01 -8.54062441e-03 -8.69274567e-02 -1.43373682e+01] [ 1.49435112e-03 9.96728926e-01 -8.08035562e-02 -1.41985989e+00] [ 8.73332234e-02 8.03648276e-02 9.92932225e-01 -8.21014703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92313336499998 meters Centerline goodness : 0.123207 with order 3 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.42, Z:-0.82 [[ 9.96220904e-01 -4.55792646e-03 -8.67360093e-02 -1.43378106e+01] [-2.18108415e-03 9.96994420e-01 -7.74426785e-02 -1.41747047e+00] [ 8.68282953e-02 7.73391937e-02 9.93216742e-01 -8.20939936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.983133365 meters Centerline goodness : 0.139065 with order 3 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.41, Z:-0.82 [[ 9.96198422e-01 -1.11391432e-03 -8.71060466e-02 -1.43368956e+01] [-5.41618048e-03 9.97191726e-01 -7.46948902e-02 -1.41372387e+00] [ 8.69446326e-02 7.48827138e-02 9.93394791e-01 -8.20692860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.043133365 meters Centerline goodness : 0.248680 with order 3 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.41, Z:-0.82 [[ 9.96206554e-01 -1.44806996e-03 -8.70080744e-02 -1.43372074e+01] [-5.14195347e-03 9.97134929e-01 -7.54685002e-02 -1.40958598e+00] [ 8.68680738e-02 7.56296060e-02 9.93344905e-01 -8.20205262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.103133365 meters Centerline goodness : 0.128603 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.40, Z:-0.82 [[ 9.96262341e-01 1.97992664e-03 -8.63564024e-02 -1.43392490e+01] [-8.31105926e-03 9.97296120e-01 -7.30162677e-02 -1.40354064e+00] [ 8.59783382e-02 7.34610710e-02 9.93585022e-01 -8.19132837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.163133365 meters Centerline goodness : 0.135545 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.39, Z:-0.82 [[ 9.96280531e-01 -5.66296807e-03 -8.59827557e-02 -1.43580046e+01] [-5.57401456e-04 9.97393737e-01 -7.21486193e-02 -1.39405740e+00] [ 8.61672374e-02 7.19281916e-02 9.93680805e-01 -8.21632535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.223133365 meters Centerline goodness : 0.125614 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.39, Z:-0.82 [[ 9.96317581e-01 -1.91300367e-03 -8.57182535e-02 -1.43586084e+01] [-4.03608745e-03 9.97596319e-01 -6.91758181e-02 -1.39011963e+00] [ 8.56445478e-02 6.92670501e-02 9.93915030e-01 -8.21419509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283133365 meters Centerline goodness : 0.133116 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.38, Z:-0.82 [[ 9.96347591e-01 1.56713451e-03 -8.53757741e-02 -1.43595097e+01] [-7.30251800e-03 9.97732470e-01 -6.69073316e-02 -1.38198413e+00] [ 8.50773292e-02 6.72864168e-02 9.94099787e-01 -8.20638351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343133365 meters Centerline goodness : 0.138560 with order 3 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.38, Z:-0.82 [[ 9.96326106e-01 1.26635726e-03 -8.56311136e-02 -1.43585791e+01] [-7.09026375e-03 9.97677698e-01 -6.77417147e-02 -1.37637254e+00] [ 8.53464671e-02 6.80999860e-02 9.94021314e-01 -8.20553695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403133365 meters Centerline goodness : 0.152542 with order 3 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.37, Z:-0.82 [[ 9.96267434e-01 -9.95181450e-03 -8.57447418e-02 -1.43507600e+01] [ 4.53842852e-03 9.97996965e-01 -6.30988212e-02 -1.36993534e+00] [ 8.62009398e-02 6.24741543e-02 9.94317041e-01 -8.22475877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463133365 meters Centerline goodness : 0.137369 with order 3 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.37, Z:-0.82 [[ 9.96239963e-01 -1.01655886e-02 -8.60383484e-02 -1.43499387e+01] [ 4.71609038e-03 9.97983032e-01 -6.33058083e-02 -1.36949802e+00] [ 8.65083527e-02 6.26620115e-02 9.94278521e-01 -8.22620064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52313336499998 meters Centerline goodness : 0.133339 with order 1 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.37, Z:-0.82 [[ 9.96258826e-01 -1.01390814e-02 -8.58227841e-02 -1.43507447e+01] [ 4.70230626e-03 9.97982483e-01 -6.33154889e-02 -1.36868085e+00] [ 8.62915961e-02 6.26750496e-02 9.94296535e-01 -8.22245215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58313336499998 meters Centerline goodness : 0.132612 with order 3 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.37, Z:-0.82 [[ 9.96249918e-01 -1.01321288e-02 -8.59269563e-02 -1.43504198e+01] [ 4.68671865e-03 9.97981063e-01 -6.33390248e-02 -1.36815755e+00] [ 8.63952343e-02 6.26987828e-02 9.94286038e-01 -8.22323527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64313336499998 meters Centerline goodness : 0.131217 with order 1 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.37, Z:-0.82 [[ 9.96222756e-01 -1.00674324e-02 -8.62488666e-02 -1.43493822e+01] [ 4.61273740e-03 9.97989524e-01 -6.32110111e-02 -1.36846268e+00] [ 8.67118380e-02 6.25744043e-02 9.94266313e-01 -8.22752840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70313336499999 meters Centerline goodness : 0.125831 with order 1 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.37, Z:-0.82 [[ 9.96262972e-01 -1.02177681e-02 -8.57653081e-02 -1.43511999e+01] [ 4.82538053e-03 9.98011501e-01 -6.28471141e-02 -1.37173951e+00] [ 8.62369211e-02 6.21984024e-02 9.94331208e-01 -8.22330417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.763133365 meters Centerline goodness : 0.167811 with order 3 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.38, Z:-0.82 [[ 9.96323980e-01 -1.05013116e-02 -8.50191084e-02 -1.43534365e+01] [ 5.18016508e-03 9.98027262e-01 -6.25679649e-02 -1.37564675e+00] [ 8.55084337e-02 6.18975508e-02 9.94412893e-01 -8.22225108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.823133365 meters Centerline goodness : 0.125126 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.82 [[ 9.96246303e-01 -1.14043892e-02 -8.58093437e-02 -1.44018403e+01] [ 6.03024911e-03 9.98018640e-01 -6.26293059e-02 -1.37830387e+00] [ 8.63535735e-02 6.18767628e-02 9.94341152e-01 -8.24519114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.883133365 meters Centerline goodness : 0.123507 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.82 [[ 9.96284739e-01 -1.12164533e-02 -8.53868240e-02 -1.44032628e+01] [ 5.90160306e-03 9.98043504e-01 -6.22441622e-02 -1.38064098e+00] [ 8.59179237e-02 6.15089898e-02 9.94401707e-01 -8.24159547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943133365 meters Centerline goodness : 0.134893 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.82 [[ 9.96269648e-01 -1.10883819e-02 -8.55794179e-02 -1.44024292e+01] [ 5.76681101e-03 9.98048209e-01 -6.21813172e-02 -1.38053446e+00] [ 8.61018750e-02 6.14558387e-02 9.94389082e-01 -8.24596255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003133365 meters Centerline goodness : 0.249302 with order 3 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.83 [[ 9.96236864e-01 -1.10370797e-02 -8.59668124e-02 -1.44009494e+01] [ 5.69032412e-03 9.98047856e-01 -6.21940361e-02 -1.38019849e+00] [ 8.64854333e-02 6.14708125e-02 9.94354871e-01 -8.25269107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063133365 meters Centerline goodness : 0.244942 with order 3 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.83 [[ 9.96210697e-01 -1.07844119e-02 -8.63014665e-02 -1.43994597e+01] [ 5.44305539e-03 9.98068170e-01 -6.18894268e-02 -1.38070992e+00] [ 8.68021878e-02 6.11851653e-02 9.94344888e-01 -8.26178517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123133365 meters Centerline goodness : 0.134543 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.83 [[ 9.96170195e-01 -1.07770307e-02 -8.67686478e-02 -1.43974822e+01] [ 5.41682768e-03 9.98075349e-01 -6.17758436e-02 -1.38189176e+00] [ 8.72674086e-02 6.10692434e-02 9.94311293e-01 -8.27294373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183133365 meters Centerline goodness : 0.134605 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.38, Z:-0.83 [[ 9.96166282e-01 -1.03984141e-02 -8.68597214e-02 -1.43974942e+01] [ 5.07676695e-03 9.98108637e-01 -6.12647930e-02 -1.38373066e+00] [ 8.73324948e-02 6.05889545e-02 9.94334961e-01 -8.27147146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24313336499998 meters Centerline goodness : 0.225672 with order 3 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.39, Z:-0.83 [[ 9.96149086e-01 -1.02908753e-02 -8.70694945e-02 -1.43964677e+01] [ 4.97288817e-03 9.98120771e-01 -6.10753332e-02 -1.38517589e+00] [ 8.75343897e-02 6.04071505e-02 9.94328269e-01 -8.27862255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30313336499998 meters Centerline goodness : 0.131328 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-1.39, Z:-0.83 [[ 9.96124145e-01 -9.65628404e-03 -8.74267952e-02 -1.43951306e+01] [ 4.40547373e-03 9.98185385e-01 -6.00543899e-02 -1.38900828e+00] [ 8.78480515e-02 5.94364714e-02 9.94359103e-01 -8.28822983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36313336499998 meters Centerline goodness : 0.127736 with order 3 Centerline is valid? [False, False] Translation: X:-14.39, Y:-1.39, Z:-0.83 [[ 9.96115825e-01 -9.45075935e-03 -8.75439632e-02 -1.43946870e+01] [ 4.24994855e-03 9.98224921e-01 -5.94049242e-02 -1.39301218e+00] [ 8.79499874e-02 5.88021278e-02 9.94387806e-01 -8.29347121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42313336499998 meters Centerline goodness : 0.130833 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.40, Z:-0.83 [[ 9.96199434e-01 -9.98897104e-03 -8.65269257e-02 -1.44456160e+01] [ 4.85907540e-03 9.98228640e-01 -5.92956327e-02 -1.39549018e+00] [ 8.69659577e-02 5.86498349e-02 9.94483343e-01 -8.30740560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.483133365 meters Centerline goodness : 0.429139 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.40, Z:-0.83 [[ 9.96262309e-01 -9.73360487e-03 -8.58293013e-02 -1.44476582e+01] [ 4.66294767e-03 9.98242236e-01 -5.90821130e-02 -1.39558780e+00] [ 8.62535156e-02 5.84610647e-02 9.94556502e-01 -8.30264588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.543133365 meters Centerline goodness : 0.136089 with order 3 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.39, Z:-0.83 [[ 9.96341719e-01 -9.76166102e-03 -8.48992880e-02 -1.44508736e+01] [ 4.72772973e-03 9.98229420e-01 -5.92931104e-02 -1.39484689e+00] [ 8.53277663e-02 5.86748186e-02 9.94623767e-01 -8.28980362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.603133365 meters Centerline goodness : 0.131210 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.40, Z:-0.83 [[ 9.96420585e-01 -6.35741938e-03 -8.42947322e-02 -1.44526892e+01] [ 1.63374699e-03 9.98430074e-01 -5.59885470e-02 -1.39525868e+00] [ 8.45183384e-02 5.56504244e-02 9.94866665e-01 -8.28759890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.663133365 meters Centerline goodness : 0.231150 with order 3 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.40, Z:-0.83 [[ 9.96325073e-01 -6.84114210e-03 -8.53788535e-02 -1.44489499e+01] [ 2.02787958e-03 9.98409851e-01 -5.63352187e-02 -1.39516253e+00] [ 8.56284857e-02 5.59550529e-02 9.94754640e-01 -8.30289726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.723133365 meters Centerline goodness : 0.123730 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.39, Z:-0.83 [[ 9.96282068e-01 -3.41958397e-03 -8.60833762e-02 -1.44468104e+01] [-1.16937748e-03 9.98583110e-01 -5.32015450e-02 -1.39389973e+00] [ 8.61433327e-02 5.31044093e-02 9.94866447e-01 -8.30857967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783133365 meters Centerline goodness : 0.123498 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.39, Z:-0.83 [[ 9.96304835e-01 -3.70105125e-03 -8.58078015e-02 -1.44473133e+01] [-9.26521532e-04 9.98549843e-01 -5.38270640e-02 -1.39058467e+00] [ 8.58825834e-02 5.37076669e-02 9.94856607e-01 -8.30918566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843133365 meters Centerline goodness : 0.125076 with order 2 Centerline is valid? [False, False] Translation: X:-14.47, Y:-1.39, Z:-0.83 [[ 9.96285016e-01 -1.16767078e-02 -8.53218659e-02 -1.44671557e+01] [ 7.19998115e-03 9.98590272e-01 -5.25892565e-02 -1.38504416e+00] [ 8.58156546e-02 5.17795724e-02 9.94964597e-01 -8.34082468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903133365 meters Centerline goodness : 0.137042 with order 1 Centerline is valid? [False, False] Translation: X:-14.46, Y:-1.39, Z:-0.84 [[ 9.96232872e-01 -1.19538683e-02 -8.58904570e-02 -1.44649978e+01] [ 7.44555203e-03 9.98586902e-01 -5.26190312e-02 -1.38591464e+00] [ 8.63980863e-02 5.17813067e-02 9.94914100e-01 -8.35287533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963133365 meters Centerline goodness : 0.130753 with order 3 Centerline is valid? [False, False] Translation: X:-14.46, Y:-1.39, Z:-0.84 [[ 9.96222793e-01 -8.65170818e-03 -8.64019355e-02 -1.44631166e+01] [ 4.38835042e-03 9.98768846e-01 -4.94118779e-02 -1.38558607e+00] [ 8.67230586e-02 4.88460771e-02 9.95034257e-01 -8.36205835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02313336499998 meters Centerline goodness : 0.204349 with order 3 Centerline is valid? [False, False] Translation: X:-14.46, Y:-1.38, Z:-0.84 [[ 9.96242314e-01 -5.33736494e-03 -8.64451515e-02 -1.44634001e+01] [ 1.31431595e-03 9.98916077e-01 -4.65289541e-02 -1.38437804e+00] [ 8.65997936e-02 4.62404967e-02 9.95169479e-01 -8.35823768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08313336499998 meters Centerline goodness : 0.140231 with order 1 Centerline is valid? [False, False] Translation: X:-14.46, Y:-1.38, Z:-0.84 [[ 9.96278247e-01 -1.58824984e-03 -8.61808106e-02 -1.44641398e+01] [-2.15033931e-03 9.99061075e-01 -4.32705940e-02 -1.38309684e+00] [ 8.61686178e-02 4.32948695e-02 9.95339401e-01 -8.35783055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14313336499998 meters Centerline goodness : 0.091686 with order 1 Centerline is valid? [False, False] Translation: X:-14.47, Y:-1.38, Z:-0.83 [[ 9.96394238e-01 4.45179735e-04 -8.48429333e-02 -1.44690388e+01] [-4.00750598e-03 9.99117056e-01 -4.18216234e-02 -1.37940072e+00] [ 8.47494036e-02 4.20108332e-02 9.95516262e-01 -8.34098049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20313336499999 meters Centerline goodness : 0.151621 with order 3 Centerline is valid? [False, False] Translation: X:-14.47, Y:-1.37, Z:-0.83 [[ 9.96407930e-01 1.71746512e-04 -8.46829813e-02 -1.44693300e+01] [-3.79118037e-03 9.99085781e-01 -4.25820234e-02 -1.37467826e+00] [ 8.45982492e-02 4.27501142e-02 9.95497646e-01 -8.33938844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.263133365 meters Centerline goodness : 0.140430 with order 1 Centerline is valid? [False, False] Translation: X:-14.47, Y:-1.37, Z:-0.83 [[ 9.96398899e-01 1.71355174e-05 -8.47893536e-02 -1.44693191e+01] [-3.68217348e-03 9.99065314e-01 -4.30690168e-02 -1.37135578e+00] [ 8.47093642e-02 4.32261300e-02 9.95467642e-01 -8.33411838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.323133365 meters Centerline goodness : 0.124715 with order 1 Centerline is valid? [False, False] Translation: X:-14.47, Y:-1.37, Z:-0.83 [[ 9.96482471e-01 1.65671461e-03 -8.37850830e-02 -1.44740019e+01] [-5.19235447e-03 9.99104176e-01 -4.19986423e-02 -1.36687585e+00] [ 8.36404465e-02 4.22859527e-02 9.95598400e-01 -8.31031255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.383133365 meters Centerline goodness : 0.136517 with order 1 Centerline is valid? [False, False] Translation: X:-14.48, Y:-1.37, Z:-0.83 [[ 9.96527482e-01 1.53842291e-03 -8.32502961e-02 -1.44758763e+01] [-5.06907781e-03 9.99095674e-01 -4.22153895e-02 -1.36566660e+00] [ 8.31100655e-02 4.24907980e-02 9.95634094e-01 -8.30295835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.443133365 meters Centerline goodness : 0.126367 with order 1 Centerline is valid? [False, False] Translation: X:-14.48, Y:-1.37, Z:-0.83 [[ 9.96601709e-01 1.05480562e-03 -8.23645622e-02 -1.44785060e+01] [-4.57079652e-03 9.99085532e-01 -4.25112754e-02 -1.36619874e+00] [ 8.22444013e-02 4.27432814e-02 9.95695169e-01 -8.29853485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.503133365 meters Centerline goodness : 0.127820 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.37, Z:-0.83 [[ 9.96246154e-01 4.07277291e-04 -8.65646333e-02 -1.45193987e+01] [-4.11900315e-03 9.99079286e-01 -4.27037995e-02 -1.36536273e+00] [ 8.64675397e-02 4.29000560e-02 9.95330573e-01 -8.34028626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.563133365 meters Centerline goodness : 0.136019 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.37, Z:-0.84 [[ 9.96168848e-01 7.74956513e-04 -8.74472740e-02 -1.45162326e+01] [-4.49582715e-03 9.99092257e-01 -4.23609535e-02 -1.36566827e+00] [ 8.73350664e-02 4.25918101e-02 9.95268066e-01 -8.35331696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.623133365 meters Centerline goodness : 0.218592 with order 3 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.36, Z:-0.83 [[ 9.96204413e-01 9.45861800e-04 -8.70394900e-02 -1.45175799e+01] [-4.66554731e-03 9.99083781e-01 -4.25421109e-02 -1.36395063e+00] [ 8.69195038e-02 4.27867255e-02 9.95296085e-01 -8.34718318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.683133365 meters Centerline goodness : 0.136785 with order 3 Centerline is valid? [False, False] Translation: X:-14.51, Y:-1.36, Z:-0.84 [[ 9.96145982e-01 3.93048679e-03 -8.76226801e-02 -1.45136689e+01] [-7.50064665e-03 9.99153298e-01 -4.04527707e-02 -1.35890382e+00] [ 8.73894907e-02 4.09540917e-02 9.95332025e-01 -8.36980887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74313336499998 meters Centerline goodness : 0.136335 with order 1 Centerline is valid? [False, False] Translation: X:-14.51, Y:-1.36, Z:-0.84 [[ 9.96116122e-01 7.98967794e-03 -8.76860104e-02 -1.45128729e+01] [-1.12864385e-02 9.99245361e-01 -3.71661883e-02 -1.35530105e+00] [ 8.73228932e-02 3.80115021e-02 9.95454589e-01 -8.37513147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80313336499998 meters Centerline goodness : 0.138585 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.35, Z:-0.84 [[ 9.96183903e-01 1.03568059e-02 -8.66623841e-02 -1.45175146e+01] [-1.34954669e-02 9.99271070e-01 -3.57099612e-02 -1.34925449e+00] [ 8.62293721e-02 3.67432379e-02 9.95597524e-01 -8.35044579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86313336499998 meters Centerline goodness : 0.131597 with order 1 Centerline is valid? [False, False] Translation: X:-14.54, Y:-1.34, Z:-0.84 [[ 9.96375560e-01 5.24755743e-03 -8.49011594e-02 -1.45391238e+01] [-8.13865691e-03 9.99397427e-01 -3.37423359e-02 -1.33703316e+00] [ 8.46729354e-02 3.43110202e-02 9.95817879e-01 -8.36644402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92313336499998 meters Centerline goodness : 0.135168 with order 1 Centerline is valid? [False, False] Translation: X:-14.54, Y:-1.33, Z:-0.84 [[ 9.96401688e-01 5.01644892e-03 -8.46079867e-02 -1.45398184e+01] [-7.95102810e-03 9.99377094e-01 -3.43832042e-02 -1.33326990e+00] [ 8.43828023e-02 3.49322032e-02 9.95820910e-01 -8.36482100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.983133365 meters Centerline goodness : 0.124048 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.33, Z:-0.83 [[ 9.96330853e-01 -3.15466839e-03 -8.55270703e-02 -1.45200972e+01] [ 2.56620670e-04 9.99426065e-01 -3.38744062e-02 -1.32635394e+00] [ 8.55848458e-02 3.37281680e-02 9.95759833e-01 -8.32921146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.043133365 meters Centerline goodness : 0.131082 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.33, Z:-0.83 [[ 9.96293393e-01 -3.24645575e-03 -8.59589205e-02 -1.45183828e+01] [ 3.20376401e-04 9.99420680e-01 -3.40323739e-02 -1.32512779e+00] [ 8.60196074e-02 3.38786900e-02 9.95717260e-01 -8.33730593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.103133365 meters Centerline goodness : 0.122795 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.32, Z:-0.83 [[ 9.96319817e-01 -3.54586077e-03 -8.56402365e-02 -1.45196469e+01] [ 5.79631509e-04 9.99399826e-01 -3.46359888e-02 -1.32234570e+00] [ 8.57116519e-02 3.44588822e-02 9.95723907e-01 -8.32926475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.163133365 meters Centerline goodness : 0.120549 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.32, Z:-0.83 [[ 9.96355287e-01 2.80730008e-04 -8.52998439e-02 -1.45203307e+01] [-2.97658571e-03 9.99499984e-01 -3.14789237e-02 -1.31965451e+00] [ 8.52483555e-02 3.16180943e-02 9.95857929e-01 -8.33047593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.223133365 meters Centerline goodness : 0.124118 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.31, Z:-0.83 [[ 9.96417511e-01 3.96035903e-03 -8.44775639e-02 -1.45225300e+01] [-6.42316033e-03 9.99561628e-01 -2.89014786e-02 -1.31378876e+00] [ 8.43260711e-02 2.93405524e-02 9.96006147e-01 -8.32486240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.283133365 meters Centerline goodness : 0.119620 with order 1 Centerline is valid? [False, False] Translation: X:-14.53, Y:-1.30, Z:-0.83 [[ 9.96465625e-01 8.45175807e-03 -8.35752655e-02 -1.45250598e+01] [-1.06758437e-02 9.99599693e-01 -2.62007727e-02 -1.30153893e+00] [ 8.33203672e-02 2.70004058e-02 9.96156963e-01 -8.31438456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.343133365 meters Centerline goodness : 0.121902 with order 1 Centerline is valid? [False, False] Translation: X:-14.52, Y:-1.29, Z:-0.83 [[ 9.96389981e-01 1.08088974e-02 -8.42031625e-02 -1.45207445e+01] [-1.29665261e-02 9.99600361e-01 -2.51194712e-02 -1.29163826e+00] [ 8.38979978e-02 2.61206119e-02 9.96131939e-01 -8.33918090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403133365 meters Centerline goodness : 0.151835 with order 3 Centerline is valid? [False, False] Translation: X:-14.54, Y:-1.28, Z:-0.84 [[ 9.96457448e-01 2.95512805e-03 -8.40465450e-02 -1.45402653e+01] [-5.04060571e-03 9.99684371e-01 -2.46120025e-02 -1.28166140e+00] [ 8.39472858e-02 2.49484587e-02 9.96157833e-01 -8.36893210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.463133365 meters Centerline goodness : 0.130619 with order 1 Centerline is valid? [False, False] Translation: X:-14.54, Y:-1.28, Z:-0.84 [[ 9.96469873e-01 2.68865159e-03 -8.39080635e-02 -1.45402431e+01] [-4.82075149e-03 9.99670360e-01 -2.52176994e-02 -1.27823806e+00] [ 8.38126024e-02 2.55331776e-02 9.96154358e-01 -8.37227073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52313336499998 meters Centerline goodness : 0.125721 with order 1 Centerline is valid? [False, False] Translation: X:-14.54, Y:-1.28, Z:-0.84 [[ 9.96563253e-01 5.30043768e-03 -8.26655237e-02 -1.45434222e+01] [-7.23323594e-03 9.99707015e-01 -2.30990178e-02 -1.27528227e+00] [ 8.25188690e-02 2.36175716e-02 9.96309614e-01 -8.37111088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58313336499998 meters Centerline goodness : 0.130844 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.27, Z:-0.84 [[ 9.96738880e-01 1.24106711e-03 -8.06849759e-02 -1.45627110e+01] [-2.87992919e-03 9.99791838e-01 -2.01986629e-02 -1.26712800e+00] [ 8.06431125e-02 2.03651596e-02 9.96534971e-01 -8.40274507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64313336499998 meters Centerline goodness : 0.125798 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.26, Z:-0.84 [[ 9.96673870e-01 4.81396702e-03 -8.13512329e-02 -1.45607688e+01] [-6.28567737e-03 9.99821018e-01 -1.78444128e-02 -1.26118126e+00] [ 8.12507700e-02 1.82964076e-02 9.96525742e-01 -8.40903893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70313336499999 meters Centerline goodness : 0.219400 with order 3 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.26, Z:-0.84 [[ 9.96673662e-01 8.55897528e-03 -8.10453911e-02 -1.45611753e+01] [-9.78903887e-03 9.99842669e-01 -1.47923098e-02 -1.25886663e+00] [ 8.09060332e-02 1.55364621e-02 9.96600638e-01 -8.41452837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.763133365 meters Centerline goodness : 0.110294 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.26, Z:-0.84 [[ 9.96750638e-01 9.08696775e-03 -8.00349483e-02 -1.45640625e+01] [-1.03292149e-02 9.99832317e-01 -1.51209885e-02 -1.25513866e+00] [ 7.98841239e-02 1.58985531e-02 9.96677361e-01 -8.41407236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.823133365 meters Centerline goodness : 0.160324 with order 3 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.25, Z:-0.84 [[ 9.96743864e-01 9.18197446e-03 -8.01084291e-02 -1.45631173e+01] [-1.04559271e-02 9.99825229e-01 -1.54978875e-02 -1.25236876e+00] [ 7.99521272e-02 1.62850322e-02 9.96665669e-01 -8.42610088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883133365 meters Centerline goodness : 0.126210 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.25, Z:-0.84 [[ 9.96733657e-01 8.98780455e-03 -8.02573113e-02 -1.45623046e+01] [-1.03086317e-02 9.99817916e-01 -1.60582523e-02 -1.24994109e+00] [ 8.00983693e-02 1.68331436e-02 9.96644820e-01 -8.43364746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943133365 meters Centerline goodness : 0.121710 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.25, Z:-0.84 [[ 9.96723895e-01 1.29670174e-02 -7.98331591e-02 -1.45630024e+01] [-1.40481823e-02 9.99816859e-01 -1.29960573e-02 -1.24578468e+00] [ 7.96500182e-02 1.40749916e-02 9.96723517e-01 -8.43878706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.003133365 meters Centerline goodness : 0.121668 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.24, Z:-0.84 [[ 9.96746984e-01 1.29239101e-02 -7.95513880e-02 -1.45636083e+01] [-1.40262124e-02 9.99812993e-01 -1.33133018e-02 -1.24472513e+00] [ 7.93644515e-02 1.43857981e-02 9.96741859e-01 -8.44304459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.063133365 meters Centerline goodness : 0.121497 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-1.25, Z:-0.84 [[ 9.96795480e-01 9.16768231e-03 -7.94652365e-02 -1.45638064e+01] [-1.05385967e-02 9.99802496e-01 -1.68495555e-02 -1.24554124e+00] [ 7.92950704e-02 1.76330129e-02 9.96695224e-01 -8.44720215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.123133365 meters Centerline goodness : 0.117883 with order 1 Centerline is valid? [False, False] Translation: X:-14.55, Y:-1.24, Z:-0.84 [[ 9.96813449e-01 1.65657253e-03 -7.97508874e-02 -1.45452186e+01] [-2.89558434e-03 9.99876868e-01 -1.54228861e-02 -1.24459177e+00] [ 7.97155184e-02 1.56046658e-02 9.96695505e-01 -8.42782431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183133365 meters Centerline goodness : 0.261481 with order 3 Centerline is valid? [False, False] Translation: X:-14.55, Y:-1.25, Z:-0.84 [[ 9.96821645e-01 1.88848047e-03 -7.96432132e-02 -1.45452080e+01] [-3.10545212e-03 9.99880270e-01 -1.51592017e-02 -1.24621731e+00] [ 7.96050497e-02 1.53583486e-02 9.96708160e-01 -8.43228255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24313336499998 meters Centerline goodness : 0.198820 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-1.25, Z:-0.85 [[ 9.96527832e-01 5.95239275e-03 -8.30472741e-02 -1.45862138e+01] [-7.07038613e-03 9.99888214e-01 -1.31745347e-02 -1.24669723e+00] [ 8.29595707e-02 1.37159668e-02 9.96458520e-01 -8.47263783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30313336499998 meters Centerline goodness : 0.261336 with order 1 Centerline is valid? [False, False] Translation: X:-14.58, Y:-1.24, Z:-0.85 [[ 9.96481630e-01 6.62214146e-03 -8.35494403e-02 -1.45846440e+01] [-7.74657428e-03 9.99883642e-01 -1.31412974e-02 -1.24497044e+00] [ 8.34526951e-02 1.37422833e-02 9.96416980e-01 -8.47789609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36313336499998 meters Centerline goodness : 0.140451 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-1.24, Z:-0.85 [[ 9.96529540e-01 7.17035436e-03 -8.29304618e-02 -1.45857842e+01] [-8.26968736e-03 9.99882334e-01 -1.29201872e-02 -1.24447242e+00] [ 8.28280613e-02 1.35611572e-02 9.96471579e-01 -8.48433411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42313336499998 meters Centerline goodness : 0.230656 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-1.25, Z:-0.85 [[ 9.96537536e-01 7.19143295e-03 -8.28324928e-02 -1.45856452e+01] [-8.28804984e-03 9.99882407e-01 -1.29027324e-02 -1.24518421e+00] [ 8.27299632e-02 1.35445770e-02 9.96479953e-01 -8.48994838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.483133365 meters Centerline goodness : 0.326351 with order 1 Centerline is valid? [False, False] Translation: X:-14.58, Y:-1.25, Z:-0.85 [[ 9.96494886e-01 4.86610078e-03 -8.35120548e-02 -1.45819267e+01] [-6.14611998e-03 9.99867444e-01 -1.50771213e-02 -1.24710176e+00] [ 8.34276180e-02 1.55375494e-02 9.96392702e-01 -8.51096926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.543133365 meters SLAMing on 165.603133365 meters Centerline goodness : 0.432660 with order 1 Centerline is valid? [False, False] Translation: X:-14.64, Y:-1.25, Z:-0.86 [[ 9.96448618e-01 1.18398722e-02 -8.33664711e-02 -1.46449273e+01] [-1.32221501e-02 9.99783792e-01 -1.60481887e-02 -1.25479095e+00] [ 8.31584381e-02 1.70934795e-02 9.96389727e-01 -8.57546302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.663133365 meters Centerline goodness : 0.093567 with order 1 Centerline is valid? [False, False] Translation: X:-14.64, Y:-1.26, Z:-0.86 [[ 9.96403090e-01 1.20035605e-02 -8.38856138e-02 -1.46428664e+01] [-1.33651042e-02 9.99787604e-01 -1.56882696e-02 -1.25660397e+00] [ 8.36794817e-02 1.67529803e-02 9.96351887e-01 -8.58716381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723133365 meters Centerline goodness : 0.089655 with order 1 Centerline is valid? [False, False] Translation: X:-14.66, Y:-1.26, Z:-0.86 [[ 9.96367248e-01 3.12863641e-03 -8.51029848e-02 -1.46636135e+01] [-4.41571310e-03 9.99878646e-01 -1.49397248e-02 -1.25814806e+00] [ 8.50459162e-02 1.52612429e-02 9.96260150e-01 -8.61006295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.783133365 meters SLAMing on 165.843133365 meters Centerline goodness : 0.098433 with order 1 Centerline is valid? [False, False] Translation: X:-14.70, Y:-1.28, Z:-0.87 [[ 9.96473580e-01 -4.64085030e-03 -8.37786735e-02 -1.47019705e+01] [ 3.20417042e-03 9.99845645e-01 -1.72748354e-02 -1.27910621e+00] [ 8.38459117e-02 1.69454760e-02 9.96334640e-01 -8.65318296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.903133365 meters SLAMing on 165.963133365 meters Centerline goodness : 0.102293 with order 1 Centerline is valid? [False, False] Translation: X:-14.72, Y:-1.30, Z:-0.87 [[ 9.96701666e-01 -2.06105187e-03 -8.11267022e-02 -1.47155051e+01] [ 4.43607360e-04 9.99800876e-01 -1.99502411e-02 -1.29656006e+00] [ 8.11516664e-02 1.98484501e-02 9.96504112e-01 -8.69927082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02313336499998 meters Centerline goodness : 0.121671 with order 1 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.31, Z:-0.87 [[ 9.96745348e-01 6.23628151e-03 -8.03730009e-02 -1.47349331e+01] [-7.88336675e-03 9.99765040e-01 -2.01920158e-02 -1.30642908e+00] [ 8.02281933e-02 2.07599076e-02 9.96560316e-01 -8.73293231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08313336499998 meters SLAMing on 166.14313336499998 meters SLAMing on 166.20313336499999 meters Centerline goodness : 0.223494 with order 1 Centerline is valid? [False, False] Translation: X:-14.78, Y:-1.32, Z:-0.88 [[ 0.99672818 0.02322303 -0.07741846 -14.78074259] [ -0.02494827 0.99945983 -0.02139233 -1.32269198] [ 0.07687985 0.02325379 0.99676916 -0.87691985] [ 0. 0. 0. 1. ]] SLAMing on 166.263133365 meters SLAMing on 166.323133365 meters Centerline goodness : 0.139356 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-1.32, Z:-0.88 [[ 0.99667571 0.02351441 -0.07800383 -14.77891299] [ -0.02525298 0.9994525 -0.02137708 -1.32270694] [ 0.07745846 0.02327585 0.99672384 -0.87783518] [ 0. 0. 0. 1. ]] SLAMing on 166.383133365 meters Centerline goodness : 0.132377 with order 2 Centerline is valid? [False, False] Translation: X:-14.80, Y:-1.32, Z:-0.88 [[ 0.99689658 0.01513462 -0.07725383 -14.79922704] [ -0.01675763 0.99965137 -0.02040398 -1.32069089] [ 0.07691809 0.02163525 0.99680265 -0.88097905] [ 0. 0. 0. 1. ]] SLAMing on 166.443133365 meters Centerline goodness : 0.134617 with order 1 Centerline is valid? [False, False] Translation: X:-14.82, Y:-1.32, Z:-0.88 [[ 9.96877337e-01 7.56825047e-03 -7.86021367e-02 -1.48169840e+01] [-9.06262634e-03 9.99784578e-01 -1.86726058e-02 -1.31741656e+00] [ 7.84438851e-02 1.93266393e-02 9.96731176e-01 -8.84423728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.503133365 meters Centerline goodness : 0.128867 with order 3 Centerline is valid? [False, False] Translation: X:-14.82, Y:-1.32, Z:-0.89 [[ 9.96840223e-01 7.57171936e-03 -7.90711041e-02 -1.48153235e+01] [-9.07937553e-03 9.99783446e-01 -1.87250079e-02 -1.31707892e+00] [ 7.89122004e-02 1.93837573e-02 9.96693099e-01 -8.85101731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.563133365 meters Centerline goodness : 0.178836 with order 3 Centerline is valid? [False, False] Translation: X:-14.81, Y:-1.32, Z:-0.89 [[ 9.96820039e-01 7.50399356e-03 -7.93315827e-02 -1.48142789e+01] [-9.01796474e-03 9.99783663e-01 -1.87430749e-02 -1.31750692e+00] [ 7.91737724e-02 1.93988820e-02 9.96672061e-01 -8.85656413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.623133365 meters Centerline goodness : 0.133576 with order 1 Centerline is valid? [False, False] Translation: X:-14.83, Y:-1.31, Z:-0.89 [[ 9.96705417e-01 -3.60625386e-04 -8.11059912e-02 -1.48330767e+01] [-1.04599825e-03 9.99849799e-01 -1.72998729e-02 -1.31393489e+00] [ 8.11000478e-02 1.73277138e-02 9.96555333e-01 -8.88519665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.683133365 meters Centerline goodness : 0.126174 with order 1 Centerline is valid? [False, False] Translation: X:-14.83, Y:-1.31, Z:-0.89 [[ 9.96654108e-01 -2.97986562e-04 -8.17343330e-02 -1.48315305e+01] [-1.15146743e-03 9.99842927e-01 -1.76860133e-02 -1.31118228e+00] [ 8.17267649e-02 1.77209522e-02 9.96497217e-01 -8.88601616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74313336499998 meters Centerline goodness : 0.203326 with order 3 Centerline is valid? [False, False] Translation: X:-14.83, Y:-1.31, Z:-0.89 [[ 9.96657745e-01 -3.58902535e-04 -8.16897186e-02 -1.48317398e+01] [-1.11360330e-03 9.99837739e-01 -1.79793207e-02 -1.30932711e+00] [ 8.16829163e-02 1.80101992e-02 9.96495627e-01 -8.88563471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80313336499998 meters Centerline goodness : 0.133022 with order 3 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96572539e-01 -4.08272307e-04 -8.27224779e-02 -1.48799996e+01] [-1.09422676e-03 9.99835275e-01 -1.81169790e-02 -1.31103005e+00] [ 8.27162482e-02 1.81454009e-02 9.96407932e-01 -8.89897411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86313336499998 meters Centerline goodness : 0.127611 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96575576e-01 -5.37944462e-04 -8.26851384e-02 -1.48805901e+01] [-9.74824955e-04 9.99832905e-01 -1.82540822e-02 -1.31069525e+00] [ 8.26811419e-02 1.82721760e-02 9.96408529e-01 -8.89181867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92313336499998 meters Centerline goodness : 0.136274 with order 3 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96569358e-01 -5.96024629e-04 -8.27596448e-02 -1.48804024e+01] [-9.18266621e-04 9.99832884e-01 -1.82581910e-02 -1.31102091e+00] [ 8.27566966e-02 1.82715491e-02 9.96402268e-01 -8.89168701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.983133365 meters Centerline goodness : 0.132826 with order 2 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96578533e-01 -5.33083676e-04 -8.26495219e-02 -1.48809922e+01] [-9.65726323e-04 9.99835833e-01 -1.80934898e-02 -1.31185779e+00] [ 8.26455989e-02 1.81114004e-02 9.96414413e-01 -8.88713046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043133365 meters Centerline goodness : 0.143682 with order 3 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96618690e-01 -5.55714429e-04 -8.21637283e-02 -1.48828824e+01] [-9.25733236e-04 9.99837716e-01 -1.79912392e-02 -1.31282681e+00] [ 8.21603925e-02 1.80064669e-02 9.96456440e-01 -8.87795751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103133365 meters Centerline goodness : 0.153473 with order 3 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96605929e-01 -6.52551236e-04 -8.23176508e-02 -1.48822691e+01] [-8.42710087e-04 9.99835311e-01 -1.81284770e-02 -1.31280558e+00] [ 8.23159237e-02 1.81363176e-02 9.96441249e-01 -8.88090262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163133365 meters Centerline goodness : 0.392983 with order 2 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.31, Z:-0.89 [[ 9.96587347e-01 -5.76372785e-04 -8.25428785e-02 -1.48815315e+01] [-9.19844015e-04 9.99835987e-01 -1.80873649e-02 -1.31272431e+00] [ 8.25397655e-02 1.81015655e-02 9.96423364e-01 -8.88362525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223133365 meters Centerline goodness : 0.308435 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.32, Z:-0.89 [[ 9.96575970e-01 -4.48789739e-04 -8.26809154e-02 -1.48811778e+01] [-1.01354937e-03 9.99843824e-01 -1.76437160e-02 -1.31510580e+00] [ 8.26759209e-02 1.76671046e-02 9.96419874e-01 -8.88340030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283133365 meters Centerline goodness : 0.131173 with order 2 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.32, Z:-0.89 [[ 9.96440047e-01 -2.69124801e-03 -8.42614368e-02 -1.48745004e+01] [ 1.07671227e-03 9.99815072e-01 -1.92006113e-02 -1.31981352e+00] [ 8.42975280e-02 1.90415327e-02 9.96258675e-01 -8.91123925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.343133365 meters Centerline goodness : 0.157711 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.32, Z:-0.89 [[ 9.96390210e-01 -2.72421064e-03 -8.48476811e-02 -1.48726888e+01] [ 1.12726976e-03 9.99821433e-01 -1.88634929e-02 -1.32235678e+00] [ 8.48839183e-02 1.86997534e-02 9.96215358e-01 -8.91586388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403133365 meters Centerline goodness : 0.145923 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96402661e-01 -2.80209545e-03 -8.46987888e-02 -1.48735314e+01] [ 1.26744516e-03 9.99834158e-01 -1.81672611e-02 -1.32738772e+00] [ 8.47356486e-02 1.79945563e-02 9.96240968e-01 -8.90842994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.463133365 meters Centerline goodness : 0.165667 with order 3 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96401948e-01 -2.52324980e-03 -8.47159453e-02 -1.48738420e+01] [ 1.04898388e-03 9.99847318e-01 -1.74424656e-02 -1.33086309e+00] [ 8.47470224e-02 1.72908410e-02 9.96252462e-01 -8.90292304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52313336499998 meters Centerline goodness : 0.138801 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96405801e-01 -2.40222434e-03 -8.46741323e-02 -1.48738033e+01] [ 9.65018674e-04 9.99854850e-01 -1.70102180e-02 -1.33358624e+00] [ 8.47027042e-02 1.68673678e-02 9.96263491e-01 -8.90399334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58313336499998 meters Centerline goodness : 0.095588 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96397187e-01 -2.18775721e-03 -8.47812484e-02 -1.48736579e+01] [ 7.51780488e-04 9.99855790e-01 -1.69656590e-02 -1.33357489e+00] [ 8.48061388e-02 1.68407980e-02 9.96255141e-01 -8.90250427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64313336499998 meters Centerline goodness : 0.129552 with order 3 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96356228e-01 -1.78197224e-03 -8.52706992e-02 -1.48725425e+01] [ 3.24058004e-04 9.99853590e-01 -1.71082698e-02 -1.33126960e+00] [ 8.52887012e-02 1.70182985e-02 9.96210929e-01 -8.90216035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70313336499999 meters Centerline goodness : 0.205220 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96371408e-01 2.07743590e-03 -8.50864308e-02 -1.48732735e+01] [-3.28487715e-03 9.99895853e-01 -1.40532176e-02 -1.32779348e+00] [ 8.50483747e-02 1.42817227e-02 9.96274463e-01 -8.89943874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763133365 meters Centerline goodness : 0.148487 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.33, Z:-0.89 [[ 9.96435304e-01 2.02133429e-03 -8.43362232e-02 -1.48760329e+01] [-3.23634437e-03 9.99892905e-01 -1.42725145e-02 -1.32647035e+00] [ 8.42983417e-02 1.44945784e-02 9.96335133e-01 -8.88755388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823133365 meters Centerline goodness : 0.088837 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.33, Z:-0.89 [[ 9.96456620e-01 1.94800476e-03 -8.40857258e-02 -1.48772784e+01] [-3.17173057e-03 9.99890964e-01 -1.44221811e-02 -1.32550809e+00] [ 8.40484630e-02 1.46377751e-02 9.96354150e-01 -8.87933584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883133365 meters Centerline goodness : 0.111668 with order 3 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.32, Z:-0.89 [[ 9.96427848e-01 1.88966154e-03 -8.44273260e-02 -1.48758253e+01] [-3.13106308e-03 9.99888894e-01 -1.45737988e-02 -1.32481531e+00] [ 8.43904060e-02 1.47860862e-02 9.96323056e-01 -8.88770968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943133365 meters Centerline goodness : 0.089029 with order 2 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.32, Z:-0.89 [[ 9.96392729e-01 2.08923589e-03 -8.48361057e-02 -1.48744527e+01] [-3.33118935e-03 9.99889313e-01 -1.45005267e-02 -1.32408098e+00] [ 8.47964204e-02 1.47308245e-02 9.96289401e-01 -8.89296462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003133365 meters Centerline goodness : 0.110832 with order 3 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.32, Z:-0.89 [[ 9.96353517e-01 2.10815876e-03 -8.52949331e-02 -1.48727148e+01] [-3.35937106e-03 9.99888814e-01 -1.45283754e-02 -1.32383213e+00] [ 8.52548214e-02 1.47619353e-02 9.96249818e-01 -8.90114436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063133365 meters Centerline goodness : 0.142438 with order 3 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.33, Z:-0.89 [[ 9.96418695e-01 2.02554721e-03 -8.45321336e-02 -1.48752237e+01] [-3.24775026e-03 9.99892140e-01 -1.43234329e-02 -1.32577256e+00] [ 8.44940031e-02 1.45466756e-02 9.96317800e-01 -8.89206229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123133365 meters Centerline goodness : 0.088945 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.33, Z:-0.89 [[ 9.96437931e-01 2.10510449e-03 -8.43031280e-02 -1.48759073e+01] [-3.28396259e-03 9.99898728e-01 -1.38473342e-02 -1.32865099e+00] [ 8.42654404e-02 1.40748574e-02 9.96343934e-01 -8.88972239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183133365 meters Centerline goodness : 0.143095 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96380989e-01 2.29582942e-03 -8.49685426e-02 -1.48736018e+01] [-3.43134134e-03 9.99906721e-01 -1.32202811e-02 -1.33239277e+00] [ 8.49302653e-02 1.34639928e-02 9.96295925e-01 -8.89786246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24313336499998 meters Centerline goodness : 0.156782 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-1.33, Z:-0.89 [[ 9.96387761e-01 2.43877855e-03 -8.48851102e-02 -1.48741335e+01] [-3.53877678e-03 9.99911679e-01 -1.28106180e-02 -1.33488900e+00] [ 8.48463708e-02 1.30647324e-02 9.96308389e-01 -8.89337490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30313336499998 meters Centerline goodness : 0.149410 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.34, Z:-0.89 [[ 9.96449090e-01 7.77353509e-04 -8.41938647e-02 -1.48771222e+01] [-1.93488675e-03 9.99904721e-01 -1.36677026e-02 -1.34176265e+00] [ 8.41752181e-02 1.37820754e-02 9.96355653e-01 -8.88112077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36313336499998 meters Centerline goodness : 0.159964 with order 1 Centerline is valid? [False, False] Translation: X:-14.88, Y:-1.35, Z:-0.89 [[ 9.96463920e-01 1.01902627e-03 -8.40155816e-02 -1.48772307e+01] [-2.10840330e-03 9.99914844e-01 -1.28786626e-02 -1.34610167e+00] [ 8.39953034e-02 1.30102613e-02 9.96381213e-01 -8.88482555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42313336499998 meters Centerline goodness : 0.149472 with order 1 Centerline is valid? [False, False] Translation: X:-14.93, Y:-1.35, Z:-0.89 [[ 9.96460764e-01 -5.29878321e-04 -8.40575158e-02 -1.49268211e+01] [-6.18695222e-04 9.99906814e-01 -1.36375010e-02 -1.35343854e+00] [ 8.40569090e-02 1.36412407e-02 9.96367579e-01 -8.90354818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.483133365 meters Centerline goodness : 0.146233 with order 1 Centerline is valid? [False, False] Translation: X:-14.93, Y:-1.35, Z:-0.89 [[ 9.96429893e-01 -3.04355890e-04 -8.44237830e-02 -1.49259377e+01] [-8.55124213e-04 9.99905819e-01 -1.36975448e-02 -1.35221472e+00] [ 8.44200008e-02 1.37208360e-02 9.96335788e-01 -8.90423993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.543133365 meters Centerline goodness : 0.241869 with order 3 Centerline is valid? [False, False] Translation: X:-14.93, Y:-1.35, Z:-0.89 [[ 9.96458331e-01 -1.02848320e-04 -8.40879509e-02 -1.49269175e+01] [-1.05880342e-03 9.99904628e-01 -1.37700108e-02 -1.35055582e+00] [ 8.40813475e-02 1.38102746e-02 9.96363188e-01 -8.90331417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.603133365 meters Centerline goodness : 0.241848 with order 3 Centerline is valid? [False, False] Translation: X:-14.93, Y:-1.35, Z:-0.89 [[ 9.96447296e-01 -2.63525661e-04 -8.42182703e-02 -1.49263269e+01] [-9.15757252e-04 9.99902083e-01 -1.39637598e-02 -1.35020543e+00] [ 8.42137037e-02 1.39912742e-02 9.96349485e-01 -8.90699352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.663133365 meters Centerline goodness : 0.146907 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-1.35, Z:-0.89 [[ 9.96158049e-01 -2.23418582e-03 -8.75451327e-02 -1.49688540e+01] [ 9.19882812e-04 9.99886314e-01 -1.50503303e-02 -1.35454106e+00] [ 8.75688053e-02 1.49119764e-02 9.96046855e-01 -8.94015351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.723133365 meters Centerline goodness : 0.150505 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-1.36, Z:-0.89 [[ 9.96194383e-01 -2.43498675e-03 -8.71253275e-02 -1.49701479e+01] [ 1.16479083e-03 9.99892344e-01 -1.46268206e-02 -1.35772010e+00] [ 8.71515640e-02 1.44696737e-02 9.96089973e-01 -8.93591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783133365 meters Centerline goodness : 0.152314 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-1.36, Z:-0.89 [[ 9.96217659e-01 -5.44421465e-03 -8.67221764e-02 -1.49725267e+01] [ 4.02127572e-03 9.99854551e-01 -1.65742716e-02 -1.36410090e+00] [ 8.67997967e-02 1.61628483e-02 9.96094653e-01 -8.92206798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843133365 meters Centerline goodness : 0.406998 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-1.37, Z:-0.89 [[ 9.96170310e-01 -9.20634656e-03 -8.69480121e-02 -1.49710155e+01] [ 7.55323668e-03 9.99784771e-01 -1.93225230e-02 -1.36980701e+00] [ 8.71071883e-02 1.85917848e-02 9.96025443e-01 -8.93197458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903133365 meters Centerline goodness : 0.131608 with order 3 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.38, Z:-0.90 [[ 9.96180082e-01 -1.72451606e-03 -8.73056087e-02 -1.49870786e+01] [ 1.95365635e-06 9.99805414e-01 -1.97265024e-02 -1.38415258e+00] [ 8.73226389e-02 1.96509783e-02 9.95986243e-01 -8.97585475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96313336499998 meters Centerline goodness : 0.141284 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.39, Z:-0.90 [[ 9.96197990e-01 -1.25729857e-03 -8.71090332e-02 -1.49876524e+01] [-4.14065589e-04 9.99816224e-01 -1.91663109e-02 -1.38616829e+00] [ 8.71171224e-02 1.91295092e-02 9.96014392e-01 -8.97493955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02313336499998 meters Centerline goodness : 0.123040 with order 3 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.39, Z:-0.90 [[ 9.96229032e-01 -6.37160906e-04 -8.67600699e-02 -1.49887696e+01] [-9.69020904e-04 9.99828954e-01 -1.84695411e-02 -1.38918866e+00] [ 8.67569980e-02 1.84839654e-02 9.96058014e-01 -8.97315657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08313336499998 meters Centerline goodness : 0.122531 with order 3 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.39, Z:-0.90 [[ 9.96220460e-01 -3.84921907e-04 -8.68599222e-02 -1.49884009e+01] [-1.18118447e-03 9.99837683e-01 -1.79781369e-02 -1.39167601e+00] [ 8.68527435e-02 1.80127854e-02 9.96058302e-01 -8.97527518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14313336499998 meters Centerline goodness : 0.123648 with order 3 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.40, Z:-0.90 [[ 9.96234628e-01 -1.09883457e-04 -8.66980621e-02 -1.49892846e+01] [-1.39853421e-03 9.99848715e-01 -1.73375852e-02 -1.39502372e+00] [ 8.66868511e-02 1.73935530e-02 9.96083759e-01 -8.96922467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20313336499999 meters Centerline goodness : 0.142444 with order 1 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.40, Z:-0.89 [[ 9.96358484e-01 -2.25833535e-03 -8.52330457e-02 -1.49951180e+01] [ 6.58792732e-04 9.99823232e-01 -1.87901583e-02 -1.40010606e+00] [ 8.52604137e-02 1.86655828e-02 9.96183847e-01 -8.94856320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.263133365 meters Centerline goodness : 0.134982 with order 1 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.41, Z:-0.89 [[ 9.96451813e-01 -4.74203581e-03 -8.40315253e-02 -1.49997483e+01] [ 3.04328682e-03 9.99788648e-01 -2.03321896e-02 -1.40702593e+00] [ 8.41101810e-02 2.00043151e-02 9.96255642e-01 -8.93239214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.323133365 meters Centerline goodness : 0.146187 with order 3 Centerline is valid? [False, False] Translation: X:-15.02, Y:-1.42, Z:-0.90 [[ 9.96605246e-01 1.51495338e-03 -8.23145651e-02 -1.50163670e+01] [-3.22369252e-03 9.99781988e-01 -2.06297121e-02 -1.42188803e+00] [ 8.22653665e-02 2.08250362e-02 9.96392858e-01 -8.97750278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383133365 meters Centerline goodness : 0.132891 with order 1 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.42, Z:-0.90 [[ 9.96722216e-01 -5.82372592e-03 -8.06902050e-02 -1.49976646e+01] [ 4.28606402e-03 9.99806159e-01 -1.92164813e-02 -1.42112700e+00] [ 8.07864755e-02 1.88076504e-02 9.96553971e-01 -8.95738938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.443133365 meters Centerline goodness : 0.130899 with order 1 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.42, Z:-0.90 [[ 9.96744878e-01 -5.44463778e-03 -8.04363407e-02 -1.49983256e+01] [ 3.94324521e-03 9.99815250e-01 -1.88126711e-02 -1.42256267e+00] [ 8.05239082e-02 1.84342533e-02 9.96582199e-01 -8.95766677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.503133365 meters Centerline goodness : 0.240122 with order 3 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.43, Z:-0.90 [[ 9.96685334e-01 -4.71938198e-03 -8.12162125e-02 -1.49958113e+01] [ 3.27171584e-03 9.99833556e-01 -1.79486981e-02 -1.42557512e+00] [ 8.12874013e-02 1.76234878e-02 9.96534882e-01 -8.96642732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.563133365 meters Centerline goodness : 0.127798 with order 1 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.44, Z:-0.90 [[ 9.96724282e-01 2.25907337e-03 -8.08430776e-02 -1.50144225e+01] [-3.80480778e-03 9.99812790e-01 -1.89712452e-02 -1.43644685e+00] [ 8.07850855e-02 1.92166931e-02 9.96546280e-01 -9.00298982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.623133365 meters Centerline goodness : 0.127301 with order 1 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.44, Z:-0.90 [[ 9.96678384e-01 2.60404264e-03 -8.13966667e-02 -1.50126034e+01] [-4.08264714e-03 9.99829575e-01 -1.80042668e-02 -1.44330634e+00] [ 8.13359108e-02 1.82767774e-02 9.96519156e-01 -9.00884800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.683133365 meters Centerline goodness : 0.177422 with order 3 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.44, Z:-0.90 [[ 9.96656267e-01 2.73665526e-03 -8.16627033e-02 -1.50116404e+01] [-4.20181649e-03 9.99833180e-01 -1.77751648e-02 -1.44436292e+00] [ 8.16004358e-02 1.80588611e-02 9.96501503e-01 -9.01307506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74313336499998 meters Centerline goodness : 0.128543 with order 3 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.45, Z:-0.90 [[ 9.96610280e-01 3.03586679e-03 -8.22115126e-02 -1.50097779e+01] [-4.48607486e-03 9.99837481e-01 -1.74609964e-02 -1.44575727e+00] [ 8.21451424e-02 1.77706155e-02 9.96461931e-01 -9.02069460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80313336499998 meters Centerline goodness : 0.126455 with order 3 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.45, Z:-0.90 [[ 9.96650618e-01 3.27320730e-03 -8.17118856e-02 -1.50113549e+01] [-4.69664023e-03 9.99840452e-01 -1.72340207e-02 -1.44621708e+00] [ 8.16424381e-02 1.75600687e-02 9.96506978e-01 -9.01684724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86313336499998 meters SLAMing on 169.92313336499998 meters SLAMing on 169.983133365 meters Centerline goodness : 0.130605 with order 3 Centerline is valid? [False, False] Translation: X:-15.08, Y:-1.45, Z:-0.91 [[ 9.96792901e-01 9.34500127e-03 -7.94769342e-02 -1.50786921e+01] [-1.08315414e-02 9.99773987e-01 -1.82935394e-02 -1.45162951e+00] [ 7.92880182e-02 1.90957279e-02 9.96668833e-01 -9.06576420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.043133365 meters Centerline goodness : 0.248332 with order 3 Centerline is valid? [False, False] Translation: X:-15.10, Y:-1.45, Z:-0.91 [[ 9.96766747e-01 8.72169846e-04 -8.03448245e-02 -1.50974332e+01] [-2.25226640e-03 9.99851450e-01 -1.70881445e-02 -1.44705340e+00] [ 8.03179855e-02 1.72138521e-02 9.96620642e-01 -9.09696591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.103133365 meters Centerline goodness : 0.127332 with order 3 Centerline is valid? [False, False] Translation: X:-15.08, Y:-1.44, Z:-0.91 [[ 9.96747704e-01 -7.79853312e-03 -8.02072098e-02 -1.50772014e+01] [ 6.47364015e-03 9.99838497e-01 -1.67651721e-02 -1.44404781e+00] [ 8.03249999e-02 1.61914142e-02 9.96637212e-01 -9.06994738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.163133365 meters Centerline goodness : 0.138778 with order 1 Centerline is valid? [False, False] Translation: X:-15.08, Y:-1.45, Z:-0.91 [[ 9.96805381e-01 -8.11004394e-03 -7.94560213e-02 -1.50797913e+01] [ 6.81423861e-03 9.99839553e-01 -1.65660572e-02 -1.44676638e+00] [ 7.95776242e-02 1.59717027e-02 9.96700711e-01 -9.05923196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.223133365 meters Centerline goodness : 0.137738 with order 1 Centerline is valid? [False, False] Translation: X:-15.08, Y:-1.45, Z:-0.91 [[ 9.96828830e-01 -7.87948083e-03 -7.91845730e-02 -1.50804396e+01] [ 6.63028367e-03 9.99849587e-01 -1.60263254e-02 -1.44910107e+00] [ 7.92989417e-02 1.54504871e-02 9.96731137e-01 -9.05969509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.283133365 meters Centerline goodness : 0.124941 with order 2 Centerline is valid? [False, False] Translation: X:-15.08, Y:-1.45, Z:-0.91 [[ 9.96817770e-01 -7.77739448e-03 -7.93337623e-02 -1.50795338e+01] [ 6.56184303e-03 9.99857230e-01 -1.55712061e-02 -1.45217175e+00] [ 7.94435392e-02 1.50010792e-02 9.96726488e-01 -9.06607359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.343133365 meters Centerline goodness : 0.131735 with order 2 Centerline is valid? [False, False] Translation: X:-15.10, Y:-1.46, Z:-0.91 [[ 9.96752026e-01 -1.23324139e-04 -8.05318763e-02 -1.50981971e+01] [-1.20970251e-03 9.99863071e-01 -1.65037839e-02 -1.45949674e+00] [ 8.05228845e-02 1.65475996e-02 9.96615393e-01 -9.09179467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.403133365 meters Centerline goodness : 0.156563 with order 1 Centerline is valid? [False, False] Translation: X:-15.10, Y:-1.46, Z:-0.91 [[ 9.96691940e-01 -8.76860836e-06 -8.12722322e-02 -1.50957422e+01] [-1.32679381e-03 9.99864972e-01 -1.63791751e-02 -1.45994640e+00] [ 8.12614018e-02 1.64328233e-02 9.96557348e-01 -9.10081668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46313336499998 meters SLAMing on 170.52313336499998 meters Centerline goodness : 0.130793 with order 1 Centerline is valid? [False, False] Translation: X:-15.12, Y:-1.47, Z:-0.91 [[ 9.96800747e-01 7.77852641e-03 -7.95472485e-02 -1.51179996e+01] [-9.14331422e-03 9.99816944e-01 -1.68071175e-02 -1.46724728e+00] [ 7.94019523e-02 1.74806728e-02 9.96689398e-01 -9.12180191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58313336499998 meters Centerline goodness : 0.146494 with order 1 Centerline is valid? [False, False] Translation: X:-15.12, Y:-1.47, Z:-0.91 [[ 9.96763440e-01 7.73624353e-03 -8.00174643e-02 -1.51165598e+01] [-9.11347375e-03 9.99816313e-01 -1.68607563e-02 -1.46723034e+00] [ 7.98723272e-02 1.75354225e-02 9.96650852e-01 -9.12598389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64313336499998 meters Centerline goodness : 0.437819 with order 2 Centerline is valid? [False, False] Translation: X:-15.12, Y:-1.47, Z:-0.91 [[ 9.96764451e-01 7.56777158e-03 -8.00209857e-02 -1.51164094e+01] [-8.97862268e-03 9.99810273e-01 -1.72859173e-02 -1.46522724e+00] [ 7.98749876e-02 1.79484661e-02 9.96643286e-01 -9.12789385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70313336499999 meters SLAMing on 170.763133365 meters Centerline goodness : 0.124741 with order 3 Centerline is valid? [False, False] Translation: X:-15.12, Y:-1.46, Z:-0.91 [[ 9.96713923e-01 1.15514668e-02 -8.01743104e-02 -1.51161364e+01] [-1.27371292e-02 9.99816722e-01 -1.42929123e-02 -1.46020818e+00] [ 7.99945122e-02 1.52671353e-02 9.96678380e-01 -9.12629238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.823133365 meters Centerline goodness : 0.125019 with order 2 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.45, Z:-0.92 [[ 9.96501491e-01 1.30495133e-02 -8.25499198e-02 -1.51594329e+01] [-1.42145040e-02 9.99807281e-01 -1.35406074e-02 -1.45075254e+00] [ 8.23573125e-02 1.46666416e-02 9.96494939e-01 -9.16236597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.883133365 meters Centerline goodness : 0.127196 with order 3 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.44, Z:-0.92 [[ 9.96581625e-01 1.32754784e-02 -8.15403333e-02 -1.51627486e+01] [-1.44722657e-02 9.99795798e-01 -1.41037761e-02 -1.44260479e+00] [ 8.13364482e-02 1.52356375e-02 9.96570247e-01 -9.15354851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.943133365 meters Centerline goodness : 0.125714 with order 3 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.43, Z:-0.91 [[ 9.96791110e-01 7.01485869e-03 -7.97387929e-02 -1.51491894e+01] [-8.03169150e-03 9.99890382e-01 -1.24384747e-02 -1.42898506e+00] [ 7.96427979e-02 1.30389984e-02 9.96738185e-01 -9.10722337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.003133365 meters Centerline goodness : 0.136382 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.42, Z:-0.91 [[ 9.96819364e-01 6.27212838e-03 -7.94469350e-02 -1.51499611e+01] [-7.38843430e-03 9.99877963e-01 -1.37648032e-02 -1.42258323e+00] [ 7.93509050e-02 1.43080109e-02 9.96744057e-01 -9.10754630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063133365 meters Centerline goodness : 0.140116 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.42, Z:-0.91 [[ 9.96801334e-01 5.80613290e-03 -7.97081510e-02 -1.51491106e+01] [-6.97840123e-03 9.99871439e-01 -1.44363304e-02 -1.41985921e+00] [ 7.96140844e-02 1.49463888e-02 9.96713702e-01 -9.11050269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123133365 meters Centerline goodness : 0.142770 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.42, Z:-0.91 [[ 9.96761658e-01 5.47766058e-03 -8.02258808e-02 -1.51472260e+01] [-6.70066609e-03 9.99865293e-01 -1.49832490e-02 -1.41719825e+00] [ 8.01330007e-02 1.54722949e-02 9.96664091e-01 -9.11849104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183133365 meters Centerline goodness : 0.146720 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.42, Z:-0.91 [[ 9.96726348e-01 5.01277838e-03 -8.06936143e-02 -1.51461681e+01] [-6.27915968e-03 9.99860962e-01 -1.54475976e-02 -1.41577617e+00] [ 8.06049595e-02 1.59037156e-02 9.96619241e-01 -9.11693018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24313336499998 meters Centerline goodness : 0.145080 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.42, Z:-0.91 [[ 9.96716607e-01 4.94775049e-03 -8.08178572e-02 -1.51458483e+01] [-6.21226044e-03 9.99862076e-01 -1.54024755e-02 -1.41643831e+00] [ 8.07305029e-02 1.58539647e-02 9.96609872e-01 -9.11703488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30313336499998 meters Centerline goodness : 0.149599 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.42, Z:-0.91 [[ 9.96738765e-01 1.01426317e-03 -8.06895671e-02 -1.51454662e+01] [-2.52203604e-03 9.99824078e-01 -1.85863725e-02 -1.41962375e+00] [ 8.06565205e-02 1.87292600e-02 9.96565974e-01 -9.12536556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36313336499998 meters Centerline goodness : 0.139136 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:-1.42, Z:-0.91 [[ 9.96720078e-01 1.04797011e-03 -8.09196396e-02 -1.51447523e+01] [-2.52670561e-03 9.99831649e-01 -1.81738888e-02 -1.42259509e+00] [ 8.08869710e-02 1.83187399e-02 9.96554927e-01 -9.12709077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42313336499998 meters Centerline goodness : 0.147715 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:-1.43, Z:-0.91 [[ 9.96702049e-01 1.34924012e-03 -8.11369500e-02 -1.51444520e+01] [-2.78088608e-03 9.99842393e-01 -1.75343957e-02 -1.42561553e+00] [ 8.11005041e-02 1.77022008e-02 9.96548714e-01 -9.12394517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.483133365 meters Centerline goodness : 0.144928 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:-1.43, Z:-0.91 [[ 9.96703370e-01 1.60650011e-03 -8.11160369e-02 -1.51449051e+01] [-2.99224666e-03 9.99851609e-01 -1.69648403e-02 -1.42937207e+00] [ 8.10767460e-02 1.71516327e-02 9.96560276e-01 -9.11907517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.543133365 meters Centerline goodness : 0.135134 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.43, Z:-0.91 [[ 9.96748175e-01 2.11260167e-03 -8.05519297e-02 -1.51466982e+01] [-3.43803741e-03 9.99860921e-01 -1.63192821e-02 -1.43130410e+00] [ 8.05062505e-02 1.65431552e-02 9.96616811e-01 -9.11441272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.603133365 meters Centerline goodness : 0.128614 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.44, Z:-0.91 [[ 9.96786868e-01 2.28956439e-03 -8.00668292e-02 -1.51483653e+01] [-3.56375664e-03 9.99869219e-01 -1.57748330e-02 -1.43500386e+00] [ 8.00202405e-02 1.60094851e-02 9.96664667e-01 -9.10854544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663133365 meters Centerline goodness : 0.128671 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.44, Z:-0.91 [[ 9.96802395e-01 2.50359564e-03 -7.98668679e-02 -1.51492654e+01] [-3.72456956e-03 9.99878412e-01 -1.51423070e-02 -1.43826901e+00] [ 7.98192468e-02 1.53913576e-02 9.96690521e-01 -9.10343126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.723133365 meters Centerline goodness : 0.127478 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.44, Z:-0.91 [[ 9.96825280e-01 -1.26926082e-03 -7.96099897e-02 -1.51503218e+01] [-1.81168378e-04 9.99834180e-01 -1.82093174e-02 -1.44122977e+00] [ 7.96199012e-02 1.81659307e-02 9.96659757e-01 -9.09850040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.783133365 meters Centerline goodness : 0.129781 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.45, Z:-0.91 [[ 9.96817465e-01 -4.53918343e-03 -7.95885486e-02 -1.51503315e+01] [ 2.94441877e-03 9.99792763e-01 -2.01435346e-02 -1.44906380e+00] [ 7.96634901e-02 1.98450851e-02 9.96624253e-01 -9.09925049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.843133365 meters Centerline goodness : 0.130634 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.45, Z:-0.91 [[ 9.96842144e-01 -4.85193306e-03 -7.92603169e-02 -1.51514022e+01] [ 3.30275349e-03 9.99801172e-01 -1.96648783e-02 -1.45388106e+00] [ 7.93399704e-02 1.93410022e-02 9.96659969e-01 -9.09538241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903133365 meters Centerline goodness : 0.202262 with order 3 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.46, Z:-0.91 [[ 9.96789111e-01 -8.99325349e-03 -7.95649991e-02 -1.51507692e+01] [ 7.18303830e-03 9.99709466e-01 -2.30084371e-02 -1.45772479e+00] [ 7.97488035e-02 2.23630411e-02 9.96564109e-01 -9.09352271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96313336499998 meters Centerline goodness : 0.133723 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.47, Z:-0.91 [[ 9.96702859e-01 -1.11280757e-02 -8.03714891e-02 -1.51474801e+01] [ 9.23598368e-03 9.99672278e-01 -2.38753501e-02 -1.46657524e+00] [ 8.06108363e-02 2.30543199e-02 9.96478997e-01 -9.10675907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02313336499998 meters Centerline goodness : 0.134678 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.47, Z:-0.91 [[ 9.96697767e-01 -1.13791613e-02 -8.03994830e-02 -1.51479740e+01] [ 9.52020360e-03 9.99679278e-01 -2.34671417e-02 -1.47078931e+00] [ 8.06407335e-02 2.26242282e-02 9.96486436e-01 -9.10155778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08313336499998 meters Centerline goodness : 0.131118 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.48, Z:-0.91 [[ 9.96569653e-01 -4.03030302e-03 -8.26600440e-02 -1.51632602e+01] [ 1.95457525e-03 9.99681094e-01 -2.51771865e-02 -1.48231403e+00] [ 8.27351549e-02 2.49292548e-02 9.96259718e-01 -9.12596614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14313336499998 meters Centerline goodness : 0.128797 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.49, Z:-0.91 [[ 9.96515698e-01 -3.29708092e-03 -8.33402185e-02 -1.51611237e+01] [ 1.29458803e-03 9.99709424e-01 -2.40705581e-02 -1.48612388e+00] [ 8.33953644e-02 2.38787977e-02 9.96230403e-01 -9.13188401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20313336499999 meters Centerline goodness : 0.129356 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.49, Z:-0.91 [[ 9.96514988e-01 -3.39456243e-03 -8.33447970e-02 -1.51616924e+01] [ 1.38796706e-03 9.99708059e-01 -2.41219790e-02 -1.48680966e+00] [ 8.34023488e-02 2.39222338e-02 9.96228776e-01 -9.12354051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.263133365 meters Centerline goodness : 0.128511 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.49, Z:-0.91 [[ 9.96502813e-01 -3.18304107e-03 -8.34985719e-02 -1.51614216e+01] [ 1.19512230e-03 9.99714905e-01 -2.38470051e-02 -1.48764388e+00] [ 8.35506729e-02 2.36638167e-02 9.96222520e-01 -9.12216322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.323133365 meters Centerline goodness : 0.135663 with order 1 Centerline is valid? [False, False] Translation: X:-15.17, Y:-1.49, Z:-0.91 [[ 9.96597508e-01 -3.44870471e-03 -8.23499455e-02 -1.51651480e+01] [ 1.52086145e-03 9.99723581e-01 -2.34616390e-02 -1.49025633e+00] [ 8.24080947e-02 2.32565681e-02 9.96327275e-01 -9.11520206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.383133365 meters Centerline goodness : 0.137893 with order 1 Centerline is valid? [False, False] Translation: X:-15.17, Y:-1.49, Z:-0.91 [[ 9.96645269e-01 -3.62309150e-03 -8.17623466e-02 -1.51671316e+01] [ 1.74862705e-03 9.99734264e-01 -2.29857375e-02 -1.49292744e+00] [ 8.18238988e-02 2.27656547e-02 9.96386760e-01 -9.11313027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.443133365 meters Centerline goodness : 0.255601 with order 3 Centerline is valid? [False, False] Translation: X:-15.17, Y:-1.50, Z:-0.91 [[ 9.96619664e-01 -3.44815930e-03 -8.20813923e-02 -1.51661962e+01] [ 1.62699759e-03 9.99751252e-01 -2.22438208e-02 -1.49599098e+00] [ 8.21376749e-02 2.20350830e-02 9.96377367e-01 -9.11975187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.503133365 meters Centerline goodness : 0.139762 with order 3 Centerline is valid? [False, False] Translation: X:-15.17, Y:-1.50, Z:-0.91 [[ 9.96653564e-01 -3.71644932e-03 -8.16569682e-02 -1.51677399e+01] [ 1.89687470e-03 9.99748421e-01 -2.23494387e-02 -1.49645170e+00] [ 8.17194855e-02 2.21197547e-02 9.96409877e-01 -9.11442556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.563133365 meters Centerline goodness : 0.141013 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.49, Z:-0.91 [[ 9.96534864e-01 -1.06050955e-02 -8.24972573e-02 -1.51485758e+01] [ 8.86590116e-03 9.99731260e-01 -2.14196926e-02 -1.48985251e+00] [ 8.27022449e-02 2.06140580e-02 9.96361079e-01 -9.08220886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.623133365 meters Centerline goodness : 0.134490 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.49, Z:-0.91 [[ 9.96503229e-01 -1.06104642e-02 -8.28778151e-02 -1.51474364e+01] [ 8.84683666e-03 9.99727157e-01 -2.16181850e-02 -1.48901372e+00] [ 8.30845814e-02 2.08093847e-02 9.96325209e-01 -9.08370480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.683133365 meters Centerline goodness : 0.139442 with order 1 Centerline is valid? [False, False] Translation: X:-15.13, Y:-1.49, Z:-0.91 [[ 9.96427300e-01 -3.33574263e-03 -8.43890315e-02 -1.51304609e+01] [ 1.49290542e-03 9.99759247e-01 -2.18910893e-02 -1.49218375e+00] [ 8.44417376e-02 2.16868942e-02 9.96192387e-01 -9.06766980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74313336499998 meters Centerline goodness : 0.140748 with order 1 Centerline is valid? [False, False] Translation: X:-15.13, Y:-1.49, Z:-0.91 [[ 9.96415969e-01 -3.47381896e-03 -8.45171552e-02 -1.51300267e+01] [ 1.60184564e-03 9.99752116e-01 -2.22067730e-02 -1.49040792e+00] [ 8.45733471e-02 2.19917998e-02 9.96174538e-01 -9.06924043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80313336499998 meters Centerline goodness : 0.140661 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.48, Z:-0.90 [[ 9.96388691e-01 -1.12173076e-02 -8.41650035e-02 -1.51112771e+01] [ 9.45534491e-03 9.99728329e-01 -2.13041208e-02 -1.48475382e+00] [ 8.43811131e-02 2.04313759e-02 9.96224064e-01 -9.03287226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86313336499998 meters Centerline goodness : 0.155387 with order 3 Centerline is valid? [False, False] Translation: X:-15.13, Y:-1.49, Z:-0.91 [[ 9.96390536e-01 -1.47196454e-03 -8.48748114e-02 -1.51280391e+01] [-3.53513659e-04 9.99769025e-01 -2.14888515e-02 -1.49043933e+00] [ 8.48868384e-02 2.14412926e-02 9.96159875e-01 -9.05345919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92313336499998 meters Centerline goodness : 0.145288 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.49, Z:-0.90 [[ 9.96421076e-01 -9.81246389e-03 -8.39568614e-02 -1.51087566e+01] [ 8.09716193e-03 9.99751970e-01 -2.07469321e-02 -1.48717162e+00] [ 8.41396160e-02 1.99928681e-02 9.96253387e-01 -9.02080730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.983133365 meters Centerline goodness : 0.144183 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.49, Z:-0.90 [[ 9.96425150e-01 -9.88121590e-03 -8.39004252e-02 -1.51090356e+01] [ 8.18985518e-03 9.99756730e-01 -2.04794482e-02 -1.48827990e+00] [ 8.40823766e-02 1.97191050e-02 9.96263675e-01 -9.02389650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.043133365 meters Centerline goodness : 0.142988 with order 3 Centerline is valid? [False, False] Translation: X:-15.13, Y:-1.49, Z:-0.90 [[ 9.96543666e-01 -6.58664269e-04 -8.30679706e-02 -1.51273655e+01] [-1.10198391e-03 9.99775756e-01 -2.11476414e-02 -1.49409115e+00] [ 8.30632723e-02 2.11660877e-02 9.96319472e-01 -9.04547937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.103133365 meters Centerline goodness : 0.139965 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.49, Z:-0.90 [[ 9.96639802e-01 -7.78095026e-03 -8.15387178e-02 -1.51093521e+01] [ 6.20673882e-03 9.99789771e-01 -1.95420234e-02 -1.48904968e+00] [ 8.16736315e-02 1.89702688e-02 9.96478573e-01 -9.01217895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.163133365 meters Centerline goodness : 0.145996 with order 3 Centerline is valid? [False, False] Translation: X:-15.13, Y:-1.49, Z:-0.90 [[ 9.96582388e-01 4.51095619e-04 -8.26035085e-02 -1.51298980e+01] [-2.14322122e-03 9.99789654e-01 -2.03973877e-02 -1.48925690e+00] [ 8.25769321e-02 2.05047149e-02 9.96373729e-01 -9.03733102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.223133365 meters Centerline goodness : 0.138999 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.48, Z:-0.90 [[ 9.96640505e-01 -6.48017339e-03 -8.16438124e-02 -1.51122188e+01] [ 4.90695554e-03 9.99798688e-01 -1.94552185e-02 -1.48051120e+00] [ 8.17534497e-02 1.89892362e-02 9.96471667e-01 -9.00132655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283133365 meters Centerline goodness : 0.234056 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.48, Z:-0.90 [[ 9.96679093e-01 -3.41368764e-03 -8.13580532e-02 -1.51128470e+01] [ 2.05099432e-03 9.99856312e-01 -1.68270248e-02 -1.47671295e+00] [ 8.14038052e-02 1.66042789e-02 9.96542883e-01 -9.00140376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343133365 meters Centerline goodness : 0.135339 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.48, Z:-0.90 [[ 9.96646805e-01 -3.58331195e-03 -8.17453758e-02 -1.51119586e+01] [ 2.19485180e-03 9.99851910e-01 -1.70687240e-02 -1.47506411e+00] [ 8.17944327e-02 1.68320702e-02 9.96507076e-01 -9.00052673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403133365 meters Centerline goodness : 0.148317 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.47, Z:-0.90 [[ 9.96584565e-01 -7.31341590e-05 -8.25784489e-02 -1.51099411e+01] [-1.06871381e-03 9.99904437e-01 -1.37831464e-02 -1.47329898e+00] [ 8.25715655e-02 1.38243237e-02 9.96489250e-01 -8.99951905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46313336499998 meters SLAMing on 173.52313336499998 meters Centerline goodness : 0.144076 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.46, Z:-0.90 [[ 9.96525844e-01 3.88351839e-03 -8.31935147e-02 -1.51084452e+01] [-4.82023815e-03 9.99927200e-01 -1.10616341e-02 -1.46082760e+00] [ 8.31445001e-02 1.14242168e-02 9.96472016e-01 -8.99687783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58313336499998 meters Centerline goodness : 0.150439 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.46, Z:-0.90 [[ 9.96498167e-01 7.55081159e-03 -8.32729791e-02 -1.51086521e+01] [-8.27339983e-03 9.99931031e-01 -8.33568049e-03 -1.45602693e+00] [ 8.32042947e-02 8.99544097e-03 9.96491910e-01 -8.99126601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64313336499998 meters Centerline goodness : 0.140485 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.45, Z:-0.90 [[ 9.96443964e-01 7.56137663e-03 -8.39181249e-02 -1.51066785e+01] [-8.33102497e-03 9.99926354e-01 -8.82502779e-03 -1.45262482e+00] [ 8.38452153e-02 9.49276967e-03 9.96433574e-01 -8.99680506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70313336499999 meters Centerline goodness : 0.140875 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.45, Z:-0.90 [[ 9.96446178e-01 7.62728111e-03 -8.38858627e-02 -1.51070346e+01] [-8.40200101e-03 9.99925218e-01 -8.88625390e-03 -1.45167118e+00] [ 8.38118116e-02 9.55948285e-03 9.96435746e-01 -8.99358422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.763133365 meters Centerline goodness : 0.137479 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.45, Z:-0.90 [[ 9.96574148e-01 -1.88927804e-05 -8.27040962e-02 -1.50879785e+01] [-6.27205350e-04 9.99969491e-01 -7.78617832e-03 -1.44868114e+00] [ 8.27017201e-02 7.81137648e-03 9.96543731e-01 -8.96045952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.823133365 meters Centerline goodness : 0.139727 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.45, Z:-0.90 [[ 9.96580326e-01 1.04199123e-04 -8.26295479e-02 -1.50886784e+01] [-7.24051753e-04 9.99971825e-01 -7.47165585e-03 -1.45037127e+00] [ 8.26264412e-02 7.50593329e-03 9.96552323e-01 -8.95414167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883133365 meters Centerline goodness : 0.226841 with order 3 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.45, Z:-0.89 [[ 9.96648569e-01 -6.93909075e-03 -8.15075353e-02 -1.50711031e+01] [ 6.49357246e-03 9.99962501e-01 -5.72978725e-03 -1.44781595e+00] [ 8.15442383e-02 5.18130917e-03 9.96656255e-01 -8.91883869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943133365 meters Centerline goodness : 0.249461 with order 3 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.45, Z:-0.89 [[ 9.96689930e-01 2.55635580e-03 -8.12566837e-02 -1.50502481e+01] [-3.02614523e-03 9.99979409e-01 -5.65892298e-03 -1.45295406e+00] [ 8.12405443e-02 5.88608607e-03 9.96677143e-01 -8.89508026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.003133365 meters Centerline goodness : 0.139675 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.45, Z:-0.89 [[ 9.96649822e-01 2.76933043e-03 -8.17402147e-02 -1.50485171e+01] [-3.25294969e-03 9.99977982e-01 -5.78396182e-03 -1.45162526e+00] [ 8.17223972e-02 6.03048132e-03 9.96636886e-01 -8.90112958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.063133365 meters Centerline goodness : 0.135562 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.45, Z:-0.89 [[ 9.96646499e-01 2.86381645e-03 -8.17774711e-02 -1.50484489e+01] [-3.37489301e-03 9.99975626e-01 -6.11205811e-03 -1.44947494e+00] [ 8.17579740e-02 6.36755153e-03 9.96631872e-01 -8.89976984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123133365 meters Centerline goodness : 0.131898 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.45, Z:-0.89 [[ 9.96621950e-01 2.87005891e-03 -8.20758880e-02 -1.50475016e+01] [-3.42444613e-03 9.99972260e-01 -6.61459647e-03 -1.44629411e+00] [ 8.20546269e-02 6.87331649e-03 9.96604132e-01 -8.90386269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183133365 meters Centerline goodness : 0.147368 with order 3 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.44, Z:-0.89 [[ 9.96567643e-01 6.29256820e-03 -8.25429359e-02 -1.50450240e+01] [-6.67046727e-03 9.99968493e-01 -4.30323806e-03 -1.43968289e+00] [ 8.25132568e-02 4.83906776e-03 9.96578219e-01 -8.91910085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24313336499998 meters Centerline goodness : 0.140359 with order 1 Centerline is valid? [False, False] Translation: X:-15.04, Y:-1.44, Z:-0.89 [[ 9.96558103e-01 5.95935457e-03 -8.26827322e-02 -1.50445861e+01] [-6.41297912e-03 9.99965802e-01 -5.22183438e-03 -1.43508598e+00] [ 8.26487858e-02 5.73410399e-03 9.96562240e-01 -8.92107999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30313336499998 meters Centerline goodness : 0.142070 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.43, Z:-0.89 [[ 9.96571975e-01 5.90968700e-03 -8.25189278e-02 -1.50451238e+01] [-6.39425899e-03 9.99963824e-01 -5.60921132e-03 -1.43220063e+00] [ 8.24827939e-02 6.11763020e-03 9.96573712e-01 -8.92016780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36313336499998 meters Centerline goodness : 0.153586 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.43, Z:-0.89 [[ 9.96578173e-01 5.58310649e-03 -8.24668042e-02 -1.50457205e+01] [-6.11558784e-03 9.99962044e-01 -6.20573079e-03 -1.42956196e+00] [ 8.24290268e-02 6.68882884e-03 9.96574490e-01 -8.91423420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42313336499998 meters Centerline goodness : 0.134916 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.43, Z:-0.89 [[ 9.96608361e-01 -2.22324881e-04 -8.22904957e-02 -1.50692713e+01] [-3.01789337e-05 9.99995296e-01 -3.06718789e-03 -1.42508701e+00] [ 8.22907905e-02 3.05926854e-03 9.96603666e-01 -8.92472569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.483133365 meters Centerline goodness : 0.131542 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.42, Z:-0.89 [[ 9.96653745e-01 -4.97940634e-05 -8.17392793e-02 -1.50712178e+01] [-1.98004023e-04 9.99995410e-01 -3.02345810e-03 -1.42399230e+00] [ 8.17390546e-02 3.02952554e-03 9.96649160e-01 -8.91705996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.543133365 meters Centerline goodness : 0.133851 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.42, Z:-0.89 [[ 9.96643358e-01 -3.76411521e-04 -8.18649790e-02 -1.50713838e+01] [ 1.04584674e-04 9.99994468e-01 -3.32469173e-03 -1.42440916e+00] [ 8.18657775e-02 3.30497010e-03 9.96637884e-01 -8.91123947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.603133365 meters Centerline goodness : 0.137909 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.43, Z:-0.89 [[ 9.96623855e-01 -3.25148851e-04 -8.21022923e-02 -1.50711472e+01] [ 6.97168782e-05 9.99995149e-01 -3.11399064e-03 -1.42581605e+00] [ 8.21029066e-02 3.09775344e-03 9.96619043e-01 -8.90663713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.663133365 meters Centerline goodness : 0.135397 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.43, Z:-0.89 [[ 9.96690753e-01 -5.61339093e-05 -8.12867740e-02 -1.50738241e+01] [-1.70296634e-04 9.99996125e-01 -2.77864111e-03 -1.42684696e+00] [ 8.12866150e-02 2.78328877e-03 9.96686881e-01 -8.89728528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.723133365 meters Centerline goodness : 0.133693 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.89 [[ 9.96651482e-01 7.93832734e-03 -8.13806316e-02 -1.50942525e+01] [-8.27047028e-03 9.99958786e-01 -3.74507150e-03 -1.43144996e+00] [ 8.13475479e-02 4.40558715e-03 9.96676059e-01 -8.92212866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.783133365 meters Centerline goodness : 0.134162 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.43, Z:-0.89 [[ 9.96672907e-01 5.35918352e-04 -8.15035507e-02 -1.50748432e+01] [-7.62786902e-04 9.99995921e-01 -2.75243068e-03 -1.42659812e+00] [ 8.15017432e-02 2.80544293e-03 9.96669251e-01 -8.90123615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.843133365 meters Centerline goodness : 0.135180 with order 1 Centerline is valid? [False, False] Translation: X:-15.10, Y:-1.43, Z:-0.89 [[ 9.96680710e-01 8.16718330e-03 -8.09991382e-02 -1.50952485e+01] [-8.47634794e-03 9.99958041e-01 -3.47376356e-03 -1.43350217e+00] [ 8.09673687e-02 4.14881001e-03 9.96708118e-01 -8.92578534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903133365 meters Centerline goodness : 0.135882 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.89 [[ 9.96664613e-01 8.37197094e-03 -8.11761025e-02 -1.50946080e+01] [-8.65471096e-03 9.99957643e-01 -3.13180614e-03 -1.43487909e+00] [ 8.11464447e-02 3.82391606e-03 9.96694854e-01 -8.92885679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96313336499998 meters Centerline goodness : 0.139459 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.44, Z:-0.90 [[ 9.96518469e-01 6.96862994e-03 -8.30805598e-02 -1.50862616e+01] [-7.36167628e-03 9.99963110e-01 -4.42550605e-03 -1.43658128e+00] [ 8.30466552e-02 5.02171070e-03 9.96533008e-01 -8.96978877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02313336499998 meters Centerline goodness : 0.131349 with order 2 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.44, Z:-0.90 [[ 9.96488690e-01 6.99151317e-03 -8.34350614e-02 -1.50854718e+01] [-7.38819645e-03 9.99962821e-01 -4.44658358e-03 -1.43706838e+00] [ 8.34008710e-02 5.04740487e-03 9.96503296e-01 -8.96923545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08313336499998 meters Centerline goodness : 0.134338 with order 2 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.90 [[ 9.96469769e-01 1.12475730e-02 -8.31954995e-02 -1.50865415e+01] [-1.13712944e-02 9.99934831e-01 -1.01340871e-03 -1.43421060e+00] [ 8.31786793e-02 1.95587166e-03 9.96532730e-01 -8.96353265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14313336499998 meters Centerline goodness : 0.204493 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.43, Z:-0.90 [[ 9.96648165e-01 3.81458449e-03 -8.17183249e-02 -1.51068073e+01] [-3.82501718e-03 9.99992684e-01 2.88825540e-05 -1.42738690e+00] [ 8.17178373e-02 2.83788252e-04 9.96655464e-01 -9.00010655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20313336499999 meters Centerline goodness : 0.142430 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.42, Z:-0.90 [[ 9.96753919e-01 -3.44275378e-03 -8.04349008e-02 -1.50891272e+01] [ 3.55584128e-03 9.99992881e-01 1.26275355e-03 -1.42142578e+00] [ 8.04299808e-02 -1.54466829e-03 9.96759064e-01 -8.97028096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263133365 meters Centerline goodness : 0.135975 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.43, Z:-0.90 [[ 9.96723653e-01 1.38296698e-03 -8.08705556e-02 -1.51119787e+01] [-1.54673250e-03 9.99996878e-01 -1.96242264e-03 -1.42631881e+00] [ 8.08675892e-02 2.08107818e-03 9.96722681e-01 -8.97934632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.323133365 meters Centerline goodness : 0.158256 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.43, Z:-0.90 [[ 9.96711993e-01 1.31860111e-03 -8.10152139e-02 -1.51116026e+01] [-1.47012304e-03 9.99997280e-01 -1.81066905e-03 -1.42768887e+00] [ 8.10126060e-02 1.92381789e-03 9.96711220e-01 -8.97958212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383133365 meters Centerline goodness : 0.130408 with order 2 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.42, Z:-0.90 [[ 9.96913144e-01 -5.72451399e-03 -7.83033405e-02 -1.50942758e+01] [ 5.73702817e-03 9.99983541e-01 -6.51437353e-05 -1.42418170e+00] [ 7.83024246e-02 -3.84285824e-04 9.96929578e-01 -8.95278193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.443133365 meters Centerline goodness : 0.140500 with order 3 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.90 [[ 9.96908723e-01 -5.63148101e-03 -7.83663414e-02 -1.50939832e+01] [ 5.65982046e-03 9.99983973e-01 1.39519604e-04 -1.42531111e+00] [ 7.83642998e-02 -5.82627733e-04 9.96924620e-01 -8.95441710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.503133365 meters Centerline goodness : 0.141143 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.90 [[ 9.96864033e-01 -5.79053184e-03 -7.89212820e-02 -1.50920836e+01] [ 5.82228402e-03 9.99983036e-01 1.72221259e-04 -1.42706407e+00] [ 7.89189459e-02 -6.31183297e-04 9.96880836e-01 -8.96098311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.563133365 meters Centerline goodness : 0.135702 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.90 [[ 9.96875210e-01 -5.46141024e-03 -7.88034760e-02 -1.50924550e+01] [ 5.54831389e-03 9.99984217e-01 8.83876397e-04 -1.43021254e+00] [ 7.87974051e-02 -1.31834089e-03 9.96889779e-01 -8.95935576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.623133365 meters Centerline goodness : 0.128910 with order 3 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.43, Z:-0.90 [[ 9.96864444e-01 -5.31187477e-03 -7.89497571e-02 -1.50920066e+01] [ 5.44195582e-03 9.99984166e-01 1.43257691e-03 -1.43351613e+00] [ 7.89408974e-02 -1.85772608e-03 9.96877567e-01 -8.95962461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.683133365 meters Centerline goodness : 0.145316 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.44, Z:-0.90 [[ 9.96836347e-01 -5.18381501e-03 -7.93121983e-02 -1.50912927e+01] [ 5.36018409e-03 9.99983612e-01 2.01099295e-03 -1.43760175e+00] [ 7.93004739e-02 -2.42975885e-03 9.96847797e-01 -8.95604155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74313336499998 meters Centerline goodness : 0.142820 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.45, Z:-0.90 [[ 9.96953863e-01 3.51306993e-04 -7.79927606e-02 -1.51126677e+01] [-3.68781666e-04 9.99999910e-01 -2.09652092e-04 -1.44682766e+00] [ 7.79926799e-02 2.37775763e-04 9.96953903e-01 -8.97955343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80313336499998 meters Centerline goodness : 0.136177 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.45, Z:-0.90 [[ 9.96958108e-01 5.83158165e-04 -7.79370921e-02 -1.51129770e+01] [-5.65315967e-04 9.99999809e-01 2.50993675e-04 -1.44916931e+00] [ 7.79372235e-02 -2.06171097e-04 9.96958247e-01 -8.97697149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86313336499998 meters Centerline goodness : 0.153400 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.45, Z:-0.90 [[ 9.96952086e-01 7.51439411e-04 -7.80126564e-02 -1.51127655e+01] [-7.13500797e-04 9.99999613e-01 5.14185963e-04 -1.45037753e+00] [ 7.80130126e-02 -4.56956675e-04 9.96952236e-01 -8.97769618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92313336499998 meters Centerline goodness : 0.137556 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.45, Z:-0.90 [[ 9.96972501e-01 8.08492132e-04 -7.77507473e-02 -1.51140840e+01] [-7.48404408e-04 9.99999398e-01 8.01960547e-04 -1.45249178e+00] [ 7.77513489e-02 -7.41343610e-04 9.96972506e-01 -8.96912602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.983133365 meters Centerline goodness : 0.167573 with order 3 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.46, Z:-0.90 [[ 9.96962177e-01 -7.27267432e-05 -7.78871797e-02 -1.51634601e+01] [ 1.97859297e-04 9.99998702e-01 1.59887143e-03 -1.45614433e+00] [ 7.78869624e-02 -1.60942504e-03 9.96960897e-01 -8.97830529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.043133365 meters Centerline goodness : 0.142125 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:-1.46, Z:-0.90 [[ 9.97200345e-01 3.93189419e-03 -7.46726986e-02 -1.51436726e+01] [-4.15120147e-03 9.99987514e-01 -2.78193291e-03 -1.45651338e+00] [ 7.46608280e-02 3.08412587e-03 9.97204216e-01 -8.95969174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.103133365 meters Centerline goodness : 0.132175 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:-1.46, Z:-0.90 [[ 9.97183716e-01 3.82903749e-03 -7.48997717e-02 -1.51433063e+01] [-4.03584740e-03 9.99988450e-01 -2.60999507e-03 -1.45816128e+00] [ 7.48889129e-02 2.90492863e-03 9.97187651e-01 -8.95666907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.163133365 meters Centerline goodness : 0.155700 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.46, Z:-0.90 [[ 9.97009388e-01 -4.54550913e-03 -7.71467393e-02 -1.51621526e+01] [ 4.44897874e-03 9.99989091e-01 -1.42307992e-03 -1.45548283e+00] [ 7.71523663e-02 1.07559984e-03 9.97018734e-01 -8.97834131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.223133365 meters SLAMing on 176.283133365 meters Centerline goodness : 0.154584 with order 3 Centerline is valid? [False, False] Translation: X:-15.18, Y:-1.45, Z:-0.90 [[ 9.96783080e-01 8.51576271e-03 -7.96929986e-02 -1.51815188e+01] [-8.42042202e-03 9.99963374e-01 1.53233805e-03 -1.45453490e+00] [ 7.97031287e-02 -8.56359961e-04 9.96818277e-01 -8.98914086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.343133365 meters Centerline goodness : 0.206402 with order 3 Centerline is valid? [False, False] Translation: X:-15.18, Y:-1.45, Z:-0.90 [[ 9.96804323e-01 8.79959689e-03 -7.93958943e-02 -1.51824002e+01] [-8.73820061e-03 9.99961193e-01 1.12070351e-03 -1.45066721e+00] [ 7.94026749e-02 -4.23344855e-04 9.96842533e-01 -8.98908761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.403133365 meters SLAMing on 176.46313336499998 meters Centerline goodness : 0.135530 with order 1 Centerline is valid? [False, False] Translation: X:-15.18, Y:-1.44, Z:-0.90 [[ 9.96800341e-01 1.12409934e-02 -7.91373455e-02 -1.51848476e+01] [-1.10984311e-02 9.99935899e-01 2.24107766e-03 -1.44141072e+00] [ 7.91574647e-02 -1.35560660e-03 9.96861203e-01 -8.97321409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52313336499998 meters Centerline goodness : 0.159606 with order 1 Centerline is valid? [False, False] Translation: X:-15.18, Y:-1.44, Z:-0.90 [[ 9.96775422e-01 1.09403431e-02 -7.94925575e-02 -1.51838572e+01] [-1.08384572e-02 9.99939795e-01 1.71307483e-03 -1.43897103e+00] [ 7.95065132e-02 -8.45974204e-04 9.96833988e-01 -8.97555198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58313336499998 meters Centerline goodness : 0.130337 with order 3 Centerline is valid? [False, False] Translation: X:-15.18, Y:-1.44, Z:-0.90 [[ 9.96786853e-01 1.07658204e-02 -7.93729581e-02 -1.51843039e+01] [-1.06848327e-02 9.99941871e-01 1.44499802e-03 -1.43735773e+00] [ 7.93839009e-02 -5.92268247e-04 9.96843942e-01 -8.97391369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64313336499998 meters Centerline goodness : 0.130924 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.44, Z:-0.89 [[ 9.96934571e-01 8.34205047e-03 -7.77937729e-02 -1.51912590e+01] [-8.43151754e-03 9.99964117e-01 -8.21662074e-04 -1.43543905e+00] [ 7.77841270e-02 1.47506289e-03 9.96969134e-01 -8.94150973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70313336499999 meters Centerline goodness : 0.136904 with order 1 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.43, Z:-0.89 [[ 9.96926689e-01 8.15833079e-03 -7.79141756e-02 -1.51911885e+01] [-8.27145300e-03 9.99965153e-01 -1.12926506e-03 -1.43389519e+00] [ 7.79022476e-02 1.77025792e-03 9.96959430e-01 -8.93863206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.763133365 meters Centerline goodness : 0.132256 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.43, Z:-0.89 [[ 9.96920008e-01 7.87895904e-03 -7.80283257e-02 -1.51904555e+01] [-8.02722492e-03 9.99966522e-01 -1.58667836e-03 -1.43218701e+00] [ 7.80132122e-02 2.20814232e-03 9.96949880e-01 -8.94505169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.823133365 meters Centerline goodness : 0.134438 with order 1 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.43, Z:-0.89 [[ 9.96891072e-01 7.80795474e-03 -7.84042511e-02 -1.51894878e+01] [-7.95392124e-03 9.99967166e-01 -1.54959320e-03 -1.43288410e+00] [ 7.83895776e-02 2.16839687e-03 9.96920444e-01 -8.94596309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.883133365 meters Centerline goodness : 0.152506 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.43, Z:-0.89 [[ 9.96836675e-01 7.81908909e-03 -7.90917468e-02 -1.51875027e+01] [-7.94863299e-03 9.99967534e-01 -1.32319306e-03 -1.43443204e+00] [ 7.90788328e-02 1.94767863e-03 9.96866463e-01 -8.94986009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.943133365 meters Centerline goodness : 0.133364 with order 1 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.44, Z:-0.89 [[ 9.96951319e-01 4.86322803e-03 -7.78743594e-02 -1.51915641e+01] [-5.16110672e-03 9.99980113e-01 -3.62431030e-03 -1.43917465e+00] [ 7.78551849e-02 4.01517882e-03 9.96956593e-01 -8.93900455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.003133365 meters Centerline goodness : 0.153896 with order 1 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.44, Z:-0.89 [[ 9.96949304e-01 5.01377696e-03 -7.78906048e-02 -1.51912453e+01] [-5.28653962e-03 9.99980594e-01 -3.29606283e-03 -1.44102232e+00] [ 7.78725675e-02 3.69777931e-03 9.96956463e-01 -8.94249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063133365 meters Centerline goodness : 0.158938 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.44, Z:-0.89 [[ 9.96947489e-01 5.31298912e-03 -7.78940033e-02 -1.51908049e+01] [-5.55043113e-03 9.99980586e-01 -2.83208458e-03 -1.44284871e+00] [ 7.78774443e-02 3.25578491e-03 9.96957624e-01 -8.94868081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123133365 meters Centerline goodness : 0.159336 with order 1 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.45, Z:-0.89 [[ 9.96945487e-01 5.44254158e-03 -7.79106893e-02 -1.51907572e+01] [-5.64384813e-03 9.99981279e-01 -2.36385062e-03 -1.44581039e+00] [ 7.78963654e-02 2.79634631e-03 9.96957540e-01 -8.94863926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183133365 meters Centerline goodness : 0.145093 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.45, Z:-0.89 [[ 9.96984588e-01 1.68269521e-03 -7.75815721e-02 -1.51920086e+01] [-2.10980803e-03 9.99983066e-01 -5.42370250e-03 -1.44910676e+00] [ 7.75711319e-02 5.57103003e-03 9.96971255e-01 -8.94342561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24313336499998 meters Centerline goodness : 0.146132 with order 1 Centerline is valid? [False, False] Translation: X:-15.17, Y:-1.45, Z:-0.89 [[ 9.97069857e-01 -6.88770890e-03 -7.61856910e-02 -1.51713599e+01] [ 6.58167705e-03 9.99969235e-01 -4.26727388e-03 -1.45449733e+00] [ 7.62127389e-02 3.75334054e-03 9.97084515e-01 -8.92986659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30313336499998 meters Centerline goodness : 0.161108 with order 1 Centerline is valid? [False, False] Translation: X:-15.17, Y:-1.46, Z:-0.89 [[ 9.97041484e-01 -6.76761515e-03 -7.65668213e-02 -1.51700215e+01] [ 6.51135297e-03 9.99972335e-01 -3.59606016e-03 -1.46034176e+00] [ 7.65890398e-02 3.08686756e-03 9.97057967e-01 -8.93362878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36313336499998 meters Centerline goodness : 0.145463 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.47, Z:-0.89 [[ 9.97150590e-01 -1.34991742e-03 -7.54246596e-02 -1.51929639e+01] [ 9.46115625e-04 9.99985031e-01 -5.38918519e-03 -1.47239776e+00] [ 7.54308055e-02 5.30246875e-03 9.97136940e-01 -8.94753431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42313336499998 meters SLAMing on 177.483133365 meters Centerline goodness : 0.142521 with order 3 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.49, Z:-0.89 [[ 9.97550373e-01 3.17390777e-03 -6.98797498e-02 -1.52196037e+01] [-3.61337773e-03 9.99974477e-01 -6.16343839e-03 -1.48824684e+00] [ 6.98584041e-02 6.40084220e-03 9.97536382e-01 -8.94752464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543133365 meters Centerline goodness : 0.121690 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.49, Z:-0.90 [[ 9.97554947e-01 3.34396539e-03 -6.98064850e-02 -1.52195780e+01] [-3.77340494e-03 9.99974755e-01 -6.02089900e-03 -1.48906867e+00] [ 6.97845891e-02 6.26958572e-03 9.97542382e-01 -8.95015293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603133365 meters Centerline goodness : 0.168790 with order 3 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.49, Z:-0.90 [[ 9.97507509e-01 4.30180330e-03 -7.04291419e-02 -1.52172126e+01] [-4.71475299e-03 9.99972651e-01 -5.69815074e-03 -1.48731859e+00] [ 7.04027034e-02 6.01600416e-03 9.97500510e-01 -8.96397195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663133365 meters Centerline goodness : 0.160692 with order 3 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.48, Z:-0.90 [[ 9.97491549e-01 4.92196821e-03 -7.06143295e-02 -1.52165757e+01] [-5.33274963e-03 9.99969932e-01 -5.62991209e-03 -1.48479057e+00] [ 7.05844960e-02 5.99235827e-03 9.97487805e-01 -8.96839288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723133365 meters Centerline goodness : 0.121407 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.48, Z:-0.90 [[ 9.97458616e-01 4.86466524e-03 -7.10819537e-02 -1.52151632e+01] [-5.32905816e-03 9.99965670e-01 -6.34502446e-03 -1.48058645e+00] [ 7.10486471e-02 6.70769918e-03 9.97450298e-01 -8.97457117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783133365 meters Centerline goodness : 0.094011 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.48, Z:-0.90 [[ 9.97413807e-01 -3.52427439e-03 -7.17863320e-02 -1.52352594e+01] [ 3.18075464e-03 9.99982941e-01 -4.89906183e-03 -1.47716209e+00] [ 7.18023730e-02 4.65805720e-03 9.97408002e-01 -9.00050039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843133365 meters Centerline goodness : 0.171769 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.48, Z:-0.90 [[ 9.97420365e-01 -4.03157625e-03 -7.16684216e-02 -1.52351881e+01] [ 3.70245958e-03 9.99981985e-01 -4.72446616e-03 -1.48079099e+00] [ 7.16861776e-02 4.44692933e-03 9.97417323e-01 -9.00329820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903133365 meters Centerline goodness : 0.136314 with order 3 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.48, Z:-0.90 [[ 9.97383300e-01 -8.08970730e-03 -7.18408656e-02 -1.52346303e+01] [ 7.53186479e-03 9.99939373e-01 -8.03248524e-03 -1.48434845e+00] [ 7.19014906e-02 7.47037095e-03 9.97383762e-01 -9.00399516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96313336499998 meters Centerline goodness : 0.143247 with order 1 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.49, Z:-0.90 [[ 9.97346281e-01 -8.81297644e-03 -7.22684424e-02 -1.52332516e+01] [ 8.26210099e-03 9.99934519e-01 -7.91802956e-03 -1.49138399e+00] [ 7.23334916e-02 7.29992816e-03 9.97353787e-01 -9.00642932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02313336499998 meters Centerline goodness : 0.227180 with order 3 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.50, Z:-0.90 [[ 9.97326078e-01 -1.22976730e-02 -7.20379138e-02 -1.52332790e+01] [ 1.15833679e-02 9.99879602e-01 -1.03250843e-02 -1.49817566e+00] [ 7.21562150e-02 9.46303416e-03 9.97348450e-01 -9.01035522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08313336499998 meters Centerline goodness : 0.149644 with order 3 Centerline is valid? [False, False] Translation: X:-15.25, Y:-1.51, Z:-0.90 [[ 9.97343503e-01 -4.85869014e-03 -7.26796392e-02 -1.52523614e+01] [ 4.05185737e-03 9.99928569e-01 -1.12445447e-02 -1.50582637e+00] [ 7.27290814e-02 1.09201860e-02 9.97291948e-01 -9.04041277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14313336499998 meters Centerline goodness : 0.146951 with order 1 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.51, Z:-0.90 [[ 9.97494233e-01 5.49645843e-03 -7.05339952e-02 -1.52333918e+01] [-6.28073997e-03 9.99920844e-01 -1.09022401e-02 -1.50737238e+00] [ 7.04684883e-02 1.13179273e-02 9.97449797e-01 -9.02526762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20313336499999 meters Centerline goodness : 0.146056 with order 1 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.51, Z:-0.90 [[ 9.97513461e-01 5.38282849e-03 -7.02703337e-02 -1.52340922e+01] [-6.19307325e-03 9.99916775e-01 -1.13176270e-02 -1.50547607e+00] [ 7.02035646e-02 1.17246746e-02 9.97463780e-01 -9.02541114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.263133365 meters Centerline goodness : 0.127145 with order 3 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.50, Z:-0.90 [[ 9.97512943e-01 5.36637362e-03 -7.02789533e-02 -1.52335286e+01] [-6.19408374e-03 9.99913940e-01 -1.15648693e-02 -1.50371252e+00] [ 7.02108436e-02 1.19714205e-02 9.97460336e-01 -9.03401596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.323133365 meters Centerline goodness : 0.126334 with order 3 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.50, Z:-0.90 [[ 9.97532012e-01 5.35025347e-03 -7.00089948e-02 -1.52338817e+01] [-6.17737375e-03 9.99913598e-01 -1.16033215e-02 -1.50337137e+00] [ 6.99408652e-02 1.20071564e-02 9.97478874e-01 -9.03855205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.383133365 meters SLAMing on 178.443133365 meters Centerline goodness : 0.135068 with order 3 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.51, Z:-0.91 [[ 9.97493008e-01 2.23001694e-03 -7.07299556e-02 -1.52812357e+01] [-3.15499046e-03 9.99910928e-01 -1.29685167e-02 -1.50578885e+00] [ 7.06947355e-02 1.31591571e-02 9.97411195e-01 -9.05998754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.503133365 meters Centerline goodness : 0.201110 with order 3 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.51, Z:-0.91 [[ 9.97510030e-01 2.22607593e-03 -7.04895999e-02 -1.52819910e+01] [-3.15091572e-03 9.99910379e-01 -1.30117579e-02 -1.50546399e+00] [ 7.04543173e-02 1.32014658e-02 9.97427647e-01 -9.05826414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.563133365 meters Centerline goodness : 0.131285 with order 3 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.50, Z:-0.91 [[ 9.97530588e-01 2.14496398e-03 -7.02006086e-02 -1.52826573e+01] [-3.09650826e-03 9.99904768e-01 -1.34486297e-02 -1.50259723e+00] [ 7.01650765e-02 1.36327962e-02 9.97442233e-01 -9.05957112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.623133365 meters Centerline goodness : 0.142205 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.50, Z:-0.91 [[ 9.97505539e-01 2.21814339e-03 -7.05533808e-02 -1.52811985e+01] [-3.21231395e-03 9.99897105e-01 -1.39807021e-02 -1.49843026e+00] [ 7.05151100e-02 1.41724674e-02 9.97410026e-01 -9.06855109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.683133365 meters Centerline goodness : 0.133173 with order 3 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.49, Z:-0.91 [[ 9.97484065e-01 2.19859368e-03 -7.08569446e-02 -1.52799797e+01] [-3.24442916e-03 9.99887447e-01 -1.46481078e-02 -1.49356218e+00] [ 7.08167642e-02 1.48411444e-02 9.97378928e-01 -9.07620920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74313336499998 meters Centerline goodness : 0.146304 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.49, Z:-0.91 [[ 9.97503838e-01 2.07931587e-03 -7.05816454e-02 -1.52814187e+01] [-3.16135739e-03 9.99879139e-01 -1.52221100e-02 -1.48950935e+00] [ 7.05414632e-02 1.54072469e-02 9.97389853e-01 -9.06763660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80313336499998 meters Centerline goodness : 0.222618 with order 3 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.49, Z:-0.91 [[ 9.97502010e-01 1.99237256e-03 -7.06099847e-02 -1.52815135e+01] [-3.08669268e-03 9.99876766e-01 -1.53923716e-02 -1.48811234e+00] [ 7.05706158e-02 1.55718729e-02 9.97385234e-01 -9.06600636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86313336499998 meters Centerline goodness : 0.145388 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.49, Z:-0.91 [[ 9.97531684e-01 1.86060332e-03 -7.01931518e-02 -1.52829133e+01] [-2.94742504e-03 9.99877332e-01 -1.53829078e-02 -1.48900593e+00] [ 7.01559198e-02 1.55518270e-02 9.97414802e-01 -9.06100406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92313336499998 meters SLAMing on 178.983133365 meters Centerline goodness : 0.174263 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.50, Z:-0.91 [[ 9.97391432e-01 -5.53890940e-04 -7.21805013e-02 -1.53264109e+01] [-5.73152670e-04 9.99878264e-01 -1.55925915e-02 -1.49675131e+00] [ 7.21803509e-02 1.55932877e-02 9.97269696e-01 -9.08988577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.043133365 meters Centerline goodness : 0.129150 with order 2 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.50, Z:-0.91 [[ 9.97406370e-01 -4.60038220e-04 -7.19744447e-02 -1.53268872e+01] [-6.54811704e-04 9.99880193e-01 -1.54651623e-02 -1.49745423e+00] [ 7.19729362e-02 1.54721811e-02 9.97286573e-01 -9.09005822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103133365 meters Centerline goodness : 0.130684 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.50, Z:-0.91 [[ 9.97435281e-01 -1.57588713e-04 -7.15739840e-02 -1.53276208e+01] [-9.55971401e-04 9.99879044e-01 -1.55236469e-02 -1.49578298e+00] [ 7.15677731e-02 1.55522558e-02 9.97314485e-01 -9.09418187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.163133365 meters Centerline goodness : 0.143444 with order 1 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.49, Z:-0.91 [[ 9.97466638e-01 3.14875572e-04 -7.11351353e-02 -1.53286503e+01] [-1.41837179e-03 9.99879439e-01 -1.54626955e-02 -1.49410894e+00] [ 7.11216904e-02 1.55244189e-02 9.97346829e-01 -9.09605208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.223133365 meters Centerline goodness : 0.129426 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.49, Z:-0.91 [[ 9.97436835e-01 1.80180069e-04 -7.15522720e-02 -1.53274172e+01] [-1.30708812e-03 9.99875847e-01 -1.57029274e-02 -1.49419502e+00] [ 7.15405592e-02 1.57562034e-02 9.97313236e-01 -9.09948728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.283133365 meters Centerline goodness : 0.166874 with order 1 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.50, Z:-0.91 [[ 9.97418989e-01 3.19015189e-04 -7.18001246e-02 -1.53268881e+01] [-1.41283960e-03 9.99883718e-01 -1.51840259e-02 -1.49735829e+00] [ 7.17869316e-02 1.52462778e-02 9.97303458e-01 -9.09840989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343133365 meters Centerline goodness : 0.131439 with order 2 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.50, Z:-0.91 [[ 9.97420326e-01 3.54877895e-04 -7.17813832e-02 -1.53269916e+01] [-1.44132099e-03 9.99885188e-01 -1.50842134e-02 -1.49794372e+00] [ 7.17677888e-02 1.51487611e-02 9.97306322e-01 -9.09738014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403133365 meters Centerline goodness : 0.119432 with order 2 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.50, Z:-0.91 [[ 9.97419305e-01 4.66640689e-04 -7.17949371e-02 -1.53269829e+01] [-1.55927359e-03 9.99883812e-01 -1.51635081e-02 -1.49648082e+00] [ 7.17795194e-02 1.52363237e-02 9.97304144e-01 -9.09778311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46313336499998 meters Centerline goodness : 0.127506 with order 3 Centerline is valid? [False, False] Translation: X:-15.32, Y:-1.49, Z:-0.91 [[ 9.97349231e-01 1.11539251e-03 -7.27548429e-02 -1.53236324e+01] [-2.21903136e-03 9.99883674e-01 -1.50902182e-02 -1.49232378e+00] [ 7.27295481e-02 1.52116628e-02 9.97235688e-01 -9.11112528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52313336499998 meters Centerline goodness : 0.129727 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.48, Z:-0.91 [[ 9.97391651e-01 2.31401679e-03 -7.21424981e-02 -1.53259712e+01] [-3.40744022e-03 9.99881131e-01 -1.50370548e-02 -1.48265743e+00] [ 7.20991266e-02 1.52436542e-02 9.97280977e-01 -9.10297973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58313336499998 meters Centerline goodness : 0.127283 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.48, Z:-0.91 [[ 9.97479843e-01 4.05893739e-03 -7.08342237e-02 -1.53321405e+01] [-5.05415434e-03 9.99890945e-01 -1.38763763e-02 -1.47680684e+00] [ 7.07701755e-02 1.41994127e-02 9.97391578e-01 -9.07191008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64313336499998 meters Centerline goodness : 0.095678 with order 1 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.47, Z:-0.91 [[ 9.97517867e-01 3.60982671e-03 -7.03212228e-02 -1.53348070e+01] [-4.66794640e-03 9.99878265e-01 -1.48884309e-02 -1.46900020e+00] [ 7.02589176e-02 1.51797315e-02 9.97413285e-01 -9.05635494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70313336499999 meters Centerline goodness : 0.130503 with order 1 Centerline is valid? [False, False] Translation: X:-15.36, Y:-1.46, Z:-0.91 [[ 9.97500869e-01 -5.54558406e-03 -7.04362371e-02 -1.53550942e+01] [ 4.54070992e-03 9.99885737e-01 -1.44185486e-02 -1.46192795e+00] [ 7.05081481e-02 1.40626843e-02 9.97412072e-01 -9.07886335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763133365 meters Centerline goodness : 0.136855 with order 1 Centerline is valid? [False, False] Translation: X:-15.36, Y:-1.46, Z:-0.91 [[ 9.97504879e-01 -6.17216845e-03 -7.03272464e-02 -1.53559148e+01] [ 5.11893101e-03 9.99872180e-01 -1.51466312e-02 -1.45904013e+00] [ 7.04117447e-02 1.47488382e-02 9.97408972e-01 -9.07077137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823133365 meters Centerline goodness : 0.123072 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.46, Z:-0.91 [[ 9.97472845e-01 -6.41990912e-03 -7.07580986e-02 -1.53548735e+01] [ 5.34447254e-03 9.99867474e-01 -1.53776332e-02 -1.45861998e+00] [ 7.08474443e-02 1.49606068e-02 9.97374965e-01 -9.07006507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.883133365 meters Centerline goodness : 0.125165 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.46, Z:-0.91 [[ 9.97432161e-01 -6.55971348e-03 -7.13165809e-02 -1.53531900e+01] [ 5.46698937e-03 9.99864820e-01 -1.55065723e-02 -1.45837353e+00] [ 7.14086590e-02 1.50768669e-02 9.97333190e-01 -9.07431693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.943133365 meters Centerline goodness : 0.108370 with order 2 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.46, Z:-0.91 [[ 9.97459453e-01 -6.50255906e-03 -7.09390974e-02 -1.53543056e+01] [ 5.43964185e-03 9.99870186e-01 -1.51664286e-02 -1.46064475e+00] [ 7.10285092e-02 1.47420143e-02 9.97365341e-01 -9.07077794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.003133365 meters Centerline goodness : 0.121866 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.46, Z:-0.91 [[ 9.97456446e-01 -6.46686246e-03 -7.09846319e-02 -1.53541098e+01] [ 5.43226220e-03 9.99876333e-01 -1.47583744e-02 -1.46399761e+00] [ 7.10712939e-02 1.43352285e-02 9.97368223e-01 -9.07131660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.063133365 meters Centerline goodness : 0.124350 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97386046e-01 -6.29555001e-03 -7.19822291e-02 -1.53504648e+01] [ 5.27824028e-03 9.99883614e-01 -1.43142843e-02 -1.46661174e+00] [ 7.20639677e-02 1.38969279e-02 9.97303194e-01 -9.08701959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.123133365 meters Centerline goodness : 0.124808 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97366251e-01 -6.29519749e-03 -7.22560163e-02 -1.53493980e+01] [ 5.26962216e-03 9.99882781e-01 -1.43754989e-02 -1.46648128e+00] [ 7.23380431e-02 1.39568755e-02 9.97282514e-01 -9.09264116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.183133365 meters Centerline goodness : 0.150893 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97391682e-01 -6.02834808e-03 -7.19269826e-02 -1.53502932e+01] [ 5.02649980e-03 9.99887934e-01 -1.41015704e-02 -1.46659016e+00] [ 7.20039312e-02 1.37032481e-02 9.97310210e-01 -9.09137775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24313336499998 meters Centerline goodness : 0.126170 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97389503e-01 -5.96681800e-03 -7.19623286e-02 -1.53502530e+01] [ 4.97453326e-03 9.99890176e-01 -1.39602965e-02 -1.46720653e+00] [ 7.20377240e-02 1.35658742e-02 9.97309648e-01 -9.09060209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30313336499998 meters Centerline goodness : 0.124148 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97370290e-01 -6.10740861e-03 -7.22163751e-02 -1.53499997e+01] [ 5.12627661e-03 9.99892137e-01 -1.37635523e-02 -1.46956747e+00] [ 7.22926453e-02 1.33571570e-02 9.97294019e-01 -9.08567267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36313336499998 meters Centerline goodness : 0.127119 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97408514e-01 -6.00009836e-03 -7.16955688e-02 -1.53514237e+01] [ 5.05396415e-03 9.99897836e-01 -1.33706798e-02 -1.47154725e+00] [ 7.17684694e-02 1.29736830e-02 9.97336939e-01 -9.08347353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42313336499998 meters Centerline goodness : 0.124514 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.47, Z:-0.91 [[ 9.97428466e-01 -6.00239612e-03 -7.14172733e-02 -1.53525901e+01] [ 5.07781239e-03 9.99901026e-01 -1.31207392e-02 -1.47326354e+00] [ 7.14889607e-02 1.27243552e-02 9.97360225e-01 -9.07665857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.483133365 meters Centerline goodness : 0.126553 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.48, Z:-0.91 [[ 9.97388926e-01 -5.92059021e-03 -7.19741474e-02 -1.53513904e+01] [ 5.02870721e-03 9.99908392e-01 -1.25666089e-02 -1.47695770e+00] [ 7.20419557e-02 1.21718596e-02 9.97327330e-01 -9.07415531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.543133365 meters Centerline goodness : 0.127654 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.48, Z:-0.91 [[ 9.97390391e-01 -5.77520705e-03 -7.19656514e-02 -1.53517547e+01] [ 4.92331434e-03 9.99915766e-01 -1.20092591e-02 -1.48077257e+00] [ 7.20289454e-02 1.16236101e-02 9.97334810e-01 -9.06903118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.603133365 meters Centerline goodness : 0.126112 with order 3 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.49, Z:-0.91 [[ 9.97671566e-01 1.46052072e-04 -6.82013531e-02 -1.53699201e+01] [-9.67271566e-04 9.99927431e-01 -1.20082348e-02 -1.48853582e+00] [ 6.81946500e-02 1.20462437e-02 9.97599307e-01 -9.09656106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.663133365 meters Centerline goodness : 0.093705 with order 1 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.49, Z:-0.91 [[ 9.97637776e-01 4.39136217e-03 -6.85535058e-02 -1.53682228e+01] [-4.99829356e-03 9.99949798e-01 -8.68438084e-03 -1.48560621e+00] [ 6.85119280e-02 9.00651693e-03 9.97609642e-01 -9.10779829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.723133365 meters SLAMing on 180.783133365 meters Centerline goodness : 0.128830 with order 3 Centerline is valid? [False, False] Translation: X:-15.41, Y:-1.48, Z:-0.91 [[ 9.97122948e-01 2.29329243e-02 -7.22489323e-02 -1.54084988e+01] [-2.35792984e-02 9.99689105e-01 -8.10620792e-03 -1.48299999e+00] [ 7.20405713e-02 9.78646507e-03 9.97353689e-01 -9.14626284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.843133365 meters Centerline goodness : 0.136733 with order 1 Centerline is valid? [False, False] Translation: X:-15.40, Y:-1.47, Z:-0.92 [[ 9.97010087e-01 2.38990779e-02 -7.34827895e-02 -1.54038652e+01] [-2.45639625e-02 9.99664976e-01 -8.15765443e-03 -1.47472937e+00] [ 7.32632106e-02 9.93829224e-03 9.97263121e-01 -9.16459793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903133365 meters Centerline goodness : 0.140013 with order 1 Centerline is valid? [False, False] Translation: X:-15.43, Y:-1.47, Z:-0.92 [[ 9.97271889e-01 1.46183185e-02 -7.23538752e-02 -1.54271659e+01] [-1.52432383e-02 9.99851068e-01 -8.09233337e-03 -1.46926291e+00] [ 7.22248031e-02 9.17316395e-03 9.97346194e-01 -9.17769160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96313336499998 meters Centerline goodness : 0.181291 with order 3 Centerline is valid? [False, False] Translation: X:-15.43, Y:-1.46, Z:-0.92 [[ 9.97380958e-01 9.13238694e-04 -7.23214407e-02 -1.54290885e+01] [-1.23069992e-03 9.99989802e-01 -4.34514695e-03 -1.46211715e+00] [ 7.23167351e-02 4.42277282e-03 9.97371911e-01 -9.16466403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02313336499998 meters Centerline goodness : 0.123638 with order 2 Centerline is valid? [False, False] Translation: X:-15.43, Y:-1.46, Z:-0.92 [[ 9.97313693e-01 4.93415530e-04 -7.32472097e-02 -1.54260652e+01] [-8.64538781e-04 9.99986950e-01 -5.03510337e-03 -1.45883852e+00] [ 7.32437695e-02 5.08490260e-03 9.97301105e-01 -9.17495240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08313336499998 meters Centerline goodness : 0.119760 with order 3 Centerline is valid? [False, False] Translation: X:-15.43, Y:-1.46, Z:-0.92 [[ 9.97342525e-01 4.16836180e-04 -7.28540550e-02 -1.54274227e+01] [-8.18048473e-04 9.99984665e-01 -5.47731684e-03 -1.45534305e+00] [ 7.28506546e-02 5.52235916e-03 9.97327572e-01 -9.17107398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14313336499998 meters Centerline goodness : 0.125647 with order 1 Centerline is valid? [False, False] Translation: X:-15.48, Y:-1.45, Z:-0.92 [[ 9.97263215e-01 5.58159966e-05 -7.39329201e-02 -1.54760382e+01] [-4.75699669e-04 9.99983860e-01 -5.66165499e-03 -1.45163086e+00] [ 7.39314108e-02 5.68133012e-03 9.97247145e-01 -9.17970996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20313336499999 meters Centerline goodness : 0.125073 with order 1 Centerline is valid? [False, False] Translation: X:-15.48, Y:-1.45, Z:-0.92 [[ 9.97254724e-01 -3.01067957e-04 -7.40467811e-02 -1.54754809e+01] [-1.71431351e-04 9.99979667e-01 -6.37465333e-03 -1.44803460e+00] [ 7.40471947e-02 6.36984709e-03 9.97234395e-01 -9.18439496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263133365 meters Centerline goodness : 0.127373 with order 1 Centerline is valid? [False, False] Translation: X:-15.48, Y:-1.45, Z:-0.92 [[ 9.97263140e-01 -4.26628046e-04 -7.39327282e-02 -1.54759294e+01] [-6.70243420e-05 9.99977723e-01 -6.67443851e-03 -1.44598283e+00] [ 7.39339287e-02 6.66112679e-03 9.97240895e-01 -9.18286556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323133365 meters Centerline goodness : 0.127005 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.45, Z:-0.92 [[ 9.97613717e-01 -3.92785641e-03 -6.89307105e-02 -1.55162786e+01] [ 3.46387296e-03 9.99970543e-01 -6.84939291e-03 -1.44519282e+00] [ 6.89555835e-02 6.59428110e-03 9.97597937e-01 -9.22541728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383133365 meters Centerline goodness : 0.230831 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.45, Z:-0.92 [[ 9.97601449e-01 -4.03663595e-03 -6.91017680e-02 -1.55157593e+01] [ 3.57132794e-03 9.99970121e-01 -6.85587973e-03 -1.44556911e+00] [ 6.91273780e-02 6.59265047e-03 9.97586058e-01 -9.22622071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443133365 meters Centerline goodness : 0.131164 with order 1 Centerline is valid? [False, False] Translation: X:-15.51, Y:-1.45, Z:-0.92 [[ 9.97558346e-01 -4.23321844e-03 -6.97095791e-02 -1.55136516e+01] [ 3.75379796e-03 9.99968405e-01 -7.00695964e-03 -1.44570890e+00] [ 6.97370386e-02 6.72817540e-03 9.97542719e-01 -9.23474865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503133365 meters Centerline goodness : 0.183402 with order 3 Centerline is valid? [False, False] Translation: X:-15.51, Y:-1.45, Z:-0.92 [[ 9.97538871e-01 -4.27088387e-03 -6.99854348e-02 -1.55130351e+01] [ 3.80161485e-03 9.99969401e-01 -6.83705982e-03 -1.44706520e+00] [ 7.00124935e-02 6.55417526e-03 9.97524583e-01 -9.23373831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563133365 meters Centerline goodness : 0.141035 with order 1 Centerline is valid? [False, False] Translation: X:-15.51, Y:-1.45, Z:-0.92 [[ 9.97514231e-01 -4.29854401e-03 -7.03340746e-02 -1.55122192e+01] [ 3.84401798e-03 9.99970855e-01 -6.59646252e-03 -1.44906139e+00] [ 7.03603799e-02 6.30969979e-03 9.97501682e-01 -9.23290562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623133365 meters Centerline goodness : 0.127466 with order 1 Centerline is valid? [False, False] Translation: X:-15.51, Y:-1.45, Z:-0.92 [[ 9.97551723e-01 -4.53700010e-03 -6.97852164e-02 -1.55135957e+01] [ 4.10727137e-03 9.99971719e-01 -6.30013318e-03 -1.45283251e+00] [ 6.98118265e-02 5.99808189e-03 9.97542145e-01 -9.23114931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.683133365 meters Centerline goodness : 0.126543 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.46, Z:-0.92 [[ 9.97661788e-01 -6.12907686e-03 -6.80690241e-02 -1.55192341e+01] [ 5.67958925e-03 9.99960785e-01 -6.79497529e-03 -1.46109944e+00] [ 6.81080017e-02 6.39248310e-03 9.97657474e-01 -9.21299279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74313336499998 meters Centerline goodness : 0.126195 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.47, Z:-0.92 [[ 9.97585348e-01 -6.61854882e-03 -6.91351427e-02 -1.55154431e+01] [ 6.16151443e-03 9.99957748e-01 -6.82189455e-03 -1.46621470e+00] [ 6.91773727e-02 6.37944487e-03 9.97583978e-01 -9.22616009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80313336499998 meters Centerline goodness : 0.128072 with order 1 Centerline is valid? [False, False] Translation: X:-15.53, Y:-1.48, Z:-0.93 [[ 9.97576609e-01 8.91436598e-04 -6.95709293e-02 -1.55333880e+01] [-1.42109382e-03 9.99970382e-01 -7.56407541e-03 -1.47586372e+00] [ 6.95621258e-02 7.64461152e-03 9.97548330e-01 -9.25808856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86313336499998 meters Centerline goodness : 0.126190 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.93 [[ 9.97645793e-01 1.54393099e-03 -6.85601082e-02 -1.55363285e+01] [-2.01754950e-03 9.99974576e-01 -6.83937119e-03 -1.47759221e+00] [ 6.85478057e-02 6.96159331e-03 9.97623544e-01 -9.25183860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92313336499998 meters Centerline goodness : 0.127052 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.93 [[ 9.97648986e-01 1.75198603e-03 -6.85086246e-02 -1.55365869e+01] [-2.20492909e-03 9.99976206e-01 -6.53641682e-03 -1.47871019e+00] [ 6.84955429e-02 6.67210627e-03 9.97629111e-01 -9.25072261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.983133365 meters Centerline goodness : 0.125778 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.92 [[ 9.97670884e-01 1.93523164e-03 -6.81840248e-02 -1.55376078e+01] [-2.35192915e-03 9.99979044e-01 -6.03162026e-03 -1.48145096e+00] [ 6.81709233e-02 6.17793592e-03 9.97654529e-01 -9.24770607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043133365 meters Centerline goodness : 0.128159 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.92 [[ 9.97761601e-01 4.77059390e-04 -6.68697178e-02 -1.55424108e+01] [-9.50747965e-04 9.99974682e-01 -7.05210844e-03 -1.48477178e+00] [ 6.68646605e-02 7.09989926e-03 9.97736793e-01 -9.23022565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103133365 meters Centerline goodness : 0.110818 with order 2 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.49, Z:-0.92 [[ 9.97758276e-01 5.05374330e-04 -6.69191085e-02 -1.55423589e+01] [-9.70168210e-04 9.99975632e-01 -6.91329213e-03 -1.48578513e+00] [ 6.69139840e-02 6.96271723e-03 9.97734453e-01 -9.22932636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163133365 meters Centerline goodness : 0.126207 with order 2 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.49, Z:-0.92 [[ 9.97762438e-01 6.87127766e-04 -6.68554004e-02 -1.55427039e+01] [-1.14206665e-03 9.99976453e-01 -6.76683731e-03 -1.48609159e+00] [ 6.68491764e-02 6.82804941e-03 9.97739728e-01 -9.22658999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223133365 meters Centerline goodness : 0.112626 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.49, Z:-0.92 [[ 9.97767255e-01 8.09493501e-04 -6.67821088e-02 -1.55426818e+01] [-1.26833551e-03 9.99975880e-01 -6.82862029e-03 -1.48538253e+00] [ 6.67749703e-02 6.89807584e-03 9.97744216e-01 -9.22970905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.283133365 meters Centerline goodness : 0.195251 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.92 [[ 9.97754905e-01 7.89569254e-04 -6.69666075e-02 -1.55422858e+01] [-1.26115151e-03 9.99974704e-01 -7.00006819e-03 -1.48467231e+00] [ 6.69593865e-02 7.06880741e-03 9.97730661e-01 -9.22950308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.343133365 meters Centerline goodness : 0.442501 with order 2 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.92 [[ 9.97739241e-01 9.30281504e-04 -6.71977772e-02 -1.55417956e+01] [-1.41922405e-03 9.99972865e-01 -7.22879959e-03 -1.48222557e+00] [ 6.71892289e-02 7.30782572e-03 9.97713488e-01 -9.22984101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.403133365 meters Centerline goodness : 0.148633 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.92 [[ 9.97767015e-01 9.83417295e-04 -6.67833494e-02 -1.55427768e+01] [-1.49234384e-03 9.99970225e-01 -7.57110049e-03 -1.47935743e+00] [ 6.67739154e-02 7.65385806e-03 9.97738775e-01 -9.23042416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46313336499998 meters Centerline goodness : 0.312269 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.48, Z:-0.92 [[ 9.97774864e-01 7.06907172e-04 -6.66694885e-02 -1.55427474e+01] [-1.26537820e-03 9.99964464e-01 -8.33485487e-03 -1.47564992e+00] [ 6.66612274e-02 8.40067080e-03 9.97740302e-01 -9.23590597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52313336499998 meters Centerline goodness : 0.121064 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.47, Z:-0.92 [[ 9.97738654e-01 8.36661653e-04 -6.72077289e-02 -1.55406366e+01] [-1.41072618e-03 9.99962925e-01 -8.49463911e-03 -1.47308274e+00] [ 6.71981300e-02 8.57024150e-03 9.97702843e-01 -9.24730935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58313336499998 meters Centerline goodness : 0.123263 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.47, Z:-0.92 [[ 9.97720082e-01 5.09956772e-04 -6.74861367e-02 -1.55400412e+01] [-1.10765915e-03 9.99960494e-01 -8.81954699e-03 -1.47261572e+00] [ 6.74789730e-02 8.87419078e-03 9.97681230e-01 -9.24637960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64313336499998 meters Centerline goodness : 0.128965 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.47, Z:-0.93 [[ 9.97733207e-01 -8.38321070e-03 -6.67695292e-02 -1.55630400e+01] [ 7.89277058e-03 9.99939927e-01 -7.60568183e-03 -1.47146929e+00] [ 6.68292782e-02 7.06144475e-03 9.97739437e-01 -9.26068729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70313336499999 meters Centerline goodness : 0.112751 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.47, Z:-0.93 [[ 9.97758674e-01 -8.15081802e-03 -6.64168092e-02 -1.55642008e+01] [ 7.69318042e-03 9.99944893e-01 -7.14324224e-03 -1.47314290e+00] [ 6.64713724e-02 6.61627541e-03 9.97766396e-01 -9.25528256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763133365 meters Centerline goodness : 0.242978 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.48, Z:-0.93 [[ 9.97743218e-01 -8.44157527e-03 -6.66123871e-02 -1.55637312e+01] [ 7.98229836e-03 9.99942522e-01 -7.15791809e-03 -1.47546717e+00] [ 6.66689824e-02 6.61004429e-03 9.97753253e-01 -9.25474418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823133365 meters Centerline goodness : 0.128229 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.48, Z:-0.93 [[ 9.97728769e-01 -8.13177929e-03 -6.68668635e-02 -1.55623688e+01] [ 7.71674967e-03 9.99949341e-01 -6.46275550e-03 -1.47855891e+00] [ 6.69160298e-02 5.93208225e-03 9.97740976e-01 -9.26458114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883133365 meters Centerline goodness : 0.129994 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.48, Z:-0.93 [[ 9.97729496e-01 -8.09999651e-03 -6.68598718e-02 -1.55628199e+01] [ 7.71137415e-03 9.99951853e-01 -6.06852903e-03 -1.48165355e+00] [ 6.69058077e-02 5.53916893e-03 9.97743920e-01 -9.25824862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943133365 meters Centerline goodness : 0.201132 with order 3 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.49, Z:-0.93 [[ 9.97947624e-01 -2.11915587e-03 -6.40003760e-02 -1.55826680e+01] [ 1.68384697e-03 9.99975088e-01 -6.85483459e-03 -1.49092694e+00] [ 6.40133080e-02 6.73299906e-03 9.97926332e-01 -9.28444322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.003133365 meters Centerline goodness : 0.212155 with order 3 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.49, Z:-0.93 [[ 9.97947034e-01 -2.15904537e-03 -6.40082428e-02 -1.55822511e+01] [ 1.74701947e-03 9.99977398e-01 -6.49234619e-03 -1.49489654e+00] [ 6.40208134e-02 6.36719398e-03 9.97928251e-01 -9.28869996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063133365 meters Centerline goodness : 0.264083 with order 3 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.50, Z:-0.93 [[ 9.97872653e-01 5.34207390e-03 -6.49740766e-02 -1.56009670e+01] [-5.85947092e-03 9.99952605e-01 -7.77517891e-03 -1.50065551e+00] [ 6.49294616e-02 8.13935212e-03 9.97856661e-01 -9.31552115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123133365 meters SLAMing on 183.183133365 meters Centerline goodness : 0.299322 with order 3 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.50, Z:-0.93 [[ 9.97769619e-01 5.27742230e-03 -6.65427345e-02 -1.56460213e+01] [-5.78018126e-03 9.99956171e-01 -7.36516564e-03 -1.50298873e+00] [ 6.65009489e-02 7.73336758e-03 9.97756393e-01 -9.33493108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24313336499998 meters Centerline goodness : 0.166703 with order 3 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.50, Z:-0.93 [[ 9.97741737e-01 5.28215474e-03 -6.69591345e-02 -1.56450147e+01] [-5.77458573e-03 9.99957673e-01 -7.16278721e-03 -1.50499022e+00] [ 6.69184654e-02 7.53327302e-03 9.97730008e-01 -9.33523208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30313336499998 meters Centerline goodness : 0.121227 with order 3 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.51, Z:-0.93 [[ 9.97766578e-01 5.51144986e-03 -6.65693668e-02 -1.56461205e+01] [-5.98049416e-03 9.99958663e-01 -6.84872303e-03 -1.50608352e+00] [ 6.65288687e-02 7.23154465e-03 9.97758295e-01 -9.33312998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36313336499998 meters Centerline goodness : 0.110616 with order 3 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.50, Z:-0.93 [[ 9.97790058e-01 6.93055076e-03 -6.60830298e-02 -1.56473922e+01] [-7.34485894e-03 9.99954853e-01 -6.02861831e-03 -1.50367399e+00] [ 6.60382647e-02 6.50066595e-03 9.97795915e-01 -9.33354832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42313336499998 meters Centerline goodness : 0.124973 with order 3 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.50, Z:-0.93 [[ 9.97735279e-01 7.31076605e-03 -6.68645363e-02 -1.56451299e+01] [-7.75755023e-03 9.99949270e-01 -6.42472659e-03 -1.49957483e+00] [ 6.68141746e-02 6.92888137e-03 9.97741378e-01 -9.34100446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.483133365 meters Centerline goodness : 0.116809 with order 3 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.49, Z:-0.93 [[ 9.97693603e-01 7.83124311e-03 -6.74251127e-02 -1.56435056e+01] [-8.30025578e-03 9.99943249e-01 -6.67871960e-03 -1.49446359e+00] [ 6.73689836e-02 7.22296150e-03 9.97701984e-01 -9.34737456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543133365 meters Centerline goodness : 0.127443 with order 1 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.49, Z:-0.93 [[ 9.97785400e-01 9.77301585e-03 -6.57934990e-02 -1.56495048e+01] [-1.01508955e-02 9.99933835e-01 -5.41157006e-03 -1.48831739e+00] [ 6.57362584e-02 6.06744853e-03 9.97818586e-01 -9.32663807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603133365 meters Centerline goodness : 0.124916 with order 2 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.48, Z:-0.93 [[ 9.97808119e-01 9.39380079e-03 -6.55035496e-02 -1.56506109e+01] [-9.82135409e-03 9.99932497e-01 -6.20821579e-03 -1.48446537e+00] [ 6.54408091e-02 6.83794167e-03 9.97833024e-01 -9.32195336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663133365 meters Centerline goodness : 0.125375 with order 1 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.48, Z:-0.93 [[ 9.97799730e-01 9.17367939e-03 -6.56623387e-02 -1.56498508e+01] [-9.64792085e-03 9.99929589e-01 -6.90897330e-03 -1.47979437e+00] [ 6.55943346e-02 7.52727674e-03 9.97817981e-01 -9.32744599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723133365 meters Centerline goodness : 0.139046 with order 3 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.47, Z:-0.93 [[ 9.97825033e-01 8.53176683e-03 -6.53636922e-02 -1.56506293e+01] [-9.09528413e-03 9.99923953e-01 -8.32854085e-03 -1.47115883e+00] [ 6.52876643e-02 8.90492790e-03 9.97826750e-01 -9.32761718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.783133365 meters Centerline goodness : 0.129332 with order 1 Centerline is valid? [False, False] Translation: X:-15.65, Y:-1.47, Z:-0.93 [[ 9.97848898e-01 8.24349719e-03 -6.50355410e-02 -1.56519699e+01] [-8.84607691e-03 9.99920524e-01 -8.98287388e-03 -1.46726346e+00] [ 6.49563220e-02 9.53886019e-03 9.97842516e-01 -9.32154923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.843133365 meters Centerline goodness : 0.126490 with order 1 Centerline is valid? [False, False] Translation: X:-15.67, Y:-1.46, Z:-0.94 [[ 9.97824889e-01 -6.89189023e-04 -6.59167328e-02 -1.56710775e+01] [ 1.39763791e-04 9.99965217e-01 -8.33938877e-03 -1.46225943e+00] [ 6.59201874e-02 8.31203690e-03 9.97790278e-01 -9.35144080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.903133365 meters Centerline goodness : 0.212072 with order 3 Centerline is valid? [False, False] Translation: X:-15.67, Y:-1.46, Z:-0.94 [[ 9.97807959e-01 -9.74310798e-04 -6.61689335e-02 -1.56703633e+01] [ 3.91473639e-04 9.99961020e-01 -8.82071504e-03 -1.45990257e+00] [ 6.61749483e-02 8.77547627e-03 9.97769446e-01 -9.35288944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96313336499998 meters Centerline goodness : 0.129374 with order 1 Centerline is valid? [False, False] Translation: X:-15.67, Y:-1.46, Z:-0.94 [[ 9.97829700e-01 -1.10562488e-03 -6.58381840e-02 -1.56713252e+01] [ 5.01949476e-04 9.99957692e-01 -9.18491318e-03 -1.45774732e+00] [ 6.58455536e-02 9.13193172e-03 9.97788039e-01 -9.35105200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02313336499998 meters Centerline goodness : 0.127796 with order 1 Centerline is valid? [False, False] Translation: X:-15.67, Y:-1.46, Z:-0.94 [[ 9.97832532e-01 -1.21321778e-03 -6.57933642e-02 -1.56714279e+01] [ 5.91890987e-04 9.99955056e-01 -9.46227910e-03 -1.45628910e+00] [ 6.58018870e-02 9.40282741e-03 9.97788404e-01 -9.35143109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08313336499998 meters Centerline goodness : 0.129304 with order 1 Centerline is valid? [False, False] Translation: X:-15.67, Y:-1.45, Z:-0.94 [[ 9.97784655e-01 -1.28933223e-03 -6.65140643e-02 -1.56690287e+01] [ 6.20929364e-04 9.99949116e-01 -1.00687401e-02 -1.45231294e+00] [ 6.65236617e-02 1.00051339e-02 9.97734684e-01 -9.36171947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14313336499998 meters Centerline goodness : 0.131033 with order 1 Centerline is valid? [False, False] Translation: X:-15.71, Y:-1.45, Z:-0.94 [[ 9.97605727e-01 -1.71992464e-03 -6.91364986e-02 -1.57141910e+01] [ 1.05320270e-03 9.99952604e-01 -9.67885404e-03 -1.45474250e+00] [ 6.91498687e-02 9.58286547e-03 9.97560256e-01 -9.38099698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20313336499999 meters Centerline goodness : 0.137306 with order 1 Centerline is valid? [False, False] Translation: X:-15.71, Y:-1.46, Z:-0.94 [[ 9.97618890e-01 -1.68230317e-03 -6.89472284e-02 -1.57147311e+01] [ 1.03159979e-03 9.99954605e-01 -9.47222066e-03 -1.45563840e+00] [ 6.89600337e-02 9.37854031e-03 9.97575339e-01 -9.37944485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.263133365 meters Centerline goodness : 0.143910 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.46, Z:-0.94 [[ 9.97628408e-01 -1.81218430e-03 -6.88060761e-02 -1.57153592e+01] [ 1.17980845e-03 9.99956705e-01 -9.23022282e-03 -1.45794712e+00] [ 6.88198240e-02 9.12715451e-03 9.97587353e-01 -9.37443811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.323133365 meters Centerline goodness : 0.132352 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.46, Z:-0.94 [[ 9.97643612e-01 -1.55938910e-03 -6.85914880e-02 -1.57158755e+01] [ 9.63488640e-04 9.99961517e-01 -8.71989830e-03 -1.46012403e+00] [ 6.86024461e-02 8.63326371e-03 9.97606722e-01 -9.37415230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.383133365 meters Centerline goodness : 0.129765 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.46, Z:-0.94 [[ 9.97730773e-01 -2.98674888e-03 -6.72635477e-02 -1.57204657e+01] [ 2.34675027e-03 9.99951244e-01 -9.59179699e-03 -1.46478048e+00] [ 6.72889165e-02 9.41218028e-03 9.97689136e-01 -9.35856759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443133365 meters Centerline goodness : 0.138928 with order 1 Centerline is valid? [False, False] Translation: X:-15.68, Y:-1.47, Z:-0.93 [[ 9.97817063e-01 -3.13662421e-03 -6.59641601e-02 -1.56760765e+01] [ 2.53428461e-03 9.99954348e-01 -9.21301187e-03 -1.47326236e+00] [ 6.59900465e-02 9.02572849e-03 9.97779460e-01 -9.33447783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503133365 meters Centerline goodness : 0.129433 with order 1 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.49, Z:-0.94 [[ 9.97875866e-01 1.72079917e-03 -6.51213795e-02 -1.56980090e+01] [-2.49330619e-03 9.99927468e-01 -1.17831613e-02 -1.48516853e+00] [ 6.50963797e-02 1.19204999e-02 9.97807779e-01 -9.35430314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563133365 meters Centerline goodness : 0.124876 with order 1 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97849935e-01 5.77452784e-04 -6.55375678e-02 -1.56959640e+01] [-1.36019665e-03 9.99928274e-01 -1.18994464e-02 -1.49642448e+00] [ 6.55259956e-02 1.19630058e-02 9.97779149e-01 -9.36558506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623133365 meters Centerline goodness : 0.126690 with order 1 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97841998e-01 8.37543517e-04 -6.56555071e-02 -1.56951918e+01] [-1.59470870e-03 9.99932821e-01 -1.14808352e-02 -1.49891494e+00] [ 6.56414807e-02 1.15607610e-02 9.97776300e-01 -9.37234169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683133365 meters Centerline goodness : 0.122257 with order 1 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97858769e-01 1.26645045e-03 -6.53932165e-02 -1.56957075e+01] [-1.99688615e-03 9.99936335e-01 -1.11057473e-02 -1.49971733e+00] [ 6.53749884e-02 1.12125501e-02 9.97797770e-01 -9.37487127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74313336499998 meters Centerline goodness : 0.123608 with order 1 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97873013e-01 1.48173106e-03 -6.51709686e-02 -1.56961312e+01] [-2.20161171e-03 9.99937343e-01 -1.09756032e-02 -1.49987058e+00] [ 6.51506223e-02 1.10957394e-02 9.97813751e-01 -9.37730665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80313336499998 meters Centerline goodness : 0.150412 with order 3 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97871296e-01 1.53747158e-03 -6.51959629e-02 -1.56959253e+01] [-2.25099183e-03 9.99938362e-01 -1.08721964e-02 -1.50045513e+00] [ 6.51752286e-02 1.09958083e-02 9.97813250e-01 -9.37974360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86313336499998 meters Centerline goodness : 0.119149 with order 2 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97862734e-01 1.44051458e-03 -6.53290820e-02 -1.56955125e+01] [-2.15758455e-03 9.99938189e-01 -1.09070517e-02 -1.50105583e+00] [ 6.53093321e-02 1.10246934e-02 9.97804163e-01 -9.38097305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92313336499998 meters Centerline goodness : 0.121774 with order 2 Centerline is valid? [False, False] Translation: X:-15.69, Y:-1.50, Z:-0.94 [[ 9.97810023e-01 1.31871553e-03 -6.61318319e-02 -1.56931001e+01] [-2.04352631e-03 9.99938574e-01 -1.08936422e-02 -1.50167111e+00] [ 6.61134041e-02 1.10049275e-02 9.97751427e-01 -9.38745963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.983133365 meters Centerline goodness : 0.123986 with order 1 Centerline is valid? [False, False] Translation: X:-15.69, Y:-1.50, Z:-0.94 [[ 9.97788515e-01 1.32306901e-03 -6.64554698e-02 -1.56919598e+01] [-2.04817220e-03 9.99939103e-01 -1.08441676e-02 -1.50187296e+00] [ 6.64370752e-02 1.09562981e-02 9.97730462e-01 -9.39228137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043133365 meters Centerline goodness : 0.126936 with order 1 Centerline is valid? [False, False] Translation: X:-15.71, Y:-1.50, Z:-0.94 [[ 9.97688556e-01 -7.81271611e-03 -6.75018962e-02 -1.57133423e+01] [ 7.14626418e-03 9.99923367e-01 -1.01089221e-02 -1.50011353e+00] [ 6.75757015e-02 9.60316947e-03 9.97667933e-01 -9.40555614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.103133365 meters Centerline goodness : 0.246651 with order 3 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.50, Z:-0.94 [[ 9.97841223e-01 -2.32917871e-05 -6.56726196e-02 -1.56952167e+01] [-7.14629192e-04 9.99936879e-01 -1.12128432e-02 -1.50395005e+00] [ 6.56687354e-02 1.12355687e-02 9.97778221e-01 -9.38316235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163133365 meters Centerline goodness : 0.128584 with order 1 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.51, Z:-0.94 [[ 9.97726525e-01 -2.43993465e-03 -6.73485617e-02 -1.57409946e+01] [ 1.66990544e-03 9.99932623e-01 -1.14874213e-02 -1.51079433e+00] [ 6.73720525e-02 1.13488392e-02 9.97663375e-01 -9.39809324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223133365 meters Centerline goodness : 0.129699 with order 1 Centerline is valid? [False, False] Translation: X:-15.75, Y:-1.52, Z:-0.94 [[ 9.97781755e-01 -5.20417530e-03 -6.63663059e-02 -1.57455207e+01] [ 4.35320483e-03 9.99906533e-01 -1.29605002e-02 -1.51863379e+00] [ 6.64275515e-02 1.26428445e-02 9.97711150e-01 -9.37248128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283133365 meters Centerline goodness : 0.128861 with order 1 Centerline is valid? [False, False] Translation: X:-15.75, Y:-1.52, Z:-0.94 [[ 9.97766936e-01 -9.06397033e-03 -6.61739092e-02 -1.57464408e+01] [ 8.02113894e-03 9.99839695e-01 -1.60076701e-02 -1.52308196e+00] [ 6.63083942e-02 1.54411339e-02 9.97679692e-01 -9.36521970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.343133365 meters Centerline goodness : 0.105669 with order 2 Centerline is valid? [False, False] Translation: X:-15.75, Y:-1.53, Z:-0.94 [[ 9.97744766e-01 -8.82762264e-03 -6.65391252e-02 -1.57456545e+01] [ 7.83557397e-03 9.99854446e-01 -1.51555170e-02 -1.52840414e+00] [ 6.66632273e-02 1.45999655e-02 9.97668710e-01 -9.36360320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403133365 meters Centerline goodness : 0.124954 with order 1 Centerline is valid? [False, False] Translation: X:-15.75, Y:-1.54, Z:-0.94 [[ 9.97748127e-01 -8.28158795e-03 -6.65589278e-02 -1.57459608e+01] [ 7.37051477e-03 9.99875917e-01 -1.39221450e-02 -1.53552099e+00] [ 6.66659665e-02 1.34002206e-02 9.97685363e-01 -9.35820705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46313336499998 meters Centerline goodness : 0.125669 with order 1 Centerline is valid? [False, False] Translation: X:-15.75, Y:-1.54, Z:-0.94 [[ 9.97736281e-01 -8.19172594e-03 -6.67473606e-02 -1.57458323e+01] [ 7.30876056e-03 9.99882672e-01 -1.34619442e-02 -1.53986105e+00] [ 6.68498058e-02 1.29436297e-02 9.97679090e-01 -9.35402002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52313336499998 meters Centerline goodness : 0.125716 with order 1 Centerline is valid? [False, False] Translation: X:-15.77, Y:-1.55, Z:-0.94 [[ 9.97816151e-01 -4.10536825e-04 -6.60511977e-02 -1.57654201e+01] [-4.98756234e-04 9.99905348e-01 -1.37494099e-02 -1.54744611e+00] [ 6.60505904e-02 1.37523267e-02 9.97721501e-01 -9.38189197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58313336499998 meters SLAMing on 185.64313336499998 meters Centerline goodness : 0.137993 with order 1 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.55, Z:-0.94 [[ 9.97633601e-01 6.85924150e-06 -6.87546160e-02 -1.58059953e+01] [-8.81025018e-04 9.99919167e-01 -1.26839698e-02 -1.55364095e+00] [ 6.87489714e-02 1.27145290e-02 9.97552966e-01 -9.41614640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70313336499999 meters SLAMing on 185.763133365 meters Centerline goodness : 0.153758 with order 3 Centerline is valid? [False, False] Translation: X:-15.84, Y:-1.55, Z:-0.95 [[ 9.97372874e-01 3.89827600e-03 -7.23336240e-02 -1.58422459e+01] [-4.59755105e-03 9.99944273e-01 -9.50338034e-03 -1.54846882e+00] [ 7.22925463e-02 9.81097129e-03 9.97335216e-01 -9.46795886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.823133365 meters Centerline goodness : 0.124840 with order 1 Centerline is valid? [False, False] Translation: X:-15.84, Y:-1.54, Z:-0.95 [[ 9.97411895e-01 4.06401158e-03 -7.17843674e-02 -1.58437309e+01] [-4.78444540e-03 9.99939874e-01 -9.86698844e-03 -1.54462733e+00] [ 7.17399517e-02 1.01849000e-02 9.97371369e-01 -9.46713021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883133365 meters SLAMing on 185.943133365 meters Centerline goodness : 0.246215 with order 3 Centerline is valid? [False, False] Translation: X:-15.87, Y:-1.54, Z:-0.95 [[ 9.97400517e-01 1.16769273e-02 -7.11045510e-02 -1.58650418e+01] [-1.25008444e-02 9.99859655e-01 -1.11534364e-02 -1.54480654e+00] [ 7.09643340e-02 1.20133102e-02 9.97406509e-01 -9.48858882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.003133365 meters Centerline goodness : 0.439837 with order 2 Centerline is valid? [False, False] Translation: X:-15.89, Y:-1.54, Z:-0.95 [[ 9.97573369e-01 5.44264196e-03 -6.94100210e-02 -1.58881870e+01] [-6.04621089e-03 9.99945692e-01 -8.48858094e-03 -1.53819199e+00] [ 6.93600512e-02 8.88764991e-03 9.97552100e-01 -9.50471579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063133365 meters Centerline goodness : 0.131259 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.53, Z:-0.95 [[ 9.97647197e-01 -3.31534643e-03 -6.84768477e-02 -1.59087505e+01] [ 2.78401763e-03 9.99965287e-01 -7.85322306e-03 -1.53303787e+00] [ 6.85005069e-02 7.64410522e-03 9.97621796e-01 -9.52884909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.123133365 meters Centerline goodness : 0.124924 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.53, Z:-0.95 [[ 9.97632836e-01 -3.51886561e-03 -6.86756302e-02 -1.59080551e+01] [ 2.94782396e-03 9.99960251e-01 -8.41462638e-03 -1.52987939e+00] [ 6.87025104e-02 8.19226391e-03 9.97603554e-01 -9.53247594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183133365 meters Centerline goodness : 0.127766 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.53, Z:-0.95 [[ 9.97678104e-01 -3.63548601e-03 -6.80087023e-02 -1.59098619e+01] [ 3.02551152e-03 9.99954290e-01 -9.06991621e-03 -1.52535920e+00] [ 6.80385672e-02 8.84309569e-03 9.97643500e-01 -9.53117903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24313336499998 meters Centerline goodness : 0.125035 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.52, Z:-0.95 [[ 9.97720183e-01 -3.92744499e-03 -6.73721930e-02 -1.59125249e+01] [ 3.29645113e-03 9.99949683e-01 -9.47440655e-03 -1.52401331e+00] [ 6.74060133e-02 9.23071750e-03 9.97682927e-01 -9.51654236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30313336499998 meters Centerline goodness : 0.124164 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.52, Z:-0.95 [[ 9.97753894e-01 -3.92512294e-03 -6.68712174e-02 -1.59143276e+01] [ 3.30501925e-03 9.99950534e-01 -9.38121027e-03 -1.52431333e+00] [ 6.69047319e-02 9.13912842e-03 9.97717512e-01 -9.50871169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36313336499998 meters Centerline goodness : 0.124865 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.53, Z:-0.95 [[ 9.97714846e-01 -4.40014251e-03 -6.74219943e-02 -1.59126620e+01] [ 3.77713259e-03 9.99949012e-01 -9.36514725e-03 -1.52720431e+00] [ 6.74597646e-02 9.08908463e-03 9.97680595e-01 -9.51205768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42313336499998 meters Centerline goodness : 0.228836 with order 3 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.53, Z:-0.95 [[ 9.97662383e-01 -4.40086279e-03 -6.81938540e-02 -1.59100890e+01] [ 3.79733400e-03 9.99952493e-01 -8.97729619e-03 -1.53044425e+00] [ 6.82301222e-02 8.69735588e-03 9.97631699e-01 -9.52126919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.483133365 meters Centerline goodness : 0.111378 with order 3 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.54, Z:-0.95 [[ 9.97642235e-01 -4.16492044e-03 -6.85027328e-02 -1.59087401e+01] [ 3.60881063e-03 9.99959540e-01 -8.23981753e-03 -1.53577572e+00] [ 6.85342793e-02 7.97317659e-03 9.97616901e-01 -9.52852332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.543133365 meters Centerline goodness : 0.292321 with order 3 Centerline is valid? [False, False] Translation: X:-15.91, Y:-1.54, Z:-0.95 [[ 9.97620132e-01 -3.93911614e-03 -6.88371654e-02 -1.59076398e+01] [ 3.41027832e-03 9.99963778e-01 -7.79827493e-03 -1.53799593e+00] [ 6.88653903e-02 7.54496217e-03 9.97597430e-01 -9.53263459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603133365 meters Centerline goodness : 0.248180 with order 1 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.54, Z:-0.96 [[ 9.97558901e-01 4.26678402e-03 -6.96995918e-02 -1.59272286e+01] [-4.85886840e-03 9.99953521e-01 -8.32747647e-03 -1.54341170e+00] [ 6.96608207e-02 8.64580942e-03 9.97533268e-01 -9.56239260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.663133365 meters Centerline goodness : 0.329213 with order 3 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.54, Z:-0.96 [[ 9.97581068e-01 4.64638870e-03 -6.93572199e-02 -1.59278634e+01] [-5.23929332e-03 9.99951253e-01 -8.36910177e-03 -1.54142134e+00] [ 6.93149529e-02 8.71224030e-03 9.97556782e-01 -9.56595363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.723133365 meters Centerline goodness : 0.256597 with order 3 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.54, Z:-0.96 [[ 9.97580695e-01 4.52772688e-03 -6.93704292e-02 -1.59274304e+01] [-5.14175409e-03 9.99949148e-01 -8.67542528e-03 -1.53995595e+00] [ 6.93276216e-02 9.01112247e-03 9.97553247e-01 -9.57224647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783133365 meters SLAMing on 186.843133365 meters Centerline goodness : 0.127004 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:-1.54, Z:-0.96 [[ 9.97477481e-01 1.47550642e-03 -7.09682847e-02 -1.59733022e+01] [-2.19914297e-03 9.99946378e-01 -1.01195667e-02 -1.54000307e+00] [ 7.09495478e-02 1.02501093e-02 9.97427239e-01 -9.58878993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.903133365 meters Centerline goodness : 0.145693 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:-1.54, Z:-0.96 [[ 9.97480354e-01 1.36681227e-03 -7.09300734e-02 -1.59730940e+01] [-2.12378930e-03 9.99941586e-01 -1.05978415e-02 -1.53674169e+00] [ 7.09114448e-02 1.07217792e-02 9.97424990e-01 -9.59331248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96313336499998 meters Centerline goodness : 0.128337 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97524919e-01 1.35650104e-03 -7.03007555e-02 -1.59752044e+01] [-2.13697911e-03 9.99936907e-01 -1.10279677e-02 -1.53363604e+00] [ 7.02813605e-02 1.11509039e-02 9.97464880e-01 -9.58596107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02313336499998 meters Centerline goodness : 0.126090 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97530144e-01 1.21760795e-03 -7.02291231e-02 -1.59751652e+01] [-2.04685526e-03 9.99929024e-01 -1.17369868e-02 -1.52917416e+00] [ 7.02098475e-02 1.18517469e-02 9.97461836e-01 -9.59031486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08313336499998 meters Centerline goodness : 0.126765 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97573007e-01 1.28589224e-03 -6.96163901e-02 -1.59770053e+01] [-2.11658973e-03 9.99927427e-01 -1.18600499e-02 -1.52751734e+00] [ 6.95960871e-02 1.19786150e-02 9.97503332e-01 -9.58607997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14313336499998 meters Centerline goodness : 0.413652 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97601944e-01 1.27095330e-03 -6.92007660e-02 -1.59791720e+01] [-2.10039059e-03 9.99926814e-01 -1.19145135e-02 -1.52709881e+00] [ 6.91805586e-02 1.20312905e-02 9.97531603e-01 -9.57035779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20313336499999 meters Centerline goodness : 0.126322 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97566530e-01 1.46497815e-03 -6.97056109e-02 -1.59776004e+01] [-2.31580726e-03 9.99923786e-01 -1.21267902e-02 -1.52440998e+00] [ 6.96825329e-02 1.22587048e-02 9.97493894e-01 -9.57603357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.263133365 meters Centerline goodness : 0.125807 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97542220e-01 1.46049825e-03 -7.00527345e-02 -1.59763889e+01] [-2.34717782e-03 9.99918156e-01 -1.25766719e-02 -1.52138135e+00] [ 7.00286328e-02 1.27101875e-02 9.97464005e-01 -9.58207491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.323133365 meters Centerline goodness : 0.251504 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97562758e-01 1.40603063e-03 -6.97607770e-02 -1.59772376e+01] [-2.32296894e-03 9.99911955e-01 -1.30646548e-02 -1.51783838e+00] [ 6.97362656e-02 1.31948652e-02 9.97478195e-01 -9.58160667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.383133365 meters Centerline goodness : 0.126734 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97579695e-01 1.29221154e-03 -6.95203695e-02 -1.59778627e+01] [-2.22833828e-03 9.99907872e-01 -1.33896372e-02 -1.51587476e+00] [ 6.94966625e-02 1.35121451e-02 9.97490670e-01 -9.58162788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.443133365 meters Centerline goodness : 0.246045 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.51, Z:-0.96 [[ 9.97566967e-01 1.16467392e-03 -6.97050136e-02 -1.59771916e+01] [-2.13488326e-03 9.99901862e-01 -1.38459109e-02 -1.51290086e+00] [ 6.96820469e-02 1.39610354e-02 9.97471554e-01 -9.58537584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.503133365 meters Centerline goodness : 0.253354 with order 3 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.50, Z:-0.96 [[ 9.97401502e-01 -3.16126267e-03 -7.19739503e-02 -1.59556384e+01] [ 2.35219959e-03 9.99933126e-01 -1.13230393e-02 -1.50344002e+00] [ 7.20049322e-02 1.11243193e-02 9.97342238e-01 -9.56296197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563133365 meters Centerline goodness : 0.134703 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.50, Z:-0.96 [[ 9.97406170e-01 -3.36309519e-03 -7.19000808e-02 -1.59557406e+01] [ 2.52630844e-03 9.99928057e-01 -1.17259620e-02 -1.50138857e+00] [ 7.19343437e-02 1.15139051e-02 9.97342910e-01 -9.56487838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623133365 meters Centerline goodness : 0.127251 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.50, Z:-0.96 [[ 9.97404605e-01 -3.64331758e-03 -7.19081320e-02 -1.59561721e+01] [ 2.78921328e-03 9.99924412e-01 -1.19745569e-02 -1.50051161e+00] [ 7.19463237e-02 1.17429111e-02 9.97339376e-01 -9.55863355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683133365 meters Centerline goodness : 0.127558 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.50, Z:-0.96 [[ 9.97418811e-01 -3.84554927e-03 -7.17002557e-02 -1.59567093e+01] [ 2.99817569e-03 9.99924434e-01 -1.19221590e-02 -1.50145424e+00] [ 7.17406848e-02 1.16764157e-02 9.97354970e-01 -9.55755029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74313336499998 meters Centerline goodness : 0.128613 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.50, Z:-0.96 [[ 9.97422355e-01 -4.25735502e-03 -7.16276481e-02 -1.59571276e+01] [ 3.40649064e-03 9.99922231e-01 -1.19969598e-02 -1.50320536e+00] [ 7.16731530e-02 1.17220370e-02 9.97359290e-01 -9.55339668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80313336499998 meters Centerline goodness : 0.129046 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.51, Z:-0.95 [[ 9.97405672e-01 -4.39545715e-03 -7.18512677e-02 -1.59569341e+01] [ 3.58110589e-03 9.99927934e-01 -1.14587409e-02 -1.50743531e+00] [ 7.18964561e-02 1.11717062e-02 9.97349534e-01 -9.54756539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86313336499998 meters Centerline goodness : 0.128048 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.51, Z:-0.96 [[ 9.97400956e-01 -4.32003029e-03 -7.19212752e-02 -1.59564800e+01] [ 3.52807152e-03 9.99931781e-01 -1.11348648e-02 -1.50960973e+00] [ 7.19644718e-02 1.08521814e-02 9.97348156e-01 -9.55087889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92313336499998 meters Centerline goodness : 0.129075 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.52, Z:-0.95 [[ 9.97376033e-01 -4.62245055e-03 -7.22473673e-02 -1.59556888e+01] [ 3.84548475e-03 9.99933312e-01 -1.08896420e-02 -1.51562410e+00] [ 7.22928860e-02 1.05832417e-02 9.97327295e-01 -9.54980550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.983133365 meters Centerline goodness : 0.130199 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97401511e-01 1.29652696e-03 -7.20315501e-02 -1.59789581e+01] [-2.21619281e-03 9.99917034e-01 -1.26890878e-02 -1.52392992e+00] [ 7.20091222e-02 1.28157512e-02 9.97321635e-01 -9.55849042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043133365 meters Centerline goodness : 0.129736 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97426579e-01 1.62952118e-03 -7.16767966e-02 -1.59799512e+01] [-2.49892455e-03 9.99924376e-01 -1.20414955e-02 -1.52765470e+00] [ 7.16517543e-02 1.21896225e-02 9.97355222e-01 -9.55653788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103133365 meters Centerline goodness : 0.129154 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97423321e-01 1.95057371e-03 -7.17141191e-02 -1.59797700e+01] [-2.80974043e-03 9.99925465e-01 -1.18815139e-02 -1.52743266e+00] [ 7.16855981e-02 1.20523971e-02 9.97354458e-01 -9.55861761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163133365 meters Centerline goodness : 0.134425 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97403820e-01 2.45670706e-03 -7.19693300e-02 -1.59788872e+01] [-3.32496971e-03 9.99923104e-01 -1.19470244e-02 -1.52523488e+00] [ 7.19344455e-02 1.21553036e-02 9.97335292e-01 -9.56410473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223133365 meters Centerline goodness : 0.125198 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97423910e-01 2.60934464e-03 -7.16849745e-02 -1.59797608e+01] [-3.48491906e-03 9.99920818e-01 -1.20918445e-02 -1.52337946e+00] [ 7.16477466e-02 1.23105111e-02 9.97354025e-01 -9.56287571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283133365 meters Centerline goodness : 0.125863 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97479815e-01 2.92893297e-03 -7.08903441e-02 -1.59818688e+01] [-3.79506648e-03 9.99919756e-01 -1.20863326e-02 -1.52111229e+00] [ 7.08492555e-02 1.23249063e-02 9.97410888e-01 -9.56141879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343133365 meters Centerline goodness : 0.122142 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97502006e-01 2.76903039e-03 -7.05838560e-02 -1.59828770e+01] [-3.64889614e-03 9.99917206e-01 -1.23396502e-02 -1.52023828e+00] [ 7.05438432e-02 1.25663790e-02 9.97429522e-01 -9.55841905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.403133365 meters Centerline goodness : 0.124652 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97501061e-01 2.90864316e-03 -7.05915937e-02 -1.59829151e+01] [-3.76635484e-03 9.99920661e-01 -1.20202777e-02 -1.52155061e+00] [ 7.05510303e-02 1.22561128e-02 9.97432875e-01 -9.55703544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46313336499998 meters Centerline goodness : 0.127779 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.52, Z:-0.96 [[ 9.97477181e-01 2.82772844e-03 -7.09315043e-02 -1.59817364e+01] [-3.68224136e-03 9.99922184e-01 -1.19191512e-02 -1.52304558e+00] [ 7.08922806e-02 1.21502683e-02 9.97409974e-01 -9.56144591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52313336499998 meters Centerline goodness : 0.246783 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.53, Z:-0.96 [[ 9.97458432e-01 2.99889600e-03 -7.11876549e-02 -1.59805492e+01] [-3.82528554e-03 9.99926842e-01 -1.14751176e-02 -1.52528786e+00] [ 7.11480342e-02 1.17182659e-02 9.97396932e-01 -9.56906692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58313336499998 meters Centerline goodness : 0.126047 with order 1 Centerline is valid? [False, False] Translation: X:-16.00, Y:-1.53, Z:-0.96 [[ 9.97372286e-01 -6.14933160e-03 -7.21852411e-02 -1.60020841e+01] [ 5.40757842e-03 9.99930601e-01 -1.04666271e-02 -1.52812002e+00] [ 7.22445943e-02 1.00487765e-02 9.97336323e-01 -9.58629771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64313336499998 meters Centerline goodness : 0.127733 with order 3 Centerline is valid? [False, False] Translation: X:-16.00, Y:-1.53, Z:-0.96 [[ 9.97351171e-01 -6.77130978e-03 -7.24209316e-02 -1.60014246e+01] [ 6.03038409e-03 9.99927270e-01 -1.04445863e-02 -1.53426785e+00] [ 7.24863879e-02 9.98019430e-03 9.97319467e-01 -9.58599489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70313336499999 meters Centerline goodness : 0.125373 with order 1 Centerline is valid? [False, False] Translation: X:-16.00, Y:-1.54, Z:-0.96 [[ 9.97276070e-01 -6.72295786e-03 -7.34523054e-02 -1.59981102e+01] [ 6.01500407e-03 9.99933345e-01 -9.85524026e-03 -1.53931855e+00] [ 7.35136658e-02 9.38657936e-03 9.97250035e-01 -9.59480685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763133365 meters Centerline goodness : 0.142708 with order 1 Centerline is valid? [False, False] Translation: X:-16.00, Y:-1.54, Z:-0.96 [[ 9.97258355e-01 -6.44117149e-03 -7.37176009e-02 -1.59972040e+01] [ 5.75335768e-03 9.99937952e-01 -9.53894052e-03 -1.54065659e+00] [ 7.37744688e-02 9.08866440e-03 9.97233535e-01 -9.59845505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823133365 meters Centerline goodness : 0.178251 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.55, Z:-0.96 [[ 9.97308022e-01 1.40046009e-03 -7.33126773e-02 -1.60175372e+01] [-2.16203841e-03 9.99944516e-01 -1.03097566e-02 -1.54586796e+00] [ 7.32941712e-02 1.04405078e-02 9.97255715e-01 -9.62422636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883133365 meters SLAMing on 188.943133365 meters Centerline goodness : 0.121490 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.54, Z:-0.96 [[ 9.97353142e-01 5.32983614e-03 -7.25141639e-02 -1.60199189e+01] [-5.90934291e-03 9.99952279e-01 -7.77944465e-03 -1.53855396e+00] [ 7.24692403e-02 8.18736462e-03 9.97337042e-01 -9.62096542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.003133365 meters Centerline goodness : 0.124255 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.53, Z:-0.96 [[ 9.97369971e-01 5.14560281e-03 -7.22956708e-02 -1.60206697e+01] [-5.76755677e-03 9.99948113e-01 -8.39679756e-03 -1.53454109e+00] [ 7.22487130e-02 8.79168313e-03 9.97347898e-01 -9.61951910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.063133365 meters Centerline goodness : 0.127004 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.53, Z:-0.96 [[ 9.97375927e-01 4.96300469e-03 -7.22262321e-02 -1.60211405e+01] [-5.62870490e-03 9.99943511e-01 -9.01625925e-03 -1.53008948e+00] [ 7.21774044e-02 9.39914007e-03 9.97347521e-01 -9.61659882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.123133365 meters Centerline goodness : 0.127316 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.52, Z:-0.96 [[ 9.97398436e-01 4.48583191e-03 -7.19460650e-02 -1.60222060e+01] [-5.22108263e-03 9.99936021e-01 -1.00346663e-02 -1.52433658e+00] [ 7.18964481e-02 1.03841968e-02 9.97358045e-01 -9.61240676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.183133365 meters Centerline goodness : 0.236591 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.52, Z:-0.96 [[ 9.97420591e-01 4.15442220e-03 -7.16582500e-02 -1.60232879e+01] [-4.93780474e-03 9.99929934e-01 -1.07585241e-02 -1.52012328e+00] [ 7.16085337e-02 1.10846079e-02 9.97371219e-01 -9.60740317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24313336499998 meters Centerline goodness : 0.134724 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.52, Z:-0.96 [[ 9.97419813e-01 3.83408413e-03 -7.16869281e-02 -1.60230001e+01] [-4.67203902e-03 9.99922669e-01 -1.15250670e-02 -1.51575389e+00] [ 7.16371965e-02 1.18302543e-02 9.97360595e-01 -9.61048775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30313336499998 meters Centerline goodness : 0.134558 with order 1 Centerline is valid? [False, False] Translation: X:-16.00, Y:-1.51, Z:-0.96 [[ 9.97336200e-01 -1.65414544e-03 -7.29230338e-02 -1.60005165e+01] [ 9.46815140e-04 9.99952183e-01 -9.73318437e-03 -1.50586949e+00] [ 7.29356470e-02 9.63821248e-03 9.97290076e-01 -9.59748587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36313336499998 meters Centerline goodness : 0.144624 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.51, Z:-0.96 [[ 9.97173793e-01 -2.13329345e-03 -7.50991100e-02 -1.60460407e+01] [ 1.41696700e-03 9.99953007e-01 -9.59040459e-03 -1.50662099e+00] [ 7.51160401e-02 9.45688715e-03 9.97129955e-01 -9.61934885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42313336499998 meters Centerline goodness : 0.126494 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.50, Z:-0.96 [[ 9.97156117e-01 -2.38406951e-03 -7.53259231e-02 -1.60450829e+01] [ 1.63260429e-03 9.99948303e-01 -1.00361852e-02 -1.50492270e+00] [ 7.53459559e-02 9.88466600e-03 9.97108460e-01 -9.62498496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.483133365 meters Centerline goodness : 0.127263 with order 1 Centerline is valid? [False, False] Translation: X:-16.04, Y:-1.50, Z:-0.96 [[ 9.97135516e-01 -2.45454295e-03 -7.55958811e-02 -1.60437148e+01] [ 1.66173342e-03 9.99942981e-01 -1.05485852e-02 -1.50135381e+00] [ 7.56174627e-02 1.03927487e-02 9.97082740e-01 -9.63560515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.543133365 meters Centerline goodness : 0.127343 with order 1 Centerline is valid? [False, False] Translation: X:-16.04, Y:-1.50, Z:-0.96 [[ 9.97170153e-01 -2.44853160e-03 -7.51378123e-02 -1.60448415e+01] [ 1.63314480e-03 9.99939135e-01 -1.09114079e-02 -1.49859206e+00] [ 7.51599560e-02 1.07578194e-02 9.97113459e-01 -9.63637373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.603133365 meters Centerline goodness : 0.125695 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.50, Z:-0.96 [[ 9.97177111e-01 -2.63492469e-03 -7.50391041e-02 -1.60451704e+01] [ 1.79150409e-03 9.99934493e-01 -1.13048419e-02 -1.49679754e+00] [ 7.50639760e-02 1.11384967e-02 9.97116509e-01 -9.63602262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.663133365 meters Centerline goodness : 0.277341 with order 3 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.50, Z:-0.96 [[ 9.97181006e-01 -2.89112962e-03 -7.49778863e-02 -1.60456353e+01] [ 2.04896194e-03 9.99933978e-01 -1.13067046e-02 -1.49766114e+00] [ 7.50056253e-02 1.11212042e-02 9.97121093e-01 -9.63176631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.723133365 meters Centerline goodness : 0.127320 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.50, Z:-0.96 [[ 9.97189418e-01 -2.88321606e-03 -7.48662256e-02 -1.60461632e+01] [ 2.05783551e-03 9.99936281e-01 -1.10995383e-02 -1.49901045e+00] [ 7.48934576e-02 1.09142798e-02 9.97131811e-01 -9.62809526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.783133365 meters Centerline goodness : 0.121513 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.50, Z:-0.96 [[ 9.97252030e-01 -3.32608958e-03 -7.40089557e-02 -1.60485912e+01] [ 2.50711024e-03 9.99934626e-01 -1.11561006e-02 -1.50064583e+00] [ 7.40412236e-02 1.09398954e-02 9.97195174e-01 -9.62204896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.843133365 meters Centerline goodness : 0.247193 with order 3 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.50, Z:-0.96 [[ 9.97245672e-01 -3.28224188e-03 -7.40965292e-02 -1.60480769e+01] [ 2.45292204e-03 9.99933363e-01 -1.12806535e-02 -1.49928992e+00] [ 7.41286175e-02 1.10678298e-02 9.97187270e-01 -9.62660942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.903133365 meters Centerline goodness : 0.127491 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.50, Z:-0.96 [[ 9.97264639e-01 4.75284433e-03 -7.37607704e-02 -1.60694823e+01] [-5.66033417e-03 9.99910784e-01 -1.20989899e-02 -1.50258492e+00] [ 7.36966851e-02 1.24834054e-02 9.97202569e-01 -9.64847015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96313336499998 meters Centerline goodness : 0.129541 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.50, Z:-0.96 [[ 9.97291130e-01 4.53775356e-03 -7.34153312e-02 -1.60707855e+01] [-5.46340982e-03 9.99908035e-01 -1.24125831e-02 -1.50143292e+00] [ 7.33522543e-02 1.27800571e-02 9.97224206e-01 -9.64294017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02313336499998 meters Centerline goodness : 0.129453 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.50, Z:-0.96 [[ 9.97235832e-01 4.12559421e-03 -7.41867570e-02 -1.60686975e+01] [-5.07896229e-03 9.99906873e-01 -1.26668587e-02 -1.50200378e+00] [ 7.41275899e-02 1.30086372e-02 9.97163916e-01 -9.64593026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08313336499998 meters Centerline goodness : 0.133535 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.50, Z:-0.97 [[ 9.97118786e-01 -4.20163173e-03 -7.57395134e-02 -1.60875923e+01] [ 3.40009337e-03 9.99936880e-01 -1.07086712e-02 -1.50264082e+00] [ 7.57797266e-02 1.04202958e-02 9.97070133e-01 -9.67477863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14313336499998 meters Centerline goodness : 0.139853 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.51, Z:-0.97 [[ 9.97120957e-01 -4.35815055e-03 -7.57020721e-02 -1.60875422e+01] [ 3.57231711e-03 9.99938357e-01 -1.05129175e-02 -1.50523835e+00] [ 7.57432224e-02 1.02122186e-02 9.97075060e-01 -9.67583033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20313336499999 meters Centerline goodness : 0.139129 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.51, Z:-0.97 [[ 9.97095773e-01 -4.18904255e-03 -7.60425669e-02 -1.60865841e+01] [ 3.43220542e-03 9.99943297e-01 -1.00807683e-02 -1.50747928e+00] [ 7.60804838e-02 9.79049775e-03 9.97053612e-01 -9.67774148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.263133365 meters Centerline goodness : 0.123155 with order 3 Centerline is valid? [False, False] Translation: X:-16.08, Y:-1.51, Z:-0.97 [[ 9.97040062e-01 -4.16584553e-03 -7.67708295e-02 -1.60837949e+01] [ 3.44034201e-03 9.99948192e-01 -9.58008276e-03 -1.51154670e+00] [ 7.68067613e-02 9.28760840e-03 9.97002739e-01 -9.69045047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.323133365 meters Centerline goodness : 0.138167 with order 3 Centerline is valid? [False, False] Translation: X:-16.08, Y:-1.52, Z:-0.97 [[ 9.97068241e-01 -4.05762142e-03 -7.64098103e-02 -1.60849801e+01] [ 3.38817026e-03 9.99954753e-01 -8.88892224e-03 -1.51669764e+00] [ 7.64424208e-02 8.60397261e-03 9.97036874e-01 -9.68598899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.383133365 meters Centerline goodness : 0.135269 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97367205e-01 1.55901226e-03 -7.24998430e-02 -1.61077866e+01] [-2.28296338e-03 9.99948350e-01 -9.90376033e-03 -1.52613818e+00] [ 7.24806584e-02 1.00432003e-02 9.97319251e-01 -9.70853020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.443133365 meters Centerline goodness : 0.134191 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97364490e-01 1.67325389e-03 -7.25346430e-02 -1.61074729e+01] [-2.38464350e-03 9.99949896e-01 -9.72209506e-03 -1.52758776e+00] [ 7.25147412e-02 9.86944165e-03 9.97318508e-01 -9.71161386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.503133365 meters Centerline goodness : 0.130067 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97374129e-01 2.18178012e-03 -7.23884439e-02 -1.61075689e+01] [-2.86720660e-03 9.99952026e-01 -9.36616680e-03 -1.52775688e+00] [ 7.23645362e-02 9.54912508e-03 9.97332536e-01 -9.71636346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.563133365 meters Centerline goodness : 0.253160 with order 3 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97434148e-01 3.04265315e-03 -7.15252627e-02 -1.61100398e+01] [-3.67252713e-03 9.99955615e-01 -8.67645703e-03 -1.52862725e+00] [ 7.14956886e-02 8.91687299e-03 9.97401051e-01 -9.71280334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.623133365 meters Centerline goodness : 0.105753 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97423026e-01 3.15018812e-03 -7.16755424e-02 -1.61093971e+01] [-3.78281236e-03 9.99955067e-01 -8.69219202e-03 -1.52826993e+00] [ 7.16449397e-02 8.94092760e-03 9.97390125e-01 -9.71774136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.683133365 meters Centerline goodness : 0.123294 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97423557e-01 3.33144044e-03 -7.16599617e-02 -1.61089315e+01] [-3.94783909e-03 9.99956405e-01 -8.46180333e-03 -1.52880814e+00] [ 7.16286477e-02 8.72290398e-03 9.97393226e-01 -9.72475707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74313336499998 meters Centerline goodness : 0.125540 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97433896e-01 3.24607804e-03 -7.15198338e-02 -1.61092913e+01] [-3.85933487e-03 9.99956951e-01 -8.43812245e-03 -1.52984693e+00] [ 7.14893641e-02 8.69248834e-03 9.97403485e-01 -9.72427848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80313336499998 meters Centerline goodness : 0.112615 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.53, Z:-0.97 [[ 9.97427607e-01 3.12533190e-03 -7.16128498e-02 -1.61089264e+01] [-3.76589225e-03 9.99954087e-01 -8.81149809e-03 -1.52771746e+00] [ 7.15820230e-02 9.05851774e-03 9.97393582e-01 -9.72687169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86313336499998 meters Centerline goodness : 0.125218 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.52, Z:-0.97 [[ 9.97392916e-01 6.91637775e-03 -7.18299005e-02 -1.61082033e+01] [-7.38244396e-03 9.99953373e-01 -6.22501281e-03 -1.51944920e+00] [ 7.17834967e-02 6.73906390e-03 9.97397471e-01 -9.73009001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92313336499998 meters Centerline goodness : 0.124715 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.51, Z:-0.97 [[ 9.97382102e-01 8.58429519e-03 -7.18000931e-02 -1.61084421e+01] [-9.03016557e-03 9.99941895e-01 -5.88758459e-03 -1.50915792e+00] [ 7.17453804e-02 6.52053822e-03 9.97401666e-01 -9.73016910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.983133365 meters Centerline goodness : 0.127178 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.50, Z:-0.98 [[ 9.97506737e-01 1.24671450e-03 -7.05602959e-02 -1.61290427e+01] [-1.63223501e-03 9.99984054e-01 -5.40630949e-03 -1.49617337e+00] [ 7.05524306e-02 5.50800112e-03 9.97492865e-01 -9.76314576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.043133365 meters Centerline goodness : 0.125145 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.49, Z:-0.98 [[ 9.97498013e-01 4.75365504e-04 -7.06929195e-02 -1.61293705e+01] [-9.54848297e-04 9.99976770e-01 -6.74897600e-03 -1.48843415e+00] [ 7.06880691e-02 6.79959116e-03 9.97475294e-01 -9.75710060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103133365 meters Centerline goodness : 0.128843 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.49, Z:-0.98 [[ 9.97456006e-01 8.28375128e-05 -7.12847087e-02 -1.61282473e+01] [-6.00553928e-04 9.99973601e-01 -7.24125560e-03 -1.48610790e+00] [ 7.12822271e-02 7.26564420e-03 9.97429724e-01 -9.75316409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163133365 meters Centerline goodness : 0.127055 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.98 [[ 9.97466360e-01 -2.84729822e-04 -7.11391569e-02 -1.61286528e+01] [-2.58830970e-04 9.99970846e-01 -7.63147514e-03 -1.48472448e+00] [ 7.11392558e-02 7.63055274e-03 9.97437207e-01 -9.75203634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223133365 meters Centerline goodness : 0.125038 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97529114e-01 -5.30138069e-04 -7.02523051e-02 -1.61320511e+01] [-4.04343474e-05 9.99967031e-01 -8.12008985e-03 -1.48202722e+00] [ 7.02542937e-02 8.10286664e-03 9.97496204e-01 -9.73554586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283133365 meters Centerline goodness : 0.123944 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97528939e-01 -6.26837844e-04 -7.02539934e-02 -1.61320637e+01] [ 3.41706892e-05 9.99964408e-01 -8.43694790e-03 -1.48016869e+00] [ 7.02567815e-02 8.41369906e-03 9.97493456e-01 -9.73568470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343133365 meters Centerline goodness : 0.121672 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97495477e-01 -7.45042375e-04 -7.07263552e-02 -1.61305197e+01] [ 1.30739452e-04 9.99962234e-01 -8.68986143e-03 -1.47918718e+00] [ 7.07301584e-02 8.65885075e-03 9.97457903e-01 -9.74140496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403133365 meters Centerline goodness : 0.124523 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97513415e-01 -6.88411150e-04 -7.04734974e-02 -1.61312795e+01] [ 8.94293722e-05 9.99963852e-01 -8.50219286e-03 -1.48021005e+00] [ 7.04768029e-02 8.47474903e-03 9.97477418e-01 -9.73931531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46313336499998 meters Centerline goodness : 0.123042 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97522242e-01 -7.88432867e-04 -7.03473947e-02 -1.61320806e+01] [ 1.94156519e-04 9.99964244e-01 -8.45417563e-03 -1.48150608e+00] [ 7.03515449e-02 8.41956982e-03 9.97486727e-01 -9.73261393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52313336499998 meters Centerline goodness : 0.126209 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97496950e-01 -6.07859222e-04 -7.07068933e-02 -1.61312204e+01] [ 1.45100332e-05 9.99964787e-01 -8.39188481e-03 -1.48065500e+00] [ 7.07095046e-02 8.36985354e-03 9.97461835e-01 -9.73295324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58313336499998 meters Centerline goodness : 0.123865 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97500460e-01 -5.62394626e-04 -7.06577382e-02 -1.61312948e+01] [-5.96731629e-05 9.99961264e-01 -8.80153915e-03 -1.47795825e+00] [ 7.06599511e-02 8.78375572e-03 9.97461787e-01 -9.73448880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64313336499998 meters Centerline goodness : 0.118713 with order 1 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.48, Z:-0.97 [[ 9.97505993e-01 -6.20260083e-04 -7.05791023e-02 -1.61314669e+01] [-1.66954927e-05 9.99959285e-01 -9.02375722e-03 -1.47669671e+00] [ 7.05818257e-02 9.00243025e-03 9.97465369e-01 -9.73604072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70313336499999 meters Centerline goodness : 0.124055 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:-1.48, Z:-0.98 [[ 9.97260507e-01 -1.84920176e-04 -7.39692247e-02 -1.61746838e+01] [-4.36171539e-04 9.99964789e-01 -8.38038140e-03 -1.47780047e+00] [ 7.39681699e-02 8.38968668e-03 9.97225312e-01 -9.76165153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763133365 meters Centerline goodness : 0.126575 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:-1.48, Z:-0.98 [[ 9.97241352e-01 -4.55558007e-04 -7.42258596e-02 -1.61737043e+01] [-2.09701107e-04 9.99959885e-01 -8.95459280e-03 -1.47527418e+00] [ 7.42269614e-02 8.94545547e-03 9.97201252e-01 -9.76746974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.823133365 meters Centerline goodness : 0.133366 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:-1.47, Z:-0.98 [[ 9.97243856e-01 -5.86345609e-04 -7.41912940e-02 -1.61736414e+01] [-1.32409408e-04 9.99953114e-01 -9.68257254e-03 -1.46907407e+00] [ 7.41934928e-02 9.66570960e-03 9.97197021e-01 -9.77044887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883133365 meters Centerline goodness : 0.359578 with order 1 Centerline is valid? [False, False] Translation: X:-16.22, Y:-1.47, Z:-0.98 [[ 9.97139112e-01 -8.77527900e-04 -7.55832116e-02 -1.62206496e+01] [ 1.26173317e-04 9.99950540e-01 -9.94496174e-03 -1.46804978e+00] [ 7.55882003e-02 9.90697373e-03 9.97089904e-01 -9.78761329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943133365 meters Centerline goodness : 0.123949 with order 1 Centerline is valid? [False, False] Translation: X:-16.22, Y:-1.47, Z:-0.98 [[ 9.97145071e-01 -1.07260450e-03 -7.55020318e-02 -1.62212415e+01] [ 2.94048337e-04 9.99946683e-01 -1.03220859e-02 -1.46602597e+00] [ 7.55090778e-02 1.02704158e-02 9.97092221e-01 -9.78250682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003133365 meters Centerline goodness : 0.122195 with order 1 Centerline is valid? [False, False] Translation: X:-16.20, Y:-1.46, Z:-0.98 [[ 9.97124093e-01 -8.75928757e-03 -7.52782761e-02 -1.62024307e+01] [ 8.07640771e-03 9.99923475e-01 -9.37105086e-03 -1.45856457e+00] [ 7.53545991e-02 8.73612254e-03 9.97118531e-01 -9.75369080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063133365 meters Centerline goodness : 0.152596 with order 3 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.46, Z:-0.98 [[ 9.97309389e-01 -2.85730806e-03 -7.32517427e-02 -1.62261931e+01] [ 2.00494813e-03 9.99929462e-01 -1.17069285e-02 -1.46179412e+00] [ 7.32800259e-02 1.15285638e-02 9.97244769e-01 -9.76834014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.123133365 meters SLAMing on 192.183133365 meters Centerline goodness : 0.436908 with order 2 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.46, Z:-0.98 [[ 9.96943173e-01 -3.31091223e-03 -7.80598935e-02 -1.62652635e+01] [ 2.36412894e-03 9.99922560e-01 -1.22182285e-02 -1.45940683e+00] [ 7.80943020e-02 1.19963359e-02 9.96873797e-01 -9.80804002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24313336499998 meters Centerline goodness : 0.165171 with order 3 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.46, Z:-0.98 [[ 9.96955465e-01 -3.47962175e-03 -7.78954044e-02 -1.62663981e+01] [ 2.52175777e-03 9.99920039e-01 -1.23917879e-02 -1.45905531e+00] [ 7.79322946e-02 1.21576273e-02 9.96884522e-01 -9.79841707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30313336499998 meters Centerline goodness : 0.438326 with order 2 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.46, Z:-0.98 [[ 9.96969845e-01 -3.50030640e-03 -7.77102100e-02 -1.62674952e+01] [ 2.54587899e-03 9.99920154e-01 -1.23775543e-02 -1.45900204e+00] [ 7.77473304e-02 1.21422076e-02 9.96899152e-01 -9.79000966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36313336499998 meters Centerline goodness : 0.437551 with order 1 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.46, Z:-0.98 [[ 9.96941489e-01 -3.73992116e-03 -7.80620315e-02 -1.62661407e+01] [ 2.77650643e-03 9.99918684e-01 -1.24465450e-02 -1.46000990e+00] [ 7.81022329e-02 1.21917374e-02 9.96870805e-01 -9.79605162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42313336499998 meters Centerline goodness : 0.345491 with order 2 Centerline is valid? [False, False] Translation: X:-16.26, Y:-1.46, Z:-0.98 [[ 9.96907924e-01 -3.71339649e-03 -7.84907757e-02 -1.62646895e+01] [ 2.74293519e-03 9.99918507e-01 -1.24682173e-02 -1.45989780e+00] [ 7.85306787e-02 1.22143695e-02 9.96836868e-01 -9.80131382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.483133365 meters Centerline goodness : 0.437417 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-1.47, Z:-0.98 [[ 9.96905169e-01 3.96351670e-03 -7.85135296e-02 -1.62838307e+01] [-5.05152362e-03 9.99893886e-01 -1.36638092e-02 -1.46593415e+00] [ 7.84510414e-02 1.40181350e-02 9.96819405e-01 -9.82480140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.543133365 meters Centerline goodness : 0.113786 with order 1 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.47, Z:-0.98 [[ 9.96950171e-01 4.07044358e-03 -7.79345161e-02 -1.62858918e+01] [-5.11876187e-03 9.99899030e-01 -1.32562308e-02 -1.46841754e+00] [ 7.78726884e-02 1.36147298e-02 9.96870344e-01 -9.81639636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.603133365 meters Centerline goodness : 0.184685 with order 3 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.47, Z:-0.98 [[ 9.96983661e-01 4.23270172e-03 -7.74962163e-02 -1.62872887e+01] [-5.23826033e-03 9.99904651e-01 -1.27769054e-02 -1.47121585e+00] [ 7.74347463e-02 1.31443113e-02 9.96910772e-01 -9.81173418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663133365 meters Centerline goodness : 0.089782 with order 1 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.47, Z:-0.98 [[ 9.97056276e-01 -3.03142582e-03 -7.66132652e-02 -1.62692356e+01] [ 2.19166850e-03 9.99936626e-01 -1.10426943e-02 -1.46909462e+00] [ 7.66418850e-02 1.08422768e-02 9.96999732e-01 -9.78047081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.723133365 meters Centerline goodness : 0.282815 with order 1 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.47, Z:-0.98 [[ 9.97112138e-01 -2.64807213e-03 -7.58971171e-02 -1.62710840e+01] [ 1.81806956e-03 9.99937813e-01 -1.10028980e-02 -1.46796407e+00] [ 7.59215338e-02 1.08331369e-02 9.97054945e-01 -9.77989583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.783133365 meters Centerline goodness : 0.091698 with order 1 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.47, Z:-0.98 [[ 9.97097999e-01 -2.64555395e-03 -7.60827318e-02 -1.62703681e+01] [ 1.78743107e-03 9.99934049e-01 -1.13446969e-02 -1.46568032e+00] [ 7.61077271e-02 1.11757820e-02 9.97036968e-01 -9.78448400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.843133365 meters Centerline goodness : 0.092219 with order 1 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.46, Z:-0.98 [[ 9.96912591e-01 1.01381795e-02 -7.78620721e-02 -1.62902106e+01] [-1.08830965e-02 9.99898924e-01 -9.14875678e-03 -1.46022520e+00] [ 7.77614503e-02 9.96789127e-03 9.96922162e-01 -9.80952813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.903133365 meters Centerline goodness : 0.481694 with order 3 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.45, Z:-0.98 [[ 9.96918346e-01 9.87359206e-03 -7.78223816e-02 -1.62905608e+01] [-1.06947809e-02 9.99891371e-01 -1.01423756e-02 -1.45301941e+00] [ 7.77137862e-02 1.09434136e-02 9.96915648e-01 -9.80758318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96313336499998 meters Centerline goodness : 0.208461 with order 2 Centerline is valid? [False, False] Translation: X:-16.31, Y:-1.44, Z:-0.98 [[ 9.97058081e-01 1.09327888e-03 -7.66419446e-02 -1.63122271e+01] [-1.89821832e-03 9.99943799e-01 -1.04305349e-02 -1.44391178e+00] [ 7.66262338e-02 1.05453322e-02 9.97004120e-01 -9.82815518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02313336499998 meters Centerline goodness : 0.439991 with order 3 Centerline is valid? [False, False] Translation: X:-16.33, Y:-1.44, Z:-0.99 [[ 9.97032897e-01 -8.12883508e-03 -7.65462223e-02 -1.63339603e+01] [ 7.40853327e-03 9.99925613e-01 -9.68929598e-03 -1.44329519e+00] [ 7.66192909e-02 9.09345161e-03 9.97018953e-01 -9.85039449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08313336499998 meters Centerline goodness : 0.196328 with order 2 Centerline is valid? [False, False] Translation: X:-16.38, Y:-1.45, Z:-0.99 [[ 9.96894671e-01 -1.15383311e-02 -7.78966095e-02 -1.63796942e+01] [ 1.06480880e-02 9.99873277e-01 -1.18342347e-02 -1.45010055e+00] [ 7.80232855e-02 1.09680356e-02 9.96891202e-01 -9.88018273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14313336499998 meters Centerline goodness : 0.094372 with order 1 Centerline is valid? [False, False] Translation: X:-16.37, Y:-1.45, Z:-0.99 [[ 9.96769549e-01 -1.01483414e-02 -7.96710563e-02 -1.63729362e+01] [ 9.35688549e-03 9.99903163e-01 -1.03011078e-02 -1.45256380e+00] [ 7.97678804e-02 9.52235761e-03 9.96767982e-01 -9.90711342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20313336499999 meters Centerline goodness : 0.090114 with order 1 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.46, Z:-0.99 [[ 9.96698835e-01 -1.66645953e-03 -8.11705329e-02 -1.63909139e+01] [ 7.39022205e-04 9.99934122e-01 -1.14544915e-02 -1.45541723e+00] [ 8.11842740e-02 1.13566915e-02 9.96634406e-01 -9.94160565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263133365 meters Centerline goodness : 0.099209 with order 1 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.45, Z:-0.99 [[ 9.96767227e-01 -1.49384352e-03 -8.03297159e-02 -1.63932922e+01] [ 5.56074395e-04 9.99931455e-01 -1.16951041e-02 -1.45323107e+00] [ 8.03416803e-02 1.16126272e-02 9.96699735e-01 -9.93881353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.323133365 meters Centerline goodness : 0.295967 with order 2 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.45, Z:-0.99 [[ 9.96771057e-01 -1.52947257e-03 -8.02815124e-02 -1.63933583e+01] [ 5.56610666e-04 9.99926163e-01 -1.21391116e-02 -1.45016339e+00] [ 8.02941512e-02 1.20552295e-02 9.96698310e-01 -9.94138212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.383133365 meters Centerline goodness : 0.438520 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.45, Z:-0.99 [[ 9.96770676e-01 -1.68974722e-03 -8.02830296e-02 -1.63936285e+01] [ 7.10648759e-04 9.99925049e-01 -1.22225921e-02 -1.45042137e+00] [ 8.02976654e-02 1.21260684e-02 9.96697167e-01 -9.93796027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.443133365 meters Centerline goodness : 0.098487 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.46, Z:-1.00 [[ 9.96701951e-01 -2.77602478e-03 -8.11018746e-02 -1.64414204e+01] [ 1.77563369e-03 9.99921485e-01 -1.24045129e-02 -1.45586581e+00] [ 8.11299420e-02 1.22195950e-02 9.96628624e-01 -9.95654466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.503133365 meters Centerline goodness : 0.270909 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.46, Z:-1.00 [[ 9.96723079e-01 -6.61009993e-03 -8.06189154e-02 -1.64425626e+01] [ 5.38173981e-03 9.99866245e-01 -1.54444092e-02 -1.46002020e+00] [ 8.07102212e-02 1.49599291e-02 9.96625336e-01 -9.95567800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563133365 meters Centerline goodness : 0.089950 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.46, Z:-1.00 [[ 9.96701799e-01 -6.44265177e-03 -8.08950918e-02 -1.64415229e+01] [ 5.24256793e-03 9.99873168e-01 -1.50387091e-02 -1.46228699e+00] [ 8.09817209e-02 1.45650104e-02 9.96609162e-01 -9.96066060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623133365 meters Centerline goodness : 0.435229 with order 2 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.47, Z:-1.00 [[ 9.96668221e-01 -5.95214704e-03 -8.13451221e-02 -1.64398370e+01] [ 4.82299262e-03 9.99889374e-01 -1.40704823e-02 -1.46686954e+00] [ 8.14198728e-02 1.36312757e-02 9.96586671e-01 -9.96787391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683133365 meters Centerline goodness : 0.442273 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.47, Z:-1.00 [[ 9.96684418e-01 -5.33334464e-03 -8.11894489e-02 -1.64399199e+01] [ 4.29947914e-03 9.99907503e-01 -1.29034926e-02 -1.47399416e+00] [ 8.12507578e-02 1.25116377e-02 9.96615158e-01 -9.97158686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74313336499998 meters Centerline goodness : 0.275404 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.49, Z:-1.00 [[ 9.96923166e-01 1.21821301e-03 -7.83754891e-02 -1.64597258e+01] [-2.25887690e-03 9.99910448e-01 -1.31906391e-02 -1.48719484e+00] [ 7.83524014e-02 1.33270943e-02 9.96836641e-01 -1.00076388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80313336499998 meters Centerline goodness : 0.537457 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.49, Z:-1.00 [[ 9.96914096e-01 1.02466175e-03 -7.84935342e-02 -1.64587192e+01] [-2.03937955e-03 9.99915377e-01 -1.28483345e-02 -1.49474235e+00] [ 7.84737266e-02 1.29687638e-02 9.96831824e-01 -1.00154967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86313336499998 meters Centerline goodness : 0.260515 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.50, Z:-1.00 [[ 9.96870484e-01 1.10528836e-03 -7.90443966e-02 -1.64567319e+01] [-2.08525838e-03 9.99921978e-01 -1.23162482e-02 -1.49900446e+00] [ 7.90246164e-02 1.24425323e-02 9.96795011e-01 -1.00240419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92313336499998 meters Centerline goodness : 0.093489 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.50, Z:-1.00 [[ 9.96871626e-01 1.30939057e-03 -7.90268713e-02 -1.64565649e+01] [-2.24128799e-03 9.99928987e-01 -1.17046114e-02 -1.50245408e+00] [ 7.90059334e-02 1.18451170e-02 9.96803770e-01 -1.00268799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.983133365 meters SLAMing on 194.043133365 meters SLAMing on 194.103133365 meters Centerline goodness : 0.115983 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.52, Z:-1.01 [[ 9.96910909e-01 -9.46970783e-03 -7.79677111e-02 -1.65229537e+01] [ 8.55315647e-03 9.99890439e-01 -1.20810951e-02 -1.52040976e+00] [ 7.80735734e-02 1.13769055e-02 9.96882683e-01 -1.00786384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163133365 meters Centerline goodness : 0.318072 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.53, Z:-1.01 [[ 9.96908128e-01 -1.32837223e-02 -7.74449889e-02 -1.65244508e+01] [ 1.21727004e-02 9.99816369e-01 -1.48004296e-02 -1.52562750e+00] [ 7.76273725e-02 1.38119539e-02 9.96886764e-01 -1.00742091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223133365 meters Centerline goodness : 0.303480 with order 1 Centerline is valid? [False, False] Translation: X:-16.54, Y:-1.54, Z:-1.01 [[ 9.96977794e-01 -8.42710491e-03 -7.72286371e-02 -1.65435908e+01] [ 7.10800624e-03 9.99824395e-01 -1.73394318e-02 -1.53509519e+00] [ 7.73611965e-02 1.67380869e-02 9.96862619e-01 -1.01025833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283133365 meters Centerline goodness : 0.440138 with order 2 Centerline is valid? [False, False] Translation: X:-16.55, Y:-1.54, Z:-1.01 [[ 9.96994413e-01 -1.12156044e-02 -7.66573613e-02 -1.65461014e+01] [ 9.79701258e-03 9.99774196e-01 -1.88567032e-02 -1.54288805e+00] [ 7.68515411e-02 1.80490146e-02 9.96879167e-01 -1.00910488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343133365 meters Centerline goodness : 0.167478 with order 1 Centerline is valid? [False, False] Translation: X:-16.55, Y:-1.55, Z:-1.01 [[ 9.96966501e-01 -1.46682866e-02 -7.64371427e-02 -1.65460496e+01] [ 1.30754040e-02 9.99687664e-01 -2.12980928e-02 -1.54824982e+00] [ 7.67256751e-02 2.02340385e-02 9.96846906e-01 -1.00989155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.403133365 meters Centerline goodness : 0.432725 with order 2 Centerline is valid? [False, False] Translation: X:-16.55, Y:-1.56, Z:-1.01 [[ 9.96950164e-01 -1.50499869e-02 -7.65759005e-02 -1.65452734e+01] [ 1.34864957e-02 9.99690732e-01 -2.08938879e-02 -1.55521202e+00] [ 7.68666707e-02 1.97974244e-02 9.96844811e-01 -1.01057290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46313336499998 meters Centerline goodness : 0.259649 with order 3 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.57, Z:-1.01 [[ 9.97210119e-01 -9.07167841e-03 -7.40923940e-02 -1.65659453e+01] [ 7.45301415e-03 9.99728119e-01 -2.20939124e-02 -1.56913476e+00] [ 7.42726786e-02 2.14800614e-02 9.97006608e-01 -1.01330781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52313336499998 meters Centerline goodness : 0.276726 with order 1 Centerline is valid? [False, False] Translation: X:-16.56, Y:-1.57, Z:-1.01 [[ 9.97156026e-01 -8.68256911e-03 -7.48630219e-02 -1.65635098e+01] [ 7.09935287e-03 9.99746035e-01 -2.13884172e-02 -1.57254559e+00] [ 7.50297157e-02 2.07961101e-02 9.96964424e-01 -1.01398947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58313336499998 meters Centerline goodness : 0.099835 with order 1 Centerline is valid? [False, False] Translation: X:-16.54, Y:-1.58, Z:-1.01 [[ 9.96933054e-01 -1.31430364e-04 -7.82589782e-02 -1.65394536e+01] [-1.46330822e-03 9.99792456e-01 -2.03200125e-02 -1.58215429e+00] [ 7.82454067e-02 2.03722092e-02 9.96725955e-01 -1.01345696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64313336499998 meters Centerline goodness : 0.100433 with order 1 Centerline is valid? [False, False] Translation: X:-16.54, Y:-1.58, Z:-1.01 [[ 9.96984796e-01 3.63003714e-04 -7.75962877e-02 -1.65413019e+01] [-1.90290736e-03 9.99802703e-01 -1.97720491e-02 -1.58417361e+00] [ 7.75738009e-02 1.98600909e-02 9.96788785e-01 -1.01302019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70313336499999 meters Centerline goodness : 0.102862 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97058381e-01 8.91150510e-03 -7.61260075e-02 -1.65226282e+01] [-1.05305137e-02 9.99726266e-01 -2.08926126e-02 -1.58824687e+00] [ 7.59189846e-02 2.16328004e-02 9.96879295e-01 -1.00990976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763133365 meters Centerline goodness : 0.106540 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97035470e-01 1.31476465e-02 -7.58116834e-02 -1.65233870e+01] [-1.44921658e-02 9.99746827e-01 -1.72121942e-02 -1.58745192e+00] [ 7.55661900e-02 1.82598436e-02 9.96973585e-01 -1.00964163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823133365 meters Centerline goodness : 0.205313 with order 3 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97046408e-01 1.34561687e-02 -7.56134356e-02 -1.65237035e+01] [-1.47991929e-02 9.99742030e-01 -1.72295398e-02 -1.58621115e+00] [ 7.53620860e-02 1.82976686e-02 9.96988341e-01 -1.00981811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883133365 meters Centerline goodness : 0.213198 with order 3 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.96999283e-01 1.35957608e-02 -7.62075068e-02 -1.65218853e+01] [-1.49429315e-02 9.99741510e-01 -1.71353935e-02 -1.58627654e+00] [ 7.59548392e-02 1.82227386e-02 9.96944730e-01 -1.01033919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.943133365 meters Centerline goodness : 0.235607 with order 3 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.96966071e-01 1.37172727e-02 -7.66191183e-02 -1.65203828e+01] [-1.50469245e-02 9.99745579e-01 -1.68037757e-02 -1.58829969e+00] [ 7.63691228e-02 1.79056763e-02 9.96918825e-01 -1.01098116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.003133365 meters Centerline goodness : 0.184184 with order 3 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.96960671e-01 1.38432605e-02 -7.66667153e-02 -1.65205552e+01] [-1.51573095e-02 9.99747574e-01 -1.65844504e-02 -1.58937019e+00] [ 7.64177798e-02 1.76961060e-02 9.96918839e-01 -1.01060140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.063133365 meters Centerline goodness : 0.100561 with order 1 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.58, Z:-1.01 [[ 9.96994722e-01 7.31271440e-03 -7.71235863e-02 -1.65013585e+01] [-8.47900042e-03 9.99854438e-01 -1.48057005e-02 -1.58355721e+00] [ 7.70040902e-02 1.54151362e-02 9.96911603e-01 -1.00813224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.123133365 meters Centerline goodness : 0.104286 with order 1 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.58, Z:-1.01 [[ 9.96972487e-01 7.39898711e-03 -7.74022981e-02 -1.65004686e+01] [-8.56183294e-03 9.99855257e-01 -1.47023504e-02 -1.58421117e+00] [ 7.72823122e-02 1.53205444e-02 9.96891531e-01 -1.00836901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.183133365 meters Centerline goodness : 0.222133 with order 3 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.59, Z:-1.01 [[ 9.96986091e-01 7.61961952e-03 -7.72054110e-02 -1.65013843e+01] [-8.74935275e-03 9.99859396e-01 -1.43051480e-02 -1.58600270e+00] [ 7.70855558e-02 1.49375310e-02 9.96912578e-01 -1.00785201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24313336499998 meters Centerline goodness : 0.260768 with order 3 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97028786e-01 -1.56908737e-03 -7.70138826e-02 -1.65243142e+01] [ 5.23796691e-04 9.99907500e-01 -1.35910802e-02 -1.58635476e+00] [ 7.70280844e-02 1.35103586e-02 9.96937382e-01 -1.00934036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30313336499998 meters Centerline goodness : 0.118974 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97020181e-01 -1.36679063e-03 -7.71290471e-02 -1.65242115e+01] [ 3.54955908e-04 9.99913723e-01 -1.31309090e-02 -1.58873975e+00] [ 7.71403398e-02 1.30644039e-02 9.96934646e-01 -1.00909448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36313336499998 meters Centerline goodness : 0.107639 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.96985139e-01 -1.12329371e-03 -7.75846016e-02 -1.65228467e+01] [ 1.20686302e-04 9.99916445e-01 -1.29262429e-02 -1.58952814e+00] [ 7.75926390e-02 1.28779086e-02 9.96901972e-01 -1.00946741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42313336499998 meters Centerline goodness : 0.135999 with order 3 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97000179e-01 -1.03402450e-03 -7.73923313e-02 -1.65236000e+01] [ 3.03209526e-05 9.99915897e-01 -1.29690827e-02 -1.58875623e+00] [ 7.73992328e-02 1.29278311e-02 9.96916361e-01 -1.00916286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.483133365 meters Centerline goodness : 0.114782 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:-1.59, Z:-1.01 [[ 9.97015303e-01 -1.01363372e-03 -7.71975287e-02 -1.65241438e+01] [ 7.11609840e-06 9.99915010e-01 -1.30373696e-02 -1.58806018e+00] [ 7.72041828e-02 1.29979076e-02 9.96930574e-01 -1.00912369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.543133365 meters Centerline goodness : 0.112833 with order 1 Centerline is valid? [False, False] Translation: X:-16.53, Y:-1.59, Z:-1.01 [[ 9.97060439e-01 -1.12394897e-03 -7.66108160e-02 -1.65263637e+01] [ 1.03433831e-04 9.99911234e-01 -1.33234375e-02 -1.58646261e+00] [ 7.66189904e-02 1.32763483e-02 9.96972050e-01 -1.00812746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.603133365 meters Centerline goodness : 0.117998 with order 1 Centerline is valid? [False, False] Translation: X:-16.53, Y:-1.59, Z:-1.01 [[ 9.97083135e-01 -1.21189206e-03 -7.63135205e-02 -1.65273166e+01] [ 1.95202768e-04 9.99911151e-01 -1.33285817e-02 -1.58647857e+00] [ 7.63228930e-02 1.32748075e-02 9.96994782e-01 -1.00783465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.663133365 meters Centerline goodness : 0.121744 with order 1 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.59, Z:-1.01 [[ 9.96916667e-01 -4.15529988e-03 -7.83574703e-02 -1.65718802e+01] [ 3.02038218e-03 9.99888899e-01 -1.45968072e-02 -1.58955624e+00] [ 7.84094188e-02 1.43151308e-02 9.96818459e-01 -1.01031057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.723133365 meters Centerline goodness : 0.102278 with order 1 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.59, Z:-1.01 [[ 9.96871204e-01 -4.14537222e-03 -7.89342617e-02 -1.65706418e+01] [ 3.00452545e-03 9.99889390e-01 -1.45664097e-02 -1.58939582e+00] [ 7.89859139e-02 1.42836744e-02 9.96773396e-01 -1.01014248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783133365 meters Centerline goodness : 0.198563 with order 3 Centerline is valid? [False, False] Translation: X:-16.59, Y:-1.59, Z:-1.01 [[ 9.96884984e-01 3.71829617e-03 -7.87813655e-02 -1.65909410e+01] [-4.92775707e-03 9.99872888e-01 -1.51632748e-02 -1.59482877e+00] [ 7.87149699e-02 1.55042564e-02 9.96776591e-01 -1.01276843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843133365 meters Centerline goodness : 0.106580 with order 1 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.59, Z:-1.01 [[ 9.97083749e-01 -3.91488881e-03 -7.62146330e-02 -1.65713233e+01] [ 2.84858888e-03 9.99896611e-01 -1.40944374e-02 -1.59498944e+00] [ 7.62619314e-02 1.38362303e-02 9.96991814e-01 -1.01094909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.903133365 meters Centerline goodness : 0.113252 with order 1 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.60, Z:-1.01 [[ 9.97043851e-01 -3.82743049e-03 -7.67392344e-02 -1.65691192e+01] [ 2.78160771e-03 9.99901863e-01 -1.37305255e-02 -1.59756951e+00] [ 7.67842561e-02 1.34764776e-02 9.96956650e-01 -1.01215178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96313336499998 meters Centerline goodness : 0.223090 with order 3 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.60, Z:-1.01 [[ 9.97003697e-01 -3.77032908e-03 -7.72619806e-02 -1.65670721e+01] [ 2.72269383e-03 9.99902986e-01 -1.36603732e-02 -1.59832701e+00] [ 7.73059892e-02 1.34090818e-02 9.96917239e-01 -1.01317779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02313336499998 meters Centerline goodness : 0.119244 with order 1 Centerline is valid? [False, False] Translation: X:-16.59, Y:-1.60, Z:-1.02 [[ 9.96897038e-01 6.19086276e-03 -7.84727260e-02 -1.65870243e+01] [-7.24944942e-03 9.99886436e-01 -1.32121696e-02 -1.60109203e+00] [ 7.83820195e-02 1.37400568e-02 9.96828706e-01 -1.01565623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08313336499998 meters Centerline goodness : 0.227898 with order 3 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.60, Z:-1.02 [[ 9.96809771e-01 6.72998072e-03 -7.95297950e-02 -1.65838670e+01] [-7.81351189e-03 9.99880744e-01 -1.33208802e-02 -1.59818617e+00] [ 7.94306613e-02 1.38997905e-02 9.96743480e-01 -1.01663894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14313336499998 meters Centerline goodness : 0.125721 with order 1 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.60, Z:-1.02 [[ 9.96810500e-01 6.64929068e-03 -7.95274363e-02 -1.65836482e+01] [-7.77020549e-03 9.99874673e-01 -1.37935425e-02 -1.59531941e+00] [ 7.94257522e-02 1.43674926e-02 9.96737240e-01 -1.01705336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20313336499999 meters Centerline goodness : 0.119149 with order 1 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.59, Z:-1.02 [[ 9.96822806e-01 6.38589646e-03 -7.93946764e-02 -1.65846206e+01] [-7.53299398e-03 9.99871409e-01 -1.41569303e-02 -1.59367918e+00] [ 7.92940623e-02 1.47100306e-02 9.96742728e-01 -1.01626356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.263133365 meters Centerline goodness : 0.108348 with order 2 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.59, Z:-1.02 [[ 9.96814982e-01 -3.28013304e-03 -7.96814440e-02 -1.66071046e+01] [ 2.18977402e-03 9.99902826e-01 -1.37675059e-02 -1.59166855e+00] [ 7.97188603e-02 1.35491717e-02 9.96725300e-01 -1.01770004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323133365 meters Centerline goodness : 0.113513 with order 1 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.59, Z:-1.02 [[ 9.96815710e-01 -3.97226275e-03 -7.96408307e-02 -1.66071688e+01] [ 2.86190394e-03 9.99897179e-01 -1.40513793e-02 -1.59285312e+00] [ 7.96884577e-02 1.37787112e-02 9.96724584e-01 -1.01764030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.383133365 meters Centerline goodness : 0.126265 with order 1 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.59, Z:-1.02 [[ 9.96824575e-01 -4.28502153e-03 -7.95135528e-02 -1.66076613e+01] [ 3.17744645e-03 9.99896236e-01 -1.40506889e-02 -1.59393914e+00] [ 7.95655096e-02 1.37534219e-02 9.96734756e-01 -1.01733349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443133365 meters Centerline goodness : 0.113448 with order 1 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.59, Z:-1.02 [[ 9.96833255e-01 -4.15648163e-03 -7.94114996e-02 -1.66080179e+01] [ 3.06577498e-03 9.99899358e-01 -1.38518586e-02 -1.59450095e+00] [ 7.94610825e-02 1.35645355e-02 9.96745675e-01 -1.01717974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503133365 meters Centerline goodness : 0.126773 with order 1 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.59, Z:-1.02 [[ 9.96840344e-01 -4.13253682e-03 -7.93237092e-02 -1.66081574e+01] [ 3.04580507e-03 9.99899915e-01 -1.38160689e-02 -1.59466848e+00] [ 7.93728655e-02 1.35308104e-02 9.96753162e-01 -1.01730124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563133365 meters Centerline goodness : 0.123779 with order 1 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.59, Z:-1.02 [[ 9.96895925e-01 -4.21524629e-03 -7.86177269e-02 -1.66098527e+01] [ 3.11550291e-03 9.99895653e-01 -1.41059063e-02 -1.59342509e+00] [ 7.86689833e-02 1.38171868e-02 9.96805034e-01 -1.01735699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623133365 meters Centerline goodness : 0.114976 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-1.59, Z:-1.02 [[ 9.96922161e-01 4.70546286e-03 -7.82563988e-02 -1.66322083e+01] [-5.84210746e-03 9.99880654e-01 -1.43020267e-02 -1.59463001e+00] [ 7.81797616e-02 1.47151897e-02 9.96830672e-01 -1.01918568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683133365 meters Centerline goodness : 0.113227 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-1.59, Z:-1.02 [[ 9.96888385e-01 5.02214509e-03 -7.86659076e-02 -1.66307840e+01] [-6.18244340e-03 9.99875566e-01 -1.45130959e-02 -1.59124215e+00] [ 7.85832320e-02 1.49542842e-02 9.96795388e-01 -1.01985874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74313336499998 meters Centerline goodness : 0.126200 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-1.59, Z:-1.02 [[ 9.96893986e-01 4.80994352e-03 -7.86081709e-02 -1.66307726e+01] [-5.99409640e-03 9.99871989e-01 -1.48349827e-02 -1.59061588e+00] [ 7.85267528e-02 1.52600900e-02 9.96795204e-01 -1.02008280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80313336499998 meters Centerline goodness : 0.122511 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-1.59, Z:-1.02 [[ 9.96852134e-01 4.72706104e-03 -7.91421399e-02 -1.66289402e+01] [-5.91386204e-03 9.99873456e-01 -1.47681519e-02 -1.59193816e+00] [ 7.90623149e-02 1.51896994e-02 9.96753943e-01 -1.02076551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86313336499998 meters Centerline goodness : 0.120875 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-1.59, Z:-1.02 [[ 9.96654400e-01 -3.82421181e-03 -8.16417889e-02 -1.66473772e+01] [ 2.71514116e-03 9.99902583e-01 -1.36912957e-02 -1.59120871e+00] [ 8.16861941e-02 1.34238212e-02 9.96567693e-01 -1.02293041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92313336499998 meters Centerline goodness : 0.120706 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-1.59, Z:-1.02 [[ 9.96670253e-01 -3.22095246e-03 -8.14741262e-02 -1.66475938e+01] [ 2.15191716e-03 9.99910487e-01 -1.32055705e-02 -1.59184981e+00] [ 8.15093677e-02 1.29862737e-02 9.96587969e-01 -1.02325304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.983133365 meters Centerline goodness : 0.120799 with order 2 Centerline is valid? [False, False] Translation: X:-16.65, Y:-1.59, Z:-1.02 [[ 9.96630253e-01 -3.12816314e-03 -8.19655589e-02 -1.66457272e+01] [ 2.05358196e-03 9.99910884e-01 -1.31911801e-02 -1.59209238e+00] [ 8.19995186e-02 1.29784062e-02 9.96547861e-01 -1.02420798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043133365 meters SLAMing on 197.103133365 meters Centerline goodness : 0.125550 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.60, Z:-1.03 [[ 9.96727050e-01 2.22638644e-03 -8.08098470e-02 -1.66684436e+01] [-3.45897919e-03 9.99879760e-01 -1.51162195e-02 -1.60178528e+00] [ 8.07664759e-02 1.53462645e-02 9.96614905e-01 -1.02560968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.163133365 meters Centerline goodness : 0.142764 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.60, Z:-1.03 [[ 9.96748091e-01 2.29839827e-03 -8.05478780e-02 -1.66688478e+01] [-3.51444760e-03 9.99881936e-01 -1.49587059e-02 -1.60234807e+00] [ 8.05039871e-02 1.51931429e-02 9.96638488e-01 -1.02595042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.223133365 meters Centerline goodness : 0.126432 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.60, Z:-1.03 [[ 9.96777361e-01 2.21243863e-03 -8.01872707e-02 -1.66697162e+01] [-3.43991978e-03 9.99878970e-01 -1.51727736e-02 -1.60114009e+00] [ 8.01439967e-02 1.53997150e-02 9.96664331e-01 -1.02600122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283133365 meters Centerline goodness : 0.126241 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.60, Z:-1.03 [[ 9.96818000e-01 2.23472765e-03 -7.96798676e-02 -1.66714704e+01] [-3.48845821e-03 9.99872245e-01 -1.55988686e-02 -1.59724393e+00] [ 7.96348289e-02 1.58271928e-02 9.96698447e-01 -1.02546122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343133365 meters Centerline goodness : 0.126432 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.60, Z:-1.03 [[ 9.96819569e-01 2.13659474e-03 -7.96629247e-02 -1.66715138e+01] [-3.40824368e-03 9.99868884e-01 -1.58303176e-02 -1.59599346e+00] [ 7.96186567e-02 1.60514810e-02 9.96696152e-01 -1.02548858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403133365 meters Centerline goodness : 0.118934 with order 2 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.59, Z:-1.03 [[ 9.96818472e-01 1.80202122e-03 -7.96849201e-02 -1.66715957e+01] [-3.11466081e-03 9.99861452e-01 -1.63516494e-02 -1.59411482e+00] [ 7.96444138e-02 1.65478177e-02 9.96685977e-01 -1.02533209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46313336499998 meters Centerline goodness : 0.119442 with order 2 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.59, Z:-1.02 [[ 9.96829859e-01 1.59941664e-03 -7.95466801e-02 -1.66722562e+01] [-2.94668965e-03 9.99854152e-01 -1.68223847e-02 -1.59153186e+00] [ 7.95081723e-02 1.70034548e-02 9.96689186e-01 -1.02494811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52313336499998 meters Centerline goodness : 0.256153 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.59, Z:-1.03 [[ 9.96852920e-01 1.45835020e-03 -7.92598801e-02 -1.66729138e+01] [-2.83822182e-03 9.99846322e-01 -1.72995924e-02 -1.58833942e+00] [ 7.92224708e-02 1.74701063e-02 9.96703866e-01 -1.02504339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58313336499998 meters Centerline goodness : 0.128011 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.58, Z:-1.03 [[ 9.96826396e-01 1.12323834e-03 -7.95982028e-02 -1.66710924e+01] [-2.58377922e-03 9.99830147e-01 -1.82482985e-02 -1.58271390e+00] [ 7.95641857e-02 1.83960498e-02 9.96659985e-01 -1.02636181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64313336499998 meters Centerline goodness : 0.128859 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.58, Z:-1.03 [[ 9.96792977e-01 9.35044731e-04 -8.00180449e-02 -1.66692723e+01] [-2.44790071e-03 9.99820072e-01 -1.88104289e-02 -1.57932101e+00] [ 7.99860587e-02 1.89459796e-02 9.96615914e-01 -1.02747487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70313336499999 meters Centerline goodness : 0.222492 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.58, Z:-1.03 [[ 9.96783944e-01 7.49958833e-04 -8.01324286e-02 -1.66691429e+01] [-2.28362598e-03 9.99815939e-01 -1.90492282e-02 -1.57835466e+00] [ 8.01033932e-02 1.91709573e-02 9.96602188e-01 -1.02729458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.763133365 meters Centerline goodness : 0.131269 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.58, Z:-1.03 [[ 9.96836560e-01 8.10752995e-05 -7.94787100e-02 -1.66712531e+01] [-1.62387514e-03 9.99811510e-01 -1.93470439e-02 -1.57904758e+00] [ 7.94621605e-02 1.94149042e-02 9.96648798e-01 -1.02656285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.823133365 meters Centerline goodness : 0.127234 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.58, Z:-1.03 [[ 9.96845287e-01 -2.30327337e-05 -7.93692160e-02 -1.66718837e+01] [-1.50676329e-03 9.99814249e-01 -1.92144816e-02 -1.58027463e+00] [ 7.93549157e-02 1.92734560e-02 9.96660088e-01 -1.02606749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.883133365 meters Centerline goodness : 0.127192 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.58, Z:-1.03 [[ 9.96850602e-01 -1.57405337e-04 -7.93022909e-02 -1.66723548e+01] [-1.35388694e-03 9.99818506e-01 -1.90032314e-02 -1.58246541e+00] [ 7.92908892e-02 1.90507490e-02 9.96669466e-01 -1.02560996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.943133365 meters Centerline goodness : 0.128995 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.59, Z:-1.03 [[ 9.96841278e-01 -7.05949003e-04 -7.94164190e-02 -1.66717947e+01] [-7.94574697e-04 9.99821796e-01 -1.88611886e-02 -1.58687272e+00] [ 7.94155817e-02 1.88647136e-02 9.96663076e-01 -1.02594711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.003133365 meters Centerline goodness : 0.129446 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.59, Z:-1.03 [[ 9.96856642e-01 -1.20891331e-03 -7.92172599e-02 -1.66725960e+01] [-2.68007574e-04 9.99826399e-01 -1.86306440e-02 -1.59154854e+00] [ 7.92260305e-02 1.85933121e-02 9.96683262e-01 -1.02549217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.063133365 meters Centerline goodness : 0.130652 with order 1 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.60, Z:-1.02 [[ 9.96927984e-01 -5.23219291e-03 -7.81487031e-02 -1.66764953e+01] [ 3.59201495e-03 9.99770627e-01 -2.11137549e-02 -1.60193327e+00] [ 7.82412492e-02 2.07681818e-02 9.96718109e-01 -1.02393841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.123133365 meters Centerline goodness : 0.131434 with order 1 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.61, Z:-1.02 [[ 9.96929996e-01 -8.97882082e-03 -7.77815109e-02 -1.66773490e+01] [ 7.14682900e-03 9.99691206e-01 -2.37994863e-02 -1.60838112e+00] [ 7.79711837e-02 2.31705306e-02 9.96686320e-01 -1.02389394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.183133365 meters Centerline goodness : 0.252209 with order 3 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.61, Z:-1.02 [[ 9.96905193e-01 -1.25994499e-02 -7.75969682e-02 -1.66773118e+01] [ 1.05775062e-02 9.99595150e-01 -2.64131209e-02 -1.61444279e+00] [ 7.78983439e-02 2.55105950e-02 9.96634867e-01 -1.02439398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24313336499998 meters Centerline goodness : 0.118396 with order 1 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.63, Z:-1.02 [[ 9.96851628e-01 -1.47476094e-02 -7.79059734e-02 -1.66773624e+01] [ 1.26937495e-02 9.99560403e-01 -2.67930879e-02 -1.62694608e+00] [ 7.82668601e-02 2.57198144e-02 9.96600617e-01 -1.02420980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30313336499998 meters Centerline goodness : 0.135219 with order 1 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.63, Z:-1.03 [[ 9.96746951e-01 -1.78913479e-02 -7.85838129e-02 -1.66750381e+01] [ 1.56754377e-02 9.99464434e-01 -2.87250142e-02 -1.63445297e+00] [ 7.90556553e-02 2.73997347e-02 9.96493581e-01 -1.02522026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36313336499998 meters Centerline goodness : 0.144053 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.65, Z:-1.03 [[ 0.99662927 -0.02007368 -0.07954331 -16.67236185] [ 0.01783594 0.99942767 -0.02874382 -1.64831783] [ 0.08007478 0.0272282 0.99641691 -1.02680135] [ 0. 0. 0. 1. ]] SLAMing on 198.42313336499998 meters Centerline goodness : 0.119907 with order 2 Centerline is valid? [False, False] Translation: X:-16.69, Y:-1.66, Z:-1.03 [[ 9.96911958e-01 -1.41283637e-02 -7.72459580e-02 -1.66882981e+01] [ 1.18357868e-02 9.99478120e-01 -3.00566290e-02 -1.66299717e+00] [ 7.76302959e-02 2.90495462e-02 9.96558910e-01 -1.03091779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.483133365 meters Centerline goodness : 0.147477 with order 3 Centerline is valid? [False, False] Translation: X:-16.69, Y:-1.67, Z:-1.03 [[ 9.96859897e-01 -1.40587813e-02 -7.79275043e-02 -1.66865585e+01] [ 1.18131963e-02 9.99503699e-01 -2.92028126e-02 -1.66910102e+00] [ 7.82993848e-02 2.81905399e-02 9.96531234e-01 -1.03151472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.543133365 meters SLAMing on 198.603133365 meters SLAMing on 198.663133365 meters Centerline goodness : 0.160601 with order 3 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.69, Z:-1.03 [[ 9.96746589e-01 -1.68041151e-02 -7.88280317e-02 -1.66840736e+01] [ 1.45150552e-02 9.99458726e-01 -2.95223368e-02 -1.68503460e+00] [ 7.92814609e-02 2.82820953e-02 9.96450989e-01 -1.03320673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.723133365 meters Centerline goodness : 0.236664 with order 3 Centerline is valid? [False, False] Translation: X:-16.68, Y:-1.70, Z:-1.03 [[ 0.99667489 -0.01931437 -0.07915884 -16.68426606] [ 0.01698416 0.99940543 -0.03000546 -1.69516958] [ 0.07969131 0.02856124 0.99641033 -1.03375347] [ 0. 0. 0. 1. ]] SLAMing on 198.783133365 meters Centerline goodness : 0.285951 with order 3 Centerline is valid? [False, False] Translation: X:-16.69, Y:-1.70, Z:-1.03 [[ 0.99667904 -0.01954357 -0.0790503 -16.68536809] [ 0.01728123 0.99942412 -0.02920255 -1.70003445] [ 0.0795755 0.02773948 0.9964428 -1.03368344] [ 0. 0. 0. 1. ]] SLAMing on 198.843133365 meters Centerline goodness : 0.301102 with order 3 Centerline is valid? [False, False] Translation: X:-16.71, Y:-1.71, Z:-1.04 [[ 9.97035133e-01 -1.33516680e-02 -7.57804528e-02 -1.67063445e+01] [ 1.10949462e-02 9.99484620e-01 -3.01230149e-02 -1.71184718e+00] [ 7.61435896e-02 2.91929241e-02 9.96669417e-01 -1.03643589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903133365 meters Centerline goodness : 0.265667 with order 3 Centerline is valid? [False, False] Translation: X:-16.71, Y:-1.72, Z:-1.04 [[ 9.97014907e-01 -1.35496507e-02 -7.60110630e-02 -1.67062798e+01] [ 1.13422730e-02 9.99503457e-01 -2.93971343e-02 -1.71665100e+00] [ 7.63716411e-02 2.84472429e-02 9.96673531e-01 -1.03586910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96313336499998 meters Centerline goodness : 0.173441 with order 3 Centerline is valid? [False, False] Translation: X:-16.69, Y:-1.73, Z:-1.03 [[ 9.97234661e-01 -5.96008094e-03 -7.40777222e-02 -1.66884757e+01] [ 3.75231822e-03 9.99545647e-01 -2.99068479e-02 -1.72590839e+00] [ 7.42223120e-02 2.95461821e-02 9.96803928e-01 -1.03367030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02313336499998 meters SLAMing on 199.08313336499998 meters Centerline goodness : 0.133780 with order 1 Centerline is valid? [False, False] Translation: X:-16.69, Y:-1.72, Z:-1.03 [[ 9.97239159e-01 -4.61741306e-03 -7.41130196e-02 -1.66888071e+01] [ 2.54296326e-03 9.99602996e-01 -2.80603517e-02 -1.72097930e+00] [ 7.42131626e-02 2.77944148e-02 9.96854993e-01 -1.03315323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14313336499998 meters Centerline goodness : 0.160108 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.72, Z:-1.03 [[ 9.97087125e-01 -1.14644356e-02 -7.54044514e-02 -1.66681409e+01] [ 9.44870767e-03 9.99589835e-01 -2.70348565e-02 -1.71875923e+00] [ 7.56834626e-02 2.62436327e-02 9.96786479e-01 -1.03056875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20313336499999 meters Centerline goodness : 0.194072 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.72, Z:-1.03 [[ 9.97083255e-01 -1.13844996e-02 -7.54677153e-02 -1.66679648e+01] [ 9.38617617e-03 9.99597253e-01 -2.67811927e-02 -1.71950155e+00] [ 7.57422114e-02 2.59947255e-02 9.96788539e-01 -1.03055851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.263133365 meters Centerline goodness : 0.146574 with order 3 Centerline is valid? [False, False] Translation: X:-16.63, Y:-1.72, Z:-1.03 [[ 9.97195072e-01 -1.00664251e-02 -7.41663979e-02 -1.66251633e+01] [ 8.08707998e-03 9.99604338e-01 -2.69400418e-02 -1.71936052e+00] [ 7.44082431e-02 2.62646873e-02 9.96881929e-01 -1.02761006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.323133365 meters Centerline goodness : 0.259449 with order 3 Centerline is valid? [False, False] Translation: X:-16.62, Y:-1.72, Z:-1.03 [[ 9.97192993e-01 -9.90908334e-03 -7.42155312e-02 -1.66249052e+01] [ 7.95120407e-03 9.99613732e-01 -2.66301509e-02 -1.72089998e+00] [ 7.44507445e-02 2.59652971e-02 9.96886598e-01 -1.02774288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.383133365 meters Centerline goodness : 0.281157 with order 3 Centerline is valid? [False, False] Translation: X:-16.62, Y:-1.72, Z:-1.03 [[ 9.97101581e-01 -7.22689041e-03 -7.57377638e-02 -1.66184290e+01] [ 5.40875285e-03 9.99692908e-01 -2.41833792e-02 -1.72180073e+00] [ 7.58892759e-02 2.37036388e-02 9.96834467e-01 -1.03055213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.443133365 meters Centerline goodness : 0.168333 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-1.72, Z:-1.03 [[ 9.97099104e-01 2.46293547e-03 -7.60743721e-02 -1.65967998e+01] [-4.35468730e-03 9.99685145e-01 -2.47112760e-02 -1.72478385e+00] [ 7.59895574e-02 2.49708713e-02 9.96795888e-01 -1.02832644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.503133365 meters Centerline goodness : 0.147742 with order 3 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.72, Z:-1.03 [[ 9.97208466e-01 -1.18049934e-03 -7.46584361e-02 -1.65752517e+01] [-3.87638923e-04 9.99779691e-01 -2.09861894e-02 -1.72420886e+00] [ 7.46667623e-02 2.09565462e-02 9.96988314e-01 -1.02656168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.563133365 meters Centerline goodness : 0.125182 with order 1 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.73, Z:-1.03 [[ 9.97204933e-01 -1.07365648e-03 -7.47072211e-02 -1.65753589e+01] [-4.63077603e-04 9.99788725e-01 -2.05497258e-02 -1.72730295e+00] [ 7.47135007e-02 2.05268832e-02 9.96993751e-01 -1.02629196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.623133365 meters Centerline goodness : 0.193324 with order 3 Centerline is valid? [False, False] Translation: X:-16.55, Y:-1.73, Z:-1.02 [[ 9.97126311e-01 -8.35510785e-03 -7.52948294e-02 -1.65543345e+01] [ 6.91721674e-03 9.99789086e-01 -1.93374079e-02 -1.72775253e+00] [ 7.54405148e-02 1.87610076e-02 9.96973798e-01 -1.02360975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.683133365 meters Centerline goodness : 0.193216 with order 3 Centerline is valid? [False, False] Translation: X:-16.54, Y:-1.74, Z:-1.02 [[ 9.97277989e-01 4.85047089e-04 -7.37317979e-02 -1.65361194e+01] [-1.96762121e-03 9.99797316e-01 -2.00363559e-02 -1.73674427e+00] [ 7.37071350e-02 2.01268930e-02 9.97076811e-01 -1.02089287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74313336499998 meters Centerline goodness : 0.145342 with order 3 Centerline is valid? [False, False] Translation: X:-16.54, Y:-1.74, Z:-1.02 [[ 9.97295970e-01 1.02190963e-03 -7.34826765e-02 -1.65368469e+01] [-2.46893669e-03 9.99804776e-01 -1.96039468e-02 -1.73755617e+00] [ 7.34482974e-02 1.97323612e-02 9.97103797e-01 -1.02066857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80313336499998 meters SLAMing on 199.86313336499998 meters SLAMing on 199.92313336499998 meters Centerline goodness : 0.283253 with order 3 Centerline is valid? [False, False] Translation: X:-16.48, Y:-1.74, Z:-1.01 [[ 9.97094790e-01 1.39010668e-02 -7.48915201e-02 -1.64844505e+01] [-1.53708137e-02 9.99699715e-01 -1.90844801e-02 -1.74152797e+00] [ 7.46037367e-02 2.01801792e-02 9.97009049e-01 -1.01382267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.983133365 meters Centerline goodness : 0.249172 with order 3 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.74, Z:-1.01 [[ 9.97118370e-01 1.40490707e-02 -7.45491737e-02 -1.64850830e+01] [-1.55030250e-02 9.99700032e-01 -1.89605671e-02 -1.74161669e+00] [ 7.42604329e-02 2.00616675e-02 9.97037069e-01 -1.01410346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.043133365 meters Centerline goodness : 0.125943 with order 1 Centerline is valid? [False, False] Translation: X:-16.47, Y:-1.74, Z:-1.01 [[ 9.97261914e-01 7.46865945e-03 -7.35723756e-02 -1.64666214e+01] [-8.79972085e-03 9.99803121e-01 -1.77843574e-02 -1.73686581e+00] [ 7.34250655e-02 1.83830787e-02 9.97131296e-01 -1.01227393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.103133365 meters SLAMing on 200.163133365 meters Centerline goodness : 0.243612 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.74, Z:-1.01 [[ 9.97179206e-01 7.37166431e-03 -7.46946482e-02 -1.64628416e+01] [-8.74768833e-03 9.99797703e-01 -1.81116035e-02 -1.73541509e+00] [ 7.45460250e-02 1.87139199e-02 9.97041965e-01 -1.01374546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223133365 meters Centerline goodness : 0.210626 with order 3 Centerline is valid? [False, False] Translation: X:-16.45, Y:-1.73, Z:-1.01 [[ 9.97017024e-01 2.08952193e-03 -7.71536574e-02 -1.64450434e+01] [-3.40635232e-03 9.99850706e-01 -1.69399782e-02 -1.72847576e+00] [ 7.71067423e-02 1.71522592e-02 9.96875293e-01 -1.01031174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283133365 meters Centerline goodness : 0.149955 with order 1 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.72, Z:-1.01 [[ 9.96786490e-01 -3.59784927e-04 -8.01034534e-02 -1.64260700e+01] [-7.53153414e-04 9.99903619e-01 -1.38631152e-02 -1.72140205e+00] [ 8.01007207e-02 1.38788961e-02 9.96690148e-01 -1.00780536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.343133365 meters Centerline goodness : 0.205099 with order 3 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.72, Z:-1.01 [[ 9.96767261e-01 -4.67643341e-04 -8.03418275e-02 -1.64253799e+01] [-6.60354423e-04 9.99901597e-01 -1.40128377e-02 -1.72093656e+00] [ 8.03404747e-02 1.40205920e-02 9.96668867e-01 -1.00798040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.403133365 meters Centerline goodness : 0.247222 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.72, Z:-1.01 [[ 9.96731378e-01 -5.03823345e-04 -8.07855593e-02 -1.64241750e+01] [-6.21213440e-04 9.99903191e-01 -1.39004732e-02 -1.72186453e+00] [ 8.07847419e-02 1.39052228e-02 9.96634572e-01 -1.00821239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46313336499998 meters Centerline goodness : 0.247280 with order 3 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.72, Z:-1.01 [[ 9.96774452e-01 -3.72547970e-04 -8.02530619e-02 -1.64260304e+01] [-7.30217003e-04 9.99905729e-01 -1.37113086e-02 -1.72250044e+00] [ 8.02506045e-02 1.37256843e-02 9.96680213e-01 -1.00745786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52313336499998 meters Centerline goodness : 0.167521 with order 3 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.72, Z:-1.01 [[ 9.96889027e-01 1.77124686e-03 -7.87980424e-02 -1.64317014e+01] [-2.72881444e-03 9.99923719e-01 -1.20461549e-02 -1.71903036e+00] [ 7.87706949e-02 1.22237048e-02 9.96817816e-01 -1.00519531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58313336499998 meters Centerline goodness : 0.248507 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.72, Z:-1.00 [[ 9.96846807e-01 1.13439759e-02 -7.85350749e-02 -1.64101606e+01] [-1.24129429e-02 9.99836662e-01 -1.31365443e-02 -1.71796169e+00] [ 7.83732264e-02 1.40699736e-02 9.96824796e-01 -1.00350287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64313336499998 meters Centerline goodness : 0.141083 with order 1 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.71, Z:-1.00 [[ 9.96813063e-01 1.14729703e-02 -7.89435714e-02 -1.64089802e+01] [-1.25807837e-02 9.99829047e-01 -1.35499394e-02 -1.71446961e+00] [ 7.87746177e-02 1.44999286e-02 9.96786994e-01 -1.00376811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70313336499999 meters Centerline goodness : 0.236534 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.71, Z:-1.00 [[ 9.96944812e-01 9.69896179e-03 -7.75046578e-02 -1.64146111e+01] [-1.09136501e-02 9.99823932e-01 -1.52642787e-02 -1.71261888e+00] [ 7.73429640e-02 1.60635021e-02 9.96875133e-01 -1.00151714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763133365 meters Centerline goodness : 0.202516 with order 2 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.71, Z:-1.00 [[ 9.97003494e-01 9.59525754e-03 -7.67591242e-02 -1.64171282e+01] [-1.07913975e-02 9.99826489e-01 -1.51834506e-02 -1.71369279e+00] [ 7.66001166e-02 1.59662915e-02 9.96934050e-01 -1.00056285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823133365 meters Centerline goodness : 0.231074 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.71, Z:-1.00 [[ 9.97025861e-01 9.75132845e-03 -7.64483055e-02 -1.64174397e+01] [-1.09419065e-02 9.99825054e-01 -1.51702682e-02 -1.71267424e+00] [ 7.62870008e-02 1.59616400e-02 9.96958133e-01 -1.00108008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883133365 meters SLAMing on 200.943133365 meters Centerline goodness : 0.158283 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.71, Z:-1.00 [[ 9.96873069e-01 1.23179664e-02 -7.80535254e-02 -1.64115504e+01] [-1.34079954e-02 9.99819558e-01 -1.34564818e-02 -1.70800952e+00] [ 7.78736848e-02 1.44609456e-02 9.96858350e-01 -1.00309394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003133365 meters Centerline goodness : 0.189953 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.70, Z:-1.00 [[ 9.96829370e-01 1.26589640e-02 -7.85554381e-02 -1.64096469e+01] [-1.37798192e-02 9.99810610e-01 -1.37426772e-02 -1.70369647e+00] [ 7.83665924e-02 1.47815840e-02 9.96815019e-01 -1.00399738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063133365 meters Centerline goodness : 0.187945 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.70, Z:-1.00 [[ 9.96837021e-01 1.28369452e-02 -7.84293760e-02 -1.64095209e+01] [-1.39959822e-02 9.99800558e-01 -1.42462974e-02 -1.69944135e+00] [ 7.82308550e-02 1.52989328e-02 9.96817875e-01 -1.00440732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.123133365 meters Centerline goodness : 0.088537 with order 1 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.69, Z:-1.00 [[ 9.96798155e-01 1.64818830e-02 -7.82418473e-02 -1.64097448e+01] [-1.74532013e-02 9.99778676e-01 -1.17467027e-02 -1.69109069e+00] [ 7.80309227e-02 1.30746623e-02 9.96865201e-01 -1.00446509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18313336499997 meters Centerline goodness : 0.142888 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.69, Z:-1.00 [[ 9.96811813e-01 1.62822489e-02 -7.81095301e-02 -1.64099336e+01] [-1.72865947e-02 9.99776151e-01 -1.21992491e-02 -1.68852701e+00] [ 7.78934142e-02 1.35106034e-02 9.96870142e-01 -1.00466521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24313336499998 meters Centerline goodness : 0.154183 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.68, Z:-1.00 [[ 9.96835757e-01 1.57376240e-02 -7.79153450e-02 -1.64108275e+01] [-1.68120321e-02 9.99772155e-01 -1.31526920e-02 -1.68465721e+00] [ 7.76906003e-02 1.44209890e-02 9.96873214e-01 -1.00419386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30313336499998 meters Centerline goodness : 0.089266 with order 1 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.68, Z:-1.00 [[ 9.96850446e-01 1.52955753e-02 -7.78153837e-02 -1.64111346e+01] [-1.63963052e-02 9.99774076e-01 -1.35261750e-02 -1.68298174e+00] [ 7.75909127e-02 1.47594584e-02 9.96876025e-01 -1.00453431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36313336499998 meters SLAMing on 201.42313336499998 meters Centerline goodness : 0.151278 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.69, Z:-1.01 [[ 9.97019836e-01 3.11804286e-03 -7.70825758e-02 -1.64354918e+01] [-4.24352143e-03 9.99886712e-01 -1.44414663e-02 -1.68690232e+00] [ 7.70288141e-02 1.47255299e-02 9.96920117e-01 -1.00630054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.483133365 meters Centerline goodness : 0.238822 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.69, Z:-1.01 [[ 9.96958924e-01 -5.86986280e-03 -7.77074547e-02 -1.64118991e+01] [ 4.79298758e-03 9.99889984e-01 -1.40373313e-02 -1.69093923e+00] [ 7.77813029e-02 1.36221918e-02 9.96877377e-01 -1.00537636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.543133365 meters Centerline goodness : 0.243874 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.70, Z:-1.01 [[ 9.96837768e-01 -6.48228353e-03 -7.91987611e-02 -1.64073993e+01] [ 5.39082581e-03 9.99887641e-01 -1.39872948e-02 -1.69688972e+00] [ 7.92805320e-02 1.35161170e-02 9.96760709e-01 -1.00668273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.603133365 meters Centerline goodness : 0.147429 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.71, Z:-1.01 [[ 9.96763026e-01 1.45771820e-03 -8.03824913e-02 -1.64212505e+01] [-2.76992798e-03 9.99864684e-01 -1.62154821e-02 -1.70602938e+00] [ 8.03479766e-02 1.63856467e-02 9.96632186e-01 -1.00934325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.663133365 meters Centerline goodness : 0.089090 with order 1 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.71, Z:-1.01 [[ 9.96776313e-01 1.19991152e-02 -7.93284564e-02 -1.64013984e+01] [-1.32771389e-02 9.99790114e-01 -1.56027342e-02 -1.71121998e+00] [ 7.91245874e-02 1.66056908e-02 9.96726417e-01 -1.00726742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.723133365 meters Centerline goodness : 0.220180 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.71, Z:-1.01 [[ 9.96702344e-01 1.25419543e-02 -8.01694294e-02 -1.63984951e+01] [-1.38336881e-02 9.99782962e-01 -1.55774738e-02 -1.71026918e+00] [ 7.99566577e-02 1.66351435e-02 9.96659523e-01 -1.00790181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.783133365 meters Centerline goodness : 0.089068 with order 1 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.71, Z:-1.01 [[ 9.96669355e-01 1.27761823e-02 -8.05417018e-02 -1.63970047e+01] [-1.40567342e-02 9.99783334e-01 -1.53523212e-02 -1.71066793e+00] [ 8.03281071e-02 1.64333414e-02 9.96633002e-01 -1.00859895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.843133365 meters Centerline goodness : 0.229227 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.71, Z:-1.01 [[ 9.96645791e-01 1.27410714e-02 -8.08383092e-02 -1.63964074e+01] [-1.40154996e-02 9.99785976e-01 -1.52173419e-02 -1.71204246e+00] [ 8.06271226e-02 1.62992890e-02 9.96611058e-01 -1.00853766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.903133365 meters Centerline goodness : 0.235895 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.71, Z:-1.01 [[ 9.96701224e-01 2.71073843e-03 -8.11130138e-02 -1.64178832e+01] [-3.89477334e-03 9.99888113e-01 -1.44426913e-02 -1.71197017e+00] [ 8.10647880e-02 1.47109649e-02 9.96600265e-01 -1.01009624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96313336499998 meters Centerline goodness : 0.156580 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.71, Z:-1.01 [[ 9.96800398e-01 -5.32875098e-03 -7.97531925e-02 -1.63985744e+01] [ 4.24498632e-03 9.99896421e-01 -1.37523646e-02 -1.71062334e+00] [ 7.98182147e-02 1.33698113e-02 9.96719770e-01 -1.00730550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02313336499998 meters Centerline goodness : 0.153447 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.72, Z:-1.01 [[ 9.97075851e-01 7.80053564e-04 -7.64142523e-02 -1.64153638e+01] [-1.91122834e-03 9.99889664e-01 -1.47311804e-02 -1.71950803e+00] [ 7.63943299e-02 1.48341493e-02 9.96967329e-01 -1.01146790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08313336499998 meters Centerline goodness : 0.154263 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.72, Z:-1.01 [[ 9.97153463e-01 -6.63964109e-03 -7.51058371e-02 -1.63954932e+01] [ 5.65047712e-03 9.99894584e-01 -1.33751034e-02 -1.72007589e+00] [ 7.51867256e-02 1.29126469e-02 9.97085864e-01 -1.00899185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14313336499998 meters Centerline goodness : 0.142100 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.73, Z:-1.01 [[ 9.97201305e-01 6.96436770e-04 -7.47601004e-02 -1.64122103e+01] [-1.84444842e-03 9.99881431e-01 -1.52879968e-02 -1.72928396e+00] [ 7.47405890e-02 1.53831015e-02 9.97084352e-01 -1.01148194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20313336499999 meters Centerline goodness : 0.157331 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.73, Z:-1.01 [[ 9.97277124e-01 -6.28099113e-03 -7.34771206e-02 -1.63932665e+01] [ 5.27544206e-03 9.99889873e-01 -1.38712803e-02 -1.72758009e+00] [ 7.35561541e-02 1.34458862e-02 9.97200431e-01 -1.00863025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263133365 meters Centerline goodness : 0.217091 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.74, Z:-1.01 [[ 9.97483685e-01 9.55544075e-04 -7.08899459e-02 -1.64109497e+01] [-2.01972958e-03 9.99886328e-01 -1.49416371e-02 -1.73682438e+00] [ 7.08676103e-02 1.50472177e-02 9.97372229e-01 -1.01194144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.323133365 meters Centerline goodness : 0.152621 with order 3 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.74, Z:-1.01 [[ 9.97489335e-01 1.12368768e-03 -7.08079322e-02 -1.64109428e+01] [-2.16414781e-03 9.99890793e-01 -1.46191163e-02 -1.73848442e+00] [ 7.07837721e-02 1.47356514e-02 9.97382834e-01 -1.01220888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.383133365 meters Centerline goodness : 0.197349 with order 2 Centerline is valid? [False, False] Translation: X:-16.37, Y:-1.74, Z:-1.01 [[ 9.97572912e-01 3.36313092e-03 -6.95483653e-02 -1.63665891e+01] [-4.39496340e-03 9.99882459e-01 -1.46884951e-02 -1.73801708e+00] [ 6.94907912e-02 1.49585073e-02 9.97470437e-01 -1.01015365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.443133365 meters Centerline goodness : 0.224114 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.74, Z:-1.01 [[ 9.97510534e-01 -4.76265310e-03 -7.03566052e-02 -1.63880296e+01] [ 3.90867455e-03 9.99917075e-01 -1.22705482e-02 -1.74126072e+00] [ 7.04092112e-02 1.19650000e-02 9.97446431e-01 -1.01056340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.503133365 meters Centerline goodness : 0.151307 with order 2 Centerline is valid? [False, False] Translation: X:-16.39, Y:-1.75, Z:-1.01 [[ 9.97491829e-01 -4.31760511e-03 -7.06499104e-02 -1.63871858e+01] [ 3.54498162e-03 9.99932578e-01 -1.10576759e-02 -1.74588147e+00] [ 7.06928897e-02 1.07794887e-02 9.97439882e-01 -1.01120694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.563133365 meters Centerline goodness : 0.226505 with order 3 Centerline is valid? [False, False] Translation: X:-16.38, Y:-1.75, Z:-1.01 [[ 9.97390726e-01 -5.00763500e-03 -7.20184889e-02 -1.63832856e+01] [ 4.20848636e-03 9.99927929e-01 -1.12439019e-02 -1.75134241e+00] [ 7.20696038e-02 1.09114747e-02 9.97339918e-01 -1.01198664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.623133365 meters Centerline goodness : 0.222790 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.76, Z:-1.01 [[ 9.97353299e-01 4.79983651e-03 -7.25490133e-02 -1.63983991e+01] [-5.62773912e-03 9.99921312e-01 -1.12115287e-02 -1.76062630e+00] [ 7.24894911e-02 1.15901421e-02 9.97301831e-01 -1.01397900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68313336499997 meters Centerline goodness : 0.160448 with order 2 Centerline is valid? [False, False] Translation: X:-16.38, Y:-1.76, Z:-1.01 [[ 9.97226272e-01 -2.24420933e-03 -7.43957336e-02 -1.63765273e+01] [ 1.46040558e-03 9.99942876e-01 -1.05883265e-02 -1.75903416e+00] [ 7.44152462e-02 1.04503094e-02 9.97172584e-01 -1.01206393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74313336499998 meters Centerline goodness : 0.156516 with order 2 Centerline is valid? [False, False] Translation: X:-16.37, Y:-1.77, Z:-1.01 [[ 9.97111850e-01 -2.29044575e-03 -7.59125317e-02 -1.63723521e+01] [ 1.53095320e-03 9.99948210e-01 -1.00615212e-02 -1.76514994e+00] [ 7.59316455e-02 9.91624352e-03 9.97063716e-01 -1.01272959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80313336499998 meters Centerline goodness : 0.150757 with order 2 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.78, Z:-1.01 [[ 9.97104824e-01 5.59226457e-03 -7.58333497e-02 -1.63583925e+01] [-6.36894263e-03 9.99929676e-01 -1.00039378e-02 -1.77583690e+00] [ 7.57720722e-02 1.04579529e-02 9.97070321e-01 -1.00987559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86313336499998 meters Centerline goodness : 0.158735 with order 2 Centerline is valid? [False, False] Translation: X:-16.34, Y:-1.78, Z:-1.01 [[ 9.97419065e-01 -4.00397240e-04 -7.17986677e-02 -1.63404262e+01] [-1.68526622e-04 9.99968641e-01 -7.91764483e-03 -1.77955577e+00] [ 7.17995864e-02 7.90930989e-03 9.97387719e-01 -1.00777589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92313336499998 meters Centerline goodness : 0.101260 with order 1 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.79, Z:-1.01 [[ 9.97610770e-01 6.94508723e-03 -6.87351204e-02 -1.63563028e+01] [-7.51803563e-03 9.99939091e-01 -8.08042666e-03 -1.78876148e+00] [ 6.86748145e-02 8.57787375e-03 9.97602220e-01 -1.01143026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.983133365 meters Centerline goodness : 0.245505 with order 3 Centerline is valid? [False, False] Translation: X:-16.34, Y:-1.79, Z:-1.01 [[ 9.97660355e-01 5.60153514e-04 -6.83630192e-02 -1.63385424e+01] [-1.01953953e-03 9.99977135e-01 -6.68509772e-03 -1.78799234e+00] [ 6.83577114e-02 6.73915577e-03 9.97638114e-01 -1.00831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.043133365 meters Centerline goodness : 0.158455 with order 1 Centerline is valid? [False, False] Translation: X:-16.34, Y:-1.79, Z:-1.01 [[ 9.97658081e-01 6.66086947e-04 -6.83952401e-02 -1.63385017e+01] [-1.11116692e-03 9.99978454e-01 -6.46963245e-03 -1.78910589e+00] [ 6.83894571e-02 6.53047963e-03 9.97637326e-01 -1.00826906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.103133365 meters Centerline goodness : 0.247228 with order 3 Centerline is valid? [False, False] Translation: X:-16.34, Y:-1.79, Z:-1.01 [[ 9.97654814e-01 7.64685936e-04 -6.84418551e-02 -1.63383180e+01] [-1.19957572e-03 9.99979352e-01 -6.31327640e-03 -1.78970308e+00] [ 6.84356143e-02 6.38057178e-03 9.97635131e-01 -1.00837320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.163133365 meters Centerline goodness : 0.116990 with order 1 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.79, Z:-1.01 [[ 9.97617098e-01 9.71061862e-03 -6.83068718e-02 -1.63205674e+01] [-1.01763125e-02 9.99927269e-01 -6.47300952e-03 -1.79463139e+00] [ 6.82390469e-02 7.15269705e-03 9.97643359e-01 -1.00667971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223133365 meters Centerline goodness : 0.202711 with order 3 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.79, Z:-1.01 [[ 9.97612183e-01 9.68548005e-03 -6.83821935e-02 -1.63202658e+01] [-1.01541439e-02 9.99927258e-01 -6.50932862e-03 -1.79465001e+00] [ 6.83141733e-02 7.18814817e-03 9.97637963e-01 -1.00682255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283133365 meters Centerline goodness : 0.096616 with order 1 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.79, Z:-1.01 [[ 9.97563022e-01 9.54922177e-03 -6.91146066e-02 -1.63176590e+01] [-1.00415445e-02 9.99926601e-01 -6.77935771e-03 -1.79347201e+00] [ 6.90447961e-02 7.45685397e-03 9.97585691e-01 -1.00796992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.343133365 meters Centerline goodness : 0.114500 with order 2 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.79, Z:-1.01 [[ 9.97570262e-01 9.53819771e-03 -6.90115572e-02 -1.63180615e+01] [-1.00294929e-02 9.99926745e-01 -6.77603654e-03 -1.79341553e+00] [ 6.89418705e-02 7.45172346e-03 9.97592848e-01 -1.00782818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.403133365 meters Centerline goodness : 0.244860 with order 3 Centerline is valid? [False, False] Translation: X:-16.30, Y:-1.79, Z:-1.01 [[ 9.97675230e-01 2.46161325e-03 -6.81034272e-02 -1.62986939e+01] [-2.85893177e-03 9.99979455e-01 -5.73719629e-03 -1.78968483e+00] [ 6.80879053e-02 5.91856167e-03 9.97661770e-01 -1.00567639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46313336499998 meters Centerline goodness : 0.236466 with order 2 Centerline is valid? [False, False] Translation: X:-16.30, Y:-1.79, Z:-1.01 [[ 9.97653397e-01 2.23102954e-03 -6.84304186e-02 -1.62978553e+01] [-2.64014764e-03 9.99979176e-01 -5.88874345e-03 -1.79030578e+00] [ 6.84158557e-02 6.05559131e-03 9.97638512e-01 -1.00566660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52313336499998 meters Centerline goodness : 0.103480 with order 1 Centerline is valid? [False, False] Translation: X:-16.30, Y:-1.79, Z:-1.01 [[ 9.97640647e-01 2.39848057e-03 -6.86103981e-02 -1.62971870e+01] [-2.80172922e-03 9.99979361e-01 -5.78174579e-03 -1.78969065e+00] [ 6.85951146e-02 5.96033237e-03 9.97626776e-01 -1.00609150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58313336499998 meters Centerline goodness : 0.234089 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-1.79, Z:-1.00 [[ 9.97668093e-01 -4.76087294e-03 -6.80860470e-02 -1.62777504e+01] [ 4.42488163e-03 9.99977283e-01 -5.08476527e-03 -1.78562038e+00] [ 6.81087082e-02 4.77163538e-03 9.97666495e-01 -1.00377810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64313336499998 meters Centerline goodness : 0.234518 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-1.79, Z:-1.00 [[ 9.97655274e-01 -5.06436248e-03 -6.82517884e-02 -1.62779455e+01] [ 4.72193721e-03 9.99975448e-01 -5.17748453e-03 -1.78694920e+00] [ 6.82763333e-02 4.84306409e-03 9.97654693e-01 -1.00315158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70313336499999 meters Centerline goodness : 0.245816 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-1.79, Z:-1.00 [[ 9.97654716e-01 -4.89046767e-03 -6.82726294e-02 -1.62780194e+01] [ 4.58081388e-03 9.99978503e-01 -4.69136709e-03 -1.78882602e+00] [ 6.82941048e-02 4.36762029e-03 9.97655672e-01 -1.00316476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.763133365 meters SLAMing on 203.823133365 meters Centerline goodness : 0.223425 with order 3 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.79, Z:-1.00 [[ 9.97662253e-01 4.42589899e-03 -6.81941442e-02 -1.62936618e+01] [-4.86158246e-03 9.99968811e-01 -6.22423473e-03 -1.79407249e+00] [ 6.81644695e-02 6.54121550e-03 9.97652654e-01 -1.00406814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.883133365 meters Centerline goodness : 0.147877 with order 2 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.79, Z:-1.00 [[ 9.97621974e-01 4.38815858e-03 -6.87832941e-02 -1.62924880e+01] [-4.82942503e-03 9.99968804e-01 -6.25033796e-03 -1.79442337e+00] [ 6.87537209e-02 6.56765826e-03 9.97612045e-01 -1.00370814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.943133365 meters Centerline goodness : 0.133294 with order 3 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.80, Z:-1.00 [[ 9.97614247e-01 4.58027664e-03 -6.88827575e-02 -1.62925365e+01] [-4.98445545e-03 9.99971350e-01 -5.69690259e-03 -1.79722609e+00] [ 6.88546906e-02 6.02665423e-03 9.97608496e-01 -1.00330970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003133365 meters Centerline goodness : 0.250934 with order 3 Centerline is valid? [False, False] Translation: X:-16.29, Y:-1.80, Z:-1.00 [[ 9.97624319e-01 7.89407715e-04 -6.88846489e-02 -1.62926295e+01] [-1.37927040e-03 9.99962788e-01 -8.51590829e-03 -1.80298479e+00] [ 6.88753630e-02 8.59068776e-03 9.97588284e-01 -1.00315463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063133365 meters Centerline goodness : 0.196320 with order 2 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.81, Z:-1.00 [[ 9.97774409e-01 1.78014814e-03 -6.66562812e-02 -1.62488891e+01] [-2.38117757e-03 9.99957216e-01 -8.93848350e-03 -1.80711078e+00] [ 6.66375175e-02 9.07731054e-03 9.97735959e-01 -1.00134696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.123133365 meters Centerline goodness : 0.231820 with order 2 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.81, Z:-1.00 [[ 9.97785019e-01 -1.80161826e-03 -6.64966918e-02 -1.62495311e+01] [ 1.03984396e-03 9.99933463e-01 -1.14886567e-02 -1.81413214e+00] [ 6.65129654e-02 1.13940633e-02 9.97720502e-01 -1.00093119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18313336499997 meters Centerline goodness : 0.230235 with order 2 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.82, Z:-1.00 [[ 9.97755826e-01 -1.56031329e-03 -6.69393585e-02 -1.62485754e+01] [ 8.44991908e-04 9.99942256e-01 -1.07130933e-02 -1.81877804e+00] [ 6.69522089e-02 1.06324881e-02 9.97699530e-01 -1.00076170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24313336499998 meters Centerline goodness : 0.220430 with order 3 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.82, Z:-1.00 [[ 9.97758542e-01 -1.35969478e-03 -6.69032341e-02 -1.62491990e+01] [ 6.93565953e-04 9.99949970e-01 -9.97882104e-03 -1.82297273e+00] [ 6.69134551e-02 9.91005213e-03 9.97709567e-01 -1.00000203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30313336499998 meters Centerline goodness : 0.241794 with order 3 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.83, Z:-1.00 [[ 9.97899228e-01 -9.95136139e-03 -6.40164176e-02 -1.62312400e+01] [ 9.36193504e-03 9.99911040e-01 -9.50081864e-03 -1.82599035e+00] [ 6.41052688e-02 8.88154204e-03 9.97903619e-01 -9.97801901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36313336499998 meters Centerline goodness : 0.106702 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.83, Z:-1.00 [[ 9.97891014e-01 -1.06853973e-02 -6.40261423e-02 -1.62314008e+01] [ 1.00954862e-02 9.99903625e-01 -9.53005192e-03 -1.83147029e+00] [ 6.41218042e-02 8.86357814e-03 9.97902716e-01 -9.97426231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42313336499998 meters Centerline goodness : 0.107167 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.84, Z:-1.00 [[ 9.97851586e-01 -1.10738500e-02 -6.45723057e-02 -1.62300882e+01] [ 1.04958673e-02 9.99901824e-01 -9.28331392e-03 -1.83500109e+00] [ 6.46687683e-02 8.58562716e-03 9.97869850e-01 -9.97363838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.483133365 meters Centerline goodness : 0.201651 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.84, Z:-1.00 [[ 9.97853605e-01 -1.08187296e-02 -6.45843472e-02 -1.62303982e+01] [ 1.02950760e-02 9.99911424e-01 -8.43536738e-03 -1.83962249e+00] [ 6.46698865e-02 7.75236099e-03 9.97876599e-01 -9.96858939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.543133365 meters Centerline goodness : 0.217943 with order 1 Centerline is valid? [False, False] Translation: X:-16.21, Y:-1.84, Z:-1.00 [[ 9.97897450e-01 -3.26963892e-03 -6.47301150e-02 -1.62081114e+01] [ 2.56121649e-03 9.99935951e-01 -1.10242055e-02 -1.84300585e+00] [ 6.47620143e-02 1.08352388e-02 9.97841911e-01 -9.96580758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.603133365 meters Centerline goodness : 0.101723 with order 1 Centerline is valid? [False, False] Translation: X:-16.21, Y:-1.84, Z:-1.00 [[ 9.97865418e-01 7.75587583e-04 -6.52993576e-02 -1.62069080e+01] [-1.24756905e-03 9.99973391e-01 -7.18749903e-03 -1.84390170e+00] [ 6.52920455e-02 7.25362218e-03 9.97839834e-01 -9.96374350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.663133365 meters Centerline goodness : 0.216808 with order 3 Centerline is valid? [False, False] Translation: X:-16.20, Y:-1.84, Z:-1.00 [[ 9.97819178e-01 1.19806667e-03 -6.59958579e-02 -1.62048193e+01] [-1.68754325e-03 9.99971480e-01 -7.36153040e-03 -1.84164216e+00] [ 6.59851561e-02 7.45684707e-03 9.97792741e-01 -9.96936336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723133365 meters Centerline goodness : 0.107572 with order 1 Centerline is valid? [False, False] Translation: X:-16.21, Y:-1.84, Z:-1.00 [[ 9.97840609e-01 1.37690736e-03 -6.56675188e-02 -1.62053157e+01] [-1.87321839e-03 9.99970143e-01 -7.49696559e-03 -1.83976104e+00] [ 6.56552355e-02 7.60378631e-03 9.97813396e-01 -9.97384902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783133365 meters Centerline goodness : 0.178240 with order 2 Centerline is valid? [False, False] Translation: X:-16.20, Y:-1.84, Z:-1.00 [[ 9.97830865e-01 1.28334181e-03 -6.58173042e-02 -1.62044964e+01] [-1.79316188e-03 9.99968843e-01 -7.68749867e-03 -1.83864572e+00] [ 6.58053879e-02 7.78884453e-03 9.97802077e-01 -9.98011184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843133365 meters Centerline goodness : 0.235365 with order 3 Centerline is valid? [False, False] Translation: X:-16.18, Y:-1.83, Z:-1.00 [[ 9.97631467e-01 -5.73721261e-03 -6.85458948e-02 -1.61815552e+01] [ 5.22484146e-03 9.99957075e-01 -7.65180874e-03 -1.83353072e+00] [ 6.85868524e-02 7.27554375e-03 9.97618620e-01 -9.96341142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.903133365 meters Centerline goodness : 0.127709 with order 3 Centerline is valid? [False, False] Translation: X:-16.18, Y:-1.83, Z:-1.00 [[ 9.97647262e-01 -5.97435128e-03 -6.82952943e-02 -1.61830162e+01] [ 5.46790609e-03 9.99956170e-01 -7.60005341e-03 -1.83473682e+00] [ 6.83377063e-02 7.20874022e-03 9.97636202e-01 -9.95214531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96313336499998 meters Centerline goodness : 0.231726 with order 3 Centerline is valid? [False, False] Translation: X:-16.14, Y:-1.83, Z:-0.99 [[ 9.97849606e-01 -4.28353814e-03 -6.54050132e-02 -1.61430191e+01] [ 3.74573580e-03 9.99958181e-01 -8.34306086e-03 -1.83349299e+00] [ 6.54380159e-02 8.08013009e-03 9.97823921e-01 -9.92277919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02313336499998 meters Centerline goodness : 0.238363 with order 3 Centerline is valid? [False, False] Translation: X:-16.15, Y:-1.84, Z:-0.99 [[ 9.97912901e-01 -4.59982593e-03 -6.44102764e-02 -1.61463068e+01] [ 4.08058859e-03 9.99958130e-01 -8.19063930e-03 -1.83518886e+00] [ 6.44452551e-02 7.91071278e-03 9.97889889e-01 -9.91076952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08313336499998 meters Centerline goodness : 0.110291 with order 1 Centerline is valid? [False, False] Translation: X:-16.15, Y:-1.84, Z:-0.99 [[ 9.97938534e-01 -4.71498032e-03 -6.40035233e-02 -1.61481344e+01] [ 4.20456864e-03 9.99958297e-01 -8.10709470e-03 -1.83617339e+00] [ 6.40390790e-02 7.82127499e-03 9.97916742e-01 -9.89888619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14313336499998 meters Centerline goodness : 0.096519 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.84, Z:-0.99 [[ 9.98085041e-01 -3.09166932e-03 -6.17793845e-02 -1.61064937e+01] [ 2.54759983e-03 9.99957296e-01 -8.88348138e-03 -1.83539854e+00] [ 6.18042111e-02 8.70908072e-03 9.98050295e-01 -9.87895211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20313336499999 meters Centerline goodness : 0.129605 with order 2 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.84, Z:-0.99 [[ 9.98070388e-01 -3.17923593e-03 -6.20112275e-02 -1.61058801e+01] [ 2.62658375e-03 9.99956125e-01 -8.99161340e-03 -1.83519559e+00] [ 6.20370932e-02 8.81138540e-03 9.98034949e-01 -9.87908738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263133365 meters Centerline goodness : 0.108409 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.83, Z:-0.99 [[ 9.98071637e-01 -3.06923789e-03 -6.19966747e-02 -1.61061233e+01] [ 2.50557571e-03 9.99954838e-01 -9.16751144e-03 -1.83327041e+00] [ 6.20220121e-02 8.99449579e-03 9.98034252e-01 -9.87600857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.323133365 meters Centerline goodness : 0.107680 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.83, Z:-0.99 [[ 9.98107560e-01 6.60234670e-03 -6.11367975e-02 -1.60876013e+01] [-7.27616269e-03 9.99915147e-01 -1.08053831e-02 -1.83227926e+00] [ 6.10602690e-02 1.12297759e-02 9.98070907e-01 -9.85356792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.383133365 meters Centerline goodness : 0.104243 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.83, Z:-0.99 [[ 9.98121941e-01 6.83506989e-03 -6.08758859e-02 -1.60879191e+01] [-7.52358703e-03 9.99910220e-01 -1.10881517e-02 -1.82908271e+00] [ 6.07946321e-02 1.15253325e-02 9.98083754e-01 -9.85733314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.443133365 meters Centerline goodness : 0.181600 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.83, Z:-0.99 [[ 9.98093985e-01 6.70028455e-03 -6.13474044e-02 -1.60862108e+01] [-7.42191156e-03 9.99905837e-01 -1.15426506e-02 -1.82661502e+00] [ 6.12642886e-02 1.19759651e-02 9.98049730e-01 -9.86468096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.503133365 meters Centerline goodness : 0.173981 with order 3 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.83, Z:-0.99 [[ 9.98105840e-01 6.60630270e-03 -6.11644493e-02 -1.60873199e+01] [-7.30314801e-03 9.99910872e-01 -1.11764397e-02 -1.82959602e+00] [ 6.10851629e-02 1.16019627e-02 9.98065127e-01 -9.85654873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.563133365 meters Centerline goodness : 0.107356 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.83, Z:-0.99 [[ 9.98097129e-01 6.64095071e-03 -6.13026826e-02 -1.60870852e+01] [-7.31520039e-03 9.99915127e-01 -1.07808240e-02 -1.83216773e+00] [ 6.12258847e-02 1.12087509e-02 9.98060998e-01 -9.85563165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.623133365 meters Centerline goodness : 0.237196 with order 3 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.83, Z:-0.98 [[ 9.98085522e-01 -2.74589475e-04 -6.18483211e-02 -1.60673070e+01] [-3.52023577e-04 9.99948726e-01 -1.01203237e-02 -1.82977051e+00] [ 6.18479288e-02 1.01227207e-02 9.98034250e-01 -9.83135445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68313336499997 meters Centerline goodness : 0.234899 with order 3 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.83, Z:-0.98 [[ 9.98156337e-01 5.16358681e-04 -6.06931631e-02 -1.60704966e+01] [-1.08747263e-03 9.99955442e-01 -9.37720162e-03 -1.83094682e+00] [ 6.06856167e-02 9.42591537e-03 9.98112423e-01 -9.82526999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74313336499998 meters Centerline goodness : 0.215484 with order 1 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.83, Z:-0.98 [[ 9.98026659e-01 3.53394556e-03 -6.26921030e-02 -1.60311658e+01] [-4.22345388e-03 9.99932009e-01 -1.08692203e-02 -1.83070892e+00] [ 6.26494293e-02 1.11125488e-02 9.97973727e-01 -9.79089087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80313336499998 meters Centerline goodness : 0.166168 with order 3 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.83, Z:-0.98 [[ 9.98037227e-01 3.94969266e-03 -6.24987430e-02 -1.60318287e+01] [-4.59781347e-03 9.99937104e-01 -1.02297220e-02 -1.83298978e+00] [ 6.24544078e-02 1.04970009e-02 9.97992615e-01 -9.78850476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86313336499998 meters Centerline goodness : 0.170925 with order 2 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.83, Z:-0.98 [[ 9.98042757e-01 3.92396399e-03 -6.24120022e-02 -1.60323601e+01] [-4.56254415e-03 9.99938661e-01 -1.00924635e-02 -1.83472412e+00] [ 6.23685714e-02 1.03574676e-02 9.97999441e-01 -9.78385835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92313336499998 meters Centerline goodness : 0.105543 with order 1 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.84, Z:-0.98 [[ 9.98047445e-01 4.07141841e-03 -6.23275358e-02 -1.60322955e+01] [-4.69690206e-03 9.99940040e-01 -9.89220581e-03 -1.83542168e+00] [ 6.22835233e-02 1.01656371e-02 9.98006725e-01 -9.78781722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.983133365 meters Centerline goodness : 0.106662 with order 1 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.84, Z:-0.98 [[ 9.98036906e-01 3.94745452e-03 -6.25040217e-02 -1.60322386e+01] [-4.56815088e-03 9.99941635e-01 -9.79071473e-03 -1.83715686e+00] [ 6.24617253e-02 1.00570224e-02 9.97996688e-01 -9.78269345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.043133365 meters Centerline goodness : 0.105908 with order 1 Centerline is valid? [False, False] Translation: X:-16.01, Y:-1.84, Z:-0.98 [[ 9.98125310e-01 -3.34483443e-03 -6.11120056e-02 -1.60124815e+01] [ 2.81589371e-03 9.99957846e-01 -8.73934103e-03 -1.83713732e+00] [ 6.11386612e-02 8.55087257e-03 9.98092654e-01 -9.76243543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.103133365 meters Centerline goodness : 0.107997 with order 1 Centerline is valid? [False, False] Translation: X:-16.01, Y:-1.85, Z:-0.98 [[ 9.98067368e-01 -5.84952958e-03 -6.18652757e-02 -1.60091774e+01] [ 5.25321462e-03 9.99938207e-01 -9.79719290e-03 -1.84732646e+00] [ 6.19187618e-02 9.45326696e-03 9.98036424e-01 -9.77746317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.163133365 meters Centerline goodness : 0.108553 with order 1 Centerline is valid? [False, False] Translation: X:-16.01, Y:-1.86, Z:-0.98 [[ 9.98031359e-01 -9.47479906e-03 -6.19970592e-02 -1.60094187e+01] [ 8.73461531e-03 9.99887437e-01 -1.21991683e-02 -1.85544451e+00] [ 6.21056653e-02 1.16336321e-02 9.98001776e-01 -9.77114131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223133365 meters Centerline goodness : 0.204935 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.87, Z:-0.98 [[ 9.98069745e-01 -9.03087642e-03 -6.14428834e-02 -1.59645961e+01] [ 8.30526508e-03 9.99892848e-01 -1.20546905e-02 -1.87147596e+00] [ 6.15451641e-02 1.15211224e-02 9.98037803e-01 -9.75148422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283133365 meters Centerline goodness : 0.107934 with order 1 Centerline is valid? [False, False] Translation: X:-15.94, Y:-1.88, Z:-0.97 [[ 9.98032247e-01 -1.67719500e-03 -6.26803109e-02 -1.59433928e+01] [ 7.96815204e-04 9.99900725e-01 -1.40679140e-02 -1.88352515e+00] [ 6.26976829e-02 1.39902872e-02 9.97934503e-01 -9.73595143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343133365 meters Centerline goodness : 0.140634 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:-1.89, Z:-0.97 [[ 9.98022200e-01 -8.03026825e-03 -6.23474380e-02 -1.59245005e+01] [ 7.26970021e-03 9.99896490e-01 -1.24161452e-02 -1.88602581e+00] [ 6.24406894e-02 1.19383414e-02 9.97977272e-01 -9.70512966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403133365 meters Centerline goodness : 0.128822 with order 1 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.90, Z:-0.97 [[ 9.98006834e-01 -8.60441325e-03 -6.25165834e-02 -1.59250430e+01] [ 7.87033914e-03 9.99897277e-01 -1.19788557e-02 -1.89618881e+00] [ 6.26132325e-02 1.14629531e-02 9.97972036e-01 -9.69360839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46313336499998 meters Centerline goodness : 0.165691 with order 1 Centerline is valid? [False, False] Translation: X:-15.89, Y:-1.90, Z:-0.97 [[ 9.98205671e-01 -8.36949917e-03 -5.92907295e-02 -1.58857975e+01] [ 7.56689099e-03 9.99876854e-01 -1.37484394e-02 -1.90198625e+00] [ 5.93984956e-02 1.32751237e-02 9.98146076e-01 -9.66644082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52313336499998 meters Centerline goodness : 0.144160 with order 1 Centerline is valid? [False, False] Translation: X:-15.89, Y:-1.91, Z:-0.97 [[ 9.98226436e-01 -1.17795191e-02 -5.83543171e-02 -1.58888736e+01] [ 1.08883634e-02 9.99819556e-01 -1.55659670e-02 -1.91271199e+00] [ 5.85271470e-02 1.49029767e-02 9.98174571e-01 -9.65630415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58313336499998 meters Centerline goodness : 0.141824 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:-1.92, Z:-0.96 [[ 9.98300016e-01 -5.30353562e-03 -5.80426574e-02 -1.58710881e+01] [ 4.26129949e-03 9.99827726e-01 -1.80654480e-02 -1.92416103e+00] [ 5.81284689e-02 1.77873998e-02 9.98150635e-01 -9.63967956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64313336499998 meters Centerline goodness : 0.242028 with order 3 Centerline is valid? [False, False] Translation: X:-15.87, Y:-1.93, Z:-0.96 [[ 9.98259467e-01 -5.34832347e-03 -5.87318667e-02 -1.58697888e+01] [ 4.33009780e-03 9.99838353e-01 -1.74504553e-02 -1.92951646e+00] [ 5.88157036e-02 1.71657674e-02 9.98121260e-01 -9.63656624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70313336499999 meters Centerline goodness : 0.132568 with order 1 Centerline is valid? [False, False] Translation: X:-15.85, Y:-1.94, Z:-0.96 [[ 9.98347766e-01 4.01789344e-03 -5.73201059e-02 -1.58534260e+01] [-5.09282062e-03 9.99813675e-01 -1.86193181e-02 -1.93632652e+00] [ 5.72346153e-02 1.88804756e-02 9.98182211e-01 -9.61565221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.763133365 meters Centerline goodness : 0.242077 with order 3 Centerline is valid? [False, False] Translation: X:-15.84, Y:-1.93, Z:-0.96 [[ 9.98262839e-01 -1.43416700e-03 -5.89003113e-02 -1.58370740e+01] [ 3.89919626e-04 9.99842616e-01 -1.77367315e-02 -1.93122194e+00] [ 5.89164787e-02 1.76829536e-02 9.98106288e-01 -9.57794736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.823133365 meters Centerline goodness : 0.243316 with order 3 Centerline is valid? [False, False] Translation: X:-15.84, Y:-1.93, Z:-0.96 [[ 9.98236411e-01 1.80604532e-03 -5.93363774e-02 -1.58357977e+01] [-2.67653514e-03 9.99889916e-01 -1.45942231e-02 -1.93047017e+00] [ 5.93034876e-02 1.47273007e-02 9.98131356e-01 -9.58225405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.883133365 meters Centerline goodness : 0.129708 with order 1 Centerline is valid? [False, False] Translation: X:-15.82, Y:-1.92, Z:-0.96 [[ 9.98140271e-01 -4.80151939e-03 -6.07696088e-02 -1.58158739e+01] [ 3.93426842e-03 9.99888823e-01 -1.43827455e-02 -1.92487808e+00] [ 6.08319116e-02 1.41169136e-02 9.98048191e-01 -9.56149661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.943133365 meters Centerline goodness : 0.234365 with order 3 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.92, Z:-0.96 [[ 9.98103652e-01 -5.20620146e-03 -6.13351064e-02 -1.58141545e+01] [ 4.29575872e-03 9.99878771e-01 -1.49662714e-02 -1.92268655e+00] [ 6.14055883e-02 1.46744093e-02 9.98005018e-01 -9.56677608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.003133365 meters Centerline goodness : 0.114278 with order 1 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.92, Z:-0.96 [[ 9.98024899e-01 -2.20074999e-03 -6.27810325e-02 -1.58104152e+01] [ 1.41961293e-03 9.99921062e-01 -1.24841404e-02 -1.91798202e+00] [ 6.28035511e-02 1.23703582e-02 9.97949241e-01 -9.57234600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.063133365 meters Centerline goodness : 0.177526 with order 1 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.91, Z:-0.96 [[ 9.98031937e-01 -2.41810825e-03 -6.26610406e-02 -1.58110045e+01] [ 1.59744052e-03 9.99912341e-01 -1.31437272e-02 -1.91381148e+00] [ 6.26873307e-02 1.30177622e-02 9.97948314e-01 -9.56816765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.123133365 meters Centerline goodness : 0.216413 with order 3 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.91, Z:-0.96 [[ 9.98091498e-01 -9.54658656e-04 -6.17450387e-02 -1.58148848e+01] [ 1.98013984e-04 9.99924832e-01 -1.22592979e-02 -1.90819070e+00] [ 6.17521009e-02 1.22236746e-02 9.98016663e-01 -9.55057542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18313336499997 meters Centerline goodness : 0.099937 with order 1 Centerline is valid? [False, False] Translation: X:-15.78, Y:-1.90, Z:-0.95 [[ 9.98252490e-01 2.04199894e-03 -5.90575677e-02 -1.57807344e+01] [-2.82831991e-03 9.99908427e-01 -1.32339593e-02 -1.89887036e+00] [ 5.90251359e-02 1.33778665e-02 9.98166853e-01 -9.50670716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24313336499998 meters Centerline goodness : 0.193312 with order 3 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.89, Z:-0.95 [[ 9.98177062e-01 -7.56859383e-04 -6.03488193e-02 -1.57621904e+01] [ 1.56262670e-04 9.99950424e-01 -9.95618564e-03 -1.89017225e+00] [ 6.03533628e-02 9.92860587e-03 9.98127694e-01 -9.47714731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30313336499998 meters Centerline goodness : 0.098945 with order 1 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.88, Z:-0.95 [[ 9.98178333e-01 -1.25485337e-03 -6.03194949e-02 -1.57613464e+01] [ 5.86074128e-04 9.99938180e-01 -1.11036954e-02 -1.88361260e+00] [ 6.03296995e-02 1.10481165e-02 9.98117361e-01 -9.48774425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36313336499998 meters Centerline goodness : 0.194854 with order 3 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.87, Z:-0.95 [[ 9.98186825e-01 -1.11834303e-03 -6.01814829e-02 -1.57609920e+01] [ 3.97785612e-04 9.99928113e-01 -1.19837240e-02 -1.87205153e+00] [ 6.01905586e-02 1.19380561e-02 9.98115514e-01 -9.49590145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42313336499998 meters Centerline goodness : 0.098987 with order 1 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.87, Z:-0.95 [[ 9.98150557e-01 1.43026199e-03 -6.07735057e-02 -1.57587450e+01] [-2.04639490e-03 9.99947130e-01 -1.00771517e-02 -1.86642458e+00] [ 6.07558797e-02 1.01828812e-02 9.98100712e-01 -9.50598837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.483133365 meters Centerline goodness : 0.097342 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.86, Z:-0.95 [[ 9.98287014e-01 3.71153229e-03 -5.83888869e-02 -1.57184785e+01] [-4.37127125e-03 9.99927999e-01 -1.11753847e-02 -1.85837087e+00] [ 5.83432051e-02 1.14114751e-02 9.98231360e-01 -9.48424937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.543133365 meters Centerline goodness : 0.099437 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.85, Z:-0.95 [[ 9.98361755e-01 5.08528965e-03 -5.69907491e-02 -1.57221578e+01] [-5.72092005e-03 9.99923181e-01 -1.09956228e-02 -1.84797504e+00] [ 5.69304551e-02 1.13036488e-02 9.98314154e-01 -9.47812988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603133365 meters Centerline goodness : 0.224835 with order 3 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.84, Z:-0.95 [[ 9.98278693e-01 8.04981374e-03 -5.80934653e-02 -1.57178947e+01] [-8.59486247e-03 9.99921305e-01 -9.13851172e-03 -1.84028694e+00] [ 5.80153303e-02 9.62208689e-03 9.98269321e-01 -9.49488381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.663133365 meters Centerline goodness : 0.135149 with order 2 Centerline is valid? [False, False] Translation: X:-15.71, Y:-1.84, Z:-0.95 [[ 9.98188014e-01 1.10401787e-02 -5.91506866e-02 -1.57144856e+01] [-1.14712814e-02 9.99910025e-01 -6.95360140e-03 -1.83544216e+00] [ 5.90685955e-02 7.61953574e-03 9.98224846e-01 -9.50258409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.723133365 meters Centerline goodness : 0.111401 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.83, Z:-0.95 [[ 9.98200384e-01 1.12900082e-02 -5.88942150e-02 -1.57151297e+01] [-1.17444299e-02 9.99903831e-01 -7.37546035e-03 -1.83199897e+00] [ 5.88052822e-02 8.05386634e-03 9.98236983e-01 -9.50013359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.783133365 meters Centerline goodness : 0.098135 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.83, Z:-0.95 [[ 9.98162193e-01 1.54550004e-02 -5.85950403e-02 -1.57164625e+01] [-1.57268297e-02 9.99867585e-01 -4.18077867e-03 -1.82748538e+00] [ 5.85226675e-02 5.09460942e-03 9.98273080e-01 -9.48828784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.843133365 meters Centerline goodness : 0.100063 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.82, Z:-0.95 [[ 9.98176324e-01 1.57788781e-02 -5.82670796e-02 -1.57177252e+01] [-1.60678526e-02 9.99860803e-01 -4.49427564e-03 -1.82423552e+00] [ 5.81880543e-02 5.42230639e-03 9.98290914e-01 -9.47981661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.903133365 meters Centerline goodness : 0.110428 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.82, Z:-0.95 [[ 9.98219208e-01 1.64270274e-02 -5.73460114e-02 -1.57204332e+01] [-1.67051236e-02 9.99850895e-01 -4.37340192e-03 -1.82161785e+00] [ 5.72656188e-02 5.32358601e-03 9.98344784e-01 -9.47192060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96313336499998 meters Centerline goodness : 0.247337 with order 3 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.82, Z:-0.95 [[ 9.98232602e-01 1.67703756e-02 -5.70125116e-02 -1.57212987e+01] [-1.70501632e-02 9.99844846e-01 -4.42455756e-03 -1.81965149e+00] [ 5.69294644e-02 5.38881023e-03 9.98363660e-01 -9.47038771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02313336499998 meters Centerline goodness : 0.096452 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.82, Z:-0.95 [[ 9.98232602e-01 1.67322834e-02 -5.70237130e-02 -1.57216201e+01] [-1.70118233e-02 9.99845518e-01 -4.42023117e-03 -1.82018000e+00] [ 5.69409432e-02 5.38249619e-03 9.98363039e-01 -9.46600495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08313336499998 meters Centerline goodness : 0.166411 with order 3 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.82, Z:-0.94 [[ 9.98342392e-01 1.02283145e-02 -5.66378906e-02 -1.57033584e+01] [-1.04183449e-02 9.99941043e-01 -3.06091780e-03 -1.81668131e+00] [ 5.66032433e-02 3.64591708e-03 9.98390094e-01 -9.43834050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14313336499998 meters Centerline goodness : 0.095244 with order 1 Centerline is valid? [False, False] Translation: X:-15.69, Y:-1.81, Z:-0.94 [[ 9.98427764e-01 3.16814211e-03 -5.59639409e-02 -1.56850647e+01] [-3.30608503e-03 9.99991721e-01 -2.37244202e-03 -1.81475574e+00] [ 5.59559613e-02 2.55373353e-03 9.98429972e-01 -9.41188156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20313336499999 meters Centerline goodness : 0.092894 with order 1 Centerline is valid? [False, False] Translation: X:-15.69, Y:-1.82, Z:-0.94 [[ 9.98430584e-01 3.23447353e-03 -5.59098197e-02 -1.56854823e+01] [-3.36627276e-03 9.99991773e-01 -2.26333681e-03 -1.81533033e+00] [ 5.59020390e-02 2.44799240e-03 9.98433257e-01 -9.40758179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.263133365 meters Centerline goodness : 0.165985 with order 2 Centerline is valid? [False, False] Translation: X:-15.69, Y:-1.82, Z:-0.94 [[ 9.98454292e-01 3.37988889e-03 -5.54761407e-02 -1.56865472e+01] [-3.50620667e-03 9.99991477e-01 -2.17980229e-03 -1.81512530e+00] [ 5.54683004e-02 2.37094377e-03 9.98457634e-01 -9.40655593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.323133365 meters Centerline goodness : 0.108289 with order 1 Centerline is valid? [False, False] Translation: X:-15.68, Y:-1.81, Z:-0.94 [[ 9.98423893e-01 3.37018374e-03 -5.60211776e-02 -1.56840054e+01] [-3.51037929e-03 9.99990948e-01 -2.40432864e-03 -1.81408946e+00] [ 5.60125674e-02 2.59719474e-03 9.98426686e-01 -9.42357490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.383133365 meters Centerline goodness : 0.194582 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.81, Z:-0.94 [[ 9.98507328e-01 6.05765512e-03 -5.42809430e-02 -1.56415081e+01] [-6.21332528e-03 9.99977053e-01 -2.69956088e-03 -1.81265845e+00] [ 5.42633444e-02 3.03279648e-03 9.98522054e-01 -9.40514702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443133365 meters Centerline goodness : 0.234219 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.81, Z:-0.94 [[ 9.98544298e-01 -6.84966777e-04 -5.39334347e-02 -1.56229245e+01] [ 5.91720954e-04 9.99998303e-01 -1.74485513e-03 -1.80965906e+00] [ 5.39345383e-02 1.71040159e-03 9.98543009e-01 -9.37910583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.503133365 meters Centerline goodness : 0.248942 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.81, Z:-0.94 [[ 9.98515002e-01 -7.31821062e-04 -5.44725261e-02 -1.56211421e+01] [ 6.50669359e-04 9.99998652e-01 -1.50749314e-03 -1.81177083e+00] [ 5.44735559e-02 1.46981091e-03 9.98514132e-01 -9.38607452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.563133365 meters Centerline goodness : 0.217202 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.81, Z:-0.94 [[ 9.98519866e-01 -6.29844672e-04 -5.43845558e-02 -1.56215293e+01] [ 5.61398897e-04 9.99999031e-01 -1.27381955e-03 -1.81294750e+00] [ 5.43853054e-02 1.24140270e-03 9.98519252e-01 -9.38385037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.623133365 meters Centerline goodness : 0.178682 with order 1 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.81, Z:-0.94 [[ 9.98505065e-01 -6.35702360e-04 -5.46555735e-02 -1.56212240e+01] [ 5.70861929e-04 9.99999115e-01 -1.20195006e-03 -1.81372649e+00] [ 5.46562892e-02 1.16895244e-03 9.98504544e-01 -9.37913331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68313336499997 meters Centerline goodness : 0.218564 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.81, Z:-0.94 [[ 9.98474918e-01 -6.83194786e-04 -5.52029988e-02 -1.56197183e+01] [ 6.23677604e-04 9.99999206e-01 -1.09537163e-03 -1.81473961e+00] [ 5.52037033e-02 1.05927222e-03 9.98474551e-01 -9.38216821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74313336499998 meters Centerline goodness : 0.253390 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.82, Z:-0.94 [[ 9.98473177e-01 -6.21436066e-04 -5.52352035e-02 -1.56202596e+01] [ 5.84787392e-04 9.99999598e-01 -6.79662398e-04 -1.81733316e+00] [ 5.52356037e-02 6.46323823e-04 9.98473140e-01 -9.37415474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80313336499998 meters Centerline goodness : 0.189043 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.82, Z:-0.94 [[ 9.98473529e-01 -5.30786273e-04 -5.52297917e-02 -1.56205859e+01] [ 5.10758722e-04 9.99999799e-01 -3.76736937e-04 -1.81896478e+00] [ 5.52299805e-02 3.47952762e-04 9.98473599e-01 -9.37045013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86313336499998 meters Centerline goodness : 0.245181 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.83, Z:-0.94 [[ 9.98430790e-01 -2.34470757e-03 -5.59505205e-02 -1.56174679e+01] [ 2.27057090e-03 9.99996458e-01 -1.38857277e-03 -1.82540020e+00] [ 5.59535781e-02 1.25935418e-03 9.98432577e-01 -9.38266053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92313336499998 meters Centerline goodness : 0.233290 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.83, Z:-0.94 [[ 9.98451598e-01 -2.31844964e-03 -5.55790565e-02 -1.56185795e+01] [ 2.27544680e-03 9.99997061e-01 -8.36993921e-04 -1.82942131e+00] [ 5.55808336e-02 7.09230732e-04 9.98453939e-01 -9.37976267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.983133365 meters Centerline goodness : 0.197147 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.83, Z:-0.94 [[ 9.98519094e-01 -1.95569836e-03 -5.43672198e-02 -1.56227432e+01] [ 1.96154185e-03 9.99998075e-01 5.41208084e-05 -1.83350962e+00] [ 5.43670093e-02 -1.60684237e-04 9.98521008e-01 -9.36260392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043133365 meters Centerline goodness : 0.182969 with order 2 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.84, Z:-0.94 [[ 9.98539903e-01 5.77589239e-03 -5.37094078e-02 -1.56020126e+01] [-5.90083305e-03 9.99980240e-01 -2.16794421e-03 -1.83651792e+00] [ 5.36958247e-02 2.48170905e-03 9.98554255e-01 -9.35751080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103133365 meters Centerline goodness : 0.107944 with order 1 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.84, Z:-0.94 [[ 9.98551645e-01 5.85338276e-03 -5.34822404e-02 -1.56027984e+01] [-5.96777350e-03 9.99980234e-01 -1.97940456e-03 -1.83717396e+00] [ 5.34695970e-02 2.29570758e-03 9.98566839e-01 -9.35476846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163133365 meters Centerline goodness : 0.200599 with order 1 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.84, Z:-0.94 [[ 9.98604867e-01 1.72752747e-03 -5.27762752e-02 -1.56046380e+01] [-2.04684296e-03 9.99979924e-01 -5.99690967e-03 -1.83620023e+00] [ 5.27648558e-02 6.09656793e-03 9.98588355e-01 -9.35281358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223133365 meters Centerline goodness : 0.208463 with order 3 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.83, Z:-0.93 [[ 9.98508924e-01 -2.70234644e-03 -5.45217935e-02 -1.55819552e+01] [ 2.52271392e-03 9.99991162e-01 -3.36324584e-03 -1.83324078e+00] [ 5.45304003e-02 3.22068810e-03 9.98506917e-01 -9.34271211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283133365 meters Centerline goodness : 0.097451 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.83, Z:-0.94 [[ 9.98488494e-01 -2.80973011e-03 -5.48892696e-02 -1.55802749e+01] [ 2.61866558e-03 9.99990261e-01 -3.55252123e-03 -1.83238230e+00] [ 5.48987166e-02 3.40341494e-03 9.98486128e-01 -9.35320700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343133365 meters Centerline goodness : 0.111011 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.83, Z:-0.94 [[ 9.98466109e-01 -2.81077376e-03 -5.52949323e-02 -1.55790614e+01] [ 2.59685088e-03 9.99988865e-01 -3.94023207e-03 -1.83002686e+00] [ 5.53053917e-02 3.79059549e-03 9.98462290e-01 -9.35560329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403133365 meters Centerline goodness : 0.239098 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.83, Z:-0.94 [[ 9.98391566e-01 7.24296953e-03 -5.62300698e-02 -1.55555490e+01] [-7.51959397e-03 9.99960637e-01 -4.70948679e-03 -1.83007682e+00] [ 5.61937458e-02 5.12473918e-03 9.98406731e-01 -9.35209593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46313336499998 meters Centerline goodness : 0.217422 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.83, Z:-0.94 [[ 9.98400425e-01 7.32075527e-03 -5.60624408e-02 -1.55555011e+01] [-7.61998395e-03 9.99957832e-01 -5.12551098e-03 -1.82740197e+00] [ 5.60225541e-02 5.54450725e-03 9.98414108e-01 -9.35683510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52313336499998 meters Centerline goodness : 0.218388 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.82, Z:-0.93 [[ 9.98511509e-01 4.16932076e-03 -5.43818221e-02 -1.55353449e+01] [-4.25955564e-03 9.99989737e-01 -1.54348202e-03 -1.82313716e+00] [ 5.43748287e-02 1.77282696e-03 9.98519021e-01 -9.34263718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58313336499998 meters Centerline goodness : 0.107094 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.82, Z:-0.93 [[ 9.98513847e-01 4.24070190e-03 -5.43333628e-02 -1.55354107e+01] [-4.33551280e-03 9.99989278e-01 -1.62723478e-03 -1.82228884e+00] [ 5.43258796e-02 1.86037945e-03 9.98521526e-01 -9.34256427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64313336499998 meters Centerline goodness : 0.216589 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.82, Z:-0.93 [[ 9.98579972e-01 5.95490459e-03 -5.29393791e-02 -1.55410199e+01] [-5.97478849e-03 9.99982127e-01 -2.17342360e-04 -1.82093026e+00] [ 5.29371386e-02 5.33335320e-04 9.98597704e-01 -9.31809905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70313336499999 meters Centerline goodness : 0.105267 with order 1 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.82, Z:-0.93 [[ 9.98631054e-01 6.10314862e-03 -5.19496778e-02 -1.55433129e+01] [-6.13224342e-03 9.99981117e-01 -4.00682693e-04 -1.81888898e+00] [ 5.19462515e-02 7.18702250e-04 9.98649623e-01 -9.31826740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763133365 meters Centerline goodness : 0.102219 with order 1 Centerline is valid? [False, False] Translation: X:-15.55, Y:-1.82, Z:-0.93 [[ 9.98681135e-01 6.28501659e-03 -5.09557616e-02 -1.55457246e+01] [-6.32823377e-03 9.99979741e-01 -6.86839332e-04 -1.81587065e+00] [ 5.09504125e-02 1.00839345e-03 9.98700675e-01 -9.31755288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.823133365 meters Centerline goodness : 0.104888 with order 1 Centerline is valid? [False, False] Translation: X:-15.55, Y:-1.81, Z:-0.93 [[ 9.98657671e-01 1.00193556e-02 -5.08179967e-02 -1.55454803e+01] [-9.92105634e-03 9.99948395e-01 2.18622427e-03 -1.81006541e+00] [ 5.08372788e-02 -1.67912143e-03 9.98705538e-01 -9.32431615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.883133365 meters Centerline goodness : 0.170377 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:-1.81, Z:-0.93 [[ 9.98643776e-01 9.44236884e-03 -5.12000933e-02 -1.55437249e+01] [-9.39715862e-03 9.99955214e-01 1.12366950e-03 -1.80553684e+00] [ 5.12084104e-02 -6.41010159e-04 9.98687783e-01 -9.33632850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.943133365 meters Centerline goodness : 0.171945 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.80, Z:-0.93 [[ 9.98588643e-01 2.56688918e-03 -5.30484102e-02 -1.55236960e+01] [-2.53345075e-03 9.99996548e-01 6.97573610e-04 -1.79543894e+00] [ 5.30500177e-02 -5.62193550e-04 9.98591698e-01 -9.32161604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.003133365 meters Centerline goodness : 0.181229 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.79, Z:-0.93 [[ 9.98584316e-01 1.97171357e-03 -5.31552096e-02 -1.55231088e+01] [-1.96821041e-03 9.99998056e-01 1.18251734e-04 -1.79404454e+00] [ 5.31553395e-02 -1.34636907e-05 9.98586256e-01 -9.32634336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.063133365 meters Centerline goodness : 0.210731 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.79, Z:-0.93 [[ 9.98559832e-01 1.53785340e-03 -5.36273933e-02 -1.55214835e+01] [-1.55100207e-03 9.99998776e-01 -2.03568359e-04 -1.79353763e+00] [ 5.36270146e-02 2.86451384e-04 9.98560995e-01 -9.33385735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.123133365 meters Centerline goodness : 0.224279 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.79, Z:-0.93 [[ 9.98515463e-01 7.49206572e-04 -5.44638374e-02 -1.55189231e+01] [-7.85538255e-04 9.99999483e-01 -6.45674485e-04 -1.79431091e+00] [ 5.44633255e-02 6.87499385e-04 9.98515535e-01 -9.34129731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18313336499997 meters Centerline goodness : 0.182745 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.80, Z:-0.93 [[ 9.98488427e-01 5.99908091e-04 -5.49590907e-02 -1.55172636e+01] [-6.35885019e-04 9.99999595e-01 -6.37128168e-04 -1.79500700e+00] [ 5.49586862e-02 6.71112764e-04 9.98488404e-01 -9.34819701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24313336499998 meters Centerline goodness : 0.170811 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.79, Z:-0.94 [[ 9.98500066e-01 7.56791292e-04 -5.47452720e-02 -1.55176244e+01] [-7.86343208e-04 9.99999557e-01 -5.18269218e-04 -1.79465566e+00] [ 5.47448555e-02 5.60540422e-04 9.98500219e-01 -9.35023063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30313336499998 meters Centerline goodness : 0.191774 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.79, Z:-0.94 [[ 9.98543153e-01 9.06790069e-04 -5.39513629e-02 -1.55190214e+01] [-9.52673402e-04 9.99999206e-01 -8.24745663e-04 -1.79151330e+00] [ 5.39505722e-02 8.74942163e-04 9.98543224e-01 -9.35575999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36313336499998 meters Centerline goodness : 0.202213 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.79, Z:-0.94 [[ 9.98572118e-01 1.04190450e-03 -5.34101032e-02 -1.55200043e+01] [-1.10821505e-03 9.99998652e-01 -1.21193463e-03 -1.78776770e+00] [ 5.34087685e-02 1.26939401e-03 9.98571926e-01 -9.35934496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42313336499998 meters Centerline goodness : 0.107357 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-1.78, Z:-0.94 [[ 9.98585093e-01 9.88960540e-04 -5.31679697e-02 -1.55202450e+01] [-1.08272340e-03 9.99997909e-01 -1.73474701e-03 -1.78405972e+00] [ 5.31661430e-02 1.78985871e-03 9.98584076e-01 -9.36397341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.483133365 meters Centerline goodness : 0.144036 with order 3 Centerline is valid? [False, False] Translation: X:-15.48, Y:-1.78, Z:-0.93 [[ 9.98724138e-01 1.60657230e-03 -5.04729222e-02 -1.54809342e+01] [-1.80383681e-03 9.99990912e-01 -3.86301516e-03 -1.77719013e+00] [ 5.04662573e-02 3.94913140e-03 9.98717959e-01 -9.33967839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.543133365 meters Centerline goodness : 0.178988 with order 3 Centerline is valid? [False, False] Translation: X:-15.48, Y:-1.78, Z:-0.93 [[ 9.98732387e-01 1.23688354e-03 -5.03198598e-02 -1.54809935e+01] [-1.45145672e-03 9.99990009e-01 -4.22786674e-03 -1.77588001e+00] [ 5.03141277e-02 4.29554454e-03 9.98724205e-01 -9.34482419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.603133365 meters Centerline goodness : 0.127796 with order 3 Centerline is valid? [False, False] Translation: X:-15.48, Y:-1.77, Z:-0.93 [[ 9.98750942e-01 -3.25753585e-04 -4.99644834e-02 -1.54815141e+01] [ 5.55152594e-05 9.99985365e-01 -5.40990081e-03 -1.77480149e+00] [ 4.99655145e-02 5.40036974e-03 9.98736343e-01 -9.34929865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.663133365 meters Centerline goodness : 0.219840 with order 3 Centerline is valid? [False, False] Translation: X:-15.46, Y:-1.77, Z:-0.93 [[ 9.98684379e-01 -8.53236091e-03 -5.05639194e-02 -1.54596093e+01] [ 8.28180006e-03 9.99952378e-01 -5.16277677e-03 -1.77264813e+00] [ 5.06055621e-02 4.73722424e-03 9.98707483e-01 -9.33804541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.723133365 meters Centerline goodness : 0.093500 with order 1 Centerline is valid? [False, False] Translation: X:-15.46, Y:-1.77, Z:-0.93 [[ 9.98658910e-01 -8.76959685e-03 -5.10242597e-02 -1.54583122e+01] [ 8.51865671e-03 9.99950539e-01 -5.13345368e-03 -1.77373646e+00] [ 5.10667543e-02 4.69191110e-03 9.98684221e-01 -9.34243596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.783133365 meters Centerline goodness : 0.223096 with order 3 Centerline is valid? [False, False] Translation: X:-15.44, Y:-1.78, Z:-0.94 [[ 9.98676037e-01 -4.63988929e-03 -5.12312766e-02 -1.54363511e+01] [ 4.19940806e-03 9.99953317e-01 -8.70219358e-03 -1.78062640e+00] [ 5.12692622e-02 8.47553117e-03 9.98648901e-01 -9.35961056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.843133365 meters Centerline goodness : 0.095970 with order 1 Centerline is valid? [False, False] Translation: X:-15.44, Y:-1.78, Z:-0.94 [[ 9.98681404e-01 -4.52878331e-03 -5.11365183e-02 -1.54363528e+01] [ 4.10680981e-03 9.99956672e-01 -8.35396137e-03 -1.78202821e+00] [ 5.11721360e-02 8.13293792e-03 9.98656732e-01 -9.36410970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.903133365 meters Centerline goodness : 0.219801 with order 3 Centerline is valid? [False, False] Translation: X:-15.39, Y:-1.78, Z:-0.93 [[ 9.98762440e-01 -3.06124662e-03 -4.96408900e-02 -1.53943278e+01] [ 2.59436667e-03 9.99951823e-01 -9.46685607e-03 -1.78163518e+00] [ 4.96674788e-02 9.32635360e-03 9.98722264e-01 -9.34348040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96313336499998 meters Centerline goodness : 0.219569 with order 3 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.78, Z:-0.93 [[ 9.98809237e-01 7.98249294e-03 -4.81288723e-02 -1.53736669e+01] [-8.42725754e-03 9.99923579e-01 -9.04529309e-03 -1.78038081e+00] [ 4.80529903e-02 9.44011669e-03 9.98800177e-01 -9.34616278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02313336499998 meters Centerline goodness : 0.217680 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.78, Z:-0.93 [[ 9.98881339e-01 3.90322855e-03 -4.71257499e-02 -1.53521633e+01] [-4.20854789e-03 9.99970783e-01 -6.38134002e-03 -1.77540797e+00] [ 4.70994652e-02 6.57253243e-03 9.98868581e-01 -9.33869098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08313336499998 meters Centerline goodness : 0.116099 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.77, Z:-0.93 [[ 9.98903650e-01 3.85277636e-03 -4.66546309e-02 -1.53528825e+01] [-4.18579389e-03 9.99966442e-01 -7.04233897e-03 -1.77104884e+00] [ 4.66259327e-02 7.22990477e-03 9.98886255e-01 -9.34304257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14313336499998 meters Centerline goodness : 0.176271 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.76, Z:-0.94 [[ 9.98868616e-01 7.22727959e-03 -4.70027046e-02 -1.53500998e+01] [-7.46340947e-03 9.99960386e-01 -4.85019328e-03 -1.76190327e+00] [ 4.69657890e-02 5.19550628e-03 9.98882987e-01 -9.36382005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20313336499999 meters Centerline goodness : 0.256487 with order 3 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.75, Z:-0.94 [[ 9.98908228e-01 2.06863748e-04 -4.67151965e-02 -1.53683496e+01] [-3.51215709e-04 9.99995189e-01 -3.08185600e-03 -1.74970663e+00] [ 4.67143343e-02 3.09489843e-03 9.98903495e-01 -9.38904660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.263133365 meters Centerline goodness : 0.221676 with order 3 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.74, Z:-0.94 [[ 9.98891783e-01 3.89284371e-03 -4.69047091e-02 -1.53675489e+01] [-3.90836372e-03 9.99992334e-01 -2.39177312e-04 -1.74415773e+00] [ 4.69034185e-02 4.22232915e-04 9.98899340e-01 -9.39392503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.323133365 meters Centerline goodness : 0.118449 with order 2 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.74, Z:-0.94 [[ 9.98927008e-01 3.34741155e-03 -4.61912006e-02 -1.53691826e+01] [-3.42466747e-03 9.99992866e-01 -1.59348879e-03 -1.73696179e+00] [ 4.61855370e-02 1.74996850e-03 9.98931346e-01 -9.39388906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.383133365 meters Centerline goodness : 0.235093 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.73, Z:-0.94 [[ 9.98871560e-01 -2.70743184e-03 -4.74159922e-02 -1.53509038e+01] [ 2.67035344e-03 9.99996077e-01 -8.45307920e-04 -1.72717415e+00] [ 4.74180948e-02 7.17736583e-04 9.98874872e-01 -9.36986037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.443133365 meters Centerline goodness : 0.235478 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.72, Z:-0.94 [[ 9.98851703e-01 2.40788241e-04 -4.79084220e-02 -1.53477768e+01] [-1.78006130e-04 9.99999120e-01 1.31472296e-03 -1.72156919e+00] [ 4.79086964e-02 -1.30468528e-03 9.98850867e-01 -9.39227264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.503133365 meters Centerline goodness : 0.227050 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.72, Z:-0.94 [[ 9.98867135e-01 2.13494399e-04 -4.75857132e-02 -1.53484739e+01] [-1.78649476e-04 9.99999713e-01 7.36507773e-04 -1.71766431e+00] [ 4.75858567e-02 -7.27172246e-04 9.98866887e-01 -9.39262969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.563133365 meters Centerline goodness : 0.234338 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.71, Z:-0.94 [[ 9.98858533e-01 1.15578347e-02 -4.63470344e-02 -1.53272006e+01] [-1.15261697e-02 9.99933120e-01 9.50411114e-04 -1.71233950e+00] [ 4.63549194e-02 -4.15122466e-04 9.98924947e-01 -9.39077462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.623133365 meters Centerline goodness : 0.093078 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.70, Z:-0.94 [[ 9.99008610e-01 4.94779093e-03 -4.42415633e-02 -1.53465095e+01] [-4.82456313e-03 9.99984181e-01 2.89168252e-03 -1.70192193e+00] [ 4.42551708e-02 -2.67536953e-03 9.99016678e-01 -9.42050276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68313336499997 meters Centerline goodness : 0.094384 with order 1 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.70, Z:-0.94 [[ 9.98977124e-01 8.80203884e-03 -4.43534740e-02 -1.53454249e+01] [-8.53689011e-03 9.99944562e-01 6.16395801e-03 -1.69844989e+00] [ 4.44052705e-02 -5.77901231e-03 9.98996884e-01 -9.43141884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74313336499998 meters Centerline goodness : 0.229020 with order 3 Centerline is valid? [False, False] Translation: X:-15.34, Y:-1.69, Z:-0.94 [[ 9.98969447e-01 8.33171513e-03 -4.46164450e-02 -1.53440541e+01] [-8.11692164e-03 9.99954591e-01 4.99322769e-03 -1.69270525e+00] [ 4.46560211e-02 -4.62593372e-03 9.98991712e-01 -9.44218671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80313336499998 meters Centerline goodness : 0.445417 with order 1 Centerline is valid? [False, False] Translation: X:-15.34, Y:-1.69, Z:-0.95 [[ 9.98952647e-01 8.24442020e-03 -4.50070920e-02 -1.53420285e+01] [-8.05446483e-03 9.99957881e-01 4.40028410e-03 -1.68817053e+00] [ 4.50414741e-02 -4.03316741e-03 9.98976976e-01 -9.45759582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86313336499998 meters Centerline goodness : 0.233620 with order 3 Centerline is valid? [False, False] Translation: X:-15.32, Y:-1.68, Z:-0.94 [[ 9.98989351e-01 1.25662736e-03 -4.49299219e-02 -1.53226055e+01] [-1.03904186e-03 9.99987622e-01 4.86580082e-03 -1.68002554e+00] [ 4.49354802e-02 -4.81419913e-03 9.98978291e-01 -9.44322585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92313336499998 meters Centerline goodness : 0.241961 with order 3 Centerline is valid? [False, False] Translation: X:-15.32, Y:-1.68, Z:-0.94 [[ 9.98998615e-01 1.09099155e-03 -4.47278078e-02 -1.53229604e+01] [-8.91110039e-04 9.99989529e-01 4.48853736e-03 -1.67798419e+00] [ 4.47322364e-02 -4.44418521e-03 9.98989127e-01 -9.44574558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.983133365 meters Centerline goodness : 0.238078 with order 3 Centerline is valid? [False, False] Translation: X:-15.32, Y:-1.68, Z:-0.95 [[ 9.98981004e-01 1.04032073e-03 -4.51206406e-02 -1.53212168e+01] [-8.39398754e-04 9.99989650e-01 4.47171298e-03 -1.67794459e+00] [ 4.51248256e-02 -4.42928211e-03 9.98971537e-01 -9.45792479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.043133365 meters Centerline goodness : 0.234389 with order 3 Centerline is valid? [False, False] Translation: X:-15.30, Y:-1.68, Z:-0.95 [[ 9.98956159e-01 9.04654759e-03 -4.47744603e-02 -1.52989958e+01] [-8.95848877e-03 9.99957524e-01 2.16698978e-03 -1.67699507e+00] [ 4.47921622e-02 -1.76361629e-03 9.98994771e-01 -9.45694228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.103133365 meters Centerline goodness : 0.185772 with order 3 Centerline is valid? [False, False] Translation: X:-15.30, Y:-1.67, Z:-0.95 [[ 9.98899772e-01 9.35920305e-03 -4.59526934e-02 -1.52951865e+01] [-9.28571781e-03 9.99955244e-01 1.81235874e-03 -1.67263902e+00] [ 4.59675990e-02 -1.38366099e-03 9.98941973e-01 -9.47183116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.163133365 meters Centerline goodness : 0.190148 with order 3 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.67, Z:-0.95 [[ 9.98834727e-01 1.19864171e-02 -4.67494799e-02 -1.52909826e+01] [-1.18203242e-02 9.99922811e-01 3.82767118e-03 -1.66852135e+00] [ 4.67917515e-02 -3.27061689e-03 9.98899312e-01 -9.49661991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.223133365 meters Centerline goodness : 0.134709 with order 3 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.66, Z:-0.95 [[ 9.98779850e-01 1.57060076e-02 -4.68202116e-02 -1.52901581e+01] [-1.54100759e-02 9.99858978e-01 6.67488264e-03 -1.66283851e+00] [ 4.69184447e-02 -5.94523527e-03 9.98881031e-01 -9.50362518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.283133365 meters Centerline goodness : 0.138846 with order 3 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.66, Z:-0.95 [[ 9.98799951e-01 1.54447110e-02 -4.64770846e-02 -1.52904381e+01] [-1.51950104e-02 9.99868182e-01 5.72108582e-03 -1.65687487e+00] [ 4.65593185e-02 -5.00800045e-03 9.98902973e-01 -9.51125826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343133365 meters Centerline goodness : 0.122169 with order 3 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.65, Z:-0.95 [[ 9.98808155e-01 1.49463026e-02 -4.64637326e-02 -1.52894880e+01] [-1.47556315e-02 9.99881254e-01 4.44395654e-03 -1.64879293e+00] [ 4.65246360e-02 -3.75305832e-03 9.98910092e-01 -9.52478577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403133365 meters Centerline goodness : 0.131653 with order 3 Centerline is valid? [False, False] Translation: X:-15.27, Y:-1.64, Z:-0.95 [[ 9.98798798e-01 8.22259688e-03 -4.83047680e-02 -1.52694057e+01] [-8.02201816e-03 9.99958384e-01 4.34475944e-03 -1.63821547e+00] [ 4.83384829e-02 -3.95203878e-03 9.98823194e-01 -9.51440523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46313336499998 meters Centerline goodness : 0.133512 with order 3 Centerline is valid? [False, False] Translation: X:-15.27, Y:-1.63, Z:-0.95 [[ 9.98825520e-01 7.93689744e-03 -4.77973446e-02 -1.52707978e+01] [-7.77469018e-03 9.99963373e-01 3.57860419e-03 -1.63378217e+00] [ 4.78239969e-02 -3.20279165e-03 9.98850643e-01 -9.51257840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52313336499998 meters Centerline goodness : 0.241994 with order 3 Centerline is valid? [False, False] Translation: X:-15.27, Y:-1.63, Z:-0.95 [[ 9.98845126e-01 7.66417328e-03 -4.74307310e-02 -1.52717864e+01] [-7.52430650e-03 9.99966804e-01 3.12670673e-03 -1.63201118e+00] [ 4.74531201e-02 -2.76621242e-03 9.98869636e-01 -9.51156258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58313336499998 meters Centerline goodness : 0.094249 with order 1 Centerline is valid? [False, False] Translation: X:-15.27, Y:-1.63, Z:-0.95 [[ 9.98847503e-01 7.55719078e-03 -4.73978277e-02 -1.52716965e+01] [-7.42219188e-03 9.99967884e-01 3.02356146e-03 -1.63185525e+00] [ 4.74191551e-02 -2.66828104e-03 9.98871515e-01 -9.51445068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64313336499998 meters SLAMing on 212.70313336499999 meters SLAMing on 212.763133365 meters Centerline goodness : 0.250260 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.62, Z:-0.95 [[ 9.98635253e-01 8.24509507e-03 -5.15717937e-02 -1.51936250e+01] [-8.14369833e-03 9.99964472e-01 2.17595485e-03 -1.61583107e+00] [ 5.15879024e-02 -1.75300009e-03 9.98666919e-01 -9.48525697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.823133365 meters SLAMing on 212.883133365 meters SLAMing on 212.943133365 meters Centerline goodness : 0.181423 with order 3 Centerline is valid? [False, False] Translation: X:-15.19, Y:-1.57, Z:-0.95 [[ 9.98133082e-01 2.71987487e-02 -5.46861771e-02 -1.51854029e+01] [-2.69449492e-02 9.99622478e-01 5.37312024e-03 -1.56754207e+00] [ 5.48116740e-02 -3.88957280e-03 9.98489134e-01 -9.49804246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.003133365 meters Centerline goodness : 0.109628 with order 3 Centerline is valid? [False, False] Translation: X:-15.18, Y:-1.56, Z:-0.95 [[ 9.98048198e-01 3.02602417e-02 -5.46270252e-02 -1.51843799e+01] [-2.99049910e-02 9.99526022e-01 7.30914197e-03 -1.55742170e+00] [ 5.48223096e-02 -5.66125528e-03 9.98480077e-01 -9.51126389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.063133365 meters Centerline goodness : 0.111522 with order 1 Centerline is valid? [False, False] Translation: X:-15.20, Y:-1.54, Z:-0.95 [[ 9.98312200e-01 2.19261443e-02 -5.37772831e-02 -1.52018909e+01] [-2.16041469e-02 9.99745070e-01 6.56171642e-03 -1.54015119e+00] [ 5.39074468e-02 -5.38882923e-03 9.98531395e-01 -9.54227140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.123133365 meters Centerline goodness : 0.128592 with order 1 Centerline is valid? [False, False] Translation: X:-15.20, Y:-1.52, Z:-0.95 [[ 9.98426571e-01 8.22101708e-03 -5.54688915e-02 -1.52032370e+01] [-7.79982234e-03 9.99939116e-01 7.80557662e-03 -1.51981810e+00] [ 5.55296841e-02 -7.36064760e-03 9.98429905e-01 -9.54992776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18313336499997 meters Centerline goodness : 0.146621 with order 3 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.51, Z:-0.96 [[ 9.98557489e-01 -1.09947650e-03 -5.36817769e-02 -1.52249224e+01] [ 1.48329269e-03 9.99973620e-01 7.11052339e-03 -1.50909782e+00] [ 5.36725429e-02 -7.17989216e-03 9.98532777e-01 -9.57626215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24313336499998 meters Centerline goodness : 0.119732 with order 1 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.50, Z:-0.96 [[ 9.98576153e-01 -1.93864385e-03 -5.33095523e-02 -1.52264146e+01] [ 2.24735059e-03 9.99981049e-01 5.73149808e-03 -1.50228690e+00] [ 5.32974307e-02 -5.84314256e-03 9.98561586e-01 -9.57062720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30313336499998 meters Centerline goodness : 0.140289 with order 3 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.50, Z:-0.96 [[ 9.98589822e-01 -2.34703530e-03 -5.30363942e-02 -1.52270357e+01] [ 2.60382102e-03 9.99985219e-01 4.77311021e-03 -1.49713051e+00] [ 5.30244076e-02 -4.90447655e-03 9.98581173e-01 -9.57255217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36313336499998 meters Centerline goodness : 0.141332 with order 3 Centerline is valid? [False, False] Translation: X:-15.23, Y:-1.49, Z:-0.96 [[ 9.98575158e-01 -2.82801334e-03 -5.32884239e-02 -1.52254517e+01] [ 3.02401361e-03 9.99988955e-01 3.59783135e-03 -1.49006385e+00] [ 5.32776607e-02 -3.75384993e-03 9.98572681e-01 -9.58771804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42313336499998 meters Centerline goodness : 0.129076 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.48, Z:-0.96 [[ 9.98535905e-01 -3.11502907e-03 -5.40031684e-02 -1.52230310e+01] [ 3.26341288e-03 9.99991138e-01 2.65972304e-03 -1.48496177e+00] [ 5.39944047e-02 -2.83206359e-03 9.98537222e-01 -9.59946064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.483133365 meters Centerline goodness : 0.134564 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.48, Z:-0.96 [[ 9.98492959e-01 -3.07039961e-03 -5.47940055e-02 -1.52207307e+01] [ 3.17796189e-03 9.99993191e-01 1.87600563e-03 -1.47899562e+00] [ 5.47878723e-02 -2.04731168e-03 9.98495918e-01 -9.60753175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543133365 meters Centerline goodness : 0.135040 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:-1.47, Z:-0.96 [[ 9.98523648e-01 5.42857887e-04 -5.43160250e-02 -1.52218496e+01] [-2.96375546e-04 9.99989624e-01 4.54588242e-03 -1.47269620e+00] [ 5.43179292e-02 -4.52307315e-03 9.98513447e-01 -9.61055345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.603133365 meters Centerline goodness : 0.126036 with order 3 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.47, Z:-0.96 [[ 9.98472951e-01 8.46713282e-03 -5.45900525e-02 -1.52418014e+01] [-8.30460487e-03 9.99960385e-01 3.20340527e-03 -1.47313015e+00] [ 5.46150136e-02 -2.74516470e-03 9.98503713e-01 -9.63533561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.663133365 meters Centerline goodness : 0.140742 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.47, Z:-0.96 [[ 9.98467616e-01 8.19196911e-03 -5.47294362e-02 -1.52406916e+01] [-8.06994245e-03 9.99964435e-01 2.45026400e-03 -1.46880676e+00] [ 5.47475623e-02 -2.00484585e-03 9.98498215e-01 -9.64639838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.723133365 meters Centerline goodness : 0.138410 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.46, Z:-0.97 [[ 9.98494284e-01 7.84051499e-03 -5.42926403e-02 -1.52415401e+01] [-7.79148130e-03 9.99969025e-01 1.11474744e-03 -1.45909114e+00] [ 5.42996987e-02 -6.90048858e-04 9.98524445e-01 -9.65141637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.783133365 meters Centerline goodness : 0.140525 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.45, Z:-0.97 [[ 9.98508306e-01 7.62452624e-03 -5.40650468e-02 -1.52418420e+01] [-7.62824836e-03 9.99970895e-01 1.37519142e-04 -1.45255361e+00] [ 5.40645217e-02 2.75107599e-04 9.98537406e-01 -9.65644316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.843133365 meters Centerline goodness : 0.137028 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.45, Z:-0.97 [[ 9.98524941e-01 7.43160446e-03 -5.37839436e-02 -1.52424024e+01] [-7.47421883e-03 9.99971893e-01 -5.91223775e-04 -1.44775088e+00] [ 5.37780381e-02 9.92344650e-04 9.98552421e-01 -9.65909989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.903133365 meters Centerline goodness : 0.237306 with order 3 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.44, Z:-0.97 [[ 9.98492967e-01 6.88668884e-03 -5.44460085e-02 -1.52401810e+01] [-6.99502762e-03 9.99973915e-01 -1.79952005e-03 -1.44207726e+00] [ 5.44321956e-02 2.17765945e-03 9.98515094e-01 -9.66976925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96313336499998 meters Centerline goodness : 0.134891 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.44, Z:-0.97 [[ 9.98493455e-01 6.76732931e-03 -5.44520369e-02 -1.52400814e+01] [-6.89933985e-03 9.99973698e-01 -2.23672758e-03 -1.43895824e+00] [ 5.44354680e-02 2.60904095e-03 9.98513882e-01 -9.67222802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02313336499998 meters Centerline goodness : 0.130974 with order 1 Centerline is valid? [False, False] Translation: X:-15.24, Y:-1.44, Z:-0.97 [[ 9.98478694e-01 6.52010348e-03 -5.47520408e-02 -1.52386995e+01] [-6.68289165e-03 9.99973775e-01 -2.79062536e-03 -1.43628633e+00] [ 5.47324098e-02 3.15228192e-03 9.98496082e-01 -9.68198453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08313336499998 meters Centerline goodness : 0.137511 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.43, Z:-0.97 [[ 9.98296272e-01 6.63628666e-03 -5.79699321e-02 -1.52814549e+01] [-6.83963801e-03 9.99971131e-01 -3.31016519e-03 -1.42980395e+00] [ 5.79462914e-02 3.70101892e-03 9.98312842e-01 -9.70703520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14313336499998 meters Centerline goodness : 0.147037 with order 3 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.42, Z:-0.97 [[ 9.98278452e-01 1.04502400e-02 -5.77141715e-02 -1.52825884e+01] [-1.04861658e-02 9.99944968e-01 -3.19653832e-04 -1.42471793e+00] [ 5.77076549e-02 9.24303906e-04 9.98333097e-01 -9.69988376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20313336499999 meters Centerline goodness : 0.135214 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.42, Z:-0.97 [[ 9.98292775e-01 1.00323874e-02 -5.75403048e-02 -1.52833018e+01] [-1.01446014e-02 9.99947167e-01 -1.65840055e-03 -1.41690042e+00] [ 5.75206270e-02 2.23929274e-03 9.98341807e-01 -9.69808943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.263133365 meters Centerline goodness : 0.131623 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.40, Z:-0.97 [[ 9.98204448e-01 1.23328068e-02 -5.86155454e-02 -1.52785327e+01] [-1.24063498e-02 9.99922641e-01 -8.90903594e-04 -1.40361017e+00] [ 5.86000237e-02 1.61650889e-03 9.98280233e-01 -9.72371112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.323133365 meters Centerline goodness : 0.134046 with order 1 Centerline is valid? [False, False] Translation: X:-15.30, Y:-1.39, Z:-0.97 [[ 9.98500624e-01 6.23065673e-03 -5.43845869e-02 -1.53024714e+01] [-6.27111524e-03 9.99980172e-01 -5.73311111e-04 -1.39069516e+00] [ 5.43799364e-02 9.13503514e-04 9.98519899e-01 -9.74035244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.383133365 meters Centerline goodness : 0.136707 with order 1 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.38, Z:-0.97 [[ 9.98669824e-01 7.16662457e-04 -5.15564651e-02 -1.53272483e+01] [-6.74827295e-04 9.99999429e-01 8.28846419e-04 -1.37844839e+00] [ 5.15570297e-02 -7.92952198e-04 9.98669737e-01 -9.74316744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.443133365 meters Centerline goodness : 0.120070 with order 3 Centerline is valid? [False, False] Translation: X:-15.32, Y:-1.37, Z:-0.98 [[ 9.98593948e-01 2.82553021e-03 -5.29352721e-02 -1.53223278e+01] [-2.75011037e-03 9.99995097e-01 1.49754177e-03 -1.36583933e+00] [ 5.29392439e-02 -1.34985830e-03 9.98596823e-01 -9.76442392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.503133365 meters Centerline goodness : 0.133247 with order 1 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.36, Z:-0.98 [[ 9.98412515e-01 3.28738491e-03 -5.62284914e-02 -1.53656377e+01] [-3.20634014e-03 9.99993687e-01 1.53150178e-03 -1.36408588e+00] [ 5.62331710e-02 -1.34878287e-03 9.98416752e-01 -9.78110417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.563133365 meters Centerline goodness : 0.134668 with order 1 Centerline is valid? [False, False] Translation: X:-15.36, Y:-1.36, Z:-0.98 [[ 9.98377306e-01 3.01468490e-03 -5.68653350e-02 -1.53638424e+01] [-2.99294488e-03 9.99995412e-01 4.67469808e-04 -1.35740532e+00] [ 5.68664833e-02 -2.96516435e-04 9.98381748e-01 -9.78742102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.623133365 meters Centerline goodness : 0.138159 with order 2 Centerline is valid? [False, False] Translation: X:-15.37, Y:-1.35, Z:-0.98 [[ 9.98406291e-01 2.58759039e-03 -5.63753705e-02 -1.53657159e+01] [-2.62057358e-03 9.99996436e-01 -5.11144848e-04 -1.35227519e+00] [ 5.63738469e-02 6.58066038e-04 9.98409513e-01 -9.77951683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68313336499997 meters SLAMing on 214.74313336499998 meters SLAMing on 214.80313336499998 meters SLAMing on 214.86313336499998 meters Centerline goodness : 0.118435 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.36, Z:-0.99 [[ 9.98440520e-01 1.30524440e-02 -5.42785552e-02 -1.55557948e+01] [-1.31711076e-02 9.99911584e-01 -1.82903929e-03 -1.35534346e+00] [ 5.42498827e-02 2.54109563e-03 9.98524157e-01 -9.91517702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92313336499998 meters Centerline goodness : 0.164818 with order 3 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.35, Z:-0.99 [[ 9.98600455e-01 4.92274598e-03 -5.26583085e-02 -1.55779890e+01] [-5.03588409e-03 9.99985288e-01 -2.01606533e-03 -1.34600230e+00] [ 5.26476092e-02 2.27842489e-03 9.98610554e-01 -9.93056866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.983133365 meters SLAMing on 215.043133365 meters SLAMing on 215.103133365 meters Centerline goodness : 0.125426 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.34, Z:-1.00 [[ 9.98592108e-01 -2.18389630e-04 -5.30448326e-02 -1.56386939e+01] [-1.15786272e-06 9.99991435e-01 -4.13883843e-03 -1.34087328e+00] [ 5.30452822e-02 4.13307281e-03 9.98583555e-01 -9.96515012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.163133365 meters SLAMing on 215.223133365 meters Centerline goodness : 0.135957 with order 1 Centerline is valid? [False, False] Translation: X:-15.68, Y:-1.33, Z:-1.00 [[ 9.98432164e-01 -1.60564130e-05 -5.59751137e-02 -1.56836078e+01] [-3.16143453e-04 9.99982392e-01 -5.92591779e-03 -1.33396302e+00] [ 5.59742232e-02 5.93432309e-03 9.98414578e-01 -9.96866011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.283133365 meters Centerline goodness : 0.134098 with order 1 Centerline is valid? [False, False] Translation: X:-15.69, Y:-1.33, Z:-1.00 [[ 9.98452764e-01 -1.50990757e-04 -5.56062585e-02 -1.56853562e+01] [-1.87812006e-04 9.99981453e-01 -6.08761283e-03 -1.33293808e+00] [ 5.56061463e-02 6.08863738e-03 9.98434217e-01 -9.95697629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343133365 meters SLAMing on 215.403133365 meters Centerline goodness : 0.106689 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.34, Z:-1.00 [[ 9.98275385e-01 -2.25576979e-03 -5.86614649e-02 -1.57314696e+01] [ 1.75854812e-03 9.99962104e-01 -8.52636412e-03 -1.33613320e+00] [ 5.86784754e-02 8.40850041e-03 9.98241521e-01 -9.95850486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46313336499998 meters Centerline goodness : 0.095593 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.34, Z:-1.00 [[ 9.98278231e-01 -2.31626975e-03 -5.86106537e-02 -1.57321859e+01] [ 1.81523176e-03 9.99961368e-01 -8.60038047e-03 -1.33607711e+00] [ 5.86283103e-02 8.47918068e-03 9.98243870e-01 -9.95029406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52313336499998 meters Centerline goodness : 0.095123 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.34, Z:-1.00 [[ 9.98264250e-01 -2.21713654e-03 -5.88521130e-02 -1.57313176e+01] [ 1.71728671e-03 9.99962037e-01 -8.54253845e-03 -1.33598174e+00] [ 5.88688188e-02 8.42664479e-03 9.98230161e-01 -9.95464748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58313336499998 meters SLAMing on 215.64313336499998 meters Centerline goodness : 0.138470 with order 1 Centerline is valid? [False, False] Translation: X:-15.78, Y:-1.34, Z:-1.00 [[ 9.98147896e-01 -2.25728807e-03 -6.07921298e-02 -1.57783037e+01] [ 1.65617102e-03 9.99949259e-01 -9.93664665e-03 -1.34031768e+00] [ 6.08114750e-02 9.81756078e-03 9.98100987e-01 -9.95562412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70313336499999 meters SLAMing on 215.763133365 meters Centerline goodness : 0.183107 with order 1 Centerline is valid? [False, False] Translation: X:-15.82, Y:-1.33, Z:-1.00 [[ 9.97972650e-01 2.61372129e-03 -6.35905516e-02 -1.58209697e+01] [-3.17902153e-03 9.99956313e-01 -8.79013350e-03 -1.33142511e+00] [ 6.35647985e-02 8.97446855e-03 9.97937360e-01 -9.97978219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.823133365 meters SLAMing on 215.883133365 meters Centerline goodness : 0.093376 with order 1 Centerline is valid? [False, False] Translation: X:-15.82, Y:-1.32, Z:-1.00 [[ 9.97937420e-01 5.73764049e-03 -6.39373564e-02 -1.58210895e+01] [-6.23347003e-03 9.99952008e-01 -7.55814589e-03 -1.31770662e+00] [ 6.38909220e-02 7.94110821e-03 9.97925292e-01 -9.97165670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.943133365 meters SLAMing on 216.003133365 meters SLAMing on 216.063133365 meters SLAMing on 216.123133365 meters Centerline goodness : 0.184089 with order 1 Centerline is valid? [False, False] Translation: X:-16.00, Y:-1.35, Z:-1.01 [[ 9.97895878e-01 -1.06866106e-02 -6.39500763e-02 -1.59982463e+01] [ 1.00193955e-02 9.99892072e-01 -1.07450024e-02 -1.34853202e+00] [ 6.40580019e-02 1.00816525e-02 9.97895251e-01 -1.00709350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18313336499997 meters Centerline goodness : 0.093985 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.35, Z:-1.01 [[ 9.98077601e-01 -2.54340047e-03 -6.19244252e-02 -1.59780769e+01] [ 1.85489030e-03 9.99935854e-01 -1.11735048e-02 -1.34957129e+00] [ 6.19488717e-02 1.10371619e-02 9.98018296e-01 -1.00543208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24313336499998 meters Centerline goodness : 0.194152 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.35, Z:-1.01 [[ 9.97948007e-01 -6.64874308e-04 -6.40260372e-02 -1.60232413e+01] [-4.47201371e-05 9.99938605e-01 -1.10808335e-02 -1.34866269e+00] [ 6.40294737e-02 1.10609590e-02 9.97886708e-01 -1.00657348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30313336499998 meters Centerline goodness : 0.176974 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.35, Z:-1.01 [[ 9.97941897e-01 -5.57758285e-04 -6.41222267e-02 -1.60231256e+01] [-1.80686659e-04 9.99933743e-01 -1.15098330e-02 -1.34541330e+00] [ 6.41243979e-02 1.14977306e-02 9.97875676e-01 -1.00655994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36313336499998 meters Centerline goodness : 0.095314 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:-1.34, Z:-1.01 [[ 9.97952657e-01 -7.36885302e-04 -6.39527299e-02 -1.60244968e+01] [-4.10029702e-05 9.99926048e-01 -1.21613234e-02 -1.34162254e+00] [ 6.39569619e-02 1.21390473e-02 9.97878826e-01 -1.00537310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42313336499998 meters SLAMing on 216.483133365 meters Centerline goodness : 0.183210 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.34, Z:-1.01 [[ 9.97778141e-01 8.17085794e-05 -6.66241288e-02 -1.60676890e+01] [-9.96982755e-04 9.99905589e-01 -1.37047456e-02 -1.34031641e+00] [ 6.66167189e-02 1.37407187e-02 9.97684021e-01 -1.00720784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.543133365 meters SLAMing on 216.603133365 meters Centerline goodness : 0.094099 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.33, Z:-1.01 [[ 9.97690514e-01 3.91195378e-03 -6.78110183e-02 -1.61113317e+01] [-4.87605540e-03 9.99889295e-01 -1.40577967e-02 -1.32674351e+00] [ 6.77485179e-02 1.43559807e-02 9.97599140e-01 -1.00864623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.663133365 meters Centerline goodness : 0.232261 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.32, Z:-1.01 [[ 9.97704409e-01 3.67597891e-03 -6.76195181e-02 -1.61125100e+01] [-4.68865508e-03 9.99879133e-01 -1.48234898e-02 -1.32190166e+00] [ 6.75568543e-02 1.51065057e-02 9.97601055e-01 -1.00775422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.723133365 meters Centerline goodness : 0.225147 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.32, Z:-1.01 [[ 9.97688016e-01 3.15170329e-03 -6.78873348e-02 -1.61124825e+01] [-4.24120593e-03 9.99864424e-01 -1.59105426e-02 -1.31684180e+00] [ 6.78279856e-02 1.61616818e-02 9.97566120e-01 -1.00702517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.783133365 meters Centerline goodness : 0.216223 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.31, Z:-1.01 [[ 9.97662640e-01 3.04219489e-03 -6.82642013e-02 -1.61116844e+01] [-4.15760534e-03 9.99860071e-01 -1.62034904e-02 -1.31498382e+00] [ 6.82053550e-02 1.64494326e-02 9.97535686e-01 -1.00681578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.843133365 meters Centerline goodness : 0.175701 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.32, Z:-1.01 [[ 9.97683109e-01 2.80588143e-03 -6.79745653e-02 -1.61128182e+01] [-3.92302399e-03 9.99859339e-01 -1.63068056e-02 -1.31554899e+00] [ 6.79192490e-02 1.65356903e-02 9.97553781e-01 -1.00614863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.903133365 meters Centerline goodness : 0.097908 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:-1.32, Z:-1.00 [[ 9.97781365e-01 8.14538537e-04 -6.65708979e-02 -1.61186880e+01] [-1.96815936e-03 9.99849004e-01 -1.72654602e-02 -1.32205435e+00] [ 6.65467825e-02 1.73581766e-02 9.97632307e-01 -1.00345726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96313336499998 meters Centerline goodness : 0.186337 with order 1 Centerline is valid? [False, False] Translation: X:-16.16, Y:-1.33, Z:-1.01 [[ 9.97622524e-01 -4.42181543e-04 -6.89137431e-02 -1.61637226e+01] [-8.56963635e-04 9.99822501e-01 -1.88210540e-02 -1.33087325e+00] [ 6.89098333e-02 1.88353640e-02 9.97445068e-01 -1.00519743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02313336499998 meters Centerline goodness : 0.093187 with order 1 Centerline is valid? [False, False] Translation: X:-16.16, Y:-1.34, Z:-1.01 [[ 9.97603906e-01 -2.69543219e-04 -6.91836193e-02 -1.61628998e+01] [-9.90763695e-04 9.99834205e-01 -1.81818800e-02 -1.33549915e+00] [ 6.91770498e-02 1.82068591e-02 9.97438242e-01 -1.00538176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08313336499998 meters Centerline goodness : 0.168470 with order 1 Centerline is valid? [False, False] Translation: X:-16.16, Y:-1.34, Z:-1.01 [[ 9.97617359e-01 2.51828312e-04 -6.89894296e-02 -1.61636616e+01] [-1.46731486e-03 9.99844588e-01 -1.75683377e-02 -1.33751789e+00] [ 6.89742836e-02 1.76277079e-02 9.97462687e-01 -1.00503831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14313336499998 meters Centerline goodness : 0.187693 with order 1 Centerline is valid? [False, False] Translation: X:-16.18, Y:-1.34, Z:-1.01 [[ 9.97591155e-01 1.02055242e-02 -6.86129280e-02 -1.61848566e+01] [-1.14536765e-02 9.99775561e-01 -1.78224830e-02 -1.34285619e+00] [ 6.84156409e-02 1.85654217e-02 9.97484148e-01 -1.00750844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20313336499999 meters Centerline goodness : 0.230083 with order 1 Centerline is valid? [False, False] Translation: X:-16.18, Y:-1.34, Z:-1.01 [[ 9.97560810e-01 1.12544968e-02 -6.88895307e-02 -1.61838002e+01] [-1.24849378e-02 9.99769669e-01 -1.74566451e-02 -1.34068743e+00] [ 6.86771976e-02 1.82741465e-02 9.97471553e-01 -1.00821248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.263133365 meters Centerline goodness : 0.096148 with order 1 Centerline is valid? [False, False] Translation: X:-16.20, Y:-1.34, Z:-1.01 [[ 9.97628319e-01 4.33507276e-03 -6.86945711e-02 -1.62021760e+01] [-5.47015477e-03 9.99851463e-01 -1.63441223e-02 -1.33622033e+00] [ 6.86135145e-02 1.66811292e-02 9.97503847e-01 -1.01136185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323133365 meters SLAMing on 217.383133365 meters Centerline goodness : 0.173707 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.35, Z:-1.01 [[ 9.97539420e-01 -9.69973795e-03 -6.94335767e-02 -1.62259438e+01] [ 8.38477782e-03 9.99780410e-01 -1.92048523e-02 -1.34865954e+00] [ 6.96046118e-02 1.85754121e-02 9.97401700e-01 -1.01151464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.443133365 meters Centerline goodness : 0.228224 with order 2 Centerline is valid? [False, False] Translation: X:-16.23, Y:-1.36, Z:-1.01 [[ 9.97541477e-01 -1.24365755e-02 -6.89661704e-02 -1.62284494e+01] [ 1.10419997e-02 9.99727527e-01 -2.05656508e-02 -1.35753209e+00] [ 6.92031453e-02 1.97535652e-02 9.97406999e-01 -1.00984009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.503133365 meters Centerline goodness : 0.095987 with order 1 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.37, Z:-1.01 [[ 9.97660017e-01 -6.82155599e-03 -6.80290838e-02 -1.62475754e+01] [ 5.28320458e-03 9.99726828e-01 -2.27674764e-02 -1.37105718e+00] [ 6.81658097e-02 2.23547893e-02 9.97423524e-01 -1.01248443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.563133365 meters SLAMing on 217.623133365 meters Centerline goodness : 0.177677 with order 1 Centerline is valid? [False, False] Translation: X:-16.26, Y:-1.39, Z:-1.02 [[ 9.97586858e-01 -4.75091216e-04 -6.94279110e-02 -1.62649726e+01] [-1.27317755e-03 9.99683264e-01 -2.51346455e-02 -1.38878257e+00] [ 6.94178619e-02 2.51623861e-02 9.97270282e-01 -1.01523118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68313336499997 meters Centerline goodness : 0.180908 with order 1 Centerline is valid? [False, False] Translation: X:-16.26, Y:-1.39, Z:-1.02 [[ 9.97577517e-01 -4.19162270e-05 -6.95636148e-02 -1.62645370e+01] [-1.67028923e-03 9.99697081e-01 -2.45551718e-02 -1.39112516e+00] [ 6.95435719e-02 2.46118786e-02 9.97275261e-01 -1.01550110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74313336499998 meters Centerline goodness : 0.142310 with order 1 Centerline is valid? [False, False] Translation: X:-16.31, Y:-1.40, Z:-1.02 [[ 9.97559931e-01 1.69900146e-03 -6.97946780e-02 -1.63135922e+01] [-3.39067449e-03 9.99703163e-01 -2.41265370e-02 -1.39668147e+00] [ 6.97329693e-02 2.43043176e-02 9.97269579e-01 -1.01630148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80313336499998 meters SLAMing on 217.86313336499998 meters SLAMing on 217.92313336499998 meters Centerline goodness : 0.193549 with order 1 Centerline is valid? [False, False] Translation: X:-16.35, Y:-1.41, Z:-1.02 [[ 9.97253634e-01 3.89470844e-03 -7.39595927e-02 -1.63491998e+01] [-5.71403688e-03 9.99685865e-01 -2.44033127e-02 -1.41064174e+00] [ 7.38413156e-02 2.47589001e-02 9.96962616e-01 -1.02092171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.983133365 meters SLAMing on 218.043133365 meters SLAMing on 218.103133365 meters Centerline goodness : 0.180955 with order 1 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.43, Z:-1.03 [[ 9.97459189e-01 -2.37994185e-03 -7.12004435e-02 -1.64098263e+01] [ 6.87704619e-04 9.99716924e-01 -2.37823077e-02 -1.42910228e+00] [ 7.12368889e-02 2.36729164e-02 9.97178469e-01 -1.02571507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.163133365 meters Centerline goodness : 0.119832 with order 1 Centerline is valid? [False, False] Translation: X:-16.41, Y:-1.43, Z:-1.03 [[ 9.97443420e-01 -2.44229710e-03 -7.14189031e-02 -1.64096431e+01] [ 7.55018874e-04 9.99720191e-01 -2.36425518e-02 -1.43065263e+00] [ 7.14566616e-02 2.35281851e-02 9.97166170e-01 -1.02524343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.223133365 meters Centerline goodness : 0.103578 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.44, Z:-1.03 [[ 9.97658256e-01 3.20112581e-03 -6.83209881e-02 -1.64446285e+01] [-4.72210559e-03 9.99744339e-01 -2.21123883e-02 -1.43614368e+00] [ 6.82327365e-02 2.23832257e-02 9.97418310e-01 -1.03042411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.283133365 meters Centerline goodness : 0.186896 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.44, Z:-1.03 [[ 9.97650062e-01 3.08651238e-03 -6.84457993e-02 -1.64442853e+01] [-4.62567213e-03 9.99739725e-01 -2.23402029e-02 -1.43573304e+00] [ 6.83590313e-02 2.26043126e-02 9.97404676e-01 -1.03054937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.343133365 meters Centerline goodness : 0.125156 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.44, Z:-1.03 [[ 9.97634241e-01 3.10691847e-03 -6.86750934e-02 -1.64436206e+01] [-4.65849786e-03 9.99737238e-01 -2.24444528e-02 -1.43505962e+00] [ 6.85873151e-02 2.27112774e-02 9.97386574e-01 -1.03078684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.403133365 meters SLAMing on 218.46313336499998 meters SLAMing on 218.52313336499998 meters SLAMing on 218.58313336499998 meters Centerline goodness : 0.178948 with order 3 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.47, Z:-1.04 [[ 0.99793193 0.02257909 -0.06018343 -16.57521064] [ -0.02406123 0.99942195 -0.02401722 -1.47072509] [ 0.05960635 0.02541564 0.99789836 -1.03887936] [ 0. 0. 0. 1. ]] SLAMing on 218.64313336499998 meters SLAMing on 218.70313336499999 meters SLAMing on 218.763133365 meters SLAMing on 218.823133365 meters SLAMing on 218.883133365 meters Centerline goodness : 0.127477 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.54, Z:-1.05 [[ 0.99797379 0.02566838 -0.05821895 -16.72164234] [ -0.02730645 0.9992483 -0.02751731 -1.53514157] [ 0.05746887 0.0290513 0.99792452 -1.05033085] [ 0. 0. 0. 1. ]] SLAMing on 218.943133365 meters Centerline goodness : 0.110576 with order 1 Centerline is valid? [False, False] Translation: X:-16.71, Y:-1.54, Z:-1.05 [[ 9.98321850e-01 1.43095748e-02 -5.61134612e-02 -1.67064251e+01] [-1.59499553e-02 9.99455185e-01 -2.88952082e-02 -1.53597033e+00] [ 5.56694115e-02 2.97417249e-02 9.98006186e-01 -1.04699594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.003133365 meters SLAMing on 219.063133365 meters Centerline goodness : 0.127834 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.55, Z:-1.05 [[ 9.98034921e-01 7.53585092e-03 -6.22053643e-02 -1.67238705e+01] [-9.28140725e-03 9.99569856e-01 -2.78200947e-02 -1.55002541e+00] [ 6.19689590e-02 2.83427793e-02 9.97675566e-01 -1.04807478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.123133365 meters Centerline goodness : 0.218047 with order 1 Centerline is valid? [False, False] Translation: X:-16.73, Y:-1.55, Z:-1.05 [[ 9.98049338e-01 7.86629488e-03 -6.19325394e-02 -1.67251533e+01] [-9.58616310e-03 9.99575231e-01 -2.75220463e-02 -1.55093645e+00] [ 6.16897358e-02 2.80620556e-02 9.97700806e-01 -1.04731201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18313336499997 meters Centerline goodness : 0.095224 with order 1 Centerline is valid? [False, False] Translation: X:-16.73, Y:-1.55, Z:-1.05 [[ 9.98057868e-01 8.39760039e-03 -6.17249697e-02 -1.67257875e+01] [-1.00915878e-02 9.99579512e-01 -2.71838015e-02 -1.55070186e+00] [ 6.14707364e-02 2.77539099e-02 9.97722942e-01 -1.04726670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24313336499998 meters Centerline goodness : 0.092363 with order 1 Centerline is valid? [False, False] Translation: X:-16.71, Y:-1.54, Z:-1.04 [[ 9.97989115e-01 1.84999711e-03 -6.33585331e-02 -1.67089675e+01] [-3.50506551e-03 9.99655249e-01 -2.60210870e-02 -1.54418671e+00] [ 6.32885513e-02 2.61908374e-02 9.97651542e-01 -1.04399272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30313336499998 meters Centerline goodness : 0.093299 with order 1 Centerline is valid? [False, False] Translation: X:-16.73, Y:-1.54, Z:-1.05 [[ 9.98036050e-01 -6.73222087e-03 -6.22793688e-02 -1.67327898e+01] [ 5.16927009e-03 9.99668485e-01 -2.52229778e-02 -1.54435001e+00] [ 6.24285290e-02 2.48515022e-02 9.97739987e-01 -1.04546013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36313336499998 meters SLAMing on 219.42313336499998 meters Centerline goodness : 0.135869 with order 1 Centerline is valid? [False, False] Translation: X:-16.77, Y:-1.56, Z:-1.05 [[ 9.97784423e-01 -8.97862475e-03 -6.59213918e-02 -1.67748360e+01] [ 7.24262621e-03 9.99621879e-01 -2.65262926e-02 -1.55676169e+00] [ 6.61346352e-02 2.59900776e-02 9.97472168e-01 -1.04771423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.483133365 meters SLAMing on 219.543133365 meters SLAMing on 219.603133365 meters Centerline goodness : 0.438971 with order 1 Centerline is valid? [False, False] Translation: X:-16.84, Y:-1.57, Z:-1.05 [[ 9.97826640e-01 -1.47219683e-04 -6.58936679e-02 -1.68435427e+01] [-1.72611605e-03 9.99595948e-01 -2.83718427e-02 -1.57075459e+00] [ 6.58712203e-02 2.84239206e-02 9.97423212e-01 -1.05013776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.663133365 meters Centerline goodness : 0.251205 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:-1.57, Z:-1.05 [[ 9.97851498e-01 -7.01148849e-05 -6.55162790e-02 -1.68452304e+01] [-1.79958963e-03 9.99592784e-01 -2.84785639e-02 -1.56932693e+00] [ 6.54915965e-02 2.85352801e-02 9.97445030e-01 -1.04913875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.723133365 meters Centerline goodness : 0.099594 with order 1 Centerline is valid? [False, False] Translation: X:-16.87, Y:-1.57, Z:-1.05 [[ 9.97691315e-01 -8.84806079e-03 -6.73331469e-02 -1.68665531e+01] [ 6.96774839e-03 9.99580571e-01 -2.81092996e-02 -1.56874419e+00] [ 6.75536182e-02 2.75752437e-02 9.97334505e-01 -1.05024850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.783133365 meters Centerline goodness : 0.124105 with order 1 Centerline is valid? [False, False] Translation: X:-16.87, Y:-1.57, Z:-1.05 [[ 9.97678280e-01 -8.92560729e-03 -6.75158022e-02 -1.68660258e+01] [ 7.06500101e-03 9.99590015e-01 -2.77468357e-02 -1.57132843e+00] [ 6.77357791e-02 2.72054161e-02 9.97332306e-01 -1.05025787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.843133365 meters Centerline goodness : 0.123345 with order 1 Centerline is valid? [False, False] Translation: X:-16.87, Y:-1.58, Z:-1.05 [[ 9.97769517e-01 -9.23746348e-03 -6.61109624e-02 -1.68701309e+01] [ 7.44229457e-03 9.99598246e-01 -2.73488324e-02 -1.57532566e+00] [ 6.63370359e-02 2.67958140e-02 9.97437408e-01 -1.04915507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.903133365 meters Centerline goodness : 0.129866 with order 1 Centerline is valid? [False, False] Translation: X:-16.89, Y:-1.58, Z:-1.05 [[ 9.97768808e-01 -1.50382632e-03 -6.67468701e-02 -1.68874487e+01] [-4.19148673e-04 9.99585492e-01 -2.87866149e-02 -1.58288800e+00] [ 6.67624930e-02 2.87503633e-02 9.97354594e-01 -1.05231670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96313336499998 meters Centerline goodness : 0.138986 with order 1 Centerline is valid? [False, False] Translation: X:-16.89, Y:-1.58, Z:-1.05 [[ 9.97758707e-01 -1.48125595e-03 -6.68981917e-02 -1.68866414e+01] [-4.48196839e-04 9.99584592e-01 -2.88174146e-02 -1.58265353e+00] [ 6.69130876e-02 2.87828099e-02 9.97343566e-01 -1.05301892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02313336499998 meters Centerline goodness : 0.111237 with order 1 Centerline is valid? [False, False] Translation: X:-16.93, Y:-1.59, Z:-1.05 [[ 9.97671441e-01 2.15568961e-04 -6.82029948e-02 -1.69343462e+01] [-2.11470384e-03 9.99611981e-01 -2.77743567e-02 -1.58689738e+00] [ 6.81705434e-02 2.78539117e-02 9.97284782e-01 -1.05370453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08313336499998 meters SLAMing on 220.14313336499998 meters Centerline goodness : 0.130806 with order 1 Centerline is valid? [False, False] Translation: X:-16.93, Y:-1.59, Z:-1.05 [[ 9.97691336e-01 -3.31790051e-03 -6.78305925e-02 -1.69348113e+01] [ 1.23169321e-03 9.99525583e-01 -3.07748572e-02 -1.59165873e+00] [ 6.79005205e-02 3.06202619e-02 9.97222101e-01 -1.05418205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20313336499999 meters SLAMing on 220.263133365 meters Centerline goodness : 0.106810 with order 1 Centerline is valid? [False, False] Translation: X:-16.98, Y:-1.60, Z:-1.06 [[ 9.97547508e-01 -3.38780855e-03 -6.99105972e-02 -1.69815789e+01] [ 1.25233234e-03 9.99531934e-01 -3.05670657e-02 -1.60239471e+00] [ 6.99814298e-02 3.04045489e-02 9.97084832e-01 -1.05527160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.323133365 meters SLAMing on 220.383133365 meters Centerline goodness : 0.191026 with order 1 Centerline is valid? [False, False] Translation: X:-17.00, Y:-1.61, Z:-1.06 [[ 9.97622466e-01 5.51427020e-03 -6.86950353e-02 -1.70030450e+01] [-7.64623148e-03 9.99495982e-01 -3.08109805e-02 -1.61081732e+00] [ 6.84905117e-02 3.12629845e-02 9.97161810e-01 -1.05785884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.443133365 meters Centerline goodness : 0.097754 with order 1 Centerline is valid? [False, False] Translation: X:-17.00, Y:-1.61, Z:-1.06 [[ 9.97590213e-01 5.60678497e-03 -6.91544057e-02 -1.70014858e+01] [-7.75696723e-03 9.99493517e-01 -3.08632449e-02 -1.61010810e+00] [ 6.89463366e-02 3.13252995e-02 9.97128441e-01 -1.05858122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.503133365 meters Centerline goodness : 0.097764 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:-1.61, Z:-1.06 [[ 9.97542083e-01 -2.20618081e-03 -7.00351721e-02 -1.70211240e+01] [ 1.20019788e-04 9.99556542e-01 -2.97775762e-02 -1.60583407e+00] [ 7.00698092e-02 2.96959798e-02 9.97099980e-01 -1.06083727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.563133365 meters Centerline goodness : 0.242784 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:-1.60, Z:-1.06 [[ 9.97572085e-01 -2.08166749e-03 -6.96103576e-02 -1.70226366e+01] [-2.76620182e-06 9.99551973e-01 -2.99308092e-02 -1.60385704e+00] [ 6.96414762e-02 2.98583323e-02 9.97125140e-01 -1.06019977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.623133365 meters Centerline goodness : 0.430505 with order 3 Centerline is valid? [False, False] Translation: X:-17.02, Y:-1.60, Z:-1.06 [[ 9.97607287e-01 -2.49407318e-03 -6.90903805e-02 -1.70245242e+01] [ 3.58705940e-04 9.99522353e-01 -3.09020477e-02 -1.59900651e+00] [ 6.91344517e-02 3.08033249e-02 9.97131678e-01 -1.05947841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68313336499997 meters Centerline goodness : 0.253382 with order 3 Centerline is valid? [False, False] Translation: X:-17.03, Y:-1.59, Z:-1.06 [[ 9.97621290e-01 -2.79039817e-03 -6.88765290e-02 -1.70253477e+01] [ 6.06913741e-04 9.99497180e-01 -3.17020190e-02 -1.59433711e+00] [ 6.89303578e-02 3.15848069e-02 9.97121360e-01 -1.05914756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74313336499998 meters Centerline goodness : 0.128264 with order 1 Centerline is valid? [False, False] Translation: X:-17.03, Y:-1.59, Z:-1.06 [[ 9.97630575e-01 -3.21869898e-03 -6.87231771e-02 -1.70257230e+01] [ 9.72110136e-04 9.99464777e-01 -3.26988587e-02 -1.58884842e+00] [ 6.87916427e-02 3.25545748e-02 9.97099749e-01 -1.05918179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80313336499998 meters Centerline goodness : 0.108533 with order 1 Centerline is valid? [False, False] Translation: X:-17.07, Y:-1.59, Z:-1.06 [[ 9.97515107e-01 -3.15571149e-03 -7.03821969e-02 -1.70730091e+01] [ 7.98443574e-04 9.99438553e-01 -3.34954051e-02 -1.58509772e+00] [ 7.04483828e-02 3.33559764e-02 9.96957574e-01 -1.06017410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86313336499998 meters Centerline goodness : 0.109909 with order 1 Centerline is valid? [False, False] Translation: X:-17.07, Y:-1.58, Z:-1.06 [[ 9.97470751e-01 -3.41320740e-03 -7.09961324e-02 -1.70718911e+01] [ 1.01658323e-03 9.99429253e-01 -3.37658857e-02 -1.58425275e+00] [ 7.10708616e-02 3.36083098e-02 9.96904917e-01 -1.05962432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92313336499998 meters Centerline goodness : 0.161155 with order 3 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97438999e-01 -5.31929466e-03 -7.13242521e-02 -1.71205186e+01] [ 2.78326521e-03 9.99361934e-01 -3.56086921e-02 -1.58824400e+00] [ 7.14681557e-02 3.53189839e-02 9.96817371e-01 -1.06082907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.983133365 meters Centerline goodness : 0.253776 with order 3 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97471704e-01 -5.21036761e-03 -7.08734859e-02 -1.71221193e+01] [ 2.70870802e-03 9.99371395e-01 -3.53479542e-02 -1.58953767e+00] [ 7.10131103e-02 3.50666086e-02 9.96858802e-01 -1.06016143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.043133365 meters Centerline goodness : 0.108108 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97443879e-01 -4.86867059e-03 -7.12881816e-02 -1.71210443e+01] [ 2.37230542e-03 9.99382365e-01 -3.50608187e-02 -1.59020650e+00] [ 7.14148511e-02 3.48020816e-02 9.96839372e-01 -1.06034056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.103133365 meters Centerline goodness : 0.137802 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97424469e-01 -4.56270064e-03 -7.15794047e-02 -1.71198860e+01] [ 2.07150554e-03 9.99390793e-01 -3.48389416e-02 -1.59136277e+00] [ 7.16947577e-02 3.46009356e-02 9.96826282e-01 -1.06109822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.163133365 meters Centerline goodness : 0.384510 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97445582e-01 -4.27669158e-03 -7.13023253e-02 -1.71206911e+01] [ 1.80503456e-03 9.99396389e-01 -3.46929272e-02 -1.59110885e+00] [ 7.14076574e-02 3.44756037e-02 9.96851232e-01 -1.06104250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.223133365 meters Centerline goodness : 0.094369 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97501118e-01 -4.02894526e-03 -7.05357091e-02 -1.71231187e+01] [ 1.59608365e-03 9.99402952e-01 -3.45136469e-02 -1.59100801e+00] [ 7.06326495e-02 3.43148205e-02 9.96911993e-01 -1.06039526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.283133365 meters Centerline goodness : 0.100911 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97460289e-01 -4.14710017e-03 -7.11039615e-02 -1.71209925e+01] [ 1.69422078e-03 9.99402476e-01 -3.45227491e-02 -1.59195791e+00] [ 7.12046445e-02 3.43146055e-02 9.96871309e-01 -1.06142014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.343133365 meters Centerline goodness : 0.432729 with order 2 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.59, Z:-1.06 [[ 9.97448093e-01 -4.02550428e-03 -7.12818195e-02 -1.71206227e+01] [ 1.59528928e-03 9.99416565e-01 -3.41172185e-02 -1.59411200e+00] [ 7.13775702e-02 3.39164394e-02 9.96872568e-01 -1.06130718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.403133365 meters Centerline goodness : 0.142739 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.60, Z:-1.06 [[ 9.97442833e-01 -4.29206047e-03 -7.13398490e-02 -1.71206337e+01] [ 1.88811329e-03 9.99429183e-01 -3.37304530e-02 -1.59794001e+00] [ 7.14439001e-02 3.35095008e-02 9.96881579e-01 -1.06107468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46313336499998 meters Centerline goodness : 0.094445 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.60, Z:-1.06 [[ 9.97417951e-01 -4.50635394e-03 -7.16737340e-02 -1.71194988e+01] [ 2.11405429e-03 9.99439209e-01 -3.34185340e-02 -1.60117718e+00] [ 7.17841358e-02 3.31807235e-02 9.96868134e-01 -1.06151817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52313336499998 meters Centerline goodness : 0.137824 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.61, Z:-1.06 [[ 9.97422861e-01 -4.64509895e-03 -7.15965108e-02 -1.71193224e+01] [ 2.29108117e-03 9.99455164e-01 -3.29260654e-02 -1.60501242e+00] [ 7.17104473e-02 3.26771770e-02 9.96890071e-01 -1.06194407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58313336499998 meters Centerline goodness : 0.436636 with order 3 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.61, Z:-1.06 [[ 9.97388952e-01 -4.79997333e-03 -7.20571934e-02 -1.71178979e+01] [ 2.47385150e-03 9.99473987e-01 -3.23362071e-02 -1.61099101e+00] [ 7.21745033e-02 3.20735169e-02 9.96876186e-01 -1.06232496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64313336499998 meters Centerline goodness : 0.431685 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.61, Z:-1.06 [[ 9.97377655e-01 -4.54885348e-03 -7.22296382e-02 -1.71175942e+01] [ 2.24871295e-03 9.99488719e-01 -3.18942714e-02 -1.61303555e+00] [ 7.23377909e-02 3.16482099e-02 9.96877944e-01 -1.06218704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70313336499999 meters Centerline goodness : 0.091947 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.61, Z:-1.06 [[ 9.97450055e-01 -4.37907433e-03 -7.12335020e-02 -1.71205518e+01] [ 2.11592664e-03 9.99491525e-01 -3.18153182e-02 -1.61336864e+00] [ 7.13366032e-02 3.15834661e-02 9.96952142e-01 -1.06154273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.763133365 meters Centerline goodness : 0.096011 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:-1.61, Z:-1.06 [[ 9.97515396e-01 -1.45899979e-06 -7.04488063e-02 -1.71228366e+01] [-1.99215468e-03 9.99599512e-01 -2.82284893e-02 -1.61107486e+00] [ 7.04206336e-02 2.82986976e-02 9.97115900e-01 -1.06123994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.823133365 meters SLAMing on 221.883133365 meters Centerline goodness : 0.334662 with order 1 Centerline is valid? [False, False] Translation: X:-17.16, Y:-1.61, Z:-1.06 [[ 9.97303775e-01 4.64724733e-03 -7.32364940e-02 -1.71648915e+01] [-6.58484980e-03 9.99634047e-01 -2.62375873e-02 -1.60933156e+00] [ 7.30877603e-02 2.66490961e-02 9.96969410e-01 -1.06334938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.943133365 meters SLAMing on 222.003133365 meters SLAMing on 222.063133365 meters SLAMing on 222.123133365 meters SLAMing on 222.18313336499997 meters SLAMing on 222.24313336499998 meters Centerline goodness : 0.132461 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.71, Z:-1.09 [[ 0.99719377 -0.02522983 -0.07048433 -17.49546355] [ 0.02328847 0.99933012 -0.02823051 -1.70517614] [ 0.07114937 0.02650981 0.99711333 -1.09235936] [ 0. 0. 0. 1. ]] SLAMing on 222.30313336499998 meters SLAMing on 222.36313336499998 meters Centerline goodness : 0.136535 with order 1 Centerline is valid? [False, False] Translation: X:-17.54, Y:-1.72, Z:-1.09 [[ 0.99696486 -0.0288169 -0.07232332 -17.53864754] [ 0.02673179 0.99920328 -0.02963479 -1.7186777 ] [ 0.07311968 0.02761151 0.99694088 -1.09471037] [ 0. 0. 0. 1. ]] SLAMing on 222.42313336499998 meters Centerline goodness : 0.128413 with order 1 Centerline is valid? [False, False] Translation: X:-17.54, Y:-1.72, Z:-1.09 [[ 0.99683319 -0.03263784 -0.0725146 -17.53780359] [ 0.03035483 0.99901504 -0.03236576 -1.72456744] [ 0.07349953 0.03006209 0.99684206 -1.09475169] [ 0. 0. 0. 1. ]] SLAMing on 222.483133365 meters Centerline goodness : 0.101613 with order 1 Centerline is valid? [False, False] Translation: X:-17.54, Y:-1.74, Z:-1.09 [[ 0.99663496 -0.03813511 -0.0725566 -17.53733977] [ 0.03562827 0.99873309 -0.03553659 -1.73968774] [ 0.07381987 0.03283194 0.996731 -1.09450435] [ 0. 0. 0. 1. ]] SLAMing on 222.543133365 meters Centerline goodness : 0.436618 with order 1 Centerline is valid? [False, False] Translation: X:-17.54, Y:-1.75, Z:-1.10 [[ 0.99661859 -0.03841984 -0.07263132 -17.53653089] [ 0.03596266 0.99874559 -0.03484162 -1.74918487] [ 0.07387882 0.03211179 0.9967501 -1.09504573] [ 0. 0. 0. 1. ]] SLAMing on 222.603133365 meters Centerline goodness : 0.419650 with order 1 Centerline is valid? [False, False] Translation: X:-17.54, Y:-1.76, Z:-1.09 [[ 0.99703343 -0.02608926 -0.0724133 -17.54126215] [ 0.02328951 0.99895828 -0.03924225 -1.75880037] [ 0.07336166 0.03743936 0.99660241 -1.09303735] [ 0. 0. 0. 1. ]] SLAMing on 222.663133365 meters Centerline goodness : 0.435950 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-1.77, Z:-1.09 [[ 9.97252740e-01 -1.56769238e-02 -7.23961786e-02 -1.75645355e+01] [ 1.29492746e-02 9.99194077e-01 -3.79935770e-02 -1.76533205e+00] [ 7.29334553e-02 3.69517208e-02 9.96652036e-01 -1.09326565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723133365 meters Centerline goodness : 0.137533 with order 3 Centerline is valid? [False, False] Translation: X:-17.56, Y:-1.77, Z:-1.09 [[ 9.97245966e-01 -1.56680095e-02 -7.24913530e-02 -1.75642625e+01] [ 1.29329976e-02 9.99192310e-01 -3.80455707e-02 -1.76511921e+00] [ 7.30289008e-02 3.70032614e-02 9.96643135e-01 -1.09336011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783133365 meters Centerline goodness : 0.092205 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-1.77, Z:-1.09 [[ 9.97249865e-01 -1.58322628e-02 -7.24019710e-02 -1.75648731e+01] [ 1.31025822e-02 9.99190978e-01 -3.80225255e-02 -1.76631366e+00] [ 7.29453789e-02 3.69693057e-02 9.96650512e-01 -1.09293132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843133365 meters Centerline goodness : 0.169250 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:-1.77, Z:-1.09 [[ 0.99697091 -0.0268587 -0.07299047 -17.58849257] [ 0.02406664 0.99895455 -0.03886639 -1.76816551] [ 0.07395806 0.03699203 0.99657503 -1.09300106] [ 0. 0. 0. 1. ]] SLAMing on 222.903133365 meters Centerline goodness : 0.360624 with order 1 Centerline is valid? [False, False] Translation: X:-17.59, Y:-1.77, Z:-1.09 [[ 0.99687034 -0.03076609 -0.07282151 -17.58928785] [ 0.02775555 0.99873207 -0.04199854 -1.77112992] [ 0.0740213 0.0398459 0.99646031 -1.09235912] [ 0. 0. 0. 1. ]] SLAMing on 222.96313336499998 meters Centerline goodness : 0.120854 with order 1 Centerline is valid? [False, False] Translation: X:-17.59, Y:-1.77, Z:-1.09 [[ 0.99683308 -0.03187933 -0.07285274 -17.58871307] [ 0.02886107 0.99869589 -0.04211354 -1.77458219] [ 0.07410029 0.03987756 0.99645317 -1.09295962] [ 0. 0. 0. 1. ]] SLAMing on 223.02313336499998 meters Centerline goodness : 0.117239 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:-1.78, Z:-1.10 [[ 0.99721331 -0.02589574 -0.0699644 -17.61113298] [ 0.02284348 0.99876683 -0.04407932 -1.78045067] [ 0.07101959 0.04235826 0.99657513 -1.09575382] [ 0. 0. 0. 1. ]] SLAMing on 223.08313336499998 meters Centerline goodness : 0.106813 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97309486e-01 -1.74142819e-02 -7.12076671e-02 -1.76307047e+01] [ 1.42183515e-02 9.98879257e-01 -4.51449722e-02 -1.78220439e+00] [ 7.19140289e-02 4.40110534e-02 9.96439361e-01 -1.09817333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14313336499998 meters Centerline goodness : 0.122504 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97331091e-01 -1.35639755e-02 -7.17405954e-02 -1.76288902e+01] [ 1.05663660e-02 9.99061748e-01 -4.19997041e-02 -1.77861746e+00] [ 7.22429676e-02 4.11295733e-02 9.96538666e-01 -1.09892544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20313336499999 meters Centerline goodness : 0.114930 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97380495e-01 -1.01915936e-02 -7.16120123e-02 -1.76295135e+01] [ 7.41432847e-03 9.99213986e-01 -3.89414595e-02 -1.77701900e+00] [ 7.19525998e-02 3.83084972e-02 9.96672104e-01 -1.09865085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.263133365 meters Centerline goodness : 0.125397 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97312540e-01 -1.06515817e-02 -7.24861482e-02 -1.76269223e+01] [ 7.83045346e-03 9.99204893e-01 -3.90930297e-02 -1.77777254e+00] [ 7.28449166e-02 3.84203694e-02 9.96602977e-01 -1.09941186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.323133365 meters Centerline goodness : 0.127157 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97288802e-01 -1.08282358e-02 -7.27859517e-02 -1.76260782e+01] [ 8.01742807e-03 9.99214860e-01 -3.87992852e-02 -1.78034570e+00] [ 7.31489323e-02 3.81105365e-02 9.96592605e-01 -1.09970849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.383133365 meters Centerline goodness : 0.114862 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97319060e-01 -1.08444825e-02 -7.23677353e-02 -1.76271112e+01] [ 8.07123165e-03 9.99225824e-01 -3.85046434e-02 -1.78234975e+00] [ 7.27292729e-02 3.78173181e-02 9.96634488e-01 -1.09975428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.443133365 meters Centerline goodness : 0.273439 with order 3 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.78, Z:-1.10 [[ 9.97364450e-01 -7.30381657e-03 -7.21859242e-02 -1.76277851e+01] [ 4.76643854e-03 9.99366787e-01 -3.52605494e-02 -1.78206896e+00] [ 7.23977517e-02 3.48235487e-02 9.96767719e-01 -1.09952355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.503133365 meters Centerline goodness : 0.138343 with order 3 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.78, Z:-1.10 [[ 9.97272649e-01 -5.52163923e-03 -7.35987388e-02 -1.76225613e+01] [ 3.03237463e-03 9.99420934e-01 -3.38910365e-02 -1.77951503e+00] [ 7.37432543e-02 3.35754248e-02 9.96711906e-01 -1.10121108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563133365 meters Centerline goodness : 0.276672 with order 3 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.78, Z:-1.10 [[ 9.97315716e-01 -2.07569766e-03 -7.31918991e-02 -1.76238421e+01] [-1.94145130e-04 9.99519630e-01 -3.09914701e-02 -1.77694458e+00] [ 7.32210688e-02 3.09224900e-02 9.96836233e-01 -1.10082706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623133365 meters Centerline goodness : 0.126172 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.77, Z:-1.10 [[ 9.97332751e-01 -2.42967196e-03 -7.29484801e-02 -1.76247827e+01] [ 1.12885688e-04 9.99495945e-01 -3.17465514e-02 -1.77284598e+00] [ 7.29888437e-02 3.16536406e-02 9.96830314e-01 -1.10029378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68313336499997 meters Centerline goodness : 0.128449 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.77, Z:-1.10 [[ 9.97365050e-01 -3.36726739e-03 -7.24680578e-02 -1.76260033e+01] [ 9.94444450e-04 9.99462942e-01 -3.27542217e-02 -1.76977980e+00] [ 7.25394305e-02 3.25958505e-02 9.96832755e-01 -1.10011497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74313336499998 meters Centerline goodness : 0.218523 with order 3 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.77, Z:-1.10 [[ 9.97426136e-01 -3.61403093e-03 -7.16103506e-02 -1.76290257e+01] [ 1.24140671e-03 9.99449641e-01 -3.31492640e-02 -1.76747537e+00] [ 7.16907417e-02 3.29750447e-02 9.96881680e-01 -1.09872136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80313336499998 meters Centerline goodness : 0.131087 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.76, Z:-1.10 [[ 9.97434937e-01 -3.89582365e-03 -7.14728521e-02 -1.76296231e+01] [ 1.49102210e-03 9.99431929e-01 -3.36689099e-02 -1.76487234e+00] [ 7.15634186e-02 3.34759794e-02 9.96874132e-01 -1.09825084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86313336499998 meters Centerline goodness : 0.152884 with order 3 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.76, Z:-1.10 [[ 9.97382472e-01 -4.42119390e-03 -7.21710318e-02 -1.76275795e+01] [ 1.93486877e-03 9.99403374e-01 -3.44840837e-02 -1.76116857e+00] [ 7.22804335e-02 3.42541792e-02 9.96795962e-01 -1.09861400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92313336499998 meters Centerline goodness : 0.124683 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.76, Z:-1.10 [[ 9.97392938e-01 -1.38227433e-03 -7.21485670e-02 -1.76274375e+01] [-8.98645696e-04 9.99501070e-01 -3.15721800e-02 -1.75945202e+00] [ 7.21562114e-02 3.15547054e-02 9.96894067e-01 -1.09887734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.983133365 meters Centerline goodness : 0.127270 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.76, Z:-1.10 [[ 9.97427119e-01 -1.71238541e-03 -7.16673593e-02 -1.76291599e+01] [-5.83699159e-04 9.99487542e-01 -3.20048802e-02 -1.75785370e+00] [ 7.16854375e-02 3.19643677e-02 9.96914980e-01 -1.09809155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.043133365 meters Centerline goodness : 0.130378 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.75, Z:-1.10 [[ 9.97418152e-01 -9.77289500e-03 -7.11443669e-02 -1.76497672e+01] [ 7.55060040e-03 9.99477165e-01 -3.14386027e-02 -1.75163882e+00] [ 7.14144163e-02 3.08202503e-02 9.96970458e-01 -1.09989236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.103133365 meters Centerline goodness : 0.171901 with order 3 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.75, Z:-1.10 [[ 9.97385453e-01 -1.00201177e-02 -7.15671365e-02 -1.76481933e+01] [ 7.75563355e-03 9.99462586e-01 -3.18494878e-02 -1.74903816e+00] [ 7.18478109e-02 3.12111673e-02 9.96927156e-01 -1.10057075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.163133365 meters Centerline goodness : 0.134754 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.75, Z:-1.10 [[ 9.97367510e-01 -1.01884747e-02 -7.17930741e-02 -1.76470646e+01] [ 7.88947600e-03 9.99449221e-01 -3.22336955e-02 -1.74682536e+00] [ 7.20819442e-02 3.15824309e-02 9.96898562e-01 -1.10125390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.223133365 meters Centerline goodness : 0.131607 with order 1 Centerline is valid? [False, False] Translation: X:-17.64, Y:-1.74, Z:-1.10 [[ 9.97310978e-01 -1.04945088e-02 -7.25305374e-02 -1.76446164e+01] [ 8.12795181e-03 9.99427345e-01 -3.28469031e-02 -1.74348307e+00] [ 7.28337145e-02 3.21690523e-02 9.96825161e-01 -1.10198932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.283133365 meters Centerline goodness : 0.136042 with order 1 Centerline is valid? [False, False] Translation: X:-17.64, Y:-1.74, Z:-1.10 [[ 9.97297983e-01 -1.05901839e-02 -7.26951296e-02 -1.76441717e+01] [ 8.20100256e-03 9.99418863e-01 -3.30859343e-02 -1.74190218e+00] [ 7.30032699e-02 3.24003626e-02 9.96805266e-01 -1.10197360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.343133365 meters Centerline goodness : 0.137978 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.74, Z:-1.10 [[ 9.97319752e-01 -1.07566276e-02 -7.23713101e-02 -1.76452052e+01] [ 8.38091741e-03 9.99418538e-01 -3.30506461e-02 -1.74312682e+00] [ 7.26847425e-02 3.23555242e-02 9.96830000e-01 -1.10174286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.403133365 meters Centerline goodness : 0.128920 with order 1 Centerline is valid? [False, False] Translation: X:-17.69, Y:-1.75, Z:-1.10 [[ 9.97137282e-01 -1.30005024e-02 -7.44864321e-02 -1.76901501e+01] [ 1.04267345e-02 9.99338552e-01 -3.48387955e-02 -1.74731168e+00] [ 7.48900850e-02 3.39624115e-02 9.96613280e-01 -1.10437437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46313336499998 meters Centerline goodness : 0.130160 with order 3 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.76, Z:-1.10 [[ 9.97055216e-01 -6.76920245e-03 -7.63876601e-02 -1.76724667e+01] [ 4.05513668e-03 9.99356841e-01 -3.56294929e-02 -1.75651691e+00] [ 7.65797139e-02 3.52148093e-02 9.96441400e-01 -1.10154814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52313336499998 meters Centerline goodness : 0.130195 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.76, Z:-1.10 [[ 9.97094478e-01 -2.53869649e-03 -7.61324913e-02 -1.76740659e+01] [ 1.21159385e-04 9.99496083e-01 -3.17421616e-02 -1.75712736e+00] [ 7.61747106e-02 3.16407098e-02 9.96592333e-01 -1.10048677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58313336499998 meters Centerline goodness : 0.133124 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.76, Z:-1.10 [[ 9.97113523e-01 -2.20994945e-03 -7.58929345e-02 -1.76746569e+01] [-2.02893589e-04 9.99495176e-01 -3.17703060e-02 -1.75607297e+00] [ 7.59248327e-02 3.16940000e-02 9.96609708e-01 -1.10043141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64313336499998 meters Centerline goodness : 0.130479 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.76, Z:-1.10 [[ 9.97082304e-01 -2.02024709e-03 -7.63072539e-02 -1.76730678e+01] [-3.88896982e-04 9.99502302e-01 -3.15435793e-02 -1.75685420e+00] [ 7.63330017e-02 3.14812204e-02 9.96585273e-01 -1.10129628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70313336499999 meters Centerline goodness : 0.138594 with order 1 Centerline is valid? [False, False] Translation: X:-17.69, Y:-1.75, Z:-1.10 [[ 9.97049374e-01 -9.61187154e-03 -7.61587658e-02 -1.76935738e+01] [ 7.32033664e-03 9.99513705e-01 -3.03111565e-02 -1.75269072e+00] [ 7.64130772e-02 2.96642118e-02 9.96634876e-01 -1.10284589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763133365 meters Centerline goodness : 0.138064 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.75, Z:-1.10 [[ 9.96852809e-01 -9.47088672e-03 -7.87069233e-02 -1.77385081e+01] [ 7.06358269e-03 9.99500362e-01 -3.08079945e-02 -1.75019545e+00] [ 7.89593774e-02 3.01550830e-02 9.96421642e-01 -1.10499673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823133365 meters Centerline goodness : 0.139755 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.75, Z:-1.11 [[ 9.96868763e-01 -9.51936040e-03 -7.84987285e-02 -1.77389556e+01] [ 7.11759163e-03 9.99499624e-01 -3.08195103e-02 -1.74971712e+00] [ 7.87528316e-02 3.01642852e-02 9.96437709e-01 -1.10508971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883133365 meters Centerline goodness : 0.140529 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.75, Z:-1.10 [[ 9.96906070e-01 -9.81896557e-03 -7.79863810e-02 -1.77407568e+01] [ 7.43437603e-03 9.99497651e-01 -3.08086925e-02 -1.75108178e+00] [ 7.82497141e-02 3.01335925e-02 9.96478273e-01 -1.10448975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943133365 meters Centerline goodness : 0.139911 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.75, Z:-1.10 [[ 9.96878191e-01 -9.98473842e-03 -7.83209933e-02 -1.77397496e+01] [ 7.61433048e-03 9.99505588e-01 -3.05057655e-02 -1.75348616e+00] [ 7.85868626e-02 2.98141704e-02 9.96461349e-01 -1.10493371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003133365 meters Centerline goodness : 0.255604 with order 3 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.76, Z:-1.11 [[ 9.96770383e-01 -1.29337943e-02 -7.92560500e-02 -1.77352944e+01] [ 1.03674482e-02 9.99411216e-01 -3.27068255e-02 -1.75789362e+00] [ 7.96324086e-02 3.17795120e-02 9.96317591e-01 -1.10727409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063133365 meters Centerline goodness : 0.129167 with order 3 Centerline is valid? [False, False] Translation: X:-17.76, Y:-1.76, Z:-1.11 [[ 9.96931486e-01 -3.68387720e-03 -7.81923391e-02 -1.77587010e+01] [ 1.12917629e-03 9.99464865e-01 -3.26911109e-02 -1.76113928e+00] [ 7.82709257e-02 3.25025048e-02 9.96402152e-01 -1.10879400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.123133365 meters Centerline goodness : 0.282022 with order 3 Centerline is valid? [False, False] Translation: X:-17.76, Y:-1.76, Z:-1.11 [[ 9.96960976e-01 -3.53292716e-03 -7.78224357e-02 -1.77598236e+01] [ 9.68078730e-04 9.99455847e-01 -3.29708004e-02 -1.75863297e+00] [ 7.78965718e-02 3.27952631e-02 9.96421896e-01 -1.10826595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18313336499997 meters Centerline goodness : 0.131782 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-1.75, Z:-1.11 [[ 9.96822070e-01 -1.62044542e-03 -7.96437957e-02 -1.78073408e+01] [-1.01283570e-03 9.99454452e-01 -3.30117160e-02 -1.75036120e+00] [ 7.96538399e-02 3.29874732e-02 9.96276614e-01 -1.10948201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24313336499998 meters Centerline goodness : 0.137923 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-1.75, Z:-1.11 [[ 9.96821409e-01 -1.82034473e-03 -7.96477599e-02 -1.78075953e+01] [-8.20237382e-04 9.99451444e-01 -3.31079788e-02 -1.75030782e+00] [ 7.96643365e-02 3.30680722e-02 9.96273103e-01 -1.10920532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30313336499998 meters Centerline goodness : 0.119822 with order 2 Centerline is valid? [False, False] Translation: X:-17.81, Y:-1.75, Z:-1.11 [[ 9.96827235e-01 -2.10158088e-03 -7.95678784e-02 -1.78077838e+01] [-5.29279622e-04 9.99454259e-01 -3.30288347e-02 -1.75207137e+00] [ 7.95938677e-02 3.29661556e-02 9.96282113e-01 -1.10943990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36313336499998 meters Centerline goodness : 0.129311 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-1.75, Z:-1.11 [[ 9.96815390e-01 -1.95068152e-03 -7.97199655e-02 -1.78073318e+01] [-6.53026033e-04 9.99467562e-01 -3.26215558e-02 -1.75372283e+00] [ 7.97411539e-02 3.25697281e-02 9.96283374e-01 -1.10966628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42313336499998 meters Centerline goodness : 0.130437 with order 1 Centerline is valid? [False, False] Translation: X:-17.82, Y:-1.75, Z:-1.11 [[ 9.96579123e-01 -9.33980756e-03 -8.21146715e-02 -1.78244594e+01] [ 6.80558052e-03 9.99493483e-01 -3.10879563e-02 -1.74855083e+00] [ 8.23634346e-02 3.04227702e-02 9.96137902e-01 -1.11244105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.483133365 meters Centerline goodness : 0.136942 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.75, Z:-1.11 [[ 9.96613975e-01 -9.14536278e-03 -8.17125851e-02 -1.78257564e+01] [ 6.63088463e-03 9.99497675e-01 -3.09907776e-02 -1.74828244e+00] [ 8.19549608e-02 3.03440153e-02 9.96173993e-01 -1.11200072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.543133365 meters Centerline goodness : 0.133302 with order 3 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.75, Z:-1.11 [[ 9.96651983e-01 -9.21313439e-03 -8.12400314e-02 -1.78275605e+01] [ 6.70671916e-03 9.99494677e-01 -3.10710592e-02 -1.74863775e+00] [ 8.14852408e-02 3.04221787e-02 9.96210142e-01 -1.11124878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.603133365 meters Centerline goodness : 0.138505 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.75, Z:-1.11 [[ 9.96668898e-01 -9.01960931e-03 -8.10540233e-02 -1.78279862e+01] [ 6.57029635e-03 9.99515173e-01 -3.04343479e-02 -1.75239295e+00] [ 8.12892321e-02 2.98004190e-02 9.96244948e-01 -1.11156798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.663133365 meters Centerline goodness : 0.135057 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.76, Z:-1.11 [[ 9.96655765e-01 -8.77631069e-03 -8.12420006e-02 -1.78272491e+01] [ 6.37504152e-03 9.99536465e-01 -2.97693393e-02 -1.75596105e+00] [ 8.14656070e-02 2.91518626e-02 9.96249730e-01 -1.11215405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.723133365 meters Centerline goodness : 0.132485 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.76, Z:-1.11 [[ 9.96698739e-01 -8.62851721e-03 -8.07290045e-02 -1.78294131e+01] [ 6.27488006e-03 9.99549113e-01 -2.93631972e-02 -1.75849037e+00] [ 8.09459656e-02 2.87596968e-02 9.96303483e-01 -1.11106987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.783133365 meters Centerline goodness : 0.136942 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.76, Z:-1.11 [[ 9.96717912e-01 -8.51396242e-03 -8.05041365e-02 -1.78300151e+01] [ 6.17572301e-03 9.99553065e-01 -2.92494719e-02 -1.75871270e+00] [ 8.07171852e-02 2.86563013e-02 9.96325023e-01 -1.11099907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843133365 meters Centerline goodness : 0.134196 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.76, Z:-1.11 [[ 9.96718680e-01 -8.59092048e-03 -8.04864551e-02 -1.78297457e+01] [ 6.24620627e-03 9.99550020e-01 -2.93384057e-02 -1.75890268e+00] [ 8.07022817e-02 2.87394020e-02 9.96323837e-01 -1.11141586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903133365 meters Centerline goodness : 0.127669 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.76, Z:-1.11 [[ 9.96742767e-01 -4.61338750e-03 -8.05144322e-02 -1.78291072e+01] [ 2.56720500e-03 9.99671554e-01 -2.54988973e-02 -1.76024929e+00] [ 8.06056239e-02 2.52091444e-02 9.96427234e-01 -1.11227202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96313336499998 meters Centerline goodness : 0.132261 with order 1 Centerline is valid? [False, False] Translation: X:-17.83, Y:-1.76, Z:-1.11 [[ 9.96739406e-01 -4.56953604e-03 -8.05585262e-02 -1.78290058e+01] [ 2.52355383e-03 9.99672121e-01 -2.54810054e-02 -1.76012633e+00] [ 8.06485491e-02 2.51946284e-02 9.96424128e-01 -1.11225981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02313336499998 meters Centerline goodness : 0.130861 with order 1 Centerline is valid? [False, False] Translation: X:-17.87, Y:-1.76, Z:-1.11 [[ 9.96549276e-01 -3.48865245e-03 -8.29299139e-02 -1.78742017e+01] [ 1.39192880e-03 9.99678239e-01 -2.53274628e-02 -1.75752377e+00] [ 8.29915890e-02 2.51246321e-02 9.96233481e-01 -1.11471284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08313336499998 meters Centerline goodness : 0.131293 with order 1 Centerline is valid? [False, False] Translation: X:-17.87, Y:-1.76, Z:-1.12 [[ 9.96509626e-01 -3.31414977e-03 -8.34121211e-02 -1.78726395e+01] [ 1.22433467e-03 9.99684377e-01 -2.50927855e-02 -1.75808707e+00] [ 8.34689556e-02 2.49030780e-02 9.96199162e-01 -1.11529166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14313336499998 meters Centerline goodness : 0.126727 with order 1 Centerline is valid? [False, False] Translation: X:-17.89, Y:-1.76, Z:-1.12 [[ 9.96458202e-01 -1.18675996e-02 -8.32478964e-02 -1.78944507e+01] [ 9.85310109e-03 9.99649602e-01 -2.45680420e-02 -1.75540702e+00] [ 8.35102902e-02 2.36607770e-02 9.96225978e-01 -1.11683227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20313336499999 meters Centerline goodness : 0.131685 with order 1 Centerline is valid? [False, False] Translation: X:-17.89, Y:-1.76, Z:-1.12 [[ 9.96491318e-01 -8.73054781e-03 -8.32395932e-02 -1.78946417e+01] [ 6.98172684e-03 9.99749231e-01 -2.12774739e-02 -1.75676338e+00] [ 8.34044833e-02 2.06216619e-02 9.96302383e-01 -1.11688905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.263133365 meters Centerline goodness : 0.127383 with order 1 Centerline is valid? [False, False] Translation: X:-17.94, Y:-1.76, Z:-1.12 [[ 9.96276963e-01 -8.81280500e-03 -8.57586582e-02 -1.79391127e+01] [ 6.98170762e-03 9.99741703e-01 -2.16283027e-02 -1.75609827e+00] [ 8.59271130e-02 2.09490379e-02 9.96081156e-01 -1.12037640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323133365 meters Centerline goodness : 0.137727 with order 1 Centerline is valid? [False, False] Translation: X:-17.94, Y:-1.76, Z:-1.12 [[ 9.96272717e-01 -8.85927302e-03 -8.58031889e-02 -1.79387665e+01] [ 7.05523717e-03 9.99748113e-01 -2.13057487e-02 -1.75866526e+00] [ 8.59703296e-02 2.06209743e-02 9.96084272e-01 -1.12082379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383133365 meters Centerline goodness : 0.133692 with order 1 Centerline is valid? [False, False] Translation: X:-17.96, Y:-1.77, Z:-1.13 [[ 9.96290863e-01 -1.21870972e-03 -8.60408740e-02 -1.79568533e+01] [-7.16897468e-04 9.99747443e-01 -2.24618862e-02 -1.76650245e+00] [ 8.60465183e-02 2.24402545e-02 9.96038369e-01 -1.12515099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.443133365 meters Centerline goodness : 0.131012 with order 1 Centerline is valid? [False, False] Translation: X:-17.96, Y:-1.77, Z:-1.12 [[ 9.96365960e-01 -1.11790003e-03 -8.51682089e-02 -1.79597374e+01] [-7.82456802e-04 9.99751545e-01 -2.22763356e-02 -1.76773405e+00] [ 8.51719512e-02 2.22620229e-02 9.96117534e-01 -1.12421572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.503133365 meters Centerline goodness : 0.143713 with order 3 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.76, Z:-1.13 [[ 9.96491277e-01 -5.89990090e-03 -8.34884727e-02 -1.79827380e+01] [ 4.31045727e-03 9.99806269e-01 -1.92053439e-02 -1.76306460e+00] [ 8.35856080e-02 1.87780842e-02 9.96323657e-01 -1.12602631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563133365 meters Centerline goodness : 0.134837 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.76, Z:-1.13 [[ 9.96525601e-01 -1.78478517e-03 -8.32678839e-02 -1.79831365e+01] [ 5.04912406e-04 9.99881454e-01 -1.53890719e-02 -1.76381539e+00] [ 8.32854790e-02 1.52935612e-02 9.96408368e-01 -1.12628993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.623133365 meters Centerline goodness : 0.135088 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.77, Z:-1.13 [[ 9.96513994e-01 -1.69469389e-03 -8.34085646e-02 -1.79823680e+01] [ 4.34055984e-04 9.99885443e-01 -1.51298239e-02 -1.76545342e+00] [ 8.34246501e-02 1.50408772e-02 9.96400572e-01 -1.12696527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68313336499997 meters Centerline goodness : 0.135510 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.77, Z:-1.13 [[ 9.96503117e-01 -1.87939575e-03 -8.35344567e-02 -1.79819861e+01] [ 6.47608178e-04 9.99890700e-01 -1.47705129e-02 -1.76902566e+00] [ 8.35530861e-02 1.46647645e-02 9.96395417e-01 -1.12731261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74313336499998 meters Centerline goodness : 0.131544 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.78, Z:-1.13 [[ 9.96418582e-01 -4.14260051e-03 -8.44561911e-02 -1.79781952e+01] [ 2.81256888e-03 9.99870249e-01 -1.58610883e-02 -1.77678084e+00] [ 8.45109390e-02 1.55667443e-02 9.96300947e-01 -1.12918102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80313336499998 meters Centerline goodness : 0.131681 with order 1 Centerline is valid? [False, False] Translation: X:-18.02, Y:-1.78, Z:-1.13 [[ 9.96248987e-01 -4.49277229e-03 -8.64162595e-02 -1.80230949e+01] [ 3.09350545e-03 9.99862046e-01 -1.63192764e-02 -1.77797192e+00] [ 8.64776568e-02 1.59907334e-02 9.96125450e-01 -1.13273595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86313336499998 meters Centerline goodness : 0.134536 with order 1 Centerline is valid? [False, False] Translation: X:-18.02, Y:-1.78, Z:-1.13 [[ 9.96305857e-01 -4.17974980e-03 -8.57739395e-02 -1.80249172e+01] [ 2.81687516e-03 9.99867959e-01 -1.60040298e-02 -1.77912900e+00] [ 8.58295067e-02 1.57032941e-02 9.96186078e-01 -1.13237296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92313336499998 meters Centerline goodness : 0.144411 with order 1 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.78, Z:-1.13 [[ 9.96384081e-01 -3.46147666e-03 -8.48927688e-02 -1.80270003e+01] [ 2.13635021e-03 9.99874539e-01 -1.56952948e-02 -1.77901620e+00] [ 8.49364470e-02 1.54571812e-02 9.96266468e-01 -1.13239918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.983133365 meters Centerline goodness : 0.131639 with order 1 Centerline is valid? [False, False] Translation: X:-18.05, Y:-1.78, Z:-1.13 [[ 9.96441473e-01 5.54142283e-03 -8.41051949e-02 -1.80501462e+01] [-6.93231549e-03 9.99843855e-01 -1.62545144e-02 -1.78146965e+00] [ 8.40019891e-02 1.67797160e-02 9.96324298e-01 -1.13496179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.043133365 meters Centerline goodness : 0.133211 with order 1 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.78, Z:-1.13 [[ 9.96359754e-01 9.20429775e-04 -8.52431380e-02 -1.80289193e+01] [-2.00370594e-03 9.99918314e-01 -1.26233899e-02 -1.78017010e+00] [ 8.52245559e-02 1.27482398e-02 9.96280210e-01 -1.13244386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.103133365 meters Centerline goodness : 0.112802 with order 3 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.78, Z:-1.13 [[ 9.96444795e-01 3.07275712e-03 -8.41922147e-02 -1.80325871e+01] [-4.03167682e-03 9.99928904e-01 -1.12219963e-02 -1.77607702e+00] [ 8.41517464e-02 1.15215356e-02 9.96386340e-01 -1.13131052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.163133365 meters Centerline goodness : 0.176158 with order 3 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.77, Z:-1.13 [[ 9.96468276e-01 7.23677645e-03 -8.36576550e-02 -1.80341902e+01] [-7.89912303e-03 9.99940003e-01 -7.58906336e-03 -1.77454680e+00] [ 8.35977155e-02 8.22308299e-03 9.96465656e-01 -1.13084944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.223133365 meters Centerline goodness : 0.133054 with order 1 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.77, Z:-1.13 [[ 9.96462687e-01 7.28371452e-03 -8.37201351e-02 -1.80335324e+01] [-7.96677616e-03 9.99937627e-01 -7.82768641e-03 -1.77252721e+00] [ 8.36578985e-02 8.46697701e-03 9.96458562e-01 -1.13148319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.283133365 meters Centerline goodness : 0.092750 with order 1 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.77, Z:-1.13 [[ 9.96463452e-01 7.17868944e-03 -8.37201032e-02 -1.80332749e+01] [-7.88244896e-03 9.99936300e-01 -8.07858707e-03 -1.77145313e+00] [ 8.36567766e-02 8.70993620e-03 9.96456562e-01 -1.13183548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.343133365 meters Centerline goodness : 0.144314 with order 1 Centerline is valid? [False, False] Translation: X:-18.05, Y:-1.77, Z:-1.13 [[ 9.96634387e-01 2.06725283e-03 -8.19489200e-02 -1.80543214e+01] [-2.49441930e-03 9.99983830e-01 -5.11055716e-03 -1.76627185e+00] [ 8.19370301e-02 5.29777197e-03 9.96623428e-01 -1.13497222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.403133365 meters Centerline goodness : 0.139016 with order 1 Centerline is valid? [False, False] Translation: X:-18.10, Y:-1.76, Z:-1.14 [[ 9.96424777e-01 3.59328281e-03 -8.44082502e-02 -1.81006153e+01] [-3.96862125e-03 9.99982969e-01 -4.27933207e-03 -1.76185478e+00] [ 8.43914357e-02 4.59901688e-03 9.96422067e-01 -1.13765820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46313336499998 meters SLAMing on 227.52313336499998 meters Centerline goodness : 0.094558 with order 1 Centerline is valid? [False, False] Translation: X:-18.10, Y:-1.75, Z:-1.14 [[ 9.96462215e-01 9.93793752e-03 -8.34523356e-02 -1.81030445e+01] [-9.96674899e-03 9.99950328e-01 7.13594351e-05 -1.74939523e+00] [ 8.34488996e-02 7.60641502e-04 9.96511767e-01 -1.13731537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58313336499998 meters SLAMing on 227.64313336499998 meters Centerline goodness : 0.094146 with order 1 Centerline is valid? [False, False] Translation: X:-18.10, Y:-1.75, Z:-1.14 [[ 9.96400369e-01 1.26361751e-02 -8.38250092e-02 -1.81002446e+01] [-1.25401919e-02 9.99919972e-01 1.67148215e-03 -1.74529519e+00] [ 8.38394219e-02 -6.14283734e-04 9.96479089e-01 -1.13994706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70313336499999 meters Centerline goodness : 0.227789 with order 1 Centerline is valid? [False, False] Translation: X:-18.10, Y:-1.75, Z:-1.14 [[ 9.96432022e-01 1.28224490e-02 -8.34194784e-02 -1.81014371e+01] [-1.27191033e-02 9.99917542e-01 1.77020823e-03 -1.74555767e+00] [ 8.34352982e-02 -7.02871205e-04 9.96512949e-01 -1.13991228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.763133365 meters Centerline goodness : 0.098443 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:-1.74, Z:-1.14 [[ 9.96362625e-01 5.68524545e-03 -8.50246911e-02 -1.81185667e+01] [-5.42863559e-03 9.99979987e-01 3.24896295e-03 -1.74341994e+00] [ 8.50414607e-02 -2.77557719e-03 9.96373547e-01 -1.14264663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.823133365 meters Centerline goodness : 0.224006 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:-1.74, Z:-1.14 [[ 9.96366779e-01 5.92110359e-03 -8.49598883e-02 -1.81187105e+01] [-5.64989737e-03 9.99978149e-01 3.43225696e-03 -1.74362249e+00] [ 8.49783545e-02 -2.93977216e-03 9.96378461e-01 -1.14277405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.883133365 meters Centerline goodness : 0.351076 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:-1.74, Z:-1.14 [[ 9.96425649e-01 6.38505469e-03 -8.42327581e-02 -1.81207002e+01] [-6.10570539e-03 9.99974975e-01 3.57359116e-03 -1.74319864e+00] [ 8.42534677e-02 -3.04651749e-03 9.96439698e-01 -1.14273890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.943133365 meters Centerline goodness : 0.283420 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:-1.74, Z:-1.14 [[ 9.96466736e-01 6.69985191e-03 -8.37207015e-02 -1.81220362e+01] [-6.42446318e-03 9.99973032e-01 3.55834777e-03 -1.74223536e+00] [ 8.37422841e-02 -3.00791462e-03 9.96482906e-01 -1.14284362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.003133365 meters Centerline goodness : 0.424198 with order 1 Centerline is valid? [False, False] Translation: X:-18.17, Y:-1.74, Z:-1.15 [[ 9.96243177e-01 1.00546628e-02 -8.60141673e-02 -1.81658337e+01] [-9.59334209e-03 9.99937307e-01 5.77498903e-03 -1.74166489e+00] [ 8.60668404e-02 -4.92813008e-03 9.96277177e-01 -1.14617474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.063133365 meters Centerline goodness : 0.095591 with order 1 Centerline is valid? [False, False] Translation: X:-18.17, Y:-1.74, Z:-1.15 [[ 9.96239591e-01 9.85809449e-03 -8.60784271e-02 -1.81654269e+01] [-9.42502240e-03 9.99940807e-01 5.43609497e-03 -1.74075903e+00] [ 8.61269214e-02 -4.60436192e-03 9.96273533e-01 -1.14657094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.123133365 meters Centerline goodness : 0.104318 with order 1 Centerline is valid? [False, False] Translation: X:-18.17, Y:-1.74, Z:-1.15 [[ 9.96228379e-01 9.74129185e-03 -8.62213694e-02 -1.81651982e+01] [-9.32514221e-03 9.99942853e-01 5.22798304e-03 -1.74031060e+00] [ 8.62673694e-02 -4.40423854e-03 9.96262287e-01 -1.14650848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18313336499997 meters SLAMing on 228.24313336499998 meters Centerline goodness : 0.437024 with order 1 Centerline is valid? [False, False] Translation: X:-18.21, Y:-1.74, Z:-1.15 [[ 9.95938323e-01 9.05898179e-03 -8.95811991e-02 -1.82067297e+01] [-8.70995610e-03 9.99952881e-01 4.28634433e-03 -1.74204583e+00] [ 8.96158080e-02 -3.48868627e-03 9.95970299e-01 -1.15068162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30313336499998 meters SLAMing on 228.36313336499998 meters Centerline goodness : 0.099110 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.75, Z:-1.15 [[ 9.95659047e-01 7.10518315e-03 -9.28039772e-02 -1.82498817e+01] [-6.89210149e-03 9.99972826e-01 2.61634118e-03 -1.75066228e+00] [ 9.28200450e-02 -1.96536933e-03 9.95680961e-01 -1.15393272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42313336499998 meters Centerline goodness : 0.343134 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.76, Z:-1.15 [[ 9.95735169e-01 4.74134596e-03 -9.21357297e-02 -1.82539800e+01] [-4.63881392e-03 9.99988360e-01 1.32696199e-03 -1.75713598e+00] [ 9.21409489e-02 -8.93902218e-04 9.95745573e-01 -1.15148812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.483133365 meters Centerline goodness : 0.262865 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-1.76, Z:-1.15 [[ 9.95628000e-01 -5.26928885e-03 -9.32583485e-02 -1.82759182e+01] [ 5.38745128e-03 9.99984972e-01 1.01532659e-03 -1.75933908e+00] [ 9.32515970e-02 -1.51331239e-03 9.95641426e-01 -1.15290627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543133365 meters Centerline goodness : 0.100403 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-1.77, Z:-1.15 [[ 9.95682342e-01 -7.67391045e-03 -9.25082944e-02 -1.82789408e+01] [ 7.65870548e-03 9.99970537e-01 -5.19375476e-04 -1.76525847e+00] [ 9.25095545e-02 -1.91360791e-04 9.95711778e-01 -1.15164606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.603133365 meters Centerline goodness : 0.232442 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-1.77, Z:-1.15 [[ 9.95736137e-01 -1.06148403e-02 -9.16344364e-02 -1.82827830e+01] [ 1.04299010e-02 9.99942490e-01 -2.49688249e-03 -1.77214910e+00] [ 9.16556705e-02 1.53049803e-03 9.95789584e-01 -1.14967943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663133365 meters Centerline goodness : 0.105284 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-1.78, Z:-1.15 [[ 9.95734728e-01 -1.06135386e-02 -9.16499012e-02 -1.82827940e+01] [ 1.04746884e-02 9.99943147e-01 -1.99590224e-03 -1.77573040e+00] [ 9.16658743e-02 1.02738502e-03 9.95789291e-01 -1.14958263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723133365 meters Centerline goodness : 0.094666 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-1.78, Z:-1.15 [[ 9.95721325e-01 -4.05855597e-03 -9.23177720e-02 -1.82640913e+01] [ 3.78166351e-03 9.99987812e-01 -3.17407475e-03 -1.78424267e+00] [ 9.23295290e-02 2.81137917e-03 9.95724537e-01 -1.14659931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783133365 meters SLAMing on 228.843133365 meters Centerline goodness : 0.104577 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-1.79, Z:-1.15 [[ 9.95676185e-01 -6.97668327e-03 -9.26296914e-02 -1.82617226e+01] [ 6.55496710e-03 9.99966724e-01 -4.85618028e-03 -1.79273185e+00] [ 9.26604891e-02 4.22799848e-03 9.95688786e-01 -1.14824170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903133365 meters SLAMing on 228.96313336499998 meters Centerline goodness : 0.102767 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.80, Z:-1.15 [[ 9.95375938e-01 -8.70271337e-03 -9.56608819e-02 -1.82518589e+01] [ 8.23735991e-03 9.99952246e-01 -5.25844970e-03 -1.80255095e+00] [ 9.57020765e-02 4.44614119e-03 9.95400093e-01 -1.15133647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02313336499998 meters Centerline goodness : 0.441642 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.81, Z:-1.15 [[ 9.95424460e-01 -2.65547179e-03 -9.55148851e-02 -1.82305375e+01] [ 1.94793191e-03 9.99969976e-01 -7.50011883e-03 -1.80730917e+00] [ 9.55319338e-02 7.27974525e-03 9.95399746e-01 -1.14953929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08313336499998 meters Centerline goodness : 0.133543 with order 3 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.81, Z:-1.15 [[ 9.95411362e-01 -2.66066372e-03 -9.56511459e-02 -1.82304172e+01] [ 1.96724319e-03 9.99971104e-01 -7.34304444e-03 -1.80739225e+00] [ 9.56679194e-02 7.12118080e-03 9.95387833e-01 -1.14930036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14313336499998 meters Centerline goodness : 0.335251 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.81, Z:-1.15 [[ 9.95401664e-01 -2.92686835e-03 -9.57442476e-02 -1.82301409e+01] [ 2.22890999e-03 9.99970165e-01 -7.39595676e-03 -1.80749345e+00] [ 9.57630381e-02 7.14854236e-03 9.95378490e-01 -1.14944014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20313336499999 meters Centerline goodness : 0.223235 with order 3 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.81, Z:-1.15 [[ 9.95436216e-01 -3.63601124e-03 -9.53599434e-02 -1.82316241e+01] [ 2.90635306e-03 9.99965439e-01 -7.78939723e-03 -1.80711181e+00] [ 9.53849699e-02 7.47669844e-03 9.95412380e-01 -1.14879799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263133365 meters SLAMing on 229.323133365 meters SLAMing on 229.383133365 meters Centerline goodness : 0.354529 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.78, Z:-1.15 [[ 9.95672750e-01 -8.42672990e-03 -9.25460180e-02 -1.82522695e+01] [ 7.98308300e-03 9.99954806e-01 -5.16295418e-03 -1.77719435e+00] [ 9.25853423e-02 4.40181024e-03 9.95695023e-01 -1.14911447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443133365 meters Centerline goodness : 0.109601 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.77, Z:-1.15 [[ 9.95677950e-01 -4.89058117e-03 -9.27442872e-02 -1.82515842e+01] [ 4.69292248e-03 9.99986229e-01 -2.34919462e-03 -1.77271785e+00] [ 9.27544989e-02 1.90379953e-03 9.95687189e-01 -1.14940619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.503133365 meters Centerline goodness : 0.110168 with order 1 Centerline is valid? [False, False] Translation: X:-18.30, Y:-1.77, Z:-1.15 [[ 9.95401398e-01 -7.17309580e-03 -9.55227929e-02 -1.82950434e+01] [ 6.75848902e-03 9.99966288e-01 -4.66322806e-03 -1.76508315e+00] [ 9.55530224e-02 3.99619399e-03 9.95416320e-01 -1.15320846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563133365 meters Centerline goodness : 0.116827 with order 1 Centerline is valid? [False, False] Translation: X:-18.30, Y:-1.76, Z:-1.15 [[ 9.95424178e-01 -7.26605661e-03 -9.52780681e-02 -1.82961226e+01] [ 6.84158409e-03 9.99965167e-01 -4.78100884e-03 -1.76415028e+00] [ 9.53094883e-02 4.10727888e-03 9.95439215e-01 -1.15258002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623133365 meters Centerline goodness : 0.106375 with order 1 Centerline is valid? [False, False] Translation: X:-18.30, Y:-1.76, Z:-1.15 [[ 9.95415777e-01 -7.44676510e-03 -9.53518593e-02 -1.82959466e+01] [ 7.00329446e-03 9.99963053e-01 -4.98469743e-03 -1.76341737e+00] [ 9.53854562e-02 4.29406931e-03 9.95431151e-01 -1.15255855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68313336499997 meters Centerline goodness : 0.116153 with order 1 Centerline is valid? [False, False] Translation: X:-18.29, Y:-1.76, Z:-1.15 [[ 9.95327164e-01 -7.39453224e-03 -9.62764659e-02 -1.82927843e+01] [ 6.93900757e-03 9.99963095e-01 -5.06537723e-03 -1.76210857e+00] [ 9.63103690e-02 4.37364443e-03 9.95341742e-01 -1.15367462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74313336499998 meters Centerline goodness : 0.120562 with order 1 Centerline is valid? [False, False] Translation: X:-18.29, Y:-1.76, Z:-1.15 [[ 9.95306693e-01 -7.40394846e-03 -9.64871367e-02 -1.82921727e+01] [ 6.94179732e-03 9.99962774e-01 -5.12457438e-03 -1.76159307e+00] [ 9.65214870e-02 4.43072903e-03 9.95321039e-01 -1.15379023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80313336499998 meters Centerline goodness : 0.125321 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-1.77, Z:-1.16 [[ 9.95236632e-01 1.03690367e-03 -9.74831841e-02 -1.83125562e+01] [-1.62317318e-03 9.99981071e-01 -5.93494533e-03 -1.76536889e+00] [ 9.74751849e-02 6.06490709e-03 9.95219476e-01 -1.15613648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86313336499998 meters Centerline goodness : 0.121688 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-1.77, Z:-1.16 [[ 9.95190614e-01 1.11445435e-03 -9.79510031e-02 -1.83116401e+01] [-1.68735059e-03 9.99981952e-01 -5.76616081e-03 -1.76608099e+00] [ 9.79428091e-02 5.90370680e-03 9.95174534e-01 -1.15578574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92313336499998 meters Centerline goodness : 0.120907 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-1.77, Z:-1.16 [[ 9.95188396e-01 1.11334166e-03 -9.79735551e-02 -1.83117035e+01] [-1.69124067e-03 9.99981659e-01 -5.81566981e-03 -1.76573579e+00] [ 9.79652834e-02 5.95338397e-03 9.95172026e-01 -1.15564472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.983133365 meters Centerline goodness : 0.124144 with order 1 Centerline is valid? [False, False] Translation: X:-18.36, Y:-1.76, Z:-1.16 [[ 9.94913368e-01 1.94686861e-03 -1.00715436e-01 -1.83565650e+01] [-2.50648249e-03 9.99982115e-01 -5.43014228e-03 -1.76116699e+00] [ 1.00703063e-01 5.65496262e-03 9.94900455e-01 -1.15834290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043133365 meters Centerline goodness : 0.133585 with order 1 Centerline is valid? [False, False] Translation: X:-18.36, Y:-1.76, Z:-1.16 [[ 9.94862333e-01 1.64271590e-03 -1.01223713e-01 -1.83550923e+01] [-2.28011259e-03 9.99978295e-01 -6.18153460e-03 -1.75655113e+00] [ 1.01211361e-01 6.38057740e-03 9.94844485e-01 -1.15849622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103133365 meters Centerline goodness : 0.131627 with order 1 Centerline is valid? [False, False] Translation: X:-18.36, Y:-1.76, Z:-1.16 [[ 9.94930375e-01 1.29436065e-03 -1.00557808e-01 -1.83570435e+01] [-1.95584110e-03 9.99977093e-01 -6.47980235e-03 -1.75588451e+00] [ 1.00547117e-01 6.64362728e-03 9.94910116e-01 -1.15819424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163133365 meters Centerline goodness : 0.135265 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.75, Z:-1.16 [[ 9.94972501e-01 -7.86169718e-03 -9.98394461e-02 -1.83787895e+01] [ 7.25678428e-03 9.99953057e-01 -6.42058163e-03 -1.75134118e+00] [ 9.98852360e-02 5.66378885e-03 9.94982845e-01 -1.16043611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.223133365 meters Centerline goodness : 0.122348 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.75, Z:-1.16 [[ 9.94917127e-01 -8.51958600e-03 -1.00336067e-01 -1.83773471e+01] [ 7.89671046e-03 9.99947017e-01 -6.60342926e-03 -1.75274406e+00] [ 1.00387010e-01 5.77754000e-03 9.94931690e-01 -1.16084393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.283133365 meters Centerline goodness : 0.126081 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.75, Z:-1.16 [[ 9.94937591e-01 -8.49621100e-03 -1.00134928e-01 -1.83782235e+01] [ 7.87674913e-03 9.99947329e-01 -6.58001864e-03 -1.75264932e+00] [ 1.00185559e-01 5.75797020e-03 9.94952109e-01 -1.16035669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.343133365 meters Centerline goodness : 0.126541 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.75, Z:-1.16 [[ 9.95009109e-01 -8.38612763e-03 -9.94311063e-02 -1.83805156e+01] [ 7.75738370e-03 9.99947409e-01 -6.70835495e-03 -1.75127702e+00] [ 9.94821342e-02 5.90354905e-03 9.95021835e-01 -1.15953881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40313336499997 meters Centerline goodness : 0.122972 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.75, Z:-1.16 [[ 9.95035563e-01 -8.44944105e-03 -9.91606554e-02 -1.83810641e+01] [ 7.77066518e-03 9.99943674e-01 -7.22944928e-03 -1.74820128e+00] [ 9.92161549e-02 6.42301488e-03 9.95045175e-01 -1.15959088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46313336499998 meters SLAMing on 230.52313336499998 meters Centerline goodness : 0.191645 with order 3 Centerline is valid? [False, False] Translation: X:-18.40, Y:-1.75, Z:-1.16 [[ 9.94646449e-01 9.01089817e-04 -1.03332620e-01 -1.83972301e+01] [-1.66068712e-03 9.99972229e-01 -7.26519610e-03 -1.74692457e+00] [ 1.03323204e-01 7.39790465e-03 9.94620323e-01 -1.16279475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58313336499998 meters Centerline goodness : 0.123139 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-1.74, Z:-1.16 [[ 9.94628183e-01 4.80773305e-03 -1.03400495e-01 -1.83974579e+01] [-5.24799435e-03 9.99978284e-01 -3.98619404e-03 -1.74475009e+00] [ 1.03379085e-01 4.50742615e-03 9.94631815e-01 -1.16227335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64313336499998 meters Centerline goodness : 0.134411 with order 1 Centerline is valid? [False, False] Translation: X:-18.42, Y:-1.74, Z:-1.16 [[ 9.94700821e-01 -7.76817006e-04 -1.02808916e-01 -1.84191386e+01] [ 6.43271717e-04 9.99998906e-01 -1.33211454e-03 -1.73850316e+00] [ 1.02809838e-01 1.25892136e-03 9.94700232e-01 -1.16478356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70313336499999 meters Centerline goodness : 0.142614 with order 3 Centerline is valid? [False, False] Translation: X:-18.42, Y:-1.74, Z:-1.16 [[ 9.94695389e-01 -7.72704956e-04 -1.02861487e-01 -1.84191018e+01] [ 6.39687599e-04 9.99998916e-01 -1.32615051e-03 -1.73826206e+00] [ 1.02862400e-01 1.25331658e-03 9.94694805e-01 -1.16470998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.763133365 meters Centerline goodness : 0.124682 with order 1 Centerline is valid? [False, False] Translation: X:-18.42, Y:-1.74, Z:-1.16 [[ 9.94631265e-01 -8.46595086e-04 -1.03479130e-01 -1.84181306e+01] [ 6.92752710e-04 9.99998601e-01 -1.52262970e-03 -1.73688587e+00] [ 1.03480275e-01 1.44276966e-03 9.94630460e-01 -1.16397048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.823133365 meters Centerline goodness : 0.132947 with order 3 Centerline is valid? [False, False] Translation: X:-18.42, Y:-1.73, Z:-1.16 [[ 9.94742259e-01 1.23051057e-03 -1.02402758e-01 -1.84221796e+01] [-1.24914977e-03 9.99999213e-01 -1.17891941e-04 -1.73216175e+00] [ 1.02402532e-01 2.45188477e-04 9.94743013e-01 -1.16269418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.883133365 meters Centerline goodness : 0.132572 with order 1 Centerline is valid? [False, False] Translation: X:-18.43, Y:-1.73, Z:-1.16 [[ 9.94917437e-01 2.22901909e-03 -1.00669384e-01 -1.84276856e+01] [-2.22339493e-03 9.99997514e-01 1.68066634e-04 -1.72681449e+00] [ 1.00669509e-01 5.66153736e-05 9.94919920e-01 -1.16134128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943133365 meters Centerline goodness : 0.127165 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.72, Z:-1.16 [[ 9.94792049e-01 3.11708515e-03 -1.01877687e-01 -1.84746277e+01] [-3.18254151e-03 9.99994821e-01 -4.79967527e-04 -1.71707269e+00] [ 1.01875663e-01 8.01697848e-04 9.94796817e-01 -1.16400042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.003133365 meters Centerline goodness : 0.132999 with order 1 Centerline is valid? [False, False] Translation: X:-18.48, Y:-1.72, Z:-1.16 [[ 9.94821919e-01 2.75466412e-03 -1.01596071e-01 -1.84754736e+01] [-2.86191817e-03 9.99995491e-01 -9.09948846e-04 -1.71549826e+00] [ 1.01593107e-01 1.19599670e-03 9.94825316e-01 -1.16382548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063133365 meters Centerline goodness : 0.121993 with order 1 Centerline is valid? [False, False] Translation: X:-18.48, Y:-1.71, Z:-1.16 [[ 9.94894721e-01 2.65025118e-03 -1.00883445e-01 -1.84776425e+01] [-2.76413609e-03 9.99995691e-01 -9.89108284e-04 -1.71476505e+00] [ 1.00880389e-01 1.26291418e-03 9.94897760e-01 -1.16332998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123133365 meters Centerline goodness : 0.123303 with order 1 Centerline is valid? [False, False] Translation: X:-18.48, Y:-1.71, Z:-1.16 [[ 9.94846347e-01 1.64960745e-03 -1.01380590e-01 -1.84760336e+01] [-1.83935456e-03 9.99996727e-01 -1.77818173e-03 -1.71385826e+00] [ 1.01377325e-01 1.95549245e-03 9.94846126e-01 -1.16386008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18313336499997 meters Centerline goodness : 0.126016 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.71, Z:-1.16 [[ 9.94797536e-01 1.67492639e-03 -1.01858025e-01 -1.84746038e+01] [-1.87157783e-03 9.99996565e-01 -1.83510700e-03 -1.71257945e+00] [ 1.01854601e-01 2.01619514e-03 9.94797253e-01 -1.16417083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24313336499998 meters Centerline goodness : 0.122570 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.71, Z:-1.16 [[ 9.94770907e-01 1.51041366e-03 -1.02120326e-01 -1.84736186e+01] [-1.75147986e-03 9.99995887e-01 -2.27098532e-03 -1.70976788e+00] [ 1.02116476e-01 2.43797182e-03 9.94769462e-01 -1.16450875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30313336499998 meters Centerline goodness : 0.120813 with order 2 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.70, Z:-1.16 [[ 9.94767816e-01 1.03925298e-03 -1.02156308e-01 -1.84736609e+01] [-1.37763057e-03 9.99993796e-01 -3.24185580e-03 -1.70419507e+00] [ 1.02152305e-01 3.36562747e-03 9.94763077e-01 -1.16426079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36313336499998 meters Centerline goodness : 0.291028 with order 3 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.70, Z:-1.16 [[ 9.94729608e-01 8.59838964e-04 -1.02529352e-01 -1.84723458e+01] [-1.23769920e-03 9.99992675e-01 -3.62182502e-03 -1.70171561e+00] [ 1.02525486e-01 3.72963708e-03 9.94723386e-01 -1.16468176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42313336499998 meters SLAMing on 231.483133365 meters Centerline goodness : 0.200653 with order 3 Centerline is valid? [False, False] Translation: X:-18.51, Y:-1.70, Z:-1.17 [[ 9.94298917e-01 -1.76875476e-02 -1.05151389e-01 -1.85142716e+01] [ 1.72550403e-02 9.99838511e-01 -5.02155420e-03 -1.69883568e+00] [ 1.05223227e-01 3.17853446e-03 9.94443548e-01 -1.16920316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.543133365 meters Centerline goodness : 0.130822 with order 3 Centerline is valid? [False, False] Translation: X:-18.51, Y:-1.70, Z:-1.17 [[ 9.94263588e-01 -1.79579727e-02 -1.05439217e-01 -1.85134181e+01] [ 1.75732402e-02 9.99835103e-01 -4.57684146e-03 -1.70300298e+00] [ 1.05504021e-01 2.69767812e-03 9.94415217e-01 -1.16954549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.603133365 meters Centerline goodness : 0.233032 with order 3 Centerline is valid? [False, False] Translation: X:-18.51, Y:-1.71, Z:-1.17 [[ 9.94270069e-01 -1.75168915e-02 -1.05452306e-01 -1.85135386e+01] [ 1.72380480e-02 9.99845093e-01 -3.55518813e-03 -1.70961514e+00] [ 1.05498247e-01 1.71702522e-03 9.94418007e-01 -1.16951706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.663133365 meters Centerline goodness : 0.115975 with order 3 Centerline is valid? [False, False] Translation: X:-18.54, Y:-1.72, Z:-1.17 [[ 9.94509942e-01 -8.82492943e-03 -1.04269338e-01 -1.85353530e+01] [ 8.47071805e-03 9.99956752e-01 -3.83942641e-03 -1.71511501e+00] [ 1.04298711e-01 2.93511157e-03 9.94541685e-01 -1.17261408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.723133365 meters Centerline goodness : 0.124093 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-1.72, Z:-1.17 [[ 9.94556778e-01 -8.23049887e-03 -1.03870469e-01 -1.85364636e+01] [ 7.99156348e-03 9.99964378e-01 -2.71628753e-03 -1.72131360e+00] [ 1.03889126e-01 1.87141473e-03 9.94587124e-01 -1.17266137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.783133365 meters Centerline goodness : 0.112549 with order 2 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.73, Z:-1.18 [[ 9.94590515e-01 8.03338395e-04 -1.03870408e-01 -1.85577468e+01] [-1.11583449e-03 9.99995025e-01 -2.95044577e-03 -1.72785514e+00] [ 1.03867521e-01 3.05038756e-03 9.94586463e-01 -1.17568653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.843133365 meters Centerline goodness : 0.124394 with order 1 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.73, Z:-1.17 [[ 9.94609548e-01 1.31780781e-03 -1.03682741e-01 -1.85587845e+01] [-1.58240101e-03 9.99995698e-01 -2.46973612e-03 -1.72955548e+00] [ 1.03679041e-01 2.62049080e-03 9.94607354e-01 -1.17496951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90313336499997 meters Centerline goodness : 0.140187 with order 3 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.73, Z:-1.17 [[ 9.94667177e-01 1.94523126e-03 -1.03118495e-01 -1.85608494e+01] [-2.14875486e-03 9.99995957e-01 -1.86263907e-03 -1.73203758e+00] [ 1.03114454e-01 2.07428231e-03 9.94667335e-01 -1.17426023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96313336499998 meters Centerline goodness : 0.123964 with order 1 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.73, Z:-1.17 [[ 9.94675905e-01 2.26465536e-03 -1.03027745e-01 -1.85611536e+01] [-2.42446430e-03 9.99996044e-01 -1.42592490e-03 -1.73374001e+00] [ 1.03024108e-01 1.66812023e-03 9.94677461e-01 -1.17421572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02313336499998 meters Centerline goodness : 0.107357 with order 1 Centerline is valid? [False, False] Translation: X:-18.61, Y:-1.73, Z:-1.18 [[ 9.94447428e-01 1.97282904e-03 -1.05216070e-01 -1.86072515e+01] [-2.19036727e-03 9.99995696e-01 -1.95202644e-03 -1.73478803e+00] [ 1.05211766e-01 2.17164951e-03 9.94447469e-01 -1.17729212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08313336499998 meters Centerline goodness : 0.122566 with order 1 Centerline is valid? [False, False] Translation: X:-18.61, Y:-1.74, Z:-1.18 [[ 9.94456513e-01 2.21361714e-03 -1.05125374e-01 -1.86076955e+01] [-2.35941881e-03 9.99996419e-01 -1.26258938e-03 -1.73849109e+00] [ 1.05122203e-01 1.50362502e-03 9.94458175e-01 -1.17719572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14313336499998 meters Centerline goodness : 0.279898 with order 3 Centerline is valid? [False, False] Translation: X:-18.61, Y:-1.74, Z:-1.18 [[ 9.94443675e-01 2.53405488e-03 -1.05239512e-01 -1.86072995e+01] [-2.59833077e-03 9.99996512e-01 -4.73658179e-04 -1.74248324e+00] [ 1.05237944e-01 7.44473442e-04 9.94446791e-01 -1.17750350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20313336499999 meters Centerline goodness : 0.125394 with order 1 Centerline is valid? [False, False] Translation: X:-18.61, Y:-1.74, Z:-1.18 [[ 9.94449701e-01 2.75326769e-03 -1.05177048e-01 -1.86073794e+01] [-2.78036808e-03 9.99996129e-01 -1.11043063e-04 -1.74386940e+00] [ 1.05176335e-01 4.02857648e-04 9.94453506e-01 -1.17765843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.263133365 meters Centerline goodness : 0.223654 with order 3 Centerline is valid? [False, False] Translation: X:-18.63, Y:-1.74, Z:-1.18 [[ 9.94355219e-01 -4.80398345e-03 -1.05993493e-01 -1.86260980e+01] [ 4.96384098e-03 9.99986906e-01 1.24442204e-03 -1.73883557e+00] [ 1.05986127e-01 -1.76353239e-03 9.94366045e-01 -1.18074678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.323133365 meters Centerline goodness : 0.122019 with order 1 Centerline is valid? [False, False] Translation: X:-18.63, Y:-1.74, Z:-1.18 [[ 9.94342838e-01 -4.61400025e-03 -1.06118007e-01 -1.86259540e+01] [ 4.80538552e-03 9.99987256e-01 1.54789208e-03 -1.74004381e+00] [ 1.06109513e-01 -2.04907334e-03 9.94352338e-01 -1.18059159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383133365 meters Centerline goodness : 0.125172 with order 1 Centerline is valid? [False, False] Translation: X:-18.63, Y:-1.74, Z:-1.18 [[ 9.94391978e-01 -4.53272087e-03 -1.05660063e-01 -1.86274771e+01] [ 4.76565428e-03 9.99986739e-01 1.95218155e-03 -1.74262737e+00] [ 1.05649813e-01 -2.44477301e-03 9.94400392e-01 -1.18020652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.443133365 meters Centerline goodness : 0.115798 with order 1 Centerline is valid? [False, False] Translation: X:-18.63, Y:-1.75, Z:-1.18 [[ 9.94399460e-01 -4.60909018e-03 -1.05586313e-01 -1.86278223e+01] [ 4.88375754e-03 9.99985330e-01 2.34294855e-03 -1.74606357e+00] [ 1.05573966e-01 -2.84548472e-03 9.94407382e-01 -1.18019142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.503133365 meters Centerline goodness : 0.122233 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.75, Z:-1.18 [[ 9.94234141e-01 -6.45746258e-03 -1.07036318e-01 -1.86224759e+01] [ 6.67157694e-03 9.99976396e-01 1.64242772e-03 -1.75470993e+00] [ 1.07023185e-01 -2.34705874e-03 9.94253755e-01 -1.18200732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.563133365 meters Centerline goodness : 0.126811 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.76, Z:-1.18 [[ 9.94241737e-01 -6.08976187e-03 -1.06987305e-01 -1.86229881e+01] [ 6.39149209e-03 9.99976505e-01 2.47757810e-03 -1.75920610e+00] [ 1.06969704e-01 -3.14712007e-03 9.94257300e-01 -1.18164817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.623133365 meters Centerline goodness : 0.209178 with order 3 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.77, Z:-1.18 [[ 9.94585624e-01 2.70492054e-03 -1.03885124e-01 -1.86476655e+01] [-2.40989783e-03 9.99992700e-01 2.96530478e-03 -1.76571865e+00] [ 1.03892387e-01 -2.69889697e-03 9.94584882e-01 -1.18341809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68313336499997 meters Centerline goodness : 0.123413 with order 1 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.76, Z:-1.18 [[ 9.94609944e-01 4.84027737e-03 -1.03574281e-01 -1.86491736e+01] [-4.40054383e-03 9.99980311e-01 4.47367253e-03 -1.76301671e+00] [ 1.03593895e-01 -3.99377603e-03 9.94611660e-01 -1.18277665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74313336499998 meters Centerline goodness : 0.209139 with order 3 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.76, Z:-1.18 [[ 9.94702625e-01 7.63615841e-03 -1.02510373e-01 -1.86538762e+01] [-7.00978034e-03 9.99954505e-01 6.46923888e-03 -1.75896725e+00] [ 1.02555109e-01 -5.71639370e-03 9.94710899e-01 -1.18074479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80313336499998 meters Centerline goodness : 0.117418 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.75, Z:-1.18 [[ 9.94784347e-01 1.05172004e-02 -1.01456845e-01 -1.86587240e+01] [-9.74273390e-03 9.99919521e-01 8.12596504e-03 -1.75209582e+00] [ 1.01534143e-01 -7.09511578e-03 9.94806754e-01 -1.17844761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86313336499998 meters Centerline goodness : 0.115231 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-1.74, Z:-1.18 [[ 9.94732345e-01 5.89189722e-03 -1.02336927e-01 -1.86790106e+01] [-4.77185689e-03 9.99926049e-01 1.11860024e-02 -1.74264880e+00] [ 1.02395266e-01 -1.06387413e-02 9.94686899e-01 -1.18061696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92313336499998 meters Centerline goodness : 0.116786 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-1.74, Z:-1.18 [[ 9.94762821e-01 5.98169334e-03 -1.02035037e-01 -1.86797848e+01] [-4.92689480e-03 9.99931824e-01 1.05864983e-02 -1.73792962e+00] [ 1.02091406e-01 -1.00283391e-02 9.94724473e-01 -1.18049477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.983133365 meters Centerline goodness : 0.118806 with order 1 Centerline is valid? [False, False] Translation: X:-18.73, Y:-1.73, Z:-1.18 [[ 9.94640364e-01 8.25516895e-03 -1.03065018e-01 -1.87257308e+01] [-7.14565990e-03 9.99912531e-01 1.11297230e-02 -1.72766976e+00] [ 1.03147881e-01 -1.03336042e-02 9.94612352e-01 -1.18460313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.043133365 meters Centerline goodness : 0.112122 with order 1 Centerline is valid? [False, False] Translation: X:-18.72, Y:-1.72, Z:-1.19 [[ 9.94567748e-01 8.45291074e-03 -1.03747497e-01 -1.87235867e+01] [-7.36634456e-03 9.99913983e-01 1.08518756e-02 -1.72393615e+00] [ 1.03830303e-01 -1.00286856e-02 9.94544465e-01 -1.18508265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.103133365 meters Centerline goodness : 0.113070 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-1.72, Z:-1.19 [[ 9.94505916e-01 7.80209769e-04 -1.04677475e-01 -1.87415260e+01] [ 4.46262325e-04 9.99931538e-01 1.16927436e-02 -1.71615012e+00] [ 1.04679432e-01 -1.16752163e-02 9.94437482e-01 -1.18806061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163133365 meters Centerline goodness : 0.255093 with order 3 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.71, Z:-1.19 [[ 9.94245061e-01 2.71562822e-03 -1.07095213e-01 -1.87861677e+01] [-1.37819846e-03 9.99920167e-01 1.25602663e-02 -1.70973332e+00] [ 1.07120773e-01 -1.23403843e-02 9.94169430e-01 -1.19160865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223133365 meters Centerline goodness : 0.110496 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.70, Z:-1.19 [[ 9.94290322e-01 3.87840150e-03 -1.06638237e-01 -1.87874978e+01] [-2.51356012e-03 9.99913242e-01 1.29302261e-02 -1.70306900e+00] [ 1.06679134e-01 -1.25883571e-02 9.94213808e-01 -1.19137952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283133365 meters Centerline goodness : 0.123256 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.70, Z:-1.19 [[ 9.94208901e-01 7.47383458e-03 -1.07204490e-01 -1.87857295e+01] [-5.85979200e-03 9.99864814e-01 1.53628533e-02 -1.69632548e+00] [ 1.07304817e-01 -1.46456895e-02 9.94118293e-01 -1.19180566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343133365 meters Centerline goodness : 0.147222 with order 3 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94214310e-01 7.34069438e-03 -1.07163519e-01 -1.87856787e+01] [-5.79007406e-03 9.99874099e-01 1.47736441e-02 -1.69232860e+00] [ 1.07258476e-01 -1.40676836e-02 9.94131641e-01 -1.19205933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40313336499997 meters Centerline goodness : 0.123937 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94250093e-01 7.18385708e-03 -1.06841680e-01 -1.87869990e+01] [-5.67717253e-03 9.99880205e-01 1.43995038e-02 -1.69046750e+00] [ 1.06932325e-01 -1.37101493e-02 9.94171771e-01 -1.19145519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46313336499998 meters Centerline goodness : 0.118229 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94219379e-01 7.09217853e-03 -1.07133221e-01 -1.87860691e+01] [-5.59255072e-03 9.99882228e-01 1.42917477e-02 -1.68960844e+00] [ 1.07221963e-01 -1.36099846e-02 9.94141951e-01 -1.19173163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52313336499998 meters Centerline goodness : 0.121059 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94256548e-01 7.12443528e-03 -1.06785577e-01 -1.87872232e+01] [-5.61859291e-03 9.99880589e-01 1.43957807e-02 -1.69036193e+00] [ 1.06875388e-01 -1.37131146e-02 9.94177852e-01 -1.19142261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58313336499998 meters Centerline goodness : 0.110659 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94279563e-01 7.16454461e-03 -1.06568380e-01 -1.87880898e+01] [-5.65524488e-03 9.99879482e-01 1.44581982e-02 -1.69069640e+00] [ 1.06659123e-01 -1.37728207e-02 9.94200252e-01 -1.19105144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64313336499998 meters Centerline goodness : 0.122591 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94343748e-01 7.47315764e-03 -1.05946510e-01 -1.87898123e+01] [-5.95420216e-03 9.99875012e-01 1.46460690e-02 -1.69078163e+00] [ 1.06042720e-01 -1.39324002e-02 9.94263964e-01 -1.19097004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70313336499999 meters Centerline goodness : 0.104772 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94399773e-01 8.08797043e-03 -1.05373978e-01 -1.87911045e+01] [-6.54005174e-03 9.99865699e-01 1.50270328e-02 -1.69131638e+00] [ 1.05481364e-01 -1.42537268e-02 9.94319120e-01 -1.19145323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763133365 meters Centerline goodness : 0.416462 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.69, Z:-1.19 [[ 9.94425520e-01 8.29116965e-03 -1.05114895e-01 -1.87915370e+01] [-6.72436364e-03 9.99861081e-01 1.52513024e-02 -1.69255568e+00] [ 1.05226743e-01 -1.44594535e-02 9.94343128e-01 -1.19192285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823133365 meters Centerline goodness : 0.139472 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-1.69, Z:-1.19 [[ 9.94416747e-01 2.01751996e-04 -1.05523899e-01 -1.88115328e+01] [ 1.54873371e-03 9.99862562e-01 1.65063178e-02 -1.69145443e+00] [ 1.05512726e-01 -1.65775873e-02 9.94279764e-01 -1.19471957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883133365 meters Centerline goodness : 0.100375 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.70, Z:-1.19 [[ 9.94221145e-01 7.87006933e-03 -1.07062495e-01 -1.87927966e+01] [-6.15742185e-03 9.99847895e-01 1.63178829e-02 -1.70229130e+00] [ 1.07174633e-01 -1.55643553e-02 9.94118378e-01 -1.19088613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943133365 meters Centerline goodness : 0.138346 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.71, Z:-1.19 [[ 9.94214359e-01 8.12940922e-03 -1.07106124e-01 -1.87923222e+01] [-6.36214627e-03 9.99838099e-01 1.68314921e-02 -1.70518522e+00] [ 1.07225614e-01 -1.60526863e-02 9.94105115e-01 -1.19139320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003133365 meters Centerline goodness : 0.097315 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.71, Z:-1.19 [[ 9.94211442e-01 8.39732729e-03 -1.07112528e-01 -1.87920661e+01] [-6.57496337e-03 9.99827766e-01 1.73553664e-02 -1.70811181e+00] [ 1.07239819e-01 -1.65506429e-02 9.94095417e-01 -1.19177735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063133365 meters Centerline goodness : 0.091677 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.71, Z:-1.19 [[ 9.94217913e-01 8.72515655e-03 -1.07026222e-01 -1.87922105e+01] [-6.85338156e-03 9.99817289e-01 1.78442966e-02 -1.71064346e+00] [ 1.07162362e-01 -1.70076278e-02 9.94096056e-01 -1.19195370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.123133365 meters Centerline goodness : 0.443520 with order 2 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.71, Z:-1.19 [[ 9.94196515e-01 8.97076384e-03 -1.07204546e-01 -1.87915080e+01] [-7.04465383e-03 9.99807138e-01 1.83319040e-02 -1.71317820e+00] [ 1.07348321e-01 -1.74702962e-02 9.94067969e-01 -1.19232173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18313336499997 meters Centerline goodness : 0.447780 with order 2 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94144516e-01 9.14306956e-03 -1.07671193e-01 -1.87898334e+01] [-7.15431969e-03 9.99796869e-01 1.88424087e-02 -1.71624559e+00] [ 1.07821599e-01 -1.79617632e-02 9.94007987e-01 -1.19292910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24313336499998 meters Centerline goodness : 0.162247 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94173422e-01 9.53613177e-03 -1.07369780e-01 -1.87908135e+01] [-7.46153119e-03 9.99777951e-01 1.97072052e-02 -1.72060406e+00] [ 1.07533870e-01 -1.87912367e-02 9.94023821e-01 -1.19257122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30313336499998 meters Centerline goodness : 0.315768 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94168548e-01 9.55096997e-03 -1.07413580e-01 -1.87908228e+01] [-7.46975977e-03 9.99776821e-01 1.97613577e-02 -1.72130692e+00] [ 1.07578348e-01 -1.88437666e-02 9.94018014e-01 -1.19244095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36313336499998 meters Centerline goodness : 0.097813 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94198011e-01 9.86459707e-03 -1.07112115e-01 -1.87918077e+01] [-7.75335864e-03 9.99767727e-01 2.01091357e-02 -1.72201721e+00] [ 1.07285604e-01 -1.91619840e-02 9.94043569e-01 -1.19221706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42313336499998 meters Centerline goodness : 0.310247 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94232985e-01 9.94522766e-03 -1.06779513e-01 -1.87930863e+01] [-7.80962376e-03 9.99761403e-01 2.03996923e-02 -1.72394433e+00] [ 1.06956916e-01 -1.94481391e-02 9.94073432e-01 -1.19159526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.483133365 meters Centerline goodness : 0.443736 with order 2 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.73, Z:-1.19 [[ 9.94193445e-01 1.00682584e-02 -1.07135544e-01 -1.87921202e+01] [-7.89430475e-03 9.99754639e-01 2.06964181e-02 -1.72564722e+00] [ 1.07317634e-01 -1.97304826e-02 9.94028990e-01 -1.19169616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.543133365 meters Centerline goodness : 0.394935 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94253816e-01 1.02805086e-02 -1.06553555e-01 -1.87937258e+01] [-8.12252661e-03 9.99753424e-01 2.06667957e-02 -1.72476858e+00] [ 1.06739747e-01 -1.96825564e-02 9.94092160e-01 -1.19149690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603133365 meters Centerline goodness : 0.094450 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.72, Z:-1.19 [[ 9.94272531e-01 1.04977148e-02 -1.06357571e-01 -1.87942526e+01] [-8.37124591e-03 9.99756436e-01 2.04203428e-02 -1.72241229e+00] [ 1.06546033e-01 -1.94130405e-02 9.94118241e-01 -1.19158544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.663133365 meters Centerline goodness : 0.093853 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.72, Z:-1.20 [[ 9.93732796e-01 1.37928517e-02 -1.10927396e-01 -1.88317355e+01] [-1.13540879e-02 9.99680406e-01 2.25869726e-02 -1.71880891e+00] [ 1.11203483e-01 -2.11859360e-02 9.93571810e-01 -1.19785829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.723133365 meters Centerline goodness : 0.133432 with order 1 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.71, Z:-1.20 [[ 9.93781980e-01 4.98249178e-03 -1.11231966e-01 -1.88522578e+01] [-2.52880495e-03 9.99750587e-01 2.21893794e-02 -1.71227352e+00] [ 1.11314782e-01 -2.17701215e-02 9.93546718e-01 -1.20039677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.783133365 meters Centerline goodness : 0.440532 with order 2 Centerline is valid? [False, False] Translation: X:-18.89, Y:-1.71, Z:-1.21 [[ 9.94158795e-01 4.87805910e-03 -1.07816954e-01 -1.88939601e+01] [-2.50606131e-03 9.99752076e-01 2.21247841e-02 -1.71093629e+00] [ 1.07898149e-01 -2.17253528e-02 9.93924544e-01 -1.20668867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.843133365 meters Centerline goodness : 0.191957 with order 2 Centerline is valid? [False, False] Translation: X:-18.89, Y:-1.71, Z:-1.21 [[ 9.94156395e-01 4.38259318e-03 -1.07860351e-01 -1.88937420e+01] [-2.12129883e-03 9.99775735e-01 2.10708337e-02 -1.70587914e+00] [ 1.07928507e-01 -2.07189001e-02 9.93942737e-01 -1.20705248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90313336499997 meters Centerline goodness : 0.104537 with order 1 Centerline is valid? [False, False] Translation: X:-18.89, Y:-1.70, Z:-1.21 [[ 9.94157283e-01 4.57280582e-03 -1.07844272e-01 -1.88940877e+01] [-2.33414469e-03 9.99779361e-01 2.08753778e-02 -1.70289940e+00] [ 1.07915937e-01 -2.05016847e-02 9.93948606e-01 -1.20688676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96313336499998 meters Centerline goodness : 0.429879 with order 2 Centerline is valid? [False, False] Translation: X:-18.89, Y:-1.70, Z:-1.21 [[ 9.94154125e-01 4.45885686e-03 -1.07878147e-01 -1.88942253e+01] [-2.23615691e-03 9.99782900e-01 2.07160049e-02 -1.70255793e+00] [ 1.07947097e-01 -2.03536693e-02 9.93948264e-01 -1.20662097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02313336499998 meters Centerline goodness : 0.095544 with order 1 Centerline is valid? [False, False] Translation: X:-18.90, Y:-1.71, Z:-1.20 [[ 9.94231665e-01 2.22509086e-03 -1.07230803e-01 -1.88981254e+01] [-1.80802831e-04 9.99818128e-01 1.90703252e-02 -1.70663961e+00] [ 1.07253734e-01 -1.89409335e-02 9.94051245e-01 -1.20447000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08313336499998 meters Centerline goodness : 0.441811 with order 2 Centerline is valid? [False, False] Translation: X:-18.92, Y:-1.72, Z:-1.21 [[ 9.94465979e-01 9.33383090e-03 -1.04643663e-01 -1.89173858e+01] [-7.39931810e-03 9.99794760e-01 1.88596715e-02 -1.71660599e+00] [ 1.04798219e-01 -1.79810099e-02 9.94330939e-01 -1.20766640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14313336499998 meters Centerline goodness : 0.093096 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-1.72, Z:-1.21 [[ 9.94592878e-01 6.83221563e-03 -1.03625907e-01 -1.89208707e+01] [-5.09012121e-03 9.99841400e-01 1.70665211e-02 -1.72236150e+00] [ 1.03726074e-01 -1.64467719e-02 9.94469912e-01 -1.20671491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20313336499999 meters SLAMing on 235.263133365 meters Centerline goodness : 0.110121 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-1.75, Z:-1.21 [[ 9.94234585e-01 1.51256109e-02 -1.06154633e-01 -1.89344574e+01] [-1.33971434e-02 9.99766124e-01 1.69768390e-02 -1.74525901e+00] [ 1.06386591e-01 -1.54567916e-02 9.94204698e-01 -1.21008220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.323133365 meters Centerline goodness : 0.107838 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-1.75, Z:-1.21 [[ 9.94201691e-01 1.56351234e-02 -1.06388625e-01 -1.89336103e+01] [-1.38218909e-02 9.99746744e-01 1.77595718e-02 -1.74875946e+00] [ 1.06639355e-01 -1.61861044e-02 9.94166011e-01 -1.21036955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.383133365 meters Centerline goodness : 0.101281 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-1.75, Z:-1.21 [[ 9.94130994e-01 1.61559647e-02 -1.06969867e-01 -1.89316140e+01] [-1.42794226e-02 9.99730833e-01 1.82855184e-02 -1.75117887e+00] [ 1.07236494e-01 -1.66507327e-02 9.94094104e-01 -1.21108344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.443133365 meters Centerline goodness : 0.114649 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-1.75, Z:-1.21 [[ 9.94119379e-01 1.61530928e-02 -1.07078186e-01 -1.89311253e+01] [-1.42816938e-02 9.99731981e-01 1.82208436e-02 -1.75096320e+00] [ 1.07343810e-01 -1.65844358e-02 9.94083630e-01 -1.21141465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.503133365 meters Centerline goodness : 0.104502 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-1.75, Z:-1.21 [[ 9.94169658e-01 1.65071771e-02 -1.06556110e-01 -1.89323808e+01] [-1.46364990e-02 9.99725146e-01 1.83140771e-02 -1.74985065e+00] [ 1.06829136e-01 -1.66476914e-02 9.94138014e-01 -1.21160629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.563133365 meters Centerline goodness : 0.100595 with order 1 Centerline is valid? [False, False] Translation: X:-18.95, Y:-1.75, Z:-1.21 [[ 9.94349385e-01 7.94943544e-03 -1.05858899e-01 -1.89534637e+01] [-5.96442182e-03 9.99800648e-01 1.90549076e-02 -1.74700006e+00] [ 1.05989271e-01 -1.83158485e-02 9.94198574e-01 -1.21467984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.623133365 meters Centerline goodness : 0.102912 with order 1 Centerline is valid? [False, False] Translation: X:-18.95, Y:-1.75, Z:-1.21 [[ 9.94378270e-01 3.83183219e-03 -1.05816693e-01 -1.89544171e+01] [-2.19592851e-03 9.99876338e-01 1.55719736e-02 -1.74863588e+00] [ 1.05863277e-01 -1.52520663e-02 9.94263718e-01 -1.21375463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68313336499997 meters Centerline goodness : 0.107108 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.76, Z:-1.21 [[ 9.94535249e-01 1.69367508e-03 -1.04387592e-01 -1.89602566e+01] [-1.71405712e-04 9.99893544e-01 1.45901033e-02 -1.75556089e+00] [ 1.04401190e-01 -1.44924794e-02 9.94429665e-01 -1.21121589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74313336499998 meters Centerline goodness : 0.106549 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.76, Z:-1.21 [[ 9.94531167e-01 1.64113608e-03 -1.04427315e-01 -1.89599630e+01] [-1.29174889e-04 9.99895097e-01 1.44837149e-02 -1.75533194e+00] [ 1.04440130e-01 -1.43910165e-02 9.94427050e-01 -1.21143820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80313336499998 meters Centerline goodness : 0.204486 with order 3 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.75, Z:-1.21 [[ 9.94456930e-01 2.26263856e-03 -1.05120387e-01 -1.89581387e+01] [-7.55297387e-04 9.99896363e-01 1.43767864e-02 -1.75158672e+00] [ 1.05142022e-01 -1.42176978e-02 9.94355576e-01 -1.21190564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86313336499998 meters Centerline goodness : 0.099148 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.75, Z:-1.21 [[ 9.94504316e-01 2.66304989e-03 -1.04661713e-01 -1.89599850e+01] [-1.19945285e-03 9.99900651e-01 1.40445272e-02 -1.74708802e+00] [ 1.04688717e-01 -1.38418062e-02 9.94408707e-01 -1.21134636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92313336499998 meters Centerline goodness : 0.102417 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.75, Z:-1.21 [[ 9.94454817e-01 -1.08966267e-03 -1.05159069e-01 -1.89587121e+01] [ 2.18823058e-03 9.99944230e-01 1.03319148e-02 -1.74565309e+00] [ 1.05141946e-01 -1.05047347e-02 9.94401741e-01 -1.21160953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.983133365 meters Centerline goodness : 0.104314 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.75, Z:-1.21 [[ 9.94414659e-01 -1.03548448e-03 -1.05538685e-01 -1.89577897e+01] [ 2.15435549e-03 9.99942678e-01 1.04880742e-02 -1.74614951e+00] [ 1.05521775e-01 -1.06568626e-02 9.94359888e-01 -1.21150647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.043133365 meters Centerline goodness : 0.107626 with order 1 Centerline is valid? [False, False] Translation: X:-19.00, Y:-1.75, Z:-1.21 [[ 9.94185504e-01 -2.65416168e-03 -1.07648223e-01 -1.90032234e+01] [ 3.71868021e-03 9.99946143e-01 9.68933064e-03 -1.74931269e+00] [ 1.07616708e-01 -1.00333014e-02 9.94141829e-01 -1.21459958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.103133365 meters Centerline goodness : 0.104979 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.75, Z:-1.21 [[ 9.94210086e-01 5.25481873e-03 -1.07325168e-01 -1.89833528e+01] [-4.35319031e-03 9.99953255e-01 8.63345851e-03 -1.75213721e+00] [ 1.07365518e-01 -8.11626465e-03 9.94186487e-01 -1.21160238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.163133365 meters Centerline goodness : 0.109315 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.75, Z:-1.21 [[ 9.94158872e-01 5.18629064e-03 -1.07801855e-01 -1.89816703e+01] [-4.27649638e-03 9.99953279e-01 8.66897433e-03 -1.75300896e+00] [ 1.07841778e-01 -8.15732350e-03 9.94134603e-01 -1.21219803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223133365 meters Centerline goodness : 0.106610 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.76, Z:-1.21 [[ 9.94115432e-01 5.41886715e-03 -1.08190314e-01 -1.89810678e+01] [-4.43927648e-03 9.99946964e-01 9.29312849e-03 -1.75620963e+00] [ 1.08234935e-01 -8.75815573e-03 9.94086764e-01 -1.21161396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283133365 meters Centerline goodness : 0.105469 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.76, Z:-1.21 [[ 9.94161108e-01 5.52502421e-03 -1.07764401e-01 -1.89825396e+01] [-4.52048457e-03 9.99944049e-01 9.56368822e-03 -1.75759385e+00] [ 1.07811211e-01 -9.02069956e-03 9.94130459e-01 -1.21102120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343133365 meters Centerline goodness : 0.156988 with order 3 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.76, Z:-1.21 [[ 9.94207638e-01 5.56153813e-03 -1.07332393e-01 -1.89838912e+01] [-4.56495863e-03 9.99944183e-01 9.52844652e-03 -1.75719081e+00] [ 1.07379395e-01 -8.98328637e-03 9.94177533e-01 -1.21070053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40313336499997 meters Centerline goodness : 0.106566 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.75, Z:-1.21 [[ 9.94156076e-01 5.94211671e-03 -1.07788630e-01 -1.89822916e+01] [-4.96579631e-03 9.99944201e-01 9.32388304e-03 -1.75416571e+00] [ 1.07838019e-01 -8.73413859e-03 9.94130110e-01 -1.21146540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46313336499998 meters Centerline goodness : 0.106107 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.75, Z:-1.21 [[ 9.94138418e-01 5.81125553e-03 -1.07958487e-01 -1.89821118e+01] [-4.86906580e-03 9.99947745e-01 8.98888561e-03 -1.75243337e+00] [ 1.08005082e-01 -8.41053955e-03 9.94114765e-01 -1.21123569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52313336499998 meters Centerline goodness : 0.115502 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-1.75, Z:-1.21 [[ 9.94163653e-01 5.64721348e-03 -1.07734586e-01 -1.89832343e+01] [-4.74206823e-03 9.99951292e-01 8.65596259e-03 -1.75077081e+00] [ 1.07778220e-01 -8.09455863e-03 9.94142009e-01 -1.21060901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58313336499998 meters Centerline goodness : 0.122970 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-1.75, Z:-1.21 [[ 9.94271327e-01 1.37210938e-04 -1.06885495e-01 -1.90067548e+01] [ 1.09713050e-03 9.99933393e-01 1.14893719e-02 -1.74517963e+00] [ 1.06879952e-01 -1.15408204e-02 9.94204951e-01 -1.21298458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64313336499998 meters Centerline goodness : 0.124997 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-1.74, Z:-1.21 [[ 9.94283658e-01 -1.46798234e-05 -1.06770818e-01 -1.90071651e+01] [ 1.21029451e-03 9.99937292e-01 1.11331652e-02 -1.74337813e+00] [ 1.06763959e-01 -1.11987483e-02 9.94221326e-01 -1.21290334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70313336499999 meters Centerline goodness : 0.446739 with order 3 Centerline is valid? [False, False] Translation: X:-19.01, Y:-1.74, Z:-1.21 [[ 9.94293240e-01 -3.01856661e-04 -1.06681118e-01 -1.90077867e+01] [ 1.43914862e-03 9.99942954e-01 1.05838439e-02 -1.74103799e+00] [ 1.06671837e-01 -1.06769745e-02 9.94236954e-01 -1.21249230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763133365 meters Centerline goodness : 0.102430 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-1.74, Z:-1.21 [[ 9.94271698e-01 -3.32296153e-04 -1.06881619e-01 -1.90074912e+01] [ 1.40292475e-03 9.99949594e-01 9.94192434e-03 -1.73634156e+00] [ 1.06872928e-01 -1.00349209e-02 9.94222046e-01 -1.21252747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823133365 meters Centerline goodness : 0.196158 with order 3 Centerline is valid? [False, False] Translation: X:-18.99, Y:-1.74, Z:-1.21 [[ 9.94371789e-01 7.23322242e-03 -1.05699700e-01 -1.89885810e+01] [-6.39069064e-03 9.99945071e-01 8.30752239e-03 -1.73672598e+00] [ 1.05753984e-01 -7.58527182e-03 9.94363394e-01 -1.20942933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.883133365 meters Centerline goodness : 0.094311 with order 1 Centerline is valid? [False, False] Translation: X:-19.03, Y:-1.74, Z:-1.21 [[ 9.94153209e-01 5.05286721e-03 -1.07860399e-01 -1.90348698e+01] [-4.30880607e-03 9.99965296e-01 7.13031366e-03 -1.74142609e+00] [ 1.07892684e-01 -6.62387466e-03 9.94140479e-01 -1.21218436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943133365 meters Centerline goodness : 0.444551 with order 2 Centerline is valid? [False, False] Translation: X:-19.03, Y:-1.74, Z:-1.21 [[ 9.94071585e-01 4.92450417e-03 -1.08615991e-01 -1.90326298e+01] [-4.17053002e-03 9.99965615e-01 7.16772409e-03 -1.74234271e+00] [ 1.08647554e-01 -6.67224460e-03 9.94057941e-01 -1.21261612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003133365 meters Centerline goodness : 0.391679 with order 3 Centerline is valid? [False, False] Translation: X:-19.03, Y:-1.74, Z:-1.21 [[ 9.94052206e-01 4.93852336e-03 -1.08792569e-01 -1.90323274e+01] [-4.17500294e-03 9.99965041e-01 7.24479467e-03 -1.74274532e+00] [ 1.08824544e-01 -6.74749482e-03 9.94038073e-01 -1.21237635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063133365 meters Centerline goodness : 0.442855 with order 2 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.22 [[ 9.93851120e-01 4.58344141e-03 -1.10629760e-01 -1.90803620e+01] [-3.80727684e-03 9.99966643e-01 7.22610419e-03 -1.74579983e+00] [ 1.10659191e-01 -6.76047362e-03 9.93835419e-01 -1.21505433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123133365 meters Centerline goodness : 0.363207 with order 1 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.22 [[ 9.93822428e-01 4.52520822e-03 -1.10889602e-01 -1.90795842e+01] [-3.76305742e-03 9.99967846e-01 7.08138406e-03 -1.74540513e+00] [ 1.10918081e-01 -6.62035436e-03 9.93807502e-01 -1.21529056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18313336499997 meters Centerline goodness : 0.093688 with order 1 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.22 [[ 9.93883220e-01 4.61823204e-03 -1.10339551e-01 -1.90811056e+01] [-3.86352008e-03 9.99967666e-01 7.05272891e-03 -1.74500360e+00] [ 1.10368554e-01 -6.58328985e-03 9.93868926e-01 -1.21516974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24313336499998 meters Centerline goodness : 0.442216 with order 2 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.21 [[ 9.93952321e-01 4.79817016e-03 -1.09707614e-01 -1.90833754e+01] [-4.02872935e-03 9.99965718e-01 7.23414494e-03 -1.74535587e+00] [ 1.09738564e-01 -6.74841287e-03 9.93937577e-01 -1.21432528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30313336499998 meters Centerline goodness : 0.510981 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.21 [[ 9.93893142e-01 5.04881488e-03 -1.10231264e-01 -1.90817218e+01] [-4.23296172e-03 9.99961901e-01 7.63404928e-03 -1.74684839e+00] [ 1.10265607e-01 -7.12082450e-03 9.93876647e-01 -1.21474743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36313336499998 meters Centerline goodness : 0.211720 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.21 [[ 9.93887284e-01 5.07817587e-03 -1.10282718e-01 -1.90814417e+01] [-4.24800614e-03 9.99960858e-01 7.76130495e-03 -1.74776105e+00] [ 1.10317815e-01 -7.24538064e-03 9.93869953e-01 -1.21494355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42313336499998 meters Centerline goodness : 0.557097 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.75, Z:-1.21 [[ 9.93952802e-01 1.76582345e-03 -1.09793942e-01 -1.90831216e+01] [-1.23377237e-03 9.99987167e-01 4.91365262e-03 -1.74950150e+00] [ 1.09801210e-01 -4.74847806e-03 9.93942225e-01 -1.21451951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.483133365 meters Centerline goodness : 0.482452 with order 2 Centerline is valid? [False, False] Translation: X:-19.09, Y:-1.76, Z:-1.21 [[ 9.94000591e-01 -9.10865281e-04 -1.09370905e-01 -1.90852840e+01] [ 1.26534893e-03 9.99994169e-01 3.17175412e-03 -1.75508319e+00] [ 1.09367378e-01 -3.29111783e-03 9.93995948e-01 -1.21342788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543133365 meters Centerline goodness : 0.284009 with order 1 Centerline is valid? [False, False] Translation: X:-19.08, Y:-1.76, Z:-1.21 [[ 9.93980064e-01 -5.01884102e-03 -1.09446079e-01 -1.90847957e+01] [ 5.01997467e-03 9.99987365e-01 -2.65179525e-04 -1.75746439e+00] [ 1.09446027e-01 -2.85833383e-04 9.93992699e-01 -1.21372879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603133365 meters SLAMing on 237.663133365 meters Centerline goodness : 0.091106 with order 1 Centerline is valid? [False, False] Translation: X:-19.10, Y:-1.77, Z:-1.22 [[ 9.94201889e-01 2.19416670e-03 -1.07507157e-01 -1.91048145e+01] [-2.26427117e-03 9.99997296e-01 -5.30028989e-04 -1.76933105e+00] [ 1.07505703e-01 7.70381178e-04 9.94204169e-01 -1.21654132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723133365 meters Centerline goodness : 0.103536 with order 1 Centerline is valid? [False, False] Translation: X:-19.12, Y:-1.77, Z:-1.22 [[ 9.94091597e-01 1.04489409e-02 -1.08040342e-01 -1.91244085e+01] [-1.06633651e-02 9.99942155e-01 -1.40711463e-03 -1.77357687e+00] [ 1.08019390e-01 2.55087444e-03 9.94145515e-01 -1.21996491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783133365 meters Centerline goodness : 0.102721 with order 1 Centerline is valid? [False, False] Translation: X:-19.12, Y:-1.77, Z:-1.22 [[ 9.94070913e-01 1.04431695e-02 -1.08231051e-01 -1.91236512e+01] [-1.06905855e-02 9.99941399e-01 -1.70600377e-03 -1.77174850e+00] [ 1.08206892e-01 2.85294203e-03 9.94124303e-01 -1.22046459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843133365 meters Centerline goodness : 0.438482 with order 2 Centerline is valid? [False, False] Translation: X:-19.13, Y:-1.77, Z:-1.22 [[ 9.94147411e-01 1.04290983e-02 -1.07527482e-01 -1.91259833e+01] [-1.07144486e-02 9.99940443e-01 -2.07634503e-03 -1.76896348e+00] [ 1.07499423e-01 3.21629071e-03 9.94199944e-01 -1.21985967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90313336499997 meters Centerline goodness : 0.104210 with order 1 Centerline is valid? [False, False] Translation: X:-19.14, Y:-1.76, Z:-1.22 [[ 9.94072013e-01 2.74181665e-03 -1.08689078e-01 -1.91448870e+01] [-2.83654300e-03 9.99995720e-01 -7.16935810e-04 -1.76274683e+00] [ 1.08686647e-01 1.02098707e-03 9.94075535e-01 -1.22324611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96313336499998 meters Centerline goodness : 0.240057 with order 3 Centerline is valid? [False, False] Translation: X:-19.14, Y:-1.76, Z:-1.22 [[ 9.94032633e-01 2.52454235e-03 -1.09053893e-01 -1.91432385e+01] [-2.67594472e-03 9.99995648e-01 -1.24200069e-03 -1.76005811e+00] [ 1.09050283e-01 1.52641140e-03 9.94035063e-01 -1.22429349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02313336499998 meters Centerline goodness : 0.104764 with order 1 Centerline is valid? [False, False] Translation: X:-19.14, Y:-1.76, Z:-1.22 [[ 9.94028726e-01 2.28832586e-03 -1.09094713e-01 -1.91436895e+01] [-2.48780335e-03 9.99995473e-01 -1.69240551e-03 -1.75776594e+00] [ 1.09090346e-01 1.95370588e-03 9.94029919e-01 -1.22365963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08313336499998 meters Centerline goodness : 0.090675 with order 1 Centerline is valid? [False, False] Translation: X:-19.14, Y:-1.76, Z:-1.22 [[ 9.94044920e-01 2.21610568e-03 -1.08948547e-01 -1.91446308e+01] [-2.42412766e-03 9.99995483e-01 -1.77694991e-03 -1.75728871e+00] [ 1.08944117e-01 2.03047322e-03 9.94045802e-01 -1.22290567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14313336499998 meters Centerline goodness : 0.091410 with order 1 Centerline is valid? [False, False] Translation: X:-19.15, Y:-1.76, Z:-1.22 [[ 9.94084603e-01 2.05321862e-03 -1.08589071e-01 -1.91456818e+01] [-2.29273783e-03 9.99995207e-01 -2.08093317e-03 -1.75603550e+00] [ 1.08584278e-01 2.31758989e-03 9.94084545e-01 -1.22271141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20313336499999 meters Centerline goodness : 0.106011 with order 1 Centerline is valid? [False, False] Translation: X:-19.16, Y:-1.76, Z:-1.23 [[ 9.93857441e-01 1.00663884e-02 -1.10209138e-01 -1.91640680e+01] [-1.05044724e-02 9.99939063e-01 -3.39511853e-03 -1.75845919e+00] [ 1.10168246e-01 4.53195266e-03 9.93902620e-01 -1.22593697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263133365 meters Centerline goodness : 0.234389 with order 1 Centerline is valid? [False, False] Translation: X:-19.16, Y:-1.76, Z:-1.23 [[ 9.93856079e-01 9.90241268e-03 -1.10236278e-01 -1.91642750e+01] [-1.03977583e-02 9.99938260e-01 -3.91952643e-03 -1.75579517e+00] [ 1.10190660e-01 5.04165535e-03 9.93897681e-01 -1.22570876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323133365 meters Centerline goodness : 0.437516 with order 1 Centerline is valid? [False, False] Translation: X:-19.19, Y:-1.75, Z:-1.23 [[ 9.94203756e-01 2.76968394e-03 -1.07476604e-01 -1.91894624e+01] [-3.10030330e-03 9.99990962e-01 -2.90923110e-03 -1.74946658e+00] [ 1.07467575e-01 3.22557855e-03 9.94203357e-01 -1.22844452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383133365 meters Centerline goodness : 0.195833 with order 1 Centerline is valid? [False, False] Translation: X:-19.19, Y:-1.75, Z:-1.23 [[ 9.94229692e-01 2.64585965e-03 -1.07239536e-01 -1.91902180e+01] [-3.01043597e-03 9.99990227e-01 -3.23790134e-03 -1.74737072e+00] [ 1.07229921e-01 3.54205541e-03 9.94227941e-01 -1.22828802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443133365 meters Centerline goodness : 0.534782 with order 3 Centerline is valid? [False, False] Translation: X:-19.19, Y:-1.75, Z:-1.23 [[ 9.94214465e-01 2.39588600e-03 -1.07386486e-01 -1.91895732e+01] [-2.80933483e-03 9.99989213e-01 -3.69898664e-03 -1.74526502e+00] [ 1.07376465e-01 3.97927062e-03 9.94210471e-01 -1.22869273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503133365 meters Centerline goodness : 0.096188 with order 1 Centerline is valid? [False, False] Translation: X:-19.19, Y:-1.74, Z:-1.23 [[ 9.94235689e-01 2.04774996e-03 -1.07197017e-01 -1.91907315e+01] [-2.52339861e-03 9.99987564e-01 -4.30169111e-03 -1.74239303e+00] [ 1.07186875e-01 4.54739563e-03 9.94228492e-01 -1.22791629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563133365 meters SLAMing on 238.623133365 meters Centerline goodness : 0.448330 with order 2 Centerline is valid? [False, False] Translation: X:-19.26, Y:-1.75, Z:-1.23 [[ 9.94332304e-01 -8.83605391e-03 -1.05949012e-01 -1.92575756e+01] [ 8.29012493e-03 9.99950000e-01 -5.59205862e-03 -1.75120598e+00] [ 1.05993126e-01 4.68203399e-03 9.94355840e-01 -1.23440250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68313336499997 meters Centerline goodness : 0.098351 with order 1 Centerline is valid? [False, False] Translation: X:-19.26, Y:-1.75, Z:-1.23 [[ 9.94329625e-01 -8.94745841e-03 -1.05964808e-01 -1.92574499e+01] [ 8.45441426e-03 9.99951249e-01 -5.10119974e-03 -1.75478028e+00] [ 1.06005284e-01 4.17640364e-03 9.94356796e-01 -1.23432685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74313336499998 meters Centerline goodness : 0.093301 with order 1 Centerline is valid? [False, False] Translation: X:-19.25, Y:-1.76, Z:-1.24 [[ 9.94221498e-01 -9.04414798e-03 -1.06966430e-01 -1.92540579e+01] [ 8.59378874e-03 9.99952166e-01 -4.67049186e-03 -1.76021715e+00] [ 1.07003554e-01 3.72425651e-03 9.94251663e-01 -1.23520201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80313336499998 meters Centerline goodness : 0.442608 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.77, Z:-1.24 [[ 9.94080941e-01 -1.18891555e-03 -1.08635488e-01 -1.92714503e+01] [ 5.60343643e-04 9.99982928e-01 -5.81640796e-03 -1.76654471e+00] [ 1.08640548e-01 5.72110709e-03 9.94064636e-01 -1.23898983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86313336499998 meters Centerline goodness : 0.318690 with order 1 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.77, Z:-1.24 [[ 9.94028147e-01 -9.27020170e-04 -1.09120047e-01 -1.92699959e+01] [ 2.90094468e-04 9.99982831e-01 -5.85265685e-03 -1.76527755e+00] [ 1.09123599e-01 5.78605052e-03 9.94011349e-01 -1.23939486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92313336499998 meters Centerline goodness : 0.163160 with order 1 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.76, Z:-1.24 [[ 9.94036053e-01 -8.53702436e-04 -1.09048599e-01 -1.92701926e+01] [ 1.80009923e-04 9.99980840e-01 -6.18760565e-03 -1.76290230e+00] [ 1.09051792e-01 6.13107326e-03 9.94017161e-01 -1.23950395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.983133365 meters Centerline goodness : 0.442578 with order 2 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.76, Z:-1.24 [[ 9.94079196e-01 -8.48561859e-04 -1.08654650e-01 -1.92716547e+01] [ 1.28564283e-04 9.99977991e-01 -6.63331119e-03 -1.76000054e+00] [ 1.08657887e-01 6.58006754e-03 9.94057426e-01 -1.23903573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.043133365 meters Centerline goodness : 0.108445 with order 1 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.76, Z:-1.24 [[ 9.94115829e-01 -1.01827502e-03 -1.08317507e-01 -1.92729607e+01] [ 2.23572585e-04 9.99972973e-01 -7.34867775e-03 -1.75587238e+00] [ 1.08322062e-01 7.28122004e-03 9.94089188e-01 -1.23866277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.103133365 meters Centerline goodness : 0.443415 with order 2 Centerline is valid? [False, False] Translation: X:-19.32, Y:-1.76, Z:-1.24 [[ 9.94183436e-01 -1.79570753e-03 -1.07685057e-01 -1.93217645e+01] [ 9.83433850e-04 9.99970669e-01 -7.59567977e-03 -1.75869188e+00] [ 1.07695538e-01 7.44559788e-03 9.94156041e-01 -1.24187652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.163133365 meters Centerline goodness : 0.330937 with order 1 Centerline is valid? [False, False] Translation: X:-19.32, Y:-1.76, Z:-1.24 [[ 9.94201536e-01 -1.81304086e-03 -1.07517523e-01 -1.93227362e+01] [ 1.01511766e-03 9.99971542e-01 -7.47559747e-03 -1.75927731e+00] [ 1.07528017e-01 7.32310756e-03 9.94175084e-01 -1.24112576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.223133365 meters Centerline goodness : 0.092683 with order 1 Centerline is valid? [False, False] Translation: X:-19.32, Y:-1.76, Z:-1.24 [[ 9.94148275e-01 -2.08082597e-03 -1.08004059e-01 -1.93211708e+01] [ 1.24979605e-03 9.99969098e-01 -7.76155160e-03 -1.75829358e+00] [ 1.08016872e-01 7.58115009e-03 9.94120154e-01 -1.24159325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.283133365 meters Centerline goodness : 0.443404 with order 2 Centerline is valid? [False, False] Translation: X:-19.32, Y:-1.76, Z:-1.24 [[ 9.94155495e-01 -2.08927857e-03 -1.07937425e-01 -1.93213329e+01] [ 1.25947179e-03 9.99969133e-01 -7.75544983e-03 -1.75822495e+00] [ 1.07950296e-01 7.57417892e-03 9.94127439e-01 -1.24162902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.343133365 meters Centerline goodness : 0.439027 with order 1 Centerline is valid? [False, False] Translation: X:-19.32, Y:-1.76, Z:-1.24 [[ 9.94172726e-01 -2.10234126e-03 -1.07778339e-01 -1.93223843e+01] [ 1.27098021e-03 9.99968914e-01 -7.78173095e-03 -1.75772128e+00] [ 1.07791349e-01 7.59940054e-03 9.94144494e-01 -1.24084120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40313336499997 meters Centerline goodness : 0.096832 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.76, Z:-1.24 [[ 9.93929952e-01 -3.89193980e-03 -1.09945907e-01 -1.93673415e+01] [ 2.92739314e-03 9.99955815e-01 -8.93297560e-03 -1.76043720e+00] [ 1.09975816e-01 8.55689712e-03 9.93897429e-01 -1.24486575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46313336499998 meters Centerline goodness : 0.097619 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.76, Z:-1.24 [[ 9.93934692e-01 -7.89693832e-03 -1.09688041e-01 -1.93679941e+01] [ 6.59303926e-03 9.99903292e-01 -1.22449463e-02 -1.76288564e+00] [ 1.09774131e-01 1.14474993e-02 9.93890635e-01 -1.24482718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52313336499998 meters Centerline goodness : 0.440717 with order 2 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.77, Z:-1.24 [[ 9.93979778e-01 -7.93306692e-03 -1.09276110e-01 -1.93688869e+01] [ 6.69133033e-03 9.99908867e-01 -1.17253160e-02 -1.76653149e+00] [ 1.09359169e-01 1.09235245e-02 9.93942276e-01 -1.24485484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58313336499998 meters Centerline goodness : 0.442620 with order 2 Centerline is valid? [False, False] Translation: X:-19.39, Y:-1.77, Z:-1.25 [[ 9.94027574e-01 -4.24675540e-04 -1.09128375e-01 -1.93879292e+01] [-1.00784955e-03 9.99914057e-01 -1.30714793e-02 -1.77392138e+00] [ 1.09124547e-01 1.31033958e-02 9.93941716e-01 -1.24887437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64313336499998 meters Centerline goodness : 0.448477 with order 1 Centerline is valid? [False, False] Translation: X:-19.38, Y:-1.77, Z:-1.25 [[ 9.93913826e-01 7.04341334e-05 -1.10160341e-01 -1.93848791e+01] [-1.53214297e-03 9.99911909e-01 -1.31843287e-02 -1.77172760e+00] [ 1.10149708e-01 1.32728680e-02 9.93826380e-01 -1.24961528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70313336499999 meters Centerline goodness : 0.205825 with order 1 Centerline is valid? [False, False] Translation: X:-19.40, Y:-1.77, Z:-1.25 [[ 9.93666313e-01 9.08348528e-03 -1.12003341e-01 -1.94042022e+01] [-1.07025303e-02 9.99846631e-01 -1.38625480e-02 -1.77239920e+00] [ 1.11860242e-01 1.49734661e-02 9.93611132e-01 -1.25264577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.763133365 meters Centerline goodness : 0.191547 with order 1 Centerline is valid? [False, False] Translation: X:-19.40, Y:-1.77, Z:-1.25 [[ 9.93667091e-01 9.36251530e-03 -1.11973457e-01 -1.94047108e+01] [-1.10154972e-02 9.99839167e-01 -1.41527074e-02 -1.76889120e+00] [ 1.11822943e-01 1.52965229e-02 9.93610409e-01 -1.25228221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.823133365 meters Centerline goodness : 0.091077 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-1.76, Z:-1.26 [[ 9.93688993e-01 1.05762845e-03 -1.12165354e-01 -1.94239139e+01] [-2.58200537e-03 9.99906264e-01 -1.34460504e-02 -1.76429276e+00] [ 1.12140619e-01 1.36508039e-02 9.93598579e-01 -1.25576351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.883133365 meters Centerline goodness : 0.448733 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-1.76, Z:-1.26 [[ 9.93703727e-01 9.86485884e-04 -1.12035396e-01 -1.94247897e+01] [-2.51414109e-03 9.99905778e-01 -1.34950069e-02 -1.76398338e+00] [ 1.12011527e-01 1.36917114e-02 9.93612578e-01 -1.25511382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.943133365 meters Centerline goodness : 0.444444 with order 2 Centerline is valid? [False, False] Translation: X:-19.47, Y:-1.77, Z:-1.26 [[ 9.93457439e-01 3.83333152e-04 -1.14202320e-01 -1.94704542e+01] [-1.92576284e-03 9.99908414e-01 -1.33960972e-02 -1.76831312e+00] [ 1.14186725e-01 1.35283790e-02 9.93367190e-01 -1.25874377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.003133365 meters Centerline goodness : 0.442875 with order 2 Centerline is valid? [False, False] Translation: X:-19.47, Y:-1.77, Z:-1.26 [[ 9.93517310e-01 2.50743927e-04 -1.13680655e-01 -1.94720479e+01] [-1.80693516e-03 9.99906069e-01 -1.35863132e-02 -1.76785240e+00] [ 1.13666571e-01 1.37036509e-02 9.93424441e-01 -1.25839304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.063133365 meters Centerline goodness : 0.443581 with order 2 Centerline is valid? [False, False] Translation: X:-19.47, Y:-1.77, Z:-1.26 [[ 9.93555580e-01 4.49188305e-03 -1.13256930e-01 -1.94734027e+01] [-5.67424838e-03 9.99932697e-01 -1.01194727e-02 -1.76507372e+00] [ 1.13203852e-01 1.06969065e-02 9.93514199e-01 -1.25810095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.123133365 meters Centerline goodness : 0.440192 with order 1 Centerline is valid? [False, False] Translation: X:-19.47, Y:-1.76, Z:-1.26 [[ 9.93556354e-01 4.51001645e-03 -1.13249420e-01 -1.94734030e+01] [-5.71486867e-03 9.99930452e-01 -1.03165322e-02 -1.76357080e+00] [ 1.13195016e-01 1.08972617e-02 9.93513029e-01 -1.25818656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18313336499997 meters Centerline goodness : 0.211445 with order 1 Centerline is valid? [False, False] Translation: X:-19.47, Y:-1.76, Z:-1.26 [[ 9.93514211e-01 4.23685083e-03 -1.13629057e-01 -1.94720738e+01] [-5.54166754e-03 9.99922261e-01 -1.11697133e-02 -1.75933471e+00] [ 1.13572899e-01 1.17269634e-02 9.93460455e-01 -1.25882130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24313336499998 meters Centerline goodness : 0.118826 with order 1 Centerline is valid? [False, False] Translation: X:-19.47, Y:-1.76, Z:-1.26 [[ 9.93526002e-01 4.12542007e-03 -1.13530018e-01 -1.94722434e+01] [-5.45289769e-03 9.99920324e-01 -1.13846918e-02 -1.75828130e+00] [ 1.13474006e-01 1.19300549e-02 9.93469337e-01 -1.25894023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30313336499998 meters Centerline goodness : 0.094146 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-1.76, Z:-1.26 [[ 9.93711174e-01 -4.70682963e-03 -1.11874701e-01 -1.94950158e+01] [ 3.47136726e-03 9.99930854e-01 -1.12354958e-02 -1.75553731e+00] [ 1.11919849e-01 1.07764795e-02 9.93658802e-01 -1.26186175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36313336499998 meters Centerline goodness : 0.094623 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-1.76, Z:-1.26 [[ 9.93778542e-01 -5.01045745e-03 -1.11261424e-01 -1.94970264e+01] [ 3.75606990e-03 9.99927037e-01 -1.14809801e-02 -1.75509191e+00] [ 1.11310831e-01 1.09916460e-02 9.93724853e-01 -1.26122796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42313336499998 meters Centerline goodness : 0.094959 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-1.75, Z:-1.26 [[ 9.93725130e-01 -5.05299487e-03 -1.11735548e-01 -1.94955963e+01] [ 3.76619717e-03 9.99924173e-01 -1.17245314e-02 -1.75350503e+00] [ 1.11786320e-01 1.12301434e-02 9.93668809e-01 -1.26158888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.483133365 meters Centerline goodness : 0.123345 with order 1 Centerline is valid? [False, False] Translation: X:-19.49, Y:-1.75, Z:-1.26 [[ 9.93607893e-01 -4.92347808e-03 -1.12779049e-01 -1.94924324e+01] [ 3.60066602e-03 9.99922353e-01 -1.19299252e-02 -1.75175143e+00] [ 1.12829028e-01 1.14475881e-02 9.93548470e-01 -1.26243232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.543133365 meters Centerline goodness : 0.123658 with order 1 Centerline is valid? [False, False] Translation: X:-19.49, Y:-1.75, Z:-1.26 [[ 9.93574197e-01 -4.98569550e-03 -1.13072803e-01 -1.94913663e+01] [ 3.63310225e-03 9.99919403e-01 -1.21650562e-02 -1.75045068e+00] [ 1.13124341e-01 1.16760809e-02 9.93512231e-01 -1.26292208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.603133365 meters SLAMing on 240.663133365 meters Centerline goodness : 0.138057 with order 1 Centerline is valid? [False, False] Translation: X:-19.54, Y:-1.75, Z:-1.27 [[ 9.93492604e-01 -5.61193571e-03 -1.13758309e-01 -1.95376920e+01] [ 4.25001118e-03 9.99916410e-01 -1.22110811e-02 -1.75454647e+00] [ 1.13817328e-01 1.16481447e-02 9.93433408e-01 -1.26764120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.723133365 meters Centerline goodness : 0.130023 with order 1 Centerline is valid? [False, False] Translation: X:-19.54, Y:-1.75, Z:-1.27 [[ 9.93458478e-01 -5.73492574e-03 -1.14049830e-01 -1.95361288e+01] [ 4.34463500e-03 9.99913243e-01 -1.24350358e-02 -1.75367860e+00] [ 1.14111250e-01 1.18581869e-02 9.93397205e-01 -1.26874242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.783133365 meters Centerline goodness : 0.092342 with order 1 Centerline is valid? [False, False] Translation: X:-19.54, Y:-1.75, Z:-1.27 [[ 9.93457157e-01 -5.72834237e-03 -1.14061668e-01 -1.95362649e+01] [ 4.33705320e-03 9.99913188e-01 -1.24421163e-02 -1.75344517e+00] [ 1.14123039e-01 1.18660180e-02 9.93395757e-01 -1.26856402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.843133365 meters SLAMing on 240.90313336499997 meters Centerline goodness : 0.484594 with order 3 Centerline is valid? [False, False] Translation: X:-19.58, Y:-1.76, Z:-1.27 [[ 9.93938514e-01 -4.47296774e-03 -1.09846361e-01 -1.95759866e+01] [ 3.06329039e-03 9.99910823e-01 -1.29985786e-02 -1.75772139e+00] [ 1.09894707e-01 1.25832966e-02 9.93863579e-01 -1.27493197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96313336499998 meters Centerline goodness : 0.092507 with order 1 Centerline is valid? [False, False] Translation: X:-19.58, Y:-1.76, Z:-1.28 [[ 9.93966383e-01 -4.39759378e-03 -1.09596945e-01 -1.95764692e+01] [ 2.99627875e-03 9.99911689e-01 -1.29474874e-02 -1.75763251e+00] [ 1.09644204e-01 1.25409842e-02 9.93891781e-01 -1.27513346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02313336499998 meters SLAMing on 241.08313336499998 meters Centerline goodness : 0.092591 with order 1 Centerline is valid? [False, False] Translation: X:-19.64, Y:-1.76, Z:-1.28 [[ 9.93974108e-01 2.13616687e-04 -1.09614899e-01 -1.96419325e+01] [-1.93321029e-03 9.99876731e-01 -1.55815554e-02 -1.76237426e+00] [ 1.09598058e-01 1.56995712e-02 9.93851996e-01 -1.28173079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14313336499998 meters Centerline goodness : 0.319068 with order 1 Centerline is valid? [False, False] Translation: X:-19.64, Y:-1.76, Z:-1.28 [[ 9.93989196e-01 9.52324483e-05 -1.09478172e-01 -1.96426075e+01] [-1.81628682e-03 9.99876336e-01 -1.56209112e-02 -1.76261957e+00] [ 1.09463146e-01 1.57258608e-02 9.93866448e-01 -1.28132294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20313336499999 meters SLAMing on 241.263133365 meters Centerline goodness : 0.125624 with order 1 Centerline is valid? [False, False] Translation: X:-19.64, Y:-1.77, Z:-1.28 [[ 9.94035103e-01 -3.55881839e-03 -1.09002520e-01 -1.96445258e+01] [ 1.57103167e-03 9.99831003e-01 -1.83166070e-02 -1.76718662e+00] [ 1.09049285e-01 1.80361039e-02 9.93872704e-01 -1.28045491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.323133365 meters Centerline goodness : 0.185976 with order 3 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.77, Z:-1.29 [[ 9.93695462e-01 -4.38108385e-03 -1.12027389e-01 -1.96864420e+01] [ 2.29284493e-03 9.99821340e-01 -1.87624789e-02 -1.77240584e+00] [ 1.12089574e-01 1.83873287e-02 9.93527973e-01 -1.28554418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.383133365 meters Centerline goodness : 0.140363 with order 3 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.77, Z:-1.29 [[ 9.93661188e-01 -4.22956499e-03 -1.12336792e-01 -1.96855454e+01] [ 2.17957055e-03 9.99828970e-01 -1.83651937e-02 -1.77467611e+00] [ 1.12395256e-01 1.80039343e-02 9.93500460e-01 -1.28571960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.443133365 meters Centerline goodness : 0.557393 with order 3 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.78, Z:-1.29 [[ 9.93667111e-01 -3.89122175e-03 -1.12296617e-01 -1.96857712e+01] [ 1.91707875e-03 9.99841817e-01 -1.76823503e-02 -1.77787633e+00] [ 1.12347660e-01 1.73550885e-02 9.93517390e-01 -1.28553171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.503133365 meters Centerline goodness : 0.246293 with order 1 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.78, Z:-1.29 [[ 9.93704603e-01 -3.47336527e-03 -1.11978114e-01 -1.96859953e+01] [ 1.59733253e-03 9.99856939e-01 -1.68389306e-02 -1.78211912e+00] [ 1.12020582e-01 1.65540566e-02 9.93567991e-01 -1.28626084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.563133365 meters SLAMing on 241.623133365 meters SLAMing on 241.68313336499997 meters Centerline goodness : 0.122394 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-1.80, Z:-1.29 [[ 9.93703447e-01 9.52977380e-03 -1.11636211e-01 -1.97264206e+01] [-1.17319240e-02 9.99749015e-01 -1.90858443e-02 -1.80076522e+00] [ 1.11426308e-01 2.02753768e-02 9.93565844e-01 -1.29215235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74313336499998 meters Centerline goodness : 0.431147 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-1.80, Z:-1.29 [[ 9.93708466e-01 9.55294804e-03 -1.11589544e-01 -1.97262097e+01] [-1.17480454e-02 9.99749886e-01 -1.90302190e-02 -1.80142169e+00] [ 1.11379839e-01 2.02214487e-02 9.93572154e-01 -1.29262678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80313336499998 meters Centerline goodness : 0.157163 with order 2 Centerline is valid? [False, False] Translation: X:-19.73, Y:-1.80, Z:-1.29 [[ 9.93727242e-01 9.51575437e-03 -1.11425396e-01 -1.97266467e+01] [-1.17173313e-02 9.99748530e-01 -1.91201459e-02 -1.80117815e+00] [ 1.11215433e-01 2.03058182e-02 9.93588849e-01 -1.29267902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86313336499998 meters Centerline goodness : 0.185602 with order 1 Centerline is valid? [False, False] Translation: X:-19.75, Y:-1.80, Z:-1.30 [[ 9.93743985e-01 1.75759311e-03 -1.11668276e-01 -1.97450021e+01] [-3.74742019e-03 9.99837879e-01 -1.76116993e-02 -1.79800816e+00] [ 1.11619218e-01 1.79199882e-02 9.93589465e-01 -1.29704243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92313336499998 meters Centerline goodness : 0.115349 with order 1 Centerline is valid? [False, False] Translation: X:-19.74, Y:-1.80, Z:-1.30 [[ 9.93716467e-01 1.61934713e-03 -1.11914971e-01 -1.97442330e+01] [-3.62754252e-03 9.99836006e-01 -1.77426412e-02 -1.79809404e+00] [ 1.11867886e-01 1.80371310e-02 9.93559378e-01 -1.29725350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.983133365 meters Centerline goodness : 0.126369 with order 1 Centerline is valid? [False, False] Translation: X:-19.75, Y:-1.80, Z:-1.30 [[ 9.93755536e-01 1.90446147e-03 -1.11563025e-01 -1.97455661e+01] [-3.87667845e-03 9.99839981e-01 -1.74637964e-02 -1.79784459e+00] [ 1.11511913e-01 1.77872384e-02 9.93603899e-01 -1.29673232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043133365 meters Centerline goodness : 0.123412 with order 1 Centerline is valid? [False, False] Translation: X:-19.75, Y:-1.80, Z:-1.30 [[ 9.93817192e-01 1.70257321e-03 -1.11015716e-01 -1.97475039e+01] [-3.69507856e-03 9.99835723e-01 -1.77446866e-02 -1.79702244e+00] [ 1.10967267e-01 1.80451864e-02 9.93660222e-01 -1.29605030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103133365 meters Centerline goodness : 0.116268 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-1.79, Z:-1.30 [[ 9.93646437e-01 -6.49032353e-03 -1.12359394e-01 -1.97667011e+01] [ 4.62256655e-03 9.99846911e-01 -1.68756086e-02 -1.79294125e+00] [ 1.12451721e-01 1.62489996e-02 9.93524323e-01 -1.29935116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.163133365 meters Centerline goodness : 0.187930 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-1.79, Z:-1.30 [[ 9.93624977e-01 -6.32130840e-03 -1.12558635e-01 -1.97661580e+01] [ 4.47038013e-03 9.99850736e-01 -1.66889329e-02 -1.79308704e+00] [ 1.12647330e-01 1.60793607e-02 9.93504924e-01 -1.29941968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223133365 meters Centerline goodness : 0.254745 with order 3 Centerline is valid? [False, False] Translation: X:-19.77, Y:-1.79, Z:-1.30 [[ 9.93604924e-01 -6.25786769e-03 -1.12739055e-01 -1.97656328e+01] [ 4.43474061e-03 9.99855434e-01 -1.64147456e-02 -1.79490151e+00] [ 1.12825479e-01 1.58098036e-02 9.93489034e-01 -1.29948094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283133365 meters Centerline goodness : 0.123876 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-1.80, Z:-1.30 [[ 9.93625912e-01 -6.21963741e-03 -1.12556040e-01 -1.97658003e+01] [ 4.40733466e-03 9.99856730e-01 -1.63430093e-02 -1.79536065e+00] [ 1.12641562e-01 1.57427654e-02 9.93510968e-01 -1.29989374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343133365 meters Centerline goodness : 0.113132 with order 1 Centerline is valid? [False, False] Translation: X:-19.79, Y:-1.80, Z:-1.30 [[ 9.93801929e-01 2.57791805e-03 -1.11135411e-01 -1.97882786e+01] [-4.45361672e-03 9.99851749e-01 -1.66326556e-02 -1.79790056e+00] [ 1.11076058e-01 1.70245197e-02 9.93666078e-01 -1.30315818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40313336499997 meters Centerline goodness : 0.207701 with order 1 Centerline is valid? [False, False] Translation: X:-19.79, Y:-1.80, Z:-1.30 [[ 9.93798433e-01 2.34713291e-03 -1.11171788e-01 -1.97878658e+01] [-4.28780833e-03 9.99842519e-01 -1.72206811e-02 -1.79501054e+00] [ 1.11113861e-01 1.75905692e-02 9.93651992e-01 -1.30367000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46313336499998 meters Centerline goodness : 0.190985 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-1.79, Z:-1.31 [[ 9.93627365e-01 4.38118513e-03 -1.12629764e-01 -1.97819008e+01] [-6.23991103e-03 9.99850016e-01 -1.61557502e-02 -1.78760318e+00] [ 1.12542090e-01 1.67555952e-02 9.93505676e-01 -1.30590487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52313336499998 meters SLAMing on 242.58313336499998 meters SLAMing on 242.64313336499998 meters Centerline goodness : 0.127374 with order 1 Centerline is valid? [False, False] Translation: X:-19.86, Y:-1.78, Z:-1.32 [[ 9.94017893e-01 -2.39210891e-03 -1.09191149e-01 -1.98634236e+01] [ 1.57084197e-04 9.99790395e-01 -2.04729324e-02 -1.78491153e+00] [ 1.09217235e-01 2.03333089e-02 9.93809917e-01 -1.31533134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70313336499999 meters Centerline goodness : 0.210135 with order 3 Centerline is valid? [False, False] Translation: X:-19.86, Y:-1.78, Z:-1.32 [[ 9.93916676e-01 -2.78482584e-03 -1.10099435e-01 -1.98603894e+01] [ 4.56415726e-04 9.99775833e-01 -2.11677958e-02 -1.78198699e+00] [ 1.10133703e-01 2.09887741e-02 9.93695144e-01 -1.31631755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.763133365 meters Centerline goodness : 0.134038 with order 1 Centerline is valid? [False, False] Translation: X:-19.88, Y:-1.78, Z:-1.32 [[ 9.93543808e-01 -8.58829122e-03 -1.13123571e-01 -1.98801874e+01] [ 6.54773364e-03 9.99809311e-01 -1.83975214e-02 -1.77888217e+00] [ 1.13260002e-01 1.75380404e-02 9.93410584e-01 -1.31829630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823133365 meters Centerline goodness : 0.130793 with order 1 Centerline is valid? [False, False] Translation: X:-19.88, Y:-1.78, Z:-1.32 [[ 9.93577777e-01 -8.90997852e-03 -1.12799879e-01 -1.98816963e+01] [ 6.81397006e-03 9.99797145e-01 -1.89535828e-02 -1.77649512e+00] [ 1.12945873e-01 1.80632437e-02 9.93436938e-01 -1.31745706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.883133365 meters Centerline goodness : 0.133066 with order 1 Centerline is valid? [False, False] Translation: X:-19.92, Y:-1.78, Z:-1.32 [[ 9.94094916e-01 -6.73435879e-03 -1.08304873e-01 -1.99237920e+01] [ 4.84806166e-03 9.99832112e-01 -1.76704397e-02 -1.77800688e+00] [ 1.08405689e-01 1.70410256e-02 9.93960668e-01 -1.32420435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.943133365 meters Centerline goodness : 0.298556 with order 1 Centerline is valid? [False, False] Translation: X:-19.93, Y:-1.78, Z:-1.32 [[ 9.94149181e-01 -6.68846594e-03 -1.07808487e-01 -1.99251837e+01] [ 4.79871851e-03 9.99830432e-01 -1.77786532e-02 -1.77664210e+00] [ 1.07909118e-01 1.71572910e-02 9.94012701e-01 -1.32401000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.003133365 meters Centerline goodness : 0.122976 with order 1 Centerline is valid? [False, False] Translation: X:-19.92, Y:-1.78, Z:-1.32 [[ 9.94122196e-01 -6.83437605e-03 -1.08047908e-01 -1.99248149e+01] [ 4.91073831e-03 9.99824852e-01 -1.80596284e-02 -1.77555193e+00] [ 1.08152410e-01 1.74228824e-02 9.93981639e-01 -1.32377533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.063133365 meters SLAMing on 243.123133365 meters Centerline goodness : 0.443853 with order 1 Centerline is valid? [False, False] Translation: X:-20.00, Y:-1.79, Z:-1.33 [[ 9.94316203e-01 -8.10469216e-03 -1.06158388e-01 -2.00034707e+01] [ 6.16070057e-03 9.99807516e-01 -1.86273338e-02 -1.78740524e+00] [ 1.06288923e-01 1.78674498e-02 9.94174743e-01 -1.33409646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18313336499997 meters Centerline goodness : 0.097427 with order 1 Centerline is valid? [False, False] Translation: X:-20.01, Y:-1.79, Z:-1.33 [[ 9.94401449e-01 -8.23908394e-03 -1.05346458e-01 -2.00055681e+01] [ 6.35007638e-03 9.99813212e-01 -1.82542428e-02 -1.79054219e+00] [ 1.05477179e-01 1.74830874e-02 9.94268025e-01 -1.33390455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24313336499998 meters Centerline goodness : 0.100699 with order 1 Centerline is valid? [False, False] Translation: X:-20.01, Y:-1.79, Z:-1.33 [[ 9.94426504e-01 -8.02136302e-03 -1.05126525e-01 -2.00063309e+01] [ 6.18611267e-03 9.99822928e-01 -1.77719968e-02 -1.79282603e+00] [ 1.05250466e-01 1.70226202e-02 9.94300040e-01 -1.33358077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30313336499998 meters Centerline goodness : 0.349898 with order 1 Centerline is valid? [False, False] Translation: X:-20.02, Y:-1.80, Z:-1.34 [[ 9.94100774e-01 -6.12040285e-04 -1.08458641e-01 -2.00218468e+01] [-1.52337888e-03 9.99806646e-01 -1.96048378e-02 -1.79745392e+00] [ 1.08449669e-01 1.96544080e-02 9.93907628e-01 -1.33807077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36313336499998 meters SLAMing on 243.42313336499998 meters Centerline goodness : 0.195278 with order 2 Centerline is valid? [False, False] Translation: X:-20.09, Y:-1.80, Z:-1.35 [[ 9.94100972e-01 9.03257380e-03 -1.08081774e-01 -2.00867845e+01] [-1.12056826e-02 9.99746753e-01 -1.95157197e-02 -1.79815855e+00] [ 1.07878125e-01 2.06117260e-02 9.93950435e-01 -1.34515551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.483133365 meters Centerline goodness : 0.129242 with order 1 Centerline is valid? [False, False] Translation: X:-20.09, Y:-1.80, Z:-1.34 [[ 9.94227865e-01 9.28083193e-03 -1.06886946e-01 -2.00902522e+01] [-1.14456050e-02 9.99741261e-01 -1.96573004e-02 -1.79561617e+00] [ 1.06676854e-01 2.07672215e-02 9.94076844e-01 -1.34461737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.543133365 meters SLAMing on 243.603133365 meters Centerline goodness : 0.095420 with order 1 Centerline is valid? [False, False] Translation: X:-20.13, Y:-1.80, Z:-1.35 [[ 9.93906169e-01 8.31208748e-03 -1.09915585e-01 -2.01330114e+01] [-1.06704944e-02 9.99724925e-01 -2.08857481e-02 -1.79755102e+00] [ 1.09711745e-01 2.19313275e-02 9.93721465e-01 -1.34943798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.663133365 meters Centerline goodness : 0.438128 with order 2 Centerline is valid? [False, False] Translation: X:-20.13, Y:-1.79, Z:-1.35 [[ 9.93853882e-01 1.23233220e-02 -1.10011802e-01 -2.01326190e+01] [-1.43710852e-02 9.99737559e-01 -1.78405490e-02 -1.79307030e+00] [ 1.09763076e-01 1.93118879e-02 9.93770154e-01 -1.34953965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.723133365 meters Centerline goodness : 0.097000 with order 1 Centerline is valid? [False, False] Translation: X:-20.15, Y:-1.78, Z:-1.35 [[ 9.94064954e-01 7.30724022e-03 -1.08542484e-01 -2.01525900e+01] [-9.06775042e-03 9.99835082e-01 -1.57348322e-02 -1.78404145e+00] [ 1.08409606e-01 1.66256815e-02 9.93967275e-01 -1.35332064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783133365 meters Centerline goodness : 0.439429 with order 1 Centerline is valid? [False, False] Translation: X:-20.15, Y:-1.78, Z:-1.35 [[ 9.93998592e-01 1.10075023e-02 -1.08837650e-01 -2.01510600e+01] [-1.25388187e-02 9.99831657e-01 -1.33953542e-02 -1.77555633e+00] [ 1.08671878e-01 1.46796588e-02 9.93969280e-01 -1.35424932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.843133365 meters Centerline goodness : 0.346473 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-1.77, Z:-1.36 [[ 9.94219504e-01 2.92756113e-03 -1.07326642e-01 -2.01725203e+01] [-4.40807214e-03 9.99898345e-01 -1.35597996e-02 -1.76713106e+00] [ 1.07276034e-01 1.39545208e-02 9.94131341e-01 -1.35781000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90313336499997 meters Centerline goodness : 0.100045 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-1.76, Z:-1.36 [[ 9.94228776e-01 2.68335680e-03 -1.07247099e-01 -2.01725619e+01] [-4.21896953e-03 9.99891772e-01 -1.40941297e-02 -1.76383557e+00] [ 1.07197672e-01 1.44652616e-02 9.94132494e-01 -1.35807630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96313336499998 meters Centerline goodness : 0.103789 with order 1 Centerline is valid? [False, False] Translation: X:-20.22, Y:-1.76, Z:-1.36 [[ 9.93899610e-01 1.58501803e-03 -1.10277165e-01 -2.02161890e+01] [-3.29417502e-03 9.99877242e-01 -1.53182738e-02 -1.76428630e+00] [ 1.10239348e-01 1.55880986e-02 9.93782822e-01 -1.36270117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02313336499998 meters Centerline goodness : 0.092114 with order 1 Centerline is valid? [False, False] Translation: X:-20.20, Y:-1.76, Z:-1.36 [[ 9.93806823e-01 -6.59294452e-03 -1.10925793e-01 -2.01960871e+01] [ 4.96078205e-03 9.99875434e-01 -1.49835684e-02 -1.75700396e+00] [ 1.11010762e-01 1.43404938e-02 9.93715735e-01 -1.35991571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08313336499998 meters Centerline goodness : 0.442225 with order 2 Centerline is valid? [False, False] Translation: X:-20.20, Y:-1.76, Z:-1.36 [[ 9.93846965e-01 -6.54561477e-03 -1.10568372e-01 -2.01970342e+01] [ 4.93121599e-03 9.99877304e-01 -1.48680637e-02 -1.75729443e+00] [ 1.10652127e-01 1.42313435e-02 9.93757302e-01 -1.35987308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14313336499998 meters Centerline goodness : 0.431433 with order 1 Centerline is valid? [False, False] Translation: X:-20.22, Y:-1.76, Z:-1.36 [[ 9.93935496e-01 -9.74704090e-04 -1.09960353e-01 -2.02182977e+01] [-1.00041866e-03 9.99839183e-01 -1.79055351e-02 -1.76366907e+00] [ 1.09960122e-01 1.79069533e-02 9.93774679e-01 -1.36257645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20313336499999 meters Centerline goodness : 0.094359 with order 1 Centerline is valid? [False, False] Translation: X:-20.22, Y:-1.77, Z:-1.36 [[ 9.93893169e-01 -8.09499446e-04 -1.10343615e-01 -2.02171859e+01] [-1.13872567e-03 9.99844603e-01 -1.75918227e-02 -1.76514089e+00] [ 1.10340709e-01 1.76100435e-02 9.93737800e-01 -1.36277112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.263133365 meters Centerline goodness : 0.105431 with order 1 Centerline is valid? [False, False] Translation: X:-20.26, Y:-1.77, Z:-1.37 [[ 9.93656677e-01 -3.49042305e-04 -1.12455711e-01 -2.02625222e+01] [-1.63222202e-03 9.99845082e-01 -1.75256243e-02 -1.76989262e+00] [ 1.12444407e-01 1.75980063e-02 9.93502172e-01 -1.36680675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.323133365 meters Centerline goodness : 0.092494 with order 1 Centerline is valid? [False, False] Translation: X:-20.26, Y:-1.77, Z:-1.37 [[ 9.93619520e-01 -2.77187354e-04 -1.12783739e-01 -2.02611328e+01] [-1.70167934e-03 9.99846306e-01 -1.74490274e-02 -1.77024552e+00] [ 1.12771242e-01 1.75296160e-02 9.93466335e-01 -1.36757218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.383133365 meters Centerline goodness : 0.090653 with order 1 Centerline is valid? [False, False] Translation: X:-20.26, Y:-1.77, Z:-1.37 [[ 9.93610589e-01 -2.35143266e-04 -1.12862495e-01 -2.02607043e+01] [-1.72438128e-03 9.99849477e-01 -1.72641174e-02 -1.77134546e+00] [ 1.12849567e-01 1.73484278e-02 9.93460622e-01 -1.36786174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.443133365 meters Centerline goodness : 0.092835 with order 1 Centerline is valid? [False, False] Translation: X:-20.29, Y:-1.77, Z:-1.37 [[ 9.93685476e-01 -1.04273704e-02 -1.11715910e-01 -2.02864534e+01] [ 8.47725554e-03 9.99803542e-01 -1.79168406e-02 -1.77433807e+00] [ 1.11880788e-01 1.68566599e-02 9.93578654e-01 -1.36919624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.503133365 meters Centerline goodness : 0.203282 with order 3 Centerline is valid? [False, False] Translation: X:-20.29, Y:-1.78, Z:-1.37 [[ 9.93805788e-01 -1.05030480e-02 -1.10633370e-01 -2.02891040e+01] [ 8.64275978e-03 9.99813316e-01 -1.72810663e-02 -1.77845823e+00] [ 1.10794220e-01 1.62178461e-02 9.93711036e-01 -1.36910376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.563133365 meters Centerline goodness : 0.440655 with order 1 Centerline is valid? [False, False] Translation: X:-20.29, Y:-1.78, Z:-1.37 [[ 9.93797960e-01 -1.05587093e-02 -1.10698363e-01 -2.02884849e+01] [ 8.74836964e-03 9.99820146e-01 -1.68267921e-02 -1.78245125e+00] [ 1.10856123e-01 1.57540014e-02 9.93711594e-01 -1.36947807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.623133365 meters Centerline goodness : 0.300187 with order 1 Centerline is valid? [False, False] Translation: X:-20.31, Y:-1.79, Z:-1.37 [[ 9.93610680e-01 -5.16620778e-03 -1.12743631e-01 -2.03100002e+01] [ 2.97355082e-03 9.99803329e-01 -1.96076698e-02 -1.79039133e+00] [ 1.12822755e-01 1.91471412e-02 9.93430628e-01 -1.37170180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68313336499997 meters Centerline goodness : 0.103146 with order 1 Centerline is valid? [False, False] Translation: X:-20.31, Y:-1.79, Z:-1.37 [[ 9.93585496e-01 -5.00630925e-03 -1.12972557e-01 -2.03091816e+01] [ 2.84876099e-03 9.99810617e-01 -1.92513437e-02 -1.79254570e+00] [ 1.13047540e-01 1.88060241e-02 9.93411590e-01 -1.37194887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74313336499998 meters Centerline goodness : 0.434879 with order 2 Centerline is valid? [False, False] Translation: X:-20.31, Y:-1.79, Z:-1.37 [[ 9.93589861e-01 -4.95034625e-03 -1.12936627e-01 -2.03092080e+01] [ 2.79365442e-03 9.99810861e-01 -1.92467519e-02 -1.79248345e+00] [ 1.13010545e-01 1.88078716e-02 9.93415764e-01 -1.37210529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80313336499998 meters Centerline goodness : 0.091003 with order 1 Centerline is valid? [False, False] Translation: X:-20.31, Y:-1.79, Z:-1.37 [[ 9.93564952e-01 -7.28987694e-04 -1.13261446e-01 -2.03074613e+01] [-1.06995494e-03 9.99874260e-01 -1.58214981e-02 -1.78962023e+00] [ 1.13258738e-01 1.58408707e-02 9.93439241e-01 -1.37331837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86313336499998 meters Centerline goodness : 0.391883 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.79, Z:-1.38 [[ 9.93301186e-01 2.18482846e-04 -1.15553907e-01 -2.03518502e+01] [-2.09216216e-03 9.99868299e-01 -1.60937274e-02 -1.78792216e+00] [ 1.15535172e-01 1.62276760e-02 9.93170824e-01 -1.37778978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92313336499998 meters Centerline goodness : 0.104927 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.78, Z:-1.38 [[ 9.93356472e-01 2.17452847e-04 -1.15077682e-01 -2.03530964e+01] [-2.16140760e-03 9.99857070e-01 -1.67680338e-02 -1.78284787e+00] [ 1.15057588e-01 1.69053647e-02 9.93214962e-01 -1.37790649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.983133365 meters Centerline goodness : 0.133253 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.78, Z:-1.38 [[ 9.93396714e-01 1.17283408e-04 -1.14729920e-01 -2.03539561e+01] [-2.10783048e-03 9.99849353e-01 -1.72286891e-02 -1.77987653e+00] [ 1.14710616e-01 1.73567544e-02 9.93247309e-01 -1.37803354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.043133365 meters SLAMing on 245.103133365 meters SLAMing on 245.163133365 meters Centerline goodness : 0.146665 with order 3 Centerline is valid? [False, False] Translation: X:-20.45, Y:-1.77, Z:-1.39 [[ 9.93546671e-01 2.38587485e-03 -1.13398939e-01 -2.04462526e+01] [-4.66700825e-03 9.99791982e-01 -1.98547887e-02 -1.77459336e+00] [ 1.13327979e-01 2.02558930e-02 9.93351130e-01 -1.38910930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.223133365 meters SLAMing on 245.283133365 meters SLAMing on 245.343133365 meters Centerline goodness : 0.122606 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-1.76, Z:-1.40 [[ 9.93618456e-01 5.74686824e-03 -1.12646958e-01 -2.05291519e+01] [-8.19933792e-03 9.99739078e-01 -2.13201027e-02 -1.76270638e+00] [ 1.12495042e-01 2.21076780e-02 9.93406320e-01 -1.39738213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40313336499997 meters Centerline goodness : 0.097317 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.76, Z:-1.40 [[ 9.93560456e-01 1.53960655e-03 -1.13292766e-01 -2.05948341e+01] [-3.76856074e-03 9.99803480e-01 -1.94627514e-02 -1.76149310e+00] [ 1.13240537e-01 1.97643708e-02 9.93371003e-01 -1.40435443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46313336499998 meters SLAMing on 245.52313336499998 meters Centerline goodness : 0.166275 with order 3 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.76, Z:-1.41 [[ 9.93369576e-01 -9.10687127e-03 -1.14603447e-01 -2.06160348e+01] [ 6.78757219e-03 9.99764518e-01 -2.06115881e-02 -1.76288648e+00] [ 1.14764167e-01 1.96970454e-02 9.93197469e-01 -1.40769964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58313336499998 meters Centerline goodness : 0.130809 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.77, Z:-1.41 [[ 9.93278885e-01 -9.41843646e-03 -1.15361825e-01 -2.06137131e+01] [ 7.12545321e-03 9.99769095e-01 -2.02727330e-02 -1.76691267e+00] [ 1.15526125e-01 1.93144724e-02 9.93116643e-01 -1.40802553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64313336499998 meters SLAMing on 245.70313336499999 meters Centerline goodness : 0.103582 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-1.79, Z:-1.42 [[ 9.93335003e-01 -4.41874937e-03 -1.15178323e-01 -2.06747083e+01] [ 1.86190460e-03 9.99749654e-01 -2.22971482e-02 -1.78922599e+00] [ 1.15248014e-01 2.19340868e-02 9.93094553e-01 -1.41631823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.763133365 meters Centerline goodness : 0.270840 with order 1 Centerline is valid? [False, False] Translation: X:-20.68, Y:-1.79, Z:-1.42 [[ 9.93377998e-01 -3.98335658e-03 -1.14822843e-01 -2.06758148e+01] [ 1.51301577e-03 9.99765688e-01 -2.15934965e-02 -1.79237896e+00] [ 1.14881953e-01 2.12767755e-02 9.93151265e-01 -1.41607980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.823133365 meters SLAMing on 245.883133365 meters SLAMing on 245.943133365 meters SLAMing on 246.003133365 meters Centerline goodness : 0.103946 with order 1 Centerline is valid? [False, False] Translation: X:-20.76, Y:-1.83, Z:-1.43 [[ 9.93172096e-01 1.22352938e-02 -1.16015021e-01 -2.07596547e+01] [-1.52017363e-02 9.99578845e-01 -2.47192083e-02 -1.82845485e+00] [ 1.15663714e-01 2.63140576e-02 9.92939815e-01 -1.42678837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.063133365 meters SLAMing on 246.123133365 meters Centerline goodness : 0.109437 with order 1 Centerline is valid? [False, False] Translation: X:-20.80, Y:-1.83, Z:-1.43 [[ 9.93005336e-01 1.39260632e-02 -1.17245334e-01 -2.08044095e+01] [-1.68740218e-02 9.99564997e-01 -2.41884964e-02 -1.82885870e+00] [ 1.16857481e-01 2.59977063e-02 9.92808364e-01 -1.43252295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18313336499997 meters SLAMing on 246.24313336499998 meters Centerline goodness : 0.347234 with order 1 Centerline is valid? [False, False] Translation: X:-20.85, Y:-1.83, Z:-1.44 [[ 9.92577290e-01 1.45413822e-02 -1.20742998e-01 -2.08488380e+01] [-1.76045200e-02 9.99548692e-01 -2.43411815e-02 -1.82684750e+00] [ 1.20334551e-01 2.62861265e-02 9.92385326e-01 -1.43635177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30313336499998 meters SLAMing on 246.36313336499998 meters SLAMing on 246.42313336499998 meters Centerline goodness : 0.265150 with order 1 Centerline is valid? [False, False] Translation: X:-20.91, Y:-1.84, Z:-1.44 [[ 9.92699274e-01 4.79033263e-03 -1.20520557e-01 -2.09145295e+01] [-8.02393470e-03 9.99620329e-01 -2.63593227e-02 -1.83587111e+00] [ 1.20348529e-01 2.71339296e-02 9.92360812e-01 -1.44372962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.483133365 meters Centerline goodness : 0.438205 with order 1 Centerline is valid? [False, False] Translation: X:-20.93, Y:-1.83, Z:-1.45 [[ 9.92544228e-01 -2.87142285e-03 -1.21851184e-01 -2.09333873e+01] [-1.52602794e-04 9.99692402e-01 -2.48007818e-02 -1.83410247e+00] [ 1.21884916e-01 2.46344677e-02 9.92238485e-01 -1.44712656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.543133365 meters Centerline goodness : 0.191733 with order 2 Centerline is valid? [False, False] Translation: X:-20.93, Y:-1.83, Z:-1.45 [[ 9.92548930e-01 -2.93170133e-03 -1.21811441e-01 -2.09336011e+01] [-9.34021643e-05 9.99691903e-01 -2.48211848e-02 -1.83446992e+00] [ 1.21846680e-01 2.46476179e-02 9.92242854e-01 -1.44699112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.603133365 meters Centerline goodness : 0.300178 with order 1 Centerline is valid? [False, False] Translation: X:-20.93, Y:-1.84, Z:-1.45 [[ 9.92512424e-01 -3.00231034e-03 -1.22106814e-01 -2.09326812e+01] [-3.27785569e-05 9.99691280e-01 -2.48464151e-02 -1.83502058e+00] [ 1.22143714e-01 2.46643781e-02 9.92205917e-01 -1.44721964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.663133365 meters Centerline goodness : 0.197789 with order 2 Centerline is valid? [False, False] Translation: X:-20.98, Y:-1.84, Z:-1.45 [[ 9.92131109e-01 -1.83743608e-03 -1.25189804e-01 -2.09756695e+01] [-1.20655585e-03 9.99705565e-01 -2.42348543e-02 -1.83943031e+00] [ 1.25197473e-01 2.41952014e-02 9.91836773e-01 -1.45218359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.723133365 meters Centerline goodness : 0.223720 with order 1 Centerline is valid? [False, False] Translation: X:-20.98, Y:-1.84, Z:-1.45 [[ 9.92162862e-01 -1.86755307e-03 -1.24937457e-01 -2.09764084e+01] [-1.18488538e-03 9.99702720e-01 -2.43529622e-02 -1.83899626e+00] [ 1.24945796e-01 2.43101412e-02 9.91865699e-01 -1.45213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.783133365 meters SLAMing on 246.843133365 meters Centerline goodness : 0.247125 with order 3 Centerline is valid? [False, False] Translation: X:-21.02, Y:-1.84, Z:-1.46 [[ 9.91830562e-01 7.31455062e-04 -1.27560189e-01 -2.10169979e+01] [-3.82033820e-03 9.99705328e-01 -2.39721239e-02 -1.83949540e+00] [ 1.27505066e-01 2.42636081e-02 9.91541091e-01 -1.45785517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90313336499997 meters Centerline goodness : 0.136398 with order 1 Centerline is valid? [False, False] Translation: X:-21.02, Y:-1.84, Z:-1.46 [[ 9.91838411e-01 7.62533202e-04 -1.27498960e-01 -2.10171369e+01] [-3.86025852e-03 9.99703286e-01 -2.40507509e-02 -1.83876897e+00] [ 1.27442790e-01 2.43466375e-02 9.91547062e-01 -1.45796915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96313336499998 meters SLAMing on 247.02313336499998 meters Centerline goodness : 0.136268 with order 1 Centerline is valid? [False, False] Translation: X:-21.06, Y:-1.84, Z:-1.46 [[ 9.91485191e-01 1.64037898e-03 -1.30209163e-01 -2.10608271e+01] [-4.78229985e-03 9.99704806e-01 -2.38207869e-02 -1.84413937e+00] [ 1.30131651e-01 2.42406567e-02 9.91200355e-01 -1.46231541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08313336499998 meters Centerline goodness : 0.141379 with order 1 Centerline is valid? [False, False] Translation: X:-21.08, Y:-1.84, Z:-1.47 [[ 9.91593268e-01 -5.47685266e-03 -1.29277974e-01 -2.10806103e+01] [ 2.58486267e-03 9.99742882e-01 -2.25275191e-02 -1.84015077e+00] [ 1.29368115e-01 2.20039705e-02 9.91352468e-01 -1.46607907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14313336499998 meters Centerline goodness : 0.088887 with order 3 Centerline is valid? [False, False] Translation: X:-21.08, Y:-1.84, Z:-1.47 [[ 9.91605677e-01 -5.51978008e-03 -1.29180931e-01 -2.10811570e+01] [ 2.62304862e-03 9.99741525e-01 -2.25832360e-02 -1.83982830e+00] [ 1.29272195e-01 2.20548172e-02 9.91363851e-01 -1.46573874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20313336499999 meters Centerline goodness : 0.138235 with order 1 Centerline is valid? [False, False] Translation: X:-21.08, Y:-1.84, Z:-1.47 [[ 9.91540369e-01 -5.58450981e-03 -1.29678490e-01 -2.10794153e+01] [ 2.66427892e-03 9.99739190e-01 -2.26815813e-02 -1.83957397e+00] [ 1.29771334e-01 2.21442038e-02 9.91296643e-01 -1.46629997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.263133365 meters Centerline goodness : 0.131896 with order 1 Centerline is valid? [False, False] Translation: X:-21.08, Y:-1.84, Z:-1.47 [[ 9.91483626e-01 -5.63453049e-03 -1.30109458e-01 -2.10783710e+01] [ 2.69695622e-03 9.99737709e-01 -2.27428868e-02 -1.83958861e+00] [ 1.30203477e-01 2.21983003e-02 9.91238765e-01 -1.46617932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.323133365 meters Centerline goodness : 0.140474 with order 1 Centerline is valid? [False, False] Translation: X:-21.08, Y:-1.84, Z:-1.47 [[ 9.91464301e-01 -5.43318356e-03 -1.30265194e-01 -2.10779981e+01] [ 2.45243548e-03 9.99731728e-01 -2.30316609e-02 -1.83656885e+00] [ 1.30355382e-01 2.25156026e-02 9.91211643e-01 -1.46626158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.383133365 meters Centerline goodness : 0.140252 with order 1 Centerline is valid? [False, False] Translation: X:-21.10, Y:-1.84, Z:-1.47 [[ 9.91622671e-01 3.29597368e-03 -1.29126356e-01 -2.11007309e+01] [-6.45231850e-03 9.99690340e-01 -2.40331436e-02 -1.83698506e+00] [ 1.29007158e-01 2.46649744e-02 9.91336871e-01 -1.46898397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.443133365 meters Centerline goodness : 0.139584 with order 1 Centerline is valid? [False, False] Translation: X:-21.12, Y:-1.83, Z:-1.47 [[ 9.91901674e-01 -6.71534816e-04 -1.27006373e-01 -2.11224763e+01] [-2.08656498e-03 9.99764905e-01 -2.15819425e-02 -1.82681400e+00] [ 1.26991007e-01 2.16721720e-02 9.91667082e-01 -1.47171251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.503133365 meters SLAMing on 247.563133365 meters Centerline goodness : 0.124509 with order 1 Centerline is valid? [False, False] Translation: X:-21.17, Y:-1.81, Z:-1.48 [[ 9.91612023e-01 2.45968693e-03 -1.29226721e-01 -2.11670791e+01] [-5.32199858e-03 9.99747993e-01 -2.18088851e-02 -1.81107336e+00] [ 1.29140512e-01 2.23136972e-02 9.91375220e-01 -1.47639817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.623133365 meters SLAMing on 247.68313336499997 meters SLAMing on 247.74313336499998 meters Centerline goodness : 0.225436 with order 1 Centerline is valid? [False, False] Translation: X:-21.27, Y:-1.81, Z:-1.49 [[ 9.91743036e-01 -1.72793615e-03 -1.28229341e-01 -2.12717486e+01] [-1.15434362e-03 9.99748426e-01 -2.23998164e-02 -1.80657040e+00] [ 1.28235787e-01 2.23628826e-02 9.91491545e-01 -1.48723826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80313336499998 meters SLAMing on 247.86313336499998 meters SLAMing on 247.92313336499998 meters Centerline goodness : 0.188737 with order 2 Centerline is valid? [False, False] Translation: X:-21.34, Y:-1.81, Z:-1.49 [[ 9.91402602e-01 -1.04551455e-02 -1.30428409e-01 -2.13408048e+01] [ 7.25371533e-03 9.99661222e-01 -2.49964810e-02 -1.80767900e+00] [ 1.30645564e-01 2.38354858e-02 9.91142576e-01 -1.49334376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.983133365 meters Centerline goodness : 0.124023 with order 1 Centerline is valid? [False, False] Translation: X:-21.35, Y:-1.81, Z:-1.49 [[ 9.91509579e-01 -1.29214946e-02 -1.29390065e-01 -2.13459643e+01] [ 9.51412936e-03 9.99592378e-01 -2.69176547e-02 -1.80752595e+00] [ 1.29685139e-01 2.54580787e-02 9.91228355e-01 -1.49096024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.043133365 meters Centerline goodness : 0.120405 with order 1 Centerline is valid? [False, False] Translation: X:-21.35, Y:-1.81, Z:-1.49 [[ 9.91500604e-01 -1.32233894e-02 -1.29428339e-01 -2.13461026e+01] [ 9.80492121e-03 9.99586976e-01 -2.70137326e-02 -1.80791121e+00] [ 1.29732095e-01 2.55150975e-02 9.91220744e-01 -1.49052989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.103133365 meters Centerline goodness : 0.118354 with order 1 Centerline is valid? [False, False] Translation: X:-21.34, Y:-1.81, Z:-1.49 [[ 9.91432552e-01 -1.34682680e-02 -1.29923441e-01 -2.13448076e+01] [ 1.00493246e-02 9.99586676e-01 -2.69348904e-02 -1.80930077e+00] [ 1.30232507e-01 2.53984842e-02 9.91158116e-01 -1.49045518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.163133365 meters Centerline goodness : 0.159032 with order 3 Centerline is valid? [False, False] Translation: X:-21.39, Y:-1.82, Z:-1.50 [[ 9.91020420e-01 -1.67350294e-02 -1.32659210e-01 -2.13883035e+01] [ 1.28822260e-02 9.99471428e-01 -2.98481708e-02 -1.81742912e+00] [ 1.33088600e-01 2.78712009e-02 9.90712179e-01 -1.49539192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.223133365 meters Centerline goodness : 0.274900 with order 3 Centerline is valid? [False, False] Translation: X:-21.41, Y:-1.83, Z:-1.50 [[ 9.91267834e-01 -9.22603824e-03 -1.31540721e-01 -2.14085144e+01] [ 5.22105075e-03 9.99513188e-01 -3.07591990e-02 -1.82650401e+00] [ 1.31760471e-01 2.98038238e-02 9.90833442e-01 -1.49903988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.283133365 meters Centerline goodness : 0.158574 with order 3 Centerline is valid? [False, False] Translation: X:-21.41, Y:-1.83, Z:-1.50 [[ 9.91215438e-01 -8.84160882e-03 -1.31961288e-01 -2.14069881e+01] [ 4.92457751e-03 9.99538365e-01 -2.99800800e-02 -1.83029646e+00] [ 1.32165442e-01 2.90668645e-02 9.90801399e-01 -1.49955698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.343133365 meters Centerline goodness : 0.255137 with order 3 Centerline is valid? [False, False] Translation: X:-21.41, Y:-1.83, Z:-1.50 [[ 9.91167484e-01 -1.29626682e-02 -1.31981014e-01 -2.14067435e+01] [ 8.64652571e-03 9.99410544e-01 -3.32235073e-02 -1.83400895e+00] [ 1.32333883e-01 3.17888829e-02 9.90695317e-01 -1.49973643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40313336499997 meters Centerline goodness : 0.245921 with order 3 Centerline is valid? [False, False] Translation: X:-21.41, Y:-1.85, Z:-1.50 [[ 9.91183343e-01 -1.51783875e-02 -1.31625217e-01 -2.14087550e+01] [ 1.08196668e-02 9.99371169e-01 -3.37668535e-02 -1.84628218e+00] [ 1.32054973e-01 3.20450018e-02 9.90724281e-01 -1.49869240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46313336499998 meters Centerline goodness : 0.123401 with order 1 Centerline is valid? [False, False] Translation: X:-21.37, Y:-1.85, Z:-1.49 [[ 9.91364417e-01 -1.76173087e-02 -1.29947005e-01 -2.13666663e+01] [ 1.33004580e-02 9.99332867e-01 -3.40135179e-02 -1.85348402e+00] [ 1.30459540e-01 3.19914367e-02 9.90937363e-01 -1.49336860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52313336499998 meters Centerline goodness : 0.147254 with order 3 Centerline is valid? [False, False] Translation: X:-21.38, Y:-1.87, Z:-1.50 [[ 9.91774980e-01 -1.17367238e-02 -1.27454457e-01 -2.13836853e+01] [ 7.36543608e-03 9.99370140e-01 -3.47141727e-02 -1.86843447e+00] [ 1.27781609e-01 3.34898903e-02 9.91236746e-01 -1.49877025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58313336499998 meters Centerline goodness : 0.096276 with order 1 Centerline is valid? [False, False] Translation: X:-21.43, Y:-1.88, Z:-1.50 [[ 9.91508375e-01 -1.28336689e-02 -1.29408032e-01 -2.14294034e+01] [ 8.30550721e-03 9.99336210e-01 -3.54705191e-02 -1.87848768e+00] [ 1.29777349e-01 3.40945174e-02 9.90956812e-01 -1.50299098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64313336499998 meters Centerline goodness : 0.246673 with order 3 Centerline is valid? [False, False] Translation: X:-21.43, Y:-1.89, Z:-1.50 [[ 9.91587546e-01 -1.51460343e-02 -1.28548579e-01 -2.14336004e+01] [ 1.05191657e-02 9.99274773e-01 -3.65960967e-02 -1.88678005e+00] [ 1.29009638e-01 3.49360099e-02 9.91027744e-01 -1.50111590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70313336499999 meters Centerline goodness : 0.255760 with order 3 Centerline is valid? [False, False] Translation: X:-21.48, Y:-1.90, Z:-1.51 [[ 9.91418566e-01 -1.76676387e-02 -1.29526375e-01 -2.14798082e+01] [ 1.28674268e-02 9.99202347e-01 -3.78034220e-02 -1.90153548e+00] [ 1.30090955e-01 3.58123432e-02 9.90855095e-01 -1.50649943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763133365 meters Centerline goodness : 0.098537 with order 1 Centerline is valid? [False, False] Translation: X:-21.50, Y:-1.91, Z:-1.51 [[ 9.91522815e-01 -1.04163483e-02 -1.29514508e-01 -2.14957327e+01] [ 5.39869319e-03 9.99223341e-01 -3.90329312e-02 -1.91313611e+00] [ 1.29820500e-01 3.80028327e-02 9.90808974e-01 -1.51117448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823133365 meters Centerline goodness : 0.154813 with order 3 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.92, Z:-1.52 [[ 9.91547664e-01 -2.03131846e-03 -1.29727033e-01 -2.15137894e+01] [-3.17056769e-03 9.99199462e-01 -3.98795931e-02 -1.91933588e+00] [ 1.29704190e-01 3.99538257e-02 9.90747453e-01 -1.51536284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883133365 meters Centerline goodness : 0.161667 with order 3 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.92, Z:-1.52 [[ 9.91511623e-01 -1.58676982e-03 -1.30008396e-01 -2.15129986e+01] [-3.59790480e-03 9.99207749e-01 -3.96349565e-02 -1.91975453e+00] [ 1.29968289e-01 3.97662779e-02 9.90720388e-01 -1.51553772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943133365 meters Centerline goodness : 0.160994 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.92, Z:-1.52 [[ 9.91472118e-01 -1.08382851e-03 -1.30314482e-01 -2.15120137e+01] [-4.10357611e-03 9.99209890e-01 -3.95317034e-02 -1.91945737e+00] [ 1.30254365e-01 3.97293371e-02 9.90684299e-01 -1.51591136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003133365 meters Centerline goodness : 0.105787 with order 1 Centerline is valid? [False, False] Translation: X:-21.56, Y:-1.92, Z:-1.52 [[ 9.91142833e-01 9.58943982e-05 -1.32800132e-01 -2.15560814e+01] [-5.37843473e-03 9.99208255e-01 -3.94199803e-02 -1.92090848e+00] [ 1.32691208e-01 3.97850878e-02 9.90358617e-01 -1.52120485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.063133365 meters SLAMing on 249.123133365 meters SLAMing on 249.18313336499997 meters SLAMing on 249.24313336499998 meters Centerline goodness : 0.095174 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-1.96, Z:-1.54 [[ 9.91284862e-01 7.84510241e-03 -1.31502004e-01 -2.16488359e+01] [-1.33354969e-02 9.99073311e-01 -4.09229030e-02 -1.95989844e+00] [ 1.31059098e-01 4.23198988e-02 9.90470867e-01 -1.53831353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30313336499998 meters Centerline goodness : 0.188133 with order 2 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.96, Z:-1.54 [[ 9.91387000e-01 -4.72241752e-04 -1.30964089e-01 -2.16712512e+01] [-4.80123733e-03 9.99190228e-01 -3.99479251e-02 -1.96016273e+00] [ 1.30876903e-01 4.02326433e-02 9.90581935e-01 -1.54112885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36313336499998 meters Centerline goodness : 0.090260 with order 1 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.97, Z:-1.54 [[ 9.91486040e-01 -3.66588747e-03 -1.30161416e-01 -2.16747046e+01] [-1.79943316e-03 9.99122436e-01 -4.18463738e-02 -1.96752401e+00] [ 1.30200595e-01 4.17243122e-02 9.90609351e-01 -1.54000585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42313336499998 meters Centerline goodness : 0.199566 with order 3 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.97, Z:-1.54 [[ 9.91168550e-01 -3.82461247e-03 -1.32552922e-01 -2.17194508e+01] [-1.79412951e-03 9.99105741e-01 -4.22433314e-02 -1.97288396e+00] [ 1.32595950e-01 4.21080787e-02 9.90275327e-01 -1.54486254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.483133365 meters SLAMing on 249.543133365 meters SLAMing on 249.603133365 meters SLAMing on 249.663133365 meters SLAMing on 249.723133365 meters SLAMing on 249.783133365 meters SLAMing on 249.843133365 meters Centerline goodness : 0.225602 with order 3 Centerline is valid? [False, False] Translation: X:-21.91, Y:-2.31, Z:-1.57 [[ 9.85244757e-01 -1.70074515e-01 -1.91684297e-02 -2.19084537e+01] [ 1.55573878e-01 9.36621429e-01 -3.13906145e-01 -2.30606214e+00] [ 7.13409973e-02 3.06292276e-01 9.49260504e-01 -1.56822106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90313336499997 meters SLAMing on 249.96313336499998 meters Centerline goodness : 0.340389 with order 1 Centerline is valid? [False, False] Translation: X:-21.99, Y:-2.33, Z:-1.58 [[ 9.87605542e-01 -1.55759163e-01 -1.93488257e-02 -2.19870926e+01] [ 1.41847047e-01 9.38499567e-01 -3.14798313e-01 -2.33061778e+00] [ 6.71915864e-02 3.08151984e-01 9.48961351e-01 -1.57823618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02313336499998 meters Centerline goodness : 0.161643 with order 1 Centerline is valid? [False, False] Translation: X:-21.99, Y:-2.33, Z:-1.58 [[ 0.98974099 -0.1411514 -0.02211438 -21.99049771] [ 0.12698582 0.94001705 -0.31661104 -2.33470285] [ 0.06547799 0.31055471 0.94829764 -1.57734216] [ 0. 0. 0. 1. ]] SLAMing on 250.08313336499998 meters Centerline goodness : 0.123228 with order 1 Centerline is valid? [False, False] Translation: X:-22.01, Y:-2.34, Z:-1.58 [[ 0.9907848 -0.13352614 -0.02272102 -22.01338605] [ 0.11945721 0.94051336 -0.31806383 -2.34219347] [ 0.06383926 0.31241862 0.947797 -1.57857667] [ 0. 0. 0. 1. ]] SLAMing on 250.14313336499998 meters SLAMing on 250.20313336499999 meters SLAMing on 250.263133365 meters SLAMing on 250.323133365 meters SLAMing on 250.383133365 meters SLAMing on 250.443133365 meters Centerline goodness : 0.228142 with order 1 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.50, Z:-1.65 [[ 9.87292513e-01 -1.57585837e-01 -2.04987278e-02 -2.25310190e+01] [ 1.42568300e-01 9.35324867e-01 -3.23792640e-01 -2.50499068e+00] [ 7.01981040e-02 3.16755581e-01 9.45905983e-01 -1.65324921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.503133365 meters Centerline goodness : 0.159674 with order 1 Centerline is valid? [False, False] Translation: X:-22.55, Y:-2.51, Z:-1.66 [[ 9.88591533e-01 -1.49179537e-01 -2.07905534e-02 -2.25515025e+01] [ 1.34424182e-01 9.36106096e-01 -3.25016177e-01 -2.50764966e+00] [ 6.79479267e-02 3.18513488e-01 9.45479898e-01 -1.65519716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.563133365 meters Centerline goodness : 0.184090 with order 1 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.52, Z:-1.66 [[ 9.90239491e-01 -1.37861415e-01 -2.04934093e-02 -2.25893045e+01] [ 1.23604632e-01 9.36582042e-01 -3.27926780e-01 -2.51938179e+00] [ 6.44022091e-02 3.22192967e-01 9.44480835e-01 -1.65912919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.623133365 meters SLAMing on 250.68313336499997 meters SLAMing on 250.74313336499998 meters Centerline goodness : 0.253959 with order 1 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.55, Z:-1.67 [[ 9.90994026e-01 -1.32124320e-01 -2.17716445e-02 -2.26511187e+01] [ 1.17632246e-01 9.36658167e-01 -3.29900187e-01 -2.54745969e+00] [ 6.39804264e-02 3.24368067e-01 9.43764728e-01 -1.66906932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80313336499998 meters SLAMing on 250.86313336499998 meters SLAMing on 250.92313336499998 meters SLAMing on 250.983133365 meters SLAMing on 251.043133365 meters SLAMing on 251.103133365 meters Centerline goodness : 0.120587 with order 1 Centerline is valid? [False, False] Translation: X:-23.09, Y:-2.70, Z:-1.74 [[ 9.90419245e-01 -1.36668952e-01 -1.97817069e-02 -2.30907504e+01] [ 1.22427046e-01 9.35275072e-01 -3.32072519e-01 -2.70216243e+00] [ 6.38853404e-02 3.26469198e-01 9.43046407e-01 -1.74118593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163133365 meters SLAMing on 251.223133365 meters SLAMing on 251.283133365 meters SLAMing on 251.343133365 meters SLAMing on 251.40313336499997 meters SLAMing on 251.46313336499998 meters SLAMing on 251.52313336499998 meters SLAMing on 251.58313336499998 meters Centerline goodness : 0.133567 with order 1 Centerline is valid? [False, False] Translation: X:-23.27, Y:-3.07, Z:-1.85 [[ 0.95985714 -0.24249952 0.1409548 -23.27462844] [ 0.27914337 0.77669879 -0.56463968 -3.06810419] [ 0.02744542 0.58132003 0.81321201 -1.8474546 ] [ 0. 0. 0. 1. ]] SLAMing on 251.64313336499998 meters SLAMing on 251.70313336499999 meters Centerline goodness : 0.294258 with order 1 Centerline is valid? [False, False] Translation: X:-23.32, Y:-3.08, Z:-1.85 [[ 0.95987569 -0.24392173 0.13835047 -23.31711219] [ 0.2786933 0.77500929 -0.56717779 -3.08342657] [ 0.03112408 0.58297752 0.81189193 -1.84880935] [ 0. 0. 0. 1. ]] SLAMing on 251.763133365 meters Centerline goodness : 0.281061 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-3.11, Z:-1.86 [[ 0.95871279 -0.24886008 0.13761706 -23.38289582] [ 0.28230247 0.7745257 -0.56605235 -3.11274168] [ 0.03427988 0.58153126 0.8128015 -1.85518996] [ 0. 0. 0. 1. ]] SLAMing on 251.823133365 meters Centerline goodness : 0.104464 with order 1 Centerline is valid? [False, False] Translation: X:-23.41, Y:-3.13, Z:-1.86 [[ 0.96020814 -0.24532191 0.13348213 -23.40703156] [ 0.27685164 0.77313049 -0.57063334 -3.12571994] [ 0.03678976 0.58488153 0.81028397 -1.85545987] [ 0. 0. 0. 1. ]] SLAMing on 251.883133365 meters Centerline goodness : 0.252890 with order 1 Centerline is valid? [False, False] Translation: X:-23.45, Y:-3.15, Z:-1.86 [[ 0.96016898 -0.24549966 0.13343703 -23.45403085] [ 0.27696462 0.7730263 -0.57071967 -3.14678262] [ 0.03696115 0.58494466 0.8102306 -1.85743161] [ 0. 0. 0. 1. ]] SLAMing on 251.943133365 meters Centerline goodness : 0.236804 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-3.17, Z:-1.86 [[ 0.96103984 -0.24133239 0.13476317 -23.51730247] [ 0.27432975 0.77306412 -0.57193973 -3.17499513] [ 0.03384701 0.58662642 0.80915006 -1.86472454] [ 0. 0. 0. 1. ]] SLAMing on 252.003133365 meters Centerline goodness : 0.104067 with order 1 Centerline is valid? [False, False] Translation: X:-23.57, Y:-3.20, Z:-1.87 [[ 0.96235314 -0.23731039 0.13251494 -23.57031151] [ 0.26966128 0.77253983 -0.57486086 -3.19992143] [ 0.03404739 0.5889533 0.80744955 -1.87401718] [ 0. 0. 0. 1. ]] SLAMing on 252.063133365 meters SLAMing on 252.123133365 meters SLAMing on 252.18313336499997 meters SLAMing on 252.24313336499998 meters SLAMing on 252.30313336499998 meters SLAMing on 252.36313336499998 meters Centerline goodness : 0.161424 with order 1 Centerline is valid? [False, False] Translation: X:-23.92, Y:-3.40, Z:-1.97 [[ 0.9606365 -0.2443194 0.13223292 -23.923287 ] [ 0.27504121 0.76940406 -0.57651516 -3.40036735] [ 0.03911329 0.59019101 0.80631552 -1.96643359] [ 0. 0. 0. 1. ]] SLAMing on 252.42313336499998 meters Centerline goodness : 0.124651 with order 1 Centerline is valid? [False, False] Translation: X:-23.96, Y:-3.42, Z:-1.97 [[ 0.96389573 -0.23083454 0.132742 -23.96370327] [ 0.26446909 0.77186665 -0.57816778 -3.42204706] [ 0.03100197 0.59239961 0.80504757 -1.97284028] [ 0. 0. 0. 1. ]] SLAMing on 252.483133365 meters Centerline goodness : 0.134814 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-3.45, Z:-1.98 [[ 0.96621561 -0.22114051 0.13237929 -24.02661078] [ 0.2565004 0.77483941 -0.57778148 -3.44850909] [ 0.0251982 0.59221682 0.80538456 -1.9798134 ] [ 0. 0. 0. 1. ]] SLAMing on 252.543133365 meters SLAMing on 252.603133365 meters Centerline goodness : 0.147039 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:-3.47, Z:-1.98 [[ 9.69529849e-01 -2.07767357e-01 1.29786736e-01 -2.40676585e+01] [ 2.44173499e-01 7.76822216e-01 -5.80453742e-01 -3.46588846e+00] [ 1.97781200e-02 5.94457710e-01 8.03883609e-01 -1.98164429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.663133365 meters SLAMing on 252.723133365 meters SLAMing on 252.783133365 meters SLAMing on 252.843133365 meters Centerline goodness : 0.128623 with order 1 Centerline is valid? [False, False] Translation: X:-24.29, Y:-3.56, Z:-2.01 [[ 9.65996074e-01 -2.18022571e-01 1.38988282e-01 -2.42887452e+01] [ 2.57888531e-01 7.73829149e-01 -5.78517030e-01 -3.55618432e+00] [ 1.85765859e-02 5.94688664e-01 8.03741441e-01 -2.00610717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90313336499997 meters Centerline goodness : 0.121454 with order 1 Centerline is valid? [False, False] Translation: X:-24.35, Y:-3.58, Z:-2.01 [[ 9.67149950e-01 -2.12922899e-01 1.38869772e-01 -2.43480726e+01] [ 2.53708243e-01 7.74306211e-01 -5.79725813e-01 -3.58260179e+00] [ 1.59091736e-02 5.95914197e-01 8.02890508e-01 -2.01433579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96313336499998 meters SLAMing on 253.02313336499998 meters SLAMing on 253.08313336499998 meters SLAMing on 253.14313336499998 meters SLAMing on 253.20313336499999 meters Centerline goodness : 0.093393 with order 1 Centerline is valid? [False, False] Translation: X:-24.55, Y:-3.70, Z:-2.07 [[ 9.70525360e-01 -1.97715062e-01 1.37801599e-01 -2.45490080e+01] [ 2.40859324e-01 7.76289610e-01 -5.82547189e-01 -3.69660414e+00] [ 8.20440411e-03 5.98567620e-01 8.01030269e-01 -2.07027604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.263133365 meters Centerline goodness : 0.094370 with order 1 Centerline is valid? [False, False] Translation: X:-24.59, Y:-3.72, Z:-2.08 [[ 9.73164303e-01 -1.84753774e-01 1.37176099e-01 -2.45883871e+01] [ 2.30106807e-01 7.77576267e-01 -5.85171775e-01 -3.71657268e+00] [ 1.44781488e-03 6.01033436e-01 7.99222567e-01 -2.07704906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.323133365 meters SLAMing on 253.383133365 meters Centerline goodness : 0.445479 with order 2 Centerline is valid? [False, False] Translation: X:-24.65, Y:-3.75, Z:-2.09 [[ 9.74411167e-01 -1.77648806e-01 1.37709037e-01 -2.46479739e+01] [ 2.24747779e-01 7.79205258e-01 -5.85087688e-01 -3.75005287e+00] [-3.36347635e-03 6.01065777e-01 7.99192479e-01 -2.09011674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.443133365 meters Centerline goodness : 0.103264 with order 1 Centerline is valid? [False, False] Translation: X:-24.69, Y:-3.77, Z:-2.10 [[ 9.76570124e-01 -1.65458153e-01 1.37602299e-01 -2.46859119e+01] [ 2.14952337e-01 7.80615673e-01 -5.86885562e-01 -3.76811861e+00] [-1.03095099e-02 6.02712842e-01 7.97891562e-01 -2.09573592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.503133365 meters Centerline goodness : 0.187635 with order 2 Centerline is valid? [False, False] Translation: X:-24.71, Y:-3.78, Z:-2.10 [[ 9.78251513e-01 -1.56604344e-01 1.36011235e-01 -2.47054240e+01] [ 2.06915289e-01 7.82593281e-01 -5.87140375e-01 -3.77662741e+00] [-1.44927456e-02 6.02513765e-01 7.97976894e-01 -2.09846973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.563133365 meters Centerline goodness : 0.203638 with order 3 Centerline is valid? [False, False] Translation: X:-24.75, Y:-3.79, Z:-2.10 [[ 9.80438288e-01 -1.42728826e-01 1.35533193e-01 -2.47458604e+01] [ 1.95568645e-01 7.84151254e-01 -5.88947974e-01 -3.78988629e+00] [-2.22186700e-02 6.03933186e-01 7.96725196e-01 -2.10067007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.623133365 meters Centerline goodness : 0.091415 with order 1 Centerline is valid? [False, False] Translation: X:-24.78, Y:-3.80, Z:-2.10 [[ 0.98228369 -0.12842755 0.1364739 -24.78439056] [ 0.18471158 0.78642635 -0.5894194 -3.8010901 ] [ -0.03162899 0.60418537 0.79621583 -2.10182331] [ 0. 0. 0. 1. ]] SLAMing on 253.68313336499997 meters Centerline goodness : 0.190908 with order 2 Centerline is valid? [False, False] Translation: X:-24.83, Y:-3.82, Z:-2.10 [[ 0.98216878 -0.12949235 0.13629458 -24.83152143] [ 0.18547469 0.78586646 -0.58992631 -3.81552074] [ -0.03071839 0.6046864 0.79587106 -2.10167864] [ 0. 0. 0. 1. ]] SLAMing on 253.74313336499998 meters Centerline goodness : 0.132248 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-3.83, Z:-2.11 [[ 0.98288318 -0.12416963 0.1360976 -24.85051001] [ 0.18121432 0.78472742 -0.59275985 -3.82512603] [ -0.03319675 0.60727652 0.7937967 -2.105604 ] [ 0. 0. 0. 1. ]] SLAMing on 253.80313336499998 meters SLAMing on 253.86313336499998 meters SLAMing on 253.92313336499998 meters SLAMing on 253.983133365 meters SLAMing on 254.043133365 meters Centerline goodness : 0.123077 with order 1 Centerline is valid? [False, False] Translation: X:-25.09, Y:-3.91, Z:-2.14 [[ 0.98444346 -0.1109457 0.1362429 -25.08789082] [ 0.17085132 0.78539999 -0.59494259 -3.91424959] [ -0.04099885 0.60896462 0.7921371 -2.13567981] [ 0. 0. 0. 1. ]] SLAMing on 254.103133365 meters Centerline goodness : 0.129189 with order 1 Centerline is valid? [False, False] Translation: X:-25.11, Y:-3.92, Z:-2.14 [[ 0.98497342 -0.10529747 0.13689338 -25.10849788] [ 0.16687868 0.78443002 -0.59734499 -3.92404672] [ -0.04448436 0.61121353 0.79021463 -2.13920704] [ 0. 0. 0. 1. ]] SLAMing on 254.163133365 meters Centerline goodness : 0.395221 with order 1 Centerline is valid? [False, False] Translation: X:-25.13, Y:-3.94, Z:-2.14 [[ 0.98516426 -0.09819511 0.14074483 -25.13096829] [ 0.16351713 0.7860409 -0.59615589 -3.93602438] [ -0.0520916 0.61032567 0.79043598 -2.14309005] [ 0. 0. 0. 1. ]] SLAMing on 254.223133365 meters Centerline goodness : 0.193895 with order 2 Centerline is valid? [False, False] Translation: X:-25.15, Y:-3.95, Z:-2.15 [[ 0.98575517 -0.09022371 0.14193809 -25.15051412] [ 0.15789951 0.78708608 -0.59629125 -3.94500418] [ -0.05791789 0.61020914 0.79012045 -2.14722482] [ 0. 0. 0. 1. ]] SLAMing on 254.283133365 meters Centerline goodness : 0.186426 with order 2 Centerline is valid? [False, False] Translation: X:-25.19, Y:-3.96, Z:-2.15 [[ 0.98693314 -0.0786618 0.14062465 -25.18680467] [ 0.14805909 0.78705501 -0.59885134 -3.95901301] [ -0.06357261 0.61184699 0.78841727 -2.15026477] [ 0. 0. 0. 1. ]] SLAMing on 254.343133365 meters Centerline goodness : 0.116162 with order 1 Centerline is valid? [False, False] Translation: X:-25.21, Y:-3.97, Z:-2.15 [[ 0.98720533 -0.07073285 0.1429073 -25.2074565 ] [ 0.14311072 0.78827561 -0.59844873 -3.96847909] [ -0.07032035 0.61124334 0.78831252 -2.15402828] [ 0. 0. 0. 1. ]] SLAMing on 254.40313336499997 meters Centerline goodness : 0.320344 with order 1 Centerline is valid? [False, False] Translation: X:-25.25, Y:-3.98, Z:-2.16 [[ 0.98793671 -0.05785809 0.14364367 -25.2498225 ] [ 0.13347844 0.7884469 -0.60044566 -3.98321297] [ -0.07851477 0.61237565 0.78665844 -2.15620486] [ 0. 0. 0. 1. ]] SLAMing on 254.46313336499998 meters SLAMing on 254.52313336499998 meters Centerline goodness : 0.125978 with order 1 Centerline is valid? [False, False] Translation: X:-25.29, Y:-3.99, Z:-2.16 [[ 0.98889448 -0.04311599 0.14222769 -25.2850245 ] [ 0.12101053 0.78916682 -0.60213968 -3.99343748] [ -0.08627953 0.61266365 0.7856202 -2.16062575] [ 0. 0. 0. 1. ]] SLAMing on 254.58313336499998 meters SLAMing on 254.64313336499998 meters SLAMing on 254.70313336499999 meters Centerline goodness : 0.124122 with order 1 Centerline is valid? [False, False] Translation: X:-25.37, Y:-4.01, Z:-2.16 [[ 0.98990307 -0.02560434 0.13941421 -25.36880731] [ 0.10535713 0.79088138 -0.60283208 -4.01352963] [ -0.09482498 0.61143361 0.78559351 -2.16057499] [ 0. 0. 0. 1. ]] SLAMing on 254.763133365 meters Centerline goodness : 0.361720 with order 1 Centerline is valid? [False, False] Translation: X:-25.41, Y:-4.02, Z:-2.16 [[ 9.90248631e-01 -1.06864123e-02 1.38900865e-01 -2.54087407e+01] [ 9.31925560e-02 7.91929891e-01 -6.03458528e-01 -4.02397535e+00] [-1.03550940e-01 6.10518508e-01 7.85203384e-01 -2.16063808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.823133365 meters Centerline goodness : 0.128099 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-4.02, Z:-2.16 [[ 9.90670926e-01 4.24308810e-06 1.36275884e-01 -2.54253244e+01] [ 8.29363426e-02 7.93464940e-01 -6.02938597e-01 -4.02373574e+00] [-1.08132694e-01 6.08615961e-01 7.86062295e-01 -2.15955558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.883133365 meters Centerline goodness : 0.129174 with order 1 Centerline is valid? [False, False] Translation: X:-25.45, Y:-4.03, Z:-2.16 [[ 9.90776964e-01 8.76730600e-03 1.35218866e-01 -2.54451633e+01] [ 7.53615552e-02 7.93679301e-01 -6.03650399e-01 -4.02518865e+00] [-1.12612803e-01 6.08273213e-01 7.85698450e-01 -2.15773812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.943133365 meters Centerline goodness : 0.369527 with order 1 Centerline is valid? [False, False] Translation: X:-25.50, Y:-4.03, Z:-2.15 [[ 9.90406694e-01 7.95907410e-03 1.37953735e-01 -2.54954196e+01] [ 7.77353844e-02 7.93297348e-01 -6.03851411e-01 -4.03190543e+00] [-1.14244430e-01 6.08782367e-01 7.85068303e-01 -2.15015896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.003133365 meters Centerline goodness : 0.089497 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-4.03, Z:-2.15 [[ 9.90448499e-01 7.28363740e-03 1.37690663e-01 -2.54946095e+01] [ 7.81253925e-02 7.93193726e-01 -6.03937196e-01 -4.03327726e+00] [-1.13614230e-01 6.08925827e-01 7.85048498e-01 -2.15145883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.063133365 meters SLAMing on 255.123133365 meters SLAMing on 255.18313336499997 meters SLAMing on 255.24313336499998 meters Centerline goodness : 0.100982 with order 1 Centerline is valid? [False, False] Translation: X:-25.66, Y:-4.07, Z:-2.15 [[ 9.90162669e-01 9.31254950e-03 1.39610766e-01 -2.56589284e+01] [ 7.79205799e-02 7.92045146e-01 -6.05469132e-01 -4.07234904e+00] [-1.16216490e-01 6.10391483e-01 7.83527897e-01 -2.15437260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30313336499998 meters SLAMing on 255.36313336499998 meters SLAMing on 255.42313336499998 meters SLAMing on 255.483133365 meters Centerline goodness : 0.448369 with order 3 Centerline is valid? [False, False] Translation: X:-25.84, Y:-4.12, Z:-2.16 [[ 9.89838288e-01 -2.07559443e-03 1.42182472e-01 -2.58365354e+01] [ 8.90615218e-02 7.88530521e-01 -6.08512664e-01 -4.12060954e+00] [-1.10852193e-01 6.14992121e-01 7.80702557e-01 -2.16107547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.543133365 meters Centerline goodness : 0.442493 with order 1 Centerline is valid? [False, False] Translation: X:-25.88, Y:-4.13, Z:-2.16 [[ 9.90336960e-01 -1.59189931e-03 1.38672894e-01 -2.58785923e+01] [ 8.64733294e-02 7.88830881e-01 -6.08496676e-01 -4.12794116e+00] [-1.08420795e-01 6.14608255e-01 7.81346033e-01 -2.15866554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.603133365 meters Centerline goodness : 0.447552 with order 3 Centerline is valid? [False, False] Translation: X:-25.90, Y:-4.13, Z:-2.16 [[ 9.90332056e-01 6.81624958e-03 1.38549480e-01 -2.58985630e+01] [ 7.97971841e-02 7.88995212e-01 -6.09195341e-01 -4.13335761e+00] [-1.13467304e-01 6.14361533e-01 7.80823333e-01 -2.15998875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.663133365 meters Centerline goodness : 0.449702 with order 1 Centerline is valid? [False, False] Translation: X:-25.90, Y:-4.14, Z:-2.16 [[ 9.90056822e-01 8.17415163e-03 1.40430308e-01 -2.59047049e+01] [ 7.96669496e-02 7.90191065e-01 -6.07660479e-01 -4.13640548e+00] [-1.15933884e-01 6.12806058e-01 7.81682845e-01 -2.15763009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.723133365 meters Centerline goodness : 0.100035 with order 1 Centerline is valid? [False, False] Translation: X:-25.95, Y:-4.14, Z:-2.15 [[ 9.90257519e-01 8.75790364e-03 1.38972463e-01 -2.59519390e+01] [ 7.82555170e-02 7.90507798e-01 -6.07431885e-01 -4.14449035e+00] [-1.15178646e-01 6.12389353e-01 7.82120937e-01 -2.15325306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.783133365 meters Centerline goodness : 0.319168 with order 1 Centerline is valid? [False, False] Translation: X:-25.97, Y:-4.15, Z:-2.15 [[ 9.90197430e-01 1.74175906e-02 1.38584549e-01 -2.59714524e+01] [ 7.11432884e-02 7.90948759e-01 -6.07732419e-01 -4.14982665e+00] [-1.20198511e-01 6.11634440e-01 7.81956284e-01 -2.15478785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.843133365 meters Centerline goodness : 0.118659 with order 1 Centerline is valid? [False, False] Translation: X:-25.99, Y:-4.15, Z:-2.15 [[ 0.98993374 0.02631053 0.13906454 -25.99292465] [ 0.0643819 0.79130933 -0.60801688 -4.15364091] [ -0.12604031 0.61084966 0.78164988 -2.15421799] [ 0. 0. 0. 1. ]] SLAMing on 255.90313336499997 meters SLAMing on 255.96313336499998 meters Centerline goodness : 0.088512 with order 1 Centerline is valid? [False, False] Translation: X:-26.01, Y:-4.16, Z:-2.15 [[ 0.98947014 0.03411809 0.14065843 -26.01184528] [ 0.05911298 0.79181323 -0.60789593 -4.15784365] [ -0.13211546 0.60980961 0.78145873 -2.15483671] [ 0. 0. 0. 1. ]] SLAMing on 256.023133365 meters Centerline goodness : 0.125896 with order 1 Centerline is valid? [False, False] Translation: X:-26.01, Y:-4.16, Z:-2.16 [[ 0.98966797 0.0309861 0.1399899 -26.01043637] [ 0.06157996 0.78986815 -0.6101772 -4.16116913] [ -0.12948058 0.6124934 0.77979909 -2.15739204] [ 0. 0. 0. 1. ]] SLAMing on 256.083133365 meters SLAMing on 256.143133365 meters Centerline goodness : 0.101870 with order 1 Centerline is valid? [False, False] Translation: X:-26.03, Y:-4.17, Z:-2.16 [[ 0.98954542 0.03842739 0.13900788 -26.02700022] [ 0.05516108 0.78972049 -0.61098184 -4.16813893] [ -0.13325581 0.61226211 0.7793446 -2.16236799] [ 0. 0. 0. 1. ]] SLAMing on 256.203133365 meters SLAMing on 256.263133365 meters Centerline goodness : 0.099301 with order 1 Centerline is valid? [False, False] Translation: X:-26.06, Y:-4.18, Z:-2.17 [[ 0.98920378 0.05214724 0.13695458 -26.06134721] [ 0.04305007 0.78990799 -0.61171239 -4.17848715] [ -0.14008063 0.61100411 0.77913503 -2.16511358] [ 0. 0. 0. 1. ]] SLAMing on 256.323133365 meters SLAMing on 256.383133365 meters Centerline goodness : 0.315101 with order 2 Centerline is valid? [False, False] Translation: X:-26.04, Y:-4.19, Z:-2.17 [[ 0.98864281 0.05817114 0.1385695 -26.04179319] [ 0.03932765 0.78977532 -0.6121342 -4.18631542] [ -0.14504731 0.61063169 0.77851796 -2.17389652] [ 0. 0. 0. 1. ]] SLAMing on 256.443133365 meters Centerline goodness : 0.447418 with order 3 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.20, Z:-2.17 [[ 0.98883338 0.05683623 0.13776137 -26.08932254] [ 0.039841 0.78994543 -0.61188146 -4.19754073] [ -0.143601 0.61053736 0.77885999 -2.17046412] [ 0. 0. 0. 1. ]] SLAMing on 256.503133365 meters Centerline goodness : 0.197439 with order 2 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.20, Z:-2.17 [[ 0.98885913 0.05687543 0.13756018 -26.08890187] [ 0.03955616 0.7904957 -0.61118889 -4.20141762] [ -0.14350236 0.60982107 0.77943912 -2.1735628 ] [ 0. 0. 0. 1. ]] SLAMing on 256.563133365 meters Centerline goodness : 0.443866 with order 1 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.21, Z:-2.18 [[ 0.98878429 0.05725934 0.13793836 -26.08981619] [ 0.03927086 0.79140807 -0.61002546 -4.20706054] [ -0.14409519 0.60860055 0.78028324 -2.17796589] [ 0. 0. 0. 1. ]] SLAMing on 256.623133365 meters Centerline goodness : 0.447005 with order 1 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.21, Z:-2.18 [[ 0.98876468 0.05748456 0.13798529 -26.08996325] [ 0.03901313 0.79186559 -0.609448 -4.20970437] [ -0.14429965 0.6079839 0.78072607 -2.18019688] [ 0. 0. 0. 1. ]] SLAMing on 256.683133365 meters Centerline goodness : 0.447124 with order 1 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.21, Z:-2.18 [[ 0.98876035 0.05766074 0.13794279 -26.09012234] [ 0.03870724 0.79245573 -0.60869998 -4.21393889] [ -0.14441164 0.60719779 0.78131692 -2.18306366] [ 0. 0. 0. 1. ]] SLAMing on 256.743133365 meters Centerline goodness : 0.092732 with order 1 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.22, Z:-2.19 [[ 0.98870818 0.05609067 0.13896032 -26.0927528 ] [ 0.04060612 0.79233326 -0.6087357 -4.22337041] [ -0.14424727 0.60750461 0.78110875 -2.19004296] [ 0. 0. 0. 1. ]] SLAMing on 256.803133365 meters Centerline goodness : 0.092401 with order 1 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.23, Z:-2.20 [[ 0.98864989 0.05588446 0.13945726 -26.09402466] [ 0.04095369 0.7928442 -0.60804677 -4.23015828] [ -0.14454825 0.60685666 0.78155665 -2.19522515] [ 0. 0. 0. 1. ]] SLAMing on 256.863133365 meters Centerline goodness : 0.126088 with order 1 Centerline is valid? [False, False] Translation: X:-26.09, Y:-4.24, Z:-2.20 [[ 0.98882893 0.05311375 0.13927055 -26.09407015] [ 0.04331519 0.79164094 -0.60944927 -4.23942235] [ -0.1426224 0.6086736 0.78049683 -2.20289357] [ 0. 0. 0. 1. ]] SLAMing on 256.923133365 meters SLAMing on 256.983133365 meters Centerline goodness : 0.118892 with order 1 Centerline is valid? [False, False] Translation: X:-26.12, Y:-4.25, Z:-2.21 [[ 0.98883743 0.05904796 0.13679863 -26.11542088] [ 0.03736433 0.79051374 -0.61130348 -4.25289697] [ -0.14423742 0.60959115 0.77948329 -2.20965672] [ 0. 0. 0. 1. ]] SLAMing on 257.04313336499996 meters Centerline goodness : 0.121747 with order 1 Centerline is valid? [False, False] Translation: X:-26.12, Y:-4.26, Z:-2.21 [[ 0.98857428 0.06243511 0.137196 -26.11591227] [ 0.03427136 0.79324686 -0.60793494 -4.2556266 ] [ -0.14678678 0.60569074 0.78204371 -2.21172862] [ 0. 0. 0. 1. ]] SLAMing on 257.10313336499996 meters Centerline goodness : 0.123831 with order 1 Centerline is valid? [False, False] Translation: X:-26.12, Y:-4.26, Z:-2.21 [[ 0.98853182 0.06251334 0.13746605 -26.11670156] [ 0.03437981 0.79322836 -0.60795296 -4.25578792] [ -0.14704714 0.6057069 0.78198228 -2.2113365 ] [ 0. 0. 0. 1. ]] SLAMing on 257.16313336499996 meters Centerline goodness : 0.125209 with order 1 Centerline is valid? [False, False] Translation: X:-26.14, Y:-4.26, Z:-2.21 [[ 0.98924535 0.05626419 0.13501103 -26.13834504] [ 0.0374504 0.79485045 -0.60564861 -4.2580046 ] [ -0.1413899 0.60419128 0.78419499 -2.20870364] [ 0. 0. 0. 1. ]] SLAMing on 257.22313336499997 meters Centerline goodness : 0.127591 with order 1 Centerline is valid? [False, False] Translation: X:-26.16, Y:-4.26, Z:-2.21 [[ 0.99007802 0.04847456 0.13189292 -26.15660676] [ 0.04158908 0.79547558 -0.60455682 -4.25765746] [ -0.13422322 0.60404372 0.78556687 -2.20663093] [ 0. 0. 0. 1. ]] SLAMing on 257.28313336499997 meters Centerline goodness : 0.128140 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-4.26, Z:-2.20 [[ 0.99066762 0.03998908 0.13030174 -26.17645487] [ 0.04726779 0.79586959 -0.60362021 -4.2574102 ] [ -0.12784141 0.60414607 0.78655203 -2.20341293] [ 0. 0. 0. 1. ]] SLAMing on 257.34313336499997 meters Centerline goodness : 0.125958 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-4.26, Z:-2.20 [[ 0.9906528 0.04007712 0.13038731 -26.17696022] [ 0.04722744 0.79597655 -0.60348231 -4.25805713] [ -0.12797107 0.6039993 0.78664366 -2.20304631] [ 0. 0. 0. 1. ]] SLAMing on 257.403133365 meters Centerline goodness : 0.109454 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-4.26, Z:-2.20 [[ 0.99035844 0.04313035 0.13164322 -26.17994451] [ 0.04506386 0.79830393 -0.60056647 -4.25866517] [ -0.13099395 0.60070842 0.78866342 -2.20176004] [ 0. 0. 0. 1. ]] SLAMing on 257.463133365 meters Centerline goodness : 0.112921 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-4.26, Z:-2.20 [[ 0.99019268 0.04619642 0.13184975 -26.18011539] [ 0.04221648 0.80069258 -0.59758611 -4.25946488] [ -0.13317745 0.59729162 0.79088968 -2.20212847] [ 0. 0. 0. 1. ]] SLAMing on 257.523133365 meters Centerline goodness : 0.110070 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-4.26, Z:-2.20 [[ 0.99018068 0.04620031 0.13193843 -26.18032483] [ 0.04223612 0.80083049 -0.59739989 -4.26065782] [ -0.13326038 0.5971064 0.79101556 -2.20308971] [ 0. 0. 0. 1. ]] SLAMing on 257.583133365 meters Centerline goodness : 0.109399 with order 1 Centerline is valid? [False, False] Translation: X:-26.20, Y:-4.27, Z:-2.20 [[ 0.99071708 0.03590262 0.13111317 -26.20221146] [ 0.05002952 0.80050478 -0.59723458 -4.26702147] [ -0.12639901 0.59825003 0.79127757 -2.2040823 ] [ 0. 0. 0. 1. ]] SLAMing on 257.643133365 meters Centerline goodness : 0.110407 with order 1 Centerline is valid? [False, False] Translation: X:-26.22, Y:-4.28, Z:-2.21 [[ 0.990455 0.04247114 0.13113008 -26.22047864] [ 0.04489322 0.80007288 -0.59822068 -4.27673531] [ -0.13032073 0.59839752 0.79052952 -2.21135745] [ 0. 0. 0. 1. ]] SLAMing on 257.703133365 meters Centerline goodness : 0.115884 with order 1 Centerline is valid? [False, False] Translation: X:-26.22, Y:-4.28, Z:-2.21 [[ 0.99047116 0.04274731 0.1309181 -26.2194189 ] [ 0.04444985 0.80050866 -0.59767055 -4.27860991] [ -0.13034988 0.59779473 0.79098063 -2.21445293] [ 0. 0. 0. 1. ]] SLAMing on 257.763133365 meters Centerline goodness : 0.114816 with order 1 Centerline is valid? [False, False] Translation: X:-26.22, Y:-4.28, Z:-2.22 [[ 0.99040571 0.04566827 0.13042597 -26.21747173] [ 0.04134327 0.80266468 -0.59499591 -4.27876257] [ -0.13186075 0.59467959 0.79307561 -2.21596965] [ 0. 0. 0. 1. ]] SLAMing on 257.823133365 meters Centerline goodness : 0.125224 with order 1 Centerline is valid? [False, False] Translation: X:-26.24, Y:-4.28, Z:-2.22 [[ 0.99011383 0.054328 0.1293177 -26.23812951] [ 0.03373039 0.8026712 -0.59546722 -4.2826259 ] [ -0.13615014 0.59394226 0.79290335 -2.21624488] [ 0. 0. 0. 1. ]] SLAMing on 257.883133365 meters Centerline goodness : 0.127038 with order 1 Centerline is valid? [False, False] Translation: X:-26.24, Y:-4.28, Z:-2.22 [[ 0.99004559 0.0568858 0.12873903 -26.23609473] [ 0.03089081 0.8045582 -0.59306986 -4.28200895] [ -0.13731529 0.59114306 0.79479205 -2.21669018] [ 0. 0. 0. 1. ]] SLAMing on 257.943133365 meters Centerline goodness : 0.125169 with order 1 Centerline is valid? [False, False] Translation: X:-26.26, Y:-4.28, Z:-2.21 [[ 0.99062041 0.04822427 0.12784998 -26.25576047] [ 0.03724546 0.8049275 -0.59220309 -4.28025451] [ -0.13146852 0.5914103 0.79558148 -2.21348015] [ 0. 0. 0. 1. ]] SLAMing on 258.003133365 meters Centerline goodness : 0.125909 with order 1 Centerline is valid? [False, False] Translation: X:-26.26, Y:-4.28, Z:-2.21 [[ 0.99063562 0.04824334 0.12772487 -26.25566905] [ 0.03712333 0.80507153 -0.59201494 -4.28141252] [ -0.13138844 0.59121266 0.79574159 -2.21388839] [ 0. 0. 0. 1. ]] SLAMing on 258.063133365 meters Centerline goodness : 0.130324 with order 1 Centerline is valid? [False, False] Translation: X:-26.30, Y:-4.29, Z:-2.21 [[ 0.99092165 0.04827953 0.12547259 -26.30084086] [ 0.03556805 0.80589296 -0.59099191 -4.28755381] [ -0.12965029 0.5900895 0.79685958 -2.20954577] [ 0. 0. 0. 1. ]] SLAMing on 258.123133365 meters Centerline goodness : 0.124310 with order 1 Centerline is valid? [False, False] Translation: X:-26.30, Y:-4.29, Z:-2.21 [[ 0.99091199 0.04822755 0.12556884 -26.3009934 ] [ 0.03570288 0.80573116 -0.59120436 -4.28621191] [ -0.12968706 0.59031466 0.79668681 -2.20865905] [ 0. 0. 0. 1. ]] SLAMing on 258.183133365 meters Centerline goodness : 0.137883 with order 3 Centerline is valid? [False, False] Translation: X:-26.30, Y:-4.28, Z:-2.21 [[ 0.99069933 0.05136246 0.12600289 -26.30164671] [ 0.03295752 0.80786896 -0.58843993 -4.28472991] [ -0.13201754 0.58711979 0.79866246 -2.2070461 ] [ 0. 0. 0. 1. ]] SLAMing on 258.243133365 meters Centerline goodness : 0.130393 with order 1 Centerline is valid? [False, False] Translation: X:-26.32, Y:-4.28, Z:-2.20 [[ 0.99121299 0.04266232 0.12520674 -26.32166249] [ 0.03945208 0.80812794 -0.58768424 -4.28184013] [ -0.12625503 0.58745992 0.7993438 -2.20335774] [ 0. 0. 0. 1. ]] SLAMing on 258.303133365 meters Centerline goodness : 0.127781 with order 1 Centerline is valid? [False, False] Translation: X:-26.32, Y:-4.28, Z:-2.20 [[ 0.99122083 0.04262883 0.12515612 -26.32147393] [ 0.03945099 0.80811908 -0.5876965 -4.28167682] [ -0.12619387 0.58747455 0.79934271 -2.20340953] [ 0. 0. 0. 1. ]] SLAMing on 258.363133365 meters Centerline goodness : 0.128454 with order 1 Centerline is valid? [False, False] Translation: X:-26.34, Y:-4.28, Z:-2.20 [[ 0.99155156 0.03320213 0.12539185 -26.34432107] [ 0.04720869 0.80801932 -0.58726154 -4.28247168] [ -0.12081737 0.58821968 0.79962539 -2.20010932] [ 0. 0. 0. 1. ]] SLAMing on 258.423133365 meters Centerline goodness : 0.128883 with order 1 Centerline is valid? [False, False] Translation: X:-26.34, Y:-4.29, Z:-2.20 [[ 0.99163026 0.03277024 0.12488212 -26.34319431] [ 0.04721771 0.80819954 -0.58701277 -4.2856402 ] [ -0.12016622 0.58799627 0.79988778 -2.20245686] [ 0. 0. 0. 1. ]] SLAMing on 258.483133365 meters Centerline goodness : 0.129147 with order 1 Centerline is valid? [False, False] Translation: X:-26.34, Y:-4.29, Z:-2.20 [[ 0.99166999 0.03282014 0.1245531 -26.34197427] [ 0.04693001 0.80845802 -0.58667982 -4.28716203] [ -0.11995087 0.58763805 0.8001833 -2.20489205] [ 0. 0. 0. 1. ]] SLAMing on 258.54313336499996 meters Centerline goodness : 0.129664 with order 1 Centerline is valid? [False, False] Translation: X:-26.34, Y:-4.29, Z:-2.21 [[ 0.99160891 0.03277921 0.12504914 -26.3439962 ] [ 0.04721515 0.80865965 -0.58637897 -4.29057824] [ -0.12034324 0.58736283 0.80032644 -2.20520361] [ 0. 0. 0. 1. ]] SLAMing on 258.60313336499996 meters Centerline goodness : 0.135037 with order 1 Centerline is valid? [False, False] Translation: X:-26.36, Y:-4.29, Z:-2.20 [[ 9.91928313e-01 2.44726379e-02 1.24415880e-01 -2.63644663e+01] [ 5.34080100e-02 8.09279643e-01 -5.84990636e-01 -4.29106680e+00] [-1.15003503e-01 5.86913579e-01 8.01440356e-01 -2.20310008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66313336499996 meters Centerline goodness : 0.131386 with order 1 Centerline is valid? [False, False] Translation: X:-26.40, Y:-4.30, Z:-2.21 [[ 9.92482678e-01 2.22817033e-02 1.20339766e-01 -2.64031190e+01] [ 5.28844139e-02 8.08666411e-01 -5.85885547e-01 -4.30124666e+00] [-1.10369255e-01 5.87845355e-01 8.01409051e-01 -2.20669167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72313336499997 meters Centerline goodness : 0.131697 with order 1 Centerline is valid? [False, False] Translation: X:-26.40, Y:-4.31, Z:-2.21 [[ 9.92491643e-01 2.24048282e-02 1.20242930e-01 -2.64034007e+01] [ 5.25982056e-02 8.09357835e-01 -5.84955830e-01 -4.30721521e+00] [-1.10425392e-01 5.86888336e-01 8.02102434e-01 -2.20975490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78313336499997 meters Centerline goodness : 0.132016 with order 1 Centerline is valid? [False, False] Translation: X:-26.40, Y:-4.31, Z:-2.21 [[ 9.92457661e-01 2.25062855e-02 1.20504181e-01 -2.64045920e+01] [ 5.25643448e-02 8.09919931e-01 -5.84180362e-01 -4.31258238e+00] [-1.10746468e-01 5.86108499e-01 8.02628212e-01 -2.21202917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84313336499997 meters Centerline goodness : 0.131144 with order 1 Centerline is valid? [False, False] Translation: X:-26.43, Y:-4.32, Z:-2.22 [[ 0.9920396 0.03078393 0.12210558 -26.42692818] [ 0.04671483 0.81050393 -0.58386737 -4.32122615] [ -0.11694078 0.5849237 0.80261393 -2.21545732] [ 0. 0. 0. 1. ]] SLAMing on 258.903133365 meters Centerline goodness : 0.206827 with order 3 Centerline is valid? [False, False] Translation: X:-26.45, Y:-4.33, Z:-2.22 [[ 0.9916512 0.03901623 0.12290498 -26.44774917] [ 0.04049508 0.81068274 -0.58408359 -4.32709234] [ -0.12242568 0.58418424 0.80233455 -2.21756574] [ 0. 0. 0. 1. ]] SLAMing on 258.963133365 meters Centerline goodness : 0.213802 with order 3 Centerline is valid? [False, False] Translation: X:-26.45, Y:-4.33, Z:-2.22 [[ 0.99167631 0.03900269 0.12270651 -26.44740415] [ 0.04035593 0.81084138 -0.58387299 -4.32878287] [ -0.12226813 0.58396494 0.80251819 -2.21872462] [ 0. 0. 0. 1. ]] SLAMing on 259.023133365 meters Centerline goodness : 0.118572 with order 1 Centerline is valid? [False, False] Translation: X:-26.47, Y:-4.33, Z:-2.22 [[ 0.99216207 0.02959966 0.12140137 -26.46661013] [ 0.04710161 0.81128757 -0.58274687 -4.33185646] [ -0.11574053 0.58389754 0.80353456 -2.21938242] [ 0. 0. 0. 1. ]] SLAMing on 259.083133365 meters Centerline goodness : 0.123700 with order 1 Centerline is valid? [False, False] Translation: X:-26.51, Y:-4.34, Z:-2.22 [[ 0.99257217 0.02679511 0.11866972 -26.51146948] [ 0.04789838 0.81058667 -0.58365657 -4.34258122] [ -0.11183124 0.58500535 0.80328233 -2.21836062] [ 0. 0. 0. 1. ]] SLAMing on 259.143133365 meters Centerline goodness : 0.119835 with order 1 Centerline is valid? [False, False] Translation: X:-26.49, Y:-4.34, Z:-2.22 [[ 9.92721643e-01 1.78250925e-02 1.19105016e-01 -2.64906600e+01] [ 5.54031986e-02 8.10524194e-01 -5.83078911e-01 -4.34305691e+00] [-1.06930933e-01 5.85433854e-01 8.03637343e-01 -2.22104659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.203133365 meters Centerline goodness : 0.126011 with order 1 Centerline is valid? [False, False] Translation: X:-26.53, Y:-4.35, Z:-2.22 [[ 9.93024451e-01 1.58853542e-02 1.16833625e-01 -2.65339825e+01] [ 5.57032027e-02 8.10130092e-01 -5.83597795e-01 -4.35234894e+00] [-1.03921093e-01 5.86034887e-01 8.03594125e-01 -2.22116782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.263133365 meters Centerline goodness : 0.155072 with order 3 Centerline is valid? [False, False] Translation: X:-26.53, Y:-4.35, Z:-2.22 [[ 9.93030619e-01 1.59823747e-02 1.16767947e-01 -2.65337998e+01] [ 5.55501424e-02 8.10334577e-01 -5.83328428e-01 -4.35369360e+00] [-1.03944079e-01 5.85749466e-01 8.03799223e-01 -2.22218939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.323133365 meters Centerline goodness : 0.131303 with order 1 Centerline is valid? [False, False] Translation: X:-26.53, Y:-4.35, Z:-2.22 [[ 9.93107816e-01 1.60569337e-02 1.16099273e-01 -2.65318701e+01] [ 5.50579262e-02 8.10557131e-01 -5.83065830e-01 -4.35487387e+00] [-1.03467343e-01 5.85439418e-01 8.04086561e-01 -2.22429571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.383133365 meters Centerline goodness : 0.130377 with order 1 Centerline is valid? [False, False] Translation: X:-26.55, Y:-4.36, Z:-2.22 [[ 9.93454483e-01 6.99824327e-03 1.14014095e-01 -2.65513476e+01] [ 6.11423913e-02 8.10520321e-01 -5.82510444e-01 -4.35576674e+00] [-9.64872908e-02 5.85668707e-01 8.04787157e-01 -2.22219675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.443133365 meters Centerline goodness : 0.172274 with order 3 Centerline is valid? [False, False] Translation: X:-26.55, Y:-4.36, Z:-2.22 [[ 9.93473214e-01 6.89353076e-03 1.13857156e-01 -2.65512246e+01] [ 6.10903676e-02 8.10790060e-01 -5.82140400e-01 -4.35842186e+00] [-9.63272528e-02 5.85296470e-01 8.05077079e-01 -2.22355976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.503133365 meters Centerline goodness : 0.121718 with order 1 Centerline is valid? [False, False] Translation: X:-26.55, Y:-4.36, Z:-2.22 [[ 9.93471291e-01 6.42004050e-03 1.13901613e-01 -2.65516829e+01] [ 6.14868333e-02 8.10858310e-01 -5.82003583e-01 -4.36128932e+00] [-9.60945561e-02 5.85207300e-01 8.05169704e-01 -2.22461765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.563133365 meters Centerline goodness : 0.119902 with order 1 Centerline is valid? [False, False] Translation: X:-26.56, Y:-4.37, Z:-2.23 [[ 9.93332615e-01 6.10992165e-03 1.15121607e-01 -2.65553247e+01] [ 6.24037342e-02 8.11146447e-01 -5.81504270e-01 -4.36585983e+00] [-9.69334277e-02 5.84811175e-01 8.05356940e-01 -2.22507142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.623133365 meters Centerline goodness : 0.256430 with order 3 Centerline is valid? [False, False] Translation: X:-26.56, Y:-4.37, Z:-2.23 [[ 9.93302387e-01 6.05209847e-03 1.15385177e-01 -2.65566009e+01] [ 6.25801156e-02 8.11294123e-01 -5.81279257e-01 -4.36856108e+00] [-9.71292755e-02 5.84606892e-01 8.05481648e-01 -2.22519047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.683133365 meters Centerline goodness : 0.111359 with order 1 Centerline is valid? [False, False] Translation: X:-26.56, Y:-4.37, Z:-2.23 [[ 9.93295287e-01 6.10303179e-03 1.15443601e-01 -2.65573258e+01] [ 6.25343085e-02 8.11528151e-01 -5.80957416e-01 -4.37103320e+00] [-9.72313335e-02 5.84281450e-01 8.05705440e-01 -2.22547006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.743133365 meters Centerline goodness : 0.100679 with order 1 Centerline is valid? [False, False] Translation: X:-26.56, Y:-4.37, Z:-2.23 [[ 9.93277087e-01 6.27138322e-03 1.15591079e-01 -2.65577503e+01] [ 6.24431900e-02 8.11777446e-01 -5.80618830e-01 -4.37211862e+00] [-9.74755145e-02 5.83933256e-01 8.05928332e-01 -2.22596407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.803133365 meters Centerline goodness : 0.276244 with order 3 Centerline is valid? [False, False] Translation: X:-26.58, Y:-4.37, Z:-2.23 [[ 9.93172708e-01 1.43837640e-02 1.15763036e-01 -2.65785825e+01] [ 5.59929983e-02 8.11795500e-01 -5.81251108e-01 -4.37465783e+00] [-1.02336490e-01 5.83764656e-01 8.05447745e-01 -2.22565154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.863133365 meters Centerline goodness : 0.095982 with order 1 Centerline is valid? [False, False] Translation: X:-26.58, Y:-4.37, Z:-2.22 [[ 9.93055617e-01 1.72344294e-02 1.16376613e-01 -2.65804610e+01] [ 5.36966908e-02 8.13762374e-01 -5.78711901e-01 -4.37352282e+00] [-1.04676678e-01 5.80942143e-01 8.07185865e-01 -2.22318987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.923133365 meters Centerline goodness : 0.099269 with order 1 Centerline is valid? [False, False] Translation: X:-26.58, Y:-4.37, Z:-2.22 [[ 9.93196750e-01 1.85171094e-02 1.14966661e-01 -2.65754020e+01] [ 5.17555847e-02 8.14211157e-01 -5.78257339e-01 -4.36635087e+00] [-1.04314793e-01 5.80273477e-01 8.07713511e-01 -2.22201783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.983133365 meters Centerline goodness : 0.276942 with order 3 Centerline is valid? [False, False] Translation: X:-26.57, Y:-4.36, Z:-2.22 [[ 9.93276245e-01 1.82609492e-02 1.14319019e-01 -2.65734431e+01] [ 5.16603230e-02 8.13795447e-01 -5.78850741e-01 -4.36276612e+00] [-1.03602661e-01 5.80864449e-01 8.07380320e-01 -2.22098784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04313336499996 meters Centerline goodness : 0.255930 with order 3 Centerline is valid? [False, False] Translation: X:-26.57, Y:-4.36, Z:-2.22 [[ 9.93302109e-01 1.79880817e-02 1.14137412e-01 -2.65728479e+01] [ 5.18306266e-02 8.13485399e-01 -5.79271172e-01 -4.36065562e+00] [-1.03269095e-01 5.81307091e-01 8.07104429e-01 -2.22001594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10313336499996 meters Centerline goodness : 0.109366 with order 1 Centerline is valid? [False, False] Translation: X:-26.57, Y:-4.36, Z:-2.22 [[ 9.93399680e-01 1.73231813e-02 1.13388639e-01 -2.65710503e+01] [ 5.20064324e-02 8.13064036e-01 -5.79846708e-01 -4.35872775e+00] [-1.02237014e-01 5.81916473e-01 8.06796636e-01 -2.21918066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16313336499996 meters Centerline goodness : 0.117954 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-4.36, Z:-2.21 [[ 9.93798288e-01 1.70049171e-02 1.09889921e-01 -2.66109621e+01] [ 5.01565071e-02 8.13447762e-01 -5.79471366e-01 -4.35806332e+00] [-9.92435730e-02 5.81389346e-01 8.07550086e-01 -2.21372548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22313336499997 meters Centerline goodness : 0.113167 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-4.36, Z:-2.21 [[ 9.93809332e-01 1.69001800e-02 1.09806172e-01 -2.66107586e+01] [ 5.02136151e-02 8.13323888e-01 -5.79640273e-01 -4.35681671e+00] [-9.91040075e-02 5.81565678e-01 8.07440250e-01 -2.21289216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28313336499997 meters Centerline goodness : 0.107799 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-4.36, Z:-2.21 [[ 9.93774037e-01 1.67981082e-02 1.10140758e-01 -2.66119681e+01] [ 5.05419736e-02 8.13027693e-01 -5.80027136e-01 -4.35502839e+00] [-9.92908447e-02 5.81982640e-01 8.07116804e-01 -2.21012570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34313336499997 meters Centerline goodness : 0.134569 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-4.35, Z:-2.21 [[ 9.93742981e-01 1.94882979e-02 1.09977698e-01 -2.66116586e+01] [ 4.79360071e-02 8.14944560e-01 -5.77553031e-01 -4.35370162e+00] [-1.00881252e-01 5.79211162e-01 8.08911245e-01 -2.20871517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.403133365 meters Centerline goodness : 0.209302 with order 3 Centerline is valid? [False, False] Translation: X:-26.63, Y:-4.35, Z:-2.20 [[ 9.94046925e-01 9.41004204e-03 1.08545667e-01 -2.66318955e+01] [ 5.53631901e-02 8.14430853e-01 -5.77613455e-01 -4.35219682e+00] [-9.38383066e-02 5.80184313e-01 8.09061515e-01 -2.20411991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.463133365 meters Centerline goodness : 0.124692 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-4.35, Z:-2.20 [[ 9.94033857e-01 8.39484176e-03 1.08748419e-01 -2.66327756e+01] [ 5.63118833e-02 8.14379161e-01 -5.77594627e-01 -4.35458575e+00] [-9.34112620e-02 5.80272443e-01 8.09047729e-01 -2.20454152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.523133365 meters Centerline goodness : 0.352059 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-4.36, Z:-2.21 [[ 9.93992598e-01 8.08521081e-03 1.09148271e-01 -2.66338853e+01] [ 5.67520276e-02 8.14645908e-01 -5.77175235e-01 -4.35737882e+00] [-9.35837761e-02 5.79902297e-01 8.09293150e-01 -2.20596159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.583133365 meters Centerline goodness : 0.434421 with order 2 Centerline is valid? [False, False] Translation: X:-26.66, Y:-4.36, Z:-2.20 [[ 9.93465577e-01 1.58070647e-02 1.13032225e-01 -2.66592550e+01] [ 5.26653813e-02 8.15129242e-01 -5.76880124e-01 -4.36190417e+00] [-1.01254654e-01 5.79063430e-01 8.08970357e-01 -2.20447126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.643133365 meters Centerline goodness : 0.440081 with order 1 Centerline is valid? [False, False] Translation: X:-26.68, Y:-4.36, Z:-2.20 [[ 9.93131708e-01 2.55732793e-02 1.14172754e-01 -2.66834815e+01] [ 4.52628687e-02 8.15868352e-01 -5.76463446e-01 -4.36046552e+00] [-1.07891998e-01 5.77671914e-01 8.09107210e-01 -2.19843304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.703133365 meters Centerline goodness : 0.261922 with order 3 Centerline is valid? [False, False] Translation: X:-26.70, Y:-4.35, Z:-2.19 [[ 0.993138 0.03669621 0.11104191 -26.70069524] [ 0.0341616 0.81705403 -0.57554818 -4.35407611] [ -0.11184768 0.57539213 0.8101938 -2.19328436] [ 0. 0. 0. 1. ]] SLAMing on 260.763133365 meters Centerline goodness : 0.445190 with order 3 Centerline is valid? [False, False] Translation: X:-26.74, Y:-4.35, Z:-2.18 [[ 0.99338229 0.0375831 0.10853175 -26.74416616] [ 0.03187631 0.81761037 -0.57488885 -4.34920694] [ -0.11034279 0.57454399 0.81100165 -2.18294886] [ 0. 0. 0. 1. ]] SLAMing on 260.823133365 meters SLAMing on 260.883133365 meters Centerline goodness : 0.446892 with order 3 Centerline is valid? [False, False] Translation: X:-26.76, Y:-4.33, Z:-2.17 [[ 0.99408365 0.02913232 0.10463746 -26.758292 ] [ 0.03646569 0.81793338 -0.57415611 -4.33085648] [ -0.10231297 0.57457488 0.81203187 -2.16997408] [ 0. 0. 0. 1. ]] SLAMing on 260.943133365 meters Centerline goodness : 0.096180 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-4.33, Z:-2.16 [[ 0.9943522 0.02891595 0.10211545 -26.80197219] [ 0.0352104 0.81779203 -0.57443575 -4.32734789] [ -0.10011956 0.57478698 0.81215516 -2.16048059] [ 0. 0. 0. 1. ]] SLAMing on 261.003133365 meters Centerline goodness : 0.302254 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-4.32, Z:-2.16 [[ 0.9942297 0.03168427 0.10248617 -26.80305608] [ 0.03288425 0.81936644 -0.57232619 -4.32412417] [ -0.10210746 0.57239387 0.81359653 -2.15687523] [ 0. 0. 0. 1. ]] SLAMing on 261.063133365 meters Centerline goodness : 0.463969 with order 3 Centerline is valid? [False, False] Translation: X:-26.85, Y:-4.32, Z:-2.14 [[ 0.99434608 0.03246171 0.1011045 -26.84916332] [ 0.03147472 0.81924206 -0.57258343 -4.31705327] [ -0.10141609 0.57252832 0.81358841 -2.14358558] [ 0. 0. 0. 1. ]] SLAMing on 261.123133365 meters Centerline goodness : 0.444576 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-4.32, Z:-2.14 [[ 0.99425544 0.034988 0.10115313 -26.84943105] [ 0.02913652 0.82089826 -0.5703307 -4.31519178] [ -0.10299116 0.57000165 0.81516313 -2.14145348] [ 0. 0. 0. 1. ]] SLAMing on 261.183133365 meters Centerline goodness : 0.126251 with order 1 Centerline is valid? [False, False] Translation: X:-26.87, Y:-4.31, Z:-2.13 [[ 9.94291443e-01 2.56611697e-02 1.03566555e-01 -2.68741377e+01] [ 3.82828983e-02 8.20220471e-01 -5.70765099e-01 -4.31175621e+00] [-9.95939086e-02 5.71471681e-01 8.14555812e-01 -2.13398513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.243133365 meters SLAMing on 261.303133365 meters Centerline goodness : 0.165916 with order 1 Centerline is valid? [False, False] Translation: X:-26.94, Y:-4.31, Z:-2.12 [[ 9.94414092e-01 1.59046930e-02 1.04343921e-01 -2.69415139e+01] [ 4.67795012e-02 8.19775720e-01 -5.70770923e-01 -4.30807671e+00] [-9.46165496e-02 5.72463806e-01 8.14452515e-01 -2.12171724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.363133365 meters Centerline goodness : 0.127264 with order 1 Centerline is valid? [False, False] Translation: X:-26.94, Y:-4.31, Z:-2.12 [[ 9.94434239e-01 1.57598527e-02 1.04173753e-01 -2.69409285e+01] [ 4.68240697e-02 8.19630358e-01 -5.70975991e-01 -4.30707120e+00] [-9.43824679e-02 5.72675914e-01 8.14330551e-01 -2.12146887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.423133365 meters SLAMing on 261.483133365 meters SLAMing on 261.54313336499996 meters Centerline goodness : 0.119511 with order 1 Centerline is valid? [False, False] Translation: X:-27.00, Y:-4.29, Z:-2.10 [[ 9.94749508e-01 2.32981610e-02 9.96524558e-02 -2.70047526e+01] [ 3.80382285e-02 8.19809607e-01 -5.71371422e-01 -4.29215485e+00] [-9.50079440e-02 5.72162044e-01 8.14618982e-01 -2.10215165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60313336499996 meters Centerline goodness : 0.119744 with order 1 Centerline is valid? [False, False] Translation: X:-27.05, Y:-4.29, Z:-2.09 [[ 9.94918349e-01 2.49980239e-02 9.75324405e-02 -2.70502902e+01] [ 3.52963484e-02 8.20620009e-01 -5.70383177e-01 -4.28886363e+00] [-9.42955246e-02 5.70927228e-01 8.15567566e-01 -2.09234087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66313336499996 meters Centerline goodness : 0.129260 with order 1 Centerline is valid? [False, False] Translation: X:-27.05, Y:-4.29, Z:-2.09 [[ 9.94945363e-01 2.47888696e-02 9.73100008e-02 -2.70493378e+01] [ 3.54155580e-02 8.20161405e-01 -5.71035032e-01 -4.28516991e+00] [-9.39652200e-02 5.71594945e-01 8.15137876e-01 -2.09068730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72313336499997 meters Centerline goodness : 0.117371 with order 1 Centerline is valid? [False, False] Translation: X:-27.07, Y:-4.28, Z:-2.08 [[ 9.95234983e-01 1.91322771e-02 9.56100636e-02 -2.70698851e+01] [ 3.88424220e-02 8.21605158e-01 -5.68732126e-01 -4.27661399e+00] [-8.94348620e-02 5.69735834e-01 8.16947052e-01 -2.08192262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78313336499997 meters Centerline goodness : 0.120951 with order 1 Centerline is valid? [False, False] Translation: X:-27.09, Y:-4.27, Z:-2.08 [[ 0.99504782 0.02749456 0.09551906 -27.09153697] [ 0.03202383 0.821063 -0.56993861 -4.27453037] [ -0.09409738 0.57017506 0.81611647 -2.07783663] [ 0. 0. 0. 1. ]] SLAMing on 261.84313336499997 meters Centerline goodness : 0.116023 with order 1 Centerline is valid? [False, False] Translation: X:-27.11, Y:-4.26, Z:-2.07 [[ 9.94800667e-01 2.31163443e-02 9.91830014e-02 -2.71138151e+01] [ 3.75386658e-02 8.22093088e-01 -5.68114252e-01 -4.26350742e+00] [-9.46703846e-02 5.68883634e-01 8.16950995e-01 -2.06622010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.903133365 meters Centerline goodness : 0.116220 with order 1 Centerline is valid? [False, False] Translation: X:-27.13, Y:-4.25, Z:-2.06 [[ 9.94653403e-01 1.61095692e-02 1.02005341e-01 -2.71335452e+01] [ 4.49500365e-02 8.21741993e-01 -5.68084141e-01 -4.25337000e+00] [-9.29736627e-02 5.69631968e-01 8.16624344e-01 -2.05796441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.963133365 meters Centerline goodness : 0.118222 with order 1 Centerline is valid? [False, False] Translation: X:-27.13, Y:-4.25, Z:-2.06 [[ 9.94621746e-01 1.58133178e-02 1.02359765e-01 -2.71344563e+01] [ 4.54814957e-02 8.21212361e-01 -5.68807253e-01 -4.24992401e+00] [-9.30538341e-02 5.70403539e-01 8.16076459e-01 -2.05508160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.023133365 meters Centerline goodness : 0.115069 with order 1 Centerline is valid? [False, False] Translation: X:-27.15, Y:-4.24, Z:-2.05 [[ 9.95116329e-01 7.43449217e-03 9.84287533e-02 -2.71512923e+01] [ 5.01114536e-02 8.21056335e-01 -5.68643418e-01 -4.24400185e+00] [-8.50431265e-02 5.70798758e-01 8.16674013e-01 -2.05047385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.083133365 meters Centerline goodness : 0.243186 with order 3 Centerline is valid? [False, False] Translation: X:-27.19, Y:-4.24, Z:-2.05 [[ 9.95490136e-01 6.58215483e-03 9.46364814e-02 -2.71925416e+01] [ 4.87174811e-02 8.20523575e-01 -5.69532852e-01 -4.24434006e+00] [-8.14002174e-02 5.71574788e-01 8.16502460e-01 -2.04580809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.143133365 meters Centerline goodness : 0.104724 with order 1 Centerline is valid? [False, False] Translation: X:-27.21, Y:-4.25, Z:-2.05 [[ 9.95416252e-01 1.48586774e-02 9.44759519e-02 -2.72125031e+01] [ 4.18641939e-02 8.20486635e-01 -5.70130749e-01 -4.24786352e+00] [-8.59876447e-02 5.71472573e-01 8.16103684e-01 -2.04712975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.203133365 meters Centerline goodness : 0.242493 with order 2 Centerline is valid? [False, False] Translation: X:-27.26, Y:-4.25, Z:-2.04 [[ 9.95243320e-01 1.51442284e-02 9.62361010e-02 -2.72625725e+01] [ 4.26280800e-02 8.20556680e-01 -5.69973316e-01 -4.24977918e+00] [-8.75989816e-02 5.71364496e-01 8.16007985e-01 -2.03935153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.263133365 meters Centerline goodness : 0.117620 with order 1 Centerline is valid? [False, False] Translation: X:-27.29, Y:-4.25, Z:-2.04 [[ 9.94757711e-01 2.34839038e-02 9.95268981e-02 -2.72891776e+01] [ 3.77193694e-02 8.20380200e-01 -5.70573025e-01 -4.25134393e+00] [-9.50491786e-02 5.71336008e-01 8.15193732e-01 -2.03579385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.323133365 meters Centerline goodness : 0.103784 with order 1 Centerline is valid? [False, False] Translation: X:-27.29, Y:-4.25, Z:-2.04 [[ 9.94685244e-01 2.66632605e-02 9.94501651e-02 -2.72880997e+01] [ 3.47241704e-02 8.22430405e-01 -5.67804949e-01 -4.24910382e+00] [-9.69303709e-02 5.68240529e-01 8.17133529e-01 -2.03577937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.383133365 meters Centerline goodness : 0.104772 with order 2 Centerline is valid? [False, False] Translation: X:-27.33, Y:-4.24, Z:-2.03 [[ 0.99493981 0.0273934 0.09666631 -27.33151111] [ 0.0325885 0.82211412 -0.56838927 -4.24364944] [ -0.09504086 0.56866332 0.81706136 -2.02645714] [ 0. 0. 0. 1. ]] SLAMing on 262.443133365 meters Centerline goodness : 0.231314 with order 2 Centerline is valid? [False, False] Translation: X:-27.33, Y:-4.24, Z:-2.03 [[ 9.94998061e-01 2.72327790e-02 9.61105268e-02 -2.73301878e+01] [ 3.24513378e-02 8.21822104e-01 -5.68819251e-01 -4.24129410e+00] [-9.44762843e-02 5.69092967e-01 8.16827660e-01 -2.02503865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.503133365 meters Centerline goodness : 0.118303 with order 3 Centerline is valid? [False, False] Translation: X:-27.33, Y:-4.24, Z:-2.02 [[ 9.95033315e-01 2.69669525e-02 9.58200690e-02 -2.73293209e+01] [ 3.25803912e-02 8.21356132e-01 -5.69484524e-01 -4.23747603e+00] [-9.40596632e-02 5.69777929e-01 8.16398120e-01 -2.02264025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.563133365 meters Centerline goodness : 0.217412 with order 3 Centerline is valid? [False, False] Translation: X:-27.38, Y:-4.24, Z:-2.01 [[ 9.95272815e-01 2.64896053e-02 9.34362032e-02 -2.73753867e+01] [ 3.17096012e-02 8.20722657e-01 -5.70446160e-01 -4.23568196e+00] [-9.17961025e-02 5.70712380e-01 8.16002975e-01 -2.01357135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.623133365 meters Centerline goodness : 0.125982 with order 1 Centerline is valid? [False, False] Translation: X:-27.37, Y:-4.24, Z:-2.01 [[ 9.95311972e-01 2.62774773e-02 9.30783111e-02 -2.73745152e+01] [ 3.16649277e-02 8.20806255e-01 -5.70328348e-01 -4.23633692e+00] [-9.13860501e-02 5.70601951e-01 8.16126218e-01 -2.01457187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.683133365 meters Centerline goodness : 0.135458 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-4.24, Z:-2.01 [[ 9.95545580e-01 1.66741441e-02 9.27953195e-02 -2.73967549e+01] [ 3.94314494e-02 8.20385670e-01 -5.70449396e-01 -4.23675376e+00] [-8.56397057e-02 5.71567429e-01 8.16073842e-01 -2.01133097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.743133365 meters Centerline goodness : 0.096141 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-4.24, Z:-2.01 [[ 9.95507878e-01 1.67522784e-02 9.31849031e-02 -2.73981531e+01] [ 3.95397140e-02 8.20724728e-01 -5.69953974e-01 -4.23963147e+00] [-8.60271819e-02 5.71078176e-01 8.16375552e-01 -2.01231404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.803133365 meters SLAMing on 262.863133365 meters Centerline goodness : 0.117146 with order 1 Centerline is valid? [False, False] Translation: X:-27.47, Y:-4.25, Z:-2.01 [[ 9.95282912e-01 2.44792048e-02 9.38759501e-02 -2.74669837e+01] [ 3.36703518e-02 8.20336771e-01 -5.70888684e-01 -4.24802054e+00] [-9.09847948e-02 5.71356588e-01 8.15642947e-01 -2.00826675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.923133365 meters Centerline goodness : 0.217926 with order 3 Centerline is valid? [False, False] Translation: X:-27.52, Y:-4.25, Z:-2.00 [[ 9.95326527e-01 2.70166928e-02 9.27103156e-02 -2.75153529e+01] [ 3.07752597e-02 8.21260538e-01 -5.69722751e-01 -4.24963593e+00] [-9.15313482e-02 5.69913351e-01 8.16590953e-01 -2.00017643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.983133365 meters Centerline goodness : 0.106876 with order 1 Centerline is valid? [False, False] Translation: X:-27.54, Y:-4.25, Z:-2.00 [[ 9.94856572e-01 3.65621109e-02 9.44648777e-02 -2.75394862e+01] [ 2.38824177e-02 8.21627636e-01 -5.69524062e-01 -4.25207493e+00] [-9.84379561e-02 5.68850806e-01 8.16528462e-01 -1.99889782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04313336499996 meters Centerline goodness : 0.092352 with order 1 Centerline is valid? [False, False] Translation: X:-27.54, Y:-4.25, Z:-2.00 [[ 9.94726782e-01 3.95463062e-02 9.46293747e-02 -2.75387456e+01] [ 2.11801556e-02 8.23570647e-01 -5.66818128e-01 -4.25181268e+00] [-1.00349539e-01 5.65833437e-01 8.18390183e-01 -2.00046155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10313336499996 meters Centerline goodness : 0.103153 with order 1 Centerline is valid? [False, False] Translation: X:-27.56, Y:-4.25, Z:-2.00 [[ 0.9950069 0.0315811 0.09467793 -27.55731872] [ 0.02775414 0.82365021 -0.56641861 -4.24711189] [ -0.09586962 0.56621813 0.81866113 -1.99593654] [ 0. 0. 0. 1. ]] SLAMing on 263.16313336499996 meters Centerline goodness : 0.103466 with order 1 Centerline is valid? [False, False] Translation: X:-27.60, Y:-4.25, Z:-1.99 [[ 9.95284158e-01 3.25226977e-02 9.13877392e-02 -2.76005953e+01] [ 2.50500382e-02 8.23988647e-01 -5.66052299e-01 -4.24579158e+00] [-9.37120074e-02 5.65672152e-01 8.19288152e-01 -1.98905754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22313336499997 meters Centerline goodness : 0.102467 with order 1 Centerline is valid? [False, False] Translation: X:-27.62, Y:-4.24, Z:-1.98 [[ 9.95407193e-01 2.70640266e-02 9.18262435e-02 -2.76212278e+01] [ 2.94724465e-02 8.25981069e-01 -5.62926859e-01 -4.24169270e+00] [-9.10818062e-02 5.63047789e-01 8.21389854e-01 -1.98474203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28313336499997 meters Centerline goodness : 0.101976 with order 2 Centerline is valid? [False, False] Translation: X:-27.67, Y:-4.24, Z:-1.98 [[ 9.95630117e-01 2.68895327e-02 8.94294258e-02 -2.76660016e+01] [ 2.83276083e-02 8.25559629e-01 -5.63603447e-01 -4.24065570e+00] [-8.89843569e-02 5.63673887e-01 8.21190315e-01 -1.97766913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34313336499997 meters Centerline goodness : 0.102876 with order 3 Centerline is valid? [False, False] Translation: X:-27.68, Y:-4.24, Z:-1.98 [[ 9.96015127e-01 1.82129705e-02 8.73049564e-02 -2.76848593e+01] [ 3.42474270e-02 8.25763612e-01 -5.62975639e-01 -4.23844638e+00] [-8.23467149e-02 5.63722223e-01 8.21849301e-01 -1.97557519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.403133365 meters Centerline goodness : 0.123869 with order 1 Centerline is valid? [False, False] Translation: X:-27.68, Y:-4.24, Z:-1.98 [[ 9.96050127e-01 1.81198583e-02 8.69241966e-02 -2.76837079e+01] [ 3.40765417e-02 8.25986328e-01 -5.62659200e-01 -4.23983422e+00] [-8.19935029e-02 5.63398843e-01 8.22106324e-01 -1.97755673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.463133365 meters Centerline goodness : 0.259481 with order 3 Centerline is valid? [False, False] Translation: X:-27.73, Y:-4.24, Z:-1.97 [[ 9.96124415e-01 1.78646281e-02 8.61220310e-02 -2.77309253e+01] [ 3.39014853e-02 8.25516265e-01 -5.63359197e-01 -4.23986895e+00] [-8.11593399e-02 5.64095516e-01 8.21711270e-01 -1.97050485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.523133365 meters Centerline goodness : 0.104176 with order 1 Centerline is valid? [False, False] Translation: X:-27.76, Y:-4.24, Z:-1.97 [[ 9.95575804e-01 2.75713734e-02 8.98255937e-02 -2.77596374e+01] [ 2.79200937e-02 8.25995784e-01 -5.62984399e-01 -4.24049294e+00] [-8.97178148e-02 5.63001585e-01 8.21571621e-01 -1.96533273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.583133365 meters Centerline goodness : 0.228265 with order 3 Centerline is valid? [False, False] Translation: X:-27.80, Y:-4.24, Z:-1.96 [[ 9.95657864e-01 2.97009768e-02 8.82228429e-02 -2.78040088e+01] [ 2.51988415e-02 8.26354472e-01 -5.62586265e-01 -4.23555645e+00] [-8.96127023e-02 5.62366552e-01 8.22017898e-01 -1.95671613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.643133365 meters Centerline goodness : 0.109508 with order 1 Centerline is valid? [False, False] Translation: X:-27.85, Y:-4.23, Z:-1.95 [[ 9.95875712e-01 3.17078953e-02 8.50069191e-02 -2.78461229e+01] [ 2.16235480e-02 8.26992953e-01 -5.61796295e-01 -4.23191803e+00] [-8.81135012e-02 5.61317436e-01 8.22896559e-01 -1.94985241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.703133365 meters Centerline goodness : 0.092696 with order 1 Centerline is valid? [False, False] Translation: X:-27.84, Y:-4.23, Z:-1.95 [[ 9.95935014e-01 3.16812215e-02 8.43193221e-02 -2.78441733e+01] [ 2.12755267e-02 8.26878777e-01 -5.61977616e-01 -4.23029227e+00] [-8.75259952e-02 5.61487123e-01 8.22843491e-01 -1.94975727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.763133365 meters Centerline goodness : 0.102094 with order 3 Centerline is valid? [False, False] Translation: X:-27.86, Y:-4.22, Z:-1.95 [[ 9.96261433e-01 2.42358260e-02 8.29203295e-02 -2.78614427e+01] [ 2.65351847e-02 8.27593940e-01 -5.60699701e-01 -4.22379316e+00] [-8.22133826e-02 5.60803794e-01 8.23856823e-01 -1.94530359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.823133365 meters Centerline goodness : 0.121282 with order 1 Centerline is valid? [False, False] Translation: X:-27.91, Y:-4.22, Z:-1.94 [[ 9.96287385e-01 2.44623753e-02 8.25411323e-02 -2.79095996e+01] [ 2.61845882e-02 8.27251008e-01 -5.61222003e-01 -4.22285445e+00] [-8.20110582e-02 5.61299707e-01 8.23539207e-01 -1.93723025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.883133365 meters Centerline goodness : 0.110009 with order 1 Centerline is valid? [False, False] Translation: X:-27.91, Y:-4.22, Z:-1.94 [[ 9.96267683e-01 2.43785854e-02 8.28033090e-02 -2.79104374e+01] [ 2.64101437e-02 8.27192149e-01 -5.61298186e-01 -4.22268215e+00] [-8.21779028e-02 5.61390091e-01 8.23460964e-01 -1.93657511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.943133365 meters Centerline goodness : 0.227878 with order 3 Centerline is valid? [False, False] Translation: X:-27.96, Y:-4.22, Z:-1.93 [[ 9.96420445e-01 2.43316047e-02 8.09584456e-02 -2.79580118e+01] [ 2.54360915e-02 8.27007709e-01 -5.61614863e-01 -4.22125737e+00] [-8.06182495e-02 5.61663798e-01 8.23428489e-01 -1.92845053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.003133365 meters SLAMing on 264.063133365 meters Centerline goodness : 0.118041 with order 2 Centerline is valid? [False, False] Translation: X:-27.96, Y:-4.22, Z:-1.93 [[ 9.96452532e-01 2.41472332e-02 8.06180023e-02 -2.79574757e+01] [ 2.54111898e-02 8.26905263e-01 -5.61766818e-01 -4.21954232e+00] [-8.02285647e-02 5.61822568e-01 8.23358233e-01 -1.92631977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.123133365 meters Centerline goodness : 0.110527 with order 2 Centerline is valid? [False, False] Translation: X:-28.00, Y:-4.22, Z:-1.92 [[ 9.96604901e-01 2.32658137e-02 7.89770482e-02 -2.80034990e+01] [ 2.53520875e-02 8.25916427e-01 -5.63222271e-01 -4.21855109e+00] [-7.83322659e-02 5.63312308e-01 8.22522522e-01 -1.91933989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.183133365 meters Centerline goodness : 0.120843 with order 3 Centerline is valid? [False, False] Translation: X:-28.02, Y:-4.21, Z:-1.92 [[ 9.96826409e-01 1.50779588e-02 7.81649898e-02 -2.80228615e+01] [ 3.16282416e-02 8.26058499e-01 -5.62696197e-01 -4.21384155e+00] [-7.30531642e-02 5.63382651e-01 8.22960038e-01 -1.91534753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.243133365 meters Centerline goodness : 0.245175 with order 3 Centerline is valid? [False, False] Translation: X:-28.02, Y:-4.21, Z:-1.92 [[ 9.96827547e-01 1.51517937e-02 7.81361967e-02 -2.80226457e+01] [ 3.15484931e-02 8.26078641e-01 -5.62671105e-01 -4.21318215e+00] [-7.30721196e-02 5.63351136e-01 8.22979928e-01 -1.91520964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.303133365 meters Centerline goodness : 0.245435 with order 3 Centerline is valid? [False, False] Translation: X:-28.07, Y:-4.21, Z:-1.91 [[ 9.96930234e-01 1.60357744e-02 7.66352522e-02 -2.80694041e+01] [ 2.99824258e-02 8.25999319e-01 -5.62873146e-01 -4.21170111e+00] [-7.23267729e-02 5.63442968e-01 8.22982904e-01 -1.90706436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.363133365 meters Centerline goodness : 0.107588 with order 3 Centerline is valid? [False, False] Translation: X:-28.11, Y:-4.21, Z:-1.90 [[ 9.97158158e-01 1.71987370e-02 7.33471969e-02 -2.81127380e+01] [ 2.71404606e-02 8.26209706e-01 -5.62708554e-01 -4.21100284e+00] [-7.02780424e-02 5.63100102e-01 8.23394967e-01 -1.90168320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.423133365 meters Centerline goodness : 0.100992 with order 2 Centerline is valid? [False, False] Translation: X:-28.13, Y:-4.21, Z:-1.90 [[ 9.97093899e-01 2.59139697e-02 7.16395403e-02 -2.81321228e+01] [ 1.90306249e-02 8.25830339e-01 -5.63597451e-01 -4.21270577e+00] [-7.37671531e-02 5.63322925e-01 8.22937233e-01 -1.90241292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.483133365 meters Centerline goodness : 0.095649 with order 1 Centerline is valid? [False, False] Translation: X:-28.18, Y:-4.21, Z:-1.89 [[ 9.97074379e-01 2.78774587e-02 7.11725395e-02 -2.81796401e+01] [ 1.70979722e-02 8.26186317e-01 -5.63137486e-01 -4.21145365e+00] [-7.45006204e-02 5.62706865e-01 8.23292561e-01 -1.89489686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54313336499996 meters Centerline goodness : 0.103471 with order 1 Centerline is valid? [False, False] Translation: X:-28.18, Y:-4.21, Z:-1.89 [[ 9.96932881e-01 2.98456727e-02 7.23468435e-02 -2.81839985e+01] [ 1.60141270e-02 8.27070781e-01 -5.61869621e-01 -4.21025399e+00] [-7.66053371e-02 5.61304872e-01 8.24056104e-01 -1.89062146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60313336499996 meters Centerline goodness : 0.116197 with order 1 Centerline is valid? [False, False] Translation: X:-28.21, Y:-4.21, Z:-1.89 [[ 9.96637329e-01 4.09044726e-02 7.09990086e-02 -2.82054330e+01] [ 5.99484982e-03 8.27761635e-01 -5.61047893e-01 -4.20996694e+00] [-8.17196236e-02 5.59586902e-01 8.24732928e-01 -1.88750929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66313336499996 meters Centerline goodness : 0.110980 with order 1 Centerline is valid? [False, False] Translation: X:-28.25, Y:-4.21, Z:-1.88 [[ 9.96677806e-01 4.29209261e-02 6.92180923e-02 -2.82518185e+01] [ 3.23900628e-03 8.28310681e-01 -5.60259694e-01 -4.20823677e+00] [-8.13809501e-02 5.58622601e-01 8.25419851e-01 -1.88036076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72313336499997 meters Centerline goodness : 0.106664 with order 1 Centerline is valid? [False, False] Translation: X:-28.25, Y:-4.21, Z:-1.88 [[ 9.96605323e-01 4.31294398e-02 7.01261865e-02 -2.82542117e+01] [ 3.58599090e-03 8.28244836e-01 -5.60354916e-01 -4.20735201e+00] [-8.22494455e-02 5.58704164e-01 8.25278550e-01 -1.87856567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78313336499997 meters Centerline goodness : 0.110303 with order 1 Centerline is valid? [False, False] Translation: X:-28.27, Y:-4.20, Z:-1.87 [[ 9.96748378e-01 3.88654574e-02 7.05843297e-02 -2.82736484e+01] [ 7.07559905e-03 8.30383823e-01 -5.57146878e-01 -4.20152805e+00] [-8.02658538e-02 5.55834673e-01 8.27408732e-01 -1.87413680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84313336499997 meters Centerline goodness : 0.106913 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-4.20, Z:-1.87 [[ 9.96312259e-01 4.78380172e-02 7.12278551e-02 -2.82961409e+01] [ 1.77868613e-05 8.30032596e-01 -5.57714882e-01 -4.20292181e+00] [-8.58014156e-02 5.55659441e-01 8.26970799e-01 -1.87344246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.903133365 meters Centerline goodness : 0.103394 with order 1 Centerline is valid? [False, False] Translation: X:-28.34, Y:-4.20, Z:-1.87 [[ 9.96171752e-01 5.02975959e-02 7.14981974e-02 -2.83447716e+01] [-1.95895175e-03 8.30531104e-01 -5.56968804e-01 -4.20102112e+00] [-8.73956686e-02 5.54696528e-01 8.27450155e-01 -1.86555987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.963133365 meters Centerline goodness : 0.104350 with order 1 Centerline is valid? [False, False] Translation: X:-28.34, Y:-4.20, Z:-1.86 [[ 9.95974338e-01 5.37040790e-02 7.17703963e-02 -2.83440874e+01] [-4.91882350e-03 8.32199090e-01 -5.54455120e-01 -4.19725444e+00] [-8.95037600e-02 5.51870045e-01 8.29113099e-01 -1.86498531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.023133365 meters Centerline goodness : 0.114824 with order 1 Centerline is valid? [False, False] Translation: X:-28.38, Y:-4.20, Z:-1.86 [[ 9.96204508e-01 5.46945463e-02 6.77132530e-02 -2.83837950e+01] [-8.04272164e-03 8.32435251e-01 -5.54063956e-01 -4.19522774e+00] [-8.66711755e-02 5.51416411e-01 8.29715643e-01 -1.86100087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.083133365 meters Centerline goodness : 0.113537 with order 1 Centerline is valid? [False, False] Translation: X:-28.38, Y:-4.19, Z:-1.86 [[ 9.96252780e-01 5.50367389e-02 6.67184827e-02 -2.83811594e+01] [-8.86848529e-03 8.32346350e-01 -5.54184900e-01 -4.19349542e+00] [-8.60334152e-02 5.51516555e-01 8.29715458e-01 -1.86142699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.143133365 meters Centerline goodness : 0.243749 with order 3 Centerline is valid? [False, False] Translation: X:-28.38, Y:-4.19, Z:-1.86 [[ 9.96084843e-01 5.71021940e-02 6.74857407e-02 -2.83830829e+01] [-1.03072150e-02 8.33203386e-01 -5.52870581e-01 -4.18997660e+00] [-8.77994708e-02 5.50010416e-01 8.30529828e-01 -1.85851993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.203133365 meters Centerline goodness : 0.110951 with order 1 Centerline is valid? [False, False] Translation: X:-28.38, Y:-4.19, Z:-1.86 [[ 9.95927725e-01 5.99430220e-02 6.73409316e-02 -2.83822385e+01] [-1.29753214e-02 8.34469924e-01 -5.50900705e-01 -4.18643340e+00] [-8.92166352e-02 5.47783516e-01 8.31849513e-01 -1.85669431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.263133365 meters Centerline goodness : 0.108546 with order 1 Centerline is valid? [False, False] Translation: X:-28.38, Y:-4.18, Z:-1.85 [[ 9.95699198e-01 6.32521412e-02 6.76924982e-02 -2.83824471e+01] [-1.57945764e-02 8.35863778e-01 -5.48709646e-01 -4.18209708e+00] [-9.12887673e-02 5.45280580e-01 8.33267934e-01 -1.85445518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.323133365 meters Centerline goodness : 0.142469 with order 3 Centerline is valid? [False, False] Translation: X:-28.39, Y:-4.18, Z:-1.85 [[ 9.95495210e-01 6.51207778e-02 6.89098702e-02 -2.83861241e+01] [-1.68104747e-02 8.36522147e-01 -5.47675183e-01 -4.17851310e+00] [-9.33096664e-02 5.44049614e-01 8.33848502e-01 -1.85009989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.383133365 meters Centerline goodness : 0.226051 with order 3 Centerline is valid? [False, False] Translation: X:-28.38, Y:-4.17, Z:-1.85 [[ 9.95447611e-01 6.71710197e-02 6.76173643e-02 -2.83818816e+01] [-1.94086800e-02 8.37441079e-01 -5.46182884e-01 -4.17470339e+00] [-9.33132198e-02 5.42384084e-01 8.34932422e-01 -1.84954627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.443133365 meters Centerline goodness : 0.261494 with order 3 Centerline is valid? [False, False] Translation: X:-28.40, Y:-4.17, Z:-1.85 [[ 9.95555529e-01 6.17256922e-02 7.11275502e-02 -2.84030125e+01] [-1.32049904e-02 8.39290283e-01 -5.43523182e-01 -4.16917586e+00] [-9.32460063e-02 5.40168270e-01 8.36375168e-01 -1.84574656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.503133365 meters Centerline goodness : 0.108093 with order 1 Centerline is valid? [False, False] Translation: X:-28.41, Y:-4.17, Z:-1.85 [[ 9.95481787e-01 6.18589670e-02 7.20380483e-02 -2.84057479e+01] [-1.28471240e-02 8.39442857e-01 -5.43296090e-01 -4.17068723e+00] [-9.40795600e-02 5.39915881e-01 8.36444785e-01 -1.84525633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.563133365 meters Centerline goodness : 0.108001 with order 1 Centerline is valid? [False, False] Translation: X:-28.42, Y:-4.17, Z:-1.84 [[ 9.96121625e-01 5.31720327e-02 7.01030908e-02 -2.84229571e+01] [-6.69573168e-03 8.40243213e-01 -5.42168341e-01 -4.16774638e+00] [-8.77318390e-02 5.39596218e-01 8.37340460e-01 -1.84406981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.623133365 meters Centerline goodness : 0.107376 with order 1 Centerline is valid? [False, False] Translation: X:-28.42, Y:-4.17, Z:-1.84 [[ 9.95933634e-01 5.64485583e-02 7.02122299e-02 -2.84220392e+01] [-9.70072295e-03 8.42020390e-01 -5.39358469e-01 -4.16629343e+00] [-8.95661372e-02 5.36484131e-01 8.39144019e-01 -1.84472611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.683133365 meters Centerline goodness : 0.229114 with order 3 Centerline is valid? [False, False] Translation: X:-28.42, Y:-4.16, Z:-1.84 [[ 9.95726828e-01 5.97566710e-02 7.04075539e-02 -2.84218250e+01] [-1.26739827e-02 8.43632023e-01 -5.36772186e-01 -4.16379262e+00] [-9.14737861e-02 5.33586122e-01 8.40784394e-01 -1.84373435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.743133365 meters Centerline goodness : 0.214557 with order 3 Centerline is valid? [False, False] Translation: X:-28.42, Y:-4.16, Z:-1.84 [[ 9.95662670e-01 6.17464124e-02 6.95933081e-02 -2.84186849e+01] [-1.49412370e-02 8.44430977e-01 -5.35455959e-01 -4.15966959e+00] [-9.18292297e-02 5.32093699e-01 8.41690969e-01 -1.84326350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.803133365 meters Centerline goodness : 0.443024 with order 1 Centerline is valid? [False, False] Translation: X:-28.42, Y:-4.16, Z:-1.84 [[ 9.95683455e-01 6.17213974e-02 6.93175734e-02 -2.84175747e+01] [-1.50294362e-02 8.44205449e-01 -5.35808992e-01 -4.15756409e+00] [-9.15891529e-02 5.32454344e-01 8.41489036e-01 -1.84351347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.863133365 meters Centerline goodness : 0.238109 with order 1 Centerline is valid? [False, False] Translation: X:-28.42, Y:-4.16, Z:-1.84 [[ 9.95679662e-01 6.17865674e-02 6.93139983e-02 -2.84172751e+01] [-1.51015798e-02 8.44291418e-01 -5.35671489e-01 -4.15786795e+00] [-9.16185165e-02 5.32310457e-01 8.41576868e-01 -1.84446797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.923133365 meters Centerline goodness : 0.106474 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.16, Z:-1.84 [[ 9.96264343e-01 5.30927449e-02 6.81066688e-02 -2.84365532e+01] [-8.46627950e-03 8.44924520e-01 -5.34818547e-01 -4.15545923e+00] [-8.59399791e-02 5.32244038e-01 8.42217670e-01 -1.84290134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.983133365 meters SLAMing on 266.04313336499996 meters Centerline goodness : 0.096043 with order 1 Centerline is valid? [False, False] Translation: X:-28.43, Y:-4.15, Z:-1.84 [[ 9.96166118e-01 5.59050172e-02 6.72881414e-02 -2.84338533e+01] [-1.15336354e-02 8.46382498e-01 -5.32450600e-01 -4.15411291e+00] [-8.67181652e-02 5.29633171e-01 8.43782356e-01 -1.84380261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10313336499996 meters Centerline goodness : 0.442096 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.16, Z:-1.85 [[ 9.96091053e-01 5.62412878e-02 6.81141125e-02 -2.84362194e+01] [-1.14520083e-02 8.46826694e-01 -5.31745618e-01 -4.15749337e+00] [-8.75869071e-02 5.28887009e-01 8.44160569e-01 -1.84514787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16313336499996 meters Centerline goodness : 0.447132 with order 2 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.16, Z:-1.85 [[ 9.96049714e-01 5.64995954e-02 6.85037459e-02 -2.84374831e+01] [-1.15370310e-02 8.47264436e-01 -5.31046017e-01 -4.16082549e+00] [-8.80446728e-02 5.28157904e-01 8.44569336e-01 -1.84636932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22313336499997 meters Centerline goodness : 0.186414 with order 2 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.16, Z:-1.85 [[ 9.96010067e-01 5.65869872e-02 6.90062213e-02 -2.84390920e+01] [-1.13921013e-02 8.47553496e-01 -5.30587685e-01 -4.16378652e+00] [-8.85108226e-02 5.27684550e-01 8.44816459e-01 -1.84731590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28313336499997 meters Centerline goodness : 0.210774 with order 3 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.17, Z:-1.85 [[ 9.95943349e-01 5.69908887e-02 6.96339314e-02 -2.84404562e+01] [-1.14766215e-02 8.47993223e-01 -5.29882800e-01 -4.16636487e+00] [-8.92475935e-02 5.26934088e-01 8.45207273e-01 -1.84926920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34313336499997 meters Centerline goodness : 0.100179 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.17, Z:-1.85 [[ 9.95940297e-01 5.71313013e-02 6.95624865e-02 -2.84399928e+01] [-1.16491945e-02 8.48080173e-01 -5.29739857e-01 -4.16652038e+00] [-8.92592930e-02 5.26778924e-01 8.45302753e-01 -1.85031649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.403133365 meters Centerline goodness : 0.441877 with order 2 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.17, Z:-1.85 [[ 9.95788559e-01 6.02104278e-02 6.91364615e-02 -2.84385063e+01] [-1.48142388e-02 8.49874681e-01 -5.26776579e-01 -4.16684874e+00] [-9.04747714e-02 5.23533887e-01 8.47187456e-01 -1.85082373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.463133365 meters Centerline goodness : 0.101754 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.17, Z:-1.85 [[ 9.95765769e-01 6.02907228e-02 6.93942491e-02 -2.84391282e+01] [-1.47966545e-02 8.50163352e-01 -5.26311062e-01 -4.16917694e+00] [-9.07281218e-02 5.23055736e-01 8.47455665e-01 -1.85208075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.523133365 meters Centerline goodness : 0.098901 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-4.17, Z:-1.85 [[ 9.95852954e-01 5.98295165e-02 6.85370181e-02 -2.84364445e+01] [-1.48574439e-02 8.50178835e-01 -5.26284338e-01 -4.17101721e+00] [-8.97560597e-02 5.23083528e-01 8.47542018e-01 -1.85495868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.583133365 meters Centerline goodness : 0.249729 with order 1 Centerline is valid? [False, False] Translation: X:-28.45, Y:-4.17, Z:-1.85 [[ 9.96480966e-01 5.12687044e-02 6.63114234e-02 -2.84543074e+01] [-8.84348339e-03 8.51014123e-01 -5.25068334e-01 -4.17054639e+00] [-8.33515311e-02 5.22634177e-01 8.48472769e-01 -1.85498916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.643133365 meters Centerline goodness : 0.095063 with order 1 Centerline is valid? [False, False] Translation: X:-28.45, Y:-4.17, Z:-1.86 [[ 9.96486810e-01 5.13895017e-02 6.61298514e-02 -2.84539619e+01] [-9.07132557e-03 8.51195057e-01 -5.24771080e-01 -4.17192402e+00] [-8.32571269e-02 5.22327574e-01 8.48670817e-01 -1.85571877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.703133365 meters Centerline goodness : 0.094498 with order 1 Centerline is valid? [False, False] Translation: X:-28.45, Y:-4.17, Z:-1.86 [[ 9.96484891e-01 5.14018174e-02 6.61491868e-02 -2.84540716e+01] [-9.07568478e-03 8.51220167e-01 -5.24730272e-01 -4.17236672e+00] [-8.32796115e-02 5.22285439e-01 8.48694542e-01 -1.85602698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.763133365 meters Centerline goodness : 0.278814 with order 2 Centerline is valid? [False, False] Translation: X:-28.46, Y:-4.17, Z:-1.86 [[ 9.96438951e-01 5.15784569e-02 6.67014218e-02 -2.84557064e+01] [-8.95171117e-03 8.51317839e-01 -5.24573927e-01 -4.17282459e+00] [-8.38408238e-02 5.22108801e-01 8.48747970e-01 -1.85547814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.823133365 meters Centerline goodness : 0.101499 with order 1 Centerline is valid? [False, False] Translation: X:-28.48, Y:-4.17, Z:-1.85 [[ 9.96867208e-01 4.30754600e-02 6.63345570e-02 -2.84758423e+01] [-1.97467383e-03 8.51979215e-01 -5.23571884e-01 -4.17249584e+00] [-7.90687636e-02 5.21800653e-01 8.49395202e-01 -1.85438157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.883133365 meters Centerline goodness : 0.449794 with order 2 Centerline is valid? [False, False] Translation: X:-28.48, Y:-4.18, Z:-1.86 [[ 9.96863092e-01 4.31630033e-02 6.63395200e-02 -2.84760950e+01] [-2.08850559e-03 8.52253401e-01 -5.23125013e-01 -4.17516500e+00] [-7.91177282e-02 5.21345467e-01 8.49670106e-01 -1.85551386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.943133365 meters Centerline goodness : 0.194814 with order 2 Centerline is valid? [False, False] Translation: X:-28.48, Y:-4.18, Z:-1.86 [[ 9.96859599e-01 4.33350145e-02 6.62798356e-02 -2.84760568e+01] [-2.31469341e-03 8.52567742e-01 -5.22611603e-01 -4.17774547e+00] [-7.91554312e-02 5.20816976e-01 8.49990644e-01 -1.85699031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.003133365 meters SLAMing on 267.063133365 meters Centerline goodness : 0.098443 with order 1 Centerline is valid? [False, False] Translation: X:-28.48, Y:-4.18, Z:-1.86 [[ 9.96668501e-01 4.72492402e-02 6.64786327e-02 -2.84760601e+01] [-5.94527317e-03 8.55017729e-01 -5.18564690e-01 -4.18126553e+00] [-8.13421971e-02 5.16441858e-01 8.52450147e-01 -1.85931288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.123133365 meters Centerline goodness : 0.200156 with order 2 Centerline is valid? [False, False] Translation: X:-28.47, Y:-4.18, Z:-1.86 [[ 9.96544063e-01 5.05584937e-02 6.59072838e-02 -2.84738324e+01] [-9.37583221e-03 8.56826927e-01 -5.15518876e-01 -4.18122299e+00] [-8.25349933e-02 5.13119340e-01 8.54339814e-01 -1.86057392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.183133365 meters Centerline goodness : 0.090396 with order 1 Centerline is valid? [False, False] Translation: X:-28.48, Y:-4.18, Z:-1.86 [[ 9.96499148e-01 5.07859167e-02 6.64096218e-02 -2.84750182e+01] [-9.33231834e-03 8.56953311e-01 -5.15309548e-01 -4.18144393e+00] [-8.30804131e-02 5.12885770e-01 8.54427195e-01 -1.86054184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.243133365 meters Centerline goodness : 0.288988 with order 1 Centerline is valid? [False, False] Translation: X:-28.48, Y:-4.18, Z:-1.86 [[ 9.96490759e-01 5.07043110e-02 6.65975963e-02 -2.84756213e+01] [-9.15777089e-03 8.56909907e-01 -5.15384853e-01 -4.18172409e+00] [-8.32003740e-02 5.12966358e-01 8.54367142e-01 -1.86036664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.303133365 meters Centerline goodness : 0.090216 with order 1 Centerline is valid? [False, False] Translation: X:-28.49, Y:-4.18, Z:-1.86 [[ 9.96945938e-01 4.26059003e-02 6.54487114e-02 -2.84937373e+01] [-2.90015384e-03 8.57687921e-01 -5.14162445e-01 -4.17774017e+00] [-7.80409231e-02 5.12402349e-01 8.55192053e-01 -1.85933222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.363133365 meters Centerline goodness : 0.190942 with order 2 Centerline is valid? [False, False] Translation: X:-28.52, Y:-4.18, Z:-1.86 [[ 9.97402616e-01 3.82391964e-02 6.10392174e-02 -2.85154566e+01] [-1.64193458e-03 8.59288723e-01 -5.11488215e-01 -4.17718907e+00] [-7.20092095e-02 5.10059461e-01 8.57119606e-01 -1.85664223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.423133365 meters Centerline goodness : 0.445609 with order 2 Centerline is valid? [False, False] Translation: X:-28.51, Y:-4.17, Z:-1.86 [[ 9.97445804e-01 3.81959012e-02 6.03567826e-02 -2.85137884e+01] [-1.90943977e-03 8.58966066e-01 -5.12028955e-01 -4.17427367e+00] [-7.14018355e-02 5.10605885e-01 8.56845031e-01 -1.85552844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.483133365 meters Centerline goodness : 0.099939 with order 1 Centerline is valid? [False, False] Translation: X:-28.54, Y:-4.17, Z:-1.85 [[ 9.97667173e-01 3.20546465e-02 6.02719878e-02 -2.85361964e+01] [ 3.17198669e-03 8.60181475e-01 -5.09978205e-01 -4.16919936e+00] [-6.81920184e-02 5.08979695e-01 8.58073143e-01 -1.85121990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54313336499996 meters Centerline goodness : 0.422613 with order 2 Centerline is valid? [False, False] Translation: X:-28.54, Y:-4.17, Z:-1.84 [[ 9.97517581e-01 3.38402309e-02 6.17536577e-02 -2.85416190e+01] [ 2.30598148e-03 8.60791790e-01 -5.08952038e-01 -4.16506880e+00] [-7.03800960e-02 5.07831009e-01 8.58576909e-01 -1.84491324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60313336499996 meters Centerline goodness : 0.448744 with order 2 Centerline is valid? [False, False] Translation: X:-28.54, Y:-4.16, Z:-1.84 [[ 9.97534952e-01 3.36519617e-02 6.15756870e-02 -2.85416537e+01] [ 2.41260028e-03 8.60538083e-01 -5.09380394e-01 -4.16332378e+00] [-7.01298731e-02 5.08273305e-01 8.58335627e-01 -1.84293222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66313336499996 meters Centerline goodness : 0.097280 with order 1 Centerline is valid? [False, False] Translation: X:-28.54, Y:-4.16, Z:-1.84 [[ 9.97553343e-01 3.36157329e-02 6.12969003e-02 -2.85417496e+01] [ 2.30597346e-03 8.60505419e-01 -5.09436068e-01 -4.16298377e+00] [-6.98713816e-02 5.08331001e-01 8.58322540e-01 -1.84104182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72313336499997 meters Centerline goodness : 0.092061 with order 1 Centerline is valid? [False, False] Translation: X:-28.54, Y:-4.16, Z:-1.84 [[ 9.97539775e-01 3.36125606e-02 6.15190457e-02 -2.85426712e+01] [ 2.43558233e-03 8.60407987e-01 -5.09600003e-01 -4.16211223e+00] [-7.00604393e-02 5.08496107e-01 8.58209324e-01 -1.83967803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78313336499997 meters Centerline goodness : 0.097562 with order 1 Centerline is valid? [False, False] Translation: X:-28.56, Y:-4.16, Z:-1.84 [[ 9.97787644e-01 2.53524275e-02 6.14578817e-02 -2.85635738e+01] [ 9.48320343e-03 8.60703776e-01 -5.09017760e-01 -4.15765022e+00] [-6.58018666e-02 5.08474449e-01 8.58559170e-01 -1.83616543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84313336499997 meters Centerline goodness : 0.108801 with order 1 Centerline is valid? [False, False] Translation: X:-28.56, Y:-4.16, Z:-1.84 [[ 9.97787098e-01 2.53824412e-02 6.14543705e-02 -2.85634491e+01] [ 9.46349784e-03 8.60642433e-01 -5.09121837e-01 -4.15656014e+00] [-6.58129940e-02 5.08576774e-01 8.58497708e-01 -1.83585174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.903133365 meters Centerline goodness : 0.247363 with order 1 Centerline is valid? [False, False] Translation: X:-28.56, Y:-4.16, Z:-1.84 [[ 9.97807854e-01 2.55638406e-02 6.10407772e-02 -2.85621987e+01] [ 9.08915876e-03 8.60697178e-01 -5.09036104e-01 -4.15606129e+00] [-6.55505425e-02 5.08475032e-01 8.58578050e-01 -1.83634803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.963133365 meters Centerline goodness : 0.095914 with order 1 Centerline is valid? [False, False] Translation: X:-28.56, Y:-4.16, Z:-1.84 [[ 9.97807375e-01 2.54083147e-02 6.11134946e-02 -2.85625320e+01] [ 9.24873418e-03 8.60786331e-01 -5.08882455e-01 -4.15823508e+00] [-6.55355063e-02 5.08331889e-01 8.58663955e-01 -1.83728236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.023133365 meters Centerline goodness : 0.090632 with order 1 Centerline is valid? [False, False] Translation: X:-28.58, Y:-4.16, Z:-1.84 [[ 9.98016104e-01 1.72924586e-02 6.05378120e-02 -2.85826750e+01] [ 1.58580940e-02 8.61495427e-01 -5.07517636e-01 -4.15751751e+00] [-6.09292758e-02 5.07470788e-01 8.59512084e-01 -1.83679251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.083133365 meters Centerline goodness : 0.259983 with order 1 Centerline is valid? [False, False] Translation: X:-28.58, Y:-4.16, Z:-1.84 [[ 9.98018909e-01 1.72519559e-02 6.05031214e-02 -2.85822626e+01] [ 1.58742344e-02 8.61504625e-01 -5.07501517e-01 -4.15763758e+00] [-6.08791127e-02 5.07456551e-01 8.59524044e-01 -1.83756113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.143133365 meters Centerline goodness : 0.448309 with order 2 Centerline is valid? [False, False] Translation: X:-28.60, Y:-4.15, Z:-1.84 [[ 9.98247067e-01 9.09944063e-03 5.84807039e-02 -2.86013748e+01] [ 2.18325867e-02 8.61804879e-01 -5.06769857e-01 -4.15472579e+00] [-5.50102782e-02 5.07158309e-01 8.60095529e-01 -1.83529643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.203133365 meters Centerline goodness : 0.450208 with order 2 Centerline is valid? [False, False] Translation: X:-28.62, Y:-4.15, Z:-1.83 [[ 9.98470740e-01 3.47085726e-03 5.51736815e-02 -2.86225821e+01] [ 2.48674886e-02 8.63156972e-01 -5.04322961e-01 -4.15447210e+00] [-4.93739808e-02 5.04923751e-01 8.61750669e-01 -1.83335415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.263133365 meters Centerline goodness : 0.445801 with order 2 Centerline is valid? [False, False] Translation: X:-28.62, Y:-4.15, Z:-1.83 [[ 9.98491922e-01 6.43519669e-03 5.45203681e-02 -2.86206437e+01] [ 2.18284047e-02 8.64690947e-01 -5.01829739e-01 -4.15260182e+00] [-5.03726418e-02 5.02263033e-01 8.63246455e-01 -1.83317013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.323133365 meters Centerline goodness : 0.443218 with order 2 Centerline is valid? [False, False] Translation: X:-28.62, Y:-4.15, Z:-1.83 [[ 9.98461247e-01 6.43914736e-03 5.50788185e-02 -2.86224540e+01] [ 2.21194938e-02 8.64554320e-01 -5.02052344e-01 -4.15138293e+00] [-5.08514195e-02 5.02498125e-01 8.63081553e-01 -1.83138087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.383133365 meters Centerline goodness : 0.098119 with order 1 Centerline is valid? [False, False] Translation: X:-28.67, Y:-4.15, Z:-1.83 [[ 9.98557516e-01 7.46501031e-03 5.31710449e-02 -2.86682992e+01] [ 2.02668319e-02 8.64628051e-01 -5.02003575e-01 -4.15224412e+00] [-4.97206388e-02 5.02357052e-01 8.63229547e-01 -1.82782018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.443133365 meters Centerline goodness : 0.381930 with order 2 Centerline is valid? [False, False] Translation: X:-28.67, Y:-4.15, Z:-1.83 [[ 9.98529879e-01 1.10272681e-02 5.30705147e-02 -2.86679895e+01] [ 1.69731472e-02 8.66237687e-01 -4.99343751e-01 -4.14773316e+00] [-5.14780773e-02 4.99510429e-01 8.64777046e-01 -1.82544131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.503133365 meters Centerline goodness : 0.103676 with order 1 Centerline is valid? [False, False] Translation: X:-28.69, Y:-4.14, Z:-1.82 [[ 9.98597431e-01 2.71480452e-03 5.28753399e-02 -2.86887330e+01] [ 2.40744229e-02 8.66186994e-01 -4.99139774e-01 -4.14234356e+00] [-4.71549986e-02 4.99712639e-01 8.64906749e-01 -1.82145948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.563133365 meters Centerline goodness : 0.458322 with order 3 Centerline is valid? [False, False] Translation: X:-28.69, Y:-4.14, Z:-1.82 [[ 9.98556671e-01 4.57405664e-03 5.35131155e-02 -2.86921055e+01] [ 2.26950603e-02 8.67105718e-01 -4.97606881e-01 -4.14028239e+00] [-4.86776105e-02 4.98103154e-01 8.65750390e-01 -1.81737340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.623133365 meters Centerline goodness : 0.217233 with order 3 Centerline is valid? [False, False] Translation: X:-28.71, Y:-4.13, Z:-1.81 [[ 9.98396985e-01 -2.46335689e-03 5.65454829e-02 -2.87132855e+01] [ 3.03119435e-02 8.66971613e-01 -4.97434828e-01 -4.13158667e+00] [-4.77979690e-02 4.98351436e-01 8.65656514e-01 -1.81252586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.683133365 meters Centerline goodness : 0.446165 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:-4.13, Z:-1.81 [[ 9.98431481e-01 7.32224522e-04 5.59825078e-02 -2.87118310e+01] [ 2.71183664e-02 8.68465600e-01 -4.95007167e-01 -4.12701570e+00] [-4.89813386e-02 4.95748893e-01 8.67083539e-01 -1.81042518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.743133365 meters Centerline goodness : 0.218219 with order 3 Centerline is valid? [False, False] Translation: X:-28.76, Y:-4.13, Z:-1.81 [[ 9.98566950e-01 6.84895680e-04 5.35123960e-02 -2.87573152e+01] [ 2.59713826e-02 8.68077531e-01 -4.95748815e-01 -4.12874247e+00] [-4.67924448e-02 4.96428173e-01 8.66815745e-01 -1.80668343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.803133365 meters Centerline goodness : 0.193887 with order 2 Centerline is valid? [False, False] Translation: X:-28.76, Y:-4.13, Z:-1.81 [[ 9.98592172e-01 3.65494021e-04 5.30428232e-02 -2.87560599e+01] [ 2.60466090e-02 8.67739347e-01 -4.96336580e-01 -4.12614231e+00] [-4.62087528e-02 4.97019409e-01 8.66508199e-01 -1.80574318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.863133365 meters Centerline goodness : 0.195786 with order 2 Centerline is valid? [False, False] Translation: X:-28.78, Y:-4.12, Z:-1.80 [[ 9.98612352e-01 -8.52345594e-03 5.19684622e-02 -2.87768555e+01] [ 3.32203761e-02 8.67659741e-01 -4.96047357e-01 -4.12314953e+00] [-4.08629047e-02 4.97085430e-01 8.66738887e-01 -1.80343189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.923133365 meters Centerline goodness : 0.095741 with order 1 Centerline is valid? [False, False] Translation: X:-28.78, Y:-4.12, Z:-1.80 [[ 9.98586068e-01 -8.90452310e-03 5.24077711e-02 -2.87783351e+01] [ 3.37745920e-02 8.67587650e-01 -4.96136017e-01 -4.12439039e+00] [-4.10504803e-02 4.97204565e-01 8.66661686e-01 -1.80291439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.983133365 meters Centerline goodness : 0.143850 with order 1 Centerline is valid? [False, False] Translation: X:-28.78, Y:-4.13, Z:-1.80 [[ 9.98562736e-01 -8.91261011e-03 5.28490952e-02 -2.87795890e+01] [ 3.39787120e-02 8.67853287e-01 -4.95657259e-01 -4.12722328e+00] [-4.14476611e-02 4.96740613e-01 8.66908792e-01 -1.80368403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04313336499996 meters Centerline goodness : 0.195373 with order 2 Centerline is valid? [False, False] Translation: X:-28.78, Y:-4.13, Z:-1.81 [[ 9.98506677e-01 -1.24152000e-02 5.32003563e-02 -2.87804168e+01] [ 3.73179525e-02 8.66220832e-01 -4.98265833e-01 -4.13163606e+00] [-3.98971869e-02 4.99507090e-01 8.65390595e-01 -1.80567333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10313336499996 meters Centerline goodness : 0.088985 with order 1 Centerline is valid? [False, False] Translation: X:-28.78, Y:-4.13, Z:-1.81 [[ 9.98517891e-01 -1.22024239e-02 5.30388807e-02 -2.87797958e+01] [ 3.70334629e-02 8.66470744e-01 -4.97852361e-01 -4.13325726e+00] [-3.98816329e-02 4.99078703e-01 8.65638437e-01 -1.80706340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16313336499996 meters Centerline goodness : 0.439238 with order 1 Centerline is valid? [False, False] Translation: X:-28.80, Y:-4.14, Z:-1.81 [[ 9.98641785e-01 -7.62909756e-04 5.20961016e-02 -2.87979446e+01] [ 2.65512533e-02 8.67768393e-01 -4.96259053e-01 -4.13820393e+00] [-4.48287495e-02 4.96968243e-01 8.66610033e-01 -1.81052088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22313336499997 meters Centerline goodness : 0.095749 with order 1 Centerline is valid? [False, False] Translation: X:-28.82, Y:-4.14, Z:-1.81 [[ 9.98645233e-01 1.17679615e-02 5.06874072e-02 -2.88167555e+01] [ 1.48544842e-02 8.69086459e-01 -4.94437125e-01 -4.13629457e+00] [-4.98702563e-02 4.94520213e-01 8.67734243e-01 -1.81077286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28313336499997 meters Centerline goodness : 0.106351 with order 1 Centerline is valid? [False, False] Translation: X:-28.82, Y:-4.13, Z:-1.81 [[ 9.98583730e-01 1.52750416e-02 5.09628126e-02 -2.88170826e+01] [ 1.17810089e-02 8.70631344e-01 -4.91794948e-01 -4.13219111e+00] [-5.18820104e-02 4.91698827e-01 8.69218339e-01 -1.80895222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34313336499997 meters Centerline goodness : 0.442433 with order 1 Centerline is valid? [False, False] Translation: X:-28.84, Y:-4.13, Z:-1.80 [[ 9.98698798e-01 6.92708932e-03 5.05245131e-02 -2.88375098e+01] [ 1.88447967e-02 8.70479531e-01 -4.91843735e-01 -4.12581980e+00] [-4.73876000e-02 4.92155871e-01 8.69216322e-01 -1.80478292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.403133365 meters Centerline goodness : 0.094490 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-4.12, Z:-1.80 [[ 9.98759228e-01 -1.37617483e-03 4.97806251e-02 -2.88578141e+01] [ 2.56783797e-02 8.70713318e-01 -4.91120086e-01 -4.12067170e+00] [-4.26687862e-02 4.91789004e-01 8.69668299e-01 -1.80156452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.463133365 meters Centerline goodness : 0.101893 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-4.12, Z:-1.80 [[ 9.98771907e-01 -2.01025719e-03 4.95039052e-02 -2.88574771e+01] [ 2.61431793e-02 8.70134531e-01 -4.92120343e-01 -4.11711512e+00] [-4.20857689e-02 4.92810163e-01 8.69118479e-01 -1.79910216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.523133365 meters SLAMing on 269.583133365 meters Centerline goodness : 0.107026 with order 1 Centerline is valid? [False, False] Translation: X:-28.88, Y:-4.11, Z:-1.80 [[ 9.98792926e-01 -1.00120936e-02 4.80879213e-02 -2.88764988e+01] [ 3.23933017e-02 8.70198854e-01 -4.91634649e-01 -4.10971537e+00] [-3.69237619e-02 4.92598936e-01 8.69472785e-01 -1.79616349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.643133365 meters SLAMing on 269.703133365 meters Centerline goodness : 0.270118 with order 3 Centerline is valid? [False, False] Translation: X:-28.94, Y:-4.12, Z:-1.79 [[ 9.98607517e-01 -2.02647600e-02 4.87069350e-02 -2.89443168e+01] [ 4.16978299e-02 8.68776649e-01 -4.93445463e-01 -4.11991355e+00] [-3.23158939e-02 4.94789322e-01 8.68411889e-01 -1.79453146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.763133365 meters Centerline goodness : 0.175363 with order 3 Centerline is valid? [False, False] Translation: X:-28.99, Y:-4.13, Z:-1.79 [[ 9.98659886e-01 -1.99593679e-02 4.77499221e-02 -2.89926441e+01] [ 4.09537152e-02 8.68875810e-01 -4.93333174e-01 -4.12828362e+00] [-3.16421339e-02 4.94627588e-01 8.68528828e-01 -1.79376196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.823133365 meters Centerline goodness : 0.246914 with order 3 Centerline is valid? [False, False] Translation: X:-29.00, Y:-4.13, Z:-1.80 [[ 9.98611743e-01 -2.00114687e-02 4.87250319e-02 -2.89950777e+01] [ 4.14569971e-02 8.69234971e-01 -4.92657978e-01 -4.13292516e+00] [-3.24946920e-02 4.93994035e-01 8.68857864e-01 -1.79538561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.883133365 meters Centerline goodness : 0.241525 with order 3 Centerline is valid? [False, False] Translation: X:-28.99, Y:-4.14, Z:-1.80 [[ 9.98620607e-01 -1.99110160e-02 4.85843081e-02 -2.89944273e+01] [ 4.12744606e-02 8.69629827e-01 -4.91975998e-01 -4.13927492e+00] [-3.24546215e-02 4.93302661e-01 8.69252082e-01 -1.79920948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.943133365 meters Centerline goodness : 0.103951 with order 1 Centerline is valid? [False, False] Translation: X:-29.01, Y:-4.14, Z:-1.80 [[ 9.98802807e-01 -1.03507760e-02 4.78101891e-02 -2.90142514e+01] [ 3.25690456e-02 8.69953249e-01 -4.92057519e-01 -4.14477801e+00] [-3.64994522e-02 4.93025563e-01 8.69248862e-01 -1.80193657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.003133365 meters Centerline goodness : 0.353341 with order 1 Centerline is valid? [False, False] Translation: X:-29.03, Y:-4.15, Z:-1.80 [[ 9.98866921e-01 -3.65771926e-04 4.75892980e-02 -2.90346179e+01] [ 2.37612956e-02 8.70245619e-01 -4.92044676e-01 -4.14792447e+00] [-4.12344020e-02 4.92617934e-01 8.69268253e-01 -1.80398775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.063133365 meters Centerline goodness : 0.452581 with order 3 Centerline is valid? [False, False] Translation: X:-29.04, Y:-4.15, Z:-1.80 [[ 9.98841255e-01 -2.19199988e-04 4.81258715e-02 -2.90362489e+01] [ 2.38844361e-02 8.70407981e-01 -4.91751442e-01 -4.14954002e+00] [-4.17813507e-02 4.92331086e-01 8.69404636e-01 -1.80411887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.123133365 meters Centerline goodness : 0.437149 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-4.15, Z:-1.81 [[ 9.98843514e-01 -3.31053927e-05 4.80794409e-02 -2.90360555e+01] [ 2.36683697e-02 8.70777417e-01 -4.91107420e-01 -4.15287101e+00] [-4.18502330e-02 4.91677423e-01 8.69771159e-01 -1.80601526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.183133365 meters Centerline goodness : 0.099053 with order 1 Centerline is valid? [False, False] Translation: X:-29.03, Y:-4.16, Z:-1.81 [[ 9.98851979e-01 -3.53500709e-03 4.77726766e-02 -2.90348722e+01] [ 2.66953809e-02 8.69139826e-01 -4.93845442e-01 -4.15619292e+00] [-3.97753887e-02 4.94553806e-01 8.68236403e-01 -1.80875561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.243133365 meters Centerline goodness : 0.269664 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-4.16, Z:-1.81 [[ 9.98856848e-01 -9.52471818e-03 4.68431010e-02 -2.90575154e+01] [ 3.13280590e-02 8.70594712e-01 -4.91002443e-01 -4.15903016e+00] [-3.61046961e-02 4.91908657e-01 8.69897882e-01 -1.80845444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.303133365 meters Centerline goodness : 0.100026 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-4.16, Z:-1.81 [[ 9.98879230e-01 -9.28181063e-03 4.64126266e-02 -2.90560714e+01] [ 3.08920307e-02 8.70776559e-01 -4.90707516e-01 -4.15954371e+00] [-3.58603730e-02 4.91591326e-01 8.70087353e-01 -1.80978631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.363133365 meters Centerline goodness : 0.432663 with order 1 Centerline is valid? [False, False] Translation: X:-29.05, Y:-4.16, Z:-1.81 [[ 9.98913448e-01 -9.17143942e-03 4.56925478e-02 -2.90538747e+01] [ 3.04208423e-02 8.71075425e-01 -4.90206259e-01 -4.16217089e+00] [-3.53057585e-02 4.91063630e-01 8.70407959e-01 -1.81230236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.423133365 meters Centerline goodness : 0.205735 with order 1 Centerline is valid? [False, False] Translation: X:-29.05, Y:-4.17, Z:-1.81 [[ 9.98916439e-01 -8.99826445e-03 4.56615757e-02 -2.90541692e+01] [ 3.02330217e-02 8.71380496e-01 -4.89675398e-01 -4.16501898e+00] [-3.53823777e-02 4.90525293e-01 8.70708347e-01 -1.81294601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.483133365 meters Centerline goodness : 0.172154 with order 1 Centerline is valid? [False, False] Translation: X:-29.07, Y:-4.17, Z:-1.81 [[ 9.98836068e-01 -1.74541240e-02 4.49651267e-02 -2.90747131e+01] [ 3.72325492e-02 8.71645195e-01 -4.88721180e-01 -4.16574645e+00] [-3.06634366e-02 4.89826508e-01 8.71280521e-01 -1.81292234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54313336499996 meters Centerline goodness : 0.094712 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-4.17, Z:-1.81 [[ 9.98861110e-01 -1.67282193e-02 4.46838785e-02 -2.91230422e+01] [ 3.64495628e-02 8.71861333e-01 -4.88394560e-01 -4.17134461e+00] [-3.07881746e-02 4.89467040e-01 8.71478115e-01 -1.81122223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60313336499996 meters Centerline goodness : 0.418574 with order 3 Centerline is valid? [False, False] Translation: X:-29.14, Y:-4.18, Z:-1.81 [[ 9.98916594e-01 -8.48071696e-03 4.57571428e-02 -2.91444264e+01] [ 2.97921910e-02 8.71892557e-01 -4.88790133e-01 -4.17771665e+00] [-3.57500215e-02 4.89623780e-01 8.71200603e-01 -1.81318285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66313336499996 meters Centerline goodness : 0.444574 with order 2 Centerline is valid? [False, False] Translation: X:-29.14, Y:-4.18, Z:-1.81 [[ 9.98925119e-01 -8.73588891e-03 4.55224273e-02 -2.91438977e+01] [ 2.98912607e-02 8.72006552e-01 -4.88580686e-01 -4.17989356e+00] [-3.54276682e-02 4.89416242e-01 8.71330375e-01 -1.81420132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72313336499997 meters Centerline goodness : 0.175709 with order 1 Centerline is valid? [False, False] Translation: X:-29.16, Y:-4.18, Z:-1.82 [[ 9.98853205e-01 -1.92484324e-02 4.38380285e-02 -2.91639937e+01] [ 3.82543182e-02 8.71449464e-01 -4.88991247e-01 -4.18305324e+00] [-2.87903114e-02 4.90107468e-01 8.71186425e-01 -1.81526363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78313336499997 meters Centerline goodness : 0.321115 with order 3 Centerline is valid? [False, False] Translation: X:-29.17, Y:-4.19, Z:-1.82 [[ 9.98764345e-01 -2.14288431e-02 4.48395856e-02 -2.91678135e+01] [ 4.06690598e-02 8.70983427e-01 -4.89626284e-01 -4.19251061e+00] [-2.85624111e-02 4.90844858e-01 8.70778682e-01 -1.81731282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84313336499997 meters Centerline goodness : 0.298324 with order 1 Centerline is valid? [False, False] Translation: X:-29.17, Y:-4.20, Z:-1.82 [[ 9.98717139e-01 -2.20094457e-02 4.56032891e-02 -2.91693812e+01] [ 4.15470541e-02 8.71005657e-01 -4.89513011e-01 -4.19754465e+00] [-2.89468128e-02 4.90779716e-01 8.70802706e-01 -1.81998650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.903133365 meters Centerline goodness : 0.356197 with order 1 Centerline is valid? [False, False] Translation: X:-29.17, Y:-4.20, Z:-1.82 [[ 9.98718087e-01 -2.21474194e-02 4.55156505e-02 -2.91687426e+01] [ 4.16080911e-02 8.71278039e-01 -4.89022847e-01 -4.20114682e+00] [-2.88261927e-02 4.90289782e-01 8.71082648e-01 -1.82260201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.963133365 meters Centerline goodness : 0.437535 with order 2 Centerline is valid? [False, False] Translation: X:-29.21, Y:-4.21, Z:-1.83 [[ 9.98852471e-01 -2.29992833e-02 4.20092044e-02 -2.92108637e+01] [ 4.06394877e-02 8.71139070e-01 -4.89351768e-01 -4.21182857e+00] [-2.53411193e-02 4.90497455e-01 8.71074092e-01 -1.82565307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.023133365 meters Centerline goodness : 0.439150 with order 1 Centerline is valid? [False, False] Translation: X:-29.26, Y:-4.22, Z:-1.83 [[ 9.98922529e-01 -2.35544619e-02 3.99871011e-02 -2.92568439e+01] [ 4.01364305e-02 8.71043417e-01 -4.89563513e-01 -4.22045567e+00] [-2.32990961e-02 4.90640962e-01 8.71050285e-01 -1.82657453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.083133365 meters Centerline goodness : 0.175566 with order 1 Centerline is valid? [False, False] Translation: X:-29.24, Y:-4.23, Z:-1.83 [[ 9.98973725e-01 -1.58470255e-02 4.24307430e-02 -2.92384978e+01] [ 3.46370115e-02 8.70914784e-01 -4.90211910e-01 -4.22553547e+00] [-2.91851607e-02 4.91178492e-01 8.70569879e-01 -1.82937582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.143133365 meters Centerline goodness : 0.257156 with order 1 Centerline is valid? [False, False] Translation: X:-29.28, Y:-4.23, Z:-1.83 [[ 9.99124974e-01 -1.52026364e-02 3.89636430e-02 -2.92811740e+01] [ 3.23566799e-02 8.71254181e-01 -4.89764431e-01 -4.23093097e+00] [-2.65015263e-02 4.90596609e-01 8.70983718e-01 -1.83022564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.203133365 meters Centerline goodness : 0.449210 with order 3 Centerline is valid? [False, False] Translation: X:-29.28, Y:-4.23, Z:-1.83 [[ 9.99145401e-01 -1.51193269e-02 3.84691264e-02 -2.92795650e+01] [ 3.20362988e-02 8.71356868e-01 -4.89602781e-01 -4.23138083e+00] [-2.61178730e-02 4.90416776e-01 8.71096575e-01 -1.83144765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.263133365 meters Centerline goodness : 0.437608 with order 2 Centerline is valid? [False, False] Translation: X:-29.30, Y:-4.23, Z:-1.83 [[ 9.98990368e-01 -2.45761109e-02 3.76066299e-02 -2.93013860e+01] [ 3.98557257e-02 8.71115913e-01 -4.89457442e-01 -4.23342241e+00] [-2.07307733e-02 4.90462109e-01 8.71215906e-01 -1.83090506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.323133365 meters Centerline goodness : 0.166248 with order 1 Centerline is valid? [False, False] Translation: X:-29.30, Y:-4.24, Z:-1.83 [[ 9.98982524e-01 -2.49486314e-02 3.75696968e-02 -2.93012410e+01] [ 4.01551481e-02 8.71275809e-01 -4.89148269e-01 -4.23673422e+00] [-2.05299881e-02 4.90159189e-01 8.71391123e-01 -1.83266138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.383133365 meters Centerline goodness : 0.496086 with order 3 Centerline is valid? [False, False] Translation: X:-29.35, Y:-4.25, Z:-1.83 [[ 9.98958011e-01 -2.78367008e-02 3.61664129e-02 -2.93478273e+01] [ 4.20123620e-02 8.70452118e-01 -4.90457003e-01 -4.24658060e+00] [-1.78284259e-02 4.91465389e-01 8.70714602e-01 -1.83397243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.443133365 meters Centerline goodness : 0.442113 with order 2 Centerline is valid? [False, False] Translation: X:-29.35, Y:-4.25, Z:-1.83 [[ 9.98932291e-01 -2.80109403e-02 3.67377932e-02 -2.93496951e+01] [ 4.24378067e-02 8.70630746e-01 -4.90103190e-01 -4.24997382e+00] [-1.82568011e-02 4.91138974e-01 8.70889888e-01 -1.83448655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.503133365 meters Centerline goodness : 0.095690 with order 1 Centerline is valid? [False, False] Translation: X:-29.35, Y:-4.25, Z:-1.84 [[ 9.98933358e-01 -2.80944845e-02 3.66448712e-02 -2.93494101e+01] [ 4.24596319e-02 8.70773310e-01 -4.89847958e-01 -4.25223480e+00] [-1.81473500e-02 4.90881393e-01 8.71037388e-01 -1.83572791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.563133365 meters Centerline goodness : 0.091162 with order 1 Centerline is valid? [False, False] Translation: X:-29.37, Y:-4.26, Z:-1.84 [[ 9.99079874e-01 -2.06831872e-02 3.75714054e-02 -2.93692523e+01] [ 3.64810735e-02 8.70452096e-01 -4.90899460e-01 -4.25790221e+00] [-2.25507431e-02 4.91818416e-01 8.70405715e-01 -1.83905114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.623133365 meters Centerline goodness : 0.489179 with order 3 Centerline is valid? [False, False] Translation: X:-29.37, Y:-4.26, Z:-1.84 [[ 9.99064978e-01 -2.06645303e-02 3.79756074e-02 -2.93705159e+01] [ 3.66681120e-02 8.70352075e-01 -4.91062843e-01 -4.25784097e+00] [-2.29045657e-02 4.91996182e-01 8.70296006e-01 -1.83826824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.683133365 meters SLAMing on 271.743133365 meters Centerline goodness : 0.434255 with order 3 Centerline is valid? [False, False] Translation: X:-29.37, Y:-4.26, Z:-1.84 [[ 9.99094972e-01 -2.08816319e-02 3.70566333e-02 -2.93683906e+01] [ 3.64146265e-02 8.70140645e-01 -4.91456237e-01 -4.26109997e+00] [-2.19820745e-02 4.92360859e-01 8.70113540e-01 -1.84079818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.803133365 meters Centerline goodness : 0.091201 with order 1 Centerline is valid? [False, False] Translation: X:-29.37, Y:-4.26, Z:-1.84 [[ 9.99109215e-01 -2.09817810e-02 3.66134126e-02 -2.93671727e+01] [ 3.62794993e-02 8.70235824e-01 -4.91297679e-01 -4.26206581e+00] [-2.15540029e-02 4.92188354e-01 8.70221839e-01 -1.84181141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.863133365 meters Centerline goodness : 0.098150 with order 1 Centerline is valid? [False, False] Translation: X:-29.39, Y:-4.26, Z:-1.84 [[ 9.98968556e-01 -2.92978879e-02 3.46908846e-02 -2.93866292e+01] [ 4.25614373e-02 8.70378230e-01 -4.90540785e-01 -4.25930225e+00] [-1.58223818e-02 4.91511313e-01 8.70727444e-01 -1.84055746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.923133365 meters Centerline goodness : 0.103412 with order 1 Centerline is valid? [False, False] Translation: X:-29.39, Y:-4.26, Z:-1.84 [[ 9.99051501e-01 -2.65091774e-02 3.45450614e-02 -2.93865484e+01] [ 4.00140052e-02 8.71811686e-01 -4.88204121e-01 -4.25771659e+00] [-1.71748986e-02 4.89123347e-01 8.72045512e-01 -1.83962305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.983133365 meters Centerline goodness : 0.102527 with order 1 Centerline is valid? [False, False] Translation: X:-29.39, Y:-4.26, Z:-1.84 [[ 9.99146531e-01 -2.29862069e-02 3.43197186e-02 -2.93865942e+01] [ 3.67666567e-02 8.73580584e-01 -4.85288755e-01 -4.25745101e+00] [-1.88260921e-02 4.86136398e-01 8.73680137e-01 -1.83874781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04313336499996 meters Centerline goodness : 0.146473 with order 3 Centerline is valid? [False, False] Translation: X:-29.39, Y:-4.25, Z:-1.84 [[ 9.99148406e-01 -2.32698690e-02 3.40730967e-02 -2.93858487e+01] [ 3.69119540e-02 8.73120062e-01 -4.86105816e-01 -4.25486510e+00] [-1.84382857e-02 4.86949556e-01 8.73235455e-01 -1.83764867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10313336499996 meters Centerline goodness : 0.113009 with order 1 Centerline is valid? [False, False] Translation: X:-29.39, Y:-4.25, Z:-1.84 [[ 9.99140091e-01 -2.32979793e-02 3.42969688e-02 -2.93866523e+01] [ 3.70461211e-02 8.73101114e-01 -4.86129642e-01 -4.25460189e+00] [-1.86188833e-02 4.86982185e-01 8.73213427e-01 -1.83698366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16313336499996 meters Centerline goodness : 0.222113 with order 3 Centerline is valid? [False, False] Translation: X:-29.43, Y:-4.26, Z:-1.83 [[ 9.99131714e-01 -2.57420077e-02 3.27592248e-02 -2.94340496e+01] [ 3.84653274e-02 8.72041139e-01 -4.87918712e-01 -4.25676956e+00] [-1.60073845e-02 4.88755154e-01 8.72274133e-01 -1.83373708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22313336499997 meters Centerline goodness : 0.251948 with order 3 Centerline is valid? [False, False] Translation: X:-29.43, Y:-4.26, Z:-1.83 [[ 9.99127047e-01 -2.57480768e-02 3.28965056e-02 -2.94346786e+01] [ 3.85373563e-02 8.72050245e-01 -4.87896753e-01 -4.25670520e+00] [-1.61250027e-02 4.88738587e-01 8.72281249e-01 -1.83311763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28313336499997 meters Centerline goodness : 0.124800 with order 1 Centerline is valid? [False, False] Translation: X:-29.44, Y:-4.26, Z:-1.83 [[ 9.99109956e-01 -2.58646857e-02 3.33213701e-02 -2.94359862e+01] [ 3.88520913e-02 8.71882471e-01 -4.88171559e-01 -4.25531888e+00] [-1.64259145e-02 4.89031670e-01 8.72111355e-01 -1.83162460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34313336499997 meters Centerline goodness : 0.110837 with order 1 Centerline is valid? [False, False] Translation: X:-29.46, Y:-4.25, Z:-1.83 [[ 9.98921312e-01 -3.45100372e-02 3.10687959e-02 -2.94557060e+01] [ 4.52955699e-02 8.71483477e-01 -4.88328641e-01 -4.24762557e+00] [-1.02237027e-02 4.89209165e-01 8.72106569e-01 -1.82697509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.403133365 meters Centerline goodness : 0.110346 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.25, Z:-1.83 [[ 9.98928291e-01 -3.46049869e-02 3.07370083e-02 -2.94545758e+01] [ 4.52200158e-02 8.71290520e-01 -4.88679834e-01 -4.24500247e+00] [-9.87010468e-03 4.89546040e-01 8.71921588e-01 -1.82630741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.463133365 meters Centerline goodness : 0.107408 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.24, Z:-1.82 [[ 9.98910586e-01 -3.49398309e-02 3.09329796e-02 -2.94549243e+01] [ 4.56164351e-02 8.70853343e-01 -4.89421695e-01 -4.24151741e+00] [-9.83777740e-03 4.90299565e-01 8.71498454e-01 -1.82457921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.523133365 meters Centerline goodness : 0.108909 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.24, Z:-1.82 [[ 9.99024188e-01 -3.18445415e-02 3.06038669e-02 -2.94543757e+01] [ 4.27226919e-02 8.72481347e-01 -4.86776202e-01 -4.23935226e+00] [-1.12001380e-02 4.87608680e-01 8.72990454e-01 -1.82355727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.583133365 meters Centerline goodness : 0.123269 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.24, Z:-1.82 [[ 9.99124592e-01 -2.86676855e-02 3.04665906e-02 -2.94540560e+01] [ 3.98450356e-02 8.74002046e-01 -4.84285863e-01 -4.23611955e+00] [-1.27445077e-02 4.85075858e-01 8.74379202e-01 -1.82214815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.643133365 meters Centerline goodness : 0.111375 with order 2 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.23, Z:-1.82 [[ 9.99206182e-01 -2.55398049e-02 3.05732594e-02 -2.94544739e+01] [ 3.71277004e-02 8.75224881e-01 -4.82289272e-01 -4.22966113e+00] [-1.44409034e-02 4.83041537e-01 8.75478346e-01 -1.81870493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.703133365 meters Centerline goodness : 0.127176 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.23, Z:-1.82 [[ 9.99294779e-01 -2.24479391e-02 3.01004002e-02 -2.94531058e+01] [ 3.41490126e-02 8.76640662e-01 -4.79932282e-01 -4.22532237e+00] [-1.56137441e-02 4.80621723e-01 8.76789011e-01 -1.81717032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.763133365 meters Centerline goodness : 0.163311 with order 3 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.22, Z:-1.81 [[ 9.99280987e-01 -2.29954572e-02 3.01449654e-02 -2.94537960e+01] [ 3.46679677e-02 8.76082219e-01 -4.80913795e-01 -4.22124960e+00] [-1.53506356e-02 4.81613076e-01 8.76249509e-01 -1.81375776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.823133365 meters Centerline goodness : 0.112215 with order 3 Centerline is valid? [False, False] Translation: X:-29.45, Y:-4.22, Z:-1.81 [[ 9.99292005e-01 -2.33928958e-02 2.94662724e-02 -2.94517167e+01] [ 3.46934853e-02 8.75945447e-01 -4.81161029e-01 -4.22026533e+00] [-1.45550973e-02 4.81842658e-01 8.76136863e-01 -1.81402778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.883133365 meters Centerline goodness : 0.234476 with order 3 Centerline is valid? [False, False] Translation: X:-29.49, Y:-4.22, Z:-1.81 [[ 9.99356696e-01 -2.48534399e-02 2.58553861e-02 -2.94934559e+01] [ 3.42519857e-02 8.75119317e-01 -4.82693467e-01 -4.21884629e+00] [-1.06299547e-02 4.83268546e-01 8.75407629e-01 -1.81200461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.943133365 meters Centerline goodness : 0.124010 with order 2 Centerline is valid? [False, False] Translation: X:-29.50, Y:-4.22, Z:-1.81 [[ 9.99345028e-01 -2.47786452e-02 2.63729680e-02 -2.94951538e+01] [ 3.44376865e-02 8.75069435e-01 -4.82770681e-01 -4.21816658e+00] [-1.11157747e-02 4.83362704e-01 8.75349608e-01 -1.81056953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.003133365 meters SLAMing on 273.063133365 meters Centerline goodness : 0.151035 with order 3 Centerline is valid? [False, False] Translation: X:-29.52, Y:-4.21, Z:-1.81 [[ 9.99601560e-01 -1.17897135e-02 2.56461119e-02 -2.95165421e+01] [ 2.26859339e-02 8.76189544e-01 -4.81432478e-01 -4.20905063e+00] [-1.67949042e-02 4.81822463e-01 8.76107896e-01 -1.80517631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.123133365 meters SLAMing on 273.183133365 meters SLAMing on 273.243133365 meters Centerline goodness : 0.117027 with order 3 Centerline is valid? [False, False] Translation: X:-29.52, Y:-4.20, Z:-1.80 [[ 9.99591152e-01 -1.09587295e-02 2.64090150e-02 -2.95200125e+01] [ 2.23376207e-02 8.75866432e-01 -4.82036330e-01 -4.19578160e+00] [-1.78482640e-02 4.82429165e-01 8.75753128e-01 -1.79507617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.303133365 meters Centerline goodness : 0.118295 with order 3 Centerline is valid? [False, False] Translation: X:-29.52, Y:-4.19, Z:-1.79 [[ 9.99572387e-01 -9.09481234e-03 2.77907651e-02 -2.95241053e+01] [ 2.13525590e-02 8.76344322e-01 -4.81211698e-01 -4.18879284e+00] [-1.99777491e-02 4.81599330e-01 8.76163783e-01 -1.78959697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.363133365 meters Centerline goodness : 0.227932 with order 3 Centerline is valid? [False, False] Translation: X:-29.52, Y:-4.18, Z:-1.79 [[ 9.99570200e-01 -9.47717391e-03 2.77416341e-02 -2.95240156e+01] [ 2.16843693e-02 8.75841803e-01 -4.82110904e-01 -4.18405028e+00] [-1.97282340e-02 4.82505252e-01 8.75670873e-01 -1.78677372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.423133365 meters Centerline goodness : 0.227949 with order 3 Centerline is valid? [False, False] Translation: X:-29.52, Y:-4.18, Z:-1.79 [[ 9.99593408e-01 -9.93252398e-03 2.67275882e-02 -2.95211563e+01] [ 2.16064427e-02 8.75515687e-01 -4.82706374e-01 -4.18114293e+00] [-1.86059301e-02 4.83087598e-01 8.75374315e-01 -1.78593270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.483133365 meters Centerline goodness : 0.165560 with order 3 Centerline is valid? [False, False] Translation: X:-29.52, Y:-4.17, Z:-1.78 [[ 9.99336729e-01 -2.65604951e-02 2.49127076e-02 -2.95175676e+01] [ 3.52726101e-02 8.76067984e-01 -4.80895758e-01 -4.17321861e+00] [-9.05239607e-03 4.81455530e-01 8.76423771e-01 -1.78229329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54313336499996 meters Centerline goodness : 0.212009 with order 3 Centerline is valid? [False, False] Translation: X:-29.54, Y:-4.17, Z:-1.78 [[ 9.99076017e-01 -3.50238100e-02 2.49087357e-02 -2.95376010e+01] [ 4.26855725e-02 8.76129059e-01 -4.80183105e-01 -4.16875492e+00] [-5.00542533e-03 4.80802668e-01 8.76814542e-01 -1.77963843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60313336499996 meters Centerline goodness : 0.154617 with order 1 Centerline is valid? [False, False] Translation: X:-29.54, Y:-4.17, Z:-1.78 [[ 9.99057790e-01 -3.54225923e-02 2.50753107e-02 -2.95380933e+01] [ 4.31152571e-02 8.76120045e-01 -4.80161162e-01 -4.17014915e+00] [-4.96042930e-03 4.80789878e-01 8.76821811e-01 -1.77988670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66313336499996 meters Centerline goodness : 0.110349 with order 2 Centerline is valid? [False, False] Translation: X:-29.54, Y:-4.17, Z:-1.78 [[ 9.99062959e-01 -3.53650157e-02 2.49503298e-02 -2.95376637e+01] [ 4.30028363e-02 8.76305614e-01 -4.79832499e-01 -4.17171566e+00] [-4.89483025e-03 4.80455811e-01 8.77005276e-01 -1.78087094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72313336499997 meters Centerline goodness : 0.132510 with order 2 Centerline is valid? [False, False] Translation: X:-29.54, Y:-4.17, Z:-1.78 [[ 9.99063589e-01 -3.53585487e-02 2.49342914e-02 -2.95375263e+01] [ 4.29892928e-02 8.76322434e-01 -4.79802993e-01 -4.17188508e+00] [-4.88534144e-03 4.80425608e-01 8.77021875e-01 -1.78115703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78313336499997 meters Centerline goodness : 0.150002 with order 3 Centerline is valid? [False, False] Translation: X:-29.54, Y:-4.17, Z:-1.78 [[ 9.99066645e-01 -3.53192124e-02 2.48674926e-02 -2.95371063e+01] [ 4.29225377e-02 8.76341093e-01 -4.79774890e-01 -4.17168265e+00] [-4.84713443e-03 4.80394465e-01 8.77039146e-01 -1.78159979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84313336499997 meters Centerline goodness : 0.112991 with order 2 Centerline is valid? [False, False] Translation: X:-29.54, Y:-4.17, Z:-1.78 [[ 9.99063379e-01 -3.52919149e-02 2.50368770e-02 -2.95371586e+01] [ 4.29786791e-02 8.76462577e-01 -4.79547896e-01 -4.17308466e+00] [-5.01972214e-03 4.80174793e-01 8.77158464e-01 -1.78307318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.903133365 meters Centerline goodness : 0.148707 with order 3 Centerline is valid? [False, False] Translation: X:-29.56, Y:-4.18, Z:-1.79 [[ 9.99260887e-01 -2.72776828e-02 2.70851975e-02 -2.95588245e+01] [ 3.69377108e-02 8.76450603e-01 -4.80072855e-01 -4.17996026e+00] [-1.06435627e-02 4.80718492e-01 8.76810382e-01 -1.78661107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.963133365 meters Centerline goodness : 0.109564 with order 2 Centerline is valid? [False, False] Translation: X:-29.56, Y:-4.18, Z:-1.79 [[ 9.99252114e-01 -2.72585659e-02 2.74259444e-02 -2.95601998e+01] [ 3.70804725e-02 8.76634327e-01 -4.79726271e-01 -4.18331550e+00] [-1.09658742e-02 4.80384457e-01 8.76989466e-01 -1.78762081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.023133365 meters SLAMing on 274.083133365 meters Centerline goodness : 0.142898 with order 3 Centerline is valid? [False, False] Translation: X:-29.58, Y:-4.20, Z:-1.79 [[ 9.99435459e-01 -1.82982927e-02 2.81768709e-02 -2.95802578e+01] [ 2.95707011e-02 8.77199897e-01 -4.79213850e-01 -4.19521311e+00] [-1.59479529e-02 4.79776524e-01 8.77245775e-01 -1.79491636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.143133365 meters Centerline goodness : 0.233540 with order 3 Centerline is valid? [False, False] Translation: X:-29.58, Y:-4.20, Z:-1.80 [[ 9.99507140e-01 -1.41871546e-02 2.80036097e-02 -2.95804246e+01] [ 2.58060422e-02 8.79275549e-01 -4.75613874e-01 -4.19626233e+00] [-1.78752817e-02 4.76102125e-01 8.79208303e-01 -1.79519198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.203133365 meters Centerline goodness : 0.145153 with order 3 Centerline is valid? [False, False] Translation: X:-29.60, Y:-4.20, Z:-1.79 [[ 9.99607650e-01 -2.84492416e-03 2.78649044e-02 -2.96022529e+01] [ 1.57399038e-02 8.79951482e-01 -4.74802742e-01 -4.19608281e+00] [-2.31689861e-02 4.75055044e-01 8.79651012e-01 -1.79427820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.263133365 meters SLAMing on 274.323133365 meters Centerline goodness : 0.162044 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.18, Z:-1.78 [[ 9.99477254e-01 1.31564118e-02 2.95318131e-02 -2.96293164e+01] [ 2.38475696e-03 8.80963232e-01 -4.73178715e-01 -4.17817545e+00] [-3.22417755e-02 4.73001789e-01 8.80471337e-01 -1.78418671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.383133365 meters Centerline goodness : 0.164280 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.17, Z:-1.78 [[ 9.99444863e-01 1.61200230e-02 2.91566643e-02 -2.96284537e+01] [-4.71474996e-04 8.81906714e-01 -4.71423722e-01 -4.17222176e+00] [-3.33128192e-02 4.71148271e-01 8.81424735e-01 -1.78107804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.443133365 meters Centerline goodness : 0.117743 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.17, Z:-1.78 [[ 9.99395767e-01 1.75246573e-02 3.00164456e-02 -2.96312128e+01] [-1.31189197e-03 8.81993606e-01 -4.71259543e-01 -4.16528154e+00] [-3.47329751e-02 4.70935415e-01 8.81483667e-01 -1.77640592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.503133365 meters Centerline goodness : 0.116507 with order 2 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.16, Z:-1.77 [[ 9.99362527e-01 2.01357729e-02 2.94803393e-02 -2.96296812e+01] [-3.91999877e-03 8.82661209e-01 -4.69993430e-01 -4.15781983e+00] [-3.54848329e-02 4.69578259e-01 8.82177468e-01 -1.77292885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.563133365 meters Centerline goodness : 0.239217 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.15, Z:-1.77 [[ 9.99316456e-01 2.31464092e-02 2.88247204e-02 -2.96275736e+01] [-6.96357434e-03 8.83627258e-01 -4.68139272e-01 -4.15204109e+00] [-3.63060518e-02 4.67618555e-01 8.83184441e-01 -1.77100311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.623133365 meters SLAMing on 274.683133365 meters Centerline goodness : 0.232067 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.14, Z:-1.76 [[ 9.99182468e-01 2.77569354e-02 2.93930074e-02 -2.96299516e+01] [-1.08303299e-02 8.84257858e-01 -4.66873371e-01 -4.13718504e+00] [-3.89499717e-02 4.66173351e-01 8.83835565e-01 -1.76311674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.743133365 meters Centerline goodness : 0.253912 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.13, Z:-1.76 [[ 9.99101050e-01 3.08740847e-02 2.90496687e-02 -2.96287262e+01] [-1.38277171e-02 8.85127943e-01 -4.65142256e-01 -4.13078399e+00] [-4.00735149e-02 4.64322426e-01 8.84759175e-01 -1.76082295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.803133365 meters Centerline goodness : 0.124918 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.12, Z:-1.76 [[ 9.99009065e-01 3.29629215e-02 2.99054024e-02 -2.96313782e+01] [-1.53126001e-02 8.85460426e-01 -4.64462440e-01 -4.12414860e+00] [-4.17900893e-02 4.63544259e-01 8.85087741e-01 -1.75671886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.863133365 meters Centerline goodness : 0.112673 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.12, Z:-1.76 [[ 9.99041768e-01 3.24973784e-02 2.93166547e-02 -2.96299109e+01] [-1.51209027e-02 8.84870847e-01 -4.65590960e-01 -4.11988691e+00] [-4.10719387e-02 4.64701522e-01 8.84514325e-01 -1.75517220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.923133365 meters Centerline goodness : 0.117655 with order 2 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.12, Z:-1.75 [[ 9.98945497e-01 3.55896248e-02 2.90047146e-02 -2.96284520e+01] [-1.81306803e-02 8.86196819e-01 -4.62954076e-01 -4.11752882e+00] [-4.21802477e-02 4.61940014e-01 8.85907585e-01 -1.75458981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.983133365 meters SLAMing on 275.04313336499996 meters Centerline goodness : 0.122943 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.75 [[ 9.98807360e-01 3.88054398e-02 2.96309981e-02 -2.96299445e+01] [-2.08071355e-02 8.87320220e-01 -4.60684155e-01 -4.11491531e+00] [-4.41692350e-02 4.59518188e-01 8.87069396e-01 -1.75344951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10313336499996 meters Centerline goodness : 0.115995 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.75 [[ 9.98696286e-01 4.15061558e-02 2.97147529e-02 -2.96295974e+01] [-2.32728260e-02 8.88319584e-01 -4.58635687e-01 -4.11241144e+00] [-4.54324011e-02 4.57346211e-01 8.88127435e-01 -1.75305281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16313336499996 meters Centerline goodness : 0.118057 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.75 [[ 9.98571840e-01 4.44996317e-02 2.95645551e-02 -2.96290401e+01] [-2.61294250e-02 8.89467349e-01 -4.56251123e-01 -4.11031001e+00] [-4.65997134e-02 4.54827019e-01 8.89359798e-01 -1.75234735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22313336499997 meters Centerline goodness : 0.121383 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.75 [[ 9.98414838e-01 4.76539209e-02 2.99485526e-02 -2.96293919e+01] [-2.88947073e-02 8.90609689e-01 -4.53849620e-01 -4.10809911e+00] [-4.83001850e-02 4.52264840e-01 8.90574874e-01 -1.75216973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28313336499997 meters Centerline goodness : 0.122202 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.75 [[ 9.98387893e-01 4.78773293e-02 3.04856732e-02 -2.96308527e+01] [-2.88638398e-02 8.90732841e-01 -4.53609839e-01 -4.10905922e+00] [-4.88722179e-02 4.51998637e-01 8.90678808e-01 -1.75240542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34313336499997 meters Centerline goodness : 0.251918 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.75 [[ 9.98381502e-01 4.79839130e-02 3.05273786e-02 -2.96307606e+01] [-2.89606792e-02 8.90920780e-01 -4.53234423e-01 -4.11056146e+00] [-4.89454371e-02 4.51616770e-01 8.90868473e-01 -1.75351708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.403133365 meters Centerline goodness : 0.144628 with order 1 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.76 [[ 9.98365492e-01 4.81732415e-02 3.07519786e-02 -2.96309944e+01] [-2.90536277e-02 8.91153335e-01 -4.52771046e-01 -4.11270182e+00] [-4.92161772e-02 4.51137532e-01 8.91096345e-01 -1.75543960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.463133365 meters Centerline goodness : 0.159608 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.11, Z:-1.76 [[ 9.98335563e-01 4.85111600e-02 3.11892746e-02 -2.96321476e+01] [-2.91809724e-02 8.91361328e-01 -4.52353241e-01 -4.11393539e+00] [-4.97450936e-02 4.50690194e-01 8.91293316e-01 -1.75589004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.523133365 meters SLAMing on 275.583133365 meters Centerline goodness : 0.133120 with order 1 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.12, Z:-1.76 [[ 9.98304368e-01 4.88425430e-02 3.16669444e-02 -2.96328193e+01] [-2.93086830e-02 8.91783692e-01 -4.51511737e-01 -4.11827298e+00] [-5.02930460e-02 4.49818023e-01 8.91703065e-01 -1.75936402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.643133365 meters SLAMing on 275.703133365 meters Centerline goodness : 0.128019 with order 1 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.13, Z:-1.76 [[ 0.99826514 0.04956041 0.03178804 -29.63288731] [ -0.03001427 0.89281661 -0.44941923 -4.12739012] [ -0.0506543 0.44768546 0.89275521 -1.76382669] [ 0. 0. 0. 1. ]] SLAMing on 275.763133365 meters Centerline goodness : 0.269149 with order 3 Centerline is valid? [False, False] Translation: X:-29.63, Y:-4.13, Z:-1.77 [[ 0.99825436 0.04981494 0.0317285 -29.63248959] [ -0.030338 0.89341995 -0.44819684 -4.13282376] [ -0.05067377 0.44645187 0.89337164 -1.76672845] [ 0. 0. 0. 1. ]] SLAMing on 275.823133365 meters Centerline goodness : 0.125057 with order 1 Centerline is valid? [False, False] Translation: X:-29.65, Y:-4.13, Z:-1.77 [[ 9.98683404e-01 4.05520234e-02 3.14164178e-02 -2.96503074e+01] [-2.22827961e-02 8.94572371e-01 -4.46367282e-01 -4.13275317e+00] [-4.62053558e-02 4.45079551e-01 8.94298193e-01 -1.76653114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.883133365 meters Centerline goodness : 0.120247 with order 1 Centerline is valid? [False, False] Translation: X:-29.65, Y:-4.14, Z:-1.77 [[ 9.98641011e-01 4.10347118e-02 3.21291781e-02 -2.96524137e+01] [-2.24438212e-02 8.95007946e-01 -4.45485186e-01 -4.13668183e+00] [-4.70362259e-02 4.44158675e-01 8.94712616e-01 -1.76794281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.943133365 meters SLAMing on 276.003133365 meters Centerline goodness : 0.128107 with order 1 Centerline is valid? [False, False] Translation: X:-29.65, Y:-4.14, Z:-1.77 [[ 9.98606732e-01 4.15298904e-02 3.25555314e-02 -2.96530946e+01] [-2.27394398e-02 8.95388240e-01 -4.44705315e-01 -4.13989059e+00] [-4.76184030e-02 4.43345426e-01 8.95085091e-01 -1.77070003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.063133365 meters Centerline goodness : 0.271916 with order 1 Centerline is valid? [False, False] Translation: X:-29.65, Y:-4.15, Z:-1.77 [[ 9.98580448e-01 4.20135262e-02 3.27406717e-02 -2.96535749e+01] [-2.31660046e-02 8.96072376e-01 -4.43303094e-01 -4.14530363e+00] [-4.79627377e-02 4.41915332e-01 8.95773641e-01 -1.77286874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.123133365 meters Centerline goodness : 0.200815 with order 2 Centerline is valid? [False, False] Translation: X:-29.65, Y:-4.15, Z:-1.77 [[ 9.98559876e-01 4.22556581e-02 3.30549993e-02 -2.96544076e+01] [-2.32923175e-02 8.96510377e-01 -4.42410004e-01 -4.14918342e+00] [-4.83284758e-02 4.41002952e-01 8.96203523e-01 -1.77425367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.183133365 meters Centerline goodness : 0.188885 with order 3 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.15, Z:-1.77 [[ 9.98914781e-01 3.28123509e-02 3.30546570e-02 -2.96726007e+01] [-1.48993803e-02 8.97533819e-01 -4.40693830e-01 -4.15023731e+00] [-4.41278732e-02 4.39723086e-01 8.97048682e-01 -1.77404538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.243133365 meters Centerline goodness : 0.095284 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.15, Z:-1.78 [[ 9.98895013e-01 3.30880961e-02 3.33755928e-02 -2.96729631e+01] [-1.50309495e-02 8.97780320e-01 -4.40186969e-01 -4.15223961e+00] [-4.45288991e-02 4.39198901e-01 8.97285630e-01 -1.77597072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.303133365 meters Centerline goodness : 0.447305 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.15, Z:-1.78 [[ 9.98892959e-01 3.31622934e-02 3.33634385e-02 -2.96727600e+01] [-1.51179694e-02 8.97926810e-01 -4.39885089e-01 -4.15362071e+00] [-4.45455242e-02 4.38893731e-01 8.97434114e-01 -1.77699185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.363133365 meters Centerline goodness : 0.452683 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.16, Z:-1.78 [[ 9.98902425e-01 3.31302300e-02 3.31109167e-02 -2.96721239e+01] [-1.52308066e-02 8.98228835e-01 -4.39264138e-01 -4.15675230e+00] [-4.42941020e-02 4.38277707e-01 8.97747562e-01 -1.77811203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.423133365 meters Centerline goodness : 0.092240 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.16, Z:-1.78 [[ 9.98882629e-01 3.30294899e-02 3.38015659e-02 -2.96738724e+01] [-1.48869272e-02 8.98722421e-01 -4.38265204e-01 -4.16271982e+00] [-4.48539013e-02 4.37272298e-01 8.98209923e-01 -1.77981027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.483133365 meters Centerline goodness : 0.448814 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.17, Z:-1.78 [[ 9.98877890e-01 3.32469245e-02 3.37283772e-02 -2.96734944e+01] [-1.51499048e-02 8.99062177e-01 -4.37558776e-01 -4.16557205e+00] [-4.48713918e-02 4.36556805e-01 8.98557018e-01 -1.78145383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54313336499996 meters Centerline goodness : 0.452260 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-4.17, Z:-1.78 [[ 9.98869419e-01 3.34915217e-02 3.37372320e-02 -2.96736070e+01] [-1.53984004e-02 8.99370900e-01 -4.36915178e-01 -4.16822056e+00] [-4.49752389e-02 4.35901711e-01 8.98869805e-01 -1.78252092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60313336499996 meters Centerline goodness : 0.312963 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.17, Z:-1.78 [[ 9.98808641e-01 3.37662389e-02 3.52298022e-02 -2.96779787e+01] [-1.50477641e-02 8.99881561e-01 -4.35874686e-01 -4.17407916e+00] [-4.64204981e-02 4.34825273e-01 8.99317585e-01 -1.78326162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66313336499996 meters Centerline goodness : 0.452804 with order 3 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.18, Z:-1.78 [[ 9.98854034e-01 3.13727280e-02 3.61437476e-02 -2.96809725e+01] [-1.24140874e-02 8.99175349e-01 -4.37412371e-01 -4.17986406e+00] [-4.62223862e-02 4.36462420e-01 8.98534388e-01 -1.78499513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72313336499997 meters Centerline goodness : 0.091280 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.18, Z:-1.79 [[ 9.98854652e-01 3.16040187e-02 3.59245045e-02 -2.96798590e+01] [-1.27573003e-02 8.99541131e-01 -4.36649751e-01 -4.18319588e+00] [-4.61154563e-02 4.35691336e-01 8.98914025e-01 -1.78778915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78313336499997 meters Centerline goodness : 0.457265 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.19, Z:-1.79 [[ 9.98841381e-01 3.19453522e-02 3.59915287e-02 -2.96795127e+01] [-1.30851277e-02 9.00003982e-01 -4.35685220e-01 -4.18812603e+00] [-4.63106370e-02 4.34709473e-01 8.99379230e-01 -1.79120352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84313336499997 meters Centerline goodness : 0.287062 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.19, Z:-1.79 [[ 9.98842394e-01 3.22197076e-02 3.57178276e-02 -2.96782203e+01] [-1.34848080e-02 9.00311578e-01 -4.35037037e-01 -4.19101592e+00] [-4.61739398e-02 4.34051787e-01 8.99703848e-01 -1.79404524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.903133365 meters Centerline goodness : 0.100514 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.19, Z:-1.80 [[ 9.98837109e-01 3.24944955e-02 3.56165350e-02 -2.96774548e+01] [-1.38100472e-02 9.00621778e-01 -4.34384272e-01 -4.19379093e+00] [-4.61921249e-02 4.33387264e-01 9.00023203e-01 -1.79656439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.963133365 meters SLAMing on 277.023133365 meters SLAMing on 277.083133365 meters Centerline goodness : 0.118124 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.20, Z:-1.80 [[ 9.98788191e-01 3.32052745e-02 3.63257391e-02 -2.96786694e+01] [-1.42251022e-02 9.01369910e-01 -4.32816279e-01 -4.20258404e+00] [-4.71147115e-02 4.31775051e-01 9.00749971e-01 -1.80166777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.143133365 meters Centerline goodness : 0.247271 with order 3 Centerline is valid? [False, False] Translation: X:-29.68, Y:-4.20, Z:-1.80 [[ 9.98807396e-01 3.32806932e-02 3.57236833e-02 -2.96770173e+01] [-1.45363337e-02 9.01204590e-01 -4.33150069e-01 -4.20041849e+00] [-4.66098819e-02 4.32114201e-01 9.00613589e-01 -1.80148744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.203133365 meters Centerline goodness : 0.111872 with order 1 Centerline is valid? [False, False] Translation: X:-29.69, Y:-4.19, Z:-1.80 [[ 9.98950332e-01 2.66558883e-02 3.72518144e-02 -2.96949837e+01] [-7.96130360e-03 9.01899988e-01 -4.31871542e-01 -4.19211116e+00] [-4.51093306e-02 4.31121647e-01 9.01165509e-01 -1.79941927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.263133365 meters Centerline goodness : 0.448174 with order 1 Centerline is valid? [False, False] Translation: X:-29.69, Y:-4.19, Z:-1.80 [[ 9.98853777e-01 3.00902492e-02 3.72251194e-02 -2.96948611e+01] [-1.11985442e-02 9.03020304e-01 -4.29451888e-01 -4.18680429e+00] [-4.65373530e-02 4.28542773e-01 9.02322208e-01 -1.79675138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.323133365 meters Centerline goodness : 0.122985 with order 1 Centerline is valid? [False, False] Translation: X:-29.69, Y:-4.18, Z:-1.80 [[ 9.98814835e-01 3.25160179e-02 3.62164959e-02 -2.96909304e+01] [-1.39096489e-02 9.03763604e-01 -4.27805879e-01 -4.18102204e+00] [-4.66416945e-02 4.26795100e-01 9.03144781e-01 -1.79627477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.383133365 meters Centerline goodness : 0.096624 with order 1 Centerline is valid? [False, False] Translation: X:-29.71, Y:-4.18, Z:-1.79 [[ 9.99017650e-01 2.44920151e-02 3.69306992e-02 -2.97105542e+01] [-6.39790760e-03 9.04371509e-01 -4.26698067e-01 -4.17528551e+00] [-4.38497677e-02 4.26042621e-01 9.03639797e-01 -1.79473774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.443133365 meters Centerline goodness : 0.105205 with order 1 Centerline is valid? [False, False] Translation: X:-29.73, Y:-4.17, Z:-1.79 [[ 9.99079447e-01 1.71141602e-02 3.93365410e-02 -2.97315075e+01] [ 1.28399961e-03 9.04632691e-01 -4.26190153e-01 -4.16804888e+00] [-4.28790075e-02 4.25848330e-01 9.03777954e-01 -1.79129328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.503133365 meters Centerline goodness : 0.101977 with order 1 Centerline is valid? [False, False] Translation: X:-29.75, Y:-4.17, Z:-1.79 [[ 9.99238189e-01 8.40254888e-03 3.81108856e-02 -2.97508012e+01] [ 8.61601119e-03 9.04952301e-01 -4.25425783e-01 -4.16610836e+00] [-3.80631946e-02 4.25430052e-01 9.04190502e-01 -1.79052928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.563133365 meters Centerline goodness : 0.099191 with order 1 Centerline is valid? [False, False] Translation: X:-29.75, Y:-4.17, Z:-1.79 [[ 9.99229802e-01 8.33223829e-03 3.83455010e-02 -2.97514337e+01] [ 8.76958636e-03 9.05062770e-01 -4.25187578e-01 -4.16770166e+00] [-3.82478496e-02 4.25196373e-01 9.04292622e-01 -1.79093564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.623133365 meters Centerline goodness : 0.282545 with order 1 Centerline is valid? [False, False] Translation: X:-29.78, Y:-4.17, Z:-1.79 [[ 9.99228061e-01 -1.90449350e-03 3.92384288e-02 -2.97757608e+01] [ 1.84364983e-02 9.04731531e-01 -4.25583074e-01 -4.17187247e+00] [-3.46897235e-02 4.25977969e-01 9.04068246e-01 -1.79090615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.683133365 meters Centerline goodness : 0.135366 with order 1 Centerline is valid? [False, False] Translation: X:-29.77, Y:-4.18, Z:-1.79 [[ 9.99252213e-01 -1.79325809e-03 3.86238266e-02 -2.97741121e+01] [ 1.80486300e-02 9.05049629e-01 -4.24922836e-01 -4.17574146e+00] [-3.41944836e-02 4.25302191e-01 9.04405210e-01 -1.79300464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.743133365 meters Centerline goodness : 0.382056 with order 1 Centerline is valid? [False, False] Translation: X:-29.82, Y:-4.18, Z:-1.80 [[ 9.99385570e-01 -2.34281601e-03 3.49713170e-02 -2.98155824e+01] [ 1.70015990e-02 9.04922502e-01 -4.25236653e-01 -4.18383614e+00] [-3.06500805e-02 4.25569943e-01 9.04406323e-01 -1.79532345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.803133365 meters SLAMing on 277.863133365 meters SLAMing on 277.923133365 meters Centerline goodness : 0.108762 with order 1 Centerline is valid? [False, False] Translation: X:-29.86, Y:-4.21, Z:-1.80 [[ 9.99511979e-01 -9.62457653e-04 3.12230422e-02 -2.98568732e+01] [ 1.41514179e-02 9.05027549e-01 -4.25117482e-01 -4.21076144e+00] [-2.78485557e-02 4.25351865e-01 9.04599496e-01 -1.80439574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98313336499996 meters Centerline goodness : 0.108227 with order 1 Centerline is valid? [False, False] Translation: X:-29.88, Y:-4.21, Z:-1.80 [[ 9.99495393e-01 -8.92665560e-03 3.04840052e-02 -2.98778323e+01] [ 2.10083833e-02 9.05592766e-01 -4.23627654e-01 -4.21314247e+00] [-2.38245164e-02 4.24054309e-01 9.05323332e-01 -1.80413885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04313336499996 meters Centerline goodness : 0.109475 with order 1 Centerline is valid? [False, False] Translation: X:-29.88, Y:-4.21, Z:-1.80 [[ 9.99488897e-01 -8.77058091e-03 3.07412207e-02 -2.98785504e+01] [ 2.09747938e-02 9.05617059e-01 -4.23577385e-01 -4.21304682e+00] [-2.41247541e-02 4.24005684e-01 9.05338156e-01 -1.80388815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10313336499996 meters Centerline goodness : 0.117855 with order 1 Centerline is valid? [False, False] Translation: X:-29.90, Y:-4.22, Z:-1.80 [[ 9.99551029e-01 4.66674322e-04 2.99586890e-02 -2.98993066e+01] [ 1.22811463e-02 9.05644707e-01 -4.23859455e-01 -4.21582994e+00] [-2.73297325e-02 4.24037081e-01 9.05232368e-01 -1.80467153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16313336499996 meters Centerline goodness : 0.241523 with order 3 Centerline is valid? [False, False] Translation: X:-29.92, Y:-4.21, Z:-1.80 [[ 9.99574915e-01 -4.63949616e-03 2.87830704e-02 -2.99206829e+01] [ 1.63346143e-02 9.06872120e-01 -4.21089229e-01 -4.21186713e+00] [-2.41489222e-02 4.21380391e-01 9.06562406e-01 -1.80146781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22313336499997 meters Centerline goodness : 0.244669 with order 3 Centerline is valid? [False, False] Translation: X:-29.92, Y:-4.21, Z:-1.80 [[ 9.99569311e-01 -4.67511684e-03 2.89712797e-02 -2.99215104e+01] [ 1.64527086e-02 9.06758962e-01 -4.21328249e-01 -4.21056449e+00] [-2.43002087e-02 4.21623444e-01 9.06445350e-01 -1.80022806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28313336499997 meters Centerline goodness : 0.114620 with order 1 Centerline is valid? [False, False] Translation: X:-29.92, Y:-4.21, Z:-1.80 [[ 9.99563091e-01 -4.76724583e-03 2.91701881e-02 -2.99223118e+01] [ 1.66245646e-02 9.06680840e-01 -4.21489594e-01 -4.20996298e+00] [-2.44387061e-02 4.21790383e-01 9.06363957e-01 -1.79926247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34313336499997 meters Centerline goodness : 0.129276 with order 1 Centerline is valid? [False, False] Translation: X:-29.92, Y:-4.21, Z:-1.80 [[ 9.99559262e-01 -4.70302886e-03 2.93114806e-02 -2.99228861e+01] [ 1.66208538e-02 9.06768323e-01 -4.21301501e-01 -4.21080861e+00] [-2.45973290e-02 4.21603000e-01 9.06446845e-01 -1.79911232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.403133365 meters Centerline goodness : 0.123629 with order 1 Centerline is valid? [False, False] Translation: X:-29.92, Y:-4.21, Z:-1.80 [[ 9.99574129e-01 -4.68963059e-03 2.88022178e-02 -2.99216468e+01] [ 1.63879241e-02 9.06875509e-01 -4.21079859e-01 -4.21211833e+00] [-2.41453169e-02 4.21372542e-01 9.06566150e-01 -1.79976832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.463133365 meters Centerline goodness : 0.124713 with order 1 Centerline is valid? [False, False] Translation: X:-29.94, Y:-4.21, Z:-1.80 [[ 9.99598251e-01 -1.29806545e-02 2.51960215e-02 -2.99411244e+01] [ 2.23781837e-02 9.07002058e-01 -4.20531191e-01 -4.21344734e+00] [-1.73940733e-02 4.20926084e-01 9.06928155e-01 -1.80013238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.523133365 meters Centerline goodness : 0.128465 with order 1 Centerline is valid? [False, False] Translation: X:-29.94, Y:-4.21, Z:-1.80 [[ 9.99592518e-01 -1.29017974e-02 2.54625340e-02 -2.99421204e+01] [ 2.24172620e-02 9.07039328e-01 -4.20448718e-01 -4.21397822e+00] [-1.76709755e-02 4.20848193e-01 9.06958949e-01 -1.79964182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.583133365 meters Centerline goodness : 0.129803 with order 1 Centerline is valid? [False, False] Translation: X:-29.96, Y:-4.22, Z:-1.80 [[ 9.99661852e-01 -3.35483844e-03 2.57861634e-02 -2.99649245e+01] [ 1.38848506e-02 9.07308468e-01 -4.20236309e-01 -4.21741088e+00] [-2.19861795e-02 4.20452244e-01 9.07048245e-01 -1.79984799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.643133365 meters Centerline goodness : 0.134298 with order 1 Centerline is valid? [False, False] Translation: X:-29.96, Y:-4.22, Z:-1.80 [[ 9.99663074e-01 -3.31226526e-03 2.57442647e-02 -2.99646652e+01] [ 1.38312524e-02 9.07258226e-01 -4.20346533e-01 -4.21638831e+00] [-2.19643967e-02 4.20560983e-01 9.06998360e-01 -1.79980486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.703133365 meters Centerline goodness : 0.132767 with order 1 Centerline is valid? [False, False] Translation: X:-29.96, Y:-4.22, Z:-1.80 [[ 9.99665678e-01 -3.41229630e-03 2.56298529e-02 -2.99645696e+01] [ 1.38774111e-02 9.07189686e-01 -4.20492915e-01 -4.21619615e+00] [-2.18162917e-02 4.20708011e-01 9.06933745e-01 -1.79942256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.763133365 meters Centerline goodness : 0.249773 with order 3 Centerline is valid? [False, False] Translation: X:-29.97, Y:-4.22, Z:-1.80 [[ 9.99654721e-01 -3.28082873e-03 2.60705804e-02 -2.99663151e+01] [ 1.39405464e-02 9.07247088e-01 -4.20366961e-01 -4.21632042e+00] [-2.22733061e-02 4.20585256e-01 9.06979571e-01 -1.79812114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.823133365 meters Centerline goodness : 0.126585 with order 3 Centerline is valid? [False, False] Translation: X:-29.97, Y:-4.22, Z:-1.80 [[ 9.99651374e-01 -3.23327679e-03 2.62045279e-02 -2.99669704e+01] [ 1.39517385e-02 9.07284863e-01 -4.20285055e-01 -4.21663811e+00] [-2.24160736e-02 4.20504131e-01 9.07013669e-01 -1.79758662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.883133365 meters Centerline goodness : 0.131376 with order 1 Centerline is valid? [False, False] Translation: X:-29.99, Y:-4.22, Z:-1.80 [[ 9.99655747e-01 -1.14392598e-02 2.36120874e-02 -2.99852680e+01] [ 2.02892384e-02 9.07641321e-01 -4.19255984e-01 -4.21514285e+00] [-1.66353281e-02 4.19590725e-01 9.07560956e-01 -1.79778256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.943133365 meters Centerline goodness : 0.132595 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-4.22, Z:-1.80 [[ 9.99538495e-01 -2.01037201e-02 2.27736042e-02 -3.00063556e+01] [ 2.77937618e-02 9.07784695e-01 -4.18514581e-01 -4.21566205e+00] [-1.22598294e-02 4.18954398e-01 9.07924506e-01 -1.79800876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.003133365 meters Centerline goodness : 0.267119 with order 3 Centerline is valid? [False, False] Translation: X:-30.01, Y:-4.22, Z:-1.80 [[ 9.99532596e-01 -2.01335567e-02 2.30049873e-02 -3.00071685e+01] [ 2.79121936e-02 9.07970245e-01 -4.18103986e-01 -4.21853566e+00] [-1.24699236e-02 4.18550682e-01 9.08107828e-01 -1.79854241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.063133365 meters Centerline goodness : 0.130159 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-4.22, Z:-1.80 [[ 9.99534081e-01 -2.03671686e-02 2.27332219e-02 -3.00065192e+01] [ 2.80057358e-02 9.08135748e-01 -4.17738125e-01 -4.22184571e+00] [-1.21367086e-02 4.18180154e-01 9.08283028e-01 -1.79986136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.123133365 meters Centerline goodness : 0.135705 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-4.23, Z:-1.80 [[ 9.99446178e-01 -2.39139445e-02 2.31400040e-02 -3.00069290e+01] [ 3.14286689e-02 9.06864587e-01 -4.20248570e-01 -4.22714242e+00] [-1.09350492e-02 4.20743087e-01 9.07113929e-01 -1.80249048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.183133365 meters Centerline goodness : 0.130298 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-4.24, Z:-1.80 [[ 9.99494290e-01 -2.42866147e-02 2.05262103e-02 -3.00507981e+01] [ 3.06618783e-02 9.07142618e-01 -4.19704802e-01 -4.23596559e+00] [-8.42699136e-03 4.20121925e-01 9.07428539e-01 -1.80436305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.243133365 meters Centerline goodness : 0.133358 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-4.24, Z:-1.81 [[ 9.99506295e-01 -2.42156762e-02 2.00191529e-02 -3.00495712e+01] [ 3.03809938e-02 9.07332419e-01 -4.19314771e-01 -4.23809144e+00] [-8.01003568e-03 4.19715956e-01 9.07620161e-01 -1.80535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.303133365 meters Centerline goodness : 0.124828 with order 1 Centerline is valid? [False, False] Translation: X:-30.07, Y:-4.24, Z:-1.81 [[ 9.99673661e-01 -1.61508648e-02 1.97919224e-02 -3.00691018e+01] [ 2.29735144e-02 9.07202903e-01 -4.20065602e-01 -4.24393873e+00] [-1.11708667e-02 4.20383209e-01 9.07277890e-01 -1.80846602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.363133365 meters Centerline goodness : 0.124719 with order 1 Centerline is valid? [False, False] Translation: X:-30.07, Y:-4.24, Z:-1.81 [[ 9.99670101e-01 -1.61690906e-02 1.99562008e-02 -3.00696384e+01] [ 2.30575356e-02 9.07260023e-01 -4.19937615e-01 -4.24466333e+00] [-1.13154539e-02 4.20259219e-01 9.07333538e-01 -1.80848034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.423133365 meters Centerline goodness : 0.128022 with order 1 Centerline is valid? [False, False] Translation: X:-30.07, Y:-4.25, Z:-1.81 [[ 9.99663926e-01 -1.63224660e-02 2.01398258e-02 -3.00706482e+01] [ 2.32736038e-02 9.07266241e-01 -4.19912261e-01 -4.24531865e+00] [-1.14181804e-02 4.20239866e-01 9.07341215e-01 -1.80769406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48313336499996 meters Centerline goodness : 0.246270 with order 3 Centerline is valid? [False, False] Translation: X:-30.10, Y:-4.24, Z:-1.81 [[ 9.99415632e-01 -2.50920720e-02 2.32116835e-02 -3.00950914e+01] [ 3.25236176e-02 9.06994140e-01 -4.19885514e-01 -4.24292982e+00] [-1.05170634e-02 4.20395074e-01 9.07280207e-01 -1.80589031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54313336499996 meters Centerline goodness : 0.290986 with order 1 Centerline is valid? [False, False] Translation: X:-30.10, Y:-4.24, Z:-1.81 [[ 9.99390620e-01 -2.53902666e-02 2.39525338e-02 -3.00969893e+01] [ 3.31052100e-02 9.06994895e-01 -4.19838428e-01 -4.24404339e+00] [-1.10650162e-02 4.20375540e-01 9.07282740e-01 -1.80586634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60313336499996 meters SLAMing on 279.66313336499996 meters Centerline goodness : 0.103424 with order 1 Centerline is valid? [False, False] Translation: X:-30.12, Y:-4.25, Z:-1.81 [[ 9.99099483e-01 -3.63174886e-02 2.19377138e-02 -3.01163051e+01] [ 4.21777850e-02 9.06308719e-01 -4.20506291e-01 -4.25019882e+00] [-4.61060886e-03 4.21052903e-01 9.07024363e-01 -1.80925788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72313336499997 meters Centerline goodness : 0.431145 with order 1 Centerline is valid? [False, False] Translation: X:-30.14, Y:-4.26, Z:-1.81 [[ 9.99309078e-01 -2.90370172e-02 2.31995214e-02 -3.01355855e+01] [ 3.61119083e-02 9.06221576e-01 -4.21258098e-01 -4.25796845e+00] [-8.79182822e-03 4.21804821e-01 9.06644030e-01 -1.81395265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78313336499997 meters Centerline goodness : 0.099831 with order 1 Centerline is valid? [False, False] Translation: X:-30.18, Y:-4.26, Z:-1.82 [[ 9.99381963e-01 -2.92623936e-02 1.94783246e-02 -3.01768784e+01] [ 3.47462480e-02 9.06306852e-01 -4.21189492e-01 -4.26446144e+00] [-5.32832637e-03 4.21605980e-01 9.06763479e-01 -1.81648087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84313336499997 meters Centerline goodness : 0.268080 with order 1 Centerline is valid? [False, False] Translation: X:-30.18, Y:-4.27, Z:-1.82 [[ 9.99386131e-01 -2.93705114e-02 1.90980248e-02 -3.01757375e+01] [ 3.46821759e-02 9.06459991e-01 -4.20865100e-01 -4.26719226e+00] [-4.95057221e-03 4.21269105e-01 9.06922176e-01 -1.81810672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.903133365 meters Centerline goodness : 0.096572 with order 1 Centerline is valid? [False, False] Translation: X:-30.20, Y:-4.28, Z:-1.82 [[ 9.99468046e-01 -2.39367186e-02 2.21508155e-02 -3.01992787e+01] [ 3.10578941e-02 9.05828948e-01 -4.22503637e-01 -4.27579284e+00] [-9.95149922e-03 4.22966842e-01 9.06090513e-01 -1.82103267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.963133365 meters Centerline goodness : 0.312191 with order 1 Centerline is valid? [False, False] Translation: X:-30.20, Y:-4.28, Z:-1.82 [[ 9.99462533e-01 -2.38875629e-02 2.24505814e-02 -3.02005003e+01] [ 3.11351589e-02 9.06032678e-01 -4.22060882e-01 -4.27853550e+00] [-1.02589545e-02 4.22533040e-01 9.06289459e-01 -1.82117247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.023133365 meters Centerline goodness : 0.328476 with order 1 Centerline is valid? [False, False] Translation: X:-30.20, Y:-4.28, Z:-1.82 [[ 9.99526597e-01 -2.09603908e-02 2.25220884e-02 -3.02006277e+01] [ 2.84753899e-02 9.07440014e-01 -4.19215664e-01 -4.27852289e+00] [-1.16505201e-02 4.19658532e-01 9.07607284e-01 -1.82141431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.083133365 meters Centerline goodness : 0.463082 with order 3 Centerline is valid? [False, False] Translation: X:-30.22, Y:-4.28, Z:-1.82 [[ 9.99653850e-01 -1.23077219e-02 2.32529728e-02 -3.02220383e+01] [ 2.09295777e-02 9.07559266e-01 -4.19402112e-01 -4.28191986e+00] [-1.59415664e-02 4.19743611e-01 9.07502710e-01 -1.82286004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.143133365 meters Centerline goodness : 0.453096 with order 1 Centerline is valid? [False, False] Translation: X:-30.22, Y:-4.28, Z:-1.82 [[ 9.99654998e-01 -1.24456346e-02 2.31298790e-02 -3.02215284e+01] [ 2.10089073e-02 9.07402811e-01 -4.19736542e-01 -4.28016028e+00] [-1.57642296e-02 4.20077666e-01 9.07351224e-01 -1.82254476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.203133365 meters Centerline goodness : 0.463904 with order 3 Centerline is valid? [False, False] Translation: X:-30.24, Y:-4.28, Z:-1.82 [[ 9.99579914e-01 -1.85036327e-02 2.23071872e-02 -3.02424004e+01] [ 2.61278968e-02 9.08407777e-01 -4.17268071e-01 -4.27666355e+00] [-1.25430472e-02 4.17675623e-01 9.08509629e-01 -1.82057648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.263133365 meters Centerline goodness : 0.099798 with order 1 Centerline is valid? [False, False] Translation: X:-30.24, Y:-4.27, Z:-1.82 [[ 9.99577274e-01 -1.86227856e-02 2.23263386e-02 -3.02425308e+01] [ 2.62503904e-02 9.08196975e-01 -4.17719011e-01 -4.27476605e+00] [-1.24976216e-02 4.18128506e-01 9.08301911e-01 -1.81960494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.323133365 meters Centerline goodness : 0.094977 with order 1 Centerline is valid? [False, False] Translation: X:-30.24, Y:-4.27, Z:-1.82 [[ 9.99578108e-01 -1.87396648e-02 2.21907901e-02 -3.02420519e+01] [ 2.63033837e-02 9.08076973e-01 -4.17976485e-01 -4.27379409e+00] [-1.23182062e-02 4.18383837e-01 9.08186780e-01 -1.81961350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.383133365 meters Centerline goodness : 0.296431 with order 1 Centerline is valid? [False, False] Translation: X:-30.24, Y:-4.27, Z:-1.82 [[ 9.99589842e-01 -1.87741813e-02 2.16258661e-02 -3.02402664e+01] [ 2.60969171e-02 9.08132683e-01 -4.17868378e-01 -4.27449773e+00] [-1.17940191e-02 4.18261354e-01 9.08250153e-01 -1.82079949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.443133365 meters Centerline goodness : 0.512275 with order 3 Centerline is valid? [False, False] Translation: X:-30.28, Y:-4.28, Z:-1.82 [[ 9.99634361e-01 -1.94059745e-02 1.88295463e-02 -3.02848296e+01] [ 2.55051020e-02 9.07964389e-01 -4.18270436e-01 -4.27976645e+00] [-8.97961210e-03 4.18597750e-01 9.08127354e-01 -1.82104923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.503133365 meters Centerline goodness : 0.281467 with order 1 Centerline is valid? [False, False] Translation: X:-30.31, Y:-4.29, Z:-1.82 [[ 9.99738337e-01 -1.06586775e-02 2.02397937e-02 -3.03071478e+01] [ 1.81476156e-02 9.08214066e-01 -4.18112275e-01 -4.28733197e+00] [-1.39255414e-02 4.18370175e-01 9.08169850e-01 -1.82384033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.563133365 meters SLAMing on 280.623133365 meters Centerline goodness : 0.121992 with order 1 Centerline is valid? [False, False] Translation: X:-30.31, Y:-4.29, Z:-1.82 [[ 9.99765827e-01 -6.02994660e-03 2.07829491e-02 -3.03088705e+01] [ 1.41031067e-02 9.09980886e-01 -4.14410292e-01 -4.29026408e+00] [-1.64132145e-02 4.14606353e-01 9.09852834e-01 -1.82426388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.683133365 meters Centerline goodness : 0.124050 with order 1 Centerline is valid? [False, False] Translation: X:-30.35, Y:-4.29, Z:-1.82 [[ 9.99819268e-01 -5.05064435e-03 1.83281838e-02 -3.03545670e+01] [ 1.21852598e-02 9.10248748e-01 -4.13882516e-01 -4.29439817e+00] [-1.45928330e-02 4.14031048e-01 9.10145780e-01 -1.82344724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.743133365 meters Centerline goodness : 0.129804 with order 1 Centerline is valid? [False, False] Translation: X:-30.35, Y:-4.29, Z:-1.82 [[ 9.99827628e-01 -1.33258687e-03 1.85186096e-02 -3.03549479e+01] [ 8.81866737e-03 9.11813396e-01 -4.10510123e-01 -4.29449487e+00] [-1.63384759e-02 4.10602672e-01 9.11667977e-01 -1.82368357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.803133365 meters Centerline goodness : 0.130023 with order 1 Centerline is valid? [False, False] Translation: X:-30.38, Y:-4.29, Z:-1.82 [[ 9.99799827e-01 -7.20296429e-03 1.86660792e-02 -3.03773078e+01] [ 1.41843178e-02 9.13151054e-01 -4.07374469e-01 -4.29339509e+00] [-1.41106461e-02 4.07557690e-01 9.13070435e-01 -1.82257372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.863133365 meters Centerline goodness : 0.126595 with order 1 Centerline is valid? [False, False] Translation: X:-30.40, Y:-4.29, Z:-1.82 [[ 9.99723895e-01 -1.54180238e-02 1.77318293e-02 -3.03966943e+01] [ 2.12954827e-02 9.13453661e-01 -4.06385177e-01 -4.29069586e+00] [-9.93154801e-03 4.06650580e-01 9.13529786e-01 -1.82183499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.923133365 meters Centerline goodness : 0.127586 with order 1 Centerline is valid? [False, False] Translation: X:-30.40, Y:-4.29, Z:-1.82 [[ 9.99724756e-01 -1.54287983e-02 1.76738372e-02 -3.03964215e+01] [ 2.12836860e-02 9.13373819e-01 -4.06565212e-01 -4.28997665e+00] [-9.87000752e-03 4.06829472e-01 9.13450800e-01 -1.82182106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98313336499996 meters Centerline goodness : 0.124916 with order 1 Centerline is valid? [False, False] Translation: X:-30.44, Y:-4.29, Z:-1.82 [[ 9.99759112e-01 -1.48457425e-02 1.61654352e-02 -3.04434060e+01] [ 2.01290907e-02 9.13779346e-01 -4.05711876e-01 -4.29408462e+00] [-8.74854682e-03 4.05939541e-01 9.13858059e-01 -1.82119243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04313336499996 meters Centerline goodness : 0.131916 with order 1 Centerline is valid? [False, False] Translation: X:-30.44, Y:-4.29, Z:-1.82 [[ 9.99764013e-01 -1.47680788e-02 1.59317819e-02 -3.04427904e+01] [ 1.99623385e-02 9.13825847e-01 -4.05615367e-01 -4.29409243e+00] [-8.56871435e-03 4.05837683e-01 9.13905002e-01 -1.82137486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10313336499996 meters Centerline goodness : 0.130929 with order 3 Centerline is valid? [False, False] Translation: X:-30.48, Y:-4.30, Z:-1.82 [[ 9.99803682e-01 -1.55018480e-02 1.23405798e-02 -3.04840867e+01] [ 1.91779574e-02 9.13646125e-01 -4.06057835e-01 -4.29792237e+00] [-4.98027604e-03 4.06214785e-01 9.13764053e-01 -1.82308690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16313336499996 meters Centerline goodness : 0.133410 with order 1 Centerline is valid? [False, False] Translation: X:-30.48, Y:-4.30, Z:-1.82 [[ 9.99805071e-01 -1.54197000e-02 1.23309800e-02 -3.04840195e+01] [ 1.90979545e-02 9.13731658e-01 -4.05869100e-01 -4.29869181e+00] [-5.00882706e-03 4.06025481e-01 9.13848029e-01 -1.82352309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22313336499997 meters Centerline goodness : 0.130330 with order 1 Centerline is valid? [False, False] Translation: X:-30.48, Y:-4.30, Z:-1.82 [[ 9.99809186e-01 -1.52116111e-02 1.22555346e-02 -3.04837558e+01] [ 1.88741247e-02 9.13979891e-01 -4.05320277e-01 -4.30143656e+00] [-5.03573779e-03 4.05474249e-01 9.14092596e-01 -1.82478104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28313336499997 meters Centerline goodness : 0.134553 with order 1 Centerline is valid? [False, False] Translation: X:-30.53, Y:-4.31, Z:-1.83 [[ 9.99836008e-01 -1.49065960e-02 1.02835195e-02 -3.05314429e+01] [ 1.77923849e-02 9.14399054e-01 -4.04422800e-01 -4.31130856e+00] [-3.37467317e-03 4.04539447e-01 9.14514323e-01 -1.82583315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34313336499997 meters Centerline goodness : 0.189415 with order 3 Centerline is valid? [False, False] Translation: X:-30.53, Y:-4.31, Z:-1.83 [[ 9.99839675e-01 -1.47119447e-02 1.02070059e-02 -3.05310284e+01] [ 1.75824588e-02 9.14517027e-01 -4.04165144e-01 -4.31217752e+00] [-3.38842547e-03 4.04279811e-01 9.14629079e-01 -1.82666017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.403133365 meters Centerline goodness : 0.121004 with order 1 Centerline is valid? [False, False] Translation: X:-30.53, Y:-4.31, Z:-1.83 [[ 9.99890356e-01 -1.11137303e-02 9.78575578e-03 -3.05300715e+01] [ 1.41036703e-02 9.16129639e-01 -4.00633962e-01 -4.31444387e+00] [-4.51248308e-03 4.00728050e-01 9.16185935e-01 -1.82776360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.463133365 meters Centerline goodness : 0.126652 with order 1 Centerline is valid? [False, False] Translation: X:-30.53, Y:-4.32, Z:-1.83 [[ 9.99896304e-01 -1.06839059e-02 9.65586921e-03 -3.05296645e+01] [ 1.36541270e-02 9.16458121e-01 -3.99897584e-01 -4.31754752e+00] [-4.57673159e-03 3.99987958e-01 9.16508967e-01 -1.82930008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.523133365 meters Centerline goodness : 0.126117 with order 1 Centerline is valid? [False, False] Translation: X:-30.58, Y:-4.33, Z:-1.83 [[ 9.99900003e-01 -1.18948409e-02 7.64831646e-03 -3.05757218e+01] [ 1.39610508e-02 9.16445865e-01 -3.99915072e-01 -4.32683346e+00] [-2.25234185e-03 3.99981861e-01 9.16520288e-01 -1.83114779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.583133365 meters Centerline goodness : 0.129065 with order 1 Centerline is valid? [False, False] Translation: X:-30.60, Y:-4.33, Z:-1.83 [[ 9.99743505e-01 -2.13024262e-02 7.68970383e-03 -3.05982569e+01] [ 2.26009667e-02 9.16571517e-01 -3.99231576e-01 -4.33040879e+00] [ 1.45643766e-03 3.99302970e-01 9.16817876e-01 -1.83222143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.643133365 meters Centerline goodness : 0.127810 with order 1 Centerline is valid? [False, False] Translation: X:-30.60, Y:-4.34, Z:-1.83 [[ 9.99734765e-01 -2.13215815e-02 8.70578832e-03 -3.06009727e+01] [ 2.30247650e-02 9.16945433e-01 -3.98347755e-01 -4.33796208e+00] [ 5.10671284e-04 3.98442548e-01 9.17193151e-01 -1.83440094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.703133365 meters Centerline goodness : 0.272725 with order 3 Centerline is valid? [False, False] Translation: X:-30.65, Y:-4.35, Z:-1.84 [[ 9.99727761e-01 -2.22146848e-02 7.13525024e-03 -3.06481981e+01] [ 2.32187792e-02 9.17044627e-01 -3.98108075e-01 -4.34793628e+00] [ 2.30050252e-03 3.98165367e-01 9.17310770e-01 -1.83583758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.763133365 meters Centerline goodness : 0.124770 with order 1 Centerline is valid? [False, False] Translation: X:-30.65, Y:-4.36, Z:-1.84 [[ 9.99654167e-01 -2.52802274e-02 7.24269048e-03 -3.06485263e+01] [ 2.60667690e-02 9.16183482e-01 -3.99910428e-01 -4.35708633e+00] [ 3.47419317e-03 3.99960919e-01 9.16525610e-01 -1.83913910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.823133365 meters Centerline goodness : 0.260292 with order 3 Centerline is valid? [False, False] Translation: X:-30.67, Y:-4.37, Z:-1.85 [[ 9.99792496e-01 -1.86995446e-02 8.08028608e-03 -3.06653902e+01] [ 2.03704977e-02 9.16158776e-01 -4.00297564e-01 -4.37085535e+00] [ 8.25571571e-05 4.00379100e-01 9.16349589e-01 -1.84791481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.883133365 meters Centerline goodness : 0.133723 with order 2 Centerline is valid? [False, False] Translation: X:-30.66, Y:-4.38, Z:-1.85 [[ 9.99768640e-01 -2.03787944e-02 6.88263233e-03 -3.06609791e+01] [ 2.14291101e-02 9.15990517e-01 -4.00627216e-01 -4.38281804e+00] [ 1.85987375e-03 4.00682016e-01 9.16215293e-01 -1.85497968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.943133365 meters Centerline goodness : 0.149029 with order 1 Centerline is valid? [False, False] Translation: X:-30.66, Y:-4.39, Z:-1.86 [[ 9.99782731e-01 -1.97835608e-02 6.56516139e-03 -3.06594569e+01] [ 2.07593229e-02 9.16590191e-01 -3.99288709e-01 -4.39029439e+00] [ 1.88178992e-03 3.99338244e-01 9.16801737e-01 -1.85923771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.003133365 meters SLAMing on 282.063133365 meters Centerline goodness : 0.156550 with order 3 Centerline is valid? [False, False] Translation: X:-30.69, Y:-4.42, Z:-1.87 [[ 9.99965000e-01 -4.99839929e-03 6.70934450e-03 -3.06925143e+01] [ 7.25840142e-03 9.17116280e-01 -3.98553692e-01 -4.41780654e+00] [-4.16111857e-03 3.98588441e-01 9.17120461e-01 -1.87301683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.123133365 meters Centerline goodness : 0.120409 with order 3 Centerline is valid? [False, False] Translation: X:-30.69, Y:-4.42, Z:-1.87 [[ 9.99962343e-01 -4.37926810e-03 7.49232359e-03 -3.06943351e+01] [ 6.99817510e-03 9.17466738e-01 -3.97750939e-01 -4.42073001e+00] [-5.13209969e-03 3.97788394e-01 9.17462836e-01 -1.87412225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.183133365 meters SLAMing on 282.243133365 meters SLAMing on 282.303133365 meters Centerline goodness : 0.141609 with order 3 Centerline is valid? [False, False] Translation: X:-30.76, Y:-4.44, Z:-1.88 [[ 9.99947049e-01 7.65225726e-03 6.88055477e-03 -3.07603741e+01] [-4.31186663e-03 9.18652002e-01 -3.95044183e-01 -4.43626716e+00] [-9.34381513e-03 3.94993597e-01 9.18636354e-01 -1.87829480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.363133365 meters Centerline goodness : 0.131950 with order 3 Centerline is valid? [False, False] Translation: X:-30.76, Y:-4.44, Z:-1.88 [[ 9.99945531e-01 7.65364426e-03 7.09628509e-03 -3.07606657e+01] [-4.22787635e-03 9.18650471e-01 -3.95048651e-01 -4.43610918e+00] [-9.54256748e-03 3.94997130e-01 9.18632792e-01 -1.87865264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.423133365 meters Centerline goodness : 0.142125 with order 3 Centerline is valid? [False, False] Translation: X:-30.76, Y:-4.44, Z:-1.88 [[ 9.99948012e-01 7.63515544e-03 6.75859203e-03 -3.07593581e+01] [-4.34489670e-03 9.18675982e-01 -3.94988052e-01 -4.43625005e+00] [-9.22475135e-03 3.94938152e-01 9.18661396e-01 -1.87967989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48313336499996 meters Centerline goodness : 0.191420 with order 3 Centerline is valid? [False, False] Translation: X:-30.78, Y:-4.43, Z:-1.88 [[ 9.99983628e-01 -1.12930714e-03 5.60968295e-03 -3.07790576e+01] [ 3.24672536e-03 9.19229628e-01 -3.93708458e-01 -4.43453926e+00] [-4.71196900e-03 3.93720225e-01 9.19218245e-01 -1.87959033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54313336499996 meters Centerline goodness : 0.134134 with order 3 Centerline is valid? [False, False] Translation: X:-30.80, Y:-4.43, Z:-1.88 [[ 9.99950822e-01 -9.59900888e-03 2.49260373e-03 -3.07960654e+01] [ 9.80685777e-03 9.19652569e-01 -3.92610467e-01 -4.43167123e+00] [ 1.47634193e-03 3.92615604e-01 9.19701478e-01 -1.88007968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60313336499996 meters SLAMing on 282.66313336499996 meters SLAMing on 282.72313336499997 meters SLAMing on 282.78313336499997 meters Centerline goodness : 0.183437 with order 3 Centerline is valid? [False, False] Translation: X:-30.91, Y:-4.44, Z:-1.88 [[ 9.99965624e-01 -5.21108238e-03 6.44945089e-03 -3.09142827e+01] [ 7.32336006e-03 9.19829104e-01 -3.92250925e-01 -4.44483026e+00] [-3.88834075e-03 3.92284673e-01 9.19835646e-01 -1.88434460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84313336499997 meters SLAMing on 282.903133365 meters Centerline goodness : 0.146190 with order 3 Centerline is valid? [False, False] Translation: X:-30.96, Y:-4.45, Z:-1.88 [[ 9.99959320e-01 -7.79121617e-03 4.54484458e-03 -3.09598127e+01] [ 8.95069047e-03 9.19417836e-01 -3.93180275e-01 -4.44884838e+00] [-1.11525865e-03 3.93204959e-01 9.19450171e-01 -1.88439856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.963133365 meters Centerline goodness : 0.183352 with order 3 Centerline is valid? [False, False] Translation: X:-30.96, Y:-4.45, Z:-1.88 [[ 9.99981566e-01 -4.23456955e-03 4.35153867e-03 -3.09597513e+01] [ 5.59694060e-03 9.20705930e-01 -3.90216946e-01 -4.44630478e+00] [-2.35408666e-03 3.90234108e-01 9.20712658e-01 -1.88295123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.023133365 meters SLAMing on 283.083133365 meters Centerline goodness : 0.138940 with order 3 Centerline is valid? [False, False] Translation: X:-31.01, Y:-4.45, Z:-1.88 [[ 9.99987193e-01 -4.26944077e-03 2.71761186e-03 -3.10068404e+01] [ 4.99109715e-03 9.20867489e-01 -3.89843760e-01 -4.44652361e+00] [-8.38145565e-04 3.89852331e-01 9.20877005e-01 -1.88095699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.143133365 meters Centerline goodness : 0.212273 with order 2 Centerline is valid? [False, False] Translation: X:-31.01, Y:-4.44, Z:-1.88 [[ 9.99987036e-01 -4.46198165e-03 2.45331566e-03 -3.10062928e+01] [ 5.06563212e-03 9.20667964e-01 -3.90313771e-01 -4.44408472e+00] [-5.17116253e-04 3.90321138e-01 9.20678631e-01 -1.87997048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.203133365 meters Centerline goodness : 0.168992 with order 3 Centerline is valid? [False, False] Translation: X:-31.03, Y:-4.44, Z:-1.88 [[ 9.99912044e-01 -1.29613183e-02 2.81204614e-03 -3.10264578e+01] [ 1.30338524e-02 9.21075663e-01 -3.89165443e-01 -4.43912469e+00] [ 2.45398992e-03 3.89167865e-01 9.21163585e-01 -1.87950228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.263133365 meters Centerline goodness : 0.145088 with order 3 Centerline is valid? [False, False] Translation: X:-31.03, Y:-4.44, Z:-1.88 [[ 9.99911186e-01 -1.30879462e-02 2.51524114e-03 -3.10256352e+01] [ 1.30341150e-02 9.20952897e-01 -3.89455869e-01 -4.43766328e+00] [ 2.78075883e-03 3.89454064e-01 9.21041693e-01 -1.87914880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.323133365 meters Centerline goodness : 0.157222 with order 3 Centerline is valid? [False, False] Translation: X:-31.05, Y:-4.44, Z:-1.88 [[ 9.99811757e-01 -1.93963564e-02 4.81483727e-04 -3.10480564e+01] [ 1.80702870e-02 9.21847794e-01 -3.87130610e-01 -4.43548421e+00] [ 7.06506856e-03 3.87066435e-01 9.22024761e-01 -1.87689661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.383133365 meters Centerline goodness : 0.179565 with order 3 Centerline is valid? [False, False] Translation: X:-31.05, Y:-4.43, Z:-1.87 [[ 9.99876937e-01 -1.56797451e-02 5.05502293e-04 -3.10487411e+01] [ 1.46691166e-02 9.23036688e-01 -3.84432166e-01 -4.43048778e+00] [ 5.56120122e-03 3.84392272e-01 9.23153105e-01 -1.87432746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.443133365 meters Centerline goodness : 0.133378 with order 3 Centerline is valid? [False, False] Translation: X:-31.10, Y:-4.43, Z:-1.87 [[ 9.99877006e-01 -1.56401795e-02 -1.16524506e-03 -3.10960376e+01] [ 1.39905629e-02 9.23056749e-01 -3.84409291e-01 -4.43011887e+00] [ 7.08781761e-03 3.84345709e-01 9.23162033e-01 -1.87236402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.503133365 meters Centerline goodness : 0.225616 with order 3 Centerline is valid? [False, False] Translation: X:-31.10, Y:-4.43, Z:-1.87 [[ 9.99921603e-01 -1.24407033e-02 -1.41984434e-03 -3.10961583e+01] [ 1.09553272e-02 9.24124316e-01 -3.81934851e-01 -4.42588601e+00] [ 6.06365083e-03 3.81889354e-01 9.24188159e-01 -1.86992437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.563133365 meters Centerline goodness : 0.129737 with order 1 Centerline is valid? [False, False] Translation: X:-31.14, Y:-4.43, Z:-1.87 [[ 9.99904272e-01 -1.34383791e-02 -3.29492838e-03 -3.11447963e+01] [ 1.11618288e-02 9.24145597e-01 -3.81877373e-01 -4.42733752e+00] [ 8.17680646e-03 3.81804040e-01 9.24207128e-01 -1.86787352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.623133365 meters SLAMing on 283.683133365 meters Centerline goodness : 0.134305 with order 1 Centerline is valid? [False, False] Translation: X:-31.16, Y:-4.42, Z:-1.87 [[ 9.99730119e-01 -2.29310294e-02 -3.72254116e-03 -3.11642963e+01] [ 1.97708091e-02 9.23961487e-01 -3.81974194e-01 -4.41755585e+00] [ 1.21985461e-02 3.81797509e-01 9.24165493e-01 -1.86535526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.743133365 meters Centerline goodness : 0.248403 with order 2 Centerline is valid? [False, False] Translation: X:-31.19, Y:-4.41, Z:-1.86 [[ 9.99458934e-01 -3.25187912e-02 -4.93626038e-03 -3.11850832e+01] [ 2.81681122e-02 9.23729440e-01 -3.82008481e-01 -4.41380228e+00] [ 1.69822231e-02 3.81662745e-01 9.24145634e-01 -1.86440215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.803133365 meters Centerline goodness : 0.103976 with order 1 Centerline is valid? [False, False] Translation: X:-31.19, Y:-4.41, Z:-1.86 [[ 9.99440157e-01 -3.31078647e-02 -4.82104347e-03 -3.11857095e+01] [ 2.87527762e-02 9.23627553e-01 -3.82211226e-01 -4.41398645e+00] [ 1.71070462e-02 3.81858630e-01 9.24062409e-01 -1.86382652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.863133365 meters Centerline goodness : 0.101623 with order 1 Centerline is valid? [False, False] Translation: X:-31.19, Y:-4.42, Z:-1.86 [[ 9.99428921e-01 -3.34726472e-02 -4.62742059e-03 -3.11863377e+01] [ 2.91644999e-02 9.23629638e-01 -3.82174991e-01 -4.41565183e+00] [ 1.70664315e-02 3.81821782e-01 9.24078386e-01 -1.86398954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.923133365 meters Centerline goodness : 0.107684 with order 1 Centerline is valid? [False, False] Translation: X:-31.23, Y:-4.42, Z:-1.87 [[ 9.99333281e-01 -3.56719914e-02 -7.77827447e-03 -3.12285581e+01] [ 2.99675899e-02 9.23116762e-01 -3.83350216e-01 -4.42122084e+00] [ 2.08551211e-02 3.82861533e-01 9.23570306e-01 -1.86684240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98313336499996 meters Centerline goodness : 0.104544 with order 1 Centerline is valid? [False, False] Translation: X:-31.23, Y:-4.42, Z:-1.87 [[ 9.99335117e-01 -3.54360638e-02 -8.57961760e-03 -3.12261070e+01] [ 2.94546511e-02 9.23344560e-01 -3.82841021e-01 -4.42315957e+00] [ 2.14883221e-02 3.82333767e-01 9.23774400e-01 -1.86855970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04313336499996 meters Centerline goodness : 0.142622 with order 3 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.43, Z:-1.87 [[ 9.99584030e-01 -2.77450189e-02 -7.87285419e-03 -3.12457376e+01] [ 2.26095874e-02 9.23337794e-01 -3.83322481e-01 -4.43074425e+00] [ 1.79045933e-02 3.82985028e-01 9.23581016e-01 -1.87293473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10313336499996 meters Centerline goodness : 0.232791 with order 3 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.44, Z:-1.88 [[ 9.99784902e-01 -1.94961350e-02 -7.07459252e-03 -3.12664565e+01] [ 1.52951327e-02 9.23467337e-01 -3.83372060e-01 -4.43847138e+00] [ 1.40074286e-02 3.83181391e-01 9.23566897e-01 -1.87710579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16313336499996 meters Centerline goodness : 0.130456 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.44, Z:-1.88 [[ 9.99789042e-01 -1.93664791e-02 -6.84189826e-03 -3.12673893e+01] [ 1.52705279e-02 9.23634525e-01 -3.82970070e-01 -4.44110979e+00] [ 1.37361953e-02 3.82784800e-01 9.23735413e-01 -1.87742392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22313336499997 meters Centerline goodness : 0.123782 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.45, Z:-1.88 [[ 9.99797871e-01 -1.88633080e-02 -6.95642103e-03 -3.12672000e+01] [ 1.47758060e-02 9.24034163e-01 -3.82024268e-01 -4.44509044e+00] [ 1.36342121e-02 3.81844264e-01 9.24126110e-01 -1.87880088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28313336499997 meters Centerline goodness : 0.220953 with order 3 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.45, Z:-1.88 [[ 9.99798057e-01 -1.87348875e-02 -7.26969263e-03 -3.12661571e+01] [ 1.45431585e-02 9.24194075e-01 -3.81646181e-01 -4.44740787e+00] [ 1.38687051e-02 3.81463386e-01 9.24279906e-01 -1.88017060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34313336499997 meters Centerline goodness : 0.118889 with order 1 Centerline is valid? [False, False] Translation: X:-31.29, Y:-4.45, Z:-1.88 [[ 9.99919126e-01 -1.08884871e-02 -6.57130462e-03 -3.12866982e+01] [ 7.55233761e-03 9.24115472e-01 -3.82038686e-01 -4.45494299e+00] [ 1.02324676e-02 3.81958160e-01 9.24122968e-01 -1.88427494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.403133365 meters Centerline goodness : 0.188246 with order 3 Centerline is valid? [False, False] Translation: X:-31.29, Y:-4.46, Z:-1.89 [[ 9.99919363e-01 -1.06233692e-02 -6.95779916e-03 -3.12851140e+01] [ 7.16431838e-03 9.24287378e-01 -3.81630077e-01 -4.45619378e+00] [ 1.04852032e-02 3.81549456e-01 9.24288956e-01 -1.88600835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.463133365 meters Centerline goodness : 0.151784 with order 3 Centerline is valid? [False, False] Translation: X:-31.28, Y:-4.46, Z:-1.89 [[ 9.99916788e-01 -1.05913710e-02 -7.36475197e-03 -3.12838483e+01] [ 6.98027470e-03 9.24317604e-01 -3.81560274e-01 -4.45649949e+00] [ 1.08486163e-02 3.81477115e-01 9.24314621e-01 -1.88670876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.523133365 meters Centerline goodness : 0.190484 with order 3 Centerline is valid? [False, False] Translation: X:-31.29, Y:-4.46, Z:-1.89 [[ 9.99921851e-01 -1.03727835e-02 -6.97829706e-03 -3.12858145e+01] [ 6.93122122e-03 9.24522083e-01 -3.81065448e-01 -4.45906914e+00] [ 1.04042991e-02 3.80987300e-01 9.24521729e-01 -1.88595515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.583133365 meters Centerline goodness : 0.114518 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-4.46, Z:-1.89 [[ 9.99779195e-01 -1.89290832e-02 -9.12422799e-03 -3.13047712e+01] [ 1.40455535e-02 9.24941368e-01 -3.79850218e-01 -4.45827128e+00] [ 1.56295923e-02 3.79638190e-01 9.25003006e-01 -1.88672481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.643133365 meters SLAMing on 284.703133365 meters Centerline goodness : 0.137024 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-4.47, Z:-1.89 [[ 9.99713641e-01 -2.20376030e-02 -9.32634280e-03 -3.13507824e+01] [ 1.68279784e-02 9.24521576e-01 -3.80758027e-01 -4.46973894e+00] [ 1.70133994e-02 3.80492050e-01 9.24627679e-01 -1.88963103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.763133365 meters Centerline goodness : 0.143385 with order 3 Centerline is valid? [False, False] Translation: X:-31.35, Y:-4.47, Z:-1.89 [[ 9.99716173e-01 -2.18241313e-02 -9.55411881e-03 -3.13499106e+01] [ 1.65512827e-02 9.24690951e-01 -3.80358648e-01 -4.47131230e+00] [ 1.71356043e-02 3.80092559e-01 9.24789716e-01 -1.89077872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.823133365 meters Centerline goodness : 0.146063 with order 3 Centerline is valid? [False, False] Translation: X:-31.35, Y:-4.47, Z:-1.89 [[ 9.99787777e-01 -1.82062593e-02 -9.64017693e-03 -3.13506104e+01] [ 1.32268068e-02 9.26051652e-01 -3.77164936e-01 -4.47196962e+00] [ 1.57940644e-02 3.76957384e-01 9.26095934e-01 -1.89001252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.883133365 meters Centerline goodness : 0.157873 with order 3 Centerline is valid? [False, False] Translation: X:-31.35, Y:-4.47, Z:-1.89 [[ 9.99846065e-01 -1.45167932e-02 -9.85439353e-03 -3.13501037e+01] [ 9.77740755e-03 9.27349002e-01 -3.74069820e-01 -4.47034284e+00] [ 1.45687562e-02 3.73915887e-01 9.27348187e-01 -1.88965782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.943133365 meters Centerline goodness : 0.160003 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.47, Z:-1.89 [[ 9.99725549e-01 -1.96949007e-02 -1.26860877e-02 -3.13714320e+01] [ 1.35817626e-02 9.28479063e-01 -3.71136317e-01 -4.46677241e+00] [ 1.90882597e-02 3.70862159e-01 9.28491732e-01 -1.88838179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.003133365 meters Centerline goodness : 0.138827 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.46, Z:-1.89 [[ 9.99776064e-01 -1.62495720e-02 -1.35562647e-02 -3.13696511e+01] [ 1.01156075e-02 9.29645389e-01 -3.68316609e-01 -4.46415622e+00] [ 1.85875062e-02 3.68097000e-01 9.29601583e-01 -1.88743463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.063133365 meters Centerline goodness : 0.144740 with order 2 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.46, Z:-1.89 [[ 9.99777465e-01 -1.63400088e-02 -1.33425881e-02 -3.13708236e+01] [ 1.02757326e-02 9.29590794e-01 -3.68449949e-01 -4.46370344e+00] [ 1.84236225e-02 3.68230851e-01 9.29551833e-01 -1.88621359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.123133365 meters Centerline goodness : 0.143779 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.47, Z:-1.89 [[ 9.99774366e-01 -1.70254600e-02 -1.27023972e-02 -3.13725943e+01] [ 1.11455768e-02 9.29513907e-01 -3.68618600e-01 -4.46533276e+00] [ 1.80829561e-02 3.68393852e-01 9.29493936e-01 -1.88609591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.183133365 meters Centerline goodness : 0.108785 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.47, Z:-1.89 [[ 9.99705878e-01 -2.07568910e-02 -1.25422652e-02 -3.13724497e+01] [ 1.46173624e-02 9.28385464e-01 -3.71331069e-01 -4.46949951e+00] [ 1.93517352e-02 3.71038517e-01 9.28415817e-01 -1.88803961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.243133365 meters Centerline goodness : 0.131177 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.47, Z:-1.89 [[ 9.99700583e-01 -2.07307250e-02 -1.29993056e-02 -3.13714465e+01] [ 1.44363324e-02 9.28630374e-01 -3.70725262e-01 -4.47327936e+00] [ 1.97569535e-02 3.70426599e-01 9.28651602e-01 -1.88922965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.303133365 meters Centerline goodness : 0.139899 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.48, Z:-1.89 [[ 9.99697990e-01 -2.06950548e-02 -1.32530630e-02 -3.13710537e+01] [ 1.43215621e-02 9.28861903e-01 -3.70149237e-01 -4.47740775e+00] [ 1.99705241e-02 3.69847644e-01 9.28877763e-01 -1.89032660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.363133365 meters Centerline goodness : 0.159916 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.48, Z:-1.89 [[ 9.99706236e-01 -2.01210207e-02 -1.35124487e-02 -3.13707319e+01] [ 1.37189047e-02 9.29363914e-01 -3.68909890e-01 -4.48321893e+00] [ 1.99808258e-02 3.68616141e-01 9.29366939e-01 -1.89199547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.423133365 meters Centerline goodness : 0.138445 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.49, Z:-1.89 [[ 9.99711398e-01 -1.99303729e-02 -1.34127092e-02 -3.13710511e+01] [ 1.35933816e-02 9.29643555e-01 -3.68209289e-01 -4.48759840e+00] [ 1.98075871e-02 3.67920699e-01 9.29646179e-01 -1.89333181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48313336499996 meters Centerline goodness : 0.155578 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.49, Z:-1.90 [[ 9.99714613e-01 -1.96250088e-02 -1.36217528e-02 -3.13708468e+01] [ 1.32549544e-02 9.30063960e-01 -3.67158462e-01 -4.49457550e+00] [ 1.98745894e-02 3.66873124e-01 9.30058660e-01 -1.89542838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54313336499996 meters Centerline goodness : 0.153798 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.50, Z:-1.90 [[ 9.99719089e-01 -1.94728071e-02 -1.35112028e-02 -3.13713680e+01] [ 1.31712681e-02 9.30387823e-01 -3.66340029e-01 -4.49970208e+00] [ 1.97043273e-02 3.66059161e-01 9.30382948e-01 -1.89676081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60313336499996 meters Centerline goodness : 0.157697 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.51, Z:-1.90 [[ 9.99649536e-01 -2.30613731e-02 -1.29991302e-02 -3.13725408e+01] [ 1.66414133e-02 9.29312266e-01 -3.68919742e-01 -4.50515853e+00] [ 2.05880470e-02 3.68574125e-01 9.29370350e-01 -1.89844033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66313336499996 meters Centerline goodness : 0.121268 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.52, Z:-1.91 [[ 9.99590283e-01 -2.50019099e-02 -1.39344964e-02 -3.13691954e+01] [ 1.81135762e-02 9.29500468e-01 -3.68375865e-01 -4.51757731e+00] [ 2.21622211e-02 3.67972532e-01 9.29572510e-01 -1.90620038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72313336499997 meters Centerline goodness : 0.202920 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.53, Z:-1.91 [[ 9.99455754e-01 -2.97930506e-02 -1.41622577e-02 -3.13688285e+01] [ 2.24399101e-02 9.28716594e-01 -3.70110711e-01 -4.53221617e+00] [ 2.41794508e-02 3.69591480e-01 9.28879697e-01 -1.91268752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78313336499997 meters Centerline goodness : 0.096269 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.54, Z:-1.92 [[ 9.99392872e-01 -3.19914778e-02 -1.37997051e-02 -3.13706094e+01] [ 2.46115493e-02 9.28583049e-01 -3.70307700e-01 -4.54217197e+00] [ 2.46608628e-02 3.69743244e-01 9.28806640e-01 -1.91611615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84313336499997 meters Centerline goodness : 0.111982 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.55, Z:-1.92 [[ 9.99381124e-01 -3.21183167e-02 -1.43450987e-02 -3.13692292e+01] [ 2.45495911e-02 9.28906419e-01 -3.69499909e-01 -4.54926538e+00] [ 2.51929694e-02 3.68919069e-01 9.29120033e-01 -1.91943201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.903133365 meters Centerline goodness : 0.094552 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-4.56, Z:-1.93 [[ 9.99626503e-01 -2.25145395e-02 -1.54903234e-02 -3.13829576e+01] [ 1.51987796e-02 9.29079971e-01 -3.69566510e-01 -4.55929735e+00] [ 2.27123690e-02 3.69193044e-01 9.29075156e-01 -1.92517082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.963133365 meters Centerline goodness : 0.093391 with order 1 Centerline is valid? [False, False] Translation: X:-31.36, Y:-4.57, Z:-1.93 [[ 9.99695709e-01 -1.76765021e-02 -1.72055339e-02 -3.13636513e+01] [ 1.00252343e-02 9.28437316e-01 -3.71353801e-01 -4.56817482e+00] [ 2.25384960e-02 3.71068312e-01 9.28332012e-01 -1.92934054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.023133365 meters Centerline goodness : 0.094379 with order 1 Centerline is valid? [False, False] Translation: X:-31.36, Y:-4.57, Z:-1.93 [[ 9.99700953e-01 -1.77025086e-02 -1.68708525e-02 -3.13645773e+01] [ 1.01880414e-02 9.28676054e-01 -3.70751926e-01 -4.57062890e+00] [ 2.22307959e-02 3.70469172e-01 9.28578690e-01 -1.93052883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.083133365 meters Centerline goodness : 0.114445 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.57, Z:-1.93 [[ 9.99703400e-01 -1.79272460e-02 -1.64841036e-02 -3.13661430e+01] [ 1.05589779e-02 9.28989608e-01 -3.69955154e-01 -4.57453113e+00] [ 2.19458380e-02 3.69671370e-01 9.28903363e-01 -1.93186067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.143133365 meters Centerline goodness : 0.112746 with order 3 Centerline is valid? [False, False] Translation: X:-31.36, Y:-4.58, Z:-1.93 [[ 9.99695735e-01 -1.79307687e-02 -1.69388837e-02 -3.13649048e+01] [ 1.04030647e-02 9.29140107e-01 -3.69581435e-01 -4.57599563e+00] [ 2.23654754e-02 3.69292768e-01 9.29043937e-01 -1.93312767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.203133365 meters Centerline goodness : 0.092948 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.58, Z:-1.93 [[ 9.99699398e-01 -1.78743699e-02 -1.67815347e-02 -3.13652914e+01] [ 1.04179226e-02 9.29292109e-01 -3.69198650e-01 -4.57733227e+00] [ 2.21941410e-02 3.68912839e-01 9.29198976e-01 -1.93388637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.263133365 meters Centerline goodness : 0.157453 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.58, Z:-1.93 [[ 9.99712043e-01 -1.81097166e-02 -1.57438764e-02 -3.13686106e+01] [ 1.10236826e-02 9.29355009e-01 -3.69022689e-01 -4.57891964e+00] [ 2.13145467e-02 3.68742871e-01 9.29287031e-01 -1.93325651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.323133365 meters Centerline goodness : 0.167056 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.58, Z:-1.93 [[ 9.99711248e-01 -1.80037141e-02 -1.59150124e-02 -3.13682305e+01] [ 1.08655424e-02 9.29417638e-01 -3.68869618e-01 -4.57931260e+00] [ 2.14327164e-02 3.68590180e-01 9.29344886e-01 -1.93344087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.383133365 meters Centerline goodness : 0.191302 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-4.58, Z:-1.93 [[ 9.99705342e-01 -1.80087217e-02 -1.62762104e-02 -3.13673606e+01] [ 1.07354504e-02 9.29392645e-01 -3.68936393e-01 -4.57894876e+00] [ 2.17710630e-02 3.68652950e-01 9.29312124e-01 -1.93347551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.443133365 meters Centerline goodness : 0.227283 with order 3 Centerline is valid? [False, False] Translation: X:-31.35, Y:-4.58, Z:-1.93 [[ 9.99852364e-01 -8.85720242e-03 -1.47241048e-02 -3.13509343e+01] [ 2.80208130e-03 9.29485133e-01 -3.68848934e-01 -4.58221505e+00] [ 1.69528062e-02 3.68753220e-01 9.29372727e-01 -1.93349156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.503133365 meters Centerline goodness : 0.112123 with order 3 Centerline is valid? [False, False] Translation: X:-31.33, Y:-4.58, Z:-1.93 [[ 9.99793187e-01 -1.58732075e-02 -1.27131375e-02 -3.13334223e+01] [ 1.00861053e-02 9.29854506e-01 -3.67789161e-01 -4.57692564e+00] [ 1.76593619e-02 3.67584872e-01 9.29822300e-01 -1.92912649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.563133365 meters Centerline goodness : 0.095498 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-4.57, Z:-1.93 [[ 9.99801550e-01 -1.41526906e-02 -1.40200248e-02 -3.13291844e+01] [ 8.01740967e-03 9.30116490e-01 -3.67177118e-01 -4.56997102e+00] [ 1.82368004e-02 3.66991847e-01 9.30045377e-01 -1.92792301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.623133365 meters Centerline goodness : 0.229647 with order 3 Centerline is valid? [False, False] Translation: X:-31.33, Y:-4.57, Z:-1.93 [[ 9.99796555e-01 -1.44080689e-02 -1.41157898e-02 -3.13290669e+01] [ 8.21034010e-03 9.29925463e-01 -3.67656393e-01 -4.56763197e+00] [ 1.84238510e-02 3.67465700e-01 9.29854570e-01 -1.92696315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.683133365 meters Centerline goodness : 0.111292 with order 3 Centerline is valid? [False, False] Translation: X:-31.31, Y:-4.56, Z:-1.92 [[ 9.99619017e-01 -2.41060840e-02 -1.34430924e-02 -3.13100168e+01] [ 1.74605452e-02 9.29497216e-01 -3.68415601e-01 -4.56371819e+00] [ 2.13763744e-02 3.68040517e-01 9.29563999e-01 -1.92436125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.743133365 meters Centerline goodness : 0.117828 with order 3 Centerline is valid? [False, False] Translation: X:-31.31, Y:-4.57, Z:-1.93 [[ 9.99604170e-01 -2.45669647e-02 -1.37100905e-02 -3.13090235e+01] [ 1.78033570e-02 9.29702851e-01 -3.67879938e-01 -4.56528888e+00] [ 2.17840037e-02 3.67490234e-01 9.29772222e-01 -1.92709169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.803133365 meters Centerline goodness : 0.121787 with order 3 Centerline is valid? [False, False] Translation: X:-31.29, Y:-4.56, Z:-1.93 [[ 9.99269810e-01 -3.60239202e-02 -1.27328108e-02 -3.12922854e+01] [ 2.88203826e-02 9.29454359e-01 -3.67809707e-01 -4.56384809e+00] [ 2.50845140e-02 3.67174172e-01 9.29813903e-01 -1.92736279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.863133365 meters SLAMing on 286.923133365 meters Centerline goodness : 0.260329 with order 3 Centerline is valid? [False, False] Translation: X:-31.28, Y:-4.56, Z:-1.92 [[ 9.99639658e-01 -2.52118763e-02 -9.21493087e-03 -3.12788650e+01] [ 2.00702010e-02 9.29956885e-01 -3.67120389e-01 -4.56236579e+00] [ 1.78252822e-02 3.66803154e-01 9.30127790e-01 -1.92403909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98313336499996 meters Centerline goodness : 0.199154 with order 3 Centerline is valid? [False, False] Translation: X:-31.28, Y:-4.55, Z:-1.92 [[ 9.99706876e-01 -2.22321724e-02 -9.58607965e-03 -3.12765638e+01] [ 1.71880519e-02 9.30573203e-01 -3.65702180e-01 -4.55479927e+00] [ 1.70509028e-02 3.65430218e-01 9.30682557e-01 -1.92245963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04313336499996 meters Centerline goodness : 0.268818 with order 3 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.55, Z:-1.92 [[ 9.99728406e-01 -2.06804845e-02 -1.07438998e-02 -3.12729604e+01] [ 1.53305182e-02 9.30814764e-01 -3.65169618e-01 -4.54855066e+00] [ 1.75524652e-02 3.64905731e-01 9.30879003e-01 -1.92099283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10313336499996 meters Centerline goodness : 0.127460 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-4.55, Z:-1.92 [[ 9.99861745e-01 -1.24980519e-02 -1.09676592e-02 -3.12553651e+01] [ 7.62719647e-03 9.30826674e-01 -3.65381346e-01 -4.55054725e+00] [ 1.47755448e-02 3.65247178e-01 9.30793308e-01 -1.92175641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16313336499996 meters Centerline goodness : 0.136125 with order 1 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.55, Z:-1.92 [[ 9.99869671e-01 -1.08722372e-02 -1.19346485e-02 -3.12512392e+01] [ 5.78588266e-03 9.31456925e-01 -3.63805607e-01 -4.54608853e+00] [ 1.50719919e-02 3.63689140e-01 9.31398435e-01 -1.92251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22313336499997 meters Centerline goodness : 0.092036 with order 1 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.55, Z:-1.92 [[ 9.99875377e-01 -1.09908599e-02 -1.13327351e-02 -3.12531366e+01] [ 6.11586478e-03 9.31467959e-01 -3.63771957e-01 -4.54526802e+00] [ 1.45542463e-02 3.63657313e-01 9.31419096e-01 -1.92129175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28313336499997 meters Centerline goodness : 0.187722 with order 3 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.54, Z:-1.92 [[ 9.99874075e-01 -1.14153862e-02 -1.10237290e-02 -3.12542897e+01] [ 6.62247949e-03 9.31432762e-01 -3.63853202e-01 -4.54438516e+00] [ 1.44213872e-02 3.63734380e-01 9.31391070e-01 -1.92007309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34313336499997 meters Centerline goodness : 0.170293 with order 3 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.54, Z:-1.92 [[ 9.99870259e-01 -1.15553691e-02 -1.12222461e-02 -3.12537752e+01] [ 6.68013955e-03 9.31419403e-01 -3.63886344e-01 -4.54290853e+00] [ 1.46574588e-02 3.63764167e-01 9.31375751e-01 -1.91943270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.403133365 meters Centerline goodness : 0.135725 with order 1 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.54, Z:-1.92 [[ 9.99865524e-01 -1.17979555e-02 -1.13904592e-02 -3.12533731e+01] [ 6.83858903e-03 9.31263640e-01 -3.64281850e-01 -4.54002768e+00] [ 1.49053015e-02 3.64154968e-01 9.31219089e-01 -1.91822163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.463133365 meters Centerline goodness : 0.122096 with order 1 Centerline is valid? [False, False] Translation: X:-31.25, Y:-4.54, Z:-1.92 [[ 9.99896869e-01 -8.56639756e-03 -1.15268818e-02 -3.12529956e+01] [ 3.81662829e-03 9.32265018e-01 -3.61755952e-01 -4.53544833e+00] [ 1.38450540e-02 3.61674650e-01 9.32201567e-01 -1.91665252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.523133365 meters Centerline goodness : 0.104518 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.52, Z:-1.91 [[ 9.99784492e-01 -1.72707681e-02 -1.15190817e-02 -3.12713865e+01] [ 1.19418819e-02 9.32338087e-01 -3.61390484e-01 -4.52464415e+00] [ 1.69811698e-02 3.61175042e-01 9.32343407e-01 -1.91398621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.583133365 meters Centerline goodness : 0.115428 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-4.52, Z:-1.91 [[ 9.99770335e-01 -1.76744242e-02 -1.21198700e-02 -3.12691740e+01] [ 1.20948716e-02 9.32205211e-01 -3.61728017e-01 -4.52194242e+00] [ 1.76915404e-02 3.61498353e-01 9.32204886e-01 -1.91458919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.643133365 meters Centerline goodness : 0.114591 with order 1 Centerline is valid? [False, False] Translation: X:-31.31, Y:-4.52, Z:-1.91 [[ 9.99734839e-01 -1.85106192e-02 -1.36970042e-02 -3.13146794e+01] [ 1.23200264e-02 9.32493969e-01 -3.60975367e-01 -4.51887060e+00] [ 1.94542513e-02 3.60710903e-01 9.32474759e-01 -1.91317993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.703133365 meters Centerline goodness : 0.227570 with order 3 Centerline is valid? [False, False] Translation: X:-31.31, Y:-4.52, Z:-1.91 [[ 9.99718207e-01 -1.88923095e-02 -1.43731520e-02 -3.13128583e+01] [ 1.24327651e-02 9.32504594e-01 -3.60944051e-01 -4.51846713e+00] [ 2.02220970e-02 3.60663642e-01 9.32476704e-01 -1.91365731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.763133365 meters Centerline goodness : 0.108712 with order 1 Centerline is valid? [False, False] Translation: X:-31.31, Y:-4.52, Z:-1.91 [[ 9.99704998e-01 -1.92554103e-02 -1.48036101e-02 -3.13116453e+01] [ 1.26174504e-02 9.32524588e-01 -3.60885982e-01 -4.51898706e+00] [ 2.07537381e-02 3.60592736e-01 9.32492446e-01 -1.91425235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.823133365 meters Centerline goodness : 0.169516 with order 3 Centerline is valid? [False, False] Translation: X:-31.36, Y:-4.52, Z:-1.91 [[ 9.99661469e-01 -1.95982115e-02 -1.71130835e-02 -3.13569658e+01] [ 1.21245776e-02 9.32850534e-01 -3.60059544e-01 -4.51912692e+00] [ 2.30204721e-02 3.59730164e-01 9.32772355e-01 -1.91409428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.883133365 meters Centerline goodness : 0.123939 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-4.52, Z:-1.91 [[ 9.99654570e-01 -1.92343462e-02 -1.79103337e-02 -3.14045737e+01] [ 1.15367192e-02 9.33445166e-01 -3.58534553e-01 -4.52037456e+00] [ 2.36144921e-02 3.58204078e-01 9.33344628e-01 -1.91380032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.943133365 meters Centerline goodness : 0.166515 with order 3 Centerline is valid? [False, False] Translation: X:-31.41, Y:-4.52, Z:-1.91 [[ 9.99661316e-01 -1.93438870e-02 -1.74088378e-02 -3.14062542e+01] [ 1.18129261e-02 9.33352063e-01 -3.58767866e-01 -4.51991973e+00] [ 2.31885397e-02 3.58440707e-01 9.33264459e-01 -1.91261335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.003133365 meters Centerline goodness : 0.117130 with order 1 Centerline is valid? [False, False] Translation: X:-31.41, Y:-4.52, Z:-1.91 [[ 9.99737986e-01 -1.54661157e-02 -1.68748032e-02 -3.14080569e+01] [ 8.45498093e-03 9.34580167e-01 -3.55652112e-01 -4.51667881e+00] [ 2.12714132e-02 3.55416250e-01 9.34466059e-01 -1.91069831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.063133365 meters Centerline goodness : 0.166369 with order 3 Centerline is valid? [False, False] Translation: X:-31.45, Y:-4.51, Z:-1.91 [[ 9.99717133e-01 -1.44250825e-02 -1.89095272e-02 -3.14537980e+01] [ 6.77721200e-03 9.34888565e-01 -3.54876656e-01 -4.50936497e+00] [ 2.27974258e-02 3.54648119e-01 9.34721878e-01 -1.90753708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.123133365 meters Centerline goodness : 0.105180 with order 1 Centerline is valid? [False, False] Translation: X:-31.45, Y:-4.50, Z:-1.90 [[ 9.99753141e-01 -1.12058065e-02 -1.91855901e-02 -3.14536542e+01] [ 3.71741409e-03 9.35691309e-01 -3.52800164e-01 -4.50189192e+00] [ 2.19052003e-02 3.52641751e-01 9.35501981e-01 -1.90421482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.183133365 meters Centerline goodness : 0.255042 with order 3 Centerline is valid? [False, False] Translation: X:-31.45, Y:-4.49, Z:-1.90 [[ 9.99760323e-01 -9.17945864e-03 -1.98754546e-02 -3.14508722e+01] [ 1.60923472e-03 9.36208811e-01 -3.51440567e-01 -4.49495552e+00] [ 2.18336099e-02 3.51324351e-01 9.35999196e-01 -1.90312693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.243133365 meters Centerline goodness : 0.116663 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-4.48, Z:-1.90 [[ 9.99645664e-01 -1.75542420e-02 -2.00098718e-02 -3.14696443e+01] [ 9.42112946e-03 9.36394686e-01 -3.50822225e-01 -4.48406833e+00] [ 2.48955559e-02 3.50509401e-01 9.36228269e-01 -1.90108392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.303133365 meters Centerline goodness : 0.119561 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-4.48, Z:-1.90 [[ 9.99638038e-01 -1.83715305e-02 -1.96540072e-02 -3.14704688e+01] [ 1.02828707e-02 9.35980950e-01 -3.51900446e-01 -4.47889429e+00] [ 2.48607261e-02 3.51570972e-01 9.35831072e-01 -1.89924549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.363133365 meters Centerline goodness : 0.445689 with order 2 Centerline is valid? [False, False] Translation: X:-31.49, Y:-4.47, Z:-1.90 [[ 9.99444596e-01 -2.72923540e-02 -1.91213996e-02 -3.14907128e+01] [ 1.88262883e-02 9.35888572e-01 -3.51792768e-01 -4.46879128e+00] [ 2.74967521e-02 3.51237396e-01 9.35882589e-01 -1.89722553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.423133365 meters Centerline goodness : 0.136114 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-4.46, Z:-1.90 [[ 9.99702809e-01 -1.62874202e-02 -1.81387198e-02 -3.14727367e+01] [ 8.89827547e-03 9.36516599e-01 -3.50510315e-01 -4.46309941e+00] [ 2.26961209e-02 3.50244743e-01 9.36383205e-01 -1.89511502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48313336499996 meters Centerline goodness : 0.099900 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-4.45, Z:-1.89 [[ 9.99740334e-01 -1.33055335e-02 -1.84993993e-02 -3.14706639e+01] [ 6.01756254e-03 9.37161025e-01 -3.48845240e-01 -4.45179486e+00] [ 2.19784881e-02 3.48643336e-01 9.36997743e-01 -1.89278558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54313336499996 meters Centerline goodness : 0.448046 with order 2 Centerline is valid? [False, False] Translation: X:-31.47, Y:-4.45, Z:-1.89 [[ 9.99789644e-01 -9.95250322e-03 -1.79336336e-02 -3.14721923e+01] [ 3.12434936e-03 9.38075578e-01 -3.46416582e-01 -4.44600845e+00] [ 2.02708159e-02 3.46287681e-01 9.37909343e-01 -1.89040864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60313336499996 meters Centerline goodness : 0.448756 with order 3 Centerline is valid? [False, False] Translation: X:-31.49, Y:-4.43, Z:-1.89 [[ 9.99684140e-01 -1.74244249e-02 -1.81110269e-02 -3.14889855e+01] [ 1.00947191e-02 9.38340874e-01 -3.45564032e-01 -4.43268885e+00] [ 2.30155713e-02 3.45272057e-01 9.38220385e-01 -1.88817906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66313336499996 meters Centerline goodness : 0.094196 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-4.43, Z:-1.89 [[ 9.99680532e-01 -1.62590927e-02 -1.93513748e-02 -3.14841197e+01] [ 8.58800721e-03 9.38582241e-01 -3.44948726e-01 -4.42619151e+00] [ 2.37714101e-02 3.44672336e-01 9.38422027e-01 -1.88856575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72313336499997 meters Centerline goodness : 0.105698 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-4.42, Z:-1.89 [[ 9.99678512e-01 -1.64188302e-02 -1.93208575e-02 -3.14841094e+01] [ 8.74294131e-03 9.38500150e-01 -3.45168117e-01 -4.42466584e+00] [ 2.37998844e-02 3.44888228e-01 9.38341982e-01 -1.88817963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78313336499997 meters Centerline goodness : 0.093726 with order 1 Centerline is valid? [False, False] Translation: X:-31.50, Y:-4.42, Z:-1.89 [[ 9.99516501e-01 -2.46245996e-02 -1.89840127e-02 -3.15044602e+01] [ 1.65871437e-02 9.38711630e-01 -3.44304143e-01 -4.41896292e+00] [ 2.62988652e-02 3.43822781e-01 9.38666216e-01 -1.88722608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84313336499997 meters Centerline goodness : 0.097708 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-4.42, Z:-1.89 [[ 9.99524256e-01 -2.49587892e-02 -1.81196145e-02 -3.15071266e+01] [ 1.71856277e-02 9.38529622e-01 -3.44770653e-01 -4.41787676e+00] [ 2.56108530e-02 3.44295234e-01 9.38512054e-01 -1.88574649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.903133365 meters Centerline goodness : 0.097922 with order 1 Centerline is valid? [False, False] Translation: X:-31.49, Y:-4.42, Z:-1.89 [[ 9.99712544e-01 -1.65990657e-02 -1.73003240e-02 -3.14880916e+01] [ 9.60665777e-03 9.38449761e-01 -3.45282142e-01 -4.41952520e+00] [ 2.19668459e-02 3.45016690e-01 9.38339460e-01 -1.88611048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.963133365 meters Centerline goodness : 0.098573 with order 1 Centerline is valid? [False, False] Translation: X:-31.49, Y:-4.42, Z:-1.89 [[ 9.99752534e-01 -1.32765027e-02 -1.78495011e-02 -3.14865441e+01] [ 6.35781147e-03 9.39439538e-01 -3.42655706e-01 -4.41528526e+00] [ 2.13177964e-02 3.42457426e-01 9.39291468e-01 -1.88522107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.023133365 meters Centerline goodness : 0.450308 with order 2 Centerline is valid? [False, False] Translation: X:-31.50, Y:-4.41, Z:-1.88 [[ 9.99596585e-01 -2.09866734e-02 -1.91370575e-02 -3.15038804e+01] [ 1.31928136e-02 9.39785757e-01 -3.41509414e-01 -4.40583988e+00] [ 2.51518806e-02 3.41119173e-01 9.39683507e-01 -1.88420297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.083133365 meters Centerline goodness : 0.099493 with order 1 Centerline is valid? [False, False] Translation: X:-31.50, Y:-4.40, Z:-1.88 [[ 9.99596155e-01 -2.14645018e-02 -1.86226457e-02 -3.15049344e+01] [ 1.37996609e-02 9.39529989e-01 -3.42188499e-01 -4.40317670e+00] [ 2.48414397e-02 3.41793322e-01 9.39446767e-01 -1.88351414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.143133365 meters Centerline goodness : 0.446669 with order 1 Centerline is valid? [False, False] Translation: X:-31.52, Y:-4.40, Z:-1.88 [[ 9.99338650e-01 -2.97853347e-02 -2.08589499e-02 -3.15230475e+01] [ 2.08846584e-02 9.39723068e-01 -3.41298091e-01 -4.39677505e+00] [ 2.97673143e-02 3.40636741e-01 9.39723639e-01 -1.88319843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.203133365 meters Centerline goodness : 0.226183 with order 1 Centerline is valid? [False, False] Translation: X:-31.52, Y:-4.39, Z:-1.88 [[ 9.99417745e-01 -2.66398575e-02 -2.13187525e-02 -3.15219466e+01] [ 1.78551425e-02 9.40778887e-01 -3.38550263e-01 -4.39413535e+00] [ 2.90751630e-02 3.37972491e-01 9.40706772e-01 -1.88291557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.263133365 meters Centerline goodness : 0.106748 with order 1 Centerline is valid? [False, False] Translation: X:-31.50, Y:-4.39, Z:-1.88 [[ 9.99640826e-01 -1.74711959e-02 -2.03218136e-02 -3.15026474e+01] [ 9.54978913e-03 9.40732998e-01 -3.39013611e-01 -4.39203079e+00] [ 2.50403738e-02 3.38697777e-01 9.40561957e-01 -1.88103890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.323133365 meters Centerline goodness : 0.309812 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-4.39, Z:-1.88 [[ 9.99623342e-01 -1.52834017e-02 -2.27945637e-02 -3.15472038e+01] [ 6.69192823e-03 9.41254563e-01 -3.37631553e-01 -4.38553983e+00] [ 2.66156457e-02 3.37351842e-01 9.41002307e-01 -1.87856020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.383133365 meters Centerline goodness : 0.105070 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-4.38, Z:-1.88 [[ 9.99675581e-01 -1.21848972e-02 -2.23665236e-02 -3.15488474e+01] [ 3.97925859e-03 9.42076810e-01 -3.35373596e-01 -4.38167068e+00] [ 2.51574760e-02 3.35175792e-01 9.41819669e-01 -1.87638226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.443133365 meters Centerline goodness : 0.106485 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-4.38, Z:-1.87 [[ 9.99714048e-01 -8.70719072e-03 -2.22712025e-02 -3.15498060e+01] [ 7.99270918e-04 9.42997694e-01 -3.32798303e-01 -4.37762117e+00] [ 2.38994309e-02 3.32685338e-01 9.42735002e-01 -1.87397174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.503133365 meters Centerline goodness : 0.107834 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-4.37, Z:-1.87 [[ 9.99735336e-01 -5.05744456e-03 -2.24428283e-02 -3.15495677e+01] [-2.64242538e-03 9.43837010e-01 -3.30400843e-01 -4.36883603e+00] [ 2.28533559e-02 3.30372701e-01 9.43573846e-01 -1.87068346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.563133365 meters Centerline goodness : 0.100125 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-4.36, Z:-1.87 [[ 9.99754198e-01 -1.75307972e-03 -2.21013785e-02 -3.15504008e+01] [-5.59054675e-03 9.44722520e-01 -3.27823284e-01 -4.36475117e+00] [ 2.14543703e-02 3.27866263e-01 9.44480505e-01 -1.86919408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.623133365 meters Centerline goodness : 0.097346 with order 1 Centerline is valid? [False, False] Translation: X:-31.57, Y:-4.35, Z:-1.87 [[ 9.99744450e-01 -1.00319579e-02 -2.02582141e-02 -3.15718009e+01] [ 2.83673235e-03 9.44728692e-01 -3.27840894e-01 -4.35477089e+00] [ 2.24274021e-02 3.27699647e-01 9.44515724e-01 -1.86740245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.683133365 meters Centerline goodness : 0.106417 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.35, Z:-1.87 [[ 9.99580267e-01 -1.85926103e-02 -2.22172071e-02 -3.15895382e+01] [ 1.03112861e-02 9.44999017e-01 -3.26910592e-01 -4.34961755e+00] [ 2.70733601e-02 3.26544289e-01 9.44794084e-01 -1.86769072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.743133365 meters Centerline goodness : 0.105763 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.35, Z:-1.87 [[ 9.99564215e-01 -1.89731148e-02 -2.26141917e-02 -3.15883030e+01] [ 1.05373670e-02 9.44949876e-01 -3.27045403e-01 -4.34949496e+00] [ 2.75743477e-02 3.26664588e-01 9.44738007e-01 -1.86834907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.803133365 meters Centerline goodness : 0.104430 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.35, Z:-1.87 [[ 9.99555368e-01 -1.91467992e-02 -2.28575388e-02 -3.15877244e+01] [ 1.06236704e-02 9.44968309e-01 -3.26989348e-01 -4.35047635e+00] [ 2.78604491e-02 3.26601127e-01 9.44751554e-01 -1.86883413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.863133365 meters Centerline goodness : 0.106390 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.35, Z:-1.87 [[ 9.99555983e-01 -1.92132362e-02 -2.27747447e-02 -3.15883591e+01] [ 1.07150554e-02 9.44985118e-01 -3.26937784e-01 -4.35137538e+00] [ 2.78033277e-02 3.26548585e-01 9.44771399e-01 -1.86848450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.923133365 meters Centerline goodness : 0.241502 with order 3 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.35, Z:-1.86 [[ 9.99622833e-01 -1.73136964e-02 -2.13172916e-02 -3.15946199e+01] [ 9.43760175e-03 9.45530378e-01 -3.25397044e-01 -4.35146020e+00] [ 2.57899724e-02 3.25073131e-01 9.45337155e-01 -1.86490966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98313336499996 meters Centerline goodness : 0.104431 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.35, Z:-1.86 [[ 9.99669048e-01 -1.41511101e-02 -2.14835048e-02 -3.15941705e+01] [ 6.46274946e-03 9.46474125e-01 -3.22714987e-01 -4.34952985e+00] [ 2.49003568e-02 3.22469342e-01 9.46252343e-01 -1.86459207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04313336499996 meters Centerline goodness : 0.104479 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.34, Z:-1.86 [[ 9.99698921e-01 -1.06482565e-02 -2.21061393e-02 -3.15921031e+01] [ 3.01411395e-03 9.47397990e-01 -3.20043690e-01 -4.34490790e+00] [ 2.43512193e-02 3.19880701e-01 9.47144844e-01 -1.86417037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10313336499996 meters Centerline goodness : 0.104988 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-4.34, Z:-1.86 [[ 9.99695359e-01 -1.09455901e-02 -2.21219959e-02 -3.15923049e+01] [ 3.27326798e-03 9.47167349e-01 -3.20723086e-01 -4.34164870e+00] [ 2.44637356e-02 3.20552969e-01 9.46914632e-01 -1.86270394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16313336499996 meters Centerline goodness : 0.102683 with order 1 Centerline is valid? [False, False] Translation: X:-31.60, Y:-4.34, Z:-1.86 [[ 9.99728475e-01 -9.06861353e-03 -2.14647743e-02 -3.15951886e+01] [ 1.73927770e-03 9.47633089e-01 -3.19356389e-01 -4.33737943e+00] [ 2.32368500e-02 3.19232343e-01 9.47391556e-01 -1.85984071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22313336499997 meters Centerline goodness : 0.102588 with order 3 Centerline is valid? [False, False] Translation: X:-31.60, Y:-4.33, Z:-1.86 [[ 9.99768607e-01 -6.71771775e-03 -2.04353984e-02 -3.15981283e+01] [-1.26307603e-04 9.48137595e-01 -3.17860167e-01 -4.33082867e+00] [ 2.15108643e-02 3.17789197e-01 9.47917353e-01 -1.85701634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28313336499997 meters Centerline goodness : 0.099759 with order 3 Centerline is valid? [False, False] Translation: X:-31.60, Y:-4.33, Z:-1.86 [[ 9.99778985e-01 -3.46033678e-03 -2.07366347e-02 -3.15970128e+01] [-3.25295850e-03 9.49019996e-01 -3.15199087e-01 -4.32721039e+00] [ 2.07701760e-02 3.15196879e-01 9.48798992e-01 -1.85645939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34313336499997 meters Centerline goodness : 0.139441 with order 3 Centerline is valid? [False, False] Translation: X:-31.60, Y:-4.32, Z:-1.85 [[ 9.99793437e-01 -9.01715488e-05 -2.03242542e-02 -3.15984295e+01] [-6.27561051e-03 9.49757300e-01 -3.12924411e-01 -4.32076057e+00] [ 1.93313257e-02 3.12987319e-01 9.49560550e-01 -1.85355303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.403133365 meters SLAMing on 290.463133365 meters Centerline goodness : 0.105727 with order 3 Centerline is valid? [False, False] Translation: X:-31.60, Y:-4.30, Z:-1.85 [[ 9.99776014e-01 5.79406399e-03 -2.03555872e-02 -3.15983254e+01] [-1.18165752e-02 9.50742661e-01 -3.09755970e-01 -4.30146949e+00] [ 1.75581792e-02 3.09927123e-01 9.50598174e-01 -1.84670069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.523133365 meters Centerline goodness : 0.116416 with order 2 Centerline is valid? [False, False] Translation: X:-31.60, Y:-4.30, Z:-1.84 [[ 9.99778211e-01 5.48682695e-03 -2.03328076e-02 -3.15987878e+01] [-1.15340850e-02 9.50451542e-01 -3.10658705e-01 -4.29720255e+00] [ 1.76208178e-02 3.10824325e-01 9.50304028e-01 -1.84460424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.583133365 meters SLAMing on 290.643133365 meters Centerline goodness : 0.131668 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-4.28, Z:-1.84 [[ 9.99781155e-01 2.82917562e-03 -2.07277301e-02 -3.16632843e+01] [-9.10182488e-03 9.50946839e-01 -3.09220418e-01 -4.28395216e+00] [ 1.88361306e-02 3.09341407e-01 9.50764479e-01 -1.84077424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.703133365 meters Centerline goodness : 0.106118 with order 3 Centerline is valid? [False, False] Translation: X:-31.66, Y:-4.28, Z:-1.84 [[ 9.99781325e-01 2.78905702e-03 -2.07249495e-02 -3.16633460e+01] [-9.06724889e-03 9.50874244e-01 -3.09444596e-01 -4.28260341e+00] [ 1.88437621e-02 3.09564846e-01 9.50691600e-01 -1.84024428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.763133365 meters Centerline goodness : 0.214614 with order 3 Centerline is valid? [False, False] Translation: X:-31.71, Y:-4.28, Z:-1.84 [[ 9.99712854e-01 4.41089848e-03 -2.35531879e-02 -3.17081259e+01] [-1.14861073e-02 9.50843570e-01 -3.09458520e-01 -4.27666093e+00] [ 2.10304071e-02 3.09640194e-01 9.50621203e-01 -1.83783418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.823133365 meters Centerline goodness : 0.107527 with order 2 Centerline is valid? [False, False] Translation: X:-31.71, Y:-4.27, Z:-1.84 [[ 9.99677554e-01 8.33108700e-03 -2.39870820e-02 -3.17065844e+01] [-1.52828105e-02 9.51797123e-01 -3.06347307e-01 -4.27293980e+00] [ 2.02786295e-02 3.06615117e-01 9.51617543e-01 -1.83736093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.883133365 meters Centerline goodness : 0.112503 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-4.26, Z:-1.83 [[ 9.99654956e-01 1.33459495e-02 -2.26242045e-02 -3.17104025e+01] [-1.95929012e-02 9.52526839e-01 -3.03823532e-01 -4.26065493e+00] [ 1.74953485e-02 3.04161974e-01 9.52459661e-01 -1.83309990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.943133365 meters Centerline goodness : 0.131228 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-4.25, Z:-1.83 [[ 9.99613449e-01 1.70442362e-02 -2.19646539e-02 -3.17121467e+01] [-2.28785537e-02 9.53173646e-01 -3.01556913e-01 -4.25360060e+00] [ 1.57963220e-02 3.01942866e-01 9.53195144e-01 -1.83078418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.003133365 meters Centerline goodness : 0.131796 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-4.24, Z:-1.83 [[ 9.99543097e-01 1.99197509e-02 -2.27332548e-02 -3.17093966e+01] [-2.58283745e-02 9.53564023e-01 -3.00080905e-01 -4.24492379e+00] [ 1.57000771e-02 3.00530960e-01 9.53642831e-01 -1.82973608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.063133365 meters Centerline goodness : 0.129336 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-4.24, Z:-1.83 [[ 9.99544607e-01 1.97700077e-02 -2.27974865e-02 -3.17094839e+01] [-2.57106141e-02 9.53457295e-01 -3.00429944e-01 -4.24333278e+00] [ 1.57969275e-02 3.00879267e-01 9.53531396e-01 -1.82883931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.123133365 meters Centerline goodness : 0.133916 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.24, Z:-1.83 [[ 9.99660509e-01 1.11931929e-02 -2.35282525e-02 -3.17262663e+01] [-1.77214980e-02 9.54069175e-01 -2.99061796e-01 -4.23628664e+00] [ 1.91001241e-02 2.99377224e-01 9.53943637e-01 -1.82742727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.183133365 meters Centerline goodness : 0.128462 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.23, Z:-1.82 [[ 9.99667852e-01 1.30167466e-02 -2.22429922e-02 -3.17306196e+01] [-1.90589272e-02 9.54352909e-01 -2.98072614e-01 -4.23158821e+00] [ 1.73477286e-02 2.98397537e-01 9.54284007e-01 -1.82460298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.243133365 meters Centerline goodness : 0.269242 with order 3 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.23, Z:-1.82 [[ 9.99669885e-01 1.30980177e-02 -2.21034540e-02 -3.17310486e+01] [-1.91070207e-02 9.54140773e-01 -2.98747897e-01 -4.22861174e+00] [ 1.71768014e-02 2.99071607e-01 9.54076061e-01 -1.82427530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.303133365 meters Centerline goodness : 0.135781 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.23, Z:-1.82 [[ 9.99660951e-01 1.31069450e-02 -2.24986850e-02 -3.17304293e+01] [-1.92469250e-02 9.53914097e-01 -2.99461935e-01 -4.22545179e+00] [ 1.75367817e-02 2.99793434e-01 9.53842942e-01 -1.82366809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.363133365 meters Centerline goodness : 0.136437 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.23, Z:-1.82 [[ 9.99675906e-01 1.34626161e-02 -2.16065102e-02 -3.17333764e+01] [-1.93175041e-02 9.53935138e-01 -2.99390359e-01 -4.22519613e+00] [ 1.65806319e-02 2.99710712e-01 9.53886037e-01 -1.82243467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.423133365 meters Centerline goodness : 0.153098 with order 3 Centerline is valid? [False, False] Translation: X:-31.74, Y:-4.22, Z:-1.82 [[ 9.99685302e-01 1.36554175e-02 -2.10434298e-02 -3.17350425e+01] [-1.93380218e-02 9.53834277e-01 -2.99710214e-01 -4.22360010e+00] [ 1.59792766e-02 3.00022834e-01 9.53798177e-01 -1.82197288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48313336499996 meters Centerline goodness : 0.136251 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.22, Z:-1.82 [[ 9.99675627e-01 1.35976901e-02 -2.15346872e-02 -3.17335252e+01] [-1.94405119e-02 9.53647632e-01 -3.00296953e-01 -4.22090958e+00] [ 1.64531585e-02 3.00618190e-01 9.53602641e-01 -1.82233512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54313336499996 meters Centerline goodness : 0.125761 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.22, Z:-1.82 [[ 9.99666943e-01 1.37133251e-02 -2.18619986e-02 -3.17330433e+01] [-1.96547278e-02 9.53544985e-01 -3.00608803e-01 -4.21927219e+00] [ 1.67240529e-02 3.00938375e-01 9.53496933e-01 -1.82149574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60313336499996 meters Centerline goodness : 0.129753 with order 1 Centerline is valid? [False, False] Translation: X:-31.73, Y:-4.22, Z:-1.82 [[ 9.99620532e-01 1.58533417e-02 -2.25269563e-02 -3.17301655e+01] [-2.18694870e-02 9.53975677e-01 -2.99085495e-01 -4.21530695e+00] [ 1.67486639e-02 2.99464654e-01 9.53960378e-01 -1.82160410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66313336499996 meters Centerline goodness : 0.202324 with order 3 Centerline is valid? [False, False] Translation: X:-31.75, Y:-4.21, Z:-1.82 [[ 9.99696407e-01 6.78567405e-03 -2.36864592e-02 -3.17458841e+01] [-1.35330119e-02 9.54562286e-01 -2.97704049e-01 -4.20903547e+00] [ 2.05900780e-02 2.97934217e-01 9.54364318e-01 -1.82090784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72313336499997 meters Centerline goodness : 0.265211 with order 3 Centerline is valid? [False, False] Translation: X:-31.76, Y:-4.20, Z:-1.82 [[ 9.99765897e-01 5.43450298e-04 -2.16299989e-02 -3.17636514e+01] [-6.94200937e-03 9.54890501e-01 -2.96876977e-01 -4.20398397e+00] [ 2.04929426e-02 2.96957633e-01 9.54670731e-01 -1.82141193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78313336499997 meters Centerline goodness : 0.161493 with order 1 Centerline is valid? [False, False] Translation: X:-31.76, Y:-4.20, Z:-1.82 [[ 9.99758527e-01 7.36319910e-04 -2.19623852e-02 -3.17626104e+01] [-7.22254987e-03 9.54923090e-01 -2.96765441e-01 -4.20435115e+00] [ 2.07538744e-02 2.96852405e-01 9.54697819e-01 -1.82182468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84313336499997 meters Centerline goodness : 0.123925 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-4.20, Z:-1.82 [[ 9.99695974e-01 -7.75501384e-03 -2.34055441e-02 -3.17834455e+01] [ 4.65722963e-04 9.55021109e-01 -2.96537457e-01 -4.20420542e+00] [ 2.46524408e-02 2.96436402e-01 9.54734370e-01 -1.82218079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.903133365 meters Centerline goodness : 0.129174 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-4.21, Z:-1.82 [[ 9.99685973e-01 -7.55710320e-03 -2.38923803e-02 -3.17825188e+01] [ 1.48827973e-04 9.55217124e-01 -2.95905768e-01 -4.20803279e+00] [ 2.50586013e-02 2.95809290e-01 9.54918285e-01 -1.82292361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.963133365 meters Centerline goodness : 0.123011 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-4.21, Z:-1.82 [[ 9.99672105e-01 -7.40124449e-03 -2.45133263e-02 -3.17804737e+01] [-1.71823284e-04 9.55356524e-01 -2.95455380e-01 -4.21125989e+00] [ 2.56057038e-02 2.95362714e-01 9.55041996e-01 -1.82470283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.023133365 meters Centerline goodness : 0.159444 with order 3 Centerline is valid? [False, False] Translation: X:-31.79, Y:-4.22, Z:-1.82 [[ 9.99692130e-01 -9.09460390e-03 -2.30853409e-02 -3.17856590e+01] [ 1.84871613e-03 9.55118753e-01 -2.96217404e-01 -4.22032673e+00] [ 2.47432220e-02 2.96083530e-01 9.54841514e-01 -1.82486967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.083133365 meters Centerline goodness : 0.185702 with order 3 Centerline is valid? [False, False] Translation: X:-31.79, Y:-4.23, Z:-1.83 [[ 9.99698598e-01 -8.72718748e-03 -2.29466508e-02 -3.17862394e+01] [ 1.56249253e-03 9.55405517e-01 -2.95292831e-01 -4.22544456e+00] [ 2.45004327e-02 2.95167975e-01 9.55131193e-01 -1.82596944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.143133365 meters Centerline goodness : 0.270462 with order 1 Centerline is valid? [False, False] Translation: X:-31.79, Y:-4.23, Z:-1.83 [[ 9.99696495e-01 -8.31266514e-03 -2.31908961e-02 -3.17851214e+01] [ 1.11663304e-03 9.55674849e-01 -2.94422036e-01 -4.23005639e+00] [ 2.46103880e-02 2.94306782e-01 9.55394079e-01 -1.82811921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.203133365 meters Centerline goodness : 0.300941 with order 3 Centerline is valid? [False, False] Translation: X:-31.81, Y:-4.23, Z:-1.83 [[ 9.99611350e-01 -1.54892494e-02 -2.31782499e-02 -3.18053710e+01] [ 8.02757238e-03 9.56152654e-01 -2.92758705e-01 -4.23358688e+00] [ 2.66965578e-02 2.92458860e-01 9.55905387e-01 -1.82958775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.263133365 meters Centerline goodness : 0.233177 with order 1 Centerline is valid? [False, False] Translation: X:-31.81, Y:-4.24, Z:-1.83 [[ 9.99622162e-01 -1.48709541e-02 -2.31168292e-02 -3.18055919e+01] [ 7.49623983e-03 9.56621652e-01 -2.91236709e-01 -4.24485232e+00] [ 2.64450271e-02 2.90953379e-01 9.56371681e-01 -1.83265948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.323133365 meters Centerline goodness : 0.090233 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.25, Z:-1.84 [[ 9.99626432e-01 -1.43867289e-02 -2.32382970e-02 -3.18045847e+01] [ 7.02675316e-03 9.56947278e-01 -2.90176724e-01 -4.25093683e+00] [ 2.64125190e-02 2.89905034e-01 9.56690885e-01 -1.83534103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.383133365 meters Centerline goodness : 0.099761 with order 1 Centerline is valid? [False, False] Translation: X:-31.81, Y:-4.26, Z:-1.84 [[ 9.99649030e-01 -1.32676193e-02 -2.29300336e-02 -3.18054815e+01] [ 6.09495114e-03 9.57515370e-01 -2.88317825e-01 -4.25921388e+00] [ 2.57811507e-02 2.88076876e-01 9.57260176e-01 -1.83740790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.443133365 meters Centerline goodness : 0.246471 with order 2 Centerline is valid? [False, False] Translation: X:-31.81, Y:-4.26, Z:-1.84 [[ 9.99654627e-01 -1.29250064e-02 -2.28816715e-02 -3.18057089e+01] [ 5.79949309e-03 9.57728040e-01 -2.87616703e-01 -4.26285210e+00] [ 2.56318661e-02 2.87384666e-01 9.57472225e-01 -1.83825544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.503133365 meters Centerline goodness : 0.129439 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.27, Z:-1.84 [[ 9.99645715e-01 -1.26834851e-02 -2.34002833e-02 -3.18040002e+01] [ 5.43289159e-03 9.57883725e-01 -2.87104950e-01 -4.26538951e+00] [ 2.60562419e-02 2.86876102e-01 9.57613270e-01 -1.83977051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.563133365 meters Centerline goodness : 0.091429 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.27, Z:-1.84 [[ 9.99634783e-01 -1.25045907e-02 -2.39569588e-02 -3.18017510e+01] [ 5.10943371e-03 9.57969451e-01 -2.86824727e-01 -4.26640498e+00] [ 2.65366605e-02 2.86597568e-01 9.57683476e-01 -1.84156190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.623133365 meters Centerline goodness : 0.132980 with order 3 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.27, Z:-1.84 [[ 9.99631239e-01 -1.25341287e-02 -2.40890494e-02 -3.18014896e+01] [ 5.09754678e-03 9.57944657e-01 -2.86907735e-01 -4.26609286e+00] [ 2.66721146e-02 2.86679139e-01 9.57655298e-01 -1.84142725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.683133365 meters Centerline goodness : 0.098382 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.27, Z:-1.84 [[ 9.99627830e-01 -1.25280008e-02 -2.42332358e-02 -3.18011255e+01] [ 5.04745668e-03 9.57914376e-01 -2.87009706e-01 -4.26521411e+00] [ 2.68090228e-02 2.86780573e-01 9.57621104e-01 -1.84127903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.743133365 meters Centerline goodness : 0.095423 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.26, Z:-1.84 [[ 9.99615481e-01 -1.25653431e-02 -2.47184809e-02 -3.17998862e+01] [ 4.94081947e-03 9.57881620e-01 -2.87120863e-01 -4.26444357e+00] [ 2.72851507e-02 2.86888330e-01 9.57575379e-01 -1.84130194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.803133365 meters Centerline goodness : 0.091460 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-4.27, Z:-1.84 [[ 9.99625081e-01 -1.25506496e-02 -2.43347334e-02 -3.18015025e+01] [ 5.04093418e-03 9.57924016e-01 -2.86977644e-01 -4.26553047e+00] [ 2.69125814e-02 2.86747381e-01 9.57628139e-01 -1.84044395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.863133365 meters Centerline goodness : 0.454421 with order 2 Centerline is valid? [False, False] Translation: X:-31.82, Y:-4.26, Z:-1.84 [[ 9.99502308e-01 -2.10154002e-02 -2.35263592e-02 -3.18237281e+01] [ 1.34051108e-02 9.58049360e-01 -2.86289584e-01 -4.26426203e+00] [ 2.85559035e-02 2.85831727e-01 9.57854260e-01 -1.84080577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.923133365 meters Centerline goodness : 0.091813 with order 1 Centerline is valid? [False, False] Translation: X:-31.82, Y:-4.27, Z:-1.84 [[ 9.99504029e-01 -2.09340843e-02 -2.35257425e-02 -3.18239002e+01] [ 1.33439905e-02 9.58217072e-01 -2.85730609e-01 -4.26786755e+00] [ 2.85242767e-02 2.85274968e-01 9.58021168e-01 -1.84137888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98313336499996 meters Centerline goodness : 0.096814 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-4.27, Z:-1.84 [[ 9.99273849e-01 -2.91626445e-02 -2.45217194e-02 -3.18440465e+01] [ 2.09897840e-02 9.58447526e-01 -2.84495638e-01 -4.26815317e+00] [ 3.17994264e-02 2.83774346e-01 9.58363666e-01 -1.84295775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04313336499996 meters SLAMing on 293.10313336499996 meters Centerline goodness : 0.094516 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-4.28, Z:-1.85 [[ 9.99270700e-01 -2.86251937e-02 -2.52718552e-02 -3.18412582e+01] [ 2.02987176e-02 9.58791285e-01 -2.83385310e-01 -4.27556626e+00] [ 3.23423939e-02 2.82665651e-01 9.58673093e-01 -1.84604585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16313336499996 meters Centerline goodness : 0.446576 with order 1 Centerline is valid? [False, False] Translation: X:-31.86, Y:-4.29, Z:-1.85 [[ 9.99459092e-01 -2.34848339e-02 -2.30214215e-02 -3.18623058e+01] [ 1.59416603e-02 9.58260031e-01 -2.85453282e-01 -4.28572656e+00] [ 2.87643310e-02 2.84931878e-01 9.58116088e-01 -1.85047846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22313336499997 meters Centerline goodness : 0.090378 with order 1 Centerline is valid? [False, False] Translation: X:-31.86, Y:-4.30, Z:-1.85 [[ 9.99382574e-01 -2.68830854e-02 -2.26223605e-02 -3.18626338e+01] [ 1.92492238e-02 9.57571234e-01 -2.87553126e-01 -4.29530173e+00] [ 2.93928369e-02 2.86940120e-01 9.57497482e-01 -1.85334132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28313336499997 meters Centerline goodness : 0.278697 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-4.31, Z:-1.86 [[ 9.99523716e-01 -1.99291977e-02 -2.35620042e-02 -3.18788196e+01] [ 1.22848797e-02 9.57364706e-01 -2.88620689e-01 -4.30798637e+00] [ 2.83094100e-02 2.88193767e-01 9.57153556e-01 -1.86009602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34313336499997 meters Centerline goodness : 0.475645 with order 2 Centerline is valid? [False, False] Translation: X:-31.88, Y:-4.32, Z:-1.86 [[ 9.99514732e-01 -2.13766650e-02 -2.26569602e-02 -3.18821041e+01] [ 1.39314707e-02 9.57333821e-01 -2.88648350e-01 -4.32014552e+00] [ 2.78606134e-02 2.88192633e-01 9.57167066e-01 -1.86166520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.403133365 meters Centerline goodness : 0.098766 with order 1 Centerline is valid? [False, False] Translation: X:-31.90, Y:-4.33, Z:-1.87 [[ 9.99658444e-01 -1.43064943e-02 -2.18705291e-02 -3.19003336e+01] [ 7.37282369e-03 9.57246181e-01 -2.89180549e-01 -4.33312408e+00] [ 2.50726403e-02 2.88920530e-01 9.57024707e-01 -1.86768977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.463133365 meters Centerline goodness : 0.103471 with order 1 Centerline is valid? [False, False] Translation: X:-31.90, Y:-4.34, Z:-1.87 [[ 9.99662854e-01 -1.38033200e-02 -2.19919544e-02 -3.18996476e+01] [ 6.88506448e-03 9.57585970e-01 -2.88065455e-01 -4.33861591e+00] [ 2.50354466e-02 2.87816919e-01 9.57358161e-01 -1.86980421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.523133365 meters Centerline goodness : 0.102275 with order 1 Centerline is valid? [False, False] Translation: X:-31.90, Y:-4.35, Z:-1.87 [[ 9.99688158e-01 -1.31017691e-02 -2.12586569e-02 -3.19018399e+01] [ 6.45637815e-03 9.57971845e-01 -2.86789574e-01 -4.34540964e+00] [ 2.41226456e-02 2.86562887e-01 9.57757699e-01 -1.87095250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.583133365 meters Centerline goodness : 0.103413 with order 1 Centerline is valid? [False, False] Translation: X:-31.90, Y:-4.35, Z:-1.87 [[ 9.99694469e-01 -1.26960558e-02 -2.12080025e-02 -3.19022812e+01] [ 6.09548927e-03 9.58134081e-01 -2.86255004e-01 -4.34771369e+00] [ 2.39544195e-02 2.86038271e-01 9.57918730e-01 -1.87113822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.643133365 meters Centerline goodness : 0.106011 with order 1 Centerline is valid? [False, False] Translation: X:-31.92, Y:-4.35, Z:-1.87 [[ 9.99752386e-01 -3.16687480e-03 -2.20258479e-02 -3.19220981e+01] [-3.26014922e-03 9.58295177e-01 -2.85761658e-01 -4.35375894e+00] [ 2.20122352e-02 2.85762707e-01 9.58047565e-01 -1.87421911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.703133365 meters Centerline goodness : 0.113954 with order 1 Centerline is valid? [False, False] Translation: X:-31.92, Y:-4.36, Z:-1.88 [[ 9.99754007e-01 2.52187272e-04 -2.21779754e-02 -3.19213245e+01] [-6.51119373e-03 9.59213156e-01 -2.82608785e-01 -4.35511654e+00] [ 2.12021354e-02 2.82683670e-01 9.58978838e-01 -1.87514847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.763133365 meters Centerline goodness : 0.115926 with order 1 Centerline is valid? [False, False] Translation: X:-31.92, Y:-4.35, Z:-1.87 [[ 9.99745626e-01 3.89700545e-03 -2.22147842e-02 -3.19218214e+01] [-9.95011014e-03 9.60134794e-01 -2.79360291e-01 -4.35485544e+00] [ 2.02405187e-02 2.79510268e-01 9.59929337e-01 -1.87436440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.823133365 meters Centerline goodness : 0.112605 with order 1 Centerline is valid? [False, False] Translation: X:-31.92, Y:-4.35, Z:-1.87 [[ 9.99725375e-01 7.63550557e-03 -2.21556812e-02 -3.19220220e+01] [-1.34623703e-02 9.60984174e-01 -2.76275555e-01 -4.35217635e+00] [ 1.91817555e-02 2.76497951e-01 9.60823055e-01 -1.87359723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.883133365 meters Centerline goodness : 0.116052 with order 1 Centerline is valid? [False, False] Translation: X:-31.92, Y:-4.35, Z:-1.87 [[ 9.99685622e-01 1.12570878e-02 -2.24039279e-02 -3.19209925e+01] [-1.69535147e-02 9.61803762e-01 -2.73214387e-01 -4.34961634e+00] [ 1.84725838e-02 2.73508319e-01 9.61692239e-01 -1.87343120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.943133365 meters Centerline goodness : 0.114666 with order 1 Centerline is valid? [False, False] Translation: X:-31.92, Y:-4.35, Z:-1.87 [[ 9.99633803e-01 1.46906487e-02 -2.27254009e-02 -3.19199050e+01] [-2.02948089e-02 9.62501229e-01 -2.70517105e-01 -4.34557356e+00] [ 1.78991545e-02 2.70879250e-01 9.62446909e-01 -1.87268141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.003133365 meters Centerline goodness : 0.110910 with order 1 Centerline is valid? [False, False] Translation: X:-31.94, Y:-4.33, Z:-1.87 [[ 9.99684475e-01 9.50376865e-03 -2.32514157e-02 -3.19393307e+01] [-1.53888575e-02 9.63327310e-01 -2.67887434e-01 -4.33383595e+00] [ 1.98527835e-02 2.68160721e-01 9.63169608e-01 -1.87086049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.063133365 meters Centerline goodness : 0.102383 with order 1 Centerline is valid? [False, False] Translation: X:-31.96, Y:-4.32, Z:-1.87 [[ 9.99791324e-01 2.95055024e-03 -2.02139410e-02 -3.19584979e+01] [-8.24230777e-03 9.63659359e-01 -2.67006935e-01 -4.32306001e+00] [ 1.86915361e-02 2.67117826e-01 9.63482586e-01 -1.87121878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.123133365 meters Centerline goodness : 0.098323 with order 1 Centerline is valid? [False, False] Translation: X:-31.98, Y:-4.32, Z:-1.87 [[ 9.99855638e-01 -5.00371314e-03 -1.62378243e-02 -3.19816700e+01] [ 4.80705775e-04 9.63603209e-01 -2.67336164e-01 -4.31600624e+00] [ 1.69844931e-02 2.67289765e-01 9.63466506e-01 -1.86997005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.183133365 meters Centerline goodness : 0.475279 with order 3 Centerline is valid? [False, False] Translation: X:-32.00, Y:-4.31, Z:-1.87 [[ 9.99727174e-01 -1.39966982e-02 -1.86994446e-02 -3.20009240e+01] [ 8.50010836e-03 9.63689670e-01 -2.66889430e-01 -4.31146807e+00] [ 2.17560324e-02 2.66657669e-01 9.63545724e-01 -1.86945097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.243133365 meters Centerline goodness : 0.103972 with order 1 Centerline is valid? [False, False] Translation: X:-32.00, Y:-4.31, Z:-1.87 [[ 9.99707290e-01 -1.43556020e-02 -1.94743880e-02 -3.19990198e+01] [ 8.63374455e-03 9.63622288e-01 -2.67128330e-01 -4.31136163e+00] [ 2.26007423e-02 2.66882002e-01 9.63464168e-01 -1.86959116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.303133365 meters Centerline goodness : 0.453228 with order 1 Centerline is valid? [False, False] Translation: X:-32.00, Y:-4.31, Z:-1.87 [[ 9.99712880e-01 -1.46969275e-02 -1.89250448e-02 -3.20008533e+01] [ 9.11304179e-03 9.63661482e-01 -2.66970974e-01 -4.31353433e+00] [ 2.21609898e-02 2.66721856e-01 9.63518729e-01 -1.86904428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.363133365 meters SLAMing on 294.423133365 meters Centerline goodness : 0.149213 with order 1 Centerline is valid? [False, False] Translation: X:-32.02, Y:-4.32, Z:-1.87 [[ 9.99442141e-01 -2.58715186e-02 -2.11203992e-02 -3.20197340e+01] [ 1.92735027e-02 9.63254552e-01 -2.67897741e-01 -4.31692934e+00] [ 2.72752421e-02 2.67341228e-01 9.63215827e-01 -1.87045690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48313336499996 meters Centerline goodness : 0.102893 with order 1 Centerline is valid? [False, False] Translation: X:-32.02, Y:-4.32, Z:-1.87 [[ 9.99537802e-01 -2.21824148e-02 -2.07875574e-02 -3.20209659e+01] [ 1.58957471e-02 9.64226209e-01 -2.64603748e-01 -4.31542683e+00] [ 2.59134578e-02 2.64151015e-01 9.64133151e-01 -1.86963546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54313336499996 meters Centerline goodness : 0.459113 with order 2 Centerline is valid? [False, False] Translation: X:-32.04, Y:-4.32, Z:-1.87 [[ 9.99692708e-01 -1.43080528e-02 -2.02427576e-02 -3.20407482e+01] [ 8.41641877e-03 9.64008744e-01 -2.65737288e-01 -4.31931452e+00] [ 2.33163784e-02 2.65485257e-01 9.63832934e-01 -1.87221922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60313336499996 meters Centerline goodness : 0.101790 with order 1 Centerline is valid? [False, False] Translation: X:-32.04, Y:-4.32, Z:-1.87 [[ 9.99728317e-01 -1.09138323e-02 -2.05956512e-02 -3.20404407e+01] [ 5.12063824e-03 9.64856592e-01 -2.62727113e-01 -4.31810617e+00] [ 2.27392095e-02 2.62550271e-01 9.64650343e-01 -1.87142342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66313336499996 meters Centerline goodness : 0.453904 with order 1 Centerline is valid? [False, False] Translation: X:-32.04, Y:-4.32, Z:-1.87 [[ 9.99760506e-01 -7.40979786e-03 -2.05919009e-02 -3.20405735e+01] [ 1.81197568e-03 9.65731786e-01 -2.59535806e-01 -4.31705067e+00] [ 2.18093610e-02 2.59436337e-01 9.65513925e-01 -1.87106416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72313336499997 meters Centerline goodness : 0.501030 with order 2 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.31, Z:-1.87 [[ 9.99737419e-01 -1.50900269e-02 -1.72448510e-02 -3.20640045e+01] [ 1.01120753e-02 9.65843535e-01 -2.58928583e-01 -4.31304331e+00] [ 2.05630671e-02 2.58686212e-01 9.65742514e-01 -1.87075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78313336499997 meters Centerline goodness : 0.453901 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.32, Z:-1.87 [[ 9.99739600e-01 -1.49209576e-02 -1.72654776e-02 -3.20641492e+01] [ 9.95628762e-03 9.66007437e-01 -2.58322482e-01 -4.31609773e+00] [ 2.05329986e-02 2.58083315e-01 9.65904446e-01 -1.87111775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84313336499997 meters Centerline goodness : 0.389376 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.32, Z:-1.87 [[ 9.99731530e-01 -1.50160426e-02 -1.76461677e-02 -3.20631417e+01] [ 9.96169386e-03 9.66153081e-01 -2.57777012e-01 -4.32070248e+00] [ 2.09196899e-02 2.57532021e-01 9.66043283e-01 -1.87228418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.903133365 meters Centerline goodness : 0.453746 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.33, Z:-1.87 [[ 9.99727045e-01 -1.45733856e-02 -1.82606516e-02 -3.20615287e+01] [ 9.40262825e-03 9.66483666e-01 -2.56555869e-01 -4.32738084e+00] [ 2.13875091e-02 2.56314143e-01 9.66356888e-01 -1.87417008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.963133365 meters Centerline goodness : 0.098526 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.33, Z:-1.88 [[ 9.99719936e-01 -1.43428088e-02 -1.88237717e-02 -3.20596688e+01] [ 9.04904514e-03 9.66647814e-01 -2.55949445e-01 -4.33040051e+00] [ 2.18669917e-02 2.55707426e-01 9.66506879e-01 -1.87575009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.023133365 meters Centerline goodness : 0.231315 with order 3 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.34, Z:-1.88 [[ 9.99720654e-01 -1.39780812e-02 -1.90585201e-02 -3.20590351e+01] [ 8.65650594e-03 9.66885738e-01 -2.55062805e-01 -4.33538674e+00] [ 2.19926998e-02 2.54826574e-01 9.66736644e-01 -1.87707164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.083133365 meters Centerline goodness : 0.100203 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.34, Z:-1.88 [[ 9.99725388e-01 -1.37583299e-02 -1.89699012e-02 -3.20594493e+01] [ 8.48379544e-03 9.67088097e-01 -2.54300289e-01 -4.34026360e+00] [ 2.18443129e-02 2.54069518e-01 9.66939246e-01 -1.87786005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.143133365 meters Centerline goodness : 0.231287 with order 3 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.35, Z:-1.88 [[ 9.99730058e-01 -1.32061678e-02 -1.91156369e-02 -3.20587399e+01] [ 7.94202840e-03 9.67434249e-01 -2.52997821e-01 -4.34785663e+00] [ 2.18342535e-02 2.52777710e-01 9.67277982e-01 -1.88009192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.203133365 meters Centerline goodness : 0.087107 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.35, Z:-1.88 [[ 9.99734354e-01 -1.29502224e-02 -1.90660051e-02 -3.20587226e+01] [ 7.72085851e-03 9.67598378e-01 -2.52376240e-01 -4.35104066e+00] [ 2.17165640e-02 2.52161992e-01 9.67441327e-01 -1.88102557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.263133365 meters Centerline goodness : 0.117466 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.35, Z:-1.88 [[ 9.99739163e-01 -1.27109395e-02 -1.89746807e-02 -3.20589071e+01] [ 7.52381430e-03 9.67734445e-01 -2.51859954e-01 -4.35346181e+00] [ 2.15638288e-02 2.51651497e-01 9.67577659e-01 -1.88164765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.323133365 meters Centerline goodness : 0.114735 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.36, Z:-1.88 [[ 9.99742595e-01 -1.23604189e-02 -1.90253630e-02 -3.20589158e+01] [ 7.19052976e-03 9.67956288e-01 -2.51015778e-01 -4.35751399e+00] [ 2.15183799e-02 2.50814363e-01 9.67796009e-01 -1.88240167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.383133365 meters Centerline goodness : 0.117685 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.36, Z:-1.88 [[ 9.99743490e-01 -1.22407865e-02 -1.90556549e-02 -3.20589575e+01] [ 7.07968359e-03 9.68103722e-01 -2.50449718e-01 -4.36073476e+00] [ 2.15135519e-02 2.50250567e-01 9.67942054e-01 -1.88295315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.443133365 meters Centerline goodness : 0.114513 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.36, Z:-1.88 [[ 9.99755490e-01 -1.23254743e-02 -1.83587460e-02 -3.20606849e+01] [ 7.34611396e-03 9.68221068e-01 -2.49987995e-01 -4.36417473e+00] [ 2.08565453e-02 2.49792005e-01 9.68074872e-01 -1.88341947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.503133365 meters Centerline goodness : 0.086097 with order 1 Centerline is valid? [False, False] Translation: X:-32.06, Y:-4.37, Z:-1.88 [[ 9.99722405e-01 -1.26019638e-02 -1.99073536e-02 -3.20568269e+01] [ 7.23668358e-03 9.68330797e-01 -2.49565817e-01 -4.36834310e+00] [ 2.24219230e-02 2.49352476e-01 9.68153190e-01 -1.88477045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.563133365 meters Centerline goodness : 0.082542 with order 1 Centerline is valid? [False, False] Translation: X:-32.08, Y:-4.37, Z:-1.89 [[ 9.99539073e-01 -2.11157496e-02 -2.18120607e-02 -3.20762511e+01] [ 1.50458909e-02 9.68593502e-01 -2.48193973e-01 -4.36996042e+00] [ 2.63678221e-02 2.47751392e-01 9.68464757e-01 -1.88641401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.623133365 meters Centerline goodness : 0.449520 with order 1 Centerline is valid? [False, False] Translation: X:-32.08, Y:-4.37, Z:-1.89 [[ 9.99552060e-01 -2.10046284e-02 -2.13186619e-02 -3.20778660e+01] [ 1.50750710e-02 9.68732499e-01 -2.47649123e-01 -4.37349449e+00] [ 2.58538584e-02 2.47216811e-01 9.68615211e-01 -1.88648743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.683133365 meters Centerline goodness : 0.114826 with order 1 Centerline is valid? [False, False] Translation: X:-32.10, Y:-4.38, Z:-1.89 [[ 9.99732077e-01 -1.34961795e-02 -1.88049716e-02 -3.20986448e+01] [ 8.43070384e-03 9.68930214e-01 -2.47190540e-01 -4.38381516e+00] [ 2.15568330e-02 2.46965773e-01 9.68784398e-01 -1.88996711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.743133365 meters Centerline goodness : 0.135626 with order 3 Centerline is valid? [False, False] Translation: X:-32.12, Y:-4.39, Z:-1.89 [[ 9.99809497e-01 -5.84499301e-03 -1.86227287e-02 -3.21184465e+01] [ 1.04422540e-03 9.68760371e-01 -2.47996478e-01 -4.39099190e+00] [ 1.94904992e-02 2.47929788e-01 9.68581923e-01 -1.89326879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.803133365 meters Centerline goodness : 0.119954 with order 3 Centerline is valid? [False, False] Translation: X:-32.12, Y:-4.39, Z:-1.89 [[ 9.99818371e-01 -2.05420716e-03 -1.89474592e-02 -3.21173351e+01] [-2.63715504e-03 9.69699112e-01 -2.44288105e-01 -4.39222449e+00] [ 1.88751527e-02 2.44293703e-01 9.69517568e-01 -1.89409864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.863133365 meters Centerline goodness : 0.205735 with order 3 Centerline is valid? [False, False] Translation: X:-32.12, Y:-4.39, Z:-1.90 [[ 9.99813236e-01 -1.93408387e-03 -1.92289261e-02 -3.21161878e+01] [-2.81930512e-03 9.69738719e-01 -2.44128796e-01 -4.39264684e+00] [ 1.91191997e-02 2.44137414e-01 9.69552154e-01 -1.89501960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.923133365 meters Centerline goodness : 0.155474 with order 3 Centerline is valid? [False, False] Translation: X:-32.12, Y:-4.39, Z:-1.90 [[ 9.99809377e-01 -1.78687088e-03 -1.94426609e-02 -3.21153500e+01] [-3.00729570e-03 9.69826601e-01 -2.43777195e-01 -4.39425772e+00] [ 1.92916081e-02 2.43789195e-01 9.69636356e-01 -1.89590577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98313336499996 meters Centerline goodness : 0.204191 with order 3 Centerline is valid? [False, False] Translation: X:-32.13, Y:-4.39, Z:-1.90 [[ 9.99749351e-01 -1.02197674e-02 -1.99196494e-02 -3.21345299e+01] [ 5.07858909e-03 9.70062941e-01 -2.42800532e-01 -4.39254547e+00] [ 2.18046786e-02 2.42638511e-01 9.69871697e-01 -1.89652815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04313336499996 meters Centerline goodness : 0.118217 with order 1 Centerline is valid? [False, False] Translation: X:-32.13, Y:-4.39, Z:-1.90 [[ 9.99773643e-01 -6.29935927e-03 -2.03219421e-02 -3.21332225e+01] [ 1.25961955e-03 9.71012928e-01 -2.39023655e-01 -4.39301247e+00] [ 2.12385644e-02 2.38943952e-01 9.70801067e-01 -1.89726143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10313336499996 meters Centerline goodness : 0.115764 with order 1 Centerline is valid? [False, False] Translation: X:-32.13, Y:-4.39, Z:-1.90 [[ 9.99784473e-01 -2.54748921e-03 -2.06038287e-02 -3.21321730e+01] [-2.37780841e-03 9.71860862e-01 -2.35543648e-01 -4.39256981e+00] [ 2.06240996e-02 2.35541874e-01 9.71645343e-01 -1.89776215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16313336499996 meters Centerline goodness : 0.121886 with order 1 Centerline is valid? [False, False] Translation: X:-32.13, Y:-4.39, Z:-1.90 [[ 9.99783152e-01 -2.69963415e-03 -2.06485281e-02 -3.21320368e+01] [-2.24959190e-03 9.71757038e-01 -2.35972876e-01 -4.39052604e+00] [ 2.07023930e-02 2.35968156e-01 9.71540241e-01 -1.89745051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22313336499997 meters Centerline goodness : 0.226469 with order 3 Centerline is valid? [False, False] Translation: X:-32.13, Y:-4.39, Z:-1.90 [[ 9.99791444e-01 -2.70450298e-03 -2.02423683e-02 -3.21332771e+01] [-2.15317892e-03 9.71708430e-01 -2.36173857e-01 -4.38881156e+00] [ 2.03084129e-02 2.36168187e-01 9.71499951e-01 -1.89666877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28313336499997 meters Centerline goodness : 0.250761 with order 3 Centerline is valid? [False, False] Translation: X:-32.15, Y:-4.38, Z:-1.90 [[ 9.99793544e-01 -8.02025713e-03 -1.86693758e-02 -3.21539187e+01] [ 3.44529748e-03 9.72413427e-01 -2.33238625e-01 -4.37986439e+00] [ 2.00249854e-02 2.33126150e-01 9.72240298e-01 -1.89658994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34313336499997 meters Centerline goodness : 0.113092 with order 1 Centerline is valid? [False, False] Translation: X:-32.15, Y:-4.38, Z:-1.90 [[ 9.99812217e-01 -4.48028979e-03 -1.88536040e-02 -3.21540561e+01] [ 1.52947152e-05 9.73088993e-01 -2.30429622e-01 -4.37582436e+00] [ 1.93786260e-02 2.30386063e-01 9.72906332e-01 -1.89507192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.403133365 meters Centerline goodness : 0.109199 with order 1 Centerline is valid? [False, False] Translation: X:-32.18, Y:-4.37, Z:-1.89 [[ 9.99767294e-01 -1.09759699e-02 -1.85710876e-02 -3.21769679e+01] [ 6.45154704e-03 9.73613312e-01 -2.28112903e-01 -4.37150133e+00] [ 2.05848185e-02 2.27940008e-01 9.73457558e-01 -1.89446033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.463133365 meters Centerline goodness : 0.093411 with order 1 Centerline is valid? [False, False] Translation: X:-32.18, Y:-4.36, Z:-1.89 [[ 9.99796289e-01 -7.76262651e-03 -1.86311954e-02 -3.21766599e+01] [ 3.35017741e-03 9.74103409e-01 -2.26078140e-01 -4.36237583e+00] [ 1.99036711e-02 2.25969668e-01 9.73930980e-01 -1.89308112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.523133365 meters Centerline goodness : 0.149051 with order 3 Centerline is valid? [False, False] Translation: X:-32.18, Y:-4.36, Z:-1.89 [[ 9.99810394e-01 -4.30993323e-03 -1.89894816e-02 -3.21763542e+01] [-3.99793077e-05 9.74741431e-01 -2.23336387e-01 -4.35774375e+00] [ 1.94723993e-02 2.23294801e-01 9.74556442e-01 -1.89153695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.583133365 meters Centerline goodness : 0.145398 with order 3 Centerline is valid? [False, False] Translation: X:-32.18, Y:-4.35, Z:-1.89 [[ 9.99811410e-01 -4.76018797e-03 -1.88277839e-02 -3.21769918e+01] [ 4.13858980e-04 9.74496416e-01 -2.24402681e-01 -4.35188469e+00] [ 1.94158069e-02 2.24352569e-01 9.74314606e-01 -1.89004307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.643133365 meters Centerline goodness : 0.102046 with order 1 Centerline is valid? [False, False] Translation: X:-32.18, Y:-4.34, Z:-1.89 [[ 9.99821914e-01 -4.25708083e-03 -1.83852405e-02 -3.21789307e+01] [ 1.37270847e-05 9.74388320e-01 -2.24871967e-01 -4.34154090e+00] [ 1.88716618e-02 2.24831668e-01 9.74214854e-01 -1.88678227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.703133365 meters Centerline goodness : 0.102047 with order 1 Centerline is valid? [False, False] Translation: X:-32.20, Y:-4.33, Z:-1.89 [[ 9.99838758e-01 -1.05841526e-02 -1.45063572e-02 -3.21976870e+01] [ 7.05354194e-03 9.74385569e-01 -2.24773242e-01 -4.32912703e+00] [ 1.65138194e-02 2.24634678e-01 9.74303113e-01 -1.88645403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.763133365 meters Centerline goodness : 0.100730 with order 1 Centerline is valid? [False, False] Translation: X:-32.20, Y:-4.33, Z:-1.89 [[ 9.99833408e-01 -1.08685627e-02 -1.46639029e-02 -3.21975015e+01] [ 7.29024345e-03 9.74315678e-01 -2.25068462e-01 -4.32804493e+00] [ 1.67334412e-02 2.24924064e-01 9.74232599e-01 -1.88599831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.823133365 meters Centerline goodness : 0.235408 with order 1 Centerline is valid? [False, False] Translation: X:-32.20, Y:-4.33, Z:-1.89 [[ 9.99821585e-01 -1.12840997e-02 -1.51481543e-02 -3.21958586e+01] [ 7.58730988e-03 9.74327438e-01 -2.25007724e-01 -4.32946132e+00] [ 1.72982719e-02 2.24852646e-01 9.74239220e-01 -1.88700731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.883133365 meters Centerline goodness : 0.140773 with order 3 Centerline is valid? [False, False] Translation: X:-32.22, Y:-4.33, Z:-1.89 [[ 9.99624295e-01 -2.22254261e-02 -1.60405801e-02 -3.22167349e+01] [ 1.80381536e-02 9.74068183e-01 -2.25534476e-01 -4.33210508e+00] [ 2.06372185e-02 2.25160399e-01 9.74103126e-01 -1.88863949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.943133365 meters Centerline goodness : 0.104089 with order 1 Centerline is valid? [False, False] Translation: X:-32.22, Y:-4.34, Z:-1.89 [[ 9.99598296e-01 -2.39711125e-02 -1.51206199e-02 -3.22187009e+01] [ 1.99382610e-02 9.73939930e-01 -2.25928037e-01 -4.34112472e+00] [ 2.01423219e-02 2.25535801e-01 9.74026637e-01 -1.89028541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.003133365 meters Centerline goodness : 0.111225 with order 1 Centerline is valid? [False, False] Translation: X:-32.24, Y:-4.35, Z:-1.89 [[ 9.99754467e-01 -1.64730390e-02 -1.48204111e-02 -3.22367867e+01] [ 1.26859808e-02 9.73880227e-01 -2.26707676e-01 -4.35013048e+00] [ 1.81678697e-02 2.26464000e-01 9.73850084e-01 -1.89487575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.063133365 meters Centerline goodness : 0.174697 with order 3 Centerline is valid? [False, False] Translation: X:-32.23, Y:-4.35, Z:-1.90 [[ 9.99740229e-01 -1.60560243e-02 -1.61764638e-02 -3.22326095e+01] [ 1.19825328e-02 9.74005465e-01 -2.26207369e-01 -4.35201723e+00] [ 1.93879551e-02 2.25954772e-01 9.73944838e-01 -1.89705750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.123133365 meters Centerline goodness : 0.117293 with order 1 Centerline is valid? [False, False] Translation: X:-32.23, Y:-4.35, Z:-1.90 [[ 9.99741841e-01 -1.58705324e-02 -1.62596671e-02 -3.22322666e+01] [ 1.17888405e-02 9.74075684e-01 -2.25914994e-01 -4.35337080e+00] [ 1.94235376e-02 2.25664989e-01 9.74011313e-01 -1.89763953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.183133365 meters Centerline goodness : 0.163950 with order 3 Centerline is valid? [False, False] Translation: X:-32.23, Y:-4.36, Z:-1.90 [[ 9.99751256e-01 -1.57188424e-02 -1.58222569e-02 -3.22336380e+01] [ 1.17479391e-02 9.74173219e-01 -2.25496176e-01 -4.35590165e+00] [ 1.89581578e-02 2.25254206e-01 9.74115563e-01 -1.89766236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.243133365 meters Centerline goodness : 0.126023 with order 1 Centerline is valid? [False, False] Translation: X:-32.24, Y:-4.36, Z:-1.90 [[ 9.99769061e-01 -1.54958939e-02 -1.48896725e-02 -3.22364143e+01] [ 1.17482104e-02 9.74265561e-01 -2.25096858e-01 -4.35826920e+00] [ 1.79945722e-02 2.24869947e-01 9.74222614e-01 -1.89716557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.303133365 meters Centerline goodness : 0.178971 with order 3 Centerline is valid? [False, False] Translation: X:-32.26, Y:-4.36, Z:-1.90 [[ 9.99845318e-01 -6.30215702e-03 -1.64202138e-02 -3.22555815e+01] [ 2.43875493e-03 9.74257224e-01 -2.25426072e-01 -4.35970590e+00] [ 1.74181824e-02 2.25351158e-01 9.74121893e-01 -1.89889938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.363133365 meters Centerline goodness : 0.219437 with order 3 Centerline is valid? [False, False] Translation: X:-32.25, Y:-4.36, Z:-1.90 [[ 9.99856825e-01 -2.38828835e-03 -1.67518912e-02 -3.22543990e+01] [-1.39467576e-03 9.74989736e-01 -2.22245516e-01 -4.35561918e+00] [ 1.68637084e-02 2.22237059e-01 9.74846811e-01 -1.89891307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.423133365 meters Centerline goodness : 0.108794 with order 1 Centerline is valid? [False, False] Translation: X:-32.28, Y:-4.35, Z:-1.90 [[ 9.99852667e-01 -7.86549598e-03 -1.52570449e-02 -3.22771588e+01] [ 4.31935179e-03 9.75524068e-01 -2.19850257e-01 -4.34760089e+00] [ 1.66128458e-02 2.19751965e-01 9.75414316e-01 -1.89776020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48313336499996 meters Centerline goodness : 0.123881 with order 1 Centerline is valid? [False, False] Translation: X:-32.28, Y:-4.35, Z:-1.90 [[ 9.99854412e-01 -7.83620427e-03 -1.51574595e-02 -3.22777698e+01] [ 4.31431170e-03 9.75546044e-01 -2.19752821e-01 -4.34765776e+00] [ 1.65088277e-02 2.19655434e-01 9.75437824e-01 -1.89721161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54313336499996 meters Centerline goodness : 0.109246 with order 1 Centerline is valid? [False, False] Translation: X:-32.28, Y:-4.35, Z:-1.90 [[ 9.99851110e-01 -1.05821164e-02 -1.36300049e-02 -3.22824665e+01] [ 7.29986167e-03 9.75116746e-01 -2.21571758e-01 -4.35360455e+00] [ 1.56355442e-02 2.21439271e-01 9.75048808e-01 -1.89673656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60313336499996 meters Centerline goodness : 0.249596 with order 3 Centerline is valid? [False, False] Translation: X:-32.28, Y:-4.36, Z:-1.90 [[ 9.99844003e-01 -1.05958062e-02 -1.41314617e-02 -3.22807627e+01] [ 7.21064176e-03 9.75233993e-01 -2.21058059e-01 -4.35700239e+00] [ 1.61237702e-02 2.20921678e-01 9.75158262e-01 -1.89823810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66313336499996 meters Centerline goodness : 0.108599 with order 1 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.36, Z:-1.90 [[ 9.99663136e-01 -1.83296115e-02 -1.83749860e-02 -3.22983989e+01] [ 1.38504236e-02 9.75496890e-01 -2.19576826e-01 -4.36157579e+00] [ 2.19494996e-02 2.19248357e-01 9.75422153e-01 -1.90096757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72313336499997 meters Centerline goodness : 0.108129 with order 1 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.36, Z:-1.90 [[ 9.99671730e-01 -1.81140851e-02 -1.81194023e-02 -3.22990947e+01] [ 1.37062968e-02 9.75601537e-01 -2.19120464e-01 -4.36366877e+00] [ 2.16464834e-02 2.18800184e-01 9.75529553e-01 -1.90118032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78313336499997 meters Centerline goodness : 0.120398 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.37, Z:-1.90 [[ 9.99788054e-01 -1.00738960e-02 -1.79544886e-02 -3.23188295e+01] [ 5.88136122e-03 9.75517772e-01 -2.19841956e-01 -4.36973158e+00] [ 1.97295877e-02 2.19689765e-01 9.75370263e-01 -1.90424201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84313336499997 meters Centerline goodness : 0.108534 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.37, Z:-1.90 [[ 9.99818317e-01 -6.10022253e-03 -1.80588093e-02 -3.23183168e+01] [ 2.05049792e-03 9.76329900e-01 -2.16276955e-01 -4.36831730e+00] [ 1.89506930e-02 2.16200631e-01 9.76165026e-01 -1.90455993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.903133365 meters Centerline goodness : 0.107984 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.37, Z:-1.90 [[ 9.99825272e-01 -6.12702534e-03 -1.76602779e-02 -3.23194023e+01] [ 2.15861399e-03 9.76280153e-01 -2.16500354e-01 -4.36724841e+00] [ 1.85678820e-02 2.16424404e-01 9.76122795e-01 -1.90414382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.963133365 meters Centerline goodness : 0.143790 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.37, Z:-1.90 [[ 9.99824456e-01 -6.15763869e-03 -1.76957791e-02 -3.23192667e+01] [ 2.17996282e-03 9.76270128e-01 -2.16545344e-01 -4.36703120e+00] [ 1.86092685e-02 2.16468754e-01 9.76112173e-01 -1.90425213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.023133365 meters Centerline goodness : 0.148187 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.37, Z:-1.91 [[ 9.99814471e-01 -6.21906652e-03 -1.82303618e-02 -3.23175635e+01] [ 2.12989242e-03 9.76334756e-01 -2.16254267e-01 -4.36903117e+00] [ 1.91438355e-02 2.16175317e-01 9.76166864e-01 -1.90536719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.083133365 meters Centerline goodness : 0.110402 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.37, Z:-1.91 [[ 9.99812772e-01 -6.24856963e-03 -1.83132818e-02 -3.23176673e+01] [ 2.14869624e-03 9.76423737e-01 -2.15851960e-01 -4.37205457e+00] [ 1.92302891e-02 2.15772197e-01 9.76254350e-01 -1.90542834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.143133365 meters Centerline goodness : 0.118238 with order 1 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.37, Z:-1.91 [[ 9.99696739e-01 -1.46284591e-02 -1.98100557e-02 -3.23368961e+01] [ 1.00413214e-02 9.76675438e-01 -2.14486038e-01 -4.37110177e+00] [ 2.24855951e-02 2.14222074e-01 9.76526140e-01 -1.90702959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.203133365 meters Centerline goodness : 0.105636 with order 1 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.37, Z:-1.91 [[ 9.99725781e-01 -1.13235970e-02 -2.04972704e-02 -3.23351244e+01] [ 6.73884928e-03 9.77401918e-01 -2.11281990e-01 -4.37079284e+00] [ 2.24265435e-02 2.11085925e-01 9.77210204e-01 -1.90735242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.263133365 meters Centerline goodness : 0.106366 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:-4.37, Z:-1.91 [[ 9.99718509e-01 -1.13647777e-02 -2.08265235e-02 -3.23344992e+01] [ 6.70831314e-03 9.77390394e-01 -2.11336265e-01 -4.37050535e+00] [ 2.27574337e-02 2.11137065e-01 9.77191506e-01 -1.90709703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.323133365 meters Centerline goodness : 0.262224 with order 2 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.38, Z:-1.91 [[ 9.99656688e-01 -1.22752688e-02 -2.31478745e-02 -3.23795691e+01] [ 7.10883130e-03 9.77393269e-01 -2.11309870e-01 -4.37576621e+00] [ 2.52184622e-02 2.11072771e-01 9.77144981e-01 -1.90807445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.383133365 meters Centerline goodness : 0.108109 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.38, Z:-1.91 [[ 9.99663550e-01 -1.21561057e-02 -2.29132037e-02 -3.23805071e+01] [ 7.05657069e-03 9.77517768e-01 -2.10734950e-01 -4.37883210e+00] [ 2.49597801e-02 2.10502359e-01 9.77274663e-01 -1.90795974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.443133365 meters Centerline goodness : 0.105730 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.38, Z:-1.91 [[ 9.99673130e-01 -1.20634434e-02 -2.25412188e-02 -3.23812329e+01] [ 7.06277483e-03 9.77675743e-01 -2.10000614e-01 -4.38317388e+00] [ 2.45713334e-02 2.09772768e-01 9.77441372e-01 -1.90882835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.503133365 meters Centerline goodness : 0.102753 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.39, Z:-1.91 [[ 9.99626612e-01 -1.52011623e-02 -2.27059842e-02 -3.23800346e+01] [ 1.00471346e-02 9.77236386e-01 -2.11915315e-01 -4.39258854e+00] [ 2.54104730e-02 2.11608058e-01 9.77024226e-01 -1.91145438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.563133365 meters Centerline goodness : 0.102821 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.40, Z:-1.91 [[ 9.99621368e-01 -1.48390709e-02 -2.31716029e-02 -3.23786668e+01] [ 9.62627613e-03 9.77500481e-01 -2.10713418e-01 -4.40093002e+00] [ 2.57770444e-02 2.10410579e-01 9.77273213e-01 -1.91335447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.623133365 meters Centerline goodness : 0.115322 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.41, Z:-1.92 [[ 9.99570375e-01 -1.81120516e-02 -2.30438595e-02 -3.23780316e+01] [ 1.27863855e-02 9.76922711e-01 -2.13210048e-01 -4.40679669e+00] [ 2.63737411e-02 2.12823800e-01 9.76734588e-01 -1.91553860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.683133365 meters Centerline goodness : 0.107733 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.42, Z:-1.92 [[ 9.99703854e-01 -9.56034926e-03 -2.23786424e-02 -3.23980906e+01] [ 4.59681961e-03 9.77230408e-01 -2.12131087e-01 -4.42034264e+00] [ 2.38971371e-02 2.11965395e-01 9.76984953e-01 -1.92024968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.743133365 meters Centerline goodness : 0.149985 with order 3 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.42, Z:-1.92 [[ 9.99704262e-01 -9.28100436e-03 -2.24777804e-02 -3.23975600e+01] [ 4.31710346e-03 9.77358885e-01 -2.11544257e-01 -4.42350711e+00] [ 2.39322015e-02 2.11384657e-01 9.77109910e-01 -1.92131847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.803133365 meters Centerline goodness : 0.120558 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.43, Z:-1.92 [[ 9.99695607e-01 -8.82824065e-03 -2.30381113e-02 -3.23956343e+01] [ 3.77120584e-03 9.77493335e-01 -2.10932590e-01 -4.42624479e+00] [ 2.43817639e-02 2.10781503e-01 9.77229087e-01 -1.92289330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.863133365 meters Centerline goodness : 0.128699 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.43, Z:-1.92 [[ 9.99722829e-01 -5.41415308e-03 -2.29118325e-02 -3.23959358e+01] [ 5.41157087e-04 9.78225161e-01 -2.07545760e-01 -4.42792411e+00] [ 2.35366155e-02 2.07475835e-01 9.77956955e-01 -1.92324961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.923133365 meters Centerline goodness : 0.117331 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.43, Z:-1.92 [[ 9.99730318e-01 -1.77525441e-03 -2.31546718e-02 -3.23957545e+01] [-2.98939445e-03 9.78940189e-01 -2.04125379e-01 -4.42831239e+00] [ 2.30294132e-02 2.04139548e-01 9.78670880e-01 -1.92287256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98313336499996 meters Centerline goodness : 0.126079 with order 1 Centerline is valid? [False, False] Translation: X:-32.39, Y:-4.42, Z:-1.92 [[ 9.99717851e-01 1.94355019e-03 -2.36736177e-02 -3.23940852e+01] [-6.66543086e-03 9.79556992e-01 -2.01056387e-01 -4.42495962e+00] [ 2.27988946e-02 2.01157454e-01 9.79293566e-01 -1.92298310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04313336499996 meters Centerline goodness : 0.334157 with order 3 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.42, Z:-1.92 [[ 9.99717886e-01 5.48422218e-03 -2.31100011e-02 -3.23967070e+01] [-9.95949356e-03 9.80100563e-01 -1.98251596e-01 -4.42080910e+00] [ 2.15628693e-02 1.98425830e-01 9.79878683e-01 -1.92044072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10313336499996 meters Centerline goodness : 0.117080 with order 1 Centerline is valid? [False, False] Translation: X:-32.42, Y:-4.41, Z:-1.92 [[ 9.99782818e-01 1.30910095e-03 -2.07991015e-02 -3.24159339e+01] [-5.33466665e-03 9.80849362e-01 -1.94694815e-01 -4.41121387e+00] [ 2.01459102e-02 1.94763487e-01 9.80643323e-01 -1.92116051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16313336499996 meters Centerline goodness : 0.212779 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-4.41, Z:-1.92 [[ 9.99763573e-01 4.57842229e-03 -2.12564462e-02 -3.24145992e+01] [-8.58232882e-03 9.81299759e-01 -1.92294375e-01 -4.40517329e+00] [ 1.99785407e-02 1.92431341e-01 9.81107047e-01 -1.92049416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22313336499997 meters Centerline goodness : 0.114204 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.39, Z:-1.92 [[ 9.99729169e-01 -1.04469463e-03 -2.32486175e-02 -3.24358851e+01] [-3.37944207e-03 9.81885823e-01 -1.89443421e-01 -4.39277016e+00] [ 2.30253985e-02 1.89470682e-01 9.81616367e-01 -1.91801786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28313336499997 meters Centerline goodness : 0.117266 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.39, Z:-1.92 [[ 9.99725874e-01 -1.63364693e-03 -2.33561131e-02 -3.24359618e+01] [-2.85034552e-03 9.81650679e-01 -1.90666776e-01 -4.38611375e+00] [ 2.32390265e-02 1.90681082e-01 9.81376927e-01 -1.91644763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34313336499997 meters Centerline goodness : 0.109545 with order 1 Centerline is valid? [False, False] Translation: X:-32.42, Y:-4.37, Z:-1.91 [[ 9.99647635e-01 -8.31703995e-03 -2.52077899e-02 -3.24192337e+01] [ 3.35110969e-03 9.81589689e-01 -1.90972386e-01 -4.36861218e+00] [ 2.63320316e-02 1.90820620e-01 9.81271683e-01 -1.91085269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.403133365 meters Centerline goodness : 0.113011 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.36, Z:-1.91 [[ 9.99528583e-01 -1.78710712e-02 -2.49646872e-02 -3.24410146e+01] [ 1.27731228e-02 9.81471172e-01 -1.91183645e-01 -4.36225797e+00] [ 2.79187774e-02 1.90774641e-01 9.81236759e-01 -1.91042396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.463133365 meters Centerline goodness : 0.103700 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.36, Z:-1.91 [[ 9.99015471e-01 -3.58866008e-02 -2.60814132e-02 -3.24393996e+01] [ 3.02744449e-02 9.81223132e-01 -1.90485229e-01 -4.35776356e+00] [ 3.24275533e-02 1.89508091e-01 9.81343537e-01 -1.90994076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.523133365 meters Centerline goodness : 0.102573 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.36, Z:-1.91 [[ 9.98885546e-01 -3.97313735e-02 -2.54771360e-02 -3.24406848e+01] [ 3.40652400e-02 9.80509554e-01 -1.93495669e-01 -4.36175994e+00] [ 3.26684240e-02 1.92412142e-01 9.80770280e-01 -1.91012944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.583133365 meters Centerline goodness : 0.105228 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.37, Z:-1.91 [[ 9.98733708e-01 -4.35233489e-02 -2.52329062e-02 -3.24408442e+01] [ 3.77388719e-02 9.79813654e-01 -1.96318572e-01 -4.36720573e+00] [ 3.32679877e-02 1.95117713e-01 9.80215445e-01 -1.91090990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.643133365 meters Centerline goodness : 0.105927 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-4.38, Z:-1.91 [[ 9.98636603e-01 -4.59858089e-02 -2.47030320e-02 -3.24417616e+01] [ 4.02256201e-02 9.79522155e-01 -1.97277081e-01 -4.37857943e+00] [ 3.32691134e-02 1.96014420e-01 9.80036486e-01 -1.91248735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.703133365 meters Centerline goodness : 0.187394 with order 3 Centerline is valid? [False, False] Translation: X:-32.46, Y:-4.39, Z:-1.92 [[ 9.98948041e-01 -4.02435816e-02 -2.19832801e-02 -3.24604120e+01] [ 3.51156878e-02 9.79639335e-01 -1.97670590e-01 -4.39266082e+00] [ 2.94906585e-02 1.96690691e-01 9.80021976e-01 -1.91694427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.763133365 meters Centerline goodness : 0.105614 with order 1 Centerline is valid? [False, False] Translation: X:-32.48, Y:-4.41, Z:-1.92 [[ 9.99149569e-01 -3.63823832e-02 -1.94025945e-02 -3.24787044e+01] [ 3.17851264e-02 9.79356764e-01 -1.99624735e-01 -4.40991818e+00] [ 2.62648858e-02 1.98838254e-01 9.79680307e-01 -1.92221958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.823133365 meters Centerline goodness : 0.103744 with order 1 Centerline is valid? [False, False] Translation: X:-32.48, Y:-4.42, Z:-1.92 [[ 9.99176665e-01 -3.57388757e-02 -1.92022251e-02 -3.24792418e+01] [ 3.12311624e-02 9.79658115e-01 -1.98228637e-01 -4.41736299e+00] [ 2.58960843e-02 1.97465721e-01 9.79967694e-01 -1.92329064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.883133365 meters Centerline goodness : 0.112155 with order 1 Centerline is valid? [False, False] Translation: X:-32.50, Y:-4.43, Z:-1.93 [[ 9.99409278e-01 -2.78640254e-02 -2.01169254e-02 -3.24966688e+01] [ 2.33262087e-02 9.79853289e-01 -1.98351759e-01 -4.42982663e+00] [ 2.52385139e-02 1.97765337e-01 9.79924430e-01 -1.92782682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.943133365 meters Centerline goodness : 0.102793 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.45, Z:-1.93 [[ 9.99553089e-01 -2.00151359e-02 -2.22039940e-02 -3.25141456e+01] [ 1.52183966e-02 9.80018206e-01 -1.98324777e-01 -4.44505026e+00] [ 2.57298158e-02 1.97898234e-01 9.79884823e-01 -1.93258511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.003133365 meters Centerline goodness : 0.114658 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-4.45, Z:-1.93 [[ 9.99575283e-01 -1.95356193e-02 -2.16243492e-02 -3.25158841e+01] [ 1.48983078e-02 9.80301287e-01 -1.96945238e-01 -4.45387430e+00] [ 2.50458245e-02 1.96539426e-01 9.80175985e-01 -1.93348451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.063133365 meters Centerline goodness : 0.444045 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-4.46, Z:-1.93 [[ 9.99511522e-01 -2.28718565e-02 -2.12977621e-02 -3.25167070e+01] [ 1.81767230e-02 9.79796032e-01 -1.99171639e-01 -4.46207469e+00] [ 2.54228879e-02 1.98687225e-01 9.79733159e-01 -1.93459116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.123133365 meters Centerline goodness : 0.100264 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-4.48, Z:-1.94 [[ 9.99451469e-01 -2.54864570e-02 -2.11471563e-02 -3.25167163e+01] [ 2.07588092e-02 9.79660601e-01 -1.99585014e-01 -4.47620189e+00] [ 2.58037507e-02 1.99036545e-01 9.79652295e-01 -1.93832802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.183133365 meters Centerline goodness : 0.119283 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-4.48, Z:-1.94 [[ 9.99462061e-01 -2.54503993e-02 -2.06848932e-02 -3.25179485e+01] [ 2.08373754e-02 9.79830701e-01 -1.98740035e-01 -4.48049692e+00] [ 2.53257066e-02 1.98202106e-01 9.79833932e-01 -1.93917225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.243133365 meters Centerline goodness : 0.094979 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-4.48, Z:-1.94 [[ 9.99460789e-01 -2.52994794e-02 -2.09300405e-02 -3.25173431e+01] [ 2.06480918e-02 9.79891388e-01 -1.98460384e-01 -4.48190318e+00] [ 2.55301108e-02 1.97921206e-01 9.79885406e-01 -1.93944247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.303133365 meters Centerline goodness : 0.094307 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.49, Z:-1.94 [[ 9.99628838e-01 -1.57971423e-02 -2.21953977e-02 -3.25331571e+01] [ 1.10647533e-02 9.79915643e-01 -1.99105258e-01 -4.48902624e+00] [ 2.48949115e-02 1.98785772e-01 9.79726727e-01 -1.94192138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.363133365 meters Centerline goodness : 0.121803 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.49, Z:-1.94 [[ 9.99633746e-01 -1.58385725e-02 -2.19434167e-02 -3.25339721e+01] [ 1.11551975e-02 9.79912298e-01 -1.99116675e-01 -4.48915549e+00] [ 2.46563477e-02 1.98798964e-01 9.79730083e-01 -1.94154885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.423133365 meters Centerline goodness : 0.121083 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.49, Z:-1.94 [[ 9.99605186e-01 -1.56495404e-02 -2.33358891e-02 -3.25299593e+01] [ 1.07097752e-02 9.80046254e-01 -1.98480831e-01 -4.49074333e+00] [ 2.59763845e-02 1.98152546e-01 9.79826921e-01 -1.94367681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48313336499996 meters Centerline goodness : 0.098331 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.50, Z:-1.95 [[ 9.99682500e-01 -8.04339578e-03 -2.38789182e-02 -3.25483177e+01] [ 3.12050163e-03 9.79906332e-01 -1.99433808e-01 -4.49826613e+00] [ 2.50032282e-02 1.99295974e-01 9.79620311e-01 -1.94614657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54313336499996 meters Centerline goodness : 0.109184 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.50, Z:-1.95 [[ 9.99682457e-01 -8.54956123e-03 -2.37042130e-02 -3.25493527e+01] [ 3.66294459e-03 9.79995938e-01 -1.98983777e-01 -4.50090618e+00] [ 2.49312564e-02 1.98833764e-01 9.79716064e-01 -1.94687186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60313336499996 meters Centerline goodness : 0.119930 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.50, Z:-1.95 [[ 9.99682755e-01 -9.41421757e-03 -2.33615266e-02 -3.25504616e+01] [ 4.59208656e-03 9.80099034e-01 -1.98456029e-01 -4.50457815e+00] [ 2.47649179e-02 1.98285792e-01 9.79831334e-01 -1.94877050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66313336499996 meters Centerline goodness : 0.111621 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.50, Z:-1.95 [[ 9.99583409e-01 -1.77326809e-02 -2.27719061e-02 -3.25305921e+01] [ 1.28874120e-02 9.80199802e-01 -1.97591150e-01 -4.50485283e+00] [ 2.58248387e-02 1.97215364e-01 9.80019988e-01 -1.94709077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72313336499997 meters Centerline goodness : 0.471964 with order 3 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.51, Z:-1.95 [[ 9.99577324e-01 -1.80491820e-02 -2.27903625e-02 -3.25303855e+01] [ 1.32217203e-02 9.80405226e-01 -1.96547140e-01 -4.50937418e+00] [ 2.58913056e-02 1.96162737e-01 9.80229474e-01 -1.94956943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78313336499997 meters Centerline goodness : 0.102256 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.51, Z:-1.95 [[ 9.99573606e-01 -1.83627771e-02 -2.27027573e-02 -3.25306387e+01] [ 1.35613668e-02 9.80513421e-01 -1.95983469e-01 -4.51258179e+00] [ 2.58591590e-02 1.95592022e-01 9.80344360e-01 -1.95085588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84313336499997 meters Centerline goodness : 0.094195 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.52, Z:-1.95 [[ 9.99721319e-01 -1.02910488e-02 -2.12456557e-02 -3.25148767e+01] [ 5.92769971e-03 9.80576870e-01 -1.96045568e-01 -4.52059729e+00] [ 2.28505130e-02 1.95864996e-01 9.80364604e-01 -1.95113474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.903133365 meters Centerline goodness : 0.118611 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.52, Z:-1.95 [[ 9.99713621e-01 -1.01810842e-02 -2.16569245e-02 -3.25137012e+01] [ 5.74303941e-03 9.80609954e-01 -1.95885515e-01 -4.52094600e+00] [ 2.32313227e-02 1.95705041e-01 9.80387598e-01 -1.95145846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.963133365 meters Centerline goodness : 0.232703 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.52, Z:-1.95 [[ 9.99652280e-01 -1.42125680e-02 -2.22108750e-02 -3.24933264e+01] [ 9.67790277e-03 9.81281092e-01 -1.92337614e-01 -4.51699212e+00] [ 2.45287230e-02 1.92055779e-01 9.81077428e-01 -1.94953506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.023133365 meters Centerline goodness : 0.088664 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.52, Z:-1.95 [[ 9.99733732e-01 -5.62419901e-03 -2.23793029e-02 -3.24740156e+01] [ 1.20224920e-03 9.81220473e-01 -1.92885817e-01 -4.51838155e+00] [ 2.30438584e-02 1.92807553e-01 9.80965967e-01 -1.94900342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.083133365 meters Centerline goodness : 0.115158 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.52, Z:-1.95 [[ 9.99730418e-01 -5.72708445e-03 -2.25009125e-02 -3.24737950e+01] [ 1.27599257e-03 9.81188946e-01 -1.93045654e-01 -4.51751230e+00] [ 2.31832354e-02 1.92964901e-01 9.80931743e-01 -1.94884875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.143133365 meters Centerline goodness : 0.102695 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.51, Z:-1.95 [[ 9.99673539e-01 -1.35301653e-02 -2.16737054e-02 -3.24539375e+01] [ 9.11406725e-03 9.81308982e-01 -1.92222826e-01 -4.51338548e+00] [ 2.38694084e-02 1.91962537e-01 9.81111938e-01 -1.94639986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.203133365 meters Centerline goodness : 0.223346 with order 3 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.51, Z:-1.95 [[ 9.99636775e-01 -1.50097585e-02 -2.23836002e-02 -3.24519733e+01] [ 1.04154063e-02 9.81181745e-01 -1.92805350e-01 -4.51253707e+00] [ 2.48563417e-02 1.92502184e-01 9.80981688e-01 -1.94634325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.263133365 meters Centerline goodness : 0.096164 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.51, Z:-1.95 [[ 9.99422235e-01 -2.43775405e-02 -2.36839811e-02 -3.24711430e+01] [ 1.93878873e-02 9.81235602e-01 -1.91835356e-01 -4.50931736e+00] [ 2.79160396e-02 1.91265338e-01 9.81141307e-01 -1.94667379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.323133365 meters Centerline goodness : 0.229096 with order 3 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.51, Z:-1.95 [[ 9.99424403e-01 -2.48754568e-02 -2.30667552e-02 -3.24727989e+01] [ 1.99980540e-02 9.81245632e-01 -1.91721382e-01 -4.51041458e+00] [ 2.74033097e-02 1.91149738e-01 9.81178290e-01 -1.94731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.383133365 meters Centerline goodness : 0.102983 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.51, Z:-1.95 [[ 9.99427098e-01 -2.50604002e-02 -2.27475586e-02 -3.24730717e+01] [ 2.02443628e-02 9.81266559e-01 -1.91588378e-01 -4.51052462e+00] [ 2.71226999e-02 1.91018107e-01 9.81211721e-01 -1.94854301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.443133365 meters Centerline goodness : 0.103585 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.51, Z:-1.95 [[ 9.99603762e-01 -1.63904517e-02 -2.28838877e-02 -3.24546516e+01] [ 1.17039639e-02 9.81390103e-01 -1.91667639e-01 -4.51308092e+00] [ 2.55995401e-02 1.91323860e-01 9.81193072e-01 -1.94822536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.503133365 meters Centerline goodness : 0.101059 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.51, Z:-1.95 [[ 9.99655189e-01 -1.27861971e-02 -2.29350322e-02 -3.24545814e+01] [ 8.22697590e-03 9.81969507e-01 -1.88860277e-01 -4.50816986e+00] [ 2.49363070e-02 1.88606470e-01 9.81736105e-01 -1.94732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.563133365 meters Centerline goodness : 0.096710 with order 1 Centerline is valid? [False, False] Translation: X:-32.46, Y:-4.50, Z:-1.95 [[ 9.99696253e-01 -9.34150250e-03 -2.28065286e-02 -3.24551228e+01] [ 4.93859184e-03 9.82542964e-01 -1.85970249e-01 -4.50445529e+00] [ 2.41456358e-02 1.85801129e-01 9.82290654e-01 -1.94642502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.623133365 meters Centerline goodness : 0.183595 with order 3 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.50, Z:-1.95 [[ 9.99707130e-01 -5.86604401e-03 -2.34785868e-02 -3.24533918e+01] [ 1.45909627e-03 9.83022874e-01 -1.83477248e-01 -4.49591577e+00] [ 2.41562735e-02 1.83389256e-01 9.82743535e-01 -1.94522403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.683133365 meters Centerline goodness : 0.101891 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.49, Z:-1.94 [[ 9.99712024e-01 -2.56935725e-03 -2.38593267e-02 -3.24523601e+01] [-1.78715571e-03 9.83519131e-01 -1.80795255e-01 -4.49074222e+00] [ 2.39306319e-02 1.80785831e-01 9.83231310e-01 -1.94456939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.743133365 meters Centerline goodness : 0.247471 with order 3 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.47, Z:-1.94 [[ 9.99754447e-01 -8.83443837e-03 -2.03223626e-02 -3.24724383e+01] [ 5.01466214e-03 9.83498563e-01 -1.80846427e-01 -4.47471705e+00] [ 2.15846910e-02 1.80700110e-01 9.83301363e-01 -1.94235228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.803133365 meters Centerline goodness : 0.253307 with order 3 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.47, Z:-1.94 [[ 9.99751228e-01 -9.28594252e-03 -2.02794009e-02 -3.24724109e+01] [ 5.45077246e-03 9.83363720e-01 -1.81565645e-01 -4.47043574e+00] [ 2.16280353e-02 1.81409938e-01 9.83169702e-01 -1.94174946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.863133365 meters Centerline goodness : 0.208223 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.46, Z:-1.94 [[ 9.99618700e-01 -1.82363987e-02 -2.07337507e-02 -3.24909654e+01] [ 1.41878198e-02 9.83395232e-01 -1.80921317e-01 -4.46180354e+00] [ 2.36888249e-02 1.80558165e-01 9.83278998e-01 -1.94228710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.923133365 meters Centerline goodness : 0.206748 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.46, Z:-1.94 [[ 9.99601205e-01 -1.88715679e-02 -2.10070063e-02 -3.24897520e+01] [ 1.47490821e-02 9.83279808e-01 -1.81502846e-01 -4.45891627e+00] [ 2.40810084e-02 1.81120629e-01 9.83166020e-01 -1.94348299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98313336499996 meters Centerline goodness : 0.167955 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.45, Z:-1.94 [[ 9.99655112e-01 -1.60574600e-02 -2.07801760e-02 -3.24905690e+01] [ 1.20752099e-02 9.83727108e-01 -1.79262841e-01 -4.45449744e+00] [ 2.33205284e-02 1.78950090e-01 9.83581729e-01 -1.94268538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04313336499996 meters Centerline goodness : 0.109446 with order 1 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.45, Z:-1.94 [[ 9.99713995e-01 -1.25042121e-02 -2.03856249e-02 -3.24918674e+01] [ 8.71433873e-03 9.84281771e-01 -1.76390064e-01 -4.44999561e+00] [ 2.22708177e-02 1.76161969e-01 9.84109227e-01 -1.94140130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10313336499996 meters Centerline goodness : 0.493029 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.44, Z:-1.94 [[ 9.99743393e-01 -9.51482405e-03 -2.05576132e-02 -3.24899338e+01] [ 5.78233658e-03 9.84636037e-01 -1.74523463e-01 -4.44065229e+00] [ 2.19023269e-02 1.74359808e-01 9.84438391e-01 -1.94168392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16313336499996 meters Centerline goodness : 0.451994 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.43, Z:-1.94 [[ 9.99639469e-01 -1.74259663e-02 -2.04271148e-02 -3.25091014e+01] [ 1.36208274e-02 9.84739528e-01 -1.73500820e-01 -4.43201302e+00] [ 2.31388069e-02 1.73160034e-01 9.84621856e-01 -1.94178793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22313336499997 meters Centerline goodness : 0.452688 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.43, Z:-1.94 [[ 9.99757568e-01 -8.90178490e-03 -2.01386070e-02 -3.24910607e+01] [ 5.26805255e-03 9.84772427e-01 -1.73768569e-01 -4.43057611e+00] [ 2.13787953e-02 1.73620350e-01 9.84580581e-01 -1.94111145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28313336499997 meters SLAMing on 302.34313336499997 meters Centerline goodness : 0.089896 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.42, Z:-1.94 [[ 9.99591899e-01 -1.80335833e-02 -2.21545566e-02 -3.25067933e+01] [ 1.39306111e-02 9.84807838e-01 -1.73088013e-01 -4.41808281e+00] [ 2.49393781e-02 1.72708749e-01 9.84657156e-01 -1.94094833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.403133365 meters Centerline goodness : 0.460095 with order 3 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.41, Z:-1.94 [[ 9.99612328e-01 -1.93936876e-02 -1.99769703e-02 -3.25129957e+01] [ 1.56048772e-02 9.84465877e-01 -1.74881175e-01 -4.41286332e+00] [ 2.30582365e-02 1.74501640e-01 9.84386863e-01 -1.93851946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.463133365 meters Centerline goodness : 0.452566 with order 2 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.41, Z:-1.94 [[ 9.99610096e-01 -1.96162695e-02 -1.98710300e-02 -3.25130258e+01] [ 1.58333730e-02 9.84392125e-01 -1.75275351e-01 -4.41077092e+00] [ 2.29991340e-02 1.74892385e-01 9.84318898e-01 -1.93869795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.523133365 meters Centerline goodness : 0.456541 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.41, Z:-1.94 [[ 9.99412571e-01 -2.80648578e-02 -1.96691920e-02 -3.24924204e+01] [ 2.42007340e-02 9.84308449e-01 -1.74789021e-01 -4.40665380e+00] [ 2.42659809e-02 1.74210336e-01 9.84409428e-01 -1.93683184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.583133365 meters Centerline goodness : 0.093877 with order 1 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.41, Z:-1.94 [[ 9.99407198e-01 -2.84589234e-02 -1.93737605e-02 -3.24928405e+01] [ 2.46406672e-02 9.84299952e-01 -1.74775403e-01 -4.40656388e+00] [ 2.40435114e-02 1.74194414e-01 9.84417704e-01 -1.93799250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.643133365 meters Centerline goodness : 0.099168 with order 1 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.41, Z:-1.94 [[ 9.99407492e-01 -2.84893078e-02 -1.93138398e-02 -3.24926730e+01] [ 2.46830468e-02 9.84313546e-01 -1.74692847e-01 -4.40655018e+00] [ 2.39877525e-02 1.74112615e-01 9.84433535e-01 -1.93871026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.703133365 meters Centerline goodness : 0.093536 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.41, Z:-1.94 [[ 9.99575730e-01 -1.97952478e-02 -2.13660712e-02 -3.24711756e+01] [ 1.57725789e-02 9.84568119e-01 -1.74289546e-01 -4.40983945e+00] [ 2.44864573e-02 1.73878602e-01 9.84462617e-01 -1.93862755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.763133365 meters Centerline goodness : 0.455665 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.41, Z:-1.94 [[ 9.99626854e-01 -1.64855971e-02 -2.17802124e-02 -3.24700104e+01] [ 1.25164695e-02 9.85154486e-01 -1.71213247e-01 -4.40880991e+00] [ 2.42794266e-02 1.70876748e-01 9.84993222e-01 -1.93895433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.823133365 meters Centerline goodness : 0.169288 with order 3 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.41, Z:-1.94 [[ 9.99628530e-01 -1.64858347e-02 -2.17029699e-02 -3.24703293e+01] [ 1.25244478e-02 9.85115731e-01 -1.71435510e-01 -4.40740933e+00] [ 2.42061945e-02 1.71100009e-01 9.84956267e-01 -1.93846229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.883133365 meters Centerline goodness : 0.460289 with order 3 Centerline is valid? [False, False] Translation: X:-32.50, Y:-4.41, Z:-1.94 [[ 9.99766810e-01 -7.24192434e-03 -2.03440518e-02 -3.24957303e+01] [ 3.64559253e-03 9.85170664e-01 -1.71538543e-01 -4.40648379e+00] [ 2.12846322e-02 1.71424375e-01 9.84967333e-01 -1.93739217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.943133365 meters Centerline goodness : 0.452303 with order 2 Centerline is valid? [False, False] Translation: X:-32.50, Y:-4.40, Z:-1.94 [[ 9.99782389e-01 -3.81997203e-03 -2.05081215e-02 -3.24956637e+01] [ 3.06077490e-04 9.85671514e-01 -1.68675943e-01 -4.40346513e+00] [ 2.08586085e-02 1.68632960e-01 9.85458189e-01 -1.93645765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.003133365 meters Centerline goodness : 0.450652 with order 2 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.40, Z:-1.94 [[ 9.99785675e-01 -1.36721678e-04 -2.07023190e-02 -3.24947909e+01] [-3.29740361e-03 9.86161340e-01 -1.65755659e-01 -4.39841992e+00] [ 2.04384891e-02 1.65788397e-01 9.85949530e-01 -1.93606533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.063133365 meters Centerline goodness : 0.098360 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.38, Z:-1.93 [[ 9.99813081e-01 -4.35838621e-03 -1.88363350e-02 -3.25135167e+01] [ 1.22585215e-03 9.86590239e-01 -1.63212126e-01 -4.38481352e+00] [ 1.92950857e-02 1.63158528e-01 9.86411169e-01 -1.93489512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.123133365 meters SLAMing on 303.183133365 meters Centerline goodness : 0.104580 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.36, Z:-1.93 [[ 9.99680918e-01 -1.72729119e-02 -1.84312114e-02 -3.25550359e+01] [ 1.40688639e-02 9.86746099e-01 -1.61660763e-01 -4.36186097e+00] [ 2.09792780e-02 1.61349873e-01 9.86674256e-01 -1.93082454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.243133365 meters Centerline goodness : 0.104804 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.36, Z:-1.93 [[ 9.99729256e-01 -1.42498651e-02 -1.83944840e-02 -3.25551544e+01] [ 1.11445699e-02 9.87204665e-01 -1.59068377e-01 -4.35733406e+00] [ 2.04258233e-02 1.58820311e-01 9.87096193e-01 -1.93021200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.303133365 meters Centerline goodness : 0.103830 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.35, Z:-1.93 [[ 9.99735631e-01 -1.39554291e-02 -1.82732974e-02 -3.25560530e+01] [ 1.08573349e-02 9.87084002e-01 -1.59835202e-01 -4.34637177e+00] [ 2.02678483e-02 1.59594547e-01 9.86974566e-01 -1.92749466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.363133365 meters Centerline goodness : 0.103156 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.34, Z:-1.93 [[ 9.99780300e-01 -1.10340922e-02 -1.78213319e-02 -3.25576193e+01] [ 8.09038008e-03 9.87481386e-01 -1.57527959e-01 -4.34120155e+00] [ 1.93364115e-02 1.57349169e-01 9.87353707e-01 -1.92602771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.423133365 meters Centerline goodness : 0.102471 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.33, Z:-1.93 [[ 9.99772634e-01 -9.00282414e-03 -1.93295173e-02 -3.25531636e+01] [ 5.87057677e-03 9.87680182e-01 -1.56375813e-01 -4.33227620e+00] [ 2.04992051e-02 1.56226783e-01 9.87508468e-01 -1.92573921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48313336499996 meters Centerline goodness : 0.159269 with order 3 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.33, Z:-1.93 [[ 9.99762507e-01 -9.40885284e-03 -1.96571463e-02 -3.25524897e+01] [ 6.20377180e-03 9.87552678e-01 -1.57166219e-01 -4.32900876e+00] [ 2.08912213e-02 1.57006945e-01 9.87376512e-01 -1.92501845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54313336499996 meters Centerline goodness : 0.105410 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.33, Z:-1.92 [[ 9.99804433e-01 -7.25678102e-03 -1.83965952e-02 -3.25575440e+01] [ 4.30919000e-03 9.87831144e-01 -1.55470455e-01 -4.32515013e+00] [ 1.93009447e-02 1.55360776e-01 9.87669227e-01 -1.92192789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60313336499996 meters Centerline goodness : 0.105933 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.32, Z:-1.92 [[ 9.99807045e-01 -7.55003875e-03 -1.81347599e-02 -3.25586311e+01] [ 4.62210957e-03 9.87686664e-01 -1.56376753e-01 -4.32027891e+00] [ 1.90921110e-02 1.56262759e-01 9.87530983e-01 -1.92030333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66313336499996 meters Centerline goodness : 0.109796 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.31, Z:-1.92 [[ 9.99663963e-01 -1.53436662e-02 -2.08933638e-02 -3.25767813e+01] [ 1.19157120e-02 9.87795778e-01 -1.55298157e-01 -4.31436484e+00] [ 2.30212196e-02 1.54997012e-01 9.87646673e-01 -1.92053838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72313336499997 meters Centerline goodness : 0.082275 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.31, Z:-1.92 [[ 9.99653391e-01 -1.53328256e-02 -2.14009845e-02 -3.25753520e+01] [ 1.18287651e-02 9.87813206e-01 -1.55193912e-01 -4.31470266e+00] [ 2.35197363e-02 1.54886973e-01 9.87652190e-01 -1.92101546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78313336499997 meters Centerline goodness : 0.108819 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.31, Z:-1.92 [[ 9.99653411e-01 -1.53796624e-02 -2.13663988e-02 -3.25759960e+01] [ 1.18781098e-02 9.87797438e-01 -1.55290474e-01 -4.31449423e+00] [ 2.34939891e-02 1.54982860e-01 9.87637760e-01 -1.92007111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84313336499997 meters Centerline goodness : 0.454112 with order 2 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.31, Z:-1.92 [[ 9.99713081e-01 -1.16542454e-02 -2.09268673e-02 -3.25773696e+01] [ 8.34304936e-03 9.88366398e-01 -1.51862624e-01 -4.31330496e+00] [ 2.24532567e-02 1.51644458e-01 9.88180049e-01 -1.91943509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.903133365 meters Centerline goodness : 0.250943 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.31, Z:-1.92 [[ 9.99803974e-01 -2.32074214e-03 -1.96628644e-02 -3.25575585e+01] [-7.03031801e-04 9.88319368e-01 -1.52395314e-01 -4.31058716e+00] [ 1.97868600e-02 1.52379264e-01 9.88124000e-01 -1.91814751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.963133365 meters Centerline goodness : 0.098330 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.31, Z:-1.92 [[ 9.99808886e-01 1.36023721e-03 -1.95023583e-02 -3.25581372e+01] [-4.25839436e-03 9.88775737e-01 -1.49346603e-01 -4.30679280e+00] [ 1.90803119e-02 1.49401110e-01 9.88592560e-01 -1.91720885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.023133365 meters Centerline goodness : 0.106817 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.31, Z:-1.92 [[ 9.99800446e-01 4.61155208e-03 -1.94371454e-02 -3.25578982e+01] [-7.40804932e-03 9.89203764e-01 -1.46359267e-01 -4.30502987e+00] [ 1.85523540e-02 1.46474051e-01 9.89040526e-01 -1.91742629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.083133365 meters Centerline goodness : 0.107822 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.30, Z:-1.92 [[ 9.99767748e-01 6.14623310e-03 -2.06560745e-02 -3.25528524e+01] [-9.08520232e-03 9.89338390e-01 -1.45351330e-01 -4.29943884e+00] [ 1.95424843e-02 1.45505237e-01 9.89164454e-01 -1.91911416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.143133365 meters Centerline goodness : 0.107156 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.29, Z:-1.92 [[ 9.99781221e-01 -1.60068095e-03 -2.08554180e-02 -3.25715165e+01] [-1.44148928e-03 9.89424343e-01 -1.45042723e-01 -4.28661852e+00] [ 2.08670254e-02 1.45041053e-01 9.89205570e-01 -1.91834841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.203133365 meters Centerline goodness : 0.115945 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.28, Z:-1.92 [[ 9.99786958e-01 -1.92760737e-03 -2.05504863e-02 -3.25723369e+01] [-1.08549580e-03 9.89341684e-01 -1.45608567e-01 -4.28439313e+00] [ 2.06121289e-02 1.45599854e-01 9.89128820e-01 -1.91778227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.263133365 meters Centerline goodness : 0.155093 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.28, Z:-1.92 [[ 9.99790721e-01 -2.24828582e-03 -2.03337229e-02 -3.25729259e+01] [-7.48216419e-04 9.89259082e-01 -1.46170822e-01 -4.28149087e+00] [ 2.04439538e-02 1.46155446e-01 9.89050368e-01 -1.91716781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.323133365 meters Centerline goodness : 0.119417 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.28, Z:-1.92 [[ 9.99781986e-01 -2.37362173e-03 -2.07447793e-02 -3.25715068e+01] [-6.87714483e-04 9.89235228e-01 -1.46332469e-01 -4.28041992e+00] [ 2.08688044e-02 1.46314833e-01 9.89017928e-01 -1.91778605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.383133365 meters Centerline goodness : 0.111965 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.28, Z:-1.92 [[ 9.99770685e-01 -2.60813866e-03 -2.12550186e-02 -3.25698757e+01] [-5.33257399e-04 9.89215500e-01 -1.46466411e-01 -4.28021134e+00] [ 2.14077986e-02 1.46444159e-01 9.88987267e-01 -1.91858531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.443133365 meters Centerline goodness : 0.153340 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.28, Z:-1.92 [[ 9.99786631e-01 -2.65820252e-03 -2.04847730e-02 -3.25722774e+01] [-3.70186588e-04 9.89220455e-01 -1.46433446e-01 -4.28043422e+00] [ 2.06532062e-02 1.46409785e-01 9.89008402e-01 -1.91763068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.503133365 meters Centerline goodness : 0.116730 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.28, Z:-1.92 [[ 9.99788895e-01 -2.86556350e-03 -2.03458464e-02 -3.25725256e+01] [-1.43324508e-04 9.89230090e-01 -1.46368740e-01 -4.28202059e+00] [ 2.05461524e-02 1.46340757e-01 9.89020848e-01 -1.91808359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.563133365 meters Centerline goodness : 0.200096 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.29, Z:-1.92 [[ 9.99799148e-01 -2.70749563e-03 -1.98578292e-02 -3.25737371e+01] [-2.17061197e-04 9.89311809e-01 -1.45815284e-01 -4.28500839e+00] [ 2.00403792e-02 1.45790307e-01 9.89112516e-01 -1.91847106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.623133365 meters Centerline goodness : 0.109954 with order 1 Centerline is valid? [False, False] Translation: X:-32.60, Y:-4.28, Z:-1.92 [[ 9.99789513e-01 -8.01131114e-03 -1.88877898e-02 -3.25969545e+01] [ 5.23388629e-03 9.89743946e-01 -1.42756887e-01 -4.28114778e+00] [ 1.98377455e-02 1.42627982e-01 9.89577548e-01 -1.91809905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.683133365 meters Centerline goodness : 0.112936 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.28, Z:-1.92 [[ 9.99724365e-01 -1.26160516e-02 -1.97997293e-02 -3.25757158e+01] [ 9.73535740e-03 9.90191491e-01 -1.39377305e-01 -4.27571935e+00] [ 2.13639147e-02 1.39146130e-01 9.90041382e-01 -1.91617425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.743133365 meters Centerline goodness : 0.109047 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.27, Z:-1.92 [[ 9.99762190e-01 -9.42155669e-03 -1.96671757e-02 -3.25759751e+01] [ 6.65043519e-03 9.90619469e-01 -1.36487509e-01 -4.27394388e+00] [ 2.07686119e-02 1.36324256e-01 9.90446547e-01 -1.91610486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.803133365 meters Centerline goodness : 0.310673 with order 3 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.27, Z:-1.92 [[ 9.99762914e-01 -9.50868130e-03 -1.95882736e-02 -3.25760242e+01] [ 6.74312523e-03 9.90589828e-01 -1.36697929e-01 -4.27267680e+00] [ 2.07037616e-02 1.36533434e-01 9.90419091e-01 -1.91618138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.863133365 meters Centerline goodness : 0.181855 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.27, Z:-1.92 [[ 9.99751401e-01 -9.70440126e-03 -2.00738844e-02 -3.25743135e+01] [ 6.85972147e-03 9.90518018e-01 -1.37211518e-01 -4.26983240e+00] [ 2.12150998e-02 1.37039706e-01 9.90338345e-01 -1.91659220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.923133365 meters Centerline goodness : 0.146141 with order 3 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.26, Z:-1.91 [[ 9.99781618e-01 -7.63828319e-03 -1.94518276e-02 -3.25774294e+01] [ 4.92516798e-03 9.90712123e-01 -1.35886838e-01 -4.26495132e+00] [ 2.03091036e-02 1.35761359e-01 9.90533388e-01 -1.91408015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98313336499996 meters Centerline goodness : 0.118694 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.26, Z:-1.91 [[ 9.99810590e-01 -3.71355768e-03 -1.91047917e-02 -3.25786872e+01] [ 1.13888134e-03 9.91108802e-01 -1.33049034e-01 -4.25695389e+00] [ 1.94290125e-02 1.33002075e-01 9.90925306e-01 -1.91224912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04313336499996 meters Centerline goodness : 0.124796 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.25, Z:-1.91 [[ 9.99809526e-01 -3.95460012e-03 -1.91121068e-02 -3.25787160e+01] [ 1.35770291e-03 9.90977204e-01 -1.34023648e-01 -4.25168354e+00] [ 1.94696720e-02 1.33972171e-01 9.90793818e-01 -1.91141851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10313336499996 meters Centerline goodness : 0.122256 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.25, Z:-1.91 [[ 9.99825345e-01 -1.54881589e-03 -1.86247337e-02 -3.25805528e+01] [-9.27025003e-04 9.91223375e-01 -1.32194405e-01 -4.24645021e+00] [ 1.86660162e-02 1.32188583e-01 9.91048817e-01 -1.90993964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16313336499996 meters Centerline goodness : 0.115133 with order 3 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.23, Z:-1.91 [[ 9.99699465e-01 -1.25981438e-02 -2.10301095e-02 -3.25780125e+01] [ 9.82997548e-03 9.91867154e-01 -1.26897285e-01 -4.23307418e+00] [ 2.24577451e-02 1.26652422e-01 9.91692903e-01 -1.90854180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22313336499997 meters Centerline goodness : 0.160703 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.23, Z:-1.91 [[ 9.99698543e-01 -1.30934210e-02 -2.07698210e-02 -3.25784614e+01] [ 1.03395847e-02 9.91777607e-01 -1.27554975e-01 -4.23081188e+00] [ 2.22691744e-02 1.27301771e-01 9.91614009e-01 -1.90842467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28313336499997 meters Centerline goodness : 0.109904 with order 2 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.23, Z:-1.91 [[ 9.99528119e-01 -2.32475698e-02 -2.00771206e-02 -3.25574990e+01] [ 2.04945579e-02 9.91581077e-01 -1.27855157e-01 -4.22798175e+00] [ 2.28804145e-02 1.27383353e-01 9.91589617e-01 -1.90754469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34313336499997 meters Centerline goodness : 0.113065 with order 2 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.23, Z:-1.91 [[ 9.99509335e-01 -2.43765756e-02 -1.96690641e-02 -3.25585446e+01] [ 2.16571929e-02 9.91503209e-01 -1.28266726e-01 -4.22992617e+00] [ 2.26286437e-02 1.27777813e-01 9.91544641e-01 -1.90767729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.403133365 meters Centerline goodness : 0.112939 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.23, Z:-1.91 [[ 9.99519744e-01 -2.45406847e-02 -1.89218404e-02 -3.25605859e+01] [ 2.19188837e-02 9.91517196e-01 -1.28114065e-01 -4.23145768e+00] [ 2.19053370e-02 1.27637791e-01 9.91578918e-01 -1.90731696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.463133365 meters Centerline goodness : 0.114208 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.23, Z:-1.91 [[ 9.99518464e-01 -2.44752041e-02 -1.90736429e-02 -3.25599360e+01] [ 2.18438582e-02 9.91572903e-01 -1.27695043e-01 -4.23384962e+00] [ 2.20382697e-02 1.27216911e-01 9.91630058e-01 -1.90814002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.523133365 meters Centerline goodness : 0.130498 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.24, Z:-1.91 [[ 9.99519295e-01 -2.44041023e-02 -1.91211609e-02 -3.25598673e+01] [ 2.17736712e-02 9.91611416e-01 -1.27407638e-01 -4.23583053e+00] [ 2.20700305e-02 1.26930055e-01 9.91666111e-01 -1.90839558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.583133365 meters Centerline goodness : 0.117826 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.24, Z:-1.91 [[ 9.99526336e-01 -2.42130894e-02 -1.89955461e-02 -3.25603491e+01] [ 2.16085831e-02 9.91664146e-01 -1.27024761e-01 -4.23762386e+00] [ 2.19128639e-02 1.26554127e-01 9.91717641e-01 -1.90832282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.643133365 meters Centerline goodness : 0.147912 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.24, Z:-1.91 [[ 9.99523277e-01 -2.39693332e-02 -1.94599311e-02 -3.25591313e+01] [ 2.13180824e-02 9.91727957e-01 -1.26574871e-01 -4.23971074e+00] [ 2.23328729e-02 1.26099681e-01 9.91766159e-01 -1.90887577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.703133365 meters Centerline goodness : 0.111685 with order 2 Centerline is valid? [False, False] Translation: X:-32.54, Y:-4.25, Z:-1.91 [[ 9.99655315e-01 -1.60090757e-02 -2.08077199e-02 -3.25388671e+01] [ 1.32458996e-02 9.91847205e-01 -1.26742528e-01 -4.24668661e+00] [ 2.26671096e-02 1.26423225e-01 9.91717384e-01 -1.90804597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.763133365 meters Centerline goodness : 0.153247 with order 3 Centerline is valid? [False, False] Translation: X:-32.54, Y:-4.25, Z:-1.91 [[ 9.99659517e-01 -1.58163815e-02 -2.07531090e-02 -3.25391029e+01] [ 1.30688191e-02 9.91889905e-01 -1.26426348e-01 -4.24794722e+00] [ 2.25844067e-02 1.26112084e-01 9.91758885e-01 -1.90809922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.823133365 meters Centerline goodness : 0.111303 with order 2 Centerline is valid? [False, False] Translation: X:-32.52, Y:-4.26, Z:-1.91 [[ 9.99765364e-01 -7.82354894e-03 -2.01992481e-02 -3.25198307e+01] [ 5.19468413e-03 9.91881121e-01 -1.27062414e-01 -4.25617558e+00] [ 2.10293318e-02 1.26927672e-01 9.91689031e-01 -1.90792393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.883133365 meters Centerline goodness : 0.118115 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.26, Z:-1.91 [[ 9.99765160e-01 -5.59617900e-03 -2.09357913e-02 -3.25685025e+01] [ 2.90972197e-03 9.91998922e-01 -1.26212802e-01 -4.25540555e+00] [ 2.14745918e-02 1.26122245e-01 9.91782245e-01 -1.90604502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.943133365 meters Centerline goodness : 0.176230 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.26, Z:-1.91 [[ 9.99770513e-01 -5.27354003e-03 -2.07632184e-02 -3.25692410e+01] [ 2.61954992e-03 9.92048229e-01 -1.25831036e-01 -4.25671797e+00] [ 2.12616891e-02 1.25747769e-01 9.91834381e-01 -1.90566357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.003133365 meters Centerline goodness : 0.125087 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.26, Z:-1.91 [[ 9.99770720e-01 -4.98638519e-03 -2.08241004e-02 -3.25688521e+01] [ 2.33256754e-03 9.92082090e-01 -1.25569444e-01 -4.25750649e+00] [ 2.12853547e-02 1.25492080e-01 9.91866257e-01 -1.90615368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.063133365 meters Centerline goodness : 0.109952 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.26, Z:-1.91 [[ 9.99788223e-01 -1.08286330e-03 -2.05508202e-02 -3.25694639e+01] [-1.43023537e-03 9.92543885e-01 -1.21879409e-01 -4.25778951e+00] [ 2.05295697e-02 1.21882991e-01 9.92332139e-01 -1.90632390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.123133365 meters Centerline goodness : 0.097467 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.26, Z:-1.91 [[ 9.99803711e-01 2.44631056e-03 -1.96609787e-02 -3.25721920e+01] [-4.76747796e-03 9.92895266e-01 -1.18896013e-01 -4.25641446e+00] [ 1.92304361e-02 1.18966408e-01 9.92712035e-01 -1.90536850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.183133365 meters Centerline goodness : 0.120748 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.25, Z:-1.91 [[ 9.99801571e-01 -2.17171263e-03 -1.98015854e-02 -3.25927628e+01] [-1.27392457e-04 9.93322177e-01 -1.15373464e-01 -4.25288728e+00] [ 1.99199119e-02 1.15353093e-01 9.93124796e-01 -1.90596675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.243133365 meters Centerline goodness : 0.112458 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.25, Z:-1.91 [[ 9.99795065e-01 -2.08709849e-03 -2.01363275e-02 -3.25916632e+01] [-2.46611232e-04 9.93341952e-01 -1.15202893e-01 -4.25363506e+00] [ 2.02426987e-02 1.15184250e-01 9.93137866e-01 -1.90668038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.303133365 meters Centerline goodness : 0.106787 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.26, Z:-1.91 [[ 9.99788353e-01 -1.74239423e-03 -2.04991256e-02 -3.25906478e+01] [-6.20923466e-04 9.93397546e-01 -1.14721098e-01 -4.25512295e+00] [ 2.05636704e-02 1.14709546e-01 9.93186214e-01 -1.90726320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.363133365 meters Centerline goodness : 0.112302 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.25, Z:-1.91 [[ 9.99789902e-01 2.14640932e-03 -2.03848930e-02 -3.25907690e+01] [-4.40693051e-03 9.93754190e-01 -1.11504209e-01 -4.25209935e+00] [ 2.00182392e-02 1.11570617e-01 9.93554864e-01 -1.90712810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.423133365 meters Centerline goodness : 0.224659 with order 3 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.25, Z:-1.91 [[ 9.99769836e-01 6.14148941e-03 -2.05561882e-02 -3.25901109e+01] [-8.33119477e-03 9.94094902e-01 -1.08193887e-01 -4.24850421e+00] [ 1.97703303e-02 1.08340243e-01 9.93917263e-01 -1.90714395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48313336499996 meters Centerline goodness : 0.100037 with order 1 Centerline is valid? [False, False] Translation: X:-32.61, Y:-4.24, Z:-1.91 [[ 9.99825914e-01 2.49192515e-03 -1.84914161e-02 -3.26067631e+01] [-4.42881764e-03 9.94414048e-01 -1.05456567e-01 -4.23643350e+00] [ 1.81253341e-02 1.05520104e-01 9.94251970e-01 -1.90825409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54313336499996 meters Centerline goodness : 0.239751 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99854603e-01 3.58465777e-03 -1.66710071e-02 -3.25653415e+01] [-5.32744394e-03 9.94383674e-01 -1.05701124e-01 -4.23102617e+00] [ 1.61984749e-02 1.05774569e-01 9.94258191e-01 -1.90645034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60313336499996 meters Centerline goodness : 0.109434 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99840721e-01 7.40846542e-03 -1.62371998e-02 -3.25666581e+01] [-9.03043374e-03 9.94721663e-01 -1.02211857e-01 -4.22984186e+00] [ 1.53942614e-02 1.02342206e-01 9.94630127e-01 -1.90582082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66313336499996 meters Centerline goodness : 0.154882 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99841595e-01 7.17272168e-03 -1.62891841e-02 -3.25662361e+01] [-8.81425139e-03 9.94637126e-01 -1.03049967e-01 -4.22658452e+00] [ 1.54626785e-02 1.03177220e-01 9.94542793e-01 -1.90635117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72313336499997 meters Centerline goodness : 0.098194 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99841298e-01 7.28311694e-03 -1.62584073e-02 -3.25665550e+01] [-8.92354892e-03 9.94618407e-01 -1.03221092e-01 -4.22541565e+00] [ 1.54191399e-02 1.03349793e-01 9.94525550e-01 -1.90618026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78313336499997 meters Centerline goodness : 0.100525 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99845178e-01 7.39082989e-03 -1.59685845e-02 -3.25673892e+01] [-8.99994467e-03 9.94623137e-01 -1.03168873e-01 -4.22664220e+00] [ 1.51202200e-02 1.03296616e-01 9.94535665e-01 -1.90605491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84313336499997 meters Centerline goodness : 0.099189 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99827055e-01 8.00090328e-03 -1.67882322e-02 -3.25652023e+01] [-9.68470245e-03 9.94660985e-01 -1.02741085e-01 -4.22768892e+00] [ 1.58765781e-02 1.02885906e-01 9.94566451e-01 -1.90672962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.903133365 meters Centerline goodness : 0.100294 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99842561e-01 8.40457563e-03 -1.56274253e-02 -3.25682431e+01] [-9.96479966e-03 9.94672402e-01 -1.02603683e-01 -4.22763034e+00] [ 1.46818282e-02 1.02743253e-01 9.94599552e-01 -1.90660448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.963133365 meters Centerline goodness : 0.103733 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.23, Z:-1.91 [[ 9.99851150e-01 8.74686163e-03 -1.48718185e-02 -3.25702020e+01] [-1.02267129e-02 9.94676766e-01 -1.02535586e-01 -4.22782422e+00] [ 1.38957877e-02 1.02672414e-01 9.94618159e-01 -1.90622012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.023133365 meters Centerline goodness : 0.109335 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.23, Z:-1.91 [[ 9.99804216e-01 1.14330998e-02 -1.61497224e-02 -3.25647485e+01] [-1.29984741e-02 9.94861314e-01 -1.00409187e-01 -4.22587886e+00] [ 1.49187458e-02 1.00599450e-01 9.94815150e-01 -1.90896681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.083133365 meters Centerline goodness : 0.108020 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.23, Z:-1.91 [[ 9.99797351e-01 1.16110662e-02 -1.64450344e-02 -3.25636768e+01] [-1.32053152e-02 9.94858341e-01 -1.00411658e-01 -4.22547010e+00] [ 1.51945932e-02 1.00608471e-01 9.94810062e-01 -1.90965041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.143133365 meters Centerline goodness : 0.249688 with order 3 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.23, Z:-1.91 [[ 9.99839934e-01 3.78986135e-03 -1.74854910e-02 -3.25836477e+01] [-5.50455394e-03 9.95063926e-01 -9.90832080e-02 -4.22520896e+00] [ 1.70236697e-02 9.91635980e-02 9.94925513e-01 -1.91063861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.203133365 meters Centerline goodness : 0.268217 with order 3 Centerline is valid? [False, False] Translation: X:-32.63, Y:-4.23, Z:-1.91 [[ 9.99793935e-01 2.95532308e-03 -2.00836854e-02 -3.26282518e+01] [-4.94491313e-03 9.95000247e-01 -9.97499671e-02 -4.23150317e+00] [ 1.96884785e-02 9.98287242e-02 9.94809826e-01 -1.91080970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.263133365 meters Centerline goodness : 0.097357 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.23, Z:-1.91 [[ 9.99765148e-01 -4.94118941e-03 -2.11005590e-02 -3.26481044e+01] [ 2.84481315e-03 9.95157755e-01 -9.82494307e-02 -4.23352120e+00] [ 2.14838540e-02 9.81663294e-02 9.94938096e-01 -1.91226965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.323133365 meters Centerline goodness : 0.100024 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.24, Z:-1.91 [[ 9.99769424e-01 -4.56737912e-03 -2.09818684e-02 -3.26482665e+01] [ 2.50861603e-03 9.95269624e-01 -9.71189058e-02 -4.24058710e+00] [ 2.13261952e-02 9.70438770e-02 9.95051596e-01 -1.91294761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.383133365 meters Centerline goodness : 0.093236 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.25, Z:-1.91 [[ 9.99754786e-01 -4.79750026e-03 -2.16183337e-02 -3.26460900e+01] [ 2.69143349e-03 9.95337464e-01 -9.64162299e-02 -4.25117541e+00] [ 2.19800943e-02 9.63344030e-02 9.95106305e-01 -1.91483271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.443133365 meters Centerline goodness : 0.518540 with order 3 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.26, Z:-1.92 [[ 9.99754098e-01 -4.34557481e-03 -2.17453493e-02 -3.26453915e+01] [ 2.25083392e-03 9.95432335e-01 -9.54431778e-02 -4.25599632e+00] [ 2.20607793e-02 9.53707629e-02 9.95197337e-01 -1.91580819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.503133365 meters Centerline goodness : 0.094619 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.26, Z:-1.92 [[ 9.99766465e-01 -3.90799614e-03 -2.12542576e-02 -3.26469938e+01] [ 1.88359697e-03 9.95528276e-01 -9.44452456e-02 -4.26116856e+00] [ 2.15283060e-02 9.43831549e-02 9.95303146e-01 -1.91557557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.563133365 meters Centerline goodness : 0.095842 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.27, Z:-1.92 [[ 9.99777313e-01 -3.32469067e-03 -2.08391780e-02 -3.26483703e+01] [ 1.36790129e-03 9.95644660e-01 -9.32193121e-02 -4.26863569e+00] [ 2.10583417e-02 9.31700474e-02 9.95427490e-01 -1.91563818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.623133365 meters Centerline goodness : 0.242418 with order 3 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.27, Z:-1.92 [[ 9.99777617e-01 -2.91069735e-03 -2.08864708e-02 -3.26477611e+01] [ 9.71247924e-04 9.95733321e-01 -9.22724773e-02 -4.27323667e+00] [ 2.10659322e-02 9.22316715e-02 9.95514714e-01 -1.91678475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.683133365 meters Centerline goodness : 0.093263 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.28, Z:-1.92 [[ 9.99780951e-01 -2.32053947e-03 -2.08005863e-02 -3.26480906e+01] [ 4.23622039e-04 9.95874563e-01 -9.07396052e-02 -4.28354313e+00] [ 2.09253396e-02 9.07109172e-02 9.95657401e-01 -1.91741285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.743133365 meters Centerline goodness : 0.225047 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.29, Z:-1.92 [[ 9.99785677e-01 -1.91960290e-03 -2.06134638e-02 -3.26487000e+01] [ 6.46861404e-05 9.95976776e-01 -8.96117046e-02 -4.29007084e+00] [ 2.07025501e-02 8.95911653e-02 9.95763440e-01 -1.91762048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.803133365 meters Centerline goodness : 0.388267 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.30, Z:-1.92 [[ 9.99783588e-01 -1.48567771e-03 -2.07501951e-02 -3.26483563e+01] [-3.56350542e-04 9.96077265e-01 -8.84870334e-02 -4.29636276e+00] [ 2.08002608e-02 8.84752781e-02 9.95861172e-01 -1.91811879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.863133365 meters Centerline goodness : 0.450563 with order 2 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.30, Z:-1.92 [[ 9.99778171e-01 -1.02445549e-03 -2.10370934e-02 -3.26471960e+01] [-8.17926493e-04 9.96174466e-01 -8.73828634e-02 -4.30214532e+00] [ 2.10461351e-02 8.73806861e-02 9.95952647e-01 -1.91925699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.923133365 meters Centerline goodness : 0.453918 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.31, Z:-1.92 [[ 9.99778960e-01 -5.55817894e-04 -2.10171834e-02 -3.26472982e+01] [-1.26001685e-03 9.96269636e-01 -8.62857210e-02 -4.30814807e+00] [ 2.09867408e-02 8.62931304e-02 9.96048720e-01 -1.91961731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98313336499996 meters Centerline goodness : 0.260982 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.32, Z:-1.92 [[ 9.99773053e-01 6.57376587e-05 -2.13034619e-02 -3.26463966e+01] [-1.87587977e-03 9.96382549e-01 -8.49605666e-02 -4.31637000e+00] [ 2.12208125e-02 8.49812478e-02 9.96156546e-01 -1.92057111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04313336499996 meters Centerline goodness : 0.092520 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.32, Z:-1.92 [[ 9.99713197e-01 -7.56749137e-03 -2.27212708e-02 -3.26654144e+01] [ 5.65645924e-03 9.96531510e-01 -8.30238180e-02 -4.31795711e+00] [ 2.32707443e-02 8.28714846e-02 9.96288507e-01 -1.92206591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10313336499996 meters Centerline goodness : 0.090743 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.32, Z:-1.92 [[ 9.99711966e-01 -7.24070377e-03 -2.28813727e-02 -3.26647859e+01] [ 5.33165214e-03 9.96583541e-01 -8.24185593e-02 -4.32067615e+00] [ 2.33999678e-02 8.22728244e-02 9.96335096e-01 -1.92266614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16313336499996 meters Centerline goodness : 0.098702 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.33, Z:-1.92 [[ 9.99700515e-01 -6.80282859e-03 -2.35074851e-02 -3.26632423e+01] [ 4.86463403e-03 9.96657799e-01 -8.15448789e-02 -4.32510760e+00] [ 2.39836542e-02 8.14061021e-02 9.96392408e-01 -1.92315478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22313336499997 meters Centerline goodness : 0.134581 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.33, Z:-1.92 [[ 9.99709089e-01 -6.45951457e-03 -2.32381488e-02 -3.26639090e+01] [ 4.56506788e-03 9.96730297e-01 -8.06714011e-02 -4.32937609e+00] [ 2.36832651e-02 8.05418491e-02 9.96469826e-01 -1.92332440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28313336499997 meters Centerline goodness : 0.090319 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.33, Z:-1.92 [[ 9.99720420e-01 -6.38557021e-03 -2.27663449e-02 -3.26650960e+01] [ 4.54709528e-03 9.96791708e-01 -7.99100356e-02 -4.33445389e+00] [ 2.32035750e-02 7.97841736e-02 9.96542061e-01 -1.92335471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34313336499997 meters Centerline goodness : 0.106116 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.34, Z:-1.92 [[ 9.99700824e-01 -7.21674453e-03 -2.33705018e-02 -3.26632246e+01] [ 5.33453627e-03 9.96810912e-01 -7.96212850e-02 -4.34443716e+00] [ 2.38705776e-02 7.94727935e-02 9.96551188e-01 -1.92458253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.403133365 meters Centerline goodness : 0.163537 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.35, Z:-1.93 [[ 9.99691114e-01 -7.07000404e-03 -2.38262933e-02 -3.26617031e+01] [ 5.16931436e-03 9.96868300e-01 -7.89105238e-02 -4.34886711e+00] [ 2.43095742e-02 7.87629838e-02 9.96596928e-01 -1.92546859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.463133365 meters Centerline goodness : 0.143503 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.35, Z:-1.93 [[ 9.99687049e-01 -6.75471440e-03 -2.40868670e-02 -3.26606429e+01] [ 4.85679077e-03 9.96941501e-01 -7.80003591e-02 -4.35386363e+00] [ 2.45400675e-02 7.78589640e-02 9.96662313e-01 -1.92640856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.523133365 meters Centerline goodness : 0.118829 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.35, Z:-1.93 [[ 9.99675551e-01 -6.61870276e-03 -2.45964529e-02 -3.26589567e+01] [ 4.68709673e-03 9.96959869e-01 -7.77756468e-02 -4.35486399e+00] [ 2.50364503e-02 7.76351266e-02 9.96667429e-01 -1.92731150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.583133365 meters Centerline goodness : 0.108412 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.36, Z:-1.93 [[ 9.99685005e-01 -2.77041832e-03 -2.49442656e-02 -3.26582442e+01] [ 9.16832960e-04 9.97256635e-01 -7.40159650e-02 -4.35536339e+00] [ 2.50808896e-02 7.39697806e-02 9.96945044e-01 -1.92728580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.643133365 meters Centerline goodness : 0.109934 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.35, Z:-1.93 [[ 9.99718830e-01 -2.50085763e-03 -2.35797975e-02 -3.26621935e+01] [ 7.46639371e-04 9.97249632e-01 -7.41121680e-02 -4.35363928e+00] [ 2.37002884e-02 7.40737242e-02 9.96971103e-01 -1.92595071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.703133365 meters Centerline goodness : 0.119493 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.35, Z:-1.93 [[ 9.99707069e-01 -2.63917851e-03 -2.40584864e-02 -3.26610953e+01] [ 8.40060134e-04 9.97221670e-01 -7.44864790e-02 -4.35175065e+00] [ 2.41882271e-02 7.44444491e-02 9.96931770e-01 -1.92592624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.763133365 meters Centerline goodness : 0.117759 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.35, Z:-1.93 [[ 9.99695091e-01 -2.68770575e-03 -2.45459066e-02 -3.26601125e+01] [ 8.58166062e-04 9.97239748e-01 -7.42438499e-02 -4.35348225e+00] [ 2.46776993e-02 7.42001478e-02 9.96937987e-01 -1.92579417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.823133365 meters Centerline goodness : 0.108385 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.36, Z:-1.92 [[ 9.99705599e-01 -3.24348352e-03 -2.40456793e-02 -3.26619130e+01] [ 1.45310872e-03 9.97249459e-01 -7.41040102e-02 -4.35701481e+00] [ 2.42198958e-02 7.40472529e-02 9.96960581e-01 -1.92485772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.883133365 meters Centerline goodness : 0.466013 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.36, Z:-1.92 [[ 9.99720741e-01 -3.58679656e-03 -2.33575494e-02 -3.26641730e+01] [ 1.85753430e-03 9.97283202e-01 -7.36394202e-02 -4.36238453e+00] [ 2.35582212e-02 7.35754683e-02 9.97011364e-01 -1.92401545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.943133365 meters Centerline goodness : 0.269650 with order 3 Centerline is valid? [False, False] Translation: X:-32.64, Y:-4.37, Z:-1.92 [[ 9.99680910e-01 -1.20054681e-02 -2.22249343e-02 -3.26433729e+01] [ 1.03618214e-02 9.97303857e-01 -7.26474366e-02 -4.36670483e+00] [ 2.30371792e-02 7.23939647e-02 9.97110025e-01 -1.92337386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.003133365 meters Centerline goodness : 0.113898 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99730176e-01 -3.71014603e-03 -2.29305309e-02 -3.26624612e+01] [ 2.03283176e-03 9.97348678e-01 -7.27425801e-02 -4.37711217e+00] [ 2.31396203e-02 7.26763385e-02 9.97087111e-01 -1.92569892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.063133365 meters Centerline goodness : 0.225527 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99731484e-01 -2.03397183e-04 -2.31714963e-02 -3.26620141e+01] [-1.40032134e-03 9.97603657e-01 -6.91735695e-02 -4.37960050e+00] [ 2.31300391e-02 6.91874428e-02 9.97335500e-01 -1.92571508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.123133365 meters Centerline goodness : 0.178196 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99727309e-01 -1.71736092e-04 -2.33511879e-02 -3.26611929e+01] [-1.44301117e-03 9.97607580e-01 -6.91160939e-02 -4.38043366e+00] [ 2.33071918e-02 6.91309426e-02 9.97335293e-01 -1.92637140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.183133365 meters Centerline goodness : 0.205317 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99725098e-01 3.86343321e-03 -2.31258038e-02 -3.26622759e+01] [-5.36328777e-03 9.97861075e-01 -6.51498988e-02 -4.38140759e+00] [ 2.28246372e-02 6.52560192e-02 9.97607482e-01 -1.92572712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.243133365 meters Centerline goodness : 0.113100 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99729176e-01 3.83130355e-03 -2.29542019e-02 -3.26626566e+01] [-5.32130750e-03 9.97857581e-01 -6.52068442e-02 -4.38127039e+00] [ 2.26551971e-02 6.53113310e-02 9.97607725e-01 -1.92578784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.303133365 meters Centerline goodness : 0.114877 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99726205e-01 3.80640198e-03 -2.30873827e-02 -3.26621630e+01] [-5.30562109e-03 9.97856331e-01 -6.52272343e-02 -4.38122922e+00] [ 2.27896099e-02 6.53318683e-02 9.97603318e-01 -1.92613335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.363133365 meters Centerline goodness : 0.120236 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.38, Z:-1.93 [[ 9.99730879e-01 3.77184101e-03 -2.28897834e-02 -3.26630475e+01] [-5.25619197e-03 9.97862410e-01 -6.51381902e-02 -4.38173904e+00] [ 2.25951635e-02 6.52409732e-02 9.97613690e-01 -1.92551465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.423133365 meters Centerline goodness : 0.121704 with order 1 Centerline is valid? [False, False] Translation: X:-32.68, Y:-4.38, Z:-1.93 [[ 9.99696511e-01 -4.64384250e-03 -2.41933958e-02 -3.26817134e+01] [ 3.09101496e-03 9.97955975e-01 -6.38303738e-02 -4.37793814e+00] [ 2.44403621e-02 6.37362198e-02 9.97667461e-01 -1.92700648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48313336499996 meters Centerline goodness : 0.129763 with order 3 Centerline is valid? [False, False] Translation: X:-32.68, Y:-4.38, Z:-1.93 [[ 9.99688573e-01 -4.62043257e-03 -2.45236511e-02 -3.26805494e+01] [ 3.04255940e-03 9.97945743e-01 -6.39924759e-02 -4.37641475e+00] [ 2.47689461e-02 6.38979322e-02 9.97649013e-01 -1.92756578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54313336499996 meters Centerline goodness : 0.124645 with order 1 Centerline is valid? [False, False] Translation: X:-32.73, Y:-4.38, Z:-1.93 [[ 9.99642417e-01 -5.76314615e-03 -2.61117775e-02 -3.27283177e+01] [ 4.06302010e-03 9.97896430e-01 -6.47009086e-02 -4.37536973e+00] [ 2.64297304e-02 6.45716800e-02 9.97563014e-01 -1.92616274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60313336499996 meters Centerline goodness : 0.119071 with order 1 Centerline is valid? [False, False] Translation: X:-32.73, Y:-4.37, Z:-1.93 [[ 9.99649739e-01 -5.87675195e-03 -2.58043362e-02 -3.27293226e+01] [ 4.18419285e-03 9.97865873e-01 -6.51628052e-02 -4.37250274e+00] [ 2.61322121e-02 6.50320109e-02 9.97540949e-01 -1.92564811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66313336499996 meters Centerline goodness : 0.121093 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.37, Z:-1.93 [[ 9.99563583e-01 -1.45939932e-02 -2.56838245e-02 -3.27499119e+01] [ 1.29068828e-02 9.97823226e-01 -6.46700945e-02 -4.36636732e+00] [ 2.65717115e-02 6.43103733e-02 9.97576122e-01 -1.92670028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72313336499997 meters Centerline goodness : 0.120089 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.36, Z:-1.93 [[ 9.99571564e-01 -1.46433034e-02 -2.53428977e-02 -3.27513587e+01] [ 1.29726676e-02 9.97809095e-01 -6.48746528e-02 -4.36472221e+00] [ 2.62373530e-02 6.45180931e-02 9.97571560e-01 -1.92571212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78313336499997 meters Centerline goodness : 0.183469 with order 3 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.36, Z:-1.93 [[ 9.99576051e-01 -1.45834541e-02 -2.52000184e-02 -3.27518735e+01] [ 1.29249055e-02 9.97816562e-01 -6.47692413e-02 -4.36497585e+00] [ 2.60895550e-02 6.44160746e-02 9.97582029e-01 -1.92542741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84313336499997 meters Centerline goodness : 0.122604 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.37, Z:-1.93 [[ 9.99579632e-01 -1.45899570e-02 -2.50537913e-02 -3.27523495e+01] [ 1.29447278e-02 9.97826042e-01 -6.46190735e-02 -4.36609235e+00] [ 2.59421149e-02 6.42675952e-02 9.97595451e-01 -1.92524323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.903133365 meters Centerline goodness : 0.119228 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.37, Z:-1.93 [[ 9.99568409e-01 -1.43840686e-02 -2.56143265e-02 -3.27505742e+01] [ 1.27159382e-02 9.97860057e-01 -6.41374417e-02 -4.36834399e+00] [ 2.64820707e-02 6.37840504e-02 9.97612297e-01 -1.92605391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.963133365 meters Centerline goodness : 0.126424 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.37, Z:-1.93 [[ 9.99555178e-01 -1.43888961e-02 -2.61228957e-02 -3.27491199e+01] [ 1.26904581e-02 9.97865510e-01 -6.40576005e-02 -4.36936526e+00] [ 2.69888548e-02 6.36975947e-02 9.97604239e-01 -1.92648568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.023133365 meters Centerline goodness : 0.106988 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.37, Z:-1.93 [[ 9.99558361e-01 -1.42326744e-02 -2.60866728e-02 -3.27495781e+01] [ 1.25410555e-02 9.97877479e-01 -6.39003830e-02 -4.36974922e+00] [ 2.69407766e-02 6.35450077e-02 9.97615270e-01 -1.92598744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.083133365 meters Centerline goodness : 0.117421 with order 1 Centerline is valid? [False, False] Translation: X:-32.77, Y:-4.38, Z:-1.93 [[ 9.99646773e-01 -7.07968654e-03 -2.56165282e-02 -3.27675380e+01] [ 5.41554662e-03 9.97905637e-01 -6.44593752e-02 -4.38042137e+00] [ 2.60192301e-02 6.42978789e-02 9.97591491e-01 -1.92896497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.143133365 meters Centerline goodness : 0.266785 with order 3 Centerline is valid? [False, False] Translation: X:-32.77, Y:-4.39, Z:-1.93 [[ 9.99624833e-01 -7.23485776e-03 -2.64168688e-02 -3.27657443e+01] [ 5.53375443e-03 9.97940381e-01 -6.39091021e-02 -4.38557047e+00] [ 2.68248333e-02 6.37389410e-02 9.97606022e-01 -1.92911439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.203133365 meters Centerline goodness : 0.132673 with order 1 Centerline is valid? [False, False] Translation: X:-32.77, Y:-4.39, Z:-1.93 [[ 9.99594018e-01 -1.05047072e-02 -2.64849243e-02 -3.27651712e+01] [ 8.73631918e-03 9.97779859e-01 -6.60229530e-02 -4.39415573e+00] [ 2.71196758e-02 6.57647681e-02 9.97466550e-01 -1.92980190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.263133365 meters Centerline goodness : 0.218850 with order 3 Centerline is valid? [False, False] Translation: X:-32.76, Y:-4.40, Z:-1.93 [[ 9.99594920e-01 -1.01762193e-02 -2.65789330e-02 -3.27649563e+01] [ 8.42293382e-03 9.97832500e-01 -6.52637363e-02 -4.39782555e+00] [ 2.71854612e-02 6.50134267e-02 9.97514012e-01 -1.92991670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.323133365 meters Centerline goodness : 0.214328 with order 3 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.40, Z:-1.93 [[ 9.99665022e-01 -1.56946744e-03 -2.58337204e-02 -3.27868952e+01] [-1.16559924e-04 9.97876515e-01 -6.51340784e-02 -4.40405707e+00] [ 2.58810887e-02 6.51152711e-02 9.97542065e-01 -1.93148161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.383133365 meters Centerline goodness : 0.125662 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.40, Z:-1.93 [[ 9.99663523e-01 2.22648024e-03 -2.58434626e-02 -3.27874543e+01] [-3.81564385e-03 9.98093222e-01 -6.16064940e-02 -4.40388925e+00] [ 2.56570193e-02 6.16843743e-02 9.97765882e-01 -1.93079514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.443133365 meters Centerline goodness : 0.126656 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.40, Z:-1.93 [[ 9.99668945e-01 2.25042700e-03 -2.56307497e-02 -3.27881345e+01] [-3.82840696e-03 9.98088369e-01 -6.16842875e-02 -4.40329970e+00] [ 2.54429372e-02 6.17619916e-02 9.97766563e-01 -1.93055868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.503133365 meters Centerline goodness : 0.125662 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.40, Z:-1.93 [[ 9.99670660e-01 2.23632763e-03 -2.55650343e-02 -3.27882076e+01] [-3.81188553e-03 9.98084501e-01 -6.17478604e-02 -4.40286075e+00] [ 2.53779761e-02 6.18249753e-02 9.97764316e-01 -1.93066635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.563133365 meters Centerline goodness : 0.121778 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.40, Z:-1.93 [[ 9.99667898e-01 2.07057389e-03 -2.56867034e-02 -3.27883276e+01] [-3.65832034e-03 9.98074416e-01 -6.19199183e-02 -4.40225172e+00] [ 2.55090317e-02 6.19933248e-02 9.97750528e-01 -1.93008913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.623133365 meters Centerline goodness : 0.123858 with order 1 Centerline is valid? [False, False] Translation: X:-32.81, Y:-4.40, Z:-1.93 [[ 9.99615394e-01 -6.68950283e-03 -2.69130987e-02 -3.28078910e+01] [ 5.04460377e-03 9.98141540e-01 -6.07290556e-02 -4.40021027e+00] [ 2.72693290e-02 6.05699330e-02 9.97791394e-01 -1.93116240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.683133365 meters Centerline goodness : 0.124806 with order 1 Centerline is valid? [False, False] Translation: X:-32.81, Y:-4.40, Z:-1.93 [[ 9.99605121e-01 -6.90875461e-03 -2.72373306e-02 -3.28072116e+01] [ 5.24592948e-03 9.98145004e-01 -6.06550235e-02 -4.40195832e+00] [ 2.76058561e-02 6.04881870e-02 9.97787100e-01 -1.93112617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.743133365 meters Centerline goodness : 0.230269 with order 3 Centerline is valid? [False, False] Translation: X:-32.81, Y:-4.41, Z:-1.93 [[ 9.99606555e-01 -7.08118486e-03 -2.71402227e-02 -3.28073490e+01] [ 5.44345192e-03 9.98186589e-01 -5.99491592e-02 -4.40765511e+00] [ 2.75155175e-02 5.97778360e-02 9.97832404e-01 -1.93134729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.803133365 meters Centerline goodness : 0.453978 with order 3 Centerline is valid? [False, False] Translation: X:-32.81, Y:-4.41, Z:-1.93 [[ 9.99621761e-01 -9.30538702e-03 -2.58794396e-02 -3.28120976e+01] [ 7.70453967e-03 9.98090636e-01 -6.12839446e-02 -4.41473482e+00] [ 2.64002972e-02 6.10613754e-02 9.97784813e-01 -1.92939582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.863133365 meters Centerline goodness : 0.094207 with order 1 Centerline is valid? [False, False] Translation: X:-32.81, Y:-4.42, Z:-1.93 [[ 9.99612311e-01 -8.88928437e-03 -2.63857419e-02 -3.28108068e+01] [ 7.28875773e-03 9.98162921e-01 -6.01469573e-02 -4.42132539e+00] [ 2.68719326e-02 5.99313197e-02 9.97840737e-01 -1.92980899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.923133365 meters Centerline goodness : 0.124253 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.44, Z:-1.93 [[ 9.99600224e-01 -1.59271406e-03 -2.82286221e-02 -3.28270818e+01] [-1.15557173e-04 9.98173588e-01 -6.04108862e-02 -4.43876018e+00] [ 2.82732823e-02 6.03899974e-02 9.97774358e-01 -1.93359884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98313336499996 meters Centerline goodness : 0.455823 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.45, Z:-1.93 [[ 9.99597920e-01 -1.07681841e-03 -2.83344197e-02 -3.28271433e+01] [-6.02235453e-04 9.98246952e-01 -5.91832839e-02 -4.44620013e+00] [ 2.83484778e-02 5.91765514e-02 9.97844928e-01 -1.93347661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04313336499996 meters Centerline goodness : 0.124037 with order 3 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.46, Z:-1.93 [[ 9.99595807e-01 -6.11354661e-04 -2.84226942e-02 -3.28266761e+01] [-1.03865570e-03 9.98315951e-01 -5.80015738e-02 -4.45584183e+00] [ 2.84102885e-02 5.80076514e-02 9.97911804e-01 -1.93419801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10313336499996 meters Centerline goodness : 0.323132 with order 3 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.46, Z:-1.93 [[ 9.99594119e-01 -2.05600749e-04 -2.84877925e-02 -3.28261600e+01] [-1.43256460e-03 9.98346104e-01 -5.74717700e-02 -4.45781983e+00] [ 2.84524929e-02 5.74892539e-02 9.97940600e-01 -1.93483637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16313336499996 meters Centerline goodness : 0.146116 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.46, Z:-1.93 [[ 9.99586613e-01 3.65436735e-03 -2.85175100e-02 -3.28262891e+01] [-5.18696284e-03 9.98535307e-01 -5.38547650e-02 -4.45771376e+00] [ 2.82789356e-02 5.39804214e-02 9.98141481e-01 -1.93456959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22313336499997 meters Centerline goodness : 0.097664 with order 3 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.46, Z:-1.93 [[ 9.99615582e-01 3.78799183e-03 -2.74652518e-02 -3.28294863e+01] [-5.27118805e-03 9.98519820e-01 -5.41330115e-02 -4.45557397e+00] [ 2.72195429e-02 5.42569763e-02 9.98155938e-01 -1.93341147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28313336499997 meters Centerline goodness : 0.132824 with order 3 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.45, Z:-1.93 [[ 9.99616975e-01 3.64915809e-03 -2.74333224e-02 -3.28298081e+01] [-5.13760427e-03 9.98506892e-01 -5.43837496e-02 -4.45446703e+00] [ 2.71939066e-02 5.45038608e-02 9.98143186e-01 -1.93303765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34313336499997 meters Centerline goodness : 0.100055 with order 1 Centerline is valid? [False, False] Translation: X:-32.84, Y:-4.45, Z:-1.93 [[ 9.99515841e-01 -1.03013475e-02 -2.93592479e-02 -3.28353207e+01] [ 8.80264664e-03 9.98673773e-01 -5.07268046e-02 -4.45365021e+00] [ 2.98428653e-02 5.04438057e-02 9.98280935e-01 -1.92982331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.403133365 meters Centerline goodness : 0.126183 with order 1 Centerline is valid? [False, False] Translation: X:-32.84, Y:-4.46, Z:-1.93 [[ 9.99525789e-01 -1.02511352e-02 -2.90363793e-02 -3.28365279e+01] [ 8.78250541e-03 9.98697425e-01 -5.02625216e-02 -4.45592023e+00] [ 2.95138052e-02 4.99836744e-02 9.98313862e-01 -1.92911135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.463133365 meters Centerline goodness : 0.450963 with order 3 Centerline is valid? [False, False] Translation: X:-32.84, Y:-4.46, Z:-1.93 [[ 9.99516708e-01 -1.02785212e-02 -2.93377330e-02 -3.28357061e+01] [ 8.80423539e-03 9.98713095e-01 -4.99463733e-02 -4.45842676e+00] [ 2.98133530e-02 4.96639383e-02 9.98320919e-01 -1.92933267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.523133365 meters Centerline goodness : 0.418995 with order 3 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.46, Z:-1.93 [[ 9.99503641e-01 -9.90179603e-03 -2.99069566e-02 -3.28339974e+01] [ 8.42657922e-03 9.98760466e-01 -4.90563392e-02 -4.46261974e+00] [ 3.03556317e-02 4.87799763e-02 9.98348160e-01 -1.93002744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.583133365 meters Centerline goodness : 0.091200 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.47, Z:-1.93 [[ 9.99564797e-01 -2.80475399e-03 -2.93657967e-02 -3.28527494e+01] [ 1.34503682e-03 9.98767745e-01 -4.96103126e-02 -4.47251385e+00] [ 2.94687552e-02 4.95492240e-02 9.98336850e-01 -1.93244796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.643133365 meters Centerline goodness : 0.242632 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.47, Z:-1.93 [[ 9.99562807e-01 -2.72010060e-03 -2.94413912e-02 -3.28526885e+01] [ 1.26304736e-03 9.98778481e-01 -4.93958583e-02 -4.47379156e+00] [ 2.95397896e-02 4.93370769e-02 9.98345258e-01 -1.93233686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.703133365 meters Centerline goodness : 0.286282 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.48, Z:-1.93 [[ 9.99559104e-01 1.45579180e-03 -2.96559968e-02 -3.28521916e+01] [-2.78865487e-03 9.98985234e-01 -4.49524882e-02 -4.47826901e+00] [ 2.95604615e-02 4.50153691e-02 9.98548845e-01 -1.93246586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.763133365 meters Centerline goodness : 0.161934 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.48, Z:-1.93 [[ 9.99543697e-01 1.48628322e-03 -3.01693281e-02 -3.28505737e+01] [-2.84101663e-03 9.98986940e-01 -4.49112666e-02 -4.47887989e+00] [ 3.00720139e-02 4.49764850e-02 9.98535322e-01 -1.93310453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.823133365 meters Centerline goodness : 0.108209 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.48, Z:-1.93 [[ 9.99547764e-01 1.51643520e-03 -3.00327654e-02 -3.28509038e+01] [-2.86804941e-03 9.98982291e-01 -4.50128535e-02 -4.47843828e+00] [ 2.99339417e-02 4.50786326e-02 9.98534865e-01 -1.93309935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.883133365 meters Centerline goodness : 0.165226 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.48, Z:-1.93 [[ 9.99557963e-01 1.53846168e-03 -2.96902626e-02 -3.28519745e+01] [-2.87587565e-03 9.98980343e-01 -4.50555607e-02 -4.47803265e+00] [ 2.95906724e-02 4.51210300e-02 9.98543181e-01 -1.93268339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.943133365 meters Centerline goodness : 0.112651 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.48, Z:-1.93 [[ 9.99572301e-01 1.77795575e-03 -2.91899709e-02 -3.28534706e+01] [-3.08300631e-03 9.98994582e-01 -4.47249349e-02 -4.47856957e+00] [ 2.90811039e-02 4.47957990e-02 9.98572794e-01 -1.93226031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.003133365 meters Centerline goodness : 0.114170 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.48, Z:-1.93 [[ 9.99561697e-01 -2.24759316e-03 -2.95188500e-02 -3.28519951e+01] [ 8.21007466e-04 9.98834884e-01 -4.82514338e-02 -4.48112292e+00] [ 2.95929067e-02 4.82060498e-02 9.98398937e-01 -1.93334144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.063133365 meters Centerline goodness : 0.126994 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.49, Z:-1.93 [[ 9.99549909e-01 -2.35852831e-03 -2.99068171e-02 -3.28512756e+01] [ 9.33923881e-04 9.98867968e-01 -4.75595528e-02 -4.48610460e+00] [ 2.99851322e-02 4.75102160e-02 9.98420588e-01 -1.93318495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.123133365 meters Centerline goodness : 0.142632 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.50, Z:-1.93 [[ 9.99556849e-01 -5.45746883e-03 -2.92629715e-02 -3.28531934e+01] [ 4.01110264e-03 9.98777968e-01 -4.92593349e-02 -4.49752863e+00] [ 2.94960425e-02 4.91201288e-02 9.98357249e-01 -1.93294676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.183133365 meters Centerline goodness : 0.129365 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.50, Z:-1.93 [[ 9.99562899e-01 -5.16309445e-03 -2.91093448e-02 -3.28540463e+01] [ 3.75184500e-03 9.98824434e-01 -4.83288045e-02 -4.50294661e+00] [ 2.93246510e-02 4.81984662e-02 9.98407218e-01 -1.93234895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.243133365 meters Centerline goodness : 0.197519 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.51, Z:-1.93 [[ 9.99559392e-01 -4.74681180e-03 -2.92999857e-02 -3.28533848e+01] [ 3.34427947e-03 9.98854545e-01 -4.77327394e-02 -4.50512598e+00] [ 2.94930022e-02 4.76137206e-02 9.98430316e-01 -1.93269705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.303133365 meters Centerline goodness : 0.200354 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.51, Z:-1.93 [[ 9.99562688e-01 -3.96861211e-03 -2.93032994e-02 -3.28538181e+01] [ 2.57945692e-03 9.98877748e-01 -4.72926074e-02 -4.50619908e+00] [ 2.94580998e-02 4.71963392e-02 9.98451164e-01 -1.93223422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.363133365 meters Centerline goodness : 0.105818 with order 1 Centerline is valid? [False, False] Translation: X:-32.90, Y:-4.51, Z:-1.93 [[ 9.99481741e-01 -3.45222353e-03 -3.20051903e-02 -3.28980800e+01] [ 2.00023497e-03 9.98971934e-01 -4.52887822e-02 -4.51149473e+00] [ 3.21286338e-02 4.52012930e-02 9.98461113e-01 -1.93218803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.423133365 meters Centerline goodness : 0.085342 with order 1 Centerline is valid? [False, False] Translation: X:-32.90, Y:-4.51, Z:-1.93 [[ 9.99482941e-01 -3.33010346e-03 -3.19806238e-02 -3.28982375e+01] [ 1.88589848e-03 9.98981456e-01 -4.50831806e-02 -4.51239849e+00] [ 3.20981818e-02 4.49995577e-02 9.98471205e-01 -1.93211799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48313336499996 meters Centerline goodness : 0.108103 with order 1 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.52, Z:-1.93 [[ 9.99456121e-01 -5.23204029e-03 -3.25589800e-02 -3.29453604e+01] [ 3.78929379e-03 9.99014774e-01 -4.42167622e-02 -4.51962572e+00] [ 3.27582460e-02 4.40693381e-02 9.98491257e-01 -1.93189714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54313336499996 meters Centerline goodness : 0.087270 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-4.52, Z:-1.93 [[ 9.99425420e-01 -5.20366361e-03 -3.34925602e-02 -3.29425031e+01] [ 3.72946318e-03 9.99027709e-01 -4.39286759e-02 -4.52144173e+00] [ 3.36885858e-02 4.37785261e-02 9.98473094e-01 -1.93302166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60313336499996 meters Centerline goodness : 0.087749 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-4.52, Z:-1.93 [[ 9.99426866e-01 -5.08857546e-03 -3.34670724e-02 -3.29424597e+01] [ 3.62370946e-03 9.99038728e-01 -4.36862639e-02 -4.52247185e+00] [ 3.36572023e-02 4.35399509e-02 9.98484584e-01 -1.93323524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66313336499996 meters Centerline goodness : 0.174964 with order 3 Centerline is valid? [False, False] Translation: X:-32.94, Y:-4.52, Z:-1.93 [[ 9.99426743e-01 -5.04167199e-03 -3.34778576e-02 -3.29420848e+01] [ 3.57916696e-03 9.99042533e-01 -4.36028374e-02 -4.52273643e+00] [ 3.36656349e-02 4.34580189e-02 9.98487870e-01 -1.93378640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72313336499997 meters Centerline goodness : 0.166283 with order 3 Centerline is valid? [False, False] Translation: X:-32.98, Y:-4.53, Z:-1.94 [[ 9.99321566e-01 -5.80333668e-03 -3.63693431e-02 -3.29843246e+01] [ 4.24867121e-03 9.99079802e-01 -4.26790136e-02 -4.52542480e+00] [ 3.65835567e-02 4.24955374e-02 9.98426649e-01 -1.93564108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78313336499997 meters Centerline goodness : 0.104547 with order 1 Centerline is valid? [False, False] Translation: X:-32.98, Y:-4.52, Z:-1.94 [[ 9.99312339e-01 -6.10109162e-03 -3.65735598e-02 -3.29834356e+01] [ 4.51024577e-03 9.99046600e-01 -4.34229153e-02 -4.52212557e+00] [ 3.68036178e-02 4.32280994e-02 9.98387112e-01 -1.93619522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84313336499997 meters Centerline goodness : 0.085639 with order 1 Centerline is valid? [False, False] Translation: X:-32.98, Y:-4.52, Z:-1.94 [[ 9.99328654e-01 -2.50609455e-03 -3.65507997e-02 -3.29843012e+01] [ 1.03048577e-03 9.99185700e-01 -4.03345451e-02 -4.51910311e+00] [ 3.66221186e-02 4.02698016e-02 9.98517483e-01 -1.93523844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.903133365 meters Centerline goodness : 0.115486 with order 3 Centerline is valid? [False, False] Translation: X:-32.99, Y:-4.51, Z:-1.93 [[ 9.99345998e-01 9.75689311e-04 -3.61472486e-02 -3.29858920e+01] [-2.33311722e-03 9.99292792e-01 -3.75296077e-02 -4.51398895e+00] [ 3.60850677e-02 3.75893991e-02 9.98641530e-01 -1.93427899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.963133365 meters Centerline goodness : 0.112305 with order 1 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.51, Z:-1.93 [[ 9.99269867e-01 -9.04903283e-03 -3.71193808e-02 -3.30068053e+01] [ 7.64526582e-03 9.99256578e-01 -3.77867788e-02 -4.50906083e+00] [ 3.74337192e-02 3.74754019e-02 9.98596170e-01 -1.93473171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.023133365 meters Centerline goodness : 0.119860 with order 1 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.51, Z:-1.93 [[ 9.99300698e-01 -6.21157361e-03 -3.68718287e-02 -3.30075332e+01] [ 4.91606022e-03 9.99370911e-01 -3.51228463e-02 -4.50608303e+00] [ 3.70668012e-02 3.49170207e-02 9.98702585e-01 -1.93454434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.083133365 meters Centerline goodness : 0.202116 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.50, Z:-1.93 [[ 9.99310261e-01 -6.30586646e-03 -3.65955997e-02 -3.30080599e+01] [ 5.01131797e-03 9.99362112e-01 -3.53589655e-02 -4.50453090e+00] [ 3.67952247e-02 3.51511849e-02 9.98704414e-01 -1.93469807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.143133365 meters Centerline goodness : 0.124679 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-4.50, Z:-1.94 [[ 9.99245302e-01 -4.97482068e-03 -3.85237333e-02 -3.30011902e+01] [ 3.65502267e-03 9.99406466e-01 -3.42543054e-02 -4.50341904e+00] [ 3.86712772e-02 3.40876486e-02 9.98670398e-01 -1.93759938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.203133365 meters Centerline goodness : 0.097818 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-4.50, Z:-1.94 [[ 9.99264433e-01 -4.87658360e-03 -3.80369763e-02 -3.30025976e+01] [ 3.56912426e-03 9.99402947e-01 -3.43658516e-02 -4.50185805e+00] [ 3.81818541e-02 3.42048146e-02 9.98685224e-01 -1.93718374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.263133365 meters Centerline goodness : 0.212007 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.50, Z:-1.94 [[ 9.99298427e-01 -4.88884624e-03 -3.71315687e-02 -3.30054621e+01] [ 3.60882359e-03 9.99399502e-01 -3.44617480e-02 -4.50143224e+00] [ 3.72777495e-02 3.43035692e-02 9.98715993e-01 -1.93607062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.323133365 meters Centerline goodness : 0.114613 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-4.50, Z:-1.94 [[ 9.99262557e-01 -5.24741526e-03 -3.80369267e-02 -3.30030135e+01] [ 3.93813584e-03 9.99399875e-01 -3.44148327e-02 -4.50363635e+00] [ 3.81946888e-02 3.42396591e-02 9.98683539e-01 -1.93662195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.383133365 meters Centerline goodness : 0.124668 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-4.51, Z:-1.94 [[ 9.99202100e-01 -5.65923330e-03 -3.95365182e-02 -3.29990526e+01] [ 4.30213313e-03 9.99401417e-01 -3.43263743e-02 -4.50658457e+00] [ 3.97071133e-02 3.41288939e-02 9.98628341e-01 -1.93729806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.443133365 meters Centerline goodness : 0.113852 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.52, Z:-1.94 [[ 9.99343130e-01 -2.24818950e-03 -3.61697881e-02 -3.30190178e+01] [ 9.36766824e-04 9.99342909e-01 -3.62335754e-02 -4.51778705e+00] [ 3.62274812e-02 3.61758920e-02 9.98688577e-01 -1.93839723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.503133365 meters Centerline goodness : 0.131599 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.52, Z:-1.94 [[ 9.99359249e-01 -2.00030657e-03 -3.57363914e-02 -3.30204925e+01] [ 7.30404042e-04 9.99368946e-01 -3.55130495e-02 -4.52171281e+00] [ 3.57848768e-02 3.54641925e-02 9.98730060e-01 -1.93774981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.563133365 meters Centerline goodness : 0.197088 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.52, Z:-1.94 [[ 9.99357901e-01 -1.86526814e-03 -3.57813612e-02 -3.30202074e+01] [ 6.06001703e-04 9.99381091e-01 -3.51719744e-02 -4.52349213e+00] [ 3.58248210e-02 3.51277070e-02 9.98740520e-01 -1.93803974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.623133365 meters Centerline goodness : 0.171409 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.53, Z:-1.94 [[ 9.99339171e-01 -1.55075026e-03 -3.63155238e-02 -3.30183246e+01] [ 2.95593178e-04 9.99403188e-01 -3.45424430e-02 -4.52703340e+00] [ 3.63474170e-02 3.45088818e-02 9.98743211e-01 -1.93897194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.683133365 meters Centerline goodness : 0.108830 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.53, Z:-1.94 [[ 9.99359693e-01 -1.14285723e-03 -3.57616710e-02 -3.30198839e+01] [-7.48110702e-05 9.99420820e-01 -3.40296873e-02 -4.52893254e+00] [ 3.57798496e-02 3.40105732e-02 9.98780798e-01 -1.93864029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.743133365 meters Centerline goodness : 0.185547 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.53, Z:-1.94 [[ 9.99344626e-01 -6.92358092e-04 -3.61917059e-02 -3.30185053e+01] [-5.12483465e-04 9.99446247e-01 -3.32706697e-02 -4.53218984e+00] [ 3.61946998e-02 3.32674126e-02 9.98790880e-01 -1.93927603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.803133365 meters Centerline goodness : 0.166931 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.53, Z:-1.94 [[ 9.99333626e-01 -4.74032652e-04 -3.64976723e-02 -3.30174509e+01] [-7.24621168e-04 9.99460960e-01 -3.28216940e-02 -4.53450259e+00] [ 3.64935571e-02 3.28262694e-02 9.98794602e-01 -1.93982513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.863133365 meters Centerline goodness : 0.151059 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.54, Z:-1.94 [[ 9.99347696e-01 -1.78438294e-04 -3.61130354e-02 -3.30192282e+01] [-9.81420697e-04 9.99484271e-01 -3.20971851e-02 -4.53820315e+00] [ 3.61001382e-02 3.21116900e-02 9.98832128e-01 -1.93860978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.923133365 meters Centerline goodness : 0.114996 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.54, Z:-1.94 [[ 9.99333203e-01 -7.80995846e-05 -3.65122308e-02 -3.30181611e+01] [-1.08363715e-03 9.99493764e-01 -3.17968692e-02 -4.53979558e+00] [ 3.64962303e-02 3.18152332e-02 9.98827220e-01 -1.93883964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98313336499996 meters Centerline goodness : 0.146721 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.54, Z:-1.94 [[ 9.99314154e-01 -5.54666363e-05 -3.70299592e-02 -3.30167915e+01] [-1.11508471e-03 9.99500304e-01 -3.15895260e-02 -4.54110191e+00] [ 3.70132076e-02 3.16091520e-02 9.98814740e-01 -1.93913683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04313336499996 meters Centerline goodness : 0.103442 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-4.54, Z:-1.94 [[ 9.99420660e-01 -8.04840448e-03 -3.30691220e-02 -3.30016604e+01] [ 7.03973309e-03 9.99509795e-01 -3.05059331e-02 -4.54272412e+00] [ 3.32984354e-02 3.02554620e-02 9.98987398e-01 -1.93570771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10313336499996 meters Centerline goodness : 0.190395 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.56, Z:-1.94 [[ 9.99551145e-01 -3.78321327e-03 -2.97186166e-02 -3.30216712e+01] [ 2.81976830e-03 9.99471193e-01 -3.23941744e-02 -4.55624394e+00] [ 2.98254553e-02 3.22958345e-02 9.99033243e-01 -1.93750464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16313336499996 meters Centerline goodness : 0.105312 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.56, Z:-1.94 [[ 9.99546229e-01 -3.66757160e-03 -2.98979119e-02 -3.30209724e+01] [ 2.70800680e-03 9.99481884e-01 -3.20722527e-02 -4.55707882e+00] [ 3.00000486e-02 3.19767355e-02 9.99038280e-01 -1.93817874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22313336499997 meters Centerline goodness : 0.197512 with order 3 Centerline is valid? [False, False] Translation: X:-33.02, Y:-4.56, Z:-1.94 [[ 9.99510525e-01 -2.85508411e-03 -3.11537837e-02 -3.30170656e+01] [ 1.88508764e-03 9.99513852e-01 -3.11208165e-02 -4.55880553e+00] [ 3.12274909e-02 3.10468560e-02 9.99029998e-01 -1.93985371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28313336499997 meters Centerline goodness : 0.308249 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-4.56, Z:-1.94 [[ 9.99423936e-01 5.85611423e-03 -3.34290639e-02 -3.30318670e+01] [-6.97230063e-03 9.99418700e-01 -3.33713820e-02 -4.56338470e+00] [ 3.32142050e-02 3.35852355e-02 9.98883801e-01 -1.93940654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34313336499997 meters Centerline goodness : 0.105153 with order 1 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.56, Z:-1.94 [[ 9.99446722e-01 1.24943145e-03 -3.32368590e-02 -3.30102542e+01] [-2.25550533e-03 9.99539832e-01 -3.02495763e-02 -4.56001363e+00] [ 3.31837697e-02 3.03078058e-02 9.98989627e-01 -1.93863154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.403133365 meters Centerline goodness : 0.173511 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.56, Z:-1.94 [[ 9.99448348e-01 1.11655519e-03 -3.31926695e-02 -3.30100268e+01] [-2.13153491e-03 9.99530698e-01 -3.05587913e-02 -4.55868085e+00] [ 3.31429715e-02 3.06126848e-02 9.98981685e-01 -1.93908672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.463133365 meters Centerline goodness : 0.102563 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.56, Z:-1.94 [[ 9.99468860e-01 2.96646874e-03 -3.24530047e-02 -3.29681896e+01] [-3.93618569e-03 9.99546409e-01 -2.98576929e-02 -4.55521916e+00] [ 3.23497124e-02 2.99695754e-02 9.99027187e-01 -1.93786185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.523133365 meters Centerline goodness : 0.189558 with order 3 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.56, Z:-1.94 [[ 9.99463595e-01 3.02635237e-03 -3.26092648e-02 -3.29680480e+01] [-3.99611238e-03 9.99550431e-01 -2.97147769e-02 -4.55594051e+00] [ 3.25046773e-02 2.98291480e-02 9.99026360e-01 -1.93757022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.583133365 meters Centerline goodness : 0.198970 with order 3 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.55, Z:-1.94 [[ 9.99544556e-01 -3.99913313e-03 -2.99113224e-02 -3.29501200e+01] [ 3.14604151e-03 9.99588455e-01 -2.85135719e-02 -4.55391265e+00] [ 3.00130421e-02 2.84064833e-02 9.99145780e-01 -1.93525303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.643133365 meters Centerline goodness : 0.167905 with order 3 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.56, Z:-1.93 [[ 9.99559359e-01 -3.77707032e-03 -2.94418421e-02 -3.29516535e+01] [ 2.94866832e-03 9.99599933e-01 -2.81297010e-02 -4.55526696e+00] [ 2.95363113e-02 2.80304917e-02 9.99170605e-01 -1.93458517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.703133365 meters Centerline goodness : 0.143367 with order 1 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.56, Z:-1.93 [[ 9.99566346e-01 -3.59462429e-03 -2.92266717e-02 -3.29521764e+01] [ 2.78199062e-03 9.99609695e-01 -2.77977974e-02 -4.55663325e+00] [ 2.93151870e-02 2.77044344e-02 9.99186211e-01 -1.93458786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.763133365 meters Centerline goodness : 0.178368 with order 3 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.56, Z:-1.93 [[ 9.99542736e-01 -3.21561784e-03 -3.00662338e-02 -3.29501443e+01] [ 2.39465349e-03 9.99624378e-01 -2.73014399e-02 -4.55833295e+00] [ 3.01427312e-02 2.72169577e-02 9.99174986e-01 -1.93473299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.823133365 meters Centerline goodness : 0.112543 with order 1 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.56, Z:-1.94 [[ 9.99535577e-01 -3.13466822e-03 -3.03117809e-02 -3.29491721e+01] [ 2.31532593e-03 9.99631998e-01 -2.70279080e-02 -4.55996463e+00] [ 3.03853496e-02 2.69451740e-02 9.99175004e-01 -1.93535663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.883133365 meters Centerline goodness : 0.190103 with order 3 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.56, Z:-1.94 [[ 9.99546942e-01 -3.10282755e-03 -2.99379770e-02 -3.29502626e+01] [ 2.29749269e-03 9.99635567e-01 -2.68971075e-02 -4.56093855e+00] [ 3.00105237e-02 2.68161393e-02 9.99189803e-01 -1.93503472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.943133365 meters Centerline goodness : 0.100669 with order 1 Centerline is valid? [False, False] Translation: X:-32.93, Y:-4.56, Z:-1.93 [[ 9.99440021e-01 -9.26802565e-03 -3.21519683e-02 -3.29316019e+01] [ 8.42178134e-03 9.99617132e-01 -2.63564551e-02 -4.55593061e+00] [ 3.23839306e-02 2.60709192e-02 9.99135420e-01 -1.93323836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.003133365 meters Centerline goodness : 0.103286 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.56, Z:-1.94 [[ 9.99302764e-01 -1.02044302e-02 -3.59145669e-02 -3.29712820e+01] [ 9.29984821e-03 9.99637540e-01 -2.52646092e-02 -4.56088675e+00] [ 3.61593602e-02 2.49129938e-02 9.99035457e-01 -1.93573037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.063133365 meters Centerline goodness : 0.099562 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.56, Z:-1.94 [[ 9.99289546e-01 -1.02161144e-02 -3.62771739e-02 -3.29700915e+01] [ 9.30541282e-03 9.99639505e-01 -2.51847006e-02 -4.56165093e+00] [ 3.65213860e-02 2.48292340e-02 9.99024373e-01 -1.93622379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.123133365 meters Centerline goodness : 0.168795 with order 3 Centerline is valid? [False, False] Translation: X:-32.98, Y:-4.57, Z:-1.94 [[ 9.99297199e-01 6.40151055e-05 -3.74847117e-02 -3.29849338e+01] [-1.01651332e-03 9.99677059e-01 -2.53918047e-02 -4.56820977e+00] [ 3.74709809e-02 2.54120630e-02 9.98974551e-01 -1.93767048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.183133365 meters Centerline goodness : 0.102944 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.57, Z:-1.94 [[ 9.99286805e-01 8.98809012e-03 -3.66755555e-02 -3.29674525e+01] [-9.93159714e-03 9.99622285e-01 -2.56252095e-02 -4.57342080e+00] [ 3.64313809e-02 2.59711806e-02 9.98998625e-01 -1.93638074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.243133365 meters Centerline goodness : 0.171207 with order 3 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.58, Z:-1.94 [[ 9.99296997e-01 9.19476711e-03 -3.63451316e-02 -3.29682670e+01] [-1.01092123e-02 9.99634912e-01 -2.50568706e-02 -4.57515464e+00] [ 3.61014703e-02 2.54066762e-02 9.99025117e-01 -1.93647840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.303133365 meters Centerline goodness : 0.256165 with order 2 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.58, Z:-1.94 [[ 9.99282131e-01 8.96196747e-03 -3.68090580e-02 -3.29672521e+01] [-9.87264625e-03 9.99647791e-01 -2.46338280e-02 -4.57872365e+00] [ 3.65753260e-02 2.49795469e-02 9.99018652e-01 -1.93673004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.363133365 meters Centerline goodness : 0.114093 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.58, Z:-1.94 [[ 9.99291837e-01 8.97943710e-03 -3.65403103e-02 -3.29684952e+01] [-9.86167987e-03 9.99662447e-01 -2.40361977e-02 -4.58298612e+00] [ 3.63121444e-02 2.43795250e-02 9.99043076e-01 -1.93590931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.423133365 meters Centerline goodness : 0.112223 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.59, Z:-1.94 [[ 9.99360473e-01 -8.54115905e-04 -3.57479359e-02 -3.29670172e+01] [ 1.98578854e-04 9.99831838e-01 -1.83372942e-02 -4.59465938e+00] [ 3.57575866e-02 1.83184682e-02 9.99192588e-01 -1.93544033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48313336499996 meters Centerline goodness : 0.111475 with order 1 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.60, Z:-1.94 [[ 9.99346003e-01 -8.02761059e-04 -3.61513633e-02 -3.29659900e+01] [ 1.53010386e-04 9.99838474e-01 -1.79722427e-02 -4.59690848e+00] [ 3.61599513e-02 1.79549574e-02 9.99184706e-01 -1.93557791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54313336499996 meters Centerline goodness : 0.109124 with order 1 Centerline is valid? [False, False] Translation: X:-32.96, Y:-4.60, Z:-1.94 [[ 9.99321546e-01 -7.72070292e-04 -3.68219006e-02 -3.29644119e+01] [ 1.30153567e-04 9.99848039e-01 -1.74322263e-02 -4.60048488e+00] [ 3.68297640e-02 1.74156068e-02 9.99169788e-01 -1.93567809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60313336499996 meters Centerline goodness : 0.161919 with order 3 Centerline is valid? [False, False] Translation: X:-32.97, Y:-4.60, Z:-1.94 [[ 9.99332399e-01 -4.99661033e-04 -3.65308925e-02 -3.29654215e+01] [-1.12516489e-04 9.99859638e-01 -1.67538275e-02 -4.60378191e+00] [ 3.65341362e-02 1.67467530e-02 9.99192075e-01 -1.93516616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66313336499996 meters Centerline goodness : 0.111265 with order 1 Centerline is valid? [False, False] Translation: X:-32.95, Y:-4.60, Z:-1.93 [[ 9.99218512e-01 -6.69912451e-03 -3.89549365e-02 -3.29458534e+01] [ 6.06259990e-03 9.99846552e-01 -1.64352594e-02 -4.59919297e+00] [ 3.90590608e-02 1.61862472e-02 9.99105798e-01 -1.93392298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72313336499997 meters Centerline goodness : 0.235455 with order 2 Centerline is valid? [False, False] Translation: X:-32.93, Y:-4.60, Z:-1.93 [[ 9.99151606e-01 1.52804031e-03 -4.11549952e-02 -3.29265171e+01] [-2.18860158e-03 9.99869432e-01 -1.60103042e-02 -4.60437269e+00] [ 4.11251573e-02 1.60867930e-02 9.99024492e-01 -1.93406756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78313336499997 meters Centerline goodness : 0.157181 with order 3 Centerline is valid? [False, False] Translation: X:-32.93, Y:-4.61, Z:-1.93 [[ 9.99168310e-01 1.86944110e-03 -4.07331897e-02 -3.29281924e+01] [-2.50195313e-03 9.99877005e-01 -1.54827331e-02 -4.60615757e+00] [ 4.06992357e-02 1.55717688e-02 9.99050095e-01 -1.93312578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84313336499997 meters Centerline goodness : 0.251767 with order 2 Centerline is valid? [False, False] Translation: X:-32.93, Y:-4.61, Z:-1.93 [[ 9.99164860e-01 1.85550754e-03 -4.08183639e-02 -3.29278680e+01] [-2.47926649e-03 9.99880851e-01 -1.52360223e-02 -4.60822901e+00] [ 4.07852299e-02 1.53244977e-02 9.99050412e-01 -1.93332348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.903133365 meters Centerline goodness : 0.096024 with order 1 Centerline is valid? [False, False] Translation: X:-32.91, Y:-4.61, Z:-1.93 [[ 9.99180047e-01 -5.61054925e-03 -4.00968312e-02 -3.29082569e+01] [ 5.04654520e-03 9.99887100e-01 -1.41534514e-02 -4.60952515e+00] [ 4.01717129e-02 1.39394958e-02 9.99095553e-01 -1.93165506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.963133365 meters Centerline goodness : 0.267930 with order 2 Centerline is valid? [False, False] Translation: X:-32.89, Y:-4.62, Z:-1.93 [[ 9.99219901e-01 2.42798065e-03 -3.94169342e-02 -3.28945691e+01] [-2.99531921e-03 9.99892682e-01 -1.43405998e-02 -4.61915393e+00] [ 3.93778853e-02 1.44474790e-02 9.99119939e-01 -1.92890841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.023133365 meters Centerline goodness : 0.097322 with order 1 Centerline is valid? [False, False] Translation: X:-32.89, Y:-4.62, Z:-1.93 [[ 9.99218384e-01 2.76907783e-03 -3.94329063e-02 -3.28949211e+01] [-3.30556859e-03 9.99902779e-01 -1.35464600e-02 -4.62327076e+00] [ 3.93915614e-02 1.36662200e-02 9.99130392e-01 -1.92837238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.083133365 meters Centerline goodness : 0.238348 with order 2 Centerline is valid? [False, False] Translation: X:-32.90, Y:-4.63, Z:-1.93 [[ 9.99227215e-01 3.29674537e-03 -3.91676496e-02 -3.28957041e+01] [-3.79555553e-03 9.99912557e-01 -1.26677318e-02 -4.62703256e+00] [ 3.91224624e-02 1.28066054e-02 9.99152353e-01 -1.92811219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.143133365 meters Centerline goodness : 0.111208 with order 1 Centerline is valid? [False, False] Translation: X:-32.90, Y:-4.63, Z:-1.93 [[ 9.99219116e-01 3.80413898e-03 -3.93279344e-02 -3.28953575e+01] [-4.28299876e-03 9.99917632e-01 -1.20989981e-02 -4.62893722e+00] [ 3.92786688e-02 1.22579917e-02 9.99153105e-01 -1.92807981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.203133365 meters Centerline goodness : 0.093889 with order 1 Centerline is valid? [False, False] Translation: X:-32.88, Y:-4.63, Z:-1.93 [[ 9.99236261e-01 -2.77185085e-03 -3.89770701e-02 -3.28775290e+01] [ 2.35498399e-03 9.99939583e-01 -1.07370305e-02 -4.62635164e+00] [ 3.90044767e-02 1.06370398e-02 9.99182418e-01 -1.92561862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.263133365 meters Centerline goodness : 0.143484 with order 1 Centerline is valid? [False, False] Translation: X:-32.88, Y:-4.63, Z:-1.93 [[ 9.99232731e-01 -2.67401837e-03 -3.90742645e-02 -3.28774175e+01] [ 2.29141693e-03 9.99949028e-01 -9.83315445e-03 -4.62984420e+00] [ 3.90985668e-02 9.73607435e-03 9.99187926e-01 -1.92613255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.323133365 meters Centerline goodness : 0.230255 with order 3 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.64, Z:-1.93 [[ 9.99174278e-01 -4.90865035e-03 -4.03319747e-02 -3.28717239e+01] [ 4.46763281e-03 9.99929324e-01 -1.10175523e-02 -4.63669092e+00] [ 4.03832055e-02 1.08282664e-02 9.99125590e-01 -1.92921097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.383133365 meters Centerline goodness : 0.101110 with order 1 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.64, Z:-1.93 [[ 9.99150160e-01 -5.11628079e-03 -4.08996411e-02 -3.28704701e+01] [ 4.68766620e-03 9.99933162e-01 -1.05687087e-02 -4.64053978e+00] [ 4.09509799e-02 1.03680032e-02 9.99107362e-01 -1.92915602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.443133365 meters Centerline goodness : 0.262304 with order 3 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.64, Z:-1.93 [[ 9.99134395e-01 -5.46775770e-03 -4.12379045e-02 -3.28701815e+01] [ 5.04767282e-03 9.99934377e-01 -1.02841152e-02 -4.64418569e+00] [ 4.12914293e-02 1.00670578e-02 9.99096428e-01 -1.92843522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.503133365 meters Centerline goodness : 0.260394 with order 3 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.65, Z:-1.93 [[ 9.99159991e-01 -5.98043882e-03 -4.05406767e-02 -3.28720445e+01] [ 5.57059668e-03 9.99932310e-01 -1.02148437e-02 -4.64691711e+00] [ 4.05990218e-02 9.98042741e-03 9.99125673e-01 -1.92800181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.563133365 meters Centerline goodness : 0.190906 with order 1 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.65, Z:-1.93 [[ 9.99180905e-01 -5.95158248e-03 -4.00262054e-02 -3.28739420e+01] [ 5.55059592e-03 9.99933368e-01 -1.01217804e-02 -4.64724568e+00] [ 4.00837790e-02 9.89132037e-03 9.99147363e-01 -1.92709872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.623133365 meters Centerline goodness : 0.098883 with order 1 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.64, Z:-1.93 [[ 9.99170466e-01 -6.23103142e-03 -4.02436773e-02 -3.28731704e+01] [ 5.80573066e-03 9.99926152e-01 -1.06763767e-02 -4.64483379e+00] [ 4.03072302e-02 1.04338763e-02 9.99132855e-01 -1.92748190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.683133365 meters Centerline goodness : 0.265206 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.65, Z:-1.93 [[ 9.99224456e-01 2.59701120e-03 -3.92904931e-02 -3.28541895e+01] [-3.08418925e-03 9.99919055e-01 -1.23438598e-02 -4.64512287e+00] [ 3.92552556e-02 1.24554659e-02 9.99151583e-01 -1.92616121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.743133365 meters Centerline goodness : 0.135311 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-4.64, Z:-1.93 [[ 9.99257511e-01 2.77768406e-03 -3.84280112e-02 -3.28564673e+01] [-3.25797794e-03 9.99917293e-01 -1.24415650e-02 -4.64318685e+00] [ 3.83902742e-02 1.25575249e-02 9.99183915e-01 -1.92581647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.803133365 meters Centerline goodness : 0.089116 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-4.64, Z:-1.93 [[ 9.99267135e-01 2.82830281e-03 -3.81732051e-02 -3.28565273e+01] [-3.32730983e-03 9.99909765e-01 -1.30149867e-02 -4.63885808e+00] [ 3.81329503e-02 1.31324625e-02 9.99186377e-01 -1.92650742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.863133365 meters Centerline goodness : 0.263574 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.64, Z:-1.93 [[ 9.99247876e-01 2.93434617e-03 -3.86661473e-02 -3.28546688e+01] [-3.45479312e-03 9.99904247e-01 -1.34000808e-02 -4.63565791e+00] [ 3.86231244e-02 1.35235858e-02 9.99162333e-01 -1.92748885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.923133365 meters Centerline goodness : 0.238292 with order 3 Centerline is valid? [False, False] Translation: X:-32.86, Y:-4.63, Z:-1.93 [[ 9.99261705e-01 2.97616786e-03 -3.83038708e-02 -3.28554335e+01] [-3.50225544e-03 9.99900362e-01 -1.36748172e-02 -4.63324837e+00] [ 3.82593557e-02 1.37988711e-02 9.99172564e-01 -1.92761274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98313336499996 meters Centerline goodness : 0.229553 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-4.63, Z:-1.93 [[ 9.99263228e-01 2.72230247e-03 -3.82830316e-02 -3.28554196e+01] [-3.27309184e-03 9.99891935e-01 -1.43319902e-02 -4.62978479e+00] [ 3.82398785e-02 1.44467347e-02 9.99164152e-01 -1.92768647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04313336499996 meters Centerline goodness : 0.112021 with order 1 Centerline is valid? [False, False] Translation: X:-32.84, Y:-4.62, Z:-1.92 [[ 9.99189823e-01 -3.03063817e-03 -4.01311844e-02 -3.28378368e+01] [ 2.49310656e-03 9.99906603e-01 -1.34376402e-02 -4.62253406e+00] [ 4.01681609e-02 1.33267020e-02 9.99104058e-01 -1.92495286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10313336499996 meters Centerline goodness : 0.083107 with order 1 Centerline is valid? [False, False] Translation: X:-32.82, Y:-4.62, Z:-1.92 [[ 9.99135433e-01 -1.02019292e-02 -4.03026894e-02 -3.28187028e+01] [ 9.69599768e-03 9.99871973e-01 -1.27288846e-02 -4.61784365e+00] [ 4.04273887e-02 1.23271048e-02 9.99106435e-01 -1.92246085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16313336499996 meters Centerline goodness : 0.100054 with order 1 Centerline is valid? [False, False] Translation: X:-32.82, Y:-4.62, Z:-1.92 [[ 9.99124954e-01 -1.05581024e-02 -4.04703888e-02 -3.28186284e+01] [ 1.00561160e-02 9.99870208e-01 -1.25873658e-02 -4.61922682e+00] [ 4.05980347e-02 1.21693763e-02 9.99101449e-01 -1.92265970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22313336499997 meters Centerline goodness : 0.099345 with order 1 Centerline is valid? [False, False] Translation: X:-32.82, Y:-4.62, Z:-1.92 [[ 9.99099774e-01 -1.08420404e-02 -4.10133024e-02 -3.28173176e+01] [ 1.03434745e-02 9.99870250e-01 -1.23489363e-02 -4.62184418e+00] [ 4.11418686e-02 1.19135994e-02 9.99082285e-01 -1.92275889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28313336499997 meters Centerline goodness : 0.263080 with order 3 Centerline is valid? [False, False] Translation: X:-32.82, Y:-4.63, Z:-1.92 [[ 9.99068431e-01 -1.48319787e-02 -4.05250922e-02 -3.28188880e+01] [ 1.42154681e-02 9.99779444e-01 -1.54591131e-02 -4.62656682e+00] [ 4.07454434e-02 1.48686287e-02 9.99058924e-01 -1.92211039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34313336499997 meters Centerline goodness : 0.099881 with order 1 Centerline is valid? [False, False] Translation: X:-32.80, Y:-4.63, Z:-1.92 [[ 9.99248251e-01 -6.29849717e-03 -3.82526163e-02 -3.28025232e+01] [ 5.67355699e-03 9.99849023e-01 -1.64238268e-02 -4.63226682e+00] [ 3.83502865e-02 1.61944518e-02 9.99133122e-01 -1.92039445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.403133365 meters Centerline goodness : 0.101775 with order 1 Centerline is valid? [False, False] Translation: X:-32.80, Y:-4.63, Z:-1.92 [[ 9.99257840e-01 -6.19330119e-03 -3.80185820e-02 -3.28032267e+01] [ 5.57962453e-03 9.99852775e-01 -1.62264291e-02 -4.63288606e+00] [ 3.81134798e-02 1.60022571e-02 9.99145280e-01 -1.92020550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.463133365 meters Centerline goodness : 0.105369 with order 1 Centerline is valid? [False, False] Translation: X:-32.78, Y:-4.63, Z:-1.92 [[ 9.99130527e-01 -1.28179134e-02 -3.96723068e-02 -3.27835911e+01] [ 1.21921295e-02 9.99798043e-01 -1.59757766e-02 -4.62717822e+00] [ 3.98690708e-02 1.54781962e-02 9.99085023e-01 -1.91856088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.523133365 meters Centerline goodness : 0.101592 with order 1 Centerline is valid? [False, False] Translation: X:-32.78, Y:-4.63, Z:-1.92 [[ 9.99142808e-01 -9.66281656e-03 -4.02526965e-02 -3.27826055e+01] [ 9.14592216e-03 9.99873595e-01 -1.30056573e-02 -4.62645321e+00] [ 4.03732796e-02 1.26263609e-02 9.99104886e-01 -1.91833767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.583133365 meters Centerline goodness : 0.244066 with order 3 Centerline is valid? [False, False] Translation: X:-32.76, Y:-4.63, Z:-1.92 [[ 9.99245077e-01 -3.46586195e-04 -3.88478514e-02 -3.27646702e+01] [-1.98320138e-04 9.99901668e-01 -1.40219476e-02 -4.62836635e+00] [ 3.88488912e-02 1.40190664e-02 9.99146751e-01 -1.91694719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.643133365 meters Centerline goodness : 0.111354 with order 1 Centerline is valid? [False, False] Translation: X:-32.76, Y:-4.63, Z:-1.92 [[ 9.99217165e-01 -5.22469462e-04 -3.95573586e-02 -3.27623548e+01] [-3.71007828e-05 9.99899972e-01 -1.41437386e-02 -4.62825962e+00] [ 3.95607914e-02 1.41341340e-02 9.99117195e-01 -1.91800123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.703133365 meters Centerline goodness : 0.085192 with order 1 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.62, Z:-1.92 [[ 9.99116222e-01 -7.25468616e-03 -4.14022369e-02 -3.27413855e+01] [ 6.69606556e-03 9.99884887e-01 -1.36152868e-02 -4.62435729e+00] [ 4.14962456e-02 1.33260218e-02 9.99049788e-01 -1.91665650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.763133365 meters Centerline goodness : 0.250799 with order 2 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.63, Z:-1.92 [[ 9.99106986e-01 -7.15108253e-03 -4.16424310e-02 -3.27403706e+01] [ 6.59805445e-03 9.99888410e-01 -1.34027297e-02 -4.62507870e+00] [ 4.17336281e-02 1.31160019e-02 9.99042679e-01 -1.91731502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.823133365 meters Centerline goodness : 0.234389 with order 3 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.62, Z:-1.92 [[ 9.99062195e-01 -7.16501924e-03 -4.27012154e-02 -3.27372676e+01] [ 6.59416859e-03 9.99887203e-01 -1.34943819e-02 -4.62492176e+00] [ 4.27930863e-02 1.32001478e-02 9.98996751e-01 -1.91813940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.883133365 meters Centerline goodness : 0.244367 with order 2 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.63, Z:-1.92 [[ 9.99062108e-01 -3.58658859e-03 -4.31513628e-02 -3.27369773e+01] [ 3.15337005e-03 9.99943987e-01 -1.01033926e-02 -4.62529033e+00] [ 4.31851825e-02 9.95784445e-03 9.99017458e-01 -1.91736791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.943133365 meters Centerline goodness : 0.145359 with order 1 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.62, Z:-1.92 [[ 9.99059506e-01 -1.98314526e-04 -4.33597139e-02 -3.27372230e+01] [-1.11523810e-04 9.99974481e-01 -7.14322952e-03 -4.62404368e+00] [ 4.33600240e-02 7.14134699e-03 9.99033988e-01 -1.91654920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.003133365 meters Centerline goodness : 0.264799 with order 3 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.62, Z:-1.92 [[ 9.99054388e-01 3.63938553e-03 -4.33253313e-02 -3.27380007e+01] [-3.81882373e-03 9.99984468e-01 -4.05960208e-03 -4.62029564e+00] [ 4.33098839e-02 4.22121508e-03 9.99052769e-01 -1.91558945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.063133365 meters Centerline goodness : 0.254599 with order 3 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.62, Z:-1.92 [[ 9.99082317e-01 3.66499025e-03 -4.26742547e-02 -3.27394766e+01] [-3.86331102e-03 9.99982114e-01 -4.56577445e-03 -4.61700753e+00] [ 4.26567579e-02 4.72644843e-03 9.99078606e-01 -1.91555968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.123133365 meters Centerline goodness : 0.202341 with order 2 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.61, Z:-1.92 [[ 9.99131446e-01 3.95398645e-03 -4.14815690e-02 -3.27425642e+01] [-4.15716555e-03 9.99979777e-01 -4.81294090e-03 -4.61357865e+00] [ 4.14616998e-02 4.98120635e-03 9.99127677e-01 -1.91509521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.183133365 meters Centerline goodness : 0.090544 with order 1 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.61, Z:-1.91 [[ 9.99140437e-01 3.91637530e-03 -4.12680218e-02 -3.27433351e+01] [-4.12986774e-03 9.99978521e-01 -5.08933238e-03 -4.61176955e+00] [ 4.12472037e-02 5.25538925e-03 9.99135151e-01 -1.91465296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.243133365 meters Centerline goodness : 0.243773 with order 2 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.61, Z:-1.91 [[ 9.99151798e-01 3.96664308e-03 -4.09872083e-02 -3.27441208e+01] [-4.18483523e-03 9.99977520e-01 -5.23899381e-03 -4.61029429e+00] [ 4.09655057e-02 5.40607480e-03 9.99145936e-01 -1.91445152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.303133365 meters Centerline goodness : 0.144107 with order 1 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.61, Z:-1.91 [[ 9.99163548e-01 3.99697347e-03 -4.06967873e-02 -3.27443852e+01] [-4.22286425e-03 9.99976144e-01 -5.46612930e-03 -4.60862734e+00] [ 4.06739685e-02 5.63341415e-03 9.99156591e-01 -1.91497933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.363133365 meters Centerline goodness : 0.165481 with order 3 Centerline is valid? [False, False] Translation: X:-32.74, Y:-4.61, Z:-1.92 [[ 9.99152104e-01 3.98921166e-03 -4.09775566e-02 -3.27435596e+01] [-4.21796420e-03 9.99975993e-01 -5.49744610e-03 -4.60851223e+00] [ 4.09546424e-02 5.66562670e-03 9.99144943e-01 -1.91522720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.423133365 meters Centerline goodness : 0.101521 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-4.61, Z:-1.91 [[ 9.99081716e-01 -2.10534031e-05 -4.28453459e-02 -3.27203520e+01] [-8.14097076e-05 9.99997141e-01 -2.38971798e-03 -4.60567456e+00] [ 4.28452737e-02 2.39101157e-03 9.99078859e-01 -1.91426268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48313336499996 meters Centerline goodness : 0.170363 with order 3 Centerline is valid? [False, False] Translation: X:-32.72, Y:-4.61, Z:-1.92 [[ 9.99041747e-01 -3.05355489e-04 -4.37663672e-02 -3.27174325e+01] [ 1.90210060e-04 9.99996510e-01 -2.63505154e-03 -4.60600228e+00] [ 4.37670191e-02 2.62420169e-03 9.99038318e-01 -1.91538413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54313336499996 meters Centerline goodness : 0.265654 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-4.61, Z:-1.92 [[ 9.99044501e-01 -1.09051258e-04 -4.37043907e-02 -3.27176984e+01] [ 6.47288397e-06 9.99997245e-01 -2.34723003e-03 -4.60677032e+00] [ 4.37045262e-02 2.34470436e-03 9.99041749e-01 -1.91522407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60313336499996 meters Centerline goodness : 0.261775 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-4.61, Z:-1.92 [[ 9.99035419e-01 -8.65537269e-05 -4.39115490e-02 -3.27171841e+01] [ 1.99104093e-07 9.99998066e-01 -1.96655890e-03 -4.60979130e+00] [ 4.39116343e-02 1.96465325e-03 9.99033487e-01 -1.91521342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66313336499996 meters Centerline goodness : 0.138014 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.61, Z:-1.91 [[ 9.99109843e-01 1.25028124e-03 -4.21658332e-02 -3.26735660e+01] [-1.36737227e-03 9.99995289e-01 -2.74819060e-03 -4.61137703e+00] [ 4.21621985e-02 2.80340067e-03 9.99106846e-01 -1.91413502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72313336499997 meters Centerline goodness : 0.105438 with order 1 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.62, Z:-1.91 [[ 9.99175855e-01 -5.91173801e-03 -4.01579738e-02 -3.26537079e+01] [ 5.86181078e-03 9.99981893e-01 -1.36090460e-03 -4.61587910e+00] [ 4.01652920e-02 1.12438457e-03 9.99192416e-01 -1.91255473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78313336499997 meters Centerline goodness : 0.229003 with order 3 Centerline is valid? [False, False] Translation: X:-32.65, Y:-4.62, Z:-1.91 [[ 9.99152173e-01 -5.72379034e-03 -4.07697512e-02 -3.26525349e+01] [ 5.70512727e-03 9.99983561e-01 -5.74100301e-04 -4.62160065e+00] [ 4.07723670e-02 3.41016944e-04 9.99168403e-01 -1.91210289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84313336499997 meters Centerline goodness : 0.097805 with order 1 Centerline is valid? [False, False] Translation: X:-32.63, Y:-4.63, Z:-1.91 [[ 9.99214191e-01 1.93951881e-03 -3.95883648e-02 -3.26320089e+01] [-2.03941086e-03 9.99994838e-01 -2.48303944e-03 -4.62980009e+00] [ 3.95833446e-02 2.56182518e-03 9.99212988e-01 -1.91174614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.903133365 meters Centerline goodness : 0.098272 with order 1 Centerline is valid? [False, False] Translation: X:-32.63, Y:-4.64, Z:-1.91 [[ 9.99217220e-01 2.52708887e-03 -3.94786219e-02 -3.26325546e+01] [-2.57864349e-03 9.99995888e-01 -1.25502097e-03 -4.63828299e+00] [ 3.94752880e-02 1.35583985e-03 9.99219627e-01 -1.91120591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.963133365 meters Centerline goodness : 0.219836 with order 2 Centerline is valid? [False, False] Translation: X:-32.63, Y:-4.64, Z:-1.91 [[ 9.99202980e-01 2.93074818e-03 -3.98097448e-02 -3.26316405e+01] [-2.94841423e-03 9.99995579e-01 -3.85057944e-04 -4.64248258e+00] [ 3.98084403e-02 5.02126663e-04 9.99207204e-01 -1.91134540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.023133365 meters Centerline goodness : 0.099362 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.64, Z:-1.91 [[ 9.99259884e-01 5.04950151e-03 -3.81337966e-02 -3.25881371e+01] [-5.09774519e-03 9.99986324e-01 -1.16798795e-03 -4.64414804e+00] [ 3.81273773e-02 1.36151988e-03 9.99271960e-01 -1.91064174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.083133365 meters Centerline goodness : 0.259694 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.65, Z:-1.91 [[ 9.99261496e-01 5.51338066e-03 -3.80271527e-02 -3.25889346e+01] [-5.52108770e-03 9.99984754e-01 -9.76607068e-05 -4.65093050e+00] [ 3.80260344e-02 3.07539829e-04 9.99276701e-01 -1.90978588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.143133365 meters Centerline goodness : 0.265196 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.66, Z:-1.91 [[ 9.99251184e-01 5.86138196e-03 -3.82454675e-02 -3.25887670e+01] [-5.83371893e-03 9.99982635e-01 8.34860650e-04 -4.65575956e+00] [ 3.82496968e-02 -6.11122185e-04 9.99268026e-01 -1.90927170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.203133365 meters Centerline goodness : 0.191212 with order 3 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.66, Z:-1.91 [[ 9.99251634e-01 -8.44347395e-04 -3.86711638e-02 -3.25682392e+01] [ 9.24339057e-04 9.99997470e-01 2.05067668e-03 -4.65650189e+00] [ 3.86693345e-02 -2.08488729e-03 9.99249887e-01 -1.90767702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.263133365 meters Centerline goodness : 0.111395 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.66, Z:-1.91 [[ 9.99250987e-01 -5.10921551e-04 -3.86937137e-02 -3.25682513e+01] [ 6.22630684e-04 9.99995673e-01 2.87501442e-03 -4.66072819e+00] [ 3.86920774e-02 -2.89695289e-03 9.99246982e-01 -1.90749413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.323133365 meters Centerline goodness : 0.228362 with order 3 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.67, Z:-1.91 [[ 9.99278484e-01 8.33315931e-03 -3.70549536e-02 -3.25503647e+01] [-8.27853184e-03 9.99964408e-01 1.62742008e-03 -4.66797865e+00] [ 3.70671963e-02 -1.31948526e-03 9.99311904e-01 -1.90594284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.383133365 meters Centerline goodness : 0.100192 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.67, Z:-1.91 [[ 9.99304540e-01 4.93691368e-03 -3.69602930e-02 -3.25504390e+01] [-4.98011960e-03 9.99987019e-01 -1.07700805e-03 -4.67321888e+00] [ 3.69544962e-02 1.26032572e-03 9.99316155e-01 -1.90607200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.443133365 meters Centerline goodness : 0.240318 with order 3 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.68, Z:-1.91 [[ 9.99296953e-01 5.24063257e-03 -3.71232493e-02 -3.25499663e+01] [-5.25470285e-03 9.99986154e-01 -2.81455361e-04 -4.67731253e+00] [ 3.71212603e-02 4.76329129e-04 9.99310655e-01 -1.90617928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.503133365 meters Centerline goodness : 0.102676 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.68, Z:-1.91 [[ 9.99287971e-01 5.48216419e-03 -3.73295796e-02 -3.25497960e+01] [-5.46803413e-03 9.99984935e-01 4.80607360e-04 -4.68161411e+00] [ 3.73316520e-02 -2.76145738e-04 9.99302893e-01 -1.90567644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.563133365 meters Centerline goodness : 0.259446 with order 2 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.68, Z:-1.90 [[ 9.99304652e-01 -1.05161971e-03 -3.72707244e-02 -3.25313526e+01] [ 1.12028283e-03 9.99997714e-01 1.82144377e-03 -4.68302163e+00] [ 3.72687237e-02 -1.86193099e-03 9.99303545e-01 -1.90342152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.623133365 meters Centerline goodness : 0.104280 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.68, Z:-1.90 [[ 9.99302547e-01 -8.49561232e-04 -3.73322543e-02 -3.25305644e+01] [ 9.30865761e-04 9.99997233e-01 2.16053509e-03 -4.68434695e+00] [ 3.73303155e-02 -2.19377954e-03 9.99300573e-01 -1.90432731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.683133365 meters Centerline goodness : 0.099723 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.69, Z:-1.90 [[ 9.99296560e-01 -8.70022672e-04 -3.74917173e-02 -3.25299428e+01] [ 9.57340194e-04 9.99996871e-01 2.31109213e-03 -4.68583980e+00] [ 3.74895893e-02 -2.34535875e-03 9.99294266e-01 -1.90461754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.743133365 meters Centerline goodness : 0.260417 with order 2 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.69, Z:-1.90 [[ 9.99313218e-01 -8.03527606e-04 -3.70465406e-02 -3.25318761e+01] [ 9.13309746e-04 9.99995242e-01 2.94652934e-03 -4.68965031e+00] [ 3.70439968e-02 -2.97834068e-03 9.99309197e-01 -1.90326412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.803133365 meters Centerline goodness : 0.261495 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.69, Z:-1.90 [[ 9.99308463e-01 -7.03058039e-04 -3.71766253e-02 -3.25313701e+01] [ 8.35300901e-04 9.99993379e-01 3.54173826e-03 -4.69313810e+00] [ 3.71738891e-02 -3.57034268e-03 9.99302434e-01 -1.90353657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.863133365 meters Centerline goodness : 0.103565 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.70, Z:-1.90 [[ 9.99295469e-01 -7.54016015e-04 -3.75232815e-02 -3.25308531e+01] [ 9.12943019e-04 9.99990685e-01 4.21846983e-03 -4.70039634e+00] [ 3.75197512e-02 -4.24975440e-03 9.99286850e-01 -1.90302266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.923133365 meters Centerline goodness : 0.259530 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.71, Z:-1.90 [[ 9.99298338e-01 -4.35944866e-04 -3.74518614e-02 -3.25313688e+01] [ 6.28480752e-04 9.99986648e-01 5.12927042e-03 -4.70529609e+00] [ 3.74491253e-02 -5.14920918e-03 9.99285269e-01 -1.90246681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98313336499996 meters Centerline goodness : 0.267038 with order 3 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.71, Z:-1.90 [[ 9.99280076e-01 -3.69631235e-04 -3.79366933e-02 -3.25305566e+01] [ 5.89843209e-04 9.99983042e-01 5.79369420e-03 -4.71074305e+00] [ 3.79339084e-02 -5.81189988e-03 9.99263349e-01 -1.90198560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04313336499996 meters Centerline goodness : 0.125110 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.72, Z:-1.90 [[ 9.99240811e-01 -1.83836366e-03 -3.89155839e-02 -3.25265382e+01] [ 2.05438350e-03 9.99982700e-01 5.51172456e-03 -4.72068123e+00] [ 3.89047781e-02 -5.58748765e-03 9.99227301e-01 -1.90368275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10313336499996 meters Centerline goodness : 0.262126 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.73, Z:-1.90 [[ 9.99235028e-01 -5.41070170e-03 -3.87309051e-02 -3.25270664e+01] [ 5.52963998e-03 9.99980317e-01 2.96442236e-03 -4.72752268e+00] [ 3.87141032e-02 -3.17632262e-03 9.99245280e-01 -1.90339076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16313336499996 meters Centerline goodness : 0.260273 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.74, Z:-1.90 [[ 9.99219757e-01 -8.80530647e-03 -3.85012224e-02 -3.25280916e+01] [ 8.84319422e-03 9.99960567e-01 8.13873534e-04 -4.73676233e+00] [ 3.84925378e-02 -1.15371230e-03 9.99258222e-01 -1.90263395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22313336499997 meters Centerline goodness : 0.262262 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-4.75, Z:-1.90 [[ 9.99218211e-01 -1.15391494e-02 -3.78128972e-02 -3.25293964e+01] [ 1.15563859e-02 9.99933195e-01 2.37292682e-04 -4.75388557e+00] [ 3.78076329e-02 -6.74087600e-04 9.99284809e-01 -1.90219407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28313336499997 meters Centerline goodness : 0.263577 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-4.77, Z:-1.90 [[ 9.99154011e-01 -6.21540028e-03 -4.06525535e-02 -3.25121132e+01] [ 6.14863767e-03 9.99979536e-01 -1.76709911e-03 -4.77414161e+00] [ 4.06627048e-02 1.51564634e-03 9.99171781e-01 -1.89925852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34313336499997 meters Centerline goodness : 0.255474 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.78, Z:-1.90 [[ 9.99182125e-01 2.71087853e-03 -4.03451528e-02 -3.24934405e+01] [-2.83366338e-03 9.99991526e-01 -2.98648632e-03 -4.78443745e+00] [ 4.03367149e-02 3.09836833e-03 9.99181340e-01 -1.89808645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.403133365 meters Centerline goodness : 0.105997 with order 1 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.79, Z:-1.90 [[ 9.99192104e-01 3.26512886e-03 -4.00559298e-02 -3.24948051e+01] [-3.33650212e-03 9.99992963e-01 -1.71511905e-03 -4.79039980e+00] [ 4.00500479e-02 1.84738010e-03 9.99195967e-01 -1.89720975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.463133365 meters Centerline goodness : 0.126707 with order 1 Centerline is valid? [False, False] Translation: X:-32.48, Y:-4.80, Z:-1.90 [[ 9.99292376e-01 -5.24331811e-03 -3.72458685e-02 -3.24751702e+01] [ 5.18410708e-03 9.99985141e-01 -1.68613371e-03 -4.79869574e+00] [ 3.72541560e-02 1.49185399e-03 9.99304709e-01 -1.89665038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.523133365 meters Centerline goodness : 0.125848 with order 1 Centerline is valid? [False, False] Translation: X:-32.48, Y:-4.80, Z:-1.90 [[ 9.99282731e-01 -8.80739097e-03 -3.68300594e-02 -3.24756366e+01] [ 8.65173015e-03 9.99952964e-01 -4.38370673e-03 -4.80415789e+00] [ 3.68669361e-02 4.06191870e-03 9.99311928e-01 -1.89709977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.583133365 meters Centerline goodness : 0.242929 with order 3 Centerline is valid? [False, False] Translation: X:-32.48, Y:-4.81, Z:-1.90 [[ 9.99288532e-01 -8.44212756e-03 -3.67581276e-02 -3.24764536e+01] [ 8.33395689e-03 9.99960482e-01 -3.09499970e-03 -4.81140023e+00] [ 3.67828034e-02 2.78645706e-03 9.99319399e-01 -1.89630940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.643133365 meters Centerline goodness : 0.127264 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.82, Z:-1.90 [[ 9.99268783e-01 -4.13402653e-04 -3.82325448e-02 -3.24544902e+01] [ 2.11101216e-04 9.99985958e-01 -5.29522669e-03 -4.81733244e+00] [ 3.82341970e-02 5.28328380e-03 9.99254839e-01 -1.89649021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.703133365 meters Centerline goodness : 0.223525 with order 3 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.82, Z:-1.90 [[ 9.99224936e-01 -6.84919266e-04 -3.93580781e-02 -3.24511488e+01] [ 4.78474454e-04 9.99986081e-01 -5.25447727e-03 -4.81885826e+00] [ 3.93611291e-02 5.23157288e-03 9.99211355e-01 -1.89750654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.763133365 meters Centerline goodness : 0.215029 with order 3 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.82, Z:-1.90 [[ 9.99220128e-01 -7.10281544e-04 -3.94795114e-02 -3.24511830e+01] [ 5.15090808e-04 9.99987596e-01 -4.95405401e-03 -4.82089046e+00] [ 3.94825404e-02 4.92985494e-03 9.99208099e-01 -1.89716978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.823133365 meters Centerline goodness : 0.126812 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.82, Z:-1.90 [[ 9.99214820e-01 -7.18999272e-04 -3.96134702e-02 -3.24507713e+01] [ 5.26405552e-04 9.99987993e-01 -4.87203997e-03 -4.82112766e+00] [ 3.96164976e-02 4.84736179e-03 9.99203201e-01 -1.89742134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.883133365 meters Centerline goodness : 0.216565 with order 3 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.82, Z:-1.90 [[ 9.99195091e-01 -1.04621947e-03 -4.01008073e-02 -3.24486975e+01] [ 8.23816261e-04 9.99984191e-01 -5.56222626e-03 -4.81778274e+00] [ 4.01059926e-02 5.52471347e-03 9.99180157e-01 -1.89869009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.943133365 meters Centerline goodness : 0.104243 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-4.81, Z:-1.90 [[ 9.99203006e-01 -1.18905013e-03 -3.98991187e-02 -3.24491895e+01] [ 9.42843084e-04 9.99980404e-01 -6.18898851e-03 -4.81384262e+00] [ 3.99056958e-02 6.14643732e-03 9.99184546e-01 -1.89860113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.003133365 meters Centerline goodness : 0.134288 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-4.81, Z:-1.90 [[ 9.99260609e-01 2.09147947e-03 -3.83908987e-02 -3.24112759e+01] [-2.37907465e-03 9.99969440e-01 -7.44707834e-03 -4.80645222e+00] [ 3.83741500e-02 7.53290685e-03 9.99235047e-01 -1.89662887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.063133365 meters Centerline goodness : 0.232491 with order 3 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.80, Z:-1.89 [[ 9.99330011e-01 -4.06251182e-03 -3.63734020e-02 -3.23951076e+01] [ 3.81378953e-03 9.99968889e-01 -6.90480070e-03 -4.79508057e+00] [ 3.64003213e-02 6.76145406e-03 9.99314415e-01 -1.89404899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.123133365 meters Centerline goodness : 0.132254 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.79, Z:-1.89 [[ 9.99343229e-01 -4.28414287e-03 -3.59827350e-02 -3.23962537e+01] [ 4.01621998e-03 9.99963698e-01 -7.51485694e-03 -4.79143289e+00] [ 3.60136234e-02 7.36540682e-03 9.99324156e-01 -1.89382295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.183133365 meters Centerline goodness : 0.232111 with order 3 Centerline is valid? [False, False] Translation: X:-32.40, Y:-4.79, Z:-1.89 [[ 9.99343539e-01 -4.46801395e-03 -3.59517532e-02 -3.23960019e+01] [ 4.18480655e-03 9.99959651e-01 -7.94882738e-03 -4.78914559e+00] [ 3.59858180e-02 7.79315815e-03 9.99321914e-01 -1.89430892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.243133365 meters Centerline goodness : 0.248992 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.78, Z:-1.89 [[ 9.99385401e-01 -1.03182763e-03 -3.50393309e-02 -3.23545990e+01] [ 7.30436666e-04 9.99962639e-01 -8.61321652e-03 -4.78183713e+00] [ 3.50469091e-02 8.58232884e-03 9.99348817e-01 -1.89426618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.303133365 meters Centerline goodness : 0.247390 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.78, Z:-1.89 [[ 9.99375268e-01 -1.27079509e-03 -3.53193733e-02 -3.23535388e+01] [ 9.46237359e-04 9.99957191e-01 -9.20442366e-03 -4.77845693e+00] [ 3.53295582e-02 9.16525285e-03 9.99333688e-01 -1.89474786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.363133365 meters Centerline goodness : 0.219477 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.77, Z:-1.89 [[ 9.99365196e-01 2.25756307e-03 -3.55543041e-02 -3.23527273e+01] [-2.49665417e-03 9.99974560e-01 -6.68171251e-03 -4.77182182e+00] [ 3.55383152e-02 6.76623773e-03 9.99345409e-01 -1.89492309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.423133365 meters Centerline goodness : 0.140059 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.77, Z:-1.90 [[ 9.99349220e-01 5.96893807e-03 -3.55739745e-02 -3.23523253e+01] [-6.11022388e-03 9.99973866e-01 -3.86421248e-03 -4.76618626e+00] [ 3.55499796e-02 4.07906268e-03 9.99359575e-01 -1.89508556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48313336499996 meters Centerline goodness : 0.135085 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.76, Z:-1.90 [[ 9.99303463e-01 9.36279326e-03 -3.61237829e-02 -3.23498713e+01] [-9.42219423e-03 9.99954523e-01 -1.47448151e-03 -4.75962332e+00] [ 3.61083348e-02 1.81381978e-03 9.99346235e-01 -1.89619616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54313336499996 meters Centerline goodness : 0.124075 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.75, Z:-1.90 [[ 9.99266150e-01 1.29083673e-02 -3.60629452e-02 -3.23495541e+01] [-1.28852895e-02 9.99916601e-01 8.72283128e-04 -4.75197954e+00] [ 3.60711973e-02 -4.06961515e-04 9.99349140e-01 -1.89642959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60313336499996 meters Centerline goodness : 0.257562 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.75, Z:-1.90 [[ 9.99204051e-01 1.65039612e-02 -3.63164507e-02 -3.23477052e+01] [-1.63808340e-02 9.99859033e-01 3.68535474e-03 -4.74715569e+00] [ 3.63721543e-02 -3.08752763e-03 9.99333545e-01 -1.89762806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66313336499996 meters Centerline goodness : 0.127790 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.74, Z:-1.90 [[ 9.99211405e-01 1.67017135e-02 -3.60225043e-02 -3.23478191e+01] [-1.65903775e-02 9.99856632e-01 3.38745570e-03 -4.74416131e+00] [ 3.60739161e-02 -2.78715743e-03 9.99345238e-01 -1.89827408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72313336499997 meters Centerline goodness : 0.127486 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.74, Z:-1.90 [[ 9.99212872e-01 1.68446954e-02 -3.59150772e-02 -3.23471765e+01] [-1.67467024e-02 9.99855180e-01 3.02756879e-03 -4.74126833e+00] [ 3.59608745e-02 -2.42372660e-03 9.99350259e-01 -1.89943128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78313336499997 meters Centerline goodness : 0.288059 with order 3 Centerline is valid? [False, False] Translation: X:-32.37, Y:-4.73, Z:-1.90 [[ 9.99326197e-01 1.00917831e-02 -3.52889179e-02 -3.23651004e+01] [-9.87547703e-03 9.99931399e-01 6.29851810e-03 -4.73310118e+00] [ 3.53500603e-02 -5.94577924e-03 9.99357304e-01 -1.90178336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84313336499997 meters Centerline goodness : 0.098763 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.73, Z:-1.90 [[ 9.99315293e-01 1.01299188e-02 -3.55855237e-02 -3.23635678e+01] [-9.92916840e-03 9.99933805e-01 5.81355674e-03 -4.72937899e+00] [ 3.56420589e-02 -5.45624150e-03 9.99349725e-01 -1.90295676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.903133365 meters Centerline goodness : 0.262022 with order 2 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.73, Z:-1.90 [[ 9.99320226e-01 9.96371044e-03 -3.54938100e-02 -3.23630680e+01] [-9.78232125e-03 9.99938210e-01 5.28044999e-03 -4.72650080e+00] [ 3.55442297e-02 -4.92964863e-03 9.99355946e-01 -1.90397548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.963133365 meters Centerline goodness : 0.128484 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.72, Z:-1.91 [[ 9.99329050e-01 9.67287796e-03 -3.53254080e-02 -3.23626437e+01] [-9.52361919e-03 9.99945008e-01 4.39108055e-03 -4.72150423e+00] [ 3.53659398e-02 -4.05170863e-03 9.99366216e-01 -1.90507348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.023133365 meters Centerline goodness : 0.107692 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.71, Z:-1.91 [[ 9.99336029e-01 3.89924027e-04 -3.64328068e-02 -3.23789630e+01] [-1.85956007e-04 9.99984293e-01 5.60169208e-03 -4.71310610e+00] [ 3.64344188e-02 -5.59119782e-03 9.99320405e-01 -1.90779806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.083133365 meters Centerline goodness : 0.252313 with order 3 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.70, Z:-1.91 [[ 9.99447589e-01 2.11395721e-03 -3.31669683e-02 -3.23404997e+01] [-1.97875732e-03 9.99989602e-01 4.10863598e-03 -4.70475523e+00] [ 3.31753089e-02 -4.04073694e-03 9.99441380e-01 -1.90689096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.143133365 meters Centerline goodness : 0.108100 with order 1 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.70, Z:-1.91 [[ 9.99454966e-01 1.84597806e-03 -3.29600163e-02 -3.23407914e+01] [-1.72822227e-03 9.99992024e-01 3.60081757e-03 -4.70246515e+00] [ 3.29664005e-02 -3.54189277e-03 9.99450185e-01 -1.90724589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.203133365 meters Centerline goodness : 0.125213 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.70, Z:-1.91 [[ 9.99397846e-01 8.74233725e-03 -3.35785156e-02 -3.23177082e+01] [-8.74889303e-03 9.99961727e-01 -4.83105800e-05 -4.70083831e+00] [ 3.35768081e-02 3.42056331e-04 9.99436081e-01 -1.90839985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.263133365 meters Centerline goodness : 0.254348 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.70, Z:-1.91 [[ 9.99389306e-01 8.55116615e-03 -3.38805566e-02 -3.23160089e+01] [-8.57668619e-03 9.99963035e-01 -6.07971493e-04 -4.69720177e+00] [ 3.38741053e-02 8.98183110e-04 9.99425704e-01 -1.90982347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.323133365 meters Centerline goodness : 0.239323 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.69, Z:-1.91 [[ 9.99411731e-01 8.39380274e-03 -3.32525954e-02 -3.23175747e+01] [-8.44289874e-03 9.99963465e-01 -1.33631601e-03 -4.69285790e+00] [ 3.32401638e-02 1.61627820e-03 9.99446086e-01 -1.90956113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.383133365 meters Centerline goodness : 0.128191 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.69, Z:-1.91 [[ 9.99423686e-01 8.35166629e-03 -3.29020595e-02 -3.23176898e+01] [-8.42025888e-03 9.99962654e-01 -1.94674058e-03 -4.68827188e+00] [ 3.28845722e-02 2.22266250e-03 9.99456685e-01 -1.91051133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.443133365 meters Centerline goodness : 0.256245 with order 2 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.68, Z:-1.91 [[ 9.99440039e-01 8.24218086e-03 -3.24295431e-02 -3.23180154e+01] [-8.33520351e-03 9.99961523e-01 -2.73430888e-03 -4.68284306e+00] [ 3.24057587e-02 3.00308462e-03 9.99470284e-01 -1.91151441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.503133365 meters Centerline goodness : 0.129431 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.67, Z:-1.91 [[ 9.99446893e-01 8.41150002e-03 -3.21738255e-02 -3.23179463e+01] [-8.52630726e-03 9.99957758e-01 -3.43280896e-03 -4.67391460e+00] [ 3.21435914e-02 3.70523417e-03 9.99476393e-01 -1.91236150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.563133365 meters Centerline goodness : 0.098321 with order 1 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.67, Z:-1.91 [[ 9.99464898e-01 2.14941937e-03 -3.26389043e-02 -3.22999268e+01] [-2.24961041e-03 9.99992869e-01 -3.03326967e-03 -4.66502821e+00] [ 3.26321518e-02 3.10507138e-03 9.99462606e-01 -1.91034319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.623133365 meters Centerline goodness : 0.249297 with order 3 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.66, Z:-1.91 [[ 9.99462607e-01 1.83999129e-03 -3.27278311e-02 -3.22992518e+01] [-1.95783285e-03 9.99991715e-01 -3.56897110e-03 -4.66285874e+00] [ 3.27209931e-02 3.63112879e-03 9.99457929e-01 -1.91105645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.683133365 meters Centerline goodness : 0.168355 with order 1 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.66, Z:-1.91 [[ 9.99459819e-01 1.47440003e-03 -3.28313190e-02 -3.22982480e+01] [-1.62178761e-03 9.99988725e-01 -4.46306000e-03 -4.65809499e+00] [ 3.28243685e-02 4.51389457e-03 9.99450942e-01 -1.91216552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.743133365 meters Centerline goodness : 0.229011 with order 1 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.65, Z:-1.91 [[ 9.99456295e-01 1.26449809e-03 -3.29471755e-02 -3.22969743e+01] [-1.43341747e-03 9.99985948e-01 -5.10386066e-03 -4.65416398e+00] [ 3.29402587e-02 5.14831272e-03 9.99444063e-01 -1.91363980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.803133365 meters Centerline goodness : 0.245736 with order 3 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.65, Z:-1.91 [[ 9.99447568e-01 9.01481101e-04 -3.32226707e-02 -3.22954757e+01] [-1.08802619e-03 9.99983743e-01 -5.59734290e-03 -4.65252031e+00] [ 3.32170847e-02 5.63039789e-03 9.99432301e-01 -1.91491347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.863133365 meters Centerline goodness : 0.185578 with order 1 Centerline is valid? [False, False] Translation: X:-32.30, Y:-4.65, Z:-1.92 [[ 9.99444844e-01 6.91392423e-04 -3.33095318e-02 -3.22951706e+01] [-8.82031482e-04 9.99983315e-01 -5.70890433e-03 -4.65285890e+00] [ 3.33050290e-02 5.73511505e-03 9.99428779e-01 -1.91505489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.923133365 meters Centerline goodness : 0.097522 with order 1 Centerline is valid? [False, False] Translation: X:-32.29, Y:-4.65, Z:-1.92 [[ 9.99444521e-01 6.37413201e-04 -3.33203150e-02 -3.22948594e+01] [-8.30173668e-04 9.99983000e-01 -5.77155884e-03 -4.65266169e+00] [ 3.33160697e-02 5.79601451e-03 9.99428059e-01 -1.91550042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98313336499996 meters Centerline goodness : 0.175536 with order 2 Centerline is valid? [False, False] Translation: X:-32.29, Y:-4.65, Z:-1.92 [[ 9.99423761e-01 4.23144926e-03 -3.36784881e-02 -3.22931980e+01] [-4.33243863e-03 9.99986334e-01 -2.92622062e-03 -4.64789709e+00] [ 3.36656457e-02 3.07044440e-03 9.99428435e-01 -1.91649974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04313336499996 meters Centerline goodness : 0.226587 with order 3 Centerline is valid? [False, False] Translation: X:-32.29, Y:-4.64, Z:-1.92 [[ 9.99389607e-01 7.76228595e-03 -3.40611208e-02 -3.22918647e+01] [-7.77562310e-03 9.99969736e-01 -2.59119262e-04 -4.64224015e+00] [ 3.40580786e-02 5.23807536e-04 9.99419718e-01 -1.91705004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10313336499996 meters Centerline goodness : 0.145294 with order 1 Centerline is valid? [False, False] Translation: X:-32.29, Y:-4.64, Z:-1.92 [[ 9.99350202e-01 1.13390558e-02 -3.42140139e-02 -3.22911640e+01] [-1.12649619e-02 9.99933769e-01 2.35759624e-03 -4.63535485e+00] [ 3.42384808e-02 -1.97064471e-03 9.99411748e-01 -1.91741669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16313336499996 meters Centerline goodness : 0.147833 with order 1 Centerline is valid? [False, False] Translation: X:-32.31, Y:-4.62, Z:-1.92 [[ 9.99462862e-01 4.54000664e-03 -3.24557644e-02 -3.23107718e+01] [-4.40597047e-03 9.99981473e-01 4.20013769e-03 -4.62102065e+00] [ 3.24742318e-02 -4.05488249e-03 9.99464348e-01 -1.91989843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22313336499997 meters Centerline goodness : 0.259622 with order 3 Centerline is valid? [False, False] Translation: X:-32.31, Y:-4.61, Z:-1.92 [[ 9.99475136e-01 4.33830603e-03 -3.21034608e-02 -3.23112580e+01] [-4.24826248e-03 9.99986851e-01 2.87247110e-03 -4.60943518e+00] [ 3.21155003e-02 -2.73457951e-03 9.99480423e-01 -1.92051896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28313336499997 meters Centerline goodness : 0.251595 with order 3 Centerline is valid? [False, False] Translation: X:-32.31, Y:-4.59, Z:-1.92 [[ 9.99499655e-01 4.75348833e-03 -3.12704879e-02 -3.23142445e+01] [-4.69737791e-03 9.99987223e-01 1.86757549e-03 -4.59368306e+00] [ 3.12789659e-02 -1.71975176e-03 9.99509214e-01 -1.91952214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34313336499997 meters Centerline goodness : 0.101856 with order 1 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.58, Z:-1.92 [[ 9.99595671e-01 -3.92808578e-03 -2.81614049e-02 -3.23361295e+01] [ 3.98677504e-03 9.99989996e-01 2.02818688e-03 -4.58088447e+00] [ 2.81531562e-02 -2.13964001e-03 9.99601331e-01 -1.92151387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.403133365 meters Centerline goodness : 0.314254 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-4.57, Z:-1.92 [[ 9.99640050e-01 1.54415992e-03 -2.67840474e-02 -3.23150510e+01] [-1.60215977e-03 9.99996418e-01 -2.14413786e-03 -4.57226176e+00] [ 2.67806405e-02 2.18627840e-03 9.99638944e-01 -1.92374166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.463133365 meters Centerline goodness : 0.151390 with order 2 Centerline is valid? [False, False] Translation: X:-32.31, Y:-4.57, Z:-1.92 [[ 9.99638842e-01 1.17590251e-03 -2.68477601e-02 -3.23144452e+01] [-1.25551002e-03 9.99994865e-01 -2.94848072e-03 -4.56808821e+00] [ 2.68441551e-02 2.98112348e-03 9.99635186e-01 -1.92449913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.523133365 meters SLAMing on 323.583133365 meters SLAMing on 323.643133365 meters SLAMing on 323.703133365 meters Centerline goodness : 0.202480 with order 2 Centerline is valid? [False, False] Translation: X:-32.25, Y:-4.52, Z:-1.93 [[ 9.99401076e-01 1.89936313e-02 -2.89263065e-02 -3.22516764e+01] [-1.91034114e-02 9.99811304e-01 -3.52352767e-03 -4.52285007e+00] [ 2.88539236e-02 4.07400848e-03 9.99575337e-01 -1.92630677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.763133365 meters Centerline goodness : 0.154413 with order 2 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.51, Z:-1.93 [[ 9.99523059e-01 1.28426429e-02 -2.80841732e-02 -3.22693154e+01] [-1.28933897e-02 9.99915554e-01 -1.62660842e-03 -4.50620836e+00] [ 2.80609116e-02 1.98793282e-03 9.99604238e-01 -1.92926954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.823133365 meters Centerline goodness : 0.152729 with order 2 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.49, Z:-1.93 [[ 9.99471905e-01 1.55984983e-02 -2.85061128e-02 -3.22665222e+01] [-1.56551703e-02 9.99875891e-01 -1.76595457e-03 -4.48794243e+00] [ 2.84750287e-02 2.21129003e-03 9.99592058e-01 -1.93007490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.883133365 meters Centerline goodness : 0.142344 with order 2 Centerline is valid? [False, False] Translation: X:-32.25, Y:-4.47, Z:-1.93 [[ 9.99486331e-01 1.00468923e-02 -3.04324354e-02 -3.22517262e+01] [-1.00956620e-02 9.99947987e-01 -1.44932471e-03 -4.47224036e+00] [ 3.04162914e-02 1.75581582e-03 9.99535775e-01 -1.92791804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.943133365 meters Centerline goodness : 0.148114 with order 3 Centerline is valid? [False, False] Translation: X:-32.25, Y:-4.47, Z:-1.93 [[ 9.99507365e-01 9.65765142e-03 -2.98622995e-02 -3.22527694e+01] [-9.72908612e-03 9.99950145e-01 -2.24776035e-03 -4.46803773e+00] [ 2.98391027e-02 2.53718591e-03 9.99551495e-01 -1.92870580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.003133365 meters Centerline goodness : 0.241333 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.46, Z:-1.93 [[ 9.99525677e-01 -4.36178831e-04 -3.07933652e-02 -3.22713149e+01] [ 3.56349175e-04 9.99996562e-01 -2.59787069e-03 -4.45637941e+00] [ 3.07943925e-02 2.58566527e-03 9.99522396e-01 -1.93066689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.063133365 meters Centerline goodness : 0.117674 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.45, Z:-1.93 [[ 9.99494154e-01 -1.69357017e-03 -3.17579530e-02 -3.22680835e+01] [ 1.56147511e-03 9.99990029e-01 -4.18377219e-03 -4.45137563e+00] [ 3.17647219e-02 4.13206660e-03 9.99486833e-01 -1.93206919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.123133365 meters Centerline goodness : 0.241155 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.45, Z:-1.93 [[ 9.99493425e-01 -2.01511891e-03 -3.17621391e-02 -3.22678771e+01] [ 1.85653503e-03 9.99985669e-01 -5.02155959e-03 -4.44677607e+00] [ 3.17718030e-02 4.96004826e-03 9.99482842e-01 -1.93238790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.183133365 meters Centerline goodness : 0.233099 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.44, Z:-1.93 [[ 9.99492440e-01 1.31214474e-03 -3.18298664e-02 -3.22677930e+01] [-1.41174904e-03 9.99994177e-01 -3.10700011e-03 -4.43994531e+00] [ 3.18256042e-02 3.15035890e-03 9.99488472e-01 -1.93172051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.243133365 meters Centerline goodness : 0.136482 with order 2 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.43, Z:-1.93 [[ 9.99472292e-01 3.78643915e-03 -3.22614422e-02 -3.22658865e+01] [-3.86954412e-03 9.99989353e-01 -2.51393890e-03 -4.42629813e+00] [ 3.22515798e-02 2.63744934e-03 9.99476303e-01 -1.93232777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.303133365 meters Centerline goodness : 0.121418 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.42, Z:-1.93 [[ 9.99482969e-01 3.46831606e-03 -3.19650803e-02 -3.22666287e+01] [-3.58553244e-03 9.99987054e-01 -3.61042257e-03 -4.42055056e+00] [ 3.19521444e-02 3.72316770e-03 9.99482465e-01 -1.93235242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.363133365 meters Centerline goodness : 0.153418 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.41, Z:-1.93 [[ 9.99499750e-01 2.62650413e-03 -3.15174678e-02 -3.22684506e+01] [-2.79331217e-03 9.99982319e-01 -5.24969599e-03 -4.41341568e+00] [ 3.15031222e-02 5.33510795e-03 9.99489415e-01 -1.93155018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.423133365 meters Centerline goodness : 0.255245 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.41, Z:-1.93 [[ 9.99499233e-01 2.26879553e-03 -3.15616285e-02 -3.22680307e+01] [-2.46274128e-03 9.99978317e-01 -6.10746937e-03 -4.40913109e+00] [ 3.15470876e-02 6.18213907e-03 9.99483148e-01 -1.93211989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48313336499996 meters Centerline goodness : 0.148475 with order 3 Centerline is valid? [False, False] Translation: X:-32.25, Y:-4.40, Z:-1.93 [[ 9.99438608e-01 -5.02545298e-03 -3.31242034e-02 -3.22506118e+01] [ 4.82606992e-03 9.99969771e-01 -6.09646226e-03 -4.39529728e+00] [ 3.31538395e-02 5.93318004e-03 9.99432649e-01 -1.92968535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54313336499996 meters SLAMing on 324.60313336499996 meters Centerline goodness : 0.148908 with order 3 Centerline is valid? [False, False] Translation: X:-32.27, Y:-4.39, Z:-1.93 [[ 9.99478871e-01 2.44337141e-03 -3.21872005e-02 -3.22746077e+01] [-2.69238440e-03 9.99966766e-01 -7.69532950e-03 -4.39080238e+00] [ 3.21673282e-02 7.77797956e-03 9.99452233e-01 -1.92981012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66313336499996 meters SLAMing on 324.72313336499997 meters SLAMing on 324.78313336499997 meters Centerline goodness : 0.129297 with order 1 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.39, Z:-1.93 [[ 9.99437571e-01 -4.88397192e-03 -3.31766249e-02 -3.23442874e+01] [ 4.54275634e-03 9.99936093e-01 -1.03524226e-02 -4.39054973e+00] [ 3.32250656e-02 1.01958867e-02 9.99395887e-01 -1.93319358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84313336499997 meters Centerline goodness : 0.137942 with order 2 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.39, Z:-1.94 [[ 9.99471084e-01 2.30248434e-03 -3.24384050e-02 -3.23632936e+01] [-2.67651460e-03 9.99930385e-01 -1.14917763e-02 -4.39446059e+00] [ 3.24096872e-02 1.15725199e-02 9.99407669e-01 -1.93547172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.903133365 meters SLAMing on 324.963133365 meters Centerline goodness : 0.192376 with order 3 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.39, Z:-1.94 [[ 9.99444004e-01 5.86000813e-03 -3.28229166e-02 -3.23624159e+01] [-6.15522814e-03 9.99941445e-01 -8.90051484e-03 -4.38808914e+00] [ 3.27688376e-02 9.09759873e-03 9.99421551e-01 -1.93535218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.023133365 meters Centerline goodness : 0.158263 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.39, Z:-1.94 [[ 9.99442359e-01 5.94275499e-03 -3.28581097e-02 -3.23620929e+01] [-6.24948825e-03 9.99937779e-01 -9.24027764e-03 -4.38545011e+00] [ 3.28011525e-02 9.44047125e-03 9.99417311e-01 -1.93565983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.083133365 meters SLAMing on 325.143133365 meters Centerline goodness : 0.163550 with order 3 Centerline is valid? [False, False] Translation: X:-32.36, Y:-4.37, Z:-1.94 [[ 9.99402968e-01 1.10825854e-02 -3.27243688e-02 -3.23618957e+01] [-1.13011188e-02 9.99915010e-01 -6.50060364e-03 -4.36718409e+00] [ 3.26495441e-02 6.86654455e-03 9.99443274e-01 -1.93633577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.203133365 meters Centerline goodness : 0.128882 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-4.36, Z:-1.93 [[ 9.99414208e-01 1.32960640e-02 -3.15349808e-02 -3.23659067e+01] [-1.34601446e-02 9.99896924e-01 -4.99655564e-03 -4.36041132e+00] [ 3.14652958e-02 5.41809410e-03 9.99490160e-01 -1.93492917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.263133365 meters Centerline goodness : 0.150497 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.35, Z:-1.93 [[ 9.99484585e-01 6.03098344e-03 -3.15307987e-02 -3.23495830e+01] [-6.17533760e-03 9.99970884e-01 -4.48282000e-03 -4.34884235e+00] [ 3.15028449e-02 4.67522282e-03 9.99492728e-01 -1.93210838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.323133365 meters Centerline goodness : 0.129990 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.34, Z:-1.93 [[ 9.99481862e-01 5.58263658e-03 -3.16992232e-02 -3.23488772e+01] [-5.75843117e-03 9.99968530e-01 -5.45712484e-03 -4.34401056e+00] [ 3.16677604e-02 5.63683509e-03 9.99482556e-01 -1.93266283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.383133365 meters Centerline goodness : 0.132914 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-4.33, Z:-1.93 [[ 9.99460443e-01 -3.35811916e-03 -3.26733274e-02 -3.23687850e+01] [ 3.17683830e-03 9.99979281e-01 -5.59861482e-03 -4.33403418e+00] [ 3.26914512e-02 5.49179617e-03 9.99450404e-01 -1.93421000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.443133365 meters Centerline goodness : 0.130987 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.33, Z:-1.93 [[ 9.99490842e-01 4.86993778e-03 -3.15331493e-02 -3.23493758e+01] [-5.10273733e-03 9.99960288e-01 -7.30643325e-03 -4.33127053e+00] [ 3.14963152e-02 7.46361850e-03 9.99476001e-01 -1.93291743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.503133365 meters Centerline goodness : 0.272391 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-4.33, Z:-1.93 [[ 9.99508932e-01 4.65681374e-03 -3.09872524e-02 -3.23508862e+01] [-4.90819731e-03 9.99955622e-01 -8.04137021e-03 -4.32696146e+00] [ 3.09484300e-02 8.18951289e-03 9.99487432e-01 -1.93260564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.563133365 meters Centerline goodness : 0.243260 with order 3 Centerline is valid? [False, False] Translation: X:-32.34, Y:-4.31, Z:-1.93 [[ 9.99462952e-01 -1.37067158e-03 -3.27403395e-02 -3.23353036e+01] [ 1.11805716e-03 9.99969477e-01 -7.73275530e-03 -4.31435817e+00] [ 3.27499392e-02 7.69199686e-03 9.99433977e-01 -1.92968113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.623133365 meters Centerline goodness : 0.117446 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.31, Z:-1.93 [[ 9.99348218e-01 -1.35797551e-03 -3.60734593e-02 -3.23774073e+01] [ 1.09100334e-03 9.99971880e-01 -7.41944608e-03 -4.31105219e+00] [ 3.60825203e-02 7.37525396e-03 9.99321599e-01 -1.93129961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.683133365 meters Centerline goodness : 0.122419 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.31, Z:-1.93 [[ 9.99340022e-01 -1.73999846e-03 -3.62835029e-02 -3.23767208e+01] [ 1.43985938e-03 9.99964546e-01 -8.29654377e-03 -4.30690078e+00] [ 3.62966525e-02 8.23882510e-03 9.99307097e-01 -1.93169895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.743133365 meters Centerline goodness : 0.119729 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.30, Z:-1.93 [[ 9.99351465e-01 -2.22609740e-03 -3.59401568e-02 -3.23780154e+01] [ 1.88720765e-03 9.99953468e-01 -9.46045090e-03 -4.30097771e+00] [ 3.59595444e-02 9.38648892e-03 9.99309164e-01 -1.93111051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.803133365 meters Centerline goodness : 0.128227 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-4.30, Z:-1.93 [[ 9.99354651e-01 -2.43915495e-03 -3.58375694e-02 -3.23779601e+01] [ 2.07526217e-03 9.99945951e-01 -1.01876386e-02 -4.29661010e+00] [ 3.58604817e-02 1.01066917e-02 9.99305699e-01 -1.93163272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.863133365 meters Centerline goodness : 0.126689 with order 1 Centerline is valid? [False, False] Translation: X:-32.42, Y:-4.29, Z:-1.93 [[ 9.99232250e-01 -2.43265672e-03 -3.91023470e-02 -3.24204185e+01] [ 2.02937059e-03 9.99944378e-01 -1.03499894e-02 -4.29283259e+00] [ 3.91253500e-02 1.02626900e-02 9.99181607e-01 -1.93312433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.923133365 meters Centerline goodness : 0.129695 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.28, Z:-1.93 [[ 9.99175258e-01 -7.74069705e-04 -4.05980806e-02 -3.24659043e+01] [ 3.74096107e-04 9.99951332e-01 -9.85870398e-03 -4.28153034e+00] [ 4.06037361e-02 9.83538551e-03 9.99126920e-01 -1.93376853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98313336499996 meters Centerline goodness : 0.125378 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-4.27, Z:-1.93 [[ 9.99171740e-01 2.60959404e-03 -4.06081847e-02 -3.24659300e+01] [-2.91534057e-03 9.99967836e-01 -7.47178944e-03 -4.27426601e+00] [ 4.05873802e-02 7.58398754e-03 9.99147210e-01 -1.93380449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04313336499996 meters Centerline goodness : 0.115012 with order 1 Centerline is valid? [False, False] Translation: X:-32.46, Y:-4.27, Z:-1.93 [[ 9.99154547e-01 2.06248702e-03 -4.10601560e-02 -3.24642379e+01] [-2.42795965e-03 9.99957864e-01 -8.85303067e-03 -4.26635849e+00] [ 4.10401667e-02 8.94523825e-03 9.99117454e-01 -1.93478672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10313336499996 meters Centerline goodness : 0.118534 with order 1 Centerline is valid? [False, False] Translation: X:-32.49, Y:-4.25, Z:-1.94 [[ 9.99218424e-01 -6.46941724e-03 -3.89960047e-02 -3.24863536e+01] [ 6.10562681e-03 9.99936794e-01 -9.44080148e-03 -4.25335574e+00] [ 3.90546164e-02 9.19532772e-03 9.99194767e-01 -1.93651394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16313336499996 meters SLAMing on 326.22313336499997 meters Centerline goodness : 0.446031 with order 1 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.25, Z:-1.94 [[ 9.99203352e-01 -1.79154522e-02 -3.56608874e-02 -3.25496585e+01] [ 1.75201877e-02 9.99781907e-01 -1.13658053e-02 -4.25151470e+00] [ 3.58567336e-02 1.07319653e-02 9.99299314e-01 -1.93783357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28313336499997 meters Centerline goodness : 0.101719 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.25, Z:-1.94 [[ 9.99329459e-01 -1.01322550e-02 -3.51848071e-02 -3.25708234e+01] [ 9.69752293e-03 9.99874791e-01 -1.25044301e-02 -4.25450376e+00] [ 3.53070997e-02 1.21548399e-02 9.99302591e-01 -1.93856491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34313336499997 meters Centerline goodness : 0.448793 with order 1 Centerline is valid? [False, False] Translation: X:-32.57, Y:-4.25, Z:-1.94 [[ 9.99322086e-01 -1.03680974e-02 -3.53252224e-02 -3.25707442e+01] [ 9.90831967e-03 9.99864233e-01 -1.31658629e-02 -4.25119805e+00] [ 3.54569313e-02 1.28069240e-02 9.99289142e-01 -1.93831413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.403133365 meters Centerline goodness : 0.443540 with order 3 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.25, Z:-1.94 [[ 9.99344433e-01 -2.46608885e-03 -3.61195555e-02 -3.25914004e+01] [ 1.92078130e-03 9.99883778e-01 -1.51242211e-02 -4.24754887e+00] [ 3.61526553e-02 1.50449284e-02 9.99233024e-01 -1.93965401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.463133365 meters Centerline goodness : 0.095751 with order 1 Centerline is valid? [False, False] Translation: X:-32.59, Y:-4.24, Z:-1.94 [[ 9.99368824e-01 -2.73233771e-03 -3.54187556e-02 -3.25939922e+01] [ 2.17529916e-03 9.99873497e-01 -1.57562255e-02 -4.24448377e+00] [ 3.54573264e-02 1.56692341e-02 9.99248344e-01 -1.93836042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.523133365 meters Centerline goodness : 0.192446 with order 2 Centerline is valid? [False, False] Translation: X:-32.61, Y:-4.25, Z:-1.94 [[ 9.99399153e-01 4.50000813e-03 -3.43668919e-02 -3.26129668e+01] [-5.08433158e-03 9.99843681e-01 -1.69340883e-02 -4.24968096e+00] [ 3.42853162e-02 1.70986462e-02 9.99265807e-01 -1.94050157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.583133365 meters Centerline goodness : 0.098187 with order 1 Centerline is valid? [False, False] Translation: X:-32.61, Y:-4.25, Z:-1.94 [[ 9.99345928e-01 2.16835634e-03 -3.60973020e-02 -3.26060334e+01] [-2.87159377e-03 9.99806877e-01 -1.94412856e-02 -4.24771831e+00] [ 3.60481751e-02 1.95322264e-02 9.99159157e-01 -1.94380904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.643133365 meters Centerline goodness : 0.099233 with order 1 Centerline is valid? [False, False] Translation: X:-32.61, Y:-4.25, Z:-1.94 [[ 9.99345348e-01 2.17146025e-03 -3.61131513e-02 -3.26060600e+01] [-2.89354543e-03 9.99796695e-01 -1.99548462e-02 -4.24550400e+00] [ 3.60624782e-02 2.00462777e-02 9.99148460e-01 -1.94366722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.703133365 meters Centerline goodness : 0.092766 with order 1 Centerline is valid? [False, False] Translation: X:-32.61, Y:-4.24, Z:-1.94 [[ 9.99359048e-01 2.12044109e-03 -3.57351038e-02 -3.26069884e+01] [-2.87447215e-03 9.99774030e-01 -2.10624213e-02 -4.23949118e+00] [ 3.56823671e-02 2.11516409e-02 9.99139318e-01 -1.94359683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.763133365 meters Centerline goodness : 0.340791 with order 1 Centerline is valid? [False, False] Translation: X:-32.63, Y:-4.23, Z:-1.94 [[ 9.99285943e-01 -2.71374713e-03 -3.76860705e-02 -3.26271012e+01] [ 2.02643922e-03 9.99831147e-01 -1.82639544e-02 -4.23239217e+00] [ 3.77292708e-02 1.81745444e-02 9.99122709e-01 -1.94473288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.823133365 meters Centerline goodness : 0.263011 with order 1 Centerline is valid? [False, False] Translation: X:-32.62, Y:-4.23, Z:-1.95 [[ 9.99254839e-01 -2.65702199e-03 -3.85059220e-02 -3.26246309e+01] [ 1.92975552e-03 9.99819290e-01 -1.89120077e-02 -4.22852211e+00] [ 3.85492132e-02 1.88236082e-02 9.99079391e-01 -1.94551780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.883133365 meters Centerline goodness : 0.285827 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.23, Z:-1.95 [[ 9.99144313e-01 -3.22154161e-03 -4.12342439e-02 -3.26668424e+01] [ 2.37877312e-03 9.99787611e-01 -2.04713286e-02 -4.22525813e+00] [ 4.12914354e-02 2.03557247e-02 9.98939769e-01 -1.94756354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.943133365 meters Centerline goodness : 0.110138 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.22, Z:-1.95 [[ 9.99127779e-01 -3.43044915e-03 -4.16162735e-02 -3.26654555e+01] [ 2.55707986e-03 9.99775757e-01 -2.10213530e-02 -4.22333518e+00] [ 4.16790540e-02 2.08966015e-02 9.98912503e-01 -1.94832803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.003133365 meters Centerline goodness : 0.121778 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.22, Z:-1.95 [[ 9.99106434e-01 -3.75713200e-03 -4.20977022e-02 -3.26639543e+01] [ 2.85305344e-03 9.99764449e-01 -2.15152587e-02 -4.22139889e+00] [ 4.21686217e-02 2.13759264e-02 9.98881813e-01 -1.94883292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.063133365 meters Centerline goodness : 0.151891 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.22, Z:-1.95 [[ 9.99096376e-01 -4.27717115e-03 -4.22863804e-02 -3.26638658e+01] [ 3.31646721e-03 9.99735386e-01 -2.27630969e-02 -4.21704194e+00] [ 4.23725525e-02 2.26022862e-02 9.98846186e-01 -1.94832866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.123133365 meters Centerline goodness : 0.129751 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.21, Z:-1.95 [[ 9.99088035e-01 -4.28250414e-03 -4.24824374e-02 -3.26633340e+01] [ 3.28255616e-03 9.99716569e-01 -2.35798091e-02 -4.21263712e+00] [ 4.25713772e-02 2.34188542e-02 9.98818920e-01 -1.94843183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.183133365 meters Centerline goodness : 0.112437 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-4.21, Z:-1.95 [[ 9.99088467e-01 -4.81699691e-03 -4.24150006e-02 -3.26637314e+01] [ 3.75207610e-03 9.99676620e-01 -2.51510838e-02 -4.20633965e+00] [ 4.25224371e-02 2.49690134e-02 9.98783455e-01 -1.94794225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.243133365 meters Centerline goodness : 0.212400 with order 3 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.20, Z:-1.95 [[ 9.99112523e-01 -5.52466339e-03 -4.17569605e-02 -3.26672517e+01] [ 4.39965297e-03 9.99626132e-01 -2.69859086e-02 -4.19571212e+00] [ 4.18904370e-02 2.67782431e-02 9.98763294e-01 -1.94536837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.303133365 meters Centerline goodness : 0.147600 with order 3 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.19, Z:-1.95 [[ 9.99107995e-01 -5.98925196e-03 -4.18012278e-02 -3.26669637e+01] [ 4.81572341e-03 9.99592997e-01 -2.81184698e-02 -4.19051157e+00] [ 4.19526232e-02 2.78920848e-02 9.98730198e-01 -1.94545629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.363133365 meters Centerline goodness : 0.130169 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.18, Z:-1.95 [[ 9.99088810e-01 -7.03917622e-03 -4.20951231e-02 -3.26657916e+01] [ 5.77238617e-03 9.99529028e-01 -3.01397037e-02 -4.18239921e+00] [ 4.22874562e-02 2.98692514e-02 9.98658900e-01 -1.94581776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.423133365 meters Centerline goodness : 0.284780 with order 3 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.18, Z:-1.94 [[ 9.99084034e-01 -7.47705559e-03 -4.21329649e-02 -3.26666805e+01] [ 6.15790271e-03 9.99489419e-01 -3.13525446e-02 -4.17525220e+00] [ 4.23458773e-02 3.10643760e-02 9.98619963e-01 -1.94434330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48313336499996 meters SLAMing on 327.54313336499996 meters Centerline goodness : 0.248971 with order 3 Centerline is valid? [False, False] Translation: X:-32.62, Y:-4.17, Z:-1.94 [[ 9.99032517e-01 -1.17419311e-02 -4.23811014e-02 -3.26192095e+01] [ 1.03065696e-02 9.99371101e-01 -3.39290003e-02 -4.16970676e+00] [ 4.27528400e-02 3.34593708e-02 9.98525245e-01 -1.94343489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60313336499996 meters SLAMing on 327.66313336499996 meters SLAMing on 327.72313336499997 meters Centerline goodness : 0.090673 with order 1 Centerline is valid? [False, False] Translation: X:-32.60, Y:-4.19, Z:-1.94 [[ 9.98991123e-01 -5.93927645e-03 -4.45136104e-02 -3.25972722e+01] [ 4.37044140e-03 9.99368660e-01 -3.52587574e-02 -4.18763273e+00] [ 4.46949187e-02 3.50286415e-02 9.98386377e-01 -1.94383390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78313336499997 meters SLAMing on 327.84313336499997 meters Centerline goodness : 0.150408 with order 3 Centerline is valid? [False, False] Translation: X:-32.55, Y:-4.20, Z:-1.94 [[ 9.98752556e-01 9.59298062e-03 -4.90031360e-02 -3.25473961e+01] [-1.13443577e-02 9.99302159e-01 -3.55879257e-02 -4.19766381e+00] [ 4.86275453e-02 3.60994409e-02 9.98164411e-01 -1.94424238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.903133365 meters SLAMing on 327.963133365 meters Centerline goodness : 0.144579 with order 3 Centerline is valid? [False, False] Translation: X:-32.54, Y:-4.20, Z:-1.95 [[ 9.98659660e-01 1.12470680e-02 -5.05211492e-02 -3.25434416e+01] [-1.30549876e-02 9.99280876e-01 -3.55991403e-02 -4.20369553e+00] [ 5.00844322e-02 3.62109783e-02 9.98088330e-01 -1.94505623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.023133365 meters Centerline goodness : 0.136078 with order 1 Centerline is valid? [False, False] Translation: X:-32.54, Y:-4.20, Z:-1.94 [[ 9.98627498e-01 1.18744472e-02 -5.10109657e-02 -3.25422413e+01] [-1.37122605e-02 9.99263813e-01 -3.58302380e-02 -4.20244958e+00] [ 5.05479479e-02 3.64805365e-02 9.98055146e-01 -1.94491079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.083133365 meters Centerline goodness : 0.205719 with order 3 Centerline is valid? [False, False] Translation: X:-32.54, Y:-4.20, Z:-1.94 [[ 9.98620437e-01 1.26041967e-02 -5.09740741e-02 -3.25421874e+01] [-1.44656841e-02 9.99235661e-01 -3.63158147e-02 -4.19944933e+00] [ 5.04773810e-02 3.70030896e-02 9.98039481e-01 -1.94493928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.143133365 meters Centerline goodness : 0.209771 with order 1 Centerline is valid? [False, False] Translation: X:-32.54, Y:-4.19, Z:-1.94 [[ 9.98591760e-01 1.64579019e-02 -5.04344592e-02 -3.25443024e+01] [-1.81767822e-02 9.99262821e-01 -3.38144894e-02 -4.19439518e+00] [ 4.98407644e-02 3.46836066e-02 9.98154770e-01 -1.94381106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.203133365 meters Centerline goodness : 0.225724 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98725553e-01 1.02967497e-02 -4.94089658e-02 -3.25623010e+01] [-1.19260187e-02 9.99390961e-01 -3.27944729e-02 -4.18707665e+00] [ 4.90411973e-02 3.33419303e-02 9.98240090e-01 -1.94622504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.263133365 meters Centerline goodness : 0.230241 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98705544e-01 1.00842123e-02 -4.98552362e-02 -3.25608980e+01] [-1.17554925e-02 9.99374801e-01 -3.33438989e-02 -4.18553751e+00] [ 4.94878198e-02 3.38868096e-02 9.98199699e-01 -1.94672500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.323133365 meters Centerline goodness : 0.178921 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.18, Z:-1.95 [[ 9.98688773e-01 9.82749130e-03 -5.02409672e-02 -3.25599859e+01] [-1.15350144e-02 9.99361694e-01 -3.38104762e-02 -4.18426657e+00] [ 4.98766259e-02 3.43456733e-02 9.98164664e-01 -1.94675667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.383133365 meters SLAMing on 328.443133365 meters Centerline goodness : 0.100479 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98779402e-01 6.79171569e-03 -4.89242078e-02 -3.25645751e+01] [-8.58716928e-03 9.99293742e-01 -3.65824794e-02 -4.19384893e+00] [ 4.86411969e-02 3.69579474e-02 9.98132328e-01 -1.94579576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.503133365 meters Centerline goodness : 0.152283 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98766032e-01 6.82291941e-03 -4.91920937e-02 -3.25637727e+01] [-8.64420074e-03 9.99281328e-01 -3.69067051e-02 -4.19338661e+00] [ 4.89049293e-02 3.72863898e-02 9.98107225e-01 -1.94610533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.563133365 meters Centerline goodness : 0.282712 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98715300e-01 7.05540079e-03 -5.01793780e-02 -3.25606621e+01] [-8.92699358e-03 9.99268998e-01 -3.71722780e-02 -4.19139138e+00] [ 4.98804315e-02 3.75724738e-02 9.98048221e-01 -1.94726740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.623133365 meters Centerline goodness : 0.157772 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98697966e-01 7.06623388e-03 -5.05216815e-02 -3.25591210e+01] [-8.99340218e-03 9.99236493e-01 -3.80203835e-02 -4.18789091e+00] [ 5.02144469e-02 3.84252415e-02 9.97999003e-01 -1.94842253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.683133365 meters Centerline goodness : 0.097901 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98662495e-01 6.99683713e-03 -5.12275856e-02 -3.25567145e+01] [-8.97863481e-03 9.99215994e-01 -3.85588007e-02 -4.18565044e+00] [ 5.09176332e-02 3.89671819e-02 9.97942360e-01 -1.94955753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.743133365 meters Centerline goodness : 0.167738 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98665474e-01 6.98643192e-03 -5.11709001e-02 -3.25567450e+01] [-8.96703127e-03 9.99215324e-01 -3.85788542e-02 -4.18603222e+00] [ 5.08612190e-02 3.89862208e-02 9.97944493e-01 -1.94967848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.803133365 meters Centerline goodness : 0.139479 with order 3 Centerline is valid? [False, False] Translation: X:-32.56, Y:-4.19, Z:-1.95 [[ 9.98661708e-01 6.97488788e-03 -5.12459211e-02 -3.25565807e+01] [-8.96104614e-03 9.99213385e-01 -3.86304367e-02 -4.18680933e+00] [ 5.09361673e-02 3.90379550e-02 9.97938648e-01 -1.94970251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.863133365 meters Centerline goodness : 0.164363 with order 3 Centerline is valid? [False, False] Translation: X:-32.60, Y:-4.19, Z:-1.95 [[ 9.98508577e-01 6.01943643e-03 -5.42622099e-02 -3.25983176e+01] [-8.24727303e-03 9.99128105e-01 -4.09269130e-02 -4.19107259e+00] [ 5.39685420e-02 4.13133889e-02 9.97687627e-01 -1.95190754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.923133365 meters Centerline goodness : 0.201694 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-4.19, Z:-1.95 [[ 9.98608493e-01 -2.22743148e-03 -5.26888682e-02 -3.25788854e+01] [ 1.23603291e-04 9.99203715e-01 -3.98988740e-02 -4.18922619e+00] [ 5.27357849e-02 3.98368420e-02 9.97813591e-01 -1.95078313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98313336499996 meters Centerline goodness : 0.097130 with order 1 Centerline is valid? [False, False] Translation: X:-32.62, Y:-4.20, Z:-1.96 [[ 9.98832872e-01 -2.10878468e-04 -4.82995703e-02 -3.26175384e+01] [-1.73658694e-03 9.99187122e-01 -4.02750408e-02 -4.19582502e+00] [ 4.82688018e-02 4.03119111e-02 9.98020577e-01 -1.95529774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04313336499996 meters Centerline goodness : 0.224754 with order 1 Centerline is valid? [False, False] Translation: X:-32.62, Y:-4.20, Z:-1.95 [[ 9.98857879e-01 2.90601713e-05 -4.77800850e-02 -3.26191491e+01] [-1.92387682e-03 9.99213303e-01 -3.96115287e-02 -4.19960074e+00] [ 4.77413455e-02 3.96582106e-02 9.98072137e-01 -1.95494387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10313336499996 meters Centerline goodness : 0.210132 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.20, Z:-1.96 [[ 9.98761129e-01 1.69217230e-03 -4.97327274e-02 -3.26654600e+01] [-3.65730300e-03 9.99214875e-01 -3.94494418e-02 -4.20377253e+00] [ 4.96269257e-02 3.95824567e-02 9.97983165e-01 -1.95624066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16313336499996 meters Centerline goodness : 0.097865 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.20, Z:-1.96 [[ 9.98796996e-01 2.44160047e-03 -4.89755020e-02 -3.26668160e+01] [-4.35461809e-03 9.99230029e-01 -3.89921263e-02 -4.20493441e+00] [ 4.88425891e-02 3.91584882e-02 9.98038584e-01 -1.95699326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22313336499997 meters Centerline goodness : 0.243008 with order 2 Centerline is valid? [False, False] Translation: X:-32.67, Y:-4.20, Z:-1.96 [[ 9.98777436e-01 2.79053862e-03 -4.93542899e-02 -3.26656587e+01] [-4.70926277e-03 9.99235779e-01 -3.88030984e-02 -4.20482644e+00] [ 4.92082908e-02 3.89880814e-02 9.98027291e-01 -1.95749748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28313336499997 meters Centerline goodness : 0.188309 with order 1 Centerline is valid? [False, False] Translation: X:-32.71, Y:-4.21, Z:-1.96 [[ 9.98603127e-01 4.44824136e-03 -5.26498597e-02 -3.27074560e+01] [-6.47977624e-03 9.99238431e-01 -3.84781862e-02 -4.20815167e+00] [ 5.24386029e-02 3.87655963e-02 9.97871445e-01 -1.96009072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34313336499997 meters SLAMing on 329.403133365 meters Centerline goodness : 0.228262 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.21, Z:-1.96 [[ 9.98528393e-01 7.50353553e-03 -5.37098312e-02 -3.27529145e+01] [-9.55014936e-03 9.99233989e-01 -3.79503623e-02 -4.21274264e+00] [ 5.33839270e-02 3.84074512e-02 9.97835169e-01 -1.96175085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.463133365 meters Centerline goodness : 0.189441 with order 1 Centerline is valid? [False, False] Translation: X:-32.75, Y:-4.21, Z:-1.96 [[ 9.98516580e-01 7.46706997e-03 -5.39340628e-02 -3.27520773e+01] [-9.53339311e-03 9.99226282e-01 -3.81569349e-02 -4.21155191e+00] [ 5.36074126e-02 3.86145067e-02 9.97815196e-01 -1.96220650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.523133365 meters Centerline goodness : 0.227350 with order 1 Centerline is valid? [False, False] Translation: X:-32.77, Y:-4.21, Z:-1.96 [[ 9.98412773e-01 2.96647830e-03 -5.62417492e-02 -3.27721189e+01] [-4.94061580e-03 9.99375294e-01 -3.49944450e-02 -4.20727456e+00] [ 5.61028044e-02 3.52167698e-02 9.97803715e-01 -1.96430234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.583133365 meters Centerline goodness : 0.122101 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.20, Z:-1.97 [[ 9.98258548e-01 -4.27503916e-03 -5.88353179e-02 -3.27898961e+01] [ 2.28212719e-03 9.99422681e-01 -3.38983147e-02 -4.20290713e+00] [ 5.89462678e-02 3.37050127e-02 9.97691991e-01 -1.96697565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.643133365 meters Centerline goodness : 0.223166 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.20, Z:-1.97 [[ 9.98270238e-01 -4.37464469e-03 -5.86293017e-02 -3.27904484e+01] [ 2.38783229e-03 9.99421868e-01 -3.39150152e-02 -4.20329406e+00] [ 5.87437724e-02 3.37163533e-02 9.97703552e-01 -1.96687123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.703133365 meters Centerline goodness : 0.223584 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:-4.20, Z:-1.97 [[ 9.98273338e-01 -4.14962681e-03 -5.85928682e-02 -3.27907374e+01] [ 2.17750336e-03 9.99430232e-01 -3.36818968e-02 -4.20301114e+00] [ 5.86992511e-02 3.34961534e-02 9.97713589e-01 -1.96654088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.763133365 meters SLAMing on 329.823133365 meters Centerline goodness : 0.180996 with order 1 Centerline is valid? [False, False] Translation: X:-32.82, Y:-4.21, Z:-1.97 [[ 9.97875593e-01 -3.39707478e-03 -6.50596779e-02 -3.28245676e+01] [ 1.07466961e-03 9.99362034e-01 -3.56983167e-02 -4.20887722e+00] [ 6.51394419e-02 3.55525613e-02 9.97242633e-01 -1.97188460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.883133365 meters Centerline goodness : 0.099032 with order 1 Centerline is valid? [False, False] Translation: X:-32.82, Y:-4.21, Z:-1.97 [[ 9.97873745e-01 -3.29875727e-03 -6.50930674e-02 -3.28246489e+01] [ 9.86621765e-04 9.99368455e-01 -3.55206798e-02 -4.20954901e+00] [ 6.51691322e-02 3.53809315e-02 9.97246797e-01 -1.97164155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.943133365 meters Centerline goodness : 0.170236 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.21, Z:-1.97 [[ 9.97890688e-01 -3.32527825e-03 -6.48314494e-02 -3.28255759e+01] [ 1.03586009e-03 9.99375692e-01 -3.53150691e-02 -4.21119208e+00] [ 6.49084070e-02 3.51734223e-02 9.97271141e-01 -1.97120800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.003133365 meters Centerline goodness : 0.217732 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.21, Z:-1.97 [[ 9.97884992e-01 -3.21277599e-03 -6.49247334e-02 -3.28252645e+01] [ 9.43448975e-04 9.99388488e-01 -3.49536710e-02 -4.21314476e+00] [ 6.49973294e-02 3.48184905e-02 9.97277805e-01 -1.97130739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.063133365 meters Centerline goodness : 0.175050 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.22, Z:-1.97 [[ 9.97927817e-01 -3.39630126e-03 -6.42536865e-02 -3.28276751e+01] [ 1.15949653e-03 9.99393018e-01 -3.48173941e-02 -4.21513338e+00] [ 6.43329361e-02 3.46707442e-02 9.97326031e-01 -1.97017685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.123133365 meters Centerline goodness : 0.093766 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.22, Z:-1.97 [[ 9.97937665e-01 -3.31528449e-03 -6.41048052e-02 -3.28280239e+01] [ 1.09228177e-03 9.99397815e-01 -3.46816272e-02 -4.21564795e+00] [ 6.41811817e-02 3.45400815e-02 9.97340342e-01 -1.97020560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.183133365 meters Centerline goodness : 0.095036 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.22, Z:-1.97 [[ 9.97918497e-01 -3.21259845e-03 -6.44077090e-02 -3.28262974e+01] [ 9.83267411e-04 9.99400249e-01 -3.46146601e-02 -4.21558251e+00] [ 6.44802834e-02 3.44792796e-02 9.97323153e-01 -1.97161458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.243133365 meters Centerline goodness : 0.212415 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.22, Z:-1.97 [[ 9.97908296e-01 -3.22298769e-03 -6.45650408e-02 -3.28260103e+01] [ 9.93624839e-04 9.99403121e-01 -3.45313418e-02 -4.21657745e+00] [ 6.46377974e-02 3.43949590e-02 9.97315869e-01 -1.97151851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.303133365 meters Centerline goodness : 0.181743 with order 1 Centerline is valid? [False, False] Translation: X:-32.83, Y:-4.22, Z:-1.97 [[ 9.97906510e-01 -3.17147111e-03 -6.45952009e-02 -3.28260114e+01] [ 9.43806115e-04 9.99404670e-01 -3.44878990e-02 -4.21652453e+00] [ 6.46661229e-02 3.43547336e-02 9.97315419e-01 -1.97142695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.363133365 meters Centerline goodness : 0.214247 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-4.22, Z:-1.97 [[ 9.97956160e-01 3.11919911e-03 -6.38261100e-02 -3.28473241e+01] [-5.50586984e-03 9.99290747e-01 -3.72516814e-02 -4.22268279e+00] [ 6.36646458e-02 3.75269632e-02 9.97265531e-01 -1.97334273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.423133365 meters Centerline goodness : 0.171535 with order 1 Centerline is valid? [False, False] Translation: X:-32.87, Y:-4.22, Z:-1.98 [[ 9.97879977e-01 -4.20483283e-03 -6.49451397e-02 -3.28658631e+01] [ 1.88738844e-03 9.99360651e-01 -3.57033237e-02 -4.22143190e+00] [ 6.50537435e-02 3.55050551e-02 9.97249919e-01 -1.97578066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48313336499996 meters Centerline goodness : 0.096078 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-4.22, Z:-1.98 [[ 9.97839003e-01 -4.13900776e-03 -6.55758575e-02 -3.28640277e+01] [ 1.82413422e-03 9.99374343e-01 -3.53213206e-02 -4.22433276e+00] [ 6.56810247e-02 3.51253722e-02 9.97222248e-01 -1.97619217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54313336499996 meters Centerline goodness : 0.173604 with order 1 Centerline is valid? [False, False] Translation: X:-32.91, Y:-4.24, Z:-1.98 [[ 9.97748084e-01 -4.48394859e-03 -6.69227474e-02 -3.29123464e+01] [ 2.11372917e-03 9.99369354e-01 -3.54461175e-02 -4.23556299e+00] [ 6.70394814e-02 3.52248393e-02 9.97128336e-01 -1.97634180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60313336499996 meters SLAMing on 330.66313336499996 meters SLAMing on 330.72313336499997 meters Centerline goodness : 0.212939 with order 3 Centerline is valid? [False, False] Translation: X:-32.96, Y:-4.27, Z:-1.98 [[ 9.97554427e-01 -2.63036538e-04 -6.98934638e-02 -3.29572684e+01] [-2.38040780e-03 9.99284943e-01 -3.77350706e-02 -4.26962199e+00] [ 6.98534117e-02 3.78091617e-02 9.96840493e-01 -1.98385984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78313336499997 meters Centerline goodness : 0.096971 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-4.27, Z:-1.98 [[ 9.97458364e-01 -8.22690142e-03 -7.07752087e-02 -3.29364971e+01] [ 5.63667021e-03 9.99309690e-01 -3.67201808e-02 -4.26681699e+00] [ 7.10284451e-02 3.62279150e-02 9.96816181e-01 -1.98275062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84313336499997 meters Centerline goodness : 0.121134 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-4.27, Z:-1.98 [[ 9.97496006e-01 -7.75744469e-03 -7.02960932e-02 -3.29375195e+01] [ 5.21831963e-03 9.99329768e-01 -3.62323468e-02 -4.26782616e+00] [ 7.05300489e-02 3.57747937e-02 9.96867933e-01 -1.98304551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.903133365 meters Centerline goodness : 0.098562 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-4.27, Z:-1.98 [[ 9.97516604e-01 -7.66627328e-03 -7.00132342e-02 -3.29387456e+01] [ 5.13964274e-03 9.99331457e-01 -3.61970006e-02 -4.26769219e+00] [ 7.02439235e-02 3.57472661e-02 9.96889123e-01 -1.98237539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.963133365 meters Centerline goodness : 0.099691 with order 1 Centerline is valid? [False, False] Translation: X:-32.99, Y:-4.27, Z:-1.98 [[ 9.97379758e-01 -6.86690309e-03 -7.20171094e-02 -3.29853727e+01] [ 4.24777742e-03 9.99326144e-01 -3.64583998e-02 -4.27169887e+00] [ 7.22189365e-02 3.60569573e-02 9.96736836e-01 -1.98299732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.023133365 meters Centerline goodness : 0.152905 with order 3 Centerline is valid? [False, False] Translation: X:-32.99, Y:-4.28, Z:-1.98 [[ 9.97428726e-01 -7.15360685e-03 -7.13075243e-02 -3.29878453e+01] [ 4.59413935e-03 9.99341483e-01 -3.59929692e-02 -4.27741217e+00] [ 7.15180467e-02 3.55728247e-02 9.96804767e-01 -1.98209968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.083133365 meters Centerline goodness : 0.217838 with order 3 Centerline is valid? [False, False] Translation: X:-32.99, Y:-4.28, Z:-1.98 [[ 9.97465629e-01 -7.08542369e-03 -7.07962917e-02 -3.29894720e+01] [ 4.59910691e-03 9.99368973e-01 -3.52207928e-02 -4.28252816e+00] [ 7.10011715e-02 3.48059306e-02 9.96868788e-01 -1.98151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.143133365 meters Centerline goodness : 0.114815 with order 1 Centerline is valid? [False, False] Translation: X:-33.01, Y:-4.29, Z:-1.99 [[ 9.97405004e-01 9.44084275e-04 -7.19886512e-02 -3.30056327e+01] [-3.56965468e-03 9.99332669e-01 -3.63520797e-02 -4.29342901e+00] [ 7.19062915e-02 3.65147209e-02 9.96742775e-01 -1.98506444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.203133365 meters SLAMing on 331.263133365 meters SLAMing on 331.323133365 meters SLAMing on 331.383133365 meters Centerline goodness : 0.121716 with order 1 Centerline is valid? [False, False] Translation: X:-33.10, Y:-4.34, Z:-1.99 [[ 9.97500070e-01 1.10495872e-03 -7.06568441e-02 -3.31022629e+01] [-3.72816201e-03 9.99308131e-01 -3.70048742e-02 -4.34201386e+00] [ 7.05670700e-02 3.71757847e-02 9.96814050e-01 -1.99287836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.443133365 meters Centerline goodness : 0.235280 with order 1 Centerline is valid? [False, False] Translation: X:-33.11, Y:-4.34, Z:-1.99 [[ 9.97568969e-01 1.26039738e-03 -6.96747013e-02 -3.31053643e+01] [-3.80695520e-03 9.99329009e-01 -3.64285553e-02 -4.34491998e+00] [ 6.95820358e-02 3.66052448e-02 9.96904407e-01 -1.99179471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.503133365 meters Centerline goodness : 0.135146 with order 1 Centerline is valid? [False, False] Translation: X:-33.10, Y:-4.35, Z:-1.99 [[ 9.97568808e-01 1.21813041e-03 -6.96777611e-02 -3.31049397e+01] [-3.76192195e-03 9.99330643e-01 -3.63883815e-02 -4.34584738e+00] [ 6.95867960e-02 3.65620367e-02 9.96905660e-01 -1.99239752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.563133365 meters Centerline goodness : 0.135104 with order 1 Centerline is valid? [False, False] Translation: X:-33.10, Y:-4.34, Z:-1.99 [[ 9.97539505e-01 1.29365362e-03 -7.00946646e-02 -3.31038030e+01] [-3.87059517e-03 9.99321019e-01 -3.66403970e-02 -4.34371992e+00] [ 6.99996717e-02 3.68215516e-02 9.96867202e-01 -1.99266935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.623133365 meters Centerline goodness : 0.130686 with order 1 Centerline is valid? [False, False] Translation: X:-33.10, Y:-4.34, Z:-1.99 [[ 9.97520791e-01 1.22577442e-03 -7.03617032e-02 -3.31031836e+01] [-3.83832909e-03 9.99307629e-01 -3.70071676e-02 -4.34161749e+00] [ 7.02676243e-02 3.71854904e-02 9.96834841e-01 -1.99266886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.683133365 meters Centerline goodness : 0.230580 with order 1 Centerline is valid? [False, False] Translation: X:-33.12, Y:-4.34, Z:-1.99 [[ 9.97442850e-01 -7.10147329e-03 -7.11149055e-02 -3.31232119e+01] [ 4.51628627e-03 9.99325372e-01 -3.64472816e-02 -4.33803368e+00] [ 7.13257588e-02 3.60329052e-02 9.96802019e-01 -1.99463272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.743133365 meters SLAMing on 331.803133365 meters Centerline goodness : 0.182384 with order 1 Centerline is valid? [False, False] Translation: X:-33.18, Y:-4.35, Z:-2.00 [[ 9.97286736e-01 -1.49330436e-02 -7.20844717e-02 -3.31826477e+01] [ 1.22392766e-02 9.99215363e-01 -3.76677293e-02 -4.34747395e+00] [ 7.25904054e-02 3.66832650e-02 9.96686998e-01 -1.99983637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.863133365 meters SLAMing on 331.923133365 meters Centerline goodness : 0.187433 with order 3 Centerline is valid? [False, False] Translation: X:-33.19, Y:-4.36, Z:-2.00 [[ 9.97267780e-01 -1.76478167e-02 -7.17323413e-02 -3.31855563e+01] [ 1.48378453e-02 9.99108651e-01 -3.95188737e-02 -4.35831757e+00] [ 7.23658246e-02 3.83465461e-02 9.96640723e-01 -1.99749187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98313336499996 meters Centerline goodness : 0.242498 with order 3 Centerline is valid? [False, False] Translation: X:-33.18, Y:-4.36, Z:-2.00 [[ 9.97238226e-01 -1.71049436e-02 -7.22726911e-02 -3.31840842e+01] [ 1.43043946e-02 9.99133254e-01 -3.90912375e-02 -4.35955114e+00] [ 7.28787024e-02 3.79494593e-02 9.96618550e-01 -1.99777077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04313336499996 meters Centerline goodness : 0.094258 with order 1 Centerline is valid? [False, False] Translation: X:-33.21, Y:-4.36, Z:-2.00 [[ 9.97398947e-01 -7.14026864e-03 -7.17241693e-02 -3.32067786e+01] [ 4.36233568e-03 9.99236969e-01 -3.88130167e-02 -4.36370576e+00] [ 7.19465768e-02 3.83991771e-02 9.96669049e-01 -1.99871852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10313336499996 meters Centerline goodness : 0.097032 with order 1 Centerline is valid? [False, False] Translation: X:-33.23, Y:-4.36, Z:-2.00 [[ 9.97361104e-01 3.12381148e-03 -7.25332300e-02 -3.32278472e+01] [-5.94819693e-03 9.99231004e-01 -3.87559051e-02 -4.36387883e+00] [ 7.23563861e-02 3.90850742e-02 9.96612718e-01 -2.00013823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16313336499996 meters SLAMing on 332.22313336499997 meters SLAMing on 332.28313336499997 meters SLAMing on 332.34313336499997 meters SLAMing on 332.403133365 meters Centerline goodness : 0.111432 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-4.44, Z:-2.02 [[ 9.97335078e-01 -2.03352600e-03 -7.29287789e-02 -3.34967677e+01] [-7.27655010e-04 9.99284500e-01 -3.78147958e-02 -4.43529014e+00] [ 7.29534958e-02 3.77670893e-02 9.96620005e-01 -2.02434682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.463133365 meters Centerline goodness : 0.123273 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-4.44, Z:-2.02 [[ 9.97327039e-01 -2.03733216e-03 -7.30385277e-02 -3.34963610e+01] [-7.18829060e-04 9.99289237e-01 -3.76895845e-02 -4.43614245e+00] [ 7.30634008e-02 3.76413439e-02 9.96616711e-01 -2.02452750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.523133365 meters Centerline goodness : 0.123864 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-4.44, Z:-2.02 [[ 9.97311513e-01 -2.19938065e-03 -7.32455329e-02 -3.34960889e+01] [-5.48099029e-04 9.99297628e-01 -3.74693340e-02 -4.43848343e+00] [ 7.32764966e-02 3.74087440e-02 9.96609824e-01 -2.02423850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.583133365 meters Centerline goodness : 0.200563 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-4.44, Z:-2.02 [[ 9.97324797e-01 -2.15507722e-03 -7.30657510e-02 -3.34969908e+01] [-5.62110696e-04 9.99309642e-01 -3.71473138e-02 -4.44040323e+00] [ 7.30953649e-02 3.70890083e-02 9.96635075e-01 -2.02358279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.643133365 meters Centerline goodness : 0.199356 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-4.44, Z:-2.02 [[ 9.97329511e-01 -2.10656779e-03 -7.30027940e-02 -3.34972500e+01] [-5.95965415e-04 9.99315901e-01 -3.69780447e-02 -4.44140289e+00] [ 7.30307496e-02 3.69228024e-02 9.96645983e-01 -2.02342572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.703133365 meters SLAMing on 332.763133365 meters Centerline goodness : 0.118120 with order 1 Centerline is valid? [False, False] Translation: X:-33.52, Y:-4.45, Z:-2.03 [[ 9.97449700e-01 6.04483442e-03 -7.11164896e-02 -3.35172490e+01] [-8.72638631e-03 9.99260160e-01 -3.74564214e-02 -4.45046774e+00] [ 7.08374568e-02 3.79814863e-02 9.96764496e-01 -2.02535236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.823133365 meters SLAMing on 332.883133365 meters Centerline goodness : 0.097167 with order 1 Centerline is valid? [False, False] Translation: X:-33.56, Y:-4.46, Z:-2.03 [[ 9.97206830e-01 6.60725559e-03 -7.43967852e-02 -3.35631508e+01] [-9.49736400e-03 9.99211125e-01 -3.85607115e-02 -4.45722579e+00] [ 7.40833149e-02 3.91595782e-02 9.96482910e-01 -2.02613883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.943133365 meters Centerline goodness : 0.106125 with order 1 Centerline is valid? [False, False] Translation: X:-33.56, Y:-4.46, Z:-2.03 [[ 9.97165137e-01 6.64820132e-03 -7.49499296e-02 -3.35616486e+01] [-9.56861535e-03 9.99206091e-01 -3.86733704e-02 -4.45646747e+00] [ 7.46333178e-02 3.92809037e-02 9.96437092e-01 -2.02639160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.003133365 meters Centerline goodness : 0.221529 with order 1 Centerline is valid? [False, False] Translation: X:-33.59, Y:-4.45, Z:-2.03 [[ 9.97336547e-01 1.55247724e-03 -7.29205229e-02 -3.35851155e+01] [-4.21045380e-03 9.99331677e-01 -3.63107623e-02 -4.45220818e+00] [ 7.28154168e-02 3.65210788e-02 9.96676540e-01 -2.02791635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.063133365 meters SLAMing on 333.123133365 meters SLAMing on 333.183133365 meters Centerline goodness : 0.119194 with order 2 Centerline is valid? [False, False] Translation: X:-33.65, Y:-4.47, Z:-2.03 [[ 9.97198691e-01 6.36645215e-03 -7.45267703e-02 -3.36492204e+01] [-9.36790305e-03 9.99156028e-01 -3.99934359e-02 -4.47474277e+00] [ 7.42092555e-02 4.05795615e-02 9.96416723e-01 -2.03123040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.243133365 meters SLAMing on 333.303133365 meters SLAMing on 333.363133365 meters Centerline goodness : 0.100963 with order 1 Centerline is valid? [False, False] Translation: X:-33.73, Y:-4.50, Z:-2.03 [[ 9.97341982e-01 1.34394415e-02 -7.16125169e-02 -3.37282605e+01] [-1.63657098e-02 9.99048186e-01 -4.04337100e-02 -4.50312030e+00] [ 7.10009486e-02 4.14982261e-02 9.96612644e-01 -2.03113958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.423133365 meters SLAMing on 333.48313336499996 meters SLAMing on 333.54313336499996 meters SLAMing on 333.60313336499996 meters SLAMing on 333.66313336499996 meters SLAMing on 333.72313336499997 meters SLAMing on 333.78313336499997 meters Centerline goodness : 0.128367 with order 1 Centerline is valid? [False, False] Translation: X:-34.23, Y:-4.60, Z:-2.04 [[ 0.99240931 -0.09070244 -0.08304712 -34.22765503] [ 0.08313603 0.99242612 -0.09043667 -4.60330934] [ 0.09062096 0.08284598 0.99243357 -2.03624707] [ 0. 0. 0. 1. ]] SLAMing on 333.84313336499997 meters SLAMing on 333.903133365 meters SLAMing on 333.963133365 meters Centerline goodness : 0.092384 with order 1 Centerline is valid? [False, False] Translation: X:-34.33, Y:-4.62, Z:-2.05 [[ 0.99141415 -0.09842949 -0.08607908 -34.33005116] [ 0.09039358 0.99157855 -0.09274144 -4.62449512] [ 0.09448267 0.08416418 0.99196241 -2.04553449] [ 0. 0. 0. 1. ]] SLAMing on 334.023133365 meters Centerline goodness : 0.161367 with order 3 Centerline is valid? [False, False] Translation: X:-34.35, Y:-4.63, Z:-2.05 [[ 0.99220675 -0.0900132 -0.08615906 -34.34909708] [ 0.08192597 0.99227111 -0.0931997 -4.63136629] [ 0.09388235 0.08541471 0.99191251 -2.048071 ] [ 0. 0. 0. 1. ]] SLAMing on 334.083133365 meters Centerline goodness : 0.093018 with order 1 Centerline is valid? [False, False] Translation: X:-34.37, Y:-4.64, Z:-2.05 [[ 0.99289234 -0.0829678 -0.08532967 -34.36812585] [ 0.07476649 0.99264722 -0.09519176 -4.63686051] [ 0.09260011 0.08813537 0.99179503 -2.05099133] [ 0. 0. 0. 1. ]] SLAMing on 334.143133365 meters SLAMing on 334.203133365 meters SLAMing on 334.263133365 meters SLAMing on 334.323133365 meters Centerline goodness : 0.133549 with order 1 Centerline is valid? [False, False] Translation: X:-34.53, Y:-4.70, Z:-2.07 [[ 0.99288157 -0.0841334 -0.08430758 -34.53379945] [ 0.07605644 0.99258433 -0.09482487 -4.69800545] [ 0.09166032 0.08773773 0.99191758 -2.07065525] [ 0. 0. 0. 1. ]] SLAMing on 334.383133365 meters SLAMing on 334.443133365 meters Centerline goodness : 0.135969 with order 1 Centerline is valid? [False, False] Translation: X:-34.58, Y:-4.71, Z:-2.07 [[ 0.99422501 -0.06874443 -0.08240651 -34.58019721] [ 0.06069733 0.99348357 -0.09646884 -4.70945721] [ 0.08850121 0.09090988 0.99191881 -2.07300113] [ 0. 0. 0. 1. ]] SLAMing on 334.503133365 meters SLAMing on 334.563133365 meters SLAMing on 334.623133365 meters Centerline goodness : 0.212155 with order 3 Centerline is valid? [False, False] Translation: X:-34.66, Y:-4.73, Z:-2.08 [[ 0.99555905 -0.05058289 -0.07939489 -34.66332164] [ 0.04276551 0.99434089 -0.09724864 -4.73351977] [ 0.0838647 0.0934214 0.99208828 -2.07992208] [ 0. 0. 0. 1. ]] SLAMing on 334.683133365 meters SLAMing on 334.743133365 meters SLAMing on 334.803133365 meters SLAMing on 334.863133365 meters Centerline goodness : 0.127971 with order 1 Centerline is valid? [False, False] Translation: X:-34.80, Y:-4.76, Z:-2.09 [[ 9.96470679e-01 -3.39642010e-02 -7.67634021e-02 -3.47955822e+01] [ 2.62151972e-02 9.94663065e-01 -9.97905345e-02 -4.76463197e+00] [ 7.97430265e-02 9.74259739e-02 9.92042957e-01 -2.09242460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.923133365 meters SLAMing on 334.98313336499996 meters SLAMing on 335.04313336499996 meters SLAMing on 335.10313336499996 meters Centerline goodness : 0.282331 with order 3 Centerline is valid? [False, False] Translation: X:-35.02, Y:-4.82, Z:-2.11 [[ 0.99498545 -0.07044578 -0.07100242 -35.02447179] [ 0.06300125 0.99277414 -0.10212912 -4.81776273] [ 0.07768393 0.09714374 0.99223399 -2.11298219] [ 0. 0. 0. 1. ]] SLAMing on 335.16313336499996 meters Centerline goodness : 0.277577 with order 2 Centerline is valid? [False, False] Translation: X:-35.04, Y:-4.83, Z:-2.12 [[ 0.99545405 -0.06458011 -0.07000461 -35.04476714] [ 0.0571001 0.9929328 -0.10403863 -4.82988395] [ 0.0762287 0.0995684 0.99210651 -2.11585622] [ 0. 0. 0. 1. ]] SLAMing on 335.22313336499997 meters SLAMing on 335.28313336499997 meters Centerline goodness : 0.237381 with order 1 Centerline is valid? [False, False] Translation: X:-35.08, Y:-4.85, Z:-2.12 [[ 0.9962225 -0.04874205 -0.0718675 -35.08406018] [ 0.04104338 0.99362916 -0.10495969 -4.85227113] [ 0.0765256 0.10161352 0.99187627 -2.12070449] [ 0. 0. 0. 1. ]] SLAMing on 335.34313336499997 meters SLAMing on 335.403133365 meters Centerline goodness : 0.101265 with order 1 Centerline is valid? [False, False] Translation: X:-35.14, Y:-4.87, Z:-2.13 [[ 9.97259198e-01 -2.22935978e-02 -7.05484706e-02 -3.51438911e+01] [ 1.48629393e-02 9.94450459e-01 -1.04150742e-01 -4.87082686e+00] [ 7.24788538e-02 1.02816728e-01 9.92056216e-01 -2.12698922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.463133365 meters Centerline goodness : 0.442095 with order 1 Centerline is valid? [False, False] Translation: X:-35.14, Y:-4.87, Z:-2.13 [[ 9.97243994e-01 -2.21375495e-02 -7.08120373e-02 -3.51426014e+01] [ 1.46976174e-02 9.94477931e-01 -1.03911623e-01 -4.87196753e+00] [ 7.27213570e-02 1.02584473e-01 9.92062513e-01 -2.12801317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.523133365 meters Centerline goodness : 0.099847 with order 1 Centerline is valid? [False, False] Translation: X:-35.15, Y:-4.88, Z:-2.13 [[ 9.97280382e-01 -2.45583022e-02 -6.94890552e-02 -3.51480647e+01] [ 1.71346616e-02 9.94273926e-01 -1.05478736e-01 -4.87835762e+00] [ 7.16815344e-02 1.04001202e-01 9.91990679e-01 -2.12599772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.583133365 meters SLAMing on 335.643133365 meters Centerline goodness : 0.172124 with order 3 Centerline is valid? [False, False] Translation: X:-35.22, Y:-4.90, Z:-2.13 [[ 9.97170073e-01 -3.18938600e-02 -6.80781035e-02 -3.52165350e+01] [ 2.47117019e-02 9.94286024e-01 -1.03849097e-01 -4.89744960e+00] [ 7.10012554e-02 1.01872886e-01 9.92260418e-01 -2.13125802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.703133365 meters Centerline goodness : 0.102814 with order 1 Centerline is valid? [False, False] Translation: X:-35.22, Y:-4.90, Z:-2.13 [[ 9.97175592e-01 -3.17125419e-02 -6.80819640e-02 -3.52161715e+01] [ 2.45966122e-02 9.94384965e-01 -1.02924962e-01 -4.90387509e+00] [ 7.09636936e-02 1.00959675e-01 9.92356437e-01 -2.13196748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.763133365 meters Centerline goodness : 0.404066 with order 3 Centerline is valid? [False, False] Translation: X:-35.24, Y:-4.92, Z:-2.14 [[ 9.97509906e-01 -2.36057653e-02 -6.64586729e-02 -3.52354785e+01] [ 1.66969413e-02 9.94576773e-01 -1.02656001e-01 -4.91540079e+00] [ 6.85215259e-02 1.01290721e-01 9.92494328e-01 -2.13558695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.823133365 meters Centerline goodness : 0.103143 with order 1 Centerline is valid? [False, False] Translation: X:-35.25, Y:-4.92, Z:-2.14 [[ 9.97630510e-01 -1.56545576e-02 -6.69947811e-02 -3.52530498e+01] [ 8.65010453e-03 9.94582240e-01 -1.03592200e-01 -4.92430839e+00] [ 6.82535095e-02 1.02767227e-01 9.92361001e-01 -2.13947672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.883133365 meters Centerline goodness : 0.101657 with order 1 Centerline is valid? [False, False] Translation: X:-35.30, Y:-4.93, Z:-2.14 [[ 9.97497490e-01 -1.51120408e-02 -6.90679698e-02 -3.52981729e+01] [ 7.92941984e-03 9.94638586e-01 -1.03107743e-01 -4.93044545e+00] [ 7.02558362e-02 1.02302046e-01 9.92269323e-01 -2.14195497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.943133365 meters Centerline goodness : 0.448160 with order 1 Centerline is valid? [False, False] Translation: X:-35.30, Y:-4.93, Z:-2.14 [[ 9.97454077e-01 -1.49906933e-02 -6.97183187e-02 -3.52963680e+01] [ 7.75387571e-03 9.94657832e-01 -1.02935292e-01 -4.93160706e+00] [ 7.08889432e-02 1.02132640e-01 9.92241746e-01 -2.14249311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.003133365 meters Centerline goodness : 0.213394 with order 3 Centerline is valid? [False, False] Translation: X:-35.32, Y:-4.93, Z:-2.14 [[ 9.97239154e-01 -1.97457879e-02 -7.15833292e-02 -3.53181643e+01] [ 1.25715485e-02 9.94976004e-01 -9.93212362e-02 -4.93104584e+00] [ 7.31848709e-02 9.81471123e-02 9.92477264e-01 -2.14337558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.063133365 meters Centerline goodness : 0.358179 with order 1 Centerline is valid? [False, False] Translation: X:-35.32, Y:-4.93, Z:-2.14 [[ 9.97227844e-01 -1.98845007e-02 -7.17023952e-02 -3.53176626e+01] [ 1.26576209e-02 9.94919930e-01 -9.98705007e-02 -4.92844875e+00] [ 7.33240171e-02 9.86860624e-02 9.92413548e-01 -2.14366694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.123133365 meters Centerline goodness : 0.440416 with order 1 Centerline is valid? [False, False] Translation: X:-35.34, Y:-4.93, Z:-2.15 [[ 9.97379837e-01 -1.11397884e-02 -7.14798284e-02 -3.53392209e+01] [ 3.90374898e-03 9.94920966e-01 -1.00583460e-01 -4.93062405e+00] [ 7.22372584e-02 1.00040876e-01 9.92357598e-01 -2.14571257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.183133365 meters Centerline goodness : 0.299349 with order 1 Centerline is valid? [False, False] Translation: X:-35.34, Y:-4.93, Z:-2.14 [[ 9.97419780e-01 -7.16809401e-03 -7.14310926e-02 -3.53402137e+01] [ 1.84768349e-04 9.95255697e-01 -9.72936930e-02 -4.92725676e+00] [ 7.17896122e-02 9.70294557e-02 9.92689043e-01 -2.14454616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.243133365 meters SLAMing on 336.303133365 meters SLAMing on 336.363133365 meters SLAMing on 336.423133365 meters SLAMing on 336.48313336499996 meters Centerline goodness : 0.132505 with order 1 Centerline is valid? [False, False] Translation: X:-35.62, Y:-4.99, Z:-2.17 [[ 9.97594918e-01 -1.73131978e-02 -6.71165581e-02 -3.56241960e+01] [ 1.05345828e-02 9.94925028e-01 -1.00066031e-01 -4.98755236e+00] [ 6.85084065e-02 9.91183194e-02 9.92714540e-01 -2.17247881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54313336499996 meters Centerline goodness : 0.096275 with order 1 Centerline is valid? [False, False] Translation: X:-35.62, Y:-4.99, Z:-2.17 [[ 9.97652043e-01 -1.33328830e-02 -6.71761581e-02 -3.56238946e+01] [ 6.81848387e-03 9.95330319e-01 -9.62863686e-02 -4.98854928e+00] [ 6.81462418e-02 9.56022527e-02 9.93084236e-01 -2.17290996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60313336499996 meters Centerline goodness : 0.098446 with order 1 Centerline is valid? [False, False] Translation: X:-35.63, Y:-4.99, Z:-2.17 [[ 9.97692579e-01 -1.32138545e-02 -6.65951292e-02 -3.56256171e+01] [ 6.76228740e-03 9.95340292e-01 -9.61871819e-02 -4.98848433e+00] [ 6.75558187e-02 9.55149022e-02 9.93132979e-01 -2.17250165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66313336499996 meters Centerline goodness : 0.444420 with order 1 Centerline is valid? [False, False] Translation: X:-35.62, Y:-4.99, Z:-2.17 [[ 9.97669567e-01 -1.32798850e-02 -6.69259333e-02 -3.56241382e+01] [ 6.78958666e-03 9.95330437e-01 -9.62871856e-02 -4.98843947e+00] [ 6.78921012e-02 9.56083953e-02 9.93101051e-01 -2.17351456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72313336499997 meters Centerline goodness : 0.293076 with order 1 Centerline is valid? [False, False] Translation: X:-35.62, Y:-4.99, Z:-2.17 [[ 9.97663409e-01 -1.30448425e-02 -6.70638021e-02 -3.56233430e+01] [ 6.56919622e-03 9.95370466e-01 -9.58878567e-02 -4.98968346e+00] [ 6.80041699e-02 9.52232508e-02 9.93130387e-01 -2.17425823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78313336499997 meters Centerline goodness : 0.323899 with order 1 Centerline is valid? [False, False] Translation: X:-35.64, Y:-4.99, Z:-2.18 [[ 9.97496316e-01 -2.12184512e-02 -6.74601854e-02 -3.56439734e+01] [ 1.47646218e-02 9.95390014e-01 -9.47666924e-02 -4.98986522e+00] [ 6.91599973e-02 9.35334024e-02 9.93211154e-01 -2.17670488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84313336499997 meters Centerline goodness : 0.447819 with order 1 Centerline is valid? [False, False] Translation: X:-35.64, Y:-4.99, Z:-2.18 [[ 9.97374294e-01 -2.53409498e-02 -6.78406475e-02 -3.56428179e+01] [ 1.85967043e-02 9.94986976e-01 -9.82602680e-02 -4.99287728e+00] [ 6.99905692e-02 9.67406530e-02 9.92845691e-01 -2.17694087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.903133365 meters Centerline goodness : 0.107877 with order 1 Centerline is valid? [False, False] Translation: X:-35.66, Y:-5.00, Z:-2.18 [[ 9.97522454e-01 -1.72523447e-02 -6.82005201e-02 -3.56604479e+01] [ 1.04573443e-02 9.95056141e-01 -9.87619416e-02 -5.00177268e+00] [ 6.95672214e-02 9.78040580e-02 9.92771257e-01 -2.18071568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.963133365 meters Centerline goodness : 0.418351 with order 1 Centerline is valid? [False, False] Translation: X:-35.66, Y:-5.00, Z:-2.18 [[ 9.97529282e-01 -1.72235383e-02 -6.81078579e-02 -3.56605566e+01] [ 1.04663065e-02 9.95096516e-01 -9.83533468e-02 -5.00459339e+00] [ 6.94678847e-02 9.73975058e-02 9.92818180e-01 -2.18098032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.023133365 meters Centerline goodness : 0.105244 with order 1 Centerline is valid? [False, False] Translation: X:-35.66, Y:-5.01, Z:-2.18 [[ 9.97463590e-01 -1.72498559e-02 -6.90567131e-02 -3.56579035e+01] [ 1.04323363e-02 9.95142242e-01 -9.78932295e-02 -5.00805224e+00] [ 7.04098964e-02 9.69245092e-02 9.92798109e-01 -2.18167389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.083133365 meters Centerline goodness : 0.299882 with order 2 Centerline is valid? [False, False] Translation: X:-35.66, Y:-5.01, Z:-2.18 [[ 9.97478816e-01 -1.70458218e-02 -6.88872328e-02 -3.56585816e+01] [ 1.02748095e-02 9.95184855e-01 -9.74758104e-02 -5.00995655e+00] [ 7.02170860e-02 9.65222528e-02 9.92850953e-01 -2.18141124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.143133365 meters Centerline goodness : 0.446937 with order 2 Centerline is valid? [False, False] Translation: X:-35.68, Y:-5.02, Z:-2.18 [[ 9.97757296e-01 -8.49134329e-03 -6.63948387e-02 -3.56827311e+01] [ 1.99351168e-03 9.95250517e-01 -9.73264352e-02 -5.01791709e+00] [ 6.69059297e-02 9.69758019e-02 9.93035392e-01 -2.18301475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.203133365 meters Centerline goodness : 0.108975 with order 1 Centerline is valid? [False, False] Translation: X:-35.68, Y:-5.02, Z:-2.18 [[ 9.97805897e-01 -4.38582242e-03 -6.60617612e-02 -3.56843705e+01] [-1.82300549e-03 9.95605123e-01 -9.36328790e-02 -5.01716535e+00] [ 6.61820850e-02 9.35478697e-02 9.93412667e-01 -2.18203664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.263133365 meters Centerline goodness : 0.090038 with order 1 Centerline is valid? [False, False] Translation: X:-35.68, Y:-5.02, Z:-2.18 [[ 9.97795440e-01 -7.01163565e-04 -6.63608902e-02 -3.56826978e+01] [-5.31607806e-03 9.95886405e-01 -9.04544482e-02 -5.01558744e+00] [ 6.61513317e-02 9.06078157e-02 9.93687187e-01 -2.18311853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.323133365 meters Centerline goodness : 0.090621 with order 1 Centerline is valid? [False, False] Translation: X:-35.70, Y:-5.01, Z:-2.19 [[ 9.97759651e-01 -8.33831618e-03 -6.63788502e-02 -3.57015536e+01] [ 2.35856529e-03 9.95969772e-01 -8.96585217e-02 -5.01028310e+00] [ 6.68589294e-02 8.93010964e-02 9.93758118e-01 -2.18541930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.383133365 meters Centerline goodness : 0.103450 with order 1 Centerline is valid? [False, False] Translation: X:-35.70, Y:-5.01, Z:-2.18 [[ 9.97772911e-01 -8.28884388e-03 -6.61854430e-02 -3.57024402e+01] [ 2.32747434e-03 9.95971111e-01 -8.96444587e-02 -5.00983173e+00] [ 6.66618381e-02 8.92907676e-02 9.93772287e-01 -2.18482950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.443133365 meters Centerline goodness : 0.090839 with order 1 Centerline is valid? [False, False] Translation: X:-35.70, Y:-5.01, Z:-2.19 [[ 9.97775796e-01 -8.35537292e-03 -6.61335642e-02 -3.57020166e+01] [ 2.38850646e-03 9.95957489e-01 -8.97940761e-02 -5.00898346e+00] [ 6.66164815e-02 8.94363954e-02 9.93762233e-01 -2.18556377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.503133365 meters Centerline goodness : 0.134466 with order 1 Centerline is valid? [False, False] Translation: X:-35.72, Y:-5.01, Z:-2.19 [[ 9.97605199e-01 -1.61909008e-02 -6.72437434e-02 -3.57207113e+01] [ 1.01995560e-02 9.96023536e-01 -8.85047126e-02 -5.00633320e+00] [ 6.84093221e-02 8.76069051e-02 9.93803398e-01 -2.18816184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.563133365 meters Centerline goodness : 0.091727 with order 1 Centerline is valid? [False, False] Translation: X:-35.72, Y:-5.01, Z:-2.19 [[ 9.97597031e-01 -1.62257832e-02 -6.73564228e-02 -3.57209048e+01] [ 1.02245773e-02 9.96023423e-01 -8.85030997e-02 -5.00650416e+00] [ 6.85246069e-02 8.76017385e-02 9.93795911e-01 -2.18750286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.623133365 meters Centerline goodness : 0.195606 with order 2 Centerline is valid? [False, False] Translation: X:-35.76, Y:-5.01, Z:-2.19 [[ 9.97418883e-01 -1.64119110e-02 -6.99015057e-02 -3.57647509e+01] [ 1.01747164e-02 9.96009349e-01 -8.86670807e-02 -5.01035730e+00] [ 7.10777494e-02 8.77269926e-02 9.93605519e-01 -2.19050725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.683133365 meters Centerline goodness : 0.451995 with order 3 Centerline is valid? [False, False] Translation: X:-35.76, Y:-5.01, Z:-2.19 [[ 9.97407277e-01 -1.65289795e-02 -7.00393990e-02 -3.57641208e+01] [ 1.02968484e-02 9.96029655e-01 -8.84245476e-02 -5.01277073e+00] [ 7.12228860e-02 8.74741022e-02 9.93617422e-01 -2.19093617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.743133365 meters Centerline goodness : 0.189473 with order 2 Centerline is valid? [False, False] Translation: X:-35.81, Y:-5.02, Z:-2.19 [[ 9.97084643e-01 -1.85665627e-02 -7.40101176e-02 -3.58054922e+01] [ 1.18928789e-02 9.95905571e-01 -8.96139134e-02 -5.02304300e+00] [ 7.53709108e-02 8.84724635e-02 9.93222960e-01 -2.19395920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.803133365 meters Centerline goodness : 0.446112 with order 2 Centerline is valid? [False, False] Translation: X:-35.80, Y:-5.03, Z:-2.19 [[ 9.97063963e-01 -1.83866944e-02 -7.43329188e-02 -3.58044343e+01] [ 1.17357490e-02 9.95967734e-01 -8.89412394e-02 -5.02660678e+00] [ 7.56685241e-02 8.78077522e-02 9.93259318e-01 -2.19446278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.863133365 meters Centerline goodness : 0.099400 with order 1 Centerline is valid? [False, False] Translation: X:-35.82, Y:-5.03, Z:-2.20 [[ 9.97200574e-01 -1.03787471e-02 -7.40492856e-02 -3.58224473e+01] [ 3.69966782e-03 9.95955583e-01 -8.97707553e-02 -5.03445536e+00] [ 7.46815074e-02 8.92454909e-02 9.93205877e-01 -2.19869292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92313336499996 meters Centerline goodness : 0.295013 with order 1 Centerline is valid? [False, False] Translation: X:-35.82, Y:-5.04, Z:-2.20 [[ 9.97240107e-01 -6.56880140e-03 -7.39528273e-02 -3.58229726e+01] [ 1.77045716e-04 9.96285890e-01 -8.61068778e-02 -5.03542166e+00] [ 7.42437774e-02 8.58561389e-02 9.93537410e-01 -2.19854393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98313336499996 meters Centerline goodness : 0.360288 with order 2 Centerline is valid? [False, False] Translation: X:-35.82, Y:-5.04, Z:-2.20 [[ 9.97255397e-01 -6.55388836e-03 -7.37476816e-02 -3.58235964e+01] [ 1.75178470e-04 9.96280461e-01 -8.61696681e-02 -5.03529259e+00] [ 7.40381206e-02 8.59202475e-02 9.93547215e-01 -2.19843860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04313336499996 meters Centerline goodness : 0.441043 with order 3 Centerline is valid? [False, False] Translation: X:-35.84, Y:-5.04, Z:-2.20 [[ 9.97178693e-01 -1.45718163e-02 -7.36363841e-02 -3.58442309e+01] [ 8.29211053e-03 9.96356956e-01 -8.48767178e-02 -5.03604682e+00] [ 7.46049314e-02 8.40266535e-02 9.93666758e-01 -2.20075290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10313336499996 meters Centerline goodness : 0.195410 with order 2 Centerline is valid? [False, False] Translation: X:-35.84, Y:-5.04, Z:-2.20 [[ 9.97163373e-01 -1.45435555e-02 -7.38491168e-02 -3.58432378e+01] [ 8.28003320e-03 9.96395575e-01 -8.44233323e-02 -5.03911105e+00] [ 7.48107486e-02 8.35723817e-02 9.93689594e-01 -2.20154512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16313336499996 meters Centerline goodness : 0.378135 with order 1 Centerline is valid? [False, False] Translation: X:-35.86, Y:-5.05, Z:-2.20 [[ 9.97247391e-01 -9.00127206e-03 -7.35976815e-02 -3.58647025e+01] [ 2.57114729e-03 9.96204942e-01 -8.70005909e-02 -5.04767732e+00] [ 7.41014900e-02 8.65718818e-02 9.93485923e-01 -2.20390341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22313336499997 meters Centerline goodness : 0.453209 with order 2 Centerline is valid? [False, False] Translation: X:-35.91, Y:-5.05, Z:-2.21 [[ 9.97143469e-01 -8.11881060e-03 -7.50931955e-02 -3.59113941e+01] [ 1.61719272e-03 9.96273145e-01 -8.62392360e-02 -5.05172919e+00] [ 7.55134940e-02 8.58714507e-02 9.93440389e-01 -2.20626852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28313336499997 meters Centerline goodness : 0.432253 with order 1 Centerline is valid? [False, False] Translation: X:-35.91, Y:-5.05, Z:-2.21 [[ 9.97159118e-01 -8.19663933e-03 -7.48766250e-02 -3.59117255e+01] [ 1.69453860e-03 9.96251153e-01 -8.64914353e-02 -5.05058894e+00] [ 7.53048631e-02 8.61188420e-02 9.93434810e-01 -2.20655522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34313336499997 meters Centerline goodness : 0.132341 with order 1 Centerline is valid? [False, False] Translation: X:-35.91, Y:-5.05, Z:-2.21 [[ 9.97175035e-01 -5.07663948e-03 -7.49411637e-02 -3.59112471e+01] [-1.20736438e-03 9.96501180e-01 -8.35699706e-02 -5.05018856e+00] [ 7.51032127e-02 8.34243696e-02 9.93679970e-01 -2.20695312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.403133365 meters Centerline goodness : 0.132957 with order 1 Centerline is valid? [False, False] Translation: X:-35.91, Y:-5.05, Z:-2.21 [[ 9.97158187e-01 -5.06516556e-03 -7.51657783e-02 -3.59104756e+01] [-1.24287728e-03 9.96495380e-01 -8.36385851e-02 -5.04946237e+00] [ 7.53259941e-02 8.34943217e-02 9.93657231e-01 -2.20722675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.463133365 meters Centerline goodness : 0.123278 with order 1 Centerline is valid? [False, False] Translation: X:-35.91, Y:-5.05, Z:-2.21 [[ 9.97122648e-01 -5.22828462e-03 -7.56246651e-02 -3.59090457e+01] [-1.13581393e-03 9.96476317e-01 -8.38669181e-02 -5.04883276e+00] [ 7.57966679e-02 8.37114990e-02 9.93603165e-01 -2.20764362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.523133365 meters Centerline goodness : 0.137066 with order 1 Centerline is valid? [False, False] Translation: X:-35.93, Y:-5.04, Z:-2.21 [[ 9.97292646e-01 -9.52133678e-03 -7.29158641e-02 -3.59320162e+01] [ 3.64814739e-03 9.96767222e-01 -8.02608037e-02 -5.04415968e+00] [ 7.34443334e-02 7.97775014e-02 9.94103355e-01 -2.20982058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.583133365 meters Centerline goodness : 0.100457 with order 1 Centerline is valid? [False, False] Translation: X:-35.93, Y:-5.04, Z:-2.21 [[ 9.97345651e-01 -6.42176832e-03 -7.25287017e-02 -3.59333706e+01] [ 7.89461606e-04 9.96998304e-01 -7.74193650e-02 -5.04316099e+00] [ 7.28081618e-02 7.71566084e-02 9.94356993e-01 -2.20934173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.643133365 meters Centerline goodness : 0.093441 with order 1 Centerline is valid? [False, False] Translation: X:-35.95, Y:-5.04, Z:-2.21 [[ 9.97097093e-01 -1.45903586e-02 -7.47295734e-02 -3.59523627e+01] [ 8.84831030e-03 9.97022633e-01 -7.66001059e-02 -5.04152316e+00] [ 7.56246990e-02 7.57165124e-02 9.94257469e-01 -2.21172889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.703133365 meters Centerline goodness : 0.443775 with order 1 Centerline is valid? [False, False] Translation: X:-35.95, Y:-5.04, Z:-2.21 [[ 9.97068187e-01 -1.45271150e-02 -7.51265221e-02 -3.59507572e+01] [ 8.76436789e-03 9.97032939e-01 -7.64755186e-02 -5.04193917e+00] [ 7.60145857e-02 7.55928702e-02 9.94237145e-01 -2.21265431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.763133365 meters Centerline goodness : 0.323697 with order 1 Centerline is valid? [False, False] Translation: X:-35.95, Y:-5.04, Z:-2.21 [[ 9.97082547e-01 -1.11713165e-02 -7.55089198e-02 -3.59499528e+01] [ 5.61731689e-03 9.97288957e-01 -7.33701653e-02 -5.04129001e+00] [ 7.61238533e-02 7.27319538e-02 9.94442166e-01 -2.21257902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.823133365 meters Centerline goodness : 0.447880 with order 2 Centerline is valid? [False, False] Translation: X:-35.95, Y:-5.04, Z:-2.21 [[ 9.97161013e-01 -8.19253599e-03 -7.48518285e-02 -3.59516108e+01] [ 2.89751422e-03 9.97502158e-01 -7.05765539e-02 -5.04060195e+00] [ 7.52430614e-02 7.01593038e-02 9.94694000e-01 -2.21246820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.883133365 meters Centerline goodness : 0.238390 with order 3 Centerline is valid? [False, False] Translation: X:-35.98, Y:-5.04, Z:-2.21 [[ 9.97276088e-01 -2.28380204e-03 -7.37237372e-02 -3.59762459e+01] [-3.14469436e-03 9.97295197e-01 -7.34329742e-02 -5.04367268e+00] [ 7.36920353e-02 7.34647878e-02 9.94571470e-01 -2.21346282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.943133365 meters Centerline goodness : 0.445168 with order 2 Centerline is valid? [False, False] Translation: X:-35.96, Y:-5.04, Z:-2.21 [[ 9.97174000e-01 -9.89480228e-03 -7.44721859e-02 -3.59562514e+01] [ 4.51367740e-03 9.97388557e-01 -7.20811502e-02 -5.03908502e+00] [ 7.49909348e-02 7.15413055e-02 9.94614599e-01 -2.21048372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.003133365 meters Centerline goodness : 0.099271 with order 1 Centerline is valid? [False, False] Translation: X:-36.00, Y:-5.04, Z:-2.21 [[ 9.97042398e-01 -9.83308580e-03 -7.62218230e-02 -3.60033629e+01] [ 4.35595796e-03 9.97417194e-01 -7.16935630e-02 -5.04452863e+00] [ 7.67299257e-02 7.11495030e-02 9.94510064e-01 -2.21249650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.063133365 meters Centerline goodness : 0.103072 with order 1 Centerline is valid? [False, False] Translation: X:-36.00, Y:-5.04, Z:-2.21 [[ 9.97061508e-01 -9.93482701e-03 -7.59582045e-02 -3.60045894e+01] [ 4.47029050e-03 9.97410785e-01 -7.17756437e-02 -5.04481307e+00] [ 7.64746110e-02 7.12251763e-02 9.94524312e-01 -2.21169161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.123133365 meters Centerline goodness : 0.138268 with order 1 Centerline is valid? [False, False] Translation: X:-36.01, Y:-5.04, Z:-2.21 [[ 9.97089835e-01 -6.56120905e-03 -7.59526964e-02 -3.60051208e+01] [ 1.33011540e-03 9.97635119e-01 -6.87197201e-02 -5.04384610e+00] [ 7.62239617e-02 6.84187085e-02 9.94740563e-01 -2.21114678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.183133365 meters Centerline goodness : 0.095623 with order 1 Centerline is valid? [False, False] Translation: X:-36.00, Y:-5.04, Z:-2.21 [[ 9.97101838e-01 -2.58025010e-03 -7.60346418e-02 -3.60046370e+01] [-2.41424386e-03 9.97848202e-01 -6.55220409e-02 -5.03967160e+00] [ 7.60400938e-02 6.55157136e-02 9.94950047e-01 -2.21140746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.243133365 meters Centerline goodness : 0.357848 with order 1 Centerline is valid? [False, False] Translation: X:-36.00, Y:-5.04, Z:-2.21 [[ 9.97088729e-01 -2.95938738e-03 -7.61925757e-02 -3.60040703e+01] [-2.09963724e-03 9.97802023e-01 -6.62322712e-02 -5.03679395e+00] [ 7.62211131e-02 6.61994279e-02 9.94890938e-01 -2.21159587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.303133365 meters Centerline goodness : 0.106312 with order 1 Centerline is valid? [False, False] Translation: X:-36.00, Y:-5.03, Z:-2.21 [[ 9.97027460e-01 -3.04635676e-03 -7.69867824e-02 -3.60021539e+01] [-2.09620072e-03 9.97775619e-01 -6.66289721e-02 -5.03416125e+00] [ 7.70185101e-02 6.65922945e-02 9.94803305e-01 -2.21158448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.363133365 meters Centerline goodness : 0.449863 with order 3 Centerline is valid? [False, False] Translation: X:-36.00, Y:-5.03, Z:-2.21 [[ 9.97007188e-01 -3.37168297e-03 -7.72353501e-02 -3.60017219e+01] [-1.83942522e-03 9.97731077e-01 -6.73001812e-02 -5.03046226e+00] [ 7.72870239e-02 6.72408330e-02 9.94738853e-01 -2.21121826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42313336499996 meters Centerline goodness : 0.448765 with order 2 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.02, Z:-2.21 [[ 9.97151244e-01 -1.07268523e-02 -7.46614401e-02 -3.60239472e+01] [ 5.73411793e-03 9.97752085e-01 -6.67674833e-02 -5.02342959e+00] [ 7.52098125e-02 6.61491616e-02 9.94971242e-01 -2.21292228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48313336499996 meters Centerline goodness : 0.449665 with order 2 Centerline is valid? [False, False] Translation: X:-36.03, Y:-5.02, Z:-2.21 [[ 9.97160273e-01 -1.12725020e-02 -7.44601994e-02 -3.60254058e+01] [ 6.26147323e-03 9.97720431e-01 -6.71917782e-02 -5.02252995e+00] [ 7.50478817e-02 6.65347413e-02 9.94957760e-01 -2.21152332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54313336499996 meters Centerline goodness : 0.090652 with order 1 Centerline is valid? [False, False] Translation: X:-36.03, Y:-5.02, Z:-2.21 [[ 9.97154656e-01 -1.19189834e-02 -7.44347304e-02 -3.60255762e+01] [ 6.89106362e-03 9.97699327e-01 -6.74430542e-02 -5.02386361e+00] [ 7.50673331e-02 6.67382211e-02 9.94942664e-01 -2.21136163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60313336499996 meters Centerline goodness : 0.318322 with order 1 Centerline is valid? [False, False] Translation: X:-36.03, Y:-5.03, Z:-2.21 [[ 9.97152643e-01 -1.17779887e-02 -7.44841247e-02 -3.60252971e+01] [ 6.78459849e-03 9.97733889e-01 -6.69406830e-02 -5.02599325e+00] [ 7.51037620e-02 6.62447341e-02 9.94972894e-01 -2.21153406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66313336499996 meters Centerline goodness : 0.308055 with order 3 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.03, Z:-2.21 [[ 9.97117830e-01 -1.18146183e-02 -7.49429663e-02 -3.60242591e+01] [ 6.82977569e-03 9.97767984e-01 -6.64259367e-02 -5.03049262e+00] [ 7.55604895e-02 6.57226422e-02 9.94972938e-01 -2.21148970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72313336499997 meters Centerline goodness : 0.453307 with order 3 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.03, Z:-2.21 [[ 9.97112785e-01 -1.13884432e-02 -7.50759385e-02 -3.60236781e+01] [ 6.44724690e-03 9.97816439e-01 -6.57326918e-02 -5.03389185e+00] [ 7.56605987e-02 6.50588743e-02 9.95008953e-01 -2.21195664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78313336499997 meters Centerline goodness : 0.107563 with order 1 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.03, Z:-2.21 [[ 9.97129637e-01 -1.10537924e-02 -7.49019420e-02 -3.60241426e+01] [ 6.14358835e-03 9.97835553e-01 -6.54711062e-02 -5.03480119e+00] [ 7.54635248e-02 6.48230137e-02 9.95039312e-01 -2.21201069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84313336499997 meters Centerline goodness : 0.094923 with order 1 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.04, Z:-2.21 [[ 9.97154871e-01 -6.65054804e-03 -7.50861676e-02 -3.60236377e+01] [ 2.03239523e-03 9.98110288e-01 -6.14143427e-02 -5.03539910e+00] [ 7.53527154e-02 6.10870062e-02 9.95284053e-01 -2.21224598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.903133365 meters Centerline goodness : 0.090787 with order 1 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.03, Z:-2.21 [[ 9.97174744e-01 -6.06522668e-03 -7.48715136e-02 -3.60235878e+01] [ 1.46003805e-03 9.98111557e-01 -6.14100017e-02 -5.03410487e+00] [ 7.51025886e-02 6.11271875e-02 9.95300491e-01 -2.21311127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.963133365 meters Centerline goodness : 0.105766 with order 1 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.03, Z:-2.21 [[ 9.97161413e-01 -2.18605554e-03 -7.52617951e-02 -3.60219341e+01] [-2.19840073e-03 9.98306952e-01 -5.81239767e-02 -5.03239894e+00] [ 7.52614355e-02 5.81244423e-02 9.95468365e-01 -2.21401389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.023133365 meters Centerline goodness : 0.315626 with order 1 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.03, Z:-2.21 [[ 9.97094401e-01 1.01798060e-03 -7.61690154e-02 -3.60194204e+01] [-5.26489531e-03 9.98440553e-01 -5.55764638e-02 -5.02893603e+00] [ 7.59936581e-02 5.58160028e-02 9.95544845e-01 -2.21425161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.083133365 meters Centerline goodness : 0.367655 with order 1 Centerline is valid? [False, False] Translation: X:-36.04, Y:-5.02, Z:-2.22 [[ 9.97300577e-01 -5.32579242e-03 -7.32338356e-02 -3.60383799e+01] [ 1.32673497e-03 9.98510309e-01 -5.45472602e-02 -5.02120428e+00] [ 7.34152472e-02 5.43028522e-02 9.95821973e-01 -2.21776342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.143133365 meters Centerline goodness : 0.095137 with order 1 Centerline is valid? [False, False] Translation: X:-36.02, Y:-5.01, Z:-2.21 [[ 9.97285155e-01 -1.25058680e-02 -7.25666726e-02 -3.60216022e+01] [ 8.65076604e-03 9.98546506e-01 -5.31981157e-02 -5.01149706e+00] [ 7.31264860e-02 5.24259338e-02 9.95943793e-01 -2.21412407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.203133365 meters SLAMing on 340.263133365 meters Centerline goodness : 0.093749 with order 1 Centerline is valid? [False, False] Translation: X:-36.06, Y:-5.01, Z:-2.22 [[ 9.97003365e-01 -1.23672150e-02 -7.63632276e-02 -3.60620043e+01] [ 8.33639859e-03 9.98566093e-01 -5.28796936e-02 -5.00903707e+00] [ 7.69077044e-02 5.20846382e-02 9.95676853e-01 -2.21671424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.323133365 meters Centerline goodness : 0.357356 with order 1 Centerline is valid? [False, False] Translation: X:-36.07, Y:-5.01, Z:-2.21 [[ 9.97071033e-01 -1.28580391e-02 -7.53924830e-02 -3.60657659e+01] [ 8.83313960e-03 9.98529938e-01 -5.34784003e-02 -5.00630805e+00] [ 7.59692787e-02 5.26558114e-02 9.95718853e-01 -2.21469528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.383133365 meters Centerline goodness : 0.211862 with order 3 Centerline is valid? [False, False] Translation: X:-36.11, Y:-5.01, Z:-2.22 [[ 9.96836442e-01 -1.25555147e-02 -7.84822676e-02 -3.61080476e+01] [ 8.35669174e-03 9.98527436e-01 -5.36015474e-02 -5.00644788e+00] [ 7.90396925e-02 5.27761237e-02 9.95473459e-01 -2.21803628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.443133365 meters SLAMing on 340.503133365 meters Centerline goodness : 0.092128 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.01, Z:-2.22 [[ 9.96961045e-01 -4.88728969e-03 -7.77482371e-02 -3.61285612e+01] [ 6.05370299e-04 9.98486024e-01 -5.50026600e-02 -5.01114252e+00] [ 7.78993420e-02 5.47884429e-02 9.95454629e-01 -2.21957453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.563133365 meters Centerline goodness : 0.449560 with order 2 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.01, Z:-2.22 [[ 9.96945882e-01 -4.98947704e-03 -7.79359585e-02 -3.61281311e+01] [ 6.75923627e-04 9.98470884e-01 -5.52760030e-02 -5.00968331e+00] [ 7.80925837e-02 5.50545048e-02 9.95424809e-01 -2.21951628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.623133365 meters Centerline goodness : 0.446860 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.01, Z:-2.22 [[ 9.96920776e-01 -1.27346862e-03 -7.84050070e-02 -3.61264443e+01] [-2.81488260e-03 9.98642524e-01 -5.20114087e-02 -5.00813268e+00] [ 7.83648089e-02 5.20719548e-02 9.95563895e-01 -2.22011883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.683133365 meters Centerline goodness : 0.453011 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.01, Z:-2.22 [[ 9.96924774e-01 -1.34907681e-03 -7.83528887e-02 -3.61268681e+01] [-2.75000920e-03 9.98633688e-01 -5.21842387e-02 -5.00731537e+00] [ 7.83162348e-02 5.22392316e-02 9.95558954e-01 -2.21974620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.743133365 meters Centerline goodness : 0.451583 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.01, Z:-2.22 [[ 9.96875394e-01 -1.45115897e-03 -7.89768519e-02 -3.61255026e+01] [-2.66551294e-03 9.98643805e-01 -5.19946679e-02 -5.00930277e+00] [ 7.89451964e-02 5.20427188e-02 9.95519569e-01 -2.21961847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.803133365 meters Centerline goodness : 0.448230 with order 2 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.01, Z:-2.22 [[ 9.96976522e-01 -1.79235844e-03 -7.76827007e-02 -3.61291748e+01] [-2.24112258e-03 9.98654744e-01 -5.18042475e-02 -5.01175167e+00] [ 7.76710494e-02 5.18217149e-02 9.95631316e-01 -2.21874939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.863133365 meters Centerline goodness : 0.312533 with order 1 Centerline is valid? [False, False] Translation: X:-36.14, Y:-5.02, Z:-2.22 [[ 9.97102875e-01 -3.79519546e-03 -7.59700759e-02 -3.61355824e+01] [-2.49671304e-04 9.98585831e-01 -5.31627268e-02 -5.01537032e+00] [ 7.60644043e-02 5.30276753e-02 9.95691856e-01 -2.21650899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92313336499996 meters Centerline goodness : 0.449526 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.02, Z:-2.22 [[ 9.97088315e-01 -3.73832242e-03 -7.61637463e-02 -3.61349103e+01] [-2.67744258e-04 9.98619831e-01 -5.25201000e-02 -5.01967459e+00] [ 7.62549645e-02 5.23875704e-02 9.95711164e-01 -2.21679220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98313336499996 meters Centerline goodness : 0.095587 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.02, Z:-2.22 [[ 9.97069538e-01 -3.64521126e-03 -7.64136716e-02 -3.61343893e+01] [-3.40563057e-04 9.98642718e-01 -5.20826790e-02 -5.02268899e+00] [ 7.64998090e-02 5.19560764e-02 9.95714992e-01 -2.21676102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04313336499996 meters Centerline goodness : 0.449969 with order 1 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.03, Z:-2.22 [[ 9.97038401e-01 -3.37213737e-03 -7.68313492e-02 -3.61331791e+01] [-5.72875530e-04 9.98684839e-01 -5.12665912e-02 -5.02735842e+00] [ 7.69031817e-02 5.11587749e-02 9.95725203e-01 -2.21711577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10313336499996 meters Centerline goodness : 0.227453 with order 3 Centerline is valid? [False, False] Translation: X:-36.13, Y:-5.03, Z:-2.22 [[ 9.96990646e-01 -3.29195723e-03 -7.74520192e-02 -3.61309840e+01] [-6.57806179e-04 9.98702745e-01 -5.09155652e-02 -5.02985545e+00] [ 7.75191560e-02 5.08132906e-02 9.95695129e-01 -2.21806854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16313336499996 meters Centerline goodness : 0.147057 with order 3 Centerline is valid? [False, False] Translation: X:-36.18, Y:-5.04, Z:-2.22 [[ 9.96846972e-01 -4.39075925e-03 -7.92264773e-02 -3.61762129e+01] [ 3.36400644e-04 9.98692706e-01 -5.11152257e-02 -5.03770048e+00] [ 7.93473396e-02 5.09274062e-02 9.95545277e-01 -2.22116649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22313336499997 meters Centerline goodness : 0.378573 with order 1 Centerline is valid? [False, False] Translation: X:-36.18, Y:-5.04, Z:-2.22 [[ 9.96872732e-01 -4.80672317e-03 -7.88774481e-02 -3.61773527e+01] [ 7.91535831e-04 9.98705651e-01 -5.08566289e-02 -5.04160993e+00] [ 7.90198069e-02 5.06351523e-02 9.95586235e-01 -2.22080632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28313336499997 meters Centerline goodness : 0.227336 with order 3 Centerline is valid? [False, False] Translation: X:-36.17, Y:-5.05, Z:-2.22 [[ 9.96815279e-01 -7.81501088e-03 -7.93613595e-02 -3.61741873e+01] [ 3.62050794e-03 9.98595360e-01 -5.28601829e-02 -5.04765369e+00] [ 7.96629883e-02 5.24045095e-02 9.95443407e-01 -2.22293853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34313336499997 meters Centerline goodness : 0.106443 with order 1 Centerline is valid? [False, False] Translation: X:-36.22, Y:-5.05, Z:-2.23 [[ 9.96801532e-01 -8.98038169e-03 -7.94106927e-02 -3.62216123e+01] [ 4.72784242e-03 9.98552478e-01 -5.35779462e-02 -5.05206984e+00] [ 7.97768944e-02 5.30311377e-02 9.95401098e-01 -2.22556488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.403133365 meters Centerline goodness : 0.221188 with order 3 Centerline is valid? [False, False] Translation: X:-36.22, Y:-5.05, Z:-2.23 [[ 9.96836509e-01 -8.90816638e-03 -7.89786035e-02 -3.62228833e+01] [ 4.69061566e-03 9.98560756e-01 -5.34267286e-02 -5.05197621e+00] [ 7.93408682e-02 5.28872553e-02 9.95443602e-01 -2.22527533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.463133365 meters Centerline goodness : 0.247898 with order 3 Centerline is valid? [False, False] Translation: X:-36.27, Y:-5.05, Z:-2.23 [[ 9.96667919e-01 -1.05136524e-02 -8.08858576e-02 -3.62680389e+01] [ 6.06854681e-03 9.98467577e-01 -5.50060949e-02 -5.05401120e+00] [ 8.13402212e-02 5.43319505e-02 9.95204405e-01 -2.22823031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.523133365 meters Centerline goodness : 0.102162 with order 1 Centerline is valid? [False, False] Translation: X:-36.27, Y:-5.06, Z:-2.23 [[ 9.96643029e-01 -1.36504259e-02 -8.07238379e-02 -3.62697413e+01] [ 9.04309115e-03 9.98323624e-01 -5.71678577e-02 -5.05924997e+00] [ 8.13688800e-02 5.62459539e-02 9.95095723e-01 -2.22709190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.583133365 meters Centerline goodness : 0.270198 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.07, Z:-2.23 [[ 9.96447469e-01 -2.53955531e-02 -8.02963765e-02 -3.62475730e+01] [ 2.07616485e-02 9.98099083e-01 -5.80273528e-02 -5.06616249e+00] [ 8.16173765e-02 5.61541237e-02 9.95080559e-01 -2.22553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.643133365 meters Centerline goodness : 0.154834 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.07, Z:-2.23 [[ 9.96328443e-01 -2.93700818e-02 -8.04178647e-02 -3.62468378e+01] [ 2.44795993e-02 9.97829081e-01 -6.11381654e-02 -5.07043367e+00] [ 8.20389169e-02 5.89450960e-02 9.94884462e-01 -2.22596778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.703133365 meters Centerline goodness : 0.107224 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.08, Z:-2.22 [[ 9.96417819e-01 -2.20121046e-02 -8.16516856e-02 -3.62282491e+01] [ 1.70321111e-02 9.97980591e-01 -6.11935209e-02 -5.07980522e+00] [ 8.28337956e-02 5.95836140e-02 9.94780556e-01 -2.22328360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.763133365 meters Centerline goodness : 0.151074 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.08, Z:-2.22 [[ 9.96344748e-01 -2.17122744e-02 -8.26179175e-02 -3.62258017e+01] [ 1.66994431e-02 9.98004817e-01 -6.08893585e-02 -5.08186015e+00] [ 8.37751261e-02 5.92871193e-02 9.94719441e-01 -2.22358517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.823133365 meters Centerline goodness : 0.110476 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.09, Z:-2.22 [[ 9.96379196e-01 -2.12171977e-02 -8.23306026e-02 -3.62267801e+01] [ 1.62758674e-02 9.98051712e-01 -6.02318542e-02 -5.08567617e+00] [ 8.34481500e-02 5.86737645e-02 9.94783291e-01 -2.22327123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.883133365 meters Centerline goodness : 0.101249 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.09, Z:-2.22 [[ 9.96427151e-01 -2.11092487e-02 -8.17761090e-02 -3.62285774e+01] [ 1.62277010e-02 9.98072144e-01 -5.99054086e-02 -5.08880357e+00] [ 8.28830146e-02 5.83643374e-02 9.94848737e-01 -2.22274203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.943133365 meters Centerline goodness : 0.161185 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.10, Z:-2.23 [[ 9.96695395e-01 -1.28251974e-02 -8.02110005e-02 -3.62474629e+01] [ 8.02391743e-03 9.98172345e-01 -5.98964702e-02 -5.09790274e+00] [ 8.08325865e-02 5.90549296e-02 9.94976687e-01 -2.22654819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.003133365 meters Centerline goodness : 0.103694 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.10, Z:-2.23 [[ 9.96624087e-01 -1.30564875e-02 -8.10552783e-02 -3.62452401e+01] [ 8.22037859e-03 9.98181690e-01 -5.97138097e-02 -5.10190461e+00] [ 8.16875473e-02 5.88459159e-02 9.94919244e-01 -2.22702073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.063133365 meters Centerline goodness : 0.197099 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.11, Z:-2.23 [[ 9.96654057e-01 -1.35333713e-02 -8.06073106e-02 -3.62467346e+01] [ 8.75721680e-03 9.98200986e-01 -5.93135892e-02 -5.10740011e+00] [ 8.12650098e-02 5.84092336e-02 9.94979577e-01 -2.22673396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.123133365 meters Centerline goodness : 0.105891 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.11, Z:-2.23 [[ 9.96631861e-01 -1.35568753e-02 -8.08773464e-02 -3.62459617e+01] [ 8.78753716e-03 9.98217110e-01 -5.90371172e-02 -5.10959644e+00] [ 8.15335098e-02 5.81275593e-02 9.94974107e-01 -2.22700324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.183133365 meters Centerline goodness : 0.112175 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.11, Z:-2.23 [[ 9.96669884e-01 -1.39179867e-02 -8.03457007e-02 -3.62470095e+01] [ 9.19973290e-03 9.98227470e-01 -5.87986645e-02 -5.11307582e+00] [ 8.10216446e-02 5.78636991e-02 9.95031299e-01 -2.22743507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.243133365 meters Centerline goodness : 0.106480 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.11, Z:-2.23 [[ 9.96685440e-01 -1.38287528e-02 -8.01679456e-02 -3.62475291e+01] [ 9.14655538e-03 9.98246644e-01 -5.84805746e-02 -5.11479849e+00] [ 8.08360961e-02 5.75534767e-02 9.95064381e-01 -2.22742489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.303133365 meters Centerline goodness : 0.106943 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.12, Z:-2.23 [[ 9.96646387e-01 -1.38892753e-02 -8.06415924e-02 -3.62461704e+01] [ 9.18659462e-03 9.98251189e-01 -5.83966555e-02 -5.11595724e+00] [ 8.13116528e-02 5.74599942e-02 9.95031037e-01 -2.22778834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.363133365 meters Centerline goodness : 0.098773 with order 1 Centerline is valid? [False, False] Translation: X:-36.27, Y:-5.12, Z:-2.23 [[ 9.96679007e-01 -4.77936860e-03 -8.12903100e-02 -3.62676984e+01] [-3.36298193e-06 9.98273694e-01 -5.87335657e-02 -5.11733933e+00] [ 8.14306874e-02 5.85387853e-02 9.94958418e-01 -2.22963429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42313336499996 meters Centerline goodness : 0.114915 with order 1 Centerline is valid? [False, False] Translation: X:-36.27, Y:-5.12, Z:-2.23 [[ 9.96690787e-01 -4.80160636e-03 -8.11444327e-02 -3.62680036e+01] [ 6.74161297e-06 9.98258708e-01 -5.89877320e-02 -5.11546835e+00] [ 8.12863724e-02 5.87919820e-02 9.94955290e-01 -2.22960574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48313336499996 meters Centerline goodness : 0.204153 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.11, Z:-2.23 [[ 9.96794266e-01 -1.03958071e-02 -7.93291728e-02 -3.62473591e+01] [ 5.95808646e-03 9.98414473e-01 -5.59735804e-02 -5.11179819e+00] [ 7.97852848e-02 5.53214940e-02 9.95275761e-01 -2.22829699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54313336499996 meters Centerline goodness : 0.106971 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.11, Z:-2.23 [[ 9.96818420e-01 -1.05970451e-02 -7.89983555e-02 -3.62482975e+01] [ 6.13820838e-03 9.98385272e-01 -5.64727528e-02 -5.10897021e+00] [ 7.94692389e-02 5.58081718e-02 9.95273876e-01 -2.22796980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60313336499996 meters Centerline goodness : 0.098317 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.10, Z:-2.23 [[ 9.96806948e-01 -7.16949336e-03 -7.95267659e-02 -3.62465168e+01] [ 2.89620920e-03 9.98551857e-01 -5.37196429e-02 -5.10477908e+00] [ 7.97967424e-02 5.33177871e-02 9.95384194e-01 -2.22849991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66313336499996 meters Centerline goodness : 0.106536 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.10, Z:-2.23 [[ 9.96840853e-01 -4.28387834e-03 -7.93092876e-02 -3.62469517e+01] [ 2.18587437e-04 9.98688572e-01 -5.11965695e-02 -5.10202169e+00] [ 7.94245990e-02 5.10174960e-02 9.95534504e-01 -2.22856004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72313336499997 meters Centerline goodness : 0.098933 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.10, Z:-2.23 [[ 9.96860826e-01 -4.62949454e-03 -7.90383495e-02 -3.62478342e+01] [ 5.34582201e-04 9.98659829e-01 -5.17519178e-02 -5.09946106e+00] [ 7.91720098e-02 5.15472070e-02 9.95527337e-01 -2.22811882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78313336499997 meters Centerline goodness : 0.106137 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.10, Z:-2.23 [[ 9.96859264e-01 -4.78350875e-03 -7.90488809e-02 -3.62474929e+01] [ 6.69311423e-04 9.98647330e-01 -5.19909821e-02 -5.09818282e+00] [ 7.91906531e-02 5.17747839e-02 9.95514044e-01 -2.22850103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84313336499997 meters Centerline goodness : 0.104449 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.09, Z:-2.23 [[ 9.96827457e-01 -1.06090555e-02 -7.88826247e-02 -3.62263042e+01] [ 6.74787146e-03 9.98773290e-01 -4.90548807e-02 -5.09341245e+00] [ 7.93062846e-02 4.83669622e-02 9.95676228e-01 -2.22651872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.903133365 meters Centerline goodness : 0.106363 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.09, Z:-2.23 [[ 9.96847532e-01 -7.04753409e-03 -7.90274011e-02 -3.62259894e+01] [ 3.38190361e-03 9.98916167e-01 -4.64225499e-02 -5.08772837e+00] [ 7.92689132e-02 4.60089412e-02 9.95790950e-01 -2.22625735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.963133365 meters Centerline goodness : 0.103883 with order 1 Centerline is valid? [False, False] Translation: X:-36.24, Y:-5.07, Z:-2.23 [[ 9.96931424e-01 -1.15434174e-02 -7.74240648e-02 -3.62447917e+01] [ 8.14806904e-03 9.98997099e-01 -4.40273243e-02 -5.07466227e+00] [ 7.78546419e-02 4.32613665e-02 9.96025657e-01 -2.22898727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.023133365 meters Centerline goodness : 0.107337 with order 1 Centerline is valid? [False, False] Translation: X:-36.22, Y:-5.07, Z:-2.23 [[ 9.96741509e-01 -1.66830211e-02 -7.89179375e-02 -3.62227414e+01] [ 1.34569949e-02 9.99058853e-01 -4.12349162e-02 -5.06610469e+00] [ 7.95315870e-02 4.00385543e-02 9.96027932e-01 -2.22710531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.083133365 meters Centerline goodness : 0.120687 with order 3 Centerline is valid? [False, False] Translation: X:-36.22, Y:-5.06, Z:-2.23 [[ 9.96722498e-01 -1.72373598e-02 -7.90388260e-02 -3.62224499e+01] [ 1.39575558e-02 9.99025887e-01 -4.18624486e-02 -5.06395160e+00] [ 7.96834314e-02 4.06220555e-02 9.95992168e-01 -2.22694136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.143133365 meters SLAMing on 343.203133365 meters SLAMing on 343.263133365 meters Centerline goodness : 0.103152 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.07, Z:-2.23 [[ 9.96786342e-01 -1.83642845e-02 -7.79726937e-02 -3.62254255e+01] [ 1.50822714e-02 9.98983722e-01 -4.24740879e-02 -5.06517138e+00] [ 7.86734580e-02 4.11615854e-02 9.96050305e-01 -2.22651818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.323133365 meters Centerline goodness : 0.150617 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.07, Z:-2.23 [[ 9.96913927e-01 -8.88649794e-03 -7.79977708e-02 -3.62469476e+01] [ 5.55528553e-03 9.99067247e-01 -4.28226022e-02 -5.06545951e+00] [ 7.83055611e-02 4.22571486e-02 9.96033419e-01 -2.22851167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.383133365 meters Centerline goodness : 0.127509 with order 1 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.06, Z:-2.23 [[ 9.96962525e-01 -5.00040616e-03 -7.77220726e-02 -3.62475300e+01] [ 1.89779067e-03 9.99200195e-01 -3.99420721e-02 -5.05941010e+00] [ 7.78596366e-02 3.96732488e-02 9.96174638e-01 -2.22843999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.443133365 meters Centerline goodness : 0.104823 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.06, Z:-2.23 [[ 9.97002713e-01 -1.47374346e-03 -7.73525538e-02 -3.62483570e+01] [-1.39370397e-03 9.99314191e-01 -3.70027783e-02 -5.05657373e+00] [ 7.73540373e-02 3.69996769e-02 9.96316906e-01 -2.22843675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.503133365 meters Centerline goodness : 0.148842 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96899747e-01 -9.89515519e-03 -7.80575428e-02 -3.62289513e+01] [ 7.03865193e-03 9.99298398e-01 -3.67854571e-02 -5.04749942e+00] [ 7.83667753e-02 3.61219930e-02 9.96269969e-01 -2.22526434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.563133365 meters Centerline goodness : 0.139864 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.22 [[ 9.96912780e-01 -1.05773663e-02 -7.78012116e-02 -3.62297939e+01] [ 7.68954332e-03 9.99273618e-01 -3.73243434e-02 -5.04629873e+00] [ 7.81394914e-02 3.66108591e-02 9.96269976e-01 -2.22479112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.623133365 meters Centerline goodness : 0.128026 with order 2 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.22 [[ 9.96903677e-01 -1.06997548e-02 -7.79010503e-02 -3.62295414e+01] [ 7.79792513e-03 9.99267719e-01 -3.74595637e-02 -5.04546787e+00] [ 7.82448129e-02 3.67361103e-02 9.96257099e-01 -2.22465147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.683133365 meters Centerline goodness : 0.186068 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.04, Z:-2.23 [[ 9.96888283e-01 -1.09028639e-02 -7.80696984e-02 -3.62287414e+01] [ 7.98125763e-03 9.99259575e-01 -3.76377651e-02 -5.04493033e+00] [ 7.84222531e-02 3.68975526e-02 9.96237181e-01 -2.22508326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.743133365 meters Centerline goodness : 0.133614 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96904865e-01 -1.08656358e-02 -7.78628832e-02 -3.62289881e+01] [ 7.95897661e-03 9.99263278e-01 -3.75440549e-02 -5.04518729e+00] [ 7.82134599e-02 3.68081421e-02 9.96256902e-01 -2.22544550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.803133365 meters Centerline goodness : 0.117098 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96905947e-01 -1.10492283e-02 -7.78231783e-02 -3.62288885e+01] [ 8.13277180e-03 9.99256265e-01 -3.76931660e-02 -5.04537271e+00] [ 7.81817789e-02 3.69436232e-02 9.96254374e-01 -2.22569336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.863133365 meters Centerline goodness : 0.089552 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96859387e-01 -1.09219520e-02 -7.84351523e-02 -3.62272118e+01] [ 7.99784861e-03 9.99264683e-01 -3.74983704e-02 -5.04567981e+00] [ 7.87870330e-02 3.67532901e-02 9.96213732e-01 -2.22599130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92313336499996 meters Centerline goodness : 0.133925 with order 3 Centerline is valid? [False, False] Translation: X:-36.22, Y:-5.05, Z:-2.23 [[ 9.96787016e-01 -1.12328829e-02 -7.93061551e-02 -3.62241646e+01] [ 8.27847892e-03 9.99262931e-01 -3.74841423e-02 -5.04737311e+00] [ 7.96687560e-02 3.67071720e-02 9.96145307e-01 -2.22730543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98313336499996 meters Centerline goodness : 0.133021 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96814730e-01 -1.11274673e-02 -7.89719841e-02 -3.62254378e+01] [ 8.21508621e-03 9.99277486e-01 -3.71082056e-02 -5.04968720e+00] [ 7.93278460e-02 3.63412443e-02 9.96185930e-01 -2.22685712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04313336499996 meters Centerline goodness : 0.131199 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96812567e-01 -1.09865905e-02 -7.90189919e-02 -3.62254796e+01] [ 8.09304815e-03 9.99288191e-01 -3.68458009e-02 -5.05068978e+00] [ 7.93675553e-02 3.60888529e-02 9.96191942e-01 -2.22671615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10313336499996 meters Centerline goodness : 0.140377 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96812854e-01 -1.08366188e-02 -7.90360774e-02 -3.62253630e+01] [ 7.96026096e-03 9.99297644e-01 -3.66176722e-02 -5.05153076e+00] [ 7.93773777e-02 3.58718186e-02 9.96198998e-01 -2.22685295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16313336499996 meters Centerline goodness : 0.134045 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96859274e-01 -6.97923550e-03 -7.88852215e-02 -3.62256418e+01] [ 4.38076013e-03 9.99443598e-01 -3.30651398e-02 -5.05160149e+00] [ 7.90720990e-02 3.26157140e-02 9.96335194e-01 -2.22715459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22313336499997 meters Centerline goodness : 0.155585 with order 2 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96927855e-01 -6.87192901e-03 -7.80232543e-02 -3.62284880e+01] [ 4.29016584e-03 9.99439215e-01 -3.32091955e-02 -5.05029671e+00] [ 7.82077112e-02 3.27724393e-02 9.96398274e-01 -2.22610109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28313336499997 meters Centerline goodness : 0.109313 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96966488e-01 -6.94918273e-03 -7.75211615e-02 -3.62301463e+01] [ 4.38138470e-03 9.99437633e-01 -3.32448711e-02 -5.05076014e+00] [ 7.77085908e-02 3.28043723e-02 9.96436274e-01 -2.22558556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34313336499997 meters Centerline goodness : 0.113021 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.05, Z:-2.23 [[ 9.96958783e-01 -6.71093303e-03 -7.76411562e-02 -3.62294617e+01] [ 4.19750995e-03 9.99463236e-01 -3.24903254e-02 -5.05489258e+00] [ 7.78175216e-02 3.20656158e-02 9.96451820e-01 -2.22640864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.403133365 meters Centerline goodness : 0.130931 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.06, Z:-2.23 [[ 9.96913816e-01 -9.74406585e-03 -7.78967063e-02 -3.62269279e+01] [ 7.07421783e-03 9.99380455e-01 -3.44769836e-02 -5.06152654e+00] [ 7.81843917e-02 3.38195231e-02 9.96365114e-01 -2.22867568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.463133365 meters Centerline goodness : 0.093518 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.07, Z:-2.23 [[ 9.96902319e-01 -9.59292806e-03 -7.80624279e-02 -3.62263002e+01] [ 6.97383854e-03 9.99405808e-01 -3.37549354e-02 -5.06622812e+00] [ 7.83398525e-02 3.31059786e-02 9.96376867e-01 -2.22926690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.523133365 meters Centerline goodness : 0.125550 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.07, Z:-2.23 [[ 9.96917512e-01 -9.20715701e-03 -7.79147077e-02 -3.62267952e+01] [ 6.65532486e-03 9.99434904e-01 -3.29481333e-02 -5.07010651e+00] [ 7.81740370e-02 3.23280234e-02 9.96415435e-01 -2.22931001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.583133365 meters Centerline goodness : 0.125887 with order 1 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.07, Z:-2.23 [[ 9.96918153e-01 -8.76667895e-03 -7.79573032e-02 -3.62262758e+01] [ 6.27727094e-03 9.99464279e-01 -3.21208790e-02 -5.07415565e+00] [ 7.81971333e-02 3.15325283e-02 9.96439114e-01 -2.23005373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.643133365 meters Centerline goodness : 0.115881 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.08, Z:-2.23 [[ 9.96907330e-01 -8.35712717e-03 -7.81404809e-02 -3.62254315e+01] [ 5.91280607e-03 9.99487512e-01 -3.14603200e-02 -5.07679962e+00] [ 7.83633527e-02 3.09009941e-02 9.96445841e-01 -2.23073711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.703133365 meters Centerline goodness : 0.175120 with order 3 Centerline is valid? [False, False] Translation: X:-36.23, Y:-5.08, Z:-2.23 [[ 9.96909269e-01 -8.04532401e-03 -7.81484592e-02 -3.62253028e+01] [ 5.64781963e-03 9.99508021e-01 -3.08515632e-02 -5.07976078e+00] [ 7.83582226e-02 3.03148409e-02 9.96464249e-01 -2.23104973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.763133365 meters Centerline goodness : 0.142316 with order 1 Centerline is valid? [False, False] Translation: X:-36.22, Y:-5.08, Z:-2.23 [[ 9.96883798e-01 -7.84639807e-03 -7.84928528e-02 -3.62244771e+01] [ 5.46796170e-03 9.99520711e-01 -3.04704805e-02 -5.08145334e+00] [ 7.86943155e-02 2.99463324e-02 9.96448906e-01 -2.23113793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.823133365 meters SLAMing on 344.883133365 meters Centerline goodness : 0.206344 with order 3 Centerline is valid? [False, False] Translation: X:-36.25, Y:-5.08, Z:-2.23 [[ 9.96876722e-01 -1.61207366e-02 -7.73105681e-02 -3.62464364e+01] [ 1.38578121e-02 9.99462248e-01 -2.97182826e-02 -5.07791657e+00] [ 7.77480747e-02 2.85541088e-02 9.96564047e-01 -2.23320826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.943133365 meters Centerline goodness : 0.116135 with order 1 Centerline is valid? [False, False] Translation: X:-36.27, Y:-5.08, Z:-2.24 [[ 9.97003958e-01 -7.90648858e-03 -7.69454055e-02 -3.62654790e+01] [ 5.55601035e-03 9.99512783e-01 -3.07136220e-02 -5.08126186e+00] [ 7.71507533e-02 3.01940932e-02 9.96562130e-01 -2.23696845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.003133365 meters Centerline goodness : 0.117447 with order 1 Centerline is valid? [False, False] Translation: X:-36.27, Y:-5.08, Z:-2.24 [[ 9.97047640e-01 -7.94187475e-03 -7.63736222e-02 -3.62670484e+01] [ 5.63061547e-03 9.99521029e-01 -3.04303881e-02 -5.08342334e+00] [ 7.65787158e-02 2.99105161e-02 9.96614801e-01 -2.23687716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.063133365 meters Centerline goodness : 0.139541 with order 3 Centerline is valid? [False, False] Translation: X:-36.26, Y:-5.09, Z:-2.24 [[ 9.96971958e-01 -1.09151828e-02 -7.69920398e-02 -3.62639207e+01] [ 8.44718084e-03 9.99442249e-01 -3.23084363e-02 -5.09031297e+00] [ 7.73017500e-02 3.15602393e-02 9.96508099e-01 -2.23884818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.123133365 meters SLAMing on 345.183133365 meters Centerline goodness : 0.115735 with order 1 Centerline is valid? [False, False] Translation: X:-36.34, Y:-5.10, Z:-2.25 [[ 9.96918624e-01 -1.04381511e-02 -7.77451144e-02 -3.63421598e+01] [ 7.89385561e-03 9.99425437e-01 -3.29618403e-02 -5.09995643e+00] [ 7.80445056e-02 3.22465637e-02 9.96428228e-01 -2.24661252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.243133365 meters Centerline goodness : 0.100506 with order 3 Centerline is valid? [False, False] Translation: X:-36.33, Y:-5.11, Z:-2.24 [[ 9.97159261e-01 -2.49628325e-03 -7.52806485e-02 -3.63254041e+01] [-4.83742302e-05 9.99429240e-01 -3.37815273e-02 -5.10686452e+00] [ 7.53220096e-02 3.36892045e-02 9.96590002e-01 -2.24365960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.303133365 meters Centerline goodness : 0.101184 with order 3 Centerline is valid? [False, False] Translation: X:-36.35, Y:-5.11, Z:-2.25 [[ 9.97114063e-01 6.41394342e-03 -7.56465858e-02 -3.63458198e+01] [-9.01979858e-03 9.99375791e-01 -3.41565743e-02 -5.11288214e+00] [ 7.53802881e-02 3.47403176e-02 9.96549508e-01 -2.24686364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.363133365 meters Centerline goodness : 0.099152 with order 2 Centerline is valid? [False, False] Translation: X:-36.36, Y:-5.11, Z:-2.25 [[ 9.97045517e-01 -1.18749525e-03 -7.68038251e-02 -3.63636522e+01] [-1.32237338e-03 9.99466957e-01 -3.26198429e-02 -5.11101797e+00] [ 7.68016213e-02 3.26250315e-02 9.96512478e-01 -2.24944853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42313336499996 meters Centerline goodness : 0.244720 with order 3 Centerline is valid? [False, False] Translation: X:-36.36, Y:-5.11, Z:-2.25 [[ 9.97031123e-01 -8.72967116e-04 -7.69946652e-02 -3.63636372e+01] [-1.59555304e-03 9.99486801e-01 -3.19935822e-02 -5.11406313e+00] [ 7.69830810e-02 3.20214462e-02 9.96518054e-01 -2.24904131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48313336499996 meters Centerline goodness : 0.104766 with order 1 Centerline is valid? [False, False] Translation: X:-36.41, Y:-5.11, Z:-2.25 [[ 9.96851417e-01 5.41690880e-04 -7.92903434e-02 -3.64092378e+01] [-3.02994569e-03 9.99506550e-01 -3.12646151e-02 -5.11161591e+00] [ 7.92342818e-02 3.14064213e-02 9.96361162e-01 -2.25133244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54313336499996 meters Centerline goodness : 0.239286 with order 2 Centerline is valid? [False, False] Translation: X:-36.41, Y:-5.11, Z:-2.25 [[ 9.96840044e-01 4.37796796e-03 -7.93143096e-02 -3.64081298e+01] [-6.60929610e-03 9.99589090e-01 -2.78920919e-02 -5.11027794e+00] [ 7.91596078e-02 2.83281659e-02 9.96459368e-01 -2.25249375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60313336499996 meters Centerline goodness : 0.249585 with order 3 Centerline is valid? [False, False] Translation: X:-36.41, Y:-5.11, Z:-2.25 [[ 9.96838021e-01 4.27628059e-03 -7.93452825e-02 -3.64081293e+01] [-6.51973092e-03 9.99585623e-01 -2.80370427e-02 -5.10965122e+00] [ 7.91925093e-02 2.84657000e-02 9.96452834e-01 -2.25242254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66313336499996 meters Centerline goodness : 0.101594 with order 3 Centerline is valid? [False, False] Translation: X:-36.43, Y:-5.11, Z:-2.26 [[ 9.96719644e-01 -4.19121955e-03 -8.08231766e-02 -3.64267332e+01] [ 2.02824569e-03 9.99638078e-01 -2.68253542e-02 -5.10655830e+00] [ 8.09063559e-02 2.65734282e-02 9.96367409e-01 -2.25540489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72313336499997 meters SLAMing on 345.78313336499997 meters Centerline goodness : 0.112604 with order 1 Centerline is valid? [False, False] Translation: X:-36.45, Y:-5.11, Z:-2.26 [[ 9.96589620e-01 -1.62918449e-02 -8.08931692e-02 -3.64496352e+01] [ 1.40072161e-02 9.99489057e-01 -2.87301706e-02 -5.10648125e+00] [ 8.13199049e-02 2.74991017e-02 9.96308623e-01 -2.25559679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84313336499997 meters Centerline goodness : 0.128908 with order 1 Centerline is valid? [False, False] Translation: X:-36.47, Y:-5.11, Z:-2.26 [[ 9.96617458e-01 -8.20089626e-03 -8.17703345e-02 -3.64687053e+01] [ 5.77111259e-03 9.99536027e-01 -2.99069304e-02 -5.11119366e+00] [ 8.19776589e-02 2.93338632e-02 9.96202383e-01 -2.25908856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.903133365 meters SLAMing on 345.963133365 meters Centerline goodness : 0.140119 with order 3 Centerline is valid? [False, False] Translation: X:-36.51, Y:-5.11, Z:-2.26 [[ 9.96444135e-01 -6.09651485e-03 -8.40352258e-02 -3.65127372e+01] [ 3.70438117e-03 9.99584289e-01 -2.85924330e-02 -5.10860022e+00] [ 8.41746056e-02 2.81794637e-02 9.96052485e-01 -2.26186868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.023133365 meters Centerline goodness : 0.099271 with order 2 Centerline is valid? [False, False] Translation: X:-36.51, Y:-5.11, Z:-2.26 [[ 9.96437926e-01 -2.07959232e-03 -8.43038206e-02 -3.65122160e+01] [-3.61660066e-05 9.99685258e-01 -2.50875340e-02 -5.10808879e+00] [ 8.43294585e-02 2.50012193e-02 9.96124230e-01 -2.26175092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.083133365 meters Centerline goodness : 0.102503 with order 1 Centerline is valid? [False, False] Translation: X:-36.51, Y:-5.11, Z:-2.26 [[ 9.96442239e-01 -2.01514218e-03 -8.42544012e-02 -3.65124834e+01] [-1.11644886e-04 9.99681664e-01 -2.52301166e-02 -5.10707939e+00] [ 8.42784222e-02 2.51497604e-02 9.96124810e-01 -2.26151062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.143133365 meters Centerline goodness : 0.102105 with order 1 Centerline is valid? [False, False] Translation: X:-36.51, Y:-5.10, Z:-2.26 [[ 9.96421590e-01 -1.83494752e-03 -8.45023593e-02 -3.65115179e+01] [-3.18776607e-04 9.99675623e-01 -2.54666049e-02 -5.10493542e+00] [ 8.45216785e-02 2.54024123e-02 9.96097788e-01 -2.26189685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.203133365 meters Centerline goodness : 0.099246 with order 1 Centerline is valid? [False, False] Translation: X:-36.51, Y:-5.10, Z:-2.26 [[ 9.96463128e-01 2.20025675e-03 -8.40023372e-02 -3.65133399e+01] [-4.06118331e-03 9.99749968e-01 -2.19888264e-02 -5.10288544e+00] [ 8.39329529e-02 2.22522036e-02 9.96222916e-01 -2.26109465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.263133365 meters Centerline goodness : 0.101077 with order 1 Centerline is valid? [False, False] Translation: X:-36.52, Y:-5.10, Z:-2.26 [[ 9.96525495e-01 2.06992120e-03 -8.32625564e-02 -3.65155980e+01] [-3.95247266e-03 9.99740124e-01 -2.24513464e-02 -5.10027820e+00] [ 8.31944459e-02 2.27024320e-02 9.96274703e-01 -2.26036500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.323133365 meters Centerline goodness : 0.452477 with order 2 Centerline is valid? [False, False] Translation: X:-36.52, Y:-5.10, Z:-2.26 [[ 9.96549426e-01 1.63771131e-03 -8.29852977e-02 -3.65163872e+01] [-3.54674159e-03 9.99732333e-01 -2.28622467e-02 -5.09932737e+00] [ 8.29256435e-02 2.30776862e-02 9.96288491e-01 -2.26029487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.383133365 meters Centerline goodness : 0.110091 with order 1 Centerline is valid? [False, False] Translation: X:-36.53, Y:-5.10, Z:-2.26 [[ 9.96190408e-01 -6.30064654e-03 -8.69768469e-02 -3.65322327e+01] [ 4.43489872e-03 9.99756258e-01 -2.16276780e-02 -5.09533629e+00] [ 8.70919154e-02 2.11595519e-02 9.95975538e-01 -2.26320491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.443133365 meters Centerline goodness : 0.102075 with order 2 Centerline is valid? [False, False] Translation: X:-36.53, Y:-5.10, Z:-2.26 [[ 9.96194968e-01 -6.54374126e-03 -8.69066483e-02 -3.65327559e+01] [ 4.66500311e-03 9.99751393e-01 -2.18034163e-02 -5.09512070e+00] [ 8.70277186e-02 2.13150338e-02 9.95977834e-01 -2.26278643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.503133365 meters Centerline goodness : 0.198253 with order 3 Centerline is valid? [False, False] Translation: X:-36.54, Y:-5.09, Z:-2.26 [[ 9.96339600e-01 -3.30384781e-03 -8.54194696e-02 -3.65369442e+01] [ 1.68091343e-03 9.99816842e-01 -1.90645304e-02 -5.09200407e+00] [ 8.54668107e-02 1.88511638e-02 9.96162666e-01 -2.26204709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.563133365 meters Centerline goodness : 0.097432 with order 1 Centerline is valid? [False, False] Translation: X:-36.54, Y:-5.08, Z:-2.26 [[ 9.96365394e-01 -3.63529992e-03 -8.51045580e-02 -3.65377565e+01] [ 1.92651463e-03 9.99795068e-01 -2.01521806e-02 -5.08464839e+00] [ 8.51603766e-02 1.99149802e-02 9.96168211e-01 -2.26171496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.623133365 meters SLAMing on 346.683133365 meters Centerline goodness : 0.111589 with order 1 Centerline is valid? [False, False] Translation: X:-36.56, Y:-5.07, Z:-2.26 [[ 9.96441457e-01 -1.05587606e-02 -8.36237753e-02 -3.65558167e+01] [ 8.94965106e-03 9.99767967e-01 -1.95937975e-02 -5.07345099e+00] [ 8.38112580e-02 1.87756685e-02 9.96304746e-01 -2.26439363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.743133365 meters Centerline goodness : 0.121070 with order 1 Centerline is valid? [False, False] Translation: X:-36.56, Y:-5.07, Z:-2.26 [[ 9.96419775e-01 -1.06486520e-02 -8.38703709e-02 -3.65550584e+01] [ 9.03422371e-03 9.99766983e-01 -1.96051536e-02 -5.07369748e+00] [ 8.40595961e-02 1.87772590e-02 9.96283794e-01 -2.26465235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.803133365 meters Centerline goodness : 0.116405 with order 1 Centerline is valid? [False, False] Translation: X:-36.55, Y:-5.07, Z:-2.27 [[ 9.96371363e-01 -1.05429376e-02 -8.44568111e-02 -3.65532283e+01] [ 8.93676875e-03 9.99772381e-01 -1.93731839e-02 -5.07461549e+00] [ 8.46418374e-02 1.85481146e-02 9.96238790e-01 -2.26525023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.863133365 meters SLAMing on 346.92313336499996 meters Centerline goodness : 0.221987 with order 3 Centerline is valid? [False, False] Translation: X:-36.62, Y:-5.07, Z:-2.27 [[ 9.96494976e-01 -2.16227052e-03 -8.36246851e-02 -3.66195668e+01] [ 5.12006718e-04 9.99804807e-01 -1.97505837e-02 -5.07407724e+00] [ 8.36510682e-02 1.96385410e-02 9.96301574e-01 -2.26985696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98313336499996 meters Centerline goodness : 0.089069 with order 1 Centerline is valid? [False, False] Translation: X:-36.62, Y:-5.07, Z:-2.27 [[ 9.96456893e-01 -2.01394932e-03 -8.40809425e-02 -3.66182901e+01] [ 3.56051530e-04 9.99805316e-01 -1.97282189e-02 -5.07395109e+00] [ 8.41043049e-02 1.96283826e-02 9.96263616e-01 -2.27013635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04313336499996 meters Centerline goodness : 0.102211 with order 1 Centerline is valid? [False, False] Translation: X:-36.62, Y:-5.07, Z:-2.27 [[ 9.96508791e-01 -1.46298293e-03 -8.34750863e-02 -3.66204134e+01] [-1.62944010e-04 9.99810470e-01 -1.94678539e-02 -5.07337812e+00] [ 8.34877464e-02 1.94134893e-02 9.96319684e-01 -2.26921668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10313336499996 meters Centerline goodness : 0.099548 with order 1 Centerline is valid? [False, False] Translation: X:-36.63, Y:-5.07, Z:-2.27 [[ 9.96676187e-01 8.39082230e-04 -8.14608759e-02 -3.66281231e+01] [-2.31519648e-03 9.99834806e-01 -1.80277657e-02 -5.06981368e+00] [ 8.14322922e-02 1.81564427e-02 9.96513485e-01 -2.26605949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16313336499996 meters Centerline goodness : 0.177632 with order 3 Centerline is valid? [False, False] Translation: X:-36.67, Y:-5.07, Z:-2.27 [[ 9.96521351e-01 3.20014908e-03 -8.32763842e-02 -3.66737778e+01] [-4.59832501e-03 9.99851583e-01 -1.66032055e-02 -5.06643389e+00] [ 8.32108919e-02 1.69283807e-02 9.96388166e-01 -2.26914211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22313336499997 meters Centerline goodness : 0.097385 with order 1 Centerline is valid? [False, False] Translation: X:-36.69, Y:-5.06, Z:-2.27 [[ 9.96737619e-01 -6.19924209e-04 -8.07077116e-02 -3.66944690e+01] [-4.57208168e-04 9.99911088e-01 -1.33269256e-02 -5.05970980e+00] [ 8.07087974e-02 1.33203484e-02 9.96648714e-01 -2.27111285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28313336499997 meters Centerline goodness : 0.100784 with order 1 Centerline is valid? [False, False] Translation: X:-36.70, Y:-5.06, Z:-2.27 [[ 9.96784935e-01 1.68585235e-03 -8.01058719e-02 -3.66972371e+01] [-2.62891919e-03 9.99928462e-01 -1.16687488e-02 -5.05521816e+00] [ 8.00804695e-02 1.18418249e-02 9.96718059e-01 -2.26979554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34313336499997 meters Centerline goodness : 0.099419 with order 1 Centerline is valid? [False, False] Translation: X:-36.71, Y:-5.04, Z:-2.27 [[ 9.96855931e-01 -1.72053123e-03 -7.92167439e-02 -3.67132045e+01] [ 1.05405020e-03 9.99963705e-01 -8.45443215e-03 -5.04343362e+00] [ 7.92284149e-02 8.34435240e-03 9.96821564e-01 -2.27369176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.403133365 meters Centerline goodness : 0.103240 with order 1 Centerline is valid? [False, False] Translation: X:-36.71, Y:-5.03, Z:-2.27 [[ 9.96840114e-01 2.63771345e-03 -7.93903638e-02 -3.67128407e+01] [-3.11153097e-03 9.99978076e-01 -5.84508307e-03 -5.03107620e+00] [ 7.93732056e-02 6.07363885e-03 9.96826467e-01 -2.27352440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.463133365 meters Centerline goodness : 0.098983 with order 1 Centerline is valid? [False, False] Translation: X:-36.71, Y:-5.02, Z:-2.27 [[ 9.96867268e-01 3.66644605e-03 -7.90076456e-02 -3.67141272e+01] [-4.13371210e-03 9.99974916e-01 -5.75144598e-03 -5.02311547e+00] [ 7.89845764e-02 6.06002310e-03 9.96857418e-01 -2.27331422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.523133365 meters Centerline goodness : 0.104491 with order 1 Centerline is valid? [False, False] Translation: X:-36.70, Y:-5.02, Z:-2.27 [[ 9.96657334e-01 -3.37079611e-03 -8.16259589e-02 -3.66959724e+01] [ 2.85074154e-03 9.99974896e-01 -6.48689509e-03 -5.01526422e+00] [ 8.16457758e-02 6.23251705e-03 9.96641923e-01 -2.27221341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.583133365 meters Centerline goodness : 0.102437 with order 1 Centerline is valid? [False, False] Translation: X:-36.68, Y:-5.02, Z:-2.27 [[ 9.96549702e-01 3.29130758e-03 -8.29328556e-02 -3.66772183e+01] [-3.91780714e-03 9.99964999e-01 -7.39269326e-03 -5.02241640e+00] [ 8.29056212e-02 7.69210120e-03 9.96527716e-01 -2.26963418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.643133365 meters Centerline goodness : 0.101161 with order 1 Centerline is valid? [False, False] Translation: X:-36.68, Y:-5.02, Z:-2.27 [[ 9.96613041e-01 3.66050082e-03 -8.21525848e-02 -3.66793668e+01] [-4.27316395e-03 9.99964348e-01 -7.28304045e-03 -5.02259788e+00] [ 8.21229963e-02 7.60942455e-03 9.96593152e-01 -2.26970117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.703133365 meters Centerline goodness : 0.106480 with order 1 Centerline is valid? [False, False] Translation: X:-36.72, Y:-5.02, Z:-2.27 [[ 9.96410860e-01 6.30477020e-03 -8.44135500e-02 -3.67240903e+01] [-6.79841313e-03 9.99961424e-01 -5.56173370e-03 -5.02260381e+00] [ 8.43752282e-02 6.11565005e-03 9.96415285e-01 -2.27291746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.763133365 meters Centerline goodness : 0.156511 with order 3 Centerline is valid? [False, False] Translation: X:-36.73, Y:-5.02, Z:-2.27 [[ 9.96458396e-01 6.63480818e-03 -8.38250841e-02 -3.67255657e+01] [-7.11199948e-03 9.99960154e-01 -5.39537534e-03 -5.02318656e+00] [ 8.37859467e-02 5.97243101e-03 9.96465878e-01 -2.27323925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.823133365 meters Centerline goodness : 0.242283 with order 3 Centerline is valid? [False, False] Translation: X:-36.73, Y:-5.02, Z:-2.27 [[ 9.96455835e-01 7.64508293e-03 -8.37694536e-02 -3.67255659e+01] [-8.05658080e-03 9.99957078e-01 -4.57532130e-03 -5.02482513e+00] [ 8.37308794e-02 5.23400097e-03 9.96474659e-01 -2.27389293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.883133365 meters Centerline goodness : 0.207380 with order 3 Centerline is valid? [False, False] Translation: X:-36.72, Y:-5.03, Z:-2.27 [[ 9.96445249e-01 7.61752181e-03 -8.38977910e-02 -3.67249925e+01] [-8.03047820e-03 9.99957240e-01 -4.58576747e-03 -5.02513960e+00] [ 8.38592713e-02 5.24320559e-03 9.96463813e-01 -2.27428459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.943133365 meters Centerline goodness : 0.238260 with order 3 Centerline is valid? [False, False] Translation: X:-36.72, Y:-5.03, Z:-2.27 [[ 9.96391741e-01 7.88167686e-03 -8.45066777e-02 -3.67237410e+01] [-8.26951122e-03 9.99956816e-01 -4.24032970e-03 -5.02735244e+00] [ 8.44696075e-02 4.92385841e-03 9.96413890e-01 -2.27401471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.003133365 meters Centerline goodness : 0.472920 with order 3 Centerline is valid? [False, False] Translation: X:-36.72, Y:-5.03, Z:-2.27 [[ 9.96396421e-01 8.09916659e-03 -8.44308935e-02 -3.67241362e+01] [-8.47179780e-03 9.99955887e-01 -4.05609470e-03 -5.02724576e+00] [ 8.43943180e-02 4.75675970e-03 9.96421082e-01 -2.27379935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.063133365 meters Centerline goodness : 0.453234 with order 1 Centerline is valid? [False, False] Translation: X:-36.73, Y:-5.03, Z:-2.27 [[ 9.96497145e-01 4.49113704e-03 -8.35061013e-02 -3.67271910e+01] [-5.13893297e-03 9.99958338e-01 -7.54414463e-03 -5.02800507e+00] [ 8.34687404e-02 7.94685085e-03 9.96478709e-01 -2.27319021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.123133365 meters Centerline goodness : 0.246945 with order 3 Centerline is valid? [False, False] Translation: X:-36.73, Y:-5.03, Z:-2.27 [[ 9.96457236e-01 4.74295970e-03 -8.39671446e-02 -3.67260151e+01] [-5.35925889e-03 9.99960320e-01 -7.11588797e-03 -5.03053850e+00] [ 8.39300625e-02 7.54067972e-03 9.96443116e-01 -2.27324580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.183133365 meters Centerline goodness : 0.281216 with order 1 Centerline is valid? [False, False] Translation: X:-36.75, Y:-5.04, Z:-2.28 [[ 9.96488571e-01 9.60885058e-03 -8.31757068e-02 -3.67460974e+01] [-1.05078339e-02 9.99890943e-01 -1.03772339e-02 -5.03938299e+00] [ 8.30669227e-02 1.12147915e-02 9.96480865e-01 -2.27610878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.243133365 meters Centerline goodness : 0.167279 with order 1 Centerline is valid? [False, False] Translation: X:-36.73, Y:-5.04, Z:-2.27 [[ 9.96565707e-01 2.28691035e-03 -8.27741630e-02 -3.67291459e+01] [-3.04902896e-03 9.99954110e-01 -9.08196806e-03 -5.03696730e+00] [ 8.27495948e-02 9.30315874e-03 9.96526947e-01 -2.27337125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.303133365 meters Centerline goodness : 0.455514 with order 2 Centerline is valid? [False, False] Translation: X:-36.75, Y:-5.04, Z:-2.28 [[ 9.96630952e-01 1.09774115e-02 -8.12787860e-02 -3.67502655e+01] [-1.17737649e-02 9.99887205e-01 -9.32500676e-03 -5.04431720e+00] [ 8.11672537e-02 1.02505477e-02 9.96647783e-01 -2.27663551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.363133365 meters Centerline goodness : 0.453894 with order 3 Centerline is valid? [False, False] Translation: X:-36.75, Y:-5.04, Z:-2.28 [[ 9.96684889e-01 1.14019642e-02 -8.05557462e-02 -3.67521987e+01] [-1.21779838e-02 9.99883993e-01 -9.14858187e-03 -5.04416145e+00] [ 8.04420894e-02 1.00992599e-02 9.96708119e-01 -2.27661673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42313336499996 meters Centerline goodness : 0.452267 with order 3 Centerline is valid? [False, False] Translation: X:-36.75, Y:-5.04, Z:-2.28 [[ 9.96665556e-01 1.20967098e-02 -8.06934898e-02 -3.67516863e+01] [-1.28585525e-02 9.99877465e-01 -8.92821603e-03 -5.04284003e+00] [ 8.05756000e-02 9.93604687e-03 9.96698975e-01 -2.27699164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48313336499996 meters Centerline goodness : 0.442118 with order 1 Centerline is valid? [False, False] Translation: X:-36.77, Y:-5.04, Z:-2.28 [[ 9.96771748e-01 5.67507482e-03 -8.00866739e-02 -3.67690825e+01] [-6.33025229e-03 9.99948525e-01 -7.92933345e-03 -5.03503345e+00] [ 8.00375519e-02 8.41070441e-03 9.96756365e-01 -2.28043551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54313336499996 meters Centerline goodness : 0.101830 with order 1 Centerline is valid? [False, False] Translation: X:-36.79, Y:-5.03, Z:-2.28 [[ 9.96867708e-01 -1.80994349e-03 -7.90664047e-02 -3.67887467e+01] [ 1.27553260e-03 9.99976005e-01 -6.80899567e-03 -5.03041282e+00] [ 7.90768314e-02 6.68681613e-03 9.96846097e-01 -2.28327296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60313336499996 meters Centerline goodness : 0.449985 with order 3 Centerline is valid? [False, False] Translation: X:-36.83, Y:-5.04, Z:-2.29 [[ 9.96711711e-01 -5.18909530e-03 -8.08630887e-02 -3.68339969e+01] [ 4.47323981e-03 9.99949211e-01 -9.03133018e-03 -5.03516021e+00] [ 8.09058462e-02 8.63991256e-03 9.96684301e-01 -2.28592434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66313336499996 meters Centerline goodness : 0.449071 with order 2 Centerline is valid? [False, False] Translation: X:-36.83, Y:-5.04, Z:-2.29 [[ 9.96706386e-01 -5.42791859e-03 -8.09130276e-02 -3.68339118e+01] [ 4.73872304e-03 9.99950862e-01 -8.70732903e-03 -5.03821259e+00] [ 8.09563144e-02 8.29522602e-03 9.96683131e-01 -2.28580097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72313336499997 meters Centerline goodness : 0.197392 with order 2 Centerline is valid? [False, False] Translation: X:-36.88, Y:-5.04, Z:-2.29 [[ 9.96474688e-01 -6.64035651e-03 -8.36307414e-02 -3.68764955e+01] [ 5.86366725e-03 9.99937403e-01 -9.52932899e-03 -5.04439631e+00] [ 8.36887845e-02 9.00535230e-03 9.96451249e-01 -2.28948805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78313336499997 meters Centerline goodness : 0.171011 with order 1 Centerline is valid? [False, False] Translation: X:-36.88, Y:-5.05, Z:-2.29 [[ 9.96473500e-01 -6.62566970e-03 -8.36460655e-02 -3.68763502e+01] [ 5.85387436e-03 9.99938035e-01 -9.46880732e-03 -5.04551722e+00] [ 8.37036196e-02 8.94576201e-03 9.96450539e-01 -2.28964538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84313336499997 meters Centerline goodness : 0.188415 with order 1 Centerline is valid? [False, False] Translation: X:-36.90, Y:-5.05, Z:-2.29 [[ 9.96453265e-01 2.42504907e-03 -8.41130793e-02 -3.68974064e+01] [-3.25914363e-03 9.99946859e-01 -9.78045408e-03 -5.04831968e+00] [ 8.40848914e-02 1.00199020e-02 9.96408216e-01 -2.29203811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.903133365 meters Centerline goodness : 0.452656 with order 3 Centerline is valid? [False, False] Translation: X:-36.90, Y:-5.04, Z:-2.29 [[ 9.96412693e-01 3.14079646e-03 -8.45687897e-02 -3.68957716e+01] [-3.99612106e-03 9.99942547e-01 -9.94657420e-03 -5.04443108e+00] [ 8.45326907e-02 1.02488399e-02 9.96367997e-01 -2.29284886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.963133365 meters Centerline goodness : 0.202702 with order 1 Centerline is valid? [False, False] Translation: X:-36.92, Y:-5.04, Z:-2.30 [[ 9.96277815e-01 1.24777728e-02 -8.52925552e-02 -3.69162385e+01] [-1.34243822e-02 9.99854401e-01 -1.05338402e-02 -5.04344387e+00] [ 8.51486978e-02 1.16396312e-02 9.96300265e-01 -2.29543244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.023133365 meters Centerline goodness : 0.095284 with order 1 Centerline is valid? [False, False] Translation: X:-36.92, Y:-5.04, Z:-2.30 [[ 9.96266864e-01 1.23884243e-02 -8.54333800e-02 -3.69160587e+01] [-1.33558978e-02 9.99852889e-01 -1.07620306e-02 -5.04222942e+00] [ 8.52874872e-02 1.18628940e-02 9.96285760e-01 -2.29523889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.083133365 meters Centerline goodness : 0.450884 with order 3 Centerline is valid? [False, False] Translation: X:-36.94, Y:-5.04, Z:-2.30 [[ 9.96321196e-01 3.56685935e-03 -8.56233138e-02 -3.69374927e+01] [-4.44028744e-03 9.99940015e-01 -1.00125430e-02 -5.04191322e+00] [ 8.55824644e-02 1.03559009e-02 9.96277269e-01 -2.29805015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.143133365 meters Centerline goodness : 0.449586 with order 3 Centerline is valid? [False, False] Translation: X:-36.94, Y:-5.04, Z:-2.30 [[ 9.96406505e-01 3.45671885e-03 -8.46293576e-02 -3.69403941e+01] [-4.30413159e-03 9.99942393e-01 -9.83281715e-03 -5.04371784e+00] [ 8.45904931e-02 1.01617389e-02 9.96363983e-01 -2.29726459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.203133365 meters Centerline goodness : 0.099098 with order 1 Centerline is valid? [False, False] Translation: X:-36.94, Y:-5.04, Z:-2.30 [[ 9.96442176e-01 3.68232373e-03 -8.41987502e-02 -3.69413775e+01] [-4.50353860e-03 9.99944109e-01 -9.56543749e-03 -5.04461826e+00] [ 8.41588212e-02 9.91059767e-03 9.96403067e-01 -2.29733130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.263133365 meters Centerline goodness : 0.449184 with order 3 Centerline is valid? [False, False] Translation: X:-36.94, Y:-5.04, Z:-2.30 [[ 9.96411485e-01 3.66030621e-03 -8.45621380e-02 -3.69403027e+01] [-4.50501114e-03 9.99941826e-01 -9.80050399e-03 -5.04410363e+00] [ 8.45213458e-02 1.01462881e-02 9.96370009e-01 -2.29772787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.323133365 meters Centerline goodness : 0.450601 with order 3 Centerline is valid? [False, False] Translation: X:-36.98, Y:-5.05, Z:-2.30 [[ 9.96122656e-01 4.15162649e-03 -8.78772931e-02 -3.69835946e+01] [-5.02655917e-03 9.99939957e-01 -9.73735334e-03 -5.04500592e+00] [ 8.78315909e-02 1.01413187e-02 9.96083714e-01 -2.30131141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.383133365 meters Centerline goodness : 0.239036 with order 1 Centerline is valid? [False, False] Translation: X:-36.99, Y:-5.05, Z:-2.30 [[ 9.96174516e-01 4.33636145e-03 -8.72784645e-02 -3.69850662e+01] [-5.19444990e-03 9.99940361e-01 -9.60690353e-03 -5.04533545e+00] [ 8.72316003e-02 1.00235161e-02 9.96137630e-01 -2.30133154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.443133365 meters Centerline goodness : 0.225614 with order 1 Centerline is valid? [False, False] Translation: X:-37.00, Y:-5.04, Z:-2.30 [[ 9.96178300e-01 -3.83485887e-03 -8.72587496e-02 -3.70046899e+01] [ 3.09886366e-03 9.99958488e-01 -8.56852686e-03 -5.04498603e+00] [ 8.72879864e-02 8.26537755e-03 9.96148830e-01 -2.30435371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.503133365 meters Centerline goodness : 0.461128 with order 3 Centerline is valid? [False, False] Translation: X:-37.02, Y:-5.05, Z:-2.31 [[ 9.96060372e-01 3.70275294e-03 -8.86003649e-02 -3.70218589e+01] [-4.59593656e-03 9.99940638e-01 -9.87915966e-03 -5.05324506e+00] [ 8.85585253e-02 1.02474411e-02 9.96018262e-01 -2.30815024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.563133365 meters Centerline goodness : 0.130171 with order 1 Centerline is valid? [False, False] Translation: X:-37.02, Y:-5.06, Z:-2.31 [[ 9.95961311e-01 3.95733921e-03 -8.96961862e-02 -3.70179405e+01] [-4.83310795e-03 9.99942731e-01 -9.54863290e-03 -5.05510568e+00] [ 8.96532622e-02 9.94358029e-03 9.95923400e-01 -2.30990639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.623133365 meters Centerline goodness : 0.093510 with order 1 Centerline is valid? [False, False] Translation: X:-37.02, Y:-5.06, Z:-2.31 [[ 9.95933122e-01 4.22782304e-03 -8.99963469e-02 -3.70171258e+01] [-5.08826729e-03 9.99943495e-01 -9.33359863e-03 -5.05567239e+00] [ 8.99518009e-02 9.75356549e-03 9.95898359e-01 -2.31008306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.683133365 meters Centerline goodness : 0.103983 with order 1 Centerline is valid? [False, False] Translation: X:-37.02, Y:-5.06, Z:-2.31 [[ 9.95971944e-01 4.27005576e-03 -8.95636781e-02 -3.70189066e+01] [-5.11359582e-03 9.99944687e-01 -9.19098484e-03 -5.05714413e+00] [ 8.95194780e-02 9.61195549e-03 9.95938690e-01 -2.30924272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.743133365 meters Centerline goodness : 0.446937 with order 1 Centerline is valid? [False, False] Translation: X:-37.02, Y:-5.06, Z:-2.31 [[ 9.95975455e-01 4.33226075e-03 -8.95216385e-02 -3.70189999e+01] [-5.16608639e-03 9.99945389e-01 -9.08463138e-03 -5.05762827e+00] [ 8.94773926e-02 9.51054639e-03 9.95943445e-01 -2.30928348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.803133365 meters Centerline goodness : 0.101697 with order 1 Centerline is valid? [False, False] Translation: X:-37.02, Y:-5.06, Z:-2.31 [[ 9.95985762e-01 4.43974456e-03 -8.94016289e-02 -3.70193151e+01] [-5.25972856e-03 9.99946219e-01 -8.93841621e-03 -5.05807638e+00] [ 8.93571364e-02 9.37276358e-03 9.95955548e-01 -2.30928520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.863133365 meters SLAMing on 349.92313336499996 meters Centerline goodness : 0.208861 with order 1 Centerline is valid? [False, False] Translation: X:-37.06, Y:-5.06, Z:-2.31 [[ 9.96382617e-01 2.81039362e-03 -8.49339883e-02 -3.70612517e+01] [-3.66477413e-03 9.99944228e-01 -9.90510843e-03 -5.06221989e+00] [ 8.49014141e-02 1.01805417e-02 9.96337346e-01 -2.31354816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98313336499996 meters Centerline goodness : 0.097439 with order 1 Centerline is valid? [False, False] Translation: X:-37.06, Y:-5.06, Z:-2.31 [[ 9.96430337e-01 2.82008580e-03 -8.43719829e-02 -3.70633668e+01] [-3.65007773e-03 9.99946441e-01 -9.68465350e-03 -5.06356060e+00] [ 8.43401525e-02 9.95804684e-03 9.96387262e-01 -2.31256992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04313336499996 meters Centerline goodness : 0.440198 with order 1 Centerline is valid? [False, False] Translation: X:-37.11, Y:-5.07, Z:-2.32 [[ 9.96317069e-01 1.98330812e-03 -8.57226073e-02 -3.71100644e+01] [-2.86105663e-03 9.99944721e-01 -1.01177636e-02 -5.06736833e+00] [ 8.56978020e-02 1.03257578e-02 9.96267668e-01 -2.31500109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10313336499996 meters SLAMing on 350.16313336499996 meters Centerline goodness : 0.172515 with order 1 Centerline is valid? [False, False] Translation: X:-37.15, Y:-5.07, Z:-2.32 [[ 9.96070706e-01 4.59932159e-03 -8.84420395e-02 -3.71504474e+01] [-5.40634203e-03 9.99945891e-01 -8.88747253e-03 -5.06669884e+00] [ 8.83963776e-02 9.33069896e-03 9.96041675e-01 -2.32040141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22313336499997 meters Centerline goodness : 0.118185 with order 1 Centerline is valid? [False, False] Translation: X:-37.15, Y:-5.06, Z:-2.32 [[ 9.96008117e-01 4.55409694e-03 -8.91464575e-02 -3.71482623e+01] [-5.40535989e-03 9.99942052e-01 -9.30995262e-03 -5.06461543e+00] [ 8.90988932e-02 9.75465706e-03 9.95975017e-01 -2.32123272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28313336499997 meters Centerline goodness : 0.120393 with order 1 Centerline is valid? [False, False] Translation: X:-37.14, Y:-5.06, Z:-2.32 [[ 9.95901034e-01 5.04317811e-03 -9.03089001e-02 -3.71445835e+01] [-5.91483966e-03 9.99938448e-01 -9.38697339e-03 -5.06139419e+00] [ 9.02560012e-02 9.88265916e-03 9.95869563e-01 -2.32247984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34313336499997 meters Centerline goodness : 0.126095 with order 1 Centerline is valid? [False, False] Translation: X:-37.19, Y:-5.06, Z:-2.32 [[ 9.95729343e-01 5.16619340e-03 -9.21758415e-02 -3.71908799e+01] [-6.08033967e-03 9.99935054e-01 -9.63934505e-03 -5.06034001e+00] [ 9.21200563e-02 1.01586391e-02 9.95696087e-01 -2.32479933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.403133365 meters Centerline goodness : 0.124048 with order 1 Centerline is valid? [False, False] Translation: X:-37.19, Y:-5.06, Z:-2.32 [[ 9.95688711e-01 5.12444256e-03 -9.26160416e-02 -3.71899030e+01] [-6.04289337e-03 9.99935284e-01 -9.63904049e-03 -5.06011035e+00] [ 9.25606531e-02 1.01571527e-02 9.95655240e-01 -2.32467814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.463133365 meters Centerline goodness : 0.129067 with order 1 Centerline is valid? [False, False] Translation: X:-37.19, Y:-5.06, Z:-2.33 [[ 9.95635498e-01 4.71893599e-03 -9.32077659e-02 -3.71880776e+01] [-5.69437457e-03 9.99931744e-01 -1.02020208e-02 -5.05858029e+00] [ 9.31532612e-02 1.06882540e-02 9.95594411e-01 -2.32516930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.523133365 meters Centerline goodness : 0.124357 with order 1 Centerline is valid? [False, False] Translation: X:-37.21, Y:-5.05, Z:-2.33 [[ 9.95699433e-01 1.05455998e-04 -9.26424746e-02 -3.72096366e+01] [-7.87876504e-04 9.99972828e-01 -7.32962993e-03 -5.04821688e+00] [ 9.26391843e-02 7.37109920e-03 9.95672460e-01 -2.32686312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.583133365 meters Centerline goodness : 0.129838 with order 1 Centerline is valid? [False, False] Translation: X:-37.21, Y:-5.04, Z:-2.33 [[ 9.95690253e-01 4.02267591e-03 -9.26538582e-02 -3.72104051e+01] [-4.43611582e-03 9.99981101e-01 -4.25667549e-03 -5.04358572e+00] [ 9.26349839e-02 4.64935355e-03 9.95689280e-01 -2.32592057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.643133365 meters Centerline goodness : 0.262865 with order 1 Centerline is valid? [False, False] Translation: X:-37.21, Y:-5.04, Z:-2.33 [[ 9.95665385e-01 3.26840847e-03 -9.29502974e-02 -3.72100139e+01] [-3.79142428e-03 9.99977957e-01 -5.45080010e-03 -5.03875597e+00] [ 9.29304330e-02 5.77958700e-03 9.95655830e-01 -2.32565243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.703133365 meters Centerline goodness : 0.102343 with order 1 Centerline is valid? [False, False] Translation: X:-37.23, Y:-5.04, Z:-2.33 [[ 9.95766960e-01 -5.79640081e-03 -9.17309235e-02 -3.72326636e+01] [ 5.32290512e-03 9.99971223e-01 -5.40560299e-03 -5.03555197e+00] [ 9.17596168e-02 4.89444586e-03 9.95769159e-01 -2.32767330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.763133365 meters Centerline goodness : 0.455334 with order 3 Centerline is valid? [False, False] Translation: X:-37.24, Y:-5.04, Z:-2.33 [[ 9.95834720e-01 -8.60544624e-03 -9.07697961e-02 -3.72365753e+01] [ 7.98114759e-03 9.99941951e-01 -7.23856225e-03 -5.03876732e+00] [ 9.08268181e-02 6.48396448e-03 9.95845594e-01 -2.32588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.823133365 meters Centerline goodness : 0.105461 with order 1 Centerline is valid? [False, False] Translation: X:-37.28, Y:-5.04, Z:-2.33 [[ 9.95561735e-01 -1.05885247e-02 -9.35131830e-02 -3.72802311e+01] [ 9.79748099e-03 9.99912269e-01 -8.91423572e-03 -5.04209974e+00] [ 9.35993676e-02 7.95847835e-03 9.95578134e-01 -2.32925041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.883133365 meters Centerline goodness : 0.451000 with order 1 Centerline is valid? [False, False] Translation: X:-37.28, Y:-5.04, Z:-2.33 [[ 9.95544449e-01 -1.06366794e-02 -9.36915744e-02 -3.72799564e+01] [ 9.83231833e-03 9.99910774e-01 -9.04265329e-03 -5.04149217e+00] [ 9.37793985e-02 8.08115790e-03 9.95560204e-01 -2.32903168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.943133365 meters SLAMing on 351.003133365 meters Centerline goodness : 0.123787 with order 1 Centerline is valid? [False, False] Translation: X:-37.35, Y:-5.05, Z:-2.33 [[ 9.95470059e-01 -2.50852477e-03 -9.50424614e-02 -3.73453424e+01] [ 1.53526217e-03 9.99945651e-01 -1.03120321e-02 -5.04765077e+00] [ 9.50631639e-02 1.01194041e-02 9.95419807e-01 -2.33389449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.063133365 meters Centerline goodness : 0.088205 with order 1 Centerline is valid? [False, False] Translation: X:-37.35, Y:-5.04, Z:-2.33 [[ 9.95477763e-01 1.32973311e-03 -9.49855544e-02 -3.73456407e+01] [-2.03889527e-03 9.99970767e-01 -7.36933810e-03 -5.04386147e+00] [ 9.49729785e-02 7.52967780e-03 9.95451374e-01 -2.33369524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.123133365 meters SLAMing on 351.183133365 meters Centerline goodness : 0.512341 with order 3 Centerline is valid? [False, False] Translation: X:-37.39, Y:-5.04, Z:-2.34 [[ 9.95108036e-01 3.58028893e-03 -9.87277975e-02 -3.73875019e+01] [-4.32838884e-03 9.99963516e-01 -7.36425031e-03 -5.03511936e+00] [ 9.86978293e-02 7.75555696e-03 9.95087227e-01 -2.33670440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.243133365 meters SLAMing on 351.303133365 meters Centerline goodness : 0.317483 with order 1 Centerline is valid? [False, False] Translation: X:-37.46, Y:-5.04, Z:-2.34 [[ 9.95215329e-01 -3.93264496e-03 -9.76267549e-02 -3.74554965e+01] [ 3.25520706e-03 9.99969515e-01 -7.09736907e-03 -5.03760469e+00] [ 9.76516901e-02 6.74561519e-03 9.95197791e-01 -2.34086527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.363133365 meters Centerline goodness : 0.466609 with order 2 Centerline is valid? [False, False] Translation: X:-37.46, Y:-5.04, Z:-2.34 [[ 9.95237029e-01 -4.08772833e-03 -9.73989001e-02 -3.74562613e+01] [ 3.41483790e-03 9.99969146e-01 -7.07430038e-03 -5.03866455e+00] [ 9.74248128e-02 6.70800424e-03 9.95220281e-01 -2.34046590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42313336499996 meters Centerline goodness : 0.101039 with order 1 Centerline is valid? [False, False] Translation: X:-37.48, Y:-5.05, Z:-2.34 [[ 9.95343825e-01 3.65366063e-03 -9.63188526e-02 -3.74769340e+01] [-4.45189477e-03 9.99957496e-01 -8.07381531e-03 -5.04551632e+00] [ 9.62852597e-02 8.46502361e-03 9.95317785e-01 -2.34261054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48313336499996 meters Centerline goodness : 0.105134 with order 1 Centerline is valid? [False, False] Translation: X:-37.49, Y:-5.04, Z:-2.35 [[ 9.95212490e-01 -3.93689020e-03 -9.76555189e-02 -3.74947790e+01] [ 3.27029679e-03 9.99970256e-01 -6.98509308e-03 -5.04254606e+00] [ 9.76801138e-02 6.63228935e-03 9.95195764e-01 -2.34594623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54313336499996 meters Centerline goodness : 0.096632 with order 1 Centerline is valid? [False, False] Translation: X:-37.49, Y:-5.04, Z:-2.35 [[ 9.95230875e-01 -3.73096724e-03 -9.74760722e-02 -3.74948094e+01] [ 3.05353357e-03 9.99970147e-01 -7.09799813e-03 -5.04104015e+00] [ 9.74996446e-02 6.76650044e-03 9.95212557e-01 -2.34653737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60313336499996 meters Centerline goodness : 0.378003 with order 1 Centerline is valid? [False, False] Translation: X:-37.51, Y:-5.04, Z:-2.35 [[ 9.95060397e-01 6.63500916e-03 -9.90494007e-02 -3.75135625e+01] [-7.36295823e-03 9.99948493e-01 -6.98561241e-03 -5.04040829e+00] [ 9.89979493e-02 7.68040285e-03 9.95057997e-01 -2.34931143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66313336499996 meters Centerline goodness : 0.334161 with order 1 Centerline is valid? [False, False] Translation: X:-37.53, Y:-5.03, Z:-2.35 [[ 9.95037881e-01 -8.55795038e-04 -9.94931327e-02 -3.75323047e+01] [ 2.41992894e-04 9.99980867e-01 -6.18119614e-03 -5.03486085e+00] [ 9.94965190e-02 6.12644768e-03 9.95019050e-01 -2.35247606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72313336499997 meters Centerline goodness : 0.092972 with order 1 Centerline is valid? [False, False] Translation: X:-37.53, Y:-5.03, Z:-2.35 [[ 9.95010589e-01 -6.10784479e-04 -9.97675018e-02 -3.75316059e+01] [-4.52607949e-05 9.99978394e-01 -6.57334544e-03 -5.03139458e+00] [ 9.97693612e-02 6.54506387e-03 9.94989064e-01 -2.35278791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78313336499997 meters Centerline goodness : 0.296107 with order 1 Centerline is valid? [False, False] Translation: X:-37.53, Y:-5.03, Z:-2.35 [[ 9.95093962e-01 -5.29912242e-04 -9.89329354e-02 -3.75345611e+01] [-1.81797438e-04 9.99974173e-01 -7.18470635e-03 -5.02560926e+00] [ 9.89341876e-02 7.16744366e-03 9.95068166e-01 -2.35196373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84313336499997 meters Centerline goodness : 0.103365 with order 1 Centerline is valid? [False, False] Translation: X:-37.56, Y:-5.02, Z:-2.36 [[ 9.95257472e-01 -5.91043578e-03 -9.70959908e-02 -3.75560965e+01] [ 5.45921449e-03 9.99973033e-01 -4.91217384e-03 -5.01898492e+00] [ 9.71224056e-02 4.35880987e-03 9.95262899e-01 -2.35502471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.903133365 meters Centerline goodness : 0.449123 with order 1 Centerline is valid? [False, False] Translation: X:-37.56, Y:-5.02, Z:-2.35 [[ 9.95242974e-01 -6.09704426e-03 -9.72329569e-02 -3.75560383e+01] [ 5.59534053e-03 9.99969594e-01 -5.43165141e-03 -5.01554199e+00] [ 9.72631175e-02 4.86176140e-03 9.95246828e-01 -2.35474812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.963133365 meters Centerline goodness : 0.448086 with order 1 Centerline is valid? [False, False] Translation: X:-37.57, Y:-5.02, Z:-2.36 [[ 9.95172300e-01 1.01153395e-03 -9.81380106e-02 -3.75729411e+01] [-1.75880201e-03 9.99970116e-01 -7.52824843e-03 -5.02132554e+00] [ 9.81274627e-02 7.66450964e-03 9.95144339e-01 -2.35766994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.023133365 meters Centerline goodness : 0.486237 with order 3 Centerline is valid? [False, False] Translation: X:-37.57, Y:-5.02, Z:-2.36 [[ 9.95197072e-01 9.49662474e-04 -9.78871122e-02 -3.75741384e+01] [-1.70372283e-03 9.99969515e-01 -7.62006797e-03 -5.02063704e+00] [ 9.78768917e-02 7.75024183e-03 9.95168351e-01 -2.35691517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.083133365 meters Centerline goodness : 0.107787 with order 1 Centerline is valid? [False, False] Translation: X:-37.57, Y:-5.02, Z:-2.36 [[ 9.95205567e-01 8.01761048e-04 -9.78020300e-02 -3.75744231e+01] [-1.59941660e-03 9.99966096e-01 -8.07768959e-03 -5.01818176e+00] [ 9.77922378e-02 8.19538783e-03 9.95173107e-01 -2.35693887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.143133365 meters Centerline goodness : 0.213381 with order 3 Centerline is valid? [False, False] Translation: X:-37.57, Y:-5.01, Z:-2.36 [[ 9.95170161e-01 4.66417245e-03 -9.80540441e-02 -3.75739710e+01] [-5.21052177e-03 9.99972292e-01 -5.31658410e-03 -5.01224989e+00] [ 9.80265297e-02 5.80181859e-03 9.95166890e-01 -2.35696716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.203133365 meters Centerline goodness : 0.096096 with order 1 Centerline is valid? [False, False] Translation: X:-37.57, Y:-5.01, Z:-2.36 [[ 9.95159305e-01 4.33878197e-03 -9.81790804e-02 -3.75738843e+01] [-4.96452309e-03 9.99968887e-01 -6.13006732e-03 -5.00803617e+00] [ 9.81494288e-02 6.58780585e-03 9.95149883e-01 -2.35688919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.263133365 meters Centerline goodness : 0.269161 with order 1 Centerline is valid? [False, False] Translation: X:-37.57, Y:-5.00, Z:-2.36 [[ 9.95153026e-01 3.99311167e-03 -9.82573612e-02 -3.75740070e+01] [-4.67817710e-03 9.99966324e-01 -6.74275081e-03 -5.00477251e+00] [ 9.82271277e-02 7.16973421e-03 9.95138195e-01 -2.35653717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.323133365 meters Centerline goodness : 0.099532 with order 1 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95137908e-01 -4.84183998e-03 -9.83722605e-02 -3.75957411e+01] [ 4.21424604e-03 9.99969428e-01 -6.58657194e-03 -5.00189110e+00] [ 9.84011442e-02 6.13998251e-03 9.95127889e-01 -2.35906497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.383133365 meters Centerline goodness : 0.170944 with order 3 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95140641e-01 -5.00049873e-03 -9.83366646e-02 -3.75964297e+01] [ 4.35132290e-03 9.99967311e-01 -6.81492517e-03 -5.00049892e+00] [ 9.83675280e-02 6.35391442e-03 9.95129870e-01 -2.35825618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.443133365 meters Centerline goodness : 0.173968 with order 3 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95184092e-01 -5.20643348e-03 -9.78852223e-02 -3.75983118e+01] [ 4.51725038e-03 9.99963435e-01 -7.26102862e-03 -4.99837536e+00] [ 9.79194472e-02 6.78388811e-03 9.95171222e-01 -2.35735490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.503133365 meters Centerline goodness : 0.107897 with order 1 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95194396e-01 -5.37743751e-03 -9.77711435e-02 -3.75988214e+01] [ 4.65901751e-03 9.99960457e-01 -7.57479893e-03 -4.99692102e+00] [ 9.78080104e-02 7.08287998e-03 9.95180097e-01 -2.35716782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.563133365 meters Centerline goodness : 0.269499 with order 3 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95202803e-01 -5.24312363e-03 -9.76928373e-02 -3.75989657e+01] [ 4.53902801e-03 9.99962110e-01 -7.42809383e-03 -4.99658769e+00] [ 9.77280821e-02 6.94902928e-03 9.95188893e-01 -2.35718050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.623133365 meters Centerline goodness : 0.111739 with order 1 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95133382e-01 -5.78850039e-03 -9.83668962e-02 -3.75974939e+01] [ 5.03632554e-03 9.99956165e-01 -7.89321425e-03 -4.99635168e+00] [ 9.84082742e-02 7.35939328e-03 9.95118913e-01 -2.35697052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.683133365 meters Centerline goodness : 0.110055 with order 1 Centerline is valid? [False, False] Translation: X:-37.60, Y:-5.00, Z:-2.36 [[ 9.95078346e-01 -5.77934042e-03 -9.89226217e-02 -3.75958917e+01] [ 5.02924944e-03 9.99956696e-01 -7.83029128e-03 -4.99670515e+00] [ 9.89635918e-02 7.29424675e-03 9.95064320e-01 -2.35724065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.743133365 meters Centerline goodness : 0.172397 with order 3 Centerline is valid? [False, False] Translation: X:-37.64, Y:-5.00, Z:-2.36 [[ 9.94861904e-01 -5.75859023e-03 -1.01077351e-01 -3.76407859e+01] [ 4.93248335e-03 9.99952377e-01 -8.42103808e-03 -5.00067902e+00] [ 1.01121030e-01 7.87920763e-03 9.94842930e-01 -2.36048297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.803133365 meters Centerline goodness : 0.102681 with order 1 Centerline is valid? [False, False] Translation: X:-37.67, Y:-5.01, Z:-2.36 [[ 9.95107512e-01 8.20751768e-05 -9.87979352e-02 -3.76654457e+01] [-1.16526252e-03 9.99939849e-01 -1.09060098e-02 -5.00719283e+00] [ 9.87910972e-02 1.09677778e-02 9.95047751e-01 -2.36120488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.863133365 meters SLAMing on 352.92313336499996 meters Centerline goodness : 0.096378 with order 1 Centerline is valid? [False, False] Translation: X:-37.71, Y:-5.02, Z:-2.37 [[ 9.94866646e-01 6.65284514e-04 -1.01192461e-01 -3.77094528e+01] [-1.81463363e-03 9.99934885e-01 -1.12664252e-02 -5.01543111e+00] [ 1.01178376e-01 1.13922178e-02 9.94803073e-01 -2.36520131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98313336499996 meters SLAMing on 353.04313336499996 meters Centerline goodness : 0.106440 with order 1 Centerline is valid? [False, False] Translation: X:-37.75, Y:-5.02, Z:-2.37 [[ 9.95053128e-01 4.96835811e-03 -9.92198959e-02 -3.77484724e+01] [-6.01837767e-03 9.99928984e-01 -1.02862460e-02 -5.01657308e+00] [ 9.91617439e-02 1.08325041e-02 9.95012364e-01 -2.37058807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10313336499996 meters Centerline goodness : 0.168727 with order 3 Centerline is valid? [False, False] Translation: X:-37.75, Y:-5.01, Z:-2.37 [[ 9.94965613e-01 5.27478880e-03 -1.00078002e-01 -3.77460187e+01] [-6.38451783e-03 9.99921602e-01 -1.07716021e-02 -5.01205325e+00] [ 1.00013338e-01 1.13563235e-02 9.94921286e-01 -2.37129890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16313336499996 meters Centerline goodness : 0.094607 with order 1 Centerline is valid? [False, False] Translation: X:-37.75, Y:-5.00, Z:-2.37 [[ 9.94948693e-01 8.98071007e-03 -9.99822253e-02 -3.77462956e+01] [-9.87900026e-03 9.99915133e-01 -8.49301449e-03 -5.00289862e+00] [ 9.98974668e-02 9.43783810e-03 9.94952975e-01 -2.37151211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22313336499997 meters Centerline goodness : 0.105884 with order 1 Centerline is valid? [False, False] Translation: X:-37.75, Y:-4.99, Z:-2.37 [[ 9.95097113e-01 1.09617414e-02 -9.82933121e-02 -3.77525210e+01] [-1.17532457e-02 9.99902973e-01 -7.47704046e-03 -4.99407531e+00] [ 9.82018136e-02 8.59564682e-03 9.95129398e-01 -2.36944022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28313336499997 meters Centerline goodness : 0.113276 with order 1 Centerline is valid? [False, False] Translation: X:-37.75, Y:-4.99, Z:-2.37 [[ 9.95087304e-01 1.04362764e-02 -9.84496923e-02 -3.77524479e+01] [-1.13126446e-02 9.99901165e-01 -8.34765466e-03 -4.99040955e+00] [ 9.83528436e-02 9.42037155e-03 9.95107017e-01 -2.36905101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34313336499997 meters Centerline goodness : 0.110944 with order 1 Centerline is valid? [False, False] Translation: X:-37.77, Y:-4.98, Z:-2.37 [[ 9.95021835e-01 2.62636456e-03 -9.96225420e-02 -3.77714663e+01] [-3.38490403e-03 9.99966550e-01 -7.44587217e-03 -4.98491636e+00] [ 9.95996540e-02 7.74601813e-03 9.94997441e-01 -2.37216375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.403133365 meters Centerline goodness : 0.111688 with order 1 Centerline is valid? [False, False] Translation: X:-37.77, Y:-4.98, Z:-2.37 [[ 9.95126062e-01 1.87339572e-03 -9.85931630e-02 -3.77744617e+01] [-2.68678632e-03 9.99963440e-01 -8.11784344e-03 -4.98266333e+00] [ 9.85743505e-02 8.34317633e-03 9.95094713e-01 -2.37145923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.463133365 meters Centerline goodness : 0.105403 with order 1 Centerline is valid? [False, False] Translation: X:-37.80, Y:-4.98, Z:-2.37 [[ 9.95185393e-01 -7.01973079e-03 -9.77586672e-02 -3.77969805e+01] [ 6.26215315e-03 9.99947957e-01 -8.05414131e-03 -4.98197057e+00] [ 9.78101175e-02 7.40318403e-03 9.95177559e-01 -2.37405562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.523133365 meters Centerline goodness : 0.119253 with order 1 Centerline is valid? [False, False] Translation: X:-37.79, Y:-4.99, Z:-2.38 [[ 9.94986562e-01 -8.90199391e-03 -9.96117299e-02 -3.77908602e+01] [ 8.02909073e-03 9.99925806e-01 -9.16052824e-03 -4.98669916e+00] [ 9.96858863e-02 8.31481087e-03 9.94984215e-01 -2.37553859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.583133365 meters Centerline goodness : 0.114431 with order 1 Centerline is valid? [False, False] Translation: X:-37.79, Y:-4.99, Z:-2.38 [[ 9.94976781e-01 -8.93516100e-03 -9.97064099e-02 -3.77905127e+01] [ 8.08584463e-03 9.99927532e-01 -8.91904370e-03 -4.98872874e+00] [ 9.97788775e-02 8.06803085e-03 9.94976926e-01 -2.37560785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.643133365 meters Centerline goodness : 0.164298 with order 3 Centerline is valid? [False, False] Translation: X:-37.84, Y:-5.00, Z:-2.38 [[ 9.94972772e-01 -1.00837968e-02 -9.96368422e-02 -3.78374138e+01] [ 9.20207588e-03 9.99914366e-01 -9.30497553e-03 -4.99876439e+00] [ 9.97221394e-02 8.34133151e-03 9.94980360e-01 -2.37916838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.703133365 meters Centerline goodness : 0.112686 with order 1 Centerline is valid? [False, False] Translation: X:-37.83, Y:-5.00, Z:-2.38 [[ 9.94876922e-01 -9.88042471e-03 -1.00609577e-01 -3.78342426e+01] [ 9.04263509e-03 9.99920570e-01 -8.77978986e-03 -5.00199457e+00] [ 1.00688334e-01 7.82503462e-03 9.94887244e-01 -2.38012548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.763133365 meters Centerline goodness : 0.122930 with order 1 Centerline is valid? [False, False] Translation: X:-37.83, Y:-5.00, Z:-2.38 [[ 9.94804553e-01 -9.74517634e-03 -1.01335739e-01 -3.78317817e+01] [ 8.93724689e-03 9.99924580e-01 -8.42375518e-03 -5.00455948e+00] [ 1.01410187e-01 7.47432750e-03 9.94816621e-01 -2.38099297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.823133365 meters Centerline goodness : 0.203534 with order 3 Centerline is valid? [False, False] Translation: X:-37.85, Y:-5.01, Z:-2.38 [[ 9.94976285e-01 -1.00867524e-03 -1.00105819e-01 -3.78533385e+01] [ 1.27335643e-04 9.99961182e-01 -8.81007862e-03 -5.01301893e+00] [ 1.00110820e-01 8.75307226e-03 9.94937791e-01 -2.38374090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.883133365 meters Centerline goodness : 0.125313 with order 1 Centerline is valid? [False, False] Translation: X:-37.86, Y:-5.01, Z:-2.38 [[ 9.95033307e-01 -8.31021119e-04 -9.95390741e-02 -3.78550558e+01] [-1.49969820e-05 9.99963889e-01 -8.49830696e-03 -5.01480988e+00] [ 9.95425419e-02 8.45759126e-03 9.94997363e-01 -2.38340362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.943133365 meters Centerline goodness : 0.210145 with order 3 Centerline is valid? [False, False] Translation: X:-37.90, Y:-5.02, Z:-2.39 [[ 9.94896103e-01 -1.92361946e-03 -1.00886292e-01 -3.79014940e+01] [ 9.42387743e-04 9.99951800e-01 -9.77287228e-03 -5.02466737e+00] [ 1.00900228e-01 9.62791854e-03 9.94849962e-01 -2.38647432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.003133365 meters Centerline goodness : 0.121168 with order 1 Centerline is valid? [False, False] Translation: X:-37.90, Y:-5.03, Z:-2.39 [[ 9.94930620e-01 -1.32245114e-03 -1.00555020e-01 -3.79029833e+01] [ 4.40785535e-04 9.99961273e-01 -8.78970432e-03 -5.02885586e+00] [ 1.00562750e-01 8.70082277e-03 9.94892672e-01 -2.38557394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.063133365 meters SLAMing on 354.123133365 meters Centerline goodness : 0.123932 with order 1 Centerline is valid? [False, False] Translation: X:-37.94, Y:-5.03, Z:-2.39 [[ 9.94604718e-01 2.42382350e-03 -1.03709109e-01 -3.79445278e+01] [-3.21531846e-03 9.99966964e-01 -7.46537592e-03 -5.03198669e+00] [ 1.03687588e-01 7.75855592e-03 9.94579654e-01 -2.39037666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.183133365 meters Centerline goodness : 0.150764 with order 3 Centerline is valid? [False, False] Translation: X:-37.95, Y:-5.03, Z:-2.39 [[ 9.94681321e-01 2.77371746e-03 -1.02962986e-01 -3.79466745e+01] [-3.54751769e-03 9.99966821e-01 -7.33296676e-03 -5.03077828e+00] [ 1.02939230e-01 7.65922807e-03 9.94658158e-01 -2.39010077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.243133365 meters SLAMing on 354.303133365 meters Centerline goodness : 0.187627 with order 3 Centerline is valid? [False, False] Translation: X:-38.01, Y:-5.04, Z:-2.40 [[ 9.94617370e-01 -4.20482655e-03 -1.03530706e-01 -3.80125982e+01] [ 3.39190922e-03 9.99962032e-01 -8.02674977e-03 -5.03891491e+00] [ 1.03560526e-01 7.63237798e-03 9.94593869e-01 -2.39606299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.363133365 meters Centerline goodness : 0.108227 with order 1 Centerline is valid? [False, False] Translation: X:-38.01, Y:-5.04, Z:-2.40 [[ 9.94645695e-01 -4.08355256e-03 -1.03263089e-01 -3.80133024e+01] [ 3.28523312e-03 9.99963399e-01 -7.89982289e-03 -5.03899946e+00] [ 1.03291569e-01 7.51828151e-03 9.94622706e-01 -2.39592630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42313336499996 meters Centerline goodness : 0.108475 with order 1 Centerline is valid? [False, False] Translation: X:-38.03, Y:-5.04, Z:-2.40 [[ 9.94434427e-01 4.07823237e-03 -1.05278383e-01 -3.80306935e+01] [-5.12465100e-03 9.99940104e-01 -9.67094345e-03 -5.04157912e+00] [ 1.05232636e-01 1.01566341e-02 9.94395764e-01 -2.39902033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48313336499996 meters Centerline goodness : 0.119094 with order 1 Centerline is valid? [False, False] Translation: X:-38.05, Y:-5.04, Z:-2.40 [[ 9.94424553e-01 -2.50290652e-03 -1.05420798e-01 -3.80492249e+01] [ 1.65494921e-03 9.99965579e-01 -8.13025756e-03 -5.03630252e+00] [ 1.05437519e-01 7.91046167e-03 9.94394466e-01 -2.40277094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54313336499996 meters Centerline goodness : 0.257758 with order 3 Centerline is valid? [False, False] Translation: X:-38.05, Y:-5.04, Z:-2.40 [[ 9.94425672e-01 -2.50209573e-03 -1.05410261e-01 -3.80490914e+01] [ 1.67321776e-03 9.99966990e-01 -7.95105168e-03 -5.03764433e+00] [ 1.05426676e-01 7.73035558e-03 9.94397032e-01 -2.40299574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60313336499996 meters Centerline goodness : 0.162368 with order 3 Centerline is valid? [False, False] Translation: X:-38.05, Y:-5.04, Z:-2.40 [[ 9.94398323e-01 -2.38891115e-03 -1.05670560e-01 -3.80483377e+01] [ 1.60538004e-03 9.99970591e-01 -7.49928519e-03 -5.04028857e+00] [ 1.05685368e-01 7.28763521e-03 9.94372915e-01 -2.40303747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66313336499996 meters Centerline goodness : 0.238605 with order 3 Centerline is valid? [False, False] Translation: X:-38.05, Y:-5.04, Z:-2.40 [[ 9.94493994e-01 -4.74041281e-03 -1.04686312e-01 -3.80525001e+01] [ 3.78092436e-03 9.99949028e-01 -9.36191752e-03 -5.04339380e+00] [ 1.04725355e-01 8.91455973e-03 9.94461226e-01 -2.40153183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72313336499997 meters Centerline goodness : 0.172639 with order 3 Centerline is valid? [False, False] Translation: X:-38.05, Y:-5.04, Z:-2.40 [[ 9.94516426e-01 -4.52772617e-03 -1.04482425e-01 -3.80529557e+01] [ 3.59275964e-03 9.99951821e-01 -9.13502487e-03 -5.04367686e+00] [ 1.04518752e-01 8.70955205e-03 9.94484778e-01 -2.40166894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78313336499997 meters Centerline goodness : 0.167727 with order 3 Centerline is valid? [False, False] Translation: X:-38.05, Y:-5.04, Z:-2.40 [[ 9.94530762e-01 -4.45363716e-03 -1.04349073e-01 -3.80530454e+01] [ 3.51091967e-03 9.99951366e-01 -9.21620977e-03 -5.04261066e+00] [ 1.04385043e-01 8.79944292e-03 9.94498030e-01 -2.40208239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84313336499997 meters SLAMing on 354.903133365 meters Centerline goodness : 0.111065 with order 1 Centerline is valid? [False, False] Translation: X:-38.13, Y:-5.04, Z:-2.41 [[ 9.94748659e-01 5.14762217e-04 -1.02346672e-01 -3.81319900e+01] [-1.53522709e-03 9.99949893e-01 -9.89215030e-03 -5.04292420e+00] [ 1.02336451e-01 9.99732862e-03 9.94699605e-01 -2.41084336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.963133365 meters Centerline goodness : 0.171804 with order 3 Centerline is valid? [False, False] Translation: X:-38.13, Y:-5.04, Z:-2.41 [[ 9.94710288e-01 3.84580981e-04 -1.02719494e-01 -3.81310531e+01] [-1.47633423e-03 9.99943229e-01 -1.05526776e-02 -5.03810428e+00] [ 1.02709604e-01 1.06485053e-02 9.94654385e-01 -2.41098385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.023133365 meters Centerline goodness : 0.153579 with order 3 Centerline is valid? [False, False] Translation: X:-38.13, Y:-5.03, Z:-2.41 [[ 9.94655118e-01 -1.99341164e-04 -1.03252873e-01 -3.81307387e+01] [-1.01486368e-03 9.99930957e-01 -1.17068584e-02 -5.03189614e+00] [ 1.03248077e-01 1.17490742e-02 9.94586242e-01 -2.40991605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.083133365 meters Centerline goodness : 0.263036 with order 3 Centerline is valid? [False, False] Translation: X:-38.15, Y:-5.02, Z:-2.41 [[ 9.95125055e-01 -5.15663086e-03 -9.84862147e-02 -3.81548665e+01] [ 4.17991410e-03 9.99940044e-01 -1.01210555e-02 -5.02438000e+00] [ 9.85325004e-02 9.66005199e-03 9.95086946e-01 -2.41254248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.143133365 meters Centerline goodness : 0.102575 with order 1 Centerline is valid? [False, False] Translation: X:-38.14, Y:-5.02, Z:-2.41 [[ 9.95162445e-01 2.20937541e-03 -9.82182585e-02 -3.81356893e+01] [-3.41794357e-03 9.99920486e-01 -1.21383679e-02 -5.02013327e+00] [ 9.81836305e-02 1.24153523e-02 9.95090867e-01 -2.40885211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.203133365 meters Centerline goodness : 0.099993 with order 1 Centerline is valid? [False, False] Translation: X:-38.16, Y:-5.01, Z:-2.41 [[ 9.95131609e-01 -2.04800373e-03 -9.85336773e-02 -3.81565362e+01] [ 1.13097421e-03 9.99955539e-01 -9.36171789e-03 -5.01128541e+00] [ 9.85484692e-02 9.20470234e-03 9.95089681e-01 -2.41139377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.263133365 meters Centerline goodness : 0.106015 with order 1 Centerline is valid? [False, False] Translation: X:-38.16, Y:-5.00, Z:-2.41 [[ 9.95212282e-01 -1.05939742e-03 -9.77312205e-02 -3.81589329e+01] [ 1.40757001e-04 9.99955752e-01 -9.40607766e-03 -5.00242825e+00] [ 9.77368608e-02 9.34728766e-03 9.95168395e-01 -2.41108380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.323133365 meters Centerline goodness : 0.108038 with order 1 Centerline is valid? [False, False] Translation: X:-38.16, Y:-5.00, Z:-2.41 [[ 9.95140362e-01 -1.34383771e-03 -9.84573677e-02 -3.81571629e+01] [ 3.65176598e-04 9.99950358e-01 -9.95729473e-03 -5.00014219e+00] [ 9.84658611e-02 9.87295155e-03 9.95091453e-01 -2.41122380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.383133365 meters Centerline goodness : 0.103872 with order 1 Centerline is valid? [False, False] Translation: X:-38.16, Y:-5.00, Z:-2.41 [[ 9.95155363e-01 -1.52378073e-03 -9.83030089e-02 -3.81581788e+01] [ 5.01028218e-04 9.99945502e-01 -1.04279287e-02 -4.99731569e+00] [ 9.83135414e-02 1.03281566e-02 9.95101893e-01 -2.41047391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.443133365 meters Centerline goodness : 0.155603 with order 3 Centerline is valid? [False, False] Translation: X:-38.16, Y:-5.00, Z:-2.41 [[ 9.95262653e-01 -1.68110328e-03 -9.72081557e-02 -3.81617310e+01] [ 6.47706423e-04 9.99942957e-01 -1.06613418e-02 -4.99621782e+00] [ 9.72205335e-02 1.05478730e-02 9.95206969e-01 -2.40941723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.503133365 meters Centerline goodness : 0.230133 with order 3 Centerline is valid? [False, False] Translation: X:-38.16, Y:-4.99, Z:-2.41 [[ 9.95255476e-01 -1.72826625e-03 -9.72807782e-02 -3.81613376e+01] [ 6.77172677e-04 9.99941052e-01 -1.08367200e-02 -4.99499064e+00] [ 9.72937725e-02 1.07194290e-02 9.95197978e-01 -2.40973064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.563133365 meters Centerline goodness : 0.108076 with order 1 Centerline is valid? [False, False] Translation: X:-38.15, Y:-4.99, Z:-2.41 [[ 9.94957211e-01 1.85595565e-04 -1.00300122e-01 -3.81509692e+01] [-1.21478795e-03 9.99947239e-01 -1.02001497e-02 -4.98704613e+00] [ 1.00292937e-01 1.02705559e-02 9.94904941e-01 -2.41353500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.623133365 meters Centerline goodness : 0.116966 with order 1 Centerline is valid? [False, False] Translation: X:-38.17, Y:-4.98, Z:-2.42 [[ 9.95029235e-01 -3.31197465e-03 -9.95281487e-02 -3.81716491e+01] [ 2.63034351e-03 9.99972187e-01 -6.97906923e-03 -4.97781874e+00] [ 9.95484950e-02 6.68258469e-03 9.95010271e-01 -2.41610554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.683133365 meters Centerline goodness : 0.107432 with order 1 Centerline is valid? [False, False] Translation: X:-38.20, Y:-4.97, Z:-2.42 [[ 9.95133539e-01 4.66474321e-03 -9.84249988e-02 -3.81954038e+01] [-5.55991106e-03 9.99945623e-01 -8.82260020e-03 -4.97475242e+00] [ 9.83784916e-02 9.32689960e-03 9.95105362e-01 -2.41729689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.743133365 meters Centerline goodness : 0.112178 with order 1 Centerline is valid? [False, False] Translation: X:-38.18, Y:-4.96, Z:-2.41 [[ 9.95276507e-01 -3.34566693e-03 -9.70230993e-02 -3.81792067e+01] [ 2.59514655e-03 9.99965737e-01 -7.86064251e-03 -4.96402374e+00] [ 9.70460741e-02 7.57172366e-03 9.95251088e-01 -2.41400173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.803133365 meters Centerline goodness : 0.239803 with order 3 Centerline is valid? [False, False] Translation: X:-38.23, Y:-4.96, Z:-2.42 [[ 9.95121965e-01 -3.57633523e-03 -9.85874455e-02 -3.82255036e+01] [ 2.66894275e-03 9.99952873e-01 -9.33428323e-03 -4.95821945e+00] [ 9.86161818e-02 9.02562603e-03 9.95084613e-01 -2.41709757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.863133365 meters SLAMing on 355.92313336499996 meters Centerline goodness : 0.109471 with order 1 Centerline is valid? [False, False] Translation: X:-38.28, Y:-4.96, Z:-2.42 [[ 9.95030470e-01 -9.26172627e-03 -9.91392205e-02 -3.82822478e+01] [ 8.20357162e-03 9.99905010e-01 -1.10757657e-02 -4.95543908e+00] [ 9.92323840e-02 1.02074286e-02 9.95011931e-01 -2.42388095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98313336499996 meters Centerline goodness : 0.289394 with order 3 Centerline is valid? [False, False] Translation: X:-38.29, Y:-4.95, Z:-2.42 [[ 9.95107954e-01 -1.11298223e-02 -9.81645864e-02 -3.82862707e+01] [ 9.93837298e-03 9.99871000e-01 -1.26179161e-02 -4.95374553e+00] [ 9.82923583e-02 1.15805925e-02 9.95090198e-01 -2.42214208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04313336499996 meters Centerline goodness : 0.130118 with order 1 Centerline is valid? [False, False] Translation: X:-38.29, Y:-4.95, Z:-2.42 [[ 9.95075600e-01 -1.13311960e-02 -9.84690550e-02 -3.82852672e+01] [ 1.01188006e-02 9.99866836e-01 -1.28031642e-02 -4.95319896e+00] [ 9.86010176e-02 1.17437276e-02 9.95057749e-01 -2.42238794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10313336499996 meters Centerline goodness : 0.135530 with order 1 Centerline is valid? [False, False] Translation: X:-38.33, Y:-4.96, Z:-2.43 [[ 9.94798712e-01 -1.06624977e-02 -1.01300707e-01 -3.83275455e+01] [ 9.32113869e-03 9.99862628e-01 -1.37054935e-02 -4.95584376e+00] [ 1.01432926e-01 1.26899693e-02 9.94761442e-01 -2.42643518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16313336499996 meters Centerline goodness : 0.143209 with order 1 Centerline is valid? [False, False] Translation: X:-38.35, Y:-4.96, Z:-2.43 [[ 9.95120356e-01 -3.78856606e-03 -9.85957603e-02 -3.83509873e+01] [ 2.32768040e-03 9.99885866e-01 -1.49277364e-02 -4.96364807e+00] [ 9.86410619e-02 1.46253949e-02 9.95015597e-01 -2.42804611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22313336499997 meters Centerline goodness : 0.221252 with order 3 Centerline is valid? [False, False] Translation: X:-38.37, Y:-4.97, Z:-2.43 [[ 9.95176856e-01 2.71591654e-03 -9.80594169e-02 -3.83723975e+01] [-4.43506931e-03 9.99840195e-01 -1.73180288e-02 -4.97016843e+00] [ 9.79967122e-02 1.76694018e-02 9.95029867e-01 -2.43032975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28313336499997 meters Centerline goodness : 0.220792 with order 3 Centerline is valid? [False, False] Translation: X:-38.37, Y:-4.97, Z:-2.43 [[ 9.95114252e-01 2.87858346e-03 -9.86880919e-02 -3.83701254e+01] [-4.55887387e-03 9.99848393e-01 -1.68049993e-02 -4.97305255e+00] [ 9.86247555e-02 1.71728009e-02 9.94976509e-01 -2.43127990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34313336499997 meters Centerline goodness : 0.138820 with order 1 Centerline is valid? [False, False] Translation: X:-38.37, Y:-4.98, Z:-2.43 [[ 9.95109664e-01 -9.68860561e-04 -9.87715416e-02 -3.83699029e+01] [-9.98651147e-04 9.99802104e-01 -1.98684378e-02 -4.97721522e+00] [ 9.87712449e-02 1.98699128e-02 9.94911769e-01 -2.43126359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.403133365 meters Centerline goodness : 0.239030 with order 3 Centerline is valid? [False, False] Translation: X:-38.37, Y:-4.98, Z:-2.43 [[ 9.95169412e-01 -7.69407511e-04 -9.81694938e-02 -3.83717329e+01] [-1.12652109e-03 9.99813953e-01 -1.92559178e-02 -4.98068622e+00] [ 9.81660453e-02 1.92734904e-02 9.94983397e-01 -2.43076465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.463133365 meters Centerline goodness : 0.167840 with order 3 Centerline is valid? [False, False] Translation: X:-38.41, Y:-4.99, Z:-2.44 [[ 9.94930324e-01 -5.40050413e-04 -1.00565198e-01 -3.84146778e+01] [-1.43400049e-03 9.99807730e-01 -1.95562399e-02 -4.99047357e+00] [ 1.00556424e-01 1.96013067e-02 9.94738254e-01 -2.43527041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.523133365 meters Centerline goodness : 0.139861 with order 1 Centerline is valid? [False, False] Translation: X:-38.42, Y:-5.00, Z:-2.43 [[ 9.94987727e-01 -2.57242627e-03 -9.99640257e-02 -3.84179987e+01] [ 4.71400550e-04 9.99778613e-01 -2.10357576e-02 -4.99549514e+00] [ 9.99960079e-02 2.08831975e-02 9.94768662e-01 -2.43365701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.583133365 meters Centerline goodness : 0.093713 with order 1 Centerline is valid? [False, False] Translation: X:-38.42, Y:-5.00, Z:-2.43 [[ 9.94952158e-01 -1.90570074e-03 -1.00332310e-01 -3.84165456e+01] [-1.24848386e-04 9.99795384e-01 -2.02280699e-02 -4.99869178e+00] [ 1.00350329e-01 2.01384881e-02 9.94748336e-01 -2.43439180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.643133365 meters Centerline goodness : 0.098019 with order 1 Centerline is valid? [False, False] Translation: X:-38.44, Y:-5.01, Z:-2.44 [[ 9.95012435e-01 6.89352957e-03 -9.95124780e-02 -3.84364221e+01] [-9.03301664e-03 9.99737298e-01 -2.10651499e-02 -5.00540516e+00] [ 9.93411226e-02 2.18589840e-02 9.94813312e-01 -2.43776250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.703133365 meters Centerline goodness : 0.107343 with order 1 Centerline is valid? [False, False] Translation: X:-38.44, Y:-5.01, Z:-2.44 [[ 9.94995289e-01 7.51610745e-03 -9.96387621e-02 -3.84361332e+01] [-9.61216340e-03 9.99742142e-01 -2.05731976e-02 -5.00606287e+00] [ 9.94584391e-02 2.14279788e-02 9.94810967e-01 -2.43790747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.763133365 meters Centerline goodness : 0.258507 with order 3 Centerline is valid? [False, False] Translation: X:-38.44, Y:-5.01, Z:-2.44 [[ 9.94974542e-01 8.24601256e-03 -9.97881004e-02 -3.84357104e+01] [-1.02990783e-02 9.99745397e-01 -2.00766188e-02 -5.00696189e+00] [ 9.95971420e-02 2.10034500e-02 9.94806144e-01 -2.43815560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.823133365 meters Centerline goodness : 0.112350 with order 1 Centerline is valid? [False, False] Translation: X:-38.44, Y:-5.01, Z:-2.44 [[ 9.95099511e-01 8.97961926e-03 -9.84699426e-02 -3.84394138e+01] [-1.09488831e-02 9.99750363e-01 -1.94765083e-02 -5.00796232e+00] [ 9.82704692e-02 2.04591997e-02 9.94949414e-01 -2.43771363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.883133365 meters Centerline goodness : 0.115453 with order 1 Centerline is valid? [False, False] Translation: X:-38.46, Y:-5.01, Z:-2.44 [[ 9.95351692e-01 2.08194107e-03 -9.62843386e-02 -3.84581310e+01] [-3.89477521e-03 9.99818603e-01 -1.86438179e-02 -5.00606010e+00] [ 9.62280576e-02 1.89321616e-02 9.95179247e-01 -2.44219141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.943133365 meters Centerline goodness : 0.116791 with order 1 Centerline is valid? [False, False] Translation: X:-38.46, Y:-5.01, Z:-2.44 [[ 9.95335760e-01 2.30668323e-03 -9.64437859e-02 -3.84583568e+01] [-4.07694227e-03 9.99826739e-01 -1.81623196e-02 -5.00826563e+00] [ 9.63851813e-02 1.84708020e-02 9.95172712e-01 -2.44142457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.003133365 meters Centerline goodness : 0.096586 with order 1 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.01, Z:-2.44 [[ 9.95430242e-01 -5.69987805e-03 -9.53212756e-02 -3.84806959e+01] [ 4.08732974e-03 9.99845367e-01 -1.71036846e-02 -5.00977593e+00] [ 9.54040247e-02 1.66359154e-02 9.95299612e-01 -2.44391582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.063133365 meters Centerline goodness : 0.097336 with order 1 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.02, Z:-2.44 [[ 9.95444571e-01 -1.00712517e-02 -9.48086303e-02 -3.84814921e+01] [ 8.20215938e-03 9.99764662e-01 -2.00834722e-02 -5.01811076e+00] [ 9.49885839e-02 1.92143479e-02 9.95292911e-01 -2.44410680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.123133365 meters Centerline goodness : 0.104590 with order 1 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.03, Z:-2.44 [[ 9.95459834e-01 -1.02639873e-02 -9.46275269e-02 -3.84815447e+01] [ 8.45905882e-03 9.99774939e-01 -1.94554798e-02 -5.02539643e+00] [ 9.48059207e-02 1.85666889e-02 9.95322619e-01 -2.44433422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.183133365 meters Centerline goodness : 0.107415 with order 1 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.03, Z:-2.45 [[ 9.95422353e-01 -1.01197913e-02 -9.50364639e-02 -3.84797810e+01] [ 8.37587341e-03 9.99789475e-01 -1.87310128e-02 -5.03155167e+00] [ 9.52060102e-02 1.78492554e-02 9.95297553e-01 -2.44512502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.243133365 meters Centerline goodness : 0.168822 with order 3 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.04, Z:-2.45 [[ 9.95422212e-01 -9.37439729e-03 -9.51143549e-02 -3.84790825e+01] [ 7.74613577e-03 9.99817315e-01 -1.74737991e-02 -5.03696114e+00] [ 9.52607853e-02 1.66570390e-02 9.95312979e-01 -2.44576024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.303133365 meters Centerline goodness : 0.173794 with order 3 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.04, Z:-2.45 [[ 9.95369717e-01 -8.68211678e-03 -9.57274653e-02 -3.84772894e+01] [ 7.08699582e-03 9.99830533e-01 -1.69905724e-02 -5.03856078e+00] [ 9.58587568e-02 1.62334811e-02 9.95262565e-01 -2.44635612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.363133365 meters Centerline goodness : 0.117617 with order 1 Centerline is valid? [False, False] Translation: X:-38.48, Y:-5.04, Z:-2.45 [[ 9.95383192e-01 -8.53999001e-03 -9.56000554e-02 -3.84778403e+01] [ 6.96589652e-03 9.99834822e-01 -1.67870518e-02 -5.03933288e+00] [ 9.57276256e-02 1.60436091e-02 9.95278265e-01 -2.44610603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42313336499996 meters Centerline goodness : 0.152826 with order 3 Centerline is valid? [False, False] Translation: X:-38.50, Y:-5.05, Z:-2.45 [[ 9.95601683e-01 -4.26000556e-04 -9.36862221e-02 -3.84982192e+01] [-1.14189219e-03 9.99860205e-01 -1.66813301e-02 -5.04979833e+00] [ 9.36802315e-02 1.67149398e-02 9.95462016e-01 -2.44845199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48313336499996 meters Centerline goodness : 0.111065 with order 1 Centerline is valid? [False, False] Translation: X:-38.50, Y:-5.06, Z:-2.45 [[ 9.95555979e-01 -4.28108533e-03 -9.40742552e-02 -3.84967169e+01] [ 2.46784119e-03 9.99809096e-01 -1.93824973e-02 -5.05762461e+00] [ 9.41392742e-02 1.90642008e-02 9.95376488e-01 -2.44900029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54313336499996 meters Centerline goodness : 0.104438 with order 1 Centerline is valid? [False, False] Translation: X:-38.50, Y:-5.06, Z:-2.45 [[ 9.95522524e-01 -3.93289588e-03 -9.44427656e-02 -3.84953682e+01] [ 2.20784498e-03 9.99828946e-01 -1.83631189e-02 -5.06403219e+00] [ 9.44988310e-02 1.80723835e-02 9.95360919e-01 -2.44940662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60313336499996 meters Centerline goodness : 0.222418 with order 3 Centerline is valid? [False, False] Translation: X:-38.50, Y:-5.07, Z:-2.45 [[ 9.95643019e-01 -4.97375704e-03 -9.31141230e-02 -3.84987866e+01] [ 3.28078569e-03 9.99826683e-01 -1.83259379e-02 -5.07365288e+00] [ 9.31891335e-02 1.79406046e-02 9.95486775e-01 -2.44911579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66313336499996 meters Centerline goodness : 0.204567 with order 3 Centerline is valid? [False, False] Translation: X:-38.50, Y:-5.08, Z:-2.45 [[ 9.95627220e-01 -4.52064464e-03 -9.33059570e-02 -3.84979186e+01] [ 2.89912897e-03 9.99842543e-01 -1.75067184e-02 -5.07726263e+00] [ 9.33704069e-02 1.71596594e-02 9.95483557e-01 -2.44963784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72313336499997 meters Centerline goodness : 0.258590 with order 3 Centerline is valid? [False, False] Translation: X:-38.50, Y:-5.08, Z:-2.45 [[ 9.95615656e-01 -4.24292125e-03 -9.34422998e-02 -3.84969530e+01] [ 2.68032713e-03 9.99854576e-01 -1.68417150e-02 -5.08184184e+00] [ 9.35001691e-02 1.65174192e-02 9.95482242e-01 -2.45043653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78313336499997 meters Centerline goodness : 0.451407 with order 1 Centerline is valid? [False, False] Translation: X:-38.52, Y:-5.09, Z:-2.45 [[ 9.95820601e-01 2.97401879e-03 -9.12824520e-02 -3.85157961e+01] [-4.58290431e-03 9.99837743e-01 -1.74208104e-02 -5.09218483e+00] [ 9.12158309e-02 1.77663406e-02 9.95672652e-01 -2.45366063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84313336499997 meters Centerline goodness : 0.196093 with order 2 Centerline is valid? [False, False] Translation: X:-38.52, Y:-5.10, Z:-2.45 [[ 9.95908635e-01 2.93876533e-03 -9.03180754e-02 -3.85185321e+01] [-4.49416977e-03 9.99845000e-01 -1.70228678e-02 -5.09611647e+00] [ 9.02540499e-02 1.73591258e-02 9.95767476e-01 -2.45313546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.903133365 meters Centerline goodness : 0.456647 with order 3 Centerline is valid? [False, False] Translation: X:-38.52, Y:-5.10, Z:-2.45 [[ 9.95888880e-01 3.11808854e-03 -9.05296475e-02 -3.85182945e+01] [-4.64545218e-03 9.99850327e-01 -1.66656158e-02 -5.09774270e+00] [ 9.04641328e-02 1.70176526e-02 9.95754307e-01 -2.45276039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.963133365 meters Centerline goodness : 0.159058 with order 3 Centerline is valid? [False, False] Translation: X:-38.52, Y:-5.10, Z:-2.45 [[ 9.95834656e-01 3.25485425e-03 -9.11193947e-02 -3.85169071e+01] [-4.76848268e-03 9.99854161e-01 -1.63987123e-02 -5.09892633e+00] [ 9.10527305e-02 1.67649073e-02 9.95704945e-01 -2.45266185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.023133365 meters Centerline goodness : 0.267312 with order 3 Centerline is valid? [False, False] Translation: X:-38.52, Y:-5.10, Z:-2.45 [[ 9.95826784e-01 3.36728364e-03 -9.12012984e-02 -3.85172774e+01] [-4.82583125e-03 9.99863892e-01 -1.57768224e-02 -5.10297206e+00] [ 9.11357602e-02 1.61511044e-02 9.95707495e-01 -2.45188472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.083133365 meters Centerline goodness : 0.224091 with order 3 Centerline is valid? [False, False] Translation: X:-38.54, Y:-5.10, Z:-2.45 [[ 9.95886222e-01 -5.21846471e-03 -9.04621495e-02 -3.85406794e+01] [ 3.87416293e-03 9.99879544e-01 -1.50296077e-02 -5.10491001e+00] [ 9.05296842e-02 1.46173141e-02 9.95786478e-01 -2.45406315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.143133365 meters Centerline goodness : 0.241241 with order 3 Centerline is valid? [False, False] Translation: X:-38.54, Y:-5.11, Z:-2.45 [[ 9.95875077e-01 -8.98064778e-03 -9.02894211e-02 -3.85418351e+01] [ 7.41645341e-03 9.99816811e-01 -1.76448303e-02 -5.11112649e+00] [ 9.04313431e-02 1.69024195e-02 9.95759248e-01 -2.45302986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.203133365 meters Centerline goodness : 0.103264 with order 1 Centerline is valid? [False, False] Translation: X:-38.54, Y:-5.12, Z:-2.45 [[ 9.95835761e-01 -9.21029156e-03 -9.06989912e-02 -3.85406992e+01] [ 7.67783701e-03 9.99822065e-01 -1.72304900e-02 -5.11699606e+00] [ 9.08415505e-02 1.64623661e-02 9.95729282e-01 -2.45301663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.263133365 meters Centerline goodness : 0.524055 with order 3 Centerline is valid? [False, False] Translation: X:-38.59, Y:-5.13, Z:-2.46 [[ 9.95817741e-01 -1.12030788e-02 -9.06725812e-02 -3.85877044e+01] [ 9.64432012e-03 9.99798399e-01 -1.76110042e-02 -5.13036434e+00] [ 9.08515990e-02 1.66628750e-02 9.95725030e-01 -2.45603197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.323133365 meters Centerline goodness : 0.190159 with order 1 Centerline is valid? [False, False] Translation: X:-38.59, Y:-5.14, Z:-2.46 [[ 9.95796159e-01 -1.44152357e-02 -9.04555786e-02 -3.85882501e+01] [ 1.27131486e-02 9.99731652e-01 -1.93648954e-02 -5.14275876e+00] [ 9.07104546e-02 1.81335132e-02 9.95712202e-01 -2.45572277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.383133365 meters Centerline goodness : 0.452177 with order 1 Centerline is valid? [False, False] Translation: X:-38.61, Y:-5.16, Z:-2.46 [[ 9.95990649e-01 -9.95463234e-03 -8.89018173e-02 -3.86061165e+01] [ 8.03647593e-03 9.99727689e-01 -2.19080639e-02 -5.15824531e+00] [ 8.90956951e-02 2.11057695e-02 9.95799429e-01 -2.45961640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.443133365 meters Centerline goodness : 0.093144 with order 1 Centerline is valid? [False, False] Translation: X:-38.62, Y:-5.17, Z:-2.46 [[ 9.96116519e-01 -1.90639294e-03 -8.80241198e-02 -3.86235411e+01] [ 3.38330427e-05 9.99773771e-01 -2.12698520e-02 -5.17433661e+00] [ 8.80447548e-02 2.11842729e-02 9.95891233e-01 -2.46377233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.503133365 meters Centerline goodness : 0.454978 with order 2 Centerline is valid? [False, False] Translation: X:-38.60, Y:-5.19, Z:-2.46 [[ 9.95939068e-01 4.12741702e-03 -8.99351850e-02 -3.86023766e+01] [-6.12797932e-03 9.99739636e-01 -2.19797360e-02 -5.19097871e+00] [ 8.98210495e-02 2.24415988e-02 9.95705054e-01 -2.46217560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.563133365 meters Centerline goodness : 0.257095 with order 1 Centerline is valid? [False, False] Translation: X:-38.60, Y:-5.20, Z:-2.46 [[ 9.95886525e-01 4.78106336e-03 -9.04829860e-02 -3.85997523e+01] [-6.68875314e-03 9.99761450e-01 -2.07919342e-02 -5.19923893e+00] [ 9.03619937e-02 2.13116254e-02 9.95680935e-01 -2.46372942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.623133365 meters Centerline goodness : 0.276394 with order 1 Centerline is valid? [False, False] Translation: X:-38.62, Y:-5.22, Z:-2.47 [[ 9.95821834e-01 1.23114880e-02 -9.04837140e-02 -3.86167622e+01] [-1.43100022e-02 9.99667043e-01 -2.14715309e-02 -5.21685085e+00] [ 9.01892404e-02 2.26766414e-02 9.95666446e-01 -2.46858237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.683133365 meters Centerline goodness : 0.451530 with order 2 Centerline is valid? [False, False] Translation: X:-38.62, Y:-5.22, Z:-2.47 [[ 9.95779632e-01 1.27767076e-02 -9.08827835e-02 -3.86151987e+01] [-1.47432232e-02 9.99670773e-01 -2.09995788e-02 -5.21889453e+00] [ 9.05845570e-02 2.22508580e-02 9.95640165e-01 -2.46949668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.743133365 meters SLAMing on 358.803133365 meters Centerline goodness : 0.203265 with order 1 Centerline is valid? [False, False] Translation: X:-38.65, Y:-5.21, Z:-2.47 [[ 9.95262576e-01 2.38848998e-02 -9.42439205e-02 -3.86533233e+01] [-2.54572069e-02 9.99555488e-01 -1.55163604e-02 -5.21064040e+00] [ 9.38314212e-02 1.78420398e-02 9.95428212e-01 -2.47271486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.863133365 meters Centerline goodness : 0.450571 with order 2 Centerline is valid? [False, False] Translation: X:-38.65, Y:-5.20, Z:-2.47 [[ 9.95272512e-01 2.39183718e-02 -9.41304287e-02 -3.86534063e+01] [-2.55537431e-02 9.99542074e-01 -1.62064401e-02 -5.20488892e+00] [ 9.36996923e-02 1.85352091e-02 9.95427955e-01 -2.47310398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92313336499996 meters Centerline goodness : 0.204594 with order 1 Centerline is valid? [False, False] Translation: X:-38.65, Y:-5.19, Z:-2.47 [[ 9.95401180e-01 1.00269841e-02 -9.52677841e-02 -3.86532486e+01] [-1.14019311e-02 9.99838393e-01 -1.38990535e-02 -5.19192393e+00] [ 9.51130226e-02 1.49213710e-02 9.95354643e-01 -2.47238056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98313336499996 meters Centerline goodness : 0.101699 with order 1 Centerline is valid? [False, False] Translation: X:-38.70, Y:-5.19, Z:-2.48 [[ 9.95650159e-01 -2.51982967e-03 -9.31365178e-02 -3.86982467e+01] [ 1.53915169e-03 9.99942636e-01 -1.05998004e-02 -5.18574468e+00] [ 9.31578848e-02 1.04103417e-02 9.95596923e-01 -2.47620833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04313336499996 meters Centerline goodness : 0.233253 with order 3 Centerline is valid? [False, False] Translation: X:-38.70, Y:-5.18, Z:-2.48 [[ 9.95661409e-01 -4.15955601e-03 -9.29572815e-02 -3.86992550e+01] [ 3.05243240e-03 9.99922749e-01 -1.20490349e-02 -5.18369012e+00] [ 9.30002190e-02 1.17130133e-02 9.95597190e-01 -2.47537079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10313336499996 meters Centerline goodness : 0.455255 with order 2 Centerline is valid? [False, False] Translation: X:-38.70, Y:-5.18, Z:-2.47 [[ 9.95648241e-01 -4.97864517e-03 -9.30580141e-02 -3.86994306e+01] [ 3.83199414e-03 9.99914573e-01 -1.24965232e-02 -5.18263333e+00] [ 9.31122802e-02 1.20855436e-02 9.95582263e-01 -2.47480666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16313336499996 meters Centerline goodness : 0.106693 with order 1 Centerline is valid? [False, False] Translation: X:-38.70, Y:-5.18, Z:-2.47 [[ 9.95694417e-01 -6.00609457e-03 -9.25016495e-02 -3.87008256e+01] [ 4.76540583e-03 9.99895784e-01 -1.36276560e-02 -5.17878387e+00] [ 9.25738583e-02 1.31281730e-02 9.95619271e-01 -2.47471097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22313336499997 meters Centerline goodness : 0.276409 with order 1 Centerline is valid? [False, False] Translation: X:-38.70, Y:-5.18, Z:-2.47 [[ 9.95650022e-01 -6.30157967e-03 -9.29587158e-02 -3.86998330e+01] [ 5.02133949e-03 9.99889392e-01 -1.39996114e-02 -5.17736741e+00] [ 9.30366535e-02 1.34719361e-02 9.95571538e-01 -2.47461877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28313336499997 meters Centerline goodness : 0.188769 with order 1 Centerline is valid? [False, False] Translation: X:-38.70, Y:-5.18, Z:-2.47 [[ 9.95668209e-01 -6.06969558e-03 -9.27791848e-02 -3.87007467e+01] [ 4.82329866e-03 9.99895169e-01 -1.36523528e-02 -5.17811142e+00] [ 9.28523243e-02 1.31457119e-02 9.95593108e-01 -2.47400410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34313336499997 meters Centerline goodness : 0.099098 with order 1 Centerline is valid? [False, False] Translation: X:-38.72, Y:-5.19, Z:-2.48 [[ 9.96023796e-01 -3.30768959e-03 -8.90261617e-02 -3.87216439e+01] [ 1.80617324e-03 9.99854855e-01 -1.69412894e-02 -5.18953464e+00] [ 8.90692765e-02 1.67131307e-02 9.95885202e-01 -2.47676296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.403133365 meters Centerline goodness : 0.449052 with order 3 Centerline is valid? [False, False] Translation: X:-38.72, Y:-5.19, Z:-2.48 [[ 9.95991334e-01 -2.90377625e-03 -8.94026372e-02 -3.87189012e+01] [ 1.47446512e-03 9.99870115e-01 -1.60492426e-02 -5.19439907e+00] [ 8.94376286e-02 1.58530855e-02 9.95866251e-01 -2.47903254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.463133365 meters SLAMing on 359.523133365 meters Centerline goodness : 0.100273 with order 1 Centerline is valid? [False, False] Translation: X:-38.73, Y:-5.20, Z:-2.48 [[ 9.95666089e-01 7.90304469e-03 -9.26638080e-02 -3.87338857e+01] [-9.39567371e-03 9.99832871e-01 -1.56828201e-02 -5.19704261e+00] [ 9.25243792e-02 1.64854910e-02 9.95573939e-01 -2.48218726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.583133365 meters Centerline goodness : 0.278298 with order 1 Centerline is valid? [False, False] Translation: X:-38.73, Y:-5.19, Z:-2.48 [[ 9.95587252e-01 8.72179694e-03 -9.34342272e-02 -3.87314891e+01] [-1.02263862e-02 9.99825445e-01 -1.56365098e-02 -5.19441512e+00] [ 9.32815393e-02 1.65230043e-02 9.95502659e-01 -2.48323550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.643133365 meters Centerline goodness : 0.090036 with order 1 Centerline is valid? [False, False] Translation: X:-38.72, Y:-5.19, Z:-2.48 [[ 9.95927128e-01 1.56397560e-03 -9.01482686e-02 -3.87160723e+01] [-2.84112133e-03 9.99897390e-01 -1.40405878e-02 -5.19025035e+00] [ 9.01170594e-02 1.42395244e-02 9.95829379e-01 -2.47985760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.703133365 meters Centerline goodness : 0.097926 with order 1 Centerline is valid? [False, False] Translation: X:-38.72, Y:-5.19, Z:-2.48 [[ 9.96068551e-01 -1.95140295e-04 -8.85855706e-02 -3.87229473e+01] [-1.16115157e-03 9.99882904e-01 -1.52587379e-02 -5.19240781e+00] [ 8.85781752e-02 1.53016102e-02 9.95951689e-01 -2.47663205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.763133365 meters Centerline goodness : 0.453783 with order 2 Centerline is valid? [False, False] Translation: X:-38.72, Y:-5.20, Z:-2.48 [[ 9.96048609e-01 -4.10138429e-03 -8.87149775e-02 -3.87229024e+01] [ 2.47065248e-03 9.99826109e-01 -1.84837012e-02 -5.19507495e+00] [ 8.87753595e-02 1.81914810e-02 9.95885538e-01 -2.47635609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.823133365 meters Centerline goodness : 0.451242 with order 3 Centerline is valid? [False, False] Translation: X:-38.73, Y:-5.20, Z:-2.48 [[ 9.96152593e-01 -5.49849611e-03 -8.74630046e-02 -3.87264243e+01] [ 3.87406989e-03 9.99817042e-01 -1.87316380e-02 -5.20354204e+00] [ 8.75499984e-02 1.83207320e-02 9.95991641e-01 -2.47562578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.883133365 meters Centerline goodness : 0.454873 with order 3 Centerline is valid? [False, False] Translation: X:-38.77, Y:-5.21, Z:-2.48 [[ 9.96042755e-01 -6.65940141e-03 -8.86255207e-02 -3.87733380e+01] [ 4.96972771e-03 9.99801920e-01 -1.92723384e-02 -5.21274997e+00] [ 8.87363080e-02 1.87556283e-02 9.95878554e-01 -2.47833798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.943133365 meters Centerline goodness : 0.440518 with order 3 Centerline is valid? [False, False] Translation: X:-38.77, Y:-5.22, Z:-2.48 [[ 9.95959509e-01 -6.02686718e-03 -8.96009709e-02 -3.87703164e+01] [ 4.42130305e-03 9.99826284e-01 -1.81067391e-02 -5.21793455e+00] [ 8.96945327e-02 1.76374259e-02 9.95813141e-01 -2.47921354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.003133365 meters Centerline goodness : 0.455643 with order 2 Centerline is valid? [False, False] Translation: X:-38.79, Y:-5.23, Z:-2.48 [[ 9.96063783e-01 1.13901749e-03 -8.86320626e-02 -3.87876876e+01] [-2.81656913e-03 9.99819215e-01 -1.88043793e-02 -5.22914155e+00] [ 8.85946208e-02 1.89799995e-02 9.95886918e-01 -2.48300206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.063133365 meters Centerline goodness : 0.453237 with order 3 Centerline is valid? [False, False] Translation: X:-38.79, Y:-5.23, Z:-2.48 [[ 9.96128914e-01 1.52073472e-03 -8.78912669e-02 -3.87898879e+01] [-3.11684326e-03 9.99832667e-01 -1.80256526e-02 -5.23288271e+00] [ 8.78491475e-02 1.82298171e-02 9.95966968e-01 -2.48249158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.123133365 meters Centerline goodness : 0.091976 with order 1 Centerline is valid? [False, False] Translation: X:-38.81, Y:-5.24, Z:-2.49 [[ 9.96181429e-01 7.04993382e-03 -8.70221784e-02 -3.88112858e+01] [-8.88379270e-03 9.99746175e-01 -2.07042040e-02 -5.24208938e+00] [ 8.68541267e-02 2.13982305e-02 9.95991203e-01 -2.48517696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.183133365 meters Centerline goodness : 0.566605 with order 3 Centerline is valid? [False, False] Translation: X:-38.81, Y:-5.25, Z:-2.49 [[ 9.96064380e-01 5.35844207e-03 -8.84705433e-02 -3.88050199e+01] [-7.33324055e-03 9.99730820e-01 -2.20116204e-02 -5.24644232e+00] [ 8.83287808e-02 2.25737668e-02 9.95835554e-01 -2.48817995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.243133365 meters Centerline goodness : 0.102346 with order 1 Centerline is valid? [False, False] Translation: X:-38.80, Y:-5.25, Z:-2.49 [[ 9.96032134e-01 5.44908882e-03 -8.88273326e-02 -3.88035570e+01] [-7.41532409e-03 9.99734403e-01 -2.18205304e-02 -5.24792258e+00] [ 8.86848383e-02 2.23926330e-02 9.95807998e-01 -2.48898264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.303133365 meters Centerline goodness : 0.102892 with order 1 Centerline is valid? [False, False] Translation: X:-38.80, Y:-5.25, Z:-2.49 [[ 9.95947780e-01 6.01805978e-03 -8.97318320e-02 -3.88008673e+01] [-8.00170346e-03 9.99731135e-01 -2.17630358e-02 -5.24588140e+00] [ 8.95767350e-02 2.23928547e-02 9.95728160e-01 -2.48981350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.363133365 meters Centerline goodness : 0.524613 with order 3 Centerline is valid? [False, False] Translation: X:-38.80, Y:-5.24, Z:-2.49 [[ 9.95956368e-01 1.00807404e-02 -8.92708840e-02 -3.88028182e+01] [-1.18061738e-02 9.99753159e-01 -1.88211637e-02 -5.24001146e+00] [ 8.90591170e-02 1.97990054e-02 9.95829540e-01 -2.48890854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42313336499996 meters Centerline goodness : 0.107780 with order 1 Centerline is valid? [False, False] Translation: X:-38.82, Y:-5.23, Z:-2.49 [[ 9.96296529e-01 4.18607134e-03 -8.58819186e-02 -3.88195030e+01] [-5.76818313e-03 9.99818054e-01 -1.81820708e-02 -5.23321305e+00] [ 8.57901812e-02 1.86101167e-02 9.96139402e-01 -2.49277118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48313336499996 meters Centerline goodness : 0.095261 with order 1 Centerline is valid? [False, False] Translation: X:-38.84, Y:-5.23, Z:-2.50 [[ 9.95962861e-01 -6.65571780e-03 -8.95191659e-02 -3.88355677e+01] [ 4.96821739e-03 9.99805991e-01 -1.90603489e-02 -5.23194833e+00] [ 8.96286587e-02 1.85386489e-02 9.95802702e-01 -2.49550576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54313336499996 meters Centerline goodness : 0.092126 with order 1 Centerline is valid? [False, False] Translation: X:-38.84, Y:-5.23, Z:-2.49 [[ 9.96006932e-01 -7.11093045e-03 -8.89922762e-02 -3.88374844e+01] [ 5.45560144e-03 9.99807811e-01 -1.88302515e-02 -5.23486127e+00] [ 8.91090735e-02 1.82695547e-02 9.95854305e-01 -2.49440804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60313336499996 meters Centerline goodness : 0.452340 with order 3 Centerline is valid? [False, False] Translation: X:-38.84, Y:-5.24, Z:-2.49 [[ 9.96035091e-01 -7.72740435e-03 -8.86249715e-02 -3.88379482e+01] [ 6.08473610e-03 9.99804932e-01 -1.87902605e-02 -5.23787285e+00] [ 8.87528836e-02 1.81764993e-02 9.95887815e-01 -2.49469577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66313336499996 meters Centerline goodness : 0.422704 with order 2 Centerline is valid? [False, False] Translation: X:-38.84, Y:-5.24, Z:-2.49 [[ 9.96061117e-01 -4.26544455e-03 -8.85666825e-02 -3.88385358e+01] [ 2.88959253e-03 9.99873245e-01 -1.56570517e-02 -5.23749602e+00] [ 8.86222405e-02 1.53394588e-02 9.95947187e-01 -2.49426277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72313336499997 meters Centerline goodness : 0.106674 with order 1 Centerline is valid? [False, False] Translation: X:-38.84, Y:-5.24, Z:-2.49 [[ 9.96139330e-01 -3.97416005e-03 -8.76963068e-02 -3.88413410e+01] [ 2.61551989e-03 9.99874860e-01 -1.56020310e-02 -5.23615090e+00] [ 8.77473374e-02 1.53124253e-02 9.96025067e-01 -2.49344218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78313336499997 meters Centerline goodness : 0.455672 with order 2 Centerline is valid? [False, False] Translation: X:-38.84, Y:-5.23, Z:-2.49 [[ 9.96147994e-01 -3.99769534e-03 -8.75967617e-02 -3.88415318e+01] [ 2.61317279e-03 9.99869940e-01 -1.59146131e-02 -5.23415276e+00] [ 8.76489906e-02 1.56244044e-02 9.96028881e-01 -2.49364474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84313336499997 meters Centerline goodness : 0.100975 with order 1 Centerline is valid? [False, False] Translation: X:-38.86, Y:-5.24, Z:-2.50 [[ 9.96025156e-01 3.96130117e-03 -8.89842550e-02 -3.88609089e+01] [-5.51998752e-03 9.99835501e-01 -1.72771789e-02 -5.23607886e+00] [ 8.89011770e-02 1.76996967e-02 9.95883177e-01 -2.49626762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.903133365 meters Centerline goodness : 0.203548 with order 2 Centerline is valid? [False, False] Translation: X:-38.86, Y:-5.23, Z:-2.50 [[ 9.95995661e-01 3.69467394e-03 -8.93252063e-02 -3.88598830e+01] [-5.30898394e-03 9.99826734e-01 -1.78414500e-02 -5.23352197e+00] [ 8.92438109e-02 1.82442329e-02 9.95842704e-01 -2.49661259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.963133365 meters Centerline goodness : 0.105718 with order 1 Centerline is valid? [False, False] Translation: X:-38.86, Y:-5.23, Z:-2.50 [[ 9.95980891e-01 3.43758741e-03 -8.94999875e-02 -3.88596335e+01] [-5.09393676e-03 9.99819841e-01 -1.82848693e-02 -5.23161792e+00] [ 8.94210075e-02 1.86672877e-02 9.95818967e-01 -2.49645099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.023133365 meters Centerline goodness : 0.457659 with order 1 Centerline is valid? [False, False] Translation: X:-38.88, Y:-5.23, Z:-2.50 [[ 9.96335112e-01 -3.74949198e-03 -8.54534132e-02 -3.88823624e+01] [ 2.23246391e-03 9.99838338e-01 -1.78413429e-02 -5.22552634e+00] [ 8.55064946e-02 1.75851848e-02 9.96182413e-01 -2.49878172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.083133365 meters Centerline goodness : 0.471257 with order 3 Centerline is valid? [False, False] Translation: X:-38.88, Y:-5.22, Z:-2.50 [[ 9.96401242e-01 -3.83805527e-03 -8.46748762e-02 -3.88849066e+01] [ 2.32791433e-03 9.99836604e-01 -1.79261132e-02 -5.22494273e+00] [ 8.47298422e-02 1.76644856e-02 9.96247369e-01 -2.49786099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.143133365 meters Centerline goodness : 0.200569 with order 1 Centerline is valid? [False, False] Translation: X:-38.90, Y:-5.23, Z:-2.50 [[ 9.96303277e-01 3.84432433e-03 -8.58195906e-02 -3.89031315e+01] [-5.51599570e-03 9.99799480e-01 -1.92502797e-02 -5.22965469e+00] [ 8.57283777e-02 1.96524973e-02 9.96124703e-01 -2.50086126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.203133365 meters Centerline goodness : 0.229202 with order 1 Centerline is valid? [False, False] Translation: X:-38.89, Y:-5.22, Z:-2.50 [[ 9.96232700e-01 -3.27654471e-03 -8.66583592e-02 -3.88853222e+01] [ 1.71216676e-03 9.99834346e-01 -1.81204150e-02 -5.22413463e+00] [ 8.67033762e-02 1.79037764e-02 9.96073280e-01 -2.49758963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.263133365 meters Centerline goodness : 0.240183 with order 1 Centerline is valid? [False, False] Translation: X:-38.89, Y:-5.22, Z:-2.50 [[ 9.96300316e-01 -3.21890575e-03 -8.58796774e-02 -3.88877363e+01] [ 1.66834075e-03 9.99834414e-01 -1.81207518e-02 -5.22337939e+00] [ 8.59237859e-02 1.79104342e-02 9.96140713e-01 -2.49693597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.323133365 meters Centerline goodness : 0.488346 with order 3 Centerline is valid? [False, False] Translation: X:-38.89, Y:-5.22, Z:-2.50 [[ 9.96267843e-01 -3.30439948e-03 -8.62523408e-02 -3.88864276e+01] [ 1.73821400e-03 9.99832364e-01 -1.82269701e-02 -5.22323140e+00] [ 8.62981110e-02 1.80090192e-02 9.96106576e-01 -2.49749838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.383133365 meters Centerline goodness : 0.343389 with order 1 Centerline is valid? [False, False] Translation: X:-38.88, Y:-5.22, Z:-2.50 [[ 9.96173472e-01 -3.43167293e-03 -8.73306250e-02 -3.88827843e+01] [ 1.83740620e-03 9.99830315e-01 -1.83293697e-02 -5.22341997e+00] [ 8.73787067e-02 1.80987700e-02 9.96010741e-01 -2.49895722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.443133365 meters Centerline goodness : 0.453047 with order 2 Centerline is valid? [False, False] Translation: X:-38.88, Y:-5.22, Z:-2.50 [[ 9.96143974e-01 -3.53791742e-03 -8.76622312e-02 -3.88818580e+01] [ 1.93535598e-03 9.99829580e-01 -1.83593466e-02 -5.22399063e+00] [ 8.77122457e-02 1.81188949e-02 9.95981058e-01 -2.49911230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.503133365 meters Centerline goodness : 0.449236 with order 2 Centerline is valid? [False, False] Translation: X:-38.93, Y:-5.23, Z:-2.50 [[ 9.95951683e-01 -3.19327855e-03 -8.98334439e-02 -3.89275990e+01] [ 1.60510366e-03 9.99841243e-01 -1.77457952e-02 -5.22717420e+00] [ 8.98758494e-02 1.75297626e-02 9.95798694e-01 -2.50171353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.563133365 meters Centerline goodness : 0.097761 with order 1 Centerline is valid? [False, False] Translation: X:-38.93, Y:-5.23, Z:-2.50 [[ 9.95936392e-01 -3.32715691e-03 -8.99979672e-02 -3.89273717e+01] [ 1.71914207e-03 9.99837608e-01 -1.79388546e-02 -5.22674679e+00] [ 9.00430376e-02 1.77112389e-02 9.95780379e-01 -2.50151365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.623133365 meters Centerline goodness : 0.225481 with order 1 Centerline is valid? [False, False] Translation: X:-38.93, Y:-5.23, Z:-2.50 [[ 9.95954156e-01 -3.19416232e-03 -8.98059918e-02 -3.89282097e+01] [ 1.61964930e-03 9.99843800e-01 -1.75997938e-02 -5.22828098e+00] [ 8.98481807e-02 1.73831336e-02 9.95803761e-01 -2.50095903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.683133365 meters Centerline goodness : 0.160691 with order 1 Centerline is valid? [False, False] Translation: X:-38.93, Y:-5.23, Z:-2.50 [[ 9.95956653e-01 -3.18635892e-03 -8.97785747e-02 -3.89282885e+01] [ 1.65177866e-03 9.99851357e-01 -1.71620606e-02 -5.23149005e+00] [ 8.98199141e-02 1.69443741e-02 9.95813874e-01 -2.50087827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.743133365 meters Centerline goodness : 0.451560 with order 3 Centerline is valid? [False, False] Translation: X:-38.92, Y:-5.24, Z:-2.50 [[ 9.95886371e-01 -5.55250488e-03 -9.04406200e-02 -3.89248060e+01] [ 3.87755314e-03 9.99817899e-01 -1.86850935e-02 -5.23712067e+00] [ 9.05278998e-02 1.82575416e-02 9.95726550e-01 -2.50267878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.803133365 meters Centerline goodness : 0.452858 with order 2 Centerline is valid? [False, False] Translation: X:-38.93, Y:-5.24, Z:-2.50 [[ 9.95953930e-01 -5.23238956e-03 -8.97128297e-02 -3.89273214e+01] [ 3.62924115e-03 9.99830975e-01 -1.80236001e-02 -5.23983615e+00] [ 8.97919724e-02 1.76250858e-02 9.95804578e-01 -2.50158952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.863133365 meters Centerline goodness : 0.091555 with order 1 Centerline is valid? [False, False] Translation: X:-38.95, Y:-5.25, Z:-2.51 [[ 9.96062589e-01 2.34548080e-03 -8.86217679e-02 -3.89463767e+01] [-4.03714551e-03 9.99812960e-01 -1.89141737e-02 -5.24794662e+00] [ 8.85608292e-02 1.91974798e-02 9.95885755e-01 -2.50511140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92313336499996 meters Centerline goodness : 0.095912 with order 1 Centerline is valid? [False, False] Translation: X:-38.94, Y:-5.25, Z:-2.51 [[ 9.96002839e-01 2.65048440e-03 -8.92822456e-02 -3.89435263e+01] [-4.33171610e-03 9.99816839e-01 -1.86420334e-02 -5.24854574e+00] [ 8.92164821e-02 1.89542635e-02 9.95831891e-01 -2.50682966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98313336499996 meters Centerline goodness : 0.187401 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.25, Z:-2.51 [[ 9.95798318e-01 1.75193187e-03 -9.15567569e-02 -3.89881071e+01] [-3.54371227e-03 9.99805304e-01 -1.94112593e-02 -5.25302785e+00] [ 9.15049240e-02 1.96541501e-02 9.95610648e-01 -2.51027498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04313336499996 meters Centerline goodness : 0.107307 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.26, Z:-2.51 [[ 9.95834970e-01 2.10502086e-03 -9.11497785e-02 -3.89898308e+01] [-3.82432087e-03 9.99817979e-01 -1.86918145e-02 -5.25621800e+00] [ 9.10938407e-02 1.89625485e-02 9.95661757e-01 -2.50930029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10313336499996 meters Centerline goodness : 0.107358 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.26, Z:-2.51 [[ 9.95846070e-01 2.17779598e-03 -9.10267150e-02 -3.89897135e+01] [-3.85686711e-03 9.99825576e-01 -1.82740839e-02 -5.25912890e+00] [ 9.09710405e-02 1.85492526e-02 9.95680770e-01 -2.50982576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16313336499996 meters Centerline goodness : 0.107796 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.26, Z:-2.51 [[ 9.95843762e-01 2.21096754e-03 -9.10511618e-02 -3.89894914e+01] [-3.82973090e-03 9.99837637e-01 -1.76077387e-02 -5.26371299e+00] [ 9.09974483e-02 1.78832581e-02 9.95690541e-01 -2.50999133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22313336499997 meters Centerline goodness : 0.107999 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95847037e-01 -1.49470253e-03 -9.10299126e-02 -3.89890154e+01] [-3.44988413e-04 9.99796088e-01 -2.01906536e-02 -5.27032241e+00] [ 9.10415296e-02 2.01382068e-02 9.95643457e-01 -2.51061072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28313336499997 meters Centerline goodness : 0.104554 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95817651e-01 -1.27570160e-03 -9.13541422e-02 -3.89877783e+01] [-5.17411165e-04 9.99807733e-01 -1.96017767e-02 -5.27371220e+00] [ 9.13615838e-02 1.95670628e-02 9.95625528e-01 -2.51118994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34313336499997 meters Centerline goodness : 0.108657 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95801723e-01 -9.81889229e-04 -9.15312211e-02 -3.89868913e+01] [-7.84037027e-04 9.99814294e-01 -1.92552037e-02 -5.27485370e+00] [ 9.15331296e-02 1.92461289e-02 9.95616027e-01 -2.51187918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.403133365 meters Centerline goodness : 0.108860 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95827076e-01 -9.62294058e-04 -9.12551797e-02 -3.89873078e+01] [-8.10392498e-04 9.99811735e-01 -1.93865564e-02 -5.27410426e+00] [ 9.12566551e-02 1.93796102e-02 9.95638817e-01 -2.51223346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.463133365 meters Centerline goodness : 0.109932 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95838288e-01 -9.70441927e-04 -9.11326662e-02 -3.89877175e+01] [-8.14285097e-04 9.99808654e-01 -1.95446110e-02 -5.27324302e+00] [ 9.11341952e-02 1.95374800e-02 9.95646948e-01 -2.51218603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.523133365 meters Centerline goodness : 0.109078 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95875127e-01 -6.72158217e-04 -9.07319101e-02 -3.89889974e+01] [-1.06787401e-03 9.99816476e-01 -1.91278242e-02 -5.27412270e+00] [ 9.07281155e-02 1.91458146e-02 9.95691642e-01 -2.51179144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.583133365 meters Centerline goodness : 0.107592 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95855308e-01 -8.26694627e-04 -9.09479089e-02 -3.89884774e+01] [-9.28260349e-04 9.99814227e-01 -1.92522738e-02 -5.27473188e+00] [ 9.09469290e-02 1.92569024e-02 9.95669537e-01 -2.51174447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.643133365 meters Centerline goodness : 0.126411 with order 1 Centerline is valid? [False, False] Translation: X:-38.99, Y:-5.27, Z:-2.51 [[ 9.95842976e-01 3.44238087e-03 -9.10215254e-02 -3.89882865e+01] [-4.87594753e-03 9.99867481e-01 -1.55320778e-02 -5.27340906e+00] [ 9.09559960e-02 1.59113268e-02 9.95727792e-01 -2.51179627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.703133365 meters Centerline goodness : 0.114103 with order 1 Centerline is valid? [False, False] Translation: X:-39.04, Y:-5.27, Z:-2.51 [[ 9.96046270e-01 4.74468762e-03 -8.87091597e-02 -3.90382911e+01] [-6.09562083e-03 9.99869451e-01 -1.49640938e-02 -5.27277940e+00] [ 8.86265788e-02 1.54456672e-02 9.95945160e-01 -2.51437964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.763133365 meters Centerline goodness : 0.246671 with order 3 Centerline is valid? [False, False] Translation: X:-39.04, Y:-5.27, Z:-2.51 [[ 9.95993665e-01 5.11357166e-03 -8.92774937e-02 -3.90366760e+01] [-6.51356727e-03 9.99860242e-01 -1.53971028e-02 -5.26880245e+00] [ 8.91862822e-02 1.59169318e-02 9.95887774e-01 -2.51494952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.823133365 meters Centerline goodness : 0.124305 with order 1 Centerline is valid? [False, False] Translation: X:-39.06, Y:-5.26, Z:-2.52 [[ 9.96106440e-01 -2.73819035e-03 -8.81161824e-02 -3.90571274e+01] [ 1.47304420e-03 9.99894948e-01 -1.44195294e-02 -5.26414480e+00] [ 8.81464090e-02 1.42335870e-02 9.96005831e-01 -2.51857754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.883133365 meters Centerline goodness : 0.127828 with order 1 Centerline is valid? [False, False] Translation: X:-39.06, Y:-5.26, Z:-2.52 [[ 9.96117788e-01 -2.80194195e-03 -8.79857976e-02 -3.90577780e+01] [ 1.54341521e-03 9.99895576e-01 -1.43685237e-02 -5.26498630e+00] [ 8.80168696e-02 1.41769434e-02 9.96018095e-01 -2.51817107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.943133365 meters Centerline goodness : 0.112974 with order 1 Centerline is valid? [False, False] Translation: X:-39.06, Y:-5.27, Z:-2.52 [[ 9.96042137e-01 -2.69844099e-03 -8.88413142e-02 -3.90552264e+01] [ 1.45162943e-03 9.99899596e-01 -1.40957615e-02 -5.26613279e+00] [ 8.88704308e-02 1.39110077e-02 9.95946048e-01 -2.51876763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.003133365 meters Centerline goodness : 0.110653 with order 1 Centerline is valid? [False, False] Translation: X:-39.06, Y:-5.27, Z:-2.52 [[ 9.96054985e-01 -2.65957405e-03 -8.86983339e-02 -3.90556668e+01] [ 1.42463986e-03 9.99901215e-01 -1.39832579e-02 -5.26686238e+00] [ 8.87267613e-02 1.38017306e-02 9.95960378e-01 -2.51864993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.063133365 meters Centerline goodness : 0.250414 with order 3 Centerline is valid? [False, False] Translation: X:-39.05, Y:-5.27, Z:-2.52 [[ 9.96034401e-01 -2.56575797e-03 -8.89319299e-02 -3.90546710e+01] [ 1.34312502e-03 9.99903803e-01 -1.38050802e-02 -5.26765341e+00] [ 8.89587954e-02 1.36308881e-02 9.95942032e-01 -2.51921866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.123133365 meters Centerline goodness : 0.124207 with order 1 Centerline is valid? [False, False] Translation: X:-39.05, Y:-5.27, Z:-2.52 [[ 9.95978718e-01 -2.59650324e-03 -8.95525090e-02 -3.90524529e+01] [ 1.36890400e-03 9.99904295e-01 -1.37668448e-02 -5.26830150e+00] [ 8.95796841e-02 1.35888956e-02 9.95886952e-01 -2.52014204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.183133365 meters Centerline goodness : 0.248220 with order 3 Centerline is valid? [False, False] Translation: X:-39.05, Y:-5.27, Z:-2.52 [[ 9.95959138e-01 -2.65328634e-03 -8.97683417e-02 -3.90518555e+01] [ 1.41379348e-03 9.99902829e-01 -1.38684525e-02 -5.26798317e+00] [ 8.97964157e-02 1.36854981e-02 9.95866111e-01 -2.52027570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.243133365 meters Centerline goodness : 0.107168 with order 1 Centerline is valid? [False, False] Translation: X:-39.10, Y:-5.27, Z:-2.52 [[ 9.95820585e-01 -2.46789660e-03 -9.12977101e-02 -3.90980177e+01] [ 1.23910023e-03 9.99907921e-01 -1.35134588e-02 -5.26922214e+00] [ 9.13226533e-02 1.33438534e-02 9.95731949e-01 -2.52338081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.303133365 meters Centerline goodness : 0.127820 with order 1 Centerline is valid? [False, False] Translation: X:-39.08, Y:-5.27, Z:-2.52 [[ 9.95881256e-01 5.12311047e-03 -9.05222495e-02 -3.90787255e+01] [-6.51923838e-03 9.99864220e-01 -1.51340964e-02 -5.27065621e+00] [ 9.04324248e-02 1.56618991e-02 9.95779434e-01 -2.52057956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.363133365 meters Centerline goodness : 0.463818 with order 2 Centerline is valid? [False, False] Translation: X:-39.10, Y:-5.27, Z:-2.52 [[ 9.96144664e-01 -2.34333501e-03 -8.76944546e-02 -3.91015024e+01] [ 1.10170420e-03 9.99898507e-01 -1.42043237e-02 -5.26615509e+00] [ 8.77188397e-02 1.40529479e-02 9.96046143e-01 -2.52366892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42313336499996 meters Centerline goodness : 0.103320 with order 1 Centerline is valid? [False, False] Translation: X:-39.10, Y:-5.26, Z:-2.52 [[ 9.96163171e-01 1.36871694e-03 -8.75046500e-02 -3.91016460e+01] [-2.35676497e-03 9.99934623e-01 -1.11890627e-02 -5.26303174e+00] [ 8.74836146e-02 1.13523600e-02 9.96101271e-01 -2.52401566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48313336499996 meters Centerline goodness : 0.103749 with order 1 Centerline is valid? [False, False] Translation: X:-39.15, Y:-5.26, Z:-2.53 [[ 9.95964099e-01 2.73680741e-03 -8.97107764e-02 -3.91466775e+01] [-3.69794993e-03 9.99937516e-01 -1.05493342e-02 -5.26046039e+00] [ 8.96762995e-02 1.08385041e-02 9.95911988e-01 -2.52720085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54313336499996 meters Centerline goodness : 0.104240 with order 1 Centerline is valid? [False, False] Translation: X:-39.15, Y:-5.25, Z:-2.52 [[ 9.96065325e-01 5.30003531e-03 -8.84634321e-02 -3.91521119e+01] [-6.14059537e-03 9.99938527e-01 -9.23234159e-03 -5.25120051e+00] [ 8.84090622e-02 9.73923346e-03 9.96036638e-01 -2.52489908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60313336499996 meters Centerline goodness : 0.106018 with order 1 Centerline is valid? [False, False] Translation: X:-39.15, Y:-5.24, Z:-2.53 [[ 9.96035449e-01 5.10810155e-03 -8.88104248e-02 -3.91508774e+01] [-6.02515126e-03 9.99931235e-01 -1.00609129e-02 -5.24455755e+00] [ 8.87529256e-02 1.05561222e-02 9.95997734e-01 -2.52551573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66313336499996 meters Centerline goodness : 0.094819 with order 1 Centerline is valid? [False, False] Translation: X:-39.17, Y:-5.24, Z:-2.53 [[ 9.95874340e-01 -2.81576808e-03 -9.06993371e-02 -3.91677192e+01] [ 1.98472102e-03 9.99955234e-01 -9.25154824e-03 -5.23539734e+00] [ 9.07213270e-02 9.03336662e-03 9.95835347e-01 -2.52914570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72313336499997 meters Centerline goodness : 0.093524 with order 1 Centerline is valid? [False, False] Translation: X:-39.17, Y:-5.23, Z:-2.53 [[ 9.95874876e-01 -3.58831674e-03 -9.06661783e-02 -3.91684588e+01] [ 2.64637168e-03 9.99941296e-01 -1.05072370e-02 -5.22879622e+00] [ 9.06985591e-02 1.02239569e-02 9.95825910e-01 -2.52846425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78313336499997 meters Centerline goodness : 0.408325 with order 1 Centerline is valid? [False, False] Translation: X:-39.21, Y:-5.23, Z:-2.53 [[ 9.95614296e-01 -6.37899499e-03 -9.33353235e-02 -3.92122013e+01] [ 5.22184602e-03 9.99906518e-01 -1.26367390e-02 -5.22705485e+00] [ 9.34072080e-02 1.20939353e-02 9.95554534e-01 -2.53177981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84313336499997 meters Centerline goodness : 0.453525 with order 2 Centerline is valid? [False, False] Translation: X:-39.21, Y:-5.23, Z:-2.53 [[ 9.95632648e-01 -6.61636113e-03 -9.31227904e-02 -3.92129652e+01] [ 5.45221781e-03 9.99903850e-01 -1.27500358e-02 -5.22677333e+00] [ 9.31981956e-02 1.21866262e-02 9.95572992e-01 -2.53136138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.903133365 meters Centerline goodness : 0.455657 with order 2 Centerline is valid? [False, False] Translation: X:-39.21, Y:-5.23, Z:-2.53 [[ 9.95646365e-01 -6.62075860e-03 -9.29757008e-02 -3.92134115e+01] [ 5.45752018e-03 9.99903696e-01 -1.27599023e-02 -5.22612054e+00] [ 9.30512271e-02 1.21969336e-02 9.95586613e-01 -2.53122459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.963133365 meters Centerline goodness : 0.239095 with order 1 Centerline is valid? [False, False] Translation: X:-39.21, Y:-5.23, Z:-2.53 [[ 9.95626103e-01 -6.83820721e-03 -9.31767203e-02 -3.92128252e+01] [ 5.66172301e-03 9.99900957e-01 -1.28848784e-02 -5.22634862e+00] [ 9.32556013e-02 1.23009805e-02 9.95566210e-01 -2.53126770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.023133365 meters Centerline goodness : 0.451495 with order 2 Centerline is valid? [False, False] Translation: X:-39.24, Y:-5.23, Z:-2.53 [[ 9.95775152e-01 -1.28669616e-03 -9.18160747e-02 -3.92359234e+01] [-1.40522542e-04 9.99879297e-01 -1.55361652e-02 -5.23165642e+00] [ 9.18249825e-02 1.54834295e-02 9.95654778e-01 -2.53342003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.083133365 meters Centerline goodness : 0.097834 with order 1 Centerline is valid? [False, False] Translation: X:-39.24, Y:-5.23, Z:-2.53 [[ 9.95812333e-01 -1.31703744e-03 -9.14115018e-02 -3.92368537e+01] [-1.12647575e-04 9.99877788e-01 -1.56331786e-02 -5.23109149e+00] [ 9.14209197e-02 1.55780093e-02 9.95690485e-01 -2.53348822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.143133365 meters Centerline goodness : 0.200882 with order 1 Centerline is valid? [False, False] Translation: X:-39.24, Y:-5.23, Z:-2.53 [[ 9.95803767e-01 -1.02273759e-03 -9.15085383e-02 -3.92360064e+01] [-4.36852210e-04 9.99873032e-01 -1.59288613e-02 -5.22783872e+00] [ 9.15132107e-02 1.59019957e-02 9.95676885e-01 -2.53443351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.203133365 meters Centerline goodness : 0.100283 with order 1 Centerline is valid? [False, False] Translation: X:-39.24, Y:-5.22, Z:-2.53 [[ 9.95791092e-01 -8.64343153e-04 -9.16479862e-02 -3.92355439e+01] [-6.30931427e-04 9.99867189e-01 -1.62851833e-02 -5.22486102e+00] [ 9.16498903e-02 1.62744640e-02 9.95658295e-01 -2.53477136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.263133365 meters Centerline goodness : 0.089663 with order 1 Centerline is valid? [False, False] Translation: X:-39.23, Y:-5.22, Z:-2.54 [[ 9.95749680e-01 -7.63659706e-04 -9.20977276e-02 -3.92340216e+01] [-7.74403105e-04 9.99860855e-01 -1.66634415e-02 -5.22210659e+00] [ 9.20976379e-02 1.66639373e-02 9.95610535e-01 -2.53552942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.323133365 meters Centerline goodness : 0.455953 with order 2 Centerline is valid? [False, False] Translation: X:-39.23, Y:-5.22, Z:-2.54 [[ 9.95697611e-01 -8.83958793e-04 -9.26579022e-02 -3.92321273e+01] [-6.99228153e-04 9.99854351e-01 -1.70525105e-02 -5.22021568e+00] [ 9.26594804e-02 1.70439329e-02 9.95551970e-01 -2.53634090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.383133365 meters Centerline goodness : 0.457227 with order 2 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.22, Z:-2.54 [[ 9.95465285e-01 -1.06235423e-03 -9.51196023e-02 -3.92761227e+01] [-5.97499457e-04 9.99848082e-01 -1.74199930e-02 -5.22226166e+00] [ 9.51236581e-02 1.73978322e-02 9.95313421e-01 -2.54002796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.443133365 meters Centerline goodness : 0.099874 with order 1 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.22, Z:-2.54 [[ 9.95498964e-01 -1.04038201e-03 -9.47667135e-02 -3.92776104e+01] [-6.07925832e-04 9.99849071e-01 -1.73627897e-02 -5.22237938e+00] [ 9.47704743e-02 1.73422503e-02 9.95348082e-01 -2.53919173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.503133365 meters Centerline goodness : 0.092514 with order 1 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.22, Z:-2.54 [[ 9.95437546e-01 -1.04886758e-03 -9.54095979e-02 -3.92754376e+01] [-6.22371599e-04 9.99846932e-01 -1.74850238e-02 -5.22179863e+00] [ 9.54133332e-02 1.74646294e-02 9.95284523e-01 -2.53999958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.563133365 meters Centerline goodness : 0.452232 with order 2 Centerline is valid? [False, False] Translation: X:-39.29, Y:-5.22, Z:-2.54 [[ 9.95300739e-01 7.92981331e-03 -9.65067669e-02 -3.92943752e+01] [-9.74187613e-03 9.99784716e-01 -1.83198591e-02 -5.22321513e+00] [ 9.63407175e-02 1.91739263e-02 9.95163719e-01 -2.54337813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.623133365 meters Centerline goodness : 0.448197 with order 2 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.22, Z:-2.54 [[ 9.95598897e-01 9.84152419e-04 -9.37116238e-02 -3.92786937e+01] [-2.57060183e-03 9.99855400e-01 -1.68098489e-02 -5.21593126e+00] [ 9.36815296e-02 1.69767623e-02 9.95457463e-01 -2.53989563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.683133365 meters Centerline goodness : 0.408993 with order 2 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.21, Z:-2.54 [[ 9.95658156e-01 1.11608860e-03 -9.30784153e-02 -3.92809329e+01] [-2.69659414e-03 9.99854286e-01 -1.68563246e-02 -5.21445145e+00] [ 9.30460393e-02 1.70341317e-02 9.95516084e-01 -2.53910648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.743133365 meters Centerline goodness : 0.096650 with order 1 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.21, Z:-2.54 [[ 9.95632173e-01 9.14539039e-04 -9.33581298e-02 -3.92802599e+01] [-2.55495698e-03 9.99844416e-01 -1.74532269e-02 -5.21146596e+00] [ 9.33276431e-02 1.76155202e-02 9.95479605e-01 -2.53921727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.803133365 meters Centerline goodness : 0.100356 with order 1 Centerline is valid? [False, False] Translation: X:-39.28, Y:-5.21, Z:-2.54 [[ 9.95643494e-01 6.73829252e-04 -9.32393647e-02 -3.92811791e+01] [-2.38394896e-03 9.99830959e-01 -1.82310115e-02 -5.20736340e+00] [ 9.32113189e-02 1.83738658e-02 9.95476796e-01 -2.53858270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.863133365 meters Centerline goodness : 0.454039 with order 2 Centerline is valid? [False, False] Translation: X:-39.31, Y:-5.20, Z:-2.54 [[ 9.95917047e-01 -3.50421663e-03 -9.02050742e-02 -3.93053890e+01] [ 2.14315417e-03 9.99882466e-01 -1.51809751e-02 -5.19950330e+00] [ 9.02476695e-02 1.49256685e-02 9.95807503e-01 -2.54035368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92313336499996 meters Centerline goodness : 0.437177 with order 1 Centerline is valid? [False, False] Translation: X:-39.31, Y:-5.20, Z:-2.54 [[ 9.95892404e-01 -3.88567850e-03 -9.04611611e-02 -3.93050127e+01] [ 2.45628023e-03 9.99870455e-01 -1.59072059e-02 -5.19632410e+00] [ 9.05112526e-02 1.56196675e-02 9.95772936e-01 -2.54014765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98313336499996 meters Centerline goodness : 0.454994 with order 3 Centerline is valid? [False, False] Translation: X:-39.30, Y:-5.20, Z:-2.54 [[ 9.95865356e-01 -3.86615366e-03 -9.07592688e-02 -3.93043626e+01] [ 2.42914007e-03 9.99870025e-01 -1.59383690e-02 -5.19564031e+00] [ 9.08090926e-02 1.56520025e-02 9.95745311e-01 -2.54006047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04313336499996 meters Centerline goodness : 0.403591 with order 2 Centerline is valid? [False, False] Translation: X:-39.30, Y:-5.19, Z:-2.54 [[ 9.95845637e-01 -3.86959175e-03 -9.09752365e-02 -3.93036188e+01] [ 2.42371496e-03 9.99869083e-01 -1.59981908e-02 -5.19470824e+00] [ 9.10252328e-02 1.57112304e-02 9.95724643e-01 -2.54030752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10313336499996 meters Centerline goodness : 0.202157 with order 3 Centerline is valid? [False, False] Translation: X:-39.30, Y:-5.19, Z:-2.54 [[ 9.95838899e-01 -4.23489914e-03 -9.10326980e-02 -3.93036197e+01] [ 2.75039257e-03 9.99861290e-01 -1.64266670e-02 -5.19352587e+00] [ 9.10896361e-02 1.61079383e-02 9.95712415e-01 -2.54013672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16313336499996 meters Centerline goodness : 0.344273 with order 1 Centerline is valid? [False, False] Translation: X:-39.30, Y:-5.19, Z:-2.54 [[ 9.95807939e-01 -4.31282573e-03 -9.13671012e-02 -3.93023828e+01] [ 2.81102072e-03 9.99858933e-01 -1.65593585e-02 -5.19281853e+00] [ 9.14256299e-02 1.62331059e-02 9.95679587e-01 -2.54068424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22313336499997 meters Centerline goodness : 0.103626 with order 1 Centerline is valid? [False, False] Translation: X:-39.34, Y:-5.20, Z:-2.55 [[ 9.96228490e-01 -2.31815233e-03 -8.67376614e-02 -3.93380213e+01] [ 8.57709413e-04 9.99857307e-01 -1.68709528e-02 -5.19823927e+00] [ 8.67643940e-02 1.67329281e-02 9.96088324e-01 -2.54763397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28313336499997 meters Centerline goodness : 0.094593 with order 1 Centerline is valid? [False, False] Translation: X:-39.34, Y:-5.20, Z:-2.55 [[ 9.96175489e-01 -2.66683778e-03 -8.73343179e-02 -3.93361496e+01] [ 1.18096859e-03 9.99853756e-01 -1.70608284e-02 -5.19840222e+00] [ 8.73670442e-02 1.68924400e-02 9.96032954e-01 -2.54814352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34313336499997 meters Centerline goodness : 0.225769 with order 3 Centerline is valid? [False, False] Translation: X:-39.33, Y:-5.20, Z:-2.55 [[ 9.96096491e-01 -2.84831428e-03 -8.82250935e-02 -3.93333535e+01] [ 1.34456959e-03 9.99852895e-01 -1.70991513e-02 -5.19906890e+00] [ 8.82608189e-02 1.69137799e-02 9.95953790e-01 -2.54893727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.403133365 meters Centerline goodness : 0.096945 with order 1 Centerline is valid? [False, False] Translation: X:-39.33, Y:-5.20, Z:-2.55 [[ 9.96096709e-01 -2.88522613e-03 -8.82214395e-02 -3.93332541e+01] [ 1.38930374e-03 9.99854301e-01 -1.70131533e-02 -5.19975880e+00] [ 8.82576725e-02 1.68241797e-02 9.95955586e-01 -2.54905713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.463133365 meters Centerline goodness : 0.451933 with order 1 Centerline is valid? [False, False] Translation: X:-39.36, Y:-5.20, Z:-2.55 [[ 9.96372285e-01 -9.75523229e-03 -8.45405521e-02 -3.93553036e+01] [ 8.40916463e-03 9.99832376e-01 -1.62636564e-02 -5.19523123e+00] [ 8.46850368e-02 1.54937411e-02 9.96287302e-01 -2.55134666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.523133365 meters Centerline goodness : 0.330445 with order 1 Centerline is valid? [False, False] Translation: X:-39.35, Y:-5.20, Z:-2.55 [[ 9.96333556e-01 -9.84483236e-03 -8.49854411e-02 -3.93543239e+01] [ 8.49652211e-03 9.99832471e-01 -1.62123412e-02 -5.19653083e+00] [ 8.51308113e-02 1.54308189e-02 9.96250287e-01 -2.55121587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.583133365 meters Centerline goodness : 0.456306 with order 2 Centerline is valid? [False, False] Translation: X:-39.36, Y:-5.20, Z:-2.55 [[ 9.96371200e-01 -9.77715593e-03 -8.45508082e-02 -3.93555304e+01] [ 8.47907221e-03 9.99840823e-01 -1.56982093e-02 -5.19983891e+00] [ 8.46908335e-02 1.49243312e-02 9.96295502e-01 -2.55091090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.643133365 meters Centerline goodness : 0.088129 with order 1 Centerline is valid? [False, False] Translation: X:-39.36, Y:-5.20, Z:-2.55 [[ 9.96373682e-01 -1.36749179e-02 -8.39790597e-02 -3.93570434e+01] [ 1.21317453e-02 9.99748555e-01 -1.88586025e-02 -5.20361577e+00] [ 8.42158335e-02 1.77714027e-02 9.96289050e-01 -2.55055020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.703133365 meters Centerline goodness : 0.298926 with order 1 Centerline is valid? [False, False] Translation: X:-39.37, Y:-5.22, Z:-2.55 [[ 9.96355030e-01 -5.80153591e-03 -8.51057901e-02 -3.93740012e+01] [ 4.14040816e-03 9.99797719e-01 -1.96819262e-02 -5.21548801e+00] [ 8.52027602e-02 1.92578134e-02 9.96177507e-01 -2.55409519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.763133365 meters Centerline goodness : 0.313721 with order 1 Centerline is valid? [False, False] Translation: X:-39.37, Y:-5.22, Z:-2.55 [[ 9.96365106e-01 -5.27010124e-03 -8.50223580e-02 -3.93737685e+01] [ 3.65659128e-03 9.99810470e-01 -1.91220577e-02 -5.21649668e+00] [ 8.51070189e-02 1.87416590e-02 9.96195536e-01 -2.55470245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.823133365 meters Centerline goodness : 0.109035 with order 1 Centerline is valid? [False, False] Translation: X:-39.39, Y:-5.22, Z:-2.56 [[ 9.96440472e-01 3.01589779e-03 -8.42454170e-02 -3.93939017e+01] [-4.69145643e-03 9.99794966e-01 -1.96981355e-02 -5.22369546e+00] [ 8.41687363e-02 2.00232531e-02 9.96250317e-01 -2.55791683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.883133365 meters Centerline goodness : 0.113412 with order 1 Centerline is valid? [False, False] Translation: X:-39.39, Y:-5.22, Z:-2.56 [[ 9.96365396e-01 3.15104919e-03 -8.51238396e-02 -3.93910809e+01] [-4.82742254e-03 9.99798306e-01 -1.94946931e-02 -5.22498028e+00] [ 8.50452419e-02 1.98347664e-02 9.96179647e-01 -2.55895782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.943133365 meters Centerline goodness : 0.106846 with order 1 Centerline is valid? [False, False] Translation: X:-39.39, Y:-5.23, Z:-2.56 [[ 9.96376259e-01 3.30512504e-03 -8.49907466e-02 -3.93918156e+01] [-4.95079447e-03 9.99804183e-01 -1.91594532e-02 -5.22657258e+00] [ 8.49107796e-02 1.95107961e-02 9.96197515e-01 -2.55838984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.003133365 meters Centerline goodness : 0.094272 with order 1 Centerline is valid? [False, False] Translation: X:-39.40, Y:-5.23, Z:-2.56 [[ 9.96551174e-01 1.43544541e-03 -8.29680522e-02 -3.93990317e+01] [-3.10925043e-03 9.99794176e-01 -2.00484061e-02 -5.23405722e+00] [ 8.29221970e-02 2.02372310e-02 9.96350523e-01 -2.55602652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.063133365 meters Centerline goodness : 0.453132 with order 2 Centerline is valid? [False, False] Translation: X:-39.40, Y:-5.24, Z:-2.56 [[ 9.96485846e-01 1.05864789e-03 -8.37546322e-02 -3.93962248e+01] [-2.72697148e-03 9.99800097e-01 -1.98072892e-02 -5.24137722e+00] [ 8.37169205e-02 1.99660798e-02 9.96289533e-01 -2.55708529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.123133365 meters Centerline goodness : 0.456005 with order 2 Centerline is valid? [False, False] Translation: X:-39.40, Y:-5.25, Z:-2.56 [[ 9.96465107e-01 1.49745430e-03 -8.39943354e-02 -3.93956035e+01] [-3.09814060e-03 9.99816012e-01 -1.89299696e-02 -5.24601727e+00] [ 8.39505347e-02 1.91232805e-02 9.96286409e-01 -2.55712583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.183133365 meters SLAMing on 366.243133365 meters Centerline goodness : 0.184785 with order 1 Centerline is valid? [False, False] Translation: X:-39.44, Y:-5.26, Z:-2.56 [[ 9.96149641e-01 3.38071412e-03 -8.76040210e-02 -3.94361134e+01] [-4.92595786e-03 9.99835973e-01 -1.74287840e-02 -5.26123395e+00] [ 8.75307298e-02 1.77932106e-02 9.96002898e-01 -2.56112238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.303133365 meters Centerline goodness : 0.103433 with order 1 Centerline is valid? [False, False] Translation: X:-39.44, Y:-5.26, Z:-2.56 [[ 9.96155505e-01 3.57184473e-03 -8.75297228e-02 -3.94359984e+01] [-5.06779783e-03 9.99844771e-01 -1.68745471e-02 -5.26483513e+00] [ 8.74558624e-02 1.72532559e-02 9.96018974e-01 -2.56148307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.363133365 meters Centerline goodness : 0.451811 with order 2 Centerline is valid? [False, False] Translation: X:-39.44, Y:-5.27, Z:-2.56 [[ 9.96199748e-01 3.72395751e-03 -8.70183594e-02 -3.94372274e+01] [-5.18410728e-03 9.99849437e-01 -1.65598335e-02 -5.26645507e+00] [ 8.69435895e-02 1.69480145e-02 9.96069062e-01 -2.56153319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42313336499996 meters Centerline goodness : 0.103813 with order 1 Centerline is valid? [False, False] Translation: X:-39.44, Y:-5.27, Z:-2.56 [[ 9.96143999e-01 4.01439633e-03 -8.76414198e-02 -3.94350412e+01] [-5.48010298e-03 9.99849018e-01 -1.64897086e-02 -5.26564658e+00] [ 8.75619912e-02 1.69064083e-02 9.96015598e-01 -2.56257379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48313336499996 meters Centerline goodness : 0.096254 with order 1 Centerline is valid? [False, False] Translation: X:-39.45, Y:-5.26, Z:-2.57 [[ 9.96059321e-01 -3.99033848e-03 -8.85996949e-02 -3.94532724e+01] [ 2.63986686e-03 9.99878630e-01 -1.53543438e-02 -5.26285485e+00] [ 8.86502106e-02 1.50599459e-02 9.95948964e-01 -2.56586943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54313336499996 meters Centerline goodness : 0.091919 with order 1 Centerline is valid? [False, False] Translation: X:-39.46, Y:-5.26, Z:-2.57 [[ 9.96105924e-01 -3.90288984e-03 -8.80781199e-02 -3.94550493e+01] [ 2.58869945e-03 9.99883692e-01 -1.50300328e-02 -5.26443500e+00] [ 8.81265363e-02 1.47434970e-02 9.96000172e-01 -2.56513029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60313336499996 meters Centerline goodness : 0.091035 with order 1 Centerline is valid? [False, False] Translation: X:-39.45, Y:-5.27, Z:-2.57 [[ 9.96096642e-01 -3.99221154e-03 -8.81790386e-02 -3.94543411e+01] [ 2.67614831e-03 9.99883340e-01 -1.50380803e-02 -5.26512756e+00] [ 8.82287868e-02 1.47434011e-02 9.95991121e-01 -2.56569297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66313336499996 meters Centerline goodness : 0.103610 with order 1 Centerline is valid? [False, False] Translation: X:-39.49, Y:-5.27, Z:-2.57 [[ 9.95724507e-01 -2.19127032e-03 -9.23466563e-02 -3.94934817e+01] [ 9.51958167e-04 9.99908928e-01 -1.34621298e-02 -5.26567375e+00] [ 9.23677453e-02 1.33166624e-02 9.95635910e-01 -2.57053024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72313336499997 meters Centerline goodness : 0.108256 with order 1 Centerline is valid? [False, False] Translation: X:-39.49, Y:-5.26, Z:-2.57 [[ 9.95743935e-01 -2.29537224e-03 -9.21343943e-02 -3.94940633e+01] [ 1.00446404e-03 9.99900718e-01 -1.40550701e-02 -5.26168849e+00] [ 9.21575086e-02 1.39027052e-02 9.95647382e-01 -2.57061421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78313336499997 meters Centerline goodness : 0.092570 with order 1 Centerline is valid? [False, False] Translation: X:-39.50, Y:-5.26, Z:-2.57 [[ 9.95787284e-01 -2.58830076e-03 -9.16568959e-02 -3.94957397e+01] [ 1.23777289e-03 9.99889880e-01 -1.47883824e-02 -5.25727073e+00] [ 9.16850794e-02 1.46126327e-02 9.95680831e-01 -2.57010268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84313336499997 meters Centerline goodness : 0.226603 with order 3 Centerline is valid? [False, False] Translation: X:-39.54, Y:-5.26, Z:-2.57 [[ 9.95626723e-01 -3.89614370e-03 -9.33394215e-02 -3.95422298e+01] [ 2.44128043e-03 9.99873831e-01 -1.56959200e-02 -5.25951954e+00] [ 9.33887986e-02 1.53994097e-02 9.95510618e-01 -2.57294346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.903133365 meters Centerline goodness : 0.421263 with order 3 Centerline is valid? [False, False] Translation: X:-39.54, Y:-5.26, Z:-2.57 [[ 9.95639059e-01 -3.93186502e-03 -9.32062480e-02 -3.95429950e+01] [ 2.48132918e-03 9.99874085e-01 -1.56734310e-02 -5.25982839e+00] [ 9.32561378e-02 1.53738047e-02 9.95523450e-01 -2.57233067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.963133365 meters Centerline goodness : 0.091811 with order 1 Centerline is valid? [False, False] Translation: X:-39.53, Y:-5.25, Z:-2.57 [[ 9.95698016e-01 -1.15645197e-02 -9.19332491e-02 -3.95253339e+01] [ 1.02981240e-02 9.99845607e-01 -1.42376405e-02 -5.25462983e+00] [ 9.20837067e-02 1.32296504e-02 9.95663381e-01 -2.56874622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.023133365 meters Centerline goodness : 0.448719 with order 3 Centerline is valid? [False, False] Translation: X:-39.52, Y:-5.26, Z:-2.57 [[ 9.95649631e-01 -1.15894431e-02 -9.24526763e-02 -3.95233192e+01] [ 1.03239494e-02 9.99846520e-01 -1.41545703e-02 -5.25564163e+00] [ 9.26025303e-02 1.31385160e-02 9.95616468e-01 -2.56963702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.083133365 meters Centerline goodness : 0.424552 with order 3 Centerline is valid? [False, False] Translation: X:-39.54, Y:-5.27, Z:-2.57 [[ 9.95547927e-01 -4.08327555e-03 -9.41682056e-02 -3.95390387e+01] [ 2.65899455e-03 9.99880247e-01 -1.52453797e-02 -5.26538718e+00] [ 9.42191797e-02 1.49271134e-02 9.95439565e-01 -2.57336097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.143133365 meters Centerline goodness : 0.362001 with order 1 Centerline is valid? [False, False] Translation: X:-39.54, Y:-5.27, Z:-2.57 [[ 9.95647583e-01 -6.39717596e-03 -9.29783073e-02 -3.95438127e+01] [ 4.85200721e-03 9.99846506e-01 -1.68351611e-02 -5.27068310e+00] [ 9.30717332e-02 1.63107561e-02 9.95525797e-01 -2.57157365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.203133365 meters Centerline goodness : 0.297657 with order 1 Centerline is valid? [False, False] Translation: X:-39.54, Y:-5.27, Z:-2.57 [[ 9.95664888e-01 -6.21015556e-03 -9.28055185e-02 -3.95441705e+01] [ 4.68674641e-03 9.99850827e-01 -1.66240150e-02 -5.27108844e+00] [ 9.28949122e-02 1.61169921e-02 9.95545467e-01 -2.57164183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.263133365 meters Centerline goodness : 0.451840 with order 2 Centerline is valid? [False, False] Translation: X:-39.54, Y:-5.27, Z:-2.57 [[ 9.95549031e-01 -4.40794415e-03 -9.41418945e-02 -3.95385933e+01] [ 2.99619758e-03 9.99881015e-01 -1.51320311e-02 -5.27197133e+00] [ 9.41973942e-02 1.47826112e-02 9.95443783e-01 -2.57402084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.323133365 meters Centerline goodness : 0.449768 with order 3 Centerline is valid? [False, False] Translation: X:-39.59, Y:-5.28, Z:-2.58 [[ 9.95557648e-01 -4.52162786e-03 -9.40453326e-02 -3.95877259e+01] [ 3.13930109e-03 9.99884934e-01 -1.48412721e-02 -5.27814211e+00] [ 9.41016179e-02 1.44801053e-02 9.95457288e-01 -2.57660557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.383133365 meters Centerline goodness : 0.454308 with order 1 Centerline is valid? [False, False] Translation: X:-39.57, Y:-5.28, Z:-2.57 [[ 9.95641926e-01 -1.27547960e-02 -9.23821932e-02 -3.95681283e+01] [ 1.15200555e-02 9.99837213e-01 -1.38865437e-02 -5.27687406e+00] [ 9.25442746e-02 1.27617772e-02 9.95626785e-01 -2.57456539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.443133365 meters Centerline goodness : 0.410029 with order 1 Centerline is valid? [False, False] Translation: X:-39.61, Y:-5.29, Z:-2.58 [[ 9.95474400e-01 -1.28709897e-02 -9.41544249e-02 -3.96140389e+01] [ 1.16734734e-02 9.99843960e-01 -1.32584038e-02 -5.28522413e+00] [ 9.43103819e-02 1.20992924e-02 9.95469316e-01 -2.57852262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.503133365 meters Centerline goodness : 0.173921 with order 2 Centerline is valid? [False, False] Translation: X:-39.61, Y:-5.29, Z:-2.58 [[ 9.95495995e-01 -1.25359251e-02 -9.39711409e-02 -3.96131740e+01] [ 1.13852278e-02 9.99853623e-01 -1.27713828e-02 -5.28645809e+00] [ 9.41174868e-02 1.16439776e-02 9.95493002e-01 -2.57984520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.563133365 meters Centerline goodness : 0.090511 with order 1 Centerline is valid? [False, False] Translation: X:-39.63, Y:-5.29, Z:-2.58 [[ 9.95505695e-01 -4.73013701e-03 -9.45834937e-02 -3.96306468e+01] [ 3.42632092e-03 9.99896929e-01 -1.39424696e-02 -5.29282827e+00] [ 9.46396946e-02 1.35557344e-02 9.95419294e-01 -2.58462941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.623133365 meters Centerline goodness : 0.145780 with order 2 Centerline is valid? [False, False] Translation: X:-39.63, Y:-5.29, Z:-2.59 [[ 9.95549624e-01 -4.50538544e-03 -9.41310155e-02 -3.96305668e+01] [ 3.24096793e-03 9.99902520e-01 -1.35810905e-02 -5.29425418e+00] [ 9.41830277e-02 1.32155740e-02 9.95467180e-01 -2.58584477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.683133365 meters Centerline goodness : 0.092463 with order 1 Centerline is valid? [False, False] Translation: X:-39.63, Y:-5.30, Z:-2.59 [[ 9.95592737e-01 -4.46317594e-03 -9.36759372e-02 -3.96308771e+01] [ 3.22196458e-03 9.99905064e-01 -1.33971191e-02 -5.29581832e+00] [ 9.37268376e-02 1.30362539e-02 9.95512600e-01 -2.58665354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.743133365 meters SLAMing on 367.803133365 meters Centerline goodness : 0.192690 with order 2 Centerline is valid? [False, False] Translation: X:-39.68, Y:-5.30, Z:-2.59 [[ 9.95802508e-01 -1.21472723e-03 -9.15198833e-02 -3.96787733e+01] [ 2.47626288e-04 9.99944024e-01 -1.05777271e-02 -5.29997787e+00] [ 9.15276094e-02 1.05106645e-02 9.95747068e-01 -2.59416587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.863133365 meters Centerline goodness : 0.125551 with order 1 Centerline is valid? [False, False] Translation: X:-39.68, Y:-5.30, Z:-2.60 [[ 9.95793813e-01 -1.25517466e-03 -9.16138980e-02 -3.96772417e+01] [ 2.69219083e-04 9.99941926e-01 -1.07736391e-02 -5.29844992e+00] [ 9.16221004e-02 1.07036590e-02 9.95736322e-01 -2.59558580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92313336499996 meters Centerline goodness : 0.133208 with order 1 Centerline is valid? [False, False] Translation: X:-39.68, Y:-5.30, Z:-2.60 [[ 9.95868945e-01 -5.39905815e-03 -9.06415729e-02 -3.96792044e+01] [ 4.11249944e-03 9.99888222e-01 -1.43746863e-02 -5.29917812e+00] [ 9.07090509e-02 1.39425403e-02 9.95779832e-01 -2.59561154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98313336499996 meters Centerline goodness : 0.248371 with order 3 Centerline is valid? [False, False] Translation: X:-39.68, Y:-5.30, Z:-2.60 [[ 9.95972952e-01 -5.59702103e-03 -8.94793361e-02 -3.96816779e+01] [ 4.36921970e-03 9.99893683e-01 -1.39116066e-02 -5.30235496e+00] [ 8.95476865e-02 1.34646290e-02 9.95891518e-01 -2.59542914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04313336499996 meters Centerline goodness : 0.104714 with order 1 Centerline is valid? [False, False] Translation: X:-39.68, Y:-5.31, Z:-2.60 [[ 9.96021735e-01 -9.42667362e-03 -8.86106147e-02 -3.96821657e+01] [ 7.95764263e-03 9.99825227e-01 -1.69171726e-02 -5.30567361e+00] [ 8.87546007e-02 1.61447400e-02 9.95922672e-01 -2.59676508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10313336499996 meters Centerline goodness : 0.103086 with order 1 Centerline is valid? [False, False] Translation: X:-39.72, Y:-5.32, Z:-2.61 [[ 9.96261431e-01 -1.21675330e-02 -8.55284334e-02 -3.97222067e+01] [ 1.08401626e-02 9.99813756e-01 -1.59669827e-02 -5.31900578e+00] [ 8.57067830e-02 1.49801469e-02 9.96207781e-01 -2.60572264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16313336499996 meters Centerline goodness : 0.155821 with order 2 Centerline is valid? [False, False] Translation: X:-39.72, Y:-5.33, Z:-2.61 [[ 9.96433511e-01 -1.21542869e-02 -8.35016884e-02 -3.97248515e+01] [ 1.09313887e-02 9.99826431e-01 -1.50868240e-02 -5.32709327e+00] [ 8.36705647e-02 1.41202276e-02 9.96393424e-01 -2.60744659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22313336499997 meters Centerline goodness : 0.110445 with order 1 Centerline is valid? [False, False] Translation: X:-39.75, Y:-5.33, Z:-2.61 [[ 9.96832411e-01 -3.85740288e-03 -7.94371768e-02 -3.97464126e+01] [ 2.68832475e-03 9.99886583e-01 -1.48187057e-02 -5.33456453e+00] [ 7.94853290e-02 1.45582132e-02 9.96729723e-01 -2.61357042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28313336499997 meters Centerline goodness : 0.107831 with order 1 Centerline is valid? [False, False] Translation: X:-39.75, Y:-5.34, Z:-2.62 [[ 9.97050690e-01 -3.03615201e-03 -7.66857430e-02 -3.97511312e+01] [ 1.97175349e-03 9.99900723e-01 -1.39519078e-02 -5.33546682e+00] [ 7.67204900e-02 1.37595539e-02 9.96957693e-01 -2.61529398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34313336499997 meters Centerline goodness : 0.092559 with order 1 Centerline is valid? [False, False] Translation: X:-39.75, Y:-5.34, Z:-2.62 [[ 9.97235930e-01 -2.89538315e-03 -7.42436343e-02 -3.97533773e+01] [ 1.88451397e-03 9.99904621e-01 -1.36820074e-02 -5.33636223e+00] [ 7.42761677e-02 1.35042762e-02 9.97146271e-01 -2.61919124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.403133365 meters SLAMing on 368.463133365 meters SLAMing on 368.523133365 meters SLAMing on 368.583133365 meters SLAMing on 368.643133365 meters SLAMing on 368.703133365 meters SLAMing on 368.763133365 meters Centerline goodness : 0.132557 with order 1 Centerline is valid? [False, False] Translation: X:-40.25, Y:-5.47, Z:-2.75 [[ 9.99678004e-01 3.45304533e-03 -2.51389147e-02 -4.02499069e+01] [-3.81512659e-03 9.99889475e-01 -1.43695326e-02 -5.46956250e+00] [ 2.50865176e-02 1.44608138e-02 9.99580688e-01 -2.74643177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.823133365 meters Centerline goodness : 0.129751 with order 1 Centerline is valid? [False, False] Translation: X:-40.25, Y:-5.47, Z:-2.75 [[ 9.99703175e-01 3.47464262e-03 -2.41140705e-02 -4.02505201e+01] [-3.81728548e-03 9.99892203e-01 -1.41777950e-02 -5.47118684e+00] [ 2.40622083e-02 1.42656370e-02 9.99608674e-01 -2.74894321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.883133365 meters Centerline goodness : 0.134181 with order 1 Centerline is valid? [False, False] Translation: X:-40.32, Y:-5.48, Z:-2.78 [[ 9.99965468e-01 -1.91889130e-03 -8.08583698e-03 -4.03192155e+01] [ 1.83300480e-03 9.99941970e-01 -1.06159013e-02 -5.48049096e+00] [ 8.10573851e-03 1.06007133e-02 9.99910957e-01 -2.77819194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.943133365 meters SLAMing on 369.003133365 meters Centerline goodness : 0.251434 with order 3 Centerline is valid? [False, False] Translation: X:-40.40, Y:-5.49, Z:-2.81 [[ 9.99908622e-01 -6.19044805e-03 1.20177103e-02 -4.04011444e+01] [ 6.29153366e-03 9.99944995e-01 -8.39188282e-03 -5.49239878e+00] [-1.19650997e-02 8.46672582e-03 9.99892570e-01 -2.81192122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.063133365 meters Centerline goodness : 0.290465 with order 1 Centerline is valid? [False, False] Translation: X:-40.40, Y:-5.49, Z:-2.82 [[ 9.99844708e-01 -7.01054064e-03 1.61682284e-02 -4.04019111e+01] [ 7.15653533e-03 9.99933983e-01 -8.98961529e-03 -5.49302470e+00] [-1.61041390e-02 9.10392778e-03 9.99828873e-01 -2.82332261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.123133365 meters SLAMing on 369.183133365 meters SLAMing on 369.243133365 meters SLAMing on 369.303133365 meters Centerline goodness : 0.234165 with order 3 Centerline is valid? [False, False] Translation: X:-40.63, Y:-5.53, Z:-2.91 [[ 9.97328507e-01 -3.42010364e-02 6.45456367e-02 -4.06275034e+01] [ 3.49641375e-02 9.99330964e-01 -1.07300262e-02 -5.52744603e+00] [-6.41354753e-02 1.29581436e-02 9.97857068e-01 -2.91194562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.363133365 meters Centerline goodness : 0.215313 with order 1 Centerline is valid? [False, False] Translation: X:-40.61, Y:-5.53, Z:-2.92 [[ 9.97369481e-01 -2.92338873e-02 6.63287147e-02 -4.06053392e+01] [ 3.02139811e-02 9.99447890e-01 -1.38213999e-02 -5.53444119e+00] [-6.58880407e-02 1.57890970e-02 9.97702095e-01 -2.91798771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42313336499996 meters Centerline goodness : 0.246761 with order 1 Centerline is valid? [False, False] Translation: X:-40.61, Y:-5.54, Z:-2.93 [[ 9.97041651e-01 -2.88899586e-02 7.12272239e-02 -4.06079820e+01] [ 2.98374746e-02 9.99479394e-01 -1.22746131e-02 -5.54229155e+00] [-7.08355295e-02 1.43635409e-02 9.97384588e-01 -2.93044150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48313336499996 meters Centerline goodness : 0.233077 with order 1 Centerline is valid? [False, False] Translation: X:-40.62, Y:-5.55, Z:-2.95 [[ 9.96973487e-01 -2.08288266e-02 7.49001124e-02 -4.06208700e+01] [ 2.18460235e-02 9.99679570e-01 -1.27870817e-02 -5.54743596e+00] [-7.46097722e-02 1.43846510e-02 9.97109053e-01 -2.94547543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54313336499996 meters Centerline goodness : 0.233309 with order 1 Centerline is valid? [False, False] Translation: X:-40.59, Y:-5.55, Z:-2.96 [[ 9.96965002e-01 -1.27351569e-02 7.68023504e-02 -4.05947996e+01] [ 1.38460822e-02 9.99806829e-01 -1.39496052e-02 -5.54997298e+00] [-7.66098640e-02 1.49706798e-02 9.96948749e-01 -2.95700465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60313336499996 meters Centerline goodness : 0.214306 with order 3 Centerline is valid? [False, False] Translation: X:-40.60, Y:-5.55, Z:-2.97 [[ 9.96769067e-01 -1.22169870e-02 7.93862172e-02 -4.05955010e+01] [ 1.32876351e-02 9.99827564e-01 -1.29723180e-02 -5.55321137e+00] [-7.92140455e-02 1.39852604e-02 9.96759523e-01 -2.96514014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66313336499996 meters Centerline goodness : 0.228542 with order 1 Centerline is valid? [False, False] Translation: X:-40.60, Y:-5.56, Z:-2.97 [[ 9.96581137e-01 -1.16549318e-02 8.17936369e-02 -4.05957700e+01] [ 1.26700164e-02 9.99848892e-01 -1.19022544e-02 -5.55652413e+00] [-8.16425573e-02 1.28978889e-02 9.96578214e-01 -2.97344027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72313336499997 meters Centerline goodness : 0.226083 with order 1 Centerline is valid? [False, False] Translation: X:-40.60, Y:-5.56, Z:-2.99 [[ 9.96209356e-01 -1.12358330e-02 8.62593428e-02 -4.05969870e+01] [ 1.22532527e-02 9.99861362e-01 -1.12744853e-02 -5.55671680e+00] [-8.61207058e-02 1.22887052e-02 9.96208920e-01 -2.98751255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78313336499997 meters Centerline goodness : 0.223954 with order 1 Centerline is valid? [False, False] Translation: X:-40.61, Y:-5.56, Z:-3.00 [[ 9.95868709e-01 -3.59522656e-03 9.07336091e-02 -4.06110856e+01] [ 4.76730784e-03 9.99907931e-01 -1.27044120e-02 -5.55604250e+00] [-9.06795801e-02 1.30844814e-02 9.95794161e-01 -3.00362924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84313336499997 meters Centerline goodness : 0.280178 with order 2 Centerline is valid? [False, False] Translation: X:-40.61, Y:-5.56, Z:-3.02 [[ 9.95501705e-01 -2.41010275e-03 9.47129662e-02 -4.06079955e+01] [ 3.51121645e-03 9.99928157e-01 -1.14608634e-02 -5.55561950e+00] [-9.46785399e-02 1.17418668e-02 9.95438648e-01 -3.02223120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.903133365 meters Centerline goodness : 0.257455 with order 3 Centerline is valid? [False, False] Translation: X:-40.63, Y:-5.56, Z:-3.04 [[ 9.94946690e-01 -8.71388102e-03 1.00025754e-01 -4.06250552e+01] [ 9.56411667e-03 9.99922070e-01 -8.02377625e-03 -5.55563296e+00] [-9.99480407e-02 8.93988761e-03 9.94952495e-01 -3.03814516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.963133365 meters Centerline goodness : 0.274842 with order 1 Centerline is valid? [False, False] Translation: X:-40.66, Y:-5.56, Z:-3.06 [[ 9.94381058e-01 -8.19942692e-03 1.05541848e-01 -4.06604479e+01] [ 8.99551710e-03 9.99934552e-01 -7.06905881e-03 -5.55544608e+00] [-1.05476978e-01 7.97874167e-03 9.94389736e-01 -3.05730812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.023133365 meters Centerline goodness : 0.296585 with order 3 Centerline is valid? [False, False] Translation: X:-40.69, Y:-5.55, Z:-3.08 [[ 9.93832169e-01 -5.24348948e-03 1.10770602e-01 -4.06940880e+01] [ 5.83096666e-03 9.99970598e-01 -4.98026481e-03 -5.55304088e+00] [-1.10741231e-01 5.59544706e-03 9.93833523e-01 -3.08304938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.083133365 meters Centerline goodness : 0.313431 with order 3 Centerline is valid? [False, False] Translation: X:-40.69, Y:-5.55, Z:-3.10 [[ 9.93808229e-01 -5.06854176e-03 1.10993303e-01 -4.06874546e+01] [ 5.67996253e-03 9.99970384e-01 -5.19312279e-03 -5.55116539e+00] [-1.10963695e-01 5.79140597e-03 9.93807586e-01 -3.09511835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.143133365 meters Centerline goodness : 0.284059 with order 3 Centerline is valid? [False, False] Translation: X:-40.72, Y:-5.55, Z:-3.12 [[ 9.93460032e-01 -6.25381998e-03 1.14009013e-01 -4.07169362e+01] [ 6.90324776e-03 9.99962114e-01 -5.30236761e-03 -5.55065010e+00] [-1.13971533e-01 6.05472275e-03 9.93465566e-01 -3.11819335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.203133365 meters Centerline goodness : 0.238993 with order 1 Centerline is valid? [False, False] Translation: X:-40.71, Y:-5.55, Z:-3.13 [[ 9.93154167e-01 -6.97022428e-03 1.16602814e-01 -4.07141286e+01] [ 7.72001711e-03 9.99952320e-01 -5.97991762e-03 -5.55191977e+00] [-1.16555573e-01 6.83915582e-03 9.93160624e-01 -3.13269533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.263133365 meters Centerline goodness : 0.170500 with order 3 Centerline is valid? [False, False] Translation: X:-40.75, Y:-5.55, Z:-3.15 [[ 9.92760793e-01 -5.74985612e-03 1.19970606e-01 -4.07488683e+01] [ 6.30625669e-03 9.99971047e-01 -4.25866609e-03 -5.55368569e+00] [-1.19942646e-01 4.98440216e-03 9.92768310e-01 -3.14930024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.323133365 meters Centerline goodness : 0.214897 with order 1 Centerline is valid? [False, False] Translation: X:-40.78, Y:-5.56, Z:-3.17 [[ 9.92607455e-01 -4.68108689e-03 1.21278719e-01 -4.07801795e+01] [ 5.11154762e-03 9.99981692e-01 -3.23848316e-03 -5.55673226e+00] [-1.21261339e-01 3.83446448e-03 9.92613210e-01 -3.16609267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.383133365 meters Centerline goodness : 0.214762 with order 1 Centerline is valid? [False, False] Translation: X:-40.81, Y:-5.56, Z:-3.19 [[ 9.92643792e-01 -2.15607813e-03 1.21052272e-01 -4.08065533e+01] [ 2.27294178e-03 9.99997075e-01 -8.27326232e-04 -5.56031232e+00] [-1.21050135e-01 1.09638502e-03 9.92645789e-01 -3.18774491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.443133365 meters Centerline goodness : 0.214783 with order 1 Centerline is valid? [False, False] Translation: X:-40.84, Y:-5.56, Z:-3.20 [[ 9.92451847e-01 -1.44771552e-03 1.22626404e-01 -4.08390929e+01] [ 1.45752639e-03 9.99998938e-01 9.69792791e-06 -5.56372706e+00] [-1.22626287e-01 1.69106493e-04 9.92452903e-01 -3.20357160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.503133365 meters Centerline goodness : 0.212093 with order 1 Centerline is valid? [False, False] Translation: X:-40.84, Y:-5.57, Z:-3.22 [[ 9.92142928e-01 2.66494564e-04 1.25109311e-01 -4.08375581e+01] [-4.81979785e-04 9.99998452e-01 1.69210974e-03 -5.56568662e+00] [-1.25108667e-01 -1.73911487e-03 9.92141521e-01 -3.21587191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.563133365 meters Centerline goodness : 0.217663 with order 1 Centerline is valid? [False, False] Translation: X:-40.83, Y:-5.57, Z:-3.23 [[ 9.92077898e-01 2.47580596e-03 1.25599818e-01 -4.08332640e+01] [-2.96807556e-03 9.99988630e-01 3.73236487e-03 -5.56500850e+00] [-1.25589150e-01 -4.07558644e-03 9.92073967e-01 -3.22549978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.623133365 meters Centerline goodness : 0.266816 with order 1 Centerline is valid? [False, False] Translation: X:-40.82, Y:-5.56, Z:-3.24 [[ 9.92081183e-01 5.34453856e-03 1.25484511e-01 -4.08240417e+01] [-6.18848178e-03 9.99960774e-01 6.33661797e-03 -5.56351501e+00] [-1.25445722e-01 -7.06299806e-03 9.92075342e-01 -3.24129033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.683133365 meters Centerline goodness : 0.170668 with order 3 Centerline is valid? [False, False] Translation: X:-40.82, Y:-5.56, Z:-3.25 [[ 9.91921818e-01 7.61711705e-03 1.26621821e-01 -4.08213702e+01] [-8.71600264e-03 9.99928992e-01 8.12669580e-03 -5.55999212e+00] [-1.26550928e-01 -9.16468300e-03 9.91917774e-01 -3.25085613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.743133365 meters Centerline goodness : 0.208551 with order 1 Centerline is valid? [False, False] Translation: X:-40.82, Y:-5.56, Z:-3.25 [[ 9.91844187e-01 7.56179489e-03 1.27231785e-01 -4.08213571e+01] [-8.61816727e-03 9.99932797e-01 7.75429190e-03 -5.55772727e+00] [-1.27164598e-01 -8.78755415e-03 9.91842701e-01 -3.25433565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.803133365 meters Centerline goodness : 0.161068 with order 3 Centerline is valid? [False, False] Translation: X:-40.83, Y:-5.55, Z:-3.28 [[ 9.91785704e-01 2.81434615e-03 1.27879618e-01 -4.08285781e+01] [-4.41563891e-03 9.99915337e-01 1.22401028e-02 -5.55334897e+00] [-1.27834343e-01 -1.27042292e-02 9.91714164e-01 -3.27568563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.863133365 meters Centerline goodness : 0.266018 with order 1 Centerline is valid? [False, False] Translation: X:-40.86, Y:-5.55, Z:-3.29 [[ 9.91714060e-01 2.45096405e-03 1.28441492e-01 -4.08598042e+01] [-4.06948014e-03 9.99915575e-01 1.23402766e-02 -5.55279251e+00] [-1.28400403e-01 -1.27607159e-02 9.91640308e-01 -3.29391742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92313336499996 meters Centerline goodness : 0.277496 with order 1 Centerline is valid? [False, False] Translation: X:-40.85, Y:-5.55, Z:-3.31 [[ 9.91535441e-01 -1.20074684e-04 1.29836265e-01 -4.08546270e+01] [-1.05160784e-03 9.99959344e-01 8.95571242e-03 -5.54965576e+00] [-1.29832061e-01 -9.01644309e-03 9.91495002e-01 -3.30917469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98313336499996 meters Centerline goodness : 0.184088 with order 1 Centerline is valid? [False, False] Translation: X:-40.87, Y:-5.55, Z:-3.32 [[ 9.91529324e-01 -7.20586902e-03 1.29682982e-01 -4.08700555e+01] [ 5.60578232e-03 9.99903647e-01 1.26992543e-02 -5.55105006e+00] [-1.29761995e-01 -1.18647084e-02 9.91474182e-01 -3.32174266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04313336499996 meters Centerline goodness : 0.093826 with order 1 Centerline is valid? [False, False] Translation: X:-40.86, Y:-5.55, Z:-3.33 [[ 9.91533727e-01 -5.72657071e-03 1.29723066e-01 -4.08637310e+01] [ 3.94472918e-03 9.99894375e-01 1.39885208e-02 -5.54813232e+00] [-1.29789470e-01 -1.33583679e-02 9.91451586e-01 -3.33301732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10313336499996 meters Centerline goodness : 0.094283 with order 1 Centerline is valid? [False, False] Translation: X:-40.86, Y:-5.54, Z:-3.35 [[ 9.91426855e-01 -4.47848219e-03 1.30586119e-01 -4.08575126e+01] [ 2.63107111e-03 9.99894057e-01 1.43161707e-02 -5.54195118e+00] [-1.30636398e-01 -1.38498548e-02 9.91333603e-01 -3.34817131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16313336499996 meters Centerline goodness : 0.099461 with order 1 Centerline is valid? [False, False] Translation: X:-40.85, Y:-5.53, Z:-3.37 [[ 9.91506251e-01 -1.08014100e-03 1.30054559e-01 -4.08459321e+01] [-1.12800093e-03 9.99856486e-01 1.69037209e-02 -5.53290493e+00] [-1.30054152e-01 -1.69068466e-02 9.91362737e-01 -3.36555939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22313336499997 meters Centerline goodness : 0.099288 with order 1 Centerline is valid? [False, False] Translation: X:-40.86, Y:-5.53, Z:-3.38 [[ 9.91364976e-01 7.64934703e-03 1.30908260e-01 -4.08589310e+01] [-9.64270482e-03 9.99846917e-01 1.46000244e-02 -5.52958442e+00] [-1.30776539e-01 -1.57362626e-02 9.91286975e-01 -3.37999212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28313336499997 meters Centerline goodness : 0.099326 with order 1 Centerline is valid? [False, False] Translation: X:-40.86, Y:-5.52, Z:-3.39 [[ 9.91243123e-01 9.70195274e-03 1.31692606e-01 -4.08559014e+01] [-1.18426439e-02 9.99810016e-01 1.54817331e-02 -5.51860673e+00] [-1.31517384e-01 -1.69057501e-02 9.91169700e-01 -3.38892275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34313336499997 meters Centerline goodness : 0.091698 with order 1 Centerline is valid? [False, False] Translation: X:-40.85, Y:-5.50, Z:-3.41 [[ 9.91230416e-01 1.23975844e-02 1.31562010e-01 -4.08451341e+01] [-1.47453811e-02 9.99748681e-01 1.68863460e-02 -5.50376610e+00] [-1.31319596e-01 -1.86781918e-02 9.91164108e-01 -3.40567203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.403133365 meters Centerline goodness : 0.365583 with order 3 Centerline is valid? [False, False] Translation: X:-40.84, Y:-5.49, Z:-3.41 [[ 9.91220820e-01 1.07129892e-02 1.31782081e-01 -4.08404879e+01] [-1.26656553e-02 9.99821941e-01 1.39880898e-02 -5.49330178e+00] [-1.31608762e-01 -1.55343922e-02 9.91180012e-01 -3.41461081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.463133365 meters Centerline goodness : 0.367624 with order 3 Centerline is valid? [False, False] Translation: X:-40.81, Y:-5.48, Z:-3.42 [[ 9.91110597e-01 2.82130794e-03 1.33010615e-01 -4.08146081e+01] [-4.91468046e-03 9.99869139e-01 1.54127033e-02 -5.48371186e+00] [-1.32949725e-01 -1.59293983e-02 9.90994765e-01 -3.42349079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.523133365 meters Centerline goodness : 0.074376 with order 1 Centerline is valid? [False, False] Translation: X:-40.78, Y:-5.47, Z:-3.44 [[ 9.91442609e-01 -3.07510322e-03 1.30507076e-01 -4.07840912e+01] [ 1.07420684e-03 9.99880846e-01 1.53993365e-02 -5.46737435e+00] [-1.30538880e-01 -1.51273667e-02 9.91327778e-01 -3.43802612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.583133365 meters Centerline goodness : 0.304167 with order 1 Centerline is valid? [False, False] Translation: X:-40.77, Y:-5.45, Z:-3.45 [[ 9.91547315e-01 -2.34750286e-03 1.29724366e-01 -4.07719905e+01] [ 4.52269825e-04 9.99892768e-01 1.46372209e-02 -5.45290233e+00] [-1.29744817e-01 -1.44548267e-02 9.91442051e-01 -3.45396976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.643133365 meters Centerline goodness : 0.304266 with order 1 Centerline is valid? [False, False] Translation: X:-40.76, Y:-5.44, Z:-3.47 [[ 9.91596005e-01 -1.52332109e-03 1.29363990e-01 -4.07637690e+01] [-3.65700093e-04 9.99893678e-01 1.45773632e-02 -5.44471496e+00] [-1.29372442e-01 -1.45021636e-02 9.91490019e-01 -3.46525235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.703133365 meters Centerline goodness : 0.334321 with order 3 Centerline is valid? [False, False] Translation: X:-40.74, Y:-5.43, Z:-3.48 [[ 9.91887406e-01 -6.82555568e-03 1.26936151e-01 -4.07356676e+01] [ 4.87549651e-03 9.99865380e-01 1.56668783e-02 -5.43300900e+00] [-1.27025998e-01 -1.49209025e-02 9.91787156e-01 -3.47620489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.763133365 meters Centerline goodness : 0.305720 with order 1 Centerline is valid? [False, False] Translation: X:-40.73, Y:-5.43, Z:-3.49 [[ 9.91991683e-01 -6.60577461e-03 1.26130351e-01 -4.07253353e+01] [ 4.71289680e-03 9.99871844e-01 1.52998354e-02 -5.42803431e+00] [-1.26215254e-01 -1.45828701e-02 9.91895685e-01 -3.48809744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.823133365 meters Centerline goodness : 0.322245 with order 1 Centerline is valid? [False, False] Translation: X:-40.72, Y:-5.42, Z:-3.50 [[ 9.92067531e-01 -5.61773852e-03 1.25580472e-01 -4.07171751e+01] [ 3.65866751e-03 9.99868078e-01 1.58253282e-02 -5.42418776e+00] [-1.25652807e-01 -1.52403370e-02 9.91957209e-01 -3.49790464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.883133365 meters Centerline goodness : 0.074130 with order 1 Centerline is valid? [False, False] Translation: X:-40.71, Y:-5.42, Z:-3.51 [[ 9.92064158e-01 -4.64049958e-03 1.25647013e-01 -4.07075018e+01] [ 2.59732099e-03 9.99861806e-01 1.64202012e-02 -5.41907958e+00] [-1.25705847e-01 -1.59635474e-02 9.91939114e-01 -3.51107020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.943133365 meters Centerline goodness : 0.335884 with order 1 Centerline is valid? [False, False] Translation: X:-40.70, Y:-5.42, Z:-3.52 [[ 9.92157592e-01 -5.87565920e-03 1.24855077e-01 -4.06979060e+01] [ 4.05901909e-03 9.99882244e-01 1.47994039e-02 -5.41764243e+00] [-1.24927330e-01 -1.41765518e-02 9.92064609e-01 -3.52153371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.003133365 meters Centerline goodness : 0.344968 with order 1 Centerline is valid? [False, False] Translation: X:-40.68, Y:-5.42, Z:-3.54 [[ 9.92254612e-01 -5.29002345e-03 1.24108017e-01 -4.06833235e+01] [ 3.44428614e-03 9.99880330e-01 1.50818748e-02 -5.41532096e+00] [-1.24172948e-01 -1.45375964e-02 9.92154089e-01 -3.53778729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.063133365 meters Centerline goodness : 0.315801 with order 1 Centerline is valid? [False, False] Translation: X:-40.68, Y:-5.41, Z:-3.55 [[ 9.92235456e-01 -5.42735747e-03 1.24255152e-01 -4.06768258e+01] [ 3.64864920e-03 9.99887660e-01 1.45380584e-02 -5.41296501e+00] [-1.24320096e-01 -1.39718136e-02 9.92143791e-01 -3.54699144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.123133365 meters Centerline goodness : 0.108167 with order 1 Centerline is valid? [False, False] Translation: X:-40.67, Y:-5.41, Z:-3.56 [[ 9.92335464e-01 -4.41634427e-03 1.23494221e-01 -4.06665399e+01] [ 2.58794184e-03 9.99884713e-01 1.49620658e-02 -5.40998229e+00] [-1.23546061e-01 -1.45277926e-02 9.92232490e-01 -3.55796280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.183133365 meters Centerline goodness : 0.105956 with order 1 Centerline is valid? [False, False] Translation: X:-40.61, Y:-5.40, Z:-3.56 [[ 9.93197230e-01 -3.27286299e-03 1.16398244e-01 -4.06122608e+01] [ 1.61902686e-03 9.99896437e-01 1.43001388e-02 -5.40308121e+00] [-1.16432992e-01 -1.40144063e-02 9.93099670e-01 -3.56223157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.243133365 meters Centerline goodness : 0.102240 with order 1 Centerline is valid? [False, False] Translation: X:-40.60, Y:-5.41, Z:-3.58 [[ 9.93185864e-01 -3.56928835e-03 1.16486481e-01 -4.06008840e+01] [ 1.92998383e-03 9.99897558e-01 1.41826763e-02 -5.40582530e+00] [-1.16525170e-01 -1.38612165e-02 9.93091009e-01 -3.57524279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.303133365 meters Centerline goodness : 0.103701 with order 1 Centerline is valid? [False, False] Translation: X:-40.59, Y:-5.41, Z:-3.58 [[ 9.93211012e-01 -3.79753057e-03 1.16264631e-01 -4.05924404e+01] [ 2.19836624e-03 9.99901256e-01 1.38796641e-02 -5.40696742e+00] [-1.16305859e-01 -1.35298430e-02 9.93121287e-01 -3.58496300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.363133365 meters Centerline goodness : 0.099657 with order 1 Centerline is valid? [False, False] Translation: X:-40.56, Y:-5.40, Z:-3.59 [[ 9.93692286e-01 2.67413682e-03 1.12109273e-01 -4.05590332e+01] [-4.12640567e-03 9.99910532e-01 1.27240136e-02 -5.40174104e+00] [-1.12065217e-01 -1.31063625e-02 9.93614417e-01 -3.59384921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42313336499996 meters Centerline goodness : 0.095962 with order 1 Centerline is valid? [False, False] Translation: X:-40.55, Y:-5.40, Z:-3.61 [[ 9.93745147e-01 6.23333016e-03 1.11497661e-01 -4.05473705e+01] [-8.07244139e-03 9.99838591e-01 1.60507888e-02 -5.39924592e+00] [-1.11379615e-01 -1.68504518e-02 9.93635066e-01 -3.60501779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48313336499996 meters Centerline goodness : 0.096963 with order 1 Centerline is valid? [False, False] Translation: X:-40.54, Y:-5.39, Z:-3.62 [[ 9.93828727e-01 7.49191704e-03 1.10672185e-01 -4.05359346e+01] [-9.34228403e-03 9.99824959e-01 1.62102573e-02 -5.39489668e+00] [-1.10531367e-01 -1.71441504e-02 9.93724758e-01 -3.61589964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54313336499996 meters Centerline goodness : 0.093268 with order 1 Centerline is valid? [False, False] Translation: X:-40.52, Y:-5.39, Z:-3.63 [[ 9.93881911e-01 6.89784321e-03 1.10232328e-01 -4.05235055e+01] [-8.64910710e-03 9.99843746e-01 1.54167633e-02 -5.39205526e+00] [-1.10108761e-01 -1.62758534e-02 9.93786273e-01 -3.62810738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60313336499996 meters Centerline goodness : 0.094193 with order 1 Centerline is valid? [False, False] Translation: X:-40.52, Y:-5.39, Z:-3.63 [[ 9.93920599e-01 6.71897334e-03 1.09894031e-01 -4.05205909e+01] [-8.46222976e-03 9.99845536e-01 1.54043760e-02 -5.39193043e+00] [-1.09773555e-01 -1.62406752e-02 9.93823932e-01 -3.62993957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66313336499996 meters Centerline goodness : 0.092239 with order 1 Centerline is valid? [False, False] Translation: X:-40.49, Y:-5.39, Z:-3.64 [[ 9.93706502e-01 -3.37973233e-03 1.11964121e-01 -4.04898124e+01] [ 1.54508227e-03 9.99863187e-01 1.64687725e-02 -5.39000195e+00] [-1.12004463e-01 -1.61921325e-02 9.93575772e-01 -3.64170023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72313336499997 meters Centerline goodness : 0.090257 with order 1 Centerline is valid? [False, False] Translation: X:-40.48, Y:-5.39, Z:-3.65 [[ 9.93784514e-01 -4.61677093e-03 1.11225108e-01 -4.04790047e+01] [ 2.86527255e-03 9.99869449e-01 1.59020275e-02 -5.39185450e+00] [-1.11284003e-01 -1.54844984e-02 9.93668003e-01 -3.65084771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78313336499997 meters Centerline goodness : 0.090306 with order 1 Centerline is valid? [False, False] Translation: X:-40.43, Y:-5.39, Z:-3.65 [[ 9.94592471e-01 -6.39784513e-03 1.03657530e-01 -4.04337445e+01] [ 4.76633527e-03 9.99860959e-01 1.59794893e-02 -5.39383079e+00] [-1.03745352e-01 -1.53990133e-02 9.94484677e-01 -3.65360169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84313336499997 meters Centerline goodness : 0.093730 with order 1 Centerline is valid? [False, False] Translation: X:-40.42, Y:-5.39, Z:-3.66 [[ 9.94705365e-01 -5.39917441e-03 1.02625947e-01 -4.04213387e+01] [ 3.72411573e-03 9.99856822e-01 1.65065806e-02 -5.39339062e+00] [-1.02700375e-01 -1.60369934e-02 9.94583052e-01 -3.66404804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 27001.15 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%| | 0/12430 [00:00