+ python -m lidar_slam --result /working/result.json --no-model /working/8413e641-da62-4ee8-950b-0970645c0faa Lidar SLAM 0.0.16 ===================================================== The recording path: /working/8413e641-da62-4ee8-950b-0970645c0faa 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 0.02327356 Adjusted end_distance from 9.223372036854776e+18 to 85.24327356 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02327356 meters Centerline goodness : 0.121717 with order 1 Centerline is valid? [0, False] SLAMing on 0.08327356 meters Centerline goodness : 0.129764 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99991323e-01 -4.00708295e-03 -1.13869726e-03 2.97199385e-03] [ 4.00172926e-03 9.99981109e-01 -4.66561055e-03 5.52823524e-04] [ 1.15737124e-03 4.66101331e-03 9.99988468e-01 1.83632548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14327356 meters Centerline goodness : 0.123062 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.00 [[ 0.999972 -0.0069511 -0.00277185 0.0094479 ] [ 0.0069276 0.99994073 -0.00839918 0.00118093] [ 0.00283007 0.00837974 0.99996088 0.00162465] [ 0. 0. 0. 1. ]] SLAMing on 0.20327356 meters Centerline goodness : 0.122036 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99971085e-01 -6.75443121e-03 -3.49369274e-03 1.33528238e-02] [ 6.72810860e-03 9.99949300e-01 -7.49198634e-03 -1.91835202e-04] [ 3.54411972e-03 7.46826377e-03 9.99965832e-01 -9.86931635e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26327356 meters Centerline goodness : 0.123695 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99962844e-01 -7.23502807e-03 -4.68671517e-03 1.78621996e-02] [ 7.20242093e-03 9.99949998e-01 -6.93726691e-03 -1.10103946e-03] [ 4.73667215e-03 6.90325345e-03 9.99964954e-01 -6.43022974e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32327355999999996 meters Centerline goodness : 0.126586 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:0.00 [[ 0.99990316 -0.01209049 -0.00689101 0.02343653] [ 0.01201553 0.99986929 -0.01081823 0.00109565] [ 0.0070209 0.01073438 0.99991774 0.00134336] [ 0. 0. 0. 1. ]] SLAMing on 0.38327356 meters Centerline goodness : 0.128430 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.00 [[ 0.99982707 -0.01665242 -0.00827811 0.02689429] [ 0.01652827 0.99975317 -0.01484644 0.002362 ] [ 0.00852329 0.01470705 0.99985552 0.00277756] [ 0. 0. 0. 1. ]] SLAMing on 0.44327355999999996 meters Centerline goodness : 0.275011 with order 3 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99757267e-01 -2.16458609e-02 -4.10647239e-03 6.49426388e-02] [ 2.15617609e-02 9.99576863e-01 -1.95239673e-02 -4.26794547e-04] [ 4.52734787e-03 1.94306854e-02 9.99800956e-01 1.92410326e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.50327356 meters Centerline goodness : 0.217054 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.00 [[ 9.99560032e-01 -2.86703761e-02 -7.59945782e-03 7.60474508e-02] [ 2.84731803e-02 9.99284440e-01 -2.48975240e-02 2.23363326e-04] [ 8.30784133e-03 2.46701892e-02 9.99661123e-01 -5.26314200e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5632735600000001 meters Centerline goodness : 0.200706 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:-0.00 [[ 0.9995016 -0.03148635 -0.00227034 0.1115226 ] [ 0.03141877 0.99918464 -0.02535571 -0.00319404] [ 0.00306685 0.02527174 0.99967591 -0.00493765] [ 0. 0. 0. 1. ]] SLAMing on 0.62327356 meters Centerline goodness : 0.141670 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.01 [[ 0.99945212 -0.03293656 0.00326156 0.1397274 ] [ 0.03300513 0.99917041 -0.02385708 -0.00691344] [-0.00247308 0.02395166 0.99971006 -0.00852925] [ 0. 0. 0. 1. ]] SLAMing on 0.68327356 meters Centerline goodness : 0.162916 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 9.99300977e-01 -3.73569868e-02 1.41888353e-03 1.46584745e-01] [ 3.73818810e-02 9.98923095e-01 -2.74817109e-02 -6.69995529e-03] [-3.90721618e-04 2.75155411e-02 9.99621299e-01 -7.70989740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.74327356 meters Centerline goodness : 0.178748 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 9.99267751e-01 -3.82601682e-02 3.47327024e-04 1.50813450e-01] [ 3.82556008e-02 9.98903457e-01 -2.69887492e-02 -8.66134764e-03] [ 6.85647920e-04 2.69822740e-02 9.99635677e-01 -8.57240383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80327356 meters Centerline goodness : 0.206024 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.01 [[ 9.99143366e-01 -4.13747148e-02 8.17209579e-04 1.91646874e-01] [ 4.13799353e-02 9.98648028e-01 -3.14613557e-02 -1.10864468e-02] [ 4.85599885e-04 3.14682209e-02 9.99504635e-01 -9.25348221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.86327356 meters Centerline goodness : 0.199943 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:-0.01 [[ 0.99903756 -0.04345165 0.00599234 0.20572996] [ 0.04357799 0.99878822 -0.02287043 -0.01523212] [-0.00499132 0.02310955 0.99972048 -0.01480111] [ 0. 0. 0. 1. ]] SLAMing on 0.9232735599999999 meters Centerline goodness : 0.118491 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:-0.01 [[ 0.99886376 -0.04745838 0.00434539 0.21273625] [ 0.04755496 0.99853586 -0.02578115 -0.01594229] [-0.00311549 0.0259585 0.99965817 -0.01491496] [ 0. 0. 0. 1. ]] SLAMing on 0.98327356 meters Centerline goodness : 0.216242 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.02 [[ 0.99869861 -0.05090268 0.00316326 0.21786233] [ 0.050973 0.99828131 -0.02891686 -0.01553467] [-0.00168588 0.02904047 0.99957682 -0.01507755] [ 0. 0. 0. 1. ]] SLAMing on 1.04327356 meters Centerline goodness : 0.137510 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.02 [[ 0.99860411 -0.05236436 0.00691442 0.25735315] [ 0.05255845 0.99811296 -0.03175114 -0.01932198] [-0.00523874 0.03207023 0.99947189 -0.0178128 ] [ 0. 0. 0. 1. ]] SLAMing on 1.10327356 meters Centerline goodness : 0.130151 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.02 [[ 0.99846461 -0.05509492 0.0057414 0.26362368] [ 0.05526112 0.99787291 -0.03458115 -0.01912141] [-0.00382395 0.03484533 0.9993854 -0.01887606] [ 0. 0. 0. 1. ]] SLAMing on 1.16327356 meters Centerline goodness : 0.357618 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.02 [[ 0.9984216 -0.05513225 0.0107118 0.30179307] [ 0.05548217 0.997821 -0.03570688 -0.02280944] [-0.00871985 0.03624483 0.9993049 -0.02212116] [ 0. 0. 0. 1. ]] SLAMing on 1.22327356 meters Centerline goodness : 0.261084 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.02 [[ 0.99840813 -0.05551472 0.00996584 0.30582914] [ 0.05583114 0.99782921 -0.03492491 -0.02443815] [-0.00800536 0.03542572 0.99934025 -0.02359708] [ 0. 0. 0. 1. ]] SLAMing on 1.28327356 meters Centerline goodness : 0.865733 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:-0.03 [[ 0.99834661 -0.05560995 0.01454607 0.34673986] [ 0.05611792 0.99773013 -0.03722058 -0.02827972] [-0.01244322 0.03797533 0.9992012 -0.02790025] [ 0. 0. 0. 1. ]] SLAMing on 1.3432735599999999 meters Centerline goodness : 0.125101 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.03 [[ 0.99823111 -0.05577408 0.02058885 0.38303772] [ 0.05653691 0.99765629 -0.03854226 -0.03147257] [-0.01839093 0.03963811 0.99904484 -0.03139024] [ 0. 0. 0. 1. ]] SLAMing on 1.40327356 meters SLAMing on 1.46327356 meters SLAMing on 1.52327356 meters Centerline goodness : 0.132170 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:-0.03 [[ 0.9973505 -0.06957651 0.02123876 0.47401038] [ 0.07047643 0.99649512 -0.04506154 -0.02963997] [-0.0180291 0.04643898 0.99875842 -0.02859665] [ 0. 0. 0. 1. ]] SLAMing on 1.58327356 meters Centerline goodness : 0.131891 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.03 [[ 0.99701505 -0.07520383 0.01747504 0.50167351] [ 0.075935 0.99605894 -0.04583091 -0.0294255 ] [-0.0139595 0.04702108 0.99879635 -0.03096131] [ 0. 0. 0. 1. ]] SLAMing on 1.64327356 meters Centerline goodness : 0.881243 with order 3 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:-0.04 [[ 0.99670522 -0.07708899 0.02521905 0.53113989] [ 0.07814754 0.99596615 -0.04409513 -0.03218155] [-0.02171807 0.04592065 0.99870898 -0.03693939] [ 0. 0. 0. 1. ]] SLAMing on 1.70327356 meters Centerline goodness : 0.879935 with order 2 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:-0.04 [[ 0.99626705 -0.08117981 0.0293566 0.5457904 ] [ 0.08223122 0.99594168 -0.03658124 -0.03479239] [-0.0262678 0.03885871 0.9988994 -0.04236362] [ 0. 0. 0. 1. ]] SLAMing on 1.76327356 meters Centerline goodness : 0.876287 with order 2 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:-0.05 [[ 0.9957447 -0.08431345 0.03719866 0.58330361] [ 0.08579904 0.99549583 -0.04033078 -0.03670628] [-0.03363068 0.04335077 0.99849371 -0.04718951] [ 0. 0. 0. 1. ]] SLAMing on 1.8232735599999998 meters Centerline goodness : 0.843616 with order 2 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.05 [[ 0.99534007 -0.08912871 0.0367996 0.58727558] [ 0.09072599 0.99489046 -0.04429176 -0.036521 ] [-0.03266391 0.04742404 0.99834064 -0.04754964] [ 0. 0. 0. 1. ]] SLAMing on 1.88327356 meters Centerline goodness : 0.803778 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.05 [[ 0.99480892 -0.09544384 0.03529424 0.60679304] [ 0.0968762 0.99443579 -0.04138189 -0.0365865 ] [-0.03114821 0.04458624 0.99851983 -0.05016442] [ 0. 0. 0. 1. ]] SLAMing on 1.94327356 meters Centerline goodness : 0.756582 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.05 [[ 0.99446664 -0.09915824 0.03469506 0.61212949] [ 0.10066985 0.99390471 -0.04493333 -0.03589227] [-0.03002807 0.04817745 0.99838732 -0.05159925] [ 0. 0. 0. 1. ]] SLAMing on 2.00327356 meters Centerline goodness : 0.741011 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.03, Z:-0.05 [[ 0.99406285 -0.10355311 0.03340379 0.63231725] [ 0.10488361 0.99364332 -0.04089475 -0.03483901] [-0.02895667 0.04415547 0.99860493 -0.05453646] [ 0. 0. 0. 1. ]] SLAMing on 2.06327356 meters Centerline goodness : 0.776189 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.06 [[ 0.99383058 -0.10656355 0.03074082 0.65864349] [ 0.10773843 0.99339448 -0.03949475 -0.03177594] [-0.02632906 0.04256306 0.9987468 -0.05587318] [ 0. 0. 0. 1. ]] SLAMing on 2.12327356 meters Centerline goodness : 0.819034 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.06 [[ 0.99390061 -0.10624013 0.02957389 0.66391542] [ 0.10737022 0.99342694 -0.03968068 -0.02915547] [-0.02516381 0.042614 0.99877466 -0.05683579] [ 0. 0. 0. 1. ]] SLAMing on 2.18327356 meters Centerline goodness : 0.807473 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.06 [[ 0.99398162 -0.1056218 0.0290616 0.6679008 ] [ 0.10672169 0.99351074 -0.03933061 -0.02759156] [-0.02471884 0.04219541 0.99880355 -0.05842741] [ 0. 0. 0. 1. ]] SLAMing on 2.2432735599999996 meters Centerline goodness : 0.856504 with order 3 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.06 [[ 0.99419036 -0.10407705 0.0274499 0.67484049] [ 0.10510622 0.99368907 -0.03917552 -0.02425084] [-0.02319939 0.04183308 0.99885524 -0.06025986] [ 0. 0. 0. 1. ]] SLAMing on 2.3032735599999996 meters Centerline goodness : 0.851923 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.06 [[ 0.99440436 -0.10233337 0.02622693 0.68048061] [ 0.1033122 0.99387747 -0.03916852 -0.01964758] [-0.02205811 0.04165891 0.99888837 -0.06136734] [ 0. 0. 0. 1. ]] SLAMing on 2.3632735599999997 meters Centerline goodness : 0.854356 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.06 [[ 0.99454004 -0.10123484 0.02533021 0.68455005] [ 0.10218403 0.99398085 -0.03950303 -0.01603658] [-0.02117867 0.04187568 0.99889834 -0.06184128] [ 0. 0. 0. 1. ]] SLAMing on 2.4232735599999997 meters Centerline goodness : 0.867872 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.06 [[ 0.99480329 -0.09898114 0.02385702 0.69172012] [ 0.09986393 0.99422885 -0.03919437 -0.01184459] [-0.01983984 0.04137314 0.99894677 -0.06402865] [ 0. 0. 0. 1. ]] SLAMing on 2.4832735599999998 meters Centerline goodness : 0.855025 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.07 [[ 0.99490287 -0.09813459 0.02319238 0.69595165] [ 0.0989903 0.9943164 -0.0391895 -0.00815987] [-0.01921472 0.04128557 0.99896261 -0.0655773 ] [ 0. 0. 0. 1. ]] SLAMing on 2.54327356 meters Centerline goodness : 0.847575 with order 3 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.07 [[ 0.99516488 -0.09548828 0.02299688 0.69649448] [ 0.09625397 0.99474566 -0.03487482 -0.00855947] [-0.01954591 0.03691973 0.99912706 -0.06709646] [ 0. 0. 0. 1. ]] SLAMing on 2.60327356 meters Centerline goodness : 0.859271 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.07 [[ 0.99518966 -0.09541342 0.02222208 0.69962479] [ 0.09615443 0.994748 -0.03508189 -0.00650263] [-0.01875808 0.03704989 0.99913735 -0.06749601] [ 0. 0. 0. 1. ]] SLAMing on 2.6632735599999995 meters Centerline goodness : 0.846236 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.07 [[ 0.99546153 -0.09265268 0.02172156 0.70072391] [ 0.09329185 0.9951705 -0.03053373 -0.00736803] [-0.01878763 0.0324216 0.99929769 -0.06952178] [ 0. 0. 0. 1. ]] SLAMing on 2.7232735599999995 meters Centerline goodness : 0.842037 with order 3 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.07 [[ 0.99551094 -0.09233355 0.02079644 0.70309745] [ 0.09293958 0.99520907 -0.03035045 -0.00712192] [-0.01789444 0.03214702 0.99932295 -0.07027328] [ 0. 0. 0. 1. ]] SLAMing on 2.7832735599999996 meters Centerline goodness : 0.844192 with order 3 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.07 [[ 0.99558187 -0.09175916 0.01992459 0.70712149] [ 0.09232757 0.99528336 -0.02977673 -0.00645684] [-0.01709833 0.03148477 0.99935797 -0.07238216] [ 0. 0. 0. 1. ]] SLAMing on 2.8432735599999996 meters Centerline goodness : 0.878352 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.07 [[ 0.99564982 -0.09118949 0.01912882 0.71053845] [ 0.09173533 0.99533391 -0.029917 -0.00461648] [-0.01631145 0.03154164 0.99936933 -0.07293484] [ 0. 0. 0. 1. ]] SLAMing on 2.9032735599999997 meters Centerline goodness : 0.879170 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.07 [[ 0.99595969 -0.08784445 0.01864505 0.71157287] [ 0.08829835 0.9957777 -0.02510321 -0.00621203] [-0.01636115 0.02664811 0.99951098 -0.07475747] [ 0. 0. 0. 1. ]] SLAMing on 2.9632735599999998 meters Centerline goodness : 0.874248 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.08 [[ 0.99624298 -0.08469627 0.01806839 0.71282742] [ 0.08506046 0.9961661 -0.02044054 -0.00746766] [-0.01626788 0.02190065 0.99962779 -0.07644294] [ 0. 0. 0. 1. ]] SLAMing on 3.02327356 meters Centerline goodness : 0.879034 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:-0.08 [[ 0.99633117 -0.08392477 0.01675832 0.71704958] [ 0.08424674 0.9962535 -0.01953091 -0.00834197] [-0.01505641 0.02087109 0.9996688 -0.07815941] [ 0. 0. 0. 1. ]] SLAMing on 3.08327356 meters Centerline goodness : 0.855745 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:-0.08 [[ 0.99635253 -0.08377656 0.01622113 0.71847891] [ 0.0840778 0.9962804 -0.01887577 -0.00948206] [-0.01457944 0.02017075 0.99969024 -0.07897858] [ 0. 0. 0. 1. ]] SLAMing on 3.14327356 meters Centerline goodness : 0.843265 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:-0.08 [[ 0.99638668 -0.08348302 0.01562591 0.72046457] [ 0.08375905 0.99632467 -0.01793222 -0.0117914 ] [-0.01407144 0.01917624 0.99971709 -0.08018272] [ 0. 0. 0. 1. ]] SLAMing on 3.2032735599999995 meters Centerline goodness : 0.840553 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:-0.08 [[ 0.99644176 -0.08294742 0.01495136 0.72256343] [ 0.08320214 0.99638242 -0.01730541 -0.01342222] [-0.01346183 0.01848782 0.99973846 -0.08072669] [ 0. 0. 0. 1. ]] SLAMing on 3.2632735599999996 meters Centerline goodness : 0.838154 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:-0.08 [[ 0.99647524 -0.08260519 0.01461119 0.72355738] [ 0.0828464 0.99642149 -0.01675378 -0.01491931] [-0.01317496 0.01790521 0.99975288 -0.0810487 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3232735599999996 meters Centerline goodness : 0.841473 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.08 [[ 0.99651843 -0.08220576 0.01390073 0.72536187] [ 0.08242411 0.99646986 -0.01594012 -0.01779913] [-0.01254129 0.01703037 0.99977632 -0.08133169] [ 0. 0. 0. 1. ]] SLAMing on 3.3832735599999997 meters Centerline goodness : 0.833557 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.08 [[ 0.99675281 -0.07934228 0.01373466 0.72538654] [ 0.07950745 0.9967629 -0.01192835 -0.0213636 ] [-0.01274378 0.01298162 0.99983452 -0.0823189 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4432735599999997 meters Centerline goodness : 0.833310 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.08 [[ 0.99685024 -0.07821498 0.01311563 0.72781538] [ 0.07835415 0.99687076 -0.01045504 -0.02425563] [-0.01225685 0.01144978 0.99985933 -0.08392216] [ 0. 0. 0. 1. ]] SLAMing on 3.50327356 meters Centerline goodness : 0.832903 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.99691056 -0.07749332 0.01281091 0.72926703] [ 0.07761775 0.99693775 -0.00951867 -0.02625645] [-0.01203404 0.01048362 0.99987263 -0.08501992] [ 0. 0. 0. 1. ]] SLAMing on 3.56327356 meters Centerline goodness : 0.832801 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.99701425 -0.07624637 0.01220984 0.73159768] [ 0.07635196 0.99704531 -0.00842801 -0.02833406] [-0.01153115 0.00933509 0.99988994 -0.08601695] [ 0. 0. 0. 1. ]] SLAMing on 3.6232735599999994 meters Centerline goodness : 0.826851 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.99724187 -0.07314679 0.01257764 0.73076998] [ 0.07321253 0.99730458 -0.00484781 -0.03216313] [-0.01218913 0.00575528 0.99990915 -0.08627789] [ 0. 0. 0. 1. ]] SLAMing on 3.6832735599999995 meters Centerline goodness : 0.826139 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.99730884 -0.07228516 0.01224479 0.73185449] [ 0.07233838 0.99737229 -0.00395961 -0.03486691] [-0.0119264 0.00483472 0.99991719 -0.08638953] [ 0. 0. 0. 1. ]] SLAMing on 3.7432735599999996 meters Centerline goodness : 0.823918 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.09 [[ 0.9973702 -0.0714894 0.01191412 0.733336 ] [ 0.07152824 0.99743446 -0.00286581 -0.03757236] [-0.01167868 0.00371047 0.99992492 -0.08739771] [ 0. 0. 0. 1. ]] SLAMing on 3.8032735599999996 meters Centerline goodness : 0.824465 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.09 [[ 0.99747574 -0.07009057 0.01137823 0.73587353] [ 0.07010725 0.99753888 -0.0010731 -0.04153858] [-0.01127501 0.00186808 0.99993469 -0.08923753] [ 0. 0. 0. 1. ]] SLAMing on 3.8632735599999997 meters Centerline goodness : 0.824133 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.09 [[ 9.97623777e-01 -6.80746729e-02 1.06131587e-02 7.38996529e-01] [ 6.80737324e-02 9.97680191e-01 4.50252621e-04 -4.39541998e-02] [-1.06191890e-02 2.73294606e-04 9.99943577e-01 -9.04348441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9232735599999997 meters Centerline goodness : 0.816346 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.09 [[ 9.97690240e-01 -6.71563768e-02 1.02081356e-02 7.40230671e-01] [ 6.71500766e-02 9.97742425e-01 9.59069734e-04 -4.51268612e-02] [-1.02494977e-02 -2.71377423e-04 9.99947436e-01 -9.03368086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9832735599999998 meters Centerline goodness : 0.813182 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.09 [[ 0.99775475 -0.06623725 0.00990412 0.74098829] [ 0.06622398 0.9978034 0.00166268 -0.04777282] [-0.00999249 -0.00100306 0.99994957 -0.08987883] [ 0. 0. 0. 1. ]] SLAMing on 4.043273559999999 meters Centerline goodness : 0.816206 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.09 [[ 0.99782857 -0.06521382 0.00923603 0.7429247 ] [ 0.06519397 0.99786964 0.00243551 -0.04998409] [-0.00937519 -0.00182808 0.99995438 -0.0900301 ] [ 0. 0. 0. 1. ]] SLAMing on 4.10327356 meters Centerline goodness : 0.814532 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.09 [[ 0.99791381 -0.06397868 0.00864664 0.74478855] [ 0.0639506 0.99794698 0.00348626 -0.05266922] [-0.00885194 -0.00292603 0.99995654 -0.0902835 ] [ 0. 0. 0. 1. ]] SLAMing on 4.1632735599999995 meters Centerline goodness : 0.814801 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.09 [[ 0.99798573 -0.0629222 0.0080792 0.7467817 ] [ 0.06288376 0.99800869 0.00492739 -0.05688753] [-0.00837316 -0.00440942 0.99995522 -0.09121676] [ 0. 0. 0. 1. ]] SLAMing on 4.22327356 meters Centerline goodness : 0.815715 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.09 [[ 0.99802124 -0.06235862 0.00806267 0.74749183] [ 0.06231278 0.99803972 0.00581654 -0.05962737] [-0.00840957 -0.00530263 0.99995058 -0.09197981] [ 0. 0. 0. 1. ]] SLAMing on 4.28327356 meters Centerline goodness : 0.814109 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.09 [[ 0.99806925 -0.06161661 0.00782093 0.74832839] [ 0.06156387 0.99807988 0.00681445 -0.06264044] [-0.0082258 -0.00631981 0.9999462 -0.09221471] [ 0. 0. 0. 1. ]] SLAMing on 4.34327356 meters Centerline goodness : 0.814143 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.09 [[ 0.9980947 -0.06122503 0.00764652 0.74863867] [ 0.06116828 0.99809968 0.00744784 -0.0655791 ] [-0.00808799 -0.00696592 0.99994303 -0.09189363] [ 0. 0. 0. 1. ]] SLAMing on 4.40327356 meters Centerline goodness : 0.811153 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.09 [[ 0.99809776 -0.06116901 0.00769556 0.74840182] [ 0.06110924 0.9981008 0.00777577 -0.06747038] [-0.00815658 -0.00729071 0.99994016 -0.09163388] [ 0. 0. 0. 1. ]] SLAMing on 4.463273559999999 meters Centerline goodness : 0.813168 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.09 [[ 0.99810158 -0.06111503 0.00762816 0.7482191 ] [ 0.0610522 0.99810077 0.0082145 -0.07023175] [-0.0081157 -0.00773319 0.99993716 -0.09118076] [ 0. 0. 0. 1. ]] SLAMing on 4.52327356 meters Centerline goodness : 0.813551 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.09 [[ 0.99810387 -0.06108786 0.00754622 0.74840544] [ 0.061021 0.99809774 0.00879455 -0.07277097] [-0.0080691 -0.0083174 0.99993285 -0.09138438] [ 0. 0. 0. 1. ]] SLAMing on 4.583273559999999 meters Centerline goodness : 0.818105 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99808748 -0.06138111 0.007331 0.74871367] [ 0.06131037 0.99807341 0.00951355 -0.07625616] [-0.00790083 -0.00904589 0.99992787 -0.09182019] [ 0. 0. 0. 1. ]] SLAMing on 4.64327356 meters Centerline goodness : 0.815191 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.9980837 -0.06143912 0.00735924 0.74885366] [ 0.06136624 0.99806769 0.00975029 -0.07733524] [-0.00794407 -0.00927999 0.99992538 -0.09215306] [ 0. 0. 0. 1. ]] SLAMing on 4.7032735599999995 meters Centerline goodness : 0.813263 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99807005 -0.06165194 0.00743096 0.74854244] [ 0.06157604 0.99805186 0.01004364 -0.07926543] [-0.00803569 -0.00956669 0.99992195 -0.09207236] [ 0. 0. 0. 1. ]] SLAMing on 4.76327356 meters Centerline goodness : 0.805439 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99806676 -0.0617089 0.00740014 0.74817003] [ 0.06163542 0.99805083 0.00977793 -0.07950594] [-0.0079891 -0.00930292 0.99992481 -0.09119289] [ 0. 0. 0. 1. ]] SLAMing on 4.82327356 meters Centerline goodness : 0.805339 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99806945 -0.06166071 0.00743852 0.74773895] [ 0.06158722 0.99805424 0.0097341 -0.07981212] [-0.00802426 -0.00925719 0.99992496 -0.09055902] [ 0. 0. 0. 1. ]] SLAMing on 4.883273559999999 meters Centerline goodness : 0.805258 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99808155 -0.06149583 0.00717487 0.74858266] [ 0.06142555 0.99806516 0.00963568 -0.07984204] [-0.00775354 -0.00917648 0.99992783 -0.09065721] [ 0. 0. 0. 1. ]] SLAMing on 4.94327356 meters Centerline goodness : 0.802591 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99811346 -0.06100104 0.00695681 0.74968023] [ 0.06092956 0.99809136 0.01006144 -0.08004754] [-0.00755729 -0.00961858 0.99992518 -0.09142968] [ 0. 0. 0. 1. ]] SLAMing on 5.003273559999999 meters Centerline goodness : 0.805860 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99811332 -0.06100618 0.00693102 0.74983589] [ 0.06093587 0.9980922 0.00993841 -0.0798216 ] [-0.0075241 -0.00949731 0.99992659 -0.09137359] [ 0. 0. 0. 1. ]] SLAMing on 5.06327356 meters Centerline goodness : 0.799568 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99810341 -0.06114723 0.00711278 0.74980486] [ 0.06107257 0.9980804 0.0102786 -0.08094542] [-0.00772763 -0.00982471 0.99992188 -0.09214148] [ 0. 0. 0. 1. ]] SLAMing on 5.1232735599999994 meters Centerline goodness : 0.800117 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99789156 -0.06452767 0.00697283 0.75084901] [ 0.06448265 0.99789766 0.00649939 -0.08110989] [-0.00737756 -0.00603606 0.99995457 -0.0919515 ] [ 0. 0. 0. 1. ]] SLAMing on 5.18327356 meters Centerline goodness : 0.799570 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99784866 -0.06514538 0.00735692 0.74935455] [ 0.06509839 0.99785797 0.00645463 -0.08231013] [-0.00776165 -0.00596182 0.99995211 -0.09131814] [ 0. 0. 0. 1. ]] SLAMing on 5.2432735599999996 meters Centerline goodness : 0.801482 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99777624 -0.06620321 0.00772661 0.74714305] [ 0.06615677 0.99779048 0.00611887 -0.08378583] [-0.00811463 -0.0055941 0.99995143 -0.08979071] [ 0. 0. 0. 1. ]] SLAMing on 5.303273559999999 meters Centerline goodness : 0.800233 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.09 [[ 0.99769909 -0.06735804 0.00770841 0.74592709] [ 0.06731319 0.99771423 0.0059369 -0.08688003] [-0.00809069 -0.00540436 0.99995267 -0.08860573] [ 0. 0. 0. 1. ]] SLAMing on 5.36327356 meters Centerline goodness : 0.797195 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.09 [[ 0.99769408 -0.06745663 0.00749224 0.74671105] [ 0.06740731 0.99770338 0.00665043 -0.08981283] [-0.00792365 -0.00613006 0.99994982 -0.08945737] [ 0. 0. 0. 1. ]] SLAMing on 5.423273559999999 meters Centerline goodness : 0.795670 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.09 [[ 0.99768685 -0.06757174 0.00741666 0.74720361] [ 0.06751465 0.9976886 0.00769648 -0.09383533] [-0.00791958 -0.00717795 0.99994288 -0.09049888] [ 0. 0. 0. 1. ]] SLAMing on 5.48327356 meters Centerline goodness : 0.796579 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99771407 -0.06718185 0.00729637 0.74770398] [ 0.06712023 0.99770966 0.008385 -0.096055 ] [-0.00784298 -0.0078761 0.99993823 -0.09076314] [ 0. 0. 0. 1. ]] SLAMing on 5.543273559999999 meters Centerline goodness : 0.795366 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99772031 -0.06708487 0.00733445 0.74746572] [ 0.06702031 0.9977135 0.00872046 -0.09767161] [-0.00790269 -0.00820903 0.99993508 -0.0905014 ] [ 0. 0. 0. 1. ]] SLAMing on 5.60327356 meters Centerline goodness : 0.794825 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99771253 -0.06720186 0.00732267 0.74671125] [ 0.06713513 0.99770325 0.00900594 -0.10032846] [-0.00791107 -0.00849373 0.99993263 -0.08933534] [ 0. 0. 0. 1. ]] SLAMing on 5.6632735599999995 meters Centerline goodness : 0.794384 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99775275 -0.06665242 0.00684914 0.74793091] [ 0.06658602 0.99773541 0.00950545 -0.10208415] [-0.00746719 -0.00902803 0.99993137 -0.08937167] [ 0. 0. 0. 1. ]] SLAMing on 5.72327356 meters Centerline goodness : 0.796611 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99779001 -0.06612788 0.00649655 0.74888318] [ 0.06606338 0.99776842 0.00968571 -0.10236723] [-0.00712255 -0.00923512 0.99993199 -0.08934539] [ 0. 0. 0. 1. ]] SLAMing on 5.78327356 meters Centerline goodness : 0.792393 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.9978543 -0.06520411 0.00593395 0.75080012] [ 0.06514223 0.99782504 0.01008367 -0.10305857] [-0.00657854 -0.00967548 0.99993155 -0.08972755] [ 0. 0. 0. 1. ]] SLAMing on 5.843273559999999 meters Centerline goodness : 0.790903 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99792327 -0.0641829 0.00545057 0.75263969] [ 0.06412229 0.99788523 0.01064873 -0.10375925] [-0.00612251 -0.01027711 0.99992845 -0.090283 ] [ 0. 0. 0. 1. ]] SLAMing on 5.90327356 meters Centerline goodness : 0.792234 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99796282 -0.06358177 0.00525074 0.75339004] [ 0.06352197 0.99792131 0.01086341 -0.10354073] [-0.00593054 -0.01050774 0.99992721 -0.09040095] [ 0. 0. 0. 1. ]] SLAMing on 5.963273559999999 meters Centerline goodness : 0.789969 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99800018 -0.06301063 0.00503036 0.75408008] [ 0.06295385 0.9979586 0.01074486 -0.10285703] [-0.00569713 -0.01040669 0.99992962 -0.09011116] [ 0. 0. 0. 1. ]] SLAMing on 6.02327356 meters Centerline goodness : 0.790750 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99804844 -0.06227381 0.00461438 0.75494576] [ 0.06222352 0.99800867 0.01034107 -0.10149977] [-0.00524917 -0.01003377 0.99993588 -0.08920396] [ 0. 0. 0. 1. ]] SLAMing on 6.083273559999999 meters Centerline goodness : 0.791599 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.09 [[ 0.99814409 -0.06077717 0.00380817 0.75757757] [ 0.06073543 0.99810119 0.01025776 -0.09985156] [-0.00442438 -0.01000743 0.99994014 -0.08916878] [ 0. 0. 0. 1. ]] SLAMing on 6.14327356 meters Centerline goodness : 0.790451 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.09 [[ 0.99821542 -0.05961811 0.00341263 0.75942109] [ 0.05957948 0.99816854 0.0104807 -0.09858592] [-0.00403122 -0.01025867 0.99993925 -0.08982088] [ 0. 0. 0. 1. ]] SLAMing on 6.2032735599999995 meters Centerline goodness : 0.786412 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.09 [[ 0.99847373 -0.05513699 0.00318131 0.76035834] [ 0.05508516 0.99837546 0.01456221 -0.09784356] [-0.00397906 -0.01436475 0.9998889 -0.09084092] [ 0. 0. 0. 1. ]] SLAMing on 6.26327356 meters Centerline goodness : 0.789084 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.09 [[ 0.99872651 -0.05036113 0.00301756 0.76088246] [ 0.05029826 0.99856884 0.0181758 -0.09511193] [-0.00392859 -0.01800088 0.99983025 -0.09094272] [ 0. 0. 0. 1. ]] SLAMing on 6.32327356 meters Centerline goodness : 0.789088 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 0.99877135 -0.04948104 0.00272349 0.7618457 ] [ 0.04942694 0.99862881 0.01724753 -0.09151913] [-0.00357318 -0.01709173 0.99984754 -0.09003468] [ 0. 0. 0. 1. ]] SLAMing on 6.383273559999999 meters Centerline goodness : 0.789540 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 0.99884569 -0.04797687 0.00234688 0.7636567 ] [ 0.04793205 0.99871565 0.01641881 -0.08763326] [-0.00313159 -0.01628737 0.99986245 -0.08946054] [ 0. 0. 0. 1. ]] SLAMing on 6.44327356 meters Centerline goodness : 0.790245 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 0.99889049 -0.0470557 0.00188432 0.76528669] [ 0.04701996 0.9987677 0.01588094 -0.08500069] [-0.00262928 -0.01577472 0.99987211 -0.08931221] [ 0. 0. 0. 1. ]] SLAMing on 6.503273559999999 meters Centerline goodness : 0.790746 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99892982 -0.04623037 0.00139925 0.76701529] [ 0.04620339 0.99881321 0.01540806 -0.08243099] [-0.00210991 -0.01532692 0.99988031 -0.08938441] [ 0. 0. 0. 1. ]] SLAMing on 6.56327356 meters Centerline goodness : 0.790179 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 9.98951819e-01 -4.57647414e-02 9.22552711e-04 7.68337735e-01] [ 4.57459048e-02 9.98841571e-01 1.49274379e-02 -8.07621720e-02] [-1.60463433e-03 -1.48695882e-02 9.99888154e-01 -8.91321210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6232735599999994 meters Centerline goodness : 0.790070 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 9.99149168e-01 -4.12372982e-02 6.52111452e-04 7.69477063e-01] [ 4.12182417e-02 9.98979483e-01 1.84675067e-02 -7.82137373e-02] [-1.41299604e-03 -1.84249151e-02 9.99829248e-01 -8.97572400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68327356 meters Centerline goodness : 0.790948 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 9.99216350e-01 -3.95745778e-02 7.34347190e-04 7.70426960e-01] [ 3.95552807e-02 9.99059115e-01 1.77838130e-02 -7.31724058e-02] [-1.43744315e-03 -1.77408294e-02 9.99841586e-01 -8.92725241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7432735599999996 meters Centerline goodness : 0.792865 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 9.99233200e-01 -3.91515123e-02 4.14532094e-04 7.71385146e-01] [ 3.91389556e-02 9.99091348e-01 1.68707154e-02 -6.96661835e-02] [-1.07466945e-03 -1.68415546e-02 9.99857593e-01 -8.87952056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.803273559999999 meters Centerline goodness : 0.793429 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 9.99244376e-01 -3.88672225e-02 1.25213164e-04 7.72240391e-01] [ 3.88606198e-02 9.99124535e-01 1.54924496e-02 -6.50162055e-02] [-7.27252032e-04 -1.54758773e-02 9.99879977e-01 -8.79761100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86327356 meters Centerline goodness : 0.793887 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:-0.09 [[ 9.99247764e-01 -3.87799957e-02 -1.36149248e-04 7.73189642e-01] [ 3.87776635e-02 9.99134925e-01 1.50231300e-02 -6.29071620e-02] [-4.46565451e-04 -1.50171086e-02 9.99887137e-01 -8.82748383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.923273559999999 meters Centerline goodness : 0.792988 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:-0.09 [[ 9.99256703e-01 -3.85473627e-02 -3.76290661e-04 7.74560808e-01] [ 3.85488247e-02 9.99156351e-01 1.41624567e-02 -5.89330630e-02] [-1.69952153e-04 -1.41664354e-02 9.99899637e-01 -8.89071601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98327356 meters Centerline goodness : 0.792116 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.09 [[ 9.99264233e-01 -3.83460776e-02 -7.55844457e-04 7.75798424e-01] [ 3.83527290e-02 9.99176464e-01 1.32461738e-02 -5.52135706e-02] [ 2.47283184e-04 -1.32654164e-02 9.99911980e-01 -8.88294634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.043273559999999 meters Centerline goodness : 0.795379 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.09 [[ 9.99238495e-01 -3.90139858e-02 -5.82470125e-04 7.74678589e-01] [ 3.90179999e-02 9.99180346e-01 1.07810992e-02 -4.88476468e-02] [ 1.61379049e-04 -1.07956162e-02 9.99941713e-01 -8.64971393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10327356 meters Centerline goodness : 0.794814 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.08 [[ 9.99046814e-01 -4.36494692e-02 -4.33564835e-04 7.73583588e-01] [ 4.36507889e-02 9.99039837e-01 3.74335680e-03 -4.20220183e-02] [ 2.69753004e-04 -3.75871413e-03 9.99992900e-01 -8.28347404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1632735599999995 meters Centerline goodness : 0.795019 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.08 [[ 9.99015422e-01 -4.43626196e-02 -3.79250814e-04 7.73340673e-01] [ 4.43635236e-02 9.99011377e-01 2.85429596e-03 -3.98379543e-02] [ 2.52251832e-04 -2.86831059e-03 9.99995855e-01 -8.27532797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.223273559999999 meters Centerline goodness : 0.794414 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.03, Z:-0.08 [[ 9.98890017e-01 -4.70965473e-02 -8.05999101e-04 7.75787087e-01] [ 4.70962817e-02 9.98890295e-01 -3.45318745e-04 -3.49325347e-02] [ 8.21368000e-04 3.06975886e-04 9.99999616e-01 -8.45877992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28327356 meters Centerline goodness : 0.796512 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.03, Z:-0.09 [[ 9.98864757e-01 -4.76308875e-02 -7.03553045e-04 7.75948985e-01] [ 4.76304825e-02 9.98864855e-01 -5.81585425e-04 -3.31931368e-02] [ 7.30455841e-04 5.47414613e-04 9.99999583e-01 -8.56326052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.343273559999999 meters Centerline goodness : 0.795966 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.08 [[ 9.98764533e-01 -4.96931238e-02 3.32742185e-05 7.72836978e-01] [ 4.96930807e-02 9.98762231e-01 -2.14540715e-03 -2.92481844e-02] [ 7.33789502e-05 2.14441007e-03 9.99997698e-01 -8.45326061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40327356 meters Centerline goodness : 0.795649 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.08 [[ 9.98698372e-01 -5.10009950e-02 6.78312467e-04 7.70720366e-01] [ 5.10027985e-02 9.98694067e-01 -2.97909313e-03 -2.72767221e-02] [-5.25489923e-04 3.00981130e-03 9.99995332e-01 -8.42045972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463273559999999 meters Centerline goodness : 0.795652 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:-0.08 [[ 9.98409565e-01 -5.63650131e-02 1.15179540e-03 7.69237934e-01] [ 5.63729361e-02 9.98371690e-01 -8.72130245e-03 -2.24944017e-02] [-6.58343592e-04 8.77236187e-03 9.99961305e-01 -8.30689455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52327356 meters Centerline goodness : 0.797225 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:-0.08 [[ 0.99826589 -0.0588342 0.00193884 0.76598608] [ 0.05885055 0.99821801 -0.00986978 -0.01988903] [-0.00135471 0.00996677 0.99994941 -0.08267599] [ 0. 0. 0. 1. ]] SLAMing on 7.583273559999999 meters Centerline goodness : 0.799256 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.08 [[ 0.99816461 -0.0605121 0.00238809 0.76398673] [ 0.06053389 0.99811133 -0.01046025 -0.0190692 ] [-0.00175061 0.01058561 0.99994244 -0.08255925] [ 0. 0. 0. 1. ]] SLAMing on 7.64327356 meters Centerline goodness : 0.797550 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.08 [[ 0.99805599 -0.06225578 0.00290928 0.76192212] [ 0.0622839 0.99799944 -0.01085557 -0.01877665] [-0.00222763 0.01101567 0.99993684 -0.08279391] [ 0. 0. 0. 1. ]] SLAMing on 7.7032735599999995 meters Centerline goodness : 0.798361 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.08 [[ 0.99787362 -0.0650803 0.0035754 0.75892434] [ 0.06511746 0.99781128 -0.01150466 -0.01818877] [-0.00281885 0.01171302 0.99992743 -0.08327071] [ 0. 0. 0. 1. ]] SLAMing on 7.763273559999999 meters Centerline goodness : 0.798774 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.08 [[ 0.99776398 -0.06671509 0.00401615 0.7574416 ] [ 0.0667586 0.99769817 -0.01190137 -0.01669902] [-0.0032129 0.01214287 0.99992111 -0.08417852] [ 0. 0. 0. 1. ]] SLAMing on 7.82327356 meters Centerline goodness : 0.802101 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.08 [[ 0.99769601 -0.06769456 0.00448457 0.75581587] [ 0.06774561 0.99762525 -0.01242521 -0.01511144] [-0.0036328 0.01270039 0.99991275 -0.08399869] [ 0. 0. 0. 1. ]] SLAMing on 7.883273559999999 meters Centerline goodness : 0.802500 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 0.99754081 -0.06934517 0.01017699 0.7646738 ] [ 0.06936332 0.99759042 -0.00144144 -0.01493872] [-0.01005251 0.0021438 0.99994717 -0.0890927 ] [ 0. 0. 0. 1. ]] SLAMing on 7.94327356 meters Centerline goodness : 0.805123 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 0.99748923 -0.07004469 0.01043912 0.76390257] [ 0.07006726 0.99754062 -0.00181182 -0.01331791] [-0.01028654 0.00253871 0.99994387 -0.08940683] [ 0. 0. 0. 1. ]] SLAMing on 8.00327356 meters Centerline goodness : 0.807072 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 0.99745661 -0.07049827 0.01050286 0.76362887] [ 0.07052154 0.99750852 -0.00186138 -0.01264917] [-0.01034547 0.00259732 0.99994311 -0.0897446 ] [ 0. 0. 0. 1. ]] SLAMing on 8.063273559999999 meters Centerline goodness : 0.804237 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 0.99746345 -0.07042784 0.01032413 0.76437078] [ 0.07045221 0.99751312 -0.00201584 -0.01090398] [-0.01015649 0.00273808 0.99994467 -0.09029763] [ 0. 0. 0. 1. ]] SLAMing on 8.12327356 meters Centerline goodness : 0.807318 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.09 [[ 0.99750112 -0.06992922 0.01007032 0.76546281] [ 0.06995591 0.99754738 -0.00232246 -0.0085166 ] [-0.00988321 0.00302113 0.9999466 -0.09051447] [ 0. 0. 0. 1. ]] SLAMing on 8.18327356 meters Centerline goodness : 0.808125 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 9.97681199e-01 -6.72516641e-02 1.04612968e-02 7.63197317e-01] [ 6.72431931e-02 9.97735941e-01 1.15978211e-03 -8.40561460e-03] [-1.05156090e-02 -4.53641807e-04 9.99944607e-01 -9.01988876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.243273559999999 meters Centerline goodness : 0.806999 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 9.97648977e-01 -6.76940834e-02 1.06784471e-02 7.62024506e-01] [ 6.76930679e-02 9.97706089e-01 4.56922058e-04 -6.68269086e-03] [-1.06848826e-02 2.67009018e-04 9.99942879e-01 -8.91511333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.30327356 meters Centerline goodness : 0.808908 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 9.97608750e-01 -6.82508218e-02 1.08907166e-02 7.60956555e-01] [ 6.82504845e-02 9.97668136e-01 4.03062689e-04 -7.36599990e-03] [-1.08928303e-02 3.41197822e-04 9.99940613e-01 -8.87510361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36327356 meters Centerline goodness : 0.806520 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 9.97609177e-01 -6.82512278e-02 1.08489628e-02 7.61235782e-01] [ 6.82448978e-02 9.97668144e-01 9.53038031e-04 -9.35932015e-03] [-1.08887106e-02 -2.10373127e-04 9.99940694e-01 -8.92510707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42327356 meters Centerline goodness : 0.806770 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 9.97612532e-01 -6.81951927e-02 1.08927615e-02 7.61408843e-01] [ 6.81839933e-02 9.97671786e-01 1.39666350e-03 -1.07384120e-02] [-1.09626465e-02 -6.50617032e-04 9.99939697e-01 -8.97543002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.483273559999999 meters Centerline goodness : 0.806639 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.09 [[ 0.99757042 -0.06880021 0.01094486 0.76095091] [ 0.06878453 0.99762991 0.00180328 -0.01388141] [-0.01104298 -0.00104606 0.99993848 -0.0899301 ] [ 0. 0. 0. 1. ]] SLAMing on 8.54327356 meters Centerline goodness : 0.808805 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.09 [[ 0.99754688 -0.06909078 0.01125586 0.76025894] [ 0.06906991 0.99760932 0.00223221 -0.01575086] [-0.01138318 -0.00144929 0.99993416 -0.09029112] [ 0. 0. 0. 1. ]] SLAMing on 8.60327356 meters Centerline goodness : 0.805808 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.09 [[ 0.99743514 -0.07063435 0.01157266 0.75822137] [ 0.07061641 0.99750164 0.00195175 -0.01948056] [-0.01168161 -0.00112952 0.99993113 -0.08923879] [ 0. 0. 0. 1. ]] SLAMing on 8.66327356 meters Centerline goodness : 0.804338 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.09 [[ 0.9971497 -0.07455401 0.01158365 0.7580243 ] [ 0.07457991 0.99721338 -0.00181939 -0.02166778] [-0.01141573 0.00267811 0.99993125 -0.08799476] [ 0. 0. 0. 1. ]] SLAMing on 8.723273559999999 meters Centerline goodness : 0.809378 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.09 [[ 0.99707768 -0.07545276 0.01195753 0.75645164] [ 0.07547414 0.99714685 -0.00134592 -0.02452522] [-0.01182186 0.00224447 0.9999276 -0.08798134] [ 0. 0. 0. 1. ]] SLAMing on 8.78327356 meters Centerline goodness : 0.807814 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.09 [[ 0.99680978 -0.07893032 0.01184335 0.75710863] [ 0.07899256 0.99686325 -0.00488241 -0.0276463 ] [-0.01142083 0.00580237 0.99991795 -0.08712176] [ 0. 0. 0. 1. ]] SLAMing on 8.84327356 meters Centerline goodness : 0.808960 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.09 [[ 0.99680529 -0.07895726 0.01203986 0.75674279] [ 0.07901176 0.99686517 -0.00411958 -0.03058114] [-0.01167684 0.00505771 0.99991903 -0.08757089] [ 0. 0. 0. 1. ]] SLAMing on 8.903273559999999 meters Centerline goodness : 0.809052 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.09 [[ 0.99682868 -0.07868134 0.01190896 0.75703273] [ 0.07872084 0.99689253 -0.00288391 -0.03454889] [-0.01164504 0.00381224 0.99992493 -0.08805567] [ 0. 0. 0. 1. ]] SLAMing on 8.96327356 meters Centerline goodness : 0.805671 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.09 [[ 0.99682916 -0.07866052 0.01200644 0.75662547] [ 0.07869197 0.99689662 -0.00216872 -0.03733942] [-0.01179858 0.00310666 0.99992557 -0.08807421] [ 0. 0. 0. 1. ]] SLAMing on 9.02327356 meters Centerline goodness : 0.808172 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.09 [[ 9.96874496e-01 -7.81080593e-02 1.18478199e-02 7.57157665e-01] [ 7.81249945e-02 9.96943097e-01 -9.72664520e-04 -4.17641955e-02] [-1.17356293e-02 1.89523532e-03 9.99929339e-01 -8.83814627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08327356 meters Centerline goodness : 0.806346 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.09 [[ 9.96940417e-01 -7.73053336e-02 1.15624176e-02 7.58207845e-01] [ 7.73081507e-02 9.97007226e-01 2.03782147e-04 -4.56968367e-02] [-1.15435673e-02 6.90710460e-04 9.99933132e-01 -8.88070792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.143273559999999 meters Centerline goodness : 0.804081 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.09 [[ 9.96994619e-01 -7.66480331e-02 1.12609737e-02 7.59266838e-01] [ 7.66386168e-02 9.97058133e-01 1.26598120e-03 -4.91529382e-02] [-1.13248803e-02 -3.99150994e-04 9.99935792e-01 -8.92358718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.20327356 meters Centerline goodness : 0.806121 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.09 [[ 0.9970274 -0.07623998 0.01112783 0.75910617] [ 0.07622294 0.9970889 0.00194844 -0.05321165] [-0.01124399 -0.00109445 0.99993619 -0.08826611] [ 0. 0. 0. 1. ]] SLAMing on 9.26327356 meters Centerline goodness : 0.804771 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99710493 -0.07529755 0.01058449 0.76043922] [ 0.07527368 0.99715943 0.00263622 -0.05538496] [-0.01075292 -0.00183185 0.99994051 -0.08801556] [ 0. 0. 0. 1. ]] SLAMing on 9.323273559999999 meters Centerline goodness : 0.804630 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99729672 -0.07288146 0.00935704 0.76442922] [ 0.07284649 0.99733504 0.00402551 -0.05855169] [-0.00962549 -0.003333 0.99994812 -0.08844971] [ 0. 0. 0. 1. ]] SLAMing on 9.38327356 meters Centerline goodness : 0.802200 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:-0.09 [[ 0.99763141 -0.06820099 0.00895523 0.765329 ] [ 0.068118 0.99763423 0.0092671 -0.06206912] [-0.00956607 -0.00863513 0.99991696 -0.08940872] [ 0. 0. 0. 1. ]] SLAMing on 9.44327356 meters Centerline goodness : 0.804785 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 0.99799411 -0.06276965 0.00822989 0.76740832] [ 0.06264564 0.99792979 0.01454862 -0.06531216] [-0.00912607 -0.01400387 0.99986029 -0.09033644] [ 0. 0. 0. 1. ]] SLAMing on 9.50327356 meters Centerline goodness : 0.803851 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 0.99808081 -0.06145345 0.00762742 0.76923771] [ 0.0613324 0.99800163 0.01520149 -0.06666548] [-0.00854636 -0.01470451 0.99985536 -0.09026292] [ 0. 0. 0. 1. ]] SLAMing on 9.563273559999999 meters Centerline goodness : 0.801908 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 0.99820133 -0.05955771 0.00685402 0.77155331] [ 0.05943851 0.99809645 0.01644836 -0.07004651] [-0.0078206 -0.01601138 0.99984122 -0.09014202] [ 0. 0. 0. 1. ]] SLAMing on 9.62327356 meters Centerline goodness : 0.803685 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:-0.09 [[ 0.99832548 -0.05753937 0.00595387 0.77407166] [ 0.05742665 0.99819404 0.01763075 -0.07255884] [-0.00695758 -0.01725932 0.99982684 -0.089808 ] [ 0. 0. 0. 1. ]] SLAMing on 9.68327356 meters Centerline goodness : 0.800249 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.09 [[ 0.9984451 -0.05549208 0.0052929 0.77675805] [ 0.05538545 0.99829323 0.01852236 -0.07337353] [-0.00631171 -0.01820041 0.99981444 -0.09027929] [ 0. 0. 0. 1. ]] SLAMing on 9.743273559999999 meters Centerline goodness : 0.803558 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.09 [[ 0.9985973 -0.05277325 0.00429055 0.78028481] [ 0.05268041 0.99842197 0.01945095 -0.07480292] [-0.00531027 -0.01919764 0.99980161 -0.09017831] [ 0. 0. 0. 1. ]] SLAMing on 9.80327356 meters Centerline goodness : 0.800292 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.09 [[ 0.99863077 -0.05217319 0.0038137 0.78092403] [ 0.05208954 0.99845265 0.01946759 -0.07626917] [-0.00482348 -0.01924228 0.99980321 -0.08887425] [ 0. 0. 0. 1. ]] SLAMing on 9.86327356 meters Centerline goodness : 0.799381 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.09 [[ 0.99851071 -0.0544627 0.00319109 0.78308876] [ 0.05440423 0.99838763 0.0161963 -0.07893148] [-0.00406804 -0.01599857 0.99986374 -0.08793929] [ 0. 0. 0. 1. ]] SLAMing on 9.92327356 meters Centerline goodness : 0.798937 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.09 [[ 0.99851202 -0.05444743 0.0030372 0.78300601] [ 0.0543886 0.99837658 0.01691402 -0.08316589] [-0.00395319 -0.01672367 0.99985233 -0.08747096] [ 0. 0. 0. 1. ]] SLAMing on 9.983273559999999 meters Centerline goodness : 0.800518 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.09 [[ 0.99833626 -0.05760509 0.00252435 0.78451848] [ 0.05756433 0.99824356 0.01400535 -0.08796228] [-0.00332669 -0.01383674 0.99989873 -0.08691939] [ 0. 0. 0. 1. ]] SLAMing on 10.04327356 meters Centerline goodness : 0.797720 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.09 [[ 0.99816966 -0.06044001 0.0020808 0.78640476] [ 0.06041359 0.99811261 0.01101902 -0.0906803 ] [-0.00274286 -0.01087314 0.99993712 -0.086956 ] [ 0. 0. 0. 1. ]] SLAMing on 10.10327356 meters Centerline goodness : 0.792927 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.09 [[ 0.99817277 -0.06039305 0.00194821 0.78642389] [ 0.06036549 0.99810428 0.01199408 -0.0959974 ] [-0.00266887 -0.01185456 0.99992617 -0.08671788] [ 0. 0. 0. 1. ]] SLAMing on 10.163273559999999 meters Centerline goodness : 0.794149 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.09 [[ 0.99817596 -0.06034312 0.00185932 0.78569881] [ 0.06031601 0.99810439 0.01223142 -0.09904791] [-0.00259388 -0.01209696 0.99992346 -0.08518624] [ 0. 0. 0. 1. ]] SLAMing on 10.223273559999999 meters Centerline goodness : 0.793357 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 0.99817544 -0.06035351 0.00180235 0.78523146] [ 0.06032668 0.99810176 0.01239263 -0.10138406] [-0.00254687 -0.01226129 0.99992158 -0.08416081] [ 0. 0. 0. 1. ]] SLAMing on 10.28327356 meters Centerline goodness : 0.795241 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 0.99818374 -0.06022183 0.00159712 0.78527981] [ 0.06019573 0.99809992 0.01315407 -0.1050905 ] [-0.00238625 -0.01303404 0.99991221 -0.08373753] [ 0. 0. 0. 1. ]] SLAMing on 10.34327356 meters Centerline goodness : 0.792881 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 0.99805148 -0.062386 0.00111294 0.78802084] [ 0.06237212 0.99800462 0.00982325 -0.10457498] [-0.00172355 -0.0097347 0.99995113 -0.08426856] [ 0. 0. 0. 1. ]] SLAMing on 10.403273559999999 meters Centerline goodness : 0.791149 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.09 [[ 9.98078011e-01 -6.19642595e-02 8.44755920e-04 7.89184093e-01] [ 6.19512270e-02 9.98018334e-01 1.10204446e-02 -1.08843921e-01] [-1.52595558e-03 -1.09469297e-02 9.99938916e-01 -8.52058119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.46327356 meters Centerline goodness : 0.789730 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.09 [[ 9.98086100e-01 -6.18334434e-02 8.73158156e-04 7.89195843e-01] [ 6.18193822e-02 9.98021290e-01 1.14833977e-02 -1.10880479e-01] [-1.58148845e-03 -1.14074416e-02 9.99933682e-01 -8.52953631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52327356 meters Centerline goodness : 0.790660 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 0.998059 -0.06226487 0.00114947 0.78749262] [ 0.06224815 0.99799781 0.01120468 -0.11244809] [-0.00184482 -0.01111138 0.99993656 -0.08352555] [ 0. 0. 0. 1. ]] SLAMing on 10.583273559999999 meters Centerline goodness : 0.792102 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97897704e-01 -6.48031360e-02 8.51490304e-04 7.88954461e-01] [ 6.47954747e-02 9.97873206e-01 7.11416264e-03 -1.11791062e-01] [-1.31069941e-03 -7.04403385e-03 9.99974331e-01 -8.23494440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.643273559999999 meters Centerline goodness : 0.790785 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97898563e-01 -6.47898732e-02 8.54400602e-04 7.89036591e-01] [ 6.47822599e-02 9.97874433e-01 7.06214226e-03 -1.12241001e-01] [-1.31013982e-03 -6.99195161e-03 9.99974698e-01 -8.22860748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.70327356 meters Centerline goodness : 0.790902 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97905912e-01 -6.46788882e-02 6.57267422e-04 7.89756650e-01] [ 6.46726016e-02 9.97881192e-01 7.11206546e-03 -1.11996236e-01] [-1.11587529e-03 -7.05466498e-03 9.99974493e-01 -8.27000062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76327356 meters Centerline goodness : 0.793478 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97909452e-01 -6.46242651e-02 6.56418222e-04 7.90159037e-01] [ 6.46180949e-02 9.97885417e-01 7.01399269e-03 -1.11397337e-01] [-1.10830429e-03 -6.95691310e-03 9.99975186e-01 -8.31662679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.823273559999999 meters Centerline goodness : 0.793279 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97900612e-01 -6.47596384e-02 7.46731628e-04 7.89975413e-01] [ 6.47534220e-02 9.97879997e-01 6.51963957e-03 -1.10079116e-01] [-1.16735806e-03 -6.45759889e-03 9.99978468e-01 -8.29220986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.88327356 meters Centerline goodness : 0.791565 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97894191e-01 -6.48571868e-02 8.53406775e-04 7.89930549e-01] [ 6.48513737e-02 9.97878986e-01 5.64176397e-03 -1.07386844e-01] [-1.21750563e-03 -5.57453889e-03 9.99983721e-01 -8.27261612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94327356 meters Centerline goodness : 0.793680 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.08 [[ 9.97892136e-01 -6.48904536e-02 7.17170687e-04 7.90015219e-01] [ 6.48862627e-02 9.97881005e-01 4.82422347e-03 -1.05048326e-01] [-1.02869706e-03 -4.76752014e-03 9.99988106e-01 -8.20539513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00327356 meters Centerline goodness : 0.794820 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 9.97883091e-01 -6.50281946e-02 8.19479774e-04 7.89736748e-01] [ 6.50248235e-02 9.97877058e-01 3.62629417e-03 -1.01323462e-01] [-1.05355143e-03 -3.56533111e-03 9.99993089e-01 -8.13713049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.063273559999999 meters Centerline goodness : 0.795430 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 9.97860629e-01 -6.53700999e-02 9.56894038e-04 7.89804752e-01] [ 6.53666674e-02 9.97855981e-01 3.26190112e-03 -9.94757792e-02] [-1.16807324e-03 -3.19237372e-03 9.99994222e-01 -8.20776165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.12327356 meters Centerline goodness : 0.797076 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 0.99783252 -0.06579604 0.00106583 0.78963132] [ 0.06579253 0.99782868 0.00304274 -0.09901891] [-0.00126372 -0.00296602 0.9999948 -0.08233105] [ 0. 0. 0. 1. ]] SLAMing on 11.18327356 meters Centerline goodness : 0.795483 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 9.97583364e-01 -6.94717715e-02 1.05135651e-03 7.90743511e-01] [ 6.94730359e-02 9.97583086e-01 -1.21810790e-03 -9.60105172e-02] [-9.64191361e-04 1.28820511e-03 9.99998705e-01 -8.28233190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243273559999999 meters Centerline goodness : 0.795391 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.08 [[ 0.99751514 -0.07043784 0.00143354 0.78946536] [ 0.07044024 0.99751455 -0.00169922 -0.0952327 ] [-0.00131029 0.00179597 0.99999753 -0.0826587 ] [ 0. 0. 0. 1. ]] SLAMing on 11.30327356 meters Centerline goodness : 0.796681 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.08 [[ 0.99744922 -0.07135898 0.00171897 0.78868434] [ 0.07136253 0.99744822 -0.00210463 -0.09430586] [-0.0015644 0.00222194 0.99999631 -0.08296287] [ 0. 0. 0. 1. ]] SLAMing on 11.36327356 meters Centerline goodness : 0.794646 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.08 [[ 0.99740265 -0.07200062 0.00196488 0.78805766] [ 0.07200606 0.9974001 -0.00285865 -0.09164972] [-0.00175395 0.00299271 0.99999398 -0.08306036] [ 0. 0. 0. 1. ]] SLAMing on 11.42327356 meters Centerline goodness : 0.796630 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.08 [[ 0.99739309 -0.07213247 0.00198172 0.78839167] [ 0.07213853 0.99738955 -0.00318168 -0.08952827] [-0.00174704 0.00331634 0.99999297 -0.08366158] [ 0. 0. 0. 1. ]] SLAMing on 11.483273559999999 meters Centerline goodness : 0.798476 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.08 [[ 0.99738962 -0.07217987 0.0020023 0.78875548] [ 0.07218653 0.99738508 -0.00347918 -0.0873091 ] [-0.00174594 0.00361464 0.99999194 -0.08425889] [ 0. 0. 0. 1. ]] SLAMing on 11.54327356 meters Centerline goodness : 0.798631 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.08 [[ 0.99735097 -0.07270418 0.00226787 0.78830483] [ 0.0727128 0.99734497 -0.0039832 -0.08524646] [-0.00197225 0.00413755 0.9999895 -0.08467871] [ 0. 0. 0. 1. ]] SLAMing on 11.60327356 meters Centerline goodness : 0.800923 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.08 [[ 0.99732698 -0.07303006 0.00234732 0.78820226] [ 0.07304045 0.99731793 -0.00469419 -0.08205889] [-0.00199821 0.00485309 0.99998623 -0.08479111] [ 0. 0. 0. 1. ]] SLAMing on 11.663273559999999 meters Centerline goodness : 0.800858 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.08 [[ 0.99730323 -0.0733514 0.00241814 0.78767294] [ 0.07336322 0.99729157 -0.00523033 -0.08003034] [-0.00202794 0.00539362 0.9999834 -0.08436225] [ 0. 0. 0. 1. ]] SLAMing on 11.723273559999999 meters Centerline goodness : 0.798600 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.08 [[ 0.99731627 -0.07317661 0.00233365 0.78830615] [ 0.07318869 0.99730242 -0.00559427 -0.07746814] [-0.00191798 0.00575005 0.99998163 -0.08488177] [ 0. 0. 0. 1. ]] SLAMing on 11.78327356 meters Centerline goodness : 0.799586 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.09 [[ 0.99731471 -0.07319583 0.00239691 0.78848911] [ 0.07320865 0.99729984 -0.00578916 -0.07567857] [-0.00196669 0.00594909 0.99998037 -0.08536458] [ 0. 0. 0. 1. ]] SLAMing on 11.84327356 meters Centerline goodness : 0.798850 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99730582 -0.07331606 0.0024188 0.78890339] [ 0.07332883 0.99729154 -0.00569862 -0.07448427] [-0.00199445 0.00586063 0.99998084 -0.08636015] [ 0. 0. 0. 1. ]] SLAMing on 11.903273559999999 meters Centerline goodness : 0.799473 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99733255 -0.07295765 0.00222942 0.79007542] [ 0.07296905 0.99731876 -0.00555121 -0.07340679] [-0.00181844 0.00569908 0.99998211 -0.08737389] [ 0. 0. 0. 1. ]] SLAMing on 11.96327356 meters Centerline goodness : 0.794495 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99752761 -0.07022826 0.00258019 0.78822956] [ 0.07023373 0.99752837 -0.00209249 -0.07300685] [-0.00242686 0.00226854 0.99999448 -0.08745319] [ 0. 0. 0. 1. ]] SLAMing on 12.02327356 meters Centerline goodness : 0.799437 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99775212 -0.0669491 0.00292036 0.78665412] [ 0.06694487 0.99775551 0.00152447 -0.072588 ] [-0.00301587 -0.00132554 0.99999457 -0.08733981] [ 0. 0. 0. 1. ]] SLAMing on 12.083273559999999 meters Centerline goodness : 0.799269 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99778517 -0.06646774 0.00260494 0.78755635] [ 0.06646444 0.9977879 0.00133458 -0.07106435] [-0.00268789 -0.00115849 0.99999572 -0.08725539] [ 0. 0. 0. 1. ]] SLAMing on 12.143273559999999 meters Centerline goodness : 0.797959 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99803913 -0.06253795 0.00262728 0.78732898] [ 0.06252323 0.99802915 0.00535348 -0.07068708] [-0.0029569 -0.00517872 0.99998222 -0.08785159] [ 0. 0. 0. 1. ]] SLAMing on 12.20327356 meters Centerline goodness : 0.797295 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99831653 -0.05795498 0.00230973 0.78872982] [ 0.05793006 0.99827357 0.00969434 -0.07040441] [-0.00286758 -0.00954422 0.99995034 -0.08943025] [ 0. 0. 0. 1. ]] SLAMing on 12.26327356 meters Centerline goodness : 0.797482 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99834676 -0.05744456 0.00196746 0.78995915] [ 0.0574231 0.99830352 0.00962667 -0.06958561] [-0.00251712 -0.00949778 0.99995173 -0.08969736] [ 0. 0. 0. 1. ]] SLAMing on 12.323273559999999 meters Centerline goodness : 0.796049 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99858425 -0.05316294 0.00178849 0.79054983] [ 0.05313372 0.99849422 0.01364206 -0.06860925] [-0.00251105 -0.01352772 0.99990534 -0.09056522] [ 0. 0. 0. 1. ]] SLAMing on 12.38327356 meters Centerline goodness : 0.794601 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.09 [[ 0.99863439 -0.05222779 0.001268 0.79229203] [ 0.05220609 0.99854584 0.01344331 -0.06677988] [-0.00196827 -0.01335875 0.99990883 -0.09054986] [ 0. 0. 0. 1. ]] SLAMing on 12.44327356 meters Centerline goodness : 0.798439 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.09 [[ 0.99866148 -0.05171242 0.00103259 0.7926387 ] [ 0.0516954 0.99858383 0.01256651 -0.06477402] [-0.00168098 -0.01249631 0.99992051 -0.08912737] [ 0. 0. 0. 1. ]] SLAMing on 12.50327356 meters Centerline goodness : 0.797731 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.09 [[ 9.98677761e-01 -5.14010698e-02 8.12254216e-04 7.93224108e-01] [ 5.13875381e-02 9.98605733e-01 1.20793783e-02 -6.39090665e-02] [-1.43201468e-03 -1.20216667e-02 9.99926712e-01 -8.85703453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.563273559999999 meters Centerline goodness : 0.799361 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.09 [[ 9.98579017e-01 -5.32905641e-02 2.51541055e-04 7.96281258e-01] [ 5.32863181e-02 9.98540819e-01 8.76356618e-03 -6.30325384e-02] [-7.18189396e-04 -8.73770960e-03 9.99961568e-01 -8.90193776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.62327356 meters Centerline goodness : 0.799411 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.09 [[ 9.98513618e-01 -5.45026941e-02 1.08254817e-04 7.98275896e-01] [ 5.45006465e-02 9.98489829e-01 6.90946229e-03 -6.34454100e-02] [-4.84675643e-04 -6.89329223e-03 9.99976124e-01 -8.98385094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68327356 meters Centerline goodness : 0.797314 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.09 [[ 9.98483159e-01 -5.50574943e-02 2.30175064e-04 7.97937471e-01] [ 5.50543226e-02 9.98456346e-01 7.34483191e-03 -6.66432225e-02] [-6.34207794e-04 -7.32101884e-03 9.99973000e-01 -9.02177214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.743273559999999 meters Centerline goodness : 0.796241 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.09 [[ 9.98334164e-01 -5.76965189e-02 -8.94753521e-05 7.99880049e-01] [ 5.76964297e-02 9.98326584e-01 3.89277603e-03 -6.65390985e-02] [-1.35274003e-04 -3.89145371e-03 9.99992419e-01 -9.04109601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.80327356 meters Centerline goodness : 0.797358 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.09 [[ 9.98354549e-01 -5.73418232e-02 -3.31821770e-04 8.00396096e-01] [ 5.73427095e-02 9.98345829e-01 4.17371212e-03 -6.76620127e-02] [ 9.19446179e-05 -4.18587204e-03 9.99991235e-01 -9.00919070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86327356 meters Centerline goodness : 0.796293 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.09 [[ 9.98392133e-01 -5.66817520e-02 -5.71823735e-04 8.01172860e-01] [ 5.66837056e-02 9.98382748e-01 4.34116032e-03 -6.78751081e-02] [ 3.24834379e-04 -4.36659340e-03 9.99990414e-01 -8.99859472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92327356 meters Centerline goodness : 0.795120 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.09 [[ 9.98414520e-01 -5.62832301e-02 -8.02154121e-04 8.02039977e-01] [ 5.62863276e-02 9.98404149e-01 4.58311405e-03 -6.85372471e-02] [ 5.42921540e-04 -4.62099793e-03 9.99989176e-01 -9.02503121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.983273559999999 meters Centerline goodness : 0.792734 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.09 [[ 9.98452685e-01 -5.55933874e-02 -1.26896006e-03 8.03566400e-01] [ 5.55994435e-02 9.98438662e-01 5.37952325e-03 -7.06529484e-02] [ 9.67912863e-04 -5.44175291e-03 9.99984725e-01 -9.07583332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.04327356 meters Centerline goodness : 0.794964 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:-0.09 [[ 0.99851646 -0.05441943 -0.00184613 0.80570318] [ 0.05442954 0.99849984 0.00595804 -0.07177046] [ 0.00151913 -0.00604968 0.99998055 -0.09126116] [ 0. 0. 0. 1. ]] SLAMing on 13.10327356 meters Centerline goodness : 0.795904 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:-0.09 [[ 0.99858141 -0.05317968 -0.00266123 0.80812162] [ 0.05319503 0.99856567 0.00607323 -0.07137222] [ 0.00233444 -0.00620618 0.99997802 -0.09119506] [ 0. 0. 0. 1. ]] SLAMing on 13.163273559999999 meters Centerline goodness : 0.792566 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:-0.09 [[ 0.99872021 -0.05045558 -0.00348994 0.81202644] [ 0.05047944 0.99869968 0.00712517 -0.07165473] [ 0.0031259 -0.00729222 0.99996853 -0.09233011] [ 0. 0. 0. 1. ]] SLAMing on 13.223273559999999 meters Centerline goodness : 0.790145 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.07, Z:-0.09 [[ 0.99884821 -0.04779525 -0.00422761 0.81571057] [ 0.04782809 0.99882321 0.00804173 -0.07202864] [ 0.00383828 -0.00823467 0.99995873 -0.09330564] [ 0. 0. 0. 1. ]] SLAMing on 13.28327356 meters Centerline goodness : 0.792714 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.07, Z:-0.09 [[ 0.9989043 -0.0465572 -0.00475591 0.81736906] [ 0.04659493 0.99888057 0.00815603 -0.07168395] [ 0.00437086 -0.00836869 0.99995543 -0.09291343] [ 0. 0. 0. 1. ]] SLAMing on 13.34327356 meters Centerline goodness : 0.789246 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.07, Z:-0.09 [[ 0.99899576 -0.04442408 -0.00582828 0.82044937] [ 0.04447414 0.99897212 0.00876058 -0.07268177] [ 0.00543311 -0.00901099 0.99994464 -0.09236628] [ 0. 0. 0. 1. ]] SLAMing on 13.403273559999999 meters Centerline goodness : 0.791031 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.07, Z:-0.09 [[ 0.99904029 -0.04333798 -0.00635 0.82230179] [ 0.04339709 0.99901285 0.00948806 -0.07434321] [ 0.00593254 -0.00975452 0.99993482 -0.09285339] [ 0. 0. 0. 1. ]] SLAMing on 13.46327356 meters Centerline goodness : 0.790195 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.09 [[ 0.99897141 -0.04478312 -0.00711343 0.82540856] [ 0.04482699 0.99897595 0.00613174 -0.0752427 ] [ 0.00683155 -0.00644431 0.9999559 -0.09211046] [ 0. 0. 0. 1. ]] SLAMing on 13.52327356 meters Centerline goodness : 0.788374 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.09 [[ 0.99899469 -0.04420641 -0.007443 0.82650155] [ 0.04425766 0.99899655 0.00686717 -0.07774762] [ 0.00713196 -0.00718968 0.99994872 -0.09245176] [ 0. 0. 0. 1. ]] SLAMing on 13.583273559999999 meters Centerline goodness : 0.788362 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.09 [[ 0.99888452 -0.04648858 -0.00827779 0.82949206] [ 0.04652382 0.9989087 0.00411664 -0.08049148] [ 0.00807738 -0.00449716 0.99995726 -0.09271906] [ 0. 0. 0. 1. ]] SLAMing on 13.643273559999999 meters Centerline goodness : 0.787510 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.09 [[ 9.98713285e-01 -4.99637360e-02 -8.68326672e-03 8.30685265e-01] [ 4.99718508e-02 9.98750367e-01 7.19968830e-04 -8.25712611e-02] [ 8.63644349e-03 -1.15296134e-03 9.99962041e-01 -9.22653556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.70327356 meters Centerline goodness : 0.786763 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.09, Z:-0.09 [[ 0.99849524 -0.0541454 -0.00869091 0.83090549] [ 0.05412807 0.99853154 -0.00221784 -0.08757388] [ 0.00879823 0.00174408 0.99995977 -0.09233149] [ 0. 0. 0. 1. ]] SLAMing on 13.76327356 meters Centerline goodness : 0.785638 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.09, Z:-0.09 [[ 0.99804532 -0.06187845 -0.00875153 0.8315102 ] [ 0.06179447 0.9980431 -0.00956115 -0.09063483] [ 0.00932604 0.00900167 0.99991599 -0.09142267] [ 0. 0. 0. 1. ]] SLAMing on 13.823273559999999 meters Centerline goodness : 0.784515 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.10 [[ 0.99753793 -0.07006374 -0.00302505 0.84046294] [ 0.0700511 0.99753498 -0.00409838 -0.09647394] [ 0.00330474 0.00387639 0.99998703 -0.09578595] [ 0. 0. 0. 1. ]] SLAMing on 13.88327356 meters Centerline goodness : 0.781897 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.10 [[ 0.99722962 -0.07432352 -0.00301514 0.84052692] [ 0.07429855 0.9972064 -0.00768845 -0.09845514] [ 0.00357815 0.00744313 0.9999659 -0.09529317] [ 0. 0. 0. 1. ]] SLAMing on 13.94327356 meters Centerline goodness : 0.781612 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.10 [[ 0.99687253 -0.07898136 -0.00266466 0.84010522] [ 0.07894808 0.99681939 -0.01087723 -0.1019807 ] [ 0.00351528 0.01063284 0.99993729 -0.09563407] [ 0. 0. 0. 1. ]] SLAMing on 14.003273559999998 meters Centerline goodness : 0.780579 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.10 [[ 0.99655957 -0.08283781 -0.00263257 0.84091029] [ 0.08279299 0.99646748 -0.01406737 -0.10405664] [ 0.00378858 0.01380102 0.99989758 -0.09614284] [ 0. 0. 0. 1. ]] SLAMing on 14.063273559999999 meters Centerline goodness : 0.781023 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99627065 -0.08624708 0.0024986 0.85081 ] [ 0.08625824 0.99626138 -0.00477314 -0.10653956] [-0.00207759 0.00497086 0.99998549 -0.10111286] [ 0. 0. 0. 1. ]] SLAMing on 14.12327356 meters Centerline goodness : 0.783114 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99613522 -0.0877882 0.00280422 0.84898344] [ 0.08780166 0.99612489 -0.00510589 -0.10888162] [-0.00234511 0.00533237 0.99998303 -0.10013192] [ 0. 0. 0. 1. ]] SLAMing on 14.18327356 meters Centerline goodness : 0.781222 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99606413 -0.08858611 0.00295923 0.84812556] [ 0.08859995 0.99605509 -0.00493084 -0.11080229] [-0.00251075 0.00517362 0.99998346 -0.0999285 ] [ 0. 0. 0. 1. ]] SLAMing on 14.243273559999999 meters Centerline goodness : 0.780279 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99603245 -0.08894824 0.00275228 0.84838299] [ 0.08896038 0.99602428 -0.00465681 -0.11211096] [-0.00232712 0.00488318 0.99998537 -0.10006459] [ 0. 0. 0. 1. ]] SLAMing on 14.30327356 meters Centerline goodness : 0.777985 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.9960259 -0.08902966 0.00247466 0.8492833 ] [ 0.08903945 0.99601934 -0.0041765 -0.11272579] [-0.00209298 0.00438024 0.99998822 -0.10105055] [ 0. 0. 0. 1. ]] SLAMing on 14.36327356 meters Centerline goodness : 0.780501 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99606116 -0.08864293 0.00214506 0.8505466 ] [ 0.08865071 0.99605531 -0.00385748 -0.11285678] [-0.00179466 0.00403245 0.99999026 -0.10179431] [ 0. 0. 0. 1. ]] SLAMing on 14.423273559999998 meters Centerline goodness : 0.783324 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99601825 -0.08911589 0.00245031 0.84938679] [ 0.08912581 0.99601113 -0.00429099 -0.11181429] [-0.00205814 0.00449229 0.99998779 -0.10118445] [ 0. 0. 0. 1. ]] SLAMing on 14.483273559999999 meters Centerline goodness : 0.782165 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99601811 -0.08912078 0.00232781 0.84937663] [ 0.08913061 0.99600966 -0.0045265 -0.11091999] [-0.00191512 0.00471595 0.99998705 -0.10076667] [ 0. 0. 0. 1. ]] SLAMing on 14.54327356 meters Centerline goodness : 0.784218 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99602057 -0.08909727 0.00217028 0.84992051] [ 0.08910603 0.99601267 -0.00434519 -0.11099601] [-0.00177448 0.00452128 0.9999882 -0.10120533] [ 0. 0. 0. 1. ]] SLAMing on 14.60327356 meters Centerline goodness : 0.781424 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99598284 -0.08951029 0.00246999 0.84944586] [ 0.0895199 0.99597659 -0.00410144 -0.11172829] [-0.00209293 0.00430608 0.99998854 -0.10180869] [ 0. 0. 0. 1. ]] SLAMing on 14.663273559999999 meters Centerline goodness : 0.780275 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99599884 -0.08933481 0.00236841 0.85056888] [ 0.08934279 0.99599476 -0.00350846 -0.11217929] [-0.0020455 0.00370602 0.99999104 -0.1034203 ] [ 0. 0. 0. 1. ]] SLAMing on 14.723273559999999 meters Centerline goodness : 0.782796 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99599514 -0.08937604 0.0023674 0.85093817] [ 0.08938379 0.99599145 -0.00340058 -0.11190261] [-0.00205398 0.00359856 0.99999142 -0.10404559] [ 0. 0. 0. 1. ]] SLAMing on 14.78327356 meters Centerline goodness : 0.781671 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99595929 -0.08977268 0.00244296 0.85058954] [ 0.08978052 0.99595606 -0.0033157 -0.11226217] [-0.00213542 0.00352164 0.99999152 -0.10415342] [ 0. 0. 0. 1. ]] SLAMing on 14.84327356 meters Centerline goodness : 0.783199 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99589897 -0.09043349 0.00264895 0.84954914] [ 0.09044234 0.99589576 -0.00343851 -0.11303272] [-0.00232712 0.00366398 0.99999058 -0.10360853] [ 0. 0. 0. 1. ]] SLAMing on 14.903273559999999 meters Centerline goodness : 0.784337 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99589874 -0.09043939 0.00253108 0.84976595] [ 0.09044782 0.99589525 -0.00344025 -0.11277325] [-0.00220956 0.00365507 0.99999088 -0.10359645] [ 0. 0. 0. 1. ]] SLAMing on 14.96327356 meters Centerline goodness : 0.783894 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99594452 -0.08993847 0.00236235 0.85077115] [ 0.08994545 0.99594207 -0.00303603 -0.11244935] [-0.00207971 0.0032362 0.9999926 -0.10448277] [ 0. 0. 0. 1. ]] SLAMing on 15.02327356 meters Centerline goodness : 0.783429 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.10 [[ 0.99595423 -0.08982962 0.00240906 0.85095003] [ 0.08983622 0.99595265 -0.00278835 -0.11261927] [-0.00214883 0.00299349 0.99999321 -0.10494207] [ 0. 0. 0. 1. ]] SLAMing on 15.083273559999999 meters Centerline goodness : 0.785273 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.11 [[ 0.9960018 -0.08930942 0.00205807 0.85201029] [ 0.08931436 0.99600048 -0.00244757 -0.11274949] [-0.00183125 0.0026216 0.99999489 -0.10528499] [ 0. 0. 0. 1. ]] SLAMing on 15.143273559999999 meters Centerline goodness : 0.783458 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.11 [[ 0.99603936 -0.08889236 0.00193272 0.85242289] [ 0.08889676 0.99603814 -0.00232037 -0.11267365] [-0.0017188 0.002483 0.99999544 -0.1052595 ] [ 0. 0. 0. 1. ]] SLAMing on 15.20327356 meters Centerline goodness : 0.784976 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.11 [[ 0.99608954 -0.08833493 0.00160524 0.8536796 ] [ 0.08833781 0.9960889 -0.00182381 -0.1130633 ] [-0.00143785 0.00195848 0.99999705 -0.10597091] [ 0. 0. 0. 1. ]] SLAMing on 15.26327356 meters Centerline goodness : 0.785646 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.11 [[ 0.99643378 -0.08436681 0.00140428 0.85350362] [ 0.08436352 0.99643249 0.00225704 -0.11416512] [-0.00158969 -0.00213052 0.99999647 -0.10612781] [ 0. 0. 0. 1. ]] SLAMing on 15.323273559999999 meters Centerline goodness : 0.787463 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.11 [[ 0.996537 -0.0831379 0.0014493 0.85366207] [ 0.08313458 0.99653586 0.00221687 -0.11247128] [-0.00162858 -0.00208871 0.99999649 -0.10546329] [ 0. 0. 0. 1. ]] SLAMing on 15.38327356 meters Centerline goodness : 0.784331 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.11 [[ 0.99688819 -0.07882171 0.00103326 0.85391957] [ 0.07881346 0.99686851 0.00645029 -0.11321628] [-0.00153845 -0.00634878 0.99997866 -0.10548765] [ 0. 0. 0. 1. ]] SLAMing on 15.44327356 meters Centerline goodness : 0.784578 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.96974723e-01 -7.77250163e-02 4.71856549e-04 8.55941616e-01] [ 7.77201752e-02 9.96953015e-01 6.65288544e-03 -1.12625384e-01] [-9.87514439e-04 -6.59608585e-03 9.99977758e-01 -1.06003078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.503273559999998 meters Centerline goodness : 0.786056 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.97083475e-01 -7.63186251e-02 -1.07565266e-04 8.58294081e-01] [ 7.63175222e-02 9.97059251e-01 6.96324447e-03 -1.11803586e-01] [-4.24176300e-04 -6.95114511e-03 9.99975751e-01 -1.06729281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.563273559999999 meters Centerline goodness : 0.785206 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.97137829e-01 -7.56026232e-02 -6.26673930e-04 8.59898089e-01] [ 7.56051786e-02 9.97111740e-01 7.21358864e-03 -1.11887089e-01] [ 7.94977079e-05 -7.24032192e-03 9.99973785e-01 -1.07043607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.62327356 meters Centerline goodness : 0.783764 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.97155762e-01 -7.53659303e-02 -6.02357124e-04 8.59872689e-01] [ 7.53683172e-02 9.97129489e-01 7.23864713e-03 -1.12559933e-01] [ 5.50806771e-05 -7.26345734e-03 9.99973619e-01 -1.06702741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68327356 meters Centerline goodness : 0.785464 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.97138714e-01 -7.55912920e-02 -5.85096561e-04 8.59236547e-01] [ 7.55935401e-02 9.97113707e-01 7.06207889e-03 -1.13491731e-01] [ 4.95761334e-05 -7.08610178e-03 9.99974892e-01 -1.05703310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.743273559999999 meters Centerline goodness : 0.784541 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.96930618e-01 -7.82855227e-02 -8.48741856e-04 8.61178189e-01] [ 7.82880833e-02 9.96924318e-01 3.58877041e-03 -1.12893663e-01] [ 5.65182629e-04 -3.64420147e-03 9.99993200e-01 -1.06098571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.80327356 meters Centerline goodness : 0.784745 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 9.96678647e-01 -8.14256185e-02 -1.24242925e-03 8.63397096e-01] [ 8.14260564e-02 9.96679338e-01 3.05949747e-04 -1.13623041e-01] [ 1.21339142e-03 -4.06099694e-04 9.99999181e-01 -1.06906240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86327356 meters Centerline goodness : 0.783335 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.11 [[ 0.9963951 -0.08482369 -0.00131987 0.86458435] [ 0.08481879 0.99639058 -0.00340401 -0.11321935] [ 0.00160384 0.00327979 0.99999334 -0.10711119] [ 0. 0. 0. 1. ]] SLAMing on 15.923273559999998 meters Centerline goodness : 0.782858 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.9961359 -0.08781038 -0.00161438 0.86661971] [ 0.08779706 0.99611371 -0.00701153 -0.11222586] [ 0.00222379 0.0068427 0.99997412 -0.10765671] [ 0. 0. 0. 1. ]] SLAMing on 15.983273559999999 meters Centerline goodness : 0.782596 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99612472 -0.08793589 -0.00167902 0.86701071] [ 0.08792293 0.99610503 -0.00665777 -0.1134028 ] [ 0.00225794 0.00648435 0.99997643 -0.10823183] [ 0. 0. 0. 1. ]] SLAMing on 16.04327356 meters Centerline goodness : 0.783363 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99614405 -0.08771269 -0.00187348 0.86762445] [ 0.08769913 0.99612652 -0.0063893 -0.11353174] [ 0.00242664 0.00620036 0.99997783 -0.10854101] [ 0. 0. 0. 1. ]] SLAMing on 16.103273559999998 meters Centerline goodness : 0.783632 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99611348 -0.08805797 -0.00193023 0.86698345] [ 0.08804313 0.99609373 -0.00675933 -0.11244255] [ 0.00251791 0.00656312 0.99997529 -0.10762045] [ 0. 0. 0. 1. ]] SLAMing on 16.16327356 meters Centerline goodness : 0.784724 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99612722 -0.0878965 -0.00218322 0.86762135] [ 0.08788009 0.99610835 -0.00672703 -0.11215645] [ 0.00276601 0.00650911 0.99997499 -0.10771141] [ 0. 0. 0. 1. ]] SLAMing on 16.22327356 meters Centerline goodness : 0.782841 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99612991 -0.08786463 -0.00223696 0.86797223] [ 0.08784758 0.9961105 -0.00683225 -0.11145926] [ 0.00282857 0.0066093 0.99997416 -0.10799748] [ 0. 0. 0. 1. ]] SLAMing on 16.283273559999998 meters Centerline goodness : 0.781586 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99615855 -0.08753172 -0.00251622 0.86943617] [ 0.08751373 0.99614184 -0.00654112 -0.11034267] [ 0.00307907 0.00629579 0.99997544 -0.10933303] [ 0. 0. 0. 1. ]] SLAMing on 16.34327356 meters Centerline goodness : 0.781070 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99617338 -0.08736096 -0.00257982 0.87000307] [ 0.08734359 0.99615887 -0.00621298 -0.11047536] [ 0.00311268 0.00596388 0.99997737 -0.11004802] [ 0. 0. 0. 1. ]] SLAMing on 16.40327356 meters Centerline goodness : 0.782921 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.9962022 -0.08702894 -0.00267355 0.87021266] [ 0.08701126 0.9961884 -0.00614059 -0.11005364] [ 0.00319777 0.00588464 0.99997757 -0.10990594] [ 0. 0. 0. 1. ]] SLAMing on 16.463273559999998 meters Centerline goodness : 0.783648 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99631525 -0.08572052 -0.00281434 0.87103869] [ 0.08570245 0.99630263 -0.00601324 -0.10822998] [ 0.00331939 0.00574989 0.99997796 -0.10978924] [ 0. 0. 0. 1. ]] SLAMing on 16.52327356 meters Centerline goodness : 0.782764 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 0.99639334 -0.08479626 -0.00314667 0.87217022] [ 0.08477682 0.99638267 -0.00587024 -0.10730383] [ 0.00363306 0.0055823 0.99997782 -0.10990206] [ 0. 0. 0. 1. ]] SLAMing on 16.58327356 meters Centerline goodness : 0.782471 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.11 [[ 9.96806134e-01 -7.97649271e-02 -3.88428696e-03 8.74046594e-01] [ 7.97611352e-02 9.96813374e-01 -1.12177245e-03 -1.08509824e-01] [ 3.96138729e-03 8.08374521e-04 9.99991827e-01 -1.11040219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64327356 meters Centerline goodness : 0.782182 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:-0.11 [[ 9.97052286e-01 -7.66260073e-02 -3.89806267e-03 8.75838251e-01] [ 7.66297362e-02 9.97059285e-01 8.16205174e-04 -1.07463435e-01] [ 3.82405704e-03 -1.11250675e-03 9.99992069e-01 -1.12364566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70327356 meters Centerline goodness : 0.782173 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:-0.11 [[ 0.99750749 -0.07039751 -0.0047957 0.8786558 ] [ 0.07042317 0.99750253 0.00541014 -0.10676021] [ 0.00440286 -0.00573439 0.99997387 -0.11316611] [ 0. 0. 0. 1. ]] SLAMing on 16.76327356 meters Centerline goodness : 0.781151 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:-0.11 [[ 0.99790909 -0.06440482 -0.00542759 0.880883 ] [ 0.06445821 0.9978671 0.01031412 -0.10800341] [ 0.00475173 -0.01064241 0.99993208 -0.11410267] [ 0. 0. 0. 1. ]] SLAMing on 16.82327356 meters Centerline goodness : 0.782055 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:-0.11 [[ 0.9982462 -0.05888117 -0.00612595 0.88279489] [ 0.05896757 0.99814666 0.01503567 -0.10913754] [ 0.00522928 -0.01537053 0.99986819 -0.1145667 ] [ 0. 0. 0. 1. ]] SLAMing on 16.88327356 meters Centerline goodness : 0.780979 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:-0.11 [[ 0.99829474 -0.05801281 -0.00648989 0.8838931 ] [ 0.05810628 0.9981934 0.01528399 -0.10981926] [ 0.0055915 -0.01563503 0.99986213 -0.11424272] [ 0. 0. 0. 1. ]] SLAMing on 16.943273559999998 meters Centerline goodness : 0.782463 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.11 [[ 0.99815383 -0.06032542 -0.00705531 0.88624481] [ 0.06040687 0.99810212 0.01196503 -0.11140682] [ 0.00632012 -0.01236913 0.99990353 -0.11380821] [ 0. 0. 0. 1. ]] SLAMing on 17.00327356 meters Centerline goodness : 0.778590 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.11 [[ 0.9979533 -0.06352031 -0.00737491 0.88796703] [ 0.06358201 0.99794078 0.00845771 -0.1128048 ] [ 0.00682248 -0.00890931 0.99993704 -0.11388226] [ 0. 0. 0. 1. ]] SLAMing on 17.06327356 meters Centerline goodness : 0.779382 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.11 [[ 0.9975228 -0.06990149 -0.00787752 0.89094379] [ 0.06991471 0.99755197 0.00141602 -0.11478493] [ 0.00775925 -0.00196326 0.99996797 -0.1138679 ] [ 0. 0. 0. 1. ]] SLAMing on 17.123273559999998 meters Centerline goodness : 0.776905 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.11 [[ 0.99699258 -0.07709049 -0.00792828 0.89250393] [ 0.07704467 0.99701 -0.00593063 -0.1167414 ] [ 0.00836177 0.00530196 0.99995098 -0.11341879] [ 0. 0. 0. 1. ]] SLAMing on 17.18327356 meters Centerline goodness : 0.775927 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.11 [[ 0.99646398 -0.08364001 -0.00799283 0.89431204] [ 0.08353054 0.9964182 -0.01316874 -0.1168399 ] [ 0.00906564 0.01245453 0.99988134 -0.11289721] [ 0. 0. 0. 1. ]] SLAMing on 17.24327356 meters Centerline goodness : 0.777612 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.12 [[ 0.99572385 -0.0923613 -0.00184276 0.90278126] [ 0.09234106 0.99568628 -0.00905283 -0.12116061] [ 0.00267094 0.00884396 0.99995732 -0.11637562] [ 0. 0. 0. 1. ]] SLAMing on 17.30327356 meters Centerline goodness : 0.776369 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.13, Z:-0.12 [[ 0.99523127 -0.09753085 -0.00156848 0.90201424] [ 0.09750462 0.99516008 -0.01221778 -0.12608259] [ 0.0027525 0.01200658 0.99992413 -0.11593672] [ 0. 0. 0. 1. ]] SLAMing on 17.36327356 meters Centerline goodness : 0.773976 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.13, Z:-0.12 [[ 0.99484243 -0.10142067 -0.00154213 0.90282904] [ 0.10138506 0.9947277 -0.01542291 -0.12841739] [ 0.0030982 0.01518701 0.99987987 -0.11617636] [ 0. 0. 0. 1. ]] SLAMing on 17.42327356 meters Centerline goodness : 0.772596 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.12 [[ 0.99414901 -0.10800425 -0.00168175 0.90579008] [ 0.10794083 0.99391034 -0.02215861 -0.12924462] [ 0.00406473 0.02184743 0.99975305 -0.11727483] [ 0. 0. 0. 1. ]] SLAMing on 17.48327356 meters Centerline goodness : 0.772724 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.12 [[ 0.99378375 -0.11131579 -0.00162889 0.90729339] [ 0.1112386 0.99346727 -0.02547059 -0.12962274] [ 0.00445353 0.02513106 0.99967424 -0.11813468] [ 0. 0. 0. 1. ]] SLAMing on 17.54327356 meters Centerline goodness : 0.773692 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.12 [[ 0.99343181 -0.11441323 -0.00168661 0.90863864] [ 0.11431615 0.99301795 -0.02910623 -0.12849734] [ 0.00500497 0.02872225 0.9995749 -0.11826519] [ 0. 0. 0. 1. ]] SLAMing on 17.603273559999998 meters Centerline goodness : 0.773752 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.12 [[ 0.99300035 -0.11805947 0.00350344 0.9175319 ] [ 0.11810675 0.99278843 -0.02054077 -0.12976154] [-0.00105314 0.02081077 0.99978288 -0.12196084] [ 0. 0. 0. 1. ]] SLAMing on 17.66327356 meters Centerline goodness : 0.776335 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.12 [[ 0.99299284 -0.1181229 0.00349413 0.91765471] [ 0.11816981 0.99278405 -0.02038924 -0.13012319] [-0.00106048 0.02065927 0.99978601 -0.12220936] [ 0. 0. 0. 1. ]] SLAMing on 17.72327356 meters Centerline goodness : 0.774623 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.12 [[ 9.93002421e-01 -1.18051833e-01 3.15539627e-03 9.18724844e-01] [ 1.18091646e-01 9.92796686e-01 -2.02263178e-02 -1.29736712e-01] [-7.44913069e-04 2.04574085e-02 9.99790448e-01 -1.22964455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.783273559999998 meters Centerline goodness : 0.773886 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.12 [[ 9.93013702e-01 -1.17961728e-01 2.96970669e-03 9.19558104e-01] [ 1.17997608e-01 9.92813296e-01 -1.99580340e-02 -1.29874609e-01] [-5.94080121e-04 2.01690195e-02 9.99796408e-01 -1.23783895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84327356 meters Centerline goodness : 0.772486 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.12 [[ 9.92995212e-01 -1.18116776e-01 2.98947409e-03 9.19365651e-01] [ 1.18153041e-01 9.92794237e-01 -1.99865263e-02 -1.29493564e-01] [-6.07188612e-04 2.01997403e-02 9.99795780e-01 -1.23743060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90327356 meters Centerline goodness : 0.773483 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99251446 -0.12178242 0.00917001 0.92674171] [ 0.12188357 0.99247866 -0.0114236 -0.13014707] [-0.00770984 0.01245576 0.9998927 -0.1273096 ] [ 0. 0. 0. 1. ]] SLAMing on 17.963273559999998 meters Centerline goodness : 0.774343 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99250823 -0.12184513 0.00900999 0.92709398] [ 0.12194341 0.99247263 -0.0113082 -0.13054027] [-0.00756432 0.01232219 0.99989547 -0.1274134 ] [ 0. 0. 0. 1. ]] SLAMing on 18.02327356 meters Centerline goodness : 0.775304 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.9924261 -0.12250123 0.00915867 0.92667423] [ 0.12260092 0.99239222 -0.01125556 -0.13171965] [-0.00771017 0.01229317 0.99989471 -0.12760204] [ 0. 0. 0. 1. ]] SLAMing on 18.08327356 meters Centerline goodness : 0.772054 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99243543 -0.12244572 0.00888632 0.92787405] [ 0.12254106 0.99240114 -0.01112024 -0.13145036] [-0.00745717 0.01212506 0.99989868 -0.12869981] [ 0. 0. 0. 1. ]] SLAMing on 18.14327356 meters Centerline goodness : 0.774287 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99244094 -0.12240136 0.00888215 0.92839563] [ 0.12249702 0.99240602 -0.0111703 -0.13003994] [-0.00744744 0.0121739 0.99989816 -0.12957861] [ 0. 0. 0. 1. ]] SLAMing on 18.20327356 meters Centerline goodness : 0.773753 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99238744 -0.12281805 0.00910467 0.92732424] [ 0.12292107 0.99234651 -0.01178191 -0.12864378] [-0.00758796 0.01281137 0.99988914 -0.12871612] [ 0. 0. 0. 1. ]] SLAMing on 18.26327356 meters Centerline goodness : 0.774106 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99236516 -0.12299081 0.00920076 0.92692663] [ 0.12309646 0.99232259 -0.01196371 -0.12794865] [-0.00765869 0.01300495 0.9998861 -0.1284993 ] [ 0. 0. 0. 1. ]] SLAMing on 18.32327356 meters Centerline goodness : 0.772457 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99235551 -0.12307497 0.00911525 0.92753137] [ 0.12318003 0.99231138 -0.01203379 -0.12693979] [-0.00756411 0.01306462 0.99988604 -0.12934032] [ 0. 0. 0. 1. ]] SLAMing on 18.38327356 meters Centerline goodness : 0.774135 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.13 [[ 0.99240701 -0.12267866 0.00884745 0.92914307] [ 0.12277977 0.99236177 -0.01196881 -0.12527083] [-0.00731155 0.01296422 0.99988923 -0.13092435] [ 0. 0. 0. 1. ]] SLAMing on 18.443273559999998 meters Centerline goodness : 0.772395 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99242604 -0.1225362 0.00868545 0.92991451] [ 0.12263525 0.99237959 -0.01197299 -0.12418426] [-0.00715213 0.01294745 0.9998906 -0.13166733] [ 0. 0. 0. 1. ]] SLAMing on 18.50327356 meters Centerline goodness : 0.772759 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99236141 -0.1230435 0.00889545 0.92903227] [ 0.12314863 0.99231033 -0.01243464 -0.12307937] [-0.00729704 0.01343512 0.99988312 -0.13121292] [ 0. 0. 0. 1. ]] SLAMing on 18.56327356 meters Centerline goodness : 0.773124 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99231294 -0.12342058 0.00907733 0.92881877] [ 0.12352686 0.99226544 -0.01226392 -0.12350491] [-0.0074935 0.01329094 0.99988359 -0.13181107] [ 0. 0. 0. 1. ]] SLAMing on 18.623273559999998 meters Centerline goodness : 0.772549 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99226967 -0.12376133 0.0091669 0.92876365] [ 0.12386868 0.992223 -0.01225029 -0.12347245] [-0.0075795 0.01329108 0.99988294 -0.13223872] [ 0. 0. 0. 1. ]] SLAMing on 18.68327356 meters Centerline goodness : 0.773245 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99223324 -0.12405175 0.00918494 0.928563 ] [ 0.12415895 0.99218733 -0.01220038 -0.12401287] [-0.0075997 0.01324602 0.99988339 -0.13220003] [ 0. 0. 0. 1. ]] SLAMing on 18.74327356 meters Centerline goodness : 0.787791 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99220485 -0.12428006 0.00916578 0.92862429] [ 0.12438561 0.99216117 -0.01201769 -0.1244416 ] [-0.00760038 0.0130641 0.99988578 -0.13249782] [ 0. 0. 0. 1. ]] SLAMing on 18.803273559999997 meters Centerline goodness : 0.787175 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99219816 -0.12433317 0.0091697 0.92854346] [ 0.12443987 0.9921526 -0.01216287 -0.12397669] [-0.00758549 0.01320906 0.99988398 -0.13234421] [ 0. 0. 0. 1. ]] SLAMing on 18.86327356 meters Centerline goodness : 0.777552 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99261341 -0.12099197 0.00891999 0.92809864] [ 0.12106553 0.99261044 -0.00822557 -0.12460943] [-0.00785884 0.00924471 0.99992638 -0.13282065] [ 0. 0. 0. 1. ]] SLAMing on 18.92327356 meters Centerline goodness : 0.774696 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99306454 -0.11724787 0.00870395 0.92780676] [ 0.11728774 0.99308901 -0.00421992 -0.12427001] [-0.00814902 0.00521152 0.99995322 -0.13345545] [ 0. 0. 0. 1. ]] SLAMing on 18.98327356 meters Centerline goodness : 0.774435 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 0.99315161 -0.11653505 0.008334 0.92877546] [ 0.11657331 0.99317295 -0.00426112 -0.12279337] [-0.00778054 0.00520346 0.99995619 -0.13344902] [ 0. 0. 0. 1. ]] SLAMing on 19.04327356 meters Centerline goodness : 0.775543 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 9.93533580e-01 -1.13240375e-01 8.22458435e-03 9.27557050e-01] [ 1.13249769e-01 9.93566315e-01 -6.84142933e-04 -1.23103978e-01] [-8.09419736e-03 1.61115126e-03 9.99965944e-01 -1.32872999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103273559999998 meters Centerline goodness : 0.773285 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 9.93630590e-01 -1.12403500e-01 7.98150144e-03 9.28963016e-01] [ 1.12409807e-01 9.93661872e-01 -3.44609442e-04 -1.22020127e-01] [-7.89217836e-03 1.23961352e-03 9.99968088e-01 -1.33957918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16327356 meters Centerline goodness : 0.773742 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 9.93658603e-01 -1.12172250e-01 7.74378526e-03 9.30023457e-01] [ 1.12177494e-01 9.93688155e-01 -2.44735854e-04 -1.21747932e-01] [-7.66745512e-03 1.11186231e-03 9.99969986e-01 -1.34720118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22327356 meters Centerline goodness : 0.775808 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 9.93670915e-01 -1.12058504e-01 7.81057524e-03 9.30414898e-01] [ 1.12061030e-01 9.93701319e-01 1.14859879e-04 -1.22276883e-01] [-7.77424994e-03 7.61128187e-04 9.99969490e-01 -1.35635166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283273559999998 meters Centerline goodness : 0.777465 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 9.93610077e-01 -1.12570171e-01 8.18357136e-03 9.29108103e-01] [ 1.12575060e-01 9.93643214e-01 -1.37737926e-04 -1.22378890e-01] [-8.11604497e-03 1.05812383e-03 9.99966505e-01 -1.34974159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34327356 meters Centerline goodness : 0.776529 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.13 [[ 9.93585426e-01 -1.12780361e-01 8.28203567e-03 9.28755796e-01] [ 1.12786356e-01 9.93619228e-01 -2.58829728e-04 -1.22166982e-01] [-8.19999898e-03 1.19127007e-03 9.99965670e-01 -1.34809238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40327356 meters Centerline goodness : 0.774625 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 9.93558620e-01 -1.13014093e-01 8.31165411e-03 9.28839209e-01] [ 1.13021023e-01 9.93592529e-01 -3.67312914e-04 -1.21976365e-01] [-8.21688589e-03 1.30433856e-03 9.99965390e-01 -1.35093438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463273559999998 meters Centerline goodness : 0.788572 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 9.93569631e-01 -1.12914797e-01 8.34490576e-03 9.29192268e-01] [ 1.12924420e-01 9.93603341e-01 -6.89647859e-04 -1.20296144e-01] [-8.21365480e-03 1.62755681e-03 9.99964943e-01 -1.35555094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52327356 meters Centerline goodness : 0.775206 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 9.93614381e-01 -1.12541919e-01 8.04855917e-03 9.30258341e-01] [ 1.12551470e-01 9.93645619e-01 -7.42358829e-04 -1.18889106e-01] [-7.91386907e-03 1.64349558e-03 9.99967334e-01 -1.36151848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58327356 meters Centerline goodness : 0.776507 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99361516 -0.1125263 0.0081704 0.92999837] [ 0.11253827 0.99364687 -0.00101865 -0.11749833] [-0.00800387 0.00193163 0.9999661 -0.13608852] [ 0. 0. 0. 1. ]] SLAMing on 19.64327356 meters Centerline goodness : 0.779925 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99359013 -0.11274907 0.00814261 0.92958986] [ 0.11276272 0.99362118 -0.00123511 -0.11695347] [-0.00795141 0.00214538 0.99996609 -0.13552426] [ 0. 0. 0. 1. ]] SLAMing on 19.70327356 meters Centerline goodness : 0.776817 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99353703 -0.1132021 0.00833397 0.92908016] [ 0.11321617 0.99356961 -0.00123443 -0.11715727] [-0.00814064 0.00217 0.99996451 -0.1356154 ] [ 0. 0. 0. 1. ]] SLAMing on 19.76327356 meters Centerline goodness : 0.778666 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99347031 -0.11376922 0.00856187 0.92859781] [ 0.11378369 0.9935048 -0.00122064 -0.11784134] [-0.00836739 0.00218687 0.9999626 -0.13592177] [ 0. 0. 0. 1. ]] SLAMing on 19.82327356 meters Centerline goodness : 0.777600 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99338502 -0.11449594 0.00876772 0.92811697] [ 0.11451206 0.99342093 -0.00135723 -0.11826813] [-0.00855464 0.00235226 0.99996064 -0.13619461] [ 0. 0. 0. 1. ]] SLAMing on 19.88327356 meters Centerline goodness : 0.780612 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99337749 -0.11455788 0.0088127 0.92811419] [ 0.11457409 0.99341378 -0.00135506 -0.11802667] [-0.00859942 0.0023558 0.99996025 -0.13635775] [ 0. 0. 0. 1. ]] SLAMing on 19.943273559999998 meters Centerline goodness : 0.779651 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.99336844 -0.11464161 0.00874339 0.92841183] [ 0.11465958 0.99340358 -0.00158183 -0.11674269] [-0.00850437 0.00257386 0.99996052 -0.13665109] [ 0. 0. 0. 1. ]] SLAMing on 20.00327356 meters Centerline goodness : 0.781272 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.9932719 -0.11544692 0.00910765 0.92693517] [ 0.11547069 0.99330861 -0.00212752 -0.11586473] [-0.00880109 0.00316487 0.99995626 -0.13590523] [ 0. 0. 0. 1. ]] SLAMing on 20.06327356 meters Centerline goodness : 0.785324 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.14 [[ 0.9931841 -0.11618613 0.00928058 0.92589422] [ 0.11621405 0.99322098 -0.0025267 -0.11589081] [-0.0089241 0.00358801 0.99995374 -0.13518958] [ 0. 0. 0. 1. ]] SLAMing on 20.123273559999998 meters Centerline goodness : 0.783519 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:-0.13 [[ 0.9931061 -0.11683601 0.00946695 0.92483722] [ 0.11686983 0.99314241 -0.00309908 -0.1146283 ] [-0.00903994 0.00418411 0.99995039 -0.1344502 ] [ 0. 0. 0. 1. ]] SLAMing on 20.18327356 meters Centerline goodness : 0.782016 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:-0.13 [[ 0.99308851 -0.11698804 0.00943466 0.92482887] [ 0.11702186 0.99312446 -0.00311385 -0.11434928] [-0.0090055 0.00419639 0.99995064 -0.13446224] [ 0. 0. 0. 1. ]] SLAMing on 20.24327356 meters Centerline goodness : 0.782581 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.14 [[ 0.99308993 -0.11699015 0.0092572 0.92555254] [ 0.11702084 0.99312539 -0.00284473 -0.114602 ] [-0.00886075 0.00390836 0.9999531 -0.1350967 ] [ 0. 0. 0. 1. ]] SLAMing on 20.303273559999997 meters Centerline goodness : 0.781923 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.13 [[ 0.99308024 -0.11707714 0.00919687 0.92555796] [ 0.11710832 0.99311484 -0.0029264 -0.1139618 ] [-0.00879094 0.00398318 0.99995343 -0.13495767] [ 0. 0. 0. 1. ]] SLAMing on 20.36327356 meters Centerline goodness : 0.783944 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.13 [[ 0.99304661 -0.1173485 0.00936784 0.92506556] [ 0.11738145 0.99308223 -0.00304649 -0.11366159] [-0.00894553 0.00412491 0.99995148 -0.13482933] [ 0. 0. 0. 1. ]] SLAMing on 20.42327356 meters Centerline goodness : 0.781030 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:-0.14 [[ 0.99302827 -0.11748903 0.009549 0.92491526] [ 0.11752052 0.9930665 -0.00280397 -0.1144128 ] [-0.00915336 0.00390663 0.99995048 -0.13515453] [ 0. 0. 0. 1. ]] SLAMing on 20.48327356 meters Centerline goodness : 0.781440 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.13 [[ 0.99290694 -0.11848785 0.0098207 0.92386721] [ 0.11852177 0.99294709 -0.00294511 -0.11556396] [-0.00940248 0.00408818 0.99994744 -0.13485652] [ 0. 0. 0. 1. ]] SLAMing on 20.54327356 meters Centerline goodness : 0.780748 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.13 [[ 0.99283273 -0.1190804 0.01015055 0.92289959] [ 0.11911528 0.99287619 -0.00290229 -0.11671426] [-0.00973264 0.00409057 0.99994427 -0.13467179] [ 0. 0. 0. 1. ]] SLAMing on 20.603273559999998 meters Centerline goodness : 0.782256 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.13 [[ 0.99269803 -0.12015304 0.01067063 0.92109419] [ 0.12019048 0.9927465 -0.00293788 -0.11856117] [-0.01024024 0.00419894 0.99993875 -0.13400951] [ 0. 0. 0. 1. ]] SLAMing on 20.66327356 meters Centerline goodness : 0.783379 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.13 [[ 0.99264182 -0.12059516 0.01090972 0.92030877] [ 0.12063147 0.9926936 -0.00273112 -0.12006418] [-0.01050065 0.00402708 0.99993676 -0.13371182] [ 0. 0. 0. 1. ]] SLAMing on 20.72327356 meters Centerline goodness : 0.785973 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.13 [[ 0.99265457 -0.12048939 0.01091809 0.92049629] [ 0.12052271 0.99270756 -0.00244422 -0.12080253] [-0.01054396 0.00374214 0.99993741 -0.1339231 ] [ 0. 0. 0. 1. ]] SLAMing on 20.783273559999998 meters Centerline goodness : 0.784110 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.13 [[ 0.99260659 -0.12086387 0.01113882 0.91985703] [ 0.12089645 0.99266247 -0.00229725 -0.12213461] [-0.01077943 0.00362691 0.99993532 -0.13369955] [ 0. 0. 0. 1. ]] SLAMing on 20.84327356 meters Centerline goodness : 0.785887 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.13 [[ 0.99245863 -0.12205577 0.01132523 0.91863633] [ 0.12208787 0.99251689 -0.0021854 -0.12537045] [-0.01097374 0.00355159 0.99993348 -0.13302983] [ 0. 0. 0. 1. ]] SLAMing on 20.90327356 meters Centerline goodness : 0.785747 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.13 [[ 0.9923653 -0.12278587 0.01160751 0.91737591] [ 0.12281733 0.99242721 -0.00203448 -0.12803182] [-0.01126981 0.00344455 0.99993056 -0.13214391] [ 0. 0. 0. 1. ]] SLAMing on 20.963273559999998 meters Centerline goodness : 0.783452 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.13 [[ 0.99234859 -0.12291357 0.0116849 0.91722709] [ 0.1229425 0.99241219 -0.0017879 -0.12906622] [-0.01137648 0.00321079 0.99993013 -0.13219323] [ 0. 0. 0. 1. ]] SLAMing on 21.02327356 meters Centerline goodness : 0.781099 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.13 [[ 0.99232613 -0.12307174 0.01192453 0.91689868] [ 0.12309628 0.99239382 -0.0013431 -0.13143341] [-0.01166853 0.00280066 0.999928 -0.13230208] [ 0. 0. 0. 1. ]] SLAMing on 21.08327356 meters Centerline goodness : 0.785664 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.13 [[ 0.99225557 -0.12360888 0.01223658 0.91589241] [ 0.12363153 0.99232757 -0.00110898 -0.13428349] [-0.01200561 0.00261322 0.99992452 -0.13176726] [ 0. 0. 0. 1. ]] SLAMing on 21.143273559999997 meters Centerline goodness : 0.782942 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.13 [[ 0.99224897 -0.12365617 0.01229329 0.91533531] [ 0.12367854 0.99232176 -0.00107341 -0.13530584] [-0.01206617 0.00258551 0.99992386 -0.13092927] [ 0. 0. 0. 1. ]] SLAMing on 21.20327356 meters Centerline goodness : 0.803648 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.13 [[ 9.92331414e-01 -1.23018901e-01 1.20297403e-02 9.16106630e-01] [ 1.23033360e-01 9.92402426e-01 -4.66507592e-04 -1.37032170e-01] [-1.18809542e-02 1.94298951e-03 9.99927531e-01 -1.30880250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26327356 meters Centerline goodness : 0.808628 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.13 [[ 9.92429216e-01 -1.22265637e-01 1.16346358e-02 9.17692066e-01] [ 1.22265403e-01 9.92497170e-01 7.34114658e-04 -1.40144741e-01] [-1.16371001e-02 6.93956589e-04 9.99932046e-01 -1.31828055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32327356 meters Centerline goodness : 0.811201 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.13 [[ 9.92520367e-01 -1.21544698e-01 1.14108609e-02 9.18739267e-01] [ 1.21532956e-01 9.92585908e-01 1.71944035e-03 -1.42586932e-01] [-1.15352486e-02 -3.19783906e-04 9.99933416e-01 -1.32497290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38327356 meters Centerline goodness : 0.785242 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.13 [[ 9.92555890e-01 -1.21242629e-01 1.15338860e-02 9.18694681e-01] [ 1.21226974e-01 9.92622698e-01 2.04947369e-03 -1.43618887e-01] [-1.16972806e-02 -6.35999082e-04 9.99931382e-01 -1.32514694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.443273559999998 meters Centerline goodness : 0.811404 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.99258714 -0.12097093 0.01169632 0.91847083] [ 0.12094758 0.99265526 0.00268656 -0.14581435] [-0.01193541 -0.00125201 0.99992799 -0.1325717 ] [ 0. 0. 0. 1. ]] SLAMing on 21.50327356 meters Centerline goodness : 0.812707 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.99258963 -0.12093592 0.01184618 0.91820254] [ 0.12090733 0.99265895 0.00310355 -0.14782777] [-0.01213455 -0.00164826 0.99992502 -0.13249573] [ 0. 0. 0. 1. ]] SLAMing on 21.56327356 meters Centerline goodness : 0.812331 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.99254222 -0.12128792 0.01221423 0.91728345] [ 0.12125595 0.9926157 0.00332735 -0.14985987] [-0.0125276 -0.00182148 0.99991987 -0.13217807] [ 0. 0. 0. 1. ]] SLAMing on 21.623273559999998 meters Centerline goodness : 0.786630 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.99248059 -0.12176376 0.01248434 0.91642426] [ 0.12172819 0.99255704 0.00357344 -0.15221128] [-0.01282654 -0.00202688 0.99991568 -0.13183591] [ 0. 0. 0. 1. ]] SLAMing on 21.68327356 meters Centerline goodness : 0.786102 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.99243773 -0.12209068 0.01269705 0.91596237] [ 0.12205354 0.99251676 0.00366317 -0.15363041] [-0.01304927 -0.00208574 0.99991268 -0.13175627] [ 0. 0. 0. 1. ]] SLAMing on 21.74327356 meters Centerline goodness : 0.806893 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.16, Z:-0.13 [[ 0.99241576 -0.12225925 0.01279179 0.91620628] [ 0.12221791 0.99249536 0.00396772 -0.15516133] [-0.01318088 -0.00237424 0.99991031 -0.13242699] [ 0. 0. 0. 1. ]] SLAMing on 21.803273559999997 meters Centerline goodness : 0.786312 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.16, Z:-0.13 [[ 0.99237469 -0.12256099 0.01308751 0.91566963] [ 0.12251894 0.99245823 0.00397096 -0.15574606] [-0.01347549 -0.00233721 0.99990647 -0.13255582] [ 0. 0. 0. 1. ]] SLAMing on 21.86327356 meters Centerline goodness : 0.784850 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.16, Z:-0.13 [[ 0.99232831 -0.12290437 0.01338057 0.915047 ] [ 0.12286225 0.99241596 0.00392906 -0.15628335] [-0.01376199 -0.00225495 0.99990276 -0.13251783] [ 0. 0. 0. 1. ]] SLAMing on 21.92327356 meters Centerline goodness : 0.784903 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99226863 -0.12335983 0.01361349 0.91443389] [ 0.12331796 0.99235964 0.00387663 -0.1570737 ] [-0.01398769 -0.00216787 0.99989982 -0.13244237] [ 0. 0. 0. 1. ]] SLAMing on 21.98327356 meters Centerline goodness : 0.783859 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99216876 -0.12410918 0.01407375 0.91321001] [ 0.1240693 0.99226675 0.00367572 -0.15771318] [-0.0144211 -0.00190081 0.9998942 -0.13219007] [ 0. 0. 0. 1. ]] SLAMing on 22.04327356 meters Centerline goodness : 0.784095 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99211709 -0.12452104 0.01407802 0.91320648] [ 0.12448062 0.99221508 0.00371561 -0.15881263] [-0.01443109 -0.00193387 0.999894 -0.13230575] [ 0. 0. 0. 1. ]] SLAMing on 22.103273559999998 meters Centerline goodness : 0.784243 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99200494 -0.12538781 0.01428628 0.91270713] [ 0.1253477 0.99210607 0.00367286 -0.16070165] [-0.01463404 -0.00185274 0.9998912 -0.13240901] [ 0. 0. 0. 1. ]] SLAMing on 22.16327356 meters Centerline goodness : 0.783496 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.9919712 -0.12562636 0.01453106 0.91241745] [ 0.12558308 0.99207561 0.00385692 -0.16158777] [-0.01490044 -0.0020011 0.99988698 -0.13277782] [ 0. 0. 0. 1. ]] SLAMing on 22.22327356 meters Centerline goodness : 0.783957 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99195942 -0.12571965 0.0145287 0.9124865 ] [ 0.12567459 0.99206354 0.0039776 -0.16216952] [-0.01491346 -0.00211973 0.99988654 -0.13290705] [ 0. 0. 0. 1. ]] SLAMing on 22.283273559999998 meters Centerline goodness : 0.792591 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99189879 -0.12615963 0.01485037 0.91181119] [ 0.12611528 0.99200797 0.00388997 -0.163108 ] [-0.01522244 -0.0019856 0.99988216 -0.13284247] [ 0. 0. 0. 1. ]] SLAMing on 22.34327356 meters Centerline goodness : 0.792287 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.13 [[ 0.99184808 -0.12653844 0.01501381 0.91139287] [ 0.12649317 0.99195969 0.00393079 -0.16411034] [-0.01539049 -0.0019996 0.99987956 -0.13277825] [ 0. 0. 0. 1. ]] SLAMing on 22.40327356 meters Centerline goodness : 0.790164 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99180454 -0.12685696 0.01520086 0.91081802] [ 0.12681178 0.99191911 0.00390442 -0.16505379] [-0.01557333 -0.00194478 0.99987684 -0.13247099] [ 0. 0. 0. 1. ]] SLAMing on 22.463273559999998 meters Centerline goodness : 0.788607 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99178814 -0.12698018 0.01524217 0.91073316] [ 0.12693443 0.9919033 0.0039359 -0.16544463] [-0.01561854 -0.00196883 0.99987608 -0.13245135] [ 0. 0. 0. 1. ]] SLAMing on 22.52327356 meters Centerline goodness : 0.790165 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99179669 -0.12691147 0.01525786 0.91068604] [ 0.12686447 0.99191194 0.00401394 -0.16581895] [-0.01564387 -0.00204533 0.99987554 -0.13234764] [ 0. 0. 0. 1. ]] SLAMing on 22.58327356 meters Centerline goodness : 0.782397 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99180334 -0.12685464 0.01529813 0.91082294] [ 0.12680379 0.9919187 0.0042537 -0.1667916 ] [-0.0157141 -0.00227897 0.99987393 -0.13256605] [ 0. 0. 0. 1. ]] SLAMing on 22.643273559999997 meters Centerline goodness : 0.786362 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99167884 -0.12777477 0.01570604 0.90934897] [ 0.12772678 0.99180122 0.00402554 -0.16860576] [-0.01609163 -0.00198596 0.99986855 -0.13168802] [ 0. 0. 0. 1. ]] SLAMing on 22.70327356 meters Centerline goodness : 0.783911 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99157037 -0.12856054 0.01613656 0.90800851] [ 0.12851603 0.99170027 0.00376995 -0.17000772] [-0.0164873 -0.00166436 0.99986269 -0.13089547] [ 0. 0. 0. 1. ]] SLAMing on 22.76327356 meters Centerline goodness : 0.786103 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99149206 -0.12914331 0.01629425 0.90738677] [ 0.12909881 0.99162461 0.00375825 -0.17138343] [-0.01664313 -0.0016227 0.99986018 -0.13053224] [ 0. 0. 0. 1. ]] SLAMing on 22.82327356 meters Centerline goodness : 0.786328 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99147752 -0.12925644 0.01628187 0.90756896] [ 0.12920974 0.99160965 0.00389278 -0.17215927] [-0.01664842 -0.00175583 0.99985986 -0.13073563] [ 0. 0. 0. 1. ]] SLAMing on 22.88327356 meters Centerline goodness : 0.784648 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99151169 -0.12901182 0.01614057 0.90849834] [ 0.1289624 0.99164113 0.00407001 -0.17248438] [-0.01653074 -0.00195394 0.99986145 -0.1314575 ] [ 0. 0. 0. 1. ]] SLAMing on 22.943273559999998 meters Centerline goodness : 0.794059 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99153727 -0.12882448 0.01606555 0.90886445] [ 0.12877328 0.99166523 0.00418607 -0.17239071] [-0.01647091 -0.00208183 0.99986218 -0.13174236] [ 0. 0. 0. 1. ]] SLAMing on 23.00327356 meters Centerline goodness : 0.780790 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99150955 -0.12900267 0.01634369 0.90815137] [ 0.12895303 0.99164239 0.00405996 -0.1724316 ] [-0.01673084 -0.00191792 0.99985819 -0.13139244] [ 0. 0. 0. 1. ]] SLAMing on 23.06327356 meters Centerline goodness : 0.800185 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99140439 -0.12976551 0.0166809 0.90665494] [ 0.12972175 0.99154359 0.00368403 -0.17374091] [-0.0170179 -0.00148848 0.99985408 -0.13011382] [ 0. 0. 0. 1. ]] SLAMing on 23.123273559999998 meters Centerline goodness : 0.796036 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99137617 -0.12996219 0.01682605 0.90635906] [ 0.12991688 0.99151775 0.00376297 -0.17482816] [-0.01717237 -0.00154453 0.99985135 -0.13000722] [ 0. 0. 0. 1. ]] SLAMing on 23.18327356 meters Centerline goodness : 0.798555 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.9914224 -0.12964738 0.01652838 0.90739957] [ 0.12959851 0.99155849 0.00399885 -0.17494634] [-0.0169073 -0.0018225 0.9998554 -0.13051761] [ 0. 0. 0. 1. ]] SLAMing on 23.24327356 meters Centerline goodness : 0.798822 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99147334 -0.12927769 0.01636767 0.9081703 ] [ 0.12922455 0.99160617 0.0042682 -0.17512317] [-0.01678207 -0.0021167 0.99985693 -0.13104091] [ 0. 0. 0. 1. ]] SLAMing on 23.303273559999997 meters Centerline goodness : 0.798869 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99155444 -0.1286675 0.01626248 0.90851258] [ 0.12861196 0.99168514 0.00442095 -0.17491634] [-0.01669609 -0.00229206 0.99985798 -0.13089168] [ 0. 0. 0. 1. ]] SLAMing on 23.36327356 meters Centerline goodness : 0.794711 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.13 [[ 0.99159913 -0.12833468 0.01616738 0.90839089] [ 0.12827889 0.99172817 0.0044459 -0.17470974] [-0.01660421 -0.00233462 0.99985942 -0.1302291 ] [ 0. 0. 0. 1. ]] SLAMing on 23.42327356 meters Centerline goodness : 0.795182 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99163147 -0.12810035 0.01604162 0.90866014] [ 0.12804334 0.9917582 0.00453622 -0.17500231] [-0.0164905 -0.00244424 0.99986103 -0.13009514] [ 0. 0. 0. 1. ]] SLAMing on 23.48327356 meters Centerline goodness : 0.798292 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99169551 -0.12763441 0.01579475 0.90976658] [ 0.12756894 0.99181665 0.00508943 -0.17596571] [-0.01631508 -0.00303225 0.9998623 -0.13089271] [ 0. 0. 0. 1. ]] SLAMing on 23.54327356 meters Centerline goodness : 0.797105 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99171062 -0.12750831 0.01586462 0.90983576] [ 0.12743635 0.99183166 0.00547121 -0.17765108] [-0.01643266 -0.00340412 0.99985918 -0.13100847] [ 0. 0. 0. 1. ]] SLAMing on 23.603273559999998 meters Centerline goodness : 0.795055 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99169953 -0.12758332 0.01595429 0.90939394] [ 0.12751042 0.99182192 0.00551053 -0.17892384] [-0.01652686 -0.00343045 0.99985754 -0.13039928] [ 0. 0. 0. 1. ]] SLAMing on 23.66327356 meters Centerline goodness : 0.793049 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.9917032 -0.12755782 0.01592986 0.90937727] [ 0.12748379 0.99182494 0.00558324 -0.17940995] [-0.01651181 -0.00350612 0.99985752 -0.13019764] [ 0. 0. 0. 1. ]] SLAMing on 23.72327356 meters Centerline goodness : 0.792166 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99173855 -0.12729271 0.01584993 0.90948047] [ 0.12721181 0.99185733 0.00601566 -0.18074888] [-0.01648662 -0.00394966 0.99985629 -0.13000174] [ 0. 0. 0. 1. ]] SLAMing on 23.783273559999998 meters Centerline goodness : 0.793355 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.9917982 -0.12684601 0.01569796 0.91034765] [ 0.12675416 0.99191141 0.00671815 -0.1830119 ] [-0.01642315 -0.00467327 0.99985421 -0.13060054] [ 0. 0. 0. 1. ]] SLAMing on 23.84327356 meters Centerline goodness : 0.791136 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99179959 -0.12683222 0.01572164 0.91033551] [ 0.12673687 0.99191221 0.00692328 -0.18408347] [-0.01647258 -0.00487399 0.99985244 -0.13053418] [ 0. 0. 0. 1. ]] SLAMing on 23.90327356 meters Centerline goodness : 0.789478 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99181321 -0.12672701 0.01571079 0.91061846] [ 0.1266262 0.99192396 0.00725735 -0.18572712] [-0.01650361 -0.00520854 0.99985024 -0.1306833 ] [ 0. 0. 0. 1. ]] SLAMing on 23.963273559999998 meters Centerline goodness : 0.790172 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99181502 -0.12670493 0.01577398 0.91067492] [ 0.12659971 0.99192551 0.00750328 -0.18657189] [-0.01659732 -0.00544489 0.99984743 -0.13092644] [ 0. 0. 0. 1. ]] SLAMing on 24.02327356 meters Centerline goodness : 0.789598 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99183414 -0.12655219 0.01579786 0.91066525] [ 0.126442 0.99194339 0.00779356 -0.18770361] [-0.01665687 -0.00573241 0.99984483 -0.13082623] [ 0. 0. 0. 1. ]] SLAMing on 24.08327356 meters Centerline goodness : 0.789613 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99181297 -0.12669404 0.01598913 0.91039006] [ 0.12658307 0.99192554 0.00777553 -0.1885935 ] [-0.01684514 -0.00568792 0.99984193 -0.13074082] [ 0. 0. 0. 1. ]] SLAMing on 24.143273559999997 meters Centerline goodness : 0.789046 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99177539 -0.1269694 0.01613527 0.91018716] [ 0.12685785 0.99189053 0.00776279 -0.18951733] [-0.01699006 -0.00565206 0.99983968 -0.13081737] [ 0. 0. 0. 1. ]] SLAMing on 24.20327356 meters Centerline goodness : 0.789925 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99173807 -0.12724719 0.0162407 0.91025367] [ 0.12713364 0.99185456 0.00784676 -0.19027915] [-0.01710689 -0.00571719 0.99983732 -0.13132115] [ 0. 0. 0. 1. ]] SLAMing on 24.26327356 meters Centerline goodness : 0.788096 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99178037 -0.12690696 0.01631916 0.91049088] [ 0.12679702 0.99189951 0.00760835 -0.18891764] [-0.01715251 -0.00547659 0.99983789 -0.1316348 ] [ 0. 0. 0. 1. ]] SLAMing on 24.32327356 meters Centerline goodness : 0.790147 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99189981 -0.12594786 0.01648969 0.91038751] [ 0.1258413 0.99202314 0.00735234 -0.18597802] [-0.01728416 -0.0052177 0.999837 -0.13143116] [ 0. 0. 0. 1. ]] SLAMing on 24.38327356 meters Centerline goodness : 0.792315 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99196535 -0.12546721 0.01620856 0.91107364] [ 0.12537053 0.99208632 0.00685314 -0.18373208] [-0.01694014 -0.004766 0.99984515 -0.13124805] [ 0. 0. 0. 1. ]] SLAMing on 24.443273559999998 meters Centerline goodness : 0.789606 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99300831 -0.11769596 0.0090643 0.90539141] [ 0.11765481 0.99304223 0.00494812 -0.18539695] [-0.00958361 -0.00384706 0.99994668 -0.12691754] [ 0. 0. 0. 1. ]] SLAMing on 24.50327356 meters Centerline goodness : 0.792900 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 9.93633516e-01 -1.12622671e-01 2.92753630e-03 8.99992783e-01] [ 1.12624107e-01 9.93637611e-01 -3.29892006e-04 -1.86555778e-01] [-2.87175686e-03 6.57502915e-04 9.99995660e-01 -1.22324076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56327356 meters Centerline goodness : 0.794332 with order 3 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.19, Z:-0.12 [[ 0.99443745 -0.10530605 -0.00218917 0.89383759] [ 0.10529856 0.9944352 -0.00329465 -0.18851115] [ 0.00252394 0.00304581 0.99999218 -0.11823702] [ 0. 0. 0. 1. ]] SLAMing on 24.623273559999998 meters Centerline goodness : 0.796948 with order 3 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.19, Z:-0.12 [[ 0.99439413 -0.10571609 -0.00210369 0.89287227] [ 0.10570709 0.99438923 -0.00400968 -0.1870793 ] [ 0.00251577 0.00376483 0.99998975 -0.11707357] [ 0. 0. 0. 1. ]] SLAMing on 24.68327356 meters Centerline goodness : 0.797679 with order 3 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.19, Z:-0.12 [[ 0.99435737 -0.10604223 -0.00291091 0.89428546] [ 0.10603267 0.99435729 -0.00326343 -0.18817325] [ 0.00324055 0.00293636 0.99999044 -0.11672595] [ 0. 0. 0. 1. ]] SLAMing on 24.74327356 meters Centerline goodness : 0.796498 with order 3 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.19, Z:-0.12 [[ 0.99430333 -0.10655067 -0.00280156 0.89418194] [ 0.10654169 0.99430315 -0.0031798 -0.18922538] [ 0.00312441 0.0028632 0.99999102 -0.11710641] [ 0. 0. 0. 1. ]] SLAMing on 24.803273559999997 meters Centerline goodness : 0.798023 with order 3 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.19, Z:-0.12 [[ 0.99430468 -0.10653474 -0.00292308 0.89479308] [ 0.1065262 0.99430556 -0.0029364 -0.18971113] [ 0.00321927 0.00260829 0.99999142 -0.1176765 ] [ 0. 0. 0. 1. ]] SLAMing on 24.86327356 meters Centerline goodness : 0.797689 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99432989 -0.10629592 -0.00304163 0.89514104] [ 0.10628733 0.99433135 -0.00285919 -0.18911783] [ 0.00332831 0.00251969 0.99999129 -0.11780833] [ 0. 0. 0. 1. ]] SLAMing on 24.92327356 meters Centerline goodness : 0.799509 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99436365 -0.10597351 -0.00324744 0.89597222] [ 0.10596528 0.9943664 -0.0026106 -0.1886953 ] [ 0.0035058 0.00225177 0.99999132 -0.11839276] [ 0. 0. 0. 1. ]] SLAMing on 24.98327356 meters Centerline goodness : 0.799058 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99437388 -0.10587652 -0.00327868 0.89649414] [ 0.10586927 0.99437737 -0.00231374 -0.18924175] [ 0.00350522 0.00195362 0.99999195 -0.11908107] [ 0. 0. 0. 1. ]] SLAMing on 25.04327356 meters Centerline goodness : 0.797630 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99436102 -0.10599643 -0.00330546 0.89663751] [ 0.10598892 0.99436449 -0.0023692 -0.18933985] [ 0.00353796 0.00200549 0.99999173 -0.11917745] [ 0. 0. 0. 1. ]] SLAMing on 25.103273559999998 meters Centerline goodness : 0.796365 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99436059 -0.10599973 -0.00332731 0.8970476 ] [ 0.10599284 0.99436449 -0.00218509 -0.18992593] [ 0.00354018 0.00182009 0.99999208 -0.11965111] [ 0. 0. 0. 1. ]] SLAMing on 25.16327356 meters Centerline goodness : 0.774771 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99436175 -0.10598803 -0.003354 0.89760601] [ 0.10598213 0.99436624 -0.00189111 -0.19074105] [ 0.00353554 0.00152499 0.99999259 -0.12038134] [ 0. 0. 0. 1. ]] SLAMing on 25.22327356 meters Centerline goodness : 0.792913 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99437462 -0.10586456 -0.00343537 0.89806108] [ 0.10585907 0.99437961 -0.00174305 -0.19062488] [ 0.00360059 0.00136958 0.99999258 -0.12077261] [ 0. 0. 0. 1. ]] SLAMing on 25.283273559999998 meters Centerline goodness : 0.791055 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99439569 -0.10566065 -0.00361123 0.89887932] [ 0.10565523 0.99440144 -0.00165956 -0.19036535] [ 0.00376636 0.00126872 0.9999921 -0.12135678] [ 0. 0. 0. 1. ]] SLAMing on 25.34327356 meters Centerline goodness : 0.788488 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 0.99444878 -0.10515698 -0.0036912 0.89984166] [ 0.10515245 0.99445513 -0.0014015 -0.19035955] [ 0.00381811 0.00100558 0.99999221 -0.12221591] [ 0. 0. 0. 1. ]] SLAMing on 25.40327356 meters Centerline goodness : 0.789656 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 9.94502639e-01 -1.04643548e-01 -3.77199350e-03 9.00339695e-01] [ 1.04639206e-01 9.94509359e-01 -1.33130491e-03 -1.89265740e-01] [ 3.89059531e-03 9.29287843e-04 9.99992000e-01 -1.22546631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.463273559999998 meters Centerline goodness : 0.785600 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 9.94623949e-01 -1.03467328e-01 -4.20854582e-03 9.01851469e-01] [ 1.03463484e-01 9.94632620e-01 -1.12153099e-03 -1.87839603e-01] [ 4.30199877e-03 6.80070769e-04 9.99990515e-01 -1.22971157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52327356 meters Centerline goodness : 0.785233 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 9.94686718e-01 -1.02848184e-01 -4.53701242e-03 9.03029426e-01] [ 1.02845632e-01 9.94697013e-01 -7.92828076e-04 -1.87562031e-01] [ 4.59449363e-03 3.22003648e-04 9.99989393e-01 -1.23474780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58327356 meters Centerline goodness : 0.785041 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 9.94724213e-01 -1.02473010e-01 -4.79817631e-03 9.04070817e-01] [ 1.02471418e-01 9.94735782e-01 -5.77229357e-04 -1.87539069e-01] [ 4.83206809e-03 8.25080894e-05 9.99988322e-01 -1.24062779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.643273559999997 meters Centerline goodness : 0.782538 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.12 [[ 9.94735466e-01 -1.02360978e-01 -4.85621457e-03 9.04561737e-01] [ 1.02359890e-01 9.94747319e-01 -4.72820884e-04 -1.87796370e-01] [ 4.87910484e-03 -2.67498857e-05 9.99988097e-01 -1.24466888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70327356 meters Centerline goodness : 0.783043 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.12 [[ 9.94765089e-01 -1.02069387e-01 -4.92520297e-03 9.05185664e-01] [ 1.02068723e-01 9.94777275e-01 -3.86633457e-04 -1.87514561e-01] [ 4.93894343e-03 -1.18099711e-04 9.99987796e-01 -1.24976424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76327356 meters Centerline goodness : 0.780384 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 9.94854721e-01 -1.01175987e-01 -5.24445364e-03 9.06798467e-01] [ 1.01176515e-01 9.94868477e-01 -1.65368340e-04 -1.85701567e-01] [ 5.23427291e-03 -3.66098066e-04 9.99986234e-01 -1.26066968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82327356 meters Centerline goodness : 0.778666 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 9.94857374e-01 -1.01145441e-01 -5.32965682e-03 9.07224938e-01] [ 1.01145827e-01 9.94871591e-01 -1.97847071e-04 -1.85493703e-01] [ 5.32233549e-03 -3.42242929e-04 9.99985778e-01 -1.26356940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88327356 meters Centerline goodness : 0.780241 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 9.94847180e-01 -1.01250813e-01 -5.23077779e-03 9.07178022e-01] [ 1.01250715e-01 9.94860901e-01 -2.84375804e-04 -1.85434815e-01] [ 5.23268958e-03 -2.46709523e-04 9.99986279e-01 -1.26523519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.943273559999998 meters Centerline goodness : 0.779244 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99452929 -0.10432407 -0.00528936 0.90846094] [ 0.10430399 0.99453766 -0.0039397 -0.18458233] [ 0.00567147 0.00336644 0.99997825 -0.12650751] [ 0. 0. 0. 1. ]] SLAMing on 26.00327356 meters Centerline goodness : 0.778306 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.13 [[ 0.99421273 -0.10728992 -0.0054696 0.91041096] [ 0.10725048 0.99420699 -0.00705667 -0.1846739 ] [ 0.00619503 0.00642922 0.99996014 -0.12741446] [ 0. 0. 0. 1. ]] SLAMing on 26.06327356 meters Centerline goodness : 0.778913 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99420054 -0.10741286 -0.00526941 0.91048446] [ 0.10737679 0.99419576 -0.00670908 -0.1859503 ] [ 0.00595947 0.00610435 0.99996361 -0.12806633] [ 0. 0. 0. 1. ]] SLAMing on 26.123273559999998 meters Centerline goodness : 0.778039 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99420835 -0.10733771 -0.00532705 0.910877 ] [ 0.10730453 0.99420707 -0.00616694 -0.18722739] [ 0.00595813 0.00555961 0.9999668 -0.1286159 ] [ 0. 0. 0. 1. ]] SLAMing on 26.18327356 meters Centerline goodness : 0.779957 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.9942261 -0.10716454 -0.00549714 0.91142376] [ 0.10713104 0.99422642 -0.00606363 -0.18740909] [ 0.00611521 0.00543971 0.99996651 -0.12875935] [ 0. 0. 0. 1. ]] SLAMing on 26.24327356 meters Centerline goodness : 0.779473 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.9943343 -0.10612466 -0.00607093 0.91330955] [ 0.10609077 0.99434036 -0.00565635 -0.18654435] [ 0.00663685 0.00498023 0.99996557 -0.12947277] [ 0. 0. 0. 1. ]] SLAMing on 26.303273559999997 meters Centerline goodness : 0.779483 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.99442314 -0.10527304 -0.00634 0.91450484] [ 0.10523993 0.99443247 -0.00534933 -0.18546314] [ 0.00686784 0.00465228 0.99996559 -0.13014992] [ 0. 0. 0. 1. ]] SLAMing on 26.36327356 meters Centerline goodness : 0.778575 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.13 [[ 0.99451571 -0.10435498 -0.00696719 0.91673965] [ 0.1043225 0.99453158 -0.0048747 -0.18506783] [ 0.00743779 0.00412113 0.99996385 -0.13129821] [ 0. 0. 0. 1. ]] SLAMing on 26.42327356 meters Centerline goodness : 0.780692 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.13 [[ 0.99456488 -0.10386843 -0.00721442 0.9178942 ] [ 0.1038386 0.99458446 -0.00439291 -0.18510471] [ 0.00763164 0.0036199 0.99996433 -0.13224579] [ 0. 0. 0. 1. ]] SLAMing on 26.483273559999997 meters Centerline goodness : 0.779823 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.13 [[ 0.99458163 -0.10369872 -0.00734535 0.91854178] [ 0.10366953 0.99460272 -0.00424974 -0.18506252] [ 0.0077464 0.00346522 0.99996399 -0.13268975] [ 0. 0. 0. 1. ]] SLAMing on 26.54327356 meters Centerline goodness : 0.780243 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.13 [[ 0.99434703 -0.10592461 -0.00734592 0.92047174] [ 0.10587003 0.994352 -0.00745902 -0.18356834] [ 0.00809452 0.00663914 0.9999452 -0.13345476] [ 0. 0. 0. 1. ]] SLAMing on 26.603273559999998 meters Centerline goodness : 0.782280 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.13 [[ 0.99431474 -0.10623235 -0.00727269 0.92000264] [ 0.10617744 0.99431845 -0.00756109 -0.18340434] [ 0.0080346 0.00674591 0.99994497 -0.13317049] [ 0. 0. 0. 1. ]] SLAMing on 26.66327356 meters Centerline goodness : 0.782550 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.13 [[ 0.99429792 -0.10640023 -0.00711619 0.91990483] [ 0.10634764 0.99430147 -0.00740112 -0.18385208] [ 0.00786312 0.00660213 0.99994729 -0.13359283] [ 0. 0. 0. 1. ]] SLAMing on 26.72327356 meters Centerline goodness : 0.780513 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.13 [[ 0.99430692 -0.10630898 -0.0072216 0.9209872 ] [ 0.10625715 0.99431248 -0.00721867 -0.1837342 ] [ 0.00794794 0.00641023 0.99994787 -0.13477066] [ 0. 0. 0. 1. ]] SLAMing on 26.783273559999998 meters Centerline goodness : 0.782954 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99431202 -0.10625646 -0.00729234 0.92154925] [ 0.10620558 0.99431925 -0.00704302 -0.18349143] [ 0.00799928 0.00622848 0.99994861 -0.13545537] [ 0. 0. 0. 1. ]] SLAMing on 26.84327356 meters Centerline goodness : 0.782322 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99430799 -0.10629716 -0.00724771 0.92183952] [ 0.10624565 0.99431416 -0.00715704 -0.18246635] [ 0.00796727 0.00634626 0.99994812 -0.13598437] [ 0. 0. 0. 1. ]] SLAMing on 26.90327356 meters Centerline goodness : 0.782150 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.9942987 -0.106378 -0.00733557 0.92197949] [ 0.10632368 0.99430376 -0.00743696 -0.18107769] [ 0.00808491 0.00661461 0.99994544 -0.13595716] [ 0. 0. 0. 1. ]] SLAMing on 26.963273559999998 meters Centerline goodness : 0.781729 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99429454 -0.1064167 -0.00733838 0.92203347] [ 0.10636088 0.9942984 -0.00761948 -0.17994575] [ 0.00810738 0.00679549 0.99994404 -0.13605525] [ 0. 0. 0. 1. ]] SLAMing on 27.02327356 meters Centerline goodness : 0.784487 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99429264 -0.10643115 -0.00738598 0.9224791 ] [ 0.10637383 0.9942959 -0.00776391 -0.17872092] [ 0.00817017 0.00693393 0.99994258 -0.13661067] [ 0. 0. 0. 1. ]] SLAMing on 27.08327356 meters Centerline goodness : 0.782708 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.9942189 -0.10711603 -0.00741221 0.92247542] [ 0.10705764 0.99422165 -0.00787167 -0.17877598] [ 0.00821256 0.00703263 0.99994155 -0.13693858] [ 0. 0. 0. 1. ]] SLAMing on 27.143273559999997 meters Centerline goodness : 0.782950 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99424255 -0.10688783 -0.00753284 0.92365026] [ 0.10683194 0.99424904 -0.00746876 -0.17870502] [ 0.00828784 0.00662101 0.99994374 -0.13833048] [ 0. 0. 0. 1. ]] SLAMing on 27.20327356 meters Centerline goodness : 0.779836 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99421819 -0.10712654 -0.00735548 0.92358587] [ 0.10707188 0.99422328 -0.00746235 -0.17845058] [ 0.0081124 0.00663164 0.9999451 -0.13883185] [ 0. 0. 0. 1. ]] SLAMing on 27.26327356 meters Centerline goodness : 0.779786 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.9941518 -0.10775025 -0.00721746 0.92280752] [ 0.10769612 0.99415549 -0.00751057 -0.17940414] [ 0.00798455 0.00668935 0.99994575 -0.13837516] [ 0. 0. 0. 1. ]] SLAMing on 27.32327356 meters Centerline goodness : 0.780082 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99402198 -0.10894642 -0.00713983 0.92234736] [ 0.10889253 0.99402489 -0.00754607 -0.18143773] [ 0.00791928 0.00672349 0.99994604 -0.13847575] [ 0. 0. 0. 1. ]] SLAMing on 27.38327356 meters Centerline goodness : 0.781292 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99397315 -0.10939798 -0.00703227 0.92205799] [ 0.10934497 0.99397537 -0.00752642 -0.18219768] [ 0.00781328 0.00671212 0.99994695 -0.13852425] [ 0. 0. 0. 1. ]] SLAMing on 27.443273559999998 meters Centerline goodness : 0.779651 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99397597 -0.10936554 -0.00713833 0.92259617] [ 0.10931351 0.99398042 -0.00731366 -0.18248454] [ 0.00789523 0.00648929 0.99994778 -0.13901823] [ 0. 0. 0. 1. ]] SLAMing on 27.50327356 meters Centerline goodness : 0.779945 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99399476 -0.10918944 -0.00721738 0.92295851] [ 0.10913917 0.99400163 -0.00702844 -0.18293257] [ 0.00794152 0.00619853 0.99994925 -0.13930497] [ 0. 0. 0. 1. ]] SLAMing on 27.56327356 meters Centerline goodness : 0.778402 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.14 [[ 0.99399464 -0.10918368 -0.0073201 0.92336419] [ 0.10913628 0.99400495 -0.00659024 -0.18411217] [ 0.00799576 0.00575178 0.99995149 -0.13974612] [ 0. 0. 0. 1. ]] SLAMing on 27.623273559999998 meters Centerline goodness : 0.778408 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.14 [[ 0.99398078 -0.10931741 -0.00720558 0.92327987] [ 0.10927375 0.99399236 -0.00619895 -0.18592179] [ 0.00783994 0.00537425 0.99995483 -0.14006509] [ 0. 0. 0. 1. ]] SLAMing on 27.68327356 meters Centerline goodness : 0.779107 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.14 [[ 0.99398359 -0.10929375 -0.00717628 0.92333264] [ 0.10925182 0.99399601 -0.00599703 -0.18646511] [ 0.00778863 0.00517693 0.99995627 -0.14022433] [ 0. 0. 0. 1. ]] SLAMing on 27.74327356 meters Centerline goodness : 0.777747 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.14 [[ 0.99399435 -0.10920252 -0.00707356 0.92344602] [ 0.10916517 0.99400859 -0.00546791 -0.18859735] [ 0.00762829 0.00466289 0.99996003 -0.14062058] [ 0. 0. 0. 1. ]] SLAMing on 27.803273559999997 meters Centerline goodness : 0.779480 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.14 [[ 0.99406758 -0.10851458 -0.00736482 0.92468313] [ 0.10848099 0.99408685 -0.00481763 -0.18956173] [ 0.00784406 0.00399011 0.99996127 -0.14139031] [ 0. 0. 0. 1. ]] SLAMing on 27.86327356 meters Centerline goodness : 0.779686 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.9941596 -0.10764231 -0.00773397 0.9260288 ] [ 0.10761058 0.99418334 -0.00440918 -0.18897769] [ 0.0081636 0.00355117 0.99996037 -0.14201892] [ 0. 0. 0. 1. ]] SLAMing on 27.92327356 meters Centerline goodness : 0.780207 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99427672 -0.10652314 -0.00816297 0.92751676] [ 0.10649405 0.99430561 -0.00392116 -0.18816305] [ 0.00853418 0.00302941 0.99995899 -0.14262703] [ 0. 0. 0. 1. ]] SLAMing on 27.983273559999997 meters Centerline goodness : 0.779838 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.9943737 -0.10559669 -0.00838399 0.92859526] [ 0.10556907 0.99440519 -0.00367269 -0.18732034] [ 0.0087249 0.00276694 0.99995811 -0.14320408] [ 0. 0. 0. 1. ]] SLAMing on 28.04327356 meters Centerline goodness : 0.778227 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99438574 -0.10547481 -0.00848943 0.92884713] [ 0.10544632 0.99441797 -0.0037376 -0.18685585] [ 0.00883627 0.00282144 0.99995698 -0.14315607] [ 0. 0. 0. 1. ]] SLAMing on 28.103273559999998 meters Centerline goodness : 0.780657 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99431914 -0.10610863 -0.00839121 0.92799154] [ 0.10608189 0.99435098 -0.00357123 -0.18858884] [ 0.00872274 0.00266078 0.99995842 -0.14252385] [ 0. 0. 0. 1. ]] SLAMing on 28.16327356 meters Centerline goodness : 0.769667 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99396007 -0.10941902 -0.00841821 0.92929923] [ 0.10936528 0.99397971 -0.00660126 -0.19059475] [ 0.00908983 0.00564073 0.99994278 -0.14293055] [ 0. 0. 0. 1. ]] SLAMing on 28.22327356 meters Centerline goodness : 0.769378 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99384737 -0.11044097 -0.00837855 0.9286907 ] [ 0.11038732 0.99386662 -0.00661744 -0.19322742] [ 0.00905799 0.00565184 0.999943 -0.1425464 ] [ 0. 0. 0. 1. ]] SLAMing on 28.283273559999998 meters Centerline goodness : 0.781116 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99385526 -0.11036867 -0.00839559 0.92876879] [ 0.11031819 0.99387663 -0.00625595 -0.19435308] [ 0.00903464 0.00529132 0.99994519 -0.14263951] [ 0. 0. 0. 1. ]] SLAMing on 28.34327356 meters Centerline goodness : 0.778741 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.14 [[ 0.99389549 -0.10999652 -0.00851574 0.92916859] [ 0.10994956 0.99392024 -0.00580074 -0.19540145] [ 0.00910203 0.00482903 0.99994692 -0.14280681] [ 0. 0. 0. 1. ]] SLAMing on 28.40327356 meters Centerline goodness : 0.778600 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.14 [[ 0.99393542 -0.10962027 -0.00870542 0.92944308] [ 0.10957592 0.99396366 -0.00541934 -0.19610786] [ 0.00924694 0.00443257 0.99994742 -0.14263966] [ 0. 0. 0. 1. ]] SLAMing on 28.463273559999998 meters Centerline goodness : 0.778319 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.14 [[ 0.99399792 -0.10903108 -0.00896404 0.93036026] [ 0.1089885 0.99402988 -0.00510988 -0.1958949 ] [ 0.00946766 0.00410224 0.99994677 -0.14304781] [ 0. 0. 0. 1. ]] SLAMing on 28.52327356 meters Centerline goodness : 0.778927 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.14 [[ 0.99431867 -0.10609212 -0.00865163 0.93054081] [ 0.10607106 0.99435444 -0.00285904 -0.19626757] [ 0.00890611 0.00192511 0.99995849 -0.14376209] [ 0. 0. 0. 1. ]] SLAMing on 28.58327356 meters Centerline goodness : 0.766335 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99447525 -0.10458763 -0.008967 0.93173305] [ 0.10456855 0.99451436 -0.00257164 -0.19469233] [ 0.00918677 0.00161976 0.99995649 -0.14384123] [ 0. 0. 0. 1. ]] SLAMing on 28.643273559999997 meters Centerline goodness : 0.778317 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99462934 -0.10309244 -0.00918782 0.9329974 ] [ 0.10307715 0.9946711 -0.00212329 -0.19301801] [ 0.00935775 0.00116484 0.99995554 -0.14443885] [ 0. 0. 0. 1. ]] SLAMing on 28.70327356 meters Centerline goodness : 0.775850 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 0.99471118 -0.10226583 -0.00955829 0.93396578] [ 0.1022513 0.99475659 -0.00199802 -0.19165465] [ 0.0097125 0.0010101 0.99995232 -0.14445546] [ 0. 0. 0. 1. ]] SLAMing on 28.76327356 meters Centerline goodness : 0.777419 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.14 [[ 9.94731260e-01 -1.02065930e-01 -9.60557105e-03 9.34215954e-01] [ 1.02053403e-01 9.94777317e-01 -1.78670686e-03 -1.91644650e-01] [ 9.73776610e-03 7.97011958e-04 9.99952269e-01 -1.44699792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.823273559999997 meters Centerline goodness : 0.780955 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.15 [[ 9.94741008e-01 -1.01965835e-01 -9.65894972e-03 9.34693905e-01] [ 1.01955400e-01 9.94787735e-01 -1.56800266e-03 -1.92433281e-01] [ 9.76848742e-03 5.74974464e-04 9.99952122e-01 -1.45154865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88327356 meters Centerline goodness : 0.777734 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.15 [[ 9.94733207e-01 -1.02036580e-01 -9.71509195e-03 9.34891763e-01] [ 1.02027548e-01 9.94780557e-01 -1.42203135e-03 -1.93441105e-01] [ 9.80948380e-03 4.23334797e-04 9.99951796e-01 -1.45223208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.943273559999998 meters Centerline goodness : 0.776043 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 9.94750678e-01 -1.01845639e-01 -9.92745739e-03 9.35730721e-01] [ 1.01840509e-01 9.94800214e-01 -1.02213960e-03 -1.94322327e-01] [ 9.97993719e-03 5.75673870e-06 9.99950199e-01 -1.45792403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00327356 meters Centerline goodness : 0.781010 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 9.94752929e-01 -1.01822249e-01 -9.94177518e-03 9.36038990e-01] [ 1.01818613e-01 9.94802598e-01 -8.72494817e-04 -1.94587972e-01] [ 9.97894317e-03 -1.44340989e-04 9.99950199e-01 -1.46149605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06327356 meters Centerline goodness : 0.779839 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99440696 -0.10515262 -0.00988578 0.93703272] [ 0.10511144 0.99444982 -0.00459823 -0.19372426] [ 0.01031442 0.0035334 0.99994056 -0.14622142] [ 0. 0. 0. 1. ]] SLAMing on 29.123273559999998 meters Centerline goodness : 0.777241 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99438481 -0.1053742 -0.00975314 0.93683515] [ 0.10533206 0.99442581 -0.00473926 -0.19329508] [ 0.01019817 0.00368533 0.99994121 -0.14638986] [ 0. 0. 0. 1. ]] SLAMing on 29.18327356 meters Centerline goodness : 0.778924 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99437052 -0.10551871 -0.00964778 0.93683449] [ 0.10547553 0.99440992 -0.00488077 -0.19254262] [ 0.01010886 0.00383569 0.99994155 -0.14669198] [ 0. 0. 0. 1. ]] SLAMing on 29.24327356 meters Centerline goodness : 0.778885 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99441543 -0.10507656 -0.00984187 0.93765614] [ 0.10503344 0.9944571 -0.00480175 -0.19170403] [ 0.01029187 0.00374121 0.99994004 -0.14710916] [ 0. 0. 0. 1. ]] SLAMing on 29.303273559999997 meters Centerline goodness : 0.779253 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99447249 -0.10451565 -0.01004689 0.9384652 ] [ 0.10447107 0.99451602 -0.0048656 -0.19019708] [ 0.01050032 0.0037891 0.99993769 -0.14743021] [ 0. 0. 0. 1. ]] SLAMing on 29.36327356 meters Centerline goodness : 0.781908 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99457069 -0.10354412 -0.0103802 0.93994879] [ 0.10350134 0.99461877 -0.00457901 -0.18816186] [ 0.01079847 0.00347978 0.99993564 -0.14835874] [ 0. 0. 0. 1. ]] SLAMing on 29.42327356 meters Centerline goodness : 0.782492 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99459047 -0.10333589 -0.01055869 0.94051969] [ 0.10329356 0.99464082 -0.00448015 -0.18806607] [ 0.01096507 0.00336527 0.99993422 -0.14857178] [ 0. 0. 0. 1. ]] SLAMing on 29.483273559999997 meters Centerline goodness : 0.784941 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99459417 -0.10329939 -0.01056795 0.94065891] [ 0.10325926 0.99464528 -0.0042762 -0.18869213] [ 0.01095309 0.00316185 0.99993501 -0.14877758] [ 0. 0. 0. 1. ]] SLAMing on 29.54327356 meters Centerline goodness : 0.784443 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99457137 -0.10352951 -0.01046041 0.94019547] [ 0.10348891 0.99462108 -0.00435265 -0.18912646] [ 0.01085477 0.00324649 0.99993582 -0.14844854] [ 0. 0. 0. 1. ]] SLAMing on 29.603273559999998 meters Centerline goodness : 0.788774 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.9945563 -0.10366634 -0.01053803 0.94036245] [ 0.10362606 0.99460703 -0.00430069 -0.189629 ] [ 0.01092704 0.00318526 0.99993522 -0.14844585] [ 0. 0. 0. 1. ]] SLAMing on 29.66327356 meters Centerline goodness : 0.787058 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99457489 -0.10346808 -0.01073089 0.94120497] [ 0.10342985 0.99462846 -0.00406059 -0.19011428] [ 0.01109339 0.00292867 0.99993418 -0.14900148] [ 0. 0. 0. 1. ]] SLAMing on 29.72327356 meters Centerline goodness : 0.791157 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99460548 -0.10314967 -0.01095879 0.94207968] [ 0.1031136 0.9946623 -0.00380812 -0.19015394] [ 0.01129311 0.00265758 0.9999327 -0.14946299] [ 0. 0. 0. 1. ]] SLAMing on 29.783273559999998 meters Centerline goodness : 0.793502 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.9945922 -0.10326681 -0.01105996 0.94184783] [ 0.10322595 0.99464904 -0.00420525 -0.18949515] [ 0.01143504 0.00304083 0.99992999 -0.14866348] [ 0. 0. 0. 1. ]] SLAMing on 29.84327356 meters Centerline goodness : 0.798573 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99461053 -0.10307606 -0.01118982 0.94230375] [ 0.10303793 0.99466965 -0.0039334 -0.19014069] [ 0.01153561 0.00275923 0.99992966 -0.14883265] [ 0. 0. 0. 1. ]] SLAMing on 29.90327356 meters Centerline goodness : 0.796612 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.9946134 -0.1030458 -0.0112133 0.94241144] [ 0.10300738 0.99467274 -0.00395345 -0.18995737] [ 0.01156095 0.0027771 0.99992931 -0.14887576] [ 0. 0. 0. 1. ]] SLAMing on 29.963273559999998 meters Centerline goodness : 0.799546 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99464857 -0.10269259 -0.01133364 0.94285018] [ 0.10265495 0.99470955 -0.0038562 -0.18928393] [ 0.01166968 0.00267211 0.99992834 -0.14904285] [ 0. 0. 0. 1. ]] SLAMing on 30.02327356 meters Centerline goodness : 0.803058 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99469689 -0.1021902 -0.01163038 0.94387286] [ 0.10215251 0.99476152 -0.00379198 -0.18873542] [ 0.01195696 0.0025838 0.99992517 -0.14930052] [ 0. 0. 0. 1. ]] SLAMing on 30.08327356 meters Centerline goodness : 0.805643 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99474106 -0.10172721 -0.01190756 0.94480954] [ 0.10168908 0.9948091 -0.00376674 -0.18749891] [ 0.01222893 0.00253606 0.99992201 -0.14964025] [ 0. 0. 0. 1. ]] SLAMing on 30.143273559999997 meters Centerline goodness : 0.810980 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99477664 -0.10135999 -0.01206566 0.94551493] [ 0.1013215 0.99484663 -0.00376104 -0.18675442] [ 0.0123847 0.00251889 0.99992013 -0.14996916] [ 0. 0. 0. 1. ]] SLAMing on 30.20327356 meters Centerline goodness : 0.810425 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99483617 -0.10075761 -0.01220268 0.94641849] [ 0.10071694 0.99490746 -0.00390428 -0.18497125] [ 0.01253392 0.0026551 0.99991792 -0.15039152] [ 0. 0. 0. 1. ]] SLAMing on 30.26327356 meters Centerline goodness : 0.810397 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99486049 -0.1005009 -0.01233625 0.94669112] [ 0.10045713 0.99493286 -0.00411955 -0.18346404] [ 0.01268776 0.00285911 0.99991542 -0.15017477] [ 0. 0. 0. 1. ]] SLAMing on 30.323273559999997 meters Centerline goodness : 0.810832 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99486834 -0.10042828 -0.01229414 0.94665171] [ 0.10038292 0.99493978 -0.00425445 -0.18233864] [ 0.0126592 0.0029985 0.99991537 -0.15017217] [ 0. 0. 0. 1. ]] SLAMing on 30.38327356 meters Centerline goodness : 0.811704 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99486401 -0.10046486 -0.01234533 0.94728481] [ 0.10042013 0.99493629 -0.00419277 -0.18221262] [ 0.01270404 0.00293151 0.999915 -0.15096758] [ 0. 0. 0. 1. ]] SLAMing on 30.443273559999998 meters Centerline goodness : 0.811901 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99487417 -0.10033843 -0.01255312 0.94826398] [ 0.1002953 0.99494959 -0.00402122 -0.1821579 ] [ 0.0128932 0.00274159 0.99991312 -0.15172754] [ 0. 0. 0. 1. ]] SLAMing on 30.50327356 meters Centerline goodness : 0.813099 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99483471 -0.10075351 -0.0123547 0.94781216] [ 0.10070646 0.99490656 -0.00437468 -0.18131773] [ 0.01273254 0.00310788 0.99991411 -0.15168284] [ 0. 0. 0. 1. ]] SLAMing on 30.56327356 meters Centerline goodness : 0.812696 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99449666 -0.10402303 -0.0124742 0.94913561] [ 0.10392492 0.99455074 -0.00827263 -0.1795968 ] [ 0.01326677 0.00693072 0.99988797 -0.1516236 ] [ 0. 0. 0. 1. ]] SLAMing on 30.623273559999998 meters Centerline goodness : 0.811197 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.9942986 -0.10595524 -0.01199086 0.94723363] [ 0.10585019 0.99434062 -0.00908156 -0.18107112] [ 0.01288523 0.00776055 0.99988687 -0.15080246] [ 0. 0. 0. 1. ]] SLAMing on 30.68327356 meters Centerline goodness : 0.808710 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99419205 -0.10698709 -0.01165901 0.94663591] [ 0.10688623 0.99423091 -0.00895659 -0.18269503] [ 0.01254999 0.00765839 0.99989192 -0.15142517] [ 0. 0. 0. 1. ]] SLAMing on 30.74327356 meters Centerline goodness : 0.806657 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99416445 -0.10725814 -0.0115211 0.94668501] [ 0.10716275 0.99420427 -0.00860275 -0.18346673] [ 0.01237704 0.00731791 0.99989662 -0.15216772] [ 0. 0. 0. 1. ]] SLAMing on 30.803273559999997 meters Centerline goodness : 0.811170 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.15 [[ 0.99409213 -0.10794624 -0.0113336 0.94604583] [ 0.1078538 0.99413064 -0.00847557 -0.18462453] [ 0.01218198 0.00720313 0.99989985 -0.15216468] [ 0. 0. 0. 1. ]] SLAMing on 30.86327356 meters Centerline goodness : 0.806226 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99400854 -0.10875678 -0.01090799 0.94448802] [ 0.10866413 0.99403996 -0.00875597 -0.18552222] [ 0.01179524 0.0075182 0.99990217 -0.15133275] [ 0. 0. 0. 1. ]] SLAMing on 30.92327356 meters Centerline goodness : 0.806034 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99400181 -0.10883206 -0.01076987 0.94423001] [ 0.10874248 0.9940329 -0.00858239 -0.18610688] [ 0.01163964 0.00735977 0.99990517 -0.15141263] [ 0. 0. 0. 1. ]] SLAMing on 30.983273559999997 meters Centerline goodness : 0.804612 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99406212 -0.10823572 -0.01120434 0.94548261] [ 0.10814813 0.99410139 -0.00814961 -0.18615649] [ 0.01202033 0.00688949 0.99990402 -0.15183733] [ 0. 0. 0. 1. ]] SLAMing on 31.04327356 meters Centerline goodness : 0.805917 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99412869 -0.10758701 -0.0115404 0.94651885] [ 0.10750022 0.99417371 -0.007896 -0.18595002] [ 0.01232266 0.00660904 0.99990223 -0.15207119] [ 0. 0. 0. 1. ]] SLAMing on 31.103273559999998 meters Centerline goodness : 0.808027 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99453253 -0.1037563 -0.01181872 0.94593082] [ 0.10371684 0.9945992 -0.0039057 -0.18685131] [ 0.01216013 0.00265855 0.99992253 -0.15175007] [ 0. 0. 0. 1. ]] SLAMing on 31.16327356 meters Centerline goodness : 0.805091 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99459742 -0.10311433 -0.01197561 0.94669579] [ 0.10307936 0.99466697 -0.00350318 -0.18712689] [ 0.01227297 0.00224982 0.99992215 -0.1521646 ] [ 0. 0. 0. 1. ]] SLAMing on 31.22327356 meters Centerline goodness : 0.805396 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99458512 -0.10326581 -0.01168844 0.94603008] [ 0.10323544 0.99465188 -0.00317345 -0.18920981] [ 0.01195364 0.0019496 0.99992665 -0.15201714] [ 0. 0. 0. 1. ]] SLAMing on 31.283273559999998 meters Centerline goodness : 0.806131 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99458653 -0.10326313 -0.011591 0.94606754] [ 0.10323602 0.99465262 -0.00291478 -0.19013593] [ 0.01183001 0.00170239 0.99992857 -0.15230151] [ 0. 0. 0. 1. ]] SLAMing on 31.34327356 meters Centerline goodness : 0.806458 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.15 [[ 0.99455542 -0.10357831 -0.01144812 0.94581404] [ 0.10355711 0.99462054 -0.00243091 -0.19273743] [ 0.01163832 0.00123215 0.99993151 -0.15253256] [ 0. 0. 0. 1. ]] SLAMing on 31.40327356 meters Centerline goodness : 0.800619 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.15 [[ 9.94525301e-01 -1.03885965e-01 -1.12753242e-02 9.45690819e-01] [ 1.03868671e-01 9.94588782e-01 -2.11024564e-03 -1.95162050e-01] [ 1.14335359e-02 9.27539744e-04 9.99934205e-01 -1.52840267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.463273559999998 meters Centerline goodness : 0.798040 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.15 [[ 9.94513583e-01 -1.04007101e-01 -1.11917606e-02 9.45208514e-01] [ 1.03990100e-01 9.94576132e-01 -2.09200951e-03 -1.95856220e-01] [ 1.13486418e-02 9.16699567e-04 9.99935182e-01 -1.52375803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52327356 meters Centerline goodness : 0.798184 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.20, Z:-0.15 [[ 9.94516643e-01 -1.03968943e-01 -1.12740809e-02 9.44995925e-01] [ 1.03953436e-01 9.94580245e-01 -1.95437753e-03 -1.97037693e-01] [ 1.14161727e-02 7.71681527e-04 9.99934536e-01 -1.51744013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.58327356 meters Centerline goodness : 0.798394 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.15 [[ 9.94568704e-01 -1.03453056e-01 -1.14262116e-02 9.45606085e-01] [ 1.03443207e-01 9.94634303e-01 -1.45124120e-03 -1.98441364e-01] [ 1.15150374e-02 2.61395105e-04 9.99933666e-01 -1.51939366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.643273559999997 meters Centerline goodness : 0.803348 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.15 [[ 9.94597592e-01 -1.03172267e-01 -1.14504990e-02 9.45822456e-01] [ 1.03167978e-01 9.94663478e-01 -9.66162525e-04 -1.99736724e-01] [ 1.14890743e-02 -2.20381908e-04 9.99933974e-01 -1.52112337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70327356 meters Centerline goodness : 0.801010 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.15 [[ 9.94620806e-01 -1.02932174e-01 -1.15939591e-02 9.46361960e-01] [ 1.02936948e-01 9.94687866e-01 -1.85740006e-04 -2.02736883e-01] [ 1.15514891e-02 -1.00870590e-03 9.99932771e-01 -1.52349824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76327356 meters Centerline goodness : 0.796620 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.15 [[ 9.94638551e-01 -1.02748974e-01 -1.16962088e-02 9.46693436e-01] [ 1.02758666e-01 9.94706290e-01 2.29137693e-04 -2.04607749e-01] [ 1.16107488e-02 -1.42979600e-03 9.99931571e-01 -1.52339329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.823273559999997 meters Centerline goodness : 0.800779 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.15 [[ 9.94637009e-01 -1.02772838e-01 -1.16173840e-02 9.46515184e-01] [ 1.02786156e-01 9.94703322e-01 5.53575103e-04 -2.06039083e-01] [ 1.14989580e-02 -1.74471252e-03 9.99932363e-01 -1.52229125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88327356 meters Centerline goodness : 0.801884 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.15 [[ 9.94622276e-01 -1.02904207e-01 -1.17155163e-02 9.46379352e-01] [ 1.02922667e-01 9.94688876e-01 9.82282603e-04 -2.09209502e-01] [ 1.15522127e-02 -2.18279235e-03 9.99930889e-01 -1.51650946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.943273559999998 meters Centerline goodness : 0.800081 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.15 [[ 0.99457823 -0.10334052 -0.01161393 0.94539709] [ 0.1033601 0.9946434 0.00109711 -0.21198329] [ 0.01143834 -0.00229158 0.99993195 -0.15048303] [ 0. 0. 0. 1. ]] SLAMing on 32.003273560000004 meters Centerline goodness : 0.804466 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.15 [[ 0.99460314 -0.10307914 -0.01180165 0.94597094] [ 0.10310811 0.99466839 0.00187149 -0.21486508] [ 0.01154581 -0.00307824 0.99992861 -0.1506807 ] [ 0. 0. 0. 1. ]] SLAMing on 32.06327356 meters Centerline goodness : 0.802022 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.15 [[ 9.94317568e-01 -1.05780174e-01 -1.19636689e-02 9.47710673e-01] [ 1.05777747e-01 9.94389444e-01 -8.37273389e-04 -2.16964581e-01] [ 1.19851130e-02 -4.32974301e-04 9.99928082e-01 -1.51162446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12327356 meters Centerline goodness : 0.801118 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.15 [[ 9.94277288e-01 -1.06180154e-01 -1.17664795e-02 9.46946533e-01] [ 1.06181262e-01 9.94346648e-01 -5.32235607e-04 -2.19286982e-01] [ 1.17564723e-02 -7.20189872e-04 9.99930631e-01 -1.50713951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.183273559999996 meters Centerline goodness : 0.798831 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.15 [[ 9.94217260e-01 -1.06761586e-01 -1.15759608e-02 9.45970766e-01] [ 1.06765069e-01 9.94284224e-01 -3.18469260e-04 -2.22692788e-01] [ 1.15437955e-02 -9.19280620e-04 9.99932946e-01 -1.49826501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24327356 meters Centerline goodness : 0.798513 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.15 [[ 0.99385561 -0.11008148 -0.01153701 0.94668115] [ 0.11004759 0.99392004 -0.00353358 -0.22480297] [ 0.01185585 0.00224225 0.9999272 -0.14941912] [ 0. 0. 0. 1. ]] SLAMing on 32.30327356 meters Centerline goodness : 0.798845 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.15 [[ 0.99384541 -0.11017423 -0.01152966 0.94686146] [ 0.1101482 0.99391103 -0.00287126 -0.22797821] [ 0.0117758 0.00158362 0.99992941 -0.14964896] [ 0. 0. 0. 1. ]] SLAMing on 32.363273559999996 meters Centerline goodness : 0.803288 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.15 [[ 9.93846676e-01 -1.10138456e-01 -1.17603418e-02 9.47403343e-01] [ 1.10121366e-01 9.93915944e-01 -2.09296732e-03 -2.31465526e-01] [ 1.19193074e-02 7.85023716e-04 9.99928654e-01 -1.49722726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42327356 meters Centerline goodness : 0.803743 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.15 [[ 9.93832239e-01 -1.10289472e-01 -1.15634416e-02 9.46968882e-01] [ 1.10278841e-01 9.93899472e-01 -1.55488592e-03 -2.33466868e-01] [ 1.16643861e-02 2.70092809e-04 9.99931932e-01 -1.49281374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48327356 meters Centerline goodness : 0.803934 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.15 [[ 9.93900098e-01 -1.09641614e-01 -1.18874892e-02 9.48016276e-01] [ 1.09644763e-01 9.93970762e-01 -3.88421322e-04 -2.35553099e-01] [ 1.18584038e-02 -9.17348949e-04 9.99929266e-01 -1.49654301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.543273559999996 meters Centerline goodness : 0.805672 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.15 [[ 9.93917688e-01 -1.09509806e-01 -1.16289198e-02 9.47682467e-01] [ 1.09517415e-01 9.93984877e-01 1.75937802e-05 -2.37431274e-01] [ 1.15570437e-02 -1.29105600e-03 9.99932382e-01 -1.49612291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60327356 meters Centerline goodness : 0.804528 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.15 [[ 0.99402377 -0.10856816 -0.0113884 0.94759432] [ 0.10858773 0.99408625 0.00111294 -0.23975856] [ 0.01120022 -0.00234292 0.99993453 -0.14988278] [ 0. 0. 0. 1. ]] SLAMing on 32.66327356 meters Centerline goodness : 0.803599 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.15 [[ 0.99436499 -0.10542225 -0.01115387 0.94612032] [ 0.1054825 0.9944088 0.00495717 -0.24330077] [ 0.01056891 -0.00610577 0.99992551 -0.14899314] [ 0. 0. 0. 1. ]] SLAMing on 32.723273559999996 meters Centerline goodness : 0.802679 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.24, Z:-0.15 [[ 0.99452164 -0.10401331 -0.01038903 0.94489972] [ 0.10406936 0.99455744 0.00500735 -0.24335335] [ 0.00981165 -0.0060611 0.9999335 -0.1494151 ] [ 0. 0. 0. 1. ]] SLAMing on 32.78327356 meters Centerline goodness : 0.806973 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.24, Z:-0.15 [[ 0.99465975 -0.10276055 -0.00960485 0.94415391] [ 0.10280644 0.9946916 0.00441116 -0.24257022] [ 0.00910057 -0.00537504 0.99994414 -0.15069106] [ 0. 0. 0. 1. ]] SLAMing on 32.84327356 meters Centerline goodness : 0.806092 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.24, Z:-0.15 [[ 0.99476588 -0.10176339 -0.00922205 0.94364678] [ 0.10180811 0.9947938 0.00451612 -0.24298934] [ 0.00871446 -0.00543137 0.99994728 -0.15103883] [ 0. 0. 0. 1. ]] SLAMing on 32.903273559999995 meters Centerline goodness : 0.794880 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.24, Z:-0.15 [[ 0.99489632 -0.1005287 -0.00867756 0.94232571] [ 0.10057334 0.99491772 0.00487062 -0.24306567] [ 0.00814382 -0.00571849 0.99995049 -0.15066493] [ 0. 0. 0. 1. ]] SLAMing on 32.96327356 meters Centerline goodness : 0.807737 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.15 [[ 0.99537226 -0.09417095 -0.01912863 0.93986898] [ 0.09434036 0.99550661 0.00815372 -0.24815556] [ 0.01827484 -0.00992059 0.99978378 -0.14641561] [ 0. 0. 0. 1. ]] SLAMing on 33.02327356 meters Centerline goodness : 0.804290 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99567385 -0.08788753 -0.03015584 0.93782738] [ 0.0882449 0.99604102 0.01072943 -0.25317331] [ 0.02909347 -0.01334411 0.99948762 -0.14265032] [ 0. 0. 0. 1. ]] SLAMing on 33.08327356 meters Centerline goodness : 0.805704 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99565604 -0.08796585 -0.0305134 0.93887574] [ 0.08833567 0.99603015 0.01098883 -0.25364781] [ 0.02942563 -0.01363652 0.99947395 -0.14309124] [ 0. 0. 0. 1. ]] SLAMing on 33.14327356 meters Centerline goodness : 0.805064 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99565495 -0.08805656 -0.03028628 0.93811619] [ 0.08840926 0.99602881 0.01050809 -0.25324016] [ 0.0292407 -0.01314002 0.99948603 -0.14264045] [ 0. 0. 0. 1. ]] SLAMing on 33.20327356 meters Centerline goodness : 0.803738 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99587066 -0.08524353 -0.0312277 0.93932331] [ 0.08573622 0.99620807 0.01479118 -0.25482595] [ 0.02984844 -0.01740744 0.99940285 -0.14241415] [ 0. 0. 0. 1. ]] SLAMing on 33.26327356 meters Centerline goodness : 0.804707 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99610626 -0.08232001 -0.03155542 0.93870936] [ 0.08291304 0.9963948 0.01796739 -0.25458222] [ 0.02996258 -0.02051379 0.9993405 -0.14155818] [ 0. 0. 0. 1. ]] SLAMing on 33.32327356 meters Centerline goodness : 0.802477 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99614944 -0.08169764 -0.0318085 0.93927985] [ 0.08228938 0.99645024 0.01775912 -0.25314128] [ 0.03024471 -0.02030824 0.9993362 -0.14204171] [ 0. 0. 0. 1. ]] SLAMing on 33.38327356 meters Centerline goodness : 0.802182 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99610868 -0.08222419 -0.03172829 0.93899589] [ 0.08279385 0.99642037 0.0170768 -0.25237006] [ 0.03021059 -0.01963725 0.99935064 -0.14179059] [ 0. 0. 0. 1. ]] SLAMing on 33.44327356 meters Centerline goodness : 0.802703 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99604577 -0.08269256 -0.03247727 0.94016633] [ 0.08329704 0.9963672 0.01772048 -0.2529394 ] [ 0.03089394 -0.02035567 0.99931537 -0.14115155] [ 0. 0. 0. 1. ]] SLAMing on 33.50327356 meters Centerline goodness : 0.801527 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99593013 -0.0839602 -0.03276991 0.94024852] [ 0.08455495 0.99627029 0.01720365 -0.25222811] [ 0.03120326 -0.01990449 0.99931485 -0.14035237] [ 0. 0. 0. 1. ]] SLAMing on 33.56327356 meters Centerline goodness : 0.802594 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99583324 -0.08480695 -0.03352527 0.94148876] [ 0.08542903 0.99618919 0.01757787 -0.25267131] [ 0.03190678 -0.02036866 0.99928328 -0.13980321] [ 0. 0. 0. 1. ]] SLAMing on 33.62327356 meters Centerline goodness : 0.800701 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99570506 -0.08598257 -0.03432821 0.94231489] [ 0.08662284 0.99608537 0.01761891 -0.25262729] [ 0.03267891 -0.02051684 0.9992553 -0.13863131] [ 0. 0. 0. 1. ]] SLAMing on 33.683273559999996 meters Centerline goodness : 0.801315 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99587928 -0.08353649 -0.0353004 0.94307062] [ 0.0843317 0.99620207 0.02167029 -0.25332148] [ 0.03335607 -0.02455793 0.99914177 -0.13776638] [ 0. 0. 0. 1. ]] SLAMing on 33.74327356 meters Centerline goodness : 0.800960 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99585083 -0.08386354 -0.03532738 0.94285932] [ 0.08462145 0.99620161 0.0205322 -0.25095182] [ 0.03347129 -0.02343646 0.99916485 -0.13754395] [ 0. 0. 0. 1. ]] SLAMing on 33.80327356 meters Centerline goodness : 0.798800 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.14 [[ 0.99578498 -0.08433547 -0.03605288 0.94466945] [ 0.08511339 0.99615801 0.02061371 -0.25081468] [ 0.0341759 -0.02359541 0.99913726 -0.1380933 ] [ 0. 0. 0. 1. ]] SLAMing on 33.863273559999996 meters Centerline goodness : 0.802472 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.9956968 -0.0850527 -0.03679563 0.94646597] [ 0.08586086 0.99608646 0.0209684 -0.25077551] [ 0.03486821 -0.02403747 0.9991028 -0.13856432] [ 0. 0. 0. 1. ]] SLAMing on 33.92327356 meters Centerline goodness : 0.799929 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99565072 -0.08547609 -0.0370604 0.94626609] [ 0.08628794 0.99605127 0.02088688 -0.25036968] [ 0.03512873 -0.0239939 0.99909472 -0.13741558] [ 0. 0. 0. 1. ]] SLAMing on 33.98327356 meters Centerline goodness : 0.799403 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99561154 -0.08577279 -0.0374259 0.94628777] [ 0.08659573 0.99602326 0.02094845 -0.25001081] [ 0.03548026 -0.02409744 0.99907981 -0.1362629 ] [ 0. 0. 0. 1. ]] SLAMing on 34.043273559999996 meters Centerline goodness : 0.796065 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99574172 -0.08363154 -0.03878391 0.94789011] [ 0.08463856 0.99609576 0.02509095 -0.25078669] [ 0.0365341 -0.02826672 0.99893256 -0.13557559] [ 0. 0. 0. 1. ]] SLAMing on 34.10327356 meters Centerline goodness : 0.793939 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99568994 -0.08397689 -0.03936266 0.94933948] [ 0.08500502 0.99606143 0.02521438 -0.25060388] [ 0.0370902 -0.02845173 0.99890681 -0.13599321] [ 0. 0. 0. 1. ]] SLAMing on 34.16327356 meters Centerline goodness : 0.796939 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99559708 -0.08495546 -0.03961103 0.94994568] [ 0.08595967 0.99600039 0.02437516 -0.24957174] [ 0.0373818 -0.02767279 0.99891782 -0.13608031] [ 0. 0. 0. 1. ]] SLAMing on 34.223273559999996 meters Centerline goodness : 0.797901 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99558615 -0.08502236 -0.03974176 0.9501381 ] [ 0.08601168 0.99600786 0.02388168 -0.24792577] [ 0.03755263 -0.02719453 0.99892455 -0.13614201] [ 0. 0. 0. 1. ]] SLAMing on 34.28327356 meters Centerline goodness : 0.799827 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.14 [[ 0.99558804 -0.0850135 -0.03971344 0.94962669] [ 0.0859861 0.99602015 0.02345728 -0.24648969] [ 0.0375612 -0.02676859 0.99893573 -0.13563089] [ 0. 0. 0. 1. ]] SLAMing on 34.34327356 meters Centerline goodness : 0.798165 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.13 [[ 0.99571925 -0.0832227 -0.04021395 0.94907381] [ 0.08430373 0.99610147 0.02597596 -0.2455659 ] [ 0.03789538 -0.02925494 0.99885339 -0.13438972] [ 0. 0. 0. 1. ]] SLAMing on 34.403273559999995 meters Centerline goodness : 0.799407 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.13 [[ 0.99586107 -0.08087186 -0.04147855 0.95035665] [ 0.08215254 0.99616335 0.03015856 -0.24561331] [ 0.03888044 -0.03344131 0.99868413 -0.13365377] [ 0. 0. 0. 1. ]] SLAMing on 34.46327356 meters Centerline goodness : 0.801374 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.13 [[ 0.99580304 -0.08157461 -0.0414957 0.9498417 ] [ 0.08280022 0.99615208 0.02872567 -0.24253542] [ 0.03899274 -0.03204096 0.99872566 -0.13314983] [ 0. 0. 0. 1. ]] SLAMing on 34.52327356 meters Centerline goodness : 0.801217 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.13 [[ 0.99579128 -0.08162414 -0.04168006 0.95038858] [ 0.08283129 0.99616722 0.02810435 -0.24050494] [ 0.03922631 -0.03143848 0.99873566 -0.13317864] [ 0. 0. 0. 1. ]] SLAMing on 34.58327356 meters Centerline goodness : 0.802403 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.13 [[ 0.99581015 -0.0812445 -0.04197004 0.95181564] [ 0.08243523 0.99621796 0.02746268 -0.23675814] [ 0.03958012 -0.03080743 0.99874137 -0.13397103] [ 0. 0. 0. 1. ]] SLAMing on 34.64327356 meters Centerline goodness : 0.803983 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.13 [[ 0.99579403 -0.08141295 -0.04202588 0.95197752] [ 0.08257768 0.99622522 0.02676268 -0.23471691] [ 0.03968841 -0.03012051 0.99875802 -0.13382001] [ 0. 0. 0. 1. ]] SLAMing on 34.70327356 meters Centerline goodness : 0.804362 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.13 [[ 0.99550037 -0.08501181 -0.041857 0.95228342] [ 0.08598411 0.99605356 0.02200092 -0.23113427] [ 0.03982147 -0.02550097 0.99888135 -0.13313105] [ 0. 0. 0. 1. ]] SLAMing on 34.76327356 meters Centerline goodness : 0.804138 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.13 [[ 0.99546304 -0.08553752 -0.04167347 0.95198266] [ 0.08647297 0.99602895 0.02118379 -0.22948644] [ 0.03969597 -0.02469131 0.99890669 -0.13303823] [ 0. 0. 0. 1. ]] SLAMing on 34.82327356 meters Centerline goodness : 0.808117 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.13 [[ 0.99523071 -0.08821892 -0.04163231 0.95360411] [ 0.08900415 0.99587932 0.0173968 -0.22664047] [ 0.03992603 -0.02101928 0.99898153 -0.13362978] [ 0. 0. 0. 1. ]] SLAMing on 34.88327356 meters Centerline goodness : 0.802763 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99520753 -0.08851086 -0.04156684 0.95357154] [ 0.08927004 0.9958662 0.01677412 -0.22492972] [ 0.03991032 -0.02040441 0.99899491 -0.13367671] [ 0. 0. 0. 1. ]] SLAMing on 34.94327356 meters Centerline goodness : 0.802875 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99517759 -0.08897144 -0.04129943 0.9529425 ] [ 0.08970177 0.99583728 0.01617734 -0.2239011 ] [ 0.03968819 -0.01980396 0.99901584 -0.13340773] [ 0. 0. 0. 1. ]] SLAMing on 35.00327356 meters Centerline goodness : 0.801465 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99514325 -0.08948141 -0.04102436 0.9522605 ] [ 0.09017584 0.99580682 0.01539758 -0.22218895] [ 0.03947454 -0.01902221 0.9990395 -0.13313447] [ 0. 0. 0. 1. ]] SLAMing on 35.06327356 meters Centerline goodness : 0.797963 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99512456 -0.08967275 -0.04105986 0.95216216] [ 0.09034782 0.99579899 0.01488798 -0.2210172 ] [ 0.03955232 -0.01852506 0.99904576 -0.13281317] [ 0. 0. 0. 1. ]] SLAMing on 35.12327356 meters Centerline goodness : 0.797721 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99510411 -0.08991645 -0.04102235 0.95226864] [ 0.09057052 0.99578635 0.01437091 -0.21985615] [ 0.03955732 -0.01801596 0.99905488 -0.1329432 ] [ 0. 0. 0. 1. ]] SLAMing on 35.183273559999996 meters Centerline goodness : 0.798812 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99484585 -0.09280924 -0.04084329 0.9538038 ] [ 0.09332168 0.99557722 0.01081994 -0.21817955] [ 0.03965846 -0.01457574 0.99910698 -0.13394696] [ 0. 0. 0. 1. ]] SLAMing on 35.24327356 meters Centerline goodness : 0.795047 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99451808 -0.09639745 -0.04051331 0.95416571] [ 0.09674501 0.99528663 0.00670335 -0.21614644] [ 0.03967617 -0.01058606 0.99915651 -0.1339151 ] [ 0. 0. 0. 1. ]] SLAMing on 35.30327356 meters Centerline goodness : 0.794854 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.13 [[ 0.99446473 -0.09702046 -0.04033533 0.95318957] [ 0.0973406 0.99523277 0.00604566 -0.21542206] [ 0.03955649 -0.00993846 0.99916791 -0.1330486 ] [ 0. 0. 0. 1. ]] SLAMing on 35.363273559999996 meters Centerline goodness : 0.792272 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 0.99442158 -0.09749267 -0.04026041 0.95304152] [ 0.09779558 0.99519066 0.00561948 -0.21466189] [ 0.03951892 -0.00952542 0.99917342 -0.1330611 ] [ 0. 0. 0. 1. ]] SLAMing on 35.42327356 meters Centerline goodness : 0.792880 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 0.99439583 -0.09775253 -0.04026636 0.95351696] [ 0.09805147 0.99516608 0.00551248 -0.21486443] [ 0.03953286 -0.00942976 0.99917377 -0.13363212] [ 0. 0. 0. 1. ]] SLAMing on 35.48327356 meters Centerline goodness : 0.792472 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 0.99404725 -0.10128337 -0.04014647 0.95471635] [ 0.10143459 0.99484068 0.00174259 -0.21377036] [ 0.03976285 -0.00580446 0.99919229 -0.13422959] [ 0. 0. 0. 1. ]] SLAMing on 35.543273559999996 meters Centerline goodness : 0.789455 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 0.99399192 -0.10189237 -0.03997508 0.95398179] [ 0.10203009 0.99478031 0.00141488 -0.21391351] [ 0.03962226 -0.00548504 0.99919968 -0.13380674] [ 0. 0. 0. 1. ]] SLAMing on 35.60327356 meters Centerline goodness : 0.791354 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 9.93963364e-01 -1.02194354e-01 -3.99142167e-02 9.53437258e-01] [ 1.02314086e-01 9.94751677e-01 9.63272373e-04 -2.13403154e-01] [ 3.96062930e-02 -5.04124406e-03 9.99202646e-01 -1.33130757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66327356 meters Centerline goodness : 0.790489 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 9.93993932e-01 -1.01770523e-01 -4.02346005e-02 9.54145568e-01] [ 1.01888923e-01 9.94795377e-01 8.97867489e-04 -2.12537930e-01] [ 3.99338181e-02 -4.99193495e-03 9.99189857e-01 -1.32974047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.723273559999996 meters Centerline goodness : 0.791940 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.13 [[ 0.99403188 -0.10134989 -0.04035855 0.95489985] [ 0.10147466 0.99483757 0.00104981 -0.21204177] [ 0.0400438 -0.00513891 0.99918471 -0.13347981] [ 0. 0. 0. 1. ]] SLAMing on 35.78327356 meters Centerline goodness : 0.790618 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99408915 -0.10077772 -0.04038092 0.95582076] [ 0.10091123 0.99489461 0.00127648 -0.21128813] [ 0.04004612 -0.00534382 0.99918354 -0.13444573] [ 0. 0. 0. 1. ]] SLAMing on 35.84327356 meters Centerline goodness : 0.789606 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99383401 -0.10322719 -0.04047344 0.95782151] [ 0.10323645 0.99465509 -0.00186681 -0.21051948] [ 0.04044982 -0.00232304 0.99917887 -0.13507403] [ 0. 0. 0. 1. ]] SLAMing on 35.903273559999995 meters Centerline goodness : 0.790651 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99376735 -0.10399974 -0.0401312 0.95646738] [ 0.10399195 0.99457551 -0.00228731 -0.21133042] [ 0.04015139 -0.00190027 0.9991918 -0.13424237] [ 0. 0. 0. 1. ]] SLAMing on 35.96327356 meters Centerline goodness : 0.790739 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99372212 -0.10443657 -0.04011665 0.95605834] [ 0.10443507 0.99452941 -0.00213868 -0.21295474] [ 0.04012054 -0.00206433 0.99919271 -0.13392044] [ 0. 0. 0. 1. ]] SLAMing on 36.02327356 meters Centerline goodness : 0.791647 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99373224 -0.10430669 -0.04020397 0.95673105] [ 0.10431689 0.99454239 -0.00184967 -0.21362166] [ 0.04017749 -0.00235588 0.99918978 -0.13453973] [ 0. 0. 0. 1. ]] SLAMing on 36.083273559999995 meters Centerline goodness : 0.796518 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99378583 -0.10375003 -0.04031933 0.95788227] [ 0.10378481 0.99459901 -0.00123522 -0.21466129] [ 0.04022972 -0.00295699 0.99918608 -0.13565125] [ 0. 0. 0. 1. ]] SLAMing on 36.14327356 meters Centerline goodness : 0.795994 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99382821 -0.10327366 -0.04049744 0.9586464 ] [ 0.10331336 0.99464823 -0.00111697 -0.21456015] [ 0.04039606 -0.00307385 0.99917902 -0.13590473] [ 0. 0. 0. 1. ]] SLAMing on 36.20327356 meters Centerline goodness : 0.793629 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99419629 -0.0996526 -0.04053513 0.95712407] [ 0.0998289 0.99500186 0.00234375 -0.21444893] [ 0.04009897 -0.00637673 0.99917536 -0.13490842] [ 0. 0. 0. 1. ]] SLAMing on 36.26327356 meters Centerline goodness : 0.795103 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99422242 -0.09934838 -0.04064082 0.95717594] [ 0.09951719 0.99503353 0.00214692 -0.21361931] [ 0.04022569 -0.00617898 0.99917151 -0.13437011] [ 0. 0. 0. 1. ]] SLAMing on 36.32327356 meters Centerline goodness : 0.794960 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99425258 -0.09897937 -0.04080312 0.95769894] [ 0.09914798 0.99507043 0.00212474 -0.21378806] [ 0.04039167 -0.00615807 0.99916495 -0.13422228] [ 0. 0. 0. 1. ]] SLAMing on 36.38327356 meters Centerline goodness : 0.794728 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99427731 -0.09863531 -0.04103301 0.95881523] [ 0.09881417 0.99510313 0.00234882 -0.2139022 ] [ 0.0406004 -0.00639002 0.99915503 -0.13494333] [ 0. 0. 0. 1. ]] SLAMing on 36.44327356 meters Centerline goodness : 0.796741 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99427894 -0.09859618 -0.04108761 0.95920343] [ 0.09877301 0.99510735 0.00229128 -0.21386509] [ 0.04066067 -0.00633652 0.99915292 -0.13516175] [ 0. 0. 0. 1. ]] SLAMing on 36.50327356 meters Centerline goodness : 0.795345 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99429299 -0.0984325 -0.04113984 0.95982412] [ 0.09861767 0.99512228 0.00249097 -0.21447993] [ 0.04069397 -0.00653387 0.99915029 -0.13574542] [ 0. 0. 0. 1. ]] SLAMing on 36.56327356 meters Centerline goodness : 0.799071 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99428654 -0.09852221 -0.04108106 0.95945597] [ 0.09869454 0.99511538 0.00218314 -0.21378199] [ 0.0406653 -0.00622515 0.99915343 -0.13528826] [ 0. 0. 0. 1. ]] SLAMing on 36.62327356 meters Centerline goodness : 0.800213 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.9942601 -0.09879609 -0.04106328 0.9588243 ] [ 0.09894214 0.99509201 0.00153473 -0.21263188] [ 0.04071011 -0.00558881 0.99915537 -0.1342247 ] [ 0. 0. 0. 1. ]] SLAMing on 36.683273559999996 meters Centerline goodness : 0.796085 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99424941 -0.09888583 -0.04110599 0.95901633] [ 0.09902209 0.9950844 0.00128711 -0.21247189] [ 0.04077665 -0.00535011 0.99915396 -0.13417971] [ 0. 0. 0. 1. ]] SLAMing on 36.74327356 meters Centerline goodness : 0.796914 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.13 [[ 0.99427528 -0.09858915 -0.04119283 0.95992424] [ 0.09872039 0.99511454 0.00115891 -0.21141856] [ 0.04087733 -0.00521885 0.99915054 -0.13490248] [ 0. 0. 0. 1. ]] SLAMing on 36.80327356 meters Centerline goodness : 0.797959 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 9.94293003e-01 -9.83135865e-02 -4.14229751e-02 9.60731112e-01] [ 9.84368102e-02 9.95142859e-01 9.40734129e-04 -2.10187985e-01] [ 4.11292910e-02 -5.01291090e-03 9.99141257e-01 -1.35076974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.863273559999996 meters Centerline goodness : 0.797299 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99432055 -0.09798092 -0.04154985 0.96162863] [ 0.09811228 0.99517471 0.00112941 -0.20980292] [ 0.0412387 -0.00519955 0.99913579 -0.13582236] [ 0. 0. 0. 1. ]] SLAMing on 36.92327356 meters Centerline goodness : 0.795268 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 0.99430987 -0.09812342 -0.0414691 0.96190782] [ 0.09824931 0.99516133 0.00100373 -0.20962221] [ 0.04116996 -0.00507233 0.99913928 -0.13626417] [ 0. 0. 0. 1. ]] SLAMing on 36.98327356 meters Centerline goodness : 0.793455 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 9.94272528e-01 -9.85973114e-02 -4.12396699e-02 9.61496774e-01] [ 9.86952429e-02 9.95117648e-01 3.40548116e-04 -2.08216276e-01] [ 4.10047461e-02 -4.40875687e-03 9.99149225e-01 -1.36232316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.043273559999996 meters Centerline goodness : 0.790655 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 9.94248359e-01 -9.88537822e-02 -4.12083725e-02 9.61586436e-01] [ 9.89372908e-02 9.95093670e-01 -1.29563617e-05 -2.07315342e-01] [ 4.10074714e-02 -4.06416289e-03 9.99150574e-01 -1.36365462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10327356 meters Centerline goodness : 0.793715 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 9.94225778e-01 -9.90777038e-02 -4.12154289e-02 9.61904737e-01] [ 9.91516948e-02 9.95072298e-01 -2.50088215e-04 -2.06690380e-01] [ 4.10371098e-02 -3.83793548e-03 9.99150252e-01 -1.36756496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16327356 meters Centerline goodness : 0.792789 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.21, Z:-0.14 [[ 9.94204583e-01 -9.93430114e-02 -4.10878802e-02 9.62175763e-01] [ 9.94053882e-02 9.95046879e-01 -5.27185053e-04 -2.05370623e-01] [ 4.09367391e-02 -3.56022689e-03 9.99155397e-01 -1.37516133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.223273559999996 meters Centerline goodness : 0.788484 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 9.94189794e-01 -9.95362284e-02 -4.09779495e-02 9.62560012e-01] [ 9.95961664e-02 9.95027771e-01 -5.81271348e-04 -2.04484992e-01] [ 4.08320553e-02 -3.50335263e-03 9.99159882e-01 -1.38455457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28327356 meters Centerline goodness : 0.786832 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 9.94178120e-01 -9.97021924e-02 -4.08575334e-02 9.62928278e-01] [ 9.97554959e-02 9.95011707e-01 -7.37129267e-04 -2.03971171e-01] [ 4.07272175e-02 -3.34292572e-03 9.99164710e-01 -1.39226625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34327356 meters Centerline goodness : 0.784398 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99413794 -0.10014782 -0.04074517 0.96287091] [ 0.10018155 0.99496843 -0.00121814 -0.20258226] [ 0.04066215 -0.00287092 0.99916883 -0.13947649] [ 0. 0. 0. 1. ]] SLAMing on 37.403273559999995 meters Centerline goodness : 0.785468 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.9941168 -0.1003897 -0.04066569 0.96279268] [ 0.10040297 0.99494537 -0.001721 -0.20114755] [ 0.04063291 -0.00237208 0.99917133 -0.13946914] [ 0. 0. 0. 1. ]] SLAMing on 37.46327356 meters Centerline goodness : 0.783215 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.9940817 -0.10079745 -0.04051469 0.96244625] [ 0.10079227 0.99490511 -0.0021755 -0.20028906] [ 0.04052755 -0.00192094 0.99917657 -0.13938311] [ 0. 0. 0. 1. ]] SLAMing on 37.52327356 meters Centerline goodness : 0.782373 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99404077 -0.10127844 -0.04031893 0.9622639 ] [ 0.10126527 0.99485663 -0.00237397 -0.19978438] [ 0.04035198 -0.00172308 0.99918404 -0.13979783] [ 0. 0. 0. 1. ]] SLAMing on 37.583273559999995 meters Centerline goodness : 0.778987 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99401513 -0.10154275 -0.04028628 0.96260472] [ 0.10153138 0.9948296 -0.0023335 -0.19978931] [ 0.04031494 -0.00177078 0.99918545 -0.14044365] [ 0. 0. 0. 1. ]] SLAMing on 37.64327356 meters Centerline goodness : 0.778550 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99394936 -0.10225124 -0.04011668 0.9623751 ] [ 0.10222903 0.99475746 -0.00261 -0.19996747] [ 0.04017324 -0.00150688 0.99919159 -0.14085163] [ 0. 0. 0. 1. ]] SLAMing on 37.70327356 meters Centerline goodness : 0.778783 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99393404 -0.10242185 -0.04006096 0.9625182 ] [ 0.10239889 0.99473994 -0.00262983 -0.19983793] [ 0.04011959 -0.00148832 0.99919378 -0.14127069] [ 0. 0. 0. 1. ]] SLAMing on 37.76327356 meters Centerline goodness : 0.777305 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99394675 -0.10224517 -0.0401969 0.96321382] [ 0.1022191 0.99475822 -0.00270877 -0.19838969] [ 0.04026316 -0.00141652 0.99918811 -0.14179466] [ 0. 0. 0. 1. ]] SLAMing on 37.82327356 meters Centerline goodness : 0.776972 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99396349 -0.10203167 -0.04032515 0.96365442] [ 0.10200152 0.99478027 -0.00280972 -0.19728695] [ 0.04040134 -0.00132047 0.99918266 -0.14194464] [ 0. 0. 0. 1. ]] SLAMing on 37.88327356 meters Centerline goodness : 0.777483 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99399237 -0.10170754 -0.04043188 0.96438697] [ 0.1016761 0.99481351 -0.00283857 -0.19554848] [ 0.04051089 -0.00128943 0.99917827 -0.14257183] [ 0. 0. 0. 1. ]] SLAMing on 37.94327356 meters Centerline goodness : 0.780551 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.14 [[ 0.99399353 -0.10173614 -0.04033138 0.96452847] [ 0.10169562 0.99481085 -0.00306025 -0.19447766] [ 0.04043343 -0.00105965 0.99918167 -0.1429874 ] [ 0. 0. 0. 1. ]] SLAMing on 38.00327356 meters Centerline goodness : 0.778756 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.14 [[ 9.93982294e-01 -1.01810337e-01 -4.04209570e-02 9.64935721e-01] [ 1.01764722e-01 9.94803381e-01 -3.18982719e-03 -1.94234415e-01] [ 4.05356621e-02 -9.42795710e-04 9.99177647e-01 -1.43179272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06327356 meters Centerline goodness : 0.776968 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.14 [[ 9.93972917e-01 -1.01916685e-01 -4.03835427e-02 9.64933091e-01] [ 1.01872423e-01 9.94792460e-01 -3.15772493e-03 -1.94263488e-01] [ 4.04950687e-02 -9.75276301e-04 9.99179262e-01 -1.43249251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12327356 meters Centerline goodness : 0.778089 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.14 [[ 9.93948005e-01 -1.02185980e-01 -4.03161014e-02 9.64713076e-01] [ 1.02141939e-01 9.94764828e-01 -3.15610097e-03 -1.94663988e-01] [ 4.04275490e-02 -9.80964518e-04 9.99181991e-01 -1.43218654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183273559999996 meters Centerline goodness : 0.782530 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99392924 -0.10240138 -0.04023208 0.96469751] [ 0.10236352 0.99474252 -0.00300519 -0.19535049] [ 0.04032829 -0.00113135 0.99918584 -0.14354498] [ 0. 0. 0. 1. ]] SLAMing on 38.24327356 meters Centerline goodness : 0.782435 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 0.99391225 -0.10256895 -0.04022499 0.96469071] [ 0.10253275 0.9947252 -0.00296745 -0.19571856] [ 0.04031718 -0.001175 0.99918624 -0.14359267] [ 0. 0. 0. 1. ]] SLAMing on 38.30327356 meters Centerline goodness : 0.780476 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.14 [[ 9.93906638e-01 -1.02662686e-01 -4.01244078e-02 9.64539713e-01] [ 1.02618533e-01 9.94715752e-01 -3.16389515e-03 -1.95352908e-01] [ 4.02371944e-02 -9.72891476e-04 9.99189683e-01 -1.43544306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363273559999996 meters Centerline goodness : 0.782479 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.14 [[ 9.93927914e-01 -1.02432646e-01 -4.01852549e-02 9.64708603e-01] [ 1.02385470e-01 9.94739537e-01 -3.23568942e-03 -1.94685033e-01] [ 4.03053021e-02 -8.98344155e-04 9.99187007e-01 -1.43468909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42327356 meters Centerline goodness : 0.782049 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.14 [[ 0.99397326 -0.10194104 -0.04031345 0.96546561] [ 0.10190253 0.99478982 -0.00301428 -0.19392801] [ 0.04041069 -0.00111193 0.99918254 -0.1439349 ] [ 0. 0. 0. 1. ]] SLAMing on 38.48327356 meters Centerline goodness : 0.784796 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.14 [[ 0.99397836 -0.10181915 -0.04049549 0.96604352] [ 0.10178411 0.99480219 -0.00293147 -0.19419282] [ 0.04058348 -0.00120798 0.99917542 -0.14404874] [ 0. 0. 0. 1. ]] SLAMing on 38.543273559999996 meters Centerline goodness : 0.787377 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.14 [[ 0.99398199 -0.10181776 -0.04040985 0.96610495] [ 0.10178781 0.99480218 -0.0028033 -0.19443236] [ 0.04048523 -0.0013268 0.99917926 -0.14435262] [ 0. 0. 0. 1. ]] SLAMing on 38.60327356 meters Centerline goodness : 0.790585 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.14 [[ 0.9939918 -0.1017237 -0.04040523 0.9660967 ] [ 0.10168877 0.99481196 -0.0029241 -0.19360721] [ 0.04049306 -0.00120223 0.9991791 -0.14431059] [ 0. 0. 0. 1. ]] SLAMing on 38.66327356 meters Centerline goodness : 0.792845 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.994005 -0.10163487 -0.04030389 0.9664225 ] [ 0.1016059 0.99482087 -0.00277181 -0.19355204] [ 0.04037687 -0.00133992 0.99918362 -0.14500846] [ 0. 0. 0. 1. ]] SLAMing on 38.723273559999996 meters Centerline goodness : 0.794205 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99397998 -0.1019252 -0.04018782 0.96640502] [ 0.10189457 0.99479122 -0.00281506 -0.1938683 ] [ 0.04026542 -0.0012968 0.99918818 -0.14534228] [ 0. 0. 0. 1. ]] SLAMing on 38.78327356 meters Centerline goodness : 0.795578 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99393809 -0.10240373 -0.04000675 0.96588396] [ 0.10236758 0.99474225 -0.00295657 -0.19411616] [ 0.04009917 -0.00115675 0.99919504 -0.14523401] [ 0. 0. 0. 1. ]] SLAMing on 38.84327356 meters Centerline goodness : 0.795761 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99391471 -0.10266101 -0.03992816 0.96565322] [ 0.10261987 0.99471586 -0.00308404 -0.19379401] [ 0.04003379 -0.00103215 0.99919779 -0.14524615] [ 0. 0. 0. 1. ]] SLAMing on 38.903273559999995 meters Centerline goodness : 0.798575 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99391556 -0.10262321 -0.04000412 0.96614851] [ 0.10258505 0.99471968 -0.00301092 -0.19402433] [ 0.04010187 -0.00111122 0.99919498 -0.14561642] [ 0. 0. 0. 1. ]] SLAMing on 38.96327356 meters Centerline goodness : 0.797723 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 9.93901028e-01 -1.02836511e-01 -3.98170549e-02 9.66170838e-01] [ 1.02794032e-01 9.94697775e-01 -3.11814392e-03 -1.93799181e-01] [ 3.99265949e-02 -9.93829152e-04 9.99202121e-01 -1.46137037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02327356 meters Centerline goodness : 0.796554 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 9.93950358e-01 -1.02358457e-01 -3.98174972e-02 9.66600076e-01] [ 1.02312050e-01 9.94747184e-01 -3.20683423e-03 -1.92129111e-01] [ 3.99365898e-02 -8.86375733e-04 9.99201823e-01 -1.46436517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.083273559999995 meters Centerline goodness : 0.792944 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 9.94023123e-01 -1.01602078e-01 -3.99380676e-02 9.67051373e-01] [ 1.01551950e-01 9.94824807e-01 -3.28712802e-03 -1.89923088e-01] [ 4.00653594e-02 -7.88307365e-04 9.99196750e-01 -1.46356083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14327356 meters Centerline goodness : 0.791849 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 9.94076597e-01 -1.01017495e-01 -4.00897142e-02 9.67746073e-01] [ 1.00970051e-01 9.94884282e-01 -3.21161824e-03 -1.89021215e-01] [ 4.02090562e-02 -8.55265977e-04 9.99190923e-01 -1.46603440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20327356 meters Centerline goodness : 0.791529 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99414623 -0.10030587 -0.04014967 0.96862782] [ 0.10027512 0.99495585 -0.00278409 -0.18879109] [ 0.04022641 -0.00125822 0.9991898 -0.14739004] [ 0. 0. 0. 1. ]] SLAMing on 39.26327356 meters Centerline goodness : 0.790625 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99415941 -0.10015987 -0.04018795 0.968907 ] [ 0.10013425 0.99497039 -0.00265502 -0.18911112] [ 0.04025174 -0.00138467 0.99918861 -0.14758563] [ 0. 0. 0. 1. ]] SLAMing on 39.32327356 meters Centerline goodness : 0.795704 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99413598 -0.10034424 -0.04030738 0.96917482] [ 0.10033154 0.9949513 -0.00234309 -0.1905919 ] [ 0.040339 -0.00171475 0.99918458 -0.14780655] [ 0. 0. 0. 1. ]] SLAMing on 39.38327356 meters Centerline goodness : 0.793939 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99375944 -0.10402881 -0.04025146 0.96992105] [ 0.10387022 0.99457266 -0.00601702 -0.19129346] [ 0.04065894 0.00179854 0.99917146 -0.14751527] [ 0. 0. 0. 1. ]] SLAMing on 39.44327356 meters Centerline goodness : 0.796666 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.15 [[ 0.99372516 -0.1043826 -0.0401818 0.96969677] [ 0.10423409 0.994536 -0.00577908 -0.19326527] [ 0.04056548 0.00155451 0.99917567 -0.14744858] [ 0. 0. 0. 1. ]] SLAMing on 39.50327356 meters Centerline goodness : 0.795517 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 0.99364906 -0.10520645 -0.03991419 0.96856097] [ 0.10505941 0.99444921 -0.00576947 -0.19562505] [ 0.04029962 0.00153946 0.99918645 -0.14686915] [ 0. 0. 0. 1. ]] SLAMing on 39.56327356 meters Centerline goodness : 0.796086 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 0.99365968 -0.10506771 -0.04001518 0.9690427 ] [ 0.10493974 0.99446451 -0.00529086 -0.19742153] [ 0.04034957 0.00105813 0.99918506 -0.14717976] [ 0. 0. 0. 1. ]] SLAMing on 39.62327356 meters Centerline goodness : 0.794843 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 9.93711050e-01 -1.04439803e-01 -4.03816507e-02 9.70384489e-01] [ 1.04340910e-01 9.94531161e-01 -4.55460322e-03 -1.99338732e-01] [ 4.06364918e-02 3.12501341e-04 9.99173948e-01 -1.47765370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.683273559999996 meters Centerline goodness : 0.793554 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 9.93747754e-01 -1.04020376e-01 -4.05606026e-02 9.70588088e-01] [ 1.03942017e-01 9.94575146e-01 -4.04171356e-03 -2.00993641e-01] [ 4.07609878e-02 -1.99507065e-04 9.99168906e-01 -1.47444998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74327356 meters Centerline goodness : 0.790403 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 9.93780858e-01 -1.03674949e-01 -4.06338783e-02 9.71155929e-01] [ 1.03622187e-01 9.94610892e-01 -3.40819126e-03 -2.03350450e-01] [ 4.07682420e-02 -8.23576103e-04 9.99168290e-01 -1.47780577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80327356 meters Centerline goodness : 0.788859 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.15 [[ 0.99381419 -0.10332115 -0.04071964 0.97147005] [ 0.10330451 0.99464659 -0.00251808 -0.2069649 ] [ 0.04076182 -0.00170402 0.99916744 -0.14788481] [ 0. 0. 0. 1. ]] SLAMing on 39.863273559999996 meters Centerline goodness : 0.789615 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.15 [[ 0.99384849 -0.10295508 -0.04080965 0.9714425 ] [ 0.10296283 0.99468336 -0.00191738 -0.20954722] [ 0.04079008 -0.00229629 0.9991651 -0.14746882] [ 0. 0. 0. 1. ]] SLAMing on 39.92327356 meters Centerline goodness : 0.789771 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.15 [[ 0.99389817 -0.10232767 -0.04117609 0.972503 ] [ 0.10235495 0.99474688 -0.00145068 -0.21099434] [ 0.04110824 -0.00277275 0.99915085 -0.14754604] [ 0. 0. 0. 1. ]] SLAMing on 39.98327356 meters Centerline goodness : 0.789433 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.15 [[ 9.93983137e-01 -1.01381457e-01 -4.14647163e-02 9.73544864e-01] [ 1.01444429e-01 9.94841034e-01 -5.87992959e-04 -2.13142206e-01] [ 4.13104128e-02 -3.62190940e-03 9.99139796e-01 -1.47786504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.043273559999996 meters Centerline goodness : 0.788214 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.15 [[ 9.94031302e-01 -1.00772545e-01 -4.17931227e-02 9.74536799e-01] [ 1.00858529e-01 9.94900776e-01 -5.13915852e-05 -2.14643211e-01] [ 4.15851890e-02 -4.16410804e-03 9.99126284e-01 -1.47881869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10327356 meters Centerline goodness : 0.788409 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.994159 -0.09927572 -0.0423346 0.97610687] [ 0.09941001 0.99504598 0.00107354 -0.21649438] [ 0.0420183 -0.00527576 0.99910291 -0.14812836] [ 0. 0. 0. 1. ]] SLAMing on 40.16327356 meters Centerline goodness : 0.786428 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.994242 -0.09831524 -0.04262592 0.97702321] [ 0.09847483 0.99513816 0.00165551 -0.21709451] [ 0.04225592 -0.00584356 0.99908973 -0.14817503] [ 0. 0. 0. 1. ]] SLAMing on 40.223273559999996 meters Centerline goodness : 0.785640 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99449734 -0.09601618 -0.04190383 0.97591993] [ 0.09620999 0.99535759 0.00262853 -0.21762602] [ 0.04145692 -0.00664563 0.99911819 -0.14891681] [ 0. 0. 0. 1. ]] SLAMing on 40.28327356 meters Centerline goodness : 0.783970 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99471777 -0.09401016 -0.04121472 0.97538823] [ 0.09422284 0.99554585 0.00324424 -0.218894 ] [ 0.04072615 -0.00711047 0.99914505 -0.1500799 ] [ 0. 0. 0. 1. ]] SLAMing on 40.34327356 meters Centerline goodness : 0.784805 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99477795 -0.09323196 -0.04152867 0.97640341] [ 0.09348013 0.99561283 0.00407028 -0.21975366] [ 0.04096699 -0.00793113 0.99912902 -0.15068459] [ 0. 0. 0. 1. ]] SLAMing on 40.403273559999995 meters Centerline goodness : 0.785242 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.22, Z:-0.15 [[ 0.99500349 -0.08605196 -0.05062714 0.97245111] [ 0.08631956 0.99626262 0.00311918 -0.22280418] [ 0.05016952 -0.00747371 0.99871275 -0.14651782] [ 0. 0. 0. 1. ]] SLAMing on 40.46327356 meters Centerline goodness : 0.787679 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.22, Z:-0.15 [[ 0.99505967 -0.0852359 -0.05090282 0.97336653] [ 0.08555493 0.99632494 0.00411791 -0.22409056] [ 0.05036475 -0.00845256 0.99869512 -0.1470645 ] [ 0. 0. 0. 1. ]] SLAMing on 40.52327356 meters Centerline goodness : 0.787585 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.22, Z:-0.15 [[ 0.99508669 -0.08480936 -0.05108676 0.97398263] [ 0.085159 0.99635627 0.00470293 -0.22480175] [ 0.05050176 -0.00903032 0.99868315 -0.14736352] [ 0. 0. 0. 1. ]] SLAMing on 40.583273559999995 meters Centerline goodness : 0.787559 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.9950353 -0.0850703 -0.05165063 0.97534711] [ 0.08547659 0.99632385 0.00570476 -0.22645458] [ 0.05097545 -0.01009136 0.99864892 -0.1474382 ] [ 0. 0. 0. 1. ]] SLAMing on 40.64327356 meters Centerline goodness : 0.787181 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99499386 -0.08516445 -0.05229 0.97689005] [ 0.08561463 0.9963076 0.00642647 -0.22739689] [ 0.05154961 -0.01087109 0.99861126 -0.1476907 ] [ 0. 0. 0. 1. ]] SLAMing on 40.70327356 meters Centerline goodness : 0.791453 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99486998 -0.08591814 -0.05340215 0.97928436] [ 0.08642852 0.99623118 0.00731822 -0.22821642] [ 0.05257212 -0.01189615 0.99854627 -0.14782508] [ 0. 0. 0. 1. ]] SLAMing on 40.76327356 meters Centerline goodness : 0.789357 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99476883 -0.0869698 -0.05358376 0.97951205] [ 0.08747321 0.99614144 0.00711784 -0.22899357] [ 0.05275796 -0.01176775 0.99853799 -0.14735479] [ 0. 0. 0. 1. ]] SLAMing on 40.82327356 meters Centerline goodness : 0.789316 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99475057 -0.0869605 -0.05393684 0.98026787] [ 0.08749075 0.99613676 0.00754444 -0.2292766 ] [ 0.0530724 -0.01222382 0.99851585 -0.1473387 ] [ 0. 0. 0. 1. ]] SLAMing on 40.88327356 meters Centerline goodness : 0.791983 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99493487 -0.08420992 -0.05489348 0.98168862] [ 0.08496025 0.99631823 0.01147746 -0.23049012] [ 0.05372486 -0.01608309 0.99842625 -0.14737647] [ 0. 0. 0. 1. ]] SLAMing on 40.94327356 meters Centerline goodness : 0.792637 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99492903 -0.08412536 -0.05512856 0.98247891] [ 0.08486677 0.99632886 0.01124441 -0.22934475] [ 0.05398024 -0.01586597 0.99841595 -0.1479166 ] [ 0. 0. 0. 1. ]] SLAMing on 41.00327356 meters Centerline goodness : 0.795108 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99495563 -0.08362196 -0.05541357 0.98343199] [ 0.08439107 0.99636421 0.01168382 -0.22939557] [ 0.05423508 -0.01630129 0.99839512 -0.14855506] [ 0. 0. 0. 1. ]] SLAMing on 41.06327356 meters Centerline goodness : 0.798011 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99494066 -0.0835946 -0.05572274 0.98385814] [ 0.08435895 0.99636901 0.01150488 -0.22785972] [ 0.05455866 -0.01614738 0.99838 -0.14849504] [ 0. 0. 0. 1. ]] SLAMing on 41.12327356 meters Centerline goodness : 0.795796 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99496623 -0.08322826 -0.05581448 0.98432141] [ 0.08397598 0.99640502 0.01118352 -0.22644574] [ 0.05468304 -0.0158143 0.99837852 -0.14900677] [ 0. 0. 0. 1. ]] SLAMing on 41.183273559999996 meters Centerline goodness : 0.795467 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99505059 -0.08234236 -0.05562423 0.98381296] [ 0.08304284 0.99649174 0.01039729 -0.22373575] [ 0.05457295 -0.01496502 0.99839764 -0.14924255] [ 0. 0. 0. 1. ]] SLAMing on 41.24327356 meters Centerline goodness : 0.799115 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99527384 -0.07921842 -0.05616434 0.98375998] [ 0.08010809 0.99669111 0.01376659 -0.22275149] [ 0.05488793 -0.01820075 0.99832662 -0.14871805] [ 0. 0. 0. 1. ]] SLAMing on 41.30327356 meters Centerline goodness : 0.798078 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99527096 -0.07916021 -0.05629713 0.98425869] [ 0.08003007 0.99670285 0.01336483 -0.22134095] [ 0.05505355 -0.01780709 0.9983246 -0.14874861] [ 0. 0. 0. 1. ]] SLAMing on 41.363273559999996 meters Centerline goodness : 0.794790 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.15 [[ 0.99503426 -0.08225386 -0.05604566 0.98570201] [ 0.08291701 0.99651014 0.00960753 -0.21933494] [ 0.05505982 -0.01420696 0.99838198 -0.14978861] [ 0. 0. 0. 1. ]] SLAMing on 41.42327356 meters Centerline goodness : 0.795846 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.15 [[ 0.99497259 -0.08262908 -0.05658609 0.98730387] [ 0.08330838 0.99647613 0.00974878 -0.21917102] [ 0.05558115 -0.01441386 0.99835013 -0.15045757] [ 0. 0. 0. 1. ]] SLAMing on 41.48327356 meters Centerline goodness : 0.797304 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.15 [[ 0.99497115 -0.08253642 -0.05674633 0.98780225] [ 0.08316293 0.99649742 0.00876513 -0.21581263] [ 0.05582413 -0.01344025 0.99835015 -0.15019508] [ 0. 0. 0. 1. ]] SLAMing on 41.543273559999996 meters Centerline goodness : 0.796228 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.15 [[ 0.99498338 -0.08245077 -0.05665644 0.98734903] [ 0.08300806 0.99652027 0.00755037 -0.21220852] [ 0.05583675 -0.01221543 0.99836518 -0.14913401] [ 0. 0. 0. 1. ]] SLAMing on 41.60327356 meters Centerline goodness : 0.795492 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.15 [[ 0.99528862 -0.07851087 -0.05689112 0.98702424] [ 0.07921272 0.99680571 0.01018487 -0.20867023] [ 0.05590977 -0.01464338 0.99832844 -0.14854154] [ 0. 0. 0. 1. ]] SLAMing on 41.66327356 meters Centerline goodness : 0.798694 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99541903 -0.07659808 -0.0572162 0.9893831 ] [ 0.07731177 0.99695311 0.01036259 -0.20458559] [ 0.05624811 -0.0147386 0.99830803 -0.1497566 ] [ 0. 0. 0. 1. ]] SLAMing on 41.723273559999996 meters Centerline goodness : 0.805018 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99548545 -0.07548559 -0.05753818 0.99128465] [ 0.07618648 0.9970426 0.01008339 -0.20074298] [ 0.05660687 -0.0144215 0.99829238 -0.15065508] [ 0. 0. 0. 1. ]] SLAMing on 41.78327356 meters Centerline goodness : 0.803964 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99546798 -0.07559744 -0.05769345 0.99158169] [ 0.07625743 0.99704459 0.00932189 -0.19853815] [ 0.05681823 -0.01367919 0.99829082 -0.15037996] [ 0. 0. 0. 1. ]] SLAMing on 41.84327356 meters Centerline goodness : 0.797490 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99545597 -0.07574207 -0.05771093 0.99161518] [ 0.07637044 0.99704104 0.00875853 -0.19707589] [ 0.05687678 -0.01312614 0.99829491 -0.15017024] [ 0. 0. 0. 1. ]] SLAMing on 41.903273559999995 meters Centerline goodness : 0.795696 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99544738 -0.07586185 -0.05770171 0.99196378] [ 0.07646853 0.99703681 0.00837658 -0.19590045] [ 0.05689526 -0.01275081 0.99829873 -0.15051271] [ 0. 0. 0. 1. ]] SLAMing on 41.96327356 meters Centerline goodness : 0.796168 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.19, Z:-0.15 [[ 0.99546577 -0.07547201 -0.05789541 0.99274107] [ 0.07606463 0.99707 0.00809837 -0.19426712] [ 0.05711458 -0.01246545 0.99828981 -0.15057585] [ 0. 0. 0. 1. ]] SLAMing on 42.02327356 meters Centerline goodness : 0.791224 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.19, Z:-0.15 [[ 0.99550755 -0.07469722 -0.0581811 0.99391554] [ 0.07527308 0.99713271 0.00776675 -0.19193007] [ 0.05743412 -0.01211133 0.99827583 -0.15069227] [ 0. 0. 0. 1. ]] SLAMing on 42.083273559999995 meters Centerline goodness : 0.787678 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.19, Z:-0.15 [[ 0.99583671 -0.06998505 -0.05840666 0.99418099] [ 0.07075842 0.99742973 0.01127724 -0.18993297] [ 0.0574673 -0.01536305 0.99822918 -0.15065208] [ 0. 0. 0. 1. ]] SLAMing on 42.14327356 meters Centerline goodness : 0.789439 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.18, Z:-0.15 [[ 9.96455119e-01 -6.12792636e-02 -5.76372029e-02 1.01871331e+00] [ 6.14312340e-02 9.98110942e-01 8.66871438e-04 -1.84650587e-01] [ 5.74752016e-02 -4.40452298e-03 9.98337218e-01 -1.45972240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20327356 meters Centerline goodness : 0.790090 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.18, Z:-0.15 [[ 0.99675984 -0.05472026 -0.05895347 1.02345633] [ 0.05511483 0.99846707 0.0050866 -0.18242005] [ 0.05858476 -0.00831932 0.99824777 -0.14753911] [ 0. 0. 0. 1. ]] SLAMing on 42.263273559999995 meters Centerline goodness : 0.788184 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.18, Z:-0.15 [[ 0.99698872 -0.05016003 -0.05913934 1.02379783] [ 0.05077993 0.99866909 0.00902527 -0.18223063] [ 0.05860792 -0.01200118 0.99820894 -0.147763 ] [ 0. 0. 0. 1. ]] SLAMing on 42.32327356 meters Centerline goodness : 0.784670 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.18, Z:-0.14 [[ 0.99724691 -0.04554746 -0.05851515 1.03575723] [ 0.04573689 0.99895171 0.00190146 -0.17971131] [ 0.0583672 -0.00457252 0.99828471 -0.14329407] [ 0. 0. 0. 1. ]] SLAMing on 42.38327356 meters Centerline goodness : 0.786566 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.18, Z:-0.14 [[ 9.97204929e-01 -4.61719240e-02 -5.87408154e-02 1.03815466e+00] [ 4.62243940e-02 9.98930973e-01 -4.65968160e-04 -1.78209144e-01] [ 5.86995346e-02 -2.25059285e-03 9.98273159e-01 -1.43337603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44327356 meters Centerline goodness : 0.782457 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.18, Z:-0.14 [[ 0.99704577 -0.0490159 -0.05913692 1.04044804] [ 0.04885411 0.99879718 -0.00417938 -0.17749762] [ 0.05927065 0.00127795 0.99824113 -0.14341312] [ 0. 0. 0. 1. ]] SLAMing on 42.50327356 meters Centerline goodness : 0.781502 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.18, Z:-0.14 [[ 0.99683392 -0.0527461 -0.05949778 1.04190351] [ 0.05238615 0.99859802 -0.0075947 -0.17867857] [ 0.05981495 0.0044538 0.99819955 -0.14358812] [ 0. 0. 0. 1. ]] SLAMing on 42.56327356 meters Centerline goodness : 0.782006 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.18, Z:-0.14 [[ 0.99661039 -0.05664866 -0.05965457 1.04259361] [ 0.05607417 0.99836309 -0.01126201 -0.17964134] [ 0.0601949 0.00787876 0.99815555 -0.1432004 ] [ 0. 0. 0. 1. ]] SLAMing on 42.62327356 meters Centerline goodness : 0.779731 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.18, Z:-0.15 [[ 0.99649497 -0.06437728 -0.05341662 1.05115368] [ 0.06408447 0.99791866 -0.00717814 -0.18262124] [ 0.05376755 0.0037298 0.99854651 -0.1458416 ] [ 0. 0. 0. 1. ]] SLAMing on 42.683273559999996 meters Centerline goodness : 0.780941 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.18, Z:-0.15 [[ 0.99597792 -0.07180868 -0.05358629 1.05312099] [ 0.07112599 0.99736132 -0.01454252 -0.18324539] [ 0.05448917 0.01067265 0.99845732 -0.1457243 ] [ 0. 0. 0. 1. ]] SLAMing on 42.74327356 meters Centerline goodness : 0.779320 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.18, Z:-0.15 [[ 0.99571952 -0.07503986 -0.05395983 1.05523777] [ 0.07416648 0.99708318 -0.01801281 -0.18274347] [ 0.05515412 0.01393369 0.99838063 -0.14627739] [ 0. 0. 0. 1. ]] SLAMing on 42.80327356 meters Centerline goodness : 0.777364 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.18, Z:-0.15 [[ 0.9954153 -0.07885947 -0.05412547 1.05683003] [ 0.07781301 0.99674297 -0.02117971 -0.18435235] [ 0.0556194 0.01687094 0.9983095 -0.14711743] [ 0. 0. 0. 1. ]] SLAMing on 42.863273559999996 meters Centerline goodness : 0.782013 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.19, Z:-0.15 [[ 0.99594308 -0.07892313 -0.04322644 1.05964038] [ 0.07813757 0.99675042 -0.0195735 -0.18720597] [ 0.04463077 0.01611648 0.99887354 -0.15499744] [ 0. 0. 0. 1. ]] SLAMing on 42.92327356 meters Centerline goodness : 0.780950 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.19, Z:-0.16 [[ 0.99565046 -0.08247737 -0.04333173 1.060917 ] [ 0.08152979 0.99640083 -0.02320101 -0.18714468] [ 0.04508933 0.01956727 0.99879131 -0.15510442] [ 0. 0. 0. 1. ]] SLAMing on 42.98327356 meters Centerline goodness : 0.779107 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.19, Z:-0.16 [[ 0.99539869 -0.0853308 -0.04359006 1.06332857] [ 0.08423996 0.99609887 -0.02628053 -0.18681575] [ 0.04566255 0.02248758 0.99870378 -0.15634213] [ 0. 0. 0. 1. ]] SLAMing on 43.043273559999996 meters Centerline goodness : 0.778868 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.19, Z:-0.16 [[ 0.99540592 -0.08504063 -0.04399038 1.06455183] [ 0.08395457 0.99613094 -0.02597668 -0.18700654] [ 0.04602925 0.02216415 0.99869418 -0.15685995] [ 0. 0. 0. 1. ]] SLAMing on 43.10327356 meters Centerline goodness : 0.777133 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.19, Z:-0.16 [[ 0.99540914 -0.08486885 -0.04424839 1.06532539] [ 0.0837682 0.99614169 -0.02616533 -0.18583402] [ 0.04629829 0.02233861 0.99867785 -0.15698721] [ 0. 0. 0. 1. ]] SLAMing on 43.16327356 meters Centerline goodness : 0.777261 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.18, Z:-0.16 [[ 0.99543548 -0.08449612 -0.04436897 1.06569198] [ 0.08339051 0.99617226 -0.02620786 -0.18489748] [ 0.0464136 0.02238828 0.99867139 -0.1569001 ] [ 0. 0. 0. 1. ]] SLAMing on 43.223273559999996 meters Centerline goodness : 0.778956 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.18, Z:-0.16 [[ 0.99544809 -0.08420484 -0.04463913 1.06636138] [ 0.08308428 0.99619295 -0.02639338 -0.18371845] [ 0.04669164 0.02256443 0.99865446 -0.15673406] [ 0. 0. 0. 1. ]] SLAMing on 43.28327356 meters Centerline goodness : 0.779741 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.18, Z:-0.16 [[ 0.99550427 -0.08329437 -0.04509219 1.06815202] [ 0.08217414 0.99627474 -0.02615444 -0.1820585 ] [ 0.04710273 0.02233144 0.9986404 -0.15748719] [ 0. 0. 0. 1. ]] SLAMing on 43.34327356 meters Centerline goodness : 0.777549 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.18, Z:-0.16 [[ 0.99556033 -0.08249166 -0.0453295 1.06935305] [ 0.08136616 0.99634142 -0.0261405 -0.18030853] [ 0.04732003 0.02233616 0.99863002 -0.15791644] [ 0. 0. 0. 1. ]] SLAMing on 43.403273559999995 meters Centerline goodness : 0.774986 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.18, Z:-0.16 [[ 0.99560962 -0.08176391 -0.04556485 1.07064857] [ 0.08063583 0.99640259 -0.02607185 -0.17845344] [ 0.04753267 0.02228323 0.9986211 -0.15854612] [ 0. 0. 0. 1. ]] SLAMing on 43.46327356 meters Centerline goodness : 0.776975 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.18, Z:-0.16 [[ 0.99568793 -0.08060342 -0.04591997 1.0726325 ] [ 0.07946809 0.99649728 -0.02603827 -0.17575382] [ 0.0478579 0.02227682 0.99860571 -0.15944791] [ 0. 0. 0. 1. ]] SLAMing on 43.52327356 meters Centerline goodness : 0.778481 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.17, Z:-0.16 [[ 0.99577529 -0.07934767 -0.04621167 1.07462643] [ 0.07821583 0.99660232 -0.02580899 -0.1734483 ] [ 0.04810254 0.02208547 0.99859821 -0.16058473] [ 0. 0. 0. 1. ]] SLAMing on 43.583273559999995 meters Centerline goodness : 0.779330 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99580731 -0.07878346 -0.04648619 1.07546074] [ 0.07763539 0.9966425 -0.02600902 -0.17134051] [ 0.04837919 0.022291 0.99858027 -0.16048494] [ 0. 0. 0. 1. ]] SLAMing on 43.64327356 meters Centerline goodness : 0.779203 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99582574 -0.07837087 -0.04678779 1.07628744] [ 0.07722157 0.99667778 -0.02588865 -0.17080338] [ 0.04866126 0.02216756 0.99856932 -0.16058978] [ 0. 0. 0. 1. ]] SLAMing on 43.70327356 meters Centerline goodness : 0.778923 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99583623 -0.07811599 -0.04699035 1.07706742] [ 0.07697129 0.99670207 -0.02569817 -0.17072951] [ 0.04884282 0.02197426 0.99856473 -0.16099356] [ 0. 0. 0. 1. ]] SLAMing on 43.763273559999995 meters Centerline goodness : 0.779684 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99583984 -0.07787777 -0.04730825 1.07824434] [ 0.07673952 0.99672706 -0.02542063 -0.17073011] [ 0.04913312 0.02168446 0.99855682 -0.16164951] [ 0. 0. 0. 1. ]] SLAMing on 43.82327356 meters Centerline goodness : 0.785304 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99582817 -0.07785749 -0.04758637 1.07896295] [ 0.07672213 0.99673299 -0.0252399 -0.17123711] [ 0.04939602 0.02148368 0.99854819 -0.1619106 ] [ 0. 0. 0. 1. ]] SLAMing on 43.88327356 meters Centerline goodness : 0.782807 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99583842 -0.07767642 -0.04766775 1.07923368] [ 0.07654903 0.99675134 -0.02504026 -0.17126633] [ 0.04945793 0.02128713 0.99854933 -0.16202773] [ 0. 0. 0. 1. ]] SLAMing on 43.94327356 meters Centerline goodness : 0.781834 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99585601 -0.0772412 -0.0480062 1.0801734 ] [ 0.0761137 0.99678845 -0.02488943 -0.17099286] [ 0.04977452 0.02113235 0.99853689 -0.16211176] [ 0. 0. 0. 1. ]] SLAMing on 44.00327356 meters Centerline goodness : 0.784663 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99591162 -0.07618935 -0.04853075 1.08213966] [ 0.0750699 0.99687752 -0.02448902 -0.17036623] [ 0.05024502 0.0207457 0.99852143 -0.16277255] [ 0. 0. 0. 1. ]] SLAMing on 44.06327356 meters Centerline goodness : 0.787357 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99621024 -0.07185372 -0.04901232 1.08273649] [ 0.07093798 0.99727665 -0.0201763 -0.17099816] [ 0.05032859 0.016623 0.99859437 -0.1633002 ] [ 0. 0. 0. 1. ]] SLAMing on 44.12327356 meters Centerline goodness : 0.787484 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.99627084 -0.07062006 -0.04957038 1.084814 ] [ 0.06972131 0.99737328 -0.01963365 -0.17039198] [ 0.05082671 0.01610432 0.99857764 -0.16392528] [ 0. 0. 0. 1. ]] SLAMing on 44.183273559999996 meters Centerline goodness : 0.786585 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.16 [[ 0.99638429 -0.06838484 -0.05041688 1.08812289] [ 0.06751183 0.99754092 -0.0188221 -0.16968651] [ 0.05158005 0.01535031 0.99855088 -0.16479882] [ 0. 0. 0. 1. ]] SLAMing on 44.24327356 meters Centerline goodness : 0.785610 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.16 [[ 0.99656958 -0.06554765 -0.0505231 1.08989102] [ 0.06471112 0.99774131 -0.01802065 -0.16798561] [ 0.05159019 0.01468943 0.9985603 -0.16495809] [ 0. 0. 0. 1. ]] SLAMing on 44.30327356 meters Centerline goodness : 0.787239 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.16 [[ 0.99668267 -0.06341323 -0.05101387 1.09209307] [ 0.06257051 0.99787908 -0.01795185 -0.16668521] [ 0.05204406 0.01470033 0.99853659 -0.16442929] [ 0. 0. 0. 1. ]] SLAMing on 44.363273559999996 meters Centerline goodness : 0.792423 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.16, Z:-0.15 [[ 0.99742867 -0.05546161 -0.04538788 1.11842215] [ 0.05378349 0.99785216 -0.03739529 -0.1600023 ] [ 0.04736439 0.03485801 0.99826927 -0.15362365] [ 0. 0. 0. 1. ]] SLAMing on 44.42327356 meters Centerline goodness : 0.777195 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.14 [[ 0.99818411 -0.04680534 -0.03791745 1.13380445] [ 0.04389132 0.99626624 -0.07434473 -0.14824131] [ 0.0412556 0.07254548 0.99651148 -0.13650556] [ 0. 0. 0. 1. ]] SLAMing on 44.48327356 meters Centerline goodness : 0.796356 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:-0.13 [[ 0.99892443 -0.03736061 -0.02746213 1.12976718] [ 0.0343355 0.99404688 -0.10340154 -0.1438819 ] [ 0.03116179 0.1023474 0.99426051 -0.12645753] [ 0. 0. 0. 1. ]] SLAMing on 44.543273559999996 meters Centerline goodness : 0.797263 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.12 [[ 0.99950545 -0.02482454 -0.01930267 1.10934066] [ 0.02200753 0.99066887 -0.13450223 -0.14117211] [ 0.02246151 0.13401091 0.99072527 -0.11579654] [ 0. 0. 0. 1. ]] SLAMing on 44.60327356 meters Centerline goodness : 0.795597 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.11 [[ 0.99958621 -0.01726843 -0.02300448 1.09886006] [ 0.01388107 0.99005014 -0.14002872 -0.14403249] [ 0.02519367 0.13965145 0.98988017 -0.11050283] [ 0. 0. 0. 1. ]] SLAMing on 44.66327356 meters Centerline goodness : 0.793908 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.15, Z:-0.11 [[ 0.99969001 -0.01262454 -0.02145926 1.09717919] [ 0.00952606 0.99027392 -0.13880498 -0.14584754] [ 0.0230029 0.13855753 0.99008721 -0.11297413] [ 0. 0. 0. 1. ]] SLAMing on 44.723273559999996 meters Centerline goodness : 0.794861 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.14, Z:-0.08 [[ 0.99914272 -0.02595768 0.03224933 1.04452644] [ 0.03194304 0.9789239 -0.20171176 -0.14288247] [-0.02633368 0.20256898 0.97891386 -0.07540261] [ 0. 0. 0. 1. ]] SLAMing on 44.78327356 meters Centerline goodness : 0.792760 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.11 [[ 0.99506858 -0.07868379 0.06039361 1.18402701] [ 0.08142697 0.99569041 -0.04438755 -0.15442952] [-0.05664076 0.04908632 0.99718722 -0.1135816 ] [ 0. 0. 0. 1. ]] SLAMing on 44.84327356 meters Centerline goodness : 0.794636 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.17, Z:-0.11 [[ 0.99599176 -0.07512842 0.04854008 1.18418824] [ 0.07719571 0.99612174 -0.04221729 -0.16616938] [-0.04518011 0.04579515 0.99792864 -0.11050183] [ 0. 0. 0. 1. ]] SLAMing on 44.903273559999995 meters Centerline goodness : 0.793271 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.18, Z:-0.11 [[ 0.99670535 -0.07267539 0.03601023 1.18460283] [ 0.07413701 0.99640213 -0.04106712 -0.17590007] [-0.0328961 0.04360151 0.99850726 -0.10646171] [ 0. 0. 0. 1. ]] SLAMing on 44.96327356 meters Centerline goodness : 0.783980 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.10 [[ 0.99716006 -0.07176937 0.02282477 1.18707406] [ 0.07260381 0.99663233 -0.03811417 -0.18963204] [-0.02001247 0.0396631 0.99901268 -0.10260035] [ 0. 0. 0. 1. ]] SLAMing on 45.02327356 meters Centerline goodness : 0.791988 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.20, Z:-0.10 [[ 0.99759756 -0.06863167 0.00942356 1.18928108] [ 0.06891754 0.99702895 -0.03440401 -0.19981049] [-0.00703436 0.03497081 0.99936358 -0.09903637] [ 0. 0. 0. 1. ]] SLAMing on 45.083273559999995 meters Centerline goodness : 0.793136 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.21, Z:-0.10 [[ 0.99774636 -0.06701842 -0.00327625 1.19143993] [ 0.06688726 0.99729057 -0.03062034 -0.21268951] [ 0.0053195 0.0303322 0.99952572 -0.09600754] [ 0. 0. 0. 1. ]] SLAMing on 45.14327356 meters Centerline goodness : 0.791332 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.23, Z:-0.09 [[ 0.99777794 -0.06490722 -0.01504123 1.192315 ] [ 0.06447311 0.99753372 -0.0277433 -0.22546351] [ 0.01680487 0.02671189 0.99950191 -0.09370426] [ 0. 0. 0. 1. ]] SLAMing on 45.20327356 meters Centerline goodness : 0.789431 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.24, Z:-0.10 [[ 0.99759924 -0.06829886 -0.01144666 1.20095808] [ 0.06810486 0.99754074 -0.01655873 -0.23505648] [ 0.01254945 0.0157394 0.99979737 -0.09735512] [ 0. 0. 0. 1. ]] SLAMing on 45.263273559999995 meters Centerline goodness : 0.779777 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.24, Z:-0.10 [[ 0.99765477 -0.06742383 -0.01178906 1.2019247 ] [ 0.06725248 0.99763246 -0.01437294 -0.24155369] [ 0.01273023 0.01354639 0.9998272 -0.09785452] [ 0. 0. 0. 1. ]] SLAMing on 45.32327356 meters Centerline goodness : 0.778531 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.25, Z:-0.10 [[ 0.99776757 -0.06566381 -0.01217143 1.20309283] [ 0.06553049 0.99778942 -0.01104674 -0.25136565] [ 0.0128699 0.01022448 0.9998649 -0.09841359] [ 0. 0. 0. 1. ]] SLAMing on 45.38327356 meters Centerline goodness : 0.780101 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.10 [[ 0.99791823 -0.06317482 -0.01296686 1.20578355] [ 0.06308408 0.99798157 -0.0072924 -0.26129024] [ 0.01340138 0.00645922 0.99988933 -0.09988354] [ 0. 0. 0. 1. ]] SLAMing on 45.44327356 meters Centerline goodness : 0.780662 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:-0.10 [[ 0.99802163 -0.06140902 -0.01348206 1.20768853] [ 0.06135179 0.99810552 -0.00461894 -0.2678128 ] [ 0.01374016 0.00378265 0.99989844 -0.10098971] [ 0. 0. 0. 1. ]] SLAMing on 45.50327356 meters Centerline goodness : 0.778945 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:-0.10 [[ 9.98225394e-01 -5.79254999e-02 -1.38094005e-02 1.20891186e+00] [ 5.79277972e-02 9.98320748e-01 -2.33915955e-04 -2.77671436e-01] [ 1.37997608e-02 -5.66447307e-04 9.99904618e-01 -1.01579051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56327356 meters Centerline goodness : 0.772576 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:-0.10 [[ 0.99834488 -0.05573406 -0.01418522 1.21045617] [ 0.05577904 0.99843923 0.00279502 -0.28496492] [ 0.0140073 -0.00358163 0.99989548 -0.10245601] [ 0. 0. 0. 1. ]] SLAMing on 45.62327356 meters Centerline goodness : 0.773808 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.30, Z:-0.10 [[ 0.99849993 -0.05285488 -0.01429144 1.21114176] [ 0.05295735 0.99857301 0.00688876 -0.29747021] [ 0.01390695 -0.00763527 0.99987414 -0.10255864] [ 0. 0. 0. 1. ]] SLAMing on 45.683273559999996 meters Centerline goodness : 0.773885 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.31, Z:-0.10 [[ 0.99851985 -0.05241712 -0.01451067 1.2119288 ] [ 0.05254785 0.99857981 0.00877938 -0.31039498] [ 0.01402987 -0.00952889 0.99985617 -0.10212729] [ 0. 0. 0. 1. ]] SLAMing on 45.74327356 meters Centerline goodness : 0.776119 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.32, Z:-0.10 [[ 0.99843723 -0.05391717 -0.01469838 1.2129044 ] [ 0.0540508 0.99849896 0.00885096 -0.32010899] [ 0.0141991 -0.00963158 0.9998528 -0.10209008] [ 0. 0. 0. 1. ]] SLAMing on 45.80327356 meters Centerline goodness : 0.778839 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.33, Z:-0.10 [[ 0.99834501 -0.05548867 -0.01510781 1.21469901] [ 0.0556292 0.99841051 0.00904631 -0.33062927] [ 0.01458183 -0.00987177 0.99984495 -0.10263296] [ 0. 0. 0. 1. ]] SLAMing on 45.863273559999996 meters Centerline goodness : 0.781248 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.35, Z:-0.10 [[ 0.99812268 -0.05926885 -0.0154377 1.21729353] [ 0.05940663 0.99819661 0.00862444 -0.34692126] [ 0.0148987 -0.00952535 0.99984364 -0.10441451] [ 0. 0. 0. 1. ]] SLAMing on 45.92327356 meters Centerline goodness : 0.786741 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.37, Z:-0.11 [[ 0.99785761 -0.06345668 -0.01591983 1.22017764] [ 0.06359983 0.99793798 0.00865212 -0.365291 ] [ 0.01533797 -0.00964608 0.99983584 -0.1062616 ] [ 0. 0. 0. 1. ]] SLAMing on 45.98327356 meters Centerline goodness : 0.783910 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.38, Z:-0.11 [[ 0.99759474 -0.06861318 -0.00984699 1.22915938] [ 0.06876402 0.99750628 0.01589756 -0.38449105] [ 0.00873165 -0.01653644 0.99982514 -0.11023214] [ 0. 0. 0. 1. ]] SLAMing on 46.043273559999996 meters Centerline goodness : 0.781579 with order 2 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.40, Z:-0.11 [[ 0.99739238 -0.07145276 -0.01014599 1.23116359] [ 0.07162491 0.99727352 0.0177593 -0.39628021] [ 0.00884937 -0.01843969 0.99979081 -0.10985271] [ 0. 0. 0. 1. ]] SLAMing on 46.10327356 meters Centerline goodness : 0.784794 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.42, Z:-0.11 [[ 0.99707697 -0.07515251 -0.01377031 1.23656191] [ 0.07550396 0.99677767 0.02708174 -0.41694441] [ 0.01169067 -0.02804229 0.99953837 -0.10809641] [ 0. 0. 0. 1. ]] SLAMing on 46.16327356 meters Centerline goodness : 0.781435 with order 2 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.43, Z:-0.11 [[ 0.9966377 -0.08067893 -0.01429008 1.23897743] [ 0.08104792 0.99633183 0.02746121 -0.43261943] [ 0.01202212 -0.02852706 0.99952072 -0.10659876] [ 0. 0. 0. 1. ]] SLAMing on 46.223273559999996 meters Centerline goodness : 0.781127 with order 2 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.44, Z:-0.11 [[ 0.99638209 -0.08362971 -0.01512588 1.24192841] [ 0.08403494 0.99605513 0.02850086 -0.4418466 ] [ 0.01268269 -0.02966885 0.99947932 -0.10598893] [ 0. 0. 0. 1. ]] SLAMing on 46.28327356 meters Centerline goodness : 0.781069 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.45, Z:-0.11 [[ 0.99609755 -0.0867405 -0.01630205 1.24570484] [ 0.08720966 0.9957171 0.03069089 -0.45456107] [ 0.01357008 -0.03199282 0.99939597 -0.10610785] [ 0. 0. 0. 1. ]] SLAMing on 46.34327356 meters Centerline goodness : 0.786375 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.46, Z:-0.11 [[ 0.99581237 -0.08996922 -0.01622562 1.24649844] [ 0.09041949 0.99546496 0.02956062 -0.46090261] [ 0.01349249 -0.03090394 0.99943129 -0.10543399] [ 0. 0. 0. 1. ]] SLAMing on 46.403273559999995 meters Centerline goodness : 0.787377 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.47, Z:-0.10 [[ 0.99555334 -0.09268085 -0.01684668 1.24827814] [ 0.09317195 0.99516184 0.03117528 -0.47101635] [ 0.01387582 -0.0326063 0.99937195 -0.10356623] [ 0. 0. 0. 1. ]] SLAMing on 46.46327356 meters Centerline goodness : 0.799518 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99525121 -0.09585833 -0.01691784 1.24987492] [ 0.09634432 0.99487359 0.0307298 -0.47926817] [ 0.01388541 -0.03221381 0.99938454 -0.10325717] [ 0. 0. 0. 1. ]] SLAMing on 46.52327356 meters Centerline goodness : 0.800452 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99522196 -0.0961166 -0.01717096 1.2504395 ] [ 0.09662426 0.99481615 0.03169504 -0.4820824 ] [ 0.01403553 -0.03320273 0.99935008 -0.10283093] [ 0. 0. 0. 1. ]] SLAMing on 46.583273559999995 meters Centerline goodness : 0.802934 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.49, Z:-0.10 [[ 0.99487004 -0.09964461 -0.01745144 1.25224711] [ 0.10014457 0.99450218 0.03060181 -0.48807623] [ 0.01430619 -0.03219249 0.9993793 -0.10237693] [ 0. 0. 0. 1. ]] SLAMing on 46.64327356 meters Centerline goodness : 0.793101 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.49, Z:-0.10 [[ 0.99448233 -0.10346835 -0.01729757 1.25279202] [ 0.10392272 0.99419573 0.02783743 -0.49093466] [ 0.01431688 -0.02948145 0.99946279 -0.10193854] [ 0. 0. 0. 1. ]] SLAMing on 46.70327356 meters Centerline goodness : 0.805224 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.99402302 -0.10780899 -0.0171891 1.25342055] [ 0.10822954 0.99379188 0.02576958 -0.49636891] [ 0.01430419 -0.02747593 0.99952012 -0.10089408] [ 0. 0. 0. 1. ]] SLAMing on 46.763273559999995 meters Centerline goodness : 0.793671 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.9935212 -0.11236818 -0.01700056 1.25385349] [ 0.11275477 0.99333762 0.02380615 -0.50076988] [ 0.01421224 -0.02556881 0.99957203 -0.09964951] [ 0. 0. 0. 1. ]] SLAMing on 46.82327356 meters Centerline goodness : 0.794562 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.99341104 -0.11329631 -0.01727555 1.25437581] [ 0.11370558 0.99320233 0.02490343 -0.50479394] [ 0.01433665 -0.02670367 0.99954058 -0.0988974 ] [ 0. 0. 0. 1. ]] SLAMing on 46.88327356 meters Centerline goodness : 0.796686 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.51, Z:-0.10 [[ 0.9929848 -0.11706351 -0.01665296 1.25382733] [ 0.11740801 0.99285146 0.02147898 -0.50571388] [ 0.01401951 -0.02328349 0.9996306 -0.09848004] [ 0. 0. 0. 1. ]] SLAMing on 46.94327356 meters Centerline goodness : 0.796252 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.51, Z:-0.10 [[ 0.99301462 -0.11680805 -0.01666866 1.25357077] [ 0.11716016 0.99286946 0.02199382 -0.50664541] [ 0.01398074 -0.02379309 0.99961914 -0.09799198] [ 0. 0. 0. 1. ]] SLAMing on 47.00327356 meters Centerline goodness : 0.799820 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.51, Z:-0.10 [[ 0.99311053 -0.11600525 -0.01656078 1.25324011] [ 0.11635971 0.99295587 0.02233941 -0.50604101] [ 0.01385263 -0.02411251 0.99961327 -0.09803125] [ 0. 0. 0. 1. ]] SLAMing on 47.06327356 meters Centerline goodness : 0.794194 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.99316423 -0.11556328 -0.01642976 1.25326396] [ 0.11590939 0.99301707 0.0219571 -0.50456291] [ 0.0137776 -0.02371137 0.9996239 -0.0986779 ] [ 0. 0. 0. 1. ]] SLAMing on 47.12327356 meters Centerline goodness : 0.793838 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.9931792 -0.11545378 -0.01629427 1.2535532 ] [ 0.11578241 0.99305437 0.02091531 -0.50164305] [ 0.01376634 -0.02265924 0.99964846 -0.09980308] [ 0. 0. 0. 1. ]] SLAMing on 47.183273559999996 meters Centerline goodness : 0.794634 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.99316252 -0.11564876 -0.01592404 1.25303633] [ 0.11596084 0.99304614 0.02030898 -0.49972587] [ 0.0134646 -0.02201668 0.99966693 -0.10027267] [ 0. 0. 0. 1. ]] SLAMing on 47.24327356 meters Centerline goodness : 0.796694 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.99313208 -0.11592664 -0.01580114 1.25258529] [ 0.11623241 0.99301982 0.02004177 -0.49881544] [ 0.01336747 -0.02174073 0.99967427 -0.10003624] [ 0. 0. 0. 1. ]] SLAMing on 47.30327356 meters Centerline goodness : 0.797224 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.50, Z:-0.10 [[ 0.993038 -0.116782 -0.01541096 1.25121796] [ 0.11706415 0.99294474 0.0188874 -0.49663382] [ 0.01309653 -0.02055998 0.99970284 -0.09934266] [ 0. 0. 0. 1. ]] SLAMing on 47.363273559999996 meters Centerline goodness : 0.795237 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.49, Z:-0.10 [[ 0.99297323 -0.11736097 -0.0151843 1.25067941] [ 0.11762092 0.9929037 0.01753719 -0.49315133] [ 0.01301837 -0.01919995 0.99973091 -0.09953741] [ 0. 0. 0. 1. ]] SLAMing on 47.42327356 meters Centerline goodness : 0.795554 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.49, Z:-0.10 [[ 0.99291238 -0.11790478 -0.01494875 1.25035071] [ 0.11814593 0.99286035 0.01642743 -0.49053659] [ 0.01290515 -0.01807713 0.99975331 -0.09998601] [ 0. 0. 0. 1. ]] SLAMing on 47.48327356 meters Centerline goodness : 0.793079 with order 2 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.49, Z:-0.10 [[ 0.99277056 -0.11911117 -0.0148034 1.25067518] [ 0.11932727 0.99274634 0.01468709 -0.48723824] [ 0.01294662 -0.01634736 0.99978255 -0.10107783] [ 0. 0. 0. 1. ]] SLAMing on 47.543273559999996 meters Centerline goodness : 0.790571 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99266536 -0.11995948 -0.01500661 1.25161877] [ 0.12016517 0.99266009 0.0136482 -0.48496791] [ 0.01325924 -0.01535137 0.99979424 -0.10205546] [ 0. 0. 0. 1. ]] SLAMing on 47.60327356 meters Centerline goodness : 0.802182 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99257171 -0.12072718 -0.01504463 1.2513452 ] [ 0.1209222 0.9925794 0.01280433 -0.48321805] [ 0.01338716 -0.01452844 0.99980484 -0.10166762] [ 0. 0. 0. 1. ]] SLAMing on 47.66327356 meters Centerline goodness : 0.801478 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99242793 -0.12192628 -0.01485885 1.25020913] [ 0.1220991 0.99245318 0.01133586 -0.4798416 ] [ 0.01336457 -0.01306428 0.99982534 -0.10080955] [ 0. 0. 0. 1. ]] SLAMing on 47.723273559999996 meters Centerline goodness : 0.801925 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99233828 -0.12264219 -0.01495415 1.25020346] [ 0.12280585 0.99237449 0.01056342 -0.47837888] [ 0.0135446 -0.01231894 0.99983238 -0.10060767] [ 0. 0. 0. 1. ]] SLAMing on 47.78327356 meters Centerline goodness : 0.798399 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.10 [[ 0.99221923 -0.12358949 -0.01505431 1.25090089] [ 0.12373625 0.99227213 0.00923868 -0.47562968] [ 0.01379617 -0.01102956 0.999844 -0.10147251] [ 0. 0. 0. 1. ]] SLAMing on 47.84327356 meters Centerline goodness : 0.798132 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.47, Z:-0.10 [[ 0.99244366 -0.1217494 -0.01525351 1.25025905] [ 0.12192937 0.99247238 0.01148039 -0.47405159] [ 0.01374095 -0.01325349 0.99981775 -0.10124311] [ 0. 0. 0. 1. ]] SLAMing on 47.903273559999995 meters Centerline goodness : 0.793563 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.47, Z:-0.10 [[ 0.99273074 -0.11934201 -0.01559345 1.25034266] [ 0.11956035 0.99272949 0.01390959 -0.47153052] [ 0.01382008 -0.01567284 0.99978166 -0.1019076 ] [ 0. 0. 0. 1. ]] SLAMing on 47.96327356 meters Centerline goodness : 0.793780 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.47, Z:-0.10 [[ 0.99299008 -0.11706408 -0.01633108 1.25057126] [ 0.11733703 0.99294842 0.01689525 -0.47035063] [ 0.01423809 -0.01869305 0.99972389 -0.10153107] [ 0. 0. 0. 1. ]] SLAMing on 48.02327356 meters Centerline goodness : 0.786270 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.47, Z:-0.10 [[ 0.99296191 -0.11730302 -0.01632945 1.24998051] [ 0.11756522 0.9929339 0.0161456 -0.46806431] [ 0.01432014 -0.01795174 0.9997363 -0.10100137] [ 0. 0. 0. 1. ]] SLAMing on 48.083273559999995 meters Centerline goodness : 0.784163 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.47, Z:-0.10 [[ 0.99328575 -0.11449282 -0.01657756 1.24851802] [ 0.11479628 0.99321337 0.01868218 -0.46537202] [ 0.01432608 -0.02045979 0.99968803 -0.09981994] [ 0. 0. 0. 1. ]] SLAMing on 48.14327356 meters Centerline goodness : 0.789461 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.46, Z:-0.10 [[ 0.99338549 -0.11363479 -0.01650481 1.24855205] [ 0.11392495 0.99332893 0.01785345 -0.46178191] [ 0.01436593 -0.01961566 0.99970438 -0.10082788] [ 0. 0. 0. 1. ]] SLAMing on 48.20327356 meters Centerline goodness : 0.787998 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.46, Z:-0.10 [[ 0.99385192 -0.10947672 -0.01652927 1.24792591] [ 0.10979558 0.99375694 0.01980111 -0.45719788] [ 0.01425831 -0.02149421 0.99966729 -0.10192731] [ 0. 0. 0. 1. ]] SLAMing on 48.263273559999995 meters Centerline goodness : 0.784623 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.45, Z:-0.10 [[ 0.99446054 -0.10393082 -0.0157038 1.24520499] [ 0.10425343 0.99432159 0.02134938 -0.45078315] [ 0.01339577 -0.02286829 0.99964874 -0.10245635] [ 0. 0. 0. 1. ]] SLAMing on 48.32327356 meters Centerline goodness : 0.784417 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.45, Z:-0.10 [[ 0.99495504 -0.09915753 -0.01523967 1.24331203] [ 0.09949931 0.99475779 0.02359726 -0.44657179] [ 0.01281994 -0.02499454 0.99960538 -0.10296185] [ 0. 0. 0. 1. ]] SLAMing on 48.38327356 meters Centerline goodness : 0.784034 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.44, Z:-0.11 [[ 0.99603111 -0.08846281 -0.00981592 1.23318841] [ 0.0886492 0.9958512 0.0205353 -0.43887275] [ 0.00795858 -0.02132397 0.99974094 -0.10569292] [ 0. 0. 0. 1. ]] SLAMing on 48.44327356 meters Centerline goodness : 0.780453 with order 2 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.11 [[ 0.99653712 -0.08268008 -0.00881932 1.23011707] [ 0.08285986 0.99630803 0.02246228 -0.43327502] [ 0.00692958 -0.02311526 0.99970879 -0.10572748] [ 0. 0. 0. 1. ]] SLAMing on 48.50327356 meters Centerline goodness : 0.782447 with order 2 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.11 [[ 0.99659083 -0.08206053 -0.00853121 1.22937513] [ 0.08223129 0.9963685 0.02208691 -0.43175208] [ 0.00668776 -0.02271314 0.99971965 -0.10580157] [ 0. 0. 0. 1. ]] SLAMing on 48.56327356 meters Centerline goodness : 0.785482 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.11 [[ 0.99665317 -0.08134477 -0.00809218 1.22837553] [ 0.0815022 0.99644067 0.02152613 -0.43026584] [ 0.00631234 -0.02211361 0.99973554 -0.10592203] [ 0. 0. 0. 1. ]] SLAMing on 48.62327356 meters Centerline goodness : 0.785291 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.11 [[ 0.99666447 -0.08123738 -0.0077734 1.22818711] [ 0.08138499 0.99646021 0.02106023 -0.42956357] [ 0.00603501 -0.02162262 0.99974799 -0.10661019] [ 0. 0. 0. 1. ]] SLAMing on 48.683273559999996 meters Centerline goodness : 0.782027 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.11 [[ 0.99666185 -0.08122448 -0.00822998 1.22968047] [ 0.08139042 0.99643116 0.02237295 -0.4323976 ] [ 0.00638338 -0.02296811 0.99971582 -0.10705253] [ 0. 0. 0. 1. ]] SLAMing on 48.74327356 meters Centerline goodness : 0.783544 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.44, Z:-0.10 [[ 0.99676919 -0.07811597 -0.01868341 1.22500178] [ 0.07856264 0.99660798 0.02450381 -0.43879399] [ 0.01670589 -0.02589246 0.99952513 -0.10331525] [ 0. 0. 0. 1. ]] SLAMing on 48.80327356 meters Centerline goodness : 0.783980 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.44, Z:-0.10 [[ 0.99654686 -0.08098513 -0.01832367 1.22536316] [ 0.08137978 0.99644194 0.02192712 -0.44085089] [ 0.0164827 -0.02334258 0.99959164 -0.10364222] [ 0. 0. 0. 1. ]] SLAMing on 48.863273559999996 meters Centerline goodness : 0.786981 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.44, Z:-0.10 [[ 0.99642819 -0.08244182 -0.01828152 1.22649572] [ 0.082809 0.99635806 0.02032925 -0.44359886] [ 0.01653896 -0.02177052 0.99962618 -0.10431125] [ 0. 0. 0. 1. ]] SLAMing on 48.92327356 meters Centerline goodness : 0.789747 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.45, Z:-0.10 [[ 0.99649813 -0.08160394 -0.01822824 1.22706096] [ 0.08199205 0.99639742 0.02166773 -0.44681847] [ 0.0163944 -0.02308642 0.99959904 -0.1049081 ] [ 0. 0. 0. 1. ]] SLAMing on 48.98327356 meters Centerline goodness : 0.791775 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.45, Z:-0.11 [[ 0.99655992 -0.08084573 -0.01822915 1.22767757] [ 0.08125292 0.99643207 0.02282754 -0.4496381 ] [ 0.0163186 -0.02423018 0.99957321 -0.10547669] [ 0. 0. 0. 1. ]] SLAMing on 49.043273559999996 meters Centerline goodness : 0.796131 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.45, Z:-0.11 [[ 0.9966841 -0.07933057 -0.01809614 1.22777778] [ 0.07976564 0.99650657 0.02474069 -0.45324974] [ 0.01607023 -0.02610211 0.9995301 -0.1056307 ] [ 0. 0. 0. 1. ]] SLAMing on 49.10327356 meters Centerline goodness : 0.790544 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.46, Z:-0.11 [[ 0.99675938 -0.0783929 -0.01803591 1.22775074] [ 0.07884181 0.99655598 0.02569326 -0.45505887] [ 0.01595963 -0.02703198 0.99950716 -0.10559728] [ 0. 0. 0. 1. ]] SLAMing on 49.16327356 meters Centerline goodness : 0.797498 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.46, Z:-0.11 [[ 0.99687541 -0.07694725 -0.01784769 1.22749573] [ 0.07742184 0.99661554 0.02762839 -0.45921022] [ 0.01566135 -0.02892386 0.99945892 -0.10525107] [ 0. 0. 0. 1. ]] SLAMing on 49.223273559999996 meters Centerline goodness : 0.794092 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.46, Z:-0.10 [[ 0.99697374 -0.0756472 -0.01791248 1.22750208] [ 0.07616059 0.99664532 0.02996117 -0.46416798] [ 0.01558591 -0.03123473 0.99939055 -0.10448316] [ 0. 0. 0. 1. ]] SLAMing on 49.28327356 meters Centerline goodness : 0.797418 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.47, Z:-0.10 [[ 0.99701281 -0.07505606 -0.01822193 1.22816683] [ 0.07560503 0.99663758 0.03158202 -0.46822427] [ 0.01579023 -0.03286534 0.99933505 -0.10408476] [ 0. 0. 0. 1. ]] SLAMing on 49.34327356 meters Centerline goodness : 0.821887 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.49, Z:-0.07 [[ 0.99534315 -0.08461002 -0.0461862 1.28398203] [ 0.08926403 0.98988147 0.11030232 -0.48959935] [ 0.03638619 -0.11391142 0.99282437 -0.07347178] [ 0. 0. 0. 1. ]] SLAMing on 49.403273559999995 meters Centerline goodness : 0.794286 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.50, Z:-0.07 [[ 0.99490523 -0.08986421 -0.04569467 1.28423537] [ 0.09426953 0.98991668 0.10572708 -0.49558752] [ 0.03573284 -0.10949604 0.99334474 -0.07206084] [ 0. 0. 0. 1. ]] SLAMing on 49.46327356 meters Centerline goodness : 0.813034 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.50, Z:-0.07 [[ 0.99466762 -0.09261499 -0.04537391 1.28427124] [ 0.09691767 0.98982149 0.10421316 -0.50045355] [ 0.03526037 -0.10805499 0.99351941 -0.07092302] [ 0. 0. 0. 1. ]] SLAMing on 49.52327356 meters Centerline goodness : 0.797263 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.51, Z:-0.07 [[ 0.99444046 -0.09487139 -0.04569022 1.28604156] [ 0.09921007 0.98955653 0.10457168 -0.51044625] [ 0.03529219 -0.10852324 0.99346725 -0.06921609] [ 0. 0. 0. 1. ]] SLAMing on 49.583273559999995 meters Centerline goodness : 0.798178 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.52, Z:-0.07 [[ 0.99448503 -0.09625858 -0.04163913 1.27985323] [ 0.09993209 0.99018928 0.09766666 -0.51704256] [ 0.03182937 -0.10128911 0.99434773 -0.0717945 ] [ 0. 0. 0. 1. ]] SLAMing on 49.64327356 meters Centerline goodness : 0.797327 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.07 [[ 0.99412539 -0.0996194 -0.0423164 1.28404062] [ 0.10308392 0.99062632 0.08962814 -0.52512587] [ 0.03299104 -0.09346375 0.99507594 -0.06782999] [ 0. 0. 0. 1. ]] SLAMing on 49.70327356 meters Centerline goodness : 0.800255 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.54, Z:-0.06 [[ 0.99373576 -0.10384326 -0.04130144 1.28244814] [ 0.10712844 0.99039175 0.08745103 -0.53697195] [ 0.0318234 -0.09132778 0.99531227 -0.06458858] [ 0. 0. 0. 1. ]] SLAMing on 49.763273559999995 meters Centerline goodness : 0.800392 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.54, Z:-0.06 [[ 0.99344485 -0.10669428 -0.04103243 1.28319589] [ 0.10989755 0.99022074 0.08593838 -0.54455006] [ 0.03146203 -0.08988441 0.99545514 -0.06386466] [ 0. 0. 0. 1. ]] SLAMing on 49.82327356 meters Centerline goodness : 0.799549 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.56, Z:-0.06 [[ 0.99300654 -0.11077752 -0.04082101 1.28586429] [ 0.11386818 0.98999226 0.08336279 -0.55511998] [ 0.03117776 -0.08742801 0.99568283 -0.06420223] [ 0. 0. 0. 1. ]] SLAMing on 49.88327356 meters Centerline goodness : 0.799476 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.57, Z:-0.06 [[ 0.99253979 -0.11531021 -0.0396021 1.28627612] [ 0.11818214 0.9897577 0.08007919 -0.56647988] [ 0.02996254 -0.08416205 0.9960015 -0.06406147] [ 0. 0. 0. 1. ]] SLAMing on 49.94327356 meters Centerline goodness : 0.799578 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.58, Z:-0.06 [[ 0.99266238 -0.11536176 -0.03623627 1.27221666] [ 0.11763768 0.99068039 0.06865669 -0.57556639] [ 0.02797821 -0.07241566 0.99698204 -0.06449586] [ 0. 0. 0. 1. ]] SLAMing on 50.00327356 meters Centerline goodness : 0.799390 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.59, Z:-0.06 [[ 0.99256788 -0.11660383 -0.03482158 1.24341736] [ 0.11813015 0.99195198 0.04556902 -0.58868294] [ 0.02922781 -0.04934382 0.99835411 -0.05966357] [ 0. 0. 0. 1. ]] SLAMing on 50.06327356 meters Centerline goodness : 0.800782 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.60, Z:-0.05 [[ 0.99247411 -0.11744559 -0.03466521 1.20566237] [ 0.11794095 0.99294065 0.0126016 -0.59637315] [ 0.03294049 -0.01659521 0.99931953 -0.0534519 ] [ 0. 0. 0. 1. ]] SLAMing on 50.12327356 meters Centerline goodness : 0.798760 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.61, Z:-0.06 [[ 9.92225799e-01 -1.20364083e-01 -3.16299078e-02 1.19554574e+00] [ 1.20443051e-01 9.92720059e-01 5.96367570e-04 -6.08211851e-01] [ 3.13278627e-02 -4.40133388e-03 9.99499471e-01 -5.53713614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.183273559999996 meters Centerline goodness : 0.800278 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.61, Z:-0.05 [[ 0.9916279 -0.12415488 -0.03549192 1.1916793 ] [ 0.12357227 0.99216919 -0.01817141 -0.61463518] [ 0.03747005 0.01363346 0.99920475 -0.05090735] [ 0. 0. 0. 1. ]] SLAMing on 50.24327356 meters Centerline goodness : 0.800016 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.61, Z:-0.04 [[ 0.99194535 -0.12299759 -0.03026564 1.1869967 ] [ 0.12047714 0.98992459 -0.07439463 -0.61049369] [ 0.03911106 0.07014909 0.9967695 -0.04181641] [ 0. 0. 0. 1. ]] SLAMing on 50.30327356 meters Centerline goodness : 0.801312 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.59, Z:-0.03 [[ 0.99233435 -0.12164355 -0.02180333 1.19113936] [ 0.11701238 0.98160049 -0.15089262 -0.59380151] [ 0.03975727 0.14718467 0.98830968 -0.0276513 ] [ 0. 0. 0. 1. ]] SLAMing on 50.363273559999996 meters Centerline goodness : 0.801718 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.59, Z:-0.02 [[ 0.99225334 -0.12290249 -0.01811894 1.21079575] [ 0.11736203 0.97519217 -0.18768692 -0.58642703] [ 0.04073664 0.18410649 0.98206177 -0.01571727] [ 0. 0. 0. 1. ]] SLAMing on 50.42327356 meters Centerline goodness : 0.800959 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.58, Z:-0.01 [[ 0.99192709 -0.12635593 -0.01071577 1.2175739 ] [ 0.12151644 0.97128329 -0.20455447 -0.58492369] [ 0.03625471 0.20160098 0.97879653 -0.01448272] [ 0. 0. 0. 1. ]] SLAMing on 50.48327356 meters Centerline goodness : 0.800595 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.58, Z:-0.01 [[ 0.99116642 -0.13261534 -0.00151453 1.22528061] [ 0.12898389 0.96655641 -0.22165706 -0.58458061] [ 0.030859 0.21950369 0.97512351 -0.01466326] [ 0. 0. 0. 1. ]] SLAMing on 50.543273559999996 meters Centerline goodness : 0.801661 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.59, Z:-0.01 [[ 0.9905507 -0.13702933 -0.00568128 1.23870875] [ 0.13294092 0.96952797 -0.20577229 -0.59429053] [ 0.033705 0.20307261 0.97858341 -0.01193133] [ 0. 0. 0. 1. ]] SLAMing on 50.60327356 meters Centerline goodness : 0.801303 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.60, Z:-0.01 [[ 0.98989452 -0.14159302 -0.0077627 1.25227464] [ 0.13741012 0.97129643 -0.19416927 -0.59961933] [ 0.0350329 0.19114042 0.98093732 -0.00896183] [ 0. 0. 0. 1. ]] SLAMing on 50.66327356 meters Centerline goodness : 0.802720 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.61, Z:-0.01 [[ 0.98905007 -0.147297 -0.00914091 1.25888016] [ 0.14329456 0.97330214 -0.17930312 -0.60876611] [ 0.03530768 0.17602992 0.98375141 -0.00811867] [ 0. 0. 0. 1. ]] SLAMing on 50.723273559999996 meters Centerline goodness : 0.804058 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.62, Z:-0.01 [[ 0.98825541 -0.15229387 -0.01256239 1.26439594] [ 0.14818405 0.97516437 -0.16460843 -0.61520968] [ 0.03731925 0.16081363 0.98627899 -0.00833236] [ 0. 0. 0. 1. ]] SLAMing on 50.78327356 meters Centerline goodness : 0.804574 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.62, Z:-0.01 [[ 0.98787287 -0.15442923 -0.01608736 1.27648027] [ 0.15010789 0.97640314 -0.15525633 -0.61745752] [ 0.03968387 0.15095868 0.98774322 -0.00633588] [ 0. 0. 0. 1. ]] SLAMing on 50.84327356 meters Centerline goodness : 0.808901 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.62, Z:-0.00 [[ 0.98787141 -0.15439092 -0.01653824 1.28303631] [ 0.15043729 0.97803155 -0.14430147 -0.62035873] [ 0.03845376 0.14006333 0.98939556 -0.00397785] [ 0. 0. 0. 1. ]] SLAMing on 50.903273559999995 meters Centerline goodness : 0.807296 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.62, Z:-0.00 [[ 9.87845357e-01 -1.54377941e-01 -1.81384220e-02 1.29021195e+00] [ 1.50582629e-01 9.79382209e-01 -1.34667592e-01 -6.21665119e-01] [ 3.85541533e-02 1.30299424e-01 9.90724804e-01 -9.99424352e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96327356 meters Centerline goodness : 0.805988 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.62, Z:0.00 [[ 0.988085 -0.15231843 -0.02207081 1.29478012] [ 0.14826419 0.98048823 -0.12907584 -0.62113607] [ 0.0413008 0.12426559 0.99138908 0.0025922 ] [ 0. 0. 0. 1. ]] SLAMing on 51.02327356 meters Centerline goodness : 0.806925 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.62, Z:0.00 [[ 0.98839523 -0.14965384 -0.0260499 1.30109211] [ 0.14536563 0.98161085 -0.12372948 -0.618675 ] [ 0.04408746 0.11850687 0.991974 0.00365817] [ 0. 0. 0. 1. ]] SLAMing on 51.083273559999995 meters Centerline goodness : 0.807918 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.62, Z:0.01 [[ 0.98858086 -0.1476366 -0.03018819 1.30736149] [ 0.14309038 0.98250803 -0.11917683 -0.61655175] [ 0.047255 0.11349629 0.992414 0.00529314] [ 0. 0. 0. 1. ]] SLAMing on 51.14327356 meters Centerline goodness : 0.806270 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.61, Z:0.01 [[ 0.98864372 -0.14629445 -0.03437327 1.31430543] [ 0.14150281 0.98325114 -0.11486582 -0.61214886] [ 0.05060179 0.10869746 0.99278614 0.00695344] [ 0. 0. 0. 1. ]] SLAMing on 51.20327356 meters Centerline goodness : 0.808478 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.61, Z:0.01 [[ 0.98862967 -0.14737006 -0.02989056 1.32049833] [ 0.14340614 0.98381985 -0.10739264 -0.60753597] [ 0.04523339 0.10188506 0.99376726 0.00777619] [ 0. 0. 0. 1. ]] SLAMing on 51.263273559999995 meters Centerline goodness : 0.808560 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.60, Z:0.01 [[ 0.98846472 -0.14760542 -0.03391354 1.327951 ] [ 0.14350769 0.98440365 -0.10175948 -0.60451403] [ 0.04840487 0.09571881 0.9942308 0.01128643] [ 0. 0. 0. 1. ]] SLAMing on 51.32327356 meters Centerline goodness : 0.807903 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.60, Z:0.01 [[ 0.98835244 -0.14730745 -0.03820945 1.33429761] [ 0.14301906 0.98489581 -0.09760013 -0.60101977] [ 0.05200955 0.09099865 0.99449196 0.01471408] [ 0. 0. 0. 1. ]] SLAMing on 51.38327356 meters Centerline goodness : 0.809262 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.60, Z:0.01 [[ 0.98809011 -0.14960634 -0.0359982 1.35183468] [ 0.14599386 0.98537511 -0.0878731 -0.59622691] [ 0.0486181 0.08157102 0.99548101 0.01436771] [ 0. 0. 0. 1. ]] SLAMing on 51.443273559999994 meters Centerline goodness : 0.808288 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.59, Z:0.01 [[ 0.98823689 -0.15025203 -0.02849865 1.36327941] [ 0.14688974 0.98443149 -0.09652999 -0.58837245] [ 0.04255879 0.09120833 0.994922 0.01263929] [ 0. 0. 0. 1. ]] SLAMing on 51.50327356 meters Centerline goodness : 0.808906 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.59, Z:0.02 [[ 0.98819013 -0.1497542 -0.0324646 1.3700598 ] [ 0.14621796 0.9849152 -0.09253298 -0.58553483] [ 0.04583208 0.08669327 0.99518023 0.01531052] [ 0. 0. 0. 1. ]] SLAMing on 51.56327356 meters Centerline goodness : 0.810325 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.58, Z:0.02 [[ 0.98819591 -0.14874255 -0.03666728 1.37539757] [ 0.14508853 0.98552821 -0.08765542 -0.58426165] [ 0.04917473 0.08130073 0.99547578 0.01929796] [ 0. 0. 0. 1. ]] SLAMing on 51.62327356 meters Centerline goodness : 0.810661 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.58, Z:0.02 [[ 0.98821071 -0.14916445 -0.03449 1.38278361] [ 0.14613944 0.98618959 -0.07793174 -0.5838515 ] [ 0.04563832 0.07197263 0.99636192 0.01993031] [ 0. 0. 0. 1. ]] SLAMing on 51.683273559999996 meters Centerline goodness : 0.809550 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.58, Z:0.02 [[ 0.98838837 -0.14940759 -0.02767314 1.39436432] [ 0.146508 0.98535827 -0.08720376 -0.57716203] [ 0.04029686 0.08213684 0.99580606 0.01773196] [ 0. 0. 0. 1. ]] SLAMing on 51.74327356 meters Centerline goodness : 0.807315 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.58, Z:0.02 [[ 0.98849209 -0.14877366 -0.02738237 1.39577175] [ 0.14589232 0.98543279 -0.08739368 -0.57515176] [ 0.03998537 0.08239308 0.99579744 0.01655647] [ 0. 0. 0. 1. ]] SLAMing on 51.80327356 meters Centerline goodness : 0.808848 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.58, Z:0.02 [[ 0.98863487 -0.14835555 -0.0243253 1.40120685] [ 0.14614012 0.98633785 -0.07603098 -0.57652083] [ 0.03527258 0.07161198 0.99680869 0.01809055] [ 0. 0. 0. 1. ]] SLAMing on 51.863273559999996 meters Centerline goodness : 0.809776 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.58, Z:0.02 [[ 0.98864784 -0.14872709 -0.02134738 1.40859767] [ 0.14704867 0.98693728 -0.06581412 -0.57740455] [ 0.03085687 0.06192788 0.99760352 0.01825077] [ 0. 0. 0. 1. ]] SLAMing on 51.92327356 meters Centerline goodness : 0.809322 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.57, Z:0.02 [[ 0.98884052 -0.14785756 -0.01823624 1.42543478] [ 0.14630992 0.98689106 -0.06811341 -0.57314491] [ 0.02806827 0.06468515 0.9975109 0.01875268] [ 0. 0. 0. 1. ]] SLAMing on 51.98327356 meters Centerline goodness : 0.808717 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.57, Z:0.02 [[ 0.98928204 -0.14487311 -0.01824349 1.44429563] [ 0.14335238 0.98737786 -0.0673428 -0.5693959 ] [ 0.02776938 0.06400578 0.99756309 0.01873763] [ 0. 0. 0. 1. ]] SLAMing on 52.043273559999996 meters Centerline goodness : 0.808073 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.56, Z:0.02 [[ 0.99008384 -0.14006007 -0.01082402 1.46422673] [ 0.13852054 0.98620451 -0.09062409 -0.55972617] [ 0.02336751 0.0882261 0.99582635 0.02405181] [ 0. 0. 0. 1. ]] SLAMing on 52.10327356 meters Centerline goodness : 0.809729 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.55, Z:0.03 [[ 0.99082642 -0.13512388 -0.0021315 1.48108649] [ 0.1341241 0.98518162 -0.10690134 -0.5519286 ] [ 0.01654484 0.10563479 0.99426735 0.02626753] [ 0. 0. 0. 1. ]] SLAMing on 52.16327356 meters Centerline goodness : 0.811612 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.53, Z:0.04 [[ 0.99160884 -0.12858877 0.01329769 1.49801642] [ 0.12899603 0.97747574 -0.16703655 -0.53257643] [ 0.00848086 0.16735026 0.98586103 0.04217593] [ 0. 0. 0. 1. ]] SLAMing on 52.223273559999996 meters Centerline goodness : 0.811574 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.51, Z:0.06 [[ 0.99219761 -0.12228656 0.02428794 1.51259861] [ 0.12447137 0.96046183 -0.24903806 -0.50765503] [ 0.00712637 0.25011812 0.9681891 0.06133659] [ 0. 0. 0. 1. ]] SLAMing on 52.28327356 meters Centerline goodness : 0.810043 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.50, Z:0.07 [[ 0.99233991 -0.11930504 0.03205953 1.53198798] [ 0.12350224 0.95187225 -0.28051098 -0.49779714] [ 0.0029498 0.28232166 0.95931527 0.07017959] [ 0. 0. 0. 1. ]] SLAMing on 52.34327356 meters Centerline goodness : 0.811120 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.48, Z:0.08 [[ 9.92582072e-01 -1.13896000e-01 4.25268249e-02 1.55429086e+00] [ 1.21569499e-01 9.33560475e-01 -3.37173096e-01 -4.79296072e-01] [-1.29869586e-03 3.39841935e-01 9.40481670e-01 8.39322684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.403273559999995 meters Centerline goodness : 0.809382 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.46, Z:0.10 [[ 0.99296516 -0.10606976 0.05262509 1.58209635] [ 0.11828566 0.90870207 -0.40033618 -0.46217568] [-0.00535697 0.40374467 0.91485602 0.10438254] [ 0. 0. 0. 1. ]] SLAMing on 52.46327356 meters Centerline goodness : 0.809439 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.44, Z:0.13 [[ 0.99361233 -0.09824904 0.05551269 1.6109492 ] [ 0.11282565 0.87456311 -0.47160337 -0.44463917] [-0.00221477 0.47485418 0.8800617 0.13067317] [ 0. 0. 0. 1. ]] SLAMing on 52.52327356 meters Centerline goodness : 0.809050 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.15 [[ 0.99360323 -0.09326872 0.06366763 1.63789317] [ 0.11280294 0.84620141 -0.52078658 -0.43384116] [-0.00530254 0.52463713 0.85130944 0.14810418] [ 0. 0. 0. 1. ]] SLAMing on 52.583273559999995 meters Centerline goodness : 0.808606 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:0.14 [[ 0.99320417 -0.09509105 0.06710565 1.64734955] [ 0.11607396 0.85144534 -0.51143686 -0.43708739] [-0.00850372 0.51575044 0.85669666 0.14492521] [ 0. 0. 0. 1. ]] SLAMing on 52.64327356 meters Centerline goodness : 0.809207 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.43, Z:0.15 [[ 0.99241288 -0.09587885 0.07696705 1.67412968] [ 0.12205088 0.84380982 -0.52257877 -0.43395791] [-0.0148413 0.52800779 0.84910983 0.14671082] [ 0. 0. 0. 1. ]] SLAMing on 52.70327356 meters Centerline goodness : 0.810660 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.44, Z:0.15 [[ 0.99170901 -0.09924542 0.08163075 1.69173816] [ 0.12739002 0.84272873 -0.52304882 -0.43731936] [-0.01688237 0.52911117 0.84838456 0.15043888] [ 0. 0. 0. 1. ]] SLAMing on 52.763273559999995 meters Centerline goodness : 0.810411 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.44, Z:0.15 [[ 0.99109081 -0.10541848 0.08139999 1.71198739] [ 0.13226287 0.85090785 -0.50839194 -0.44272204] [-0.01566999 0.51462877 0.8572699 0.14867681] [ 0. 0. 0. 1. ]] SLAMing on 52.82327356 meters Centerline goodness : 0.808935 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.45, Z:0.15 [[ 0.99065536 -0.11237 0.07729771 1.72657615] [ 0.13590706 0.86091141 -0.49026607 -0.45060913] [-0.01145528 0.49619002 0.86813838 0.145711 ] [ 0. 0. 0. 1. ]] SLAMing on 52.88327356 meters Centerline goodness : 0.810070 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.46, Z:0.14 [[ 0.99010489 -0.11982734 0.07303226 1.72702767] [ 0.14008741 0.87453652 -0.4642859 -0.46088937] [-0.00823524 0.46992264 0.88266918 0.1430867 ] [ 0. 0. 0. 1. ]] SLAMing on 52.943273559999994 meters Centerline goodness : 0.810895 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.47, Z:0.14 [[ 0.98912548 -0.12942091 0.06986422 1.72524081] [ 0.14696099 0.88835593 -0.4350014 -0.47175118] [-0.00576602 0.44053828 0.89771531 0.14162822] [ 0. 0. 0. 1. ]] SLAMing on 53.00327356 meters Centerline goodness : 0.811738 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.48, Z:0.14 [[ 0.98864918 -0.13496501 0.06600943 1.72650341] [ 0.15018732 0.8996957 -0.40986757 -0.48144111] [-0.00407062 0.41512901 0.90975345 0.14197851] [ 0. 0. 0. 1. ]] SLAMing on 53.06327356 meters Centerline goodness : 0.809635 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.49, Z:0.14 [[ 0.98787192 -0.14239273 0.06191427 1.72392671] [ 0.15525708 0.91118534 -0.38162352 -0.49271344] [-0.00207496 0.38660778 0.9222419 0.14061657] [ 0. 0. 0. 1. ]] SLAMing on 53.12327356 meters Centerline goodness : 0.809800 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.50, Z:0.14 [[ 9.87218856e-01 -1.48741749e-01 5.72260665e-02 1.71889169e+00] [ 1.59370191e-01 9.21986970e-01 -3.52903911e-01 -5.02936331e-01] [-2.70142575e-04 3.57513524e-01 9.33907922e-01 1.40218302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.183273559999996 meters Centerline goodness : 0.810723 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.51, Z:0.14 [[ 9.87030889e-01 -1.51421553e-01 5.33060799e-02 1.71586506e+00] [ 1.60530369e-01 9.31355780e-01 -3.26812502e-01 -5.11388314e-01] [-1.60468940e-04 3.31131279e-01 9.43584681e-01 1.40192508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24327356 meters Centerline goodness : 0.809428 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.52, Z:0.14 [[ 9.87238484e-01 -1.51886362e-01 4.78613603e-02 1.71952697e+00] [ 1.59243494e-01 9.39114288e-01 -3.04476375e-01 -5.16614630e-01] [ 1.29852144e-03 3.08212404e-01 9.51316681e-01 1.42367309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30327356 meters Centerline goodness : 0.809678 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.52, Z:0.14 [[ 9.87636442e-01 -1.50206684e-01 4.48576762e-02 1.72883330e+00] [ 1.56761652e-01 9.45955660e-01 -2.83890248e-01 -5.19309053e-01] [ 2.08840033e-04 2.87412318e-01 9.57806930e-01 1.43503006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.363273559999996 meters Centerline goodness : 0.806653 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.52, Z:0.14 [[ 0.98800602 -0.14814659 0.04355101 1.73648991] [ 0.15439783 0.95203746 -0.26417036 -0.52199569] [-0.00232626 0.26772609 0.96349226 0.14335722] [ 0. 0. 0. 1. ]] SLAMing on 53.42327356 meters Centerline goodness : 0.806135 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.52, Z:0.14 [[ 0.98837823 -0.14600336 0.04232598 1.75020743] [ 0.1519545 0.95675269 -0.24806074 -0.51973582] [-0.00427779 0.25160946 0.9678194 0.14469781] [ 0. 0. 0. 1. ]] SLAMing on 53.48327356 meters Centerline goodness : 0.805245 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:0.14 [[ 0.98863726 -0.14332901 0.0453119 1.76356241] [ 0.14999338 0.96048638 -0.23445235 -0.51601968] [-0.00991764 0.23858481 0.97107102 0.14434716] [ 0. 0. 0. 1. ]] SLAMing on 53.543273559999996 meters Centerline goodness : 0.805604 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.50, Z:0.15 [[ 0.98885459 -0.13817547 0.05544496 1.79148282] [ 0.14775252 0.9565852 -0.25122491 -0.50436582] [-0.01832471 0.25661703 0.96633943 0.14893549] [ 0. 0. 0. 1. ]] SLAMing on 53.60327356 meters Centerline goodness : 0.805411 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.50, Z:0.15 [[ 0.9880066 -0.14061236 0.06380536 1.81315211] [ 0.15225135 0.95600285 -0.25075503 -0.49727235] [-0.02573885 0.25746208 0.96594554 0.14779756] [ 0. 0. 0. 1. ]] SLAMing on 53.66327356 meters Centerline goodness : 0.805112 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.49, Z:0.15 [[ 0.98729519 -0.146417 0.06172743 1.83116837] [ 0.15701649 0.95857374 -0.23765986 -0.49490995] [-0.02437285 0.24433266 0.96938512 0.14901143] [ 0. 0. 0. 1. ]] SLAMing on 53.723273559999996 meters Centerline goodness : 0.805846 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.49, Z:0.15 [[ 0.98663694 -0.15198973 0.05870831 1.84748308] [ 0.16142369 0.96078057 -0.22548411 -0.49445955] [-0.02213453 0.23194787 0.97247635 0.15063499] [ 0. 0. 0. 1. ]] SLAMing on 53.78327356 meters Centerline goodness : 0.804643 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.50, Z:0.15 [[ 0.98558468 -0.16048801 0.05353918 1.85249139] [ 0.16819161 0.96366099 -0.2075309 -0.49717118] [-0.0182874 0.21354412 0.97676224 0.15284766] [ 0. 0. 0. 1. ]] SLAMing on 53.84327356 meters Centerline goodness : 0.803287 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.50, Z:0.15 [[ 0.98416133 -0.16926233 0.05269484 1.84297349] [ 0.17622789 0.96638859 -0.18718127 -0.50017645] [-0.01924095 0.19350287 0.98091102 0.15247802] [ 0. 0. 0. 1. ]] SLAMing on 53.903273559999995 meters Centerline goodness : 0.803155 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.50, Z:0.15 [[ 0.98342191 -0.17398525 0.05109279 1.83909251] [ 0.18023506 0.96881603 -0.17003185 -0.5036253 ] [-0.01991648 0.17642176 0.98411315 0.1528745 ] [ 0. 0. 0. 1. ]] SLAMing on 53.96327356 meters Centerline goodness : 0.805850 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.50, Z:0.15 [[ 0.98227191 -0.18086917 0.04927712 1.85154427] [ 0.18645359 0.96985599 -0.15688983 -0.50143024] [-0.01941518 0.16329637 0.986386 0.15383596] [ 0. 0. 0. 1. ]] SLAMing on 54.02327356 meters Centerline goodness : 0.802976 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.50, Z:0.16 [[ 0.98131336 -0.18664768 0.04676245 1.86625467] [ 0.1915671 0.97050041 -0.14639332 -0.49598903] [-0.01805901 0.15261587 0.98812057 0.15585315] [ 0. 0. 0. 1. ]] SLAMing on 54.083273559999995 meters Centerline goodness : 0.803287 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.49, Z:0.16 [[ 0.98053619 -0.19143832 0.04359066 1.88243451] [ 0.19565001 0.97128797 -0.13535414 -0.48973229] [-0.01642711 0.14124814 0.98983792 0.15694881] [ 0. 0. 0. 1. ]] SLAMing on 54.14327356 meters Centerline goodness : 0.803915 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.49, Z:0.16 [[ 0.98038539 -0.1931303 0.03930864 1.89281444] [ 0.1966308 0.97205716 -0.12822328 -0.48806394] [-0.01344644 0.13343752 0.990966 0.15829812] [ 0. 0. 0. 1. ]] SLAMing on 54.20327356 meters Centerline goodness : 0.800742 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.48, Z:0.16 [[ 0.98008649 -0.19561789 0.03411922 1.90434833] [ 0.19835335 0.97249617 -0.12209487 -0.48077137] [-0.00929687 0.1264312 0.99193181 0.16011644] [ 0. 0. 0. 1. ]] SLAMing on 54.263273559999995 meters Centerline goodness : 0.800921 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.48, Z:0.16 [[ 0.98005237 -0.19659802 0.02909571 1.91431748] [ 0.19866133 0.97321451 -0.11570303 -0.47515708] [-0.00556938 0.11917522 0.99285762 0.16186201] [ 0. 0. 0. 1. ]] SLAMing on 54.32327356 meters Centerline goodness : 0.800743 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:0.16 [[ 0.98039448 -0.19540623 0.02535896 1.91883137] [ 0.19702554 0.97394765 -0.11228049 -0.46734476] [-0.00275799 0.11507554 0.99335292 0.16386397] [ 0. 0. 0. 1. ]] SLAMing on 54.38327356 meters Centerline goodness : 0.801111 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:0.17 [[ 9.80342054e-01 -1.96113544e-01 2.16549000e-02 1.92872512e+00] [ 1.97302380e-01 9.75020633e-01 -1.02012428e-01 -4.58875712e-01] [-1.10795565e-03 1.04279636e-01 9.94547400e-01 1.67166294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.443273559999994 meters Centerline goodness : 0.801432 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.45, Z:0.17 [[ 0.98044883 -0.19607884 0.01652784 1.9362268 ] [ 0.19675396 0.97567941 -0.0966311 -0.45229967] [ 0.00282144 0.09799377 0.99518303 0.17034794] [ 0. 0. 0. 1. ]] SLAMing on 54.50327356 meters Centerline goodness : 0.799664 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.44, Z:0.17 [[ 0.98101636 -0.1935651 0.01180897 1.94027074] [ 0.19382707 0.97676653 -0.09142322 -0.4446132 ] [ 0.00616174 0.09197657 0.99574211 0.1741512 ] [ 0. 0. 0. 1. ]] SLAMing on 54.56327356 meters Centerline goodness : 0.798935 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.44, Z:0.17 [[ 0.98197162 -0.18865852 0.01181914 1.93798973] [ 0.18897026 0.97819859 -0.08612637 -0.43901225] [ 0.00468701 0.08680712 0.99621411 0.17372713] [ 0. 0. 0. 1. ]] SLAMing on 54.62327356 meters Centerline goodness : 0.798476 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.43, Z:0.17 [[ 0.98261567 -0.18530146 0.01139381 1.93696764] [ 0.18560193 0.97908483 -0.08333559 -0.43428277] [ 0.0042867 0.08400157 0.9964564 0.17404589] [ 0. 0. 0. 1. ]] SLAMing on 54.683273559999996 meters Centerline goodness : 0.795231 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.43, Z:0.17 [[ 0.98366635 -0.17966948 0.01092675 1.93459755] [ 0.1799702 0.98055102 -0.07829698 -0.42740034] [ 0.00335335 0.07898459 0.9968702 0.17480534] [ 0. 0. 0. 1. ]] SLAMing on 54.74327356 meters Centerline goodness : 0.799006 with order 2 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.42, Z:0.18 [[ 0.98456982 -0.17471498 0.00984576 1.93377387] [ 0.1749612 0.9817774 -0.07417361 -0.4207146 ] [ 0.0032929 0.07475173 0.99719674 0.17566685] [ 0. 0. 0. 1. ]] SLAMing on 54.80327356 meters Centerline goodness : 0.812504 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.42, Z:0.18 [[ 0.9857294 -0.16808944 0.00913729 1.930235 ] [ 0.16832132 0.98342591 -0.06739007 -0.41572652] [ 0.00234171 0.06796638 0.99768486 0.17809105] [ 0. 0. 0. 1. ]] SLAMing on 54.863273559999996 meters Centerline goodness : 0.809108 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.41, Z:0.18 [[ 9.86615873e-01 -1.62834893e-01 8.59747933e-03 1.92787911e+00] [ 1.63054815e-01 9.84717294e-01 -6.11962252e-02 -4.13535346e-01] [ 1.49879422e-03 6.17790275e-02 9.98088726e-01 1.79523165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92327356 meters Centerline goodness : 0.797431 with order 3 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.41, Z:0.18 [[ 9.87621776e-01 -1.56687104e-01 7.23729677e-03 1.92765154e+00] [ 1.56845759e-01 9.86039602e-01 -5.59044770e-02 -4.08009424e-01] [ 1.62324936e-03 5.63476181e-02 9.98409891e-01 1.79782724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98327356 meters Centerline goodness : 0.801846 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.40, Z:0.18 [[ 9.88643869e-01 -1.50161658e-01 5.89724074e-03 1.92798864e+00] [ 1.50266225e-01 9.87329939e-01 -5.09868012e-02 -4.01606858e-01] [ 1.83374028e-03 5.12939445e-02 9.98681916e-01 1.79088961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.043273559999996 meters Centerline goodness : 0.796933 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.40, Z:0.18 [[ 9.89667777e-01 -1.43301688e-01 4.72406703e-03 1.92738008e+00] [ 1.43367498e-01 9.88620537e-01 -4.55543014e-02 -3.96124954e-01] [ 1.85769860e-03 4.57609019e-02 9.98950694e-01 1.79449350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10327356 meters Centerline goodness : 0.797482 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:0.18 [[ 9.90553084e-01 -1.37078479e-01 3.75221689e-03 1.92602003e+00] [ 1.37119928e-01 9.89782017e-01 -3.91111823e-02 -3.94296863e-01] [ 1.64742458e-03 3.92562060e-02 9.99227820e-01 1.81010840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16327356 meters Centerline goodness : 0.794918 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.18 [[ 9.91443461e-01 -1.30506922e-01 2.79421068e-03 1.92415128e+00] [ 1.30527552e-01 9.90890614e-01 -3.31413580e-02 -3.90647639e-01] [ 1.55641948e-03 3.32225041e-02 9.99446768e-01 1.83114546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.223273559999996 meters Centerline goodness : 0.794033 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.18 [[ 9.91884511e-01 -1.27125297e-01 2.06786729e-03 1.92398972e+00] [ 1.27130536e-01 9.91443511e-01 -2.96241494e-02 -3.89655975e-01] [ 1.71580519e-03 2.96466240e-02 9.99558970e-01 1.83862526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28327356 meters Centerline goodness : 0.793706 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99252006 -0.12188075 -0.00700074 1.91782757] [ 0.12160525 0.99208119 -0.03141778 -0.38848986] [ 0.01077453 0.03033145 0.99948182 0.18828364] [ 0. 0. 0. 1. ]] SLAMing on 55.34327356 meters Centerline goodness : 0.794424 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99238356 -0.12294643 -0.00768425 1.91986692] [ 0.1226351 0.99191345 -0.03268542 -0.38544802] [ 0.01164067 0.03149411 0.99943615 0.18703644] [ 0. 0. 0. 1. ]] SLAMing on 55.403273559999995 meters Centerline goodness : 0.793938 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99229214 -0.12364654 -0.00823696 1.92086743] [ 0.1233158 0.99182451 -0.03282317 -0.38516141] [ 0.01222809 0.03155443 0.99942723 0.18724672] [ 0. 0. 0. 1. ]] SLAMing on 55.46327356 meters Centerline goodness : 0.794648 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99213601 -0.12477242 -0.00989905 1.92188409] [ 0.12441806 0.99175459 -0.03070809 -0.38611519] [ 0.01364895 0.02923498 0.99947938 0.19059258] [ 0. 0. 0. 1. ]] SLAMing on 55.52327356 meters Centerline goodness : 0.794067 with order 3 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.38, Z:0.19 [[ 0.99208405 -0.12516483 -0.01014892 1.92213008] [ 0.12479719 0.99169393 -0.03112578 -0.38458857] [ 0.01396047 0.02961284 0.99946395 0.19081316] [ 0. 0. 0. 1. ]] SLAMing on 55.583273559999995 meters Centerline goodness : 0.796283 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99246361 -0.1220039 -0.01144672 1.92352395] [ 0.12166394 0.99221017 -0.02677442 -0.38541359] [ 0.01462413 0.02517999 0.99957596 0.19110564] [ 0. 0. 0. 1. ]] SLAMing on 55.64327356 meters Centerline goodness : 0.793581 with order 3 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99283948 -0.11880811 -0.01242593 1.92420089] [ 0.11851307 0.99270279 -0.02226706 -0.38717986] [ 0.01498076 0.02063498 0.99967483 0.19186618] [ 0. 0. 0. 1. ]] SLAMing on 55.70327356 meters Centerline goodness : 0.793741 with order 3 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:0.19 [[ 0.99311399 -0.11637603 -0.01346197 1.92470775] [ 0.11612602 0.99307019 -0.01806501 -0.38871052] [ 0.01547102 0.01637733 0.99974618 0.19319878] [ 0. 0. 0. 1. ]] SLAMing on 55.763273559999995 meters Centerline goodness : 0.795076 with order 3 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:0.19 [[ 0.99294182 -0.11773995 -0.01427709 1.92633242] [ 0.11747985 0.99291456 -0.01786524 -0.38964429] [ 0.01627938 0.01606187 0.99973846 0.19348806] [ 0. 0. 0. 1. ]] SLAMing on 55.82327356 meters Centerline goodness : 0.794733 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:0.19 [[ 0.99267272 -0.11986497 -0.01527289 1.92863537] [ 0.11959117 0.99266483 -0.01773385 -0.39101891] [ 0.01728653 0.0157774 0.99972609 0.19361744] [ 0. 0. 0. 1. ]] SLAMing on 55.88327356 meters Centerline goodness : 0.796914 with order 3 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:0.19 [[ 0.99231916 -0.12256841 -0.01672324 1.93130821] [ 0.1222692 0.99233595 -0.01787729 -0.3915162 ] [ 0.01878626 0.01569524 0.99970032 0.19445213] [ 0. 0. 0. 1. ]] SLAMing on 55.943273559999994 meters Centerline goodness : 0.797104 with order 3 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:0.20 [[ 0.99213586 -0.12391389 -0.01765739 1.93292981] [ 0.1236096 0.99217842 -0.01739658 -0.39227063] [ 0.01967495 0.01507715 0.99969274 0.19521824] [ 0. 0. 0. 1. ]] SLAMing on 56.00327356 meters Centerline goodness : 0.800135 with order 3 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:0.20 [[ 0.99191439 -0.12554335 -0.01856659 1.93428124] [ 0.12522424 0.99197487 -0.0174571 -0.39192859] [ 0.02060922 0.01499096 0.99967521 0.19618749] [ 0. 0. 0. 1. ]] SLAMing on 56.06327356 meters Centerline goodness : 0.799882 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.39, Z:0.20 [[ 0.99186804 -0.12584979 -0.01896352 1.93506327] [ 0.12552227 0.99193511 -0.01757567 -0.3911872 ] [ 0.02102247 0.0150524 0.99966568 0.19618465] [ 0. 0. 0. 1. ]] SLAMing on 56.12327356 meters Centerline goodness : 0.802287 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.39, Z:0.20 [[ 0.99177103 -0.12654425 -0.0194109 1.9353181 ] [ 0.12619999 0.99184071 -0.01804375 -0.38936631] [ 0.02153585 0.01544561 0.99964876 0.19696204] [ 0. 0. 0. 1. ]] SLAMing on 56.183273559999996 meters Centerline goodness : 0.800090 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.39, Z:0.20 [[ 0.99164787 -0.12744352 -0.01981565 1.93534335] [ 0.12707009 0.99171006 -0.01908791 -0.38606651] [ 0.02208401 0.01641051 0.99962142 0.19773811] [ 0. 0. 0. 1. ]] SLAMing on 56.24327356 meters Centerline goodness : 0.797477 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.38, Z:0.20 [[ 0.99146197 -0.12877138 -0.0205207 1.93600978] [ 0.1283537 0.99151614 -0.02052018 -0.38188792] [ 0.02298902 0.01771107 0.99957882 0.19848122] [ 0. 0. 0. 1. ]] SLAMing on 56.30327356 meters Centerline goodness : 0.798236 with order 2 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.38, Z:0.20 [[ 0.99130532 -0.12985341 -0.02125688 1.93735025] [ 0.12939758 0.99135797 -0.02157889 -0.37898911] [ 0.02387527 0.01864068 0.99954114 0.19848733] [ 0. 0. 0. 1. ]] SLAMing on 56.363273559999996 meters Centerline goodness : 0.797136 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.37, Z:0.20 [[ 0.99100511 -0.13195761 -0.02227225 1.93925311] [ 0.1314277 0.99104033 -0.02378706 -0.37353678] [ 0.02521158 0.02064591 0.99946892 0.19837162] [ 0. 0. 0. 1. ]] SLAMing on 56.42327356 meters Centerline goodness : 0.797531 with order 2 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.37, Z:0.20 [[ 0.99073835 -0.13382527 -0.02298524 1.94030973] [ 0.13321595 0.9907389 -0.02626668 -0.36710334] [ 0.02628752 0.0229614 0.99939068 0.19837339] [ 0. 0. 0. 1. ]] SLAMing on 56.48327356 meters Centerline goodness : 0.801959 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.36, Z:0.20 [[ 0.99085808 -0.1326569 -0.02454423 1.94205728] [ 0.13207471 0.99094927 -0.02399623 -0.3643463 ] [ 0.02750536 0.02053518 0.99941071 0.19898612] [ 0. 0. 0. 1. ]] SLAMing on 56.543273559999996 meters Centerline goodness : 0.798031 with order 2 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.36, Z:0.20 [[ 0.99092258 -0.13184737 -0.02624339 1.94309756] [ 0.13126315 0.99108374 -0.02286909 -0.35808793] [ 0.02902463 0.01921671 0.99939396 0.20048509] [ 0. 0. 0. 1. ]] SLAMing on 56.60327356 meters Centerline goodness : 0.800049 with order 2 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.20 [[ 0.99093517 -0.13133334 -0.02826715 1.94438525] [ 0.13075299 0.991182 -0.02149161 -0.35197267] [ 0.03084045 0.01760077 0.99936934 0.20268504] [ 0. 0. 0. 1. ]] SLAMing on 56.66327356 meters Centerline goodness : 0.799897 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.21 [[ 0.99082049 -0.13174792 -0.03028613 1.94572885] [ 0.13116568 0.99114896 -0.02047702 -0.34576892] [ 0.03271587 0.01631655 0.9993315 0.20503169] [ 0. 0. 0. 1. ]] SLAMing on 56.723273559999996 meters Centerline goodness : 0.800844 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.34, Z:0.21 [[ 0.99059106 -0.13324201 -0.0312397 1.94717147] [ 0.1325812 0.99091997 -0.02235689 -0.34019802] [ 0.03393492 0.01800474 0.99926185 0.20511916] [ 0. 0. 0. 1. ]] SLAMing on 56.78327356 meters Centerline goodness : 0.803154 with order 2 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.33, Z:0.21 [[ 0.99059574 -0.12968904 -0.04359845 1.94477841] [ 0.12877898 0.99140462 -0.02308357 -0.33450482] [ 0.04621739 0.01725192 0.99878242 0.21052853] [ 0. 0. 0. 1. ]] SLAMing on 56.84327356 meters Centerline goodness : 0.803545 with order 2 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.33, Z:0.21 [[ 0.99061917 -0.12884248 -0.04553332 1.94646538] [ 0.12791922 0.99152587 -0.02265202 -0.32529016] [ 0.04806601 0.01661493 0.99870596 0.21144037] [ 0. 0. 0. 1. ]] SLAMing on 56.903273559999995 meters Centerline goodness : 0.806313 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.32, Z:0.22 [[ 0.99079456 -0.12673477 -0.04758616 1.94595635] [ 0.12592164 0.99184407 -0.01972535 -0.31656592] [ 0.04969794 0.01355164 0.99867235 0.21514705] [ 0. 0. 0. 1. ]] SLAMing on 56.96327356 meters Centerline goodness : 0.800957 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.31, Z:0.22 [[ 0.99101076 -0.12453648 -0.04887056 1.9461175 ] [ 0.12378937 0.99214454 -0.01803914 -0.31051203] [ 0.05073319 0.01182732 0.99864221 0.21661408] [ 0. 0. 0. 1. ]] SLAMing on 57.02327356 meters Centerline goodness : 0.803383 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.30, Z:0.22 [[ 0.99150309 -0.11616778 -0.05853774 1.94020981] [ 0.11523037 0.99315411 -0.01915401 -0.30140734] [ 0.06036208 0.01224594 0.99810143 0.22179876] [ 0. 0. 0. 1. ]] SLAMing on 57.083273559999995 meters Centerline goodness : 0.801646 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.29, Z:0.22 [[ 0.99200612 -0.11060611 -0.06074651 1.94244659] [ 0.10980999 0.99381891 -0.01630143 -0.28994993] [ 0.06217407 0.00950055 0.9980201 0.22112465] [ 0. 0. 0. 1. ]] SLAMing on 57.14327356 meters Centerline goodness : 0.804902 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.28, Z:0.22 [[ 0.99251199 -0.10477037 -0.0627942 1.9435838 ] [ 0.10417693 0.9944782 -0.01266036 -0.27812152] [ 0.0637739 0.00602385 0.99794619 0.22152291] [ 0. 0. 0. 1. ]] SLAMing on 57.20327356 meters Centerline goodness : 0.807634 with order 3 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.27, Z:0.22 [[ 0.99272839 -0.10182076 -0.06420961 1.94432672] [ 0.1013532 0.99479503 -0.01050609 -0.27086058] [ 0.06494514 0.00392184 0.99788113 0.22234612] [ 0. 0. 0. 1. ]] SLAMing on 57.263273559999995 meters Centerline goodness : 0.804533 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.26, Z:0.22 [[ 9.92881668e-01 -9.87726084e-02 -6.65579785e-02 1.94603456e+00] [ 9.84787555e-02 9.95109444e-01 -7.68960205e-03 -2.60813018e-01] [ 6.69919950e-02 1.08031803e-03 9.97752928e-01 2.23686783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32327356 meters Centerline goodness : 0.804427 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.25, Z:0.22 [[ 9.92899538e-01 -9.70059460e-02 -6.88502259e-02 1.94817335e+00] [ 9.67992086e-02 9.95283734e-01 -6.34058300e-03 -2.50326979e-01] [ 6.91405842e-02 -3.69085456e-04 9.97606858e-01 2.24600117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38327356 meters Centerline goodness : 0.804796 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.24, Z:0.23 [[ 9.92903610e-01 -9.53507943e-02 -7.10679113e-02 1.95047792e+00] [ 9.52143781e-02 9.95442615e-01 -5.31244394e-03 -2.39843062e-01] [ 7.12505732e-02 -1.49194222e-03 9.97457332e-01 2.25259216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.443273559999994 meters Centerline goodness : 0.810708 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.23, Z:0.23 [[ 0.99295776 -0.09345502 -0.07280828 1.95215897] [ 0.09339016 0.99562029 -0.00430204 -0.23106542] [ 0.07289145 -0.00252783 0.99733668 0.22574293] [ 0. 0. 0. 1. ]] SLAMing on 57.50327356 meters Centerline goodness : 0.809369 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.22, Z:0.23 [[ 0.99294354 -0.09202795 -0.074793 1.95405843] [ 0.09204824 0.99574946 -0.00318322 -0.22189236] [ 0.07476803 -0.00372381 0.997194 0.22667757] [ 0. 0. 0. 1. ]] SLAMing on 57.56327356 meters Centerline goodness : 0.807756 with order 3 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.22, Z:0.23 [[ 9.93004552e-01 -9.03841718e-02 -7.59780330e-02 1.95490075e+00] [ 9.05567443e-02 9.95890601e-01 -1.17781208e-03 -2.17066316e-01] [ 7.57722645e-02 -5.71075055e-03 9.97108796e-01 2.27436715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.623273559999994 meters Centerline goodness : 0.808136 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.21, Z:0.23 [[ 9.93038928e-01 -8.88822157e-02 -7.72893250e-02 1.95582351e+00] [ 8.91318272e-02 9.96019813e-01 -2.20907514e-04 -2.09181647e-01] [ 7.70013339e-02 -6.66956901e-03 9.97008682e-01 2.28079576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.683273559999996 meters Centerline goodness : 0.807178 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.20, Z:0.23 [[ 0.99286107 -0.090239 -0.0779988 1.95632057] [ 0.09024948 0.99591339 -0.0033979 -0.20053289] [ 0.07798667 -0.00366571 0.99694766 0.2286242 ] [ 0. 0. 0. 1. ]] SLAMing on 57.74327356 meters Centerline goodness : 0.812241 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.20, Z:0.23 [[ 9.92847311e-01 -8.88871508e-02 -7.97075426e-02 1.95842382e+00] [ 8.91266401e-02 9.96020147e-01 -5.55131502e-04 -1.97520154e-01] [ 7.94396623e-02 -6.55290464e-03 9.96818138e-01 2.29283225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80327356 meters Centerline goodness : 0.810503 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.19, Z:0.23 [[ 0.99274901 -0.09010187 -0.07956797 1.95791828] [ 0.09015906 0.99592321 -0.00288085 -0.18931351] [ 0.07950315 -0.00431382 0.99682528 0.22957992] [ 0. 0. 0. 1. ]] SLAMing on 57.863273559999996 meters Centerline goodness : 0.809514 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.18, Z:0.23 [[ 0.99265123 -0.09129803 -0.07942417 1.95762561] [ 0.09117359 0.99582144 -0.00519942 -0.18080939] [ 0.07956699 -0.00208018 0.99682735 0.22961943] [ 0. 0. 0. 1. ]] SLAMing on 57.92327356 meters Centerline goodness : 0.804754 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:0.23 [[ 9.92573228e-01 -9.21155737e-02 -7.94550713e-02 1.95847630e+00] [ 9.18458585e-02 9.95748277e-01 -7.05031878e-03 -1.73245633e-01] [ 7.97666946e-02 -2.99661569e-04 9.96813515e-01 2.28668512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98327356 meters Centerline goodness : 0.807049 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:0.23 [[ 9.92538358e-01 -9.24405917e-02 -7.95131747e-02 1.95880513e+00] [ 9.21172669e-02 9.95718140e-01 -7.73272083e-03 -1.70792836e-01] [ 7.98875277e-02 3.50485698e-04 9.96803822e-01 2.28461427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.043273559999996 meters Centerline goodness : 0.789341 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:0.23 [[ 9.92484096e-01 -9.29701203e-02 -7.95730817e-02 1.95935938e+00] [ 9.25527776e-02 9.95667779e-01 -8.92504578e-03 -1.65421605e-01] [ 8.00581161e-02 1.49325626e-03 9.96789079e-01 2.27873903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10327356 meters Centerline goodness : 0.804444 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.16, Z:0.23 [[ 0.99239975 -0.09414845 -0.07923887 1.95841488] [ 0.09356092 0.99555164 -0.01110319 -0.15754023] [ 0.07993174 0.00360514 0.99679382 0.22818146] [ 0. 0. 0. 1. ]] SLAMing on 58.16327356 meters Centerline goodness : 0.809504 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:0.22 [[ 0.99346358 -0.09273451 -0.06656148 1.95809845] [ 0.09225172 0.99568247 -0.01029735 -0.15194067] [ 0.06722902 0.00408963 0.99772919 0.22231799] [ 0. 0. 0. 1. ]] SLAMing on 58.223273559999996 meters Centerline goodness : 0.797103 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:0.22 [[ 0.99341083 -0.09338594 -0.06643779 1.95803373] [ 0.09280989 0.99561497 -0.01171149 -0.14505196] [ 0.06724015 0.00546824 0.99772184 0.22190559] [ 0. 0. 0. 1. ]] SLAMing on 58.28327356 meters Centerline goodness : 0.795750 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.14, Z:0.22 [[ 0.99338857 -0.09354911 -0.066541 1.95895354] [ 0.09293532 0.99559657 -0.01226759 -0.14100206] [ 0.06739561 0.00600247 0.99770827 0.22089027] [ 0. 0. 0. 1. ]] SLAMing on 58.34327356 meters Centerline goodness : 0.796769 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.14, Z:0.22 [[ 0.99330715 -0.09467701 -0.06616023 1.95838252] [ 0.093986 0.99548216 -0.01348702 -0.13566145] [ 0.06713824 0.00717862 0.99771786 0.22016333] [ 0. 0. 0. 1. ]] SLAMing on 58.403273559999995 meters Centerline goodness : 0.801227 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.13, Z:0.22 [[ 9.93381548e-01 -9.79278150e-02 -6.00270240e-02 1.96669926e+00] [ 9.78064602e-02 9.95193076e-01 -4.96360783e-03 -1.33050531e-01] [ 6.02245539e-02 -9.40274305e-04 9.98184411e-01 2.16022309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46327356 meters Centerline goodness : 0.800040 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:0.22 [[ 9.93254821e-01 -9.97158886e-02 -5.91743321e-02 1.96433632e+00] [ 9.94919438e-02 9.95015634e-01 -6.72614823e-03 -1.28353529e-01] [ 5.95500894e-02 7.93409836e-04 9.98225003e-01 2.16308465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52327356 meters Centerline goodness : 0.802580 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:0.22 [[ 9.93181502e-01 -1.00628937e-01 -5.88584887e-02 1.96337637e+00] [ 1.00336707e-01 9.94922120e-01 -7.90700575e-03 -1.25137820e-01] [ 5.93552859e-02 1.94742493e-03 9.98235021e-01 2.16652976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.583273559999995 meters Centerline goodness : 0.806348 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:0.22 [[ 0.99308759 -0.10181146 -0.05840775 1.96186256] [ 0.10143368 0.99479785 -0.00940442 -0.1207832 ] [ 0.05906138 0.0034149 0.99824851 0.21721842] [ 0. 0. 0. 1. ]] SLAMing on 58.64327356 meters Centerline goodness : 0.807308 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:0.22 [[ 0.99306598 -0.10205268 -0.0583541 1.9619174 ] [ 0.10162158 0.99476964 -0.01031594 -0.11626553] [ 0.05910166 0.00431437 0.99824265 0.21708543] [ 0. 0. 0. 1. ]] SLAMing on 58.70327356 meters Centerline goodness : 0.812017 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.11, Z:0.22 [[ 9.93422861e-01 -9.86432518e-02 -5.81423017e-02 1.96083155e+00] [ 9.83762508e-02 9.95121451e-01 -7.44379597e-03 -1.12468184e-01] [ 5.85929319e-02 1.67501544e-03 9.98280553e-01 2.16693169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.763273559999995 meters Centerline goodness : 0.808530 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.11, Z:0.22 [[ 9.93793642e-01 -9.48514602e-02 -5.81153829e-02 1.96017909e+00] [ 9.47912602e-02 9.95489926e-01 -3.79798546e-03 -1.11259532e-01] [ 5.82135227e-02 -1.73441658e-03 9.98302648e-01 2.16147496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82327356 meters Centerline goodness : 0.814055 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.11, Z:0.22 [[ 9.94158720e-01 -9.10156073e-02 -5.80051533e-02 1.95920571e+00] [ 9.11291489e-02 9.95838843e-01 -6.90267956e-04 -1.08166917e-01] [ 5.78266100e-02 -4.59972435e-03 9.98316045e-01 2.16114973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88327356 meters Centerline goodness : 0.814378 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.11, Z:0.22 [[ 0.99448636 -0.08746131 -0.05785675 1.95781695] [ 0.08775899 0.99613829 0.00261961 -0.10677468] [ 0.05740421 -0.00768262 0.99832146 0.21637539] [ 0. 0. 0. 1. ]] SLAMing on 58.943273559999994 meters Centerline goodness : 0.817178 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.10, Z:0.22 [[ 0.99488308 -0.08245367 -0.05838713 1.95889596] [ 0.0829542 0.99653409 0.00619726 -0.10385642] [ 0.05767378 -0.01100901 0.99827478 0.2161809 ] [ 0. 0. 0. 1. ]] SLAMing on 59.00327356 meters Centerline goodness : 0.819076 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.10, Z:0.21 [[ 0.99548331 -0.07473254 -0.05854937 1.9612848 ] [ 0.07557256 0.99706489 0.01226375 -0.10104941] [ 0.05746102 -0.01663308 0.99820918 0.21374086] [ 0. 0. 0. 1. ]] SLAMing on 59.06327356 meters Centerline goodness : 0.819329 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.10, Z:0.21 [[ 0.99613149 -0.06512529 -0.05899793 1.96264915] [ 0.06643759 0.99757875 0.02055948 -0.09895358] [ 0.05751614 -0.02439962 0.99804637 0.21208613] [ 0. 0. 0. 1. ]] SLAMing on 59.123273559999994 meters Centerline goodness : 0.819106 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.10, Z:0.21 [[ 0.99645672 -0.05950534 -0.05943997 1.96447655] [ 0.06106473 0.9978264 0.02477052 -0.09734895] [ 0.0578368 -0.02831244 0.9979245 0.2112042 ] [ 0. 0. 0. 1. ]] SLAMing on 59.183273559999996 meters Centerline goodness : 0.814365 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.10, Z:0.21 [[ 0.9969588 -0.05019144 -0.05961527 1.96505843] [ 0.05221289 0.99809559 0.03284817 -0.09580784] [ 0.05785304 -0.03586096 0.99768082 0.21020731] [ 0. 0. 0. 1. ]] SLAMing on 59.24327356 meters Centerline goodness : 0.814086 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.21 [[ 0.99723744 -0.04393949 -0.05988998 1.96678653] [ 0.04621475 0.99824049 0.03714993 -0.09389602] [ 0.05815225 -0.0398151 0.99751344 0.2098122 ] [ 0. 0. 0. 1. ]] SLAMing on 59.30327356 meters Centerline goodness : 0.811077 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.21 [[ 0.99727252 -0.04230889 -0.06047705 1.96907158] [ 0.04459112 0.99832365 0.03689876 -0.091961 ] [ 0.05881453 -0.03949486 0.99748735 0.21021862] [ 0. 0. 0. 1. ]] SLAMing on 59.363273559999996 meters Centerline goodness : 0.806925 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.21 [[ 0.99734317 -0.0392971 -0.0613379 1.9731133 ] [ 0.04164908 0.99842649 0.03754858 -0.09074309] [ 0.05976583 -0.04000349 0.99741053 0.20983703] [ 0. 0. 0. 1. ]] SLAMing on 59.42327356 meters Centerline goodness : 0.808732 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.21 [[ 0.99739018 -0.03650329 -0.0622924 1.97750763] [ 0.03896323 0.99848928 0.03874308 -0.0913824 ] [ 0.06078405 -0.04106908 0.99730569 0.20866374] [ 0. 0. 0. 1. ]] SLAMing on 59.48327356 meters Centerline goodness : 0.805896 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.21 [[ 0.99740412 -0.03553779 -0.06262649 1.97868122] [ 0.03803285 0.99851089 0.03910881 -0.09249342] [ 0.06114339 -0.04138915 0.99727049 0.20895026] [ 0. 0. 0. 1. ]] SLAMing on 59.543273559999996 meters Centerline goodness : 0.805586 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.21 [[ 0.99724027 -0.03903549 -0.06315114 1.97951148] [ 0.04128643 0.99854322 0.03474008 -0.09293263] [ 0.06170305 -0.03725149 0.99739915 0.21103652] [ 0. 0. 0. 1. ]] SLAMing on 59.60327356 meters Centerline goodness : 0.806684 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.21 [[ 0.99706492 -0.04260589 -0.06361042 1.98073675] [ 0.04461652 0.9985376 0.03052929 -0.09312628] [ 0.06221667 -0.03327776 0.99750773 0.21215851] [ 0. 0. 0. 1. ]] SLAMing on 59.66327356 meters Centerline goodness : 0.801888 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.21 [[ 0.99688624 -0.0456993 -0.06426038 1.98295209] [ 0.04751266 0.99850622 0.02697899 -0.09453899] [ 0.06293146 -0.02994817 0.99756841 0.21257479] [ 0. 0. 0. 1. ]] SLAMing on 59.723273559999996 meters Centerline goodness : 0.801004 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.21 [[ 0.99689357 -0.04436127 -0.06507913 1.98520316] [ 0.04625965 0.99853811 0.02795884 -0.09774716] [ 0.0637437 -0.03088253 0.99748835 0.21273997] [ 0. 0. 0. 1. ]] SLAMing on 59.78327356 meters Centerline goodness : 0.798756 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.21 [[ 0.99690914 -0.04240043 -0.06613897 1.98841156] [ 0.04437729 0.99860217 0.02871165 -0.09888715] [ 0.06482913 -0.03155798 0.99739725 0.21291859] [ 0. 0. 0. 1. ]] SLAMing on 59.84327356 meters Centerline goodness : 0.799036 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.21 [[ 0.99712141 -0.03493544 -0.06729345 1.99238389] [ 0.03730594 0.99871515 0.03429741 -0.10198764] [ 0.06600879 -0.03670913 0.99714356 0.21274248] [ 0. 0. 0. 1. ]] SLAMing on 59.903273559999995 meters Centerline goodness : 0.799060 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.10, Z:0.21 [[ 0.99715764 -0.03118872 -0.06858501 1.99740759] [ 0.03366008 0.99881406 0.03517779 -0.10354395] [ 0.06740652 -0.03738638 0.99702488 0.21346108] [ 0. 0. 0. 1. ]] SLAMing on 59.96327356 meters Centerline goodness : 0.798840 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:0.21 [[ 0.99715911 -0.02894102 -0.06954225 2.00031599] [ 0.03149999 0.9988557 0.03598674 -0.10569426] [ 0.06842118 -0.03807509 0.9969297 0.2142029 ] [ 0. 0. 0. 1. ]] SLAMing on 60.02327356 meters Centerline goodness : 0.796347 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:0.22 [[ 0.99704887 -0.02956573 -0.07084791 2.00447614] [ 0.03201776 0.99891807 0.03372752 -0.11000149] [ 0.06977408 -0.03589638 0.99691676 0.21539366] [ 0. 0. 0. 1. ]] SLAMing on 60.083273559999995 meters Centerline goodness : 0.793288 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:0.22 [[ 0.99676442 -0.03479841 -0.07245517 2.00892195] [ 0.03689087 0.9989341 0.02774388 -0.11552112] [ 0.0714125 -0.03032705 0.99698572 0.21681613] [ 0. 0. 0. 1. ]] SLAMing on 60.14327356 meters Centerline goodness : 0.791023 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:0.22 [[ 0.99641818 -0.04185683 -0.07347663 2.01119167] [ 0.04353154 0.99882411 0.0213402 -0.1226673 ] [ 0.07249699 -0.02446231 0.99706859 0.21863577] [ 0. 0. 0. 1. ]] SLAMing on 60.20327356 meters Centerline goodness : 0.786842 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.13, Z:0.22 [[ 0.99602498 -0.04917105 -0.0742728 2.01307171] [ 0.05035189 0.99863187 0.01410961 -0.12672152] [ 0.0734774 -0.0177933 0.99713814 0.22049365] [ 0. 0. 0. 1. ]] SLAMing on 60.263273559999995 meters Centerline goodness : 0.786968 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.13, Z:0.22 [[ 0.99538249 -0.05978785 -0.07509398 2.01371425] [ 0.06028492 0.99817165 0.00436803 -0.13447455] [ 0.07469553 -0.00887489 0.99716689 0.22450527] [ 0. 0. 0. 1. ]] SLAMing on 60.32327356 meters Centerline goodness : 0.799209 with order 3 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.14, Z:0.23 [[ 9.94556348e-01 -7.18127912e-02 -7.55022774e-02 2.01397129e+00] [ 7.15040939e-02 9.97417213e-01 -6.78739147e-03 -1.40920075e-01] [ 7.57946926e-02 1.35172134e-03 9.97122529e-01 2.28409019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38327356 meters Centerline goodness : 0.796619 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.15, Z:0.23 [[ 0.99385794 -0.08047998 -0.07595642 2.01505826] [ 0.07968331 0.99672926 -0.01346635 -0.14962532] [ 0.07679175 0.00733118 0.9970202 0.22996901] [ 0. 0. 0. 1. ]] SLAMing on 60.443273559999994 meters Centerline goodness : 0.797815 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.16, Z:0.23 [[ 0.99320925 -0.08806428 -0.07602681 2.01649333] [ 0.08682374 0.99603326 -0.01947753 -0.15664416] [ 0.0774405 0.01274433 0.99691552 0.23063409] [ 0. 0. 0. 1. ]] SLAMing on 60.50327356 meters Centerline goodness : 0.799216 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.16, Z:0.23 [[ 0.99287726 -0.09164435 -0.07613188 2.01776685] [ 0.0901891 0.99567395 -0.02234524 -0.16067624] [ 0.07785035 0.01531982 0.99684734 0.23085004] [ 0. 0. 0. 1. ]] SLAMing on 60.56327356 meters Centerline goodness : 0.800272 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:0.23 [[ 0.99261087 -0.0947744 -0.07577248 2.01845712] [ 0.0932268 0.99536243 -0.02371502 -0.16595638] [ 0.07766866 0.01647576 0.99684308 0.23059662] [ 0. 0. 0. 1. ]] SLAMing on 60.623273559999994 meters Centerline goodness : 0.801928 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:0.23 [[ 0.99245904 -0.0968716 -0.07510625 2.01852046] [ 0.09519746 0.99513002 -0.02556725 -0.16976436] [ 0.07721723 0.01822453 0.99684771 0.22989252] [ 0. 0. 0. 1. ]] SLAMing on 60.683273559999996 meters Centerline goodness : 0.803867 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:0.23 [[ 0.99234953 -0.09782052 -0.07532297 2.0197116 ] [ 0.09621615 0.99505517 -0.02465074 -0.17267058] [ 0.07736186 0.01721486 0.99685445 0.22945779] [ 0. 0. 0. 1. ]] SLAMing on 60.74327356 meters Centerline goodness : 0.800998 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:0.23 [[ 0.99232122 -0.0980534 -0.07539319 2.02053065] [ 0.09650968 0.99504597 -0.02386212 -0.17437828] [ 0.07735946 0.01640271 0.99686833 0.22895366] [ 0. 0. 0. 1. ]] SLAMing on 60.80327356 meters Centerline goodness : 0.801898 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.18, Z:0.23 [[ 0.99220821 -0.09890856 -0.07576259 2.02204721] [ 0.09741212 0.9949735 -0.02320794 -0.17622962] [ 0.07767723 0.01564692 0.99685577 0.22838136] [ 0. 0. 0. 1. ]] SLAMing on 60.863273559999996 meters Centerline goodness : 0.803253 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.18, Z:0.23 [[ 0.99201356 -0.10012516 -0.07670753 2.02474721] [ 0.09862232 0.99485574 -0.02314515 -0.1764241 ] [ 0.07863034 0.01539523 0.99678496 0.22763055] [ 0. 0. 0. 1. ]] SLAMing on 60.92327356 meters Centerline goodness : 0.804939 with order 3 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:0.23 [[ 0.99190817 -0.10067454 -0.07734872 2.02649449] [ 0.0992009 0.99480908 -0.02267339 -0.17658687] [ 0.07922984 0.01481686 0.99674625 0.22729118] [ 0. 0. 0. 1. ]] SLAMing on 60.98327356 meters Centerline goodness : 0.802235 with order 3 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:0.23 [[ 0.99173692 -0.10175535 -0.07812631 2.02679305] [ 0.1003897 0.99472181 -0.02122329 -0.17758343] [ 0.07987353 0.01320485 0.99671754 0.22936919] [ 0. 0. 0. 1. ]] SLAMing on 61.043273559999996 meters Centerline goodness : 0.802737 with order 3 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:0.23 [[ 0.99161227 -0.10230079 -0.07899151 2.02822171] [ 0.10098081 0.99467635 -0.02053847 -0.17717761] [ 0.08067208 0.01238957 0.99666369 0.22983039] [ 0. 0. 0. 1. ]] SLAMing on 61.10327356 meters Centerline goodness : 0.801028 with order 3 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:0.23 [[ 0.99125122 -0.10457922 -0.08052456 2.0314129 ] [ 0.10326374 0.99444597 -0.02034258 -0.17641415] [ 0.08220473 0.01184934 0.99654502 0.22992175] [ 0. 0. 0. 1. ]] SLAMing on 61.16327356 meters Centerline goodness : 0.804881 with order 3 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:0.23 [[ 0.99047893 -0.11049754 -0.08210832 2.03498812] [ 0.10892281 0.99377404 -0.02343052 -0.17404144] [ 0.08418614 0.01426397 0.99634795 0.23048543] [ 0. 0. 0. 1. ]] SLAMing on 61.223273559999996 meters Centerline goodness : 0.806086 with order 3 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:0.23 [[ 0.99003181 -0.11321823 -0.0837774 2.03814139] [ 0.11163448 0.99347454 -0.0233683 -0.17298915] [ 0.08587643 0.01378291 0.99621045 0.23114884] [ 0. 0. 0. 1. ]] SLAMing on 61.28327356 meters Centerline goodness : 0.803353 with order 3 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:0.23 [[ 0.98958908 -0.11585424 -0.08538875 2.04026535] [ 0.11424271 0.99317393 -0.02354029 -0.17069188] [ 0.08753312 0.01354017 0.99606958 0.23269434] [ 0. 0. 0. 1. ]] SLAMing on 61.34327356 meters Centerline goodness : 0.800858 with order 3 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:0.23 [[ 0.98930949 -0.11741804 -0.08648548 2.04052971] [ 0.11579631 0.99299369 -0.02355294 -0.16769129] [ 0.08864507 0.01328645 0.99597466 0.23484573] [ 0. 0. 0. 1. ]] SLAMing on 61.403273559999995 meters Centerline goodness : 0.798167 with order 3 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:0.24 [[ 0.98928689 -0.11644584 -0.08804438 2.04219569] [ 0.11505598 0.99314296 -0.0207167 -0.16535661] [ 0.08985303 0.01036473 0.9959011 0.23567985] [ 0. 0. 0. 1. ]] SLAMing on 61.46327356 meters Centerline goodness : 0.798099 with order 3 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.16, Z:0.24 [[ 0.98928242 -0.11513008 -0.08980737 2.04479339] [ 0.11397941 0.99332266 -0.01785476 -0.16295369] [ 0.09126331 0.00742721 0.9957991 0.23575625] [ 0. 0. 0. 1. ]] SLAMing on 61.52327356 meters Centerline goodness : 0.798538 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.16, Z:0.23 [[ 0.98928277 -0.11482253 -0.09019633 2.0468126 ] [ 0.11361306 0.99335378 -0.01844813 -0.15814464] [ 0.09171512 0.00800294 0.99575313 0.23439362] [ 0. 0. 0. 1. ]] SLAMing on 61.583273559999995 meters Centerline goodness : 0.799920 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.15, Z:0.23 [[ 0.98930101 -0.11432528 -0.09062693 2.0485733 ] [ 0.11305507 0.99340619 -0.01904459 -0.15354001] [ 0.09220664 0.008595 0.9957028 0.23370002] [ 0. 0. 0. 1. ]] SLAMing on 61.64327356 meters Centerline goodness : 0.800275 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.15, Z:0.23 [[ 0.98968267 -0.11090523 -0.0907097 2.04733276] [ 0.10982134 0.99380817 -0.01686975 -0.14817147] [ 0.09201899 0.00673384 0.99573448 0.2343536 ] [ 0. 0. 0. 1. ]] SLAMing on 61.70327356 meters Centerline goodness : 0.800354 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.14, Z:0.24 [[ 0.99002285 -0.10778546 -0.09075816 2.04586812] [ 0.10687139 0.99416141 -0.01488604 -0.14271415] [ 0.09183276 0.00503807 0.9957617 0.23518873] [ 0. 0. 0. 1. ]] SLAMing on 61.763273559999995 meters Centerline goodness : 0.799612 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.14, Z:0.23 [[ 0.99002733 -0.10748634 -0.09106352 2.04696609] [ 0.10656134 0.99419337 -0.01497383 -0.14092032] [ 0.09214423 0.00512065 0.9957325 0.23471036] [ 0. 0. 0. 1. ]] SLAMing on 61.82327356 meters Centerline goodness : 0.797440 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.14, Z:0.23 [[ 0.98998456 -0.10761916 -0.09137114 2.04853792] [ 0.10661639 0.99417469 -0.01580002 -0.13633186] [ 0.09253926 0.00590012 0.99569156 0.23365549] [ 0. 0. 0. 1. ]] SLAMing on 61.88327356 meters Centerline goodness : 0.800049 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.13, Z:0.23 [[ 0.98990136 -0.10855554 -0.09116465 2.04876736] [ 0.10747212 0.99406741 -0.01672494 -0.13287871] [ 0.0924394 0.00675839 0.99569538 0.23255261] [ 0. 0. 0. 1. ]] SLAMing on 61.943273559999994 meters Centerline goodness : 0.787917 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.13, Z:0.23 [[ 0.99094502 -0.10972952 -0.0773783 2.04940794] [ 0.10899098 0.9939481 -0.01371679 -0.1310314 ] [ 0.07841515 0.00515905 0.99690744 0.22522523] [ 0. 0. 0. 1. ]] SLAMing on 62.00327356 meters Centerline goodness : 0.798231 with order 3 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.22 [[ 0.99100573 -0.11312069 -0.07149372 2.05879084] [ 0.11300786 0.99357812 -0.00563406 -0.13094745] [ 0.07167193 -0.00249596 0.99742514 0.22144628] [ 0. 0. 0. 1. ]] SLAMing on 62.06327356 meters Centerline goodness : 0.799297 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.13, Z:0.22 [[ 9.90803007e-01 -1.18344733e-01 -6.56043124e-02 2.06723034e+00] [ 1.18687457e-01 9.92930762e-01 1.33776543e-03 -1.30398068e-01] [ 6.49822224e-02 -9.11187103e-03 9.97844820e-01 2.17768404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.123273559999994 meters Centerline goodness : 0.792642 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.13, Z:0.22 [[ 0.99020607 -0.12365428 -0.06481947 2.06608521] [ 0.12366487 0.99231652 -0.00386419 -0.12650212] [ 0.06479925 -0.00418955 0.99788953 0.21820012] [ 0. 0. 0. 1. ]] SLAMing on 62.183273559999996 meters Centerline goodness : 0.793449 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.12, Z:0.22 [[ 0.99003266 -0.1253303 -0.06424671 2.06505111] [ 0.12528598 0.99210937 -0.00473415 -0.12469083] [ 0.0643331 -0.00336225 0.99792282 0.21728128] [ 0. 0. 0. 1. ]] SLAMing on 62.24327356 meters Centerline goodness : 0.798721 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.12, Z:0.22 [[ 0.9899586 -0.12601277 -0.06405279 2.06503651] [ 0.12594043 0.99202427 -0.00518182 -0.12346224] [ 0.0641949 -0.00293705 0.99793306 0.21659558] [ 0. 0. 0. 1. ]] SLAMing on 62.30327356 meters Centerline goodness : 0.793322 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:0.22 [[ 9.89842373e-01 -1.27126386e-01 -6.36471344e-02 2.06357973e+00] [ 1.26973367e-01 9.91885092e-01 -6.45981218e-03 -1.20021539e-01] [ 6.39518563e-02 -1.68729514e-03 9.97951558e-01 2.17176641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.363273559999996 meters Centerline goodness : 0.796694 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:0.22 [[ 9.89778378e-01 -1.27830430e-01 -6.32308693e-02 2.06172541e+00] [ 1.27578245e-01 9.91796030e-01 -8.02653396e-03 -1.15552081e-01] [ 6.37381604e-02 -1.22393585e-04 9.97966649e-01 2.18622309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42327356 meters Centerline goodness : 0.797324 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:0.22 [[ 9.89790599e-01 -1.27680344e-01 -6.33427096e-02 2.06197087e+00] [ 1.27385971e-01 9.91815233e-01 -8.68093324e-03 -1.12376046e-01] [ 6.39326488e-02 5.23333557e-04 9.97954078e-01 2.18869758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48327356 meters Centerline goodness : 0.796318 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:0.22 [[ 9.89846345e-01 -1.27135576e-01 -6.35669651e-02 2.06342599e+00] [ 1.26837773e-01 9.91885189e-01 -8.71503565e-03 -1.09832185e-01] [ 6.41591222e-02 5.63853864e-04 9.97939522e-01 2.17778489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.543273559999996 meters Centerline goodness : 0.796268 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:0.22 [[ 9.89828918e-01 -1.27289011e-01 -6.35312653e-02 2.06365136e+00] [ 1.26972429e-01 9.91865302e-01 -9.01243721e-03 -1.08285667e-01] [ 6.41616419e-02 8.54051906e-04 9.97939154e-01 2.17328682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60327356 meters Centerline goodness : 0.796587 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:0.22 [[ 9.89758312e-01 -1.28010391e-01 -6.31808800e-02 2.06247333e+00] [ 1.27648344e-01 9.91771559e-01 -9.75066023e-03 -1.06074133e-01] [ 6.39091857e-02 1.58586232e-03 9.97954458e-01 2.17664736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66327356 meters Centerline goodness : 0.799300 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.10, Z:0.22 [[ 0.98968402 -0.12874288 -0.06285539 2.06136896] [ 0.12832454 0.99167488 -0.01066474 -0.1034285 ] [ 0.06370512 0.00248883 0.99796566 0.21811276] [ 0. 0. 0. 1. ]] SLAMing on 62.723273559999996 meters Centerline goodness : 0.795989 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.10, Z:0.22 [[ 0.9896346 -0.12919081 -0.06271435 2.06090119] [ 0.12871536 0.99161397 -0.01158011 -0.09995259] [ 0.06368447 0.00338778 0.99796433 0.21829222] [ 0. 0. 0. 1. ]] SLAMing on 62.78327356 meters Centerline goodness : 0.798293 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.10, Z:0.22 [[ 0.98962134 -0.12929913 -0.06270034 2.06087948] [ 0.12878843 0.99159782 -0.01213649 -0.09747466] [ 0.06374276 0.00393545 0.9979586 0.21839207] [ 0. 0. 0. 1. ]] SLAMing on 62.84327356 meters Centerline goodness : 0.799094 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.10, Z:0.22 [[ 9.90000848e-01 -1.26476975e-01 -6.24651516e-02 2.05898991e+00] [ 1.26153505e-01 9.91968888e-01 -9.11143650e-03 -9.54803806e-02] [ 6.31158739e-02 1.14013203e-03 9.98005554e-01 2.18202875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.903273559999995 meters Centerline goodness : 0.800356 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:0.22 [[ 9.89992192e-01 -1.26635401e-01 -6.22811004e-02 2.05909467e+00] [ 1.26283687e-01 9.91948030e-01 -9.56746310e-03 -9.28729253e-02] [ 6.29911943e-02 1.60662677e-03 9.98012790e-01 2.17499300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96327356 meters Centerline goodness : 0.801036 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:0.22 [[ 0.98992876 -0.1272508 -0.0620345 2.05847041] [ 0.12685854 0.99186799 -0.01023755 -0.09070463] [ 0.06283277 0.00226484 0.9980215 0.21747992] [ 0. 0. 0. 1. ]] SLAMing on 63.02327356 meters Centerline goodness : 0.799881 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:0.22 [[ 0.98985047 -0.12813873 -0.06145336 2.05677611] [ 0.12771247 0.99175209 -0.01083107 -0.08946971] [ 0.06233437 0.00287278 0.99805119 0.21776804] [ 0. 0. 0. 1. ]] SLAMing on 63.083273559999995 meters Centerline goodness : 0.800824 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98969474 -0.1296834 -0.06071693 2.05430113] [ 0.12920854 0.99154842 -0.01169946 -0.08853826] [ 0.061721 0.00373375 0.99808646 0.21832174] [ 0. 0. 0. 1. ]] SLAMing on 63.14327356 meters Centerline goodness : 0.800129 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.9894644 -0.1316418 -0.06025477 2.05275362] [ 0.13114331 0.9912887 -0.01217151 -0.08951104] [ 0.06133216 0.00414127 0.99810882 0.21791456] [ 0. 0. 0. 1. ]] SLAMing on 63.20327356 meters Centerline goodness : 0.801723 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98927363 -0.13331164 -0.05971338 2.05079317] [ 0.13278993 0.99106361 -0.01263936 -0.08992573] [ 0.06086473 0.00457445 0.99813554 0.21800413] [ 0. 0. 0. 1. ]] SLAMing on 63.263273559999995 meters Centerline goodness : 0.799060 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98921347 -0.13383422 -0.05954085 2.05001107] [ 0.1332863 0.99099101 -0.01309865 -0.0891555 ] [ 0.0607575 0.00502138 0.99813993 0.21840816] [ 0. 0. 0. 1. ]] SLAMing on 63.32327356 meters Centerline goodness : 0.801983 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98916926 -0.13430338 -0.05921802 2.04871508] [ 0.13372748 0.99092481 -0.01360113 -0.08804774] [ 0.06050729 0.00553474 0.99815241 0.2191255 ] [ 0. 0. 0. 1. ]] SLAMing on 63.38327356 meters Centerline goodness : 0.801265 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.9891448 -0.13453532 -0.05909997 2.0484013 ] [ 0.13396304 0.99089357 -0.01355898 -0.08817997] [ 0.06038594 0.00549458 0.99815998 0.2190434 ] [ 0. 0. 0. 1. ]] SLAMing on 63.443273559999994 meters Centerline goodness : 0.801365 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98912226 -0.13474375 -0.05900233 2.04817183] [ 0.13418794 0.99086663 -0.01330141 -0.08983418] [ 0.06025572 0.00523931 0.99816922 0.21900043] [ 0. 0. 0. 1. ]] SLAMing on 63.50327356 meters Centerline goodness : 0.800394 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98910415 -0.13497478 -0.05877743 2.04743815] [ 0.13443252 0.99083612 -0.01310232 -0.0913075 ] [ 0.06000729 0.00505796 0.99818512 0.21924136] [ 0. 0. 0. 1. ]] SLAMing on 63.56327356 meters Centerline goodness : 0.799204 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98912413 -0.13475444 -0.05894664 2.04785146] [ 0.1342231 0.99086716 -0.01290048 -0.09203304] [ 0.06014669 0.00484817 0.99817778 0.21932851] [ 0. 0. 0. 1. ]] SLAMing on 63.623273559999994 meters Centerline goodness : 0.797428 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:0.22 [[ 0.98920915 -0.13398095 -0.05928203 2.04914356] [ 0.1334881 0.99097513 -0.01221512 -0.09393515] [ 0.06038361 0.00416986 0.99816654 0.21898291] [ 0. 0. 0. 1. ]] SLAMing on 63.683273559999996 meters Centerline goodness : 0.799608 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.22 [[ 0.98923824 -0.13367288 -0.05949175 2.04965801] [ 0.13319992 0.99101818 -0.0118638 -0.09505858] [ 0.06054327 0.00381183 0.9981583 0.21901706] [ 0. 0. 0. 1. ]] SLAMing on 63.74327356 meters Centerline goodness : 0.801083 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.22 [[ 0.9892799 -0.13326939 -0.0597038 2.05023497] [ 0.13281041 0.99107347 -0.01160882 -0.09563164] [ 0.06071795 0.00355509 0.99814863 0.2191326 ] [ 0. 0. 0. 1. ]] SLAMing on 63.80327356 meters Centerline goodness : 0.800279 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.22 [[ 9.89823324e-01 -1.28931465e-01 -6.02201395e-02 2.05043614e+00] [ 1.28742694e-01 9.91653181e-01 -7.02050688e-03 -9.82082627e-02] [ 6.06226571e-02 -8.03841533e-04 9.98160432e-01 2.18732734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.863273559999996 meters Centerline goodness : 0.800217 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.22 [[ 0.99047292 -0.12336671 -0.06118868 2.05244715] [ 0.12345829 0.99234711 -0.00229624 -0.09931975] [ 0.06100369 -0.00527989 0.99812358 0.21801297] [ 0. 0. 0. 1. ]] SLAMing on 63.92327356 meters Centerline goodness : 0.799070 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.22 [[ 0.99107707 -0.11799515 -0.06199502 2.05397534] [ 0.11836582 0.99296733 0.00232793 -0.09982127] [ 0.06128434 -0.00964525 0.99807374 0.2173726 ] [ 0. 0. 0. 1. ]] SLAMing on 63.98327356 meters Centerline goodness : 0.801499 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.21 [[ 0.99300177 -0.10410428 -0.05576543 2.04705911] [ 0.10468573 0.99447631 0.00760094 -0.10174436] [ 0.05466611 -0.01338559 0.99841497 0.21189343] [ 0. 0. 0. 1. ]] SLAMing on 64.04327356 meters Centerline goodness : 0.802677 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.10, Z:0.21 [[ 0.99472936 -0.08956039 -0.04992433 2.0417028 ] [ 0.09027027 0.99584324 0.01214605 -0.1034013 ] [ 0.04862901 -0.01658872 0.99867914 0.2056807 ] [ 0. 0. 0. 1. ]] SLAMing on 64.10327356 meters Centerline goodness : 0.801096 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.10, Z:0.20 [[ 0.99620389 -0.07515863 -0.04392036 2.03660711] [ 0.07592831 0.99698289 0.01612498 -0.10471112] [ 0.04257592 -0.01939857 0.99890489 0.19914173] [ 0. 0. 0. 1. ]] SLAMing on 64.16327356000001 meters Centerline goodness : 0.800470 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.10, Z:0.20 [[ 0.99660826 -0.06913333 -0.04463805 2.03891907] [ 0.07011751 0.9973204 0.02087011 -0.10460493] [ 0.04307562 -0.02392923 0.9987852 0.19827234] [ 0. 0. 0. 1. ]] SLAMing on 64.22327356000001 meters Centerline goodness : 0.799503 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.10, Z:0.20 [[ 0.99701172 -0.06241031 -0.04552574 2.0419912 ] [ 0.06361265 0.99764994 0.02545637 -0.10385694] [ 0.04383001 -0.02827631 0.99863876 0.19779084] [ 0. 0. 0. 1. ]] SLAMing on 64.28327356 meters Centerline goodness : 0.795715 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.10, Z:0.20 [[ 0.99730263 -0.05696766 -0.04628332 2.04395931] [ 0.0583856 0.99784673 0.02988369 -0.10393207] [ 0.04448126 -0.03250536 0.99848126 0.19740605] [ 0. 0. 0. 1. ]] SLAMing on 64.34327356 meters Centerline goodness : 0.795043 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.20 [[ 0.99734242 -0.05584248 -0.04679446 2.0455271 ] [ 0.05727052 0.99791527 0.02975249 -0.10298492] [ 0.04503545 -0.03235337 0.99846135 0.19789989] [ 0. 0. 0. 1. ]] SLAMing on 64.40327356 meters Centerline goodness : 0.797930 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.20 [[ 0.99715807 -0.05870099 -0.0472226 2.04742703] [ 0.05993835 0.99788326 0.02522671 -0.10101206] [ 0.04564181 -0.02798547 0.99856579 0.19904307] [ 0. 0. 0. 1. ]] SLAMing on 64.46327356 meters Centerline goodness : 0.795047 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.20 [[ 0.99694375 -0.06189043 -0.0476733 2.04925797] [ 0.06294419 0.9977976 0.0209277 -0.09985362] [ 0.04627308 -0.0238645 0.99864372 0.19984354] [ 0. 0. 0. 1. ]] SLAMing on 64.52327356 meters Centerline goodness : 0.804403 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.10, Z:0.20 [[ 0.99670058 -0.06475873 -0.04893117 2.08677259] [ 0.06541918 0.99778551 0.01201712 -0.09618908] [ 0.0480446 -0.01517851 0.99872986 0.20383878] [ 0. 0. 0. 1. ]] SLAMing on 64.58327356000001 meters Centerline goodness : 0.794223 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.08, Z:0.24 [[ 0.99733809 -0.06157914 -0.03904793 2.19828993] [ 0.05982658 0.99721344 -0.04456606 -0.07883643] [ 0.04168346 0.04211132 0.99824302 0.24031712] [ 0. 0. 0. 1. ]] SLAMing on 64.64327356000001 meters Centerline goodness : 0.795334 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.08, Z:0.23 [[ 0.99751246 -0.06150646 -0.03443622 2.20853819] [ 0.06043048 0.99767649 -0.03146071 -0.08303657] [ 0.03629125 0.02930146 0.99891159 0.23460975] [ 0. 0. 0. 1. ]] SLAMing on 64.70327356 meters Centerline goodness : 0.798816 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.22 [[ 0.99818615 -0.05567645 -0.02290286 2.21249173] [ 0.05519783 0.99825406 -0.02102476 -0.08784197] [ 0.02403345 0.01972243 0.99951659 0.22332968] [ 0. 0. 0. 1. ]] SLAMing on 64.76327356 meters Centerline goodness : 0.792048 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.09, Z:0.22 [[ 0.99826843 -0.0538068 -0.02376923 2.21585347] [ 0.05333361 0.99837418 -0.02011256 -0.08744406] [ 0.02481277 0.01881003 0.99951514 0.22204756] [ 0. 0. 0. 1. ]] SLAMing on 64.82327356 meters Centerline goodness : 0.795422 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.09, Z:0.22 [[ 0.99831725 -0.05262467 -0.02435817 2.21784907] [ 0.05214664 0.99844191 -0.01986153 -0.08640879] [ 0.02536543 0.01855792 0.99950598 0.22184996] [ 0. 0. 0. 1. ]] SLAMing on 64.88327356 meters Centerline goodness : 0.794581 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.09, Z:0.22 [[ 0.99833731 -0.05200041 -0.02487125 2.21919949] [ 0.05151649 0.99847747 -0.01971794 -0.08581846] [ 0.02585872 0.01840387 0.99949619 0.22186947] [ 0. 0. 0. 1. ]] SLAMing on 64.94327356000001 meters Centerline goodness : 0.796480 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.22 [[ 0.99834418 -0.0541204 -0.01949076 2.23020133] [ 0.0539318 0.99849379 -0.01007564 -0.0885449 ] [ 0.0200067 0.00900779 0.99975927 0.21665796] [ 0. 0. 0. 1. ]] SLAMing on 65.00327356000001 meters Centerline goodness : 0.793851 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.22 [[ 0.99826026 -0.05569898 -0.01934097 2.22862381] [ 0.05550783 0.99840529 -0.01028347 -0.0908161 ] [ 0.01988291 0.009192 0.99976006 0.21724092] [ 0. 0. 0. 1. ]] SLAMing on 65.06327356 meters Centerline goodness : 0.795661 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:0.21 [[ 9.98031226e-01 -6.10352837e-02 -1.44348619e-02 2.23772141e+00] [ 6.10175594e-02 9.98135303e-01 -1.66553076e-03 -9.41188352e-02] [ 1.45096014e-02 7.81471670e-04 9.99894425e-01 2.12200235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12327356 meters Centerline goodness : 0.795798 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 0.99774189 -0.06563479 -0.01425448 2.23755844] [ 0.06556472 0.99783409 -0.00532939 -0.09588941] [ 0.01457339 0.00438276 0.9998842 0.21212003] [ 0. 0. 0. 1. ]] SLAMing on 65.18327356 meters Centerline goodness : 0.793349 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 0.99764087 -0.06715881 -0.0142265 2.23642292] [ 0.06708597 0.99773183 -0.00553722 -0.09788638] [ 0.0145661 0.00456976 0.99988347 0.21249244] [ 0. 0. 0. 1. ]] SLAMing on 65.24327356 meters Centerline goodness : 0.793494 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.10, Z:0.21 [[ 0.99751785 -0.06901295 -0.01397675 2.23433036] [ 0.06893545 0.99760336 -0.00595331 -0.09912856] [ 0.01435411 0.00497504 0.9998846 0.21335184] [ 0. 0. 0. 1. ]] SLAMing on 65.30327356000001 meters Centerline goodness : 0.794316 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 0.99725013 -0.07272772 -0.0142431 2.23588697] [ 0.07259235 0.99731353 -0.00980146 -0.09845097] [ 0.01491768 0.00874057 0.99985052 0.21292248] [ 0. 0. 0. 1. ]] SLAMing on 65.36327356000001 meters Centerline goodness : 0.794176 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 0.99716304 -0.07393834 -0.01410674 2.23545082] [ 0.0738012 0.99722276 -0.01000744 -0.09824575] [ 0.01480749 0.00893796 0.99985041 0.21207786] [ 0. 0. 0. 1. ]] SLAMing on 65.42327356 meters Centerline goodness : 0.795131 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.10, Z:0.21 [[ 0.99708654 -0.0750493 -0.01363959 2.2339928 ] [ 0.07490897 0.99713484 -0.01052404 -0.09700738] [ 0.01439033 0.00947165 0.99985159 0.21203544] [ 0. 0. 0. 1. ]] SLAMing on 65.48327356 meters Centerline goodness : 0.796407 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 9.96946985e-01 -7.76506960e-02 -8.19014074e-03 2.24432461e+00] [ 7.76447062e-02 9.96980543e-01 -1.04727495e-03 -9.84069866e-02] [ 8.24673259e-03 4.08156534e-04 9.99965912e-01 2.07021177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54327356 meters Centerline goodness : 0.797658 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 9.96797923e-01 -7.96120138e-02 -7.47180939e-03 2.24154165e+00] [ 7.95976580e-02 9.96824645e-01 -2.19989970e-03 -9.69176605e-02] [ 7.62322219e-03 1.59811692e-03 9.99969666e-01 2.07833431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60327356 meters Centerline goodness : 0.797449 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.21 [[ 9.96729435e-01 -8.04852957e-02 -7.24921315e-03 2.24074202e+00] [ 8.04686791e-02 9.96753861e-01 -2.55589398e-03 -9.62459915e-02] [ 7.43139308e-03 1.96420016e-03 9.99970458e-01 2.07697004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66327356000001 meters Centerline goodness : 0.794598 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:0.21 [[ 0.99665543 -0.08143363 -0.00681989 2.2394517 ] [ 0.08141342 0.99667531 -0.00318992 -0.09460105] [ 0.00705698 0.00262402 0.99997166 0.20780564] [ 0. 0. 0. 1. ]] SLAMing on 65.72327356000001 meters Centerline goodness : 0.798134 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:0.21 [[ 0.99660274 -0.08210272 -0.00648956 2.23887591] [ 0.08207722 0.99661753 -0.00410251 -0.09053363] [ 0.00680443 0.00355593 0.99997053 0.20743218] [ 0. 0. 0. 1. ]] SLAMing on 65.78327356 meters Centerline goodness : 0.797535 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:0.21 [[ 0.99659241 -0.08223316 -0.00642433 2.23900071] [ 0.08220177 0.99660313 -0.00500661 -0.08632887] [ 0.00681421 0.00446146 0.99996683 0.20731519] [ 0. 0. 0. 1. ]] SLAMing on 65.84327356 meters Centerline goodness : 0.798921 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:0.21 [[ 9.96755284e-01 -8.02961028e-02 -5.60714676e-03 2.23558923e+00] [ 8.02853309e-02 9.96769666e-01 -2.12082298e-03 -8.43082820e-02] [ 5.75932763e-03 1.66376988e-03 9.99982031e-01 2.07474925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90327356 meters Centerline goodness : 0.797342 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:0.21 [[ 9.96730539e-01 -8.06035406e-02 -5.59475483e-03 2.23563638e+00] [ 8.05908486e-02 9.96744236e-01 -2.45845761e-03 -8.28660549e-02] [ 5.77470001e-03 1.99953374e-03 9.99981327e-01 2.07196686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96327356 meters Centerline goodness : 0.801386 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:0.21 [[ 0.99668369 -0.08119514 -0.00538238 2.23541395] [ 0.08118114 0.99669551 -0.00277015 -0.08134226] [ 0.00558952 0.00232401 0.99998168 0.20642456] [ 0. 0. 0. 1. ]] SLAMing on 66.02327356 meters Centerline goodness : 0.801642 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:0.21 [[ 0.99663795 -0.08176377 -0.00524177 2.23509188] [ 0.08174682 0.99664743 -0.00336928 -0.07900709] [ 0.00549968 0.00292946 0.99998059 0.2062055 ] [ 0. 0. 0. 1. ]] SLAMing on 66.08327356000001 meters Centerline goodness : 0.798754 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.996595 -0.08229857 -0.00503528 2.2341726 ] [ 0.0822788 0.99660126 -0.00401608 -0.07692602] [ 0.00534868 0.0035881 0.99997926 0.20671618] [ 0. 0. 0. 1. ]] SLAMing on 66.14327356000001 meters Centerline goodness : 0.800145 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99656398 -0.0826834 -0.00486621 2.23356242] [ 0.08266308 0.99656854 -0.00423826 -0.07620925] [ 0.00519995 0.00382144 0.99997918 0.20678405] [ 0. 0. 0. 1. ]] SLAMing on 66.20327356 meters Centerline goodness : 0.803742 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99654867 -0.08287932 -0.00466485 2.23325433] [ 0.08286069 0.99655289 -0.00405417 -0.07660632] [ 0.00498478 0.00365364 0.9999809 0.20639458] [ 0. 0. 0. 1. ]] SLAMing on 66.26327356 meters Centerline goodness : 0.802826 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99654292 -0.08294818 -0.00467044 2.23363541] [ 0.08293123 0.99654836 -0.00371227 -0.07704485] [ 0.00496224 0.00331211 0.9999822 0.20555976] [ 0. 0. 0. 1. ]] SLAMing on 66.32327356 meters Centerline goodness : 0.801543 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99656393 -0.08268857 -0.004788 2.23422319] [ 0.08267254 0.99657078 -0.00345448 -0.07674763] [ 0.00505723 0.00304677 0.99998257 0.20503829] [ 0. 0. 0. 1. ]] SLAMing on 66.38327356 meters Centerline goodness : 0.798196 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.20 [[ 0.99658825 -0.08239198 -0.00483967 2.2345847 ] [ 0.08237578 0.99659535 -0.00345536 -0.07625827] [ 0.00510789 0.0030449 0.99998232 0.20489917] [ 0. 0. 0. 1. ]] SLAMing on 66.44327356000001 meters Centerline goodness : 0.799091 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 9.96830146e-01 -7.94199686e-02 -4.70409390e-03 2.23282453e+00] [ 7.94216667e-02 9.96841095e-01 1.74985844e-04 -7.71383699e-02] [ 4.67533674e-03 -5.48038141e-04 9.99988920e-01 2.05400380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50327356000001 meters Centerline goodness : 0.800844 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 9.96828640e-01 -7.94381703e-02 -4.71588961e-03 2.23264605e+00] [ 7.94389900e-02 9.96839730e-01 -1.35387370e-05 -7.65260292e-02] [ 4.70206161e-03 -3.61129707e-04 9.99988880e-01 2.05788344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56327356 meters Centerline goodness : 0.799871 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 9.96830064e-01 -7.94169698e-02 -4.77166069e-03 2.23278694e+00] [ 7.94176372e-02 9.96841430e-01 -4.97416269e-05 -7.68200271e-02] [ 4.76053939e-03 -3.29370068e-04 9.99988614e-01 2.05891091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62327356 meters Centerline goodness : 0.809324 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 9.96815259e-01 -7.96051060e-02 -4.72928492e-03 2.23268210e+00] [ 7.96066191e-02 9.96826348e-01 1.32259374e-04 -7.78042442e-02] [ 4.70374729e-03 -5.08320546e-04 9.99988808e-01 2.05705599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68327356 meters Centerline goodness : 0.804305 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 9.96788306e-01 -7.99506004e-02 -4.57972636e-03 2.23208390e+00] [ 7.99523372e-02 9.96798668e-01 1.97138503e-04 -7.90429514e-02] [ 4.54930379e-03 -5.62665180e-04 9.99989494e-01 2.05912868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74327356 meters Centerline goodness : 0.799995 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99649903 -0.08346711 -0.00478869 2.23344011] [ 0.08344969 0.99650501 -0.00372925 -0.07867287] [ 0.00508322 0.00331658 0.99998158 0.20610514] [ 0. 0. 0. 1. ]] SLAMing on 66.80327356000001 meters Centerline goodness : 0.805289 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99639281 -0.08474471 -0.0044378 2.23182285] [ 0.0847299 0.99639807 -0.00342472 -0.08108033] [ 0.00471204 0.00303635 0.99998429 0.20598242] [ 0. 0. 0. 1. ]] SLAMing on 66.86327356000001 meters Centerline goodness : 0.803148 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:0.21 [[ 0.99626454 -0.08626757 -0.00385596 2.22962647] [ 0.08625483 0.99626745 -0.00335617 -0.08333186] [ 0.0041311 0.00301103 0.99998693 0.20606204] [ 0. 0. 0. 1. ]] SLAMing on 66.92327356 meters Centerline goodness : 0.806503 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.21 [[ 0.99621174 -0.08688396 -0.00365391 2.22889779] [ 0.08687289 0.99621462 -0.00308834 -0.08509026] [ 0.0039084 0.00275921 0.99998856 0.2058966 ] [ 0. 0. 0. 1. ]] SLAMing on 66.98327356 meters Centerline goodness : 0.804541 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.21 [[ 0.99611338 -0.08801697 -0.00333932 2.22729447] [ 0.08800733 0.99611551 -0.00293315 -0.08737881] [ 0.00358452 0.00262786 0.99999012 0.20631254] [ 0. 0. 0. 1. ]] SLAMing on 67.04327356 meters Centerline goodness : 0.803870 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.21 [[ 9.96083542e-01 -8.83577186e-02 -3.23894046e-03 2.22693942e+00] [ 8.83502938e-02 9.96086651e-01 -2.36819191e-03 -8.97110423e-02] [ 3.43551340e-03 2.07275564e-03 9.99991950e-01 2.06013972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10327356 meters Centerline goodness : 0.806493 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.21 [[ 9.96066138e-01 -8.85549184e-02 -3.20551251e-03 2.22669007e+00] [ 8.85485834e-02 9.96069714e-01 -2.06730038e-03 -9.15964538e-02] [ 3.37598355e-03 1.77532431e-03 9.99992725e-01 2.06098724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16327356000001 meters Centerline goodness : 0.804153 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.21 [[ 9.96064145e-01 -8.85765320e-02 -3.22758370e-03 2.22636357e+00] [ 8.85705401e-02 9.96067989e-01 -1.95464088e-03 -9.25831745e-02] [ 3.38802812e-03 1.66107887e-03 9.99992881e-01 2.06660834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22327356000001 meters Centerline goodness : 0.805829 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:0.21 [[ 9.96080397e-01 -8.83900215e-02 -3.32364796e-03 2.22616649e+00] [ 8.83846249e-02 9.96084906e-01 -1.73723821e-03 -9.38683654e-02] [ 3.46419009e-03 1.43666955e-03 9.99992968e-01 2.07401182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28327356 meters Centerline goodness : 0.806324 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.10, Z:0.21 [[ 9.96094548e-01 -8.82262804e-02 -3.43157246e-03 2.22627341e+00] [ 8.82230270e-02 9.96100152e-01 -1.08845480e-03 -9.69019876e-02] [ 3.51422017e-03 7.81460179e-04 9.99993520e-01 2.07580844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34327356 meters Centerline goodness : 0.807967 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.10, Z:0.21 [[ 9.96120405e-01 -8.79261161e-02 -3.62443036e-03 2.22675629e+00] [ 8.79262652e-02 9.96126979e-01 -1.18483744e-04 -1.00616760e-01] [ 3.62081068e-03 -2.00658550e-04 9.99993425e-01 2.07359899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40327356 meters Centerline goodness : 0.810247 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.10, Z:0.21 [[ 9.96146619e-01 -8.76173769e-02 -3.88691301e-03 2.22731588e+00] [ 8.76206440e-02 9.96153684e-01 6.78032415e-04 -1.03606795e-01] [ 3.81255530e-03 -1.01599352e-03 9.99992216e-01 2.07335009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46327356 meters Centerline goodness : 0.804679 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.11, Z:0.21 [[ 9.95908514e-01 -9.02574136e-02 -4.45323315e-03 2.22918182e+00] [ 9.02495957e-02 9.95917315e-01 -1.92675044e-03 -1.08882500e-01] [ 4.60895551e-03 1.51696468e-03 9.99988228e-01 2.08155075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52327356 meters Centerline goodness : 0.802965 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.11, Z:0.21 [[ 9.95936848e-01 -8.99417557e-02 -4.50283606e-03 2.22960640e+00] [ 8.99373220e-02 9.95946731e-01 -1.17804635e-03 -1.11164900e-01] [ 4.59054041e-03 7.68286755e-04 9.99989168e-01 2.07696031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58327356000001 meters Centerline goodness : 0.806877 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.12, Z:0.21 [[ 9.95982033e-01 -8.94294889e-02 -4.70714467e-03 2.23023954e+00] [ 8.94309453e-02 9.95993020e-01 9.94182185e-05 -1.15989856e-01] [ 4.67939232e-03 -5.19983157e-04 9.99988916e-01 2.07415764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64327356000001 meters Centerline goodness : 0.807339 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.12, Z:0.21 [[ 9.96078981e-01 -8.83090020e-02 -5.30887382e-03 2.23168617e+00] [ 8.83176102e-02 9.96091368e-01 1.40906982e-03 -1.20375432e-01] [ 5.16368984e-03 -1.87241188e-03 9.99984915e-01 2.07543035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70327356 meters Centerline goodness : 0.801665 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.12, Z:0.21 [[ 0.99614921 -0.08749316 -0.00562998 2.23281114] [ 0.08750687 0.99616141 0.00223642 -0.12264579] [ 0.0054127 -0.00272047 0.99998165 0.20723614] [ 0. 0. 0. 1. ]] SLAMing on 67.76327356 meters Centerline goodness : 0.798908 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.13, Z:0.21 [[ 0.99625903 -0.08619094 -0.00624991 2.23479599] [ 0.08621286 0.99627119 0.00332629 -0.12546124] [ 0.00593991 -0.00385267 0.99997494 0.20684064] [ 0. 0. 0. 1. ]] SLAMing on 67.82327356 meters Centerline goodness : 0.798627 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.9963848 -0.08466506 -0.00701079 2.23720577] [ 0.0846975 0.9963967 0.00446732 -0.12802383] [ 0.0066073 -0.00504497 0.99996545 0.20633923] [ 0. 0. 0. 1. ]] SLAMing on 67.88327356 meters Centerline goodness : 0.798813 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99675358 -0.08017122 -0.00740777 2.23741695] [ 0.0802378 0.99673351 0.00917607 -0.13090434] [ 0.00664791 -0.00974067 0.99993046 0.20635546] [ 0. 0. 0. 1. ]] SLAMing on 67.94327356000001 meters Centerline goodness : 0.797284 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99707522 -0.07604019 -0.00767495 2.23675773] [ 0.07613773 0.99700812 0.01333607 -0.13257424] [ 0.00663791 -0.01388142 0.99988162 0.20725649] [ 0. 0. 0. 1. ]] SLAMing on 68.00327356000001 meters Centerline goodness : 0.797289 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99717693 -0.07463435 -0.00823881 2.23856684] [ 0.07474287 0.9971079 0.01376031 -0.13310413] [ 0.00718799 -0.01433726 0.99987138 0.20730692] [ 0. 0. 0. 1. ]] SLAMing on 68.06327356 meters Centerline goodness : 0.799178 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.9972919 -0.07298249 -0.00907853 2.24096571] [ 0.07310111 0.99723313 0.01350233 -0.13147017] [ 0.00806798 -0.01412942 0.99986762 0.20798134] [ 0. 0. 0. 1. ]] SLAMing on 68.12327356 meters Centerline goodness : 0.797295 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99763299 -0.0680991 -0.00953573 2.2420002 ] [ 0.06825971 0.99751102 0.01767431 -0.13104307] [ 0.00830839 -0.01828338 0.99979832 0.20752084] [ 0. 0. 0. 1. ]] SLAMing on 68.18327356 meters Centerline goodness : 0.802220 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99795043 -0.06318016 -0.01015928 2.243202 ] [ 0.06338877 0.99775245 0.02172365 -0.13051571] [ 0.00876395 -0.02232311 0.99971239 0.20753821] [ 0. 0. 0. 1. ]] SLAMing on 68.24327356 meters Centerline goodness : 0.801118 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99821012 -0.05886601 -0.01055225 2.24351687] [ 0.05911913 0.99792416 0.02553996 -0.13027884] [ 0.00902691 -0.02611808 0.99961811 0.20789226] [ 0. 0. 0. 1. ]] SLAMing on 68.30327356000001 meters Centerline goodness : 0.800389 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99823691 -0.05834918 -0.01088368 2.24467116] [ 0.05861236 0.99795063 0.02567358 -0.13084134] [ 0.00936335 -0.02626623 0.99961113 0.20769021] [ 0. 0. 0. 1. ]] SLAMing on 68.36327356000001 meters Centerline goodness : 0.800565 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99822325 -0.05858441 -0.01087287 2.24418404] [ 0.05884616 0.99793982 0.02555857 -0.1317528 ] [ 0.00935314 -0.02615298 0.9996142 0.2084002 ] [ 0. 0. 0. 1. ]] SLAMing on 68.42327356 meters Centerline goodness : 0.799638 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.13, Z:0.21 [[ 0.99801778 -0.06196856 -0.01097288 2.24451336] [ 0.06218915 0.99784229 0.02105419 -0.13067907] [ 0.00964451 -0.02169485 0.99971812 0.2101165 ] [ 0. 0. 0. 1. ]] SLAMing on 68.48327356 meters Centerline goodness : 0.799382 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99786251 -0.06435775 -0.01133548 2.24697647] [ 0.06454699 0.99776634 0.01720487 -0.12946386] [ 0.0102029 -0.01789977 0.99978773 0.21002006] [ 0. 0. 0. 1. ]] SLAMing on 68.54327356 meters Centerline goodness : 0.801819 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99788988 -0.06388321 -0.01160738 2.24810589] [ 0.06408043 0.99779132 0.01749781 -0.12989595] [ 0.01046392 -0.01820469 0.99977952 0.20946537] [ 0. 0. 0. 1. ]] SLAMing on 68.60327356 meters Centerline goodness : 0.801258 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99795712 -0.06278114 -0.01183699 2.24926995] [ 0.06298168 0.99786287 0.01740708 -0.12860947] [ 0.01071886 -0.01811704 0.99977841 0.20955353] [ 0. 0. 0. 1. ]] SLAMing on 68.66327356000001 meters Centerline goodness : 0.800078 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99820797 -0.0586563 -0.01184455 2.24854727] [ 0.05889585 0.99804314 0.02100386 -0.1286429 ] [ 0.01058937 -0.02166381 0.99970923 0.21029428] [ 0. 0. 0. 1. ]] SLAMing on 68.72327356000001 meters Centerline goodness : 0.806624 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99825024 -0.0578494 -0.01224367 2.24893709] [ 0.05808829 0.99810809 0.02014928 -0.12703927] [ 0.01105488 -0.02082523 0.99972201 0.21241077] [ 0. 0. 0. 1. ]] SLAMing on 68.78327356 meters Centerline goodness : 0.803903 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99805991 -0.0609998 -0.01246735 2.24966007] [ 0.06119404 0.99800015 0.01584251 -0.1260413 ] [ 0.01147603 -0.0165747 0.99979677 0.21391021] [ 0. 0. 0. 1. ]] SLAMing on 68.84327356 meters Centerline goodness : 0.798721 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99760744 -0.06794251 -0.01277507 2.25205926] [ 0.06805445 0.99764504 0.00854174 -0.12705847] [ 0.01216464 -0.0093907 0.99988191 0.21377143] [ 0. 0. 0. 1. ]] SLAMing on 68.90327356 meters Centerline goodness : 0.799080 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 0.99732345 -0.07202208 -0.0126001 2.25260651] [ 0.07209154 0.99738474 0.00514758 -0.12886298] [ 0.01219641 -0.00604216 0.99990737 0.21315134] [ 0. 0. 0. 1. ]] SLAMing on 68.96327356 meters Centerline goodness : 0.797207 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.13, Z:0.21 [[ 9.96619908e-01 -8.12596388e-02 -1.20677560e-02 2.25178688e+00] [ 8.12336777e-02 9.96691622e-01 -2.62690565e-03 -1.31555820e-01] [ 1.22412927e-02 1.63771827e-03 9.99923731e-01 2.13889777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02327356 meters Centerline goodness : 0.797776 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 0.99619896 -0.08688846 -0.00616601 2.26074046] [ 0.08691524 0.99620679 0.00421578 -0.1355248 ] [ 0.00577632 -0.00473568 0.9999721 0.21028718] [ 0. 0. 0. 1. ]] SLAMing on 69.08327356000001 meters Centerline goodness : 0.798115 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95724477e-01 -9.22167235e-02 -5.37043404e-03 2.25821262e+00] [ 9.22157051e-02 9.95738958e-01 -4.37478866e-04 -1.36213824e-01] [ 5.38789326e-03 -5.96299458e-05 9.99985483e-01 2.12286845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14327356000001 meters Centerline goodness : 0.799079 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95604593e-01 -9.35140800e-02 -5.15866839e-03 2.25670333e+00] [ 9.35113099e-02 9.95617915e-01 -7.76118745e-04 -1.37532500e-01] [ 5.20864069e-03 2.90313549e-04 9.99986393e-01 2.13160907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20327356 meters Centerline goodness : 0.804909 with order 3 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95614878e-01 -9.34033821e-02 -5.17916892e-03 2.25713118e+00] [ 9.34021658e-02 9.95628348e-01 -4.76765853e-04 -1.38225792e-01] [ 5.20105894e-03 -9.07041699e-06 9.99986474e-01 2.12600072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26327356 meters Centerline goodness : 0.797235 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95663304e-01 -9.28651906e-02 -5.53548539e-03 2.25846720e+00] [ 9.28654302e-02 9.95678646e-01 -2.14283451e-04 -1.37853601e-01] [ 5.53146407e-03 -3.00701063e-04 9.99984656e-01 2.11964818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32327356 meters Centerline goodness : 0.796250 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95726003e-01 -9.21740444e-02 -5.80283626e-03 2.25957309e+00] [ 9.21749019e-02 9.95742825e-01 -1.20065514e-04 -1.36842649e-01] [ 5.78919950e-03 -4.15323509e-04 9.99983156e-01 2.11604530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38327356 meters Centerline goodness : 0.794241 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95804612e-01 -9.12961937e-02 -6.17903259e-03 2.26066863e+00] [ 9.12973553e-02 9.95823671e-01 -9.44136097e-05 -1.36032555e-01] [ 6.16184652e-03 -4.70111826e-04 9.99980905e-01 2.11854737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44327356000001 meters Centerline goodness : 0.796100 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.21 [[ 9.95811888e-01 -9.12114174e-02 -6.25787724e-03 2.26073294e+00] [ 9.12110276e-02 9.95831525e-01 -3.48254691e-04 -1.35131123e-01] [ 6.26355624e-03 -2.23991252e-04 9.99980359e-01 2.12169176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50327356000001 meters Centerline goodness : 0.798090 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.13, Z:0.21 [[ 0.99611121 -0.08787896 -0.00630458 2.25928192] [ 0.08789916 0.99612485 0.00300216 -0.13461018] [ 0.00601632 -0.00354465 0.99997562 0.21309635] [ 0. 0. 0. 1. ]] SLAMing on 69.56327356 meters Centerline goodness : 0.797934 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.13, Z:0.21 [[ 0.99623198 -0.08647893 -0.00657582 2.26102316] [ 0.08650102 0.99624677 0.00315225 -0.13247834] [ 0.00627854 -0.00370919 0.99997341 0.21228126] [ 0. 0. 0. 1. ]] SLAMing on 69.62327356 meters Centerline goodness : 0.800183 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.13, Z:0.21 [[ 0.99656521 -0.08251777 -0.0069715 2.26148718] [ 0.08256375 0.99656401 0.00658726 -0.1302838 ] [ 0.00640398 -0.00714023 0.999954 0.21185304] [ 0. 0. 0. 1. ]] SLAMing on 69.68327356 meters Centerline goodness : 0.803081 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.13, Z:0.21 [[ 0.99691001 -0.07818227 -0.0076137 2.26261426] [ 0.07825592 0.99688405 0.00990981 -0.12679062] [ 0.0068152 -0.01047501 0.99992191 0.21145361] [ 0. 0. 0. 1. ]] SLAMing on 69.74327356 meters Centerline goodness : 0.802797 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.12, Z:0.21 [[ 0.99721782 -0.07414795 -0.00766161 2.26216687] [ 0.07423979 0.99716217 0.0124924 -0.12213742] [ 0.00671358 -0.01302644 0.99989261 0.21190507] [ 0. 0. 0. 1. ]] SLAMing on 69.80327356000001 meters Centerline goodness : 0.800182 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.12, Z:0.21 [[ 0.99748141 -0.07051702 -0.00762742 2.26104826] [ 0.07062264 0.99739626 0.01459957 -0.11715756] [ 0.00657804 -0.01510147 0.99986433 0.21323164] [ 0. 0. 0. 1. ]] SLAMing on 69.86327356000001 meters Centerline goodness : 0.805618 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.11, Z:0.21 [[ 0.99753477 -0.06973948 -0.00779628 2.26184393] [ 0.06983894 0.99746949 0.01330969 -0.11147504] [ 0.00684834 -0.01382137 0.99988103 0.21386706] [ 0. 0. 0. 1. ]] SLAMing on 69.92327356 meters Centerline goodness : 0.810835 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.11, Z:0.21 [[ 0.99753729 -0.06966544 -0.00812895 2.26299609] [ 0.06976231 0.99748764 0.01231359 -0.10696287] [ 0.00725069 -0.01285036 0.99989114 0.21360969] [ 0. 0. 0. 1. ]] SLAMing on 69.98327356 meters Centerline goodness : 0.809221 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 0.99750916 -0.07006274 -0.00816613 2.26307868] [ 0.07015351 0.99747089 0.01141541 -0.10442752] [ 0.00734568 -0.01195986 0.9999015 0.21375065] [ 0. 0. 0. 1. ]] SLAMing on 70.04327356 meters Centerline goodness : 0.813259 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 0.99746799 -0.07064486 -0.00818058 2.26293782] [ 0.07072857 0.99744097 0.01043987 -0.10126319] [ 0.00742212 -0.01099204 0.99991204 0.21390897] [ 0. 0. 0. 1. ]] SLAMing on 70.10327356 meters Centerline goodness : 0.814692 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 0.99744713 -0.07095879 -0.00800496 2.26261129] [ 0.07103091 0.99743245 0.0091165 -0.09710652] [ 0.00733752 -0.00966182 0.9999264 0.21432633] [ 0. 0. 0. 1. ]] SLAMing on 70.16327356000001 meters Centerline goodness : 0.813846 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.22 [[ 0.99745761 -0.07080649 -0.00804721 2.26254554] [ 0.07086869 0.99745573 0.00772673 -0.09295908] [ 0.00747964 -0.00827739 0.99993777 0.21556698] [ 0. 0. 0. 1. ]] SLAMing on 70.22327356000001 meters Centerline goodness : 0.812336 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.22 [[ 0.99746307 -0.070718 -0.00814782 2.26274122] [ 0.07077464 0.99746856 0.00688628 -0.09037397] [ 0.00764021 -0.00744547 0.99994309 0.21613827] [ 0. 0. 0. 1. ]] SLAMing on 70.28327356 meters Centerline goodness : 0.811395 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.22 [[ 0.99750008 -0.07016279 -0.00841275 2.26392894] [ 0.07021949 0.99750943 0.00664535 -0.08839702] [ 0.00792554 -0.00721948 0.99994253 0.21574192] [ 0. 0. 0. 1. ]] SLAMing on 70.34327356 meters Centerline goodness : 0.808761 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.22 [[ 0.9975273 -0.06973421 -0.00874259 2.26507252] [ 0.06979104 0.99754128 0.00637274 -0.08741684] [ 0.00827669 -0.00696714 0.99994148 0.21572208] [ 0. 0. 0. 1. ]] SLAMing on 70.40327356 meters Centerline goodness : 0.813900 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.22 [[ 0.99754939 -0.0693652 -0.00914801 2.26594583] [ 0.06942064 0.99757009 0.00588901 -0.08606142] [ 0.00871729 -0.00650964 0.99994082 0.21632031] [ 0. 0. 0. 1. ]] SLAMing on 70.46327356 meters Centerline goodness : 0.812792 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.22 [[ 0.99752987 -0.06967832 -0.00889287 2.26522427] [ 0.06972932 0.99755046 0.00555968 -0.08635641] [ 0.00848369 -0.00616604 0.999945 0.21684395] [ 0. 0. 0. 1. ]] SLAMing on 70.52327356 meters Centerline goodness : 0.811484 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.22 [[ 9.97235998e-01 -7.37852215e-02 -8.72379854e-03 2.26502599e+00] [ 7.37988122e-02 9.97272372e-01 1.24593137e-03 -8.56974083e-02] [ 8.60807194e-03 -1.88629358e-03 9.99961171e-01 2.17776022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58327356000001 meters Centerline goodness : 0.811520 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.22 [[ 0.9969395 -0.07767697 -0.00882785 2.26565974] [ 0.07765299 0.99697585 -0.00302849 -0.08495944] [ 0.00903639 0.00233371 0.99995645 0.21852997] [ 0. 0. 0. 1. ]] SLAMing on 70.64327356 meters Centerline goodness : 0.813646 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.22 [[ 0.9965715 -0.08230764 -0.00840795 2.26501778] [ 0.08225159 0.99658834 -0.00680787 -0.08659535] [ 0.0089396 0.00609297 0.99994148 0.21871297] [ 0. 0. 0. 1. ]] SLAMing on 70.70327356 meters Centerline goodness : 0.814270 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.09, Z:0.21 [[ 9.96131154e-01 -8.78000782e-02 -3.72425270e-03 2.27541385e+00] [ 8.78049716e-02 9.96136996e-01 1.17111610e-03 -9.06180515e-02] [ 3.60704181e-03 -1.49359313e-03 9.99992379e-01 2.13453511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76327356 meters Centerline goodness : 0.813402 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.21 [[ 9.95942815e-01 -8.99318228e-02 -3.19015904e-03 2.27283235e+00] [ 8.99337960e-02 9.95947630e-01 4.80284014e-04 -9.24097339e-02] [ 3.13403851e-03 -7.65238525e-04 9.99994796e-01 2.14486753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82327356 meters Centerline goodness : 0.814797 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.21 [[ 0.99557274 -0.09394653 -0.00299551 2.27316263] [ 0.09393629 0.99557243 -0.00339257 -0.09268866] [ 0.00330097 0.00309616 0.99998976 0.21460688] [ 0. 0. 0. 1. ]] SLAMing on 70.88327356 meters Centerline goodness : 0.815217 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.21 [[ 0.99549969 -0.09473421 -0.00240597 2.27188978] [ 0.09472656 0.99549846 -0.00311484 -0.09438643] [ 0.00269022 0.00287291 0.99999225 0.2141179 ] [ 0. 0. 0. 1. ]] SLAMing on 70.94327356000001 meters Centerline goodness : 0.814137 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.21 [[ 9.95355379e-01 -9.62486213e-02 -1.96798756e-03 2.27033358e+00] [ 9.62416113e-02 9.95352225e-01 -3.39122563e-03 -9.59021270e-02] [ 2.28524159e-03 3.18607237e-03 9.99992313e-01 2.14138329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00327356000001 meters Centerline goodness : 0.809239 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.21 [[ 9.95245472e-01 -9.73886209e-02 -1.38071904e-03 2.26874467e+00] [ 9.73835235e-02 9.95241211e-01 -3.37365884e-03 -9.69509987e-02] [ 1.70270447e-03 3.22315940e-03 9.99993356e-01 2.13889172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06327356 meters Centerline goodness : 0.808839 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.21 [[ 9.95122442e-01 -9.86446981e-02 -7.41047636e-04 2.26727081e+00] [ 9.86416027e-02 9.95117072e-01 -3.44191769e-03 -9.75773557e-02] [ 1.07695609e-03 3.35203141e-03 9.99993802e-01 2.13251482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12327356 meters Centerline goodness : 0.808255 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.21 [[ 9.94946134e-01 -1.00410086e-01 -6.77039715e-05 2.26518878e+00] [ 1.00409046e-01 9.94938472e-01 -3.93189721e-03 -9.82899124e-02] [ 4.62163425e-04 3.90522784e-03 9.99992268e-01 2.13262910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18327356 meters Centerline goodness : 0.810178 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 9.94812741e-01 -1.01720617e-01 7.24888912e-04 2.26279668e+00] [ 1.01722847e-01 9.94802797e-01 -4.45621896e-03 -9.76522718e-02] [-2.67832175e-04 4.50684117e-03 9.99989808e-01 2.13589876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24327356 meters Centerline goodness : 0.807882 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 9.94742805e-01 -1.02396185e-01 1.33133611e-03 2.26149553e+00] [ 1.02401269e-01 9.94732622e-01 -4.58166084e-03 -9.71762351e-02] [-8.55178872e-04 4.69390467e-03 9.99988618e-01 2.13188911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30327356000001 meters Centerline goodness : 0.810372 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 9.94718831e-01 -1.02625496e-01 1.56660441e-03 2.26130511e+00] [ 1.02631533e-01 9.94709518e-01 -4.44336100e-03 -9.74832273e-02] [-1.10231419e-03 4.58067787e-03 9.99988901e-01 2.12556495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36327356000001 meters Centerline goodness : 0.813331 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 9.94708810e-01 -1.02720469e-01 1.69947400e-03 2.26149179e+00] [ 1.02727016e-01 9.94700013e-01 -4.36390174e-03 -9.70170969e-02] [-1.24220478e-03 4.51539340e-03 9.99989034e-01 2.11753958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42327356 meters Centerline goodness : 0.812557 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:0.21 [[ 9.94745628e-01 -1.02365525e-01 1.56026140e-03 2.26235854e+00] [ 1.02371457e-01 9.94736634e-01 -4.37197183e-03 -9.50896847e-02] [-1.10450998e-03 4.50872609e-03 9.99989226e-01 2.10986690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48327356 meters Centerline goodness : 0.812863 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.21 [[ 9.94757601e-01 -1.02249476e-01 1.53602190e-03 2.26257444e+00] [ 1.02255687e-01 9.94746873e-01 -4.73641782e-03 -9.32686203e-02] [-1.04365674e-03 4.86865461e-03 9.99987603e-01 2.10933134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54327356 meters Centerline goodness : 0.814517 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.21 [[ 9.94798613e-01 -1.01853580e-01 1.25194128e-03 2.26378983e+00] [ 1.01858464e-01 9.94787327e-01 -4.79862877e-03 -9.16883118e-02] [-7.56657803e-04 4.90119006e-03 9.99987703e-01 2.10216841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60327356 meters Centerline goodness : 0.812969 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.21 [[ 9.94893058e-01 -1.00930612e-01 9.02525975e-04 2.26573636e+00] [ 1.00933750e-01 9.94882145e-01 -4.67923370e-03 -8.88238901e-02] [-4.25629058e-04 4.74643246e-03 9.99988645e-01 2.08822122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66327356000001 meters Centerline goodness : 0.816331 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.21 [[ 9.95186612e-01 -9.79895663e-02 1.28572253e-03 2.26347023e+00] [ 9.79912919e-02 9.95186349e-01 -1.35573425e-03 -8.76991864e-02] [-1.14668570e-03 1.47519819e-03 9.99998254e-01 2.09161361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72327356000001 meters Centerline goodness : 0.817230 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.21 [[ 9.95183898e-01 -9.80177227e-02 1.23905937e-03 2.26352990e+00] [ 9.80200753e-02 9.95182414e-01 -2.00692586e-03 -8.49051438e-02] [-1.03637579e-03 2.11871300e-03 9.99997218e-01 2.09424549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78327356 meters Centerline goodness : 0.817150 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.21 [[ 9.95147676e-01 -9.83818288e-02 1.45570628e-03 2.26324869e+00] [ 9.83851333e-02 9.95145506e-01 -2.40560600e-03 -8.34308273e-02] [-1.21197165e-03 2.53715307e-03 9.99996047e-01 2.09063427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84327356 meters Centerline goodness : 0.816302 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.21 [[ 9.95067633e-01 -9.91821707e-02 1.81714898e-03 2.26222140e+00] [ 9.91872345e-02 9.95064420e-01 -2.94833517e-03 -8.17309059e-02] [-1.51575801e-03 3.11403088e-03 9.99994003e-01 2.09016832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90327356 meters Centerline goodness : 0.818807 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.21 [[ 9.94995927e-01 -9.98911932e-02 2.20342877e-03 2.26137268e+00] [ 9.98973976e-02 9.94993481e-01 -2.91260329e-03 -8.15890713e-02] [-1.90145384e-03 3.11814521e-03 9.99993331e-01 2.08400882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96327356 meters Centerline goodness : 0.816054 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.21 [[ 0.99480684 -0.10174547 0.00268495 2.25982694] [ 0.10175391 0.99480439 -0.00322047 -0.08271157] [-0.00234333 0.00347695 0.99999121 0.20779947] [ 0. 0. 0. 1. ]] SLAMing on 72.02327356 meters Centerline goodness : 0.815285 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.20 [[ 0.99427877 -0.10647207 0.00856936 2.26863074] [ 0.10643026 0.99430659 0.00519666 -0.08539466] [-0.00907387 -0.00425489 0.99994978 0.20323562] [ 0. 0. 0. 1. ]] SLAMing on 72.08327356000001 meters Centerline goodness : 0.816693 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.20 [[ 0.99417559 -0.10739191 0.00904807 2.26698955] [ 0.107352 0.99420954 0.00478903 -0.08531961] [-0.00950998 -0.00378981 0.9999476 0.20375863] [ 0. 0. 0. 1. ]] SLAMing on 72.14327356 meters Centerline goodness : 0.816630 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.20 [[ 0.99412897 -0.1078064 0.00923986 2.26699718] [ 0.1077659 0.99416483 0.00477571 -0.08524894] [-0.0097008 -0.00375193 0.99994591 0.20287029] [ 0. 0. 0. 1. ]] SLAMing on 72.20327356 meters Centerline goodness : 0.815404 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99413674 -0.10774013 0.00917612 2.2676081 ] [ 0.10769841 0.9941714 0.0049273 -0.08486279] [-0.00965351 -0.00391015 0.99994576 0.20205769] [ 0. 0. 0. 1. ]] SLAMing on 72.26327356 meters Centerline goodness : 0.816350 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99408561 -0.10819129 0.00940454 2.2669611 ] [ 0.10815215 0.99412382 0.00457682 -0.08393765] [-0.00984445 -0.00353263 0.9999453 0.20211448] [ 0. 0. 0. 1. ]] SLAMing on 72.32327356 meters Centerline goodness : 0.817369 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99406662 -0.10835298 0.00954912 2.26679163] [ 0.10831315 0.9941062 0.00459559 -0.08355176] [-0.00999079 -0.00353403 0.99994385 0.20169738] [ 0. 0. 0. 1. ]] SLAMing on 72.38327356 meters Centerline goodness : 0.815564 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99405737 -0.10843486 0.00958251 2.26662764] [ 0.10839725 0.99409808 0.00436297 -0.08263163] [-0.00999906 -0.00329833 0.99994457 0.20178454] [ 0. 0. 0. 1. ]] SLAMing on 72.44327356000001 meters Centerline goodness : 0.815384 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99405146 -0.10848309 0.00964924 2.26639905] [ 0.10844662 0.99409329 0.00422728 -0.0821555 ] [-0.01005083 -0.0031557 0.99994451 0.20199232] [ 0. 0. 0. 1. ]] SLAMing on 72.50327356000001 meters Centerline goodness : 0.816442 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99400557 -0.10887759 0.00992974 2.26548429] [ 0.1088435 0.9940512 0.00391238 -0.08241082] [-0.01029664 -0.00280814 0.99994305 0.20258879] [ 0. 0. 0. 1. ]] SLAMing on 72.56327356 meters Centerline goodness : 0.820170 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 0.99395691 -0.10931133 0.01003513 2.2650209 ] [ 0.10927609 0.9940034 0.00399661 -0.08332301] [-0.01041183 -0.00287586 0.99994166 0.2025989 ] [ 0. 0. 0. 1. ]] SLAMing on 72.62327356 meters Centerline goodness : 0.815766 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.20 [[ 0.99391633 -0.10966093 0.01023784 2.26469395] [ 0.10962326 0.99396445 0.0041723 -0.08426404] [-0.01063359 -0.00302461 0.99993889 0.20222946] [ 0. 0. 0. 1. ]] SLAMing on 72.68327356 meters Centerline goodness : 0.813880 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.20 [[ 9.93654407e-01 -1.12042880e-01 9.86471450e-03 2.26781682e+00] [ 1.12036304e-01 9.93703367e-01 1.21839170e-03 -8.42905217e-02] [-9.93911214e-03 -1.05454128e-04 9.99950600e-01 2.00790775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74327356 meters Centerline goodness : 0.812559 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.20 [[ 9.93614391e-01 -1.12367116e-01 1.02016478e-02 2.26696144e+00] [ 1.12359367e-01 9.93666745e-01 1.33138998e-03 -8.55803951e-02] [-1.02866426e-02 -1.76637554e-04 9.99947075e-01 2.00936108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80327356000001 meters Centerline goodness : 0.812687 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:0.20 [[ 9.93537419e-01 -1.13002514e-01 1.06690756e-02 2.26525485e+00] [ 1.12994085e-01 9.93594686e-01 1.39145294e-03 -8.76872196e-02] [-1.07579745e-02 -1.76918118e-04 9.99942116e-01 2.01791425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86327356000001 meters Centerline goodness : 0.814191 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.20 [[ 9.93476235e-01 -1.13524290e-01 1.08261717e-02 2.26403289e+00] [ 1.13514543e-01 9.93535183e-01 1.51253280e-03 -9.01093841e-02] [-1.09278917e-02 -2.73737461e-04 9.99940251e-01 2.02946746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92327356 meters Centerline goodness : 0.812722 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:0.20 [[ 9.93473185e-01 -1.13548906e-01 1.08478817e-02 2.26412146e+00] [ 1.13532908e-01 9.93532056e-01 2.08141148e-03 -9.28548669e-02] [-1.10140603e-02 -8.36234934e-04 9.99938994e-01 2.02773559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98327356 meters Centerline goodness : 0.810484 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.20 [[ 9.93547975e-01 -1.12935947e-01 1.03871285e-02 2.26589638e+00] [ 1.12906184e-01 9.93599800e-01 3.41033695e-03 -9.73312025e-02] [-1.07057984e-02 -2.21556233e-03 9.99940237e-01 2.01661700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04327356 meters Centerline goodness : 0.807898 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.20 [[ 0.99362493 -0.11228356 0.01009462 2.26701271] [ 0.11224347 0.99367074 0.00445659 -0.10064402] [-0.01053113 -0.00329512 0.99993912 0.20113852] [ 0. 0. 0. 1. ]] SLAMing on 73.10327356 meters Centerline goodness : 0.808314 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.20 [[ 0.99369345 -0.11169861 0.00983592 2.26730934] [ 0.11165177 0.99373384 0.00519022 -0.10362505] [-0.01035403 -0.00405929 0.99993816 0.20181701] [ 0. 0. 0. 1. ]] SLAMing on 73.16327356000001 meters Centerline goodness : 0.807647 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.11, Z:0.20 [[ 0.99372027 -0.11146609 0.00976361 2.2674733 ] [ 0.11141029 0.99375586 0.00608549 -0.10799393] [-0.01038097 -0.00495951 0.99993382 0.20198801] [ 0. 0. 0. 1. ]] SLAMing on 73.22327356000001 meters Centerline goodness : 0.806602 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.11, Z:0.20 [[ 0.99374416 -0.11125999 0.00968299 2.26773479] [ 0.1112012 0.99377722 0.00641395 -0.10956021] [-0.01033636 -0.00529706 0.99993255 0.20208309] [ 0. 0. 0. 1. ]] SLAMing on 73.28327356 meters Centerline goodness : 0.806048 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.11, Z:0.20 [[ 0.99389298 -0.10997364 0.00908503 2.26973099] [ 0.10990464 0.99391173 0.00777491 -0.11302627] [-0.00988476 -0.00672895 0.9999285 0.20145604] [ 0. 0. 0. 1. ]] SLAMing on 73.34327356 meters Centerline goodness : 0.803503 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.11, Z:0.20 [[ 0.99400447 -0.1090037 0.00856197 2.27154528] [ 0.10893068 0.99401234 0.00857771 -0.11476754] [-0.0094457 -0.00759363 0.99992656 0.20087216] [ 0. 0. 0. 1. ]] SLAMing on 73.40327356 meters Centerline goodness : 0.802597 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.12, Z:0.20 [[ 0.99414952 -0.10771481 0.0080161 2.27355572] [ 0.10763538 0.99414256 0.00975686 -0.11725433] [-0.00902011 -0.00883696 0.99992027 0.20007504] [ 0. 0. 0. 1. ]] SLAMing on 73.46327356 meters Centerline goodness : 0.800625 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.12, Z:0.20 [[ 0.99421439 -0.10713116 0.00778826 2.27397055] [ 0.1070489 0.99420033 0.01030682 -0.11946894] [-0.00884727 -0.00941346 0.99991655 0.20056715] [ 0. 0. 0. 1. ]] SLAMing on 73.52327356 meters Centerline goodness : 0.801554 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.12, Z:0.20 [[ 0.99421066 -0.10716265 0.00783176 2.27333557] [ 0.10707756 0.99419439 0.01057867 -0.12203656] [-0.00891993 -0.00967882 0.99991337 0.20151764] [ 0. 0. 0. 1. ]] SLAMing on 73.58327356000001 meters Centerline goodness : 0.799990 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.13, Z:0.20 [[ 0.99421375 -0.10714391 0.00769426 2.27339431] [ 0.10705574 0.99419128 0.01108016 -0.12547655] [-0.00883674 -0.01019233 0.99990901 0.20202465] [ 0. 0. 0. 1. ]] SLAMing on 73.64327356 meters Centerline goodness : 0.803037 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.13, Z:0.20 [[ 0.99422511 -0.10704464 0.00760763 2.2737871 ] [ 0.10695452 0.99419852 0.01140313 -0.12720789] [-0.00878414 -0.01052361 0.99990604 0.20191262] [ 0. 0. 0. 1. ]] SLAMing on 73.70327356 meters Centerline goodness : 0.799404 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.13, Z:0.20 [[ 0.99425482 -0.10678051 0.00743541 2.27434447] [ 0.10668517 0.99421778 0.01221767 -0.13019566] [-0.00869702 -0.01135423 0.99989772 0.20163578] [ 0. 0. 0. 1. ]] SLAMing on 73.76327356 meters Centerline goodness : 0.798592 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.13, Z:0.20 [[ 0.99426017 -0.10673354 0.0073941 2.27468539] [ 0.10663394 0.99421645 0.01276147 -0.13260959] [-0.00871341 -0.01189976 0.99989123 0.20133777] [ 0. 0. 0. 1. ]] SLAMing on 73.82327356 meters Centerline goodness : 0.797844 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.14, Z:0.20 [[ 0.99388385 -0.11018255 0.00739539 2.27553943] [ 0.11011024 0.99387339 0.0095615 -0.13553878] [-0.00840359 -0.00868871 0.99992694 0.20172808] [ 0. 0. 0. 1. ]] SLAMing on 73.88327356 meters Centerline goodness : 0.796805 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:0.20 [[ 0.99377376 -0.11115033 0.00770153 2.27389697] [ 0.11107863 0.99376917 0.00918547 -0.13751695] [-0.00867451 -0.0082728 0.99992815 0.20313564] [ 0. 0. 0. 1. ]] SLAMing on 73.94327356000001 meters Centerline goodness : 0.799037 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:0.20 [[ 0.99335534 -0.1148226 0.00780646 2.27400502] [ 0.11478246 0.99337592 0.00541045 -0.13880103] [-0.00837599 -0.00447846 0.99995489 0.20433195] [ 0. 0. 0. 1. ]] SLAMing on 74.00327356000001 meters Centerline goodness : 0.798346 with order 3 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:0.20 [[ 0.99330959 -0.11522295 0.00772791 2.27384536] [ 0.11517942 0.99332741 0.00586072 -0.14206078] [-0.00835163 -0.00493141 0.99995296 0.20458075] [ 0. 0. 0. 1. ]] SLAMing on 74.06327356 meters Centerline goodness : 0.796775 with order 3 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:0.20 [[ 0.99332343 -0.11510791 0.00766325 2.27425485] [ 0.11506039 0.99333802 0.00637918 -0.14392099] [-0.00834649 -0.00545486 0.99995029 0.20421381] [ 0. 0. 0. 1. ]] SLAMing on 74.12327356 meters Centerline goodness : 0.795674 with order 3 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.15, Z:0.20 [[ 0.99336211 -0.11478189 0.00753965 2.27467238] [ 0.11472986 0.99337202 0.0070061 -0.14640082] [-0.00829385 -0.00609457 0.99994703 0.20417515] [ 0. 0. 0. 1. ]] SLAMing on 74.18327356 meters Centerline goodness : 0.793593 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.20 [[ 0.99344925 -0.11403948 0.00732069 2.27538048] [ 0.11398545 0.99345473 0.00741758 -0.14701592] [-0.00811867 -0.00653453 0.99994569 0.20420582] [ 0. 0. 0. 1. ]] SLAMing on 74.24327356 meters Centerline goodness : 0.796799 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.20 [[ 0.99353112 -0.11334532 0.00698162 2.27608264] [ 0.1132906 0.99353135 0.00779142 -0.14775103] [-0.00781958 -0.00695007 0.99994527 0.20451874] [ 0. 0. 0. 1. ]] SLAMing on 74.30327356000001 meters Centerline goodness : 0.795979 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.20 [[ 0.99355684 -0.11312264 0.00693424 2.27627484] [ 0.11306505 0.99355374 0.00820088 -0.14940378] [-0.00781724 -0.00736402 0.99994233 0.20454946] [ 0. 0. 0. 1. ]] SLAMing on 74.36327356000001 meters Centerline goodness : 0.793640 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.20 [[ 0.99356234 -0.11307883 0.00685911 2.27632001] [ 0.1130183 0.99355525 0.00865062 -0.15221126] [-0.00779311 -0.00781973 0.99993906 0.20491332] [ 0. 0. 0. 1. ]] SLAMing on 74.42327356 meters Centerline goodness : 0.793363 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.16, Z:0.21 [[ 0.99357149 -0.11300841 0.00669217 2.27662115] [ 0.11294579 0.99355953 0.00909493 -0.15505667] [-0.00767687 -0.00828061 0.99993625 0.20521821] [ 0. 0. 0. 1. ]] SLAMing on 74.48327356 meters Centerline goodness : 0.792624 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.16, Z:0.21 [[ 0.99360232 -0.11274563 0.00654572 2.27662043] [ 0.11268094 0.99358552 0.00953014 -0.15735937] [-0.00757821 -0.00873159 0.99993316 0.20589555] [ 0. 0. 0. 1. ]] SLAMing on 74.54327356 meters Centerline goodness : 0.794646 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.16, Z:0.21 [[ 0.99362319 -0.11256817 0.00643172 2.27662254] [ 0.11250301 0.99360378 0.00972589 -0.15883657] [-0.00748541 -0.00894028 0.99993202 0.20652127] [ 0. 0. 0. 1. ]] SLAMing on 74.60327356 meters Centerline goodness : 0.794448 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.16, Z:0.21 [[ 0.99366016 -0.11225946 0.00610726 2.27722552] [ 0.11219248 0.99363224 0.01038352 -0.16186278] [-0.00723402 -0.0096325 0.99992744 0.20677482] [ 0. 0. 0. 1. ]] SLAMing on 74.66327356000001 meters Centerline goodness : 0.794137 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.21 [[ 0.99371318 -0.11180699 0.00577257 2.27816075] [ 0.11173633 0.99367273 0.01137961 -0.16581127] [-0.00700836 -0.01066307 0.99991859 0.20657307] [ 0. 0. 0. 1. ]] SLAMing on 74.72327356000001 meters Centerline goodness : 0.795970 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.21 [[ 0.99374679 -0.1115156 0.00562009 2.27844811] [ 0.11144344 0.99370028 0.0118366 -0.16770082] [-0.00690465 -0.01113626 0.99991415 0.20682248] [ 0. 0. 0. 1. ]] SLAMing on 74.78327356 meters Centerline goodness : 0.796261 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.21 [[ 0.99386629 -0.11046578 0.00520658 2.27953158] [ 0.11039292 0.99380741 0.01265855 -0.16993417] [-0.00657267 -0.01200613 0.99990632 0.20704029] [ 0. 0. 0. 1. ]] SLAMing on 74.84327356 meters Centerline goodness : 0.795390 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.21 [[ 0.9940275 -0.1090285 0.00470278 2.28110322] [ 0.1089563 0.99395406 0.01355936 -0.1715301 ] [-0.00615271 -0.01296598 0.99989701 0.20693621] [ 0. 0. 0. 1. ]] SLAMing on 74.90327356 meters Centerline goodness : 0.798234 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.21 [[ 0.99415963 -0.10783646 0.0042341 2.28230811] [ 0.10776569 0.99407217 0.01438997 -0.17308774] [-0.00576076 -0.01384964 0.99988749 0.20700814] [ 0. 0. 0. 1. ]] SLAMing on 74.96327356 meters Centerline goodness : 0.797024 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.21 [[ 0.99429484 -0.10659779 0.00383253 2.28380594] [ 0.1065286 0.99419418 0.01515191 -0.17442261] [-0.00542544 -0.01465719 0.99987786 0.20662445] [ 0. 0. 0. 1. ]] SLAMing on 75.02327356 meters Centerline goodness : 0.799302 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.21 [[ 0.99440709 -0.10555662 0.00351248 2.28514184] [ 0.10549012 0.99429854 0.01556423 -0.1740909 ] [-0.00513536 -0.01510664 0.9998727 0.20608442] [ 0. 0. 0. 1. ]] SLAMing on 75.08327356000001 meters Centerline goodness : 0.798681 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.21 [[ 0.99459277 -0.10380197 0.00321965 2.28642823] [ 0.10373805 0.99447615 0.01598745 -0.17290465] [-0.0048614 -0.015567 0.99986701 0.20597407] [ 0. 0. 0. 1. ]] SLAMing on 75.14327356 meters Centerline goodness : 0.797016 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.21 [[ 0.99461363 -0.10360796 0.00302106 2.28693049] [ 0.10354836 0.9945001 0.01572546 -0.17221738] [-0.00463373 -0.01532793 0.99987178 0.20612401] [ 0. 0. 0. 1. ]] SLAMing on 75.20327356 meters Centerline goodness : 0.796367 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.21 [[ 0.99473192 -0.10247337 0.00275958 2.28803615] [ 0.10241845 0.994619 0.01560481 -0.17045059] [-0.00434381 -0.01523997 0.99987443 0.20609588] [ 0. 0. 0. 1. ]] SLAMing on 75.26327356 meters Centerline goodness : 0.798571 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.21 [[ 0.99482532 -0.10157203 0.00238685 2.28925206] [ 0.10152465 0.99471751 0.01515988 -0.16808291] [-0.00391407 -0.01483911 0.99988223 0.20626283] [ 0. 0. 0. 1. ]] SLAMing on 75.32327356 meters Centerline goodness : 0.796291 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.21 [[ 9.94850301e-01 -1.01332526e-01 2.14407495e-03 2.28972372e+00] [ 1.01290384e-01 9.94748006e-01 1.47194823e-02 -1.66764654e-01] [-3.62437661e-03 -1.44265072e-02 9.99889364e-01 2.06696343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38327356 meters Centerline goodness : 0.797534 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.21 [[ 9.94902400e-01 -1.00824395e-01 1.91190450e-03 2.29051484e+00] [ 1.00787801e-01 9.94808303e-01 1.40804473e-02 -1.64171627e-01] [-3.32163104e-03 -1.38159741e-02 9.99899038e-01 2.06807073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44327356000001 meters Centerline goodness : 0.797662 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.21 [[ 9.94925269e-01 -1.00601666e-01 1.73581072e-03 2.29115182e+00] [ 1.00568970e-01 9.94836883e-01 1.36183236e-02 -1.61985613e-01] [-3.09687458e-03 -1.33746456e-02 9.99905760e-01 2.06635213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50327356000001 meters Centerline goodness : 0.795912 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.21 [[ 9.94905494e-01 -1.00797800e-01 1.69160894e-03 2.29130191e+00] [ 1.00769087e-01 9.94831547e-01 1.24813223e-02 -1.58503178e-01] [-2.94095577e-03 -1.22472742e-02 9.99920674e-01 2.06853345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56327356 meters Centerline goodness : 0.798074 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.21 [[ 9.94836079e-01 -1.01480222e-01 1.71486814e-03 2.29099761e+00] [ 1.01454551e-01 9.94775745e-01 1.13221214e-02 -1.55595469e-01] [-2.85488062e-03 -1.10896737e-02 9.99934432e-01 2.07201804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62327356 meters Centerline goodness : 0.795998 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.21 [[ 9.94727664e-01 -1.02535038e-01 1.85472183e-03 2.29020332e+00] [ 1.02511711e-01 9.94681787e-01 9.97454486e-03 -1.52596317e-01] [-2.86759836e-03 -9.73182500e-03 9.99948533e-01 2.07769347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68327356 meters Centerline goodness : 0.799011 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.21 [[ 9.94674933e-01 -1.03044386e-01 1.90574038e-03 2.29008581e+00] [ 1.03022565e-01 9.94635794e-01 9.27295724e-03 -1.50599197e-01] [-2.85104378e-03 -9.02724386e-03 9.99955189e-01 2.07687391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74327356 meters Centerline goodness : 0.797530 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.21 [[ 9.94627522e-01 -1.03501721e-01 1.86706601e-03 2.29067221e+00] [ 1.03482048e-01 9.94593965e-01 8.62039679e-03 -1.47923278e-01] [-2.74919849e-03 -8.38087608e-03 9.99961101e-01 2.06753256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80327356000001 meters Centerline goodness : 0.798801 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.21 [[ 9.94543732e-01 -1.04298457e-01 2.14424518e-03 2.28983190e+00] [ 1.04280058e-01 9.94520439e-01 7.40045794e-03 -1.44915617e-01] [-2.90435199e-03 -7.13647704e-03 9.99970317e-01 2.07131433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86327356000001 meters Centerline goodness : 0.799751 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.21 [[ 9.94506176e-01 -1.04653967e-01 2.23922776e-03 2.28942732e+00] [ 1.04637685e-01 9.94489486e-01 6.45111339e-03 -1.42379045e-01] [-2.90202307e-03 -6.18136450e-03 9.99976684e-01 2.07667726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92327356 meters Centerline goodness : 0.796565 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.21 [[ 0.99459171 -0.1038364 0.00231099 2.28981148] [ 0.10382092 0.9945777 0.00603423 -0.13803523] [-0.00292504 -0.00576166 0.99997912 0.20742689] [ 0. 0. 0. 1. ]] SLAMing on 75.98327356 meters Centerline goodness : 0.788706 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.21 [[ 9.95026140e-01 -9.95982374e-02 1.78085351e-03 2.29048399e+00] [ 9.95774444e-02 9.94985783e-01 9.36076075e-03 -1.35115268e-01] [-2.70423919e-03 -9.13686879e-03 9.99954601e-01 2.07055777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04327356 meters Centerline goodness : 0.789239 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.13, Z:0.21 [[ 9.95235533e-01 -9.74906492e-02 1.34442622e-03 2.29287930e+00] [ 9.74732722e-02 9.95191299e-01 9.65604986e-03 -1.31597733e-01] [-2.27933584e-03 -9.47899831e-03 9.99952475e-01 2.06076631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10327356 meters Centerline goodness : 0.792703 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.13, Z:0.21 [[ 9.95797081e-01 -9.15822049e-02 9.34096833e-04 2.29422740e+00] [ 9.15610854e-02 9.95706341e-01 1.36180259e-02 -1.27670600e-01] [-2.17725498e-03 -1.34752636e-02 9.99906834e-01 2.05466351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16327356000001 meters Centerline goodness : 0.794013 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.20 [[ 9.96594200e-01 -8.24621156e-02 2.88595545e-05 2.29556507e+00] [ 8.24420138e-02 9.96358866e-01 2.17330053e-02 -1.26062727e-01] [-1.82090407e-03 -2.16566078e-02 9.99763810e-01 2.04618574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22327356000001 meters Centerline goodness : 0.792032 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.20 [[ 9.97287154e-01 -7.36075283e-02 -5.14887250e-04 2.29621522e+00] [ 7.35900046e-02 9.96840677e-01 2.98860490e-02 -1.25681002e-01] [-1.68657764e-03 -2.98428633e-02 9.99553180e-01 2.03926374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28327356 meters Centerline goodness : 0.793122 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:0.20 [[ 9.97454278e-01 -7.13023789e-02 -9.66700195e-04 2.29845293e+00] [ 7.12993530e-02 9.97006452e-01 2.99088044e-02 -1.23006352e-01] [-1.16876257e-03 -2.99015900e-02 9.99552164e-01 2.04023172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34327356 meters Centerline goodness : 0.793837 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:0.20 [[ 9.97795938e-01 -6.63385977e-02 -1.56745675e-03 2.29981691e+00] [ 6.63535168e-02 9.97217540e-01 3.39762881e-02 -1.22559366e-01] [-6.90843943e-04 -3.40054085e-02 9.99421410e-01 2.03774854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40327356 meters Centerline goodness : 0.795942 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:0.20 [[ 9.97912024e-01 -6.45382206e-02 -2.53199414e-03 2.30326827e+00] [ 6.45872649e-02 9.97305246e-01 3.47955672e-02 -1.23253655e-01] [ 2.79527053e-04 -3.48864494e-02 9.99391243e-01 2.02695053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46327356 meters Centerline goodness : 0.792446 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.20 [[ 9.97791519e-01 -6.63542723e-02 -3.03234645e-03 2.30622168e+00] [ 6.64170206e-02 9.97292469e-01 3.15675637e-02 -1.22999903e-01] [ 9.29493557e-04 -3.16992468e-02 9.99497020e-01 2.02252475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52327356 meters Centerline goodness : 0.793258 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.20 [[ 9.97588649e-01 -6.93213310e-02 -3.38225067e-03 2.30791661e+00] [ 6.93883211e-02 9.97210193e-01 2.75153014e-02 -1.22312266e-01] [ 1.46541753e-03 -2.76836410e-02 9.99615660e-01 2.02773458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58327356000001 meters Centerline goodness : 0.792194 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.20 [[ 9.97120979e-01 -7.57482941e-02 -3.45689000e-03 2.30905435e+00] [ 7.58019350e-02 9.96928441e-01 1.96913876e-02 -1.22558283e-01] [ 1.95468294e-03 -1.98967347e-02 9.99800130e-01 2.04722451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64327356 meters Centerline goodness : 0.792294 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.21 [[ 9.96621150e-01 -8.20723993e-02 -3.22575165e-03 2.30731322e+00] [ 8.21099342e-02 9.96523964e-01 1.40693688e-02 -1.26330535e-01] [ 2.05983197e-03 -1.42866968e-02 9.99895818e-01 2.07632432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70327356 meters Centerline goodness : 0.788971 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.21 [[ 0.99598753 -0.08944088 -0.00302955 2.30833338] [ 0.08945948 0.99596798 0.00669225 -0.12780019] [ 0.00241877 -0.00693642 0.99997302 0.20811909] [ 0. 0. 0. 1. ]] SLAMing on 76.76327356 meters Centerline goodness : 0.796158 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.21 [[ 9.95163046e-01 -9.82002588e-02 -2.68711726e-03 2.30864199e+00] [ 9.82007786e-02 9.95166621e-01 6.18639950e-05 -1.33535270e-01] [ 2.66805435e-03 -3.25441769e-04 9.99996388e-01 2.07968227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82327356 meters Centerline goodness : 0.796977 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.21 [[ 9.94277867e-01 -1.06806057e-01 -1.99747255e-03 2.30818400e+00] [ 1.06788579e-01 9.94254025e-01 -7.42520138e-03 -1.36633443e-01] [ 2.77905161e-03 7.16940613e-03 9.99970438e-01 2.08813285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88327356 meters Centerline goodness : 0.792208 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.21 [[ 9.93760311e-01 -1.11525740e-01 -1.56609675e-03 2.30776460e+00] [ 1.11501936e-01 9.93703040e-01 -1.10266708e-02 -1.39010615e-01] [ 2.78599273e-03 1.07832450e-02 9.99937978e-01 2.08952976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94327356000001 meters Centerline goodness : 0.793294 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.21 [[ 9.93680619e-01 -1.12236328e-01 -1.35411837e-03 2.30705604e+00] [ 1.12215041e-01 9.93623924e-01 -1.09216293e-02 -1.40369614e-01] [ 2.57128797e-03 1.07006589e-02 9.99939440e-01 2.08942107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00327356000001 meters Centerline goodness : 0.792278 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.21 [[ 9.93594985e-01 -1.12994857e-01 -1.08082782e-03 2.30624408e+00] [ 1.12975874e-01 9.93534926e-01 -1.11715553e-02 -1.40167859e-01] [ 2.33616848e-03 1.09778939e-02 9.99937012e-01 2.08915324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06327356 meters Centerline goodness : 0.793866 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.21 [[ 9.93606845e-01 -1.12889171e-01 -1.21327284e-03 2.30671591e+00] [ 1.12869156e-01 9.93548933e-01 -1.10032663e-02 -1.39919079e-01] [ 2.44759555e-03 1.07959797e-02 9.99938726e-01 2.08519972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12327356 meters Centerline goodness : 0.794992 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.21 [[ 9.93617311e-01 -1.12795090e-01 -1.38114605e-03 2.30744431e+00] [ 1.12772240e-01 9.93555536e-01 -1.13937819e-02 -1.36669936e-01] [ 2.65740796e-03 1.11653040e-02 9.99934135e-01 2.07849541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18327356 meters Centerline goodness : 0.794291 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.21 [[ 9.93676361e-01 -1.12271851e-01 -1.52365418e-03 2.30837689e+00] [ 1.12246858e-01 9.93612614e-01 -1.16023984e-02 -1.33138573e-01] [ 2.81654475e-03 1.13580036e-02 9.99931529e-01 2.07021498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24327356 meters Centerline goodness : 0.793724 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.21 [[ 9.94021438e-01 -1.09177197e-01 -1.31191052e-03 2.30715879e+00] [ 1.09162198e-01 9.93987363e-01 -8.52853602e-03 -1.29572449e-01] [ 2.23514413e-03 8.33433660e-03 9.99962771e-01 2.06369341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30327356000001 meters Centerline goodness : 0.789820 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.21 [[ 9.94016354e-01 -1.09223589e-01 -1.30188399e-03 2.30767359e+00] [ 1.09206481e-01 9.93973778e-01 -9.49068086e-03 -1.24089177e-01] [ 2.33064478e-03 9.29171782e-03 9.99954115e-01 2.05603624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36327356000001 meters Centerline goodness : 0.795486 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.21 [[ 9.94019303e-01 -1.09194224e-01 -1.49905630e-03 2.30845263e+00] [ 1.09173654e-01 9.93971089e-01 -1.01285477e-02 -1.20123448e-01] [ 2.59599753e-03 9.90431450e-03 9.99947581e-01 2.05023082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42327356 meters Centerline goodness : 0.793354 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.20 [[ 9.94268302e-01 -1.06909650e-01 -9.33177854e-04 2.30632475e+00] [ 1.06899830e-01 9.94241940e-01 -7.44251083e-03 -1.15902576e-01] [ 1.72348079e-03 7.30009605e-03 9.99971869e-01 2.04284445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48327356 meters Centerline goodness : 0.797141 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.20 [[ 9.94196917e-01 -1.07572975e-01 -7.37839214e-04 2.30559353e+00] [ 1.07562148e-01 9.94158172e-01 -8.93938879e-03 -1.08937511e-01] [ 1.69516553e-03 8.80814921e-03 9.99959771e-01 2.04415795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54327356 meters Centerline goodness : 0.794567 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.20 [[ 9.94159060e-01 -1.07922593e-01 -6.90923563e-04 2.30558830e+00] [ 1.07910424e-01 9.94110729e-01 -9.95989166e-03 -1.04284633e-01] [ 1.76175186e-03 9.82715867e-03 9.99950160e-01 2.04201403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60327356 meters Centerline goodness : 0.796521 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.20 [[ 9.94135210e-01 -1.08142512e-01 -6.17281961e-04 2.30606423e+00] [ 1.08129533e-01 9.94077747e-01 -1.08368262e-02 -9.75961086e-02] [ 1.78554788e-03 1.07065241e-02 9.99941089e-01 2.02828902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66327356000001 meters Centerline goodness : 0.795605 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.20 [[ 9.94332274e-01 -1.06316918e-01 2.05614842e-04 2.30518980e+00] [ 1.06314804e-01 9.94296029e-01 -8.51869289e-03 -9.23005549e-02] [ 7.01239154e-04 8.49227117e-03 9.99963694e-01 1.99906885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72327356000001 meters Centerline goodness : 0.798433 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.20 [[ 9.94551596e-01 -1.04243134e-01 7.01063221e-04 2.30282342e+00] [ 1.04245436e-01 9.94535500e-01 -5.65941816e-03 -8.94564501e-02] [-1.07276775e-04 5.70166601e-03 9.99983740e-01 1.99441328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78327356 meters Centerline goodness : 0.805610 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.19 [[ 9.94673879e-01 -1.02305965e-01 1.25444427e-02 2.30266643e+00] [ 1.02332493e-01 9.94749135e-01 -1.48973133e-03 -8.53660755e-02] [-1.23261652e-02 2.76550095e-03 9.99920206e-01 1.90546014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84327356 meters Centerline goodness : 0.805706 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99450112 -0.10389714 0.01314907 2.30036316] [ 0.1039553 0.99457464 -0.00381845 -0.07800568] [-0.012681 0.00516437 0.99990626 0.19165574] [ 0. 0. 0. 1. ]] SLAMing on 77.90327356 meters Centerline goodness : 0.809027 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 9.94659872e-01 -1.02314456e-01 1.35458580e-02 2.29753608e+00] [ 1.02342770e-01 9.94748191e-01 -1.41200139e-03 -7.51276518e-02] [-1.33302496e-02 2.79078176e-03 9.99907254e-01 1.92101250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96327356 meters Centerline goodness : 0.805797 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.19 [[ 9.94735429e-01 -1.01413821e-01 1.47195123e-02 2.29536051e+00] [ 1.01427129e-01 9.94842959e-01 -1.58468532e-04 -6.89825250e-02] [-1.46275322e-02 1.65059213e-03 9.99891650e-01 1.90213760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02327356 meters Centerline goodness : 0.809478 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.19 [[ 9.94706499e-01 -1.01683700e-01 1.48123573e-02 2.29573885e+00] [ 1.01707180e-01 9.94814026e-01 -8.38656464e-04 -6.46839032e-02] [-1.46502631e-02 2.34074012e-03 9.99889939e-01 1.89056082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08327356000001 meters Centerline goodness : 0.808814 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.19 [[ 9.94665360e-01 -1.02043795e-01 1.50958822e-02 2.29569408e+00] [ 1.02079885e-01 9.94774856e-01 -1.63777761e-03 -5.81023715e-02] [-1.48498790e-02 3.17002657e-03 9.99884709e-01 1.87550793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14327356 meters Centerline goodness : 0.808319 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:0.19 [[ 9.94887098e-01 -9.97776077e-02 1.56233886e-02 2.29312842e+00] [ 9.97805978e-02 9.95009289e-01 5.89953681e-04 -5.22472786e-02] [-1.56042809e-02 9.71973744e-04 9.99877773e-01 1.87685202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20327356 meters Centerline goodness : 0.810039 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:0.19 [[ 9.95079894e-01 -9.77221978e-02 1.63210367e-02 2.29023754e+00] [ 9.76894209e-02 9.95213024e-01 2.79549047e-03 -4.71619674e-02] [-1.65160897e-02 -1.18734374e-03 9.99862895e-01 1.87693624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26327356 meters Centerline goodness : 0.805325 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.19 [[ 9.95090174e-01 -9.76241357e-02 1.62810754e-02 2.29082509e+00] [ 9.76038201e-02 9.95223258e-01 2.03967210e-03 -4.29112191e-02] [-1.64024262e-02 -4.40562507e-04 9.99865374e-01 1.87156376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32327356 meters Centerline goodness : 0.804785 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.19 [[ 0.99535604 -0.09479125 0.01676246 2.28956709] [ 0.09471939 0.99549129 0.00503218 -0.03838976] [-0.01716389 -0.00342108 0.99984684 0.18561717] [ 0. 0. 0. 1. ]] SLAMing on 78.38327356 meters Centerline goodness : 0.802712 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.19 [[ 0.99537342 -0.09461533 0.01672424 2.29006497] [ 0.09455613 0.99551025 0.00429791 -0.03403633] [-0.0170558 -0.00269665 0.9998509 0.1853232 ] [ 0. 0. 0. 1. ]] SLAMing on 78.44327356000001 meters Centerline goodness : 0.802781 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.18 [[ 9.95384450e-01 -9.45272593e-02 1.65648517e-02 2.29108880e+00] [ 9.44827158e-02 9.95520513e-01 3.45307473e-03 -2.90053879e-02] [-1.68170594e-02 -1.87204471e-03 9.99856831e-01 1.84538139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50327356000001 meters Centerline goodness : 0.801457 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 9.95308940e-01 -9.52505309e-02 1.69543851e-02 2.28982856e+00] [ 9.52281850e-02 9.95453208e-01 2.12232701e-03 -2.45740443e-02] [-1.70794498e-02 -4.97835728e-04 9.99854012e-01 1.85139956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56327356 meters Centerline goodness : 0.802604 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 0.99561232 -0.09200675 0.01705507 2.28847093] [ 0.09192555 0.99575077 0.00548695 -0.02292606] [-0.01748743 -0.00389508 0.9998395 0.18533641] [ 0. 0. 0. 1. ]] SLAMing on 78.62327356 meters Centerline goodness : 0.805932 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 0.99593076 -0.088502 0.01700941 2.28733189] [ 0.08836982 0.99605254 0.0083728 -0.02029286] [-0.01768327 -0.00683561 0.99982027 0.18639092] [ 0. 0. 0. 1. ]] SLAMing on 78.68327356 meters Centerline goodness : 0.806461 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 0.99604023 -0.0873599 0.01649568 2.28930438] [ 0.08722999 0.99615246 0.00843865 -0.0187194 ] [-0.01716941 -0.00696632 0.99982833 0.1860517 ] [ 0. 0. 0. 1. ]] SLAMing on 78.74327356 meters Centerline goodness : 0.804996 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 0.99639615 -0.08325519 0.0162261 2.28955154] [ 0.08305028 0.99646162 0.01291878 -0.02014823] [-0.01724424 -0.01152464 0.99978489 0.18539918] [ 0. 0. 0. 1. ]] SLAMing on 78.80327356000001 meters Centerline goodness : 0.803020 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.18 [[ 0.99620755 -0.0855764 0.01572246 2.29270436] [ 0.08543311 0.99629794 0.00957098 -0.02056071] [-0.0164833 -0.00819146 0.99983059 0.18468432] [ 0. 0. 0. 1. ]] SLAMing on 78.86327356000001 meters Centerline goodness : 0.805651 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 0.99597401 -0.08819711 0.0160327 2.29122621] [ 0.08808971 0.99608589 0.0072879 -0.02245745] [-0.01661272 -0.00584624 0.99984491 0.18620128] [ 0. 0. 0. 1. ]] SLAMing on 78.92327356 meters Centerline goodness : 0.804671 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.19 [[ 0.99591945 -0.08875837 0.01632177 2.29009277] [ 0.08865175 0.99603705 0.0071456 -0.02346163] [-0.01689132 -0.00566949 0.99984126 0.18677204] [ 0. 0. 0. 1. ]] SLAMing on 78.98327356 meters Centerline goodness : 0.806697 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.19 [[ 0.9958082 -0.08995963 0.01653153 2.28821983] [ 0.08985817 0.99593148 0.00678273 -0.02554009] [-0.01707444 -0.0052688 0.99984034 0.18826434] [ 0. 0. 0. 1. ]] SLAMing on 79.04327356 meters Centerline goodness : 0.803961 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.19 [[ 0.99571762 -0.0909673 0.01647353 2.28733953] [ 0.09086346 0.99583913 0.00694728 -0.02945969] [-0.01703696 -0.00542069 0.99984017 0.18895455] [ 0. 0. 0. 1. ]] SLAMing on 79.10327356 meters Centerline goodness : 0.802989 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.19 [[ 0.99545635 -0.09383552 0.01617267 2.28961022] [ 0.09377985 0.99558423 0.00416865 -0.0325186 ] [-0.01649242 -0.00263304 0.99986052 0.18811383] [ 0. 0. 0. 1. ]] SLAMing on 79.16327356000001 meters Centerline goodness : 0.802209 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.19 [[ 0.99546815 -0.09372172 0.01610569 2.28976003] [ 0.0936537 0.99559263 0.00492878 -0.03557642] [-0.01649664 -0.00339808 0.99985815 0.18792124] [ 0. 0. 0. 1. ]] SLAMing on 79.22327356000001 meters Centerline goodness : 0.804040 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.19 [[ 0.99544949 -0.09388987 0.01627923 2.2884075 ] [ 0.09381569 0.99557567 0.00526353 -0.03912269] [-0.0167014 -0.00371233 0.99985363 0.18945718] [ 0. 0. 0. 1. ]] SLAMing on 79.28327356 meters Centerline goodness : 0.801276 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.19 [[ 0.99551952 -0.09319977 0.01595927 2.28913299] [ 0.09311102 0.99563632 0.00621795 -0.04341859] [-0.01646914 -0.00470411 0.99985331 0.18982162] [ 0. 0. 0. 1. ]] SLAMing on 79.34327356 meters Centerline goodness : 0.801829 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:0.19 [[ 0.99561937 -0.09222286 0.01539553 2.29095706] [ 0.09212228 0.99572224 0.00712081 -0.04591752] [-0.01598638 -0.00567134 0.99985613 0.18941431] [ 0. 0. 0. 1. ]] SLAMing on 79.40327356 meters Centerline goodness : 0.800138 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:0.19 [[ 0.99577554 -0.09066307 0.01453587 2.29371753] [ 0.09054434 0.99585504 0.00862906 -0.04965357] [-0.01525796 -0.00727647 0.99985711 0.18859139] [ 0. 0. 0. 1. ]] SLAMing on 79.46327356 meters Centerline goodness : 0.798712 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:0.19 [[ 0.99582334 -0.09017837 0.01427335 2.29431731] [ 0.09005219 0.99589409 0.00925008 -0.05241135] [-0.01504891 -0.0079261 0.99985534 0.1888723 ] [ 0. 0. 0. 1. ]] SLAMing on 79.52327356 meters Centerline goodness : 0.796583 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.19 [[ 0.99590005 -0.08938787 0.01388847 2.29554611] [ 0.08924744 0.99595494 0.01042355 -0.05739674] [-0.01476403 -0.0091413 0.99984922 0.18873723] [ 0. 0. 0. 1. ]] SLAMing on 79.58327356000001 meters Centerline goodness : 0.794979 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.19 [[ 0.99600849 -0.08824968 0.01338197 2.29749898] [ 0.08809319 0.99604157 0.01186555 -0.06261979] [-0.01437613 -0.01063933 0.99984005 0.18808905] [ 0. 0. 0. 1. ]] SLAMing on 79.64327356 meters Centerline goodness : 0.797961 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.19 [[ 0.99609232 -0.08737061 0.01290203 2.29883794] [ 0.08721046 0.99611155 0.01249465 -0.06502599] [-0.01394353 -0.01132063 0.9998387 0.18834457] [ 0. 0. 0. 1. ]] SLAMing on 79.70327356 meters Centerline goodness : 0.798234 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.19 [[ 0.99620821 -0.08612211 0.01233649 2.30001093] [ 0.08595717 0.99620966 0.01332935 -0.0676569 ] [-0.01343769 -0.0122184 0.99983506 0.18916428] [ 0. 0. 0. 1. ]] SLAMing on 79.76327356 meters Centerline goodness : 0.796681 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.19 [[ 0.99629268 -0.0851992 0.01191616 2.30115527] [ 0.08502734 0.99627666 0.01425378 -0.07147284] [-0.0130862 -0.01318773 0.9998274 0.18943188] [ 0. 0. 0. 1. ]] SLAMing on 79.82327356 meters Centerline goodness : 0.794767 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99639305 -0.0840916 0.01137962 2.30350202] [ 0.08390894 0.99635011 0.0156765 -0.07568275] [-0.01265635 -0.01466511 0.99981236 0.18804911] [ 0. 0. 0. 1. ]] SLAMing on 79.88327356 meters Centerline goodness : 0.794816 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99644991 -0.08346984 0.010971 2.3048395 ] [ 0.08328615 0.99639314 0.01625179 -0.07757767] [-0.01228797 -0.01528036 0.99980774 0.18772438] [ 0. 0. 0. 1. ]] SLAMing on 79.94327356000001 meters Centerline goodness : 0.797224 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99650112 -0.08289984 0.01063631 2.30573435] [ 0.08271811 0.99643606 0.0165195 -0.07904797] [-0.01196787 -0.01558188 0.99980697 0.18805589] [ 0. 0. 0. 1. ]] SLAMing on 80.00327356000001 meters Centerline goodness : 0.795067 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99653373 -0.08254349 0.01034876 2.30620992] [ 0.08236775 0.99646718 0.01639246 -0.07926389] [-0.01166529 -0.01548324 0.99981208 0.18882236] [ 0. 0. 0. 1. ]] SLAMing on 80.06327356 meters Centerline goodness : 0.794126 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99658769 -0.08192265 0.0100825 2.30689367] [ 0.08175335 0.99652105 0.01619186 -0.0786776 ] [-0.01137391 -0.01531233 0.99981807 0.18945846] [ 0. 0. 0. 1. ]] SLAMing on 80.12327356 meters Centerline goodness : 0.796994 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99660515 -0.08172273 0.00997888 2.30721625] [ 0.08155897 0.99654259 0.01584304 -0.07848758] [-0.01123911 -0.01497538 0.99982469 0.18996186] [ 0. 0. 0. 1. ]] SLAMing on 80.18327356 meters Centerline goodness : 0.792879 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99659071 -0.08188753 0.01006924 2.30691828] [ 0.08172491 0.99653249 0.01562148 -0.07840708] [-0.01131353 -0.01474532 0.99982727 0.19023364] [ 0. 0. 0. 1. ]] SLAMing on 80.24327356 meters Centerline goodness : 0.795518 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99653455 -0.08254327 0.01027133 2.30583923] [ 0.08238661 0.99648993 0.01484113 -0.07800728] [-0.01146031 -0.01394348 0.99983711 0.19133482] [ 0. 0. 0. 1. ]] SLAMing on 80.30327356000001 meters Centerline goodness : 0.796106 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99647657 -0.08322661 0.01038115 2.30497383] [ 0.08307112 0.99643659 0.01460503 -0.07897844] [-0.01155968 -0.01369119 0.99983945 0.19191248] [ 0. 0. 0. 1. ]] SLAMing on 80.36327356000001 meters Centerline goodness : 0.796535 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99644156 -0.08363668 0.01044615 2.30462961] [ 0.08348096 0.99640319 0.014547 -0.07971043] [-0.01162524 -0.01362318 0.99983962 0.19205354] [ 0. 0. 0. 1. ]] SLAMing on 80.42327356 meters Centerline goodness : 0.796244 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99635773 -0.08461266 0.01058175 2.30351647] [ 0.08446048 0.99632727 0.01408549 -0.08066157] [-0.0117347 -0.01314044 0.9998448 0.19293344] [ 0. 0. 0. 1. ]] SLAMing on 80.48327356 meters Centerline goodness : 0.799123 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99605521 -0.0880987 0.01061291 2.30437218] [ 0.08799366 0.99607095 0.00998926 -0.07972512] [-0.01145125 -0.00901599 0.99989378 0.19319381] [ 0. 0. 0. 1. ]] SLAMing on 80.54327356 meters Centerline goodness : 0.795416 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99567534 -0.09224488 0.01102276 2.3040939 ] [ 0.09218482 0.99572479 0.00583897 -0.07988576] [-0.01151425 -0.00479759 0.9999222 0.19360118] [ 0. 0. 0. 1. ]] SLAMing on 80.60327356 meters Centerline goodness : 0.795690 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.19 [[ 0.99555599 -0.09348775 0.01132789 2.30261444] [ 0.09342872 0.99561003 0.00563346 -0.08180245] [-0.01180482 -0.00455008 0.99991997 0.19413498] [ 0. 0. 0. 1. ]] SLAMing on 80.66327356000001 meters Centerline goodness : 0.800122 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.20 [[ 0.9953921 -0.09520259 0.01144693 2.30083754] [ 0.09515062 0.99545032 0.00500284 -0.08341521] [-0.01187113 -0.0038906 0.99992197 0.19540438] [ 0. 0. 0. 1. ]] SLAMing on 80.72327356000001 meters Centerline goodness : 0.797459 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.20 [[ 0.99533592 -0.09575857 0.01169166 2.30016412] [ 0.09570573 0.99539711 0.00499967 -0.08442789] [-0.01211661 -0.00385739 0.99991915 0.19538777] [ 0. 0. 0. 1. ]] SLAMing on 80.78327356 meters Centerline goodness : 0.797441 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.19 [[ 0.99529927 -0.09611694 0.01187007 2.2999328 ] [ 0.0960619 0.99536217 0.00512482 -0.08534524] [-0.0123076 -0.00396047 0.99991642 0.194908 ] [ 0. 0. 0. 1. ]] SLAMing on 80.84327356 meters Centerline goodness : 0.795572 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.19 [[ 0.99533225 -0.09580898 0.01159114 2.30086732] [ 0.09575556 0.99539191 0.00508029 -0.08500569] [-0.01202446 -0.00394666 0.99991991 0.19476119] [ 0. 0. 0. 1. ]] SLAMing on 80.90327356 meters Centerline goodness : 0.798648 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.20 [[ 0.99534651 -0.09566448 0.01155984 2.30087927] [ 0.09561519 0.99540706 0.00474464 -0.08392091] [-0.01196064 -0.00361727 0.99992193 0.19518528] [ 0. 0. 0. 1. ]] SLAMing on 80.96327356 meters Centerline goodness : 0.798830 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.20 [[ 0.99533877 -0.09574273 0.01157885 2.30018473] [ 0.0957022 0.99540195 0.0040067 -0.08254838] [-0.01190922 -0.00287991 0.99992494 0.1966155 ] [ 0. 0. 0. 1. ]] SLAMing on 81.02327356 meters Centerline goodness : 0.802021 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.20 [[ 0.99535837 -0.09556947 0.01132205 2.30063082] [ 0.09553225 0.99541914 0.00378506 -0.08164828] [-0.01163192 -0.00268587 0.99992874 0.19692502] [ 0. 0. 0. 1. ]] SLAMing on 81.08327356000001 meters Centerline goodness : 0.800171 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.20 [[ 0.99546442 -0.09452042 0.01079277 2.30280449] [ 0.09448018 0.99551796 0.00418066 -0.08023377] [-0.01113955 -0.003142 0.99993302 0.19567841] [ 0. 0. 0. 1. ]] SLAMing on 81.14327356 meters Centerline goodness : 0.802633 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.99559462 -0.09320036 0.01024928 2.30531637] [ 0.09315767 0.99564089 0.00456823 -0.07845943] [-0.01063037 -0.00359331 0.99993704 0.19431736] [ 0. 0. 0. 1. ]] SLAMing on 81.20327356 meters Centerline goodness : 0.802180 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.19 [[ 0.9956458 -0.09266587 0.01012263 2.30598918] [ 0.09262701 0.99569183 0.00424414 -0.07619221] [-0.01047231 -0.00328804 0.99993976 0.19424491] [ 0. 0. 0. 1. ]] SLAMing on 81.26327356 meters Centerline goodness : 0.802262 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95596659e-01 -9.31583879e-02 1.04310486e-02 2.30462923e+00] [ 9.31304197e-02 9.95648977e-01 3.13668001e-03 -7.33999793e-02] [-1.06778709e-02 -2.15142020e-03 9.99940675e-01 1.95544671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32327356 meters Centerline goodness : 0.801730 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95554106e-01 -9.35993676e-02 1.05442398e-02 2.30411702e+00] [ 9.35762578e-02 9.95608548e-01 2.66523619e-03 -7.22041317e-02] [-1.07473997e-02 -1.66669633e-03 9.99940856e-01 1.95843703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38327356 meters Centerline goodness : 0.804334 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95488302e-01 -9.42733243e-02 1.07508540e-02 2.30333384e+00] [ 9.42532821e-02 9.95545460e-01 2.35704258e-03 -7.18528212e-02] [-1.09251702e-02 -1.33310504e-03 9.99939430e-01 1.95967257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44327356000001 meters Centerline goodness : 0.803071 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95293758e-01 -9.62317310e-02 1.13925323e-02 2.30099649e+00] [ 9.62193135e-02 9.95358816e-01 1.63437418e-03 -7.18985732e-02] [-1.14969361e-02 -5.30500781e-04 9.99933767e-01 1.96203364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50327356000001 meters Centerline goodness : 0.802600 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95167261e-01 -9.75026685e-02 1.16340842e-02 2.30016340e+00] [ 9.74934033e-02 9.95235239e-01 1.36223991e-03 -7.19299322e-02] [-1.17114726e-02 -2.21410093e-04 9.99931394e-01 1.95597996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56327356 meters Centerline goodness : 0.801377 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95166791e-01 -9.74982709e-02 1.17109041e-02 2.30010124e+00] [ 9.74935285e-02 9.95235680e-01 9.76526978e-04 -6.98885206e-02] [-1.17503193e-02 1.69930143e-04 9.99930948e-01 1.95544746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62327356 meters Centerline goodness : 0.805220 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.20 [[ 9.95231686e-01 -9.68660295e-02 1.14395765e-02 2.30090104e+00] [ 9.68657615e-02 9.95297287e-01 5.78805343e-04 -6.73754082e-02] [-1.14418460e-02 5.32057872e-04 9.99934398e-01 1.95890489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68327356 meters Centerline goodness : 0.805806 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.20 [[ 0.9955679 -0.09332137 0.01164778 2.29913998] [ 0.09328512 0.99563286 0.00361899 -0.06467614] [-0.01193464 -0.00251639 0.99992561 0.19686918] [ 0. 0. 0. 1. ]] SLAMing on 81.74327356 meters Centerline goodness : 0.804956 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.20 [[ 0.99594974 -0.08920987 0.01121203 2.29977385] [ 0.08913314 0.99599393 0.00716789 -0.06258169] [-0.01180656 -0.0061395 0.99991145 0.1963556 ] [ 0. 0. 0. 1. ]] SLAMing on 81.80327356000001 meters Centerline goodness : 0.802638 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.20 [[ 0.9960742 -0.08786999 0.01072672 2.30223547] [ 0.08779302 0.99611089 0.00744823 -0.06052434] [-0.01133948 -0.00647726 0.99991473 0.19505416] [ 0. 0. 0. 1. ]] SLAMing on 81.86327356000001 meters Centerline goodness : 0.800850 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.19 [[ 0.99644411 -0.08362954 0.01025866 2.30347784] [ 0.08351459 0.99644401 0.01116482 -0.05847555] [-0.01115589 -0.01026837 0.99988505 0.19383943] [ 0. 0. 0. 1. ]] SLAMing on 81.92327356 meters Centerline goodness : 0.802407 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.19 [[ 0.99649591 -0.08304484 0.00997226 2.30424077] [ 0.08294384 0.99650255 0.01014805 -0.05467587] [-0.01078012 -0.00928536 0.99989878 0.19480129] [ 0. 0. 0. 1. ]] SLAMing on 81.98327356 meters Centerline goodness : 0.804237 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.20 [[ 0.99655833 -0.08230192 0.00989422 2.30453876] [ 0.08221619 0.99657584 0.00878035 -0.05105157] [-0.01058298 -0.00793667 0.9999125 0.1966625 ] [ 0. 0. 0. 1. ]] SLAMing on 82.04327356 meters Centerline goodness : 0.800208 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.20 [[ 0.99652252 -0.08270935 0.01010103 2.3031586 ] [ 0.08263498 0.99655112 0.00757178 -0.04935966] [-0.01069245 -0.00671076 0.99992032 0.19878917] [ 0. 0. 0. 1. ]] SLAMing on 82.10327356 meters Centerline goodness : 0.803535 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.20 [[ 0.99652182 -0.08273433 0.0099645 2.30361439] [ 0.08265867 0.99654755 0.0077797 -0.05041008] [-0.01057375 -0.00692899 0.99992009 0.19853675] [ 0. 0. 0. 1. ]] SLAMing on 82.16327356000001 meters Centerline goodness : 0.801454 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.20 [[ 0.99651883 -0.08278427 0.00984805 2.30446029] [ 0.08270387 0.99653952 0.00831005 -0.05205309] [-0.01050191 -0.00746665 0.99991698 0.19738601] [ 0. 0. 0. 1. ]] SLAMing on 82.22327356000001 meters Centerline goodness : 0.804926 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.20 [[ 0.99651098 -0.08288542 0.00979154 2.30506999] [ 0.0827994 0.99652661 0.00888666 -0.05423885] [-0.01049411 -0.00804492 0.99991257 0.19638482] [ 0. 0. 0. 1. ]] SLAMing on 82.28327356 meters Centerline goodness : 0.804831 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.20 [[ 0.99651756 -0.08282249 0.00965374 2.30536733] [ 0.08273946 0.99653319 0.00870495 -0.05464297] [-0.01034123 -0.00787589 0.99991551 0.19683501] [ 0. 0. 0. 1. ]] SLAMing on 82.34327356 meters Centerline goodness : 0.804675 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.20 [[ 0.99650136 -0.08300436 0.0097628 2.30414297] [ 0.08292901 0.99652426 0.00788591 -0.05392868] [-0.01038343 -0.0070487 0.99992125 0.19895322] [ 0. 0. 0. 1. ]] SLAMing on 82.40327356 meters Centerline goodness : 0.805474 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.20 [[ 0.99651446 -0.08286112 0.00964227 2.3040775 ] [ 0.08278881 0.99653759 0.0076714 -0.05427694] [-0.01024455 -0.00684639 0.99992409 0.19986954] [ 0. 0. 0. 1. ]] SLAMing on 82.46327356 meters Centerline goodness : 0.807765 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.20 [[ 0.99657241 -0.0822063 0.00924992 2.30516255] [ 0.08213364 0.99658938 0.00798004 -0.05540786] [-0.00987438 -0.00719296 0.99992538 0.19998511] [ 0. 0. 0. 1. ]] SLAMing on 82.52327356 meters Centerline goodness : 0.807612 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.20 [[ 0.9966537 -0.08127655 0.00869021 2.30699441] [ 0.08120033 0.99665903 0.0087912 -0.05743179] [-0.0093757 -0.00805614 0.99992359 0.19950191] [ 0. 0. 0. 1. ]] SLAMing on 82.58327356000001 meters Centerline goodness : 0.806799 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.20 [[ 0.99672108 -0.08049737 0.00820079 2.30853949] [ 0.08041655 0.99671366 0.00974965 -0.06066987] [-0.00895866 -0.00905821 0.99991884 0.19917499] [ 0. 0. 0. 1. ]] SLAMing on 82.64327356 meters Centerline goodness : 0.804280 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.20 [[ 0.99672763 -0.0804231 0.00813404 2.30867487] [ 0.08033875 0.99671528 0.01021443 -0.06354908] [-0.0089288 -0.00952753 0.99991475 0.19936288] [ 0. 0. 0. 1. ]] SLAMing on 82.70327356 meters Centerline goodness : 0.805178 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.20 [[ 0.9965637 -0.08243487 0.00807939 2.30835833] [ 0.08236717 0.99656681 0.00838155 -0.06789099] [-0.00874258 -0.00768727 0.99993223 0.20104947] [ 0. 0. 0. 1. ]] SLAMing on 82.76327356 meters Centerline goodness : 0.806836 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.20 [[ 0.99655613 -0.08252687 0.008074 2.30817847] [ 0.08245687 0.99655709 0.00865049 -0.0698316 ] [-0.0087601 -0.00795494 0.99992999 0.20138435] [ 0. 0. 0. 1. ]] SLAMing on 82.82327356 meters Centerline goodness : 0.804611 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.20 [[ 0.99627788 -0.08582767 0.00800027 2.30863309] [ 0.08578542 0.99629855 0.00548315 -0.0734671 ] [-0.00844126 -0.00477643 0.99995296 0.20250224] [ 0. 0. 0. 1. ]] SLAMing on 82.88327356 meters Centerline goodness : 0.807405 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.20 [[ 9.95980094e-01 -8.92120064e-02 8.05422884e-03 2.30926625e+00] [ 8.91935798e-02 9.96010865e-01 2.61945966e-03 -7.82088985e-02] [-8.25578668e-03 -1.89054418e-03 9.99964133e-01 2.02880753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94327356000001 meters Centerline goodness : 0.806595 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.20 [[ 9.95657628e-01 -9.27498358e-02 7.95957038e-03 2.30999889e+00] [ 9.27526790e-02 9.95689179e-01 1.19991947e-05 -8.39203879e-02] [-7.92637101e-03 7.26324386e-04 9.99968322e-01 2.03304991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00327356000001 meters Centerline goodness : 0.808385 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.20 [[ 0.99535063 -0.09599688 0.0078565 2.31108485] [ 0.09602149 0.99537528 -0.00281559 -0.08785788] [-0.00754987 0.00355689 0.99996517 0.20353097] [ 0. 0. 0. 1. ]] SLAMing on 83.06327356 meters Centerline goodness : 0.806461 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.20 [[ 0.99499987 -0.09956385 0.00789293 2.31162203] [ 0.09960681 0.99501303 -0.00524994 -0.09493734] [-0.00733086 0.00600987 0.99995507 0.20395436] [ 0. 0. 0. 1. ]] SLAMing on 83.12327356 meters Centerline goodness : 0.804633 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.20 [[ 0.99500303 -0.09954128 0.00777857 2.31183535] [ 0.0995767 0.99502057 -0.00430613 -0.10037728] [-0.0073112 0.00505918 0.99996047 0.20412847] [ 0. 0. 0. 1. ]] SLAMing on 83.18327356 meters Centerline goodness : 0.805660 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.21 [[ 0.99505251 -0.09905301 0.00768146 2.31177325] [ 0.09907948 0.99507456 -0.00314372 -0.10696117] [-0.00733223 0.00388924 0.99996556 0.20507129] [ 0. 0. 0. 1. ]] SLAMing on 83.24327356 meters Centerline goodness : 0.809074 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.21 [[ 9.95194987e-01 -9.76582037e-02 7.05780673e-03 2.31331404e+00] [ 9.76709340e-02 9.95217662e-01 -1.48130435e-03 -1.12931638e-01] [-6.87939239e-03 2.16352924e-03 9.99973996e-01 2.05385270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30327356000001 meters Centerline goodness : 0.806366 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.20 [[ 9.95322313e-01 -9.63891762e-02 6.52836929e-03 2.31516364e+00] [ 9.63916451e-02 9.95343482e-01 -6.38644544e-05 -1.16431628e-01] [-6.49181397e-03 6.92845972e-04 9.99978688e-01 2.04629401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36327356000001 meters Centerline goodness : 0.809769 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.20 [[ 9.95544827e-01 -9.41135005e-02 5.75723241e-03 2.31815167e+00] [ 9.41034826e-02 9.95560437e-01 1.98748602e-03 -1.20661904e-01] [-5.91872208e-03 -1.43685580e-03 9.99981452e-01 2.03360929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42327356 meters Centerline goodness : 0.814889 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.20 [[ 0.99571725 -0.09231482 0.0050135 2.32088558] [ 0.09229793 0.99572527 0.00350392 -0.12450895] [-0.00531553 -0.00302618 0.99998129 0.20246968] [ 0. 0. 0. 1. ]] SLAMing on 83.48327356 meters Centerline goodness : 0.829839 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:0.20 [[ 9.95643458e-01 -9.31155202e-02 4.85850873e-03 2.32388795e+00] [ 9.31107572e-02 9.95655037e-01 1.19798136e-03 -1.25104417e-01] [-4.94894935e-03 -7.40382878e-04 9.99987480e-01 2.01515099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54327356 meters Centerline goodness : 0.839273 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.20 [[ 9.95504601e-01 -9.46116077e-02 4.38545465e-03 2.32694584e+00] [ 9.46189573e-02 9.95512433e-01 -1.49939949e-03 -1.26618809e-01] [-4.22391404e-03 1.90760624e-03 9.99989260e-01 2.01088650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60327356 meters Centerline goodness : 0.843411 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.20 [[ 0.99528314 -0.09693477 0.00388858 2.32953336] [ 0.09695248 0.99527811 -0.00465865 -0.12759148] [-0.00341863 0.00501369 0.99998159 0.20100037] [ 0. 0. 0. 1. ]] SLAMing on 83.66327356000001 meters Centerline goodness : 0.849754 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.20 [[ 0.99477336 -0.10203528 0.00384247 2.33265683] [ 0.10207022 0.99472301 -0.01038324 -0.12968584] [-0.00276274 0.01072117 0.99993871 0.19995465] [ 0. 0. 0. 1. ]] SLAMing on 83.72327356000001 meters Centerline goodness : 0.861732 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.20 [[ 9.94064080e-01 -1.08736341e-01 3.60732737e-03 2.33563639e+00] [ 1.08782595e-01 9.93917214e-01 -1.71731957e-02 -1.31715890e-01] [-1.71803431e-03 1.74636714e-02 9.99846022e-01 1.99378362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78327356 meters Centerline goodness : 0.868307 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.20 [[ 9.93698154e-01 -1.12035352e-01 3.47266096e-03 2.33740292e+00] [ 1.12082868e-01 9.93493634e-01 -2.01947789e-02 -1.33575759e-01] [-1.18753738e-03 2.04567403e-02 9.99790034e-01 1.98573412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84327356 meters Centerline goodness : 0.877129 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.20 [[ 9.93294925e-01 -1.15546680e-01 3.76259914e-03 2.33793915e+00] [ 1.15604025e-01 9.93002542e-01 -2.41176642e-02 -1.34107858e-01] [-9.49554496e-04 2.43909250e-02 9.99702046e-01 1.99329493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90327356 meters Centerline goodness : 0.867813 with order 2 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.20 [[ 9.92866688e-01 -1.19165791e-01 3.90563628e-03 2.33829679e+00] [ 1.19229225e-01 9.92428988e-01 -2.94804284e-02 -1.31569959e-01] [-3.63008082e-04 2.97358013e-02 9.99557727e-01 2.01575245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96327356 meters Centerline goodness : 0.875102 with order 2 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.20 [[ 9.92545119e-01 -1.21822084e-01 3.68331626e-03 2.34032431e+00] [ 1.21877212e-01 9.91997181e-01 -3.29778431e-02 -1.30273533e-01] [ 3.63590224e-04 3.31809095e-02 9.99449296e-01 2.01266740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02327356 meters Centerline goodness : 0.900012 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.14, Z:0.21 [[ 0.99318083 -0.11623249 -0.0090473 2.34038541] [ 0.11594963 0.99288218 -0.02721513 -0.13778989] [ 0.01214618 0.02598052 0.99958866 0.20581678] [ 0. 0. 0. 1. ]] SLAMing on 84.08327356000001 meters Centerline goodness : 0.890727 with order 2 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.14, Z:0.21 [[ 0.9936942 -0.10994952 -0.02197602 2.34097484] [ 0.10948052 0.99375604 -0.02151609 -0.14384481] [ 0.02420449 0.01897447 0.99952694 0.20939 ] [ 0. 0. 0. 1. ]] SLAMing on 84.14327356 meters Centerline goodness : 0.914119 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:0.21 [[ 0.99424464 -0.10146024 -0.03440078 2.34095914] [ 0.10098848 0.99477164 -0.01518912 -0.15033983] [ 0.03576201 0.01162762 0.99929269 0.21245545] [ 0. 0. 0. 1. ]] SLAMing on 84.20327356 meters Centerline goodness : 0.930335 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.22 [[ 0.99463026 -0.09233758 -0.04673767 2.34056912] [ 0.09209512 0.99572331 -0.00731931 -0.15726365] [ 0.04721364 0.00297569 0.99888038 0.2160112 ] [ 0. 0. 0. 1. ]] SLAMing on 84.26327356 meters Centerline goodness : 0.936578 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.22 [[ 9.94975826e-01 -8.81927456e-02 -4.73829588e-02 2.34085381e+00] [ 8.81853248e-02 9.96101542e-01 -2.25109437e-03 -1.59665894e-01] [ 4.73967685e-02 -1.93869713e-03 9.98874260e-01 2.16504237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32327356 meters Centerline goodness : 0.942819 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.22 [[ 9.95104127e-01 -8.66263610e-02 -4.75778228e-02 2.34078971e+00] [ 8.66702500e-02 9.96236398e-01 -1.14360656e-03 -1.60368919e-01] [ 4.74978252e-02 -2.98557419e-03 9.98866879e-01 2.16835366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38327356 meters Centerline goodness : 0.944518 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.22 [[ 9.95188903e-01 -8.54954389e-02 -4.78495199e-02 2.34173985e+00] [ 8.55793020e-02 9.96331318e-01 -2.97006290e-04 -1.61172507e-01] [ 4.76993679e-02 -3.79935115e-03 9.98854512e-01 2.16128343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44327356000001 meters Centerline goodness : 0.943373 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.21 [[ 9.95351250e-01 -8.35448798e-02 -4.79180707e-02 2.34247117e+00] [ 8.36540716e-02 9.96494817e-01 2.74321495e-04 -1.61526030e-01] [ 4.77271910e-02 -4.28158796e-03 9.98851232e-01 2.14862092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50327356 meters Centerline goodness : 0.945905 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.21 [[ 9.95425814e-01 -8.25908568e-02 -4.80228990e-02 2.34313608e+00] [ 8.27297023e-02 9.96571610e-01 9.07447406e-04 -1.62548900e-01] [ 4.77833109e-02 -4.87621671e-03 9.98845823e-01 2.14137860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56327356 meters Centerline goodness : 0.952482 with order 2 Centerline is valid? [False, True] Translation: X:2.34, Y:-0.17, Z:0.21 [[ 9.95517762e-01 -8.17658335e-02 -4.75261349e-02 2.34234721e+00] [ 8.19372928e-02 9.96636092e-01 1.66749496e-03 -1.65682187e-01] [ 4.72299172e-02 -5.55418368e-03 9.98868603e-01 2.14165090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62327356 meters Centerline goodness : 0.954407 with order 2 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.16, Z:0.22 [[ 9.95594630e-01 -8.08700654e-02 -4.74485513e-02 2.39797558e+00] [ 8.09391358e-02 9.96718936e-01 -4.66960028e-04 -1.63956715e-01] [ 4.73306327e-02 -3.37554184e-03 9.98873574e-01 2.21129514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68327356 meters Centerline goodness : 0.956198 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.16, Z:0.24 [[ 9.95277066e-01 -8.46976953e-02 -4.74327233e-02 2.44982929e+00] [ 8.47507103e-02 9.96401784e-01 -8.95930930e-04 -1.62504023e-01] [ 4.73379334e-02 -3.12825749e-03 9.98874033e-01 2.37203107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74327356 meters Centerline goodness : 0.959301 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.17, Z:0.24 [[ 9.95253444e-01 -8.49934032e-02 -4.73994099e-02 2.51260256e+00] [ 8.50046356e-02 9.96378962e-01 -1.78235520e-03 -1.67444037e-01] [ 4.73792632e-02 -2.25527441e-03 9.98874426e-01 2.42274114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80327356000001 meters Centerline goodness : 0.960711 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.15, Z:0.23 [[ 9.94120063e-01 -9.73580178e-02 -4.73995488e-02 2.57290474e+00] [ 9.73834155e-02 9.95245350e-01 -1.77865328e-03 -1.54987579e-01] [ 4.73473467e-02 -2.84773504e-03 9.98874426e-01 2.31765126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86327356000001 meters Centerline goodness : 0.968011 with order 1 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.16, Z:0.24 [[ 9.93913270e-01 -9.94469357e-02 -4.73995546e-02 2.63435015e+00] [ 9.94747055e-02 9.95038502e-01 -1.77849844e-03 -1.57318977e-01] [ 4.73412480e-02 -2.94738353e-03 9.98874426e-01 2.35715475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92327356 meters Centerline goodness : 0.969694 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.16, Z:0.24 [[ 9.93893781e-01 -9.96414839e-02 -4.73996534e-02 2.69636794e+00] [ 9.96695992e-02 9.95019003e-01 -1.77586257e-03 -1.57413812e-01] [ 4.73405054e-02 -2.95928569e-03 9.98874426e-01 2.36958473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98327356 meters Centerline goodness : 0.972883 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.16, Z:0.24 [[ 9.93789895e-01 -1.00672269e-01 -4.73997866e-02 2.75778257e+00] [ 1.00701721e-01 9.94915083e-01 -1.77229906e-03 -1.58051583e-01] [ 4.73371840e-02 -3.01194718e-03 9.98874426e-01 2.40683822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04327356 meters Centerline goodness : 0.976856 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.16, Z:0.25 [[ 9.93886566e-01 -9.97133176e-02 -4.73998859e-02 2.82034658e+00] [ 9.97418097e-02 9.95011779e-01 -1.76964030e-03 -1.61870860e-01] [ 4.73399015e-02 -2.96892867e-03 9.98874426e-01 2.45912062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10327356 meters Centerline goodness : 0.979039 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.16, Z:0.25 [[ 9.93585981e-01 -1.02665160e-01 -4.74000278e-02 2.88118863e+00] [ 1.02697175e-01 9.94711100e-01 -1.76582958e-03 -1.58753503e-01] [ 4.73306230e-02 -3.11334545e-03 9.98874426e-01 2.49614837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16327356000001 meters Centerline goodness : 0.979161 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.16, Z:0.25 [[ 9.93231440e-01 -1.06040245e-01 -4.74001300e-02 2.94387085e+00] [ 1.06076213e-01 9.94356439e-01 -1.76308341e-03 -1.59924565e-01] [ 4.73195823e-02 -3.27687643e-03 9.98874426e-01 2.49922562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22327356000001 meters Centerline goodness : 0.979822 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.16, Z:0.25 [[ 9.92982318e-01 -1.08348189e-01 -4.74002671e-02 3.00531544e+00] [ 1.08386947e-01 9.94107225e-01 -1.75938945e-03 -1.60729085e-01] [ 4.73115746e-02 -3.39052763e-03 9.98874426e-01 2.49947526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3602.33 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%| | 0/2842 [00:00