+ python -m lidar_slam --result /working/result.json --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters Centerline goodness : 0.981588 with order 1 Centerline is valid? [0, True] SLAMing on 0.08483917299999999 meters Centerline goodness : 0.987370 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 0.99995888 -0.00906906 0. 0.05957074] [ 0.00906906 0.99995888 0. -0.00350369] [ 0. 0. 1. -0.00722661] [ 0. 0. 0. 1. ]] SLAMing on 0.144839173 meters Centerline goodness : 0.987035 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.03 [[ 0.99969683 -0.02462201 0. 0.11989054] [ 0.02462201 0.99969683 0. -0.00502435] [ 0. 0. 1. -0.03478774] [ 0. 0. 0. 1. ]] SLAMing on 0.20483917299999996 meters Centerline goodness : 0.986982 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.04 [[ 0.99973982 -0.02280971 0. 0.1797145 ] [ 0.02280971 0.99973982 0. -0.00943344] [ 0. 0. 1. -0.03613257] [ 0. 0. 0. 1. ]] SLAMing on 0.264839173 meters Centerline goodness : 0.989660 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.00, Z:-0.04 [[ 0.99952283 -0.03088868 0. 0.23987233] [ 0.03088868 0.99952283 0. -0.0029468 ] [ 0. 0. 1. -0.04171141] [ 0. 0. 0. 1. ]] SLAMing on 0.3248391729999999 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:-0.05 [[ 0.99954481 -0.030169 0. 0.30258802] [ 0.030169 0.99954481 0. -0.00527823] [ 0. 0. 1. -0.0467044 ] [ 0. 0. 0. 1. ]] SLAMing on 0.3848391729999999 meters Centerline goodness : 0.991540 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:0.01, Z:-0.03 [[ 0.99983057 -0.0184075 0. 0.36298254] [ 0.0184075 0.99983057 0. 0.00994858] [ 0. 0. 1. -0.03380719] [ 0. 0. 0. 1. ]] SLAMing on 0.4448391729999999 meters Centerline goodness : 0.986328 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:0.01, Z:-0.07 [[ 0.99999789 -0.00205439 0. 0.42383613] [ 0.00205439 0.99999789 0. 0.0143616 ] [ 0. 0. 1. -0.06697405] [ 0. 0. 0. 1. ]] SLAMing on 0.5048391729999999 meters Centerline goodness : 0.986381 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:0.01, Z:-0.06 [[ 0.99998652 0.00519209 0. 0.48373893] [-0.00519209 0.99998652 0. 0.01439122] [ 0. 0. 1. -0.06183569] [ 0. 0. 0. 1. ]] SLAMing on 0.564839173 meters Centerline goodness : 0.986194 with order 1 Centerline is valid? [True, True] Translation: X:0.54, Y:0.02, Z:-0.07 [[ 0.99997846 -0.00656326 0. 0.54361308] [ 0.00656326 0.99997846 0. 0.01975992] [ 0. 0. 1. -0.07384963] [ 0. 0. 0. 1. ]] SLAMing on 0.6248391729999999 meters Centerline goodness : 0.985079 with order 1 Centerline is valid? [True, True] Translation: X:0.60, Y:0.02, Z:-0.06 [[ 0.9995997 -0.0282919 0. 0.60350226] [ 0.0282919 0.9995997 0. 0.02387651] [ 0. 0. 1. -0.06168848] [ 0. 0. 0. 1. ]] SLAMing on 0.684839173 meters Centerline goodness : 0.982795 with order 1 Centerline is valid? [True, True] Translation: X:0.66, Y:0.03, Z:-0.08 [[ 0.99862155 -0.05248815 0. 0.66268257] [ 0.05248815 0.99862155 0. 0.02602059] [ 0. 0. 1. -0.07775735] [ 0. 0. 0. 1. ]] SLAMing on 0.7448391729999999 meters Centerline goodness : 0.982979 with order 1 Centerline is valid? [True, True] Translation: X:0.72, Y:0.02, Z:-0.09 [[ 0.99878258 -0.0493291 0. 0.7218897 ] [ 0.0493291 0.99878258 0. 0.02214745] [ 0. 0. 1. -0.09092879] [ 0. 0. 0. 1. ]] SLAMing on 0.804839173 meters Centerline goodness : 0.992934 with order 1 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:-0.11 [[ 0.99872319 -0.05051716 0. 0.78237791] [ 0.05051716 0.99872319 0. 0.02428938] [ 0. 0. 1. -0.11031547] [ 0. 0. 0. 1. ]] SLAMing on 0.8648391729999999 meters Centerline goodness : 0.994100 with order 1 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:-0.13 [[ 0.99892336 -0.04639086 0. 0.84269995] [ 0.04639086 0.99892336 0. 0.01500659] [ 0. 0. 1. -0.13222229] [ 0. 0. 0. 1. ]] SLAMing on 0.924839173 meters Centerline goodness : 0.951354 with order 2 Centerline is valid? [True, True] Translation: X:0.96, Y:0.03, Z:-0.20 [[ 0.99616781 -0.08746251 0. 0.96226862] [ 0.08746251 0.99616781 0. 0.02764734] [ 0. 0. 1. -0.2019846 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9848391729999999 meters Centerline goodness : 0.983787 with order 1 Centerline is valid? [True, True] Translation: X:0.95, Y:0.03, Z:-0.17 [[ 0.99823863 -0.05932654 0. 0.94791739] [ 0.05932654 0.99823863 0. 0.0277689 ] [ 0. 0. 1. -0.1700096 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0448391729999997 meters Centerline goodness : 0.983246 with order 1 Centerline is valid? [True, True] Translation: X:1.01, Y:0.02, Z:-0.18 [[ 0.99980518 -0.01973836 0. 1.00827231] [ 0.01973836 0.99980518 0. 0.02468384] [ 0. 0. 1. -0.18017008] [ 0. 0. 0. 1. ]] SLAMing on 1.1048391729999998 meters Centerline goodness : 0.981816 with order 1 Centerline is valid? [True, True] Translation: X:1.07, Y:0.05, Z:-0.15 [[ 0.99894821 -0.04585273 0. 1.06887257] [ 0.04585273 0.99894821 0. 0.04836056] [ 0. 0. 1. -0.14628886] [ 0. 0. 0. 1. ]] SLAMing on 1.1648391729999998 meters Centerline goodness : 0.887844 with order 1 Centerline is valid? [True, False] Translation: X:1.00, Y:0.04, Z:-0.22 [[ 0.99854186 0.04321206 -0.03235534 0.99624219] [-0.04310679 0.99906268 0.00394437 0.04072806] [ 0.03249546 -0.00254388 0.99946865 -0.22019155] [ 0. 0. 0. 1. ]] SLAMing on 1.2248391729999997 meters Centerline goodness : 0.753423 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.25 [[ 0.98507281 -0.04974903 -0.16479259 1.08248938] [ 0.11222834 0.91150104 0.3956901 -0.16982552] [ 0.13052342 -0.40827795 0.90347814 -0.24913447] [ 0. 0. 0. 1. ]] SLAMing on 1.2848391729999997 meters Centerline goodness : 0.963962 with order 1 Centerline is valid? [False, True] Translation: X:1.00, Y:0.31, Z:0.89 [[ 0.92781771 -0.33443396 0.16525202 1.00005175] [ 0.2497816 0.2279526 -0.94108808 0.30847281] [ 0.27706219 0.91443509 0.29503391 0.88530958] [ 0. 0. 0. 1. ]] SLAMing on 1.3448391729999998 meters Centerline goodness : 0.960710 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:0.26, Z:0.16 [[ 0.92664071 -0.27134627 -0.260208 1.2858078 ] [ 0.26238026 0.96247323 -0.06929568 0.26279532] [ 0.26924635 -0.00406125 0.96306278 0.16041769] [ 0. 0. 0. 1. ]] SLAMing on 1.4048391729999998 meters Centerline goodness : 0.952323 with order 3 Centerline is valid? [True, True] Translation: X:1.34, Y:0.28, Z:0.17 [[ 0.92115599 -0.28942232 -0.26020447 1.34131784] [ 0.28115529 0.95715619 -0.06930889 0.28199818] [ 0.26911586 -0.00931356 0.96306278 0.1747767 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4648391729999997 meters Centerline goodness : 0.961629 with order 1 Centerline is valid? [True, True] Translation: X:1.40, Y:0.31, Z:0.17 [[ 0.91775858 -0.29975877 -0.26050695 1.39778112] [ 0.29221843 0.95391868 -0.06817293 0.3090622 ] [ 0.26893787 -0.01355864 0.96306209 0.17380127] [ 0. 0. 0. 1. ]] SLAMing on 1.5248391729999997 meters Centerline goodness : 0.765480 with order 2 Centerline is valid? [True, False] Translation: X:1.18, Y:0.28, Z:0.06 [[ 0.9137264 -0.33496683 -0.23000281 1.18004369] [ 0.32259563 0.94219079 -0.09060117 0.28146091] [ 0.24705492 0.00858678 0.96896343 0.06005053] [ 0. 0. 0. 1. ]] SLAMing on 1.5848391729999998 meters Centerline goodness : 0.954542 with order 1 Centerline is valid? [False, True] Translation: X:1.34, Y:0.40, Z:0.27 [[ 0.92184882 -0.36283003 -0.13619517 1.34273636] [ 0.31900405 0.90996043 -0.26496873 0.40342696] [ 0.22007083 0.2008143 0.9545902 0.27495861] [ 0. 0. 0. 1. ]] SLAMing on 1.6448391729999996 meters Centerline goodness : 0.958828 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:0.34, Z:0.17 [[ 0.9238599 -0.32481863 -0.20242467 1.44891462] [ 0.31926416 0.9457356 -0.06045303 0.33671916] [ 0.21107649 -0.00877682 0.97743014 0.17484543] [ 0. 0. 0. 1. ]] SLAMing on 1.7048391729999997 meters Centerline goodness : 0.963611 with order 1 Centerline is valid? [True, True] Translation: X:1.51, Y:0.36, Z:0.15 [[ 0.92249341 -0.3286801 -0.20242356 1.51222453] [ 0.32321637 0.94439195 -0.06045674 0.36085483] [ 0.21103811 -0.00965566 0.97743014 0.14720276] [ 0. 0. 0. 1. ]] SLAMing on 1.7648391729999997 meters Centerline goodness : 0.961678 with order 1 Centerline is valid? [True, True] Translation: X:1.56, Y:0.37, Z:0.19 [[ 0.92430469 -0.32355159 -0.20242337 1.56332548] [ 0.31796618 0.94617251 -0.0604574 0.37243834] [ 0.21108851 -0.00848273 0.97743014 0.18676092] [ 0. 0. 0. 1. ]] SLAMing on 1.8248391729999998 meters Centerline goodness : 0.962244 with order 1 Centerline is valid? [True, True] Translation: X:1.62, Y:0.39, Z:0.19 [[ 0.92598931 -0.31869783 -0.20242404 1.62148921] [ 0.31299826 0.94782766 -0.06045514 0.38845142] [ 0.21113003 -0.00737756 0.97743014 0.19346509] [ 0. 0. 0. 1. ]] SLAMing on 1.8848391729999996 meters Centerline goodness : 0.959215 with order 1 Centerline is valid? [True, True] Translation: X:1.69, Y:0.39, Z:0.20 [[ 0.93342664 -0.29620903 -0.20242263 1.68632103] [ 0.28998193 0.95512046 -0.06045987 0.38546915] [ 0.21124675 -0.00226405 0.97743014 0.19642817] [ 0. 0. 0. 1. ]] SLAMing on 1.9448391729999996 meters Centerline goodness : 0.955140 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:0.44, Z:0.21 [[ 0.93122583 -0.30305814 -0.20242089 1.7320049 ] [ 0.29698931 0.95296445 -0.06046568 0.43659736] [ 0.21122453 -0.00380964 0.97743014 0.21133864] [ 0. 0. 0. 1. ]] SLAMing on 2.0048391729999997 meters Centerline goodness : 0.952576 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:0.45, Z:0.22 [[ 9.38097071e-01 -2.81070273e-01 -2.02418841e-01 1.79131135e+00] [ 2.74490313e-01 9.59686480e-01 -6.04725443e-02 4.45174544e-01] [ 2.11255660e-01 1.16710567e-03 9.77430143e-01 2.21763834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0648391729999998 meters Centerline goodness : 0.974624 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:0.48, Z:0.20 [[ 0.93990825 -0.27495387 -0.2024175 1.8491166 ] [ 0.26823246 0.96145404 -0.06047702 0.48132496] [ 0.21124352 0.0025479 0.97743014 0.20414824] [ 0. 0. 0. 1. ]] SLAMing on 2.124839173 meters Centerline goodness : 0.980977 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:0.51, Z:0.20 [[ 0.94127916 -0.270224 -0.20241673 1.90641763] [ 0.26339377 0.9627907 -0.06047962 0.50708989] [ 0.21122799 0.0036129 0.97743014 0.20205584] [ 0. 0. 0. 1. ]] SLAMing on 2.184839173 meters Centerline goodness : 0.974041 with order 1 Centerline is valid? [True, True] Translation: X:1.96, Y:0.54, Z:0.21 [[ 9.38295043e-01 -2.80410856e-01 -2.02415817e-01 1.95906235e+00] [ 2.73813541e-01 9.59879155e-01 -6.04826642e-02 5.35174358e-01] [ 2.11254719e-01 1.32639234e-03 9.77430143e-01 2.10546743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244839173 meters Centerline goodness : 0.978978 with order 1 Centerline is valid? [True, True] Translation: X:2.02, Y:0.55, Z:0.21 [[ 0.94217203 -0.26710742 -0.20239935 2.01853161] [ 0.26019356 0.96365683 -0.06053772 0.5471505 ] [ 0.21121359 0.00437394 0.97743014 0.21091304] [ 0. 0. 0. 1. ]] SLAMing on 2.304839173 meters Centerline goodness : 0.982094 with order 1 Centerline is valid? [True, True] Translation: X:2.08, Y:0.57, Z:0.21 [[ 0.93949045 -0.27639427 -0.2023954 2.07506194] [ 0.26968998 0.96104157 -0.06055092 0.56538913] [ 0.21124632 0.002303 0.97743014 0.2112804 ] [ 0. 0. 0. 1. ]] SLAMing on 2.364839173 meters Centerline goodness : 0.965167 with order 1 Centerline is valid? [True, True] Translation: X:2.14, Y:0.58, Z:0.21 [[ 0.93291136 -0.29785031 -0.20238967 2.13595998] [ 0.29163747 0.95460927 -0.06057006 0.58033258] [ 0.21124387 -0.00251791 0.97743014 0.20682487] [ 0. 0. 0. 1. ]] SLAMing on 2.4248391729999996 meters Centerline goodness : 0.978156 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:0.59, Z:0.22 [[ 0.93324568 -0.2968014 -0.2023893 2.19377002] [ 0.2905639 0.95493651 -0.06057131 0.59050613] [ 0.21124658 -0.00227911 0.97743014 0.21739733] [ 0. 0. 0. 1. ]] SLAMing on 2.4848391729999997 meters Centerline goodness : 0.958298 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:0.60, Z:0.21 [[ 0.9421923 -0.26704407 -0.20238859 2.25602907] [ 0.26012104 0.96367415 -0.06057369 0.60198806] [ 0.21121249 0.00442654 0.97743014 0.20864665] [ 0. 0. 0. 1. ]] SLAMing on 2.5448391729999997 meters Centerline goodness : 0.955970 with order 1 Centerline is valid? [True, True] Translation: X:2.30, Y:0.61, Z:0.27 [[ 9.34906618e-01 -2.91529539e-01 -2.02386125e-01 2.30485307e+00] [ 2.85167425e-01 9.56561222e-01 -6.05819146e-02 6.08094004e-01] [ 2.11256137e-01 -1.07549730e-03 9.77430145e-01 2.66848973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.604839173 meters Centerline goodness : 0.952688 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:0.66, Z:0.30 [[ 0.93195242 -0.30084138 -0.20238367 2.34604226] [ 0.29469382 0.95366891 -0.06059011 0.65744117] [ 0.21123503 -0.00317412 0.97743014 0.3000891 ] [ 0. 0. 0. 1. ]] SLAMing on 2.664839173 meters Centerline goodness : 0.943713 with order 1 Centerline is valid? [True, False] Translation: X:2.35, Y:0.67, Z:0.31 [[ 0.93657038 -0.2939296 -0.19089607 2.35425367] [ 0.28679904 0.95580971 -0.06460732 0.67039346] [ 0.20145032 0.0057605 0.97948179 0.31359218] [ 0. 0. 0. 1. ]] SLAMing on 2.724839173 meters Centerline goodness : 0.938125 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.68, Z:0.32 [[ 0.93800339 -0.29051607 -0.18907687 2.37303351] [ 0.28120754 0.956717 -0.07493269 0.67949517] [ 0.2026622 0.01711728 0.97909909 0.32315016] [ 0. 0. 0. 1. ]] SLAMing on 2.784839173 meters Centerline goodness : 0.948063 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.69, Z:0.33 [[ 0.93546574 -0.29355991 -0.19679033 2.39818847] [ 0.28122649 0.95554443 -0.0885805 0.69416155] [ 0.21404559 0.02752137 0.9764359 0.32700127] [ 0. 0. 0. 1. ]] SLAMing on 2.8448391729999996 meters Centerline goodness : 0.949956 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.70, Z:0.33 [[ 0.93591229 -0.2897534 -0.20027772 2.41283066] [ 0.27710705 0.95669315 -0.08916216 0.696653 ] [ 0.21743936 0.02794959 0.97567359 0.32862072] [ 0. 0. 0. 1. ]] SLAMing on 2.9048391729999996 meters Centerline goodness : 0.950800 with order 1 Centerline is valid? [False, True] Translation: X:2.43, Y:0.70, Z:0.33 [[ 0.93645217 -0.28640944 -0.20255115 2.4276854 ] [ 0.27296325 0.95760764 -0.09207968 0.70048896] [ 0.22033701 0.03093919 0.97493301 0.33185659] [ 0. 0. 0. 1. ]] SLAMing on 2.9648391729999997 meters Centerline goodness : 0.945088 with order 1 Centerline is valid? [True, False] Translation: X:2.45, Y:0.71, Z:0.34 [[ 0.93674948 -0.28632582 -0.20129068 2.4462169 ] [ 0.26741406 0.95655229 -0.11617845 0.71049186] [ 0.22580995 0.05500214 0.97261741 0.34002576] [ 0. 0. 0. 1. ]] SLAMing on 3.0248391729999997 meters Centerline goodness : 0.934961 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.71, Z:0.34 [[ 0.93683793 -0.28503556 -0.20270525 2.44997972] [ 0.26606628 0.95695486 -0.11595742 0.7141855 ] [ 0.22703177 0.05470027 0.97234997 0.34032421] [ 0. 0. 0. 1. ]] SLAMing on 3.0848391729999998 meters Centerline goodness : 0.914222 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.72, Z:0.36 [[ 0.93718407 -0.28210439 -0.20519049 2.46491297] [ 0.2572971 0.95621478 -0.13946864 0.7203802 ] [ 0.2355509 0.07791287 0.9687339 0.35674801] [ 0. 0. 0. 1. ]] SLAMing on 3.144839173 meters Centerline goodness : 0.902870 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.71, Z:0.35 [[ 0.93965935 -0.27096268 -0.20885289 2.42794716] [ 0.24587277 0.9593638 -0.13844741 0.70512794] [ 0.23787999 0.07874217 0.96809751 0.34629053] [ 0. 0. 0. 1. ]] SLAMing on 3.204839173 meters Centerline goodness : 0.898467 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.69, Z:0.34 [[ 0.94083624 -0.26839533 -0.20686013 2.38521615] [ 0.24616124 0.9608587 -0.1271031 0.68982435] [ 0.23287723 0.06866226 0.97007922 0.336107 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2648391729999995 meters Centerline goodness : 0.894145 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.67, Z:0.33 [[ 0.93868967 -0.2820243 -0.19830281 2.35790402] [ 0.26229258 0.95748196 -0.12012864 0.66595116] [ 0.22375056 0.06075015 0.97275131 0.32867567] [ 0. 0. 0. 1. ]] SLAMing on 3.3248391729999995 meters Centerline goodness : 0.884115 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.65, Z:0.33 [[ 0.93622961 -0.29524847 -0.19053204 2.33695609] [ 0.2770677 0.95376125 -0.11650306 0.64500387] [ 0.21611943 0.05628334 0.97474334 0.32553306] [ 0. 0. 0. 1. ]] SLAMing on 3.3848391729999996 meters Centerline goodness : 0.865322 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.64, Z:0.33 [[ 0.93357147 -0.30914334 -0.18131382 2.33837381] [ 0.29184156 0.94939786 -0.11606987 0.64131807] [ 0.20802118 0.05544461 0.97655163 0.32666105] [ 0. 0. 0. 1. ]] SLAMing on 3.4448391729999996 meters Centerline goodness : 0.851575 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.63, Z:0.33 [[ 0.93347732 -0.31442071 -0.17251 2.32440786] [ 0.29989977 0.94814117 -0.10530168 0.6344951 ] [ 0.19667287 0.04656102 0.97936298 0.33167215] [ 0. 0. 0. 1. ]] SLAMing on 3.5048391729999997 meters Centerline goodness : 0.852231 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.63, Z:0.33 [[ 0.93305615 -0.31343881 -0.17652856 2.33723167] [ 0.30174141 0.94910207 -0.0903182 0.63251109] [ 0.19585285 0.03100598 0.980143 0.32771233] [ 0. 0. 0. 1. ]] SLAMing on 3.5648391729999998 meters Centerline goodness : 0.841379 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.63, Z:0.33 [[ 0.93294458 -0.3146157 -0.17501822 2.33254676] [ 0.30293351 0.94869648 -0.09058847 0.63019427] [ 0.19453972 0.03149514 0.98038888 0.32916842] [ 0. 0. 0. 1. ]] SLAMing on 3.624839173 meters Centerline goodness : 0.837748 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.62, Z:0.33 [[ 0.93303352 -0.31439996 -0.17493177 2.33189691] [ 0.30289923 0.9487948 -0.08966873 0.62453819] [ 0.1941662 0.03067723 0.98048885 0.33026811] [ 0. 0. 0. 1. ]] SLAMing on 3.6848391729999994 meters Centerline goodness : 0.837441 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.62, Z:0.33 [[ 0.93295728 -0.31218361 -0.17925433 2.34307704] [ 0.30129724 0.94966592 -0.08575905 0.61546048] [ 0.1970043 0.0260007 0.98005779 0.32663558] [ 0. 0. 0. 1. ]] SLAMing on 3.7448391729999995 meters Centerline goodness : 0.826446 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.59, Z:0.33 [[ 0.93232874 -0.31513474 -0.17735054 2.34278629] [ 0.30532871 0.94880979 -0.08083536 0.59209271] [ 0.19374596 0.02121491 0.98082232 0.32635098] [ 0. 0. 0. 1. ]] SLAMing on 3.8048391729999995 meters Centerline goodness : 0.826305 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.58, Z:0.33 [[ 0.93050468 -0.32054572 -0.17723282 2.34937178] [ 0.30993886 0.946916 -0.0853697 0.58159114] [ 0.19518949 0.02450557 0.98045935 0.32735621] [ 0. 0. 0. 1. ]] SLAMing on 3.8648391729999996 meters Centerline goodness : 0.827968 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.57, Z:0.33 [[ 0.92800789 -0.32821092 -0.17629223 2.35238858] [ 0.31698713 0.94421976 -0.08926478 0.56878382] [ 0.19575629 0.02695605 0.98028202 0.3276422 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9248391729999996 meters Centerline goodness : 0.828312 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.55, Z:0.33 [[ 0.93010172 -0.32337527 -0.17418158 2.3497473 ] [ 0.31350179 0.94601704 -0.08227022 0.54955408] [ 0.19138289 0.02191344 0.9812708 0.32670155] [ 0. 0. 0. 1. ]] SLAMing on 3.9848391729999997 meters Centerline goodness : 0.830960 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.54, Z:0.33 [[ 0.93159568 -0.31809145 -0.17591849 2.35054022] [ 0.30942584 0.9479279 -0.07542118 0.54253999] [ 0.19074888 0.01582832 0.98151125 0.32737504] [ 0. 0. 0. 1. ]] SLAMing on 4.044839173 meters Centerline goodness : 0.826739 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.53, Z:0.32 [[ 0.93481417 -0.31127553 -0.17096786 2.34749985] [ 0.30264332 0.9501403 -0.07510281 0.5343706 ] [ 0.18582112 0.01846489 0.98241008 0.3198528 ] [ 0. 0. 0. 1. ]] SLAMing on 4.104839172999999 meters Centerline goodness : 0.828764 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.53, Z:0.32 [[ 0.93755586 -0.30128599 -0.17382684 2.34516943] [ 0.29450137 0.95349124 -0.06421372 0.52855915] [ 0.18508906 0.00901171 0.98268043 0.32326472] [ 0. 0. 0. 1. ]] SLAMing on 4.164839173 meters Centerline goodness : 0.826797 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.53, Z:0.32 [[ 0.93683688 -0.30274308 -0.17516643 2.34799248] [ 0.29603589 0.95303876 -0.06387385 0.52902921] [ 0.18627777 0.00798383 0.98246468 0.3234884 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2248391729999994 meters Centerline goodness : 0.829798 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.52, Z:0.33 [[ 9.38866711e-01 -2.95990912e-01 -1.75837081e-01 2.34555713e+00] [ 2.90663764e-01 9.55189740e-01 -5.59208039e-02 5.18872290e-01] [ 1.84509825e-01 1.39271351e-03 9.82829682e-01 3.25488739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.284839173 meters Centerline goodness : 0.822573 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.52, Z:0.33 [[ 0.94221977 -0.28285913 -0.17947872 2.34451216] [ 0.27929315 0.95913313 -0.045376 0.5225009 ] [ 0.184979 -0.00737301 0.98271481 0.32622398] [ 0. 0. 0. 1. ]] SLAMing on 4.3448391729999996 meters Centerline goodness : 0.823791 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.52, Z:0.32 [[ 0.93944362 -0.29434072 -0.1755256 2.34938472] [ 0.28862969 0.95569357 -0.05781614 0.52383241] [ 0.18476633 0.0036531 0.98277569 0.31977037] [ 0. 0. 0. 1. ]] SLAMing on 4.404839172999999 meters Centerline goodness : 0.822854 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.52, Z:0.32 [[ 9.38719940e-01 -2.95781434e-01 -1.76969539e-01 2.35224262e+00] [ 2.90272725e-01 9.55253548e-01 -5.68542422e-02 5.23349026e-01] [ 1.85867210e-01 2.00078043e-03 9.82572836e-01 3.20192163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464839173 meters Centerline goodness : 0.821590 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.53, Z:0.32 [[ 0.93519461 -0.30662532 -0.17717774 2.35790229] [ 0.29997679 0.95180771 -0.06384361 0.52746259] [ 0.18821521 0.00655699 0.98210592 0.31935761] [ 0. 0. 0. 1. ]] SLAMing on 4.524839172999999 meters Centerline goodness : 0.823384 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.53, Z:0.32 [[ 9.35824078e-01 -3.03365050e-01 -1.79451782e-01 2.36021255e+00] [ 2.97611079e-01 9.52872992e-01 -5.88277748e-02 5.25581885e-01] [ 1.88841047e-01 1.64560948e-03 9.82006289e-01 3.19714876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.584839173 meters Centerline goodness : 0.820516 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.52, Z:0.31 [[ 0.93815089 -0.29747361 -0.17715067 2.35879033] [ 0.29174281 0.95472564 -0.05818156 0.52356037] [ 0.18643777 0.00290064 0.98246249 0.31475807] [ 0. 0. 0. 1. ]] SLAMing on 4.644839172999999 meters Centerline goodness : 0.822071 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.51, Z:0.31 [[ 9.37262174e-01 -3.00660094e-01 -1.76474150e-01 2.36182045e+00] [ 2.95063006e-01 9.53729081e-01 -5.77811569e-02 5.13553204e-01] [ 1.85681017e-01 2.08509949e-03 9.82607863e-01 3.13454525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704839173 meters Centerline goodness : 0.825782 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.51, Z:0.31 [[ 0.93603689 -0.30707711 -0.17186796 2.36351046] [ 0.30027058 0.95164029 -0.06494871 0.50554295] [ 0.18350073 0.0091875 0.98297664 0.30839564] [ 0. 0. 0. 1. ]] SLAMing on 4.7648391729999995 meters Centerline goodness : 0.828245 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.31 [[ 0.9363037 -0.30624215 -0.1719044 2.36501263] [ 0.2996465 0.95191858 -0.06374162 0.50298604] [ 0.18315937 0.00817097 0.98304928 0.30699919] [ 0. 0. 0. 1. ]] SLAMing on 4.824839172999999 meters Centerline goodness : 0.831393 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.49, Z:0.31 [[ 0.93775111 -0.30247623 -0.17067803 2.36309439] [ 0.29642653 0.95313711 -0.06050583 0.49256286] [ 0.18098114 0.00614591 0.98346736 0.3067667 ] [ 0. 0. 0. 1. ]] SLAMing on 4.884839173 meters Centerline goodness : 0.831493 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.48, Z:0.31 [[ 0.93837528 -0.30214605 -0.16780822 2.3614374 ] [ 0.29594779 0.95322843 -0.06140412 0.48127026] [ 0.17851258 0.00795763 0.98390545 0.30542101] [ 0. 0. 0. 1. ]] SLAMing on 4.944839172999999 meters Centerline goodness : 0.829026 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.47, Z:0.31 [[ 0.9383081 -0.30530997 -0.16236913 2.35404675] [ 0.29833077 0.95215259 -0.06636417 0.46960419] [ 0.17486183 0.01383033 0.98449584 0.30706002] [ 0. 0. 0. 1. ]] SLAMing on 5.004839173 meters Centerline goodness : 0.818737 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.46, Z:0.31 [[ 0.93750378 -0.31082157 -0.15645002 2.35046939] [ 0.30265787 0.95020952 -0.07416246 0.45786433] [ 0.17171159 0.02217676 0.98489762 0.30517755] [ 0. 0. 0. 1. ]] SLAMing on 5.064839172999999 meters Centerline goodness : 0.817654 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:0.30 [[ 0.93721195 -0.31170854 -0.15643385 2.35461113] [ 0.30386044 0.94996005 -0.07242051 0.44683348] [ 0.17118 0.02033931 0.98502981 0.3035741 ] [ 0. 0. 0. 1. ]] SLAMing on 5.124839173 meters Centerline goodness : 0.817780 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.44, Z:0.31 [[ 0.93697906 -0.31140637 -0.15841817 2.35787561] [ 0.30435125 0.95015601 -0.06763041 0.43930762] [ 0.17158251 0.01515351 0.9850532 0.30539025] [ 0. 0. 0. 1. ]] SLAMing on 5.184839172999999 meters Centerline goodness : 0.814923 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.43, Z:0.30 [[ 0.93438072 -0.31916599 -0.15832163 2.37298379] [ 0.31120754 0.94750165 -0.07342003 0.42500994] [ 0.17344318 0.01933137 0.98465413 0.29672512] [ 0. 0. 0. 1. ]] SLAMing on 5.244839172999999 meters Centerline goodness : 0.814392 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:0.30 [[ 0.93456431 -0.31803255 -0.1595144 2.37760462] [ 0.31066173 0.94794907 -0.06987018 0.41734027] [ 0.17343252 0.01574316 0.98471992 0.29528654] [ 0. 0. 0. 1. ]] SLAMing on 5.3048391729999995 meters Centerline goodness : 0.813357 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.41, Z:0.29 [[ 0.93842369 -0.31238957 -0.14755928 2.37957709] [ 0.30660903 0.94987814 -0.06101171 0.40748055] [ 0.15922276 0.01201183 0.98716961 0.29006968] [ 0. 0. 0. 1. ]] SLAMing on 5.364839172999999 meters Centerline goodness : 0.810474 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.40, Z:0.28 [[ 0.9386541 -0.31185654 -0.14722086 2.3888292 ] [ 0.3060463 0.95004864 -0.061182 0.39734356] [ 0.15894699 0.01237234 0.98720959 0.28250088] [ 0. 0. 0. 1. ]] SLAMing on 5.424839173 meters Centerline goodness : 0.808198 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:0.28 [[ 0.94012209 -0.30782346 -0.14633925 2.39055213] [ 0.30252072 0.95139052 -0.05776924 0.38372064] [ 0.1570085 0.01003948 0.98754622 0.28007136] [ 0. 0. 0. 1. ]] SLAMing on 5.484839172999999 meters Centerline goodness : 0.806950 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.38, Z:0.28 [[ 0.94012004 -0.30719288 -0.14767142 2.39651284] [ 0.30224386 0.95161793 -0.05542536 0.37886767] [ 0.15755305 0.00747371 0.98748224 0.27725848] [ 0. 0. 0. 1. ]] SLAMing on 5.544839173 meters Centerline goodness : 0.805164 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:0.27 [[ 0.9393613 -0.30951827 -0.14764411 2.40222122] [ 0.30471036 0.95087187 -0.05472009 0.36746346] [ 0.1573275 0.00641325 0.98752566 0.27473441] [ 0. 0. 0. 1. ]] SLAMing on 5.604839172999999 meters Centerline goodness : 0.804136 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:0.27 [[ 0.93843698 -0.31119679 -0.14997533 2.4087864 ] [ 0.30673786 0.95033956 -0.05259847 0.36368764] [ 0.15889597 0.00335723 0.98728962 0.27410955] [ 0. 0. 0. 1. ]] SLAMing on 5.664839172999999 meters Centerline goodness : 0.801724 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:0.27 [[ 0.94065903 -0.30536648 -0.14802672 2.4072732 ] [ 0.30097293 0.95222584 -0.05178084 0.36214982] [ 0.156767 0.00415608 0.98762687 0.2688928 ] [ 0. 0. 0. 1. ]] SLAMing on 5.7248391729999994 meters Centerline goodness : 0.802728 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:0.27 [[ 0.94142465 -0.30330781 -0.14739065 2.40759633] [ 0.29918635 0.95288824 -0.04991526 0.35599357] [ 0.1555865 0.00289419 0.98781803 0.26738655] [ 0. 0. 0. 1. ]] SLAMing on 5.784839172999999 meters Centerline goodness : 0.804152 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:0.27 [[ 0.94418007 -0.29339433 -0.14981241 2.40502567] [ 0.29076122 0.95597214 -0.03968867 0.35107799] [ 0.15486092 -0.00608638 0.98791753 0.270439 ] [ 0. 0. 0. 1. ]] SLAMing on 5.8448391729999996 meters Centerline goodness : 0.801649 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:0.27 [[ 0.94221526 -0.29746398 -0.15409604 2.41872717] [ 0.29524058 0.95468052 -0.03765761 0.34089722] [ 0.15831427 -0.01001383 0.98733799 0.2667928 ] [ 0. 0. 0. 1. ]] SLAMing on 5.904839172999999 meters Centerline goodness : 0.800390 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:0.27 [[ 0.93819311 -0.30723727 -0.15937045 2.43474529] [ 0.30532956 0.95152992 -0.03694141 0.32756288] [ 0.16299553 -0.01400233 0.98652744 0.26573609] [ 0. 0. 0. 1. ]] SLAMing on 5.964839173 meters Centerline goodness : 0.800782 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:0.27 [[ 0.9383878 -0.30620684 -0.1602052 2.43642104] [ 0.3047606 0.95181695 -0.03413893 0.32183353] [ 0.1629396 -0.01678868 0.9864932 0.26657232] [ 0. 0. 0. 1. ]] SLAMing on 6.024839172999999 meters Centerline goodness : 0.798288 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:0.27 [[ 0.93957928 -0.29800097 -0.16848203 2.43108206] [ 0.29594178 0.95445777 -0.03779972 0.31841454] [ 0.17207334 -0.01434504 0.98497969 0.26650331] [ 0. 0. 0. 1. ]] SLAMing on 6.084839172999999 meters Centerline goodness : 0.800894 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.31, Z:0.26 [[ 0.94219404 -0.28996482 -0.16790112 2.42812863] [ 0.28862612 0.95687747 -0.03287051 0.31477288] [ 0.17019209 -0.01749025 0.98525567 0.2646237 ] [ 0. 0. 0. 1. ]] SLAMing on 6.144839172999999 meters Centerline goodness : 0.800759 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.31, Z:0.27 [[ 0.94318025 -0.28544158 -0.17010032 2.42946458] [ 0.28512558 0.95811503 -0.02681394 0.31099553] [ 0.17062949 -0.02320957 0.98506187 0.26636965] [ 0. 0. 0. 1. ]] SLAMing on 6.204839172999999 meters Centerline goodness : 0.799826 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:0.27 [[ 0.94167258 -0.28940319 -0.17175141 2.43708216] [ 0.28926186 0.95688565 -0.02640908 0.30283173] [ 0.17198933 -0.02481242 0.98478628 0.26573489] [ 0. 0. 0. 1. ]] SLAMing on 6.2648391729999995 meters Centerline goodness : 0.797720 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:0.26 [[ 0.93908116 -0.29486716 -0.17657842 2.45024135] [ 0.29533805 0.95508573 -0.02422164 0.29261494] [ 0.1757897 -0.02940424 0.9839885 0.26477638] [ 0. 0. 0. 1. ]] SLAMing on 6.324839172999999 meters Centerline goodness : 0.798286 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:0.26 [[ 0.94186576 -0.28527484 -0.17750253 2.44927105] [ 0.28684392 0.95782081 -0.01731645 0.29150654] [ 0.17495556 -0.03460575 0.98396798 0.26267935] [ 0. 0. 0. 1. ]] SLAMing on 6.384839173 meters Centerline goodness : 0.800037 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:0.26 [[ 0.94158037 -0.28542337 -0.17877333 2.45209661] [ 0.28737936 0.95769267 -0.01542239 0.28715676] [ 0.17561182 -0.03685435 0.98376941 0.26372161] [ 0. 0. 0. 1. ]] SLAMing on 6.444839172999999 meters Centerline goodness : 0.798235 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:0.26 [[ 0.94227165 -0.28178751 -0.18088654 2.45473194] [ 0.28443877 0.95862328 -0.01166189 0.2887046 ] [ 0.17668822 -0.04046248 0.98343483 0.26320651] [ 0. 0. 0. 1. ]] SLAMing on 6.504839172999999 meters Centerline goodness : 0.798582 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:0.26 [[ 0.94309645 -0.27947662 -0.18017186 2.45559919] [ 0.28237624 0.95925282 -0.00988339 0.28222042] [ 0.17559254 -0.04155526 0.98358549 0.26128514] [ 0. 0. 0. 1. ]] SLAMing on 6.564839172999999 meters Centerline goodness : 0.799743 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:0.26 [[ 0.94244013 -0.28071123 -0.1816805 2.45810146] [ 0.28412193 0.95875866 -0.00752095 0.27615668] [ 0.17629897 -0.04453137 0.98332885 0.26409861] [ 0. 0. 0. 1. ]] SLAMing on 6.624839172999999 meters Centerline goodness : 0.801052 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.27, Z:0.27 [[ 9.43864047e-01 -2.75624819e-01 -1.82075865e-01 2.45465258e+00] [ 2.79952089e-01 9.60011864e-01 -2.01226459e-03 2.69390776e-01] [ 1.75349621e-01 -4.90732147e-02 9.83282426e-01 2.67274808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.684839172999999 meters Centerline goodness : 0.801850 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.26, Z:0.27 [[ 0.9449312 -0.27086699 -0.18367391 2.45616063] [ 0.27617209 0.96110203 0.00344528 0.26438153] [ 0.17559615 -0.05398116 0.98298119 0.26798954] [ 0. 0. 0. 1. ]] SLAMing on 6.744839172999999 meters Centerline goodness : 0.802087 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.26, Z:0.27 [[ 0.94659852 -0.26455607 -0.18428602 2.45557895] [ 0.27059445 0.96266054 0.00795835 0.2641635 ] [ 0.17529945 -0.05740013 0.98284044 0.26669523] [ 0. 0. 0. 1. ]] SLAMing on 6.8048391729999995 meters Centerline goodness : 0.803114 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:0.27 [[ 0.94843632 -0.25774067 -0.18449467 2.45360961] [ 0.26493229 0.96415006 0.01501789 0.25346953] [ 0.17400983 -0.06312211 0.98271877 0.26841805] [ 0. 0. 0. 1. ]] SLAMing on 6.864839172999999 meters Centerline goodness : 0.804079 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:0.27 [[ 0.95189727 -0.24448693 -0.18470984 2.44914783] [ 0.25309613 0.96713858 0.02419344 0.25154293] [ 0.17272503 -0.06977902 0.98249527 0.2676943 ] [ 0. 0. 0. 1. ]] SLAMing on 6.924839172999999 meters Centerline goodness : 0.803469 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.25, Z:0.26 [[ 0.95615973 -0.2294388 -0.18197912 2.43761487] [ 0.2369843 0.97129586 0.02056219 0.24579205] [ 0.1720378 -0.06278693 0.98308738 0.2597165 ] [ 0. 0. 0. 1. ]] SLAMing on 6.984839172999999 meters Centerline goodness : 0.799397 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.25, Z:0.25 [[ 0.95609104 -0.22958338 -0.18215762 2.4429927 ] [ 0.23703672 0.97129568 0.01995712 0.24615788] [ 0.17234708 -0.06225886 0.98306679 0.25447025] [ 0. 0. 0. 1. ]] SLAMing on 7.044839172999999 meters Centerline goodness : 0.802496 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.26 [[ 0.95220539 -0.24762089 -0.17885411 2.45970828] [ 0.25750841 0.96567814 0.03398753 0.2298325 ] [ 0.16429948 -0.07841955 0.98328839 0.26488074] [ 0. 0. 0. 1. ]] SLAMing on 7.104839172999999 meters Centerline goodness : 0.799471 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:0.27 [[ 0.94617839 -0.26683846 -0.18314938 2.47599945] [ 0.27645016 0.96060134 0.0286421 0.211119 ] [ 0.16829072 -0.07773222 0.98266776 0.26652756] [ 0. 0. 0. 1. ]] SLAMing on 7.164839172999999 meters Centerline goodness : 0.799238 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.20, Z:0.27 [[ 0.94236738 -0.28243858 -0.17936602 2.4775033 ] [ 0.29029618 0.95675555 0.01862658 0.19821888] [ 0.16634857 -0.06962235 0.98360606 0.26888249] [ 0. 0. 0. 1. ]] SLAMing on 7.2248391729999994 meters Centerline goodness : 0.798981 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:0.27 [[ 0.94034343 -0.28969422 -0.17841384 2.48103343] [ 0.29684583 0.95482002 0.01418715 0.18994915] [ 0.16624317 -0.0663022 0.98385326 0.26968365] [ 0. 0. 0. 1. ]] SLAMing on 7.284839172999999 meters Centerline goodness : 0.800536 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:0.27 [[ 0.94149529 -0.28529373 -0.17942718 2.48156925] [ 0.29303355 0.9559393 0.01764628 0.19138072] [ 0.16648712 -0.06919208 0.98361298 0.26843371] [ 0. 0. 0. 1. ]] SLAMing on 7.344839172999999 meters Centerline goodness : 0.798481 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:0.27 [[ 0.94039997 -0.28928338 -0.17878206 2.48347777] [ 0.29645654 0.95494073 0.01420296 0.19015455] [ 0.16661759 -0.06635757 0.98378618 0.26789355] [ 0. 0. 0. 1. ]] SLAMing on 7.404839172999999 meters Centerline goodness : 0.798653 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.27 [[ 0.93999026 -0.28969533 -0.18026349 2.4880602 ] [ 0.29716703 0.95470264 0.01531768 0.18843836] [ 0.16766057 -0.06796683 0.98349908 0.26682357] [ 0. 0. 0. 1. ]] SLAMing on 7.464839172999999 meters Centerline goodness : 0.797412 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.27 [[ 0.94122325 -0.28492154 -0.1814346 2.48924238] [ 0.29303043 0.9559144 0.01899555 0.18943634] [ 0.1680237 -0.07104492 0.98321954 0.26528287] [ 0. 0. 0. 1. ]] SLAMing on 7.524839172999999 meters Centerline goodness : 0.801080 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.18, Z:0.27 [[ 0.94755857 -0.26465643 -0.17913608 2.47393432] [ 0.27430429 0.96114439 0.0309616 0.18046359] [ 0.16398145 -0.07847572 0.98333699 0.26659195] [ 0. 0. 0. 1. ]] SLAMing on 7.584839172999999 meters Centerline goodness : 0.799340 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.18, Z:0.26 [[ 0.94645481 -0.26825585 -0.17961649 2.48063654] [ 0.27750864 0.96031333 0.02805822 0.18106651] [ 0.16496133 -0.07640097 0.98333649 0.26259807] [ 0. 0. 0. 1. ]] SLAMing on 7.644839172999999 meters Centerline goodness : 0.797348 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.26 [[ 0.94023744 -0.29098307 -0.17686835 2.49113095] [ 0.29790451 0.95450267 0.01332547 0.16559425] [ 0.16494383 -0.06521899 0.98414431 0.26038305] [ 0. 0. 0. 1. ]] SLAMing on 7.704839172999999 meters Centerline goodness : 0.799759 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.16, Z:0.26 [[ 0.94283022 -0.28072176 -0.17962869 2.49171619] [ 0.28921885 0.95699958 0.02245557 0.16265596] [ 0.16560082 -0.0731238 0.98347815 0.26096848] [ 0. 0. 0. 1. ]] SLAMing on 7.764839172999999 meters Centerline goodness : 0.798930 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.16, Z:0.26 [[ 0.94513912 -0.27129407 -0.18196585 2.48803369] [ 0.2812777 0.95912546 0.03100315 0.16378461] [ 0.16611711 -0.08048523 0.98281597 0.26393142] [ 0. 0. 0. 1. ]] SLAMing on 7.824839172999999 meters Centerline goodness : 0.799626 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.26 [[ 0.94452066 -0.27366127 -0.18163213 2.48721295] [ 0.28325166 0.95861814 0.0286314 0.16870605] [ 0.16628055 -0.07849055 0.98294965 0.26367331] [ 0. 0. 0. 1. ]] SLAMing on 7.884839172999999 meters Centerline goodness : 0.799867 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.26 [[ 0.9423234 -0.28274075 -0.17912083 2.48696102] [ 0.29099256 0.95649386 0.02104337 0.16682804] [ 0.16537816 -0.07195249 0.983602 0.26391773] [ 0. 0. 0. 1. ]] SLAMing on 7.944839172999999 meters Centerline goodness : 0.801933 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.16, Z:0.27 [[ 0.94368373 -0.27723581 -0.18055837 2.48303195] [ 0.28661691 0.95764795 0.02758887 0.16372096] [ 0.16526273 -0.07778625 0.98317726 0.26828866] [ 0. 0. 0. 1. ]] SLAMing on 8.004839172999999 meters Centerline goodness : 0.800855 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.17, Z:0.27 [[ 0.94555861 -0.26954289 -0.18238846 2.48194972] [ 0.2799186 0.95944722 0.03326561 0.16937185] [ 0.16602559 -0.0825085 0.98266365 0.26757957] [ 0. 0. 0. 1. ]] SLAMing on 8.064839173 meters Centerline goodness : 0.801481 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.27 [[ 0.94136772 -0.29060548 -0.17139218 2.49457385] [ 0.29781602 0.95446475 0.01739695 0.17443998] [ 0.15853215 -0.06742026 0.98504927 0.2699647 ] [ 0. 0. 0. 1. ]] SLAMing on 8.124839173 meters Centerline goodness : 0.798505 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.27 [[ 0.94104256 -0.29151962 -0.17162521 2.49597544] [ 0.29866802 0.95420862 0.01683194 0.17574572] [ 0.15885941 -0.06709853 0.98501851 0.26904899] [ 0. 0. 0. 1. ]] SLAMing on 8.184839172999999 meters Centerline goodness : 0.801416 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.27 [[ 0.94412401 -0.2801653 -0.17360085 2.49168897] [ 0.2890065 0.95693471 0.02740811 0.17038423] [ 0.15844588 -0.07604843 0.98443463 0.27261212] [ 0. 0. 0. 1. ]] SLAMing on 8.244839172999999 meters Centerline goodness : 0.801597 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.27 [[ 0.94560437 -0.27428907 -0.17492252 2.49163776] [ 0.28397924 0.95827917 0.03250875 0.16873047] [ 0.15870781 -0.08041478 0.98404537 0.27293801] [ 0. 0. 0. 1. ]] SLAMing on 8.304839173 meters Centerline goodness : 0.801902 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.27 [[ 0.94537236 -0.27474537 -0.17545961 2.49315756] [ 0.28459098 0.95807547 0.03315663 0.16747974] [ 0.15899392 -0.08127958 0.98392813 0.27289024] [ 0. 0. 0. 1. ]] SLAMing on 8.364839172999998 meters Centerline goodness : 0.799496 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.27 [[ 0.94461533 -0.27771775 -0.17485629 2.49537799] [ 0.28731861 0.95731025 0.03170329 0.16140956] [ 0.15858715 -0.08018688 0.98408342 0.2725959 ] [ 0. 0. 0. 1. ]] SLAMing on 8.424839172999999 meters Centerline goodness : 0.801056 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.27 [[ 0.94506026 -0.27608554 -0.17503678 2.49633991] [ 0.28593707 0.95766955 0.03330189 0.15788617] [ 0.15843323 -0.0815218 0.98399853 0.27230593] [ 0. 0. 0. 1. ]] SLAMing on 8.484839173 meters Centerline goodness : 0.800556 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.27 [[ 0.94284963 -0.28450408 -0.17347048 2.49824935] [ 0.29342896 0.95558159 0.0276273 0.153358 ] [ 0.15790511 -0.07694965 0.98445148 0.27218444] [ 0. 0. 0. 1. ]] SLAMing on 8.544839173 meters Centerline goodness : 0.799098 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.27 [[ 0.94340602 -0.28193085 -0.17464275 2.50181393] [ 0.29134631 0.95613738 0.03030895 0.15393217] [ 0.15843743 -0.07947517 0.98416527 0.26945287] [ 0. 0. 0. 1. ]] SLAMing on 8.604839172999998 meters Centerline goodness : 0.798736 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.27 [[ 0.94356028 -0.28132328 -0.17478903 2.5035056 ] [ 0.29084915 0.95626752 0.03097105 0.15111092] [ 0.15843219 -0.0800603 0.98411869 0.26871404] [ 0. 0. 0. 1. ]] SLAMing on 8.664839172999999 meters Centerline goodness : 0.799734 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.27 [[ 0.94269611 -0.28484356 -0.17374749 2.50419102] [ 0.29382129 0.95545628 0.02779103 0.14996585] [ 0.15809204 -0.07724921 0.98439802 0.26822111] [ 0. 0. 0. 1. ]] SLAMing on 8.724839173 meters Centerline goodness : 0.800286 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.27 [[ 0.94507447 -0.27596069 -0.17515691 2.50168614] [ 0.2859934 0.95761482 0.03437494 0.15430565] [ 0.15824672 -0.0825806 0.98394025 0.2680586 ] [ 0. 0. 0. 1. ]] SLAMing on 8.784839172999998 meters Centerline goodness : 0.801786 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.27 [[ 0.94681115 -0.26929504 -0.17615004 2.49715025] [ 0.28021512 0.95910778 0.03989682 0.15720898] [ 0.15820286 -0.08713466 0.98355448 0.27008105] [ 0. 0. 0. 1. ]] SLAMing on 8.844839172999999 meters Centerline goodness : 0.798160 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.27 [[ 0.9462255 -0.27140906 -0.17605233 2.49807958] [ 0.28195222 0.95869771 0.03743847 0.16202026] [ 0.15861982 -0.08506357 0.98366861 0.26867807] [ 0. 0. 0. 1. ]] SLAMing on 8.904839173 meters Centerline goodness : 0.794047 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.26 [[ 0.94465842 -0.27756488 -0.17486625 2.50273332] [ 0.28703249 0.95742283 0.03088475 0.16636119] [ 0.15884842 -0.07936783 0.98410768 0.26394614] [ 0. 0. 0. 1. ]] SLAMing on 8.964839173 meters Centerline goodness : 0.793459 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.26 [[ 0.94711572 -0.26839181 -0.17589099 2.49873258] [ 0.27880187 0.95963763 0.03694766 0.17128002] [ 0.15887517 -0.08403245 0.98371603 0.26431061] [ 0. 0. 0. 1. ]] SLAMing on 9.024839172999998 meters Centerline goodness : 0.792263 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.18, Z:0.26 [[ 0.95317536 -0.2488754 -0.17180736 2.48336342] [ 0.25934529 0.96491028 0.04108733 0.18019105] [ 0.15555306 -0.08372086 0.98427337 0.25883063] [ 0. 0. 0. 1. ]] SLAMing on 9.084839172999999 meters Centerline goodness : 0.790199 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.18, Z:0.26 [[ 0.95282235 -0.25028196 -0.1717222 2.48209598] [ 0.26058782 0.96462175 0.03998593 0.1831991 ] [ 0.15563921 -0.0828482 0.98433359 0.25965324] [ 0. 0. 0. 1. ]] SLAMing on 9.144839173 meters Centerline goodness : 0.791450 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.18, Z:0.26 [[ 0.95290648 -0.24915617 -0.17288852 2.48142802] [ 0.26016964 0.96456433 0.04390218 0.17610898] [ 0.1558236 -0.08681502 0.98396248 0.26440988] [ 0. 0. 0. 1. ]] SLAMing on 9.204839172999998 meters Centerline goodness : 0.789488 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.17, Z:0.26 [[ 0.95204262 -0.24795245 -0.17926078 2.4778966 ] [ 0.25797505 0.96553292 0.03456967 0.17349454] [ 0.16451055 -0.07915661 0.98319404 0.26462884] [ 0. 0. 0. 1. ]] SLAMing on 9.264839172999999 meters Centerline goodness : 0.795622 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.17, Z:0.27 [[ 0.94985578 -0.26014969 -0.17348236 2.48091706] [ 0.27047726 0.96196048 0.03839392 0.16830114] [ 0.156895 -0.08339172 0.9840883 0.27023353] [ 0. 0. 0. 1. ]] SLAMing on 9.324839172999999 meters Centerline goodness : 0.796702 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.18, Z:0.27 [[ 0.95171642 -0.25277436 -0.1741866 2.47376147] [ 0.26382447 0.96360637 0.04312098 0.17718436] [ 0.15694744 -0.08699363 0.98376807 0.27276685] [ 0. 0. 0. 1. ]] SLAMing on 9.384839173 meters Centerline goodness : 0.796187 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.18, Z:0.27 [[ 0.95277413 -0.24898713 -0.17385873 2.47151386] [ 0.26000049 0.96463401 0.04337019 0.18436162] [ 0.15691143 -0.08652535 0.98381511 0.2708445 ] [ 0. 0. 0. 1. ]] SLAMing on 9.444839172999998 meters Centerline goodness : 0.796195 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.19, Z:0.27 [[ 0.95121817 -0.25517327 -0.17340876 2.47175935] [ 0.26545475 0.96335262 0.03854214 0.18573196] [ 0.15721886 -0.08269417 0.98409548 0.27228568] [ 0. 0. 0. 1. ]] SLAMing on 9.504839172999999 meters Centerline goodness : 0.796477 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.19, Z:0.27 [[ 0.95068951 -0.25650033 -0.17434743 2.47277288] [ 0.26684772 0.96297547 0.03834757 0.18683392] [ 0.15805613 -0.08298085 0.98393721 0.27361443] [ 0. 0. 0. 1. ]] SLAMing on 9.564839173 meters Centerline goodness : 0.793823 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.19, Z:0.27 [[ 0.95043386 -0.25735563 -0.17448085 2.47422445] [ 0.26743445 0.96288301 0.03653923 0.19155924] [ 0.15860107 -0.08139031 0.98398238 0.27154242] [ 0. 0. 0. 1. ]] SLAMing on 9.624839172999998 meters Centerline goodness : 0.794060 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.19, Z:0.27 [[ 0.95100868 -0.2545531 -0.17545715 2.47155604] [ 0.26509754 0.96342704 0.03913615 0.19470975] [ 0.15907793 -0.08373207 0.98370888 0.27397958] [ 0. 0. 0. 1. ]] SLAMing on 9.684839172999999 meters Centerline goodness : 0.794151 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.20, Z:0.27 [[ 0.94924456 -0.26125608 -0.17515712 2.47465963] [ 0.27086408 0.96205299 0.03296501 0.20022367] [ 0.15989812 -0.07873563 0.98398846 0.27195735] [ 0. 0. 0. 1. ]] SLAMing on 9.744839172999999 meters Centerline goodness : 0.795325 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.20, Z:0.27 [[ 0.94947096 -0.26051706 -0.17503072 2.47378052] [ 0.27026258 0.96218835 0.03393686 0.1976689 ] [ 0.15957139 -0.07952632 0.98397791 0.2729479 ] [ 0. 0. 0. 1. ]] SLAMing on 9.804839173 meters Centerline goodness : 0.795873 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.21, Z:0.27 [[ 0.95626391 -0.23712528 -0.17126277 2.45759978] [ 0.24673812 0.96837943 0.03689953 0.2077378 ] [ 0.15709753 -0.07754275 0.98453415 0.26513907] [ 0. 0. 0. 1. ]] SLAMing on 9.864839172999998 meters Centerline goodness : 0.795157 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.26 [[ 0.95998142 -0.222495 -0.17009306 2.44876546] [ 0.23291481 0.97151377 0.04372272 0.21940126] [ 0.15551967 -0.08159019 0.98445755 0.26402678] [ 0. 0. 0. 1. ]] SLAMing on 9.924839172999999 meters Centerline goodness : 0.795452 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.27 [[ 0.95761202 -0.23095435 -0.17216067 2.45496945] [ 0.24113244 0.96964816 0.04046718 0.21855731] [ 0.15758921 -0.08026538 0.98423732 0.26587931] [ 0. 0. 0. 1. ]] SLAMing on 9.984839173 meters Centerline goodness : 0.793806 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.21, Z:0.27 [[ 0.95585053 -0.23838897 -0.17181523 2.4603846 ] [ 0.24820957 0.96796771 0.03782219 0.20557412] [ 0.1572952 -0.07879854 0.98440287 0.26586659] [ 0. 0. 0. 1. ]] SLAMing on 10.044839172999998 meters Centerline goodness : 0.791302 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.20, Z:0.26 [[ 0.95580654 -0.23916648 -0.17097736 2.46276843] [ 0.24884484 0.96782514 0.03729264 0.19693706] [ 0.15655704 -0.07819138 0.98456894 0.26457308] [ 0. 0. 0. 1. ]] SLAMing on 10.104839172999998 meters Centerline goodness : 0.792987 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.19, Z:0.27 [[ 0.95434274 -0.2438245 -0.1725675 2.46837329] [ 0.25367716 0.96657308 0.03720728 0.18916273] [ 0.15772705 -0.07928493 0.98429471 0.26576688] [ 0. 0. 0. 1. ]] SLAMing on 10.164839172999999 meters Centerline goodness : 0.792807 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.18, Z:0.27 [[ 0.95450654 -0.2431579 -0.17260213 2.46743257] [ 0.25343856 0.96652751 0.03991822 0.18220619] [ 0.15711828 -0.08184624 0.98418242 0.26821747] [ 0. 0. 0. 1. ]] SLAMing on 10.224839173 meters Centerline goodness : 0.796046 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.17, Z:0.27 [[ 0.95463962 -0.24388664 -0.17082884 2.46350545] [ 0.25415192 0.96630724 0.04070776 0.17056644] [ 0.15514507 -0.08227772 0.98445944 0.27209517] [ 0. 0. 0. 1. ]] SLAMing on 10.284839172999998 meters Centerline goodness : 0.794665 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.16, Z:0.27 [[ 0.95345104 -0.24790743 -0.17167709 2.46919802] [ 0.25805234 0.96533618 0.03917973 0.16490935] [ 0.15601316 -0.08165762 0.98437388 0.27146822] [ 0. 0. 0. 1. ]] SLAMing on 10.344839172999999 meters Centerline goodness : 0.792866 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.16, Z:0.27 [[ 0.95373185 -0.2463223 -0.17239748 2.47332824] [ 0.25697506 0.96549978 0.04211878 0.15552525] [ 0.15607494 -0.08447188 0.98412657 0.27095182] [ 0. 0. 0. 1. ]] SLAMing on 10.404839173 meters Centerline goodness : 0.793073 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.15, Z:0.27 [[ 0.95308193 -0.2488808 -0.17231712 2.47414977] [ 0.25957867 0.96479736 0.04224883 0.14579573] [ 0.15573619 -0.08499644 0.98413507 0.27378228] [ 0. 0. 0. 1. ]] SLAMing on 10.464839172999998 meters Centerline goodness : 0.793015 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.27 [[ 0.95258852 -0.25131709 -0.17150754 2.47509934] [ 0.26160823 0.96434792 0.03992761 0.14409017] [ 0.15535845 -0.08290236 0.98437338 0.27298237] [ 0. 0. 0. 1. ]] SLAMing on 10.524839172999998 meters Centerline goodness : 0.789834 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.27 [[ 0.95205521 -0.25288053 -0.17216942 2.48079454] [ 0.26322484 0.96391387 0.03978366 0.13552565] [ 0.15589598 -0.08319551 0.98426366 0.27206525] [ 0. 0. 0. 1. ]] SLAMing on 10.584839172999999 meters Centerline goodness : 0.790432 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.12, Z:0.27 [[ 0.94947183 -0.26981854 -0.16031592 2.48564875] [ 0.27885665 0.95964223 0.03641103 0.12495319] [ 0.14402156 -0.07927641 0.98639396 0.27271123] [ 0. 0. 0. 1. ]] SLAMing on 10.644839173 meters Centerline goodness : 0.789834 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.12, Z:0.27 [[ 0.94973217 -0.26963369 -0.15908009 2.48840796] [ 0.27848196 0.95977381 0.03580537 0.11700118] [ 0.14302657 -0.07830645 0.98661619 0.27047206] [ 0. 0. 0. 1. ]] SLAMing on 10.704839172999998 meters Centerline goodness : 0.794843 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.12, Z:0.27 [[ 0.9504162 -0.26524212 -0.16234429 2.50133593] [ 0.27393257 0.96117211 0.03330342 0.11683377] [ 0.14720733 -0.07612349 0.986172 0.27065274] [ 0. 0. 0. 1. ]] SLAMing on 10.764839172999999 meters Centerline goodness : 0.789032 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:0.27 [[ 0.95124759 -0.2673995 -0.15370602 2.50514681] [ 0.27662941 0.96006816 0.04177663 0.11172207] [ 0.13639721 -0.08225952 0.98723309 0.27089222] [ 0. 0. 0. 1. ]] SLAMing on 10.824839172999999 meters Centerline goodness : 0.789636 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:0.27 [[ 0.95137466 -0.26648389 -0.15450757 2.50669694] [ 0.27604375 0.96014976 0.04372981 0.10521579] [ 0.13669712 -0.08425428 0.98702336 0.27217916] [ 0. 0. 0. 1. ]] SLAMing on 10.884839172999998 meters Centerline goodness : 0.790383 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:0.28 [[ 0.95046926 -0.27340523 -0.14784376 2.5202869 ] [ 0.2820817 0.9585184 0.04089483 0.10488756] [ 0.1305301 -0.08057329 0.98816488 0.2767454 ] [ 0. 0. 0. 1. ]] SLAMing on 10.944839172999998 meters Centerline goodness : 0.789367 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:0.27 [[ 0.94930494 -0.27777902 -0.14716979 2.52575786] [ 0.28594853 0.95752322 0.03718487 0.10260907] [ 0.13058932 -0.07738276 0.98841203 0.27303849] [ 0. 0. 0. 1. ]] SLAMing on 11.004839172999999 meters Centerline goodness : 0.792493 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:0.28 [[ 0.95189478 -0.26913333 -0.1465045 2.51510576] [ 0.27795266 0.9596275 0.04309729 0.1074738 ] [ 0.12899083 -0.0817454 0.98827074 0.27827977] [ 0. 0. 0. 1. ]] SLAMing on 11.064839173 meters Centerline goodness : 0.792638 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.12, Z:0.28 [[ 0.95346998 -0.26297759 -0.14743742 2.51313821] [ 0.27245356 0.96097629 0.04789194 0.11777272] [ 0.12908935 -0.08583337 0.98791122 0.27582045] [ 0. 0. 0. 1. ]] SLAMing on 11.124839172999998 meters Centerline goodness : 0.788824 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.12, Z:0.28 [[ 0.9529191 -0.2656894 -0.14613124 2.50916044] [ 0.27471136 0.96046815 0.04510666 0.11862003] [ 0.12837004 -0.08312691 0.98823633 0.27812338] [ 0. 0. 0. 1. ]] SLAMing on 11.184839172999999 meters Centerline goodness : 0.790837 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.12, Z:0.28 [[ 0.95162211 -0.27103662 -0.14475675 2.50985099] [ 0.27939951 0.95931752 0.04056854 0.12151172] [ 0.12787213 -0.07905088 0.98863526 0.27617035] [ 0. 0. 0. 1. ]] SLAMing on 11.244839172999999 meters Centerline goodness : 0.791649 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.12, Z:0.28 [[ 0.94910909 -0.28099421 -0.14224696 2.5090717 ] [ 0.28810595 0.95707306 0.03171943 0.12271435] [ 0.12722775 -0.07108739 0.98932284 0.27665223] [ 0. 0. 0. 1. ]] SLAMing on 11.304839172999998 meters Centerline goodness : 0.795457 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.13, Z:0.28 [[ 0.95008096 -0.2779089 -0.14181962 2.50276917] [ 0.28516496 0.95790026 0.03328726 0.12974168] [ 0.12659822 -0.07206758 0.98933268 0.27858529] [ 0. 0. 0. 1. ]] SLAMing on 11.364839172999998 meters Centerline goodness : 0.796361 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.14, Z:0.28 [[ 0.95189958 -0.27111468 -0.14277262 2.50033508] [ 0.27888587 0.95960418 0.03718189 0.14099431] [ 0.12692465 -0.0752107 0.98905687 0.27688344] [ 0. 0. 0. 1. ]] SLAMing on 11.424839172999999 meters Centerline goodness : 0.798012 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.27 [[ 0.94942004 -0.28099933 -0.14014621 2.49710686] [ 0.28770602 0.95725752 0.02971999 0.15428235] [ 0.12580472 -0.06853767 0.98968468 0.27412836] [ 0. 0. 0. 1. ]] SLAMing on 11.484839173 meters Centerline goodness : 0.796783 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.27 [[ 0.94748916 -0.28845085 -0.13805938 2.49779345] [ 0.2940073 0.95556678 0.02125668 0.16658326] [ 0.12579345 -0.06073094 0.99019582 0.2700945 ] [ 0. 0. 0. 1. ]] SLAMing on 11.544839172999998 meters Centerline goodness : 0.798323 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.18, Z:0.27 [[ 0.94923893 -0.28228174 -0.13878934 2.49458497] [ 0.28829952 0.95721557 0.02493454 0.17634487] [ 0.12581275 -0.06368173 0.99000797 0.26906761] [ 0. 0. 0. 1. ]] SLAMing on 11.604839172999998 meters Centerline goodness : 0.798497 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.27 [[ 0.94959516 -0.28074373 -0.13947037 2.49319586] [ 0.28682749 0.95765056 0.02520688 0.18588844] [ 0.12648721 -0.06394027 0.98990536 0.26843079] [ 0. 0. 0. 1. ]] SLAMing on 11.664839172999999 meters Centerline goodness : 0.799938 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.27 [[ 0.95165296 -0.2725601 -0.14166026 2.48755513] [ 0.27958719 0.95958897 0.03193774 0.19408439] [ 0.12723067 -0.07000004 0.9894 0.27187296] [ 0. 0. 0. 1. ]] SLAMing on 11.724839172999998 meters Centerline goodness : 0.797937 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.27 [[ 0.95163151 -0.27265185 -0.14162785 2.48779425] [ 0.2796183 0.95959508 0.03147833 0.19555216] [ 0.12732277 -0.06955751 0.98941936 0.27119057] [ 0. 0. 0. 1. ]] SLAMing on 11.784839172999998 meters Centerline goodness : 0.799288 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.28 [[ 0.95215356 -0.27012184 -0.14296079 2.48513907] [ 0.27764462 0.96003858 0.03520492 0.195076 ] [ 0.12773826 -0.07321279 0.98910203 0.27525804] [ 0. 0. 0. 1. ]] SLAMing on 11.844839172999999 meters Centerline goodness : 0.798248 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.28 [[ 0.95032321 -0.27083344 -0.15341137 2.48516047] [ 0.27794907 0.96022764 0.02659318 0.19552531] [ 0.14010752 -0.06791266 0.98780451 0.27529359] [ 0. 0. 0. 1. ]] SLAMing on 11.904839173 meters Centerline goodness : 0.797843 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:0.28 [[ 0.95030496 -0.27066919 -0.15381375 2.48480206] [ 0.2779702 0.96018985 0.0277131 0.19407557] [ 0.14018932 -0.06909153 0.98771115 0.276774 ] [ 0. 0. 0. 1. ]] SLAMing on 11.964839172999998 meters Centerline goodness : 0.800874 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.20, Z:0.28 [[ 0.95210757 -0.26366075 -0.15483598 2.47790374] [ 0.27188334 0.96172271 0.03418879 0.19630879] [ 0.13989504 -0.07464873 0.98734844 0.28157862] [ 0. 0. 0. 1. ]] SLAMing on 12.024839172999998 meters Centerline goodness : 0.799627 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.20, Z:0.28 [[ 0.95270976 -0.25720076 -0.16183907 2.46657681] [ 0.26517676 0.96375133 0.0294052 0.20491613] [ 0.14840958 -0.07093058 0.98637896 0.28292013] [ 0. 0. 0. 1. ]] SLAMing on 12.084839172999999 meters Centerline goodness : 0.796678 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.22, Z:0.28 [[ 0.94919121 -0.26181405 -0.17461226 2.46926147] [ 0.26949276 0.96276485 0.02138906 0.2159071 ] [ 0.16251059 -0.06735905 0.98440493 0.28146328] [ 0. 0. 0. 1. ]] SLAMing on 12.144839172999998 meters Centerline goodness : 0.798397 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.22, Z:0.28 [[ 0.95194834 -0.25256083 -0.17322641 2.46060591] [ 0.26101757 0.96494143 0.02752945 0.21877806] [ 0.16020048 -0.07142175 0.9844972 0.28243751] [ 0. 0. 0. 1. ]] SLAMing on 12.204839172999998 meters Centerline goodness : 0.799830 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.23, Z:0.28 [[ 0.95590399 -0.23705823 -0.17335213 2.4435236 ] [ 0.24491856 0.96921774 0.02513717 0.2285536 ] [ 0.16205699 -0.06648588 0.98453906 0.28168994] [ 0. 0. 0. 1. ]] SLAMing on 12.264839172999999 meters Centerline goodness : 0.799379 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:0.28 [[ 0.95293143 -0.24563752 -0.1777186 2.45272106] [ 0.25343469 0.96709706 0.02222929 0.23532858] [ 0.16641079 -0.06622305 0.98383025 0.28374866] [ 0. 0. 0. 1. ]] SLAMing on 12.324839172999999 meters Centerline goodness : 0.796315 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:0.28 [[ 0.95428028 -0.23789242 -0.18098713 2.44950176] [ 0.24428264 0.96960948 0.01354441 0.24284044] [ 0.17226473 -0.05713718 0.98339219 0.27605202] [ 0. 0. 0. 1. ]] SLAMing on 12.384839172999998 meters Centerline goodness : 0.796259 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:0.27 [[ 0.9550605 -0.23420931 -0.18167397 2.44935162] [ 0.24086147 0.97044138 0.0151418 0.248589 ] [ 0.17275759 -0.0582196 0.98324223 0.27467198] [ 0. 0. 0. 1. ]] SLAMing on 12.444839172999998 meters Centerline goodness : 0.796781 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.27, Z:0.27 [[ 0.95611825 -0.2320132 -0.17890715 2.43797129] [ 0.23876029 0.9709324 0.0168464 0.26507367] [ 0.16979816 -0.05882308 0.98372172 0.27175433] [ 0. 0. 0. 1. ]] SLAMing on 12.504839172999999 meters Centerline goodness : 0.799598 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:0.27 [[ 0.96004252 -0.21981079 -0.17320962 2.42188003] [ 0.226447 0.97383261 0.01928205 0.28557791] [ 0.16443877 -0.05773439 0.98469621 0.26626406] [ 0. 0. 0. 1. ]] SLAMing on 12.564839172999998 meters Centerline goodness : 0.797489 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.31, Z:0.26 [[ 0.96138921 -0.220053 -0.16524971 2.42839402] [ 0.22542713 0.97415559 0.01426538 0.30885922] [ 0.15783979 -0.05096635 0.98614859 0.26079029] [ 0. 0. 0. 1. ]] SLAMing on 12.624839172999998 meters Centerline goodness : 0.788333 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:0.26 [[ 0.9595051 -0.22639884 -0.16761122 2.43377294] [ 0.23237732 0.97248241 0.01669536 0.31795867] [ 0.15921915 -0.05496833 0.9857118 0.25947207] [ 0. 0. 0. 1. ]] SLAMing on 12.684839172999999 meters Centerline goodness : 0.795373 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:0.26 [[ 0.95734885 -0.23644257 -0.16606652 2.43371868] [ 0.24115569 0.97044905 0.00851861 0.31863606] [ 0.15914493 -0.04820316 0.98607776 0.26115904] [ 0. 0. 0. 1. ]] SLAMing on 12.744839172999999 meters Centerline goodness : 0.798512 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.25 [[ 9.56584600e-01 -2.40460684e-01 -1.64695361e-01 2.43713322e+00] [ 2.43909937e-01 9.69797603e-01 7.42548401e-04 3.26983612e-01] [ 1.59542612e-01 -4.08811454e-02 9.86344203e-01 2.54633887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804839172999998 meters Centerline goodness : 0.713522 with order 2 Centerline is valid? [False, False] Translation: X:1.45, Y:2.26, Z:0.98 [[ 0.93193318 -0.24963697 0.26302459 1.45309351] [ 0.36130587 0.7011352 -0.61470928 2.25759295] [-0.03096163 0.6679003 0.74360646 0.98090439] [ 0. 0. 0. 1. ]] SLAMing on 12.864839172999998 meters Centerline goodness : 0.794679 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.73, Z:0.84 [[-0.35649019 0.55863674 0.74889234 0.58425351] [-0.93135939 -0.2760172 -0.23745355 0.72851933] [ 0.07405689 -0.78213778 0.618689 0.83630487] [ 0. 0. 0. 1. ]] SLAMing on 12.924839172999999 meters Centerline goodness : 0.791066 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:1.82, Z:0.85 [[ 0.84676806 0.50472414 0.16803987 2.12408327] [-0.27173342 0.68195826 -0.67903894 1.82405076] [-0.45732352 0.52932644 0.71461089 0.85265021] [ 0. 0. 0. 1. ]] SLAMing on 12.984839172999997 meters Centerline goodness : 0.797399 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:1.83, Z:0.86 [[ 0.8467077 0.49912542 0.18428205 2.09737779] [-0.27996205 0.71248071 -0.64342248 1.82536808] [-0.45244592 0.49319879 0.74299909 0.8558669 ] [ 0. 0. 0. 1. ]] SLAMing on 13.044839172999998 meters Centerline goodness : 0.794520 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:1.84, Z:0.88 [[ 0.85207351 0.4826557 0.20251967 2.05376453] [-0.28973749 0.75715569 -0.58546345 1.83564952] [-0.43591619 0.44018035 0.78499575 0.87770621] [ 0. 0. 0. 1. ]] SLAMing on 13.104839172999998 meters Centerline goodness : 0.794449 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:1.83, Z:0.88 [[ 0.85000199 0.47876753 0.21972316 2.0444882 ] [-0.29820948 0.78116548 -0.5484994 1.8300906 ] [-0.43424386 0.40070205 0.80676523 0.87766776] [ 0. 0. 0. 1. ]] SLAMing on 13.164839172999999 meters Centerline goodness : 0.800186 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:1.83, Z:0.87 [[ 0.85440057 0.46552889 0.23083006 2.01566018] [-0.29425541 0.79961823 -0.52347344 1.83280237] [-0.42826793 0.37933301 0.82017867 0.87062924] [ 0. 0. 0. 1. ]] SLAMing on 13.224839172999998 meters Centerline goodness : 0.791938 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:1.84, Z:0.88 [[ 0.85429864 0.46144763 0.23924866 1.99555134] [-0.30100693 0.81445372 -0.49604432 1.83747452] [-0.42375544 0.35175449 0.83468564 0.87807889] [ 0. 0. 0. 1. ]] SLAMing on 13.284839172999998 meters Centerline goodness : 0.798699 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:1.84, Z:0.88 [[ 0.85571409 0.45492511 0.24656955 1.98452441] [-0.3039817 0.82757445 -0.47192759 1.84003666] [-0.41874637 0.32888246 0.84645603 0.88071361] [ 0. 0. 0. 1. ]] SLAMing on 13.344839172999999 meters Centerline goodness : 0.769731 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:1.85, Z:0.89 [[ 0.8608623 0.44627873 0.24444099 1.98451727] [-0.30688149 0.83854659 -0.45018148 1.84637967] [-0.40588158 0.31252985 0.85882783 0.88688701] [ 0. 0. 0. 1. ]] SLAMing on 13.404839172999997 meters Centerline goodness : 0.789817 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.86, Z:0.90 [[ 0.86345926 0.43706394 0.25181983 1.94983977] [-0.30763515 0.85192438 -0.42377525 1.85994757] [-0.39974833 0.28844404 0.87005822 0.89770387] [ 0. 0. 0. 1. ]] SLAMing on 13.464839172999998 meters Centerline goodness : 0.767130 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:1.86, Z:0.88 [[ 0.86716257 0.43912716 0.23493918 2.02176258] [-0.31240778 0.84701852 -0.43007093 1.86348951] [-0.38785366 0.29954458 0.8716895 0.88063766] [ 0. 0. 0. 1. ]] SLAMing on 13.524839172999998 meters Centerline goodness : 0.799929 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:1.75, Z:0.83 [[ 0.85883817 0.43995608 0.26236546 2.18580349] [-0.30347349 0.84962678 -0.43132143 1.75272437] [-0.41267521 0.29081435 0.86320692 0.82985772] [ 0. 0. 0. 1. ]] SLAMing on 13.584839172999999 meters Centerline goodness : 0.804957 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.76, Z:0.84 [[ 0.85519198 0.44214978 0.27046303 2.16821908] [-0.31276241 0.85632219 -0.41096471 1.76268911] [-0.41331145 0.26686305 0.87060769 0.84187057] [ 0. 0. 0. 1. ]] SLAMing on 13.644839172999998 meters Centerline goodness : 0.809521 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.77, Z:0.85 [[ 0.8576996 0.43512442 0.27389439 2.14618 ] [-0.31607798 0.86639126 -0.38660172 1.77497122] [-0.40551956 0.24501616 0.88063669 0.8465444 ] [ 0. 0. 0. 1. ]] SLAMing on 13.704839172999998 meters Centerline goodness : 0.819296 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.77, Z:0.83 [[ 0.86162107 0.42288915 0.2806669 2.1709912 ] [-0.3132228 0.87815393 -0.36157594 1.77007023] [-0.39937528 0.22363017 0.88909445 0.83314883] [ 0. 0. 0. 1. ]] SLAMing on 13.764839172999999 meters Centerline goodness : 0.814733 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:1.77, Z:0.82 [[ 0.85948485 0.41765579 0.29470226 2.1789597 ] [-0.31713094 0.88785414 -0.33338117 1.76813783] [-0.4008912 0.19307686 0.89554876 0.81970152] [ 0. 0. 0. 1. ]] SLAMing on 13.824839172999997 meters Centerline goodness : 0.806168 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.78, Z:0.82 [[ 0.86033761 0.41316464 0.29851999 2.16782455] [-0.32200268 0.89452895 -0.31005199 1.77718511] [-0.39513729 0.17062515 0.90263701 0.82299912] [ 0. 0. 0. 1. ]] SLAMing on 13.884839172999998 meters Centerline goodness : 0.647183 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:1.39, Z:0.76 [[ 0.9287506 0.12749965 0.34808931 1.81794249] [-0.2466615 0.91350411 0.32352489 1.39019434] [-0.2767317 -0.38633416 0.87986674 0.75812585] [ 0. 0. 0. 1. ]] SLAMing on 13.944839172999998 meters Centerline goodness : 0.679039 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.39, Z:0.77 [[ 0.97834126 0.02456748 0.20553544 1.94813358] [-0.10251969 0.92010756 0.37801031 1.38819956] [-0.17982795 -0.39089451 0.90269784 0.76702718] [ 0. 0. 0. 1. ]] SLAMing on 14.004839172999999 meters Centerline goodness : 0.812095 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:1.79, Z:1.85 [[ 0.98235577 0.15927578 -0.0980223 2.49380455] [-0.13896356 0.27086372 -0.9525345 1.79395423] [-0.12516499 0.94934929 0.28821807 1.8516018 ] [ 0. 0. 0. 1. ]] SLAMing on 14.064839172999998 meters Centerline goodness : 0.744019 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:1.80, Z:1.74 [[ 0.96406871 0.07252956 -0.25556016 2.26545259] [-0.24071467 0.64544438 -0.72488482 1.79708086] [ 0.11237429 0.76035585 0.63971166 1.74001835] [ 0. 0. 0. 1. ]] SLAMing on 14.124839172999998 meters Centerline goodness : 0.861874 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:1.78, Z:1.77 [[ 0.96327259 0.10686993 -0.24634271 2.32598612] [-0.25721995 0.63062147 -0.73222569 1.77746598] [ 0.07709609 0.7686972 0.63494946 1.77042361] [ 0. 0. 0. 1. ]] SLAMing on 14.184839172999999 meters Centerline goodness : 0.687041 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.78, Z:1.63 [[ 0.97700955 0.11366768 -0.18036629 2.34080669] [-0.20604337 0.72072366 -0.6618939 1.78049169] [ 0.05475831 0.68383994 0.72757437 1.63251604] [ 0. 0. 0. 1. ]] SLAMing on 14.244839172999997 meters Centerline goodness : 0.800720 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.62, Z:1.82 [[ 0.94229555 0.19667552 -0.27092034 2.08495264] [-0.33005626 0.68125199 -0.65342069 1.62401164] [ 0.05605316 0.70513436 0.70685471 1.81857463] [ 0. 0. 0. 1. ]] SLAMing on 14.304839172999998 meters Centerline goodness : 0.786670 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.66, Z:1.81 [[ 0.94989152 0.1906033 -0.24774278 2.08195249] [-0.30876988 0.6955283 -0.64876925 1.65825351] [ 0.04865456 0.69275592 0.71952899 1.80527254] [ 0. 0. 0. 1. ]] SLAMing on 14.364839172999998 meters Centerline goodness : 0.787931 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.70, Z:1.79 [[ 0.95635773 0.18841704 -0.22333585 2.08947576] [-0.28936073 0.71695724 -0.63422605 1.70317651] [ 0.04062326 0.67117161 0.7401881 1.7893406 ] [ 0. 0. 0. 1. ]] SLAMing on 14.424839172999999 meters Centerline goodness : 0.756341 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.72, Z:1.77 [[ 0.95869459 0.18949986 -0.21211903 2.08243497] [-0.28202221 0.73026257 -0.62223794 1.72031724] [ 0.03698859 0.65635843 0.75354194 1.77411879] [ 0. 0. 0. 1. ]] SLAMing on 14.484839172999997 meters Centerline goodness : 0.770518 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.73, Z:1.77 [[ 0.95979214 0.1888977 -0.20764562 2.08471467] [-0.27811846 0.74021488 -0.61215362 1.73419968] [ 0.03806796 0.64529032 0.76298836 1.76799962] [ 0. 0. 0. 1. ]] SLAMing on 14.544839172999998 meters Centerline goodness : 0.691801 with order 3 Centerline is valid? [False, False] Translation: X:2.09, Y:1.75, Z:1.76 [[ 0.96014504 0.19483553 -0.20040114 2.09148978] [-0.27730218 0.75381368 -0.59570835 1.74874261] [ 0.03499997 0.62753809 0.77779878 1.75779983] [ 0. 0. 0. 1. ]] SLAMing on 14.604839172999998 meters Centerline goodness : 0.766492 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.77, Z:1.74 [[ 0.96329387 0.18983376 -0.18981059 2.07757284] [-0.26637823 0.76359394 -0.58818954 1.77235261] [ 0.03327998 0.61716079 0.78613294 1.74310074] [ 0. 0. 0. 1. ]] SLAMing on 14.664839172999997 meters Centerline goodness : 0.754971 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:1.79, Z:1.73 [[ 0.96550615 0.1886064 -0.17951462 2.06409346] [-0.25848734 0.77726056 -0.57362908 1.79491858] [ 0.03133952 0.60024466 0.79920221 1.73139472] [ 0. 0. 0. 1. ]] SLAMing on 14.724839172999998 meters Centerline goodness : 0.759942 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:1.82, Z:1.72 [[ 0.96777932 0.18636673 -0.16932404 2.04743644] [-0.25010483 0.78936374 -0.56067144 1.81832865] [ 0.02916775 0.58495498 0.81054112 1.72040137] [ 0. 0. 0. 1. ]] SLAMing on 14.784839172999998 meters Centerline goodness : 0.762394 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:1.83, Z:1.71 [[ 0.97146479 0.17885859 -0.15577471 2.03904025] [-0.23558715 0.80372075 -0.5463805 1.83093132] [ 0.02747452 0.56748794 0.8229232 1.7111033 ] [ 0. 0. 0. 1. ]] SLAMing on 14.844839172999999 meters Centerline goodness : 0.762428 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:1.85, Z:1.70 [[ 0.97382417 0.17967568 -0.13922331 2.00537624] [-0.2267556 0.81039307 -0.54022677 1.84953483] [ 0.01575999 0.55765556 0.82992283 1.70100002] [ 0. 0. 0. 1. ]] SLAMing on 14.904839172999997 meters Centerline goodness : 0.760107 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:1.85, Z:1.69 [[ 0.97139559 0.19467205 -0.13599045 1.99984101] [-0.23725314 0.81992105 -0.52099944 1.85061566] [ 0.01007741 0.53836072 0.84265425 1.68911309] [ 0. 0. 0. 1. ]] SLAMing on 14.964839172999998 meters Centerline goodness : 0.757020 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:1.86, Z:1.68 [[ 0.9680217 0.20651868 -0.142422 1.9983108 ] [-0.25067863 0.81826571 -0.51730209 1.85573892] [ 0.0097065 0.5364618 0.84386878 1.67822874] [ 0. 0. 0. 1. ]] SLAMing on 15.024839172999998 meters Centerline goodness : 0.755653 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:1.87, Z:1.66 [[ 0.97007231 0.20369312 -0.1321697 1.98176489] [-0.2427794 0.82312789 -0.51334067 1.86560457] [ 0.00422861 0.53006565 0.84794606 1.66372967] [ 0. 0. 0. 1. ]] SLAMing on 15.084839172999997 meters Centerline goodness : 0.757394 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.87, Z:1.65 [[ 0.97237301 0.19817309 -0.12336189 1.96192782] [-0.23341359 0.83215807 -0.50302192 1.86608651] [ 0.00297118 0.51791928 0.85542434 1.64961232] [ 0. 0. 0. 1. ]] SLAMing on 15.144839172999998 meters Centerline goodness : 0.759682 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.87, Z:1.64 [[ 0.97213185 0.20102727 -0.12061386 1.95678378] [-0.23437662 0.84485393 -0.48092561 1.86701494] [ 0.00522193 0.49579217 0.8684255 1.63963017] [ 0. 0. 0. 1. ]] SLAMing on 15.204839172999998 meters Centerline goodness : 0.755487 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:1.87, Z:1.62 [[ 0.97133937 0.20396714 -0.12205421 1.94016426] [-0.23763496 0.8450093 -0.47905 1.86557581] [ 0.00542648 0.49432447 0.86926053 1.61857358] [ 0. 0. 0. 1. ]] SLAMing on 15.264839172999999 meters Centerline goodness : 0.756451 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.86, Z:1.60 [[ 9.71707956e-01 2.05512493e-01 -1.16397011e-01 1.93362141e+00] [-2.36183113e-01 8.47777007e-01 -4.74859646e-01 1.86179842e+00] [ 1.08912034e-03 4.88915904e-01 8.72330243e-01 1.60318446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324839172999997 meters Centerline goodness : 0.754719 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.86, Z:1.59 [[ 9.73782462e-01 1.99968020e-01 -1.08445878e-01 1.91748060e+00] [-2.27479979e-01 8.54410074e-01 -4.67157666e-01 1.85666804e+00] [-7.59342782e-04 4.79579208e-01 8.77498266e-01 1.58549779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384839172999998 meters Centerline goodness : 0.754418 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.85, Z:1.58 [[ 9.74416848e-01 1.96421432e-01 -1.09226497e-01 1.92077025e+00] [-2.24743246e-01 8.54849197e-01 -4.67678655e-01 1.85125731e+00] [ 1.51007233e-03 4.80261878e-01 8.77123850e-01 1.57639979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444839172999998 meters Centerline goodness : 0.759370 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.84, Z:1.56 [[ 9.75062313e-01 1.94338604e-01 -1.07172727e-01 1.91813114e+00] [-2.21931043e-01 8.53148846e-01 -4.72105559e-01 1.84349096e+00] [-3.14046950e-04 4.84117293e-01 8.75003056e-01 1.56129133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504839172999997 meters Centerline goodness : 0.761918 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.83, Z:1.55 [[ 0.97472552 0.19704108 -0.10528525 1.91457468] [-0.22339203 0.85440203 -0.46914089 1.83415383] [-0.0024841 0.48080348 0.87682486 1.55426108] [ 0. 0. 0. 1. ]] SLAMing on 15.564839172999998 meters Centerline goodness : 0.767601 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.82, Z:1.55 [[ 0.97336869 0.20577813 -0.10103842 1.90560774] [-0.22905992 0.85530047 -0.4647501 1.82372397] [-0.00921719 0.47551704 0.87965822 1.54749128] [ 0. 0. 0. 1. ]] SLAMing on 15.624839172999998 meters Centerline goodness : 0.771168 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:1.82, Z:1.54 [[ 0.97263198 0.21045301 -0.09847115 1.90077814] [-0.231968 0.85518604 -0.46351664 1.81575837] [-0.01333732 0.47367327 0.88059966 1.53928248] [ 0. 0. 0. 1. ]] SLAMing on 15.684839172999999 meters Centerline goodness : 0.772451 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:1.81, Z:1.53 [[ 0.97434017 0.20246361 -0.09833469 1.89834589] [-0.22478895 0.85307079 -0.47089294 1.80730794] [-0.01145223 0.48091446 0.87669272 1.52749856] [ 0. 0. 0. 1. ]] SLAMing on 15.744839172999997 meters Centerline goodness : 0.778242 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:1.79, Z:1.50 [[ 0.97461646 0.20515849 -0.08962565 1.86005467] [-0.22366806 0.87480028 -0.42976397 1.78570359] [-0.00976519 0.43890143 0.89848215 1.50204611] [ 0. 0. 0. 1. ]] SLAMing on 15.804839172999998 meters Centerline goodness : 0.786470 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:1.77, Z:1.49 [[ 0.97411524 0.20866156 -0.08694741 1.84262706] [-0.22602102 0.89268637 -0.38990454 1.77021541] [-0.00374132 0.3994639 0.91674129 1.48838881] [ 0. 0. 0. 1. ]] SLAMing on 15.864839172999998 meters Centerline goodness : 0.783480 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:1.75, Z:1.47 [[ 0.97306588 0.20736157 -0.10071726 1.84745047] [-0.23018075 0.89791108 -0.37519663 1.74920463] [ 0.01263378 0.38827422 0.92145728 1.46533327] [ 0. 0. 0. 1. ]] SLAMing on 15.924839172999997 meters Centerline goodness : 0.796112 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.74, Z:1.45 [[ 0.9757171 0.19480471 -0.10013624 1.82713315] [-0.21791284 0.90954688 -0.35389047 1.73843635] [ 0.02213907 0.36711795 0.92991089 1.44629121] [ 0. 0. 0. 1. ]] SLAMing on 15.984839172999997 meters Centerline goodness : 0.775443 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.72, Z:1.44 [[ 0.97691166 0.19297037 -0.09168445 1.83341851] [-0.21294005 0.91427447 -0.34461388 1.71820213] [ 0.01732448 0.35618061 0.93425651 1.43632566] [ 0. 0. 0. 1. ]] SLAMing on 16.044839172999996 meters Centerline goodness : 0.770635 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:1.70, Z:1.43 [[ 0.97633869 0.19567494 -0.09205473 1.82039078] [-0.21532581 0.91894442 -0.33041785 1.70272159] [ 0.01993869 0.34242149 0.93933486 1.42502924] [ 0. 0. 0. 1. ]] SLAMing on 16.104839173 meters Centerline goodness : 0.757824 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.69, Z:1.42 [[ 0.97430323 0.20745053 -0.08773533 1.83421558] [-0.22450365 0.92589434 -0.30383842 1.6867938 ] [ 0.0182022 0.31572766 0.94867525 1.41707114] [ 0. 0. 0. 1. ]] SLAMing on 16.164839172999997 meters Centerline goodness : 0.776192 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:1.66, Z:1.41 [[ 0.97272087 0.21815322 -0.07888779 1.8411712 ] [-0.23162139 0.93220668 -0.27810473 1.66478828] [ 0.01287028 0.28879038 0.95730584 1.40564459] [ 0. 0. 0. 1. ]] SLAMing on 16.224839173 meters Centerline goodness : 0.776447 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.65, Z:1.39 [[ 0.97115521 0.22805469 -0.069632 1.8272332 ] [-0.23835902 0.93646405 -0.25733259 1.6541805 ] [ 0.00652196 0.2665073 0.96381083 1.39126026] [ 0. 0. 0. 1. ]] SLAMing on 16.284839172999998 meters Centerline goodness : 0.780872 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.64, Z:1.38 [[ 0.97126193 0.22872702 -0.06583468 1.82906275] [-0.23789647 0.94157007 -0.23843462 1.63901287] [ 0.00745153 0.24724431 0.96892452 1.38440906] [ 0. 0. 0. 1. ]] SLAMing on 16.344839172999997 meters Centerline goodness : 0.801279 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:1.62, Z:1.38 [[ 0.97232179 0.22547826 -0.06123639 1.84234485] [-0.23350596 0.94683615 -0.22130583 1.61722141] [ 0.00808118 0.22947954 0.97327994 1.37774138] [ 0. 0. 0. 1. ]] SLAMing on 16.404839173 meters Centerline goodness : 0.790085 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:1.56, Z:1.36 [[ 9.74986126e-01 2.20032626e-01 -3.14276675e-02 1.90310539e+00] [-2.22261861e-01 9.64339339e-01 -1.43698655e-01 1.56325905e+00] [-1.31145641e-03 1.47089367e-01 9.89122337e-01 1.36400593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464839172999998 meters Centerline goodness : 0.845466 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:1.48, Z:1.30 [[ 0.97213103 0.23370325 -0.01854879 1.93718764] [-0.23442461 0.96817577 -0.08764005 1.48379929] [-0.00252327 0.0895459 0.9959795 1.3048744 ] [ 0. 0. 0. 1. ]] SLAMing on 16.524839172999997 meters Centerline goodness : 0.626107 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.89, Z:1.36 [[ 0.97780642 0.16691982 0.12661901 1.92358799] [-0.20847235 0.71508606 0.6672265 0.8901453 ] [ 0.02082984 -0.67881492 0.73401391 1.36069586] [ 0. 0. 0. 1. ]] SLAMing on 16.584839173 meters Centerline goodness : 0.801571 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:1.70, Z:2.32 [[ 0.97257395 -0.06340965 -0.22378366 2.02580257] [-0.21775473 0.08992401 -0.97185212 1.70404934] [ 0.08174832 0.99392801 0.07365 2.31661127] [ 0. 0. 0. 1. ]] SLAMing on 16.644839172999998 meters Centerline goodness : 0.778662 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:1.78, Z:2.30 [[ 0.98269286 -0.06643293 -0.17292024 2.02219433] [-0.16535494 0.10619903 -0.98049962 1.78361484] [ 0.08350143 0.99212319 0.09337602 2.29584772] [ 0. 0. 0. 1. ]] SLAMing on 16.704839172999996 meters Centerline goodness : 0.761304 with order 2 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:1.45 [[ 0.98025743 0.16840038 -0.10361799 2.03846411] [-0.00675321 0.5522586 0.83364551 0.22184118] [ 0.19761015 -0.81648745 0.54249283 1.4535778 ] [ 0. 0. 0. 1. ]] SLAMing on 16.764839173 meters Centerline goodness : 0.936198 with order 2 Centerline is valid? [False, False] Translation: X:2.08, Y:0.29, Z:1.38 [[ 0.9848496 0.15119976 -0.08491113 2.07796933] [-0.04649886 0.70197818 0.7106789 0.29223154] [ 0.16706024 -0.69596356 0.69837354 1.38188837] [ 0. 0. 0. 1. ]] SLAMing on 16.824839172999997 meters Centerline goodness : 0.860588 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.77, Z:2.25 [[ 0.84030326 -0.44350765 0.31175535 1.95113882] [ 0.37937734 0.07029543 -0.92256782 1.77289376] [ 0.38725091 0.89350966 0.22732624 2.25256113] [ 0. 0. 0. 1. ]] SLAMing on 16.884839172999996 meters Centerline goodness : 0.994065 with order 1 Centerline is valid? [False, True] Translation: X:1.41, Y:0.84, Z:2.18 [[ 0.91475948 -0.34838371 0.20455777 1.41131423] [ 0.34322236 0.40307817 -0.8483669 0.84251063] [ 0.21310443 0.84626047 0.48829266 2.17743349] [ 0. 0. 0. 1. ]] SLAMing on 16.944839173 meters Centerline goodness : 0.875628 with order 1 Centerline is valid? [True, False] Translation: X:2.43, Y:0.85, Z:2.32 [[ 0.84338043 -0.21444487 -0.4926691 2.43374815] [-0.22983715 0.68481005 -0.69152735 0.84872121] [ 0.48567925 0.6964543 0.528268 2.3202455 ] [ 0. 0. 0. 1. ]] SLAMing on 17.004839172999997 meters Centerline goodness : 0.762124 with order 2 Centerline is valid? [False, False] Translation: X:2.39, Y:0.83, Z:2.17 [[ 0.90470242 -0.12684915 -0.40672204 2.38813671] [-0.11069187 0.85188 -0.51190602 0.83112239] [ 0.41141322 0.50814344 0.75665673 2.16585966] [ 0. 0. 0. 1. ]] SLAMing on 17.064839173 meters Centerline goodness : 0.779226 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.75, Z:2.06 [[ 0.84277947 -0.00731352 -0.53820932 1.95866359] [-0.24464213 0.88545666 -0.3951161 0.75364885] [ 0.47945072 0.46466441 0.7444555 2.05983805] [ 0. 0. 0. 1. ]] SLAMing on 17.124839172999998 meters Centerline goodness : 0.787540 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.75, Z:2.09 [[ 0.84413511 -0.02214652 -0.5356729 1.97381549] [-0.21774237 0.89887045 -0.3802896 0.75079525] [ 0.48992263 0.43765448 0.75394587 2.08851785] [ 0. 0. 0. 1. ]] SLAMing on 17.184839172999997 meters Centerline goodness : 0.777447 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.70, Z:2.07 [[ 0.87220127 0.02630552 -0.48843931 2.0171929 ] [-0.19510499 0.93439059 -0.29807425 0.69832883] [ 0.4485521 0.35527769 0.820109 2.07024244] [ 0. 0. 0. 1. ]] SLAMing on 17.244839173 meters Centerline goodness : 0.766237 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.74, Z:2.00 [[ 0.88605631 0.0183055 -0.46321607 1.93924118] [-0.17746616 0.93649709 -0.30245489 0.74463771] [ 0.42826391 0.35019724 0.83303776 2.00351432] [ 0. 0. 0. 1. ]] SLAMing on 17.304839172999998 meters Centerline goodness : 0.719956 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.80, Z:1.99 [[ 0.88923151 -0.01635639 -0.45716494 1.85367117] [-0.16307374 0.92237208 -0.35019523 0.79884415] [ 0.42740411 0.38595623 0.81753503 1.99223284] [ 0. 0. 0. 1. ]] SLAMing on 17.364839172999996 meters Centerline goodness : 0.755011 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.80, Z:1.97 [[ 0.88419725 0.03135149 -0.46606041 1.94776767] [-0.16445778 0.95475603 -0.24777925 0.80287829] [ 0.43720574 0.29573299 0.84934865 1.96694995] [ 0. 0. 0. 1. ]] SLAMing on 17.424839173 meters Centerline goodness : 0.767797 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:1.97 [[ 0.9053926 0.0202446 -0.42409244 1.94211739] [-0.13300439 0.96210965 -0.2380228 0.81189807] [ 0.40320475 0.27191024 0.87377958 1.9650613 ] [ 0. 0. 0. 1. ]] SLAMing on 17.484839172999997 meters Centerline goodness : 0.777372 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.82, Z:1.97 [[ 0.91367381 0.02736852 -0.40552574 1.94822205] [-0.12566909 0.96786456 -0.2178198 0.82126219] [ 0.38653259 0.2499783 0.88775188 1.96702355] [ 0. 0. 0. 1. ]] SLAMing on 17.544839172999996 meters Centerline goodness : 0.777613 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.81, Z:1.97 [[ 0.91191896 0.02577321 -0.40956019 1.96777148] [-0.11754326 0.97261386 -0.20051399 0.81444507] [ 0.39317603 0.23099354 0.88997449 1.96897727] [ 0. 0. 0. 1. ]] SLAMing on 17.604839173 meters Centerline goodness : 0.767043 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.83, Z:1.96 [[ 0.90818564 0.02067481 -0.41805668 1.96073287] [-0.10905443 0.97597172 -0.18864343 0.83074002] [ 0.40411133 0.21691418 0.88861818 1.95896667] [ 0. 0. 0. 1. ]] SLAMing on 17.664839172999997 meters Centerline goodness : 0.741772 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.88, Z:1.93 [[ 0.90594853 0.0049991 -0.42335833 1.97523103] [-0.08422684 0.98207227 -0.1686413 0.8824813 ] [ 0.41492542 0.18843847 0.89012799 1.93183316] [ 0. 0. 0. 1. ]] SLAMing on 17.724839172999996 meters Centerline goodness : 0.781880 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.87, Z:1.96 [[ 0.91464409 0.0035244 -0.40424468 1.90166106] [-0.09514928 0.97374656 -0.20679518 0.86521927] [ 0.39290304 0.22760758 0.89096689 1.96156936] [ 0. 0. 0. 1. ]] SLAMing on 17.784839172999998 meters Centerline goodness : 0.776863 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.85, Z:1.96 [[ 0.92216787 0.02349818 -0.38607545 1.93562705] [-0.08734792 0.98501949 -0.14868407 0.84512656] [ 0.37679804 0.17083456 0.91040584 1.96150805] [ 0. 0. 0. 1. ]] SLAMing on 17.844839172999997 meters Centerline goodness : 0.777935 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.84, Z:1.95 [[ 0.9245553 0.02832874 -0.37999339 1.92426326] [-0.08110655 0.98901107 -0.12360755 0.84216381] [ 0.37231602 0.14510197 0.91669308 1.95117713] [ 0. 0. 0. 1. ]] SLAMing on 17.904839173 meters Centerline goodness : 0.775466 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.86, Z:1.92 [[ 0.93488005 0.01116813 -0.35478806 1.90109076] [-0.06013286 0.99004137 -0.12728753 0.86282513] [ 0.3498333 0.14033299 0.9262415 1.92229366] [ 0. 0. 0. 1. ]] SLAMing on 17.964839172999998 meters Centerline goodness : 0.767045 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.85, Z:1.91 [[ 0.93416464 0.01938357 -0.35631546 1.87879359] [-0.05482118 0.99446544 -0.08962766 0.85427331] [ 0.35260611 0.10326062 0.93005708 1.90699628] [ 0. 0. 0. 1. ]] SLAMing on 18.024839172999997 meters Centerline goodness : 0.765901 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.85, Z:1.92 [[ 0.92959473 0.02061473 -0.36800633 1.93180906] [-0.04866449 0.99655853 -0.06710339 0.85106883] [ 0.36535653 0.0802878 0.92739877 1.92234722] [ 0. 0. 0. 1. ]] SLAMing on 18.084839173 meters Centerline goodness : 0.740300 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.83, Z:1.92 [[ 0.93497809 0.04805842 -0.35143472 1.97341772] [-0.06554283 0.99712525 -0.038018 0.83493583] [ 0.34859735 0.05858002 0.93544015 1.91516985] [ 0. 0. 0. 1. ]] SLAMing on 18.144839172999998 meters Centerline goodness : 0.749496 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:0.93, Z:1.92 [[ 0.9431783 -0.04048659 -0.32981135 1.60669032] [-0.02387081 0.98172951 -0.18877856 0.9321617 ] [ 0.33142854 0.18592471 0.92497953 1.91672157] [ 0. 0. 0. 1. ]] SLAMing on 18.204839172999996 meters Centerline goodness : 0.750135 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:0.94, Z:1.93 [[ 0.94508355 -0.04664589 -0.323483 1.62781072] [-0.01466307 0.98271453 -0.18454578 0.93545227] [ 0.32649974 0.17915443 0.92806336 1.93114386] [ 0. 0. 0. 1. ]] SLAMing on 18.264839173 meters Centerline goodness : 0.743027 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.94, Z:1.94 [[ 9.45240658e-01 -6.11321090e-02 -3.20597823e-01 1.64827772e+00] [ 1.91183996e-03 9.83321731e-01 -1.81864561e-01 9.43380104e-01] [ 3.26368571e-01 1.71292846e-01 9.29592554e-01 1.93870682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324839172999997 meters Centerline goodness : 0.751019 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.95, Z:1.95 [[ 0.94689765 -0.0618646 -0.31552752 1.67578172] [ 0.01169274 0.98729203 -0.15848571 0.94869461] [ 0.32132246 0.14638037 0.93558787 1.94747831] [ 0. 0. 0. 1. ]] SLAMing on 18.384839172999996 meters Centerline goodness : 0.743269 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.96, Z:1.95 [[ 0.94659276 -0.06196096 -0.31642217 1.6829206 ] [ 0.01131002 0.98713888 -0.15946444 0.95564917] [ 0.3222332 0.14736915 0.9351193 1.94531006] [ 0. 0. 0. 1. ]] SLAMing on 18.444839173 meters Centerline goodness : 0.737747 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:0.97, Z:1.95 [[ 0.94435649 -0.06303851 -0.32282652 1.71581251] [ 0.01517402 0.98876758 -0.14868902 0.96768074] [ 0.32857353 0.13551686 0.93470563 1.9549592 ] [ 0. 0. 0. 1. ]] SLAMing on 18.504839172999997 meters Centerline goodness : 0.735851 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.97, Z:1.96 [[ 9.45268399e-01 -4.41628456e-02 -3.23291349e-01 1.71332280e+00] [ 6.73788482e-05 9.90824675e-01 -1.35153465e-01 9.74922495e-01] [ 3.26293807e-01 1.27734517e-01 9.36598230e-01 1.95703058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564839172999996 meters Centerline goodness : 0.736624 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.97, Z:2.00 [[ 0.94140975 -0.06514742 -0.33091313 1.82985204] [ 0.03740391 0.99528127 -0.08953286 0.9662117 ] [ 0.33518447 0.07190967 0.93940426 2.00391361] [ 0. 0. 0. 1. ]] SLAMing on 18.624839172999998 meters Centerline goodness : 0.741885 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.96, Z:2.00 [[ 0.94133291 -0.07221436 -0.3296626 1.8269788 ] [ 0.04329247 0.99460637 -0.09425466 0.96334026] [ 0.33469106 0.0744531 0.93938205 2.00390281] [ 0. 0. 0. 1. ]] SLAMing on 18.684839172999997 meters Centerline goodness : 0.745259 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.97, Z:2.02 [[ 0.93966609 -0.07214823 -0.33439837 1.85688889] [ 0.05075524 0.99609148 -0.07228879 0.97082861] [ 0.33830688 0.05095485 0.93965529 2.021306 ] [ 0. 0. 0. 1. ]] SLAMing on 18.744839173 meters Centerline goodness : 0.748669 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.98, Z:2.02 [[ 0.9393186 -0.06442163 -0.33694276 1.86163966] [ 0.04360462 0.99666346 -0.06899704 0.98199145] [ 0.34026344 0.05011794 0.9389936 2.02278317] [ 0. 0. 0. 1. ]] SLAMing on 18.804839172999998 meters Centerline goodness : 0.745881 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.98, Z:2.03 [[ 0.94202835 -0.05783888 -0.33051059 1.92312107] [ 0.05036245 0.99824519 -0.03114737 0.98008703] [ 0.33173214 0.01269638 0.94328818 2.02922637] [ 0. 0. 0. 1. ]] SLAMing on 18.864839172999996 meters Centerline goodness : 0.745312 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.00, Z:2.00 [[ 0.94477656 -0.06269971 -0.3216613 1.9176975 ] [ 0.06060701 0.99802489 -0.01652604 1.00009956] [ 0.32206217 -0.00388151 0.94671057 2.00216788] [ 0. 0. 0. 1. ]] SLAMing on 18.924839173 meters Centerline goodness : 0.748392 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.02, Z:2.02 [[ 0.94821095 -0.06630174 -0.3106446 1.93272062] [ 0.05936268 0.99773143 -0.03175007 1.02091465] [ 0.31204496 0.01166507 0.94999572 2.02012512] [ 0. 0. 0. 1. ]] SLAMing on 18.984839172999997 meters Centerline goodness : 0.742570 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.04, Z:2.02 [[ 0.94829116 -0.06458782 -0.31076083 1.93341206] [ 0.05752136 0.99783575 -0.03186064 1.03602043] [ 0.31214608 0.01233778 0.949954 2.01999648] [ 0. 0. 0. 1. ]] SLAMing on 19.044839172999996 meters Centerline goodness : 0.738951 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:1.05, Z:2.03 [[ 0.94730896 -0.05650058 -0.31529893 1.96667185] [ 0.04441635 0.99798156 -0.04538718 1.05489289] [ 0.31722692 0.02899126 0.94790642 2.0313274 ] [ 0. 0. 0. 1. ]] SLAMing on 19.104839173 meters Centerline goodness : 0.734402 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:1.09, Z:2.07 [[ 0.95080816 -0.05490299 -0.30487622 2.01633118] [ 0.02862375 0.99552946 -0.09000981 1.08872156] [ 0.30845507 0.07685536 0.94812907 2.07265857] [ 0. 0. 0. 1. ]] SLAMing on 19.164839172999997 meters Centerline goodness : 0.735031 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:1.10, Z:2.09 [[ 0.95293158 -0.05509907 -0.29813669 2.04206063] [ 0.02238851 0.99345134 -0.11204099 1.10430641] [ 0.30235765 0.10009256 0.94792475 2.08898307] [ 0. 0. 0. 1. ]] SLAMing on 19.224839172999996 meters Centerline goodness : 0.729720 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:1.13, Z:2.11 [[ 0.95234229 -0.05971756 -0.29912869 2.06885777] [ 0.02215781 0.99160165 -0.12741742 1.12668344] [ 0.30422556 0.11471696 0.9456674 2.11245733] [ 0. 0. 0. 1. ]] SLAMing on 19.284839172999998 meters Centerline goodness : 0.730457 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.15, Z:2.13 [[ 0.95508081 -0.05822867 -0.29056852 2.08816457] [ 0.01592296 0.98917294 -0.14588817 1.14968222] [ 0.29591739 0.13470828 0.94566727 2.13410559] [ 0. 0. 0. 1. ]] SLAMing on 19.344839172999997 meters Centerline goodness : 0.733671 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.16, Z:2.13 [[ 0.95540392 -0.05517617 -0.29010161 2.08833537] [ 0.01327352 0.98942022 -0.14446952 1.16000519] [ 0.29500367 0.13417608 0.94602834 2.13371209] [ 0. 0. 0. 1. ]] SLAMing on 19.404839172999996 meters Centerline goodness : 0.726985 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.17, Z:2.13 [[ 0.95539221 -0.05898667 -0.28938953 2.090588 ] [ 0.01641584 0.98894335 -0.14738236 1.17009309] [ 0.29488345 0.13605739 0.94579709 2.13092873] [ 0. 0. 0. 1. ]] SLAMing on 19.464839172999998 meters Centerline goodness : 0.721109 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.18, Z:2.13 [[ 0.95531946 -0.06334886 -0.28870685 2.09436417] [ 0.02009561 0.98842295 -0.15038693 1.18173077] [ 0.29489132 0.13786582 0.94553272 2.12660179] [ 0. 0. 0. 1. ]] SLAMing on 19.524839172999997 meters Centerline goodness : 0.719323 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:1.18, Z:2.12 [[ 0.95884085 -0.06790301 -0.27570529 2.09973416] [ 0.02674945 0.98826779 -0.15037035 1.177135 ] [ 0.28268126 0.13680627 0.9494079 2.12096072] [ 0. 0. 0. 1. ]] SLAMing on 19.584839173 meters Centerline goodness : 0.723872 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:1.18, Z:2.13 [[ 0.95884041 -0.0590814 -0.2777309 2.12232296] [ 0.01918322 0.98935726 -0.14423664 1.18295051] [ 0.28329679 0.13297215 0.9497691 2.13385739] [ 0. 0. 0. 1. ]] SLAMing on 19.644839172999998 meters Centerline goodness : 0.721030 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.19, Z:2.14 [[ 0.95876222 -0.05050069 -0.27968675 2.13598208] [ 0.00970942 0.98933241 -0.14535171 1.18549588] [ 0.28404353 0.13664213 0.94902487 2.14184822] [ 0. 0. 0. 1. ]] SLAMing on 19.704839172999996 meters Centerline goodness : 0.720464 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.19, Z:2.14 [[ 0.95889665 -0.04433685 -0.28027034 2.1410341 ] [ 0.00485555 0.99013671 -0.14002041 1.18519199] [ 0.28371402 0.13290423 0.94965405 2.13807562] [ 0. 0. 0. 1. ]] SLAMing on 19.764839173 meters Centerline goodness : 0.722745 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:1.19, Z:2.13 [[ 0.9603491 -0.05046911 -0.27419423 2.11651873] [ 0.01260994 0.99033538 -0.13811888 1.18791037] [ 0.27851499 0.12918477 0.9517041 2.13451393] [ 0. 0. 0. 1. ]] SLAMing on 19.824839172999997 meters Centerline goodness : 0.715200 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:1.19, Z:2.12 [[ 9.59318599e-01 -3.90280357e-02 -2.79615162e-01 2.13257245e+00] [-1.98410968e-04 9.90305651e-01 -1.38905285e-01 1.18923012e+00] [ 2.82325675e-01 1.33309902e-01 9.50010886e-01 2.12261871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884839172999996 meters Centerline goodness : 0.716264 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.20, Z:2.14 [[ 0.95876872 -0.03770074 -0.28167569 2.15951721] [-0.00299801 0.98976445 -0.14267917 1.19661916] [ 0.2841717 0.13764079 0.94884217 2.13901516] [ 0. 0. 0. 1. ]] SLAMing on 19.944839173 meters Centerline goodness : 0.717097 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.20, Z:2.15 [[ 9.56762048e-01 -3.92121023e-02 -2.88216577e-01 2.16446278e+00] [-3.37151768e-04 9.90721449e-01 -1.35907675e-01 1.20315251e+00] [ 2.90871571e-01 1.30128478e-01 9.47871462e-01 2.14663679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004839172999997 meters Centerline goodness : 0.720385 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.20, Z:2.15 [[ 0.95695898 -0.03450475 -0.28816475 2.1642658 ] [-0.00389464 0.9912912 -0.1316305 1.20266815] [ 0.29019706 0.12708729 0.94849064 2.145688 ] [ 0. 0. 0. 1. ]] SLAMing on 20.064839172999996 meters Centerline goodness : 0.718270 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.21, Z:2.17 [[ 0.95583537 -0.02624953 -0.29272805 2.21358931] [-0.01502432 0.99033721 -0.13786402 1.20887518] [ 0.29351835 0.13617335 0.94620494 2.16740071] [ 0. 0. 0. 1. ]] SLAMing on 20.124839172999998 meters Centerline goodness : 0.715156 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:1.20, Z:2.16 [[ 0.95529652 -0.02779309 -0.29434011 2.22836881] [-0.0145314 0.9899543 -0.14063896 1.20494554] [ 0.29529205 0.13862909 0.94529603 2.16306229] [ 0. 0. 0. 1. ]] SLAMing on 20.184839172999997 meters Centerline goodness : 0.716948 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:1.20, Z:2.16 [[ 0.95709322 -0.02779509 -0.28844412 2.22612055] [-0.00998027 0.99163698 -0.12867203 1.20377385] [ 0.2896083 0.12602988 0.94881162 2.16312901] [ 0. 0. 0. 1. ]] SLAMing on 20.244839172999995 meters Centerline goodness : 0.725836 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.20, Z:2.17 [[ 0.95753081 -0.03428708 -0.28628508 2.21496936] [-0.0038767 0.99128364 -0.13168792 1.19501073] [ 0.28830491 0.12720508 0.94905171 2.16532062] [ 0. 0. 0. 1. ]] SLAMing on 20.304839172999998 meters Centerline goodness : 0.727355 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.18, Z:2.17 [[ 9.57586358e-01 -3.66485017e-02 -2.85806324e-01 2.21015926e+00] [-1.67979142e-03 9.91151885e-01 -1.32721965e-01 1.18499715e+00] [ 2.88141538e-01 1.27572838e-01 9.49051961e-01 2.16730438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364839172999996 meters Centerline goodness : 0.725132 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.17, Z:2.17 [[ 0.95716492 -0.03558136 -0.2873487 2.21594081] [-0.0027845 0.99124349 -0.13201736 1.17114437] [ 0.28952989 0.12716251 0.94868443 2.16689827] [ 0. 0. 0. 1. ]] SLAMing on 20.424839173 meters Centerline goodness : 0.722066 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:1.16, Z:2.17 [[ 0.95554541 -0.02567964 -0.29372356 2.25386672] [-0.01465947 0.99083003 -0.13431661 1.15879041] [ 0.29447933 0.13265145 0.94640663 2.1713791 ] [ 0. 0. 0. 1. ]] SLAMing on 20.484839172999997 meters Centerline goodness : 0.727834 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:1.15, Z:2.17 [[ 0.95566609 -0.01853094 -0.29386888 2.25247011] [-0.01998022 0.99163639 -0.1275071 1.14798923] [ 0.2937739 0.12772578 0.94730302 2.17095901] [ 0. 0. 0. 1. ]] SLAMing on 20.544839172999996 meters Centerline goodness : 0.732169 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:1.15, Z:2.18 [[ 0.95525822 -0.01550901 -0.29536623 2.25541137] [-0.02408192 0.99123044 -0.12993177 1.14597478] [ 0.29479111 0.13123138 0.94650754 2.17994058] [ 0. 0. 0. 1. ]] SLAMing on 20.604839173 meters Centerline goodness : 0.739520 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:1.13, Z:2.17 [[ 0.95892515 -0.01644675 -0.28318203 2.25833258] [-0.02094714 0.99148617 -0.12851612 1.13205334] [ 0.28288474 0.12916919 0.95041651 2.17062698] [ 0. 0. 0. 1. ]] SLAMing on 20.664839172999997 meters Centerline goodness : 0.734919 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:1.13, Z:2.17 [[ 0.95777095 -0.01865691 -0.28692635 2.26504803] [-0.01575198 0.99298951 -0.11714821 1.12639566] [ 0.28710048 0.11672081 0.95076262 2.17350703] [ 0. 0. 0. 1. ]] SLAMing on 20.724839172999996 meters Centerline goodness : 0.741097 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:1.11, Z:2.17 [[ 0.96166853 -0.02041523 -0.27345357 2.26267279] [-0.01132226 0.99341816 -0.11398322 1.11413797] [ 0.27398073 0.11271018 0.95510783 2.1681001 ] [ 0. 0. 0. 1. ]] SLAMing on 20.784839172999998 meters Centerline goodness : 0.747384 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:1.10, Z:2.16 [[ 0.96563635 -0.02336636 -0.25884446 2.25943055] [-0.00592396 0.99371262 -0.11180396 1.10120344] [ 0.25982946 0.10949536 0.95942661 2.16071057] [ 0. 0. 0. 1. ]] SLAMing on 20.844839172999997 meters Centerline goodness : 0.745870 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:1.09, Z:2.16 [[ 0.96569417 -0.03410084 -0.2574333 2.27664205] [ 0.00599724 0.99400462 -0.1091735 1.08865017] [ 0.2596128 0.10388432 0.96010897 2.15682418] [ 0. 0. 0. 1. ]] SLAMing on 20.904839172999996 meters Centerline goodness : 0.742009 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:1.08, Z:2.15 [[ 0.96635975 -0.03960706 -0.25412619 2.29201803] [ 0.01366181 0.99458132 -0.10305991 1.08069951] [ 0.25683106 0.09612113 0.96166446 2.15246739] [ 0. 0. 0. 1. ]] SLAMing on 20.964839172999998 meters Centerline goodness : 0.743497 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:1.07, Z:2.15 [[ 0.96811628 -0.04550576 -0.24633331 2.29701528] [ 0.02204851 0.99502449 -0.09716033 1.07215836] [ 0.24952903 0.08863121 0.96430274 2.15062114] [ 0. 0. 0. 1. ]] SLAMing on 21.024839172999997 meters Centerline goodness : 0.743589 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:1.06, Z:2.15 [[ 0.96798099 -0.04515823 -0.24692819 2.29849568] [ 0.02222908 0.99524147 -0.09486978 1.06498807] [ 0.25003733 0.08634316 0.96437866 2.14866978] [ 0. 0. 0. 1. ]] SLAMing on 21.084839172999995 meters Centerline goodness : 0.740345 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:1.06, Z:2.14 [[ 0.96755817 -0.05075162 -0.2474984 2.30559333] [ 0.02683752 0.99471966 -0.09905828 1.06395991] [ 0.25121889 0.08920241 0.96381118 2.14437936] [ 0. 0. 0. 1. ]] SLAMing on 21.144839172999998 meters Centerline goodness : 0.740162 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:1.06, Z:2.14 [[ 0.96733999 -0.0550072 -0.24744203 2.30806022] [ 0.03029126 0.99426054 -0.10260804 1.06279577] [ 0.25166603 0.09176153 0.96345422 2.14261516] [ 0. 0. 0. 1. ]] SLAMing on 21.204839172999996 meters Centerline goodness : 0.742093 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.07, Z:2.14 [[ 0.9693529 -0.0454637 -0.2414291 2.31884677] [ 0.02479566 0.99581478 -0.08796651 1.06777425] [ 0.24441794 0.0792842 0.96642324 2.14320145] [ 0. 0. 0. 1. ]] SLAMing on 21.264839173 meters Centerline goodness : 0.739473 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.08, Z:2.14 [[ 0.96942407 -0.03967111 -0.24216353 2.3219076 ] [ 0.01948888 0.99617535 -0.08517547 1.0761081 ] [ 0.24461635 0.07785166 0.9664895 2.14357589] [ 0. 0. 0. 1. ]] SLAMing on 21.324839172999997 meters Centerline goodness : 0.743932 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.08, Z:2.14 [[ 0.97174714 -0.03718984 -0.23307597 2.32182206] [ 0.02067537 0.99712479 -0.07290189 1.08327149] [ 0.23511703 0.06602327 0.96972208 2.14200289] [ 0. 0. 0. 1. ]] SLAMing on 21.384839172999996 meters Centerline goodness : 0.739034 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:1.09, Z:2.14 [[ 0.97155423 -0.03435237 -0.23431236 2.32798288] [ 0.01786152 0.99723437 -0.07214272 1.08779165] [ 0.23614262 0.06590539 0.96948086 2.14086474] [ 0. 0. 0. 1. ]] SLAMing on 21.444839173 meters Centerline goodness : 0.738940 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:1.10, Z:2.15 [[ 0.97260464 -0.02391747 -0.23123185 2.35801189] [ 0.00611276 0.99698051 -0.07741124 1.09965843] [ 0.23238512 0.07387707 0.96981407 2.14576067] [ 0. 0. 0. 1. ]] SLAMing on 21.504839172999997 meters Centerline goodness : 0.741608 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:1.11, Z:2.14 [[ 0.97587725 -0.0107186 -0.21805665 2.36022853] [-0.00410285 0.99771729 -0.06740455 1.10951489] [ 0.21828138 0.06667322 0.97360563 2.14138321] [ 0. 0. 0. 1. ]] SLAMing on 21.564839172999996 meters Centerline goodness : 0.737137 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.12, Z:2.14 [[ 0.97563034 -0.00817136 -0.21926848 2.36679791] [-0.00636744 0.99783111 -0.0655174 1.11552268] [ 0.21932828 0.06531694 0.97346228 2.13850181] [ 0. 0. 0. 1. ]] SLAMing on 21.624839172999998 meters Centerline goodness : 0.737811 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.12, Z:2.13 [[ 0.9771119 -0.01567031 -0.21214803 2.37490073] [ 0.00273264 0.99812543 -0.06114048 1.11735672] [ 0.21270843 0.05916137 0.97532305 2.13402778] [ 0. 0. 0. 1. ]] SLAMing on 21.684839172999997 meters Centerline goodness : 0.735923 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.12, Z:2.13 [[ 0.97866944 -0.01916937 -0.20454503 2.38274584] [ 0.00830684 0.9985154 -0.05383296 1.12396225] [ 0.2052733 0.05098555 0.97737574 2.12836464] [ 0. 0. 0. 1. ]] SLAMing on 21.744839172999995 meters Centerline goodness : 0.737509 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.13, Z:2.12 [[ 0.98166278 -0.02075975 -0.18949198 2.38161077] [ 0.0105454 0.99844419 -0.05475391 1.1323527 ] [ 0.19033385 0.05175161 0.98035442 2.12074028] [ 0. 0. 0. 1. ]] SLAMing on 21.804839172999998 meters Centerline goodness : 0.737149 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.14, Z:2.11 [[ 0.98443467 -0.0214496 -0.1744371 2.37937015] [ 0.01213934 0.99845271 -0.05426613 1.14088154] [ 0.17533118 0.05130391 0.98317185 2.11497518] [ 0. 0. 0. 1. ]] SLAMing on 21.864839172999996 meters Centerline goodness : 0.736836 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.15, Z:2.11 [[ 0.98685673 -0.01364742 -0.16102029 2.38186606] [ 0.00617832 0.99888537 -0.04679589 1.14562504] [ 0.16147945 0.04518601 0.98584107 2.10735727] [ 0. 0. 0. 1. ]] SLAMing on 21.924839172999995 meters Centerline goodness : 0.734617 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.15, Z:2.10 [[ 9.86598917e-01 -5.06722109e-03 -1.63085564e-01 2.39649135e+00] [-1.96502526e-03 9.99076158e-01 -4.29298057e-02 1.15081983e+00] [ 1.63152434e-01 4.26749670e-02 9.85677498e-01 2.10324851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984839172999997 meters Centerline goodness : 0.734542 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.16, Z:2.11 [[ 9.86630461e-01 -7.62583863e-04 -1.62971629e-01 2.39638345e+00] [-6.23000163e-03 9.99081657e-01 -4.23913842e-02 1.16113449e+00] [ 1.62854292e-01 4.28399445e-02 9.85719645e-01 2.10652025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044839172999996 meters Centerline goodness : 0.741156 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.17, Z:2.10 [[ 9.89107224e-01 -2.89939698e-05 -1.47196800e-01 2.39049675e+00] [-5.87180546e-03 9.99196252e-01 -3.96531438e-02 1.16635810e+00] [ 1.47079640e-01 4.00855220e-02 9.88312061e-01 2.10327603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104839173 meters Centerline goodness : 0.737847 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.17, Z:2.10 [[ 9.89077746e-01 -7.04224499e-04 -1.47393071e-01 2.39210392e+00] [-5.25305155e-03 9.99184892e-01 -4.00244518e-02 1.17026111e+00] [ 1.47301116e-01 4.03615580e-02 9.88267841e-01 2.10155845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164839172999997 meters Centerline goodness : 0.734244 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.18, Z:2.10 [[ 9.89071355e-01 -2.17981296e-04 -1.47437470e-01 2.39440580e+00] [-5.92342179e-03 9.99132786e-01 -4.12139402e-02 1.17608088e+00] [ 1.47318594e-01 4.16368620e-02 9.88212327e-01 2.10096810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224839172999996 meters Centerline goodness : 0.741184 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.18, Z:2.10 [[ 9.91204643e-01 -1.15181403e-04 -1.32337984e-01 2.39006638e+00] [-5.15022511e-03 9.99208487e-01 -3.94445883e-02 1.17931065e+00] [ 1.32237780e-01 3.97792295e-02 9.90419498e-01 2.09846661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284839172999998 meters Centerline goodness : 0.734379 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.18, Z:2.09 [[ 9.90852735e-01 1.41120928e-03 -1.34940232e-01 2.40292849e+00] [-6.46358219e-03 9.99293962e-01 -3.70107943e-02 1.17944943e+00] [ 1.34792729e-01 3.75444441e-02 9.90162277e-01 2.08912011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344839172999997 meters Centerline goodness : 0.733873 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.18, Z:2.08 [[ 9.91494574e-01 -1.32006520e-04 -1.30147963e-01 2.41638242e+00] [-3.41490335e-03 9.99628807e-01 -2.70293563e-02 1.17536797e+00] [ 1.30103221e-01 2.72439028e-02 9.91126088e-01 2.08366302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404839172999996 meters Centerline goodness : 0.740101 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:1.17, Z:2.08 [[ 0.99336788 0.00382798 -0.11491559 2.41065687] [-0.00675756 0.99966174 -0.02511462 1.17059599] [ 0.11478058 0.0257246 0.99305773 2.08356648] [ 0. 0. 0. 1. ]] SLAMing on 22.464839172999998 meters Centerline goodness : 0.734415 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.17, Z:2.08 [[ 0.99304246 0.00827936 -0.11746539 2.42146727] [-0.01090798 0.99970388 -0.02175262 1.16677741] [ 0.11725051 0.02288259 0.99283871 2.07973451] [ 0. 0. 0. 1. ]] SLAMing on 22.524839172999997 meters Centerline goodness : 0.730677 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.16, Z:2.08 [[ 0.99269986 0.01476688 -0.11970347 2.43463717] [-0.01711442 0.99968039 -0.01860704 1.16384134] [ 0.11939044 0.02051986 0.99263531 2.07556077] [ 0. 0. 0. 1. ]] SLAMing on 22.584839172999995 meters Centerline goodness : 0.735827 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.16, Z:2.07 [[ 0.99437318 0.02000099 -0.1040285 2.43072916] [-0.02145187 0.99968734 -0.0128468 1.16220321] [ 0.10373903 0.01500612 0.99449134 2.07101734] [ 0. 0. 0. 1. ]] SLAMing on 22.644839172999998 meters Centerline goodness : 0.733967 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.16, Z:2.07 [[ 0.99434909 0.01755097 -0.10469882 2.43476796] [-0.01921266 0.99970463 -0.01488369 1.15857298] [ 0.10440667 0.01681113 0.9943926 2.068402 ] [ 0. 0. 0. 1. ]] SLAMing on 22.704839172999996 meters Centerline goodness : 0.734458 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.16, Z:2.07 [[ 0.994242 0.02202706 -0.10486966 2.43557349] [-0.02332074 0.99966613 -0.01112569 1.16165169] [ 0.10458958 0.01350727 0.99442374 2.06849395] [ 0. 0. 0. 1. ]] SLAMing on 22.764839172999995 meters Centerline goodness : 0.735010 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.16, Z:2.07 [[ 0.99545738 0.02579289 -0.09164787 2.43482459] [-0.02694686 0.99957213 -0.01137617 1.15933199] [ 0.09131523 0.01379411 0.99572649 2.06653926] [ 0. 0. 0. 1. ]] SLAMing on 22.824839172999997 meters Centerline goodness : 0.726867 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:1.15, Z:2.06 [[ 0.99500264 0.02679948 -0.09618488 2.45540809] [-0.02810936 0.99952931 -0.01228906 1.1491066 ] [ 0.09581026 0.01493134 0.99528762 2.05810951] [ 0. 0. 0. 1. ]] SLAMing on 22.884839172999996 meters Centerline goodness : 0.726341 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:1.15, Z:2.05 [[ 0.99455034 0.03520467 -0.09813387 2.4692851 ] [-0.03616302 0.99931385 -0.00800373 1.14740153] [ 0.09778477 0.01150893 0.99514104 2.0545379 ] [ 0. 0. 0. 1. ]] SLAMing on 22.944839173 meters Centerline goodness : 0.729726 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:1.14, Z:2.05 [[ 0.99610003 0.02955688 -0.08313314 2.46509353] [-0.03051403 0.99948161 -0.01026631 1.14082664] [ 0.0827866 0.012763 0.99648557 2.05138905] [ 0. 0. 0. 1. ]] SLAMing on 23.004839172999997 meters Centerline goodness : 0.729740 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:1.13, Z:2.05 [[ 0.99624517 0.01771209 -0.0847457 2.46928981] [-0.01947529 0.99960979 -0.02002452 1.13456915] [ 0.08435795 0.02159978 0.99620138 2.04942175] [ 0. 0. 0. 1. ]] SLAMing on 23.064839172999996 meters Centerline goodness : 0.733955 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:1.12, Z:2.04 [[ 0.99751203 0.01084022 -0.06965802 2.466978 ] [-0.01256554 0.99962384 -0.02437815 1.12442168] [ 0.06936755 0.02519279 0.99727301 2.0434709 ] [ 0. 0. 0. 1. ]] SLAMing on 23.124839172999998 meters Centerline goodness : 0.733588 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:1.12, Z:2.04 [[ 0.99791469 0.00728968 -0.06413374 2.47702697] [-0.00828225 0.9998498 -0.01522419 1.11811796] [ 0.06401313 0.01572362 0.99782518 2.0400192 ] [ 0. 0. 0. 1. ]] SLAMing on 23.184839172999997 meters Centerline goodness : 0.736598 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:1.11, Z:2.03 [[ 0.99874816 0.00784712 -0.04940187 2.47553875] [-0.00848862 0.99988219 -0.01278894 1.10974623] [ 0.0492957 0.01319228 0.9986971 2.03450133] [ 0. 0. 0. 1. ]] SLAMing on 23.244839172999995 meters Centerline goodness : 0.733040 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:1.10, Z:2.03 [[ 0.99856245 0.01106576 -0.052446 2.49148412] [-0.01174171 0.9998517 -0.01259793 1.10236207] [ 0.05229882 0.01319562 0.9985443 2.02871843] [ 0. 0. 0. 1. ]] SLAMing on 23.304839172999998 meters Centerline goodness : 0.733659 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:1.11, Z:2.03 [[ 0.99854311 0.01181327 -0.05265079 2.49195708] [-0.01258091 0.99981899 -0.01427231 1.10689206] [ 0.05247266 0.01491391 0.99851099 2.03207472] [ 0. 0. 0. 1. ]] SLAMing on 23.364839172999996 meters Centerline goodness : 0.733139 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:1.11, Z:2.03 [[ 0.9988209 0.0136164 -0.04659823 2.50342085] [-0.0137935 0.99989881 -0.00348124 1.10637402] [ 0.04654611 0.00411989 0.99890765 2.02966468] [ 0. 0. 0. 1. ]] SLAMing on 23.424839172999995 meters Centerline goodness : 0.732603 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:1.10, Z:2.03 [[ 0.99880479 0.0110924 -0.04760194 2.50847008] [-0.0113711 0.99991973 -0.00558817 1.10266505] [ 0.04753613 0.00612277 0.99885075 2.02598866] [ 0. 0. 0. 1. ]] SLAMing on 23.484839172999997 meters Centerline goodness : 0.736479 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:1.10, Z:2.02 [[ 0.99880077 0.00720481 -0.04842646 2.51174659] [-0.00761576 0.99993649 -0.00830704 1.100775 ] [ 0.04836354 0.00866588 0.99879221 2.02305302] [ 0. 0. 0. 1. ]] SLAMing on 23.544839172999996 meters Centerline goodness : 0.732874 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:1.10, Z:2.02 [[ 0.99944912 0.00257387 -0.03308811 2.50924294] [-0.00290615 0.99994579 -0.0099981 1.09700156] [ 0.03306059 0.01008875 0.99940243 2.0151301 ] [ 0. 0. 0. 1. ]] SLAMing on 23.604839172999995 meters Centerline goodness : 0.731523 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:1.09, Z:2.01 [[ 9.99392468e-01 -8.21572087e-04 -3.48427918e-02 2.51782881e+00] [ 3.48870032e-04 9.99907854e-01 -1.35706204e-02 1.09281216e+00] [ 3.48507304e-02 1.35502202e-02 9.99300665e-01 2.01030276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664839172999997 meters Centerline goodness : 0.735901 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:1.09, Z:2.01 [[ 0.99931666 0.01050505 -0.03543818 2.52041036] [-0.01073302 0.99992288 -0.00624863 1.09426789] [ 0.0353698 0.00662472 0.99935234 2.01434589] [ 0. 0. 0. 1. ]] SLAMing on 23.724839172999996 meters Centerline goodness : 0.735644 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:1.09, Z:2.01 [[ 9.99673802e-01 1.35568680e-02 -2.16448892e-02 2.52054687e+00] [-1.35877513e-02 9.99906862e-01 -1.28037841e-03 1.09051921e+00] [ 2.16255154e-02 1.57406613e-03 9.99764902e-01 2.01031022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters Centerline goodness : 0.732382 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:1.08, Z:2.00 [[ 9.99723303e-01 2.31399032e-03 -2.34085870e-02 2.52559651e+00] [-2.51870603e-03 9.99958811e-01 -8.71962500e-03 1.07827320e+00] [ 2.33874457e-02 8.77617166e-03 9.99687954e-01 2.00478649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844839172999997 meters Centerline goodness : 0.732834 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:1.07, Z:2.00 [[ 9.99710187e-01 -1.01450178e-03 -2.40522755e-02 2.52817280e+00] [ 7.37794263e-04 9.99933480e-01 -1.15105059e-02 1.07435736e+00] [ 2.40623530e-02 1.14894243e-02 9.99644435e-01 2.00306733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904839172999996 meters Centerline goodness : 0.730179 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:1.07, Z:2.00 [[ 0.99965988 -0.00332303 -0.02586662 2.53821493] [ 0.00297495 0.99990466 -0.01348395 1.06953692] [ 0.02590897 0.01340242 0.99957446 1.99570032] [ 0. 0. 0. 1. ]] SLAMing on 23.964839172999998 meters Centerline goodness : 0.732888 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:1.07, Z:1.99 [[ 9.99935140e-01 1.06657325e-04 -1.13887725e-02 2.53688136e+00] [-2.18833578e-04 9.99951474e-01 -9.84893101e-03 1.06680159e+00] [ 1.13871694e-02 9.85078445e-03 9.99886641e-01 1.99155836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024839172999997 meters Centerline goodness : 0.739328 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:1.07, Z:2.00 [[ 9.99954854e-01 -9.41846280e-03 -1.25761925e-03 2.53136048e+00] [ 9.40773369e-03 9.99921458e-01 -8.28079857e-03 1.06586365e+00] [ 1.33551286e-03 8.26859338e-03 9.99964923e-01 1.99985707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084839172999995 meters Centerline goodness : 0.740088 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:1.07, Z:2.00 [[ 9.99946245e-01 -1.02444319e-02 -1.59990969e-03 2.52968622e+00] [ 1.02296426e-02 9.99907231e-01 -8.99351353e-03 1.06616751e+00] [ 1.69189470e-03 8.97666357e-03 9.99958278e-01 2.00339643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144839172999998 meters Centerline goodness : 0.737605 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:1.06, Z:2.00 [[ 9.99982451e-01 1.32679764e-03 -5.77385082e-03 2.55633986e+00] [-1.39839444e-03 9.99921967e-01 -1.24138643e-02 1.06458729e+00] [ 5.75692958e-03 1.24217206e-02 9.99906275e-01 2.00488226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204839172999996 meters Centerline goodness : 0.735968 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:1.06, Z:2.00 [[ 9.99972003e-01 1.61714509e-03 -7.30599382e-03 2.56419074e+00] [-1.71750138e-03 9.99903978e-01 -1.37508323e-02 1.06247140e+00] [ 7.28305519e-03 1.37629953e-02 9.99878761e-01 2.00096073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264839172999995 meters Centerline goodness : 0.736271 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:1.06, Z:2.00 [[ 9.99997316e-01 -2.16607491e-03 -8.21961669e-04 2.57472140e+00] [ 2.15990701e-03 9.99970050e-01 -7.43200917e-03 1.06147749e+00] [ 8.38035339e-04 7.43021386e-03 9.99972044e-01 1.99780948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324839172999997 meters Centerline goodness : 0.738319 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:1.07, Z:2.00 [[ 9.99994519e-01 -3.10989193e-03 -1.13582301e-03 2.57469815e+00] [ 3.09997180e-03 9.99957925e-01 -8.63362018e-03 1.06547435e+00] [ 1.16262484e-03 8.63005184e-03 9.99962085e-01 1.99872617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384839172999996 meters Centerline goodness : 0.737018 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:1.07, Z:2.00 [[ 9.99978484e-01 -6.32403215e-03 -1.74325399e-03 2.57806660e+00] [ 6.30168368e-03 9.99901508e-01 -1.25404508e-02 1.06919488e+00] [ 1.82238851e-03 1.25291955e-02 9.99919846e-01 1.99638460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444839172999995 meters Centerline goodness : 0.738879 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:1.08, Z:2.00 [[ 9.99971384e-01 -7.43998186e-03 -1.37002158e-03 2.57646685e+00] [ 7.41818382e-03 9.99855704e-01 -1.52820692e-02 1.07585371e+00] [ 1.48352221e-03 1.52714689e-02 9.99882284e-01 1.99881596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504839172999997 meters Centerline goodness : 0.732919 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:1.08, Z:1.99 [[ 9.99991348e-01 -4.87355187e-05 -4.15949911e-03 2.60942639e+00] [-4.84668396e-05 9.99726989e-01 -2.33654656e-02 1.07668047e+00] [ 4.15950225e-03 2.33654651e-02 9.99718337e-01 1.99340671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564839172999996 meters Centerline goodness : 0.735430 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.09, Z:1.99 [[ 0.9999808 0.00319513 -0.00531026 2.63963865] [-0.00331785 0.99972385 -0.02326417 1.08588699] [ 0.00523446 0.02328134 0.99971525 1.99329205] [ 0. 0. 0. 1. ]] SLAMing on 24.624839172999998 meters Centerline goodness : 0.736394 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.09, Z:2.00 [[ 0.99998416 -0.00311117 0.00469077 2.63712486] [ 0.00319997 0.99981356 -0.01904244 1.08998167] [-0.00463065 0.01905715 0.99980767 1.99775021] [ 0. 0. 0. 1. ]] SLAMing on 24.684839172999997 meters Centerline goodness : 0.736198 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.09, Z:1.99 [[ 0.99989798 -0.01382659 0.00358423 2.64243533] [ 0.01392941 0.99943911 -0.03045392 1.08868304] [-0.00316115 0.03050074 0.99952975 1.99485673] [ 0. 0. 0. 1. ]] SLAMing on 24.744839172999995 meters Centerline goodness : 0.736488 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:1.09, Z:1.99 [[ 0.99980055 -0.01707641 0.01035693 2.64914785] [ 0.01727942 0.99965384 -0.01983978 1.09132562] [-0.01001456 0.02001479 0.99974953 1.98911916] [ 0. 0. 0. 1. ]] SLAMing on 24.804839172999998 meters Centerline goodness : 0.743085 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.10, Z:1.99 [[ 0.99980996 -0.01593311 0.01123331 2.64360634] [ 0.01613918 0.99969861 -0.01849903 1.09735353] [-0.01093518 0.01867681 0.99976577 1.99321227] [ 0. 0. 0. 1. ]] SLAMing on 24.864839172999996 meters Centerline goodness : 0.745891 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.10, Z:2.00 [[ 0.99974541 -0.01920927 0.01183731 2.63894561] [ 0.01944917 0.99960075 -0.02049549 1.09795797] [-0.01143888 0.0207205 0.99971987 1.99625521] [ 0. 0. 0. 1. ]] SLAMing on 24.924839172999995 meters Centerline goodness : 0.744466 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.10, Z:1.99 [[ 0.99976352 -0.018465 0.01148726 2.64160967] [ 0.01868923 0.99963068 -0.01972862 1.09737605] [-0.01111872 0.01993864 0.99973938 1.99341505] [ 0. 0. 0. 1. ]] SLAMing on 24.984839172999997 meters Centerline goodness : 0.744995 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:1.10, Z:1.99 [[ 0.99985625 -0.01319276 0.01065023 2.6438269 ] [ 0.01336109 0.99978444 -0.01589177 1.10088362] [-0.01043828 0.01603178 0.999817 1.9941571 ] [ 0. 0. 0. 1. ]] SLAMing on 25.044839172999996 meters Centerline goodness : 0.746291 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:1.10, Z:1.99 [[ 0.99992142 -0.00779644 0.00981715 2.64612984] [ 0.00790915 0.99990265 -0.01149542 1.10056699] [-0.00972657 0.01157216 0.99988573 1.99451765] [ 0. 0. 0. 1. ]] SLAMing on 25.104839172999995 meters Centerline goodness : 0.746738 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:1.10, Z:1.99 [[ 9.99967627e-01 -1.58155160e-03 7.88940283e-03 2.65552909e+00] [ 1.64294218e-03 9.99968378e-01 -7.78099401e-03 1.10157675e+00] [-7.87684731e-03 7.79370395e-03 9.99938605e-01 1.99032595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164839172999997 meters Centerline goodness : 0.742901 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:1.10, Z:1.98 [[ 0.99996288 0.00594652 0.00623496 2.66768969] [-0.00592574 0.99997684 -0.00334691 1.10110614] [-0.00625472 0.00330984 0.99997496 1.98385168] [ 0. 0. 0. 1. ]] SLAMing on 25.224839172999996 meters Centerline goodness : 0.742522 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:1.11, Z:1.99 [[ 9.99931433e-01 9.91588513e-03 6.22938308e-03 2.66743205e+00] [-9.91209259e-03 9.99950670e-01 -6.39394523e-04 1.10561129e+00] [-6.23541594e-03 5.77604460e-04 9.99980393e-01 1.98553468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284839172999995 meters Centerline goodness : 0.743387 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:1.10, Z:1.99 [[ 0.99995515 0.00800766 0.00505694 2.67120313] [-0.00798719 0.99995989 -0.00405373 1.10326124] [-0.0050892 0.00401315 0.999979 1.98593384] [ 0. 0. 0. 1. ]] SLAMing on 25.344839172999997 meters Centerline goodness : 0.737341 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:1.10, Z:1.98 [[ 0.99993525 0.01067298 0.00394838 2.6768787 ] [-0.01066174 0.99993908 -0.00285882 1.10283209] [-0.00397865 0.00281654 0.99998812 1.98323199] [ 0. 0. 0. 1. ]] SLAMing on 25.404839172999996 meters Centerline goodness : 0.736505 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:1.10, Z:1.98 [[ 0.99998629 0.00371781 0.00368825 2.67788887] [-0.00368026 0.99994188 -0.01013359 1.09824909] [-0.00372571 0.01011987 0.99994185 1.9834929 ] [ 0. 0. 0. 1. ]] SLAMing on 25.464839172999998 meters Centerline goodness : 0.736900 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:1.09, Z:1.99 [[ 9.99989974e-01 -1.73290054e-03 4.12899444e-03 2.67423097e+00] [ 1.79305577e-03 9.99891659e-01 -1.46100930e-02 1.09453055e+00] [-4.10322927e-03 1.46173500e-02 9.99884742e-01 1.98675807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524839172999997 meters Centerline goodness : 0.736292 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:1.09, Z:1.99 [[ 9.99990884e-01 -2.05277692e-03 3.74401294e-03 2.67524658e+00] [ 2.10485053e-03 9.99900367e-01 -1.39580048e-02 1.09449443e+00] [-3.71498725e-03 1.39657582e-02 9.99895573e-01 1.98532862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584839172999995 meters Centerline goodness : 0.723892 with order 3 Centerline is valid? [False, False] Translation: X:2.68, Y:1.09, Z:1.98 [[ 9.99992193e-01 -1.73376748e-03 3.55078944e-03 2.67575369e+00] [ 1.77848567e-03 9.99918661e-01 -1.26296790e-02 1.08940788e+00] [-3.52860370e-03 1.26358954e-02 9.99913938e-01 1.98451283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644839172999998 meters Centerline goodness : 0.741284 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:1.09, Z:1.99 [[ 0.99990328 -0.00771801 0.01156949 2.68331551] [ 0.00784337 0.99991059 -0.01082987 1.08888705] [-0.01148488 0.01091956 0.99987442 1.985836 ] [ 0. 0. 0. 1. ]] SLAMing on 25.704839172999996 meters Centerline goodness : 0.740526 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:1.09, Z:1.98 [[ 0.99990871 -0.00734388 0.01134207 2.68446539] [ 0.00746205 0.99991795 -0.01041179 1.08799761] [-0.01126467 0.01049548 0.99988147 1.98485876] [ 0. 0. 0. 1. ]] SLAMing on 25.764839172999995 meters Centerline goodness : 0.745443 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:1.09, Z:1.99 [[ 0.99984193 -0.00494731 0.01707742 2.69451463] [ 0.00499522 0.9999837 -0.00276416 1.09374743] [-0.01706347 0.00284903 0.99985035 1.98977176] [ 0. 0. 0. 1. ]] SLAMing on 25.824839172999997 meters Centerline goodness : 0.741715 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:1.09, Z:1.99 [[ 9.99874894e-01 1.67397633e-03 1.57287753e-02 2.70062236e+00] [-1.71137338e-03 9.99995740e-01 2.36446120e-03 1.09459049e+00] [-1.57247502e-02 -2.39108320e-03 9.99873499e-01 1.98672444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884839172999996 meters Centerline goodness : 0.743592 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:1.10, Z:1.99 [[ 9.99877850e-01 2.04515458e-03 1.54952478e-02 2.70086263e+00] [-2.05898102e-03 9.99997496e-01 8.76401288e-04 1.09876895e+00] [-1.54934166e-02 -9.08198657e-04 9.99879557e-01 1.98915676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944839172999995 meters Centerline goodness : 0.743007 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:1.10, Z:1.99 [[ 9.99883709e-01 -1.42731724e-03 1.51832633e-02 2.70185588e+00] [ 1.46919236e-03 9.99995147e-01 -2.74718225e-03 1.09859744e+00] [-1.51792685e-02 2.76916991e-03 9.99880954e-01 1.98906338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004839172999997 meters Centerline goodness : 0.743404 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:1.10, Z:1.99 [[ 0.99986758 -0.00550073 0.01531535 2.70095868] [ 0.00560875 0.99995964 -0.00701892 1.09836963] [-0.01527612 0.00710389 0.99985808 1.99043662] [ 0. 0. 0. 1. ]] SLAMing on 26.064839172999996 meters Centerline goodness : 0.747124 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:1.10, Z:1.99 [[ 0.99985649 -0.0067841 0.01552358 2.69906699] [ 0.00689446 0.99995126 -0.00706667 1.09855099] [-0.01547488 0.00717268 0.99985453 1.99113976] [ 0. 0. 0. 1. ]] SLAMing on 26.124839172999994 meters Centerline goodness : 0.748781 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.10, Z:2.00 [[ 0.99982401 -0.00837581 0.01678685 2.72735148] [ 0.00856372 0.99990113 -0.01115354 1.0959089 ] [-0.01669177 0.01129534 0.99979688 1.99590751] [ 0. 0. 0. 1. ]] SLAMing on 26.184839172999997 meters Centerline goodness : 0.755829 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.09, Z:2.00 [[ 0.99983104 -0.00815711 0.01647276 2.72700784] [ 0.0083306 0.99991027 -0.01049054 1.09213477] [-0.01638571 0.010626 0.99980928 1.99726112] [ 0. 0. 0. 1. ]] SLAMing on 26.244839172999995 meters Centerline goodness : 0.755055 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.09, Z:2.00 [[ 0.99978963 -0.01253426 0.0162352 2.7266993 ] [ 0.01276392 0.99981884 -0.01411978 1.0912316 ] [-0.01605528 0.01432403 0.9997685 1.99802125] [ 0. 0. 0. 1. ]] SLAMing on 26.304839172999998 meters Centerline goodness : 0.759749 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.09, Z:2.00 [[ 0.99961031 -0.02168119 0.01758256 2.71958725] [ 0.02206401 0.99951713 -0.02187896 1.08724026] [-0.01709971 0.02225838 0.999606 2.00339861] [ 0. 0. 0. 1. ]] SLAMing on 26.364839172999996 meters Centerline goodness : 0.764426 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.09, Z:2.00 [[ 0.99957098 -0.02327303 0.01778241 2.71817894] [ 0.02365949 0.99948148 -0.02184034 1.0856931 ] [-0.0172649 0.0222517 0.99960331 2.00300352] [ 0. 0. 0. 1. ]] SLAMing on 26.424839172999995 meters Centerline goodness : 0.768882 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.09, Z:2.00 [[ 0.99940089 -0.02419689 0.02474603 2.72554679] [ 0.0245089 0.99962291 -0.01238384 1.08933855] [-0.02443705 0.01298292 0.99961706 2.00111407] [ 0. 0. 0. 1. ]] SLAMing on 26.484839172999997 meters Centerline goodness : 0.770476 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.09, Z:2.00 [[ 0.9992609 -0.02895101 0.02528803 2.72393245] [ 0.02939537 0.99941674 -0.01738054 1.09010968] [-0.02477009 0.01811104 0.99952911 2.00215011] [ 0. 0. 0. 1. ]] SLAMing on 26.544839172999996 meters Centerline goodness : 0.775763 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.10, Z:2.01 [[ 0.99923593 -0.02894332 0.02626492 2.71582218] [ 0.02937837 0.99943493 -0.01633182 1.10006352] [-0.02577738 0.01709096 0.9995216 2.00788162] [ 0. 0. 0. 1. ]] SLAMing on 26.604839172999995 meters Centerline goodness : 0.776649 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.10, Z:2.01 [[ 0.99934753 -0.02524226 0.02583307 2.71990396] [ 0.02561597 0.99957044 -0.01423904 1.10272153] [-0.02546254 0.01489149 0.99956486 2.00514013] [ 0. 0. 0. 1. ]] SLAMing on 26.664839172999997 meters Centerline goodness : 0.770529 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.10, Z:2.00 [[ 0.99936665 -0.02529681 0.02502755 2.72684664] [ 0.02567682 0.99955805 -0.01498049 1.10352 ] [-0.02463753 0.01561363 0.99957451 1.9986113 ] [ 0. 0. 0. 1. ]] SLAMing on 26.724839172999996 meters Centerline goodness : 0.772804 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.12, Z:2.00 [[ 0.9993405 -0.02506311 0.0262757 2.71963358] [ 0.02543547 0.99957935 -0.01393405 1.11517152] [-0.02591542 0.0145932 0.99955762 2.00232958] [ 0. 0. 0. 1. ]] SLAMing on 26.784839172999995 meters Centerline goodness : 0.775472 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:1.12, Z:2.01 [[ 0.99929241 -0.02583576 0.02733496 2.71188606] [ 0.02620299 0.99956998 -0.01316261 1.11925485] [-0.02698314 0.01386956 0.99953967 2.00746998] [ 0. 0. 0. 1. ]] SLAMing on 26.844839172999997 meters Centerline goodness : 0.774795 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.12, Z:2.02 [[ 0.99923555 -0.03356811 0.02003728 2.71818917] [ 0.0337911 0.99936952 -0.01089567 1.12005266] [-0.0196589 0.01156443 0.99973986 2.01530654] [ 0. 0. 0. 1. ]] SLAMing on 26.904839172999996 meters Centerline goodness : 0.771149 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.11, Z:2.01 [[ 0.99918605 -0.03544965 0.01924987 2.72360368] [ 0.0356799 0.99929416 -0.01175254 1.11388854] [-0.01881966 0.01242981 0.99974563 2.00982151] [ 0. 0. 0. 1. ]] SLAMing on 26.964839172999994 meters Centerline goodness : 0.774045 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.11, Z:2.01 [[ 0.99899332 -0.04012388 0.02006067 2.72102081] [ 0.04044123 0.999059 -0.01567206 1.11028395] [-0.01941297 0.01646757 0.99967593 2.01114255] [ 0. 0. 0. 1. ]] SLAMing on 27.024839172999997 meters Centerline goodness : 0.774380 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.11, Z:2.01 [[ 0.9989375 -0.04154218 0.01995306 2.7200023 ] [ 0.04184372 0.99901246 -0.01494034 1.10694297] [-0.0193127 0.01575938 0.99968928 2.01064887] [ 0. 0. 0. 1. ]] SLAMing on 27.084839172999995 meters Centerline goodness : 0.768438 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.10, Z:2.01 [[ 0.99900269 -0.04025205 0.01932373 2.72438078] [ 0.04050582 0.99909569 -0.01292569 1.10415016] [-0.01878597 0.01369553 0.99972972 2.00549231] [ 0. 0. 0. 1. ]] SLAMing on 27.144839172999998 meters Centerline goodness : 0.768408 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.10, Z:2.01 [[ 0.99884727 -0.04371174 0.01983476 2.72328257] [ 0.04403737 0.99889709 -0.01628847 1.09919811] [-0.01910089 0.01714317 0.99967058 2.0065992 ] [ 0. 0. 0. 1. ]] SLAMing on 27.204839172999996 meters Centerline goodness : 0.773761 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:1.10, Z:2.01 [[ 0.99897943 -0.04046912 0.02005872 2.72167908] [ 0.04072533 0.99909177 -0.01253337 1.09942079] [-0.01953329 0.01333748 0.99972024 2.00719434] [ 0. 0. 0. 1. ]] SLAMing on 27.264839172999995 meters Centerline goodness : 0.765273 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.10, Z:2.00 [[ 0.99922271 -0.03519709 0.01775243 2.73116032] [ 0.0353575 0.99933594 -0.00880469 1.1019176 ] [-0.01743074 0.00942553 0.99980365 2.00193863] [ 0. 0. 0. 1. ]] SLAMing on 27.324839172999997 meters Centerline goodness : 0.773349 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.10, Z:2.00 [[ 0.99919904 -0.03550105 0.01846477 2.72912942] [ 0.03567406 0.9993218 -0.00912654 1.10129657] [-0.01812825 0.00977795 0.99978786 2.00299479] [ 0. 0. 0. 1. ]] SLAMing on 27.384839172999996 meters Centerline goodness : 0.773904 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.11, Z:2.00 [[ 0.99927329 -0.03296186 0.01914201 2.72590424] [ 0.03309648 0.99942931 -0.00675886 1.10686622] [-0.0189083 0.00738748 0.99979393 2.00490444] [ 0. 0. 0. 1. ]] SLAMing on 27.444839172999995 meters Centerline goodness : 0.774029 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:1.10, Z:2.00 [[ 0.99933827 -0.03133817 0.01846453 2.72873386] [ 0.03144292 0.99949091 -0.00541007 1.10060764] [-0.01828559 0.00598707 0.99981488 2.0039694 ] [ 0. 0. 0. 1. ]] SLAMing on 27.504839172999997 meters Centerline goodness : 0.773473 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:1.10, Z:2.00 [[ 9.99497382e-01 -2.67223658e-02 1.70557412e-02 2.73559561e+00] [ 2.67585614e-02 9.99640125e-01 -1.89748054e-03 1.10065429e+00] [-1.69988981e-02 2.35291393e-03 9.99852740e-01 1.99995689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564839172999996 meters Centerline goodness : 0.771703 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:1.10, Z:2.00 [[ 0.99987949 -0.01224341 0.00954506 2.76941785] [ 0.01229756 0.9999085 -0.00563587 1.10213821] [-0.00947518 0.00575257 0.99993856 2.00033841] [ 0. 0. 0. 1. ]] SLAMing on 27.624839172999994 meters Centerline goodness : 0.769444 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:1.11, Z:2.00 [[ 9.99940960e-01 -5.71116080e-03 9.24435937e-03 2.77267955e+00] [ 5.73058839e-03 9.99981424e-01 -2.07643955e-03 1.10815164e+00] [-9.23232876e-03 2.12929257e-03 9.99955114e-01 1.99974291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839172999997 meters Centerline goodness : 0.773052 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:1.11, Z:2.00 [[ 9.99963009e-01 -2.86505745e-04 8.59645345e-03 2.77522980e+00] [ 2.77646287e-04 9.99999429e-01 1.03177026e-03 1.11474288e+00] [-8.59674415e-03 -1.02934532e-03 9.99962518e-01 2.00040785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839172999995 meters Centerline goodness : 0.773347 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:1.12, Z:2.00 [[ 9.99964165e-01 5.39645175e-05 8.46553665e-03 2.77556381e+00] [-5.77312747e-05 9.99999899e-01 4.44708224e-04 1.11550046e+00] [-8.46551180e-03 -4.45181014e-04 9.99964068e-01 2.00153980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999994 meters Centerline goodness : 0.770468 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:1.12, Z:2.00 [[ 9.99972940e-01 3.15474546e-03 6.64576745e-03 2.78316653e+00] [-3.16508500e-03 9.99993796e-01 1.54586600e-03 1.11732895e+00] [-6.64084941e-03 -1.56685859e-03 9.99976722e-01 1.99875567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839172999996 meters Centerline goodness : 0.763830 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:1.12, Z:1.99 [[ 9.99982681e-01 1.11937508e-03 5.77794833e-03 2.78863767e+00] [-1.11229725e-03 9.99998627e-01 -1.22804132e-03 1.11613630e+00] [-5.77931504e-03 1.22159325e-03 9.99982553e-01 1.99458619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839172999995 meters Centerline goodness : 0.762769 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:1.11, Z:1.99 [[ 9.99979578e-01 -2.71178738e-03 5.78711088e-03 2.78980354e+00] [ 2.73867642e-03 9.99985469e-01 -4.64351190e-03 1.11475196e+00] [-5.77443457e-03 4.65926609e-03 9.99972473e-01 1.99258584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984839172999997 meters Centerline goodness : 0.758996 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:1.11, Z:1.99 [[ 0.99995077 -0.00795939 0.0059244 2.7885741 ] [ 0.00801051 0.99993045 -0.00865591 1.11420734] [-0.00585509 0.00870294 0.99994499 1.99263862] [ 0. 0. 0. 1. ]] SLAMing on 28.044839172999996 meters Centerline goodness : 0.766687 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:1.12, Z:2.00 [[ 0.99986099 -0.01508154 0.0071099 2.78300472] [ 0.01518695 0.99977195 -0.01501353 1.1201281 ] [-0.00688185 0.01511942 0.99986201 1.99572207] [ 0. 0. 0. 1. ]] SLAMing on 28.104839172999995 meters Centerline goodness : 0.757659 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:1.12, Z:2.00 [[ 9.99873094e-01 -1.57374640e-02 2.47562425e-03 2.81305070e+00] [ 1.57733550e-02 9.99759808e-01 -1.52160547e-02 1.12433526e+00] [-2.23556751e-03 1.52531726e-02 9.99881164e-01 1.99512816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164839172999997 meters Centerline goodness : 0.758222 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:1.13, Z:1.99 [[ 9.99914293e-01 -1.28294737e-02 2.60993295e-03 2.81193317e+00] [ 1.28584724e-02 9.99852164e-01 -1.14153308e-02 1.12642116e+00] [-2.46309442e-03 1.14479122e-02 9.99931437e-01 1.99476236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224839172999996 meters Centerline goodness : 0.760396 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:1.13, Z:1.99 [[ 9.99858094e-01 -1.66316143e-02 2.67967736e-03 2.81220420e+00] [ 1.66711743e-02 9.99741076e-01 -1.54871737e-02 1.12715727e+00] [-2.42140683e-03 1.55296494e-02 9.99876476e-01 1.99490121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284839172999995 meters Centerline goodness : 0.759079 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:1.13, Z:2.00 [[ 9.99854011e-01 -1.69318712e-02 2.29537642e-03 2.81232939e+00] [ 1.69671480e-02 9.99722590e-01 -1.63357918e-02 1.13209956e+00] [-2.01814414e-03 1.63723530e-02 9.99863927e-01 1.99619451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344839172999997 meters Centerline goodness : 0.756950 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:1.13, Z:2.00 [[ 9.99759660e-01 -2.17720727e-02 2.56868039e-03 2.81015733e+00] [ 2.18199790e-02 9.99553990e-01 -2.03889497e-02 1.12992684e+00] [-2.12362504e-03 2.04400979e-02 9.99788824e-01 1.99809630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404839172999996 meters Centerline goodness : 0.754891 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:1.12, Z:1.99 [[ 9.99616149e-01 -2.76780059e-02 1.21778268e-03 2.81601261e+00] [ 2.76998772e-02 9.99300329e-01 -2.51310555e-02 1.12078416e+00] [-5.21353129e-04 2.51551413e-02 9.99683423e-01 1.99395576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464839172999994 meters Centerline goodness : 0.748823 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:1.11, Z:1.98 [[ 9.99780044e-01 -2.08847766e-02 -1.92112173e-03 2.83155344e+00] [ 2.08446433e-02 9.99602922e-01 -1.89604587e-02 1.11297234e+00] [ 2.31634384e-03 1.89162431e-02 9.99818389e-01 1.98307278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524839172999997 meters Centerline goodness : 0.744796 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:1.12, Z:1.98 [[ 0.99994278 -0.00964269 -0.00463277 2.84443796] [ 0.00958984 0.99989021 -0.01129576 1.11699237] [ 0.00474118 0.01125069 0.99992547 1.97775061] [ 0. 0. 0. 1. ]] SLAMing on 28.584839172999995 meters Centerline goodness : 0.743575 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:1.12, Z:1.98 [[ 0.99997339 -0.00524727 -0.00506847 2.84593568] [ 0.00520676 0.99995466 -0.0079732 1.12086374] [ 0.00511008 0.0079466 0.99995537 1.97773545] [ 0. 0. 0. 1. ]] SLAMing on 28.644839172999994 meters Centerline goodness : 0.739803 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:1.12, Z:1.97 [[ 0.9999387 -0.00886598 -0.0066318 2.85417675] [ 0.00878858 0.99989398 -0.01161004 1.11768036] [ 0.00673403 0.01155104 0.99991061 1.97219805] [ 0. 0. 0. 1. ]] SLAMing on 28.704839172999996 meters Centerline goodness : 0.738181 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:1.12, Z:1.97 [[ 0.99994637 -0.00586595 -0.00853556 2.86540081] [ 0.00576605 0.99991513 -0.01168233 1.11836385] [ 0.00860336 0.01163248 0.99989533 1.96757223] [ 0. 0. 0. 1. ]] SLAMing on 28.764839172999995 meters Centerline goodness : 0.735849 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:1.12, Z:1.96 [[ 0.99993623 -0.00506234 -0.01009518 2.87401518] [ 0.00494462 0.99991989 -0.01165141 1.11713644] [ 0.01015336 0.01160075 0.99988116 1.96213695] [ 0. 0. 0. 1. ]] SLAMing on 28.824839172999997 meters Centerline goodness : 0.735299 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:1.12, Z:1.96 [[ 0.99993704 -0.00430144 -0.01036435 2.8746887 ] [ 0.00416319 0.99990257 -0.01332369 1.1246501 ] [ 0.01042065 0.0132797 0.99985752 1.96484169] [ 0. 0. 0. 1. ]] SLAMing on 28.884839172999996 meters Centerline goodness : 0.736140 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:1.12, Z:1.97 [[ 0.99993507 -0.00341747 -0.01087086 2.87629839] [ 0.00327157 0.99990472 -0.01341043 1.12368146] [ 0.01091565 0.013374 0.99985098 1.96545966] [ 0. 0. 0. 1. ]] SLAMing on 28.944839172999995 meters Centerline goodness : 0.734654 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:1.12, Z:1.96 [[ 9.99923273e-01 -1.86726224e-03 -1.22458896e-02 2.88128622e+00] [ 1.71788005e-03 9.99924129e-01 -1.21977518e-02 1.12165706e+00] [ 1.22677369e-02 1.21757790e-02 9.99850615e-01 1.96330770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839172999997 meters Centerline goodness : 0.736422 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:1.12, Z:1.97 [[ 9.99911503e-01 -1.30963550e-03 -1.32390129e-02 2.88182777e+00] [ 1.14269304e-03 9.99919843e-01 -1.26095964e-02 1.12137138e+00] [ 1.32544657e-02 1.25933523e-02 9.99832849e-01 1.96702366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839172999996 meters Centerline goodness : 0.735953 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:1.12, Z:1.96 [[ 9.99999698e-01 9.95092571e-05 -7.71150009e-04 2.88425977e+00] [-1.07938509e-04 9.99940168e-01 -1.09384330e-02 1.11766487e+00] [ 7.70015394e-04 1.09385129e-02 9.99939876e-01 1.95970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124839172999994 meters Centerline goodness : 0.725279 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.11, Z:1.95 [[ 9.99928843e-01 -1.16262827e-02 -2.67164910e-03 2.88959542e+00] [ 1.15730066e-02 9.99749463e-01 -1.91592485e-02 1.10572876e+00] [ 2.89373059e-03 1.91269662e-02 9.99812875e-01 1.95404839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184839172999997 meters Centerline goodness : 0.729741 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.11, Z:1.96 [[ 9.99907519e-01 -1.34494999e-02 -2.01613965e-03 2.88531744e+00] [ 1.34036819e-02 9.99684625e-01 -2.12365862e-02 1.10776164e+00] [ 2.30112527e-03 2.12075985e-02 9.99772445e-01 1.95829460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244839172999995 meters Centerline goodness : 0.738131 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.10, Z:1.96 [[ 0.99985085 -0.01636634 0.00551571 2.89008889] [ 0.01643674 0.99978077 -0.01297125 1.10389269] [-0.00530221 0.01305997 0.99990066 1.95972176] [ 0. 0. 0. 1. ]] SLAMing on 29.304839172999994 meters Centerline goodness : 0.740615 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.10, Z:1.96 [[ 0.99988599 -0.01406702 0.00548918 2.88607049] [ 0.01411977 0.99985332 -0.00969353 1.10236275] [-0.00535201 0.00976993 0.99993795 1.96435279] [ 0. 0. 0. 1. ]] SLAMing on 29.364839172999996 meters Centerline goodness : 0.743216 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.10, Z:1.97 [[ 0.99990646 -0.01280526 0.00480497 2.88604488] [ 0.01284883 0.99987561 -0.00914743 1.09710183] [-0.00468723 0.00920831 0.99994662 1.96797724] [ 0. 0. 0. 1. ]] SLAMing on 29.424839172999995 meters Centerline goodness : 0.741335 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.09, Z:1.97 [[ 0.99998233 -0.0051236 0.00301303 2.89329872] [ 0.00513433 0.99998048 -0.00356182 1.0932373 ] [-0.00299472 0.00357722 0.99998912 1.96634562] [ 0. 0. 0. 1. ]] SLAMing on 29.484839172999994 meters Centerline goodness : 0.745335 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:1.09, Z:1.97 [[ 9.99989856e-01 -3.70151562e-03 2.56657321e-03 2.89417154e+00] [ 3.70926239e-03 9.99988560e-01 -3.02017106e-03 1.08641994e+00] [-2.55536464e-03 3.02966052e-03 9.99992146e-01 1.96818489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544839172999996 meters Centerline goodness : 0.745867 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:1.09, Z:1.97 [[ 9.99979098e-01 -6.24579164e-03 1.67121460e-03 2.89645604e+00] [ 6.25701999e-03 9.99957304e-01 -6.79998790e-03 1.08612099e+00] [-1.62867194e-03 6.81030260e-03 9.99975483e-01 1.96942736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604839172999995 meters Centerline goodness : 0.743579 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:1.08, Z:1.96 [[ 9.99988296e-01 -4.65715127e-03 -1.31075478e-03 2.90837983e+00] [ 4.64836855e-03 9.99967246e-01 -6.62563359e-03 1.07899313e+00] [ 1.34156843e-03 6.61946318e-03 9.99977191e-01 1.96472732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664839172999997 meters Centerline goodness : 0.737977 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:1.07, Z:1.96 [[ 9.99988048e-01 -2.80673025e-03 -4.00325937e-03 2.92427215e+00] [ 2.76921774e-03 9.99952496e-01 -9.34545609e-03 1.07225379e+00] [ 4.02929938e-03 9.33425850e-03 9.99948317e-01 1.95903992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724839172999996 meters Centerline goodness : 0.741380 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:1.08, Z:1.97 [[ 0.99998662 0.00313957 -0.00411113 2.9527695 ] [-0.00318391 0.99993633 -0.01082575 1.07868563] [ 0.00407688 0.01083869 0.99993295 1.96741688] [ 0. 0. 0. 1. ]] SLAMing on 29.784839172999995 meters Centerline goodness : 0.742576 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.08, Z:1.97 [[ 0.99997795 0.0042116 -0.00513423 2.95511459] [-0.00426386 0.99993879 -0.01020983 1.07681443] [ 0.00509092 0.0102315 0.9999347 1.96802157] [ 0. 0. 0. 1. ]] SLAMing on 29.844839172999997 meters Centerline goodness : 0.747773 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.07, Z:1.96 [[ 9.99991552e-01 -3.66990641e-03 1.85165553e-03 2.96222207e+00] [ 3.68007630e-03 9.99977998e-01 -5.51913982e-03 1.07450674e+00] [-1.83136006e-03 5.52590743e-03 9.99983055e-01 1.96386009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839172999996 meters Centerline goodness : 0.743756 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.08, Z:1.96 [[ 9.99970751e-01 -7.49210083e-03 1.53810366e-03 2.96341937e+00] [ 7.50655276e-03 9.99925593e-01 -9.61563085e-03 1.07567991e+00] [-1.46594794e-03 9.62689546e-03 9.99952586e-01 1.96351851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964839172999994 meters Centerline goodness : 0.745635 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.08, Z:1.97 [[ 9.99872791e-01 -1.58290713e-02 1.96040685e-03 2.96256076e+00] [ 1.58624686e-02 9.99705092e-01 -1.83877848e-02 1.07655903e+00] [-1.66876716e-03 1.84165426e-02 9.99829008e-01 1.96517501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024839172999997 meters Centerline goodness : 0.745890 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.07, Z:1.97 [[ 9.99831700e-01 -1.82185144e-02 2.15826300e-03 2.96065670e+00] [ 1.82564890e-02 9.99650467e-01 -1.91218204e-02 1.07445881e+00] [-1.80913746e-03 1.91580045e-02 9.99814832e-01 1.96548262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084839172999995 meters Centerline goodness : 0.749220 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.08, Z:1.97 [[ 0.99978659 -0.01735421 0.01120713 2.96451304] [ 0.0174614 0.99980203 -0.00953906 1.08111341] [-0.01103937 0.00973272 0.9998917 1.96561449] [ 0. 0. 0. 1. ]] SLAMing on 30.144839172999994 meters Centerline goodness : 0.751547 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:1.09, Z:1.96 [[ 0.99986983 -0.01220821 0.01054916 2.96743228] [ 0.01227556 0.99990453 -0.00634417 1.08640831] [-0.01047071 0.00647284 0.99992423 1.96495229] [ 0. 0. 0. 1. ]] SLAMing on 30.204839172999996 meters Centerline goodness : 0.749203 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:1.10, Z:1.97 [[ 0.99992536 -0.00674938 0.01018389 2.96990548] [ 0.00679629 0.99996643 -0.00457807 1.09533541] [-0.01015265 0.00464694 0.99993766 1.96594968] [ 0. 0. 0. 1. ]] SLAMing on 30.264839172999995 meters Centerline goodness : 0.748595 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:1.11, Z:1.97 [[ 0.99994454 -0.00532738 0.00908534 2.99663689] [ 0.00540119 0.99995246 -0.00811825 1.10879186] [-0.00904166 0.00816688 0.99992577 1.97023589] [ 0. 0. 0. 1. ]] SLAMing on 30.324839172999994 meters Centerline goodness : 0.747856 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:1.12, Z:1.97 [[ 0.99994614 -0.00578648 0.00861552 2.99998383] [ 0.00586687 0.99993922 -0.00933507 1.11971431] [-0.00856098 0.00938512 0.99991931 1.96653542] [ 0. 0. 0. 1. ]] SLAMing on 30.384839172999996 meters Centerline goodness : 0.748835 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:1.12, Z:1.97 [[ 0.99965791 -0.01913653 0.0178288 2.99443255] [ 0.01927113 0.99978684 -0.007409 1.12434769] [-0.01768322 0.00775005 0.9998136 1.96895253] [ 0. 0. 0. 1. ]] SLAMing on 30.444839172999995 meters Centerline goodness : 0.748934 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:1.12, Z:1.97 [[ 0.9996718 -0.01884196 0.01735745 2.99525182] [ 0.0189639 0.99979645 -0.00688749 1.12315862] [-0.01722414 0.0072144 0.99982563 1.96917714] [ 0. 0. 0. 1. ]] SLAMing on 30.504839172999997 meters Centerline goodness : 0.746096 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:1.12, Z:1.97 [[ 0.99990357 -0.00978645 0.00985289 3.02558178] [ 0.00989473 0.99989053 -0.0110014 1.12008299] [-0.00974415 0.01109783 0.99989094 1.96601671] [ 0. 0. 0. 1. ]] SLAMing on 30.564839172999996 meters Centerline goodness : 0.742694 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:1.11, Z:1.96 [[ 0.99996089 -0.0056817 0.00677766 3.04273604] [ 0.00574828 0.99993502 -0.00984445 1.11232063] [-0.00672129 0.00988303 0.99992857 1.95667607] [ 0. 0. 0. 1. ]] SLAMing on 30.624839172999994 meters Centerline goodness : 0.746095 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:1.11, Z:1.96 [[ 0.99988135 -0.00783994 0.01325998 3.05329212] [ 0.0079005 0.99995857 -0.00452158 1.11066826] [-0.01322399 0.0046258 0.99990186 1.9573145 ] [ 0. 0. 0. 1. ]] SLAMing on 30.684839172999997 meters Centerline goodness : 0.741849 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:1.11, Z:1.95 [[ 0.99987818 -0.01004092 0.01194988 3.058447 ] [ 0.01012694 0.99992309 -0.00715938 1.11138164] [-0.01187707 0.00727952 0.99990297 1.95456159] [ 0. 0. 0. 1. ]] SLAMing on 30.744839172999995 meters Centerline goodness : 0.745569 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:1.11, Z:1.96 [[ 0.99987579 -0.01006154 0.01213115 3.05694745] [ 0.01015507 0.999919 -0.00767282 1.11094243] [-0.01205297 0.00779506 0.99989698 1.95733351] [ 0. 0. 0. 1. ]] SLAMing on 30.804839172999994 meters Centerline goodness : 0.750188 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:1.11, Z:1.96 [[ 0.99989353 -0.00832435 0.01198439 3.05359703] [ 0.00840677 0.99994125 -0.00684344 1.10807317] [-0.01192672 0.00694346 0.99990477 1.96415586] [ 0. 0. 0. 1. ]] SLAMing on 30.864839172999996 meters Centerline goodness : 0.747118 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:1.11, Z:1.97 [[ 9.99987383e-01 -2.35021747e-04 5.01779518e-03 3.08591200e+00] [ 3.16441798e-04 9.99868208e-01 -1.62316375e-02 1.10634979e+00] [-5.01331909e-03 1.62330206e-02 9.99855667e-01 1.96760319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924839172999995 meters Centerline goodness : 0.746612 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:1.10, Z:1.98 [[ 9.99999684e-01 -5.78191815e-05 -7.92400608e-04 3.12749290e+00] [ 3.78733873e-05 9.99683731e-01 -2.51482893e-02 1.10465932e+00] [ 7.93604050e-04 2.51482514e-02 9.99683418e-01 1.97554167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984839172999994 meters Centerline goodness : 0.749111 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:1.10, Z:1.98 [[ 9.99999865e-01 9.42445882e-05 -5.10454838e-04 3.15697794e+00] [-1.07728197e-04 9.99649348e-01 -2.64796035e-02 1.09808159e+00] [ 5.07780287e-04 2.64796549e-02 9.99649223e-01 1.98217824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044839172999996 meters Centerline goodness : 0.747749 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:1.09, Z:1.98 [[ 9.99937588e-01 -1.10093651e-02 -1.90129288e-03 3.15938132e+00] [ 1.09348219e-02 9.99307810e-01 -3.55574370e-02 1.08751274e+00] [ 2.29144163e-03 3.55344274e-02 9.99365826e-01 1.98206625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104839172999995 meters Centerline goodness : 0.748691 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:1.07, Z:1.98 [[ 0.99974179 -0.02229322 -0.00440079 3.19247007] [ 0.02207907 0.99879414 -0.04384955 1.07311358] [ 0.00537303 0.04374106 0.99902845 1.97801513] [ 0. 0. 0. 1. ]] SLAMing on 31.164839172999997 meters Centerline goodness : 0.750177 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:1.07, Z:1.97 [[ 0.99982954 -0.01748858 -0.00591875 3.20007596] [ 0.01724567 0.99909562 -0.03886556 1.07007803] [ 0.0065931 0.03875687 0.99922692 1.9718471 ] [ 0. 0. 0. 1. ]] SLAMing on 31.224839172999996 meters Centerline goodness : 0.747305 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:1.07, Z:1.98 [[ 0.99986819 -0.01408279 -0.00807935 3.24820596] [ 0.01362411 0.99843366 -0.05426423 1.07284566] [ 0.00883088 0.054147 0.99849392 1.97968379] [ 0. 0. 0. 1. ]] SLAMing on 31.284839172999995 meters Centerline goodness : 0.754029 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:1.07, Z:1.98 [[ 9.99775571e-01 -2.11521756e-02 1.18019227e-03 3.24417124e+00] [ 2.11840834e-02 9.98715171e-01 -4.60352317e-02 1.07184286e+00] [-2.04930616e-04 4.60499013e-02 9.98939120e-01 1.98138187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344839172999997 meters Centerline goodness : 0.743592 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:1.07, Z:1.99 [[ 9.99625427e-01 -2.73553888e-02 8.29415142e-04 3.25984775e+00] [ 2.73678573e-02 9.99079563e-01 -3.30306863e-02 1.06511228e+00] [ 7.49155494e-05 3.30410132e-02 9.99453994e-01 1.99084229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404839172999996 meters Centerline goodness : 0.740783 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:1.06, Z:1.99 [[ 9.99717867e-01 -2.36961477e-02 -1.63699947e-03 3.27198074e+00] [ 2.36302182e-02 9.99188895e-01 -3.26062028e-02 1.05827937e+00] [ 2.40831309e-03 3.25583208e-02 9.99466936e-01 1.98725993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464839172999994 meters Centerline goodness : 0.739743 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:1.05, Z:1.99 [[ 9.99821389e-01 -1.88182554e-02 -1.75019249e-03 3.29448434e+00] [ 1.87196504e-02 9.98797223e-01 -4.53175593e-02 1.05434039e+00] [ 2.60088480e-03 4.52767021e-02 9.98971099e-01 1.99420990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839172999997 meters Centerline goodness : 0.739500 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:1.04, Z:1.99 [[ 9.99788339e-01 -2.05240985e-02 1.42773610e-03 3.31485042e+00] [ 2.05650978e-02 9.98967435e-01 -4.05109814e-02 1.04142149e+00] [-5.94810496e-04 4.05317684e-02 9.99178073e-01 1.99372849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584839172999995 meters Centerline goodness : 0.739030 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:1.02, Z:1.99 [[ 9.99660286e-01 -2.60556200e-02 -6.45581142e-04 3.32218156e+00] [ 2.59957284e-02 9.98537154e-01 -4.74106928e-02 1.02467661e+00] [ 1.87995175e-03 4.73778043e-02 9.98875272e-01 1.99404622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644839172999994 meters Centerline goodness : 0.732087 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:1.01, Z:1.99 [[ 0.99956644 -0.02732609 -0.0109641 3.31996684] [ 0.02670356 0.9982166 -0.05339039 1.01235479] [ 0.0124035 0.05307446 0.99851352 1.99352287] [ 0. 0. 0. 1. ]] SLAMing on 31.704839172999996 meters Centerline goodness : 0.723929 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:1.00, Z:2.00 [[ 0.99940012 -0.02831248 -0.01994505 3.31343886] [ 0.02697618 0.99756268 -0.0643505 1.00257995] [ 0.02171836 0.06377386 0.99772802 2.00274501] [ 0. 0. 0. 1. ]] SLAMing on 31.764839172999995 meters Centerline goodness : 0.727713 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.99, Z:2.01 [[ 0.99932378 -0.03374052 -0.01461401 3.31260598] [ 0.03290304 0.99798862 -0.05418582 0.99459676] [ 0.01641287 0.05366833 0.99842392 2.00547654] [ 0. 0. 0. 1. ]] SLAMing on 31.824839172999994 meters Centerline goodness : 0.728763 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.99, Z:2.00 [[ 0.99904505 -0.04188931 -0.01242038 3.3197103 ] [ 0.04127281 0.99807393 -0.04631397 0.98726972] [ 0.01433651 0.04575712 0.99884971 2.00247057] [ 0. 0. 0. 1. ]] SLAMing on 31.884839172999996 meters Centerline goodness : 0.731964 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.99, Z:2.00 [[ 0.99946027 -0.03223291 -0.00634094 3.32926392] [ 0.0320515 0.99912452 -0.02688679 0.98818995] [ 0.00720203 0.02666904 0.99961837 1.99999518] [ 0. 0. 0. 1. ]] SLAMing on 31.944839172999995 meters Centerline goodness : 0.733798 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.98, Z:2.00 [[ 0.99957817 -0.0281127 -0.0072915 3.33477395] [ 0.02792832 0.99931544 -0.0242623 0.98177408] [ 0.00796858 0.02404842 0.99967904 1.99689146] [ 0. 0. 0. 1. ]] SLAMing on 32.00483917299999 meters Centerline goodness : 0.739227 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.98, Z:2.00 [[ 0.99964912 -0.0257055 -0.00639209 3.32993282] [ 0.02557381 0.99947496 -0.01989442 0.97748782] [ 0.00690013 0.01972397 0.99978165 2.00001074] [ 0. 0. 0. 1. ]] SLAMing on 32.06483917299999 meters Centerline goodness : 0.743106 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.97, Z:2.00 [[ 0.9997463 -0.02076528 0.00872607 3.32030446] [ 0.02084157 0.99974454 -0.00874493 0.96734954] [-0.00854225 0.00892457 0.99992369 2.00264263] [ 0. 0. 0. 1. ]] SLAMing on 32.12483917299999 meters Centerline goodness : 0.739205 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.96, Z:2.00 [[ 0.99970462 -0.02292799 0.00806124 3.3227592 ] [ 0.02300356 0.99969109 -0.00941034 0.95794506] [-0.00784299 0.009593 0.99992323 2.00094717] [ 0. 0. 0. 1. ]] SLAMing on 32.18483917299999 meters Centerline goodness : 0.716411 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.95, Z:2.00 [[ 0.99970662 -0.02314652 0.00713508 3.32541725] [ 0.02317931 0.99972099 -0.0045464 0.94832766] [-0.00702785 0.00471045 0.99996421 1.99524956] [ 0. 0. 0. 1. ]] SLAMing on 32.24483917299999 meters Centerline goodness : 0.713648 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.95, Z:1.99 [[ 0.99960313 -0.0271722 0.00743269 3.32618134] [ 0.02723033 0.99959847 -0.00783569 0.94556221] [-0.00721679 0.00803498 0.99994168 1.99372862] [ 0. 0. 0. 1. ]] SLAMing on 32.30483917299999 meters Centerline goodness : 0.738168 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.94, Z:1.99 [[ 0.99878616 -0.04514742 0.01969539 3.34384013] [ 0.04524687 0.99896509 -0.00463322 0.94042462] [-0.01946583 0.00551875 0.99979529 1.9885612 ] [ 0. 0. 0. 1. ]] SLAMing on 32.36483917299999 meters Centerline goodness : 0.738106 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.94, Z:1.99 [[ 0.99752262 -0.06697638 0.0215125 3.40278756] [ 0.0666575 0.99765992 0.01521388 0.94006705] [-0.02248113 -0.01374222 0.99965281 1.99127068] [ 0. 0. 0. 1. ]] SLAMing on 32.424839172999995 meters Centerline goodness : 0.739700 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.94, Z:1.99 [[ 0.99762687 -0.06539057 0.02155681 3.40016484] [ 0.06501893 0.99773035 0.01751262 0.94301701] [-0.02265305 -0.01606946 0.99961423 1.99361901] [ 0. 0. 0. 1. ]] SLAMing on 32.48483917299999 meters Centerline goodness : 0.754144 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.96, Z:1.99 [[ 0.99782974 -0.05752248 0.03204659 3.40191731] [ 0.05699726 0.99822841 0.01706915 0.9570185 ] [-0.03297167 -0.01520553 0.99934061 1.99414112] [ 0. 0. 0. 1. ]] SLAMing on 32.54483917299999 meters Centerline goodness : 0.745562 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.97, Z:2.00 [[ 0.99779054 -0.05793718 0.03251656 3.40039791] [ 0.0575797 0.99827088 0.01182524 0.96801586] [-0.03314545 -0.00992682 0.99940124 1.99925796] [ 0. 0. 0. 1. ]] SLAMing on 32.604839172999995 meters Centerline goodness : 0.748878 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.97, Z:2.00 [[ 0.99715167 -0.06485348 0.03850426 3.41061744] [ 0.06444968 0.99785309 0.01163869 0.9741451 ] [-0.03917641 -0.00912395 0.99919065 2.0005111 ] [ 0. 0. 0. 1. ]] SLAMing on 32.66483917299999 meters Centerline goodness : 0.749379 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.99, Z:2.00 [[ 0.99704981 -0.07192081 0.02681567 3.47564415] [ 0.07107397 0.99697986 0.03129949 0.9891491 ] [-0.02898577 -0.02930126 0.99915027 2.00180233] [ 0. 0. 0. 1. ]] SLAMing on 32.72483917299999 meters Centerline goodness : 0.754660 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.99, Z:2.00 [[ 0.99793035 -0.06337808 0.01087396 3.48395703] [ 0.06298427 0.99745622 0.03337755 0.99221935] [-0.0129617 -0.03262358 0.99938366 2.0014704 ] [ 0. 0. 0. 1. ]] SLAMing on 32.784839172999995 meters Centerline goodness : 0.755253 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:1.00, Z:2.00 [[ 0.99781511 -0.06582187 0.00569987 3.49388554] [ 0.06556192 0.99713697 0.0376761 1.00316636] [-0.00816346 -0.03722008 0.99927375 2.00116264] [ 0. 0. 0. 1. ]] SLAMing on 32.84483917299999 meters Centerline goodness : 0.753823 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.01, Z:2.00 [[ 0.99800111 -0.0622736 -0.0107607 3.50547688] [ 0.062642 0.99730487 0.0381965 1.0054716 ] [ 0.00835306 -0.03879422 0.99921231 1.99961908] [ 0. 0. 0. 1. ]] SLAMing on 32.90483917299999 meters Centerline goodness : 0.752338 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.01, Z:1.99 [[ 0.99795445 -0.06226115 -0.01450748 3.51495611] [ 0.06279517 0.99723093 0.03984005 1.01484135] [ 0.01198683 -0.04066956 0.99910075 1.99494761] [ 0. 0. 0. 1. ]] SLAMing on 32.964839172999994 meters Centerline goodness : 0.759342 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.02, Z:1.99 [[ 0.99860463 -0.05088315 -0.01413115 3.5138275 ] [ 0.05148493 0.99760859 0.04611298 1.0180786 ] [ 0.01175098 -0.04677618 0.99883627 1.99315958] [ 0. 0. 0. 1. ]] SLAMing on 33.02483917299999 meters Centerline goodness : 0.752033 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:1.03, Z:2.00 [[ 0.99833065 -0.05354627 -0.02164992 3.55237661] [ 0.05435978 0.99776273 0.03891718 1.02863206] [ 0.01951761 -0.0400291 0.99900787 1.99529601] [ 0. 0. 0. 1. ]] SLAMing on 33.08483917299999 meters Centerline goodness : 0.750090 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:1.03, Z:1.99 [[ 0.99820537 -0.05575405 -0.02185238 3.58188606] [ 0.05622523 0.99818496 0.0215755 1.02942258] [ 0.02060979 -0.02276544 0.99952837 1.99228914] [ 0. 0. 0. 1. ]] SLAMing on 33.144839172999994 meters Centerline goodness : 0.746185 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:1.04, Z:2.00 [[ 0.99822106 -0.0534033 -0.02651054 3.6174451 ] [ 0.05389003 0.99838467 0.01799761 1.04075002] [ 0.02550658 -0.01939425 0.99948651 1.99730506] [ 0. 0. 0. 1. ]] SLAMing on 33.20483917299999 meters Centerline goodness : 0.736858 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.05, Z:2.00 [[ 0.9982667 -0.04548883 -0.03734115 3.65766013] [ 0.04578965 0.99892487 0.00724018 1.04581363] [ 0.03697166 -0.00893747 0.99927635 1.99593974] [ 0. 0. 0. 1. ]] SLAMing on 33.26483917299999 meters Centerline goodness : 0.737629 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.05, Z:1.99 [[ 0.99825223 -0.04554784 -0.03765481 3.659299 ] [ 0.04583371 0.99892619 0.00676329 1.04897461] [ 0.03730632 -0.00847733 0.99926792 1.99475022] [ 0. 0. 0. 1. ]] SLAMing on 33.324839172999994 meters Centerline goodness : 0.738962 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.06, Z:2.00 [[ 9.98201586e-01 -4.58185170e-02 -3.86556175e-02 3.66072651e+00] [ 4.59908032e-02 9.98935451e-01 3.57908406e-03 1.05783044e+00] [ 3.84504783e-02 -5.35045028e-03 9.99246183e-01 1.99800803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38483917299999 meters Centerline goodness : 0.735881 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:1.07, Z:2.00 [[ 0.99874886 -0.03649466 -0.03418841 3.68986791] [ 0.0362625 0.999315 -0.0073865 1.06542951] [ 0.03443456 0.0061375 0.99938811 1.99937423] [ 0. 0. 0. 1. ]] SLAMing on 33.44483917299999 meters Centerline goodness : 0.735169 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:1.08, Z:2.00 [[ 0.99878605 -0.03223999 -0.03724263 3.72634769] [ 0.03181616 0.99942268 -0.01191762 1.07818377] [ 0.03760536 0.01071824 0.99923519 2.00469265] [ 0. 0. 0. 1. ]] SLAMing on 33.50483917299999 meters Centerline goodness : 0.733968 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:1.09, Z:2.01 [[ 0.99903053 -0.02666769 -0.03502624 3.73655882] [ 0.02605565 0.99950173 -0.01781555 1.08523504] [ 0.03548389 0.01688565 0.99922759 2.01013439] [ 0. 0. 0. 1. ]] SLAMing on 33.56483917299999 meters Centerline goodness : 0.732649 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:1.09, Z:2.01 [[ 0.99928241 -0.01361225 -0.03534643 3.76559743] [ 0.01281069 0.99965784 -0.02280535 1.0862062 ] [ 0.03564476 0.02233617 0.99911488 2.01133208] [ 0. 0. 0. 1. ]] SLAMing on 33.62483917299999 meters Centerline goodness : 0.733276 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:1.09, Z:2.01 [[ 9.99380608e-01 -4.04592846e-03 -3.49575539e-02 3.78314264e+00] [ 3.14456932e-03 9.99662153e-01 -2.58010031e-02 1.09176915e+00] [ 3.50501326e-02 2.56750957e-02 9.99055693e-01 2.01355653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68483917299999 meters Centerline goodness : 0.744322 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:1.08, Z:2.01 [[ 0.99973809 -0.00664261 -0.02190038 3.78707771] [ 0.00603642 0.99959998 -0.02763029 1.08446154] [ 0.02207515 0.02749085 0.99937828 2.00794133] [ 0. 0. 0. 1. ]] SLAMing on 33.74483917299999 meters Centerline goodness : 0.748370 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:1.08, Z:2.01 [[ 0.99985913 -0.00796917 -0.01477214 3.7923912 ] [ 0.00766866 0.99976475 -0.02028905 1.08273288] [ 0.01493036 0.02017291 0.99968502 2.01313481] [ 0. 0. 0. 1. ]] SLAMing on 33.80483917299999 meters Centerline goodness : 0.749735 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:1.08, Z:2.02 [[ 0.99987176 -0.00723864 -0.01428483 3.82327856] [ 0.00694211 0.99976164 -0.02069953 1.07765666] [ 0.01443126 0.02059771 0.99968369 2.01550625] [ 0. 0. 0. 1. ]] SLAMing on 33.86483917299999 meters Centerline goodness : 0.754564 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:1.06, Z:2.01 [[ 9.99868833e-01 -1.61739649e-02 -8.48082838e-04 3.82309942e+00] [ 1.61462373e-02 9.99527051e-01 -2.61720034e-02 1.06078104e+00] [ 1.27098680e-03 2.61548771e-02 9.99657095e-01 2.01188702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92483917299999 meters Centerline goodness : 0.756748 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:1.05, Z:2.01 [[ 0.99967977 -0.02482373 0.00491392 3.83366404] [ 0.02493046 0.99942456 -0.02300066 1.05283303] [-0.00434013 0.0231158 0.99972337 2.01009251] [ 0. 0. 0. 1. ]] SLAMing on 33.98483917299999 meters Centerline goodness : 0.755564 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:1.05, Z:2.01 [[ 9.99653950e-01 -2.61296766e-02 3.03658704e-03 3.84028864e+00] [ 2.61941852e-02 9.99378000e-01 -2.36109677e-02 1.04600380e+00] [-2.41775134e-03 2.36823380e-02 9.99716611e-01 2.00655106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04483917299999 meters Centerline goodness : 0.760630 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:1.04, Z:2.01 [[ 0.99940888 -0.032662 0.01072774 3.84789393] [ 0.03288697 0.99922757 -0.02151075 1.04398446] [-0.01001687 0.02185083 0.99971106 2.00725779] [ 0. 0. 0. 1. ]] SLAMing on 34.104839172999995 meters Centerline goodness : 0.757878 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:1.04, Z:2.00 [[ 0.99904107 -0.04271254 0.00962176 3.85380556] [ 0.04299779 0.99857214 -0.03169981 1.04107679] [-0.00825405 0.03208313 0.99945112 2.00408831] [ 0. 0. 0. 1. ]] SLAMing on 34.16483917299999 meters Centerline goodness : 0.755575 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:1.04, Z:2.00 [[ 0.99867683 -0.04954285 0.01378766 3.86912813] [ 0.04989123 0.99841126 -0.02618827 1.04037238] [-0.01246831 0.0268415 0.99956194 1.99595305] [ 0. 0. 0. 1. ]] SLAMing on 34.22483917299999 meters Centerline goodness : 0.754053 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:1.04, Z:1.99 [[ 0.9981007 -0.05830359 0.01989177 3.88275629] [ 0.05881855 0.99792041 -0.02636738 1.03682015] [-0.01831309 0.0274873 0.99945439 1.99278019] [ 0. 0. 0. 1. ]] SLAMing on 34.284839172999995 meters Centerline goodness : 0.757295 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:1.04, Z:1.99 [[ 0.99774802 -0.06177982 0.02611775 3.8930213 ] [ 0.06228468 0.99787796 -0.01897901 1.03800959] [-0.02488981 0.02056301 0.99947869 1.98930527] [ 0. 0. 0. 1. ]] SLAMing on 34.34483917299999 meters Centerline goodness : 0.758056 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:1.04, Z:1.99 [[ 0.99751487 -0.0656155 0.02566512 3.89381225] [ 0.06620264 0.9975471 -0.02273755 1.03582679] [-0.02411024 0.02438014 0.99941198 1.99068441] [ 0. 0. 0. 1. ]] SLAMing on 34.40483917299999 meters Centerline goodness : 0.756300 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:1.03, Z:1.99 [[ 0.9972838 -0.06983372 0.02341537 3.90292881] [ 0.07048382 0.99711441 -0.02819368 1.02875469] [-0.02137893 0.0297675 0.99932819 1.98783022] [ 0. 0. 0. 1. ]] SLAMing on 34.464839172999994 meters Centerline goodness : 0.754601 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:1.03, Z:1.99 [[ 0.99800506 -0.06140928 0.0146559 3.9424565 ] [ 0.06171241 0.99786851 -0.02121371 1.03178871] [-0.01332194 0.02207584 0.99966754 1.98850146] [ 0. 0. 0. 1. ]] SLAMing on 34.52483917299999 meters Centerline goodness : 0.750896 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:1.03, Z:1.99 [[ 0.99807666 -0.06059573 0.01308231 3.9778059 ] [ 0.06089538 0.99785868 -0.02387051 1.03171408] [-0.01160785 0.02462125 0.99962946 1.99023349] [ 0. 0. 0. 1. ]] SLAMing on 34.58483917299999 meters Centerline goodness : 0.747237 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:1.03, Z:1.99 [[ 0.99785971 -0.06450925 0.01070347 3.98823936] [ 0.06479817 0.99746833 -0.02929372 1.02891084] [-0.00878666 0.02992458 0.99951354 1.98568553] [ 0. 0. 0. 1. ]] SLAMing on 34.644839172999994 meters Centerline goodness : 0.743111 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:1.04, Z:1.99 [[ 9.98329728e-01 -5.75309281e-02 5.28644871e-03 4.02688998e+00] [ 5.76603976e-02 9.97916508e-01 -2.89468802e-02 1.03967647e+00] [-3.61009355e-03 2.92033498e-02 9.99566972e-01 1.98744409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70483917299999 meters Centerline goodness : 0.743949 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:1.05, Z:1.99 [[ 0.99882355 -0.04718554 0.01118176 4.05601209] [ 0.04757147 0.99817438 -0.03721367 1.04649059] [-0.0094054 0.03770182 0.99924477 1.98596663] [ 0. 0. 0. 1. ]] SLAMing on 34.76483917299999 meters Centerline goodness : 0.741834 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:1.06, Z:1.99 [[ 0.99930748 -0.03620068 0.00860648 4.09016816] [ 0.03647049 0.99877014 -0.03358723 1.05837864] [-0.00738001 0.03387785 0.99939873 1.99062014] [ 0. 0. 0. 1. ]] SLAMing on 34.824839172999994 meters Centerline goodness : 0.738946 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:1.07, Z:1.99 [[ 9.99612606e-01 -2.76649246e-02 3.04807678e-03 4.12779983e+00] [ 2.77463466e-02 9.99132276e-01 -3.10617891e-02 1.06939030e+00] [-2.18610983e-03 3.11343289e-02 9.99512819e-01 1.99298050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88483917299999 meters Centerline goodness : 0.733531 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:1.08, Z:1.99 [[ 9.99705127e-01 -2.42213426e-02 1.72769365e-03 4.13465028e+00] [ 2.42610416e-02 9.99291652e-01 -2.87679596e-02 1.07567992e+00] [-1.02967123e-03 2.88013924e-02 9.99584624e-01 1.98798910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94483917299999 meters Centerline goodness : 0.733179 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:1.08, Z:1.98 [[ 0.99953629 -0.03011804 -0.004484 4.1663052 ] [ 0.02996309 0.99905961 -0.03133849 1.08266086] [ 0.00542364 0.0311896 0.99949877 1.98110038] [ 0. 0. 0. 1. ]] SLAMing on 35.00483917299999 meters Centerline goodness : 0.731808 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:1.09, Z:1.97 [[ 0.9995073 -0.03072154 -0.0064302 4.17528475] [ 0.03050236 0.99902921 -0.03178437 1.0869156 ] [ 0.00740043 0.03157257 0.99947406 1.97360116] [ 0. 0. 0. 1. ]] SLAMing on 35.06483917299999 meters Centerline goodness : 0.729532 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:1.10, Z:1.98 [[ 9.99565786e-01 -2.92109014e-02 -3.86820880e-03 4.21346499e+00] [ 2.91178119e-02 9.99328099e-01 -2.22599240e-02 1.10100052e+00] [ 4.51584219e-03 2.21376247e-02 9.99744734e-01 1.97680801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12483917299999 meters Centerline goodness : 0.725086 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:1.11, Z:1.97 [[ 9.99562687e-01 -2.92979074e-02 -4.00839799e-03 4.21861136e+00] [ 2.91969786e-02 9.99302806e-01 -2.32688124e-02 1.10607628e+00] [ 4.68733087e-03 2.31416035e-02 9.99721209e-01 1.97098471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18483917299999 meters Centerline goodness : 0.723975 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:1.12, Z:1.97 [[ 9.99612601e-01 -2.76230840e-02 -3.40781983e-03 4.21825593e+00] [ 2.75415723e-02 9.99378304e-01 -2.20106020e-02 1.11802594e+00] [ 4.01370192e-03 2.19082184e-02 9.99751929e-01 1.96896344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24483917299999 meters Centerline goodness : 0.725315 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:1.12, Z:1.97 [[ 9.99574827e-01 -2.89300421e-02 3.63577626e-03 4.22696414e+00] [ 2.89770630e-02 9.99487221e-01 -1.36244064e-02 1.12050063e+00] [-3.23975726e-03 1.37239678e-02 9.99900573e-01 1.96746228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30483917299999 meters Centerline goodness : 0.728548 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:1.12, Z:1.97 [[ 9.99538490e-01 -3.01461436e-02 3.74391600e-03 4.22477240e+00] [ 3.01980250e-02 9.99436207e-01 -1.46746885e-02 1.12162420e+00] [-3.29941994e-03 1.47809748e-02 9.99885312e-01 1.97003784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36483917299999 meters Centerline goodness : 0.727456 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:1.12, Z:1.96 [[ 9.99604600e-01 -2.80756340e-02 1.55023853e-03 4.23720515e+00] [ 2.80943266e-02 9.99510637e-01 -1.37548237e-02 1.11821262e+00] [-1.16330450e-03 1.37929380e-02 9.99904196e-01 1.96206986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42483917299999 meters Centerline goodness : 0.735061 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:1.11, Z:1.96 [[ 9.99596181e-01 -2.83714994e-02 1.59180280e-03 4.23667812e+00] [ 2.83899217e-02 9.99511333e-01 -1.30807961e-02 1.11189186e+00] [-1.21990314e-03 1.31207050e-02 9.99913176e-01 1.96225812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48483917299999 meters Centerline goodness : 0.731701 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:1.11, Z:1.96 [[ 9.99609323e-01 -2.79423872e-02 6.51403551e-04 4.23792736e+00] [ 2.79486375e-02 9.99518182e-01 -1.35009946e-02 1.11300217e+00] [-2.73839676e-04 1.35139259e-02 9.99908645e-01 1.96461068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54483917299999 meters Centerline goodness : 0.727963 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:1.11, Z:1.96 [[ 0.99974317 -0.01836232 -0.01328256 4.27642454] [ 0.01814909 0.99970727 -0.01599947 1.1103677 ] [ 0.01357246 0.01575429 0.99978377 1.95851434] [ 0. 0. 0. 1. ]] SLAMing on 35.60483917299999 meters Centerline goodness : 0.726078 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:1.11, Z:1.95 [[ 0.99971627 -0.01893207 -0.01445535 4.28278157] [ 0.01868482 0.99968 -0.01705204 1.11106453] [ 0.01477355 0.0167771 0.9997501 1.95443688] [ 0. 0. 0. 1. ]] SLAMing on 35.66483917299999 meters Centerline goodness : 0.728947 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:1.11, Z:1.95 [[ 0.9996222 -0.02629173 -0.00801253 4.29429391] [ 0.02617953 0.999562 -0.01379966 1.10783978] [ 0.00837184 0.01358469 0.99987268 1.95097718] [ 0. 0. 0. 1. ]] SLAMing on 35.72483917299999 meters Centerline goodness : 0.731819 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:1.10, Z:1.95 [[ 0.99952129 -0.02970552 -0.00864693 4.29638409] [ 0.02956573 0.99943687 -0.01586853 1.10162785] [ 0.00911344 0.01560528 0.9998367 1.94941143] [ 0. 0. 0. 1. ]] SLAMing on 35.784839172999995 meters Centerline goodness : 0.733623 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:1.10, Z:1.95 [[ 0.99962163 -0.02559775 -0.01006773 4.30223337] [ 0.02546558 0.99959059 -0.01304474 1.09985713] [ 0.01039752 0.01278343 0.99986423 1.94802992] [ 0. 0. 0. 1. ]] SLAMing on 35.84483917299999 meters Centerline goodness : 0.732008 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:1.09, Z:1.95 [[ 0.99963784 -0.02445808 -0.01122433 4.30400963] [ 0.02433309 0.99964184 -0.01113989 1.09342912] [ 0.01149277 0.01086273 0.99987495 1.94909166] [ 0. 0. 0. 1. ]] SLAMing on 35.90483917299999 meters Centerline goodness : 0.729576 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:1.08, Z:1.95 [[ 0.99916256 -0.03892716 -0.01260371 4.30675629] [ 0.03861556 0.99896376 -0.0240881 1.08089275] [ 0.01352833 0.02358123 0.99963039 1.95087957] [ 0. 0. 0. 1. ]] SLAMing on 35.964839172999994 meters Centerline goodness : 0.725134 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:1.06, Z:1.94 [[ 0.99880428 -0.0463612 -0.01551289 4.31807711] [ 0.045909 0.99854365 -0.02833622 1.061554 ] [ 0.016804 0.02759016 0.99947807 1.94296132] [ 0. 0. 0. 1. ]] SLAMing on 36.02483917299999 meters Centerline goodness : 0.725385 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:1.04, Z:1.94 [[ 0.9989188 -0.04307442 -0.01748781 4.32311893] [ 0.04268343 0.99884313 -0.02214773 1.04440929] [ 0.01842158 0.02137734 0.99960175 1.93971631] [ 0. 0. 0. 1. ]] SLAMing on 36.08483917299999 meters Centerline goodness : 0.723499 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:1.02, Z:1.94 [[ 0.99945023 -0.03121809 -0.0111653 4.34289256] [ 0.03104841 0.99940441 -0.01506066 1.02078451] [ 0.01162882 0.01470572 0.99982424 1.94462567] [ 0. 0. 0. 1. ]] SLAMing on 36.144839172999994 meters Centerline goodness : 0.730104 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:1.01, Z:1.96 [[ 9.99793628e-01 -2.01132004e-02 2.85661160e-03 4.35695830e+00] [ 2.01914093e-02 9.99325684e-01 -3.06673279e-02 1.01088342e+00] [-2.23786722e-03 3.07186780e-02 9.99525565e-01 1.95893552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20483917299999 meters Centerline goodness : 0.730673 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:1.00, Z:1.97 [[ 9.99747477e-01 -2.23530150e-02 2.30778692e-03 4.35442923e+00] [ 2.24037263e-02 9.99436981e-01 -2.49758673e-02 9.96056032e-01] [-1.74820166e-03 2.50212634e-02 9.99685391e-01 1.96737033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26483917299999 meters Centerline goodness : 0.722471 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.99, Z:1.97 [[ 0.9997406 -0.02071775 0.00946104 4.33899569] [ 0.02106776 0.99903534 -0.03852975 0.98652463] [-0.00865367 0.03871908 0.99921266 1.97426701] [ 0. 0. 0. 1. ]] SLAMing on 36.324839172999994 meters Centerline goodness : 0.716540 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.97, Z:1.97 [[ 0.99988441 -0.01275023 0.00828222 4.3426203 ] [ 0.01300657 0.99941368 -0.03167228 0.97141699] [-0.00787353 0.03177634 0.99946399 1.97461021] [ 0. 0. 0. 1. ]] SLAMing on 36.38483917299999 meters Centerline goodness : 0.718183 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.96, Z:1.98 [[ 0.99991343 -0.01040641 0.0080518 4.34104762] [ 0.01062978 0.99954538 -0.02821405 0.96152705] [-0.00775453 0.0282972 0.99956948 1.97735354] [ 0. 0. 0. 1. ]] SLAMing on 36.44483917299999 meters Centerline goodness : 0.739904 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.95, Z:1.97 [[ 0.99989522 -0.00698502 0.01267868 4.35141807] [ 0.00711692 0.99992071 -0.01038822 0.95210006] [-0.01260511 0.01047736 0.99986566 1.9722895 ] [ 0. 0. 0. 1. ]] SLAMing on 36.50483917299999 meters Centerline goodness : 0.704774 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.95, Z:1.98 [[ 0.9999221 -0.01116214 0.00558514 4.3615242 ] [ 0.01118884 0.99992602 -0.00477226 0.94937707] [-0.00553145 0.00483438 0.99997302 1.97627155] [ 0. 0. 0. 1. ]] SLAMing on 36.56483917299999 meters Centerline goodness : 0.700000 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.94, Z:1.97 [[ 9.99585007e-01 -2.86879377e-02 -2.61072159e-03 4.39417646e+00] [ 2.86734925e-02 9.99574181e-01 -5.41176682e-03 9.39567481e-01] [ 2.76486232e-03 5.33466246e-03 9.99981948e-01 1.97146839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62483917299999 meters Centerline goodness : 0.680116 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.94, Z:1.97 [[ 9.99327951e-01 -3.62341861e-02 -5.54354099e-03 4.44083911e+00] [ 3.62242110e-02 9.99341902e-01 -1.88937448e-03 9.38244288e-01] [ 5.60835274e-03 1.68729433e-03 9.99982850e-01 1.96549432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68483917299999 meters Centerline goodness : 0.700751 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.94, Z:1.97 [[ 9.99219383e-01 -3.94880297e-02 -1.14862071e-03 4.45768370e+00] [ 3.94858433e-02 9.99218385e-01 -1.86767195e-03 9.41076795e-01] [ 1.22147362e-03 1.82085975e-03 9.99997596e-01 1.96588821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74483917299999 meters Centerline goodness : 0.718230 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.95, Z:1.96 [[ 9.99334030e-01 -3.56091668e-02 7.96760700e-03 4.46490939e+00] [ 3.56179697e-02 9.99365012e-01 -9.65636992e-04 9.52627473e-01] [-7.92816214e-03 1.24878389e-03 9.99967792e-01 1.96082864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80483917299999 meters Centerline goodness : 0.721953 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:0.96, Z:1.96 [[ 9.99454128e-01 -3.17893728e-02 8.99339700e-03 4.48980721e+00] [ 3.17767129e-02 9.99493795e-01 1.54713285e-03 9.61841162e-01] [-9.03802688e-03 -1.26050772e-03 9.99958362e-01 1.96401399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86483917299999 meters Centerline goodness : 0.730471 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.97, Z:1.97 [[ 0.99941217 -0.03025026 0.01613186 4.49704413] [ 0.03011866 0.99951154 0.00833947 0.9694058 ] [-0.01637625 -0.00784869 0.99983509 1.96863961] [ 0. 0. 0. 1. ]] SLAMing on 36.92483917299999 meters Centerline goodness : 0.736622 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.98, Z:1.97 [[ 0.99941568 -0.02365898 0.02466876 4.50195008] [ 0.02312072 0.99949319 0.02188133 0.98027727] [-0.02517395 -0.02129819 0.99945618 1.96976747] [ 0. 0. 0. 1. ]] SLAMing on 36.98483917299999 meters Centerline goodness : 0.741486 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.99, Z:1.97 [[ 0.99910798 -0.03651257 0.02121482 4.57505139] [ 0.03588477 0.99892762 0.02925559 0.99337022] [-0.02226027 -0.0284682 0.99934681 1.97476912] [ 0. 0. 0. 1. ]] SLAMing on 37.04483917299999 meters Centerline goodness : 0.752646 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:1.01, Z:1.98 [[ 0.99902348 -0.03847478 0.02172041 4.57274956] [ 0.03795221 0.9989918 0.02397947 1.00552096] [-0.02262112 -0.02313172 0.99947647 1.97913616] [ 0. 0. 0. 1. ]] SLAMing on 37.10483917299999 meters Centerline goodness : 0.753444 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:1.02, Z:1.98 [[ 0.9990184 -0.04006852 0.01888758 4.61138643] [ 0.03991795 0.99916863 0.00828285 1.02176517] [-0.01920376 -0.00752076 0.9997873 1.98176078] [ 0. 0. 0. 1. ]] SLAMing on 37.16483917299999 meters Centerline goodness : 0.754320 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:1.04, Z:1.99 [[ 0.99882716 -0.04326783 0.02173011 4.64884656] [ 0.04307817 0.99903006 0.00912179 1.03535069] [-0.02210372 -0.008175 0.99972226 1.98659025] [ 0. 0. 0. 1. ]] SLAMing on 37.22483917299999 meters Centerline goodness : 0.757040 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:1.05, Z:1.99 [[ 9.98474867e-01 -4.94726473e-02 2.45029921e-02 4.68830455e+00] [ 4.93553424e-02 9.98766848e-01 5.36959440e-03 1.05221963e+00] [-2.47384242e-02 -4.15205149e-03 9.99685336e-01 1.99341975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28483917299999 meters Centerline goodness : 0.751008 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:1.07, Z:2.00 [[ 0.9977812 -0.06242694 0.02314209 4.70724549] [ 0.06257301 0.99802444 -0.0056416 1.07242914] [-0.02274418 0.00707716 0.99971627 1.99523235] [ 0. 0. 0. 1. ]] SLAMing on 37.34483917299999 meters Centerline goodness : 0.746917 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.09, Z:1.99 [[ 0.99804441 -0.05973937 0.01839988 4.74556345] [ 0.05996461 0.99812906 -0.01194276 1.09121311] [-0.017652 0.01302275 0.99975938 1.99412138] [ 0. 0. 0. 1. ]] SLAMing on 37.40483917299999 meters Centerline goodness : 0.746199 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:1.11, Z:1.99 [[ 0.99842926 -0.05391186 0.01524897 4.7773359 ] [ 0.05409601 0.99846443 -0.01193307 1.11048719] [-0.01458222 0.01273923 0.99981252 1.99270425] [ 0. 0. 0. 1. ]] SLAMing on 37.464839172999994 meters Centerline goodness : 0.749267 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:1.12, Z:1.99 [[ 0.99828374 -0.05360926 0.02357181 4.78328443] [ 0.05373746 0.99854337 -0.00483889 1.12403635] [-0.02327806 0.00609727 0.99971044 1.9934733 ] [ 0. 0. 0. 1. ]] SLAMing on 37.52483917299999 meters Centerline goodness : 0.742702 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:1.13, Z:1.99 [[ 0.99824574 -0.05437366 0.02342958 4.78407188] [ 0.05452448 0.99849532 -0.00584677 1.12924444] [-0.02307642 0.007114 0.99970839 1.99230644] [ 0. 0. 0. 1. ]] SLAMing on 37.58483917299999 meters Centerline goodness : 0.736119 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:1.13, Z:1.98 [[ 9.98667675e-01 -4.74864289e-02 2.01968878e-02 4.79814227e+00] [ 4.75162128e-02 9.98869969e-01 -9.97087825e-04 1.13194177e+00] [-2.01267166e-02 1.95543900e-03 9.99795525e-01 1.98331241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644839172999994 meters Centerline goodness : 0.723418 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:1.13, Z:1.97 [[ 0.99942928 -0.03106719 0.01326443 4.82656059] [ 0.03117461 0.99948218 -0.00796982 1.1348838 ] [-0.01300997 0.00837878 0.99988026 1.97110151] [ 0. 0. 0. 1. ]] SLAMing on 37.70483917299999 meters Centerline goodness : 0.725155 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:1.13, Z:1.97 [[ 0.99949375 -0.02947167 0.01198637 4.8306604 ] [ 0.02956157 0.99953562 -0.00739318 1.13487878] [-0.01176291 0.00774377 0.99990083 1.97039531] [ 0. 0. 0. 1. ]] SLAMing on 37.76483917299999 meters Centerline goodness : 0.725616 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:1.13, Z:1.97 [[ 0.99954614 -0.02810069 0.01085648 4.8339029 ] [ 0.02816838 0.99958438 -0.00613301 1.13196627] [-0.01067962 0.00643604 0.99992226 1.96980482] [ 0. 0. 0. 1. ]] SLAMing on 37.824839172999994 meters Centerline goodness : 0.731962 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:1.12, Z:1.97 [[ 0.99944326 -0.03177331 0.01018009 4.834233 ] [ 0.03186329 0.99945347 -0.00880258 1.1213426 ] [-0.00989484 0.00912205 0.99990944 1.97186451] [ 0. 0. 0. 1. ]] SLAMing on 37.88483917299999 meters Centerline goodness : 0.725630 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:1.11, Z:1.97 [[ 0.99915618 -0.04008702 0.0089422 4.8396982 ] [ 0.04024295 0.99902781 -0.01799816 1.1075443 ] [-0.00821201 0.01834283 0.99979803 1.97214523] [ 0. 0. 0. 1. ]] SLAMing on 37.94483917299999 meters Centerline goodness : 0.718822 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:1.10, Z:1.97 [[ 9.99496319e-01 -3.13256873e-02 5.08029167e-03 4.85624876e+00] [ 3.13912589e-02 9.99417527e-01 -1.33864125e-02 1.10047359e+00] [-4.65799397e-03 1.35391467e-02 9.99897492e-01 1.96845947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00483917299999 meters Centerline goodness : 0.718623 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:1.09, Z:1.98 [[ 9.99736740e-01 -2.27083046e-02 3.28371286e-03 4.87817437e+00] [ 2.27713222e-02 9.99527808e-01 -2.06307647e-02 1.09416597e+00] [-2.81367263e-03 2.07001080e-02 9.99781771e-01 1.97543436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06483917299999 meters Centerline goodness : 0.718314 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:1.09, Z:1.98 [[ 0.99967137 -0.0250059 0.00564473 4.90876246] [ 0.02514906 0.99932167 -0.026902 1.08895721] [-0.0049682 0.02703512 0.99962214 1.97956485] [ 0. 0. 0. 1. ]] SLAMing on 38.12483917299999 meters Centerline goodness : 0.712645 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:1.08, Z:1.99 [[ 0.9996317 -0.02643087 0.00615426 4.94237135] [ 0.02661981 0.99910195 -0.03296475 1.08321868] [-0.00527745 0.03311643 0.99943757 1.98525618] [ 0. 0. 0. 1. ]] SLAMing on 38.18483917299999 meters Centerline goodness : 0.715631 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:1.06, Z:1.99 [[ 0.99935942 -0.0322977 0.0154145 4.94820584] [ 0.032777 0.99895263 -0.03192681 1.06383648] [-0.01436719 0.0324116 0.99937134 1.98560822] [ 0. 0. 0. 1. ]] SLAMing on 38.24483917299999 meters Centerline goodness : 0.717596 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.05, Z:1.99 [[ 0.99929124 -0.03546864 0.01260909 4.95645052] [ 0.03590058 0.9987117 -0.03586217 1.04909255] [-0.01132087 0.03628942 0.9992772 1.98652556] [ 0. 0. 0. 1. ]] SLAMing on 38.30483917299999 meters Centerline goodness : 0.705184 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:1.04, Z:1.99 [[ 0.99941626 -0.03046662 0.01545718 4.94500257] [ 0.03126665 0.99802585 -0.05446837 1.03800752] [-0.0137672 0.05491987 0.99839585 1.98529701] [ 0. 0. 0. 1. ]] SLAMing on 38.36483917299999 meters Centerline goodness : 0.704067 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:1.02, Z:1.99 [[ 9.99368697e-01 -3.53048504e-02 3.97177037e-03 4.94528425e+00] [ 3.54731089e-02 9.97769045e-01 -5.65560852e-02 1.01508683e+00] [-1.96620540e-03 5.66612722e-02 9.98391524e-01 1.99197314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42483917299999 meters Centerline goodness : 0.702592 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:1.00, Z:1.99 [[ 9.98893464e-01 -4.70297052e-02 2.35275946e-04 4.95013349e+00] [ 4.69771162e-02 9.97513692e-01 -5.25317555e-02 9.97574630e-01] [ 2.23586200e-03 5.24846798e-02 9.98619226e-01 1.99468148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48483917299999 meters Centerline goodness : 0.698452 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:1.99 [[ 9.98766337e-01 -4.96312343e-02 1.59515044e-03 4.96924452e+00] [ 4.96548966e-02 9.97925588e-01 -4.09745322e-02 9.80527569e-01] [ 4.41775170e-04 4.10031905e-02 9.99158918e-01 1.98578966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54483917299999 meters Centerline goodness : 0.711724 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:1.99 [[ 9.99102495e-01 -4.23322789e-02 1.47727025e-03 5.00522718e+00] [ 4.23566628e-02 9.98180088e-01 -4.29234702e-02 9.73427872e-01] [ 3.42466568e-04 4.29475184e-02 9.99077271e-01 1.99101303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60483917299999 meters Centerline goodness : 0.717112 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:2.00 [[ 0.99933286 -0.03614444 -0.00523532 5.02059926] [ 0.03574912 0.99741992 -0.06225351 0.96021785] [ 0.00747193 0.06202482 0.99804664 1.99505382] [ 0. 0. 0. 1. ]] SLAMing on 38.66483917299999 meters Centerline goodness : 0.707852 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:1.99 [[ 0.99929801 -0.03251256 -0.01861222 5.02438174] [ 0.03132711 0.99765919 -0.06078442 0.94604915] [ 0.02054491 0.06015868 0.99797737 1.99271653] [ 0. 0. 0. 1. ]] SLAMing on 38.72483917299999 meters Centerline goodness : 0.697214 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.94, Z:2.00 [[ 0.99914189 -0.02764909 -0.03083845 5.02302818] [ 0.02570056 0.99775233 -0.06188505 0.93681835] [ 0.03248021 0.06103939 0.99760675 1.99705195] [ 0. 0. 0. 1. ]] SLAMing on 38.78483917299999 meters Centerline goodness : 0.688180 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.92, Z:1.99 [[ 0.99900152 -0.03183942 -0.03134046 5.04074364] [ 0.03021608 0.99824277 -0.0509742 0.92316741] [ 0.03290837 0.04997632 0.9982081 1.98750008] [ 0. 0. 0. 1. ]] SLAMing on 38.84483917299999 meters Centerline goodness : 0.681095 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:1.99 [[ 0.9983904 -0.04173957 -0.03839814 5.05713998] [ 0.04019446 0.99838417 -0.04016772 0.91768153] [ 0.04001268 0.03855967 0.99845487 1.98760225] [ 0. 0. 0. 1. ]] SLAMing on 38.90483917299999 meters Centerline goodness : 0.678802 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:0.92, Z:1.99 [[ 0.99793651 -0.05005674 -0.04021243 5.1065298 ] [ 0.04826491 0.9978491 -0.04435846 0.91632922] [ 0.04234637 0.04232608 0.99820603 1.99474319] [ 0. 0. 0. 1. ]] SLAMing on 38.96483917299999 meters Centerline goodness : 0.695996 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:0.91, Z:1.99 [[ 0.99716969 -0.06479635 -0.03813195 5.15256754] [ 0.06356562 0.99744345 -0.03264932 0.91414938] [ 0.04015002 0.03013303 0.99873919 1.99310054] [ 0. 0. 0. 1. ]] SLAMing on 39.02483917299999 meters Centerline goodness : 0.706541 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:0.92, Z:1.99 [[ 0.99645146 -0.07462649 -0.03892789 5.16882825] [ 0.0738868 0.99706389 -0.02010823 0.91644668] [ 0.0403142 0.01716062 0.99903968 1.99436249] [ 0. 0. 0. 1. ]] SLAMing on 39.08483917299999 meters Centerline goodness : 0.710386 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.93, Z:2.01 [[ 0.99298667 -0.10166966 -0.06033862 5.29007063] [ 0.10050268 0.9946918 -0.02207784 0.9265981 ] [ 0.06226298 0.0158588 0.99793378 2.01189279] [ 0. 0. 0. 1. ]] SLAMing on 39.144839172999994 meters Centerline goodness : 0.723656 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.92, Z:2.01 [[ 0.99231962 -0.10721754 -0.06169412 5.29482614] [ 0.10608689 0.99412808 -0.02132895 0.91946891] [ 0.0636187 0.01462019 0.99786718 2.01255012] [ 0. 0. 0. 1. ]] SLAMing on 39.20483917299999 meters Centerline goodness : 0.727689 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.92, Z:2.02 [[ 9.93383723e-01 -9.63585863e-02 -6.24804083e-02 5.29155421e+00] [ 9.59490044e-02 9.95340629e-01 -9.52997439e-03 9.20073211e-01] [ 6.31075838e-02 3.47198847e-03 9.98000690e-01 2.01703044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26483917299999 meters Centerline goodness : 0.739880 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.93, Z:2.01 [[ 9.93227996e-01 -1.00985587e-01 -5.74461401e-02 5.30543537e+00] [ 1.00935320e-01 9.94885796e-01 -3.78338757e-03 9.26710980e-01] [ 5.75344165e-02 -2.04057806e-03 9.98341438e-01 2.00982077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324839172999994 meters Centerline goodness : 0.744215 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.92, Z:2.01 [[ 9.93040061e-01 -1.02145205e-01 -5.86327045e-02 5.30852151e+00] [ 1.02155059e-01 9.94764442e-01 -2.83718671e-03 9.24046398e-01] [ 5.86155346e-02 -3.17218733e-03 9.98275591e-01 2.00961064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38483917299999 meters Centerline goodness : 0.749111 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.94, Z:2.02 [[ 9.93857571e-01 -9.81925671e-02 -5.10426182e-02 5.34413654e+00] [ 9.80355092e-02 9.95167287e-01 -5.57764542e-03 9.37868458e-01] [ 5.13436272e-02 5.39396064e-04 9.98680900e-01 2.01649691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44483917299999 meters Centerline goodness : 0.759496 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.96, Z:2.02 [[ 9.94046030e-01 -1.01833751e-01 -3.87605042e-02 5.38385558e+00] [ 1.01830972e-01 9.94799601e-01 -2.05110641e-03 9.58515539e-01] [ 3.87678060e-02 -1.90812561e-03 9.99246424e-01 2.02426337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50483917299999 meters Centerline goodness : 0.760353 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.96, Z:2.03 [[ 9.94311344e-01 -9.94723657e-02 -3.80814777e-02 5.38187631e+00] [ 9.96005785e-02 9.95026399e-01 1.47985875e-03 9.58141766e-01] [ 3.77448705e-02 -5.26437755e-03 9.99273542e-01 2.02591914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56483917299999 meters Centerline goodness : 0.765978 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.96, Z:2.03 [[ 0.99463599 -0.0962653 -0.03784485 5.3786524 ] [ 0.09654644 0.99531234 0.00566855 0.9588478 ] [ 0.03712177 -0.00929193 0.99926755 2.02991535] [ 0. 0. 0. 1. ]] SLAMing on 39.62483917299999 meters Centerline goodness : 0.768195 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.96, Z:2.04 [[ 0.99439019 -0.09812343 -0.0394962 5.37765174] [ 0.09854349 0.99509358 0.00882829 0.95986868] [ 0.03843616 -0.01267086 0.99918072 2.03628737] [ 0. 0. 0. 1. ]] SLAMing on 39.68483917299999 meters Centerline goodness : 0.770791 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.97, Z:2.05 [[ 0.99424055 -0.09242598 -0.05425094 5.37579081] [ 0.09334969 0.99552425 0.01474142 0.96744572] [ 0.05264564 -0.01972082 0.99841851 2.04943254] [ 0. 0. 0. 1. ]] SLAMing on 39.74483917299999 meters Centerline goodness : 0.769954 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.97, Z:2.05 [[ 0.99443735 -0.08922658 -0.05597305 5.37894861] [ 0.09032413 0.99576058 0.01739007 0.97243372] [ 0.0541841 -0.02234905 0.99828082 2.04833943] [ 0. 0. 0. 1. ]] SLAMing on 39.80483917299999 meters Centerline goodness : 0.768332 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:0.99, Z:2.06 [[ 0.99401712 -0.09095804 -0.06046991 5.41513752] [ 0.09145735 0.99579361 0.00553555 0.98652691] [ 0.05971205 -0.01103285 0.99815467 2.05587096] [ 0. 0. 0. 1. ]] SLAMing on 39.86483917299999 meters Centerline goodness : 0.767636 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.01, Z:2.06 [[ 9.93953651e-01 -8.98922692e-02 -6.30517185e-02 5.45006837e+00] [ 8.97962167e-02 9.95950611e-01 -4.36122935e-03 1.00537094e+00] [ 6.31884383e-02 -1.32694594e-03 9.98000732e-01 2.06010463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92483917299999 meters Centerline goodness : 0.760623 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.02, Z:2.06 [[ 0.99359955 -0.08915432 -0.06936461 5.48894472] [ 0.08846336 0.99599491 -0.0129762 1.02106901] [ 0.07024368 0.00675692 0.99750698 2.06493724] [ 0. 0. 0. 1. ]] SLAMing on 39.98483917299999 meters Centerline goodness : 0.758477 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.03, Z:2.06 [[ 0.99352555 -0.08962467 -0.06981686 5.49341415] [ 0.08876092 0.99593416 -0.01538358 1.03089252] [ 0.07091174 0.00908697 0.9974412 2.0614508 ] [ 0. 0. 0. 1. ]] SLAMing on 40.04483917299999 meters Centerline goodness : 0.754284 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.05, Z:2.07 [[ 0.99345999 -0.0896209 -0.07074841 5.51673282] [ 0.08845718 0.99589065 -0.0194202 1.0483606 ] [ 0.07219814 0.01303498 0.99730513 2.06816344] [ 0. 0. 0. 1. ]] SLAMing on 40.10483917299999 meters Centerline goodness : 0.751771 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.06, Z:2.07 [[ 0.99351374 -0.08739369 -0.07275162 5.53601794] [ 0.08651072 0.99613486 -0.01520663 1.06144756] [ 0.07379939 0.00881421 0.99723416 2.06893753] [ 0. 0. 0. 1. ]] SLAMing on 40.16483917299999 meters Centerline goodness : 0.750991 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.07, Z:2.07 [[ 0.99397098 -0.0818517 -0.07295196 5.53758922] [ 0.0811807 0.9966257 -0.01212096 1.07032594] [ 0.07369792 0.00612559 0.9972618 2.0675576 ] [ 0. 0. 0. 1. ]] SLAMing on 40.22483917299999 meters Centerline goodness : 0.747194 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.09, Z:2.07 [[ 0.99363459 -0.08402328 -0.07503597 5.54067583] [ 0.08325202 0.99643905 -0.01335338 1.08644148] [ 0.07589076 0.00702148 0.99709142 2.06699202] [ 0. 0. 0. 1. ]] SLAMing on 40.28483917299999 meters Centerline goodness : 0.744302 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.10, Z:2.07 [[ 0.9929137 -0.09356138 -0.07327107 5.54072647] [ 0.09194643 0.99544707 -0.02511948 1.09921915] [ 0.07528769 0.01820446 0.99699567 2.06584868] [ 0. 0. 0. 1. ]] SLAMing on 40.34483917299999 meters Centerline goodness : 0.744800 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.11, Z:2.06 [[ 0.99336273 -0.08826946 -0.07374955 5.54226107] [ 0.0870228 0.99600642 -0.01995597 1.10914154] [ 0.07521653 0.01340562 0.99707711 2.06230597] [ 0. 0. 0. 1. ]] SLAMing on 40.40483917299999 meters Centerline goodness : 0.745439 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.12, Z:2.06 [[ 9.94649430e-01 -8.09200533e-02 -6.42219271e-02 5.54337149e+00] [ 8.07602233e-02 9.96720587e-01 -5.08506960e-03 1.12478319e+00] [ 6.44228010e-02 -1.28715586e-04 9.97922685e-01 2.06056649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46483917299999 meters Centerline goodness : 0.744897 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.13, Z:2.06 [[ 9.94548479e-01 -8.25477924e-02 -6.37117288e-02 5.54291356e+00] [ 8.21596634e-02 9.96581271e-01 -8.69252018e-03 1.13408524e+00] [ 6.42114640e-02 3.41059853e-03 9.97930486e-01 2.06095349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52483917299999 meters Centerline goodness : 0.741390 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.15, Z:2.06 [[ 9.94981229e-01 -7.70098490e-02 -6.38892510e-02 5.54577221e+00] [ 7.68969613e-02 9.97030082e-01 -4.22767443e-03 1.14697793e+00] [ 6.40250777e-02 -7.06432555e-04 9.97948040e-01 2.05558157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58483917299999 meters Centerline goodness : 0.741619 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.15, Z:2.05 [[ 9.95077721e-01 -7.59863370e-02 -6.36113659e-02 5.54745990e+00] [ 7.57696480e-02 9.97108390e-01 -5.81539886e-03 1.15348071e+00] [ 6.38693175e-02 9.66963037e-04 9.97957802e-01 2.05495188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64483917299999 meters Centerline goodness : 0.741563 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.16, Z:2.05 [[ 9.96208217e-01 -7.12403553e-02 -4.99399653e-02 5.54824151e+00] [ 7.13430544e-02 9.97451800e-01 2.74657484e-04 1.15866877e+00] [ 4.97931416e-02 -3.83648570e-03 9.98752184e-01 2.04639617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70483917299999 meters Centerline goodness : 0.742443 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.17, Z:2.04 [[ 0.9969527 -0.05955954 -0.05037823 5.55160259] [ 0.06012676 0.99814246 0.00981823 1.16905149] [ 0.04969988 -0.01281739 0.99868195 2.04201806] [ 0. 0. 0. 1. ]] SLAMing on 40.76483917299999 meters Centerline goodness : 0.746152 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.18, Z:2.04 [[ 0.99717945 -0.05580945 -0.05018416 5.55089065] [ 0.05641193 0.99835057 0.01066895 1.17923387] [ 0.04950596 -0.01346984 0.99868299 2.04376552] [ 0. 0. 0. 1. ]] SLAMing on 40.824839172999994 meters Centerline goodness : 0.756720 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.18, Z:2.05 [[ 0.99729027 -0.06064849 -0.04163977 5.54932601] [ 0.06138805 0.99797397 0.01671692 1.18221822] [ 0.04054155 -0.0192278 0.99899283 2.04894133] [ 0. 0. 0. 1. ]] SLAMing on 40.88483917299999 meters Centerline goodness : 0.751076 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.18, Z:2.04 [[ 0.99795341 -0.05104557 -0.03851428 5.55540358] [ 0.05155404 0.99859414 0.01232592 1.18191586] [ 0.03783095 -0.01428626 0.99918203 2.03850412] [ 0. 0. 0. 1. ]] SLAMing on 40.94483917299999 meters Centerline goodness : 0.748403 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.18, Z:2.04 [[ 0.99802421 -0.04860078 -0.03982003 5.56153621] [ 0.04914223 0.99871063 0.01273264 1.18396868] [ 0.03914987 -0.01466433 0.99912574 2.03655416] [ 0. 0. 0. 1. ]] SLAMing on 41.00483917299999 meters Centerline goodness : 0.750523 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.18, Z:2.04 [[ 9.97664136e-01 -5.54688636e-02 -3.98682490e-02 5.56135244e+00] [ 5.57236354e-02 9.98432127e-01 5.30690779e-03 1.17876389e+00] [ 3.95113725e-02 -7.51611534e-03 9.99190852e-01 2.04016266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06483917299999 meters Centerline goodness : 0.748159 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.17, Z:2.04 [[ 9.97564804e-01 -5.58997603e-02 -4.17094608e-02 5.56951365e+00] [ 5.61148864e-02 9.98416290e-01 4.00399096e-03 1.17208962e+00] [ 4.14195830e-02 -6.33476211e-03 9.99121759e-01 2.03790796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12483917299999 meters Centerline goodness : 0.747306 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.17, Z:2.04 [[ 0.997715 -0.05194799 -0.04319948 5.57717049] [ 0.05224387 0.99861781 0.00574794 1.16977005] [ 0.04284118 -0.00799172 0.99904993 2.0354822 ] [ 0. 0. 0. 1. ]] SLAMing on 41.18483917299999 meters Centerline goodness : 0.749769 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.17, Z:2.04 [[ 0.99775296 -0.0507093 -0.04379028 5.57886183] [ 0.05100184 0.99868292 0.00558863 1.17139351] [ 0.04344921 -0.00780946 0.99902511 2.03662368] [ 0. 0. 0. 1. ]] SLAMing on 41.24483917299999 meters Centerline goodness : 0.749762 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.17, Z:2.04 [[ 0.9977715 -0.04962305 -0.04460469 5.58183982] [ 0.0499399 0.9987341 0.0060167 1.17076693] [ 0.04424966 -0.00823084 0.9989866 2.03608141] [ 0. 0. 0. 1. ]] SLAMing on 41.30483917299999 meters Centerline goodness : 0.754240 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.17, Z:2.03 [[ 0.99812086 -0.05371511 -0.02948626 5.57751418] [ 0.05394274 0.99851964 0.00697895 1.1680507 ] [ 0.02906774 -0.00855641 0.99954082 2.0326287 ] [ 0. 0. 0. 1. ]] SLAMing on 41.36483917299999 meters Centerline goodness : 0.754467 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.16, Z:2.03 [[ 9.97894724e-01 -5.76880285e-02 -2.96346438e-02 5.57723552e+00] [ 5.78092300e-02 9.98322362e-01 3.24878994e-03 1.16342813e+00] [ 2.93975113e-02 -4.95510628e-03 9.99555518e-01 2.03482906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42483917299999 meters Centerline goodness : 0.752911 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.16, Z:2.03 [[ 9.97633905e-01 -6.19330441e-02 -2.98477635e-02 5.57846912e+00] [ 6.20046977e-02 9.98074760e-01 1.48019467e-03 1.15760318e+00] [ 2.96986265e-02 -3.32739395e-03 9.99553360e-01 2.03234009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48483917299999 meters Centerline goodness : 0.750659 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.15, Z:2.03 [[ 9.97411502e-01 -6.52710801e-02 -3.01659006e-02 5.58073230e+00] [ 6.52672109e-02 9.97867201e-01 -1.11394632e-03 1.15402582e+00] [ 3.01742713e-02 -8.57781326e-04 9.99544285e-01 2.03083817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54483917299999 meters Centerline goodness : 0.751439 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.16, Z:2.03 [[ 9.97435915e-01 -6.50532681e-02 -2.98273031e-02 5.57957373e+00] [ 6.50057239e-02 9.97881602e-01 -2.56193794e-03 1.15610724e+00] [ 2.99307794e-02 6.16423489e-04 9.99551784e-01 2.03363177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60483917299999 meters Centerline goodness : 0.749986 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.15, Z:2.03 [[ 9.97366468e-01 -6.60539380e-02 -2.99500650e-02 5.57926168e+00] [ 6.60313697e-02 9.97816025e-01 -1.74303143e-03 1.15372895e+00] [ 2.99997889e-02 -2.39202716e-04 9.99549876e-01 2.03241270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66483917299999 meters Centerline goodness : 0.749923 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.15, Z:2.03 [[ 9.97385606e-01 -6.56147566e-02 -3.02763479e-02 5.58067339e+00] [ 6.56334050e-02 9.97843732e-01 -3.78519068e-04 1.15049979e+00] [ 3.02359004e-02 -1.60961033e-03 9.99541495e-01 2.03078093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72483917299999 meters Centerline goodness : 0.754490 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.15, Z:2.03 [[ 9.97640514e-01 -6.70848045e-02 -1.45956661e-02 5.57611241e+00] [ 6.71128291e-02 9.97744356e-01 1.43825507e-03 1.14509555e+00] [ 1.44662584e-02 -2.41441797e-03 9.99892443e-01 2.02627688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78483917299999 meters Centerline goodness : 0.751198 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.14, Z:2.02 [[ 9.97801015e-01 -6.42608491e-02 -1.62381267e-02 5.58257891e+00] [ 6.43152662e-02 9.97925558e-01 2.85096053e-03 1.14411852e+00] [ 1.60212365e-02 -3.88905076e-03 9.99864088e-01 2.02420417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84483917299999 meters Centerline goodness : 0.754211 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.14, Z:2.02 [[ 9.97735265e-01 -6.72478781e-02 -1.43648709e-03 5.58160781e+00] [ 6.72537696e-02 9.97725539e-01 4.54734097e-03 1.13783264e+00] [ 1.12742083e-03 -4.63365162e-03 9.99988629e-01 2.01692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90483917299999 meters Centerline goodness : 0.753421 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.13, Z:2.02 [[ 9.97749454e-01 -6.70224924e-02 -2.00289131e-03 5.58273012e+00] [ 6.70324841e-02 9.97736037e-01 5.42641549e-03 1.13428240e+00] [ 1.63466495e-03 -5.54846187e-03 9.99983271e-01 2.01683292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96483917299999 meters Centerline goodness : 0.750518 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:1.14, Z:2.01 [[ 9.98084625e-01 -6.17283307e-02 -4.08599377e-03 5.59204822e+00] [ 6.17653992e-02 9.98043842e-01 9.67081368e-03 1.13584162e+00] [ 3.48103774e-03 -9.90466347e-03 9.99944888e-01 2.01079281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02483917299999 meters Centerline goodness : 0.751733 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:1.13, Z:2.01 [[ 0.99766285 -0.06731036 0.01175377 5.58516491] [ 0.06722015 0.99770682 0.0079089 1.12953655] [-0.01225916 -0.00710033 0.99989964 2.00941671] [ 0. 0. 0. 1. ]] SLAMing on 42.08483917299999 meters Centerline goodness : 0.750379 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:1.13, Z:2.01 [[ 0.99805136 -0.06163362 0.00973528 5.58969811] [ 0.0615117 0.99802981 0.01236185 1.12966355] [-0.010478 -0.01173893 0.9998762 2.00968068] [ 0. 0. 0. 1. ]] SLAMing on 42.14483917299999 meters Centerline goodness : 0.743913 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.14, Z:2.00 [[ 9.99236744e-01 -3.89742431e-02 -2.63391807e-03 5.64626780e+00] [ 3.89852057e-02 9.99230761e-01 4.24741875e-03 1.14209839e+00] [ 2.46635202e-03 -4.34686072e-03 9.99987511e-01 2.00373342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20483917299999 meters Centerline goodness : 0.750846 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.15, Z:2.01 [[ 9.99571427e-01 -2.72666534e-02 1.06532201e-02 5.65876714e+00] [ 2.72948730e-02 9.99624268e-01 -2.51254676e-03 1.14890313e+00] [-1.05807086e-02 2.80224824e-03 9.99940096e-01 2.01167740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26483917299999 meters Centerline goodness : 0.753921 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.15, Z:2.01 [[ 9.99609257e-01 -2.57884651e-02 1.07837519e-02 5.65634170e+00] [ 2.57889741e-02 9.99667405e-01 9.18796375e-05 1.15447643e+00] [-1.07825348e-02 1.86258163e-04 9.99941849e-01 2.01206170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32483917299999 meters Centerline goodness : 0.746006 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.16, Z:2.00 [[ 9.99606714e-01 -2.60462004e-02 1.03928962e-02 5.66391619e+00] [ 2.60593274e-02 9.99659760e-01 -1.12963878e-03 1.15815849e+00] [-1.03599373e-02 1.40002639e-03 9.99945354e-01 2.00382346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38483917299999 meters Centerline goodness : 0.747185 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.17, Z:2.01 [[ 9.99509676e-01 -2.87934155e-02 1.23022688e-02 5.65705936e+00] [ 2.88608761e-02 9.99569165e-01 -5.34167522e-03 1.16637666e+00] [-1.21431635e-02 5.69411033e-03 9.99910056e-01 2.00925058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44483917299999 meters Centerline goodness : 0.752578 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.17, Z:2.01 [[ 0.99935107 -0.03351602 0.01319523 5.64894181] [ 0.03361402 0.9994084 -0.00727609 1.16684247] [-0.01294356 0.00771491 0.99988647 2.01443497] [ 0. 0. 0. 1. ]] SLAMing on 42.50483917299999 meters Centerline goodness : 0.745742 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.16, Z:2.01 [[ 9.99417643e-01 -3.19370264e-02 1.20167273e-02 5.65382803e+00] [ 3.20022745e-02 9.99473864e-01 -5.27719331e-03 1.16338605e+00] [-1.18418671e-02 5.65868271e-03 9.99913871e-01 2.01101674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56483917299999 meters Centerline goodness : 0.740101 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.16, Z:2.01 [[ 0.99961509 -0.02672097 0.00746082 5.66000986] [ 0.02685777 0.99946094 -0.01888114 1.16342508] [-0.00695228 0.01907426 0.9997939 2.00687567] [ 0. 0. 0. 1. ]] SLAMing on 42.62483917299999 meters Centerline goodness : 0.740995 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.16, Z:2.01 [[ 0.99968584 -0.02384333 0.00772806 5.65848606] [ 0.02395618 0.99960263 -0.01485521 1.16467331] [-0.00737079 0.01503568 0.99985979 2.00621417] [ 0. 0. 0. 1. ]] SLAMing on 42.68483917299999 meters Centerline goodness : 0.745924 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.16, Z:2.01 [[ 0.99915218 -0.03773227 0.01646804 5.65362251] [ 0.03795447 0.99918968 -0.01339542 1.16055467] [-0.01594925 0.0140091 0.99977466 2.01058836] [ 0. 0. 0. 1. ]] SLAMing on 42.74483917299999 meters Centerline goodness : 0.743801 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.15, Z:2.01 [[ 0.99883073 -0.04546007 0.01644867 5.65456894] [ 0.04577022 0.99877134 -0.01899742 1.15286525] [-0.01556484 0.01972806 0.99968422 2.00861417] [ 0. 0. 0. 1. ]] SLAMing on 42.80483917299999 meters Centerline goodness : 0.736172 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:2.00 [[ 0.99872456 -0.04837541 0.01445964 5.6660871 ] [ 0.04869196 0.9985625 -0.02240614 1.14247884] [-0.01335495 0.02308163 0.99964438 2.0012237 ] [ 0. 0. 0. 1. ]] SLAMing on 42.86483917299999 meters Centerline goodness : 0.737823 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:2.00 [[ 0.99887427 -0.04516463 0.01450375 5.66501746] [ 0.04542517 0.99880255 -0.01816666 1.13909939] [-0.01366589 0.01880504 0.99972977 2.00114611] [ 0. 0. 0. 1. ]] SLAMing on 42.92483917299999 meters Centerline goodness : 0.738425 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:2.00 [[ 0.99909581 -0.04020391 0.01382781 5.6670943 ] [ 0.04040006 0.99908252 -0.01421078 1.14110538] [-0.01324379 0.01475657 0.9998034 2.00059911] [ 0. 0. 0. 1. ]] SLAMing on 42.98483917299999 meters Centerline goodness : 0.744962 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.15, Z:2.00 [[ 9.99572605e-01 -2.61476744e-02 1.30731398e-02 5.66881045e+00] [ 2.61964073e-02 9.99650439e-01 -3.57044601e-03 1.14804706e+00] [-1.29752111e-02 3.91138932e-03 9.99908168e-01 2.00348606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04483917299999 meters Centerline goodness : 0.746289 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.15, Z:2.02 [[ 0.99949025 -0.0278482 0.01561119 5.65851654] [ 0.02796984 0.99957966 -0.00762813 1.15028742] [-0.01539219 0.00806089 0.99984904 2.01570245] [ 0. 0. 0. 1. ]] SLAMing on 43.10483917299999 meters Centerline goodness : 0.748608 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.14, Z:2.02 [[ 0.99924556 -0.03549358 0.01576429 5.65719254] [ 0.03573678 0.99924221 -0.01542362 1.14397462] [-0.0152049 0.01597535 0.99975677 2.01888694] [ 0. 0. 0. 1. ]] SLAMing on 43.16483917299999 meters Centerline goodness : 0.740729 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:2.01 [[ 0.99883791 -0.04602877 0.01428946 5.66249758] [ 0.04635273 0.99865489 -0.02323427 1.13311905] [-0.0132008 0.02386962 0.99962792 2.01468114] [ 0. 0. 0. 1. ]] SLAMing on 43.22483917299999 meters Centerline goodness : 0.739146 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.12, Z:2.01 [[ 0.99877534 -0.04788388 0.01244782 5.66896637] [ 0.04812672 0.99864096 -0.02000143 1.12098203] [-0.01147316 0.02057601 0.99972246 2.00516926] [ 0. 0. 0. 1. ]] SLAMing on 43.28483917299999 meters Centerline goodness : 0.739225 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.11, Z:2.00 [[ 0.99898181 -0.04387943 0.01048566 5.67626336] [ 0.04405572 0.99888067 -0.0172191 1.11114069] [-0.00971836 0.01766352 0.99979676 2.00346345] [ 0. 0. 0. 1. ]] SLAMing on 43.34483917299999 meters Centerline goodness : 0.740096 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.11, Z:2.01 [[ 0.99907373 -0.04188239 0.00987613 5.67718261] [ 0.0420522 0.99895927 -0.01766324 1.11089492] [-0.00912607 0.01806219 0.99979522 2.0073976 ] [ 0. 0. 0. 1. ]] SLAMing on 43.40483917299999 meters Centerline goodness : 0.736172 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:1.10, Z:2.00 [[ 0.9992063 -0.03914321 0.00738714 5.68990351] [ 0.03925365 0.99910983 -0.0154496 1.10406899] [-0.00677582 0.01572731 0.99985336 1.99861968] [ 0. 0. 0. 1. ]] SLAMing on 43.46483917299999 meters Centerline goodness : 0.740420 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:1.09, Z:1.99 [[ 0.99871111 -0.04596259 0.02153055 5.68762779] [ 0.04631504 0.99879604 -0.01616774 1.08833796] [-0.02076152 0.01714409 0.99963745 1.99421988] [ 0. 0. 0. 1. ]] SLAMing on 43.52483917299999 meters Centerline goodness : 0.742239 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:1.08, Z:2.00 [[ 0.99852802 -0.0499791 0.02106844 5.68622671] [ 0.05034097 0.99858722 -0.01701051 1.07684537] [-0.0201885 0.01804608 0.99963331 1.99634903] [ 0. 0. 0. 1. ]] SLAMing on 43.58483917299999 meters Centerline goodness : 0.739228 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:1.07, Z:1.99 [[ 0.99891389 -0.04256284 0.01895918 5.69313404] [ 0.04276316 0.99903226 -0.01028845 1.07346418] [-0.01850292 0.01108803 0.99976732 1.99308193] [ 0. 0. 0. 1. ]] SLAMing on 43.64483917299999 meters Centerline goodness : 0.739438 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.06, Z:1.99 [[ 0.99864274 -0.0487929 0.01821908 5.69680725] [ 0.04908316 0.99866909 -0.01583955 1.06337117] [-0.01742197 0.0167123 0.99970854 1.9915939 ] [ 0. 0. 0. 1. ]] SLAMing on 43.70483917299999 meters Centerline goodness : 0.742885 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.05, Z:1.99 [[ 0.99781889 -0.06358068 0.01774729 5.69924945] [ 0.0640863 0.99750689 -0.02954567 1.05286399] [-0.01582451 0.03061859 0.99940587 1.99224647] [ 0. 0. 0. 1. ]] SLAMing on 43.76483917299999 meters Centerline goodness : 0.741705 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.05, Z:1.99 [[ 0.99773193 -0.06502456 0.01740101 5.69883028] [ 0.06549668 0.99745713 -0.02809721 1.05271614] [-0.01552975 0.0291732 0.99945373 1.99100896] [ 0. 0. 0. 1. ]] SLAMing on 43.82483917299999 meters Centerline goodness : 0.739805 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.05, Z:1.99 [[ 0.99771266 -0.06540606 0.01707314 5.70175336] [ 0.06590067 0.99736839 -0.03022231 1.04659274] [-0.01505149 0.03127831 0.99939738 1.99094776] [ 0. 0. 0. 1. ]] SLAMing on 43.88483917299999 meters Centerline goodness : 0.745343 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.04, Z:1.99 [[ 0.99753438 -0.06814151 0.01678946 5.70316673] [ 0.06867783 0.99706753 -0.03375944 1.0448412 ] [-0.0144398 0.03482927 0.99928895 1.99155064] [ 0. 0. 0. 1. ]] SLAMing on 43.94483917299999 meters Centerline goodness : 0.740099 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:1.05, Z:1.99 [[ 0.99821174 -0.05833779 0.01303941 5.73897939] [ 0.05871144 0.99781228 -0.03039121 1.05114551] [-0.01123793 0.03110242 0.99945302 1.9937564 ] [ 0. 0. 0. 1. ]] SLAMing on 44.004839172999986 meters Centerline goodness : 0.741288 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:1.06, Z:1.99 [[ 0.99862538 -0.04982634 0.01626903 5.76328996] [ 0.0504508 0.99790334 -0.04054185 1.05742803] [-0.01421487 0.0413069 0.99904538 1.99382018] [ 0. 0. 0. 1. ]] SLAMing on 44.06483917299999 meters Centerline goodness : 0.738045 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:1.06, Z:1.99 [[ 0.99812063 -0.057048 0.02237729 5.77300571] [ 0.05779778 0.99773452 -0.03442735 1.05674778] [-0.02036258 0.03565601 0.99915665 1.98694825] [ 0. 0. 0. 1. ]] SLAMing on 44.12483917299999 meters Centerline goodness : 0.735341 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.05, Z:1.98 [[ 0.99750146 -0.06537059 0.02678668 5.78467664] [ 0.0661349 0.9973974 -0.02871587 1.05341526] [-0.02483979 0.03041566 0.99922864 1.97977348] [ 0. 0. 0. 1. ]] SLAMing on 44.18483917299999 meters Centerline goodness : 0.735964 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.05, Z:1.98 [[ 0.99751284 -0.06510709 0.02700383 5.78439499] [ 0.06588561 0.99740516 -0.02901777 1.05164731] [-0.0250445 0.03072476 0.99921407 1.98039144] [ 0. 0. 0. 1. ]] SLAMing on 44.24483917299999 meters Centerline goodness : 0.734202 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.06, Z:1.98 [[ 0.99800861 -0.05738681 0.02618321 5.78442871] [ 0.05797867 0.99806571 -0.02243443 1.05624736] [-0.02484512 0.02390782 0.99940539 1.98207519] [ 0. 0. 0. 1. ]] SLAMing on 44.30483917299999 meters Centerline goodness : 0.739557 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.05, Z:1.98 [[ 0.9980788 -0.05626311 0.02594563 5.78599774] [ 0.05681141 0.99816608 -0.02090304 1.0495315 ] [-0.02472198 0.02233689 0.99944479 1.98077689] [ 0. 0. 0. 1. ]] SLAMing on 44.36483917299999 meters Centerline goodness : 0.738986 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.06, Z:1.98 [[ 9.98257018e-01 -4.91230286e-02 3.27086122e-02 5.79549412e+00] [ 4.93343392e-02 9.98766143e-01 -5.68451149e-03 1.05517467e+00] [-3.23890141e-02 7.28826126e-03 9.99448765e-01 1.97846834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42483917299999 meters Centerline goodness : 0.743952 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.05, Z:1.98 [[ 0.99816787 -0.05117338 0.03228295 5.79694116] [ 0.05153554 0.99861609 -0.01048738 1.05357993] [-0.03170159 0.01213188 0.99942375 1.98198898] [ 0. 0. 0. 1. ]] SLAMing on 44.48483917299999 meters Centerline goodness : 0.748665 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.05, Z:1.98 [[ 0.99798848 -0.05463057 0.03216362 5.79740983] [ 0.05508821 0.99838998 -0.01351789 1.050521 ] [-0.03137335 0.01526254 0.9993912 1.98231666] [ 0. 0. 0. 1. ]] SLAMing on 44.54483917299999 meters Centerline goodness : 0.749719 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.05, Z:1.98 [[ 0.99803528 -0.0540304 0.03172225 5.79979327] [ 0.05444315 0.99844118 -0.01229472 1.05211283] [-0.03100851 0.01399763 0.9994211 1.97928875] [ 0. 0. 0. 1. ]] SLAMing on 44.60483917299999 meters Centerline goodness : 0.751097 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:1.07, Z:1.99 [[ 0.99823364 -0.04485524 0.03895639 5.8498869 ] [ 0.04678866 0.99764137 -0.0502246 1.06548892] [-0.03661167 0.0519586 0.9979779 1.99322658] [ 0. 0. 0. 1. ]] SLAMing on 44.66483917299999 meters Centerline goodness : 0.746950 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:1.07, Z:1.99 [[ 0.99861661 -0.04069001 0.03330437 5.89017278] [ 0.04245717 0.99762726 -0.05419625 1.07372488] [-0.0310201 0.05553528 0.99797474 1.99207966] [ 0. 0. 0. 1. ]] SLAMing on 44.72483917299999 meters Centerline goodness : 0.749045 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:1.07, Z:1.99 [[ 0.9979955 -0.04734841 0.04198951 5.89733813] [ 0.04954581 0.99736809 -0.05293487 1.07420932] [-0.03937261 0.05490916 0.99771478 1.99109685] [ 0. 0. 0. 1. ]] SLAMing on 44.78483917299999 meters Centerline goodness : 0.751498 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:1.07, Z:1.99 [[ 0.99750788 -0.05102107 0.04873266 5.90644913] [ 0.05320602 0.99758515 -0.0446428 1.07161901] [-0.04633726 0.04712442 0.99781368 1.98563694] [ 0. 0. 0. 1. ]] SLAMing on 44.84483917299999 meters Centerline goodness : 0.752233 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:1.07, Z:1.98 [[ 0.99692731 -0.0557057 0.05507091 5.91677189] [ 0.05783219 0.99761029 -0.03780415 1.07228541] [-0.0528334 0.04087286 0.99776653 1.97881008] [ 0. 0. 0. 1. ]] SLAMing on 44.90483917299999 meters Centerline goodness : 0.751630 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:1.07, Z:1.98 [[ 0.99680433 -0.05940363 0.05340718 5.9493955 ] [ 0.0617739 0.99712502 -0.04388265 1.07288817] [-0.05064685 0.04704158 0.99760813 1.97889577] [ 0. 0. 0. 1. ]] SLAMing on 44.96483917299999 meters Centerline goodness : 0.748883 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:1.08, Z:1.98 [[ 0.99686034 -0.0593227 0.05244319 5.95274591] [ 0.06164271 0.99713737 -0.04378627 1.07600735] [-0.04969555 0.04688154 0.99766351 1.97631199] [ 0. 0. 0. 1. ]] SLAMing on 45.02483917299999 meters Centerline goodness : 0.750699 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:1.08, Z:1.98 [[ 0.99687807 -0.05913344 0.0523196 5.98459157] [ 0.06172721 0.99686822 -0.04943177 1.08089014] [-0.04923268 0.05250699 0.99740622 1.97687346] [ 0. 0. 0. 1. ]] SLAMing on 45.08483917299999 meters Centerline goodness : 0.750910 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:1.08, Z:1.97 [[ 0.99661646 -0.05830611 0.05793117 5.99612624] [ 0.06048972 0.99749458 -0.03668182 1.08058298] [-0.05564725 0.04006194 0.99764644 1.96954725] [ 0. 0. 0. 1. ]] SLAMing on 45.14483917299999 meters Centerline goodness : 0.742841 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:1.09, Z:1.96 [[ 0.99740209 -0.05166706 0.05019542 6.03694299] [ 0.05353816 0.99789208 -0.036675 1.08582015] [-0.04819472 0.0392671 0.99806581 1.96346231] [ 0. 0. 0. 1. ]] SLAMing on 45.20483917299999 meters Centerline goodness : 0.732614 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:1.09, Z:1.96 [[ 0.99740463 -0.05148398 0.05033287 6.03871116] [ 0.05338639 0.99788034 -0.03721188 1.08978329] [-0.04831037 0.03980239 0.99803902 1.96139246] [ 0. 0. 0. 1. ]] SLAMing on 45.26483917299999 meters Centerline goodness : 0.742962 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:1.09, Z:1.96 [[ 0.99668098 -0.05544776 0.05960351 6.03887113] [ 0.05725785 0.99793519 -0.02910131 1.09167656] [-0.05786683 0.03241749 0.99779784 1.96222793] [ 0. 0. 0. 1. ]] SLAMing on 45.32483917299999 meters Centerline goodness : 0.746465 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:1.09, Z:1.96 [[ 0.99639493 -0.05615023 0.06359484 6.03744422] [ 0.05702695 0.99829986 -0.0120544 1.09130331] [-0.06280986 0.01563756 0.997903 1.96483092] [ 0. 0. 0. 1. ]] SLAMing on 45.38483917299999 meters Centerline goodness : 0.746516 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:1.09, Z:1.96 [[ 0.99634876 -0.05788963 0.06275294 6.04141802] [ 0.0589391 0.99814885 -0.01500215 1.08969343] [-0.06176831 0.01864598 0.99791633 1.96331095] [ 0. 0. 0. 1. ]] SLAMing on 45.44483917299999 meters Centerline goodness : 0.740842 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:1.09, Z:1.96 [[ 0.99646705 -0.05681514 0.06185025 6.0456941 ] [ 0.05782528 0.998219 -0.01466504 1.092527 ] [-0.0609069 0.01818974 0.9979777 1.95987088] [ 0. 0. 0. 1. ]] SLAMing on 45.504839172999986 meters Centerline goodness : 0.741193 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:1.09, Z:1.96 [[ 0.9956521 -0.06923174 0.06232059 6.04559545] [ 0.07097163 0.99713553 -0.02614904 1.08956171] [-0.06033173 0.03045834 0.99771357 1.95980344] [ 0. 0. 0. 1. ]] SLAMing on 45.56483917299999 meters Centerline goodness : 0.738315 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:1.08, Z:1.95 [[ 0.99520894 -0.07617349 0.06129248 6.05000852] [ 0.07814963 0.99647456 -0.03051385 1.0823751 ] [-0.05875205 0.03515764 0.99765331 1.95499029] [ 0. 0. 0. 1. ]] SLAMing on 45.62483917299999 meters Centerline goodness : 0.742221 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:1.08, Z:1.95 [[ 0.99501275 -0.07299562 0.06797992 6.05800025] [ 0.07422206 0.9971183 -0.01569032 1.08315533] [-0.0666387 0.02065768 0.9975633 1.95049707] [ 0. 0. 0. 1. ]] SLAMing on 45.684839172999986 meters Centerline goodness : 0.741034 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:1.08, Z:1.94 [[ 0.99460312 -0.07871439 0.06759197 6.06292253] [ 0.08028484 0.99655415 -0.02083693 1.08004558] [-0.06571889 0.02615108 0.99749544 1.94483351] [ 0. 0. 0. 1. ]] SLAMing on 45.74483917299999 meters Centerline goodness : 0.745066 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:1.07, Z:1.94 [[ 0.99292961 -0.09101092 0.07620898 6.06385392] [ 0.09266378 0.99552681 -0.01843355 1.07096333] [-0.07419043 0.02536503 0.99692146 1.94487405] [ 0. 0. 0. 1. ]] SLAMing on 45.80483917299999 meters Centerline goodness : 0.747498 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:1.06, Z:1.94 [[ 0.99329966 -0.08850734 0.07431176 6.06904701] [ 0.08986629 0.99583875 -0.01514045 1.06201143] [-0.07266249 0.02171713 0.99712012 1.94311103] [ 0. 0. 0. 1. ]] SLAMing on 45.86483917299999 meters Centerline goodness : 0.753919 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:1.05, Z:1.94 [[ 0.99383447 -0.08393304 0.0724451 6.07424763] [ 0.08496063 0.99632118 -0.01121591 1.05429636] [-0.0712372 0.01730173 0.99730934 1.94268018] [ 0. 0. 0. 1. ]] SLAMing on 45.92483917299999 meters Centerline goodness : 0.753368 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:1.05, Z:1.94 [[ 0.99361373 -0.08803442 0.07058111 6.0827214 ] [ 0.08934779 0.99587728 -0.01566584 1.04551587] [-0.06891099 0.02187206 0.99738302 1.9384168 ] [ 0. 0. 0. 1. ]] SLAMing on 45.98483917299999 meters Centerline goodness : 0.753974 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:1.04, Z:1.94 [[ 0.99332505 -0.09188739 0.06972837 6.08544943] [ 0.09327596 0.99549652 -0.01691954 1.03907263] [-0.06785965 0.02331058 0.99742252 1.93593986] [ 0. 0. 0. 1. ]] SLAMing on 46.04483917299999 meters Centerline goodness : 0.756694 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:1.04, Z:1.93 [[ 0.99244933 -0.09603514 0.07629929 6.09310175] [ 0.09699512 0.99524445 -0.0089687 1.03744972] [-0.07507514 0.01630164 0.99704462 1.93273982] [ 0. 0. 0. 1. ]] SLAMing on 46.10483917299999 meters Centerline goodness : 0.754670 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:1.04, Z:1.93 [[ 0.99221285 -0.09894807 0.07565016 6.09744443] [ 0.10017669 0.99488971 -0.01261311 1.03903259] [-0.07401552 0.02009327 0.99705464 1.92892136] [ 0. 0. 0. 1. ]] SLAMing on 46.16483917299999 meters Centerline goodness : 0.756536 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:1.04, Z:1.92 [[ 0.99086155 -0.105282 0.08431546 6.10238698] [ 0.10633017 0.99429848 -0.00802638 1.04227513] [-0.0829897 0.01691831 0.99640679 1.92451241] [ 0. 0. 0. 1. ]] SLAMing on 46.22483917299999 meters Centerline goodness : 0.752293 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:1.05, Z:1.92 [[ 9.89985423e-01 -1.06738118e-01 9.23895855e-02 6.10829100e+00] [ 1.07450062e-01 9.94206674e-01 -2.75188707e-03 1.05327330e+00] [-9.15606113e-02 1.26515948e-02 9.95719133e-01 1.92342565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28483917299999 meters Centerline goodness : 0.754471 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:1.06, Z:1.93 [[ 9.88678540e-01 -1.10129407e-01 1.01912997e-01 6.10774352e+00] [ 1.10679612e-01 9.93856105e-01 2.57336131e-04 1.06348042e+00] [-1.01315195e-01 1.10252683e-02 9.94793282e-01 1.93009995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34483917299999 meters Centerline goodness : 0.751723 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:1.07, Z:1.93 [[ 9.88747775e-01 -1.09079813e-01 1.02369094e-01 6.10361085e+00] [ 1.09542194e-01 9.93981526e-01 1.11086085e-03 1.07020189e+00] [-1.01874161e-01 1.01153740e-02 9.94745864e-01 1.93357346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40483917299999 meters Centerline goodness : 0.748196 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:1.10, Z:1.95 [[ 9.88958706e-01 -1.08172689e-01 1.01288434e-01 6.12149704e+00] [ 1.08141691e-01 9.94118495e-01 5.81313818e-03 1.10309020e+00] [-1.01321529e-01 5.20454895e-03 9.94840118e-01 1.94548360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46483917299999 meters Centerline goodness : 0.747235 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:1.11, Z:1.94 [[ 9.88808366e-01 -1.09154820e-01 1.01701724e-01 6.12307481e+00] [ 1.09526642e-01 9.93981972e-01 1.93766388e-03 1.11454880e+00] [-1.01301186e-01 9.22307007e-03 9.94813050e-01 1.94247936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52483917299999 meters Centerline goodness : 0.743039 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:1.13, Z:1.94 [[ 9.89337939e-01 -1.04854027e-01 1.01074608e-01 6.12518592e+00] [ 1.04827435e-01 9.94474721e-01 5.58914665e-03 1.12702434e+00] [-1.01102187e-01 5.06583709e-03 9.94863149e-01 1.93748102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58483917299999 meters Centerline goodness : 0.740060 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:1.15, Z:1.93 [[ 9.91247760e-01 -9.31407760e-02 9.35557232e-02 6.14166454e+00] [ 9.32303235e-02 9.95638686e-01 3.42267006e-03 1.15013436e+00] [-9.34664875e-02 5.32951631e-03 9.95608162e-01 1.93285945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64483917299999 meters Centerline goodness : 0.739041 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:1.19, Z:1.94 [[ 9.91943722e-01 -8.27089499e-02 9.59524999e-02 6.15549258e+00] [ 8.24354380e-02 9.96573085e-01 6.81793754e-03 1.18653515e+00] [-9.61875833e-02 1.14687602e-03 9.95362564e-01 1.93572545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70483917299999 meters Centerline goodness : 0.739545 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:1.19, Z:1.94 [[ 9.91752324e-01 -8.42516153e-02 9.65867116e-02 6.15337907e+00] [ 8.40786231e-02 9.96441852e-01 5.86691261e-03 1.18809300e+00] [-9.67373386e-02 2.30235350e-03 9.95307282e-01 1.93582050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76483917299999 meters Centerline goodness : 0.735703 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:1.20, Z:1.94 [[ 9.91267396e-01 -9.58207044e-02 9.05943800e-02 6.15989311e+00] [ 9.59201220e-02 9.95383677e-01 3.26593641e-03 1.19945737e+00] [-9.04891113e-02 5.45240769e-03 9.95882519e-01 1.93813044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82483917299999 meters Centerline goodness : 0.734789 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:1.20, Z:1.94 [[ 9.91096915e-01 -9.70302622e-02 9.11703479e-02 6.15823833e+00] [ 9.72085232e-02 9.95260913e-01 2.49379167e-03 1.20346224e+00] [-9.09802569e-02 6.39094564e-03 9.95832189e-01 1.93741449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88483917299999 meters Centerline goodness : 0.736704 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:1.20, Z:1.95 [[ 9.90299954e-01 -1.02779352e-01 9.35008361e-02 6.14863351e+00] [ 1.03354029e-01 9.94643767e-01 -1.31174130e-03 1.19789261e+00] [-9.28652039e-02 1.09627055e-02 9.95618337e-01 1.94511341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94483917299999 meters Centerline goodness : 0.735940 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:1.20, Z:1.94 [[ 9.90650383e-01 -1.00792381e-01 9.19386508e-02 6.15400508e+00] [ 1.01215107e-01 9.94864563e-01 6.50854124e-05 1.19567160e+00] [-9.14730657e-02 9.24110346e-03 9.95764671e-01 1.94255615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004839172999986 meters Centerline goodness : 0.733647 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:1.20, Z:1.95 [[ 9.92012762e-01 -1.00203042e-01 7.66161211e-02 6.15960582e+00] [ 1.00704079e-01 9.94912774e-01 -2.69454295e-03 1.20040109e+00] [-7.59563561e-02 1.03885769e-02 9.97057024e-01 1.94651938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06483917299999 meters Centerline goodness : 0.729657 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:1.20, Z:1.94 [[ 9.91628808e-01 -1.03632595e-01 7.70233247e-02 6.16022244e+00] [ 1.04344578e-01 9.94527261e-01 -5.26656982e-03 1.19649659e+00] [-7.60560079e-02 1.32594486e-02 9.97015381e-01 1.94479269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12483917299999 meters Centerline goodness : 0.725801 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:1.19, Z:1.95 [[ 0.99120489 -0.10749185 0.07719043 6.15986101] [ 0.10845162 0.99406675 -0.0083391 1.18981609] [-0.07583606 0.01663718 0.99698149 1.94638047] [ 0. 0. 0. 1. ]] SLAMing on 47.184839172999986 meters Centerline goodness : 0.723169 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:1.19, Z:1.94 [[ 9.91966796e-01 -1.01598947e-01 7.53626537e-02 6.16540267e+00] [ 1.02077622e-01 9.94773252e-01 -2.51712387e-03 1.18628323e+00] [-7.47130150e-02 1.01897438e-02 9.97153015e-01 1.94298703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24483917299999 meters Centerline goodness : 0.727370 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:1.19, Z:1.95 [[ 9.93991456e-01 -8.45324601e-02 6.95359553e-02 6.19067589e+00] [ 8.48604740e-02 9.96391269e-01 -1.77147042e-03 1.18691463e+00] [-6.91352720e-02 7.66168059e-03 9.97577873e-01 1.94716083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30483917299999 meters Centerline goodness : 0.728456 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.19, Z:1.95 [[ 9.95343307e-01 -7.00941332e-02 6.61703336e-02 6.21698952e+00] [ 7.05570125e-02 9.97496762e-01 -4.68154231e-03 1.18780338e+00] [-6.56765449e-02 9.32852286e-03 9.97797359e-01 1.95186295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36483917299999 meters Centerline goodness : 0.735654 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.19, Z:1.95 [[ 9.95590473e-01 -6.78269206e-02 6.48006041e-02 6.22135165e+00] [ 6.82841391e-02 9.97654054e-01 -4.86470884e-03 1.18901652e+00] [-6.43186271e-02 9.26811125e-03 9.97886374e-01 1.95381361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42483917299999 meters Centerline goodness : 0.741461 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.18, Z:1.96 [[ 0.99537546 -0.07082281 0.06489863 6.22149849] [ 0.07157021 0.99739256 -0.00926195 1.18473173] [-0.06407346 0.01386392 0.99784888 1.95703806] [ 0. 0. 0. 1. ]] SLAMing on 47.48483917299999 meters Centerline goodness : 0.734397 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.18, Z:1.96 [[ 0.99527101 -0.07305751 0.06401724 6.2260744 ] [ 0.07399907 0.99718048 -0.01245934 1.18216725] [-0.0629265 0.01713763 0.99787101 1.95534236] [ 0. 0. 0. 1. ]] SLAMing on 47.54483917299999 meters Centerline goodness : 0.731494 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.18, Z:1.96 [[ 0.99497111 -0.07664545 0.06448223 6.22471854] [ 0.07787406 0.99682237 -0.01675714 1.18164711] [-0.06299297 0.02169436 0.99777815 1.95820074] [ 0. 0. 0. 1. ]] SLAMing on 47.60483917299999 meters Centerline goodness : 0.733602 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.17, Z:1.96 [[ 0.99295845 -0.09362964 0.07257412 6.22106885] [ 0.09504477 0.99533971 -0.0162897 1.17088094] [-0.0707107 0.02307278 0.99722999 1.96226811] [ 0. 0. 0. 1. ]] SLAMing on 47.66483917299999 meters Centerline goodness : 0.728988 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.17, Z:1.96 [[ 0.99452877 -0.08831486 0.05579435 6.2286754 ] [ 0.08896539 0.99599148 -0.00928034 1.17063103] [-0.0547511 0.01419333 0.99839915 1.96476283] [ 0. 0. 0. 1. ]] SLAMing on 47.72483917299999 meters Centerline goodness : 0.728028 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.17, Z:1.96 [[ 0.9946386 -0.08739207 0.05528725 6.23105346] [ 0.0880035 0.99608201 -0.0087184 1.16993231] [-0.05430871 0.01353713 0.99843243 1.96320204] [ 0. 0. 0. 1. ]] SLAMing on 47.78483917299999 meters Centerline goodness : 0.725380 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.17, Z:1.96 [[ 0.99438159 -0.09035729 0.05514352 6.23306031] [ 0.09118016 0.99575484 -0.01258842 1.16986661] [-0.05377197 0.01754569 0.99839908 1.96260085] [ 0. 0. 0. 1. ]] SLAMing on 47.84483917299999 meters Centerline goodness : 0.719640 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.17, Z:1.96 [[ 0.99431498 -0.09131335 0.05476857 6.23324999] [ 0.09210057 0.99567715 -0.01202075 1.17412386] [-0.05343415 0.01699663 0.99842672 1.96072292] [ 0. 0. 0. 1. ]] SLAMing on 47.90483917299999 meters Centerline goodness : 0.721538 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.18, Z:1.96 [[ 0.99448848 -0.08907951 0.05529474 6.22994304] [ 0.08975364 0.99591553 -0.00982541 1.17777245] [-0.05419365 0.01473416 0.99842173 1.96295427] [ 0. 0. 0. 1. ]] SLAMing on 47.96483917299999 meters Centerline goodness : 0.717538 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.19, Z:1.96 [[ 0.99473589 -0.08626161 0.05531231 6.2295861 ] [ 0.08683483 0.99619027 -0.00804067 1.18729976] [-0.05440799 0.01280137 0.99843673 1.96224521] [ 0. 0. 0. 1. ]] SLAMing on 48.02483917299999 meters Centerline goodness : 0.718909 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.19, Z:1.96 [[ 0.99499976 -0.08337797 0.05498718 6.23334954] [ 0.08392815 0.99644152 -0.00776945 1.19301318] [-0.05414371 0.01234557 0.99845683 1.95981297] [ 0. 0. 0. 1. ]] SLAMing on 48.08483917299999 meters Centerline goodness : 0.720529 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.20, Z:1.96 [[ 9.95363720e-01 -7.92686336e-02 5.44752159e-02 6.23434982e+00] [ 7.96679792e-02 9.96807916e-01 -5.19529191e-03 1.20038545e+00] [-5.38895027e-02 9.51113545e-03 9.98501607e-01 1.95979069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14483917299999 meters Centerline goodness : 0.723301 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.93, Z:2.11 [[ 0.39756075 0.27755004 0.87459215 4.91691197] [-0.83322077 0.50840377 0.21741379 0.92549223] [-0.38430274 -0.81516353 0.43338184 2.11334547] [ 0. 0. 0. 1. ]] SLAMing on 48.20483917299999 meters Centerline goodness : 0.715313 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:1.05, Z:2.28 [[ 0.8599046 0.50278796 -0.08813824 6.57437599] [-0.47667135 0.72916141 -0.49102756 1.04830284] [-0.18261574 0.46424983 0.86667387 2.28227499] [ 0. 0. 0. 1. ]] SLAMing on 48.26483917299999 meters Centerline goodness : 0.704885 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:1.05, Z:2.27 [[ 0.85899026 0.50460453 -0.08666029 6.58430609] [-0.47844837 0.73087298 -0.48673591 1.05412518] [-0.18227148 0.45956388 0.86923998 2.27139363] [ 0. 0. 0. 1. ]] SLAMing on 48.32483917299999 meters Centerline goodness : 0.700079 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:1.05, Z:2.27 [[ 0.8617569 0.49919977 -0.09041367 6.59198457] [-0.47548164 0.73260042 -0.48704603 1.05222741] [-0.17689617 0.46270532 0.86868379 2.26597236] [ 0. 0. 0. 1. ]] SLAMing on 48.38483917299999 meters Centerline goodness : 0.703392 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:1.06, Z:2.26 [[ 0.86442547 0.49731102 -0.07382646 6.59333045] [-0.46747101 0.74099214 -0.4820804 1.06152561] [-0.18503907 0.45123431 0.87301096 2.26093758] [ 0. 0. 0. 1. ]] SLAMing on 48.44483917299999 meters Centerline goodness : 0.698633 with order 1 Centerline is valid? [False, False] Translation: X:6.60, Y:1.06, Z:2.25 [[ 0.8653085 0.49528994 -0.07700049 6.60498672] [-0.46742064 0.74187589 -0.48076824 1.06256827] [-0.18099487 0.45200447 0.87346026 2.25416082] [ 0. 0. 0. 1. ]] SLAMing on 48.504839172999986 meters Centerline goodness : 0.702906 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.07, Z:2.25 [[ 0.86829436 0.49208681 -0.06257385 6.60735669] [-0.45914285 0.74952629 -0.47686285 1.06722169] [-0.18775717 0.44278766 0.87674759 2.24767962] [ 0. 0. 0. 1. ]] SLAMing on 48.56483917299999 meters Centerline goodness : 0.700590 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.06, Z:2.24 [[ 0.86865923 0.49153749 -0.06182265 6.60795798] [-0.45886893 0.75126028 -0.4743915 1.06431705] [-0.1867363 0.44045305 0.87814046 2.24295542] [ 0. 0. 0. 1. ]] SLAMing on 48.62483917299999 meters Centerline goodness : 0.690730 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.06, Z:2.23 [[ 0.87454755 0.48032632 -0.06673234 6.61575903] [-0.45207511 0.75772636 -0.47061541 1.05506598] [-0.17548412 0.44174358 0.87981131 2.23168113] [ 0. 0. 0. 1. ]] SLAMing on 48.684839172999986 meters Centerline goodness : 0.692450 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.05, Z:2.22 [[ 0.8754145 0.47887875 -0.0657617 6.60891437] [-0.44939527 0.75620551 -0.47560185 1.05332943] [-0.17802626 0.44590175 0.87719911 2.22459296] [ 0. 0. 0. 1. ]] SLAMing on 48.74483917299999 meters Centerline goodness : 0.692022 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.05, Z:2.22 [[ 0.87263759 0.48390317 -0.06588891 6.61791317] [-0.45441257 0.75511145 -0.47256312 1.0542487 ] [-0.17892133 0.44231709 0.87883033 2.21514583] [ 0. 0. 0. 1. ]] SLAMing on 48.80483917299999 meters Centerline goodness : 0.690532 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.05, Z:2.21 [[ 0.86832106 0.49200627 -0.06283595 6.62484912] [-0.46186489 0.75585789 -0.46406862 1.05328015] [-0.18082963 0.43198227 0.88356775 2.2057648 ] [ 0. 0. 0. 1. ]] SLAMing on 48.864839172999986 meters Centerline goodness : 0.695874 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.05, Z:2.20 [[ 0.86052992 0.50655147 -0.05379473 6.61862239] [-0.47202966 0.75323925 -0.45805963 1.05470073] [-0.19151048 0.41956672 0.88729223 2.19740519] [ 0. 0. 0. 1. ]] SLAMing on 48.92483917299999 meters Centerline goodness : 0.702529 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.05, Z:2.19 [[ 0.85563021 0.51530083 -0.04860031 6.61403668] [-0.47884226 0.752437 -0.45227055 1.04982428] [-0.19648672 0.41024823 0.89055565 2.19178487] [ 0. 0. 0. 1. ]] SLAMing on 48.98483917299999 meters Centerline goodness : 0.701421 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.04, Z:2.19 [[ 0.85684124 0.51316758 -0.04982094 6.61352161] [-0.47741445 0.75321419 -0.45248628 1.04439166] [-0.19467545 0.41149414 0.8903786 2.18719682] [ 0. 0. 0. 1. ]] SLAMing on 49.04483917299999 meters Centerline goodness : 0.690572 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.03, Z:2.18 [[ 0.86698155 0.49471268 -0.0600197 6.6150776 ] [-0.46347725 0.75620373 -0.46189257 1.03310784] [-0.18311699 0.4282701 0.88490276 2.17806895] [ 0. 0. 0. 1. ]] SLAMing on 49.10483917299999 meters Centerline goodness : 0.685816 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.03, Z:2.17 [[ 0.87000127 0.48901086 -0.06297745 6.62286014] [-0.4607899 0.76097483 -0.45671651 1.02539436] [-0.17541508 0.42636332 0.88738034 2.170201 ] [ 0. 0. 0. 1. ]] SLAMing on 49.16483917299999 meters Centerline goodness : 0.693722 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:1.02, Z:2.16 [[ 0.87124347 0.48677075 -0.06315903 6.62252528] [-0.45904965 0.76246213 -0.45598786 1.01845226] [-0.17380518 0.42626957 0.88774209 2.15889044] [ 0. 0. 0. 1. ]] SLAMing on 49.22483917299999 meters Centerline goodness : 0.702421 with order 1 Centerline is valid? [False, False] Translation: X:6.63, Y:1.01, Z:2.15 [[ 0.87274622 0.48396772 -0.06394745 6.62567104] [-0.45739734 0.76490255 -0.45355459 1.01333731] [-0.17059221 0.42508744 0.88893136 2.15389058] [ 0. 0. 0. 1. ]] SLAMing on 49.28483917299999 meters Centerline goodness : 0.710338 with order 1 Centerline is valid? [False, False] Translation: X:6.64, Y:1.01, Z:2.14 [[ 0.88031366 0.47084873 -0.05787344 6.63675889] [-0.4432594 0.77293176 -0.45397973 1.01227319] [-0.16902356 0.4252975 0.88913052 2.14413019] [ 0. 0. 0. 1. ]] SLAMing on 49.34483917299999 meters Centerline goodness : 0.712389 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:1.01, Z:2.14 [[ 0.88200013 0.46751281 -0.05922448 6.64524953] [-0.44210569 0.77738391 -0.44745593 1.00776532] [-0.16315123 0.42083967 0.89234279 2.14158844] [ 0. 0. 0. 1. ]] SLAMing on 49.40483917299999 meters Centerline goodness : 0.727992 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:1.01, Z:2.13 [[ 0.88395273 0.46512256 -0.04783897 6.64884087] [-0.43500523 0.78054394 -0.44891158 1.01052347] [-0.17145848 0.41762682 0.8922947 2.13142777] [ 0. 0. 0. 1. ]] SLAMing on 49.46483917299999 meters Centerline goodness : 0.734843 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:1.01, Z:2.12 [[ 0.88398868 0.466286 -0.03378438 6.65614349] [-0.43190456 0.78687128 -0.4407857 1.01074637] [-0.17894824 0.4042412 0.89697635 2.12286706] [ 0. 0. 0. 1. ]] SLAMing on 49.52483917299999 meters Centerline goodness : 0.737116 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:1.01, Z:2.11 [[ 0.88535765 0.46429925 -0.02383377 6.66065513] [-0.42611004 0.78989744 -0.44101278 1.01149121] [-0.18593566 0.40060984 0.89718431 2.11073671] [ 0. 0. 0. 1. ]] SLAMing on 49.58483917299999 meters Centerline goodness : 0.745256 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:1.01, Z:2.10 [[ 0.88601812 0.46350183 -0.01174522 6.66383007] [-0.42062237 0.79287752 -0.44093316 1.01337384] [-0.19506081 0.39561508 0.89746309 2.10034512] [ 0. 0. 0. 1. ]] SLAMing on 49.64483917299999 meters Centerline goodness : 0.742843 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:1.01, Z:2.09 [[ 0.88647925 0.46245738 -0.0169623 6.68233078] [-0.42346853 0.79586957 -0.43274246 1.01389143] [-0.18662516 0.39080021 0.901358 2.09093792] [ 0. 0. 0. 1. ]] SLAMing on 49.70483917299999 meters Centerline goodness : 0.744328 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:1.01, Z:2.08 [[ 0.88960638 0.45662041 -0.00991406 6.69059188] [-0.41563556 0.80037808 -0.43202083 1.01382916] [-0.18933453 0.38844913 0.90180913 2.07960321] [ 0. 0. 0. 1. ]] SLAMing on 49.76483917299999 meters Centerline goodness : 0.747595 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:1.01, Z:2.07 [[ 8.93723417e-01 4.48611373e-01 -2.50809178e-03 6.70031782e+00] [-4.07156613e-01 8.08764475e-01 -4.24409609e-01 1.00885629e+00] [-1.88366522e-01 3.80325992e-01 9.05466837e-01 2.07153135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82483917299999 meters Centerline goodness : 0.742343 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:1.01, Z:2.06 [[ 0.89512453 0.4457612 -0.007002 6.71096594] [-0.40618198 0.80897116 -0.42494925 1.00823487] [-0.18376147 0.38322658 0.90519009 2.05904917] [ 0. 0. 0. 1. ]] SLAMing on 49.88483917299999 meters Centerline goodness : 0.747217 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:1.01, Z:2.05 [[ 8.92049391e-01 4.51915542e-01 -4.49746647e-03 6.71093980e+00] [-4.11689088e-01 8.08459381e-01 -4.20601383e-01 1.00623830e+00] [-1.86440283e-01 3.77048766e-01 9.07234396e-01 2.05425811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94483917299999 meters Centerline goodness : 0.750960 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:1.00, Z:2.05 [[ 0.89078266 0.45424012 0.01312129 6.71401374] [-0.41057438 0.81685667 -0.40518372 1.00156216] [-0.19476891 0.35554337 0.91414112 2.04910038] [ 0. 0. 0. 1. ]] SLAMing on 50.004839172999986 meters Centerline goodness : 0.753222 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:1.00, Z:2.04 [[ 0.88839437 0.45883011 0.01517822 6.70966735] [-0.41429336 0.81552841 -0.40407231 0.9966878 ] [-0.19777881 0.35268732 0.91460111 2.04320728] [ 0. 0. 0. 1. ]] SLAMing on 50.06483917299999 meters Centerline goodness : 0.754312 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:0.99, Z:2.04 [[ 0.88736403 0.46076265 0.01681814 6.70749953] [-0.41606411 0.81593328 -0.40142688 0.98991052] [-0.19868499 0.34921435 0.91573665 2.03541567] [ 0. 0. 0. 1. ]] SLAMing on 50.12483917299999 meters Centerline goodness : 0.756334 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:0.99, Z:2.03 [[ 0.88629544 0.4627718 0.01796259 6.70790952] [-0.41815101 0.81630569 -0.3984906 0.98540503] [-0.19907318 0.34566933 0.9169965 2.02937051] [ 0. 0. 0. 1. ]] SLAMing on 50.184839172999986 meters Centerline goodness : 0.765060 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:0.98, Z:2.02 [[ 0.88289446 0.46900091 0.02314151 6.69496909] [-0.42261632 0.81512438 -0.39619149 0.97543842] [-0.20467738 0.34001529 0.91787623 2.02323353] [ 0. 0. 0. 1. ]] SLAMing on 50.24483917299999 meters Centerline goodness : 0.766341 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:0.98, Z:2.01 [[ 0.88793838 0.45832498 0.03877675 6.69399103] [-0.40975112 0.8264931 -0.38602224 0.97654679] [-0.20897236 0.32687515 0.92167412 2.01384645] [ 0. 0. 0. 1. ]] SLAMing on 50.30483917299999 meters Centerline goodness : 0.773812 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:0.97, Z:2.00 [[ 0.89165806 0.45146567 0.03353592 6.69283806] [-0.40266415 0.82476511 -0.39701902 0.97155879] [-0.20689971 0.34050149 0.91719749 2.00276412] [ 0. 0. 0. 1. ]] SLAMing on 50.364839172999986 meters Centerline goodness : 0.775790 with order 1 Centerline is valid? [False, False] Translation: X:6.63, Y:0.99, Z:2.00 [[ 0.89739939 0.43927838 0.04133819 6.63000118] [-0.39601209 0.84322072 -0.36352886 0.98543943] [-0.19454759 0.30986016 0.93066531 2.00467197] [ 0. 0. 0. 1. ]] SLAMing on 50.42483917299999 meters Centerline goodness : 0.783030 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:0.98, Z:2.00 [[ 0.90635084 0.41701857 0.0679976 6.55617068] [-0.38350022 0.87946689 -0.28189639 0.98328087] [-0.17735767 0.22941994 0.95703226 2.00420305] [ 0. 0. 0. 1. ]] SLAMing on 50.48483917299999 meters Centerline goodness : 0.785902 with order 1 Centerline is valid? [False, False] Translation: X:6.49, Y:1.00, Z:2.01 [[ 0.91017166 0.40780962 0.07265579 6.49285768] [-0.37911953 0.89077954 -0.25055974 1.0013046 ] [-0.16690097 0.20050714 0.96537089 2.01248311] [ 0. 0. 0. 1. ]] SLAMing on 50.544839172999986 meters Centerline goodness : 0.787558 with order 1 Centerline is valid? [False, False] Translation: X:6.40, Y:1.00, Z:2.02 [[ 0.91667169 0.39145986 0.08044998 6.40292876] [-0.37558258 0.91264312 -0.16130798 0.99508599] [-0.13656772 0.11765085 0.98361961 2.02474403] [ 0. 0. 0. 1. ]] SLAMing on 50.60483917299999 meters Centerline goodness : 0.789075 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:1.01, Z:2.03 [[ 0.91937194 0.38232333 0.09265043 6.34931959] [-0.36982085 0.92027378 -0.12778383 1.01450472] [-0.1341185 0.08321681 0.98746503 2.03092984] [ 0. 0. 0. 1. ]] SLAMing on 50.66483917299999 meters Centerline goodness : 0.792474 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.03, Z:2.04 [[ 0.9204993 0.37890169 0.09547018 6.30648993] [-0.36833215 0.92296182 -0.11168214 1.031231 ] [-0.13043188 0.0676386 0.98914738 2.04169696] [ 0. 0. 0. 1. ]] SLAMing on 50.72483917299999 meters Centerline goodness : 0.789391 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:1.05, Z:2.05 [[ 0.9257892 0.36570125 0.09579644 6.24228618] [-0.35802304 0.92951584 -0.08842962 1.0536171 ] [-0.12138313 0.04756986 0.9914652 2.050838 ] [ 0. 0. 0. 1. ]] SLAMing on 50.78483917299999 meters Centerline goodness : 0.785371 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:1.07, Z:2.06 [[ 0.92825554 0.36183821 0.08610905 6.19269749] [-0.3565296 0.93157041 -0.07115624 1.07390862] [-0.10596369 0.03535075 0.99374143 2.05619962] [ 0. 0. 0. 1. ]] SLAMing on 50.84483917299999 meters Centerline goodness : 0.785363 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:1.08, Z:2.06 [[ 0.92969405 0.3551309 0.09772931 6.19492804] [-0.34950579 0.93429763 -0.07023995 1.08107802] [-0.11625264 0.03114471 0.99273125 2.05605916] [ 0. 0. 0. 1. ]] SLAMing on 50.90483917299999 meters Centerline goodness : 0.787191 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:1.09, Z:2.05 [[ 0.93033892 0.34982314 0.10996934 6.19487111] [-0.34343918 0.9363287 -0.07306233 1.08667154] [-0.12852634 0.03020495 0.991246 2.05400946] [ 0. 0. 0. 1. ]] SLAMing on 50.96483917299999 meters Centerline goodness : 0.785008 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:1.09, Z:2.05 [[ 0.93125789 0.34785115 0.10843577 6.19800855] [-0.34122396 0.93696683 -0.07522873 1.08882638] [-0.12776912 0.03305646 0.9912529 2.05223133] [ 0. 0. 0. 1. ]] SLAMing on 51.02483917299999 meters Centerline goodness : 0.786560 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:1.09, Z:2.05 [[ 0.92863245 0.35433343 0.1099527 6.19911646] [-0.34778422 0.93460518 -0.07456064 1.09404183] [-0.12918169 0.03099962 0.99113627 2.04722927] [ 0. 0. 0. 1. ]] SLAMing on 51.08483917299999 meters Centerline goodness : 0.789270 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:1.10, Z:2.04 [[ 0.92892399 0.34993987 0.12100543 6.20175828] [-0.34238369 0.93622332 -0.07911576 1.10253586] [-0.14097387 0.03206224 0.989494 2.04162523] [ 0. 0. 0. 1. ]] SLAMing on 51.14483917299999 meters Centerline goodness : 0.785852 with order 1 Centerline is valid? [False, False] Translation: X:6.21, Y:1.11, Z:2.04 [[ 0.92970274 0.34842373 0.11938895 6.20782193] [-0.34095592 0.93677215 -0.07878448 1.10632536] [-0.13929062 0.03253977 0.98971677 2.03982984] [ 0. 0. 0. 1. ]] SLAMing on 51.20483917299999 meters Centerline goodness : 0.784926 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.12, Z:2.03 [[ 0.92954152 0.34552509 0.12870498 6.22020223] [-0.33850141 0.93807932 -0.07364769 1.1152611 ] [-0.14618261 0.02489177 0.98894441 2.02864619] [ 0. 0. 0. 1. ]] SLAMing on 51.26483917299999 meters Centerline goodness : 0.781149 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:1.12, Z:2.02 [[ 0.92926336 0.34687612 0.12706913 6.22906684] [-0.33998075 0.93758394 -0.07313986 1.12348487] [-0.14450845 0.02476514 0.98919361 2.02373317] [ 0. 0. 0. 1. ]] SLAMing on 51.32483917299999 meters Centerline goodness : 0.777756 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:1.13, Z:2.01 [[ 0.93042761 0.34064545 0.13514859 6.23954009] [-0.33381102 0.93995701 -0.07107059 1.13261686] [-0.15124373 0.02101196 0.98827316 2.01407181] [ 0. 0. 0. 1. ]] SLAMing on 51.38483917299999 meters Centerline goodness : 0.774445 with order 1 Centerline is valid? [False, False] Translation: X:6.25, Y:1.14, Z:2.01 [[ 0.93223789 0.336869 0.13210526 6.24863725] [-0.33014143 0.9412906 -0.07055949 1.13816302] [-0.14811874 0.02216481 0.98872117 2.01240595] [ 0. 0. 0. 1. ]] SLAMing on 51.44483917299999 meters Centerline goodness : 0.771796 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.15, Z:2.01 [[ 0.93394808 0.32842323 0.14099351 6.25726411] [-0.32203547 0.94438107 -0.0666149 1.14717185] [-0.15502949 0.01680994 0.98776682 2.00710536] [ 0. 0. 0. 1. ]] SLAMing on 51.504839172999986 meters Centerline goodness : 0.770147 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.15, Z:2.00 [[ 0.93380938 0.32313332 0.15357379 6.25693739] [-0.31650782 0.94625757 -0.06647869 1.15312742] [-0.16680184 0.01347112 0.98589841 2.00268906] [ 0. 0. 0. 1. ]] SLAMing on 51.56483917299999 meters Centerline goodness : 0.766927 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.16, Z:2.00 [[ 0.93232512 0.32699497 0.15441553 6.25979536] [-0.32070172 0.94496371 -0.06476107 1.15734425] [-0.16709362 0.01085705 0.98588125 1.99865044] [ 0. 0. 0. 1. ]] SLAMing on 51.62483917299999 meters Centerline goodness : 0.760301 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.16, Z:1.99 [[ 0.93024407 0.33248578 0.1552391 6.26422149] [-0.32626614 0.94305987 -0.0647186 1.16163056] [-0.16791778 0.00955483 0.9857547 1.9886617 ] [ 0. 0. 0. 1. ]] SLAMing on 51.684839172999986 meters Centerline goodness : 0.749313 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.16, Z:1.98 [[ 0.92952477 0.33477923 0.15461749 6.26791258] [-0.32832149 0.94223355 -0.0663396 1.16484764] [-0.1678949 0.01090006 0.98574464 1.98389835] [ 0. 0. 0. 1. ]] SLAMing on 51.74483917299999 meters Centerline goodness : 0.747547 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.16, Z:1.98 [[ 9.28952763e-01 3.36063858e-01 1.55267018e-01 6.26959508e+00] [-3.30813952e-01 9.41831898e-01 -5.92857837e-02 1.16022990e+00] [-1.66159239e-01 3.70919695e-03 9.86091958e-01 1.98449092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80483917299999 meters Centerline goodness : 0.741461 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.17, Z:1.98 [[ 9.29965928e-01 3.28414990e-01 1.65248197e-01 6.27457624e+00] [-3.23815620e-01 9.44530168e-01 -5.48288709e-02 1.16523098e+00] [-1.74088530e-01 -2.52096545e-03 9.84726779e-01 1.98251100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864839172999986 meters Centerline goodness : 0.732531 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.16, Z:1.97 [[ 9.29724680e-01 3.29751138e-01 1.63939641e-01 6.27950275e+00] [-3.24221511e-01 9.44063688e-01 -6.02010314e-02 1.16307917e+00] [-1.74620821e-01 2.81762656e-03 9.84631723e-01 1.96883824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92483917299999 meters Centerline goodness : 0.731213 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.16, Z:1.96 [[ 0.92908958 0.33126066 0.16449597 6.27842015] [-0.32487832 0.94351304 -0.0650939 1.16122448] [-0.17676714 0.00703689 0.98422754 1.96153962] [ 0. 0. 0. 1. ]] SLAMing on 51.98483917299999 meters Centerline goodness : 0.733128 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.16, Z:1.96 [[ 0.92966382 0.32974091 0.16430491 6.27680402] [-0.32284634 0.94401847 -0.06781872 1.15672605] [-0.17746948 0.01000337 0.98407546 1.95893964] [ 0. 0. 0. 1. ]] SLAMing on 52.044839172999986 meters Centerline goodness : 0.733366 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.15, Z:1.95 [[ 0.93381564 0.31966124 0.16063948 6.27724588] [-0.31132987 0.94731446 -0.07529292 1.14641393] [-0.17624433 0.02029783 0.98413715 1.9526808 ] [ 0. 0. 0. 1. ]] SLAMing on 52.10483917299999 meters Centerline goodness : 0.736311 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.95 [[ 0.9351418 0.31645506 0.15926712 6.27809857] [-0.3076227 0.94830487 -0.07801383 1.14334763] [-0.17572165 0.02395981 0.98414828 1.95055252] [ 0. 0. 0. 1. ]] SLAMing on 52.16483917299999 meters Centerline goodness : 0.734319 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.95 [[ 0.93715278 0.31202589 0.15615538 6.28261501] [-0.30255428 0.94961952 -0.08175376 1.14465363] [-0.17379749 0.02937028 0.98434334 1.94966168] [ 0. 0. 0. 1. ]] SLAMing on 52.224839172999985 meters Centerline goodness : 0.737568 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.14, Z:1.95 [[ 0.94469421 0.29900685 0.13471357 6.29132774] [-0.28732952 0.95264578 -0.09953772 1.14132375] [-0.15809677 0.05532552 0.98587245 1.94914056] [ 0. 0. 0. 1. ]] SLAMing on 52.28483917299999 meters Centerline goodness : 0.730781 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.13, Z:1.94 [[ 0.94960128 0.27997478 0.14096642 6.2650841 ] [-0.27313387 0.95969968 -0.06613938 1.12612567] [-0.15380278 0.02430334 0.98780264 1.93801196] [ 0. 0. 0. 1. ]] SLAMing on 52.34483917299999 meters Centerline goodness : 0.735048 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.14, Z:1.94 [[ 0.94614312 0.28445238 0.15459641 6.26754517] [-0.27782986 0.95853984 -0.06333993 1.13856389] [-0.16620401 0.01697714 0.98594523 1.93646596] [ 0. 0. 0. 1. ]] SLAMing on 52.40483917299999 meters Centerline goodness : 0.736295 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.14, Z:1.94 [[ 0.94470303 0.28848823 0.15591896 6.26747269] [-0.28236182 0.95739216 -0.06059751 1.14056389] [-0.16675726 0.01322109 0.98590934 1.9355007 ] [ 0. 0. 0. 1. ]] SLAMing on 52.46483917299999 meters Centerline goodness : 0.737375 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.15, Z:1.93 [[ 0.94367143 0.29191407 0.15578966 6.26655814] [-0.28392241 0.95615523 -0.07180001 1.14524783] [-0.16991853 0.02352344 0.98517731 1.92621816] [ 0. 0. 0. 1. ]] SLAMing on 52.52483917299999 meters Centerline goodness : 0.734934 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.14, Z:1.93 [[ 0.94466544 0.28894162 0.15530599 6.2678196 ] [-0.28197997 0.95717385 -0.06561644 1.1359086 ] [-0.16761415 0.01819241 0.9856848 1.92825575] [ 0. 0. 0. 1. ]] SLAMing on 52.58483917299999 meters Centerline goodness : 0.731382 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.94 [[ 9.43905392e-01 2.91746513e-01 1.54682197e-01 6.27770458e+00] [-2.87559076e-01 9.56493477e-01 -4.92950979e-02 1.14381405e+00] [-1.62334186e-01 2.04963897e-03 9.86733708e-01 1.93708474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64483917299999 meters Centerline goodness : 0.727991 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.93 [[ 0.94673277 0.29021763 0.13953779 6.27608095] [-0.28335802 0.95665801 -0.06718392 1.13639787] [-0.1529879 0.02406607 0.98793498 1.93021256] [ 0. 0. 0. 1. ]] SLAMing on 52.70483917299999 meters Centerline goodness : 0.718602 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.92 [[ 0.94870267 0.28553546 0.13576727 6.28476491] [-0.27827191 0.95793551 -0.07017336 1.13758646] [-0.15009327 0.02879344 0.98825247 1.92391712] [ 0. 0. 0. 1. ]] SLAMing on 52.76483917299999 meters Centerline goodness : 0.729483 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.15, Z:1.92 [[ 9.45215026e-01 2.89022489e-01 1.51771393e-01 6.28634363e+00] [-2.84442365e-01 9.57306187e-01 -5.15500322e-02 1.14836234e+00] [-1.60190812e-01 5.55565119e-03 9.87070432e-01 1.92485998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82483917299999 meters Centerline goodness : 0.729168 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.15, Z:1.93 [[ 0.94537689 0.28870714 0.15136291 6.28629484] [-0.28398747 0.95739503 -0.05240113 1.15004182] [-0.16004268 0.00655365 0.98708834 1.92697533] [ 0. 0. 0. 1. ]] SLAMing on 52.88483917299999 meters Centerline goodness : 0.735240 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.14, Z:1.93 [[ 0.94842339 0.2794523 0.14966457 6.2858212 ] [-0.27471998 0.96012583 -0.0518394 1.1435437 ] [-0.15818346 0.00804985 0.98737692 1.93401564] [ 0. 0. 0. 1. ]] SLAMing on 52.94483917299999 meters Centerline goodness : 0.735028 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.93 [[ 9.46500217e-01 2.79837401e-01 1.60712066e-01 6.29181963e+00] [-2.75353029e-01 9.60042522e-01 -4.99906625e-02 1.15900594e+00] [-1.68279674e-01 3.06361873e-03 9.85734531e-01 1.93394120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004839172999986 meters Centerline goodness : 0.738339 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.93 [[ 9.43952002e-01 2.87151299e-01 1.62784366e-01 6.29052196e+00] [-2.83098610e-01 9.57884983e-01 -4.80784356e-02 1.16113690e+00] [-1.69734485e-01 -7.00292090e-04 9.85489581e-01 1.93101581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06483917299999 meters Centerline goodness : 0.741050 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.94 [[ 9.46542608e-01 2.80052190e-01 1.60087047e-01 6.29393163e+00] [-2.76218152e-01 9.59984644e-01 -4.61845783e-02 1.16244749e+00] [-1.66615199e-01 -5.03277128e-04 9.86021867e-01 1.93904839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12483917299999 meters Centerline goodness : 0.744470 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.95 [[ 0.95001904 0.26932683 0.15788246 6.29118024] [-0.26432952 0.96301645 -0.05224198 1.1593219 ] [-0.16611358 0.00789788 0.986075 1.94702023] [ 0. 0. 0. 1. ]] SLAMing on 53.184839172999986 meters Centerline goodness : 0.740770 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.94 [[ 0.95260331 0.26274423 0.15333757 6.29818074] [-0.25624609 0.96468083 -0.06106428 1.16360894] [-0.1639661 0.01887788 0.98628533 1.94305916] [ 0. 0. 0. 1. ]] SLAMing on 53.24483917299999 meters Centerline goodness : 0.742121 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.94 [[ 0.95183092 0.25845208 0.16498611 6.29967462] [-0.25344002 0.9659999 -0.05111119 1.16702939] [-0.17258636 0.00683513 0.98497067 1.93955298] [ 0. 0. 0. 1. ]] SLAMing on 53.30483917299999 meters Centerline goodness : 0.745378 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.94 [[ 0.9527855 0.25543301 0.16417602 6.29796991] [-0.24958806 0.96675171 -0.05565011 1.16963818] [-0.17293232 0.01204624 0.98486004 1.94424569] [ 0. 0. 0. 1. ]] SLAMing on 53.364839172999986 meters Centerline goodness : 0.745017 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.17, Z:1.95 [[ 0.95311849 0.25398877 0.16448356 6.29496519] [-0.24828893 0.9671414 -0.05468198 1.16738033] [-0.17296747 0.01127896 0.98486296 1.9500349 ] [ 0. 0. 0. 1. ]] SLAMing on 53.42483917299999 meters Centerline goodness : 0.739964 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.94 [[ 0.9537118 0.2532045 0.16223838 6.30033191] [-0.24647455 0.96724735 -0.06068661 1.17114238] [-0.17229077 0.0178899 0.98488367 1.94246517] [ 0. 0. 0. 1. ]] SLAMing on 53.48483917299999 meters Centerline goodness : 0.740110 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.94 [[ 0.95086814 0.26210238 0.16477901 6.3007375 ] [-0.25660217 0.9649956 -0.05421089 1.17168476] [-0.17321982 0.00926475 0.98483961 1.93780141] [ 0. 0. 0. 1. ]] SLAMing on 53.544839172999986 meters Centerline goodness : 0.741489 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.18, Z:1.94 [[ 0.95017467 0.26389123 0.16592022 6.29748672] [-0.25813402 0.96449909 -0.0557524 1.17675777] [-0.17474247 0.01014486 0.98456191 1.942621 ] [ 0. 0. 0. 1. ]] SLAMing on 53.60483917299999 meters Centerline goodness : 0.741892 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.18, Z:1.94 [[ 0.95082485 0.2623169 0.16468742 6.2999692 ] [-0.25635581 0.96490919 -0.05685023 1.18087142] [-0.17382118 0.01183604 0.9847061 1.94361218] [ 0. 0. 0. 1. ]] SLAMing on 53.66483917299999 meters Centerline goodness : 0.740143 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.18, Z:1.94 [[ 0.95132626 0.26109191 0.16373562 6.30322301] [-0.25531939 0.96524872 -0.0557398 1.17816669] [-0.17259881 0.01122185 0.98492828 1.93918222] [ 0. 0. 0. 1. ]] SLAMing on 53.724839172999985 meters Centerline goodness : 0.736978 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.18, Z:1.94 [[ 0.9520018 0.25957798 0.16220928 6.30768674] [-0.25384631 0.96565196 -0.05548287 1.17836271] [-0.17103984 0.01164356 0.98519531 1.93579269] [ 0. 0. 0. 1. ]] SLAMing on 53.78483917299999 meters Centerline goodness : 0.737944 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.18, Z:1.94 [[ 0.95470793 0.25152737 0.15895517 6.30975267] [-0.24471869 0.9676498 -0.06137284 1.17664181] [-0.16924989 0.01969383 0.98537639 1.9380929 ] [ 0. 0. 0. 1. ]] SLAMing on 53.84483917299999 meters Centerline goodness : 0.738207 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.18, Z:1.94 [[ 0.95426027 0.25317029 0.15903506 6.31117914] [-0.24723105 0.9673128 -0.05641583 1.17628635] [-0.16811947 0.01451698 0.98565973 1.93986712] [ 0. 0. 0. 1. ]] SLAMing on 53.904839172999985 meters Centerline goodness : 0.739118 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.18, Z:1.94 [[ 9.51752998e-01 2.60784433e-01 1.61733456e-01 6.31118317e+00] [-2.56453634e-01 9.65389942e-01 -4.74741234e-02 1.17628699e+00] [-1.68516364e-01 3.70650671e-03 9.85691887e-01 1.93808956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96483917299999 meters Centerline goodness : 0.736943 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.18, Z:1.94 [[ 0.95236596 0.25922616 0.16062652 6.31195637] [-0.25398553 0.96577092 -0.05270561 1.1774305 ] [-0.16879109 0.00939822 0.98560704 1.93546626] [ 0. 0. 0. 1. ]] SLAMing on 54.02483917299999 meters Centerline goodness : 0.739917 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.18, Z:1.94 [[ 9.50081612e-01 2.66409265e-01 1.62391609e-01 6.31504022e+00] [-2.63684571e-01 9.63839863e-01 -3.85118918e-02 1.18337568e+00] [-1.66779431e-01 -6.23072151e-03 9.85974543e-01 1.94064101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08483917299999 meters Centerline goodness : 0.743769 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.20, Z:1.94 [[ 0.94612038 0.27095515 0.17731198 6.31418501] [-0.26865695 0.96251296 -0.0373129 1.19636594] [-0.1807752 -0.0123336 0.98344711 1.936167 ] [ 0. 0. 0. 1. ]] SLAMing on 54.14483917299999 meters Centerline goodness : 0.744093 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.21, Z:1.93 [[ 0.94653092 0.27086094 0.17525288 6.32036863] [-0.26773454 0.96258969 -0.04170505 1.20944277] [-0.17999289 -0.00744613 0.98363973 1.93379328] [ 0. 0. 0. 1. ]] SLAMing on 54.20483917299999 meters Centerline goodness : 0.737865 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.22, Z:1.92 [[ 9.46900828e-01 2.70584667e-01 1.73674291e-01 6.32515194e+00] [-2.65789098e-01 9.62694313e-01 -5.07524878e-02 1.21563537e+00] [-1.80928097e-01 1.89683950e-03 9.83494497e-01 1.92207114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters Centerline goodness : 0.738093 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.22, Z:1.93 [[ 9.46470973e-01 2.71620090e-01 1.74399609e-01 6.32249463e+00] [-2.66277422e-01 9.62394145e-01 -5.37944633e-02 1.22197743e+00] [-1.82452820e-01 4.47621967e-03 9.83204420e-01 1.92585225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32483917299999 meters Centerline goodness : 0.739587 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.23, Z:1.93 [[ 9.46067917e-01 2.72919266e-01 1.74558219e-01 6.32522044e+00] [-2.69373361e-01 9.62022669e-01 -4.41630647e-02 1.22790089e+00] [-1.79981915e-01 -5.24007545e-03 9.83655962e-01 1.93333038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38483917299999 meters Centerline goodness : 0.746748 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.24, Z:1.94 [[ 0.94442906 0.26976315 0.18783395 6.32372841] [-0.26728642 0.96283231 -0.03888339 1.2410484 ] [-0.1913419 -0.01348286 0.98143084 1.93885473] [ 0. 0. 0. 1. ]] SLAMing on 54.44483917299999 meters Centerline goodness : 0.748784 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.24, Z:1.94 [[ 0.9437825 0.27114846 0.18908493 6.31974513] [-0.26837349 0.96245768 -0.04063106 1.24428964] [-0.19300329 -0.0123985 0.98111977 1.94364884] [ 0. 0. 0. 1. ]] SLAMing on 54.504839172999986 meters Centerline goodness : 0.748920 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.25, Z:1.94 [[ 0.94283766 0.27412023 0.18951319 6.32213012] [-0.2722307 0.96154123 -0.03645419 1.2510415 ] [-0.19221758 -0.01722093 0.98120122 1.94496167] [ 0. 0. 0. 1. ]] SLAMing on 54.56483917299999 meters Centerline goodness : 0.749486 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.25, Z:1.94 [[ 0.94254637 0.27463765 0.19021172 6.31987502] [-0.27158107 0.9614776 -0.04248 1.25367329] [-0.19455091 -0.01161853 0.98082361 1.94205448] [ 0. 0. 0. 1. ]] SLAMing on 54.62483917299999 meters Centerline goodness : 0.752858 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.25, Z:1.95 [[ 0.94303261 0.2732783 0.18975895 6.32059614] [-0.2715031 0.9617712 -0.03580815 1.25227642] [-0.19229029 -0.01775189 0.98117751 1.94899286] [ 0. 0. 0. 1. ]] SLAMing on 54.684839172999986 meters Centerline goodness : 0.752583 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.25, Z:1.95 [[ 0.94405067 0.27020185 0.1891013 6.31846641] [-0.26790375 0.96269171 -0.0381085 1.24739768] [-0.19234324 -0.0146846 0.98121784 1.95147166] [ 0. 0. 0. 1. ]] SLAMing on 54.74483917299999 meters Centerline goodness : 0.747088 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.25, Z:1.95 [[ 9.47469196e-01 2.62516303e-01 1.82721954e-01 6.32642469e+00] [-2.57565834e-01 9.64927016e-01 -5.07513140e-02 1.24917163e+00] [-1.89636397e-01 1.02237416e-03 9.81853854e-01 1.94560687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80483917299999 meters Centerline goodness : 0.745804 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.25, Z:1.94 [[ 0.94854453 0.25941393 0.18157006 6.32658492] [-0.25275516 0.96571059 -0.05931182 1.2465617 ] [-0.19073044 0.01036713 0.98158771 1.93877173] [ 0. 0. 0. 1. ]] SLAMing on 54.864839172999986 meters Centerline goodness : 0.746462 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.24, Z:1.94 [[ 0.94922321 0.256708 0.18186892 6.32158317] [-0.24951365 0.96639784 -0.06179126 1.24064086] [-0.19162005 0.01327492 0.9813794 1.94335859] [ 0. 0. 0. 1. ]] SLAMing on 54.92483917299999 meters Centerline goodness : 0.748368 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.24, Z:1.95 [[ 0.94839772 0.25915 0.18271027 6.32030551] [-0.25320509 0.96581566 -0.05556339 1.24047238] [-0.19086369 0.00643303 0.98159547 1.94996429] [ 0. 0. 0. 1. ]] SLAMing on 54.98483917299999 meters Centerline goodness : 0.745778 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.23, Z:1.94 [[ 0.94745072 0.26923404 0.17277199 6.31942075] [-0.26321233 0.9630344 -0.05730632 1.23361367] [-0.18181419 0.0088192 0.98329336 1.94312416] [ 0. 0. 0. 1. ]] SLAMing on 55.044839172999986 meters Centerline goodness : 0.744033 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.24, Z:1.94 [[ 0.9458071 0.27462775 0.17328743 6.32180107] [-0.26878034 0.96152391 -0.05682346 1.23880207] [-0.18222531 0.00716778 0.98323067 1.93854724] [ 0. 0. 0. 1. ]] SLAMing on 55.10483917299999 meters Centerline goodness : 0.748268 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.24, Z:1.94 [[ 9.47059601e-01 2.70980818e-01 1.72184517e-01 6.32220407e+00] [-2.65720506e-01 9.62572927e-01 -5.33476663e-02 1.23525835e+00] [-1.80196349e-01 4.77046247e-03 9.83619092e-01 1.94469961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16483917299999 meters Centerline goodness : 0.746631 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.22, Z:1.95 [[ 0.94979969 0.26223351 0.17062865 6.31885164] [-0.25608872 0.96494293 -0.05747795 1.22447299] [-0.17971955 0.01089647 0.98365754 1.94805175] [ 0. 0. 0. 1. ]] SLAMing on 55.224839172999985 meters Centerline goodness : 0.751144 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.21, Z:1.96 [[ 0.9536026 0.24904576 0.16916942 6.31106347] [-0.24166065 0.9682965 -0.06326153 1.21265293] [-0.17956117 0.01944477 0.98355462 1.96143971] [ 0. 0. 0. 1. ]] SLAMing on 55.28483917299999 meters Centerline goodness : 0.755603 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.21, Z:1.97 [[ 0.95397713 0.24710448 0.16990293 6.30588761] [-0.23932867 0.96875062 -0.06514624 1.20628157] [-0.18069149 0.02148538 0.98330512 1.96512931] [ 0. 0. 0. 1. ]] SLAMing on 55.34483917299999 meters Centerline goodness : 0.759976 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.20, Z:1.97 [[ 0.95448246 0.24503092 0.1700679 6.30159857] [-0.23704899 0.96924831 -0.06607184 1.1991319 ] [-0.18102767 0.02274999 0.98321484 1.97021842] [ 0. 0. 0. 1. ]] SLAMing on 55.404839172999985 meters Centerline goodness : 0.760345 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.19, Z:1.98 [[ 0.9568314 0.24384984 0.1581484 6.29350619] [-0.23348254 0.96894735 -0.08140602 1.18674984] [-0.17308832 0.04096694 0.98405393 1.98109575] [ 0. 0. 0. 1. ]] SLAMing on 55.46483917299999 meters Centerline goodness : 0.758532 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.18, Z:1.98 [[ 0.95644414 0.24535957 0.15815589 6.29409477] [-0.23531525 0.96864781 -0.07967529 1.1834887 ] [-0.17274645 0.03898848 0.98419437 1.98021348] [ 0. 0. 0. 1. ]] SLAMing on 55.52483917299999 meters Centerline goodness : 0.753781 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.18, Z:1.98 [[ 0.95529014 0.24927942 0.15899848 6.29403714] [-0.23935437 0.96770519 -0.07909587 1.18018238] [-0.17358063 0.03750253 0.98410534 1.97502782] [ 0. 0. 0. 1. ]] SLAMing on 55.584839172999985 meters Centerline goodness : 0.746772 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.97 [[ 0.95805952 0.24802287 0.14355001 6.29862043] [-0.23766707 0.96757195 -0.08555048 1.16642416] [-0.16011343 0.04784534 0.98593839 1.96845477] [ 0. 0. 0. 1. ]] SLAMing on 55.64483917299999 meters Centerline goodness : 0.743350 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.97 [[ 0.95690855 0.25807205 0.1331347 6.29756788] [-0.24874714 0.96502634 -0.08275882 1.16453449] [-0.14983623 0.04607575 0.98763664 1.97364185] [ 0. 0. 0. 1. ]] SLAMing on 55.70483917299999 meters Centerline goodness : 0.746287 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.17, Z:1.97 [[ 0.9502102 0.2782863 0.14020451 6.29097254] [-0.27029168 0.9599654 -0.0735448 1.16599538] [-0.15505799 0.03198691 0.98738739 1.96713858] [ 0. 0. 0. 1. ]] SLAMing on 55.76483917299999 meters Centerline goodness : 0.754426 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.17, Z:1.97 [[ 0.94442924 0.29386662 0.147295 6.28159841] [-0.2875211 0.95569 -0.0631526 1.16646962] [-0.1593268 0.01729274 0.98707443 1.97057536] [ 0. 0. 0. 1. ]] SLAMing on 55.82483917299999 meters Centerline goodness : 0.750602 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.17, Z:1.97 [[ 0.94549652 0.29126089 0.14561393 6.28482783] [-0.28480418 0.95645701 -0.06384798 1.16715853] [-0.15786989 0.01889659 0.9872791 1.97031112] [ 0. 0. 0. 1. ]] SLAMing on 55.88483917299999 meters Centerline goodness : 0.742824 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.17, Z:1.96 [[ 0.94910916 0.28136581 0.14151001 6.29010825] [-0.27368418 0.95915823 -0.07150148 1.16501166] [-0.15584856 0.02913366 0.98735123 1.96486689] [ 0. 0. 0. 1. ]] SLAMing on 55.94483917299999 meters Centerline goodness : 0.740984 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.97 [[ 0.9531705 0.26937555 0.13748753 6.29623217] [-0.26164503 0.96248636 -0.07184628 1.16079976] [-0.1516835 0.03250883 0.98789437 1.96779644] [ 0. 0. 0. 1. ]] SLAMing on 56.004839172999986 meters Centerline goodness : 0.738312 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.97 [[ 0.95415224 0.26679571 0.13569656 6.30105036] [-0.25918901 0.96319393 -0.07126368 1.16153666] [-0.14971495 0.03282534 0.98818416 1.96641126] [ 0. 0. 0. 1. ]] SLAMing on 56.06483917299999 meters Centerline goodness : 0.742247 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.97 [[ 0.95389182 0.26707405 0.1369739 6.29698632] [-0.25954927 0.96315563 -0.07046562 1.1556313 ] [-0.15074672 0.0316651 0.98806515 1.96746519] [ 0. 0. 0. 1. ]] SLAMing on 56.12483917299999 meters Centerline goodness : 0.750155 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.96 [[ 0.95165474 0.26966964 0.14707666 6.29892004] [-0.26439772 0.96286333 -0.05466309 1.15909319] [-0.15635569 0.01313365 0.98761349 1.96422446] [ 0. 0. 0. 1. ]] SLAMing on 56.184839172999986 meters Centerline goodness : 0.750032 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.96 [[ 0.95033226 0.27395702 0.14770292 6.30006004] [-0.26915586 0.96169374 -0.05196417 1.16328456] [-0.15628092 0.00962812 0.98766572 1.96469571] [ 0. 0. 0. 1. ]] SLAMing on 56.24483917299999 meters Centerline goodness : 0.722439 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.96 [[ 0.94825406 0.2796199 0.15042255 6.29393603] [-0.27462193 0.9600649 -0.05346199 1.16352919] [-0.15936445 0.00938621 0.9871752 1.96446159] [ 0. 0. 0. 1. ]] SLAMing on 56.30483917299999 meters Centerline goodness : 0.730976 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.97 [[ 0.95117971 0.27065901 0.14832687 6.29356833] [-0.26554855 0.96260521 -0.05362065 1.16027626] [-0.15729313 0.01161489 0.98748365 1.97327042] [ 0. 0. 0. 1. ]] SLAMing on 56.364839172999986 meters Centerline goodness : 0.732021 with order 3 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.97 [[ 0.95335029 0.26470517 0.14510135 6.29942494] [-0.25923844 0.96420475 -0.05571925 1.16036724] [-0.15465658 0.01550411 0.98784663 1.97185098] [ 0. 0. 0. 1. ]] SLAMing on 56.42483917299999 meters Centerline goodness : 0.745008 with order 3 Centerline is valid? [False, False] Translation: X:6.30, Y:1.16, Z:1.97 [[ 0.95263579 0.2670929 0.14541811 6.30010024] [-0.26113886 0.96349908 -0.05895784 1.16435766] [-0.15585743 0.01819103 0.98761204 1.96705273] [ 0. 0. 0. 1. ]] SLAMing on 56.48483917299999 meters Centerline goodness : 0.745625 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.97 [[ 0.95190833 0.26963012 0.14549957 6.30247818] [-0.26409527 0.96284192 -0.05647232 1.16850458] [-0.15531972 0.01533073 0.98774529 1.96667538] [ 0. 0. 0. 1. ]] SLAMing on 56.544839172999986 meters Centerline goodness : 0.748724 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.17, Z:1.97 [[ 0.95525719 0.2601056 0.14081468 6.30945784] [-0.25381044 0.96531109 -0.06127604 1.17082947] [-0.15186821 0.02279414 0.98813788 1.967179 ] [ 0. 0. 0. 1. ]] SLAMing on 56.60483917299999 meters Centerline goodness : 0.745600 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.17, Z:1.97 [[ 0.95491814 0.26179139 0.13998787 6.31423988] [-0.25609544 0.96493467 -0.05758648 1.17443318] [-0.15015479 0.01914012 0.98847721 1.96651208] [ 0. 0. 0. 1. ]] SLAMing on 56.66483917299999 meters Centerline goodness : 0.738577 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.19, Z:1.96 [[ 0.95378082 0.26646862 0.13891226 6.32104786] [-0.26051351 0.96361893 -0.05976014 1.18516832] [-0.14978268 0.02080955 0.98849993 1.95761156] [ 0. 0. 0. 1. ]] SLAMing on 56.724839172999985 meters Centerline goodness : 0.736199 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.19, Z:1.95 [[ 0.95252215 0.27055785 0.1396424 6.32268003] [-0.26454098 0.96248462 -0.06034427 1.19116163] [-0.15073028 0.02053811 0.98836156 1.9528645 ] [ 0. 0. 0. 1. ]] SLAMing on 56.78483917299999 meters Centerline goodness : 0.735219 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.19, Z:1.96 [[ 0.95461793 0.26460713 0.1367029 6.32734178] [-0.25867526 0.96411158 -0.05979942 1.19210898] [-0.1476202 0.02172394 0.98880552 1.95649744] [ 0. 0. 0. 1. ]] SLAMing on 56.84483917299999 meters Centerline goodness : 0.731428 with order 3 Centerline is valid? [False, False] Translation: X:6.33, Y:1.19, Z:1.96 [[ 0.95450847 0.26481864 0.13705719 6.32701776] [-0.25980677 0.96417314 -0.05357804 1.19077847] [-0.14633532 0.01553231 0.9891131 1.96247248] [ 0. 0. 0. 1. ]] SLAMing on 56.904839172999985 meters Centerline goodness : 0.698093 with order 2 Centerline is valid? [False, False] Translation: X:6.32, Y:1.19, Z:1.96 [[ 0.95204344 0.27199624 0.14011187 6.3221901 ] [-0.26723687 0.96222153 -0.05209785 1.19447859] [-0.14898908 0.01215635 0.98876412 1.96483906] [ 0. 0. 0. 1. ]] SLAMing on 56.96483917299999 meters Centerline goodness : 0.741292 with order 2 Centerline is valid? [False, False] Translation: X:6.31, Y:1.20, Z:1.96 [[ 9.49198276e-01 2.73156560e-01 1.56231005e-01 6.31256521e+00] [-2.69011493e-01 9.61964712e-01 -4.75048288e-02 1.19597985e+00] [-1.63264969e-01 3.06356584e-03 9.86577500e-01 1.96497611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02483917299999 meters Centerline goodness : 0.722317 with order 3 Centerline is valid? [False, False] Translation: X:6.32, Y:1.20, Z:1.96 [[ 0.9512679 0.26758053 0.15326459 6.31541953] [-0.26224999 0.96346641 -0.05438213 1.19597321] [-0.16221689 0.01153834 0.98668767 1.9635283 ] [ 0. 0. 0. 1. ]] SLAMing on 57.084839172999985 meters Centerline goodness : 0.719974 with order 3 Centerline is valid? [False, False] Translation: X:6.31, Y:1.19, Z:1.97 [[ 0.95024649 0.26941097 0.15636283 6.30529029] [-0.26360824 0.96293663 -0.05712922 1.18814591] [-0.16595873 0.01306831 0.9860461 1.9654481 ] [ 0. 0. 0. 1. ]] SLAMing on 57.14483917299999 meters Centerline goodness : 0.771976 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.18, Z:1.97 [[ 0.94980137 0.26979888 0.15838538 6.29698636] [-0.26360056 0.96280609 -0.05932264 1.17747459] [-0.16849959 0.01459425 0.98559368 1.96678502] [ 0. 0. 0. 1. ]] SLAMing on 57.20483917299999 meters Centerline goodness : 0.714708 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.17, Z:1.97 [[ 0.95181253 0.26351699 0.15688118 6.29568052] [-0.25653581 0.96444196 -0.06356947 1.16971108] [-0.16805443 0.02026057 0.98556949 1.96738138] [ 0. 0. 0. 1. ]] SLAMing on 57.264839172999984 meters Centerline goodness : 0.747353 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.16, Z:1.97 [[ 0.95355422 0.25720575 0.15677867 6.28803911] [-0.24819975 0.96581025 -0.07488287 1.16085995] [-0.17067875 0.03249245 0.98479084 1.9669873 ] [ 0. 0. 0. 1. ]] SLAMing on 57.32483917299999 meters Centerline goodness : 0.750012 with order 2 Centerline is valid? [False, False] Translation: X:6.28, Y:1.15, Z:1.97 [[ 0.95527463 0.25099826 0.15636578 6.28369424] [-0.24140383 0.96729255 -0.07790574 1.15279998] [-0.17080566 0.03667407 0.98462198 1.97224353] [ 0. 0. 0. 1. ]] SLAMing on 57.38483917299999 meters Centerline goodness : 0.756446 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.98 [[ 0.95574791 0.24843961 0.15755539 6.28023784] [-0.23990423 0.96816998 -0.07136415 1.14461156] [-0.17027008 0.03040793 0.98492815 1.98129414] [ 0. 0. 0. 1. ]] SLAMing on 57.44483917299999 meters Centerline goodness : 0.740788 with order 3 Centerline is valid? [False, False] Translation: X:6.28, Y:1.14, Z:1.98 [[ 0.9562996 0.2528767 0.14678029 6.27770846] [-0.24464161 0.96693805 -0.07198122 1.13544572] [-0.16012982 0.03292704 0.98654663 1.98027216] [ 0. 0. 0. 1. ]] SLAMing on 57.504839172999986 meters Centerline goodness : 0.753727 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.13, Z:1.98 [[ 0.95658975 0.25133382 0.14753768 6.27564239] [-0.24340295 0.96740693 -0.06984865 1.13090647] [-0.1602843 0.0309054 0.98658694 1.98297575] [ 0. 0. 0. 1. ]] SLAMing on 57.56483917299999 meters Centerline goodness : 0.755341 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:1.12, Z:1.99 [[ 0.96040616 0.23776481 0.14521674 6.27359532] [-0.22873093 0.9704974 -0.07626903 1.12297854] [-0.15906656 0.04003369 0.98645584 1.98987157] [ 0. 0. 0. 1. ]] SLAMing on 57.62483917299999 meters Centerline goodness : 0.751314 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.11, Z:2.00 [[ 0.96537496 0.22635158 0.12967708 6.27711827] [-0.21748936 0.97285755 -0.07903526 1.11078284] [-0.14404708 0.04809527 0.98840138 1.99542692] [ 0. 0. 0. 1. ]] SLAMing on 57.684839172999986 meters Centerline goodness : 0.750650 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.11, Z:2.00 [[ 0.96615743 0.22394294 0.12802105 6.28240938] [-0.21592059 0.9736317 -0.07361803 1.11222246] [-0.14113159 0.04348422 0.98903539 1.99897354] [ 0. 0. 0. 1. ]] SLAMing on 57.74483917299999 meters Centerline goodness : 0.751760 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.11, Z:2.00 [[ 0.96571748 0.22531932 0.12892224 6.28023958] [-0.21713617 0.97329155 -0.07453483 1.1114347 ] [-0.14227307 0.04398591 0.98884964 1.99780886] [ 0. 0. 0. 1. ]] SLAMing on 57.80483917299999 meters Centerline goodness : 0.748990 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.11, Z:1.99 [[ 0.96595464 0.22531173 0.12714657 6.28722849] [-0.21759116 0.9733929 -0.07183564 1.11472065] [-0.13994898 0.041724 0.98927923 1.99453575] [ 0. 0. 0. 1. ]] SLAMing on 57.864839172999986 meters Centerline goodness : 0.745703 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.12, Z:1.99 [[ 0.96463356 0.23063674 0.12762754 6.28934451] [-0.22305711 0.97221687 -0.07099216 1.12133466] [-0.14045505 0.04001319 0.98927818 1.99085901] [ 0. 0. 0. 1. ]] SLAMing on 57.92483917299999 meters Centerline goodness : 0.747934 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.13, Z:1.99 [[ 0.9618928 0.23532285 0.13923143 6.29498368] [-0.23074435 0.97181025 -0.04839301 1.13263644] [-0.14669451 0.01442202 0.9890767 1.99037416] [ 0. 0. 0. 1. ]] SLAMing on 57.98483917299999 meters Centerline goodness : 0.747345 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:1.13, Z:1.99 [[ 0.96240759 0.23353308 0.13868645 6.29484746] [-0.22895052 0.9722365 -0.04835132 1.13334593] [-0.14612766 0.01478135 0.98915531 1.99380134] [ 0. 0. 0. 1. ]] SLAMing on 58.044839172999986 meters Centerline goodness : 0.741899 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.14, Z:1.99 [[ 0.96228359 0.23554765 0.13611614 6.30500499] [-0.23120773 0.97176424 -0.0470876 1.14226934] [-0.14336417 0.01384052 0.98957322 1.98697253] [ 0. 0. 0. 1. ]] SLAMing on 58.10483917299999 meters Centerline goodness : 0.747112 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.16, Z:1.99 [[ 9.59207456e-01 2.41959146e-01 1.46208166e-01 6.31337787e+00] [-2.38220208e-01 9.70266284e-01 -4.28307245e-02 1.16164037e+00] [-1.52224139e-01 6.25381067e-03 9.88326212e-01 1.98619315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16483917299999 meters Centerline goodness : 0.753663 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.18, Z:1.99 [[ 9.55180354e-01 2.48576648e-01 1.60748692e-01 6.31349451e+00] [-2.45975386e-01 9.68599554e-01 -3.62079117e-02 1.17878515e+00] [-1.64701553e-01 -4.95513563e-03 9.86331002e-01 1.98574249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224839172999985 meters Centerline goodness : 0.752080 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.18, Z:1.99 [[ 9.55969073e-01 2.46399679e-01 1.59406181e-01 6.31548563e+00] [-2.43403738e-01 9.69165976e-01 -3.83657627e-02 1.18321563e+00] [-1.63944359e-01 -2.12357778e-03 9.86467302e-01 1.98668706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28483917299999 meters Centerline goodness : 0.760698 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.21, Z:1.99 [[ 9.55328019e-01 2.42382780e-01 1.69112280e-01 6.31932618e+00] [-2.39565874e-01 9.70167854e-01 -3.71823393e-02 1.20633547e+00] [-1.73079656e-01 -4.99220049e-03 9.84895177e-01 1.99356307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34483917299999 meters Centerline goodness : 0.761080 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.21, Z:1.99 [[ 0.95297248 0.24918949 0.17247622 6.31853461] [-0.2480882 0.96832499 -0.02826584 1.21464732] [-0.17405658 -0.01585275 0.98460804 1.99401511] [ 0. 0. 0. 1. ]] SLAMing on 58.404839172999985 meters Centerline goodness : 0.758837 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.23, Z:1.99 [[ 0.95291591 0.24198443 0.18274243 6.31719263] [-0.23889619 0.97025885 -0.03906895 1.22917947] [-0.18676154 -0.00642705 0.98238425 1.99408427] [ 0. 0. 0. 1. ]] SLAMing on 58.46483917299999 meters Centerline goodness : 0.748247 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.23, Z:1.98 [[ 0.95429697 0.23980513 0.17835578 6.32814137] [-0.2374522 0.97077754 -0.03474804 1.22856644] [-0.18147654 -0.00919102 0.98335232 1.98010719] [ 0. 0. 0. 1. ]] SLAMing on 58.52483917299999 meters Centerline goodness : 0.748586 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.24, Z:1.98 [[ 0.95300084 0.24500546 0.17821819 6.33366131] [-0.24345494 0.96942099 -0.03086484 1.23994513] [-0.18033051 -0.01397388 0.98350681 1.97814732] [ 0. 0. 0. 1. ]] SLAMing on 58.584839172999985 meters Centerline goodness : 0.754702 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.25, Z:1.99 [[ 0.95245114 0.24558457 0.18034703 6.32784388] [-0.24447986 0.96923006 -0.02868266 1.24561027] [-0.18184178 -0.01677239 0.98318475 1.98894111] [ 0. 0. 0. 1. ]] SLAMing on 58.64483917299999 meters Centerline goodness : 0.751097 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.23, Z:1.98 [[ 0.95231063 0.24445567 0.18260854 6.32237833] [-0.2432729 0.96951815 -0.02920365 1.23133828] [-0.18418129 -0.01661276 0.98275188 1.98139287] [ 0. 0. 0. 1. ]] SLAMing on 58.70483917299999 meters Centerline goodness : 0.750262 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.23, Z:1.98 [[ 0.95155518 0.24674767 0.18346208 6.32161654] [-0.24562697 0.9689253 -0.02917465 1.2285377 ] [-0.18495982 -0.01730195 0.98259376 1.97849542] [ 0. 0. 0. 1. ]] SLAMing on 58.764839172999984 meters Centerline goodness : 0.751580 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.22, Z:1.98 [[ 0.94732411 0.26592613 0.17849461 6.31819825] [-0.26526998 0.96376807 -0.02798105 1.22024469] [-0.1794683 -0.02084213 0.98354295 1.97617767] [ 0. 0. 0. 1. ]] SLAMing on 58.82483917299999 meters Centerline goodness : 0.757458 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.22, Z:1.98 [[ 0.94275763 0.27891757 0.18279233 6.31453301] [-0.27973995 0.95982814 -0.02180596 1.21997474] [-0.18153129 -0.03057658 0.98290969 1.97511347] [ 0. 0. 0. 1. ]] SLAMing on 58.88483917299999 meters Centerline goodness : 0.757515 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.21, Z:1.97 [[ 0.94059161 0.28480709 0.18485763 6.30907447] [-0.28509902 0.95815676 -0.02557696 1.21209255] [-0.18440709 -0.02864526 0.98243243 1.97137683] [ 0. 0. 0. 1. ]] SLAMing on 58.944839172999984 meters Centerline goodness : 0.754356 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.20, Z:1.97 [[ 0.9405356 0.2934121 0.17117861 6.31302852] [-0.2925032 0.95575908 -0.031088 1.20129723] [-0.17272711 -0.02083092 0.98474942 1.973775 ] [ 0. 0. 0. 1. ]] SLAMing on 59.004839172999986 meters Centerline goodness : 0.753804 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.19, Z:1.97 [[ 9.39808169e-01 3.02168400e-01 1.59545803e-01 6.30921076e+00] [-2.98421744e-01 9.53250012e-01 -4.75276524e-02 1.19394925e+00] [-1.66448394e-01 -2.94506092e-03 9.86045769e-01 1.97407988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06483917299999 meters Centerline goodness : 0.756451 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:1.19, Z:1.97 [[ 9.40020270e-01 3.01982878e-01 1.58644992e-01 6.30635351e+00] [-2.96736180e-01 9.53295085e-01 -5.63570875e-02 1.18949119e+00] [-1.68254367e-01 5.90109563e-03 9.85725948e-01 1.97038520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12483917299999 meters Centerline goodness : 0.757408 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:1.18, Z:1.96 [[ 9.39188435e-01 3.05798407e-01 1.56244735e-01 6.31799775e+00] [-3.01341913e-01 9.52094584e-01 -5.20476257e-02 1.17639796e+00] [-1.64675847e-01 1.79944097e-03 9.86346099e-01 1.95742106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184839172999986 meters Centerline goodness : 0.766093 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.17, Z:1.95 [[ 0.93924637 0.30189841 0.16332058 6.3267989 ] [-0.29904598 0.95329726 -0.04237722 1.16503825] [-0.16848668 -0.00903771 0.9856625 1.9501722 ] [ 0. 0. 0. 1. ]] SLAMing on 59.24483917299999 meters Centerline goodness : 0.769861 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:1.14, Z:1.94 [[ 0.94298623 0.28759177 0.16753493 6.34213977] [-0.28731492 0.95747162 -0.02642397 1.140576 ] [-0.16800926 -0.02321784 0.98551196 1.9414989 ] [ 0. 0. 0. 1. ]] SLAMing on 59.30483917299999 meters Centerline goodness : 0.766354 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:1.13, Z:1.93 [[ 0.94331338 0.28201063 0.1750139 6.35083062] [-0.28337578 0.95884614 -0.01767082 1.12670904] [-0.17279476 -0.03292558 0.98440737 1.93159448] [ 0. 0. 0. 1. ]] SLAMing on 59.364839172999986 meters Centerline goodness : 0.771612 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:1.11, Z:1.93 [[ 0.94335782 0.27198116 0.19000599 6.3655265 ] [-0.28062625 0.95961597 0.01964944 1.10829017] [-0.1769885 -0.07185712 0.98158628 1.93305055] [ 0. 0. 0. 1. ]] SLAMing on 59.42483917299999 meters Centerline goodness : 0.766930 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:1.03, Z:1.93 [[ 0.95389047 0.22922335 0.19377725 6.36100522] [-0.26066762 0.95271161 0.15618249 1.02879926] [-0.14881317 -0.19949244 0.96853364 1.93359672] [ 0. 0. 0. 1. ]] SLAMing on 59.48483917299999 meters Centerline goodness : 0.745962 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:1.02, Z:1.93 [[ 0.9573573 0.228825 0.1763693 6.37046404] [-0.25519423 0.95596406 0.14494352 1.01828899] [-0.13543601 -0.18377116 0.97359398 1.9343226 ] [ 0. 0. 0. 1. ]] SLAMing on 59.544839172999986 meters Centerline goodness : 0.747991 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:1.01, Z:1.93 [[ 0.95806472 0.22876848 0.17256006 6.38018334] [-0.25411326 0.95659457 0.14266492 1.00644051] [-0.13243278 -0.18053202 0.97461261 1.9311059 ] [ 0. 0. 0. 1. ]] SLAMing on 59.60483917299999 meters Centerline goodness : 0.742820 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:0.97, Z:1.94 [[ 0.96411967 0.19714447 0.1777845 6.43763726] [-0.22970821 0.95523417 0.18644521 0.97163568] [-0.13306919 -0.22059405 0.96624575 1.93726517] [ 0. 0. 0. 1. ]] SLAMing on 59.66483917299999 meters Centerline goodness : 0.726538 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:0.95, Z:1.95 [[ 0.9669787 0.19917077 0.15900689 6.45586802] [-0.22612842 0.95827868 0.17483683 0.95104625] [-0.11755052 -0.20501947 0.97167324 1.94584499] [ 0. 0. 0. 1. ]] SLAMing on 59.724839172999985 meters Centerline goodness : 0.722567 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:0.94, Z:1.95 [[ 0.96606469 0.21174717 0.14792614 6.47331661] [-0.23415278 0.95969199 0.15544695 0.94139531] [-0.10904808 -0.18480913 0.97670574 1.95479593] [ 0. 0. 0. 1. ]] SLAMing on 59.78483917299999 meters Centerline goodness : 0.722455 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:0.94, Z:1.96 [[ 0.96453169 0.22334029 0.14070442 6.48389406] [-0.24242555 0.9603907 0.13740288 0.93896682] [-0.10444362 -0.16663978 0.98047066 1.9640122 ] [ 0. 0. 0. 1. ]] SLAMing on 59.84483917299999 meters Centerline goodness : 0.722518 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:0.93, Z:1.98 [[ 0.96588045 0.2167943 0.14168693 6.50197894] [-0.23475775 0.96392498 0.12544892 0.93429689] [-0.10937896 -0.15443076 0.98193044 1.97734111] [ 0. 0. 0. 1. ]] SLAMing on 59.904839172999985 meters Centerline goodness : 0.735143 with order 1 Centerline is valid? [False, False] Translation: X:6.54, Y:0.93, Z:1.99 [[ 0.96649156 0.21033034 0.14715708 6.5371211 ] [-0.22824468 0.96646355 0.11769698 0.92726571] [-0.1174667 -0.14734096 0.98208565 1.98732679] [ 0. 0. 0. 1. ]] SLAMing on 59.96483917299999 meters Centerline goodness : 0.746852 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:0.92, Z:1.99 [[ 0.96734091 0.20801195 0.14485371 6.58738182] [-0.22483959 0.96800411 0.11142355 0.91960621] [-0.11704155 -0.14035341 0.98315929 1.98838262] [ 0. 0. 0. 1. ]] SLAMing on 60.02483917299999 meters Centerline goodness : 0.744273 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:0.92, Z:1.99 [[ 0.96811569 0.20589358 0.14268793 6.59008531] [-0.22187172 0.96920523 0.10683711 0.92135995] [-0.11629681 -0.1350891 0.98398475 1.98993163] [ 0. 0. 0. 1. ]] SLAMing on 60.084839172999985 meters Centerline goodness : 0.768535 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:0.93, Z:2.00 [[ 0.96793286 0.20756524 0.14150141 6.61879639] [-0.22212084 0.97026749 0.09614219 0.92699137] [-0.11733844 -0.1244896 0.98525836 1.99986027] [ 0. 0. 0. 1. ]] SLAMing on 60.14483917299999 meters Centerline goodness : 0.790559 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:0.94, Z:2.02 [[ 0.96988109 0.20076914 0.13792183 6.6480614 ] [-0.21446054 0.97232108 0.09272755 0.93657323] [-0.11548747 -0.11951349 0.98609288 2.01510644] [ 0. 0. 0. 1. ]] SLAMing on 60.20483917299999 meters Centerline goodness : 0.780352 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:0.94, Z:2.02 [[ 0.97158573 0.2004959 0.12578775 6.67275213] [-0.21191057 0.97358768 0.08497609 0.94462043] [-0.10542805 -0.10921731 0.9884111 2.01690052] [ 0. 0. 0. 1. ]] SLAMing on 60.264839172999984 meters Centerline goodness : 0.778887 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:0.95, Z:2.01 [[ 0.97236039 0.19857289 0.12281727 6.68014493] [-0.2090896 0.97465537 0.07955158 0.95119018] [-0.10390772 -0.10303262 0.9892358 2.01323379] [ 0. 0. 0. 1. ]] SLAMing on 60.32483917299999 meters Centerline goodness : 0.797190 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:0.96, Z:2.01 [[ 0.97136668 0.19830166 0.13085575 6.73487083] [-0.21040927 0.97380763 0.08617794 0.96230036] [-0.1103391 -0.11124364 0.98764879 2.01127774] [ 0. 0. 0. 1. ]] SLAMing on 60.38483917299999 meters Centerline goodness : 0.808171 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:0.99, Z:2.02 [[ 0.97062145 0.20233014 0.13021715 6.73623055] [-0.21359919 0.97370514 0.07920659 0.98609571] [-0.11076723 -0.1046939 0.98831665 2.02321646] [ 0. 0. 0. 1. ]] SLAMing on 60.444839172999984 meters Centerline goodness : 0.811126 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:1.00, Z:2.02 [[ 0.97020505 0.20070549 0.13571834 6.75329948] [-0.21266957 0.97383007 0.08016637 1.00336915] [-0.11607677 -0.10664098 0.9874988 2.0192984 ] [ 0. 0. 0. 1. ]] SLAMing on 60.504839172999986 meters Centerline goodness : 0.798487 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.01, Z:2.01 [[ 0.96965834 0.20454323 0.13388343 6.76316153] [-0.21631669 0.9730304 0.08011823 1.01277043] [-0.113885 -0.10664853 0.98775316 2.00642096] [ 0. 0. 0. 1. ]] SLAMing on 60.56483917299999 meters Centerline goodness : 0.798160 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.02, Z:2.01 [[ 0.96900363 0.20811156 0.1331223 6.76575274] [-0.21962028 0.97242868 0.07841811 1.02469871] [-0.11313223 -0.10522379 0.98799244 2.00626081] [ 0. 0. 0. 1. ]] SLAMing on 60.624839172999984 meters Centerline goodness : 0.809445 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.04, Z:2.01 [[ 0.96855039 0.20398819 0.1424744 6.77074559] [-0.21697078 0.97270152 0.08231306 1.03939029] [-0.12179418 -0.11063713 0.98636991 2.00882916] [ 0. 0. 0. 1. ]] SLAMing on 60.684839172999986 meters Centerline goodness : 0.810168 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.05, Z:2.01 [[ 0.97034363 0.19811782 0.13850117 6.77873631] [-0.21076171 0.9739741 0.08339033 1.04522656] [-0.11837544 -0.11010802 0.98684522 2.01215374] [ 0. 0. 0. 1. ]] SLAMing on 60.74483917299999 meters Centerline goodness : 0.802636 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.06, Z:2.00 [[ 0.969672 0.20142822 0.13843008 6.78125852] [-0.21320485 0.97403592 0.07614278 1.05722297] [-0.11949856 -0.10334749 0.98744083 2.00327551] [ 0. 0. 0. 1. ]] SLAMing on 60.80483917299999 meters Centerline goodness : 0.801697 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:1.08, Z:2.00 [[ 0.9696054 0.19583847 0.14667195 6.7895632 ] [-0.20850229 0.97502716 0.07647761 1.07901692] [-0.12803187 -0.10473455 0.98622437 2.00368126] [ 0. 0. 0. 1. ]] SLAMing on 60.864839172999986 meters Centerline goodness : 0.801307 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:1.10, Z:2.00 [[ 0.96981448 0.1900898 0.15272766 6.80089921] [-0.20316007 0.97627211 0.07495832 1.09527626] [-0.13485495 -0.10372382 0.98542149 2.00226146] [ 0. 0. 0. 1. ]] SLAMing on 60.92483917299999 meters Centerline goodness : 0.793177 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.12, Z:1.99 [[ 0.96959033 0.19315695 0.15028304 6.81088889] [-0.20543499 0.97610327 0.07084396 1.11507235] [-0.13300777 -0.09956302 0.98610149 1.99270913] [ 0. 0. 0. 1. ]] SLAMing on 60.98483917299999 meters Centerline goodness : 0.794842 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.14, Z:1.99 [[ 0.96847345 0.19189976 0.15885103 6.8204406 ] [-0.20542597 0.97591013 0.07348189 1.13582367] [-0.14092317 -0.10379739 0.98456425 1.99245958] [ 0. 0. 0. 1. ]] SLAMing on 61.044839172999986 meters Centerline goodness : 0.795117 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.14, Z:2.00 [[ 0.96852915 0.1928997 0.15729269 6.82393929] [-0.20649577 0.97556163 0.07509329 1.14454215] [-0.13896324 -0.10521032 0.98469285 1.99689318] [ 0. 0. 0. 1. ]] SLAMing on 61.10483917299999 meters Centerline goodness : 0.796399 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.15, Z:2.00 [[ 0.96885792 0.18415972 0.16552805 6.82977486] [-0.19816936 0.97749052 0.07239605 1.15465804] [-0.14846966 -0.10294407 0.98354424 1.99611503] [ 0. 0. 0. 1. ]] SLAMing on 61.16483917299999 meters Centerline goodness : 0.795960 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.16, Z:2.00 [[ 0.97105087 0.17623392 0.16125075 6.83575718] [-0.18858177 0.97992665 0.06465818 1.15909104] [-0.14661895 -0.09319534 0.98479313 1.99666111] [ 0. 0. 0. 1. ]] SLAMing on 61.224839172999985 meters Centerline goodness : 0.793935 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.17, Z:2.00 [[ 0.97197118 0.17386831 0.15824616 6.84149053] [-0.18597209 0.98039699 0.06508558 1.1660153 ] [-0.14382773 -0.09269068 0.98525226 1.99921312] [ 0. 0. 0. 1. ]] SLAMing on 61.28483917299999 meters Centerline goodness : 0.799302 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.17, Z:2.01 [[ 0.97153333 0.17411061 0.16065022 6.83450148] [-0.18589522 0.9806501 0.06138689 1.16550909] [-0.14685354 -0.08950352 0.98510058 2.00517225] [ 0. 0. 0. 1. ]] SLAMing on 61.34483917299999 meters Centerline goodness : 0.790329 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.17, Z:2.00 [[ 0.97260548 0.18188205 0.14476708 6.85512922] [-0.19064286 0.98043465 0.04902239 1.16567002] [-0.13301837 -0.07527825 0.98825062 1.99871674] [ 0. 0. 0. 1. ]] SLAMing on 61.404839172999985 meters Centerline goodness : 0.787505 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.17, Z:2.00 [[ 0.97268078 0.18235232 0.14366534 6.85855919] [-0.19075795 0.98051279 0.04696895 1.16892314] [-0.1323008 -0.0730911 0.9885111 1.99599916] [ 0. 0. 0. 1. ]] SLAMing on 61.46483917299999 meters Centerline goodness : 0.803144 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.18, Z:2.01 [[ 0.97252359 0.16676131 0.16244548 6.85752919] [-0.1751956 0.98376262 0.03895654 1.18037929] [-0.15331135 -0.06634589 0.9859482 2.01236882] [ 0. 0. 0. 1. ]] SLAMing on 61.52483917299999 meters Centerline goodness : 0.803015 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.18, Z:2.02 [[ 0.97481742 0.15640565 0.15895994 6.8599056 ] [-0.16269876 0.98629815 0.02729609 1.18086856] [-0.15251264 -0.05247129 0.98690762 2.01510248] [ 0. 0. 0. 1. ]] SLAMing on 61.584839172999985 meters Centerline goodness : 0.798337 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.18, Z:2.02 [[ 0.97558716 0.1594457 0.15101906 6.8562173 ] [-0.16301679 0.98655641 0.01148802 1.17802353] [-0.14715711 -0.0358262 0.9884641 2.02097592] [ 0. 0. 0. 1. ]] SLAMing on 61.64483917299999 meters Centerline goodness : 0.800374 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.18, Z:2.02 [[ 0.9746411 0.16353747 0.15274236 6.85307176] [-0.16781692 0.98569679 0.01546983 1.17854121] [-0.14802776 -0.04071029 0.98814496 2.02431181] [ 0. 0. 0. 1. ]] SLAMing on 61.70483917299999 meters Centerline goodness : 0.802839 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.18, Z:2.03 [[ 0.97513928 0.16084796 0.15241824 6.85060507] [-0.16444783 0.98632185 0.01123014 1.17988927] [-0.1485271 -0.0360158 0.98825228 2.02988043] [ 0. 0. 0. 1. ]] SLAMing on 61.764839172999984 meters Centerline goodness : 0.798472 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.18, Z:2.04 [[ 9.77320325e-01 1.58954819e-01 1.39922648e-01 6.84896342e+00] [-1.60184742e-01 9.87083884e-01 -2.50091836e-03 1.18119559e+00] [-1.38512924e-01 -1.99692751e-02 9.90159279e-01 2.03824469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82483917299999 meters Centerline goodness : 0.796076 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.18, Z:2.04 [[ 0.9788104 0.15157087 0.13768253 6.85160592] [-0.15154639 0.98839199 -0.01072216 1.18129845] [-0.13770948 -0.01037033 0.99041837 2.03701196] [ 0. 0. 0. 1. ]] SLAMing on 61.88483917299999 meters Centerline goodness : 0.796907 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.19, Z:2.04 [[ 0.9794058 0.15003273 0.13510903 6.85762885] [-0.14984254 0.98864142 -0.01163447 1.18689933] [-0.13531994 -0.00885022 0.99076243 2.03608328] [ 0. 0. 0. 1. ]] SLAMing on 61.944839172999984 meters Centerline goodness : 0.796873 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.19, Z:2.04 [[ 0.97948684 0.15011057 0.13443342 6.85905547] [-0.14982439 0.9886361 -0.01230136 1.19245297] [-0.1347523 -0.00809239 0.99084627 2.03736011] [ 0. 0. 0. 1. ]] SLAMing on 62.004839172999986 meters Centerline goodness : 0.799055 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.20, Z:2.04 [[ 9.79403817e-01 1.51026905e-01 1.34011335e-01 6.85965983e+00] [-1.50449568e-01 9.88511585e-01 -1.44835748e-02 1.19817981e+00] [-1.34659166e-01 -5.97667903e-03 9.90873952e-01 2.03921556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06483917299999 meters Centerline goodness : 0.795560 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.20, Z:2.04 [[ 9.78898708e-01 1.54086798e-01 1.34218395e-01 6.86186807e+00] [-1.53125077e-01 9.88051465e-01 -1.75217929e-02 1.20442259e+00] [-1.35314558e-01 -3.40014148e-03 9.90796856e-01 2.03524279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.124839172999984 meters Centerline goodness : 0.797188 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.20, Z:2.04 [[ 9.78731695e-01 1.53912501e-01 1.35628944e-01 6.85866003e+00] [-1.53179360e-01 9.88070666e-01 -1.58884473e-02 1.19673677e+00] [-1.36456412e-01 -5.22502793e-03 9.90632296e-01 2.03510495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.184839172999986 meters Centerline goodness : 0.798213 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.19, Z:2.04 [[ 9.79905827e-01 1.47391411e-01 1.34388772e-01 6.85647965e+00] [-1.46447109e-01 9.89073444e-01 -1.69400712e-02 1.19101416e+00] [-1.35417187e-01 -3.08117271e-03 9.90783878e-01 2.04209970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24483917299999 meters Centerline goodness : 0.804153 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.18, Z:2.05 [[ 9.80848850e-01 1.39654483e-01 1.35765087e-01 6.84943790e+00] [-1.38788092e-01 9.90194885e-01 -1.58731100e-02 1.18015387e+00] [-1.36650646e-01 -3.27345572e-03 9.90613893e-01 2.05265273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30483917299999 meters Centerline goodness : 0.803204 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.17, Z:2.06 [[ 0.98451218 0.12863339 0.11911853 6.85310861] [-0.12599294 0.99159331 -0.02946999 1.17062871] [-0.12190796 0.01400547 0.99244259 2.0561398 ] [ 0. 0. 0. 1. ]] SLAMing on 62.364839172999986 meters Centerline goodness : 0.803418 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.15, Z:2.05 [[ 0.98558494 0.13027157 0.10794277 6.85422366] [-0.12772245 0.99134909 -0.03023164 1.153907 ] [-0.11094729 0.01600913 0.99369734 2.04855885] [ 0. 0. 0. 1. ]] SLAMing on 62.42483917299999 meters Centerline goodness : 0.804899 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.15, Z:2.05 [[ 9.83590592e-01 1.40370031e-01 1.13339319e-01 6.84459395e+00] [-1.38678931e-01 9.90076990e-01 -2.27092049e-02 1.14767582e+00] [-1.15402344e-01 6.61878467e-03 9.93296779e-01 2.05156616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48483917299999 meters Centerline goodness : 0.810582 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.15, Z:2.06 [[ 9.83435145e-01 1.41333011e-01 1.13491390e-01 6.84276366e+00] [-1.39791205e-01 9.89948188e-01 -2.14710071e-02 1.14536532e+00] [-1.15385157e-01 5.25024493e-03 9.93306952e-01 2.05538313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.544839172999986 meters Centerline goodness : 0.815493 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.15, Z:2.06 [[ 9.82112026e-01 1.48064806e-01 1.16330482e-01 6.83777523e+00] [-1.46947249e-01 9.88977374e-01 -1.81730735e-02 1.14643075e+00] [-1.17739007e-01 7.53549758e-04 9.93044288e-01 2.05795159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60483917299999 meters Centerline goodness : 0.815483 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.15, Z:2.05 [[ 9.80329876e-01 1.56389142e-01 1.20398386e-01 6.83174541e+00] [-1.55269993e-01 9.87695444e-01 -1.86799010e-02 1.14532598e+00] [-1.21838271e-01 -3.81791464e-04 9.92549893e-01 2.05449149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66483917299999 meters Centerline goodness : 0.815071 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.15, Z:2.06 [[ 9.79597187e-01 1.58948187e-01 1.22983029e-01 6.82492002e+00] [-1.57659911e-01 9.87286845e-01 -2.01999319e-02 1.14712315e+00] [-1.24630269e-01 3.98303043e-04 9.92203173e-01 2.05955711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.724839172999985 meters Centerline goodness : 0.815269 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.15, Z:2.08 [[ 9.78598579e-01 1.61657191e-01 1.27325468e-01 6.81625576e+00] [-1.59701834e-01 9.86836218e-01 -2.54873053e-02 1.15345870e+00] [-1.29769589e-01 4.60773003e-03 9.91533470e-01 2.07542259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78483917299999 meters Centerline goodness : 0.813365 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.15, Z:2.08 [[ 9.77931494e-01 1.64117128e-01 1.29288672e-01 6.81339483e+00] [-1.63075960e-01 9.86436817e-01 -1.86718553e-02 1.14687635e+00] [-1.30599478e-01 -2.82407903e-03 9.91431188e-01 2.07584198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84483917299999 meters Centerline goodness : 0.806486 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.14, Z:2.07 [[ 9.76914540e-01 1.67785123e-01 1.32235144e-01 6.80745156e+00] [-1.66112560e-01 9.85822923e-01 -2.36597129e-02 1.14383379e+00] [-1.34330184e-01 1.14759930e-03 9.90935964e-01 2.07305761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.904839172999985 meters Centerline goodness : 0.811070 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.15, Z:2.08 [[ 9.76963411e-01 1.69165005e-01 1.30098786e-01 6.81312784e+00] [-1.68073713e-01 9.85583449e-01 -1.94034167e-02 1.15213348e+00] [-1.31505590e-01 -2.90975799e-03 9.91311159e-01 2.07511773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96483917299999 meters Centerline goodness : 0.807628 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.15, Z:2.07 [[ 9.76342408e-01 1.79502886e-01 1.20557938e-01 6.81219173e+00] [-1.77668058e-01 9.83749886e-01 -2.58886694e-02 1.15285921e+00] [-1.23245949e-01 3.85691114e-03 9.92368662e-01 2.07182668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02483917299999 meters Centerline goodness : 0.805410 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.16, Z:2.08 [[ 9.75588104e-01 1.82348812e-01 1.22379581e-01 6.80770143e+00] [-1.80816384e-01 9.83233489e-01 -2.36080718e-02 1.15696760e+00] [-1.24632607e-01 9.03520597e-04 9.92202548e-01 2.07865726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.084839172999985 meters Centerline goodness : 0.808107 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.16, Z:2.08 [[ 9.76432775e-01 1.79165466e-01 1.20327766e-01 6.80975449e+00] [-1.77786177e-01 9.83818916e-01 -2.21904211e-02 1.15672388e+00] [-1.22356489e-01 2.74840996e-04 9.92486178e-01 2.08354247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14483917299999 meters Centerline goodness : 0.810822 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.15, Z:2.08 [[ 0.97741048 0.18158995 0.10813807 6.81134255] [-0.17943595 0.98332997 -0.0294093 1.1549859 ] [-0.11167584 0.0093411 0.99370079 2.07705866] [ 0. 0. 0. 1. ]] SLAMing on 63.20483917299999 meters Centerline goodness : 0.805605 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.15, Z:2.07 [[ 0.97748307 0.18617661 0.09932334 6.80648669] [-0.18328646 0.98234209 -0.03755113 1.14502433] [-0.10456064 0.01850097 0.99434641 2.06632083] [ 0. 0. 0. 1. ]] SLAMing on 63.264839172999984 meters Centerline goodness : 0.811594 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.14, Z:2.06 [[ 0.97738448 0.18698609 0.09877134 6.80886843] [-0.18423252 0.98220913 -0.03638141 1.1408775 ] [-0.10381693 0.01736173 0.99444488 2.06301356] [ 0. 0. 0. 1. ]] SLAMing on 63.32483917299999 meters Centerline goodness : 0.815635 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.14, Z:2.06 [[ 0.97655377 0.1908123 0.09966644 6.80879437] [-0.18858754 0.9815551 -0.03137388 1.13989593] [-0.10381463 0.01184243 0.99452616 2.06337714] [ 0. 0. 0. 1. ]] SLAMing on 63.38483917299999 meters Centerline goodness : 0.815143 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.14, Z:2.06 [[ 0.97768508 0.18563151 0.09835056 6.80921259] [-0.18210866 0.98230507 -0.04373997 1.13730089] [-0.10472977 0.02485343 0.99419011 2.05617857] [ 0. 0. 0. 1. ]] SLAMing on 63.444839172999984 meters Centerline goodness : 0.808510 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.14, Z:2.04 [[ 0.97942192 0.18285777 0.08541511 6.82575415] [-0.17921839 0.98261029 -0.04855708 1.1406167 ] [-0.09280881 0.03224991 0.99516153 2.04420402] [ 0. 0. 0. 1. ]] SLAMing on 63.504839172999986 meters Centerline goodness : 0.800538 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.14, Z:2.03 [[ 0.97801101 0.19414812 0.07616404 6.82039922] [-0.1893241 0.97968052 -0.06620024 1.14051256] [-0.08746908 0.05032488 0.99489525 2.03498566] [ 0. 0. 0. 1. ]] SLAMing on 63.56483917299999 meters Centerline goodness : 0.774999 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.15, Z:2.02 [[ 0.97799646 0.1962582 0.07075052 6.82751666] [-0.19037949 0.97827663 -0.08203953 1.15001303] [-0.08531451 0.06676493 0.99411462 2.0204673 ] [ 0. 0. 0. 1. ]] SLAMing on 63.624839172999984 meters Centerline goodness : 0.754147 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.15, Z:2.00 [[ 0.9763837 0.20818996 0.05772189 6.85809516] [-0.20379328 0.97622773 -0.07380871 1.14761707] [-0.07171594 0.06030229 0.99560055 1.99948421] [ 0. 0. 0. 1. ]] SLAMing on 63.684839172999986 meters Centerline goodness : 0.746676 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.15, Z:1.99 [[ 0.97560374 0.2116198 0.05843296 6.86416186] [-0.20738285 0.97567899 -0.07101315 1.15284086] [-0.0720396 0.0571627 0.99576238 1.99153435] [ 0. 0. 0. 1. ]] SLAMing on 63.74483917299999 meters Centerline goodness : 0.744636 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:1.15, Z:1.99 [[ 0.97770377 0.20359091 0.05144005 6.88795369] [-0.200887 0.97816732 -0.05322701 1.15425929] [-0.06115351 0.04170661 0.99725664 1.98839087] [ 0. 0. 0. 1. ]] SLAMing on 63.80483917299998 meters Centerline goodness : 0.744730 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:1.16, Z:1.99 [[ 0.97829458 0.20115054 0.04978126 6.89363745] [-0.19865481 0.97874803 -0.05087797 1.15525926] [-0.05895744 0.03988436 0.99746341 1.98796705] [ 0. 0. 0. 1. ]] SLAMing on 63.864839172999986 meters Centerline goodness : 0.747653 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:1.16, Z:1.99 [[ 0.97862285 0.20007549 0.04761418 6.90261492] [-0.1979872 0.97916244 -0.04518837 1.15800158] [-0.0556631 0.03479537 0.99784312 1.98700594] [ 0. 0. 0. 1. ]] SLAMing on 63.92483917299999 meters Centerline goodness : 0.743433 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:1.16, Z:1.98 [[ 0.97864774 0.19678994 0.05934917 6.90850319] [-0.19470373 0.98008042 -0.03915139 1.16357867] [-0.06587156 0.02675991 0.99746922 1.97665129] [ 0. 0. 0. 1. ]] SLAMing on 63.98483917299999 meters Centerline goodness : 0.736700 with order 2 Centerline is valid? [False, False] Translation: X:6.92, Y:1.17, Z:1.97 [[ 0.97894883 0.19595912 0.05708956 6.91688664] [-0.19380399 0.98017612 -0.04116786 1.17153341] [-0.06402504 0.02923704 0.99751992 1.97117509] [ 0. 0. 0. 1. ]] SLAMing on 64.044839173 meters Centerline goodness : 0.707735 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:1.17, Z:1.96 [[ 0.98029262 0.19082687 0.05110274 6.93529167] [-0.18928733 0.98135068 -0.03348367 1.17358991] [-0.05653929 0.02315069 0.99813193 1.96193608] [ 0. 0. 0. 1. ]] SLAMing on 64.10483917299999 meters Centerline goodness : 0.693395 with order 2 Centerline is valid? [False, False] Translation: X:6.94, Y:1.18, Z:1.95 [[ 0.98003032 0.1891152 0.06144934 6.94321537] [-0.18769028 0.98182221 -0.02824012 1.1787363 ] [-0.06567297 0.01614273 0.99771062 1.95481003] [ 0. 0. 0. 1. ]] SLAMing on 64.16483917299999 meters Centerline goodness : 0.671012 with order 2 Centerline is valid? [False, False] Translation: X:6.94, Y:1.17, Z:1.95 [[ 0.97929614 0.19219545 0.06356085 6.93701372] [-0.19010387 0.9810468 -0.03751921 1.17450318] [-0.06956719 0.02465926 0.99727244 1.9488322 ] [ 0. 0. 0. 1. ]] SLAMing on 64.22483917299999 meters Centerline goodness : 0.679333 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.17, Z:1.95 [[ 0.97847756 0.19551746 0.06598927 6.92879106] [-0.1931136 0.98031564 -0.04109 1.1652182 ] [-0.07272413 0.02746222 0.99697394 1.94823354] [ 0. 0. 0. 1. ]] SLAMing on 64.284839173 meters Centerline goodness : 0.680990 with order 2 Centerline is valid? [False, False] Translation: X:6.90, Y:1.16, Z:1.96 [[ 0.97822227 0.19307929 0.07616814 6.9040581 ] [-0.18909415 0.98033069 -0.05652554 1.15581575] [-0.08558388 0.04089159 0.99549148 1.95733429] [ 0. 0. 0. 1. ]] SLAMing on 64.344839173 meters Centerline goodness : 0.694991 with order 3 Centerline is valid? [False, False] Translation: X:6.90, Y:1.15, Z:1.97 [[ 0.97974975 0.18580904 0.0746018 6.90417238] [-0.18217929 0.98184228 -0.05288145 1.14563989] [-0.08307305 0.03821968 0.99581029 1.96511414] [ 0. 0. 0. 1. ]] SLAMing on 64.404839173 meters Centerline goodness : 0.696664 with order 2 Centerline is valid? [False, False] Translation: X:6.90, Y:1.12, Z:1.97 [[ 0.9805728 0.18474467 0.06592713 6.89550164] [-0.18177502 0.98214031 -0.04856195 1.12237826] [-0.07372126 0.03563462 0.99664204 1.9703053 ] [ 0. 0. 0. 1. ]] SLAMing on 64.46483917299999 meters Centerline goodness : 0.699777 with order 2 Centerline is valid? [False, False] Translation: X:6.89, Y:1.10, Z:1.98 [[ 0.98063167 0.187472 0.05670785 6.88750712] [-0.18540956 0.98185824 -0.03972004 1.09993562] [-0.06312546 0.02843655 0.99760039 1.97751443] [ 0. 0. 0. 1. ]] SLAMing on 64.52483917299999 meters Centerline goodness : 0.704204 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:1.08, Z:1.99 [[ 0.98025402 0.18904933 0.05798628 6.87539831] [-0.18688823 0.98153705 -0.04071614 1.07571395] [-0.06461304 0.0290752 0.99748674 1.98530846] [ 0. 0. 0. 1. ]] SLAMing on 64.58483917299999 meters Centerline goodness : 0.693393 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:1.05, Z:1.99 [[ 0.98298482 0.17381816 0.05939771 6.86789733] [-0.17178881 0.98441006 -0.03775489 1.04663763] [-0.06503419 0.02690862 0.99752017 1.99298605] [ 0. 0. 0. 1. ]] SLAMing on 64.644839173 meters Centerline goodness : 0.704094 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.02, Z:2.00 [[ 0.98494345 0.15560689 0.07531867 6.85688349] [-0.15342621 0.9875765 -0.03395663 1.01623978] [-0.07966684 0.02188951 0.99658118 2.00411661] [ 0. 0. 0. 1. ]] SLAMing on 64.704839173 meters Centerline goodness : 0.729199 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.99, Z:2.01 [[ 0.98533769 0.1482715 0.08441086 6.85740297] [-0.14657322 0.98885787 -0.02600764 0.98799421] [-0.08732653 0.01325394 0.99609157 2.01159638] [ 0. 0. 0. 1. ]] SLAMing on 64.764839173 meters Centerline goodness : 0.700286 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:0.96, Z:2.01 [[ 0.98535752 0.15312382 0.07499105 6.88106248] [-0.15161637 0.98811218 -0.02543208 0.95922592] [-0.07799382 0.01368982 0.99685985 2.00550817] [ 0. 0. 0. 1. ]] SLAMing on 64.824839173 meters Centerline goodness : 0.704616 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:0.93, Z:2.00 [[ 0.98535432 0.15438344 0.07240593 6.887339 ] [-0.15324162 0.98796342 -0.02110179 0.93375507] [-0.07479218 0.00969714 0.99715199 1.99875819] [ 0. 0. 0. 1. ]] SLAMing on 64.88483917299999 meters Centerline goodness : 0.754216 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:0.91, Z:2.00 [[ 0.98860327 0.14402681 0.04381619 6.78674216] [-0.14480909 0.98934255 0.01522021 0.91478958] [-0.04115711 -0.02139174 0.99892366 2.00186004] [ 0. 0. 0. 1. ]] SLAMing on 64.94483917299999 meters Centerline goodness : 0.630650 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:0.89, Z:1.98 [[ 0.98538661 0.16192327 0.05285916 6.98342054] [-0.16090265 0.98670103 -0.02305262 0.8901163 ] [-0.05588895 0.01421057 0.99833586 1.97725504] [ 0. 0. 0. 1. ]] SLAMing on 65.004839173 meters Centerline goodness : 0.646434 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:0.85, Z:1.95 [[ 0.98746236 0.1536739 0.03608899 7.01549278] [-0.15265154 0.98783756 -0.02957117 0.85140385] [-0.04019437 0.02369138 0.99891097 1.95424991] [ 0. 0. 0. 1. ]] SLAMing on 65.064839173 meters Centerline goodness : 0.592602 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:0.85, Z:1.94 [[ 0.9877331 0.14902998 0.04661961 7.04341588] [-0.14773585 0.98856899 -0.0300909 0.84806279] [-0.05057115 0.02283439 0.99845939 1.94384253] [ 0. 0. 0. 1. ]] SLAMing on 65.124839173 meters Centerline goodness : 0.669713 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:0.84, Z:1.97 [[ 0.98862583 0.13724736 0.06149903 6.91402216] [-0.13635382 0.99048711 -0.01851786 0.84164312] [-0.06345553 0.0099216 0.99793535 1.96847401] [ 0. 0. 0. 1. ]] SLAMing on 65.184839173 meters Centerline goodness : 0.666049 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:0.82, Z:1.97 [[ 0.9832159 0.1596388 0.08832867 7.1210139 ] [-0.15530761 0.98639178 -0.05395181 0.82367519] [-0.09573948 0.03932816 0.9946292 1.96713656] [ 0. 0. 0. 1. ]] SLAMing on 65.24483917299999 meters Centerline goodness : 0.657923 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:0.78, Z:1.99 [[ 9.81172954e-01 1.53623335e-01 1.17044884e-01 7.12908161e+00] [-1.52563618e-01 9.88129464e-01 -1.80140122e-02 7.82853462e-01] [-1.18422871e-01 -1.81929367e-04 9.92963237e-01 1.98937576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30483917299999 meters Centerline goodness : 0.730008 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:0.75, Z:1.99 [[ 9.81505974e-01 1.56473512e-01 1.10281746e-01 7.10864433e+00] [-1.55642600e-01 9.87681291e-01 -1.61569724e-02 7.52156562e-01] [-1.11451355e-01 -1.30637270e-03 9.93769032e-01 1.99260725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.364839173 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [False, True] Translation: X:6.82, Y:1.39, Z:2.66 [[ 0.88545735 -0.37465962 -0.27494627 6.81673355] [ 0.42300721 0.40479673 0.81068151 1.38541502] [-0.19243228 -0.83412815 0.51691396 2.65979462] [ 0. 0. 0. 1. ]] SLAMing on 65.424839173 meters Centerline goodness : 0.513302 with order 1 Centerline is valid? [True, False] Translation: X:5.97, Y:2.43, Z:1.75 [[ 0.64497468 0.474648 0.59892982 5.97097625] [-0.12376126 0.83826004 -0.53103979 2.43139701] [-0.75411591 0.26838291 0.59939954 1.74718104] [ 0. 0. 0. 1. ]] SLAMing on 65.484839173 meters Centerline goodness : 0.332908 with order 2 Centerline is valid? [False, False] Translation: X:5.96, Y:2.57, Z:1.85 [[ 0.38933448 0.63351644 0.66863711 5.95774805] [ 0.02839129 0.71731558 -0.69616973 2.5679756 ] [-0.92065879 0.29002635 0.26128934 1.84678255] [ 0. 0. 0. 1. ]] SLAMing on 65.544839173 meters Centerline goodness : 0.656264 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:2.50, Z:1.69 [[ 0.27813726 0.52362661 0.80526693 5.92156453] [ 0.04239279 0.83083834 -0.55489685 2.50379211] [-0.95960539 0.18847501 0.20888911 1.68549178] [ 0. 0. 0. 1. ]] SLAMing on 65.60483917299999 meters Centerline goodness : 0.643394 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:2.47, Z:1.69 [[ 0.26307889 0.46891492 0.84315378 5.91708667] [ 0.0582297 0.86462817 -0.49902647 2.46627019] [-0.96301547 0.18037992 0.20016064 1.69130992] [ 0. 0. 0. 1. ]] SLAMing on 65.66483917299999 meters Centerline goodness : 0.680426 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:2.45, Z:1.68 [[ 0.25236065 0.44000275 0.86180722 5.93246913] [ 0.06172282 0.88150055 -0.46813147 2.44516726] [-0.96566267 0.17133113 0.19529784 1.68493252] [ 0. 0. 0. 1. ]] SLAMing on 65.72483917299999 meters Centerline goodness : 0.689067 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:2.43, Z:1.72 [[ 0.26071263 0.41510966 0.87161511 5.92731419] [ 0.06118033 0.89391967 -0.4440322 2.42677365] [-0.96347594 0.1690905 0.2076596 1.71866663] [ 0. 0. 0. 1. ]] SLAMing on 65.784839173 meters Centerline goodness : 0.716255 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:2.40, Z:1.76 [[ 0.26844393 0.38821118 0.88160645 5.91349509] [ 0.0596954 0.90673538 -0.41745348 2.39925041] [-0.96144387 0.16469071 0.22023319 1.75500987] [ 0. 0. 0. 1. ]] SLAMing on 65.844839173 meters Centerline goodness : 0.830785 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:2.35, Z:1.89 [[ 0.37657772 0.41432982 0.82856504 5.91411876] [ 0.0306389 0.888347 -0.4581494 2.3506934 ] [-0.92587822 0.19791517 0.32183708 1.89137291] [ 0. 0. 0. 1. ]] SLAMing on 65.904839173 meters Centerline goodness : 0.729193 with order 2 Centerline is valid? [False, False] Translation: X:5.96, Y:2.34, Z:1.79 [[ 0.42348231 0.40182485 0.81191103 5.95504279] [-0.00825588 0.89791829 -0.44008475 2.33916782] [-0.90586675 0.17966506 0.38356993 1.79213308] [ 0. 0. 0. 1. ]] SLAMing on 65.96483917299999 meters Centerline goodness : 0.698439 with order 3 Centerline is valid? [False, False] Translation: X:5.94, Y:2.34, Z:1.75 [[ 0.39107942 0.37394014 0.8409671 5.94112491] [ 0.01378844 0.91125711 -0.41160705 2.33972688] [-0.92025364 0.17256667 0.35121785 1.74528821] [ 0. 0. 0. 1. ]] SLAMing on 66.02483917299999 meters Centerline goodness : 0.764857 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:2.26, Z:1.75 [[ 0.49305829 0.41201207 0.76625033 6.05792282] [-0.12054847 0.90460987 -0.40883867 2.26287181] [-0.86160408 0.10921099 0.49569282 1.74646402] [ 0. 0. 0. 1. ]] SLAMing on 66.08483917299999 meters Centerline goodness : 0.612432 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:2.25, Z:1.67 [[ 0.46111373 0.38309046 0.8003848 6.06673467] [-0.0838077 0.91677378 -0.39051517 2.25282464] [-0.88337444 0.1129935 0.45484291 1.67154048] [ 0. 0. 0. 1. ]] SLAMing on 66.144839173 meters Centerline goodness : 0.909211 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:2.20, Z:2.16 [[ 0.99192904 0.10009564 0.07783083 6.66950668] [-0.07457575 0.95700351 -0.28032614 2.20466044] [-0.10254381 0.27225935 0.95674428 2.16246837] [ 0. 0. 0. 1. ]] SLAMing on 66.204839173 meters Centerline goodness : 0.906200 with order 3 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.04, Z:2.16 [[ 0.99852147 -0.03723926 -0.0395993 6.59649332] [ 0.04850509 0.93923641 0.33982674 -0.04243058] [ 0.02453821 -0.34124507 0.93965402 2.16068612] [ 0. 0. 0. 1. ]] SLAMing on 66.264839173 meters Centerline goodness : 0.797108 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:2.17, Z:1.83 [[ 9.94499885e-01 9.97433406e-02 -3.19569288e-02 6.74826824e+00] [-1.04664103e-01 9.34979063e-01 -3.38909393e-01 2.17495510e+00] [-3.92489571e-03 3.40390096e-01 9.40276118e-01 1.82706067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32483917299999 meters Centerline goodness : 0.461517 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:2.15, Z:1.83 [[ 0.9863926 0.16055995 -0.03535725 6.85191321] [-0.1637083 0.9394139 -0.30116627 2.15388153] [-0.01514015 0.30285645 0.95291592 1.83420466] [ 0. 0. 0. 1. ]] SLAMing on 66.38483917299999 meters Centerline goodness : 0.845765 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:2.14, Z:1.84 [[ 9.84206279e-01 1.77003862e-01 -2.76285934e-03 6.86435130e+00] [-1.67677583e-01 9.27117094e-01 -3.35168796e-01 2.13862424e+00] [-5.67646772e-02 3.30338503e-01 9.42154045e-01 1.84467360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44483917299999 meters SLAMing on 66.504839173 meters Centerline goodness : 0.530718 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:2.13, Z:2.06 [[ 0.90965805 0.0480805 -0.41256574 7.09305567] [-0.26416145 0.83348233 -0.48531015 2.13411813] [ 0.3205323 0.55045025 0.77088493 2.06386209] [ 0. 0. 0. 1. ]] SLAMing on 66.564839173 meters Centerline goodness : 0.572806 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:2.07, Z:2.08 [[ 0.87582014 0.09437153 -0.47332134 7.06748123] [-0.30102874 0.87337543 -0.38287996 2.06719427] [ 0.37725426 0.47781731 0.79332833 2.07608827] [ 0. 0. 0. 1. ]] SLAMing on 66.624839173 meters Centerline goodness : 0.796354 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.13, Z:1.63 [[ 0.96889071 -0.01972131 -0.24670198 7.13347508] [ 0.13076645 0.88710654 0.4426535 -0.13235953] [ 0.21012123 -0.4611432 0.86208817 1.63255655] [ 0. 0. 0. 1. ]] SLAMing on 66.684839173 meters SLAMing on 66.74483917299999 meters SLAMing on 66.80483917299999 meters SLAMing on 66.864839173 meters Centerline goodness : 0.753927 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.13, Z:1.43 [[ 9.89881427e-01 -1.41807308e-01 -5.04460840e-03 6.85663466e+00] [ 1.41095625e-01 9.87441740e-01 -7.10692304e-02 1.28592307e-01] [ 1.50593931e-02 6.96383390e-02 9.97458629e-01 1.43432283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.924839173 meters SLAMing on 66.984839173 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [False, True] Translation: X:6.85, Y:0.23, Z:1.40 [[ 9.41096737e-01 -2.01362542e-01 -2.71643255e-01 6.84883339e+00] [ 1.93274572e-01 9.79516553e-01 -5.65001102e-02 2.25433664e-01] [ 2.77456071e-01 6.70335364e-04 9.60738091e-01 1.40418288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.044839173 meters SLAMing on 67.10483917299999 meters Centerline goodness : 0.671763 with order 1 Centerline is valid? [True, False] Translation: X:7.40, Y:2.42, Z:1.87 [[ 0.91706398 -0.1260428 -0.37829469 7.39996275] [-0.0806744 0.87045346 -0.48559491 2.42112234] [ 0.39049366 0.4758403 0.78809308 1.87237986] [ 0. 0. 0. 1. ]] SLAMing on 67.16483917299999 meters Centerline goodness : 0.734742 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:2.43, Z:2.02 [[ 0.85744361 -0.18267364 -0.48106215 7.16582363] [-0.30903696 0.56469261 -0.76525709 2.4253917 ] [ 0.41144454 0.80483079 0.42773916 2.01706204] [ 0. 0. 0. 1. ]] SLAMing on 67.22483917299999 meters Centerline goodness : 0.923894 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:2.09, Z:2.27 [[ 0.72153103 0.10442871 -0.68446155 6.5917724 ] [-0.33495435 0.91782923 -0.21306125 2.0889929 ] [ 0.6059691 0.38299367 0.69722112 2.27363281] [ 0. 0. 0. 1. ]] SLAMing on 67.284839173 meters Centerline goodness : 0.571924 with order 3 Centerline is valid? [False, False] Translation: X:6.79, Y:0.91, Z:2.23 [[ 0.31746362 -0.17596898 -0.93180028 6.78965388] [ 0.93144243 0.2421638 0.27160946 0.91496035] [ 0.17785346 -0.95414444 0.24078317 2.2255478 ] [ 0. 0. 0. 1. ]] SLAMing on 67.344839173 meters Centerline goodness : 0.697202 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.92, Z:1.80 [[-0.46521319 -0.5411068 0.700557 5.12155645] [ 0.88334835 -0.23263847 0.40690913 0.92467731] [-0.05720479 0.80813536 0.58621229 1.8019534 ] [ 0. 0. 0. 1. ]] SLAMing on 67.404839173 meters Centerline goodness : 0.797256 with order 2 Centerline is valid? [False, False] Translation: X:5.59, Y:0.23, Z:1.87 [[ 0.56245672 0.60582934 0.56268397 5.58794861] [-0.81504546 0.29177642 0.5005671 0.23132009] [ 0.13908032 -0.74016034 0.65789006 1.87261489] [ 0. 0. 0. 1. ]] SLAMing on 67.46483917299999 meters Centerline goodness : 0.747736 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:1.58, Z:1.38 [[ 0.6632068 -0.2286824 0.71264374 5.91798768] [ 0.49050593 0.85198887 -0.18308168 1.5812002 ] [-0.56529698 0.47097699 0.67721488 1.38072771] [ 0. 0. 0. 1. ]] SLAMing on 67.52483917299999 meters Centerline goodness : 0.637210 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:1.65, Z:1.39 [[ 0.59597747 -0.11477396 0.79475644 5.93068114] [ 0.48448611 0.84068799 -0.24190269 1.65427569] [-0.64037806 0.52921701 0.55663749 1.39407833] [ 0. 0. 0. 1. ]] SLAMing on 67.58483917299999 meters Centerline goodness : 0.646801 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:1.67, Z:1.48 [[ 5.90431934e-01 5.71505443e-03 8.07067203e-01 5.92699377e+00] [ 4.61818385e-01 8.17698675e-01 -3.43646122e-01 1.66666506e+00] [-6.61901738e-01 5.75618116e-01 4.80156092e-01 1.48473819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.644839173 meters Centerline goodness : 0.674929 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:1.62, Z:1.56 [[ 0.58549106 -0.01190483 0.81059145 5.88010326] [ 0.46573427 0.82335647 -0.32430805 1.62146621] [-0.66354488 0.56739968 0.48761234 1.55683556] [ 0. 0. 0. 1. ]] SLAMing on 67.704839173 meters Centerline goodness : 0.679636 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:1.59, Z:1.61 [[ 0.59051786 -0.03066238 0.80644186 5.84902262] [ 0.4717651 0.82387069 -0.31412541 1.5912953 ] [-0.65477198 0.56594779 0.5009758 1.6121827 ] [ 0. 0. 0. 1. ]] SLAMing on 67.764839173 meters Centerline goodness : 0.692303 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.55, Z:1.69 [[ 0.58769859 -0.05463836 0.80723294 5.79809761] [ 0.47840508 0.82808161 -0.29224893 1.54681625] [-0.65248675 0.55793862 0.51280166 1.69279255] [ 0. 0. 0. 1. ]] SLAMing on 67.82483917299999 meters Centerline goodness : 0.701310 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:1.50, Z:1.78 [[ 0.58509575 -0.06124083 0.80864858 5.7494453 ] [ 0.47992563 0.82993384 -0.28439623 1.49963016] [-0.65370816 0.5544902 0.51498181 1.77545327] [ 0. 0. 0. 1. ]] SLAMing on 67.88483917299999 meters Centerline goodness : 0.707502 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.46, Z:1.86 [[ 0.58177207 -0.07431319 0.80994988 5.69743491] [ 0.48587588 0.83036104 -0.27280977 1.4563519 ] [-0.65227746 0.55224822 0.51918785 1.85565574] [ 0. 0. 0. 1. ]] SLAMing on 67.94483917299999 meters Centerline goodness : 0.709775 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.40, Z:1.95 [[ 0.58439485 -0.0892277 0.80654887 5.63520263] [ 0.49177617 0.82956013 -0.26454903 1.40362945] [-0.64547568 0.55124261 0.52867072 1.9467402 ] [ 0. 0. 0. 1. ]] SLAMing on 68.004839173 meters Centerline goodness : 0.711866 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.35, Z:2.04 [[ 0.59179069 -0.08237743 0.8018714 5.56600152] [ 0.48539155 0.83061648 -0.27289432 1.34772261] [-0.64356726 0.55071792 0.53153641 2.03976293] [ 0. 0. 0. 1. ]] SLAMing on 68.064839173 meters Centerline goodness : 0.708106 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:2.14 [[ 0.60990914 -0.06819985 0.78953127 5.49965588] [ 0.46457531 0.83790534 -0.2865038 1.29733825] [-0.64201295 0.54153802 0.54273009 2.14380007] [ 0. 0. 0. 1. ]] SLAMing on 68.124839173 meters Centerline goodness : 0.711543 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.25, Z:2.24 [[ 0.62084583 -0.04688172 0.78252959 5.44592432] [ 0.44617061 0.84189771 -0.30354577 1.24581816] [-0.64457912 0.53759684 0.54360593 2.24384297] [ 0. 0. 0. 1. ]] SLAMing on 68.184839173 meters Centerline goodness : 0.763657 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.20, Z:2.31 [[ 0.63638818 -0.03383545 0.77062653 5.40904966] [ 0.42841056 0.84629316 -0.3166264 1.20019097] [-0.64146277 0.53164184 0.55306642 2.31411932] [ 0. 0. 0. 1. ]] SLAMing on 68.24483917299999 meters Centerline goodness : 0.702222 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.16, Z:2.37 [[ 0.65687524 -0.01548389 0.75384028 5.37027396] [ 0.40222884 0.85284266 -0.33297351 1.15550221] [-0.63775143 0.52193835 0.56643929 2.37407964] [ 0. 0. 0. 1. ]] SLAMing on 68.30483917299999 meters Centerline goodness : 0.679146 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.11, Z:2.43 [[ 0.69432407 0.01793331 0.71943901 5.33439449] [ 0.35247163 0.86310495 -0.36168162 1.10817996] [-0.62743752 0.50470609 0.59295356 2.4266342 ] [ 0. 0. 0. 1. ]] SLAMing on 68.364839173 meters Centerline goodness : 0.697157 with order 2 Centerline is valid? [False, False] Translation: X:5.30, Y:1.06, Z:2.46 [[ 0.72185762 0.05364364 0.68995937 5.30332888] [ 0.30876498 0.8672927 -0.39047095 1.06488199] [-0.61934301 0.49489972 0.60949857 2.46108681] [ 0. 0. 0. 1. ]] SLAMing on 68.424839173 meters Centerline goodness : 0.701940 with order 2 Centerline is valid? [False, False] Translation: X:5.29, Y:1.03, Z:2.46 [[ 0.72515853 0.03523918 0.68767966 5.28999307] [ 0.30090768 0.88206735 -0.3625076 1.03027471] [-0.61935424 0.46980357 0.62903492 2.4597283 ] [ 0. 0. 0. 1. ]] SLAMing on 68.484839173 meters Centerline goodness : 0.649068 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.00, Z:2.44 [[ 7.18395318e-01 -4.50565532e-03 6.95620490e-01 5.30362531e+00] [ 3.16104273e-01 8.92887837e-01 -3.20670233e-01 9.96855549e-01] [-6.19666246e-01 4.50256603e-01 6.42870698e-01 2.43745755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.544839173 meters Centerline goodness : 0.690199 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.94, Z:2.47 [[ 0.71702005 -0.02602741 0.69656646 5.27242703] [ 0.32458455 0.89681722 -0.30060563 0.93551922] [-0.61686881 0.44163498 0.65148402 2.47265579] [ 0. 0. 0. 1. ]] SLAMing on 68.60483917299999 meters Centerline goodness : 0.669796 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:0.88, Z:2.48 [[ 0.71591537 -0.05190413 0.69625509 5.25250028] [ 0.33708029 0.89900614 -0.27957976 0.8755606 ] [-0.61142625 0.43484932 0.66110817 2.48295769] [ 0. 0. 0. 1. ]] SLAMing on 68.66483917299999 meters Centerline goodness : 0.681349 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:0.83, Z:2.51 [[ 0.72240224 -0.07335912 0.68757069 5.21748432] [ 0.33485606 0.90709806 -0.25503828 0.83492458] [-0.60498465 0.41447743 0.67985442 2.51301348] [ 0. 0. 0. 1. ]] SLAMing on 68.72483917299999 meters Centerline goodness : 0.698106 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:2.54 [[ 0.73527747 -0.08181092 0.67281053 5.1819873 ] [ 0.32614356 0.9129075 -0.24541859 0.78864636] [-0.59413586 0.39988358 0.69792242 2.53949275] [ 0. 0. 0. 1. ]] SLAMing on 68.784839173 meters Centerline goodness : 0.650450 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:0.74, Z:2.55 [[ 0.73942617 -0.08295723 0.66810705 5.15859909] [ 0.31911846 0.91699963 -0.23932212 0.74156007] [-0.59280042 0.39016633 0.70452671 2.54959385] [ 0. 0. 0. 1. ]] SLAMing on 68.844839173 meters Centerline goodness : 0.662705 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:0.70, Z:2.57 [[ 0.73816684 -0.09454167 0.66796077 5.13802501] [ 0.31133317 0.92612842 -0.21297373 0.69707642] [-0.59848256 0.36516849 0.71307124 2.57438275] [ 0. 0. 0. 1. ]] SLAMing on 68.904839173 meters Centerline goodness : 0.699253 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:2.60 [[ 0.73206738 -0.10552996 0.67300875 5.11599788] [ 0.30844393 0.93220903 -0.18933744 0.6471533 ] [-0.60740406 0.34619323 0.7149899 2.59997104] [ 0. 0. 0. 1. ]] SLAMing on 68.96483917299999 meters Centerline goodness : 0.695697 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:2.62 [[ 0.73936286 -0.13225425 0.66019041 5.09452213] [ 0.30778319 0.93846507 -0.15669337 0.61248625] [-0.59884228 0.31904877 0.73457185 2.61880942] [ 0. 0. 0. 1. ]] SLAMing on 69.02483917299999 meters Centerline goodness : 0.713990 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:2.63 [[ 0.73685268 -0.13525473 0.6623853 5.09014136] [ 0.30933808 0.93865305 -0.15244802 0.58069527] [-0.60113067 0.31723273 0.73348846 2.62837766] [ 0. 0. 0. 1. ]] SLAMing on 69.08483917299999 meters Centerline goodness : 0.712866 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:2.64 [[ 0.73844423 -0.15848411 0.65542574 5.08669547] [ 0.32093032 0.93744596 -0.13490293 0.55833019] [-0.59304625 0.30996429 0.74311392 2.63647586] [ 0. 0. 0. 1. ]] SLAMing on 69.144839173 meters Centerline goodness : 0.706461 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:2.63 [[ 0.73549167 -0.17151204 0.65546596 5.08964783] [ 0.33410828 0.93343532 -0.13065279 0.53718117] [-0.58942655 0.31509065 0.7438375 2.63182038] [ 0. 0. 0. 1. ]] SLAMing on 69.204839173 meters Centerline goodness : 0.691640 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:2.64 [[ 0.73638482 -0.18801306 0.64991421 5.07997927] [ 0.34342713 0.93152794 -0.11963902 0.51594746] [-0.58291955 0.31129853 0.75053183 2.63613595] [ 0. 0. 0. 1. ]] SLAMing on 69.264839173 meters Centerline goodness : 0.709130 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:2.64 [[ 0.73667575 -0.19828644 0.64652248 5.07737933] [ 0.35182474 0.92884942 -0.11600913 0.50201032] [-0.57751899 0.31292372 0.75402292 2.63958548] [ 0. 0. 0. 1. ]] SLAMing on 69.32483917299999 meters Centerline goodness : 0.729927 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.49, Z:2.65 [[ 0.72939979 -0.20618149 0.65227689 5.07213109] [ 0.36079175 0.92604968 -0.11073078 0.48721996] [-0.58121017 0.31610313 0.74984902 2.64755716] [ 0. 0. 0. 1. ]] SLAMing on 69.38483917299999 meters Centerline goodness : 0.709789 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:0.48, Z:2.64 [[ 0.7393168 -0.21150564 0.63927774 5.07940149] [ 0.36133375 0.9257342 -0.11159798 0.48412186] [-0.56819767 0.31349888 0.76083498 2.63679119] [ 0. 0. 0. 1. ]] SLAMing on 69.44483917299999 meters Centerline goodness : 0.685690 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.49, Z:2.62 [[ 0.74659473 -0.22375935 0.6265206 5.08515675] [ 0.35825271 0.92875719 -0.09521072 0.48948765] [-0.56058122 0.29553652 0.77356762 2.6208256 ] [ 0. 0. 0. 1. ]] SLAMing on 69.504839173 meters Centerline goodness : 0.672747 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:0.50, Z:2.60 [[ 0.75538188 -0.2241149 0.61576841 5.10641819] [ 0.3538825 0.93040258 -0.09548939 0.49806307] [-0.55151192 0.29004061 0.78211959 2.60355637] [ 0. 0. 0. 1. ]] SLAMing on 69.564839173 meters Centerline goodness : 0.674749 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:0.49, Z:2.61 [[ 0.76028676 -0.21545826 0.61281464 5.10854906] [ 0.35292979 0.92901466 -0.11123098 0.489797 ] [-0.54534815 0.30084798 0.78235918 2.60832669] [ 0. 0. 0. 1. ]] SLAMing on 69.624839173 meters Centerline goodness : 0.673931 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:0.51, Z:2.59 [[ 0.76437438 -0.20599487 0.61098111 5.14200107] [ 0.34658522 0.93031905 -0.11993809 0.50568865] [-0.54370074 0.30343463 0.78250682 2.58656378] [ 0. 0. 0. 1. ]] SLAMing on 69.68483917299999 meters Centerline goodness : 0.669013 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:0.55, Z:2.56 [[ 0.7647468 -0.1685524 0.62189422 5.18882961] [ 0.32781351 0.93270659 -0.15032203 0.54547798] [-0.5547077 0.31882362 0.76853813 2.56092059] [ 0. 0. 0. 1. ]] SLAMing on 69.74483917299999 meters Centerline goodness : 0.678827 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:0.53, Z:2.57 [[ 0.77073551 -0.1633686 0.61585507 5.1860322 ] [ 0.32036116 0.93486884 -0.15293453 0.53239254] [-0.55075902 0.31516812 0.77287357 2.57459423] [ 0. 0. 0. 1. ]] SLAMing on 69.80483917299999 meters Centerline goodness : 0.692810 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:0.51, Z:2.60 [[ 0.76893649 -0.17778669 0.61410795 5.16974864] [ 0.33056506 0.9327528 -0.14387129 0.51004279] [-0.54723251 0.31363052 0.77599773 2.59734977] [ 0. 0. 0. 1. ]] SLAMing on 69.864839173 meters Centerline goodness : 0.702642 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:0.50, Z:2.61 [[ 0.76771774 -0.18985336 0.61201729 5.16709912] [ 0.3369597 0.93199632 -0.13357026 0.49711331] [-0.54503911 0.30876942 0.77948305 2.60563886] [ 0. 0. 0. 1. ]] SLAMing on 69.924839173 meters Centerline goodness : 0.746881 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:0.46, Z:2.63 [[ 0.75783994 -0.20645912 0.61891297 5.15121166] [ 0.35414454 0.92687321 -0.12444957 0.46358095] [-0.5479601 0.31349751 0.7755379 2.63426303] [ 0. 0. 0. 1. ]] SLAMing on 69.984839173 meters Centerline goodness : 0.749169 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:0.45, Z:2.65 [[ 0.75504564 -0.2280094 0.61475019 5.14533365] [ 0.36752986 0.92362132 -0.10883686 0.45025041] [-0.54298055 0.30811585 0.78117651 2.65083224] [ 0. 0. 0. 1. ]] SLAMing on 70.044839173 meters Centerline goodness : 0.746132 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:0.44, Z:2.67 [[ 0.75269646 -0.24559949 0.6108428 5.13527682] [ 0.37848756 0.92058907 -0.09624414 0.43702169] [-0.53869769 0.30363902 0.78588049 2.66735867] [ 0. 0. 0. 1. ]] SLAMing on 70.10483917299999 meters Centerline goodness : 0.771476 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.41, Z:2.70 [[ 0.74117047 -0.26858136 0.61524823 5.11511346] [ 0.40063869 0.91234416 -0.08436095 0.41239861] [-0.53866035 0.30901809 0.78380664 2.69525749] [ 0. 0. 0. 1. ]] SLAMing on 70.16483917299999 meters Centerline goodness : 0.797137 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:0.40, Z:2.72 [[ 0.73670652 -0.27502013 0.61776002 5.1059507 ] [ 0.4053738 0.91082257 -0.07793801 0.40062205] [-0.54123525 0.30784116 0.78249487 2.71549625] [ 0. 0. 0. 1. ]] SLAMing on 70.22483917299999 meters Centerline goodness : 0.787826 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.39, Z:2.73 [[ 0.74069951 -0.28618183 0.60783567 5.09352087] [ 0.4104086 0.90904536 -0.07212011 0.39238679] [-0.53191073 0.30288031 0.79078094 2.7305529 ] [ 0. 0. 0. 1. ]] SLAMing on 70.284839173 meters Centerline goodness : 0.776960 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:0.39, Z:2.74 [[ 0.74495589 -0.29980865 0.59594923 5.08281026] [ 0.41716069 0.90647386 -0.06543781 0.38804561] [-0.52059358 0.29735488 0.80035143 2.74009536] [ 0. 0. 0. 1. ]] SLAMing on 70.344839173 meters Centerline goodness : 0.779658 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:0.38, Z:2.76 [[ 0.74590691 -0.30065072 0.59433326 5.07535988] [ 0.42015946 0.90477559 -0.06962157 0.37578064] [-0.51680645 0.30164596 0.8011996 2.76048166] [ 0. 0. 0. 1. ]] SLAMing on 70.404839173 meters Centerline goodness : 0.785276 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:0.38, Z:2.76 [[ 0.75272632 -0.29754471 0.58725653 5.07737786] [ 0.40229558 0.9140002 -0.05255378 0.38145866] [-0.52111549 0.27580932 0.80769293 2.76206497] [ 0. 0. 0. 1. ]] SLAMing on 70.46483917299999 meters Centerline goodness : 0.774374 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.39, Z:2.76 [[ 0.76071778 -0.28663671 0.58236403 5.0875777 ] [ 0.3863501 0.92091884 -0.05140125 0.39026209] [-0.52157652 0.26409825 0.81130145 2.75857125] [ 0. 0. 0. 1. ]] SLAMing on 70.52483917299999 meters Centerline goodness : 0.798272 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.41, Z:2.79 [[ 0.76167185 -0.1860939 0.620665 5.06207499] [ 0.34150432 0.92932702 -0.14044958 0.41259892] [-0.55066395 0.31893627 0.77139411 2.79070275] [ 0. 0. 0. 1. ]] SLAMing on 70.58483917299999 meters Centerline goodness : 0.829147 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.38, Z:2.84 [[ 0.76285968 -0.18332394 0.6200302 5.01471952] [ 0.32532476 0.93756093 -0.12305816 0.38464887] [-0.55875658 0.29558728 0.77486724 2.84010673] [ 0. 0. 0. 1. ]] SLAMing on 70.644839173 meters Centerline goodness : 0.833032 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.35, Z:2.87 [[ 0.76357815 -0.18553193 0.61848712 4.98799076] [ 0.32205989 0.93961678 -0.11574854 0.35474385] [-0.55966583 0.28757295 0.77722324 2.8679578 ] [ 0. 0. 0. 1. ]] SLAMing on 70.704839173 meters Centerline goodness : 0.840916 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.32, Z:2.89 [[ 0.76481319 -0.18817721 0.61615755 4.96529628] [ 0.32020858 0.9409275 -0.11009949 0.32292123] [-0.55904137 0.28150448 0.77988972 2.88964811] [ 0. 0. 0. 1. ]] SLAMing on 70.764839173 meters Centerline goodness : 0.836767 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.29, Z:2.93 [[ 0.77119219 -0.19765004 0.60514218 4.91769965] [ 0.31023072 0.94675139 -0.08613192 0.28983726] [-0.55589522 0.25415796 0.79144439 2.92601782] [ 0. 0. 0. 1. ]] SLAMing on 70.82483917299999 meters Centerline goodness : 0.843660 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.27, Z:2.96 [[ 0.77177869 -0.20337491 0.60249174 4.89311558] [ 0.30792826 0.94850587 -0.07427515 0.26708668] [-0.55636125 0.24284821 0.7946615 2.95555673] [ 0. 0. 0. 1. ]] SLAMing on 70.88483917299999 meters Centerline goodness : 0.843020 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:2.96 [[ 0.77665482 -0.20223101 0.59658186 4.88861946] [ 0.30969009 0.94729062 -0.08205204 0.25332685] [-0.54854293 0.2484816 0.79834676 2.96045705] [ 0. 0. 0. 1. ]] SLAMing on 70.94483917299999 meters Centerline goodness : 0.813434 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.23, Z:2.98 [[ 0.78538853 -0.22316683 0.5773746 4.85993965] [ 0.31694078 0.94618737 -0.06540644 0.2342971 ] [-0.531708 0.23436303 0.81385538 2.97876694] [ 0. 0. 0. 1. ]] SLAMing on 71.004839173 meters Centerline goodness : 0.792278 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.21, Z:2.99 [[ 0.79114161 -0.22460453 0.56890048 4.83665893] [ 0.31775984 0.94569149 -0.06852946 0.21254451] [-0.52261232 0.23499023 0.81954619 2.99159582] [ 0. 0. 0. 1. ]] SLAMing on 71.064839173 meters Centerline goodness : 0.801198 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:0.19, Z:3.02 [[ 0.79534837 -0.21427592 0.5670157 4.79886588] [ 0.31034187 0.94748024 -0.07726012 0.18715719] [-0.52068118 0.23741742 0.82007565 3.01839123] [ 0. 0. 0. 1. ]] SLAMing on 71.124839173 meters Centerline goodness : 0.787642 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:3.04 [[ 0.80032358 -0.20738342 0.56256046 4.76477993] [ 0.29558493 0.95280181 -0.06926951 0.16756703] [-0.52164328 0.22172242 0.82384917 3.03858478] [ 0. 0. 0. 1. ]] SLAMing on 71.18483917299999 meters Centerline goodness : 0.776422 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:0.14, Z:3.07 [[ 0.80642747 -0.2021121 0.55572064 4.72240298] [ 0.28240175 0.95731416 -0.06163484 0.13810223] [-0.51954209 0.20664051 0.82908125 3.06985339] [ 0. 0. 0. 1. ]] SLAMing on 71.24483917299999 meters Centerline goodness : 0.780944 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.11, Z:3.09 [[ 0.8086038 -0.20592676 0.55113887 4.696136 ] [ 0.27749807 0.95949477 -0.04862721 0.11278365] [-0.51880122 0.19226012 0.8329954 3.09432127] [ 0. 0. 0. 1. ]] SLAMing on 71.30483917299999 meters Centerline goodness : 0.800727 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.08, Z:3.12 [[ 0.80907092 -0.21443772 0.54719348 4.67344124] [ 0.27702825 0.96028504 -0.03328652 0.08327571] [-0.51832383 0.1785192 0.83634401 3.12349091] [ 0. 0. 0. 1. ]] SLAMing on 71.364839173 meters Centerline goodness : 0.786275 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.06, Z:3.14 [[ 0.81619197 -0.21917095 0.53459776 4.65517461] [ 0.27734839 0.96030909 -0.02973765 0.05917453] [-0.50686146 0.17254146 0.84458327 3.14146797] [ 0. 0. 0. 1. ]] SLAMing on 71.424839173 meters Centerline goodness : 0.782177 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:3.16 [[ 0.82125562 -0.21819098 0.52719247 4.63910507] [ 0.27615132 0.96055992 -0.03263573 0.04620105] [-0.49927913 0.17238718 0.84911896 3.15554493] [ 0. 0. 0. 1. ]] SLAMing on 71.484839173 meters Centerline goodness : 0.743007 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:0.04, Z:3.16 [[ 0.83470766 -0.21954137 0.50503931 4.61965711] [ 0.27716365 0.95995651 -0.04078981 0.03685372] [-0.47586073 0.1740261 0.86213194 3.15755939] [ 0. 0. 0. 1. ]] SLAMing on 71.544839173 meters Centerline goodness : 0.714403 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:0.02, Z:3.16 [[ 0.84616928 -0.22517817 0.48300346 4.60110572] [ 0.28103481 0.95862174 -0.04542893 0.02162347] [-0.45278802 0.17418136 0.87443917 3.16431614] [ 0. 0. 0. 1. ]] SLAMing on 71.60483917299999 meters Centerline goodness : 0.724313 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:0.01, Z:3.17 [[ 0.84095385 -0.24375544 0.4830941 4.58642182] [ 0.29523915 0.95488278 -0.03213582 0.00679941] [-0.45346496 0.16965303 0.8749785 3.17315482] [ 0. 0. 0. 1. ]] SLAMing on 71.66483917299999 meters Centerline goodness : 0.740293 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.02, Z:3.21 [[ 0.83327059 -0.2495599 0.49333557 4.56046839] [ 0.30288435 0.95256374 -0.02972198 -0.01875931] [-0.46251616 0.17419008 0.86933113 3.21115447] [ 0. 0. 0. 1. ]] SLAMing on 71.72483917299999 meters Centerline goodness : 0.736373 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:3.22 [[ 0.83401138 -0.25720298 0.48813076 4.55515954] [ 0.30929727 0.95056499 -0.02759363 -0.0351548 ] [-0.45690285 0.17399091 0.8723342 3.22148095] [ 0. 0. 0. 1. ]] SLAMing on 71.784839173 meters Centerline goodness : 0.732016 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:3.22 [[ 0.83563377 -0.26715646 0.47994127 4.55554653] [ 0.31973362 0.94704734 -0.02952527 -0.03850037] [-0.44663924 0.17812568 0.87680365 3.21954113] [ 0. 0. 0. 1. ]] SLAMing on 71.844839173 meters Centerline goodness : 0.744545 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:3.23 [[ 0.82424216 -0.28910101 0.48687315 4.55764723] [ 0.34436393 0.93848385 -0.02572054 -0.04296257] [-0.44948675 0.1888615 0.87309392 3.22809866] [ 0. 0. 0. 1. ]] SLAMing on 71.904839173 meters Centerline goodness : 0.747630 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:3.23 [[ 0.81755454 -0.30107584 0.49087464 4.56447592] [ 0.3646082 0.93044247 -0.03657419 -0.04150608] [-0.44571901 0.20887831 0.87046218 3.23498192] [ 0. 0. 0. 1. ]] SLAMing on 71.96483917299999 meters Centerline goodness : 0.766291 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:3.23 [[ 0.81492853 -0.31171162 0.48859734 4.55923754] [ 0.37493314 0.92641634 -0.03432063 -0.0351487 ] [-0.44194642 0.21116019 0.87183412 3.2334887 ] [ 0. 0. 0. 1. ]] SLAMing on 72.02483917299999 meters Centerline goodness : 0.754440 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.02, Z:3.22 [[ 0.81806285 -0.31058127 0.48405831 4.5628999 ] [ 0.37152441 0.92785237 -0.03255134 -0.01631183] [-0.43902482 0.20646852 0.87443008 3.22380697] [ 0. 0. 0. 1. ]] SLAMing on 72.08483917299999 meters Centerline goodness : 0.759914 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.01, Z:3.23 [[ 0.82120514 -0.30536211 0.48205403 4.56545067] [ 0.36629069 0.92984284 -0.03497747 -0.00709644] [-0.4375537 0.20529558 0.87544302 3.23156161] [ 0. 0. 0. 1. ]] SLAMing on 72.144839173 meters Centerline goodness : 0.774915 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:3.24 [[ 0.81996756 -0.30620716 0.48362214 4.57873933] [ 0.36302337 0.93142385 -0.02576131 0.00934699] [-0.4425689 0.19668958 0.8748977 3.23974605] [ 0. 0. 0. 1. ]] SLAMing on 72.204839173 meters Centerline goodness : 0.785239 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:0.02, Z:3.24 [[ 0.82203744 -0.29820011 0.48510942 4.59813307] [ 0.35526709 0.93435552 -0.02765959 0.01734779] [-0.44501657 0.19508062 0.8740159 3.24046688] [ 0. 0. 0. 1. ]] SLAMing on 72.264839173 meters Centerline goodness : 0.805199 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:0.02, Z:3.25 [[ 0.81866292 -0.28695166 0.49744323 4.61018505] [ 0.34844205 0.9367464 -0.03308047 0.02133248] [-0.45648566 0.20041189 0.86686557 3.24552455] [ 0. 0. 0. 1. ]] SLAMing on 72.32483917299999 meters Centerline goodness : 0.821509 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:0.04, Z:3.24 [[ 0.81730448 -0.2904132 0.49766813 4.6293051 ] [ 0.34933675 0.93660378 -0.02715142 0.03520402] [-0.45823272 0.19604475 0.86694246 3.24489787] [ 0. 0. 0. 1. ]] SLAMing on 72.38483917299999 meters Centerline goodness : 0.832365 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:0.04, Z:3.25 [[ 0.8184462 -0.27936924 0.50209426 4.64211953] [ 0.34509488 0.93768085 -0.04079396 0.04227399] [-0.45940759 0.20665782 0.86385022 3.24787396] [ 0. 0. 0. 1. ]] SLAMing on 72.44483917299999 meters Centerline goodness : 0.852999 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.07, Z:3.24 [[ 0.81533859 -0.24618172 0.52403965 4.65826879] [ 0.33523192 0.93868101 -0.08060728 0.07168085] [-0.47206202 0.24139704 0.84787081 3.2372557 ] [ 0. 0. 0. 1. ]] SLAMing on 72.504839173 meters Centerline goodness : 0.856173 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.07, Z:3.24 [[ 0.81633434 -0.24719359 0.52200917 4.66182767] [ 0.33595404 0.93838823 -0.08100867 0.07348696] [-0.46982244 0.24150125 0.84908423 3.24066387] [ 0. 0. 0. 1. ]] SLAMing on 72.564839173 meters Centerline goodness : 0.842610 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.07, Z:3.24 [[ 0.81596382 -0.2485792 0.52193047 4.66399774] [ 0.33937869 0.93685813 -0.08437386 0.07222601] [-0.46800122 0.2459781 0.84880483 3.23967125] [ 0. 0. 0. 1. ]] SLAMing on 72.624839173 meters Centerline goodness : 0.843927 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:0.08, Z:3.23 [[ 0.81908584 -0.2521639 0.51527832 4.67571683] [ 0.33893468 0.93739977 -0.08003096 0.075267 ] [-0.46284086 0.24019792 0.85327797 3.23185443] [ 0. 0. 0. 1. ]] SLAMing on 72.68483917299999 meters Centerline goodness : 0.837155 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:0.08, Z:3.23 [[ 0.82230594 -0.25268061 0.50986807 4.68273414] [ 0.33415178 0.93966998 -0.07323191 0.07937882] [-0.46060344 0.23059235 0.85712989 3.22897786] [ 0. 0. 0. 1. ]] SLAMing on 72.74483917299999 meters Centerline goodness : 0.844764 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.10, Z:3.22 [[ 0.81998816 -0.22780117 0.52509623 4.70223523] [ 0.32603583 0.93990578 -0.10137927 0.09760351] [-0.47044667 0.25432999 0.84498295 3.22094314] [ 0. 0. 0. 1. ]] SLAMing on 72.80483917299999 meters Centerline goodness : 0.829502 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:0.11, Z:3.21 [[ 0.82665974 -0.21823549 0.51865879 4.71996426] [ 0.31706513 0.94212692 -0.10893376 0.10624042] [-0.4648692 0.25449977 0.84801326 3.20905949] [ 0. 0. 0. 1. ]] SLAMing on 72.864839173 meters Centerline goodness : 0.806109 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:3.20 [[ 0.8339369 -0.21876098 0.50664867 4.72596363] [ 0.31667927 0.9415725 -0.11469724 0.10920361] [-0.45195517 0.25609539 0.85448913 3.19838145] [ 0. 0. 0. 1. ]] SLAMing on 72.924839173 meters Centerline goodness : 0.796917 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:3.20 [[ 0.84083764 -0.22218668 0.49358397 4.73340555] [ 0.31821839 0.9405563 -0.11870508 0.10623737] [-0.43786883 0.2568792 0.86155903 3.19983849] [ 0. 0. 0. 1. ]] SLAMing on 72.984839173 meters Centerline goodness : 0.797015 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:0.10, Z:3.20 [[ 0.84128555 -0.22489394 0.49159062 4.73905849] [ 0.32167415 0.93910324 -0.12087535 0.10392807] [-0.43447021 0.25982268 0.86239655 3.19782866] [ 0. 0. 0. 1. ]] SLAMing on 73.04483917299999 meters Centerline goodness : 0.780223 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.10, Z:3.19 [[ 0.84940572 -0.22370198 0.47798258 4.74925941] [ 0.31906743 0.93911867 -0.12748373 0.10180863] [-0.420364 0.26079408 0.86906879 3.19117873] [ 0. 0. 0. 1. ]] SLAMing on 73.10483917299999 meters Centerline goodness : 0.762018 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.11, Z:3.17 [[ 0.85685352 -0.21651854 0.46789077 4.76733571] [ 0.30993315 0.94156894 -0.13186877 0.11374907] [-0.41199938 0.25800708 0.87389293 3.17300693] [ 0. 0. 0. 1. ]] SLAMing on 73.16483917299999 meters Centerline goodness : 0.762134 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.11, Z:3.18 [[ 0.86087435 -0.20624346 0.46514405 4.76054684] [ 0.29604655 0.94652756 -0.12822643 0.10637343] [-0.4138258 0.24809114 0.87589896 3.18024857] [ 0. 0. 0. 1. ]] SLAMing on 73.22483917299999 meters Centerline goodness : 0.810474 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:0.09, Z:3.22 [[ 0.85768267 -0.1949553 0.47578657 4.73895259] [ 0.28907566 0.94807427 -0.13262895 0.08853943] [-0.42522429 0.25129187 0.86950371 3.21531874] [ 0. 0. 0. 1. ]] SLAMing on 73.284839173 meters Centerline goodness : 0.821646 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.06, Z:3.25 [[ 0.85674499 -0.20664862 0.47252975 4.70204055] [ 0.29409708 0.94840512 -0.11846787 0.0606134 ] [-0.42366841 0.24046638 0.87331609 3.24939734] [ 0. 0. 0. 1. ]] SLAMing on 73.344839173 meters Centerline goodness : 0.842244 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:0.04, Z:3.26 [[ 0.85337401 -0.21868688 0.47321121 4.68638339] [ 0.30304655 0.94672252 -0.10899204 0.03816645] [-0.42416458 0.23641599 0.87418069 3.26416347] [ 0. 0. 0. 1. ]] SLAMing on 73.404839173 meters Centerline goodness : 0.863018 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.00, Z:3.28 [[ 8.44141478e-01 -2.32952028e-01 4.82864907e-01 4.66657712e+00] [ 3.13806893e-01 9.44949133e-01 -9.27166113e-02 2.44134685e-03] [-4.34684253e-01 2.29792274e-01 8.70772709e-01 3.28450801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46483917299999 meters Centerline goodness : 0.865206 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.01, Z:3.29 [[ 0.84261605 -0.24725709 0.47839537 4.65894873] [ 0.31645561 0.94613982 -0.06837607 -0.01298329] [-0.43572244 0.20900567 0.87547849 3.29034561] [ 0. 0. 0. 1. ]] SLAMing on 73.52483917299999 meters Centerline goodness : 0.846039 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.02, Z:3.29 [[ 0.85495101 -0.24063892 0.45951243 4.66012742] [ 0.30727281 0.94866947 -0.07489765 -0.02161653] [-0.41790213 0.2052295 0.88500772 3.28856811] [ 0. 0. 0. 1. ]] SLAMing on 73.58483917299999 meters Centerline goodness : 0.822787 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.05, Z:3.29 [[ 0.86647849 -0.21539208 0.45035683 4.64235122] [ 0.28749327 0.9528143 -0.09742958 -0.04921235] [-0.40812087 0.21389519 0.88751688 3.29377873] [ 0. 0. 0. 1. ]] SLAMing on 73.644839173 meters Centerline goodness : 0.834410 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.08, Z:3.32 [[ 0.86875154 -0.22177575 0.4428163 4.60346798] [ 0.27867143 0.95805376 -0.06689715 -0.083782 ] [-0.40940565 0.18151725 0.89411325 3.3245999 ] [ 0. 0. 0. 1. ]] SLAMing on 73.704839173 meters Centerline goodness : 0.839170 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.11, Z:3.35 [[ 0.86859334 -0.2334211 0.43710433 4.56793082] [ 0.27907733 0.95933798 -0.04226677 -0.11230531] [-0.40946483 0.15869855 0.89841712 3.35262586] [ 0. 0. 0. 1. ]] SLAMing on 73.764839173 meters Centerline goodness : 0.851605 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.15, Z:3.37 [[ 0.86701377 -0.21854156 0.44780208 4.54333059] [ 0.27083387 0.96103283 -0.05536169 -0.15009448] [-0.41825367 0.16927932 0.89241715 3.37493354] [ 0. 0. 0. 1. ]] SLAMing on 73.82483917299999 meters Centerline goodness : 0.854189 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.17, Z:3.38 [[ 0.86890515 -0.23119924 0.43766512 4.5342373 ] [ 0.273149 0.9613548 -0.03444659 -0.16861122] [-0.41278744 0.14947861 0.89847798 3.37943027] [ 0. 0. 0. 1. ]] SLAMing on 73.88483917299999 meters Centerline goodness : 0.847281 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.19, Z:3.39 [[ 0.86852637 -0.24619142 0.4301764 4.52167453] [ 0.281817 0.95925968 -0.02000107 -0.19330338] [-0.40772678 0.13860248 0.90252325 3.39412386] [ 0. 0. 0. 1. ]] SLAMing on 73.94483917299999 meters Centerline goodness : 0.848627 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.22, Z:3.41 [[ 0.86897773 -0.24712852 0.42872509 4.5088983 ] [ 0.2855631 0.95799088 -0.02659304 -0.21990844] [-0.40414283 0.14553682 0.90304352 3.40914647] [ 0. 0. 0. 1. ]] SLAMing on 74.004839173 meters Centerline goodness : 0.854077 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.25, Z:3.43 [[ 8.67426449e-01 -2.58046993e-01 4.25421092e-01 4.48515084e+00] [ 2.85839844e-01 9.58276130e-01 -1.56260863e-03 -2.53880623e-01] [-4.07267651e-01 1.22957746e-01 9.04994173e-01 3.42532871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.064839173 meters Centerline goodness : 0.851724 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:3.43 [[ 8.72123956e-01 -2.60497532e-01 4.14174892e-01 4.49023962e+00] [ 2.85951290e-01 9.58243986e-01 5.67932412e-04 -2.74917550e-01] [-3.97028545e-01 1.17938537e-01 9.10197141e-01 3.43347250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.124839173 meters Centerline goodness : 0.847983 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.30, Z:3.43 [[ 0.87545244 -0.25601657 0.40992505 4.49475175] [ 0.28698103 0.95782371 -0.0146844 -0.29568593] [-0.38887648 0.13049621 0.912001 3.4321731 ] [ 0. 0. 0. 1. ]] SLAMing on 74.18483917299999 meters Centerline goodness : 0.849329 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.31, Z:3.44 [[ 0.87613708 -0.25622364 0.40832984 4.4970674 ] [ 0.28293453 0.95912492 -0.00523832 -0.30502592] [-0.39029715 0.1201201 0.91281942 3.43527997] [ 0. 0. 0. 1. ]] SLAMing on 74.24483917299999 meters Centerline goodness : 0.846241 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.32, Z:3.44 [[ 8.80292799e-01 -2.59711610e-01 3.97032074e-01 4.50377264e+00] [ 2.84827361e-01 9.58568345e-01 -4.48363547e-03 -3.24934967e-01] [-3.79417925e-01 1.17032510e-01 9.17793784e-01 3.43677265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30483917299999 meters Centerline goodness : 0.844763 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:3.43 [[ 8.81037943e-01 -2.59957929e-01 3.95213889e-01 4.50986498e+00] [ 2.83349931e-01 9.59016206e-01 -8.55671541e-04 -3.37654569e-01] [-3.78794086e-01 1.12737707e-01 9.18588727e-01 3.43209289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.364839173 meters Centerline goodness : 0.818550 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.34, Z:3.41 [[ 8.88736199e-01 -2.56453154e-01 3.79973352e-01 4.52651754e+00] [ 2.77646795e-01 9.60682691e-01 -1.01231132e-03 -3.35992150e-01] [-3.64774212e-01 1.06398061e-01 9.24996879e-01 3.40973781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters Centerline goodness : 0.798038 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:3.40 [[ 0.89269317 -0.25437358 0.37201209 4.52335325] [ 0.28225905 0.95909706 -0.02150943 -0.35551289] [-0.35132427 0.1242051 0.92797864 3.40177769] [ 0. 0. 0. 1. ]] SLAMing on 74.484839173 meters Centerline goodness : 0.808473 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:3.41 [[ 0.89109743 -0.26583703 0.36779893 4.519049 ] [ 0.29113152 0.95658129 -0.0139528 -0.3703106 ] [-0.3481204 0.11951117 0.92980066 3.41111701] [ 0. 0. 0. 1. ]] SLAMing on 74.54483917299999 meters Centerline goodness : 0.821253 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:3.43 [[ 0.88771964 -0.27448418 0.36961099 4.52097836] [ 0.30035919 0.95373593 -0.01312009 -0.3789676 ] [-0.34891002 0.12266302 0.92909396 3.42640329] [ 0. 0. 0. 1. ]] SLAMing on 74.60483917299999 meters Centerline goodness : 0.835009 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:3.44 [[ 0.88027759 -0.2747477 0.38681399 4.51453239] [ 0.31124913 0.94972935 -0.03373632 -0.39867094] [-0.35809962 0.15009284 0.92154045 3.44007952] [ 0. 0. 0. 1. ]] SLAMing on 74.66483917299999 meters Centerline goodness : 0.839930 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:3.45 [[ 0.88231041 -0.28108718 0.37751601 4.5109137 ] [ 0.31151139 0.95001707 -0.0206935 -0.39943795] [-0.35282998 0.13585862 0.92577181 3.44855949] [ 0. 0. 0. 1. ]] SLAMing on 74.72483917299999 meters Centerline goodness : 0.843279 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:3.46 [[ 0.8806086 -0.2841473 0.37919495 4.50934369] [ 0.31614084 0.94842157 -0.02348374 -0.40247881] [-0.35296383 0.14055899 0.92501876 3.45665938] [ 0. 0. 0. 1. ]] SLAMing on 74.784839173 meters Centerline goodness : 0.850427 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:3.47 [[ 0.88055222 -0.27716312 0.38445856 4.50575546] [ 0.31448161 0.94856379 -0.03644238 -0.40724762] [-0.35458299 0.15299457 0.92242266 3.47367632] [ 0. 0. 0. 1. ]] SLAMing on 74.844839173 meters Centerline goodness : 0.852100 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:3.49 [[ 0.88737071 -0.26739746 0.37559528 4.49238347] [ 0.30223424 0.95255758 -0.03589591 -0.40749395] [-0.34817765 0.14537073 0.92608837 3.4872997 ] [ 0. 0. 0. 1. ]] SLAMing on 74.904839173 meters Centerline goodness : 0.845846 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:3.50 [[ 0.89344189 -0.25999194 0.36628647 4.4722605 ] [ 0.29446869 0.95480076 -0.04054249 -0.41351363] [-0.33918988 0.14408226 0.92961849 3.49755821] [ 0. 0. 0. 1. ]] SLAMing on 74.96483917299999 meters Centerline goodness : 0.851179 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.41, Z:3.51 [[ 0.89807121 -0.24840689 0.36299051 4.44969301] [ 0.28553238 0.95698234 -0.0515369 -0.41372232] [-0.33457339 0.14992935 0.93036651 3.50630863] [ 0. 0. 0. 1. ]] SLAMing on 75.02483917299999 meters Centerline goodness : 0.842455 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.41, Z:3.51 [[ 0.90414734 -0.23234453 0.35851584 4.42671809] [ 0.271933 0.9602188 -0.06350043 -0.41370676] [-0.32949967 0.15490603 0.93136142 3.51175046] [ 0. 0. 0. 1. ]] SLAMing on 75.08483917299999 meters Centerline goodness : 0.848430 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.42, Z:3.53 [[ 0.90490431 -0.23915335 0.35207082 4.40197386] [ 0.2721249 0.96113543 -0.04654812 -0.41903551] [-0.3272556 0.13792883 0.93481517 3.53254677] [ 0. 0. 0. 1. ]] SLAMing on 75.144839173 meters Centerline goodness : 0.844745 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.43, Z:3.55 [[ 0.90468005 -0.24110576 0.35131471 4.40168025] [ 0.28093058 0.95743177 -0.06635071 -0.43177965] [-0.32036232 0.15872121 0.9339034 3.54724151] [ 0. 0. 0. 1. ]] SLAMing on 75.204839173 meters Centerline goodness : 0.844603 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.45, Z:3.56 [[ 0.90180407 -0.25673044 0.34761889 4.38801102] [ 0.2909351 0.95548251 -0.04909116 -0.45076033] [-0.31954058 0.14540515 0.93634991 3.55904433] [ 0. 0. 0. 1. ]] SLAMing on 75.264839173 meters Centerline goodness : 0.839468 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.46, Z:3.57 [[ 0.90348723 -0.2628295 0.33857272 4.38641921] [ 0.29081876 0.95618152 -0.03378396 -0.45728474] [-0.31485756 0.12898668 0.94033353 3.56648948] [ 0. 0. 0. 1. ]] SLAMing on 75.32483917299999 meters Centerline goodness : 0.829750 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.48, Z:3.58 [[ 0.90431269 -0.2704531 0.33026303 4.38473654] [ 0.2951254 0.95510573 -0.02596215 -0.47555691] [-0.30841457 0.12094692 0.94353182 3.57675464] [ 0. 0. 0. 1. ]] SLAMing on 75.38483917299999 meters Centerline goodness : 0.826722 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.50, Z:3.58 [[ 0.90483416 -0.26107933 0.33632235 4.36171396] [ 0.29068899 0.95598298 -0.03995554 -0.49669644] [-0.31108688 0.13391834 0.94089895 3.58296517] [ 0. 0. 0. 1. ]] SLAMing on 75.44483917299999 meters Centerline goodness : 0.824310 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.52, Z:3.60 [[ 0.91052765 -0.2469449 0.33159858 4.32435096] [ 0.27228097 0.9617034 -0.03145853 -0.51512869] [-0.31113096 0.11893184 0.94289593 3.60045466] [ 0. 0. 0. 1. ]] SLAMing on 75.504839173 meters Centerline goodness : 0.817125 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.53, Z:3.61 [[ 0.91267838 -0.23311196 0.33567393 4.29377069] [ 0.26091975 0.96454851 -0.03958611 -0.5328143 ] [-0.31454579 0.12371334 0.94114609 3.61409517] [ 0. 0. 0. 1. ]] SLAMing on 75.564839173 meters Centerline goodness : 0.811016 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.55, Z:3.61 [[ 0.91252158 -0.23119533 0.33742123 4.29019652] [ 0.26233003 0.96372748 -0.04911522 -0.54673377] [-0.31382691 0.13333442 0.9400716 3.61241697] [ 0. 0. 0. 1. ]] SLAMing on 75.624839173 meters Centerline goodness : 0.802752 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.56, Z:3.60 [[ 0.91196218 -0.24092759 0.33208263 4.29677794] [ 0.26569358 0.96357277 -0.0305684 -0.5574747 ] [-0.31262101 0.11610945 0.94275485 3.6040508 ] [ 0. 0. 0. 1. ]] SLAMing on 75.68483917299999 meters Centerline goodness : 0.799333 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.57, Z:3.60 [[ 0.91306534 -0.24166134 0.32849884 4.30475687] [ 0.26478794 0.96393251 -0.02685998 -0.56712219] [-0.3101597 0.11150745 0.94412237 3.59701562] [ 0. 0. 0. 1. ]] SLAMing on 75.74483917299999 meters Centerline goodness : 0.794183 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.57, Z:3.60 [[ 0.91417718 -0.24091711 0.3259433 4.30976093] [ 0.26297806 0.96448586 -0.02468956 -0.5744076 ] [-0.30841957 0.10828657 0.94506687 3.59939283] [ 0. 0. 0. 1. ]] SLAMing on 75.80483917299999 meters Centerline goodness : 0.789574 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.58, Z:3.60 [[ 0.91815495 -0.23501168 0.31899999 4.31738717] [ 0.25110788 0.96791077 -0.00967277 -0.58101095] [-0.30649031 0.08898452 0.94770536 3.59961752] [ 0. 0. 0. 1. ]] SLAMing on 75.864839173 meters Centerline goodness : 0.789310 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.58, Z:3.60 [[ 0.91908938 -0.23315077 0.31767189 4.31992337] [ 0.24846553 0.96860799 -0.00796524 -0.58494149] [-0.30584243 0.08625128 0.94816725 3.6003537 ] [ 0. 0. 0. 1. ]] SLAMing on 75.924839173 meters Centerline goodness : 0.785238 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.58, Z:3.60 [[ 0.91965953 -0.2409424 0.31011788 4.31543356] [ 0.2497099 0.96824939 0.01175114 -0.58291876] [-0.3031028 0.06663245 0.95062548 3.5950384 ] [ 0. 0. 0. 1. ]] SLAMing on 75.984839173 meters Centerline goodness : 0.786299 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.58, Z:3.60 [[ 9.20548254e-01 -2.50606205e-01 2.99645527e-01 4.31826851e+00] [ 2.62353760e-01 9.64971178e-01 1.06282196e-03 -5.80287315e-01] [-2.89415647e-01 7.76347517e-02 9.54050014e-01 3.59757602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04483917299999 meters Centerline goodness : 0.792586 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.58, Z:3.62 [[ 0.91532374 -0.25591019 0.31095404 4.3100013 ] [ 0.27154208 0.9623991 -0.00727172 -0.58414401] [-0.29740098 0.09109308 0.95039713 3.61588516] [ 0. 0. 0. 1. ]] SLAMing on 76.10483917299999 meters Centerline goodness : 0.789790 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.59, Z:3.62 [[ 0.91540206 -0.25531457 0.31121301 4.30292149] [ 0.26605862 0.96392195 0.00820244 -0.58573022] [-0.30207926 0.07529237 0.95030478 3.61597259] [ 0. 0. 0. 1. ]] SLAMing on 76.16483917299999 meters Centerline goodness : 0.791771 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.59, Z:3.62 [[ 0.91494402 -0.25719794 0.31100911 4.30494539] [ 0.26838197 0.96328658 0.00707648 -0.59343046] [-0.30141095 0.07699466 0.95038059 3.62136932] [ 0. 0. 0. 1. ]] SLAMing on 76.22483917299999 meters Centerline goodness : 0.792242 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.60, Z:3.62 [[ 9.12531470e-01 -2.65642452e-01 3.10999043e-01 4.31046376e+00] [ 2.78966407e-01 9.60299345e-01 1.70626732e-03 -6.01187549e-01] [-2.99105434e-01 8.52012629e-02 9.50408693e-01 3.61748826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters Centerline goodness : 0.795300 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.61, Z:3.63 [[ 0.91024431 -0.27200532 0.31219931 4.3131099 ] [ 0.28789752 0.95764799 -0.00503436 -0.60997912] [-0.29760767 0.0944639 0.95000329 3.6260971 ] [ 0. 0. 0. 1. ]] SLAMing on 76.344839173 meters Centerline goodness : 0.799046 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.61, Z:3.63 [[ 0.90968314 -0.27320248 0.31278907 4.31334244] [ 0.29061232 0.95679388 -0.00948455 -0.61337554] [-0.29668346 0.09952829 0.94977526 3.63389104] [ 0. 0. 0. 1. ]] SLAMing on 76.40483917299998 meters Centerline goodness : 0.796681 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.61, Z:3.63 [[ 0.91152959 -0.27957593 0.301581 4.30946681] [ 0.29034752 0.95687432 0.00947895 -0.60920118] [-0.29122521 0.07892295 0.95339344 3.63224357] [ 0. 0. 0. 1. ]] SLAMing on 76.46483917299999 meters Centerline goodness : 0.799923 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.60, Z:3.64 [[ 9.14817288e-01 -2.80522629e-01 2.90544979e-01 4.30938364e+00] [ 2.92293106e-01 9.56324033e-01 3.01415035e-03 -6.02814172e-01] [-2.78700683e-01 8.21668973e-02 9.56856588e-01 3.64097285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52483917299999 meters Centerline goodness : 0.806006 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.59, Z:3.65 [[ 0.91946096 -0.27758523 0.27845644 4.30995065] [ 0.29045945 0.95687309 -0.00521546 -0.59352569] [-0.26499974 0.08567572 0.9604347 3.65228607] [ 0. 0. 0. 1. ]] SLAMing on 76.58483917299999 meters Centerline goodness : 0.812272 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.59, Z:3.66 [[ 9.21819918e-01 -2.71081660e-01 2.77060953e-01 4.30744615e+00] [ 2.82452217e-01 9.59280644e-01 -1.17912937e-03 -5.86130420e-01] [-2.65459570e-01 7.93434255e-02 9.60851621e-01 3.65722397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters Centerline goodness : 0.818112 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.59, Z:3.67 [[ 0.91868981 -0.27553013 0.2830056 4.29547016] [ 0.28433261 0.95866984 0.01034945 -0.59114907] [-0.27416052 0.07095978 0.95906242 3.6687925 ] [ 0. 0. 0. 1. ]] SLAMing on 76.704839173 meters Centerline goodness : 0.817571 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.60, Z:3.67 [[ 0.91613592 -0.28363904 0.28327349 4.29744348] [ 0.29193288 0.95634441 0.01343724 -0.60220762] [-0.27471834 0.0703865 0.95894503 3.66961011] [ 0. 0. 0. 1. ]] SLAMing on 76.764839173 meters Centerline goodness : 0.822778 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.61, Z:3.67 [[ 0.91477718 -0.28814522 0.28311665 4.30255157] [ 0.29800487 0.95452564 0.00859699 -0.60990695] [-0.27271928 0.07650581 0.95904695 3.66789067] [ 0. 0. 0. 1. ]] SLAMing on 76.82483917299999 meters Centerline goodness : 0.826301 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.61, Z:3.67 [[ 0.91766869 -0.29285859 0.26854799 4.31001969] [ 0.30188162 0.95331155 0.00803643 -0.61304909] [-0.25836344 0.07369492 0.96323278 3.67177211] [ 0. 0. 0. 1. ]] SLAMing on 76.88483917299999 meters Centerline goodness : 0.828493 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.61, Z:3.66 [[ 0.92321762 -0.29137145 0.25054323 4.31565689] [ 0.29503519 0.95519277 0.02368539 -0.61111861] [-0.24621833 0.0520523 0.96781563 3.6620547 ] [ 0. 0. 0. 1. ]] SLAMing on 76.94483917299999 meters Centerline goodness : 0.828412 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.61, Z:3.66 [[ 0.92877489 -0.28803851 0.2332617 4.3285295 ] [ 0.29210675 0.95622203 0.01769409 -0.60660008] [-0.22814655 0.05170349 0.972253 3.66093706] [ 0. 0. 0. 1. ]] SLAMing on 77.004839173 meters Centerline goodness : 0.833558 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.61, Z:3.67 [[ 0.92753819 -0.29038309 0.23526701 4.32730577] [ 0.29706441 0.9548292 0.00734345 -0.60536325] [-0.22677222 0.06307813 0.97190303 3.67020498] [ 0. 0. 0. 1. ]] SLAMing on 77.064839173 meters Centerline goodness : 0.831797 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.60, Z:3.67 [[ 0.92898437 -0.28647024 0.23435622 4.3213493 ] [ 0.28967349 0.95688606 0.02140858 -0.60385274] [-0.23038513 0.04799855 0.97191503 3.67002641] [ 0. 0. 0. 1. ]] SLAMing on 77.124839173 meters Centerline goodness : 0.840755 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.60, Z:3.68 [[ 0.93191146 -0.27936329 0.23129457 4.326992 ] [ 0.284108 0.95870086 0.01323992 -0.59970597] [-0.22544105 0.05337421 0.97279367 3.67868184] [ 0. 0. 0. 1. ]] SLAMing on 77.18483917299999 meters Centerline goodness : 0.841636 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.60, Z:3.68 [[ 0.9326795 -0.27739737 0.23056376 4.32579203] [ 0.28126192 0.95948711 0.01661998 -0.5992526 ] [-0.22583329 0.0493477 0.97291527 3.68045182] [ 0. 0. 0. 1. ]] SLAMing on 77.24483917299999 meters Centerline goodness : 0.837150 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.61, Z:3.69 [[ 0.92680616 -0.29007501 0.23850962 4.3142002 ] [ 0.2940913 0.95558065 0.0193889 -0.60620402] [-0.23353941 0.05217385 0.97094657 3.69049151] [ 0. 0. 0. 1. ]] SLAMing on 77.30483917299999 meters Centerline goodness : 0.839463 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.61, Z:3.70 [[ 0.92267931 -0.29354409 0.2499895 4.31761644] [ 0.29921814 0.9540523 0.01589674 -0.61230944] [-0.24316946 0.0601338 0.96811804 3.69702202] [ 0. 0. 0. 1. ]] SLAMing on 77.364839173 meters Centerline goodness : 0.841881 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.62, Z:3.70 [[ 0.92397583 -0.29168352 0.24736489 4.32368791] [ 0.29723261 0.95467965 0.01547745 -0.61635808] [-0.24066874 0.05922412 0.96879877 3.69640563] [ 0. 0. 0. 1. ]] SLAMing on 77.424839173 meters Centerline goodness : 0.846217 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.62, Z:3.70 [[ 0.92561891 -0.28780451 0.24576046 4.34549844] [ 0.29501865 0.95545986 0.00777509 -0.62301932] [-0.23705196 0.06530715 0.96929941 3.69509563] [ 0. 0. 0. 1. ]] SLAMing on 77.484839173 meters Centerline goodness : 0.835832 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.63, Z:3.70 [[ 0.92128741 -0.29702582 0.25100832 4.3277146 ] [ 0.2972185 0.95405053 0.03806242 -0.63188226] [-0.25078015 0.03953788 0.96723631 3.69574217] [ 0. 0. 0. 1. ]] SLAMing on 77.54483917299999 meters Centerline goodness : 0.837601 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.63, Z:3.70 [[ 0.92191311 -0.29637162 0.24947961 4.33301788] [ 0.29783499 0.95405456 0.03277508 -0.63475278] [-0.24773077 0.04408798 0.96782525 3.69835698] [ 0. 0. 0. 1. ]] SLAMing on 77.60483917299999 meters Centerline goodness : 0.855978 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.63, Z:3.71 [[ 0.92641414 -0.29427619 0.2348582 4.34336687] [ 0.3003712 0.95376751 0.01023144 -0.6302747 ] [-0.22701099 0.06106609 0.97197579 3.70976656] [ 0. 0. 0. 1. ]] SLAMing on 77.66483917299999 meters Centerline goodness : 0.856016 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.63, Z:3.71 [[ 0.92596707 -0.29424178 0.23665747 4.33429706] [ 0.29693354 0.95457003 0.02503068 -0.63269025] [-0.2332712 0.04709396 0.97127067 3.71038319] [ 0. 0. 0. 1. ]] SLAMing on 77.72483917299999 meters Centerline goodness : 0.856697 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.64, Z:3.70 [[ 0.92848525 -0.28960351 0.23247568 4.34051503] [ 0.28977794 0.95648333 0.03418159 -0.63806365] [-0.23225822 0.03562922 0.97200138 3.70375529] [ 0. 0. 0. 1. ]] SLAMing on 77.784839173 meters Centerline goodness : 0.856463 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.64, Z:3.70 [[ 0.93025459 -0.2863209 0.22944877 4.34698193] [ 0.28653669 0.95749664 0.03311949 -0.64087273] [-0.22917923 0.03493593 0.97275709 3.70387038] [ 0. 0. 0. 1. ]] SLAMing on 77.844839173 meters Centerline goodness : 0.859110 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.64, Z:3.71 [[ 0.92898738 -0.28892323 0.23131322 4.34302104] [ 0.28878359 0.95674589 0.03523278 -0.64288982] [-0.23148754 0.03406865 0.97224115 3.70533981] [ 0. 0. 0. 1. ]] SLAMing on 77.90483917299998 meters Centerline goodness : 0.864643 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.64, Z:3.71 [[ 0.92632953 -0.29251124 0.23738317 4.33072475] [ 0.29209007 0.95564484 0.03776679 -0.63969283] [-0.23790121 0.03435277 0.97068167 3.71036055] [ 0. 0. 0. 1. ]] SLAMing on 77.96483917299999 meters Centerline goodness : 0.871300 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.64, Z:3.71 [[ 0.92828319 -0.28878145 0.23429807 4.3383994 ] [ 0.29059434 0.9564501 0.02753417 -0.63599514] [-0.23204577 0.04252619 0.97177481 3.71475142] [ 0. 0. 0. 1. ]] SLAMing on 78.02483917299999 meters Centerline goodness : 0.878169 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.64, Z:3.71 [[ 0.92860204 -0.28813816 0.23382611 4.33835522] [ 0.28896131 0.95682221 0.03150605 -0.63583685] [-0.23280811 0.03831012 0.97176783 3.71126873] [ 0. 0. 0. 1. ]] SLAMing on 78.08483917299999 meters Centerline goodness : 0.878520 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.64, Z:3.71 [[ 0.92558597 -0.29467459 0.23760785 4.3296283 ] [ 0.29369507 0.95504706 0.04035248 -0.64111641] [-0.23881753 0.03243456 0.97052264 3.71352159] [ 0. 0. 0. 1. ]] SLAMing on 78.144839173 meters Centerline goodness : 0.881995 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.65, Z:3.72 [[ 0.92461022 -0.29779797 0.23751275 4.33623119] [ 0.29941655 0.95364738 0.03010639 -0.64870241] [-0.23546903 0.04327857 0.97091776 3.71637958] [ 0. 0. 0. 1. ]] SLAMing on 78.204839173 meters Centerline goodness : 0.880887 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.65, Z:3.72 [[ 0.92401171 -0.29943925 0.23777825 4.336144 ] [ 0.30097693 0.95313705 0.03070271 -0.65034408] [-0.23582886 0.04319611 0.9708341 3.71595509] [ 0. 0. 0. 1. ]] SLAMing on 78.264839173 meters Centerline goodness : 0.870574 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.65, Z:3.72 [[ 0.92523629 -0.29644955 0.23676037 4.33357079] [ 0.29563569 0.95447188 0.03978659 -0.65204326] [-0.23777583 0.03318282 0.97075309 3.71689927] [ 0. 0. 0. 1. ]] SLAMing on 78.32483917299999 meters Centerline goodness : 0.878008 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.66, Z:3.73 [[ 0.92586927 -0.29509004 0.23598298 4.33907726] [ 0.29749199 0.95436452 0.02620856 -0.65707024] [-0.23294766 0.04593734 0.9714037 3.72876384] [ 0. 0. 0. 1. ]] SLAMing on 78.38483917299999 meters Centerline goodness : 0.872153 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.66, Z:3.72 [[ 0.9248993 -0.29789763 0.23625895 4.33832672] [ 0.29820463 0.95384897 0.03530065 -0.65913673] [-0.23587134 0.03780396 0.9710487 3.71805398] [ 0. 0. 0. 1. ]] SLAMing on 78.44483917299999 meters Centerline goodness : 0.874536 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.66, Z:3.72 [[ 0.92343227 -0.30087199 0.23822023 4.33425889] [ 0.30078164 0.9529503 0.03763149 -0.66178706] [-0.2383343 0.03690214 0.97048183 3.71943964] [ 0. 0. 0. 1. ]] SLAMing on 78.504839173 meters Centerline goodness : 0.874280 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.65, Z:3.72 [[ 0.92409851 -0.31296793 0.21930122 4.33646258] [ 0.31308278 0.94907478 0.03516002 -0.65474402] [-0.21913722 0.03616811 0.97502346 3.71516404] [ 0. 0. 0. 1. ]] SLAMing on 78.564839173 meters Centerline goodness : 0.868651 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.65, Z:3.71 [[ 0.92509288 -0.31064672 0.21840734 4.33203121] [ 0.30830395 0.9501932 0.04562398 -0.64917769] [-0.22170211 0.02512943 0.97479058 3.71074895] [ 0. 0. 0. 1. ]] SLAMing on 78.624839173 meters Centerline goodness : 0.876301 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.65, Z:3.73 [[ 0.92393153 -0.30499481 0.23093005 4.33288219] [ 0.30789834 0.95110946 0.02427774 -0.64721268] [-0.22704433 0.04867201 0.97266742 3.73394171] [ 0. 0. 0. 1. ]] SLAMing on 78.68483917299999 meters Centerline goodness : 0.879203 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.65, Z:3.73 [[ 0.92331414 -0.30665207 0.23120446 4.33149911] [ 0.30827138 0.95082464 0.03002115 -0.65290676] [-0.22904094 0.04355477 0.97244189 3.73261044] [ 0. 0. 0. 1. ]] SLAMing on 78.74483917299999 meters Centerline goodness : 0.873951 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.66, Z:3.73 [[ 0.91968972 -0.31473338 0.2347631 4.32551115] [ 0.31427782 0.94847223 0.04037173 -0.66111839] [-0.23537262 0.03665137 0.97121388 3.72539911] [ 0. 0. 0. 1. ]] SLAMing on 78.80483917299999 meters Centerline goodness : 0.880578 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.67, Z:3.73 [[ 0.9178139 -0.31366461 0.24337659 4.33589073] [ 0.31529876 0.94840914 0.0332686 -0.66798555] [-0.24125577 0.04620195 0.96936115 3.7302893 ] [ 0. 0. 0. 1. ]] SLAMing on 78.864839173 meters Centerline goodness : 0.891015 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.67, Z:3.74 [[ 0.91971773 -0.30414628 0.24822237 4.35132565] [ 0.30973283 0.95066762 0.01722344 -0.6653278 ] [-0.24121542 0.06104191 0.96854995 3.73536681] [ 0. 0. 0. 1. ]] SLAMing on 78.924839173 meters Centerline goodness : 0.879182 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.66, Z:3.72 [[ 0.92643489 -0.29657234 0.231869 4.34803647] [ 0.29463855 0.95460634 0.04375922 -0.66072759] [-0.23432139 0.02777747 0.97176226 3.72487667] [ 0. 0. 0. 1. ]] SLAMing on 78.984839173 meters Centerline goodness : 0.870535 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.66, Z:3.72 [[ 0.93330932 -0.2891485 0.21290106 4.35738702] [ 0.28459378 0.9572133 0.05243169 -0.65934202] [-0.21895227 0.01165533 0.97566596 3.71986944] [ 0. 0. 0. 1. ]] SLAMing on 79.04483917299999 meters Centerline goodness : 0.873262 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.66, Z:3.72 [[ 0.93397174 -0.28773387 0.21191036 4.35856637] [ 0.28337087 0.95763419 0.05135855 -0.65900173] [-0.2177102 0.01208179 0.97593868 3.72259792] [ 0. 0. 0. 1. ]] SLAMing on 79.10483917299999 meters Centerline goodness : 0.886807 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.66, Z:3.74 [[ 0.93616387 -0.27591875 0.21786704 4.36531185] [ 0.2742027 0.96089322 0.03869238 -0.66344046] [-0.22002291 0.02351733 0.97521118 3.74308392] [ 0. 0. 0. 1. ]] SLAMing on 79.16483917299999 meters Centerline goodness : 0.891053 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.67, Z:3.75 [[ 0.93851783 -0.26957346 0.21567205 4.36422173] [ 0.26508958 0.96292551 0.05001974 -0.6715003 ] [-0.22116012 0.010228 0.97518388 3.74818034] [ 0. 0. 0. 1. ]] SLAMing on 79.22483917299999 meters Centerline goodness : 0.878865 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.68, Z:3.73 [[ 0.9389678 -0.26769785 0.21604937 4.36303766] [ 0.25818224 0.96343408 0.07167077 -0.68066972] [-0.22733544 -0.01151643 0.97374841 3.73414957] [ 0. 0. 0. 1. ]] SLAMing on 79.284839173 meters Centerline goodness : 0.888473 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.70, Z:3.74 [[ 0.935176 -0.27429433 0.22407244 4.37966284] [ 0.26798037 0.96163217 0.05873743 -0.70265469] [-0.23158662 0.00511718 0.97280083 3.7428236 ] [ 0. 0. 0. 1. ]] SLAMing on 79.344839173 meters Centerline goodness : 0.892999 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.71, Z:3.75 [[ 9.33003152e-01 -2.78908387e-01 2.27409829e-01 4.37543511e+00] [ 2.71887950e-01 9.60310551e-01 6.22943714e-02 -7.13139921e-01] [-2.35758481e-01 3.70914759e-03 9.71804600e-01 3.74601731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40483917299998 meters Centerline goodness : 0.887186 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.70, Z:3.72 [[ 0.92996868 -0.27741481 0.24124529 4.34756164] [ 0.27971296 0.95974802 0.02538505 -0.69864969] [-0.23857688 0.04387213 0.97013211 3.7186935 ] [ 0. 0. 0. 1. ]] SLAMing on 79.46483917299999 meters Centerline goodness : 0.875128 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.70, Z:3.70 [[ 0.93440544 -0.27525553 0.22609925 4.36938816] [ 0.27693806 0.96056526 0.02489381 -0.69994148] [-0.22403524 0.03935458 0.97378613 3.70297881] [ 0. 0. 0. 1. ]] SLAMing on 79.52483917299999 meters Centerline goodness : 0.890423 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.71, Z:3.72 [[ 9.31008061e-01 -2.77867956e-01 2.36671479e-01 4.37782547e+00] [ 2.85549557e-01 9.58362066e-01 1.89785800e-03 -7.14570412e-01] [-2.27344321e-01 6.58145148e-02 9.71587880e-01 3.72322119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58483917299999 meters Centerline goodness : 0.888268 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.72, Z:3.71 [[ 0.92848978 -0.28151545 0.24218956 4.36787505] [ 0.28572656 0.95813614 0.01831596 -0.7181825 ] [-0.23720679 0.05219381 0.97005605 3.70810987] [ 0. 0. 0. 1. ]] SLAMing on 79.644839173 meters Centerline goodness : 0.887742 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.72, Z:3.70 [[ 0.92625554 -0.28632735 0.24508635 4.36307606] [ 0.28862662 0.95705274 0.0272898 -0.72358416] [-0.24237438 0.04546112 0.9691171 3.70321781] [ 0. 0. 0. 1. ]] SLAMing on 79.704839173 meters Centerline goodness : 0.891581 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.72, Z:3.71 [[ 0.92840497 -0.27743386 0.24717334 4.39070356] [ 0.28957124 0.95706233 -0.01342333 -0.72497844] [-0.2328362 0.08403657 0.9688783 3.7108331 ] [ 0. 0. 0. 1. ]] SLAMing on 79.764839173 meters Centerline goodness : 0.899308 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.73, Z:3.72 [[ 0.9282416 -0.27699842 0.24827286 4.38496095] [ 0.28731856 0.9578188 -0.00558555 -0.72782846] [-0.23625323 0.07651814 0.96867404 3.71799883] [ 0. 0. 0. 1. ]] SLAMing on 79.82483917299999 meters Centerline goodness : 0.890901 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.73, Z:3.71 [[ 0.93089185 -0.27830118 0.23661958 4.38236303] [ 0.28325036 0.95895055 0.01353065 -0.7339632 ] [-0.23067207 0.05442701 0.97150816 3.71301691] [ 0. 0. 0. 1. ]] SLAMing on 79.88483917299999 meters Centerline goodness : 0.888969 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.71 [[ 0.93127083 -0.27960371 0.23357314 4.39469896] [ 0.2858607 0.95824307 0.00734065 -0.7487997 ] [-0.22587231 0.05993325 0.97231153 3.71154213] [ 0. 0. 0. 1. ]] SLAMing on 79.94483917299999 meters Centerline goodness : 0.888011 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.71 [[ 0.93091516 -0.27956067 0.23503786 4.39110816] [ 0.28470662 0.95853361 0.0124686 -0.74869269] [-0.22877742 0.05530963 0.97190624 3.7081596 ] [ 0. 0. 0. 1. ]] SLAMing on 80.004839173 meters Centerline goodness : 0.888706 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.72 [[ 0.93116246 -0.27973915 0.23384283 4.39359375] [ 0.28590224 0.95822676 0.00783479 -0.75293987] [-0.22626616 0.05956072 0.97224284 3.71601381] [ 0. 0. 0. 1. ]] SLAMing on 80.064839173 meters Centerline goodness : 0.893036 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.76, Z:3.72 [[ 0.93105377 -0.28053748 0.23331866 4.39541532] [ 0.28615309 0.95813018 0.01014711 -0.76029414] [-0.2263963 0.05731735 0.97234738 3.71731786] [ 0. 0. 0. 1. ]] SLAMing on 80.124839173 meters Centerline goodness : 0.887005 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.76, Z:3.72 [[ 0.93066555 -0.28385778 0.23083846 4.37625559] [ 0.28464924 0.95814329 0.03059794 -0.76054622] [-0.22986178 0.03723154 0.97251086 3.71605432] [ 0. 0. 0. 1. ]] SLAMing on 80.18483917299999 meters Centerline goodness : 0.883422 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.76, Z:3.72 [[ 0.93488372 -0.27518306 0.2242024 4.3892111 ] [ 0.27828876 0.9603236 0.01827439 -0.75888714] [-0.22033566 0.04530858 0.97437125 3.72152778] [ 0. 0. 0. 1. ]] SLAMing on 80.24483917299999 meters Centerline goodness : 0.881049 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.76, Z:3.72 [[ 0.93476091 -0.27602645 0.22367708 4.39365985] [ 0.28020167 0.95984612 0.01350764 -0.76093051] [-0.21842405 0.05004827 0.9745697 3.71852837] [ 0. 0. 0. 1. ]] SLAMing on 80.30483917299999 meters Centerline goodness : 0.877115 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.77, Z:3.71 [[ 0.93078881 -0.28489158 0.22906109 4.38192141] [ 0.28448454 0.95802219 0.03552517 -0.76817332] [-0.22956642 0.03209791 0.97276358 3.7134543 ] [ 0. 0. 0. 1. ]] SLAMing on 80.364839173 meters Centerline goodness : 0.883001 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.77, Z:3.73 [[ 0.93122351 -0.28471327 0.22751074 4.38711834] [ 0.28771272 0.95749519 0.02060006 -0.77008831] [-0.22370555 0.04627447 0.97355765 3.72590186] [ 0. 0. 0. 1. ]] SLAMing on 80.424839173 meters Centerline goodness : 0.880737 with order 2 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.77, Z:3.73 [[ 0.93384324 -0.27900827 0.22381061 4.39332137] [ 0.28204289 0.95921431 0.0189664 -0.77079075] [-0.21997412 0.04541255 0.97444809 3.72685457] [ 0. 0. 0. 1. ]] SLAMing on 80.484839173 meters Centerline goodness : 0.879220 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.77, Z:3.72 [[ 0.93239252 -0.28149631 0.22672455 4.3846505 ] [ 0.28076251 0.95909543 0.03617146 -0.77140183] [-0.22763262 0.02992975 0.97328701 3.72091861] [ 0. 0. 0. 1. ]] SLAMing on 80.54483917299999 meters Centerline goodness : 0.883133 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.78, Z:3.72 [[ 0.93186113 -0.27941669 0.2314328 4.40085376] [ 0.28119938 0.9592985 0.02594808 -0.77557085] [-0.22926347 0.04089876 0.97250478 3.72239836] [ 0. 0. 0. 1. ]] SLAMing on 80.60483917299999 meters Centerline goodness : 0.862294 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.78, Z:3.73 [[ 0.9310148 -0.28229781 0.23134259 4.40309542] [ 0.2845402 0.95835512 0.02433801 -0.7821701 ] [-0.22857892 0.04316722 0.97256787 3.72553391] [ 0. 0. 0. 1. ]] SLAMing on 80.66483917299999 meters Centerline goodness : 0.875562 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.78, Z:3.71 [[ 0.93160754 -0.28175577 0.22961071 4.38084435] [ 0.28035522 0.95908726 0.03940291 -0.7753377 ] [-0.23131871 0.02766451 0.97248462 3.71074198] [ 0. 0. 0. 1. ]] SLAMing on 80.72483917299999 meters Centerline goodness : 0.873626 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.77, Z:3.71 [[ 0.93738312 -0.26762024 0.22291768 4.39504403] [ 0.27048255 0.96255318 0.0181813 -0.76663606] [-0.21943581 0.0432525 0.97466771 3.71484229] [ 0. 0. 0. 1. ]] SLAMing on 80.784839173 meters Centerline goodness : 0.877699 with order 2 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.77, Z:3.73 [[ 9.38613096e-01 -2.65208641e-01 2.20612406e-01 4.40028901e+00] [ 2.71362395e-01 9.62473993e-01 2.50268013e-03 -7.66850616e-01] [-2.12997435e-01 5.75168624e-02 9.75358346e-01 3.72767833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters Centerline goodness : 0.872747 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.77, Z:3.71 [[ 0.93267207 -0.28039528 0.22693895 4.37138711] [ 0.28184622 0.95908868 0.02667608 -0.76962075] [-0.22513443 0.03908185 0.97354358 3.70770455] [ 0. 0. 0. 1. ]] SLAMing on 80.90483917299998 meters Centerline goodness : 0.813478 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.78, Z:3.71 [[ 0.93169622 -0.28439026 0.22597419 4.37712459] [ 0.28647376 0.95778145 0.02423813 -0.77637688] [-0.22332697 0.0421531 0.9738317 3.70647911] [ 0. 0. 0. 1. ]] SLAMing on 80.96483917299999 meters Centerline goodness : 0.878668 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.78, Z:3.72 [[ 9.29370901e-01 -2.84638965e-01 2.35054010e-01 4.38998767e+00] [ 2.92613440e-01 9.56230298e-01 9.95454613e-04 -7.80076401e-01] [-2.25049111e-01 6.78548158e-02 9.71981801e-01 3.71550337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02483917299999 meters Centerline goodness : 0.880521 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.78, Z:3.73 [[ 9.26683147e-01 -2.89684859e-01 2.39459866e-01 4.38392667e+00] [ 2.98144705e-01 9.54520223e-01 9.37034818e-04 -7.84578973e-01] [-2.28840729e-01 7.05253567e-02 9.70905811e-01 3.72877197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08483917299999 meters Centerline goodness : 0.869189 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.78, Z:3.72 [[ 0.93083287 -0.29115857 0.22085481 4.39315922] [ 0.29346565 0.95569173 0.02304847 -0.78370042] [-0.21777988 0.04335902 0.97503432 3.71702849] [ 0. 0. 0. 1. ]] SLAMing on 81.144839173 meters Centerline goodness : 0.864968 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.78, Z:3.72 [[ 0.93600122 -0.27931144 0.21421214 4.40327988] [ 0.28190842 0.95925373 0.01897149 -0.78235718] [-0.21078275 0.04263086 0.97660291 3.72159556] [ 0. 0. 0. 1. ]] SLAMing on 81.204839173 meters Centerline goodness : 0.844368 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.77, Z:3.73 [[ 0.93840694 -0.27292845 0.21190206 4.40501566] [ 0.27730441 0.96073631 0.00938116 -0.77352975] [-0.20614239 0.04995803 0.97724588 3.73187669] [ 0. 0. 0. 1. ]] SLAMing on 81.26483917299998 meters Centerline goodness : 0.864556 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.77, Z:3.73 [[ 0.93863807 -0.27244578 0.21149909 4.40657823] [ 0.27662855 0.96092338 0.01014392 -0.77368578] [-0.20599808 0.04898522 0.97732555 3.72907828] [ 0. 0. 0. 1. ]] SLAMing on 81.32483917299999 meters Centerline goodness : 0.883414 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.78, Z:3.72 [[ 0.9308442 -0.2806251 0.23404836 4.41594199] [ 0.28638325 0.95806566 0.00973768 -0.78349156] [-0.22696633 0.05796327 0.97217619 3.72089956] [ 0. 0. 0. 1. ]] SLAMing on 81.38483917299999 meters Centerline goodness : 0.881008 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.80, Z:3.71 [[ 0.9272938 -0.28996766 0.23673819 4.39470511] [ 0.29413872 0.9555872 0.01831716 -0.7953431 ] [-0.23153536 0.05264848 0.9714008 3.71332555] [ 0. 0. 0. 1. ]] SLAMing on 81.44483917299999 meters Centerline goodness : 0.886827 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.80, Z:3.72 [[ 9.27815728e-01 -2.86649866e-01 2.38725425e-01 4.41590838e+00] [ 2.95056195e-01 9.55479745e-01 5.46074117e-04 -8.00158195e-01] [-2.28253841e-01 6.99307596e-02 9.71086954e-01 3.71768424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.504839173 meters Centerline goodness : 0.886856 with order 2 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.80, Z:3.71 [[ 9.26728061e-01 -2.94886649e-01 2.32845368e-01 4.40834772e+00] [ 3.02443983e-01 9.53161105e-01 3.39778737e-03 -8.04040574e-01] [-2.22941111e-01 6.72738556e-02 9.72507835e-01 3.71296554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.564839173 meters Centerline goodness : 0.871530 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.81, Z:3.70 [[ 0.92791988 -0.30156961 0.21913571 4.41278175] [ 0.30505783 0.95215261 0.01857786 -0.80689237] [-0.21425316 0.0496103 0.9755175 3.69971373] [ 0. 0. 0. 1. ]] SLAMing on 81.624839173 meters Centerline goodness : 0.880231 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.81, Z:3.71 [[ 9.30740055e-01 -2.94880028e-01 2.16260769e-01 4.42102131e+00] [ 3.02147877e-01 9.53260895e-01 -5.71219822e-04 -8.05347453e-01] [-2.05984492e-01 6.58743893e-02 9.76335472e-01 3.71202012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68483917299999 meters Centerline goodness : 0.884640 with order 3 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.80, Z:3.72 [[ 0.93251464 -0.28440997 0.22254756 4.42645208] [ 0.29285961 0.95614125 -0.00521132 -0.79803886] [-0.21130475 0.07003482 0.97490791 3.72149152] [ 0. 0. 0. 1. ]] SLAMing on 81.74483917299999 meters Centerline goodness : 0.880511 with order 2 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.72 [[ 0.93414997 -0.27994789 0.22134367 4.42110214] [ 0.28400544 0.95872115 0.01395246 -0.79130326] [-0.21611282 0.04982912 0.97509605 3.71615754] [ 0. 0. 0. 1. ]] SLAMing on 81.80483917299999 meters Centerline goodness : 0.878324 with order 2 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.79, Z:3.72 [[ 0.93351465 -0.27846496 0.22584876 4.40729129] [ 0.27898664 0.95981764 0.03027453 -0.78649649] [-0.22520402 0.03474707 0.97369183 3.72371566] [ 0. 0. 0. 1. ]] SLAMing on 81.864839173 meters Centerline goodness : 0.890110 with order 2 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.79, Z:3.74 [[ 0.93117179 -0.27552996 0.2387516 4.40292319] [ 0.28101308 0.95963547 0.01146325 -0.78752505] [-0.23227298 0.05641807 0.97101301 3.74463206] [ 0. 0. 0. 1. ]] SLAMing on 81.924839173 meters Centerline goodness : 0.882239 with order 2 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.78, Z:3.73 [[ 0.93513759 -0.27623463 0.22183803 4.4123193 ] [ 0.27850631 0.96019101 0.02162068 -0.78320721] [-0.21897927 0.04156498 0.9748438 3.73425646] [ 0. 0. 0. 1. ]] SLAMing on 81.984839173 meters Centerline goodness : 0.867506 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.78, Z:3.73 [[ 0.93771541 -0.27791232 0.20845755 4.41328657] [ 0.27778877 0.96015862 0.03047669 -0.77777307] [-0.20862216 0.02932871 0.97755645 3.72798404] [ 0. 0. 0. 1. ]] SLAMing on 82.04483917299999 meters Centerline goodness : 0.875285 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.77, Z:3.74 [[ 0.94330995 -0.2635112 0.20181223 4.42144458] [ 0.26539265 0.96396898 0.01818075 -0.76618546] [-0.19933156 0.0364094 0.97925547 3.74019931] [ 0. 0. 0. 1. ]] SLAMing on 82.10483917299999 meters Centerline goodness : 0.876635 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.76, Z:3.74 [[ 0.94292718 -0.26384164 0.20316478 4.4164073 ] [ 0.26419572 0.96412177 0.02588119 -0.76379828] [-0.20270412 0.02927119 0.97880245 3.73912437] [ 0. 0. 0. 1. ]] SLAMing on 82.16483917299999 meters Centerline goodness : 0.867171 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.76, Z:3.72 [[ 0.94022538 -0.26642336 0.21211984 4.40124333] [ 0.26487944 0.96360165 0.03620412 -0.75715221] [-0.21404465 0.02214615 0.9765728 3.71811122] [ 0. 0. 0. 1. ]] SLAMing on 82.22483917299999 meters Centerline goodness : 0.880523 with order 2 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.76, Z:3.73 [[ 0.93898407 -0.26278279 0.2219327 4.40702611] [ 0.26509517 0.96401774 0.01985795 -0.75695463] [-0.21916538 0.04018699 0.97485975 3.73085194] [ 0. 0. 0. 1. ]] SLAMing on 82.284839173 meters Centerline goodness : 0.887751 with order 2 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.76, Z:3.74 [[ 0.93835801 -0.26475557 0.22223578 4.40985781] [ 0.27010729 0.96280808 0.00653115 -0.75878512] [-0.21569957 0.05389894 0.97497108 3.73943447] [ 0. 0. 0. 1. ]] SLAMing on 82.344839173 meters Centerline goodness : 0.880911 with order 2 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.77, Z:3.73 [[ 0.93966841 -0.26481818 0.21655164 4.42092226] [ 0.26760203 0.96338099 0.01691805 -0.77272524] [-0.21310194 0.0420523 0.97612457 3.73026691] [ 0. 0. 0. 1. ]] SLAMing on 82.40483917299998 meters Centerline goodness : 0.878170 with order 3 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.79, Z:3.71 [[ 0.93715105 -0.27571734 0.21384075 4.43061537] [ 0.28001645 0.95993735 0.010539 -0.78747582] [-0.20817951 0.05000229 0.97681168 3.70948308] [ 0. 0. 0. 1. ]] SLAMing on 82.46483917299999 meters Centerline goodness : 0.891059 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.81, Z:3.71 [[ 0.93166471 -0.28407838 0.22649581 4.44136932] [ 0.29326148 0.95600481 -0.00724551 -0.80556895] [-0.21447279 0.07317288 0.97398519 3.7094346 ] [ 0. 0. 0. 1. ]] SLAMing on 82.52483917299999 meters Centerline goodness : 0.888718 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.81, Z:3.70 [[ 9.29704588e-01 -2.88647025e-01 2.28762484e-01 4.43981652e+00] [ 2.97458304e-01 9.54725400e-01 -4.23891035e-03 -8.05756996e-01] [-2.17181805e-01 7.19882349e-02 9.73473039e-01 3.70033103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58483917299999 meters Centerline goodness : 0.883409 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.80, Z:3.71 [[ 9.31037380e-01 -2.90973193e-01 2.20236232e-01 4.43381207e+00] [ 2.98050244e-01 9.54549495e-01 1.14602561e-03 -8.02088082e-01] [-2.10559847e-01 6.45744701e-02 9.75445892e-01 3.71003317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters Centerline goodness : 0.888392 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.80, Z:3.72 [[ 0.9327404 -0.28503086 0.22080026 4.43191232] [ 0.2943798 0.95563686 -0.00993631 -0.79591206] [-0.20817271 0.07426713 0.97526843 3.72228623] [ 0. 0. 0. 1. ]] SLAMing on 82.704839173 meters Centerline goodness : 0.889917 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.80, Z:3.72 [[ 9.31701831e-01 -2.87632319e-01 2.21809256e-01 4.42839732e+00] [ 2.95293140e-01 9.55405613e-01 -1.44100150e-03 -7.95590469e-01] [-2.11503330e-01 6.68413356e-02 9.75089010e-01 3.71834140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76483917299998 meters Centerline goodness : 0.887326 with order 2 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.72 [[ 0.92997808 -0.28982313 0.22614889 4.41673236] [ 0.29475812 0.9554914 0.01240295 -0.79241533] [-0.21967798 0.05512475 0.97401378 3.7151602 ] [ 0. 0. 0. 1. ]] SLAMing on 82.82483917299999 meters Centerline goodness : 0.886887 with order 2 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.79, Z:3.73 [[ 0.93587981 -0.27540896 0.21972457 4.42886997] [ 0.28400217 0.95879123 -0.00788353 -0.78808979] [-0.20849879 0.06978029 0.97553009 3.72928936] [ 0. 0. 0. 1. ]] SLAMing on 82.88483917299999 meters Centerline goodness : 0.888981 with order 2 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.79, Z:3.73 [[ 0.93760645 -0.27142789 0.21730405 4.43249727] [ 0.28085631 0.95965995 -0.01313464 -0.78546021] [-0.20497289 0.07334634 0.97601559 3.73389907] [ 0. 0. 0. 1. ]] SLAMing on 82.94483917299999 meters Centerline goodness : 0.888067 with order 2 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.79, Z:3.74 [[ 0.93855847 -0.26915095 0.2160226 4.43304628] [ 0.27775691 0.96060009 -0.00992799 -0.78581501] [-0.2048392 0.06931977 0.97633789 3.73503832] [ 0. 0. 0. 1. ]] SLAMing on 83.004839173 meters Centerline goodness : 0.882237 with order 3 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.79, Z:3.70 [[ 9.34817307e-01 -2.80800472e-01 2.17411357e-01 4.42554783e+00] [ 2.87907379e-01 9.57657674e-01 -1.05824428e-03 -7.89945747e-01] [-2.07908499e-01 6.35835990e-02 9.76079496e-01 3.70231655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.064839173 meters Centerline goodness : 0.883227 with order 2 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.72 [[ 9.32811965e-01 -2.84728086e-01 2.20888557e-01 4.41954168e+00] [ 2.92437232e-01 9.56281947e-01 -2.30261520e-03 -7.94699070e-01] [-2.10576120e-01 6.67439453e-02 9.75296336e-01 3.71691804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters Centerline goodness : 0.891854 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.73 [[ 0.93392712 -0.28096153 0.22099943 4.42021182] [ 0.29144938 0.95645778 -0.01567718 -0.79110439] [-0.20697194 0.07905149 0.97514793 3.7280407 ] [ 0. 0. 0. 1. ]] SLAMing on 83.18483917299999 meters Centerline goodness : 0.885135 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.73 [[ 9.34838155e-01 -2.78378900e-01 2.20415089e-01 4.41625054e+00] [ 2.86343839e-01 9.58116910e-01 -4.38089141e-03 -7.86552258e-01] [-2.09963876e-01 6.72099272e-02 9.75396328e-01 3.72611895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24483917299999 meters Centerline goodness : 0.881617 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.78, Z:3.73 [[ 0.93780456 -0.27863525 0.20708696 4.41368334] [ 0.2838315 0.95886215 0.00480144 -0.778968 ] [-0.1999057 0.05427499 0.97831076 3.73424745] [ 0. 0. 0. 1. ]] SLAMing on 83.30483917299999 meters Centerline goodness : 0.879405 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.78, Z:3.74 [[ 9.39404071e-01 -2.74969907e-01 2.04723086e-01 4.41874716e+00] [ 2.81592873e-01 9.59528090e-01 -3.36132982e-03 -7.79315369e-01] [-1.95513287e-01 6.08062088e-02 9.78814160e-01 3.74083546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.364839173 meters Centerline goodness : 0.870616 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.78, Z:3.74 [[ 0.94395256 -0.26959535 0.19045185 4.41854269] [ 0.27373653 0.96179309 0.00472904 -0.77752371] [-0.1844502 0.04766964 0.98168515 3.7405393 ] [ 0. 0. 0. 1. ]] SLAMing on 83.424839173 meters Centerline goodness : 0.873081 with order 3 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.78, Z:3.74 [[ 0.94302333 -0.26734597 0.19807357 4.42548584] [ 0.27168882 0.9623698 0.00543637 -0.78062388] [-0.19207341 0.04868775 0.98017208 3.7447718 ] [ 0. 0. 0. 1. ]] SLAMing on 83.484839173 meters Centerline goodness : 0.876293 with order 2 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.75 [[ 0.93894708 -0.27047122 0.21265863 4.42157568] [ 0.27550753 0.96127914 0.00616647 -0.78778087] [-0.20609216 0.05279906 0.9771071 3.7474318 ] [ 0. 0. 0. 1. ]] SLAMing on 83.54483917299999 meters Centerline goodness : 0.881620 with order 2 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.80, Z:3.74 [[ 0.93629831 -0.26929947 0.22544018 4.42526974] [ 0.27771726 0.96064487 -0.0058776 -0.79922325] [-0.21498512 0.06811182 0.97423928 3.73949699] [ 0. 0. 0. 1. ]] SLAMing on 83.60483917299999 meters Centerline goodness : 0.883957 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.81, Z:3.73 [[ 0.93369803 -0.27696467 0.22693295 4.42908839] [ 0.28570188 0.95830025 -0.00592233 -0.81050816] [-0.21582963 0.07036483 0.97389238 3.73181099] [ 0. 0. 0. 1. ]] SLAMing on 83.66483917299999 meters Centerline goodness : 0.887897 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.82, Z:3.73 [[ 0.92812414 -0.28930433 0.23428313 4.42253474] [ 0.29978085 0.95395979 -0.00960012 -0.81692808] [-0.22071933 0.0791437 0.97212101 3.7287532 ] [ 0. 0. 0. 1. ]] SLAMing on 83.72483917299999 meters Centerline goodness : 0.878490 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.82, Z:3.73 [[ 9.29593195e-01 -2.93485647e-01 2.22985798e-01 4.41914794e+00] [ 3.00450104e-01 9.53793372e-01 2.81763379e-03 -8.19792569e-01] [-2.13509311e-01 6.43768531e-02 9.74817621e-01 3.72652724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters Centerline goodness : 0.863283 with order 3 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.81, Z:3.73 [[ 9.35473375e-01 -2.86428224e-01 2.06998642e-01 4.42385329e+00] [ 2.92545328e-01 9.56251017e-01 1.10587593e-03 -8.10633657e-01] [-1.98259416e-01 5.95219682e-02 9.78340605e-01 3.72773374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.844839173 meters Centerline goodness : 0.871765 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.80, Z:3.74 [[ 0.93800676 -0.27912973 0.20549917 4.42904417] [ 0.2900181 0.95671281 -0.02429185 -0.80279474] [-0.18982311 0.0823844 0.97835576 3.74319892] [ 0. 0. 0. 1. ]] SLAMing on 83.90483917299998 meters Centerline goodness : 0.869200 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.79, Z:3.73 [[ 0.93596808 -0.28861434 0.20165691 4.41269799] [ 0.29660563 0.95494847 -0.00992562 -0.78763079] [-0.18970729 0.06910264 0.97940593 3.73152731] [ 0. 0. 0. 1. ]] SLAMing on 83.96483917299999 meters Centerline goodness : 0.850816 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.77, Z:3.73 [[ 0.93639305 -0.29542201 0.18945685 4.40319601] [ 0.29827218 0.95437879 0.01395836 -0.77279527] [-0.1849372 0.0434392 0.98178983 3.73035168] [ 0. 0. 0. 1. ]] SLAMing on 84.02483917299999 meters Centerline goodness : 0.860305 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:3.75 [[ 0.94227047 -0.27238639 0.19476142 4.39888387] [ 0.27633403 0.9610351 0.00714457 -0.75429266] [-0.18911865 0.04708709 0.98082462 3.75453807] [ 0. 0. 0. 1. ]] SLAMing on 84.08483917299999 meters Centerline goodness : 0.867780 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:3.77 [[ 0.94482125 -0.26346324 0.19467904 4.39499999] [ 0.27078244 0.96257189 -0.01149941 -0.73723068] [-0.1843629 0.06358055 0.98079959 3.77472117] [ 0. 0. 0. 1. ]] SLAMing on 84.144839173 meters Centerline goodness : 0.865403 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.74, Z:3.76 [[ 0.94375164 -0.27382415 0.1853461 4.3987076 ] [ 0.27975025 0.96005349 -0.00609091 -0.73839364] [-0.17627433 0.05759893 0.98265443 3.75933682] [ 0. 0. 0. 1. ]] SLAMing on 84.204839173 meters Centerline goodness : 0.856766 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.74 [[ 0.9359462 -0.29413706 0.19361842 4.3872367 ] [ 0.29833493 0.95442948 0.00778665 -0.74515222] [-0.18708547 0.05047525 0.98104601 3.73967339] [ 0. 0. 0. 1. ]] SLAMing on 84.26483917299998 meters Centerline goodness : 0.872150 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.76 [[ 0.93169527 -0.29770181 0.20812871 4.39282599] [ 0.30921336 0.95068023 -0.02437624 -0.75244401] [-0.190607 0.08706741 0.97779765 3.75787831] [ 0. 0. 0. 1. ]] SLAMing on 84.32483917299999 meters Centerline goodness : 0.873178 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:3.76 [[ 0.93423604 -0.29085041 0.20641964 4.39075271] [ 0.30203558 0.95298946 -0.02419899 -0.74221606] [-0.18967745 0.08495364 0.97816427 3.76397163] [ 0. 0. 0. 1. ]] SLAMing on 84.38483917299999 meters Centerline goodness : 0.868143 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.72, Z:3.76 [[ 0.94578292 -0.26674165 0.18532016 4.38735947] [ 0.27015375 0.96279126 0.00706732 -0.72214205] [-0.18030978 0.04338078 0.98265278 3.76177084] [ 0. 0. 0. 1. ]] SLAMing on 84.44483917299999 meters Centerline goodness : 0.862251 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.71, Z:3.77 [[ 9.52708933e-01 -2.46524368e-01 1.77683495e-01 4.39464493e+00] [ 2.50355286e-01 9.68153626e-01 8.87778319e-04 -7.07777422e-01] [-1.72243779e-01 4.36382079e-02 9.84087286e-01 3.77044928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.504839173 meters Centerline goodness : 0.862240 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.70, Z:3.78 [[ 0.95489807 -0.24022679 0.17453013 4.40005486] [ 0.24584693 0.96924625 -0.01100005 -0.70122101] [-0.16652017 0.05341162 0.98459039 3.77723436] [ 0. 0. 0. 1. ]] SLAMing on 84.564839173 meters Centerline goodness : 0.873063 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.72, Z:3.79 [[ 9.52580063e-01 -2.41310365e-01 1.85365941e-01 4.39881016e+00] [ 2.45080928e-01 9.69499007e-01 2.64856356e-03 -7.15544081e-01] [-1.80351221e-01 4.29066880e-02 9.82665993e-01 3.78658970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62483917299998 meters Centerline goodness : 0.866483 with order 3 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.73, Z:3.76 [[ 0.94432309 -0.26295271 0.1977619 4.38498701] [ 0.26502202 0.96410257 0.0164186 -0.72749661] [-0.19498007 0.0369068 0.98011258 3.76490885] [ 0. 0. 0. 1. ]] SLAMing on 84.68483917299999 meters Centerline goodness : 0.865777 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.73, Z:3.75 [[ 0.94055654 -0.27411938 0.20052918 4.38564811] [ 0.2761503 0.96093952 0.01833737 -0.73353435] [-0.19772305 0.03812886 0.9795161 3.75383646] [ 0. 0. 0. 1. ]] SLAMing on 84.74483917299999 meters Centerline goodness : 0.872372 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.73, Z:3.78 [[ 0.94423548 -0.26411246 0.19663154 4.39831589] [ 0.27270519 0.96193876 -0.01748403 -0.7282554 ] [-0.18452975 0.07013148 0.98032155 3.77542609] [ 0. 0. 0. 1. ]] SLAMing on 84.80483917299999 meters Centerline goodness : 0.870449 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.72, Z:3.80 [[ 0.9499167 -0.24841395 0.18960163 4.40636646] [ 0.25939801 0.96513264 -0.03509512 -0.72020293] [-0.17427261 0.08251973 0.98123369 3.79576861] [ 0. 0. 0. 1. ]] SLAMing on 84.864839173 meters Centerline goodness : 0.874368 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.73, Z:3.79 [[ 0.95179448 -0.23580626 0.19616999 4.41060451] [ 0.24359458 0.9697416 -0.01621471 -0.73381474] [-0.18641067 0.06321901 0.98043583 3.79449673] [ 0. 0. 0. 1. ]] SLAMing on 84.924839173 meters Centerline goodness : 0.856094 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.74 [[ 0.9433091 -0.26447016 0.20055792 4.38694211] [ 0.27290846 0.96192077 -0.01514619 -0.75359545] [-0.18891511 0.06902149 0.97956476 3.73622098] [ 0. 0. 0. 1. ]] SLAMing on 84.984839173 meters Centerline goodness : 0.870517 with order 3 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.76, Z:3.75 [[ 0.93044193 -0.28940197 0.22477614 4.37081168] [ 0.30677831 0.95067464 -0.04587802 -0.76478389] [-0.20041179 0.11164328 0.9733298 3.74996482] [ 0. 0. 0. 1. ]] SLAMing on 85.04483917299999 meters Centerline goodness : 0.878457 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.76, Z:3.78 [[ 0.93176623 -0.272243 0.24019876 4.38196863] [ 0.29644629 0.95244777 -0.07044749 -0.76265885] [-0.20959794 0.13684662 0.96816409 3.77504927] [ 0. 0. 0. 1. ]] SLAMing on 85.10483917299999 meters Centerline goodness : 0.875136 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.77 [[ 0.93804213 -0.2752573 0.21050032 4.3866842 ] [ 0.29024882 0.95596813 -0.04336533 -0.74799794] [-0.18929498 0.10177597 0.97663149 3.77148874] [ 0. 0. 0. 1. ]] SLAMing on 85.16483917299999 meters Centerline goodness : 0.862326 with order 3 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.75, Z:3.75 [[ 0.93822175 -0.28343292 0.19850874 4.38450857] [ 0.29250855 0.95610531 -0.0173603 -0.74704818] [-0.18487478 0.07435332 0.97994535 3.74938375] [ 0. 0. 0. 1. ]] SLAMing on 85.22483917299999 meters Centerline goodness : 0.865060 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.76 [[ 0.93630309 -0.28878816 0.19984474 4.39075488] [ 0.30214375 0.95245469 -0.0392329 -0.74973048] [-0.17901306 0.09711572 0.97904181 3.75753444] [ 0. 0. 0. 1. ]] SLAMing on 85.284839173 meters Centerline goodness : 0.871369 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:3.78 [[ 0.93859992 -0.27550156 0.20767541 4.38988552] [ 0.29087745 0.95560873 -0.04692832 -0.7444211 ] [-0.18552761 0.10445501 0.97707147 3.77650601] [ 0. 0. 0. 1. ]] SLAMing on 85.344839173 meters Centerline goodness : 0.868028 with order 2 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:3.78 [[ 0.93935999 -0.27277185 0.20784209 4.38679533] [ 0.28723864 0.95692308 -0.04233409 -0.74333446] [-0.18734134 0.09946723 0.97724587 3.77880536] [ 0. 0. 0. 1. ]] SLAMing on 85.40483917299998 meters Centerline goodness : 0.866028 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.76 [[ 0.93572586 -0.28957037 0.20141032 4.38970615] [ 0.30296792 0.95222167 -0.03852701 -0.75344838] [-0.18063099 0.09707159 0.97874897 3.7599913 ] [ 0. 0. 0. 1. ]] SLAMing on 85.46483917299999 meters Centerline goodness : 0.866999 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.76 [[ 0.93594512 -0.28873536 0.20159022 4.38811182] [ 0.30215269 0.95247708 -0.03861561 -0.75117588] [-0.18086037 0.09705312 0.97870844 3.76267061] [ 0. 0. 0. 1. ]] SLAMing on 85.52483917299999 meters Centerline goodness : 0.871567 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.74, Z:3.77 [[ 0.94352897 -0.26828409 0.19436236 4.39535306] [ 0.28172347 0.95845685 -0.04463589 -0.74191955] [-0.17431283 0.09687169 0.97991373 3.77355806] [ 0. 0. 0. 1. ]] SLAMing on 85.58483917299999 meters Centerline goodness : 0.871754 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:3.77 [[ 0.9445769 -0.26689723 0.19115531 4.40235024] [ 0.27998827 0.95896702 -0.04459628 -0.74944156] [-0.17140901 0.09564586 0.98054618 3.77231361] [ 0. 0. 0. 1. ]] SLAMing on 85.644839173 meters Centerline goodness : 0.864283 with order 3 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:3.74 [[ 0.9354496 -0.29587594 0.19336876 4.39030352] [ 0.30915637 0.95009021 -0.0418442 -0.75437177] [-0.17133707 0.09892432 0.98023343 3.74472635] [ 0. 0. 0. 1. ]] SLAMing on 85.704839173 meters Centerline goodness : 0.872131 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.76, Z:3.76 [[ 0.93102504 -0.30027997 0.20742302 4.39241731] [ 0.31838621 0.94609482 -0.05945438 -0.76222738] [-0.17838888 0.12139414 0.97644297 3.75685232] [ 0. 0. 0. 1. ]] SLAMing on 85.76483917299998 meters Centerline goodness : 0.877506 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.76, Z:3.77 [[ 0.93826252 -0.28136647 0.20123707 4.39678288] [ 0.29834219 0.95262993 -0.05906055 -0.7555084 ] [-0.1750868 0.11545181 0.97776045 3.76521382] [ 0. 0. 0. 1. ]] SLAMing on 85.82483917299999 meters Centerline goodness : 0.874078 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:3.77 [[ 0.94632245 -0.25904966 0.1933057 4.39794605] [ 0.27129184 0.96169312 -0.03933296 -0.75087613] [-0.17571157 0.08966392 0.98034985 3.76952992] [ 0. 0. 0. 1. ]] SLAMing on 85.88483917299999 meters Centerline goodness : 0.870693 with order 3 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:3.77 [[ 0.94860134 -0.25265077 0.19058618 4.40044285] [ 0.26369762 0.96398501 -0.03458987 -0.75316687] [-0.17498306 0.08306911 0.98106088 3.77051859] [ 0. 0. 0. 1. ]] SLAMing on 85.94483917299999 meters Centerline goodness : 0.875668 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.76, Z:3.78 [[ 0.94392584 -0.26083388 0.20240972 4.40509464] [ 0.27526843 0.96025306 -0.04627469 -0.75762597] [-0.18229455 0.09939688 0.97820701 3.77819835] [ 0. 0. 0. 1. ]] SLAMing on 86.004839173 meters Centerline goodness : 0.883550 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.76, Z:3.78 [[ 0.94252132 -0.26600679 0.20222253 4.41055105] [ 0.2817138 0.95804534 -0.05278688 -0.76465515] [-0.17969668 0.10672163 0.97791594 3.775982 ] [ 0. 0. 0. 1. ]] SLAMing on 86.064839173 meters Centerline goodness : 0.879979 with order 3 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.77, Z:3.76 [[ 0.94215921 -0.26799365 0.20128443 4.41448755] [ 0.2821714 0.95831497 -0.04485223 -0.76996522] [-0.18087377 0.09905465 0.97850542 3.76433959] [ 0. 0. 0. 1. ]] SLAMing on 86.12483917299998 meters Centerline goodness : 0.152217 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.78, Z:3.77 [[ 0.94390428 -0.26424974 0.1980323 4.42185309] [ 0.27949358 0.95868739 -0.05293223 -0.77632829] [-0.17586374 0.10531172 0.97876524 3.77134285] [ 0. 0. 0. 1. ]] SLAMing on 86.18483917299999 meters Centerline goodness : 0.143269 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.78, Z:3.78 [[ 0.94420422 -0.2651353 0.19540127 4.42434975] [ 0.28060003 0.95820553 -0.05572953 -0.77943072] [-0.17245871 0.10744966 0.97913869 3.78489805] [ 0. 0. 0. 1. ]] SLAMing on 86.24483917299999 meters Centerline goodness : 0.131814 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.77, Z:3.78 [[ 0.94712708 -0.26649924 0.17868535 4.42669614] [ 0.27496612 0.96115541 -0.02395651 -0.77120033] [-0.16536 0.07182228 0.98361457 3.77862658] [ 0. 0. 0. 1. ]] SLAMing on 86.30483917299999 meters Centerline goodness : 0.121622 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.76, Z:3.79 [[ 0.9535328 -0.24840811 0.17049521 4.43555591] [ 0.25687394 0.96600442 -0.02917616 -0.76417275] [-0.15745153 0.0716162 0.98492646 3.7896002 ] [ 0. 0. 0. 1. ]] SLAMing on 86.364839173 meters Centerline goodness : 0.124782 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.76, Z:3.81 [[ 0.95580394 -0.24270696 0.16592819 4.4380989 ] [ 0.2532267 0.96635192 -0.04516861 -0.75826023] [-0.14938229 0.08518978 0.98510285 3.81346966] [ 0. 0. 0. 1. ]] SLAMing on 86.424839173 meters Centerline goodness : 0.133555 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.77, Z:3.79 [[ 0.94893473 -0.26077955 0.17753001 4.4260687 ] [ 0.26890816 0.96289245 -0.02294613 -0.77450304] [-0.16495843 0.06951365 0.98384784 3.78804313] [ 0. 0. 0. 1. ]] SLAMing on 86.484839173 meters Centerline goodness : 0.133198 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.79, Z:3.80 [[ 0.94449276 -0.26801233 0.19000742 4.42306231] [ 0.27549416 0.96120631 -0.01361578 -0.78512663] [-0.17898713 0.06520594 0.98168823 3.80165052] [ 0. 0. 0. 1. ]] SLAMing on 86.54483917299999 meters Centerline goodness : 0.408621 with order 3 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.78, Z:3.81 [[ 0.9481774 -0.25912572 0.18388442 4.43386253] [ 0.26805323 0.96307877 -0.02503494 -0.78290497] [-0.17060798 0.07302838 0.98262901 3.80725511] [ 0. 0. 0. 1. ]] SLAMing on 86.60483917299999 meters Centerline goodness : 0.797836 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.76, Z:3.79 [[ 0.94973327 -0.2560755 0.18008903 4.45138981] [ 0.2675658 0.96261133 -0.04228443 -0.76469381] [-0.16252773 0.0883446 0.98274105 3.79180537] [ 0. 0. 0. 1. ]] SLAMing on 86.66483917299999 meters Centerline goodness : 0.111879 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.76, Z:3.79 [[ 0.95021505 -0.25532405 0.17860847 4.45207798] [ 0.26499854 0.96371185 -0.03217533 -0.76441934] [-0.16391196 0.07790447 0.983394 3.78628788] [ 0. 0. 0. 1. ]] SLAMing on 86.72483917299999 meters Centerline goodness : 0.206234 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.75, Z:3.77 [[ 0.9539091 -0.24548235 0.17261476 4.44061875] [ 0.25176944 0.96766824 -0.01517652 -0.74919096] [-0.16330825 0.05793614 0.98487249 3.76730812] [ 0. 0. 0. 1. ]] SLAMing on 86.784839173 meters Centerline goodness : 0.221302 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.73, Z:3.77 [[ 0.95535835 -0.23118136 0.18397173 4.48589207] [ 0.24491951 0.96795272 -0.05551545 -0.73280468] [-0.1652418 0.09809541 0.98136254 3.76902793] [ 0. 0. 0. 1. ]] SLAMing on 86.844839173 meters Centerline goodness : 0.182682 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.72, Z:3.76 [[ 0.95369838 -0.23399524 0.18895933 4.53695631] [ 0.25039109 0.96576738 -0.06780616 -0.71936508] [-0.16662444 0.11198036 0.9796411 3.75771459] [ 0. 0. 0. 1. ]] SLAMing on 86.90483917299998 meters Centerline goodness : 0.150190 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.71, Z:3.73 [[ 0.95038162 -0.24127063 0.19637528 4.57656504] [ 0.25543485 0.96553612 -0.04993034 -0.71294381] [-0.1775607 0.09761397 0.97925671 3.73419658] [ 0. 0. 0. 1. ]] SLAMing on 86.96483917299999 meters Centerline goodness : 0.204414 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.71, Z:3.73 [[ 0.94914505 -0.24935401 0.19221406 4.62576068] [ 0.26005944 0.96505477 -0.03222373 -0.71322438] [-0.17746198 0.08057208 0.98082383 3.72574314] [ 0. 0. 0. 1. ]] SLAMing on 87.02483917299999 meters Centerline goodness : 0.254489 with order 3 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.71, Z:3.72 [[ 0.95042695 -0.24385617 0.19293207 4.68660237] [ 0.25683233 0.96540833 -0.04498779 -0.7074837 ] [-0.17528768 0.0923088 0.98018025 3.72224447] [ 0. 0. 0. 1. ]] SLAMing on 87.08483917299999 meters Centerline goodness : 0.258814 with order 3 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.69, Z:3.71 [[ 0.95462049 -0.23675436 0.18068507 4.75013935] [ 0.25017977 0.96662445 -0.05520202 -0.69490039] [-0.16158529 0.09790073 0.98199065 3.70516683] [ 0. 0. 0. 1. ]] SLAMing on 87.144839173 meters Centerline goodness : 0.266506 with order 3 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.70, Z:3.70 [[ 0.95365619 -0.24406199 0.1759932 4.79652173] [ 0.25942284 0.96322622 -0.0699646 -0.69892809] [-0.15244556 0.11237883 0.9819019 3.69948886] [ 0. 0. 0. 1. ]] SLAMing on 87.204839173 meters Centerline goodness : 0.275961 with order 3 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.71, Z:3.70 [[ 0.9493714 -0.26037863 0.1757752 4.84203591] [ 0.27439621 0.95971913 -0.06038145 -0.70531572] [-0.15297278 0.10555647 0.9825768 3.69625115] [ 0. 0. 0. 1. ]] SLAMing on 87.26483917299998 meters Centerline goodness : 0.275383 with order 3 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.67, Z:3.68 [[ 0.94896776 -0.26047563 0.17779945 4.88546483] [ 0.26766255 0.9633578 -0.01727735 -0.67169938] [-0.16678415 0.0639859 0.98391506 3.68222487] [ 0. 0. 0. 1. ]] Total time of SLAM: 3981.47 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%| | 0/2910 [00:00