+ python -m lidar_slam --result /working/result.json --no-model /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f Lidar SLAM 0.0.16 ===================================================== The recording path: /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f 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 0.01538475 Adjusted end_distance from 9.223372036854776e+18 to 193.81538475 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01538475 meters Centerline goodness : 0.089673 with order 1 Centerline is valid? [0, False] SLAMing on 0.07538475 meters Centerline goodness : 0.093163 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.00 [[ 9.99988007e-01 -3.57936719e-03 3.34275639e-03 5.36705516e-02] [ 3.56772218e-03 9.99987569e-01 3.48314673e-03 -5.71466683e-04] [-3.35518230e-03 -3.47117893e-03 9.99988347e-01 -2.82265847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13538475 meters Centerline goodness : 0.100685 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.00, Z:-0.01 [[ 0.99991585 -0.00819828 0.01005371 0.10050924] [ 0.00815436 0.99995706 0.00440259 -0.00178955] [-0.01008937 -0.00432024 0.99993977 -0.00544951] [ 0. 0. 0. 1. ]] SLAMing on 0.19538475 meters Centerline goodness : 0.216384 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 9.99885358e-01 -2.34142313e-03 1.49595345e-02 1.53857956e-01] [ 2.33850018e-03 9.99997243e-01 2.12880265e-04 -6.08102507e-03] [-1.49599917e-02 -1.77872986e-04 9.99888077e-01 -6.21410032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25538475 meters Centerline goodness : 0.234004 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.01 [[ 0.99983271 -0.00717101 0.01682671 0.21341022] [ 0.00714777 0.99997342 0.00144055 -0.00975889] [-0.01683659 -0.00132003 0.99985738 -0.00556316] [ 0. 0. 0. 1. ]] SLAMing on 0.31538475 meters Centerline goodness : 0.241736 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.00 [[ 0.99985474 -0.01123567 0.01281596 0.27949399] [ 0.01116417 0.99992179 0.00563729 -0.01406155] [-0.01287829 -0.0054934 0.99990198 -0.00466144] [ 0. 0. 0. 1. ]] SLAMing on 0.37538475 meters Centerline goodness : 0.282831 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.01 [[ 0.99962256 -0.02304468 0.01495597 0.33561661] [ 0.02297237 0.99972365 0.00498908 -0.02148993] [-0.01506681 -0.00464362 0.99987571 -0.0063578 ] [ 0. 0. 0. 1. ]] SLAMing on 0.43538475 meters Centerline goodness : 0.256418 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.03, Z:-0.01 [[ 0.99934199 -0.03376931 0.01323707 0.39545281] [ 0.03374505 0.99942837 0.00205199 -0.02511907] [-0.01329879 -0.00160395 0.99991028 -0.00506797] [ 0. 0. 0. 1. ]] SLAMing on 0.49538475 meters Centerline goodness : 0.292005 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.03, Z:-0.01 [[ 0.99922175 -0.03677512 0.01426493 0.44701288] [ 0.03668062 0.99930369 0.00683088 -0.02680364] [-0.0145062 -0.00630231 0.99987492 -0.00858166] [ 0. 0. 0. 1. ]] SLAMing on 0.55538475 meters Centerline goodness : 0.261431 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.00 [[ 0.99926172 -0.03704614 0.01017835 0.49956162] [ 0.03694888 0.9992712 0.00958359 -0.02852226] [-0.01052597 -0.00920043 0.99990227 -0.00435593] [ 0. 0. 0. 1. ]] SLAMing on 0.6153847499999999 meters Centerline goodness : 0.281661 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.00 [[ 0.99928827 -0.03692193 0.00772785 0.54356546] [ 0.03685884 0.99928722 0.00815377 -0.02667496] [-0.0080234 -0.00786313 0.9999369 -0.00155042] [ 0. 0. 0. 1. ]] SLAMing on 0.6753847499999999 meters Centerline goodness : 0.292530 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.00 [[ 0.99939277 -0.03254548 0.01244492 0.56660363] [ 0.03243361 0.99943258 0.00908773 -0.02707797] [-0.01273363 -0.00867858 0.99988126 -0.00122687] [ 0. 0. 0. 1. ]] SLAMing on 0.7353847499999999 meters Centerline goodness : 0.277364 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:0.00 [[ 0.99955977 -0.02750575 0.01112242 0.60713765] [ 0.02736793 0.99954903 0.01235874 -0.02245736] [-0.01145735 -0.0120489 0.99986177 0.00354969] [ 0. 0. 0. 1. ]] SLAMing on 0.79538475 meters Centerline goodness : 0.314880 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.00 [[ 0.99968228 -0.02089029 0.01410408 0.63786651] [ 0.02070008 0.99969458 0.01349993 -0.01254615] [-0.01438179 -0.01320368 0.9998094 -0.00121366] [ 0. 0. 0. 1. ]] SLAMing on 0.8553847499999999 meters Centerline goodness : 0.297549 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.01 [[ 0.99975008 -0.01424612 0.0172285 0.67050147] [ 0.0139788 0.99978155 0.01553839 -0.00265558] [-0.0174461 -0.01529367 0.99973083 -0.00608778] [ 0. 0. 0. 1. ]] SLAMing on 0.9153847499999999 meters Centerline goodness : 0.229901 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.01 [[ 0.99973802 -0.01520124 0.01711172 0.7257793 ] [ 0.01491127 0.99974518 0.01694788 0.00683221] [-0.01736499 -0.01668828 0.99970994 -0.00650051] [ 0. 0. 0. 1. ]] SLAMing on 0.9753847499999999 meters Centerline goodness : 0.224754 with order 2 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.01 [[ 0.99955465 -0.01446322 0.02610222 0.79875129] [ 0.01394527 0.99970437 0.01991732 0.01401781] [-0.02638258 -0.01954444 0.99946084 -0.01342657] [ 0. 0. 0. 1. ]] SLAMing on 1.03538475 meters Centerline goodness : 0.223667 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.01 [[ 0.99961975 -0.01336466 0.0241192 0.86933664] [ 0.01294764 0.99976539 0.01736442 0.01295789] [-0.02434562 -0.01704553 0.99955827 -0.01116802] [ 0. 0. 0. 1. ]] SLAMing on 1.09538475 meters Centerline goodness : 0.262708 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.02, Z:-0.01 [[ 0.99958004 -0.01413918 0.02529461 0.92690403] [ 0.01364167 0.99971219 0.01973417 0.01570471] [-0.02556636 -0.01938082 0.99948524 -0.01037123] [ 0. 0. 0. 1. ]] SLAMing on 1.1553847499999998 meters Centerline goodness : 0.317354 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.01 [[ 0.99966597 -0.00526812 0.02530205 0.96826054] [ 0.00476787 0.99979277 0.01979103 0.02070194] [-0.02540107 -0.01966378 0.99948393 -0.01112526] [ 0. 0. 0. 1. ]] SLAMing on 1.21538475 meters Centerline goodness : 0.313351 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.01 [[ 0.9998763 0.00297116 0.01544501 0.99820557] [-0.00338287 0.9996378 0.02669896 0.02571817] [-0.01536009 -0.02674791 0.9995242 -0.00646515] [ 0. 0. 0. 1. ]] SLAMing on 1.27538475 meters Centerline goodness : 0.222057 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.00 [[ 9.99951393e-01 7.44087175e-03 6.46876830e-03 1.02433224e+00] [-7.63346151e-03 9.99512437e-01 3.02757196e-02 2.82571257e-02] [-6.24033662e-03 -3.03236271e-02 9.99520653e-01 1.37506713e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3353847499999998 meters Centerline goodness : 0.171208 with order 2 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.01 [[ 0.99987956 0.00848036 0.01299818 1.04897431] [-0.00881321 0.99962913 0.02576699 0.02938807] [-0.01277485 -0.02587844 0.99958347 -0.00853955] [ 0. 0. 0. 1. ]] SLAMing on 1.3953847499999998 meters Centerline goodness : 0.172135 with order 2 Centerline is valid? [False, False] Translation: X:1.08, Y:0.02, Z:-0.00 [[ 0.99991751 0.01248556 0.00301534 1.08142374] [-0.01257721 0.99939016 0.03257487 0.02466759] [-0.00260678 -0.0326101 0.99946475 -0.00131518] [ 0. 0. 0. 1. ]] SLAMing on 1.45538475 meters Centerline goodness : 0.170652 with order 3 Centerline is valid? [False, False] Translation: X:1.15, Y:0.02, Z:-0.00 [[ 9.99792641e-01 2.01655939e-02 2.83252433e-03 1.14885659e+00] [-2.02503722e-02 9.99215545e-01 3.40326018e-02 1.51984577e-02] [-2.14401471e-03 -3.40829046e-02 9.99416709e-01 -9.11366513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.51538475 meters Centerline goodness : 0.153512 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.01, Z:-0.00 [[ 0.99966739 0.02386949 0.00976471 1.17140177] [-0.02419286 0.99911322 0.03445989 0.01399661] [-0.00893351 -0.03468467 0.99935838 -0.00239408] [ 0. 0. 0. 1. ]] SLAMing on 1.57538475 meters Centerline goodness : 0.251302 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:-0.00 [[ 0.9993935 0.03115926 0.01554776 1.20222388] [-0.03177957 0.99863762 0.04138796 0.01218601] [-0.01423696 -0.04185696 0.99902217 -0.00125484] [ 0. 0. 0. 1. ]] SLAMing on 1.6353847499999998 meters Centerline goodness : 0.209351 with order 2 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.01 [[ 0.99908553 0.03618476 0.02277655 1.22980113] [-0.037093 0.9984784 0.04080425 0.01012273] [-0.0212654 -0.04161178 0.99890752 -0.00926141] [ 0. 0. 0. 1. ]] SLAMing on 1.6953847499999999 meters Centerline goodness : 0.266753 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:-0.01 [[ 0.99878138 0.04090393 0.02761574 1.27629438] [-0.04199456 0.99831115 0.04014116 -0.00193335] [-0.02592717 -0.04125196 0.99881232 -0.01311685] [ 0. 0. 0. 1. ]] SLAMing on 1.75538475 meters Centerline goodness : 0.254973 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.01 [[ 0.99908735 0.03715017 0.02107902 1.29994756] [-0.03791417 0.99859267 0.03708371 -0.0174032 ] [-0.01967169 -0.03784905 0.99908982 -0.01072378] [ 0. 0. 0. 1. ]] SLAMing on 1.8153847499999998 meters Centerline goodness : 0.179263 with order 2 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.01 [[ 0.99939505 0.03144726 0.01485268 1.32694636] [-0.0319575 0.9988598 0.03546585 -0.0368611 ] [-0.01372044 -0.03591905 0.99926051 -0.01019507] [ 0. 0. 0. 1. ]] SLAMing on 1.8753847499999998 meters Centerline goodness : 0.183438 with order 2 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.00 [[ 0.99964899 0.02525445 0.00800641 1.35204753] [-0.02550267 0.99914354 0.03258527 -0.05514074] [-0.00717663 -0.03277801 0.99943689 -0.00390726] [ 0. 0. 0. 1. ]] SLAMing on 1.9353847499999999 meters Centerline goodness : 0.203597 with order 2 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.07, Z:0.00 [[ 9.99874529e-01 1.19882485e-02 1.03540916e-02 1.39370160e+00] [-1.23504957e-02 9.99287624e-01 3.56610463e-02 -7.25667318e-02] [-9.91920213e-03 -3.57844500e-02 9.99310303e-01 8.69227328e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.99538475 meters Centerline goodness : 0.257564 with order 2 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.09, Z:0.01 [[ 9.99881465e-01 -9.42538791e-04 1.53677259e-02 1.42819883e+00] [ 3.31083624e-04 9.99209905e-01 3.97423615e-02 -8.59933946e-02] [-1.53930426e-02 -3.97325627e-02 9.99091776e-01 5.75767882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05538475 meters Centerline goodness : 0.169085 with order 3 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:0.01 [[ 0.99994427 -0.00444059 0.00957798 1.44688131] [ 0.00413763 0.99949765 0.03142193 -0.09476589] [-0.0097127 -0.03138055 0.99946032 0.0091487 ] [ 0. 0. 0. 1. ]] SLAMing on 2.11538475 meters Centerline goodness : 0.178671 with order 2 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:0.01 [[ 0.99995318 -0.00358807 0.00898631 1.44950944] [ 0.00330961 0.99951969 0.03081284 -0.09532117] [-0.00909256 -0.03078166 0.99948477 0.00642059] [ 0. 0. 0. 1. ]] SLAMing on 2.17538475 meters Centerline goodness : 0.188670 with order 2 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:0.00 [[ 9.99963889e-01 -2.08243402e-03 8.23923604e-03 1.45468600e+00] [ 1.83171984e-03 9.99538544e-01 3.03206967e-02 -9.41238016e-02] [-8.29857484e-03 -3.03045099e-02 9.99506263e-01 6.82677024e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2353847499999997 meters Centerline goodness : 0.204610 with order 2 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.09, Z:-0.00 [[ 0.99995753 -0.00501262 0.00773354 1.45689068] [ 0.00481412 0.99966384 0.02547614 -0.0948922 ] [-0.00785865 -0.02543783 0.99964552 -0.00359515] [ 0. 0. 0. 1. ]] SLAMing on 2.2953847499999998 meters Centerline goodness : 0.222720 with order 2 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.10, Z:-0.01 [[ 0.99992451 -0.00963431 0.00762575 1.4599353 ] [ 0.00947039 0.99972939 0.02124732 -0.09773652] [-0.00782839 -0.0211735 0.99974517 -0.00639142] [ 0. 0. 0. 1. ]] SLAMing on 2.35538475 meters Centerline goodness : 0.296450 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.10, Z:-0.01 [[ 0.99979303 -0.0183809 0.00871959 1.46086895] [ 0.01825406 0.99972954 0.01440938 -0.1007709 ] [-0.00898209 -0.01424723 0.99985816 -0.00511108] [ 0. 0. 0. 1. ]] SLAMing on 2.41538475 meters Centerline goodness : 0.268403 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.12 [[ 0.999195 0.0383823 0.01166879 1.34425829] [-0.03947839 0.99246484 0.11599566 -0.14663608] [-0.00712868 -0.11636295 0.99318118 0.11673907] [ 0. 0. 0. 1. ]] SLAMing on 2.47538475 meters Centerline goodness : 0.282962 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.20, Z:0.00 [[ 0.99871325 0.04390699 0.02537759 1.43515818] [-0.04518268 0.99761942 0.05209633 -0.19613389] [-0.02302979 -0.05317592 0.99831956 0.00338076] [ 0. 0. 0. 1. ]] SLAMing on 2.53538475 meters Centerline goodness : 0.265820 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.19, Z:-0.00 [[ 0.99902309 0.03636092 0.02511488 1.43569572] [-0.03733303 0.99852633 0.039388 -0.18971258] [-0.02364568 -0.04028713 0.99890832 -0.00414223] [ 0. 0. 0. 1. ]] SLAMing on 2.59538475 meters Centerline goodness : 0.256098 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.18, Z:-0.01 [[ 0.99918604 0.03223986 0.02424561 1.43704029] [-0.03300709 0.99894464 0.03193958 -0.18476034] [-0.02319029 -0.03271386 0.99919568 -0.00858249] [ 0. 0. 0. 1. ]] SLAMing on 2.6553847499999996 meters Centerline goodness : 0.229654 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.18, Z:-0.01 [[ 0.99923263 0.0314517 0.02334405 1.43994613] [-0.03209614 0.99909906 0.02776502 -0.17791416] [-0.02244977 -0.02849297 0.99934186 -0.01437508] [ 0. 0. 0. 1. ]] SLAMing on 2.7153847499999997 meters Centerline goodness : 0.215216 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.18, Z:-0.01 [[ 0.99925806 0.03165848 0.02193329 1.45361263] [-0.03244602 0.9988056 0.03653255 -0.1767358 ] [-0.02075052 -0.03721709 0.99909174 -0.0135351 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7753847499999997 meters Centerline goodness : 0.549079 with order 3 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:0.01 [[ 0.99917204 0.03057546 0.02683997 1.46126662] [-0.03205061 0.99789539 0.0563698 -0.17990352] [-0.02505995 -0.05718337 0.99804913 0.00759954] [ 0. 0. 0. 1. ]] SLAMing on 2.83538475 meters Centerline goodness : 0.951243 with order 1 Centerline is valid? [False, True] Translation: X:1.48, Y:-0.19, Z:0.05 [[ 0.9983338 0.02105953 0.05372257 1.47755593] [-0.02680331 0.99373045 0.10854201 -0.18774773] [-0.05109991 -0.1098011 0.99263917 0.04594693] [ 0. 0. 0. 1. ]] SLAMing on 2.89538475 meters Centerline goodness : 0.907581 with order 1 Centerline is valid? [True, False] Translation: X:1.48, Y:-0.18, Z:0.05 [[ 0.99838064 0.01787571 0.05400519 1.48154754] [-0.02390736 0.99328545 0.1131921 -0.18305527] [-0.05161919 -0.11429992 0.99210432 0.05499326] [ 0. 0. 0. 1. ]] SLAMing on 2.95538475 meters Centerline goodness : 0.944016 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:0.05 [[ 0.99817658 0.02093826 0.05661361 1.49449977] [-0.02670371 0.99431443 0.10308117 -0.17510355] [-0.05413339 -0.104405 0.99306051 0.04888102] [ 0. 0. 0. 1. ]] SLAMing on 3.01538475 meters Centerline goodness : 0.940646 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.16, Z:0.04 [[ 0.99789226 0.02881118 0.05814599 1.50611817] [-0.03408254 0.9951937 0.09180347 -0.16340298] [-0.05522156 -0.09359174 0.99407805 0.03568167] [ 0. 0. 0. 1. ]] SLAMing on 3.07538475 meters Centerline goodness : 0.939428 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.15, Z:0.02 [[ 0.99773979 0.03425754 0.05780778 1.51015752] [-0.03840606 0.99664687 0.0722495 -0.15232326] [-0.05513885 -0.07430637 0.99570993 0.02410497] [ 0. 0. 0. 1. ]] SLAMing on 3.13538475 meters Centerline goodness : 0.935796 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.14, Z:0.01 [[ 0.99750221 0.03998167 0.05823069 1.5210012 ] [-0.04330219 0.99743898 0.0569245 -0.14070123] [-0.05580562 -0.05930383 0.99667888 0.01000773] [ 0. 0. 0. 1. ]] SLAMing on 3.1953847499999997 meters Centerline goodness : 0.936300 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.13, Z:0.00 [[ 9.97201285e-01 4.35294787e-02 6.07847103e-02 1.52816209e+00] [-4.60729383e-02 9.98092700e-01 4.10882658e-02 -1.32128956e-01] [-5.88802249e-02 -4.37738017e-02 9.97304855e-01 1.26500594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2553847499999997 meters Centerline goodness : 0.938490 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.12, Z:-0.00 [[ 0.9966181 0.05067933 0.06468358 1.53810842] [-0.05298146 0.99800333 0.03438495 -0.12207281] [-0.06281182 -0.03769569 0.99731325 -0.00317259] [ 0. 0. 0. 1. ]] SLAMing on 3.3153847499999998 meters Centerline goodness : 0.944479 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:-0.01 [[ 0.99621021 0.05290214 0.06904044 1.54956168] [-0.05477071 0.99817439 0.02545715 -0.11618916] [-0.06756766 -0.02914207 0.997289 -0.0065789 ] [ 0. 0. 0. 1. ]] SLAMing on 3.37538475 meters Centerline goodness : 0.949405 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:0.00 [[ 9.96305226e-01 5.02446823e-02 6.96517662e-02 1.55857178e+00] [-5.27337861e-02 9.98016974e-01 3.43695647e-02 -1.13870761e-01] [-6.77867571e-02 -3.79155782e-02 9.96979119e-01 1.40464701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43538475 meters Centerline goodness : 0.948993 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.00 [[ 9.96419860e-01 4.82814158e-02 6.94000539e-02 1.56091290e+00] [-5.05621644e-02 9.98224323e-01 3.14907704e-02 -1.06168531e-01] [-6.77564029e-02 -3.48870459e-02 9.97091753e-01 -8.20527019e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.49538475 meters Centerline goodness : 0.950058 with order 1 Centerline is valid? [False, True] Translation: X:1.56, Y:-0.10, Z:-0.00 [[ 0.99655705 0.04688586 0.06837953 1.56360064] [-0.04892255 0.99839816 0.02842019 -0.09949845] [-0.06693749 -0.03166764 0.9972545 -0.00300547] [ 0. 0. 0. 1. ]] SLAMing on 3.55538475 meters Centerline goodness : 0.946452 with order 1 Centerline is valid? [True, False] Translation: X:1.57, Y:-0.09, Z:-0.01 [[ 0.99673256 0.04734918 0.06543894 1.57174757] [-0.04904243 0.9984958 0.0245149 -0.08973036] [-0.06417975 -0.02764408 0.99755539 -0.01391114] [ 0. 0. 0. 1. ]] SLAMing on 3.6153847499999996 meters Centerline goodness : 0.943611 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.08, Z:-0.02 [[ 0.99702799 0.04436337 0.06298475 1.57858952] [-0.04566445 0.99876904 0.01936935 -0.0823021 ] [-0.06204793 -0.02218795 0.99782651 -0.02026264] [ 0. 0. 0. 1. ]] SLAMing on 3.6753847499999996 meters Centerline goodness : 0.944443 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.08, Z:-0.02 [[ 0.9973479 0.038834 0.06155553 1.58081023] [-0.0397714 0.99910964 0.01407676 -0.07742904] [-0.06095407 -0.01648757 0.99800439 -0.01895003] [ 0. 0. 0. 1. ]] SLAMing on 3.7353847499999997 meters Centerline goodness : 0.944705 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.07, Z:-0.02 [[ 0.99750216 0.03612881 0.06069713 1.5837552 ] [-0.03692974 0.99924429 0.01212572 -0.06874625] [-0.06021317 -0.01433696 0.99808257 -0.01850866] [ 0. 0. 0. 1. ]] SLAMing on 3.7953847499999998 meters Centerline goodness : 0.940516 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.06, Z:-0.01 [[ 0.99753444 0.03501977 0.06081655 1.58174694] [-0.03565606 0.99931983 0.00940871 -0.05855397] [-0.06044569 -0.01155399 0.99810462 -0.01491012] [ 0. 0. 0. 1. ]] SLAMing on 3.85538475 meters Centerline goodness : 0.938238 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.04, Z:-0.02 [[ 0.99743716 0.03942524 0.05970567 1.58582233] [-0.04016535 0.99912975 0.01124654 -0.04363026] [-0.05921032 -0.01361581 0.99815267 -0.01854404] [ 0. 0. 0. 1. ]] SLAMing on 3.91538475 meters Centerline goodness : 0.931800 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.03, Z:-0.02 [[ 0.99723075 0.0448387 0.05933235 1.58740769] [-0.04575245 0.99885284 0.01413202 -0.03110193] [-0.05863063 -0.01680749 0.99813825 -0.01979307] [ 0. 0. 0. 1. ]] SLAMing on 3.97538475 meters Centerline goodness : 0.925378 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:-0.02 [[ 0.99713674 0.04783182 0.05856988 1.58919218] [-0.04861344 0.99874567 0.01199285 -0.01926608] [-0.05792277 -0.0148058 0.99821127 -0.02450107] [ 0. 0. 0. 1. ]] SLAMing on 4.0353847499999995 meters Centerline goodness : 0.917809 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:-0.03 [[ 0.99698762 0.05310922 0.05652512 1.59495893] [-0.05399642 0.99843895 0.01428477 -0.00692925] [-0.05567823 -0.01729389 0.99829898 -0.02967884] [ 0. 0. 0. 1. ]] SLAMing on 4.09538475 meters Centerline goodness : 0.916600 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:0.00, Z:-0.03 [[ 0.99618898 0.06976393 0.05234988 1.59828479] [-0.07044654 0.99745147 0.01130732 0.00486292] [-0.05142762 -0.0149521 0.99856479 -0.0278955 ] [ 0. 0. 0. 1. ]] SLAMing on 4.15538475 meters Centerline goodness : 0.918317 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.02 [[ 0.99527191 0.08143871 0.05292979 1.59635787] [-0.0827076 0.9963257 0.02223836 0.01045024] [-0.05092425 -0.02651091 0.99835059 -0.02441615] [ 0. 0. 0. 1. ]] SLAMing on 4.21538475 meters Centerline goodness : 0.915244 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.02 [[ 0.99519079 0.08236406 0.05302316 1.59536422] [-0.08363333 0.99624977 0.02217794 0.01294643] [-0.05099764 -0.02650578 0.99834698 -0.02340538] [ 0. 0. 0. 1. ]] SLAMing on 4.27538475 meters Centerline goodness : 0.919147 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99511471 0.08303969 0.05339588 1.5933768 ] [-0.08447591 0.9961062 0.02522408 0.00864513] [-0.05109337 -0.02961151 0.99825479 -0.01901546] [ 0. 0. 0. 1. ]] SLAMing on 4.33538475 meters Centerline goodness : 0.915438 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99545654 0.07912556 0.05296632 1.59483583] [-0.08028982 0.99656639 0.0202233 0.00958499] [-0.05118428 -0.02438408 0.9983915 -0.0218522 ] [ 0. 0. 0. 1. ]] SLAMing on 4.39538475 meters Centerline goodness : 0.915025 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.02 [[ 0.99537835 0.08002598 0.05308273 1.59431927] [-0.08123588 0.99647286 0.0210374 0.00575513] [-0.05121196 -0.0252524 0.9983685 -0.02208606] [ 0. 0. 0. 1. ]] SLAMing on 4.4553847499999994 meters Centerline goodness : 0.917064 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.02 [[ 0.99512964 0.08252529 0.05391275 1.59209746] [-0.08384239 0.99622182 0.02263937 0.00291447] [-0.05184074 -0.02704928 0.99828897 -0.02195093] [ 0. 0. 0. 1. ]] SLAMing on 4.51538475 meters Centerline goodness : 0.916053 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.02 [[ 0.99508125 0.08302752 0.05403462 1.59186692] [-0.0843576 0.99617432 0.02281473 0.00238955] [-0.05193365 -0.02726074 0.99827839 -0.02231029] [ 0. 0. 0. 1. ]] SLAMing on 4.57538475 meters Centerline goodness : 0.919250 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:-0.02 [[ 0.99489865 0.08408407 0.05573644 1.58736991] [-0.08549914 0.99606093 0.02350563 -0.01089426] [-0.05354044 -0.02815114 0.99816879 -0.02289586] [ 0. 0. 0. 1. ]] SLAMing on 4.63538475 meters Centerline goodness : 0.927259 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:-0.02 [[ 0.99537306 0.07810499 0.05596506 1.58552466] [-0.07927976 0.99666971 0.01908426 -0.02241498] [-0.05428811 -0.02343285 0.99825032 -0.02252009] [ 0. 0. 0. 1. ]] SLAMing on 4.69538475 meters Centerline goodness : 0.936560 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.04, Z:-0.02 [[ 0.99582453 0.07144251 0.05682847 1.58344132] [-0.0726003 0.99718815 0.01857389 -0.03729871] [-0.05534172 -0.0226221 0.99821117 -0.01705847] [ 0. 0. 0. 1. ]] SLAMing on 4.75538475 meters Centerline goodness : 0.934706 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.02 [[ 0.99629336 0.06505593 0.05627845 1.58605794] [-0.06591431 0.99773354 0.01353105 -0.04761614] [-0.05527062 -0.01719045 0.99832342 -0.02108977] [ 0. 0. 0. 1. ]] SLAMing on 4.81538475 meters Centerline goodness : 0.933210 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.02 [[ 0.99640566 0.06384434 0.0556746 1.58839042] [-0.06468452 0.99781552 0.0134199 -0.05504602] [-0.0546962 -0.01697295 0.99835878 -0.02380762] [ 0. 0. 0. 1. ]] SLAMing on 4.875384749999999 meters Centerline goodness : 0.932435 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.02 [[ 0.9962968 0.06527539 0.05596261 1.58684519] [-0.06620457 0.99769464 0.0149116 -0.05916651] [-0.05486024 -0.01856136 0.99832151 -0.02290705] [ 0. 0. 0. 1. ]] SLAMing on 4.93538475 meters Centerline goodness : 0.931782 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.02 [[ 0.99648256 0.06271605 0.05558067 1.58618743] [-0.06345453 0.99791707 0.01162121 -0.06129536] [-0.05473607 -0.01510718 0.99838657 -0.02281761] [ 0. 0. 0. 1. ]] SLAMing on 4.9953847499999995 meters Centerline goodness : 0.936115 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.02 [[ 0.99677806 0.05845884 0.05491878 1.58703552] [-0.05907095 0.99820774 0.00958803 -0.06910268] [-0.05425984 -0.01280124 0.99844479 -0.02193881] [ 0. 0. 0. 1. ]] SLAMing on 5.05538475 meters Centerline goodness : 0.935756 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.08, Z:-0.02 [[ 0.99735343 0.04902765 0.05368825 1.58990388] [-0.04938447 0.99876557 0.00533894 -0.07769391] [-0.05336022 -0.00797618 0.99854347 -0.01936208] [ 0. 0. 0. 1. ]] SLAMing on 5.11538475 meters Centerline goodness : 0.939317 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:-0.01 [[ 0.99792976 0.03207565 0.05574349 1.61936012] [-0.0330378 0.99931913 0.01642511 -0.08925717] [-0.05517869 -0.01823275 0.99831001 -0.01268052] [ 0. 0. 0. 1. ]] SLAMing on 5.17538475 meters Centerline goodness : 0.941122 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.09, Z:-0.01 [[ 0.99826858 0.01686838 0.05634972 1.64293383] [-0.01815204 0.99958548 0.02234654 -0.09437716] [-0.05594941 -0.02333071 0.99816098 -0.00805252] [ 0. 0. 0. 1. ]] SLAMing on 5.23538475 meters Centerline goodness : 0.938832 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.01 [[ 0.99834187 0.01533664 0.05548239 1.64618801] [-0.01632924 0.99971384 0.01748143 -0.08514997] [-0.05519841 -0.01835843 0.99830662 -0.01376037] [ 0. 0. 0. 1. ]] SLAMing on 5.295384749999999 meters Centerline goodness : 0.932749 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.07, Z:-0.01 [[ 0.99813633 0.02649367 0.05497232 1.64569011] [-0.02796292 0.99926732 0.02613227 -0.07432355] [-0.0542397 -0.02762075 0.99814586 -0.01277917] [ 0. 0. 0. 1. ]] SLAMing on 5.35538475 meters Centerline goodness : 0.933556 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.06, Z:-0.02 [[ 0.9973496 0.04644775 0.05600346 1.64410261] [-0.04772604 0.99862456 0.02170723 -0.05934342] [-0.05491818 -0.02432252 0.99819457 -0.01669707] [ 0. 0. 0. 1. ]] SLAMing on 5.415384749999999 meters Centerline goodness : 0.930443 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.02 [[ 0.99638374 0.06299183 0.05702166 1.64373287] [-0.06396318 0.99783387 0.01537114 -0.04748982] [-0.05592989 -0.01896284 0.99825461 -0.02022734] [ 0. 0. 0. 1. ]] SLAMing on 5.47538475 meters Centerline goodness : 0.927371 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:-0.02 [[ 0.99610924 0.06716708 0.05705237 1.6435074 ] [-0.0683296 0.99748802 0.01867378 -0.04337631] [-0.0556548 -0.02249949 0.99819653 -0.01960626] [ 0. 0. 0. 1. ]] SLAMing on 5.5353847499999995 meters Centerline goodness : 0.924658 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:-0.02 [[ 0.99613579 0.06698818 0.05679853 1.64475885] [-0.0681154 0.99751242 0.01814566 -0.04307831] [-0.05544169 -0.0219444 0.99822075 -0.02130086] [ 0. 0. 0. 1. ]] SLAMing on 5.59538475 meters Centerline goodness : 0.924237 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:-0.02 [[ 0.99636812 0.06342832 0.05681038 1.64473417] [-0.06431816 0.99783162 0.01397242 -0.04378251] [-0.05580095 -0.01757561 0.99828721 -0.02264661] [ 0. 0. 0. 1. ]] SLAMing on 5.65538475 meters Centerline goodness : 0.925033 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.02 [[ 0.99662252 0.05954935 0.05654582 1.64495119] [-0.06023242 0.99812966 0.01045192 -0.04696467] [-0.05581765 -0.01382251 0.9983453 -0.02298772] [ 0. 0. 0. 1. ]] SLAMing on 5.71538475 meters Centerline goodness : 0.925568 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.02 [[ 0.99660103 0.05966755 0.05679932 1.64430537] [-0.06041167 0.9981076 0.01147358 -0.05031562] [-0.05600723 -0.01486592 0.99831969 -0.02215045] [ 0. 0. 0. 1. ]] SLAMing on 5.77538475 meters Centerline goodness : 0.932135 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.02 [[ 0.99644705 0.06119669 0.05786391 1.64167292] [-0.06201433 0.99799773 0.01244022 -0.05283243] [-0.05698675 -0.01598441 0.99824697 -0.02182565] [ 0. 0. 0. 1. ]] SLAMing on 5.835384749999999 meters Centerline goodness : 0.930970 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.06, Z:-0.02 [[ 0.99624506 0.06317322 0.05920242 1.6388707 ] [-0.06412465 0.9978393 0.01430937 -0.06042333] [-0.05817053 -0.01805198 0.99814343 -0.02238317] [ 0. 0. 0. 1. ]] SLAMing on 5.89538475 meters Centerline goodness : 0.927091 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.02 [[ 0.99638956 0.0604683 0.05959385 1.63767936] [-0.06129905 0.99804475 0.0122104 -0.06930937] [-0.05873899 -0.01581937 0.99814802 -0.02293144] [ 0. 0. 0. 1. ]] SLAMing on 5.9553847499999994 meters Centerline goodness : 0.928563 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.08, Z:-0.02 [[ 0.99663593 0.05655534 0.05931547 1.63869222] [-0.0572099 0.99831797 0.00939422 -0.07673615] [-0.0586844 -0.01275605 0.99819508 -0.02430427] [ 0. 0. 0. 1. ]] SLAMing on 6.01538475 meters Centerline goodness : 0.924343 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.09, Z:-0.03 [[ 0.99686279 0.05260876 0.05913455 1.64079955] [-0.05323171 0.99854156 0.00900793 -0.08966097] [-0.05857441 -0.0121275 0.99820938 -0.02543468] [ 0. 0. 0. 1. ]] SLAMing on 6.07538475 meters Centerline goodness : 0.928906 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.10, Z:-0.02 [[ 0.99700439 0.05421818 0.05516011 1.65746919] [-0.05486167 0.99844168 0.01021817 -0.10475166] [-0.05452015 -0.01321374 0.99842524 -0.02385713] [ 0. 0. 0. 1. ]] SLAMing on 6.13538475 meters Centerline goodness : 0.931212 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.11, Z:-0.02 [[ 0.99655135 0.05920985 0.05813441 1.64915442] [-0.06009181 0.99810101 0.01354032 -0.11377398] [-0.05722229 -0.01698703 0.99821694 -0.02272518] [ 0. 0. 0. 1. ]] SLAMing on 6.19538475 meters Centerline goodness : 0.931335 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.12, Z:-0.02 [[ 0.99613849 0.06386545 0.06024382 1.6417678 ] [-0.06496466 0.99775172 0.01646533 -0.11980185] [-0.05905681 -0.02031547 0.99804788 -0.02050967] [ 0. 0. 0. 1. ]] SLAMing on 6.25538475 meters Centerline goodness : 0.932191 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.13, Z:-0.02 [[ 0.99610405 0.0629554 0.06175216 1.63893619] [-0.06397419 0.99784387 0.01466006 -0.12705058] [-0.06069609 -0.01855349 0.99798384 -0.02247471] [ 0. 0. 0. 1. ]] SLAMing on 6.31538475 meters Centerline goodness : 0.933049 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.02 [[ 0.99631873 0.05772239 0.06338074 1.6356925 ] [-0.05846253 0.99824067 0.00988442 -0.13734838] [-0.06269868 -0.01355343 0.99794047 -0.02324118] [ 0. 0. 0. 1. ]] SLAMing on 6.375384749999999 meters Centerline goodness : 0.933178 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.16, Z:-0.01 [[ 0.99685821 0.04048906 0.06807599 1.68115294] [-0.04323881 0.99828694 0.03941565 -0.15871498] [-0.06636347 -0.04223534 0.99690123 -0.00664041] [ 0. 0. 0. 1. ]] SLAMing on 6.43538475 meters Centerline goodness : 0.934743 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.16, Z:-0.01 [[ 0.99707588 0.03596092 0.0674278 1.68328994] [-0.03844416 0.99861569 0.03589917 -0.16298256] [-0.06604349 -0.03838641 0.9970781 -0.0075735 ] [ 0. 0. 0. 1. ]] SLAMing on 6.4953847499999995 meters Centerline goodness : 0.936854 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.20, Z:0.06 [[ 0.99578344 0.00420167 0.09163894 1.75724646] [-0.01636177 0.99106766 0.1323525 -0.19745062] [-0.09026428 -0.1332938 0.98695751 0.05715544] [ 0. 0. 0. 1. ]] SLAMing on 6.55538475 meters Centerline goodness : 0.938688 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.22, Z:0.11 [[ 0.99344869 -0.02796518 0.11080459 1.81557486] [ 0.00410745 0.97770773 0.20993027 -0.22028976] [-0.11420525 -0.20809983 0.97141733 0.11137453] [ 0. 0. 0. 1. ]] SLAMing on 6.61538475 meters Centerline goodness : 0.939107 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.22, Z:0.10 [[ 0.99312243 -0.03453094 0.11187251 1.81381594] [ 0.01191259 0.98036119 0.19685027 -0.21712247] [-0.11647289 -0.19416372 0.97403004 0.10293264] [ 0. 0. 0. 1. ]] SLAMing on 6.67538475 meters Centerline goodness : 0.940844 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.21, Z:0.09 [[ 0.99340655 -0.03498817 0.10917533 1.79830876] [ 0.01535315 0.98431524 0.17574921 -0.20871903] [-0.11361208 -0.17291423 0.97836239 0.09266545] [ 0. 0. 0. 1. ]] SLAMing on 6.73538475 meters Centerline goodness : 0.940397 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.20, Z:0.17 [[ 0.99580732 -0.01936842 0.08940156 1.665766 ] [-0.00200893 0.9724613 0.23305574 -0.20109781] [-0.09145348 -0.23225822 0.96834518 0.16689729] [ 0. 0. 0. 1. ]] SLAMing on 6.795384749999999 meters Centerline goodness : 0.940984 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.18, Z:0.15 [[ 0.99620773 -0.01602674 0.08551782 1.65539809] [-0.00298106 0.9760242 0.21764163 -0.18421181] [-0.08695555 -0.21707121 0.97227508 0.15342559] [ 0. 0. 0. 1. ]] SLAMing on 6.85538475 meters Centerline goodness : 0.933212 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.17, Z:0.14 [[ 0.99659603 -0.01329707 0.08136062 1.64962599] [-0.00364096 0.97884418 0.20457471 -0.16618633] [-0.08235961 -0.20417458 0.97546381 0.13989495] [ 0. 0. 0. 1. ]] SLAMing on 6.915384749999999 meters Centerline goodness : 0.930402 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.13 [[ 0.99674872 -0.01109045 0.0798059 1.65097666] [-0.00495672 0.9801654 0.19811919 -0.14923663] [-0.08042021 -0.19787063 0.97692364 0.12771113] [ 0. 0. 0. 1. ]] SLAMing on 6.97538475 meters Centerline goodness : 0.927410 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.13, Z:0.12 [[ 0.9970034 -0.00686899 0.07705223 1.6441047 ] [-0.00761573 0.98249578 0.18612908 -0.13343841] [-0.07698201 -0.18615813 0.97949932 0.11519716] [ 0. 0. 0. 1. ]] SLAMing on 7.0353847499999995 meters Centerline goodness : 0.926699 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.12, Z:0.10 [[ 0.99706316 0.00308595 0.07652149 1.64759061] [-0.01624815 0.98496483 0.17198922 -0.12049368] [-0.07484023 -0.17272744 0.98212228 0.104462 ] [ 0. 0. 0. 1. ]] SLAMing on 7.09538475 meters Centerline goodness : 0.929674 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.11, Z:0.10 [[ 0.99704514 0.01254549 0.07578658 1.64876326] [-0.02439342 0.98721805 0.15749757 -0.10725942] [-0.072842 -0.15888088 0.98460698 0.09519252] [ 0. 0. 0. 1. ]] SLAMing on 7.15538475 meters Centerline goodness : 0.930657 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.10, Z:0.09 [[ 0.99686374 0.01783897 0.07710027 1.65301441] [-0.0285832 0.98965598 0.14058461 -0.09641836] [-0.07379486 -0.14234747 0.98706206 0.0857616 ] [ 0. 0. 0. 1. ]] SLAMing on 7.215384749999999 meters Centerline goodness : 0.928372 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.09, Z:0.08 [[ 0.99681598 0.01947571 0.07732134 1.66219185] [-0.02894228 0.9919514 0.12326702 -0.08670678] [-0.0742983 -0.12511239 0.98935669 0.07664557] [ 0. 0. 0. 1. ]] SLAMing on 7.27538475 meters Centerline goodness : 0.927934 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.08, Z:0.07 [[ 0.99737972 0.0166787 0.07039536 1.68391516] [-0.02476878 0.99297942 0.11566492 -0.08146637] [-0.067972 -0.11710546 0.99079065 0.07389526] [ 0. 0. 0. 1. ]] SLAMing on 7.335384749999999 meters Centerline goodness : 0.928104 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.07, Z:0.07 [[ 0.99722632 0.01112868 0.07359219 1.69670467] [-0.01825902 0.9951228 0.09693927 -0.07319754] [-0.07215446 -0.09801412 0.99256585 0.06650542] [ 0. 0. 0. 1. ]] SLAMing on 7.39538475 meters Centerline goodness : 0.925428 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:0.06 [[ 0.9972138 0.01252074 0.07353818 1.71135851] [-0.01880077 0.99617473 0.08533716 -0.06501863] [-0.07218839 -0.08648196 0.99363459 0.059036 ] [ 0. 0. 0. 1. ]] SLAMing on 7.4553847499999994 meters Centerline goodness : 0.921267 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:0.05 [[ 0.99700916 0.0141691 0.07597346 1.72093012] [-0.01955364 0.99731266 0.07060529 -0.056275 ] [-0.07476888 -0.07187967 0.99460692 0.05162691] [ 0. 0. 0. 1. ]] SLAMing on 7.51538475 meters Centerline goodness : 0.919807 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.05, Z:0.05 [[ 0.99706161 0.01190138 0.07567364 1.72369005] [-0.0171314 0.99748034 0.06884392 -0.0482363 ] [-0.07466363 -0.06993802 0.99475324 0.05037919] [ 0. 0. 0. 1. ]] SLAMing on 7.57538475 meters Centerline goodness : 0.912251 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:0.06 [[ 0.99733464 0.01234663 0.07191091 1.75268898] [-0.01802061 0.9967278 0.07879683 -0.0483155 ] [-0.07070273 -0.07988269 0.99429366 0.05530737] [ 0. 0. 0. 1. ]] SLAMing on 7.63538475 meters Centerline goodness : 0.908121 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:0.05 [[ 0.99737665 0.014587 0.07090164 1.75590817] [-0.02029727 0.99654817 0.080497 -0.04350644] [-0.06948269 -0.08172494 0.99422995 0.05285941] [ 0. 0. 0. 1. ]] SLAMing on 7.69538475 meters Centerline goodness : 0.905284 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:0.05 [[ 0.99712687 0.027908 0.07042124 1.75624078] [-0.03430971 0.9952231 0.09139928 -0.02826801] [-0.06753407 -0.09355281 0.99332121 0.05243444] [ 0. 0. 0. 1. ]] SLAMing on 7.755384749999999 meters Centerline goodness : 0.902497 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.02, Z:0.05 [[ 0.99672643 0.03717626 0.07179378 1.75997611] [-0.04285327 0.99593526 0.0792247 -0.01832037] [-0.06855668 -0.08204195 0.99426812 0.04659683] [ 0. 0. 0. 1. ]] SLAMing on 7.81538475 meters Centerline goodness : 0.901459 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.01, Z:0.04 [[ 0.9961642 0.04896077 0.07252403 1.76261842] [-0.05405178 0.99608271 0.0699832 -0.00740788] [-0.0688135 -0.07363481 0.99490835 0.04435425] [ 0. 0. 0. 1. ]] SLAMing on 7.875384749999999 meters Centerline goodness : 0.896998 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.00, Z:0.04 [[ 0.99565518 0.0582614 0.0726386 1.76404396] [-0.06393491 0.99487 0.07839646 0.00324582] [-0.06769848 -0.08269998 0.99427241 0.04329991] [ 0. 0. 0. 1. ]] SLAMing on 7.93538475 meters Centerline goodness : 0.896778 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.00, Z:0.04 [[ 0.99556704 0.05756192 0.07438346 1.77400057] [-0.06231102 0.99605467 0.06318567 0.00453227] [-0.0704529 -0.06754048 0.99522594 0.03802203] [ 0. 0. 0. 1. ]] SLAMing on 7.9953847499999995 meters Centerline goodness : 0.896523 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:0.05 [[ 9.95916371e-01 4.76821253e-02 7.66615789e-02 1.79538311e+00] [-5.39117750e-02 9.95225684e-01 8.13594454e-02 -9.21145678e-04] [-7.24161810e-02 -8.51601653e-02 9.93732179e-01 4.78205698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.05538475 meters Centerline goodness : 0.892406 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.01, Z:0.07 [[ 0.99602138 0.03284745 0.08283993 1.81385146] [-0.04311549 0.99117145 0.12538026 -0.01488091] [-0.07799015 -0.12845311 0.98864419 0.07215948] [ 0. 0. 0. 1. ]] SLAMing on 8.11538475 meters Centerline goodness : 0.889666 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:0.09 [[ 0.9959369 0.02658235 0.08604107 1.82846058] [-0.03932103 0.98791432 0.14993048 -0.02438634] [-0.0810157 -0.15270452 0.98494558 0.09043103] [ 0. 0. 0. 1. ]] SLAMing on 8.175384750000001 meters Centerline goodness : 0.890862 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.10 [[ 0.99541102 0.03274805 0.0899137 1.82337399] [-0.04735808 0.98507036 0.16551014 -0.02464431] [-0.08315118 -0.16900876 0.98210077 0.10410728] [ 0. 0. 0. 1. ]] SLAMing on 8.23538475 meters Centerline goodness : 0.885892 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.11 [[ 0.99492857 0.04231453 0.09125028 1.82115357] [-0.05796631 0.98261649 0.17636533 -0.01972688] [-0.08220122 -0.18076035 0.98008604 0.10726788] [ 0. 0. 0. 1. ]] SLAMing on 8.29538475 meters Centerline goodness : 0.881690 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.11 [[ 0.994622 0.04746875 0.0920532 1.81920281] [-0.0636225 0.98135258 0.18138163 -0.01793404] [-0.08172669 -0.18626282 0.97909495 0.10953056] [ 0. 0. 0. 1. ]] SLAMing on 8.35538475 meters Centerline goodness : 0.879616 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.11 [[ 0.99393031 0.05922916 0.0927062 1.8194235 ] [-0.07637227 0.97803356 0.19395265 -0.01510618] [-0.07918212 -0.1998556 0.97662067 0.11040497] [ 0. 0. 0. 1. ]] SLAMing on 8.415384750000001 meters Centerline goodness : 0.874619 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.11 [[ 0.99309206 0.07144766 0.09307734 1.82005413] [-0.08954892 0.97407942 0.20772644 -0.01451262] [-0.07582316 -0.21462645 0.9737486 0.11248109] [ 0. 0. 0. 1. ]] SLAMing on 8.47538475 meters Centerline goodness : 0.872503 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:0.11 [[ 0.99291653 0.08238516 0.08561222 1.83457213] [-0.097657 0.97630615 0.19310465 -0.01624426] [-0.06767478 -0.20009743 0.977436 0.11111456] [ 0. 0. 0. 1. ]] SLAMing on 8.53538475 meters Centerline goodness : 0.872288 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.02, Z:0.11 [[ 0.99244542 0.08631523 0.08718818 1.84147426] [-0.10104439 0.97812321 0.18183791 -0.01994293] [-0.0695854 -0.18927408 0.97945556 0.10830756] [ 0. 0. 0. 1. ]] SLAMing on 8.595384750000001 meters Centerline goodness : 0.875031 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.02, Z:0.10 [[ 0.9920644 0.08785335 0.08994448 1.84732296] [-0.10204646 0.98052167 0.16782069 -0.02247447] [-0.0734489 -0.17566745 0.98170576 0.10410326] [ 0. 0. 0. 1. ]] SLAMing on 8.655384750000001 meters Centerline goodness : 0.882638 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.04, Z:0.11 [[ 0.99185689 0.09071845 0.08938722 1.8566311 ] [-0.10323082 0.98372039 0.14709724 -0.03681389] [-0.07458759 -0.15512693 0.98507478 0.10553956] [ 0. 0. 0. 1. ]] SLAMing on 8.71538475 meters Centerline goodness : 0.885163 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.04, Z:0.10 [[ 0.99155125 0.09169641 0.09174902 1.86242838] [-0.10344751 0.98572723 0.13281731 -0.04254144] [-0.07826063 -0.14118637 0.98688484 0.10084232] [ 0. 0. 0. 1. ]] SLAMing on 8.77538475 meters Centerline goodness : 0.890497 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.07, Z:0.10 [[ 0.99261445 0.08283679 0.08862635 1.87154153] [-0.09323103 0.98833616 0.12041431 -0.0658547 ] [-0.07761789 -0.12778771 0.98875971 0.09623336] [ 0. 0. 0. 1. ]] SLAMing on 8.835384750000001 meters Centerline goodness : 0.890934 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.08, Z:0.09 [[ 0.99365393 0.07557287 0.08331035 1.88525692] [-0.08454609 0.99032417 0.1100454 -0.08178751] [-0.07418781 -0.11639061 0.99042889 0.0924789 ] [ 0. 0. 0. 1. ]] SLAMing on 8.89538475 meters Centerline goodness : 0.889221 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.10, Z:0.09 [[ 0.99484669 0.06458747 0.07815704 1.90368645] [-0.07223504 0.99242782 0.09934341 -0.10049974] [-0.07114888 -0.10447714 0.99197901 0.08801398] [ 0. 0. 0. 1. ]] SLAMing on 8.95538475 meters Centerline goodness : 0.890964 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:0.09 [[ 0.99548607 0.05461496 0.07761886 1.90542955] [-0.06160039 0.99397555 0.09065316 -0.11222563] [-0.07220023 -0.09502531 0.99285312 0.08610234] [ 0. 0. 0. 1. ]] SLAMing on 9.01538475 meters Centerline goodness : 0.892798 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.12, Z:0.09 [[ 0.99617019 0.05035266 0.07148118 1.92124769] [-0.05637366 0.99479534 0.08487779 -0.12407393] [-0.06683532 -0.08858238 0.99382403 0.08524368] [ 0. 0. 0. 1. ]] SLAMing on 9.075384750000001 meters Centerline goodness : 0.894324 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.13, Z:0.08 [[ 0.99615476 0.04844655 0.0729975 1.92990354] [-0.0534308 0.99625702 0.06794925 -0.12672912] [-0.06943236 -0.07158828 0.99501471 0.07965134] [ 0. 0. 0. 1. ]] SLAMing on 9.13538475 meters Centerline goodness : 0.897209 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.12, Z:0.08 [[ 0.99599328 0.0485781 0.07508365 1.93487017] [-0.05243145 0.99736043 0.05023065 -0.12477761] [-0.07244536 -0.05396614 0.9959113 0.07595296] [ 0. 0. 0. 1. ]] SLAMing on 9.19538475 meters Centerline goodness : 0.900671 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.08 [[ 0.99609991 0.04752009 0.07434248 1.9365978 ] [-0.05126989 0.99746373 0.04937102 -0.12212449] [-0.07180781 -0.05299 0.99600989 0.07595784] [ 0. 0. 0. 1. ]] SLAMing on 9.255384750000001 meters Centerline goodness : 0.899041 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:0.07 [[ 0.99634925 0.04337142 0.07353288 1.93821248] [-0.04663567 0.99797431 0.04327116 -0.11498288] [-0.0715072 -0.04654245 0.99635361 0.07412541] [ 0. 0. 0. 1. ]] SLAMing on 9.31538475 meters Centerline goodness : 0.898418 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:0.07 [[ 0.99638296 0.04512242 0.07200666 1.94221116] [-0.04841184 0.99783078 0.04460968 -0.10716064] [-0.06983757 -0.0479343 0.99640605 0.07294453] [ 0. 0. 0. 1. ]] SLAMing on 9.37538475 meters Centerline goodness : 0.896219 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:0.07 [[ 0.99622551 0.04904134 0.07162173 1.94172251] [-0.05243952 0.99754732 0.04636211 -0.09711313] [-0.06917241 -0.04994293 0.99635379 0.07428278] [ 0. 0. 0. 1. ]] SLAMing on 9.43538475 meters Centerline goodness : 0.895048 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.09, Z:0.07 [[ 0.9959756 0.0549797 0.07078022 1.94363858] [-0.05870842 0.9969343 0.05172361 -0.08842749] [-0.06771948 -0.05567085 0.99615 0.07466748] [ 0. 0. 0. 1. ]] SLAMing on 9.495384750000001 meters Centerline goodness : 0.892589 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.08, Z:0.07 [[ 0.99590192 0.05697618 0.07023594 1.94590205] [-0.06074548 0.99675837 0.05275164 -0.07716812] [-0.06700267 -0.05680197 0.99613462 0.07355816] [ 0. 0. 0. 1. ]] SLAMing on 9.55538475 meters Centerline goodness : 0.890764 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.07, Z:0.07 [[ 0.9960548 0.05584074 0.06896852 1.94876111] [-0.0592196 0.99709231 0.04795804 -0.06618672] [-0.06608996 -0.05185313 0.99646544 0.06930839] [ 0. 0. 0. 1. ]] SLAMing on 9.61538475 meters Centerline goodness : 0.886691 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.06, Z:0.07 [[ 0.9957266 0.06196849 0.06847229 1.9510696 ] [-0.06561139 0.99647376 0.05229901 -0.05690089] [-0.06498995 -0.05656808 0.99628127 0.06719637] [ 0. 0. 0. 1. ]] SLAMing on 9.675384750000001 meters Centerline goodness : 0.882430 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.05, Z:0.06 [[ 0.99504236 0.07555884 0.06466499 1.95713955] [-0.07861501 0.99583873 0.04609668 -0.04551791] [-0.06091289 -0.05095179 0.99684178 0.06349457] [ 0. 0. 0. 1. ]] SLAMing on 9.73538475 meters Centerline goodness : 0.883771 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:0.06 [[ 0.9940255 0.08690697 0.0660339 1.95827115] [-0.08943192 0.9953316 0.03628972 -0.03756867] [-0.0625718 -0.04197844 0.99715725 0.06181536] [ 0. 0. 0. 1. ]] SLAMing on 9.79538475 meters Centerline goodness : 0.886732 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:0.06 [[ 0.99300996 0.09484028 0.07026058 1.96101669] [-0.09694696 0.99491784 0.02719892 -0.03395873] [-0.06732395 -0.03382035 0.9971578 0.06014898] [ 0. 0. 0. 1. ]] SLAMing on 9.85538475 meters Centerline goodness : 0.895155 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:0.06 [[ 0.99311299 0.0933517 0.07079585 1.95790068] [-0.09527906 0.99515282 0.02434696 -0.03289705] [-0.06817986 -0.03092464 0.99719365 0.06188331] [ 0. 0. 0. 1. ]] SLAMing on 9.915384750000001 meters Centerline goodness : 0.899813 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:0.06 [[ 0.99339511 0.09003306 0.07113511 1.95703808] [-0.09174211 0.99555862 0.02112847 -0.03622091] [-0.06891691 -0.027515 0.99724289 0.06107754] [ 0. 0. 0. 1. ]] SLAMing on 9.97538475 meters Centerline goodness : 0.902744 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:0.06 [[ 0.99388357 0.08475351 0.07079755 1.95903213] [-0.0860898 0.99615831 0.01603627 -0.04293404] [-0.06916644 -0.02203314 0.99736179 0.05690272] [ 0. 0. 0. 1. ]] SLAMing on 10.03538475 meters Centerline goodness : 0.907779 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.05, Z:0.06 [[ 0.9941782 0.08102481 0.07102591 1.95878664] [-0.08223972 0.99650931 0.01434629 -0.05262729] [-0.06961557 -0.02010392 0.9973713 0.05640969] [ 0. 0. 0. 1. ]] SLAMing on 10.095384750000001 meters Centerline goodness : 0.911766 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.06, Z:0.05 [[ 0.99448325 0.07728945 0.0709183 1.96099934] [-0.07835312 0.99684933 0.01233716 -0.06051415] [-0.06974133 -0.01782576 0.99740583 0.05320756] [ 0. 0. 0. 1. ]] SLAMing on 10.15538475 meters Centerline goodness : 0.916008 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.07, Z:0.05 [[ 0.99486595 0.07190737 0.07121139 1.96108063] [-0.07259244 0.99733659 0.00707609 -0.06784484] [-0.07051291 -0.01220917 0.99743615 0.05055105] [ 0. 0. 0. 1. ]] SLAMing on 10.21538475 meters Centerline goodness : 0.917158 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.07, Z:0.05 [[ 0.99509286 0.0685978 0.07130602 1.96069401] [-0.06897459 0.9976144 0.00283248 -0.06795596] [-0.07094161 -0.00773689 0.99745046 0.04948581] [ 0. 0. 0. 1. ]] SLAMing on 10.27538475 meters Centerline goodness : 0.918153 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.07, Z:0.05 [[ 0.99509119 0.06828828 0.0716257 1.96225029] [-0.06873354 0.99762794 0.00376751 -0.07454412] [-0.07119852 -0.0086721 0.99742447 0.04629781] [ 0. 0. 0. 1. ]] SLAMing on 10.335384750000001 meters Centerline goodness : 0.921130 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.08, Z:0.05 [[ 0.99506266 0.06846317 0.07185469 1.96126418] [-0.06900457 0.99760343 0.00507661 -0.07954818] [-0.07133492 -0.01000984 0.99740219 0.0477033 ] [ 0. 0. 0. 1. ]] SLAMing on 10.39538475 meters Centerline goodness : 0.923627 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.08, Z:0.05 [[ 0.99509539 0.06797355 0.07186624 1.96225935] [-0.06856582 0.99762971 0.00580382 -0.08274282] [-0.07130139 -0.01070293 0.99739739 0.0468373 ] [ 0. 0. 0. 1. ]] SLAMing on 10.45538475 meters Centerline goodness : 0.920583 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.04 [[ 0.99547372 0.06299953 0.07115572 1.96503525] [-0.06330951 0.99799172 0.00210724 -0.0869047 ] [-0.07088006 -0.00660254 0.99746299 0.04448028] [ 0. 0. 0. 1. ]] SLAMing on 10.51538475 meters Centerline goodness : 0.920098 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.04 [[ 9.95740036e-01 5.90281537e-02 7.08340223e-02 1.96560502e+00] [-5.90594261e-02 9.98253097e-01 -1.65460356e-03 -8.90270085e-02] [-7.08079504e-02 -2.53586170e-03 9.97486744e-01 4.39309210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.57538475 meters Centerline goodness : 0.924026 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.06 [[ 0.99582351 0.04335609 0.08034787 1.98418153] [-0.0455145 0.99864505 0.02522867 -0.09246314] [-0.07914518 -0.0287803 0.99644756 0.05544765] [ 0. 0. 0. 1. ]] SLAMing on 10.63538475 meters Centerline goodness : 0.923209 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.06 [[ 0.99613125 0.03611892 0.08011212 1.98296385] [-0.03755676 0.99915804 0.01651384 -0.09029837] [-0.0794482 -0.0194587 0.99664906 0.05674752] [ 0. 0. 0. 1. ]] SLAMing on 10.69538475 meters Centerline goodness : 0.920222 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.09, Z:0.07 [[ 0.99621562 0.02819621 0.08221562 2.00516413] [-0.03110384 0.99892738 0.03430206 -0.09052982] [-0.08116025 -0.03672947 0.99602408 0.06692926] [ 0. 0. 0. 1. ]] SLAMing on 10.755384750000001 meters Centerline goodness : 0.911545 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.08, Z:0.07 [[ 0.99647944 0.02654856 0.07952298 2.02527628] [-0.03052061 0.99832465 0.04915666 -0.08396484] [-0.07808471 -0.0514107 0.99562027 0.07059626] [ 0. 0. 0. 1. ]] SLAMing on 10.81538475 meters Centerline goodness : 0.909525 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.07, Z:0.07 [[ 0.9965453 0.02808683 0.07815751 2.02638172] [-0.03207454 0.99822187 0.05024265 -0.07419967] [-0.07660738 -0.05257594 0.99567418 0.07389341] [ 0. 0. 0. 1. ]] SLAMing on 10.87538475 meters Centerline goodness : 0.900399 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:0.09 [[ 0.99663259 0.03079 0.07599636 2.03537321] [-0.03757546 0.99527451 0.08953627 -0.06846197] [-0.07288042 -0.09209036 0.99307996 0.08980747] [ 0. 0. 0. 1. ]] SLAMing on 10.93538475 meters Centerline goodness : 0.893924 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:0.10 [[ 0.99630482 0.04093171 0.07550691 2.03713624] [-0.04875006 0.9932986 0.10479177 -0.06030985] [-0.0707116 -0.10808551 0.99162361 0.09706768] [ 0. 0. 0. 1. ]] SLAMing on 10.995384750000001 meters Centerline goodness : 0.890276 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:0.10 [[ 0.99600011 0.04807459 0.0753168 2.03557797] [-0.05638905 0.99205374 0.11247065 -0.05012849] [-0.06931134 -0.11626782 0.99079651 0.10299665] [ 0. 0. 0. 1. ]] SLAMing on 11.05538475 meters Centerline goodness : 0.887291 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:0.12 [[ 0.99509298 0.05264769 0.08377465 2.02531161] [-0.06377288 0.98862494 0.13621216 -0.04052283] [-0.07565045 -0.14088632 0.98713122 0.11578212] [ 0. 0. 0. 1. ]] SLAMing on 11.11538475 meters Centerline goodness : 0.887678 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:0.12 [[ 0.9946403 0.05908778 0.08484872 2.02025286] [-0.07069504 0.98747416 0.14105668 -0.02898444] [-0.07545119 -0.14629905 0.98635881 0.12262552] [ 0. 0. 0. 1. ]] SLAMing on 11.175384750000001 meters Centerline goodness : 0.885123 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:0.12 [[ 0.99437024 0.06375537 0.08463494 2.02016653] [-0.075524 0.98668279 0.14405973 -0.01952334] [-0.07432326 -0.14964068 0.98594306 0.1239239 ] [ 0. 0. 0. 1. ]] SLAMing on 11.23538475 meters Centerline goodness : 0.881830 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.01, Z:0.12 [[ 0.99463862 0.06599921 0.07961236 2.01641305] [-0.07647084 0.98766965 0.13660479 -0.00953664] [-0.0696149 -0.14196042 0.98742139 0.12284666] [ 0. 0. 0. 1. ]] SLAMing on 11.29538475 meters Centerline goodness : 0.876447 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.00, Z:0.12 [[ 9.95489867e-01 6.66946567e-02 6.74666401e-02 1.99359577e+00] [-7.45910152e-02 9.89693258e-01 1.22243345e-01 8.22379859e-04] [-5.86183010e-02 -1.26724417e-01 9.90204432e-01 1.20129908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.35538475 meters Centerline goodness : 0.875403 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:0.12 [[ 0.99611608 0.06746179 0.0565832 1.96996883] [-0.07284363 0.99240022 0.09917461 0.00906489] [-0.04946268 -0.10291114 0.99345998 0.11788194] [ 0. 0. 0. 1. ]] SLAMing on 11.415384750000001 meters Centerline goodness : 0.876148 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:0.12 [[ 0.99627157 0.06899426 0.05179521 1.95745988] [-0.0733111 0.99353524 0.08667877 0.01740469] [-0.04548003 -0.09015276 0.99488896 0.11702256] [ 0. 0. 0. 1. ]] SLAMing on 11.47538475 meters Centerline goodness : 0.878290 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:0.12 [[ 0.99530026 0.08241014 0.0508524 1.93672911] [-0.0863308 0.99301362 0.08044219 0.02931941] [-0.04386787 -0.08445426 0.99546124 0.11678969] [ 0. 0. 0. 1. ]] SLAMing on 11.53538475 meters Centerline goodness : 0.881283 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.13 [[ 0.99628679 0.08275981 0.02373689 1.93724566] [-0.08429642 0.993734 0.0733951 0.04549714] [-0.01751399 -0.07512351 0.99702042 0.12936022] [ 0. 0. 0. 1. ]] SLAMing on 11.595384750000001 meters Centerline goodness : 0.884161 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.13 [[ 0.9969034 0.07796965 0.01021451 1.93779343] [-0.07849675 0.99443192 0.07030947 0.0534948 ] [-0.00467563 -0.07089356 0.99747293 0.13411958] [ 0. 0. 0. 1. ]] SLAMing on 11.65538475 meters Centerline goodness : 0.884089 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.13 [[ 0.99732483 0.07221201 0.01134034 1.93537944] [-0.07281235 0.99509137 0.06701879 0.05294582] [-0.00644511 -0.06766522 0.99768726 0.13384179] [ 0. 0. 0. 1. ]] SLAMing on 11.71538475 meters Centerline goodness : 0.881416 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:0.14 [[ 9.98433292e-01 5.59534277e-02 4.19781634e-04 1.93427652e+00] [-5.58705633e-02 9.96486557e-01 6.23940852e-02 5.34533064e-02] [ 3.07285618e-03 -6.23197853e-02 9.98051503e-01 1.35472210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.77538475 meters Centerline goodness : 0.878315 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:0.13 [[ 9.98755862e-01 4.98090505e-02 2.40558476e-03 1.93178456e+00] [-4.98631653e-02 9.96907723e-01 6.07343122e-02 5.16572152e-02] [ 6.26972394e-04 -6.07787004e-02 9.98151069e-01 1.33173088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835384750000001 meters Centerline goodness : 0.877573 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:0.14 [[ 0.99902904 0.04256958 -0.01134932 1.93270039] [-0.04187801 0.99758277 0.05545129 0.05763681] [ 0.01368242 -0.05492217 0.99839689 0.13810726] [ 0. 0. 0. 1. ]] SLAMing on 11.89538475 meters Centerline goodness : 0.883187 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:0.14 [[ 0.99887626 0.04153245 -0.02283129 1.93105245] [-0.04032219 0.99787754 0.05113255 0.06657897] [ 0.02490649 -0.05015448 0.99843087 0.14198512] [ 0. 0. 0. 1. ]] SLAMing on 11.95538475 meters Centerline goodness : 0.883477 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.07, Z:0.14 [[ 0.9987317 0.04543187 -0.02170099 1.93899479] [-0.04449327 0.99812914 0.04193526 0.06792641] [ 0.02356558 -0.04091652 0.99888463 0.14031003] [ 0. 0. 0. 1. ]] SLAMing on 12.01538475 meters Centerline goodness : 0.882023 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.07, Z:0.14 [[ 0.99890705 0.04117262 -0.02212527 1.94060089] [-0.04033883 0.99850466 0.03689481 0.07017644] [ 0.02361124 -0.03596198 0.99907419 0.13837786] [ 0. 0. 0. 1. ]] SLAMing on 12.07538475 meters Centerline goodness : 0.879908 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.07, Z:0.13 [[ 0.99898156 0.03892111 -0.02282523 1.94460187] [-0.03811925 0.99867498 0.03457184 0.07286666] [ 0.02414056 -0.03366655 0.99914153 0.13489221] [ 0. 0. 0. 1. ]] SLAMing on 12.13538475 meters Centerline goodness : 0.878956 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.13 [[ 0.99912691 0.03467982 -0.02329647 1.94582128] [-0.03398808 0.99898794 0.02946035 0.07548205] [ 0.02429457 -0.02864282 0.99929443 0.13360878] [ 0. 0. 0. 1. ]] SLAMing on 12.19538475 meters Centerline goodness : 0.877221 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.13 [[ 0.99914233 0.03394199 -0.02371819 1.94823745] [-0.03328304 0.99906353 0.02764605 0.07944011] [ 0.02463434 -0.02683293 0.99933635 0.13099359] [ 0. 0. 0. 1. ]] SLAMing on 12.255384750000001 meters Centerline goodness : 0.879996 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.13 [[ 0.99897702 0.0406999 -0.01970852 1.95359413] [-0.04031352 0.99899442 0.01962044 0.08470331] [ 0.02048725 -0.01880585 0.99961323 0.12894558] [ 0. 0. 0. 1. ]] SLAMing on 12.31538475 meters Centerline goodness : 0.882746 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.13 [[ 0.99851476 0.05190445 -0.01655883 1.95747719] [-0.05164567 0.9985422 0.01569068 0.08787767] [ 0.01734911 -0.01481219 0.99973977 0.13009418] [ 0. 0. 0. 1. ]] SLAMing on 12.37538475 meters Centerline goodness : 0.883784 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.13 [[ 0.99790565 0.06345182 -0.01257711 1.96227623] [-0.06329789 0.99791911 0.01228112 0.09022642] [ 0.0133302 -0.0114593 0.99984548 0.12947804] [ 0. 0. 0. 1. ]] SLAMing on 12.43538475 meters Centerline goodness : 0.881806 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.09, Z:0.13 [[ 0.99719114 0.07435943 -0.00897196 1.969878 ] [-0.07427458 0.99719308 0.00944742 0.08973759] [ 0.00964928 -0.00875449 0.99991512 0.12757874] [ 0. 0. 0. 1. ]] SLAMing on 12.495384750000001 meters Centerline goodness : 0.882411 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.09, Z:0.13 [[ 0.99696596 0.07677328 -0.01283516 1.97439767] [-0.07669503 0.99703353 0.0064824 0.08536617] [ 0.01329476 -0.00547834 0.99989661 0.13055507] [ 0. 0. 0. 1. ]] SLAMing on 12.55538475 meters Centerline goodness : 0.878718 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.08, Z:0.13 [[ 0.99702171 0.07549266 -0.01576575 1.97876403] [-0.07542908 0.9971406 0.00459021 0.07696373] [ 0.01606719 -0.00338734 0.99986518 0.12991717] [ 0. 0. 0. 1. ]] SLAMing on 12.61538475 meters Centerline goodness : 0.876085 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.07, Z:0.13 [[ 0.99754313 0.06715384 -0.01995161 1.98334052] [-0.0672559 0.99772566 -0.00448849 0.06711006] [ 0.01960481 0.00581933 0.99979087 0.13066325] [ 0. 0. 0. 1. ]] SLAMing on 12.675384750000001 meters Centerline goodness : 0.875232 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.05, Z:0.14 [[ 0.99777422 0.06534485 -0.01329144 1.97239526] [-0.06481558 0.99721224 0.03696866 0.04783768] [ 0.0156701 -0.03602488 0.99922803 0.14493585] [ 0. 0. 0. 1. ]] SLAMing on 12.73538475 meters Centerline goodness : 0.874598 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.04, Z:0.15 [[ 0.99757957 0.06861292 -0.01128162 1.96779422] [-0.06805675 0.99671439 0.04391708 0.03653776] [ 0.01425783 -0.043043 0.99897148 0.14959476] [ 0. 0. 0. 1. ]] SLAMing on 12.79538475 meters Centerline goodness : 0.875135 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:0.15 [[ 0.99742027 0.07053865 -0.01330806 1.96932505] [-0.06987251 0.99653085 0.04521171 0.02641435] [ 0.01645107 -0.0441652 0.99888878 0.15090026] [ 0. 0. 0. 1. ]] SLAMing on 12.85538475 meters Centerline goodness : 0.873807 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:0.15 [[ 0.99758465 0.06791995 -0.01455157 1.9720119 ] [-0.0672223 0.99676691 0.04401021 0.01398501] [ 0.01749369 -0.04292572 0.9989251 0.14945145] [ 0. 0. 0. 1. ]] SLAMing on 12.915384750000001 meters Centerline goodness : 0.875489 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.00, Z:0.15 [[ 0.99786258 0.06224551 -0.01989397 1.99019301] [-0.06148471 0.9974292 0.03680506 -0.0021664 ] [ 0.02213378 -0.03550322 0.99912443 0.14730894] [ 0. 0. 0. 1. ]] SLAMing on 12.97538475 meters Centerline goodness : 0.877622 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:0.15 [[ 0.99826856 0.05551193 -0.01944995 1.98981741] [-0.0548726 0.99798073 0.03199169 -0.0116986 ] [ 0.02118659 -0.03086903 0.99929887 0.14635354] [ 0. 0. 0. 1. ]] SLAMing on 13.03538475 meters Centerline goodness : 0.883065 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:0.14 [[ 0.99893349 0.04540957 -0.00835815 1.99206403] [-0.04524872 0.99880405 0.01852114 -0.01917534] [ 0.00918919 -0.01812319 0.99979353 0.13770437] [ 0. 0. 0. 1. ]] SLAMing on 13.095384750000001 meters Centerline goodness : 0.884628 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.03, Z:0.14 [[ 0.99907876 0.04216842 -0.00796535 1.99109154] [-0.04203124 0.99897724 0.01666901 -0.02808308] [ 0.00866011 -0.01631886 0.99982933 0.13789179] [ 0. 0. 0. 1. ]] SLAMing on 13.15538475 meters Centerline goodness : 0.882167 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.03, Z:0.14 [[ 0.99904357 0.04305498 -0.00763028 1.99144662] [-0.04291442 0.99892167 0.01771586 -0.03314895] [ 0.00838481 -0.01737147 0.99981395 0.13630008] [ 0. 0. 0. 1. ]] SLAMing on 13.21538475 meters Centerline goodness : 0.884381 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.13 [[ 0.99892311 0.04630192 -0.00295966 1.99807186] [-0.04627817 0.99889934 0.0076442 -0.03849132] [ 0.00331034 -0.007499 0.9999664 0.13173414] [ 0. 0. 0. 1. ]] SLAMing on 13.27538475 meters Centerline goodness : 0.883345 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.13 [[ 0.99892147 0.04632422 -0.00315548 1.99814068] [-0.04629791 0.99889601 0.00795411 -0.04604011] [ 0.00352046 -0.00779943 0.99996339 0.13115716] [ 0. 0. 0. 1. ]] SLAMing on 13.335384750000001 meters Centerline goodness : 0.880130 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.13 [[ 0.99904539 0.04349931 -0.00401367 2.00170088] [-0.04347125 0.99903131 0.0068334 -0.05406763] [ 0.00430703 -0.0066524 0.9999686 0.12863027] [ 0. 0. 0. 1. ]] SLAMing on 13.39538475 meters Centerline goodness : 0.882928 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.06, Z:0.13 [[ 0.99919751 0.03984788 -0.00406065 2.00136753] [-0.03981905 0.99918276 0.00694709 -0.06257949] [ 0.00433415 -0.00677982 0.99996762 0.1318953 ] [ 0. 0. 0. 1. ]] SLAMing on 13.45538475 meters Centerline goodness : 0.883020 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.07, Z:0.13 [[ 0.99935353 0.03576459 -0.00366353 2.00046117] [-0.03574202 0.99934273 0.00605058 -0.0683096 ] [ 0.00387752 -0.00591573 0.99997498 0.13485994] [ 0. 0. 0. 1. ]] SLAMing on 13.51538475 meters Centerline goodness : 0.880141 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.07, Z:0.13 [[ 9.99648885e-01 2.60825884e-02 -4.66971288e-03 2.00334442e+00] [-2.60911165e-02 9.99657994e-01 -1.77472906e-03 -7.24524414e-02] [ 4.62182628e-03 1.89594395e-03 9.99987522e-01 1.34017368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.57538475 meters Centerline goodness : 0.883019 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.08, Z:0.14 [[ 0.99992547 0.01191388 -0.00266669 2.02895688] [-0.01189401 0.99990226 0.00734847 -0.07714899] [ 0.00275397 -0.0073162 0.99996944 0.13889506] [ 0. 0. 0. 1. ]] SLAMing on 13.63538475 meters Centerline goodness : 0.886965 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.08, Z:0.14 [[ 0.99998488 -0.00445329 -0.00322749 2.05175127] [ 0.00448815 0.99993078 0.01087649 -0.07931329] [ 0.00317883 -0.01089081 0.99993564 0.14391038] [ 0. 0. 0. 1. ]] SLAMing on 13.69538475 meters Centerline goodness : 0.886623 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:0.17 [[ 0.99987286 -0.01554473 -0.00355276 2.08539683] [ 0.01567434 0.99907863 0.03995243 -0.08253839] [ 0.00292844 -0.04000303 0.99919527 0.16516768] [ 0. 0. 0. 1. ]] SLAMing on 13.755384750000001 meters Centerline goodness : 0.888294 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:0.16 [[ 0.99989351 -0.0138817 -0.00450096 2.08867561] [ 0.01406036 0.99899985 0.04244543 -0.07474966] [ 0.00390725 -0.04250419 0.99908865 0.16480054] [ 0. 0. 0. 1. ]] SLAMing on 13.81538475 meters Centerline goodness : 0.889112 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:0.17 [[ 0.99995951 -0.00764627 -0.00474481 2.08708519] [ 0.00785627 0.9989131 0.04594452 -0.05829533] [ 0.00438834 -0.04597993 0.99893272 0.1662559 ] [ 0. 0. 0. 1. ]] SLAMing on 13.87538475 meters Centerline goodness : 0.885348 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:0.17 [[ 9.99998188e-01 1.17049718e-03 1.50118029e-03 2.10152544e+00] [-1.25181504e-03 9.98465436e-01 5.53642998e-02 -4.28530435e-02] [-1.43407287e-03 -5.53660787e-02 9.98465092e-01 1.70340315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.93538475 meters Centerline goodness : 0.877590 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:0.17 [[ 9.99931232e-01 1.16929630e-02 8.97761274e-04 2.09951111e+00] [-1.17267921e-02 9.97711517e-01 6.65898727e-02 -1.75298247e-02] [-1.17073848e-04 -6.65958213e-02 9.97780027e-01 1.74765664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.99538475 meters Centerline goodness : 0.879682 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:0.18 [[ 9.99809900e-01 1.94915236e-02 4.94882281e-04 2.09918169e+00] [-1.94768556e-02 9.97237629e-01 7.16781996e-02 -5.62484499e-03] [ 9.03602087e-04 -7.16742123e-02 9.97427687e-01 1.75642342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.05538475 meters Centerline goodness : 0.875676 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:0.18 [[ 9.99514756e-01 3.11479966e-02 2.33164392e-04 2.09824652e+00] [-3.10651961e-02 9.96253602e-01 8.07075836e-02 4.59517466e-03] [ 2.28158867e-03 -8.06756640e-02 9.96737795e-01 1.77399920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.11538475 meters Centerline goodness : 0.875406 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.02, Z:0.17 [[ 0.99858596 0.05287558 -0.00549982 2.06800867] [-0.05232492 0.99588411 0.07400637 0.02233457] [ 0.00939032 -0.07361394 0.9972426 0.17360113] [ 0. 0. 0. 1. ]] SLAMing on 14.175384750000001 meters Centerline goodness : 0.875221 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.03, Z:0.17 [[ 0.99763577 0.06862957 -0.00358597 2.04444513] [-0.06825555 0.99557419 0.06460045 0.03476193] [ 0.0080036 -0.06420296 0.99790477 0.16869216] [ 0. 0. 0. 1. ]] SLAMing on 14.23538475 meters Centerline goodness : 0.877103 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.17 [[ 0.99767955 0.06642003 -0.01496307 2.0463109 ] [-0.06542199 0.99608431 0.05946434 0.04332133] [ 0.0188541 -0.05834744 0.99811828 0.1704672 ] [ 0. 0. 0. 1. ]] SLAMing on 14.29538475 meters Centerline goodness : 0.877777 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.17 [[ 0.99791984 0.06267597 -0.01509031 2.04566387] [-0.06174534 0.99653214 0.05577828 0.0436623 ] [ 0.01853394 -0.05473049 0.99832914 0.17096754] [ 0. 0. 0. 1. ]] SLAMing on 14.35538475 meters Centerline goodness : 0.882648 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.04, Z:0.17 [[ 0.99840784 0.05449848 -0.01454965 2.04373898] [-0.05371838 0.99732896 0.04949019 0.04037711] [ 0.01720792 -0.04862981 0.99866863 0.17200583] [ 0. 0. 0. 1. ]] SLAMing on 14.41538475 meters Centerline goodness : 0.884149 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.04, Z:0.17 [[ 0.99886118 0.0455132 -0.01431395 2.04318039] [-0.04487309 0.99809906 0.04224538 0.03641536] [ 0.01620946 -0.04155496 0.99900472 0.17168816] [ 0. 0. 0. 1. ]] SLAMing on 14.47538475 meters Centerline goodness : 0.883246 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.03, Z:0.17 [[ 0.99928318 0.0344792 -0.01563073 2.03811114] [-0.03370403 0.99830702 0.04740391 0.03249909] [ 0.01723872 -0.04684312 0.9987535 0.17241806] [ 0. 0. 0. 1. ]] SLAMing on 14.53538475 meters Centerline goodness : 0.886654 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.03, Z:0.17 [[ 0.999458 0.02797487 -0.0173529 2.03172849] [-0.02699375 0.99815396 0.05440605 0.03232415] [ 0.01884287 -0.05390815 0.9983681 0.17341599] [ 0. 0. 0. 1. ]] SLAMing on 14.595384750000001 meters Centerline goodness : 0.888037 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.03, Z:0.17 [[ 0.99950246 0.02526392 -0.01888283 2.02362151] [-0.02401461 0.9976807 0.06369077 0.03355483] [ 0.02044812 -0.06320562 0.99779102 0.17473034] [ 0. 0. 0. 1. ]] SLAMing on 14.65538475 meters Centerline goodness : 0.885395 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.04, Z:0.17 [[ 0.9995392 0.02459453 -0.01779051 2.0028831 ] [-0.02350981 0.99799258 0.05880564 0.03850948] [ 0.01920109 -0.05836029 0.99811091 0.16880249] [ 0. 0. 0. 1. ]] SLAMing on 14.71538475 meters Centerline goodness : 0.885950 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.04, Z:0.17 [[ 0.99945788 0.02464046 -0.02183573 1.99421416] [-0.02306484 0.99730228 0.06968627 0.03928521] [ 0.02349392 -0.06914485 0.99732995 0.17096515] [ 0. 0. 0. 1. ]] SLAMing on 14.77538475 meters Centerline goodness : 0.883340 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.04, Z:0.16 [[ 0.999596 0.02050917 -0.0196778 1.96805597] [-0.01934798 0.99815868 0.05748828 0.0442052 ] [ 0.02082061 -0.05708433 0.99815223 0.16343626] [ 0. 0. 0. 1. ]] SLAMing on 14.835384750000001 meters Centerline goodness : 0.884169 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:0.16 [[ 0.99976476 0.01331272 -0.01712297 1.93203575] [-0.0122708 0.99814824 0.05957783 0.04887796] [ 0.01788441 -0.0593537 0.99807679 0.1638205 ] [ 0. 0. 0. 1. ]] SLAMing on 14.89538475 meters Centerline goodness : 0.880196 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.05, Z:0.16 [[ 0.99985667 0.01240198 -0.01152545 1.92363262] [-0.01164103 0.99788863 0.0638966 0.05426617] [ 0.01229356 -0.06375328 0.99788997 0.16282176] [ 0. 0. 0. 1. ]] SLAMing on 14.95538475 meters Centerline goodness : 0.880105 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.16 [[ 0.99990827 0.00661318 -0.01181999 1.9240832 ] [-0.00592576 0.99834086 0.0572748 0.06109208] [ 0.01217915 -0.05719951 0.99828848 0.16248951] [ 0. 0. 0. 1. ]] SLAMing on 15.01538475 meters Centerline goodness : 0.884204 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:0.16 [[ 0.99991496 0.00491681 -0.01207917 1.92500429] [-0.00425531 0.99852149 0.05419157 0.06903932] [ 0.01232776 -0.05413556 0.99845749 0.16140504] [ 0. 0. 0. 1. ]] SLAMing on 15.07538475 meters Centerline goodness : 0.886979 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:0.16 [[ 0.99987008 0.01047876 -0.01224807 1.92682151] [-0.00975877 0.99830162 0.05743378 0.07920295] [ 0.01282911 -0.05730679 0.99827418 0.15864056] [ 0. 0. 0. 1. ]] SLAMing on 15.13538475 meters Centerline goodness : 0.892504 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.09, Z:0.16 [[ 0.9998422 0.01277044 -0.01234898 1.92672532] [-0.01204977 0.99831462 0.05676904 0.08972285] [ 0.01305313 -0.05661128 0.99831096 0.15811314] [ 0. 0. 0. 1. ]] SLAMing on 15.19538475 meters Centerline goodness : 0.895285 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.10, Z:0.16 [[ 0.99968065 0.01916849 -0.01646687 1.93183406] [-0.01824436 0.9983445 0.05454731 0.0995691 ] [ 0.01748519 -0.05422946 0.9983754 0.15934545] [ 0. 0. 0. 1. ]] SLAMing on 15.255384750000001 meters Centerline goodness : 0.897242 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.11, Z:0.16 [[ 0.9995969 0.02279724 -0.01692136 1.93330992] [-0.02182603 0.99821918 0.05551652 0.10830347] [ 0.01815685 -0.05512481 0.99831437 0.157421 ] [ 0. 0. 0. 1. ]] SLAMing on 15.31538475 meters Centerline goodness : 0.901174 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.15 [[ 0.99954868 0.02453513 -0.01733381 1.93596249] [-0.02352517 0.99813982 0.05624466 0.11427704] [ 0.01868154 -0.05581149 0.99826654 0.15496531] [ 0. 0. 0. 1. ]] SLAMing on 15.37538475 meters Centerline goodness : 0.901270 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:0.15 [[ 0.99944161 0.02378054 -0.0234726 1.94626514] [-0.02262175 0.9985691 0.04845615 0.12069414] [ 0.02459132 -0.0478981 0.99854947 0.1539428 ] [ 0. 0. 0. 1. ]] SLAMing on 15.43538475 meters Centerline goodness : 0.904743 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.99954113 0.01911488 -0.023498 1.95628209] [-0.0184164 0.99939243 0.02959073 0.12992167] [ 0.02404934 -0.0291444 0.99928586 0.15053714] [ 0. 0. 0. 1. ]] SLAMing on 15.49538475 meters Centerline goodness : 0.908471 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.15 [[ 0.99967475 0.01686152 -0.01913305 1.96423504] [-0.01656893 0.9997449 0.01534925 0.13841031] [ 0.01938698 -0.01502724 0.99969912 0.1483408 ] [ 0. 0. 0. 1. ]] SLAMing on 15.55538475 meters Centerline goodness : 0.914177 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:0.15 [[ 0.99976228 0.01616079 -0.01463618 1.97201375] [-0.01612689 0.999867 0.00243118 0.14650266] [ 0.01467352 -0.00219457 0.99988993 0.14617572] [ 0. 0. 0. 1. ]] SLAMing on 15.61538475 meters Centerline goodness : 0.915285 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.15, Z:0.14 [[ 0.99974025 0.02006842 -0.01080194 1.98106885] [-0.02014137 0.99977478 -0.00668706 0.15336381] [ 0.01066531 0.00690288 0.9999193 0.14268282] [ 0. 0. 0. 1. ]] SLAMing on 15.675384750000001 meters Centerline goodness : 0.912857 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.14 [[ 0.99957613 0.02732575 -0.01004295 1.99319854] [-0.02745869 0.99953383 -0.01334684 0.16152074] [ 0.00967356 0.01361695 0.99986049 0.13818328] [ 0. 0. 0. 1. ]] SLAMing on 15.73538475 meters Centerline goodness : 0.912210 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.17, Z:0.14 [[ 0.99953314 0.02853039 -0.01093279 1.99717436] [-0.0286702 0.9995063 -0.01285173 0.16636363] [ 0.01056073 0.01315918 0.99985764 0.13550421] [ 0. 0. 0. 1. ]] SLAMing on 15.79538475 meters Centerline goodness : 0.913027 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.17, Z:0.13 [[ 0.99948681 0.03004823 -0.01110011 1.99882751] [-0.03018383 0.9994692 -0.01225806 0.17346414] [ 0.01072588 0.01258681 0.99986325 0.13439414] [ 0. 0. 0. 1. ]] SLAMing on 15.85538475 meters Centerline goodness : 0.912572 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.13 [[ 0.99942978 0.03175876 -0.01146693 2.00192415] [-0.03189592 0.99941935 -0.01198388 0.18068607] [ 0.01107967 0.0123428 0.99986244 0.13160479] [ 0. 0. 0. 1. ]] SLAMing on 15.91538475 meters Centerline goodness : 0.913252 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.13 [[ 0.9993263 0.03480481 -0.01164327 2.00326589] [-0.03491244 0.99934828 -0.00917213 0.18243159] [ 0.01131645 0.00957244 0.99989015 0.13068238] [ 0. 0. 0. 1. ]] SLAMing on 15.97538475 meters Centerline goodness : 0.912282 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:0.13 [[ 0.99896747 0.04496307 -0.0065058 2.01107848] [-0.04504178 0.99890685 -0.0125036 0.19205013] [ 0.00593649 0.01278373 0.99990066 0.12869721] [ 0. 0. 0. 1. ]] SLAMing on 16.03538475 meters Centerline goodness : 0.915062 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:0.13 [[ 0.9985021 0.05462097 -0.00317759 2.01881365] [-0.05466767 0.99835695 -0.01717129 0.19919693] [ 0.00223446 0.01731928 0.99984751 0.12775373] [ 0. 0. 0. 1. ]] SLAMing on 16.095384749999997 meters Centerline goodness : 0.912925 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:0.13 [[ 0.9982621 0.05884147 -0.00323386 2.01972249] [-0.05888237 0.99815982 -0.01448573 0.20311908] [ 0.00237554 0.01465098 0.99988985 0.12734418] [ 0. 0. 0. 1. ]] SLAMing on 16.15538475 meters Centerline goodness : 0.916224 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:0.13 [[ 0.99818949 0.06000773 -0.00409952 2.02129447] [-0.06006247 0.99808376 -0.01487649 0.20415258] [ 0.00319896 0.01509578 0.99988093 0.12768287] [ 0. 0. 0. 1. ]] SLAMing on 16.21538475 meters Centerline goodness : 0.912886 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:0.13 [[ 0.99839727 0.05641283 -0.00452605 2.02208054] [-0.05648429 0.99824789 -0.01762624 0.19825962] [ 0.00352377 0.01785364 0.9998344 0.12671305] [ 0. 0. 0. 1. ]] SLAMing on 16.275384749999997 meters Centerline goodness : 0.910918 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:0.13 [[ 0.99877019 0.04930116 -0.0052444 2.02311103] [-0.04940544 0.99853493 -0.02207017 0.19056036] [ 0.00414863 0.02230213 0.99974267 0.12616073] [ 0. 0. 0. 1. ]] SLAMing on 16.33538475 meters Centerline goodness : 0.910757 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:0.13 [[ 0.99929423 0.03700051 -0.00648164 2.02426718] [-0.03718297 0.99883526 -0.03074984 0.17951603] [ 0.00533633 0.03096914 0.9995061 0.12635439] [ 0. 0. 0. 1. ]] SLAMing on 16.395384749999998 meters Centerline goodness : 0.909905 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.17, Z:0.13 [[ 0.99962969 0.02637015 -0.0067157 2.02465968] [-0.02661508 0.99886689 -0.03945339 0.17262354] [ 0.0056677 0.03961752 0.99919884 0.12554812] [ 0. 0. 0. 1. ]] SLAMing on 16.455384749999997 meters Centerline goodness : 0.907836 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:0.12 [[ 0.99965255 0.02537504 -0.00713279 2.02702155] [-0.02563733 0.99889202 -0.03946459 0.16946711] [ 0.00612347 0.03963374 0.99919551 0.12342316] [ 0. 0. 0. 1. ]] SLAMing on 16.51538475 meters Centerline goodness : 0.908809 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:0.12 [[ 0.99956879 0.02845906 -0.00723342 2.02745568] [-0.02870045 0.99894659 -0.03580502 0.16920664] [ 0.00620682 0.03599718 0.99933262 0.12364075] [ 0. 0. 0. 1. ]] SLAMing on 16.575384749999998 meters Centerline goodness : 0.906865 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:0.12 [[ 0.99948658 0.03119874 -0.0072951 2.02752804] [-0.03142383 0.99895795 -0.03309925 0.17224944] [ 0.00625484 0.0333115 0.99942545 0.12441853] [ 0. 0. 0. 1. ]] SLAMing on 16.63538475 meters Centerline goodness : 0.907768 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:0.13 [[ 0.99954741 0.02912341 -0.00753615 2.02749141] [-0.02936776 0.99896795 -0.0346491 0.17390502] [ 0.00651927 0.03485474 0.99937113 0.12543806] [ 0. 0. 0. 1. ]] SLAMing on 16.69538475 meters Centerline goodness : 0.906418 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.18, Z:0.12 [[ 0.99969874 0.02326283 -0.00782764 2.02880289] [-0.02356054 0.99890679 -0.04037489 0.17918642] [ 0.00687985 0.04054715 0.99915394 0.12487116] [ 0. 0. 0. 1. ]] SLAMing on 16.755384749999997 meters Centerline goodness : 0.906651 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.19, Z:0.12 [[ 0.99967428 0.02395421 -0.00880456 2.03292706] [-0.02429163 0.998886 -0.04045594 0.18752624] [ 0.00782566 0.04065664 0.99914253 0.12271196] [ 0. 0. 0. 1. ]] SLAMing on 16.81538475 meters Centerline goodness : 0.904561 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:0.12 [[ 0.99941616 0.03286904 -0.00932525 2.03498403] [-0.03316616 0.99888051 -0.0337304 0.19811325] [ 0.00820613 0.03401999 0.99938746 0.12285259] [ 0. 0. 0. 1. ]] SLAMing on 16.87538475 meters Centerline goodness : 0.903984 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.21, Z:0.12 [[ 0.99902245 0.04380942 -0.00590572 2.04805965] [-0.04399026 0.99841538 -0.03509403 0.2079312 ] [ 0.00435891 0.03531952 0.99936657 0.11878102] [ 0. 0. 0. 1. ]] SLAMing on 16.935384749999997 meters Centerline goodness : 0.901199 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:0.11 [[ 0.99812848 0.06082392 -0.00632344 2.06364069] [-0.06100879 0.99752341 -0.03499976 0.22075247] [ 0.00417895 0.03532004 0.99936732 0.11200035] [ 0. 0. 0. 1. ]] SLAMing on 16.99538475 meters Centerline goodness : 0.901120 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.11 [[ 0.99779574 0.06595658 -0.00730717 2.06574561] [-0.0661644 0.99725399 -0.03326801 0.22477838] [ 0.00509286 0.03367815 0.99941975 0.11335826] [ 0. 0. 0. 1. ]] SLAMing on 17.055384749999998 meters Centerline goodness : 0.901069 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.23, Z:0.12 [[ 0.9973476 0.07224712 -0.00883843 2.06804357] [-0.07248668 0.99689607 -0.03072294 0.22660609] [ 0.00659135 0.03128211 0.99948886 0.11565624] [ 0. 0. 0. 1. ]] SLAMing on 17.115384749999997 meters Centerline goodness : 0.902297 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.23, Z:0.12 [[ 0.99680501 0.07919935 -0.01035544 2.0708964 ] [-0.07945338 0.99647312 -0.02699031 0.22728214] [ 0.00818131 0.02772685 0.99958206 0.11698349] [ 0. 0. 0. 1. ]] SLAMing on 17.17538475 meters Centerline goodness : 0.898182 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.12 [[ 0.99620213 0.08629109 -0.01162605 2.07224181] [-0.08652746 0.99601422 -0.02164898 0.22275416] [ 0.0097116 0.02257273 0.99969803 0.11901469] [ 0. 0. 0. 1. ]] SLAMing on 17.235384749999998 meters Centerline goodness : 0.900152 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.22, Z:0.12 [[ 0.99546226 0.09417226 -0.01365589 2.07518739] [-0.09438657 0.99540698 -0.01600352 0.21515334] [ 0.01208608 0.01721984 0.99977868 0.12038807] [ 0. 0. 0. 1. ]] SLAMing on 17.29538475 meters Centerline goodness : 0.899451 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:0.12 [[ 0.99511675 0.09738623 -0.01608001 2.07660593] [-0.09761231 0.99512704 -0.01392888 0.20339928] [ 0.01464517 0.01543047 0.99977368 0.12275083] [ 0. 0. 0. 1. ]] SLAMing on 17.35538475 meters Centerline goodness : 0.895143 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.18, Z:0.12 [[ 0.99495652 0.09872454 -0.01774821 2.07626606] [-0.09889162 0.99505935 -0.00879456 0.18459296] [ 0.01679228 0.01050535 0.99980381 0.12473681] [ 0. 0. 0. 1. ]] SLAMing on 17.415384749999998 meters Centerline goodness : 0.896856 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.17, Z:0.13 [[ 0.99500558 0.09536394 -0.02948928 2.07258087] [-0.09568012 0.9953668 -0.00950025 0.16753669] [ 0.02844667 0.01227434 0.99951995 0.13123792] [ 0. 0. 0. 1. ]] SLAMing on 17.47538475 meters Centerline goodness : 0.898149 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.15, Z:0.13 [[ 0.99455591 0.09862726 -0.03363352 2.07700265] [-0.09887933 0.99508187 -0.00591144 0.1470535 ] [ 0.03288508 0.00920491 0.99941675 0.13267415] [ 0. 0. 0. 1. ]] SLAMing on 17.53538475 meters Centerline goodness : 0.903944 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:0.14 [[ 0.99455353 0.09809363 -0.0352267 2.07417531] [-0.09826111 0.99515599 -0.00305087 0.12526056] [ 0.03475679 0.00649567 0.99937469 0.13703237] [ 0. 0. 0. 1. ]] SLAMing on 17.595384749999997 meters Centerline goodness : 0.899275 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:0.14 [[ 9.95359251e-01 8.62002276e-02 -4.27724431e-02 2.06743472e+00] [-8.63230424e-02 9.96266668e-01 -1.02929382e-03 1.05518454e-01] [ 4.25240340e-02 4.71676455e-03 9.99084310e-01 1.41454190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.65538475 meters Centerline goodness : 0.891140 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.08, Z:0.14 [[ 0.99623739 0.07244863 -0.04756321 2.07264104] [-0.07299439 0.99728384 -0.00983717 0.08405832] [ 0.04672133 0.013272 0.99881979 0.14080411] [ 0. 0. 0. 1. ]] SLAMing on 17.71538475 meters Centerline goodness : 0.885970 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.06, Z:0.14 [[ 0.99653167 0.06546135 -0.05137559 2.07993741] [-0.06629293 0.99769264 -0.01465083 0.06322529] [ 0.05029799 0.01800586 0.99857193 0.13682602] [ 0. 0. 0. 1. ]] SLAMing on 17.775384749999997 meters Centerline goodness : 0.879603 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:0.04, Z:0.14 [[ 0.9961245 0.07232752 -0.05004709 2.09273783] [-0.07261472 0.99735228 -0.00394209 0.03807977] [ 0.04962946 0.00756096 0.99873908 0.13834965] [ 0. 0. 0. 1. ]] SLAMing on 17.83538475 meters Centerline goodness : 0.882531 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:0.14 [[ 9.95683105e-01 7.81466120e-02 -5.00825378e-02 2.10629604e+00] [-7.80895114e-02 9.96941536e-01 3.09880677e-03 1.98941825e-02] [ 5.01715234e-02 8.25491355e-04 9.98740275e-01 1.40175449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895384749999998 meters Centerline goodness : 0.887565 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.00, Z:0.14 [[ 9.95221704e-01 8.17985252e-02 -5.33175516e-02 2.11055516e+00] [-8.17589051e-02 9.96647837e-01 2.92748680e-03 -1.78224796e-03] [ 5.33782866e-02 1.44568624e-03 9.98573317e-01 1.40511480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955384749999997 meters Centerline goodness : 0.889083 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.02, Z:0.14 [[ 0.99570124 0.08033168 -0.04610711 2.11827648] [-0.08009111 0.99676265 0.00704451 -0.02193516] [ 0.04652374 -0.00332146 0.99891166 0.1367596 ] [ 0. 0. 0. 1. ]] SLAMing on 18.01538475 meters Centerline goodness : 0.894261 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:0.14 [[ 0.99614166 0.07612876 -0.04366012 2.13053509] [-0.0758519 0.99708728 0.00796559 -0.04550573] [ 0.04413936 -0.00462316 0.99901469 0.13868732] [ 0. 0. 0. 1. ]] SLAMing on 18.075384749999998 meters Centerline goodness : 0.900374 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:0.14 [[ 0.99687985 0.06983802 -0.03678611 2.13357216] [-0.06955002 0.99753739 0.00905294 -0.06391098] [ 0.03732776 -0.00646621 0.99928216 0.13752576] [ 0. 0. 0. 1. ]] SLAMing on 18.13538475 meters Centerline goodness : 0.900764 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:0.14 [[ 0.99703209 0.06759175 -0.03685595 2.13471964] [-0.0672237 0.99767577 0.01113693 -0.0809141 ] [ 0.03752305 -0.00862628 0.99925853 0.13722725] [ 0. 0. 0. 1. ]] SLAMing on 18.19538475 meters Centerline goodness : 0.905430 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:0.13 [[ 0.9973929 0.06259512 -0.03590627 2.13419655] [-0.06235287 0.99802347 0.00782824 -0.09495754] [ 0.03632531 -0.00556897 0.9993245 0.13431046] [ 0. 0. 0. 1. ]] SLAMing on 18.255384749999997 meters Centerline goodness : 0.907517 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:0.13 [[ 0.99772928 0.05722779 -0.03551426 2.13345542] [-0.05708247 0.99835647 0.00509342 -0.11031541] [ 0.03574737 -0.00305461 0.99935619 0.13364495] [ 0. 0. 0. 1. ]] SLAMing on 18.31538475 meters Centerline goodness : 0.906342 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.12, Z:0.13 [[ 0.99789293 0.05421701 -0.03564017 2.13576423] [-0.05407156 0.99852438 0.00503288 -0.12319731] [ 0.03586045 -0.00309515 0.99935201 0.13161954] [ 0. 0. 0. 1. ]] SLAMing on 18.37538475 meters Centerline goodness : 0.913077 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.14, Z:0.13 [[ 0.99801186 0.0521879 -0.03533752 2.13377652] [-0.05200392 0.99862821 0.00610645 -0.13727353] [ 0.03560773 -0.00425662 0.99935678 0.13438049] [ 0. 0. 0. 1. ]] SLAMing on 18.435384749999997 meters Centerline goodness : 0.911416 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.15, Z:0.13 [[ 0.99818599 0.0485342 -0.03562515 2.13621914] [-0.04835546 0.99881299 0.00586256 -0.14934296] [ 0.03586739 -0.00412925 0.99934803 0.1333935 ] [ 0. 0. 0. 1. ]] SLAMing on 18.49538475 meters Centerline goodness : 0.912424 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.16, Z:0.13 [[ 0.99833624 0.04472935 -0.03638745 2.14009884] [-0.04456785 0.99899263 0.0052377 -0.16192873] [ 0.03658507 -0.00360728 0.99932403 0.13139755] [ 0. 0. 0. 1. ]] SLAMing on 18.555384749999998 meters Centerline goodness : 0.909418 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:0.13 [[ 0.99844628 0.04209376 -0.0365123 2.14016304] [-0.04193356 0.99910717 0.00514272 -0.17306642] [ 0.03669618 -0.00360364 0.99931997 0.13247121] [ 0. 0. 0. 1. ]] SLAMing on 18.615384749999997 meters Centerline goodness : 0.912029 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:0.13 [[ 0.99840476 0.04303245 -0.03655333 2.13981755] [-0.0427663 0.99905281 0.00803238 -0.183214 ] [ 0.03686436 -0.00645632 0.99929942 0.13376602] [ 0. 0. 0. 1. ]] SLAMing on 18.67538475 meters Centerline goodness : 0.913403 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.13 [[ 0.99830477 0.0464358 -0.03508984 2.13568718] [-0.04608892 0.99888077 0.01063089 -0.19138612] [ 0.03554422 -0.00899561 0.99932762 0.13360316] [ 0. 0. 0. 1. ]] SLAMing on 18.735384749999998 meters Centerline goodness : 0.915059 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.13 [[ 0.99824036 0.04798816 -0.03483271 2.13398088] [-0.04758296 0.99879068 0.0123706 -0.19656597] [ 0.03538423 -0.01069139 0.99931659 0.13462545] [ 0. 0. 0. 1. ]] SLAMing on 18.795384749999997 meters Centerline goodness : 0.914627 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.13 [[ 0.99818557 0.04909821 -0.03485581 2.13406163] [-0.04863421 0.998718 0.01403794 -0.20443888] [ 0.03550037 -0.01231729 0.99929375 0.13405723] [ 0. 0. 0. 1. ]] SLAMing on 18.85538475 meters Centerline goodness : 0.911068 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.21, Z:0.13 [[ 0.99817153 0.04930662 -0.03496355 2.1357625 ] [-0.04880653 0.99869537 0.01501592 -0.21118261] [ 0.03565832 -0.01328201 0.99927577 0.13212222] [ 0. 0. 0. 1. ]] SLAMing on 18.915384749999998 meters Centerline goodness : 0.917076 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.13 [[ 0.99846001 0.04330645 -0.03467229 2.13352479] [-0.0430004 0.99902965 0.00952502 -0.22001708] [ 0.03505114 -0.00801943 0.99935334 0.13256344] [ 0. 0. 0. 1. ]] SLAMing on 18.97538475 meters Centerline goodness : 0.921174 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.23, Z:0.13 [[ 0.99865396 0.03806635 -0.03523106 2.13635091] [-0.03783109 0.99925733 0.00732067 -0.22897018] [ 0.03548356 -0.00597799 0.99935238 0.13232581] [ 0. 0. 0. 1. ]] SLAMing on 19.03538475 meters Centerline goodness : 0.921329 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.24, Z:0.13 [[ 9.98900691e-01 3.07283059e-02 -3.54002971e-02 2.14081791e+00] [-3.06453202e-02 9.99526160e-01 2.88455504e-03 -2.37006525e-01] [ 3.54721605e-02 -1.79653059e-03 9.99369050e-01 1.29239315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095384749999997 meters Centerline goodness : 0.927976 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.24, Z:0.13 [[ 9.99126842e-01 2.18711045e-02 -3.55978661e-02 2.14098932e+00] [-2.19449232e-02 9.99757763e-01 -1.68423866e-03 -2.44884696e-01] [ 3.55524068e-02 2.46396049e-03 9.99364776e-01 1.33424933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15538475 meters Centerline goodness : 0.928564 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.25, Z:0.13 [[ 9.99132243e-01 1.88993563e-02 -3.71156961e-02 2.14624291e+00] [-1.89633915e-02 9.99819235e-01 -1.37397109e-03 -2.46003140e-01] [ 3.70830197e-02 2.07661829e-03 9.99310031e-01 1.34747810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21538475 meters Centerline goodness : 0.923815 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.24, Z:0.13 [[ 0.99915159 0.01394512 -0.03875095 2.15507683] [-0.01405369 0.99989804 -0.00253068 -0.24484917] [ 0.0387117 0.00307312 0.9992457 0.13313671] [ 0. 0. 0. 1. ]] SLAMing on 19.275384749999997 meters Centerline goodness : 0.926229 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.24, Z:0.13 [[ 0.99915757 0.0066403 -0.04049768 2.16067286] [-0.00692674 0.99995195 -0.00693679 -0.2447092 ] [ 0.04044968 0.00721146 0.99915555 0.13391593] [ 0. 0. 0. 1. ]] SLAMing on 19.33538475 meters Centerline goodness : 0.923592 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.25, Z:0.15 [[ 0.99933912 -0.00380103 -0.03615066 2.20425439] [ 0.00455357 0.99977417 0.0207573 -0.24864045] [ 0.03606359 -0.0209082 0.99913075 0.15343097] [ 0. 0. 0. 1. ]] SLAMing on 19.395384749999998 meters Centerline goodness : 0.924045 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.25, Z:0.16 [[ 0.99926257 -0.00393482 -0.03819466 2.21186371] [ 0.0049442 0.99964005 0.02636895 -0.24762282] [ 0.03807716 -0.02653834 0.99892234 0.15768751] [ 0. 0. 0. 1. ]] SLAMing on 19.455384749999997 meters Centerline goodness : 0.923163 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.24, Z:0.15 [[ 9.99391534e-01 -9.19763609e-04 -3.48671271e-02 2.22392156e+00] [ 1.45856858e-03 9.99879874e-01 1.54308088e-02 -2.40347291e-01] [ 3.48487460e-02 -1.54722758e-02 9.99272822e-01 1.51297015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51538475 meters Centerline goodness : 0.919810 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.23, Z:0.15 [[ 0.99948904 0.00662302 -0.03126965 2.23394405] [-0.00634815 0.99994041 0.00888123 -0.23284453] [ 0.03132661 -0.00867819 0.99947153 0.14802028] [ 0. 0. 0. 1. ]] SLAMing on 19.575384749999998 meters Centerline goodness : 0.919474 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.23, Z:0.14 [[ 0.99954413 0.01428329 -0.02659929 2.24589564] [-0.01418017 0.99989121 0.00406122 -0.22520896] [ 0.0266544 -0.00368218 0.99963793 0.14300258] [ 0. 0. 0. 1. ]] SLAMing on 19.63538475 meters Centerline goodness : 0.914450 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.22, Z:0.14 [[ 0.99947417 0.01715683 -0.02751406 2.24845769] [-0.01697689 0.99983303 0.00676042 -0.22095023] [ 0.02762545 -0.00628976 0.99959856 0.14261088] [ 0. 0. 0. 1. ]] SLAMing on 19.69538475 meters Centerline goodness : 0.916327 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.22, Z:0.14 [[ 0.99946177 0.01593587 -0.02867435 2.25052946] [-0.01572978 0.99984891 0.00739855 -0.22208569] [ 0.02878792 -0.00694353 0.99956143 0.1449978 ] [ 0. 0. 0. 1. ]] SLAMing on 19.755384749999997 meters Centerline goodness : 0.914759 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.22, Z:0.14 [[ 0.99946019 0.01422396 -0.02961427 2.25392748] [-0.01402469 0.99987766 0.00692564 -0.22187698] [ 0.02970916 -0.00650657 0.99953741 0.14450878] [ 0. 0. 0. 1. ]] SLAMing on 19.81538475 meters Centerline goodness : 0.914861 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.22, Z:0.15 [[ 0.99940851 0.01450461 -0.03118072 2.26030073] [-0.01417068 0.99984014 0.01090378 -0.22219515] [ 0.03133389 -0.01045548 0.99945429 0.14555541] [ 0. 0. 0. 1. ]] SLAMing on 19.87538475 meters Centerline goodness : 0.914468 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.22, Z:0.15 [[ 0.99939651 0.01315373 -0.0321497 2.2629872 ] [-0.01283734 0.99986731 0.01002778 -0.22035582] [ 0.03227733 -0.00960902 0.99943276 0.14529091] [ 0. 0. 0. 1. ]] SLAMing on 19.935384749999997 meters Centerline goodness : 0.911252 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.15 [[ 0.99938143 0.01151639 -0.03322841 2.2650032 ] [-0.01113562 0.99987046 0.01162154 -0.22105145] [ 0.03335795 -0.01124434 0.99938021 0.14953221] [ 0. 0. 0. 1. ]] SLAMing on 19.99538475 meters Centerline goodness : 0.916100 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.15 [[ 0.99937326 0.00996696 -0.03396675 2.26701834] [-0.00954352 0.999875 0.01260574 -0.22185894] [ 0.03408815 -0.01227367 0.99934346 0.15200534] [ 0. 0. 0. 1. ]] SLAMing on 20.055384749999998 meters Centerline goodness : 0.915867 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.16 [[ 0.99945935 0.00446469 -0.03257403 2.28183042] [-0.00371112 0.99972493 0.02315789 -0.219768 ] [ 0.03266846 -0.02302448 0.999201 0.16137373] [ 0. 0. 0. 1. ]] SLAMing on 20.115384749999997 meters Centerline goodness : 0.911065 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.16 [[ 0.99941954 0.00540585 -0.03363562 2.28612983] [-0.00452804 0.99964857 0.02611944 -0.21591223] [ 0.033765 -0.02595198 0.9990928 0.1620212 ] [ 0. 0. 0. 1. ]] SLAMing on 20.17538475 meters Centerline goodness : 0.912091 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.21, Z:0.18 [[ 9.99495944e-01 1.07623792e-04 -3.17466029e-02 2.30661553e+00] [ 1.25313677e-03 9.99081152e-01 4.28401748e-02 -2.12692473e-01] [ 3.17220432e-02 -4.28583638e-02 9.98577424e-01 1.75802023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235384749999998 meters Centerline goodness : 0.908848 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.21, Z:0.19 [[ 0.9995156 -0.00407831 -0.03085343 2.32566804] [ 0.00597589 0.99807914 0.06166287 -0.20724361] [ 0.03054269 -0.06181738 0.99762005 0.19233163] [ 0. 0. 0. 1. ]] SLAMing on 20.295384749999997 meters Centerline goodness : 0.906685 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.20, Z:0.20 [[ 0.99944978 -0.00829541 -0.03211407 2.33878306] [ 0.01049637 0.99756244 0.06898549 -0.2012356 ] [ 0.03146353 -0.06928462 0.99710064 0.19900841] [ 0. 0. 0. 1. ]] SLAMing on 20.35538475 meters Centerline goodness : 0.905814 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:0.21 [[ 0.99931694 -0.01913199 -0.03161687 2.36121252] [ 0.02164139 0.99647639 0.0810337 -0.19225683] [ 0.02995513 -0.08166258 0.99620977 0.21168171] [ 0. 0. 0. 1. ]] SLAMing on 20.415384749999998 meters Centerline goodness : 0.902631 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.17, Z:0.21 [[ 0.99909739 -0.02731597 -0.03253067 2.36812066] [ 0.02974407 0.99661364 0.07665863 -0.16726676] [ 0.0303265 -0.07755703 0.99652657 0.20987389] [ 0. 0. 0. 1. ]] SLAMing on 20.47538475 meters Centerline goodness : 0.903261 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.15, Z:0.21 [[ 0.99927481 -0.02506514 -0.02866334 2.3842807 ] [ 0.02706419 0.9970644 0.07162475 -0.15354205] [ 0.02678392 -0.07234856 0.99701971 0.20621448] [ 0. 0. 0. 1. ]] SLAMing on 20.53538475 meters Centerline goodness : 0.896274 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:0.20 [[ 0.99921784 -0.02400919 -0.03142067 2.3910612 ] [ 0.02620444 0.99710141 0.07142898 -0.13012769] [ 0.02961464 -0.07219647 0.99695067 0.20309439] [ 0. 0. 0. 1. ]] SLAMing on 20.595384749999997 meters Centerline goodness : 0.889065 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:0.20 [[ 0.99925192 -0.01621138 -0.03511105 2.39675458] [ 0.01849674 0.99766307 0.06577445 -0.0936312 ] [ 0.03396271 -0.06637469 0.99721659 0.19639312] [ 0. 0. 0. 1. ]] SLAMing on 20.65538475 meters Centerline goodness : 0.884798 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.08, Z:0.21 [[ 0.99938674 -0.00607652 -0.03448509 2.40027903] [ 0.00905161 0.99618611 0.08678303 -0.0833014 ] [ 0.03382623 -0.08704196 0.99563019 0.20977233] [ 0. 0. 0. 1. ]] SLAMing on 20.71538475 meters Centerline goodness : 0.880837 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.21 [[ 0.99937743 0.00851136 -0.03423892 2.39832185] [-0.00533007 0.99574892 0.09195475 -0.05750697] [ 0.03487603 -0.09171501 0.99517437 0.21037743] [ 0. 0. 0. 1. ]] SLAMing on 20.775384749999997 meters Centerline goodness : 0.873266 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.03, Z:0.21 [[ 0.99884651 0.02707756 -0.03965427 2.38911802] [-0.02347171 0.99577889 0.08873261 -0.02867248] [ 0.04188955 -0.08769951 0.99526582 0.20881748] [ 0. 0. 0. 1. ]] SLAMing on 20.83538475 meters Centerline goodness : 0.872388 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.21 [[ 0.99856483 0.03655847 -0.03913763 2.38649385] [-0.03266269 0.99485208 0.09592955 -0.01922559] [ 0.04244319 -0.09451354 0.9946184 0.21155087] [ 0. 0. 0. 1. ]] SLAMing on 20.895384749999998 meters Centerline goodness : 0.868716 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.21 [[ 0.99785077 0.05197584 -0.0399043 2.34596062] [-0.0482623 0.99486427 0.08897101 0.00560037] [ 0.04432371 -0.08685392 0.99523455 0.20835306] [ 0. 0. 0. 1. ]] SLAMing on 20.955384749999997 meters Centerline goodness : 0.873744 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.21 [[ 0.99760766 0.05605663 -0.04045494 2.3035199 ] [-0.05293033 0.99580784 0.07459974 0.02157786] [ 0.04446715 -0.07227998 0.99639263 0.20541294] [ 0. 0. 0. 1. ]] SLAMing on 21.01538475 meters Centerline goodness : 0.873057 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.21 [[ 0.99749283 0.05920352 -0.03876846 2.30155031] [-0.05608866 0.9954503 0.07702444 0.02803487] [ 0.0431522 -0.07465686 0.99627518 0.20504494] [ 0. 0. 0. 1. ]] SLAMing on 21.075384749999998 meters Centerline goodness : 0.872755 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.20 [[ 0.99721146 0.06481733 -0.03698685 2.30005267] [-0.06161643 0.9947298 0.08195147 0.03441408] [ 0.04210379 -0.07944395 0.99594976 0.20425015] [ 0. 0. 0. 1. ]] SLAMing on 21.135384749999997 meters Centerline goodness : 0.875379 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.04, Z:0.20 [[ 0.99737425 0.06309327 -0.03555055 2.29725141] [-0.06009779 0.99499617 0.07981779 0.03981902] [ 0.04040863 -0.0774717 0.99617533 0.20481425] [ 0. 0. 0. 1. ]] SLAMing on 21.19538475 meters Centerline goodness : 0.879722 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.05, Z:0.20 [[ 0.99739942 0.06397863 -0.03318322 2.30158828] [-0.06166379 0.99587047 0.06663026 0.04565697] [ 0.0373091 -0.06441078 0.99722579 0.20475429] [ 0. 0. 0. 1. ]] SLAMing on 21.255384749999997 meters Centerline goodness : 0.882653 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.05, Z:0.20 [[ 0.99743972 0.06315096 -0.03355546 2.30294842] [-0.06088631 0.99604595 0.064694 0.05065481] [ 0.03750827 -0.0624853 0.99734082 0.2034776 ] [ 0. 0. 0. 1. ]] SLAMing on 21.31538475 meters Centerline goodness : 0.882001 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.06, Z:0.20 [[ 0.99775936 0.05719138 -0.03471894 2.30647832] [-0.05511776 0.99679379 0.05800148 0.05543141] [ 0.03792481 -0.05595788 0.9977126 0.20066995] [ 0. 0. 0. 1. ]] SLAMing on 21.37538475 meters Centerline goodness : 0.883295 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.06, Z:0.20 [[ 0.9979419 0.05329122 -0.03566531 2.311831 ] [-0.05128981 0.99717605 0.05485684 0.05827704] [ 0.03848798 -0.05291468 0.99785706 0.19650469] [ 0. 0. 0. 1. ]] SLAMing on 21.435384749999997 meters Centerline goodness : 0.883745 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.06, Z:0.20 [[ 0.99841092 0.04295754 -0.03647307 2.31313315] [-0.04131175 0.99814422 0.04473769 0.06177683] [ 0.0383272 -0.04315983 0.99833274 0.19573598] [ 0. 0. 0. 1. ]] SLAMing on 21.49538475 meters Centerline goodness : 0.886920 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.07, Z:0.19 [[ 0.99866123 0.0361438 -0.03700505 2.31491238] [-0.03473677 0.99867438 0.03798461 0.06673884] [ 0.0383289 -0.03664832 0.99859291 0.19447415] [ 0. 0. 0. 1. ]] SLAMing on 21.555384749999998 meters Centerline goodness : 0.885901 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.08, Z:0.19 [[ 0.99869044 0.03752639 -0.03477317 2.32515836] [-0.03662133 0.99898284 0.02630893 0.07622694] [ 0.03572508 -0.02500104 0.99904888 0.19059721] [ 0. 0. 0. 1. ]] SLAMing on 21.615384749999997 meters Centerline goodness : 0.887923 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.09, Z:0.19 [[ 0.99861083 0.04134154 -0.03266945 2.33403263] [-0.04089009 0.99906034 0.01436828 0.08851584] [ 0.03323276 -0.01301247 0.99936293 0.18640725] [ 0. 0. 0. 1. ]] SLAMing on 21.67538475 meters Centerline goodness : 0.887113 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.18 [[ 9.98633949e-01 4.24153921e-02 -3.05150935e-02 2.34290656e+00] [-4.23464797e-02 9.99098773e-01 2.90131911e-03 9.20364960e-02] [ 3.06106531e-02 -1.60514898e-03 9.99530095e-01 1.84167662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735384749999998 meters Centerline goodness : 0.888175 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:0.18 [[ 0.99864467 0.04410941 -0.02762588 2.35443309] [-0.04433474 0.99898784 -0.00759769 0.10363528] [ 0.02726278 0.00881218 0.99958946 0.18017796] [ 0. 0. 0. 1. ]] SLAMing on 21.795384749999997 meters Centerline goodness : 0.887853 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.11, Z:0.18 [[ 0.99877952 0.04009868 -0.02883696 2.35846631] [-0.0404485 0.99911369 -0.01165163 0.11141464] [ 0.02834419 0.01280383 0.99951622 0.17849616] [ 0. 0. 0. 1. ]] SLAMing on 21.85538475 meters Centerline goodness : 0.890116 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.12, Z:0.18 [[ 0.99888813 0.03668524 -0.02960909 2.36089748] [-0.03716086 0.99918634 -0.01567582 0.1182004 ] [ 0.02900992 0.01675869 0.99943863 0.17752895] [ 0. 0. 0. 1. ]] SLAMing on 21.915384749999998 meters Centerline goodness : 0.889228 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.13, Z:0.18 [[ 0.99896739 0.03395082 -0.0301911 2.36317121] [-0.03454094 0.99921799 -0.01924407 0.12647791] [ 0.02951414 0.02026703 0.99935888 0.17646078] [ 0. 0. 0. 1. ]] SLAMing on 21.97538475 meters Centerline goodness : 0.891928 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.14, Z:0.17 [[ 0.99904937 0.03762126 -0.02202267 2.37173364] [-0.03813781 0.99899554 -0.02352496 0.13678876] [ 0.02111551 0.02434249 0.99948065 0.17190223] [ 0. 0. 0. 1. ]] SLAMing on 22.03538475 meters Centerline goodness : 0.894791 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.15, Z:0.17 [[ 0.99891546 0.04362976 -0.01625855 2.3803437 ] [-0.04409356 0.99859611 -0.02935262 0.14741092] [ 0.01495508 0.03003768 0.99943688 0.1707149 ] [ 0. 0. 0. 1. ]] SLAMing on 22.095384749999997 meters Centerline goodness : 0.892990 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.16, Z:0.17 [[ 0.99859323 0.05176343 -0.01149358 2.39247493] [-0.05211645 0.99809903 -0.03289683 0.1603426 ] [ 0.00976888 0.03344956 0.99939266 0.16676296] [ 0. 0. 0. 1. ]] SLAMing on 22.15538475 meters Centerline goodness : 0.893993 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.17, Z:0.17 [[ 0.9983605 0.05601155 -0.01179071 2.39528367] [-0.0563445 0.99795732 -0.03010782 0.17215437] [ 0.01008024 0.0307228 0.99947711 0.16576528] [ 0. 0. 0. 1. ]] SLAMing on 22.21538475 meters Centerline goodness : 0.895076 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.18, Z:0.17 [[ 0.99849646 0.05347967 -0.01203133 2.39553187] [-0.05384853 0.99801129 -0.03276903 0.17627139] [ 0.01025493 0.03336763 0.99939053 0.16625167] [ 0. 0. 0. 1. ]] SLAMing on 22.275384749999997 meters Centerline goodness : 0.893533 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.18, Z:0.16 [[ 0.99884468 0.04729897 -0.00849176 2.39380823] [-0.04757047 0.99824478 -0.03527617 0.18172617] [ 0.00680833 0.03563938 0.99934152 0.16156014] [ 0. 0. 0. 1. ]] SLAMing on 22.33538475 meters Centerline goodness : 0.890750 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.18, Z:0.16 [[ 0.99935253 0.03465194 -0.00968271 2.40916411] [-0.03483255 0.99920962 -0.01915274 0.18325928] [ 0.00901138 0.01947761 0.99976968 0.16376677] [ 0. 0. 0. 1. ]] SLAMing on 22.395384749999998 meters Centerline goodness : 0.890836 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.19, Z:0.16 [[ 0.99924688 0.03751815 -0.00990255 2.41052065] [-0.03768783 0.99913554 -0.01754433 0.18806136] [ 0.00923576 0.01790432 0.99979705 0.16297982] [ 0. 0. 0. 1. ]] SLAMing on 22.455384749999997 meters Centerline goodness : 0.894724 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.20, Z:0.16 [[ 0.99877318 0.04908297 -0.00655745 2.4238509 ] [-0.04919125 0.9986357 -0.0175204 0.1989935 ] [ 0.00568855 0.01782147 0.999825 0.15879983] [ 0. 0. 0. 1. ]] SLAMing on 22.51538475 meters Centerline goodness : 0.894804 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.21, Z:0.16 [[ 0.99844986 0.05532392 -0.00609367 2.42317916] [-0.05540031 0.99837729 -0.01317569 0.20644467] [ 0.00535485 0.01349285 0.99989463 0.16015457] [ 0. 0. 0. 1. ]] SLAMing on 22.575384749999998 meters Centerline goodness : 0.894518 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:0.16 [[ 9.98229641e-01 5.94355688e-02 -2.23538816e-03 2.43481589e+00] [-5.94689748e-02 9.98019569e-01 -2.05031749e-02 2.13805615e-01] [ 1.01234327e-03 2.05998132e-02 9.99787289e-01 1.56203613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635384749999997 meters Centerline goodness : 0.894517 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.15 [[ 9.98460113e-01 5.53739657e-02 -3.33551823e-03 2.43889286e+00] [-5.54387704e-02 9.98167336e-01 -2.42592518e-02 2.19240216e-01] [ 1.98607437e-03 2.44068124e-02 9.99700137e-01 1.53782806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.69538475 meters Centerline goodness : 0.895436 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.15 [[ 9.98645934e-01 5.19649813e-02 -2.43689284e-03 2.43768058e+00] [-5.20121843e-02 9.98273783e-01 -2.72797871e-02 2.23457606e-01] [ 1.01509261e-03 2.73695966e-02 9.99624867e-01 1.53666818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755384749999997 meters Centerline goodness : 0.893501 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.23, Z:0.15 [[ 9.98551858e-01 5.37295520e-02 -2.70612604e-03 2.43930841e+00] [-5.37822255e-02 9.98206411e-01 -2.62951314e-02 2.28980696e-01] [ 1.28844673e-03 2.64025938e-02 9.99650560e-01 1.53070487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.81538475 meters Centerline goodness : 0.895140 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.24, Z:0.15 [[ 9.98451501e-01 5.55711462e-02 -2.53934351e-03 2.43959819e+00] [-5.56198253e-02 9.98078859e-01 -2.72951558e-02 2.39104185e-01] [ 1.01764198e-03 2.73941271e-02 9.99624192e-01 1.54481042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.87538475 meters Centerline goodness : 0.894817 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.25, Z:0.15 [[ 9.98333597e-01 5.76405400e-02 -2.75627209e-03 2.44089633e+00] [-5.76943812e-02 9.97961315e-01 -2.72868366e-02 2.45812968e-01] [ 1.17782493e-03 2.74003871e-02 9.99623845e-01 1.54801548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935384749999997 meters Centerline goodness : 0.902965 with order 2 Centerline is valid? [False, False] Translation: X:2.44, Y:0.26, Z:0.15 [[ 9.97929643e-01 6.42502802e-02 -2.88614822e-03 2.44318184e+00] [-6.43018481e-02 9.97629293e-01 -2.45166427e-02 2.55724854e-01] [ 1.30410485e-03 2.46514691e-02 9.99695256e-01 1.54659285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99538475 meters Centerline goodness : 0.904488 with order 2 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:0.16 [[ 0.99642496 0.08391515 -0.00977531 2.45718803] [-0.08415643 0.99606879 -0.02765247 0.26907642] [ 0.00741642 0.02837627 0.9995698 0.15816865] [ 0. 0. 0. 1. ]] SLAMing on 23.055384749999998 meters Centerline goodness : 0.897327 with order 2 Centerline is valid? [False, False] Translation: X:2.47, Y:0.27, Z:0.16 [[ 0.99518584 0.09657049 -0.01671169 2.46933077] [-0.09699695 0.99492026 -0.02693069 0.27340305] [ 0.01402609 0.02842202 0.9994976 0.15943578] [ 0. 0. 0. 1. ]] SLAMing on 23.115384749999997 meters Centerline goodness : 0.899300 with order 2 Centerline is valid? [False, False] Translation: X:2.48, Y:0.28, Z:0.17 [[ 0.99291143 0.11672578 -0.02240497 2.48433944] [-0.11740219 0.99257795 -0.03171352 0.27610882] [ 0.0185369 0.03411911 0.99924585 0.16550467] [ 0. 0. 0. 1. ]] SLAMing on 23.17538475 meters Centerline goodness : 0.899828 with order 2 Centerline is valid? [False, False] Translation: X:2.48, Y:0.27, Z:0.17 [[ 0.9920155 0.12423045 -0.02172656 2.48398831] [-0.12476513 0.99186426 -0.02527766 0.27269518] [ 0.01840955 0.02778654 0.99944434 0.16581112] [ 0. 0. 0. 1. ]] SLAMing on 23.235384749999998 meters Centerline goodness : 0.897345 with order 2 Centerline is valid? [False, False] Translation: X:2.48, Y:0.26, Z:0.17 [[ 0.99153805 0.12805687 -0.02130079 2.48240451] [-0.12849468 0.99149548 -0.0206357 0.26344213] [ 0.01847709 0.02319812 0.99956013 0.16614319] [ 0. 0. 0. 1. ]] SLAMing on 23.295384749999997 meters Centerline goodness : 0.896760 with order 2 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.17 [[ 0.99162434 0.12643462 -0.02637136 2.47373723] [-0.12676034 0.99187169 -0.01106209 0.24575376] [ 0.02475838 0.01431228 0.99959101 0.16926564] [ 0. 0. 0. 1. ]] SLAMing on 23.35538475 meters Centerline goodness : 0.890398 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:0.17 [[ 0.99216364 0.12206813 -0.0266587 2.47155064] [-0.12243302 0.99239796 -0.01250749 0.2335937 ] [ 0.02492928 0.01567339 0.99956634 0.16941077] [ 0. 0. 0. 1. ]] SLAMing on 23.415384749999998 meters Centerline goodness : 0.886629 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.21, Z:0.17 [[ 0.99262331 0.11853858 -0.02544741 2.46720441] [-0.11875814 0.99289644 -0.00729197 0.21125382] [ 0.02440226 0.01026026 0.99964957 0.17080579] [ 0. 0. 0. 1. ]] SLAMing on 23.47538475 meters Centerline goodness : 0.884729 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.19, Z:0.17 [[ 0.99327156 0.11079599 -0.03370251 2.46262893] [-0.11094876 0.99382248 -0.00269135 0.18933356] [ 0.03319613 0.00641249 0.99942829 0.17429843] [ 0. 0. 0. 1. ]] SLAMing on 23.53538475 meters Centerline goodness : 0.883280 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.18, Z:0.17 [[ 0.99355676 0.10815489 -0.03387447 2.46121955] [-0.10831123 0.99411306 -0.00280942 0.18178293] [ 0.0333712 0.00646031 0.99942215 0.17450526] [ 0. 0. 0. 1. ]] SLAMing on 23.595384749999997 meters Centerline goodness : 0.881993 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.15, Z:0.18 [[ 9.95663537e-01 8.66863597e-02 -3.37579031e-02 2.44770126e+00] [-8.65551127e-02 9.96232791e-01 5.33280976e-03 1.51388756e-01] [ 3.40930119e-02 -2.38776513e-03 9.99415812e-01 1.78988825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.65538475 meters Centerline goodness : 0.880751 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.13, Z:0.18 [[ 0.99683859 0.0701202 -0.03736276 2.43469701] [-0.06979286 0.99751142 0.00999594 0.13308899] [ 0.0379707 -0.00735669 0.99925177 0.18275307] [ 0. 0. 0. 1. ]] SLAMing on 23.71538475 meters Centerline goodness : 0.882478 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.19 [[ 0.99694236 0.06637623 -0.04123255 2.43662976] [-0.06612677 0.99778389 0.00738628 0.11981882] [ 0.04163145 -0.00463712 0.99912227 0.18729203] [ 0. 0. 0. 1. ]] SLAMing on 23.775384749999997 meters Centerline goodness : 0.884517 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.11, Z:0.19 [[ 0.9967901 0.06888723 -0.04079281 2.43526832] [-0.06850177 0.99759281 0.01077451 0.11087082] [ 0.04143684 -0.00794554 0.99910953 0.18769535] [ 0. 0. 0. 1. ]] SLAMing on 23.83538475 meters Centerline goodness : 0.881615 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.11, Z:0.19 [[ 0.99698556 0.06578495 -0.0411356 2.43560248] [-0.06548944 0.99781713 0.00849196 0.10686272] [ 0.04160445 -0.00577241 0.99911749 0.18734847] [ 0. 0. 0. 1. ]] SLAMing on 23.895384749999998 meters Centerline goodness : 0.886319 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.09, Z:0.19 [[ 9.97715409e-01 5.19320167e-02 -4.32091313e-02 2.43878636e+00] [-5.19599671e-02 9.98649055e-01 4.76741090e-04 9.46611448e-02] [ 4.31755163e-02 1.76949311e-03 9.99065936e-01 1.86738677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955384749999997 meters Centerline goodness : 0.883738 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.09, Z:0.19 [[ 0.99812542 0.04294476 -0.04360502 2.43994116] [-0.04328256 0.99903951 -0.00683211 0.09181888] [ 0.04326974 0.00870664 0.99902549 0.18545738] [ 0. 0. 0. 1. ]] SLAMing on 24.01538475 meters Centerline goodness : 0.885108 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.09, Z:0.18 [[ 0.99847401 0.03356473 -0.04385264 2.4409721 ] [-0.03423759 0.99930585 -0.01468373 0.08985441] [ 0.04332935 0.01616273 0.99893009 0.18418522] [ 0. 0. 0. 1. ]] SLAMing on 24.075384749999998 meters Centerline goodness : 0.882791 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.09, Z:0.18 [[ 0.9985327 0.03157875 -0.04399122 2.44235848] [-0.03233052 0.9993413 -0.01648346 0.09203734] [ 0.04344172 0.01788154 0.99889592 0.18307759] [ 0. 0. 0. 1. ]] SLAMing on 24.135384749999997 meters Centerline goodness : 0.882408 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.10, Z:0.18 [[ 0.99842739 0.03431917 -0.04432756 2.44446462] [-0.03500789 0.99927663 -0.01485508 0.09666809] [ 0.04378568 0.01638353 0.9989066 0.18161374] [ 0. 0. 0. 1. ]] SLAMing on 24.19538475 meters Centerline goodness : 0.878764 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.10, Z:0.18 [[ 0.99833245 0.03681599 -0.04446247 2.4457362 ] [-0.03743201 0.99921328 -0.01310235 0.10118581] [ 0.04394511 0.01474482 0.99892513 0.18090714] [ 0. 0. 0. 1. ]] SLAMing on 24.255384749999997 meters Centerline goodness : 0.876956 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.11, Z:0.18 [[ 0.9983851 0.03474531 -0.04494401 2.44850968] [-0.03547989 0.99924783 -0.015651 0.10591784] [ 0.04436641 0.01722033 0.9988669 0.17872208] [ 0. 0. 0. 1. ]] SLAMing on 24.31538475 meters Centerline goodness : 0.873581 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.11, Z:0.18 [[ 0.99844296 0.0318618 -0.04578725 2.45168452] [-0.03275273 0.99928588 -0.01884113 0.11141325] [ 0.04515424 0.02031145 0.99877352 0.17701972] [ 0. 0. 0. 1. ]] SLAMing on 24.37538475 meters Centerline goodness : 0.874312 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:0.17 [[ 0.99860778 0.03352112 -0.04072883 2.46199712] [-0.03463596 0.99903569 -0.0269821 0.12138904] [ 0.03978509 0.02835521 0.99880585 0.17448397] [ 0. 0. 0. 1. ]] SLAMing on 24.435384749999997 meters Centerline goodness : 0.875316 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.13, Z:0.17 [[ 0.99865802 0.0375354 -0.03568269 2.47297009] [-0.03871684 0.99870463 -0.03301619 0.13393644] [ 0.03439719 0.0343534 0.99881764 0.17267552] [ 0. 0. 0. 1. ]] SLAMing on 24.49538475 meters Centerline goodness : 0.875566 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:0.17 [[ 0.9986893 0.04194315 -0.02933354 2.48191484] [-0.04305556 0.99833523 -0.03837951 0.14643572] [ 0.02767495 0.03959217 0.9988326 0.17068508] [ 0. 0. 0. 1. ]] SLAMing on 24.555384749999998 meters Centerline goodness : 0.877857 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.16, Z:0.17 [[ 0.99861023 0.04352192 -0.02972276 2.48425128] [-0.04464004 0.99827816 -0.03805224 0.15580545] [ 0.02801547 0.03932618 0.99883361 0.16977162] [ 0. 0. 0. 1. ]] SLAMing on 24.615384749999997 meters Centerline goodness : 0.879095 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.16, Z:0.17 [[ 0.99832648 0.04930812 -0.03021511 2.48687434] [-0.05032307 0.99816071 -0.03380514 0.16473486] [ 0.02849267 0.03526908 0.9989716 0.16906902] [ 0. 0. 0. 1. ]] SLAMing on 24.67538475 meters Centerline goodness : 0.880117 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.17, Z:0.17 [[ 0.99797867 0.05574296 -0.03051718 2.48833881] [-0.05663035 0.99797309 -0.02902972 0.17196249] [ 0.02883712 0.03069924 0.99911259 0.16925743] [ 0. 0. 0. 1. ]] SLAMing on 24.735384749999998 meters Centerline goodness : 0.881807 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.18, Z:0.17 [[ 0.99784732 0.0577373 -0.03109887 2.49075056] [-0.05861065 0.99788974 -0.02794376 0.17782816] [ 0.02941985 0.02970633 0.99912562 0.16836338] [ 0. 0. 0. 1. ]] SLAMing on 24.795384749999997 meters Centerline goodness : 0.886886 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.18, Z:0.17 [[ 0.99776015 0.05897552 -0.03156858 2.49295527] [-0.05982613 0.99785128 -0.02671431 0.18202131] [ 0.02992526 0.0285431 0.99914452 0.16748245] [ 0. 0. 0. 1. ]] SLAMing on 24.85538475 meters Centerline goodness : 0.888760 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.17 [[ 0.99758117 0.06185767 -0.03170873 2.49347337] [-0.06265449 0.99772753 -0.02478298 0.18682333] [ 0.03010365 0.02670973 0.99918985 0.1680292 ] [ 0. 0. 0. 1. ]] SLAMing on 24.915384749999998 meters Centerline goodness : 0.890665 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.17 [[ 0.99737266 0.06507235 -0.03183328 2.49452472] [-0.06582828 0.99755881 -0.02330346 0.19059899] [ 0.03023916 0.02533777 0.99922149 0.16828299] [ 0. 0. 0. 1. ]] SLAMing on 24.97538475 meters Centerline goodness : 0.893906 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.19, Z:0.17 [[ 0.99723874 0.06731498 -0.03136209 2.49419561] [-0.06800905 0.99745052 -0.02161535 0.1940086 ] [ 0.0298271 0.02368857 0.99927433 0.1687389 ] [ 0. 0. 0. 1. ]] SLAMing on 25.03538475 meters Centerline goodness : 0.896146 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.17 [[ 0.99727296 0.06684435 -0.03128051 2.4940109 ] [-0.06755859 0.99746469 -0.02236151 0.19550298] [ 0.02970646 0.0244138 0.99926047 0.16897219] [ 0. 0. 0. 1. ]] SLAMing on 25.095384749999997 meters Centerline goodness : 0.898109 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.17 [[ 0.99736303 0.0655434 -0.03116155 2.49411332] [-0.0662873 0.99752452 -0.02346964 0.19732303] [ 0.02954613 0.02547336 0.99923878 0.16871777] [ 0. 0. 0. 1. ]] SLAMing on 25.15538475 meters Centerline goodness : 0.894903 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.17 [[ 0.99737846 0.06532942 -0.03111698 2.49479938] [-0.06607803 0.9975337 -0.02366899 0.19810076] [ 0.02949395 0.02566309 0.99923546 0.16775903] [ 0. 0. 0. 1. ]] SLAMing on 25.21538475 meters Centerline goodness : 0.897909 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.17 [[ 0.9974416 0.06459736 -0.03061756 2.49360722] [-0.06537194 0.99754748 -0.02501061 0.20068759] [ 0.02892685 0.02694816 0.99921821 0.16867152] [ 0. 0. 0. 1. ]] SLAMing on 25.275384749999997 meters Centerline goodness : 0.904378 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.17 [[ 0.99746183 0.06464111 -0.02985689 2.49111098] [-0.06542452 0.99751738 -0.02605206 0.20312036] [ 0.02809873 0.02793931 0.99921462 0.17079522] [ 0. 0. 0. 1. ]] SLAMing on 25.33538475 meters Centerline goodness : 0.909781 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.21, Z:0.17 [[ 0.99744532 0.06526518 -0.02903962 2.48947308] [-0.0660744 0.99742632 -0.02783735 0.21046176] [ 0.02714807 0.02968501 0.99919056 0.17273755] [ 0. 0. 0. 1. ]] SLAMing on 25.395384749999998 meters Centerline goodness : 0.911310 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.21, Z:0.17 [[ 0.99710874 0.07035725 -0.02870578 2.49166532] [-0.07103626 0.99720012 -0.02336171 0.21415745] [ 0.02698174 0.02533331 0.99931487 0.17074389] [ 0. 0. 0. 1. ]] SLAMing on 25.455384749999997 meters Centerline goodness : 0.912055 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:0.17 [[ 0.99708636 0.07043026 -0.02929784 2.49331233] [-0.07114916 0.99717053 -0.0242639 0.21584097] [ 0.02750603 0.02627773 0.99927619 0.17016224] [ 0. 0. 0. 1. ]] SLAMing on 25.51538475 meters Centerline goodness : 0.914591 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.17 [[ 0.99686308 0.07360847 -0.02908243 2.49536961] [-0.07427946 0.99697893 -0.0227064 0.22117485] [ 0.02732319 0.0247954 0.99931908 0.16836394] [ 0. 0. 0. 1. ]] SLAMing on 25.575384749999998 meters Centerline goodness : 0.912971 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.17 [[ 0.99692154 0.07284974 -0.02898889 2.49536646] [-0.0735514 0.99700449 -0.02392149 0.2235863 ] [ 0.02715938 0.02598002 0.99929345 0.16844137] [ 0. 0. 0. 1. ]] SLAMing on 25.635384749999997 meters Centerline goodness : 0.916887 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:0.17 [[ 0.99707506 0.07108653 -0.02807184 2.49370591] [-0.07178602 0.99711296 -0.02474906 0.22417893] [ 0.02623147 0.02669183 0.99929948 0.168415 ] [ 0. 0. 0. 1. ]] SLAMing on 25.69538475 meters Centerline goodness : 0.917539 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:0.17 [[ 0.99727791 0.06861162 -0.02700386 2.49221813] [-0.06932588 0.99724291 -0.02646707 0.2267938 ] [ 0.02511346 0.02826709 0.99928489 0.16799664] [ 0. 0. 0. 1. ]] SLAMing on 25.755384749999997 meters Centerline goodness : 0.916879 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:0.17 [[ 0.99715336 0.07071667 -0.02615959 2.49244882] [-0.0713516 0.99715785 -0.02419013 0.22925346] [ 0.0243746 0.0259878 0.99936506 0.16654606] [ 0. 0. 0. 1. ]] SLAMing on 25.81538475 meters Centerline goodness : 0.913806 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:0.17 [[ 0.99691407 0.07395871 -0.02631457 2.49430847] [-0.07455867 0.99696053 -0.02259872 0.2336158 ] [ 0.02456321 0.02449096 0.99939824 0.16572069] [ 0. 0. 0. 1. ]] SLAMing on 25.87538475 meters Centerline goodness : 0.914115 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.17 [[ 0.99663076 0.07769737 -0.02627264 2.49515486] [-0.0782722 0.99669784 -0.02160726 0.23999051] [ 0.02450705 0.02359088 0.99942127 0.16632455] [ 0. 0. 0. 1. ]] SLAMing on 25.935384749999997 meters Centerline goodness : 0.913541 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.17 [[ 0.99662617 0.07762583 -0.02665525 2.49657326] [-0.07824423 0.99666894 -0.02299724 0.24374203] [ 0.02478128 0.02500527 0.99938012 0.16590437] [ 0. 0. 0. 1. ]] SLAMing on 25.99538475 meters Centerline goodness : 0.913800 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.16 [[ 0.99704692 0.07195542 -0.02683014 2.49706832] [-0.07269358 0.99697143 -0.02763341 0.2439334 ] [ 0.02476051 0.02950218 0.99925799 0.16460955] [ 0. 0. 0. 1. ]] SLAMing on 26.055384749999998 meters Centerline goodness : 0.913667 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.16 [[ 0.99723612 0.06940935 -0.02650402 2.49744246] [-0.07018694 0.99709369 -0.0296304 0.24652261] [ 0.02437037 0.03140875 0.99920948 0.1633906 ] [ 0. 0. 0. 1. ]] SLAMing on 26.115384749999997 meters Centerline goodness : 0.916271 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.16 [[ 0.99730278 0.06851872 -0.02631243 2.49686468] [-0.06933358 0.99709872 -0.03141659 0.25005741] [ 0.02408347 0.03315619 0.99915997 0.1642398 ] [ 0. 0. 0. 1. ]] SLAMing on 26.17538475 meters Centerline goodness : 0.912738 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:0.16 [[ 0.99708728 0.07152457 -0.02647989 2.49826734] [-0.07232839 0.99690656 -0.03075566 0.25583688] [ 0.02419819 0.03258132 0.99917611 0.16461621] [ 0. 0. 0. 1. ]] SLAMing on 26.235384749999998 meters Centerline goodness : 0.917152 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:0.17 [[ 0.99658151 0.07843238 -0.02595498 2.49833645] [-0.07907546 0.99656126 -0.02475349 0.25938147] [ 0.02392425 0.02672127 0.99935659 0.16520443] [ 0. 0. 0. 1. ]] SLAMing on 26.295384749999997 meters Centerline goodness : 0.915866 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:0.16 [[ 0.9963405 0.08150571 -0.02573785 2.49947141] [-0.08208639 0.99637408 -0.02237228 0.26203357] [ 0.02382106 0.02440314 0.99941835 0.16420844] [ 0. 0. 0. 1. ]] SLAMing on 26.35538475 meters Centerline goodness : 0.916900 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.27, Z:0.16 [[ 0.99612827 0.084022 -0.02586067 2.50135987] [-0.08455794 0.99621017 -0.02037763 0.26510604] [ 0.02405049 0.02248546 0.99945784 0.16303306] [ 0. 0. 0. 1. ]] SLAMing on 26.415384749999998 meters Centerline goodness : 0.916514 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.27, Z:0.16 [[ 0.99589058 0.08665985 -0.02630619 2.5036884 ] [-0.08714437 0.99603549 -0.0178652 0.26588968] [ 0.0246537 0.02008422 0.99949428 0.16173696] [ 0. 0. 0. 1. ]] SLAMing on 26.475384749999996 meters Centerline goodness : 0.918175 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.27, Z:0.16 [[ 0.99554371 0.0905636 -0.02628604 2.50480918] [-0.0909827 0.99573633 -0.01520913 0.26903359] [ 0.02479657 0.01753293 0.99953876 0.1614983 ] [ 0. 0. 0. 1. ]] SLAMing on 26.53538475 meters Centerline goodness : 0.915527 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:0.16 [[ 0.99519632 0.09423619 -0.02652979 2.50651037] [-0.09459769 0.99543438 -0.01271509 0.27293248] [ 0.02521045 0.01516366 0.99956715 0.16122966] [ 0. 0. 0. 1. ]] SLAMing on 26.595384749999997 meters Centerline goodness : 0.922377 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:0.16 [[ 0.99555602 0.09031946 -0.02665734 2.50521812] [-0.09077658 0.99573516 -0.016465 0.27228705] [ 0.02505654 0.0188117 0.99950902 0.16230801] [ 0. 0. 0. 1. ]] SLAMing on 26.65538475 meters Centerline goodness : 0.923809 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.27, Z:0.16 [[ 0.99599234 0.0853449 -0.02674911 2.50444558] [-0.08590156 0.99609474 -0.02040056 0.2708724 ] [ 0.02490356 0.02261659 0.99943399 0.1623977 ] [ 0. 0. 0. 1. ]] SLAMing on 26.71538475 meters Centerline goodness : 0.925516 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.27, Z:0.16 [[ 0.99572421 0.08860999 -0.02610674 2.50414572] [-0.08907331 0.99587739 -0.01715159 0.27150815] [ 0.02447931 0.01940367 0.99951201 0.16212513] [ 0. 0. 0. 1. ]] SLAMing on 26.775384749999997 meters Centerline goodness : 0.925107 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.27, Z:0.16 [[ 0.99542995 0.09189786 -0.02596131 2.50482491] [-0.09230015 0.99562205 -0.01474496 0.27479363] [ 0.02449262 0.01707381 0.9995542 0.16210246] [ 0. 0. 0. 1. ]] SLAMing on 26.83538475 meters Centerline goodness : 0.923053 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:0.16 [[ 0.99528815 0.09336802 -0.02615152 2.508202 ] [-0.09373608 0.99550933 -0.01321818 0.27578063] [ 0.02479992 0.01560724 0.9995706 0.15875443] [ 0. 0. 0. 1. ]] SLAMing on 26.895384749999998 meters Centerline goodness : 0.921779 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:0.16 [[ 0.9952732 0.09354228 -0.02609776 2.50916731] [-0.09391669 0.99548843 -0.01350731 0.27727464] [ 0.02471651 0.01589448 0.99956814 0.15763567] [ 0. 0. 0. 1. ]] SLAMing on 26.955384749999997 meters Centerline goodness : 0.920580 with order 2 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:0.16 [[ 0.99491733 0.09727885 -0.02600647 2.51058154] [-0.0975657 0.99517889 -0.00999533 0.27823922] [ 0.02490875 0.01248186 0.9996118 0.15653243] [ 0. 0. 0. 1. ]] SLAMing on 27.01538475 meters Centerline goodness : 0.923026 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:0.16 [[ 0.99515231 0.09485708 -0.02596171 2.50830492] [-0.09520957 0.99537633 -0.01269289 0.27884672] [ 0.02463766 0.01510316 0.99958235 0.15876184] [ 0. 0. 0. 1. ]] SLAMing on 27.075384749999998 meters Centerline goodness : 0.923280 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:0.16 [[ 0.99519674 0.09438779 -0.02596914 2.50800421] [-0.09475167 0.99541402 -0.01315509 0.27910209] [ 0.02460837 0.01555252 0.99957618 0.1591618 ] [ 0. 0. 0. 1. ]] SLAMing on 27.135384749999997 meters Centerline goodness : 0.927588 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:0.16 [[ 0.99494932 0.09699928 -0.02582598 2.50901986] [-0.09730731 0.99519417 -0.01094744 0.28231842] [ 0.02463998 0.0134052 0.99960651 0.15859153] [ 0. 0. 0. 1. ]] SLAMing on 27.19538475 meters Centerline goodness : 0.929517 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.29, Z:0.16 [[ 0.99494429 0.09701025 -0.02597845 2.50876866] [-0.09735208 0.99517485 -0.01223087 0.28598828] [ 0.02466658 0.01469809 0.99958768 0.15981761] [ 0. 0. 0. 1. ]] SLAMing on 27.255384749999997 meters Centerline goodness : 0.930519 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.29, Z:0.16 [[ 0.99492739 0.09703943 -0.02651099 2.50950959] [-0.0974281 0.99514714 -0.0137819 0.28990186] [ 0.02504495 0.01629491 0.99955351 0.16055501] [ 0. 0. 0. 1. ]] SLAMing on 27.31538475 meters Centerline goodness : 0.929279 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.29, Z:0.16 [[ 0.9948896 0.09722078 -0.02725438 2.513302 ] [-0.09762137 0.99512834 -0.01377173 0.29106053] [ 0.02578271 0.01636196 0.99953366 0.15780327] [ 0. 0. 0. 1. ]] SLAMing on 27.37538475 meters Centerline goodness : 0.929838 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.29, Z:0.16 [[ 0.99489112 0.0971354 -0.02750207 2.51385984] [-0.0975442 0.99513368 -0.01393142 0.29175359] [ 0.026015 0.01654291 0.99952466 0.15771585] [ 0. 0. 0. 1. ]] SLAMing on 27.435384749999997 meters Centerline goodness : 0.931868 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.29, Z:0.16 [[ 9.94787851e-01 9.76851719e-02 -2.92359156e-02 2.49129505e+00] [-9.76247291e-02 9.95217174e-01 3.49112962e-03 2.94188524e-01] [ 2.94371169e-02 -6.18784992e-04 9.99566443e-01 1.62446986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49538475 meters Centerline goodness : 0.931114 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.30, Z:0.16 [[ 0.9931306 0.11368546 -0.0276987 2.48968811] [-0.11319895 0.99339923 0.01854628 0.29540555] [ 0.02962431 -0.01528342 0.99944425 0.16449648] [ 0. 0. 0. 1. ]] SLAMing on 27.555384749999998 meters Centerline goodness : 0.928801 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.29, Z:0.17 [[ 0.99148728 0.12662508 -0.03031611 2.48048201] [-0.12533902 0.99126156 0.04111763 0.29492112] [ 0.03525771 -0.03696782 0.99869428 0.1696028 ] [ 0. 0. 0. 1. ]] SLAMing on 27.615384749999997 meters Centerline goodness : 0.931010 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:0.18 [[ 0.99147299 0.12674517 -0.03028156 2.45122738] [-0.1244692 0.98989614 0.0679194 0.29385596] [ 0.03858405 -0.06357113 0.99723116 0.17819301] [ 0. 0. 0. 1. ]] SLAMing on 27.67538475 meters Centerline goodness : 0.934221 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:0.19 [[ 0.99182958 0.12366536 -0.03132031 2.40945233] [-0.11996516 0.98765754 0.10070228 0.29214692] [ 0.04338712 -0.09612215 0.9944235 0.1858284 ] [ 0. 0. 0. 1. ]] SLAMing on 27.735384749999998 meters Centerline goodness : 0.934232 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.29, Z:0.18 [[ 0.9922214 0.12099099 -0.02928942 2.40285798] [-0.11782629 0.98870108 0.09266685 0.28800072] [ 0.04017033 -0.08849497 0.99526629 0.18393405] [ 0. 0. 0. 1. ]] SLAMing on 27.795384749999997 meters Centerline goodness : 0.932891 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.28, Z:0.19 [[ 0.99338313 0.11078178 -0.03028785 2.40136529] [-0.10786798 0.99051752 0.08508552 0.2776317 ] [ 0.03942657 -0.08125543 0.9959132 0.18506172] [ 0. 0. 0. 1. ]] SLAMing on 27.85538475 meters Centerline goodness : 0.934333 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.27, Z:0.19 [[ 0.99453227 0.09800869 -0.03605346 2.391283 ] [-0.09470022 0.9919377 0.08421089 0.2678837 ] [ 0.04401618 -0.08033618 0.9957955 0.1881418 ] [ 0. 0. 0. 1. ]] SLAMing on 27.915384749999998 meters Centerline goodness : 0.933883 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:0.19 [[ 0.99511372 0.09165889 -0.03670591 2.39071694] [-0.08849963 0.99285727 0.08001412 0.26037864] [ 0.04377773 -0.07637469 0.99611767 0.18855141] [ 0. 0. 0. 1. ]] SLAMing on 27.975384749999996 meters Centerline goodness : 0.933434 with order 2 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:0.19 [[ 0.99560796 0.08591338 -0.03719796 2.38925413] [-0.08294631 0.9937232 0.07506072 0.25514209] [ 0.0434132 -0.07164562 0.99648492 0.18992437] [ 0. 0. 0. 1. ]] SLAMing on 28.03538475 meters Centerline goodness : 0.933247 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:0.19 [[ 0.99621545 0.0783274 -0.03767762 2.38880683] [-0.07564995 0.99482041 0.06789289 0.25418289] [ 0.04280034 -0.06478564 0.99698092 0.18997608] [ 0. 0. 0. 1. ]] SLAMing on 28.095384749999997 meters Centerline goodness : 0.941319 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:0.19 [[ 0.99681709 0.06992928 -0.03828307 2.38798599] [-0.06752713 0.9958629 0.0608044 0.25155401] [ 0.0423767 -0.05802572 0.99741528 0.19079414] [ 0. 0. 0. 1. ]] SLAMing on 28.15538475 meters Centerline goodness : 0.943075 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:0.19 [[ 0.99710058 0.06553972 -0.03866506 2.38766276] [-0.06331844 0.99641426 0.05611942 0.25245056] [ 0.04220447 -0.05350849 0.99767511 0.19150031] [ 0. 0. 0. 1. ]] SLAMing on 28.21538475 meters Centerline goodness : 0.942006 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:0.19 [[ 0.99708413 0.06529801 -0.03948945 2.39084457] [-0.06306024 0.9964664 0.05548089 0.25303055] [ 0.0429727 -0.0528289 0.99767853 0.18922095] [ 0. 0. 0. 1. ]] SLAMing on 28.275384749999997 meters Centerline goodness : 0.938248 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:0.19 [[ 0.99703232 0.06554861 -0.04037254 2.39322698] [-0.06330677 0.99650451 0.05450696 0.25486937] [ 0.04380427 -0.05178934 0.99769687 0.1882522 ] [ 0. 0. 0. 1. ]] SLAMing on 28.33538475 meters Centerline goodness : 0.935121 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:0.19 [[ 0.99703725 0.06501349 -0.04110918 2.39638462] [-0.06274322 0.99655178 0.05429405 0.25422233] [ 0.04449727 -0.05155387 0.9976784 0.18572421] [ 0. 0. 0. 1. ]] SLAMing on 28.395384749999998 meters Centerline goodness : 0.928228 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:0.18 [[ 0.99730926 0.06000796 -0.04211036 2.39970785] [-0.05784347 0.99702913 0.05086305 0.25185995] [ 0.04503744 -0.04829038 0.99781745 0.18277975] [ 0. 0. 0. 1. ]] SLAMing on 28.455384749999997 meters Centerline goodness : 0.930014 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:0.18 [[ 0.99773148 0.05201042 -0.04274117 2.39998903] [-0.05016961 0.99781165 0.04306872 0.25176409] [ 0.04488766 -0.04082671 0.99815744 0.18274337] [ 0. 0. 0. 1. ]] SLAMing on 28.51538475 meters Centerline goodness : 0.935171 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:0.19 [[ 0.99792498 0.048511 -0.04233689 2.3966708 ] [-0.04690013 0.99816708 0.0382474 0.25444674] [ 0.04411471 -0.03618243 0.99837104 0.18606218] [ 0. 0. 0. 1. ]] SLAMing on 28.575384749999998 meters Centerline goodness : 0.937367 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:0.19 [[ 0.99775243 0.05214288 -0.04208579 2.39632926] [-0.05048608 0.99794276 0.03951457 0.26004569] [ 0.04405961 -0.03730101 0.9983323 0.18704604] [ 0. 0. 0. 1. ]] SLAMing on 28.635384749999997 meters Centerline goodness : 0.936675 with order 2 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:0.19 [[ 0.99758799 0.05543054 -0.04178112 2.39541628] [-0.05372051 0.99771407 0.0409968 0.26437441] [ 0.04395809 -0.03865341 0.99828533 0.18846037] [ 0. 0. 0. 1. ]] SLAMing on 28.69538475 meters Centerline goodness : 0.936379 with order 2 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:0.19 [[ 0.99756927 0.05564229 -0.04194631 2.39588244] [-0.05400375 0.99776967 0.03923371 0.26898327] [ 0.04403581 -0.03687308 0.99834925 0.18878381] [ 0. 0. 0. 1. ]] SLAMing on 28.755384749999997 meters Centerline goodness : 0.935398 with order 2 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:0.19 [[ 0.99759083 0.05492647 -0.0423748 2.39781742] [-0.05332005 0.99784837 0.0381524 0.27047298] [ 0.0443792 -0.03580106 0.99837306 0.18729306] [ 0. 0. 0. 1. ]] SLAMing on 28.815384749999996 meters Centerline goodness : 0.934812 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:0.18 [[ 0.99775244 0.05092823 -0.04354744 2.40257098] [-0.04943488 0.99817409 0.03470859 0.2703837 ] [ 0.04523558 -0.03247781 0.99844826 0.18343242] [ 0. 0. 0. 1. ]] SLAMing on 28.87538475 meters Centerline goodness : 0.928294 with order 2 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:0.18 [[ 0.99773482 0.05060069 -0.04432598 2.40471483] [-0.04911843 0.998217 0.03391466 0.27186068] [ 0.04596306 -0.03166061 0.99844129 0.18247629] [ 0. 0. 0. 1. ]] SLAMing on 28.935384749999997 meters Centerline goodness : 0.925126 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:0.18 [[ 0.99785466 0.04761808 -0.04492879 2.40540612] [-0.04632933 0.99849634 0.02930288 0.27407875] [ 0.04625658 -0.0271585 0.99856034 0.18296967] [ 0. 0. 0. 1. ]] SLAMing on 28.99538475 meters Centerline goodness : 0.928316 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:0.18 [[ 0.9976627 0.05144494 -0.04497283 2.40614092] [-0.0500662 0.99825642 0.03126484 0.279096 ] [ 0.04650283 -0.02894015 0.99849885 0.18312071] [ 0. 0. 0. 1. ]] SLAMing on 29.055384749999998 meters Centerline goodness : 0.927612 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:0.18 [[ 0.99780569 0.04814598 -0.04545077 2.40628445] [-0.04696883 0.99854153 0.0266221 0.28176347] [ 0.04666623 -0.02442891 0.99861178 0.18400733] [ 0. 0. 0. 1. ]] SLAMing on 29.115384749999997 meters Centerline goodness : 0.928822 with order 2 Centerline is valid? [False, False] Translation: X:2.40, Y:0.28, Z:0.19 [[ 0.99803447 0.0431621 -0.04543387 2.40435541] [-0.0422073 0.99887168 0.02176933 0.28182928] [ 0.04632221 -0.0198089 0.99873012 0.18586259] [ 0. 0. 0. 1. ]] SLAMing on 29.17538475 meters Centerline goodness : 0.936425 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.28, Z:0.19 [[ 0.99813768 0.04004999 -0.04601276 2.40468565] [-0.0392818 0.99907527 0.01748013 0.28337336] [ 0.04667029 -0.01564011 0.9987879 0.18675954] [ 0. 0. 0. 1. ]] SLAMing on 29.235384749999998 meters Centerline goodness : 0.931115 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:0.19 [[ 0.99808304 0.04083896 -0.04650198 2.40607771] [-0.04002152 0.99902982 0.01837638 0.28205594] [ 0.04720734 -0.01648007 0.99874915 0.18591776] [ 0. 0. 0. 1. ]] SLAMing on 29.295384749999997 meters Centerline goodness : 0.929662 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:0.19 [[ 0.99815263 0.03820296 -0.04724255 2.40741585] [-0.03754959 0.9991875 0.01464157 0.28307552] [ 0.04776352 -0.01284059 0.99877613 0.18572327] [ 0. 0. 0. 1. ]] SLAMing on 29.35538475 meters Centerline goodness : 0.927637 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:0.18 [[ 0.99816276 0.0372654 -0.04777444 2.40941838] [-0.03661715 0.999226 0.01437342 0.28158928] [ 0.04827309 -0.01259765 0.99875473 0.18423256] [ 0. 0. 0. 1. ]] SLAMing on 29.415384749999998 meters Centerline goodness : 0.932043 with order 3 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:0.18 [[ 0.99829338 0.03308218 -0.0481238 2.41030561] [-0.03266447 0.99942178 0.00944085 0.28406446] [ 0.0484083 -0.0078528 0.99879676 0.18375341] [ 0. 0. 0. 1. ]] SLAMing on 29.475384749999996 meters Centerline goodness : 0.926686 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:0.18 [[ 0.99828134 0.03291749 -0.04848506 2.41177142] [-0.03253321 0.99943284 0.00869381 0.28570088] [ 0.04874374 -0.00710149 0.99878607 0.182773 ] [ 0. 0. 0. 1. ]] SLAMing on 29.53538475 meters Centerline goodness : 0.930733 with order 2 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:0.18 [[ 9.98466702e-01 3.39198802e-02 -4.37456949e-02 2.41790241e+00] [-3.40333073e-02 9.99418986e-01 -1.85050883e-03 2.90175293e-01] [ 4.36575090e-02 3.33648212e-03 9.99040985e-01 1.82072582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595384749999997 meters Centerline goodness : 0.930890 with order 2 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:0.18 [[ 0.99849349 0.03335317 -0.04356973 2.41781931] [-0.033526 0.99943259 -0.00324194 0.2934553 ] [ 0.04343688 0.00469778 0.99904513 0.18213015] [ 0. 0. 0. 1. ]] SLAMing on 29.65538475 meters Centerline goodness : 0.930909 with order 2 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 9.98453861e-01 3.51540734e-02 -4.30590147e-02 2.41688673e+00] [-3.52716962e-02 9.99375809e-01 -1.97474625e-03 2.97190945e-01] [ 4.29627172e-02 3.49045750e-03 9.99070579e-01 1.82669127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.71538475 meters Centerline goodness : 0.930111 with order 2 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 0.99848619 0.03420578 -0.04307316 2.41758501] [-0.03437946 0.99940341 -0.00329777 0.29963839] [ 0.04293466 0.00477361 0.99906648 0.18192694] [ 0. 0. 0. 1. ]] SLAMing on 29.775384749999997 meters Centerline goodness : 0.925755 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 0.99855319 0.03224083 -0.04303553 2.41814171] [-0.03248197 0.99946023 -0.0049157 0.30106257] [ 0.04285382 0.00630646 0.99906145 0.18110964] [ 0. 0. 0. 1. ]] SLAMing on 29.83538475 meters Centerline goodness : 0.925379 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 0.9985626 0.03168512 -0.0432294 2.41949108] [-0.03195808 0.99947331 -0.00563751 0.30261469] [ 0.043028 0.00701093 0.99904927 0.17981476] [ 0. 0. 0. 1. ]] SLAMing on 29.895384749999998 meters Centerline goodness : 0.924490 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 9.98408078e-01 3.60777144e-02 -4.33556021e-02 2.42044734e+00] [-3.61736567e-02 9.99344496e-01 -1.43016791e-03 3.02135894e-01] [ 4.32755851e-02 2.99622186e-03 9.99058680e-01 1.79231080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955384749999997 meters Centerline goodness : 0.928003 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 0.99803198 0.04567201 -0.04296781 2.42019602] [-0.04541323 0.9989439 0.00698015 0.30261243] [ 0.04324122 -0.00501511 0.99905207 0.17972287] [ 0. 0. 0. 1. ]] SLAMing on 30.01538475 meters Centerline goodness : 0.926125 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:0.18 [[ 0.99770114 0.05244636 -0.04291646 2.42054821] [-0.05192553 0.99856421 0.01316272 0.29905073] [ 0.04354517 -0.010904 0.99899195 0.17993009] [ 0. 0. 0. 1. ]] SLAMing on 30.075384749999998 meters Centerline goodness : 0.929549 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:0.18 [[ 0.99737953 0.05878672 -0.04216868 2.41840046] [-0.05797574 0.99811351 0.02020465 0.2930812 ] [ 0.0432769 -0.01770695 0.99890619 0.18125859] [ 0. 0. 0. 1. ]] SLAMing on 30.135384749999997 meters Centerline goodness : 0.934266 with order 3 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:0.18 [[ 0.99726147 0.06110795 -0.04165789 2.41720924] [-0.06016895 0.99791307 0.02343494 0.28716351] [ 0.04300301 -0.02086425 0.99885706 0.18139804] [ 0. 0. 0. 1. ]] SLAMing on 30.19538475 meters Centerline goodness : 0.932654 with order 3 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:0.18 [[ 0.9973474 0.05969797 -0.04164523 2.41754355] [-0.05872809 0.99798217 0.02413725 0.27662712] [ 0.04300215 -0.02162748 0.99884086 0.17991303] [ 0. 0. 0. 1. ]] SLAMing on 30.255384749999997 meters Centerline goodness : 0.924964 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.27, Z:0.18 [[ 0.99749871 0.05664682 -0.04227835 2.42029225] [-0.05566289 0.99815875 0.02409871 0.26611088] [ 0.04356562 -0.0216851 0.99881519 0.17647496] [ 0. 0. 0. 1. ]] SLAMing on 30.315384749999996 meters Centerline goodness : 0.925535 with order 3 Centerline is valid? [False, False] Translation: X:2.42, Y:0.26, Z:0.18 [[ 0.9977771 0.05113297 -0.042735 2.4204404 ] [-0.05027162 0.99851491 0.02099358 0.25713801] [ 0.043745 -0.01879855 0.99886585 0.17563315] [ 0. 0. 0. 1. ]] SLAMing on 30.37538475 meters Centerline goodness : 0.925784 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.25, Z:0.18 [[ 0.99815592 0.04366307 -0.0421699 2.4172229 ] [-0.04300847 0.9989416 0.01630782 0.24998873] [ 0.04283732 -0.01446408 0.99897735 0.17711371] [ 0. 0. 0. 1. ]] SLAMing on 30.435384749999997 meters Centerline goodness : 0.928763 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.24, Z:0.18 [[ 0.99846713 0.03605978 -0.04198899 2.41573396] [-0.03562051 0.99930304 0.01116332 0.24353078] [ 0.04236228 -0.00965054 0.99905571 0.17716336] [ 0. 0. 0. 1. ]] SLAMing on 30.49538475 meters Centerline goodness : 0.927602 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.24, Z:0.18 [[ 0.9986082 0.03134632 -0.04241551 2.41735516] [-0.03104772 0.99948839 0.00768043 0.23989516] [ 0.04263456 -0.00635283 0.99907054 0.17570825] [ 0. 0. 0. 1. ]] SLAMing on 30.555384749999998 meters Centerline goodness : 0.927116 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.24, Z:0.18 [[ 0.99856684 0.03221074 -0.04274027 2.41833252] [-0.03185052 0.99945137 0.00908279 0.23620078] [ 0.04300938 -0.00770847 0.99904493 0.17521827] [ 0. 0. 0. 1. ]] SLAMing on 30.615384749999997 meters Centerline goodness : 0.922461 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.23, Z:0.17 [[ 0.99852889 0.03312402 -0.04292845 2.42053822] [-0.032696 0.99940876 0.01063489 0.23090777] [ 0.04325534 -0.00921565 0.99902155 0.1729589 ] [ 0. 0. 0. 1. ]] SLAMing on 30.67538475 meters Centerline goodness : 0.919702 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.23, Z:0.17 [[ 0.99859956 0.03031849 -0.04335551 2.42167121] [-0.02995458 0.99951057 0.00901898 0.22556834] [ 0.04360774 -0.00770765 0.999019 0.17221393] [ 0. 0. 0. 1. ]] SLAMing on 30.735384749999998 meters Centerline goodness : 0.918170 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.22, Z:0.17 [[ 0.99876794 0.02304331 -0.04395003 2.42328844] [-0.02289913 0.99973063 0.00378111 0.21782967] [ 0.04402532 -0.00277003 0.99902658 0.1711661 ] [ 0. 0. 0. 1. ]] SLAMing on 30.795384749999997 meters Centerline goodness : 0.915862 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:0.17 [[ 9.98871676e-01 1.64227728e-02 -4.45608334e-02 2.42584972e+00] [-1.65069115e-02 9.99862595e-01 -1.52084503e-03 2.14223721e-01] [ 4.45297340e-02 2.25469076e-03 9.99005515e-01 1.69216902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.85538475 meters Centerline goodness : 0.920379 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.22, Z:0.17 [[ 0.99891958 0.01764865 -0.04299065 2.43114055] [-0.0181759 0.99976393 -0.01190441 0.21532717] [ 0.04277041 0.01267294 0.99900455 0.17121691] [ 0. 0. 0. 1. ]] SLAMing on 30.915384749999998 meters Centerline goodness : 0.920545 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.17 [[ 0.99903999 0.02179015 -0.03800369 2.43814503] [-0.02251566 0.99957031 -0.0187681 0.21890394] [ 0.0375784 0.01960576 0.99910134 0.17026312] [ 0. 0. 0. 1. ]] SLAMing on 30.975384749999996 meters Centerline goodness : 0.920174 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.17 [[ 0.99904535 0.02086526 -0.03838007 2.43950001] [-0.02164037 0.9995679 -0.0198923 0.22090537] [ 0.03794843 0.02070387 0.9990652 0.169482 ] [ 0. 0. 0. 1. ]] SLAMing on 31.03538475 meters Centerline goodness : 0.921851 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.17 [[ 0.99906829 0.01904351 -0.03872859 2.44002497] [-0.01984944 0.99959212 -0.02053257 0.21991655] [ 0.03832178 0.02128218 0.99903879 0.16977811] [ 0. 0. 0. 1. ]] SLAMing on 31.095384749999997 meters Centerline goodness : 0.921736 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.17 [[ 0.99908126 0.0170922 -0.03930003 2.44190837] [-0.01794358 0.99960966 -0.02141394 0.21924799] [ 0.03891868 0.02209945 0.99899797 0.16890126] [ 0. 0. 0. 1. ]] SLAMing on 31.15538475 meters Centerline goodness : 0.921234 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.17 [[ 0.99907745 0.01701502 -0.03943017 2.44231191] [-0.01787138 0.99960978 -0.02146854 0.21962614] [ 0.0390495 0.0221534 0.99899167 0.16875119] [ 0. 0. 0. 1. ]] SLAMing on 31.21538475 meters Centerline goodness : 0.921875 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:0.17 [[ 0.99902617 0.01908237 -0.03978169 2.44405034] [-0.01985863 0.99961823 -0.01921012 0.21945335] [ 0.03939993 0.01998143 0.99902372 0.16784345] [ 0. 0. 0. 1. ]] SLAMing on 31.275384749999997 meters Centerline goodness : 0.921436 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.17 [[ 0.99894643 0.02212158 -0.04020769 2.44609228] [-0.02282615 0.99959235 -0.01714944 0.22364342] [ 0.03981193 0.01804916 0.99904416 0.16666183] [ 0. 0. 0. 1. ]] SLAMing on 31.33538475 meters Centerline goodness : 0.918735 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:0.17 [[ 0.99886307 0.02482945 -0.0406947 2.44809408] [-0.02547543 0.99955632 -0.01543276 0.22789418] [ 0.04029345 0.01645193 0.99905244 0.1656961 ] [ 0. 0. 0. 1. ]] SLAMing on 31.395384749999998 meters Centerline goodness : 0.919644 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.16 [[ 0.99889094 0.03040187 -0.03595286 2.4580236 ] [-0.03115337 0.99930375 -0.02053016 0.23336446] [ 0.03530367 0.02162744 0.99914258 0.1627108 ] [ 0. 0. 0. 1. ]] SLAMing on 31.455384749999997 meters Centerline goodness : 0.918734 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.24, Z:0.16 [[ 0.99879819 0.03295964 -0.03627449 2.46038791] [-0.03365158 0.99925992 -0.01863279 0.23624336] [ 0.03563351 0.01983109 0.99916814 0.16095997] [ 0. 0. 0. 1. ]] SLAMing on 31.51538475 meters Centerline goodness : 0.920071 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.24, Z:0.16 [[ 0.99886686 0.03023655 -0.03675255 2.46241427] [-0.0310039 0.9993092 -0.02049105 0.2381867 ] [ 0.03610758 0.02160731 0.99911429 0.15979244] [ 0. 0. 0. 1. ]] SLAMing on 31.575384749999998 meters Centerline goodness : 0.922405 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.24, Z:0.16 [[ 0.99900144 0.02477142 -0.03718203 2.46252902] [-0.02569093 0.99937066 -0.02445934 0.23597271] [ 0.03655274 0.02539016 0.99900913 0.16037727] [ 0. 0. 0. 1. ]] SLAMing on 31.635384749999997 meters Centerline goodness : 0.926580 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:0.16 [[ 0.99933778 0.02178363 -0.02914585 2.46667378] [-0.02233586 0.99957454 -0.01875753 0.23495636] [ 0.02872484 0.01939611 0.99939916 0.15866561] [ 0. 0. 0. 1. ]] SLAMing on 31.69538475 meters Centerline goodness : 0.928739 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.24, Z:0.16 [[ 0.999313 0.02770123 -0.02462067 2.47538254] [-0.02828663 0.99931753 -0.02375566 0.23862314] [ 0.02394581 0.02443578 0.99941457 0.15640019] [ 0. 0. 0. 1. ]] SLAMing on 31.755384749999997 meters Centerline goodness : 0.928741 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.25, Z:0.15 [[ 0.99907665 0.03794209 -0.02015572 2.48572651] [-0.03844663 0.99894124 -0.02526369 0.24532228] [ 0.01917582 0.02601529 0.99947761 0.15335568] [ 0. 0. 0. 1. ]] SLAMing on 31.815384749999996 meters Centerline goodness : 0.925351 with order 3 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.15 [[ 0.99869258 0.0481925 -0.01704757 2.49725955] [-0.04864657 0.99844272 -0.02730668 0.24970721] [ 0.01570505 0.02810028 0.99948173 0.14939058] [ 0. 0. 0. 1. ]] SLAMing on 31.87538475 meters Centerline goodness : 0.930064 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.15 [[ 0.99845435 0.05288084 -0.01710335 2.49814654] [-0.05329472 0.99827273 -0.024723 0.25357372] [ 0.01576643 0.0255963 0.99954802 0.1496855 ] [ 0. 0. 0. 1. ]] SLAMing on 31.935384749999997 meters Centerline goodness : 0.928080 with order 3 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.15 [[ 0.99841029 0.05367668 -0.01719605 2.49876121] [-0.05407155 0.9982632 -0.02338495 0.25160581] [ 0.01591096 0.02427759 0.99957863 0.14879705] [ 0. 0. 0. 1. ]] SLAMing on 31.99538475 meters Centerline goodness : 0.926710 with order 3 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.15 [[ 0.99836227 0.05448343 -0.01744527 2.49876738] [-0.05487552 0.99823181 -0.02284574 0.25027376] [ 0.01616971 0.02376564 0.99958678 0.14934765] [ 0. 0. 0. 1. ]] SLAMing on 32.05538475 meters Centerline goodness : 0.925734 with order 3 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:0.15 [[ 0.99814394 0.05820521 -0.01791168 2.50109212] [-0.05853775 0.9981112 -0.01863759 0.24771743] [ 0.01679304 0.0196515 0.99966585 0.147546 ] [ 0. 0. 0. 1. ]] SLAMing on 32.115384750000004 meters Centerline goodness : 0.927369 with order 3 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.15 [[ 0.99811073 0.05883909 -0.0176901 2.50009374] [-0.05914346 0.99810123 -0.01720427 0.24451541] [ 0.01664423 0.01821802 0.99969549 0.14807954] [ 0. 0. 0. 1. ]] SLAMing on 32.17538475 meters Centerline goodness : 0.924495 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.15 [[ 0.99829272 0.05564882 -0.01774402 2.49933348] [-0.05598809 0.99824616 -0.01923368 0.24103881] [ 0.01664257 0.0201943 0.99965755 0.14824613] [ 0. 0. 0. 1. ]] SLAMing on 32.23538475 meters Centerline goodness : 0.923694 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.15 [[ 0.99845538 0.05260212 -0.01788512 2.49850537] [-0.05295806 0.99839549 -0.02004722 0.23459083] [ 0.01680189 0.02096342 0.99963905 0.14832252] [ 0. 0. 0. 1. ]] SLAMing on 32.295384750000004 meters Centerline goodness : 0.919768 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.15 [[ 0.9984187 0.05292464 -0.01894939 2.50106672] [-0.05324331 0.99844147 -0.0167267 0.22469597] [ 0.0180346 0.01770918 0.99968052 0.14561613] [ 0. 0. 0. 1. ]] SLAMing on 32.35538475 meters Centerline goodness : 0.920943 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:0.14 [[ 0.99832529 0.05419195 -0.02024488 2.50354474] [-0.05446182 0.9984309 -0.01302488 0.21459702] [ 0.01950727 0.01410564 0.99971021 0.14392251] [ 0. 0. 0. 1. ]] SLAMing on 32.41538475 meters Centerline goodness : 0.918424 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:0.14 [[ 0.9982481 0.05565994 -0.02006758 2.5033676 ] [-0.05587267 0.9983858 -0.01019989 0.20823405] [ 0.01946746 0.01130325 0.9997466 0.14377942] [ 0. 0. 0. 1. ]] SLAMing on 32.47538475 meters Centerline goodness : 0.916415 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:0.14 [[ 0.99828387 0.05461227 -0.02113807 2.50468107] [-0.05480478 0.99845973 -0.00863692 0.19743721] [ 0.02063383 0.00978057 0.99973926 0.1425718 ] [ 0. 0. 0. 1. ]] SLAMing on 32.53538475 meters Centerline goodness : 0.916921 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.14 [[ 0.99864245 0.04758705 -0.02118312 2.50330396] [-0.0478393 0.9987881 -0.01156469 0.18800957] [ 0.02060711 0.01256238 0.99970872 0.14224737] [ 0. 0. 0. 1. ]] SLAMing on 32.59538475 meters Centerline goodness : 0.916910 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.14 [[ 0.99882262 0.04353548 -0.02140175 2.50331119] [-0.04382767 0.99894952 -0.01337853 0.18275444] [ 0.02079683 0.01430077 0.99968144 0.14238993] [ 0. 0. 0. 1. ]] SLAMing on 32.65538475 meters Centerline goodness : 0.916991 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.14 [[ 0.99894066 0.04058888 -0.02168174 2.50226494] [-0.04091919 0.99904964 -0.01501437 0.17639703] [ 0.02105172 0.01588567 0.99965217 0.14382959] [ 0. 0. 0. 1. ]] SLAMing on 32.71538475 meters Centerline goodness : 0.917923 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.17, Z:0.14 [[ 0.99921588 0.0378293 -0.01168654 2.50562015] [-0.03796733 0.99920902 -0.01182424 0.17125424] [ 0.01122999 0.01225867 0.9998618 0.14073847] [ 0. 0. 0. 1. ]] SLAMing on 32.77538475 meters Centerline goodness : 0.918378 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.17, Z:0.14 [[ 0.99933246 0.0345311 -0.01192635 2.5079167 ] [-0.03470266 0.99929262 -0.01449076 0.1696617 ] [ 0.01141753 0.01489496 0.99982387 0.13822539] [ 0. 0. 0. 1. ]] SLAMing on 32.83538475 meters Centerline goodness : 0.919037 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.17, Z:0.14 [[ 0.99947556 0.02994064 -0.01233559 2.5095052 ] [-0.03015822 0.9993858 -0.01784683 0.16553712] [ 0.01179366 0.01820949 0.99976463 0.13669002] [ 0. 0. 0. 1. ]] SLAMing on 32.89538475 meters Centerline goodness : 0.920549 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.17, Z:0.13 [[ 0.99952844 0.0279928 -0.01262105 2.51199034] [-0.02823391 0.99941407 -0.0193485 0.16501854] [ 0.01207204 0.01969572 0.99973314 0.13420241] [ 0. 0. 0. 1. ]] SLAMing on 32.95538475 meters Centerline goodness : 0.922966 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.17, Z:0.13 [[ 0.99946894 0.03180099 -0.00710944 2.52153378] [-0.03197071 0.99917128 -0.02519163 0.17117884] [ 0.00630243 0.02540554 0.99965736 0.13122218] [ 0. 0. 0. 1. ]] SLAMing on 33.01538475 meters Centerline goodness : 0.925526 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.18, Z:0.13 [[ 9.99315175e-01 3.69454291e-02 -2.05344673e-03 2.53189069e+00] [-3.69905492e-02 9.98861689e-01 -3.01168540e-02 1.78553351e-01] [ 9.38429177e-04 3.01721873e-02 9.99544275e-01 1.28893905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075384750000005 meters Centerline goodness : 0.928321 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.19, Z:0.13 [[ 9.99113193e-01 4.20570377e-02 -2.00810888e-03 2.53294866e+00] [-4.20958967e-02 9.98750675e-01 -2.69262985e-02 1.88121624e-01] [ 8.73159745e-04 2.69869532e-02 9.99635405e-01 1.29050390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13538475 meters Centerline goodness : 0.929292 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:0.13 [[ 9.98975568e-01 4.51814270e-02 -2.54038892e-03 2.53519968e+00] [-4.52327944e-02 9.98628138e-01 -2.63787120e-02 1.95068157e-01] [ 1.34507601e-03 2.64665977e-02 9.99648793e-01 1.28751327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19538475 meters Centerline goodness : 0.928351 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:0.13 [[ 9.98849919e-01 4.78891485e-02 -2.33855710e-03 2.53642849e+00] [-4.79328134e-02 9.98535339e-01 -2.50922861e-02 2.01130807e-01] [ 1.13348369e-03 2.51755216e-02 9.99682404e-01 1.27878589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255384750000005 meters Centerline goodness : 0.934643 with order 3 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:0.13 [[ 9.98970757e-01 4.53113378e-02 -2.07582485e-03 2.53734414e+00] [-4.53528643e-02 9.98536350e-01 -2.94665060e-02 2.11088070e-01] [ 7.37619761e-04 2.95303224e-02 9.99563613e-01 1.27419533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.31538475 meters Centerline goodness : 0.936488 with order 2 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:0.14 [[ 0.99924344 0.03805677 -0.00801413 2.55475523] [-0.03820089 0.99909563 -0.01867136 0.21747887] [ 0.00729632 0.01896338 0.99979356 0.13556946] [ 0. 0. 0. 1. ]] SLAMing on 33.37538475 meters Centerline goodness : 0.939620 with order 3 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:0.14 [[ 0.99911546 0.04128968 -0.00796635 2.55494285] [-0.04142799 0.99897832 -0.01805669 0.22598997] [ 0.00721266 0.01837075 0.99980523 0.13618609] [ 0. 0. 0. 1. ]] SLAMing on 33.435384750000004 meters Centerline goodness : 0.939585 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:0.14 [[ 0.99812771 0.0590668 -0.01588069 2.5693828 ] [-0.05937398 0.99804294 -0.01962207 0.23878617] [ 0.0146906 0.02052823 0.99968134 0.13702578] [ 0. 0. 0. 1. ]] SLAMing on 33.49538475 meters Centerline goodness : 0.934860 with order 3 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:0.14 [[ 0.99653681 0.07903678 -0.02583761 2.58980137] [-0.07974111 0.99643701 -0.02747058 0.24998807] [ 0.02357436 0.02943576 0.99928864 0.14009456] [ 0. 0. 0. 1. ]] SLAMing on 33.55538475 meters Centerline goodness : 0.932071 with order 3 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:0.14 [[ 0.9956904 0.08890097 -0.02640521 2.59225348] [-0.08943905 0.99579256 -0.01994593 0.25172006] [ 0.0245209 0.02222163 0.99945231 0.14032293] [ 0. 0. 0. 1. ]] SLAMing on 33.615384750000004 meters Centerline goodness : 0.933557 with order 3 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:0.14 [[ 0.99554842 0.09035595 -0.02681687 2.59284947] [-0.09085864 0.99569827 -0.0181568 0.24817186] [ 0.02506094 0.02051252 0.99947546 0.14021029] [ 0. 0. 0. 1. ]] SLAMing on 33.67538475 meters Centerline goodness : 0.939396 with order 3 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.14 [[ 0.99548299 0.09127609 -0.02612085 2.5901302 ] [-0.09169241 0.99567123 -0.01520859 0.24173224] [ 0.0246196 0.01753498 0.9995431 0.14152782] [ 0. 0. 0. 1. ]] SLAMing on 33.73538475 meters Centerline goodness : 0.939811 with order 3 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.14 [[ 0.99610604 0.08408313 -0.02651005 2.58848631] [-0.08463388 0.99620358 -0.02038459 0.23561291] [ 0.02469541 0.02254886 0.99944069 0.14211938] [ 0. 0. 0. 1. ]] SLAMing on 33.795384750000004 meters Centerline goodness : 0.945196 with order 2 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.14 [[ 0.99772256 0.06378343 -0.02193999 2.57609435] [-0.06420636 0.997753 -0.01914421 0.21953831] [ 0.02066961 0.02050929 0.99957598 0.1412485 ] [ 0. 0. 0. 1. ]] SLAMing on 33.85538475 meters Centerline goodness : 0.944393 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:0.21, Z:0.14 [[ 0.99798337 0.06071964 -0.01850183 2.56894059] [-0.06102482 0.99800147 -0.01640206 0.21045085] [ 0.01746893 0.01749806 0.99969428 0.1448218 ] [ 0. 0. 0. 1. ]] SLAMing on 33.91538475 meters Centerline goodness : 0.946161 with order 2 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:0.15 [[ 0.99770247 0.06120238 -0.02905251 2.56428931] [-0.06162334 0.99800377 -0.01382156 0.20395139] [ 0.0281486 0.01558012 0.99948232 0.15095827] [ 0. 0. 0. 1. ]] SLAMing on 33.97538475 meters Centerline goodness : 0.932214 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.19, Z:0.15 [[ 0.9977014 0.06032435 -0.03086881 2.56577834] [-0.06075733 0.99806415 -0.01328519 0.19455657] [ 0.03000763 0.01513016 0.99943515 0.15156347] [ 0. 0. 0. 1. ]] SLAMing on 34.03538475 meters Centerline goodness : 0.940167 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:0.15 [[ 0.99799515 0.05601646 -0.02945916 2.56258771] [-0.05633221 0.99836201 -0.00999934 0.18238441] [ 0.02885078 0.01163879 0.99951597 0.15230864] [ 0. 0. 0. 1. ]] SLAMing on 34.09538475 meters Centerline goodness : 0.935013 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.17, Z:0.15 [[ 0.99833662 0.04894715 -0.03046578 2.56484978] [-0.04940506 0.9986741 -0.014463 0.17229579] [ 0.02971746 0.0159441 0.99943117 0.15043481] [ 0. 0. 0. 1. ]] SLAMing on 34.15538475 meters Centerline goodness : 0.937817 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.17, Z:0.15 [[ 0.99865602 0.04191682 -0.03048175 2.5629539 ] [-0.04252209 0.99890546 -0.01948703 0.16556328] [ 0.02963156 0.02075698 0.99934534 0.15194534] [ 0. 0. 0. 1. ]] SLAMing on 34.21538475 meters Centerline goodness : 0.937344 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.16, Z:0.15 [[ 0.99860701 0.04281744 -0.0308335 2.56343523] [-0.04338361 0.99889752 -0.01793315 0.16102927] [ 0.03003165 0.01924584 0.99936365 0.15197208] [ 0. 0. 0. 1. ]] SLAMing on 34.27538475 meters Centerline goodness : 0.937528 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:0.15 [[ 0.99793742 0.05795268 -0.02761145 2.5734491 ] [-0.05841688 0.99815899 -0.01631236 0.16130741] [ 0.02661527 0.01789169 0.99948563 0.1494928 ] [ 0. 0. 0. 1. ]] SLAMing on 34.33538475 meters Centerline goodness : 0.934301 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.16, Z:0.15 [[ 0.99667695 0.07685863 -0.02697809 2.59260995] [-0.07740203 0.99680511 -0.01971046 0.15906194] [ 0.02537698 0.02173312 0.99944168 0.14818208] [ 0. 0. 0. 1. ]] SLAMing on 34.39538475 meters Centerline goodness : 0.933460 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.15, Z:0.15 [[ 0.99628992 0.081061 -0.02890501 2.59489375] [-0.08157766 0.99651917 -0.017165 0.15390798] [ 0.02741298 0.01945932 0.99943477 0.14970077] [ 0. 0. 0. 1. ]] SLAMing on 34.45538475 meters Centerline goodness : 0.935385 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.15, Z:0.15 [[ 0.99631118 0.08048069 -0.02978073 2.59424645] [-0.08099885 0.99657561 -0.01662045 0.1454807 ] [ 0.02834113 0.01897135 0.99941827 0.15102623] [ 0. 0. 0. 1. ]] SLAMing on 34.51538475 meters Centerline goodness : 0.934851 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.14, Z:0.16 [[ 0.99659194 0.07390242 -0.03664602 2.58732842] [-0.0743767 0.99716098 -0.01175072 0.13512225] [ 0.03567358 0.01443628 0.99925922 0.15504356] [ 0. 0. 0. 1. ]] SLAMing on 34.575384750000005 meters Centerline goodness : 0.934642 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:0.16 [[ 0.99699391 0.06806304 -0.03702124 2.5865014 ] [-0.06864101 0.99753502 -0.01457005 0.12261931] [ 0.0359383 0.01706743 0.99920826 0.1557275 ] [ 0. 0. 0. 1. ]] SLAMing on 34.63538475 meters Centerline goodness : 0.933624 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:0.15 [[ 0.99713402 0.06564062 -0.03761732 2.58841126] [-0.06624235 0.99769114 -0.01497814 0.11343808] [ 0.03654729 0.01742707 0.99917996 0.15380348] [ 0. 0. 0. 1. ]] SLAMing on 34.69538475 meters Centerline goodness : 0.938094 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:0.15 [[ 0.99702338 0.07120838 -0.0295593 2.59420477] [-0.07171198 0.99729152 -0.01634041 0.10454941] [ 0.02831567 0.01841153 0.99942946 0.15328229] [ 0. 0. 0. 1. ]] SLAMing on 34.755384750000005 meters Centerline goodness : 0.941625 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.10, Z:0.15 [[ 0.99656673 0.07986257 -0.02183399 2.59893194] [-0.08026481 0.99660719 -0.01821163 0.09547223] [ 0.02030548 0.01990161 0.99959573 0.15234744] [ 0. 0. 0. 1. ]] SLAMing on 34.81538475 meters Centerline goodness : 0.943256 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:0.15 [[ 0.99627419 0.08358109 -0.02125879 2.59862833] [-0.08387523 0.99638695 -0.01334165 0.08213715] [ 0.02006688 0.01507503 0.99968498 0.15057037] [ 0. 0. 0. 1. ]] SLAMing on 34.87538475 meters Centerline goodness : 0.945841 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:0.15 [[ 0.99654938 0.08019169 -0.02141542 2.59702362] [-0.08047854 0.99667305 -0.01288535 0.06415777] [ 0.02031087 0.01456437 0.99968762 0.15161895] [ 0. 0. 0. 1. ]] SLAMing on 34.935384750000004 meters Centerline goodness : 0.942319 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:0.15 [[ 0.99695341 0.07460521 -0.0227587 2.59890667] [-0.0749136 0.99710513 -0.01301168 0.04647772] [ 0.02172207 0.01467697 0.99965631 0.15083591] [ 0. 0. 0. 1. ]] SLAMing on 34.99538475 meters Centerline goodness : 0.937167 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:0.14 [[ 0.99739263 0.0701209 -0.01705859 2.6190448 ] [-0.07048959 0.99726839 -0.02206768 0.03535977] [ 0.01546459 0.02321259 0.99961094 0.14410785] [ 0. 0. 0. 1. ]] SLAMing on 35.05538475 meters Centerline goodness : 0.932800 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.02, Z:0.14 [[ 0.9980585 0.05849002 -0.02140452 2.62621624] [-0.05922248 0.99761849 -0.03535602 0.01963009] [ 0.01928558 0.036555 0.99914553 0.14134161] [ 0. 0. 0. 1. ]] SLAMing on 35.115384750000004 meters Centerline goodness : 0.930180 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:0.14 [[ 0.99841293 0.05074366 -0.0244274 2.63037653] [-0.05174318 0.99776877 -0.04219153 0.00881507] [ 0.02223194 0.04338852 0.99881088 0.14007034] [ 0. 0. 0. 1. ]] SLAMing on 35.17538475 meters Centerline goodness : 0.930828 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.01, Z:0.16 [[ 9.98355349e-01 5.43090823e-02 -1.83608298e-02 2.63551077e+00] [-5.42760527e-02 9.98523336e-01 2.29284191e-03 -1.41751043e-02] [ 1.84582391e-02 -1.29251763e-03 9.99828797e-01 1.57624207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23538475 meters Centerline goodness : 0.931205 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.17 [[ 0.99810552 0.0600582 -0.01335575 2.65265398] [-0.05950303 0.99747879 0.03867104 -0.03221559] [ 0.01564459 -0.03780307 0.99916274 0.17253867] [ 0. 0. 0. 1. ]] SLAMing on 35.295384750000004 meters Centerline goodness : 0.928286 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:0.17 [[ 0.9979885 0.06203553 -0.01305926 2.65499132] [-0.0614463 0.99724699 0.04150652 -0.03905032] [ 0.01559819 -0.04062059 0.99905288 0.16930494] [ 0. 0. 0. 1. ]] SLAMing on 35.35538475 meters Centerline goodness : 0.927397 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.17 [[ 0.99803914 0.06116068 -0.01331319 2.65750514] [-0.06055802 0.99729141 0.04174407 -0.04613032] [ 0.01583023 -0.04085599 0.99903963 0.16656936] [ 0. 0. 0. 1. ]] SLAMing on 35.41538475 meters Centerline goodness : 0.927267 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.17 [[ 0.99823511 0.05785011 -0.01341725 2.65818723] [-0.05728599 0.99758861 0.03918274 -0.05146569] [ 0.01565162 -0.03834497 0.99914198 0.16545333] [ 0. 0. 0. 1. ]] SLAMing on 35.47538475 meters Centerline goodness : 0.924396 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.06, Z:0.16 [[ 0.99848901 0.05320684 -0.01373821 2.6603266 ] [-0.0526948 0.99798752 0.03527264 -0.05574622] [ 0.01558731 -0.03449541 0.99928329 0.16291195] [ 0. 0. 0. 1. ]] SLAMing on 35.53538475 meters Centerline goodness : 0.920813 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.06, Z:0.17 [[ 0.99867391 0.04985683 -0.01283393 2.65775294] [-0.04937893 0.99815995 0.03519153 -0.06263012] [ 0.01456485 -0.03451114 0.99929818 0.1665428 ] [ 0. 0. 0. 1. ]] SLAMing on 35.59538475 meters Centerline goodness : 0.921123 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.07, Z:0.17 [[ 0.99891082 0.04538485 -0.01083452 2.65969063] [-0.04493726 0.99824802 0.03849058 -0.06949438] [ 0.01256242 -0.03796178 0.99920022 0.17021664] [ 0. 0. 0. 1. ]] SLAMing on 35.65538475 meters Centerline goodness : 0.922366 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.07, Z:0.16 [[ 9.99237344e-01 3.90283677e-02 1.23191807e-03 2.66358730e+00] [-3.90476968e-02 9.98811546e-01 2.91679990e-02 -7.07448573e-02] [-9.20746051e-05 -2.91938574e-02 9.99573764e-01 1.63256879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71538475 meters Centerline goodness : 0.921828 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.07, Z:0.16 [[ 9.99375713e-01 3.52909228e-02 1.65378452e-03 2.66278820e+00] [-3.53218721e-02 9.99042642e-01 2.58101566e-02 -7.27447334e-02] [-7.41337017e-04 -2.58524584e-02 9.99665494e-01 1.63266228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77538475 meters Centerline goodness : 0.919266 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.16 [[ 9.99423941e-01 3.39244531e-02 9.57874059e-04 2.66579089e+00] [-3.39378522e-02 9.99097653e-01 2.55362883e-02 -7.50650257e-02] [-9.07051097e-05 -2.55540861e-02 9.99673437e-01 1.61522875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83538475 meters Centerline goodness : 0.914390 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.16 [[ 9.99488709e-01 3.19737332e-02 -1.09290185e-05 2.67050219e+00] [-3.19640325e-02 9.99193774e-01 2.42920422e-02 -7.70151146e-02] [ 7.87627483e-04 -2.42792726e-02 9.99704905e-01 1.57677592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89538475 meters Centerline goodness : 0.913609 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.15 [[ 9.99479339e-01 3.22588462e-02 -6.46688552e-04 2.67471194e+00] [-3.22319357e-02 9.99156018e-01 2.54627802e-02 -8.00680018e-02] [ 1.46754267e-03 -2.54286787e-02 9.99675562e-01 1.54276113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95538475 meters Centerline goodness : 0.915517 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.15 [[ 9.99568353e-01 2.93705544e-02 -6.91183200e-04 2.67413344e+00] [-2.93488744e-02 9.99337262e-01 2.15332283e-02 -7.94095300e-02] [ 1.32316798e-03 -2.15036481e-02 9.99767894e-01 1.54014703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01538475 meters Centerline goodness : 0.914472 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.16 [[ 9.99498149e-01 3.16733350e-02 -5.00332570e-04 2.67198597e+00] [-3.16544129e-02 9.99251960e-01 2.22152769e-02 -7.75779435e-02] [ 1.20359021e-03 -2.21882904e-02 9.99753085e-01 1.55312350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07538475 meters Centerline goodness : 0.906395 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.16 [[ 9.99147075e-01 4.12926064e-02 2.07778962e-04 2.67025571e+00] [-4.12797792e-02 9.98683468e-01 3.04517864e-02 -7.58246983e-02] [ 1.04992822e-03 -3.04343904e-02 9.99536215e-01 1.55998571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13538475 meters Centerline goodness : 0.905403 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.16 [[ 9.98686619e-01 5.12299210e-02 7.29374455e-04 2.66918115e+00] [-5.12191369e-02 9.97918562e-01 3.91809196e-02 -7.63205258e-02] [ 1.27937911e-03 -3.91668181e-02 9.99231867e-01 1.56366847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19538475 meters Centerline goodness : 0.902113 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.15 [[ 9.98078701e-01 6.17751302e-02 4.76866906e-03 2.67507992e+00] [-6.19021491e-02 9.97500282e-01 3.40780224e-02 -7.68849465e-02] [-2.65157446e-03 -3.43077392e-02 9.99407799e-01 1.51869903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255384750000005 meters Centerline goodness : 0.900859 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.15 [[ 0.99781829 0.06554991 0.00786609 2.68307918] [-0.06572194 0.9975474 0.0240792 -0.08266942] [-0.00626841 -0.02454364 0.99967911 0.14741473] [ 0. 0. 0. 1. ]] SLAMing on 36.31538475 meters Centerline goodness : 0.903558 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.15 [[ 0.99788062 0.06446676 0.00884944 2.68152939] [-0.06465855 0.99763223 0.0234353 -0.09360812] [-0.00731769 -0.02395782 0.99968619 0.14596689] [ 0. 0. 0. 1. ]] SLAMing on 36.37538475 meters Centerline goodness : 0.907492 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:0.15 [[ 0.99785851 0.06454812 0.01057969 2.67722976] [-0.06478201 0.99762271 0.02349925 -0.10515584] [-0.00903771 -0.0241343 0.99966787 0.14584652] [ 0. 0. 0. 1. ]] SLAMing on 36.435384750000004 meters Centerline goodness : 0.912856 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.12, Z:0.14 [[ 0.99751553 0.06857844 0.01611707 2.68052617] [-0.06878697 0.99754976 0.01276019 -0.11729544] [-0.0152025 -0.01383713 0.99978869 0.14084441] [ 0. 0. 0. 1. ]] SLAMing on 36.49538475 meters Centerline goodness : 0.917626 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:0.14 [[ 0.99746596 0.06890942 0.01769588 2.67774803] [-0.06915067 0.99751619 0.01340284 -0.12955117] [-0.01672834 -0.01459255 0.99975358 0.13908249] [ 0. 0. 0. 1. ]] SLAMing on 36.55538475 meters Centerline goodness : 0.920576 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.14, Z:0.14 [[ 0.99775917 0.06424532 0.01868609 2.67499159] [-0.06442952 0.99787773 0.00942773 -0.14475425] [-0.01804075 -0.01061054 0.99978095 0.13788766] [ 0. 0. 0. 1. ]] SLAMing on 36.615384750000004 meters Centerline goodness : 0.922796 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.16, Z:0.14 [[ 0.99815591 0.05791656 0.01817837 2.67546408] [-0.05805385 0.99828808 0.00711755 -0.15980439] [-0.01773502 -0.00815975 0.99980943 0.13955399] [ 0. 0. 0. 1. ]] SLAMing on 36.67538475 meters Centerline goodness : 0.926942 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.17, Z:0.14 [[ 9.98599749e-01 4.99543721e-02 1.74098345e-02 2.67731660e+00] [-5.00008900e-02 9.98746646e-01 2.24669777e-03 -1.73051592e-01] [-1.72757815e-02 -3.11405905e-03 9.99845913e-01 1.38968292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73538475 meters Centerline goodness : 0.929470 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.19, Z:0.14 [[ 0.99913716 0.03913528 0.0139057 2.6898471 ] [-0.03917808 0.99922827 0.00281907 -0.18766766] [-0.01378464 -0.00336144 0.99989934 0.13932148] [ 0. 0. 0. 1. ]] SLAMing on 36.795384750000004 meters Centerline goodness : 0.933694 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.20, Z:0.14 [[ 9.99351924e-01 3.30238299e-02 1.43233858e-02 2.68947396e+00] [-3.30070359e-02 9.99454128e-01 -1.40736861e-03 -1.98666193e-01] [-1.43620438e-02 9.33684022e-04 9.99896425e-01 1.38811152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85538475 meters Centerline goodness : 0.936561 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.21, Z:0.14 [[ 9.99302958e-01 3.44032400e-02 1.44919095e-02 2.68850971e+00] [-3.44273075e-02 9.99406204e-01 1.41449965e-03 -2.07798914e-01] [-1.44346409e-02 -1.91243111e-03 9.99893986e-01 1.39968551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91538475 meters Centerline goodness : 0.940043 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.21, Z:0.14 [[ 9.99292610e-01 3.47247000e-02 1.44386365e-02 2.68869184e+00] [-3.47555994e-02 9.99394046e-01 1.89458939e-03 -2.09781032e-01] [-1.43640983e-02 -2.39507264e-03 9.99893963e-01 1.39714300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97538475 meters Centerline goodness : 0.939080 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.22, Z:0.14 [[ 0.99920966 0.03667385 0.01533256 2.68651732] [-0.03673615 0.99931777 0.00380159 -0.21667725] [-0.01518268 -0.00436184 0.99987522 0.13946938] [ 0. 0. 0. 1. ]] SLAMing on 37.03538475 meters Centerline goodness : 0.941826 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.22, Z:0.14 [[ 0.99913263 0.03834436 0.01623875 2.68477578] [-0.03843774 0.99924598 0.00547791 -0.2225034 ] [-0.01601646 -0.00609734 0.99985314 0.13878326] [ 0. 0. 0. 1. ]] SLAMing on 37.09538475 meters Centerline goodness : 0.938607 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.23, Z:0.14 [[ 0.9991404 0.03813947 0.01624326 2.68715508] [-0.03824211 0.99925015 0.00605555 -0.22969964] [-0.01600012 -0.00667152 0.99984973 0.13550266] [ 0. 0. 0. 1. ]] SLAMing on 37.15538475 meters Centerline goodness : 0.940438 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.24, Z:0.13 [[ 0.99930606 0.03370235 0.01586018 2.68881142] [-0.03376043 0.99942414 0.00340877 -0.23768245] [-0.01573616 -0.00394185 0.99986841 0.13485176] [ 0. 0. 0. 1. ]] SLAMing on 37.21538475 meters Centerline goodness : 0.939260 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.24, Z:0.13 [[ 9.99454785e-01 2.91824566e-02 1.54439844e-02 2.69086614e+00] [-2.91883748e-02 9.99573916e-01 1.57888881e-04 -2.42623165e-01] [-1.54327964e-02 -6.08587602e-04 9.99880722e-01 1.33581473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27538475 meters Centerline goodness : 0.938187 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.25, Z:0.13 [[ 0.99960329 0.02408435 0.01460174 2.69410477] [-0.02403342 0.99970448 -0.00365299 -0.24620224] [-0.0146854 0.00330061 0.99988672 0.13200119] [ 0. 0. 0. 1. ]] SLAMing on 37.33538475 meters Centerline goodness : 0.945917 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.25, Z:0.13 [[ 0.99968849 0.02023265 0.0146141 2.69352655] [-0.02015931 0.99978353 -0.00514825 -0.25137457] [-0.0147151 0.00485203 0.99987995 0.13494004] [ 0. 0. 0. 1. ]] SLAMing on 37.39538475 meters Centerline goodness : 0.952952 with order 1 Centerline is valid? [False, True] Translation: X:2.70, Y:-0.26, Z:0.14 [[ 9.99730947e-01 1.72512772e-02 1.55057114e-02 2.69564811e+00] [-1.72609413e-02 9.99850899e-01 4.89632664e-04 -2.59123693e-01] [-1.54949527e-02 -7.57144100e-04 9.99879659e-01 1.42970739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45538475 meters Centerline goodness : 0.956884 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.26, Z:0.14 [[ 9.99827209e-01 1.02855139e-02 1.54841794e-02 2.75829190e+00] [-1.02808245e-02 9.99947078e-01 -3.82424670e-04 -2.63948968e-01] [-1.54872934e-02 2.23168460e-04 9.99880040e-01 1.42402635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51538475 meters Centerline goodness : 0.954989 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.27, Z:0.14 [[ 9.99877786e-01 2.15800067e-03 1.54840638e-02 2.82005216e+00] [-2.15226545e-03 9.99997609e-01 -3.87049350e-04 -2.68413347e-01] [-1.54848621e-02 3.53676232e-04 9.99880040e-01 1.39558826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57538475 meters Centerline goodness : 0.950816 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.27, Z:0.14 [[ 9.99868232e-01 -4.87492698e-03 1.54839612e-02 2.88232453e+00] [ 4.88156771e-03 9.99988009e-01 -3.91111319e-04 -2.71164549e-01] [-1.54818689e-02 4.66645788e-04 9.99880040e-01 1.35814345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63538475 meters Centerline goodness : 0.950591 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.27, Z:0.13 [[ 9.99854377e-01 -7.17466158e-03 1.54838581e-02 2.94417534e+00] [ 7.18164027e-03 9.99974134e-01 -3.95151089e-04 -2.71102232e-01] [-1.54806225e-02 5.06293045e-04 9.99880040e-01 1.32056787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69538475 meters Centerline goodness : 0.948416 with order 1 Centerline is valid? [True, False] Translation: X:2.94, Y:-0.27, Z:0.13 [[ 9.99885776e-01 -2.84030198e-03 1.48447737e-02 2.94398721e+00] [ 2.78201411e-03 9.99988346e-01 3.94566789e-03 -2.68946357e-01] [-1.48558076e-02 -3.90391883e-03 9.99882025e-01 1.34117396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755384750000005 meters Centerline goodness : 0.947795 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.26, Z:0.14 [[ 0.99988205 0.00584029 0.01420455 2.94067192] [-0.00599825 0.99992037 0.01110327 -0.26420644] [-0.01413858 -0.01118716 0.99983746 0.13823441] [ 0. 0. 0. 1. ]] SLAMing on 37.81538475 meters Centerline goodness : 0.951666 with order 1 Centerline is valid? [False, True] Translation: X:2.93, Y:-0.26, Z:0.14 [[ 0.999794 0.01426826 0.01443515 2.93451352] [-0.01451852 0.99974348 0.01738331 -0.26005754] [-0.01418342 -0.0175893 0.99974469 0.14338187] [ 0. 0. 0. 1. ]] SLAMing on 37.87538475 meters Centerline goodness : 0.956019 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.25, Z:0.13 [[ 9.99718231e-01 1.91199698e-02 1.40671657e-02 2.99647512e+00] [-1.91177175e-02 9.99817196e-01 -2.94577069e-04 -2.53165611e-01] [-1.40702265e-02 2.55619655e-05 9.99901009e-01 1.33961933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935384750000004 meters Centerline goodness : 0.955295 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.26, Z:0.13 [[ 9.99778875e-01 1.56306777e-02 1.40670878e-02 3.05839899e+00] [-1.56280283e-02 9.99877830e-01 -2.98251488e-04 -2.55399501e-01] [-1.40700311e-02 7.83446902e-05 9.99901009e-01 1.32993132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99538475 meters Centerline goodness : 0.954428 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.26, Z:0.13 [[ 9.99881843e-01 6.19837128e-03 1.40670046e-02 3.12039458e+00] [-6.19473402e-03 9.99980767e-01 -3.02125553e-04 -2.58901773e-01] [-1.40686068e-02 2.14948502e-04 9.99901009e-01 1.31681831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05538475 meters Centerline goodness : 0.954484 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.26, Z:0.13 [[ 9.99889161e-01 -4.87720024e-03 1.40669259e-02 3.18203657e+00] [ 4.88198393e-03 9.99988036e-01 -3.05747451e-04 -2.63836248e-01] [-1.40652664e-02 3.74388068e-04 9.99901009e-01 1.30381309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115384750000004 meters Centerline goodness : 0.952693 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.27, Z:0.13 [[ 9.99821251e-01 -1.26328973e-02 1.40668467e-02 3.24388547e+00] [ 1.26384984e-02 9.99920083e-01 -3.09348254e-04 -2.65929117e-01] [-1.40618146e-02 4.87076778e-04 9.99901009e-01 1.27807119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17538475 meters Centerline goodness : 0.952116 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.26, Z:0.13 [[ 9.99785558e-01 -1.51975289e-02 1.40667671e-02 3.30345521e+00] [ 1.52034338e-02 9.99884372e-01 -3.12926532e-04 -2.63478867e-01] [-1.40603849e-02 5.26722590e-04 9.99901009e-01 1.26297679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23538475 meters Centerline goodness : 0.952057 with order 1 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.26, Z:0.12 [[ 9.99760080e-01 -1.67900962e-02 1.40668082e-02 3.36127833e+00] [ 1.67961324e-02 9.99858887e-01 -3.11066740e-04 -2.62811653e-01] [-1.40596004e-02 5.47260082e-04 9.99901009e-01 1.24967313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295384750000004 meters Centerline goodness : 0.951825 with order 1 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.26, Z:0.12 [[ 9.99684318e-01 -2.08179643e-02 1.40668363e-02 3.41854775e+00] [ 2.08243806e-02 9.99783101e-01 -3.09792752e-04 -2.55737313e-01] [-1.40573360e-02 6.02628109e-04 9.99901009e-01 1.22990751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35538475 meters Centerline goodness : 0.954165 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.25, Z:0.12 [[ 9.99694930e-01 -2.03019503e-02 1.40668746e-02 3.47706340e+00] [ 2.03082910e-02 9.99793718e-01 -3.08041525e-04 -2.50494011e-01] [-1.40577191e-02 5.93621734e-04 9.99901009e-01 1.23698268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41538475 meters Centerline goodness : 0.956593 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.25, Z:0.12 [[ 9.99714681e-01 -1.93049143e-02 1.40669023e-02 3.53581677e+00] [ 1.93111387e-02 9.99813476e-01 -3.06771717e-04 -2.45864583e-01] [-1.40583563e-02 5.78332091e-04 9.99901009e-01 1.24511526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47538475 meters Centerline goodness : 0.954347 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.24, Z:0.12 [[ 9.99786259e-01 -1.51511300e-02 1.40669801e-02 3.59518206e+00] [ 1.51568931e-02 9.99885082e-01 -3.03162986e-04 -2.38865127e-01] [-1.40607703e-02 5.16309902e-04 9.99901009e-01 1.23116503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53538475 meters Centerline goodness : 0.953570 with order 1 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.23, Z:0.12 [[ 9.99864019e-01 -8.60585864e-03 1.40670564e-02 3.65405610e+00] [ 8.61092435e-03 9.99962880e-01 -2.99581792e-04 -2.31386775e-01] [-1.40639561e-02 4.20671413e-04 9.99901009e-01 1.22879583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59538475 meters Centerline goodness : 0.952730 with order 1 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.23, Z:0.12 [[ 9.99887578e-01 -5.19105444e-03 1.40671338e-02 3.71344972e+00] [ 5.19573076e-03 9.99986458e-01 -2.95902625e-04 -2.29265485e-01] [-1.40654072e-02 3.68958399e-04 9.99901009e-01 1.21103736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65538475 meters Centerline goodness : 0.948153 with order 1 Centerline is valid? [True, False] Translation: X:3.71, Y:-0.23, Z:0.12 [[ 9.99900896e-01 -1.52398358e-03 1.39955295e-02 3.71365514e+00] [ 1.48055655e-03 9.99994059e-01 3.11275869e-03 -2.26003638e-01] [-1.40001901e-02 -3.09172903e-03 9.99897213e-01 1.21176191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71538475 meters Centerline goodness : 0.944964 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.23, Z:0.12 [[ 9.99911327e-01 4.07986952e-04 1.33105711e-02 3.71664244e+00] [-5.05399157e-04 9.99973111e-01 7.31586635e-03 -2.27576449e-01] [-1.33072284e-02 -7.32194478e-03 9.99884647e-01 1.21564649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77538475 meters Centerline goodness : 0.943892 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.23, Z:0.12 [[ 9.99910257e-01 1.25868769e-05 1.33969378e-02 3.71704168e+00] [-1.04521823e-04 9.99976453e-01 6.86170707e-03 -2.26467596e-01] [-1.33965360e-02 -6.86249155e-03 9.99886713e-01 1.20984571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83538475 meters Centerline goodness : 0.944094 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.23, Z:0.12 [[ 9.99917709e-01 2.64367606e-03 1.25533636e-02 3.71947269e+00] [-2.78034611e-03 9.99936922e-01 1.08821837e-02 -2.27309666e-01] [-1.25238028e-02 -1.09161909e-02 9.99861986e-01 1.21345720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89538475 meters Centerline goodness : 0.941189 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:0.12 [[ 9.99916476e-01 2.31920937e-03 1.27146096e-02 3.71912912e+00] [-2.44180788e-03 9.99950598e-01 9.63530462e-03 -2.23201205e-01] [-1.26916351e-02 -9.66554648e-03 9.99872742e-01 1.21004594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95538475 meters Centerline goodness : 0.937757 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:0.12 [[ 0.99991639 0.00420858 0.01222725 3.72205169] [-0.00434891 0.99992473 0.01147262 -0.2184142 ] [-0.01217805 -0.01152484 0.99985943 0.11894878] [ 0. 0. 0. 1. ]] SLAMing on 39.01538475 meters Centerline goodness : 0.935104 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:0.12 [[ 9.99933528e-01 1.98977293e-03 1.13569714e-02 3.72499170e+00] [-2.10545192e-03 9.99945937e-01 1.01828741e-02 -2.15973162e-01] [-1.13360958e-02 -1.02061088e-02 9.99883657e-01 1.18592450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07538475 meters Centerline goodness : 0.934466 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.21, Z:0.12 [[ 9.99940663e-01 -3.66110408e-03 1.02599937e-02 3.73200713e+00] [ 3.58410868e-03 9.99965355e-01 7.51279551e-03 -2.14884626e-01] [-1.02871433e-02 -7.47557679e-03 9.99919142e-01 1.16112999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13538475 meters Centerline goodness : 0.931349 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.21, Z:0.11 [[ 0.99991769 -0.00890903 0.00923254 3.73866266] [ 0.0088572 0.99994487 0.0056396 -0.21412478] [-0.00928228 -0.00555736 0.99994148 0.11437846] [ 0. 0. 0. 1. ]] SLAMing on 39.19538475 meters Centerline goodness : 0.929971 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.21, Z:0.12 [[ 0.99989772 -0.01133802 0.00871776 3.74093069] [ 0.01128887 0.99992022 0.00566735 -0.21402102] [-0.00878132 -0.00556836 0.99994594 0.11568718] [ 0. 0. 0. 1. ]] SLAMing on 39.255384750000005 meters Centerline goodness : 0.927620 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.21, Z:0.12 [[ 0.99984485 -0.01623808 0.00682712 3.75397088] [ 0.01616122 0.99980704 0.01116675 -0.211142 ] [-0.00700713 -0.01105468 0.99991434 0.11979094] [ 0. 0. 0. 1. ]] SLAMing on 39.31538475 meters Centerline goodness : 0.927513 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:0.13 [[ 0.9997983 -0.0194986 0.0048125 3.76364331] [ 0.01941541 0.99967093 0.01676511 -0.20743333] [-0.00513781 -0.0166683 0.99984787 0.12594062] [ 0. 0. 0. 1. ]] SLAMing on 39.37538475 meters Centerline goodness : 0.925324 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.20, Z:0.13 [[ 9.99771386e-01 -2.12387913e-02 2.46753822e-03 3.77147482e+00] [ 2.11917513e-02 9.99618040e-01 1.77393162e-02 -1.97747561e-01] [-2.84335735e-03 -1.76829693e-02 9.99839601e-01 1.25736911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435384750000004 meters Centerline goodness : 0.920768 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.19, Z:0.14 [[ 9.99615619e-01 -2.75372430e-02 3.21157562e-03 3.79401783e+00] [ 2.74103652e-02 9.99029829e-01 3.44684231e-02 -1.89069537e-01] [-4.15762518e-03 -3.43671436e-02 9.99400627e-01 1.36832223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49538475 meters Centerline goodness : 0.916547 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.18, Z:0.15 [[ 9.99588458e-01 -2.85951507e-02 2.28729502e-03 3.80119041e+00] [ 2.84680207e-02 9.98639344e-01 4.36924859e-02 -1.75041514e-01] [-3.53357601e-03 -4.36093899e-02 9.99042409e-01 1.45914957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55538475 meters Centerline goodness : 0.918912 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.16, Z:0.16 [[ 0.9997739 -0.02074088 0.0046872 3.79894819] [ 0.0204022 0.9977789 0.06341146 -0.15850542] [-0.005992 -0.06330149 0.99797646 0.1594532 ] [ 0. 0. 0. 1. ]] SLAMing on 39.615384750000004 meters Centerline goodness : 0.915418 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.13, Z:0.16 [[ 0.99992413 -0.01072177 0.0060638 3.79594725] [ 0.01029406 0.997724 0.06663969 -0.13424791] [-0.0067645 -0.06657222 0.99775868 0.16108261] [ 0. 0. 0. 1. ]] SLAMing on 39.67538475 meters Centerline goodness : 0.913535 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.11, Z:0.16 [[ 9.99911377e-01 -1.29141627e-02 3.23472042e-03 3.78384578e+00] [ 1.26968208e-02 9.98116506e-01 6.00185885e-02 -1.08625195e-01] [-4.00371766e-03 -5.99721988e-02 9.98192018e-01 1.57445515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73538475 meters Centerline goodness : 0.895769 with order 2 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.09, Z:0.16 [[ 9.99743703e-01 -2.25656525e-02 1.82183223e-03 3.75169514e+00] [ 2.23736909e-02 9.97105537e-01 7.26633803e-02 -8.64100414e-02] [-3.45625559e-03 -7.26039958e-02 9.97354859e-01 1.57103811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795384750000004 meters Centerline goodness : 0.908164 with order 3 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.06, Z:0.17 [[ 9.99641507e-01 -2.66843015e-02 2.19195193e-03 3.72239294e+00] [ 2.63238749e-02 9.94481488e-01 1.01556015e-01 -6.17580768e-02] [-4.88980694e-03 -1.01461907e-01 9.94827408e-01 1.73406918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85538475 meters Centerline goodness : 0.899184 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.04, Z:0.17 [[ 9.99622897e-01 -2.72542572e-02 -3.35694444e-03 3.71270913e+00] [ 2.74495353e-02 9.95149075e-01 9.44713798e-02 -3.57371907e-02] [ 7.65912870e-04 -9.45279010e-02 9.95521918e-01 1.71856576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91538475 meters Centerline goodness : 0.912774 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.01, Z:0.17 [[ 9.99816152e-01 -1.85665632e-02 -4.79005814e-03 3.71338224e+00] [ 1.89191656e-02 9.95856939e-01 8.89439233e-02 -8.59264096e-03] [ 3.11882967e-03 -8.90181951e-02 9.96025117e-01 1.68382844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97538475 meters Centerline goodness : 0.914854 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:0.01, Z:0.16 [[ 0.99994722 -0.00557924 -0.00862738 3.72579418] [ 0.00623229 0.99696352 0.07762027 0.0109604 ] [ 0.00816812 -0.07766994 0.99694567 0.16452633] [ 0. 0. 0. 1. ]] SLAMing on 40.03538475 meters Centerline goodness : 0.914342 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:0.04, Z:0.16 [[ 0.99967459 0.02320468 -0.01059503 3.7478564 ] [-0.02254057 0.99800342 0.05900081 0.04465774] [ 0.01194297 -0.05874279 0.99820171 0.1601759 ] [ 0. 0. 0. 1. ]] SLAMing on 40.09538475 meters Centerline goodness : 0.913528 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:0.16 [[ 0.99920999 0.03766837 -0.0126688 3.76592389] [-0.0370195 0.99815861 0.04805141 0.06446304] [ 0.01445549 -0.04754446 0.99876452 0.15712535] [ 0. 0. 0. 1. ]] SLAMing on 40.15538475 meters Centerline goodness : 0.909839 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:0.15 [[ 0.99918966 0.03808482 -0.01302208 3.77993602] [-0.03762307 0.99871224 0.03403468 0.07662075] [ 0.01430152 -0.03351717 0.99933581 0.15119086] [ 0. 0. 0. 1. ]] SLAMing on 40.21538475 meters Centerline goodness : 0.911091 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:0.09, Z:0.15 [[ 0.99954853 0.02817323 -0.01044057 3.79329209] [-0.02802731 0.99951094 0.01386888 0.08622401] [ 0.0108262 -0.01357 0.99984931 0.14634248] [ 0. 0. 0. 1. ]] SLAMing on 40.27538475 meters Centerline goodness : 0.909285 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:0.14 [[ 0.99971249 0.02120082 -0.01120133 3.79600757] [-0.02112955 0.99975598 0.00644343 0.09208408] [ 0.01133521 -0.0062049 0.9999165 0.14453707] [ 0. 0. 0. 1. ]] SLAMing on 40.33538475 meters Centerline goodness : 0.913995 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:0.14 [[ 9.99680644e-01 2.41081012e-02 -7.57689002e-03 3.80676545e+00] [-2.41368957e-02 9.99701696e-01 -3.73210521e-03 1.01424812e-01] [ 7.48465583e-03 3.91379595e-03 9.99964330e-01 1.40153149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39538475 meters Centerline goodness : 0.917991 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.11, Z:0.14 [[ 9.99502493e-01 3.13769149e-02 -3.20249963e-03 3.81559342e+00] [-3.14075532e-02 9.99456507e-01 -1.00127996e-02 1.11056462e-01] [ 2.88658833e-03 1.01084009e-02 9.99944742e-01 1.36974925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45538475 meters Centerline goodness : 0.916087 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:0.14 [[ 9.99520238e-01 3.07501658e-02 -3.70433172e-03 3.81750567e+00] [-3.07927953e-02 9.99453025e-01 -1.20604272e-02 1.16112193e-01] [ 3.33144541e-03 1.21687078e-02 9.99920409e-01 1.35521048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51538475 meters Centerline goodness : 0.915852 with order 2 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:0.13 [[ 0.99958886 0.02832227 -0.00446707 3.82042249] [-0.0283856 0.99948725 -0.01481568 0.12093042] [ 0.00404516 0.01493639 0.99988026 0.13364859] [ 0. 0. 0. 1. ]] SLAMing on 40.57538475 meters Centerline goodness : 0.917711 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:0.13 [[ 0.9998359 0.01724739 -0.00554018 3.82210625] [-0.01738078 0.99953624 -0.02500425 0.1235519 ] [ 0.00510635 0.02509644 0.99967199 0.13390171] [ 0. 0. 0. 1. ]] SLAMing on 40.63538475 meters Centerline goodness : 0.918496 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.12, Z:0.13 [[ 0.99987043 0.01489574 -0.0061025 3.82361778] [-0.01505311 0.99953259 -0.02660832 0.12482384] [ 0.0057033 0.02669674 0.99962731 0.13352042] [ 0. 0. 0. 1. ]] SLAMing on 40.69538475 meters Centerline goodness : 0.920504 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.13, Z:0.13 [[ 0.99989203 0.01313709 -0.006584 3.82432167] [-0.0133228 0.99949049 -0.0290047 0.13132562] [ 0.00619961 0.02908929 0.99955759 0.13409773] [ 0. 0. 0. 1. ]] SLAMing on 40.755384750000005 meters Centerline goodness : 0.887760 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:0.14, Z:0.13 [[ 0.99984219 0.01637532 -0.00688791 3.8250819 ] [-0.0165558 0.99949785 -0.02701753 0.13646758] [ 0.00644203 0.0271273 0.99961123 0.13427786] [ 0. 0. 0. 1. ]] SLAMing on 40.81538475 meters Centerline goodness : 0.916520 with order 3 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:0.13 [[ 0.99937979 0.03475922 -0.00564234 3.84277382] [-0.034937 0.99876722 -0.03526258 0.14827942] [ 0.00440969 0.03543784 0.99936215 0.13423578] [ 0. 0. 0. 1. ]] SLAMing on 40.87538475 meters Centerline goodness : 0.922166 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:0.13 [[ 9.98291893e-01 5.84136007e-02 -1.07089867e-03 3.88285051e+00] [-5.83751818e-02 9.96555433e-01 -5.89033706e-02 1.63188948e-01] [-2.37354809e-03 5.88652713e-02 9.98263115e-01 1.29717229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935384750000004 meters Centerline goodness : 0.920300 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.16, Z:0.13 [[ 9.97370688e-01 7.24165456e-02 -2.74866941e-03 3.88758334e+00] [-7.24649126e-02 9.96213701e-01 -4.80322538e-02 1.64551012e-01] [-7.40067770e-04 4.81051441e-02 9.98842003e-01 1.29752385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99538475 meters Centerline goodness : 0.916966 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.16, Z:0.13 [[ 0.99693619 0.07647066 -0.01644614 3.88731514] [-0.07715142 0.9959684 -0.04576694 0.16404686] [ 0.01288001 0.04689556 0.99881676 0.13479447] [ 0. 0. 0. 1. ]] SLAMing on 41.05538475 meters Centerline goodness : 0.913687 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.16, Z:0.13 [[ 0.99645556 0.08233991 -0.01721768 3.88895893] [-0.08295232 0.99580802 -0.03853968 0.15696655] [ 0.01397215 0.03983133 0.99910873 0.13416726] [ 0. 0. 0. 1. ]] SLAMing on 41.115384750000004 meters Centerline goodness : 0.910866 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.15, Z:0.14 [[ 0.99648951 0.08174915 -0.01804811 3.88818654] [-0.08237933 0.99589593 -0.03748266 0.14702401] [ 0.01490986 0.03883787 0.99913428 0.13508075] [ 0. 0. 0. 1. ]] SLAMing on 41.17538475 meters Centerline goodness : 0.882572 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.13, Z:0.14 [[ 0.99677477 0.07763144 -0.02033254 3.8876767 ] [-0.07836477 0.99619381 -0.03816876 0.1323392 ] [ 0.01729205 0.03963901 0.99906443 0.13831599] [ 0. 0. 0. 1. ]] SLAMing on 41.23538475 meters Centerline goodness : 0.889176 with order 2 Centerline is valid? [False, False] Translation: X:3.89, Y:0.12, Z:0.14 [[ 0.99684093 0.07652322 -0.0212689 3.88626402] [-0.07721114 0.99644636 -0.03366149 0.11782942] [ 0.01861743 0.03519734 0.99920695 0.14093611] [ 0. 0. 0. 1. ]] SLAMing on 41.295384750000004 meters Centerline goodness : 0.904120 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:0.15 [[ 0.99648643 0.08049264 -0.02314604 3.88428598] [-0.08110482 0.99634381 -0.02685183 0.09854933] [ 0.02090004 0.02863474 0.99937142 0.14642304] [ 0. 0. 0. 1. ]] SLAMing on 41.35538475 meters Centerline goodness : 0.906108 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:0.15 [[ 0.99581794 0.08752562 -0.02618972 3.8858603 ] [-0.08813539 0.99584039 -0.02311019 0.08040209] [ 0.02405805 0.02532178 0.99938982 0.14958685] [ 0. 0. 0. 1. ]] SLAMing on 41.41538475 meters Centerline goodness : 0.904957 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.06, Z:0.15 [[ 0.99462413 0.09591377 -0.03903055 3.89306319] [-0.09695919 0.99495306 -0.02583247 0.06178432] [ 0.03635588 0.02947797 0.99890405 0.15294629] [ 0. 0. 0. 1. ]] SLAMing on 41.47538475 meters Centerline goodness : 0.905771 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.05, Z:0.16 [[ 0.99433771 0.09364753 -0.05022603 3.88963209] [-0.09481374 0.99526591 -0.02135715 0.04852458] [ 0.04798821 0.02599834 0.9985095 0.16093469] [ 0. 0. 0. 1. ]] SLAMing on 41.53538475 meters Centerline goodness : 0.903211 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.01, Z:0.17 [[ 0.99457563 0.08714812 -0.0567849 3.8940538 ] [-0.08862196 0.99577687 -0.02397038 0.01418682] [ 0.05445612 0.02887275 0.99809864 0.16512327] [ 0. 0. 0. 1. ]] SLAMing on 41.59538475 meters Centerline goodness : 0.898157 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.00, Z:0.16 [[ 9.94970203e-01 7.95461486e-02 -6.08827222e-02 3.89933054e+00] [-8.14189645e-02 9.96260278e-01 -2.89207752e-02 -6.03181595e-04] [ 5.83545014e-02 3.37323178e-02 9.97725856e-01 1.64052832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65538475 meters Centerline goodness : 0.896515 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.04, Z:0.17 [[ 0.99561252 0.07209328 -0.05965127 3.9277717 ] [-0.07314465 0.99719885 -0.01563075 -0.03890249] [ 0.05835731 0.01992534 0.99809689 0.16682043] [ 0. 0. 0. 1. ]] SLAMing on 41.71538475 meters Centerline goodness : 0.900646 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.06, Z:0.17 [[ 0.99599624 0.06949669 -0.05622899 3.93873381] [-0.07030068 0.99744819 -0.01244683 -0.06389388] [ 0.05522049 0.01634993 0.99834031 0.16901098] [ 0. 0. 0. 1. ]] SLAMing on 41.77538475 meters Centerline goodness : 0.903573 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.08, Z:0.17 [[ 0.99613683 0.06727057 -0.05644546 3.93958911] [-0.06791742 0.99764458 -0.00961861 -0.07801417] [ 0.05566546 0.01341508 0.99835935 0.17099608] [ 0. 0. 0. 1. ]] SLAMing on 41.83538475 meters Centerline goodness : 0.912973 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.11, Z:0.17 [[ 0.99665479 0.0621469 -0.05307537 3.95032167] [-0.06266356 0.99800164 -0.0081248 -0.10612185] [ 0.05246437 0.01142351 0.99855746 0.16912211] [ 0. 0. 0. 1. ]] SLAMing on 41.89538475 meters Centerline goodness : 0.916812 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.13, Z:0.17 [[ 9.97196128e-01 5.26869037e-02 -5.31410616e-02 3.95855202e+00] [-5.27680814e-02 9.98606786e-01 -1.24703573e-04 -1.26432201e-01] [ 5.30604545e-02 2.92850578e-03 9.98587008e-01 1.73862405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95538475 meters Centerline goodness : 0.924127 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.15, Z:0.18 [[ 0.99821379 0.03386931 -0.04921473 3.97830238] [-0.03362983 0.99941818 0.00568632 -0.14610305] [ 0.04937869 -0.00402108 0.99877203 0.17929393] [ 0. 0. 0. 1. ]] SLAMing on 42.01538475 meters Centerline goodness : 0.931774 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.15, Z:0.18 [[ 0.99857292 0.02185196 -0.04872997 3.97790363] [-0.02207376 0.99974827 -0.00401799 -0.15387118] [ 0.0486299 0.00508791 0.99880391 0.17869931] [ 0. 0. 0. 1. ]] SLAMing on 42.07538475 meters Centerline goodness : 0.937205 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:0.18 [[ 9.98913775e-01 1.21505701e-02 -4.49848091e-02 3.98636925e+00] [-1.22335872e-02 9.99923933e-01 -1.57059567e-03 -1.63633033e-01] [ 4.49623036e-02 2.11921523e-03 9.98986436e-01 1.81081433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13538475 meters Centerline goodness : 0.937943 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:0.18 [[ 9.98926378e-01 1.13415221e-02 -4.49161626e-02 3.98668310e+00] [-1.14203889e-02 9.99933661e-01 -1.49963779e-03 -1.63880064e-01] [ 4.48961747e-02 2.01098779e-03 9.98989634e-01 1.81444965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19538475 meters Centerline goodness : 0.934928 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:0.18 [[ 9.98868031e-01 1.24991553e-02 -4.58958295e-02 3.98985573e+00] [-1.24615273e-02 9.99921741e-01 1.10589431e-03 -1.62669157e-01] [ 4.59060605e-02 -5.32710345e-04 9.98945619e-01 1.81710925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25538475 meters Centerline goodness : 0.932103 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:0.18 [[ 0.99877716 0.01645658 -0.04661933 3.99462249] [-0.01619578 0.99985104 0.00596642 -0.15900209] [ 0.04671057 -0.00520408 0.99889491 0.17969077] [ 0. 0. 0. 1. ]] SLAMing on 42.31538475 meters Centerline goodness : 0.927326 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.16, Z:0.18 [[ 0.99862062 0.02318264 -0.04711079 3.99710833] [-0.02261796 0.99966623 0.01248421 -0.15504098] [ 0.04738449 -0.01140144 0.99881165 0.17887485] [ 0. 0. 0. 1. ]] SLAMing on 42.37538475 meters Centerline goodness : 0.924118 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.15, Z:0.18 [[ 0.99850942 0.02732565 -0.04724663 3.99794138] [-0.02664097 0.9995316 0.0150612 -0.15105702] [ 0.04763605 -0.01378005 0.9987697 0.17767035] [ 0. 0. 0. 1. ]] SLAMing on 42.435384750000004 meters Centerline goodness : 0.920708 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.15, Z:0.18 [[ 0.99837773 0.03161733 -0.04735233 3.99826073] [-0.03080455 0.99936697 0.01779725 -0.14694279] [ 0.04788505 -0.01630971 0.99871969 0.17712555] [ 0. 0. 0. 1. ]] SLAMing on 42.49538475 meters Centerline goodness : 0.918084 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.14, Z:0.18 [[ 0.99825191 0.03565594 -0.04713565 3.99798388] [-0.03471921 0.99918591 0.02054484 -0.14172782] [ 0.04782982 -0.01887241 0.9986772 0.17698946] [ 0. 0. 0. 1. ]] SLAMing on 42.55538475 meters Centerline goodness : 0.913254 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.14, Z:0.18 [[ 0.99825108 0.03467599 -0.04787854 3.99998248] [-0.0338087 0.99925135 0.01880705 -0.13651227] [ 0.04849485 -0.01715545 0.99867609 0.1759819 ] [ 0. 0. 0. 1. ]] SLAMing on 42.615384750000004 meters Centerline goodness : 0.914491 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:0.17 [[ 0.9983682 0.03073683 -0.04812666 4.00051978] [-0.03009428 0.99944874 0.01401952 -0.13413883] [ 0.04853105 -0.01254831 0.99874285 0.17491916] [ 0. 0. 0. 1. ]] SLAMing on 42.67538475 meters Centerline goodness : 0.913355 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:0.17 [[ 0.99851044 0.02476929 -0.04861454 4.00314336] [-0.02440086 0.99966897 0.00815747 -0.13002627] [ 0.04880051 -0.00695908 0.9987843 0.17284544] [ 0. 0. 0. 1. ]] SLAMing on 42.73538475 meters Centerline goodness : 0.914336 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:0.17 [[ 0.99843717 0.02795241 -0.04839299 4.00278962] [-0.02739169 0.99955019 0.01221158 -0.12850441] [ 0.04871257 -0.01086693 0.99875372 0.17469888] [ 0. 0. 0. 1. ]] SLAMing on 42.795384750000004 meters Centerline goodness : 0.916597 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:0.18 [[ 0.99837697 0.0305133 -0.04808704 4.00252729] [-0.02977606 0.99942895 0.01597392 -0.12814301] [ 0.048547 -0.01451615 0.99871541 0.17640751] [ 0. 0. 0. 1. ]] SLAMing on 42.85538475 meters Centerline goodness : 0.916032 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:0.18 [[ 0.99839918 0.02977995 -0.04808571 4.00242216] [-0.02902666 0.99944591 0.01628886 -0.12839708] [ 0.04854414 -0.01486702 0.99871039 0.17754377] [ 0. 0. 0. 1. ]] SLAMing on 42.91538475 meters Centerline goodness : 0.914384 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.13, Z:0.18 [[ 0.99850621 0.02694856 -0.04753027 4.01694271] [-0.02571382 0.99932066 0.02640092 -0.12933704] [ 0.04820945 -0.0251393 0.99852084 0.1809141 ] [ 0. 0. 0. 1. ]] SLAMing on 42.97538475 meters Centerline goodness : 0.908921 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.13, Z:0.18 [[ 0.99843584 0.02751799 -0.04866858 4.02214752] [-0.02612959 0.99923965 0.02893733 -0.12708812] [ 0.04942787 -0.02762038 0.99839571 0.17987281] [ 0. 0. 0. 1. ]] SLAMing on 43.03538475 meters Centerline goodness : 0.906835 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:0.19 [[ 0.99851935 0.02607301 -0.0477421 4.03701347] [-0.02398991 0.99875673 0.04369753 -0.1260497 ] [ 0.04882207 -0.0424875 0.99790341 0.18783421] [ 0. 0. 0. 1. ]] SLAMing on 43.09538475 meters Centerline goodness : 0.898979 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.13, Z:0.20 [[ 0.99853378 0.0292691 -0.04553685 4.05456661] [-0.02627141 0.99753348 0.06509052 -0.12572826] [ 0.04732968 -0.06379877 0.99683982 0.19501481] [ 0. 0. 0. 1. ]] SLAMing on 43.15538475 meters Centerline goodness : 0.897108 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.12, Z:0.20 [[ 0.99834825 0.03926834 -0.04193758 4.06942844] [-0.03617444 0.99673798 0.0721444 -0.12469863] [ 0.04463377 -0.07050817 0.99651213 0.19893337] [ 0. 0. 0. 1. ]] SLAMing on 43.21538475 meters Centerline goodness : 0.895227 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.12, Z:0.20 [[ 0.99788635 0.05096487 -0.04031633 4.07415213] [-0.04819809 0.99659801 0.06685321 -0.11966346] [ 0.04358634 -0.06476873 0.99694796 0.19725175] [ 0. 0. 0. 1. ]] SLAMing on 43.27538475 meters Centerline goodness : 0.892818 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.11, Z:0.19 [[ 0.99710194 0.06613377 -0.0376039 4.08337444] [-0.06352338 0.99574068 0.06682274 -0.11483725] [ 0.04186298 -0.06424036 0.997056 0.19389319] [ 0. 0. 0. 1. ]] SLAMing on 43.33538475 meters Centerline goodness : 0.889476 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.11, Z:0.19 [[ 0.99624451 0.07789149 -0.03781256 4.08967167] [-0.07548065 0.99525071 0.06147107 -0.1147398 ] [ 0.04242105 -0.0583861 0.99739236 0.19250195] [ 0. 0. 0. 1. ]] SLAMing on 43.39538475 meters Centerline goodness : 0.893499 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.12, Z:0.19 [[ 0.99591726 0.08358082 -0.03410374 4.0921021 ] [-0.08176167 0.99531302 0.05164327 -0.11679376] [ 0.03826029 -0.04864405 0.99808312 0.19147411] [ 0. 0. 0. 1. ]] SLAMing on 43.45538475 meters Centerline goodness : 0.897057 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.12, Z:0.19 [[ 0.99576823 0.08726346 -0.02882217 4.09615175] [-0.08601978 0.99541238 0.04189014 -0.12361108] [ 0.03234542 -0.03923359 0.99870641 0.18921893] [ 0. 0. 0. 1. ]] SLAMing on 43.51538475 meters Centerline goodness : 0.907611 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.13, Z:0.19 [[ 0.99563092 0.09069691 -0.02220672 4.09798851] [-0.08998516 0.99545457 0.03119079 -0.13276018] [ 0.02493469 -0.02905624 0.99926673 0.18581357] [ 0. 0. 0. 1. ]] SLAMing on 43.57538475 meters Centerline goodness : 0.908137 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:0.18 [[ 0.99520878 0.09623149 -0.01729091 4.10207562] [-0.09584502 0.99515442 0.02194124 -0.14258887] [ 0.01931856 -0.02017886 0.99960973 0.18030701] [ 0. 0. 0. 1. ]] SLAMing on 43.63538475 meters Centerline goodness : 0.909275 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:0.18 [[ 0.99456169 0.1018778 -0.0216323 4.10715741] [-0.10141469 0.99461133 0.02152577 -0.16066679] [ 0.02370873 -0.01921487 0.99953423 0.18071629] [ 0. 0. 0. 1. ]] SLAMing on 43.69538475 meters Centerline goodness : 0.903673 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:0.17 [[ 0.99438554 0.10372881 -0.02092217 4.11028586] [-0.10323578 0.99438134 0.023412 -0.17546038] [ 0.02323311 -0.02112064 0.99950695 0.17428577] [ 0. 0. 0. 1. ]] SLAMing on 43.75538475 meters Centerline goodness : 0.902672 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:0.17 [[ 0.99428671 0.10455288 -0.02150877 4.11202444] [-0.10405376 0.99430225 0.02314833 -0.19338489] [ 0.02380644 -0.02077801 0.99950064 0.17105516] [ 0. 0. 0. 1. ]] SLAMing on 43.81538475 meters Centerline goodness : 0.903281 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.21, Z:0.17 [[ 0.99441201 0.10355064 -0.02054291 4.11094724] [-0.10306849 0.99440163 0.02328692 -0.20810562] [ 0.02283928 -0.02103947 0.99951774 0.16854677] [ 0. 0. 0. 1. ]] SLAMing on 43.87538475 meters Centerline goodness : 0.908415 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.22, Z:0.17 [[ 0.99491906 0.09962095 -0.01455127 4.11696413] [-0.0994246 0.9949515 0.01364742 -0.22416755] [ 0.01583737 -0.01213132 0.99980098 0.17023922] [ 0. 0. 0. 1. ]] SLAMing on 43.935384750000004 meters Centerline goodness : 0.913939 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.24, Z:0.17 [[ 0.99518809 0.09689595 -0.01455459 4.11547429] [-0.09667333 0.99519868 0.01529244 -0.23796846] [ 0.01596648 -0.01381182 0.99977713 0.17453382] [ 0. 0. 0. 1. ]] SLAMing on 43.99538475 meters Centerline goodness : 0.912580 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.25, Z:0.17 [[ 0.99577948 0.09079091 -0.01342495 4.11299916] [-0.09067115 0.99583768 0.00927685 -0.24547401] [ 0.01421132 -0.00802044 0.99986685 0.17248224] [ 0. 0. 0. 1. ]] SLAMing on 44.05538475 meters Centerline goodness : 0.910946 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.25, Z:0.17 [[ 9.96316836e-01 8.45511761e-02 -1.42779667e-02 4.11639853e+00] [-8.44836292e-02 9.96410928e-01 5.27061408e-03 -2.52917200e-01] [ 1.46723586e-02 -4.04494711e-03 9.99884173e-01 1.70254338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115384750000004 meters Centerline goodness : 0.909557 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.26, Z:0.17 [[ 9.96984779e-01 7.60750280e-02 -1.52951309e-02 4.11794470e+00] [-7.61010336e-02 9.97099477e-01 -1.12464115e-03 -2.60471582e-01] [ 1.51652099e-02 2.28522538e-03 9.99882390e-01 1.70028398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17538475 meters Centerline goodness : 0.905463 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.27, Z:0.17 [[ 0.99754359 0.06822846 -0.01586394 4.11937068] [-0.06835246 0.99763372 -0.00740991 -0.26703098] [ 0.01532083 0.00847605 0.9998467 0.16891402] [ 0. 0. 0. 1. ]] SLAMing on 44.23538475 meters Centerline goodness : 0.902202 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.27, Z:0.17 [[ 0.9978959 0.06262346 -0.01679508 4.12240793] [-0.06278244 0.99798565 -0.00911131 -0.27449773] [ 0.01619067 0.01014657 0.99981744 0.17005376] [ 0. 0. 0. 1. ]] SLAMing on 44.295384750000004 meters Centerline goodness : 0.902406 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.28, Z:0.17 [[ 0.99844538 0.05285533 -0.01769597 4.12451599] [-0.05310792 0.99848892 -0.01412194 -0.2814066 ] [ 0.01692281 0.01503978 0.99974368 0.17307318] [ 0. 0. 0. 1. ]] SLAMing on 44.35538475 meters Centerline goodness : 0.904974 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.29, Z:0.18 [[ 9.99402735e-01 3.23562341e-02 -1.21345854e-02 4.14264801e+00] [-3.23929301e-02 9.99471177e-01 -2.83978504e-03 -2.89277508e-01] [ 1.20362836e-02 3.23116371e-03 9.99922341e-01 1.78691850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41538475 meters Centerline goodness : 0.909368 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.30, Z:0.19 [[ 9.99918792e-01 1.24504801e-02 -2.71948476e-03 4.17295983e+00] [-1.23943571e-02 9.99727891e-01 1.97616738e-02 -2.95315269e-01] [ 2.96478709e-03 -1.97263628e-02 9.99801021e-01 1.89562178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47538475 meters Centerline goodness : 0.912335 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.19 [[ 9.99997583e-01 1.44135159e-03 -1.66047146e-03 4.19157941e+00] [-1.39960723e-03 9.99689647e-01 2.48727030e-02 -2.94886535e-01] [ 1.69580643e-03 -2.48703189e-02 9.99689247e-01 1.94771403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53538475 meters Centerline goodness : 0.915224 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.19 [[ 9.99997035e-01 2.04335993e-04 -2.42669324e-03 4.19418124e+00] [-1.46746986e-04 9.99718915e-01 2.37079847e-02 -2.93182288e-01] [ 2.43085553e-03 -2.37075583e-02 9.99715981e-01 1.93529825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59538475 meters Centerline goodness : 0.911789 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.28, Z:0.19 [[ 9.99970624e-01 6.64075552e-03 -3.82785559e-03 4.19647512e+00] [-6.53155198e-03 9.99590274e-01 2.78679589e-02 -2.82716913e-01] [ 4.01135152e-03 -2.78421384e-02 9.99604284e-01 1.92420469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65538475 meters Centerline goodness : 0.908999 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.28, Z:0.19 [[ 9.99919573e-01 1.21309518e-02 -3.69967729e-03 4.19458956e+00] [-1.20125581e-02 9.99462577e-01 3.05000834e-02 -2.75938099e-01] [ 4.06768404e-03 -3.04531878e-02 9.99527917e-01 1.92156674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71538475 meters Centerline goodness : 0.906931 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.27, Z:0.18 [[ 9.99772822e-01 2.11275017e-02 -2.81643150e-03 4.20610036e+00] [-2.10646040e-02 9.99562736e-01 2.07513775e-02 -2.66007525e-01] [ 3.25362474e-03 -2.06873362e-02 9.99780700e-01 1.81662376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77538475 meters Centerline goodness : 0.908774 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.26, Z:0.18 [[ 9.99761771e-01 2.16789640e-02 -2.53443172e-03 4.20379482e+00] [-2.16228504e-02 9.99558176e-01 2.03937330e-02 -2.62057831e-01] [ 2.97542695e-03 -2.03340730e-02 9.99788814e-01 1.83841206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83538475 meters Centerline goodness : 0.912732 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.26, Z:0.18 [[ 9.99826431e-01 1.85142370e-02 -2.08114317e-03 4.20184996e+00] [-1.84786828e-02 9.99701685e-01 1.59712263e-02 -2.58596579e-01] [ 2.37621740e-03 -1.59299974e-02 9.99870286e-01 1.84298629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89538475 meters Centerline goodness : 0.908882 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.25, Z:0.18 [[ 9.99786043e-01 2.04378338e-02 -3.18800471e-03 4.20623421e+00] [-2.03773190e-02 9.99630643e-01 1.79817219e-02 -2.54178166e-01] [ 3.55433464e-03 -1.79129116e-02 9.99833233e-01 1.82317969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95538475 meters Centerline goodness : 0.910181 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.25, Z:0.18 [[ 9.99681925e-01 2.50555355e-02 -2.87541132e-03 4.20517807e+00] [-2.49871923e-02 9.99451146e-01 2.17496463e-02 -2.51801742e-01] [ 3.41878217e-03 -2.16708799e-02 9.99759313e-01 1.82852145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01538475 meters Centerline goodness : 0.907280 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.25, Z:0.18 [[ 9.99532689e-01 3.04944206e-02 -2.11991625e-03 4.20287769e+00] [-3.04308563e-02 9.99214327e-01 2.53907836e-02 -2.49342453e-01] [ 2.89252792e-03 -2.53144073e-02 9.99675354e-01 1.82948476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07538475 meters Centerline goodness : 0.906944 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.25, Z:0.18 [[ 9.99189542e-01 4.02328054e-02 -1.25707121e-03 4.20056470e+00] [-4.01680251e-02 9.98629241e-01 3.35584243e-02 -2.47808107e-01] [ 2.60549762e-03 -3.34807325e-02 9.99435967e-01 1.83502925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13538475 meters Centerline goodness : 0.907038 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.25, Z:0.19 [[ 9.98820590e-01 4.85447571e-02 9.14616722e-04 4.19295708e+00] [-4.85430809e-02 9.98043858e-01 3.93957637e-02 -2.49929288e-01] [ 9.99630175e-04 -3.93936982e-02 9.99223267e-01 1.85941261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19538475 meters Centerline goodness : 0.910295 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.25, Z:0.18 [[ 0.99849133 0.05455947 0.00619036 4.19783603] [-0.05471376 0.99809996 0.02833521 -0.25152197] [-0.00463264 -0.02863116 0.99957931 0.17842268] [ 0. 0. 0. 1. ]] SLAMing on 45.25538475 meters Centerline goodness : 0.908939 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.26, Z:0.18 [[ 0.99838113 0.0563921 0.00741966 4.19581129] [-0.05658823 0.99795867 0.02960178 -0.25652866] [-0.00573521 -0.02997372 0.99953423 0.17703363] [ 0. 0. 0. 1. ]] SLAMing on 45.31538475 meters Centerline goodness : 0.905908 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.27, Z:0.18 [[ 9.98293697e-01 5.83079747e-02 3.14243622e-03 4.20976870e+00] [-5.83665195e-02 9.98009969e-01 2.38631917e-02 -2.67682913e-01] [-1.74476830e-03 -2.40058869e-02 9.99710295e-01 1.76881822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37538475 meters Centerline goodness : 0.905645 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.28, Z:0.17 [[ 9.98424866e-01 5.59682183e-02 3.91728162e-03 4.20955663e+00] [-5.60412951e-02 9.98184823e-01 2.20552259e-02 -2.75253679e-01] [-2.67577936e-03 -2.22400155e-02 9.99749079e-01 1.74897100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435384750000004 meters Centerline goodness : 0.912013 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.28, Z:0.17 [[ 0.99849585 0.054536 0.00564554 4.20601131] [-0.0546346 0.99832368 0.01910236 -0.28048667] [-0.00459431 -0.01938207 0.99980159 0.17272236] [ 0. 0. 0. 1. ]] SLAMing on 45.49538475 meters Centerline goodness : 0.913894 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.29, Z:0.17 [[ 0.99841386 0.05593602 0.00639707 4.20464521] [-0.05605555 0.9982203 0.02034709 -0.28687355] [-0.00524755 -0.02067341 0.99977251 0.1718834 ] [ 0. 0. 0. 1. ]] SLAMing on 45.55538475 meters Centerline goodness : 0.913260 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.29, Z:0.17 [[ 0.99845349 0.05500654 0.00805717 4.20165994] [-0.05514544 0.99831297 0.01817116 -0.29274065] [-0.00704404 -0.01858737 0.99980243 0.16958923] [ 0. 0. 0. 1. ]] SLAMing on 45.615384750000004 meters Centerline goodness : 0.912798 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.17 [[ 0.99860765 0.05202961 0.00869917 4.20193668] [-0.05215902 0.99852039 0.0153777 -0.30079818] [-0.0078862 -0.01581003 0.99984391 0.16650113] [ 0. 0. 0. 1. ]] SLAMing on 45.67538475 meters Centerline goodness : 0.916338 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.16 [[ 0.99877247 0.04879244 0.00853569 4.20457515] [-0.04890753 0.99870744 0.01383814 -0.31067285] [-0.00784946 -0.01423862 0.99986782 0.16417699] [ 0. 0. 0. 1. ]] SLAMing on 45.73538475 meters Centerline goodness : 0.915099 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.16 [[ 0.99913497 0.04070915 0.00849037 4.20664055] [-0.04077723 0.99913619 0.00800539 -0.31969044] [-0.00815714 -0.00834468 0.99993191 0.16257553] [ 0. 0. 0. 1. ]] SLAMing on 45.795384750000004 meters Centerline goodness : 0.912372 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.16 [[ 9.99411319e-01 3.32545226e-02 8.43514225e-03 4.21123178e+00] [-3.32794265e-02 9.99442082e-01 2.82937999e-03 -3.24900828e-01] [-8.33634645e-03 -3.10843108e-03 9.99960421e-01 1.58922931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85538475 meters Centerline goodness : 0.910790 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:0.16 [[ 9.99498854e-01 3.03140935e-02 9.11574496e-03 4.20956380e+00] [-3.03215146e-02 9.99539968e-01 6.76964983e-04 -3.29521894e-01] [-9.09102984e-03 -9.53028918e-04 9.99958222e-01 1.59720977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91538475 meters Centerline goodness : 0.912630 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.34, Z:0.16 [[ 9.99596149e-01 2.67235756e-02 9.66381056e-03 4.20798394e+00] [-2.67288596e-02 9.99642633e-01 4.18022903e-04 -3.36762470e-01] [-9.64918596e-03 -6.76156720e-04 9.99953217e-01 1.64539452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97538475 meters Centerline goodness : 0.909296 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.34, Z:0.16 [[ 0.99980679 0.01727224 0.00938319 4.21053356] [-0.01720386 0.99982521 -0.00732015 -0.34049351] [-0.00950799 0.00715731 0.99992918 0.16326106] [ 0. 0. 0. 1. ]] SLAMing on 46.03538475 meters Centerline goodness : 0.906051 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.34, Z:0.17 [[ 0.99993081 0.00841979 0.00821521 4.22358865] [-0.00837234 0.99994817 -0.00579369 -0.34415415] [-0.00826357 0.00572451 0.99994947 0.16621467] [ 0. 0. 0. 1. ]] SLAMing on 46.09538475 meters Centerline goodness : 0.903632 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.35, Z:0.17 [[ 9.99973621e-01 2.84346105e-03 6.68373514e-03 4.23310857e+00] [-2.82356241e-03 9.99991559e-01 -2.98472661e-03 -3.48056948e-01] [-6.69216568e-03 2.96577593e-03 9.99973209e-01 1.71035446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15538475 meters Centerline goodness : 0.896342 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.35, Z:0.17 [[ 9.99985754e-01 1.42695286e-03 5.14354293e-03 4.24262066e+00] [-1.42609211e-03 9.99998969e-01 -1.71008526e-04 -3.48019512e-01] [-5.14378164e-03 1.63670924e-04 9.99986757e-01 1.69028680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21538475 meters Centerline goodness : 0.890609 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.35, Z:0.17 [[ 9.99989186e-01 3.18449336e-03 3.38932140e-03 4.24856394e+00] [-3.19469453e-03 9.99990371e-01 3.00865180e-03 -3.46754021e-01] [-3.37970774e-03 -3.01944711e-03 9.99989730e-01 1.67699669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27538475 meters Centerline goodness : 0.892254 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:0.17 [[ 9.99984221e-01 4.54587429e-03 3.30049154e-03 4.24733549e+00] [-4.55254291e-03 9.99987605e-01 2.01580116e-03 -3.42989086e-01] [-3.29128706e-03 -2.03079498e-03 9.99992522e-01 1.66821248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33538475 meters Centerline goodness : 0.886605 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:0.17 [[ 9.99962136e-01 8.28941785e-03 2.64791469e-03 4.24903017e+00] [-8.30172775e-03 9.99954625e-01 4.67224190e-03 -3.39612235e-01] [-2.60906438e-03 -4.69404725e-03 9.99985579e-01 1.65246855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39538475 meters Centerline goodness : 0.885593 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:0.16 [[ 9.99950752e-01 9.49610874e-03 2.88414227e-03 4.24791568e+00] [-9.50665101e-03 9.99948099e-01 3.66380747e-03 -3.35620003e-01] [-2.84920067e-03 -3.69104557e-03 9.99989129e-01 1.63760894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45538475 meters Centerline goodness : 0.885651 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.16 [[ 9.99880433e-01 1.52017145e-02 2.83318029e-03 4.24605504e+00] [-1.52223938e-02 9.99856555e-01 7.42623140e-03 -3.33307491e-01] [-2.71988244e-03 -7.46847126e-03 9.99968412e-01 1.64364747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51538475 meters Centerline goodness : 0.883430 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.16 [[ 9.99792148e-01 2.02004430e-02 2.75720471e-03 4.24571479e+00] [-2.02253586e-02 9.99751918e-01 9.32941558e-03 -3.29314097e-01] [-2.56806237e-03 -9.38324190e-03 9.99952679e-01 1.61529480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57538475 meters Centerline goodness : 0.884296 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.16 [[ 9.99784698e-01 2.05456149e-02 2.90424085e-03 4.24502566e+00] [-2.05727190e-02 9.99741951e-01 9.63298779e-03 -3.29408763e-01] [-2.70557575e-03 -9.69066193e-03 9.99949384e-01 1.62234841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63538475 meters Centerline goodness : 0.883285 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.16 [[ 9.99846322e-01 1.72495374e-02 3.12811486e-03 4.24406729e+00] [-1.72657195e-02 9.99837299e-01 5.22207771e-03 -3.28873412e-01] [-3.03752748e-03 -5.27528434e-03 9.99981472e-01 1.61366001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69538475 meters Centerline goodness : 0.891113 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.17 [[ 9.99918909e-01 1.23755025e-02 3.00382509e-03 4.24476241e+00] [-1.23883932e-02 9.99913966e-01 4.31143473e-03 -3.34230540e-01] [-2.95021049e-03 -4.34829767e-03 9.99986194e-01 1.65824679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75538475 meters Centerline goodness : 0.886693 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.16 [[ 9.99942489e-01 1.05079711e-02 2.14500078e-03 4.24949016e+00] [-1.05136046e-02 9.99941266e-01 2.63215847e-03 -3.33284515e-01] [-2.11721615e-03 -2.65455879e-03 9.99994235e-01 1.62127411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81538475 meters Centerline goodness : 0.887402 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.16 [[ 9.99938479e-01 1.08905812e-02 2.10555048e-03 4.24880406e+00] [-1.08966282e-02 9.99936476e-01 2.88212444e-03 -3.33997042e-01] [-2.07402872e-03 -2.90489053e-03 9.99993630e-01 1.62989754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87538475 meters Centerline goodness : 0.882324 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.16 [[ 9.99935591e-01 1.13374282e-02 5.26342136e-04 4.25633427e+00] [-1.13399264e-02 9.99923128e-01 5.01448842e-03 -3.32484870e-01] [-4.69450272e-04 -5.02013412e-03 9.99987289e-01 1.59874949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935384750000004 meters Centerline goodness : 0.882387 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.16 [[ 9.99954905e-01 9.49383825e-03 -2.35359241e-04 4.26009126e+00] [-9.49286282e-03 9.99947541e-01 3.84719229e-03 -3.31102617e-01] [ 2.71871516e-04 -3.84478457e-03 9.99992572e-01 1.58062405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99538475 meters Centerline goodness : 0.881141 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.16 [[ 9.99966557e-01 8.09870300e-03 -1.13852759e-03 4.26277547e+00] [-8.09473759e-03 9.99961301e-01 3.44543036e-03 -3.30602939e-01] [ 1.16638705e-03 -3.43609906e-03 9.99993416e-01 1.58247481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05538475 meters Centerline goodness : 0.883761 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.16 [[ 9.99971361e-01 7.46863205e-03 -1.22319983e-03 4.26357427e+00] [-7.46538562e-03 9.99968655e-01 2.63745108e-03 -3.28040254e-01] [ 1.24285964e-03 -2.62824389e-03 9.99995774e-01 1.57627850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115384750000004 meters Centerline goodness : 0.884887 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.16 [[ 9.99975970e-01 6.74518690e-03 -1.60087648e-03 4.26411518e+00] [-6.73585397e-03 9.99960694e-01 5.76538511e-03 -3.30277430e-01] [ 1.63970215e-03 -5.75446330e-03 9.99982099e-01 1.63538086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17538475 meters Centerline goodness : 0.889946 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:0.16 [[ 9.99981887e-01 5.59605294e-03 -2.21572528e-03 4.26588684e+00] [-5.58216712e-03 9.99965048e-01 6.22429885e-03 -3.31145619e-01] [ 2.25047934e-03 -6.21181756e-03 9.99978174e-01 1.64930803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23538475 meters Centerline goodness : 0.888058 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:0.16 [[ 9.99993047e-01 6.86425724e-04 -3.66527215e-03 4.27413831e+00] [-6.67956816e-04 9.99987087e-01 5.03774020e-03 -3.30153624e-01] [ 3.66868285e-03 -5.03525693e-03 9.99980593e-01 1.63368603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295384750000004 meters Centerline goodness : 0.888867 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.33, Z:0.17 [[ 9.99980716e-01 -4.06112546e-03 -4.69835502e-03 4.28762210e+00] [ 4.11229435e-03 9.99931778e-01 1.09328991e-02 -3.32203572e-01] [ 4.65363462e-03 -1.09520093e-02 9.99929196e-01 1.67396411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35538475 meters Centerline goodness : 0.886095 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.33, Z:0.17 [[ 0.99996867 -0.00554012 -0.00565427 4.29144272] [ 0.00559692 0.99993353 0.01008016 -0.33139122] [ 0.00559805 -0.01011149 0.99993321 0.1657264 ] [ 0. 0. 0. 1. ]] SLAMing on 47.41538475 meters Centerline goodness : 0.882400 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:0.16 [[ 9.99968842e-01 -3.49391282e-03 -7.07864282e-03 4.29647827e+00] [ 3.58590817e-03 9.99908735e-01 1.30254472e-02 -3.30478627e-01] [ 7.03248701e-03 -1.30504248e-02 9.99890109e-01 1.64023248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47538475 meters Centerline goodness : 0.880394 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:0.16 [[ 9.99975683e-01 1.42508864e-03 -6.82661029e-03 4.29513924e+00] [-1.31663392e-03 9.99873272e-01 1.58652873e-02 -3.25920953e-01] [ 6.84835460e-03 -1.58559134e-02 9.99850834e-01 1.63092232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53538475 meters Centerline goodness : 0.879197 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:0.16 [[ 9.99972579e-01 3.22255214e-03 -6.66757604e-03 4.29322836e+00] [-3.12261791e-03 9.99883447e-01 1.49446004e-02 -3.21512996e-01] [ 6.71495867e-03 -1.49233703e-02 9.99866092e-01 1.62028593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59538475 meters Centerline goodness : 0.876718 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:0.16 [[ 0.99993534 0.00919015 -0.00669756 4.29110779] [-0.00907056 0.99980269 0.01767233 -0.31653479] [ 0.00685865 -0.01761043 0.9998214 0.16125815] [ 0. 0. 0. 1. ]] SLAMing on 47.65538475 meters Centerline goodness : 0.877167 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.31, Z:0.16 [[ 0.99992894 0.01011271 -0.00631289 4.29004976] [-0.01000836 0.99981626 0.01634842 -0.31375078] [ 0.00647706 -0.01628408 0.99984643 0.15910185] [ 0. 0. 0. 1. ]] SLAMing on 47.71538475 meters Centerline goodness : 0.876995 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.31, Z:0.16 [[ 0.99992984 0.00982741 -0.00661367 4.29101808] [-0.00971857 0.99982004 0.01629221 -0.31407394] [ 0.00677259 -0.01622679 0.9998454 0.15883714] [ 0. 0. 0. 1. ]] SLAMing on 47.77538475 meters Centerline goodness : 0.882592 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:0.16 [[ 0.99996127 0.00559793 -0.00679182 4.29164788] [-0.00551347 0.99990803 0.01239109 -0.31559798] [ 0.00686056 -0.01235317 0.99990016 0.1584622 ] [ 0. 0. 0. 1. ]] SLAMing on 47.83538475 meters Centerline goodness : 0.882764 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:0.16 [[ 9.99976978e-01 2.91480766e-03 -6.12756387e-03 4.28913324e+00] [-2.86035439e-03 9.99956511e-01 8.87666973e-03 -3.17105281e-01] [ 6.15317117e-03 -8.85893837e-03 9.99941827e-01 1.58712438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89538475 meters Centerline goodness : 0.887570 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:0.16 [[ 9.99978276e-01 -1.45691740e-03 -6.42849718e-03 4.28957495e+00] [ 1.50266036e-03 9.99973548e-01 7.11657019e-03 -3.21843758e-01] [ 6.41795887e-03 -7.12607543e-03 9.99954013e-01 1.61729453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95538475 meters Centerline goodness : 0.888749 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.33, Z:0.16 [[ 0.99997189 -0.00432759 -0.00612268 4.29212837] [ 0.004365 0.99997181 0.00610976 -0.32519688] [ 0.00609607 -0.00613631 0.99996259 0.1601701 ] [ 0. 0. 0. 1. ]] SLAMing on 48.01538475 meters Centerline goodness : 0.889924 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:0.16 [[ 0.99996389 -0.00523573 -0.0066932 4.29514844] [ 0.00527327 0.99997039 0.00560401 -0.32638261] [ 0.00666366 -0.00563911 0.9999619 0.15805662] [ 0. 0. 0. 1. ]] SLAMing on 48.07538475 meters Centerline goodness : 0.886131 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:0.15 [[ 9.99955550e-01 -6.10375904e-03 -7.18626678e-03 4.29797784e+00] [ 6.13178926e-03 9.99973654e-01 3.88497578e-03 -3.24356115e-01] [ 7.16236449e-03 -3.92886776e-03 9.99966632e-01 1.54785531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13538475 meters Centerline goodness : 0.881164 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:0.15 [[ 9.99954490e-01 -4.30223201e-03 -8.51515590e-03 4.30352460e+00] [ 4.35011039e-03 9.99974789e-01 5.61221299e-03 -3.18206258e-01] [ 8.49079619e-03 -5.64899945e-03 9.99947996e-01 1.51633401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19538475 meters Centerline goodness : 0.879880 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.31, Z:0.15 [[ 9.99950033e-01 -2.36641250e-03 -9.71248035e-03 4.30324504e+00] [ 2.42607936e-03 9.99978231e-01 6.13614121e-03 -3.06880437e-01] [ 9.69774827e-03 -6.15939786e-03 9.99934006e-01 1.54307921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25538475 meters Centerline goodness : 0.875866 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.29, Z:0.15 [[ 9.99926581e-01 2.41348514e-03 -1.18746809e-02 4.30974727e+00] [-2.30791740e-03 9.99957768e-01 8.89583982e-03 -2.93536057e-01] [ 1.18956494e-02 -8.86778091e-03 9.99889922e-01 1.50162470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31538475 meters Centerline goodness : 0.875557 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.29, Z:0.15 [[ 9.99928505e-01 2.67355757e-03 -1.16549463e-02 4.30880455e+00] [-2.58300675e-03 9.99966419e-01 7.77744584e-03 -2.89720177e-01] [ 1.16753484e-02 -7.74678498e-03 9.99901832e-01 1.49703589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37538475 meters Centerline goodness : 0.879163 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 9.99941874e-01 8.81814440e-03 -6.20398597e-03 4.31982874e+00] [-8.79821262e-03 9.99956069e-01 3.23272845e-03 -2.81500145e-01] [ 6.23222009e-03 -3.17795656e-03 9.99975530e-01 1.47528237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435384750000004 meters Centerline goodness : 0.882633 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 9.99936721e-01 9.53900415e-03 -5.96334103e-03 4.31662506e+00] [-9.51570356e-03 9.99947027e-01 3.92354293e-03 -2.76917391e-01] [ 6.00045182e-03 -3.86654926e-03 9.99974522e-01 1.51950252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49538475 meters Centerline goodness : 0.883034 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 9.99939607e-01 9.19037271e-03 -6.02654598e-03 4.31673994e+00] [-9.16903474e-03 9.99951631e-01 3.55878626e-03 -2.75685276e-01] [ 6.05896105e-03 -3.50331372e-03 9.99975508e-01 1.52177178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55538475 meters Centerline goodness : 0.883456 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.15 [[ 0.99990804 0.01157043 -0.00707372 4.32047382] [-0.01152404 0.99991206 0.00656304 -0.27419275] [ 0.00714903 -0.00648092 0.99995344 0.15097407] [ 0. 0. 0. 1. ]] SLAMing on 48.615384750000004 meters Centerline goodness : 0.883604 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.15 [[ 0.99990926 0.01131599 -0.00730933 4.32235548] [-0.01127651 0.99992173 0.0054207 -0.27345237] [ 0.0073701 -0.00533779 0.99995859 0.14820693] [ 0. 0. 0. 1. ]] SLAMing on 48.67538475 meters Centerline goodness : 0.884134 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 0.99990592 0.01152041 -0.00744564 4.32276723] [-0.01147699 0.99991704 0.00584758 -0.275349 ] [ 0.00751239 -0.00576157 0.99995518 0.14809867] [ 0. 0. 0. 1. ]] SLAMing on 48.73538475 meters Centerline goodness : 0.885780 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 0.99989534 0.01244449 -0.00737913 4.32210182] [-0.01239647 0.99990192 0.00651784 -0.27757882] [ 0.00745952 -0.00642569 0.99995153 0.1482194 ] [ 0. 0. 0. 1. ]] SLAMing on 48.795384750000004 meters Centerline goodness : 0.885859 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 0.99983244 0.01662781 -0.00765537 4.32262218] [-0.01653853 0.99979615 0.01158164 -0.28025661] [ 0.00784639 -0.01145309 0.99990363 0.14927529] [ 0. 0. 0. 1. ]] SLAMing on 48.85538475 meters Centerline goodness : 0.889434 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.15 [[ 0.99989135 0.01272698 -0.00743763 4.32282783] [-0.01267083 0.99989123 0.00754785 -0.28265807] [ 0.00753288 -0.00745279 0.99994385 0.14787721] [ 0. 0. 0. 1. ]] SLAMing on 48.91538475 meters Centerline goodness : 0.889164 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.29, Z:0.15 [[ 0.99989623 0.01191094 -0.00810314 4.32487033] [-0.01184733 0.99989898 0.00785277 -0.28517533] [ 0.00819586 -0.00775595 0.99993633 0.14798092] [ 0. 0. 0. 1. ]] SLAMing on 48.97538475 meters Centerline goodness : 0.884611 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.29, Z:0.15 [[ 0.99989324 0.01203418 -0.00828815 4.32567606] [-0.011967 0.99989551 0.00810864 -0.28716921] [ 0.00838487 -0.00800859 0.99993278 0.14739494] [ 0. 0. 0. 1. ]] SLAMing on 49.03538475 meters Centerline goodness : 0.884170 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.29, Z:0.15 [[ 0.99989029 0.01200186 -0.00868118 4.32647803] [-0.01193054 0.99989503 0.0082212 -0.28830841] [ 0.00877894 -0.00811673 0.99992852 0.14738655] [ 0. 0. 0. 1. ]] SLAMing on 49.09538475 meters Centerline goodness : 0.886168 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.29, Z:0.15 [[ 9.99930327e-01 8.08444681e-03 -8.60131911e-03 4.32628392e+00] [-8.05508217e-03 9.99961629e-01 3.44315286e-03 -2.86745180e-01] [ 8.62882506e-03 -3.37362863e-03 9.99957080e-01 1.46487004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15538475 meters Centerline goodness : 0.883232 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 0.99990217 0.00941732 -0.01034281 4.33284091] [-0.00936238 0.99994187 0.00534787 -0.28376696] [ 0.01039257 -0.00525051 0.99993221 0.14374652] [ 0. 0. 0. 1. ]] SLAMing on 49.21538475 meters Centerline goodness : 0.885365 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 0.99990051 0.00917011 -0.01071803 4.33307034] [-0.00911444 0.99994478 0.00523171 -0.28263106] [ 0.01076541 -0.0051335 0.99992887 0.14474554] [ 0. 0. 0. 1. ]] SLAMing on 49.27538475 meters Centerline goodness : 0.881271 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 9.99900543e-01 9.10963511e-03 -1.07665785e-02 4.33398993e+00] [-9.06789091e-03 9.99951204e-01 3.91968064e-03 -2.78076627e-01] [ 1.08017600e-02 -3.82166064e-03 9.99934356e-01 1.42765354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33538475 meters Centerline goodness : 0.882480 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 9.99896876e-01 9.61938574e-03 -1.06632491e-02 4.33303257e+00] [-9.57846225e-03 9.99946589e-01 3.88225689e-03 -2.76878619e-01] [ 1.07000245e-02 -3.77971901e-03 9.99935610e-01 1.43373930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39538475 meters Centerline goodness : 0.886564 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.15 [[ 0.99988926 0.01039893 -0.01064526 4.33152685] [-0.01034959 0.99993549 0.00467987 -0.27735703] [ 0.01069323 -0.00456917 0.99993239 0.14545839] [ 0. 0. 0. 1. ]] SLAMing on 49.45538475 meters Centerline goodness : 0.886998 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 9.99888732e-01 1.03095261e-02 -1.07813812e-02 4.33229316e+00] [-1.02640523e-02 9.99938229e-01 4.26466877e-03 -2.76896148e-01] [ 1.08246819e-02 -4.15353358e-03 9.99932785e-01 1.44484694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51538475 meters Centerline goodness : 0.889661 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 0.99988089 0.01080108 -0.01102445 4.33229323] [-0.01075212 0.99993211 0.00449032 -0.27822531] [ 0.0110722 -0.00437125 0.99992915 0.14458327] [ 0. 0. 0. 1. ]] SLAMing on 49.57538475 meters Centerline goodness : 0.887370 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 0.99987372 0.01166252 -0.0107948 4.33143809] [-0.01161406 0.99992224 0.00454116 -0.27882639] [ 0.01084692 -0.00441522 0.99993142 0.14411124] [ 0. 0. 0. 1. ]] SLAMing on 49.63538475 meters Centerline goodness : 0.890380 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 9.99871528e-01 1.20083019e-02 -1.06173332e-02 4.33118196e+00] [-1.19621870e-02 9.99918786e-01 4.39624944e-03 -2.78512924e-01] [ 1.06692624e-02 -4.26867812e-03 9.99933970e-01 1.43529226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69538475 meters Centerline goodness : 0.890847 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 9.99872251e-01 1.15082234e-02 -1.10924504e-02 4.33311569e+00] [-1.14695156e-02 9.99927932e-01 3.54688809e-03 -2.77441559e-01] [ 1.11324693e-02 -3.41920995e-03 9.99932186e-01 1.41937945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75538475 meters Centerline goodness : 0.891890 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.14 [[ 9.99909961e-01 6.41281082e-03 -1.17875593e-02 4.33433907e+00] [-6.40940597e-03 9.99979406e-01 3.26605733e-04 -2.78587559e-01] [ 1.17894110e-02 -2.51025073e-04 9.99930471e-01 1.44199326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81538475 meters Centerline goodness : 0.891524 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.14 [[ 9.99906088e-01 4.39443004e-03 -1.29808788e-02 4.33836102e+00] [-4.39262683e-03 9.99990338e-01 1.67421174e-04 -2.78862464e-01] [ 1.29814891e-02 -1.10385295e-04 9.99915731e-01 1.44271896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87538475 meters Centerline goodness : 0.889608 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.14 [[ 9.99882425e-01 6.15096253e-03 -1.40463995e-02 4.34328796e+00] [-6.10902056e-03 9.99976759e-01 3.02691657e-03 -2.76157388e-01] [ 1.40646915e-02 -2.94075094e-03 9.99896763e-01 1.42504611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935384750000004 meters Centerline goodness : 0.894516 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 9.99880025e-01 6.43156049e-03 -1.40915354e-02 4.33911871e+00] [-6.39727058e-03 9.99976469e-01 2.47709575e-03 -2.76091694e-01] [ 1.41071354e-02 -2.38665120e-03 9.99897641e-01 1.46419667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99538475 meters Centerline goodness : 0.894339 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.15 [[ 9.99877709e-01 7.02444057e-03 -1.39722994e-02 4.33831498e+00] [-6.99120159e-03 9.99972618e-01 2.42634302e-03 -2.74827237e-01] [ 1.39889606e-02 -2.32836314e-03 9.99899439e-01 1.46546941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05538475 meters Centerline goodness : 0.896227 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.14 [[ 9.99877664e-01 7.42846610e-03 -1.37650053e-02 4.33850089e+00] [-7.40624865e-03 9.99971188e-01 1.66432730e-03 -2.71859351e-01] [ 1.37769721e-02 -1.56217664e-03 9.99903873e-01 1.44696177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115384750000004 meters Centerline goodness : 0.896576 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.14 [[ 9.99874661e-01 7.40044429e-03 -1.39962769e-02 4.33883231e+00] [-7.37748154e-03 9.99971355e-01 1.69155359e-03 -2.72921268e-01] [ 1.40083942e-02 -1.58808430e-03 9.99900617e-01 1.44824173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17538475 meters Centerline goodness : 0.901674 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.14 [[ 9.99876284e-01 7.71239463e-03 -1.37089810e-02 4.33831217e+00] [-7.68740768e-03 9.99968695e-01 1.87443272e-03 -2.72795392e-01] [ 1.37230082e-02 -1.76881429e-03 9.99904271e-01 1.44658503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23538475 meters Centerline goodness : 0.900501 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.15 [[ 9.99874298e-01 7.74649383e-03 -1.38339949e-02 4.33834833e+00] [-7.71862046e-03 9.99968074e-01 2.06710373e-03 -2.73342388e-01] [ 1.38495660e-02 -1.96006453e-03 9.99902169e-01 1.45022970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295384750000004 meters Centerline goodness : 0.905803 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.15 [[ 9.99875746e-01 8.73351414e-03 -1.31232002e-02 4.33612451e+00] [-8.70094444e-03 9.99958928e-01 2.53689080e-03 -2.73283930e-01] [ 1.31448172e-02 -2.42239135e-03 9.99910669e-01 1.45548500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35538475 meters Centerline goodness : 0.914549 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 9.99900087e-01 5.20730220e-03 -1.31415385e-02 4.33542550e+00] [-5.21475641e-03 9.99986261e-01 -5.33021621e-04 -2.76011933e-01] [ 1.31385824e-02 6.01498288e-04 9.99913504e-01 1.46586430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41538475 meters Centerline goodness : 0.913287 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.14 [[ 9.99903972e-01 2.09171880e-03 -1.36992966e-02 4.33993395e+00] [-2.11300840e-03 9.99996582e-01 -1.53977595e-03 -2.77467391e-01] [ 1.36960290e-02 1.56857482e-03 9.99904975e-01 1.44765102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47538475 meters Centerline goodness : 0.915637 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 9.99884488e-01 4.79417578e-03 -1.44231487e-02 4.34258102e+00] [-4.75493930e-03 9.99984904e-01 2.75344675e-03 -2.79710667e-01] [ 1.44361315e-02 -2.68454750e-03 9.99892190e-01 1.45018272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53538475 meters Centerline goodness : 0.920088 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 9.99881656e-01 5.95339892e-03 -1.41856278e-02 4.34057441e+00] [-5.89990491e-03 9.99975338e-01 3.80987056e-03 -2.81266628e-01] [ 1.42079596e-02 -3.72572583e-03 9.99892121e-01 1.46739036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59538475 meters Centerline goodness : 0.923533 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 9.99878210e-01 4.85124100e-03 -1.48334237e-02 4.34293607e+00] [-4.79310606e-03 9.99980703e-01 3.95222855e-03 -2.82599324e-01] [ 1.48523106e-02 -3.88064903e-03 9.99882168e-01 1.46739190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65538475 meters Centerline goodness : 0.924678 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 0.99984581 0.00842132 -0.0154092 4.34484074] [-0.00829605 0.99993217 0.0081756 -0.28387436] [ 0.015477 -0.0080465 0.99984785 0.14659755] [ 0. 0. 0. 1. ]] SLAMing on 50.71538475 meters Centerline goodness : 0.928625 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 0.99987769 0.00598797 -0.0144484 4.34107692] [-0.00592273 0.99997209 0.00455388 -0.28356592] [ 0.01447527 -0.00446774 0.99988525 0.14750215] [ 0. 0. 0. 1. ]] SLAMing on 50.77538475 meters Centerline goodness : 0.927500 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.15 [[ 9.99873409e-01 5.15416515e-03 -1.50532747e-02 4.34364489e+00] [-5.11055398e-03 9.99982636e-01 2.93415384e-03 -2.81032690e-01] [ 1.50681365e-02 -2.85685183e-03 9.99882388e-01 1.45044198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83538475 meters Centerline goodness : 0.927635 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.14 [[ 9.99876392e-01 5.47134443e-03 -1.47399287e-02 4.34325324e+00] [-5.43811310e-03 9.99982583e-01 2.29364936e-03 -2.79658523e-01] [ 1.47522213e-02 -2.21320845e-03 9.99888731e-01 1.43778944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89538475 meters Centerline goodness : 0.927898 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.14 [[ 9.99870225e-01 5.02439730e-03 -1.53065178e-02 4.34468070e+00] [-4.98959306e-03 9.99984881e-01 2.31115913e-03 -2.80233557e-01] [ 1.53178986e-02 -2.23448591e-03 9.99880177e-01 1.43831606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95538475 meters Centerline goodness : 0.926071 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.14 [[ 9.99867274e-01 4.90429241e-03 -1.55364801e-02 4.34546794e+00] [-4.88019555e-03 9.99986830e-01 1.58851952e-03 -2.79246579e-01] [ 1.55440660e-02 -1.51248763e-03 9.99878040e-01 1.42761320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01538475 meters Centerline goodness : 0.928294 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.14 [[ 9.99867781e-01 6.29387041e-03 -1.49935947e-02 4.34252100e+00] [-6.26547352e-03 9.99978490e-01 1.94015649e-03 -2.77117819e-01] [ 1.50054833e-02 -1.84595799e-03 9.99885707e-01 1.44239095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07538475 meters Centerline goodness : 0.928755 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.15 [[ 9.99859808e-01 4.13062220e-03 -1.62265635e-02 4.34595405e+00] [-4.10579650e-03 9.99990350e-01 1.56295797e-03 -2.75445396e-01] [ 1.62328629e-02 -1.49611589e-03 9.99867119e-01 1.45396212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13538475 meters Centerline goodness : 0.925360 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.14 [[ 9.99855888e-01 2.78480003e-03 -1.67466084e-02 4.34898510e+00] [-2.78790547e-03 9.99996101e-01 -1.62094379e-04 -2.72221443e-01] [ 1.67460917e-02 2.08758981e-04 9.99859753e-01 1.42775755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19538475 meters Centerline goodness : 0.924420 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.14 [[ 9.99833341e-01 4.89354559e-03 -1.75881576e-02 4.35257866e+00] [-4.83681321e-03 9.99982967e-01 3.26669354e-03 -2.72363134e-01] [ 1.76038437e-02 -3.18107849e-03 9.99839980e-01 1.42141742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25538475 meters Centerline goodness : 0.924115 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.14 [[ 9.99832949e-01 5.40473546e-03 -1.74602995e-02 4.35137096e+00] [-5.34236702e-03 9.99979189e-01 3.61668565e-03 -2.71583050e-01] [ 1.74794834e-02 -3.52280216e-03 9.99841016e-01 1.43438047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31538475 meters Centerline goodness : 0.924922 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.15 [[ 0.99979945 0.00942686 -0.01766919 4.35073718] [-0.00925157 0.99990744 0.00997597 -0.27353978] [ 0.01776159 -0.0098105 0.99979412 0.14811464] [ 0. 0. 0. 1. ]] SLAMing on 51.37538475 meters Centerline goodness : 0.924123 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.15 [[ 0.99980187 0.00930928 -0.01759426 4.35067104] [-0.00912938 0.99990551 0.01027747 -0.27480558] [ 0.01768827 -0.01011481 0.99979239 0.1485674 ] [ 0. 0. 0. 1. ]] SLAMing on 51.43538475 meters Centerline goodness : 0.920720 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.15 [[ 0.99980694 0.00838548 -0.0177696 4.35302591] [-0.00820831 0.99991611 0.01001958 -0.27570735] [ 0.01785213 -0.00987179 0.9997919 0.1467878 ] [ 0. 0. 0. 1. ]] SLAMing on 51.49538475 meters Centerline goodness : 0.917145 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.12, Z:-0.03 [[ 0.99396668 -0.0927298 0.05857829 3.42306078] [ 0.10805046 0.91962158 -0.37765228 -0.12192327] [-0.01885024 0.38170319 0.92409271 -0.02753158] [ 0. 0. 0. 1. ]] SLAMing on 51.55538475 meters Centerline goodness : 0.918978 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.39, Z:0.15 [[ 9.94659323e-01 1.02482906e-01 1.22509557e-02 3.83459146e+00] [-1.02511197e-01 9.94730394e-01 1.70242472e-03 -3.93294732e-01] [-1.20119285e-02 -2.94919274e-03 9.99923505e-01 1.53082376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615384750000004 meters Centerline goodness : 0.919481 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.39, Z:0.15 [[ 9.94596805e-01 1.03037829e-01 1.26649247e-02 3.83366125e+00] [-1.03069366e-01 9.94672429e-01 1.86134736e-03 -3.94079222e-01] [-1.24056622e-02 -3.15665589e-03 9.99918064e-01 1.52721384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67538475 meters Centerline goodness : 0.914446 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.39, Z:0.15 [[ 9.94589051e-01 1.03084880e-01 1.28890008e-02 3.83377700e+00] [-1.03112664e-01 9.94668540e-01 1.50825273e-03 -3.94657728e-01] [-1.26648055e-02 -2.82911087e-03 9.99915796e-01 1.51365495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73538475 meters Centerline goodness : 0.916894 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.40, Z:0.15 [[ 9.94675774e-01 1.02305468e-01 1.23974117e-02 3.83527986e+00] [-1.02337389e-01 9.94747803e-01 1.96670992e-03 -3.97695411e-01] [-1.21310928e-02 -3.22495745e-03 9.99921215e-01 1.51481917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795384750000004 meters Centerline goodness : 0.914819 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.40, Z:0.15 [[ 9.94783659e-01 1.01318854e-01 1.18305026e-02 3.83753705e+00] [-1.01349424e-01 9.94848856e-01 2.01217942e-03 -3.99364713e-01] [-1.15656902e-02 -3.20069783e-03 9.99927993e-01 1.50768981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85538475 meters Centerline goodness : 0.920051 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.40, Z:0.15 [[ 9.95013588e-01 9.89594320e-02 1.24495513e-02 3.83371956e+00] [-9.89624544e-02 9.95091098e-01 -3.74555151e-04 -4.00969595e-01] [-1.24255034e-02 -8.59350688e-04 9.99922431e-01 1.53299725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91538475 meters Centerline goodness : 0.919531 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.40, Z:0.16 [[ 9.94924497e-01 9.98011526e-02 1.28442986e-02 3.83170313e+00] [-9.98342365e-02 9.95002154e-01 1.95928658e-03 -4.03357166e-01] [-1.25845657e-02 -3.23164295e-03 9.99915589e-01 1.56992932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97538475 meters Centerline goodness : 0.921605 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.40, Z:0.16 [[ 9.94959105e-01 9.95073169e-02 1.24368066e-02 3.83298166e+00] [-9.95337340e-02 9.95033024e-01 1.52196345e-03 -4.03164363e-01] [-1.22235867e-02 -2.75217319e-03 9.99921502e-01 1.55982349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03538475 meters Centerline goodness : 0.921528 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.40, Z:0.15 [[ 9.95298967e-01 9.62215459e-02 1.10172715e-02 3.83859050e+00] [-9.62279420e-02 9.95359322e-01 5.06927144e-05 -4.04967955e-01] [-1.09612661e-02 -1.11062376e-03 9.99939307e-01 1.53859101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09538475 meters Centerline goodness : 0.924733 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.41, Z:0.15 [[ 9.95763266e-01 9.13862683e-02 1.02014191e-02 3.84095575e+00] [-9.13425353e-02 9.95808561e-01 -4.67454940e-03 -4.05702789e-01] [-1.05858501e-02 3.72292109e-03 9.99937038e-01 1.51523172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15538475 meters Centerline goodness : 0.924482 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.41, Z:0.15 [[ 9.95807975e-01 9.09550421e-02 9.67766107e-03 3.84208533e+00] [-9.09241502e-02 9.95851362e-01 -3.58648018e-03 -4.08101163e-01] [-9.96372042e-03 2.69151245e-03 9.99946739e-01 1.52817391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21538475 meters Centerline goodness : 0.926221 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.41, Z:0.16 [[ 9.95799644e-01 9.11075955e-02 9.08155568e-03 3.84245404e+00] [-9.10928111e-02 9.95840339e-01 -2.02938585e-03 -4.10430021e-01] [-9.22867196e-03 1.19359727e-03 9.99956703e-01 1.55270187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27538475 meters Centerline goodness : 0.927796 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.41, Z:0.16 [[ 9.95650877e-01 9.27347203e-02 8.92198891e-03 3.84051566e+00] [-9.27308660e-02 9.95690851e-01 -8.45607404e-04 -4.11883475e-01] [-8.96195990e-03 1.45859958e-05 9.99959841e-01 1.57366598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33538475 meters Centerline goodness : 0.931748 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.41, Z:0.16 [[ 9.95637142e-01 9.29052575e-02 8.67722686e-03 3.84027454e+00] [-9.29125945e-02 9.95674169e-01 4.45410449e-04 -4.13182511e-01] [-8.59830967e-03 -1.24969085e-03 9.99962253e-01 1.59685793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39538475 meters Centerline goodness : 0.934656 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.41, Z:0.16 [[ 9.95781410e-01 9.14259507e-02 7.78963658e-03 3.84300933e+00] [-9.14334713e-02 9.95810998e-01 6.14127765e-04 -4.14222556e-01] [-7.70085856e-03 -1.32377052e-03 9.99969472e-01 1.60127873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45538475 meters Centerline goodness : 0.930576 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 9.95924332e-01 8.99412171e-02 6.73071751e-03 3.84715571e+00] [-8.99392179e-02 9.95947076e-01 -5.99734001e-04 -4.12803554e-01] [-6.75737922e-03 -8.06578400e-06 9.99977169e-01 1.57581942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51538475 meters Centerline goodness : 0.931615 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 9.95827881e-01 9.09703113e-02 7.15774967e-03 3.84538795e+00] [-9.09684536e-02 9.95853603e-01 -5.85354710e-04 -4.11825658e-01] [-7.18132069e-03 -6.82168776e-05 9.99974212e-01 1.57926902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57538475 meters Centerline goodness : 0.930386 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 9.95874855e-01 9.05119872e-02 6.39171707e-03 3.84623620e+00] [-9.05176549e-02 9.95894669e-01 6.02485304e-04 -4.13159632e-01] [-6.31094481e-03 -1.17856320e-03 9.99979391e-01 1.60852149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63538475 meters Centerline goodness : 0.926547 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 9.95928666e-01 8.99421658e-02 6.04141436e-03 3.84780462e+00] [-8.99427958e-02 9.95946919e-01 -1.67889577e-04 -4.12149838e-01] [-6.03202837e-03 -3.76175655e-04 9.99981736e-01 1.59555273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69538475 meters Centerline goodness : 0.932459 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.42, Z:0.16 [[ 9.96031687e-01 8.88267443e-02 5.53968054e-03 3.84928474e+00] [-8.88440949e-02 9.96041121e-01 2.96835588e-03 -4.16588926e-01] [-5.25408023e-03 -3.44874441e-03 9.99980250e-01 1.64430977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75538475 meters Centerline goodness : 0.932397 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.42, Z:0.16 [[ 9.96426238e-01 8.43003516e-02 5.31059340e-03 3.85034782e+00] [-8.42925342e-02 9.96439636e-01 -1.67944818e-03 -4.17046133e-01] [-5.43326382e-03 1.22580285e-03 9.99984488e-01 1.62512137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81538475 meters Centerline goodness : 0.935073 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.42, Z:0.16 [[ 9.96425079e-01 8.42973073e-02 5.57000398e-03 3.85059354e+00] [-8.42899204e-02 9.96440069e-01 -1.54832388e-03 -4.17417346e-01] [-5.68069469e-03 1.07329356e-03 9.99983289e-01 1.62003228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87538475 meters Centerline goodness : 0.938138 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.42, Z:0.16 [[ 0.99667167 0.08126452 0.00645376 3.84808205] [-0.08122665 0.99667803 -0.00592818 -0.41645172] [-0.00691407 0.00538423 0.9999616 0.16108364] [ 0. 0. 0. 1. ]] SLAMing on 52.93538475 meters Centerline goodness : 0.934758 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.42, Z:0.16 [[ 9.96739582e-01 8.04664890e-02 5.94563835e-03 3.85517026e+00] [-8.04448769e-02 9.96751857e-01 -3.78921601e-03 -4.16525597e-01] [-6.23123097e-03 3.29856544e-03 9.99975145e-01 1.58428954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99538475 meters Centerline goodness : 0.933350 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.42, Z:0.16 [[ 9.96697042e-01 8.09502586e-02 6.48558822e-03 3.85393552e+00] [-8.09267435e-02 9.96712770e-01 -3.81008026e-03 -4.16576993e-01] [-6.77269558e-03 3.27263819e-03 9.99971710e-01 1.58341876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05538475 meters Centerline goodness : 0.933449 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.42, Z:0.16 [[ 9.96658953e-01 8.13979969e-02 6.73038210e-03 3.85315386e+00] [-8.13714174e-02 9.96675277e-01 -4.13341156e-03 -4.15320584e-01] [-7.04445687e-03 3.57194090e-03 9.99968808e-01 1.58166826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115384750000004 meters Centerline goodness : 0.932819 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 9.96604919e-01 8.19975155e-02 7.41914742e-03 3.85127894e+00] [-8.19675364e-02 9.96625900e-01 -4.25893830e-03 -4.12689655e-01] [-7.74333684e-03 3.63634962e-03 9.99963408e-01 1.58896962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17538475 meters Centerline goodness : 0.932196 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 9.96574612e-01 8.23306260e-02 7.79173227e-03 3.85061840e+00] [-8.22975806e-02 9.96597770e-01 -4.47125935e-03 -4.09796220e-01] [-8.13334459e-03 3.81470284e-03 9.99959648e-01 1.58978830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23538475 meters Centerline goodness : 0.929812 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 0.99658535 0.08219484 0.00785188 3.85133297] [-0.08215347 0.99660477 -0.00545362 -0.4074589 ] [-0.00827348 0.00478994 0.9999543 0.15733113] [ 0. 0. 0. 1. ]] SLAMing on 53.295384750000004 meters Centerline goodness : 0.932300 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 0.99656887 0.08238734 0.00792541 3.85073734] [-0.08234722 0.9965898 -0.00526289 -0.40763341] [-0.00833198 0.00459219 0.99995474 0.15801615] [ 0. 0. 0. 1. ]] SLAMing on 53.35538475 meters Centerline goodness : 0.929794 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 9.96598378e-01 8.20937770e-02 7.23077919e-03 3.85772722e+00] [-8.20681050e-02 9.96619560e-01 -3.77877748e-03 -4.07310105e-01] [-7.51655009e-03 3.17250716e-03 9.99966718e-01 1.53924221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41538475 meters Centerline goodness : 0.931197 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 9.96706127e-01 8.08558722e-02 6.26285708e-03 3.86060227e+00] [-8.08305499e-02 9.96719024e-01 -4.19642537e-03 -4.08118034e-01] [-6.58161442e-03 3.67637269e-03 9.99971583e-01 1.53317309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47538475 meters Centerline goodness : 0.928796 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 9.96668470e-01 8.13121462e-02 6.34793936e-03 3.85992675e+00] [-8.12862758e-02 9.96681808e-01 -4.23267501e-03 -4.07517445e-01] [-6.67104356e-03 3.70257338e-03 9.99970894e-01 1.53605934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53538475 meters Centerline goodness : 0.931368 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.16 [[ 9.96598708e-01 8.21182225e-02 6.90015633e-03 3.85777010e+00] [-8.21030463e-02 9.96620822e-01 -2.45509071e-03 -4.09107535e-01] [-7.07844716e-03 1.88021638e-03 9.99973180e-01 1.56674579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59538475 meters Centerline goodness : 0.929231 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 0.99677712 0.07985571 0.00764478 3.85433516] [-0.07981129 0.99679224 -0.00594952 -0.40812764] [-0.00809536 0.00532021 0.99995308 0.15747807] [ 0. 0. 0. 1. ]] SLAMing on 53.65538475 meters Centerline goodness : 0.927085 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 0.99675472 0.08009071 0.00809399 3.85365598] [-0.08004629 0.99677501 -0.00567139 -0.40926826] [-0.00852211 0.00500509 0.99995116 0.15731843] [ 0. 0. 0. 1. ]] SLAMing on 53.71538475 meters Centerline goodness : 0.928098 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 0.99711487 0.07546399 0.0081926 3.85360783] [-0.0753936 0.99711689 -0.00858546 -0.41245481] [-0.00881687 0.00794302 0.99992958 0.15846061] [ 0. 0. 0. 1. ]] SLAMing on 53.77538475 meters Centerline goodness : 0.920100 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 0.99728036 0.07327037 0.00795874 3.85772137] [-0.07319035 0.99726866 -0.00991893 -0.41276668] [-0.00866376 0.00930945 0.99991913 0.15459838] [ 0. 0. 0. 1. ]] SLAMing on 53.83538475 meters Centerline goodness : 0.918681 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.16 [[ 0.99726566 0.07346426 0.00801225 3.85736873] [-0.07339215 0.99726298 -0.00895181 -0.4139425 ] [-0.00864796 0.0083393 0.99992783 0.15590152] [ 0. 0. 0. 1. ]] SLAMing on 53.89538475 meters Centerline goodness : 0.918738 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.41, Z:0.16 [[ 0.9971775 0.07457889 0.00866127 3.85498712] [-0.07451257 0.99719001 -0.00774368 -0.41482669] [-0.00921445 0.00707645 0.99993251 0.15787907] [ 0. 0. 0. 1. ]] SLAMing on 53.95538475 meters Centerline goodness : 0.914923 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.16 [[ 9.96846851e-01 7.87852406e-02 9.44673704e-03 3.85503832e+00] [-7.87456221e-02 9.96884606e-01 -4.49553214e-03 -4.13302838e-01] [-9.77148831e-03 3.73746787e-03 9.99945273e-01 1.55729196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01538475 meters Centerline goodness : 0.912083 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 0.99684984 0.07873937 0.00951354 3.85540986] [-0.07869779 0.99688758 -0.00466941 -0.41333328] [-0.0098516 0.00390601 0.99994384 0.15494724] [ 0. 0. 0. 1. ]] SLAMing on 54.07538475 meters Centerline goodness : 0.910123 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 0.99689486 0.07822899 0.0089928 3.857123 ] [-0.07818381 0.99692503 -0.00527066 -0.41312087] [-0.00937747 0.0045512 0.99994567 0.1537661 ] [ 0. 0. 0. 1. ]] SLAMing on 54.13538475 meters Centerline goodness : 0.911877 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 0.99684705 0.07879335 0.00935753 3.85596972] [-0.07874935 0.996882 -0.00498139 -0.41294871] [-0.00972085 0.00422879 0.99994381 0.15425154] [ 0. 0. 0. 1. ]] SLAMing on 54.19538475 meters Centerline goodness : 0.907264 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 0.99686664 0.07850978 0.00964982 3.85622623] [-0.07845838 0.99690169 -0.00559471 -0.41080397] [-0.01005916 0.00482007 0.99993779 0.15327134] [ 0. 0. 0. 1. ]] SLAMing on 54.25538475 meters Centerline goodness : 0.911092 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 0.99687211 0.07844815 0.0095858 3.85677051] [-0.07838904 0.99690233 -0.00639548 -0.4086291 ] [-0.01005782 0.00562405 0.9999336 0.15224965] [ 0. 0. 0. 1. ]] SLAMing on 54.31538475 meters Centerline goodness : 0.909734 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.41, Z:0.15 [[ 9.96505011e-01 8.29409858e-02 9.92748531e-03 3.85609320e+00] [-8.29194761e-02 9.96552963e-01 -2.55972614e-03 -4.06468055e-01] [-1.01055711e-02 1.72759804e-03 9.99947445e-01 1.52816177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37538475 meters Centerline goodness : 0.913243 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.40, Z:0.15 [[ 9.96460062e-01 8.34626283e-02 1.00665231e-02 3.85588146e+00] [-8.34348784e-02 9.96508264e-01 -3.14654356e-03 -4.04851190e-01] [-1.02939922e-02 2.29550586e-03 9.99944381e-01 1.51664838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43538475 meters Centerline goodness : 0.910772 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.40, Z:0.15 [[ 9.96550692e-01 8.24405449e-02 9.50131017e-03 3.85894015e+00] [-8.24034190e-02 9.96590055e-01 -4.23551248e-03 -4.04367152e-01] [-9.81808918e-03 3.43796245e-03 9.99945891e-01 1.48851387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49538475 meters Centerline goodness : 0.909484 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.40, Z:0.15 [[ 0.99665767 0.08120633 0.00888949 3.86246485] [-0.08116293 0.9966876 -0.00513926 -0.40427406] [-0.00927738 0.00440058 0.99994728 0.14603399] [ 0. 0. 0. 1. ]] SLAMing on 54.55538475 meters Centerline goodness : 0.912520 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.41, Z:0.14 [[ 0.99674957 0.08017087 0.00793248 3.86550046] [-0.08012796 0.99676892 -0.00558776 -0.40510376] [-0.00835482 0.00493399 0.99995293 0.14481647] [ 0. 0. 0. 1. ]] SLAMing on 54.615384750000004 meters Centerline goodness : 0.912900 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.40, Z:0.15 [[ 0.99674075 0.08027152 0.00802212 3.86519324] [-0.08022923 0.99676148 -0.00546092 -0.40466959] [-0.0084345 0.00479952 0.99995291 0.14520482] [ 0. 0. 0. 1. ]] SLAMing on 54.67538475 meters Centerline goodness : 0.913081 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.40, Z:0.14 [[ 9.96402002e-01 8.44005304e-02 7.72021240e-03 3.86612029e+00] [-8.43837126e-02 9.96430249e-01 -2.47939703e-03 -4.00001407e-01] [-7.90191559e-03 1.81901597e-03 9.99967125e-01 1.44916863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73538475 meters Centerline goodness : 0.911187 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.40, Z:0.15 [[ 9.96123045e-01 8.76661340e-02 7.31626809e-03 3.86754504e+00] [-8.76783977e-02 9.96147889e-01 1.37204373e-03 -3.98211020e-01] [-7.16780325e-03 -2.00820304e-03 9.99972294e-01 1.46088822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795384750000004 meters Centerline goodness : 0.911385 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.40, Z:0.15 [[ 9.96099877e-01 8.79302392e-02 7.30130476e-03 3.86692670e+00] [-8.79421102e-02 9.96124712e-01 1.32044286e-03 -3.96772434e-01] [-7.15690324e-03 -1.95738512e-03 9.99972473e-01 1.46866046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85538475 meters Centerline goodness : 0.909454 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.39, Z:0.15 [[ 9.96082629e-01 8.81192266e-02 7.37550247e-03 3.86700960e+00] [-8.81288910e-02 9.96108583e-01 9.95121598e-04 -3.94082255e-01] [-7.25911196e-03 -1.64121819e-03 9.99972305e-01 1.46516209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91538475 meters Centerline goodness : 0.913463 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.39, Z:0.15 [[ 9.96094998e-01 8.79761482e-02 7.41299873e-03 3.86698082e+00] [-8.79860622e-02 9.96121182e-01 1.02140544e-03 -3.93511121e-01] [-7.29438574e-03 -1.66965742e-03 9.99972002e-01 1.46864454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97538475 meters Centerline goodness : 0.916304 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.39, Z:0.15 [[ 9.96552026e-01 8.27280984e-02 6.33407069e-03 3.86996691e+00] [-8.27029216e-02 9.96565650e-01 -4.13904347e-03 -3.91352097e-01] [-6.65473247e-03 3.60092601e-03 9.99971374e-01 1.45159759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03538475 meters Centerline goodness : 0.914163 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.39, Z:0.14 [[ 9.96365477e-01 8.50048606e-02 5.47805671e-03 3.87439265e+00] [-8.50000579e-02 9.96380335e-01 -1.10406788e-03 -3.91066652e-01] [-5.55207911e-03 6.34419980e-04 9.99984386e-01 1.43097462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09538475 meters Centerline goodness : 0.916150 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.39, Z:0.14 [[ 9.96160481e-01 8.73729031e-02 5.50206595e-03 3.87373738e+00] [-8.73752656e-02 9.96175450e-01 1.90036755e-04 -3.89140459e-01] [-5.46441896e-03 -6.70051579e-04 9.99984845e-01 1.43102338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15538475 meters Centerline goodness : 0.917814 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.39, Z:0.14 [[ 9.96541343e-01 8.29376571e-02 5.16680553e-03 3.87374765e+00] [-8.29199804e-02 9.96549897e-01 -3.54668416e-03 -3.89628424e-01] [-5.44313319e-03 3.10598598e-03 9.99980362e-01 1.44028554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21538475 meters Centerline goodness : 0.914222 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.39, Z:0.14 [[ 9.96367385e-01 8.50474351e-02 4.35529212e-03 3.87866268e+00] [-8.50444692e-02 9.96376784e-01 -8.62060417e-04 -3.88103006e-01] [-4.41282799e-03 4.88535376e-04 9.99990144e-01 1.41200451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27538475 meters Centerline goodness : 0.921711 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.39, Z:0.14 [[ 9.96322995e-01 8.55756886e-02 4.15836928e-03 3.87749689e+00] [-8.55808586e-02 9.96330642e-01 1.08135248e-03 -3.90530298e-01] [-4.05057325e-03 -1.43325315e-03 9.99990769e-01 1.44979193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33538475 meters Centerline goodness : 0.926615 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.39, Z:0.15 [[ 9.96387055e-01 8.48420855e-02 3.82843546e-03 3.87844481e+00] [-8.48479144e-02 9.96392949e-01 1.38639146e-03 -3.90143895e-01] [-3.69700175e-03 -1.70621726e-03 9.99991710e-01 1.46254358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39538475 meters Centerline goodness : 0.922930 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.39, Z:0.15 [[ 9.96172752e-01 8.73380354e-02 3.45200123e-03 3.88138967e+00] [-8.73540040e-02 9.96165851e-01 4.78280121e-03 -3.88884529e-01] [-3.02104528e-03 -5.06604237e-03 9.99982604e-01 1.45579174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45538475 meters Centerline goodness : 0.930789 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.38, Z:0.14 [[ 0.99616332 0.08707741 0.00872693 3.89052388] [-0.08701873 0.99618283 -0.00689268 -0.3833402 ] [-0.00929381 0.00610683 0.99993816 0.14454526] [ 0. 0. 0. 1. ]] SLAMing on 55.51538475 meters Centerline goodness : 0.925296 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.38, Z:0.14 [[ 0.99624933 0.0862427 0.00703294 3.8994072 ] [-0.08620013 0.99625888 -0.00614661 -0.37945687] [-0.00753673 0.00551731 0.99995638 0.14052989] [ 0. 0. 0. 1. ]] SLAMing on 55.57538475 meters Centerline goodness : 0.924157 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.38, Z:0.14 [[ 9.96081456e-01 8.82098762e-02 6.38369924e-03 3.90445787e+00] [-8.81851280e-02 9.96095828e-01 -4.06018364e-03 -3.76366139e-01] [-6.71692448e-03 3.48132629e-03 9.99971381e-01 1.36889669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63538475 meters Centerline goodness : 0.924513 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.37, Z:0.14 [[ 0.99566066 0.09238284 0.01119173 3.91235609] [-0.09224067 0.99565681 -0.01261672 -0.37474937] [-0.01230869 0.01152964 0.99985777 0.13548072] [ 0. 0. 0. 1. ]] SLAMing on 55.69538475 meters Centerline goodness : 0.923660 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.37, Z:0.14 [[ 0.99514757 0.09765138 0.01206282 3.91092254] [-0.09754953 0.99519209 -0.00876312 -0.37096275] [-0.01286055 0.00754387 0.99988884 0.1354235 ] [ 0. 0. 0. 1. ]] SLAMing on 55.75538475 meters Centerline goodness : 0.920045 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.37, Z:0.14 [[ 0.99505443 0.09854423 0.01247873 3.90935979] [-0.09843866 0.99510412 -0.00881019 -0.36883946] [-0.01328583 0.00753823 0.99988332 0.13598269] [ 0. 0. 0. 1. ]] SLAMing on 55.81538475 meters Centerline goodness : 0.919990 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.37, Z:0.14 [[ 0.99505346 0.09859166 0.01217803 3.90950509] [-0.09849255 0.99510159 -0.00848808 -0.36899836] [-0.01295523 0.00724665 0.99988982 0.13703094] [ 0. 0. 0. 1. ]] SLAMing on 55.87538475 meters Centerline goodness : 0.921621 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.37, Z:0.14 [[ 0.9955686 0.09331332 0.01165312 3.91088814] [-0.09315837 0.9955638 -0.01319961 -0.36688623] [-0.01283312 0.01205553 0.99984498 0.13673767] [ 0. 0. 0. 1. ]] SLAMing on 55.93538475 meters Centerline goodness : 0.919020 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.37, Z:0.14 [[ 0.99569159 0.09208072 0.01092731 3.9136749 ] [-0.09192543 0.99566814 -0.01395244 -0.36610759] [-0.01216472 0.01288783 0.99984295 0.13540387] [ 0. 0. 0. 1. ]] SLAMing on 55.99538475 meters Centerline goodness : 0.911097 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:0.13 [[ 0.99596266 0.08924143 0.00971282 3.91945176] [-0.08907856 0.99589484 -0.01607734 -0.36431673] [-0.01110771 0.01514722 0.99982357 0.1317251 ] [ 0. 0. 0. 1. ]] SLAMing on 56.05538475 meters Centerline goodness : 0.908247 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:0.13 [[ 0.99604799 0.08835238 0.00906912 3.92104307] [-0.08819938 0.99597313 -0.01607486 -0.36425944] [-0.01045285 0.01521144 0.99982966 0.13242217] [ 0. 0. 0. 1. ]] SLAMing on 56.115384750000004 meters Centerline goodness : 0.910108 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.37, Z:0.14 [[ 0.99601724 0.08872254 0.00883018 3.92029233] [-0.0885844 0.99595619 -0.01496888 -0.36512123] [-0.01012255 0.01412705 0.99984897 0.13500182] [ 0. 0. 0. 1. ]] SLAMing on 56.17538475 meters Centerline goodness : 0.906717 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.37, Z:0.14 [[ 0.99583608 0.09074462 0.00871278 3.92218085] [-0.09066626 0.99584064 -0.00900313 -0.36694322] [-0.00949352 0.00817569 0.99992151 0.13909463] [ 0. 0. 0. 1. ]] SLAMing on 56.23538475 meters Centerline goodness : 0.905685 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.37, Z:0.14 [[ 0.99634958 0.08502243 0.00766149 3.92442877] [-0.08492383 0.99631043 -0.01238854 -0.36860104] [-0.00868652 0.01169267 0.99989391 0.14060624] [ 0. 0. 0. 1. ]] SLAMing on 56.295384750000004 meters Centerline goodness : 0.906196 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.37, Z:0.15 [[ 0.99703581 0.07649928 0.00821268 3.93367515] [-0.07641593 0.99702564 -0.01002398 -0.37172385] [-0.00895508 0.00936668 0.99991603 0.14604112] [ 0. 0. 0. 1. ]] SLAMing on 56.35538475 meters Centerline goodness : 0.904261 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.37, Z:0.14 [[ 0.99781554 0.06422784 0.01545772 3.93708608] [-0.06414454 0.99792361 -0.00582622 -0.37131143] [-0.01579983 0.00482196 0.99986355 0.14397519] [ 0. 0. 0. 1. ]] SLAMing on 56.41538475 meters Centerline goodness : 0.902086 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.37, Z:0.14 [[ 9.98001010e-01 6.16640599e-02 1.38393757e-02 3.94758087e+00] [-6.16165404e-02 9.98092530e-01 -3.83456857e-03 -3.69126165e-01] [-1.40494326e-02 2.97416885e-03 9.99896879e-01 1.41605025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47538475 meters Centerline goodness : 0.895671 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.37, Z:0.14 [[ 9.97879613e-01 6.38349768e-02 1.27032670e-02 3.95124764e+00] [-6.38237717e-02 9.97960356e-01 -1.28592675e-03 -3.65303513e-01] [-1.27594439e-02 4.72429673e-04 9.99918483e-01 1.41359074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53538475 meters Centerline goodness : 0.893155 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:0.14 [[ 9.97660595e-01 6.71800970e-02 1.26558936e-02 3.95223710e+00] [-6.71964605e-02 9.97739383e-01 8.71703010e-04 -3.57829137e-01] [-1.25687224e-02 -1.72009500e-03 9.99919531e-01 1.40880304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59538475 meters Centerline goodness : 0.890344 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.35, Z:0.14 [[ 9.97492270e-01 6.96820051e-02 1.23931280e-02 3.95438412e+00] [-6.97186089e-02 9.97563449e-01 2.54593595e-03 -3.49512240e-01] [-1.21855256e-02 -3.40358308e-03 9.99919961e-01 1.39844733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65538475 meters Centerline goodness : 0.888853 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.35, Z:0.14 [[ 9.97574738e-01 6.86220766e-02 1.16469638e-02 3.95595980e+00] [-6.86485046e-02 9.97639129e-01 1.88420198e-03 -3.46374224e-01] [-1.14901690e-02 -2.67917895e-03 9.99930397e-01 1.40673060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71538475 meters Centerline goodness : 0.890212 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:0.14 [[ 9.97815532e-01 6.52966629e-02 1.00255066e-02 3.96067851e+00] [-6.53134951e-02 9.97863867e-01 1.36046649e-03 -3.42771121e-01] [-9.91525682e-03 -2.01229546e-03 9.99948818e-01 1.42677104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77538475 meters Centerline goodness : 0.888997 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:0.14 [[ 9.97976457e-01 6.30110913e-02 8.52022792e-03 3.96404053e+00] [-6.30139818e-02 9.98012642e-01 7.09609501e-05 -3.37435181e-01] [-8.49882385e-03 -6.07710845e-04 9.99963700e-01 1.43994160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83538475 meters Centerline goodness : 0.887418 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.33, Z:0.14 [[ 9.97926225e-01 6.40172063e-02 6.71170148e-03 3.96957709e+00] [-6.40309671e-02 9.97946187e-01 1.85562283e-03 -3.29770320e-01] [-6.57912511e-03 -2.28153142e-03 9.99975755e-01 1.43773016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89538475 meters Centerline goodness : 0.887003 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:0.14 [[ 9.97813794e-01 6.58598824e-02 5.48720112e-03 3.97303632e+00] [-6.58811392e-02 9.97820290e-01 3.78744316e-03 -3.22139331e-01] [-5.22580005e-03 -4.14066609e-03 9.99977773e-01 1.44181482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95538475 meters Centerline goodness : 0.886487 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.32, Z:0.14 [[ 0.99766257 0.06816696 0.00476126 3.97510725] [-0.06819316 0.99765656 0.00557525 -0.31525587] [-0.00437005 -0.00588691 0.99997312 0.14444918] [ 0. 0. 0. 1. ]] SLAMing on 57.01538475 meters Centerline goodness : 0.879925 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.31, Z:0.14 [[ 9.97477916e-01 7.08716126e-02 3.87585344e-03 3.97812757e+00] [-7.08973543e-02 9.97459298e-01 6.96524018e-03 -3.08496285e-01] [-3.37236825e-03 -7.22246101e-03 9.99968231e-01 1.42827549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07538475 meters Centerline goodness : 0.877107 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.30, Z:0.14 [[ 9.97115104e-01 7.58039223e-02 3.90322987e-03 3.97780622e+00] [-7.58378471e-02 9.97075524e-01 9.43508611e-03 -3.01533180e-01] [-3.17659844e-03 -9.70387941e-03 9.99947871e-01 1.42552964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13538475 meters Centerline goodness : 0.869409 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.29, Z:0.14 [[ 9.96651570e-01 8.16729486e-02 3.89594096e-03 3.97736776e+00] [-8.17090602e-02 9.96603576e-01 1.02440979e-02 -2.94656771e-01] [-3.04604301e-03 -1.05281299e-02 9.99939938e-01 1.38590625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19538475 meters Centerline goodness : 0.868765 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.29, Z:0.14 [[ 9.96082095e-01 8.83159700e-02 4.55519960e-03 3.97469599e+00] [-8.83738147e-02 9.95979945e-01 1.46293313e-02 -2.92322879e-01] [-3.24488387e-03 -1.49745753e-02 9.99882610e-01 1.39649221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25538475 meters Centerline goodness : 0.870891 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.29, Z:0.14 [[ 0.99552337 0.0943323 0.00588558 3.97114635] [-0.09443007 0.9953414 0.01945384 -0.29068194] [-0.00402304 -0.01992253 0.99979343 0.14147758] [ 0. 0. 0. 1. ]] SLAMing on 57.31538475 meters Centerline goodness : 0.872263 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.29, Z:0.14 [[ 0.99533148 0.0959454 0.01047503 3.9800421 ] [-0.09603471 0.99534267 0.00838442 -0.29123601] [-0.0096218 -0.00935125 0.99990998 0.13680721] [ 0. 0. 0. 1. ]] SLAMing on 57.37538475 meters Centerline goodness : 0.883516 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.30, Z:0.14 [[ 0.99535712 0.09560163 0.01115918 3.97894745] [-0.09572046 0.99535129 0.01064937 -0.29735083] [-0.01008921 -0.01166809 0.99988102 0.13923316] [ 0. 0. 0. 1. ]] SLAMing on 57.43538475 meters Centerline goodness : 0.884838 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.30, Z:0.14 [[ 9.95994227e-01 8.86617520e-02 1.16014782e-02 3.97731778e+00] [-8.87102488e-02 9.96050477e-01 3.73359566e-03 -3.01994549e-01] [-1.12246308e-02 -4.74780974e-03 9.99925730e-01 1.38039816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49538475 meters Centerline goodness : 0.884430 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.31, Z:0.14 [[ 9.96204697e-01 8.61842911e-02 1.21847847e-02 3.97766599e+00] [-8.62108354e-02 9.96275517e-01 1.66929849e-03 -3.09276335e-01] [-1.19955354e-02 -2.71342346e-03 9.99924369e-01 1.35152218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55538475 meters Centerline goodness : 0.880468 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.32, Z:0.13 [[ 0.9959771 0.08871203 0.01264102 3.97965064] [-0.08876905 0.99604411 0.004023 -0.31519252] [-0.01223412 -0.00512894 0.99991201 0.13079577] [ 0. 0. 0. 1. ]] SLAMing on 57.61538475 meters Centerline goodness : 0.873288 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.32, Z:0.13 [[ 0.99553373 0.09350077 0.01304585 3.98073801] [-0.09361607 0.99557187 0.00852488 -0.32180336] [-0.01219099 -0.00970811 0.99987856 0.12767426] [ 0. 0. 0. 1. ]] SLAMing on 57.67538475 meters Centerline goodness : 0.869707 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:0.13 [[ 0.99502503 0.09869486 0.01358334 3.98106481] [-0.09888076 0.99500401 0.01376986 -0.32829868] [-0.01215647 -0.01504449 0.99981292 0.12572412] [ 0. 0. 0. 1. ]] SLAMing on 57.73538475 meters Centerline goodness : 0.871556 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:0.12 [[ 0.99452847 0.10251489 0.02009548 3.98582883] [-0.10264652 0.99470196 0.00562968 -0.33568585] [-0.01941189 -0.00766161 0.99978222 0.12333993] [ 0. 0. 0. 1. ]] SLAMing on 57.795384750000004 meters Centerline goodness : 0.872145 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:0.12 [[ 0.99459407 0.10154164 0.021724 3.98031978] [-0.10165918 0.99480967 0.00437348 -0.3433058 ] [-0.02116716 -0.00655828 0.99975444 0.12448997] [ 0. 0. 0. 1. ]] SLAMing on 57.85538475 meters Centerline goodness : 0.874534 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:0.12 [[ 9.94900961e-01 9.84574896e-02 2.18677845e-02 3.97916052e+00] [-9.84931851e-02 9.95137569e-01 5.58711120e-04 -3.44351822e-01] [-2.17064446e-02 -2.70968997e-03 9.99760715e-01 1.23810182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91538475 meters Centerline goodness : 0.876219 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.36, Z:0.12 [[ 9.95509067e-01 9.20751423e-02 2.19969407e-02 3.97876399e+00] [-9.20107853e-02 9.95750286e-01 -3.92228010e-03 -3.55473645e-01] [-2.22646045e-02 1.88070961e-03 9.99750344e-01 1.22908189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97538475 meters Centerline goodness : 0.876299 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.36, Z:0.12 [[ 0.99598754 0.0869421 0.02121061 3.98189246] [-0.08680308 0.99619807 -0.00739095 -0.3615362 ] [-0.02177256 0.00552015 0.99974771 0.1205883 ] [ 0. 0. 0. 1. ]] SLAMing on 58.03538475 meters Centerline goodness : 0.874466 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.37, Z:0.12 [[ 0.99701041 0.07447831 0.02057228 3.99226773] [-0.07428508 0.99718687 -0.01000342 -0.37265032] [-0.02125945 0.0084453 0.99973832 0.12157498] [ 0. 0. 0. 1. ]] SLAMing on 58.09538475 meters Centerline goodness : 0.879567 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.38, Z:0.12 [[ 0.99781512 0.06296028 0.0200249 3.99506805] [-0.06257653 0.99785458 -0.01924605 -0.3807292 ] [-0.02119367 0.01795092 0.99961422 0.11931715] [ 0. 0. 0. 1. ]] SLAMing on 58.15538475 meters Centerline goodness : 0.877565 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.39, Z:0.12 [[ 0.99820252 0.05687902 0.01888159 3.99983627] [-0.05644463 0.99814552 -0.02279303 -0.38631612] [-0.02014302 0.02168629 0.99956189 0.11723161] [ 0. 0. 0. 1. ]] SLAMing on 58.21538475 meters Centerline goodness : 0.879557 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.39, Z:0.12 [[ 0.99827113 0.05575704 0.01859836 4.0014381 ] [-0.05538315 0.99826391 -0.02004695 -0.39221539] [-0.01968383 0.01898225 0.99962604 0.12035966] [ 0. 0. 0. 1. ]] SLAMing on 58.27538475 meters Centerline goodness : 0.881326 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.40, Z:0.13 [[ 0.9981246 0.05846946 0.01812756 4.00340646] [-0.05823695 0.99821683 -0.01310008 -0.39593266] [-0.01886119 0.01201982 0.99974986 0.12518078] [ 0. 0. 0. 1. ]] SLAMing on 58.33538475 meters Centerline goodness : 0.884730 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.39, Z:0.13 [[ 0.99780976 0.06335177 0.0190324 4.00111075] [-0.0631962 0.99796348 -0.00866759 -0.39366983] [-0.01954275 0.00744583 0.9997813 0.12699242] [ 0. 0. 0. 1. ]] SLAMing on 58.39538475 meters Centerline goodness : 0.884008 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.39, Z:0.13 [[ 0.99744559 0.0687345 0.01943867 3.99922188] [-0.0686424 0.99762689 -0.00536717 -0.38793231] [-0.01976145 0.00401914 0.99979665 0.12794594] [ 0. 0. 0. 1. ]] SLAMing on 58.45538475 meters Centerline goodness : 0.881243 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.38, Z:0.13 [[ 9.97238392e-01 7.17975578e-02 1.89921036e-02 4.00059793e+00] [-7.17610728e-02 9.97418471e-01 -2.59652529e-03 -3.83333036e-01] [-1.91294991e-02 1.22646098e-03 9.99816262e-01 1.28482731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51538475 meters Centerline goodness : 0.879844 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.38, Z:0.13 [[ 9.97650426e-01 6.64677566e-02 1.66031305e-02 4.00998330e+00] [-6.64071323e-02 9.97783867e-01 -4.17700145e-03 -3.80768028e-01] [-1.68439716e-02 3.06462099e-03 9.99853434e-01 1.27676800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57538475 meters Centerline goodness : 0.878375 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.38, Z:0.13 [[ 0.99820361 0.05821139 0.01417733 4.0233493 ] [-0.05813945 0.99829368 -0.00543517 -0.37917405] [-0.01446953 0.00460114 0.99988472 0.12706588] [ 0. 0. 0. 1. ]] SLAMing on 58.63538475 meters Centerline goodness : 0.879119 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.38, Z:0.13 [[ 0.99854984 0.05257907 0.01156148 4.03345687] [-0.05251056 0.99860142 -0.006152 -0.37716059] [-0.01186877 0.00553598 0.99991424 0.12741909] [ 0. 0. 0. 1. ]] SLAMing on 58.69538475 meters Centerline goodness : 0.876490 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.37, Z:0.13 [[ 9.98500724e-01 5.36142826e-02 1.10369080e-02 4.03736908e+00] [-5.35834047e-02 9.98558643e-01 -3.07485292e-03 -3.73986995e-01] [-1.11858559e-02 2.47884776e-03 9.99934364e-01 1.27735005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75538475 meters Centerline goodness : 0.878013 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.37, Z:0.13 [[ 9.98238035e-01 5.82038620e-02 1.15384694e-02 4.03607358e+00] [-5.82063249e-02 9.98304567e-01 -1.22535831e-04 -3.66531089e-01] [-1.15260387e-02 -5.49291970e-04 9.99933422e-01 1.28531279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81538475 meters Centerline goodness : 0.875053 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.36, Z:0.13 [[ 0.99747971 0.06984603 0.01248008 4.03262392] [-0.06996311 0.99750712 0.00920416 -0.35841005] [-0.01180609 -0.01005411 0.99987976 0.13175351] [ 0. 0. 0. 1. ]] SLAMing on 58.87538475 meters Centerline goodness : 0.874574 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.35, Z:0.13 [[ 0.9967622 0.07929238 0.01333568 4.03090124] [-0.0794936 0.9967179 0.01530321 -0.35006336] [-0.01207848 -0.01631377 0.99979396 0.13139392] [ 0. 0. 0. 1. ]] SLAMing on 58.93538475 meters Centerline goodness : 0.873571 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.34, Z:0.13 [[ 0.99640804 0.083624 0.01334308 4.03107105] [-0.08385622 0.99631685 0.01791295 -0.34448855] [-0.01179598 -0.01896751 0.99975051 0.13119981] [ 0. 0. 0. 1. ]] SLAMing on 58.99538475 meters Centerline goodness : 0.876244 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.34, Z:0.13 [[ 0.99641896 0.08355178 0.01297552 4.03156318] [-0.08376047 0.99634977 0.0164717 -0.33981508] [-0.01155191 -0.01749955 0.99978014 0.13055704] [ 0. 0. 0. 1. ]] SLAMing on 59.05538475 meters Centerline goodness : 0.873411 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.34, Z:0.13 [[ 0.99672866 0.07978267 0.01291169 4.03207533] [-0.07993614 0.99672966 0.01184058 -0.33609741] [-0.01192479 -0.01283396 0.99984653 0.12913194] [ 0. 0. 0. 1. ]] SLAMing on 59.11538475 meters Centerline goodness : 0.874101 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.34, Z:0.13 [[ 0.99714235 0.07458928 0.01198245 4.03451427] [-0.07467788 0.99718226 0.00712446 -0.33567631] [-0.01141728 -0.00799893 0.99990283 0.12798428] [ 0. 0. 0. 1. ]] SLAMing on 59.17538475 meters Centerline goodness : 0.876077 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:0.13 [[ 0.9973791 0.0715325 0.01086439 4.03942622] [-0.07160842 0.99740987 0.00676665 -0.33596942] [-0.01035221 -0.0075269 0.99991809 0.12754087] [ 0. 0. 0. 1. ]] SLAMing on 59.23538475 meters Centerline goodness : 0.877166 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:0.12 [[ 0.99782697 0.06525072 0.00914757 4.04841678] [-0.06529421 0.99785574 0.00453817 -0.33830527] [-0.00883184 -0.0051256 0.99994786 0.1247395 ] [ 0. 0. 0. 1. ]] SLAMing on 59.295384750000004 meters Centerline goodness : 0.874264 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.34, Z:0.12 [[ 9.98018227e-01 6.24923540e-02 7.37048385e-03 4.05504268e+00] [-6.25201883e-02 9.98037177e-01 3.60830705e-03 -3.39035567e-01] [-7.13052530e-03 -4.06196024e-03 9.99966327e-01 1.21996277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35538475 meters Centerline goodness : 0.878335 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.34, Z:0.12 [[ 0.99783845 0.06540201 0.00640302 4.05812689] [-0.06544947 0.99782766 0.00750577 -0.3384373 ] [-0.00589821 -0.00790862 0.99995133 0.12227861] [ 0. 0. 0. 1. ]] SLAMing on 59.41538475 meters Centerline goodness : 0.879297 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:0.12 [[ 0.99750015 0.07030969 0.00707044 4.05648096] [-0.07038594 0.99745712 0.01118583 -0.33452819] [-0.00626599 -0.01165553 0.99991244 0.12322678] [ 0. 0. 0. 1. ]] SLAMing on 59.47538475 meters Centerline goodness : 0.883576 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:0.12 [[ 0.99720666 0.07433892 0.00725271 4.05661051] [-0.07443522 0.99712673 0.0140598 -0.32879186] [-0.00618669 -0.01456038 0.99987485 0.12326475] [ 0. 0. 0. 1. ]] SLAMing on 59.53538475 meters Centerline goodness : 0.888388 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:0.12 [[ 0.99720303 0.07438874 0.00724146 4.0561463 ] [-0.07447869 0.997137 0.01306626 -0.32501166] [-0.00624875 -0.01356905 0.99988841 0.12376913] [ 0. 0. 0. 1. ]] SLAMing on 59.59538475 meters Centerline goodness : 0.889777 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:0.12 [[ 0.99731255 0.07300405 0.00617114 4.05898158] [-0.07307459 0.99725302 0.01210483 -0.32295999] [-0.00527048 -0.01252325 0.99990769 0.1234504 ] [ 0. 0. 0. 1. ]] SLAMing on 59.65538475 meters Centerline goodness : 0.891032 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:0.12 [[ 0.99770613 0.06750257 0.00508646 4.06223316] [-0.06753761 0.99769172 0.00706435 -0.32183291] [-0.00459786 -0.00739168 0.99996211 0.12169681] [ 0. 0. 0. 1. ]] SLAMing on 59.71538475 meters Centerline goodness : 0.891406 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:0.12 [[ 9.98318181e-01 5.77912538e-02 4.58035991e-03 4.08325065e+00] [-5.78447280e-02 9.98246603e-01 1.25581614e-02 -3.24604752e-01] [-3.84657683e-03 -1.28019905e-02 9.99910652e-01 1.23335816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77538475 meters Centerline goodness : 0.894140 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:0.12 [[ 9.98405638e-01 5.63311668e-02 3.60299126e-03 4.08607493e+00] [-5.63731844e-02 9.98326723e-01 1.28770704e-02 -3.26360185e-01] [-2.87158206e-03 -1.30596518e-02 9.99910596e-01 1.23672859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83538475 meters Centerline goodness : 0.898156 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:0.13 [[ 9.98989104e-01 4.47636908e-02 4.12100817e-03 4.10229470e+00] [-4.48251100e-02 9.98862436e-01 1.62647705e-02 -3.29127022e-01] [-3.38824910e-03 -1.64330531e-02 9.99859227e-01 1.29093732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89538475 meters Centerline goodness : 0.896950 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.33, Z:0.13 [[ 9.99251541e-01 3.85084767e-02 3.66797899e-03 4.11754228e+00] [-3.85810329e-02 9.99005517e-01 2.23490564e-02 -3.27895266e-01] [-2.80370313e-03 -2.24738435e-02 9.99743500e-01 1.32973573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95538475 meters Centerline goodness : 0.906424 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.32, Z:0.13 [[ 9.99392115e-01 3.48233594e-02 1.65332535e-03 4.12395542e+00] [-3.48488001e-02 9.99206427e-01 1.92893299e-02 -3.19562644e-01] [-9.80294050e-04 -1.93352206e-02 9.99812577e-01 1.31282384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01538475 meters Centerline goodness : 0.904867 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.31, Z:0.13 [[ 9.99343251e-01 3.62349897e-02 3.03575304e-04 4.12835520e+00] [-3.62341460e-02 9.99159324e-01 1.91763621e-02 -3.08464586e-01] [ 3.91535186e-04 -1.91747678e-02 9.99816071e-01 1.28774357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07538475 meters Centerline goodness : 0.905971 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.30, Z:0.13 [[ 9.99373188e-01 3.53998724e-02 -2.84001901e-04 4.13003424e+00] [-3.53904263e-02 9.99238382e-01 1.64369303e-02 -2.98038729e-01] [ 8.65650836e-04 -1.64165765e-02 9.99864864e-01 1.27448958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13538475 meters Centerline goodness : 0.908906 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.28, Z:0.13 [[ 9.99427217e-01 3.38208857e-02 -1.17692587e-03 4.13155590e+00] [-3.38038802e-02 9.99352775e-01 1.23015636e-02 -2.80266275e-01] [ 1.59221391e-03 -1.22547328e-02 9.99923640e-01 1.27510314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19538475 meters Centerline goodness : 0.906293 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.27, Z:0.13 [[ 9.99431278e-01 3.36007475e-02 -2.84802225e-03 4.13611865e+00] [-3.35651694e-02 9.99367642e-01 1.17343451e-02 -2.67666916e-01] [ 3.24050404e-03 -1.16320772e-02 9.99927094e-01 1.26985170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25538475 meters Centerline goodness : 0.904567 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.26, Z:0.13 [[ 0.99944553 0.03285178 -0.00542101 4.14337225] [-0.03278258 0.99938563 0.01239578 -0.25703069] [ 0.00582491 -0.01221119 0.99990847 0.127082 ] [ 0. 0. 0. 1. ]] SLAMing on 60.31538475 meters Centerline goodness : 0.905339 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.24, Z:0.13 [[ 0.99938909 0.03434717 -0.00645827 4.14570248] [-0.03425061 0.99930793 0.01451041 -0.24449697] [ 0.00695219 -0.01428035 0.99987386 0.12958026] [ 0. 0. 0. 1. ]] SLAMing on 60.37538475 meters Centerline goodness : 0.901777 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.23, Z:0.13 [[ 0.99926198 0.03783488 -0.00663445 4.14576046] [-0.03771898 0.99914711 0.01680261 -0.22941975] [ 0.00726451 -0.01653997 0.99983681 0.13171849] [ 0. 0. 0. 1. ]] SLAMing on 60.43538475 meters Centerline goodness : 0.898182 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.22, Z:0.14 [[ 0.99901686 0.04398088 -0.00556781 4.1588333 ] [-0.04373674 0.99831128 0.03823209 -0.22031673] [ 0.00723988 -0.03795098 0.99925337 0.141002 ] [ 0. 0. 0. 1. ]] SLAMing on 60.49538475 meters Centerline goodness : 0.892221 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.21, Z:0.15 [[ 9.99067326e-01 4.31617138e-02 -1.24253823e-03 4.15485161e+00] [-4.29741720e-02 9.96706178e-01 6.87750995e-02 -2.08427209e-01] [ 4.20689670e-03 -6.86575577e-02 9.97631416e-01 1.50281332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55538475 meters Centerline goodness : 0.885043 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.16 [[ 9.99076978e-01 4.29303697e-02 -1.47489465e-03 4.13746727e+00] [-4.26269488e-02 9.95086051e-01 8.93683114e-02 -1.92636579e-01] [ 5.30426174e-03 -8.92229522e-02 9.95997555e-01 1.56006458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61538475 meters Centerline goodness : 0.884812 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.17, Z:0.16 [[ 9.98892018e-01 4.70318278e-02 1.65638833e-03 4.11909989e+00] [-4.69870390e-02 9.94732194e-01 9.11047743e-02 -1.73550861e-01] [ 2.63716126e-03 -9.10816606e-02 9.95839935e-01 1.57039342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67538475 meters Centerline goodness : 0.884876 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.16, Z:0.16 [[ 9.98490149e-01 5.48999311e-02 -1.84913677e-03 4.09635990e+00] [-5.45732448e-02 9.95259826e-01 8.04962133e-02 -1.59850036e-01] [ 6.25960811e-03 -8.02737627e-02 9.96753199e-01 1.56372108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73538475 meters Centerline goodness : 0.885703 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:0.16 [[ 9.98141888e-01 6.09149119e-02 -1.46461672e-03 4.08536698e+00] [-6.05202358e-02 9.93893262e-01 9.22685488e-02 -1.42998337e-01] [ 7.07620320e-03 -9.20084646e-02 9.95733082e-01 1.63220663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795384750000004 meters Centerline goodness : 0.889618 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.13, Z:0.17 [[ 0.99832742 0.05676148 -0.01097744 4.08130683] [-0.05549915 0.99411588 0.09302394 -0.13315507] [ 0.01619302 -0.09225911 0.99560336 0.16908338] [ 0. 0. 0. 1. ]] SLAMing on 60.85538475 meters Centerline goodness : 0.891680 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.12, Z:0.17 [[ 0.99815728 0.0573741 -0.01975508 4.07616999] [-0.05531433 0.99417447 0.09250646 -0.11788527] [ 0.02494747 -0.09124326 0.99551609 0.17029321] [ 0. 0. 0. 1. ]] SLAMing on 60.91538475 meters Centerline goodness : 0.894268 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.11, Z:0.17 [[ 0.99796749 0.05835508 -0.02560403 4.08468055] [-0.05589442 0.99454202 0.08810211 -0.11152152] [ 0.03060549 -0.08649192 0.99578233 0.16846021] [ 0. 0. 0. 1. ]] SLAMing on 60.97538475 meters Centerline goodness : 0.892492 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.10, Z:0.17 [[ 0.99789107 0.05774648 -0.0296438 4.09150308] [-0.0550809 0.99494324 0.08398836 -0.10336657] [ 0.03434393 -0.08217843 0.9960257 0.16509193] [ 0. 0. 0. 1. ]] SLAMing on 61.03538475 meters Centerline goodness : 0.897290 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.09, Z:0.16 [[ 0.99785011 0.05885818 -0.02882484 4.09793584] [-0.05671151 0.99590903 0.07034925 -0.09437269] [ 0.03284755 -0.0685633 0.99710587 0.16386757] [ 0. 0. 0. 1. ]] SLAMing on 61.09538475 meters Centerline goodness : 0.907755 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.09, Z:0.16 [[ 0.99797161 0.05658579 -0.02916696 4.09868503] [-0.05452373 0.99624789 0.06721092 -0.08682616] [ 0.0328607 -0.0654843 0.99731238 0.16355273] [ 0. 0. 0. 1. ]] SLAMing on 61.15538475 meters Centerline goodness : 0.905465 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.08, Z:0.16 [[ 0.99823945 0.053121 -0.02638473 4.11164033] [-0.05168272 0.99728314 0.05249031 -0.07982697] [ 0.02910138 -0.05103426 0.99827282 0.15856322] [ 0. 0. 0. 1. ]] SLAMing on 61.21538475 meters Centerline goodness : 0.903651 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.07, Z:0.15 [[ 0.99827843 0.05335736 -0.02435497 4.12549991] [-0.0523082 0.99775355 0.04185348 -0.07170189] [ 0.02653344 -0.04050746 0.99882687 0.15358423] [ 0. 0. 0. 1. ]] SLAMing on 61.27538475 meters Centerline goodness : 0.900663 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.06, Z:0.15 [[ 0.99840066 0.05199098 -0.02220479 4.13392537] [-0.05138204 0.99830951 0.02716627 -0.0625746 ] [ 0.02357966 -0.0259819 0.99938428 0.15149306] [ 0. 0. 0. 1. ]] SLAMing on 61.33538475 meters Centerline goodness : 0.901528 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.06, Z:0.15 [[ 0.99844682 0.05253832 -0.01853851 4.14551741] [-0.05224152 0.99850393 0.01614705 -0.05687307] [ 0.01935911 -0.01515349 0.99969775 0.14701013] [ 0. 0. 0. 1. ]] SLAMing on 61.39538475 meters Centerline goodness : 0.898283 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.05, Z:0.14 [[ 0.99834532 0.0559622 -0.01322295 4.15392922] [-0.055866 0.99840983 0.00753624 -0.05093953] [ 0.01362367 -0.00678506 0.99988417 0.14474275] [ 0. 0. 0. 1. ]] SLAMing on 61.45538475 meters Centerline goodness : 0.897549 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.05, Z:0.14 [[ 0.99791211 0.06332679 -0.01269366 4.15458462] [-0.06315624 0.99791349 0.01341463 -0.04563943] [ 0.01351668 -0.01258493 0.99982944 0.14392 ] [ 0. 0. 0. 1. ]] SLAMing on 61.51538475 meters Centerline goodness : 0.893922 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.04, Z:0.14 [[ 0.99695486 0.0765699 -0.01476653 4.16651758] [-0.0764181 0.99701968 0.01058423 -0.03992933] [ 0.01553296 -0.00942357 0.99983495 0.13944864] [ 0. 0. 0. 1. ]] SLAMing on 61.57538475 meters Centerline goodness : 0.893200 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.03, Z:0.13 [[ 0.99589723 0.0897018 -0.01192834 4.17543299] [-0.08962033 0.99594999 0.00719871 -0.03471421] [ 0.01252577 -0.00610015 0.99990294 0.13475065] [ 0. 0. 0. 1. ]] SLAMing on 61.63538475 meters Centerline goodness : 0.892275 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.03, Z:0.14 [[ 0.99518663 0.09697737 -0.01410527 4.18027448] [-0.09684928 0.99525373 0.00949875 -0.03259748] [ 0.01495949 -0.00808694 0.9998554 0.13545288] [ 0. 0. 0. 1. ]] SLAMing on 61.69538475 meters Centerline goodness : 0.881876 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.03, Z:0.14 [[ 0.99440771 0.10244796 -0.02564623 4.17838278] [-0.10210749 0.99467124 0.01425442 -0.03027532] [ 0.02696991 -0.01155604 0.99956945 0.14136294] [ 0. 0. 0. 1. ]] SLAMing on 61.75538475 meters Centerline goodness : 0.880780 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.04, Z:0.14 [[ 0.99441911 0.10176353 -0.02783569 4.17960123] [-0.10143949 0.99475912 0.01281926 -0.03938114] [ 0.02899434 -0.00992408 0.99953031 0.14340077] [ 0. 0. 0. 1. ]] SLAMing on 61.81538475 meters Centerline goodness : 0.885495 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.05, Z:0.15 [[ 0.99456217 0.10048657 -0.02735941 4.1761786 ] [-0.10012908 0.99487397 0.01414054 -0.0496093 ] [ 0.0286401 -0.01132418 0.99952564 0.14536599] [ 0. 0. 0. 1. ]] SLAMing on 61.87538475 meters Centerline goodness : 0.883037 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.06, Z:0.15 [[ 0.99458032 0.09959972 -0.0298308 4.17799232] [-0.09925813 0.99498036 0.01272454 -0.05979285] [ 0.03094842 -0.00969463 0.99947397 0.14708709] [ 0. 0. 0. 1. ]] SLAMing on 61.93538475 meters Centerline goodness : 0.881989 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.07, Z:0.15 [[ 0.99412321 0.10251719 -0.03477459 4.18418571] [-0.10219273 0.99470394 0.01098749 -0.07294791] [ 0.03571683 -0.00736921 0.99933478 0.1495435 ] [ 0. 0. 0. 1. ]] SLAMing on 61.99538475 meters Centerline goodness : 0.876145 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.09, Z:0.15 [[ 0.99319856 0.10906082 -0.04077201 4.19453585] [-0.1087646 0.99402289 0.00942099 -0.08850371] [ 0.04155577 -0.00492236 0.99912406 0.15113741] [ 0. 0. 0. 1. ]] SLAMing on 62.05538475 meters Centerline goodness : 0.862815 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.11, Z:0.15 [[ 9.92351186e-01 1.14012895e-01 -4.73305691e-02 4.21101548e+00] [-1.13694327e-01 9.93471517e-01 9.37792851e-03 -1.14922254e-01] [ 4.80907770e-02 -3.92498126e-03 9.98835258e-01 1.46821935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11538475 meters Centerline goodness : 0.855635 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.13, Z:0.14 [[ 9.92210636e-01 1.13459406e-01 -5.14297253e-02 4.22496539e+00] [-1.13807704e-01 9.93495198e-01 -3.88566554e-03 -1.27607133e-01] [ 5.06543198e-02 9.70849762e-03 9.98669057e-01 1.44020718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17538475 meters Centerline goodness : 0.862744 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.15, Z:0.14 [[ 0.99258725 0.11286309 -0.04508303 4.23188121] [-0.11330607 0.99353268 -0.00738615 -0.14939795] [ 0.04395784 0.01243958 0.99895594 0.14453422] [ 0. 0. 0. 1. ]] SLAMing on 62.23538475 meters Centerline goodness : 0.867960 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:0.14 [[ 0.99323744 0.11007711 -0.0369109 4.23638777] [-0.11033176 0.9938826 -0.00492849 -0.17060722] [ 0.03614258 0.0089676 0.99930641 0.14399018] [ 0. 0. 0. 1. ]] SLAMing on 62.295384750000004 meters Centerline goodness : 0.870356 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.19, Z:0.14 [[ 0.99392227 0.10521665 -0.03237241 4.24758049] [-0.10543708 0.99441251 -0.00517444 -0.19166962] [ 0.03164709 0.00855625 0.99946248 0.14236513] [ 0. 0. 0. 1. ]] SLAMing on 62.35538475 meters Centerline goodness : 0.874626 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.21, Z:0.14 [[ 9.94721267e-01 9.91433266e-02 -2.64613330e-02 4.25743439e+00] [-9.92589535e-02 9.95056841e-01 -3.08928382e-03 -2.10682910e-01] [ 2.60242486e-02 5.69950054e-03 9.99645064e-01 1.39900807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41538475 meters Centerline goodness : 0.875818 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.23, Z:0.14 [[ 9.95661450e-01 8.95277298e-02 -2.53586862e-02 4.26753022e+00] [-8.96251161e-02 9.95971836e-01 -2.72789010e-03 -2.28075911e-01] [ 2.50123155e-02 4.98883021e-03 9.99674695e-01 1.38248258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47538475 meters Centerline goodness : 0.876597 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.24, Z:0.14 [[ 0.99623043 0.08289054 -0.02557526 4.26868505] [-0.08305642 0.99652972 -0.00549159 -0.24297548] [ 0.02503131 0.00759508 0.99965782 0.13704217] [ 0. 0. 0. 1. ]] SLAMing on 62.53538475 meters Centerline goodness : 0.881334 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.26, Z:0.14 [[ 0.99660938 0.07816075 -0.025703 4.26887783] [-0.07833535 0.99690986 -0.0058563 -0.25698437] [ 0.02516584 0.00784989 0.99965247 0.13840042] [ 0. 0. 0. 1. ]] SLAMing on 62.59538475 meters Centerline goodness : 0.879459 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.27, Z:0.14 [[ 0.9968126 0.07540611 -0.02604936 4.27087706] [-0.07560612 0.99711472 -0.00677907 -0.26640694] [ 0.02546301 0.00872695 0.99963767 0.13651924] [ 0. 0. 0. 1. ]] SLAMing on 62.65538475 meters Centerline goodness : 0.879114 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.27, Z:0.14 [[ 0.99681302 0.07528673 -0.02637641 4.27268311] [-0.07546117 0.99713256 -0.00568016 -0.27191912] [ 0.02587314 0.00765245 0.99963594 0.13549534] [ 0. 0. 0. 1. ]] SLAMing on 62.71538475 meters Centerline goodness : 0.874977 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.28, Z:0.13 [[ 0.9968854 0.07406084 -0.02710157 4.27568291] [-0.07421951 0.99722991 -0.004895 -0.27785395] [ 0.02666397 0.00689122 0.9996207 0.1345164 ] [ 0. 0. 0. 1. ]] SLAMing on 62.77538475 meters Centerline goodness : 0.874032 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.28, Z:0.13 [[ 0.99720526 0.06949491 -0.02742483 4.27692408] [-0.06974645 0.99753003 -0.00832336 -0.28138981] [ 0.02677866 0.01021288 0.99958922 0.13349785] [ 0. 0. 0. 1. ]] SLAMing on 62.83538475 meters Centerline goodness : 0.876702 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.29, Z:0.13 [[ 0.99726429 0.06863719 -0.02743833 4.27748114] [-0.06885402 0.99760193 -0.00703631 -0.28564422] [ 0.02688958 0.0089063 0.99959873 0.13482441] [ 0. 0. 0. 1. ]] SLAMing on 62.89538475 meters Centerline goodness : 0.879592 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.29, Z:0.14 [[ 0.99729138 0.06826794 -0.02737514 4.27708386] [-0.06843363 0.99764232 -0.00516093 -0.29046961] [ 0.02695827 0.00702033 0.99961191 0.13755233] [ 0. 0. 0. 1. ]] SLAMing on 62.95538475 meters Centerline goodness : 0.882129 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.29, Z:0.14 [[ 9.97073413e-01 7.13089187e-02 -2.75616847e-02 4.27838141e+00] [-7.13471466e-02 9.97451463e-01 -4.04826320e-04 -2.93014346e-01] [ 2.74625750e-02 2.37008912e-03 9.99620023e-01 1.38957586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01538475 meters Centerline goodness : 0.878917 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.29, Z:0.14 [[ 9.97022366e-01 7.19157121e-02 -2.78304125e-02 4.28269963e+00] [-7.18907574e-02 9.97410707e-01 1.89750114e-03 -2.94665014e-01] [ 2.78948115e-02 1.08898358e-04 9.99610858e-01 1.36862517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07538475 meters Centerline goodness : 0.880541 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.30, Z:0.13 [[ 9.97499979e-01 6.40302493e-02 -2.98984735e-02 4.29422569e+00] [-6.40841160e-02 9.97944142e-01 -8.45932301e-04 -2.97961858e-01] [ 2.97828413e-02 2.75983470e-03 9.99552583e-01 1.33386222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13538475 meters Centerline goodness : 0.877822 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.30, Z:0.13 [[ 9.97945940e-01 5.55154045e-02 -3.19678086e-02 4.30677322e+00] [-5.56342285e-02 9.98447181e-01 -2.83889557e-03 -2.99667564e-01] [ 3.17605660e-02 4.61156867e-03 9.99484867e-01 1.31232723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19538475 meters Centerline goodness : 0.880703 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.30, Z:0.13 [[ 9.97871266e-01 5.64004596e-02 -3.27402747e-02 4.31155777e+00] [-5.64190373e-02 9.98407114e-01 3.56867064e-04 -3.00132558e-01] [ 3.27082506e-02 1.49106739e-03 9.99463830e-01 1.30657023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25538475 meters Centerline goodness : 0.884002 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.30, Z:0.13 [[ 9.97618170e-01 6.11196556e-02 -3.19746047e-02 4.31025968e+00] [-6.10149481e-02 9.98127842e-01 4.24114936e-03 -2.95483927e-01] [ 3.21739608e-02 -2.28011882e-03 9.99479683e-01 1.31756583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31538475 meters Centerline goodness : 0.882664 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.29, Z:0.13 [[ 0.99731735 0.06644581 -0.03070915 4.307831 ] [-0.0662418 0.99777454 0.00761458 -0.28936602] [ 0.03114677 -0.00555993 0.99949936 0.13246111] [ 0. 0. 0. 1. ]] SLAMing on 63.37538475 meters Centerline goodness : 0.882020 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.13 [[ 0.99695183 0.07214077 -0.02971125 4.30526486] [-0.07185216 0.99735821 0.01067104 -0.28321703] [ 0.03040258 -0.00850369 0.99950156 0.13341199] [ 0. 0. 0. 1. ]] SLAMing on 63.43538475 meters Centerline goodness : 0.884389 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.13 [[ 0.99663997 0.07647598 -0.02932896 4.30524718] [-0.07610729 0.99700838 0.01348936 -0.2783281 ] [ 0.03027283 -0.01121189 0.99947879 0.13299999] [ 0. 0. 0. 1. ]] SLAMing on 63.49538475 meters Centerline goodness : 0.880542 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.13 [[ 0.99673385 0.07498045 -0.02999276 4.30830324] [-0.07464272 0.99713538 0.01222731 -0.27800373] [ 0.03082365 -0.00994864 0.99947533 0.13103759] [ 0. 0. 0. 1. ]] SLAMing on 63.55538475 meters Centerline goodness : 0.877213 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.13 [[ 0.99709025 0.06963578 -0.03101434 4.31184821] [-0.06943688 0.99755856 0.00744585 -0.27802798] [ 0.03145712 -0.00527065 0.99949121 0.12853212] [ 0. 0. 0. 1. ]] SLAMing on 63.61538475 meters Centerline goodness : 0.881276 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.13 [[ 0.99712282 0.06888135 -0.03164563 4.31359837] [-0.0686817 0.99761151 0.0073546 -0.27954104] [ 0.03207664 -0.00515996 0.99947209 0.12812423] [ 0. 0. 0. 1. ]] SLAMing on 63.67538475 meters Centerline goodness : 0.880254 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.9972154 0.06715414 -0.03243093 4.31747965] [-0.06696924 0.99773217 0.00675564 -0.28087591] [ 0.03281105 -0.00456495 0.99945115 0.12597373] [ 0. 0. 0. 1. ]] SLAMing on 63.73538475 meters Centerline goodness : 0.879377 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.99721292 0.06713753 -0.03254136 4.31825263] [-0.06693442 0.99773073 0.00729265 -0.28279105] [ 0.03295713 -0.00509419 0.99944378 0.12582728] [ 0. 0. 0. 1. ]] SLAMing on 63.795384750000004 meters Centerline goodness : 0.882802 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.99717253 0.06779296 -0.0324201 4.31774204] [-0.06758783 0.99768601 0.00738325 -0.28117714] [ 0.03284562 -0.00517117 0.99944706 0.12629335] [ 0. 0. 0. 1. ]] SLAMing on 63.85538475 meters Centerline goodness : 0.886734 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.99712439 0.0682773 -0.03288112 4.31828781] [-0.06807011 0.99765324 0.00738108 -0.27999013] [ 0.03330792 -0.00512164 0.99943201 0.12665928] [ 0. 0. 0. 1. ]] SLAMing on 63.91538475 meters Centerline goodness : 0.885100 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.99686863 0.07186689 -0.03298616 4.31968208] [-0.07154508 0.9973785 0.01083623 -0.27857079] [ 0.03367845 -0.0084423 0.99939706 0.12640681] [ 0. 0. 0. 1. ]] SLAMing on 63.97538475 meters Centerline goodness : 0.888771 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.99678355 0.07302561 -0.03301223 4.31864224] [-0.07270172 0.99729407 0.01090902 -0.27791157] [ 0.03371954 -0.00847388 0.99939541 0.12715721] [ 0. 0. 0. 1. ]] SLAMing on 64.03538474999999 meters Centerline goodness : 0.887271 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:0.13 [[ 0.99695919 0.06987647 -0.03449133 4.32449084] [-0.06956276 0.99752528 0.01021444 -0.27990847] [ 0.03511973 -0.00778407 0.9993528 0.12566297] [ 0. 0. 0. 1. ]] SLAMing on 64.09538475 meters Centerline goodness : 0.886273 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.12 [[ 0.99748332 0.06093491 -0.03624854 4.33667351] [-0.06065104 0.99811952 0.00888105 -0.2843859 ] [ 0.03672154 -0.00666019 0.99930334 0.12475193] [ 0. 0. 0. 1. ]] SLAMing on 64.15538475 meters Centerline goodness : 0.882409 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:0.13 [[ 0.99800722 0.05138833 -0.0366172 4.34922773] [-0.05104882 0.9986446 0.01014804 -0.28942828] [ 0.03708906 -0.00825855 0.99927784 0.12713676] [ 0. 0. 0. 1. ]] SLAMing on 64.21538475 meters Centerline goodness : 0.882189 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.29, Z:0.13 [[ 0.99824261 0.0447068 -0.03889712 4.360558 ] [-0.04432476 0.99896062 0.01062984 -0.28994196] [ 0.03933192 -0.00888706 0.99918668 0.12818383] [ 0. 0. 0. 1. ]] SLAMing on 64.27538474999999 meters Centerline goodness : 0.886531 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.29, Z:0.13 [[ 0.99863461 0.03415447 -0.03952717 4.37250017] [-0.03373605 0.99936797 0.01120463 -0.29021436] [ 0.03988488 -0.00985584 0.99915567 0.13266619] [ 0. 0. 0. 1. ]] SLAMing on 64.33538474999999 meters Centerline goodness : 0.885503 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.14 [[ 0.99910627 0.02165201 -0.03630211 4.39938332] [-0.02087038 0.99954506 0.02177363 -0.28760866] [ 0.03675704 -0.02099653 0.99910363 0.13956925] [ 0. 0. 0. 1. ]] SLAMing on 64.39538474999999 meters Centerline goodness : 0.891128 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.28, Z:0.14 [[ 0.99912968 0.01509759 -0.03888385 4.4097997 ] [-0.01424078 0.99965171 0.02221859 -0.27791508] [ 0.03920575 -0.02164551 0.99899669 0.14414699] [ 0. 0. 0. 1. ]] SLAMing on 64.45538475 meters Centerline goodness : 0.891048 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.26, Z:0.15 [[ 0.99905528 0.01316401 -0.0414157 4.41892825] [-0.01220309 0.99965241 0.02336971 -0.2629126 ] [ 0.04170895 -0.02284224 0.99886866 0.14509833] [ 0. 0. 0. 1. ]] SLAMing on 64.51538475 meters Centerline goodness : 0.890544 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.25, Z:0.15 [[ 0.99895667 0.01276172 -0.04384868 4.42535166] [-0.01166954 0.99961747 0.02507442 -0.25212529] [ 0.0441519 -0.02453657 0.99872347 0.14709864] [ 0. 0. 0. 1. ]] SLAMing on 64.57538475 meters Centerline goodness : 0.885269 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.23, Z:0.16 [[ 0.99904379 0.00951275 -0.04267345 4.43571125] [-0.00776727 0.99913371 0.04088407 -0.22934837] [ 0.0430254 -0.04051352 0.99825221 0.15900045] [ 0. 0. 0. 1. ]] SLAMing on 64.63538475 meters Centerline goodness : 0.880282 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.21, Z:0.17 [[ 0.9988074 0.00827284 -0.04811793 4.42645523] [-0.00568061 0.99853763 0.05376183 -0.20726094] [ 0.04849232 -0.05342437 0.99739377 0.16653503] [ 0. 0. 0. 1. ]] SLAMing on 64.69538474999999 meters Centerline goodness : 0.879961 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.18, Z:0.17 [[ 0.9982915 0.01414659 -0.05669176 4.40115143] [-0.01084307 0.99824831 0.0581613 -0.18168992] [ 0.05741524 -0.05744722 0.9966962 0.17145102] [ 0. 0. 0. 1. ]] SLAMing on 64.75538474999999 meters Centerline goodness : 0.876689 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.16, Z:0.18 [[ 0.99786906 0.03732308 -0.05351946 4.39413341] [-0.03291531 0.9961706 0.08099832 -0.16144449] [ 0.05633762 -0.07906411 0.99527631 0.18377669] [ 0. 0. 0. 1. ]] SLAMing on 64.81538474999999 meters Centerline goodness : 0.884749 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.14, Z:0.18 [[ 0.99693683 0.0559984 -0.05459977 4.39616515] [-0.05137359 0.99524838 0.08271281 -0.13742311] [ 0.05897212 -0.07965446 0.99507661 0.18266394] [ 0. 0. 0. 1. ]] SLAMing on 64.87538475 meters Centerline goodness : 0.885394 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.12, Z:0.18 [[ 0.99529261 0.07330775 -0.06339243 4.4148776 ] [-0.06848689 0.99481824 0.07514131 -0.11838135] [ 0.06857238 -0.07044604 0.99515586 0.17958234] [ 0. 0. 0. 1. ]] SLAMing on 64.93538475 meters Centerline goodness : 0.885656 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.11, Z:0.18 [[ 0.99412924 0.08519957 -0.06669392 4.4254216 ] [-0.08054742 0.99431879 0.06958638 -0.10587461] [ 0.07224375 -0.06380583 0.99534399 0.17683438] [ 0. 0. 0. 1. ]] SLAMing on 64.99538475 meters Centerline goodness : 0.887876 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:0.18 [[ 0.99279981 0.09770318 -0.069301 4.44508198] [-0.09370036 0.99386025 0.05883921 -0.09931641] [ 0.07462428 -0.05192203 0.99585909 0.17518952] [ 0. 0. 0. 1. ]] SLAMing on 65.05538474999999 meters Centerline goodness : 0.886383 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:0.17 [[ 0.99182446 0.10631398 -0.0705803 4.4548293 ] [-0.10257794 0.99322482 0.05460974 -0.10104533] [ 0.07590788 -0.04692329 0.99601014 0.17487312] [ 0. 0. 0. 1. ]] SLAMing on 65.11538474999999 meters Centerline goodness : 0.890604 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.11, Z:0.17 [[ 0.99160241 0.10951816 -0.06877809 4.46241349] [-0.10648835 0.99323616 0.04628356 -0.1067693 ] [ 0.07338178 -0.03857083 0.99655778 0.17386046] [ 0. 0. 0. 1. ]] SLAMing on 65.17538474999999 meters Centerline goodness : 0.896158 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.12, Z:0.17 [[ 0.99168169 0.11032629 -0.06629877 4.46689435] [-0.10817697 0.99350866 0.03518933 -0.11653694] [ 0.06975071 -0.02772462 0.99717911 0.17385288] [ 0. 0. 0. 1. ]] SLAMing on 65.23538475 meters Centerline goodness : 0.903044 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.13, Z:0.18 [[ 0.99144664 0.11065564 -0.06920188 4.47045045] [-0.10850522 0.99351054 0.03410901 -0.12751139] [ 0.07252715 -0.0263085 0.9970194 0.17509024] [ 0. 0. 0. 1. ]] SLAMing on 65.29538475 meters Centerline goodness : 0.900234 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.14, Z:0.17 [[ 0.99051547 0.11701659 -0.07201538 4.48672539] [-0.11558414 0.99301345 0.02376111 -0.14324737] [ 0.07429268 -0.01521192 0.99712045 0.1743845 ] [ 0. 0. 0. 1. ]] SLAMing on 65.35538475 meters Centerline goodness : 0.902699 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.16, Z:0.17 [[ 9.90039271e-01 1.18643434e-01 -7.58022295e-02 4.51194986e+00] [-1.18922365e-01 9.92903201e-01 8.39471585e-04 -1.60718917e-01] [ 7.53638741e-02 8.18347060e-03 9.97122519e-01 1.69522431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41538474999999 meters Centerline goodness : 0.902583 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.19, Z:0.17 [[ 9.89629740e-01 1.22787897e-01 -7.45393122e-02 4.52541158e+00] [-1.22582889e-01 9.92431161e-01 7.33656563e-03 -1.85123716e-01] [ 7.48759777e-02 1.87676073e-03 9.97191088e-01 1.70455642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47538474999999 meters Centerline goodness : 0.904464 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.20, Z:0.17 [[ 9.89221282e-01 1.25793721e-01 -7.49479491e-02 4.54007337e+00] [-1.25266862e-01 9.92053994e-01 1.17083618e-02 -2.02527640e-01] [ 7.58252506e-02 -2.19366625e-03 9.97118709e-01 1.72025532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53538474999999 meters Centerline goodness : 0.906435 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.23, Z:0.17 [[ 0.98993004 0.12028561 -0.07463174 4.56358373] [-0.11956495 0.99272673 0.01406646 -0.22627698] [ 0.07578091 -0.00500147 0.99711195 0.17247305] [ 0. 0. 0. 1. ]] SLAMing on 65.59538475 meters Centerline goodness : 0.911693 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.25, Z:0.17 [[ 9.91161421e-01 1.11366522e-01 -7.20869921e-02 4.57373446e+00] [-1.10984199e-01 9.93778655e-01 9.30010235e-03 -2.50139806e-01] [ 7.26742341e-02 -1.21738562e-03 9.97354989e-01 1.71571573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65538475 meters Centerline goodness : 0.916927 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.27, Z:0.17 [[ 9.92681539e-01 9.97863516e-02 -6.80150463e-02 4.57751354e+00] [-9.95161705e-02 9.95008742e-01 7.35759288e-03 -2.69974384e-01] [ 6.84097530e-02 -5.35149678e-04 9.97657165e-01 1.71499041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71538475 meters Centerline goodness : 0.922769 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.29, Z:0.17 [[ 9.93731902e-01 9.27736251e-02 -6.23695604e-02 4.58716807e+00] [-9.24867842e-02 9.95685841e-01 7.47667600e-03 -2.88432099e-01] [ 6.27941265e-02 -1.66145139e-03 9.98025119e-01 1.70655949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77538474999999 meters Centerline goodness : 0.927905 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:0.17 [[ 0.99444892 0.08944242 -0.05542013 4.5935628 ] [-0.08902894 0.99597993 0.0098903 -0.30275493] [ 0.05608195 -0.00490141 0.99841414 0.16915671] [ 0. 0. 0. 1. ]] SLAMing on 65.83538474999999 meters Centerline goodness : 0.927902 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:0.17 [[ 0.99441306 0.08988531 -0.05534707 4.59425283] [-0.08940564 0.99593358 0.01108755 -0.31083641] [ 0.05611861 -0.00607726 0.99840561 0.16777786] [ 0. 0. 0. 1. ]] SLAMing on 65.89538474999999 meters Centerline goodness : 0.930502 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:0.17 [[ 0.99427622 0.09183687 -0.05459651 4.59284914] [-0.09102 0.9956993 0.01727007 -0.32156152] [ 0.05594774 -0.01220184 0.99835914 0.17291419] [ 0. 0. 0. 1. ]] SLAMing on 65.95538475 meters Centerline goodness : 0.932333 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:0.17 [[ 0.99446617 0.09017882 -0.05389628 4.59124762] [-0.08949812 0.99587527 0.01491759 -0.32760878] [ 0.05501922 -0.01001143 0.9984351 0.17115454] [ 0. 0. 0. 1. ]] SLAMing on 66.01538475 meters Centerline goodness : 0.933714 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:0.17 [[ 0.99430069 0.09239123 -0.05319777 4.5898486 ] [-0.09163184 0.99565547 0.01654643 -0.3327844 ] [ 0.05449539 -0.01157752 0.9984469 0.17028976] [ 0. 0. 0. 1. ]] SLAMing on 66.07538475 meters Centerline goodness : 0.936398 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.34, Z:0.17 [[ 9.94076774e-01 9.69219514e-02 -4.91680988e-02 4.60005534e+00] [-9.65784534e-02 9.95281738e-01 9.32008334e-03 -3.37870991e-01] [ 4.98394315e-02 -4.51629944e-03 9.98747032e-01 1.65667889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13538475 meters Centerline goodness : 0.931899 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.34, Z:0.16 [[ 0.99387983 0.09937288 -0.04824839 4.59981521] [-0.09893514 0.99502877 0.01138331 -0.34303115] [ 0.04913973 -0.00654019 0.9987705 0.16352286] [ 0. 0. 0. 1. ]] SLAMing on 66.19538474999999 meters Centerline goodness : 0.932359 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.35, Z:0.16 [[ 0.99376545 0.10067286 -0.04790821 4.59939661] [-0.10016322 0.99488702 0.01292833 -0.3506201 ] [ 0.04896479 -0.00804908 0.99876807 0.16260314] [ 0. 0. 0. 1. ]] SLAMing on 66.25538474999999 meters Centerline goodness : 0.933305 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.36, Z:0.16 [[ 0.99367407 0.1018329 -0.0473488 4.59844122] [-0.1012483 0.99475418 0.01459147 -0.35713854] [ 0.04858631 -0.00970518 0.99877184 0.16213292] [ 0. 0. 0. 1. ]] SLAMing on 66.31538474999999 meters Centerline goodness : 0.932182 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.36, Z:0.16 [[ 0.99391401 0.09989922 -0.04642295 4.5964826 ] [-0.09941249 0.99496547 0.01268357 -0.36375576] [ 0.04745631 -0.00799136 0.99884135 0.16102163] [ 0. 0. 0. 1. ]] SLAMing on 66.37538475 meters Centerline goodness : 0.933942 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.37, Z:0.16 [[ 0.99418114 0.09776364 -0.04523414 4.59348603] [-0.09740361 0.9951937 0.01010133 -0.36955035] [ 0.04600428 -0.00563659 0.99892534 0.15980914] [ 0. 0. 0. 1. ]] SLAMing on 66.43538475 meters Centerline goodness : 0.937072 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.38, Z:0.16 [[ 9.94414164e-01 9.57065328e-02 -4.45053963e-02 4.59040265e+00] [-9.54163792e-02 9.95400267e-01 8.60366176e-03 -3.76757213e-01] [ 4.51241100e-02 -4.30905934e-03 9.98972095e-01 1.60807001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49538475 meters Centerline goodness : 0.936515 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.38, Z:0.16 [[ 9.94579439e-01 9.44774874e-02 -4.34251519e-02 4.58918474e+00] [-9.42350605e-02 9.95520960e-01 7.60078816e-03 -3.84063341e-01] [ 4.39487523e-02 -3.46741581e-03 9.99027769e-01 1.58875015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55538474999999 meters Centerline goodness : 0.933996 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.39, Z:0.16 [[ 9.94769916e-01 9.26483290e-02 -4.30011848e-02 4.59021921e+00] [-9.23936198e-02 9.95691398e-01 7.87771191e-03 -3.91977373e-01] [ 4.35457666e-02 -3.86347570e-03 9.99043963e-01 1.57761038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61538474999999 meters Centerline goodness : 0.931813 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.40, Z:0.15 [[ 9.95296863e-01 8.69117440e-02 -4.27843734e-02 4.59206237e+00] [-8.68257700e-02 9.96216006e-01 3.86715750e-03 -4.02740871e-01] [ 4.29585790e-02 -1.34183564e-04 9.99076845e-01 1.54059505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67538474999999 meters Centerline goodness : 0.931424 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.41, Z:0.15 [[ 9.95393178e-01 8.56950014e-02 -4.29975321e-02 4.59442595e+00] [-8.55988959e-02 9.96321347e-01 4.07470244e-03 -4.07086414e-01] [ 4.31885407e-02 -3.75389739e-04 9.99066869e-01 1.52747519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73538475 meters Centerline goodness : 0.927969 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.41, Z:0.15 [[ 9.95591527e-01 8.39763682e-02 -4.17789480e-02 4.59429797e+00] [-8.39356735e-02 9.96467434e-01 2.73034116e-03 -4.12721595e-01] [ 4.18606452e-02 7.88439612e-04 9.99123148e-01 1.49840580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79538475 meters Centerline goodness : 0.924527 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.42, Z:0.15 [[ 9.95784200e-01 8.16596961e-02 -4.17794311e-02 4.59624487e+00] [-8.16606087e-02 9.96658767e-01 1.68762638e-03 -4.19258992e-01] [ 4.17776473e-02 1.73122209e-03 9.99125433e-01 1.47868265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85538475 meters Centerline goodness : 0.923201 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.43, Z:0.15 [[ 9.95965376e-01 7.99670850e-02 -4.07214444e-02 4.59489549e+00] [-8.00087273e-02 9.96793977e-01 6.08686227e-04 -4.27896470e-01] [ 4.06395653e-02 2.65184053e-03 9.99170353e-01 1.46256379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91538474999999 meters Centerline goodness : 0.920725 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.43, Z:0.15 [[ 9.95876401e-01 8.15021218e-02 -3.98446777e-02 4.59316618e+00] [-8.14557282e-02 9.96673058e-01 2.78912113e-03 -4.34446235e-01] [ 3.99394360e-02 4.67957323e-04 9.99201993e-01 1.46474137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97538474999999 meters Centerline goodness : 0.921234 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.44, Z:0.15 [[ 9.96253710e-01 7.69449631e-02 -3.94717484e-02 4.59265312e+00] [-7.69096391e-02 9.97035143e-01 2.41486538e-03 -4.43777403e-01] [ 3.95405320e-02 6.29939330e-04 9.99217769e-01 1.50065102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03538474999999 meters Centerline goodness : 0.919529 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.45, Z:0.15 [[ 9.96848835e-01 6.85589034e-02 -3.99008296e-02 4.59734135e+00] [-6.87197799e-02 9.97632421e-01 -2.67281911e-03 -4.49142455e-01] [ 3.96231157e-02 5.40637284e-03 9.99200070e-01 1.48072178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09538475 meters Centerline goodness : 0.915559 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.45, Z:0.14 [[ 9.96875595e-01 6.75547089e-02 -4.09317635e-02 4.60715865e+00] [-6.76612829e-02 9.97707601e-01 -1.22240338e-03 -4.50329465e-01] [ 4.07553524e-02 3.98807972e-03 9.99161196e-01 1.42734260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15538475 meters Centerline goodness : 0.916469 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.45, Z:0.14 [[ 9.96964037e-01 6.52375274e-02 -4.25061604e-02 4.61280628e+00] [-6.53897712e-02 9.97857374e-01 -2.19974006e-03 -4.51422709e-01] [ 4.22715800e-02 4.97252983e-03 9.99093783e-01 1.41104808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21538475 meters Centerline goodness : 0.917565 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.45, Z:0.14 [[ 9.96979856e-01 6.46446903e-02 -4.30375403e-02 4.61437838e+00] [-6.48098482e-02 9.97894620e-01 -2.45191839e-03 -4.51186229e-01] [ 4.27884264e-02 5.23376970e-03 9.99070447e-01 1.41055041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27538474999999 meters Centerline goodness : 0.917754 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.45, Z:0.14 [[ 9.97117640e-01 6.13124502e-02 -4.46899925e-02 4.62034842e+00] [-6.14574192e-02 9.98107943e-01 -1.87588242e-03 -4.50534978e-01] [ 4.44904216e-02 4.61700705e-03 9.98999142e-01 1.43473540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33538474999999 meters Centerline goodness : 0.916073 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.45, Z:0.14 [[ 9.96971528e-01 6.26588985e-02 -4.60612104e-02 4.62602609e+00] [-6.26599450e-02 9.98033921e-01 1.42256399e-03 -4.48418821e-01] [ 4.60597868e-02 1.46793711e-03 9.98937606e-01 1.43696347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39538474999999 meters Centerline goodness : 0.916386 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.45, Z:0.14 [[ 9.96976147e-01 6.21937914e-02 -4.65885639e-02 4.62725665e+00] [-6.21994385e-02 9.98062854e-01 1.32986285e-03 -4.47947681e-01] [ 4.65810243e-02 1.57194097e-03 9.98913278e-01 1.44040604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45538475 meters Centerline goodness : 0.913365 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.45, Z:0.15 [[ 9.97008344e-01 6.09842953e-02 -4.74897539e-02 4.62915388e+00] [-6.09149946e-02 9.98138726e-01 2.90649795e-03 -4.48920921e-01] [ 4.75786132e-02 -4.96460632e-06 9.98867496e-01 1.47942302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51538475 meters Centerline goodness : 0.911647 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.45, Z:0.15 [[ 9.97399776e-01 5.29250460e-02 -4.89144735e-02 4.63514989e+00] [-5.29407977e-02 9.98597177e-01 9.74390626e-04 -4.48937360e-01] [ 4.88974248e-02 1.61771425e-03 9.98802495e-01 1.52691575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57538475 meters Centerline goodness : 0.912184 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.45, Z:0.16 [[ 9.97535266e-01 4.85238952e-02 -5.06835673e-02 4.64307004e+00] [-4.84880836e-02 9.98821884e-01 1.93662501e-03 -4.48980228e-01] [ 5.07178287e-02 5.25697306e-04 9.98712884e-01 1.55326678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63538475 meters Centerline goodness : 0.914184 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.45, Z:0.16 [[ 9.97618351e-01 4.48774467e-02 -5.23797678e-02 4.64948853e+00] [-4.47794599e-02 9.98992261e-01 3.04336894e-03 -4.48667626e-01] [ 5.24635613e-02 -6.90582991e-04 9.98622600e-01 1.58783984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69538474999999 meters Centerline goodness : 0.917015 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.44, Z:0.16 [[ 9.97453684e-01 4.75193347e-02 -5.31795163e-02 4.65257094e+00] [-4.72892561e-02 9.98865668e-01 5.57713461e-03 -4.42351618e-01] [ 5.33842148e-02 -3.04811370e-03 9.98569394e-01 1.58566547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75538474999999 meters Centerline goodness : 0.916341 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.44, Z:0.16 [[ 0.99711173 0.0521452 -0.05521852 4.66080424] [-0.05154937 0.9985964 0.01216129 -0.43861699] [ 0.05577517 -0.00927968 0.99840023 0.15821639] [ 0. 0. 0. 1. ]] SLAMing on 67.81538474999999 meters Centerline goodness : 0.914350 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.44, Z:0.16 [[ 0.99688995 0.05485567 -0.05657983 4.6648452 ] [-0.05408188 0.99842204 0.01511894 -0.4358616 ] [ 0.05731991 -0.01201198 0.9982836 0.15798063] [ 0. 0. 0. 1. ]] SLAMing on 67.87538475 meters Centerline goodness : 0.914499 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.43, Z:0.15 [[ 0.99663291 0.05831245 -0.05764119 4.66820441] [-0.05749953 0.99822264 0.0156639 -0.42852351] [ 0.05845215 -0.01229681 0.99821447 0.15420546] [ 0. 0. 0. 1. ]] SLAMing on 67.93538475 meters Centerline goodness : 0.911953 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.42, Z:0.15 [[ 0.99597319 0.06825497 -0.05812629 4.66837552] [-0.06709958 0.99751235 0.02160456 -0.41995008] [ 0.05945631 -0.01761731 0.99807544 0.15303278] [ 0. 0. 0. 1. ]] SLAMing on 67.99538475 meters Centerline goodness : 0.920573 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.42, Z:0.15 [[ 0.99584335 0.07443617 -0.05249081 4.67423087] [-0.0737369 0.99716284 0.01513759 -0.41552385] [ 0.05346866 -0.01120416 0.99850667 0.15340305] [ 0. 0. 0. 1. ]] SLAMing on 68.05538474999999 meters Centerline goodness : 0.925167 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.41, Z:0.15 [[ 9.95763565e-01 7.85039861e-02 -4.78753199e-02 4.68504675e+00] [-7.82221535e-02 9.96905945e-01 7.73509205e-03 -4.11466286e-01] [ 4.83344266e-02 -3.95741222e-03 9.98823369e-01 1.51128619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11538474999999 meters Centerline goodness : 0.929543 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.41, Z:0.15 [[ 0.99576887 0.07835847 -0.04800311 4.68473505] [-0.0780124 0.99691137 0.00904378 -0.4132894 ] [ 0.04856351 -0.00526067 0.99880624 0.15369943] [ 0. 0. 0. 1. ]] SLAMing on 68.17538474999999 meters Centerline goodness : 0.930715 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.42, Z:0.15 [[ 9.96133441e-01 7.31309313e-02 -4.86830026e-02 4.68709688e+00] [-7.29584438e-02 9.97320829e-01 5.31305405e-03 -4.15673927e-01] [ 4.89411211e-02 -1.74067471e-03 9.98800149e-01 1.52969902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23538475 meters Centerline goodness : 0.930666 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.42, Z:0.15 [[ 9.96427719e-01 6.81579892e-02 -4.98627049e-02 4.69440777e+00] [-6.80506257e-02 9.97674442e-01 3.84965236e-03 -4.19148130e-01] [ 5.00091308e-02 -4.42712055e-04 9.98748662e-01 1.51102844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29538475 meters Centerline goodness : 0.927536 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.42, Z:0.15 [[ 9.96617560e-01 6.46135147e-02 -5.07792650e-02 4.70073994e+00] [-6.45846051e-02 9.97909784e-01 2.21167076e-03 -4.21392614e-01] [ 5.08160292e-02 1.07536887e-03 9.98707452e-01 1.47659719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35538475 meters Centerline goodness : 0.927318 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.42, Z:0.15 [[ 9.96655258e-01 6.35867901e-02 -5.13324094e-02 4.70333654e+00] [-6.35485276e-02 9.97975914e-01 2.37882387e-03 -4.24130576e-01] [ 5.13797700e-02 8.91231718e-04 9.98678790e-01 1.47011922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41538474999999 meters Centerline goodness : 0.927758 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.42, Z:0.15 [[ 9.96638353e-01 6.37868092e-02 -5.14124072e-02 4.70373679e+00] [-6.37254598e-02 9.97963445e-01 2.83329541e-03 -4.24853191e-01] [ 5.14884299e-02 4.52508417e-04 9.98673489e-01 1.47115814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47538474999999 meters Centerline goodness : 0.931003 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.43, Z:0.15 [[ 9.96514704e-01 6.64463559e-02 -5.04314118e-02 4.69980975e+00] [-6.63281274e-02 9.97789782e-01 4.01616303e-03 -4.25688614e-01] [ 5.05868068e-02 -6.57144405e-04 9.98719452e-01 1.47912836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53538474999999 meters Centerline goodness : 0.935836 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.43, Z:0.15 [[ 9.96388753e-01 6.89988468e-02 -4.94834557e-02 4.69544130e+00] [-6.88133875e-02 9.97614697e-01 5.44380423e-03 -4.26158425e-01] [ 4.97410389e-02 -2.01902109e-03 9.98760108e-01 1.50023962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59538475 meters Centerline goodness : 0.939896 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.43, Z:0.15 [[ 9.96364102e-01 6.97510790e-02 -4.89220074e-02 4.69394883e+00] [-6.95374394e-02 9.97560951e-01 6.05748573e-03 -4.26188756e-01] [ 4.92252004e-02 -2.63355021e-03 9.98784233e-01 1.50757934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65538475 meters Centerline goodness : 0.937415 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.43, Z:0.15 [[ 9.96397886e-01 6.88981748e-02 -4.94397987e-02 4.69655242e+00] [-6.87143924e-02 9.97621707e-01 5.40939501e-03 -4.26383269e-01] [ 4.96949139e-02 -1.99268403e-03 9.98762457e-01 1.49157424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71538475 meters Centerline goodness : 0.931273 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.43, Z:0.15 [[ 9.96464607e-01 6.70630892e-02 -5.06046402e-02 4.70140978e+00] [-6.69479950e-02 9.97748576e-01 3.96790252e-03 -4.26111438e-01] [ 5.07568075e-02 -5.65995227e-04 9.98710882e-01 1.46303081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77538474999999 meters Centerline goodness : 0.928984 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.43, Z:0.14 [[ 9.96521578e-01 6.56355057e-02 -5.13490425e-02 4.70514516e+00] [-6.55576170e-02 9.97843650e-01 3.20147435e-03 -4.27184894e-01] [ 5.14484464e-02 1.75982592e-04 9.98675636e-01 1.44075306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83538474999999 meters Centerline goodness : 0.928873 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.43, Z:0.15 [[ 0.9963258 0.06819228 -0.05181426 4.70797391] [-0.06784003 0.99765976 0.008529 -0.43095869] [ 0.05227462 -0.00498258 0.99862032 0.14606921] [ 0. 0. 0. 1. ]] SLAMing on 68.89538474999999 meters Centerline goodness : 0.933631 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.43, Z:0.15 [[ 0.99619154 0.07110117 -0.05046813 4.70265574] [-0.07067395 0.9974473 0.01020219 -0.43173933] [ 0.05106469 -0.00659655 0.99867356 0.14825073] [ 0. 0. 0. 1. ]] SLAMing on 68.95538475 meters Centerline goodness : 0.937048 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.43, Z:0.15 [[ 9.96062818e-01 7.63828688e-02 -4.49946599e-02 4.71108963e+00] [-7.63116768e-02 9.97078551e-01 3.30031003e-03 -4.30492851e-01] [ 4.51152974e-02 1.46301828e-04 9.98981776e-01 1.45759531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01538475 meters Centerline goodness : 0.935097 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.43, Z:0.14 [[ 9.95796188e-01 7.96384957e-02 -4.52510899e-02 4.71366833e+00] [-7.93978103e-02 9.96817765e-01 7.09442388e-03 -4.32037647e-01] [ 4.56720796e-02 -3.47176281e-03 9.98950453e-01 1.44599858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07538475 meters Centerline goodness : 0.936078 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 9.96093324e-01 7.60766323e-02 -4.48378817e-02 4.71540194e+00] [-7.59429456e-02 9.97101182e-01 4.67994795e-03 -4.33979309e-01] [ 4.50639395e-02 -1.25654411e-03 9.98983314e-01 1.42800487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13538475 meters Centerline goodness : 0.935452 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 9.96126021e-01 7.53008513e-02 -4.54172998e-02 4.71733888e+00] [-7.51601852e-02 9.97159923e-01 4.79937848e-03 -4.34837507e-01] [ 4.56497085e-02 -1.36721312e-03 9.98956573e-01 1.42864967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19538474999999 meters Centerline goodness : 0.933603 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 0.99580535 0.07927737 -0.04568148 4.71852916] [-0.07894498 0.99683801 0.00903774 -0.4348087 ] [ 0.04625352 -0.0053935 0.99891517 0.14355511] [ 0. 0. 0. 1. ]] SLAMing on 69.25538474999999 meters Centerline goodness : 0.935276 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 0.99580118 0.07933992 -0.04566382 4.71843976] [-0.07901142 0.99683347 0.00895728 -0.43399814] [ 0.04622989 -0.0053117 0.9989167 0.14375572] [ 0. 0. 0. 1. ]] SLAMing on 69.31538474999999 meters Centerline goodness : 0.936720 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 0.99583374 0.07870461 -0.04605152 4.71984498] [-0.07839955 0.99688666 0.00839605 -0.43254456] [ 0.04656896 -0.00475065 0.99890378 0.14340036] [ 0. 0. 0. 1. ]] SLAMing on 69.37538475 meters Centerline goodness : 0.936015 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 9.95876459e-01 7.77149326e-02 -4.68024389e-02 4.72277882e+00] [-7.74351962e-02 9.96967161e-01 7.76341379e-03 -4.32079645e-01] [ 4.72638278e-02 -4.10724499e-03 9.98873997e-01 1.42124855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43538475 meters Centerline goodness : 0.933872 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.43, Z:0.14 [[ 9.95945889e-01 7.66828564e-02 -4.70268540e-02 4.72515227e+00] [-7.64242925e-02 9.97048850e-01 7.27443552e-03 -4.32754323e-01] [ 4.74458953e-02 -3.65095011e-03 9.98867137e-01 1.40344281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49538475 meters Centerline goodness : 0.935669 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.43, Z:0.14 [[ 9.96281219e-01 7.20830269e-02 -4.71992599e-02 4.72543661e+00] [-7.19880598e-02 9.97398590e-01 3.71102055e-03 -4.33785942e-01] [ 4.73439769e-02 -2.99436929e-04 9.98878600e-01 1.40987346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55538474999999 meters Centerline goodness : 0.933256 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.43, Z:0.14 [[ 9.96274923e-01 7.19709095e-02 -4.75022814e-02 4.72674393e+00] [-7.19181854e-02 9.97406547e-01 2.82032104e-03 -4.31319670e-01] [ 4.75820675e-02 6.06462759e-04 9.98867148e-01 1.39574822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61538474999999 meters Centerline goodness : 0.928227 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.43, Z:0.14 [[ 9.95930034e-01 7.71377051e-02 -4.66169781e-02 4.72513715e+00] [-7.69273304e-02 9.97016843e-01 6.29282643e-03 -4.27762810e-01] [ 4.69633266e-02 -2.68109516e-03 9.98893016e-01 1.39409466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67538474999999 meters Centerline goodness : 0.930077 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:0.14 [[ 0.99559138 0.08171376 -0.04605067 4.72391409] [-0.08133214 0.99663584 0.01010378 -0.42501445] [ 0.04672136 -0.00631384 0.99888801 0.1405703 ] [ 0. 0. 0. 1. ]] SLAMing on 69.73538475 meters Centerline goodness : 0.927607 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.42, Z:0.14 [[ 0.99556361 0.08226232 -0.04567289 4.72291663] [-0.08192725 0.99659619 0.00916341 -0.42076422] [ 0.04627123 -0.00538091 0.99891442 0.14011378] [ 0. 0. 0. 1. ]] SLAMing on 69.79538475 meters Centerline goodness : 0.926099 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.42, Z:0.14 [[ 9.95600189e-01 8.18299639e-02 -4.56521714e-02 4.72495223e+00] [-8.15867093e-02 9.96640459e-01 7.16963947e-03 -4.16743040e-01] [ 4.60854924e-02 -3.41348398e-03 9.98931667e-01 1.36416100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85538475 meters Centerline goodness : 0.928726 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.42, Z:0.13 [[ 0.99532065 0.08516803 -0.04564224 4.7270144 ] [-0.08478363 0.99634619 0.01029628 -0.4153609 ] [ 0.04635239 -0.00637839 0.99890479 0.13498905] [ 0. 0. 0. 1. ]] SLAMing on 69.91538474999999 meters Centerline goodness : 0.927148 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.42, Z:0.14 [[ 0.99528523 0.08578101 -0.04526514 4.72555308] [-0.08538417 0.99629137 0.0106324 -0.41554937] [ 0.04600933 -0.00671735 0.99891842 0.135857 ] [ 0. 0. 0. 1. ]] SLAMing on 69.97538474999999 meters Centerline goodness : 0.931495 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.42, Z:0.14 [[ 0.99531596 0.08498314 -0.04608702 4.72724964] [-0.08452904 0.99635212 0.01171764 -0.4173486 ] [ 0.0469147 -0.00776706 0.9988687 0.13806196] [ 0. 0. 0. 1. ]] SLAMing on 70.03538474999999 meters Centerline goodness : 0.931365 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.42, Z:0.14 [[ 0.99543565 0.08320026 -0.04675014 4.73116173] [-0.08279479 0.9965108 0.01054716 -0.41752694] [ 0.04746455 -0.00662835 0.99885093 0.13555809] [ 0. 0. 0. 1. ]] SLAMing on 70.09538475 meters Centerline goodness : 0.934593 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.42, Z:0.14 [[ 0.99551044 0.08175171 -0.04770345 4.73446186] [-0.08133158 0.99662981 0.0106859 -0.42006197] [ 0.04841627 -0.00675813 0.99880438 0.13544945] [ 0. 0. 0. 1. ]] SLAMing on 70.15538475 meters Centerline goodness : 0.937588 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.42, Z:0.14 [[ 0.99550385 0.08200524 -0.0474049 4.73363039] [-0.08154377 0.99660236 0.01159132 -0.4218372 ] [ 0.04819438 -0.00767363 0.9988085 0.1368098 ] [ 0. 0. 0. 1. ]] SLAMing on 70.21538475 meters Centerline goodness : 0.938093 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.42, Z:0.14 [[ 0.99553485 0.08155199 -0.0475356 4.73507961] [-0.08112299 0.99664462 0.01088847 -0.42174966] [ 0.04826407 -0.00698362 0.9988102 0.13535486] [ 0. 0. 0. 1. ]] SLAMing on 70.27538474999999 meters Centerline goodness : 0.937366 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.42, Z:0.13 [[ 0.99562175 0.0799638 -0.04840582 4.73959779] [-0.07960009 0.99678257 0.00939848 -0.42212853] [ 0.04900162 -0.00550423 0.99878353 0.13191497] [ 0. 0. 0. 1. ]] SLAMing on 70.33538474999999 meters Centerline goodness : 0.935027 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.42, Z:0.13 [[ 0.99563351 0.07944482 -0.04901464 4.74184569] [-0.07910016 0.99682663 0.00893502 -0.42288182] [ 0.04956894 -0.00501894 0.99875809 0.13055428] [ 0. 0. 0. 1. ]] SLAMing on 70.39538474999999 meters Centerline goodness : 0.931687 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.42, Z:0.13 [[ 9.95664705e-01 7.86091341e-02 -4.97232333e-02 4.74481635e+00] [-7.82843012e-02 9.96895264e-01 8.44993059e-03 -4.24066222e-01] [ 5.02330975e-02 -4.52074908e-03 9.98727289e-01 1.28939885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45538475 meters Centerline goodness : 0.932994 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.42, Z:0.13 [[ 9.95697057e-01 7.78898477e-02 -5.02049976e-02 4.74674384e+00] [-7.75590952e-02 9.96951472e-01 8.50583502e-03 -4.24951238e-01] [ 5.07144645e-02 -4.57538071e-03 9.98702713e-01 1.28751837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51538475 meters Centerline goodness : 0.932881 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.43, Z:0.13 [[ 0.99576642 0.07651705 -0.05093509 4.74913939] [-0.07616819 0.99705652 0.00875822 -0.42538347] [ 0.05145532 -0.00484151 0.99866356 0.12976497] [ 0. 0. 0. 1. ]] SLAMing on 70.57538475 meters Centerline goodness : 0.930264 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.42, Z:0.13 [[ 9.95720860e-01 7.70698384e-02 -5.09922515e-02 4.74947457e+00] [-7.67479314e-02 9.97016445e-01 8.24399858e-03 -4.23167132e-01] [ 5.14754770e-02 -4.29517153e-03 9.98665022e-01 1.28758959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63538474999999 meters Centerline goodness : 0.932149 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.42, Z:0.13 [[ 9.95821978e-01 7.52022548e-02 -5.17996955e-02 4.75185511e+00] [-7.48863381e-02 9.97159860e-01 8.01565667e-03 -4.20599822e-01] [ 5.22553725e-02 -4.10307757e-03 9.98625326e-01 1.30491932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69538474999999 meters Centerline goodness : 0.930694 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.42, Z:0.13 [[ 9.95948782e-01 7.25125575e-02 -5.31784994e-02 4.75627128e+00] [-7.22808275e-02 9.97364609e-01 6.27051272e-03 -4.15846644e-01] [ 5.34930442e-02 -2.40132356e-03 9.98565335e-01 1.30462006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75538474999999 meters Centerline goodness : 0.929144 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.41, Z:0.13 [[ 0.99571196 0.07514134 -0.05395804 4.75939803] [-0.07474374 0.99715892 0.00935213 -0.41310535] [ 0.05450747 -0.00527901 0.99849941 0.130486 ] [ 0. 0. 0. 1. ]] SLAMing on 70.81538474999999 meters Centerline goodness : 0.925137 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.41, Z:0.13 [[ 0.99544861 0.07769409 -0.05518778 4.76382809] [-0.07720502 0.99695519 0.01094266 -0.40693133] [ 0.05586992 -0.00663208 0.99841603 0.1286461 ] [ 0. 0. 0. 1. ]] SLAMing on 70.87538475 meters Centerline goodness : 0.923690 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.40, Z:0.13 [[ 0.9950984 0.08183708 -0.05551456 4.76364377] [-0.08119583 0.99660382 0.0137136 -0.399924 ] [ 0.0564483 -0.00913883 0.9983637 0.13031644] [ 0. 0. 0. 1. ]] SLAMing on 70.93538475 meters Centerline goodness : 0.925760 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.39, Z:0.13 [[ 0.99497028 0.08371096 -0.05501472 4.76042616] [-0.08302332 0.99643959 0.01467211 -0.39478571] [ 0.05604706 -0.0100308 0.99837774 0.13340615] [ 0. 0. 0. 1. ]] SLAMing on 70.99538475 meters Centerline goodness : 0.928641 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.39, Z:0.13 [[ 0.99499979 0.08314917 -0.05533209 4.76166521] [-0.08250454 0.99649461 0.0138382 -0.38946458] [ 0.05628876 -0.00920386 0.99837211 0.13350233] [ 0. 0. 0. 1. ]] SLAMing on 71.05538474999999 meters Centerline goodness : 0.927774 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.39, Z:0.13 [[ 0.99504937 0.08246374 -0.05546609 4.76221301] [-0.0818726 0.99655995 0.01285082 -0.38589097] [ 0.05633501 -0.00824605 0.99837787 0.1335773 ] [ 0. 0. 0. 1. ]] SLAMing on 71.11538474999999 meters Centerline goodness : 0.932055 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.38, Z:0.13 [[ 0.99512942 0.08108678 -0.0560569 4.76526839] [-0.08058885 0.99668573 0.01109052 -0.3797097 ] [ 0.0567704 -0.00651894 0.99836598 0.13189997] [ 0. 0. 0. 1. ]] SLAMing on 71.17538474999999 meters Centerline goodness : 0.932167 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.38, Z:0.13 [[ 0.99515759 0.08049852 -0.0564035 4.76643044] [-0.0800397 0.99673794 0.01035062 -0.37819473] [ 0.05705272 -0.00578598 0.9983544 0.13135117] [ 0. 0. 0. 1. ]] SLAMing on 71.23538475 meters Centerline goodness : 0.932410 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.37, Z:0.13 [[ 9.95218305e-01 7.92559842e-02 -5.70877778e-02 4.76834818e+00] [-7.88623164e-02 9.96843803e-01 9.11956770e-03 -3.74008169e-01] [ 5.76303778e-02 -4.57388631e-03 9.98327511e-01 1.31362374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29538475 meters Centerline goodness : 0.930548 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.37, Z:0.13 [[ 0.99506207 0.08032275 -0.05830722 4.77398248] [-0.07983921 0.99675161 0.01057945 -0.36859554] [ 0.05896759 -0.005872 0.99824263 0.12955379] [ 0. 0. 0. 1. ]] SLAMing on 71.35538475 meters Centerline goodness : 0.931998 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.36, Z:0.13 [[ 0.99502388 0.08041601 -0.05882811 4.77464114] [-0.07996549 0.99674771 0.00997652 -0.36489226] [ 0.05943906 -0.00522265 0.99821827 0.12991189] [ 0. 0. 0. 1. ]] SLAMing on 71.41538474999999 meters Centerline goodness : 0.931182 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.36, Z:0.13 [[ 0.99469156 0.08420971 -0.05913896 4.77589263] [-0.08354892 0.99641137 0.01356313 -0.36257833] [ 0.06006888 -0.00855014 0.99815761 0.13047874] [ 0. 0. 0. 1. ]] SLAMing on 71.47538474999999 meters Centerline goodness : 0.933354 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.36, Z:0.13 [[ 0.99431104 0.08864098 -0.05906216 4.7748744 ] [-0.08773655 0.99598575 0.0177394 -0.36035879] [ 0.06039751 -0.01245657 0.99809668 0.13299891] [ 0. 0. 0. 1. ]] SLAMing on 71.53538474999999 meters Centerline goodness : 0.933337 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.36, Z:0.13 [[ 0.99393757 0.09271096 -0.05909981 4.77557767] [-0.09164827 0.99558141 0.02045104 -0.35534552] [ 0.0607347 -0.01491066 0.99804257 0.13281757] [ 0. 0. 0. 1. ]] SLAMing on 71.59538475 meters Centerline goodness : 0.930526 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:0.13 [[ 0.99384312 0.09352124 -0.05941064 4.77619925] [-0.09255086 0.99552883 0.01888635 -0.3492295 ] [ 0.06091128 -0.01327156 0.99805495 0.13091429] [ 0. 0. 0. 1. ]] SLAMing on 71.65538475 meters Centerline goodness : 0.930614 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:0.13 [[ 0.99418209 0.08968023 -0.05966095 4.77588613] [-0.08897071 0.99592942 0.01444977 -0.34594299] [ 0.06071395 -0.00905763 0.99811411 0.13081994] [ 0. 0. 0. 1. ]] SLAMing on 71.71538475 meters Centerline goodness : 0.929870 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.34, Z:0.13 [[ 0.99432844 0.08757429 -0.06034654 4.77914572] [-0.0869303 0.99612667 0.01322057 -0.34441734] [ 0.06127058 -0.00789965 0.99808993 0.12967049] [ 0. 0. 0. 1. ]] SLAMing on 71.77538474999999 meters Centerline goodness : 0.933307 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.34, Z:0.13 [[ 0.9943675 0.08681977 -0.06079152 4.78041063] [-0.08619478 0.99619564 0.01283388 -0.34434699] [ 0.06167448 -0.00752168 0.99806797 0.12964993] [ 0. 0. 0. 1. ]] SLAMing on 71.83538474999999 meters Centerline goodness : 0.931299 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.34, Z:0.13 [[ 0.99438796 0.08646375 -0.06096398 4.78236869] [-0.08589929 0.99623365 0.01182466 -0.34205238] [ 0.06175677 -0.00652153 0.99806992 0.12742741] [ 0. 0. 0. 1. ]] SLAMing on 71.89538474999999 meters Centerline goodness : 0.932454 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.34, Z:0.13 [[ 0.99438833 0.08660224 -0.06076095 4.78186606] [-0.08599394 0.99621648 0.01256086 -0.34497589] [ 0.06161886 -0.0072653 0.99807331 0.1280848 ] [ 0. 0. 0. 1. ]] SLAMing on 71.95538475 meters Centerline goodness : 0.937897 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:0.13 [[ 0.99436636 0.0876002 -0.05968043 4.77964951] [-0.08695609 0.99612322 0.0133105 -0.34539721] [ 0.06061506 -0.00804593 0.99812879 0.12833316] [ 0. 0. 0. 1. ]] SLAMing on 72.01538475 meters Centerline goodness : 0.937100 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:0.13 [[ 0.99444594 0.08654151 -0.05989854 4.78127712] [-0.08589039 0.99621493 0.01336582 -0.3481286 ] [ 0.06082851 -0.00814687 0.99811498 0.1278575 ] [ 0. 0. 0. 1. ]] SLAMing on 72.07538475 meters Centerline goodness : 0.936522 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:0.13 [[ 0.99452438 0.08563194 -0.05990346 4.78223806] [-0.08498848 0.99629432 0.01321305 -0.348896 ] [ 0.06081294 -0.0080496 0.99811672 0.1274583 ] [ 0. 0. 0. 1. ]] SLAMing on 72.13538474999999 meters Centerline goodness : 0.937278 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:0.13 [[ 0.99462694 0.08431525 -0.06006823 4.78388572] [-0.08370137 0.99641036 0.01266812 -0.349768 ] [ 0.06092073 -0.00757226 0.99811388 0.1266583 ] [ 0. 0. 0. 1. ]] SLAMing on 72.19538474999999 meters Centerline goodness : 0.933815 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 0.99474824 0.08219188 -0.06099528 4.78787005] [-0.08163388 0.99659501 0.01158883 -0.35010737] [ 0.0617401 -0.00654869 0.99807078 0.12499532] [ 0. 0. 0. 1. ]] SLAMing on 72.25538474999999 meters Centerline goodness : 0.932493 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 0.99486617 0.08055613 -0.06125362 4.79035153] [-0.08002264 0.99673105 0.01111737 -0.35178237] [ 0.06194896 -0.00615862 0.99806032 0.12370663] [ 0. 0. 0. 1. ]] SLAMing on 72.31538474999999 meters Centerline goodness : 0.936965 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 9.95139353e-01 7.74382226e-02 -6.08357647e-02 4.78823613e+00] [-7.70957695e-02 9.96991917e-01 7.95991977e-03 -3.53524461e-01] [ 6.12691677e-02 -3.23104931e-03 9.98116050e-01 1.24215311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37538475 meters Centerline goodness : 0.932836 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 9.95130506e-01 7.76538046e-02 -6.07055356e-02 4.78824894e+00] [-7.73041953e-02 9.96974729e-01 8.09016507e-03 -3.54190977e-01] [ 6.11501170e-02 -3.35797748e-03 9.98122932e-01 1.23833231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43538475 meters Centerline goodness : 0.930855 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 9.95071615e-01 7.87107970e-02 -6.03083111e-02 4.78685874e+00] [-7.83550844e-02 9.96891425e-01 8.24427349e-03 -3.54662658e-01] [ 6.07697515e-02 -3.47817973e-03 9.98145751e-01 1.23715990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49538475 meters Centerline goodness : 0.928821 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 0.99478813 0.08218216 -0.0603546 4.78917658] [-0.08163361 0.99659602 0.01150314 -0.35390817] [ 0.06109451 -0.00651623 0.99811072 0.12188809] [ 0. 0. 0. 1. ]] SLAMing on 72.55538474999999 meters Centerline goodness : 0.925356 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 0.99477479 0.08214993 -0.06061772 4.7901135 ] [-0.08162717 0.99660163 0.01105453 -0.35377662] [ 0.06131984 -0.00604871 0.99809984 0.12090854] [ 0. 0. 0. 1. ]] SLAMing on 72.61538474999999 meters Centerline goodness : 0.922215 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 0.99475389 0.08270113 -0.06020987 4.78891461] [-0.08215431 0.9965532 0.01150567 -0.35434929] [ 0.06095388 -0.00649881 0.99811943 0.12143282] [ 0. 0. 0. 1. ]] SLAMing on 72.67538474999999 meters Centerline goodness : 0.921683 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.35, Z:0.12 [[ 0.99472749 0.08334355 -0.05975851 4.78806362] [-0.08280886 0.99650055 0.01137322 -0.35441341] [ 0.06049727 -0.00636472 0.99814807 0.12077077] [ 0. 0. 0. 1. ]] SLAMing on 72.73538475 meters Centerline goodness : 0.922259 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 0.99470079 0.08370216 -0.05970164 4.78795862] [-0.08316218 0.99646993 0.01147701 -0.35500933] [ 0.06045154 -0.00645127 0.99815029 0.12052604] [ 0. 0. 0. 1. ]] SLAMing on 72.79538475 meters Centerline goodness : 0.917424 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 0.9947201 0.0832861 -0.0599612 4.78956417] [-0.08276333 0.99650681 0.01115412 -0.35613011] [ 0.06068073 -0.00613264 0.99813839 0.11916656] [ 0. 0. 0. 1. ]] SLAMing on 72.85538475 meters Centerline goodness : 0.915598 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 9.94753767e-01 8.23846313e-02 -6.06441794e-02 4.79353164e+00] [-8.19410104e-02 9.96589289e-01 9.77031116e-03 -3.56443655e-01] [ 6.12422631e-02 -4.74980849e-03 9.98111629e-01 1.15177484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91538474999999 meters Centerline goodness : 0.916645 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.11 [[ 0.99468594 0.08331362 -0.06048741 4.7935189 ] [-0.08285271 0.99651069 0.01009284 -0.35852999] [ 0.06111723 -0.00502766 0.99811793 0.1141475 ] [ 0. 0. 0. 1. ]] SLAMing on 72.97538474999999 meters Centerline goodness : 0.921806 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.11 [[ 0.9946367 0.08407885 -0.06023774 4.79250092] [-0.08356742 0.99644181 0.01096419 -0.36007585] [ 0.06094526 -0.00587147 0.99812384 0.11494399] [ 0. 0. 0. 1. ]] SLAMing on 73.03538474999999 meters Centerline goodness : 0.928316 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 0.99455957 0.08547993 -0.05953515 4.79026882] [-0.08490118 0.99631483 0.0121885 -0.36176582] [ 0.06035762 -0.00706758 0.9981518 0.11618689] [ 0. 0. 0. 1. ]] SLAMing on 73.09538475 meters Centerline goodness : 0.931399 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 0.99451885 0.08591762 -0.05958536 4.78967751] [-0.08528571 0.99627077 0.01307321 -0.36362767] [ 0.06048637 -0.00791977 0.9981376 0.11751562] [ 0. 0. 0. 1. ]] SLAMing on 73.15538475 meters Centerline goodness : 0.931697 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 0.99451699 0.08576717 -0.05983259 4.79121331] [-0.08516349 0.99628767 0.01257241 -0.36245604] [ 0.06068877 -0.00740793 0.99812925 0.11632102] [ 0. 0. 0. 1. ]] SLAMing on 73.21538475 meters Centerline goodness : 0.937513 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:0.12 [[ 0.99457335 0.08475797 -0.06033192 4.79377498] [-0.08417915 0.99637745 0.01207633 -0.36197816] [ 0.06113693 -0.00693211 0.99810532 0.11530015] [ 0. 0. 0. 1. ]] SLAMing on 73.27538474999999 meters Centerline goodness : 0.937989 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:0.11 [[ 0.99474855 0.08250149 -0.06057081 4.79708249] [-0.08197166 0.9965719 0.0111849 -0.36246542] [ 0.06128594 -0.00616107 0.99810123 0.11360079] [ 0. 0. 0. 1. ]] SLAMing on 73.33538474999999 meters Centerline goodness : 0.937341 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:0.11 [[ 0.99501773 0.07799352 -0.06210249 4.80388137] [-0.07751419 0.99694015 0.01009419 -0.36437462] [ 0.06269974 -0.00523007 0.99801873 0.11302666] [ 0. 0. 0. 1. ]] SLAMing on 73.39538474999999 meters Centerline goodness : 0.935624 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.37, Z:0.11 [[ 0.99506293 0.07730908 -0.06223405 4.80519131] [-0.07682262 0.99699285 0.01017539 -0.36511675] [ 0.06283355 -0.00534417 0.99800971 0.113044 ] [ 0. 0. 0. 1. ]] SLAMing on 73.45538475 meters Centerline goodness : 0.931618 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:0.11 [[ 0.99474614 0.08168912 -0.061701 4.80516989] [-0.08097328 0.99661768 0.01401865 -0.36389679] [ 0.06263748 -0.00894886 0.99799622 0.11309696] [ 0. 0. 0. 1. ]] SLAMing on 73.51538475 meters Centerline goodness : 0.925202 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:0.11 [[ 0.99442334 0.08677979 -0.05992909 4.8033312 ] [-0.08589787 0.99615644 0.01714352 -0.36001792] [ 0.06118646 -0.01190014 0.99805541 0.11153329] [ 0. 0. 0. 1. ]] SLAMing on 73.57538475 meters Centerline goodness : 0.920790 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:0.11 [[ 0.9941823 0.09007734 -0.05905613 4.80449575] [-0.08901676 0.99582211 0.02035561 -0.35750001] [ 0.06064298 -0.0149802 0.9980471 0.11049688] [ 0. 0. 0. 1. ]] SLAMing on 73.63538474999999 meters Centerline goodness : 0.912891 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:0.11 [[ 0.99433112 0.08941531 -0.05753714 4.8069774 ] [-0.0883951 0.99588381 0.02004377 -0.35545769] [ 0.05909253 -0.01484415 0.99814214 0.10630875] [ 0. 0. 0. 1. ]] SLAMing on 73.69538474999999 meters Centerline goodness : 0.909288 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.35, Z:0.10 [[ 0.99446712 0.08819829 -0.05706321 4.8095412 ] [-0.08723976 0.99600459 0.01908108 -0.35471836] [ 0.05851814 -0.01399733 0.99818821 0.10317421] [ 0. 0. 0. 1. ]] SLAMing on 73.75538474999999 meters Centerline goodness : 0.900496 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.35, Z:0.10 [[ 0.99427234 0.09067586 -0.05657201 4.81399537] [-0.08958876 0.99574739 0.02147049 -0.35288192] [ 0.05827829 -0.01627929 0.99816763 0.09870659] [ 0. 0. 0. 1. ]] SLAMing on 73.81538474999999 meters Centerline goodness : 0.897362 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.35, Z:0.10 [[ 0.99404083 0.09321566 -0.05651262 4.81775715] [-0.09196947 0.99546599 0.02427102 -0.35239686] [ 0.05851883 -0.01892895 0.99810683 0.09602287] [ 0. 0. 0. 1. ]] SLAMing on 73.87538475 meters Centerline goodness : 0.917315 with order 2 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.35, Z:0.09 [[ 0.99411346 0.09275472 -0.05599103 4.81895667] [-0.09153204 0.99551225 0.02402572 -0.35214804] [ 0.05796826 -0.01875932 0.99814216 0.09436482] [ 0. 0. 0. 1. ]] SLAMing on 73.93538475 meters Centerline goodness : 0.917066 with order 3 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:0.10 [[ 0.994716 0.08847864 -0.0520732 4.82839659] [-0.08709007 0.99579665 0.02836113 -0.35514523] [ 0.05436367 -0.02367621 0.99824047 0.09561481] [ 0. 0. 0. 1. ]] SLAMing on 73.99538475 meters Centerline goodness : 0.897371 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:0.09 [[ 0.99512603 0.08362274 -0.05226308 4.83088825] [-0.08249585 0.99631752 0.0233633 -0.35610292] [ 0.05402432 -0.01893794 0.99836002 0.09194249] [ 0. 0. 0. 1. ]] SLAMing on 74.05538474999999 meters Centerline goodness : 0.893965 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.36, Z:0.09 [[ 0.99506502 0.08328788 -0.0539327 4.84028965] [-0.08201846 0.99630858 0.0253415 -0.35774083] [ 0.05584425 -0.02079296 0.99822296 0.08845141] [ 0. 0. 0. 1. ]] SLAMing on 74.11538474999999 meters Centerline goodness : 0.895154 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.36, Z:0.08 [[ 0.9951074 0.08147081 -0.05589067 4.85075059] [-0.08011316 0.99644349 0.02611989 -0.36055812] [ 0.05781991 -0.02151452 0.99809518 0.08450512] [ 0. 0. 0. 1. ]] SLAMing on 74.17538474999999 meters Centerline goodness : 0.895641 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.36, Z:0.08 [[ 0.99503658 0.08107505 -0.05769779 4.8605021 ] [-0.07962312 0.9964583 0.02703715 -0.3614215 ] [ 0.05968548 -0.02230888 0.99796791 0.07945725] [ 0. 0. 0. 1. ]] SLAMing on 74.23538475 meters Centerline goodness : 0.893597 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.36, Z:0.08 [[ 0.99502128 0.08046672 -0.05880277 4.86452778] [-0.07897144 0.99650221 0.02732867 -0.36367524] [ 0.06079613 -0.02254887 0.99789547 0.07800016] [ 0. 0. 0. 1. ]] SLAMing on 74.29538475 meters Centerline goodness : 0.896029 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:0.07 [[ 0.99528804 0.07983693 -0.0550253 4.88096469] [-0.07891705 0.99670586 0.01869592 -0.36545957] [ 0.05633667 -0.01426539 0.99830991 0.07470995] [ 0. 0. 0. 1. ]] SLAMing on 74.35538475 meters Centerline goodness : 0.895839 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.37, Z:0.07 [[ 0.99543215 0.08071559 -0.05098851 4.89729872] [-0.0802522 0.99671307 0.01107437 -0.36690888] [ 0.05171479 -0.00693184 0.99863784 0.07070763] [ 0. 0. 0. 1. ]] SLAMing on 74.41538474999999 meters Centerline goodness : 0.899994 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.37, Z:0.07 [[ 0.99537848 0.0808832 -0.05176479 4.89926096] [-0.08034284 0.99668967 0.01243913 -0.37106506] [ 0.05259955 -0.00822271 0.99858183 0.07108017] [ 0. 0. 0. 1. ]] SLAMing on 74.47538474999999 meters Centerline goodness : 0.902829 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.37, Z:0.07 [[ 0.99559598 0.07693829 -0.05356439 4.90780615] [-0.07644193 0.99701048 0.01125752 -0.3747861 ] [ 0.05427039 -0.00711337 0.99850094 0.06816922] [ 0. 0. 0. 1. ]] SLAMing on 74.53538474999999 meters Centerline goodness : 0.903685 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.38, Z:0.07 [[ 0.99565704 0.07512411 -0.05498569 4.91330855] [-0.07460481 0.99714756 0.01143957 -0.37889068] [ 0.05568823 -0.00728769 0.99842161 0.06678187] [ 0. 0. 0. 1. ]] SLAMing on 74.59538475 meters Centerline goodness : 0.911542 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.38, Z:0.07 [[ 0.99564268 0.07365102 -0.05719432 4.92457055] [-0.07291177 0.99722695 0.01490906 -0.38322045] [ 0.05813379 -0.01067395 0.99825174 0.06583436] [ 0. 0. 0. 1. ]] SLAMing on 74.65538475 meters Centerline goodness : 0.910611 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.39, Z:0.07 [[ 0.9958365 0.07074395 -0.05748875 4.92365548] [-0.07018943 0.99746611 0.01161081 -0.3850438 ] [ 0.05816448 -0.00752737 0.99827863 0.06596072] [ 0. 0. 0. 1. ]] SLAMing on 74.71538475 meters Centerline goodness : 0.915206 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.39, Z:0.07 [[ 0.99566677 0.07124221 -0.05976822 4.93235925] [-0.07028895 0.99736596 0.01790557 -0.38909417] [ 0.06088642 -0.01362694 0.99805168 0.06972781] [ 0. 0. 0. 1. ]] SLAMing on 74.77538474999999 meters Centerline goodness : 0.917654 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.39, Z:0.07 [[ 0.99536655 0.07431248 -0.06101717 4.93642234] [-0.07308423 0.99708036 0.02212353 -0.39237004] [ 0.06248307 -0.01756163 0.9978915 0.06959507] [ 0. 0. 0. 1. ]] SLAMing on 74.83538474999999 meters Centerline goodness : 0.925540 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.40, Z:0.07 [[ 0.9950396 0.07751716 -0.06234807 4.93977264] [-0.07591797 0.9967313 0.02762557 -0.39649939] [ 0.06428573 -0.0227552 0.99767206 0.07221192] [ 0. 0. 0. 1. ]] SLAMing on 74.89538474999999 meters Centerline goodness : 0.924243 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.40, Z:0.07 [[ 0.9948047 0.07934842 -0.06377653 4.9444541 ] [-0.0774944 0.99650946 0.03104048 -0.39950825] [ 0.06601693 -0.02593689 0.99748135 0.07255989] [ 0. 0. 0. 1. ]] SLAMing on 74.95538475 meters Centerline goodness : 0.930309 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.40, Z:0.07 [[ 0.99475234 0.07922395 -0.06474067 4.94694524] [-0.07734696 0.996522 0.0310058 -0.40093526] [ 0.06697191 -0.0258356 0.99742032 0.0716266 ] [ 0. 0. 0. 1. ]] SLAMing on 75.01538475 meters Centerline goodness : 0.929629 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.40, Z:0.07 [[ 0.99504378 0.07513789 -0.065132 4.94842729] [-0.07357053 0.99694735 0.02614125 -0.39958939] [ 0.06689738 -0.02121989 0.99753419 0.06917266] [ 0. 0. 0. 1. ]] SLAMing on 75.07538475 meters Centerline goodness : 0.933558 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.41, Z:0.07 [[ 0.99522169 0.07135892 -0.06664601 4.95477221] [-0.06981019 0.99723972 0.02528789 -0.40540272] [ 0.06826656 -0.02051449 0.99745618 0.06791703] [ 0. 0. 0. 1. ]] SLAMing on 75.13538474999999 meters Centerline goodness : 0.931343 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.41, Z:0.07 [[ 0.9952303 0.06993138 -0.06801653 4.96048106] [-0.06830442 0.99732668 0.02596134 -0.41005678] [ 0.06965022 -0.02119168 0.99734636 0.06668905] [ 0. 0. 0. 1. ]] SLAMing on 75.19538474999999 meters Centerline goodness : 0.935971 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.41, Z:0.07 [[ 0.99520164 0.06922577 -0.06914828 4.96396554] [-0.06753928 0.99736623 0.02643945 -0.41311038] [ 0.07079646 -0.02164236 0.99725597 0.06654687] [ 0. 0. 0. 1. ]] SLAMing on 75.25538474999999 meters Centerline goodness : 0.937442 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.42, Z:0.07 [[ 0.99519174 0.06819243 -0.07030789 4.96723035] [-0.06631227 0.99738491 0.02874047 -0.41941159] [ 0.07208391 -0.02394 0.99711122 0.06960867] [ 0. 0. 0. 1. ]] SLAMing on 75.31538474999999 meters Centerline goodness : 0.941022 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.42, Z:0.07 [[ 0.99533426 0.06435611 -0.07188875 4.97401069] [-0.06251724 0.9976637 0.02754531 -0.42325994] [ 0.07349351 -0.02292251 0.99703223 0.06796577] [ 0. 0. 0. 1. ]] SLAMing on 75.37538475 meters Centerline goodness : 0.936989 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.42, Z:0.07 [[ 0.99531312 0.06231669 -0.07394878 4.9807249 ] [-0.06054885 0.99782879 0.0259142 -0.42258143] [ 0.07540311 -0.02131523 0.99692529 0.06536765] [ 0. 0. 0. 1. ]] SLAMing on 75.43538475 meters Centerline goodness : 0.940223 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.42, Z:0.07 [[ 0.99583352 0.05822736 -0.07017966 5.00058167] [-0.05714429 0.99821526 0.01734455 -0.42171849] [ 0.07106434 -0.01326192 0.99738357 0.0657866 ] [ 0. 0. 0. 1. ]] SLAMing on 75.49538475 meters Centerline goodness : 0.941728 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.42, Z:0.06 [[ 0.99591461 0.05479404 -0.07177538 5.00861357] [-0.05377404 0.99842384 0.01606855 -0.41894398] [ 0.07254271 -0.01214325 0.99729138 0.06395427] [ 0. 0. 0. 1. ]] SLAMing on 75.55538474999999 meters Centerline goodness : 0.940567 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.42, Z:0.06 [[ 0.99571511 0.05678103 -0.07298866 5.01383932] [-0.05553107 0.99827533 0.01904369 -0.41691288] [ 0.0739441 -0.01490895 0.99715094 0.06349898] [ 0. 0. 0. 1. ]] SLAMing on 75.61538474999999 meters Centerline goodness : 0.941886 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.41, Z:0.06 [[ 0.99585388 0.05741925 -0.07055553 5.02970336] [-0.05689173 0.99833548 0.00946528 -0.41465136] [ 0.07098158 -0.00541201 0.99746294 0.06104778] [ 0. 0. 0. 1. ]] SLAMing on 75.67538474999999 meters Centerline goodness : 0.941290 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.41, Z:0.06 [[ 0.99595533 0.05327598 -0.07235087 5.0371406 ] [-0.05270076 0.99856189 0.00983759 -0.41429411] [ 0.07277093 -0.00598486 0.99733072 0.0637638 ] [ 0. 0. 0. 1. ]] SLAMing on 75.73538475 meters Centerline goodness : 0.937376 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.41, Z:0.06 [[ 0.99598362 0.0491458 -0.07484201 5.05334823] [-0.0484693 0.99876596 0.01082977 -0.40876235] [ 0.07528189 -0.00715873 0.9971366 0.06093844] [ 0. 0. 0. 1. ]] SLAMing on 75.79538475 meters Centerline goodness : 0.933088 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.40, Z:0.06 [[ 0.99575957 0.05120368 -0.07642688 5.05959786] [-0.05038893 0.99865079 0.01255243 -0.40413 ] [ 0.07696649 -0.00864813 0.99699617 0.05839038] [ 0. 0. 0. 1. ]] SLAMing on 75.85538475 meters Centerline goodness : 0.938489 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.40, Z:0.06 [[ 9.95942415e-01 5.42856598e-02 -7.17758523e-02 5.06996898e+00] [-5.40583095e-02 9.98524717e-01 5.10770330e-03 -3.99769904e-01] [ 7.19472376e-02 -1.20689712e-03 9.97407709e-01 5.89605000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91538474999999 meters Centerline goodness : 0.945392 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.39, Z:0.06 [[ 9.95807197e-01 5.69510800e-02 -7.15863228e-02 5.06876171e+00] [-5.65327916e-02 9.98369824e-01 7.85735180e-03 -3.94888791e-01] [ 7.19171091e-02 -3.77743280e-03 9.97403459e-01 6.17958061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97538474999999 meters Centerline goodness : 0.945033 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.39, Z:0.06 [[ 0.99555679 0.05999193 -0.07257853 5.07190619] [-0.05933693 0.99817575 0.01114944 -0.39100469] [ 0.073115 -0.00679332 0.99730038 0.0627145 ] [ 0. 0. 0. 1. ]] SLAMing on 76.03538474999999 meters Centerline goodness : 0.943976 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.39, Z:0.06 [[ 0.9955366 0.05956671 -0.07320309 5.07363416] [-0.05894827 0.99820495 0.01058176 -0.38878614] [ 0.07370201 -0.00621934 0.99726092 0.06260848] [ 0. 0. 0. 1. ]] SLAMing on 76.09538475 meters Centerline goodness : 0.943683 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.39, Z:0.06 [[ 0.99553649 0.0589657 -0.07368957 5.07543407] [-0.05839713 0.99824485 0.00984848 -0.3853784 ] [ 0.07414095 -0.00550126 0.9972326 0.06210091] [ 0. 0. 0. 1. ]] SLAMing on 76.15538475 meters Centerline goodness : 0.945106 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.39, Z:0.06 [[ 0.99541093 0.05863094 -0.07562728 5.08436235] [-0.05772989 0.9982334 0.01404777 -0.38551326] [ 0.07631731 -0.00961735 0.9970372 0.06393024] [ 0. 0. 0. 1. ]] SLAMing on 76.21538475 meters Centerline goodness : 0.943147 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.39, Z:0.06 [[ 0.99542669 0.05677817 -0.07682409 5.08871787] [-0.0559272 0.99834779 0.0131851 -0.3860095 ] [ 0.07744579 -0.00882824 0.99695748 0.06286916] [ 0. 0. 0. 1. ]] SLAMing on 76.27538474999999 meters Centerline goodness : 0.941049 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.39, Z:0.06 [[ 0.99538865 0.05666789 -0.07739625 5.09071257] [-0.05581272 0.9983544 0.01316969 -0.38584975] [ 0.07801519 -0.00878927 0.99691343 0.06232154] [ 0. 0. 0. 1. ]] SLAMing on 76.33538474999999 meters Centerline goodness : 0.937917 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.38, Z:0.06 [[ 0.99536876 0.05724306 -0.07722861 5.09062499] [-0.05641967 0.99832504 0.01280352 -0.38487193] [ 0.07783217 -0.00838701 0.9969312 0.06127142] [ 0. 0. 0. 1. ]] SLAMing on 76.39538474999999 meters Centerline goodness : 0.940965 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.38, Z:0.06 [[ 9.95560378e-01 6.00849525e-02 -7.24522723e-02 5.10351827e+00] [-5.98182583e-02 9.98192159e-01 5.84716840e-03 -3.82240370e-01] [ 7.26726169e-02 -1.48724044e-03 9.97354741e-01 5.95072692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45538475 meters Centerline goodness : 0.939433 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.38, Z:0.06 [[ 0.99530979 0.0637201 -0.07278856 5.10458297] [-0.06317602 0.99795472 0.00975505 -0.38067112] [ 0.07326128 -0.0051108 0.99729969 0.06084065] [ 0. 0. 0. 1. ]] SLAMing on 76.51538475 meters Centerline goodness : 0.938743 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.38, Z:0.06 [[ 0.9951555 0.06460349 -0.07410749 5.11073136] [-0.06382761 0.99787894 0.01279311 -0.38061649] [ 0.07477679 -0.00800103 0.9971682 0.06066563] [ 0. 0. 0. 1. ]] SLAMing on 76.57538475 meters Centerline goodness : 0.942643 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.38, Z:0.06 [[ 0.99539923 0.06101174 -0.07387785 5.10923242] [-0.06045736 0.99812346 0.00971927 -0.38136625] [ 0.0743322 -0.00520809 0.99721994 0.06187649] [ 0. 0. 0. 1. ]] SLAMing on 76.63538474999999 meters Centerline goodness : 0.945783 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.39, Z:0.07 [[ 0.99545486 0.05867463 -0.07501274 5.11341343] [-0.05788472 0.99824296 0.01266334 -0.38576929] [ 0.07562396 -0.00826369 0.99710217 0.06687762] [ 0. 0. 0. 1. ]] SLAMing on 76.69538474999999 meters Centerline goodness : 0.951280 with order 1 Centerline is valid? [False, True] Translation: X:5.12, Y:-0.39, Z:0.07 [[ 0.99557084 0.05494122 -0.07629 5.11985097] [-0.05394698 0.99843062 0.01503421 -0.38999465] [ 0.07699627 -0.010852 0.99697232 0.07085096] [ 0. 0. 0. 1. ]] SLAMing on 76.75538474999999 meters Centerline goodness : 0.950919 with order 1 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.39, Z:0.07 [[ 9.95805062e-01 5.00412916e-02 -7.66038370e-02 5.18092251e+00] [-5.00525550e-02 9.98745010e-01 1.77409668e-03 -3.90843120e-01] [ 7.65964780e-02 2.06756331e-03 9.97060031e-01 6.65085293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81538474999999 meters Centerline goodness : 0.947028 with order 1 Centerline is valid? [True, False] Translation: X:5.19, Y:-0.39, Z:0.07 [[ 9.95791642e-01 4.87217246e-02 -7.76221513e-02 5.18509680e+00] [-4.87087335e-02 9.98810897e-01 2.06177850e-03 -3.94815465e-01] [ 7.76303040e-02 1.72777489e-03 9.96980717e-01 6.56523795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87538475 meters Centerline goodness : 0.945403 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.40, Z:0.07 [[ 9.95704906e-01 4.93142295e-02 -7.83571749e-02 5.19048323e+00] [-4.90664769e-02 9.98782570e-01 5.08519036e-03 -3.97124528e-01] [ 7.85125527e-02 -1.21863848e-03 9.96912380e-01 6.51442561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93538475 meters Centerline goodness : 0.947175 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.40, Z:0.07 [[ 9.95681101e-01 4.90184630e-02 -7.88437369e-02 5.19212062e+00] [-4.87088955e-02 9.98795909e-01 5.84591340e-03 -3.99576613e-01] [ 7.90353596e-02 -1.98027416e-03 9.96869846e-01 6.56476274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99538475 meters Centerline goodness : 0.945463 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.40, Z:0.07 [[ 0.99551486 0.05103684 -0.07965806 5.19618897] [-0.05038979 0.99867842 0.01011333 -0.40216534] [ 0.08006894 -0.00605402 0.99677094 0.06671922] [ 0. 0. 0. 1. ]] SLAMing on 77.05538474999999 meters Centerline goodness : 0.944095 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.40, Z:0.07 [[ 0.99550248 0.05093664 -0.07987659 5.19669717] [-0.05025502 0.99868099 0.01052192 -0.40366373] [ 0.08030718 -0.0064604 0.99674923 0.06735763] [ 0. 0. 0. 1. ]] SLAMing on 77.11538474999999 meters Centerline goodness : 0.944854 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.40, Z:0.07 [[ 0.99550261 0.04995582 -0.08049202 5.1992835 ] [-0.04929404 0.99873234 0.01018923 -0.40452638] [ 0.08089899 -0.00617562 0.99670317 0.06664592] [ 0. 0. 0. 1. ]] SLAMing on 77.17538474999999 meters Centerline goodness : 0.943639 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.41, Z:0.07 [[ 0.99549773 0.04973345 -0.0806898 5.20080374] [-0.04902959 0.9987402 0.01068222 -0.40537127] [ 0.08111941 -0.00667794 0.99668202 0.06635386] [ 0. 0. 0. 1. ]] SLAMing on 77.23538475 meters Centerline goodness : 0.950256 with order 1 Centerline is valid? [False, True] Translation: X:5.20, Y:-0.41, Z:0.07 [[ 0.99556037 0.04890733 -0.08042154 5.20094203] [-0.04783193 0.99873904 0.01524564 -0.41139964] [ 0.08106576 -0.01133124 0.99664434 0.07335802] [ 0. 0. 0. 1. ]] SLAMing on 77.29538475 meters Centerline goodness : 0.956891 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.41, Z:0.07 [[ 9.95930170e-01 3.99467100e-02 -8.07920535e-02 5.26050146e+00] [-3.98943091e-02 9.99201342e-01 2.26334292e-03 -4.10829802e-01] [ 8.08179414e-02 9.69011658e-04 9.96728409e-01 7.36013381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35538475 meters Centerline goodness : 0.956446 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.42, Z:0.08 [[ 9.96165501e-01 3.35698067e-02 -8.07920922e-02 5.31896788e+00] [-3.34965764e-02 9.99436273e-01 2.26196163e-03 -4.15065567e-01] [ 8.08224811e-02 4.52970349e-04 9.96728409e-01 7.93101764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41538474999999 meters Centerline goodness : 0.951423 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.42, Z:0.08 [[ 9.96100618e-01 3.54425085e-02 -8.07922539e-02 5.37817993e+00] [-3.53758970e-02 9.99371530e-01 2.25616991e-03 -4.17938199e-01] [ 8.08214428e-02 6.10726212e-04 9.96728409e-01 7.99412384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47538474999999 meters Centerline goodness : 0.950602 with order 1 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.42, Z:0.08 [[ 9.96090884e-01 3.57146540e-02 -8.07924176e-02 5.43691538e+00] [-3.56494129e-02 9.99361824e-01 2.25029303e-03 -4.20081874e-01] [ 8.08212263e-02 6.38705876e-04 9.96728409e-01 8.28351579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53538474999999 meters Centerline goodness : 0.948040 with order 1 Centerline is valid? [True, False] Translation: X:5.44, Y:-0.42, Z:0.08 [[ 9.95904075e-01 3.77467606e-02 -8.21599440e-02 5.44219747e+00] [-3.73879490e-02 9.99283398e-01 5.90190825e-03 -4.20619513e-01] [ 8.23238460e-02 -2.80594267e-03 9.96601681e-01 8.29984754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59538475 meters Centerline goodness : 0.947632 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.42, Z:0.09 [[ 0.99570106 0.04133482 -0.08289047 5.44383473] [-0.04059128 0.99911922 0.01063618 -0.42120708] [ 0.0832571 -0.00722583 0.9965019 0.08538617] [ 0. 0. 0. 1. ]] SLAMing on 77.65538475 meters Centerline goodness : 0.950840 with order 1 Centerline is valid? [False, True] Translation: X:5.44, Y:-0.42, Z:0.09 [[ 0.99551758 0.04503432 -0.08316644 5.44437206] [-0.04396151 0.99892526 0.01468696 -0.42092867] [ 0.08373847 -0.010965 0.99642744 0.08698326] [ 0. 0. 0. 1. ]] SLAMing on 77.71538475 meters Centerline goodness : 0.952407 with order 1 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.41, Z:0.09 [[ 9.95323747e-01 4.85085647e-02 -8.35317782e-02 5.50378050e+00] [-4.84732996e-02 9.98821470e-01 2.45140000e-03 -4.14806919e-01] [ 8.35522475e-02 1.60912427e-03 9.96502099e-01 8.50054448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77538474999999 meters Centerline goodness : 0.954742 with order 1 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.42, Z:0.10 [[ 9.95435857e-01 4.61504925e-02 -8.35319534e-02 5.56236699e+00] [-4.61074432e-02 9.98933493e-01 2.44541618e-03 -4.15425375e-01] [ 8.35557232e-02 1.41718986e-03 9.96502099e-01 9.55179290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83538474999999 meters Centerline goodness : 0.952554 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.41, Z:0.10 [[ 9.95519737e-01 4.43040344e-02 -8.35320668e-02 5.61999002e+00] [-4.42548233e-02 9.99017292e-01 2.44153511e-03 -4.14394367e-01] [ 8.35581491e-02 1.26610046e-03 9.96502099e-01 9.65672192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89538474999999 meters Centerline goodness : 0.953300 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.41, Z:0.10 [[ 9.95551066e-01 4.35939380e-02 -8.35322931e-02 5.67923900e+00] [-4.35428836e-02 9.99048594e-01 2.43376880e-03 -4.14598700e-01] [ 8.35589176e-02 1.21429579e-03 9.96502099e-01 1.00378216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95538475 meters Centerline goodness : 0.956544 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.42, Z:0.11 [[ 9.95463669e-01 4.55457139e-02 -8.35324617e-02 5.73719735e+00] [-4.55020034e-02 9.98961297e-01 2.42796925e-03 -4.17611763e-01] [ 8.35562799e-02 1.38393918e-03 9.96502099e-01 1.07686388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01538475 meters Centerline goodness : 0.955576 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.42, Z:0.11 [[ 9.95663599e-01 4.09426038e-02 -8.35326359e-02 5.79562146e+00] [-4.08832262e-02 9.99160996e-01 2.42196018e-03 -4.21739466e-01] [ 8.35617131e-02 1.00362605e-03 9.96502099e-01 1.13729168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07538475 meters Centerline goodness : 0.950661 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.42, Z:0.11 [[ 9.95656849e-01 4.11060589e-02 -8.35328090e-02 5.85554064e+00] [-4.10477574e-02 9.99154265e-01 2.41597569e-03 -4.22843616e-01] [ 8.35614736e-02 1.02335173e-03 9.96502099e-01 1.09912245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13538474999999 meters Centerline goodness : 0.949594 with order 1 Centerline is valid? [True, False] Translation: X:5.86, Y:-0.43, Z:0.11 [[ 9.95609292e-01 3.98360147e-02 -8.47067229e-02 5.85934665e+00] [-3.97337189e-02 9.99206113e-01 2.89386296e-03 -4.25548384e-01] [ 8.47547553e-02 4.84556258e-04 9.96401725e-01 1.10298268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19538474999999 meters Centerline goodness : 0.952456 with order 1 Centerline is valid? [False, True] Translation: X:5.86, Y:-0.43, Z:0.11 [[ 9.95576170e-01 4.03924392e-02 -8.48324262e-02 5.85818746e+00] [-4.01345131e-02 9.99183022e-01 4.74434851e-03 -4.27194256e-01] [ 8.49547558e-02 -1.31865220e-03 9.96383937e-01 1.13684371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25538474999999 meters Centerline goodness : 0.956243 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.43, Z:0.12 [[ 9.95562774e-01 4.05834418e-02 -8.48984550e-02 5.91583305e+00] [-4.05116863e-02 9.99175763e-01 2.56853476e-03 -4.27936997e-01] [ 8.49327186e-02 8.82241992e-04 9.96386298e-01 1.17531417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31538474999999 meters Centerline goodness : 0.959365 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.43, Z:0.13 [[ 9.95591882e-01 3.98625043e-02 -8.48986718e-02 5.97324036e+00] [-3.97887452e-02 9.99204831e-01 2.56134940e-03 -4.29362766e-01] [ 8.49332648e-02 8.27952949e-04 9.96386298e-01 1.27491188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37538475 meters Centerline goodness : 0.957729 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.43, Z:0.13 [[ 9.95491077e-01 4.23047929e-02 -8.48988831e-02 6.03254764e+00] [-4.22404962e-02 9.99104207e-01 2.55432690e-03 -4.26301113e-01] [ 8.49308915e-02 1.04336131e-03 9.96386298e-01 1.27903958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43538475 meters Centerline goodness : 0.956600 with order 1 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.43, Z:0.13 [[ 9.95510455e-01 4.18459480e-02 -8.48990597e-02 6.09091352e+00] [-4.17804875e-02 9.99123564e-01 2.54844435e-03 -4.27017728e-01] [ 8.49312931e-02 1.01012111e-03 9.96386298e-01 1.31555659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49538475 meters Centerline goodness : 0.953812 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.43, Z:0.14 [[ 9.95332976e-01 4.58735884e-02 -8.48992402e-02 6.14915868e+00] [-4.58232617e-02 9.98946327e-01 2.54241626e-03 -4.30952912e-01] [ 8.49264139e-02 1.35980936e-03 9.96386298e-01 1.38378567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55538474999999 meters Centerline goodness : 0.955442 with order 1 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.43, Z:0.14 [[ 9.95228575e-01 4.80850431e-02 -8.48994221e-02 6.20661456e+00] [-4.80432646e-02 9.98842035e-01 2.53632546e-03 -4.32133814e-01] [ 8.49230709e-02 1.55462183e-03 9.96386298e-01 1.43065543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61538474999999 meters Centerline goodness : 0.957586 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.43, Z:0.15 [[ 9.95245617e-01 4.77306116e-02 -8.48996454e-02 6.26498151e+00] [-4.76881854e-02 9.98859070e-01 2.52883025e-03 -4.33763591e-01] [ 8.49234835e-02 1.53190281e-03 9.96386298e-01 1.51008637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67538474999999 meters Centerline goodness : 0.958657 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.44, Z:0.16 [[ 9.95299157e-01 4.66005107e-02 -8.48998296e-02 6.32365040e+00] [-4.65545103e-02 9.98912566e-01 2.52262936e-03 -4.38110457e-01] [ 8.49250625e-02 1.44169912e-03 9.96386298e-01 1.56183648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73538475 meters Centerline goodness : 0.955982 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.44, Z:0.16 [[ 9.95288471e-01 4.68278507e-02 -8.49000113e-02 6.38175482e+00] [-4.67831983e-02 9.98901897e-01 2.51650185e-03 -4.41538617e-01] [ 8.49246247e-02 1.46724878e-03 9.96386298e-01 1.57988783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79538475 meters Centerline goodness : 0.957025 with order 1 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.44, Z:0.16 [[ 9.95320646e-01 4.61384959e-02 -8.49002349e-02 6.44049488e+00] [-4.60919860e-02 9.98934049e-01 2.50893616e-03 -4.43664042e-01] [ 8.49254939e-02 1.41602447e-03 9.96386298e-01 1.62896703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85538475 meters Centerline goodness : 0.956662 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.45, Z:0.17 [[ 9.95305594e-01 4.64617537e-02 -8.49004099e-02 6.49909116e+00] [-4.64169236e-02 9.98919018e-01 2.50299930e-03 -4.47666555e-01] [ 8.49249278e-02 1.44956663e-03 9.96386298e-01 1.67593717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91538474999999 meters Centerline goodness : 0.955248 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.45, Z:0.17 [[ 9.95334337e-01 4.58415462e-02 -8.49005862e-02 6.55767318e+00] [-4.57949757e-02 9.98947739e-01 2.49700352e-03 -4.49869517e-01] [ 8.49257152e-02 1.40266694e-03 9.96386298e-01 1.69791161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97538474999999 meters Centerline goodness : 0.953576 with order 1 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.45, Z:0.17 [[ 9.95324679e-01 4.60504587e-02 -8.49007628e-02 6.61583618e+00] [-4.60051600e-02 9.98938096e-01 2.49098405e-03 -4.53991456e-01] [ 8.49253174e-02 1.42653528e-03 9.96386298e-01 1.73423913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03538474999999 meters Centerline goodness : 0.956731 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.46, Z:0.18 [[ 9.95345783e-01 4.55915936e-02 -8.49009966e-02 6.67396018e+00] [-4.55453107e-02 9.98959188e-01 2.48299071e-03 -4.58799401e-01] [ 8.49258341e-02 1.39540793e-03 9.96386298e-01 1.80082113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09538475 meters Centerline goodness : 0.953413 with order 1 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.46, Z:0.18 [[ 9.95422116e-01 4.38930826e-02 -8.49011710e-02 6.73312836e+00] [-4.38411436e-02 9.99035444e-01 2.47701403e-03 -4.61866264e-01] [ 8.49280028e-02 1.25648988e-03 9.96386298e-01 1.83452495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15538475 meters Centerline goodness : 0.951730 with order 1 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.46, Z:0.19 [[ 9.95400526e-01 4.43796557e-02 -8.49013460e-02 6.79092010e+00] [-4.43299955e-02 9.99013887e-01 2.47100203e-03 -4.64555793e-01] [ 8.49272858e-02 1.30403956e-03 9.96386298e-01 1.87178993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21538475 meters Centerline goodness : 0.952877 with order 1 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.47, Z:0.19 [[ 9.95528538e-01 4.14084083e-02 -8.49015587e-02 6.84924879e+00] [-4.13485884e-02 9.99141744e-01 2.46367112e-03 -4.67450439e-01] [ 8.49307081e-02 1.05790470e-03 9.96386298e-01 1.94430527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27538474999999 meters Centerline goodness : 0.953930 with order 1 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.47, Z:0.20 [[ 9.95734943e-01 3.61056799e-02 -8.49017289e-02 6.90766822e+00] [-3.60271184e-02 9.99347790e-01 2.45779135e-03 -4.68670012e-01] [ 8.49350954e-02 6.11455905e-04 9.96386298e-01 1.98893833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33538474999999 meters Centerline goodness : 0.952664 with order 1 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.47, Z:0.20 [[ 9.95664423e-01 3.80003066e-02 -8.49018993e-02 6.96624217e+00] [-3.79291229e-02 9.99277424e-01 2.45189122e-03 -4.69664006e-01] [ 8.49337238e-02 7.78993709e-04 9.96386298e-01 2.04058897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39538474999999 meters Centerline goodness : 0.951683 with order 1 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.47, Z:0.21 [[ 9.95593981e-01 3.98027966e-02 -8.49020743e-02 7.02505449e+00] [-3.97386720e-02 9.99207114e-01 2.44581682e-03 -4.71429123e-01] [ 8.49321069e-02 9.38855173e-04 9.96386298e-01 2.09898157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45538475 meters Centerline goodness : 0.953519 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.47, Z:0.22 [[ 9.95557971e-01 4.06931595e-02 -8.49022510e-02 7.08359136e+00] [-4.06327906e-02 9.99171169e-01 2.43966642e-03 -4.71676850e-01] [ 8.49311591e-02 1.02098603e-03 9.96386298e-01 2.16407998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51538475 meters Centerline goodness : 0.951635 with order 1 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.47, Z:0.22 [[ 9.95527045e-01 4.14424928e-02 -8.49024251e-02 7.14135049e+00] [-4.13853613e-02 9.99140295e-01 2.43359454e-03 -4.71907340e-01] [ 8.49302883e-02 1.09100835e-03 9.96386298e-01 2.19435924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57538475 meters Centerline goodness : 0.954088 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.47, Z:0.23 [[ 9.95648514e-01 3.84132674e-02 -8.49026399e-02 7.19995001e+00] [-3.83457834e-02 9.99261585e-01 2.42607574e-03 -4.71541838e-01] [ 8.49331400e-02 8.40139541e-04 9.96386299e-01 2.25122002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63538474999999 meters Centerline goodness : 0.954745 with order 1 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.47, Z:0.23 [[ 9.95597706e-01 3.97079417e-02 -8.49028072e-02 7.25824431e+00] [-3.96456565e-02 9.99210871e-01 2.42020659e-03 -4.72649403e-01] [ 8.49319094e-02 9.56475401e-04 9.96386299e-01 2.30507402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69538474999999 meters Centerline goodness : 0.955755 with order 1 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.47, Z:0.24 [[ 9.95552466e-01 4.08261353e-02 -8.49029745e-02 7.31569379e+00] [-4.07684100e-02 9.99165706e-01 2.41432377e-03 -4.74900398e-01] [ 8.49307080e-02 1.05777329e-03 9.96386299e-01 2.36260893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75538474999999 meters Centerline goodness : 0.951991 with order 1 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.48, Z:0.24 [[ 9.95506930e-01 4.19213929e-02 -8.49031794e-02 7.37366523e+00] [-4.18682590e-02 9.99120240e-01 2.40709722e-03 -4.75253455e-01] [ 8.49293939e-02 1.15846634e-03 9.96386299e-01 2.39729475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81538474999999 meters Centerline goodness : 0.952205 with order 1 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.47, Z:0.24 [[ 9.95409029e-01 4.41846188e-02 -8.49033807e-02 7.43271053e+00] [-4.41403073e-02 9.99022459e-01 2.39997570e-03 -4.74765474e-01] [ 8.49264262e-02 1.35870384e-03 9.96386299e-01 2.43136814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87538475 meters Centerline goodness : 0.954708 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.48, Z:0.25 [[ 9.95393533e-01 4.45320412e-02 -8.49035464e-02 7.49148205e+00] [-4.44894920e-02 9.99006984e-01 2.39409877e-03 -4.77267888e-01] [ 8.49258499e-02 1.39424522e-03 9.96386299e-01 2.51248983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93538475 meters Centerline goodness : 0.959499 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.48, Z:0.26 [[ 9.95425923e-01 4.38017085e-02 -8.49037180e-02 7.55030917e+00] [-4.37570283e-02 9.99039349e-01 2.38799872e-03 -4.80527164e-01] [ 8.49267535e-02 1.33805857e-03 9.96386299e-01 2.57959415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99538475 meters Centerline goodness : 0.958119 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.48, Z:0.26 [[ 9.95497413e-01 4.21453507e-02 -8.49038919e-02 7.60871125e+00] [-4.20951868e-02 9.99110766e-01 2.38180019e-03 -4.83542256e-01] [ 8.49287742e-02 1.20296926e-03 9.96386299e-01 2.63786925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05538474999999 meters Centerline goodness : 0.953230 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.48, Z:0.26 [[ 9.95619834e-01 3.91464654e-02 -8.49040663e-02 7.66783739e+00] [-3.90859488e-02 9.99233029e-01 2.37556701e-03 -4.84990917e-01] [ 8.49319423e-02 9.53394355e-04 9.96386299e-01 2.64725794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11538474999999 meters Centerline goodness : 0.952124 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.49, Z:0.27 [[ 9.95662460e-01 3.80464979e-02 -8.49042384e-02 7.72628159e+00] [-3.79825155e-02 9.99275595e-01 2.36939946e-03 -4.86016779e-01] [ 8.49328807e-02 8.65754451e-04 9.96386299e-01 2.66114550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17538474999999 meters Centerline goodness : 0.955847 with order 1 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.49, Z:0.28 [[ 9.95667369e-01 3.79174454e-02 -8.49044066e-02 7.78428635e+00] [-3.78535100e-02 9.99280504e-01 2.36335527e-03 -4.87761100e-01] [ 8.49329307e-02 8.60814083e-04 9.96386299e-01 2.75263022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23538475 meters Centerline goodness : 0.957365 with order 1 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.49, Z:0.28 [[ 9.95748280e-01 3.57291950e-02 -8.49045733e-02 7.84152143e+00] [-3.56578311e-02 9.99361277e-01 2.35735174e-03 -4.88845317e-01] [ 8.49345691e-02 6.80183992e-04 9.96386299e-01 2.82352682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29538475 meters Centerline goodness : 0.957119 with order 1 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.49, Z:0.29 [[ 9.95783640e-01 3.47292601e-02 -8.49047766e-02 7.90013155e+00] [-3.46548943e-02 9.99396576e-01 2.35000791e-03 -4.89268230e-01] [ 8.49351570e-02 6.02266624e-04 9.96386299e-01 2.88347182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35538475 meters Centerline goodness : 0.952030 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.49, Z:0.29 [[ 9.95854692e-01 3.26279763e-02 -8.49049371e-02 7.95935133e+00] [-3.25464826e-02 9.99467474e-01 2.34419452e-03 -4.85346974e-01] [ 8.49362093e-02 4.28879948e-04 9.96386299e-01 2.89707345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41538474999999 meters Centerline goodness : 0.951981 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.48, Z:0.29 [[ 9.95766613e-01 3.52132969e-02 -8.49050964e-02 8.01813362e+00] [-3.51416761e-02 9.99379605e-01 2.33841070e-03 -4.80967956e-01] [ 8.49347648e-02 6.55196094e-04 9.96386299e-01 2.93009860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47538474999999 meters Centerline goodness : 0.950371 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.48, Z:0.30 [[ 9.95542995e-01 4.10516845e-02 -8.49052661e-02 8.07608743e+00] [-4.10017777e-02 9.99156352e-01 2.33223253e-03 -4.81218916e-01] [ 8.49293780e-02 1.15942909e-03 9.96386299e-01 2.95329996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53538474999999 meters Centerline goodness : 0.952033 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.48, Z:0.30 [[ 9.95366772e-01 4.51226070e-02 -8.49054741e-02 8.13471568e+00] [-4.50881253e-02 9.98980309e-01 2.32463468e-03 -4.79678391e-01] [ 8.49237903e-02 1.51436454e-03 9.96386299e-01 3.04569857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59538475 meters Centerline goodness : 0.952454 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.48, Z:0.31 [[ 9.95163012e-01 4.94126685e-02 -8.49056384e-02 8.19319463e+00] [-4.93942760e-02 9.98776666e-01 2.31861988e-03 -4.77113173e-01] [ 8.49163397e-02 1.88644779e-03 9.96386299e-01 3.09012671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65538475 meters Centerline goodness : 0.948143 with order 1 Centerline is valid? [True, False] Translation: X:8.19, Y:-0.47, Z:0.31 [[ 9.94917248e-01 5.36947562e-02 -8.51853447e-02 8.19380650e+00] [-5.33835883e-02 9.98556483e-01 5.92818079e-03 -4.74974272e-01] [ 8.53806904e-02 -1.35054994e-03 9.96347486e-01 3.09504146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71538475 meters Centerline goodness : 0.948480 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.48, Z:0.31 [[ 9.94660984e-01 5.64862983e-02 -8.63644863e-02 8.19760963e+00] [-5.58420214e-02 9.98390933e-01 9.85970267e-03 -4.75895776e-01] [ 8.67824581e-02 -4.98429407e-03 9.96214817e-01 3.10205152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77538474999999 meters Centerline goodness : 0.950416 with order 1 Centerline is valid? [False, True] Translation: X:8.20, Y:-0.48, Z:0.32 [[ 0.99453081 0.05742886 -0.08723758 8.20207926] [-0.05620934 0.99828473 0.01637406 -0.48009079] [ 0.08802828 -0.01138094 0.99605296 0.31606131] [ 0. 0. 0. 1. ]] SLAMing on 80.83538474999999 meters Centerline goodness : 0.949935 with order 1 Centerline is valid? [True, False] Translation: X:8.20, Y:-0.48, Z:0.32 [[ 0.99450978 0.05716419 -0.08765013 8.20364986] [-0.05593803 0.9982998 0.01638428 -0.48107554] [ 0.0884377 -0.01139135 0.99601657 0.31559071] [ 0. 0. 0. 1. ]] SLAMing on 80.89538474999999 meters Centerline goodness : 0.948193 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.48, Z:0.31 [[ 0.99452653 0.05574643 -0.08837039 8.206903 ] [-0.05457238 0.99838719 0.01564825 -0.48232624] [ 0.0891002 -0.01074002 0.99596476 0.31424215] [ 0. 0. 0. 1. ]] SLAMing on 80.95538475 meters Centerline goodness : 0.944016 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.48, Z:0.31 [[ 0.99450204 0.05461297 -0.08934828 8.20996021] [-0.05348582 0.9984565 0.01496306 -0.48281656] [ 0.09002754 -0.01010192 0.99588804 0.31341331] [ 0. 0. 0. 1. ]] SLAMing on 81.01538475 meters Centerline goodness : 0.943459 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.48, Z:0.31 [[ 0.9944673 0.05365911 -0.09030778 8.21329423] [-0.05251312 0.99850727 0.0150201 -0.48417683] [ 0.09097894 -0.01019465 0.99580063 0.31295744] [ 0. 0. 0. 1. ]] SLAMing on 81.07538475 meters Centerline goodness : 0.942412 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.49, Z:0.31 [[ 0.99443448 0.05247248 -0.09136027 8.21710573] [-0.0513339 0.99857232 0.0147698 -0.48518024] [ 0.09200485 -0.00999772 0.99570837 0.31211614] [ 0. 0. 0. 1. ]] SLAMing on 81.13538474999999 meters Centerline goodness : 0.942743 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.49, Z:0.31 [[ 0.99446047 0.05206124 -0.09131263 8.21744292] [-0.05087905 0.99858871 0.01522869 -0.48696903] [ 0.09197658 -0.01049843 0.99570583 0.31254323] [ 0. 0. 0. 1. ]] SLAMing on 81.19538474999999 meters Centerline goodness : 0.942502 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.49, Z:0.31 [[ 0.99441026 0.05332677 -0.09112895 8.21530886] [-0.05210824 0.99851801 0.01570051 -0.48690307] [ 0.09183115 -0.01086418 0.99571533 0.31384049] [ 0. 0. 0. 1. ]] SLAMing on 81.25538474999999 meters Centerline goodness : 0.940371 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.48, Z:0.31 [[ 0.99434501 0.05439577 -0.09120909 8.21493198] [-0.05317432 0.99846071 0.01577057 -0.48488095] [ 0.09192654 -0.01083141 0.99570688 0.31372088] [ 0. 0. 0. 1. ]] SLAMing on 81.31538474999999 meters Centerline goodness : 0.941528 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.49, Z:0.32 [[ 0.99430284 0.0535376 -0.09217151 8.21705235] [-0.05225145 0.99850072 0.01631271 -0.48599143] [ 0.09290667 -0.01140368 0.99560952 0.31535189] [ 0. 0. 0. 1. ]] SLAMing on 81.37538475 meters Centerline goodness : 0.940970 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.49, Z:0.31 [[ 0.99431958 0.05048493 -0.09370086 8.22254232] [-0.04928525 0.99867097 0.01507503 -0.48666838] [ 0.09433739 -0.01037133 0.99548626 0.31472281] [ 0. 0. 0. 1. ]] SLAMing on 81.43538475 meters Centerline goodness : 0.935906 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.26, Z:0.17 [[ 0.96050576 -0.15334369 -0.23219475 7.68020509] [ 0.01861287 0.86798931 -0.49623393 -0.26321456] [ 0.2776369 0.47231374 0.8365629 0.16668586] [ 0. 0. 0. 1. ]] SLAMing on 81.49538475 meters Centerline goodness : 0.940809 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.51, Z:0.35 [[ 0.98151747 0.07749753 -0.17497883 7.99417611] [-0.10637113 0.98100998 -0.16218691 -0.51273784] [ 0.1590869 0.17780198 0.97112194 0.34650942] [ 0. 0. 0. 1. ]] SLAMing on 81.55538474999999 meters Centerline goodness : 0.947665 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.53, Z:0.36 [[ 0.98201634 0.0818333 -0.17013882 8.00067524] [-0.10667199 0.98404595 -0.14238911 -0.52571673] [ 0.15577225 0.15797748 0.97507852 0.36071593] [ 0. 0. 0. 1. ]] SLAMing on 81.61538474999999 meters Centerline goodness : 0.943713 with order 1 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.54, Z:0.37 [[ 0.9821983 0.08238921 -0.16881504 8.00726364] [-0.10263625 0.98805568 -0.11494249 -0.53844019] [ 0.15732863 0.13022286 0.97892273 0.37453871] [ 0. 0. 0. 1. ]] SLAMing on 81.67538474999999 meters Centerline goodness : 0.946347 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.55, Z:0.39 [[ 0.98296461 0.07637665 -0.16717411 8.01611178] [-0.09289163 0.99129522 -0.0933002 -0.54916459] [ 0.15859294 0.10723987 0.98150287 0.38635555] [ 0. 0. 0. 1. ]] SLAMing on 81.73538475 meters Centerline goodness : 0.943225 with order 1 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.56, Z:0.40 [[ 0.98222908 0.08062897 -0.16948453 8.01465301] [-0.09320983 0.9933475 -0.06762159 -0.55680627] [ 0.16290477 0.08221752 0.98321021 0.39954073] [ 0. 0. 0. 1. ]] SLAMing on 81.79538475 meters Centerline goodness : 0.937009 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.56, Z:0.41 [[ 0.98137765 0.08907333 -0.17018771 8.01683276] [-0.09990079 0.99341253 -0.05613708 -0.56074835] [ 0.16406629 0.07209356 0.98381135 0.40625314] [ 0. 0. 0. 1. ]] SLAMing on 81.85538475 meters Centerline goodness : 0.941457 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.56, Z:0.41 [[ 0.98046068 0.09874668 -0.17013509 8.01628488] [-0.10800592 0.99308393 -0.04603293 -0.56209661] [ 0.16441282 0.06350907 0.98434497 0.41092894] [ 0. 0. 0. 1. ]] SLAMing on 81.91538474999999 meters Centerline goodness : 0.937721 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.56, Z:0.42 [[ 0.97942199 0.10768409 -0.17069475 8.0175969 ] [-0.11540722 0.9926672 -0.03595838 -0.56305931] [ 0.16557093 0.05491783 0.98466761 0.4160415 ] [ 0. 0. 0. 1. ]] SLAMing on 81.97538474999999 meters Centerline goodness : 0.935180 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.56, Z:0.42 [[ 0.97887601 0.11199467 -0.17105246 8.01944776] [-0.1190788 0.99237865 -0.03169938 -0.5624268 ] [ 0.16619864 0.05139848 0.98475185 0.41688476] [ 0. 0. 0. 1. ]] SLAMing on 82.03538474999999 meters Centerline goodness : 0.935298 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.57, Z:0.42 [[ 0.97839832 0.11495558 -0.17181953 8.02262144] [-0.12077946 0.99239403 -0.02379932 -0.56682576] [ 0.16777681 0.04403748 0.98484092 0.42397435] [ 0. 0. 0. 1. ]] SLAMing on 82.09538475 meters Centerline goodness : 0.935715 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.57, Z:0.43 [[ 0.97828388 0.11494803 -0.17247493 8.02368744] [-0.12067639 0.99242385 -0.02306772 -0.56734231] [ 0.16851664 0.04338043 0.98474376 0.42536985] [ 0. 0. 0. 1. ]] SLAMing on 82.15538475 meters Centerline goodness : 0.935075 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.57, Z:0.43 [[ 0.97820455 0.11360081 -0.17381229 8.03193614] [-0.11839948 0.99281254 -0.01745903 -0.57062216] [ 0.17057967 0.03765779 0.98462402 0.43154204] [ 0. 0. 0. 1. ]] SLAMing on 82.21538475 meters Centerline goodness : 0.934076 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.43 [[ 0.97785963 0.11569906 -0.17436819 8.03560318] [-0.11994474 0.99268221 -0.01397458 -0.57073244] [ 0.17147535 0.03457973 0.98458136 0.4324206 ] [ 0. 0. 0. 1. ]] SLAMing on 82.27538474999999 meters Centerline goodness : 0.936786 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.44 [[ 9.77255054e-01 1.20039070e-01 -1.74823286e-01 8.03572873e+00] [-1.23070920e-01 9.92376161e-01 -6.56529971e-03 -5.72491843e-01] [ 1.72702369e-01 2.79316349e-02 9.84577938e-01 4.39887622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33538474999999 meters Centerline goodness : 0.935597 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.44 [[ 9.76595899e-01 1.25120994e-01 -1.74943381e-01 8.03636041e+00] [-1.27541054e-01 9.91829847e-01 -2.61418336e-03 -5.68559023e-01] [ 1.73186977e-01 2.48654640e-02 9.84575025e-01 4.41127527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39538474999999 meters Centerline goodness : 0.931350 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.44 [[ 9.75460345e-01 1.34017990e-01 -1.74689135e-01 8.03731799e+00] [-1.35191421e-01 9.90805747e-01 5.22027509e-03 -5.66545013e-01] [ 1.73782610e-01 1.85243009e-02 9.84609798e-01 4.42750493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45538475 meters Centerline goodness : 0.932996 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.57, Z:0.44 [[ 9.75183298e-01 1.36051252e-01 -1.74664229e-01 8.03497071e+00] [-1.37093260e-01 9.90539094e-01 6.14337061e-03 -5.65111407e-01] [ 1.73847561e-01 1.79543761e-02 9.84608890e-01 4.44541123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51538475 meters Centerline goodness : 0.932591 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.57, Z:0.45 [[ 0.97448514 0.14081845 -0.17478238 8.03488959] [-0.14088486 0.98995215 0.01209118 -0.56700412] [ 0.17472885 0.01284152 0.98453285 0.44841675] [ 0. 0. 0. 1. ]] SLAMing on 82.57538475 meters Centerline goodness : 0.930466 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.57, Z:0.45 [[ 0.97445536 0.14090698 -0.17487701 8.03484469] [-0.14095042 0.98994104 0.0122355 -0.56578748] [ 0.174842 0.01272604 0.98451426 0.44926557] [ 0. 0. 0. 1. ]] SLAMing on 82.63538474999999 meters Centerline goodness : 0.930919 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.45 [[ 0.97442451 0.1407289 -0.17519204 8.03539392] [-0.14072281 0.98996985 0.01252123 -0.56603572] [ 0.17519694 0.01245253 0.98445466 0.44993811] [ 0. 0. 0. 1. ]] SLAMing on 82.69538474999999 meters Centerline goodness : 0.934627 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.45 [[ 0.97497981 0.13492643 -0.17666134 8.03682413] [-0.13538031 0.9907478 0.00953799 -0.56736601] [ 0.17631376 0.01461712 0.98422548 0.45302457] [ 0. 0. 0. 1. ]] SLAMing on 82.75538474999999 meters Centerline goodness : 0.934694 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.45 [[ 0.97502333 0.13273315 -0.17807703 8.04242607] [-0.13329609 0.99103671 0.00885363 -0.56675429] [ 0.17765604 0.01510448 0.98397672 0.4522313 ] [ 0. 0. 0. 1. ]] SLAMing on 82.81538474999999 meters Centerline goodness : 0.929731 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.45 [[ 0.97449958 0.1361226 -0.17838498 8.04455791] [-0.13602486 0.99062226 0.0128369 -0.56760082] [ 0.17845952 0.01175524 0.98387703 0.45334175] [ 0. 0. 0. 1. ]] SLAMing on 82.87538475 meters Centerline goodness : 0.932368 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.45 [[ 0.97422221 0.13823014 -0.17827932 8.04264692] [-0.13799937 0.99033679 0.01375563 -0.56634943] [ 0.17845801 0.0112014 0.98388377 0.45449051] [ 0. 0. 0. 1. ]] SLAMing on 82.93538475 meters Centerline goodness : 0.927497 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.57, Z:0.45 [[ 0.97352806 0.14237484 -0.1788086 8.04536921] [-0.14151374 0.98977932 0.01762823 -0.56609472] [ 0.17949087 0.00814229 0.98372594 0.45466866] [ 0. 0. 0. 1. ]] SLAMing on 82.99538475 meters Centerline goodness : 0.929742 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.46 [[ 9.73359709e-01 1.43402585e-01 -1.78903817e-01 8.04447804e+00] [-1.42438043e-01 9.89634662e-01 1.82931657e-02 -5.65359438e-01] [ 1.79672706e-01 7.67687909e-03 9.83696490e-01 4.55851416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05538474999999 meters Centerline goodness : 0.935006 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.46 [[ 0.97370485 0.14135828 -0.17865247 8.04005473] [-0.1407251 0.9899149 0.01627715 -0.56598671] [ 0.17915165 0.00929175 0.98377759 0.45857049] [ 0. 0. 0. 1. ]] SLAMing on 83.11538474999999 meters Centerline goodness : 0.932403 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.46 [[ 9.73714662e-01 1.40702014e-01 -1.79116444e-01 8.04123744e+00] [-1.39756501e-01 9.90023174e-01 1.79508941e-02 -5.69510991e-01] [ 1.79855157e-01 7.55363865e-03 9.83664102e-01 4.60919286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17538474999999 meters Centerline goodness : 0.935956 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:0.46 [[ 9.73676013e-01 1.40164186e-01 -1.79747107e-01 8.04288615e+00] [-1.38953316e-01 9.90109406e-01 1.93737081e-02 -5.74356016e-01] [ 1.80684802e-01 6.11274169e-03 9.83522057e-01 4.62290785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23538475 meters Centerline goodness : 0.936194 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.58, Z:0.46 [[ 9.73561687e-01 1.40977149e-01 -1.79730589e-01 8.04265211e+00] [-1.39598551e-01 9.89998835e-01 2.03605440e-02 -5.78324193e-01] [ 1.80803445e-01 5.26788424e-03 9.83505142e-01 4.62286406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29538475 meters Centerline goodness : 0.933132 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.58, Z:0.46 [[ 9.73409927e-01 1.42125277e-01 -1.79648324e-01 8.04305293e+00] [-1.40597546e-01 9.89838225e-01 2.12748136e-02 -5.81835037e-01] [ 1.80846467e-01 4.54899885e-03 9.83500820e-01 4.61132099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35538475 meters Centerline goodness : 0.927924 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.59, Z:0.46 [[ 9.73173460e-01 1.44277906e-01 -1.79213011e-01 8.04168602e+00] [-1.42499294e-01 9.89531630e-01 2.28277012e-02 -5.86077450e-01] [ 1.80630476e-01 3.32241459e-03 9.83545420e-01 4.60604843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41538474999999 meters Centerline goodness : 0.937509 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.60, Z:0.47 [[ 9.73732790e-01 1.40743300e-01 -1.78985409e-01 8.03868365e+00] [-1.38498663e-01 9.90046038e-01 2.50392300e-02 -5.95885233e-01] [ 1.80727899e-01 4.07720600e-04 9.83533050e-01 4.69106448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47538474999999 meters Centerline goodness : 0.943276 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.60, Z:0.47 [[ 9.74379986e-01 1.35460205e-01 -1.79538785e-01 8.03968562e+00] [-1.33137110e-01 9.90782690e-01 2.49834096e-02 -6.04371115e-01] [ 1.81268178e-01 -4.40059279e-04 9.83433604e-01 4.73472492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53538474999999 meters Centerline goodness : 0.944721 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.61, Z:0.47 [[ 9.74899815e-01 1.30575772e-01 -1.80333906e-01 8.04210476e+00] [-1.28733368e-01 9.91436641e-01 2.19341332e-02 -6.08997034e-01] [ 1.81653709e-01 1.83140874e-03 9.83360858e-01 4.72527129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59538475 meters Centerline goodness : 0.941752 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.62, Z:0.47 [[ 9.75227789e-01 1.26124281e-01 -1.81723485e-01 8.04370631e+00] [-1.24488630e-01 9.92010767e-01 2.04259390e-02 -6.16498398e-01] [ 1.82847861e-01 2.70256439e-03 9.83137506e-01 4.74731568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65538475 meters Centerline goodness : 0.942726 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.62, Z:0.48 [[ 9.75162958e-01 1.26056735e-01 -1.82117834e-01 8.04532837e+00] [-1.24219035e-01 9.92021666e-01 2.15092101e-02 -6.19833043e-01] [ 1.83376218e-01 1.64751668e-03 9.83041428e-01 4.75177688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71538475 meters Centerline goodness : 0.939879 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.62, Z:0.48 [[ 9.75128159e-01 1.24914744e-01 -1.83088448e-01 8.04848044e+00] [-1.22857221e-01 9.92167367e-01 2.25836033e-02 -6.23577993e-01] [ 1.84475409e-01 4.71830355e-04 9.82837016e-01 4.76526395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77538474999999 meters Centerline goodness : 0.936511 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.63, Z:0.48 [[ 9.74588169e-01 1.26888727e-01 -1.84599976e-01 8.05511981e+00] [-1.24054262e-01 9.91911506e-01 2.68720098e-02 -6.25848128e-01] [ 1.86516596e-01 -3.28872902e-03 9.82446306e-01 4.77956792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83538474999999 meters Centerline goodness : 0.938925 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.63, Z:0.48 [[ 0.97388005 0.13132342 -0.18523446 8.05647327] [-0.12736994 0.99130159 0.03313679 -0.62752991] [ 0.18797485 -0.00867796 0.9821355 0.48292976] [ 0. 0. 0. 1. ]] SLAMing on 83.89538474999999 meters Centerline goodness : 0.937130 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.63, Z:0.48 [[ 0.97368067 0.13211119 -0.18572182 8.05674019] [-0.12815817 0.99119837 0.03318547 -0.62573343] [ 0.18847133 -0.00851028 0.98204182 0.48341569] [ 0. 0. 0. 1. ]] SLAMing on 83.95538475 meters Centerline goodness : 0.938612 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.62, Z:0.48 [[ 0.97302712 0.13671379 -0.18581592 8.05751397] [-0.13205359 0.99054095 0.03728897 -0.62433614] [ 0.18915619 -0.01174553 0.98187676 0.48475483] [ 0. 0. 0. 1. ]] SLAMing on 84.01538475 meters Centerline goodness : 0.940061 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.62, Z:0.49 [[ 0.97284179 0.13758553 -0.18614262 8.05687878] [-0.13290574 0.99042084 0.03745149 -0.6227746 ] [ 0.18951231 -0.01169495 0.98180869 0.485769 ] [ 0. 0. 0. 1. ]] SLAMing on 84.07538475 meters Centerline goodness : 0.940043 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.62, Z:0.49 [[ 0.97256193 0.13983105 -0.18593164 8.05449185] [-0.13519309 0.99011097 0.03745789 -0.61799282] [ 0.18933073 -0.01129345 0.98184843 0.48643329] [ 0. 0. 0. 1. ]] SLAMing on 84.13538474999999 meters Centerline goodness : 0.940501 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.62, Z:0.49 [[ 0.97247038 0.13953541 -0.18663127 8.05677784] [-0.13504163 0.99016214 0.03664282 -0.61537334] [ 0.18990819 -0.01043107 0.98174644 0.48562882] [ 0. 0. 0. 1. ]] SLAMing on 84.19538474999999 meters Centerline goodness : 0.938604 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.61, Z:0.49 [[ 0.97175483 0.14376891 -0.18714449 8.05885337] [-0.13858831 0.98951966 0.04054785 -0.61458883] [ 0.19101267 -0.01346653 0.98149519 0.48662939] [ 0. 0. 0. 1. ]] SLAMing on 84.25538474999999 meters Centerline goodness : 0.940822 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.61, Z:0.49 [[ 0.97161732 0.14387006 -0.18777964 8.05913108] [-0.13861212 0.98950149 0.04090809 -0.61477326] [ 0.19169368 -0.01371847 0.98135892 0.48835165] [ 0. 0. 0. 1. ]] SLAMing on 84.31538474999999 meters Centerline goodness : 0.940502 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.61, Z:0.49 [[ 0.97147857 0.14496129 -0.18765822 8.05842339] [-0.13973943 0.98934595 0.04083485 -0.61275102] [ 0.19157837 -0.01344693 0.9813852 0.4881125 ] [ 0. 0. 0. 1. ]] SLAMing on 84.37538475 meters Centerline goodness : 0.942305 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.61, Z:0.49 [[ 0.97130129 0.14607578 -0.18771169 8.05724049] [-0.14076921 0.98917772 0.04136978 -0.61177963] [ 0.19172334 -0.01375849 0.98135257 0.48938122] [ 0. 0. 0. 1. ]] SLAMing on 84.43538475 meters Centerline goodness : 0.946199 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.61, Z:0.49 [[ 0.97135748 0.14388578 -0.18910718 8.06152962] [-0.13857473 0.98949944 0.04108413 -0.61341774] [ 0.19303287 -0.0137019 0.98109662 0.49020939] [ 0. 0. 0. 1. ]] SLAMing on 84.49538474999999 meters Centerline goodness : 0.941679 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.61, Z:0.49 [[ 0.97076785 0.14668578 -0.18998174 8.06719865] [-0.14077976 0.9890496 0.04429398 -0.61340856] [ 0.19439866 -0.01625359 0.98078794 0.48914301] [ 0. 0. 0. 1. ]] SLAMing on 84.55538474999999 meters Centerline goodness : 0.938623 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.61, Z:0.49 [[ 0.97056903 0.14742158 -0.19042751 8.06823784] [-0.14155582 0.98894644 0.04412362 -0.61209506] [ 0.19482738 -0.0158689 0.98070917 0.48857846] [ 0. 0. 0. 1. ]] SLAMing on 84.61538474999999 meters Centerline goodness : 0.935430 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.61, Z:0.49 [[ 0.97024675 0.14850987 -0.19122257 8.068931 ] [-0.14274339 0.9887961 0.04366468 -0.60998196] [ 0.19556476 -0.01506975 0.980575 0.48837567] [ 0. 0. 0. 1. ]] SLAMing on 84.67538474999999 meters Centerline goodness : 0.937330 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.61, Z:0.49 [[ 0.97009577 0.14973366 -0.19103411 8.06797946] [-0.14391034 0.98860842 0.04408189 -0.60922723] [ 0.19545848 -0.01527187 0.98059306 0.48868185] [ 0. 0. 0. 1. ]] SLAMing on 84.73538475 meters Centerline goodness : 0.942078 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.61, Z:0.49 [[ 0.96993262 0.15078366 -0.19103665 8.06678419] [-0.14481569 0.98843904 0.04490754 -0.60972856] [ 0.19559941 -0.01589219 0.9805551 0.49005758] [ 0. 0. 0. 1. ]] SLAMing on 84.79538475 meters Centerline goodness : 0.949403 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.61, Z:0.49 [[ 0.97122647 0.14082826 -0.19205868 8.06569783] [-0.13578357 0.98996083 0.03924774 -0.61373812] [ 0.19565776 -0.01204003 0.98059833 0.49457875] [ 0. 0. 0. 1. ]] SLAMing on 84.85538475 meters Centerline goodness : 0.944573 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.49 [[ 0.97127784 0.13724836 -0.19437653 8.07569319] [-0.13239011 0.99047546 0.03783147 -0.61304127] [ 0.19771749 -0.01101134 0.9801972 0.49238 ] [ 0. 0. 0. 1. ]] SLAMing on 84.91538474999999 meters Centerline goodness : 0.937292 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.49 [[ 0.97073371 0.13931411 -0.19562119 8.08285619] [-0.13376983 0.99014981 0.04133984 -0.61483063] [ 0.19945351 -0.01396176 0.97980782 0.49145897] [ 0. 0. 0. 1. ]] SLAMing on 84.97538474999999 meters Centerline goodness : 0.943977 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.62, Z:0.49 [[ 0.97115807 0.13597816 -0.19586207 8.07933015] [-0.13095584 0.99064307 0.03843013 -0.61605607] [ 0.19925506 -0.01167245 0.97987814 0.49431335] [ 0. 0. 0. 1. ]] SLAMing on 85.03538474999999 meters Centerline goodness : 0.942691 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.62, Z:0.49 [[ 0.97041093 0.14072538 -0.1962116 8.0813323 ] [-0.13499085 0.9899406 0.0423684 -0.61536149] [ 0.20020014 -0.01462799 0.97964582 0.49461615] [ 0. 0. 0. 1. ]] SLAMing on 85.09538475 meters Centerline goodness : 0.941981 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.62, Z:0.50 [[ 0.97025117 0.1409591 -0.19683293 8.08224512] [-0.1351538 0.98990452 0.04269062 -0.61600008] [ 0.20086344 -0.0148179 0.97950718 0.49522314] [ 0. 0. 0. 1. ]] SLAMing on 85.15538475 meters Centerline goodness : 0.941496 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.62, Z:0.50 [[ 0.97005592 0.14151834 -0.1973932 8.08361191] [-0.13567374 0.98982455 0.04289517 -0.61538263] [ 0.20145509 -0.01482964 0.97938549 0.49521257] [ 0. 0. 0. 1. ]] SLAMing on 85.21538475 meters Centerline goodness : 0.942113 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.50 [[ 0.96934946 0.14668179 -0.1970941 8.08294789] [-0.14008073 0.98901901 0.04710391 -0.61436102] [ 0.2018391 -0.01805107 0.97925234 0.49698542] [ 0. 0. 0. 1. ]] SLAMing on 85.27538474999999 meters Centerline goodness : 0.939837 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.50 [[ 0.96853045 0.15193503 -0.19714085 8.0829911 ] [-0.14457085 0.98816321 0.05131022 -0.61299972] [ 0.20260316 -0.02119469 0.97903153 0.49861893] [ 0. 0. 0. 1. ]] SLAMing on 85.33538474999999 meters Centerline goodness : 0.942886 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.50 [[ 0.96824258 0.15286197 -0.19783711 8.08397844] [-0.14550576 0.98802708 0.05128908 -0.61125706] [ 0.20330857 -0.02087384 0.97889218 0.49865427] [ 0. 0. 0. 1. ]] SLAMing on 85.39538474999999 meters Centerline goodness : 0.940930 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.50 [[ 0.96856907 0.15053617 -0.19802226 8.08130721] [-0.14386186 0.98844485 0.047755 -0.61183842] [ 0.20292294 -0.01776617 0.97903353 0.49843334] [ 0. 0. 0. 1. ]] SLAMing on 85.45538475 meters Centerline goodness : 0.944501 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.61, Z:0.50 [[ 0.96902721 0.146262 -0.19898163 8.08255592] [-0.14011 0.98912495 0.04473274 -0.61351482] [ 0.20336039 -0.01546793 0.97898176 0.4987529 ] [ 0. 0. 0. 1. ]] SLAMing on 85.51538475 meters Centerline goodness : 0.944153 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.62, Z:0.50 [[ 0.96894222 0.14552298 -0.1999351 8.08572261] [-0.13923773 0.9892258 0.04522354 -0.6164736 ] [ 0.20436202 -0.01598049 0.97876493 0.4987136 ] [ 0. 0. 0. 1. ]] SLAMing on 85.57538475 meters Centerline goodness : 0.945541 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.62, Z:0.50 [[ 0.9694683 0.13972847 -0.20151222 8.08831758] [-0.13407304 0.99010147 0.04151509 -0.61897258] [ 0.20531839 -0.01323021 0.9786058 0.49948777] [ 0. 0. 0. 1. ]] SLAMing on 85.63538474999999 meters Centerline goodness : 0.939946 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.62, Z:0.50 [[ 0.96880943 0.1420862 -0.2030266 8.09542695] [-0.13568679 0.98972147 0.04517203 -0.62100695] [ 0.2073581 -0.01621506 0.97813071 0.49902252] [ 0. 0. 0. 1. ]] SLAMing on 85.69538474999999 meters Centerline goodness : 0.942554 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.62, Z:0.50 [[ 0.96923061 0.13904656 -0.20312086 8.09264316] [-0.1332037 0.99018869 0.04222721 -0.62289289] [ 0.20699952 -0.01387145 0.9782427 0.50017173] [ 0. 0. 0. 1. ]] SLAMing on 85.75538474999999 meters Centerline goodness : 0.942731 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.62, Z:0.50 [[ 0.96914597 0.13891048 -0.20361721 8.09411915] [-0.13295498 0.99020139 0.04271041 -0.62477999] [ 0.20755497 -0.0143207 0.97811853 0.50043298] [ 0. 0. 0. 1. ]] SLAMing on 85.81538474999999 meters Centerline goodness : 0.941628 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.63, Z:0.50 [[ 0.9691475 0.13793922 -0.20426916 8.09690589] [-0.1318599 0.99032891 0.04314653 -0.62765718] [ 0.20824525 -0.01488044 0.97796344 0.50039813] [ 0. 0. 0. 1. ]] SLAMing on 85.87538475 meters Centerline goodness : 0.941741 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.63, Z:0.50 [[ 0.9690024 0.1375158 -0.20524073 8.09832382] [-0.13119603 0.99037258 0.044156 -0.63127249] [ 0.20933694 -0.0158605 0.97771493 0.50238169] [ 0. 0. 0. 1. ]] SLAMing on 85.93538475 meters Centerline goodness : 0.942500 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.63, Z:0.50 [[ 0.96891472 0.13739783 -0.20573309 8.09926729] [-0.13089951 0.99037666 0.04493756 -0.63379927] [ 0.20992757 -0.0166103 0.97757583 0.50343738] [ 0. 0. 0. 1. ]] SLAMing on 85.99538474999999 meters Centerline goodness : 0.946027 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.64, Z:0.50 [[ 0.96941023 0.13269466 -0.20648472 8.09987093] [-0.12672078 0.99105083 0.04195342 -0.6356469 ] [ 0.21020385 -0.01450417 0.97754998 0.50452427] [ 0. 0. 0. 1. ]] SLAMing on 86.05538474999999 meters Centerline goodness : 0.942298 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.64, Z:0.50 [[ 0.96941807 0.13091922 -0.20757832 8.1042616 ] [-0.12497129 0.99128905 0.04157158 -0.63709828] [ 0.21121263 -0.01435891 0.97733466 0.5039626 ] [ 0. 0. 0. 1. ]] SLAMing on 86.11538474999999 meters Centerline goodness : 0.942770 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.50 [[ 0.96931643 0.12881111 -0.20936418 8.11068972] [-0.12286816 0.99156725 0.04120451 -0.63866056] [ 0.21290626 -0.01421602 0.97696921 0.50345153] [ 0. 0. 0. 1. ]] SLAMing on 86.17538474999999 meters Centerline goodness : 0.943362 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.51 [[ 0.96926576 0.12766048 -0.21030143 8.11290782] [-0.12153727 0.99170454 0.04184259 -0.64137475] [ 0.21389853 -0.01499712 0.97674076 0.50512676] [ 0. 0. 0. 1. ]] SLAMing on 86.23538475 meters Centerline goodness : 0.943685 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.51 [[ 0.96959552 0.12380138 -0.21108704 8.11262744] [-0.11823654 0.99222581 0.03883374 -0.64260054] [ 0.21425368 -0.01269482 0.97669555 0.50615935] [ 0. 0. 0. 1. ]] SLAMing on 86.29538475 meters Centerline goodness : 0.946692 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.51 [[ 0.96958525 0.12323087 -0.21146773 8.11391539] [-0.11762684 0.99229457 0.03892826 -0.64255788] [ 0.21463545 -0.01286998 0.97660944 0.50670926] [ 0. 0. 0. 1. ]] SLAMing on 86.35538475 meters Centerline goodness : 0.944769 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.51 [[ 0.96947151 0.12363326 -0.21175411 8.11354072] [-0.11799363 0.99224366 0.03911548 -0.64119384] [ 0.21494764 -0.0129357 0.9765399 0.50776497] [ 0. 0. 0. 1. ]] SLAMing on 86.41538474999999 meters Centerline goodness : 0.945831 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.51 [[ 0.96941565 0.12364854 -0.21200081 8.11386255] [-0.11798662 0.99224104 0.03920305 -0.64067448] [ 0.21520331 -0.0129908 0.97648286 0.50828645] [ 0. 0. 0. 1. ]] SLAMing on 86.47538474999999 meters Centerline goodness : 0.945420 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.64, Z:0.51 [[ 0.96925884 0.12479442 -0.21204634 8.11288959] [-0.11915275 0.99210058 0.03923089 -0.63783217] [ 0.21526709 -0.01275898 0.97647186 0.50864672] [ 0. 0. 0. 1. ]] SLAMing on 86.53538474999999 meters Centerline goodness : 0.945819 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.64, Z:0.51 [[ 0.96917545 0.1239029 -0.21294839 8.11574118] [-0.11833727 0.99221757 0.03873736 -0.63579022] [ 0.21609081 -0.01234357 0.97629524 0.50869865] [ 0. 0. 0. 1. ]] SLAMing on 86.59538475 meters Centerline goodness : 0.939708 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96860125 0.12801637 -0.21312772 8.11809437] [-0.1218238 0.99166292 0.04199551 -0.63374301] [ 0.21672697 -0.01471287 0.97612138 0.5080864 ] [ 0. 0. 0. 1. ]] SLAMing on 86.65538475 meters Centerline goodness : 0.944257 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96851472 0.12855044 -0.21319949 8.11690244] [-0.12223067 0.99158619 0.04262034 -0.63373861] [ 0.21688453 -0.01521891 0.97607863 0.5098095 ] [ 0. 0. 0. 1. ]] SLAMing on 86.71538475 meters Centerline goodness : 0.946072 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96897275 0.12314464 -0.21430632 8.11776637] [-0.11754219 0.99231188 0.03874228 -0.63294137] [ 0.21742961 -0.01235018 0.97599787 0.51128983] [ 0. 0. 0. 1. ]] SLAMing on 86.77538474999999 meters Centerline goodness : 0.941107 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96848433 0.12530587 -0.21525923 8.12376012] [-0.11912778 0.99201159 0.04149179 -0.63107461] [ 0.21873881 -0.0145408 0.9756751 0.51053886] [ 0. 0. 0. 1. ]] SLAMing on 86.83538474999999 meters Centerline goodness : 0.944802 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96836115 0.12569725 -0.21558499 8.12269646] [-0.11924988 0.99194518 0.04271094 -0.6329732 ] [ 0.21921714 -0.01565114 0.97555056 0.51322593] [ 0. 0. 0. 1. ]] SLAMing on 86.89538474999999 meters Centerline goodness : 0.944811 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96830987 0.12572783 -0.21579736 8.12312424] [-0.11924329 0.99193937 0.04286396 -0.63287783] [ 0.21944709 -0.01577321 0.97549689 0.51362619] [ 0. 0. 0. 1. ]] SLAMing on 86.95538475 meters Centerline goodness : 0.943924 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.9682453 0.12602787 -0.21591208 8.12357986] [-0.11971982 0.99191453 0.04210379 -0.6301029 ] [ 0.21947258 -0.01491784 0.97550461 0.51257023] [ 0. 0. 0. 1. ]] SLAMing on 87.01538475 meters Centerline goodness : 0.942352 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.63, Z:0.51 [[ 0.96810179 0.12677255 -0.2161195 8.12401363] [-0.12066617 0.9918347 0.04127478 -0.62599315] [ 0.21958733 -0.01387988 0.97549411 0.51138051] [ 0. 0. 0. 1. ]] SLAMing on 87.07538475 meters Centerline goodness : 0.939348 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.62, Z:0.51 [[ 0.96809713 0.12571867 -0.21675505 8.12669289] [-0.11971831 0.99197539 0.04064903 -0.62473727] [ 0.22012602 -0.01340266 0.97537936 0.51100137] [ 0. 0. 0. 1. ]] SLAMing on 87.13538474999999 meters Centerline goodness : 0.945720 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.62, Z:0.51 [[ 0.97105498 0.11598376 -0.20880612 8.11955291] [-0.10956761 0.99308834 0.04207709 -0.62190263] [ 0.21224318 -0.01798078 0.97705144 0.51011693] [ 0. 0. 0. 1. ]] SLAMing on 87.19538474999999 meters Centerline goodness : 0.942468 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.62, Z:0.51 [[ 0.97103534 0.11497692 -0.20945329 8.12234614] [-0.1086752 0.99321525 0.04139046 -0.621192 ] [ 0.21279115 -0.01742922 0.97694225 0.50914062] [ 0. 0. 0. 1. ]] SLAMing on 87.25538474999999 meters Centerline goodness : 0.946420 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.62, Z:0.51 [[ 0.97097108 0.11503454 -0.20971938 8.12278573] [-0.10856519 0.99319565 0.04214271 -0.62150846] [ 0.21314024 -0.01815113 0.976853 0.51050929] [ 0. 0. 0. 1. ]] SLAMing on 87.31538474999999 meters Centerline goodness : 0.947902 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.62, Z:0.51 [[ 0.9709118 0.11519777 -0.20990413 8.1221071 ] [-0.10853087 0.99316057 0.0430481 -0.62226077] [ 0.21342755 -0.01901483 0.97677383 0.51279113] [ 0. 0. 0. 1. ]] SLAMing on 87.37538475 meters Centerline goodness : 0.945025 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.62, Z:0.51 [[ 0.97082456 0.11529665 -0.21025308 8.12313386] [-0.10871249 0.99315793 0.04264875 -0.62024672] [ 0.21373177 -0.01854732 0.9767163 0.51231625] [ 0. 0. 0. 1. ]] SLAMing on 87.43538475 meters Centerline goodness : 0.946041 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.62, Z:0.51 [[ 0.97077741 0.1150933 -0.21058193 8.12436274] [-0.10861706 0.99319154 0.04210574 -0.61832425] [ 0.21399428 -0.01800251 0.97666901 0.5117987 ] [ 0. 0. 0. 1. ]] SLAMing on 87.49538474999999 meters Centerline goodness : 0.943123 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.62, Z:0.51 [[ 0.97072831 0.11506606 -0.21082304 8.12575294] [-0.10881837 0.99321412 0.04103994 -0.61522921] [ 0.21411472 -0.01689722 0.97666236 0.51007833] [ 0. 0. 0. 1. ]] SLAMing on 87.55538474999999 meters Centerline goodness : 0.941536 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.61, Z:0.51 [[ 0.97061838 0.11616501 -0.21072649 8.12499728] [-0.10999986 0.99309437 0.04078719 -0.61191429] [ 0.21400934 -0.01640891 0.97669379 0.50962024] [ 0. 0. 0. 1. ]] SLAMing on 87.61538474999999 meters Centerline goodness : 0.942738 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.61, Z:0.51 [[ 0.97058837 0.11772785 -0.2099961 8.12166043] [-0.11147907 0.99290438 0.04139222 -0.61045198] [ 0.21337906 -0.01676464 0.97682564 0.51083748] [ 0. 0. 0. 1. ]] SLAMing on 87.67538474999999 meters Centerline goodness : 0.947891 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.61, Z:0.51 [[ 0.97051743 0.11839614 -0.20994826 8.1206446 ] [-0.11201863 0.99281577 0.0420557 -0.61028158] [ 0.21341918 -0.01729768 0.97680758 0.51212359] [ 0. 0. 0. 1. ]] SLAMing on 87.73538475 meters Centerline goodness : 0.949890 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.61, Z:0.51 [[ 0.97107274 0.11320742 -0.21024225 8.12103963] [-0.10754382 0.99346555 0.03821686 -0.61117675] [ 0.21319487 -0.0145011 0.97690208 0.51201333] [ 0. 0. 0. 1. ]] SLAMing on 87.79538475 meters Centerline goodness : 0.946058 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.61, Z:0.51 [[ 0.97160447 0.10742926 -0.21081674 8.12672754] [-0.10249215 0.99414435 0.03423996 -0.61213515] [ 0.21326065 -0.01166063 0.97692575 0.50884718] [ 0. 0. 0. 1. ]] SLAMing on 87.85538475 meters Centerline goodness : 0.947573 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.62, Z:0.51 [[ 0.97206469 0.10209151 -0.21134704 8.12728033] [-0.09778397 0.99473214 0.03076152 -0.61568885] [ 0.21337418 -0.00923583 0.97692689 0.5093703 ] [ 0. 0. 0. 1. ]] SLAMing on 87.91538474999999 meters Centerline goodness : 0.948598 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.62, Z:0.51 [[ 0.97201434 0.1030158 -0.21112998 8.12662578] [-0.09857352 0.9946315 0.03148719 -0.61626087] [ 0.2132402 -0.00979418 0.97695071 0.5095515 ] [ 0. 0. 0. 1. ]] SLAMing on 87.97538474999999 meters Centerline goodness : 0.949948 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.62, Z:0.51 [[ 0.97198072 0.10335268 -0.21112013 8.12581064] [-0.09845787 0.99457397 0.03359575 -0.61981763] [ 0.21344679 -0.01186798 0.9768826 0.51270963] [ 0. 0. 0. 1. ]] SLAMing on 88.03538474999999 meters Centerline goodness : 0.952201 with order 1 Centerline is valid? [False, True] Translation: X:8.13, Y:-0.62, Z:0.51 [[ 0.97208567 0.1016885 -0.2114448 8.12803773] [-0.09673515 0.99474057 0.03366753 -0.62270934] [ 0.21375633 -0.01227358 0.97680991 0.51305669] [ 0. 0. 0. 1. ]] SLAMing on 88.09538475 meters Centerline goodness : 0.951826 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.62, Z:0.52 [[ 9.72562604e-01 9.41316114e-02 -2.12746846e-01 8.18711025e+00] [-9.19623157e-02 9.95559762e-01 2.00921210e-02 -6.23881362e-01] [ 2.13693503e-01 2.38470846e-05 9.76900756e-01 5.15470647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15538475 meters Centerline goodness : 0.946937 with order 1 Centerline is valid? [True, False] Translation: X:8.20, Y:-0.62, Z:0.52 [[ 9.72447974e-01 8.98859588e-02 -2.15094057e-01 8.19673024e+00] [-8.78280291e-02 9.95952021e-01 1.91261136e-02 -6.24919938e-01] [ 2.15942529e-01 2.92136611e-04 9.76406032e-01 5.15231217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21538475 meters Centerline goodness : 0.946551 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.63, Z:0.52 [[ 9.71889333e-01 9.32722689e-02 -2.16174484e-01 8.19979568e+00] [-8.98406888e-02 9.95625303e-01 2.56691895e-02 -6.27194462e-01] [ 2.17623009e-01 -5.52634700e-03 9.76017257e-01 5.20848587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27538474999999 meters Centerline goodness : 0.948689 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.63, Z:0.52 [[ 9.71861867e-01 9.44858189e-02 -2.15770578e-01 8.19710729e+00] [-9.09637977e-02 9.95508998e-01 2.62187580e-02 -6.25636154e-01] [ 2.17278853e-01 -5.85369983e-03 9.76092021e-01 5.22160027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33538474999999 meters Centerline goodness : 0.951883 with order 1 Centerline is valid? [False, True] Translation: X:8.20, Y:-0.63, Z:0.53 [[ 0.9713936 0.09959518 -0.21558127 8.19616988] [-0.09497812 0.99497456 0.03169818 -0.62608951] [ 0.21765486 -0.01031591 0.97597128 0.52539055] [ 0. 0. 0. 1. ]] SLAMing on 88.39538474999999 meters Centerline goodness : 0.950518 with order 1 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.63, Z:0.53 [[ 9.70925882e-01 1.01888604e-01 -2.16614042e-01 8.25516225e+00] [-9.96345092e-02 9.94795433e-01 2.13309988e-02 -6.26131411e-01] [ 2.17660046e-01 8.71414934e-04 9.76024254e-01 5.28001265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45538475 meters Centerline goodness : 0.952650 with order 1 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.63, Z:0.54 [[ 9.70619835e-01 1.04760201e-01 -2.16615873e-01 8.31227386e+00] [-1.02580875e-01 9.94496328e-01 2.13123939e-02 -6.30719477e-01] [ 2.17656381e-01 1.53441363e-03 9.76024255e-01 5.42648181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51538475 meters Centerline goodness : 0.951926 with order 1 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.64, Z:0.56 [[ 9.70663389e-01 1.04345626e-01 -2.16620810e-01 8.36899243e+00] [-1.02167328e-01 9.94539974e-01 2.12620931e-02 -6.35295869e-01] [ 2.17656661e-01 1.49323397e-03 9.76024256e-01 5.56575831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57538475 meters Centerline goodness : 0.950136 with order 1 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.64, Z:0.57 [[ 9.70677695e-01 1.04201623e-01 -2.16626024e-01 8.42547878e+00] [-1.02031667e-01 9.94555038e-01 2.12088381e-02 -6.40849907e-01] [ 2.17656499e-01 1.51576819e-03 9.76024257e-01 5.65865309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63538474999999 meters Centerline goodness : 0.949663 with order 1 Centerline is valid? [True, False] Translation: X:8.42, Y:-0.64, Z:0.57 [[ 9.70565732e-01 1.05106833e-01 -2.16690362e-01 8.42424657e+00] [-1.02661924e-01 9.94460868e-01 2.25413182e-02 -6.42236130e-01] [ 2.17859332e-01 3.68018565e-04 9.75980110e-01 5.67822381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69538474999999 meters Centerline goodness : 0.952935 with order 1 Centerline is valid? [False, True] Translation: X:8.42, Y:-0.64, Z:0.57 [[ 9.70461364e-01 1.05682183e-01 -2.16877888e-01 8.42360003e+00] [-1.03103700e-01 9.94399946e-01 2.32029169e-02 -6.43280208e-01] [ 2.18115494e-01 -1.56621729e-04 9.75922951e-01 5.68917154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75538474999999 meters Centerline goodness : 0.949098 with order 1 Centerline is valid? [True, False] Translation: X:8.42, Y:-0.64, Z:0.57 [[ 9.69992829e-01 1.09662898e-01 -2.16997606e-01 8.42448261e+00] [-1.06170667e-01 9.93961370e-01 2.77233418e-02 -6.44708055e-01] [ 2.18727460e-01 -3.85266209e-03 9.75778384e-01 5.70756123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81538474999999 meters Centerline goodness : 0.950774 with order 1 Centerline is valid? [False, True] Translation: X:8.42, Y:-0.64, Z:0.57 [[ 9.69942330e-01 1.10618271e-01 -2.16738262e-01 8.42311551e+00] [-1.06979473e-01 9.93853028e-01 2.84877414e-02 -6.44748010e-01] [ 2.18557243e-01 -4.44492116e-03 9.75814006e-01 5.71596735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87538475 meters Centerline goodness : 0.949281 with order 1 Centerline is valid? [True, False] Translation: X:8.42, Y:-0.64, Z:0.57 [[ 9.69837838e-01 1.12101757e-01 -2.16443442e-01 8.42145135e+00] [-1.08387125e-01 9.93685798e-01 2.89959749e-02 -6.42767829e-01] [ 2.18327274e-01 -4.66171120e-03 9.75864473e-01 5.71940808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93538475 meters Centerline goodness : 0.950344 with order 1 Centerline is valid? [False, True] Translation: X:8.42, Y:-0.64, Z:0.57 [[ 9.69365435e-01 1.17002647e-01 -2.15965355e-01 8.42060074e+00] [-1.12364561e-01 9.93096279e-01 3.36747172e-02 -6.43097697e-01] [ 2.18414422e-01 -8.37625456e-03 9.75820157e-01 5.73570024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99538474999999 meters Centerline goodness : 0.950468 with order 1 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.65, Z:0.58 [[ 9.69886572e-01 1.10221140e-01 -2.17189634e-01 8.47796163e+00] [-1.08149088e-01 9.93903439e-01 2.14412742e-02 -6.46693203e-01] [ 2.18228806e-01 2.69325679e-03 9.75893916e-01 5.77745842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05538474999999 meters Centerline goodness : 0.946212 with order 1 Centerline is valid? [True, False] Translation: X:8.48, Y:-0.65, Z:0.58 [[ 9.69858355e-01 1.08752704e-01 -2.18054168e-01 8.48220371e+00] [-1.06777392e-01 9.94064145e-01 2.08582032e-02 -6.46949431e-01] [ 2.19028216e-01 3.05375267e-03 9.75713747e-01 5.76600324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11538474999999 meters Centerline goodness : 0.945187 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.65, Z:0.58 [[ 9.69785921e-01 1.07579112e-01 -2.18956619e-01 8.48461354e+00] [-1.05565488e-01 9.94192483e-01 2.09101739e-02 -6.47764726e-01] [ 2.19934523e-01 2.83586997e-03 9.75510514e-01 5.77552728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17538474999999 meters Centerline goodness : 0.943055 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.65, Z:0.58 [[ 9.69313593e-01 1.11605124e-01 -2.19032999e-01 8.48590373e+00] [-1.08651025e-01 9.93752185e-01 2.55254696e-02 -6.49460646e-01] [ 2.20513294e-01 -9.44024843e-04 9.75383512e-01 5.79057505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23538475 meters Centerline goodness : 0.943278 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.65, Z:0.58 [[ 9.69239775e-01 1.12762087e-01 -2.18766933e-01 8.48358890e+00] [-1.09547630e-01 9.93619967e-01 2.68081690e-02 -6.50499762e-01] [ 2.20394138e-01 -2.01814463e-03 9.75408812e-01 5.81039350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29538475 meters Centerline goodness : 0.947448 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.65, Z:0.58 [[ 9.69675195e-01 1.06920966e-01 -2.19767887e-01 8.48480669e+00] [-1.04189754e-01 9.94267447e-01 2.40154089e-02 -6.52886631e-01] [ 2.21075806e-01 -3.89584148e-04 9.75256549e-01 5.83728359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35538475 meters Centerline goodness : 0.943160 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.65, Z:0.58 [[ 9.69301544e-01 1.09702928e-01 -2.20044959e-01 8.48911417e+00] [-1.06294975e-01 9.93959656e-01 2.73053323e-02 -6.53699194e-01] [ 2.21711286e-01 -3.07742729e-03 9.75107499e-01 5.82568144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41538474999999 meters Centerline goodness : 0.947024 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69274537e-01 1.10291630e-01 -2.19869569e-01 8.48699720e+00] [-1.06178441e-01 9.93879971e-01 3.04752655e-02 -6.57684578e-01] [ 2.21885128e-01 -6.19349090e-03 9.75053143e-01 5.87817419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47538474999999 meters Centerline goodness : 0.941015 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69159635e-01 1.10222403e-01 -2.20410128e-01 8.48922132e+00] [-1.06178687e-01 9.93889937e-01 3.01476152e-02 -6.57446816e-01] [ 2.22386351e-01 -5.81499385e-03 9.74941279e-01 5.86662137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53538474999999 meters Centerline goodness : 0.942114 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69206346e-01 1.10917382e-01 -2.19855391e-01 8.48767543e+00] [-1.06827536e-01 9.93811405e-01 3.04428885e-02 -6.56895954e-01] [ 2.21871440e-01 -6.01883090e-03 9.75057351e-01 5.86852411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59538475 meters Centerline goodness : 0.946071 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69182325e-01 1.11778562e-01 -2.19524884e-01 8.48509497e+00] [-1.07417787e-01 9.93707193e-01 3.17400930e-02 -6.57706271e-01] [ 2.21691318e-01 -7.18105979e-03 9.75090453e-01 5.89370872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65538475 meters Centerline goodness : 0.948129 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69185780e-01 1.11369476e-01 -2.19717463e-01 8.48515851e+00] [-1.06965637e-01 9.93751571e-01 3.18773816e-02 -6.57250337e-01] [ 2.21894741e-01 -7.39288664e-03 9.75042599e-01 5.90510153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71538475 meters Centerline goodness : 0.949446 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69235413e-01 1.10521917e-01 -2.19926398e-01 8.48669024e+00] [-1.06189319e-01 9.93848031e-01 3.14629837e-02 -6.56547853e-01] [ 2.22050766e-01 -7.14120347e-03 9.75008954e-01 5.90165304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77538474999999 meters Centerline goodness : 0.944723 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.66, Z:0.59 [[ 9.69144364e-01 1.10642407e-01 -2.20266793e-01 8.48705496e+00] [-1.06319259e-01 9.93835377e-01 3.14238388e-02 -6.56430390e-01] [ 2.22385740e-01 -7.03563406e-03 9.74933373e-01 5.90417383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83538474999999 meters Centerline goodness : 0.946426 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.65, Z:0.59 [[ 9.69049347e-01 1.11835730e-01 -2.20082105e-01 8.48531074e+00] [-1.07432663e-01 9.93700027e-01 3.19136182e-02 -6.54809710e-01] [ 2.22264677e-01 -7.28186425e-03 9.74959172e-01 5.91361414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89538474999999 meters Centerline goodness : 0.949130 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.65, Z:0.59 [[ 9.68950971e-01 1.13492290e-01 -2.19666831e-01 8.48346571e+00] [-1.09018118e-01 9.93510794e-01 3.24245743e-02 -6.51884880e-01] [ 2.21921307e-01 -7.47015818e-03 9.75035964e-01 5.91618191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95538475 meters Centerline goodness : 0.949279 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.65, Z:0.59 [[ 9.68914039e-01 1.13615609e-01 -2.19765961e-01 8.48270053e+00] [-1.09115620e-01 9.93496045e-01 3.25482713e-02 -6.51267414e-01] [ 2.22034605e-01 -7.55657791e-03 9.75009504e-01 5.92722255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01538475 meters Centerline goodness : 0.946607 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.65, Z:0.59 [[ 9.68879479e-01 1.13248784e-01 -2.20107402e-01 8.48517181e+00] [-1.08918310e-01 9.93543459e-01 3.17521038e-02 -6.49189745e-01] [ 2.22282156e-01 -6.79023559e-03 9.74958735e-01 5.90993633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07538475 meters Centerline goodness : 0.951082 with order 1 Centerline is valid? [False, True] Translation: X:8.48, Y:-0.65, Z:0.59 [[ 9.68906098e-01 1.13836808e-01 -2.19686490e-01 8.48325320e+00] [-1.09350818e-01 9.93471301e-01 3.25141877e-02 -6.50706303e-01] [ 2.21953534e-01 -7.48029741e-03 9.75028550e-01 5.92161171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13538474999999 meters Centerline goodness : 0.952783 with order 1 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.66, Z:0.60 [[ 9.69197203e-01 1.09376111e-01 -2.20666372e-01 8.54197456e+00] [-1.06861209e-01 9.93999972e-01 2.33396053e-02 -6.55744811e-01] [ 2.21895163e-01 9.59995242e-04 9.75070056e-01 5.99131923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19538474999999 meters Centerline goodness : 0.947024 with order 1 Centerline is valid? [True, False] Translation: X:8.55, Y:-0.66, Z:0.60 [[ 9.69135944e-01 1.08459473e-01 -2.21386686e-01 8.54547688e+00] [-1.05968447e-01 9.94100328e-01 2.31349342e-02 -6.56967403e-01] [ 2.22589780e-01 1.03910718e-03 9.74911642e-01 5.98057867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25538474999999 meters Centerline goodness : 0.944870 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.66, Z:0.60 [[ 9.69037218e-01 1.08397348e-01 -2.21848789e-01 8.54676248e+00] [-1.05856719e-01 9.94107275e-01 2.33469484e-02 -6.57004226e-01] [ 2.23072243e-01 8.60122895e-04 9.74801536e-01 5.98253015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31538474999999 meters Centerline goodness : 0.944383 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.66, Z:0.60 [[ 9.68964851e-01 1.09474977e-01 -2.21635619e-01 8.54520337e+00] [-1.06826677e-01 9.93989436e-01 2.39387297e-02 -6.56415579e-01] [ 2.22924156e-01 4.80809039e-04 9.74835673e-01 5.99103896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37538475 meters Centerline goodness : 0.946624 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.66, Z:0.60 [[ 9.68954192e-01 1.09459842e-01 -2.21689687e-01 8.54419921e+00] [-1.06506117e-01 9.93990833e-01 2.52719496e-02 -6.57430324e-01] [ 2.23123780e-01 -8.76053725e-04 9.74789727e-01 6.02111995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43538475 meters Centerline goodness : 0.948533 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.66, Z:0.60 [[ 9.68949932e-01 1.09999312e-01 -2.21441144e-01 8.54404785e+00] [-1.07072155e-01 9.93931399e-01 2.52175922e-02 -6.55512123e-01] [ 2.22871224e-01 -7.24403765e-04 9.74847625e-01 6.01481806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49538474999999 meters Centerline goodness : 0.951204 with order 1 Centerline is valid? [False, True] Translation: X:8.54, Y:-0.66, Z:0.60 [[ 9.68825099e-01 1.11361491e-01 -2.21306453e-01 8.54159450e+00] [-1.08107188e-01 9.93777866e-01 2.68027749e-02 -6.56343594e-01] [ 2.22914252e-01 -2.04238259e-03 9.74835917e-01 6.04070349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55538474999999 meters Centerline goodness : 0.953578 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.66, Z:0.62 [[ 9.68863914e-01 1.10321793e-01 -2.21656981e-01 8.59934118e+00] [-1.07793550e-01 9.93895295e-01 2.35094345e-02 -6.62493133e-01] [ 2.22897434e-01 1.11575003e-03 9.74841264e-01 6.15839078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61538474999999 meters Centerline goodness : 0.950397 with order 1 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.67, Z:0.63 [[ 9.69046950e-01 1.08690101e-01 -2.21662967e-01 8.65630909e+00] [-1.06132649e-01 9.94075361e-01 2.34528629e-02 -6.70112280e-01] [ 2.22898788e-01 7.98752694e-04 9.74841265e-01 6.27193082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67538474999999 meters Centerline goodness : 0.947786 with order 1 Centerline is valid? [True, False] Translation: X:8.66, Y:-0.67, Z:0.63 [[ 9.69362731e-01 1.03919636e-01 -2.22568202e-01 8.65759963e+00] [-1.02073246e-01 9.94579505e-01 1.98156759e-02 -6.71752569e-01] [ 2.23421010e-01 3.50968117e-03 9.74715720e-01 6.27242002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73538475 meters Centerline goodness : 0.948493 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.67, Z:0.63 [[ 9.69278300e-01 1.01243858e-01 -2.24163465e-01 8.66304937e+00] [-9.91274956e-02 9.94859312e-01 2.07048193e-02 -6.74143698e-01] [ 2.25107346e-01 2.15203083e-03 9.74331592e-01 6.29919553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79538475 meters Centerline goodness : 0.947057 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.67, Z:0.63 [[ 9.68822972e-01 1.04083864e-01 -2.24830154e-01 8.66776160e+00] [-1.01295843e-01 9.94568439e-01 2.39326736e-02 -6.73418986e-01] [ 2.26099980e-01 -4.12164016e-04 9.74104013e-01 6.29211056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85538475 meters Centerline goodness : 0.948727 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.67, Z:0.63 [[ 9.68622465e-01 1.08723906e-01 -2.23494143e-01 8.65950669e+00] [-1.05501417e-01 9.94070092e-01 2.63458395e-02 -6.71648511e-01] [ 2.25033266e-01 -1.94022329e-03 9.74349149e-01 6.32535601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91538474999999 meters Centerline goodness : 0.947831 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.67, Z:0.63 [[ 9.68036335e-01 1.13357761e-01 -2.23731251e-01 8.66004504e+00] [-1.09204851e-01 9.93539176e-01 3.08902424e-02 -6.71529197e-01] [ 2.25787411e-01 -5.47033921e-03 9.74161239e-01 6.34577790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97538474999999 meters Centerline goodness : 0.944915 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.67, Z:0.63 [[ 9.67545713e-01 1.17017703e-01 -2.23969084e-01 8.66243688e+00] [-1.12122993e-01 9.93095457e-01 3.44941699e-02 -6.71539606e-01] [ 2.26459109e-01 -8.26260208e-03 9.73985627e-01 6.34645369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03538474999999 meters Centerline goodness : 0.946397 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.67, Z:0.64 [[ 9.67429370e-01 1.17297309e-01 -2.24325110e-01 8.66303768e+00] [-1.12324451e-01 9.93060330e-01 3.48482220e-02 -6.71875569e-01] [ 2.26855971e-01 -8.51599860e-03 9.73891085e-01 6.35136222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09538475 meters Centerline goodness : 0.947174 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.67, Z:0.64 [[ 9.67888471e-01 1.13877654e-01 -2.24106645e-01 8.66018448e+00] [-1.09593450e-01 9.93477064e-01 3.15055377e-02 -6.71932441e-01] [ 2.26232588e-01 -5.93322629e-03 9.74055241e-01 6.35771906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15538475 meters Centerline goodness : 0.947067 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.67, Z:0.64 [[ 9.67836393e-01 1.10957340e-01 -2.25790137e-01 8.66673015e+00] [-1.06604606e-01 9.93804958e-01 3.14191654e-02 -6.72833393e-01] [ 2.27877544e-01 -6.33834320e-03 9.73669169e-01 6.36755856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21538475 meters Centerline goodness : 0.942975 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.67, Z:0.64 [[ 9.67797312e-01 1.09424708e-01 -2.26703762e-01 8.67111001e+00] [-1.05162019e-01 9.93976977e-01 3.08337235e-02 -6.73568125e-01] [ 2.28712291e-01 -6.00016929e-03 9.73475570e-01 6.35544300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27538474999999 meters Centerline goodness : 0.945336 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.68, Z:0.64 [[ 9.67750509e-01 1.10630917e-01 -2.26317812e-01 8.66842035e+00] [-1.06183984e-01 9.93838893e-01 3.17681754e-02 -6.75574265e-01] [ 2.28437986e-01 -6.71234095e-03 9.73535326e-01 6.36973547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33538474999999 meters Centerline goodness : 0.949774 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.68, Z:0.64 [[ 9.67663215e-01 1.12529307e-01 -2.25754419e-01 8.66504720e+00] [-1.07758365e-01 9.93616362e-01 3.33865206e-02 -6.75763266e-01] [ 2.28070246e-01 -7.97998081e-03 9.73611977e-01 6.39196964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39538474999999 meters Centerline goodness : 0.948565 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.68, Z:0.64 [[ 9.67666217e-01 1.12780552e-01 -2.25616135e-01 8.66506669e+00] [-1.07967682e-01 9.93586466e-01 3.35993317e-02 -6.75090873e-01] [ 2.27958489e-01 -8.15368706e-03 9.73636711e-01 6.39214461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45538475 meters Centerline goodness : 0.949423 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.68, Z:0.64 [[ 0.96755169 0.11365654 -0.22566773 8.66421727] [-0.10864437 0.99348015 0.03454846 -0.67599616] [ 0.22812307 -0.00890989 0.97359154 0.64048304] [ 0. 0. 0. 1. ]] SLAMing on 91.51538475 meters Centerline goodness : 0.948480 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.68, Z:0.64 [[ 0.96748317 0.11285873 -0.22636083 8.66691118] [-0.10774026 0.99356697 0.03488152 -0.67712566] [ 0.22884133 -0.00935911 0.97341874 0.64081724] [ 0. 0. 0. 1. ]] SLAMing on 91.57538475 meters Centerline goodness : 0.945749 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.68, Z:0.64 [[ 0.96741107 0.11191445 -0.22713648 8.66985593] [-0.10662853 0.99366676 0.03545026 -0.679227 ] [ 0.22966537 -0.01007574 0.9732175 0.64148571] [ 0. 0. 0. 1. ]] SLAMing on 91.63538474999999 meters Centerline goodness : 0.951142 with order 1 Centerline is valid? [False, True] Translation: X:8.67, Y:-0.68, Z:0.65 [[ 0.96761679 0.10909446 -0.22763158 8.67273499] [-0.10331389 0.99395314 0.03719401 -0.68395632] [ 0.23031279 -0.01247205 0.97303672 0.64583592] [ 0. 0. 0. 1. ]] SLAMing on 91.69538474999999 meters Centerline goodness : 0.950913 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.69, Z:0.65 [[ 9.68034895e-01 1.02620462e-01 -2.28861276e-01 8.72966762e+00] [-9.91122653e-02 9.94715234e-01 2.68022878e-02 -6.88332919e-01] [ 2.30402260e-01 -3.26259037e-03 9.73090003e-01 6.52030684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75538474999999 meters Centerline goodness : 0.949616 with order 1 Centerline is valid? [True, False] Translation: X:8.73, Y:-0.69, Z:0.65 [[ 9.67955503e-01 1.03099830e-01 -2.28981590e-01 8.73034599e+00] [-9.95108633e-02 9.94664716e-01 2.71972753e-02 -6.88767930e-01] [ 2.30563942e-01 -3.53959665e-03 9.73050739e-01 6.51675226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81538474999999 meters Centerline goodness : 0.947698 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.69, Z:0.65 [[ 9.67736996e-01 1.05430814e-01 -2.28843723e-01 8.72818103e+00] [-1.01718474e-01 9.94419338e-01 2.79916344e-02 -6.87454546e-01] [ 2.30517804e-01 -3.81090587e-03 9.73060645e-01 6.52113560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87538475 meters Centerline goodness : 0.951333 with order 1 Centerline is valid? [False, True] Translation: X:8.73, Y:-0.69, Z:0.65 [[ 9.67618351e-01 1.06082582e-01 -2.29044129e-01 8.72691445e+00] [-1.02081313e-01 9.94344988e-01 2.92822710e-02 -6.88128859e-01] [ 2.30855221e-01 -4.95293736e-03 9.72975506e-01 6.54916311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93538475 meters Centerline goodness : 0.953684 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.69, Z:0.67 [[ 9.68058479e-01 1.01153092e-01 -2.29414108e-01 8.78405870e+00] [-9.77849892e-02 9.94867021e-01 2.60327811e-02 -6.91518416e-01] [ 2.30869827e-01 -2.76799839e-03 9.72980710e-01 6.68398843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99538474999999 meters Centerline goodness : 0.953299 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.69, Z:0.68 [[ 9.68052980e-01 1.01190442e-01 -2.29420840e-01 8.84118597e+00] [-9.78374620e-02 9.94863417e-01 2.59733236e-02 -6.94785915e-01] [ 2.30870653e-01 -2.69760065e-03 9.72980711e-01 6.80459189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05538474999999 meters Centerline goodness : 0.953401 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.70, Z:0.69 [[ 9.67746673e-01 1.04062465e-01 -2.29428376e-01 8.89733422e+00] [-1.00804875e-01 9.94568864e-01 2.59065855e-02 -6.98617277e-01] [ 2.30878223e-01 -1.94351323e-03 9.72980714e-01 6.93816904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11538474999999 meters Centerline goodness : 0.952266 with order 1 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.70, Z:0.71 [[ 9.67641059e-01 1.05023855e-01 -2.29435768e-01 8.95361664e+00] [-1.01808473e-01 9.94468340e-01 2.58409583e-02 -7.03788779e-01] [ 2.30880525e-01 -1.64626713e-03 9.72980716e-01 7.08113381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17538474999999 meters Centerline goodness : 0.950862 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.71, Z:0.72 [[ 9.67355385e-01 1.07607590e-01 -2.29443165e-01 9.00928465e+00] [-1.04479478e-01 9.94192980e-01 2.57751220e-02 -7.05748054e-01] [ 2.30884383e-01 -9.61600984e-04 9.72980718e-01 7.19822791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23538475 meters Centerline goodness : 0.949883 with order 1 Centerline is valid? [True, False] Translation: X:9.01, Y:-0.71, Z:0.72 [[ 9.66710732e-01 1.11393155e-01 -2.30351745e-01 9.01222111e+00] [-1.07439164e-01 9.93768600e-01 2.96782087e-02 -7.05836741e-01] [ 2.32222280e-01 -3.94144404e-03 9.72654758e-01 7.21200715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29538475 meters Centerline goodness : 0.944638 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.71, Z:0.72 [[ 9.66094751e-01 1.15008098e-01 -2.31158107e-01 9.01592320e+00] [-1.10256380e-01 9.93341310e-01 3.34151579e-02 -7.05882071e-01] [ 2.33461910e-01 -6.79555257e-03 9.72342202e-01 7.21737561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35538475 meters Centerline goodness : 0.943764 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.71, Z:0.72 [[ 0.96542877 0.11933701 -0.23174549 9.01735745] [-0.11351694 0.99279608 0.0383386 -0.70717981] [ 0.23465123 -0.01070615 0.97202067 0.72459361] [ 0. 0. 0. 1. ]] SLAMing on 92.41538474999999 meters Centerline goodness : 0.944381 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.71, Z:0.73 [[ 0.96532051 0.11978538 -0.23196505 9.0160129 ] [-0.11370649 0.99273078 0.03945174 -0.70840416] [ 0.23500458 -0.01170764 0.97192375 0.72744364] [ 0. 0. 0. 1. ]] SLAMing on 92.47538474999999 meters Centerline goodness : 0.948481 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.71, Z:0.73 [[ 0.96526409 0.1195762 -0.23230747 9.01674129] [-0.1132546 0.99274382 0.04041168 -0.71036271] [ 0.23545408 -0.01269805 0.97180252 0.72909588] [ 0. 0. 0. 1. ]] SLAMing on 92.53538474999999 meters Centerline goodness : 0.947271 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.71, Z:0.74 [[ 0.9652196 0.11800558 -0.23329338 9.02872036] [-0.10992433 0.99280953 0.04739073 -0.71448952] [ 0.23720827 -0.02009784 0.9712509 0.73668796] [ 0. 0. 0. 1. ]] SLAMing on 92.59538475 meters Centerline goodness : 0.948749 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.72, Z:0.74 [[ 0.96575439 0.1105948 -0.23470672 9.03929369] [-0.10201396 0.99360337 0.0484304 -0.71879724] [ 0.23856154 -0.02282851 0.97085903 0.74269659] [ 0. 0. 0. 1. ]] SLAMing on 92.65538475 meters Centerline goodness : 0.948671 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.72, Z:0.75 [[ 0.96573333 0.10839866 -0.23581532 9.05096934] [-0.09819053 0.99366619 0.05464537 -0.72246172] [ 0.2402452 -0.02961803 0.97026028 0.75071017] [ 0. 0. 0. 1. ]] SLAMing on 92.71538475 meters Centerline goodness : 0.945108 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.72, Z:0.75 [[ 0.96494553 0.11140521 -0.23763209 9.05684529] [-0.0999522 0.99319652 0.05975135 -0.72381404] [ 0.24267198 -0.03390494 0.96951574 0.75437626] [ 0. 0. 0. 1. ]] SLAMing on 92.77538474999999 meters Centerline goodness : 0.940780 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.72, Z:0.75 [[ 0.9642656 0.11650116 -0.23794815 9.05780877] [-0.10437438 0.9925415 0.06298691 -0.72034987] [ 0.24351147 -0.03590042 0.96923337 0.7546351 ] [ 0. 0. 0. 1. ]] SLAMing on 92.83538474999999 meters Centerline goodness : 0.942029 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.72, Z:0.76 [[ 0.963606 0.12323622 -0.23722629 9.05447961] [-0.11035651 0.99163931 0.06687996 -0.71609551] [ 0.24348495 -0.03826647 0.9691495 0.75607795] [ 0. 0. 0. 1. ]] SLAMing on 92.89538474999999 meters Centerline goodness : 0.944027 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.72, Z:0.76 [[ 0.9634599 0.12304979 -0.23791546 9.05619428] [-0.11018658 0.99167155 0.06668174 -0.71619879] [ 0.24413917 -0.03803009 0.96899421 0.75625323] [ 0. 0. 0. 1. ]] SLAMing on 92.95538475 meters Centerline goodness : 0.941789 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.72, Z:0.76 [[ 0.96326014 0.12040094 -0.24006981 9.0633019 ] [-0.10730376 0.99196957 0.06694985 -0.71869718] [ 0.24620277 -0.03872973 0.96844422 0.75809766] [ 0. 0. 0. 1. ]] SLAMing on 93.01538475 meters Centerline goodness : 0.939616 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.72, Z:0.76 [[ 0.96322643 0.1172065 -0.2417798 9.07835601] [-0.10257217 0.99209487 0.07229611 -0.72261781] [ 0.24834207 -0.04483764 0.96763413 0.76472926] [ 0. 0. 0. 1. ]] SLAMing on 93.07538475 meters Centerline goodness : 0.937744 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.72, Z:0.77 [[ 0.96295752 0.1139904 -0.2443747 9.08746358] [-0.09914665 0.99244662 0.07224715 -0.72406292] [ 0.25076433 -0.045342 0.96698571 0.7664168 ] [ 0. 0. 0. 1. ]] SLAMing on 93.13538474999999 meters Centerline goodness : 0.936620 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.73, Z:0.77 [[ 0.96266913 0.11155708 -0.24662352 9.09368172] [-0.0966137 0.99271994 0.07192304 -0.72503831] [ 0.25285161 -0.04541088 0.96643878 0.76815303] [ 0. 0. 0. 1. ]] SLAMing on 93.19538474999999 meters Centerline goodness : 0.936653 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.73, Z:0.78 [[ 0.96200311 0.1135832 -0.2482919 9.0996008 ] [-0.09686321 0.99219002 0.07859059 -0.72811063] [ 0.25527932 -0.05155404 0.96549192 0.77563273] [ 0. 0. 0. 1. ]] SLAMing on 93.25538474999999 meters Centerline goodness : 0.942022 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.73, Z:0.77 [[ 0.96274669 0.11396153 -0.2452174 9.11370379] [-0.09989231 0.99259533 0.06910883 -0.72605854] [ 0.25127739 -0.04203896 0.96700176 0.77436545] [ 0. 0. 0. 1. ]] SLAMing on 93.31538474999999 meters Centerline goodness : 0.944231 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.72, Z:0.78 [[ 0.96206375 0.12061437 -0.24471516 9.11120144] [-0.1056661 0.99169126 0.07336975 -0.72267867] [ 0.25153133 -0.04472828 0.96681507 0.77579535] [ 0. 0. 0. 1. ]] SLAMing on 93.37538475 meters Centerline goodness : 0.941505 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.72, Z:0.78 [[ 0.96124526 0.12662854 -0.24489335 9.11171102] [-0.11106892 0.99087221 0.07639339 -0.7185785 ] [ 0.2523316 -0.04623274 0.96653572 0.77506271] [ 0. 0. 0. 1. ]] SLAMing on 93.43538475 meters Centerline goodness : 0.946006 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.72, Z:0.78 [[ 0.96078943 0.12950856 -0.24517588 9.10948458] [-0.11400893 0.99053377 0.07645133 -0.71594992] [ 0.25275609 -0.04550139 0.96645951 0.77519438] [ 0. 0. 0. 1. ]] SLAMing on 93.49538474999999 meters Centerline goodness : 0.945337 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.71, Z:0.77 [[ 0.95998797 0.13508264 -0.24530751 9.11086989] [-0.1187435 0.98967355 0.08028854 -0.71479148] [ 0.25361994 -0.04794736 0.96611489 0.77472976] [ 0. 0. 0. 1. ]] SLAMing on 93.55538474999999 meters Centerline goodness : 0.943078 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.72, Z:0.78 [[ 0.95911963 0.14189836 -0.24485584 9.10916486] [-0.1244626 0.98854657 0.08535071 -0.71589235] [ 0.25416252 -0.05138615 0.96579546 0.7759757 ] [ 0. 0. 0. 1. ]] SLAMing on 93.61538474999999 meters Centerline goodness : 0.946403 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.72, Z:0.78 [[ 0.9588719 0.14547254 -0.24372614 9.10348952] [-0.1277603 0.98797702 0.08705577 -0.71862865] [ 0.25346005 -0.05233681 0.96592902 0.77702 ] [ 0. 0. 0. 1. ]] SLAMing on 93.67538474999999 meters Centerline goodness : 0.949080 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.72, Z:0.78 [[ 0.95937744 0.14179318 -0.24390495 9.10245898] [-0.12475257 0.9886232 0.08402958 -0.72265416] [ 0.25304492 -0.05018832 0.96615185 0.77680634] [ 0. 0. 0. 1. ]] SLAMing on 93.73538475 meters Centerline goodness : 0.947979 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.73, Z:0.78 [[ 0.96015938 0.13349346 -0.24550655 9.10789359] [-0.11753698 0.9899527 0.07860474 -0.72896401] [ 0.25353309 -0.04661698 0.96620279 0.77511278] [ 0. 0. 0. 1. ]] SLAMing on 93.79538475 meters Centerline goodness : 0.946295 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.74, Z:0.77 [[ 0.96101255 0.12258918 -0.24784424 9.11812695] [-0.10765001 0.99150454 0.07300843 -0.73660164] [ 0.25468873 -0.04348159 0.96604503 0.77383879] [ 0. 0. 0. 1. ]] SLAMing on 93.85538475 meters Centerline goodness : 0.942504 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.75, Z:0.78 [[ 0.9622053 0.1116298 -0.24839434 9.14024112] [-0.09548511 0.99251308 0.07616019 -0.74632611] [ 0.25503638 -0.04956378 0.96566033 0.78102159] [ 0. 0. 0. 1. ]] SLAMing on 93.91538474999999 meters Centerline goodness : 0.944227 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.75, Z:0.79 [[ 0.96207168 0.10781057 -0.25058925 9.14967952] [-0.09057988 0.99272374 0.07934011 -0.74983856] [ 0.2573196 -0.05363253 0.96483686 0.78839051] [ 0. 0. 0. 1. ]] SLAMing on 93.97538474999999 meters Centerline goodness : 0.942185 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.75, Z:0.79 [[ 0.96182197 0.10519624 -0.25265045 9.15663988] [-0.08781831 0.99298835 0.07913329 -0.74902636] [ 0.25920348 -0.0539248 0.96431617 0.78992775] [ 0. 0. 0. 1. ]] SLAMing on 94.03538474999999 meters Centerline goodness : 0.945392 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.75, Z:0.79 [[ 0.9616182 0.10504345 -0.25348828 9.15809264] [-0.08742375 0.99296725 0.07983186 -0.74845001] [ 0.26009138 -0.05460687 0.96403867 0.79204194] [ 0. 0. 0. 1. ]] SLAMing on 94.09538475 meters Centerline goodness : 0.951213 with order 1 Centerline is valid? [False, True] Translation: X:9.17, Y:-0.75, Z:0.79 [[ 0.96257358 0.10365796 -0.25041394 9.17431712] [-0.08827893 0.99349629 0.07191624 -0.74755611] [ 0.25624001 -0.0471184 0.96546409 0.79444439] [ 0. 0. 0. 1. ]] SLAMing on 94.15538475 meters Centerline goodness : 0.953682 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.74, Z:0.78 [[ 9.62401586e-01 9.21208520e-02 -2.55532651e-01 9.23981141e+00] [-8.75719199e-02 9.95731664e-01 2.91481130e-02 -7.37254547e-01] [ 2.57127101e-01 -5.67470533e-03 9.66360932e-01 7.82795532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21538475 meters Centerline goodness : 0.949674 with order 1 Centerline is valid? [True, False] Translation: X:9.25, Y:-0.74, Z:0.78 [[ 9.61768328e-01 9.44232179e-02 -2.57071855e-01 9.24634591e+00] [-8.91804523e-02 9.95501156e-01 3.20046239e-02 -7.35045097e-01] [ 2.58937308e-01 -7.85524931e-03 9.65862188e-01 7.83056769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27538474999999 meters Centerline goodness : 0.942222 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.74, Z:0.79 [[ 0.96099029 0.09488589 -0.2597967 9.25702945] [-0.08846484 0.99541673 0.03632511 -0.73523901] [ 0.26205272 -0.0119252 0.96497988 0.78706637] [ 0. 0. 0. 1. ]] SLAMing on 94.33538474999999 meters Centerline goodness : 0.939325 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.73, Z:0.79 [[ 0.96072274 0.09283817 -0.26152035 9.26373516] [-0.08644542 0.99561065 0.03586943 -0.73473265] [ 0.2637025 -0.01185334 0.96453123 0.78700867] [ 0. 0. 0. 1. ]] SLAMing on 94.39538474999999 meters Centerline goodness : 0.941027 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.74, Z:0.79 [[ 0.95999267 0.09520328 -0.26334465 9.2703658 ] [-0.08697451 0.99529249 0.0427585 -0.73632092] [ 0.2661757 -0.01814357 0.96375376 0.79399046] [ 0. 0. 0. 1. ]] SLAMing on 94.45538475 meters Centerline goodness : 0.949046 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.74, Z:0.80 [[ 0.95926704 0.1017486 -0.26354121 9.26826032] [-0.09185394 0.99453483 0.04963197 -0.73769619] [ 0.26715089 -0.02340302 0.96337049 0.79963715] [ 0. 0. 0. 1. ]] SLAMing on 94.51538475 meters Centerline goodness : 0.951213 with order 1 Centerline is valid? [False, True] Translation: X:9.28, Y:-0.74, Z:0.80 [[ 0.95968055 0.10820191 -0.25943321 9.28018286] [-0.09933981 0.99393961 0.04707064 -0.73845335] [ 0.26295408 -0.01940073 0.96461327 0.80250411] [ 0. 0. 0. 1. ]] SLAMing on 94.57538475 meters Centerline goodness : 0.947972 with order 1 Centerline is valid? [True, False] Translation: X:9.28, Y:-0.74, Z:0.80 [[ 0.95897627 0.11464301 -0.25927107 9.27884689] [-0.10472777 0.99315173 0.05178539 -0.73846258] [ 0.26343234 -0.02250808 0.96441526 0.80385751] [ 0. 0. 0. 1. ]] SLAMing on 94.63538474999999 meters Centerline goodness : 0.947927 with order 1 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.74, Z:0.80 [[ 0.95883438 0.11462473 -0.2598034 9.28085031] [-0.10469391 0.99315491 0.05179295 -0.73983835] [ 0.26396178 -0.02246103 0.96427158 0.8034558 ] [ 0. 0. 0. 1. ]] SLAMing on 94.69538474999999 meters Centerline goodness : 0.944358 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.74, Z:0.80 [[ 0.95895849 0.11066374 -0.26105965 9.28725395] [-0.10095054 0.9936155 0.05037099 -0.74364888] [ 0.26496716 -0.02194958 0.96400758 0.80286189] [ 0. 0. 0. 1. ]] SLAMing on 94.75538474999999 meters Centerline goodness : 0.940696 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.75, Z:0.81 [[ 0.95849688 0.11033183 -0.26288898 9.29957704] [-0.09864447 0.99347219 0.05729107 -0.74917019] [ 0.26749393 -0.02898076 0.96312362 0.81030434] [ 0. 0. 0. 1. ]] SLAMing on 94.81538474999999 meters Centerline goodness : 0.942334 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.75, Z:0.81 [[ 0.95836087 0.11076544 -0.26320233 9.30017525] [-0.09882131 0.99339967 0.05823612 -0.75195011] [ 0.26791565 -0.02980122 0.96298135 0.81118773] [ 0. 0. 0. 1. ]] SLAMing on 94.87538475 meters Centerline goodness : 0.944640 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.75, Z:0.81 [[ 0.95820486 0.11194314 -0.26327206 9.29981762] [-0.0997788 0.99324853 0.05917388 -0.75421178] [ 0.2681187 -0.03043173 0.96290512 0.81161493] [ 0. 0. 0. 1. ]] SLAMing on 94.93538475 meters Centerline goodness : 0.948251 with order 1 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.75, Z:0.81 [[ 0.95876088 0.11508141 -0.25987275 9.31095468] [-0.10506047 0.99309617 0.0521757 -0.75447589] [ 0.26408308 -0.02272166 0.96423226 0.81275504] [ 0. 0. 0. 1. ]] SLAMing on 94.99538474999999 meters Centerline goodness : 0.954111 with order 1 Centerline is valid? [False, True] Translation: X:9.31, Y:-0.76, Z:0.82 [[ 0.95873752 0.1135454 -0.26063349 9.31362032] [-0.10234686 0.99316051 0.05619013 -0.75683203] [ 0.26523102 -0.02719657 0.96380125 0.82135495] [ 0. 0. 0. 1. ]] SLAMing on 95.05538474999999 meters Centerline goodness : 0.946403 with order 1 Centerline is valid? [True, False] Translation: X:9.33, Y:-0.76, Z:0.82 [[ 0.95808889 0.11353573 -0.26301199 9.33318392] [-0.10047367 0.99296605 0.06263754 -0.75684052] [ 0.26827358 -0.03358655 0.9627571 0.8236849 ] [ 0. 0. 0. 1. ]] SLAMing on 95.11538474999999 meters Centerline goodness : 0.947973 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.76, Z:0.82 [[ 0.95782978 0.11367119 -0.26389577 9.335534 ] [-0.10064425 0.99296276 0.06241553 -0.75638967] [ 0.26913352 -0.03322386 0.96252965 0.82342726] [ 0. 0. 0. 1. ]] SLAMing on 95.17538474999999 meters Centerline goodness : 0.950623 with order 1 Centerline is valid? [False, True] Translation: X:9.33, Y:-0.76, Z:0.82 [[ 0.95809564 0.11060538 -0.26423321 9.33319343] [-0.09833915 0.99338759 0.05924956 -0.75701771] [ 0.26903931 -0.03078227 0.96263716 0.82465236] [ 0. 0. 0. 1. ]] SLAMing on 95.23538475 meters Centerline goodness : 0.950746 with order 1 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.75, Z:0.82 [[ 9.58099484e-01 1.02068760e-01 -2.67632859e-01 9.39602437e+00] [-9.76991465e-02 9.94774822e-01 2.96298846e-02 -7.52926225e-01] [ 2.69258716e-01 -2.24087525e-03 9.63065274e-01 8.19536343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29538475 meters Centerline goodness : 0.950299 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.76, Z:0.84 [[ 9.58200148e-01 1.01098033e-01 -2.67640923e-01 9.45151584e+00] [-9.67116568e-02 9.94873483e-01 2.95568718e-02 -7.61889858e-01] [ 2.69256999e-01 -2.43740186e-03 9.63065277e-01 8.35667111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35538475 meters Centerline goodness : 0.952196 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.77, Z:0.85 [[ 9.58270476e-01 1.00407922e-01 -2.67648919e-01 9.50648036e+00] [-9.60154034e-02 9.94943073e-01 2.94842954e-02 -7.70634982e-01] [ 2.69255895e-01 -2.55551089e-03 9.63065279e-01 8.52440907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41538474999999 meters Centerline goodness : 0.949390 with order 1 Centerline is valid? [True, False] Translation: X:9.51, Y:-0.77, Z:0.85 [[ 9.57768209e-01 1.03365387e-01 -2.68320061e-01 9.51100037e+00] [-9.78942228e-02 9.94625135e-01 3.37277721e-02 -7.72050151e-01] [ 2.70364161e-01 -6.03640395e-03 9.62739208e-01 8.53669968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47538474999999 meters Centerline goodness : 0.946975 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.77, Z:0.86 [[ 0.95645758 0.1143844 -0.26852395 9.50888462] [-0.10715329 0.99337673 0.04148315 -0.76700783] [ 0.27149047 -0.01090365 0.96237936 0.85718465] [ 0. 0. 0. 1. ]] SLAMing on 95.53538474999999 meters Centerline goodness : 0.945695 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.77, Z:0.86 [[ 0.95576591 0.11872799 -0.26910069 9.51136868] [-0.11037261 0.992824 0.04602598 -0.76636832] [ 0.2726342 -0.01428872 0.96201166 0.85912069] [ 0. 0. 0. 1. ]] SLAMing on 95.59538475 meters Centerline goodness : 0.946014 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.77, Z:0.86 [[ 0.95545051 0.11972466 -0.26977829 9.51171453] [-0.11123974 0.99270129 0.04658178 -0.76583752] [ 0.27338625 -0.01449652 0.9617951 0.86022118] [ 0. 0. 0. 1. ]] SLAMing on 95.65538475 meters Centerline goodness : 0.944766 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.77, Z:0.86 [[ 0.95531715 0.11986278 -0.27018893 9.51297411] [-0.11122452 0.99267775 0.04711674 -0.7662346 ] [ 0.27385808 -0.01495979 0.96165376 0.86083825] [ 0. 0. 0. 1. ]] SLAMing on 95.71538475 meters Centerline goodness : 0.943786 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.77, Z:0.86 [[ 0.95526189 0.12000465 -0.27032131 9.5138468 ] [-0.11117184 0.99265044 0.04781143 -0.76823736] [ 0.27407216 -0.01562032 0.96158227 0.86121189] [ 0. 0. 0. 1. ]] SLAMing on 95.77538474999999 meters Centerline goodness : 0.945979 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.77, Z:0.86 [[ 0.95518834 0.12025228 -0.27047112 9.51350543] [-0.11101524 0.99259746 0.0492535 -0.77265869] [ 0.27439179 -0.01701995 0.96146735 0.86324197] [ 0. 0. 0. 1. ]] SLAMing on 95.83538474999999 meters Centerline goodness : 0.943010 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.78, Z:0.86 [[ 0.95546274 0.11628591 -0.27123523 9.51601001] [-0.10763336 0.99309724 0.0466147 -0.77562706] [ 0.27478359 -0.01534465 0.96138365 0.86268359] [ 0. 0. 0. 1. ]] SLAMing on 95.89538474999999 meters Centerline goodness : 0.943670 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.78, Z:0.86 [[ 0.95542744 0.11419743 -0.27224503 9.52089418] [-0.1054909 0.99333455 0.04645579 -0.78021605] [ 0.27573553 -0.01566576 0.96110587 0.86234257] [ 0. 0. 0. 1. ]] SLAMing on 95.95538475 meters Centerline goodness : 0.940248 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.78, Z:0.86 [[ 0.95535798 0.11373684 -0.27268123 9.52262736] [-0.1049275 0.99338164 0.04672403 -0.78145017] [ 0.27619077 -0.01602641 0.96096921 0.86261847] [ 0. 0. 0. 1. ]] SLAMing on 96.01538475 meters Centerline goodness : 0.947409 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.79, Z:0.88 [[ 0.957137 0.10342796 -0.27053912 9.53724279] [-0.09288494 0.99434283 0.05152392 -0.78730318] [ 0.27433765 -0.02418644 0.96132922 0.87609123] [ 0. 0. 0. 1. ]] SLAMing on 96.07538475 meters Centerline goodness : 0.936900 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.79, Z:0.87 [[ 0.95631033 0.10569944 -0.27257693 9.5537408 ] [-0.09364225 0.99397816 0.05690829 -0.78630336] [ 0.27695069 -0.02889727 0.96044951 0.87482962] [ 0. 0. 0. 1. ]] SLAMing on 96.13538474999999 meters Centerline goodness : 0.940719 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.79, Z:0.88 [[ 0.95559687 0.10996741 -0.27338946 9.55595106] [-0.09577036 0.99329287 0.06478663 -0.79006656] [ 0.27868022 -0.03572729 0.95971918 0.88318842] [ 0. 0. 0. 1. ]] SLAMing on 96.19538474999999 meters Centerline goodness : 0.941672 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.79, Z:0.88 [[ 0.95531572 0.11118135 -0.27388061 9.55548006] [-0.09689042 0.99315658 0.06520924 -0.78841002] [ 0.27925638 -0.03575901 0.9595505 0.88458313] [ 0. 0. 0. 1. ]] SLAMing on 96.25538474999999 meters Centerline goodness : 0.941967 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.79, Z:0.88 [[ 0.95470055 0.11537404 -0.27429127 9.55797064] [-0.10029043 0.99260138 0.0684422 -0.78510207] [ 0.28015834 -0.03783302 0.95920799 0.88487252] [ 0. 0. 0. 1. ]] SLAMing on 96.31538474999999 meters Centerline goodness : 0.940894 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.78, Z:0.89 [[ 0.95399433 0.12073934 -0.27443911 9.5577972 ] [-0.10477642 0.99187476 0.07215513 -0.78183436] [ 0.28092119 -0.04008084 0.95889353 0.88632058] [ 0. 0. 0. 1. ]] SLAMing on 96.37538475 meters Centerline goodness : 0.939694 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.77, Z:0.89 [[ 0.9533343 0.12692035 -0.27394332 9.55599779] [-0.11044465 0.99106234 0.07481587 -0.77441541] [ 0.28099057 -0.04106896 0.95883139 0.88625645] [ 0. 0. 0. 1. ]] SLAMing on 96.43538475 meters Centerline goodness : 0.937855 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.77, Z:0.89 [[ 0.95317123 0.12742171 -0.27427781 9.55680424] [-0.11114488 0.99103372 0.07415511 -0.7718065 ] [ 0.28126753 -0.04019794 0.9587871 0.88546884] [ 0. 0. 0. 1. ]] SLAMing on 96.49538474999999 meters Centerline goodness : 0.939760 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.77, Z:0.89 [[ 0.95293897 0.12717778 -0.27519654 9.55844106] [-0.11090364 0.99107406 0.07397696 -0.77168319] [ 0.28214838 -0.03997523 0.95853757 0.88631741] [ 0. 0. 0. 1. ]] SLAMing on 96.55538474999999 meters Centerline goodness : 0.942522 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.77, Z:0.89 [[ 0.9532858 0.12252391 -0.27610521 9.56042591] [-0.1071959 0.99177068 0.06999974 -0.77183579] [ 0.28240969 -0.03713241 0.95857496 0.88545873] [ 0. 0. 0. 1. ]] SLAMing on 96.61538474999999 meters Centerline goodness : 0.940947 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.78, Z:0.89 [[ 0.95315916 0.12072637 -0.27733151 9.56520632] [-0.1053872 0.991991 0.06962317 -0.77504514] [ 0.28351572 -0.03713477 0.95824832 0.88522156] [ 0. 0. 0. 1. ]] SLAMing on 96.67538474999999 meters Centerline goodness : 0.940342 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.78, Z:0.88 [[ 0.95346711 0.11681362 -0.27794793 9.56684454] [-0.10230088 0.9925477 0.06620867 -0.77689541] [ 0.28361065 -0.03469347 0.95831172 0.88411433] [ 0. 0. 0. 1. ]] SLAMing on 96.73538475 meters Centerline goodness : 0.938351 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.78, Z:0.88 [[ 0.95325452 0.11658017 -0.27877391 9.56903656] [-0.10200907 0.99257377 0.06626809 -0.77823744] [ 0.28442921 -0.03473289 0.95806766 0.88433571] [ 0. 0. 0. 1. ]] SLAMing on 96.79538475 meters Centerline goodness : 0.939450 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.78, Z:0.88 [[ 0.95317215 0.11643327 -0.27911673 9.57019236] [-0.10190836 0.99259874 0.06604873 -0.77743317] [ 0.28474118 -0.03451149 0.95798299 0.88433913] [ 0. 0. 0. 1. ]] SLAMing on 96.85538475 meters Centerline goodness : 0.939674 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.78, Z:0.88 [[ 0.95299873 0.11630212 -0.27976282 9.57215295] [-0.10181896 0.99262383 0.06580902 -0.77567887] [ 0.28535297 -0.03423075 0.95781101 0.88453232] [ 0. 0. 0. 1. ]] SLAMing on 96.91538474999999 meters Centerline goodness : 0.936289 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.78, Z:0.88 [[ 0.95275484 0.11525907 -0.28102236 9.57617201] [-0.10078764 0.99275168 0.06546713 -0.77565199] [ 0.2865311 -0.03405054 0.95746566 0.88476247] [ 0. 0. 0. 1. ]] SLAMing on 96.97538474999999 meters Centerline goodness : 0.932862 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.78, Z:0.89 [[ 0.95234598 0.11276016 -0.28341185 9.58363132] [-0.09792718 0.99300142 0.06601857 -0.77636578] [ 0.28887263 -0.0351188 0.9567232 0.88779713] [ 0. 0. 0. 1. ]] SLAMing on 97.03538474999999 meters Centerline goodness : 0.930702 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.77, Z:0.89 [[ 0.95210301 0.11188043 -0.28457446 9.58728756] [-0.09724142 0.99312897 0.06510719 -0.77497375] [ 0.28990336 -0.03431633 0.9564405 0.88735025] [ 0. 0. 0. 1. ]] SLAMing on 97.09538475 meters Centerline goodness : 0.927996 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.77, Z:0.89 [[ 0.95180115 0.11171416 -0.28564753 9.59012207] [-0.09708265 0.9931563 0.064927 -0.77408342] [ 0.29094591 -0.03406617 0.95613282 0.88768512] [ 0. 0. 0. 1. ]] SLAMing on 97.15538475 meters Centerline goodness : 0.931220 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.78, Z:0.89 [[ 0.95088518 0.11533681 -0.28725389 9.59449427] [-0.09941158 0.99261817 0.0694731 -0.77570236] [ 0.29314623 -0.03750458 0.95533172 0.89082075] [ 0. 0. 0. 1. ]] SLAMing on 97.21538475 meters Centerline goodness : 0.935363 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.78, Z:0.89 [[ 0.95059243 0.11550335 -0.2881545 9.596077 ] [-0.09958284 0.99260878 0.06936192 -0.77530685] [ 0.29403622 -0.03723968 0.95506854 0.89155991] [ 0. 0. 0. 1. ]] SLAMing on 97.27538474999999 meters Centerline goodness : 0.935531 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.77, Z:0.89 [[ 0.95033174 0.11619287 -0.28873657 9.59670647] [-0.10032907 0.99254489 0.06920056 -0.77360882] [ 0.29462462 -0.03679481 0.95490443 0.89192795] [ 0. 0. 0. 1. ]] SLAMing on 97.33538474999999 meters Centerline goodness : 0.932862 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.77, Z:0.89 [[ 0.94994169 0.11629455 -0.28997649 9.59998938] [-0.10068385 0.99257562 0.06823777 -0.77033455] [ 0.29575928 -0.03562596 0.95459795 0.89105573] [ 0. 0. 0. 1. ]] SLAMing on 97.39538474999999 meters Centerline goodness : 0.930756 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.77, Z:0.89 [[ 0.94911673 0.12072212 -0.29086698 9.60255 ] [-0.1039347 0.99193454 0.07254959 -0.77024845] [ 0.29727935 -0.03862685 0.95400889 0.89332572] [ 0. 0. 0. 1. ]] SLAMing on 97.45538475 meters Centerline goodness : 0.932661 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.77, Z:0.89 [[ 0.94956255 0.12414723 -0.28795561 9.61810597] [-0.10930911 0.99173949 0.06711408 -0.76978065] [ 0.29390898 -0.03225285 0.9552891 0.89462956] [ 0. 0. 0. 1. ]] SLAMing on 97.51538475 meters Centerline goodness : 0.929906 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.77, Z:0.89 [[ 0.94912207 0.12629763 -0.2884722 9.61798687] [-0.11149644 0.99148699 0.06724644 -0.76761169] [ 0.2945095 -0.03166146 0.95512392 0.89429338] [ 0. 0. 0. 1. ]] SLAMing on 97.57538475 meters Centerline goodness : 0.929229 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.77, Z:0.89 [[ 0.94896919 0.12725432 -0.28855472 9.61828173] [-0.11239128 0.99136354 0.06757618 -0.7676709 ] [ 0.29466198 -0.03169668 0.95507572 0.89406655] [ 0. 0. 0. 1. ]] SLAMing on 97.63538474999999 meters Centerline goodness : 0.927924 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.77, Z:0.89 [[ 0.9493017 0.12235502 -0.2895782 9.61990208] [-0.10828819 0.99204599 0.06417488 -0.77004561] [ 0.29512701 -0.02956342 0.95500055 0.89465735] [ 0. 0. 0. 1. ]] SLAMing on 97.69538474999999 meters Centerline goodness : 0.924466 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.77, Z:0.89 [[ 0.94885678 0.12204749 -0.29116185 9.6287638 ] [-0.10743574 0.99203765 0.06571799 -0.77217981] [ 0.29686423 -0.03107577 0.95441392 0.89443137] [ 0. 0. 0. 1. ]] SLAMing on 97.75538474999999 meters Centerline goodness : 0.920088 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.78, Z:0.89 [[ 0.94867368 0.12088699 -0.29224062 9.63337509] [-0.10620177 0.99217399 0.06566544 -0.77501026] [ 0.29789164 -0.03125861 0.95408777 0.89411056] [ 0. 0. 0. 1. ]] SLAMing on 97.81538474999999 meters Centerline goodness : 0.924386 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.78, Z:0.90 [[ 0.94839726 0.12116442 -0.29302189 9.63374155] [-0.10511172 0.99199485 0.06998392 -0.78050592] [ 0.29915577 -0.03557253 0.95354099 0.90186181] [ 0. 0. 0. 1. ]] SLAMing on 97.87538475 meters Centerline goodness : 0.928141 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.78, Z:0.91 [[ 0.94811109 0.12111381 -0.29396736 9.63534665] [-0.10452652 0.99194446 0.07155698 -0.78256426] [ 0.30026583 -0.03711658 0.95313314 0.90506667] [ 0. 0. 0. 1. ]] SLAMing on 97.93538475 meters Centerline goodness : 0.930537 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.79, Z:0.91 [[ 0.9478361 0.12172552 -0.29460078 9.64128195] [-0.10386259 0.99171417 0.07560133 -0.78549228] [ 0.30136238 -0.04105967 0.95262522 0.90871686] [ 0. 0. 0. 1. ]] SLAMing on 97.99538474999999 meters Centerline goodness : 0.926241 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.79, Z:0.91 [[ 0.94812182 0.11709688 -0.29555597 9.64287244] [-0.10021475 0.99237965 0.07169122 -0.78693589] [ 0.30169855 -0.03835294 0.95263164 0.90814716] [ 0. 0. 0. 1. ]] SLAMing on 98.05538474999999 meters Centerline goodness : 0.923744 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.79, Z:0.91 [[ 0.94781453 0.11606307 -0.29694609 9.64755345] [-0.09917577 0.99250714 0.0713705 -0.79001244] [ 0.3030046 -0.03819614 0.95222333 0.90778604] [ 0. 0. 0. 1. ]] SLAMing on 98.11538474999999 meters Centerline goodness : 0.923096 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.79, Z:0.91 [[ 0.94761848 0.11453446 -0.29816283 9.65234525] [-0.09762728 0.99268397 0.07104544 -0.79200338] [ 0.30411861 -0.03821514 0.95186736 0.90781028] [ 0. 0. 0. 1. ]] SLAMing on 98.17538474999999 meters Centerline goodness : 0.922390 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.79, Z:0.91 [[ 0.94787536 0.10789054 -0.29981983 9.65776715] [-0.0920971 0.99353623 0.06636183 -0.79218747] [ 0.30504168 -0.03529021 0.95168491 0.90714756] [ 0. 0. 0. 1. ]] SLAMing on 98.23538475 meters Centerline goodness : 0.919082 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.79, Z:0.91 [[ 0.94757861 0.10646669 -0.30126337 9.66913021] [-0.08987422 0.99359796 0.06845237 -0.79328536] [ 0.30662256 -0.03778819 0.95108078 0.90786439] [ 0. 0. 0. 1. ]] SLAMing on 98.29538475 meters Centerline goodness : 0.919790 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.80, Z:0.91 [[ 0.94722498 0.10698979 -0.30218871 9.66972344] [-0.08996322 0.99349937 0.06975401 -0.79578424] [ 0.30768726 -0.03888687 0.95069257 0.91068357] [ 0. 0. 0. 1. ]] SLAMing on 98.35538475 meters Centerline goodness : 0.921364 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.80, Z:0.91 [[ 0.94686035 0.10690031 -0.30336086 9.67202237] [-0.08958487 0.9934827 0.07047466 -0.79689842] [ 0.30891752 -0.03955312 0.95026602 0.912501 ] [ 0. 0. 0. 1. ]] SLAMing on 98.41538474999999 meters Centerline goodness : 0.921835 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.80, Z:0.91 [[ 0.94616182 0.11063904 -0.30419865 9.6750977 ] [-0.09222351 0.99296238 0.07430028 -0.79640466] [ 0.31027833 -0.04224582 0.94970661 0.91426411] [ 0. 0. 0. 1. ]] SLAMing on 98.47538474999999 meters Centerline goodness : 0.926693 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.79, Z:0.92 [[ 0.94589494 0.11024153 -0.30517139 9.67668341] [-0.0916223 0.99298633 0.07472284 -0.79492827] [ 0.31126858 -0.04271945 0.94936132 0.91669427] [ 0. 0. 0. 1. ]] SLAMing on 98.53538474999999 meters Centerline goodness : 0.925733 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.79, Z:0.92 [[ 0.94571126 0.1102992 -0.30571931 9.67864495] [-0.09190765 0.9930171 0.07395965 -0.79020312] [ 0.31174219 -0.04184653 0.94924479 0.91630146] [ 0. 0. 0. 1. ]] SLAMing on 98.59538475 meters Centerline goodness : 0.926504 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.79, Z:0.92 [[ 0.9449701 0.11508671 -0.3062459 9.68123968] [-0.09597062 0.99241573 0.0768157 -0.78760166] [ 0.31276372 -0.04319793 0.94884814 0.91560899] [ 0. 0. 0. 1. ]] SLAMing on 98.65538475 meters Centerline goodness : 0.925541 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.79, Z:0.92 [[ 0.94469959 0.11558433 -0.30689241 9.68196306] [-0.0965464 0.99237952 0.07656161 -0.78694636] [ 0.31340307 -0.04269836 0.94865977 0.91587809] [ 0. 0. 0. 1. ]] SLAMing on 98.71538475 meters Centerline goodness : 0.925112 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.79, Z:0.92 [[ 0.94447525 0.11456226 -0.30796427 9.6857951 ] [-0.09555087 0.99250584 0.07617206 -0.78690606] [ 0.31438278 -0.04251637 0.94834373 0.91597059] [ 0. 0. 0. 1. ]] SLAMing on 98.77538474999999 meters Centerline goodness : 0.926635 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.79, Z:0.92 [[ 0.94424422 0.11378182 -0.30896044 9.68891546] [-0.09466743 0.99258677 0.07622064 -0.78839466] [ 0.31534257 -0.0427224 0.94801575 0.91669123] [ 0. 0. 0. 1. ]] SLAMing on 98.83538474999999 meters Centerline goodness : 0.928369 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.79, Z:0.92 [[ 0.94449741 0.10848868 -0.31008845 9.69049418] [-0.09019259 0.99326085 0.07278856 -0.79008901] [ 0.31589545 -0.04078092 0.94791718 0.91804967] [ 0. 0. 0. 1. ]] SLAMing on 98.89538474999999 meters Centerline goodness : 0.925160 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.79, Z:0.92 [[ 0.94447257 0.10796647 -0.31034628 9.69291447] [-0.08965771 0.99331499 0.0727106 -0.79115561] [ 0.31612191 -0.04084823 0.94783878 0.9172909 ] [ 0. 0. 0. 1. ]] SLAMing on 98.95538475 meters Centerline goodness : 0.928101 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.79, Z:0.92 [[ 0.94477759 0.1032802 -0.31101207 9.69429986] [-0.08588082 0.99390154 0.06916795 -0.79324217] [ 0.31625906 -0.03863836 0.94788569 0.91706692] [ 0. 0. 0. 1. ]] SLAMing on 99.01538475 meters Centerline goodness : 0.928318 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.79, Z:0.92 [[ 0.94455902 0.10312049 -0.31172813 9.6960512 ] [-0.08570234 0.99392116 0.06910738 -0.79484239] [ 0.31695957 -0.03856017 0.94765486 0.91732603] [ 0. 0. 0. 1. ]] SLAMing on 99.07538475 meters Centerline goodness : 0.927159 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.80, Z:0.92 [[ 0.94456218 0.09801486 -0.31336141 9.70420239] [-0.08058389 0.9944163 0.06813563 -0.79632017] [ 0.31829 -0.03910645 0.94718645 0.91941953] [ 0. 0. 0. 1. ]] SLAMing on 99.13538474999999 meters Centerline goodness : 0.918390 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.80, Z:0.92 [[ 0.94398871 0.09793681 -0.31510901 9.71481317] [-0.079799 0.99435087 0.06998909 -0.79618928] [ 0.32018342 -0.04092352 0.94647126 0.91878561] [ 0. 0. 0. 1. ]] SLAMing on 99.19538474999999 meters Centerline goodness : 0.921376 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.80, Z:0.92 [[ 0.9442235 0.09366831 -0.31570275 9.71462403] [-0.07624213 0.99482675 0.06713319 -0.79784006] [ 0.3203578 -0.03931889 0.94648027 0.92026628] [ 0. 0. 0. 1. ]] SLAMing on 99.25538474999999 meters Centerline goodness : 0.928895 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.80, Z:0.92 [[ 0.94386977 0.09352261 -0.3168018 9.71583497] [-0.07532335 0.99475211 0.06924322 -0.80198638] [ 0.32161506 -0.04149401 0.94596089 0.92458584] [ 0. 0. 0. 1. ]] SLAMing on 99.31538474999999 meters Centerline goodness : 0.927817 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.80, Z:0.92 [[ 0.94369243 0.09256932 -0.31760906 9.71886689] [-0.07430504 0.99483358 0.06917298 -0.8033711 ] [ 0.32237145 -0.04167806 0.94569529 0.92489298] [ 0. 0. 0. 1. ]] SLAMing on 99.37538475 meters Centerline goodness : 0.928614 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.80, Z:0.93 [[ 0.94346082 0.09219508 -0.318405 9.72041995] [-0.073773 0.9948527 0.06946683 -0.80461274] [ 0.32317058 -0.04204953 0.94540606 0.92621098] [ 0. 0. 0. 1. ]] SLAMing on 99.43538475 meters Centerline goodness : 0.928446 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.80, Z:0.93 [[ 0.9432874 0.09169733 -0.31906187 9.722269 ] [-0.07328318 0.99490233 0.0692743 -0.80453239] [ 0.32378766 -0.0419637 0.94519871 0.92658799] [ 0. 0. 0. 1. ]] SLAMing on 99.49538474999999 meters Centerline goodness : 0.925932 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.80, Z:0.93 [[ 0.94304276 0.09060841 -0.32009447 9.72587413] [-0.07238045 0.99502771 0.06841734 -0.8037155 ] [ 0.32470205 -0.0413519 0.94491195 0.92620701] [ 0. 0. 0. 1. ]] SLAMing on 99.55538474999999 meters Centerline goodness : 0.924691 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.80, Z:0.93 [[ 0.94267911 0.08956001 -0.32145778 9.7303124 ] [-0.07149303 0.99514774 0.06759972 -0.80271517] [ 0.32595222 -0.04074285 0.9445079 0.92592824] [ 0. 0. 0. 1. ]] SLAMing on 99.61538474999999 meters Centerline goodness : 0.927180 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.80, Z:0.93 [[ 0.94244184 0.08891817 -0.32233047 9.73328522] [-0.07099628 0.99522643 0.06696185 -0.80206375] [ 0.32674592 -0.04022338 0.94425589 0.92547317] [ 0. 0. 0. 1. ]] SLAMing on 99.67538474999999 meters Centerline goodness : 0.927984 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.80, Z:0.93 [[ 0.9421998 0.08800344 -0.3232877 9.73604106] [-0.06996894 0.99529569 0.06701378 -0.80324176] [ 0.3276643 -0.04052027 0.9439249 0.92648804] [ 0. 0. 0. 1. ]] SLAMing on 99.73538475 meters Centerline goodness : 0.929099 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.80, Z:0.93 [[ 0.94233606 0.08366193 -0.32404232 9.73663968] [-0.06663524 0.99576686 0.06330958 -0.8033006 ] [ 0.32796721 -0.03806627 0.94392186 0.9265704 ] [ 0. 0. 0. 1. ]] SLAMing on 99.79538475 meters Centerline goodness : 0.930394 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.80, Z:0.93 [[ 0.94209695 0.08280393 -0.32495669 9.73901118] [-0.06564877 0.99582497 0.06342605 -0.80451052] [ 0.32885191 -0.03842048 0.94359964 0.92778158] [ 0. 0. 0. 1. ]] SLAMing on 99.85538475 meters Centerline goodness : 0.929007 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.80, Z:0.93 [[ 0.94180255 0.0816435 -0.32610166 9.74285079] [-0.06454726 0.99592869 0.06292617 -0.8041464 ] [ 0.32991151 -0.03821506 0.94323804 0.92805427] [ 0. 0. 0. 1. ]] SLAMing on 99.91538474999999 meters Centerline goodness : 0.929632 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.80, Z:0.93 [[ 0.9415736 0.08151182 -0.32679501 9.74451641] [-0.06470209 0.99597658 0.06200241 -0.80105673] [ 0.3305341 -0.03723551 0.94305924 0.9275695 ] [ 0. 0. 0. 1. ]] SLAMing on 99.97538474999999 meters Centerline goodness : 0.934547 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.80, Z:0.93 [[ 0.94137831 0.08283175 -0.32702566 9.74163321] [-0.06575381 0.9958478 0.06295715 -0.79797866] [ 0.33088264 -0.03776332 0.94291602 0.93091961] [ 0. 0. 0. 1. ]] SLAMing on 100.03538474999999 meters Centerline goodness : 0.934684 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.79, Z:0.93 [[ 0.9412065 0.08160853 -0.32782674 9.74444735] [-0.06481814 0.99597906 0.06184102 -0.79417007] [ 0.33155532 -0.03695605 0.94271168 0.93094404] [ 0. 0. 0. 1. ]] SLAMing on 100.09538475 meters Centerline goodness : 0.928151 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.79, Z:0.93 [[ 0.94061013 0.08541686 -0.32856741 9.74793942] [-0.06782943 0.99560046 0.06464433 -0.79172754] [ 0.33264358 -0.03851858 0.94226566 0.93063374] [ 0. 0. 0. 1. ]] SLAMing on 100.15538475 meters Centerline goodness : 0.932171 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.79, Z:0.93 [[ 0.94047772 0.08594451 -0.32880876 9.74752423] [-0.06864778 0.99559374 0.06387943 -0.78768945] [ 0.33285003 -0.03750519 0.94223363 0.93049511] [ 0. 0. 0. 1. ]] SLAMing on 100.21538475 meters Centerline goodness : 0.930294 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.79, Z:0.93 [[ 0.94007001 0.08418306 -0.33042638 9.75205749] [-0.06690239 0.99574646 0.06334863 -0.78553453] [ 0.33435378 -0.03744583 0.94170343 0.93215142] [ 0. 0. 0. 1. ]] SLAMing on 100.27538474999999 meters Centerline goodness : 0.927041 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.79, Z:0.93 [[ 0.93939236 0.08790794 -0.33138224 9.75512379] [-0.06944002 0.99532092 0.06718885 -0.78508156] [ 0.33573811 -0.04010551 0.9411012 0.93421521] [ 0. 0. 0. 1. ]] SLAMing on 100.33538474999999 meters Centerline goodness : 0.929351 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.79, Z:0.94 [[ 0.93856556 0.09309504 -0.3323071 9.75540968] [-0.07262412 0.99464531 0.07352849 -0.78683442] [ 0.33737284 -0.0448778 0.94030078 0.94012648] [ 0. 0. 0. 1. ]] SLAMing on 100.39538474999999 meters Centerline goodness : 0.928455 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.78, Z:0.94 [[ 0.93838255 0.09444119 -0.33244406 9.75420472] [-0.07415733 0.99455549 0.07321249 -0.7822991 ] [ 0.33754834 -0.04404816 0.94027702 0.94011017] [ 0. 0. 0. 1. ]] SLAMing on 100.45538475 meters Centerline goodness : 0.929628 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.78, Z:0.94 [[ 0.93866733 0.0898398 -0.33291507 9.75438466] [-0.07073845 0.99509961 0.06908574 -0.78040748] [ 0.33749031 -0.04129863 0.94042263 0.93986669] [ 0. 0. 0. 1. ]] SLAMing on 100.51538475 meters Centerline goodness : 0.928831 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.78, Z:0.94 [[ 0.93822122 0.08731065 -0.33483995 9.76576824] [-0.06734187 0.99521381 0.0708135 -0.78032526] [ 0.33942011 -0.04388998 0.93961037 0.94288681] [ 0. 0. 0. 1. ]] SLAMing on 100.57538475 meters Centerline goodness : 0.926342 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.78, Z:0.94 [[ 0.93754691 0.09060624 -0.33585159 9.7698238 ] [-0.0696684 0.99482899 0.07390264 -0.77910442] [ 0.34081094 -0.04588895 0.93901124 0.94368677] [ 0. 0. 0. 1. ]] SLAMing on 100.63538474999999 meters Centerline goodness : 0.926352 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.78, Z:0.94 [[ 0.93718714 0.09057675 -0.33686217 9.77147766] [-0.06952891 0.99482735 0.07405587 -0.77857625] [ 0.34182744 -0.04598255 0.9386371 0.94494243] [ 0. 0. 0. 1. ]] SLAMing on 100.69538474999999 meters Centerline goodness : 0.928434 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.78, Z:0.95 [[ 0.93692533 0.09081476 -0.3375257 9.77155643] [-0.06929454 0.99475063 0.07529569 -0.781812 ] [ 0.34259187 -0.04715776 0.93830004 0.94760576] [ 0. 0. 0. 1. ]] SLAMing on 100.75538474999999 meters Centerline goodness : 0.931577 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.79, Z:0.95 [[ 0.9366361 0.09100342 -0.3382768 9.77250516] [-0.06861418 0.99462136 0.07759155 -0.78630934] [ 0.34351842 -0.04946446 0.9378424 0.95142614] [ 0. 0. 0. 1. ]] SLAMing on 100.81538474999999 meters Centerline goodness : 0.933092 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.79, Z:0.95 [[ 0.93650756 0.09098472 -0.33863752 9.77284849] [-0.06834003 0.99459023 0.07822983 -0.78822739] [ 0.34392329 -0.05012033 0.93765917 0.95278937] [ 0. 0. 0. 1. ]] SLAMing on 100.87538475 meters Centerline goodness : 0.936982 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.79, Z:0.95 [[ 0.93664213 0.08570711 -0.33964072 9.77392103] [-0.0639621 0.99515027 0.07473148 -0.79005883] [ 0.34439857 -0.04827252 0.93758167 0.95417824] [ 0. 0. 0. 1. ]] SLAMing on 100.93538475 meters Centerline goodness : 0.928936 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.79, Z:0.95 [[ 0.93632407 0.08314274 -0.34115176 9.77949683] [-0.06149033 0.9953742 0.07381835 -0.7904706 ] [ 0.34571112 -0.04814036 0.93710529 0.95482891] [ 0. 0. 0. 1. ]] SLAMing on 100.99538474999999 meters Centerline goodness : 0.926701 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.79, Z:0.96 [[ 0.93589357 0.08289721 -0.34239053 9.78745983] [-0.05997919 0.99522464 0.07700918 -0.78966815] [ 0.34713933 -0.05153609 0.93639645 0.95832267] [ 0. 0. 0. 1. ]] SLAMing on 101.05538474999999 meters Centerline goodness : 0.925201 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.79, Z:0.96 [[ 0.93564971 0.08269786 -0.34310448 9.79017733] [-0.0599195 0.99526853 0.07648665 -0.78674162] [ 0.34780637 -0.05100606 0.93617793 0.95780487] [ 0. 0. 0. 1. ]] SLAMing on 101.11538474999999 meters Centerline goodness : 0.926848 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.79, Z:0.96 [[ 0.93537548 0.083522 -0.34365212 9.78974403] [-0.06048742 0.99517667 0.07723128 -0.78620827] [ 0.34844508 -0.05145361 0.93591589 0.9597323 ] [ 0. 0. 0. 1. ]] SLAMing on 101.17538474999999 meters Centerline goodness : 0.925471 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.79, Z:0.96 [[ 0.93538267 0.08445784 -0.34340374 9.78819372] [-0.06152173 0.99511831 0.07716625 -0.78504848] [ 0.34824464 -0.05105318 0.93601242 0.9595436 ] [ 0. 0. 0. 1. ]] SLAMing on 101.23538475 meters Centerline goodness : 0.929503 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93531205 0.08516291 -0.34342196 9.78724598] [-0.06234382 0.99508234 0.07696999 -0.78256813] [ 0.34828811 -0.05058072 0.93602189 0.95971817] [ 0. 0. 0. 1. ]] SLAMing on 101.29538475 meters Centerline goodness : 0.927388 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93526067 0.08618871 -0.34330596 9.78906932] [-0.06321163 0.99497954 0.07758866 -0.77922833] [ 0.34826967 -0.05086469 0.93601336 0.95885029] [ 0. 0. 0. 1. ]] SLAMing on 101.35538474999998 meters Centerline goodness : 0.925967 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93518349 0.08701 -0.34330906 9.78836912] [-0.06429977 0.99495462 0.077012 -0.77652638] [ 0.34827775 -0.04994565 0.93605985 0.95819519] [ 0. 0. 0. 1. ]] SLAMing on 101.41538474999999 meters Centerline goodness : 0.924485 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.77, Z:0.96 [[ 0.93516821 0.08903847 -0.34283024 9.78566629] [-0.06658839 0.99482563 0.07673303 -0.77322555] [ 0.3478885 -0.04892978 0.93625823 0.95719988] [ 0. 0. 0. 1. ]] SLAMing on 101.47538474999999 meters Centerline goodness : 0.928981 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93540501 0.08367771 -0.34353384 9.78555064] [-0.06169093 0.99531398 0.07446016 -0.77537791] [ 0.34815469 -0.04845749 0.93618384 0.96087224] [ 0. 0. 0. 1. ]] SLAMing on 101.53538474999999 meters Centerline goodness : 0.926181 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93530674 0.08278652 -0.34401699 9.7925853 ] [-0.06062408 0.99536106 0.07470666 -0.775732 ] [ 0.34860582 -0.04901793 0.93598676 0.95892088] [ 0. 0. 0. 1. ]] SLAMing on 101.59538475 meters Centerline goodness : 0.932341 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93565696 0.07834352 -0.34410513 9.79207874] [-0.05719526 0.99582076 0.07120197 -0.77555349] [ 0.34824525 -0.04693944 0.9362275 0.9589583 ] [ 0. 0. 0. 1. ]] SLAMing on 101.65538475 meters Centerline goodness : 0.938292 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.78, Z:0.96 [[ 0.93602931 0.07401861 -0.34404995 9.78916561] [-0.05381824 0.99623878 0.06791096 -0.77648991] [ 0.34778257 -0.04505049 0.93649225 0.96045747] [ 0. 0. 0. 1. ]] SLAMing on 101.71538475 meters Centerline goodness : 0.932234 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.78, Z:0.96 [[ 0.93535777 0.07588374 -0.34546708 9.79615767] [-0.05489309 0.99602438 0.07015827 -0.77523049] [ 0.34941751 -0.04665932 0.93580463 0.96011086] [ 0. 0. 0. 1. ]] SLAMing on 101.77538474999999 meters Centerline goodness : 0.930324 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.77, Z:0.96 [[ 0.9349131 0.07813462 -0.34616829 9.80194988] [-0.05630739 0.99576423 0.07268472 -0.77435272] [ 0.35038119 -0.04846207 0.93535258 0.9594197 ] [ 0. 0. 0. 1. ]] SLAMing on 101.83538474999999 meters Centerline goodness : 0.931432 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.77, Z:0.96 [[ 0.93486072 0.07945032 -0.34601023 9.79923708] [-0.05765142 0.99567445 0.07286088 -0.77271214] [ 0.35030237 -0.04816679 0.93539736 0.96024487] [ 0. 0. 0. 1. ]] SLAMing on 101.89538474999999 meters Centerline goodness : 0.929418 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.77, Z:0.96 [[ 0.93472228 0.07997584 -0.34626309 9.8002796 ] [-0.05835102 0.99566362 0.07245082 -0.76949314] [ 0.35055587 -0.04751659 0.93533564 0.95930277] [ 0. 0. 0. 1. ]] SLAMing on 101.95538475 meters Centerline goodness : 0.931950 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.77, Z:0.96 [[ 0.93480942 0.08068641 -0.34586276 9.79907017] [-0.05920782 0.99562824 0.07224151 -0.7676398 ] [ 0.35017964 -0.04705426 0.93549993 0.95868468] [ 0. 0. 0. 1. ]] SLAMing on 102.01538475 meters Centerline goodness : 0.932958 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.77, Z:0.96 [[ 0.9348296 0.08196854 -0.34550655 9.79673941] [-0.0605264 0.99553616 0.07241765 -0.76549624] [ 0.34990023 -0.04678589 0.93561793 0.95885872] [ 0. 0. 0. 1. ]] SLAMing on 102.07538475 meters Centerline goodness : 0.933043 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.76, Z:0.96 [[ 0.93511931 0.07766803 -0.34571601 9.79711565] [-0.05750801 0.99601213 0.06821047 -0.76322263] [ 0.34963511 -0.04390348 0.93585671 0.95763937] [ 0. 0. 0. 1. ]] SLAMing on 102.13538474999999 meters Centerline goodness : 0.930654 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.76, Z:0.96 [[ 0.93478506 0.07466327 -0.3472784 9.80455173] [-0.05460655 0.99624402 0.06720099 -0.76305255] [ 0.35099148 -0.04385481 0.93535113 0.95773748] [ 0. 0. 0. 1. ]] SLAMing on 102.19538474999999 meters Centerline goodness : 0.931872 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.76, Z:0.96 [[ 0.93467582 0.07492054 -0.34751694 9.80503585] [-0.05482816 0.99622454 0.06730929 -0.76456748] [ 0.35124775 -0.04385865 0.93525474 0.9576536 ] [ 0. 0. 0. 1. ]] SLAMing on 102.25538474999999 meters Centerline goodness : 0.934021 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.77, Z:0.96 [[ 0.93446181 0.07431428 -0.34822193 9.80634731] [-0.05327278 0.99614941 0.06963015 -0.76821806] [ 0.35205559 -0.04651596 0.93482251 0.96216808] [ 0. 0. 0. 1. ]] SLAMing on 102.31538474999999 meters Centerline goodness : 0.937498 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.77, Z:0.96 [[ 0.93482879 0.06749663 -0.34862493 9.80904243] [-0.04751591 0.99671668 0.06555981 -0.77005788] [ 0.35190535 -0.04472197 0.93496662 0.96228897] [ 0. 0. 0. 1. ]] SLAMing on 102.37538475 meters Centerline goodness : 0.939817 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.77, Z:0.97 [[ 0.93472743 0.06798359 -0.34880205 9.80851889] [-0.04713414 0.99657625 0.06792751 -0.77449535] [ 0.3522258 -0.04705323 0.9347315 0.96577084] [ 0. 0. 0. 1. ]] SLAMing on 102.43538475 meters Centerline goodness : 0.940299 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.77, Z:0.96 [[ 0.93502932 0.06307735 -0.34891462 9.80914098] [-0.043463 0.99701777 0.06376936 -0.7741993 ] [ 0.35189648 -0.04446135 0.93498238 0.96477214] [ 0. 0. 0. 1. ]] SLAMing on 102.49538474999999 meters Centerline goodness : 0.939304 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.77, Z:0.96 [[ 0.93489542 0.06203117 -0.34946056 9.81315538] [-0.04259936 0.99710224 0.06302704 -0.77446748] [ 0.35235755 -0.04403689 0.93482881 0.9633057 ] [ 0. 0. 0. 1. ]] SLAMing on 102.55538474999999 meters Centerline goodness : 0.939825 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.78, Z:0.96 [[ 0.9347695 0.06064517 -0.35004021 9.81647096] [-0.04132228 0.9971944 0.0624163 -0.77588618] [ 0.35284339 -0.0438804 0.93465291 0.96289084] [ 0. 0. 0. 1. ]] SLAMing on 102.61538474999999 meters Centerline goodness : 0.940103 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.78, Z:0.96 [[ 0.93468631 0.05946065 -0.3504653 9.81942306] [-0.04025244 0.99727364 0.06184674 -0.77716927] [ 0.35318725 -0.04370022 0.93453146 0.96227545] [ 0. 0. 0. 1. ]] SLAMing on 102.67538474999999 meters Centerline goodness : 0.939081 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.78, Z:0.96 [[ 0.93472199 0.05968234 -0.35033245 9.81984785] [-0.04062247 0.99727941 0.06151088 -0.77580362] [ 0.35305045 -0.0432642 0.93460344 0.96126559] [ 0. 0. 0. 1. ]] SLAMing on 102.73538475 meters Centerline goodness : 0.942118 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.77, Z:0.96 [[ 0.93484918 0.06095104 -0.34977419 9.8172433 ] [-0.04193474 0.99721385 0.06169283 -0.77368924] [ 0.35255991 -0.0430058 0.93480052 0.96118097] [ 0. 0. 0. 1. ]] SLAMing on 102.79538475 meters Centerline goodness : 0.946766 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.77, Z:0.97 [[ 0.93453639 0.06668399 -0.34956398 9.81427733] [-0.04583966 0.99666046 0.06757695 -0.77484616] [ 0.3529029 -0.04712923 0.93447225 0.96542702] [ 0. 0. 0. 1. ]] SLAMing on 102.85538474999998 meters Centerline goodness : 0.947211 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.77, Z:0.96 [[ 0.93448705 0.06570182 -0.34988172 9.81645805] [-0.04500713 0.99673986 0.06696275 -0.7748332 ] [ 0.35314063 -0.04682865 0.93439754 0.96489438] [ 0. 0. 0. 1. ]] SLAMing on 102.91538474999999 meters Centerline goodness : 0.947393 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.78, Z:0.97 [[ 0.93428538 0.06318294 -0.3508828 9.82137083] [-0.04253871 0.99689634 0.06624304 -0.7761467 ] [ 0.35397921 -0.0469638 0.9340734 0.96545387] [ 0. 0. 0. 1. ]] SLAMing on 102.97538474999999 meters Centerline goodness : 0.947150 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.78, Z:0.96 [[ 0.93419011 0.06189741 -0.35136525 9.8247627 ] [-0.04142954 0.9969933 0.0654824 -0.77767274] [ 0.354362 -0.04661611 0.93394567 0.96438231] [ 0. 0. 0. 1. ]] SLAMing on 103.03538474999999 meters Centerline goodness : 0.945851 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.78, Z:0.97 [[ 0.93402641 0.06144609 -0.3518793 9.82656098] [-0.04080978 0.99699971 0.06577347 -0.77856239] [ 0.35486508 -0.04707404 0.93373166 0.96518441] [ 0. 0. 0. 1. ]] SLAMing on 103.09538475 meters Centerline goodness : 0.949204 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.78, Z:0.97 [[ 0.93381622 0.06095022 -0.35252281 9.82708036] [-0.04004502 0.99699581 0.06630047 -0.78043238] [ 0.35550479 -0.04779567 0.93345161 0.96736477] [ 0. 0. 0. 1. ]] SLAMing on 103.15538475 meters Centerline goodness : 0.950191 with order 1 Centerline is valid? [False, True] Translation: X:9.83, Y:-0.78, Z:0.97 [[ 0.93392108 0.06163891 -0.35212506 9.8264415 ] [-0.04085023 0.99697158 0.06617351 -0.77724424] [ 0.35513754 -0.04741645 0.93361074 0.96643554] [ 0. 0. 0. 1. ]] SLAMing on 103.21538475 meters Centerline goodness : 0.951036 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.76, Z:0.96 [[ 9.33952893e-01 4.40317765e-02 -3.54673367e-01 9.89429990e+00] [-4.17664085e-02 9.99028690e-01 1.40443306e-02 -7.60404577e-01] [ 3.54947266e-01 1.69668955e-03 9.34884784e-01 9.56685323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27538474999999 meters Centerline goodness : 0.950342 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.76, Z:0.98 [[ 9.33842946e-01 4.62781151e-02 -3.54676879e-01 9.94918917e+00] [-4.42031735e-02 9.98925090e-01 1.39550919e-02 -7.61353710e-01] [ 3.54941449e-01 2.64597948e-03 9.34884788e-01 9.77052600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33538474999999 meters Centerline goodness : 0.949103 with order 1 Centerline is valid? [True, False] Translation: X:9.95, Y:-0.76, Z:0.98 [[ 9.33356860e-01 5.08744464e-02 -3.55326275e-01 9.95120149e+00] [-4.74395046e-02 9.98705013e-01 1.83791013e-02 -7.61414777e-01] [ 3.55801159e-01 -2.97757808e-04 9.34561633e-01 9.78659918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39538474999999 meters Centerline goodness : 0.944730 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.76, Z:0.98 [[ 9.32946629e-01 5.59899879e-02 -3.55634235e-01 9.95192923e+00] [-5.13737864e-02 9.98427826e-01 2.24189919e-02 -7.60729063e-01] [ 3.56330355e-01 -2.64544571e-03 9.34356292e-01 9.79432346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45538475 meters Centerline goodness : 0.943946 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.76, Z:0.98 [[ 9.32372828e-01 6.05404432e-02 -3.56392712e-01 9.95367076e+00] [-5.44350594e-02 9.98148250e-01 2.71458052e-02 -7.61412822e-01] [ 3.57376181e-01 -5.90975273e-03 9.33941829e-01 9.81892460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51538475 meters Centerline goodness : 0.944232 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.77, Z:0.99 [[ 0.93237963 0.05667913 -0.35700939 9.95924272] [-0.04885489 0.99832767 0.03090406 -0.76623565] [ 0.35816397 -0.01137266 0.93358944 0.99087726] [ 0. 0. 0. 1. ]] SLAMing on 103.57538475 meters Centerline goodness : 0.945585 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.77, Z:0.99 [[ 0.93207309 0.05547894 -0.35799698 9.96193804] [-0.047336 0.99838295 0.03147684 -0.76850855] [ 0.35916438 -0.01239257 0.93319203 0.99287175] [ 0. 0. 0. 1. ]] SLAMing on 103.63538474999999 meters Centerline goodness : 0.942969 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.77, Z:0.99 [[ 0.93152626 0.05551469 -0.35941195 9.97174891] [-0.04612678 0.99833443 0.03465082 -0.77061054] [ 0.36073695 -0.01569964 0.93253545 0.99457979] [ 0. 0. 0. 1. ]] SLAMing on 103.69538474999999 meters Centerline goodness : 0.942617 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.77, Z:1.00 [[ 0.93139122 0.05619489 -0.35965612 9.97104268] [-0.04611895 0.99826734 0.0365425 -0.77445288] [ 0.36108646 -0.0174484 0.93236909 0.9970904 ] [ 0. 0. 0. 1. ]] SLAMing on 103.75538474999999 meters Centerline goodness : 0.939238 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.78, Z:1.00 [[ 0.93113151 0.05695367 -0.36020882 9.97073805] [-0.04633845 0.99820106 0.03804466 -0.77694607] [ 0.36172761 -0.01873306 0.9320956 0.99950074] [ 0. 0. 0. 1. ]] SLAMing on 103.81538474999999 meters Centerline goodness : 0.943297 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.78, Z:1.00 [[ 0.93049425 0.06144172 -0.36111683 9.97292051] [-0.04923336 0.99786469 0.04292008 -0.77831158] [ 0.36298282 -0.02215789 0.93153234 1.00227844] [ 0. 0. 0. 1. ]] SLAMing on 103.87538475 meters Centerline goodness : 0.941859 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.78, Z:1.01 [[ 0.92994832 0.06686946 -0.36155856 9.97296235] [-0.05305548 0.99743669 0.04801212 -0.77817227] [ 0.36384232 -0.02546613 0.93111237 1.00508203] [ 0. 0. 0. 1. ]] SLAMing on 103.93538475 meters Centerline goodness : 0.942266 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.78, Z:1.01 [[ 0.92964085 0.07319028 -0.36112475 9.96997602] [-0.05796128 0.9969195 0.05283947 -0.77649494] [ 0.36387964 -0.02819048 0.93101928 1.00709742] [ 0. 0. 0. 1. ]] SLAMing on 103.99538474999999 meters Centerline goodness : 0.941224 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.77, Z:1.01 [[ 0.92901049 0.08416274 -0.36035557 9.96758304] [-0.06682394 0.99593908 0.06033159 -0.77047487] [ 0.36396987 -0.0319683 0.93086195 1.0079786 ] [ 0. 0. 0. 1. ]] SLAMing on 104.05538474999999 meters Centerline goodness : 0.937590 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.77, Z:1.01 [[ 0.92860062 0.08978746 -0.36005429 9.96664475] [-0.07133392 0.9953813 0.06424596 -0.76885776] [ 0.36415979 -0.03397475 0.93071659 1.00841916] [ 0. 0. 0. 1. ]] SLAMing on 104.11538474999999 meters Centerline goodness : 0.942287 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.77, Z:1.01 [[ 0.92893144 0.08425063 -0.36053878 9.96593036] [-0.06668186 0.99591289 0.06091831 -0.77090802] [ 0.36419762 -0.03254754 0.93075279 1.0103587 ] [ 0. 0. 0. 1. ]] SLAMing on 104.17538474999999 meters Centerline goodness : 0.939816 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.77, Z:1.01 [[ 0.92894206 0.07942343 -0.36160554 9.9735112 ] [-0.0622492 0.99632005 0.0589185 -0.77249434] [ 0.36495436 -0.03222222 0.93046765 1.00997117] [ 0. 0. 0. 1. ]] SLAMing on 104.23538475 meters Centerline goodness : 0.941266 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.92879892 0.07845999 -0.36218309 9.97556321] [-0.06113176 0.99637983 0.05907741 -0.77519918] [ 0.36550714 -0.03273014 0.93023291 1.01074641] [ 0. 0. 0. 1. ]] SLAMing on 104.29538475 meters Centerline goodness : 0.940486 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.92866604 0.07573276 -0.36310321 9.97946437] [-0.05825779 0.99656514 0.05885543 -0.77830801] [ 0.36631329 -0.03350345 0.92988822 1.01262372] [ 0. 0. 0. 1. ]] SLAMing on 104.35538474999998 meters Centerline goodness : 0.939683 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.92865731 0.07537042 -0.36320091 9.98128355] [-0.05784405 0.99658607 0.058909 -0.77875847] [ 0.36640096 -0.03369726 0.92984667 1.01227684] [ 0. 0. 0. 1. ]] SLAMing on 104.41538474999999 meters Centerline goodness : 0.941300 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.9284929 0.075123 -0.36367219 9.98308022] [-0.05746844 0.99659403 0.05914145 -0.77906551] [ 0.36687642 -0.03401274 0.92964769 1.0127767 ] [ 0. 0. 0. 1. ]] SLAMing on 104.47538474999999 meters Centerline goodness : 0.941812 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.92832315 0.07560207 -0.36400613 9.98327439] [-0.05765861 0.99653603 0.05992856 -0.78018833] [ 0.36727594 -0.03464498 0.92946657 1.0139982 ] [ 0. 0. 0. 1. ]] SLAMing on 104.53538474999999 meters Centerline goodness : 0.943183 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.92831439 0.0761616 -0.36391182 9.98297516] [-0.05817738 0.99649282 0.06014531 -0.77951738] [ 0.36721628 -0.03466232 0.9294895 1.0139618 ] [ 0. 0. 0. 1. ]] SLAMing on 104.59538475 meters Centerline goodness : 0.939812 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.01 [[ 0.9281396 0.07742938 -0.36409007 9.98241253] [-0.05937205 0.99639796 0.06054799 -0.77678585] [ 0.3674668 -0.03458021 0.92939354 1.01433337] [ 0. 0. 0. 1. ]] SLAMing on 104.65538475 meters Centerline goodness : 0.942325 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.02 [[ 0.92796131 0.07899788 -0.36420756 9.97894725] [-0.06034611 0.99622953 0.06233029 -0.77646849] [ 0.36775828 -0.03586158 0.92922968 1.01793678] [ 0. 0. 0. 1. ]] SLAMing on 104.71538475 meters Centerline goodness : 0.942983 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.77, Z:1.02 [[ 0.92783773 0.07832339 -0.36466778 9.98134701] [-0.05980889 0.99629433 0.06181023 -0.77360091] [ 0.36815763 -0.03553949 0.92908391 1.01765226] [ 0. 0. 0. 1. ]] SLAMing on 104.77538474999999 meters Centerline goodness : 0.941071 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.77, Z:1.02 [[ 0.92758728 0.07807126 -0.36535834 9.9836088 ] [-0.05953037 0.99631423 0.06175825 -0.77299848] [ 0.36883326 -0.03553625 0.92881602 1.01797864] [ 0. 0. 0. 1. ]] SLAMing on 104.83538474999999 meters Centerline goodness : 0.944150 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.77, Z:1.02 [[ 0.9275665 0.07876936 -0.36526125 9.98303899] [-0.06008955 0.99625016 0.06224842 -0.77390936] [ 0.36879484 -0.03579117 0.92882149 1.01825111] [ 0. 0. 0. 1. ]] SLAMing on 104.89538474999999 meters Centerline goodness : 0.941914 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:1.02 [[ 0.9274502 0.07871104 -0.365569 9.98377316] [-0.05994123 0.99624761 0.06243193 -0.77546955] [ 0.36911132 -0.03598985 0.92868809 1.01863714] [ 0. 0. 0. 1. ]] SLAMing on 104.95538475 meters Centerline goodness : 0.943593 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92731177 0.07847176 -0.36597139 9.98566003] [-0.05971733 0.99626891 0.06230649 -0.77568432] [ 0.36949522 -0.03592271 0.92853801 1.01836412] [ 0. 0. 0. 1. ]] SLAMing on 105.01538475 meters Centerline goodness : 0.943780 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92679678 0.0828114 -0.36631954 9.98723447] [-0.0625364 0.99579831 0.06689492 -0.77817221] [ 0.37032004 -0.03908969 0.92808139 1.02043778] [ 0. 0. 0. 1. ]] SLAMing on 105.07538475 meters Centerline goodness : 0.944482 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92668826 0.08304564 -0.36654097 9.98761976] [-0.06268854 0.99577365 0.06711918 -0.77765827] [ 0.3705658 -0.03922064 0.92797776 1.02097454] [ 0. 0. 0. 1. ]] SLAMing on 105.13538474999999 meters Centerline goodness : 0.945852 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92674632 0.08317285 -0.3663653 9.98738215] [-0.062733 0.9957539 0.06737024 -0.77797196] [ 0.37041305 -0.03945193 0.92802894 1.02105246] [ 0. 0. 0. 1. ]] SLAMing on 105.19538474999999 meters Centerline goodness : 0.947343 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92658258 0.08192677 -0.36705957 9.98927011] [-0.06114223 0.99581551 0.06791982 -0.77978854] [ 0.37108807 -0.04049048 0.92771449 1.02339485] [ 0. 0. 0. 1. ]] SLAMing on 105.25538474999999 meters Centerline goodness : 0.947523 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92651674 0.08202009 -0.36720489 9.98989666] [-0.06117971 0.99580365 0.06805979 -0.77998405] [ 0.37124624 -0.04059305 0.92764672 1.02350628] [ 0. 0. 0. 1. ]] SLAMing on 105.31538474999999 meters Centerline goodness : 0.948249 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.03 [[ 0.92635191 0.08157413 -0.36771974 9.99114448] [-0.06041904 0.99580606 0.06870101 -0.78211932] [ 0.37178177 -0.04142404 0.92739547 1.02516707] [ 0. 0. 0. 1. ]] SLAMing on 105.37538475 meters Centerline goodness : 0.945386 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:1.02 [[ 0.92621691 0.0806877 -0.36825497 9.99393589] [-0.05956471 0.99587886 0.06839103 -0.78343529] [ 0.37225566 -0.04140993 0.92720599 1.02489973] [ 0. 0. 0. 1. ]] SLAMing on 105.43538475 meters Centerline goodness : 0.943351 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.78, Z:1.02 [[ 0.92617439 0.08026406 -0.36845445 9.99641242] [-0.05919106 0.99591675 0.06816333 -0.78376562] [ 0.37242103 -0.04132192 0.9271435 1.02402068] [ 0. 0. 0. 1. ]] SLAMing on 105.49538474999999 meters Centerline goodness : 0.942141 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.78, Z:1.02 [[ 0.92607632 0.07996123 -0.36876666 9.99756733] [-0.05880913 0.99593235 0.06826601 -0.78377938] [ 0.37272528 -0.04153269 0.92701181 1.02450981] [ 0. 0. 0. 1. ]] SLAMing on 105.55538474999999 meters Centerline goodness : 0.943201 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.79, Z:1.03 [[ 0.92599502 0.08003812 -0.36895408 9.99721658] [-0.05858393 0.99589442 0.06900883 -0.78555937] [ 0.37296265 -0.04228705 0.92688223 1.02600834] [ 0. 0. 0. 1. ]] SLAMing on 105.61538474999999 meters Centerline goodness : 0.948432 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92603002 0.07392787 -0.37013926 10.00611606] [-0.0515939 0.99621924 0.06989495 -0.78849264] [ 0.37390704 -0.0456279 0.92634314 1.0321416 ] [ 0. 0. 0. 1. ]] SLAMing on 105.67538474999999 meters Centerline goodness : 0.943996 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92548961 0.07711384 -0.37084019 10.01096202] [-0.05368938 0.99587869 0.07309636 -0.78956918] [ 0.37494858 -0.04773974 0.92581557 1.03198543] [ 0. 0. 0. 1. ]] SLAMing on 105.73538475 meters Centerline goodness : 0.949112 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92546881 0.07879841 -0.37053785 10.00764947] [-0.05508111 0.99572275 0.07417736 -0.79146507] [ 0.37479802 -0.04823919 0.92585065 1.03336127] [ 0. 0. 0. 1. ]] SLAMing on 105.79538475 meters Centerline goodness : 0.945931 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92534505 0.07848569 -0.37091311 10.00981387] [-0.0548898 0.99576379 0.07376713 -0.78989056] [ 0.37513151 -0.0479007 0.92573315 1.03278152] [ 0. 0. 0. 1. ]] SLAMing on 105.85538474999998 meters Centerline goodness : 0.943954 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92533075 0.07842554 -0.3709615 10.01117207] [-0.05512055 0.99580527 0.07303138 -0.78689831] [ 0.37513294 -0.04713058 0.9257721 1.03137022] [ 0. 0. 0. 1. ]] SLAMing on 105.91538474999999 meters Centerline goodness : 0.945302 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92561407 0.0737123 -0.37122108 10.01079534] [-0.05176325 0.99628928 0.06876222 -0.78566543] [ 0.37491221 -0.04443167 0.92599496 1.03078808] [ 0. 0. 0. 1. ]] SLAMing on 105.97538474999999 meters Centerline goodness : 0.943494 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.79, Z:1.03 [[ 0.92543086 0.07248065 -0.37191973 10.01519289] [-0.05066986 0.99639099 0.06809967 -0.78513776] [ 0.37551337 -0.04417642 0.92576355 1.02990963] [ 0. 0. 0. 1. ]] SLAMing on 106.03538474999999 meters Centerline goodness : 0.945347 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.79, Z:1.03 [[ 0.92565474 0.06729142 -0.37233744 10.01603715] [-0.04639526 0.99681849 0.06481039 -0.78735439] [ 0.37551403 -0.04271735 0.92583176 1.03054859] [ 0. 0. 0. 1. ]] SLAMing on 106.09538475 meters Centerline goodness : 0.948238 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:1.03 [[ 0.92561768 0.06755632 -0.3723816 10.01460137] [-0.04605005 0.9967326 0.06635894 -0.79117098] [ 0.37564784 -0.04427482 0.92570429 1.03344319] [ 0. 0. 0. 1. ]] SLAMing on 106.15538475 meters Centerline goodness : 0.943498 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.79, Z:1.03 [[ 0.92525688 0.06482688 -0.37376085 10.0219594 ] [-0.04371914 0.99694744 0.06468724 -0.78905545] [ 0.3768134 -0.04351181 0.92526666 1.03220311] [ 0. 0. 0. 1. ]] SLAMing on 106.21538475 meters Centerline goodness : 0.943195 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.79, Z:1.03 [[ 0.92463717 0.06887825 -0.37456894 10.0241181 ] [-0.04638588 0.9965551 0.06874798 -0.78936332] [ 0.37801383 -0.04619223 0.92464686 1.03443042] [ 0. 0. 0. 1. ]] SLAMing on 106.27538474999999 meters Centerline goodness : 0.945102 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.79, Z:1.04 [[ 0.92448472 0.06949842 -0.3748306 10.02355911] [-0.04690063 0.9965074 0.06908927 -0.7879246 ] [ 0.37832306 -0.04629219 0.92451538 1.03546249] [ 0. 0. 0. 1. ]] SLAMing on 106.33538474999999 meters Centerline goodness : 0.945390 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.78, Z:1.04 [[ 0.92405781 0.07389536 -0.37504218 10.02467603] [-0.05037921 0.99612137 0.07213974 -0.78450068] [ 0.37891833 -0.04776696 0.92419653 1.03565651] [ 0. 0. 0. 1. ]] SLAMing on 106.39538474999999 meters Centerline goodness : 0.942712 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.78, Z:1.04 [[ 0.92400216 0.07448211 -0.37506324 10.02467486] [-0.05114862 0.99610649 0.07180304 -0.78110252] [ 0.37895097 -0.0471622 0.9242142 1.03501965] [ 0. 0. 0. 1. ]] SLAMing on 106.45538475 meters Centerline goodness : 0.941259 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.78, Z:1.03 [[ 0.92350612 0.07947631 -0.37525985 10.0253317 ] [-0.05532645 0.9956689 0.07471562 -0.77704556] [ 0.37957268 -0.04823854 0.92390347 1.03470777] [ 0. 0. 0. 1. ]] SLAMing on 106.51538475 meters Centerline goodness : 0.941012 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.77, Z:1.03 [[ 0.92335418 0.08065042 -0.37538323 10.02440151] [-0.05682412 0.99562796 0.07413496 -0.77367206] [ 0.37972105 -0.047122 0.92390012 1.03389444] [ 0. 0. 0. 1. ]] SLAMing on 106.57538475 meters Centerline goodness : 0.941573 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.77, Z:1.03 [[ 0.92313814 0.08258046 -0.37549492 10.02353023] [-0.05858938 0.99546924 0.0748884 -0.77069571] [ 0.37997796 -0.04713232 0.92379397 1.03415169] [ 0. 0. 0. 1. ]] SLAMing on 106.63538474999999 meters Centerline goodness : 0.941724 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.77, Z:1.03 [[ 0.9230367 0.08432812 -0.37535585 10.02237901] [-0.06059964 0.99537045 0.07460127 -0.76638509] [ 0.37990911 -0.04611328 0.92387371 1.03298563] [ 0. 0. 0. 1. ]] SLAMing on 106.69538474999999 meters Centerline goodness : 0.941484 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.76, Z:1.03 [[ 0.92307139 0.08320448 -0.37552126 10.0240997 ] [-0.0598719 0.99550358 0.07340282 -0.76361749] [ 0.3799402 -0.04527287 0.92390249 1.03203908] [ 0. 0. 0. 1. ]] SLAMing on 106.75538474999999 meters Centerline goodness : 0.942436 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.77, Z:1.03 [[ 0.9228882 0.08335284 -0.3759384 10.02315378] [-0.05959431 0.99544532 0.07441195 -0.76526268] [ 0.38042857 -0.04627012 0.92365209 1.03466971] [ 0. 0. 0. 1. ]] SLAMing on 106.81538474999999 meters Centerline goodness : 0.944921 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.77, Z:1.04 [[ 0.92270006 0.08190091 -0.37671851 10.02639323] [-0.05814734 0.9955601 0.07402004 -0.76621856] [ 0.38110823 -0.04639312 0.92336569 1.03507552] [ 0. 0. 0. 1. ]] SLAMing on 106.87538475 meters Centerline goodness : 0.943513 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.77, Z:1.04 [[ 0.92255753 0.08098342 -0.37726555 10.02856076] [-0.05717481 0.99562493 0.07390565 -0.76809917] [ 0.38160012 -0.04661213 0.92315148 1.03552489] [ 0. 0. 0. 1. ]] SLAMing on 106.93538475 meters Centerline goodness : 0.943430 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.77, Z:1.04 [[ 0.92239155 0.08047168 -0.37778054 10.0301062 ] [-0.0564219 0.99563687 0.07432223 -0.77083929] [ 0.38211306 -0.0472391 0.9229074 1.03659247] [ 0. 0. 0. 1. ]] SLAMing on 106.99538474999999 meters Centerline goodness : 0.944102 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.77, Z:1.04 [[ 0.92214472 0.07936508 -0.37861631 10.0324577 ] [-0.0550698 0.99569257 0.07458976 -0.77321801] [ 0.38290526 -0.04793223 0.92254326 1.03822057] [ 0. 0. 0. 1. ]] SLAMing on 107.05538474999999 meters Centerline goodness : 0.942787 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.77, Z:1.04 [[ 0.92201217 0.07882526 -0.37905164 10.03445961] [-0.05450729 0.9957316 0.07448173 -0.77430909] [ 0.38330474 -0.04801198 0.92237321 1.03817959] [ 0. 0. 0. 1. ]] SLAMing on 107.11538474999999 meters Centerline goodness : 0.945189 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.78, Z:1.04 [[ 0.92203112 0.07873332 -0.37902465 10.03459266] [-0.05440743 0.99573669 0.07448674 -0.77504936] [ 0.38327334 -0.04805733 0.92238389 1.03829225] [ 0. 0. 0. 1. ]] SLAMing on 107.17538474999999 meters Centerline goodness : 0.945215 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92179512 0.07843583 -0.37965983 10.03605285] [-0.05391233 0.99573877 0.07481823 -0.77725605] [ 0.38391044 -0.04849873 0.92209579 1.03925602] [ 0. 0. 0. 1. ]] SLAMing on 107.23538475 meters Centerline goodness : 0.945963 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92167518 0.07831094 -0.37997666 10.03726641] [-0.05383498 0.99575656 0.07463686 -0.77885353] [ 0.38420914 -0.04833491 0.92197998 1.03886717] [ 0. 0. 0. 1. ]] SLAMing on 107.29538475 meters Centerline goodness : 0.944774 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92158584 0.07816354 -0.38022363 10.038123 ] [-0.05368241 0.99576852 0.07458726 -0.77963426] [ 0.38444473 -0.04832725 0.92188217 1.03888329] [ 0. 0. 0. 1. ]] SLAMing on 107.35538474999998 meters Centerline goodness : 0.942805 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92142603 0.07762984 -0.38071996 10.04021477] [-0.05325211 0.99582285 0.07416916 -0.7795689 ] [ 0.38488737 -0.04806725 0.92171104 1.03855377] [ 0. 0. 0. 1. ]] SLAMing on 107.41538474999999 meters Centerline goodness : 0.944577 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92122852 0.07653945 -0.38141805 10.04216756] [-0.0519336 0.99587458 0.0744091 -0.78192727] [ 0.38553978 -0.04873937 0.92140304 1.04010553] [ 0. 0. 0. 1. ]] SLAMing on 107.47538474999999 meters Centerline goodness : 0.944948 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92100233 0.07563779 -0.38214347 10.04436376] [-0.05071132 0.99590079 0.07489984 -0.78333405] [ 0.38624225 -0.04960393 0.92106264 1.04181319] [ 0. 0. 0. 1. ]] SLAMing on 107.53538474999999 meters Centerline goodness : 0.946473 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.79, Z:1.05 [[ 0.92077385 0.07634444 -0.38255332 10.04374561] [-0.05059501 0.99575119 0.07693961 -0.78688438] [ 0.38680184 -0.05148869 0.92072431 1.04506018] [ 0. 0. 0. 1. ]] SLAMing on 107.59538475 meters Centerline goodness : 0.949167 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.79, Z:1.05 [[ 0.92059786 0.07732435 -0.38278 10.04279252] [-0.0511392 0.99563044 0.07813323 -0.78818875] [ 0.38714902 -0.05235423 0.92052956 1.04685477] [ 0. 0. 0. 1. ]] SLAMing on 107.65538475 meters Centerline goodness : 0.948502 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92066645 0.07780443 -0.38251766 10.04264041] [-0.05212868 0.99566336 0.07705239 -0.78493278] [ 0.38685384 -0.05099941 0.92072969 1.04469852] [ 0. 0. 0. 1. ]] SLAMing on 107.71538475 meters Centerline goodness : 0.944429 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.78, Z:1.04 [[ 0.92058639 0.07842604 -0.38258339 10.04281759] [-0.05318299 0.99567826 0.07613389 -0.7815716 ] [ 0.38690084 -0.04974089 0.92077879 1.04316054] [ 0. 0. 0. 1. ]] SLAMing on 107.77538474999999 meters Centerline goodness : 0.943279 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.78, Z:1.04 [[ 0.92026278 0.07690541 -0.3836691 10.04670206] [-0.05191741 0.99582492 0.07508204 -0.78091541] [ 0.38784146 -0.0491761 0.92041334 1.04296274] [ 0. 0. 0. 1. ]] SLAMing on 107.83538474999999 meters Centerline goodness : 0.940391 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.78, Z:1.04 [[ 0.91991468 0.07615023 -0.38465324 10.04949104] [-0.05102444 0.99586776 0.07512591 -0.78129309] [ 0.38878462 -0.04948271 0.9199989 1.04406914] [ 0. 0. 0. 1. ]] SLAMing on 107.89538474999999 meters Centerline goodness : 0.943999 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.78, Z:1.05 [[ 0.91964673 0.07553044 -0.38541541 10.04971668] [-0.04947197 0.9957951 0.0771015 -0.78457299] [ 0.38961829 -0.05183889 0.91951635 1.04877142] [ 0. 0. 0. 1. ]] SLAMing on 107.95538475 meters Centerline goodness : 0.944129 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.79, Z:1.05 [[ 0.91950796 0.07498999 -0.38585179 10.0508894 ] [-0.04866797 0.99579957 0.07755418 -0.78662364] [ 0.39004683 -0.05253306 0.91929524 1.05000083] [ 0. 0. 0. 1. ]] SLAMing on 108.01538475 meters Centerline goodness : 0.944784 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.79, Z:1.05 [[ 0.91922675 0.07463076 -0.38659078 10.05267574] [-0.04806841 0.99579846 0.07794141 -0.78846824] [ 0.39078333 -0.05306302 0.91895196 1.05122297] [ 0. 0. 0. 1. ]] SLAMing on 108.07538475 meters Centerline goodness : 0.942942 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.79, Z:1.05 [[ 0.91925806 0.06948558 -0.38747436 10.05451643] [-0.04385449 0.99624768 0.07461464 -0.79223394] [ 0.39120507 -0.05159762 0.91885596 1.05182662] [ 0. 0. 0. 1. ]] SLAMing on 108.13538474999999 meters Centerline goodness : 0.937271 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.79, Z:1.05 [[ 0.91884281 0.06802034 -0.38871729 10.05974701] [-0.04239764 0.99634702 0.07412868 -0.79354689] [ 0.39233957 -0.05163191 0.91837019 1.05190996] [ 0. 0. 0. 1. ]] SLAMing on 108.19538474999999 meters Centerline goodness : 0.933671 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.79, Z:1.05 [[ 0.91865304 0.06807243 -0.38915644 10.0610667 ] [-0.04263946 0.99637346 0.07363284 -0.79171888] [ 0.39275752 -0.05104961 0.91822408 1.05145485] [ 0. 0. 0. 1. ]] SLAMing on 108.25538474999999 meters Centerline goodness : 0.933649 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.79, Z:1.05 [[ 0.91809682 0.0735129 -0.38947924 10.06055704] [-0.04689265 0.99589407 0.07743432 -0.78898909] [ 0.39357249 -0.05282849 0.9177744 1.05293519] [ 0. 0. 0. 1. ]] SLAMing on 108.31538474999999 meters Centerline goodness : 0.934192 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.78, Z:1.05 [[ 0.91771534 0.08039167 -0.38901894 10.05696161] [-0.05276148 0.99529922 0.0812139 -0.78326811] [ 0.39371917 -0.05400603 0.91764294 1.05348694] [ 0. 0. 0. 1. ]] SLAMing on 108.37538475 meters Centerline goodness : 0.936566 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.78, Z:1.05 [[ 0.91778101 0.08044564 -0.38885283 10.0547386 ] [-0.05303764 0.99532381 0.08073112 -0.77913138] [ 0.39352894 -0.05346965 0.91775594 1.05435965] [ 0. 0. 0. 1. ]] SLAMing on 108.43538475 meters Centerline goodness : 0.941046 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.78, Z:1.05 [[ 0.91776889 0.08053186 -0.38886357 10.05393634] [-0.05333711 0.99534678 0.0802492 -0.77621776] [ 0.39351672 -0.05290936 0.91779365 1.05446312] [ 0. 0. 0. 1. ]] SLAMing on 108.49538474999999 meters Centerline goodness : 0.939350 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.77, Z:1.05 [[ 0.91771882 0.0825351 -0.3885616 10.05226027] [-0.0554662 0.99521871 0.08039421 -0.77295751] [ 0.39333912 -0.05222725 0.91790885 1.05354844] [ 0. 0. 0. 1. ]] SLAMing on 108.55538474999999 meters Centerline goodness : 0.940038 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.77, Z:1.05 [[ 0.9176127 0.08307984 -0.38869613 10.05142637] [-0.05592407 0.99516956 0.08068486 -0.77367758] [ 0.39352184 -0.05229998 0.91782639 1.05424349] [ 0. 0. 0. 1. ]] SLAMing on 108.61538474999999 meters Centerline goodness : 0.936987 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.77, Z:1.05 [[ 0.91757521 0.08278172 -0.38884819 10.05360963] [-0.05616331 0.99526332 0.07935113 -0.77085015] [ 0.39357516 -0.05097163 0.91787825 1.05199002] [ 0. 0. 0. 1. ]] SLAMing on 108.67538474999999 meters Centerline goodness : 0.939457 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.77, Z:1.05 [[ 0.91787607 0.0780294 -0.38912072 10.05344035] [-0.05280806 0.99577566 0.07511427 -0.76999463] [ 0.39333806 -0.04839688 0.91811922 1.05141817] [ 0. 0. 0. 1. ]] SLAMing on 108.73538475 meters Centerline goodness : 0.938875 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.77, Z:1.05 [[ 0.91813505 0.07201061 -0.38966974 10.05504908] [-0.04820793 0.99634362 0.07053646 -0.76908254] [ 0.39332433 -0.04597683 0.91824948 1.05109313] [ 0. 0. 0. 1. ]] SLAMing on 108.79538475 meters Centerline goodness : 0.935095 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.77, Z:1.05 [[ 0.91790786 0.07073401 -0.39043805 10.05918548] [-0.04715239 0.99645511 0.06966972 -0.76775358] [ 0.393982 -0.0455403 0.91798925 1.05026349] [ 0. 0. 0. 1. ]] SLAMing on 108.85538474999998 meters Centerline goodness : 0.941740 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.77, Z:1.05 [[ 0.9178157 0.07136397 -0.39054004 10.05717032] [-0.04682991 0.99630463 0.07200036 -0.7705986 ] [ 0.39423508 -0.0477941 0.917766 1.05438789] [ 0. 0. 0. 1. ]] SLAMing on 108.91538474999999 meters Centerline goodness : 0.943658 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.77, Z:1.05 [[ 0.91787529 0.0720709 -0.39027007 10.05520471] [-0.04743907 0.99624653 0.07240431 -0.77105996] [ 0.39402345 -0.04794408 0.91784905 1.05497609] [ 0. 0. 0. 1. ]] SLAMing on 108.97538474999999 meters Centerline goodness : 0.943310 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.77, Z:1.05 [[ 0.91796426 0.06570773 -0.39118297 10.05873887] [-0.04248739 0.9967985 0.06773163 -0.77080884] [ 0.39438109 -0.04555488 0.91781714 1.05433987] [ 0. 0. 0. 1. ]] SLAMing on 109.03538474999999 meters Centerline goodness : 0.939302 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.77, Z:1.05 [[ 0.91776374 0.06379471 -0.39196933 10.06348956] [-0.04074093 0.99693003 0.06686317 -0.77184016] [ 0.39503151 -0.0453954 0.91754529 1.05365047] [ 0. 0. 0. 1. ]] SLAMing on 109.09538475 meters Centerline goodness : 0.944895 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.78, Z:1.06 [[ 0.91781037 0.05852763 -0.39268135 10.06372328] [-0.03602295 0.99727098 0.06444328 -0.77601805] [ 0.39538143 -0.04500116 0.91741399 1.05650469] [ 0. 0. 0. 1. ]] SLAMing on 109.15538475 meters Centerline goodness : 0.943321 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.78, Z:1.07 [[ 0.91740761 0.05731208 -0.3938002 10.07390399] [-0.0320772 0.99700492 0.07037212 -0.7794155 ] [ 0.39665391 -0.05192791 0.91649832 1.06539668] [ 0. 0. 0. 1. ]] SLAMing on 109.21538475 meters Centerline goodness : 0.942299 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.78, Z:1.07 [[ 0.91679642 0.05977624 -0.39485583 10.0793188 ] [-0.03294133 0.99668421 0.07440067 -0.780641 ] [ 0.39799397 -0.05520319 0.91572562 1.06798465] [ 0. 0. 0. 1. ]] SLAMing on 109.27538474999999 meters Centerline goodness : 0.940576 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.78, Z:1.07 [[ 0.91635375 0.0597706 -0.39588292 10.08094284] [-0.03260987 0.99665075 0.07499246 -0.781643 ] [ 0.39903935 -0.05580993 0.91523377 1.06991705] [ 0. 0. 0. 1. ]] SLAMing on 109.33538474999999 meters Centerline goodness : 0.940474 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.78, Z:1.07 [[ 0.91553234 0.0641008 -0.39710404 10.08323736] [-0.03486089 0.99615072 0.08042677 -0.78314717] [ 0.4007309 -0.05978991 0.91424281 1.0746343 ] [ 0. 0. 0. 1. ]] SLAMing on 109.39538474999999 meters Centerline goodness : 0.940177 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.78, Z:1.07 [[ 0.9154429 0.06392332 -0.39733879 10.08432212] [-0.03492995 0.99619944 0.07979087 -0.78012225] [ 0.40092918 -0.05916496 0.91419653 1.07396413] [ 0. 0. 0. 1. ]] SLAMing on 109.45538475 meters Centerline goodness : 0.944784 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.78, Z:1.07 [[ 0.91546941 0.06489645 -0.3971199 10.08157062] [-0.03606743 0.99617044 0.07964671 -0.77711804] [ 0.40076789 -0.05859103 0.91430421 1.07435394] [ 0. 0. 0. 1. ]] SLAMing on 109.51538475 meters Centerline goodness : 0.944379 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.77, Z:1.07 [[ 0.9155206 0.06663975 -0.39671297 10.07866027] [-0.03817161 0.99612465 0.07923765 -0.77239063] [ 0.40045594 -0.05740053 0.91451638 1.0733627 ] [ 0. 0. 0. 1. ]] SLAMing on 109.57538475 meters Centerline goodness : 0.945002 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.77, Z:1.07 [[ 0.91497724 0.07167384 -0.39708879 10.07986832] [-0.042365 0.99572258 0.08210821 -0.76808426] [ 0.40127529 -0.05830448 0.91409996 1.07302046] [ 0. 0. 0. 1. ]] SLAMing on 109.63538474999999 meters Centerline goodness : 0.945081 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.77, Z:1.07 [[ 0.91461212 0.07748275 -0.39683889 10.07860038] [-0.04700103 0.99518718 0.08598482 -0.76563472] [ 0.40159131 -0.05999092 0.91385202 1.07356107] [ 0. 0. 0. 1. ]] SLAMing on 109.69538474999999 meters Centerline goodness : 0.949907 with order 1 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.76, Z:1.08 [[ 0.91669122 0.07089905 -0.39325631 10.09220376] [-0.04472364 0.99615431 0.07534178 -0.76337528] [ 0.39708563 -0.0514773 0.91633678 1.07876635] [ 0. 0. 0. 1. ]] SLAMing on 109.75538474999999 meters Centerline goodness : 0.940336 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.76, Z:1.07 [[ 0.91614515 0.07231836 -0.3942691 10.10319164] [-0.04588549 0.99604563 0.0760765 -0.75770375] [ 0.39821174 -0.05160589 0.91584073 1.07468537] [ 0. 0. 0. 1. ]] SLAMing on 109.81538474999999 meters Centerline goodness : 0.935265 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.76, Z:1.07 [[ 0.91594905 0.07187987 -0.39480453 10.10547154] [-0.04577535 0.99612034 0.07515901 -0.75642413] [ 0.39867524 -0.05076951 0.91568581 1.07369778] [ 0. 0. 0. 1. ]] SLAMing on 109.87538475 meters Centerline goodness : 0.935729 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.76, Z:1.07 [[ 0.91617415 0.06794663 -0.3949787 10.10315437] [-0.04302067 0.99650266 0.07163569 -0.75624696] [ 0.39846473 -0.04863852 0.91589309 1.0744145 ] [ 0. 0. 0. 1. ]] SLAMing on 109.93538475 meters Centerline goodness : 0.936159 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.76, Z:1.07 [[ 0.91601823 0.06743905 -0.39542708 10.10543176] [-0.04246404 0.99653008 0.07158641 -0.75525949] [ 0.39888269 -0.04878302 0.91570345 1.07446242] [ 0. 0. 0. 1. ]] SLAMing on 109.99538474999999 meters Centerline goodness : 0.943132 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.76, Z:1.08 [[ 0.9158263 0.06845703 -0.39569662 10.10407343] [-0.04251436 0.99635347 0.07397493 -0.75880429] [ 0.39931781 -0.0509254 0.91539712 1.07804693] [ 0. 0. 0. 1. ]] SLAMing on 110.05538474999999 meters Centerline goodness : 0.948633 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.76, Z:1.08 [[ 0.91618127 0.06557481 -0.3953629 10.09904738] [-0.04006432 0.99656713 0.07244869 -0.76125257] [ 0.39875648 -0.05053619 0.91566335 1.08104047] [ 0. 0. 0. 1. ]] SLAMing on 110.11538474999999 meters Centerline goodness : 0.946561 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.76, Z:1.08 [[ 0.91553208 0.0691106 -0.39626347 10.103888 ] [-0.04215167 0.99618944 0.07635335 -0.76279241] [ 0.40003031 -0.05320077 0.91495652 1.08207648] [ 0. 0. 0. 1. ]] SLAMing on 110.17538474999999 meters Centerline goodness : 0.945426 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.76, Z:1.08 [[ 0.91584064 0.0641539 -0.39638391 10.10521659] [-0.03871623 0.99666343 0.07185446 -0.76396033] [ 0.39967109 -0.05046075 0.91526867 1.07993409] [ 0. 0. 0. 1. ]] SLAMing on 110.23538475 meters Centerline goodness : 0.942884 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.77, Z:1.08 [[ 0.91545234 0.0631173 -0.39744588 10.1086796 ] [-0.03744207 0.99669863 0.07204122 -0.76739955] [ 0.40068081 -0.05106911 0.91479333 1.08099058] [ 0. 0. 0. 1. ]] SLAMing on 110.29538475 meters Centerline goodness : 0.942236 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.77, Z:1.08 [[ 0.91525754 0.06216802 -0.39804368 10.11114732] [-0.03631159 0.9967305 0.07217877 -0.76968426] [ 0.40122949 -0.05160857 0.91452253 1.08172543] [ 0. 0. 0. 1. ]] SLAMing on 110.35538474999998 meters Centerline goodness : 0.941733 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.77, Z:1.08 [[ 0.91508757 0.06174744 -0.39849969 10.11272652] [-0.03597139 0.99676684 0.07184653 -0.76912183] [ 0.40164761 -0.05141128 0.91435008 1.08172254] [ 0. 0. 0. 1. ]] SLAMing on 110.41538474999999 meters Centerline goodness : 0.942711 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.77, Z:1.08 [[ 0.91506182 0.06179701 -0.39855112 10.11204566] [-0.03604289 0.99676764 0.07179953 -0.76787427] [ 0.40169986 -0.05133608 0.91433136 1.08236667] [ 0. 0. 0. 1. ]] SLAMing on 110.47538474999999 meters Centerline goodness : 0.946068 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.76, Z:1.09 [[ 0.91481606 0.06123482 -0.39920154 10.11066433] [-0.03540477 0.99679284 0.07176721 -0.76255367] [ 0.40231589 -0.05152016 0.91405011 1.08554085] [ 0. 0. 0. 1. ]] SLAMing on 110.53538474999999 meters Centerline goodness : 0.931194 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.75, Z:1.08 [[ 0.91344738 0.06617621 -0.40154027 10.12520126] [-0.03934231 0.99642824 0.07471905 -0.75343275] [ 0.40505069 -0.0524544 0.9127883 1.08142279] [ 0. 0. 0. 1. ]] SLAMing on 110.59538475 meters Centerline goodness : 0.932715 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.75, Z:1.08 [[ 0.9133385 0.06662017 -0.4017145 10.12353589] [-0.03997311 0.99642966 0.07436459 -0.75052222] [ 0.40523442 -0.05186226 0.91274058 1.08212778] [ 0. 0. 0. 1. ]] SLAMing on 110.65538475 meters Centerline goodness : 0.939066 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.75, Z:1.08 [[ 0.91344324 0.06857233 -0.40114746 10.11823522] [-0.04179142 0.99629649 0.07514513 -0.7488874 ] [ 0.40481468 -0.05187629 0.91292602 1.08356332] [ 0. 0. 0. 1. ]] SLAMing on 110.71538475 meters Centerline goodness : 0.942890 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.75, Z:1.08 [[ 0.91315918 0.07501942 -0.40064 10.11550935] [-0.04673062 0.9957042 0.07993375 -0.74823784] [ 0.40491551 -0.05427008 0.91274213 1.08483135] [ 0. 0. 0. 1. ]] SLAMing on 110.77538474999999 meters Centerline goodness : 0.942543 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.75, Z:1.09 [[ 0.91301134 0.07507576 -0.40096623 10.11594422] [-0.04673455 0.99569743 0.08001563 -0.74954345] [ 0.40524828 -0.0543162 0.91259169 1.0852093 ] [ 0. 0. 0. 1. ]] SLAMing on 110.83538474999999 meters Centerline goodness : 0.942736 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.75, Z:1.09 [[ 0.91279588 0.07387481 -0.40167921 10.11886966] [-0.04521057 0.99573746 0.08039226 -0.75272103] [ 0.405906 -0.05522158 0.91224498 1.08644626] [ 0. 0. 0. 1. ]] SLAMing on 110.89538474999999 meters Centerline goodness : 0.947271 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.76, Z:1.09 [[ 0.9131552 0.06677682 -0.40210501 10.1199521 ] [-0.039149 0.99629701 0.07654824 -0.75610792] [ 0.40572767 -0.05415841 0.91238803 1.08804609] [ 0. 0. 0. 1. ]] SLAMing on 110.95538475 meters Centerline goodness : 0.940054 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.91256987 0.06432622 -0.40382962 10.13220313] [-0.03591966 0.99634221 0.07753699 -0.75595598] [ 0.40734016 -0.0562525 0.91154246 1.0892689 ] [ 0. 0. 0. 1. ]] SLAMing on 111.01538475 meters Centerline goodness : 0.938254 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.91254281 0.06454527 -0.40385583 10.13305844] [-0.03632007 0.99635601 0.07717221 -0.75531001] [ 0.40736528 -0.05575488 0.9115618 1.0881605 ] [ 0. 0. 0. 1. ]] SLAMing on 111.07538475 meters Centerline goodness : 0.937982 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.91245504 0.0656519 -0.40387575 10.13152096] [-0.03724857 0.99627328 0.07779518 -0.75581593] [ 0.40747802 -0.05594081 0.91150002 1.08887845] [ 0. 0. 0. 1. ]] SLAMing on 111.13538474999999 meters Centerline goodness : 0.937611 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.75, Z:1.09 [[ 0.9127655 0.06289553 -0.4036128 10.12855715] [-0.03578708 0.99658855 0.07436771 -0.75495232] [ 0.40691329 -0.05343616 0.91190249 1.08787336] [ 0. 0. 0. 1. ]] SLAMing on 111.19538474999999 meters Centerline goodness : 0.938264 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.75, Z:1.09 [[ 0.91274193 0.06311299 -0.40363217 10.12828148] [-0.03597393 0.99657356 0.07447826 -0.75473937] [ 0.40694969 -0.05345919 0.91188489 1.08803632] [ 0. 0. 0. 1. ]] SLAMing on 111.25538474999999 meters Centerline goodness : 0.945250 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.76, Z:1.09 [[ 0.91310852 0.05931899 -0.40337835 10.12451062] [-0.03221662 0.99676348 0.07365229 -0.75851388] [ 0.40644179 -0.05425705 0.91206428 1.09214559] [ 0. 0. 0. 1. ]] SLAMing on 111.31538474999999 meters Centerline goodness : 0.943707 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.9130825 0.05976159 -0.40337192 10.12510541] [-0.03260186 0.99673463 0.07387289 -0.7591627 ] [ 0.40646952 -0.05430137 0.91204928 1.0916028 ] [ 0. 0. 0. 1. ]] SLAMing on 111.37538475 meters Centerline goodness : 0.948545 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.76, Z:1.09 [[ 0.91299075 0.06167849 -0.40329102 10.12161707] [-0.03361997 0.99651834 0.07629485 -0.7622403 ] [ 0.40659265 -0.05609787 0.91188566 1.09485083] [ 0. 0. 0. 1. ]] SLAMing on 111.43538475 meters Centerline goodness : 0.950291 with order 1 Centerline is valid? [False, True] Translation: X:10.12, Y:-0.76, Z:1.09 [[ 0.91321408 0.05620017 -0.40358591 10.12219814] [-0.02940153 0.99694955 0.07229898 -0.76197142] [ 0.40641801 -0.05415841 0.91208074 1.09488097] [ 0. 0. 0. 1. ]] SLAMing on 111.49538474999999 meters Centerline goodness : 0.938401 with order 1 Centerline is valid? [True, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.91239335 0.05741267 -0.405268 10.13236986] [-0.03014444 0.99685025 0.07335452 -0.7598941 ] [ 0.40820299 -0.0547116 0.91125022 1.09269713] [ 0. 0. 0. 1. ]] SLAMing on 111.55538474999999 meters Centerline goodness : 0.936341 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.91223679 0.0573872 -0.40562391 10.13287668] [-0.03026015 0.99687406 0.07298236 -0.75969682] [ 0.40854421 -0.05430295 0.91112174 1.09260185] [ 0. 0. 0. 1. ]] SLAMing on 111.61538474999999 meters Centerline goodness : 0.940189 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.09 [[ 0.91231827 0.05867789 -0.40525581 10.12990962] [-0.03145204 0.99679743 0.07352319 -0.75885402] [ 0.40827214 -0.05433042 0.91124205 1.0932164 ] [ 0. 0. 0. 1. ]] SLAMing on 111.67538474999999 meters Centerline goodness : 0.942403 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.10 [[ 0.91215241 0.05836328 -0.40567439 10.12968348] [-0.03060771 0.99674534 0.07457812 -0.75906868] [ 0.40870668 -0.05560985 0.91097003 1.09605442] [ 0. 0. 0. 1. ]] SLAMing on 111.73538475 meters Centerline goodness : 0.945101 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.10 [[ 0.91209426 0.05744396 -0.40593626 10.13027408] [-0.02960056 0.99677826 0.07454467 -0.75859433] [ 0.40891058 -0.05597583 0.91085611 1.09718544] [ 0. 0. 0. 1. ]] SLAMing on 111.79538475 meters Centerline goodness : 0.948919 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.10 [[ 0.91177149 0.05606966 -0.40685248 10.13224464] [-0.0270003 0.99667727 0.07684666 -0.76205443] [ 0.40980938 -0.05908146 0.91025582 1.10271645] [ 0. 0. 0. 1. ]] SLAMing on 111.85538474999998 meters Centerline goodness : 0.949778 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.76, Z:1.10 [[ 0.9120119 0.05024329 -0.40707483 10.13306568] [-0.02246019 0.99709749 0.07274705 -0.76361544] [ 0.40954834 -0.05720319 0.91049325 1.10256084] [ 0. 0. 0. 1. ]] SLAMing on 111.91538474999999 meters Centerline goodness : 0.948585 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.76, Z:1.10 [[ 0.912034 0.04456331 -0.40768627 10.13554215] [-0.01813994 0.99748944 0.06845261 -0.76403734] [ 0.40971322 -0.05503571 0.91055266 1.10184996] [ 0. 0. 0. 1. ]] SLAMing on 111.97538474999999 meters Centerline goodness : 0.951267 with order 1 Centerline is valid? [False, True] Translation: X:10.14, Y:-0.77, Z:1.11 [[ 0.91165147 0.04348525 -0.40865711 10.13657036] [-0.01607107 0.99739776 0.07028111 -0.76702061] [ 0.41064987 -0.05750432 0.90997799 1.10692676] [ 0. 0. 0. 1. ]] SLAMing on 112.03538474999999 meters Centerline goodness : 0.953939 with order 1 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.75, Z:1.09 [[ 9.11460521e-01 1.94283330e-02 -4.10928533e-01 1.02077724e+01] [-1.65419431e-02 9.99807205e-01 1.05791127e-02 -7.46470491e-01] [ 4.11054842e-01 -2.84488714e-03 9.11606178e-01 1.09458856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09538475 meters Centerline goodness : 0.955260 with order 1 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.75, Z:1.12 [[ 9.11421360e-01 2.11343247e-02 -4.10931191e-01 1.02608331e+01] [-1.84602839e-02 9.99774722e-01 1.04749082e-02 -7.48578115e-01] [ 4.11059998e-01 -1.96114864e-03 9.11606183e-01 1.12090708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15538475 meters Centerline goodness : 0.954914 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.75, Z:1.14 [[ 9.11445909e-01 1.99901497e-02 -4.10933996e-01 1.03141888e+01] [-1.72552826e-02 9.99797403e-01 1.03638127e-02 -7.52599840e-01] [ 4.11057916e-01 -2.35527241e-03 9.11606188e-01 1.14464433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21538475 meters Centerline goodness : 0.949971 with order 1 Centerline is valid? [True, False] Translation: X:10.32, Y:-0.75, Z:1.15 [[ 9.12116121e-01 1.97112160e-02 -4.09457751e-01 1.03193739e+01] [-9.32256998e-03 9.99582376e-01 2.73525601e-02 -7.53655051e-01] [ 4.09825904e-01 -2.11315125e-02 9.11918959e-01 1.15174086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27538474999999 meters Centerline goodness : 0.949284 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.75, Z:1.15 [[ 0.91139349 0.02282089 -0.4109028 10.32493134] [-0.01114779 0.99946394 0.03078255 -0.75202487] [ 0.41138501 -0.02347435 0.91115933 1.15321038] [ 0. 0. 0. 1. ]] SLAMing on 112.33538474999999 meters Centerline goodness : 0.950458 with order 1 Centerline is valid? [False, True] Translation: X:10.32, Y:-0.75, Z:1.16 [[ 0.91087139 0.02940272 -0.41164159 10.32176235] [-0.01400144 0.99908627 0.0403806 -0.75472376] [ 0.41245276 -0.03101796 0.91045077 1.16430655] [ 0. 0. 0. 1. ]] SLAMing on 112.39538474999999 meters Centerline goodness : 0.954705 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.74, Z:1.18 [[ 9.10783550e-01 1.54817534e-02 -4.12593797e-01 1.03816532e+01] [-1.21433817e-02 9.99868886e-01 1.07120640e-02 -7.42518564e-01] [ 4.12705542e-01 -4.74608769e-03 9.10852134e-01 1.17526531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45538475 meters Centerline goodness : 0.955548 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.74, Z:1.20 [[ 9.10867976e-01 9.14150763e-03 -4.12596611e-01 1.04343626e+01] [-5.23265481e-03 9.99930099e-01 1.06026342e-02 -7.39241732e-01] [ 4.12664694e-01 -7.49862432e-03 9.10852140e-01 1.20013006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51538475 meters Centerline goodness : 0.954253 with order 1 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.74, Z:1.22 [[ 9.10912918e-01 -6.95974369e-04 -4.12598074e-01 1.04883061e+01] [ 5.54053777e-03 9.99929046e-01 1.05454260e-02 -7.37317650e-01] [ 4.12561459e-01 -1.18919799e-02 9.10852141e-01 1.22123368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57538475 meters Centerline goodness : 0.951216 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.74, Z:1.24 [[ 9.10817715e-01 -1.31581833e-02 -4.12599022e-01 1.05429987e+01] [ 1.92033122e-02 9.99760376e-01 1.05082331e-02 -7.35277437e-01] [ 4.12361884e-01 -1.74943526e-02 9.10852142e-01 1.24376914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63538474999999 meters Centerline goodness : 0.952008 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.73, Z:1.27 [[ 9.10634363e-01 -2.24713912e-02 -4.12601615e-01 1.05952903e+01] [ 2.93792928e-02 9.99514174e-01 1.04054842e-02 -7.31219533e-01] [ 4.12167336e-01 -2.15975351e-02 9.10852147e-01 1.26880885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69538474999999 meters Centerline goodness : 0.947439 with order 1 Centerline is valid? [True, False] Translation: X:10.61, Y:-0.73, Z:1.29 [[ 0.91003629 -0.01426517 -0.41428306 10.6079294 ] [ 0.0292937 0.9991222 0.02994493 -0.72807726] [ 0.41349223 -0.03938686 0.90965535 1.29059042] [ 0. 0. 0. 1. ]] SLAMing on 112.75538474999999 meters Centerline goodness : 0.946349 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.72, Z:1.29 [[ 9.09642877e-01 -3.71763606e-03 -4.15374549e-01 1.06046249e+01] [ 2.10502470e-02 9.99087716e-01 3.71567367e-02 -7.19119323e-01] [ 4.14857474e-01 -4.25430978e-02 9.08891281e-01 1.29394447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81538474999999 meters Centerline goodness : 0.942491 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.71, Z:1.30 [[ 9.08730749e-01 1.26459177e-02 -4.17191210e-01 1.06014742e+01] [ 8.50863957e-03 9.98771916e-01 4.88084346e-02 -7.10613036e-01] [ 4.17296092e-01 -4.79034549e-02 9.07507152e-01 1.29906702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87538475 meters Centerline goodness : 0.936300 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.70, Z:1.30 [[ 9.07612074e-01 2.88011861e-02 -4.18820743e-01 1.06014052e+01] [-3.89107957e-03 9.98178159e-01 6.02098262e-02 -7.02017808e-01] [ 4.19791832e-01 -5.30175004e-02 9.06070617e-01 1.30246946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93538475 meters Centerline goodness : 0.932254 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.70, Z:1.31 [[ 0.90686284 0.03927048 -0.41959221 10.59793708] [-0.01224467 0.99768382 0.0669109 -0.69610076] [ 0.42124798 -0.05554124 0.90524323 1.30511732] [ 0. 0. 0. 1. ]] SLAMing on 112.99538474999999 meters Centerline goodness : 0.927615 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.69, Z:1.31 [[ 0.90620439 0.04671138 -0.42025189 10.59733258] [-0.01816901 0.99726303 0.0716682 -0.69161445] [ 0.4224494 -0.05731048 0.90457284 1.30646041] [ 0. 0. 0. 1. ]] SLAMing on 113.05538474999999 meters Centerline goodness : 0.920252 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.69, Z:1.31 [[ 0.90548154 0.05834528 -0.42035582 10.59624831] [-0.02717839 0.99644339 0.07976158 -0.6892277 ] [ 0.42351448 -0.06079804 0.90384682 1.30761034] [ 0. 0. 0. 1. ]] SLAMing on 113.11538474999999 meters Centerline goodness : 0.912553 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.69, Z:1.31 [[ 0.90553806 0.05989697 -0.42001567 10.59444537] [-0.02865314 0.99635786 0.08031202 -0.68799893] [ 0.42329636 -0.06069082 0.9039562 1.30745077] [ 0. 0. 0. 1. ]] SLAMing on 113.17538474999999 meters Centerline goodness : 0.914886 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.69, Z:1.31 [[ 0.90717466 0.06298215 -0.41601369 10.60336063] [-0.03548795 0.99666339 0.07350296 -0.68904476] [ 0.41925499 -0.05191655 0.90638288 1.30800282] [ 0. 0. 0. 1. ]] SLAMing on 113.23538475 meters Centerline goodness : 0.915291 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.69, Z:1.31 [[ 0.90727324 0.06716116 -0.41514413 10.59876977] [-0.03890397 0.99633614 0.07616284 -0.69356436] [ 0.41873829 -0.05294975 0.90656195 1.30833208] [ 0. 0. 0. 1. ]] SLAMing on 113.29538475 meters Centerline goodness : 0.918280 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.70, Z:1.31 [[ 0.90715286 0.07082868 -0.41479752 10.59400884] [-0.04086808 0.99590207 0.08067753 -0.70231585] [ 0.41881199 -0.05623488 0.90633005 1.3125774 ] [ 0. 0. 0. 1. ]] SLAMing on 113.35538474999998 meters Centerline goodness : 0.923374 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.72, Z:1.32 [[ 0.90769425 0.07039138 -0.41368611 10.58798334] [-0.03925682 0.99575117 0.08329772 -0.71715667] [ 0.41779187 -0.05936886 0.90660095 1.31716474] [ 0. 0. 0. 1. ]] SLAMing on 113.41538474999999 meters Centerline goodness : 0.923266 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.72, Z:1.32 [[ 0.90817591 0.06747085 -0.41311523 10.5898673 ] [-0.03692492 0.99598969 0.08149288 -0.72347769] [ 0.41695691 -0.05875563 0.9070252 1.3152963 ] [ 0. 0. 0. 1. ]] SLAMing on 113.47538474999999 meters Centerline goodness : 0.934294 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.74, Z:1.32 [[ 0.90921235 0.06162489 -0.41174661 10.58667396] [-0.03024574 0.99614834 0.08230238 -0.7360725 ] [ 0.41523258 -0.06237676 0.90757426 1.32304466] [ 0. 0. 0. 1. ]] SLAMing on 113.53538474999999 meters Centerline goodness : 0.924933 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.74, Z:1.32 [[ 0.90950441 0.05130911 -0.41251557 10.59487161] [-0.02187876 0.99688633 0.07575597 -0.74175874] [ 0.4151181 -0.05987506 0.9077951 1.32112942] [ 0. 0. 0. 1. ]] SLAMing on 113.59538475 meters Centerline goodness : 0.917616 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.09195782e-01 4.36889297e-02 -4.14070414e-01 1.06046980e+01] [-9.36351885e-03 9.96373689e-01 8.45682935e-02 -7.47099721e-01] [ 4.16263564e-01 -7.30119796e-02 9.06307837e-01 1.32216691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65538475 meters Centerline goodness : 0.914602 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.75, Z:1.32 [[ 9.08808307e-01 4.18371049e-02 -4.15110971e-01 1.06097242e+01] [-7.54096019e-03 9.96444176e-01 8.39174455e-02 -7.50401819e-01] [ 4.17145772e-01 -7.31345362e-02 9.05892237e-01 1.32240426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71538475 meters Centerline goodness : 0.914565 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.75, Z:1.32 [[ 9.09047742e-01 3.80836046e-02 -4.14947999e-01 1.06080428e+01] [-5.02037124e-03 9.96743423e-01 8.04819529e-02 -7.50640539e-01] [ 4.16661731e-01 -7.10787446e-02 9.06278552e-01 1.32196755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77538474999999 meters Centerline goodness : 0.918421 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.09347670e-01 3.49006690e-02 -4.14570570e-01 1.06048052e+01] [-2.77221215e-03 9.96961343e-01 7.78485389e-02 -7.50226250e-01] [ 4.16027799e-01 -6.96421099e-02 9.06681227e-01 1.32252220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83538474999999 meters Centerline goodness : 0.922465 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.09429797e-01 3.47892982e-02 -4.14399746e-01 1.06037823e+01] [-2.57303168e-03 9.96946282e-01 7.80479962e-02 -7.49338710e-01] [ 4.15849521e-01 -6.99129097e-02 9.06742169e-01 1.32328083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89538474999999 meters Centerline goodness : 0.925679 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.09588854e-01 3.49000558e-02 -4.14041184e-01 1.06030415e+01] [-2.64032201e-03 9.96931666e-01 7.82322257e-02 -7.48946310e-01] [ 4.15501077e-01 -7.00659585e-02 9.06890080e-01 1.32328246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95538475 meters Centerline goodness : 0.928767 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.10306426e-01 3.35354608e-02 -4.12574337e-01 1.05964701e+01] [-2.49869938e-03 9.97139808e-01 7.55378073e-02 -7.49877961e-01] [ 4.13927491e-01 -6.77316522e-02 9.07786570e-01 1.32152694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01538475 meters Centerline goodness : 0.930056 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.75, Z:1.32 [[ 9.10721163e-01 3.60322142e-02 -4.11447012e-01 1.05917131e+01] [-4.84537813e-03 9.97050818e-01 7.65910539e-02 -7.51156894e-01] [ 4.12993325e-01 -6.77594773e-02 9.08209869e-01 1.32111228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07538475 meters Centerline goodness : 0.927664 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.75, Z:1.32 [[ 9.10716299e-01 3.59906894e-02 -4.11461412e-01 1.05934084e+01] [-5.09696638e-03 9.97099725e-01 7.59352280e-02 -7.49840362e-01] [ 4.13001022e-01 -6.70582448e-02 9.08258414e-01 1.31949403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13538474999999 meters Centerline goodness : 0.921993 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.10438232e-01 3.41991633e-02 -4.12228873e-01 1.05992801e+01] [-3.91012155e-03 9.97243366e-01 7.40971014e-02 -7.46949167e-01] [ 4.13626568e-01 -6.58489690e-02 9.08062209e-01 1.31706184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19538474999999 meters Centerline goodness : 0.920719 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.75, Z:1.32 [[ 9.10625437e-01 2.95196179e-02 -4.12177033e-01 1.05987700e+01] [-6.36725204e-04 9.97544248e-01 7.00361848e-02 -7.45265335e-01] [ 4.13232270e-01 -6.35142879e-02 9.08407963e-01 1.31637083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25538474999999 meters Centerline goodness : 0.924110 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.32 [[ 9.10478170e-01 2.85906406e-02 -4.12567663e-01 1.05996233e+01] [ 2.70805004e-04 9.97565988e-01 6.97282294e-02 -7.42831452e-01] [ 4.13557044e-01 -6.35977561e-02 9.08254313e-01 1.31731137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31538474999999 meters Centerline goodness : 0.922780 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.32 [[ 9.10302682e-01 3.29232178e-02 -4.12631905e-01 1.06003913e+01] [-2.83599015e-03 9.97304666e-01 7.33168446e-02 -7.40218603e-01] [ 4.13933551e-01 -6.55703003e-02 9.07942482e-01 1.31792011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37538475 meters Centerline goodness : 0.924461 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.74, Z:1.32 [[ 9.10775754e-01 3.59865681e-02 -4.11330150e-01 1.05934029e+01] [-5.82628440e-03 9.97215635e-01 7.43440027e-02 -7.37849854e-01] [ 4.12860243e-01 -6.53141887e-02 9.08449491e-01 1.31836843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43538475 meters Centerline goodness : 0.924012 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.73, Z:1.32 [[ 0.91075289 0.04258996 -0.41074965 10.59013868] [-0.01128863 0.99686334 0.07833292 -0.73444499] [ 0.41279746 -0.06670513 0.90837695 1.31847891] [ 0. 0. 0. 1. ]] SLAMing on 114.49538474999999 meters Centerline goodness : 0.923300 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.73, Z:1.32 [[ 0.91044736 0.04684922 -0.41096319 10.59276631] [-0.01465926 0.99659537 0.08113435 -0.73254072] [ 0.4133651 -0.06784414 0.9080344 1.31734899] [ 0. 0. 0. 1. ]] SLAMing on 114.55538474999999 meters Centerline goodness : 0.923709 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.73, Z:1.32 [[ 0.91063723 0.04141735 -0.41112582 10.59512702] [-0.01086607 0.99702011 0.07637293 -0.73281748] [ 0.41306388 -0.06508071 0.90837367 1.3151146 ] [ 0. 0. 0. 1. ]] SLAMing on 114.61538474999999 meters Centerline goodness : 0.926927 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.32 [[ 9.10638216e-01 3.13732065e-02 -4.12011847e-01 1.06021323e+01] [-2.34826172e-03 9.97490245e-01 7.07650781e-02 -7.36854889e-01] [ 4.13197926e-01 -6.34738728e-02 9.08426409e-01 1.31545129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67538474999999 meters Centerline goodness : 0.919657 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.31 [[ 9.13280573e-01 1.97011223e-02 -4.06854349e-01 1.06047310e+01] [ 1.01472506e-02 9.97419290e-01 7.10759669e-02 -7.38195665e-01] [ 4.07204652e-01 -6.90407528e-02 9.10723748e-01 1.30769542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73538475 meters Centerline goodness : 0.921245 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.31 [[ 0.91342917 0.01539948 -0.4067063 10.60360674] [ 0.01329604 0.99762149 0.06763566 -0.7390611 ] [ 0.4067805 -0.06718797 0.91105181 1.30768253] [ 0. 0. 0. 1. ]] SLAMing on 114.79538475 meters Centerline goodness : 0.931435 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.31 [[ 0.91380769 0.01281732 -0.40594485 10.59781724] [ 0.01541194 0.99768772 0.06619431 -0.74003657] [ 0.40585463 -0.06674526 0.91149717 1.31028122] [ 0. 0. 0. 1. ]] SLAMing on 114.85538474999998 meters Centerline goodness : 0.929778 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.74, Z:1.31 [[ 0.91362306 0.01152299 -0.40639898 10.6003295 ] [ 0.0165997 0.99770749 0.06560655 -0.73721873] [ 0.40622328 -0.06668576 0.91133729 1.310481 ] [ 0. 0. 0. 1. ]] SLAMing on 114.91538474999999 meters Centerline goodness : 0.925088 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.73, Z:1.31 [[ 9.13281139e-01 8.88246430e-03 -4.07232935e-01 1.06053259e+01] [ 1.87046251e-02 9.97793052e-01 6.37115524e-02 -7.33399402e-01] [ 4.06900109e-01 -6.58036985e-02 9.11099432e-01 1.30967381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97538474999999 meters Centerline goodness : 0.918232 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.73, Z:1.31 [[ 0.91281195 0.01197155 -0.40820463 10.60952211] [ 0.0165442 0.9976656 0.06625438 -0.73119714] [ 0.40804488 -0.06723121 0.91048302 1.30982693] [ 0. 0. 0. 1. ]] SLAMing on 115.03538474999999 meters Centerline goodness : 0.921079 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.73, Z:1.31 [[ 9.12426148e-01 1.05077157e-02 -4.09106480e-01 1.06106185e+01] [ 1.77737254e-02 9.97709580e-01 6.52662859e-02 -7.26746241e-01] [ 4.08855254e-01 -6.68220121e-02 9.10149548e-01 1.31145692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09538475 meters Centerline goodness : 0.913007 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.72, Z:1.31 [[ 0.91184914 0.01799302 -0.41013096 10.61670233] [ 0.01193719 0.99745448 0.07029984 -0.7207593 ] [ 0.41035187 -0.06899866 0.90931322 1.30975211] [ 0. 0. 0. 1. ]] SLAMing on 115.15538475 meters Centerline goodness : 0.913093 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.72, Z:1.31 [[ 9.11743766e-01 2.39703772e-02 -4.10059418e-01 1.06145109e+01] [ 7.18272024e-03 9.97212801e-01 7.42633045e-02 -7.17507114e-01] [ 4.10696620e-01 -7.06544470e-02 9.09030382e-01 1.31043890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21538474999998 meters Centerline goodness : 0.917492 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.71, Z:1.31 [[ 9.13830100e-01 2.39743269e-02 -4.05388430e-01 1.06254694e+01] [ 3.63740461e-03 9.97732590e-01 6.72045256e-02 -7.14461880e-01] [ 4.06080432e-01 -6.28880801e-02 9.11670869e-01 1.31324610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27538474999999 meters Centerline goodness : 0.917946 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.13880730e-01 3.05301207e-02 -4.04833204e-01 1.06225402e+01] [-1.62770155e-03 9.97435952e-01 7.15462928e-02 -7.11009498e-01] [ 4.05979509e-01 -6.47258307e-02 9.11587190e-01 1.31348926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33538474999999 meters Centerline goodness : 0.920983 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.14105068e-01 3.18932896e-02 -4.04221156e-01 1.06194937e+01] [-2.91173402e-03 9.97392416e-01 7.21102644e-02 -7.10089986e-01] [ 4.05466949e-01 -6.47393736e-02 9.11814327e-01 1.31350688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39538474999999 meters Centerline goodness : 0.919468 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.14266213e-01 3.34063652e-02 -4.03734204e-01 1.06174199e+01] [-4.61772306e-03 9.97388854e-01 7.20704558e-02 -7.09543137e-01] [ 4.05087607e-01 -6.40272499e-02 9.12033191e-01 1.31235516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45538475 meters Centerline goodness : 0.919054 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.14327681e-01 3.32773463e-02 -4.03605637e-01 1.06190339e+01] [-4.95346258e-03 9.97462636e-01 7.10193788e-02 -7.09604542e-01] [ 4.04944880e-01 -6.29357384e-02 9.12172537e-01 1.31000255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51538475 meters Centerline goodness : 0.917322 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.14806590e-01 3.05104418e-02 -4.02738147e-01 1.06172168e+01] [-3.35223245e-03 9.97681910e-01 6.79674168e-02 -7.09788685e-01] [ 4.03878279e-01 -6.08269690e-02 9.12788264e-01 1.30806483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57538475 meters Centerline goodness : 0.918916 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.14668587e-01 2.38983863e-02 -4.03497514e-01 1.06183825e+01] [ 3.22041490e-03 9.97788069e-01 6.63972790e-02 -7.13798547e-01] [ 4.04191793e-01 -6.20309347e-02 9.12568440e-01 1.31362443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63538474999999 meters Centerline goodness : 0.924223 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.71, Z:1.31 [[ 9.14310103e-01 1.53324566e-02 -4.04724538e-01 1.06232028e+01] [ 1.02313669e-02 9.98089912e-01 6.09249257e-02 -7.11183660e-01] [ 4.04885607e-01 -5.98451603e-02 9.12406818e-01 1.31462056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69538474999999 meters Centerline goodness : 0.910628 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.71, Z:1.31 [[ 9.13889381e-01 1.76013949e-02 -4.05581545e-01 1.06303364e+01] [ 8.72952909e-03 9.97976598e-01 6.29801934e-02 -7.09350161e-01] [ 4.05869430e-01 -6.10974659e-02 9.11886564e-01 1.31301417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75538474999999 meters Centerline goodness : 0.910894 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.71, Z:1.31 [[ 9.13873398e-01 1.84790594e-02 -4.05578520e-01 1.06303977e+01] [ 8.09342180e-03 9.97935970e-01 6.37047568e-02 -7.10500442e-01] [ 4.05918598e-01 -6.15006006e-02 9.11837578e-01 1.31302002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81538474999999 meters Centerline goodness : 0.920930 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.71, Z:1.32 [[ 9.16352543e-01 1.72644991e-02 -3.99999943e-01 1.06378774e+01] [ 5.90225231e-03 9.98378772e-01 5.66126414e-02 -7.11883124e-01] [ 4.00328840e-01 -5.42380385e-02 9.14765027e-01 1.31728298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87538475 meters Centerline goodness : 0.921434 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.71, Z:1.32 [[ 9.16510810e-01 1.75944161e-02 -3.99622788e-01 1.06373721e+01] [ 5.83404546e-03 9.98337983e-01 5.73344170e-02 -7.14318468e-01] [ 3.99967374e-01 -5.48790305e-02 9.14884906e-01 1.31741870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93538475 meters Centerline goodness : 0.920597 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16660216e-01 1.34572992e-02 -3.99440797e-01 1.06370636e+01] [ 8.72110678e-03 9.98521489e-01 5.36542441e-02 -7.16593137e-01] [ 3.99572261e-01 -5.26662768e-02 9.15187561e-01 1.31635763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99538474999999 meters Centerline goodness : 0.922993 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16623349e-01 1.31883383e-02 -3.99534359e-01 1.06386149e+01] [ 9.05366149e-03 9.98514380e-01 5.37314063e-02 -7.18093784e-01] [ 3.99649431e-01 -5.28687104e-02 9.15142192e-01 1.31610094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05538474999999 meters Centerline goodness : 0.921843 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16680394e-01 1.30280997e-02 -3.99408717e-01 1.06391799e+01] [ 9.32747282e-03 9.98498618e-01 5.39769165e-02 -7.21592970e-01] [ 3.99512269e-01 -5.32050551e-02 9.15182588e-01 1.31593485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11538474999999 meters Centerline goodness : 0.925390 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16744341e-01 1.42064775e-02 -3.99221730e-01 1.06364954e+01] [ 8.50923421e-03 9.98446229e-01 5.50701392e-02 -7.23965616e-01] [ 3.99383783e-01 -5.38823097e-02 9.15199044e-01 1.31724068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17538474999999 meters Centerline goodness : 0.922593 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16612118e-01 1.93953715e-02 -3.99306956e-01 1.06363920e+01] [ 4.61425608e-03 9.98242629e-01 5.90792857e-02 -7.23799631e-01] [ 3.99751090e-01 -5.59952937e-02 9.14911795e-01 1.31780871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23538475 meters Centerline goodness : 0.916412 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16417367e-01 1.73517796e-02 -3.99847628e-01 1.06399487e+01] [ 6.49003925e-03 9.98284072e-01 5.81961433e-02 -7.24212949e-01] [ 4.00171325e-01 -5.59269832e-02 9.14732247e-01 1.31776890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29538475 meters Centerline goodness : 0.911055 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.72, Z:1.32 [[ 9.16027267e-01 1.41591040e-02 -4.00866020e-01 1.06471186e+01] [ 9.16519176e-03 9.98377039e-01 5.62075327e-02 -7.21644599e-01] [ 4.01011278e-01 -5.51616465e-02 9.14410820e-01 1.31637404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35538474999998 meters Centerline goodness : 0.914638 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.72, Z:1.32 [[ 9.15797717e-01 1.30617314e-02 -4.01427369e-01 1.06484105e+01] [ 1.04229589e-02 9.98361556e-01 5.62633596e-02 -7.21355040e-01] [ 4.01504550e-01 -5.57099172e-02 9.14161092e-01 1.31799279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41538474999999 meters Centerline goodness : 0.915969 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.72, Z:1.32 [[ 9.15747912e-01 1.38705042e-02 -4.01513848e-01 1.06454691e+01] [ 1.00776722e-02 9.98296300e-01 5.74711941e-02 -7.20397181e-01] [ 4.01626943e-01 -5.66754510e-02 9.14047970e-01 1.32083722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47538474999999 meters Centerline goodness : 0.921270 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.15671148e-01 1.89696482e-02 -4.01480388e-01 1.06449201e+01] [ 6.11584146e-03 9.98112381e-01 6.11086894e-02 -7.17589185e-01] [ 4.01881756e-01 -5.84108542e-02 9.13826694e-01 1.32116822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53538474999999 meters Centerline goodness : 0.920871 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.15963099e-01 2.65760373e-02 -4.00381462e-01 1.06393156e+01] [-2.51020672e-04 9.97842069e-01 6.56592898e-02 -7.15566757e-01] [ 4.01262430e-01 -6.00409825e-02 9.13993185e-01 1.32105266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59538475 meters Centerline goodness : 0.922375 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.71, Z:1.32 [[ 9.16508767e-01 3.03457332e-02 -3.98861902e-01 1.06338526e+01] [-4.94898703e-03 9.97902243e-01 6.45493718e-02 -7.13503131e-01] [ 3.99983984e-01 -5.71861027e-02 9.14736335e-01 1.31558234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65538475 meters Centerline goodness : 0.920383 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.71, Z:1.31 [[ 9.16732670e-01 2.57056984e-02 -3.98673336e-01 1.06337524e+01] [-1.63683199e-03 9.98161050e-01 6.05956993e-02 -7.14469720e-01] [ 3.99497850e-01 -5.48974959e-02 9.15088921e-01 1.31451213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71538474999998 meters Centerline goodness : 0.920772 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.72, Z:1.32 [[ 9.16260372e-01 2.04994478e-02 -4.00058376e-01 1.06430590e+01] [ 3.45127379e-03 9.98248710e-01 5.90559132e-02 -7.16053632e-01] [ 4.00568371e-01 -5.54913040e-02 9.14584985e-01 1.31544834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77538474999999 meters Centerline goodness : 0.918725 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.72, Z:1.31 [[ 9.16330636e-01 1.65580512e-02 -4.00079987e-01 1.06470045e+01] [ 6.89946795e-03 9.98343444e-01 5.71206169e-02 -7.19834734e-01] [ 4.00363039e-01 -5.51017103e-02 9.14698441e-01 1.31475018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83538474999999 meters Centerline goodness : 0.927481 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.73, Z:1.32 [[ 9.16806924e-01 1.48397925e-02 -3.99054940e-01 1.06407867e+01] [ 8.78784996e-03 9.98317502e-01 5.73143796e-02 -7.26111364e-01] [ 3.99234064e-01 -5.60530550e-02 9.15133989e-01 1.31820670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89538474999999 meters Centerline goodness : 0.930152 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.73, Z:1.32 [[ 9.16674858e-01 1.53077259e-02 -3.99340555e-01 1.06401503e+01] [ 8.78642913e-03 9.98252576e-01 5.84345247e-02 -7.28407458e-01] [ 3.99537238e-01 -5.70742371e-02 9.14938537e-01 1.32011208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95538475 meters Centerline goodness : 0.935468 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.73, Z:1.32 [[ 0.91705483 0.0114669 -0.39859623 10.63799204] [ 0.01188774 0.998356 0.05607118 -0.7317755 ] [ 0.3985839 -0.05615876 0.91541087 1.32044976] [ 0. 0. 0. 1. ]] SLAMing on 117.01538475 meters Centerline goodness : 0.936673 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.73, Z:1.32 [[ 9.16797243e-01 7.76597076e-03 -3.99277479e-01 1.06440924e+01] [ 1.54174656e-02 9.98377264e-01 5.48191665e-02 -7.34020604e-01] [ 3.99055281e-01 -5.64139075e-02 9.15189791e-01 1.32074225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07538475 meters Centerline goodness : 0.931989 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.73, Z:1.32 [[ 9.16503566e-01 5.30923873e-03 -3.99991283e-01 1.06495953e+01] [ 1.74919495e-02 9.98423626e-01 5.33319210e-02 -7.34949686e-01] [ 3.99643899e-01 -5.58755231e-02 9.14965945e-01 1.31959303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13538474999999 meters Centerline goodness : 0.927853 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.74, Z:1.32 [[ 9.16073512e-01 3.09222654e-03 -4.00998452e-01 1.06556536e+01] [ 1.94065801e-02 9.98456765e-01 5.20333893e-02 -7.35043348e-01] [ 4.00540516e-01 -5.54484183e-02 9.14599786e-01 1.31872364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19538474999999 meters Centerline goodness : 0.927238 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.74, Z:1.32 [[ 9.15513682e-01 7.10689767e-03 -4.02224055e-01 1.06582925e+01] [ 1.74319181e-02 9.98203972e-01 5.73145558e-02 -7.36998158e-01] [ 4.01908978e-01 -5.94837968e-02 9.13745507e-01 1.32297909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25538474999999 meters Centerline goodness : 0.928547 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.74, Z:1.32 [[ 9.15557359e-01 7.45741144e-03 -4.02118278e-01 1.06576391e+01] [ 1.70573519e-02 9.98208471e-01 5.73488862e-02 -7.35944656e-01] [ 4.01825545e-01 -5.93652678e-02 9.13789908e-01 1.32290278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31538474999999 meters Centerline goodness : 0.928697 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.73, Z:1.32 [[ 9.15369429e-01 7.87730179e-03 -4.02537894e-01 1.06573449e+01] [ 1.68053341e-02 9.98189683e-01 5.77489246e-02 -7.34707641e-01] [ 4.02264078e-01 -5.96263839e-02 9.13579940e-01 1.32406751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37538475 meters Centerline goodness : 0.927854 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.73, Z:1.32 [[ 9.15365290e-01 8.09058334e-03 -4.02543077e-01 1.06569097e+01] [ 1.66941495e-02 9.98175609e-01 5.80237724e-02 -7.33829616e-01] [ 4.02278128e-01 -5.98330616e-02 9.13560240e-01 1.32459043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43538475 meters Centerline goodness : 0.935287 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.73, Z:1.33 [[ 9.15184956e-01 5.97856484e-03 -4.02989767e-01 1.06580455e+01] [ 1.95224907e-02 9.98058660e-01 5.91420681e-02 -7.34166887e-01] [ 4.02561011e-01 -6.19932950e-02 9.13291554e-01 1.32902930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49538474999999 meters Centerline goodness : 0.932349 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.73, Z:1.33 [[ 9.14543942e-01 8.07696879e-03 -4.04405911e-01 1.06631404e+01] [ 1.86147855e-02 9.97900872e-01 6.20269212e-02 -7.31201877e-01] [ 4.04058000e-01 -6.42542744e-02 9.12473847e-01 1.33110180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55538474999999 meters Centerline goodness : 0.928973 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.73, Z:1.33 [[ 0.91452847 0.01353371 -0.40429509 10.66301249] [ 0.01404738 0.99777491 0.06517596 -0.72584398] [ 0.40427757 -0.06528456 0.91230344 1.33003349] [ 0. 0. 0. 1. ]] SLAMing on 117.61538474999999 meters Centerline goodness : 0.928997 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.72, Z:1.33 [[ 9.14283044e-01 1.85824792e-02 -4.04649487e-01 1.06636657e+01] [ 1.00375286e-02 9.97601205e-01 6.84914889e-02 -7.23870904e-01] [ 4.04951557e-01 -6.66822878e-02 9.11903344e-01 1.32998607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67538474999999 meters Centerline goodness : 0.928938 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.72, Z:1.33 [[ 9.13996442e-01 2.35947830e-02 -4.05035541e-01 1.06646376e+01] [ 6.11411211e-03 9.97393195e-01 7.18987589e-02 -7.22805360e-01] [ 4.05676128e-01 -6.81916425e-02 9.11469571e-01 1.32999486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73538475 meters Centerline goodness : 0.924962 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13873468e-01 2.26809419e-02 -4.05365094e-01 1.06672075e+01] [ 6.75510193e-03 9.97450718e-01 7.10382581e-02 -7.22628597e-01] [ 4.05942919e-01 -6.76582618e-02 9.11390534e-01 1.32902503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79538475 meters Centerline goodness : 0.927372 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13750424e-01 2.20539405e-02 -4.05676948e-01 1.06689132e+01] [ 7.29364566e-03 9.97474199e-01 7.06542696e-02 -7.22810631e-01] [ 4.06210494e-01 -6.75192327e-02 9.11281618e-01 1.32877840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85538474999998 meters Centerline goodness : 0.928009 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13791340e-01 2.20785623e-02 -4.05583436e-01 1.06681405e+01] [ 7.45471457e-03 9.97441836e-01 7.10929806e-02 -7.23747383e-01] [ 4.06115518e-01 -6.79876587e-02 9.11289122e-01 1.32971905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91538474999999 meters Centerline goodness : 0.935554 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.73, Z:1.34 [[ 9.13362223e-01 2.15142105e-02 -4.06579129e-01 1.06683665e+01] [ 9.39123869e-03 9.97224008e-01 7.38653015e-02 -7.25848632e-01] [ 4.07039622e-01 -7.12840576e-02 9.10624692e-01 1.33640245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97538474999999 meters Centerline goodness : 0.935936 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13502455e-01 2.28166642e-02 -4.06192892e-01 1.06678463e+01] [ 7.78669378e-03 9.97262605e-01 7.35300161e-02 -7.21725058e-01] [ 4.06758691e-01 -7.03327499e-02 9.10824172e-01 1.33428938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03538474999999 meters Centerline goodness : 0.935363 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13683967e-01 2.40172067e-02 -4.05715150e-01 1.06656087e+01] [ 6.21204900e-03 9.97310563e-01 7.30277474e-02 -7.19233726e-01] [ 4.06377927e-01 -6.92446043e-02 9.11077475e-01 1.33288864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09538475 meters Centerline goodness : 0.933786 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13719920e-01 2.40687866e-02 -4.05631115e-01 1.06658635e+01] [ 5.65170676e-03 9.97394894e-01 7.19130283e-02 -7.16970340e-01] [ 4.06305263e-01 -6.80008745e-02 9.11203553e-01 1.33121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15538475 meters Centerline goodness : 0.935156 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13585050e-01 2.31248427e-02 -4.05989654e-01 1.06677441e+01] [ 6.46296876e-03 9.97429958e-01 7.13562089e-02 -7.17203218e-01] [ 4.06596344e-01 -6.78138641e-02 9.11087643e-01 1.33109421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21538474999998 meters Centerline goodness : 0.937869 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 0.91365778 0.01733265 -0.40611456 10.6694527 ] [ 0.01079114 0.9977041 0.06685865 -0.71664023] [ 0.406341 -0.06546837 0.91137308 1.33009131] [ 0. 0. 0. 1. ]] SLAMing on 118.27538474999999 meters Centerline goodness : 0.935171 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 0.9133134 0.01556309 -0.40695998 10.67384897] [ 0.01248156 0.99773049 0.06616708 -0.71869658] [ 0.40706614 -0.06551078 0.91104637 1.33008532] [ 0. 0. 0. 1. ]] SLAMing on 118.33538474999999 meters Centerline goodness : 0.937584 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.33 [[ 9.13118215e-01 1.01195016e-02 -4.07569283e-01 1.06748205e+01] [ 1.71083242e-02 9.97860226e-01 6.31052725e-02 -7.21841003e-01] [ 4.07335771e-01 -6.45954013e-02 9.10991221e-01 1.33197039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39538474999999 meters Centerline goodness : 0.933523 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.33 [[ 9.12953748e-01 9.25737423e-03 -4.07958032e-01 1.06773794e+01] [ 1.79776051e-02 9.97859492e-01 6.28748025e-02 -7.22985096e-01] [ 4.07666850e-01 -6.47358950e-02 9.10833137e-01 1.33183419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45538475 meters Centerline goodness : 0.940717 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.73, Z:1.34 [[ 9.12553478e-01 9.20198060e-03 -4.08853853e-01 1.06772033e+01] [ 1.90917969e-02 9.97698215e-01 6.50674688e-02 -7.25443237e-01] [ 4.08511509e-01 -6.71832997e-02 9.10277294e-01 1.33690343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51538475 meters Centerline goodness : 0.939438 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.34 [[ 9.12743207e-01 9.93037151e-03 -4.08413059e-01 1.06754257e+01] [ 1.82004313e-02 9.97723538e-01 6.49344699e-02 -7.22475260e-01] [ 4.08128145e-01 -6.67017901e-02 9.10484645e-01 1.33624872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57538475 meters Centerline goodness : 0.937093 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.34 [[ 0.91279273 0.01072382 -0.4082823 10.67441351] [ 0.0171835 0.99776173 0.06462389 -0.71889759] [ 0.40806147 -0.06600394 0.91056538 1.33544769] [ 0. 0. 0. 1. ]] SLAMing on 118.63538474999999 meters Centerline goodness : 0.935938 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.72, Z:1.34 [[ 0.91273984 0.01129001 -0.40838525 10.67318156] [ 0.01665377 0.99775899 0.06480466 -0.71866644] [ 0.4082017 -0.06595095 0.91050637 1.33610771] [ 0. 0. 0. 1. ]] SLAMing on 118.69538474999999 meters Centerline goodness : 0.933802 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.34 [[ 9.12624501e-01 1.06165568e-02 -4.08660995e-01 1.06754595e+01] [ 1.70670808e-02 9.97801630e-01 6.40360937e-02 -7.18244941e-01] [ 4.08442450e-01 -6.54155582e-02 9.10437021e-01 1.33516238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75538474999999 meters Centerline goodness : 0.929272 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.33 [[ 9.12357576e-01 9.54207842e-03 -4.09283033e-01 1.06791353e+01] [ 1.77578977e-02 9.97865016e-01 6.28495604e-02 -7.16614236e-01] [ 4.09008936e-01 -6.46092789e-02 9.10240260e-01 1.33386422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81538474999999 meters Centerline goodness : 0.928299 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.33 [[ 9.12221384e-01 9.21562499e-03 -4.09593968e-01 1.06802546e+01] [ 1.80879812e-02 9.97866246e-01 6.27357977e-02 -7.16899275e-01] [ 4.09298145e-01 -6.46376642e-02 9.10108236e-01 1.33404234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87538475 meters Centerline goodness : 0.925613 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.33 [[ 9.11905256e-01 8.28453069e-03 -4.10317160e-01 1.06833316e+01] [ 1.91190382e-02 9.97853160e-01 6.26381226e-02 -7.17330381e-01] [ 4.09955202e-01 -6.49649026e-02 9.09789148e-01 1.33458771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93538475 meters Centerline goodness : 0.921612 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.34 [[ 9.11734729e-01 8.04551793e-03 -4.10700685e-01 1.06838608e+01] [ 1.94400992e-02 9.97842849e-01 6.27035139e-02 -7.17966819e-01] [ 4.10319224e-01 -6.51530333e-02 9.09611574e-01 1.33541553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99538474999999 meters Centerline goodness : 0.925070 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.34 [[ 9.11545666e-01 8.18993892e-03 -4.11117288e-01 1.06831195e+01] [ 1.98796936e-02 9.97754790e-01 6.39544969e-02 -7.18891255e-01] [ 4.10718026e-01 -6.64703302e-02 9.09336240e-01 1.33826445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05538474999999 meters Centerline goodness : 0.922546 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.72, Z:1.34 [[ 9.11074382e-01 6.39164640e-03 -4.12192452e-01 1.06848270e+01] [ 2.21122306e-02 9.97682669e-01 6.43454811e-02 -7.17304390e-01] [ 4.11648539e-01 -6.77380140e-02 9.08821788e-01 1.34212193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11538474999999 meters Centerline goodness : 0.920207 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.71, Z:1.34 [[ 9.10620232e-01 9.17957983e-03 -4.13142262e-01 1.06900413e+01] [ 2.00457051e-02 9.97595106e-01 6.63488852e-02 -7.11846184e-01] [ 4.12757754e-01 -6.87003652e-02 9.08246275e-01 1.34139307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17538474999999 meters Centerline goodness : 0.916438 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.71, Z:1.34 [[ 9.10523510e-01 1.05247006e-02 -4.13323322e-01 1.06885370e+01] [ 1.82496290e-02 9.97678629e-01 6.56071981e-02 -7.07855541e-01] [ 4.13054341e-01 -6.72798936e-02 9.08217775e-01 1.34033900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23538475 meters Centerline goodness : 0.910170 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.71, Z:1.34 [[ 9.10467706e-01 1.01232967e-02 -4.13456255e-01 1.06889609e+01] [ 1.83545258e-02 9.97726391e-01 6.48472068e-02 -7.05238262e-01] [ 4.13172684e-01 -6.66300812e-02 9.08211850e-01 1.33990292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29538475 meters Centerline goodness : 0.908489 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.70, Z:1.34 [[ 9.10351343e-01 9.71742026e-03 -4.13722134e-01 1.06904551e+01] [ 1.86448277e-02 9.97746047e-01 6.44608044e-02 -7.04220950e-01] [ 4.13416017e-01 -6.63957577e-02 9.08118274e-01 1.33959716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35538474999998 meters Centerline goodness : 0.909298 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.70, Z:1.34 [[ 9.10293976e-01 1.03453896e-02 -4.13833118e-01 1.06891426e+01] [ 1.83026639e-02 9.97704268e-01 6.52012682e-02 -7.04385411e-01] [ 4.13557601e-01 -6.69265701e-02 9.08014838e-01 1.34094128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41538474999999 meters Centerline goodness : 0.916792 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.70, Z:1.34 [[ 0.91046198 0.01236424 -0.41340793 10.68451411] [ 0.01651829 0.9976685 0.06621714 -0.70307825] [ 0.41326279 -0.06711698 0.908135 1.34207167] [ 0. 0. 0. 1. ]] SLAMing on 119.47538474999999 meters Centerline goodness : 0.920824 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.70, Z:1.34 [[ 9.10108473e-01 1.05281506e-02 -4.14236316e-01 1.06870287e+01] [ 1.86265912e-02 9.97627222e-01 6.62795293e-02 -7.03662012e-01] [ 4.13951226e-01 -6.80373718e-02 9.07752884e-01 1.34442445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53538474999999 meters Centerline goodness : 0.920196 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.70, Z:1.35 [[ 9.09604204e-01 4.67622878e-03 -4.15449545e-01 1.06945874e+01] [ 2.42551385e-02 9.97633580e-01 6.43345002e-02 -7.01658489e-01] [ 4.14767260e-01 -6.85957181e-02 9.07338276e-01 1.34679532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59538475 meters Centerline goodness : 0.916659 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.70, Z:1.35 [[ 9.09262048e-01 7.87556353e-03 -4.16149617e-01 1.06981385e+01] [ 2.20552821e-02 9.97504672e-01 6.70670866e-02 -7.00307394e-01] [ 4.15639378e-01 -7.01598537e-02 9.06819443e-01 1.34689901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65538475 meters Centerline goodness : 0.916403 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.70, Z:1.35 [[ 0.90913244 0.01402975 -0.41627079 10.69684622] [ 0.01740398 0.99728 0.07162192 -0.7005818 ] [ 0.41614337 -0.07235857 0.90641543 1.34800241] [ 0. 0. 0. 1. ]] SLAMing on 119.71538474999998 meters Centerline goodness : 0.915437 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.70, Z:1.35 [[ 0.90920569 0.01563933 -0.41605339 10.69465867] [ 0.01593491 0.99725496 0.07230926 -0.70087609] [ 0.41604217 -0.07237376 0.90646067 1.34814834] [ 0. 0. 0. 1. ]] SLAMing on 119.77538474999999 meters Centerline goodness : 0.915856 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.70, Z:1.35 [[ 0.90945639 0.01126151 -0.41564679 10.69374246] [ 0.01909282 0.9974477 0.06880085 -0.70407507] [ 0.41536074 -0.07050724 0.90692016 1.34742582] [ 0. 0. 0. 1. ]] SLAMing on 119.83538474999999 meters Centerline goodness : 0.915004 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.71, Z:1.35 [[ 9.09484143e-01 5.53711959e-03 -4.15701737e-01 1.06961757e+01] [ 2.34675268e-02 9.97633232e-01 6.46313346e-02 -7.05214579e-01] [ 4.15075739e-01 -6.85366656e-02 9.07201662e-01 1.34634190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89538474999999 meters Centerline goodness : 0.916829 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.71, Z:1.35 [[ 9.09344767e-01 4.42223948e-03 -4.16019878e-01 1.06981927e+01] [ 2.54102306e-02 9.97486397e-01 6.61453584e-02 -7.10741285e-01] [ 4.15266679e-01 -7.07200966e-02 9.06946665e-01 1.34919328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95538475 meters Centerline goodness : 0.921007 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.71, Z:1.35 [[ 9.09213055e-01 -1.38158953e-03 -4.16328850e-01 1.06996469e+01] [ 3.01057892e-02 9.97594741e-01 6.24369657e-02 -7.14198480e-01] [ 4.15241209e-01 -6.93024129e-02 9.07067756e-01 1.34991226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01538475 meters Centerline goodness : 0.922790 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.72, Z:1.35 [[ 9.09169616e-01 -7.42448076e-03 -4.16359805e-01 1.07017741e+01] [ 3.48682123e-02 9.97687178e-01 5.83481153e-02 -7.16073512e-01] [ 4.14963634e-01 -6.75660556e-02 9.07325747e-01 1.34943875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07538475 meters Centerline goodness : 0.919358 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.72, Z:1.35 [[ 9.08974741e-01 -8.33785195e-03 -4.16767802e-01 1.07047233e+01] [ 3.56815904e-02 9.97686720e-01 5.78621960e-02 -7.16365654e-01] [ 4.15321255e-01 -6.74662126e-02 9.07169535e-01 1.34896302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13538474999999 meters Centerline goodness : 0.915498 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.72, Z:1.35 [[ 0.90893148 -0.01327816 -0.41673403 10.70487941] [ 0.03950373 0.99773909 0.05437052 -0.71854451] [ 0.4150699 -0.06588163 0.90740101 1.34924873] [ 0. 0. 0. 1. ]] SLAMing on 120.19538474999999 meters Centerline goodness : 0.918620 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.72, Z:1.35 [[ 0.90877021 -0.0142667 -0.41705296 10.70825929] [ 0.04057596 0.99770064 0.05428648 -0.72047328] [ 0.41531952 -0.06625626 0.9072595 1.34902823] [ 0. 0. 0. 1. ]] SLAMing on 120.25538474999999 meters Centerline goodness : 0.919940 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.72, Z:1.35 [[ 0.90878277 -0.01414416 -0.41702976 10.70786265] [ 0.04063165 0.99767545 0.05470608 -0.72207416] [ 0.41528658 -0.06666055 0.90724496 1.34973745] [ 0. 0. 0. 1. ]] SLAMing on 120.31538474999999 meters Centerline goodness : 0.923072 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.72, Z:1.35 [[ 0.9088258 -0.01366052 -0.41695209 10.707136 ] [ 0.04037668 0.9976518 0.05532272 -0.72181394] [ 0.41521727 -0.06711386 0.90724327 1.35046796] [ 0. 0. 0. 1. ]] SLAMing on 120.37538475 meters Centerline goodness : 0.922078 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.72, Z:1.35 [[ 0.90863588 -0.01403756 -0.4173533 10.70789672] [ 0.04113673 0.99758257 0.05600694 -0.72293175] [ 0.41555818 -0.06805847 0.90701678 1.35225129] [ 0. 0. 0. 1. ]] SLAMing on 120.43538475 meters Centerline goodness : 0.926162 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.72, Z:1.36 [[ 0.90856105 -0.01264384 -0.41756071 10.71290372] [ 0.04301329 0.9970608 0.06340044 -0.72498422] [ 0.41553179 -0.07556383 0.90643447 1.36174541] [ 0. 0. 0. 1. ]] SLAMing on 120.49538474999999 meters Centerline goodness : 0.923125 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.36 [[ 9.08231135e-01 -9.75023468e-03 -4.18355277e-01 1.07165008e+01] [ 4.15595476e-02 9.96887702e-01 6.69903970e-02 -7.23671601e-01] [ 4.16400058e-01 -7.82294203e-02 9.05809665e-01 1.36354455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55538474999999 meters Centerline goodness : 0.920950 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.37 [[ 9.07894235e-01 -5.56144412e-03 -4.19162413e-01 1.07184156e+01] [ 3.88627491e-02 9.96722440e-01 7.09511368e-02 -7.22492809e-01] [ 4.17393993e-01 -8.07059317e-02 9.05134690e-01 1.36543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61538474999999 meters Centerline goodness : 0.923919 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.36 [[ 9.08110139e-01 -4.64114023e-03 -4.18705666e-01 1.07164311e+01] [ 3.77228017e-02 9.96779372e-01 7.07663362e-02 -7.20550961e-01] [ 4.17028734e-01 -8.00583782e-02 9.05360531e-01 1.36441057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67538474999999 meters Centerline goodness : 0.928574 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.37 [[ 9.07965699e-01 -4.70109243e-03 -4.19018124e-01 1.07163645e+01] [ 3.77760613e-02 9.96783955e-01 7.06733021e-02 -7.19670049e-01] [ 4.17338301e-01 -7.99977885e-02 9.05223230e-01 1.36520276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73538475 meters Centerline goodness : 0.925503 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.37 [[ 9.07730808e-01 -5.35717533e-03 -4.19518868e-01 1.07179909e+01] [ 3.85466709e-02 9.96754211e-01 7.06767107e-02 -7.19577932e-01] [ 4.17778570e-01 -8.03264834e-02 9.04991007e-01 1.36610215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79538475 meters Centerline goodness : 0.931023 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.37 [[ 9.07664291e-01 -5.99356602e-03 -4.19654158e-01 1.07194329e+01] [ 3.90986236e-02 9.96757234e-01 7.03300409e-02 -7.18452342e-01] [ 4.17871790e-01 -8.02439667e-02 9.04955288e-01 1.36586275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85538474999998 meters Centerline goodness : 0.936070 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.37 [[ 9.07768808e-01 -9.27070673e-03 -4.19368388e-01 1.07175839e+01] [ 4.11271369e-02 9.96905915e-01 6.69862357e-02 -7.16796711e-01] [ 4.17449817e-01 -7.80554365e-02 9.05341372e-01 1.36509255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91538474999999 meters Centerline goodness : 0.934292 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.72, Z:1.37 [[ 9.07565181e-01 -9.58940462e-03 -4.19801722e-01 1.07182087e+01] [ 4.13036059e-02 9.96929752e-01 6.65212894e-02 -7.15044763e-01] [ 4.17874927e-01 -7.77117309e-02 9.05174808e-01 1.36542141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97538474999999 meters Centerline goodness : 0.932084 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.71, Z:1.36 [[ 9.07618847e-01 -9.41518659e-03 -4.19689628e-01 1.07178031e+01] [ 4.08654949e-02 9.96981821e-01 6.60095500e-02 -7.12042671e-01] [ 4.17801437e-01 -7.70623360e-02 9.05264246e-01 1.36458041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03538474999999 meters Centerline goodness : 0.932387 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.71, Z:1.36 [[ 9.07457599e-01 -4.66768641e-03 -4.20117743e-01 1.07183433e+01] [ 3.71974301e-02 9.96904168e-01 6.92707107e-02 -7.09513834e-01] [ 4.18493795e-01 -7.84875332e-02 9.04821889e-01 1.36479245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09538475 meters Centerline goodness : 0.933331 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.71, Z:1.37 [[ 9.07138728e-01 -6.41443669e-04 -4.20831221e-01 1.07197980e+01] [ 3.43637504e-02 9.96772259e-01 7.25547774e-02 -7.07075557e-01] [ 4.19426347e-01 -8.02785875e-02 9.04232762e-01 1.36598799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15538475 meters Centerline goodness : 0.928665 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.70, Z:1.37 [[ 9.07077384e-01 4.08062422e-03 -4.20944140e-01 1.07203333e+01] [ 3.05217282e-02 9.96683719e-01 7.54320064e-02 -7.03365651e-01] [ 4.19855981e-01 -8.12706096e-02 9.03944713e-01 1.36519788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21538474999998 meters Centerline goodness : 0.931621 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.70, Z:1.36 [[ 9.09173043e-01 3.99562626e-03 -4.16399344e-01 1.07333238e+01] [ 2.62361324e-02 9.97417685e-01 6.68552750e-02 -6.97697683e-01] [ 4.15591198e-01 -7.17077221e-02 9.06720441e-01 1.36447118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27538474999999 meters Centerline goodness : 0.930649 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.70, Z:1.36 [[ 9.09053856e-01 3.91704080e-03 -4.16660227e-01 1.07337402e+01] [ 2.59325332e-02 9.97485491e-01 6.59560450e-02 -6.95777629e-01] [ 4.15870883e-01 -7.07626522e-02 9.06666452e-01 1.36368388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33538474999999 meters Centerline goodness : 0.923674 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.69, Z:1.36 [[ 9.08953032e-01 3.07938817e-03 -4.16887158e-01 1.07359487e+01] [ 2.63434024e-02 9.97550107e-01 6.48059288e-02 -6.94871496e-01] [ 4.16065392e-01 -6.98877716e-02 9.06645073e-01 1.36219423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39538474999999 meters Centerline goodness : 0.923592 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.70, Z:1.36 [[ 9.08966999e-01 3.06533096e-03 -4.16856808e-01 1.07362071e+01] [ 2.64043246e-02 9.97541687e-01 6.49106709e-02 -6.95946600e-01] [ 4.16031016e-01 -7.00084802e-02 9.06651535e-01 1.36213120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45538475 meters Centerline goodness : 0.924628 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.70, Z:1.36 [[ 9.08737736e-01 2.27226049e-03 -4.17361431e-01 1.07379870e+01] [ 2.72752371e-02 9.97524258e-01 6.48183330e-02 -6.97982469e-01] [ 4.16475436e-01 -7.02864971e-02 9.06425959e-01 1.36280790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51538475 meters Centerline goodness : 0.926138 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.70, Z:1.36 [[ 9.08676813e-01 1.67209760e-03 -4.17496890e-01 1.07396312e+01] [ 2.78482090e-02 9.97522175e-01 6.46064123e-02 -6.99642204e-01] [ 4.16570433e-01 -7.03328895e-02 9.06378706e-01 1.36252519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57538475 meters Centerline goodness : 0.924070 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.70, Z:1.36 [[ 9.08766323e-01 1.88658060e-03 -4.17301103e-01 1.07392986e+01] [ 2.75886036e-02 9.97530445e-01 6.45900891e-02 -7.00549502e-01] [ 4.16392410e-01 -7.02100525e-02 9.06470027e-01 1.36208037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63538474999999 meters Centerline goodness : 0.923605 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.70, Z:1.36 [[ 9.08708194e-01 1.33126340e-03 -4.17429809e-01 1.07410703e+01] [ 2.79002500e-02 9.97565079e-01 6.39178303e-02 -7.00788320e-01] [ 4.16498492e-01 -6.97290521e-02 9.06458419e-01 1.36102823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69538474999999 meters Centerline goodness : 0.917218 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.70, Z:1.36 [[ 9.08626892e-01 6.82841957e-04 -4.17608316e-01 1.07427512e+01] [ 2.85151643e-02 9.97563280e-01 6.36740748e-02 -7.02717501e-01] [ 4.16634201e-01 -6.97641464e-02 9.06393351e-01 1.36081508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75538474999999 meters Centerline goodness : 0.918476 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.71, Z:1.36 [[ 9.08897929e-01 -3.93826935e-03 -4.17000053e-01 1.07419829e+01] [ 3.21112882e-02 9.97647421e-01 6.05680476e-02 -7.08029360e-01] [ 4.15780495e-01 -6.84405819e-02 9.06886138e-01 1.36045639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81538474999999 meters Centerline goodness : 0.926766 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90869719 -0.01233826 -0.41727352 10.74593851] [ 0.03939635 0.99763663 0.0562946 -0.71149335] [ 0.41559277 -0.0675938 0.90703568 1.361948 ] [ 0. 0. 0. 1. ]] SLAMing on 121.87538475 meters Centerline goodness : 0.915682 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90839136 -0.01584185 -0.41782075 10.75329894] [ 0.0423265 0.99763277 0.05419712 -0.71275757] [ 0.41597309 -0.06691709 0.90691151 1.35994851] [ 0. 0. 0. 1. ]] SLAMing on 121.93538475 meters Centerline goodness : 0.916123 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90842732 -0.02087456 -0.41752134 10.75352349] [ 0.04598006 0.99768216 0.05016119 -0.71335822] [ 0.41550649 -0.06476545 0.90728154 1.35897817] [ 0. 0. 0. 1. ]] SLAMing on 121.99538474999999 meters Centerline goodness : 0.919390 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.72, Z:1.36 [[ 0.90819864 -0.02611071 -0.41772414 10.75298176] [ 0.05062562 0.99757735 0.04771252 -0.71576548] [ 0.41546633 -0.06447999 0.90732026 1.36191613] [ 0. 0. 0. 1. ]] SLAMing on 122.05538474999999 meters Centerline goodness : 0.918431 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90826342 -0.02592041 -0.41759513 10.75163815] [ 0.0505981 0.99755864 0.048131 -0.71446633] [ 0.41532805 -0.06484515 0.90735755 1.36286679] [ 0. 0. 0. 1. ]] SLAMing on 122.11538474999999 meters Centerline goodness : 0.918981 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90828345 -0.02030434 -0.41786231 10.75039075] [ 0.04648232 0.99753513 0.05256474 -0.71378073] [ 0.41576504 -0.06716689 0.90698845 1.36426898] [ 0. 0. 0. 1. ]] SLAMing on 122.17538474999999 meters Centerline goodness : 0.914435 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.9085589 -0.01915422 -0.41731743 10.7485986 ] [ 0.0451008 0.9976071 0.0524022 -0.7108533 ] [ 0.41531511 -0.06643183 0.90724868 1.36285035] [ 0. 0. 0. 1. ]] SLAMing on 122.23538475 meters Centerline goodness : 0.915097 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90846683 -0.01885796 -0.41753132 10.74845524] [ 0.04467349 0.99763996 0.05214202 -0.70875009] [ 0.41556263 -0.06602188 0.90716526 1.36280049] [ 0. 0. 0. 1. ]] SLAMing on 122.29538475 meters Centerline goodness : 0.914757 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.71, Z:1.36 [[ 0.90814873 -0.01611698 -0.41833734 10.75313518] [ 0.04298934 0.99756649 0.05489101 -0.70873373] [ 0.41643464 -0.06783325 0.90663159 1.36288887] [ 0. 0. 0. 1. ]] SLAMing on 122.35538474999998 meters Centerline goodness : 0.910490 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.71, Z:1.36 [[ 0.90782833 -0.01799827 -0.41895559 10.75776895] [ 0.04431385 0.99760195 0.05316616 -0.70681944] [ 0.41699401 -0.06683128 0.90644888 1.36129902] [ 0. 0. 0. 1. ]] SLAMing on 122.41538474999999 meters Centerline goodness : 0.906030 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.71, Z:1.36 [[ 0.90765549 -0.01874698 -0.41929711 10.75949262] [ 0.04479601 0.99762273 0.05236604 -0.70542105] [ 0.41731862 -0.06631316 0.90633754 1.36078322] [ 0. 0. 0. 1. ]] SLAMing on 122.47538474999999 meters Centerline goodness : 0.903589 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.70, Z:1.36 [[ 0.90776882 -0.01828639 -0.41907204 10.7578632 ] [ 0.04421477 0.99765515 0.05224228 -0.70357347] [ 0.41713405 -0.06595308 0.90644877 1.36062525] [ 0. 0. 0. 1. ]] SLAMing on 122.53538474999999 meters Centerline goodness : 0.913128 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.70, Z:1.36 [[ 0.9104196 -0.0160327 -0.41337525 10.76772522] [ 0.03903785 0.99811925 0.04726524 -0.69738523] [ 0.41184001 -0.05916848 0.90933322 1.36307972] [ 0. 0. 0. 1. ]] SLAMing on 122.59538475 meters Centerline goodness : 0.915390 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.70, Z:1.36 [[ 0.91042281 -0.01586376 -0.4133747 10.76766742] [ 0.03884794 0.99812715 0.04725495 -0.69588437] [ 0.41185087 -0.05908074 0.909334 1.36297412] [ 0. 0. 0. 1. ]] SLAMing on 122.65538475 meters Centerline goodness : 0.910222 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.69, Z:1.36 [[ 0.91060408 -0.01443507 -0.41302765 10.76453013] [ 0.03768043 0.99812719 0.04819029 -0.69499333] [ 0.4115585 -0.05944533 0.90944261 1.36383237] [ 0. 0. 0. 1. ]] SLAMing on 122.71538474999998 meters Centerline goodness : 0.910811 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.70, Z:1.36 [[ 0.91053874 -0.01424334 -0.41317832 10.76474463] [ 0.03767098 0.9981072 0.04860977 -0.69559851] [ 0.41170389 -0.05982591 0.90935184 1.3644949 ] [ 0. 0. 0. 1. ]] SLAMing on 122.77538474999999 meters Centerline goodness : 0.907370 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.70, Z:1.36 [[ 0.91021324 -0.01593666 -0.41383316 10.76908185] [ 0.03908388 0.99810503 0.04752689 -0.69636685] [ 0.41229154 -0.05943381 0.90911127 1.36377019] [ 0. 0. 0. 1. ]] SLAMing on 122.83538474999999 meters Centerline goodness : 0.904353 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.70, Z:1.37 [[ 0.90962112 -0.0184391 -0.41502942 10.77490693] [ 0.04175696 0.99801329 0.04717869 -0.69827326] [ 0.41333494 -0.0602451 0.90858393 1.36523743] [ 0. 0. 0. 1. ]] SLAMing on 122.89538474999999 meters Centerline goodness : 0.904162 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.70, Z:1.37 [[ 0.90956663 -0.02207818 -0.4149712 10.77815822] [ 0.04507179 0.99793801 0.04569749 -0.70044126] [ 0.41310662 -0.06026841 0.90868622 1.36541825] [ 0. 0. 0. 1. ]] SLAMing on 122.95538475 meters Centerline goodness : 0.898778 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.70, Z:1.37 [[ 0.90911262 -0.02393331 -0.41586229 10.78233343] [ 0.04737788 0.99781048 0.04614731 -0.70313581] [ 0.4138473 -0.06165578 0.90825601 1.36747272] [ 0. 0. 0. 1. ]] SLAMing on 123.01538475 meters Centerline goodness : 0.903682 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.71, Z:1.37 [[ 0.90885991 -0.02870575 -0.41611253 10.78126117] [ 0.05179467 0.99767457 0.04430317 -0.70695046] [ 0.41387313 -0.06181779 0.90823323 1.37111835] [ 0. 0. 0. 1. ]] SLAMing on 123.07538475 meters Centerline goodness : 0.905505 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.71, Z:1.38 [[ 0.90881859 -0.03280979 -0.41589937 10.77812335] [ 0.05581278 0.99750322 0.04326966 -0.71055857] [ 0.4134413 -0.06253677 0.90838067 1.37553427] [ 0. 0. 0. 1. ]] SLAMing on 123.13538474999999 meters Centerline goodness : 0.902170 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.71, Z:1.38 [[ 0.90850508 -0.02969308 -0.41681752 10.7827519 ] [ 0.05384957 0.99747443 0.04631407 -0.70873234] [ 0.41438961 -0.06452201 0.90780954 1.37578988] [ 0. 0. 0. 1. ]] SLAMing on 123.19538474999999 meters Centerline goodness : 0.904310 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.71, Z:1.38 [[ 0.90829098 -0.02462654 -0.4176135 10.78313562] [ 0.05014669 0.99747715 0.05024591 -0.70664606] [ 0.41532254 -0.06657984 0.90723443 1.37727765] [ 0. 0. 0. 1. ]] SLAMing on 123.25538474999999 meters Centerline goodness : 0.902923 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.70, Z:1.38 [[ 0.9079906 -0.01980258 -0.41852232 10.78420056] [ 0.04647268 0.99747904 0.05362702 -0.70327184] [ 0.41640528 -0.06814268 0.90662187 1.37823731] [ 0. 0. 0. 1. ]] SLAMing on 123.31538474999999 meters Centerline goodness : 0.901753 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.70, Z:1.38 [[ 0.90783839 -0.01521044 -0.41904426 10.78563079] [ 0.04277914 0.99748726 0.05647214 -0.69870276] [ 0.41713235 -0.06919393 0.90620792 1.37776615] [ 0. 0. 0. 1. ]] SLAMing on 123.37538475 meters Centerline goodness : 0.899814 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.70, Z:1.38 [[ 9.07737899e-01 -9.90415488e-03 -4.19420809e-01 1.07854114e+01] [ 3.87171092e-02 9.97432718e-01 6.02408338e-02 -6.95480754e-01] [ 4.17747403e-01 -7.09216491e-02 9.05790940e-01 1.37843630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43538475 meters Centerline goodness : 0.900904 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.07550921e-01 -4.10804933e-03 -4.19921956e-01 1.07839242e+01] [ 3.43590631e-02 9.97325940e-01 6.45013552e-02 -6.92921494e-01] [ 4.18534085e-01 -7.29663893e-02 9.05265224e-01 1.38023768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49538474999999 meters Centerline goodness : 0.904304 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.07590140e-01 1.99658619e-03 -4.19852534e-01 1.07815167e+01] [ 2.95178897e-02 9.97210862e-01 6.85506474e-02 -6.90083750e-01] [ 4.18818375e-01 -7.46090525e-02 9.04999811e-01 1.38080398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55538474999999 meters Centerline goodness : 0.901014 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.07551081e-01 2.31803060e-03 -4.19935306e-01 1.07818156e+01] [ 2.90020407e-02 9.97251195e-01 6.81831028e-02 -6.87591510e-01] [ 4.18939037e-01 -7.40586295e-02 9.04989173e-01 1.38007711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61538474999999 meters Centerline goodness : 0.897200 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.07290845e-01 6.96038247e-03 -4.20446044e-01 1.07835406e+01] [ 2.54817706e-02 9.97115430e-01 7.14947432e-02 -6.85957368e-01] [ 4.19730868e-01 -7.55802356e-02 9.04496338e-01 1.38007391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67538474999999 meters Centerline goodness : 0.896088 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.06995558e-01 6.43094927e-03 -4.21091083e-01 1.07837996e+01] [ 2.62071679e-02 9.97083640e-01 7.16756550e-02 -6.86796974e-01] [ 4.20323972e-01 -7.60451055e-02 9.04181895e-01 1.38206339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73538475 meters Centerline goodness : 0.895932 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.07228599e-01 1.32218313e-03 -4.20635852e-01 1.07833648e+01] [ 2.99224202e-02 9.97258855e-01 6.76714409e-02 -6.86868611e-01] [ 4.19572303e-01 -7.39799093e-02 9.04702192e-01 1.38109261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79538475 meters Centerline goodness : 0.896934 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.69, Z:1.38 [[ 9.07057104e-01 6.58606267e-04 -4.21007097e-01 1.07853057e+01] [ 3.05185687e-02 9.97265106e-01 6.73121423e-02 -6.87224141e-01] [ 4.19900019e-01 -7.39044909e-02 9.04556300e-01 1.38105970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85538474999998 meters Centerline goodness : 0.902866 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.69, Z:1.38 [[ 9.06990879e-01 1.54314137e-03 -4.21147437e-01 1.07842210e+01] [ 3.03766198e-02 9.97149003e-01 6.90733374e-02 -6.91704865e-01] [ 4.20053337e-01 -7.54419226e-02 9.04358176e-01 1.38343636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91538474999999 meters Centerline goodness : 0.901356 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.70, Z:1.38 [[ 9.07036039e-01 -4.64300631e-03 -4.21027394e-01 1.07877081e+01] [ 3.51064950e-02 9.97291361e-01 6.46333859e-02 -6.95518661e-01] [ 4.19586890e-01 -7.34056064e-02 9.04742206e-01 1.38156754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97538474999999 meters Centerline goodness : 0.897190 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.70, Z:1.38 [[ 9.06788250e-01 -9.81366371e-03 -4.21472135e-01 1.07948701e+01] [ 3.93857304e-02 9.97328736e-01 6.15154991e-02 -6.98218121e-01] [ 4.19742579e-01 -7.23815197e-02 9.04752498e-01 1.38016196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03538474999999 meters Centerline goodness : 0.897846 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.70, Z:1.38 [[ 0.90664613 -0.01352621 -0.42167504 10.79887119] [ 0.04290716 0.99725977 0.06026551 -0.70091991] [ 0.41970439 -0.07273237 0.90474208 1.38089316] [ 0. 0. 0. 1. ]] SLAMing on 124.09538475 meters Centerline goodness : 0.899679 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.70, Z:1.38 [[ 0.90652227 -0.01371325 -0.42193521 10.7996505 ] [ 0.04320616 0.9972377 0.06041681 -0.70017108] [ 0.41994119 -0.07299939 0.90461068 1.38149595] [ 0. 0. 0. 1. ]] SLAMing on 124.15538475 meters Centerline goodness : 0.903754 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.70, Z:1.39 [[ 0.90619997 -0.01411347 -0.42261381 10.79923495] [ 0.04431908 0.99710824 0.06173318 -0.70031007] [ 0.42052044 -0.07467246 0.90420494 1.38544427] [ 0. 0. 0. 1. ]] SLAMing on 124.21538474999998 meters Centerline goodness : 0.908577 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.70, Z:1.39 [[ 9.06067204e-01 -9.13088560e-03 -4.23035280e-01 1.07993890e+01] [ 4.06629643e-02 9.97018906e-01 6.55730481e-02 -6.98750888e-01] [ 4.21175432e-01 -7.66154568e-02 9.03737421e-01 1.38637022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27538474999999 meters Centerline goodness : 0.910818 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.70, Z:1.39 [[ 9.05858258e-01 -9.84822395e-03 -4.23466444e-01 1.07993567e+01] [ 4.22909639e-02 9.96837163e-01 6.72840639e-02 -7.00855302e-01] [ 4.21464460e-01 -7.88586290e-02 9.03409666e-01 1.39083801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33538474999999 meters Centerline goodness : 0.908513 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.70, Z:1.39 [[ 0.90540055 -0.01187225 -0.42439237 10.80376946] [ 0.04431019 0.99679228 0.06664659 -0.70084211] [ 0.42223979 -0.07914676 0.90302234 1.3916832 ] [ 0. 0. 0. 1. ]] SLAMing on 124.39538474999999 meters Centerline goodness : 0.907421 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.70, Z:1.39 [[ 0.90524896 -0.0123599 -0.42470173 10.80635169] [ 0.04474791 0.99679113 0.06637073 -0.70027591] [ 0.42251858 -0.07908655 0.90289721 1.39117934] [ 0. 0. 0. 1. ]] SLAMing on 124.45538475 meters Centerline goodness : 0.911252 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.71, Z:1.40 [[ 0.90452851 -0.01890901 -0.42599369 10.80954284] [ 0.05192224 0.99646666 0.0660173 -0.70626926] [ 0.42324018 -0.08183307 0.9023143 1.39936848] [ 0. 0. 0. 1. ]] SLAMing on 124.51538475 meters Centerline goodness : 0.906951 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.71, Z:1.40 [[ 0.90386693 -0.01606152 -0.42751212 10.8159952 ] [ 0.05056469 0.99630134 0.06947553 -0.70673153] [ 0.42481501 -0.08441365 0.90133598 1.40090369] [ 0. 0. 0. 1. ]] SLAMing on 124.57538475 meters Centerline goodness : 0.903100 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.71, Z:1.40 [[ 0.90336889 -0.01522889 -0.4285939 10.82303587] [ 0.05125288 0.99604069 0.07263674 -0.70751653] [ 0.42579079 -0.08758444 0.90057269 1.40350161] [ 0. 0. 0. 1. ]] SLAMing on 124.63538474999999 meters Centerline goodness : 0.907437 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.70, Z:1.41 [[ 0.905908 -0.01847067 -0.42307153 10.83289406] [ 0.04995303 0.99673427 0.0634467 -0.70444092] [ 0.42051799 -0.07861058 0.90387222 1.40587546] [ 0. 0. 0. 1. ]] SLAMing on 124.69538474999999 meters Centerline goodness : 0.910273 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.70, Z:1.41 [[ 0.90596882 -0.01227345 -0.42316646 10.82987645] [ 0.04560774 0.99659171 0.0687379 -0.70311857] [ 0.42088054 -0.08157406 0.90344078 1.40865031] [ 0. 0. 0. 1. ]] SLAMing on 124.75538474999999 meters Centerline goodness : 0.907701 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.70, Z:1.41 [[ 0.90599208 -0.01095323 -0.4231529 10.82737985] [ 0.04417393 0.99665335 0.06878049 -0.69955141] [ 0.42098339 -0.08100691 0.90344389 1.40869525] [ 0. 0. 0. 1. ]] SLAMing on 124.81538474999999 meters Centerline goodness : 0.907964 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.70, Z:1.41 [[ 9.06103653e-01 -5.09702687e-03 -4.23025047e-01 1.08253795e+01] [ 3.92109603e-02 9.96635033e-01 7.19799429e-02 -6.95149692e-01] [ 4.21234698e-01 -8.18085075e-02 9.03254503e-01 1.40802662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87538475 meters Centerline goodness : 0.909110 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.69, Z:1.41 [[ 9.06165853e-01 5.17247695e-04 -4.22922191e-01 1.08247382e+01] [ 3.41905311e-02 9.96636466e-01 7.44765831e-02 -6.88560676e-01] [ 4.21538200e-01 -8.19480708e-02 9.03100249e-01 1.40597632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93538475 meters Centerline goodness : 0.906961 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.68, Z:1.41 [[ 9.06219390e-01 5.84711463e-03 -4.22767346e-01 1.08237659e+01] [ 2.98688796e-02 9.96520858e-01 7.78076403e-02 -6.84983472e-01] [ 4.21751428e-01 -8.31383793e-02 9.02891878e-01 1.40546093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99538474999999 meters Centerline goodness : 0.909577 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.68, Z:1.40 [[ 9.06350239e-01 6.54239676e-03 -4.22476558e-01 1.08227215e+01] [ 2.87312221e-02 9.96611532e-01 7.70712065e-02 -6.81951428e-01] [ 4.21549240e-01 -8.19917742e-02 9.03091129e-01 1.40385902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05538474999999 meters Centerline goodness : 0.913456 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.68, Z:1.40 [[ 9.06422768e-01 1.22220726e-03 -4.22369827e-01 1.08212913e+01] [ 3.27798973e-02 9.96776127e-01 7.32313492e-02 -6.81748351e-01] [ 4.21097665e-01 -8.02238019e-02 9.03460513e-01 1.40469133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11538474999999 meters Centerline goodness : 0.911807 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.68, Z:1.41 [[ 9.09645237e-01 -7.07773329e-03 -4.15325713e-01 1.08310763e+01] [ 4.55052798e-02 9.95535003e-01 8.27002247e-02 -6.80753250e-01] [ 4.12885955e-01 -9.41273783e-02 9.05905748e-01 1.40773640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17538474999999 meters Centerline goodness : 0.911780 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.68, Z:1.41 [[ 9.09130562e-01 -8.82431523e-03 -4.16417762e-01 1.08353661e+01] [ 4.73124227e-02 9.95492367e-01 8.21978170e-02 -6.80638861e-01] [ 4.13815364e-01 -9.44302808e-02 9.05450035e-01 1.40887503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23538475 meters Centerline goodness : 0.910032 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.68, Z:1.41 [[ 9.09077984e-01 -8.71978806e-03 -4.16534734e-01 1.08357411e+01] [ 4.70151339e-02 9.95541789e-01 8.17687145e-02 -6.79777583e-01] [ 4.13964728e-01 -9.39175744e-02 9.05435085e-01 1.40832822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29538475 meters Centerline goodness : 0.908992 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.68, Z:1.41 [[ 9.09075019e-01 -8.80943234e-03 -4.16539318e-01 1.08365897e+01] [ 4.67537747e-02 9.95618466e-01 8.09812031e-02 -6.77911410e-01] [ 4.14000838e-01 -9.30927742e-02 9.05503750e-01 1.40702832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35538474999998 meters Centerline goodness : 0.905469 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.68, Z:1.41 [[ 9.09097128e-01 -8.71899887e-03 -4.16492966e-01 1.08363114e+01] [ 4.63283988e-02 9.95695233e-01 8.02787837e-02 -6.75430880e-01] [ 4.14000110e-01 -9.22766639e-02 9.05587614e-01 1.40607945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41538474999999 meters Centerline goodness : 0.905603 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.67, Z:1.41 [[ 9.09131863e-01 -8.58037743e-03 -4.16420020e-01 1.08362091e+01] [ 4.59576221e-02 9.95749493e-01 7.98175651e-02 -6.73371379e-01] [ 4.13965159e-01 -9.17023656e-02 9.05661925e-01 1.40539592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47538474999999 meters Centerline goodness : 0.906224 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.67, Z:1.41 [[ 9.11760811e-01 -6.34252428e-03 -4.10672613e-01 1.08456362e+01] [ 3.99233728e-02 9.96514495e-01 7.32460565e-02 -6.68018407e-01] [ 4.08776647e-01 -8.31783197e-02 9.08836080e-01 1.40514422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53538474999999 meters Centerline goodness : 0.905233 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.67, Z:1.40 [[ 9.11716972e-01 -6.05542160e-03 -4.10774262e-01 1.08457628e+01] [ 3.93995930e-02 9.96571182e-01 7.27567955e-02 -6.66307519e-01] [ 4.08925219e-01 -8.25179441e-02 9.08829442e-01 1.40445045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59538475 meters Centerline goodness : 0.900463 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.67, Z:1.40 [[ 9.11676664e-01 -6.02721639e-03 -4.10864130e-01 1.08461269e+01] [ 3.93953355e-02 9.96568486e-01 7.27960218e-02 -6.67107029e-01] [ 4.09015486e-01 -8.25525645e-02 9.08785677e-01 1.40453911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65538475 meters Centerline goodness : 0.898289 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.67, Z:1.40 [[ 9.11382826e-01 -8.50339911e-03 -4.11471794e-01 1.08518044e+01] [ 4.15811761e-02 9.96573180e-01 7.15045616e-02 -6.69311053e-01] [ 4.09453722e-01 -8.22775105e-02 9.08613262e-01 1.40351524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71538474999998 meters Centerline goodness : 0.891857 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.67, Z:1.40 [[ 9.11116900e-01 -1.00485690e-02 -4.12025510e-01 1.08567662e+01] [ 4.25147370e-02 9.96661173e-01 6.97065500e-02 -6.68290838e-01] [ 4.09949377e-01 -8.10279719e-02 9.08502051e-01 1.40118121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77538474999999 meters Centerline goodness : 0.895589 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.67, Z:1.40 [[ 0.91121558 -0.01340125 -0.41171176 10.85593033] [ 0.04436146 0.99685054 0.06573486 -0.66646478] [ 0.40953416 -0.07816276 0.90894024 1.39916418] [ 0. 0. 0. 1. ]] SLAMing on 125.83538474999999 meters Centerline goodness : 0.897230 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.67, Z:1.40 [[ 0.91094943 -0.01453056 -0.41226206 10.85830767] [ 0.04551094 0.99681885 0.06542884 -0.66751783] [ 0.40999987 -0.0783648 0.90871286 1.3998064 ] [ 0. 0. 0. 1. ]] SLAMing on 125.89538474999999 meters Centerline goodness : 0.902558 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.67, Z:1.40 [[ 0.91100877 -0.01910044 -0.4119444 10.85764214] [ 0.04924293 0.99681805 0.06268098 -0.67050887] [ 0.40943638 -0.07738828 0.90905055 1.40055556] [ 0. 0. 0. 1. ]] SLAMing on 125.95538475 meters Centerline goodness : 0.901970 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.67, Z:1.41 [[ 0.91046335 -0.02233963 -0.41298598 10.86232679] [ 0.05367991 0.99647679 0.06443964 -0.67444467] [ 0.41009139 -0.08083898 0.90845479 1.40684036] [ 0. 0. 0. 1. ]] SLAMing on 126.01538475 meters Centerline goodness : 0.902738 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.67, Z:1.41 [[ 0.91068719 -0.02105452 -0.41255976 10.86055933] [ 0.05232863 0.99653481 0.06465353 -0.67370338] [ 0.40976892 -0.08046783 0.90863324 1.40609514] [ 0. 0. 0. 1. ]] SLAMing on 126.07538475 meters Centerline goodness : 0.904308 with order 1 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.67, Z:1.42 [[ 0.91004585 -0.02338035 -0.41384769 10.87308356] [ 0.05768495 0.99583618 0.07058864 -0.67181873] [ 0.41047411 -0.08811169 0.90760527 1.41616576] [ 0. 0. 0. 1. ]] SLAMing on 126.13538474999999 meters Centerline goodness : 0.900526 with order 1 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.67, Z:1.42 [[ 0.90978648 -0.02390625 -0.41438756 10.87498201] [ 0.0580892 0.99584835 0.07008359 -0.67007906] [ 0.41099174 -0.08783254 0.90739806 1.41625268] [ 0. 0. 0. 1. ]] SLAMing on 126.19538474999999 meters Centerline goodness : 0.900191 with order 1 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.67, Z:1.42 [[ 0.90971195 -0.01839214 -0.41483238 10.87465867] [ 0.05380505 0.99581747 0.0738416 -0.66869041] [ 0.41173923 -0.08949466 0.90689664 1.4167558 ] [ 0. 0. 0. 1. ]] SLAMing on 126.25538474999999 meters Centerline goodness : 0.900747 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.67, Z:1.42 [[ 0.90950038 -0.01908448 -0.41526478 10.87685798] [ 0.05415291 0.99587265 0.07283637 -0.66680172] [ 0.41216079 -0.0887325 0.90678003 1.41588596] [ 0. 0. 0. 1. ]] SLAMing on 126.31538474999999 meters Centerline goodness : 0.898935 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.67, Z:1.42 [[ 0.90937407 -0.01891176 -0.41554921 10.87709698] [ 0.05402641 0.99587434 0.07290707 -0.66711348] [ 0.412456 -0.08875043 0.90664404 1.41638091] [ 0. 0. 0. 1. ]] SLAMing on 126.37538475 meters Centerline goodness : 0.901117 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.67, Z:1.42 [[ 0.91115836 -0.02174032 -0.41148244 10.89121901] [ 0.05234703 0.99662341 0.06325794 -0.66504192] [ 0.40871779 -0.07917788 0.90921979 1.41729105] [ 0. 0. 0. 1. ]] SLAMing on 126.43538475 meters Centerline goodness : 0.905564 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.66, Z:1.42 [[ 0.91101262 -0.02212459 -0.41178455 10.8926365 ] [ 0.05267687 0.99662283 0.0629927 -0.66474069] [ 0.4090002 -0.07907867 0.90910143 1.41724516] [ 0. 0. 0. 1. ]] SLAMing on 126.49538474999999 meters Centerline goodness : 0.899129 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.66, Z:1.42 [[ 0.91090254 -0.02259182 -0.41200263 10.89451267] [ 0.05292809 0.99664874 0.06236907 -0.66407717] [ 0.40921287 -0.07861866 0.90904562 1.41635468] [ 0. 0. 0. 1. ]] SLAMing on 126.55538474999999 meters Centerline goodness : 0.900926 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.66, Z:1.42 [[ 0.91063344 -0.02332618 -0.41255622 10.89700841] [ 0.05362249 0.99663401 0.06201037 -0.66473325] [ 0.40972109 -0.07859101 0.90881906 1.41648177] [ 0. 0. 0. 1. ]] SLAMing on 126.61538474999999 meters Centerline goodness : 0.900233 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.66, Z:1.42 [[ 0.9105224 -0.02377072 -0.41277585 10.89899222] [ 0.05388413 0.99665364 0.06146565 -0.6642092 ] [ 0.40993347 -0.07820792 0.90875633 1.41565423] [ 0. 0. 0. 1. ]] SLAMing on 126.67538474999999 meters Centerline goodness : 0.905549 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.67, Z:1.42 [[ 0.91044545 -0.0229136 -0.412994 10.89794959] [ 0.05317147 0.99666379 0.06191995 -0.66528372] [ 0.41019735 -0.07833423 0.90862637 1.41650662] [ 0. 0. 0. 1. ]] SLAMing on 126.73538475 meters Centerline goodness : 0.901138 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.67, Z:1.42 [[ 0.91025274 -0.02317582 -0.41340395 10.89915501] [ 0.05364165 0.9966187 0.06223938 -0.66592815] [ 0.41056366 -0.07882923 0.90841809 1.41740363] [ 0. 0. 0. 1. ]] SLAMing on 126.79538475 meters Centerline goodness : 0.903149 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.67, Z:1.42 [[ 0.91018649 -0.02353558 -0.41352948 10.90065072] [ 0.05400316 0.9966053 0.06214131 -0.66646518] [ 0.41066314 -0.07889208 0.90836767 1.41714679] [ 0. 0. 0. 1. ]] SLAMing on 126.85538474999998 meters Centerline goodness : 0.903127 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.67, Z:1.42 [[ 0.90980339 -0.02366361 -0.41436437 10.90204876] [ 0.05407319 0.99662204 0.06181105 -0.66625341] [ 0.41150198 -0.0786419 0.90800967 1.41795332] [ 0. 0. 0. 1. ]] SLAMing on 126.91538474999999 meters Centerline goodness : 0.901109 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.67, Z:1.42 [[ 0.90935722 -0.02505864 -0.41526077 10.90662148] [ 0.05532111 0.99660319 0.06100535 -0.66556418] [ 0.4123215 -0.07844835 0.90765458 1.41772043] [ 0. 0. 0. 1. ]] SLAMing on 126.97538474999999 meters Centerline goodness : 0.891599 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.66, Z:1.42 [[ 0.90844279 -0.02619078 -0.41718789 10.91785462] [ 0.05736371 0.99640397 0.06235813 -0.66448991] [ 0.41405446 -0.08058024 0.9066784 1.41924109] [ 0. 0. 0. 1. ]] SLAMing on 127.03538474999999 meters Centerline goodness : 0.895975 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.66, Z:1.42 [[ 0.90812455 -0.02677068 -0.41784342 10.91975175] [ 0.05782981 0.99640892 0.06184645 -0.6634642 ] [ 0.41468724 -0.08032809 0.90641155 1.4195438 ] [ 0. 0. 0. 1. ]] SLAMing on 127.09538475 meters Centerline goodness : 0.899416 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.66, Z:1.42 [[ 0.90809181 -0.02549894 -0.4179941 10.91735906] [ 0.05676986 0.99642612 0.06254739 -0.66227396] [ 0.41490534 -0.08052824 0.90629397 1.42094602] [ 0. 0. 0. 1. ]] SLAMing on 127.15538475 meters Centerline goodness : 0.900442 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.66, Z:1.43 [[ 0.90770641 -0.01955626 -0.41914988 10.91683582] [ 0.05321361 0.99621312 0.06875855 -0.66429192] [ 0.41621795 -0.08471706 0.90530969 1.42582253] [ 0. 0. 0. 1. ]] SLAMing on 127.21538474999998 meters Centerline goodness : 0.908650 with order 1 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.66, Z:1.43 [[ 0.90995152 -0.02022666 -0.41422109 10.92877174] [ 0.05007266 0.9968613 0.06132117 -0.66208682] [ 0.41168065 -0.07654044 0.90810825 1.42769154] [ 0. 0. 0. 1. ]] SLAMing on 127.27538474999999 meters Centerline goodness : 0.909675 with order 1 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.67, Z:1.43 [[ 0.90964405 -0.02158398 -0.41482748 10.93143322] [ 0.05180906 0.99674632 0.06174626 -0.66556482] [ 0.41214503 -0.07765894 0.9078026 1.42953303] [ 0. 0. 0. 1. ]] SLAMing on 127.33538474999999 meters Centerline goodness : 0.909678 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.67, Z:1.43 [[ 0.9088705 -0.02474303 -0.41634384 10.93786604] [ 0.05561732 0.99651352 0.06218941 -0.66859021] [ 0.41335351 -0.07967805 0.90707788 1.43334884] [ 0. 0. 0. 1. ]] SLAMing on 127.39538474999999 meters Centerline goodness : 0.898608 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.67, Z:1.44 [[ 0.90738489 -0.02996528 -0.41923113 10.9577125 ] [ 0.06332281 0.99581638 0.06587831 -0.67197055] [ 0.41550317 -0.08632387 0.90548623 1.44176328] [ 0. 0. 0. 1. ]] SLAMing on 127.45538475 meters Centerline goodness : 0.901747 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.67, Z:1.44 [[ 0.90700945 -0.03055966 -0.41999995 10.9605605 ] [ 0.06392786 0.9957961 0.06559997 -0.67309257] [ 0.4162296 -0.08634949 0.90515009 1.44210106] [ 0. 0. 0. 1. ]] SLAMing on 127.51538475 meters Centerline goodness : 0.893587 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.67, Z:1.44 [[ 0.90664772 -0.03090957 -0.42075469 10.96260157] [ 0.06432947 0.99577906 0.06546584 -0.6728749 ] [ 0.41695519 -0.08642138 0.90480921 1.44285554] [ 0. 0. 0. 1. ]] SLAMing on 127.57538475 meters Centerline goodness : 0.893986 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.67, Z:1.44 [[ 0.90624781 -0.03166066 -0.42155961 10.96518116] [ 0.06505428 0.99575822 0.06506537 -0.67186352] [ 0.41771144 -0.08638961 0.90446337 1.44335936] [ 0. 0. 0. 1. ]] SLAMing on 127.63538474999999 meters Centerline goodness : 0.899765 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.67, Z:1.45 [[ 0.90625034 -0.03087768 -0.42161225 10.96327953] [ 0.06460469 0.99572979 0.06594257 -0.67159511] [ 0.41777572 -0.08699861 0.9043753 1.44505009] [ 0. 0. 0. 1. ]] SLAMing on 127.69538474999999 meters Centerline goodness : 0.902868 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.67, Z:1.45 [[ 0.90846805 -0.03014816 -0.41686556 10.97676381] [ 0.06081889 0.9963144 0.06048706 -0.66770325] [ 0.41350558 -0.08030386 0.90695337 1.44807753] [ 0. 0. 0. 1. ]] SLAMing on 127.75538474999999 meters Centerline goodness : 0.898504 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.66, Z:1.45 [[ 0.90824258 -0.0251389 -0.41768823 10.97752169] [ 0.05691391 0.99633905 0.06379106 -0.66455237] [ 0.41455546 -0.08171002 0.9063483 1.44868662] [ 0. 0. 0. 1. ]] SLAMing on 127.81538474999999 meters Centerline goodness : 0.899518 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.66, Z:1.45 [[ 0.90805203 -0.02026049 -0.4183671 10.97912182] [ 0.05279454 0.99639968 0.06633562 -0.65981602] [ 0.41551685 -0.08232369 0.90585239 1.44764307] [ 0. 0. 0. 1. ]] SLAMing on 127.87538475 meters Centerline goodness : 0.895552 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.66, Z:1.45 [[ 0.90765605 -0.01571457 -0.4194205 10.98108165] [ 0.04914404 0.99640418 0.06901861 -0.65579862] [ 0.41682774 -0.08325717 0.90516456 1.4477898 ] [ 0. 0. 0. 1. ]] SLAMing on 127.93538475 meters Centerline goodness : 0.893247 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.65, Z:1.45 [[ 0.90734249 -0.01654985 -0.42006631 10.98195595] [ 0.05002058 0.99637645 0.06878895 -0.65472157] [ 0.41740573 -0.0834271 0.90488252 1.44924075] [ 0. 0. 0. 1. ]] SLAMing on 127.99538474999999 meters Centerline goodness : 0.896134 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.65, Z:1.45 [[ 0.90949129 -0.01710541 -0.41537091 10.996322 ] [ 0.04753124 0.99687968 0.0630213 -0.65177411] [ 0.41299681 -0.07706042 0.90746643 1.45280876] [ 0. 0. 0. 1. ]] SLAMing on 128.05538475 meters Centerline goodness : 0.899638 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.66, Z:1.46 [[ 0.90914754 -0.0172154 -0.41611823 10.99620728] [ 0.04907654 0.9966125 0.06599262 -0.65571319] [ 0.41357254 -0.08041867 0.90691267 1.45890711] [ 0. 0. 0. 1. ]] SLAMing on 128.11538475 meters Centerline goodness : 0.901342 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.66, Z:1.46 [[ 0.90883391 -0.01699803 -0.41681169 10.99603182] [ 0.04955322 0.99649405 0.06740984 -0.65837541] [ 0.41420454 -0.08191871 0.90648989 1.46219711] [ 0. 0. 0. 1. ]] SLAMing on 128.17538475 meters Centerline goodness : 0.905865 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.66, Z:1.46 [[ 0.90833536 -0.01284297 -0.41804538 10.99926022] [ 0.04697918 0.99633592 0.07146817 -0.66019036] [ 0.41559576 -0.08455649 0.90561049 1.46411667] [ 0. 0. 0. 1. ]] SLAMing on 128.23538475 meters Centerline goodness : 0.902685 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.66, Z:1.47 [[ 0.90777377 -0.01448525 -0.41920992 11.00292007] [ 0.04882686 0.99625861 0.07130721 -0.66207782] [ 0.41660859 -0.08519952 0.90508471 1.46599912] [ 0. 0. 0. 1. ]] SLAMing on 128.29538475 meters Centerline goodness : 0.899097 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.66, Z:1.47 [[ 0.90761995 -0.01888954 -0.41936763 11.0032512 ] [ 0.05205618 0.99634098 0.06778493 -0.6624761 ] [ 0.41655273 -0.08335363 0.90528227 1.46603054] [ 0. 0. 0. 1. ]] SLAMing on 128.35538475 meters Centerline goodness : 0.897030 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.66, Z:1.47 [[ 0.9073124 -0.01951302 -0.42000411 11.00582288] [ 0.05284212 0.99629416 0.06786506 -0.66397839] [ 0.41712339 -0.08376871 0.90498115 1.46677805] [ 0. 0. 0. 1. ]] SLAMing on 128.41538475000002 meters Centerline goodness : 0.901509 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.67, Z:1.47 [[ 0.90694884 -0.01992811 -0.42076915 11.00760963] [ 0.053664 0.99620754 0.06848879 -0.66738629] [ 0.41780854 -0.08469598 0.90457869 1.46872154] [ 0. 0. 0. 1. ]] SLAMing on 128.47538475000002 meters Centerline goodness : 0.905849 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.67, Z:1.47 [[ 0.90676372 -0.02451542 -0.42092582 11.0078366 ] [ 0.057718 0.9961276 0.06632072 -0.67283899] [ 0.41766995 -0.08443222 0.90466735 1.47090766] [ 0. 0. 0. 1. ]] SLAMing on 128.53538475 meters Centerline goodness : 0.910469 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.68, Z:1.47 [[ 0.90617483 -0.02589047 -0.42211001 11.01140656] [ 0.05990053 0.99591901 0.06750737 -0.67720119] [ 0.41863959 -0.08645809 0.9040276 1.47468492] [ 0. 0. 0. 1. ]] SLAMing on 128.59538475 meters Centerline goodness : 0.912591 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.68, Z:1.49 [[ 0.90615052 -0.03618627 -0.42140454 11.03503769] [ 0.07397769 0.99453481 0.07367365 -0.67890852] [ 0.41643551 -0.09793395 0.90387522 1.49073683] [ 0. 0. 0. 1. ]] SLAMing on 128.65538475 meters Centerline goodness : 0.905915 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.68, Z:1.49 [[ 0.90483403 -0.03841008 -0.42402835 11.05057569] [ 0.07737612 0.99417271 0.07505698 -0.67739247] [ 0.41867447 -0.10072378 0.90253333 1.49321233] [ 0. 0. 0. 1. ]] SLAMing on 128.71538475 meters Centerline goodness : 0.905885 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.67, Z:1.49 [[ 0.90496963 -0.03656009 -0.4239025 11.0478791 ] [ 0.07534122 0.99432686 0.07508527 -0.67435262] [ 0.41875251 -0.09988722 0.90259009 1.49267689] [ 0. 0. 0. 1. ]] SLAMing on 128.77538475 meters Centerline goodness : 0.907392 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.67, Z:1.49 [[ 0.90778099 -0.03466366 -0.41800969 11.05479116] [ 0.0695814 0.99521621 0.06857937 -0.66952918] [ 0.41363281 -0.09134075 0.9058503 1.49396596] [ 0. 0. 0. 1. ]] SLAMing on 128.83538475 meters Centerline goodness : 0.912030 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.66, Z:1.50 [[ 0.91033575 -0.03334559 -0.41252501 11.0663629 ] [ 0.06496846 0.99590506 0.06286668 -0.6648703 ] [ 0.40873942 -0.0840309 0.90877439 1.49573787] [ 0. 0. 0. 1. ]] SLAMing on 128.89538475 meters Centerline goodness : 0.923974 with order 1 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.66, Z:1.50 [[ 0.91062962 -0.02703337 -0.41233832 11.0630467 ] [ 0.05965835 0.99600443 0.06645345 -0.66028049] [ 0.40889433 -0.0851139 0.9086039 1.49580454] [ 0. 0. 0. 1. ]] SLAMing on 128.95538475 meters Centerline goodness : 0.911374 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.66, Z:1.50 [[ 0.9102835 -0.02285437 -0.41335411 11.0665555 ] [ 0.05642689 0.99600616 0.0691934 -0.65720626] [ 0.41012187 -0.08630989 0.90793758 1.49547578] [ 0. 0. 0. 1. ]] SLAMing on 129.01538475 meters Centerline goodness : 0.906283 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.65, Z:1.49 [[ 0.91022674 -0.0229271 -0.41347506 11.06857861] [ 0.05600874 0.99610758 0.06806406 -0.65384398] [ 0.41030513 -0.08511194 0.90796787 1.49336238] [ 0. 0. 0. 1. ]] SLAMing on 129.07538475 meters Centerline goodness : 0.911700 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.65, Z:1.49 [[ 0.91004968 -0.02271296 -0.41387643 11.06847751] [ 0.05588342 0.99610435 0.06821411 -0.65375287] [ 0.41071477 -0.08520706 0.90777373 1.49439307] [ 0. 0. 0. 1. ]] SLAMing on 129.13538475000001 meters Centerline goodness : 0.915057 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.65, Z:1.50 [[ 0.9095619 -0.0240889 -0.4148697 11.07136771] [ 0.05738046 0.99603609 0.06796752 -0.65477953] [ 0.41158793 -0.08562608 0.90733872 1.49612019] [ 0. 0. 0. 1. ]] SLAMing on 129.19538475000002 meters Centerline goodness : 0.912403 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.65, Z:1.50 [[ 0.90903699 -0.02962134 -0.41566132 11.08706643] [ 0.06516816 0.99530281 0.07159211 -0.65442064] [ 0.41158822 -0.09216776 0.90669743 1.50473877] [ 0. 0. 0. 1. ]] SLAMing on 129.25538475000002 meters Centerline goodness : 0.903290 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.65, Z:1.50 [[ 0.90850229 -0.03162114 -0.41668177 11.09315857] [ 0.06683541 0.99529195 0.07019231 -0.65324249] [ 0.41250045 -0.09161898 0.90633842 1.50368767] [ 0. 0. 0. 1. ]] SLAMing on 129.31538475 meters Centerline goodness : 0.910632 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.65, Z:1.51 [[ 0.91074161 -0.03579058 -0.41142284 11.10541473] [ 0.06685001 0.99587522 0.0613484 -0.65188989] [ 0.40753012 -0.08337617 0.9093776 1.50713725] [ 0. 0. 0. 1. ]] SLAMing on 129.37538475 meters Centerline goodness : 0.909575 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.65, Z:1.51 [[ 0.9104369 -0.03039102 -0.41253003 11.10567328] [ 0.06363918 0.99571498 0.06709491 -0.65415453] [ 0.40872325 -0.08733875 0.90846973 1.51137595] [ 0. 0. 0. 1. ]] SLAMing on 129.43538475 meters Centerline goodness : 0.911452 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.65, Z:1.51 [[ 0.91243117 -0.02955117 -0.40816185 11.11941973] [ 0.05928967 0.99641191 0.06039909 -0.65051331] [ 0.40491246 -0.07930979 0.91090936 1.51244096] [ 0. 0. 0. 1. ]] SLAMing on 129.49538475 meters Centerline goodness : 0.912778 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.65, Z:1.51 [[ 0.91252301 -0.02866033 -0.40802002 11.11920006] [ 0.0579976 0.99652942 0.05971099 -0.64784306] [ 0.40489261 -0.07815183 0.91101826 1.51056231] [ 0. 0. 0. 1. ]] SLAMing on 129.55538475 meters Centerline goodness : 0.909847 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.65, Z:1.51 [[ 0.91210307 -0.0245 -0.40922823 11.12227925] [ 0.05506982 0.99648775 0.06308316 -0.64701803] [ 0.40624537 -0.08007447 0.91024874 1.51157075] [ 0. 0. 0. 1. ]] SLAMing on 129.61538475 meters Centerline goodness : 0.905958 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.65, Z:1.51 [[ 0.91167817 -0.0204832 -0.41039415 11.12548627] [ 0.05220188 0.99643782 0.06623164 -0.64577795] [ 0.40757562 -0.08180528 0.90949987 1.51237792] [ 0. 0. 0. 1. ]] SLAMing on 129.67538475 meters Centerline goodness : 0.907920 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.64, Z:1.51 [[ 0.91170037 -0.01956075 -0.41038983 11.12459776] [ 0.05123295 0.99648222 0.06632024 -0.64428123] [ 0.4076489 -0.08148967 0.90949536 1.51217564] [ 0. 0. 0. 1. ]] SLAMing on 129.73538475 meters Centerline goodness : 0.907173 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.65, Z:1.52 [[ 0.91137404 -0.02042228 -0.41107211 11.12482834] [ 0.0536091 0.99614982 0.06936567 -0.64723823] [ 0.40807281 -0.08525527 0.90895991 1.51922204] [ 0. 0. 0. 1. ]] SLAMing on 129.79538475 meters Centerline goodness : 0.904594 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.65, Z:1.52 [[ 0.91100744 -0.02149195 -0.4118295 11.12752999] [ 0.05475457 0.99610325 0.06913934 -0.64731885] [ 0.40873877 -0.085536 0.90863426 1.52020875] [ 0. 0. 0. 1. ]] SLAMing on 129.85538475 meters Centerline goodness : 0.903836 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.65, Z:1.52 [[ 0.91087411 -0.02164824 -0.41211613 11.12940239] [ 0.05483659 0.99611696 0.06887634 -0.64832799] [ 0.40902481 -0.08533672 0.90852427 1.51964881] [ 0. 0. 0. 1. ]] SLAMing on 129.91538475000002 meters Centerline goodness : 0.906445 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.65, Z:1.52 [[ 0.91054846 -0.02222178 -0.41280466 11.13246231] [ 0.05543372 0.99609937 0.06865232 -0.65004358] [ 0.40966889 -0.08539456 0.90822859 1.51982325] [ 0. 0. 0. 1. ]] SLAMing on 129.97538475000002 meters Centerline goodness : 0.909096 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.65, Z:1.52 [[ 0.91037471 -0.02232462 -0.41318216 11.13434781] [ 0.05549586 0.99610951 0.06845471 -0.65065509] [ 0.41004646 -0.08524934 0.90807183 1.51957338] [ 0. 0. 0. 1. ]] SLAMing on 130.03538475 meters Centerline goodness : 0.903315 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.65, Z:1.52 [[ 0.91008116 -0.02296347 -0.41379337 11.13744287] [ 0.05603974 0.99611209 0.06797237 -0.65022838] [ 0.4106237 -0.08504925 0.90782972 1.51918556] [ 0. 0. 0. 1. ]] SLAMing on 130.09538475 meters Centerline goodness : 0.903908 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.65, Z:1.52 [[ 0.90984433 -0.02380254 -0.4142665 11.14046399] [ 0.05668874 0.99612306 0.06726992 -0.64983984] [ 0.41105922 -0.0846894 0.90766625 1.51852387] [ 0. 0. 0. 1. ]] SLAMing on 130.15538475 meters Centerline goodness : 0.906189 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.65, Z:1.52 [[ 0.90978094 -0.0279134 -0.41414911 11.13917633] [ 0.05963436 0.99617551 0.06385999 -0.65111203] [ 0.41078265 -0.08279612 0.90796609 1.51881622] [ 0. 0. 0. 1. ]] SLAMing on 130.21538475 meters Centerline goodness : 0.904941 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.65, Z:1.52 [[ 0.90937996 -0.02887792 -0.41496283 11.14230275] [ 0.06057291 0.99614696 0.06342046 -0.65064649] [ 0.41153251 -0.0828088 0.90762531 1.51924521] [ 0. 0. 0. 1. ]] SLAMing on 130.27538475 meters Centerline goodness : 0.903026 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.65, Z:1.52 [[ 0.90902826 -0.03009236 -0.41564657 11.1457045 ] [ 0.06164859 0.99612605 0.06270839 -0.65010196] [ 0.41214933 -0.08262773 0.90736188 1.51909237] [ 0. 0. 0. 1. ]] SLAMing on 130.33538475 meters Centerline goodness : 0.904293 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.65, Z:1.52 [[ 0.90847334 -0.03183171 -0.41672885 11.1484857 ] [ 0.06420406 0.9958892 0.06389483 -0.65261859] [ 0.41298188 -0.08480243 0.90678251 1.52346496] [ 0. 0. 0. 1. ]] SLAMing on 130.39538475 meters Centerline goodness : 0.909105 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.65, Z:1.52 [[ 0.9081865 -0.03810857 -0.41682732 11.1495138 ] [ 0.06938034 0.99577663 0.0601272 -0.65298411] [ 0.41277554 -0.08352633 0.90699488 1.52478289] [ 0. 0. 0. 1. ]] SLAMing on 130.45538475 meters Centerline goodness : 0.912736 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.65, Z:1.53 [[ 0.90798298 -0.03834603 -0.41724872 11.15060015] [ 0.06967492 0.99575717 0.06010875 -0.65346338] [ 0.41317347 -0.0836495 0.90680232 1.52538333] [ 0. 0. 0. 1. ]] SLAMing on 130.51538475 meters Centerline goodness : 0.908400 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.65, Z:1.52 [[ 0.90789864 -0.04288582 -0.41699024 11.15037176] [ 0.0728974 0.99574864 0.05630815 -0.65422438] [ 0.41280265 -0.08151959 0.90716511 1.52483671] [ 0. 0. 0. 1. ]] SLAMing on 130.57538475 meters Centerline goodness : 0.909865 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.65, Z:1.53 [[ 0.90742669 -0.04452997 -0.41784432 11.15436381] [ 0.07444951 0.99567521 0.05557116 -0.65482465] [ 0.41356265 -0.08153506 0.90681749 1.52528136] [ 0. 0. 0. 1. ]] SLAMing on 130.63538475000001 meters Centerline goodness : 0.909554 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.65, Z:1.53 [[ 0.90715429 -0.04474436 -0.41841252 11.15558176] [ 0.07472177 0.99565715 0.05552924 -0.65327521] [ 0.4141108 -0.08163811 0.90655803 1.52599811] [ 0. 0. 0. 1. ]] SLAMing on 130.69538475000002 meters Centerline goodness : 0.905288 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.65, Z:1.53 [[ 0.90686334 -0.0452153 -0.4189922 11.157045 ] [ 0.07494204 0.99568346 0.05475534 -0.65041259] [ 0.41470782 -0.08105574 0.90633735 1.52593913] [ 0. 0. 0. 1. ]] SLAMing on 130.75538475000002 meters Centerline goodness : 0.906320 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.65, Z:1.53 [[ 0.90641456 -0.04181586 -0.42031426 11.16107327] [ 0.07267876 0.9956864 0.05767495 -0.6473843 ] [ 0.41608946 -0.08282533 0.90554377 1.52689864] [ 0. 0. 0. 1. ]] SLAMing on 130.81538475 meters Centerline goodness : 0.904850 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.65, Z:1.53 [[ 0.90582561 -0.04364263 -0.42139682 11.1640378 ] [ 0.07449646 0.99558942 0.05702622 -0.64522788] [ 0.41704944 -0.08304838 0.90508161 1.52868411] [ 0. 0. 0. 1. ]] SLAMing on 130.87538475 meters Centerline goodness : 0.905286 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.64, Z:1.53 [[ 0.90475951 -0.04660447 -0.42336539 11.16992829] [ 0.0781371 0.99528756 0.05742188 -0.64417833] [ 0.41869419 -0.08503353 0.90413742 1.53353969] [ 0. 0. 0. 1. ]] SLAMing on 130.93538475 meters Centerline goodness : 0.911817 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.64, Z:1.54 [[ 0.90407302 -0.04796136 -0.42467832 11.17212968] [ 0.07997684 0.99511522 0.05787398 -0.64352776] [ 0.41982815 -0.08628673 0.90349263 1.53726188] [ 0. 0. 0. 1. ]] SLAMing on 130.99538475 meters Centerline goodness : 0.914592 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.64, Z:1.54 [[ 0.90419677 -0.04689096 -0.42453437 11.17037802] [ 0.07881954 0.99520305 0.05795137 -0.64007676] [ 0.41978051 -0.08586105 0.90355531 1.53698276] [ 0. 0. 0. 1. ]] SLAMing on 131.05538475 meters Centerline goodness : 0.920194 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.64, Z:1.54 [[ 0.90647936 -0.04735042 -0.41958683 11.1828463 ] [ 0.07552798 0.99584935 0.05078965 -0.63555045] [ 0.41544036 -0.07773032 0.90629317 1.53894 ] [ 0. 0. 0. 1. ]] SLAMing on 131.11538475 meters Centerline goodness : 0.917779 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.63, Z:1.54 [[ 0.90619131 -0.04337898 -0.4206371 11.18572924] [ 0.07264206 0.99590649 0.0537903 -0.63294122] [ 0.41658185 -0.07930025 0.90563295 1.53951696] [ 0. 0. 0. 1. ]] SLAMing on 131.17538475 meters Centerline goodness : 0.911969 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.63, Z:1.54 [[ 0.90570702 -0.04042239 -0.42197253 11.19122328] [ 0.07054138 0.99593553 0.056003 -0.62899441] [ 0.41799366 -0.08048884 0.90487725 1.53927095] [ 0. 0. 0. 1. ]] SLAMing on 131.23538475 meters Centerline goodness : 0.907367 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.63, Z:1.54 [[ 0.90549449 -0.03601595 -0.4228269 11.19307459] [ 0.06728063 0.99597344 0.05924722 -0.62759729] [ 0.41899051 -0.08209609 0.90427163 1.53987659] [ 0. 0. 0. 1. ]] SLAMing on 131.29538475 meters Centerline goodness : 0.907118 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.63, Z:1.54 [[ 0.90524534 -0.0310358 -0.42375424 11.19360748] [ 0.06379758 0.9959505 0.06334412 -0.6266034 ] [ 0.42007231 -0.08437647 0.90355955 1.54196299] [ 0. 0. 0. 1. ]] SLAMing on 131.35538475 meters Centerline goodness : 0.910131 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.63, Z:1.54 [[ 0.90496312 -0.02661849 -0.42465658 11.19469048] [ 0.06072391 0.99590477 0.0669798 -0.62508956] [ 0.42113461 -0.08640105 0.90287347 1.54366893] [ 0. 0. 0. 1. ]] SLAMing on 131.41538475000002 meters Centerline goodness : 0.912041 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.62, Z:1.54 [[ 0.90496915 -0.03139674 -0.4243172 11.19301023] [ 0.06409518 0.99595284 0.0630059 -0.62321649] [ 0.42062174 -0.08421509 0.90331898 1.54373319] [ 0. 0. 0. 1. ]] SLAMing on 131.47538475000002 meters Centerline goodness : 0.913719 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.62, Z:1.55 [[ 0.9043221 -0.03381828 -0.42550896 11.197788 ] [ 0.06661064 0.99582465 0.0624203 -0.62206549] [ 0.42162136 -0.08479148 0.90279889 1.54552809] [ 0. 0. 0. 1. ]] SLAMing on 131.53538475 meters Centerline goodness : 0.910578 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.62, Z:1.55 [[ 0.90399722 -0.02977238 -0.42650045 11.20158405] [ 0.06380558 0.99579552 0.06572764 -0.62098417] [ 0.42275037 -0.08663072 0.90209603 1.54585944] [ 0. 0. 0. 1. ]] SLAMing on 131.59538475 meters Centerline goodness : 0.912027 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.62, Z:1.55 [[ 0.90399192 -0.02878221 -0.42657964 11.19966546] [ 0.06322218 0.99576191 0.06679201 -0.62353078] [ 0.42284933 -0.08734873 0.9019804 1.54775935] [ 0. 0. 0. 1. ]] SLAMing on 131.65538475 meters Centerline goodness : 0.913589 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.62, Z:1.55 [[ 0.90378232 -0.02905235 -0.42700524 11.20137341] [ 0.06357687 0.99573766 0.06681684 -0.62498436] [ 0.42324401 -0.08753553 0.90177716 1.54821619] [ 0. 0. 0. 1. ]] SLAMing on 131.71538475 meters Centerline goodness : 0.912968 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.63, Z:1.55 [[ 0.9034885 -0.03005257 -0.42755744 11.20429909] [ 0.06459862 0.99569179 0.06651973 -0.62648454] [ 0.42371634 -0.08771943 0.90153744 1.54859978] [ 0. 0. 0. 1. ]] SLAMing on 131.77538475 meters Centerline goodness : 0.916709 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.63, Z:1.55 [[ 0.90292426 -0.03222223 -0.42859013 11.20940628] [ 0.06701034 0.99554533 0.06632577 -0.62945365] [ 0.42454374 -0.08860712 0.90106126 1.55027491] [ 0. 0. 0. 1. ]] SLAMing on 131.83538475 meters Centerline goodness : 0.916461 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.63, Z:1.55 [[ 0.90272592 -0.03806617 -0.42852875 11.21298274] [ 0.07142988 0.99551431 0.0620406 -0.63128922] [ 0.42424485 -0.08661541 0.90139563 1.5488495 ] [ 0. 0. 0. 1. ]] SLAMing on 131.89538475 meters Centerline goodness : 0.916025 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.63, Z:1.55 [[ 0.90229341 -0.03903078 -0.42935207 11.21654646] [ 0.07247224 0.99545336 0.0618092 -0.63240642] [ 0.4249875 -0.08688614 0.90101966 1.54951543] [ 0. 0. 0. 1. ]] SLAMing on 131.95538475 meters Centerline goodness : 0.916321 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.63, Z:1.55 [[ 0.9019944 -0.04046097 -0.42984767 11.21953313] [ 0.07374629 0.99540644 0.06105333 -0.63084335] [ 0.42540286 -0.08676943 0.90083488 1.54956294] [ 0. 0. 0. 1. ]] SLAMing on 132.01538475 meters Centerline goodness : 0.917182 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.63, Z:1.55 [[ 0.90165329 -0.04111432 -0.43050083 11.22123845] [ 0.07447499 0.99536022 0.0609222 -0.63025115] [ 0.42599862 -0.08699225 0.9005318 1.55068131] [ 0. 0. 0. 1. ]] SLAMing on 132.07538475 meters Centerline goodness : 0.918543 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.63, Z:1.55 [[ 0.90160838 -0.04047872 -0.43065508 11.22044598] [ 0.07381318 0.99540648 0.06097177 -0.62951764] [ 0.42620879 -0.08676068 0.90045469 1.55095291] [ 0. 0. 0. 1. ]] SLAMing on 132.13538475000001 meters Centerline goodness : 0.917136 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.63, Z:1.55 [[ 0.90114294 -0.04122195 -0.43155782 11.22200766] [ 0.07482831 0.995318 0.06117848 -0.63007528] [ 0.42701537 -0.0874233 0.90000836 1.5532388 ] [ 0. 0. 0. 1. ]] SLAMing on 132.19538475000002 meters Centerline goodness : 0.916006 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.63, Z:1.55 [[ 0.90069011 -0.04249971 -0.43237842 11.2258077 ] [ 0.07616063 0.99523855 0.06082582 -0.63033422] [ 0.4277346 -0.08771543 0.89963833 1.55386725] [ 0. 0. 0. 1. ]] SLAMing on 132.25538475000002 meters Centerline goodness : 0.916334 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.63, Z:1.55 [[ 0.90037821 -0.04292607 -0.43298548 11.22822006] [ 0.07677839 0.99518067 0.06099603 -0.63158399] [ 0.42828046 -0.08816342 0.89933479 1.55465444] [ 0. 0. 0. 1. ]] SLAMing on 132.31538475 meters Centerline goodness : 0.913675 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.63, Z:1.56 [[ 0.90026258 -0.04303885 -0.43321467 11.228575 ] [ 0.07701943 0.99515025 0.06118811 -0.63342622] [ 0.42848022 -0.08845131 0.89921136 1.5554924 ] [ 0. 0. 0. 1. ]] SLAMing on 132.37538475 meters Centerline goodness : 0.914118 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.63, Z:1.56 [[ 0.89998174 -0.04319134 -0.43378264 11.22926846] [ 0.07746219 0.99508843 0.06163305 -0.63416793] [ 0.42899007 -0.08907037 0.89890711 1.55721985] [ 0. 0. 0. 1. ]] SLAMing on 132.43538475 meters Centerline goodness : 0.910500 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.63, Z:1.56 [[ 0.89940686 -0.04027606 -0.43525295 11.23459397] [ 0.07582656 0.99502534 0.06461352 -0.63410036] [ 0.43048534 -0.09111758 0.89798661 1.55856947] [ 0. 0. 0. 1. ]] SLAMing on 132.49538475 meters Centerline goodness : 0.910885 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.63, Z:1.56 [[ 0.89912847 -0.04032102 -0.43582359 11.23589955] [ 0.07596339 0.99501179 0.06466137 -0.6336996 ] [ 0.4310424 -0.09124552 0.89770636 1.55928221] [ 0. 0. 0. 1. ]] SLAMing on 132.55538475 meters Centerline goodness : 0.922759 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.63, Z:1.56 [[ 0.90172778 -0.04784321 -0.42964873 11.24613455] [ 0.07897924 0.99536226 0.05492032 -0.62962956] [ 0.42502857 -0.08345651 0.90132443 1.56489746] [ 0. 0. 0. 1. ]] SLAMing on 132.61538475 meters Centerline goodness : 0.915254 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.62, Z:1.56 [[ 0.90145722 -0.04477006 -0.43054677 11.25190308] [ 0.07673558 0.99541178 0.05715802 -0.62476126] [ 0.42601236 -0.08456377 0.90075659 1.56344981] [ 0. 0. 0. 1. ]] SLAMing on 132.67538475 meters Centerline goodness : 0.917542 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.62, Z:1.56 [[ 0.90147507 -0.0388046 -0.43108805 11.25128277] [ 0.07222081 0.99549601 0.06141538 -0.62432582] [ 0.42676323 -0.08649796 0.90021733 1.56431781] [ 0. 0. 0. 1. ]] SLAMing on 132.73538475 meters Centerline goodness : 0.918012 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.62, Z:1.57 [[ 0.90385848 -0.03876351 -0.42607186 11.25990765] [ 0.06765494 0.9963065 0.05287876 -0.62281305] [ 0.4224484 -0.07662078 0.90314263 1.56511329] [ 0. 0. 0. 1. ]] SLAMing on 132.79538475 meters Centerline goodness : 0.913967 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.62, Z:1.58 [[ 0.90328765 -0.04235855 -0.42693931 11.27361642] [ 0.0743959 0.99550359 0.05863317 -0.62153208] [ 0.422536 -0.08472515 0.9023774 1.57605511] [ 0. 0. 0. 1. ]] SLAMing on 132.85538475 meters Centerline goodness : 0.910894 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.62, Z:1.58 [[ 0.90250436 -0.04205556 -0.42862245 11.28342162] [ 0.07489625 0.99538245 0.06003613 -0.6186822 ] [ 0.42411841 -0.08628509 0.9014868 1.57601353] [ 0. 0. 0. 1. ]] SLAMing on 132.91538475000002 meters Centerline goodness : 0.904223 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.62, Z:1.58 [[ 0.90243974 -0.04121014 -0.42884059 11.28347244] [ 0.07379818 0.99548853 0.05963564 -0.61820672] [ 0.42444829 -0.08546523 0.90140964 1.57518866] [ 0. 0. 0. 1. ]] SLAMing on 132.97538475000002 meters Centerline goodness : 0.905715 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.62, Z:1.58 [[ 0.90203253 -0.0427632 -0.42954468 11.2860005 ] [ 0.07559269 0.99535298 0.05965057 -0.61891199] [ 0.42499772 -0.0862772 0.90107335 1.57707403] [ 0. 0. 0. 1. ]] SLAMing on 133.03538475 meters Centerline goodness : 0.908661 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.62, Z:1.58 [[ 0.90214637 -0.04575231 -0.42899727 11.28228096] [ 0.07799769 0.99527209 0.05787761 -0.62053752] [ 0.42432098 -0.08567487 0.90144968 1.57879703] [ 0. 0. 0. 1. ]] SLAMing on 133.09538475 meters Centerline goodness : 0.915037 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.63, Z:1.59 [[ 0.90195007 -0.04429645 -0.42956245 11.27955099] [ 0.07816499 0.99504083 0.06151409 -0.62516379] [ 0.42470732 -0.08905938 0.90093957 1.58512389] [ 0. 0. 0. 1. ]] SLAMing on 133.15538475 meters Centerline goodness : 0.919042 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.63, Z:1.59 [[ 0.90145675 -0.04463558 -0.43056171 11.28094572] [ 0.07953409 0.99481471 0.06338793 -0.6287941 ] [ 0.42549976 -0.09138581 0.90033249 1.58950274] [ 0. 0. 0. 1. ]] SLAMing on 133.21538475 meters Centerline goodness : 0.919653 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.63, Z:1.59 [[ 0.90101417 -0.04662989 -0.43127616 11.28529577] [ 0.0814705 0.99470421 0.06265852 -0.63051814] [ 0.42607045 -0.09159249 0.90004155 1.58996517] [ 0. 0. 0. 1. ]] SLAMing on 133.27538475 meters Centerline goodness : 0.912661 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.63, Z:1.59 [[ 0.90043672 -0.04888644 -0.43223122 11.29115683] [ 0.08338123 0.99463629 0.06120634 -0.63019869] [ 0.42692069 -0.0911524 0.89968326 1.58942678] [ 0. 0. 0. 1. ]] SLAMing on 133.33538475 meters Centerline goodness : 0.914079 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.63, Z:1.59 [[ 0.90019771 -0.0501458 -0.43258466 11.29490375] [ 0.08395998 0.9946964 0.05941203 -0.62740372] [ 0.42731114 -0.08980237 0.89963366 1.58722522] [ 0. 0. 0. 1. ]] SLAMing on 133.39538475 meters Centerline goodness : 0.907552 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.63, Z:1.59 [[ 0.89969514 -0.04650336 -0.43403468 11.29866681] [ 0.08160112 0.99469882 0.06257402 -0.62600702] [ 0.42882388 -0.09171525 0.89872042 1.58868977] [ 0. 0. 0. 1. ]] SLAMing on 133.45538475 meters Centerline goodness : 0.904265 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.62, Z:1.59 [[ 0.89943517 -0.04265273 -0.43496796 11.30177742] [ 0.07867388 0.99477014 0.06513673 -0.62329199] [ 0.42991487 -0.09280688 0.8980869 1.58840986] [ 0. 0. 0. 1. ]] SLAMing on 133.51538475 meters Centerline goodness : 0.906997 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.62, Z:1.59 [[ 0.90166915 -0.04658154 -0.42991034 11.31431985] [ 0.07791003 0.99541162 0.05554941 -0.61860122] [ 0.42535017 -0.08358152 0.90116112 1.59048578] [ 0. 0. 0. 1. ]] SLAMing on 133.57538475 meters Centerline goodness : 0.904793 with order 1 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.62, Z:1.59 [[ 0.90163266 -0.04243254 -0.43041612 11.31556132] [ 0.07493815 0.99545051 0.05884351 -0.6157153 ] [ 0.42596106 -0.08530982 0.9007105 1.59097404] [ 0. 0. 0. 1. ]] SLAMing on 133.63538475000001 meters Centerline goodness : 0.909289 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.61, Z:1.59 [[ 0.90170134 -0.04158195 -0.43035525 11.31250086] [ 0.07462325 0.99539445 0.06017689 -0.61441342] [ 0.42587095 -0.08637609 0.90065149 1.59360007] [ 0. 0. 0. 1. ]] SLAMing on 133.69538475000002 meters Centerline goodness : 0.912595 with order 1 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.61, Z:1.60 [[ 0.90416258 -0.04661013 -0.42463811 11.32483533] [ 0.07516711 0.9958793 0.05073784 -0.6098362 ] [ 0.4205234 -0.07779408 0.90394035 1.5966212 ] [ 0. 0. 0. 1. ]] SLAMing on 133.75538475000002 meters Centerline goodness : 0.911754 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.61, Z:1.60 [[ 0.90403937 -0.04225789 -0.42535524 11.32787243] [ 0.07176347 0.99598172 0.0535762 -0.60589609] [ 0.42138203 -0.07895996 0.90343927 1.59580064] [ 0. 0. 0. 1. ]] SLAMing on 133.81538475 meters Centerline goodness : 0.909585 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.60, Z:1.59 [[ 0.90392287 -0.04225849 -0.42560272 11.33295549] [ 0.07170646 0.99599521 0.05340159 -0.60478326] [ 0.4216416 -0.07878938 0.90333305 1.59391 ] [ 0. 0. 0. 1. ]] SLAMing on 133.87538475 meters Centerline goodness : 0.906277 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.61, Z:1.59 [[ 0.9037321 -0.04285342 -0.4259482 11.33553126] [ 0.07217526 0.99598649 0.05293055 -0.60536386] [ 0.4219704 -0.07857796 0.90319792 1.59331823] [ 0. 0. 0. 1. ]] SLAMing on 133.93538475 meters Centerline goodness : 0.906667 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.61, Z:1.60 [[ 0.90310408 -0.04100739 -0.42745925 11.3410992 ] [ 0.07277658 0.99564626 0.05824173 -0.60796886] [ 0.42320986 -0.08370736 0.90215658 1.59957462] [ 0. 0. 0. 1. ]] SLAMing on 133.99538475 meters Centerline goodness : 0.908673 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.61, Z:1.60 [[ 0.90312339 -0.04120025 -0.42739991 11.34139305] [ 0.07305303 0.99561728 0.0583908 -0.60924756] [ 0.42312102 -0.08395695 0.90217505 1.59983231] [ 0. 0. 0. 1. ]] SLAMing on 134.05538475 meters Centerline goodness : 0.910071 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.61, Z:1.60 [[ 0.90293795 -0.04158283 -0.42775452 11.34293052] [ 0.07344008 0.99559769 0.05823916 -0.60864871] [ 0.42344966 -0.08400067 0.90201678 1.6000353 ] [ 0. 0. 0. 1. ]] SLAMing on 134.11538475 meters Centerline goodness : 0.908894 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.61, Z:1.60 [[ 0.90308671 -0.03990781 -0.4276 11.34011162] [ 0.07214953 0.99562 0.05945806 -0.60780734] [ 0.42335427 -0.08454693 0.90201052 1.60114166] [ 0. 0. 0. 1. ]] SLAMing on 134.17538475 meters Centerline goodness : 0.907583 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.61, Z:1.61 [[ 0.90258943 -0.04582335 -0.42805671 11.34702429] [ 0.07983668 0.99488795 0.06183911 -0.60856052] [ 0.42303478 -0.08998995 0.90163373 1.610859 ] [ 0. 0. 0. 1. ]] SLAMing on 134.23538475 meters Centerline goodness : 0.901917 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.61, Z:1.61 [[ 0.9017053 -0.04577959 -0.42992067 11.35760992] [ 0.08093253 0.99467369 0.0638293 -0.60595542] [ 0.4247087 -0.09234979 0.9006076 1.61234113] [ 0. 0. 0. 1. ]] SLAMing on 134.29538475 meters Centerline goodness : 0.904964 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.61, Z:1.61 [[ 0.90176195 -0.04479864 -0.42990519 11.35632263] [ 0.07995236 0.99473883 0.06404912 -0.60615956] [ 0.42477407 -0.09212899 0.90059938 1.61248524] [ 0. 0. 0. 1. ]] SLAMing on 134.35538475 meters Centerline goodness : 0.904814 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:1.61 [[ 0.90148872 -0.04574233 -0.43037857 11.35987219] [ 0.08039988 0.99479005 0.0626787 -0.60433985] [ 0.42526925 -0.09110653 0.90046969 1.61082171] [ 0. 0. 0. 1. ]] SLAMing on 134.41538475000002 meters Centerline goodness : 0.902645 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:1.61 [[ 0.90135015 -0.04649496 -0.43058811 11.36209364] [ 0.08086514 0.99480383 0.06185596 -0.60292215] [ 0.42547471 -0.09057345 0.90042641 1.60981955] [ 0. 0. 0. 1. ]] SLAMing on 134.47538475000002 meters Centerline goodness : 0.900943 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:1.61 [[ 0.90121359 -0.04639623 -0.43088451 11.36195774] [ 0.08094941 0.99477584 0.06219499 -0.60358216] [ 0.42574789 -0.09093081 0.90026125 1.61096151] [ 0. 0. 0. 1. ]] SLAMing on 134.53538475 meters Centerline goodness : 0.904892 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:1.61 [[ 0.90112007 -0.04654773 -0.43106372 11.36193747] [ 0.08113023 0.99476196 0.06218146 -0.60382465] [ 0.42591138 -0.09100526 0.90017639 1.61152452] [ 0. 0. 0. 1. ]] SLAMing on 134.59538475 meters Centerline goodness : 0.895592 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:1.61 [[ 0.90126608 -0.0461331 -0.43080295 11.36107418] [ 0.08052997 0.99482571 0.06194141 -0.60158287] [ 0.4257163 -0.09051824 0.90031777 1.6107762 ] [ 0. 0. 0. 1. ]] SLAMing on 134.65538475 meters Centerline goodness : 0.894406 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:1.61 [[ 0.90155325 -0.04460071 -0.43036324 11.35847608] [ 0.07873177 0.99497731 0.06181799 -0.59888188] [ 0.42544453 -0.08961547 0.90053652 1.60951529] [ 0. 0. 0. 1. ]] SLAMing on 134.71538475 meters Centerline goodness : 0.900547 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.59, Z:1.61 [[ 0.90376426 -0.0436992 -0.42579401 11.36981586] [ 0.07369493 0.99580578 0.05422088 -0.59280623] [ 0.42163873 -0.08038175 0.90319408 1.60990339] [ 0. 0. 0. 1. ]] SLAMing on 134.77538475 meters Centerline goodness : 0.902152 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.59, Z:1.61 [[ 0.90361489 -0.04411918 -0.42606763 11.3714794 ] [ 0.07372192 0.99585721 0.05323056 -0.59026614] [ 0.42195403 -0.07951045 0.90312396 1.6088064 ] [ 0. 0. 0. 1. ]] SLAMing on 134.83538475 meters Centerline goodness : 0.899000 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.59, Z:1.61 [[ 0.90329974 -0.0458915 -0.42654841 11.37419317] [ 0.07540203 0.99576778 0.05254588 -0.59078618] [ 0.42233175 -0.0796273 0.90293709 1.60935829] [ 0. 0. 0. 1. ]] SLAMing on 134.89538475 meters Centerline goodness : 0.904481 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.59, Z:1.61 [[ 0.90290988 -0.0513856 -0.42674732 11.37545596] [ 0.07979045 0.99560971 0.04893666 -0.5928897 ] [ 0.42235914 -0.07823576 0.90304592 1.61013387] [ 0. 0. 0. 1. ]] SLAMing on 134.95538475 meters Centerline goodness : 0.896880 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.59, Z:1.61 [[ 0.90253307 -0.05250322 -0.42740784 11.37856727] [ 0.08098184 0.99552445 0.04871355 -0.59493337] [ 0.42293734 -0.07857786 0.90274555 1.61077594] [ 0. 0. 0. 1. ]] SLAMing on 135.01538475 meters Centerline goodness : 0.897045 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.60, Z:1.62 [[ 0.90197465 -0.05303964 -0.42851899 11.38038981] [ 0.08291617 0.99523304 0.05134307 -0.60093432] [ 0.42375304 -0.0818413 0.90207281 1.61635972] [ 0. 0. 0. 1. ]] SLAMing on 135.07538475 meters Centerline goodness : 0.902583 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.60, Z:1.62 [[ 0.90150224 -0.04821853 -0.43007986 11.38183534] [ 0.08077613 0.99505752 0.0577559 -0.60339498] [ 0.4251693 -0.08680726 0.90094149 1.62248435] [ 0. 0. 0. 1. ]] SLAMing on 135.13538475000001 meters Centerline goodness : 0.901504 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.60, Z:1.62 [[ 0.90074264 -0.05067112 -0.43138744 11.38665263] [ 0.08310174 0.99492945 0.05665229 -0.60138292] [ 0.42632944 -0.08687818 0.90038625 1.62387803] [ 0. 0. 0. 1. ]] SLAMing on 135.19538475000002 meters Centerline goodness : 0.893895 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.60, Z:1.62 [[ 0.90066986 -0.050896 -0.43151292 11.3884063 ] [ 0.08291031 0.99499944 0.0556955 -0.59752702] [ 0.42652044 -0.08594013 0.90038581 1.62215465] [ 0. 0. 0. 1. ]] SLAMing on 135.25538475000002 meters Centerline goodness : 0.894086 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.60, Z:1.63 [[ 0.90036308 -0.04630073 -0.43266912 11.38960553] [ 0.08008186 0.99497042 0.06017275 -0.59810429] [ 0.42770694 -0.08882627 0.89954248 1.62511842] [ 0. 0. 0. 1. ]] SLAMing on 135.31538475 meters Centerline goodness : 0.894219 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.60, Z:1.63 [[ 0.90020635 -0.04580298 -0.43304805 11.38967863] [ 0.07980381 0.99496333 0.06065749 -0.59831765] [ 0.42808863 -0.08916315 0.89932756 1.62609694] [ 0. 0. 0. 1. ]] SLAMing on 135.37538475 meters Centerline goodness : 0.894276 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.60, Z:1.63 [[ 0.89987648 -0.04640566 -0.43366903 11.39146113] [ 0.0805446 0.99490282 0.06067084 -0.59896589] [ 0.42864307 -0.08952596 0.89902737 1.62724569] [ 0. 0. 0. 1. ]] SLAMing on 135.43538475 meters Centerline goodness : 0.888838 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.60, Z:1.63 [[ 0.89942628 -0.04824724 -0.4344014 11.39601412] [ 0.08222144 0.99482148 0.05974828 -0.59890366] [ 0.42926915 -0.08945628 0.89873554 1.62720207] [ 0. 0. 0. 1. ]] SLAMing on 135.49538475 meters Centerline goodness : 0.887408 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.60, Z:1.63 [[ 0.89905615 -0.04932066 -0.43504657 11.39839639] [ 0.08334062 0.99474583 0.05945656 -0.60036812] [ 0.42982832 -0.08971184 0.89844276 1.62813013] [ 0. 0. 0. 1. ]] SLAMing on 135.55538475 meters Centerline goodness : 0.890803 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.60, Z:1.63 [[ 0.89886546 -0.04955533 -0.43541377 11.39883713] [ 0.08363793 0.99472124 0.05945037 -0.59917703] [ 0.43016924 -0.08985499 0.89826527 1.62894368] [ 0. 0. 0. 1. ]] SLAMing on 135.61538475 meters Centerline goodness : 0.893322 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.60, Z:1.63 [[ 0.89846306 -0.05118883 -0.43605485 11.40085036] [ 0.0854086 0.99458429 0.05922389 -0.59831201] [ 0.4306617 -0.09045331 0.89796921 1.63070843] [ 0. 0. 0. 1. ]] SLAMing on 135.67538475 meters Centerline goodness : 0.896658 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.60, Z:1.63 [[ 0.89808777 -0.05183745 -0.43675077 11.40132485] [ 0.08632215 0.9944908 0.0594687 -0.59683912] [ 0.43126192 -0.09110938 0.89761475 1.63299828] [ 0. 0. 0. 1. ]] SLAMing on 135.73538475 meters Centerline goodness : 0.890526 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.59, Z:1.63 [[ 0.90078973 -0.04796256 -0.43159873 11.41403787] [ 0.07986626 0.99522616 0.0560917 -0.59118092] [ 0.42684804 -0.084997 0.90032009 1.63496905] [ 0. 0. 0. 1. ]] SLAMing on 135.79538475 meters Centerline goodness : 0.896770 with order 1 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.59, Z:1.64 [[ 0.90340312 -0.04921881 -0.42595812 11.4248679 ] [ 0.07691066 0.99587971 0.04804537 -0.58833635] [ 0.42183831 -0.07616506 0.90346628 1.6360646 ] [ 0. 0. 0. 1. ]] SLAMing on 135.85538475 meters Centerline goodness : 0.901294 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.64 [[ 0.90334414 -0.04919947 -0.42608541 11.42503528] [ 0.07687954 0.99588434 0.04799906 -0.58912199] [ 0.42197026 -0.07611692 0.90340872 1.63629696] [ 0. 0. 0. 1. ]] SLAMing on 135.91538475000002 meters Centerline goodness : 0.901994 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.63 [[ 0.903153 -0.0504154 -0.42634839 11.42927752] [ 0.07770534 0.9958752 0.04684518 -0.58767837] [ 0.42222806 -0.07543792 0.90334522 1.63439639] [ 0. 0. 0. 1. ]] SLAMing on 135.97538475000002 meters Centerline goodness : 0.894618 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.63 [[ 0.90308732 -0.0510112 -0.42641664 11.43089057] [ 0.07812674 0.99586643 0.04632777 -0.5879603 ] [ 0.42229079 -0.07515256 0.90333968 1.63371879] [ 0. 0. 0. 1. ]] SLAMing on 136.03538475 meters Centerline goodness : 0.895216 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.64 [[ 0.90289887 -0.04634666 -0.42734719 11.43222767] [ 0.07531813 0.99584781 0.0511304 -0.58933465] [ 0.42320304 -0.07835257 0.90264061 1.63653426] [ 0. 0. 0. 1. ]] SLAMing on 136.09538475 meters Centerline goodness : 0.890202 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.64 [[ 0.90263677 -0.04201869 -0.42834716 11.4341982 ] [ 0.07240681 0.99586359 0.05489045 -0.58872036] [ 0.42426892 -0.08056139 0.90194554 1.63807756] [ 0. 0. 0. 1. ]] SLAMing on 136.15538475 meters Centerline goodness : 0.894010 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.64 [[ 0.90275007 -0.04187795 -0.42812213 11.43396638] [ 0.07206142 0.99590827 0.05453317 -0.58639655] [ 0.42408663 -0.08008091 0.90207404 1.637134 ] [ 0. 0. 0. 1. ]] SLAMing on 136.21538475 meters Centerline goodness : 0.892309 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.59, Z:1.64 [[ 0.90266366 -0.04202066 -0.42829029 11.43394343] [ 0.07225477 0.995892 0.05457446 -0.58504729] [ 0.42423762 -0.0802084 0.90199171 1.63781845] [ 0. 0. 0. 1. ]] SLAMing on 136.27538475 meters Centerline goodness : 0.903030 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.58, Z:1.64 [[ 0.90828391 -0.05158622 -0.41516166 11.43625881] [ 0.07850074 0.99575714 0.04801409 -0.58022694] [ 0.41092332 -0.07620093 0.90847974 1.63592803] [ 0. 0. 0. 1. ]] SLAMing on 136.33538475 meters Centerline goodness : 0.896516 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.57, Z:1.63 [[ 0.90816421 -0.04847635 -0.4157978 11.44359224] [ 0.07645887 0.99577247 0.05090406 -0.57393513] [ 0.41157237 -0.07802067 0.90803137 1.63416163] [ 0. 0. 0. 1. ]] SLAMing on 136.39538475 meters Centerline goodness : 0.890256 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.57, Z:1.63 [[ 0.90796484 -0.04899064 -0.41617275 11.44410738] [ 0.07695394 0.99574606 0.05067423 -0.57316954] [ 0.41191981 -0.07803655 0.90787244 1.63499034] [ 0. 0. 0. 1. ]] SLAMing on 136.45538475 meters Centerline goodness : 0.895485 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.57, Z:1.63 [[ 0.90793224 -0.04897923 -0.41624522 11.44481137] [ 0.07682732 0.99576936 0.05040775 -0.57342334] [ 0.4120153 -0.07774582 0.90785405 1.63449283] [ 0. 0. 0. 1. ]] SLAMing on 136.51538475 meters Centerline goodness : 0.891695 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.57, Z:1.63 [[ 0.90805693 -0.04876598 -0.4159982 11.44557548] [ 0.076527 0.99579731 0.05031234 -0.57415122] [ 0.41179636 -0.07752156 0.90797256 1.63328964] [ 0. 0. 0. 1. ]] SLAMing on 136.57538475 meters Centerline goodness : 0.897760 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.58, Z:1.63 [[ 0.90799178 -0.04809534 -0.41621842 11.44481788] [ 0.07619625 0.99577955 0.05115874 -0.57659758] [ 0.41200129 -0.078166 0.90782433 1.63460295] [ 0. 0. 0. 1. ]] SLAMing on 136.63538475000001 meters Centerline goodness : 0.899056 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.58, Z:1.63 [[ 0.90795081 -0.04786703 -0.41633408 11.44508449] [ 0.07613503 0.99576398 0.05155139 -0.57625967] [ 0.41210287 -0.07850373 0.90774908 1.63495564] [ 0. 0. 0. 1. ]] SLAMing on 136.69538475000002 meters Centerline goodness : 0.898943 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.58, Z:1.64 [[ 0.90776415 -0.04810639 -0.41671336 11.44607333] [ 0.07647953 0.99573234 0.0516525 -0.5765426 ] [ 0.41245016 -0.07875833 0.90756928 1.63562848] [ 0. 0. 0. 1. ]] SLAMing on 136.75538475000002 meters Centerline goodness : 0.897844 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.58, Z:1.63 [[ 0.90819088 -0.04712882 -0.41589445 11.44411945] [ 0.07552858 0.99578209 0.05209093 -0.5769604 ] [ 0.41168526 -0.07872042 0.90791979 1.63471068] [ 0. 0. 0. 1. ]] SLAMing on 136.81538475 meters Centerline goodness : 0.898427 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.58, Z:1.64 [[ 0.90834153 -0.04635776 -0.41565204 11.44264826] [ 0.07488896 0.99580386 0.05259571 -0.5776279 ] [ 0.41146969 -0.07890261 0.90800169 1.63508508] [ 0. 0. 0. 1. ]] SLAMing on 136.87538475 meters Centerline goodness : 0.904143 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.58, Z:1.64 [[ 0.90823385 -0.04640575 -0.41588193 11.44342692] [ 0.07514322 0.99576369 0.05299209 -0.58011133] [ 0.41166099 -0.07937992 0.90787337 1.63585753] [ 0. 0. 0. 1. ]] SLAMing on 136.93538475 meters Centerline goodness : 0.901802 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.58, Z:1.64 [[ 0.90751344 -0.05876139 -0.41589236 11.44766527] [ 0.0848118 0.9954061 0.04442591 -0.5826182 ] [ 0.41137126 -0.07558969 0.90832807 1.63560663] [ 0. 0. 0. 1. ]] SLAMing on 136.99538475 meters Centerline goodness : 0.893368 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.58, Z:1.64 [[ 0.90493332 -0.06964061 -0.41981647 11.46978509] [ 0.10132793 0.99340665 0.0536272 -0.58482373] [ 0.41331384 -0.09106817 0.90602332 1.6401188 ] [ 0. 0. 0. 1. ]] SLAMing on 137.05538475 meters Centerline goodness : 0.890051 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.59, Z:1.64 [[ 0.90416344 -0.07095077 -0.42125345 11.48031449] [ 0.10446697 0.99289396 0.05699331 -0.5864522 ] [ 0.41421628 -0.09553834 0.90515043 1.64485586] [ 0. 0. 0. 1. ]] SLAMing on 137.11538475 meters Centerline goodness : 0.893173 with order 1 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.59, Z:1.65 [[ 0.90660851 -0.07492315 -0.41526803 11.49128375] [ 0.10451693 0.993317 0.04896474 -0.58517741] [ 0.4088242 -0.08779439 0.90838038 1.64876474] [ 0. 0. 0. 1. ]] SLAMing on 137.17538475 meters Centerline goodness : 0.898481 with order 1 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.58, Z:1.65 [[ 0.90667882 -0.06959233 -0.41604137 11.49061977] [ 0.10105838 0.99341031 0.05406616 -0.58390374] [ 0.40953719 -0.09106511 0.90773698 1.65176384] [ 0. 0. 0. 1. ]] SLAMing on 137.23538475 meters Centerline goodness : 0.895460 with order 1 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.58, Z:1.65 [[ 0.90931343 -0.06868741 -0.41040362 11.50135635] [ 0.09659134 0.99418426 0.04762108 -0.57763256] [ 0.40474585 -0.08294392 0.91065971 1.65269904] [ 0. 0. 0. 1. ]] SLAMing on 137.29538475 meters Centerline goodness : 0.900455 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.57, Z:1.65 [[ 0.91155284 -0.06659954 -0.40575353 11.51457162] [ 0.09128492 0.99494845 0.04176899 -0.5711911 ] [ 0.40092205 -0.07511382 0.91302762 1.6535564 ] [ 0. 0. 0. 1. ]] SLAMing on 137.35538475 meters Centerline goodness : 0.894374 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.57, Z:1.65 [[ 0.91152019 -0.06206862 -0.4065445 11.51654479] [ 0.08763537 0.99515573 0.04455471 -0.56760692] [ 0.40180964 -0.07624019 0.91254394 1.65295759] [ 0. 0. 0. 1. ]] SLAMing on 137.41538475000002 meters Centerline goodness : 0.899712 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.57, Z:1.65 [[ 0.91158608 -0.05689465 -0.40715332 11.51659401] [ 0.08373778 0.99531171 0.04840017 -0.56676663] [ 0.40249075 -0.07821503 0.91207653 1.65385186] [ 0. 0. 0. 1. ]] SLAMing on 137.47538475000002 meters Centerline goodness : 0.892306 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:1.65 [[ 0.91389799 -0.0562237 -0.40203155 11.52983986] [ 0.07958102 0.99595917 0.04161966 -0.56203017] [ 0.39806699 -0.07003021 0.91467942 1.65420682] [ 0. 0. 0. 1. ]] SLAMing on 137.53538475 meters Centerline goodness : 0.891319 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:1.65 [[ 0.91383334 -0.05560561 -0.4022644 11.53058064] [ 0.07861635 0.9960653 0.04090698 -0.55933119] [ 0.39840696 -0.06900672 0.91460919 1.65269747] [ 0. 0. 0. 1. ]] SLAMing on 137.59538475 meters Centerline goodness : 0.893273 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:1.65 [[ 0.91351445 -0.05199961 -0.40346919 11.5346962 ] [ 0.07625566 0.99610481 0.04427496 -0.55937994] [ 0.39959533 -0.07121262 0.91392141 1.65347545] [ 0. 0. 0. 1. ]] SLAMing on 137.65538475 meters Centerline goodness : 0.895341 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:1.66 [[ 0.91352064 -0.05010864 -0.4036944 11.53140512] [ 0.07719523 0.99570598 0.05109301 -0.56581649] [ 0.39940073 -0.0778378 0.91346611 1.66414678] [ 0. 0. 0. 1. ]] SLAMing on 137.71538475 meters Centerline goodness : 0.902276 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:1.67 [[ 0.91345526 -0.04728575 -0.40418257 11.5346036 ] [ 0.0779855 0.995158 0.05982315 -0.56966829] [ 0.39939674 -0.08616615 0.91271991 1.67418456] [ 0. 0. 0. 1. ]] SLAMing on 137.77538475 meters Centerline goodness : 0.901508 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:1.67 [[ 0.91365141 -0.04693002 -0.40378047 11.53420853] [ 0.07745853 0.99521263 0.05959859 -0.56904596] [ 0.39905046 -0.08572858 0.91291256 1.67311522] [ 0. 0. 0. 1. ]] SLAMing on 137.83538475 meters Centerline goodness : 0.905408 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:1.67 [[ 0.91371017 -0.04685162 -0.4036566 11.53490615] [ 0.07715427 0.99526441 0.05912673 -0.56812247] [ 0.39897486 -0.08516853 0.91299802 1.6719721 ] [ 0. 0. 0. 1. ]] SLAMing on 137.89538475 meters Centerline goodness : 0.907743 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:1.67 [[ 0.91362077 -0.04756848 -0.40377509 11.53714489] [ 0.07773693 0.99524754 0.05864566 -0.56926107] [ 0.39906647 -0.08496813 0.91297665 1.67127622] [ 0. 0. 0. 1. ]] SLAMing on 137.95538475 meters Centerline goodness : 0.910916 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:1.67 [[ 0.913158 -0.0496115 -0.40457529 11.54254336] [ 0.07956902 0.99516612 0.05756012 -0.57106369] [ 0.39976397 -0.08475314 0.91269144 1.67067315] [ 0. 0. 0. 1. ]] SLAMing on 138.01538475 meters Centerline goodness : 0.910988 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.57, Z:1.67 [[ 0.91301197 -0.0541079 -0.40432844 11.54740329] [ 0.08310736 0.99504892 0.0545052 -0.57312952] [ 0.39937741 -0.08336657 0.91298833 1.66874557] [ 0. 0. 0. 1. ]] SLAMing on 138.07538475 meters Centerline goodness : 0.910531 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.58, Z:1.67 [[ 0.9127031 -0.05479246 -0.40493312 11.54964901] [ 0.08393587 0.99497662 0.05455546 -0.57556181] [ 0.39990976 -0.08378135 0.9127173 1.66967371] [ 0. 0. 0. 1. ]] SLAMing on 138.13538475000001 meters Centerline goodness : 0.910517 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.58, Z:1.67 [[ 0.91253726 -0.05546335 -0.40521546 11.55064519] [ 0.08475624 0.99489948 0.05469377 -0.57553071] [ 0.40011515 -0.08425464 0.9125837 1.67069337] [ 0. 0. 0. 1. ]] SLAMing on 138.19538475000002 meters Centerline goodness : 0.892686 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.57, Z:1.67 [[ 0.91252 -0.0562075 -0.40515178 11.55285558] [ 0.085189 0.99490882 0.05384482 -0.57293693] [ 0.40006259 -0.08364895 0.91266246 1.66900722] [ 0. 0. 0. 1. ]] SLAMing on 138.25538475000002 meters Centerline goodness : 0.905081 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.57, Z:1.67 [[ 0.91258713 -0.06076146 -0.40434239 11.55197697] [ 0.08837981 0.99483243 0.04997448 -0.57306943] [ 0.3992164 -0.08134177 0.91324136 1.66780509] [ 0. 0. 0. 1. ]] SLAMing on 138.31538475 meters Centerline goodness : 0.900316 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.58, Z:1.67 [[ 0.91220121 -0.06113262 -0.40515646 11.55262182] [ 0.09005858 0.99454106 0.05270222 -0.57660708] [ 0.39972291 -0.08456285 0.91272708 1.67360026] [ 0. 0. 0. 1. ]] SLAMing on 138.37538475 meters Centerline goodness : 0.907709 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.58, Z:1.67 [[ 0.91212152 -0.06153189 -0.40527541 11.55422332] [ 0.09022036 0.99456073 0.05205037 -0.57563821] [ 0.39986825 -0.08404036 0.91271167 1.67255091] [ 0. 0. 0. 1. ]] SLAMing on 138.43538475 meters Centerline goodness : 0.899283 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.58, Z:1.67 [[ 0.91183085 -0.0617162 -0.40590099 11.55572559] [ 0.09042533 0.99454913 0.05191613 -0.57689681] [ 0.40048441 -0.08404246 0.91244129 1.67304405] [ 0. 0. 0. 1. ]] SLAMing on 138.49538475 meters Centerline goodness : 0.906216 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.58, Z:1.67 [[ 0.91133966 -0.06310198 -0.40679008 11.55931071] [ 0.09213254 0.99437986 0.05215639 -0.58006549] [ 0.4012127 -0.08501079 0.91203154 1.67475136] [ 0. 0. 0. 1. ]] SLAMing on 138.55538475 meters Centerline goodness : 0.902165 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.58, Z:1.68 [[ 0.91090474 -0.06461971 -0.40752528 11.56358788] [ 0.09387156 0.99421629 0.05217365 -0.58219446] [ 0.40179683 -0.08578026 0.91170229 1.67563783] [ 0. 0. 0. 1. ]] SLAMing on 138.61538475 meters Centerline goodness : 0.904725 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.59, Z:1.68 [[ 0.91039641 -0.07019179 -0.40773948 11.56540406] [ 0.09829975 0.99398062 0.04837024 -0.5850617 ] [ 0.40188995 -0.08411678 0.91181623 1.67622594] [ 0. 0. 0. 1. ]] SLAMing on 138.67538475 meters Centerline goodness : 0.905297 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.59, Z:1.68 [[ 0.90999396 -0.0679545 -0.4090149 11.57086507] [ 0.09730438 0.99392889 0.05135377 -0.58542117] [ 0.403042 -0.08653056 0.91108156 1.67746828] [ 0. 0. 0. 1. ]] SLAMing on 138.73538475 meters Centerline goodness : 0.903977 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:1.68 [[ 0.90986272 -0.0635742 -0.41000994 11.57248949] [ 0.09437997 0.99399826 0.05531615 -0.58487135] [ 0.40403249 -0.08902683 0.91040209 1.67907373] [ 0. 0. 0. 1. ]] SLAMing on 138.79538475 meters Centerline goodness : 0.904909 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:1.68 [[ 0.91011521 -0.06269493 -0.40958473 11.56911561] [ 0.09332031 0.99410506 0.05519466 -0.58201171] [ 0.40370983 -0.08845608 0.91060085 1.67912142] [ 0. 0. 0. 1. ]] SLAMing on 138.85538475 meters Centerline goodness : 0.906565 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:1.68 [[ 0.90989968 -0.05836336 -0.41070219 11.57058602] [ 0.09049277 0.99413534 0.05921142 -0.58157043] [ 0.40483778 -0.09104203 0.90984489 1.68130122] [ 0. 0. 0. 1. ]] SLAMing on 138.91538475000002 meters Centerline goodness : 0.903120 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:1.68 [[ 0.90982196 -0.05463412 -0.41138681 11.5730832 ] [ 0.08755168 0.99425434 0.06158737 -0.57760772] [ 0.40565835 -0.09205115 0.90937775 1.6804357 ] [ 0. 0. 0. 1. ]] SLAMing on 138.97538475000002 meters Centerline goodness : 0.904514 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:1.68 [[ 0.9091664 -0.05377644 -0.41294618 11.57971932] [ 0.08845454 0.99393682 0.06531 -0.5778336 ] [ 0.40693028 -0.09590462 0.90841073 1.68494755] [ 0. 0. 0. 1. ]] SLAMing on 139.03538475 meters Centerline goodness : 0.904655 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:1.69 [[ 0.90919333 -0.05372773 -0.41289322 11.57983647] [ 0.08848282 0.99392142 0.06550569 -0.57796717] [ 0.40686394 -0.09609129 0.90842071 1.68510834] [ 0. 0. 0. 1. ]] SLAMing on 139.09538475 meters Centerline goodness : 0.904693 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:1.69 [[ 0.90904034 -0.05857617 -0.41257058 11.57937555] [ 0.09209822 0.99382888 0.06182291 -0.57935515] [ 0.40640321 -0.09419654 0.90882531 1.68520381] [ 0. 0. 0. 1. ]] SLAMing on 139.15538475 meters Centerline goodness : 0.903944 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:1.68 [[ 0.9085013 -0.06560418 -0.41270024 11.58372188] [ 0.09755457 0.99360769 0.05680549 -0.57979703] [ 0.40633545 -0.09186866 0.90909386 1.68413121] [ 0. 0. 0. 1. ]] SLAMing on 139.21538475 meters Centerline goodness : 0.897068 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.58, Z:1.69 [[ 0.90757177 -0.06859515 -0.41425618 11.59713462] [ 0.10183657 0.99306958 0.05866957 -0.58113275] [ 0.40736076 -0.09543328 0.90826742 1.68738556] [ 0. 0. 0. 1. ]] SLAMing on 139.27538475 meters Centerline goodness : 0.899638 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.58, Z:1.69 [[ 0.90699191 -0.07068678 -0.41517352 11.60174449] [ 0.10410775 0.99285032 0.05839364 -0.58335989] [ 0.40807751 -0.09618534 0.90786625 1.68876803] [ 0. 0. 0. 1. ]] SLAMing on 139.33538475 meters Centerline goodness : 0.901378 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.58, Z:1.69 [[ 0.90661281 -0.07145036 -0.41587025 11.60354218] [ 0.10480358 0.99280588 0.05790251 -0.58225804] [ 0.40874127 -0.09607985 0.90757878 1.6893704 ] [ 0. 0. 0. 1. ]] SLAMing on 139.39538475 meters Centerline goodness : 0.900075 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.58, Z:1.69 [[ 0.90654719 -0.06727304 -0.41670916 11.60544653] [ 0.10187144 0.99290544 0.06132694 -0.58004037] [ 0.40962714 -0.09804652 0.90696884 1.6900836 ] [ 0. 0. 0. 1. ]] SLAMing on 139.45538475 meters Centerline goodness : 0.905849 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.58, Z:1.69 [[ 0.90937254 -0.06628793 -0.41066712 11.61374536] [ 0.09746669 0.99369395 0.05543083 -0.57617739] [ 0.40440304 -0.09043364 0.91009886 1.69236246] [ 0. 0. 0. 1. ]] SLAMing on 139.51538475 meters Centerline goodness : 0.905266 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.57, Z:1.69 [[ 0.91183581 -0.06551833 -0.40529347 11.62330213] [ 0.09298069 0.99448969 0.04842372 -0.57097085] [ 0.39988753 -0.08183895 0.91290325 1.69365889] [ 0. 0. 0. 1. ]] SLAMing on 139.57538475 meters Centerline goodness : 0.902669 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.57, Z:1.69 [[ 0.91137191 -0.05918625 -0.40730607 11.63165883] [ 0.08860204 0.99461727 0.0537231 -0.56740764] [ 0.40193398 -0.08504987 0.91171026 1.69330005] [ 0. 0. 0. 1. ]] SLAMing on 139.63538475000001 meters Centerline goodness : 0.895404 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.56, Z:1.69 [[ 0.9114147 -0.0550126 -0.40779512 11.63428533] [ 0.08523461 0.99476895 0.05630095 -0.5644889 ] [ 0.40256466 -0.08607177 0.91133602 1.69181187] [ 0. 0. 0. 1. ]] SLAMing on 139.69538475000002 meters Centerline goodness : 0.900031 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.91352728 -0.05919838 -0.40244684 11.64697685] [ 0.08506339 0.99528118 0.04668616 -0.56211395] [ 0.39778402 -0.07688258 0.91425212 1.69362264] [ 0. 0. 0. 1. ]] SLAMing on 139.75538475 meters Centerline goodness : 0.901715 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.91312944 -0.06031165 -0.40318375 11.64967138] [ 0.08626808 0.99518567 0.04651139 -0.56239847] [ 0.39843751 -0.07725281 0.91393629 1.6945768 ] [ 0. 0. 0. 1. ]] SLAMing on 139.81538475 meters Centerline goodness : 0.901510 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.91269033 -0.06213573 -0.40390038 11.65458258] [ 0.08787938 0.99509161 0.04549617 -0.56180664] [ 0.39909094 -0.07701842 0.91367094 1.69390139] [ 0. 0. 0. 1. ]] SLAMing on 139.87538475 meters Centerline goodness : 0.903382 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.91293474 -0.0611667 -0.40349573 11.65247241] [ 0.08719894 0.99510774 0.04644283 -0.56315955] [ 0.39868097 -0.07758367 0.91380209 1.6945422 ] [ 0. 0. 0. 1. ]] SLAMing on 139.93538475 meters Centerline goodness : 0.911050 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.91313403 -0.06043965 -0.40315419 11.65097282] [ 0.08646653 0.99516182 0.04665289 -0.56259744] [ 0.39838397 -0.07745968 0.91394213 1.69435016] [ 0. 0. 0. 1. ]] SLAMing on 139.99538475 meters Centerline goodness : 0.908538 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.9130458 -0.06073324 -0.40330986 11.6520728 ] [ 0.08659595 0.99517249 0.04618291 -0.56173133] [ 0.39855803 -0.07709211 0.91389731 1.69384894] [ 0. 0. 0. 1. ]] SLAMing on 140.05538475 meters Centerline goodness : 0.908904 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.91296302 -0.06140603 -0.40339537 11.65467722] [ 0.0869419 0.99518396 0.04527677 -0.56055336] [ 0.39867234 -0.07640797 0.91390491 1.69216634] [ 0. 0. 0. 1. ]] SLAMing on 140.11538475 meters Centerline goodness : 0.911884 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.69 [[ 0.9130802 -0.06061117 -0.40325034 11.65329435] [ 0.08662165 0.9951527 0.04655952 -0.56275612] [ 0.39847364 -0.07744279 0.91390447 1.69354341] [ 0. 0. 0. 1. ]] SLAMing on 140.17538475 meters Centerline goodness : 0.917068 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:1.70 [[ 0.91291565 -0.06042869 -0.40365008 11.65372049] [ 0.08683605 0.9950933 0.04742178 -0.56450471] [ 0.39880385 -0.07834346 0.91368364 1.69509272] [ 0. 0. 0. 1. ]] SLAMing on 140.23538475 meters Centerline goodness : 0.915740 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.56, Z:1.69 [[ 0.91263068 -0.06126607 -0.40416793 11.65652623] [ 0.08762378 0.9950431 0.04702444 -0.56486577] [ 0.39928351 -0.07833067 0.91347522 1.69497118] [ 0. 0. 0. 1. ]] SLAMing on 140.29538475 meters Centerline goodness : 0.915546 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.57, Z:1.70 [[ 0.91266075 -0.05670927 -0.40476464 11.65844773] [ 0.08441692 0.99512855 0.05092096 -0.56554815] [ 0.39990516 -0.08064255 0.913002 1.69539828] [ 0. 0. 0. 1. ]] SLAMing on 140.35538475 meters Centerline goodness : 0.917182 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.56, Z:1.69 [[ 0.91773415 -0.05944221 -0.39272212 11.66251286] [ 0.08639866 0.99493859 0.05130764 -0.56409041] [ 0.38768455 -0.08101743 0.91822484 1.69310184] [ 0. 0. 0. 1. ]] SLAMing on 140.41538475000002 meters Centerline goodness : 0.918117 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.56, Z:1.69 [[ 0.91767176 -0.05977515 -0.39281735 11.66426585] [ 0.08674 0.99491239 0.05123963 -0.56442697] [ 0.38775599 -0.08109414 0.91818791 1.69255168] [ 0. 0. 0. 1. ]] SLAMing on 140.47538475000002 meters Centerline goodness : 0.915613 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.57, Z:1.69 [[ 0.91740101 -0.06041393 -0.39335169 11.66656307] [ 0.08738814 0.99486731 0.05101319 -0.56554876] [ 0.38825083 -0.08117382 0.91797174 1.69273222] [ 0. 0. 0. 1. ]] SLAMing on 140.53538475 meters Centerline goodness : 0.915947 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.57, Z:1.69 [[ 0.91694818 -0.06622794 -0.3934716 11.66770878] [ 0.09237203 0.99457366 0.04786064 -0.56867394] [ 0.38816678 -0.0802315 0.91809011 1.6946151 ] [ 0. 0. 0. 1. ]] SLAMing on 140.59538475 meters Centerline goodness : 0.908059 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.56, Z:1.69 [[ 0.91601607 -0.06635536 -0.39561537 11.67973891] [ 0.09312469 0.99445656 0.04882566 -0.56413864] [ 0.39018246 -0.08156665 0.91711751 1.69368036] [ 0. 0. 0. 1. ]] SLAMing on 140.65538475 meters Centerline goodness : 0.907843 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.56, Z:1.69 [[ 0.91585682 -0.06232918 -0.39663758 11.68286853] [ 0.09038237 0.99452694 0.05241373 -0.56448429] [ 0.39119985 -0.08385252 0.91647773 1.69438683] [ 0. 0. 0. 1. ]] SLAMing on 140.71538475 meters Centerline goodness : 0.914133 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.56, Z:1.70 [[ 0.9184164 -0.06375286 -0.39044448 11.69148204] [ 0.08811573 0.99510295 0.04478557 -0.56318816] [ 0.38567724 -0.0755361 0.91953649 1.69692205] [ 0. 0. 0. 1. ]] SLAMing on 140.77538475 meters Centerline goodness : 0.914594 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.56, Z:1.70 [[ 0.91826325 -0.05994513 -0.39140666 11.69426737] [ 0.0856548 0.99514165 0.04854225 -0.56395377] [ 0.3865952 -0.07810043 0.9189366 1.69806576] [ 0. 0. 0. 1. ]] SLAMing on 140.83538475 meters Centerline goodness : 0.905314 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.56, Z:1.70 [[ 0.9177072 -0.05821255 -0.39296919 11.70233576] [ 0.08497584 0.99507489 0.05103987 -0.56311476] [ 0.38806262 -0.08023254 0.91813406 1.69816874] [ 0. 0. 0. 1. ]] SLAMing on 140.89538475 meters Centerline goodness : 0.906334 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.56, Z:1.70 [[ 0.91790294 -0.05765583 -0.39259393 11.70135826] [ 0.08428444 0.99514004 0.05091599 -0.56322188] [ 0.38775033 -0.0798255 0.91830146 1.69735199] [ 0. 0. 0. 1. ]] SLAMing on 140.95538475 meters Centerline goodness : 0.913357 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.56, Z:1.70 [[ 0.91808955 -0.05653462 -0.39232054 11.69929482] [ 0.08306715 0.99523949 0.0509726 -0.56236565] [ 0.38757118 -0.07938636 0.91841515 1.69700355] [ 0. 0. 0. 1. ]] SLAMing on 141.01538475 meters Centerline goodness : 0.915340 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.56, Z:1.70 [[ 0.91828409 -0.05151768 -0.39255606 11.69963893] [ 0.07895175 0.99541192 0.05405298 -0.55922927] [ 0.38797029 -0.08062898 0.91813834 1.69600247] [ 0. 0. 0. 1. ]] SLAMing on 141.07538475 meters Centerline goodness : 0.917185 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.56, Z:1.69 [[ 0.91862535 -0.05064827 -0.39187015 11.69797935] [ 0.07772866 0.99553581 0.05354159 -0.55703943] [ 0.38740898 -0.0796442 0.91846126 1.69411008] [ 0. 0. 0. 1. ]] SLAMing on 141.13538475000001 meters Centerline goodness : 0.921292 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.56, Z:1.70 [[ 0.92123787 -0.05350432 -0.38530259 11.70670349] [ 0.07676425 0.99602291 0.04522836 -0.55676021] [ 0.38135029 -0.07124355 0.92168124 1.69673952] [ 0. 0. 0. 1. ]] SLAMing on 141.19538475000002 meters Centerline goodness : 0.924878 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.56, Z:1.70 [[ 0.92097494 -0.0545669 -0.38578181 11.70944691] [ 0.07783763 0.99595226 0.04494894 -0.55721503] [ 0.38176754 -0.07142519 0.92149443 1.69685498] [ 0. 0. 0. 1. ]] SLAMing on 141.25538475 meters Centerline goodness : 0.920198 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.56, Z:1.70 [[ 0.92037618 -0.05491625 -0.38715875 11.71997012] [ 0.078939 0.99579855 0.04641004 -0.55763901] [ 0.38298345 -0.07327662 0.92084429 1.6962757 ] [ 0. 0. 0. 1. ]] SLAMing on 141.31538475 meters Centerline goodness : 0.922083 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.56, Z:1.70 [[ 0.92012236 -0.05527936 -0.38770998 11.72189723] [ 0.07951732 0.99573705 0.04674102 -0.55976279] [ 0.38347338 -0.07383712 0.92059559 1.69708425] [ 0. 0. 0. 1. ]] SLAMing on 141.37538475 meters Centerline goodness : 0.921533 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.56, Z:1.70 [[ 0.91995217 -0.05977814 -0.38744623 11.72651446] [ 0.08327776 0.9955486 0.0441339 -0.56232636] [ 0.38308331 -0.07286673 0.92083528 1.69566742] [ 0. 0. 0. 1. ]] SLAMing on 141.43538475 meters Centerline goodness : 0.922316 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.56, Z:1.70 [[ 0.91963771 -0.06050323 -0.38807968 11.72934403] [ 0.08413853 0.99547392 0.04418573 -0.5638833 ] [ 0.38364982 -0.07328732 0.92056601 1.69607348] [ 0. 0. 0. 1. ]] SLAMing on 141.49538475 meters Centerline goodness : 0.931180 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.57, Z:1.71 [[ 0.91968392 -0.05620298 -0.3886164 11.73102754] [ 0.0833453 0.9950928 0.05332804 -0.56853704] [ 0.38371219 -0.08143429 0.9198551 1.70547622] [ 0. 0. 0. 1. ]] SLAMing on 141.55538475 meters Centerline goodness : 0.936313 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.57, Z:1.71 [[ 0.91943561 -0.05528672 -0.38933474 11.72949226] [ 0.08387426 0.99485614 0.05680114 -0.57228494] [ 0.3841917 -0.08488015 0.9193433 1.71179431] [ 0. 0. 0. 1. ]] SLAMing on 141.61538475 meters Centerline goodness : 0.938871 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.57, Z:1.71 [[ 0.91914432 -0.05625431 -0.38988353 11.73235701] [ 0.08469774 0.99482416 0.05613547 -0.57179261] [ 0.38470769 -0.08461886 0.91915159 1.71140857] [ 0. 0. 0. 1. ]] SLAMing on 141.67538475 meters Centerline goodness : 0.934553 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.57, Z:1.71 [[ 0.91887828 -0.05294198 -0.39097295 11.73675127] [ 0.08258954 0.99481206 0.05939648 -0.57191271] [ 0.38580004 -0.08686841 0.91848365 1.71184709] [ 0. 0. 0. 1. ]] SLAMing on 141.73538475 meters Centerline goodness : 0.936699 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.57, Z:1.71 [[ 0.91887484 -0.053971 -0.39084032 11.7390124 ] [ 0.08295904 0.99488373 0.05765554 -0.56998018] [ 0.38572895 -0.08540196 0.91865101 1.70907748] [ 0. 0. 0. 1. ]] SLAMing on 141.79538475 meters Centerline goodness : 0.936332 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.57, Z:1.71 [[ 0.91861786 -0.05493662 -0.39130959 11.74173236] [ 0.08360646 0.99489038 0.05659579 -0.56931347] [ 0.38620097 -0.08470592 0.91851713 1.70814805] [ 0. 0. 0. 1. ]] SLAMing on 141.85538475 meters Centerline goodness : 0.936413 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.57, Z:1.71 [[ 0.91836918 -0.05146079 -0.39236441 11.74521904] [ 0.08158665 0.99482925 0.0604845 -0.57075426] [ 0.38722301 -0.0875588 0.91781904 1.70982578] [ 0. 0. 0. 1. ]] SLAMing on 141.91538475000002 meters Centerline goodness : 0.932962 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.57, Z:1.71 [[ 0.91806707 -0.05752052 -0.39222984 11.74732779] [ 0.08597736 0.99475782 0.05536038 -0.56932863] [ 0.38698934 -0.08454743 0.91819986 1.70808392] [ 0. 0. 0. 1. ]] SLAMing on 141.97538475000002 meters Centerline goodness : 0.934522 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.57, Z:1.71 [[ 0.91770112 -0.05830908 -0.39296908 11.74975418] [ 0.0868442 0.99469064 0.05521434 -0.5698984 ] [ 0.38766317 -0.08479735 0.91789252 1.70883478] [ 0. 0. 0. 1. ]] SLAMing on 142.03538475 meters Centerline goodness : 0.939181 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.57, Z:1.71 [[ 0.91766921 -0.0533131 -0.39375238 11.75052222] [ 0.08349917 0.99470469 0.05992046 -0.57050895] [ 0.38847279 -0.08786516 0.91726147 1.71087896] [ 0. 0. 0. 1. ]] SLAMing on 142.09538475 meters Centerline goodness : 0.940548 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.57, Z:1.71 [[ 0.91966404 -0.05554623 -0.38875785 11.76407558] [ 0.08124813 0.99544024 0.04997464 -0.56627933] [ 0.38420931 -0.07754573 0.91998362 1.70975047] [ 0. 0. 0. 1. ]] SLAMing on 142.15538475 meters Centerline goodness : 0.941760 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.57, Z:1.71 [[ 0.91936405 -0.05622261 -0.3893697 11.76520318] [ 0.08197218 0.99538856 0.04982139 -0.56592295] [ 0.38477306 -0.07772148 0.91973315 1.71085284] [ 0. 0. 0. 1. ]] SLAMing on 142.21538475 meters Centerline goodness : 0.934799 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.56, Z:1.71 [[ 0.91895939 -0.05389493 -0.39065199 11.77158756] [ 0.08029183 0.9954378 0.05154429 -0.5625151 ] [ 0.38609178 -0.07873327 0.91909423 1.7093507 ] [ 0. 0. 0. 1. ]] SLAMing on 142.27538475 meters Centerline goodness : 0.943177 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.56, Z:1.71 [[ 0.92129647 -0.05464528 -0.38500222 11.78115234] [ 0.07699852 0.99610904 0.04287197 -0.56068703] [ 0.38116144 -0.0691424 0.92191935 1.70984938] [ 0. 0. 0. 1. ]] SLAMing on 142.33538475 meters Centerline goodness : 0.949968 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.56, Z:1.72 [[ 0.92123337 -0.05308861 -0.38537083 11.77751091] [ 0.07734568 0.99586234 0.04770591 -0.5641245 ] [ 0.38124366 -0.07375505 0.92152779 1.71809672] [ 0. 0. 0. 1. ]] SLAMing on 142.39538475 meters Centerline goodness : 0.945467 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.56, Z:1.72 [[ 0.92034168 -0.05471315 -0.38726949 11.78940429] [ 0.08018032 0.99553057 0.04989982 -0.56392056] [ 0.38280844 -0.07697627 0.9206152 1.72056862] [ 0. 0. 0. 1. ]] SLAMing on 142.45538475 meters Centerline goodness : 0.943050 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.57, Z:1.72 [[ 0.9199048 -0.05341526 -0.38848676 11.79591431] [ 0.07996134 0.99541569 0.05247652 -0.56608309] [ 0.38390277 -0.07933732 0.91995883 1.7215835 ] [ 0. 0. 0. 1. ]] SLAMing on 142.51538475 meters Centerline goodness : 0.948975 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.57, Z:1.72 [[ 0.92469634 -0.05868241 -0.37615564 11.80254213] [ 0.08399812 0.99514749 0.05124237 -0.5655682 ] [ 0.37132331 -0.07898 0.92513845 1.71860261] [ 0. 0. 0. 1. ]] SLAMing on 142.57538475 meters Centerline goodness : 0.949023 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.57, Z:1.73 [[ 0.92397566 -0.05681203 -0.3782081 11.80898266] [ 0.08454085 0.99478224 0.05710635 -0.56769574] [ 0.37299038 -0.08473891 0.92395752 1.72543335] [ 0. 0. 0. 1. ]] SLAMing on 142.63538475000001 meters Centerline goodness : 0.940959 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.57, Z:1.73 [[ 0.9231282 -0.05613999 -0.3803717 11.81873062] [ 0.08468048 0.9946773 0.05870512 -0.56592753] [ 0.37505139 -0.08640241 0.92296862 1.72558815] [ 0. 0. 0. 1. ]] SLAMing on 142.69538475000002 meters Centerline goodness : 0.942755 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.56, Z:1.73 [[ 0.92300374 -0.05645875 -0.38062647 11.8189023 ] [ 0.0849132 0.99467721 0.05836948 -0.56463829] [ 0.37530501 -0.08619546 0.92288488 1.72591006] [ 0. 0. 0. 1. ]] SLAMing on 142.75538475 meters Centerline goodness : 0.946927 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.56, Z:1.72 [[ 0.92764551 -0.05972788 -0.36865484 11.82469425] [ 0.08727247 0.99446624 0.05848437 -0.56012361] [ 0.36312164 -0.08642618 0.92772474 1.72201502] [ 0. 0. 0. 1. ]] SLAMing on 142.81538475 meters Centerline goodness : 0.950308 with order 1 Centerline is valid? [False, True] Translation: X:11.84, Y:-0.56, Z:1.72 [[ 0.92948961 -0.06263909 -0.36349058 11.83828661] [ 0.08599488 0.99511857 0.048414 -0.55614511] [ 0.35868362 -0.07625864 0.93033901 1.72133612] [ 0. 0. 0. 1. ]] SLAMing on 142.87538475 meters Centerline goodness : 0.950331 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.52, Z:1.69 [[ 9.29543301e-01 -9.07840703e-02 -3.57361866e-01 1.19100446e+01] [ 8.48235272e-02 9.95870572e-01 -3.23538788e-02 -5.18285682e-01] [ 3.58823383e-01 -2.38362607e-04 9.33405444e-01 1.68797449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93538475 meters Centerline goodness : 0.952292 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.51, Z:1.71 [[ 9.29705150e-01 -8.91506692e-02 -3.57352056e-01 1.19631064e+01] [ 8.30320772e-02 9.96018022e-01 -3.24618907e-02 -5.13674472e-01] [ 3.58823087e-01 5.08303424e-04 9.33405450e-01 1.71037120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99538475 meters Centerline goodness : 0.948281 with order 1 Centerline is valid? [True, False] Translation: X:11.97, Y:-0.51, Z:1.71 [[ 9.29449068e-01 -8.50590780e-02 -3.59011675e-01 1.19662771e+01] [ 8.02558032e-02 9.96372729e-01 -2.82911809e-02 -5.14309022e-01] [ 3.60115864e-01 -2.51755866e-03 9.32904189e-01 1.71242708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05538475 meters Centerline goodness : 0.950184 with order 1 Centerline is valid? [False, True] Translation: X:11.97, Y:-0.51, Z:1.72 [[ 9.28850716e-01 -8.34288747e-02 -3.60937627e-01 1.19726266e+01] [ 7.99939605e-02 9.96494824e-01 -2.44751272e-02 -5.14080764e-01] [ 3.61714409e-01 -6.13909085e-03 9.32268737e-01 1.71563770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11538475 meters Centerline goodness : 0.948783 with order 1 Centerline is valid? [True, False] Translation: X:11.98, Y:-0.51, Z:1.72 [[ 0.92828466 -0.07766687 -0.36366943 11.98026313] [ 0.07697104 0.99689795 -0.01642951 -0.51252569] [ 0.36381734 -0.01274076 0.93138317 1.72085074] [ 0. 0. 0. 1. ]] SLAMing on 143.17538475 meters Centerline goodness : 0.948512 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.51, Z:1.73 [[ 9.27984076e-01 -7.18953443e-02 -3.65618125e-01 1.19786683e+01] [ 7.37095311e-02 9.97239018e-01 -9.01369814e-03 -5.13891874e-01] [ 3.65256703e-01 -1.85849722e-02 9.30721301e-01 1.72904883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23538475 meters Centerline goodness : 0.945169 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.51, Z:1.73 [[ 9.27690998e-01 -6.01846688e-02 -3.68466032e-01 1.19844915e+01] [ 6.52974683e-02 9.97864846e-01 1.41046466e-03 -5.05712404e-01] [ 3.67594412e-01 -2.53683744e-02 9.29640142e-01 1.73228035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29538475 meters Centerline goodness : 0.956765 with order 1 Centerline is valid? [False, True] Translation: X:11.98, Y:-0.50, Z:1.74 [[ 9.27860108e-01 -5.94082844e-02 -3.68166099e-01 1.19754323e+01] [ 6.51127587e-02 9.97873162e-01 3.07904150e-03 -5.01117383e-01] [ 3.67200148e-01 -2.68292301e-02 9.29754937e-01 1.73932069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35538475 meters Centerline goodness : 0.952090 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.47, Z:1.74 [[ 9.28007502e-01 -6.94753473e-02 -3.66026299e-01 1.20369643e+01] [ 6.37964077e-02 9.97581096e-01 -2.76038857e-02 -4.74192026e-01] [ 3.67058706e-01 2.26545001e-03 9.30195019e-01 1.73762731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41538475000002 meters Centerline goodness : 0.948317 with order 1 Centerline is valid? [True, False] Translation: X:12.04, Y:-0.47, Z:1.74 [[ 9.27745734e-01 -6.14233691e-02 -3.68123652e-01 1.20410836e+01] [ 5.79386622e-02 9.98109178e-01 -2.05226742e-02 -4.70194879e-01] [ 3.68688167e-01 -2.28876850e-03 9.29550320e-01 1.73975789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47538475000002 meters Centerline goodness : 0.939441 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.47, Z:1.74 [[ 9.27169094e-01 -5.78736630e-02 -3.70146067e-01 1.20453802e+01] [ 5.54498579e-02 9.98313400e-01 -1.71949924e-02 -4.68953839e-01] [ 3.70516916e-01 -4.58188132e-03 9.28814417e-01 1.74164914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53538475 meters Centerline goodness : 0.938589 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.47, Z:1.74 [[ 9.27341733e-01 -4.70949626e-02 -3.71240319e-01 1.20446751e+01] [ 4.74711101e-02 9.98839521e-01 -8.13049709e-03 -4.68983564e-01] [ 3.71192408e-01 -1.00834408e-02 9.28501223e-01 1.74441261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59538475 meters Centerline goodness : 0.938839 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.47, Z:1.75 [[ 9.27692347e-01 -4.00240615e-02 -3.71193997e-01 1.20408963e+01] [ 4.19168661e-02 9.99116685e-01 -2.97082317e-03 -4.68189345e-01] [ 3.70985020e-01 -1.28032792e-02 9.28550586e-01 1.74594782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65538475 meters Centerline goodness : 0.949902 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.47, Z:1.75 [[ 9.28473342e-01 -2.46553333e-02 -3.70579773e-01 1.20311650e+01] [ 3.08718599e-02 9.99464437e-01 1.08521039e-02 -4.72455646e-01] [ 3.70113741e-01 -2.15163760e-02 9.28737242e-01 1.75282138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71538475 meters Centerline goodness : 0.953040 with order 1 Centerline is valid? [False, True] Translation: X:12.03, Y:-0.47, Z:1.76 [[ 0.92893759 -0.01643522 -0.36987137 12.02518029] [ 0.02460055 0.99954645 0.01736985 -0.47450771] [ 0.36941814 -0.02523454 0.92892059 1.75511309] [ 0. 0. 0. 1. ]] SLAMing on 143.77538475 meters Centerline goodness : 0.953247 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.46, Z:1.75 [[ 0.9295911 -0.03382748 -0.36703691 12.08872073] [ 0.02584805 0.99931099 -0.02663508 -0.4574633 ] [ 0.36768501 0.01527254 0.92982497 1.75118754] [ 0. 0. 0. 1. ]] SLAMing on 143.83538475 meters Centerline goodness : 0.950189 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.46, Z:1.77 [[ 0.92930117 -0.0410947 -0.36702937 12.14507198] [ 0.03361979 0.99907695 -0.02673863 -0.45881914] [ 0.3677894 0.01250879 0.92982498 1.76760441] [ 0. 0. 0. 1. ]] SLAMing on 143.89538475 meters Centerline goodness : 0.951999 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.46, Z:1.79 [[ 9.28956783e-01 -4.82771796e-02 -3.67026715e-01 1.21992671e+01] [ 4.13275257e-02 9.98786833e-01 -2.67749608e-02 -4.61118258e-01] [ 3.67874070e-01 9.70447542e-03 9.29824979e-01 1.79240818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95538475 meters Centerline goodness : 0.953997 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.46, Z:1.82 [[ 9.28777254e-01 -5.16678668e-02 -3.67019405e-01 1.22531685e+01] [ 4.49337248e-02 9.98628412e-01 -2.68748140e-02 -4.64776294e-01] [ 3.67904570e-01 8.46916695e-03 9.29824984e-01 1.81543558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01538475 meters Centerline goodness : 0.950330 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.47, Z:1.83 [[ 9.28702626e-01 -5.30101211e-02 -3.67016839e-01 1.23090453e+01] [ 4.63631115e-02 9.98562128e-01 -2.69098171e-02 -4.67641022e-01] [ 3.67915609e-01 7.97517519e-03 9.29824984e-01 1.83437613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07538475 meters Centerline goodness : 0.947149 with order 1 Centerline is valid? [True, False] Translation: X:12.32, Y:-0.47, Z:1.84 [[ 9.28264279e-01 -5.03540385e-02 -3.68496810e-01 1.23159441e+01] [ 4.66338138e-02 9.98731328e-01 -1.90005775e-02 -4.74921387e-01] [ 3.68986065e-01 4.53145696e-04 9.29434817e-01 1.84125873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13538475000001 meters Centerline goodness : 0.954714 with order 1 Centerline is valid? [False, True] Translation: X:12.31, Y:-0.48, Z:1.85 [[ 9.28399798e-01 -4.23528124e-02 -3.69161286e-01 1.23115196e+01] [ 4.20161808e-02 9.99076797e-01 -8.95516006e-03 -4.81849044e-01] [ 3.69199752e-01 -7.19677855e-03 9.29322199e-01 1.84995598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19538475000002 meters Centerline goodness : 0.962986 with order 1 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.47, Z:1.87 [[ 9.28069679e-01 -5.71072747e-02 -3.68001943e-01 1.23648112e+01] [ 5.10899993e-02 9.98353419e-01 -2.60818291e-02 -4.67949299e-01] [ 3.68885460e-01 5.40453576e-03 9.29459148e-01 1.87202115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25538475 meters Centerline goodness : 0.942766 with order 1 Centerline is valid? [True, False] Translation: X:12.38, Y:-0.46, Z:1.88 [[ 9.24707289e-01 -5.29827410e-02 -3.76973817e-01 1.23762080e+01] [ 5.33577788e-02 9.98530689e-01 -9.45573845e-03 -4.60094521e-01] [ 3.76920917e-01 -1.13706953e-02 9.26175647e-01 1.87525397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31538475 meters Centerline goodness : 0.931114 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.46, Z:1.88 [[ 9.22168570e-01 -4.60619181e-02 -3.84035712e-01 1.23774327e+01] [ 5.40439542e-02 9.98488353e-01 1.00129938e-02 -4.57209537e-01] [ 3.82993968e-01 -2.99884766e-02 9.23263945e-01 1.88242673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37538475 meters Centerline goodness : 0.933421 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.46, Z:1.89 [[ 0.92166689 -0.0396738 -0.38594836 12.37457439] [ 0.05007409 0.99860204 0.01692788 -0.45869998] [ 0.38473723 -0.03492788 0.92236506 1.890206 ] [ 0. 0. 0. 1. ]] SLAMing on 144.43538475 meters Centerline goodness : 0.934720 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.46, Z:1.89 [[ 0.9217599 -0.02791091 -0.38675531 12.37178749] [ 0.0414806 0.99878028 0.02678253 -0.45816249] [ 0.38553605 -0.0407299 0.92179338 1.89402435] [ 0. 0. 0. 1. ]] SLAMing on 144.49538475 meters Centerline goodness : 0.942020 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.46, Z:1.90 [[ 0.92227952 -0.01858972 -0.38607629 12.36379981] [ 0.03469283 0.99879252 0.03478383 -0.46033384] [ 0.38496349 -0.04547449 0.92181082 1.89823455] [ 0. 0. 0. 1. ]] SLAMing on 144.55538475 meters Centerline goodness : 0.949395 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.46, Z:1.90 [[ 0.92488747 -0.01926602 -0.37975255 12.37043406] [ 0.0321548 0.99910105 0.02762553 -0.46158814] [ 0.37887893 -0.03776137 0.92467553 1.90166452] [ 0. 0. 0. 1. ]] SLAMing on 144.61538475 meters Centerline goodness : 0.952011 with order 1 Centerline is valid? [False, True] Translation: X:12.37, Y:-0.47, Z:1.90 [[ 0.92496112 -0.01826203 -0.37962274 12.36932044] [ 0.03168872 0.99907264 0.02914931 -0.46541697] [ 0.37873837 -0.03899173 0.92468205 1.9027662 ] [ 0. 0. 0. 1. ]] SLAMing on 144.67538475 meters Centerline goodness : 0.945488 with order 1 Centerline is valid? [True, False] Translation: X:12.38, Y:-0.47, Z:1.90 [[ 0.92452909 -0.01909742 -0.3806327 12.37852498] [ 0.03293029 0.99901144 0.02986203 -0.46797821] [ 0.37968613 -0.04014266 0.92424402 1.90127352] [ 0. 0. 0. 1. ]] SLAMing on 144.73538475 meters Centerline goodness : 0.942050 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.47, Z:1.90 [[ 0.92436813 -0.01959732 -0.38099804 12.38030915] [ 0.03383201 0.99895593 0.0306993 -0.47332477] [ 0.37999863 -0.04126739 0.92406604 1.90234146] [ 0. 0. 0. 1. ]] SLAMing on 144.79538475 meters Centerline goodness : 0.943622 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.48, Z:1.90 [[ 0.92404999 -0.01971108 -0.38176313 12.38228214] [ 0.03458023 0.99888542 0.03212659 -0.47870808] [ 0.38070437 -0.04288803 0.92370168 1.90436654] [ 0. 0. 0. 1. ]] SLAMing on 144.85538475 meters Centerline goodness : 0.945417 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.49, Z:1.91 [[ 0.9237277 -0.0195755 -0.38254926 12.38244399] [ 0.03617109 0.99868841 0.03623694 -0.48570302] [ 0.38133816 -0.04731029 0.92322421 1.91126449] [ 0. 0. 0. 1. ]] SLAMing on 144.91538475000002 meters Centerline goodness : 0.949189 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.49, Z:1.91 [[ 0.92365673 -0.01832957 -0.38278229 12.3802653 ] [ 0.03587527 0.99860477 0.03874903 -0.48963688] [ 0.38153796 -0.04952322 0.92302559 1.91492488] [ 0. 0. 0. 1. ]] SLAMing on 144.97538475000002 meters Centerline goodness : 0.942228 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.49, Z:1.91 [[ 0.92326312 -0.02016123 -0.38363882 12.38536899] [ 0.03741088 0.99859407 0.03755405 -0.48903341] [ 0.38234231 -0.04902454 0.92271932 1.91383626] [ 0. 0. 0. 1. ]] SLAMing on 145.03538475 meters Centerline goodness : 0.941513 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.49, Z:1.91 [[ 0.92279259 -0.01748893 -0.38489995 12.3909754 ] [ 0.03601895 0.99851032 0.04098507 -0.48985649] [ 0.38360978 -0.05168441 0.92204786 1.91483134] [ 0. 0. 0. 1. ]] SLAMing on 145.09538475 meters Centerline goodness : 0.940422 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.49, Z:1.92 [[ 0.92271361 -0.01734724 -0.38509566 12.39125432] [ 0.03601828 0.99849641 0.04132323 -0.49134114] [ 0.38379979 -0.05199999 0.92195104 1.91532383] [ 0. 0. 0. 1. ]] SLAMing on 145.15538475 meters Centerline goodness : 0.937787 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.49, Z:1.92 [[ 0.92266595 -0.01699067 -0.38522572 12.39104285] [ 0.0358634 0.99847967 0.04185884 -0.4924177 ] [ 0.38392884 -0.05243724 0.92187254 1.91601431] [ 0. 0. 0. 1. ]] SLAMing on 145.21538475 meters Centerline goodness : 0.937581 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.49, Z:1.92 [[ 0.92238638 -0.01654804 -0.38591389 12.39036125] [ 0.03607595 0.99840558 0.04341462 -0.49430543] [ 0.38458015 -0.05396727 0.92151269 1.91923887] [ 0. 0. 0. 1. ]] SLAMing on 145.27538475 meters Centerline goodness : 0.937372 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.50, Z:1.92 [[ 0.92219749 -0.01687381 -0.38635097 12.3912348 ] [ 0.03673415 0.99835245 0.04407943 -0.49576538] [ 0.38497064 -0.05484222 0.92129796 1.92074576] [ 0. 0. 0. 1. ]] SLAMing on 145.33538475 meters Centerline goodness : 0.940772 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.50, Z:1.92 [[ 0.92217925 -0.0161811 -0.38642412 12.38960178] [ 0.03655984 0.9982976 0.04544532 -0.49779739] [ 0.38503091 -0.05603633 0.92120091 1.92287904] [ 0. 0. 0. 1. ]] SLAMing on 145.39538475 meters Centerline goodness : 0.948307 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.50, Z:1.92 [[ 0.9222542 -0.0151655 -0.38628642 12.38775838] [ 0.03609144 0.99824374 0.04697709 -0.49999496] [ 0.38489557 -0.05726645 0.92118183 1.92456318] [ 0. 0. 0. 1. ]] SLAMing on 145.45538475 meters Centerline goodness : 0.943638 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.50, Z:1.92 [[ 0.92182139 -0.01651591 -0.38726289 12.39218595] [ 0.03755417 0.9981971 0.04682119 -0.50291622] [ 0.38579141 -0.05770411 0.92077968 1.92492468] [ 0. 0. 0. 1. ]] SLAMing on 145.51538475 meters Centerline goodness : 0.943282 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.51, Z:1.93 [[ 0.92159671 -0.01716804 -0.38776896 12.39456162] [ 0.0383452 0.99816139 0.04694119 -0.50519448] [ 0.38625012 -0.05812992 0.92056057 1.92528382] [ 0. 0. 0. 1. ]] SLAMing on 145.57538475 meters Centerline goodness : 0.944737 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:1.93 [[ 0.92134831 -0.01767429 -0.38833609 12.39649698] [ 0.0391185 0.99811047 0.04738388 -0.50813295] [ 0.38676484 -0.05884818 0.92029878 1.92629048] [ 0. 0. 0. 1. ]] SLAMing on 145.63538475000001 meters Centerline goodness : 0.943661 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:1.93 [[ 0.92099744 -0.01772294 -0.38916528 12.39770896] [ 0.03960909 0.99804785 0.04828676 -0.5111801 ] [ 0.38754979 -0.05988646 0.9199015 1.92839228] [ 0. 0. 0. 1. ]] SLAMing on 145.69538475000002 meters Centerline goodness : 0.941153 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:1.93 [[ 0.92073537 -0.01924252 -0.38971285 12.40117394] [ 0.0409679 0.99803019 0.04751187 -0.51143047] [ 0.38803094 -0.05971158 0.91971002 1.92801338] [ 0. 0. 0. 1. ]] SLAMing on 145.75538475 meters Centerline goodness : 0.948288 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:1.93 [[ 0.92081115 -0.01467314 -0.38973263 12.39978788] [ 0.03911621 0.99772784 0.05485515 -0.51477398] [ 0.3880422 -0.0657561 0.91929287 1.93475576] [ 0. 0. 0. 1. ]] SLAMing on 145.81538475 meters Centerline goodness : 0.956360 with order 1 Centerline is valid? [False, True] Translation: X:12.40, Y:-0.51, Z:1.93 [[ 0.92612003 -0.01953979 -0.37672255 12.40256002] [ 0.04160361 0.99785614 0.05052002 -0.5139969 ] [ 0.37492776 -0.06246062 0.92494748 1.93181104] [ 0. 0. 0. 1. ]] SLAMing on 145.87538475 meters Centerline goodness : 0.957706 with order 1 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.49, Z:1.91 [[ 9.26165843e-01 -4.59044136e-02 -3.74312191e-01 1.24729181e+01] [ 4.22407173e-02 9.98945474e-01 -1.79905886e-02 -4.87201798e-01] [ 3.74743317e-01 8.51053163e-04 9.27128212e-01 1.90938385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93538475 meters Centerline goodness : 0.949739 with order 1 Centerline is valid? [True, False] Translation: X:12.48, Y:-0.49, Z:1.91 [[ 9.25531092e-01 -4.38703547e-02 -3.76121776e-01 1.24807322e+01] [ 4.12622849e-02 9.99035879e-01 -1.49912373e-02 -4.87611523e-01] [ 3.76416820e-01 -1.64478761e-03 9.26448958e-01 1.91016590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99538475 meters Centerline goodness : 0.945392 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.49, Z:1.92 [[ 9.24907110e-01 -4.07421415e-02 -3.78003856e-01 1.24855036e+01] [ 4.04925366e-02 9.99142726e-01 -8.61202681e-03 -4.91766179e-01] [ 3.78030676e-01 -7.34101016e-03 9.25763964e-01 1.91641663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05538475 meters Centerline goodness : 0.942606 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.49, Z:1.92 [[ 9.24477855e-01 -3.72584576e-02 -3.79410732e-01 1.24893711e+01] [ 3.87355257e-02 9.99242488e-01 -3.74290444e-03 -4.94178526e-01] [ 3.79262779e-01 -1.12364419e-02 9.25220777e-01 1.91961194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11538475 meters Centerline goodness : 0.943576 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.50, Z:1.92 [[ 9.24185888e-01 -3.25825538e-02 -3.80550683e-01 1.24911801e+01] [ 3.61434920e-02 9.99344160e-01 2.21289924e-03 -4.97614872e-01] [ 3.80229001e-01 -1.57995608e-02 9.24757417e-01 1.92366798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17538475 meters Centerline goodness : 0.950425 with order 1 Centerline is valid? [False, True] Translation: X:12.49, Y:-0.50, Z:1.93 [[ 9.24460719e-01 -3.04896833e-02 -3.80056256e-01 1.24862762e+01] [ 3.51660892e-02 9.99367077e-01 5.36573837e-03 -5.00816204e-01] [ 3.79652110e-01 -1.83255065e-02 9.24947810e-01 1.92758088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23538475 meters Centerline goodness : 0.957485 with order 1 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.49, Z:1.94 [[ 9.24332320e-01 -4.06913166e-02 -3.79412676e-01 1.25434846e+01] [ 3.82375926e-02 9.99170542e-01 -1.40040714e-02 -4.92921590e-01] [ 3.79667813e-01 -1.56341154e-03 9.25121564e-01 1.94337810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29538475 meters Centerline goodness : 0.950531 with order 1 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.49, Z:1.96 [[ 9.24297184e-01 -4.15162336e-02 -3.79408905e-01 1.25991473e+01] [ 3.90876443e-02 9.99136222e-01 -1.41055552e-02 -4.87947310e-01] [ 3.79666789e-01 -1.79247531e-03 9.25121568e-01 1.96236480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35538475 meters Centerline goodness : 0.941663 with order 1 Centerline is valid? [True, False] Translation: X:12.61, Y:-0.49, Z:1.97 [[ 9.23569427e-01 -3.48102787e-02 -3.81847820e-01 1.26071119e+01] [ 3.49677833e-02 9.99367113e-01 -6.52896798e-03 -4.87151368e-01] [ 3.81833429e-01 -7.32241659e-03 9.24202151e-01 1.96591204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41538475000002 meters Centerline goodness : 0.948075 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.49, Z:1.97 [[ 9.23629248e-01 -2.69250833e-02 -3.82340231e-01 1.26020202e+01] [ 3.00762135e-02 9.99545039e-01 2.26614135e-03 -4.91324847e-01] [ 3.82105266e-01 -1.35924208e-02 9.24018838e-01 1.97351656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47538475000002 meters Centerline goodness : 0.948197 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.49, Z:1.97 [[ 9.23705100e-01 -2.17022363e-02 -3.82489087e-01 1.26012115e+01] [ 2.62021335e-02 9.99635148e-01 6.55894845e-03 -4.88636463e-01] [ 3.82207191e-01 -1.60805643e-02 9.23936729e-01 1.97470197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53538475 meters Centerline goodness : 0.944110 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.49, Z:1.98 [[ 9.23504194e-01 -1.73743750e-02 -3.83194645e-01 1.26029923e+01] [ 2.29791858e-02 9.99685392e-01 1.00535477e-02 -4.87194031e-01] [ 3.82899414e-01 -1.80899944e-02 9.23612901e-01 1.97528441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59538475 meters Centerline goodness : 0.947264 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.49, Z:1.98 [[ 9.23215717e-01 -1.13366519e-02 -3.84114852e-01 1.26020541e+01] [ 1.97431819e-02 9.99643951e-01 1.79493200e-02 -4.91588989e-01] [ 3.83774603e-01 -2.41547437e-02 9.23110829e-01 1.98218648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65538475 meters Centerline goodness : 0.950037 with order 1 Centerline is valid? [False, True] Translation: X:12.60, Y:-0.50, Z:1.99 [[ 9.23074392e-01 -1.13872486e-02 -3.84452855e-01 1.26022969e+01] [ 2.05560158e-02 9.99593654e-01 1.97478319e-02 -4.95166790e-01] [ 3.84071761e-01 -2.61315369e-02 9.22933381e-01 1.98504587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71538475 meters Centerline goodness : 0.953278 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.49, Z:2.00 [[ 9.22751442e-01 -3.43765422e-02 -3.83859387e-01 1.26619464e+01] [ 3.31240242e-02 9.99402459e-01 -9.87538637e-03 -4.87284412e-01] [ 3.83969497e-01 -3.60244062e-03 9.23338750e-01 1.99523112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77538475 meters Centerline goodness : 0.951124 with order 1 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.48, Z:2.01 [[ 9.22519328e-01 -4.01523949e-02 -3.83856581e-01 1.27189048e+01] [ 3.93348278e-02 9.99176213e-01 -9.98336132e-03 -4.84152916e-01] [ 3.83941221e-01 -5.88908874e-03 9.23338756e-01 2.01027184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83538475 meters Centerline goodness : 0.951739 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.48, Z:2.03 [[ 9.22508100e-01 -4.04358849e-02 -3.83853805e-01 1.27729017e+01] [ 3.95979025e-02 9.99164760e-01 -1.00890634e-02 -4.81648248e-01] [ 3.83941155e-01 -5.89256284e-03 9.23338761e-01 2.03475166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89538475 meters Centerline goodness : 0.952357 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.48, Z:2.06 [[ 9.22624114e-01 -3.77236576e-02 -3.83851103e-01 1.28257687e+01] [ 3.66179456e-02 9.99277374e-01 -1.01909253e-02 -4.79977533e-01] [ 3.83958161e-01 -4.65344539e-03 9.23338765e-01 2.05991014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95538475 meters Centerline goodness : 0.944550 with order 1 Centerline is valid? [True, False] Translation: X:12.83, Y:-0.48, Z:2.06 [[ 9.21958862e-01 -2.95845417e-02 -3.86156201e-01 1.28309465e+01] [ 3.10081350e-02 9.99515897e-01 -2.54299899e-03 -4.77266599e-01] [ 3.86044495e-01 -9.62944316e-03 9.22429901e-01 2.06324171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01538475 meters Centerline goodness : 0.946655 with order 1 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.48, Z:2.07 [[ 9.21783306e-01 -1.94469891e-02 -3.87217446e-01 1.28309371e+01] [ 2.45286413e-02 9.99665615e-01 8.18559644e-03 -4.78181448e-01] [ 3.86928781e-01 -1.70432640e-02 9.21952084e-01 2.06939026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07538475 meters Centerline goodness : 0.947246 with order 1 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.48, Z:2.08 [[ 9.21610367e-01 -7.84361020e-03 -3.88037123e-01 1.28281983e+01] [ 1.68305049e-02 9.99662950e-01 1.97666687e-02 -4.79016403e-01] [ 3.87751293e-01 -2.47480275e-02 9.21431750e-01 2.07649725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13538475000001 meters Centerline goodness : 0.945113 with order 1 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.48, Z:2.08 [[ 9.21681131e-01 -1.10087004e-03 -3.87946751e-01 1.28251332e+01] [ 1.13578765e-02 9.99643890e-01 2.41472893e-02 -4.76128244e-01] [ 3.87782016e-01 -2.66623522e-02 9.21365415e-01 2.07733677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19538475000002 meters Centerline goodness : 0.945243 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.48, Z:2.08 [[ 9.21700530e-01 4.96146520e-03 -3.87870490e-01 1.28232513e+01] [ 6.86280577e-03 9.99553121e-01 2.90939890e-02 -4.75656950e-01] [ 3.87841507e-01 -2.94778249e-02 9.21254592e-01 2.07888349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25538475 meters Centerline goodness : 0.943203 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.47, Z:2.08 [[ 9.21609521e-01 4.75256592e-03 -3.88089299e-01 1.28238355e+01] [ 6.95248384e-03 9.99562425e-01 2.87510159e-02 -4.73571273e-01] [ 3.88056122e-01 -2.91953946e-02 9.21173206e-01 2.07882149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31538475 meters Centerline goodness : 0.941880 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.47, Z:2.08 [[ 9.21519276e-01 4.70802573e-03 -3.88304079e-01 1.28237681e+01] [ 7.31708899e-03 9.99538475e-01 2.94838299e-02 -4.74732353e-01] [ 3.88263678e-01 -3.00111731e-02 9.21059524e-01 2.08025940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37538475 meters Centerline goodness : 0.944495 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.48, Z:2.08 [[ 9.21384512e-01 4.94238857e-03 -3.88620837e-01 1.28236617e+01] [ 7.81958277e-03 9.99480990e-01 3.12506812e-02 -4.78910333e-01] [ 3.88573592e-01 -3.18327464e-02 9.20867656e-01 2.08285942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43538475 meters Centerline goodness : 0.947215 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.48, Z:2.09 [[ 9.21383587e-01 6.11602795e-03 -3.88606331e-01 1.28222053e+01] [ 7.67560050e-03 9.99394817e-01 3.39276483e-02 -4.84235276e-01] [ 3.88578656e-01 -3.42431653e-02 9.20779036e-01 2.08586510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49538475 meters Centerline goodness : 0.949256 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.49, Z:2.09 [[ 9.21443422e-01 7.23632461e-03 -3.88445176e-01 1.28214824e+01] [ 7.02632248e-03 9.99352617e-01 3.52842548e-02 -4.87371984e-01] [ 3.88449031e-01 -3.52417856e-02 9.20796050e-01 2.08642196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55538475 meters Centerline goodness : 0.949876 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.50, Z:2.09 [[ 9.21358355e-01 8.07913889e-03 -3.88630298e-01 1.28207208e+01] [ 7.36134258e-03 9.99242037e-01 3.82251455e-02 -4.95217871e-01] [ 3.88644557e-01 -3.80798980e-02 9.20600527e-01 2.09006609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61538475 meters Centerline goodness : 0.959053 with order 1 Centerline is valid? [False, True] Translation: X:12.84, Y:-0.50, Z:2.11 [[ 9.23207052e-01 2.14979621e-04 -3.84302866e-01 1.28388886e+01] [ 2.11602291e-02 9.98454382e-01 5.13915503e-02 -5.02211865e-01] [ 3.83719929e-01 -5.55769783e-02 9.21775578e-01 2.11457241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67538475 meters Centerline goodness : 0.945363 with order 1 Centerline is valid? [True, False] Translation: X:12.84, Y:-0.50, Z:2.12 [[ 9.20456555e-01 5.07862539e-03 -3.90811896e-01 1.28406908e+01] [ 2.28911200e-02 9.97498625e-01 6.68766829e-02 -5.00887083e-01] [ 3.90173970e-01 -7.05032032e-02 9.18037892e-01 2.11650503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73538475 meters Centerline goodness : 0.942008 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.50, Z:2.12 [[ 9.20201471e-01 4.42206593e-03 -3.91420103e-01 1.28421911e+01] [ 2.31646512e-02 9.97568625e-01 6.57285103e-02 -4.97987533e-01] [ 3.90759070e-01 -6.95505821e-02 9.17861681e-01 2.11602834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79538475 meters Centerline goodness : 0.944317 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.50, Z:2.12 [[ 9.20272543e-01 4.72686155e-03 -3.91249414e-01 1.28408814e+01] [ 2.25309754e-02 9.97627694e-01 6.50487519e-02 -4.95055668e-01] [ 3.90628727e-01 -6.86778112e-02 9.17982874e-01 2.11540421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85538475 meters Centerline goodness : 0.948947 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.49, Z:2.11 [[ 9.20470278e-01 5.46513863e-03 -3.90774359e-01 1.28391339e+01] [ 2.15918799e-02 9.97663838e-01 6.48124787e-02 -4.91301616e-01] [ 3.90215656e-01 -6.80955133e-02 9.18201907e-01 2.11455457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91538475000002 meters Centerline goodness : 0.949141 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.49, Z:2.12 [[ 9.20166556e-01 1.03094801e-02 -3.91391394e-01 1.28398056e+01] [ 1.80932179e-02 9.97465613e-01 6.88112367e-02 -4.90269529e-01] [ 3.91108865e-01 -7.03993285e-02 9.17647967e-01 2.11600026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97538475000002 meters Centerline goodness : 0.946416 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.49, Z:2.11 [[ 9.20264116e-01 1.03154362e-02 -3.91161795e-01 1.28399058e+01] [ 1.72127945e-02 9.97617634e-01 6.68040145e-02 -4.86184993e-01] [ 3.90919016e-01 -6.82103249e-02 9.17894152e-01 2.11293148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03538475 meters Centerline goodness : 0.945485 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.48, Z:2.11 [[ 9.20324211e-01 1.05871255e-02 -3.91013120e-01 1.28399306e+01] [ 1.62418789e-02 9.97737200e-01 6.52432413e-02 -4.81606499e-01] [ 3.90819074e-01 -6.63957223e-02 9.18069746e-01 2.11036004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09538475 meters Centerline goodness : 0.943958 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.48, Z:2.11 [[ 9.20256845e-01 1.09325102e-02 -3.91162140e-01 1.28399069e+01] [ 1.55481096e-02 9.97798766e-01 6.44661046e-02 -4.78122445e-01] [ 3.91005877e-01 -6.54072059e-02 9.18061164e-01 2.10940147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15538475 meters Centerline goodness : 0.944383 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.48, Z:2.11 [[ 9.20190990e-01 1.61751887e-02 -3.91135405e-01 1.28394746e+01] [ 1.13665678e-02 9.97620760e-01 6.79972126e-02 -4.75153262e-01] [ 3.91304668e-01 -6.70162895e-02 9.17817778e-01 2.10927189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21538475 meters Centerline goodness : 0.950226 with order 1 Centerline is valid? [False, True] Translation: X:12.84, Y:-0.47, Z:2.11 [[ 9.20520859e-01 1.19109022e-02 -3.90511817e-01 1.28361599e+01] [ 1.42731904e-02 9.97842691e-01 6.40799461e-02 -4.73735092e-01] [ 3.90432612e-01 -6.45607765e-02 9.18365005e-01 2.10909580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27538475 meters Centerline goodness : 0.949424 with order 1 Centerline is valid? [True, False] Translation: X:12.84, Y:-0.47, Z:2.11 [[ 9.20396400e-01 1.14406991e-02 -3.90819110e-01 1.28375595e+01] [ 1.45779998e-02 9.97872609e-01 6.35432051e-02 -4.72941964e-01] [ 3.90714663e-01 -6.41822982e-02 9.18271575e-01 2.10865224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33538475 meters Centerline goodness : 0.949306 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.48, Z:2.11 [[ 9.20196140e-01 1.10274931e-02 -3.91302259e-01 1.28390518e+01] [ 1.53885485e-02 9.97811446e-01 6.43079391e-02 -4.76456761e-01] [ 3.91155028e-01 -6.51974912e-02 9.18012544e-01 2.11005276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39538475 meters Centerline goodness : 0.948372 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.48, Z:2.11 [[ 9.20228372e-01 5.42594381e-03 -3.91344224e-01 1.28404141e+01] [ 1.97377741e-02 9.97988186e-01 6.02494840e-02 -4.79026899e-01] [ 3.90883823e-01 -6.31675485e-02 9.18269948e-01 2.10942301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45538475 meters Centerline goodness : 0.945421 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.48, Z:2.11 [[ 9.19871144e-01 3.29210265e-03 -3.92206884e-01 1.28456729e+01] [ 2.17648827e-02 9.97995547e-01 5.94237181e-02 -4.80422740e-01] [ 3.91616353e-01 -6.31985004e-02 9.17955653e-01 2.10904945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51538475 meters Centerline goodness : 0.944780 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.48, Z:2.11 [[ 9.19877170e-01 -3.34101542e-04 -3.92206425e-01 1.28490215e+01] [ 2.47851463e-02 9.98050411e-01 5.72806528e-02 -4.83811332e-01] [ 3.91422646e-01 -6.24120584e-02 9.18092069e-01 2.10815237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57538475 meters Centerline goodness : 0.946282 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.20179274e-01 -4.43124805e-03 -3.91472181e-01 1.28471570e+01] [ 2.78030920e-02 9.98150848e-01 5.40543519e-02 -4.86164932e-01] [ 3.90508761e-01 -6.06238313e-02 9.18600924e-01 2.10762103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63538475000001 meters Centerline goodness : 0.952948 with order 1 Centerline is valid? [False, True] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.20217308e-01 -3.46737569e-03 -3.91392493e-01 1.28452979e+01] [ 2.73144600e-02 9.98091786e-01 5.53778625e-02 -4.88053279e-01] [ 3.90453616e-01 -6.16503421e-02 9.18556046e-01 2.10936840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69538475000002 meters Centerline goodness : 0.947349 with order 1 Centerline is valid? [True, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.19837117e-01 -5.29108314e-03 -3.92264813e-01 1.28502524e+01] [ 2.88432247e-02 9.98114928e-01 5.41724847e-02 -4.87805660e-01] [ 3.91238734e-01 -6.11440443e-02 9.18255770e-01 2.10839798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75538475 meters Centerline goodness : 0.947420 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.19613138e-01 -5.72983921e-03 -3.92783458e-01 1.28523131e+01] [ 2.92669429e-02 9.98114016e-01 5.39616219e-02 -4.87769884e-01] [ 3.91733483e-01 -6.11193875e-02 9.18046458e-01 2.10837256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81538475 meters Centerline goodness : 0.947965 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.19281194e-01 -6.54824791e-04 -3.93600887e-01 1.28523625e+01] [ 2.64332085e-02 9.97843729e-01 6.00764364e-02 -4.89308813e-01] [ 3.92712837e-01 -6.56312725e-02 9.17316283e-01 2.11311833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87538475 meters Centerline goodness : 0.948736 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.19124998e-01 -6.54252814e-04 -3.93965493e-01 1.28522763e+01] [ 2.66673716e-02 9.97808378e-01 6.05581690e-02 -4.89367789e-01] [ 3.93062449e-01 -6.61665511e-02 9.17128071e-01 2.11456190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93538475 meters Centerline goodness : 0.946015 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.18888992e-01 -1.54439350e-03 -3.94513163e-01 1.28547844e+01] [ 2.73721731e-02 9.97832123e-01 5.98483023e-02 -4.89714752e-01] [ 3.93565478e-01 -6.57926287e-02 9.16939226e-01 2.11418752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99538475 meters Centerline goodness : 0.947569 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.49, Z:2.11 [[ 9.19056693e-01 -1.67206927e-03 -3.94121808e-01 1.28546061e+01] [ 2.73246301e-02 9.97855140e-01 5.94851661e-02 -4.89506904e-01] [ 3.93177009e-01 -6.54394727e-02 9.17131133e-01 2.11327604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05538475 meters Centerline goodness : 0.946142 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18857252e-01 -2.77356083e-03 -3.94580357e-01 1.28566677e+01] [ 2.81120818e-02 9.97894430e-01 5.84501202e-02 -4.86916904e-01] [ 3.93587426e-01 -6.47997920e-02 9.17000504e-01 2.11276247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11538475 meters Centerline goodness : 0.940608 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18574299e-01 -3.90636034e-03 -3.95229045e-01 1.28599833e+01] [ 2.89643752e-02 9.97927879e-01 5.74544433e-02 -4.86104253e-01] [ 3.94185645e-01 -6.42237373e-02 9.16784047e-01 2.11196653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17538475 meters Centerline goodness : 0.943078 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18543845e-01 -3.34458976e-03 -3.95304970e-01 1.28589386e+01] [ 2.89037298e-02 9.97856027e-01 5.87190290e-02 -4.88331091e-01] [ 3.94261055e-01 -6.53617907e-02 9.16671182e-01 2.11384830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23538475 meters Centerline goodness : 0.945961 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18594980e-01 -3.77190397e-03 -3.95182280e-01 1.28595701e+01] [ 2.92334819e-02 9.97863478e-01 5.84284409e-02 -4.87424453e-01] [ 3.94117578e-01 -6.52246266e-02 9.16742648e-01 2.11337299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29538475 meters Centerline goodness : 0.943630 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18552600e-01 -4.39762161e-03 -3.95274312e-01 1.28608487e+01] [ 2.95870903e-02 9.97898134e-01 5.76534311e-02 -4.86562176e-01] [ 3.94189961e-01 -6.46527258e-02 9.16752038e-01 2.11251113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35538475 meters Centerline goodness : 0.937625 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18657895e-01 -9.32234107e-03 -3.94944004e-01 1.28606235e+01] [ 3.29382412e-02 9.98048070e-01 5.30577262e-02 -4.86641928e-01] [ 3.93678479e-01 -6.17506599e-02 9.17171800e-01 2.11092310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41538475000002 meters Centerline goodness : 0.949318 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.49, Z:2.11 [[ 9.18660834e-01 -9.27854299e-03 -3.94938199e-01 1.28597948e+01] [ 3.37078957e-02 9.97919273e-01 5.49627429e-02 -4.89276572e-01] [ 3.93606466e-01 -6.38046549e-02 9.17062111e-01 2.11398074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47538475000002 meters Centerline goodness : 0.954460 with order 1 Centerline is valid? [False, True] Translation: X:12.86, Y:-0.49, Z:2.12 [[ 9.18524871e-01 -8.21298135e-03 -3.95277887e-01 1.28647298e+01] [ 3.60440983e-02 9.97360260e-01 6.30343875e-02 -4.92295397e-01] [ 3.93716756e-01 -7.21460877e-02 9.16396234e-01 2.12481506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53538475 meters Centerline goodness : 0.948412 with order 1 Centerline is valid? [True, False] Translation: X:12.87, Y:-0.49, Z:2.13 [[ 9.17880137e-01 -8.41967892e-03 -3.96768399e-01 1.28734759e+01] [ 3.70531281e-02 9.97225909e-01 6.45565736e-02 -4.91051383e-01] [ 3.95124182e-01 -7.39567069e-02 9.15645830e-01 2.12547875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59538475 meters Centerline goodness : 0.944508 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.49, Z:2.13 [[ 9.17656257e-01 -3.52056785e-03 -3.97359536e-01 1.28747195e+01] [ 3.35644440e-02 9.97074014e-01 6.86792511e-02 -4.91716063e-01] [ 3.95955077e-01 -7.63610964e-02 9.15089373e-01 2.12649466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65538475 meters Centerline goodness : 0.947910 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.49, Z:2.13 [[ 9.19743650e-01 -3.75655546e-03 -3.92501600e-01 1.28874189e+01] [ 2.96943149e-02 9.97754624e-01 6.00329704e-02 -4.88036176e-01] [ 3.91394769e-01 -6.68700095e-02 9.17790028e-01 2.12551787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71538475 meters Centerline goodness : 0.947156 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.49, Z:2.12 [[ 9.19812313e-01 -3.33745946e-03 -3.92344453e-01 1.28868517e+01] [ 2.89765403e-02 9.97810944e-01 5.94447680e-02 -4.85727744e-01] [ 3.91287194e-01 -6.60468144e-02 9.17895501e-01 2.12437270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77538475 meters Centerline goodness : 0.946796 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.49, Z:2.13 [[ 9.19760744e-01 -2.84662332e-03 -3.92469198e-01 1.28859127e+01] [ 2.86629701e-02 9.97790659e-01 5.99352527e-02 -4.85714021e-01] [ 3.91431487e-01 -6.63754255e-02 9.17810271e-01 2.12536011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83538475 meters Centerline goodness : 0.937702 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.48, Z:2.12 [[ 9.19189629e-01 -1.22563103e-04 -3.93815200e-01 1.28923703e+01] [ 2.67250230e-02 9.97714094e-01 6.20673885e-02 -4.83716154e-01] [ 3.92907368e-01 -6.75764201e-02 9.17091723e-01 2.12443721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89538475 meters Centerline goodness : 0.944375 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.48, Z:2.13 [[ 9.18933218e-01 4.74333460e-03 -3.94384636e-01 1.28920938e+01] [ 2.38682076e-02 9.97426274e-01 6.76101779e-02 -4.83800862e-01] [ 3.93690296e-01 -7.15424927e-02 9.16454921e-01 2.12848042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95538475 meters Centerline goodness : 0.953133 with order 1 Centerline is valid? [False, True] Translation: X:12.89, Y:-0.48, Z:2.13 [[ 9.19228390e-01 5.95363980e-03 -3.93679719e-01 1.28877060e+01] [ 2.27723087e-02 9.97407883e-01 6.82563989e-02 -4.82059509e-01] [ 3.93065629e-01 -7.17082158e-02 9.16710065e-01 2.12947127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01538475 meters Centerline goodness : 0.953824 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.45, Z:2.10 [[ 9.19424525e-01 -1.86979368e-02 -3.92821754e-01 1.29603047e+01] [ 1.59042164e-02 9.99819789e-01 -1.03656191e-02 -4.51711642e-01] [ 3.92944779e-01 3.28288225e-03 9.19556210e-01 2.10187136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07538475 meters Centerline goodness : 0.952719 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.45, Z:2.13 [[ 9.19456922e-01 -1.70619628e-02 -3.92820388e-01 1.30144111e+01] [ 1.41031884e-02 9.99846280e-01 -1.04171422e-02 -4.48150678e-01] [ 3.92937741e-01 4.03809353e-03 9.19556211e-01 2.12628303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13538475000001 meters Centerline goodness : 0.951157 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.45, Z:2.15 [[ 9.19490989e-01 -1.51898706e-02 -3.92817500e-01 1.30693631e+01] [ 1.20213508e-02 9.99872348e-01 -1.05250092e-02 -4.46326126e-01] [ 3.92927230e-01 4.95545417e-03 9.19556217e-01 2.14713119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19538475000002 meters Centerline goodness : 0.947017 with order 1 Centerline is valid? [True, False] Translation: X:13.07, Y:-0.45, Z:2.15 [[ 9.19035904e-01 -1.18913479e-02 -3.93994419e-01 1.30736642e+01] [ 1.02217107e-02 9.99927683e-01 -6.33605114e-03 -4.49136269e-01] [ 3.94041271e-01 1.79576150e-03 9.19090992e-01 2.14894135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25538475 meters Centerline goodness : 0.947567 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.45, Z:2.15 [[ 9.18723191e-01 -7.01862568e-03 -3.94839760e-01 1.30751074e+01] [ 7.32393297e-03 9.99972910e-01 -7.33888801e-04 -4.53208667e-01] [ 3.94834215e-01 -2.21753928e-03 9.18749707e-01 2.15191721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31538475 meters Centerline goodness : 0.943880 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.46, Z:2.16 [[ 9.18081572e-01 -8.65222856e-03 -3.96297067e-01 1.30795226e+01] [ 9.61821597e-03 9.99953642e-01 4.50367656e-04 -4.57225950e-01] [ 3.96274799e-01 -4.22514503e-03 9.18122231e-01 2.15520488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37538475 meters Centerline goodness : 0.940865 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.46, Z:2.16 [[ 9.16588627e-01 -7.92536074e-03 -3.99753021e-01 1.30758670e+01] [ 1.56614769e-02 9.99747894e-01 1.60893566e-02 -4.62157030e-01] [ 3.99524726e-01 -2.10080440e-02 9.16481672e-01 2.16227488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43538475 meters Centerline goodness : 0.943778 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.47, Z:2.17 [[ 9.16129694e-01 -5.12789408e-03 -4.00849210e-01 1.30801484e+01] [ 1.61352104e-02 9.99579590e-01 2.40893754e-02 -4.67286245e-01] [ 4.00557161e-01 -2.85367784e-02 9.15827283e-01 2.17132569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49538475 meters Centerline goodness : 0.948460 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.47, Z:2.18 [[ 9.16279108e-01 -2.51840573e-03 -4.00532462e-01 1.30750060e+01] [ 1.50689919e-02 9.99489045e-01 2.81881860e-02 -4.72071664e-01] [ 4.00256819e-01 -3.18638663e-02 9.15848881e-01 2.17645893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55538475 meters Centerline goodness : 0.953102 with order 1 Centerline is valid? [False, True] Translation: X:13.07, Y:-0.48, Z:2.18 [[ 9.16239943e-01 -1.09804658e-03 -4.00628458e-01 1.30730754e+01] [ 1.48013218e-02 9.99406320e-01 3.11115381e-02 -4.77507698e-01] [ 4.00356451e-01 -3.44354646e-02 9.15712242e-01 2.18006718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61538475 meters Centerline goodness : 0.953307 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.46, Z:2.18 [[ 9.16193165e-01 -1.68167387e-02 -4.00383918e-01 1.31362900e+01] [ 1.59002643e-02 9.99857838e-01 -5.61120056e-03 -4.64917580e-01] [ 4.00421360e-01 -1.22526653e-03 9.16330308e-01 2.18078229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67538475 meters Centerline goodness : 0.954250 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.47, Z:2.20 [[ 9.16191767e-01 -1.69352972e-02 -4.00382120e-01 1.31905381e+01] [ 1.59747293e-02 9.99855938e-01 -5.73687466e-03 -4.65509685e-01] [ 4.00421596e-01 -1.13991865e-03 9.16330315e-01 2.20457096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73538475 meters Centerline goodness : 0.948954 with order 1 Centerline is valid? [True, False] Translation: X:13.20, Y:-0.47, Z:2.21 [[ 9.15431631e-01 -1.49567967e-02 -4.02195504e-01 1.31980755e+01] [ 1.59251703e-02 9.99872748e-01 -9.36084233e-04 -4.67257360e-01] [ 4.02158325e-01 -5.54811077e-03 9.15553330e-01 2.20869817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79538475 meters Centerline goodness : 0.947070 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.47, Z:2.21 [[ 9.14830731e-01 -1.10677517e-02 -4.03685818e-01 1.32018900e+01] [ 1.39108567e-02 9.99894789e-01 4.11085017e-03 -4.70781772e-01] [ 4.03597847e-01 -9.37634761e-03 9.14888442e-01 2.21206755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85538475 meters Centerline goodness : 0.944876 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.47, Z:2.22 [[ 9.14368306e-01 -5.20568106e-03 -4.04849974e-01 1.32016801e+01] [ 1.07198816e-02 9.99878072e-01 1.13545114e-02 -4.74782706e-01] [ 4.04741504e-01 -1.47221491e-02 9.14312623e-01 2.21814058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91538475000002 meters Centerline goodness : 0.949969 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.22 [[ 9.14217007e-01 1.36089192e-03 -4.05222669e-01 1.31988461e+01] [ 7.08572574e-03 9.99787785e-01 1.93436712e-02 -4.78503476e-01] [ 4.05163000e-01 -2.05556099e-02 9.14013354e-01 2.22476644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97538475000002 meters Centerline goodness : 0.946579 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.23 [[ 9.13788348e-01 5.89204287e-03 -4.06147928e-01 1.32009062e+01] [ 4.05071359e-03 9.99712882e-01 2.36166317e-02 -4.78540542e-01] [ 4.06170465e-01 -2.32257918e-02 9.13502116e-01 2.22659486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03538475 meters Centerline goodness : 0.945071 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.23 [[ 9.13595773e-01 1.14881614e-02 -4.06461297e-01 1.32004926e+01] [-5.72570046e-05 9.99604441e-01 2.81239750e-02 -4.78027453e-01] [ 4.06623611e-01 -2.56706719e-02 9.13235050e-01 2.22801415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09538475 meters Centerline goodness : 0.946597 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.23 [[ 9.13348142e-01 1.67306035e-02 -4.06835665e-01 1.32005301e+01] [-3.42587964e-03 9.99435878e-01 3.34094224e-02 -4.79640859e-01] [ 4.07165120e-01 -2.91206638e-02 9.12890219e-01 2.23057828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15538475 meters Centerline goodness : 0.945602 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.23 [[ 9.13347888e-01 1.70385941e-02 -4.06823452e-01 1.31997782e+01] [-3.46224318e-03 9.99412959e-01 3.40844638e-02 -4.80470971e-01] [ 4.07165382e-01 -2.97224514e-02 9.12870707e-01 2.23157589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21538475 meters Centerline goodness : 0.948982 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.23 [[ 9.13009656e-01 2.22958484e-02 -4.07328202e-01 1.32000546e+01] [-6.85249918e-03 9.99202639e-01 3.93335707e-02 -4.82699199e-01] [ 4.07880389e-01 -3.31207137e-02 9.12434439e-01 2.23416368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27538475 meters Centerline goodness : 0.947921 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.48, Z:2.24 [[ 9.12630877e-01 2.77525308e-02 -4.07841488e-01 1.32001685e+01] [-1.04372359e-02 9.98949492e-01 4.46203567e-02 -4.84140328e-01] [ 4.08651376e-01 -3.64651774e-02 9.11961811e-01 2.23685368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33538475 meters Centerline goodness : 0.951261 with order 1 Centerline is valid? [False, True] Translation: X:13.20, Y:-0.48, Z:2.24 [[ 9.12845547e-01 2.93322680e-02 -4.07250078e-01 1.31965783e+01] [-1.16293423e-02 9.98879380e-01 4.58774728e-02 -4.84633806e-01] [ 4.08139395e-01 -3.71429962e-02 9.12163709e-01 2.23788462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39538475 meters Centerline goodness : 0.951447 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.47, Z:2.23 [[ 9.12922316e-01 1.18292718e-02 -4.07961901e-01 1.32635368e+01] [-1.14968996e-02 9.99928573e-01 3.26660580e-03 -4.68929813e-01] [ 4.07971403e-01 1.70813967e-03 9.12993109e-01 2.23389863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45538475 meters Centerline goodness : 0.949661 with order 1 Centerline is valid? [True, False] Translation: X:13.27, Y:-0.47, Z:2.24 [[ 9.12388407e-01 1.59961936e-02 -4.09012857e-01 1.32669286e+01] [-1.40843014e-02 9.99871269e-01 7.68626470e-03 -4.70782279e-01] [ 4.09083155e-01 -1.25219846e-03 9.12496249e-01 2.23567911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51538475 meters Centerline goodness : 0.944896 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.47, Z:2.24 [[ 9.12190445e-01 1.50521152e-02 -4.09489957e-01 1.32698692e+01] [-1.32239256e-02 9.99885941e-01 7.29605130e-03 -4.70936067e-01] [ 4.09553073e-01 -1.24032355e-03 9.12285450e-01 2.23536545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57538475 meters Centerline goodness : 0.943399 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.47, Z:2.24 [[ 9.11642269e-01 1.99402171e-02 -4.10500623e-01 1.32713013e+01] [-1.59361886e-02 9.99786222e-01 1.31737952e-02 -4.74144184e-01] [ 4.10675556e-01 -5.46797321e-03 9.11765150e-01 2.23945304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63538475000001 meters Centerline goodness : 0.945839 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.24 [[ 9.11635924e-01 2.08123784e-02 -4.10471420e-01 1.32696329e+01] [-1.64340960e-02 9.99764221e-01 1.41923620e-02 -4.75290723e-01] [ 4.10670016e-01 -6.19254036e-03 9.11763012e-01 2.24078606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69538475000002 meters Centerline goodness : 0.939576 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.24 [[ 9.10983184e-01 2.44074027e-02 -4.11720678e-01 1.32737103e+01] [-1.84286950e-02 9.99659277e-01 1.84854822e-02 -4.76059633e-01] [ 4.12031578e-01 -9.25248869e-03 9.11122588e-01 2.24319605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75538475 meters Centerline goodness : 0.941438 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.24 [[ 9.10943331e-01 2.47687780e-02 -4.11787269e-01 1.32731112e+01] [-1.86062142e-02 9.99646947e-01 1.89681109e-02 -4.76312572e-01] [ 4.12111704e-01 -9.61707195e-03 9.11082573e-01 2.24393276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81538475 meters Centerline goodness : 0.941020 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.25 [[ 9.10704091e-01 3.09895141e-02 -4.11895264e-01 1.32706697e+01] [-2.28934296e-02 9.99435787e-01 2.45763677e-02 -4.76776805e-01] [ 4.12424477e-01 -1.29521034e-02 9.10899717e-01 2.24709209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87538475 meters Centerline goodness : 0.941368 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.48, Z:2.25 [[ 0.91015672 0.03416913 -0.41285253 13.27559838] [-0.02480942 0.99929967 0.0280118 -0.47594788] [ 0.41352054 -0.0152525 0.91036703 2.24789127] [ 0. 0. 0. 1. ]] SLAMing on 151.93538475 meters Centerline goodness : 0.942562 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.25 [[ 0.90975835 0.04004714 -0.4132021 13.27435328] [-0.02849712 0.99901273 0.03408044 -0.47900965] [ 0.41415899 -0.0192299 0.9100014 2.25164322] [ 0. 0. 0. 1. ]] SLAMing on 151.99538475 meters Centerline goodness : 0.940080 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.25 [[ 0.90969319 0.04156864 -0.4131953 13.27155482] [-0.02936557 0.99892588 0.03584342 -0.48140131] [ 0.41424144 -0.0204728 0.90993675 2.25391595] [ 0. 0. 0. 1. ]] SLAMing on 152.05538475 meters Centerline goodness : 0.937523 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.25 [[ 0.9095376 0.04054072 -0.4136397 13.27478311] [-0.02863151 0.99897875 0.03495286 -0.48042237] [ 0.41463428 -0.01994781 0.90976948 2.25278137] [ 0. 0. 0. 1. ]] SLAMing on 152.11538475 meters Centerline goodness : 0.937783 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.26 [[ 0.90925335 0.04600487 -0.41369299 13.27434432] [-0.03218576 0.99866845 0.04031638 -0.48224705] [ 0.41499689 -0.02334279 0.90952334 2.25514529] [ 0. 0. 0. 1. ]] SLAMing on 152.17538475 meters Centerline goodness : 0.942509 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.26 [[ 0.90939793 0.0482007 -0.41312481 13.26931185] [-0.0338072 0.99854191 0.04208466 -0.48300263] [ 0.41455094 -0.02430511 0.90970148 2.25714875] [ 0. 0. 0. 1. ]] SLAMing on 152.23538475 meters Centerline goodness : 0.947077 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.26 [[ 0.90895701 0.0545902 -0.41330022 13.26708793] [-0.03781684 0.99809908 0.0486633 -0.48530155] [ 0.41517111 -0.02860314 0.90929358 2.26163265] [ 0. 0. 0. 1. ]] SLAMing on 152.29538475 meters Centerline goodness : 0.944136 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.26 [[ 0.90858005 0.05881651 -0.41354915 13.26928566] [-0.04075048 0.99779543 0.05238016 -0.48435047] [ 0.41571827 -0.03073924 0.90897383 2.26210643] [ 0. 0. 0. 1. ]] SLAMing on 152.35538475 meters Centerline goodness : 0.941746 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.48, Z:2.26 [[ 0.90862865 0.05914316 -0.41339577 13.26885257] [-0.04119136 0.99778609 0.05221285 -0.48315468] [ 0.41556858 -0.03041376 0.90905322 2.2616439 ] [ 0. 0. 0. 1. ]] SLAMing on 152.41538475000002 meters Centerline goodness : 0.942096 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.48, Z:2.26 [[ 0.90874809 0.06125035 -0.412826 13.26435943] [-0.04265889 0.99762326 0.0541114 -0.48499282] [ 0.41515916 -0.03156293 0.90920111 2.263518 ] [ 0. 0. 0. 1. ]] SLAMing on 152.47538475000002 meters Centerline goodness : 0.941593 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.49, Z:2.26 [[ 0.90868523 0.06147493 -0.41293098 13.26432989] [-0.04259177 0.99758913 0.05478932 -0.48621242] [ 0.41530363 -0.03219878 0.90911283 2.26434975] [ 0. 0. 0. 1. ]] SLAMing on 152.53538475 meters Centerline goodness : 0.938033 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90801571 0.06524685 -0.41382401 13.26759019] [-0.04449156 0.99722988 0.05960765 -0.48945798] [ 0.41656688 -0.035713 0.90840333 2.2672688 ] [ 0. 0. 0. 1. ]] SLAMing on 152.59538475 meters Centerline goodness : 0.941244 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90736251 0.06918911 -0.41461566 13.2701223 ] [-0.04605366 0.99678576 0.06555313 -0.49207443] [ 0.41781855 -0.04038588 0.90763244 2.27226475] [ 0. 0. 0. 1. ]] SLAMing on 152.65538475 meters Centerline goodness : 0.935470 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90728782 0.06861165 -0.41487497 13.2715081 ] [-0.04547857 0.99682243 0.06539677 -0.49242776] [ 0.41804366 -0.04046577 0.90752522 2.27234434] [ 0. 0. 0. 1. ]] SLAMing on 152.71538475 meters Centerline goodness : 0.947241 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90740432 0.06941133 -0.414487 13.26863972] [-0.04565612 0.99671047 0.06696093 -0.49335807] [ 0.41777137 -0.04183677 0.90758843 2.27473075] [ 0. 0. 0. 1. ]] SLAMing on 152.77538475 meters Centerline goodness : 0.943696 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90734352 0.0688873 -0.41470747 13.27032895] [-0.04542304 0.99677242 0.06619281 -0.49171017] [ 0.41792881 -0.04122234 0.90754406 2.27373453] [ 0. 0. 0. 1. ]] SLAMing on 152.83538475 meters Centerline goodness : 0.938903 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.9072902 0.06821663 -0.41493492 13.27291007] [-0.04523715 0.99686117 0.06497235 -0.49005943] [ 0.4180647 -0.0401783 0.9075283 2.27179107] [ 0. 0. 0. 1. ]] SLAMing on 152.89538475 meters Centerline goodness : 0.938178 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90684249 0.0735601 -0.41500074 13.2732451 ] [-0.04898786 0.99637395 0.06956395 -0.49135476] [ 0.41861306 -0.04275354 0.90715778 2.27300461] [ 0. 0. 0. 1. ]] SLAMing on 152.95538475 meters Centerline goodness : 0.938633 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90692922 0.07445645 -0.41465122 13.27123774] [-0.04957917 0.99628199 0.07045637 -0.4923406 ] [ 0.41835547 -0.04334087 0.90724874 2.27375463] [ 0. 0. 0. 1. ]] SLAMing on 153.01538475 meters Centerline goodness : 0.937913 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.9068569 0.07345787 -0.41498735 13.27416539] [-0.04877065 0.9963686 0.06979277 -0.49229379] [ 0.4186072 -0.04305285 0.90714633 2.27275316] [ 0. 0. 0. 1. ]] SLAMing on 153.07538475 meters Centerline goodness : 0.941612 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90736883 0.06926729 -0.41458878 13.27177688] [-0.04569805 0.9967384 0.06651502 -0.49375365] [ 0.41784387 -0.04140775 0.90757473 2.27255666] [ 0. 0. 0. 1. ]] SLAMing on 153.13538475000001 meters Centerline goodness : 0.943696 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.49, Z:2.27 [[ 0.90741036 0.06975947 -0.41441532 13.27093838] [-0.04597132 0.99668563 0.06711482 -0.49499149] [ 0.41772369 -0.04184947 0.90760979 2.27297419] [ 0. 0. 0. 1. ]] SLAMing on 153.19538475000002 meters Centerline goodness : 0.946611 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.50, Z:2.27 [[ 0.9075103 0.07111624 -0.41396562 13.26835091] [-0.04694536 0.99656063 0.06828647 -0.49654991] [ 0.41739812 -0.04253691 0.90772761 2.27377967] [ 0. 0. 0. 1. ]] SLAMing on 153.25538475 meters Centerline goodness : 0.945248 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.50, Z:2.27 [[ 0.90752852 0.07050906 -0.41402953 13.27025703] [-0.04662807 0.9966278 0.0675193 -0.49537858] [ 0.41739406 -0.04197029 0.90775585 2.27241135] [ 0. 0. 0. 1. ]] SLAMing on 153.31538475 meters Centerline goodness : 0.942709 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.50, Z:2.27 [[ 0.90751031 0.07060938 -0.41405235 13.27036799] [-0.04672323 0.9966213 0.06754942 -0.49549552] [ 0.41742301 -0.04195593 0.90774321 2.27231636] [ 0. 0. 0. 1. ]] SLAMing on 153.37538475 meters Centerline goodness : 0.951156 with order 1 Centerline is valid? [False, True] Translation: X:13.27, Y:-0.50, Z:2.27 [[ 0.90805915 0.06772827 -0.41332972 13.26514934] [-0.04483327 0.99688711 0.06485424 -0.49585936] [ 0.41643553 -0.04036057 0.90826894 2.27270089] [ 0. 0. 0. 1. ]] SLAMing on 153.43538475 meters Centerline goodness : 0.954026 with order 1 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.48, Z:2.27 [[ 9.08380961e-01 4.49866079e-02 -4.15716531e-01 1.33326016e+01] [-4.20866712e-02 9.98983571e-01 1.61411704e-02 -4.79703795e-01] [ 4.16020122e-01 2.83379305e-03 9.09350993e-01 2.26763657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49538475 meters Centerline goodness : 0.949349 with order 1 Centerline is valid? [True, False] Translation: X:13.34, Y:-0.48, Z:2.27 [[ 9.07975248e-01 4.91899462e-02 -4.16126540e-01 1.33351155e+01] [-4.48313439e-02 9.98789405e-01 2.02453956e-02 -4.81252851e-01] [ 4.16618649e-01 2.73193946e-04 9.09081309e-01 2.26853292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55538475 meters Centerline goodness : 0.951479 with order 1 Centerline is valid? [False, True] Translation: X:13.33, Y:-0.48, Z:2.27 [[ 9.07955516e-01 5.02361588e-02 -4.16044600e-01 1.33329669e+01] [-4.52601558e-02 9.98736884e-01 2.18209696e-02 -4.83984025e-01] [ 4.16615289e-01 -9.82226322e-04 9.09082359e-01 2.27047461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61538475 meters Centerline goodness : 0.950316 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.49, Z:2.29 [[ 9.08057148e-01 4.67497886e-02 -4.16229111e-01 1.33877670e+01] [-4.33908853e-02 9.98904337e-01 1.75316018e-02 -4.85331987e-01] [ 4.16592663e-01 2.14085333e-03 9.09090738e-01 2.29046865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67538475 meters Centerline goodness : 0.943113 with order 1 Centerline is valid? [True, False] Translation: X:13.39, Y:-0.49, Z:2.30 [[ 0.90607513 0.04814748 -0.4203685 13.38651397] [-0.03762118 0.99873702 0.03330186 -0.48867343] [ 0.42144099 -0.01435923 0.90674214 2.29739137] [ 0. 0. 0. 1. ]] SLAMing on 153.73538475 meters Centerline goodness : 0.934972 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.30 [[ 0.90547631 0.05208671 -0.42118834 13.39035034] [-0.04007145 0.99849909 0.03733435 -0.48997793] [ 0.4225008 -0.01692774 0.90620446 2.29859661] [ 0. 0. 0. 1. ]] SLAMing on 153.79538475 meters Centerline goodness : 0.940510 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.30 [[ 0.90552873 0.05417932 -0.4208115 13.38525246] [-0.04151563 0.99836843 0.0392036 -0.49074612] [ 0.42224894 -0.01802973 0.90630059 2.30115452] [ 0. 0. 0. 1. ]] SLAMing on 153.85538475 meters Centerline goodness : 0.938865 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.30 [[ 0.90501809 0.05984399 -0.42114244 13.38461189] [-0.04540441 0.99798856 0.04424111 -0.49071865] [ 0.4229429 -0.02091728 0.90591488 2.30373053] [ 0. 0. 0. 1. ]] SLAMing on 153.91538475000002 meters Centerline goodness : 0.936001 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.30 [[ 0.9046058 0.06521323 -0.42123103 13.38456296] [-0.04931968 0.99760336 0.04852934 -0.48965702] [ 0.42338625 -0.02312494 0.90565409 2.30493445] [ 0. 0. 0. 1. ]] SLAMing on 153.97538475000002 meters Centerline goodness : 0.940520 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.31 [[ 0.90459006 0.06657176 -0.42105229 13.38145771] [-0.05019151 0.99749325 0.04988012 -0.49034357] [ 0.42331743 -0.02398781 0.90566381 2.30679301] [ 0. 0. 0. 1. ]] SLAMing on 154.03538475 meters Centerline goodness : 0.941591 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.31 [[ 0.90436698 0.06560524 -0.42168272 13.3833828 ] [-0.04896165 0.9975388 0.05019054 -0.49115109] [ 0.42393764 -0.02474438 0.9053533 2.30828307] [ 0. 0. 0. 1. ]] SLAMing on 154.09538475 meters Centerline goodness : 0.934410 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.31 [[ 0.90376824 0.06955714 -0.42233255 13.38657033] [-0.05142604 0.99720558 0.05418844 -0.49304137] [ 0.42492157 -0.0272549 0.90481978 2.30958517] [ 0. 0. 0. 1. ]] SLAMing on 154.15538475 meters Centerline goodness : 0.938424 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.50, Z:2.31 [[ 0.90422831 0.06588819 -0.42193591 13.38274732] [-0.04860147 0.99748405 0.05160877 -0.49529458] [ 0.42427475 -0.0261594 0.90515558 2.31055792] [ 0. 0. 0. 1. ]] SLAMing on 154.21538475 meters Centerline goodness : 0.941526 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.31 [[ 0.90382827 0.06957309 -0.42220143 13.38540928] [-0.05096081 0.99717254 0.05522613 -0.4946977 ] [ 0.42484992 -0.02839921 0.90481823 2.31143168] [ 0. 0. 0. 1. ]] SLAMing on 154.27538475 meters Centerline goodness : 0.934289 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.31 [[ 0.90332582 0.07417551 -0.42249315 13.38721415] [-0.05442472 0.99679458 0.05863879 -0.49240318] [ 0.42548844 -0.02997586 0.90446726 2.31165064] [ 0. 0. 0. 1. ]] SLAMing on 154.33538475 meters Centerline goodness : 0.935044 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.31 [[ 0.90337528 0.07589568 -0.42208168 13.38297159] [-0.055869 0.99665552 0.0596358 -0.49198184] [ 0.42519614 -0.03029222 0.90459418 2.31297599] [ 0. 0. 0. 1. ]] SLAMing on 154.39538475 meters Centerline goodness : 0.938740 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.31 [[ 0.9029787 0.08142389 -0.42190001 13.38228751] [-0.05981219 0.99614077 0.06423447 -0.49015608] [ 0.42550202 -0.03276759 0.90436404 2.31447844] [ 0. 0. 0. 1. ]] SLAMing on 154.45538475 meters Centerline goodness : 0.936210 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.31 [[ 0.90304481 0.08161787 -0.42172099 13.38122771] [-0.06010952 0.99613331 0.06407243 -0.48745665] [ 0.42531978 -0.03251083 0.90445903 2.31459076] [ 0. 0. 0. 1. ]] SLAMing on 154.51538475 meters Centerline goodness : 0.941146 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.32 [[ 0.90297313 0.08158058 -0.42188165 13.37961568] [-0.05915545 0.99606464 0.06599894 -0.48926045] [ 0.42560563 -0.03463867 0.90424555 2.3186696 ] [ 0. 0. 0. 1. ]] SLAMing on 154.57538475 meters Centerline goodness : 0.942830 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.49, Z:2.33 [[ 0.90272339 0.08396883 -0.42194752 13.38346366] [-0.0578277 0.99555042 0.07439975 -0.49090277] [ 0.42631729 -0.04276214 0.90356238 2.32958007] [ 0. 0. 0. 1. ]] SLAMing on 154.63538475000001 meters Centerline goodness : 0.940239 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.33 [[ 0.90235631 0.08181482 -0.42315415 13.38781557] [-0.05566548 0.99571732 0.07381312 -0.49080553] [ 0.42738092 -0.04305066 0.90304606 2.33083731] [ 0. 0. 0. 1. ]] SLAMing on 154.69538475000002 meters Centerline goodness : 0.936310 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.33 [[ 0.90202168 0.07863089 -0.42446916 13.39490068] [-0.05300395 0.99600476 0.07186866 -0.4880578 ] [ 0.4284244 -0.04232855 0.90258563 2.33020617] [ 0. 0. 0. 1. ]] SLAMing on 154.75538475 meters Centerline goodness : 0.934037 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.49, Z:2.34 [[ 0.90208824 0.07768052 -0.42450271 13.40579085] [-0.04760619 0.99557518 0.08101671 -0.48966159] [ 0.42891778 -0.05287527 0.90179473 2.34460971] [ 0. 0. 0. 1. ]] SLAMing on 154.81538475 meters Centerline goodness : 0.934098 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.49, Z:2.35 [[ 0.90177525 0.07665085 -0.42535403 13.40755256] [-0.0466011 0.99565455 0.08062473 -0.48742136] [ 0.42968563 -0.05288342 0.90142864 2.34589007] [ 0. 0. 0. 1. ]] SLAMing on 154.87538475 meters Centerline goodness : 0.931550 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.48, Z:2.35 [[ 0.90125228 0.0812227 -0.42561391 13.40889568] [-0.05014324 0.99522479 0.08374523 -0.48277245] [ 0.43038353 -0.05413393 0.90102139 2.34613081] [ 0. 0. 0. 1. ]] SLAMing on 154.93538475 meters Centerline goodness : 0.934945 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90142087 0.08360198 -0.42479539 13.40245974] [-0.05244483 0.99503893 0.08454036 -0.47854136] [ 0.42975569 -0.05392812 0.90133335 2.34723959] [ 0. 0. 0. 1. ]] SLAMing on 154.99538475 meters Centerline goodness : 0.939849 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90153437 0.08461426 -0.42435386 13.39977177] [-0.05324698 0.99493466 0.08526298 -0.47762274] [ 0.42941883 -0.05427194 0.90147325 2.3481316 ] [ 0. 0. 0. 1. ]] SLAMing on 155.05538475 meters Centerline goodness : 0.939432 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.47, Z:2.35 [[ 0.90115022 0.08962628 -0.42414079 13.39919072] [-0.05722417 0.9944263 0.08855351 -0.47182868] [ 0.42971348 -0.05552891 0.90125627 2.34853 ] [ 0. 0. 0. 1. ]] SLAMing on 155.11538475 meters Centerline goodness : 0.932270 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.47, Z:2.35 [[ 0.90110511 0.08957681 -0.42424707 13.39968353] [-0.05768697 0.99449692 0.08745339 -0.46711562] [ 0.4297462 -0.05433117 0.90131367 2.34728327] [ 0. 0. 0. 1. ]] SLAMing on 155.17538475 meters Centerline goodness : 0.933660 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.46, Z:2.35 [[ 0.90116226 0.0902499 -0.42398295 13.39718715] [-0.05842158 0.99444929 0.08750735 -0.46370274] [ 0.42952707 -0.05408857 0.90143271 2.34793511] [ 0. 0. 0. 1. ]] SLAMing on 155.23538475 meters Centerline goodness : 0.931201 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.46, Z:2.35 [[ 0.90123627 0.09041004 -0.42379148 13.39651937] [-0.05857972 0.99443421 0.08757295 -0.46265968] [ 0.42935022 -0.05409834 0.90151637 2.34798747] [ 0. 0. 0. 1. ]] SLAMing on 155.29538475 meters Centerline goodness : 0.929172 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.46, Z:2.35 [[ 0.90122764 0.09103927 -0.4236751 13.39571609] [-0.05918869 0.99438093 0.08776827 -0.4622465 ] [ 0.4292848 -0.05402242 0.90155207 2.34791996] [ 0. 0. 0. 1. ]] SLAMing on 155.35538475 meters Centerline goodness : 0.924654 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.46, Z:2.35 [[ 0.90062412 0.09778784 -0.42345453 13.39459265] [-0.06454579 0.99364792 0.0921827 -0.46254308] [ 0.42977906 -0.05568976 0.90121508 2.34803945] [ 0. 0. 0. 1. ]] SLAMing on 155.41538475000002 meters Centerline goodness : 0.915446 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.46, Z:2.35 [[ 0.90065365 0.09912095 -0.42308161 13.39391155] [-0.06609098 0.99355591 0.09207946 -0.46207927] [ 0.42948224 -0.05496982 0.90140076 2.34634791] [ 0. 0. 0. 1. ]] SLAMing on 155.47538475000002 meters Centerline goodness : 0.920292 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.46, Z:2.35 [[ 0.90083513 0.10064344 -0.42233515 13.39138745] [-0.0675462 0.99340449 0.09265545 -0.46181055] [ 0.42887479 -0.05494015 0.90169174 2.34570529] [ 0. 0. 0. 1. ]] SLAMing on 155.53538475 meters Centerline goodness : 0.911384 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.46, Z:2.35 [[ 0.90078252 0.10173257 -0.42218638 13.39057447] [-0.06844113 0.99328102 0.09332007 -0.4644716 ] [ 0.42884341 -0.05516618 0.90169286 2.34556077] [ 0. 0. 0. 1. ]] SLAMing on 155.59538475 meters Centerline goodness : 0.912098 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.47, Z:2.35 [[ 0.90076909 0.1028343 -0.42194804 13.38955029] [-0.06931711 0.99314986 0.09406646 -0.46766736] [ 0.42873089 -0.05548394 0.90172687 2.34546504] [ 0. 0. 0. 1. ]] SLAMing on 155.65538475 meters Centerline goodness : 0.918268 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.47, Z:2.35 [[ 0.90311521 0.10448104 -0.41649326 13.39788324] [-0.07464782 0.9933784 0.08733305 -0.46991968] [ 0.42286005 -0.0477815 0.90493442 2.34624072] [ 0. 0. 0. 1. ]] SLAMing on 155.71538475 meters Centerline goodness : 0.921100 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.47, Z:2.35 [[ 0.9041734 0.09627379 -0.41617523 13.39346242] [-0.06864532 0.99435662 0.08088711 -0.47390271] [ 0.42161391 -0.04456749 0.90567955 2.34608048] [ 0. 0. 0. 1. ]] SLAMing on 155.77538475 meters Centerline goodness : 0.924406 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90414481 0.09453804 -0.41663499 13.39693132] [-0.06685466 0.99450361 0.08057925 -0.47732844] [ 0.42196281 -0.04500132 0.90549559 2.34608838] [ 0. 0. 0. 1. ]] SLAMing on 155.83538475 meters Centerline goodness : 0.925516 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90477937 0.08893514 -0.4164911 13.39875797] [-0.06249158 0.99509158 0.07673038 -0.48107653] [ 0.42127081 -0.04339688 0.90589603 2.34433505] [ 0. 0. 0. 1. ]] SLAMing on 155.89538475 meters Centerline goodness : 0.930810 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.34 [[ 0.905326 0.08490035 -0.41614512 13.39664516] [-0.05919204 0.99547614 0.07432066 -0.48518469] [ 0.42057238 -0.04265195 0.90625586 2.34492485] [ 0. 0. 0. 1. ]] SLAMing on 155.95538475 meters Centerline goodness : 0.932463 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.49, Z:2.35 [[ 0.90570043 0.0809139 -0.41612459 13.39444946] [-0.05568368 0.99581737 0.0724368 -0.49195754] [ 0.42024524 -0.04243469 0.9064178 2.34669007] [ 0. 0. 0. 1. ]] SLAMing on 156.01538475 meters Centerline goodness : 0.932211 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.50, Z:2.35 [[ 0.90584638 0.0783124 -0.41630458 13.39965851] [-0.0531402 0.99600726 0.0717332 -0.4960836 ] [ 0.42025998 -0.04285675 0.90639111 2.34557945] [ 0. 0. 0. 1. ]] SLAMing on 156.07538475 meters Centerline goodness : 0.927586 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.50, Z:2.35 [[ 0.9057333 0.07613997 -0.4169531 13.403884 ] [-0.05090001 0.99615254 0.07133942 -0.49802821] [ 0.42078067 -0.04339157 0.90612405 2.34603142] [ 0. 0. 0. 1. ]] SLAMing on 156.13538475000001 meters Centerline goodness : 0.927411 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.50, Z:2.35 [[ 0.90561724 0.07667334 -0.41710743 13.40375366] [-0.05166535 0.99614185 0.07093735 -0.49659235] [ 0.42093718 -0.04269208 0.90608459 2.34541804] [ 0. 0. 0. 1. ]] SLAMing on 156.19538475000002 meters Centerline goodness : 0.930677 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90569065 0.07780292 -0.41673871 13.40100169] [-0.05298953 0.99608191 0.07080206 -0.49305943] [ 0.4206145 -0.04204197 0.90626481 2.34522896] [ 0. 0. 0. 1. ]] SLAMing on 156.25538475 meters Centerline goodness : 0.927217 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90525758 0.08177423 -0.41691928 13.40286411] [-0.05596456 0.99570297 0.07378047 -0.48925502] [ 0.42116111 -0.04345763 0.90594412 2.34540365] [ 0. 0. 0. 1. ]] SLAMing on 156.31538475 meters Centerline goodness : 0.924880 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90483537 0.08608776 -0.41696745 13.4044883 ] [-0.05921356 0.99527199 0.07698973 -0.48677827] [ 0.4216239 -0.0449729 0.90565486 2.3453981 ] [ 0. 0. 0. 1. ]] SLAMing on 156.37538475 meters Centerline goodness : 0.927991 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.9052066 0.08195668 -0.41699415 13.40117663] [-0.05626729 0.99570278 0.07355253 -0.48650089] [ 0.42123035 -0.0431171 0.9059282 2.34629502] [ 0. 0. 0. 1. ]] SLAMing on 156.43538475 meters Centerline goodness : 0.923312 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.49, Z:2.34 [[ 0.90468784 0.08573044 -0.417361 13.40587199] [-0.05915107 0.99533387 0.07623413 -0.4850117 ] [ 0.42194913 -0.04428074 0.90553749 2.34477488] [ 0. 0. 0. 1. ]] SLAMing on 156.49538475 meters Centerline goodness : 0.926455 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90475329 0.08616109 -0.41713037 13.40403482] [-0.05946336 0.99528659 0.07660748 -0.48448351] [ 0.42176485 -0.04450689 0.90561225 2.34553792] [ 0. 0. 0. 1. ]] SLAMing on 156.55538475 meters Centerline goodness : 0.930884 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90495882 0.08800577 -0.4162986 13.40064082] [-0.06138885 0.99514513 0.07692587 -0.48236283] [ 0.42104744 -0.04405865 0.90596793 2.3446619 ] [ 0. 0. 0. 1. ]] SLAMing on 156.61538475 meters Centerline goodness : 0.930783 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90501896 0.08852863 -0.41605693 13.39969507] [-0.06214223 0.99512586 0.0765694 -0.48037815] [ 0.42080759 -0.04344205 0.90610913 2.34391699] [ 0. 0. 0. 1. ]] SLAMing on 156.67538475 meters Centerline goodness : 0.932536 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90508749 0.0889767 -0.41581219 13.39833259] [-0.06254272 0.99508333 0.07679573 -0.47983706] [ 0.42060081 -0.04350083 0.90620232 2.34418338] [ 0. 0. 0. 1. ]] SLAMing on 156.73538475 meters Centerline goodness : 0.936499 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90562582 0.08376462 -0.41572271 13.39783935] [-0.058969 0.99564872 0.07215455 -0.47776688] [ 0.41995778 -0.04083027 0.9066247 2.34280363] [ 0. 0. 0. 1. ]] SLAMing on 156.79538475 meters Centerline goodness : 0.930832 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90551593 0.08251094 -0.41621251 13.40111451] [-0.05777776 0.99575152 0.07169825 -0.47955612] [ 0.42036013 -0.04087609 0.90643616 2.34236093] [ 0. 0. 0. 1. ]] SLAMing on 156.85538475 meters Centerline goodness : 0.931962 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90546507 0.08248778 -0.41632772 13.40125214] [-0.05738126 0.99571744 0.07248567 -0.48200869] [ 0.42052395 -0.04174383 0.90632062 2.34348323] [ 0. 0. 0. 1. ]] SLAMing on 156.91538475000002 meters Centerline goodness : 0.936537 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90547183 0.08341936 -0.41612735 13.39920075] [-0.05774539 0.99559012 0.07393089 -0.4847424 ] [ 0.42045955 -0.0429129 0.9062959 2.34518736] [ 0. 0. 0. 1. ]] SLAMing on 156.97538475000002 meters Centerline goodness : 0.937388 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90562098 0.08379227 -0.41572766 13.39856785] [-0.05784323 0.99553084 0.07464922 -0.48670604] [ 0.42012473 -0.04355687 0.90642044 2.34533634] [ 0. 0. 0. 1. ]] SLAMing on 157.03538475 meters Centerline goodness : 0.938323 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.34 [[ 0.90602693 0.07857492 -0.41586197 13.39846243] [-0.05404179 0.99604971 0.07045897 -0.48652376] [ 0.4197555 -0.0413638 0.90669419 2.34465862] [ 0. 0. 0. 1. ]] SLAMing on 157.09538475 meters Centerline goodness : 0.941152 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.34 [[ 0.90607225 0.07773592 -0.41592092 13.40090752] [-0.05347308 0.99613459 0.06968863 -0.48581368] [ 0.41973052 -0.04090236 0.90672669 2.34318068] [ 0. 0. 0. 1. ]] SLAMing on 157.15538475 meters Centerline goodness : 0.941467 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.34 [[ 0.90580973 0.07817043 -0.416411 13.40059681] [-0.05358024 0.99607629 0.0704357 -0.48700022] [ 0.42028312 -0.04148994 0.90644398 2.34478516] [ 0. 0. 0. 1. ]] SLAMing on 157.21538475 meters Centerline goodness : 0.943556 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.34 [[ 0.90583443 0.07852365 -0.41629078 13.39970461] [-0.05392078 0.99604968 0.07055202 -0.48680064] [ 0.4201863 -0.04146173 0.90649015 2.34490701] [ 0. 0. 0. 1. ]] SLAMing on 157.27538475 meters Centerline goodness : 0.942648 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.34 [[ 0.90584079 0.0782592 -0.41632674 13.4001401 ] [-0.05363684 0.99606633 0.07053335 -0.48654873] [ 0.42020893 -0.04156153 0.90647509 2.34498889] [ 0. 0. 0. 1. ]] SLAMing on 157.33538475 meters Centerline goodness : 0.947158 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90571891 0.07864599 -0.41651899 13.3989042 ] [-0.05359885 0.99599864 0.07151128 -0.48696647] [ 0.42047642 -0.04244418 0.90631014 2.34704338] [ 0. 0. 0. 1. ]] SLAMing on 157.39538475 meters Centerline goodness : 0.946016 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90571666 0.078752 -0.41650384 13.3987759 ] [-0.05406157 0.99602681 0.07076679 -0.48308218] [ 0.42042202 -0.04157781 0.90637554 2.34618749] [ 0. 0. 0. 1. ]] SLAMing on 157.45538475 meters Centerline goodness : 0.946500 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.9057095 0.07915995 -0.41644207 13.39792101] [-0.05461169 0.99601185 0.07055465 -0.48186373] [ 0.42036634 -0.04115941 0.90642046 2.34597468] [ 0. 0. 0. 1. ]] SLAMing on 157.51538475 meters Centerline goodness : 0.945357 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90576294 0.07923822 -0.41631095 13.39754795] [-0.05462372 0.99599886 0.07072846 -0.48217337] [ 0.42024963 -0.04132277 0.90646714 2.34609882] [ 0. 0. 0. 1. ]] SLAMing on 157.57538475 meters Centerline goodness : 0.943305 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90577985 0.07874989 -0.41636681 13.39903773] [-0.05434283 0.99605372 0.07017005 -0.48130085] [ 0.42024959 -0.04093206 0.90648488 2.3451695 ] [ 0. 0. 0. 1. ]] SLAMing on 157.63538475000001 meters Centerline goodness : 0.950433 with order 1 Centerline is valid? [False, True] Translation: X:13.39, Y:-0.48, Z:2.35 [[ 0.90625385 0.07471043 -0.4160797 13.39453879] [-0.0511307 0.99640514 0.06754588 -0.48134024] [ 0.41963033 -0.03993927 0.90681599 2.34734473] [ 0. 0. 0. 1. ]] SLAMing on 157.69538475000002 meters Centerline goodness : 0.937950 with order 1 Centerline is valid? [True, False] Translation: X:13.41, Y:-0.48, Z:2.34 [[ 0.90522112 0.07597795 -0.41809338 13.40502389] [-0.05276315 0.99636854 0.0668265 -0.47604898] [ 0.42165243 -0.03843283 0.90594268 2.34287426] [ 0. 0. 0. 1. ]] SLAMing on 157.75538475 meters Centerline goodness : 0.927873 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.48, Z:2.34 [[ 0.90506031 0.07542355 -0.41854165 13.40788409] [-0.05264845 0.99644835 0.06571783 -0.47500265] [ 0.42201181 -0.03744303 0.90581679 2.34111303] [ 0. 0. 0. 1. ]] SLAMing on 157.81538475 meters Centerline goodness : 0.929222 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.34 [[ 0.90509324 0.07713008 -0.41815928 13.40471055] [-0.05385894 0.99628545 0.06719022 -0.47617697] [ 0.42178839 -0.0382918 0.90588536 2.34242999] [ 0. 0. 0. 1. ]] SLAMing on 157.87538475 meters Centerline goodness : 0.937882 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90461027 0.08365091 -0.41795071 13.40153348] [-0.05702653 0.99548988 0.0758148 -0.47923982] [ 0.42240767 -0.04474856 0.90530068 2.35048197] [ 0. 0. 0. 1. ]] SLAMing on 157.93538475 meters Centerline goodness : 0.937795 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90458991 0.08372787 -0.41797936 13.40070918] [-0.05709125 0.99548316 0.07585424 -0.47838531] [ 0.42244253 -0.04475402 0.90528415 2.3510969 ] [ 0. 0. 0. 1. ]] SLAMing on 157.99538475 meters Centerline goodness : 0.940122 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90479936 0.08514469 -0.41723913 13.39726459] [-0.0582307 0.9953415 0.07684068 -0.47839186] [ 0.421838 -0.04522927 0.90554239 2.35169017] [ 0. 0. 0. 1. ]] SLAMing on 158.05538475 meters Centerline goodness : 0.945704 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90523772 0.08018559 -0.41727083 13.39567903] [-0.05429202 0.99581046 0.07357924 -0.47965607] [ 0.42142265 -0.04395223 0.90579863 2.35268299] [ 0. 0. 0. 1. ]] SLAMing on 158.11538475 meters Centerline goodness : 0.947028 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90505555 0.0787899 -0.41793134 13.39887065] [-0.05296295 0.99592026 0.07305997 -0.47946817] [ 0.42198268 -0.04398846 0.9055361 2.3528354 ] [ 0. 0. 0. 1. ]] SLAMing on 158.17538475 meters Centerline goodness : 0.938674 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90478617 0.0780625 -0.41865049 13.40210032] [-0.05256441 0.99601016 0.07211622 -0.47852778] [ 0.42260971 -0.04324364 0.90527953 2.35177939] [ 0. 0. 0. 1. ]] SLAMing on 158.23538475 meters Centerline goodness : 0.942880 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90487546 0.08026299 -0.41804096 13.39701006] [-0.05417175 0.99579091 0.07393167 -0.47911234] [ 0.42221537 -0.04425294 0.90541475 2.35389347] [ 0. 0. 0. 1. ]] SLAMing on 158.29538475 meters Centerline goodness : 0.947078 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90477301 0.08058582 -0.41820057 13.39678857] [-0.05427051 0.99574593 0.0744631 -0.47999155] [ 0.42242219 -0.04467625 0.90529748 2.3546998 ] [ 0. 0. 0. 1. ]] SLAMing on 158.35538475 meters Centerline goodness : 0.945015 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90480636 0.08002901 -0.41823535 13.3987414 ] [-0.0539316 0.99580837 0.07387205 -0.48003053] [ 0.42239416 -0.0442838 0.90532984 2.35340949] [ 0. 0. 0. 1. ]] SLAMing on 158.41538475000002 meters Centerline goodness : 0.945805 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90480007 0.08044671 -0.41816883 13.39837547] [-0.05425978 0.99576901 0.07416164 -0.48007151] [ 0.42236562 -0.04441171 0.90533689 2.35349682] [ 0. 0. 0. 1. ]] SLAMing on 158.47538475000002 meters Centerline goodness : 0.943772 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90498554 0.07420781 -0.41892049 13.40107861] [-0.04965371 0.99636421 0.06923062 -0.47970988] [ 0.42253483 -0.04185175 0.90537989 2.3523801 ] [ 0. 0. 0. 1. ]] SLAMing on 158.53538475 meters Centerline goodness : 0.943436 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.48, Z:2.35 [[ 0.90494021 0.07322477 -0.4191913 13.40397372] [-0.04897091 0.99645912 0.06834526 -0.47954389] [ 0.42271155 -0.04132019 0.90532181 2.35103825] [ 0. 0. 0. 1. ]] SLAMing on 158.59538475 meters Centerline goodness : 0.944783 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90528493 0.06940937 -0.41909609 13.40188836] [-0.04549481 0.99672849 0.06680217 -0.48576556] [ 0.42236171 -0.0414083 0.90548105 2.35305378] [ 0. 0. 0. 1. ]] SLAMing on 158.65538475 meters Centerline goodness : 0.946153 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.35 [[ 0.90527132 0.06900416 -0.41919239 13.40255224] [-0.04458416 0.99670314 0.06778726 -0.48853383] [ 0.42248798 -0.04267652 0.90536326 2.35457451] [ 0. 0. 0. 1. ]] SLAMing on 158.71538475 meters Centerline goodness : 0.944813 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.36 [[ 0.90497584 0.06816461 -0.41996704 13.40444244] [-0.04309373 0.99669164 0.06891091 -0.49237543] [ 0.42327492 -0.04426476 0.90491932 2.35733813] [ 0. 0. 0. 1. ]] SLAMing on 158.77538475 meters Centerline goodness : 0.946987 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.36 [[ 0.9050846 0.06946577 -0.41951922 13.40144787] [-0.04388018 0.99655709 0.07034561 -0.49347404] [ 0.42296146 -0.04526015 0.90501664 2.3588864 ] [ 0. 0. 0. 1. ]] SLAMing on 158.83538475 meters Centerline goodness : 0.948095 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.36 [[ 0.9051226 0.06961962 -0.41941172 13.40103211] [-0.0439816 0.99654144 0.07050375 -0.49332611] [ 0.4228696 -0.04536813 0.90505416 2.35901395] [ 0. 0. 0. 1. ]] SLAMing on 158.89538475 meters Centerline goodness : 0.948827 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.49, Z:2.36 [[ 0.90519953 0.06952539 -0.41926129 13.40085541] [-0.04381737 0.99653824 0.07065104 -0.49300158] [ 0.42272195 -0.04558236 0.90511237 2.35918474] [ 0. 0. 0. 1. ]] SLAMing on 158.95538475 meters Centerline goodness : 0.950014 with order 1 Centerline is valid? [False, True] Translation: X:13.40, Y:-0.49, Z:2.36 [[ 0.90522369 0.06960427 -0.41919605 13.40015833] [-0.04399876 0.99654404 0.07045629 -0.49128477] [ 0.42265138 -0.04533459 0.90515777 2.35929474] [ 0. 0. 0. 1. ]] SLAMing on 159.01538475 meters Centerline goodness : 0.951182 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.48, Z:2.36 [[ 9.04971114e-01 5.28956385e-02 -4.22172161e-01 1.34678513e+01] [-4.86084409e-02 9.98598783e-01 2.09210509e-02 -4.76083523e-01] [ 4.22687239e-01 1.58818379e-03 9.06274228e-01 2.35590503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07538475 meters Centerline goodness : 0.951690 with order 1 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.47, Z:2.38 [[ 9.04782041e-01 5.59943693e-02 -4.22177792e-01 1.35205000e+01] [-5.20811011e-02 9.98426078e-01 2.08068585e-02 -4.74897939e-01] [ 4.22678384e-01 3.16181235e-03 9.06274234e-01 2.38123298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13538475000001 meters Centerline goodness : 0.947992 with order 1 Centerline is valid? [True, False] Translation: X:13.52, Y:-0.47, Z:2.38 [[ 9.04081209e-01 5.99405562e-02 -4.23136263e-01 1.35237436e+01] [-5.47065269e-02 9.98201464e-01 2.45159983e-02 -4.73837590e-01] [ 4.23844740e-01 9.83861945e-04 9.05734326e-01 2.38282461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19538475000002 meters Centerline goodness : 0.946703 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.47, Z:2.39 [[ 9.03526925e-01 6.56916622e-02 -4.23466292e-01 1.35230597e+01] [-5.86164840e-02 9.97837892e-01 2.97262341e-02 -4.74516797e-01] [ 4.24503478e-01 -2.03634781e-03 9.05424017e-01 2.38555367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25538475 meters Centerline goodness : 0.946294 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.48, Z:2.39 [[ 9.03031762e-01 7.10368542e-02 -4.23659535e-01 1.35228111e+01] [-6.17870092e-02 9.97456095e-01 3.55486189e-02 -4.76948084e-01] [ 4.25107048e-01 -5.92487640e-03 9.05123690e-01 2.38903000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31538475 meters Centerline goodness : 0.951302 with order 1 Centerline is valid? [False, True] Translation: X:13.52, Y:-0.48, Z:2.39 [[ 9.03194972e-01 7.20748131e-02 -4.23135987e-01 1.35201247e+01] [-6.23095541e-02 9.97375013e-01 3.68863489e-02 -4.78195095e-01] [ 4.24683837e-01 -6.95015022e-03 9.05315047e-01 2.39038578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37538475 meters Centerline goodness : 0.954026 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.48, Z:2.41 [[ 9.03269533e-01 6.64831797e-02 -4.23891658e-01 1.35755903e+01] [-6.20404314e-02 9.97778028e-01 2.42897547e-02 -4.76162146e-01] [ 4.24564642e-01 4.35822594e-03 9.05387138e-01 2.40774244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43538475 meters Centerline goodness : 0.950642 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.48, Z:2.43 [[ 9.03562869e-01 6.23415035e-02 -4.23895835e-01 1.36289210e+01] [-5.74998284e-02 9.98051764e-01 2.42166514e-02 -4.80675636e-01] [ 4.24579689e-01 2.49267079e-03 9.05387141e-01 2.43219219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49538475 meters Centerline goodness : 0.945163 with order 1 Centerline is valid? [True, False] Translation: X:13.63, Y:-0.48, Z:2.43 [[ 9.04915796e-01 6.68840627e-02 -4.20302181e-01 1.36297377e+01] [-5.60927956e-02 9.97702192e-01 3.79991346e-02 -4.78541620e-01] [ 4.21877944e-01 -1.08100928e-02 9.06588188e-01 2.42791668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55538475 meters Centerline goodness : 0.943298 with order 1 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.48, Z:2.43 [[ 9.04841606e-01 6.78600095e-02 -4.20305468e-01 1.36280921e+01] [-5.68072970e-02 9.97631878e-01 3.87758525e-02 -4.79429704e-01] [ 4.21941463e-01 -1.12095871e-02 9.06553775e-01 2.42889196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61538475 meters Centerline goodness : 0.948937 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.48, Z:2.43 [[ 9.04953832e-01 7.01430711e-02 -4.19688588e-01 1.36229655e+01] [-5.82763116e-02 9.97456241e-01 4.10477507e-02 -4.81192556e-01] [ 4.21500217e-01 -1.26884164e-02 9.06739528e-01 2.43141398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67538475 meters Centerline goodness : 0.953703 with order 1 Centerline is valid? [False, True] Translation: X:13.62, Y:-0.48, Z:2.43 [[ 0.90457728 0.07457292 -0.41973662 13.62421338] [-0.06071979 0.99708092 0.04628974 -0.48336269] [ 0.42196334 -0.01638633 0.9064648 2.4340252 ] [ 0. 0. 0. 1. ]] SLAMing on 159.73538475 meters Centerline goodness : 0.953518 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.48, Z:2.45 [[ 9.04780196e-01 6.35203539e-02 -4.21115140e-01 1.36835877e+01] [-5.89941342e-02 9.97975002e-01 2.37820967e-02 -4.81079033e-01] [ 4.21773030e-01 3.32575298e-03 9.06695346e-01 2.44618662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79538475 meters Centerline goodness : 0.953461 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.49, Z:2.47 [[ 9.04815516e-01 6.29703541e-02 -4.21121855e-01 1.37370050e+01] [-5.84430743e-02 9.98010263e-01 2.36626503e-02 -4.85147555e-01] [ 4.21773979e-01 3.20132270e-03 9.06695352e-01 2.47008242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85538475 meters Centerline goodness : 0.954429 with order 1 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.49, Z:2.50 [[ 9.04801705e-01 6.31246348e-02 -4.21128430e-01 1.37899212e+01] [-5.86679548e-02 9.97999849e-01 2.35450988e-02 -4.88207648e-01] [ 4.21772386e-01 3.40309818e-03 9.06695359e-01 2.49588450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91538475000002 meters Centerline goodness : 0.955597 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.49, Z:2.52 [[ 9.04765427e-01 6.35987353e-02 -4.21135042e-01 1.38430236e+01] [-5.92461882e-02 9.97968486e-01 2.34262880e-02 -4.91652141e-01] [ 4.21769383e-01 3.75535051e-03 9.06695365e-01 2.52069824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97538475000002 meters Centerline goodness : 0.952325 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.49, Z:2.54 [[ 9.04747514e-01 6.38103847e-02 -4.21141508e-01 1.38968333e+01] [-5.95339921e-02 9.97954092e-01 2.33095125e-02 -4.94321994e-01] [ 4.21767281e-01 3.98301172e-03 9.06695371e-01 2.54196559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03538475 meters Centerline goodness : 0.955656 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.50, Z:2.57 [[ 9.04869460e-01 6.20416910e-02 -4.21143786e-01 1.39486102e+01] [-5.76022947e-02 9.98068416e-01 2.32682881e-02 -4.98491084e-01] [ 4.21773916e-01 3.20408522e-03 9.06695372e-01 2.57053802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09538475 meters Centerline goodness : 0.954162 with order 1 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.50, Z:2.60 [[ 9.05163879e-01 5.75407718e-02 -4.21150107e-01 1.40006786e+01] [-5.26913925e-02 9.98342395e-01 2.31533760e-02 -5.00083623e-01] [ 4.21784269e-01 1.23338597e-03 9.06695378e-01 2.59794481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15538475 meters Centerline goodness : 0.949953 with order 1 Centerline is valid? [True, False] Translation: X:14.01, Y:-0.50, Z:2.60 [[ 9.05122628e-01 5.87502783e-02 -4.21071767e-01 1.40059886e+01] [-5.32591985e-02 9.98272710e-01 2.48002708e-02 -4.99748483e-01] [ 4.21801476e-01 -2.13414954e-05 9.06688212e-01 2.59654181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21538475 meters Centerline goodness : 0.947042 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.50, Z:2.60 [[ 9.05109145e-01 5.90542377e-02 -4.21058229e-01 1.40060821e+01] [-5.34319705e-02 9.98254740e-01 2.51495088e-02 -5.00635546e-01] [ 4.21808558e-01 -2.65079518e-04 9.06684879e-01 2.59660276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27538475 meters Centerline goodness : 0.950801 with order 1 Centerline is valid? [False, True] Translation: X:14.00, Y:-0.50, Z:2.60 [[ 9.04662883e-01 6.51807272e-02 -4.21113455e-01 1.40043481e+01] [-5.74109957e-02 9.97865561e-01 3.11175194e-02 -5.02586269e-01] [ 4.22242876e-01 -3.97432209e-03 9.06474025e-01 2.60006417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33538475 meters Centerline goodness : 0.946709 with order 1 Centerline is valid? [True, False] Translation: X:14.01, Y:-0.50, Z:2.60 [[ 9.04145816e-01 6.89678813e-02 -4.21620415e-01 1.40077774e+01] [-6.02883087e-02 9.97605158e-01 3.39008539e-02 -4.99671781e-01] [ 4.22948771e-01 -5.23253347e-03 9.06138487e-01 2.59982682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39538475 meters Centerline goodness : 0.942631 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.50, Z:2.60 [[ 9.03747770e-01 7.41645439e-02 -4.21591732e-01 1.40080816e+01] [-6.42644052e-02 9.97221819e-01 3.76660341e-02 -4.97744397e-01] [ 4.23213958e-01 -6.94725244e-03 9.06003136e-01 2.60023107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45538475 meters Centerline goodness : 0.943128 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.50, Z:2.60 [[ 9.03757035e-01 7.66140746e-02 -4.21133595e-01 1.40031620e+01] [-6.63291285e-02 9.97033731e-01 3.90408181e-02 -4.96618489e-01] [ 4.22875476e-01 -7.34998961e-03 9.06157994e-01 2.60170475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51538475 meters Centerline goodness : 0.943274 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.49, Z:2.60 [[ 9.03882706e-01 7.64916481e-02 -4.20886068e-01 1.40035897e+01] [-6.63971394e-02 9.97045976e-01 3.86101255e-02 -4.94745179e-01] [ 4.22596112e-01 -6.95339382e-03 9.06291441e-01 2.60077066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57538475 meters Centerline goodness : 0.945211 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.50, Z:2.60 [[ 9.03813740e-01 7.75902029e-02 -4.20833083e-01 1.40018925e+01] [-6.64812672e-02 9.96943758e-01 4.10290598e-02 -4.99233787e-01] [ 4.22730368e-01 -9.10511139e-03 9.06209762e-01 2.60356981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63538475000001 meters Centerline goodness : 0.949107 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.50, Z:2.61 [[ 9.03798181e-01 7.89818314e-02 -4.20607559e-01 1.39993072e+01] [-6.71872815e-02 9.96821450e-01 4.28119764e-02 -5.01776529e-01] [ 4.22652005e-01 -1.04339080e-02 9.06231988e-01 2.60549956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69538475000002 meters Centerline goodness : 0.948161 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.50, Z:2.61 [[ 9.03244005e-01 8.32333734e-02 -4.20977997e-01 1.40011623e+01] [-6.97315677e-02 9.96439257e-01 4.73953045e-02 -5.04220149e-01] [ 4.23423874e-01 -1.34540689e-02 9.05831779e-01 2.60755810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75538475 meters Centerline goodness : 0.946752 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.50, Z:2.61 [[ 9.03153357e-01 8.28286434e-02 -4.21252216e-01 1.40025348e+01] [-6.93869339e-02 9.96474108e-01 4.71678380e-02 -5.03904481e-01] [ 4.23673774e-01 -1.33703915e-02 9.05716162e-01 2.60744511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81538475 meters Centerline goodness : 0.939756 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.50, Z:2.61 [[ 9.02922107e-01 8.11425762e-02 -4.22075290e-01 1.40067773e+01] [-6.78038239e-02 9.96612295e-01 4.65464766e-02 -5.04448800e-01] [ 4.24422325e-01 -1.34095241e-02 9.05365051e-01 2.60737523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87538475 meters Centerline goodness : 0.936882 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.51, Z:2.61 [[ 0.9021121 0.08528905 -0.42298882 14.00976981] [-0.07019251 0.99622008 0.05117192 -0.50656629] [ 0.42575436 -0.01647216 0.90468884 2.61001624] [ 0. 0. 0. 1. ]] SLAMing on 160.93538475 meters Centerline goodness : 0.935199 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.51, Z:2.61 [[ 0.90245868 0.08063733 -0.42316185 14.00895873] [-0.06665563 0.99663215 0.04776375 -0.5083633 ] [ 0.42558825 -0.01489869 0.90479427 2.61008913] [ 0. 0. 0. 1. ]] SLAMing on 160.99538475 meters Centerline goodness : 0.934379 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.51, Z:2.61 [[ 0.90187574 0.08367315 -0.42381475 14.01329117] [-0.06774346 0.9963182 0.05254395 -0.51106976] [ 0.42665087 -0.01867744 0.90422353 2.61305434] [ 0. 0. 0. 1. ]] SLAMing on 161.05538475 meters Centerline goodness : 0.932829 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.51, Z:2.61 [[ 0.90179986 0.08389671 -0.42393201 14.01331909] [-0.06746808 0.99627822 0.05364483 -0.51357777] [ 0.42685485 -0.01977502 0.90410391 2.61440061] [ 0. 0. 0. 1. ]] SLAMing on 161.11538475 meters Centerline goodness : 0.935370 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.52, Z:2.62 [[ 0.90164847 0.08503364 -0.4240275 14.01104052] [-0.06752864 0.9961349 0.0561706 -0.51859149] [ 0.42716498 -0.02201213 0.90390572 2.61803147] [ 0. 0. 0. 1. ]] SLAMing on 161.17538475 meters Centerline goodness : 0.928864 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.52, Z:2.62 [[ 0.90142655 0.08403091 -0.42469869 14.01426847] [-0.06651485 0.99621647 0.05593313 -0.52006272] [ 0.42779194 -0.02217084 0.90360528 2.61801776] [ 0. 0. 0. 1. ]] SLAMing on 161.23538475 meters Centerline goodness : 0.932073 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.52, Z:2.63 [[ 0.90106197 0.0861737 -0.42504285 14.01893224] [-0.06572693 0.99587409 0.0625681 -0.52448898] [ 0.42868088 -0.02844097 0.9030082 2.62510273] [ 0. 0. 0. 1. ]] SLAMing on 161.29538475 meters Centerline goodness : 0.939649 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.53, Z:2.64 [[ 0.90123641 0.09111 -0.42364125 14.01748816] [-0.06605658 0.99510622 0.07348559 -0.5311241 ] [ 0.42826332 -0.0382436 0.90284437 2.63751539] [ 0. 0. 0. 1. ]] SLAMing on 161.35538475 meters Centerline goodness : 0.942082 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.53, Z:2.64 [[ 0.90122456 0.09186499 -0.42350337 14.0161711 ] [-0.06624559 0.99499134 0.07485824 -0.53285726] [ 0.42825904 -0.03940885 0.90279629 2.63922676] [ 0. 0. 0. 1. ]] SLAMing on 161.41538475000002 meters Centerline goodness : 0.947667 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.54, Z:2.64 [[ 0.90116437 0.09277322 -0.42343348 14.01431101] [-0.06633594 0.99483822 0.07678834 -0.53545705] [ 0.42837172 -0.04111005 0.90266696 2.64200829] [ 0. 0. 0. 1. ]] SLAMing on 161.47538475000002 meters Centerline goodness : 0.950418 with order 1 Centerline is valid? [False, True] Translation: X:14.01, Y:-0.53, Z:2.64 [[ 0.90131078 0.09288717 -0.42309674 14.01404658] [-0.06637645 0.99481886 0.07700389 -0.53497466] [ 0.42805729 -0.04132078 0.90280648 2.64191146] [ 0. 0. 0. 1. ]] SLAMing on 161.53538475 meters Centerline goodness : 0.946819 with order 1 Centerline is valid? [True, False] Translation: X:14.02, Y:-0.53, Z:2.64 [[ 0.90114567 0.09231399 -0.42357361 14.01606688] [-0.06598233 0.99488777 0.07645038 -0.53499916] [ 0.42846564 -0.04094455 0.9026299 2.64147988] [ 0. 0. 0. 1. ]] SLAMing on 161.59538475 meters Centerline goodness : 0.943372 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.53, Z:2.64 [[ 0.9010169 0.090538 -0.42423038 14.02053611] [-0.06484781 0.99509967 0.07464189 -0.53313817] [ 0.42890944 -0.0397432 0.90247281 2.63950891] [ 0. 0. 0. 1. ]] SLAMing on 161.65538475 meters Centerline goodness : 0.939808 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.53, Z:2.64 [[ 0.90060712 0.09448958 -0.42423877 14.02289382] [-0.06770508 0.9946666 0.07780984 -0.53060056] [ 0.42932836 -0.04135297 0.90220125 2.63946735] [ 0. 0. 0. 1. ]] SLAMing on 161.71538475 meters Centerline goodness : 0.941390 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.53, Z:2.64 [[ 0.90062232 0.09704322 -0.42362962 14.01763576] [-0.0702266 0.99443736 0.07850197 -0.52635401] [ 0.42889121 -0.04095056 0.9024275 2.64004745] [ 0. 0. 0. 1. ]] SLAMing on 161.77538475 meters Centerline goodness : 0.949357 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.52, Z:2.64 [[ 0.90097745 0.09931792 -0.42234534 14.01181237] [-0.0723705 0.99421146 0.0794109 -0.52248772] [ 0.4277875 -0.04098208 0.90294979 2.6403711 ] [ 0. 0. 0. 1. ]] SLAMing on 161.83538475 meters Centerline goodness : 0.951844 with order 1 Centerline is valid? [False, True] Translation: X:14.01, Y:-0.52, Z:2.64 [[ 0.90124733 0.10039516 -0.42151402 14.00919785] [-0.07355308 0.99411667 0.07951098 -0.51828046] [ 0.42701663 -0.0406554 0.90332936 2.63980047] [ 0. 0. 0. 1. ]] SLAMing on 161.89538475 meters Centerline goodness : 0.950482 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.51, Z:2.64 [[ 9.01096543e-01 8.30367320e-02 -4.25593610e-01 1.40757833e+01] [-7.59680767e-02 9.96544348e-01 3.35888846e-02 -5.06033781e-01] [ 4.26912018e-01 2.06470018e-03 9.04290808e-01 2.63593943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95538475 meters Centerline goodness : 0.948389 with order 1 Centerline is valid? [True, False] Translation: X:14.08, Y:-0.51, Z:2.64 [[ 9.00581229e-01 8.74912461e-02 -4.25791887e-01 1.40779298e+01] [-7.91314309e-02 9.96165285e-01 3.73221314e-02 -5.05993182e-01] [ 4.27424456e-01 8.19103867e-05 9.04051065e-01 2.63637803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01538475 meters Centerline goodness : 0.949272 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.51, Z:2.64 [[ 9.00114935e-01 9.23614531e-02 -4.25749299e-01 1.40788233e+01] [-8.24338286e-02 9.95722493e-01 4.17298541e-02 -5.07383253e-01] [ 4.27782384e-01 -2.46552012e-03 9.03878395e-01 2.63747760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07538475 meters Centerline goodness : 0.948296 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.51, Z:2.64 [[ 8.99591888e-01 9.68296418e-02 -4.25862014e-01 1.40806222e+01] [-8.57062393e-02 9.95292051e-01 4.52567602e-02 -5.05940337e-01] [ 4.28239273e-01 -4.21358273e-03 9.03655560e-01 2.63782965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13538475000001 meters Centerline goodness : 0.943882 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.50, Z:2.64 [[ 8.99520453e-01 9.69355950e-02 -4.25988785e-01 1.40808267e+01] [-8.60790906e-02 9.95284310e-01 4.47161400e-02 -5.03899705e-01] [ 4.28314539e-01 -3.55435533e-03 9.03622721e-01 2.63733173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19538475000002 meters Centerline goodness : 0.946197 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.50, Z:2.64 [[ 8.99633503e-01 9.75980248e-02 -4.25598620e-01 1.40786070e+01] [-8.64878718e-02 9.95217725e-01 4.54040410e-02 -5.03886293e-01] [ 4.27994635e-01 -4.03787755e-03 9.03772254e-01 2.63820918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25538475 meters Centerline goodness : 0.950880 with order 1 Centerline is valid? [False, True] Translation: X:14.08, Y:-0.51, Z:2.64 [[ 8.99621536e-01 9.78426469e-02 -4.25567749e-01 1.40776848e+01] [-8.60715928e-02 9.95186577e-01 4.68546557e-02 -5.05951686e-01] [ 4.28103695e-01 -5.52216330e-03 9.03712749e-01 2.64041382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31538475 meters Centerline goodness : 0.950359 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.51, Z:2.66 [[ 8.99828996e-01 9.20635526e-02 -4.26417730e-01 1.41333372e+01] [-8.41634940e-02 9.95750584e-01 3.73802092e-02 -5.07634205e-01] [ 4.28047058e-01 2.25300989e-03 9.03753639e-01 2.65714892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37538475 meters Centerline goodness : 0.946638 with order 1 Centerline is valid? [True, False] Translation: X:14.13, Y:-0.51, Z:2.66 [[ 8.99835941e-01 9.22597513e-02 -4.26360667e-01 1.41334235e+01] [-8.42473167e-02 9.95732903e-01 3.76613225e-02 -5.08365880e-01] [ 4.28015969e-01 2.03073049e-03 9.03768890e-01 2.65709614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43538475 meters Centerline goodness : 0.949356 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.51, Z:2.66 [[ 8.99709550e-01 9.24662804e-02 -4.26582598e-01 1.41339314e+01] [-8.44542043e-02 9.95713601e-01 3.77082399e-02 -5.08481199e-01] [ 4.28240836e-01 2.10023034e-03 9.03662202e-01 2.65710897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49538475 meters Centerline goodness : 0.946577 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.51, Z:2.66 [[ 8.99662335e-01 9.21275726e-02 -4.26755426e-01 1.41355011e+01] [-8.42186045e-02 9.95744603e-01 3.74154044e-02 -5.08882022e-01] [ 4.28386403e-01 2.27951639e-03 9.03592770e-01 2.65645753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55538475 meters Centerline goodness : 0.947899 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.51, Z:2.66 [[ 8.99659530e-01 9.18913222e-02 -4.26812272e-01 1.41365503e+01] [-8.39493484e-02 9.95766711e-01 3.74321205e-02 -5.09164632e-01] [ 4.28445139e-01 2.15444813e-03 9.03565228e-01 2.65621415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61538475 meters Centerline goodness : 0.949354 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.51, Z:2.66 [[ 8.99502524e-01 9.16282486e-02 -4.27199571e-01 1.41374982e+01] [-8.31816116e-02 9.95792821e-01 3.84379661e-02 -5.12056202e-01] [ 4.28924270e-01 9.60101342e-04 9.03339941e-01 2.65779900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67538475 meters Centerline goodness : 0.950432 with order 1 Centerline is valid? [False, True] Translation: X:14.14, Y:-0.51, Z:2.66 [[ 8.99459753e-01 9.21502068e-02 -4.27177354e-01 1.41369192e+01] [-8.34483336e-02 9.95745000e-01 3.90931072e-02 -5.13179585e-01] [ 4.28962152e-01 4.84561736e-04 9.03322333e-01 2.65837109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73538475 meters Centerline goodness : 0.954087 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.52, Z:2.68 [[ 8.99440349e-01 9.20470083e-02 -4.27240457e-01 1.41899915e+01] [-8.36670554e-02 9.95753922e-01 3.83920667e-02 -5.18461301e-01] [ 4.28960235e-01 1.21457704e-03 9.03322557e-01 2.68388207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79538475 meters Centerline goodness : 0.954452 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.52, Z:2.71 [[ 8.99551285e-01 9.09073951e-02 -4.27250900e-01 1.42429756e+01] [-8.24607759e-02 9.95859028e-01 3.82755269e-02 -5.22209281e-01] [ 4.28961194e-01 8.00641321e-04 9.03322563e-01 2.70714757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85538475 meters Centerline goodness : 0.951687 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.53, Z:2.73 [[ 8.99558762e-01 9.07779740e-02 -4.27262674e-01 1.42969209e+01] [-8.23801196e-02 9.95870762e-01 3.81436824e-02 -5.27867397e-01] [ 4.28961011e-01 8.85466437e-04 9.03322571e-01 2.73000337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91538475000002 meters Centerline goodness : 0.952267 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.53, Z:2.75 [[ 8.99449164e-01 9.18090172e-02 -4.27273105e-01 1.43513423e+01] [-8.35772259e-02 9.95775493e-01 3.80265063e-02 -5.31466865e-01] [ 4.28959263e-01 1.50739162e-03 9.03322577e-01 2.75364472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97538475000002 meters Centerline goodness : 0.950502 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.54, Z:2.78 [[ 8.99330267e-01 9.29183385e-02 -4.27283575e-01 1.44038089e+01] [-8.48614135e-02 9.95671373e-01 3.79085298e-02 -5.35552960e-01] [ 4.28956422e-01 2.16759996e-03 9.03322583e-01 2.77842827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03538475 meters Centerline goodness : 0.948193 with order 1 Centerline is valid? [True, False] Translation: X:14.40, Y:-0.54, Z:2.78 [[ 8.99213730e-01 9.31406153e-02 -4.27480401e-01 1.44038401e+01] [-8.48967668e-02 9.95651330e-01 3.83531952e-02 -5.36407441e-01] [ 4.29193670e-01 1.80398421e-03 9.03210684e-01 2.77910037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09538475 meters Centerline goodness : 0.951896 with order 1 Centerline is valid? [False, True] Translation: X:14.40, Y:-0.54, Z:2.78 [[ 8.99207156e-01 9.40255183e-02 -4.27300470e-01 1.44017646e+01] [-8.50148319e-02 9.95569766e-01 4.01661575e-02 -5.39308058e-01] [ 4.29184073e-01 2.09181340e-04 9.03217021e-01 2.78143750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15538475 meters Centerline goodness : 0.953222 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.54, Z:2.80 [[ 8.99339633e-01 9.21768486e-02 -4.27424442e-01 1.44545312e+01] [-8.36148471e-02 9.95742297e-01 3.88050834e-02 -5.44253035e-01] [ 4.29181526e-01 8.40079969e-04 9.03217865e-01 2.80390011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21538475 meters Centerline goodness : 0.948237 with order 1 Centerline is valid? [True, False] Translation: X:14.46, Y:-0.54, Z:2.80 [[ 8.99171177e-01 9.09600657e-02 -4.28039088e-01 1.44580694e+01] [-8.27638454e-02 9.95853455e-01 3.77629796e-02 -5.43492388e-01] [ 4.29699128e-01 1.47077807e-03 9.02970928e-01 2.80291490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27538475 meters Centerline goodness : 0.942802 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.80 [[ 8.98418432e-01 9.54023015e-02 -4.28652215e-01 1.44608101e+01] [-8.58794810e-02 9.95438663e-01 4.15521723e-02 -5.43370184e-01] [ 4.30661160e-01 -5.18807759e-04 9.02513543e-01 2.80392311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33538475 meters Centerline goodness : 0.942005 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.81 [[ 8.97867804e-01 1.00319592e-01 -4.28683316e-01 1.44615300e+01] [-8.94169413e-02 9.94951944e-01 4.55547954e-02 -5.42039701e-01] [ 4.31089338e-01 -2.57063311e-03 9.02305588e-01 2.80502351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39538475 meters Centerline goodness : 0.941120 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.81 [[ 8.97218017e-01 1.06416234e-01 -4.28573699e-01 1.44592123e+01] [-9.36019116e-02 9.94305993e-01 5.09340122e-02 -5.41019339e-01] [ 4.31553604e-01 -5.58359590e-03 9.02070014e-01 2.80829792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45538475 meters Centerline goodness : 0.941089 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.81 [[ 8.96481933e-01 1.12657484e-01 -4.28518885e-01 1.44563042e+01] [-9.78703558e-02 9.93595951e-01 5.64666233e-02 -5.40197025e-01] [ 4.32136017e-01 -8.68201187e-03 9.01766647e-01 2.81206904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51538475 meters Centerline goodness : 0.939322 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.81 [[ 8.96015536e-01 1.18440520e-01 -4.27934578e-01 1.44545442e+01] [-1.02236209e-01 9.92903735e-01 6.07448058e-02 -5.37856594e-01] [ 4.32092487e-01 -1.06778808e-02 9.01766082e-01 2.81316802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57538475 meters Centerline goodness : 0.943143 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.81 [[ 8.96040501e-01 1.19793697e-01 -4.27505427e-01 1.44513588e+01] [-1.03330015e-01 9.92737588e-01 6.16034928e-02 -5.37388936e-01] [ 4.31780416e-01 -1.10250825e-02 9.01911370e-01 2.81410837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63538475000001 meters Centerline goodness : 0.942354 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.81 [[ 8.96557569e-01 1.13626336e-01 -4.28104639e-01 1.44520388e+01] [-9.86261099e-02 9.93482729e-01 5.71398080e-02 -5.36125547e-01] [ 4.31807152e-01 -9.00683212e-03 9.01920983e-01 2.81428000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69538475000002 meters Centerline goodness : 0.929515 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.81 [[ 8.95878969e-01 1.14367585e-01 -4.29326133e-01 1.44613531e+01] [-9.86832645e-02 9.93385892e-01 5.87033534e-02 -5.35301447e-01] [ 4.33200284e-01 -1.02237954e-02 9.01239695e-01 2.81369243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75538475 meters Centerline goodness : 0.925525 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.81 [[ 8.95770201e-01 1.15658725e-01 -4.29207184e-01 1.44595845e+01] [-9.98543989e-02 9.93236486e-01 5.92484737e-02 -5.35010122e-01] [ 4.33156838e-01 -1.02147918e-02 9.01260679e-01 2.81396061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81538475 meters Centerline goodness : 0.930858 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.82 [[ 8.95587344e-01 1.17875333e-01 -4.28985681e-01 1.44551435e+01] [-1.00650257e-01 9.92943483e-01 6.27117601e-02 -5.38941673e-01] [ 4.33350706e-01 -1.29863397e-02 9.01131800e-01 2.81852721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87538475 meters Centerline goodness : 0.930459 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.82 [[ 8.95505827e-01 1.17355900e-01 -4.29298155e-01 1.44555201e+01] [-9.97654750e-02 9.92992713e-01 6.33428979e-02 -5.40183209e-01] [ 4.33723603e-01 -1.38947998e-02 9.00938828e-01 2.82024189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93538475 meters Centerline goodness : 0.925807 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.82 [[ 0.8948137 0.1214954 -0.4295897 14.45816551] [-0.10241395 0.99245848 0.06736133 -0.54079294] [ 0.43453404 -0.01627987 0.90050827 2.82147875] [ 0. 0. 0. 1. ]] SLAMing on 163.99538475 meters Centerline goodness : 0.921704 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.82 [[ 0.89482176 0.1231199 -0.42911014 14.45506907] [-0.1040362 0.99226307 0.06775294 -0.53851216] [ 0.43413188 -0.01598381 0.90070752 2.8215184 ] [ 0. 0. 0. 1. ]] SLAMing on 164.05538475 meters Centerline goodness : 0.917408 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.89412943 0.12874535 -0.42890232 14.4543282 ] [-0.10803808 0.99150705 0.07239852 -0.53906479] [ 0.43458065 -0.01839587 0.90044503 2.82314803] [ 0. 0. 0. 1. ]] SLAMing on 164.11538475 meters Centerline goodness : 0.915298 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.82 [[ 0.89417929 0.12782582 -0.42907337 14.45648961] [-0.10763254 0.99164381 0.07111814 -0.53613682] [ 0.43457868 -0.01741011 0.90046558 2.82172429] [ 0. 0. 0. 1. ]] SLAMing on 164.17538475 meters Centerline goodness : 0.911633 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.54, Z:2.82 [[ 0.89428567 0.12863145 -0.42861065 14.455187 ] [-0.10845234 0.99154207 0.07129108 -0.53520058] [ 0.43415576 -0.01727077 0.90067225 2.82122856] [ 0. 0. 0. 1. ]] SLAMing on 164.23538475 meters Centerline goodness : 0.916007 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.894762 0.1242458 -0.42891018 14.45269305] [-0.10499931 0.99212045 0.06835326 -0.53618953] [ 0.43402317 -0.01612463 0.9007574 2.82273572] [ 0. 0. 0. 1. ]] SLAMing on 164.29538475 meters Centerline goodness : 0.916815 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.89477243 0.12404671 -0.42894605 14.45370236] [-0.1048048 0.99214486 0.06829731 -0.53643119] [ 0.43404868 -0.01615494 0.90074456 2.82231805] [ 0. 0. 0. 1. ]] SLAMing on 164.35538475 meters Centerline goodness : 0.916840 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.89553778 0.11921985 -0.42871751 14.45214232] [-0.10117826 0.99276075 0.06472288 -0.5372521 ] [ 0.43333017 -0.01458489 0.90111722 2.82188265] [ 0. 0. 0. 1. ]] SLAMing on 164.41538475000002 meters Centerline goodness : 0.919285 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.89558289 0.11933913 -0.42859008 14.45175739] [-0.10113676 0.99274104 0.06508901 -0.53829544] [ 0.43324663 -0.01494639 0.90115147 2.82224673] [ 0. 0. 0. 1. ]] SLAMing on 164.47538475000002 meters Centerline goodness : 0.920983 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.8954759 0.11988325 -0.42866179 14.45109205] [-0.10124819 0.9926623 0.0661087 -0.54109813] [ 0.43344172 -0.01579751 0.90104313 2.82340511] [ 0. 0. 0. 1. ]] SLAMing on 164.53538475 meters Centerline goodness : 0.922345 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.89548949 0.12035774 -0.42850039 14.45042351] [-0.1016235 0.9926026 0.06642847 -0.54151426] [ 0.43332578 -0.01594028 0.90109637 2.82342677] [ 0. 0. 0. 1. ]] SLAMing on 164.59538475 meters Centerline goodness : 0.922000 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 0.89562719 0.12127658 -0.42795319 14.44947519] [-0.10248474 0.99249061 0.06677774 -0.54251436] [ 0.43283809 -0.01594928 0.90133057 2.82242775] [ 0. 0. 0. 1. ]] SLAMing on 164.65538475 meters Centerline goodness : 0.920989 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.54, Z:2.82 [[ 8.96087292e-01 1.15231428e-01 -4.28659870e-01 1.44520681e+01] [-9.80569995e-02 9.93246355e-01 6.20201863e-02 -5.43509156e-01] [ 4.32911528e-01 -1.35424002e-02 9.01334684e-01 2.82088315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71538475 meters Centerline goodness : 0.921081 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.55, Z:2.82 [[ 0.89606115 0.1152589 -0.42870714 14.45247367] [-0.09764602 0.99322915 0.06293734 -0.54702029] [ 0.43305851 -0.01453416 0.90124862 2.82170426] [ 0. 0. 0. 1. ]] SLAMing on 164.77538475 meters Centerline goodness : 0.925613 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.55, Z:2.82 [[ 0.89615035 0.11662884 -0.42814982 14.44951204] [-0.09823548 0.99304516 0.06489304 -0.54999392] [ 0.43274051 -0.01609442 0.90137485 2.82356375] [ 0. 0. 0. 1. ]] SLAMing on 164.83538475 meters Centerline goodness : 0.929341 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.55, Z:2.83 [[ 0.89610554 0.11820316 -0.42781172 14.44599056] [-0.09860953 0.99281642 0.06776225 -0.55350068] [ 0.43274821 -0.01853581 0.90132425 2.82732901] [ 0. 0. 0. 1. ]] SLAMing on 164.89538475 meters Centerline goodness : 0.932155 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.83 [[ 0.89619173 0.11924537 -0.4273417 14.44370159] [-0.0992071 0.9926754 0.06894567 -0.55518719] [ 0.43243304 -0.0193932 0.90145747 2.8283005 ] [ 0. 0. 0. 1. ]] SLAMing on 164.95538475 meters Centerline goodness : 0.932167 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89619735 0.1187518 -0.42746732 14.44576461] [-0.09878466 0.99273591 0.0686804 -0.55612206] [ 0.43251809 -0.01932398 0.90141815 2.82742112] [ 0. 0. 0. 1. ]] SLAMing on 165.01538475 meters Centerline goodness : 0.931407 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89609146 0.11812464 -0.42786291 14.44816669] [-0.09835923 0.99281814 0.0680999 -0.5560879 ] [ 0.43283433 -0.01893947 0.90127451 2.8266196 ] [ 0. 0. 0. 1. ]] SLAMing on 165.07538475 meters Centerline goodness : 0.927801 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89591675 0.11758846 -0.42837615 14.45053742] [-0.09796927 0.99288743 0.06765035 -0.5569017 ] [ 0.4332842 -0.01864138 0.90106454 2.826003 ] [ 0. 0. 0. 1. ]] SLAMing on 165.13538475000001 meters Centerline goodness : 0.926495 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89578472 0.11662989 -0.42891398 14.45362126] [-0.09726911 0.99300899 0.06687202 -0.55669206] [ 0.43371472 -0.01818285 0.90086676 2.8251119 ] [ 0. 0. 0. 1. ]] SLAMing on 165.19538475000002 meters Centerline goodness : 0.927564 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.82 [[ 0.89580349 0.11696535 -0.4287834 14.45333489] [-0.09762186 0.99297129 0.06691777 -0.55635546] [ 0.43359667 -0.01808654 0.90092553 2.82481613] [ 0. 0. 0. 1. ]] SLAMing on 165.25538475 meters Centerline goodness : 0.932082 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89570799 0.11945145 -0.42829726 14.44822369] [-0.09870086 0.99262199 0.07042534 -0.56018683] [ 0.43354969 -0.02080724 0.90088941 2.82918229] [ 0. 0. 0. 1. ]] SLAMing on 165.31538475 meters Centerline goodness : 0.935027 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89572264 0.11986593 -0.4281508 14.44694285] [-0.09851071 0.99254363 0.07178287 -0.56304217] [ 0.43356267 -0.0221201 0.90085188 2.83101486] [ 0. 0. 0. 1. ]] SLAMing on 165.37538475 meters Centerline goodness : 0.933756 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.8956976 0.11986716 -0.42820283 14.44726026] [-0.0982968 0.99253261 0.07222711 -0.56449982] [ 0.43366293 -0.02260268 0.90079164 2.83142222] [ 0. 0. 0. 1. ]] SLAMing on 165.43538475 meters Centerline goodness : 0.935058 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.57, Z:2.83 [[ 0.89569339 0.12073919 -0.42796658 14.44506442] [-0.09887418 0.99241512 0.07304882 -0.56517796] [ 0.43354036 -0.0231145 0.90083765 2.83249822] [ 0. 0. 0. 1. ]] SLAMing on 165.49538475 meters Centerline goodness : 0.937432 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89510087 0.12502453 -0.42797583 14.44701024] [-0.10207164 0.99184903 0.07626843 -0.56208744] [ 0.43402284 -0.02458375 0.90056639 2.83270749] [ 0. 0. 0. 1. ]] SLAMing on 165.55538475 meters Centerline goodness : 0.935019 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89446755 0.12884063 -0.42816807 14.45037478] [-0.10495293 0.99133042 0.0790499 -0.55985173] [ 0.43464087 -0.02577008 0.90023509 2.83222941] [ 0. 0. 0. 1. ]] SLAMing on 165.61538475 meters Centerline goodness : 0.936996 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.56, Z:2.83 [[ 0.89452275 0.13128022 -0.42731083 14.44524959] [-0.10739091 0.99102076 0.07965585 -0.55753294] [ 0.43393114 -0.02536467 0.90058892 2.83214982] [ 0. 0. 0. 1. ]] SLAMing on 165.67538475 meters Centerline goodness : 0.941370 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.83 [[ 0.89464387 0.13302974 -0.42651546 14.44081043] [-0.10882423 0.99077534 0.08075594 -0.55659025] [ 0.43332394 -0.02583258 0.90086794 2.83320679] [ 0. 0. 0. 1. ]] SLAMing on 165.73538475 meters Centerline goodness : 0.942167 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.83 [[ 0.89468307 0.13344162 -0.4263045 14.44010878] [-0.10910665 0.99071362 0.08113111 -0.5561275 ] [ 0.43317195 -0.02607397 0.90093408 2.83343981] [ 0. 0. 0. 1. ]] SLAMing on 165.79538475 meters Centerline goodness : 0.944629 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.83 [[ 0.8945858 0.13230933 -0.4268612 14.4420136 ] [-0.10772441 0.9908461 0.08136005 -0.55769169] [ 0.43371845 -0.02680018 0.9006498 2.83481571] [ 0. 0. 0. 1. ]] SLAMing on 165.85538475 meters Centerline goodness : 0.942594 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.84 [[ 0.89446667 0.13107537 -0.42749109 14.44472832] [-0.10647345 0.99100457 0.08107617 -0.55934886] [ 0.43427271 -0.02700348 0.9003766 2.83513019] [ 0. 0. 0. 1. ]] SLAMing on 165.91538475000002 meters Centerline goodness : 0.938491 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.83 [[ 0.89398057 0.13749738 -0.4264894 14.44347533] [-0.11158974 0.99008752 0.08529023 -0.55868944] [ 0.43398902 -0.02865596 0.90046231 2.83435143] [ 0. 0. 0. 1. ]] SLAMing on 165.97538475000002 meters Centerline goodness : 0.940561 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.84 [[ 0.89399735 0.13887511 -0.42600755 14.44025345] [-0.11267011 0.989882 0.08625009 -0.55870014] [ 0.4336752 -0.02910904 0.90059896 2.83534341] [ 0. 0. 0. 1. ]] SLAMing on 166.03538475 meters Centerline goodness : 0.943104 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.56, Z:2.84 [[ 0.8940055 0.13930223 -0.42585099 14.4394769 ] [-0.11286989 0.98980862 0.08682905 -0.55959595] [ 0.43360646 -0.0295599 0.90061737 2.83586539] [ 0. 0. 0. 1. ]] SLAMing on 166.09538475 meters Centerline goodness : 0.950214 with order 1 Centerline is valid? [False, True] Translation: X:14.44, Y:-0.56, Z:2.84 [[ 0.894172 0.13840672 -0.42579338 14.44096114] [-0.11181489 0.98991638 0.0869655 -0.56146334] [ 0.43353645 -0.03015207 0.90063144 2.83591042] [ 0. 0. 0. 1. ]] SLAMing on 166.15538475 meters Centerline goodness : 0.950347 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.56, Z:2.84 [[ 8.94360135e-01 1.21873822e-01 -4.30426209e-01 1.45039740e+01] [-1.11577419e-01 9.92537422e-01 4.91929468e-02 -5.58804765e-01] [ 4.33209452e-01 4.02963488e-03 9.01284269e-01 2.83985154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21538475 meters Centerline goodness : 0.948344 with order 1 Centerline is valid? [True, False] Translation: X:14.51, Y:-0.56, Z:2.84 [[ 8.94393280e-01 1.21789961e-01 -4.30381070e-01 1.45052639e+01] [-1.11417069e-01 9.92548509e-01 4.93324827e-02 -5.60579172e-01] [ 4.33182290e-01 3.82915632e-03 9.01298198e-01 2.83910678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27538475 meters Centerline goodness : 0.944026 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.56, Z:2.84 [[ 8.94284136e-01 1.20044403e-01 -4.31097697e-01 1.45095742e+01] [-1.09728831e-01 9.92761837e-01 4.88212989e-02 -5.62986553e-01] [ 4.33838066e-01 3.64373314e-03 9.00983494e-01 2.83874910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33538475 meters Centerline goodness : 0.941000 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.84 [[ 8.94068743e-01 1.19531238e-01 -4.31686653e-01 1.45115711e+01] [-1.08938536e-01 9.92826015e-01 4.92838556e-02 -5.65893618e-01] [ 4.34480700e-01 2.96415721e-03 9.00676265e-01 2.83952874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39538475 meters Centerline goodness : 0.941110 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93319935e-01 1.24031986e-01 -4.31967082e-01 1.45128454e+01] [-1.10682548e-01 9.92275708e-01 5.60204727e-02 -5.70043966e-01] [ 4.35578772e-01 -2.23298769e-03 9.00147847e-01 2.84523368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45538475 meters Centerline goodness : 0.941582 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93303619e-01 1.23907115e-01 -4.32036655e-01 1.45134266e+01] [-1.10582154e-01 9.92291389e-01 5.59409128e-02 -5.69582503e-01] [ 4.35637729e-01 -2.19667602e-03 9.00119405e-01 2.84517226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51538475 meters Centerline goodness : 0.941977 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93370343e-01 1.25367839e-01 -4.31476924e-01 1.45097802e+01] [-1.11729755e-01 9.92106797e-01 5.69259561e-02 -5.69037537e-01] [ 4.35207873e-01 -2.64715005e-03 9.00326108e-01 2.84628545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57538475 meters Centerline goodness : 0.947089 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93504415e-01 1.27457396e-01 -4.30586197e-01 1.45055418e+01] [-1.13641008e-01 9.91840390e-01 5.77785628e-02 -5.66520493e-01] [ 4.34437086e-01 -2.69315170e-03 9.00698154e-01 2.84650828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63538475000001 meters Centerline goodness : 0.947042 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.85 [[ 8.93607962e-01 1.27790422e-01 -4.30272493e-01 1.45048067e+01] [-1.13970497e-01 9.91797602e-01 5.78640062e-02 -5.65878642e-01] [ 4.34137692e-01 -2.66936691e-03 9.00842572e-01 2.84625676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69538475000002 meters Centerline goodness : 0.944600 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.85 [[ 8.93428496e-01 1.27786830e-01 -4.30646082e-01 1.45049021e+01] [-1.13637465e-01 9.91795942e-01 5.85434554e-02 -5.68292774e-01] [ 4.34594119e-01 -3.36686212e-03 9.00620129e-01 2.84758255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75538475 meters Centerline goodness : 0.936850 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93344027e-01 1.26833671e-01 -4.31102853e-01 1.45081683e+01] [-1.13018340e-01 9.91920156e-01 5.76303660e-02 -5.67908013e-01] [ 4.34929080e-01 -2.76121425e-03 9.00460477e-01 2.84627900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81538475 meters Centerline goodness : 0.935230 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93342709e-01 1.26107759e-01 -4.31318488e-01 1.45101742e+01] [-1.12531548e-01 9.92013753e-01 5.69680965e-02 -5.66812622e-01] [ 4.35057991e-01 -2.35509664e-03 9.00399355e-01 2.84551723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87538475 meters Centerline goodness : 0.934051 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.57, Z:2.85 [[ 8.93125586e-01 1.26594876e-01 -4.31625330e-01 1.45088778e+01] [-1.12353850e-01 9.91947565e-01 5.84520399e-02 -5.68650887e-01] [ 4.35549424e-01 -3.71024480e-03 9.00157172e-01 2.84834673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93538475 meters Centerline goodness : 0.938047 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.85 [[ 8.93202345e-01 1.28866412e-01 -4.30793476e-01 1.45033212e+01] [-1.14186672e-01 9.91652638e-01 5.98869648e-02 -5.67211278e-01] [ 4.34914905e-01 -4.30030400e-03 9.00461289e-01 2.84993621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99538475 meters Centerline goodness : 0.943829 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:2.85 [[ 8.93341902e-01 1.29955322e-01 -4.30176546e-01 1.45005179e+01] [-1.15166095e-01 9.91510139e-01 6.03689858e-02 -5.64629916e-01] [ 4.34369678e-01 -4.38839175e-03 9.00724001e-01 2.85039450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05538475 meters Centerline goodness : 0.940130 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:2.85 [[ 8.92725327e-01 1.35300260e-01 -4.29808482e-01 1.45005697e+01] [-1.19080966e-01 9.90783656e-01 6.45559427e-02 -5.64311659e-01] [ 4.34581655e-01 -6.44871587e-03 9.00609349e-01 2.85107889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11538475 meters Centerline goodness : 0.939261 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:2.85 [[ 8.92723384e-01 1.35844826e-01 -4.29640713e-01 1.44998781e+01] [-1.19601414e-01 9.90709437e-01 6.47326276e-02 -5.64259765e-01] [ 4.34442701e-01 -6.40269354e-03 9.00676715e-01 2.85097676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17538475 meters Centerline goodness : 0.935796 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:2.85 [[ 8.92668909e-01 1.35633880e-01 -4.29820508e-01 1.45006759e+01] [-1.19399877e-01 9.90738347e-01 6.46621729e-02 -5.64671572e-01] [ 4.34610041e-01 -6.40139564e-03 9.00595988e-01 2.85098100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23538475 meters Centerline goodness : 0.936904 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:2.85 [[ 8.92674138e-01 1.35230056e-01 -4.29936874e-01 1.45017727e+01] [-1.18996102e-01 9.90793053e-01 6.45682167e-02 -5.64629718e-01] [ 4.34710032e-01 -6.47756486e-03 9.00547183e-01 2.85091202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29538475 meters Centerline goodness : 0.932970 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:2.85 [[ 8.92526286e-01 1.34451418e-01 -4.30487683e-01 1.45045972e+01] [-1.18351148e-01 9.90900370e-01 6.41050828e-02 -5.64142225e-01] [ 4.35189423e-01 -6.26675989e-03 9.00317107e-01 2.85054326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35538475 meters Centerline goodness : 0.937758 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92474431e-01 1.37543312e-01 -4.29617537e-01 1.44978917e+01] [-1.19741848e-01 9.90449665e-01 6.83472780e-02 -5.68265176e-01] [ 4.34915257e-01 -9.55500017e-03 9.00420691e-01 2.85572424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41538475000002 meters Centerline goodness : 0.946359 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.57, Z:2.86 [[ 8.92698092e-01 1.39180498e-01 -4.28624434e-01 1.44941083e+01] [-1.20924030e-01 9.90212640e-01 6.96872020e-02 -5.69157144e-01] [ 4.34128432e-01 -1.03786384e-02 9.00791201e-01 2.85631890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47538475000002 meters Centerline goodness : 0.945419 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92679090e-01 1.38539574e-01 -4.28871577e-01 1.44961570e+01] [-1.20276149e-01 9.90301208e-01 6.95497351e-02 -5.69900352e-01] [ 4.34347431e-01 -1.05025727e-02 9.00684187e-01 2.85606818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53538475 meters Centerline goodness : 0.943240 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92549580e-01 1.38686490e-01 -4.29093586e-01 1.44962932e+01] [-1.19968326e-01 9.90269976e-01 7.05193212e-02 -5.71987893e-01] [ 4.34698572e-01 -1.14643515e-02 9.00503037e-01 2.85754486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59538475 meters Centerline goodness : 0.948904 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.57, Z:2.86 [[ 8.92618725e-01 1.39474350e-01 -4.28694200e-01 1.44943497e+01] [-1.20461970e-01 9.90152730e-01 7.13195973e-02 -5.72866639e-01] [ 4.34419987e-01 -1.20198601e-02 9.00630223e-01 2.85822216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65538475 meters Centerline goodness : 0.943358 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92510225e-01 1.38950946e-01 -4.29089889e-01 1.44963836e+01] [-1.20120742e-01 9.90230650e-01 7.08114918e-02 -5.72166960e-01] [ 4.34737284e-01 -1.16573847e-02 9.00481871e-01 2.85767500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71538475 meters Centerline goodness : 0.945410 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92452481e-01 1.38934970e-01 -4.29215149e-01 1.44973014e+01] [-1.20108043e-01 9.90233201e-01 7.07973603e-02 -5.72693186e-01] [ 4.34859320e-01 -1.16310885e-02 9.00423284e-01 2.85738032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77538475 meters Centerline goodness : 0.943105 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92509667e-01 1.38923224e-01 -4.29100025e-01 1.44976035e+01] [-1.20185800e-01 9.90236950e-01 7.06127209e-02 -5.72219749e-01] [ 4.34720447e-01 -1.14508061e-02 9.00492650e-01 2.85685505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83538475 meters Centerline goodness : 0.942897 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92408275e-01 1.39491754e-01 -4.29126463e-01 1.44961976e+01] [-1.20310688e-01 9.90146575e-01 7.16595976e-02 -5.73481158e-01] [ 4.34894021e-01 -1.23211180e-02 9.00397346e-01 2.85852431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89538475 meters Centerline goodness : 0.944815 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.57, Z:2.86 [[ 8.92387388e-01 1.40210561e-01 -4.28935600e-01 1.44943934e+01] [-1.20725972e-01 9.90037981e-01 7.24571366e-02 -5.73959776e-01] [ 4.34821791e-01 -1.28761675e-02 9.00424463e-01 2.85959068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95538475 meters Centerline goodness : 0.942738 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92456453e-01 1.39825998e-01 -4.28917439e-01 1.44953697e+01] [-1.20668254e-01 9.90100600e-01 7.16936168e-02 -5.71456426e-01] [ 4.34696045e-01 -1.22267127e-02 9.00494229e-01 2.85866721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01538475 meters Centerline goodness : 0.945555 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.57, Z:2.86 [[ 8.92461632e-01 1.40759666e-01 -4.28601156e-01 1.44933803e+01] [-1.21646042e-01 9.89971527e-01 7.18235024e-02 -5.69635729e-01] [ 4.34412793e-01 -1.19620861e-02 9.00634462e-01 2.85868901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07538475 meters Centerline goodness : 0.946096 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.57, Z:2.86 [[ 8.92480749e-01 1.40322172e-01 -4.28704794e-01 1.44939330e+01] [-1.21274593e-01 9.90034423e-01 7.15843204e-02 -5.69341005e-01] [ 4.34477370e-01 -1.18966288e-02 9.00604178e-01 2.85870061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13538475000001 meters Centerline goodness : 0.942657 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92598272e-01 1.40052409e-01 -4.28548302e-01 1.44991103e+01] [-1.20871001e-01 9.90067760e-01 7.18055075e-02 -5.68456915e-01] [ 4.34348392e-01 -1.22944096e-02 9.00661047e-01 2.85706302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19538475000002 meters Centerline goodness : 0.945093 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92629502e-01 1.41691101e-01 -4.27944160e-01 1.44952265e+01] [-1.21970472e-01 9.89822291e-01 7.33146328e-02 -5.70164005e-01] [ 4.33976700e-01 -1.32462531e-02 9.00826709e-01 2.85857480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25538475 meters Centerline goodness : 0.945907 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.57, Z:2.86 [[ 8.92626022e-01 1.42675336e-01 -4.27624290e-01 1.44931230e+01] [-1.22404375e-01 9.89665834e-01 7.46907404e-02 -5.72857519e-01] [ 4.33861675e-01 -1.43278147e-02 9.00865562e-01 2.85991155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31538475 meters Centerline goodness : 0.945573 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 8.92612476e-01 1.41841573e-01 -4.27929825e-01 1.44956995e+01] [-1.21638875e-01 9.89785897e-01 7.43495999e-02 -5.73935368e-01] [ 4.34104770e-01 -1.43124781e-02 9.00748690e-01 2.85926291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37538475 meters Centerline goodness : 0.940672 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.86 [[ 0.89250265 0.14102058 -0.42842994 14.49731877] [-0.12052786 0.9898919 0.07474662 -0.57698127] [ 0.43464014 -0.01507381 0.90047806 2.86039832] [ 0. 0. 0. 1. ]] SLAMing on 168.43538475 meters Centerline goodness : 0.943276 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.86 [[ 0.89243535 0.14035603 -0.42878822 14.49842027] [-0.11977833 0.98998199 0.07475841 -0.57755338] [ 0.4349854 -0.01535751 0.90030653 2.86110399] [ 0. 0. 0. 1. ]] SLAMing on 168.49538475 meters Centerline goodness : 0.943802 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.86 [[ 0.89236174 0.14065202 -0.42884443 14.49759121] [-0.12005075 0.98994041 0.07487194 -0.57618478] [ 0.43506132 -0.01532976 0.90027032 2.86170834] [ 0. 0. 0. 1. ]] SLAMing on 168.55538475 meters Centerline goodness : 0.938499 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89166767 0.14547731 -0.42867833 14.49873931] [-0.12365363 0.98921575 0.07849827 -0.57448 ] [ 0.43547508 -0.01698674 0.9000405 2.86209284] [ 0. 0. 0. 1. ]] SLAMing on 168.61538475 meters Centerline goodness : 0.938156 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89163194 0.14692738 -0.42825789 14.49554137] [-0.12510142 0.98900582 0.07884878 -0.57153446] [ 0.43513459 -0.01672842 0.90021 2.86257098] [ 0. 0. 0. 1. ]] SLAMing on 168.67538475 meters Centerline goodness : 0.941185 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89087292 0.15115271 -0.42836702 14.49761992] [-0.12809394 0.9883375 0.08234636 -0.57005048] [ 0.43581807 -0.01848892 0.89984486 2.86334249] [ 0. 0. 0. 1. ]] SLAMing on 168.73538475 meters Centerline goodness : 0.937962 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89091641 0.15044687 -0.42852501 14.49965792] [-0.12779616 0.98845962 0.08133705 -0.56889289] [ 0.43581657 -0.01770067 0.89986143 2.86190578] [ 0. 0. 0. 1. ]] SLAMing on 168.79538475 meters Centerline goodness : 0.940518 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89100735 0.15149877 -0.42796497 14.49748744] [-0.12871693 0.98829606 0.08187095 -0.56894786] [ 0.43535944 -0.01786128 0.90007951 2.861878 ] [ 0. 0. 0. 1. ]] SLAMing on 168.85538475 meters Centerline goodness : 0.940427 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89102276 0.15180174 -0.42782552 14.49646797] [-0.12892915 0.98824662 0.08213337 -0.5691164 ] [ 0.43526511 -0.01802352 0.9001219 2.86229502] [ 0. 0. 0. 1. ]] SLAMing on 168.91538475000002 meters Centerline goodness : 0.941760 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89099938 0.15143692 -0.42800346 14.49749999] [-0.12852209 0.98829991 0.08213017 -0.56962429] [ 0.43543332 -0.01817003 0.9000376 2.86238905] [ 0. 0. 0. 1. ]] SLAMing on 168.97538475 meters Centerline goodness : 0.941302 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89172839 0.14643867 -0.42822447 14.49690536] [-0.12503614 0.98909213 0.07786351 -0.56810035] [ 0.43495569 -0.01588957 0.90031165 2.86153095] [ 0. 0. 0. 1. ]] SLAMing on 169.03538475 meters Centerline goodness : 0.944995 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89173885 0.14657994 -0.42815434 14.49658081] [-0.12497213 0.98906392 0.07832323 -0.56926882] [ 0.43495262 -0.0163365 0.90030513 2.86200034] [ 0. 0. 0. 1. ]] SLAMing on 169.09538475 meters Centerline goodness : 0.946466 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89172548 0.14678983 -0.42811029 14.49634656] [-0.12485138 0.98902081 0.07905681 -0.57119078] [ 0.43501472 -0.01704681 0.90026196 2.86277839] [ 0. 0. 0. 1. ]] SLAMing on 169.15538475 meters Centerline goodness : 0.942276 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89178143 0.14566582 -0.42837758 14.49943358] [-0.12401657 0.98919449 0.07819306 -0.57197589] [ 0.4351388 -0.0166052 0.90021025 2.86137532] [ 0. 0. 0. 1. ]] SLAMing on 169.21538475 meters Centerline goodness : 0.939227 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.57, Z:2.86 [[ 0.89163862 0.14458605 -0.42904014 14.50222723] [-0.12296657 0.98935189 0.07785925 -0.57408687] [ 0.43572904 -0.01666472 0.8999236 2.86135993] [ 0. 0. 0. 1. ]] SLAMing on 169.27538475 meters Centerline goodness : 0.937300 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.86 [[ 0.89151511 0.14483617 -0.42921241 14.50182907] [-0.12270824 0.98929689 0.07895794 -0.57720068] [ 0.43605447 -0.0177243 0.89974571 2.86296722] [ 0. 0. 0. 1. ]] SLAMing on 169.33538475 meters Centerline goodness : 0.936576 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.86 [[ 0.89196372 0.14242676 -0.42908664 14.50451744] [-0.12040967 0.98964027 0.0781898 -0.58024035] [ 0.43577774 -0.01807628 0.89987277 2.86239211] [ 0. 0. 0. 1. ]] SLAMing on 169.39538475 meters Centerline goodness : 0.935412 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.59, Z:2.87 [[ 0.89186919 0.14250403 -0.42925744 14.50437551] [-0.11875014 0.98955049 0.08178155 -0.58590089] [ 0.43642612 -0.02196407 0.89947197 2.86823403] [ 0. 0. 0. 1. ]] SLAMing on 169.45538475 meters Centerline goodness : 0.939382 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.59, Z:2.87 [[ 0.89268344 0.13893703 -0.42873394 14.50033007] [-0.11608849 0.99008122 0.07913689 -0.58704448] [ 0.43547646 -0.02087312 0.89995809 2.86874066] [ 0. 0. 0. 1. ]] SLAMing on 169.51538475 meters Centerline goodness : 0.939837 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.59, Z:2.87 [[ 0.89276872 0.13761339 -0.42898317 14.50350678] [-0.11509965 0.99027635 0.0781334 -0.58644187] [ 0.43556409 -0.02037924 0.899927 2.8674286 ] [ 0. 0. 0. 1. ]] SLAMing on 169.57538475 meters Centerline goodness : 0.939452 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.59, Z:2.87 [[ 0.89266725 0.13660396 -0.42951663 14.5065046 ] [-0.1144478 0.99042978 0.07713981 -0.58513912] [ 0.43594367 -0.01970295 0.89975825 2.86644842] [ 0. 0. 0. 1. ]] SLAMing on 169.63538475000001 meters Centerline goodness : 0.935473 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.58, Z:2.87 [[ 0.89246711 0.13595468 -0.4301381 14.50897053] [-0.11416081 0.99053448 0.07621513 -0.58399121] [ 0.43642843 -0.01891458 0.89954014 2.86555835] [ 0. 0. 0. 1. ]] SLAMing on 169.69538475000002 meters Centerline goodness : 0.932946 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.58, Z:2.86 [[ 0.89239886 0.13501337 -0.43057596 14.51177237] [-0.11361359 0.99067732 0.07516917 -0.58265299] [ 0.43671068 -0.0181616 0.89941866 2.86436012] [ 0. 0. 0. 1. ]] SLAMing on 169.75538475 meters Centerline goodness : 0.931670 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.58, Z:2.87 [[ 0.89170983 0.13950483 -0.43057169 14.51325845] [-0.11682174 0.99001955 0.07882871 -0.58160618] [ 0.43727138 -0.0199922 0.89910737 2.86508077] [ 0. 0. 0. 1. ]] SLAMing on 169.81538475 meters Centerline goodness : 0.938603 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.87 [[ 0.89175165 0.14316898 -0.42928038 14.50485413] [-0.11908299 0.98944129 0.08261463 -0.58231695] [ 0.43657558 -0.02255174 0.89938489 2.86983862] [ 0. 0. 0. 1. ]] SLAMing on 169.87538475 meters Centerline goodness : 0.946286 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:2.87 [[ 0.89184304 0.14458001 -0.42861709 14.50118214] [-0.11973567 0.98920028 0.08453505 -0.58376064] [ 0.43621022 -0.02407125 0.89952277 2.87209002] [ 0. 0. 0. 1. ]] SLAMing on 169.93538475 meters Centerline goodness : 0.950675 with order 1 Centerline is valid? [False, True] Translation: X:14.50, Y:-0.59, Z:2.87 [[ 0.89572209 0.13603508 -0.42329232 14.49860932] [-0.11201735 0.99037949 0.08124395 -0.58511213] [ 0.43027206 -0.02535592 0.90234308 2.86674934] [ 0. 0. 0. 1. ]] SLAMing on 169.99538475 meters Centerline goodness : 0.951220 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.59, Z:2.88 [[ 8.96244224e-01 1.22256263e-01 -4.26379758e-01 1.45581033e+01] [-1.06826672e-01 9.92464314e-01 6.00220578e-02 -5.87756960e-01] [ 4.30504766e-01 -8.24569193e-03 9.02550638e-01 2.87923978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05538475 meters Centerline goodness : 0.948262 with order 1 Centerline is valid? [True, False] Translation: X:14.57, Y:-0.60, Z:2.92 [[ 0.90013428 0.12521748 -0.41722759 14.57410938] [-0.09244446 0.99088916 0.09794225 -0.59966893] [ 0.42569038 -0.0495908 0.90350896 2.91720184] [ 0. 0. 0. 1. ]] SLAMing on 170.11538475 meters Centerline goodness : 0.948543 with order 1 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.61, Z:2.95 [[ 0.90452026 0.13343817 -0.40501526 14.58638269] [-0.08473494 0.98708261 0.13597024 -0.60732354] [ 0.41792714 -0.08866889 0.90414309 2.94941663] [ 0. 0. 0. 1. ]] SLAMing on 170.17538475 meters Centerline goodness : 0.947034 with order 1 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.60, Z:2.95 [[ 0.90431611 0.13146293 -0.40611559 14.58999522] [-0.0830408 0.98739822 0.13471813 -0.60418369] [ 0.41870825 -0.08810362 0.90383691 2.94987579] [ 0. 0. 0. 1. ]] SLAMing on 170.23538475 meters Centerline goodness : 0.949026 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:-0.60, Z:2.95 [[ 0.90553929 0.13228489 -0.40311202 14.60304178] [-0.08822882 0.98809179 0.12605665 -0.59816465] [ 0.41498707 -0.07858315 0.90642728 2.94984949] [ 0. 0. 0. 1. ]] SLAMing on 170.29538475 meters Centerline goodness : 0.951559 with order 1 Centerline is valid? [False, True] Translation: X:14.60, Y:-0.59, Z:2.95 [[ 0.90543026 0.13314677 -0.40307318 14.60158963] [-0.08958425 0.98808405 0.1251582 -0.59264022] [ 0.41493459 -0.07721301 0.90656905 2.94875725] [ 0. 0. 0. 1. ]] SLAMing on 170.35538475 meters Centerline goodness : 0.950229 with order 1 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.57, Z:2.93 [[ 9.04129287e-01 1.07708650e-01 -4.13459887e-01 1.46780234e+01] [-9.35493672e-02 9.94126920e-01 5.44075655e-02 -5.70708448e-01] [ 4.16891769e-01 -1.05125627e-02 9.08895340e-01 2.92942642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41538475000002 meters Centerline goodness : 0.949567 with order 1 Centerline is valid? [True, False] Translation: X:14.68, Y:-0.57, Z:2.93 [[ 9.03264023e-01 1.11102406e-01 -4.14451878e-01 1.46818158e+01] [-9.59013087e-02 9.93735483e-01 5.73822977e-02 -5.66776164e-01] [ 4.18230849e-01 -1.20848875e-02 9.08260377e-01 2.93091098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47538475 meters Centerline goodness : 0.945723 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.56, Z:2.93 [[ 9.02290409e-01 1.13732220e-01 -4.15856947e-01 1.46868982e+01] [-9.72399210e-02 9.93408032e-01 6.07032125e-02 -5.64016608e-01] [ 4.20019542e-01 -1.43340298e-02 9.07401851e-01 2.93379242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53538475 meters Centerline goodness : 0.942574 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.56, Z:2.93 [[ 0.9015473 0.11686468 -0.41659946 14.69114613] [-0.09970444 0.99303335 0.06279954 -0.55834788] [ 0.42103621 -0.01507994 0.90691847 2.93381553] [ 0. 0. 0. 1. ]] SLAMing on 170.59538475 meters Centerline goodness : 0.944366 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.55, Z:2.94 [[ 0.9004458 0.1289638 -0.41541029 14.68815899] [-0.10920346 0.9914739 0.07109222 -0.55309783] [ 0.42103678 -0.01865045 0.9068518 2.93500036] [ 0. 0. 0. 1. ]] SLAMing on 170.65538475 meters Centerline goodness : 0.948248 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.55, Z:2.93 [[ 0.90417405 0.14089101 -0.40326047 14.68281967] [-0.11958675 0.98978045 0.07767666 -0.54670437] [ 0.41008327 -0.02200861 0.9117825 2.93295693] [ 0. 0. 0. 1. ]] SLAMing on 170.71538475 meters Centerline goodness : 0.948850 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.54, Z:2.93 [[ 0.90278464 0.15519746 -0.4011155 14.67687557] [-0.1311003 0.98754174 0.08702889 -0.54466845] [ 0.40962496 -0.02598199 0.91188394 2.93342429] [ 0. 0. 0. 1. ]] SLAMing on 170.77538475 meters Centerline goodness : 0.949279 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.54, Z:2.93 [[ 0.90257735 0.15947946 -0.39990052 14.67175867] [-0.13524923 0.9868689 0.08830304 -0.54473816] [ 0.40873191 -0.02561409 0.91229499 2.93172283] [ 0. 0. 0. 1. ]] SLAMing on 170.83538475 meters Centerline goodness : 0.950963 with order 1 Centerline is valid? [False, True] Translation: X:14.67, Y:-0.55, Z:2.93 [[ 0.90340389 0.15719304 -0.39893829 14.66726385] [-0.13394189 0.98727652 0.0857009 -0.54843489] [ 0.407334 -0.02398797 0.91296418 2.9302164 ] [ 0. 0. 0. 1. ]] SLAMing on 170.89538475 meters Centerline goodness : 0.952567 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.55, Z:2.93 [[ 9.04411280e-01 1.37879427e-01 -4.03769117e-01 1.47312476e+01] [-1.30189174e-01 9.90394076e-01 4.65870441e-02 -5.50017649e-01] [ 4.06313937e-01 1.04325197e-02 9.13673983e-01 2.93110869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95538475 meters Centerline goodness : 0.951238 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.56, Z:2.95 [[ 9.05584044e-01 1.29908764e-01 -4.03783670e-01 1.47831408e+01] [-1.21517906e-01 9.91501292e-01 4.64605970e-02 -5.63484114e-01] [ 4.06387669e-01 6.99297082e-03 9.13673990e-01 2.95418601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01538475 meters Centerline goodness : 0.952683 with order 1 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.58, Z:2.98 [[ 9.06448029e-01 1.23688060e-01 -4.03798507e-01 1.48361710e+01] [-1.14765083e-01 9.92311637e-01 4.63313194e-02 -5.75750361e-01] [ 4.06424588e-01 4.34503605e-03 9.13673998e-01 2.97739125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07538475 meters Centerline goodness : 0.954018 with order 1 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.59, Z:3.00 [[ 9.06966805e-01 1.19781650e-01 -4.03811306e-01 1.48877516e+01] [-1.10538605e-01 9.92796542e-01 4.62195149e-02 -5.89188062e-01] [ 4.06438718e-01 2.71717283e-03 9.13674004e-01 3.00231510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13538475000001 meters Centerline goodness : 0.952746 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.60, Z:3.03 [[ 9.07640384e-01 1.14515283e-01 -4.03825685e-01 1.49410145e+01] [-1.04830242e-01 9.93421362e-01 4.60935709e-02 -6.01829813e-01] [ 4.06447480e-01 4.96757747e-04 9.13674011e-01 3.02529002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19538475000002 meters Centerline goodness : 0.951697 with order 1 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.61, Z:3.05 [[ 9.08037149e-01 1.11279278e-01 -4.03838407e-01 1.49946713e+01] [-1.01338213e-01 9.93788828e-01 4.59818610e-02 -6.10043352e-01] [ 4.06446926e-01 -8.28975330e-04 9.13674017e-01 3.04793878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25538475 meters Centerline goodness : 0.950696 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.62, Z:3.07 [[ 9.08272581e-01 1.09294552e-01 -4.03850986e-01 1.50489909e+01] [-9.92153339e-02 9.94008127e-01 4.58711407e-02 -6.16254537e-01] [ 4.06444628e-01 -1.59528899e-03 9.13674023e-01 3.06857130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31538475 meters Centerline goodness : 0.951447 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.62, Z:3.09 [[ 9.08206676e-01 1.09824585e-01 -4.03855412e-01 1.51018605e+01] [-9.98127450e-02 9.93950115e-01 4.58321385e-02 -6.22401612e-01] [ 4.06445629e-01 -1.31513687e-03 9.13674023e-01 3.09221895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37538475 meters Centerline goodness : 0.950142 with order 1 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.63, Z:3.12 [[ 9.08226887e-01 1.09605205e-01 -4.03869559e-01 1.51540690e+01] [-9.96282234e-02 9.93974382e-01 4.57071698e-02 -6.30007204e-01] [ 4.06445738e-01 -1.27567401e-03 9.13674031e-01 3.11740160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43538475 meters Centerline goodness : 0.948583 with order 1 Centerline is valid? [True, False] Translation: X:15.16, Y:-0.63, Z:3.12 [[ 9.07656188e-01 1.13378063e-01 -4.04110949e-01 1.51572496e+01] [-1.02127443e-01 9.93545622e-01 4.93668205e-02 -6.30239019e-01] [ 4.07099778e-01 -3.53728231e-03 9.13376844e-01 3.11798709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49538475 meters Centerline goodness : 0.941983 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.63, Z:3.12 [[ 9.06930468e-01 1.17490521e-01 -4.04565327e-01 1.51605439e+01] [-1.05107366e-01 9.93059655e-01 5.27727487e-02 -6.28510668e-01] [ 4.07957802e-01 -5.33841795e-03 9.12985177e-01 3.11839052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55538475 meters Centerline goodness : 0.942275 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.63, Z:3.12 [[ 9.06219834e-01 1.22536001e-01 -4.04661020e-01 1.51607992e+01] [-1.08557907e-01 9.92431047e-01 5.74090459e-02 -6.29469942e-01] [ 4.08632835e-01 -8.09606261e-03 9.12662950e-01 3.12045243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61538475 meters Centerline goodness : 0.942609 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.63, Z:3.12 [[ 9.06157737e-01 1.23451728e-01 -4.04521726e-01 1.51593912e+01] [-1.09560503e-01 9.92320664e-01 5.74124986e-02 -6.26362852e-01] [ 4.08502940e-01 -7.70517596e-03 9.12724481e-01 3.12053509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67538475 meters Centerline goodness : 0.946815 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.63, Z:3.12 [[ 9.05668316e-01 1.29108174e-01 -4.03851433e-01 1.51577695e+01] [-1.13350015e-01 9.91568390e-01 6.28004871e-02 -6.26860067e-01] [ 4.08554372e-01 -1.10998454e-02 9.12666488e-01 3.12304113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73538475 meters Centerline goodness : 0.953372 with order 1 Centerline is valid? [False, True] Translation: X:15.15, Y:-0.63, Z:3.13 [[ 9.05776122e-01 1.31457550e-01 -4.02850506e-01 1.51519865e+01] [-1.14669269e-01 9.91233187e-01 6.56332818e-02 -6.29323680e-01] [ 4.07946781e-01 -1.32544866e-02 9.12909493e-01 3.12643036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79538475 meters Centerline goodness : 0.956687 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.63, Z:3.14 [[ 9.05889389e-01 1.24050590e-01 -4.04939337e-01 1.52103048e+01] [-1.14071752e-01 9.92273886e-01 4.87869907e-02 -6.28825813e-01] [ 4.07862784e-01 1.99652221e-03 9.13041052e-01 3.14199255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85538475 meters Centerline goodness : 0.954740 with order 1 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.64, Z:3.16 [[ 9.05981671e-01 1.23329432e-01 -4.04953162e-01 1.52649785e+01] [-1.13333234e-01 9.92364155e-01 4.86719872e-02 -6.35536682e-01] [ 4.07863691e-01 1.79872309e-03 9.13041058e-01 3.16365241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91538475000002 meters Centerline goodness : 0.948124 with order 1 Centerline is valid? [True, False] Translation: X:15.27, Y:-0.64, Z:3.16 [[ 9.05767681e-01 1.22169903e-01 -4.05782481e-01 1.52683036e+01] [-1.11920598e-01 9.92508658e-01 4.89933090e-02 -6.39070933e-01] [ 4.08728134e-01 1.03886191e-03 9.12655594e-01 3.16448035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97538475 meters Centerline goodness : 0.944545 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.64, Z:3.17 [[ 9.04199301e-01 1.24768650e-01 -4.08480610e-01 1.52630996e+01] [-1.08043950e-01 9.92092438e-01 6.38678307e-02 -6.42730231e-01] [ 4.13219227e-01 -1.36153893e-02 9.10529786e-01 3.16831018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03538475 meters Centerline goodness : 0.943915 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.64, Z:3.17 [[ 9.04071980e-01 1.24647137e-01 -4.08799396e-01 1.52641659e+01] [-1.07586597e-01 9.92096719e-01 6.45695377e-02 -6.44804222e-01] [ 4.13616947e-01 -1.43941738e-02 9.10337206e-01 3.16920599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09538475 meters Centerline goodness : 0.948520 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.65, Z:3.17 [[ 0.9040829 0.12634507 -0.40825364 15.26041749] [-0.10824963 0.99184759 0.06723373 -0.64895823] [ 0.41342004 -0.01659155 0.91038925 3.17235782] [ 0. 0. 0. 1. ]] SLAMing on 172.15538475 meters Centerline goodness : 0.948401 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.65, Z:3.17 [[ 0.90404255 0.12674913 -0.40821775 15.25985927] [-0.10857449 0.99179426 0.0674961 -0.64926607] [ 0.4134231 -0.01669732 0.91038593 3.17254003] [ 0. 0. 0. 1. ]] SLAMing on 172.21538475 meters Centerline goodness : 0.943691 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.65, Z:3.17 [[ 0.90335148 0.13073579 -0.40849021 15.26298558] [-0.11142069 0.99124494 0.07084415 -0.64873187] [ 0.41417573 -0.01848291 0.91000926 3.17269089] [ 0. 0. 0. 1. ]] SLAMing on 172.27538475 meters Centerline goodness : 0.946656 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.65, Z:3.17 [[ 0.90338092 0.13084705 -0.40838948 15.26156162] [-0.11113852 0.99121238 0.07173738 -0.64972269] [ 0.41418733 -0.01941837 0.90998449 3.17459754] [ 0. 0. 0. 1. ]] SLAMing on 172.33538475 meters Centerline goodness : 0.948830 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.65, Z:3.18 [[ 0.90303725 0.13620723 -0.40739578 15.26007475] [-0.11387237 0.9903728 0.0787071 -0.65309724] [ 0.41419418 -0.02468432 0.90985376 3.17961957] [ 0. 0. 0. 1. ]] SLAMing on 172.39538475 meters Centerline goodness : 0.952888 with order 1 Centerline is valid? [False, True] Translation: X:15.26, Y:-0.65, Z:3.18 [[ 0.90319656 0.13718678 -0.40671338 15.25799771] [-0.11464391 0.99022708 0.07941729 -0.65312302] [ 0.4136336 -0.02510221 0.91009732 3.17985316] [ 0. 0. 0. 1. ]] SLAMing on 172.45538475 meters Centerline goodness : 0.956538 with order 1 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.65, Z:3.19 [[ 9.03073124e-01 1.27218381e-01 -4.10212647e-01 1.53179017e+01] [-1.15290046e-01 9.91873891e-01 5.37995337e-02 -6.52480650e-01] [ 4.13723504e-01 -1.29147824e-03 9.10401667e-01 3.19126936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51538475 meters Centerline goodness : 0.951770 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.66, Z:3.21 [[ 9.03038034e-01 1.27419743e-01 -4.10227398e-01 1.53714097e+01] [-1.15562401e-01 9.91848302e-01 5.36868406e-02 -6.58800280e-01] [ 4.13724112e-01 -1.07439616e-03 9.10401672e-01 3.21213387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57538475 meters Centerline goodness : 0.946181 with order 1 Centerline is valid? [True, False] Translation: X:15.38, Y:-0.66, Z:3.21 [[ 9.02796579e-01 1.25525567e-01 -4.11341305e-01 1.53767109e+01] [-1.13853291e-01 9.92089981e-01 5.28667943e-02 -6.60245850e-01] [ 4.14723722e-01 -8.95399834e-04 9.09946940e-01 3.21152770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63538475000001 meters Centerline goodness : 0.941226 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.67, Z:3.22 [[ 0.90227069 0.12545972 -0.41251359 15.37511162] [-0.10670574 0.99194258 0.06829201 -0.66628412] [ 0.4177577 -0.01760031 0.90838799 3.21774019] [ 0. 0. 0. 1. ]] SLAMing on 172.69538475000002 meters Centerline goodness : 0.942897 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:-0.67, Z:3.22 [[ 0.90206938 0.12589482 -0.41282118 15.3747152 ] [-0.10642068 0.99185866 0.06993593 -0.67051997] [ 0.41826483 -0.01915435 0.90812314 3.22017809] [ 0. 0. 0. 1. ]] SLAMing on 172.75538475 meters Centerline goodness : 0.950528 with order 1 Centerline is valid? [False, True] Translation: X:15.37, Y:-0.67, Z:3.22 [[ 0.90224234 0.12935334 -0.41137146 15.36768819] [-0.10935565 0.99139925 0.0718949 -0.67039733] [ 0.4171332 -0.01988083 0.90862789 3.2210143 ] [ 0. 0. 0. 1. ]] SLAMing on 172.81538475 meters Centerline goodness : 0.951551 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.67, Z:3.23 [[ 9.01642620e-01 1.25895448e-01 -4.13752246e-01 1.54264814e+01] [-1.13625666e-01 9.92041703e-01 5.42445173e-02 -6.66795976e-01] [ 4.17288621e-01 -1.89629398e-03 9.08772035e-01 3.23267616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87538475 meters Centerline goodness : 0.946992 with order 1 Centerline is valid? [True, False] Translation: X:15.43, Y:-0.67, Z:3.23 [[ 9.00947992e-01 1.31342334e-01 -4.13572131e-01 1.54267202e+01] [-1.17766896e-01 9.91329792e-01 5.82769461e-02 -6.65506632e-01] [ 4.17640605e-01 -3.79939139e-03 9.08604364e-01 3.23334368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93538475 meters Centerline goodness : 0.949356 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.67, Z:3.24 [[ 9.00386454e-01 1.36966268e-01 -4.12970309e-01 1.54253647e+01] [-1.21286387e-01 9.90546425e-01 6.40889345e-02 -6.68276436e-01] [ 4.17844285e-01 -7.61713186e-03 9.08486727e-01 3.23632720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99538475 meters Centerline goodness : 0.950551 with order 1 Centerline is valid? [False, True] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 9.00301547e-01 1.38162432e-01 -4.12756911e-01 1.54229228e+01] [-1.21899069e-01 9.90370795e-01 6.56224455e-02 -6.69844022e-01] [ 4.17848946e-01 -8.76530617e-03 9.08474230e-01 3.23829706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05538475 meters Centerline goodness : 0.947748 with order 1 Centerline is valid? [True, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 8.99715524e-01 1.43096419e-01 -4.12353477e-01 1.54239359e+01] [-1.25316815e-01 9.89644174e-01 7.00007518e-02 -6.70413677e-01] [ 4.18100073e-01 -1.13059388e-02 9.08330614e-01 3.23907118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11538475 meters Centerline goodness : 0.948257 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 8.99587523e-01 1.44760495e-01 -4.12051803e-01 1.54212134e+01] [-1.26713260e-01 9.89398542e-01 7.09526193e-02 -6.71141934e-01] [ 4.17954589e-01 -1.16156638e-02 9.08393658e-01 3.23974465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17538475 meters Centerline goodness : 0.947047 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 8.98770489e-01 1.50116748e-01 -4.11918158e-01 1.54216296e+01] [-1.30520357e-01 9.88568040e-01 7.54828929e-02 -6.72719301e-01] [ 4.18540373e-01 -1.40780916e-02 9.08089073e-01 3.24095027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23538475 meters Centerline goodness : 0.939993 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.67, Z:3.24 [[ 8.98118860e-01 1.54123096e-01 -4.11859910e-01 1.54258056e+01] [-1.33729860e-01 9.87937051e-01 7.80814234e-02 -6.70322379e-01] [ 4.18925815e-01 -1.50484309e-02 9.07895757e-01 3.23917926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29538475 meters Centerline goodness : 0.935792 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.67, Z:3.24 [[ 8.98002407e-01 1.54664828e-01 -4.11910751e-01 1.54264518e+01] [-1.34569153e-01 9.87864781e-01 7.75520266e-02 -6.69230412e-01] [ 4.18906695e-01 -1.42114257e-02 9.07918067e-01 3.23763138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35538475 meters Centerline goodness : 0.935826 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 8.97939921e-01 1.56253045e-01 -4.11447305e-01 1.54236447e+01] [-1.35880502e-01 9.87609245e-01 7.85141228e-02 -6.69660635e-01] [ 4.18617234e-01 -1.45932987e-02 9.08045510e-01 3.23820052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41538475000002 meters Centerline goodness : 0.930051 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 0.89722507 0.16268939 -0.41051107 15.42317953] [-0.14110748 0.98654505 0.08256841 -0.66757303] [ 0.41842067 -0.01615626 0.90810964 3.23719046] [ 0. 0. 0. 1. ]] SLAMing on 173.47538475 meters Centerline goodness : 0.925991 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 8.97935867e-01 1.60364999e-01 -4.09871011e-01 1.54176571e+01] [-1.39788330e-01 9.86951916e-01 7.99070611e-02 -6.67941754e-01] [ 4.17337275e-01 -1.44562322e-02 9.08636680e-01 3.23689126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53538475 meters Centerline goodness : 0.922508 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.67, Z:3.24 [[ 0.89794394 0.16134826 -0.40946724 15.41471949] [-0.1397258 0.98675472 0.08241252 -0.67202874] [ 0.41734085 -0.01678869 0.90859494 3.2404604 ] [ 0. 0. 0. 1. ]] SLAMing on 173.59538475 meters Centerline goodness : 0.919681 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.67, Z:3.24 [[ 0.89794549 0.16091153 -0.40963565 15.4153246 ] [-0.13906951 0.98681594 0.08278876 -0.67333264] [ 0.41755666 -0.01737196 0.90848481 3.24134988] [ 0. 0. 0. 1. ]] SLAMing on 173.65538475 meters Centerline goodness : 0.912085 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.67, Z:3.24 [[ 0.89762634 0.15724922 -0.41175191 15.41291754] [-0.13007389 0.98709433 0.09341076 -0.67443791] [ 0.42112675 -0.03028978 0.90649589 3.24461889] [ 0. 0. 0. 1. ]] SLAMing on 173.71538475 meters Centerline goodness : 0.910319 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.68, Z:3.25 [[ 0.89782789 0.1508882 -0.41368808 15.42340778] [-0.12342091 0.98803266 0.0925135 -0.67694589] [ 0.42269653 -0.03200344 0.90570604 3.2485296 ] [ 0. 0. 0. 1. ]] SLAMing on 173.77538475 meters Centerline goodness : 0.911777 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.68, Z:3.26 [[ 0.89805293 0.15104375 -0.4131425 15.43263418] [-0.11937233 0.98763778 0.10159654 -0.68115932] [ 0.42338066 -0.04192128 0.90498145 3.26169499] [ 0. 0. 0. 1. ]] SLAMing on 173.83538475 meters Centerline goodness : 0.905947 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:-0.68, Z:3.26 [[ 0.8973457 0.15500843 -0.41321071 15.43662474] [-0.12209453 0.98693957 0.1050867 -0.68209911] [ 0.42410332 -0.04384833 0.90455166 3.26131918] [ 0. 0. 0. 1. ]] SLAMing on 173.89538475 meters Centerline goodness : 0.904096 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:-0.68, Z:3.26 [[ 0.89630838 0.16150739 -0.41297295 15.43613687] [-0.12705757 0.98580278 0.10976911 -0.68376851] [ 0.42483841 -0.04591564 0.90410402 3.26199844] [ 0. 0. 0. 1. ]] SLAMing on 173.95538475 meters Centerline goodness : 0.912476 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.68, Z:3.26 [[ 0.89595618 0.16666899 -0.41168431 15.42813783] [-0.13208704 0.98496991 0.11129823 -0.68400055] [ 0.42404662 -0.04534017 0.90450469 3.26064824] [ 0. 0. 0. 1. ]] SLAMing on 174.01538475 meters Centerline goodness : 0.910063 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.68, Z:3.26 [[ 0.89587322 0.16747461 -0.41153788 15.42754745] [-0.13309247 0.98486147 0.11105979 -0.68394381] [ 0.4239075 -0.04472289 0.90460063 3.25941827] [ 0. 0. 0. 1. ]] SLAMing on 174.07538475 meters Centerline goodness : 0.906477 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.68, Z:3.26 [[ 0.89581372 0.16698873 -0.41186471 15.4284964 ] [-0.13267104 0.98494968 0.11078142 -0.68354785] [ 0.42416526 -0.044597 0.90448601 3.25961236] [ 0. 0. 0. 1. ]] SLAMing on 174.13538475000001 meters Centerline goodness : 0.904833 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.68, Z:3.27 [[ 0.89649805 0.1644846 -0.4113831 15.43158097] [-0.12800521 0.98509291 0.1149201 -0.68485121] [ 0.42415316 -0.05036646 0.90418876 3.26918764] [ 0. 0. 0. 1. ]] SLAMing on 174.19538475000002 meters Centerline goodness : 0.908689 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.71, Z:3.37 [[ 0.91030032 0.17613194 -0.37460761 15.44941881] [-0.10174528 0.97240172 0.20995902 -0.7058297 ] [ 0.40124957 -0.15301121 0.9030982 3.36632668] [ 0. 0. 0. 1. ]] SLAMing on 174.25538475 meters Centerline goodness : 0.911977 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.70, Z:3.37 [[ 0.91188152 0.15876306 -0.37850546 15.4624635 ] [-0.08735389 0.97610376 0.19897422 -0.70394134] [ 0.40105036 -0.14837699 0.90395956 3.36588043] [ 0. 0. 0. 1. ]] SLAMing on 174.31538475 meters Centerline goodness : 0.906162 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.70, Z:3.35 [[ 0.91371405 0.14808926 -0.37841274 15.43238933] [-0.07498188 0.97668289 0.20116724 -0.69548579] [ 0.39937996 -0.15543523 0.90351289 3.35262138] [ 0. 0. 0. 1. ]] SLAMing on 174.37538475 meters Centerline goodness : 0.913128 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.70, Z:3.36 [[ 0.91818437 0.1550691 -0.36454222 15.42458297] [-0.08075844 0.97414965 0.21097522 -0.69728626] [ 0.38783441 -0.16427429 0.90697212 3.35876124] [ 0. 0. 0. 1. ]] SLAMing on 174.43538475 meters Centerline goodness : 0.911261 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.70, Z:3.36 [[ 0.91814645 0.16801768 -0.35885533 15.43050353] [-0.09557357 0.97281401 0.21094689 -0.70046139] [ 0.3845423 -0.15938306 0.90924379 3.35937884] [ 0. 0. 0. 1. ]] SLAMing on 174.49538475 meters Centerline goodness : 0.918347 with order 1 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.70, Z:3.37 [[ 0.90691011 0.20898842 -0.3658386 15.28807846] [-0.11393309 0.95760418 0.2646006 -0.69557491] [ 0.40562704 -0.19828784 0.89227162 3.36842695] [ 0. 0. 0. 1. ]] SLAMing on 174.55538475 meters Centerline goodness : 0.919465 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.69, Z:3.37 [[ 0.89511853 0.24413343 -0.37304382 15.15789783] [-0.12778596 0.9421291 0.30994114 -0.68842133] [ 0.42712243 -0.22976429 0.87451404 3.37302353] [ 0. 0. 0. 1. ]] SLAMing on 174.61538475 meters Centerline goodness : 0.920504 with order 1 Centerline is valid? [False, False] Translation: X:15.14, Y:-0.68, Z:3.35 [[ 0.88811092 0.24917438 -0.38622677 15.14258281] [-0.13950077 0.9467906 0.29004671 -0.68440637] [ 0.43794808 -0.20371472 0.87561509 3.35051101] [ 0. 0. 0. 1. ]] SLAMing on 174.67538475 meters Centerline goodness : 0.914504 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.68, Z:3.34 [[ 0.88783591 0.24415363 -0.39004666 15.15376165] [-0.14339788 0.95222251 0.26964671 -0.68297036] [ 0.43724643 -0.18347017 0.88042845 3.33809091] [ 0. 0. 0. 1. ]] SLAMing on 174.73538475 meters Centerline goodness : 0.916422 with order 1 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.68, Z:3.33 [[ 0.88961421 0.23256309 -0.3930661 15.16544099] [-0.14170472 0.95872067 0.24652472 -0.68172222] [ 0.43417315 -0.16361258 0.88584683 3.32928242] [ 0. 0. 0. 1. ]] SLAMing on 174.79538475 meters Centerline goodness : 0.919925 with order 1 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.68, Z:3.32 [[ 0.89153484 0.22141259 -0.3951482 15.16759568] [-0.13485869 0.96257301 0.23508792 -0.67783098] [ 0.43241042 -0.1562999 0.88802678 3.32260998] [ 0. 0. 0. 1. ]] SLAMing on 174.85538475 meters Centerline goodness : 0.919765 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.69, Z:3.39 [[ 0.90028717 0.23718616 -0.36500101 15.17683225] [-0.12468664 0.94389013 0.30581804 -0.6876223 ] [ 0.41705665 -0.22981331 0.87934612 3.38908118] [ 0. 0. 0. 1. ]] SLAMing on 174.91538475000002 meters Centerline goodness : 0.929494 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.69, Z:3.44 [[ 0.90667157 0.24760589 -0.34152304 15.19000202] [-0.1189678 0.92683421 0.35612498 -0.69311764] [ 0.40471389 -0.28225815 0.86979136 3.44377 ] [ 0. 0. 0. 1. ]] SLAMing on 174.97538475 meters Centerline goodness : 0.931408 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:-0.68, Z:3.48 [[ 0.89810894 0.28492143 -0.33499272 15.05781849] [-0.12529066 0.89594541 0.42612684 -0.68383845] [ 0.42154785 -0.34073686 0.84035457 3.47512532] [ 0. 0. 0. 1. ]] SLAMing on 175.03538475 meters Centerline goodness : 0.932659 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.68, Z:3.48 [[ 0.89872929 0.28461661 -0.33358515 15.07334657] [-0.12865321 0.89840114 0.41990921 -0.68392176] [ 0.41920642 -0.33446791 0.84403625 3.47793223] [ 0. 0. 0. 1. ]] SLAMing on 175.09538475 meters Centerline goodness : 0.935784 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.68, Z:3.47 [[ 0.89846885 0.28166916 -0.33677323 15.08020106] [-0.13337329 0.90592949 0.40187475 -0.68452473] [ 0.41828853 -0.31615539 0.85151657 3.46796999] [ 0. 0. 0. 1. ]] SLAMing on 175.15538475 meters Centerline goodness : 0.935510 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.68, Z:3.45 [[ 0.89509809 0.28142783 -0.34582914 15.07871365] [-0.14141081 0.91477193 0.37841155 -0.68280839] [ 0.42285033 -0.28981147 0.85860754 3.44782993] [ 0. 0. 0. 1. ]] SLAMing on 175.21538475 meters Centerline goodness : 0.928706 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.68, Z:3.43 [[ 0.89151842 0.27586857 -0.35929298 15.07752774] [-0.14051499 0.922461 0.35961264 -0.67978605] [ 0.43063959 -0.27011524 0.86115464 3.4333761 ] [ 0. 0. 0. 1. ]] SLAMing on 175.27538475 meters Centerline goodness : 0.928197 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:-0.68, Z:3.43 [[ 0.88812741 0.27143132 -0.37088374 15.09336368] [-0.13843071 0.9274841 0.34728977 -0.68094527] [ 0.43825409 -0.25709586 0.86129848 3.43316811] [ 0. 0. 0. 1. ]] SLAMing on 175.33538475 meters Centerline goodness : 0.929481 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.68, Z:3.42 [[ 0.8892971 0.262153 -0.37473519 15.10550279] [-0.13867301 0.93539361 0.32528232 -0.67821196] [ 0.43579864 -0.23730697 0.86819638 3.42197502] [ 0. 0. 0. 1. ]] SLAMing on 175.39538475 meters Centerline goodness : 0.932353 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.67, Z:3.41 [[ 0.8905137 0.25055518 -0.37974656 15.1081459 ] [-0.13901975 0.94462342 0.29725428 -0.67347882] [ 0.4331961 -0.21191673 0.87603221 3.40581102] [ 0. 0. 0. 1. ]] SLAMing on 175.45538475 meters Centerline goodness : 0.938916 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.67, Z:3.39 [[ 0.8925459 0.23987462 -0.38186646 15.11315826] [-0.13931318 0.95204035 0.27241699 -0.67009539] [ 0.42889819 -0.18994564 0.8831574 3.39333686] [ 0. 0. 0. 1. ]] SLAMing on 175.51538475 meters Centerline goodness : 0.942879 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.67, Z:3.38 [[ 0.8936843 0.23371768 -0.38302013 15.10855371] [-0.13726108 0.95510872 0.262539 -0.66720471] [ 0.42718587 -0.18205322 0.88564601 3.38496399] [ 0. 0. 0. 1. ]] SLAMing on 175.57538475 meters Centerline goodness : 0.942197 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.66, Z:3.37 [[ 0.89448799 0.22512837 -0.38627511 15.10659376] [-0.13446141 0.95943318 0.24780658 -0.66441186] [ 0.42639345 -0.16972091 0.88847253 3.370088 ] [ 0. 0. 0. 1. ]] SLAMing on 175.63538475000001 meters Centerline goodness : 0.940059 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.66, Z:3.35 [[ 0.89431981 0.21891252 -0.39021711 15.10068578] [-0.13398074 0.96314027 0.23325947 -0.66061958] [ 0.42689723 -0.15632699 0.89068548 3.35449138] [ 0. 0. 0. 1. ]] SLAMing on 175.69538475000002 meters Centerline goodness : 0.937456 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.66, Z:3.34 [[ 0.89469811 0.21271525 -0.39276904 15.10528255] [-0.13179606 0.9658942 0.22288605 -0.65530389] [ 0.4267846 -0.14765031 0.89221875 3.34278717] [ 0. 0. 0. 1. ]] SLAMing on 175.75538475 meters Centerline goodness : 0.931864 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.65, Z:3.33 [[ 0.89524259 0.20538223 -0.39542235 15.10823921] [-0.12864232 0.96877987 0.21193564 -0.65148407] [ 0.42660503 -0.13886576 0.89371385 3.33230644] [ 0. 0. 0. 1. ]] SLAMing on 175.81538475 meters Centerline goodness : 0.936843 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.65, Z:3.33 [[ 0.89734894 0.19859664 -0.39411198 15.12168268] [-0.12848967 0.97190739 0.19719641 -0.65055454] [ 0.42220289 -0.12631467 0.89765769 3.33083565] [ 0. 0. 0. 1. ]] SLAMing on 175.87538475 meters Centerline goodness : 0.939100 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.65, Z:3.32 [[ 0.89840248 0.19447288 -0.39376805 15.11719305] [-0.12770063 0.97354935 0.18945768 -0.64688931] [ 0.42019701 -0.11992482 0.89947346 3.32276666] [ 0. 0. 0. 1. ]] SLAMing on 175.93538475 meters Centerline goodness : 0.939854 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.64, Z:3.32 [[ 0.89924196 0.18911022 -0.39446321 15.11846666] [-0.12476697 0.97515016 0.183072 -0.64323336] [ 0.41928165 -0.11541005 0.90049065 3.31807983] [ 0. 0. 0. 1. ]] SLAMing on 175.99538475 meters Centerline goodness : 0.940100 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.64, Z:3.31 [[ 0.90019547 0.18358804 -0.39489688 15.1192611 ] [-0.12147341 0.97665988 0.17714312 -0.64106263] [ 0.4182013 -0.11149397 0.90148587 3.31421826] [ 0. 0. 0. 1. ]] SLAMing on 176.05538475 meters Centerline goodness : 0.944601 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.64, Z:3.31 [[ 0.90191236 0.17422155 -0.39522266 15.1170961 ] [-0.11540574 0.97897568 0.16819075 -0.64103084] [ 0.41621582 -0.10608235 0.90305643 3.31059533] [ 0. 0. 0. 1. ]] SLAMing on 176.11538475 meters Centerline goodness : 0.942311 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.64, Z:3.30 [[ 0.90216238 0.17044278 -0.39629825 15.11704474] [-0.11504372 0.98042689 0.15977504 -0.63690441] [ 0.41577396 -0.09855141 0.90411262 3.30098793] [ 0. 0. 0. 1. ]] SLAMing on 176.17538475 meters Centerline goodness : 0.934458 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.63, Z:3.29 [[ 0.90148426 0.17028261 -0.39790697 15.12126886] [-0.1175204 0.98111743 0.15361492 -0.63106415] [ 0.41655141 -0.09171924 0.90447361 3.28976521] [ 0. 0. 0. 1. ]] SLAMing on 176.23538475 meters Centerline goodness : 0.930589 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.63, Z:3.28 [[ 0.90095963 0.17244744 -0.3981628 15.12012228] [-0.12140335 0.98116715 0.15024065 -0.62694537] [ 0.41657288 -0.08702247 0.90492769 3.28211024] [ 0. 0. 0. 1. ]] SLAMing on 176.29538475 meters Centerline goodness : 0.923231 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.62, Z:3.28 [[ 0.90062498 0.17244015 -0.39892235 15.12234144] [-0.12208109 0.98133573 0.14858129 -0.62466447] [ 0.41709813 -0.08511515 0.90486715 3.2794843 ] [ 0. 0. 0. 1. ]] SLAMing on 176.35538475 meters Centerline goodness : 0.922018 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.62, Z:3.27 [[ 0.90107943 0.1687098 -0.39949076 15.12219782] [-0.1208747 0.98242296 0.14224777 -0.62115146] [ 0.41646749 -0.07988821 0.90563387 3.27373715] [ 0. 0. 0. 1. ]] SLAMing on 176.41538475000002 meters Centerline goodness : 0.923860 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.62, Z:3.27 [[ 0.90190917 0.16346945 -0.39979694 15.12196786] [-0.11747875 0.98356095 0.13713714 -0.61810139] [ 0.41564239 -0.0767176 0.90628683 3.27158415] [ 0. 0. 0. 1. ]] SLAMing on 176.47538475 meters Centerline goodness : 0.927369 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.63, Z:3.32 [[ 0.9076566 0.16699999 -0.38505908 15.15717168] [-0.10548863 0.97875258 0.17582814 -0.6323111 ] [ 0.40624087 -0.11897222 0.90598784 3.3234306 ] [ 0. 0. 0. 1. ]] SLAMing on 176.53538475 meters Centerline goodness : 0.934850 with order 1 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.64, Z:3.34 [[ 0.91075605 0.15947585 -0.38090795 15.16837972] [-0.09516867 0.97864803 0.18218387 -0.6377602 ] [ 0.40182874 -0.12967456 0.90648672 3.3387956 ] [ 0. 0. 0. 1. ]] SLAMing on 176.59538475 meters Centerline goodness : 0.935823 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.64, Z:3.37 [[ 0.91315903 0.16582004 -0.3723497 15.1870411 ] [-0.0911178 0.97343649 0.2100451 -0.64405027] [ 0.39728847 -0.1578769 0.90401148 3.37196258] [ 0. 0. 0. 1. ]] SLAMing on 176.65538475 meters Centerline goodness : 0.931627 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.64, Z:3.37 [[ 0.91379306 0.16080731 -0.37299228 15.18813951] [-0.08732786 0.97459847 0.20623207 -0.64383191] [ 0.39668133 -0.15588082 0.90462428 3.37138361] [ 0. 0. 0. 1. ]] SLAMing on 176.71538475 meters Centerline goodness : 0.936163 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.65, Z:3.40 [[ 0.9037411 0.20655691 -0.37494836 15.04671261] [-0.10186523 0.95449279 0.28029803 -0.65266195] [ 0.415783 -0.21512265 0.88365533 3.39532999] [ 0. 0. 0. 1. ]] SLAMing on 176.77538475 meters Centerline goodness : 0.932747 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.65, Z:3.41 [[ 0.89163013 0.25089199 -0.37689379 14.89750329] [-0.11678009 0.93169918 0.34394628 -0.65028735] [ 0.437445 -0.26265918 0.86003025 3.40626746] [ 0. 0. 0. 1. ]] SLAMing on 176.83538475 meters Centerline goodness : 0.926406 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.65, Z:3.39 [[ 0.88633736 0.25384929 -0.38725524 14.90138292] [-0.12484904 0.93637353 0.3280508 -0.64827924] [ 0.44589102 -0.24241523 0.86163569 3.39425272] [ 0. 0. 0. 1. ]] SLAMing on 176.89538475 meters Centerline goodness : 0.921857 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.65, Z:3.38 [[ 0.88495401 0.25266844 -0.3911714 14.90385834] [-0.13312293 0.94221152 0.30743413 -0.64646304] [ 0.4462451 -0.21999118 0.86744982 3.37816594] [ 0. 0. 0. 1. ]] SLAMing on 176.95538475 meters Centerline goodness : 0.925642 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.64, Z:3.36 [[ 0.88457567 0.24954588 -0.39402124 14.90531861] [-0.1401092 0.9479793 0.28584027 -0.64364303] [ 0.44485424 -0.19764135 0.8735231 3.36331615] [ 0. 0. 0. 1. ]] SLAMing on 177.01538475 meters Centerline goodness : 0.929052 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.64, Z:3.34 [[ 0.88333115 0.24727789 -0.39822069 14.88000171] [-0.14587847 0.9523688 0.26779311 -0.63847058] [ 0.44547228 -0.17845817 0.87732955 3.3401491 ] [ 0. 0. 0. 1. ]] SLAMing on 177.07538475 meters Centerline goodness : 0.931615 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.63, Z:3.32 [[ 0.88305645 0.24219308 -0.40193758 14.86686211] [-0.14765863 0.95642223 0.25189966 -0.6340598 ] [ 0.4454304 -0.16309207 0.88033672 3.32149483] [ 0. 0. 0. 1. ]] SLAMing on 177.13538475000001 meters Centerline goodness : 0.933456 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.63, Z:3.31 [[ 0.88480062 0.23277973 -0.40366008 14.86496211] [-0.14330744 0.96023242 0.23961778 -0.63122907] [ 0.44338565 -0.15416646 0.88297331 3.31165319] [ 0. 0. 0. 1. ]] SLAMing on 177.19538475000002 meters Centerline goodness : 0.930266 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.63, Z:3.30 [[ 0.88595738 0.22304549 -0.4066082 14.86892515] [-0.1385641 0.96401215 0.22689331 -0.62688353] [ 0.44258277 -0.1446765 0.88497977 3.30049014] [ 0. 0. 0. 1. ]] SLAMing on 177.25538475 meters Centerline goodness : 0.927986 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.62, Z:3.29 [[ 0.8867723 0.21308829 -0.41015639 14.86381527] [-0.13530096 0.96819041 0.21047799 -0.62151342] [ 0.44195988 -0.1311515 0.88739549 3.28554809] [ 0. 0. 0. 1. ]] SLAMing on 177.31538475 meters Centerline goodness : 0.928218 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.62, Z:3.29 [[ 0.88745992 0.2054337 -0.41256742 14.870259 ] [-0.12898879 0.97010071 0.20558822 -0.6200886 ] [ 0.4424667 -0.12923473 0.88742414 3.28631167] [ 0. 0. 0. 1. ]] SLAMing on 177.37538475 meters Centerline goodness : 0.928640 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.62, Z:3.28 [[ 0.88881909 0.19418955 -0.41507957 14.87398692] [-0.12260525 0.97352564 0.19291391 -0.61550205] [ 0.44155247 -0.12057463 0.88909683 3.27778968] [ 0. 0. 0. 1. ]] SLAMing on 177.43538475 meters Centerline goodness : 0.922981 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.61, Z:3.29 [[ 0.88915723 0.18723648 -0.41754273 14.88887281] [-0.11409261 0.97435167 0.19396316 -0.61466149] [ 0.44315043 -0.1248252 0.88771412 3.28650946] [ 0. 0. 0. 1. ]] SLAMing on 177.49538475 meters Centerline goodness : 0.923070 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.61, Z:3.30 [[ 0.88998464 0.18479445 -0.41686731 14.89831025] [-0.10812494 0.97365235 0.20077376 -0.61346385] [ 0.44298571 -0.13361181 0.88651652 3.29953827] [ 0. 0. 0. 1. ]] SLAMing on 177.55538475 meters Centerline goodness : 0.922810 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.61, Z:3.30 [[ 0.89078446 0.17613888 -0.4189011 14.90335054] [-0.10016698 0.9752585 0.19707217 -0.61163156] [ 0.44324893 -0.13358877 0.88638842 3.30429729] [ 0. 0. 0. 1. ]] SLAMing on 177.61538475 meters Centerline goodness : 0.932266 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.61, Z:3.31 [[ 0.89385747 0.17697354 -0.41194562 14.89262127] [-0.09676011 0.97329338 0.20817656 -0.61110998] [ 0.43778569 -0.14622026 0.88710953 3.31416313] [ 0. 0. 0. 1. ]] SLAMing on 177.67538475 meters Centerline goodness : 0.933727 with order 1 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.61, Z:3.32 [[ 0.88535192 0.20088428 -0.41928211 14.78498213] [-0.10014206 0.96306384 0.24995921 -0.60847545] [ 0.45400831 -0.17931409 0.87276739 3.31751094] [ 0. 0. 0. 1. ]] SLAMing on 177.73538475 meters Centerline goodness : 0.935561 with order 1 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.61, Z:3.33 [[ 0.88742927 0.21238833 -0.40909715 14.77934401] [-0.11087298 0.9598178 0.25779249 -0.61168459] [ 0.44741085 -0.18341478 0.87531854 3.32631688] [ 0. 0. 0. 1. ]] SLAMing on 177.79538475 meters Centerline goodness : 0.939424 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.60, Z:3.32 [[ 0.87866612 0.22810719 -0.4194198 14.69239505] [-0.11569319 0.95402777 0.27648889 -0.60437378] [ 0.46320724 -0.1944174 0.86466232 3.31828069] [ 0. 0. 0. 1. ]] SLAMing on 177.85538475 meters Centerline goodness : 0.934056 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.61, Z:3.37 [[ 0.8710098 0.27522192 -0.40693343 14.60849802] [-0.1243592 0.92488151 0.35934522 -0.60810974] [ 0.47526489 -0.26238729 0.83980724 3.36906712] [ 0. 0. 0. 1. ]] SLAMing on 177.91538475000002 meters Centerline goodness : 0.932587 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.61, Z:3.42 [[ 0.87989723 0.29150313 -0.37524231 14.6057145 ] [-0.1216875 0.90161543 0.4150684 -0.6110742 ] [ 0.459318 -0.31955524 0.8288012 3.41653871] [ 0. 0. 0. 1. ]] SLAMing on 177.97538475 meters Centerline goodness : 0.932643 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.61, Z:3.41 [[ 0.88209401 0.27996108 -0.37885612 14.60879624] [-0.11545856 0.90819732 0.40230205 -0.60871817] [ 0.45670503 -0.31112605 0.83343932 3.40650983] [ 0. 0. 0. 1. ]] SLAMing on 178.03538475 meters Centerline goodness : 0.932523 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:-0.60, Z:3.39 [[ 0.88398392 0.26354853 -0.38615359 14.60297 ] [-0.10804336 0.91876906 0.37972365 -0.60490805] [ 0.45486158 -0.29394827 0.84065175 3.38732138] [ 0. 0. 0. 1. ]] SLAMing on 178.09538475 meters Centerline goodness : 0.931168 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.60, Z:3.37 [[ 0.88524321 0.25106903 -0.39154668 14.60583363] [-0.10244735 0.92637767 0.36239337 -0.60022392] [ 0.45370585 -0.28069335 0.8457909 3.37112408] [ 0. 0. 0. 1. ]] SLAMing on 178.15538475 meters Centerline goodness : 0.931681 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.59, Z:3.36 [[ 0.87423344 0.26963047 -0.40375154 14.51252606] [-0.10832969 0.91897617 0.37914045 -0.58864507] [ 0.47326586 -0.28771898 0.83260868 3.36038203] [ 0. 0. 0. 1. ]] SLAMing on 178.21538475 meters Centerline goodness : 0.930334 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.58, Z:3.34 [[ 0.86898894 0.26779203 -0.41610773 14.50153231] [-0.11361842 0.92642174 0.35893401 -0.58226048] [ 0.48161091 -0.26463218 0.83547635 3.338329 ] [ 0. 0. 0. 1. ]] SLAMing on 178.27538475 meters Centerline goodness : 0.928527 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.59, Z:3.35 [[ 0.87042105 0.26254208 -0.4164599 14.51834935] [-0.11124507 0.92894389 0.35311157 -0.58521838] [ 0.47957453 -0.26102664 0.83777883 3.35092603] [ 0. 0. 0. 1. ]] SLAMing on 178.33538475 meters Centerline goodness : 0.926898 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.59, Z:3.42 [[ 0.87500975 0.28460335 -0.3916106 14.51846005] [-0.10898858 0.90398183 0.4134469 -0.58939835] [ 0.47167724 -0.31908899 0.82201143 3.41645676] [ 0. 0. 0. 1. ]] SLAMing on 178.39538475 meters Centerline goodness : 0.929866 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.58, Z:3.47 [[ 0.88406829 0.30217902 -0.35652643 14.50637624] [-0.10921966 0.8753151 0.47105684 -0.58482247] [ 0.45441646 -0.37750672 0.80684221 3.46518399] [ 0. 0. 0. 1. ]] SLAMing on 178.45538475 meters Centerline goodness : 0.924185 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.58, Z:3.46 [[ 0.8823787 0.30468453 -0.35857378 14.48052917] [-0.11183958 0.87601183 0.46914303 -0.5788594 ] [ 0.4570555 -0.37385908 0.80704997 3.46276434] [ 0. 0. 0. 1. ]] SLAMing on 178.51538475 meters Centerline goodness : 0.926700 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.58, Z:3.45 [[ 0.88027735 0.29575217 -0.37100194 14.48812109] [-0.1093932 0.887393 0.44784684 -0.57568062] [ 0.4616762 -0.35364434 0.81350523 3.45287021] [ 0. 0. 0. 1. ]] SLAMing on 178.57538475 meters Centerline goodness : 0.923832 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.57, Z:3.46 [[ 0.87959665 0.3039794 -0.36593204 14.48052743] [-0.1147616 0.88208687 0.45689445 -0.57164004] [ 0.46167035 -0.35988788 0.81076581 3.45957021] [ 0. 0. 0. 1. ]] SLAMing on 178.63538475000001 meters Centerline goodness : 0.914955 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.56, Z:3.43 [[ 0.8739862 0.29872868 -0.3832875 14.46062624] [-0.11927729 0.89648165 0.42672425 -0.56325267] [ 0.47108498 -0.32723361 0.81914413 3.42646336] [ 0. 0. 0. 1. ]] SLAMing on 178.69538475000002 meters Centerline goodness : 0.915919 with order 1 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.55, Z:3.39 [[ 0.86751002 0.29621313 -0.39960499 14.43232606] [-0.12771462 0.90906432 0.39659935 -0.55257861] [ 0.48074457 -0.29301851 0.82645315 3.3912206 ] [ 0. 0. 0. 1. ]] SLAMing on 178.75538475 meters Centerline goodness : 0.914391 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.54, Z:3.36 [[ 0.8615789 0.29780973 -0.41108535 14.40888855] [-0.13925483 0.91741835 0.3727622 -0.54104477] [ 0.48814946 -0.26391843 0.83189974 3.35699291] [ 0. 0. 0. 1. ]] SLAMing on 178.81538475 meters Centerline goodness : 0.912571 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.53, Z:3.33 [[ 0.85765787 0.2926585 -0.42281673 14.39672727] [-0.14489385 0.92646981 0.34736071 -0.53449422] [ 0.493385 -0.2366531 0.83699854 3.33327609] [ 0. 0. 0. 1. ]] SLAMing on 178.87538475 meters Centerline goodness : 0.912427 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.53, Z:3.31 [[ 0.8532792 0.2885205 -0.43436221 14.38082871] [-0.15218467 0.93450487 0.32177706 -0.52826584] [ 0.49875288 -0.20846241 0.84130196 3.30873012] [ 0. 0. 0. 1. ]] SLAMing on 178.93538475 meters Centerline goodness : 0.916853 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.52, Z:3.29 [[ 0.85326247 0.2804873 -0.43962487 14.35740534] [-0.15379675 0.94088534 0.30179684 -0.5240091 ] [ 0.49828678 -0.18989904 0.84596019 3.28656111] [ 0. 0. 0. 1. ]] SLAMing on 178.99538475 meters Centerline goodness : 0.919272 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.52, Z:3.27 [[ 0.8517303 0.276065 -0.44535784 14.34133364] [-0.15678146 0.94528176 0.2861153 -0.51990315] [ 0.49997506 -0.17386922 0.848407 3.26677112] [ 0. 0. 0. 1. ]] SLAMing on 179.05538475 meters Centerline goodness : 0.915083 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.52, Z:3.25 [[ 0.85031676 0.27252167 -0.45021479 14.3339444 ] [-0.1594119 0.94866751 0.27316261 -0.51631619] [ 0.50154687 -0.16050515 0.85011107 3.24925006] [ 0. 0. 0. 1. ]] SLAMing on 179.11538475 meters Centerline goodness : 0.903715 with order 1 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.51, Z:3.23 [[ 0.84597728 0.27583264 -0.45633188 14.32283596] [-0.16775526 0.95002883 0.26325538 -0.51280881] [ 0.50614287 -0.146156 0.84997519 3.2290764 ] [ 0. 0. 0. 1. ]] SLAMing on 179.17538475 meters Centerline goodness : 0.905714 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.51, Z:3.22 [[ 0.84545658 0.27333942 -0.45879051 14.30940877] [-0.17073116 0.95234414 0.25276768 -0.51415164] [ 0.50601783 -0.13537427 0.85183318 3.21604152] [ 0. 0. 0. 1. ]] SLAMing on 179.23538475 meters Centerline goodness : 0.907851 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.52, Z:3.21 [[ 0.84793022 0.26523375 -0.45898302 14.30643913] [-0.16659514 0.95529047 0.2442666 -0.52080701] [ 0.50324985 -0.13065669 0.85420631 3.20926587] [ 0. 0. 0. 1. ]] SLAMing on 179.29538475 meters Centerline goodness : 0.909768 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.52, Z:3.19 [[ 0.84727759 0.26112671 -0.46252949 14.28609041] [-0.17013618 0.95835028 0.22938707 -0.52101257] [ 0.50316435 -0.11566152 0.85641581 3.19134103] [ 0. 0. 0. 1. ]] SLAMing on 179.35538475 meters Centerline goodness : 0.911118 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.52, Z:3.18 [[ 0.84679245 0.26351157 -0.46206514 14.27260873] [-0.17673053 0.95869787 0.22285581 -0.51836617] [ 0.50170595 -0.1070516 0.85838866 3.17785133] [ 0. 0. 0. 1. ]] SLAMing on 179.41538475000002 meters Centerline goodness : 0.910866 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.52, Z:3.17 [[ 0.84638654 0.26209902 -0.46360967 14.26972399] [-0.17924647 0.95992362 0.21544685 -0.51638124] [ 0.50149828 -0.09925092 0.85944676 3.16650225] [ 0. 0. 0. 1. ]] SLAMing on 179.47538475 meters Centerline goodness : 0.908488 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.51, Z:3.15 [[ 0.84814406 0.25655429 -0.46349924 14.24944722] [-0.17620075 0.96171479 0.20989989 -0.51206094] [ 0.49960479 -0.09635644 0.86087775 3.14667754] [ 0. 0. 0. 1. ]] SLAMing on 179.53538475 meters Centerline goodness : 0.907055 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.51, Z:3.13 [[ 0.85164316 0.2448578 -0.46340974 14.23152538] [-0.16772278 0.96499079 0.20164782 -0.50825277] [ 0.49656118 -0.09400762 0.86289603 3.12883275] [ 0. 0. 0. 1. ]] SLAMing on 179.59538475 meters Centerline goodness : 0.910642 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.51, Z:3.13 [[ 0.85289515 0.23917424 -0.46407493 14.23180522] [-0.16378135 0.96659421 0.19715808 -0.50695234] [ 0.49572727 -0.09214835 0.86357579 3.12781086] [ 0. 0. 0. 1. ]] SLAMing on 179.65538475 meters Centerline goodness : 0.913118 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.51, Z:3.12 [[ 0.85405159 0.23251134 -0.46533252 14.23589746] [-0.1595217 0.96851078 0.19115357 -0.50500449] [ 0.49512494 -0.08902437 0.86424878 3.1243973 ] [ 0. 0. 0. 1. ]] SLAMing on 179.71538475 meters Centerline goodness : 0.916196 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.50, Z:3.12 [[ 0.85589576 0.22302646 -0.46658509 14.23492579] [-0.15370647 0.97116262 0.18225667 -0.50305057] [ 0.49377806 -0.08427557 0.86549457 3.12079436] [ 0. 0. 0. 1. ]] SLAMing on 179.77538475 meters Centerline goodness : 0.916140 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.50, Z:3.10 [[ 0.85926843 0.21330551 -0.46492852 14.2141771 ] [-0.14825203 0.97374457 0.17275085 -0.49638773] [ 0.48957032 -0.07951276 0.86833094 3.09892714] [ 0. 0. 0. 1. ]] SLAMing on 179.83538475 meters Centerline goodness : 0.921434 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.50, Z:3.10 [[ 0.86019804 0.20798982 -0.4656174 14.21531322] [-0.1451279 0.97513578 0.16747565 -0.4957837 ] [ 0.48887342 -0.07648815 0.86899502 3.09585148] [ 0. 0. 0. 1. ]] SLAMing on 179.89538475 meters Centerline goodness : 0.923580 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:3.09 [[ 0.86150402 0.20352012 -0.4651778 14.2103023 ] [-0.14436429 0.9765234 0.15987811 -0.49285544] [ 0.48679542 -0.07058057 0.87065987 3.08781634] [ 0. 0. 0. 1. ]] SLAMing on 179.95538475 meters Centerline goodness : 0.923744 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:3.09 [[ 0.86243485 0.19613618 -0.46662269 14.21470542] [-0.13930363 0.97824576 0.15371967 -0.49102447] [ 0.48662166 -0.06757097 0.87099571 3.08547705] [ 0. 0. 0. 1. ]] SLAMing on 180.01538475 meters Centerline goodness : 0.923700 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:3.09 [[ 0.86294578 0.18800463 -0.46901902 14.22241541] [-0.13300314 0.97998619 0.14811221 -0.49028186] [ 0.48747794 -0.0654318 0.87068016 3.08532886] [ 0. 0. 0. 1. ]] SLAMing on 180.07538475 meters Centerline goodness : 0.925077 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.49, Z:3.09 [[ 0.8635369 0.1793376 -0.47131948 14.2295382 ] [-0.12597519 0.98171133 0.14273445 -0.49008284] [ 0.48829733 -0.0638819 0.87033604 3.08638736] [ 0. 0. 0. 1. ]] SLAMing on 180.13538475000001 meters Centerline goodness : 0.924761 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.49, Z:3.09 [[ 0.86514677 0.1677549 -0.47263026 14.23467281] [-0.11694567 0.9838987 0.13515568 -0.4850618 ] [ 0.48769333 -0.06165744 0.87083499 3.0868456 ] [ 0. 0. 0. 1. ]] SLAMing on 180.19538475000002 meters Centerline goodness : 0.923724 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.48, Z:3.09 [[ 0.87247024 0.17559439 -0.45602883 14.21098107] [-0.1167824 0.98109125 0.15434321 -0.48163133] [ 0.4745077 -0.08140371 0.87647925 3.09270597] [ 0. 0. 0. 1. ]] SLAMing on 180.25538475 meters Centerline goodness : 0.921509 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.48, Z:3.10 [[ 0.87695717 0.18066144 -0.44531738 14.19361609] [-0.11614372 0.97885373 0.16839241 -0.48169609] [ 0.46632259 -0.09595211 0.87939549 3.09796818] [ 0. 0. 0. 1. ]] SLAMing on 180.31538475 meters Centerline goodness : 0.922603 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.49, Z:3.10 [[ 0.8801575 0.19184775 -0.43418568 14.19189239] [-0.12681199 0.97647572 0.17439578 -0.48657819] [ 0.45742921 -0.09843581 0.88378103 3.09959514] [ 0. 0. 0. 1. ]] SLAMing on 180.37538475 meters Centerline goodness : 0.922435 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.49, Z:3.10 [[ 0.88197212 0.2027124 -0.42547957 14.19156822] [-0.13775069 0.97422906 0.17861267 -0.49243142] [ 0.45072156 -0.09892129 0.88716664 3.10352279] [ 0. 0. 0. 1. ]] SLAMing on 180.43538475 meters Centerline goodness : 0.930157 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.50, Z:3.11 [[ 0.88544525 0.21123615 -0.41396377 14.1845609 ] [-0.14553011 0.97196238 0.18468922 -0.49615773] [ 0.44137026 -0.103288 0.89136069 3.10968096] [ 0. 0. 0. 1. ]] SLAMing on 180.49538475 meters Centerline goodness : 0.927966 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.50, Z:3.11 [[ 0.88798432 0.22138696 -0.40307774 14.18385238] [-0.15473079 0.96922614 0.19146558 -0.49922476] [ 0.43306147 -0.10764989 0.89491299 3.11227198] [ 0. 0. 0. 1. ]] SLAMing on 180.55538475 meters Centerline goodness : 0.927409 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.50, Z:3.11 [[ 0.8920904 0.23115473 -0.38825533 14.1801683 ] [-0.16337074 0.96611702 0.19981967 -0.50172719] [ 0.42128935 -0.11482765 0.89962764 3.11158471] [ 0. 0. 0. 1. ]] SLAMing on 180.61538475 meters Centerline goodness : 0.930193 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.50, Z:3.12 [[ 0.89634991 0.24090792 -0.37218303 14.16841313] [-0.17160392 0.96257309 0.20977401 -0.50359301] [ 0.40878959 -0.12416285 0.90414305 3.11643287] [ 0. 0. 0. 1. ]] SLAMing on 180.67538475 meters Centerline goodness : 0.929462 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.51, Z:3.12 [[ 0.90116427 0.24485896 -0.35769686 14.15843591] [-0.17574985 0.96070025 0.21486513 -0.50820596] [ 0.39625112 -0.13076361 0.90878267 3.12046842] [ 0. 0. 0. 1. ]] SLAMing on 180.73538475 meters Centerline goodness : 0.935436 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.51, Z:3.12 [[ 0.90275307 0.24853417 -0.35109494 14.16356793] [-0.18195434 0.96021094 0.21186688 -0.51303013] [ 0.38978136 -0.12738023 0.91205524 3.1194517 ] [ 0. 0. 0. 1. ]] SLAMing on 180.79538475 meters Centerline goodness : 0.931885 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.52, Z:3.12 [[ 0.90390313 0.25770268 -0.34139195 14.16453277] [-0.19186003 0.95761115 0.21487347 -0.51722351] [ 0.3822942 -0.12872534 0.91503056 3.12126717] [ 0. 0. 0. 1. ]] SLAMing on 180.85538475 meters Centerline goodness : 0.930758 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.52, Z:3.12 [[ 0.90575675 0.26553353 -0.33029782 14.16446435] [-0.1997914 0.95487461 0.21976778 -0.52073434] [ 0.37374872 -0.13306549 0.91793544 3.12311946] [ 0. 0. 0. 1. ]] SLAMing on 180.91538475000002 meters Centerline goodness : 0.933522 with order 1 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.50, Z:3.13 [[ 0.89599477 0.28810413 -0.33791919 14.03787179] [-0.20346126 0.94273919 0.26428457 -0.49898972] [ 0.39471114 -0.16804412 0.90330742 3.1308066 ] [ 0. 0. 0. 1. ]] SLAMing on 180.97538475 meters Centerline goodness : 0.939107 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.47, Z:3.14 [[ 0.88588585 0.31400675 -0.34147623 13.91669004] [-0.21168652 0.9286137 0.30473827 -0.47321609] [ 0.41278938 -0.19767741 0.88911674 3.13500744] [ 0. 0. 0. 1. ]] SLAMing on 181.03538475 meters Centerline goodness : 0.942648 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.45, Z:3.13 [[ 0.87473634 0.33698206 -0.34825195 13.81060998] [-0.22128912 0.91710294 0.33159211 -0.44725156] [ 0.43112348 -0.2129913 0.87679373 3.1292084 ] [ 0. 0. 0. 1. ]] SLAMing on 181.09538475 meters Centerline goodness : 0.944476 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.44, Z:3.10 [[ 0.87028758 0.33867938 -0.35762522 13.7896231 ] [-0.22864174 0.92089733 0.31570724 -0.43590467] [ 0.43625964 -0.19298804 0.87888176 3.10447362] [ 0. 0. 0. 1. ]] SLAMing on 181.15538475 meters Centerline goodness : 0.940111 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.43, Z:3.08 [[ 0.86440631 0.34245326 -0.3681406 13.77190545] [-0.23726381 0.92336489 0.30183301 -0.42630172] [ 0.4432918 -0.17355992 0.8794142 3.08041954] [ 0. 0. 0. 1. ]] SLAMing on 181.21538475 meters Centerline goodness : 0.937273 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.42, Z:3.06 [[ 0.85872048 0.34676467 -0.3772975 13.74938897] [-0.24739063 0.92531655 0.28737981 -0.41627967] [ 0.44877279 -0.15343906 0.8803746 3.05543274] [ 0. 0. 0. 1. ]] SLAMing on 181.27538475 meters Centerline goodness : 0.939897 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.41, Z:3.04 [[ 0.85827674 0.33980146 -0.3845725 13.7308358 ] [-0.24763398 0.93059011 0.26959128 -0.41085808] [ 0.44948688 -0.13615071 0.88285023 3.0389043 ] [ 0. 0. 0. 1. ]] SLAMing on 181.33538475 meters Centerline goodness : 0.935479 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.41, Z:3.03 [[ 0.86038169 0.32889274 -0.38932366 13.73565985] [-0.24155341 0.93580946 0.25673449 -0.40910768] [ 0.44877088 -0.1268472 0.88459849 3.02902103] [ 0. 0. 0. 1. ]] SLAMing on 181.39538475 meters Centerline goodness : 0.938993 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.41, Z:3.02 [[ 0.86297317 0.31902411 -0.39179195 13.73587405] [-0.23575994 0.940106 0.24620714 -0.40636429] [ 0.44687197 -0.12010131 0.88649936 3.0229119 ] [ 0. 0. 0. 1. ]] SLAMing on 181.45538475 meters Centerline goodness : 0.940202 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.41, Z:3.02 [[ 0.86538881 0.3086574 -0.39475664 13.73811236] [-0.22841338 0.94415199 0.237496 -0.4050156 ] [ 0.44601517 -0.11535868 0.88756005 3.02106882] [ 0. 0. 0. 1. ]] SLAMing on 181.51538475 meters Centerline goodness : 0.934815 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.40, Z:3.01 [[ 0.86565176 0.30374944 -0.397974 13.74436583] [-0.22641691 0.94650521 0.22992012 -0.40170396] [ 0.44652258 -0.10892272 0.88811791 3.01320618] [ 0. 0. 0. 1. ]] SLAMing on 181.57538475 meters Centerline goodness : 0.931026 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.40, Z:3.00 [[ 0.86570308 0.30107883 -0.39988713 13.74179606] [-0.22732519 0.94822412 0.22179781 -0.39919936] [ 0.44596125 -0.10110663 0.88932335 3.00354288] [ 0. 0. 0. 1. ]] SLAMing on 181.63538475000001 meters Centerline goodness : 0.929019 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.40, Z:3.00 [[ 0.86580275 0.29826239 -0.40177747 13.7419566 ] [-0.22659772 0.9495912 0.21663339 -0.39682354] [ 0.44613794 -0.09651993 0.88974425 2.9995266 ] [ 0. 0. 0. 1. ]] SLAMing on 181.69538475000002 meters Centerline goodness : 0.924553 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.40, Z:3.00 [[ 0.86506613 0.29800028 -0.40355473 13.74729362] [-0.22643566 0.94978218 0.21596461 -0.39549685] [ 0.4476466 -0.09544449 0.88910228 2.99924799] [ 0. 0. 0. 1. ]] SLAMing on 181.75538475 meters Centerline goodness : 0.913848 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:3.00 [[ 0.86452892 0.2971553 -0.40532516 13.75250634] [-0.22659631 0.95032426 0.21339614 -0.39324956] [ 0.44860213 -0.09264195 0.8889171 2.99574739] [ 0. 0. 0. 1. ]] SLAMing on 181.81538475 meters Centerline goodness : 0.917563 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:2.99 [[ 0.86481587 0.29511334 -0.40620392 13.74921895] [-0.22607422 0.95125258 0.20978318 -0.39080244] [ 0.44831234 -0.08959159 0.88937584 2.99440656] [ 0. 0. 0. 1. ]] SLAMing on 181.87538475 meters Centerline goodness : 0.920380 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:2.99 [[ 0.86491001 0.29365686 -0.40705813 13.74537339] [-0.22583976 0.95194311 0.20688336 -0.38887837] [ 0.4482489 -0.08700558 0.88966452 2.99396663] [ 0. 0. 0. 1. ]] SLAMing on 181.93538475 meters Centerline goodness : 0.921339 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:2.99 [[ 0.86464514 0.29395434 -0.40740597 13.74573653] [-0.22642778 0.95193166 0.20629242 -0.38712441] [ 0.4484632 -0.08612171 0.88964252 2.99329461] [ 0. 0. 0. 1. ]] SLAMing on 181.99538475 meters Centerline goodness : 0.915954 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.38, Z:2.99 [[ 0.86538437 0.28942508 -0.4090758 13.74506788] [-0.22494045 0.95383582 0.19899505 -0.38409217] [ 0.44778531 -0.08018951 0.89053802 2.98712866] [ 0. 0. 0. 1. ]] SLAMing on 182.05538475 meters Centerline goodness : 0.914423 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.38, Z:2.99 [[ 0.86602574 0.28482564 -0.41094255 13.74639528] [-0.22186514 0.95544866 0.1946631 -0.38390456] [ 0.44807954 -0.07740942 0.89063601 2.9861255 ] [ 0. 0. 0. 1. ]] SLAMing on 182.11538475 meters Centerline goodness : 0.904867 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.38, Z:2.98 [[ 0.8659341 0.2813987 -0.41348871 13.75084922] [-0.22025944 0.95678442 0.1898667 -0.3840377 ] [ 0.44904779 -0.07333726 0.89049297 2.98212231] [ 0. 0. 0. 1. ]] SLAMing on 182.17538475 meters Centerline goodness : 0.895119 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:2.98 [[ 0.86540329 0.28284835 -0.41361087 13.74943561] [-0.22255254 0.95652907 0.18847417 -0.38509172] [ 0.44894043 -0.07105602 0.89073202 2.97852997] [ 0. 0. 0. 1. ]] SLAMing on 182.23538475 meters Centerline goodness : 0.898202 with order 1 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.38, Z:2.96 [[ 0.86734093 0.27764122 -0.41307998 13.72149165] [-0.22099248 0.95848266 0.18020353 -0.37624378] [ 0.44596193 -0.06501033 0.89268786 2.95993534] [ 0. 0. 0. 1. ]] SLAMing on 182.29538475 meters Centerline goodness : 0.906878 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.37, Z:2.96 [[ 0.86810384 0.27542381 -0.41296181 13.70867423] [-0.22183888 0.95950487 0.17360275 -0.37223506] [ 0.44405319 -0.05909422 0.89404957 2.95563959] [ 0. 0. 0. 1. ]] SLAMing on 182.35538475 meters Centerline goodness : 0.905809 with order 1 Centerline is valid? [False, False] Translation: X:13.69, Y:-0.36, Z:2.94 [[ 0.86959772 0.27352644 -0.41107554 13.68990534] [-0.22100478 0.96010589 0.17132882 -0.3620082 ] [ 0.44153901 -0.05813749 0.89535654 2.94044442] [ 0. 0. 0. 1. ]] SLAMing on 182.41538475000002 meters Centerline goodness : 0.901269 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.35, Z:2.92 [[ 0.87103567 0.26949672 -0.41069256 13.6671754 ] [-0.21890604 0.961417 0.16660579 -0.35378357] [ 0.43974652 -0.0552165 0.89642297 2.92466968] [ 0. 0. 0. 1. ]] SLAMing on 182.47538475 meters Centerline goodness : 0.899235 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.35, Z:2.92 [[ 0.87176137 0.26472349 -0.41225428 13.66861741] [-0.21593822 0.96292437 0.16170142 -0.35228396] [ 0.43977586 -0.05194359 0.89660418 2.92257479] [ 0. 0. 0. 1. ]] SLAMing on 182.53538475 meters Centerline goodness : 0.897726 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.35, Z:2.91 [[ 0.87203556 0.26032346 -0.41447035 13.64908215] [-0.21215004 0.96417763 0.15922894 -0.34711577] [ 0.44107407 -0.0509234 0.89602482 2.90908045] [ 0. 0. 0. 1. ]] SLAMing on 182.59538475 meters Centerline goodness : 0.898421 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.34, Z:2.89 [[ 0.87323249 0.25646549 -0.41435549 13.62418637] [-0.21066447 0.96541861 0.15358189 -0.33934751] [ 0.43941495 -0.04682271 0.89706306 2.89193918] [ 0. 0. 0. 1. ]] SLAMing on 182.65538475 meters Centerline goodness : 0.911033 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.33, Z:2.88 [[ 0.87808804 0.24410899 -0.41154854 13.59921868] [-0.20138916 0.96873243 0.14491336 -0.33383407] [ 0.43405507 -0.04436527 0.89979326 2.87923301] [ 0. 0. 0. 1. ]] SLAMing on 182.71538475 meters Centerline goodness : 0.910553 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.33, Z:2.88 [[ 0.87905523 0.23726367 -0.41348259 13.60369718] [-0.19627735 0.97055443 0.13963991 -0.33307015] [ 0.43443884 -0.04159392 0.89974043 2.87794334] [ 0. 0. 0. 1. ]] SLAMing on 182.77538475 meters Centerline goodness : 0.904929 with order 1 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.33, Z:2.87 [[ 0.8787126 0.23325391 -0.41648143 13.59357646] [-0.19008579 0.97130665 0.14293626 -0.328635 ] [ 0.43787162 -0.04643269 0.89783765 2.87170576] [ 0. 0. 0. 1. ]] SLAMing on 182.83538475 meters Centerline goodness : 0.908590 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.33, Z:2.87 [[ 0.88061423 0.22193252 -0.41864608 13.59571856] [-0.18153513 0.97413579 0.13455279 -0.3283782 ] [ 0.43767977 -0.04249013 0.89812639 2.87117124] [ 0. 0. 0. 1. ]] SLAMing on 182.89538475 meters Centerline goodness : 0.912846 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.33, Z:2.87 [[ 0.88153175 0.21417124 -0.42075224 13.60027604] [-0.17490648 0.9759234 0.13031211 -0.33036927] [ 0.43853106 -0.04128197 0.8977674 2.87307518] [ 0. 0. 0. 1. ]] SLAMing on 182.95538475 meters Centerline goodness : 0.915511 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.33, Z:2.87 [[ 0.88222059 0.20745128 -0.42267102 13.60442223] [-0.1695531 0.97745331 0.12584422 -0.32967333] [ 0.43924774 -0.03935718 0.89750345 2.87374078] [ 0. 0. 0. 1. ]] SLAMing on 183.01538475 meters Centerline goodness : 0.913651 with order 1 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.33, Z:2.88 [[ 0.88195488 0.20524539 -0.42429932 13.59433865] [-0.16277209 0.97745579 0.13448208 -0.3269745 ] [ 0.44233565 -0.04954304 0.89548013 2.8757734 ] [ 0. 0. 0. 1. ]] SLAMing on 183.07538475 meters Centerline goodness : 0.914419 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.32, Z:2.87 [[ 0.88417717 0.20103993 -0.4216796 13.58254801] [-0.1577602 0.97813088 0.13554224 -0.3180146 ] [ 0.43970724 -0.0533191 0.89655709 2.86715682] [ 0. 0. 0. 1. ]] SLAMing on 183.13538475000001 meters Centerline goodness : 0.915475 with order 1 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.31, Z:2.87 [[ 0.88400535 0.19995538 -0.42255459 13.58510267] [-0.15706223 0.97840039 0.13440291 -0.31479437] [ 0.44030216 -0.05244552 0.89631662 2.86737404] [ 0. 0. 0. 1. ]] SLAMing on 183.19538475000002 meters Centerline goodness : 0.920722 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.31, Z:2.86 [[ 0.88713659 0.19630835 -0.41767416 13.5656915 ] [-0.15430857 0.97910685 0.13243354 -0.30622494] [ 0.43494544 -0.05303594 0.89889357 2.85625128] [ 0. 0. 0. 1. ]] SLAMing on 183.25538475 meters Centerline goodness : 0.920106 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.30, Z:2.85 [[ 0.88696683 0.19739732 -0.41752144 13.56516362] [-0.15571766 0.97893885 0.13202555 -0.30467566] [ 0.43478944 -0.05208682 0.89902453 2.85478605] [ 0. 0. 0. 1. ]] SLAMing on 183.31538475 meters Centerline goodness : 0.924464 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.33, Z:2.93 [[ 0.895865 0.2175196 -0.38744176 13.57069148] [-0.14515298 0.96740692 0.20749568 -0.32844523] [ 0.41994822 -0.12964979 0.89823963 2.9277359 ] [ 0. 0. 0. 1. ]] SLAMing on 183.37538475 meters Centerline goodness : 0.925149 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.33, Z:2.93 [[ 0.89692032 0.20921285 -0.38956889 13.57763362] [-0.13867874 0.96963337 0.20144314 -0.32719384] [ 0.41988348 -0.12665352 0.89869725 2.92616606] [ 0. 0. 0. 1. ]] SLAMing on 183.43538475 meters Centerline goodness : 0.926486 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.32, Z:2.93 [[ 0.90152424 0.20857534 -0.37914426 13.57520395] [-0.13385965 0.967615 0.21401592 -0.32367926] [ 0.41150411 -0.14218842 0.9002482 2.93170342] [ 0. 0. 0. 1. ]] SLAMing on 183.49538475 meters Centerline goodness : 0.926560 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.32, Z:2.93 [[ 0.90116042 0.20811901 -0.3802583 13.57761756] [-0.13342392 0.96779234 0.21348548 -0.32017702] [ 0.41244145 -0.14164911 0.8999042 2.9327718 ] [ 0. 0. 0. 1. ]] SLAMing on 183.55538475 meters Centerline goodness : 0.927615 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.32, Z:2.93 [[ 0.90118371 0.20747344 -0.38055577 13.57942194] [-0.13309069 0.96803526 0.21259024 -0.31826596] [ 0.41249823 -0.14093443 0.89999039 2.93198984] [ 0. 0. 0. 1. ]] SLAMing on 183.61538475 meters Centerline goodness : 0.926516 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.31, Z:2.92 [[ 0.90120161 0.20627932 -0.38116205 13.57686397] [-0.13455229 0.9691774 0.20637551 -0.31273925] [ 0.41198464 -0.13469972 0.90117958 2.92427476] [ 0. 0. 0. 1. ]] SLAMing on 183.67538475 meters Centerline goodness : 0.931523 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.32, Z:2.97 [[ 0.90679452 0.21316854 -0.36370713 13.60541385] [-0.12841031 0.96140658 0.2433273 -0.32409926] [ 0.40154015 -0.17394412 0.89917126 2.97443539] [ 0. 0. 0. 1. ]] SLAMing on 183.73538475 meters Centerline goodness : 0.929889 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.34, Z:3.09 [[ 0.90442181 0.27227874 -0.32845924 13.52452314] [-0.13558163 0.91339329 0.38383631 -0.34091115] [ 0.40452294 -0.30261689 0.86300881 3.08546024] [ 0. 0. 0. 1. ]] SLAMing on 183.79538475 meters Centerline goodness : 0.930689 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.34, Z:3.09 [[ 0.90525812 0.2677402 -0.32988321 13.52549031] [-0.13203943 0.91529302 0.38053156 -0.33936599] [ 0.40382339 -0.30092169 0.8639287 3.08653842] [ 0. 0. 0. 1. ]] SLAMing on 183.85538475 meters Centerline goodness : 0.930404 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.34, Z:3.07 [[ 0.90691687 0.25742974 -0.3335142 13.52825799] [-0.12681151 0.92169758 0.36659571 -0.33509337] [ 0.40177187 -0.29017839 0.86854814 3.07437732] [ 0. 0. 0. 1. ]] SLAMing on 183.91538475000002 meters Centerline goodness : 0.930429 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.32, Z:3.07 [[ 0.89822848 0.2717499 -0.34545273 13.45171559] [-0.13078401 0.91560906 0.38020468 -0.32176384] [ 0.41962023 -0.29633098 0.85796667 3.07071907] [ 0. 0. 0. 1. ]] SLAMing on 183.97538475 meters Centerline goodness : 0.938024 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.33, Z:3.08 [[ 0.90392945 0.27050293 -0.33126986 13.44545181] [-0.13139925 0.91276185 0.38678165 -0.32690858] [ 0.40699606 -0.30609471 0.86061619 3.07641299] [ 0. 0. 0. 1. ]] SLAMing on 184.03538475 meters Centerline goodness : 0.934337 with order 1 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.32, Z:3.05 [[ 0.90239404 0.2580515 -0.3451006 13.42414182] [-0.12662397 0.92430099 0.36004729 -0.32008728] [ 0.41188757 -0.28120652 0.86675921 3.05090128] [ 0. 0. 0. 1. ]] SLAMing on 184.09538475 meters Centerline goodness : 0.934636 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.31, Z:3.02 [[ 0.90246857 0.24540658 -0.35401426 13.3922531 ] [-0.11956033 0.93225941 0.34146409 -0.3127229 ] [ 0.41383065 -0.26583455 0.87067571 3.02419705] [ 0. 0. 0. 1. ]] SLAMing on 184.15538475 meters Centerline goodness : 0.933028 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.31, Z:3.02 [[ 0.90458206 0.25446257 -0.34202352 13.39221126] [-0.13038517 0.92900716 0.34633135 -0.31249652] [ 0.40587067 -0.26869033 0.87354136 3.0248019 ] [ 0. 0. 0. 1. ]] SLAMing on 184.21538475 meters Centerline goodness : 0.929305 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.31, Z:3.03 [[ 0.90502345 0.26590065 -0.33200814 13.39587111] [-0.14317895 0.92541692 0.35086082 -0.31175411] [ 0.40054007 -0.27000069 0.87559538 3.02533701] [ 0. 0. 0. 1. ]] SLAMing on 184.27538475 meters Centerline goodness : 0.931980 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.30, Z:3.01 [[ 0.9006966 0.26651052 -0.34310024 13.38102524] [-0.15073115 0.93238071 0.32855187 -0.30234869] [ 0.40746257 -0.24420966 0.87996358 3.00633649] [ 0. 0. 0. 1. ]] SLAMing on 184.33538475 meters Centerline goodness : 0.927237 with order 1 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.29, Z:2.98 [[ 0.89625247 0.27088246 -0.35121818 13.35529128] [-0.16102895 0.93653659 0.31139829 -0.29017574] [ 0.41328101 -0.22253519 0.88299315 2.97827772] [ 0. 0. 0. 1. ]] SLAMing on 184.39538475 meters Centerline goodness : 0.925742 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.28, Z:2.96 [[ 0.88960716 0.27823382 -0.36219475 13.33634025] [-0.17515774 0.94022523 0.29205526 -0.28223577] [ 0.4218043 -0.19637324 0.88516591 2.95654691] [ 0. 0. 0. 1. ]] SLAMing on 184.45538475 meters Centerline goodness : 0.922894 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.28, Z:2.94 [[ 0.88326414 0.28518472 -0.37217488 13.3215498 ] [-0.18907569 0.94299989 0.2738642 -0.27677449] [ 0.42906275 -0.1715252 0.88683948 2.93795628] [ 0. 0. 0. 1. ]] SLAMing on 184.51538475 meters Centerline goodness : 0.922004 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.27, Z:2.92 [[ 0.87658769 0.2962222 -0.37927092 13.30544943] [-0.20636804 0.94334889 0.25981745 -0.27129173] [ 0.4347485 -0.14948338 0.88805882 2.92070333] [ 0. 0. 0. 1. ]] SLAMing on 184.57538475 meters Centerline goodness : 0.920348 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.27, Z:2.91 [[ 0.87239658 0.30403202 -0.38273847 13.29891918] [-0.22144059 0.94388468 0.24504238 -0.26927636] [ 0.43576171 -0.1290203 0.8907668 2.90757561] [ 0. 0. 0. 1. ]] SLAMing on 184.63538475000001 meters Centerline goodness : 0.920852 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.26, Z:2.89 [[ 0.87052659 0.30330969 -0.38753927 13.27483615] [-0.22745511 0.94630897 0.22970307 -0.26366774] [ 0.43640305 -0.11181484 0.89277646 2.88842907] [ 0. 0. 0. 1. ]] SLAMing on 184.69538475000002 meters Centerline goodness : 0.916400 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.26, Z:2.88 [[ 0.87103975 0.29788185 -0.39058439 13.27724717] [-0.22634521 0.94909412 0.2190621 -0.26201769] [ 0.43595597 -0.1024049 0.89412283 2.87554171] [ 0. 0. 0. 1. ]] SLAMing on 184.75538475 meters Centerline goodness : 0.914559 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.26, Z:2.86 [[ 0.8718912 0.29092487 -0.39391428 13.27432968] [-0.2244307 0.95233928 0.20659323 -0.25991439] [ 0.43524315 -0.09172036 0.8956287 2.86353901] [ 0. 0. 0. 1. ]] SLAMing on 184.81538475 meters Centerline goodness : 0.912653 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.26, Z:2.85 [[ 0.87215685 0.28792426 -0.39552756 13.26490719] [-0.22588264 0.95413444 0.19648027 -0.25758627] [ 0.4339579 -0.08201881 0.89719198 2.85231161] [ 0. 0. 0. 1. ]] SLAMing on 184.87538475 meters Centerline goodness : 0.915753 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.26, Z:2.85 [[ 0.87253726 0.28647564 -0.39574037 13.26076829] [-0.22655407 0.95493453 0.19176362 -0.25544239] [ 0.43284176 -0.07766431 0.89811818 2.8472442 ] [ 0. 0. 0. 1. ]] SLAMing on 184.93538475 meters Centerline goodness : 0.915365 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.25, Z:2.84 [[ 0.87405 0.27993488 -0.39708066 13.25325087] [-0.22485281 0.95759556 0.18014425 -0.2545649 ] [ 0.43067134 -0.06817038 0.89993055 2.83682478] [ 0. 0. 0. 1. ]] SLAMing on 184.99538475 meters Centerline goodness : 0.916039 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.25, Z:2.83 [[ 0.87489943 0.27633549 -0.39773066 13.25229831] [-0.22315991 0.95888543 0.17532367 -0.25361396] [ 0.42982629 -0.06463304 0.90059532 2.83350408] [ 0. 0. 0. 1. ]] SLAMing on 185.05538475 meters Centerline goodness : 0.910707 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.25, Z:2.82 [[ 0.87660884 0.26586706 -0.40108807 13.23462085] [-0.21380369 0.96191199 0.17033293 -0.25213898] [ 0.43109734 -0.06356124 0.90006391 2.82207767] [ 0. 0. 0. 1. ]] SLAMing on 185.11538475 meters Centerline goodness : 0.905249 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.25, Z:2.81 [[ 0.87889465 0.25651185 -0.4021764 13.21748615] [-0.20544264 0.96445767 0.16617678 -0.24879032] [ 0.43050843 -0.0634277 0.90035516 2.81117842] [ 0. 0. 0. 1. ]] SLAMing on 185.17538475 meters Centerline goodness : 0.905121 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.25, Z:2.81 [[ 0.88033116 0.25066968 -0.40271796 13.21870964] [-0.20090551 0.96609475 0.1621663 -0.24865471] [ 0.42971388 -0.06185179 0.90084424 2.81051319] [ 0. 0. 0. 1. ]] SLAMing on 185.23538475 meters Centerline goodness : 0.907527 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.25, Z:2.81 [[ 0.88250972 0.24011942 -0.40437514 13.21998558] [-0.19292132 0.96899635 0.15436136 -0.24981224] [ 0.42890319 -0.05821282 0.90147286 2.80961661] [ 0. 0. 0. 1. ]] SLAMing on 185.29538475 meters Centerline goodness : 0.909980 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.25, Z:2.81 [[ 0.88448304 0.23014401 -0.40586143 13.22014527] [-0.18609703 0.9717058 0.14545013 -0.24819214] [ 0.42785238 -0.05311856 0.90228641 2.80686158] [ 0. 0. 0. 1. ]] SLAMing on 185.35538475 meters Centerline goodness : 0.911770 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.25, Z:2.81 [[ 0.88578967 0.22355112 -0.40669589 13.22554394] [-0.18079277 0.97332616 0.14124506 -0.2467507 ] [ 0.42742324 -0.05158574 0.90257869 2.80597675] [ 0. 0. 0. 1. ]] SLAMing on 185.41538475000002 meters Centerline goodness : 0.906468 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.24, Z:2.80 [[ 0.88572126 0.22227313 -0.40754449 13.22993783] [-0.18015902 0.97369424 0.13950719 -0.24499942] [ 0.42783242 -0.05014166 0.90246619 2.80379231] [ 0. 0. 0. 1. ]] SLAMing on 185.47538475 meters Centerline goodness : 0.906154 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.24, Z:2.80 [[ 0.88649045 0.21724755 -0.4085807 13.23204738] [-0.17764103 0.9750626 0.13302851 -0.24108049] [ 0.42729188 -0.04534781 0.90297576 2.79871035] [ 0. 0. 0. 1. ]] SLAMing on 185.53538475 meters Centerline goodness : 0.913879 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.24, Z:2.80 [[ 0.88647752 0.21707563 -0.40870011 13.2337182 ] [-0.17806475 0.97516303 0.13171941 -0.23893288] [ 0.42714232 -0.04399122 0.90311362 2.79648788] [ 0. 0. 0. 1. ]] SLAMing on 185.59538475 meters Centerline goodness : 0.912418 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.23, Z:2.79 [[ 0.88729974 0.21038343 -0.41041197 13.21851093] [-0.1714401 0.97658478 0.12996331 -0.2349506 ] [ 0.42814421 -0.04495534 0.90259158 2.78569991] [ 0. 0. 0. 1. ]] SLAMing on 185.65538475 meters Centerline goodness : 0.917482 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.24, Z:2.78 [[ 0.88905171 0.19878424 -0.41239772 13.22166002] [-0.16305547 0.97923151 0.12049301 -0.23504815] [ 0.42778495 -0.03988082 0.90300031 2.78326038] [ 0. 0. 0. 1. ]] SLAMing on 185.71538475 meters Centerline goodness : 0.917413 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.24, Z:2.79 [[ 0.89269647 0.19975907 -0.40396698 13.22238078] [-0.15872168 0.97832075 0.13302611 -0.23503131] [ 0.42178245 -0.05463362 0.90504957 2.7914646 ] [ 0. 0. 0. 1. ]] SLAMing on 185.77538475 meters Centerline goodness : 0.922161 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.23, Z:2.80 [[ 0.89528856 0.20586535 -0.39506689 13.20625287] [-0.16087032 0.97638132 0.14422298 -0.23308986] [ 0.41542645 -0.06556664 0.90726065 2.79933359] [ 0. 0. 0. 1. ]] SLAMing on 185.83538475 meters Centerline goodness : 0.924088 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.23, Z:2.81 [[ 0.90299577 0.20279487 -0.37877814 13.18417293] [-0.15315847 0.97561614 0.15721206 -0.23470511] [ 0.40142386 -0.08394875 0.912037 2.80609212] [ 0. 0. 0. 1. ]] SLAMing on 185.89538475 meters Centerline goodness : 0.922388 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.23, Z:2.81 [[ 0.90876133 0.20184863 -0.3652533 13.16714792] [-0.14796689 0.97423016 0.1702392 -0.23488683] [ 0.39020333 -0.10066141 0.91520962 2.81050457] [ 0. 0. 0. 1. ]] SLAMing on 185.95538475 meters Centerline goodness : 0.921867 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.23, Z:2.82 [[ 0.91258126 0.2051187 -0.35372555 13.1538057 ] [-0.14649417 0.97166197 0.18550598 -0.23378264] [ 0.38175241 -0.11747055 0.9167692 2.81791576] [ 0. 0. 0. 1. ]] SLAMing on 186.01538475 meters Centerline goodness : 0.920184 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.23, Z:2.83 [[ 0.91722387 0.2117645 -0.33742578 13.13324277] [-0.14916432 0.96795839 0.20200634 -0.23189614] [ 0.36939189 -0.13495315 0.91942225 2.8265153 ] [ 0. 0. 0. 1. ]] SLAMing on 186.07538475 meters Centerline goodness : 0.922505 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.23, Z:2.83 [[ 0.91994662 0.22563163 -0.32060659 13.12402409] [-0.16201918 0.96348725 0.21317154 -0.23233164] [ 0.3569986 -0.14416202 0.92291349 2.83068564] [ 0. 0. 0. 1. ]] SLAMing on 186.13538475000001 meters Centerline goodness : 0.919695 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.23, Z:2.82 [[ 0.91906692 0.24148425 -0.31145039 13.12668513] [-0.17969507 0.96012542 0.21417015 -0.23469505] [ 0.35075016 -0.1408706 0.92581305 2.8238774 ] [ 0. 0. 0. 1. ]] SLAMing on 186.19538475000002 meters Centerline goodness : 0.925254 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.23, Z:2.82 [[ 0.91572022 0.24297562 -0.3200302 13.14013772] [-0.1842979 0.96171647 0.20281942 -0.23393558] [ 0.35705849 -0.12674495 0.92544311 2.81830034] [ 0. 0. 0. 1. ]] SLAMing on 186.25538475 meters Centerline goodness : 0.930100 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.22, Z:2.82 [[ 0.90697608 0.26934805 -0.32379936 13.03239198] [-0.19859431 0.95144734 0.23517709 -0.22164423] [ 0.37142252 -0.14899528 0.91643097 2.82180711] [ 0. 0. 0. 1. ]] SLAMing on 186.31538475 meters Centerline goodness : 0.932714 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.22, Z:2.82 [[ 0.90682194 0.2714222 -0.32249644 13.03017884] [-0.2010678 0.95097438 0.23498823 -0.2197115 ] [ 0.37046688 -0.14824883 0.9169387 2.81942806] [ 0. 0. 0. 1. ]] SLAMing on 186.37538475 meters Centerline goodness : 0.931836 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.24, Z:2.86 [[ 0.90940562 0.27940828 -0.30807862 13.04388891] [-0.1982701 0.94239043 0.26942391 -0.23846921] [ 0.36560961 -0.18393284 0.91241346 2.86074177] [ 0. 0. 0. 1. ]] SLAMing on 186.43538475 meters Centerline goodness : 0.937404 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.25, Z:2.89 [[ 0.91050065 0.2842702 -0.30029821 13.048172 ] [-0.19659108 0.93648197 0.29043668 -0.24694728] [ 0.36378635 -0.20540683 0.90855243 2.88964537] [ 0. 0. 0. 1. ]] SLAMing on 186.49538475 meters Centerline goodness : 0.936159 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.25, Z:2.92 [[ 0.91148232 0.29424319 -0.28743856 13.06810332] [-0.19747823 0.92601208 0.32172033 -0.25302023] [ 0.36083559 -0.23647953 0.90215027 2.92274368] [ 0. 0. 0. 1. ]] SLAMing on 186.55538475 meters Centerline goodness : 0.930933 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.26, Z:2.95 [[ 0.9122108 0.29901787 -0.2801067 13.08388308] [-0.19581368 0.91869194 0.34301912 -0.25544598] [ 0.35990062 -0.25805702 0.8965925 2.94844616] [ 0. 0. 0. 1. ]] SLAMing on 186.61538475 meters Centerline goodness : 0.935555 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.26, Z:3.00 [[ 0.91656707 0.3058459 -0.25761034 13.10904585] [-0.19460667 0.90394635 0.38080079 -0.2643254 ] [ 0.34933228 -0.29889678 0.88804711 2.9978049 ] [ 0. 0. 0. 1. ]] SLAMing on 186.67538475 meters Centerline goodness : 0.939084 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.26, Z:2.98 [[ 0.91506252 0.29969286 -0.26989773 13.09761977] [-0.19292416 0.91293446 0.35962611 -0.25806824] [ 0.35417631 -0.27701058 0.8932101 2.97796769] [ 0. 0. 0. 1. ]] SLAMing on 186.73538475 meters Centerline goodness : 0.939511 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.27, Z:3.03 [[ 0.91803289 0.31009152 -0.24710092 13.1182693 ] [-0.19282477 0.8936944 0.40512829 -0.26708468] [ 0.34645956 -0.32427392 0.88023417 3.03458176] [ 0. 0. 0. 1. ]] SLAMing on 186.79538475 meters Centerline goodness : 0.942312 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.25, Z:3.06 [[ 0.91251216 0.32867689 -0.24350166 13.06172888] [-0.19614655 0.87397306 0.444632 -0.25495555] [ 0.35895416 -0.35797009 0.86197989 3.06110416] [ 0. 0. 0. 1. ]] SLAMing on 186.85538475 meters Centerline goodness : 0.944074 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.25, Z:3.06 [[ 0.91281605 0.32677091 -0.24492372 13.06547933] [-0.19416676 0.87491689 0.44364367 -0.25412388] [ 0.35925775 -0.35740902 0.86208623 3.06163156] [ 0. 0. 0. 1. ]] SLAMing on 186.91538475000002 meters Centerline goodness : 0.941050 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.25, Z:3.04 [[ 0.91295362 0.3196653 -0.25363318 13.05733798] [-0.19169467 0.88467037 0.42498411 -0.24866982] [ 0.36023443 -0.33937065 0.86894115 3.04248583] [ 0. 0. 0. 1. ]] SLAMing on 186.97538475 meters Centerline goodness : 0.944332 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.24, Z:3.03 [[ 0.91365587 0.31176648 -0.26083446 13.05528397] [-0.18831067 0.89329936 0.40811193 -0.24441343] [ 0.36023888 -0.32375594 0.87487716 3.02614323] [ 0. 0. 0. 1. ]] SLAMing on 187.03538475 meters Centerline goodness : 0.940584 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.24, Z:3.01 [[ 0.90908005 0.31315083 -0.27479086 13.05739667] [-0.19092866 0.89937473 0.39328277 -0.23971755] [ 0.37029678 -0.30506007 0.8773931 3.01181325] [ 0. 0. 0. 1. ]] SLAMing on 187.09538475 meters Centerline goodness : 0.937207 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.23, Z:2.99 [[ 0.90169579 0.32119171 -0.28944876 13.03978951] [-0.20228926 0.9050466 0.37412525 -0.23021357] [ 0.38213054 -0.27879478 0.88105035 2.98821235] [ 0. 0. 0. 1. ]] SLAMing on 187.15538475 meters Centerline goodness : 0.940072 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.23, Z:2.97 [[ 0.89831984 0.31913776 -0.30194794 13.03026754] [-0.20615738 0.91310827 0.3517562 -0.22600716] [ 0.38796985 -0.25374078 0.88605587 2.97355341] [ 0. 0. 0. 1. ]] SLAMing on 187.21538475 meters Centerline goodness : 0.938419 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.23, Z:2.97 [[ 0.89637231 0.31181114 -0.31510396 13.0301126 ] [-0.2026163 0.92039437 0.33439623 -0.22511792] [ 0.39428838 -0.23589832 0.88819404 2.96500943] [ 0. 0. 0. 1. ]] SLAMing on 187.27538475 meters Centerline goodness : 0.937187 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.22, Z:2.95 [[ 0.8948106 0.30993298 -0.32133398 13.02184652] [-0.20485688 0.92455633 0.3212931 -0.2195492 ] [ 0.39667069 -0.22166899 0.89079471 2.94752892] [ 0. 0. 0. 1. ]] SLAMing on 187.33538475 meters Centerline goodness : 0.937426 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.22, Z:2.94 [[ 0.8960693 0.30040053 -0.32683227 13.01777356] [-0.20046892 0.930737 0.30584449 -0.21637764] [ 0.39607073 -0.20853815 0.89422582 2.93512883] [ 0. 0. 0. 1. ]] SLAMing on 187.39538475 meters Centerline goodness : 0.937218 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.22, Z:2.93 [[ 0.89630272 0.29461239 -0.33142869 13.02658777] [-0.20206837 0.93664174 0.28613044 -0.21632244] [ 0.39472752 -0.18948824 0.89904638 2.92650679] [ 0. 0. 0. 1. ]] SLAMing on 187.45538475 meters Centerline goodness : 0.932772 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.22, Z:2.92 [[ 0.8924138 0.29241075 -0.34364745 13.03446004] [-0.20327279 0.9404741 0.27237593 -0.21643311] [ 0.40283717 -0.17321786 0.89873121 2.92318916] [ 0. 0. 0. 1. ]] SLAMing on 187.51538475 meters Centerline goodness : 0.927368 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.21, Z:2.91 [[ 0.8894505 0.29726254 -0.34714953 13.02153825] [-0.21124119 0.94096314 0.26450997 -0.20947393] [ 0.40528382 -0.16193625 0.89973423 2.90827852] [ 0. 0. 0. 1. ]] SLAMing on 187.57538475 meters Centerline goodness : 0.924357 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.20, Z:2.89 [[ 0.88667987 0.3012309 -0.3507973 13.00870987] [-0.21846138 0.94157365 0.25634681 -0.20412115] [ 0.40752108 -0.15066189 0.90068172 2.89406225] [ 0. 0. 0. 1. ]] SLAMing on 187.63538475000001 meters Centerline goodness : 0.921540 with order 1 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.20, Z:2.88 [[ 0.88514666 0.30125811 -0.35462506 12.99686691] [-0.2222388 0.94328541 0.24662229 -0.20113563] [ 0.40880961 -0.13948545 0.90189717 2.88228954] [ 0. 0. 0. 1. ]] SLAMing on 187.69538475000002 meters Centerline goodness : 0.921522 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.20, Z:2.87 [[ 0.88313586 0.30274929 -0.35834889 12.98116371] [-0.22787468 0.94455366 0.23641386 -0.19674504] [ 0.41005389 -0.12712691 0.9031581 2.86826692] [ 0. 0. 0. 1. ]] SLAMing on 187.75538475 meters Centerline goodness : 0.917223 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.19, Z:2.86 [[ 0.88241683 0.30251895 -0.36030934 12.97082277] [-0.23107197 0.94579796 0.22819283 -0.19389315] [ 0.40981249 -0.11810381 0.90449169 2.85845529] [ 0. 0. 0. 1. ]] SLAMing on 187.81538475 meters Centerline goodness : 0.921425 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.19, Z:2.86 [[ 0.88671607 0.284302 -0.3645641 12.97000475] [-0.21792105 0.95249492 0.21275301 -0.19486404] [ 0.40773156 -0.10920533 0.90654794 2.85568771] [ 0. 0. 0. 1. ]] SLAMing on 187.87538475 meters Centerline goodness : 0.919704 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.20, Z:2.86 [[ 0.8892328 0.27107448 -0.36848835 12.97755722] [-0.20698513 0.95676653 0.20434029 -0.19724632] [ 0.40794875 -0.10543448 0.90689657 2.85639745] [ 0. 0. 0. 1. ]] SLAMing on 187.93538475 meters Centerline goodness : 0.912818 with order 1 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.19, Z:2.85 [[ 0.89047673 0.2628714 -0.37141597 12.98636458] [-0.20097763 0.95952863 0.19726328 -0.19451599] [ 0.40823913 -0.10101206 0.90726919 2.85223557] [ 0. 0. 0. 1. ]] SLAMing on 187.99538475 meters Centerline goodness : 0.910444 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.20, Z:2.88 [[ 0.89244127 0.26844489 -0.36260989 13.01245765] [-0.19697079 0.95490833 0.22215444 -0.20192156] [ 0.40589543 -0.12683624 0.9050754 2.88250947] [ 0. 0. 0. 1. ]] SLAMing on 188.05538475 meters Centerline goodness : 0.907371 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.20, Z:2.89 [[ 0.89224487 0.26791095 -0.36348701 13.01472281] [-0.19584988 0.95492222 0.22308379 -0.20176212] [ 0.40686842 -0.12785648 0.90449478 2.88579288] [ 0. 0. 0. 1. ]] SLAMing on 188.11538475 meters Centerline goodness : 0.913998 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.20, Z:2.89 [[ 0.89268079 0.26646527 -0.36347939 13.03240032] [-0.19804135 0.95638123 0.21474305 -0.20476647] [ 0.40484643 -0.11971305 0.90651429 2.88933088] [ 0. 0. 0. 1. ]] SLAMing on 188.17538475 meters Centerline goodness : 0.910767 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.20, Z:2.89 [[ 0.89228802 0.26642851 -0.3644694 13.03642849] [-0.19819762 0.95651689 0.21399331 -0.20411032] [ 0.40563506 -0.1187067 0.90629406 2.8878343 ] [ 0. 0. 0. 1. ]] SLAMing on 188.23538475 meters Centerline goodness : 0.911716 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.20, Z:2.88 [[ 0.89275246 0.26446514 -0.36476189 13.03306717] [-0.19857205 0.95768424 0.20835073 -0.20317683] [ 0.40442822 -0.11357411 0.90749035 2.88145768] [ 0. 0. 0. 1. ]] SLAMing on 188.29538475 meters Centerline goodness : 0.922726 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.20, Z:2.87 [[ 0.89425071 0.25907812 -0.36495779 13.01250003] [-0.19995924 0.96078955 0.19209305 -0.19594166] [ 0.40041474 -0.09880266 0.91099181 2.86704889] [ 0. 0. 0. 1. ]] SLAMing on 188.35538475 meters Centerline goodness : 0.918615 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.20, Z:2.87 [[ 0.89680056 0.24823529 -0.36623489 13.01552145] [-0.19147433 0.96399404 0.18453472 -0.19643868] [ 0.39885628 -0.09536626 0.91204109 2.86586017] [ 0. 0. 0. 1. ]] SLAMing on 188.41538475000002 meters Centerline goodness : 0.919948 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.20, Z:2.87 [[ 0.90042168 0.24337222 -0.36057004 13.01558256] [-0.18257676 0.96374843 0.19456281 -0.19831528] [ 0.39484999 -0.10935686 0.9122141 2.8718288 ] [ 0. 0. 0. 1. ]] SLAMing on 188.47538475 meters Centerline goodness : 0.915983 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.20, Z:2.88 [[ 0.90216808 0.24652575 -0.35400257 13.00565359] [-0.1818588 0.9614816 0.20610801 -0.19732919] [ 0.39117789 -0.12156558 0.91225088 2.87904324] [ 0. 0. 0. 1. ]] SLAMing on 188.53538475 meters Centerline goodness : 0.908426 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.20, Z:2.88 [[ 0.90343063 0.25481055 -0.34479657 13.00913386] [-0.18938748 0.95868657 0.21225559 -0.19990391] [ 0.38463681 -0.12645805 0.91436475 2.88309121] [ 0. 0. 0. 1. ]] SLAMing on 188.59538475 meters Centerline goodness : 0.910669 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.20, Z:2.88 [[ 0.90245341 0.25481093 -0.34734598 13.01512169] [-0.19072665 0.9593084 0.20820842 -0.19838615] [ 0.3862657 -0.12165026 0.91433037 2.87984687] [ 0. 0. 0. 1. ]] SLAMing on 188.65538475 meters Centerline goodness : 0.912952 with order 1 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.18, Z:2.88 [[ 0.89299066 0.27957146 -0.35271446 12.88370582] [-0.20025124 0.94863611 0.24492645 -0.17859939] [ 0.40307212 -0.14808552 0.90310772 2.87914853] [ 0. 0. 0. 1. ]] SLAMing on 188.71538475 meters Centerline goodness : 0.917726 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.16, Z:2.88 [[ 0.88308672 0.30332281 -0.35798481 12.78212025] [-0.21160838 0.93841613 0.27312463 -0.16086454] [ 0.41878365 -0.16544014 0.89288847 2.87643382] [ 0. 0. 0. 1. ]] SLAMing on 188.77538475 meters Centerline goodness : 0.918551 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.15, Z:2.86 [[ 0.8805491 0.30697142 -0.36111195 12.77135137] [-0.21911976 0.93926553 0.26413406 -0.15367057] [ 0.42026161 -0.15345624 0.89433291 2.85984628] [ 0. 0. 0. 1. ]] SLAMing on 188.83538475 meters Centerline goodness : 0.926838 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.16, Z:2.86 [[ 0.88393024 0.29592203 -0.36207387 12.78666507] [-0.21493236 0.94476352 0.24743882 -0.15784533] [ 0.41529678 -0.14089726 0.89870826 2.86035653] [ 0. 0. 0. 1. ]] SLAMing on 188.89538475 meters Centerline goodness : 0.926821 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.18, Z:2.96 [[ 0.89753478 0.31578447 -0.3077523 12.78549393] [-0.20310815 0.91556536 0.34711259 -0.17826477] [ 0.39138011 -0.24903863 0.88589016 2.96047783] [ 0. 0. 0. 1. ]] SLAMing on 188.95538475 meters Centerline goodness : 0.922270 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.18, Z:2.97 [[ 0.89859362 0.31627085 -0.30414182 12.79243919] [-0.20035651 0.9124222 0.3568515 -0.17722075] [ 0.39036748 -0.25972768 0.8832637 2.97432379] [ 0. 0. 0. 1. ]] SLAMing on 189.01538475 meters Centerline goodness : 0.923383 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.17, Z:2.98 [[ 0.89892506 0.31445534 -0.30504356 12.79343841] [-0.19870879 0.91319325 0.35579898 -0.17393029] [ 0.39044661 -0.25922179 0.88337733 2.97556878] [ 0. 0. 0. 1. ]] SLAMing on 189.07538475 meters Centerline goodness : 0.928325 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.17, Z:3.00 [[ 0.90178234 0.3081304 -0.30305819 12.79918092] [-0.18977936 0.91230981 0.36286996 -0.1746307 ] [ 0.38829422 -0.26971554 0.88118166 2.99523776] [ 0. 0. 0. 1. ]] SLAMing on 189.13538475000001 meters Centerline goodness : 0.926576 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.17, Z:2.97 [[ 0.90327459 0.2956972 -0.31089897 12.77668993] [-0.18110448 0.91964482 0.34850333 -0.16532754] [ 0.38896809 -0.258489 0.88424389 2.97443785] [ 0. 0. 0. 1. ]] SLAMing on 189.19538475000002 meters Centerline goodness : 0.925282 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.17, Z:2.98 [[ 0.90882488 0.29401653 -0.2959588 12.77029024] [-0.18197837 0.91777855 0.35293966 -0.16738858] [ 0.37539473 -0.26690224 0.88760463 2.978445 ] [ 0. 0. 0. 1. ]] SLAMing on 189.25538475 meters Centerline goodness : 0.930362 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.17, Z:2.98 [[ 0.91266057 0.29385118 -0.28408129 12.76896144] [-0.18580391 0.91737421 0.35199639 -0.16881773] [ 0.3640434 -0.26846981 0.89184997 2.97855187] [ 0. 0. 0. 1. ]] SLAMing on 189.31538475 meters Centerline goodness : 0.924372 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.17, Z:2.97 [[ 0.9132186 0.303151 -0.27227056 12.77145198] [-0.19774602 0.91396025 0.35436304 -0.17335315] [ 0.35626998 -0.2697705 0.89459241 2.97400445] [ 0. 0. 0. 1. ]] SLAMing on 189.37538475 meters Centerline goodness : 0.924894 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.17, Z:2.97 [[ 0.91052371 0.30972563 -0.2738916 12.7794292 ] [-0.20397787 0.912719 0.35402975 -0.17416178] [ 0.35963816 -0.26648466 0.89422946 2.967198 ] [ 0. 0. 0. 1. ]] SLAMing on 189.43538475 meters Centerline goodness : 0.926006 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.16, Z:2.96 [[ 0.89989488 0.3274504 -0.28803722 12.70413285] [-0.21689815 0.90904643 0.35579456 -0.15763504] [ 0.37834428 -0.25770296 0.88906962 2.95500708] [ 0. 0. 0. 1. ]] SLAMing on 189.49538475 meters Centerline goodness : 0.932457 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.15, Z:2.94 [[ 0.89245333 0.33404618 -0.30321644 12.68833319] [-0.23192126 0.9162111 0.32675641 -0.15180601] [ 0.386962 -0.22129251 0.89514805 2.93638577] [ 0. 0. 0. 1. ]] SLAMing on 189.55538475 meters Centerline goodness : 0.934785 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.14, Z:2.91 [[ 0.88904859 0.33713678 -0.30972794 12.66306901] [-0.24157502 0.92015217 0.30815823 -0.13949902] [ 0.38888831 -0.19914511 0.89950381 2.90899858] [ 0. 0. 0. 1. ]] SLAMing on 189.61538475 meters Centerline goodness : 0.935126 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.14, Z:2.90 [[ 0.89102171 0.32816989 -0.31366356 12.66424233] [-0.23689861 0.9255402 0.29538854 -0.1368839 ] [ 0.38724586 -0.18889114 0.90241941 2.89765915] [ 0. 0. 0. 1. ]] SLAMing on 189.67538475 meters Centerline goodness : 0.923313 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.13, Z:2.88 [[ 0.89038534 0.32335417 -0.32039978 12.66284173] [-0.23621403 0.92987629 0.282016 -0.13168942] [ 0.38912321 -0.17541999 0.90432901 2.88147162] [ 0. 0. 0. 1. ]] SLAMing on 189.73538475 meters Centerline goodness : 0.924146 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.13, Z:2.87 [[ 0.89137894 0.31680136 -0.32416119 12.66214117] [-0.23338265 0.93388104 0.27092202 -0.12864161] [ 0.38855645 -0.16584059 0.90637784 2.87177589] [ 0. 0. 0. 1. ]] SLAMing on 189.79538475 meters Centerline goodness : 0.919153 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.14, Z:2.88 [[ 0.88994458 0.31495863 -0.329848 12.68816053] [-0.23124309 0.93499994 0.26888983 -0.13685311] [ 0.39309704 -0.16302198 0.90493014 2.88319383] [ 0. 0. 0. 1. ]] SLAMing on 189.85538475 meters Centerline goodness : 0.917587 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.13, Z:2.88 [[ 0.89087206 0.31027896 -0.33177391 12.68866301] [-0.22923337 0.93762915 0.26134965 -0.13474361] [ 0.39217219 -0.15677545 0.90643391 2.87620563] [ 0. 0. 0. 1. ]] SLAMing on 189.91538475000002 meters Centerline goodness : 0.921323 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.13, Z:2.87 [[ 0.89187154 0.30403973 -0.33485071 12.68510619] [-0.22653941 0.94107835 0.25110043 -0.13211179] [ 0.39146527 -0.14809245 0.90819798 2.86901605] [ 0. 0. 0. 1. ]] SLAMing on 189.97538475 meters Centerline goodness : 0.921924 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.13, Z:2.86 [[ 0.8927347 0.29830675 -0.33769488 12.69086503] [-0.22276327 0.94366326 0.24469609 -0.12982113] [ 0.39166474 -0.14322268 0.90889273 2.86429188] [ 0. 0. 0. 1. ]] SLAMing on 190.03538475 meters Centerline goodness : 0.915219 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.12, Z:2.85 [[ 0.89217577 0.29553279 -0.34158858 12.68624199] [-0.22362803 0.94606296 0.23442563 -0.12468133] [ 0.39244476 -0.13276009 0.91014387 2.85258437] [ 0. 0. 0. 1. ]] SLAMing on 190.09538475 meters Centerline goodness : 0.916502 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.12, Z:2.85 [[ 0.89310188 0.29044904 -0.34352348 12.68881328] [-0.21957837 0.94794473 0.23062118 -0.12351295] [ 0.39262497 -0.13053788 0.91038755 2.85323366] [ 0. 0. 0. 1. ]] SLAMing on 190.15538475 meters Centerline goodness : 0.915019 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.12, Z:2.86 [[ 0.8940986 0.28435892 -0.34601692 12.69400544] [-0.21395679 0.94991361 0.22778637 -0.12325797] [ 0.39345926 -0.1296308 0.91015694 2.85661806] [ 0. 0. 0. 1. ]] SLAMing on 190.21538475 meters Centerline goodness : 0.915340 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.12, Z:2.87 [[ 0.89424502 0.28208755 -0.34749455 12.70226542] [-0.20920229 0.9497925 0.23265556 -0.12410825] [ 0.39567695 -0.13535442 0.90836057 2.86853266] [ 0. 0. 0. 1. ]] SLAMing on 190.27538475 meters Centerline goodness : 0.916908 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.13, Z:2.89 [[ 0.89469484 0.28281806 -0.34573846 12.7100846 ] [-0.20478912 0.94759706 0.24519631 -0.12907058] [ 0.3969667 -0.1485724 0.90572826 2.88835791] [ 0. 0. 0. 1. ]] SLAMing on 190.33538475 meters Centerline goodness : 0.914072 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.13, Z:2.90 [[ 0.89546868 0.27726547 -0.34822364 12.71397343] [-0.19866372 0.94901272 0.24476028 -0.12989077] [ 0.39833224 -0.14999576 0.90489375 2.89580833] [ 0. 0. 0. 1. ]] SLAMing on 190.39538475 meters Centerline goodness : 0.915635 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.13, Z:2.90 [[ 0.8992429 0.26054971 -0.3513916 12.71537241] [-0.18539264 0.95455665 0.23334776 -0.13328658] [ 0.39622188 -0.1446909 0.90668228 2.89599648] [ 0. 0. 0. 1. ]] SLAMing on 190.45538475 meters Centerline goodness : 0.917819 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.12, Z:2.89 [[ 0.90329122 0.24883416 -0.34949467 12.67796447] [-0.17229326 0.95643963 0.23566558 -0.12368647] [ 0.3929122 -0.15265907 0.90681597 2.88702843] [ 0. 0. 0. 1. ]] SLAMing on 190.51538475 meters Centerline goodness : 0.913330 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.12, Z:2.89 [[ 0.90775985 0.24457822 -0.34081308 12.6653155 ] [-0.16604697 0.95558431 0.2434893 -0.12416178] [ 0.38522781 -0.16443883 0.90805253 2.89122024] [ 0. 0. 0. 1. ]] SLAMing on 190.57538475 meters Centerline goodness : 0.913888 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.13, Z:2.89 [[ 0.91105433 0.23945076 -0.3356238 12.65829271] [-0.16030235 0.95573489 0.24672651 -0.12607752] [ 0.37984623 -0.17097997 0.90911094 2.89206223] [ 0. 0. 0. 1. ]] SLAMing on 190.63538475000001 meters Centerline goodness : 0.911749 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.13, Z:2.90 [[ 0.91464319 0.23882443 -0.32617592 12.64483734] [-0.1570452 0.95338116 0.25768423 -0.12665397] [ 0.37251127 -0.18446476 0.90950982 2.89987182] [ 0. 0. 0. 1. ]] SLAMing on 190.69538475000002 meters Centerline goodness : 0.909283 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.13, Z:2.90 [[ 0.91666247 0.24500138 -0.31575979 12.64376254] [-0.1650315 0.95160184 0.2592654 -0.13222557] [ 0.36399798 -0.18554855 0.91273063 2.90201324] [ 0. 0. 0. 1. ]] SLAMing on 190.75538475 meters Centerline goodness : 0.913454 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.13, Z:2.90 [[ 0.91546865 0.24553266 -0.31879595 12.64845902] [-0.1661586 0.95222422 0.25624276 -0.13081317] [ 0.36648119 -0.18161153 0.91252879 2.9015316 ] [ 0. 0. 0. 1. ]] SLAMing on 190.81538475 meters Centerline goodness : 0.908299 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.14, Z:2.90 [[ 0.91506109 0.25789634 -0.31008496 12.65106739] [-0.18015175 0.94924074 0.25785145 -0.13674422] [ 0.36084422 -0.18008748 0.91507374 2.90035204] [ 0. 0. 0. 1. ]] SLAMing on 190.87538475 meters Centerline goodness : 0.907328 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.14, Z:2.90 [[ 0.91164647 0.26419475 -0.31480445 12.65569895] [-0.18599392 0.94828682 0.2572127 -0.13908141] [ 0.36647916 -0.17593534 0.91364095 2.90300789] [ 0. 0. 0. 1. ]] SLAMing on 190.93538475 meters Centerline goodness : 0.904753 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.14, Z:2.90 [[ 0.90888506 0.2825411 -0.30675474 12.65342059] [-0.20643246 0.94390062 0.25775425 -0.14485519] [ 0.36237216 -0.17094486 0.91622283 2.90408524] [ 0. 0. 0. 1. ]] SLAMing on 190.99538475 meters Centerline goodness : 0.901688 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.15, Z:2.90 [[ 0.90268184 0.29568876 -0.31262383 12.66191349] [-0.21900071 0.9410682 0.25773889 -0.15040647] [ 0.37041084 -0.16419137 0.91424122 2.90376852] [ 0. 0. 0. 1. ]] SLAMing on 191.05538475 meters Centerline goodness : 0.901745 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.16, Z:2.90 [[ 0.89722596 0.30767946 -0.31673163 12.67084979] [-0.23436496 0.93972727 0.24896931 -0.15655501] [ 0.37424409 -0.14915093 0.91525699 2.8989453 ] [ 0. 0. 0. 1. ]] SLAMing on 191.11538475 meters Centerline goodness : 0.907415 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.16, Z:2.90 [[ 0.89445409 0.30981959 -0.32243404 12.67698624] [-0.23926438 0.94076763 0.24022662 -0.15670454] [ 0.37776242 -0.1377247 0.91560224 2.89582712] [ 0. 0. 0. 1. ]] SLAMing on 191.17538475 meters Centerline goodness : 0.907044 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.16, Z:2.89 [[ 0.89485052 0.31547599 -0.31578071 12.67903605] [-0.24888565 0.93991047 0.2337183 -0.160932 ] [ 0.37053811 -0.13054966 0.91959681 2.88993544] [ 0. 0. 0. 1. ]] SLAMing on 191.23538475 meters Centerline goodness : 0.913807 with order 2 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.16, Z:2.89 [[ 0.89685111 0.32056568 -0.304788 12.67643562] [-0.25502137 0.9377282 0.23585996 -0.16228542] [ 0.36141691 -0.13380381 0.92275368 2.89476477] [ 0. 0. 0. 1. ]] SLAMing on 191.29538475 meters Centerline goodness : 0.889580 with order 2 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.16, Z:2.90 [[ 0.90064573 0.32434767 -0.28919865 12.66929035] [-0.25918523 0.93512159 0.24160014 -0.16178239] [ 0.34879834 -0.14264011 0.92627939 2.9001593 ] [ 0. 0. 0. 1. ]] SLAMing on 191.35538475 meters Centerline goodness : 0.910755 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.15, Z:2.90 [[ 0.90674793 0.32218647 -0.27203689 12.65291959] [-0.25667943 0.93357243 0.25011634 -0.15445939] [ 0.33455024 -0.1569662 0.92921351 2.90190207] [ 0. 0. 0. 1. ]] SLAMing on 191.41538475000002 meters Centerline goodness : 0.890306 with order 2 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.16, Z:2.90 [[ 0.91115311 0.32166885 -0.25754447 12.64849346] [-0.25904994 0.93319752 0.24906929 -0.15584215] [ 0.32045769 -0.16022338 0.93361413 2.90049974] [ 0. 0. 0. 1. ]] SLAMing on 191.47538475 meters Centerline goodness : 0.908676 with order 3 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.15, Z:2.91 [[ 0.915777 0.31874776 -0.24444293 12.63918869] [-0.25575694 0.93193777 0.25706105 -0.15368041] [ 0.30974324 -0.17289262 0.93496913 2.90518533] [ 0. 0. 0. 1. ]] SLAMing on 191.53538475 meters Centerline goodness : 0.888281 with order 2 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.16, Z:2.90 [[ 0.91620717 0.32383043 -0.23600481 12.63972813] [-0.26455147 0.93121077 0.25071703 -0.15837642] [ 0.30096002 -0.16727332 0.9388518 2.89916339] [ 0. 0. 0. 1. ]] SLAMing on 191.59538475 meters Centerline goodness : 0.891153 with order 2 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.16, Z:2.90 [[ 0.91400025 0.33508617 -0.22873743 12.63792456] [-0.27963155 0.92878325 0.24324446 -0.15870381] [ 0.29395535 -0.1583633 0.94260878 2.89607 ] [ 0. 0. 0. 1. ]] SLAMing on 191.65538475 meters Centerline goodness : 0.924066 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.16, Z:2.89 [[ 0.91168875 0.34374202 -0.22508897 12.64215377] [-0.29164029 0.92725972 0.23480919 -0.16118149] [ 0.28942972 -0.14842789 0.94562128 2.88822808] [ 0. 0. 0. 1. ]] SLAMing on 191.71538475 meters Centerline goodness : 0.921223 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.16, Z:2.89 [[ 0.91008696 0.34753174 -0.22575078 12.64739719] [-0.29439919 0.92556601 0.23802664 -0.1617548 ] [ 0.29166907 -0.1501641 0.94465862 2.88691898] [ 0. 0. 0. 1. ]] SLAMing on 191.77538475 meters Centerline goodness : 0.921098 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.17, Z:2.88 [[ 0.90947896 0.35268824 -0.2201341 12.6520593 ] [-0.30182626 0.92425006 0.23380064 -0.16921077] [ 0.28591769 -0.14619451 0.94703656 2.88158474] [ 0. 0. 0. 1. ]] SLAMing on 191.83538475 meters Centerline goodness : 0.922651 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.17, Z:2.88 [[ 0.90890911 0.36081334 -0.20904057 12.64749963] [-0.31330526 0.9217119 0.22866348 -0.17453741] [ 0.27518002 -0.14234081 0.95079706 2.87615176] [ 0. 0. 0. 1. ]] SLAMing on 191.89538475 meters Centerline goodness : 0.922042 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.18, Z:2.87 [[ 0.90702822 0.36081288 -0.21705732 12.65685015] [-0.31344395 0.92277886 0.22412511 -0.18075322] [ 0.28116314 -0.13525249 0.95008108 2.87368735] [ 0. 0. 0. 1. ]] SLAMing on 191.95538475 meters Centerline goodness : 0.923563 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.18, Z:2.88 [[ 0.9041739 0.36557587 -0.22096116 12.66042293] [-0.31757259 0.92123617 0.22465878 -0.18405792] [ 0.28568724 -0.1329594 0.94905458 2.876623 ] [ 0. 0. 0. 1. ]] SLAMing on 192.01538475 meters Centerline goodness : 0.928930 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.19, Z:2.87 [[ 0.90068021 0.36716993 -0.23229594 12.67957988] [-0.32216197 0.92310822 0.20995921 -0.19373224] [ 0.291525 -0.11426919 0.9497135 2.86777552] [ 0. 0. 0. 1. ]] SLAMing on 192.07538475 meters Centerline goodness : 0.934185 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.20, Z:2.86 [[ 0.89848216 0.36706498 -0.24081759 12.68900671] [-0.32377188 0.92449881 0.20118081 -0.1956122 ] [ 0.29648201 -0.1027874 0.94949101 2.86446034] [ 0. 0. 0. 1. ]] SLAMing on 192.13538475000001 meters Centerline goodness : 0.935299 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.17, Z:2.86 [[ 0.89383938 0.37616373 -0.24403281 12.61376233] [-0.32767162 0.91949521 0.21716324 -0.1708264 ] [ 0.30607593 -0.11414643 0.94513921 2.86396485] [ 0. 0. 0. 1. ]] SLAMing on 192.19538475000002 meters Centerline goodness : 0.938810 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.17, Z:2.87 [[ 0.89709799 0.37576717 -0.23240961 12.61071584] [-0.32951189 0.91942801 0.21464866 -0.17267256] [ 0.29434182 -0.11597915 0.94863677 2.86528677] [ 0. 0. 0. 1. ]] SLAMing on 192.25538475 meters Centerline goodness : 0.936317 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.18, Z:2.86 [[ 0.89715822 0.38243164 -0.22102752 12.6124608 ] [-0.33816408 0.91659338 0.21331111 -0.17846681] [ 0.28416928 -0.11663025 0.95165393 2.85790902] [ 0. 0. 0. 1. ]] SLAMing on 192.31538475 meters Centerline goodness : 0.930587 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.18, Z:2.86 [[ 0.89500352 0.38709456 -0.221645 12.61823166] [-0.34178931 0.91441649 0.21684682 -0.17902838] [ 0.28661607 -0.11832277 0.95071076 2.85659709] [ 0. 0. 0. 1. ]] SLAMing on 192.37538475 meters Centerline goodness : 0.931949 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.19, Z:2.85 [[ 0.89363137 0.39318643 -0.21639642 12.6223709 ] [-0.35050245 0.91256167 0.21066377 -0.18682285] [ 0.28030522 -0.11240828 0.95330654 2.85136824] [ 0. 0. 0. 1. ]] SLAMing on 192.43538475 meters Centerline goodness : 0.939514 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.16, Z:2.83 [[ 0.89184856 0.39498229 -0.22044304 12.57738539] [-0.35627305 0.91366055 0.19568833 -0.16215708] [ 0.27870354 -0.09598644 0.95556839 2.82740384] [ 0. 0. 0. 1. ]] SLAMing on 192.49538475 meters Centerline goodness : 0.938160 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.16, Z:2.83 [[ 0.89121838 0.39772422 -0.21804871 12.573455 ] [-0.35829263 0.912099 0.19925311 -0.16098546] [ 0.2781298 -0.09945279 0.95538105 2.83227006] [ 0. 0. 0. 1. ]] SLAMing on 192.55538475 meters Centerline goodness : 0.939628 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.16, Z:2.85 [[ 0.8954356 0.40006229 -0.1953081 12.55170504] [-0.35505892 0.90641035 0.22880876 -0.15825719] [ 0.26856704 -0.13553762 0.95367777 2.85411465] [ 0. 0. 0. 1. ]] SLAMing on 192.61538475 meters Centerline goodness : 0.939605 with order 1 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.15, Z:2.86 [[ 0.8955821 0.39981819 -0.19513616 12.53956098] [-0.35157515 0.90479574 0.24029062 -0.15265964] [ 0.27263093 -0.14659496 0.95088501 2.85858238] [ 0. 0. 0. 1. ]] SLAMing on 192.67538475 meters Centerline goodness : 0.936734 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.14, Z:2.85 [[ 0.89756832 0.39331277 -0.1991888 12.5282789 ] [-0.34498546 0.90789203 0.23815352 -0.14233101] [ 0.27451074 -0.14504181 0.95058231 2.8489467 ] [ 0. 0. 0. 1. ]] SLAMing on 192.73538475 meters Centerline goodness : 0.935872 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.13, Z:2.84 [[ 0.89903811 0.38917514 -0.2006818 12.50879521] [-0.34239584 0.91050952 0.23181353 -0.12715474] [ 0.27293875 -0.13969658 0.9518347 2.83609216] [ 0. 0. 0. 1. ]] SLAMing on 192.79538475 meters Centerline goodness : 0.929677 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.12, Z:2.82 [[ 0.89633882 0.39060829 -0.20976623 12.4949728 ] [-0.34629092 0.91222058 0.21894338 -0.11657116] [ 0.27687417 -0.12360731 0.95292283 2.82020884] [ 0. 0. 0. 1. ]] SLAMing on 192.85538475 meters Centerline goodness : 0.925612 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.11, Z:2.81 [[ 0.89379477 0.39395012 -0.21432268 12.48361763] [-0.35146108 0.9121366 0.21090742 -0.10921007] [ 0.27857857 -0.11318187 0.95372105 2.80908392] [ 0. 0. 0. 1. ]] SLAMing on 192.91538475000002 meters Centerline goodness : 0.929031 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.09, Z:2.79 [[ 0.89343276 0.39341776 -0.2167957 12.44910428] [-0.35391754 0.91372724 0.19961187 -0.08942438] [ 0.276623 -0.10161198 0.95559129 2.79011897] [ 0. 0. 0. 1. ]] SLAMing on 192.97538475 meters Centerline goodness : 0.928882 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.07, Z:2.77 [[ 0.89545929 0.38831848 -0.21762678 12.4228821 ] [-0.35152644 0.91680389 0.18947241 -0.07274818] [ 0.27309671 -0.09316326 0.95746477 2.77460039] [ 0. 0. 0. 1. ]] SLAMing on 193.03538475 meters Centerline goodness : 0.925172 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.06, Z:2.77 [[ 0.89679762 0.38523221 -0.21760096 12.40831151] [-0.34818089 0.91794286 0.19013409 -0.06188127] [ 0.27299103 -0.0947473 0.95733946 2.76688056] [ 0. 0. 0. 1. ]] SLAMing on 193.09538475 meters Centerline goodness : 0.923229 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.06, Z:2.76 [[ 0.89805543 0.38087209 -0.22007474 12.41172331] [-0.34485694 0.9201891 0.185272 -0.05960058] [ 0.27307531 -0.09049022 0.9577272 2.76411493] [ 0. 0. 0. 1. ]] SLAMing on 193.15538475 meters Centerline goodness : 0.921883 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.06, Z:2.77 [[ 0.90111339 0.37233198 -0.22217911 12.39996903] [-0.33465329 0.92306842 0.18960976 -0.05579397] [ 0.2756843 -0.09650692 0.95639144 2.76696481] [ 0. 0. 0. 1. ]] SLAMing on 193.21538475 meters Centerline goodness : 0.923791 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.05, Z:2.76 [[ 0.90364865 0.36565913 -0.22296304 12.38089443] [-0.32910099 0.92602319 0.184861 -0.04539769] [ 0.27406506 -0.09367204 0.95713839 2.75731926] [ 0. 0. 0. 1. ]] SLAMing on 193.27538475 meters Centerline goodness : 0.924698 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.03, Z:2.74 [[ 0.90637757 0.35863176 -0.22330018 12.36312782] [-0.32377581 0.92921014 0.17815091 -0.03230866] [ 0.27138336 -0.08917279 0.95833151 2.74450798] [ 0. 0. 0. 1. ]] SLAMing on 193.33538475 meters Centerline goodness : 0.925522 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.03, Z:2.74 [[ 0.90812346 0.35326716 -0.22475342 12.36397686] [-0.31948248 0.93159248 0.17339665 -0.03102478] [ 0.27063394 -0.08566079 0.95886365 2.74336738] [ 0. 0. 0. 1. ]] SLAMing on 193.39538475 meters Centerline goodness : 0.926990 with order 1 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:2.73 [[ 0.91236508 0.34150823 -0.22574785 12.34024222] [-0.31156638 0.93695981 0.15821727 -0.01582818] [ 0.26554916 -0.07401647 0.96125189 2.72501262] [ 0. 0. 0. 1. ]] SLAMing on 193.45538475 meters Centerline goodness : 0.921898 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.02, Z:2.73 [[ 0.91649003 0.33634729 -0.21660224 12.32995738] [-0.30494529 0.93779875 0.16595744 -0.01829979] [ 0.25894864 -0.0860465 0.96205073 2.72950923] [ 0. 0. 0. 1. ]] SLAMing on 193.51538475 meters Centerline goodness : 0.918945 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.02, Z:2.73 [[ 0.91844361 0.33118911 -0.21627554 12.32861153] [-0.30062206 0.93979687 0.16250604 -0.01735505] [ 0.25707531 -0.08423544 0.96271319 2.72889269] [ 0. 0. 0. 1. ]] SLAMing on 193.57538475 meters Centerline goodness : 0.918012 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.02, Z:2.73 [[ 0.92444274 0.3263839 -0.19717801 12.30472176] [-0.29585885 0.94014446 0.16910331 -0.02199745] [ 0.24056841 -0.09798947 0.96567329 2.73120868] [ 0. 0. 0. 1. ]] SLAMing on 193.63538475000001 meters Centerline goodness : 0.911907 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.02, Z:2.73 [[ 0.9272958 0.31514298 -0.20200842 12.31198231] [-0.28563906 0.94449889 0.16227191 -0.02158752] [ 0.24193558 -0.09277256 0.965847 2.73096653] [ 0. 0. 0. 1. ]] SLAMing on 193.69538475000002 meters Centerline goodness : 0.910373 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.02, Z:2.73 [[ 0.92825504 0.30378969 -0.21460289 12.32966387] [-0.2756853 0.94926507 0.15130581 -0.02087391] [ 0.24968017 -0.08128752 0.96491044 2.7303424 ] [ 0. 0. 0. 1. ]] SLAMing on 193.75538475 meters Centerline goodness : 0.909294 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.03, Z:2.72 [[ 0.92889722 0.2979827 -0.2199006 12.34654102] [-0.27290632 0.95216924 0.13746226 -0.02637594] [ 0.25034396 -0.06767605 0.96578872 2.72217077] [ 0. 0. 0. 1. ]] Total time of SLAM: 6855.34 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%| | 0/6460 [00:00