+ python -m lidar_slam --result /working/result.json --no-model /working/6dcbed11-6d69-459f-ab03-dc6521747d62 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/6dcbed11-6d69-459f-ab03-dc6521747d62 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 0.004860624 Adjusted end_distance from 9.223372036854776e+18 to 160.964860624 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004860624 meters Centerline goodness : 0.171573 with order 1 Centerline is valid? [0, False] SLAMing on 0.06486062399999999 meters Centerline goodness : 0.175452 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:0.00 [[ 0.9999954 -0.00214986 -0.00214015 0.02932761] [ 0.00213878 0.99998438 -0.00516466 0.00578952] [ 0.00215122 0.00516006 0.99998437 0.00474419] [ 0. 0. 0. 1. ]] SLAMing on 0.12486062399999998 meters Centerline goodness : 0.161421 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:0.00 [[ 0.99999057 -0.00363245 -0.00237959 0.03086112] [ 0.00361874 0.99997698 -0.00573918 0.00913462] [ 0.00240039 0.00573052 0.9999807 0.00413453] [ 0. 0. 0. 1. ]] SLAMing on 0.18486062399999997 meters Centerline goodness : 0.155962 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:0.00 [[ 0.99998504 -0.0046348 -0.00290369 0.03299378] [ 0.00461767 0.99997205 -0.00588038 0.01039915] [ 0.00293086 0.00586688 0.99997849 0.0033853 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24486062399999997 meters Centerline goodness : 0.157628 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.00 [[ 0.9999767 -0.00551836 -0.00401921 0.03701323] [ 0.00549379 0.99996632 -0.00609733 0.01286131] [ 0.00405272 0.0060751 0.99997333 0.0019097 ] [ 0. 0. 0. 1. ]] SLAMing on 0.3048606239999999 meters Centerline goodness : 0.161648 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.00 [[ 9.99921653e-01 -9.52237629e-03 -8.12483273e-03 4.94465837e-02] [ 9.44411518e-03 9.99909157e-01 -9.61693545e-03 1.84796116e-02] [ 8.21567073e-03 9.53945014e-03 9.99920748e-01 -6.02216858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3648606239999999 meters Centerline goodness : 0.161668 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.00 [[ 0.99987044 -0.01217672 -0.01052757 0.05745151] [ 0.01205322 0.99985872 -0.01171574 0.02278528] [ 0.01066874 0.01158733 0.99987595 -0.00281192] [ 0. 0. 0. 1. ]] SLAMing on 0.4248606239999999 meters Centerline goodness : 0.116027 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.00 [[ 0.9998044 -0.01339972 -0.01454673 0.11334078] [ 0.01316576 0.99978432 -0.01606165 0.02976012] [ 0.01475882 0.01586699 0.99976518 -0.00351725] [ 0. 0. 0. 1. ]] SLAMing on 0.4848606239999999 meters Centerline goodness : 0.134424 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.01 [[ 0.9997822 -0.01380179 -0.01565479 0.12242942] [ 0.01354819 0.99977712 -0.0161915 0.0383051 ] [ 0.01587477 0.01597588 0.99974635 -0.00940303] [ 0. 0. 0. 1. ]] SLAMing on 0.5448606239999999 meters Centerline goodness : 0.129605 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.01 [[ 0.99976587 -0.01085039 -0.01872093 0.13920697] [ 0.010531 0.99979874 -0.01707571 0.04428189] [ 0.01890244 0.01687456 0.99967892 -0.01003858] [ 0. 0. 0. 1. ]] SLAMing on 0.6048606239999998 meters Centerline goodness : 0.119923 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:0.01 [[ 0.9996479 -0.01536267 -0.02163472 0.20941333] [ 0.01455582 0.99921034 -0.03697051 0.06448387] [ 0.0221856 0.03664258 0.99908214 0.00739363] [ 0. 0. 0. 1. ]] SLAMing on 0.6648606239999999 meters Centerline goodness : 0.112228 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.03 [[ 0.99961484 -0.00478154 0.02733705 0.0285838 ] [ 0.00446869 0.99992396 0.01149381 0.04731725] [-0.02738993 -0.01136722 0.99956019 -0.03053032] [ 0. 0. 0. 1. ]] SLAMing on 0.7248606239999998 meters Centerline goodness : 0.167885 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:0.03 [[ 0.99962544 -0.0254861 0.00997226 0.08953638] [ 0.02593192 0.99853578 -0.04747444 0.09323998] [-0.00874772 0.04771525 0.99882267 0.0344405 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7848606239999999 meters Centerline goodness : 0.186582 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:0.06 [[ 0.99905718 -0.04310877 0.00513641 0.13963523] [ 0.04336797 0.99642394 -0.07251582 0.11700513] [-0.00199198 0.07267021 0.99735404 0.06179034] [ 0. 0. 0. 1. ]] SLAMing on 0.8448606239999998 meters Centerline goodness : 0.171511 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:0.06 [[ 0.99865583 -0.05115091 0.00837308 0.15954501] [ 0.05162638 0.99599947 -0.07293677 0.11798231] [-0.0046088 0.07327101 0.99730142 0.06000586] [ 0. 0. 0. 1. ]] SLAMing on 0.9048606239999999 meters Centerline goodness : 0.418270 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.12, Z:0.06 [[ 0.99819357 -0.05857894 0.01334569 0.17892071] [ 0.0593955 0.99560184 -0.07245098 0.12034234] [-0.00904289 0.07311277 0.99728268 0.05725862] [ 0. 0. 0. 1. ]] SLAMing on 0.9648606239999998 meters Centerline goodness : 0.572974 with order 2 Centerline is valid? [False, False] Translation: X:0.23, Y:0.13, Z:0.06 [[ 0.997444 -0.06980468 0.01525681 0.22515746] [ 0.07075996 0.99465295 -0.07522327 0.12566064] [-0.00992429 0.07611057 0.99704999 0.0567839 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0248606239999998 meters Centerline goodness : 0.641892 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.13, Z:0.05 [[ 0.99691895 -0.07640463 0.01774679 0.24391161] [ 0.0774666 0.99454246 -0.06988724 0.12755419] [-0.01231023 0.0710467 0.99739702 0.04954866] [ 0. 0. 0. 1. ]] SLAMing on 1.0848606239999998 meters Centerline goodness : 0.689222 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.14, Z:0.05 [[ 0.99666779 -0.08018192 0.0149722 0.26677639] [ 0.08102708 0.99433941 -0.06872949 0.13732446] [-0.00937658 0.06971362 0.99752298 0.04844743] [ 0. 0. 0. 1. ]] SLAMing on 1.1448606239999999 meters Centerline goodness : 0.891008 with order 2 Centerline is valid? [False, False] Translation: X:0.29, Y:0.15, Z:0.05 [[ 0.9966084 -0.08149962 0.01138046 0.28804797] [ 0.08207797 0.99441409 -0.06636127 0.14833446] [-0.00590847 0.06707028 0.99773076 0.04852776] [ 0. 0. 0. 1. ]] SLAMing on 1.2048606239999997 meters Centerline goodness : 0.888376 with order 2 Centerline is valid? [False, False] Translation: X:0.33, Y:0.17, Z:0.05 [[ 0.99680302 -0.07883437 0.0129956 0.33240842] [ 0.07958681 0.99404345 -0.07445506 0.16574162] [-0.00704857 0.07525131 0.99713969 0.04973902] [ 0. 0. 0. 1. ]] SLAMing on 1.2648606239999998 meters Centerline goodness : 0.699535 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.17, Z:0.04 [[ 0.9961227 -0.08631619 0.01700266 0.34641934] [ 0.08729136 0.99379332 -0.06895689 0.16763937] [-0.01094504 0.07017371 0.99747474 0.04444368] [ 0. 0. 0. 1. ]] SLAMing on 1.3248606239999998 meters Centerline goodness : 0.209192 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.17, Z:0.04 [[ 0.99549049 -0.09389251 0.01352363 0.36730669] [ 0.09460186 0.99316545 -0.06835841 0.17189829] [-0.00701285 0.06932951 0.99756917 0.04251494] [ 0. 0. 0. 1. ]] SLAMing on 1.3848606239999999 meters Centerline goodness : 0.158970 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:0.02 [[ 0.95246556 -0.08070114 -0.29376296 0.27601546] [ 0.20539913 0.88225781 0.42359455 -0.02575371] [ 0.2249901 -0.46379788 0.85689613 0.02149606] [ 0. 0. 0. 1. ]] SLAMing on 1.4448606239999997 meters Centerline goodness : 0.794116 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.41, Z:0.20 [[ 0.90101061 -0.42449979 -0.08932974 0.50053384] [ 0.42890615 0.90259436 0.036918 0.41182397] [ 0.06495684 -0.07157759 0.99531767 0.2039448 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5048606239999998 meters Centerline goodness : 0.661634 with order 2 Centerline is valid? [False, False] Translation: X:0.51, Y:0.42, Z:0.20 [[ 0.89961032 -0.42772715 -0.08803842 0.50870328] [ 0.43163534 0.90152847 0.0306162 0.41842969] [ 0.06627376 -0.06554315 0.99564647 0.20319963] [ 0. 0. 0. 1. ]] SLAMing on 1.5648606239999998 meters Centerline goodness : 0.829828 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.44, Z:0.21 [[ 0.89908247 -0.42952204 -0.08462582 0.54430716] [ 0.43245537 0.90145225 0.01913642 0.44257044] [ 0.06806662 -0.05380211 0.99622902 0.21152788] [ 0. 0. 0. 1. ]] SLAMing on 1.6248606239999996 meters Centerline goodness : 0.867135 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.45, Z:0.21 [[ 0.89894068 -0.42982994 -0.08456876 0.54499156] [ 0.43263556 0.90140272 0.01730933 0.44841193] [ 0.06879044 -0.05214752 0.99626729 0.21320099] [ 0. 0. 0. 1. ]] SLAMing on 1.6848606239999997 meters Centerline goodness : 0.860616 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:0.47, Z:0.22 [[ 0.90143006 -0.42602108 -0.07700573 0.57182979] [ 0.42758943 0.9039626 0.00434826 0.46923155] [ 0.06775785 -0.03684649 0.99702117 0.22018268] [ 0. 0. 0. 1. ]] SLAMing on 1.7448606239999997 meters Centerline goodness : 0.190505 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.48, Z:0.22 [[ 0.90175258 -0.42520855 -0.07771724 0.57519377] [ 0.4267112 0.90438282 0.00304458 0.475642 ] [ 0.06899156 -0.03590827 0.99697079 0.22019512] [ 0. 0. 0. 1. ]] SLAMing on 1.8048606239999998 meters Centerline goodness : 0.896070 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.48, Z:0.22 [[ 0.90197112 -0.42464727 -0.07824822 0.57807203] [ 0.42607213 0.90468763 0.00168206 0.48202889] [ 0.07007592 -0.03485656 0.99693249 0.22018175] [ 0. 0. 0. 1. ]] SLAMing on 1.8648606239999996 meters Centerline goodness : 0.796416 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.50, Z:0.23 [[ 0.90489938 -0.41976319 -0.0703987 0.60464814] [ 0.42010529 0.90741353 -0.01059375 0.50481262] [ 0.0683276 -0.01998858 0.99746268 0.22603592] [ 0. 0. 0. 1. ]] SLAMing on 1.9248606239999997 meters Centerline goodness : 0.823831 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.53, Z:0.23 [[ 0.90774829 -0.41499769 -0.06139993 0.63007195] [ 0.41447123 0.90980417 -0.02167884 0.52855268] [ 0.06485858 -0.00576958 0.99787779 0.23253695] [ 0. 0. 0. 1. ]] SLAMing on 1.9848606239999997 meters Centerline goodness : 0.803157 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.54, Z:0.23 [[ 0.90773123 -0.41516443 -0.06051864 0.6294565 ] [ 0.41449052 0.90974004 -0.02388865 0.53528166] [ 0.06497395 -0.00339993 0.99788117 0.23475298] [ 0. 0. 0. 1. ]] SLAMing on 2.0448606239999996 meters Centerline goodness : 0.857524 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.54, Z:0.24 [[ 0.90734812 -0.41614551 -0.05951732 0.62828118] [ 0.41535192 0.90929699 -0.02572499 0.5402837 ] [ 0.06482426 -0.00137911 0.99789574 0.23647776] [ 0. 0. 0. 1. ]] SLAMing on 2.1048606239999996 meters Centerline goodness : 0.846734 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.55, Z:0.24 [[ 0.90467549 -0.42240525 -0.05600056 0.62814128] [ 0.42107409 0.90637622 -0.03433301 0.54945004] [ 0.06526002 0.00747985 0.99784026 0.23969331] [ 0. 0. 0. 1. ]] SLAMing on 2.1648606239999997 meters Centerline goodness : 0.885217 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.55, Z:0.24 [[ 0.90244688 -0.42744617 -0.05366006 0.62826584] [ 0.4258312 0.90395441 -0.03916905 0.55200464] [ 0.06524891 0.01249786 0.99779075 0.24069214] [ 0. 0. 0. 1. ]] SLAMing on 2.2248606239999997 meters Centerline goodness : 0.727903 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.56, Z:0.24 [[ 0.89865062 -0.43585326 -0.04958828 0.62865811] [ 0.43372822 0.89975343 -0.04820368 0.55573245] [ 0.06562695 0.02181044 0.99760584 0.24371231] [ 0. 0. 0. 1. ]] SLAMing on 2.284860624 meters Centerline goodness : 0.892475 with order 3 Centerline is valid? [False, False] Translation: X:0.63, Y:0.56, Z:0.25 [[ 0.89645248 -0.44063212 -0.04707738 0.62786754] [ 0.4382426 0.89727885 -0.05323609 0.55779744] [ 0.06569907 0.02709231 0.99747162 0.24655854] [ 0. 0. 0. 1. ]] SLAMing on 2.344860624 meters Centerline goodness : 0.833924 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.56, Z:0.25 [[ 0.89339716 -0.44707585 -0.04432506 0.63245622] [ 0.44427915 0.89382842 -0.06071898 0.55903151] [ 0.06676499 0.03455346 0.99717024 0.24788456] [ 0. 0. 0. 1. ]] SLAMing on 2.4048606239999994 meters Centerline goodness : 0.759305 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.56, Z:0.25 [[ 0.89194266 -0.45011598 -0.04282403 0.63477655] [ 0.44712356 0.89214615 -0.06446525 0.56034491] [ 0.06722213 0.03835168 0.99700067 0.24898098] [ 0. 0. 0. 1. ]] SLAMing on 2.4648606239999995 meters Centerline goodness : 0.747731 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.56, Z:0.25 [[ 0.89101454 -0.45198796 -0.04242619 0.64001524] [ 0.44879662 0.89107131 -0.06762779 0.56153251] [ 0.06837171 0.04121661 0.99680816 0.24894257] [ 0. 0. 0. 1. ]] SLAMing on 2.5248606239999996 meters Centerline goodness : 0.867102 with order 3 Centerline is valid? [False, False] Translation: X:0.65, Y:0.56, Z:0.25 [[ 0.89057746 -0.4527853 -0.04309589 0.65016836] [ 0.44939563 0.89058014 -0.07007557 0.56031799] [ 0.07010953 0.04304062 0.99661033 0.24788463] [ 0. 0. 0. 1. ]] SLAMing on 2.5848606239999996 meters Centerline goodness : 0.881008 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:0.56, Z:0.25 [[ 0.89114831 -0.45155226 -0.04421816 0.65550315] [ 0.44817437 0.89126137 -0.06923084 0.55791135] [ 0.07067128 0.0418775 0.99662021 0.24731016] [ 0. 0. 0. 1. ]] SLAMing on 2.6448606239999997 meters Centerline goodness : 0.880938 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.56, Z:0.25 [[ 0.89315216 -0.44719428 -0.04792183 0.66826362] [ 0.44374813 0.8935631 -0.06806301 0.55630339] [ 0.07325857 0.0395254 0.99652944 0.24652749] [ 0. 0. 0. 1. ]] SLAMing on 2.7048606239999997 meters Centerline goodness : 0.840015 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.55, Z:0.25 [[ 0.89432062 -0.44463704 -0.04988527 0.67482184] [ 0.44119129 0.89490789 -0.0670083 0.55488046] [ 0.0744371 0.03791796 0.99650456 0.24604947] [ 0. 0. 0. 1. ]] SLAMing on 2.7648606239999998 meters SLAMing on 2.8248606239999994 meters Centerline goodness : 0.856649 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:0.56, Z:0.25 [[ 0.9009249 -0.4304084 -0.05552424 0.70704479] [ 0.42676825 0.90190234 -0.06664113 0.5554534 ] [ 0.07876035 0.03634267 0.99623091 0.2488461 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8848606239999994 meters Centerline goodness : 0.870392 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:0.55, Z:0.25 [[ 0.90356943 -0.42432529 -0.05924811 0.71599853] [ 0.4209277 0.90497899 -0.0619104 0.55155991] [ 0.07988844 0.03100117 0.99632162 0.24720783] [ 0. 0. 0. 1. ]] SLAMing on 2.9448606239999995 meters Centerline goodness : 0.870064 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:0.55, Z:0.25 [[ 0.90427025 -0.42255989 -0.06114287 0.7222208 ] [ 0.41919939 0.90586251 -0.06070411 0.54920755] [ 0.08103816 0.02926186 0.99628137 0.24564821] [ 0. 0. 0. 1. ]] SLAMing on 3.0048606239999995 meters Centerline goodness : 0.867358 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:0.55, Z:0.25 [[ 0.90577084 -0.41939599 -0.06071394 0.71510617] [ 0.41519769 0.9069654 -0.07088472 0.54518149] [ 0.08479421 0.03899702 0.99563506 0.24885874] [ 0. 0. 0. 1. ]] SLAMing on 3.0648606239999996 meters Centerline goodness : 0.852579 with order 3 Centerline is valid? [False, False] Translation: X:0.72, Y:0.54, Z:0.25 [[ 0.90508202 -0.42075048 -0.06160816 0.72321812] [ 0.41630831 0.90626236 -0.07332076 0.54260932] [ 0.0866829 0.04071331 0.99540369 0.24787213] [ 0. 0. 0. 1. ]] SLAMing on 3.1248606239999996 meters Centerline goodness : 0.860098 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.54, Z:0.25 [[ 0.9052466 -0.42022933 -0.06273671 0.72699785] [ 0.41585632 0.9065756 -0.07200148 0.53879847] [ 0.08713271 0.03908964 0.9954295 0.24664921] [ 0. 0. 0. 1. ]] SLAMing on 3.1848606239999997 meters Centerline goodness : 0.833065 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.54, Z:0.25 [[ 0.90522145 -0.42014643 -0.06364825 0.72963789] [ 0.41580027 0.90665744 -0.07129116 0.53510735] [ 0.08765988 0.03806933 0.99542276 0.24682042] [ 0. 0. 0. 1. ]] SLAMing on 3.2448606239999993 meters Centerline goodness : 0.834046 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.53, Z:0.25 [[ 0.90508755 -0.42021674 -0.0650724 0.7341573 ] [ 0.41589177 0.90668137 -0.07044801 0.52938887] [ 0.08860337 0.03669854 0.99539071 0.24681351] [ 0. 0. 0. 1. ]] SLAMing on 3.3048606239999994 meters Centerline goodness : 0.829520 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.53, Z:0.25 [[ 0.90506981 -0.42015408 -0.06572048 0.73637109] [ 0.41587755 0.90675043 -0.06963845 0.52540351] [ 0.08885095 0.03569598 0.9954051 0.24681224] [ 0. 0. 0. 1. ]] SLAMing on 3.3648606239999994 meters Centerline goodness : 0.825938 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.52, Z:0.25 [[ 0.90517559 -0.41970972 -0.06708872 0.7417233 ] [ 0.41550857 0.90702494 -0.06825245 0.51974909] [ 0.08949736 0.03390452 0.99540982 0.24512111] [ 0. 0. 0. 1. ]] SLAMing on 3.4248606239999995 meters Centerline goodness : 0.812003 with order 2 Centerline is valid? [False, False] Translation: X:0.74, Y:0.51, Z:0.25 [[ 0.90626195 -0.41704413 -0.06901798 0.73514472] [ 0.41189348 0.90791831 -0.07764083 0.51344338] [ 0.09504234 0.04193487 0.99458957 0.24751085] [ 0. 0. 0. 1. ]] SLAMing on 3.4848606239999995 meters Centerline goodness : 0.810125 with order 2 Centerline is valid? [False, False] Translation: X:0.72, Y:0.51, Z:0.25 [[ 0.90881198 -0.41112058 -0.07099759 0.72357952] [ 0.40544926 0.91043352 -0.08198604 0.50695689] [ 0.09834473 0.04572398 0.99410142 0.24966485] [ 0. 0. 0. 1. ]] SLAMing on 3.5448606239999996 meters Centerline goodness : 0.805812 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.51, Z:0.25 [[ 0.9112577 -0.40512257 -0.07406146 0.7277061 ] [ 0.39976352 0.91334729 -0.07736834 0.50575588] [ 0.0989875 0.04089542 0.99424798 0.24935868] [ 0. 0. 0. 1. ]] SLAMing on 3.6048606239999996 meters Centerline goodness : 0.837373 with order 2 Centerline is valid? [False, False] Translation: X:0.70, Y:0.49, Z:0.24 [[ 0.91454236 -0.39708262 -0.07705618 0.70347603] [ 0.39282843 0.91732408 -0.06482555 0.48876388] [ 0.09642659 0.02901586 0.99491708 0.2394931 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6648606239999992 meters Centerline goodness : 0.807868 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.51, Z:0.26 [[ 0.91936589 -0.38755504 -0.06758287 0.72907214] [ 0.38217484 0.92059829 -0.08025699 0.50572288] [ 0.09332067 0.04795707 0.99448045 0.25609219] [ 0. 0. 0. 1. ]] SLAMing on 3.7248606239999993 meters Centerline goodness : 0.802009 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.51, Z:0.26 [[ 0.92151494 -0.38208521 -0.06943417 0.7323506 ] [ 0.37686984 0.92301891 -0.07749331 0.50628308] [ 0.0936981 0.0452436 0.99457211 0.25774693] [ 0. 0. 0. 1. ]] SLAMing on 3.7848606239999993 meters Centerline goodness : 0.808982 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:0.52, Z:0.27 [[ 0.92560742 -0.37357293 -0.06077972 0.75630848] [ 0.36735864 0.92538867 -0.09329226 0.52163928] [ 0.09109632 0.06402405 0.99378186 0.27396801] [ 0. 0. 0. 1. ]] SLAMing on 3.8448606239999994 meters Centerline goodness : 0.804826 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:0.52, Z:0.27 [[ 0.92841577 -0.36598954 -0.06399846 0.75796823] [ 0.36030171 0.92891923 -0.08539168 0.51801978] [ 0.09070186 0.05622023 0.99428993 0.2731334 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9048606239999994 meters Centerline goodness : 0.797979 with order 3 Centerline is valid? [False, False] Translation: X:0.76, Y:0.52, Z:0.28 [[ 0.93036904 -0.36083227 -0.06491166 0.7611447 ] [ 0.35532345 0.93106611 -0.082832 0.51587447] [ 0.09032551 0.05399969 0.99444725 0.27525725] [ 0. 0. 0. 1. ]] SLAMing on 3.9648606239999995 meters Centerline goodness : 0.796381 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:0.51, Z:0.27 [[ 0.93063988 -0.35995486 -0.06589322 0.76447482] [ 0.35451333 0.93149177 -0.08150694 0.51184108] [ 0.09071781 0.05249359 0.99449218 0.2741726 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0248606239999996 meters Centerline goodness : 0.798349 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:0.51, Z:0.27 [[ 0.92874152 -0.36499063 -0.06496945 0.76600738] [ 0.35930695 0.92936374 -0.08474406 0.50519752] [ 0.09131104 0.05536136 0.99428236 0.27493723] [ 0. 0. 0. 1. ]] SLAMing on 4.084860623999999 meters Centerline goodness : 0.796934 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.48, Z:0.26 [[ 0.92660559 -0.37025818 -0.0656579 0.73417852] [ 0.36527908 0.9277371 -0.07664904 0.48270385] [ 0.0892932 0.04703997 0.99489395 0.26420958] [ 0. 0. 0. 1. ]] SLAMing on 4.144860624 meters Centerline goodness : 0.792964 with order 3 Centerline is valid? [False, False] Translation: X:0.71, Y:0.46, Z:0.26 [[ 0.92314199 -0.37909855 -0.06397779 0.70549602] [ 0.37448725 0.92431524 -0.07348904 0.4586138 ] [ 0.08699523 0.04388195 0.99524178 0.2557873 ] [ 0. 0. 0. 1. ]] SLAMing on 4.204860623999999 meters Centerline goodness : 0.788597 with order 3 Centerline is valid? [False, False] Translation: X:0.68, Y:0.44, Z:0.25 [[ 0.92127607 -0.38370348 -0.06341955 0.67681618] [ 0.37968963 0.92269315 -0.06688156 0.43701616] [ 0.08417947 0.03753663 0.99574335 0.24588911] [ 0. 0. 0. 1. ]] SLAMing on 4.264860624 meters Centerline goodness : 0.788624 with order 3 Centerline is valid? [False, False] Translation: X:0.65, Y:0.41, Z:0.23 [[ 0.91940802 -0.3881189 -0.06366009 0.64671743] [ 0.38482257 0.9211515 -0.05823651 0.41435939] [ 0.08124328 0.02904528 0.996271 0.23492579] [ 0. 0. 0. 1. ]] SLAMing on 4.324860623999999 meters Centerline goodness : 0.789728 with order 3 Centerline is valid? [False, False] Translation: X:0.62, Y:0.40, Z:0.22 [[ 0.91958513 -0.38749698 -0.064879 0.61938613] [ 0.38498891 0.92167159 -0.04801064 0.39531158] [ 0.07840111 0.01917218 0.99673753 0.22426208] [ 0. 0. 0. 1. ]] SLAMing on 4.384860623999999 meters Centerline goodness : 0.790321 with order 3 Centerline is valid? [False, False] Translation: X:0.59, Y:0.38, Z:0.21 [[ 0.91966373 -0.38728821 -0.0650113 0.59437715] [ 0.38538344 0.92188215 -0.04016097 0.37677986] [ 0.07548663 0.01188031 0.99707604 0.21434693] [ 0. 0. 0. 1. ]] SLAMing on 4.4448606239999995 meters Centerline goodness : 0.790465 with order 3 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:0.20 [[ 0.92010907 -0.38632563 -0.06443447 0.56895787] [ 0.38494656 0.92234515 -0.03309947 0.36144513] [ 0.072218 0.00565129 0.99737286 0.20497826] [ 0. 0. 0. 1. ]] SLAMing on 4.504860623999999 meters Centerline goodness : 0.788180 with order 3 Centerline is valid? [False, False] Translation: X:0.54, Y:0.35, Z:0.20 [[ 0.91919829 -0.38881896 -0.06240444 0.54420234] [ 0.38758012 0.92130251 -0.03135835 0.34855324] [ 0.06968609 0.00463782 0.99755819 0.1968325 ] [ 0. 0. 0. 1. ]] SLAMing on 4.564860624 meters Centerline goodness : 0.791082 with order 3 Centerline is valid? [False, False] Translation: X:0.52, Y:0.34, Z:0.19 [[ 0.91724082 -0.39371665 -0.06046882 0.51595192] [ 0.39268634 0.91922856 -0.02857089 0.33523845] [ 0.0668335 0.0024611 0.99776111 0.18708461] [ 0. 0. 0. 1. ]] SLAMing on 4.624860623999999 meters Centerline goodness : 0.787412 with order 3 Centerline is valid? [False, False] Translation: X:0.49, Y:0.32, Z:0.18 [[ 0.91653694 -0.39566772 -0.05837029 0.48525271] [ 0.39500012 0.91839172 -0.02305545 0.32173156] [ 0.06272909 -0.0019251 0.99802873 0.17901391] [ 0. 0. 0. 1. ]] SLAMing on 4.684860624 meters Centerline goodness : 0.786662 with order 3 Centerline is valid? [False, False] Translation: X:0.45, Y:0.31, Z:0.17 [[ 0.91622284 -0.39683454 -0.05529979 0.45298181] [ 0.39648457 0.91787203 -0.01763304 0.30923811] [ 0.05775553 -0.00576972 0.99831408 0.17227811] [ 0. 0. 0. 1. ]] SLAMing on 4.744860623999999 meters Centerline goodness : 0.790521 with order 3 Centerline is valid? [False, False] Translation: X:0.42, Y:0.30, Z:0.17 [[ 0.9163547 -0.3970961 -0.05107594 0.42463412] [ 0.39685259 0.91775551 -0.01525952 0.30109195] [ 0.05293472 -0.00628649 0.99857819 0.16642417] [ 0. 0. 0. 1. ]] SLAMing on 4.804860623999999 meters Centerline goodness : 0.787039 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:0.16 [[ 0.91709161 -0.39587684 -0.04716477 0.39884596] [ 0.39565424 0.91828722 -0.01436355 0.29434637] [ 0.048997 -0.00548825 0.99878385 0.16240758] [ 0. 0. 0. 1. ]] SLAMing on 4.864860623999999 meters Centerline goodness : 0.782922 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:0.29, Z:0.16 [[ 0.91759939 -0.39509471 -0.04372112 0.36819179] [ 0.39499211 0.91861467 -0.01132802 0.28594267] [ 0.0446385 -0.00687491 0.99897955 0.15797815] [ 0. 0. 0. 1. ]] SLAMing on 4.924860623999999 meters Centerline goodness : 0.786166 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:0.28, Z:0.15 [[ 0.91813255 -0.39415928 -0.04087892 0.33905819] [ 0.39414675 0.91900628 -0.00870598 0.2778697 ] [ 0.04099952 -0.00811905 0.99912618 0.15284664] [ 0. 0. 0. 1. ]] SLAMing on 4.9848606239999995 meters Centerline goodness : 0.784058 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.27, Z:0.15 [[ 0.91897812 -0.39239802 -0.03876865 0.30986894] [ 0.39238457 0.91976404 -0.00827366 0.27485017] [ 0.03890458 -0.0076089 0.99921396 0.15048646] [ 0. 0. 0. 1. ]] SLAMing on 5.044860623999999 meters Centerline goodness : 0.785759 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.27, Z:0.15 [[ 0.92073669 -0.38865101 -0.03455911 0.28899501] [ 0.38853449 0.9213766 -0.01030104 0.27157355] [ 0.03584547 -0.00394286 0.99934957 0.15030231] [ 0. 0. 0. 1. ]] SLAMing on 5.104860624 meters Centerline goodness : 0.792565 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.28, Z:0.15 [[ 0.92116181 -0.3877059 -0.03383867 0.28242615] [ 0.387648 0.92176808 -0.00852254 0.27595314] [ 0.03449564 -0.00526686 0.99939097 0.15083221] [ 0. 0. 0. 1. ]] SLAMing on 5.164860623999999 meters Centerline goodness : 0.791277 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.27, Z:0.15 [[ 0.92174753 -0.3865956 -0.03041917 0.25378983] [ 0.38654573 0.92223775 -0.0077414 0.27006442] [ 0.0310465 -0.00462278 0.99950725 0.14844396] [ 0. 0. 0. 1. ]] SLAMing on 5.224860623999999 meters Centerline goodness : 0.796071 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.15 [[ 0.9214192 -0.38747246 -0.02918466 0.22436153] [ 0.38731264 0.92188073 -0.01117331 0.26889244] [ 0.03123412 -0.00100829 0.99951159 0.14843854] [ 0. 0. 0. 1. ]] SLAMing on 5.284860623999999 meters Centerline goodness : 0.794661 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.27, Z:0.15 [[ 0.92076988 -0.38901705 -0.02913001 0.19398081] [ 0.38878694 0.92122998 -0.01341792 0.26691105] [ 0.03205524 0.00102945 0.99948557 0.14682286] [ 0. 0. 0. 1. ]] SLAMing on 5.344860623999999 meters Centerline goodness : 0.794799 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.26, Z:0.15 [[ 0.92132408 -0.38783315 -0.02733845 0.17124275] [ 0.3874408 0.92170609 -0.01864176 0.26422571] [ 0.03242791 0.00658307 0.9994524 0.14848971] [ 0. 0. 0. 1. ]] SLAMing on 5.4048606239999994 meters Centerline goodness : 0.796291 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.26, Z:0.14 [[ 0.92186852 -0.38670421 -0.02486532 0.13897355] [ 0.38644556 0.92219548 -0.01467402 0.2556756 ] [ 0.02860519 0.00391842 0.99958311 0.14421151] [ 0. 0. 0. 1. ]] SLAMing on 5.464860623999999 meters Centerline goodness : 0.796659 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.25, Z:0.14 [[ 0.92318915 -0.38376475 -0.02112846 0.10979046] [ 0.38355772 0.92342159 -0.01326784 0.25152292] [ 0.0246022 0.00414474 0.99968873 0.14299403] [ 0. 0. 0. 1. ]] SLAMing on 5.5248606239999996 meters Centerline goodness : 0.799410 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.25, Z:0.15 [[ 0.92428955 -0.38109088 -0.02141412 0.09331818] [ 0.38065611 0.92445979 -0.0217951 0.25159231] [ 0.02810241 0.01199357 0.9995331 0.14685538] [ 0. 0. 0. 1. ]] SLAMing on 5.584860623999999 meters Centerline goodness : 0.805505 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.25, Z:0.15 [[ 0.92604512 -0.37673493 -0.0226104 0.07571074] [ 0.37605324 0.92613237 -0.02937345 0.25415979] [ 0.03200623 0.01869843 0.99931275 0.15155459] [ 0. 0. 0. 1. ]] SLAMing on 5.644860623999999 meters Centerline goodness : 0.805712 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.25, Z:0.15 [[ 0.92839769 -0.37087499 -0.02301032 0.05256124] [ 0.37015018 0.92847266 -0.03045262 0.2514772 ] [ 0.03265857 0.01975487 0.99927132 0.15408338] [ 0. 0. 0. 1. ]] SLAMing on 5.704860623999999 meters Centerline goodness : 0.798616 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.26, Z:0.15 [[ 0.93134452 -0.3632701 -0.02514386 0.05120056] [ 0.36272642 0.9315934 -0.02373374 0.25575884] [ 0.03204561 0.01298394 0.99940207 0.15291683] [ 0. 0. 0. 1. ]] SLAMing on 5.764860623999999 meters Centerline goodness : 0.797904 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.26, Z:0.15 [[ 0.93296695 -0.35900013 -0.02629789 0.05079673] [ 0.35854592 0.93328726 -0.02048668 0.25947146] [ 0.0318982 0.0096844 0.9994442 0.15223341] [ 0. 0. 0. 1. ]] SLAMing on 5.824860623999999 meters Centerline goodness : 0.802504 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.26, Z:0.15 [[ 0.93581274 -0.35135278 -0.02838548 0.04853234] [ 0.35109371 0.93623847 -0.01381038 0.26471469] [ 0.0314279 0.00295797 0.99950164 0.15186399] [ 0. 0. 0. 1. ]] SLAMing on 5.884860623999999 meters Centerline goodness : 0.798466 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:0.15 [[ 9.37260675e-01 -3.47369456e-01 -2.96123149e-02 4.84298460e-02] [ 3.47216959e-01 9.37728148e-01 -1.03103937e-02 2.66891194e-01] [ 3.13498170e-02 -6.18371329e-04 9.99508282e-01 1.51018489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9448606239999995 meters Centerline goodness : 0.806652 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:0.15 [[ 0.93833035 -0.34438985 -0.030525 0.04732045] [ 0.34434683 0.93881773 -0.00682135 0.26805933] [ 0.03100662 -0.00411051 0.99951073 0.1499226 ] [ 0. 0. 0. 1. ]] SLAMing on 6.004860623999999 meters Centerline goodness : 0.805175 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:0.15 [[ 0.9381457 -0.34491393 -0.03028227 0.04685184] [ 0.34486507 0.93862626 -0.00698735 0.26813884] [ 0.03083377 -0.00388814 0.99951696 0.14960042] [ 0. 0. 0. 1. ]] SLAMing on 6.064860623999999 meters Centerline goodness : 0.803904 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.27, Z:0.15 [[ 0.93783055 -0.34578517 -0.03010781 0.04651022] [ 0.34573053 0.93830647 -0.00716764 0.26778905] [ 0.03072882 -0.00368715 0.99952096 0.14896186] [ 0. 0. 0. 1. ]] SLAMing on 6.124860623999999 meters Centerline goodness : 0.803646 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.27, Z:0.15 [[ 0.93760648 -0.34643449 -0.02961823 0.04448709] [ 0.34635128 0.93807028 -0.00805877 0.26929409] [ 0.03057581 -0.00270236 0.9995288 0.15043937] [ 0. 0. 0. 1. ]] SLAMing on 6.184860623999999 meters Centerline goodness : 0.805347 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.26, Z:0.15 [[ 0.93949135 -0.34181539 -0.02276511 0.02511886] [ 0.34167438 0.93976583 -0.00994034 0.26316502] [ 0.02479163 0.00156061 0.99969142 0.15152316] [ 0. 0. 0. 1. ]] SLAMing on 6.244860623999999 meters Centerline goodness : 0.804734 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.26, Z:0.15 [[ 0.93938579 -0.34213256 -0.02235281 0.02352765] [ 0.34197489 0.93964873 -0.01065066 0.26416584] [ 0.02464773 0.00236098 0.99969341 0.15302899] [ 0. 0. 0. 1. ]] SLAMing on 6.304860623999999 meters Centerline goodness : 0.805085 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.27, Z:0.15 [[ 0.93920738 -0.34265968 -0.0217681 0.02141331] [ 0.34248713 0.9394542 -0.01133024 0.26530521] [ 0.02433255 0.00318616 0.99969884 0.15438427] [ 0. 0. 0. 1. ]] SLAMing on 6.364860623999999 meters Centerline goodness : 0.808315 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.27, Z:0.16 [[ 0.93905326 -0.34310599 -0.02138343 0.01974647] [ 0.34292224 0.93928902 -0.0118523 0.26590083] [ 0.02415182 0.00379708 0.99970109 0.15566885] [ 0. 0. 0. 1. ]] SLAMing on 6.424860623999999 meters Centerline goodness : 0.805277 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.27, Z:0.16 [[ 0.93898356 -0.34329646 -0.02138742 0.02003229] [ 0.343115 0.9392198 -0.0117588 0.26521236] [ 0.02412425 0.00370298 0.99970211 0.15522896] [ 0. 0. 0. 1. ]] SLAMing on 6.484860623999999 meters Centerline goodness : 0.806674 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.26, Z:0.15 [[ 0.93874691 -0.34395067 -0.02126456 0.01965129] [ 0.34377501 0.9389811 -0.01154247 0.26408285] [ 0.02393706 0.00352523 0.99970725 0.15468742] [ 0. 0. 0. 1. ]] SLAMing on 6.544860623999999 meters Centerline goodness : 0.809189 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.25, Z:0.15 [[ 0.93960412 -0.34183923 -0.01703065 0.00442585] [ 0.34160784 0.93972106 -0.01511356 0.25499607] [ 0.02117047 0.00838295 0.99974074 0.15329338] [ 0. 0. 0. 1. ]] SLAMing on 6.604860623999999 meters Centerline goodness : 0.805531 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.25, Z:0.15 [[ 0.93935375 -0.34253926 -0.01677472 0.00356676] [ 0.34231006 0.93946545 -0.01511576 0.25340128] [ 0.02093702 0.00845689 0.99974503 0.15370952] [ 0. 0. 0. 1. ]] SLAMing on 6.664860623999999 meters Centerline goodness : 0.810295 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.25, Z:0.15 [[ 0.93920604 -0.34294945 -0.01666386 0.00272829] [ 0.34271843 0.93931438 -0.01525033 0.25211169] [ 0.0208827 0.00861219 0.99974484 0.15489382] [ 0. 0. 0. 1. ]] SLAMing on 6.724860623999999 meters Centerline goodness : 0.807773 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.24, Z:0.16 [[ 0.94102079 -0.33817432 -0.01086282 -0.01614524] [ 0.33799245 0.94101826 -0.01567609 0.24321357] [ 0.01552337 0.01107997 0.99981811 0.15534987] [ 0. 0. 0. 1. ]] SLAMing on 6.784860623999999 meters Centerline goodness : 0.808223 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.24, Z:0.16 [[ 0.94097755 -0.33829843 -0.01074346 -0.01651254] [ 0.33811622 0.94097198 -0.0157844 0.2429945 ] [ 0.01544914 0.01122023 0.9998177 0.15574618] [ 0. 0. 0. 1. ]] SLAMing on 6.844860623999999 meters Centerline goodness : 0.805001 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.24, Z:0.16 [[ 0.94106265 -0.33805989 -0.0107981 -0.01655507] [ 0.33787367 0.94105541 -0.01600312 0.24352147] [ 0.01557162 0.01141154 0.99981363 0.15641745] [ 0. 0. 0. 1. ]] SLAMing on 6.904860623999999 meters Centerline goodness : 0.804737 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.24, Z:0.16 [[ 0.94209931 -0.33515089 -0.01108048 -0.01603439] [ 0.33500491 0.94212435 -0.01316878 0.24282843] [ 0.01485271 0.00869428 0.99985189 0.15507457] [ 0. 0. 0. 1. ]] SLAMing on 6.964860623999999 meters Centerline goodness : 0.799290 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.24, Z:0.16 [[ 0.94285061 -0.33298546 -0.01238571 -0.0287414 ] [ 0.332652 0.94276628 -0.02311685 0.23969877] [ 0.0193744 0.0176756 0.99965604 0.15960978] [ 0. 0. 0. 1. ]] SLAMing on 7.024860623999999 meters Centerline goodness : 0.803677 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.24, Z:0.16 [[ 0.94274883 -0.33326779 -0.01253908 -0.02843236] [ 0.33293329 0.9426691 -0.02303046 0.23841246] [ 0.01949551 0.01753726 0.99965613 0.15970236] [ 0. 0. 0. 1. ]] SLAMing on 7.084860623999999 meters Centerline goodness : 0.806726 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.24, Z:0.16 [[ 0.94245031 -0.33411999 -0.01229786 -0.0300716 ] [ 0.33378421 0.9423612 -0.02331232 0.23736427] [ 0.01937813 0.01786587 0.99965259 0.16108188] [ 0. 0. 0. 1. ]] SLAMing on 7.144860623999999 meters Centerline goodness : 0.800429 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.23, Z:0.16 [[ 0.94234729 -0.33457359 -0.0064876 -0.05482669] [ 0.33433187 0.94213956 -0.02439764 0.22524777] [ 0.01427503 0.02082204 0.99968128 0.16113249] [ 0. 0. 0. 1. ]] SLAMing on 7.204860623999999 meters Centerline goodness : 0.800164 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.21, Z:0.16 [[ 0.94174595 -0.33631692 -0.00234551 -0.08751567] [ 0.33621002 0.94158325 -0.01959112 0.20965228] [ 0.00879732 0.01766127 0.99980532 0.15594375] [ 0. 0. 0. 1. ]] SLAMing on 7.264860623999999 meters Centerline goodness : 0.797348 with order 1 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.20, Z:0.16 [[ 0.94148229 -0.33702475 0.00504211 -0.10905796] [ 0.33704748 0.94119403 -0.02351166 0.19937659] [ 0.00317841 0.02383524 0.99971085 0.15713634] [ 0. 0. 0. 1. ]] SLAMing on 7.3248606239999985 meters Centerline goodness : 0.796665 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:0.16 [[ 0.9420571 -0.33528102 0.01072677 -0.12869053] [ 0.33544858 0.94172018 -0.025246 0.1894582 ] [-0.00163711 0.02738146 0.99962372 0.15639844] [ 0. 0. 0. 1. ]] SLAMing on 7.384860623999999 meters Centerline goodness : 0.799226 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:0.15 [[ 0.94183962 -0.33574927 0.01451074 -0.15696151] [ 0.33600176 0.94161285 -0.02163459 0.17606678] [-0.00639971 0.02525195 0.99966063 0.15170289] [ 0. 0. 0. 1. ]] SLAMing on 7.444860623999999 meters Centerline goodness : 0.799568 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.16, Z:0.15 [[ 0.94216911 -0.33472101 0.01670983 -0.18248295] [ 0.33500138 0.9420368 -0.01845904 0.16440873] [-0.00956265 0.02298935 0.99968997 0.14681956] [ 0. 0. 0. 1. ]] SLAMing on 7.504860623999999 meters Centerline goodness : 0.797058 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.16, Z:0.15 [[ 0.94251888 -0.33348182 0.0211671 -0.19831513] [ 0.33393547 0.94229875 -0.02366799 0.1564396 ] [-0.01205289 0.02937597 0.99949576 0.14659538] [ 0. 0. 0. 1. ]] SLAMing on 7.564860623999999 meters Centerline goodness : 0.798418 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.16, Z:0.15 [[ 0.94230979 -0.33406305 0.02131035 -0.19904433] [ 0.33452359 0.94208427 -0.02389957 0.156043 ] [-0.01209218 0.02964961 0.99948721 0.14714898] [ 0. 0. 0. 1. ]] SLAMing on 7.624860623999999 meters Centerline goodness : 0.796855 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.15, Z:0.15 [[ 0.94312967 -0.33148236 0.02501756 -0.2228324 ] [ 0.33206359 0.9429411 -0.02441017 0.14797753] [-0.01549854 0.03132938 0.99938895 0.14757568] [ 0. 0. 0. 1. ]] SLAMing on 7.684860623999999 meters Centerline goodness : 0.797783 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.14, Z:0.15 [[ 0.9435437 -0.32976721 0.03128686 -0.24419052] [ 0.33062412 0.94335072 -0.02787663 0.14018909] [-0.02032168 0.03664701 0.99912163 0.14911168] [ 0. 0. 0. 1. ]] SLAMing on 7.744860623999998 meters Centerline goodness : 0.797864 with order 1 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.13, Z:0.15 [[ 0.94409558 -0.32762639 0.03666712 -0.26361991] [ 0.32877403 0.94388564 -0.03142507 0.13242468] [-0.02431389 0.04172347 0.99883331 0.15023962] [ 0. 0. 0. 1. ]] SLAMing on 7.804860623999999 meters Centerline goodness : 0.795209 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.12, Z:0.15 [[ 0.94388768 -0.32778759 0.04038992 -0.29401597] [ 0.32894715 0.94398087 -0.02634186 0.11935948] [-0.02949278 0.0381499 0.9988367 0.14602546] [ 0. 0. 0. 1. ]] SLAMing on 7.8648606239999985 meters Centerline goodness : 0.797317 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.12, Z:0.15 [[ 0.94380592 -0.32802861 0.04034381 -0.29419232] [ 0.329175 0.94391216 -0.02595494 0.11832184] [-0.02956704 0.0377766 0.9988487 0.14586689] [ 0. 0. 0. 1. ]] SLAMing on 7.924860623999999 meters Centerline goodness : 0.799994 with order 1 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.11, Z:0.14 [[ 0.94408719 -0.32700193 0.04206086 -0.32165561] [ 0.32806167 0.94441808 -0.02121396 0.10646964] [-0.03278603 0.03382639 0.99888981 0.140914 ] [ 0. 0. 0. 1. ]] SLAMing on 7.984860623999999 meters Centerline goodness : 0.803193 with order 1 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.11, Z:0.14 [[ 0.94401015 -0.32722429 0.04206054 -0.32148984] [ 0.32827811 0.94434694 -0.0210318 0.10562809] [-0.03283763 0.03366179 0.99889368 0.14045155] [ 0. 0. 0. 1. ]] SLAMing on 8.044860624 meters Centerline goodness : 0.798509 with order 1 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.10, Z:0.15 [[ 0.94469943 -0.3254539 0.04028343 -0.33454174] [ 0.32675541 0.94458586 -0.03143976 0.10346688] [-0.02781896 0.04286395 0.99869354 0.14564439] [ 0. 0. 0. 1. ]] SLAMing on 8.104860624 meters Centerline goodness : 0.797927 with order 1 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.09, Z:0.14 [[ 0.94569406 -0.3222683 0.04249579 -0.35976029] [ 0.32357286 0.94577684 -0.02840382 0.09454353] [-0.03103789 0.04061181 0.99869281 0.14363141] [ 0. 0. 0. 1. ]] SLAMing on 8.164860624 meters Centerline goodness : 0.799707 with order 1 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.09, Z:0.14 [[ 0.94653603 -0.31986573 0.04189807 -0.36225324] [ 0.32103333 0.94674325 -0.02479574 0.09312279] [-0.03173541 0.03692074 0.99881416 0.14462141] [ 0. 0. 0. 1. ]] SLAMing on 8.224860624 meters Centerline goodness : 0.800869 with order 1 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.09, Z:0.15 [[ 0.94717743 -0.31797237 0.04181484 -0.36646254] [ 0.31904913 0.94748087 -0.02208294 0.09290494] [-0.032597 0.03425745 0.99888131 0.14714743] [ 0. 0. 0. 1. ]] SLAMing on 8.284860624 meters Centerline goodness : 0.798438 with order 1 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.09, Z:0.15 [[ 0.94849961 -0.31321977 0.04734843 -0.38417014] [ 0.31457362 0.94892117 -0.02433214 0.08726835] [-0.03730862 0.03797359 0.99858203 0.14740206] [ 0. 0. 0. 1. ]] SLAMing on 8.344860623999999 meters Centerline goodness : 0.798255 with order 1 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.09, Z:0.15 [[ 0.94837642 -0.3135902 0.04736392 -0.38399517] [ 0.31493496 0.94880803 -0.02406865 0.08618319] [-0.03739158 0.03774269 0.99858768 0.14665547] [ 0. 0. 0. 1. ]] SLAMing on 8.404860624 meters Centerline goodness : 0.798105 with order 1 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.09, Z:0.15 [[ 0.94832002 -0.31378461 0.04720543 -0.38340292] [ 0.31511228 0.9487567 -0.02376912 0.08556894] [-0.03732809 0.03741574 0.99860236 0.1457173 ] [ 0. 0. 0. 1. ]] SLAMing on 8.464860624 meters Centerline goodness : 0.801783 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.08, Z:0.15 [[ 0.94875007 -0.31259863 0.04642628 -0.38573574] [ 0.31376945 0.94928108 -0.02035093 0.08377154] [-0.03770991 0.03387509 0.99871439 0.14579401] [ 0. 0. 0. 1. ]] SLAMing on 8.524860624 meters Centerline goodness : 0.802522 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.08, Z:0.15 [[ 0.94849986 -0.31329338 0.04685379 -0.38749399] [ 0.31449399 0.94903284 -0.02074104 0.083636 ] [-0.03796776 0.03440811 0.9986864 0.14706094] [ 0. 0. 0. 1. ]] SLAMing on 8.584860624 meters Centerline goodness : 0.798814 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.08, Z:0.15 [[ 0.94806127 -0.31451428 0.04754568 -0.38987499] [ 0.31575027 0.94860949 -0.02101917 0.0823772 ] [-0.03849145 0.03494003 0.99864789 0.14808533] [ 0. 0. 0. 1. ]] SLAMing on 8.644860624 meters Centerline goodness : 0.802880 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.08, Z:0.15 [[ 0.94780245 -0.3152521 0.04781871 -0.3909342 ] [ 0.31650115 0.94835747 -0.02109809 0.08212497] [-0.03869801 0.0351315 0.99863319 0.14811863] [ 0. 0. 0. 1. ]] SLAMing on 8.704860624 meters Centerline goodness : 0.816828 with order 1 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.15 [[ 0.95542758 -0.29497895 -0.01206458 -1.10024718] [ 0.29430296 0.94841791 0.11785259 -0.15017871] [-0.02332177 -0.11615025 0.99295781 0.14859653] [ 0. 0. 0. 1. ]] SLAMing on 8.764860623999999 meters Centerline goodness : 0.800800 with order 1 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:0.21 [[ 0.92235572 -0.38589824 0.01850579 -0.86116986] [ 0.38624782 0.92212907 -0.02214965 0.04261316] [-0.00851721 0.02757768 0.99958338 0.21054726] [ 0. 0. 0. 1. ]] SLAMing on 8.824860624 meters Centerline goodness : 0.798245 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.03, Z:0.21 [[ 0.92318359 -0.38383732 0.02002451 -0.88948157] [ 0.38416474 0.92312063 -0.01630214 0.02883498] [-0.01222767 0.02274258 0.99966657 0.20624883] [ 0. 0. 0. 1. ]] SLAMing on 8.884860624 meters Centerline goodness : 0.797291 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.20 [[ 0.92335159 -0.38332579 0.02198151 -0.917757 ] [ 0.38362864 0.92341422 -0.01162945 0.01443045] [-0.01584017 0.01917081 0.99969074 0.20160474] [ 0. 0. 0. 1. ]] SLAMing on 8.944860624 meters Centerline goodness : 0.798191 with order 1 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.20 [[ 0.92207533 -0.38616642 0.02554585 -0.949091 ] [ 0.38648229 0.92225608 -0.00866899 -0.00283376] [-0.02021214 0.01786648 0.99963606 0.19933565] [ 0. 0. 0. 1. ]] SLAMing on 9.004860623999999 meters Centerline goodness : 0.796723 with order 1 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.20 [[ 0.92106934 -0.38840458 0.02780552 -0.98175488] [ 0.38866243 0.92136999 -0.00434193 -0.01898712] [-0.02393275 0.01480618 0.99960392 0.1967199 ] [ 0. 0. 0. 1. ]] SLAMing on 9.064860624 meters Centerline goodness : 0.798906 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.19 [[ 0.91938079 -0.39225221 0.02961684 -1.01038585] [ 0.39247264 0.91976193 -0.00179486 -0.03751301] [-0.02653641 0.01327396 0.99955971 0.19317648] [ 0. 0. 0. 1. ]] SLAMing on 9.124860624 meters Centerline goodness : 0.799231 with order 1 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.19 [[ 9.18587189e-01 -3.93849259e-01 3.28684994e-02 -1.03732692e+00] [ 3.94064635e-01 9.19082726e-01 -8.13762168e-05 -5.32984956e-02] [-3.01768200e-02 1.30270644e-02 9.99459682e-01 1.91375471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184860623999999 meters Centerline goodness : 0.795507 with order 1 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.08, Z:0.19 [[ 9.18797401e-01 -3.92420048e-01 4.26361493e-02 -1.07465411e+00] [ 3.92765377e-01 9.19638661e-01 3.01140331e-04 -7.58799827e-02] [-3.93280248e-02 1.64693163e-02 9.99090621e-01 1.87515595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244860624 meters Centerline goodness : 0.793961 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.19 [[ 0.91906386 -0.39132963 0.04671985 -1.11837405] [ 0.39184937 0.92002685 -0.00215815 -0.09783514] [-0.04213896 0.02029062 0.9989057 0.18901257] [ 0. 0. 0. 1. ]] SLAMing on 9.304860624 meters Centerline goodness : 0.794305 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.12, Z:0.18 [[ 9.20310251e-01 -3.87187368e-01 5.58120494e-02 -1.15477660e+00] [ 3.87789884e-01 9.21747799e-01 3.76073211e-05 -1.17959060e-01] [-5.14591947e-02 2.16087377e-02 9.98441292e-01 1.84451065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364860624 meters Centerline goodness : 0.787825 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.14, Z:0.18 [[ 0.92194355 -0.38187899 0.06471878 -1.18963543] [ 0.3825011 0.92395024 0.00297838 -0.14153005] [-0.06093431 0.02200911 0.9978991 0.18063874] [ 0. 0. 0. 1. ]] SLAMing on 9.424860623999999 meters Centerline goodness : 0.791389 with order 1 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.16, Z:0.18 [[ 0.92344413 -0.37673775 0.07293569 -1.22371488] [ 0.37730754 0.92606638 0.00633069 -0.16094068] [-0.0699283 0.02167314 0.99731655 0.1763035 ] [ 0. 0. 0. 1. ]] SLAMing on 9.484860624 meters Centerline goodness : 0.785839 with order 1 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.18, Z:0.18 [[ 0.9250672 -0.3726244 0.07349653 -1.26032422] [ 0.37345755 0.92764369 0.00257627 -0.18053707] [-0.06913857 0.02506461 0.99729215 0.17881032] [ 0. 0. 0. 1. ]] SLAMing on 9.544860624 meters Centerline goodness : 0.779580 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.20, Z:0.17 [[ 0.92668882 -0.36680901 0.08184728 -1.29461658] [ 0.36759696 0.92996729 0.00577155 -0.20040949] [-0.07823235 0.02473838 0.99662817 0.17442841] [ 0. 0. 0. 1. ]] SLAMing on 9.604860623999999 meters Centerline goodness : 0.775422 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:0.18 [[ 0.9287768 -0.36062831 0.08556206 -1.30781315] [ 0.36143866 0.93237416 0.00636582 -0.21436058] [-0.08207155 0.02501301 0.99631251 0.17718424] [ 0. 0. 0. 1. ]] SLAMing on 9.664860624 meters Centerline goodness : 0.774086 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.23, Z:0.18 [[ 0.93073082 -0.35501145 0.08778955 -1.3241846 ] [ 0.35577818 0.93454205 0.00728337 -0.22598418] [-0.08462871 0.02445475 0.99611242 0.17949018] [ 0. 0. 0. 1. ]] SLAMing on 9.724860624 meters Centerline goodness : 0.771571 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.24, Z:0.18 [[ 0.93237975 -0.34912141 0.09371364 -1.32995788] [ 0.34991923 0.93674295 0.00831695 -0.23686814] [-0.09068922 0.02503765 0.99556445 0.17656117] [ 0. 0. 0. 1. ]] SLAMing on 9.784860624 meters Centerline goodness : 0.769611 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.25, Z:0.18 [[ 0.9336754 -0.34405649 0.0993749 -1.34063836] [ 0.34517969 0.9385161 0.00620649 -0.24704105] [-0.09540033 0.02850735 0.99503071 0.17655785] [ 0. 0. 0. 1. ]] SLAMing on 9.844860623999999 meters Centerline goodness : 0.766753 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.27, Z:0.17 [[ 0.93418847 -0.34012261 0.1077428 -1.37315569] [ 0.34118861 0.93995223 0.00895228 -0.26654428] [-0.10431796 0.0283975 0.99413849 0.17315219] [ 0. 0. 0. 1. ]] SLAMing on 9.904860624 meters Centerline goodness : 0.766692 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.28, Z:0.17 [[ 0.93492461 -0.33683194 0.11162531 -1.37563245] [ 0.33785119 0.94114394 0.01023018 -0.27536345] [-0.10850133 0.0281483 0.99369771 0.1708196 ] [ 0. 0. 0. 1. ]] SLAMing on 9.964860624 meters Centerline goodness : 0.764490 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.28, Z:0.17 [[ 0.93612408 -0.33173698 0.11671451 -1.38088814] [ 0.33270539 0.94295875 0.01165887 -0.28190325] [-0.11392464 0.0279174 0.99309707 0.16803482] [ 0. 0. 0. 1. ]] SLAMing on 10.024860623999999 meters Centerline goodness : 0.761395 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:0.16 [[ 0.93835568 -0.32342849 0.12199435 -1.38656345] [ 0.32412528 0.94590082 0.01464396 -0.2901054 ] [-0.12013083 0.02580021 0.99242276 0.16417968] [ 0. 0. 0. 1. ]] SLAMing on 10.084860624 meters Centerline goodness : 0.763246 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:0.16 [[ 0.93973934 -0.31991289 0.12060562 -1.38612643] [ 0.32003023 0.94721831 0.01892406 -0.29238808] [-0.1202939 0.02081376 0.99252011 0.16442601] [ 0. 0. 0. 1. ]] SLAMing on 10.144860624 meters Centerline goodness : 0.759179 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:0.17 [[ 0.94294746 -0.31178831 0.11678242 -1.39253258] [ 0.31253683 0.94982575 0.01231988 -0.29424654] [-0.11476415 0.02488181 0.99308111 0.16847862] [ 0. 0. 0. 1. ]] SLAMing on 10.204860624 meters Centerline goodness : 0.761393 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:0.17 [[ 0.94413784 -0.30859214 0.11564873 -1.39247086] [ 0.30883645 0.95097628 0.01625285 -0.29677991] [-0.1149947 0.02037161 0.9931572 0.16896822] [ 0. 0. 0. 1. ]] SLAMing on 10.264860623999999 meters Centerline goodness : 0.763058 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:0.17 [[ 0.94405512 -0.30876258 0.11586885 -1.39307628] [ 0.30902085 0.95091758 0.01618251 -0.29736458] [-0.11517828 0.02052871 0.99313269 0.16956911] [ 0. 0. 0. 1. ]] SLAMing on 10.324860624 meters Centerline goodness : 0.761141 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:0.17 [[ 0.94353809 -0.31013401 0.11641639 -1.39459993] [ 0.31047076 0.95045338 0.01569306 -0.29902659] [-0.1155153 0.02133689 0.99307651 0.17078505] [ 0. 0. 0. 1. ]] SLAMing on 10.384860624 meters Centerline goodness : 0.761826 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.30, Z:0.17 [[ 0.94322398 -0.31095403 0.11677376 -1.39543858] [ 0.31132236 0.95017729 0.0155407 -0.29980003] [-0.11578822 0.02169592 0.99303695 0.17091466] [ 0. 0. 0. 1. ]] SLAMing on 10.444860623999999 meters Centerline goodness : 0.763218 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.30, Z:0.17 [[ 0.94169154 -0.31476453 0.11891313 -1.39746153] [ 0.31566132 0.94879962 0.01171333 -0.29939424] [-0.11651167 0.02650594 0.99283557 0.17132932] [ 0. 0. 0. 1. ]] SLAMing on 10.504860623999999 meters Centerline goodness : 0.762227 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.30, Z:0.17 [[ 0.94094743 -0.3167323 0.11957668 -1.39972745] [ 0.31776359 0.94810788 0.0108512 -0.30029877] [-0.11680852 0.02778671 0.99276567 0.17293195] [ 0. 0. 0. 1. ]] SLAMing on 10.564860624 meters Centerline goodness : 0.765048 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.30, Z:0.17 [[ 0.93913455 -0.32133117 0.12154252 -1.40219059] [ 0.3230399 0.94636684 0.00591751 -0.29901314] [-0.1169253 0.03370574 0.99256859 0.1749058 ] [ 0. 0. 0. 1. ]] SLAMing on 10.624860624 meters Centerline goodness : 0.764110 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.30, Z:0.18 [[ 0.93888148 -0.32192921 0.12191453 -1.40306404] [ 0.32369372 0.94614539 0.00559251 -0.29911217] [-0.11714926 0.03421226 0.99252485 0.17529153] [ 0. 0. 0. 1. ]] SLAMing on 10.684860623999999 meters Centerline goodness : 0.767393 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:0.18 [[ 0.93827392 -0.32337228 0.12276979 -1.40566749] [ 0.32529054 0.94560272 0.00464347 -0.29759155] [-0.11759302 0.03557901 0.99242431 0.17628186] [ 0. 0. 0. 1. ]] SLAMing on 10.744860624 meters Centerline goodness : 0.772247 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:0.18 [[ 0.93791777 -0.3242177 0.12326044 -1.40726056] [ 0.32622942 0.94528189 0.00406249 -0.29685646] [-0.11783299 0.0364009 0.99236604 0.17716661] [ 0. 0. 0. 1. ]] SLAMing on 10.804860624 meters Centerline goodness : 0.775923 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:0.18 [[ 0.93694979 -0.32665325 0.12418834 -1.40990324] [ 0.32887407 0.94436975 0.00276155 -0.29833265] [-0.11818179 0.03825489 0.99225482 0.17913183] [ 0. 0. 0. 1. ]] SLAMing on 10.864860623999999 meters Centerline goodness : 0.776164 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.30, Z:0.18 [[ 9.36582677e-01 -3.24855206e-01 1.31460964e-01 -1.41997219e+00] [ 3.27593529e-01 9.44818380e-01 8.42423854e-04 -3.01765041e-01] [-1.24480400e-01 4.22767614e-02 9.91320990e-01 1.78281045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924860623999999 meters Centerline goodness : 0.775012 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.30, Z:0.18 [[ 0.93733828 -0.32284936 0.13101615 -1.42238469] [ 0.32516339 0.9456497 0.00392551 -0.30054279] [-0.12516273 0.03892213 0.99137246 0.1789205 ] [ 0. 0. 0. 1. ]] SLAMing on 10.984860624 meters Centerline goodness : 0.778320 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.30, Z:0.18 [[ 0.93842833 -0.32000359 0.13019203 -1.42320957] [ 0.3218316 0.9467686 0.00732347 -0.29955919] [-0.12560526 0.03502736 0.99146175 0.17848844] [ 0. 0. 0. 1. ]] SLAMing on 11.044860624 meters Centerline goodness : 0.780347 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.30, Z:0.18 [[ 0.93932941 -0.31753244 0.12974366 -1.42532322] [ 0.31893044 0.94772089 0.01041584 -0.29861197] [-0.12626814 0.03159529 0.99149286 0.17929894] [ 0. 0. 0. 1. ]] SLAMing on 11.104860623999999 meters Centerline goodness : 0.783688 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.30, Z:0.18 [[ 0.94002058 -0.3155649 0.12953802 -1.4287408 ] [ 0.31662707 0.94846295 0.01285837 -0.29662818] [-0.12691966 0.02892812 0.99149108 0.18144986] [ 0. 0. 0. 1. ]] SLAMing on 11.164860624 meters Centerline goodness : 0.785236 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.18 [[ 0.93991822 -0.31575967 0.12980593 -1.42960566] [ 0.31691875 0.94837451 0.01217752 -0.29498827] [-0.1269498 0.02969206 0.99146464 0.18210005] [ 0. 0. 0. 1. ]] SLAMing on 11.224860624 meters Centerline goodness : 0.791539 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.18 [[ 0.93975272 -0.3161094 0.13015252 -1.43061018] [ 0.31734641 0.94823779 0.01167652 -0.29367684] [-0.1271066 0.03033039 0.99142523 0.18250597] [ 0. 0. 0. 1. ]] SLAMing on 11.284860623999998 meters Centerline goodness : 0.788255 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.18 [[ 0.93959978 -0.31647041 0.13037922 -1.43182789] [ 0.31780849 0.94809148 0.01096888 -0.29175001] [-0.12708275 0.03112927 0.99140352 0.1836843 ] [ 0. 0. 0. 1. ]] SLAMing on 11.344860623999999 meters Centerline goodness : 0.799715 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.18 [[ 0.93942974 -0.31681784 0.13076018 -1.43303492] [ 0.31824465 0.94795161 0.01039685 -0.29127025] [-0.12724823 0.03184662 0.99135951 0.18487596] [ 0. 0. 0. 1. ]] SLAMing on 11.404860624 meters Centerline goodness : 0.802038 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.19 [[ 0.93921804 -0.31729721 0.13111811 -1.43384756] [ 0.31877213 0.94777706 0.01014727 -0.29185626] [-0.12749043 0.0322663 0.99131482 0.18546724] [ 0. 0. 0. 1. ]] SLAMing on 11.464860624 meters Centerline goodness : 0.799885 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.19 [[ 0.93896615 -0.317996 0.13122926 -1.43431599] [ 0.3195048 0.94753229 0.00996189 -0.29197642] [-0.12751181 0.0325745 0.99130199 0.18556397] [ 0. 0. 0. 1. ]] SLAMing on 11.524860623999999 meters Centerline goodness : 0.801062 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:0.19 [[ 0.93878879 -0.31846 0.13137288 -1.43465706] [ 0.31998431 0.947371 0.00991129 -0.29282747] [-0.12761521 0.03273265 0.99128348 0.18575297] [ 0. 0. 0. 1. ]] SLAMing on 11.584860624 meters Centerline goodness : 0.805524 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93819742 -0.31993599 0.13200968 -1.43675552] [ 0.32161578 0.9468277 0.00897784 -0.29381355] [-0.12786275 0.0340334 0.99120777 0.18788153] [ 0. 0. 0. 1. ]] SLAMing on 11.644860624 meters Centerline goodness : 0.803649 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93799924 -0.3203737 0.13235602 -1.43808636] [ 0.32214319 0.94665362 0.00840805 -0.29305802] [-0.12798902 0.03475084 0.99116658 0.18924025] [ 0. 0. 0. 1. ]] SLAMing on 11.704860623999998 meters Centerline goodness : 0.804209 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93887765 -0.31800937 0.13182866 -1.44020927] [ 0.31933955 0.94757062 0.01149652 -0.29332783] [-0.12857296 0.03130428 0.99120585 0.19080022] [ 0. 0. 0. 1. ]] SLAMing on 11.764860623999999 meters Centerline goodness : 0.804336 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93911921 -0.31738212 0.13161954 -1.43953462] [ 0.31869917 0.94778613 0.01150181 -0.29178163] [-0.12839764 0.03114547 0.99123358 0.19017634] [ 0. 0. 0. 1. ]] SLAMing on 11.824860624 meters Centerline goodness : 0.804761 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93926343 -0.31703259 0.13143264 -1.43899887] [ 0.31834742 0.94790498 0.01144829 -0.29045333] [-0.12821514 0.03108828 0.991259 0.18963196] [ 0. 0. 0. 1. ]] SLAMing on 11.884860624 meters Centerline goodness : 0.802495 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93925888 -0.31705017 0.1314228 -1.4390072 ] [ 0.31838638 0.94789389 0.01128175 -0.29031796] [-0.12815175 0.03124675 0.99126221 0.18993051] [ 0. 0. 0. 1. ]] SLAMing on 11.944860623999999 meters Centerline goodness : 0.806201 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93925178 -0.31707534 0.1314128 -1.43929911] [ 0.31842546 0.94788205 0.01117349 -0.28972996] [-0.12810667 0.03135046 0.99126476 0.19041659] [ 0. 0. 0. 1. ]] SLAMing on 12.004860623999999 meters Centerline goodness : 0.806488 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93930617 -0.31695581 0.13131235 -1.43895152] [ 0.31828354 0.94792805 0.01131355 -0.29017979] [-0.12806055 0.03116767 0.99127649 0.19037048] [ 0. 0. 0. 1. ]] SLAMing on 12.064860624 meters Centerline goodness : 0.808458 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:0.19 [[ 0.93920087 -0.31722491 0.13141569 -1.43891626] [ 0.31850893 0.9478477 0.01169602 -0.29297921] [-0.12827232 0.03087216 0.99125835 0.19080058] [ 0. 0. 0. 1. ]] SLAMing on 12.124860623999998 meters Centerline goodness : 0.810656 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.93916558 -0.31738901 0.13127158 -1.43841219] [ 0.31860675 0.94780866 0.01218507 -0.29546276] [-0.12828774 0.03038021 0.99127156 0.19082235] [ 0. 0. 0. 1. ]] SLAMing on 12.184860623999999 meters Centerline goodness : 0.810111 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.93929394 -0.31711871 0.1310062 -1.43763909] [ 0.31829028 0.94791141 0.01245982 -0.29605394] [-0.12813352 0.02999456 0.99130325 0.19060603] [ 0. 0. 0. 1. ]] SLAMing on 12.244860624 meters Centerline goodness : 0.810446 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.94018602 -0.31476996 0.13026945 -1.43900096] [ 0.31546609 0.94880526 0.0158025 -0.29797158] [-0.12857449 0.02623831 0.99135269 0.19221856] [ 0. 0. 0. 1. ]] SLAMing on 12.304860624 meters Centerline goodness : 0.814177 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.94034806 -0.31436962 0.13006638 -1.43859578] [ 0.31505124 0.9489424 0.0158445 -0.29799711] [-0.12840653 0.02607823 0.99137868 0.19259667] [ 0. 0. 0. 1. ]] SLAMing on 12.364860623999999 meters Centerline goodness : 0.814225 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.94042982 -0.31421523 0.12984813 -1.43778535] [ 0.31485159 0.9490037 0.01613877 -0.29841665] [-0.12829741 0.02570551 0.99140254 0.19194675] [ 0. 0. 0. 1. ]] SLAMing on 12.424860623999999 meters Centerline goodness : 0.813076 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.94049576 -0.31402124 0.12983982 -1.43748109] [ 0.31462234 0.94907532 0.01639587 -0.29889093] [-0.12837642 0.02543026 0.99139941 0.19160919] [ 0. 0. 0. 1. ]] SLAMing on 12.484860624 meters Centerline goodness : 0.814443 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.94046038 -0.3141253 0.12984437 -1.43764406] [ 0.31473136 0.94903969 0.01636576 -0.29973647] [-0.12836836 0.02547474 0.99139932 0.19235023] [ 0. 0. 0. 1. ]] SLAMing on 12.544860623999998 meters Centerline goodness : 0.815404 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.94028185 -0.3145767 0.1300444 -1.4382175 ] [ 0.31518533 0.94888812 0.01641781 -0.30122761] [-0.12856225 0.02555072 0.99137223 0.19312695] [ 0. 0. 0. 1. ]] SLAMing on 12.604860623999999 meters Centerline goodness : 0.815429 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.93988628 -0.31553759 0.13057492 -1.43971942] [ 0.31618311 0.94855799 0.01630894 -0.30408434] [-0.12900397 0.02595704 0.9913043 0.19493186] [ 0. 0. 0. 1. ]] SLAMing on 12.664860624 meters Centerline goodness : 0.815594 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.31, Z:0.19 [[ 0.93989299 -0.31556578 0.13045842 -1.43888183] [ 0.31614445 0.94856229 0.0168011 -0.30657008] [-0.12904979 0.02545247 0.99131142 0.19452125] [ 0. 0. 0. 1. ]] SLAMing on 12.724860624 meters Centerline goodness : 0.813328 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.31, Z:0.19 [[ 0.93996859 -0.3154729 0.13013802 -1.43791736] [ 0.3159366 0.94861677 0.01761516 -0.30896394] [-0.12900821 0.02455766 0.9913394 0.19406758] [ 0. 0. 0. 1. ]] SLAMing on 12.784860623999998 meters Centerline goodness : 0.812965 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.31, Z:0.19 [[ 0.94014167 -0.31509477 0.12980339 -1.43708424] [ 0.31548236 0.94875861 0.01811013 -0.31030274] [-0.12885849 0.02392459 0.99137435 0.19411534] [ 0. 0. 0. 1. ]] SLAMing on 12.844860623999999 meters Centerline goodness : 0.822970 with order 3 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.31, Z:0.19 [[ 0.94038275 -0.31458427 0.12929433 -1.43529745] [ 0.31480315 0.94896115 0.01927996 -0.31382756] [-0.12876047 0.02257172 0.99141881 0.1933226 ] [ 0. 0. 0. 1. ]] SLAMing on 12.904860624 meters Centerline goodness : 0.810314 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94057897 -0.31410216 0.12903887 -1.43432216] [ 0.31421257 0.94914118 0.02003708 -0.31630276] [-0.12876979 0.02169918 0.99143708 0.19321072] [ 0. 0. 0. 1. ]] SLAMing on 12.964860623999998 meters Centerline goodness : 0.808562 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94081646 -0.3135479 0.128655 -1.43317176] [ 0.31358497 0.94933885 0.02049899 -0.31744777] [-0.1285646 0.02105849 0.99147753 0.1929757 ] [ 0. 0. 0. 1. ]] SLAMing on 13.024860623999999 meters Centerline goodness : 0.806475 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94099858 -0.31315064 0.12829007 -1.43204646] [ 0.31307564 0.94948983 0.02127686 -0.31994105] [-0.12847298 0.020143 0.99150842 0.19277276] [ 0. 0. 0. 1. ]] SLAMing on 13.084860624 meters Centerline goodness : 0.805139 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94113528 -0.31280724 0.12812503 -1.43173698] [ 0.31270611 0.94960818 0.02142878 -0.32085548] [-0.12837165 0.01989809 0.99152649 0.19350974] [ 0. 0. 0. 1. ]] SLAMing on 13.144860624 meters Centerline goodness : 0.817184 with order 3 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94152961 -0.31177786 0.12773631 -1.43066069] [ 0.31158815 0.94996295 0.02198235 -0.32176464] [-0.12819837 0.01910409 0.99156453 0.19365461] [ 0. 0. 0. 1. ]] SLAMing on 13.204860623999998 meters Centerline goodness : 0.803033 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.9422356 -0.30970441 0.12757446 -1.43130489] [ 0.30920332 0.95068751 0.02421908 -0.3231345 ] [-0.1287842 0.01662637 0.99153325 0.19427596] [ 0. 0. 0. 1. ]] SLAMing on 13.264860623999999 meters Centerline goodness : 0.803551 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94243426 -0.30919373 0.1273456 -1.43053331] [ 0.3086429 0.95086143 0.02453762 -0.32392093] [-0.1286749 0.01617922 0.99155484 0.19411523] [ 0. 0. 0. 1. ]] SLAMing on 13.324860624 meters Centerline goodness : 0.801726 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.33, Z:0.19 [[ 0.94250399 -0.30900938 0.12727696 -1.42994858] [ 0.30839986 0.95092907 0.02496845 -0.32523846] [-0.12874684 0.01571934 0.9915529 0.193641 ] [ 0. 0. 0. 1. ]] SLAMing on 13.384860623999998 meters Centerline goodness : 0.802055 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94261897 -0.30869337 0.12719227 -1.42984515] [ 0.30809265 0.95103127 0.02486844 -0.32439682] [-0.12864055 0.01574554 0.99156628 0.19388367] [ 0. 0. 0. 1. ]] SLAMing on 13.444860623999999 meters Centerline goodness : 0.805752 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94281996 -0.30813897 0.12704681 -1.42935634] [ 0.30753023 0.95121313 0.02487429 -0.32366013] [-0.12851333 0.01561876 0.99158478 0.19377228] [ 0. 0. 0. 1. ]] SLAMing on 13.504860623999999 meters Centerline goodness : 0.802399 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94409354 -0.30461938 0.12607307 -1.42939773] [ 0.30345003 0.95241044 0.028852 -0.32361144] [-0.12886219 0.01101789 0.9916013 0.1929543 ] [ 0. 0. 0. 1. ]] SLAMing on 13.564860624 meters Centerline goodness : 0.798942 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.94542319 -0.30084597 0.12516669 -1.43014319] [ 0.29918132 0.953648 0.03234251 -0.32088148] [-0.12909508 0.00687018 0.99160842 0.19282086] [ 0. 0. 0. 1. ]] SLAMing on 13.624860623999998 meters Centerline goodness : 0.796462 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 0.9464937 -0.29785599 0.12422356 -1.43075104] [ 0.29571877 0.95460638 0.03573614 -0.32007786] [-0.12922883 0.00291121 0.99161053 0.19294451] [ 0. 0. 0. 1. ]] SLAMing on 13.684860623999999 meters Centerline goodness : 0.794207 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.32, Z:0.19 [[ 9.47119891e-01 -2.95811056e-01 1.24337168e-01 -1.43048080e+00] [ 2.93477577e-01 9.55245523e-01 3.71066520e-02 -3.17102764e-01] [-1.29749081e-01 1.34572253e-03 9.91545947e-01 1.90516900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744860624 meters Centerline goodness : 0.794815 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.31, Z:0.19 [[ 0.94730922 -0.29513775 0.12449481 -1.43070032] [ 0.29286253 0.95545307 0.03661918 -0.31376787] [-0.12975665 0.00177018 0.99154429 0.19013299] [ 0. 0. 0. 1. ]] SLAMing on 13.804860623999998 meters Centerline goodness : 0.792884 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.31, Z:0.19 [[ 0.9482861 -0.29224952 0.12386964 -1.43216766] [ 0.28955575 0.95634057 0.03962542 -0.31028573] [-0.13004207 -0.00170906 0.991507 0.18980683] [ 0. 0. 0. 1. ]] SLAMing on 13.864860623999999 meters Centerline goodness : 0.792105 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.31, Z:0.19 [[ 0.94937417 -0.28896369 0.12324233 -1.43325647] [ 0.28585157 0.95732577 0.04261758 -0.30720624] [-0.130298 -0.00523102 0.99146108 0.1895244 ] [ 0. 0. 0. 1. ]] SLAMing on 13.924860623999999 meters Centerline goodness : 0.791139 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.31, Z:0.19 [[ 0.9502885 -0.28618759 0.12267207 -1.43496999] [ 0.28266774 0.95813474 0.04557164 -0.30532127] [-0.13057841 -0.00863077 0.99140042 0.19033052] [ 0. 0. 0. 1. ]] SLAMing on 13.984860624 meters Centerline goodness : 0.789411 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.95133519 -0.28293695 0.12209851 -1.43651268] [ 0.27900669 0.95906218 0.04852844 -0.30179317] [-0.13083055 -0.01210051 0.9913309 0.19055081] [ 0. 0. 0. 1. ]] SLAMing on 14.044860623999998 meters Centerline goodness : 0.788112 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:0.19 [[ 0.95236344 -0.27981371 0.12127721 -1.43714119] [ 0.27546062 0.9599249 0.05162982 -0.29907071] [-0.13086374 -0.01576326 0.99127504 0.19006608] [ 0. 0. 0. 1. ]] SLAMing on 14.104860623999999 meters Centerline goodness : 0.785394 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.29, Z:0.19 [[ 0.95483417 -0.27193649 0.11975911 -1.44614328] [ 0.26868994 0.96227612 0.04278303 -0.29334055] [-0.1268756 -0.00867263 0.99188072 0.19458869] [ 0. 0. 0. 1. ]] SLAMing on 14.164860624 meters Centerline goodness : 0.789259 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.29, Z:0.19 [[ 0.95586298 -0.26847246 0.11936708 -1.4477817 ] [ 0.26488512 0.96321691 0.0452665 -0.28758632] [-0.1271292 -0.01165001 0.99181775 0.19464926] [ 0. 0. 0. 1. ]] SLAMing on 14.224860623999998 meters Centerline goodness : 0.784612 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.28, Z:0.19 [[ 0.95641626 -0.26656849 0.11920224 -1.45056875] [ 0.2626672 0.96371094 0.04761479 -0.28324773] [-0.12756911 -0.01422904 0.99172761 0.19495954] [ 0. 0. 0. 1. ]] SLAMing on 14.284860623999998 meters Centerline goodness : 0.786476 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.28, Z:0.19 [[ 0.95609109 -0.26744077 0.11985513 -1.45219425] [ 0.26364869 0.9634853 0.04674883 -0.28100424] [-0.1279812 -0.01309649 0.99169012 0.19493039] [ 0. 0. 0. 1. ]] SLAMing on 14.344860623999999 meters Centerline goodness : 0.786171 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.28, Z:0.19 [[ 0.95480757 -0.27132309 0.12135194 -1.4535817 ] [ 0.26820414 0.96246122 0.04165252 -0.27562913] [-0.12809782 -0.00722305 0.99173523 0.19473571] [ 0. 0. 0. 1. ]] SLAMing on 14.404860624 meters Centerline goodness : 0.786259 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.27, Z:0.20 [[ 0.95458378 -0.2719493 0.12171024 -1.45462591] [ 0.26890972 0.96228987 0.04105817 -0.27438751] [-0.12828627 -0.0064644 0.99171611 0.19504886] [ 0. 0. 0. 1. ]] SLAMing on 14.464860623999998 meters Centerline goodness : 0.784909 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.27, Z:0.20 [[ 0.95384357 -0.27396237 0.1229921 -1.45826371] [ 0.27112226 0.96173026 0.03959333 -0.2703151 ] [-0.12913231 -0.00441995 0.99161752 0.19523892] [ 0. 0. 0. 1. ]] SLAMing on 14.524860623999999 meters Centerline goodness : 0.784723 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.27, Z:0.20 [[ 0.95332375 -0.27538672 0.12383851 -1.46046678] [ 0.2726674 0.96132834 0.0387339 -0.27025068] [-0.12971627 -0.00315922 0.99154612 0.19613012] [ 0. 0. 0. 1. ]] SLAMing on 14.584860624 meters Centerline goodness : 0.784585 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.27, Z:0.20 [[ 9.52515419e-01 -2.77556126e-01 1.25207719e-01 -1.46474275e+00] [ 2.75045493e-01 9.60708844e-01 3.72624931e-02 -2.68205319e-01] [-1.30630596e-01 -1.05528041e-03 9.91430549e-01 1.97996691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644860623999998 meters Centerline goodness : 0.748125 with order 2 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.27, Z:0.20 [[ 9.52101630e-01 -2.78663607e-01 1.25893133e-01 -1.46697878e+00] [ 2.76279606e-01 9.60388760e-01 3.63731750e-02 -2.66009850e-01] [-1.31042230e-01 1.50745983e-04 9.91376776e-01 1.98753716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704860623999998 meters Centerline goodness : 0.785054 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.26, Z:0.20 [[ 9.51830377e-01 -2.79432226e-01 1.26240106e-01 -1.46765518e+00] [ 2.77129151e-01 9.60165000e-01 3.58134890e-02 -2.64618997e-01] [-1.31218775e-01 8.96446785e-04 9.91353030e-01 1.98077296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764860623999999 meters Centerline goodness : 0.785628 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.26, Z:0.20 [[ 9.51795260e-01 -2.79462130e-01 1.26438527e-01 -1.46761199e+00] [ 2.77202082e-01 9.60155878e-01 3.54921820e-02 -2.62723884e-01] [-1.31319415e-01 1.26773230e-03 9.91339298e-01 1.96957679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824860624 meters Centerline goodness : 0.786672 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.26, Z:0.20 [[ 9.52476258e-01 -2.77135698e-01 1.26430942e-01 -1.47068431e+00] [ 2.74538738e-01 9.60829819e-01 3.78753264e-02 -2.58154795e-01] [-1.31975224e-01 -1.36515805e-03 9.91252075e-01 1.97612421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884860623999998 meters Centerline goodness : 0.785030 with order 2 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.26, Z:0.20 [[ 9.53143816e-01 -2.70619719e-01 1.35210334e-01 -1.48382163e+00] [ 2.68092538e-01 9.62685739e-01 3.69128515e-02 -2.56811476e-01] [-1.40154406e-01 1.06562541e-03 9.90129086e-01 1.98191091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944860623999999 meters Centerline goodness : 0.786179 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.25, Z:0.20 [[ 0.95375679 -0.2684373 0.13523831 -1.48701306] [ 0.26551324 0.96329544 0.03955516 -0.25352211] [-0.14089253 -0.00181845 0.99002323 0.19902177] [ 0. 0. 0. 1. ]] SLAMing on 15.004860623999999 meters Centerline goodness : 0.785745 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.25, Z:0.20 [[ 9.53470635e-01 -2.69185159e-01 1.35768549e-01 -1.48859645e+00] [ 2.66387422e-01 9.63088153e-01 3.87162848e-02 -2.51434205e-01] [-1.41178930e-01 -7.47806997e-04 9.89983813e-01 1.99553662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064860623999998 meters Centerline goodness : 0.784504 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.25, Z:0.20 [[ 0.95204857 -0.27339261 0.13733171 -1.49008468] [ 0.27133991 0.9618892 0.0338205 -0.24924038] [-0.14134416 0.00506482 0.98994756 0.20027649] [ 0. 0. 0. 1. ]] SLAMing on 15.124860623999998 meters Centerline goodness : 0.785149 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.25, Z:0.20 [[ 0.95067337 -0.27743611 0.13874203 -1.49122661] [ 0.27608397 0.96068714 0.02928908 -0.24853364] [-0.14141353 0.0104601 0.98989535 0.20125462] [ 0. 0. 0. 1. ]] SLAMing on 15.184860623999999 meters Centerline goodness : 0.795319 with order 1 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.47, Z:0.29 [[ 0.96077531 -0.27726295 0.00600539 -2.12857478] [ 0.2679823 0.93375464 0.23725041 -0.46991637] [-0.07138831 -0.226335 0.97142997 0.28532642] [ 0. 0. 0. 1. ]] SLAMing on 15.244860624 meters Centerline goodness : 0.784739 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.27, Z:0.31 [[ 0.92635807 -0.37481074 0.03711648 -1.85718559] [ 0.3709323 0.92496629 0.08274417 -0.26509434] [-0.0653449 -0.06288303 0.99587939 0.31326087] [ 0. 0. 0. 1. ]] SLAMing on 15.304860623999998 meters Centerline goodness : 0.786366 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.27, Z:0.32 [[ 0.92497192 -0.37812257 0.03808236 -1.85871268] [ 0.37438486 0.92384822 0.07962689 -0.26560933] [-0.06529104 -0.05939518 0.99609703 0.31564271] [ 0. 0. 0. 1. ]] SLAMing on 15.364860623999999 meters Centerline goodness : 0.786172 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.27, Z:0.31 [[ 0.92496629 -0.37728446 0.04575795 -1.86809098] [ 0.37323948 0.92447453 0.0777119 -0.27049212] [-0.07162155 -0.05480221 0.99592523 0.31453007] [ 0. 0. 0. 1. ]] SLAMing on 15.424860623999999 meters Centerline goodness : 0.786190 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.27, Z:0.31 [[ 0.92481979 -0.37739179 0.04778899 -1.87082369] [ 0.37321904 0.92446364 0.07793923 -0.27223715] [-0.07359281 -0.05424398 0.99581208 0.3145322 ] [ 0. 0. 0. 1. ]] SLAMing on 15.484860623999998 meters Centerline goodness : 0.783678 with order 1 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:0.31 [[ 0.92493637 -0.37629806 0.05378182 -1.87632502] [ 0.37190212 0.92509619 0.07671934 -0.27621966] [-0.07862269 -0.05095893 0.99560115 0.3121098 ] [ 0. 0. 0. 1. ]] SLAMing on 15.544860623999998 meters Centerline goodness : 0.783236 with order 1 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:0.31 [[ 0.92390145 -0.37864123 0.05510841 -1.87610028] [ 0.37439092 0.92430893 0.074057 -0.27755359] [-0.07897823 -0.04778929 0.9957302 0.31269296] [ 0. 0. 0. 1. ]] SLAMing on 15.604860623999999 meters Centerline goodness : 0.781019 with order 1 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:0.31 [[ 0.92411388 -0.37695752 0.06258252 -1.88437391] [ 0.37252063 0.92521504 0.07214929 -0.28285433] [-0.08509951 -0.04336088 0.9954285 0.31093802] [ 0. 0. 0. 1. ]] SLAMing on 15.664860624 meters Centerline goodness : 0.779171 with order 1 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:0.31 [[ 0.92260972 -0.38043971 0.06369397 -1.88357498] [ 0.3762768 0.92397497 0.0684545 -0.28482937] [-0.08489445 -0.03919022 0.99561893 0.31239933] [ 0. 0. 0. 1. ]] SLAMing on 15.724860623999998 meters Centerline goodness : 0.779350 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.29, Z:0.31 [[ 0.92196079 -0.38072642 0.07096268 -1.88958631] [ 0.3765814 0.92408337 0.06524091 -0.29209113] [-0.09041437 -0.03342633 0.99534312 0.3109178 ] [ 0. 0. 0. 1. ]] SLAMing on 15.784860623999998 meters Centerline goodness : 0.779029 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.30, Z:0.31 [[ 0.92187601 -0.38096938 0.07075978 -1.88883872] [ 0.37678183 0.92396266 0.06579097 -0.29521765] [-0.09044374 -0.03399012 0.99532136 0.31118892] [ 0. 0. 0. 1. ]] SLAMing on 15.844860623999999 meters Centerline goodness : 0.776832 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.30, Z:0.31 [[ 0.92191014 -0.38077446 0.07136186 -1.88924044] [ 0.37649912 0.92402568 0.06652034 -0.29848886] [-0.09126943 -0.0344581 0.99522989 0.31181094] [ 0. 0. 0. 1. ]] SLAMing on 15.904860623999998 meters Centerline goodness : 0.778464 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.31, Z:0.31 [[ 0.92285669 -0.37708999 0.07834968 -1.89490757] [ 0.37267166 0.92564979 0.06548505 -0.30636201] [-0.09721812 -0.03123461 0.99477286 0.30846908] [ 0. 0. 0. 1. ]] SLAMing on 15.964860623999998 meters Centerline goodness : 0.779200 with order 1 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.31, Z:0.31 [[ 0.92369865 -0.37355006 0.08509494 -1.9013354 ] [ 0.36896636 0.92716809 0.06498585 -0.31250653] [-0.10317278 -0.02863017 0.99425132 0.30551468] [ 0. 0. 0. 1. ]] SLAMing on 16.024860623999995 meters Centerline goodness : 0.780931 with order 1 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.32, Z:0.31 [[ 0.9238276 -0.37291186 0.08648295 -1.90189906] [ 0.36821192 0.92741841 0.06568918 -0.31612516] [-0.10470215 -0.02884143 0.99408532 0.30516806] [ 0. 0. 0. 1. ]] SLAMing on 16.084860623999997 meters Centerline goodness : 0.776786 with order 1 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.32, Z:0.30 [[ 0.92515364 -0.36792469 0.09339254 -1.9092487 ] [ 0.36308251 0.92948489 0.06503014 -0.32479752] [-0.11073315 -0.02625368 0.99350335 0.30367763] [ 0. 0. 0. 1. ]] SLAMing on 16.144860623999996 meters Centerline goodness : 0.774106 with order 1 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.33, Z:0.30 [[ 0.92704223 -0.36181937 0.09838412 -1.91395406] [ 0.3565711 0.9318524 0.06714275 -0.33182744] [-0.11597303 -0.02716323 0.99288087 0.30097226] [ 0. 0. 0. 1. ]] SLAMing on 16.204860624 meters Centerline goodness : 0.772713 with order 1 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.34, Z:0.30 [[ 0.92909956 -0.35467853 0.10477192 -1.92202654] [ 0.34944522 0.93467885 0.06529537 -0.33747902] [-0.12108697 -0.02405385 0.99235042 0.29922429] [ 0. 0. 0. 1. ]] SLAMing on 16.264860623999997 meters Centerline goodness : 0.769465 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:0.30 [[ 0.93194514 -0.34545733 0.11017025 -1.93837941] [ 0.34176175 0.93837814 0.05143314 -0.34579337] [-0.12114931 -0.01028089 0.99258105 0.30275059] [ 0. 0. 0. 1. ]] SLAMing on 16.324860623999996 meters Centerline goodness : 0.769016 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:0.30 [[ 0.93210922 -0.34511102 0.10986715 -1.93743574] [ 0.3413797 0.93850071 0.05173315 -0.3470461 ] [-0.12096408 -0.01071454 0.99259906 0.30279503] [ 0. 0. 0. 1. ]] SLAMing on 16.384860623999998 meters Centerline goodness : 0.767248 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:0.30 [[ 0.93261949 -0.3440137 0.10897457 -1.93525518] [ 0.34020048 0.93889018 0.05242959 -0.34979554] [-0.12035165 -0.01182366 0.99266091 0.30378397] [ 0. 0. 0. 1. ]] SLAMing on 16.444860623999997 meters Centerline goodness : 0.766365 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:0.30 [[ 0.93458843 -0.33654024 0.11526112 -1.94352103] [ 0.33269344 0.94161618 0.05171121 -0.35742878] [-0.12593464 -0.00998208 0.99198832 0.30335923] [ 0. 0. 0. 1. ]] SLAMing on 16.504860623999996 meters Centerline goodness : 0.766496 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:0.30 [[ 0.93483556 -0.33597597 0.11490264 -1.94247039] [ 0.33208123 0.94181165 0.05208528 -0.35888676] [-0.12571605 -0.01053416 0.99201034 0.30375391] [ 0. 0. 0. 1. ]] SLAMing on 16.564860623999998 meters Centerline goodness : 0.763769 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:0.30 [[ 0.93489377 -0.33585714 0.11477642 -1.94166765] [ 0.3319004 0.94184799 0.05257837 -0.36247233] [-0.12576076 -0.01106085 0.99199894 0.30457007] [ 0. 0. 0. 1. ]] SLAMing on 16.624860623999997 meters Centerline goodness : 0.762093 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:0.30 [[ 0.93379262 -0.33823169 0.11675046 -1.94137317] [ 0.33455406 0.941029 0.05037859 -0.36624001] [-0.1269052 -0.00798382 0.99188272 0.30370725] [ 0. 0. 0. 1. ]] SLAMing on 16.684860623999995 meters Centerline goodness : 0.760208 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:0.30 [[ 0.93249289 -0.3414487 0.11777012 -1.94025772] [ 0.33823648 0.93989237 0.04688722 -0.36747025] [-0.12670082 -0.00388785 0.99193336 0.30352848] [ 0. 0. 0. 1. ]] SLAMing on 16.744860623999998 meters Centerline goodness : 0.757054 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:0.30 [[ 9.31039563e-01 -3.44948795e-01 1.19061586e-01 -1.93952647e+00] [ 3.42185367e-01 9.38621489e-01 4.35760799e-02 -3.70548777e-01] [-1.26785280e-01 1.70078216e-04 9.91930171e-01 3.03830410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804860623999996 meters Centerline goodness : 0.756682 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:0.31 [[ 9.30482290e-01 -3.46296510e-01 1.19504963e-01 -1.94058350e+00] [ 3.43601662e-01 9.38124650e-01 4.31281740e-02 -3.73198994e-01] [-1.27045687e-01 9.32101729e-04 9.91896428e-01 3.05484498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864860623999995 meters Centerline goodness : 0.754786 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.38, Z:0.31 [[ 9.30228919e-01 -3.46884961e-01 1.19770536e-01 -1.94072570e+00] [ 3.44188834e-01 9.37907087e-01 4.31780290e-02 -3.75664065e-01] [-1.27311444e-01 1.05823006e-03 9.91862227e-01 3.05962874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924860623999997 meters Centerline goodness : 0.756068 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.38, Z:0.31 [[ 9.29834573e-01 -3.47715514e-01 1.20422544e-01 -1.94199134e+00] [ 3.45078106e-01 9.37598407e-01 4.27823420e-02 -3.78047129e-01] [-1.27784069e-01 1.77468270e-03 9.91800425e-01 3.07744739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984860623999996 meters Centerline goodness : 0.757224 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.38, Z:0.31 [[ 9.29824439e-01 -3.47722383e-01 1.20480938e-01 -1.94199745e+00] [ 3.45074049e-01 9.37595970e-01 4.28683694e-02 -3.79082282e-01] [-1.27868734e-01 1.71478771e-03 9.91789618e-01 3.08256082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044860624 meters Centerline goodness : 0.755748 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.38, Z:0.31 [[ 9.29942975e-01 -3.47439111e-01 1.20383250e-01 -1.94135972e+00] [ 3.44750826e-01 9.37701549e-01 4.31586902e-02 -3.79707832e-01] [-1.27878577e-01 1.36710426e-03 9.91788889e-01 3.07787965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104860623999997 meters Centerline goodness : 0.755454 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.38, Z:0.31 [[ 0.9312462 -0.34435759 0.11915693 -1.94126933] [ 0.34113812 0.93883311 0.04708692 -0.38156097] [-0.12808321 -0.00320054 0.99175826 0.30792762] [ 0. 0. 0. 1. ]] SLAMing on 17.164860623999996 meters Centerline goodness : 0.755176 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.38, Z:0.31 [[ 0.93162814 -0.34343565 0.11883166 -1.94053944] [ 0.34019697 0.93916956 0.04718639 -0.38002087] [-0.12780856 -0.003534 0.99179256 0.30762452] [ 0. 0. 0. 1. ]] SLAMing on 17.224860623999998 meters Centerline goodness : 0.753697 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.38, Z:0.31 [[ 0.93456539 -0.33552289 0.11837199 -1.94661349] [ 0.33328854 0.94202662 0.03878921 -0.37955679] [-0.12452423 0.00320098 0.9922114 0.30975138] [ 0. 0. 0. 1. ]] SLAMing on 17.284860623999997 meters Centerline goodness : 0.754236 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.38, Z:0.31 [[ 9.36226748e-01 -3.31395368e-01 1.16861396e-01 -1.94548309e+00] [ 3.28642359e-01 9.43490738e-01 4.26547469e-02 -3.78039016e-01] [-1.24393230e-01 -1.52891010e-03 9.92231821e-01 3.08195346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344860623999995 meters Centerline goodness : 0.753486 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.38, Z:0.31 [[ 0.93732248 -0.32852854 0.11617043 -1.94732091] [ 0.32539225 0.94448136 0.04555042 -0.37653617] [-0.12468542 -0.00489448 0.99218425 0.30961773] [ 0. 0. 0. 1. ]] SLAMing on 17.404860623999998 meters Centerline goodness : 0.758179 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.38, Z:0.31 [[ 0.93847777 -0.32545389 0.11549564 -1.94853588] [ 0.32188757 0.94551845 0.04881848 -0.37604279] [-0.12509142 -0.00863845 0.99210761 0.31010068] [ 0. 0. 0. 1. ]] SLAMing on 17.464860623999996 meters Centerline goodness : 0.765614 with order 1 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.58, Z:0.40 [[ 0.95076722 -0.30592339 -0.04952353 -2.44614784] [ 0.30870711 0.92087586 0.23809153 -0.57653583] [-0.02723274 -0.24165788 0.9699793 0.39589727] [ 0. 0. 0. 1. ]] SLAMing on 17.524860623999995 meters Centerline goodness : 0.758331 with order 1 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.28, Z:0.45 [[ 0.89707472 -0.44184705 0.00530409 -2.10600089] [ 0.44172652 0.89701599 0.01549181 -0.2828165 ] [-0.01160286 -0.01155435 0.99986593 0.45071193] [ 0. 0. 0. 1. ]] SLAMing on 17.584860623999997 meters Centerline goodness : 0.758861 with order 1 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.30, Z:0.45 [[ 0.89858712 -0.43873718 0.00713251 -2.14234426] [ 0.43866313 0.89859679 0.00992317 -0.29520229] [-0.01076291 -0.00578807 0.99992533 0.44755632] [ 0. 0. 0. 1. ]] SLAMing on 17.644860623999996 meters Centerline goodness : 0.761256 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.31, Z:0.44 [[ 0.8998546 -0.43607749 0.00990552 -2.17173244] [ 0.4359072 0.8998569 0.01557154 -0.30570896] [-0.01570395 -0.00969423 0.99982969 0.44413451] [ 0. 0. 0. 1. ]] SLAMing on 17.704860623999995 meters Centerline goodness : 0.761639 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.31, Z:0.44 [[ 0.90169502 -0.43212642 0.01458945 -2.18979013] [ 0.43193128 0.90178587 0.01475152 -0.31396974] [-0.01953108 -0.00699973 0.99978475 0.44493429] [ 0. 0. 0. 1. ]] SLAMing on 17.764860623999997 meters Centerline goodness : 0.761175 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.32, Z:0.45 [[ 0.90362348 -0.42788941 0.01937144 -2.20628263] [ 0.42771162 0.9038253 0.01275125 -0.3212263 ] [-0.02296453 -0.00323694 0.99973104 0.44547985] [ 0. 0. 0. 1. ]] SLAMing on 17.824860623999996 meters Centerline goodness : 0.761053 with order 1 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.33, Z:0.44 [[ 0.90406613 -0.42676537 0.02314626 -2.23247941] [ 0.42651017 0.90435382 0.01527218 -0.33155797] [-0.02745005 -0.00393495 0.99961543 0.44264619] [ 0. 0. 0. 1. ]] SLAMing on 17.884860623999998 meters Centerline goodness : 0.760444 with order 1 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.34, Z:0.44 [[ 0.90418332 -0.42647949 0.02382796 -2.25998479] [ 0.42609818 0.90446609 0.01953028 -0.34217601] [-0.02988085 -0.0075059 0.99952529 0.43725037] [ 0. 0. 0. 1. ]] SLAMing on 17.944860623999997 meters Centerline goodness : 0.759775 with order 1 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.36, Z:0.44 [[ 9.03985977e-01 -4.26743140e-01 2.64508359e-02 -2.30193013e+00] [ 4.26525830e-01 9.04372245e-01 1.36586598e-02 -3.56862421e-01] [-2.97501412e-02 -1.06527222e-03 9.99556799e-01 4.37146982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004860623999996 meters Centerline goodness : 0.763192 with order 1 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.37, Z:0.43 [[ 9.03598234e-01 -4.27273481e-01 3.07831706e-02 -2.33067435e+00] [ 4.26971396e-01 9.04121302e-01 1.61275525e-02 -3.68390761e-01] [-3.47225958e-02 -1.42929463e-03 9.99395967e-01 4.34905427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064860623999998 meters Centerline goodness : 0.765880 with order 1 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.38, Z:0.43 [[ 0.90309708 -0.42821896 0.03231378 -2.36238697] [ 0.42770714 0.90365645 0.02171676 -0.38036316] [-0.03850008 -0.0057915 0.99924181 0.42977724] [ 0. 0. 0. 1. ]] SLAMing on 18.124860623999997 meters Centerline goodness : 0.765217 with order 1 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.39, Z:0.42 [[ 9.04169159e-01 -4.25296671e-01 4.00109244e-02 -2.39830860e+00] [ 4.24778088e-01 9.05051606e-01 2.10989599e-02 -3.93794962e-01] [-4.51852688e-02 -2.08126483e-03 9.98976456e-01 4.24007956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184860623999995 meters Centerline goodness : 0.765076 with order 1 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.40, Z:0.43 [[ 9.06318667e-01 -4.20312798e-01 4.38591514e-02 -2.41738909e+00] [ 4.19835978e-01 9.07379236e-01 2.00168349e-02 -3.99364131e-01] [-4.82102152e-02 2.72018568e-04 9.98837174e-01 4.25916262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244860623999998 meters Centerline goodness : 0.766608 with order 1 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.41, Z:0.43 [[ 9.07126588e-01 -4.18215128e-01 4.70899104e-02 -2.44518099e+00] [ 4.17543688e-01 9.08346032e-01 2.37645553e-02 -4.09970783e-01] [-5.27126298e-02 -1.89536512e-03 9.98607924e-01 4.25206678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304860623999996 meters Centerline goodness : 0.767480 with order 1 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.42, Z:0.42 [[ 9.06358905e-01 -4.19368936e-01 5.14123725e-02 -2.47681111e+00] [ 4.18579209e-01 9.07813996e-01 2.57913669e-02 -4.19586831e-01] [-5.74889694e-02 -1.85608482e-03 9.98344416e-01 4.24612750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364860623999995 meters Centerline goodness : 0.767417 with order 1 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.43, Z:0.43 [[ 0.90576812 -0.42029143 0.05421465 -2.52080818] [ 0.41982909 0.90737822 0.02020637 -0.43370914] [-0.05768576 0.0044586 0.99832483 0.42500129] [ 0. 0. 0. 1. ]] SLAMing on 18.424860623999997 meters Centerline goodness : 0.764628 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.45, Z:0.42 [[ 9.04681153e-01 -4.22323694e-01 5.65217496e-02 -2.55240602e+00] [ 4.21674527e-01 9.06441546e-01 2.35439399e-02 -4.46414120e-01] [-6.11768257e-02 2.53402336e-03 9.98123727e-01 4.22715231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484860623999996 meters Centerline goodness : 0.767087 with order 1 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.46, Z:0.42 [[ 9.03071736e-01 -4.25455746e-01 5.87268873e-02 -2.58329051e+00] [ 4.24677930e-01 9.04977692e-01 2.57688237e-02 -4.59110842e-01] [-6.41100170e-02 1.66891653e-03 9.97941441e-01 4.20320971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544860623999995 meters Centerline goodness : 0.768361 with order 1 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.47, Z:0.42 [[ 9.02916124e-01 -4.25294913e-01 6.21828722e-02 -2.61534095e+00] [ 4.24266203e-01 9.05054772e-01 2.95643252e-02 -4.70585311e-01] [-6.88524623e-02 -3.12014837e-04 9.97626805e-01 4.21245395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604860623999997 meters Centerline goodness : 0.768552 with order 1 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.48, Z:0.42 [[ 9.03101678e-01 -4.24474992e-01 6.50256896e-02 -2.64459316e+00] [ 4.23234524e-01 9.05437853e-01 3.24781921e-02 -4.81186834e-01] [-7.26629011e-02 -1.80999299e-03 9.97354915e-01 4.21659769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664860623999996 meters Centerline goodness : 0.766933 with order 1 Centerline is valid? [False, False] Translation: X:-2.69, Y:-0.49, Z:0.43 [[ 0.9030898 -0.42408701 0.06766843 -2.6864991 ] [ 0.42344615 0.90559634 0.02426162 -0.49409825] [-0.07156932 0.00674352 0.99741283 0.42595242] [ 0. 0. 0. 1. ]] SLAMing on 18.724860623999998 meters Centerline goodness : 0.768244 with order 1 Centerline is valid? [False, False] Translation: X:-2.72, Y:-0.51, Z:0.43 [[ 0.9022878 -0.42541371 0.06999931 -2.71758636] [ 0.42460577 0.90498196 0.02678776 -0.50563902] [-0.07474399 0.00555184 0.9971873 0.42515735] [ 0. 0. 0. 1. ]] SLAMing on 18.784860623999997 meters Centerline goodness : 0.768784 with order 1 Centerline is valid? [False, False] Translation: X:-2.76, Y:-0.52, Z:0.42 [[ 0.90325104 -0.42225428 0.07641251 -2.75890351] [ 0.42134139 0.90645441 0.02849283 -0.52044861] [-0.08129568 0.00645957 0.9966691 0.42312854] [ 0. 0. 0. 1. ]] SLAMing on 18.844860623999995 meters Centerline goodness : 0.768223 with order 1 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.53, Z:0.43 [[ 0.90407847 -0.42006608 0.07865501 -2.80313964] [ 0.41956441 0.9074186 0.02360473 -0.53400983] [-0.08128857 0.01166032 0.9966224 0.42823562] [ 0. 0. 0. 1. ]] SLAMing on 18.904860623999998 meters Centerline goodness : 0.769425 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.55, Z:0.43 [[ 0.90505235 -0.4162511 0.08726543 -2.84353601] [ 0.41586425 0.90912466 0.02343677 -0.5494367 ] [-0.08909074 0.01507907 0.99590936 0.42726549] [ 0. 0. 0. 1. ]] SLAMing on 18.964860623999996 meters Centerline goodness : 0.768720 with order 1 Centerline is valid? [False, False] Translation: X:-2.87, Y:-0.56, Z:0.43 [[ 0.90555488 -0.41492672 0.08835263 -2.8724512 ] [ 0.41433997 0.90975779 0.02575177 -0.55808522] [-0.09106459 0.01328839 0.99575632 0.4277644 ] [ 0. 0. 0. 1. ]] SLAMing on 19.024860623999995 meters Centerline goodness : 0.769362 with order 1 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.57, Z:0.43 [[ 0.90773105 -0.40993261 0.08932864 -2.91139909] [ 0.4097734 0.91194645 0.02096251 -0.57023999] [-0.09005615 0.01757618 0.99578159 0.43108785] [ 0. 0. 0. 1. ]] SLAMing on 19.084860623999997 meters Centerline goodness : 0.769092 with order 1 Centerline is valid? [False, False] Translation: X:-2.95, Y:-0.58, Z:0.43 [[ 0.90969782 -0.40550062 0.08954958 -2.9530951 ] [ 0.40555093 0.91388614 0.01845454 -0.58353727] [-0.08932145 0.01952886 0.99581138 0.43390831] [ 0. 0. 0. 1. ]] SLAMing on 19.144860623999996 meters Centerline goodness : 0.772146 with order 1 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.59, Z:0.44 [[ 0.91312803 -0.39713937 0.09207341 -2.96797296] [ 0.39737172 0.91750781 0.01658694 -0.58635578] [-0.0910654 0.02144137 0.99561406 0.4366841 ] [ 0. 0. 0. 1. ]] SLAMing on 19.204860623999995 meters Centerline goodness : 0.771402 with order 1 Centerline is valid? [False, False] Translation: X:-2.98, Y:-0.59, Z:0.44 [[ 0.91660209 -0.38892278 0.0926266 -2.98086552] [ 0.38948358 0.92094599 0.01268977 -0.58870437] [-0.09023943 0.02444506 0.99562005 0.43952363] [ 0. 0. 0. 1. ]] SLAMing on 19.264860623999997 meters Centerline goodness : 0.773595 with order 1 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.59, Z:0.44 [[ 0.92211881 -0.37495021 0.0954423 -3.00028892] [ 0.37590398 0.92661993 0.00846805 -0.59133473] [-0.09161384 0.02806859 0.99539894 0.44035562] [ 0. 0. 0. 1. ]] SLAMing on 19.324860623999996 meters Centerline goodness : 0.774036 with order 1 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.59, Z:0.44 [[ 0.92663539 -0.36429744 0.0929205 -3.01549863] [ 0.36519785 0.93089782 0.00773179 -0.59237186] [-0.08931616 0.02676982 0.99564351 0.44472972] [ 0. 0. 0. 1. ]] SLAMing on 19.384860623999995 meters Centerline goodness : 0.774242 with order 1 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.59, Z:0.45 [[ 9.29779367e-01 -3.56824464e-01 9.04800040e-02 -3.02609648e+00] [ 3.58184851e-01 9.33649807e-01 1.28434879e-03 -5.93517328e-01] [-8.49349254e-02 3.12144058e-02 9.95897444e-01 4.49450957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444860623999997 meters Centerline goodness : 0.775759 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.60, Z:0.45 [[ 0.930855 -0.35408609 0.0901776 -3.05259134] [ 0.35495722 0.93485834 0.00672708 -0.60447557] [-0.08668525 0.02574726 0.99590298 0.44655679] [ 0. 0. 0. 1. ]] SLAMing on 19.504860623999996 meters Centerline goodness : 0.773341 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.60, Z:0.45 [[ 0.93131889 -0.35299647 0.08965834 -3.05089445] [ 0.3538049 0.93529121 0.00724198 -0.60323286] [-0.08641305 0.02497696 0.99594625 0.44501733] [ 0. 0. 0. 1. ]] SLAMing on 19.564860623999998 meters Centerline goodness : 0.774302 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.60, Z:0.44 [[ 0.93259629 -0.34989464 0.08853188 -3.05132135] [ 0.35031994 0.93656316 0.01119775 -0.6045748 ] [-0.08683373 0.0205715 0.9960104 0.44498302] [ 0. 0. 0. 1. ]] SLAMing on 19.624860623999997 meters Centerline goodness : 0.775131 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.60, Z:0.45 [[ 0.93273928 -0.34956 0.08834733 -3.05101702] [ 0.34999088 0.93668766 0.01107326 -0.60448029] [-0.08662462 0.02059229 0.99602818 0.44565681] [ 0. 0. 0. 1. ]] SLAMing on 19.684860623999995 meters Centerline goodness : 0.774842 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.61, Z:0.45 [[ 0.93316101 -0.34854384 0.08790744 -3.04938688] [ 0.34890066 0.93708576 0.01177341 -0.60563205] [-0.08648036 0.01968448 0.99605907 0.44506888] [ 0. 0. 0. 1. ]] SLAMing on 19.744860623999998 meters Centerline goodness : 0.773941 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.61, Z:0.44 [[ 0.93444011 -0.34527473 0.08721839 -3.04757273] [ 0.34532964 0.93836254 0.01493955 -0.60810319] [-0.08700072 0.01615898 0.99607719 0.44368473] [ 0. 0. 0. 1. ]] SLAMing on 19.804860623999996 meters Centerline goodness : 0.772211 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.61, Z:0.44 [[ 0.93545395 -0.34261049 0.08685592 -3.04715753] [ 0.34239309 0.9393871 0.01785613 -0.61080238] [-0.08770903 0.01303528 0.99606085 0.44333949] [ 0. 0. 0. 1. ]] SLAMing on 19.864860623999995 meters Centerline goodness : 0.774314 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.61, Z:0.44 [[ 0.9370572 -0.33868982 0.0849294 -3.04489569] [ 0.33802495 0.94086742 0.02253057 -0.61455892] [-0.08753818 0.00759582 0.99613221 0.44260004] [ 0. 0. 0. 1. ]] SLAMing on 19.924860623999997 meters Centerline goodness : 0.774399 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.62, Z:0.44 [[ 0.93761885 -0.3373562 0.08403381 -3.04175288] [ 0.33657352 0.94135781 0.02374301 -0.61706111] [-0.08711573 0.00602166 0.99618 0.44131471] [ 0. 0. 0. 1. ]] SLAMing on 19.984860623999996 meters Centerline goodness : 0.776086 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.62, Z:0.44 [[ 0.93785435 -0.33678891 0.08368065 -3.04015522] [ 0.33594853 0.94156542 0.02435455 -0.61949562] [-0.08699314 0.00527137 0.99619496 0.44095707] [ 0. 0. 0. 1. ]] SLAMing on 20.044860623999995 meters Centerline goodness : 0.776033 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.62, Z:0.44 [[ 0.9382934 -0.33575792 0.08289824 -3.03766317] [ 0.33483646 0.94193932 0.02519654 -0.6212665 ] [-0.08654505 0.00411561 0.99623944 0.44013479] [ 0. 0. 0. 1. ]] SLAMing on 20.104860623999997 meters Centerline goodness : 0.776165 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.62, Z:0.44 [[ 0.93831207 -0.33573763 0.08276899 -3.03721658] [ 0.33480312 0.94194733 0.02533978 -0.62186758] [-0.08647155 0.00393469 0.99624655 0.43997312] [ 0. 0. 0. 1. ]] SLAMing on 20.164860623999996 meters Centerline goodness : 0.779258 with order 1 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.62, Z:0.44 [[ 0.93722607 -0.33855364 0.0835986 -3.03568117] [ 0.337927 0.9409159 0.02196828 -0.62336499] [-0.08609669 0.00766098 0.99625733 0.44016305] [ 0. 0. 0. 1. ]] SLAMing on 20.224860623999994 meters Centerline goodness : 0.779547 with order 1 Centerline is valid? [False, False] Translation: X:-3.06, Y:-0.64, Z:0.44 [[ 0.935327 -0.34206007 0.09032336 -3.06111475] [ 0.34161002 0.93960983 0.0208798 -0.63725162] [-0.09201086 0.01132592 0.99569359 0.43933921] [ 0. 0. 0. 1. ]] SLAMing on 20.284860623999997 meters Centerline goodness : 0.778680 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.65, Z:0.44 [[ 0.93364882 -0.34519307 0.09561187 -3.08935567] [ 0.34476841 0.93844258 0.02145392 -0.65010968] [-0.097132 0.01293352 0.99518747 0.43817525] [ 0. 0. 0. 1. ]] SLAMing on 20.344860623999995 meters Centerline goodness : 0.778227 with order 1 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.67, Z:0.44 [[ 0.93096781 -0.35095647 0.10064047 -3.12072788] [ 0.35046482 0.93629073 0.02311022 -0.66562807] [-0.10233942 0.01375607 0.99465442 0.43604009] [ 0. 0. 0. 1. ]] SLAMing on 20.404860623999998 meters Centerline goodness : 0.778704 with order 1 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.68, Z:0.44 [[ 0.92889614 -0.35456226 0.10694658 -3.15186014] [ 0.35411152 0.93489982 0.02381914 -0.67777315] [-0.1084297 0.01574551 0.99397942 0.4370341 ] [ 0. 0. 0. 1. ]] SLAMing on 20.464860623999996 meters Centerline goodness : 0.778891 with order 1 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.68, Z:0.44 [[ 0.92734517 -0.35815651 0.10841977 -3.1522564 ] [ 0.3582037 0.93343529 0.01971457 -0.67634931] [-0.10826374 0.02055415 0.9939097 0.43710395] [ 0. 0. 0. 1. ]] SLAMing on 20.524860623999995 meters Centerline goodness : 0.779473 with order 1 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.68, Z:0.44 [[ 0.92701734 -0.35890231 0.10875656 -3.15292286] [ 0.35897648 0.93314127 0.01957712 -0.67688201] [-0.10851151 0.02089272 0.99387562 0.43695088] [ 0. 0. 0. 1. ]] SLAMing on 20.584860623999997 meters Centerline goodness : 0.776763 with order 1 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.68, Z:0.44 [[ 0.92649413 -0.36004851 0.10942434 -3.15478147] [ 0.36020777 0.93267858 0.01900079 -0.67632462] [-0.10889895 0.02181138 0.99381351 0.43731977] [ 0. 0. 0. 1. ]] SLAMing on 20.644860623999996 meters Centerline goodness : 0.776792 with order 1 Centerline is valid? [False, False] Translation: X:-3.16, Y:-0.67, Z:0.44 [[ 0.92625487 -0.36058372 0.10968731 -3.15564954] [ 0.36080043 0.93245829 0.01856298 -0.67498455] [-0.10897235 0.02238117 0.99379279 0.43732102] [ 0. 0. 0. 1. ]] SLAMing on 20.704860623999995 meters Centerline goodness : 0.775699 with order 1 Centerline is valid? [False, False] Translation: X:-3.18, Y:-0.68, Z:0.44 [[ 0.92639045 -0.3589723 0.11375247 -3.18182382] [ 0.35927475 0.93304755 0.01854494 -0.68105816] [-0.11279359 0.02368854 0.99333603 0.4397952 ] [ 0. 0. 0. 1. ]] SLAMing on 20.764860623999997 meters Centerline goodness : 0.779053 with order 1 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.68, Z:0.44 [[ 0.92672731 -0.35802127 0.11400557 -3.18729249] [ 0.35810844 0.93345659 0.02042399 -0.67811332] [-0.11373147 0.02189889 0.99327015 0.44241133] [ 0. 0. 0. 1. ]] SLAMing on 20.824860623999996 meters Centerline goodness : 0.779299 with order 1 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.67, Z:0.44 [[ 0.92636219 -0.35871654 0.11478473 -3.1898429 ] [ 0.35898054 0.93314996 0.01908205 -0.67398914] [-0.11395641 0.02352859 0.9932071 0.44336437] [ 0. 0. 0. 1. ]] SLAMing on 20.884860623999995 meters Centerline goodness : 0.779150 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.68, Z:0.45 [[ 0.92620844 -0.3577043 0.11910314 -3.21765433] [ 0.3581675 0.93347927 0.01823449 -0.67798598] [-0.11770287 0.02576993 0.99271443 0.44516158] [ 0. 0. 0. 1. ]] SLAMing on 20.944860623999997 meters Centerline goodness : 0.779727 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.67, Z:0.45 [[ 0.92607346 -0.35786016 0.11968315 -3.22393126] [ 0.35811514 0.93346072 0.02011544 -0.67482144] [-0.11891803 0.02423197 0.99260834 0.44636803] [ 0. 0. 0. 1. ]] SLAMing on 21.004860623999996 meters Centerline goodness : 0.780910 with order 1 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.68, Z:0.45 [[ 0.9257902 -0.35747834 0.12297051 -3.25435315] [ 0.35747515 0.93364302 0.02285231 -0.68223525] [-0.12297977 0.02280246 0.99214718 0.44714124] [ 0. 0. 0. 1. ]] SLAMing on 21.064860623999994 meters Centerline goodness : 0.780021 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.69, Z:0.45 [[ 0.92515947 -0.35788091 0.12649593 -3.2852174 ] [ 0.35791717 0.93346432 0.02323075 -0.68673969] [-0.12639328 0.02378292 0.99169507 0.44848099] [ 0. 0. 0. 1. ]] SLAMing on 21.124860623999997 meters Centerline goodness : 0.778224 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.68, Z:0.45 [[ 0.92485061 -0.35839607 0.12729337 -3.28749356] [ 0.35860922 0.93322763 0.02203689 -0.68117287] [-0.12669162 0.02526775 0.99162028 0.44791419] [ 0. 0. 0. 1. ]] SLAMing on 21.184860623999995 meters Centerline goodness : 0.778218 with order 1 Centerline is valid? [False, False] Translation: X:-3.31, Y:-0.68, Z:0.45 [[ 0.92608367 -0.35332945 0.13239087 -3.3106616 ] [ 0.3538103 0.93508879 0.02066958 -0.68183118] [-0.13110039 0.02769949 0.99098205 0.45168987] [ 0. 0. 0. 1. ]] SLAMing on 21.244860623999998 meters Centerline goodness : 0.778783 with order 1 Centerline is valid? [False, False] Translation: X:-3.33, Y:-0.69, Z:0.45 [[ 0.92742333 -0.34792881 0.13722797 -3.33141228] [ 0.34865754 0.93704779 0.01947698 -0.68513399] [-0.13536577 0.02978216 0.99034798 0.45484593] [ 0. 0. 0. 1. ]] SLAMing on 21.304860623999996 meters Centerline goodness : 0.780317 with order 1 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.68, Z:0.46 [[ 0.92944621 -0.34316089 0.13553725 -3.34874612] [ 0.34478016 0.93860565 0.01208623 -0.68084458] [-0.13136355 0.03549705 0.99069853 0.46139664] [ 0. 0. 0. 1. ]] SLAMing on 21.364860623999995 meters Centerline goodness : 0.781621 with order 1 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.68, Z:0.46 [[ 0.93055915 -0.34042523 0.13479739 -3.35040521] [ 0.34156268 0.93973415 0.01531883 -0.6776271 ] [-0.13188863 0.03178669 0.99075476 0.46053429] [ 0. 0. 0. 1. ]] SLAMing on 21.424860623999997 meters Centerline goodness : 0.781130 with order 1 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.67, Z:0.46 [[ 0.93158581 -0.33778039 0.13435883 -3.35309467] [ 0.33856853 0.94077636 0.0176406 -0.67080707] [-0.13236026 0.02905594 0.99077571 0.46007021] [ 0. 0. 0. 1. ]] SLAMing on 21.484860623999996 meters Centerline goodness : 0.781604 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.67, Z:0.46 [[ 0.93244554 -0.3356021 0.13385271 -3.35552047] [ 0.33596024 0.94165117 0.02058597 -0.66808567] [-0.13295126 0.02577389 0.9907874 0.45995853] [ 0. 0. 0. 1. ]] SLAMing on 21.544860623999995 meters Centerline goodness : 0.782206 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.66, Z:0.46 [[ 0.93265914 -0.33471933 0.13457304 -3.36183011] [ 0.33480304 0.9420149 0.0226901 -0.66443882] [-0.13436463 0.02389333 0.99064386 0.46183182] [ 0. 0. 0. 1. ]] SLAMing on 21.604860623999997 meters Centerline goodness : 0.782321 with order 1 Centerline is valid? [False, False] Translation: X:-3.37, Y:-0.66, Z:0.47 [[ 0.93177366 -0.33652766 0.1361873 -3.36716722] [ 0.33696392 0.9412935 0.02053934 -0.66024313] [-0.13510428 0.02675219 0.99047017 0.46505008] [ 0. 0. 0. 1. ]] SLAMing on 21.664860623999996 meters Centerline goodness : 0.785589 with order 1 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.67, Z:0.47 [[ 0.9308268 -0.33684992 0.14175188 -3.39639637] [ 0.33748247 0.94111312 0.02029002 -0.66753614] [-0.14023924 0.02895228 0.98969426 0.46713702] [ 0. 0. 0. 1. ]] SLAMing on 21.724860623999994 meters Centerline goodness : 0.786590 with order 1 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.67, Z:0.47 [[ 0.93016914 -0.33831055 0.14258806 -3.39910576] [ 0.33905026 0.94055931 0.01982668 -0.66722896] [-0.1408201 0.02990235 0.98958352 0.46776047] [ 0. 0. 0. 1. ]] SLAMing on 21.784860623999997 meters Centerline goodness : 0.787269 with order 1 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.67, Z:0.47 [[ 0.92931489 -0.340222 0.14360649 -3.40211367] [ 0.34110803 0.93982852 0.01917439 -0.66712782] [-0.14148902 0.03116628 0.9894491 0.46817293] [ 0. 0. 0. 1. ]] SLAMing on 21.844860623999995 meters Centerline goodness : 0.791781 with order 1 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.67, Z:0.47 [[ 0.93118356 -0.33325055 0.14778783 -3.41915373] [ 0.33434066 0.94227755 0.01814759 -0.67110014] [-0.14530485 0.03251274 0.98885258 0.46991871] [ 0. 0. 0. 1. ]] SLAMing on 21.904860623999994 meters Centerline goodness : 0.792777 with order 1 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.67, Z:0.48 [[ 0.93411383 -0.32641433 0.14451654 -3.43153466] [ 0.32826789 0.94451453 0.01151082 -0.67143897] [-0.14025527 0.03668772 0.98943543 0.47669738] [ 0. 0. 0. 1. ]] SLAMing on 21.964860623999996 meters Centerline goodness : 0.792603 with order 1 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.67, Z:0.48 [[ 0.93438237 -0.32574643 0.14428738 -3.43040938] [ 0.32759234 0.94474976 0.01145189 -0.67020409] [-0.14004588 0.036567 0.98946956 0.47594806] [ 0. 0. 0. 1. ]] SLAMing on 22.024860623999995 meters Centerline goodness : 0.789210 with order 1 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.67, Z:0.48 [[ 0.93442194 -0.32563812 0.14427562 -3.43038399] [ 0.32750385 0.94478227 0.01130018 -0.66973572] [-0.13998881 0.03669168 0.98947302 0.47612531] [ 0. 0. 0. 1. ]] SLAMing on 22.084860623999997 meters Centerline goodness : 0.792801 with order 1 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.67, Z:0.48 [[ 0.93429287 -0.32257185 0.15180329 -3.44153259] [ 0.32468024 0.94575537 0.01138072 -0.6736146 ] [-0.14723988 0.0386546 0.9883452 0.47552066] [ 0. 0. 0. 1. ]] SLAMing on 22.144860623999996 meters Centerline goodness : 0.793825 with order 1 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.67, Z:0.48 [[ 0.93390566 -0.32344124 0.15233509 -3.44315712] [ 0.32557103 0.94544825 0.01145054 -0.67497897] [-0.14772853 0.03890217 0.98826257 0.47605231] [ 0. 0. 0. 1. ]] SLAMing on 22.204860623999995 meters Centerline goodness : 0.794606 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.69, Z:0.48 [[ 0.9332941 -0.3235581 0.15579563 -3.46860839] [ 0.32565182 0.94540566 0.01261097 -0.68687598] [-0.15137046 0.03896538 0.98770881 0.47614234] [ 0. 0. 0. 1. ]] SLAMing on 22.264860623999997 meters Centerline goodness : 0.791703 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.69, Z:0.48 [[ 0.93303067 -0.3241877 0.15606441 -3.46943745] [ 0.326276 0.94518829 0.01276971 -0.68873646] [-0.15165003 0.03900554 0.98766433 0.47660812] [ 0. 0. 0. 1. ]] SLAMing on 22.324860623999996 meters Centerline goodness : 0.789344 with order 1 Centerline is valid? [False, False] Translation: X:-3.50, Y:-0.70, Z:0.48 [[ 0.93244541 -0.32453075 0.1588249 -3.49782145] [ 0.32606104 0.94519465 0.01706663 -0.70344215] [-0.15565909 0.03587291 0.98715925 0.47571264] [ 0. 0. 0. 1. ]] SLAMing on 22.384860623999995 meters Centerline goodness : 0.788156 with order 1 Centerline is valid? [False, False] Translation: X:-3.50, Y:-0.71, Z:0.48 [[ 0.93209187 -0.32546911 0.15897989 -3.49811898] [ 0.3269911 0.94487021 0.0172369 -0.7071888 ] [-0.15582544 0.03591864 0.98713134 0.4763373 ] [ 0. 0. 0. 1. ]] SLAMing on 22.444860623999997 meters Centerline goodness : 0.786467 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.72, Z:0.48 [[ 0.93130521 -0.32609483 0.16227373 -3.5243178 ] [ 0.32738881 0.94468911 0.01946916 -0.72180313] [-0.15964701 0.03499488 0.98655369 0.47728255] [ 0. 0. 0. 1. ]] SLAMing on 22.504860623999996 meters Centerline goodness : 0.788016 with order 1 Centerline is valid? [False, False] Translation: X:-3.53, Y:-0.73, Z:0.48 [[ 0.93065898 -0.32411623 0.16977201 -3.53126263] [ 0.32608043 0.94518964 0.01697347 -0.73067758] [-0.16596812 0.03956282 0.98533718 0.47509804] [ 0. 0. 0. 1. ]] SLAMing on 22.564860623999994 meters Centerline goodness : 0.784162 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.75, Z:0.48 [[ 0.92981018 -0.3246634 0.17333987 -3.55534317] [ 0.32648694 0.94501671 0.0187 -0.74574257] [-0.16988028 0.03920576 0.98468452 0.47619422] [ 0. 0. 0. 1. ]] SLAMing on 22.624860623999997 meters Centerline goodness : 0.784774 with order 1 Centerline is valid? [False, False] Translation: X:-3.58, Y:-0.76, Z:0.48 [[ 0.9294773 -0.32388005 0.17656065 -3.58351101] [ 0.3249905 0.94542742 0.02341287 -0.75999174] [-0.17450825 0.0356188 0.98401127 0.47706901] [ 0. 0. 0. 1. ]] SLAMing on 22.684860623999995 meters Centerline goodness : 0.784618 with order 1 Centerline is valid? [False, False] Translation: X:-3.58, Y:-0.76, Z:0.48 [[ 0.92969628 -0.32349694 0.17610952 -3.58246571] [ 0.32450913 0.94558215 0.02383749 -0.76244142] [-0.17423737 0.03498753 0.98408191 0.47805463] [ 0. 0. 0. 1. ]] SLAMing on 22.744860623999994 meters Centerline goodness : 0.785144 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.77, Z:0.48 [[ 0.93020287 -0.31831908 0.18274461 -3.58932059] [ 0.31947381 0.94729384 0.02389264 -0.77118792] [-0.18071833 0.03615711 0.98287006 0.47636487] [ 0. 0. 0. 1. ]] SLAMing on 22.804860623999996 meters Centerline goodness : 0.784141 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.78, Z:0.48 [[ 0.9304237 -0.31768287 0.1827275 -3.58827096] [ 0.31862386 0.94755184 0.02498691 -0.77519006] [-0.18108169 0.03497292 0.98284603 0.476201 ] [ 0. 0. 0. 1. ]] SLAMing on 22.864860623999995 meters Centerline goodness : 0.782535 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.78, Z:0.47 [[ 0.9303975 -0.31475751 0.18785157 -3.59303186] [ 0.31576199 0.94849957 0.02535615 -0.78111561] [-0.18615817 0.03572508 0.98187008 0.47354865] [ 0. 0. 0. 1. ]] SLAMing on 22.924860623999997 meters Centerline goodness : 0.782403 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.79, Z:0.47 [[ 0.92992362 -0.31426435 0.19099734 -3.59484509] [ 0.31543514 0.94861628 0.02505632 -0.78839373] [-0.1890575 0.03694681 0.9812707 0.47314329] [ 0. 0. 0. 1. ]] SLAMing on 22.984860623999996 meters Centerline goodness : 0.783056 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.79, Z:0.47 [[ 0.92996477 -0.31429432 0.19074749 -3.59420495] [ 0.31535268 0.94862935 0.02559369 -0.79101104] [-0.18899262 0.0363515 0.98130544 0.47341481] [ 0. 0. 0. 1. ]] SLAMing on 23.044860623999995 meters Centerline goodness : 0.782594 with order 1 Centerline is valid? [False, False] Translation: X:-3.62, Y:-0.81, Z:0.47 [[ 0.93022487 -0.31250944 0.19240465 -3.6182933 ] [ 0.31268329 0.94937519 0.03026401 -0.8053035 ] [-0.19212199 0.03200939 0.98084889 0.47391393] [ 0. 0. 0. 1. ]] SLAMing on 23.104860623999997 meters Centerline goodness : 0.782502 with order 1 Centerline is valid? [False, False] Translation: X:-3.64, Y:-0.82, Z:0.47 [[ 0.9298676 -0.31219589 0.19462779 -3.64166794] [ 0.31184463 0.94955107 0.03325181 -0.82003889] [-0.19519011 0.02977385 0.98031339 0.47481118] [ 0. 0. 0. 1. ]] SLAMing on 23.164860623999996 meters Centerline goodness : 0.783142 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.83, Z:0.48 [[ 0.92912622 -0.31194494 0.19853168 -3.66666146] [ 0.31157113 0.94961634 0.03394474 -0.83225946] [-0.19911782 0.03031779 0.97950647 0.47895558] [ 0. 0. 0. 1. ]] SLAMing on 23.224860623999994 meters Centerline goodness : 0.781869 with order 1 Centerline is valid? [False, False] Translation: X:-3.68, Y:-0.84, Z:0.48 [[ 0.92863346 -0.3081579 0.20658798 -3.67697468] [ 0.30864574 0.95068165 0.03069541 -0.83981596] [-0.20585844 0.03525771 0.97794642 0.47864702] [ 0. 0. 0. 1. ]] SLAMing on 23.284860623999997 meters Centerline goodness : 0.784044 with order 1 Centerline is valid? [False, False] Translation: X:-3.69, Y:-0.85, Z:0.48 [[ 0.92838428 -0.30416016 0.21351634 -3.6850424 ] [ 0.30499794 0.95188555 0.02983553 -0.84670625] [-0.2123179 0.03742321 0.9764838 0.47663505] [ 0. 0. 0. 1. ]] SLAMing on 23.344860623999995 meters Centerline goodness : 0.784841 with order 1 Centerline is valid? [False, False] Translation: X:-3.69, Y:-0.85, Z:0.48 [[ 0.92816884 -0.30309776 0.21594988 -3.68810322] [ 0.30374811 0.95224788 0.03100098 -0.85053097] [-0.21503415 0.03682022 0.97591218 0.476343 ] [ 0. 0. 0. 1. ]] SLAMing on 23.404860623999994 meters Centerline goodness : 0.784741 with order 1 Centerline is valid? [False, False] Translation: X:-3.71, Y:-0.86, Z:0.48 [[ 0.92828236 -0.30156943 0.21759534 -3.71435826] [ 0.30147137 0.95285195 0.0344698 -0.86139738] [-0.21773119 0.03360106 0.97543021 0.47971865] [ 0. 0. 0. 1. ]] SLAMing on 23.464860623999996 meters Centerline goodness : 0.790543 with order 1 Centerline is valid? [False, False] Translation: X:-3.72, Y:-0.87, Z:0.48 [[ 0.92794994 -0.29745791 0.22456114 -3.72358062] [ 0.297734 0.95406271 0.0334486 -0.86806503] [-0.22419496 0.03582086 0.97388577 0.47952474] [ 0. 0. 0. 1. ]] SLAMing on 23.524860623999995 meters Centerline goodness : 0.792054 with order 1 Centerline is valid? [False, False] Translation: X:-3.73, Y:-0.87, Z:0.49 [[ 0.92976781 -0.29364843 0.2220415 -3.73337314] [ 0.2961319 0.95487478 0.02280462 -0.87058974] [-0.21871837 0.04455057 0.9747705 0.48714381] [ 0. 0. 0. 1. ]] SLAMing on 23.584860623999994 meters Centerline goodness : 0.790677 with order 1 Centerline is valid? [False, False] Translation: X:-3.74, Y:-0.87, Z:0.49 [[ 0.92948496 -0.29163635 0.22584497 -3.73843762] [ 0.29400399 0.9555064 0.02385756 -0.87373834] [-0.22275405 0.04422408 0.97387107 0.48639938] [ 0. 0. 0. 1. ]] SLAMing on 23.644860623999996 meters Centerline goodness : 0.789358 with order 1 Centerline is valid? [False, False] Translation: X:-3.76, Y:-0.89, Z:0.49 [[ 0.92951729 -0.29025013 0.22749169 -3.76206126] [ 0.29163734 0.95611134 0.02826252 -0.88690733] [-0.22571058 0.04007457 0.9733698 0.48875302] [ 0. 0. 0. 1. ]] SLAMing on 23.704860623999995 meters Centerline goodness : 0.790247 with order 1 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.90, Z:0.49 [[ 0.92869284 -0.29276096 0.22764147 -3.7917873 ] [ 0.29349561 0.95544436 0.03140697 -0.89876866] [-0.22669349 0.03764434 0.97323839 0.49253823] [ 0. 0. 0. 1. ]] SLAMing on 23.764860623999997 meters Centerline goodness : 0.792719 with order 1 Centerline is valid? [False, False] Translation: X:-3.81, Y:-0.91, Z:0.50 [[ 0.92948682 -0.28847591 0.2298606 -3.8077721 ] [ 0.29004711 0.95661174 0.02768841 -0.90547282] [-0.22787479 0.04093439 0.97282961 0.49739308] [ 0. 0. 0. 1. ]] SLAMing on 23.824860623999996 meters Centerline goodness : 0.793318 with order 1 Centerline is valid? [False, False] Translation: X:-3.82, Y:-0.91, Z:0.50 [[ 0.92973269 -0.28343562 0.23507737 -3.82186057] [ 0.28602748 0.9579272 0.02374366 -0.91171212] [-0.2319168 0.04516333 0.97168661 0.50093808] [ 0. 0. 0. 1. ]] SLAMing on 23.884860623999995 meters Centerline goodness : 0.795727 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.92, Z:0.51 [[ 0.92905831 -0.28343352 0.23773114 -3.85085733] [ 0.28513747 0.95807929 0.02794102 -0.92213253] [-0.23568471 0.04182722 0.97092904 0.50570807] [ 0. 0. 0. 1. ]] SLAMing on 23.944860623999997 meters Centerline goodness : 0.799544 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.92, Z:0.51 [[ 0.928229 -0.28402172 0.24025526 -3.85350034] [ 0.28610005 0.95782061 0.02695256 -0.92486755] [-0.23777656 0.04371889 0.97033549 0.50614885] [ 0. 0. 0. 1. ]] SLAMing on 24.004860623999996 meters Centerline goodness : 0.801751 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-0.93, Z:0.51 [[ 0.92827837 -0.28165175 0.2428406 -3.87011252] [ 0.28529923 0.95821328 0.02077636 -0.9303138 ] [-0.23854479 0.04999599 0.96984369 0.5115985 ] [ 0. 0. 0. 1. ]] SLAMing on 24.064860623999994 meters Centerline goodness : 0.802411 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.94, Z:0.52 [[ 0.92760601 -0.28255469 0.24435615 -3.90045357] [ 0.28514146 0.95814632 0.02549478 -0.94032261] [-0.24133261 0.04602696 0.96935034 0.51589775] [ 0. 0. 0. 1. ]] SLAMing on 24.124860623999997 meters Centerline goodness : 0.803955 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.94, Z:0.52 [[ 0.92754788 -0.28264556 0.24447173 -3.90071677] [ 0.2852624 0.9581126 0.0254088 -0.94095453] [-0.24141313 0.04617071 0.96932346 0.51660042] [ 0. 0. 0. 1. ]] SLAMing on 24.184860623999995 meters Centerline goodness : 0.804641 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.94, Z:0.52 [[ 0.92763366 -0.28239828 0.24443201 -3.90045972] [ 0.2849656 0.95819671 0.02556714 -0.94234139] [-0.24143406 0.04593778 0.96932931 0.51733818] [ 0. 0. 0. 1. ]] SLAMing on 24.244860623999994 meters Centerline goodness : 0.808535 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-0.94, Z:0.52 [[ 0.92769065 -0.28212466 0.24453165 -3.90027386] [ 0.28461933 0.95829225 0.02584197 -0.94407546] [-0.24162344 0.04562508 0.96929689 0.51789129] [ 0. 0. 0. 1. ]] SLAMing on 24.304860623999996 meters Centerline goodness : 0.810118 with order 1 Centerline is valid? [False, False] Translation: X:-3.91, Y:-0.95, Z:0.52 [[ 0.92774801 -0.27585326 0.25137343 -3.90993617] [ 0.27888284 0.96001934 0.02423275 -0.94854973] [-0.24800803 0.04762185 0.96758678 0.51694717] [ 0. 0. 0. 1. ]] SLAMing on 24.364860623999995 meters Centerline goodness : 0.815038 with order 1 Centerline is valid? [False, False] Translation: X:-3.91, Y:-0.95, Z:0.52 [[ 0.92854973 -0.27397897 0.25046143 -3.91019918] [ 0.27587002 0.96077985 0.02824566 -0.95253052] [-0.24837701 0.0428673 0.96771445 0.51756946] [ 0. 0. 0. 1. ]] SLAMing on 24.424860623999994 meters Centerline goodness : 0.820398 with order 1 Centerline is valid? [False, False] Translation: X:-3.93, Y:-0.96, Z:0.52 [[ 0.9296287 -0.27418011 0.24620267 -3.9344527 ] [ 0.2760456 0.96074785 0.02761157 -0.95961815] [-0.24410923 0.04229466 0.96882498 0.52493006] [ 0. 0. 0. 1. ]] SLAMing on 24.484860623999996 meters Centerline goodness : 0.819865 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.96, Z:0.53 [[ 0.93189196 -0.26886101 0.24349768 -3.94405708] [ 0.27278156 0.96190506 0.01813497 -0.96044657] [-0.23909744 0.04952185 0.96973192 0.53219467] [ 0. 0. 0. 1. ]] SLAMing on 24.544860623999995 meters Centerline goodness : 0.824064 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.96, Z:0.53 [[ 0.93286815 -0.26631288 0.24255817 -3.94436414] [ 0.26914646 0.96284755 0.02201756 -0.96276207] [-0.2394101 0.04474419 0.96988698 0.53339026] [ 0. 0. 0. 1. ]] SLAMing on 24.604860623999997 meters Centerline goodness : 0.825647 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.96, Z:0.54 [[ 0.93590835 -0.25878528 0.23896806 -3.95410264] [ 0.26288481 0.96470854 0.01513288 -0.96314616] [-0.2344507 0.04865808 0.9709095 0.54083066] [ 0. 0. 0. 1. ]] SLAMing on 24.664860623999996 meters Centerline goodness : 0.826650 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.96, Z:0.55 [[ 0.93917506 -0.25015309 0.23531604 -3.96485726] [ 0.25511702 0.96686232 0.00962133 -0.96206574] [-0.22992501 0.05099702 0.97187128 0.54907235] [ 0. 0. 0. 1. ]] SLAMing on 24.724860623999994 meters Centerline goodness : 0.826896 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.96, Z:0.56 [[ 0.94241377 -0.24122825 0.23165755 -3.97495849] [ 0.24697044 0.9690133 0.00433848 -0.96178284] [-0.22552581 0.05312392 0.97278773 0.55656391] [ 0. 0. 0. 1. ]] SLAMing on 24.784860623999997 meters Centerline goodness : 0.826544 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.96, Z:0.56 [[ 0.94347031 -0.23790714 0.23078988 -3.97478901] [ 0.24255952 0.97009988 0.00843181 -0.96207424] [-0.22589523 0.04802512 0.97296708 0.55636206] [ 0. 0. 0. 1. ]] SLAMing on 24.844860623999995 meters Centerline goodness : 0.825952 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:0.56 [[ 9.46667128e-01 -2.28591684e-01 2.27084105e-01 -3.98588322e+00] [ 2.33907354e-01 9.72252244e-01 3.59503463e-03 -9.59683617e-01] [-2.21604826e-01 4.97133410e-02 9.73868515e-01 5.64794098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904860623999994 meters Centerline goodness : 0.822676 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:0.56 [[ 0.94811969 -0.22391317 0.22568108 -3.98662901] [ 0.22732069 0.97375646 0.01112044 -0.96211542] [-0.22224843 0.04075847 0.97413776 0.5645192 ] [ 0. 0. 0. 1. ]] SLAMing on 24.964860623999996 meters Centerline goodness : 0.819296 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:0.56 [[ 0.94865723 -0.22217529 0.22513907 -3.98758675] [ 0.22463784 0.97432754 0.01495607 -0.96456094] [-0.22268206 0.03638657 0.97421184 0.56467311] [ 0. 0. 0. 1. ]] SLAMing on 25.024860623999995 meters Centerline goodness : 0.822447 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.97, Z:0.57 [[ 0.94883062 -0.22157191 0.22500298 -3.99046329] [ 0.22339258 0.97456842 0.01766759 -0.96544414] [-0.22319544 0.03350044 0.97419788 0.5668867 ] [ 0. 0. 0. 1. ]] SLAMing on 25.084860623999994 meters Centerline goodness : 0.815962 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.97, Z:0.57 [[ 0.94845247 -0.22261478 0.22556721 -3.99214128] [ 0.22455211 0.97430725 0.01737041 -0.9661359 ] [-0.22363868 0.03417658 0.97407274 0.5678161 ] [ 0. 0. 0. 1. ]] SLAMing on 25.144860623999996 meters Centerline goodness : 0.813399 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.97, Z:0.57 [[ 0.94807423 -0.22363973 0.2261427 -3.99385371] [ 0.22568987 0.97404924 0.01709257 -0.96671807] [-0.2240967 0.03483309 0.97394421 0.56874033] [ 0. 0. 0. 1. ]] SLAMing on 25.204860623999995 meters Centerline goodness : 0.811800 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.57 [[ 0.94735863 -0.22583729 0.22695628 -3.99689198] [ 0.22817398 0.97348486 0.01624361 -0.96746883] [-0.22460692 0.036397 0.97376948 0.57075825] [ 0. 0. 0. 1. ]] SLAMing on 25.264860623999994 meters Centerline goodness : 0.808972 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.57 [[ 0.94671504 -0.2281314 0.22734708 -3.99838027] [ 0.23072135 0.97289661 0.0154869 -0.96945535] [-0.22471825 0.03779214 0.97369064 0.5711581 ] [ 0. 0. 0. 1. ]] SLAMing on 25.324860623999996 meters Centerline goodness : 0.805118 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.57 [[ 0.94613843 -0.2299048 0.22796018 -4.00023125] [ 0.23264087 0.97244432 0.01517436 -0.9704915 ] [-0.22516724 0.03867581 0.9735522 0.57127482] [ 0. 0. 0. 1. ]] SLAMing on 25.384860623999995 meters Centerline goodness : 0.805867 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.57 [[ 0.94601117 -0.23020291 0.22818741 -4.00066989] [ 0.2329749 0.97236559 0.01509521 -0.97048069] [-0.22535654 0.0388817 0.9735002 0.57119253] [ 0. 0. 0. 1. ]] SLAMing on 25.444860623999997 meters Centerline goodness : 0.807707 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.57 [[ 0.94627032 -0.22906827 0.22825469 -4.00363415] [ 0.23110864 0.97275912 0.01812449 -0.97100187] [-0.22618858 0.03560097 0.97343274 0.57284742] [ 0. 0. 0. 1. ]] SLAMing on 25.504860623999996 meters Centerline goodness : 0.804021 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.57 [[ 0.94666674 -0.22770748 0.22797234 -4.00553691] [ 0.2289713 0.97320108 0.02125542 -0.9716255 ] [-0.22670295 0.03207732 0.97343558 0.57385287] [ 0. 0. 0. 1. ]] SLAMing on 25.564860623999994 meters Centerline goodness : 0.805746 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.58 [[ 0.94852159 -0.22270925 0.22518301 -4.01543196] [ 0.22604424 0.97405262 0.01120282 -0.97027214] [-0.22183507 0.04027521 0.97425208 0.58042783] [ 0. 0. 0. 1. ]] SLAMing on 25.624860623999997 meters Centerline goodness : 0.803106 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.59 [[ 9.50815911e-01 -2.15814113e-01 2.22201199e-01 -4.02476758e+00] [ 2.20858601e-01 9.75303362e-01 2.19781945e-03 -9.67067504e-01] [-2.17187897e-01 4.69853241e-02 9.74998357e-01 5.87177546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684860623999995 meters Centerline goodness : 0.802216 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:0.59 [[ 0.95205353 -0.21105556 0.22147148 -4.02753292] [ 0.21425039 0.97672979 0.00978191 -0.96695499] [-0.21838232 0.03813745 0.97511779 0.58767744] [ 0. 0. 0. 1. ]] SLAMing on 25.744860623999994 meters Centerline goodness : 0.800969 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:0.59 [[ 0.953017 -0.20730303 0.22087112 -4.03048899] [ 0.20887813 0.97780303 0.01646716 -0.96625726] [-0.21938214 0.03044166 0.97516398 0.5880277 ] [ 0. 0. 0. 1. ]] SLAMing on 25.804860623999996 meters Centerline goodness : 0.798672 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:0.59 [[ 0.95330596 -0.20601997 0.22082463 -4.03257643] [ 0.20681522 0.97818018 0.0197735 -0.96708799] [-0.22008002 0.0268197 0.97511307 0.58826223] [ 0. 0. 0. 1. ]] SLAMing on 25.864860623999995 meters Centerline goodness : 0.795677 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:0.59 [[ 0.95322377 -0.20624566 0.2209687 -4.03291952] [ 0.20708427 0.97812624 0.01962557 -0.96653843] [-0.22018298 0.02705158 0.97508342 0.58813892] [ 0. 0. 0. 1. ]] SLAMing on 25.924860623999994 meters Centerline goodness : 0.795251 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.96, Z:0.59 [[ 0.95281366 -0.20749672 0.22156544 -4.03506684] [ 0.20854507 0.97782975 0.01891932 -0.96491996] [-0.22057897 0.02817979 0.97496196 0.58893698] [ 0. 0. 0. 1. ]] SLAMing on 25.984860623999996 meters Centerline goodness : 0.798295 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.96, Z:0.59 [[ 0.95233432 -0.20887754 0.22232747 -4.03746428] [ 0.2101356 0.97750179 0.01825606 -0.9638496 ] [-0.22113878 0.02933304 0.97480111 0.58964302] [ 0. 0. 0. 1. ]] SLAMing on 26.044860623999995 meters Centerline goodness : 0.800010 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.96, Z:0.59 [[ 0.95186524 -0.21037549 0.2229231 -4.03942996] [ 0.21181762 0.97714887 0.01770271 -0.96347794] [-0.22155328 0.03036845 0.97467528 0.58998925] [ 0. 0. 0. 1. ]] SLAMing on 26.104860623999993 meters Centerline goodness : 0.798799 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.96, Z:0.59 [[ 0.95153853 -0.21124929 0.22349087 -4.04118057] [ 0.21283602 0.97693565 0.01725031 -0.96298658] [-0.22198031 0.03115257 0.97455336 0.59089894] [ 0. 0. 0. 1. ]] SLAMing on 26.164860623999996 meters Centerline goodness : 0.799916 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.96, Z:0.59 [[ 0.95114425 -0.21232753 0.22414645 -4.04307639] [ 0.21401592 0.97668177 0.01702644 -0.96409936] [-0.22253494 0.03177631 0.97440673 0.59190824] [ 0. 0. 0. 1. ]] SLAMing on 26.224860623999994 meters Centerline goodness : 0.801345 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.97, Z:0.59 [[ 0.95090086 -0.21318828 0.22436203 -4.04402112] [ 0.21485831 0.97649306 0.01723963 -0.9659459 ] [-0.22276326 0.03181287 0.97435336 0.59239939] [ 0. 0. 0. 1. ]] SLAMing on 26.284860623999997 meters Centerline goodness : 0.802023 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.97, Z:0.59 [[ 0.95067909 -0.21380702 0.22471276 -4.04516207] [ 0.21548829 0.9763529 0.01731499 -0.96727448] [-0.22310102 0.03196197 0.9742712 0.59320992] [ 0. 0. 0. 1. ]] SLAMing on 26.344860623999995 meters Centerline goodness : 0.796222 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.97, Z:0.59 [[ 0.95027854 -0.21525695 0.22502253 -4.0462209 ] [ 0.21692576 0.97602968 0.01758612 -0.97117523] [-0.2234142 0.03210147 0.97419484 0.59340649] [ 0. 0. 0. 1. ]] SLAMing on 26.404860623999994 meters Centerline goodness : 0.795576 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.97, Z:0.59 [[ 0.95004176 -0.21606497 0.22524781 -4.04664479] [ 0.2175528 0.97587316 0.01850299 -0.97446207] [-0.22381114 0.03142468 0.97412579 0.592231 ] [ 0. 0. 0. 1. ]] SLAMing on 26.464860623999996 meters Centerline goodness : 0.797262 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.59 [[ 0.95015593 -0.21584253 0.22497934 -4.04566107] [ 0.21711662 0.97595349 0.01936903 -0.9761953 ] [-0.22375003 0.03044316 0.974171 0.59089214] [ 0. 0. 0. 1. ]] SLAMing on 26.524860623999995 meters Centerline goodness : 0.791439 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.59 [[ 0.9500572 -0.21624252 0.22501221 -4.04544801] [ 0.21731384 0.97589061 0.02030318 -0.98015295] [-0.22397772 0.02960909 0.97414439 0.59014685] [ 0. 0. 0. 1. ]] SLAMing on 26.584860623999994 meters Centerline goodness : 0.793967 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.59 [[ 0.94993534 -0.21656822 0.22521334 -4.04581362] [ 0.21755928 0.97582721 0.02071774 -0.98247102] [-0.22425611 0.02931674 0.97408918 0.59020188] [ 0. 0. 0. 1. ]] SLAMing on 26.644860623999996 meters Centerline goodness : 0.793581 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.99, Z:0.59 [[ 0.94979016 -0.21693505 0.2254725 -4.04648707] [ 0.21791707 0.97574487 0.02083522 -0.98536589] [-0.22452352 0.02934522 0.97402672 0.59162832] [ 0. 0. 0. 1. ]] SLAMing on 26.704860623999995 meters Centerline goodness : 0.791891 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.99, Z:0.59 [[ 0.94983875 -0.21696597 0.22523792 -4.04589734] [ 0.2177019 0.97577013 0.0218756 -0.98850311] [-0.22452669 0.02825643 0.97405818 0.59117285] [ 0. 0. 0. 1. ]] SLAMing on 26.764860623999994 meters Centerline goodness : 0.790254 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.99, Z:0.59 [[ 0.94972546 -0.21740467 0.22529261 -4.04580117] [ 0.21801498 0.9756865 0.0224793 -0.99262309] [-0.22470206 0.027768 0.97403179 0.59131362] [ 0. 0. 0. 1. ]] SLAMing on 26.824860623999996 meters Centerline goodness : 0.792600 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.00, Z:0.59 [[ 0.94962447 -0.21778605 0.22534996 -4.04595705] [ 0.21829019 0.97561302 0.0229918 -0.99626736] [-0.22486165 0.02735811 0.97400656 0.59221025] [ 0. 0. 0. 1. ]] SLAMing on 26.884860623999995 meters Centerline goodness : 0.790396 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.00, Z:0.59 [[ 0.94959336 -0.21795886 0.22531396 -4.0457227 ] [ 0.21834942 0.97558767 0.0234997 -0.99854261] [-0.22493549 0.02688202 0.97400276 0.59215474] [ 0. 0. 0. 1. ]] SLAMing on 26.944860623999993 meters Centerline goodness : 0.790245 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.00, Z:0.60 [[ 0.95102792 -0.21481056 0.22226631 -4.0527286 ] [ 0.21790098 0.97591085 0.01082503 -0.99988268] [-0.21923743 0.03813714 0.9749259 0.59731764] [ 0. 0. 0. 1. ]] SLAMing on 27.004860623999996 meters Centerline goodness : 0.785993 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.00, Z:0.60 [[ 0.95156742 -0.21329348 0.22141663 -4.05286462] [ 0.2153592 0.97641874 0.01506188 -1.00319976] [-0.21940795 0.03335172 0.97506298 0.59622007] [ 0. 0. 0. 1. ]] SLAMing on 27.064860623999994 meters Centerline goodness : 0.784340 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.00, Z:0.60 [[ 0.9536895 -0.2076358 0.21763206 -4.06119284] [ 0.21153721 0.97735457 0.00548165 -1.00139138] [-0.21384187 0.04080948 0.97601549 0.60187205] [ 0. 0. 0. 1. ]] SLAMing on 27.124860623999997 meters Centerline goodness : 0.782080 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.00, Z:0.60 [[ 0.9542164 -0.20541561 0.2174293 -4.0625901 ] [ 0.20841467 0.9779963 0.00930423 -1.0030063 ] [-0.21455628 0.03643721 0.97603173 0.60227396] [ 0. 0. 0. 1. ]] SLAMing on 27.184860623999995 meters Centerline goodness : 0.782733 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.00, Z:0.60 [[ 0.95540743 -0.20073942 0.21656482 -4.06491951] [ 0.20199265 0.97924688 0.01656859 -1.00346185] [-0.21539639 0.02791475 0.97612764 0.60326189] [ 0. 0. 0. 1. ]] SLAMing on 27.244860623999994 meters Centerline goodness : 0.782778 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.01, Z:0.60 [[ 0.95581767 -0.19906488 0.21630016 -4.06642488] [ 0.19948814 0.979694 0.02010342 -1.00528716] [-0.21590985 0.02393411 0.97611992 0.60385197] [ 0. 0. 0. 1. ]] SLAMing on 27.304860623999996 meters Centerline goodness : 0.780546 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.01, Z:0.61 [[ 0.95711326 -0.19629835 0.21307551 -4.07441706] [ 0.19935364 0.97990065 0.0072691 -1.00501673] [-0.21021974 0.03552003 0.97700869 0.60932375] [ 0. 0. 0. 1. ]] SLAMing on 27.364860623999995 meters Centerline goodness : 0.778313 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.01, Z:0.61 [[ 0.95709269 -0.19654268 0.21294263 -4.07382416] [ 0.19939235 0.97988518 0.00822901 -1.00734129] [-0.21027668 0.03458321 0.97703005 0.60774421] [ 0. 0. 0. 1. ]] SLAMing on 27.424860623999994 meters Centerline goodness : 0.776568 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.01, Z:0.61 [[ 0.95752282 -0.19500693 0.21242019 -4.07477616] [ 0.19699554 0.98033125 0.01197468 -1.0102614 ] [-0.21057729 0.0303798 0.97710505 0.60809523] [ 0. 0. 0. 1. ]] SLAMing on 27.484860623999996 meters Centerline goodness : 0.774299 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.01, Z:0.61 [[ 0.95758131 -0.19485302 0.21229776 -4.07439749] [ 0.19672482 0.98037929 0.01248177 -1.01260033] [-0.21056443 0.02981193 0.97712531 0.60827068] [ 0. 0. 0. 1. ]] SLAMing on 27.544860623999995 meters Centerline goodness : 0.775576 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.01, Z:0.61 [[ 0.95802558 -0.19299919 0.21198657 -4.07604344] [ 0.19406898 0.98085816 0.01595283 -1.01435258] [-0.21100764 0.02585679 0.97714237 0.60979042] [ 0. 0. 0. 1. ]] SLAMing on 27.604860623999993 meters Centerline goodness : 0.773639 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.01, Z:0.62 [[ 0.9598928 -0.1877843 0.20818952 -4.08458733] [ 0.19080571 0.98161151 0.00565929 -1.01212355] [-0.20542396 0.03429144 0.97807213 0.61611344] [ 0. 0. 0. 1. ]] SLAMing on 27.664860623999996 meters Centerline goodness : 0.772128 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.01, Z:0.62 [[ 9.61939899e-01 -1.81859505e-01 2.03957721e-01 -4.09197969e+00] [ 1.86508786e-01 9.82446539e-01 -3.64291694e-03 -1.01045609e+00] [-1.99715058e-01 4.15441740e-02 9.78972920e-01 6.20583979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724860623999994 meters Centerline goodness : 0.771761 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.01, Z:0.62 [[ 9.62505527e-01 -1.79399587e-01 2.03467195e-01 -4.09261956e+00] [ 1.83124311e-01 9.83089623e-01 5.29374942e-04 -1.01175715e+00] [-2.00121457e-01 3.67502636e-02 9.79081621e-01 6.20367613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784860623999993 meters Centerline goodness : 0.769414 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.01, Z:0.62 [[ 0.96368401 -0.17400657 0.20257056 -4.09422502] [ 0.17603678 0.98435031 0.00809394 -1.01189136] [-0.20080879 0.02785987 0.97923422 0.6208994 ] [ 0. 0. 0. 1. ]] SLAMing on 27.844860623999995 meters Centerline goodness : 0.770943 with order 1 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.01, Z:0.62 [[ 0.96492187 -0.16815675 0.20161619 -4.0954136 ] [ 0.16851685 0.98557684 0.0155037 -1.0115796 ] [-0.2013153 0.01901586 0.97934189 0.6216653 ] [ 0. 0. 0. 1. ]] SLAMing on 27.904860623999994 meters Centerline goodness : 0.771934 with order 1 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.01, Z:0.63 [[ 0.96708309 -0.16023072 0.19767753 -4.10470438] [ 0.16174113 0.98679584 0.00858923 -1.0085698 ] [-0.19644362 0.02366609 0.98022947 0.62769173] [ 0. 0. 0. 1. ]] SLAMing on 27.964860623999996 meters Centerline goodness : 0.773334 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.01, Z:0.63 [[ 9.69409892e-01 -1.51174354e-01 1.93366944e-01 -4.11329383e+00] [ 1.53521163e-01 9.88141166e-01 2.87881751e-03 -1.00521876e+00] [-1.91509041e-01 2.68951640e-02 9.81122285e-01 6.33164263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024860623999995 meters Centerline goodness : 0.772704 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.00, Z:0.63 [[ 0.97013092 -0.147569 0.19253411 -4.11233351] [ 0.14894899 0.98881742 0.00736899 -1.00494018] [-0.19146852 0.02152887 0.98126261 0.63160448] [ 0. 0. 0. 1. ]] SLAMing on 28.084860623999994 meters Centerline goodness : 0.772212 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.00, Z:0.63 [[ 0.97063397 -0.14495137 0.19198644 -4.11262989] [ 0.14550328 0.98929326 0.01129763 -1.00489081] [-0.1915685 0.0169688 0.98133255 0.63114327] [ 0. 0. 0. 1. ]] SLAMing on 28.144860623999996 meters Centerline goodness : 0.773420 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.01, Z:0.63 [[ 0.97086638 -0.14323835 0.19209698 -4.11490403] [ 0.14309204 0.98960009 0.01470837 -1.00554081] [-0.19220599 0.01320769 0.98126572 0.63215903] [ 0. 0. 0. 1. ]] SLAMing on 28.204860623999995 meters Centerline goodness : 0.774361 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.63 [[ 0.97065368 -0.14423223 0.19242789 -4.11614085] [ 0.14420849 0.98944537 0.01420486 -1.00529968] [-0.19244568 0.01396173 0.9812083 0.63261236] [ 0. 0. 0. 1. ]] SLAMing on 28.264860623999994 meters Centerline goodness : 0.771064 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.63 [[ 0.96993192 -0.14824989 0.19301307 -4.11682958] [ 0.1492002 0.98875957 0.00968564 -1.00487581] [-0.19227941 0.01940318 0.98114838 0.63357873] [ 0. 0. 0. 1. ]] SLAMing on 28.324860623999996 meters Centerline goodness : 0.771750 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.63 [[ 0.96926301 -0.15189955 0.19353489 -4.11695991] [ 0.15375421 0.98809387 0.00549121 -1.00470335] [-0.19206475 0.02443438 0.98107803 0.63387128] [ 0. 0. 0. 1. ]] SLAMing on 28.384860623999995 meters Centerline goodness : 0.770783 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 9.68376271e-01 -1.56821485e-01 1.94047468e-01 -4.11783652e+00] [ 1.59739024e-01 9.87159086e-01 6.19813971e-04 -1.00506752e+00] [-1.91652921e-01 3.03967400e-02 9.80991945e-01 6.35010348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444860623999993 meters Centerline goodness : 0.769197 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 9.67571979e-01 -1.61006870e-01 1.94631072e-01 -4.11834160e+00] [ 1.64835123e-01 9.86314831e-01 -3.52658355e-03 -1.00629016e+00] [-1.91399709e-01 3.54942602e-02 9.80870179e-01 6.35618926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504860623999996 meters Centerline goodness : 0.769691 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 9.67391627e-01 -1.61890379e-01 1.94794621e-01 -4.11904737e+00] [ 1.65709678e-01 9.86168849e-01 -3.36203622e-03 -1.00759862e+00] [-1.91556106e-01 3.55317596e-02 9.80838291e-01 6.35520610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564860623999994 meters Centerline goodness : 0.769830 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 9.67169996e-01 -1.62832291e-01 1.95109827e-01 -4.12048806e+00] [ 1.66717600e-01 9.85998310e-01 -3.54619008e-03 -1.00834972e+00] [-1.91800525e-01 3.59580106e-02 9.80774990e-01 6.36560865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624860623999993 meters Centerline goodness : 0.770166 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 9.67083601e-01 -1.63215494e-01 1.95217857e-01 -4.12122370e+00] [ 1.67122754e-01 9.85929525e-01 -3.59957315e-03 -1.00978624e+00] [-1.91883543e-01 3.61064342e-02 9.80753298e-01 6.37809070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684860623999995 meters Centerline goodness : 0.773416 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 9.67457829e-01 -1.61369698e-01 1.94897845e-01 -4.12278959e+00] [ 1.64441333e-01 9.86386774e-01 4.25252710e-04 -1.01189471e+00] [-1.92313279e-01 3.16378474e-02 9.80823455e-01 6.38531467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744860623999994 meters Centerline goodness : 0.779912 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 0.96803555 -0.15845141 0.19442303 -4.12289149] [ 0.16061299 0.98700628 0.00469827 -1.01307261] [-0.1926412 0.02667877 0.98090652 0.63764741] [ 0. 0. 0. 1. ]] SLAMing on 28.804860623999996 meters Centerline goodness : 0.783227 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 0.96858349 -0.15561213 0.1939868 -4.12301 ] [ 0.15681522 0.98758478 0.00923533 -1.01477262] [-0.19301554 0.02147489 0.98096067 0.63638395] [ 0. 0. 0. 1. ]] SLAMing on 28.864860623999995 meters Centerline goodness : 0.785716 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.64 [[ 0.96907477 -0.15315369 0.19348913 -4.12368707] [ 0.15361289 0.98804924 0.0127191 -1.01427855] [-0.19312476 0.01739667 0.98101997 0.63681742] [ 0. 0. 0. 1. ]] SLAMing on 28.924860623999994 meters Centerline goodness : 0.791999 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.01, Z:0.64 [[ 0.96937461 -0.15126329 0.19347426 -4.12580024] [ 0.15103708 0.98839849 0.01600676 -1.01470223] [-0.19365091 0.01370524 0.98097477 0.63811607] [ 0. 0. 0. 1. ]] SLAMing on 28.984860623999996 meters Centerline goodness : 0.794160 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96925825 -0.15164136 0.19376102 -4.12628882] [ 0.15149051 0.98833428 0.01568389 -1.01501056] [-0.19387898 0.01415122 0.98092338 0.63814658] [ 0. 0. 0. 1. ]] SLAMing on 29.044860623999995 meters Centerline goodness : 0.804445 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.01, Z:0.64 [[ 0.9690552 -0.15253252 0.19407692 -4.12768815] [ 0.15252099 0.98818499 0.01509237 -1.01432389] [-0.19408597 0.01497547 0.98087021 0.63926942] [ 0. 0. 0. 1. ]] SLAMing on 29.104860623999993 meters Centerline goodness : 0.811343 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.01, Z:0.64 [[ 0.96888934 -0.1531504 0.19441812 -4.12879145] [ 0.15325032 0.98807927 0.01461868 -1.01372449] [-0.19433937 0.01563075 0.98080981 0.63997665] [ 0. 0. 0. 1. ]] SLAMing on 29.164860623999996 meters Centerline goodness : 0.813724 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96862747 -0.15422604 0.19487214 -4.13001789] [ 0.15434426 0.98790819 0.01467155 -1.01552222] [-0.19477852 0.01586613 0.98071892 0.63977027] [ 0. 0. 0. 1. ]] SLAMing on 29.224860623999994 meters Centerline goodness : 0.816566 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96838896 -0.1550777 0.19538099 -4.13166294] [ 0.15531677 0.98776276 0.01419242 -1.01550084] [-0.19519099 0.01660216 0.98062472 0.64089685] [ 0. 0. 0. 1. ]] SLAMing on 29.284860623999993 meters Centerline goodness : 0.825376 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96819478 -0.15579338 0.19577358 -4.13285738] [ 0.15607645 0.98764465 0.01407797 -1.01670638] [-0.19554799 0.01692543 0.98054807 0.64151855] [ 0. 0. 0. 1. ]] SLAMing on 29.344860623999995 meters Centerline goodness : 0.822120 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96815697 -0.15597522 0.19581579 -4.13290962] [ 0.15620927 0.9876198 0.0143457 -1.01713964] [-0.19562912 0.01669936 0.98053576 0.64113779] [ 0. 0. 0. 1. ]] SLAMing on 29.404860623999994 meters Centerline goodness : 0.824064 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96816558 -0.15605395 0.19571044 -4.13269405] [ 0.15623549 0.98761181 0.01460777 -1.01805619] [-0.19556554 0.01643417 0.98055292 0.64096461] [ 0. 0. 0. 1. ]] SLAMing on 29.464860623999993 meters Centerline goodness : 0.821934 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.9680167 -0.15657783 0.19602822 -4.13335958] [ 0.15672768 0.98753026 0.01484648 -1.02077176] [-0.19590842 0.01635141 0.98048586 0.64113243] [ 0. 0. 0. 1. ]] SLAMing on 29.524860623999995 meters Centerline goodness : 0.823098 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96795398 -0.15674066 0.1962077 -4.13382031] [ 0.15688687 0.98750423 0.01489642 -1.02173519] [-0.19609081 0.01636336 0.9804492 0.64153541] [ 0. 0. 0. 1. ]] SLAMing on 29.584860623999994 meters Centerline goodness : 0.825270 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96798586 -0.15664092 0.19613006 -4.13373642] [ 0.1567803 0.98752089 0.01491392 -1.02235025] [-0.19601867 0.01631287 0.98046447 0.64219477] [ 0. 0. 0. 1. ]] SLAMing on 29.644860623999996 meters Centerline goodness : 0.820983 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.02, Z:0.64 [[ 0.96803748 -0.15645817 0.1960211 -4.13333165] [ 0.15655856 0.98755353 0.01508135 -1.02286923] [-0.19594093 0.01608947 0.9804837 0.64203205] [ 0. 0. 0. 1. ]] SLAMing on 29.704860623999995 meters Centerline goodness : 0.817484 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.03, Z:0.64 [[ 0.96807755 -0.15646921 0.19581429 -4.13275002] [ 0.15643641 0.98756273 0.01573215 -1.02571286] [-0.19584049 0.01540255 0.9805148 0.64174241] [ 0. 0. 0. 1. ]] SLAMing on 29.764860623999994 meters Centerline goodness : 0.814421 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.03, Z:0.64 [[ 0.96808759 -0.15649564 0.19574355 -4.1325467 ] [ 0.15648531 0.98755682 0.01561665 -1.02606261] [-0.19575181 0.01551271 0.98053077 0.64196993] [ 0. 0. 0. 1. ]] SLAMing on 29.824860623999996 meters Centerline goodness : 0.808236 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.03, Z:0.64 [[ 0.96809324 -0.1565811 0.19564723 -4.13242046] [ 0.15651319 0.98754778 0.01590592 -1.02803005] [-0.19570156 0.01522296 0.98054534 0.64232031] [ 0. 0. 0. 1. ]] SLAMing on 29.884860623999995 meters Centerline goodness : 0.808180 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.03, Z:0.64 [[ 0.9680124 -0.15686892 0.1958166 -4.13293681] [ 0.15681021 0.98750072 0.01590237 -1.02953483] [-0.19586362 0.01531235 0.98051159 0.64305301] [ 0. 0. 0. 1. ]] SLAMing on 29.944860623999993 meters Centerline goodness : 0.808253 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.03, Z:0.64 [[ 0.96791223 -0.15734416 0.1959304 -4.13370388] [ 0.15728082 0.98742458 0.01598256 -1.03148113] [-0.19598125 0.01534638 0.98048755 0.64420976] [ 0. 0. 0. 1. ]] SLAMing on 30.004860623999996 meters Centerline goodness : 0.803147 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.03, Z:0.64 [[ 0.96774382 -0.15818663 0.19608387 -4.13442598] [ 0.15811408 0.98728916 0.01612585 -1.03462316] [-0.19614237 0.01539793 0.98045452 0.644877 ] [ 0. 0. 0. 1. ]] SLAMing on 30.064860623999994 meters Centerline goodness : 0.801617 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.04, Z:0.65 [[ 0.96763116 -0.15867431 0.19624579 -4.13514903] [ 0.15860242 0.98720987 0.01618481 -1.03620059] [-0.1963039 0.01546413 0.98042116 0.6457493 ] [ 0. 0. 0. 1. ]] SLAMing on 30.124860623999993 meters Centerline goodness : 0.798504 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.04, Z:0.65 [[ 0.96760902 -0.15885559 0.19620825 -4.13510092] [ 0.15868685 0.98718799 0.0166838 -1.03893099] [-0.19634474 0.01499228 0.9804203 0.64595594] [ 0. 0. 0. 1. ]] SLAMing on 30.184860623999995 meters Centerline goodness : 0.793957 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.04, Z:0.65 [[ 0.9675529 -0.15908522 0.19629896 -4.13534284] [ 0.15885645 0.98715509 0.01701369 -1.04146836] [-0.19648414 0.01472171 0.98039648 0.6462851 ] [ 0. 0. 0. 1. ]] SLAMing on 30.244860623999994 meters Centerline goodness : 0.792687 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.04, Z:0.65 [[ 0.96981255 -0.16009 0.18394243 -4.13312524] [ 0.16102864 0.98689985 0.00992266 -1.03956013] [-0.18312128 0.01999688 0.98288693 0.65367092] [ 0. 0. 0. 1. ]] SLAMing on 30.304860623999993 meters Centerline goodness : 0.790217 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.04, Z:0.66 [[ 0.97203194 -0.16047001 0.17147384 -4.13031832] [ 0.16159265 0.98682917 0.00748373 -1.0390998 ] [-0.1704163 0.02043448 0.98516025 0.65892423] [ 0. 0. 0. 1. ]] SLAMing on 30.364860623999995 meters Centerline goodness : 0.786518 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.04, Z:0.66 [[ 0.97214476 -0.16002596 0.1712491 -4.12973437] [ 0.1610509 0.98691382 0.0079828 -1.04086679] [-0.17028556 0.01981938 0.98519542 0.65910713] [ 0. 0. 0. 1. ]] SLAMing on 30.424860623999994 meters Centerline goodness : 0.784163 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.04, Z:0.66 [[ 0.97226025 -0.15956207 0.17102619 -4.1291458 ] [ 0.1605151 0.98699822 0.00833227 -1.04203166] [-0.17013206 0.01935115 0.98523125 0.65933832] [ 0. 0. 0. 1. ]] SLAMing on 30.484860623999996 meters Centerline goodness : 0.784122 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.04, Z:0.66 [[ 0.97234477 -0.15922365 0.17086096 -4.1286977 ] [ 0.16007583 0.98706489 0.00886788 -1.04412656] [-0.17006283 0.01872808 0.98525524 0.65956698] [ 0. 0. 0. 1. ]] SLAMing on 30.544860623999995 meters Centerline goodness : 0.783641 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.66 [[ 0.97241877 -0.15901389 0.17063502 -4.12815016] [ 0.15980547 0.98710588 0.00917577 -1.04501857] [-0.16989391 0.01834572 0.98529158 0.65953051] [ 0. 0. 0. 1. ]] SLAMing on 30.604860623999993 meters Centerline goodness : 0.783298 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.67 [[ 0.97451214 -0.15939097 0.1578626 -4.12774309] [ 0.1602894 0.98704447 0.0071075 -1.045223 ] [-0.15695028 0.01837735 0.98743551 0.66599956] [ 0. 0. 0. 1. ]] SLAMing on 30.664860623999996 meters Centerline goodness : 0.782362 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.67 [[ 0.97490769 -0.15727339 0.15754389 -4.12931132] [ 0.15760233 0.98744703 0.01048229 -1.04723243] [-0.15721483 0.01461002 0.98745635 0.66776284] [ 0. 0. 0. 1. ]] SLAMing on 30.724860623999994 meters Centerline goodness : 0.782069 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.67 [[ 0.97484192 -0.15755478 0.15766964 -4.12968266] [ 0.15784502 0.98740528 0.01075972 -1.04877115] [-0.15737908 0.01439834 0.9874333 0.66779715] [ 0. 0. 0. 1. ]] SLAMing on 30.784860623999993 meters Centerline goodness : 0.781125 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.67 [[ 0.97477298 -0.15796797 0.15768245 -4.12978379] [ 0.15823465 0.98734091 0.01094205 -1.05055316] [-0.15741483 0.01428481 0.98742925 0.66781494] [ 0. 0. 0. 1. ]] SLAMing on 30.844860623999995 meters Centerline goodness : 0.781935 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.67 [[ 0.97456514 -0.15882607 0.15810462 -4.13114094] [ 0.15912851 0.98719851 0.01082676 -1.05240556] [-0.15780022 0.01460757 0.98736301 0.66874751] [ 0. 0. 0. 1. ]] SLAMing on 30.904860623999994 meters Centerline goodness : 0.781244 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.67 [[ 0.97446673 -0.15929812 0.15823619 -4.13142442] [ 0.15955636 0.98712581 0.0111537 -1.05451204] [-0.15797579 0.01437868 0.98733829 0.66860896] [ 0. 0. 0. 1. ]] SLAMing on 30.964860623999993 meters Centerline goodness : 0.783269 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.06, Z:0.67 [[ 0.97415699 -0.16079718 0.15862666 -4.13333818] [ 0.161105 0.98687594 0.01100261 -1.05640988] [-0.15831402 0.01483727 0.98727733 0.67001016] [ 0. 0. 0. 1. ]] SLAMing on 31.024860623999995 meters Centerline goodness : 0.783702 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.06, Z:0.67 [[ 0.97349382 -0.16417402 0.15923779 -4.13284024] [ 0.16502993 0.98625671 0.007926 -1.06012539] [-0.15835058 0.01856309 0.98720844 0.66941484] [ 0. 0. 0. 1. ]] SLAMing on 31.084860623999994 meters Centerline goodness : 0.782038 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.06, Z:0.67 [[ 0.97289029 -0.16737231 0.15959636 -4.13154031] [ 0.1687099 0.98565188 0.00522947 -1.06405221] [-0.15818172 0.02183779 0.9871685 0.66798803] [ 0. 0. 0. 1. ]] SLAMing on 31.144860623999996 meters Centerline goodness : 0.782020 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.07, Z:0.67 [[ 0.97279403 -0.16789952 0.15962935 -4.13193226] [ 0.16915638 0.98557227 0.00578084 -1.06620153] [-0.15829686 0.02137876 0.9871601 0.66809478] [ 0. 0. 0. 1. ]] SLAMing on 31.204860623999995 meters Centerline goodness : 0.782327 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.07, Z:0.67 [[ 9.72239126e-01 -1.70807087e-01 1.59925048e-01 -4.13083053e+00] [ 1.72525604e-01 9.84999895e-01 3.18161633e-03 -1.07026964e+00] [-1.58069598e-01 2.44978736e-02 9.87124033e-01 6.67640926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264860623999994 meters Centerline goodness : 0.781962 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.07, Z:0.67 [[ 9.72167755e-01 -1.71266943e-01 1.59867104e-01 -4.13108169e+00] [ 1.72892834e-01 9.84933355e-01 3.78868844e-03 -1.07482928e+00] [-1.58107321e-01 2.39566360e-02 9.87131275e-01 6.68623657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324860623999996 meters Centerline goodness : 0.782960 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.08, Z:0.67 [[ 0.97216928 -0.17134226 0.15977706 -4.13118057] [ 0.17283706 0.98493969 0.00459964 -1.07907657] [-0.15815888 0.02314376 0.98714241 0.66952619] [ 0. 0. 0. 1. ]] SLAMing on 31.384860623999995 meters Centerline goodness : 0.785054 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.08, Z:0.67 [[ 0.97265643 -0.16887492 0.15943878 -4.13219127] [ 0.16972552 0.98545585 0.00836785 -1.08221993] [-0.15853299 0.01892178 0.98717235 0.6706257 ] [ 0. 0. 0. 1. ]] SLAMing on 31.444860623999993 meters Centerline goodness : 0.784836 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.08, Z:0.67 [[ 9.74535304e-01 -1.62135340e-01 1.54896975e-01 -4.13788224e+00] [ 1.64058000e-01 9.86450623e-01 3.75694964e-04 -1.08435306e+00] [-1.52859131e-01 2.50459599e-02 9.87930557e-01 6.74738740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504860623999996 meters Centerline goodness : 0.784781 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.09, Z:0.68 [[ 9.74980870e-01 -1.59947205e-01 1.54367078e-01 -4.13830466e+00] [ 1.61292553e-01 9.86899121e-01 3.85187395e-03 -1.08814112e+00] [-1.52960830e-01 2.11427567e-02 9.88006057e-01 6.75655709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564860623999994 meters Centerline goodness : 0.787700 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.09, Z:0.68 [[ 0.97514842 -0.15928773 0.15399019 -4.13728089] [ 0.16050202 0.98702481 0.00459542 -1.08997655] [-0.15272413 0.02023452 0.98806169 0.67547807] [ 0. 0. 0. 1. ]] SLAMing on 31.624860623999993 meters Centerline goodness : 0.786023 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.09, Z:0.68 [[ 0.97530214 -0.15869061 0.15363278 -4.1362617 ] [ 0.15981263 0.9871342 0.00509871 -1.09121758] [-0.15246529 0.01957968 0.98811486 0.67518625] [ 0. 0. 0. 1. ]] SLAMing on 31.684860623999995 meters Centerline goodness : 0.788453 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.09, Z:0.68 [[ 9.77324870e-01 -1.57299750e-01 1.41749379e-01 -4.13572065e+00] [ 1.58888693e-01 9.87296496e-01 1.10199772e-04 -1.09240263e+00] [-1.39966000e-01 2.24146726e-02 9.89902572e-01 6.82048362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744860623999994 meters Centerline goodness : 0.790261 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.10, Z:0.68 [[ 9.77383341e-01 -1.57323177e-01 1.41319577e-01 -4.13479326e+00] [ 1.58750312e-01 9.87318046e-01 1.18951156e-03 -1.09646682e+00] [-1.39714506e-01 2.12719182e-02 9.89963314e-01 6.81744631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804860623999993 meters Centerline goodness : 0.792129 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.10, Z:0.68 [[ 9.77334884e-01 -1.57617328e-01 1.41326933e-01 -4.13494713e+00] [ 1.58953567e-01 9.87284316e-01 1.85562476e-03 -1.09921005e+00] [-1.39822343e-01 2.06508533e-02 9.89961239e-01 6.81809268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864860623999995 meters Centerline goodness : 0.792669 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.10, Z:0.68 [[ 9.77262787e-01 -1.58191914e-01 1.41183436e-01 -4.13504179e+00] [ 1.59451833e-01 9.87202752e-01 2.41635957e-03 -1.10276383e+00] [-1.39758925e-01 2.01505394e-02 9.89980504e-01 6.82273234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924860623999994 meters Centerline goodness : 0.791721 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.11, Z:0.68 [[ 9.76830075e-01 -1.60887820e-01 1.41131552e-01 -4.13296797e+00] [ 1.62545875e-01 9.86700962e-01 -2.23429759e-04 -1.10571393e+00] [-1.39218691e-01 2.31586045e-02 9.89990826e-01 6.80995368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984860623999996 meters Centerline goodness : 0.792098 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.11, Z:0.68 [[ 9.76797492e-01 -1.61235453e-01 1.40960240e-01 -4.13251846e+00] [ 1.62785204e-01 9.86661382e-01 5.43527601e-04 -1.10813708e+00] [-1.39167661e-01 2.24153250e-02 9.90015109e-01 6.80285531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044860623999995 meters Centerline goodness : 0.792072 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.11, Z:0.68 [[ 9.76697185e-01 -1.61986089e-01 1.40794589e-01 -4.13258802e+00] [ 1.63458131e-01 9.86549632e-01 1.12376281e-03 -1.11147655e+00] [-1.39082884e-01 2.19164444e-02 9.90038192e-01 6.80540184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104860624 meters Centerline goodness : 0.791117 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 9.76720590e-01 -1.62174259e-01 1.40415091e-01 -4.13131498e+00] [ 1.63476436e-01 9.86544585e-01 2.28846981e-03 -1.11569069e+00] [-1.38896879e-01 2.07193631e-02 9.90090079e-01 6.79139070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164860624 meters Centerline goodness : 0.792821 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 9.76726139e-01 -1.62217933e-01 1.40326022e-01 -4.13108034e+00] [ 1.63469396e-01 9.86544874e-01 2.63984395e-03 -1.11652824e+00] [-1.38866147e-01 2.03606054e-02 9.90101833e-01 6.78893080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224860623999994 meters Centerline goodness : 0.796645 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 9.76695254e-01 -1.62379255e-01 1.40354405e-01 -4.13153348e+00] [ 1.63610528e-01 9.86521038e-01 2.79952031e-03 -1.11782972e+00] [-1.38917157e-01 2.02291801e-02 9.90097371e-01 6.79643014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284860624 meters Centerline goodness : 0.796879 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 9.76765834e-01 -1.62235508e-01 1.40029087e-01 -4.13068529e+00] [ 1.63388174e-01 9.86556332e-01 3.30274973e-03 -1.11962095e+00] [-1.38682406e-01 1.96530838e-02 9.90141882e-01 6.79222865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344860624 meters Centerline goodness : 0.796876 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 9.76840503e-01 -1.62022587e-01 1.39754474e-01 -4.13008233e+00] [ 1.63142606e-01 9.86596355e-01 3.48173953e-03 -1.11949933e+00] [-1.38445375e-01 1.93988049e-02 9.90180067e-01 6.79107910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404860624 meters Centerline goodness : 0.795908 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 9.76907977e-01 -1.61821656e-01 1.39515432e-01 -4.12925172e+00] [ 1.62875215e-01 9.86638931e-01 3.90959566e-03 -1.12025773e+00] [-1.38284014e-01 1.89042908e-02 9.90212179e-01 6.78318560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464860623999996 meters Centerline goodness : 0.794771 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 0.97706404 -0.16127014 0.13906041 -4.12789132] [ 0.16225602 0.98673935 0.00429365 -1.12025769] [-0.13790881 0.01836822 0.99027459 0.6774945 ] [ 0. 0. 0. 1. ]] SLAMing on 32.524860624 meters Centerline goodness : 0.792486 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 0.97745887 -0.15918177 0.13869145 -4.12891885] [ 0.15966609 0.98714105 0.00769928 -1.12092925] [-0.13813361 0.0146186 0.99030571 0.67797238] [ 0. 0. 0. 1. ]] SLAMing on 32.584860624 meters Centerline goodness : 0.793636 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 0.97750698 -0.1590434 0.13851097 -4.12841297] [ 0.15952084 0.98716438 0.00771956 -1.12035888] [-0.13796085 0.01454946 0.99033081 0.67764535] [ 0. 0. 0. 1. ]] SLAMing on 32.644860623999996 meters Centerline goodness : 0.794152 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 0.97729639 -0.16033881 0.13850355 -4.12575249] [ 0.16119323 0.98690969 0.00509995 -1.11913598] [-0.13750821 0.01734167 0.99034881 0.67539284] [ 0. 0. 0. 1. ]] SLAMing on 32.704860624 meters Centerline goodness : 0.788192 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.12, Z:0.68 [[ 0.97784634 -0.15732583 0.13807652 -4.12641408] [ 0.15771164 0.98745107 0.00821144 -1.11686913] [-0.13763568 0.01374675 0.99038752 0.67579194] [ 0. 0. 0. 1. ]] SLAMing on 32.764860624 meters Centerline goodness : 0.789152 with order 2 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.11, Z:0.68 [[ 0.97858502 -0.15336929 0.13729249 -4.1257287 ] [ 0.15325201 0.98812036 0.01148781 -1.11378841] [-0.13742338 0.00979855 0.99046393 0.67540881] [ 0. 0. 0. 1. ]] SLAMing on 32.824860623999996 meters Centerline goodness : 0.786136 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.11, Z:0.67 [[ 9.80036825e-01 -1.45070056e-01 1.35950361e-01 -4.12434517e+00] [ 1.43837379e-01 9.89420847e-01 1.88996197e-02 -1.10881613e+00] [-1.37253890e-01 1.03242034e-03 9.90535362e-01 6.73946207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884860624 meters Centerline goodness : 0.784765 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.10, Z:0.67 [[ 9.81662286e-01 -1.30769203e-01 1.38703176e-01 -4.12975577e+00] [ 1.29909563e-01 9.91408219e-01 1.52725008e-02 -1.10047709e+00] [-1.39508642e-01 3.02643094e-03 9.90216229e-01 6.72799476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944860624 meters Centerline goodness : 0.781333 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.10, Z:0.67 [[ 9.82393020e-01 -1.25739692e-01 1.38179176e-01 -4.12858154e+00] [ 1.24324886e-01 9.92062355e-01 1.88575079e-02 -1.09533331e+00] [-1.39453496e-01 -1.34637375e-03 9.90227706e-01 6.71573776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004860623999996 meters Centerline goodness : 0.782946 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.09, Z:0.67 [[ 0.9829658 -0.12176497 0.13766455 -4.12790811] [ 0.11989704 0.99254669 0.02181191 -1.09054284] [-0.13929442 -0.00493479 0.99023871 0.6709075 ] [ 0. 0. 0. 1. ]] SLAMing on 33.064860624 meters Centerline goodness : 0.782009 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.08, Z:0.67 [[ 0.98353824 -0.11772298 0.13709056 -4.12677783] [ 0.11539383 0.99300911 0.02484309 -1.08497073] [-0.13905678 -0.00861472 0.99024694 0.66929887] [ 0. 0. 0. 1. ]] SLAMing on 33.124860624 meters Centerline goodness : 0.784972 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.08, Z:0.67 [[ 0.98362112 -0.11697393 0.13713711 -4.12601754] [ 0.11480631 0.99310661 0.02363819 -1.07800778] [-0.13895682 -0.00750681 0.99026999 0.6684338 ] [ 0. 0. 0. 1. ]] SLAMing on 33.184860623999995 meters Centerline goodness : 0.790525 with order 1 Centerline is valid? [False, False] Translation: X:-4.17, Y:-1.08, Z:0.67 [[ 0.98411318 -0.11950288 0.13130238 -4.16552346] [ 0.11662467 0.99274011 0.02942387 -1.07672985] [-0.13386537 -0.01364332 0.99090561 0.67496741] [ 0. 0. 0. 1. ]] SLAMing on 33.244860624 meters Centerline goodness : 0.787267 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.03, Z:0.70 [[ 0.98234712 -0.09695746 0.15997931 -3.96118357] [ 0.11162511 0.99007561 -0.08538222 -1.02588186] [-0.15011317 0.10173268 0.98342081 0.69706967] [ 0. 0. 0. 1. ]] SLAMing on 33.304860624 meters Centerline goodness : 0.788715 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.02, Z:0.70 [[ 0.98224673 -0.09752334 0.16025158 -3.96177094] [ 0.11241444 0.98987793 -0.08662952 -1.02064861] [-0.1501811 0.10310616 0.98326739 0.6972829 ] [ 0. 0. 0. 1. ]] SLAMing on 33.364860623999995 meters Centerline goodness : 0.792048 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.02, Z:0.70 [[ 0.98220368 -0.09790197 0.16028456 -3.96169212] [ 0.1129246 0.98974781 -0.08744885 -1.01667593] [-0.15007987 0.10399265 0.98318948 0.69701929] [ 0. 0. 0. 1. ]] SLAMing on 33.424860624 meters Centerline goodness : 0.791278 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.01, Z:0.70 [[ 0.9822347 -0.09780851 0.16015147 -3.96093652] [ 0.11286843 0.98972393 -0.08779105 -1.01395951] [-0.14991903 0.10430746 0.98318067 0.69625463] [ 0. 0. 0. 1. ]] SLAMing on 33.484860624 meters Centerline goodness : 0.793295 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.01, Z:0.70 [[ 0.9822225 -0.09790893 0.16016492 -3.96093581] [ 0.11309614 0.9896248 -0.08861162 -1.01008195] [-0.14982731 0.10515036 0.98310487 0.69650643] [ 0. 0. 0. 1. ]] SLAMing on 33.544860623999995 meters Centerline goodness : 0.796303 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.01, Z:0.70 [[ 0.98241881 -0.09652757 0.15979899 -3.96078958] [ 0.11138448 0.98998212 -0.08676927 -1.00697103] [-0.14982251 0.10304289 0.98332872 0.69608135] [ 0. 0. 0. 1. ]] SLAMing on 33.604860624 meters Centerline goodness : 0.796021 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.00, Z:0.69 [[ 0.98265617 -0.09405446 0.15981432 -3.96035666] [ 0.10840685 0.99058672 -0.08358175 -1.00442768] [-0.15044871 0.09945709 0.98360229 0.69361711] [ 0. 0. 0. 1. ]] SLAMing on 33.664860624 meters Centerline goodness : 0.798830 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.00, Z:0.69 [[ 0.98277799 -0.09325545 0.15953319 -3.96071751] [ 0.10743382 0.99076902 -0.08267234 -0.99970298] [-0.1503509 0.09838782 0.98372478 0.69400032] [ 0. 0. 0. 1. ]] SLAMing on 33.724860623999994 meters Centerline goodness : 0.798710 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.00, Z:0.69 [[ 0.98274266 -0.09351282 0.15960019 -3.96104068] [ 0.10781453 0.99066488 -0.0834214 -0.99697006] [-0.15030934 0.09918899 0.98365067 0.69459605] [ 0. 0. 0. 1. ]] SLAMing on 33.784860624 meters Centerline goodness : 0.797564 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.00, Z:0.69 [[ 0.98265301 -0.09407173 0.15982355 -3.96147175] [ 0.10846776 0.99055653 -0.08386006 -0.9950327 ] [-0.1504254 0.09974105 0.98357711 0.69408007] [ 0. 0. 0. 1. ]] SLAMing on 33.844860624 meters Centerline goodness : 0.798775 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.99, Z:0.69 [[ 0.98263182 -0.09431263 0.1598119 -3.96154945] [ 0.1087921 0.99047502 -0.08440092 -0.99256442] [-0.15032962 0.1003213 0.98353274 0.69425411] [ 0. 0. 0. 1. ]] SLAMing on 33.904860623999994 meters Centerline goodness : 0.804097 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.99, Z:0.69 [[ 0.98254018 -0.09512677 0.15989277 -3.96208442] [ 0.10974065 0.99030336 -0.08518359 -0.99027469] [-0.15023911 0.10124304 0.98345211 0.69453633] [ 0. 0. 0. 1. ]] SLAMing on 33.964860623999996 meters Centerline goodness : 0.805975 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.99, Z:0.70 [[ 0.98288653 -0.10063152 0.15429638 -3.9548665 ] [ 0.11471593 0.98973331 -0.08525395 -0.98691757] [-0.14413303 0.10149521 0.98433957 0.69656727] [ 0. 0. 0. 1. ]] SLAMing on 34.024860624 meters Centerline goodness : 0.807457 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.99, Z:0.70 [[ 0.98276007 -0.10159796 0.15446847 -3.95552287] [ 0.11574681 0.98958982 -0.08552579 -0.98636489] [-0.14417118 0.10193057 0.984289 0.69621028] [ 0. 0. 0. 1. ]] SLAMing on 34.084860624 meters Centerline goodness : 0.811723 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.70 [[ 0.98259578 -0.10265719 0.15481287 -3.95665663] [ 0.11697313 0.98937232 -0.08636958 -0.98464403] [-0.14430111 0.10297533 0.9841612 0.69649184] [ 0. 0. 0. 1. ]] SLAMing on 34.144860623999996 meters Centerline goodness : 0.813392 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.99, Z:0.69 [[ 0.9816027 -0.10583892 0.15891591 -3.9530158 ] [ 0.11824195 0.99046399 -0.0707102 -0.9861415 ] [-0.1499166 0.08819985 0.98475672 0.69105066] [ 0. 0. 0. 1. ]] SLAMing on 34.204860624 meters Centerline goodness : 0.814063 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.98, Z:0.69 [[ 0.98183028 -0.10339654 0.15911775 -3.95487398] [ 0.11536057 0.99100279 -0.06786322 -0.98192527] [-0.15066931 0.08498607 0.98492443 0.69189834] [ 0. 0. 0. 1. ]] SLAMing on 34.264860624 meters Centerline goodness : 0.816755 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.98214942 -0.10031835 0.15911867 -3.95516239] [ 0.11163673 0.99169618 -0.06384304 -0.9804667 ] [-0.15139275 0.08046689 0.98519303 0.69027056] [ 0. 0. 0. 1. ]] SLAMing on 34.324860623999996 meters Centerline goodness : 0.817137 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.9821029 -0.1005891 0.1592348 -3.95558898] [ 0.11202884 0.99160599 -0.06455311 -0.9780329 ] [-0.15140484 0.08123669 0.985128 0.69088466] [ 0. 0. 0. 1. ]] SLAMing on 34.384860624 meters Centerline goodness : 0.818443 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.69 [[ 0.98208846 -0.10081238 0.15918267 -3.95540931] [ 0.11233104 0.99153728 -0.06508111 -0.9746134 ] [-0.15127458 0.08179656 0.98510168 0.69063728] [ 0. 0. 0. 1. ]] SLAMing on 34.444860624 meters Centerline goodness : 0.816182 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.69 [[ 0.98203684 -0.10113529 0.15929627 -3.95535561] [ 0.11262321 0.99152263 -0.06479884 -0.97453704] [-0.15139241 0.0815753 0.98510193 0.68933685] [ 0. 0. 0. 1. ]] SLAMing on 34.504860623999996 meters Centerline goodness : 0.815014 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.69 [[ 0.98193386 -0.10176587 0.15952932 -3.95624491] [ 0.1133317 0.99141962 -0.06513885 -0.97377255] [-0.15153159 0.08204178 0.98504179 0.68972766] [ 0. 0. 0. 1. ]] SLAMing on 34.564860624 meters Centerline goodness : 0.813974 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.69 [[ 0.9819249 -0.10198507 0.15944444 -3.95621524] [ 0.11356892 0.99138261 -0.06528871 -0.97280497] [-0.15141197 0.08221654 0.98504561 0.689762 ] [ 0. 0. 0. 1. ]] SLAMing on 34.624860624 meters Centerline goodness : 0.811530 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.69 [[ 0.98184542 -0.10242246 0.15965341 -3.95662069] [ 0.11396542 0.99136387 -0.06488117 -0.97416634] [-0.15162933 0.08189825 0.98503869 0.68894924] [ 0. 0. 0. 1. ]] SLAMing on 34.684860623999995 meters Centerline goodness : 0.813834 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.9818126 -0.10272558 0.15966048 -3.95682291] [ 0.11424434 0.99134354 -0.06470099 -0.975424 ] [-0.15163194 0.08176455 0.9850494 0.68895178] [ 0. 0. 0. 1. ]] SLAMing on 34.744860624 meters Centerline goodness : 0.812693 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.97, Z:0.69 [[ 0.98177314 -0.1031031 0.15965977 -3.95736451] [ 0.1146653 0.991278 -0.06495989 -0.97472495] [-0.15156966 0.08208331 0.98503247 0.68977464] [ 0. 0. 0. 1. ]] SLAMing on 34.804860624 meters Centerline goodness : 0.816199 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.98173491 -0.10328357 0.15977819 -3.95746266] [ 0.11473423 0.99132215 -0.06415964 -0.97733789] [-0.15176502 0.08131978 0.98506572 0.68877648] [ 0. 0. 0. 1. ]] SLAMing on 34.864860623999995 meters Centerline goodness : 0.814400 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.98170441 -0.10356451 0.15978374 -3.9573891 ] [ 0.11490269 0.99135094 -0.06340887 -0.98040448] [-0.15183485 0.08060835 0.98511343 0.68786377] [ 0. 0. 0. 1. ]] SLAMing on 34.924860624 meters Centerline goodness : 0.813213 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.98175919 -0.10361485 0.15941409 -3.95699192] [ 0.11487023 0.99137659 -0.06306577 -0.98150604] [-0.15150484 0.08022733 0.98519534 0.68821121] [ 0. 0. 0. 1. ]] SLAMing on 34.984860624 meters Centerline goodness : 0.816779 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.98, Z:0.69 [[ 0.98177934 -0.10348845 0.15937209 -3.95727296] [ 0.11465691 0.99143515 -0.06253102 -0.98412999] [-0.15153585 0.07966478 0.98523622 0.68888439] [ 0. 0. 0. 1. ]] SLAMing on 35.044860623999995 meters Centerline goodness : 0.814349 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.99, Z:0.69 [[ 0.98175466 -0.10371847 0.1593746 -3.95748102] [ 0.11477314 0.99146908 -0.06177527 -0.98743445] [-0.15160775 0.07894009 0.98528349 0.68868493] [ 0. 0. 0. 1. ]] SLAMing on 35.104860624 meters Centerline goodness : 0.813641 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.99, Z:0.69 [[ 0.98166818 -0.10483408 0.15917724 -3.95786969] [ 0.11583545 0.99136509 -0.06146063 -0.99141725] [-0.15135959 0.07877231 0.98533507 0.68893166] [ 0. 0. 0. 1. ]] SLAMing on 35.164860624 meters Centerline goodness : 0.813350 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.00, Z:0.69 [[ 0.98135106 -0.10781792 0.15913956 -3.95649169] [ 0.11919796 0.99082111 -0.06376024 -0.99740105] [-0.15080434 0.08154029 0.98519502 0.68754054] [ 0. 0. 0. 1. ]] SLAMing on 35.224860623999994 meters Centerline goodness : 0.811154 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.00, Z:0.69 [[ 0.98138066 -0.1080938 0.1587694 -3.95587511] [ 0.11919628 0.99092498 -0.06212833 -1.00285554] [-0.15061288 0.07989626 0.98535899 0.68625035] [ 0. 0. 0. 1. ]] SLAMing on 35.284860624 meters Centerline goodness : 0.812633 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.01, Z:0.69 [[ 0.98145256 -0.10788906 0.15846394 -3.95546114] [ 0.11886064 0.99100776 -0.06144732 -1.00510645] [-0.1504095 0.07914276 0.98545086 0.68639528] [ 0. 0. 0. 1. ]] SLAMing on 35.344860624 meters Centerline goodness : 0.814416 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.01, Z:0.69 [[ 0.98147198 -0.10776757 0.15842633 -3.95518233] [ 0.11862802 0.9910788 -0.06074702 -1.00733319] [-0.15046642 0.0784153 0.98550033 0.68577039] [ 0. 0. 0. 1. ]] SLAMing on 35.404860623999994 meters Centerline goodness : 0.809894 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.01, Z:0.68 [[ 0.98159098 -0.10711391 0.15813207 -3.9539349 ] [ 0.11768213 0.99129543 -0.0590278 -1.01369583] [-0.1504329 0.07655048 0.98565205 0.68437315] [ 0. 0. 0. 1. ]] SLAMing on 35.464860623999996 meters Centerline goodness : 0.807654 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.02, Z:0.68 [[ 0.98170586 -0.1067723 0.15764922 -3.95274575] [ 0.1171111 0.9914359 -0.05779135 -1.01679332] [-0.15012858 0.07519658 0.98580266 0.6834842 ] [ 0. 0. 0. 1. ]] SLAMing on 35.524860624 meters Centerline goodness : 0.804070 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.02, Z:0.68 [[ 0.9818986 -0.10583459 0.15708014 -3.95062181] [ 0.11588765 0.99166778 -0.05625897 -1.02016323] [-0.14981717 0.07344425 0.98598213 0.68150626] [ 0. 0. 0. 1. ]] SLAMing on 35.584860623999994 meters Centerline goodness : 0.800387 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.02, Z:0.68 [[ 0.98203962 -0.10505488 0.15672158 -3.94906264] [ 0.11489124 0.99185104 -0.05505917 -1.02310449] [-0.14966023 0.07207623 0.98610691 0.67995425] [ 0. 0. 0. 1. ]] SLAMing on 35.644860623999996 meters Centerline goodness : 0.799020 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.03, Z:0.68 [[ 0.9824299 -0.10185642 0.15638657 -3.94957057] [ 0.11091281 0.99255657 -0.05029714 -1.02616693] [-0.15009943 0.06675869 0.98641444 0.68007813] [ 0. 0. 0. 1. ]] SLAMing on 35.704860624 meters Centerline goodness : 0.800603 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.03, Z:0.68 [[ 0.98292287 -0.09788462 0.15582435 -3.94866254] [ 0.10601575 0.99335764 -0.04473539 -1.03001587] [-0.15041041 0.06049127 0.98677126 0.67850307] [ 0. 0. 0. 1. ]] SLAMing on 35.764860624 meters Centerline goodness : 0.795703 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.03, Z:0.68 [[ 0.98330341 -0.09461629 0.15544185 -3.94829752] [ 0.1018826 0.99401405 -0.03944621 -1.03466049] [-0.15077913 0.05462441 0.98705716 0.67698255] [ 0. 0. 0. 1. ]] SLAMing on 35.824860623999996 meters Centerline goodness : 0.794868 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.04, Z:0.68 [[ 0.98334294 -0.09441945 0.15531138 -3.94787069] [ 0.10151189 0.99409413 -0.03836926 -1.03751735] [-0.15077133 0.0534961 0.98712014 0.67630972] [ 0. 0. 0. 1. ]] SLAMing on 35.884860624 meters Centerline goodness : 0.786932 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.04, Z:0.67 [[ 0.98314035 -0.09698776 0.15501108 -3.94537016] [ 0.10434647 0.99373455 -0.04004316 -1.04318333] [-0.15015617 0.05554291 0.98710086 0.67338563] [ 0. 0. 0. 1. ]] SLAMing on 35.944860624 meters Centerline goodness : 0.787297 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.04, Z:0.67 [[ 0.9832145 -0.09674237 0.15469377 -3.94446745] [ 0.10400159 0.99379148 -0.03952412 -1.04405466] [-0.1499097 0.05494908 0.98717156 0.67274186] [ 0. 0. 0. 1. ]] SLAMing on 36.004860623999996 meters Centerline goodness : 0.785560 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.04, Z:0.67 [[ 0.98326845 -0.09654261 0.15447549 -3.94380859] [ 0.10371222 0.99384132 -0.03902834 -1.04479286] [-0.14975623 0.05439633 0.98722546 0.67212412] [ 0. 0. 0. 1. ]] SLAMing on 36.064860624 meters Centerline goodness : 0.783704 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.05, Z:0.67 [[ 0.98332309 -0.09649648 0.15415621 -3.94302045] [ 0.10350498 0.99389952 -0.038085 -1.04799801] [-0.14954071 0.05340579 0.98731221 0.67138118] [ 0. 0. 0. 1. ]] SLAMing on 36.124860624 meters Centerline goodness : 0.784687 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.05, Z:0.67 [[ 0.98326679 -0.0970338 0.15417804 -3.94348121] [ 0.10395465 0.99387633 -0.0374603 -1.05219621] [-0.14959899 0.05286099 0.9873327 0.67168976] [ 0. 0. 0. 1. ]] SLAMing on 36.184860623999995 meters Centerline goodness : 0.785056 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.06, Z:0.67 [[ 0.98324806 -0.09739213 0.15407149 -3.94355912] [ 0.10419135 0.99388103 -0.03666969 -1.05571712] [-0.14955739 0.05210831 0.98737901 0.67164346] [ 0. 0. 0. 1. ]] SLAMing on 36.244860624 meters Centerline goodness : 0.783131 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.06, Z:0.67 [[ 0.98334477 -0.09708398 0.15364818 -3.94204458] [ 0.10360854 0.99400132 -0.03502359 -1.0602511 ] [-0.14932627 0.05035952 0.98750473 0.66958291] [ 0. 0. 0. 1. ]] SLAMing on 36.304860624 meters Centerline goodness : 0.781793 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.06, Z:0.67 [[ 0.98344343 -0.09653162 0.15336448 -3.94101897] [ 0.1029125 0.99410201 -0.03420838 -1.06204358] [-0.14915774 0.04942513 0.9875774 0.66875318] [ 0. 0. 0. 1. ]] SLAMing on 36.364860623999995 meters Centerline goodness : 0.782695 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.07, Z:0.67 [[ 0.98391009 -0.09263323 0.15277441 -3.94010975] [ 0.09815788 0.99474796 -0.0290089 -1.06521128] [-0.14928484 0.04353816 0.98783524 0.66757926] [ 0. 0. 0. 1. ]] SLAMing on 36.424860624 meters Centerline goodness : 0.779547 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.07, Z:0.67 [[ 0.9843964 -0.08839648 0.15215053 -3.93861449] [ 0.09306584 0.9953747 -0.023832 -1.06676754] [-0.14934012 0.03762015 0.98806996 0.66563889] [ 0. 0. 0. 1. ]] SLAMing on 36.484860624 meters Centerline goodness : 0.778591 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.07, Z:0.66 [[ 0.98494664 -0.08364166 0.15127523 -3.93645492] [ 0.08744802 0.99599402 -0.01867484 -1.06804916] [-0.14910723 0.03162244 0.98831526 0.66391041] [ 0. 0. 0. 1. ]] SLAMing on 36.544860623999995 meters Centerline goodness : 0.788705 with order 1 Centerline is valid? [False, False] Translation: X:-4.51, Y:-1.13, Z:0.80 [[ 0.996967 -0.07767259 0.00487457 -4.50890243] [ 0.07510574 0.97665161 0.20127284 -1.13272296] [-0.02039414 -0.20029627 0.97952309 0.79966054] [ 0. 0. 0. 1. ]] SLAMing on 36.604860624 meters Centerline goodness : 0.778539 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.84 [[ 9.77081329e-01 -2.12278614e-01 1.58071822e-02 -4.12733834e+00] [ 2.12354173e-01 9.77187375e-01 -3.24638510e-03 -9.59014519e-01] [-1.47574408e-02 6.52870338e-03 9.99869789e-01 8.35583925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664860624 meters Centerline goodness : 0.776633 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.84 [[ 0.97524764 -0.22044481 0.01720838 -4.12682334] [ 0.22063787 0.97530198 -0.01024537 -0.96403019] [-0.01452483 0.01378859 0.99979943 0.83625276] [ 0. 0. 0. 1. ]] SLAMing on 36.724860623999994 meters Centerline goodness : 0.774401 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.97, Z:0.84 [[ 0.97445367 -0.22390041 0.01756863 -4.12529441] [ 0.22414438 0.97446378 -0.01340317 -0.96674702] [-0.01411902 0.01699868 0.99975582 0.83600944] [ 0. 0. 0. 1. ]] SLAMing on 36.784860624 meters Centerline goodness : 0.776976 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.97, Z:0.84 [[ 0.97370906 -0.22709574 0.01783781 -4.12380385] [ 0.22738306 0.9736712 -0.01616599 -0.9703131 ] [-0.01369693 0.01979699 0.99971019 0.83606534] [ 0. 0. 0. 1. ]] SLAMing on 36.844860624 meters Centerline goodness : 0.776465 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.97, Z:0.84 [[ 0.97361277 -0.22749948 0.01794903 -4.12431213] [ 0.22778069 0.97358801 -0.01556741 -0.97427876] [-0.01393338 0.01924508 0.9997177 0.83673379] [ 0. 0. 0. 1. ]] SLAMing on 36.904860623999994 meters Centerline goodness : 0.778536 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.98, Z:0.84 [[ 0.97286946 -0.23063368 0.0182514 -4.12316241] [ 0.23095749 0.97279314 -0.01822471 -0.97945708] [-0.01355161 0.02194556 0.99966732 0.83754955] [ 0. 0. 0. 1. ]] SLAMing on 36.964860623999996 meters Centerline goodness : 0.775501 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.98, Z:0.84 [[ 0.97293192 -0.2303944 0.01794148 -4.12255877] [ 0.23069755 0.97287371 -0.01718701 -0.984612 ] [-0.013495 0.02086085 0.99969131 0.83816166] [ 0. 0. 0. 1. ]] SLAMing on 37.024860624 meters Centerline goodness : 0.776472 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.99, Z:0.84 [[ 0.97329502 -0.22891924 0.01711087 -4.12026245] [ 0.22918593 0.97325622 -0.01568876 -0.98861995] [-0.01306181 0.01919136 0.9997305 0.83780279] [ 0. 0. 0. 1. ]] SLAMing on 37.084860623999994 meters Centerline goodness : 0.777477 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.99, Z:0.84 [[ 0.97415297 -0.22530574 0.01622722 -4.12012413] [ 0.22550268 0.97417436 -0.01152594 -0.99207416] [-0.01321128 0.01488731 0.9998019 0.83814288] [ 0. 0. 0. 1. ]] SLAMing on 37.144860623999996 meters Centerline goodness : 0.779086 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.84 [[ 0.97509656 -0.22125281 0.01529324 -4.11992671] [ 0.22137632 0.97516406 -0.00689811 -0.9965521 ] [-0.01338719 0.01011189 0.99985926 0.83866415] [ 0. 0. 0. 1. ]] SLAMing on 37.204860624 meters Centerline goodness : 0.781112 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.84 [[ 0.97522156 -0.2207171 0.01506187 -4.11916219] [ 0.22082825 0.97529336 -0.00614408 -0.99886911] [-0.01333364 0.00931792 0.99986769 0.83853232] [ 0. 0. 0. 1. ]] SLAMing on 37.26486062399999 meters Centerline goodness : 0.779403 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.84 [[ 0.97539601 -0.21996816 0.01471834 -4.11785144] [ 0.22006273 0.97547224 -0.00512814 -1.00112516] [-0.0132293 0.00824093 0.99987853 0.83772971] [ 0. 0. 0. 1. ]] SLAMing on 37.324860623999996 meters Centerline goodness : 0.777678 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.84 [[ 0.97547876 -0.21960699 0.01462765 -4.11720654] [ 0.21969279 0.97555862 -0.00452254 -1.00270407] [-0.01327695 0.00762523 0.99988278 0.83724205] [ 0. 0. 0. 1. ]] SLAMing on 37.384860624 meters Centerline goodness : 0.779251 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.84 [[ 9.76761933e-01 -2.14293685e-01 3.78732034e-03 -4.11960035e+00] [ 2.14306686e-01 9.76760357e-01 -3.44217577e-03 -1.00954314e+00] [-2.96166784e-03 4.17383432e-03 9.99986904e-01 8.41947106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444860624 meters Centerline goodness : 0.787872 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.84 [[ 9.76629355e-01 -2.14896610e-01 3.81437925e-03 -4.11956597e+00] [ 2.14908638e-01 9.76629290e-01 -3.08323928e-03 -1.01205535e+00] [-3.06265683e-03 3.83092504e-03 9.99987972e-01 8.42632086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504860623999996 meters Centerline goodness : 0.786807 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.02, Z:0.85 [[ 9.77755077e-01 -2.09627158e-01 -7.17377176e-03 -4.12167772e+00] [ 2.09634114e-01 9.77779877e-01 2.23341594e-04 -1.02035154e+00] [ 6.96755121e-03 -1.72224066e-03 9.99974243e-01 8.47371468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564860624 meters Centerline goodness : 0.789821 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.03, Z:0.85 [[ 9.78759802e-01 -2.04140016e-01 -1.88707219e-02 -4.12290100e+00] [ 2.04244620e-01 9.78912613e-01 3.77236555e-03 -1.02897512e+00] [ 1.77026969e-02 -7.54648318e-03 9.99814815e-01 8.52108744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624860624 meters Centerline goodness : 0.791653 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.04, Z:0.86 [[ 0.97915708 -0.20077397 -0.03067938 -4.12294442] [ 0.20101911 0.97957407 0.00509484 -1.03720483] [ 0.02902981 -0.01115579 0.99951629 0.85740305] [ 0. 0. 0. 1. ]] SLAMing on 37.684860623999995 meters Centerline goodness : 0.790705 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.04, Z:0.86 [[ 9.78543390e-01 -2.03885711e-01 -2.97229094e-02 -4.12276641e+00] [ 2.04019535e-01 9.78965654e-01 1.50922985e-03 -1.03764752e+00] [ 2.87899970e-02 -7.54090105e-03 9.99557037e-01 8.56816685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744860624 meters Centerline goodness : 0.788723 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.04, Z:0.86 [[ 9.79302444e-01 -1.98283339e-01 -4.06256214e-02 -4.12412864e+00] [ 1.98542281e-01 9.80089382e-01 2.40109518e-03 -1.04380391e+00] [ 3.93406431e-02 -1.04173019e-02 9.99171554e-01 8.61291127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804860624 meters Centerline goodness : 0.788282 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.04, Z:0.86 [[ 9.79383392e-01 -1.97941268e-01 -4.03413793e-02 -4.12453384e+00] [ 1.98193363e-01 9.80160222e-01 2.30856869e-03 -1.04399820e+00] [ 3.90840543e-02 -1.02563674e-02 9.99183288e-01 8.61153827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864860623999995 meters Centerline goodness : 0.792988 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.87 [[ 0.98006201 -0.19160887 -0.0525785 -4.12515991] [ 0.19220979 0.98133184 0.00657354 -1.04916453] [ 0.05033741 -0.01654858 0.99859516 0.86530212] [ 0. 0. 0. 1. ]] SLAMing on 37.924860624 meters Centerline goodness : 0.791128 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.87 [[ 0.98012219 -0.19143039 -0.05210472 -4.12608261] [ 0.19199236 0.98137835 0.00595592 -1.04862789] [ 0.0499943 -0.01584123 0.99862387 0.86525766] [ 0. 0. 0. 1. ]] SLAMing on 37.984860624 meters Centerline goodness : 0.792154 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.87 [[ 0.98007766 -0.19173804 -0.0518103 -4.12687784] [ 0.19226448 0.98132868 0.00532883 -1.04772396] [ 0.04982119 -0.01518394 0.99864273 0.86556904] [ 0. 0. 0. 1. ]] SLAMing on 38.044860623999995 meters Centerline goodness : 0.789864 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.87 [[ 0.98005679 -0.19190586 -0.05158315 -4.12783276] [ 0.19238842 0.98130848 0.00451186 -1.0456881 ] [ 0.04975313 -0.01434588 0.99865851 0.86597518] [ 0. 0. 0. 1. ]] SLAMing on 38.104860624 meters Centerline goodness : 0.790159 with order 3 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.05, Z:0.87 [[ 9.80854333e-01 -1.85567514e-01 -5.90717852e-02 -4.13236930e+00] [ 1.85916534e-01 9.82565451e-01 4.19986116e-04 -1.04534653e+00] [ 5.79639595e-02 -1.13943668e-02 9.98253649e-01 8.69361150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164860624 meters Centerline goodness : 0.791004 with order 3 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.05, Z:0.87 [[ 9.81700886e-01 -1.78602561e-01 -6.60643227e-02 -4.13785428e+00] [ 1.78819311e-01 9.83878320e-01 -2.66576254e-03 -1.04548249e+00] [ 6.54753668e-02 -9.19659521e-03 9.97811805e-01 8.73352676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224860623999994 meters Centerline goodness : 0.792267 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.04, Z:0.88 [[ 9.83183093e-01 -1.67572577e-01 -7.25977821e-02 -4.14539579e+00] [ 1.67845408e-01 9.85810481e-01 -2.36970802e-03 -1.04361091e+00] [ 7.19647525e-02 -9.85534749e-03 9.97358484e-01 8.77383706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284860624 meters Centerline goodness : 0.782843 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.04, Z:0.88 [[ 0.98423143 -0.16045692 -0.07444512 -4.14458009] [ 0.16121193 0.98691084 0.00420682 -1.04082934] [ 0.07279569 -0.01614193 0.99721624 0.87733434] [ 0. 0. 0. 1. ]] SLAMing on 38.344860624 meters Centerline goodness : 0.783887 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.04, Z:0.88 [[ 0.98553784 -0.15165524 -0.07560322 -4.14445798] [ 0.15282061 0.98820494 0.00984129 -1.03553197] [ 0.07321899 -0.02125269 0.99708942 0.87592673] [ 0. 0. 0. 1. ]] SLAMing on 38.404860623999994 meters Centerline goodness : 0.783876 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.02, Z:0.88 [[ 9.87149409e-01 -1.42663914e-01 -7.19934192e-02 -4.12431265e+00] [ 1.43051463e-01 9.89715225e-01 2.29447144e-04 -1.02297989e+00] [ 7.12202492e-02 -1.05252625e-02 9.97405081e-01 8.80819975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464860623999996 meters Centerline goodness : 0.779227 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.02, Z:0.88 [[ 9.87776343e-01 -1.37880961e-01 -7.27099465e-02 -4.12302464e+00] [ 1.38493994e-01 9.90357321e-01 3.43381109e-03 -1.01768008e+00] [ 7.15353707e-02 -1.34617283e-02 9.97347218e-01 8.79692186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524860624 meters Centerline goodness : 0.778405 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.01, Z:0.88 [[ 0.98881645 -0.12972576 -0.07357487 -4.12125945] [ 0.13077697 0.991365 0.00963437 -1.01054054] [ 0.07168973 -0.01914852 0.99724316 0.87737487] [ 0. 0. 0. 1. ]] SLAMing on 38.584860623999994 meters Centerline goodness : 0.778711 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.88 [[ 0.98929196 -0.12596458 -0.07371802 -4.12208412] [ 0.12713565 0.99181987 0.01139614 -1.00281675] [ 0.07167949 -0.0206463 0.99721401 0.87775555] [ 0. 0. 0. 1. ]] SLAMing on 38.644860623999996 meters Centerline goodness : 0.780791 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.88 [[ 0.98968555 -0.12280708 -0.07376265 -4.12321117] [ 0.12411918 0.99217605 0.01345818 -0.99660076] [ 0.07153278 -0.02247472 0.99718501 0.87769751] [ 0. 0. 0. 1. ]] SLAMing on 38.704860624 meters Centerline goodness : 0.784076 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.99, Z:0.88 [[ 0.98970054 -0.12260428 -0.07389879 -4.12272808] [ 0.12382907 0.99222845 0.01220919 -0.99077577] [ 0.07182758 -0.02123426 0.99719101 0.87773844] [ 0. 0. 0. 1. ]] SLAMing on 38.76486062399999 meters Centerline goodness : 0.785993 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.99, Z:0.88 [[ 0.98969923 -0.12278304 -0.07361903 -4.12329385] [ 0.12389386 0.99223779 0.01069948 -0.98556917] [ 0.07173387 -0.01971021 0.99722904 0.87814851] [ 0. 0. 0. 1. ]] SLAMing on 38.824860623999996 meters Centerline goodness : 0.785843 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.98, Z:0.88 [[ 0.99011108 -0.1192786 -0.07384212 -4.12378816] [ 0.12057194 0.99261554 0.01329619 -0.98121861] [ 0.07171088 -0.022068 0.9971813 0.87796037] [ 0. 0. 0. 1. ]] SLAMing on 38.884860624 meters Centerline goodness : 0.789691 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.97, Z:0.88 [[ 0.99015222 -0.11933121 -0.07320271 -4.12551764] [ 0.12051356 0.9926399 0.01193739 -0.97456874] [ 0.07123943 -0.02064175 0.99724564 0.87860214] [ 0. 0. 0. 1. ]] SLAMing on 38.94486062399999 meters Centerline goodness : 0.791148 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.97, Z:0.88 [[ 0.99013787 -0.1193512 -0.07336413 -4.1245893 ] [ 0.12047446 0.99265476 0.01106512 -0.97064948] [ 0.07150462 -0.0197945 0.99724384 0.87800632] [ 0. 0. 0. 1. ]] SLAMing on 39.004860623999996 meters Centerline goodness : 0.793669 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.97, Z:0.88 [[ 0.9900877 -0.11979831 -0.07331246 -4.1248321 ] [ 0.12085424 0.99261863 0.01012464 -0.96792058] [ 0.0715584 -0.0188844 0.99725763 0.87826281] [ 0. 0. 0. 1. ]] SLAMing on 39.064860624 meters Centerline goodness : 0.795718 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.97, Z:0.88 [[ 0.98998756 -0.12085223 -0.07293398 -4.1258198 ] [ 0.1218249 0.9925106 0.00902203 -0.96504454] [ 0.07129742 -0.01781687 0.99729596 0.8782115 ] [ 0. 0. 0. 1. ]] SLAMing on 39.124860624 meters Centerline goodness : 0.798028 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.88 [[ 9.89367945e-01 -1.26391366e-01 -7.19464547e-02 -4.12802869e+00] [ 1.26965451e-01 9.91901160e-01 3.44429914e-03 -9.61069150e-01] [ 7.09284422e-02 -1.25423932e-02 9.97402549e-01 8.79584486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184860623999995 meters Centerline goodness : 0.798063 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.88 [[ 9.89274950e-01 -1.27358124e-01 -7.15190976e-02 -4.12937313e+00] [ 1.27896600e-01 9.91783024e-01 2.98210915e-03 -9.60946901e-01] [ 7.05516310e-02 -1.20971753e-02 9.97434773e-01 8.79768755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244860624 meters Centerline goodness : 0.798200 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.88 [[ 9.88678778e-01 -1.32165889e-01 -7.10383758e-02 -4.12951974e+00] [ 1.32385709e-01 9.91196944e-01 -1.62566981e-03 -9.59680832e-01] [ 7.06278791e-02 -7.79720049e-03 9.97472258e-01 8.80179176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304860624 meters Centerline goodness : 0.797897 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.88 [[ 9.87954587e-01 -1.37820086e-01 -7.03658843e-02 -4.13005337e+00] [ 1.37733255e-01 9.90450527e-01 -6.10772785e-03 -9.58567141e-01] [ 7.05356947e-02 -3.65756450e-03 9.97502550e-01 8.79780827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364860623999995 meters Centerline goodness : 0.796164 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.88 [[ 9.87288350e-01 -1.42825970e-01 -6.97313108e-02 -4.13020457e+00] [ 1.42446816e-01 9.89747759e-01 -1.04056758e-02 -9.56667352e-01] [ 7.05026093e-02 3.40399272e-04 9.97511537e-01 8.79279278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424860624 meters Centerline goodness : 0.798832 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.96, Z:0.88 [[ 9.87049575e-01 -1.44820671e-01 -6.89935415e-02 -4.13273746e+00] [ 1.44370107e-01 9.89456943e-01 -1.14991262e-02 -9.55547820e-01] [ 6.99314499e-02 1.38960264e-03 9.97550831e-01 8.79725083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484860624 meters Centerline goodness : 0.800158 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.95, Z:0.88 [[ 9.87029859e-01 -1.45077573e-01 -6.87354040e-02 -4.13356939e+00] [ 1.44570139e-01 9.89417771e-01 -1.23267591e-02 -9.52627845e-01] [ 6.97963665e-02 2.22979231e-03 9.97558768e-01 8.80240325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544860623999995 meters Centerline goodness : 0.802248 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.95, Z:0.88 [[ 9.87686773e-01 -1.40383974e-01 -6.90447599e-02 -4.13354733e+00] [ 1.40088815e-01 9.90096915e-01 -9.12263802e-03 -9.48230684e-01] [ 6.96416759e-02 -6.62089690e-04 9.97571851e-01 8.79895779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604860624 meters Centerline goodness : 0.802815 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.94, Z:0.88 [[ 9.88377343e-01 -1.35496350e-01 -6.89272644e-02 -4.13471047e+00] [ 1.35396669e-01 9.90772462e-01 -6.13766046e-03 -9.42659856e-01] [ 6.91228660e-02 -3.26619746e-03 9.97602807e-01 8.80365041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664860624 meters Centerline goodness : 0.803768 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.94, Z:0.88 [[ 9.88909948e-01 -1.31498184e-01 -6.90314658e-02 -4.13561657e+00] [ 1.31620809e-01 9.91296214e-01 -2.78893231e-03 -9.40413161e-01] [ 6.87973702e-02 -6.32797449e-03 9.97610585e-01 8.80371821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724860623999994 meters Centerline goodness : 0.801251 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.94, Z:0.88 [[ 9.89431997e-01 -1.27499582e-01 -6.90520153e-02 -4.13594528e+00] [ 1.27847128e-01 9.91793692e-01 6.19206997e-04 -9.38016833e-01] [ 6.84064046e-02 -9.44076505e-03 9.97612869e-01 8.79492119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784860624 meters Centerline goodness : 0.806058 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.89412586e-01 -1.27798469e-01 -6.87770717e-02 -4.13642459e+00] [ 1.28088383e-01 9.91762738e-01 -1.96293881e-04 -9.34066713e-01] [ 6.82356230e-02 -8.61532828e-03 9.97632034e-01 8.79261816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844860624 meters Centerline goodness : 0.805375 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.89389772e-01 -1.27986691e-01 -6.87552602e-02 -4.13563298e+00] [ 1.28262992e-01 9.91740110e-01 -3.99129685e-04 -9.32772035e-01] [ 6.82384326e-02 -8.42386057e-03 9.97633477e-01 8.78130322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904860623999994 meters Centerline goodness : 0.803611 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.89283265e-01 -1.29081333e-01 -6.82395124e-02 -4.13677479e+00] [ 1.29300128e-01 9.91604755e-01 -1.21940021e-03 -9.30828269e-01] [ 6.78240268e-02 -7.61704544e-03 9.97668222e-01 8.77741593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964860623999996 meters Centerline goodness : 0.806362 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.89131997e-01 -1.30617352e-01 -6.75055607e-02 -4.13907146e+00] [ 1.30761061e-01 9.91411234e-01 -2.30441269e-03 -9.28239017e-01] [ 6.72267675e-02 -6.54773041e-03 9.97716237e-01 8.77951870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024860624 meters Centerline goodness : 0.805885 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.88612406e-01 -1.34612027e-01 -6.72689629e-02 -4.13831823e+00] [ 1.34462536e-01 9.90895580e-01 -6.76584206e-03 -9.25507410e-01] [ 6.75672817e-02 -2.35635993e-03 9.97711937e-01 8.78201398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084860623999994 meters Centerline goodness : 0.806107 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.88 [[ 9.88276147e-01 -1.37586720e-01 -6.61827171e-02 -4.14269684e+00] [ 1.37347335e-01 9.90489209e-01 -8.17533822e-03 -9.24424308e-01] [ 6.66780851e-02 -1.01052807e-03 9.97774028e-01 8.79222473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144860623999996 meters Centerline goodness : 0.805858 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.93, Z:0.88 [[ 9.87671634e-01 -1.44569018e-01 -6.00378383e-02 -4.13475330e+00] [ 1.44701951e-01 9.89472951e-01 -2.15064630e-03 -9.25863189e-01] [ 5.97167338e-02 -6.56346001e-03 9.98193785e-01 8.75987289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204860624 meters Centerline goodness : 0.806274 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.86982121e-01 -1.49522894e-01 -5.92384753e-02 -4.13575866e+00] [ 1.49397817e-01 9.88755410e-01 -6.55985609e-03 -9.25331781e-01] [ 5.95532116e-02 -2.37563823e-03 9.98222306e-01 8.76484328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26486062399999 meters Centerline goodness : 0.804567 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 9.86179185e-01 -1.55036641e-01 -5.84316205e-02 -4.13654303e+00] [ 1.54687369e-01 9.87907868e-01 -1.04815545e-02 -9.26059343e-01] [ 5.93500827e-02 1.29805726e-03 9.98236386e-01 8.75864384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324860623999996 meters Centerline goodness : 0.805199 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 0.98537466 -0.16042918 -0.05743917 -4.13790228] [ 0.1598502 0.9870338 -0.01456656 -0.92713791] [ 0.0590313 0.00517185 0.99824273 0.87594764] [ 0. 0. 0. 1. ]] SLAMing on 40.384860624 meters Centerline goodness : 0.805353 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 0.98525991 -0.16122462 -0.05717976 -4.1385998 ] [ 0.16064654 0.98690406 -0.01459667 -0.92744434] [ 0.05878428 0.00519578 0.99825719 0.87550315] [ 0. 0. 0. 1. ]] SLAMing on 40.44486062399999 meters Centerline goodness : 0.804084 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.93, Z:0.88 [[ 0.98521914 -0.161526 -0.05703148 -4.13899604] [ 0.1609327 0.98685324 -0.01487749 -0.92621542] [ 0.05868481 0.00547936 0.99826152 0.87543605] [ 0. 0. 0. 1. ]] SLAMing on 40.504860623999996 meters Centerline goodness : 0.804473 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.88 [[ 0.98518409 -0.16182067 -0.05680126 -4.13966171] [ 0.16119146 0.98680112 -0.01551992 -0.9245382 ] [ 0.05856299 0.0061341 0.99826487 0.87576877] [ 0. 0. 0. 1. ]] SLAMing on 40.564860624 meters Centerline goodness : 0.807277 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.88 [[ 9.85676238e-01 -1.58870576e-01 -5.65905846e-02 -4.14217696e+00] [ 1.58417041e-01 9.87293910e-01 -1.24409359e-02 -9.23402919e-01] [ 5.78480381e-02 3.29782195e-03 9.98319953e-01 8.76182893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62486062399999 meters Centerline goodness : 0.808385 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.88 [[ 9.86231476e-01 -1.55390974e-01 -5.65784439e-02 -4.14448910e+00] [ 1.55095591e-01 9.87852804e-01 -9.60180924e-03 -9.19820045e-01] [ 5.73832090e-02 6.94539303e-04 9.98351984e-01 8.77152951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684860623999995 meters Centerline goodness : 0.810911 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.88 [[ 9.86394338e-01 -1.54333053e-01 -5.66349544e-02 -4.14338053e+00] [ 1.54036014e-01 9.88018600e-01 -9.59963401e-03 -9.17271887e-01] [ 5.74379292e-02 7.45202003e-04 9.98348801e-01 8.76527250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744860624 meters Centerline goodness : 0.810894 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.88 [[ 9.86370825e-01 -1.54523742e-01 -5.65244096e-02 -4.14348740e+00] [ 1.54219171e-01 9.87988677e-01 -9.73767202e-03 -9.16239959e-01] [ 5.73501782e-02 8.87807990e-04 9.98353729e-01 8.76154828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804860624 meters Centerline goodness : 0.811427 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.87 [[ 9.86209252e-01 -1.55641825e-01 -5.62755203e-02 -4.14390406e+00] [ 1.55346330e-01 9.87813279e-01 -9.61472178e-03 -9.16850086e-01] [ 5.70861591e-02 7.39932028e-04 9.98368981e-01 8.74960118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864860623999995 meters Centerline goodness : 0.812977 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.92, Z:0.87 [[ 9.85995226e-01 -1.57077644e-01 -5.60359524e-02 -4.14476663e+00] [ 1.56770524e-01 9.87585809e-01 -9.86266746e-03 -9.18444846e-01] [ 5.68895159e-02 9.39757427e-04 9.98380038e-01 8.74678685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924860624 meters Centerline goodness : 0.813977 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 9.85663755e-01 -1.59366460e-01 -5.54012036e-02 -4.14789687e+00] [ 1.59011796e-01 9.87217824e-01 -1.07803844e-02 -9.18726040e-01] [ 5.64110873e-02 1.81638928e-03 9.98405975e-01 8.75793972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984860624 meters Centerline goodness : 0.816312 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 9.85505790e-01 -1.60515058e-01 -5.48931153e-02 -4.14989723e+00] [ 1.60130912e-01 9.87030473e-01 -1.13550304e-02 -9.18516972e-01] [ 5.60038309e-02 2.40036364e-03 9.98427668e-01 8.76523397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044860623999995 meters Centerline goodness : 0.815981 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 9.85420144e-01 -1.61154195e-01 -5.45569956e-02 -4.15123137e+00] [ 1.60744611e-01 9.86924978e-01 -1.18430846e-02 -9.18210055e-01] [ 5.57522245e-02 2.90067106e-03 9.98440422e-01 8.77231973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104860624 meters Centerline goodness : 0.815679 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 9.85413450e-01 -1.61137987e-01 -5.47255135e-02 -4.15098860e+00] [ 1.60710872e-01 9.86926781e-01 -1.21468080e-02 -9.17112264e-01] [ 5.59673870e-02 3.17464300e-03 9.98427550e-01 8.77517317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164860624 meters Centerline goodness : 0.815094 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 9.86090996e-01 -1.56694711e-01 -5.54194478e-02 -4.15020873e+00] [ 1.56489507e-01 9.87646814e-01 -8.05019700e-03 -9.16414395e-01] [ 5.59962643e-02 -7.34335303e-04 9.98430708e-01 8.76625536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224860623999994 meters Centerline goodness : 0.818473 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 9.86710005e-01 -1.52621144e-01 -5.57687439e-02 -4.15055583e+00] [ 1.52635616e-01 9.88274338e-01 -4.02502084e-03 -9.16688777e-01] [ 5.57291218e-02 -4.54076825e-03 9.98435600e-01 8.76235670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284860624 meters Centerline goodness : 0.821061 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 9.87477466e-01 -1.47376893e-01 -5.62877125e-02 -4.14991786e+00] [ 1.47593305e-01 9.89048086e-01 -3.15707062e-04 -9.14390530e-01] [ 5.57177822e-02 -7.99593592e-03 9.98414540e-01 8.76159882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344860624 meters Centerline goodness : 0.821654 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 0.98871059 -0.13840262 -0.05741155 -4.14908991] [ 0.13906725 0.99025278 0.00772819 -0.91331443] [ 0.05578235 -0.01562501 0.99832068 0.8751661 ] [ 0. 0. 0. 1. ]] SLAMing on 41.404860623999994 meters Centerline goodness : 0.826637 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 0.98928434 -0.13409177 -0.05775709 -4.1493527 ] [ 0.13496558 0.99078371 0.01148588 -0.91256209] [ 0.05568462 -0.01915802 0.99826459 0.8751522 ] [ 0. 0. 0. 1. ]] SLAMing on 41.464860623999996 meters Centerline goodness : 0.825978 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 0.98982262 -0.12995289 -0.0579951 -4.15001502] [ 0.13102653 0.99126394 0.01509451 -0.91150179] [ 0.05552688 -0.02253978 0.99820275 0.875373 ] [ 0. 0. 0. 1. ]] SLAMing on 41.524860624 meters Centerline goodness : 0.825065 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 0.98986084 -0.12962392 -0.05807893 -4.14947662] [ 0.13069277 0.99130969 0.01498316 -0.91074905] [ 0.05563203 -0.02242174 0.99819955 0.87532351] [ 0. 0. 0. 1. ]] SLAMing on 41.584860623999994 meters Centerline goodness : 0.824378 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.87 [[ 0.98983468 -0.12980027 -0.05813083 -4.14897777] [ 0.13088847 0.99127896 0.01530466 -0.91233194] [ 0.05563732 -0.02275773 0.99819165 0.8746628 ] [ 0. 0. 0. 1. ]] SLAMing on 41.644860623999996 meters Centerline goodness : 0.825417 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 0.98928763 -0.1339968 -0.05792092 -4.14856092] [ 0.13484627 0.9908055 0.0109974 -0.91193054] [ 0.05591474 -0.01869001 0.9982606 0.87544684] [ 0. 0. 0. 1. ]] SLAMing on 41.704860624 meters Centerline goodness : 0.830416 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.88 [[ 0.98865736 -0.13877314 -0.05743373 -4.14887099] [ 0.13940857 0.99020885 0.0071895 -0.91404412] [ 0.05587368 -0.01511471 0.99832343 0.87577516] [ 0. 0. 0. 1. ]] SLAMing on 41.76486062399999 meters Centerline goodness : 0.828090 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 0.9884967 -0.13998016 -0.05726981 -4.1500468 ] [ 0.14060832 0.99004006 0.0070701 -0.9155852 ] [ 0.05570974 -0.01504138 0.9983337 0.87609617] [ 0. 0. 0. 1. ]] SLAMing on 41.824860623999996 meters Centerline goodness : 0.826782 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 0.98831889 -0.14133625 -0.05700726 -4.152306 ] [ 0.14192896 0.98985573 0.00646542 -0.91709975] [ 0.05551516 -0.01448088 0.99835283 0.87785771] [ 0. 0. 0. 1. ]] SLAMing on 41.884860624 meters Centerline goodness : 0.825309 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 0.98830685 -0.14144895 -0.05693653 -4.15268502] [ 0.14204293 0.98983913 0.00650347 -0.91867174] [ 0.0554381 -0.01451485 0.99835662 0.87837204] [ 0. 0. 0. 1. ]] SLAMing on 41.94486062399999 meters Centerline goodness : 0.825792 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 0.98834276 -0.14111393 -0.05714406 -4.15216226] [ 0.14171457 0.9898857 0.00657818 -0.91894349] [ 0.05563781 -0.01459964 0.99834427 0.87865977] [ 0. 0. 0. 1. ]] SLAMing on 42.004860623999996 meters Centerline goodness : 0.824481 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 0.98836893 -0.14085854 -0.05732135 -4.15186895] [ 0.14148056 0.98991684 0.00692148 -0.92109709] [ 0.05576842 -0.01495083 0.99833179 0.8791493 ] [ 0. 0. 0. 1. ]] SLAMing on 42.064860624 meters Centerline goodness : 0.822190 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.88 [[ 0.98837469 -0.14082792 -0.05729722 -4.15219255] [ 0.14147432 0.98991452 0.00736568 -0.92357365] [ 0.05568206 -0.01538614 0.99832999 0.87958141] [ 0. 0. 0. 1. ]] SLAMing on 42.12486062399999 meters Centerline goodness : 0.820915 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.93, Z:0.88 [[ 0.9883382 -0.14108577 -0.05729231 -4.15245327] [ 0.14175224 0.98987207 0.00771986 -0.92689464] [ 0.05562289 -0.01575115 0.9983276 0.88003189] [ 0. 0. 0. 1. ]] SLAMing on 42.184860623999995 meters Centerline goodness : 0.815544 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.93, Z:0.88 [[ 0.9878144 -0.14476321 -0.05715175 -4.15156695] [ 0.14527559 0.98937913 0.00489252 -0.93137076] [ 0.05583649 -0.01313566 0.99835352 0.88035437] [ 0. 0. 0. 1. ]] SLAMing on 42.244860624 meters Centerline goodness : 0.809542 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.93, Z:0.88 [[ 9.87323226e-01 -1.47968113e-01 -5.74307038e-02 -4.14929215e+00] [ 1.48324014e-01 9.88936874e-01 1.96098223e-03 -9.34236507e-01] [ 5.65051779e-02 -1.04544758e-02 9.98347569e-01 8.80353592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30486062399999 meters Centerline goodness : 0.811070 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.94, Z:0.88 [[ 9.86778372e-01 -1.51577570e-01 -5.73819201e-02 -4.14805966e+00] [ 1.51742002e-01 9.88418988e-01 -1.50609863e-03 -9.36522055e-01] [ 5.69456702e-02 -7.22106190e-03 9.98351164e-01 8.80842744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364860623999995 meters Centerline goodness : 0.803031 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.94, Z:0.88 [[ 9.86129788e-01 -1.55935879e-01 -5.68510636e-02 -4.14875118e+00] [ 1.55904212e-01 9.87759426e-01 -5.01919707e-03 -9.40745032e-01] [ 5.69378469e-02 -3.91374057e-03 9.98370054e-01 8.82290466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424860624 meters Centerline goodness : 0.799114 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.94, Z:0.88 [[ 9.86003006e-01 -1.56841168e-01 -5.65589965e-02 -4.15020605e+00] [ 1.56809567e-01 9.87616079e-01 -5.02403553e-03 -9.43975123e-01] [ 5.66465499e-02 -3.91527762e-03 9.98386618e-01 8.83300191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484860624 meters Centerline goodness : 0.797463 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.95, Z:0.88 [[ 0.98595975 -0.15704756 -0.05674002 -4.14991122] [ 0.15705005 0.98758065 -0.00444312 -0.9485104 ] [ 0.05673313 -0.00453029 0.9983791 0.88364475] [ 0. 0. 0. 1. ]] SLAMing on 42.544860623999995 meters Centerline goodness : 0.791149 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.95, Z:0.88 [[ 9.86009270e-01 -1.56633112e-01 -5.70244450e-02 -4.14920536e+00] [ 1.56692636e-01 9.87641377e-01 -3.45378798e-03 -9.52908873e-01] [ 5.68606789e-02 -5.52984363e-03 9.98366808e-01 8.83815106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604860624 meters Centerline goodness : 0.791071 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.96, Z:0.88 [[ 9.86038644e-01 -1.56423811e-01 -5.70910078e-02 -4.14930653e+00] [ 1.56506256e-01 9.87672252e-01 -3.05199656e-03 -9.55313468e-01] [ 5.68646092e-02 -5.92571333e-03 9.98364313e-01 8.84471943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664860624 meters Centerline goodness : 0.788190 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.96, Z:0.88 [[ 9.86249357e-01 -1.54917711e-01 -5.75561398e-02 -4.14782550e+00] [ 1.55057456e-01 9.87903312e-01 -2.05718089e-03 -9.58505000e-01] [ 5.71785949e-02 -6.89561527e-03 9.98340152e-01 8.84938463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724860623999994 meters Centerline goodness : 0.786352 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.96, Z:0.88 [[ 9.87060409e-01 -1.49250524e-01 -5.86176632e-02 -4.14526910e+00] [ 1.49705211e-01 9.88724766e-01 3.41871378e-03 -9.62798063e-01] [ 5.74464905e-02 -1.21498466e-02 9.98274653e-01 8.83612390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784860624 meters Centerline goodness : 0.786238 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.97, Z:0.88 [[ 0.9875674 -0.14585366 -0.05862891 -4.14477281] [ 0.1464631 0.98919663 0.00621254 -0.96560533] [ 0.0570894 -0.01472228 0.99826051 0.88352384] [ 0. 0. 0. 1. ]] SLAMing on 42.844860624 meters Centerline goodness : 0.780364 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.97, Z:0.88 [[ 0.98780834 -0.14397862 -0.05920175 -4.1426748 ] [ 0.14467019 0.98945118 0.00754368 -0.96841411] [ 0.05749111 -0.01601644 0.99821753 0.88334459] [ 0. 0. 0. 1. ]] SLAMing on 42.904860623999994 meters Centerline goodness : 0.780737 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.97, Z:0.88 [[ 0.98784932 -0.14367336 -0.05925951 -4.14254473] [ 0.14441101 0.98948267 0.00833654 -0.97260071] [ 0.05743852 -0.01679297 0.9982078 0.88377368] [ 0. 0. 0. 1. ]] SLAMing on 42.964860623999996 meters Centerline goodness : 0.780356 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.97, Z:0.88 [[ 0.98785635 -0.14360681 -0.05930353 -4.14223491] [ 0.14436872 0.9894853 0.00874702 -0.97425918] [ 0.05742384 -0.01720237 0.99820167 0.88357613] [ 0. 0. 0. 1. ]] SLAMing on 43.024860624 meters Centerline goodness : 0.778380 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.98, Z:0.88 [[ 0.98740488 -0.14679813 -0.0590077 -4.14054121] [ 0.14740959 0.98905658 0.00612278 -0.97804796] [ 0.05746314 -0.01474396 0.99823875 0.88278696] [ 0. 0. 0. 1. ]] SLAMing on 43.084860623999994 meters Centerline goodness : 0.778416 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.98, Z:0.88 [[ 0.98732002 -0.14733963 -0.059078 -4.14078635] [ 0.14796227 0.98897305 0.00628307 -0.98169137] [ 0.0575008 -0.01494472 0.9982336 0.88348623] [ 0. 0. 0. 1. ]] SLAMing on 43.144860623999996 meters Centerline goodness : 0.777791 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.98, Z:0.89 [[ 0.98702447 -0.14932201 -0.05903916 -4.14207278] [ 0.14986954 0.98869348 0.0049323 -0.98486762] [ 0.05763513 -0.01371648 0.99824348 0.88557362] [ 0. 0. 0. 1. ]] SLAMing on 43.204860624 meters Centerline goodness : 0.776573 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.99, Z:0.89 [[ 9.86547068e-01 -1.52457784e-01 -5.90042955e-02 -4.14055511e+00] [ 1.52829231e-01 9.88250959e-01 1.80797757e-03 -9.86925823e-01] [ 5.80354113e-02 -1.08012361e-02 9.98256092e-01 8.85807572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26486062399999 meters Centerline goodness : 0.776224 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.99, Z:0.89 [[ 9.86021628e-01 -1.55870671e-01 -5.88700580e-02 -4.13931877e+00] [ 1.56048179e-01 9.87748152e-01 -1.59822062e-03 -9.88166919e-01] [ 5.83979067e-02 -7.61068527e-03 9.98264375e-01 8.86009897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324860623999996 meters Centerline goodness : 0.775919 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.99, Z:0.89 [[ 0.98541567 -0.15981453 -0.05844031 -4.13904372] [ 0.15979554 0.98713733 -0.00502828 -0.99062423] [ 0.0584922 -0.00438355 0.99827824 0.88661007] [ 0. 0. 0. 1. ]] SLAMing on 43.384860624 meters Centerline goodness : 0.777047 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.99, Z:0.89 [[ 0.98532788 -0.1604142 -0.05827743 -4.13960061] [ 0.16040866 0.987039 -0.00480379 -0.99357901] [ 0.05829269 -0.00461489 0.99828887 0.88690422] [ 0. 0. 0. 1. ]] SLAMing on 43.44486062399999 meters Centerline goodness : 0.775711 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.00, Z:0.89 [[ 9.85375586e-01 -1.60092950e-01 -5.83541042e-02 -4.13907458e+00] [ 1.60132862e-01 9.87087276e-01 -4.02201987e-03 -9.96239243e-01] [ 5.82444907e-02 -5.38120952e-03 9.98287845e-01 8.86581942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504860623999996 meters Centerline goodness : 0.776395 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.00, Z:0.89 [[ 9.85982847e-01 -1.56223843e-01 -5.85827289e-02 -4.14024747e+00] [ 1.56482932e-01 9.87680649e-01 -1.66942968e-04 -9.97976103e-01] [ 5.78871081e-02 -9.00259425e-03 9.98282543e-01 8.87238572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564860624 meters Centerline goodness : 0.776426 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.00, Z:0.89 [[ 9.86206859e-01 -1.54660628e-01 -5.89586497e-02 -4.13826302e+00] [ 1.54962345e-01 9.87920223e-01 5.52345921e-04 -9.98280001e-01] [ 5.81610162e-02 -9.68109795e-03 9.98260273e-01 8.86445456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62486062399999 meters Centerline goodness : 0.775351 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.00, Z:0.88 [[ 0.98706905 -0.14867151 -0.05992897 -4.13564109] [ 0.14926248 0.98878241 0.00548319 -0.99844067] [ 0.05844151 -0.01435743 0.99818758 0.8846877 ] [ 0. 0. 0. 1. ]] SLAMing on 43.684860623999995 meters Centerline goodness : 0.772915 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.00, Z:0.88 [[ 0.98775743 -0.14370129 -0.0607059 -4.13418185] [ 0.14455475 0.98944741 0.00988631 -0.99862092] [ 0.05864462 -0.0185406 0.99810673 0.88355703] [ 0. 0. 0. 1. ]] SLAMing on 43.744860624 meters Centerline goodness : 0.772717 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.00, Z:0.88 [[ 0.98857514 -0.13777704 -0.0611284 -4.13335072] [ 0.1388888 0.99020463 0.01430683 -0.99790469] [ 0.05855847 -0.02263343 0.99802737 0.88309207] [ 0. 0. 0. 1. ]] SLAMing on 43.80486062399999 meters Centerline goodness : 0.774520 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.00, Z:0.88 [[ 0.98919467 -0.13301924 -0.06164242 -4.13300985] [ 0.13437362 0.99076074 0.01835459 -0.99839244] [ 0.05863138 -0.02643937 0.99792952 0.88310222] [ 0. 0. 0. 1. ]] SLAMing on 43.864860623999995 meters Centerline goodness : 0.773246 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.00, Z:0.88 [[ 0.98997589 -0.12679537 -0.06221469 -4.13116367] [ 0.12843096 0.99145127 0.02301905 -0.99739145] [ 0.05876413 -0.0307786 0.9977973 0.8818011 ] [ 0. 0. 0. 1. ]] SLAMing on 43.924860624 meters Centerline goodness : 0.772609 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.00, Z:0.88 [[ 0.9906629 -0.12070414 -0.06338396 -4.12791043] [ 0.12266557 0.99205273 0.02800962 -0.99763747] [ 0.05949935 -0.03552312 0.99759608 0.88008345] [ 0. 0. 0. 1. ]] SLAMing on 43.98486062399999 meters Centerline goodness : 0.773295 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.00, Z:0.88 [[ 0.99089771 -0.11862655 -0.06363539 -4.12609778] [ 0.12063913 0.99227965 0.02876269 -0.99680894] [ 0.05973209 -0.0361778 0.99755864 0.87946839] [ 0. 0. 0. 1. ]] SLAMing on 44.044860623999995 meters Centerline goodness : 0.772065 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.00, Z:0.88 [[ 0.99110145 -0.11676534 -0.06390445 -4.12435454] [ 0.11879509 0.99249727 0.02892922 -0.99548732] [ 0.06004707 -0.03626333 0.99753663 0.87931818] [ 0. 0. 0. 1. ]] SLAMing on 44.104860624 meters Centerline goodness : 0.772869 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.99, Z:0.88 [[ 0.99173934 -0.11070829 -0.0647824 -4.1221369 ] [ 0.11300902 0.9930462 0.03298804 -0.99436987] [ 0.06067987 -0.04003654 0.99735401 0.87912775] [ 0. 0. 0. 1. ]] SLAMing on 44.164860624 meters Centerline goodness : 0.772230 with order 1 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.99, Z:0.89 [[ 0.99266903 -0.10205354 -0.06475554 -4.09592417] [ 0.10360861 0.99439389 0.02111995 -0.98809606] [ 0.06223715 -0.02767435 0.99767764 0.8858198 ] [ 0. 0. 0. 1. ]] SLAMing on 44.224860623999994 meters Centerline goodness : 0.771976 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.98, Z:0.89 [[ 0.99340691 -0.09520078 -0.06387121 -4.07293019] [ 0.09601559 0.99533154 0.00980431 -0.98293165] [ 0.06263965 -0.0158723 0.99790999 0.89186133] [ 0. 0. 0. 1. ]] SLAMing on 44.284860624 meters Centerline goodness : 0.773984 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.98, Z:0.89 [[ 0.99388195 -0.08971527 -0.06441925 -4.07156035] [ 0.09078438 0.99577413 0.01385938 -0.98218381] [ 0.06290363 -0.01962285 0.99782668 0.89163443] [ 0. 0. 0. 1. ]] SLAMing on 44.344860624 meters Centerline goodness : 0.773052 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.90 [[ 9.94413374e-01 -8.58537678e-02 -6.14098637e-02 -4.04969528e+00] [ 8.59621972e-02 9.96298012e-01 -8.79006189e-04 -9.75931302e-01] [ 6.12579911e-02 -4.40483130e-03 9.98112246e-01 8.98676279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404860623999994 meters Centerline goodness : 0.772736 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.98, Z:0.90 [[ 9.94462181e-01 -8.48871766e-02 -6.19607760e-02 -4.04722555e+00] [ 8.50221325e-02 9.96378957e-01 -4.59987016e-04 -9.76779590e-01] [ 6.17754604e-02 -4.81059762e-03 9.98078479e-01 8.97906089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464860623999996 meters Centerline goodness : 0.772699 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.98, Z:0.90 [[ 9.94181401e-01 -8.79319651e-02 -6.22198610e-02 -4.04456320e+00] [ 8.78406890e-02 9.96125655e-01 -4.20616739e-03 -9.75693841e-01] [ 6.23486564e-02 -1.28374207e-03 9.98053604e-01 8.97264844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524860624 meters Centerline goodness : 0.768951 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.98, Z:0.90 [[ 9.93752115e-01 -9.25651695e-02 -6.23572223e-02 -4.04392948e+00] [ 9.22496888e-02 9.95704363e-01 -7.92562247e-03 -9.77310551e-01] [ 6.28229949e-02 2.12366975e-03 9.98022425e-01 8.97499680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584860623999994 meters Centerline goodness : 0.767875 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.98, Z:0.89 [[ 9.93178217e-01 -1.01651509e-01 -5.71314275e-02 -4.03377974e+00] [ 1.01581647e-01 9.94818620e-01 -4.13318831e-03 -9.81429837e-01] [ 5.72555527e-02 -1.69851189e-03 9.98358110e-01 8.94005550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644860623999996 meters Centerline goodness : 0.765713 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.98, Z:0.89 [[ 0.9924343 -0.10859488 -0.05728278 -4.03082128] [ 0.10814703 0.99407548 -0.01087037 -0.98148667] [ 0.05812387 0.00459316 0.99829881 0.89330955] [ 0. 0. 0. 1. ]] SLAMing on 44.704860624 meters Centerline goodness : 0.764151 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.89 [[ 0.99189691 -0.11350353 -0.05707423 -4.03069963] [ 0.11288394 0.99350989 -0.01397559 -0.98540773] [ 0.05829009 0.00741958 0.99827211 0.89307896] [ 0. 0. 0. 1. ]] SLAMing on 44.76486062399999 meters Centerline goodness : 0.764214 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.89 [[ 0.9914596 -0.11714703 -0.05731001 -4.02927485] [ 0.11632568 0.99305737 -0.01747537 -0.98590805] [ 0.05895932 0.0106595 0.99820347 0.89337373] [ 0. 0. 0. 1. ]] SLAMing on 44.824860623999996 meters Centerline goodness : 0.762396 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.89 [[ 0.99145469 -0.11702968 -0.0576337 -4.02849975] [ 0.1162139 0.99307318 -0.01732013 -0.98602397] [ 0.05926145 0.01047429 0.99818754 0.89327568] [ 0. 0. 0. 1. ]] SLAMing on 44.884860624 meters Centerline goodness : 0.761928 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.89 [[ 0.99147111 -0.11678182 -0.05785371 -4.02782881] [ 0.11596694 0.99310311 -0.0172595 -0.9859449 ] [ 0.0594703 0.01040318 0.99817587 0.89321677] [ 0. 0. 0. 1. ]] SLAMing on 44.94486062399999 meters Centerline goodness : 0.761411 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.98, Z:0.89 [[ 0.99155331 -0.11586979 -0.05827712 -4.02637095] [ 0.11505402 0.99321074 -0.01717525 -0.98487621] [ 0.05987155 0.01032516 0.99815269 0.89311944] [ 0. 0. 0. 1. ]] SLAMing on 45.004860623999996 meters Centerline goodness : 0.761899 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.89 [[ 0.9916145 -0.11509766 -0.05876401 -4.02455387] [ 0.11428098 0.99330154 -0.01708531 -0.98264628] [ 0.06033686 0.01022643 0.99812568 0.89242815] [ 0. 0. 0. 1. ]] SLAMing on 45.064860624 meters Centerline goodness : 0.760282 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.89 [[ 0.99159648 -0.11511973 -0.05902432 -4.02367554] [ 0.11429885 0.99329904 -0.01711121 -0.98202375] [ 0.06059863 0.01022101 0.99810988 0.89197478] [ 0. 0. 0. 1. ]] SLAMing on 45.12486062399999 meters Centerline goodness : 0.763767 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.89 [[ 0.99110468 -0.11940443 -0.05877161 -4.02296489] [ 0.1183397 0.99274496 -0.02128773 -0.98062201] [ 0.06088707 0.01414336 0.99804445 0.89176206] [ 0. 0. 0. 1. ]] SLAMing on 45.184860623999995 meters Centerline goodness : 0.763597 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.89 [[ 0.99090442 -0.12379226 -0.05276278 -4.01522083] [ 0.12326935 0.99228725 -0.01306483 -0.98116656] [ 0.05397315 0.00644197 0.99852161 0.88802391] [ 0. 0. 0. 1. ]] SLAMing on 45.244860624 meters Centerline goodness : 0.762711 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 9.90215137e-01 -1.31318146e-01 -4.72178660e-02 -4.00675995e+00] [ 1.31092923e-01 9.91339014e-01 -7.84882268e-03 -9.80140930e-01] [ 4.78396056e-02 1.58209494e-03 9.98853778e-01 8.84089886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30486062399999 meters Centerline goodness : 0.763471 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 0.98965558 -0.1356274 -0.04676578 -4.00613 ] [ 0.1352083 0.99074421 -0.01202609 -0.97899662] [ 0.04796399 0.00557857 0.99883349 0.88352387] [ 0. 0. 0. 1. ]] SLAMing on 45.364860623999995 meters Centerline goodness : 0.765469 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.88 [[ 9.88938927e-01 -1.42373723e-01 -4.15875157e-02 -3.99839654e+00] [ 1.42268877e-01 9.89812851e-01 -5.48506425e-03 -9.77289085e-01] [ 4.19447866e-02 -4.92215601e-04 9.99119809e-01 8.79882176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424860624 meters Centerline goodness : 0.762819 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.88 [[ 0.9882523 -0.14719644 -0.04111685 -3.99838808] [ 0.14689288 0.98909851 -0.01032538 -0.97322794] [ 0.04218848 0.00416431 0.99910099 0.87982799] [ 0. 0. 0. 1. ]] SLAMing on 45.48486062399999 meters Centerline goodness : 0.763910 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.88 [[ 0.98811359 -0.14820666 -0.0408206 -3.99891634] [ 0.14787525 0.98894442 -0.01103849 -0.97147135] [ 0.04200529 0.00487092 0.99910552 0.87933394] [ 0. 0. 0. 1. ]] SLAMing on 45.544860623999995 meters Centerline goodness : 0.763562 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.88 [[ 0.98797111 -0.14930869 -0.04024913 -4.00030233] [ 0.14892365 0.98877073 -0.01241761 -0.96569917] [ 0.04165122 0.0062742 0.99911251 0.87897243] [ 0. 0. 0. 1. ]] SLAMing on 45.604860624 meters Centerline goodness : 0.766645 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.88 [[ 0.98792108 -0.14966926 -0.04013794 -4.00027982] [ 0.14925314 0.98871107 -0.01318775 -0.96121265] [ 0.04165862 0.00703774 0.99910712 0.87824856] [ 0. 0. 0. 1. ]] SLAMing on 45.66486062399999 meters Centerline goodness : 0.767586 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.88 [[ 0.98809084 -0.14875498 -0.03935028 -4.00278272] [ 0.14839772 0.98885658 -0.01186547 -0.95556301] [ 0.04067683 0.00588467 0.99915503 0.87712827] [ 0. 0. 0. 1. ]] SLAMing on 45.724860623999994 meters Centerline goodness : 0.768422 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:0.87 [[ 9.88055178e-01 -1.50261651e-01 -3.41818765e-02 -3.99689697e+00] [ 1.50334844e-01 9.88635042e-01 -4.33354648e-04 -9.50018584e-01] [ 3.38585175e-02 -4.71054877e-03 9.99415535e-01 8.73005814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784860624 meters Centerline goodness : 0.769802 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:0.87 [[ 9.87928767e-01 -1.51173905e-01 -3.38112619e-02 -3.99790487e+00] [ 1.51204317e-01 9.88501120e-01 -1.67044602e-03 -9.45121581e-01] [ 3.36749981e-02 -3.46212710e-03 9.99426840e-01 8.72831915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844860624 meters Centerline goodness : 0.769374 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:0.87 [[ 9.87735078e-01 -1.52609905e-01 -3.30095717e-02 -3.99961537e+00] [ 1.52591270e-01 9.88284528e-01 -3.09781981e-03 -9.38569325e-01] [ 3.30956070e-02 -1.97714718e-03 9.99450235e-01 8.71791039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904860623999994 meters Centerline goodness : 0.773554 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.93, Z:0.87 [[ 9.87630133e-01 -1.53355154e-01 -3.26943043e-02 -4.00038836e+00] [ 1.53292475e-01 9.88170932e-01 -4.43006208e-03 -9.32625816e-01] [ 3.29869340e-02 -6.36528023e-04 9.99455580e-01 8.71463070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964860623999996 meters Centerline goodness : 0.774082 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.93, Z:0.87 [[ 9.87906281e-01 -1.51726809e-01 -3.19398634e-02 -4.00343780e+00] [ 1.51714609e-01 9.88420320e-01 -2.81923561e-03 -9.26371963e-01] [ 3.19977636e-02 -2.06060333e-03 9.99485816e-01 8.70991530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024860624 meters Centerline goodness : 0.778044 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:0.87 [[ 9.88178508e-01 -1.50098030e-01 -3.12060575e-02 -4.00709093e+00] [ 1.50131072e-01 9.88665254e-01 -1.29486894e-03 -9.19409516e-01] [ 3.10467021e-02 -3.40543722e-03 9.99512134e-01 8.71162124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084860623999994 meters Centerline goodness : 0.780347 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:0.87 [[ 9.88483456e-01 -1.48288892e-01 -3.01804837e-02 -4.01019036e+00] [ 1.48341309e-01 9.88936094e-01 -5.07201734e-04 -9.08208160e-01] [ 2.99217821e-02 -3.97565194e-03 9.99544337e-01 8.70156763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144860623999996 meters Centerline goodness : 0.785186 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.90, Z:0.87 [[ 9.88581959e-01 -1.47840196e-01 -2.91373822e-02 -4.01357181e+00] [ 1.47898871e-01 9.89002479e-01 -1.42914981e-04 -8.99293599e-01] [ 2.88380718e-02 -4.16810277e-03 9.99575406e-01 8.69338686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204860624 meters Centerline goodness : 0.785073 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.90, Z:0.87 [[ 9.88491813e-01 -1.48491031e-01 -2.88850871e-02 -4.01452661e+00] [ 1.48531902e-01 9.88907342e-01 -7.37476405e-04 -8.97909472e-01] [ 2.86741834e-02 -3.56136754e-03 9.99582467e-01 8.69634025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26486062399999 meters Centerline goodness : 0.789621 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:0.87 [[ 9.88391052e-01 -1.49233268e-01 -2.85054525e-02 -4.01567366e+00] [ 1.49256551e-01 9.88797622e-01 -1.32117677e-03 -8.96460070e-01] [ 2.83832871e-02 -2.94878623e-03 9.99592764e-01 8.69750535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324860623999996 meters Centerline goodness : 0.789524 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:0.87 [[ 9.88070732e-01 -1.51522901e-01 -2.75143300e-02 -4.01882460e+00] [ 1.51507544e-01 9.88452538e-01 -2.65411073e-03 -8.93708607e-01] [ 2.75987679e-02 -1.54617942e-03 9.99617886e-01 8.69746117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384860624 meters Centerline goodness : 0.792349 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:0.87 [[ 9.87735509e-01 -1.53858953e-01 -2.65703996e-02 -4.02263716e+00] [ 1.53805389e-01 9.88092818e-01 -4.06022542e-03 -8.91801824e-01] [ 2.68787230e-02 -7.62418237e-05 9.99638699e-01 8.70977922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44486062399999 meters Centerline goodness : 0.793707 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:0.87 [[ 9.87609210e-01 -1.54740510e-01 -2.61423527e-02 -4.02430164e+00] [ 1.54668179e-01 9.87954917e-01 -4.77882596e-03 -8.90502436e-01] [ 2.65669439e-02 6.76222456e-04 9.99646808e-01 8.71682447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504860623999996 meters Centerline goodness : 0.795224 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:0.87 [[ 9.87573769e-01 -1.54965929e-01 -2.61459760e-02 -4.02442142e+00] [ 1.54876083e-01 9.87918930e-01 -5.43939081e-03 -8.87809827e-01] [ 2.66730249e-02 1.32241335e-03 9.99643337e-01 8.71889498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564860624 meters Centerline goodness : 0.797499 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:0.87 [[ 9.88113083e-01 -1.51440011e-01 -2.64283528e-02 -4.02509509e+00] [ 1.51447375e-01 9.88463800e-01 -1.73436639e-03 -8.87416894e-01] [ 2.63861225e-02 -2.28875452e-03 9.99649206e-01 8.71493066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62486062399999 meters Centerline goodness : 0.797832 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.88, Z:0.87 [[ 9.88823046e-01 -1.46665785e-01 -2.67979591e-02 -4.02472077e+00] [ 1.46762749e-01 9.89170300e-01 1.67733785e-03 -8.84073227e-01] [ 2.62617372e-02 -5.59153246e-03 9.99639463e-01 8.71048252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684860623999995 meters Centerline goodness : 0.799306 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.88, Z:0.87 [[ 0.990029 -0.13811296 -0.02770176 -4.02433984] [ 0.1384102 0.99033312 0.00910683 -0.88094984] [ 0.02617619 -0.01285023 0.99957475 0.87017615] [ 0. 0. 0. 1. ]] SLAMing on 46.744860624 meters Centerline goodness : 0.801515 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.88, Z:0.87 [[ 0.99056275 -0.13415887 -0.02805066 -4.02484113] [ 0.1345397 0.99083368 0.01215279 -0.87770073] [ 0.02616314 -0.01581203 0.99953263 0.8705542 ] [ 0. 0. 0. 1. ]] SLAMing on 46.80486062399999 meters Centerline goodness : 0.794281 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:0.87 [[ 0.99054689 -0.13427678 -0.02804665 -4.0251404 ] [ 0.1346412 0.99082736 0.01152769 -0.87598162] [ 0.02624149 -0.01519496 0.99954014 0.87116625] [ 0. 0. 0. 1. ]] SLAMing on 46.864860623999995 meters Centerline goodness : 0.802957 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:0.87 [[ 0.98989435 -0.13911615 -0.02749314 -4.02637333] [ 0.13933338 0.99022649 0.00614097 -0.87250577] [ 0.02637013 -0.00990962 0.99960313 0.8730758 ] [ 0. 0. 0. 1. ]] SLAMing on 46.924860624 meters Centerline goodness : 0.802240 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:0.87 [[ 9.89042963e-01 -1.45152463e-01 -2.69217418e-02 -4.02752492e+00] [ 1.45249769e-01 9.89393586e-01 1.68438341e-03 -8.73841060e-01] [ 2.63917062e-02 -5.57630434e-03 9.99636125e-01 8.73356772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98486062399999 meters Centerline goodness : 0.799074 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:0.87 [[ 9.88236321e-01 -1.50749633e-01 -2.57589036e-02 -4.02991240e+00] [ 1.50733211e-01 9.88571088e-01 -2.58919982e-03 -8.76347402e-01] [ 2.58548282e-02 -1.32398093e-03 9.99664831e-01 8.74276235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044860623999995 meters Centerline goodness : 0.805772 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:0.88 [[ 9.87223488e-01 -1.57451848e-01 -2.44683659e-02 -4.03403609e+00] [ 1.57317873e-01 9.87520894e-01 -7.31924050e-03 -8.77637432e-01] [ 2.53154505e-02 3.37641484e-03 9.99673811e-01 8.76279244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104860624 meters Centerline goodness : 0.802686 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.88, Z:0.88 [[ 0.98645315 -0.16231966 -0.02371721 -4.03512428] [ 0.16209378 0.98671216 -0.01116764 -0.87977917] [ 0.02521479 0.00717194 0.99965633 0.87699599] [ 0. 0. 0. 1. ]] SLAMing on 47.16486062399999 meters Centerline goodness : 0.802374 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.88, Z:0.88 [[ 0.98503878 -0.17084748 -0.02257758 -4.03568456] [ 0.1704315 0.98518184 -0.01923131 -0.8829832 ] [ 0.02552864 0.01509566 0.99956011 0.87904318] [ 0. 0. 0. 1. ]] SLAMing on 47.224860623999994 meters Centerline goodness : 0.802698 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.88, Z:0.88 [[ 0.98419218 -0.17574704 -0.02187994 -4.03731755] [ 0.1752323 0.98424478 -0.02357636 -0.884887 ] [ 0.02567869 0.01936959 0.99948258 0.88132318] [ 0. 0. 0. 1. ]] SLAMing on 47.284860624 meters Centerline goodness : 0.803177 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.89, Z:0.88 [[ 0.98413867 -0.1760718 -0.02167475 -4.03761083] [ 0.17558219 0.98420199 -0.02274502 -0.88882867] [ 0.02533709 0.01857856 0.99950631 0.88072016] [ 0. 0. 0. 1. ]] SLAMing on 47.344860624 meters Centerline goodness : 0.804684 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.89, Z:0.88 [[ 0.98411392 -0.17622372 -0.02156368 -4.03796898] [ 0.17575541 0.98418842 -0.0219814 -0.89368576] [ 0.02509637 0.01784227 0.9995258 0.88096804] [ 0. 0. 0. 1. ]] SLAMing on 47.404860623999994 meters Centerline goodness : 0.800772 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.88 [[ 0.98455205 -0.17370581 -0.02198965 -4.03899767] [ 0.17331119 0.98468866 -0.01874759 -0.89697441] [ 0.02490953 0.01464692 0.9995824 0.88176612] [ 0. 0. 0. 1. ]] SLAMing on 47.464860623999996 meters Centerline goodness : 0.801670 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.88 [[ 0.98483254 -0.17201014 -0.02274599 -4.03606776] [ 0.17164408 0.98500913 -0.01718503 -0.90097132] [ 0.02536101 0.01302017 0.99959356 0.88078276] [ 0. 0. 0. 1. ]] SLAMing on 47.524860624 meters Centerline goodness : 0.804431 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:0.88 [[ 0.9851371 -0.17012063 -0.02374589 -4.03293698] [ 0.16977613 0.98535512 -0.01585402 -0.9046997 ] [ 0.02609523 0.01158689 0.99959231 0.88056364] [ 0. 0. 0. 1. ]] SLAMing on 47.584860623999994 meters Centerline goodness : 0.805691 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.91, Z:0.88 [[ 0.98588586 -0.16560533 -0.02457541 -4.03271972] [ 0.16537674 0.9861683 -0.01107345 -0.90855684] [ 0.02606931 0.00685295 0.99963665 0.88107135] [ 0. 0. 0. 1. ]] SLAMing on 47.644860623999996 meters Centerline goodness : 0.806002 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.91, Z:0.88 [[ 0.98604151 -0.16460044 -0.02507648 -4.03115753] [ 0.16438996 0.98634217 -0.01024976 -0.91181048] [ 0.02642111 0.00598437 0.99963299 0.88124283] [ 0. 0. 0. 1. ]] SLAMing on 47.704860624 meters Centerline goodness : 0.803864 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.92, Z:0.88 [[ 0.98630168 -0.16290406 -0.02590859 -4.02816074] [ 0.16273381 0.98663285 -0.00856343 -0.91706507] [ 0.02695728 0.00422992 0.99962764 0.88059916] [ 0. 0. 0. 1. ]] SLAMing on 47.76486062399999 meters Centerline goodness : 0.803438 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:0.88 [[ 9.86628023e-01 -1.60745227e-01 -2.69465615e-02 -4.02434681e+00] [ 1.60623846e-01 9.86993465e-01 -6.62423677e-03 -9.20777324e-01] [ 2.76608946e-02 2.20739728e-03 9.99614927e-01 8.79254730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824860623999996 meters Centerline goodness : 0.805633 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:0.88 [[ 9.86769505e-01 -1.59811929e-01 -2.73146764e-02 -4.02291448e+00] [ 1.59715152e-01 9.87146670e-01 -5.70286282e-03 -9.24131841e-01] [ 2.78749774e-02 1.26484342e-03 9.99610617e-01 8.79111350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884860624 meters Centerline goodness : 0.807850 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.88 [[ 9.86912171e-01 -1.58860256e-01 -2.77089458e-02 -4.02166003e+00] [ 1.58796215e-01 9.87301077e-01 -4.51064132e-03 -9.28308215e-01] [ 2.80736337e-02 5.15311140e-05 9.99605857e-01 8.79226681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94486062399999 meters Centerline goodness : 0.809022 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.88 [[ 9.86986476e-01 -1.58356291e-01 -2.79460509e-02 -4.02083872e+00] [ 1.58309970e-01 9.87381855e-01 -3.87638069e-03 -9.30320560e-01] [ 2.82072728e-02 -5.98203158e-04 9.99601917e-01 8.79131170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004860623999996 meters Centerline goodness : 0.810994 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.88 [[ 9.87132712e-01 -1.57366744e-01 -2.83675291e-02 -4.01907413e+00] [ 1.57348617e-01 9.87538908e-01 -2.88413058e-03 -9.33283628e-01] [ 2.84679049e-02 -1.61657184e-03 9.99593400e-01 8.78574439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064860624 meters Centerline goodness : 0.811049 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.88 [[ 9.87210544e-01 -1.56841586e-01 -2.85667450e-02 -4.01824325e+00] [ 1.56835693e-01 9.87621643e-01 -2.46073773e-03 -9.34754803e-01] [ 2.85990816e-02 -2.05101902e-03 9.99588858e-01 8.78508619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12486062399999 meters Centerline goodness : 0.810288 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:0.88 [[ 9.87315693e-01 -1.56188906e-01 -2.85087540e-02 -4.01827546e+00] [ 1.56186507e-01 9.87724846e-01 -2.32465372e-03 -9.35448447e-01] [ 2.85218898e-02 -2.15751563e-03 9.99590840e-01 8.79239364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184860623999995 meters Centerline goodness : 0.807912 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:0.88 [[ 9.87497530e-01 -1.54975905e-01 -2.88287587e-02 -4.01685465e+00] [ 1.54987665e-01 9.87914692e-01 -1.83971071e-03 -9.36183747e-01] [ 2.87654651e-02 -2.65139223e-03 9.99582672e-01 8.79195156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244860624 meters Centerline goodness : 0.809096 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:0.88 [[ 9.87611064e-01 -1.54207018e-01 -2.90616729e-02 -4.01594435e+00] [ 1.54234745e-01 9.88033378e-01 -1.29863616e-03 -9.37456114e-01] [ 2.89141616e-02 -3.19977227e-03 9.99576777e-01 8.79133220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30486062399999 meters Centerline goodness : 0.807078 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:0.88 [[ 9.87620479e-01 -1.54158697e-01 -2.89980093e-02 -4.01609723e+00] [ 1.54194419e-01 9.88040006e-01 -1.01365659e-03 -9.38719154e-01] [ 2.88074573e-02 -3.47022320e-03 9.99578955e-01 8.79239356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364860623999995 meters Centerline goodness : 0.804611 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:0.88 [[ 9.87135105e-01 -1.57234984e-01 -2.90076503e-02 -4.01395117e+00] [ 1.57183364e-01 9.87561067e-01 -4.06555326e-03 -9.40619818e-01] [ 2.92860733e-02 -5.46269705e-04 9.99570922e-01 8.78631017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424860624 meters Centerline goodness : 0.802578 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:0.88 [[ 9.87043336e-01 -1.57849295e-01 -2.87932946e-02 -4.01432368e+00] [ 1.57807375e-01 9.87462844e-01 -3.73684629e-03 -9.42921446e-01] [ 2.90221671e-02 -8.55365011e-04 9.99578402e-01 8.78236095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48486062399999 meters Centerline goodness : 0.800635 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:0.88 [[ 9.86358670e-01 -1.62198307e-01 -2.80763736e-02 -4.01470636e+00] [ 1.62053290e-01 9.86754405e-01 -7.38079019e-03 -9.44739118e-01] [ 2.89016370e-02 2.73023769e-03 9.99578532e-01 8.78539372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544860623999995 meters Centerline goodness : 0.799291 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.88 [[ 0.98566033 -0.16648685 -0.02749274 -4.01505473] [ 0.16623481 0.98602227 -0.01122797 -0.94665102] [ 0.02897777 0.00649672 0.99955894 0.87946062] [ 0. 0. 0. 1. ]] SLAMing on 48.604860624 meters Centerline goodness : 0.798916 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.88 [[ 0.98472338 -0.17210123 -0.02647692 -4.01695311] [ 0.17174673 0.98502474 -0.0151434 -0.95011415] [ 0.02868662 0.01036473 0.99953472 0.8804618 ] [ 0. 0. 0. 1. ]] SLAMing on 48.66486062399999 meters Centerline goodness : 0.798633 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.88 [[ 0.98396778 -0.17643271 -0.02605597 -4.01663459] [ 0.17598129 0.98421542 -0.01872412 -0.95246789] [ 0.02894824 0.01383857 0.99948511 0.88083085] [ 0. 0. 0. 1. ]] SLAMing on 48.724860623999994 meters Centerline goodness : 0.797271 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.88 [[ 0.9839392 -0.17660928 -0.02593864 -4.01667036] [ 0.17616907 0.98418806 -0.01839338 -0.95435445] [ 0.02877694 0.01352838 0.99949431 0.88055003] [ 0. 0. 0. 1. ]] SLAMing on 48.784860624 meters Centerline goodness : 0.796259 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98372445 -0.17786643 -0.02549009 -4.01813748] [ 0.17742563 0.98395769 -0.01863905 -0.95827552] [ 0.02839643 0.01381309 0.9995013 0.88150053] [ 0. 0. 0. 1. ]] SLAMing on 48.84486062399999 meters Centerline goodness : 0.798223 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98369528 -0.17805372 -0.02530747 -4.01892456] [ 0.17762526 0.98392818 -0.01829235 -0.96052365] [ 0.02815775 0.01349885 0.99951234 0.88213146] [ 0. 0. 0. 1. ]] SLAMing on 48.904860623999994 meters Centerline goodness : 0.797883 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.88 [[ 0.98379479 -0.17746223 -0.02559215 -4.01801153] [ 0.1770664 0.98405207 -0.01700033 -0.96548033] [ 0.02820092 0.01219333 0.9995279 0.88199715] [ 0. 0. 0. 1. ]] SLAMing on 48.964860623999996 meters Centerline goodness : 0.795458 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.88 [[ 0.98388727 -0.17689816 -0.02594006 -4.01670946] [ 0.17653747 0.98417014 -0.01560971 -0.97173758] [ 0.02829076 0.0107788 0.99954162 0.88173649] [ 0. 0. 0. 1. ]] SLAMing on 49.024860624 meters Centerline goodness : 0.793708 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.88 [[ 0.98402299 -0.17608452 -0.02632495 -4.01569372] [ 0.17575909 0.98433048 -0.01422126 -0.97791877] [ 0.0284166 0.00936719 0.99955228 0.88209284] [ 0. 0. 0. 1. ]] SLAMing on 49.084860623999994 meters Centerline goodness : 0.792692 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 0.98415525 -0.17527546 -0.02677588 -4.01437289] [ 0.17497454 0.98448428 -0.01321425 -0.9812517 ] [ 0.02867657 0.00831977 0.99955412 0.88197211] [ 0. 0. 0. 1. ]] SLAMing on 49.144860623999996 meters Centerline goodness : 0.794064 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98441551 -0.17368693 -0.02754906 -4.01156169] [ 0.17343145 0.98477967 -0.01142506 -0.98531957] [ 0.02911414 0.00646914 0.99955516 0.88071577] [ 0. 0. 0. 1. ]] SLAMing on 49.204860624 meters Centerline goodness : 0.791834 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98463851 -0.17232913 -0.02810132 -4.00956945] [ 0.1720999 0.9850246 -0.01039959 -0.98688617] [ 0.02947265 0.00540361 0.99955098 0.87999144] [ 0. 0. 0. 1. ]] SLAMing on 49.26486062399999 meters Centerline goodness : 0.792010 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98491915 -0.17061501 -0.02871906 -4.00738614] [ 0.17041776 0.98532896 -0.00919921 -0.98899096] [ 0.02986725 0.00416624 0.99954519 0.87942061] [ 0. 0. 0. 1. ]] SLAMing on 49.324860623999996 meters Centerline goodness : 0.791513 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.85093549e-01 -1.69554093e-01 -2.90191057e-02 -4.00647957e+00] [ 1.69374360e-01 9.85514601e-01 -8.56143489e-03 -9.90445194e-01] [ 3.00503787e-02 3.51872182e-03 9.99542192e-01 8.79645314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384860624 meters Centerline goodness : 0.790659 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.85179263e-01 -1.69011881e-01 -2.92711972e-02 -4.00578704e+00] [ 1.68843738e-01 9.85609205e-01 -8.14165118e-03 -9.91339826e-01] [ 3.02259972e-02 3.07872756e-03 9.99538349e-01 8.79610328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44486062399999 meters Centerline goodness : 0.789969 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 9.85256584e-01 -1.68532438e-01 -2.94326658e-02 -4.00467531e+00] [ 1.68382037e-01 9.85693021e-01 -7.53374171e-03 -9.93363574e-01] [ 3.02812532e-02 2.46673640e-03 9.99538374e-01 8.78878797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504860623999996 meters Centerline goodness : 0.791238 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 9.85351068e-01 -1.67953373e-01 -2.95793416e-02 -4.00389511e+00] [ 1.67820032e-01 9.85793136e-01 -6.95195725e-03 -9.94406896e-01] [ 3.03267166e-02 1.88611245e-03 9.99538260e-01 8.78427319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564860624 meters Centerline goodness : 0.791697 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 9.85412694e-01 -1.67588873e-01 -2.95937964e-02 -4.00390606e+00] [ 1.67456813e-01 9.85855242e-01 -6.90344292e-03 -9.94210997e-01] [ 3.03321395e-02 1.84705744e-03 9.99538168e-01 8.78763158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62486062399999 meters Centerline goodness : 0.790681 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85461802e-01 -1.67264658e-01 -2.97921144e-02 -4.00354616e+00] [ 1.67142458e-01 9.85910908e-01 -6.56359235e-03 -9.95050464e-01] [ 3.04702276e-02 1.48864232e-03 9.99534566e-01 8.78933757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684860623999995 meters Centerline goodness : 0.790842 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85487063e-01 -1.67115115e-01 -2.97957679e-02 -4.00301543e+00] [ 1.67004890e-01 9.85936774e-01 -6.16796901e-03 -9.96453749e-01] [ 3.04075041e-02 1.10241472e-03 9.99536977e-01 8.78385195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744860624 meters Centerline goodness : 0.790198 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85491187e-01 -1.67099904e-01 -2.97446283e-02 -4.00278387e+00] [ 1.66992071e-01 9.85939425e-01 -6.09081294e-03 -9.96462518e-01] [ 3.03441760e-02 1.03532538e-03 9.99538973e-01 8.78009467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80486062399999 meters Centerline goodness : 0.788985 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85451102e-01 -1.67363476e-01 -2.95904235e-02 -4.00304157e+00] [ 1.67264658e-01 9.85894963e-01 -5.80140957e-03 -9.98581737e-01] [ 3.01439936e-02 7.67573368e-04 9.99545272e-01 8.77983411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864860623999995 meters Centerline goodness : 0.789743 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85453651e-01 -1.67322121e-01 -2.97390370e-02 -4.00211497e+00] [ 1.67233774e-01 9.85902201e-01 -5.45120974e-03 -9.99208750e-01] [ 3.02318900e-02 3.98543142e-04 9.99542832e-01 8.77116553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924860624 meters Centerline goodness : 0.788674 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.84937347e-01 -1.70373087e-01 -2.95200621e-02 -4.00026762e+00] [ 1.70189110e-01 9.85373409e-01 -8.65510516e-03 -9.99027845e-01] [ 3.05628812e-02 3.50074322e-03 9.99526716e-01 8.76064313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98486062399999 meters Centerline goodness : 0.791806 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98431058 -0.17404758 -0.02898471 -4.00018637] [ 0.17375286 0.98471105 -0.01241319 -0.99944835] [ 0.03070205 0.00718226 0.99950278 0.87672903] [ 0. 0. 0. 1. ]] SLAMing on 50.044860623999995 meters Centerline goodness : 0.791109 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98422131 -0.17455163 -0.02898534 -4.00057893] [ 0.17426567 0.98462391 -0.0121342 -1.00118598] [ 0.0306577 0.00689159 0.99950618 0.87702127] [ 0. 0. 0. 1. ]] SLAMing on 50.104860624 meters Centerline goodness : 0.794405 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98417805 -0.17481456 -0.0288694 -4.00065944] [ 0.17454146 0.9845798 -0.01174285 -1.00312946] [ 0.03047705 0.00651815 0.99951421 0.87672996] [ 0. 0. 0. 1. ]] SLAMing on 50.16486062399999 meters Centerline goodness : 0.791997 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 0.98414436 -0.17501907 -0.02877856 -4.00074169] [ 0.17476112 0.9845464 -0.01126641 -1.00531091] [ 0.03030566 0.00605841 0.99952232 0.87652081] [ 0. 0. 0. 1. ]] SLAMing on 50.224860623999994 meters Centerline goodness : 0.794106 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 0.98416162 -0.17493805 -0.02868081 -4.00067502] [ 0.17469309 0.9845631 -0.0108544 -1.00707662] [ 0.03013692 0.00567215 0.99952969 0.87631651] [ 0. 0. 0. 1. ]] SLAMing on 50.284860624 meters Centerline goodness : 0.795598 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 9.84823609e-01 -1.71038563e-01 -2.94664049e-02 -4.00059462e+00] [ 1.70911135e-01 9.85262921e-01 -6.80889320e-03 -1.00763250e+00] [ 3.01967394e-02 1.66942209e-03 9.99542580e-01 8.76271369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34486062399999 meters Centerline goodness : 0.797592 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 9.85533671e-01 -1.66756460e-01 -3.02599778e-02 -4.00020249e+00] [ 1.66743835e-01 9.85995813e-01 -2.95792704e-03 -1.00686065e+00] [ 3.03294649e-02 -2.13052807e-03 9.99537685e-01 8.76100546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404860623999994 meters Centerline goodness : 0.797650 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 9.85707246e-01 -1.65700158e-01 -3.04085874e-02 -3.99952883e+00] [ 1.65691732e-01 9.86173580e-01 -2.81425352e-03 -1.00590425e+00] [ 3.04544677e-02 -2.26442141e-03 9.99533590e-01 8.76099726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464860623999996 meters Centerline goodness : 0.800065 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85821073e-01 -1.64980752e-01 -3.06294575e-02 -3.99854111e+00] [ 1.64968678e-01 9.86294430e-01 -2.93825130e-03 -1.00341908e+00] [ 3.06944182e-02 -2.15631106e-03 9.99526489e-01 8.75593535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52486062399999 meters Centerline goodness : 0.802160 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85858814e-01 -1.64711915e-01 -3.08607283e-02 -3.99767230e+00] [ 1.64695188e-01 9.86339638e-01 -3.10065727e-03 -1.00199557e+00] [ 3.09498748e-02 -2.02580315e-03 9.99518885e-01 8.75153018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584860623999994 meters Centerline goodness : 0.803799 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85817647e-01 -1.64943799e-01 -3.09372061e-02 -3.99759164e+00] [ 1.64913647e-01 9.86301652e-01 -3.54130935e-03 -1.00091523e+00] [ 3.10975345e-02 -1.61088222e-03 9.99515057e-01 8.75327853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644860623999996 meters Centerline goodness : 0.807199 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85731702e-01 -1.65476473e-01 -3.08309641e-02 -3.99825064e+00] [ 1.65424422e-01 9.86213317e-01 -4.24909095e-03 -9.99533219e-01] [ 3.11090319e-02 -9.11730767e-04 9.99515581e-01 8.76000266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704860624 meters Centerline goodness : 0.808178 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85672706e-01 -1.65829416e-01 -3.08207893e-02 -3.99863547e+00] [ 1.65762090e-01 9.86154358e-01 -4.74462200e-03 -9.98864248e-01] [ 3.11808536e-02 -4.32274046e-04 9.99513665e-01 8.76618320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76486062399999 meters Centerline goodness : 0.809791 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85655303e-01 -1.65906212e-01 -3.09637145e-02 -3.99846788e+00] [ 1.65834693e-01 9.86141483e-01 -4.88163230e-03 -9.98181827e-01] [ 3.13444965e-02 -3.23251331e-04 9.99508588e-01 8.76780796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824860623999996 meters Centerline goodness : 0.809461 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85706660e-01 -1.65596141e-01 -3.09886988e-02 -3.99803092e+00] [ 1.65525570e-01 9.86193589e-01 -4.84679431e-03 -9.97634160e-01] [ 3.13634666e-02 -3.51904610e-04 9.99507984e-01 8.76474274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884860624 meters Centerline goodness : 0.810070 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85813302e-01 -1.64944470e-01 -3.10717720e-02 -3.99788916e+00] [ 1.64865031e-01 9.86302852e-01 -5.11911008e-03 -9.96513113e-01] [ 3.14905462e-02 -7.61618535e-05 9.99504047e-01 8.77251590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94486062399999 meters Centerline goodness : 0.809904 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 9.85895106e-01 -1.64452285e-01 -3.10851476e-02 -3.99813046e+00] [ 1.64360022e-01 9.86384984e-01 -5.51785517e-03 -9.94071527e-01] [ 3.15693467e-02 3.30870869e-04 9.99501509e-01 8.78043424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004860623999996 meters Centerline goodness : 0.808743 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 9.85884500e-01 -1.64513853e-01 -3.10957411e-02 -3.99789568e+00] [ 1.64425510e-01 9.86374751e-01 -5.39460432e-03 -9.94756595e-01] [ 3.15595410e-02 2.05523704e-04 9.99501852e-01 8.77826670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064860624 meters Centerline goodness : 0.812082 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85753044e-01 -1.65340765e-01 -3.08766606e-02 -3.99848745e+00] [ 1.65251314e-01 9.86236463e-01 -5.44441566e-03 -9.96349087e-01] [ 3.13518724e-02 2.64440564e-04 9.99508374e-01 8.77893854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12486062399999 meters Centerline goodness : 0.811155 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 9.85107492e-01 -1.69184823e-01 -3.06549323e-02 -3.99710107e+00] [ 1.68982698e-01 9.85577125e-01 -9.08727406e-03 -9.96367406e-01] [ 3.17502288e-02 3.77178859e-03 9.99488718e-01 8.77362862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184860623999995 meters Centerline goodness : 0.811787 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98447797 -0.17286064 -0.0303698 -3.99590451] [ 0.1725392 0.98491786 -0.01292371 -0.99564957] [ 0.03214576 0.00748313 0.99945518 0.87707579] [ 0. 0. 0. 1. ]] SLAMing on 51.244860624 meters Centerline goodness : 0.811370 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98433215 -0.17375515 -0.02998943 -3.9969109 ] [ 0.17342879 0.98475821 -0.01318038 -0.99638784] [ 0.0318225 0.00777285 0.99946331 0.87721848] [ 0. 0. 0. 1. ]] SLAMing on 51.30486062399999 meters Centerline goodness : 0.817257 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98422507 -0.17439978 -0.02976122 -3.99799659] [ 0.1740682 0.98464228 -0.01341061 -0.99718329] [ 0.03164296 0.00801858 0.99946707 0.87798321] [ 0. 0. 0. 1. ]] SLAMing on 51.364860623999995 meters Centerline goodness : 0.811817 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.9841679 -0.17474756 -0.02961127 -3.99854071] [ 0.17441754 0.98458055 -0.0134037 -0.99780498] [ 0.03149694 0.00802677 0.99947162 0.87822687] [ 0. 0. 0. 1. ]] SLAMing on 51.424860624 meters Centerline goodness : 0.814594 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98398555 -0.1758257 -0.02928764 -4.00002318] [ 0.17549843 0.98438833 -0.0134135 -1.0004241 ] [ 0.03118885 0.00805875 0.99948102 0.87916752] [ 0. 0. 0. 1. ]] SLAMing on 51.48486062399999 meters Centerline goodness : 0.815913 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.9838918 -0.17641226 -0.02890738 -4.00115378] [ 0.17609157 0.98428383 -0.01330767 -1.0019537 ] [ 0.0308007 0.00800296 0.99949351 0.87948425] [ 0. 0. 0. 1. ]] SLAMing on 51.544860623999995 meters Centerline goodness : 0.811716 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 0.98375219 -0.17720549 -0.02880698 -4.00131423] [ 0.17689807 0.98414448 -0.01291153 -1.00504656] [ 0.03063822 0.00760585 0.9995016 0.87919052] [ 0. 0. 0. 1. ]] SLAMing on 51.604860624 meters Centerline goodness : 0.810541 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 0.9837761 -0.17708951 -0.02870364 -4.00092371] [ 0.17680067 0.98416949 -0.01232665 -1.0069796 ] [ 0.03043217 0.00705184 0.99951196 0.87846272] [ 0. 0. 0. 1. ]] SLAMing on 51.66486062399999 meters Centerline goodness : 0.807518 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 0.98386782 -0.17654457 -0.02891586 -3.99995803] [ 0.17626339 0.98426964 -0.01202038 -1.0067544 ] [ 0.03058314 0.00672966 0.99950957 0.87786351] [ 0. 0. 0. 1. ]] SLAMing on 51.724860623999994 meters Centerline goodness : 0.805867 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.88 [[ 0.98394447 -0.17609621 -0.02904158 -3.99949797] [ 0.17581319 0.98434984 -0.01204668 -1.00539283] [ 0.03070845 0.00674737 0.99950561 0.87773148] [ 0. 0. 0. 1. ]] SLAMing on 51.784860624 meters Centerline goodness : 0.821530 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98398436 -0.17590683 -0.028837 -4.00013951] [ 0.17561394 0.98438086 -0.01241259 -1.00463657] [ 0.03057005 0.00714962 0.99950706 0.8784425 ] [ 0. 0. 0. 1. ]] SLAMing on 51.84486062399999 meters Centerline goodness : 0.818924 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98401887 -0.17572683 -0.02875663 -4.00018359] [ 0.17542673 0.98441102 -0.01266536 -1.00306471] [ 0.03053398 0.00741827 0.9995062 0.87839042] [ 0. 0. 0. 1. ]] SLAMing on 51.904860623999994 meters Centerline goodness : 0.804901 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.984142 -0.17501526 -0.02888219 -3.99901632] [ 0.1747139 0.98453776 -0.01266669 -1.00050568] [ 0.03065247 0.00741971 0.99950256 0.87724543] [ 0. 0. 0. 1. ]] SLAMing on 51.964860623999996 meters Centerline goodness : 0.797979 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98419718 -0.17471714 -0.02880676 -3.99870459] [ 0.17441068 0.98458918 -0.01284801 -0.99900182] [ 0.03060759 0.00762076 0.99950243 0.87675949] [ 0. 0. 0. 1. ]] SLAMing on 52.02486062399999 meters Centerline goodness : 0.796332 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98423485 -0.17452249 -0.02869941 -3.99880759] [ 0.17420889 0.9846215 -0.01310596 -0.99727443] [ 0.03054534 0.00789965 0.99950216 0.8766735 ] [ 0. 0. 0. 1. ]] SLAMing on 52.084860623999994 meters Centerline goodness : 0.795568 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98425749 -0.17440916 -0.02861184 -3.99905324] [ 0.17408751 0.98463913 -0.01339143 -0.99600868] [ 0.03050793 0.00819965 0.99950089 0.87695204] [ 0. 0. 0. 1. ]] SLAMing on 52.144860623999996 meters Centerline goodness : 0.791833 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98423184 -0.17457908 -0.02845754 -3.99947282] [ 0.17425017 0.98460647 -0.01367402 -0.99482092] [ 0.03040667 0.00849968 0.99950147 0.87709621] [ 0. 0. 0. 1. ]] SLAMing on 52.20486062399999 meters Centerline goodness : 0.792348 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98420067 -0.17475197 -0.02847453 -3.99934142] [ 0.17442283 0.98457583 -0.0136788 -0.99470834] [ 0.03042573 0.00849608 0.99950092 0.87683721] [ 0. 0. 0. 1. ]] SLAMing on 52.26486062399999 meters Centerline goodness : 0.791708 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98409784 -0.17536105 -0.02828343 -3.99903267] [ 0.17503934 0.98446895 -0.01349469 -0.99545787] [ 0.0302106 0.00832938 0.99950885 0.87548564] [ 0. 0. 0. 1. ]] SLAMing on 52.324860623999996 meters Centerline goodness : 0.791290 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.9839404 -0.17631435 -0.02783058 -4.00034296] [ 0.17598791 0.9842957 -0.01379226 -0.9959978 ] [ 0.02982529 0.00867292 0.9995175 0.87575155] [ 0. 0. 0. 1. ]] SLAMing on 52.384860624 meters Centerline goodness : 0.790205 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98364423 -0.17805687 -0.02719873 -4.00266707] [ 0.17771657 0.98397526 -0.01447422 -0.99642835] [ 0.02934011 0.00940382 0.99952525 0.87655667] [ 0. 0. 0. 1. ]] SLAMing on 52.44486062399999 meters Centerline goodness : 0.792491 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98353171 -0.17871865 -0.0269262 -4.00323246] [ 0.17837671 0.98385356 -0.01462624 -0.99619444] [ 0.02910542 0.00958237 0.99953042 0.87625516] [ 0. 0. 0. 1. ]] SLAMing on 52.504860623999996 meters Centerline goodness : 0.791627 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.88 [[ 0.98349208 -0.17894994 -0.02683737 -4.00370453] [ 0.17860022 0.9838085 -0.01492609 -0.99564984] [ 0.02907385 0.00988653 0.99952837 0.87664088] [ 0. 0. 0. 1. ]] SLAMing on 52.564860624 meters Centerline goodness : 0.793625 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.9834909 -0.17894856 -0.02689001 -4.00373596] [ 0.17858778 0.98380522 -0.01528695 -0.9943131 ] [ 0.02919011 0.01023235 0.9995215 0.87694757] [ 0. 0. 0. 1. ]] SLAMing on 52.62486062399999 meters Centerline goodness : 0.791180 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98352141 -0.17874986 -0.02709478 -4.0035874 ] [ 0.17838091 0.98383955 -0.0154915 -0.99307147] [ 0.02942602 0.01040303 0.99951282 0.87731986] [ 0. 0. 0. 1. ]] SLAMing on 52.684860623999995 meters Centerline goodness : 0.791134 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98363692 -0.178064 -0.02741586 -4.00255558] [ 0.1776988 0.98396682 -0.01524552 -0.99291274] [ 0.02969098 0.01012429 0.99950785 0.87709631] [ 0. 0. 0. 1. ]] SLAMing on 52.744860624 meters Centerline goodness : 0.794068 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.9837697 -0.17726397 -0.02783287 -4.00125784] [ 0.1769051 0.98411534 -0.01488582 -0.9924794 ] [ 0.03002947 0.00972044 0.99950175 0.87665947] [ 0. 0. 0. 1. ]] SLAMing on 52.80486062399999 meters Centerline goodness : 0.794437 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98381514 -0.17697012 -0.02809548 -4.00058038] [ 0.17661535 0.98417073 -0.01466276 -0.99260669] [ 0.03024561 0.00946335 0.9994977 0.87658576] [ 0. 0. 0. 1. ]] SLAMing on 52.864860623999995 meters Centerline goodness : 0.795983 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98383045 -0.17686684 -0.02820949 -4.00056005] [ 0.17651831 0.98419172 -0.01442042 -0.9935561 ] [ 0.03031404 0.00920776 0.99949801 0.87695553] [ 0. 0. 0. 1. ]] SLAMing on 52.924860624 meters Centerline goodness : 0.796521 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98376671 -0.17725184 -0.02801518 -4.00102455] [ 0.17689978 0.98412055 -0.01460146 -0.99364051] [ 0.03015845 0.00940855 0.99950085 0.87707029] [ 0. 0. 0. 1. ]] SLAMing on 52.98486062399999 meters Centerline goodness : 0.796929 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.9836875 -0.17768643 -0.02804349 -4.0013541 ] [ 0.17732119 0.9840382 -0.01503366 -0.99253414] [ 0.03026714 0.00981572 0.99949365 0.87739368] [ 0. 0. 0. 1. ]] SLAMing on 53.044860623999995 meters Centerline goodness : 0.791267 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98374254 -0.17737531 -0.02808215 -4.00067641] [ 0.17700165 0.9840917 -0.01529494 -0.99041863] [ 0.03034835 0.01007569 0.9994886 0.87677442] [ 0. 0. 0. 1. ]] SLAMing on 53.104860624 meters Centerline goodness : 0.788678 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98430226 -0.17419603 -0.02836907 -4.00135004] [ 0.17392185 0.98468779 -0.01188056 -0.98943654] [ 0.03000422 0.00676006 0.99952691 0.87622124] [ 0. 0. 0. 1. ]] SLAMing on 53.16486062399999 meters Centerline goodness : 0.789831 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98473799 -0.17175422 -0.02813505 -4.00433202] [ 0.17156396 0.98513132 -0.00906024 -0.98872619] [ 0.02927285 0.004095 0.99956307 0.87739498] [ 0. 0. 0. 1. ]] SLAMing on 53.224860623999994 meters Centerline goodness : 0.790248 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.9847298 -0.17185152 -0.02782595 -4.00548201] [ 0.17164036 0.98511068 -0.00982508 -0.98672186] [ 0.0291001 0.004899 0.9995645 0.87844848] [ 0. 0. 0. 1. ]] SLAMing on 53.284860624 meters Centerline goodness : 0.790382 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98473646 -0.17183087 -0.02771763 -4.00532592] [ 0.1716197 0.9851141 -0.00984337 -0.98621641] [ 0.02899642 0.00493624 0.99956733 0.87793409] [ 0. 0. 0. 1. ]] SLAMing on 53.34486062399999 meters Centerline goodness : 0.787517 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.9847675 -0.17162517 -0.0278884 -4.00426543] [ 0.17142553 0.98515208 -0.00941608 -0.98600622] [ 0.02909035 0.00449187 0.99956669 0.8767096 ] [ 0. 0. 0. 1. ]] SLAMing on 53.404860623999994 meters Centerline goodness : 0.789090 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.88 [[ 0.98472365 -0.17190803 -0.02769405 -4.00470857] [ 0.17170807 0.98510244 -0.00946155 -0.98662007] [ 0.028908 0.00456172 0.99957167 0.87682466] [ 0. 0. 0. 1. ]] SLAMing on 53.464860623999996 meters Centerline goodness : 0.789021 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98456803 -0.17283659 -0.02744637 -4.00511945] [ 0.17264533 0.984941 -0.00920962 -0.98888075] [ 0.02862482 0.00432901 0.99958085 0.87628061] [ 0. 0. 0. 1. ]] SLAMing on 53.52486062399999 meters Centerline goodness : 0.785758 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98435835 -0.17408574 -0.02707015 -4.00633109] [ 0.17388851 0.98471957 -0.009495 -0.99066894] [ 0.02830945 0.0046393 0.99958844 0.87667833] [ 0. 0. 0. 1. ]] SLAMing on 53.584860623999994 meters Centerline goodness : 0.786106 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98424092 -0.17481317 -0.02664879 -4.00763981] [ 0.17460884 0.98458882 -0.00982892 -0.99192768] [ 0.02795632 0.00502092 0.99959654 0.87739795] [ 0. 0. 0. 1. ]] SLAMing on 53.644860623999996 meters Centerline goodness : 0.783646 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98426163 -0.17468373 -0.02673271 -4.00740659] [ 0.17447513 0.98461116 -0.0099641 -0.99101471] [ 0.02806189 0.00514309 0.99959296 0.8774255 ] [ 0. 0. 0. 1. ]] SLAMing on 53.70486062399999 meters Centerline goodness : 0.784122 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.84885899e-01 -1.71085096e-01 -2.70121488e-02 -4.00836152e+00] [ 1.70970727e-01 9.85254632e-01 -6.50540501e-03 -9.90422542e-01] [ 2.77268226e-02 1.78879495e-03 9.99613937e-01 8.77547273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76486062399999 meters Centerline goodness : 0.785548 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.85456463e-01 -1.67727416e-01 -2.72593637e-02 -4.00988403e+00] [ 1.67700834e-01 9.85832494e-01 -3.27469641e-03 -9.90671905e-01] [ 2.74224229e-02 -1.34434730e-03 9.99623031e-01 8.78574385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824860623999996 meters Centerline goodness : 0.783011 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86209879e-01 -1.63144821e-01 -2.78180278e-02 -4.00987002e+00] [ 1.63220829e-01 9.86589449e-01 4.68563514e-04 -9.89097643e-01] [ 2.73685290e-02 -5.00258352e-03 9.99612894e-01 8.78494670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88486062399999 meters Centerline goodness : 0.781487 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86471624e-01 -1.61494868e-01 -2.81627864e-02 -4.00805339e+00] [ 1.61593677e-01 9.86856581e-01 1.25357279e-03 -9.88246034e-01] [ 2.75901855e-02 -5.78754219e-03 9.99602564e-01 8.77430648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94486062399999 meters Centerline goodness : 0.783884 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98711475 -0.15741897 -0.02870095 -4.00816915] [ 0.15763264 0.98748346 0.00532654 -0.98949144] [ 0.02750321 -0.00978212 0.99957385 0.87743152] [ 0. 0. 0. 1. ]] SLAMing on 54.004860623999996 meters Centerline goodness : 0.783203 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98721283 -0.15676828 -0.02888829 -4.00708772] [ 0.15699364 0.98758321 0.00569139 -0.9896239 ] [ 0.02763736 -0.01015389 0.99956644 0.87678668] [ 0. 0. 0. 1. ]] SLAMing on 54.064860624 meters Centerline goodness : 0.784089 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98724611 -0.15656689 -0.0288431 -4.00700817] [ 0.15679534 0.98761395 0.00582276 -0.98994292] [ 0.02757419 -0.01027096 0.99956699 0.87670881] [ 0. 0. 0. 1. ]] SLAMing on 54.12486062399999 meters Centerline goodness : 0.783232 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98724748 -0.15655028 -0.02888642 -4.00663181] [ 0.15678229 0.98761535 0.00593559 -0.99087333] [ 0.02759946 -0.01038877 0.99956508 0.87652327] [ 0. 0. 0. 1. ]] SLAMing on 54.184860623999995 meters Centerline goodness : 0.784820 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98724256 -0.15654986 -0.02905635 -4.00589909] [ 0.15678716 0.98761381 0.00606229 -0.991091 ] [ 0.0277474 -0.01054061 0.99955939 0.87598165] [ 0. 0. 0. 1. ]] SLAMing on 54.244860624 meters Centerline goodness : 0.786088 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98718579 -0.15692897 -0.02893979 -4.00632793] [ 0.15715672 0.9875569 0.00575679 -0.99064479] [ 0.02767629 -0.0102311 0.99956458 0.87615883] [ 0. 0. 0. 1. ]] SLAMing on 54.30486062399999 meters Centerline goodness : 0.784978 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 0.98698931 -0.15823867 -0.02850653 -4.00821631] [ 0.15843139 0.98735918 0.00461942 -0.98976474] [ 0.02741521 -0.00907565 0.99958293 0.87746714] [ 0. 0. 0. 1. ]] SLAMing on 54.364860623999995 meters Centerline goodness : 0.786153 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86832845e-01 -1.59249034e-01 -2.82963194e-02 -4.00896683e+00] [ 1.59422629e-01 9.87202427e-01 3.97411628e-03 -9.89591134e-01] [ 2.73013210e-02 -8.43286209e-03 9.99591679e-01 8.77712010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424860624 meters Centerline goodness : 0.785949 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86781399e-01 -1.59576768e-01 -2.82440506e-02 -4.00901390e+00] [ 1.59744624e-01 9.87151154e-01 3.77538327e-03 -9.89587229e-01] [ 2.72786837e-02 -8.23731322e-03 9.99593928e-01 8.77621895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48486062399999 meters Centerline goodness : 0.788300 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86732476e-01 -1.59915652e-01 -2.80357854e-02 -4.00919906e+00] [ 1.60076870e-01 9.87098027e-01 3.58903776e-03 -9.89370079e-01] [ 2.71001251e-02 -8.02930088e-03 9.99600477e-01 8.77241322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544860623999995 meters Centerline goodness : 0.786526 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86753392e-01 -1.59773745e-01 -2.81086157e-02 -4.00920246e+00] [ 1.59931253e-01 9.87122185e-01 3.43305145e-03 -9.88922166e-01] [ 2.71981266e-02 -7.88302129e-03 9.99598980e-01 8.77613597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604860624 meters Centerline goodness : 0.788384 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86728557e-01 -1.59954866e-01 -2.79498822e-02 -4.01045366e+00] [ 1.60094894e-01 9.87097567e-01 2.83166642e-03 -9.88083544e-01] [ 2.71363219e-02 -7.26871954e-03 9.99605315e-01 8.79230442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66486062399999 meters Centerline goodness : 0.786797 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86793640e-01 -1.59523817e-01 -2.81151768e-02 -4.00944873e+00] [ 1.59682350e-01 9.87162343e-01 3.47221535e-03 -9.89418146e-01] [ 2.72003427e-02 -7.91585752e-03 9.99598660e-01 8.78351316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724860623999994 meters Centerline goodness : 0.787249 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86796297e-01 -1.59491960e-01 -2.82025267e-02 -4.00895779e+00] [ 1.59654531e-01 9.87166402e-01 3.59528324e-03 -9.90047472e-01] [ 2.72671681e-02 -8.05047337e-03 9.99595764e-01 8.78022934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784860624 meters Centerline goodness : 0.786248 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86793190e-01 -1.59507164e-01 -2.82252406e-02 -4.00867722e+00] [ 1.59674405e-01 9.87162576e-01 3.75950268e-03 -9.90755648e-01] [ 2.72632336e-02 -8.21670013e-03 9.99594519e-01 8.77781482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84486062399999 meters Centerline goodness : 0.786629 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86731154e-01 -1.59889527e-01 -2.82306422e-02 -4.00833048e+00] [ 1.60060900e-01 9.87099421e-01 3.90415401e-03 -9.92066686e-01] [ 2.72422172e-02 -8.37097237e-03 9.99593812e-01 8.77259159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904860623999994 meters Centerline goodness : 0.786244 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86668013e-01 -1.60321851e-01 -2.79845630e-02 -4.00886815e+00] [ 1.60484741e-01 9.87031534e-01 3.66052348e-03 -9.92069582e-01] [ 2.70347843e-02 -8.10281677e-03 9.99601653e-01 8.77304995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964860623999996 meters Centerline goodness : 0.786255 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86603882e-01 -1.60741941e-01 -2.78353877e-02 -4.00941532e+00] [ 1.60889002e-01 9.86967600e-01 3.11209736e-03 -9.91049387e-01] [ 2.69723812e-02 -7.54881508e-03 9.99607676e-01 8.77667752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02486062399999 meters Centerline goodness : 0.787837 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86566752e-01 -1.61016528e-01 -2.75630478e-02 -4.01050043e+00] [ 1.61137530e-01 9.86929482e-01 2.21206972e-03 -9.88341282e-01] [ 2.68466047e-02 -6.62379589e-03 9.99617619e-01 8.78514862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084860623999994 meters Centerline goodness : 0.787733 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86591008e-01 -1.60875819e-01 -2.75164406e-02 -4.01058060e+00] [ 1.60988843e-01 9.86954343e-01 1.92817207e-03 -9.87221109e-01] [ 2.68472743e-02 -6.33215715e-03 9.99619491e-01 8.78634501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144860623999996 meters Centerline goodness : 0.789017 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86635823e-01 -1.60615324e-01 -2.74311802e-02 -4.01091950e+00] [ 1.60720059e-01 9.86998665e-01 1.64256666e-03 -9.86149188e-01] [ 2.68107169e-02 -6.02935602e-03 9.99622345e-01 8.79136087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20486062399999 meters Centerline goodness : 0.787728 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86705103e-01 -1.60169015e-01 -2.75486123e-02 -4.01028816e+00] [ 1.60281746e-01 9.87069439e-01 1.91939625e-03 -9.86551117e-01] [ 2.68849654e-02 -6.30941775e-03 9.99618622e-01 8.78823765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26486062399999 meters Centerline goodness : 0.787155 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86833148e-01 -1.59363955e-01 -2.76309406e-02 -4.00935661e+00] [ 1.59490827e-01 9.87196405e-01 2.43612067e-03 -9.86467183e-01] [ 2.68889354e-02 -6.81092621e-03 9.99615224e-01 8.77978031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324860623999996 meters Centerline goodness : 0.785994 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.86949660e-01 -1.58588094e-01 -2.79317803e-02 -4.00797086e+00] [ 1.58731456e-01 9.87317302e-01 2.97823549e-03 -9.86863147e-01] [ 2.71052173e-02 -7.37302066e-03 9.99605395e-01 8.77141248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38486062399999 meters Centerline goodness : 0.785989 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.88 [[ 9.87101441e-01 -1.57583255e-01 -2.82535543e-02 -4.00638599e+00] [ 1.57742150e-01 9.87474232e-01 3.47211118e-03 -9.86393234e-01] [ 2.73525102e-02 -7.88410234e-03 9.99594758e-01 8.76192209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44486062399999 meters Centerline goodness : 0.786061 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 9.87100386e-01 -1.57580845e-01 -2.83038095e-02 -4.00649214e+00] [ 1.57729566e-01 9.87477521e-01 3.08697768e-03 -9.84808437e-01] [ 2.74629271e-02 -7.51150444e-03 9.99594600e-01 8.76509613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504860623999996 meters Centerline goodness : 0.784014 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 9.87185569e-01 -1.57046600e-01 -2.83022612e-02 -4.00605313e+00] [ 1.57194106e-01 9.87563014e-01 3.05061264e-03 -9.84244921e-01] [ 2.74711781e-02 -7.46046944e-03 9.99594756e-01 8.76282300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56486062399999 meters Centerline goodness : 0.782405 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 0.98778589 -0.1531499 -0.02870779 -4.00623271] [ 0.15339293 0.98814422 0.00645044 -0.98273723] [ 0.02737955 -0.01077523 0.99956703 0.87593849] [ 0. 0. 0. 1. ]] SLAMing on 55.62486062399999 meters Centerline goodness : 0.783521 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 0.98838948 -0.14912358 -0.02912702 -4.00668858] [ 0.14946363 0.98871809 0.00985682 -0.98049749] [ 0.02732853 -0.0140958 0.99952712 0.87603672] [ 0. 0. 0. 1. ]] SLAMing on 55.684860623999995 meters Centerline goodness : 0.783489 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 0.98903454 -0.14469832 -0.02954801 -4.00690879] [ 0.14513401 0.98932443 0.01316414 -0.97800162] [ 0.02732774 -0.01730821 0.99947667 0.8762268 ] [ 0. 0. 0. 1. ]] SLAMing on 55.744860624 meters Centerline goodness : 0.788407 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.88 [[ 0.98954132 -0.14113016 -0.02983715 -4.0081764 ] [ 0.14164655 0.9897887 0.01595568 -0.97578127] [ 0.02728065 -0.02001514 0.99942742 0.87733027] [ 0. 0. 0. 1. ]] SLAMing on 55.80486062399999 meters Centerline goodness : 0.790880 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 0.99005144 -0.13742696 -0.03019895 -4.00856494] [ 0.13803855 0.99024097 0.01918805 -0.97311586] [ 0.02726729 -0.02316577 0.99935972 0.87707782] [ 0. 0. 0. 1. ]] SLAMing on 55.864860623999995 meters Centerline goodness : 0.791126 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 0.9901351 -0.13681239 -0.03024647 -4.00765293] [ 0.13742162 0.99032913 0.01906579 -0.97137633] [ 0.02734553 -0.02303422 0.99936062 0.87634956] [ 0. 0. 0. 1. ]] SLAMing on 55.924860624 meters Centerline goodness : 0.795745 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 0.98949701 -0.14149119 -0.02959581 -4.00887891] [ 0.14193999 0.9897812 0.01364635 -0.96773793] [ 0.02736253 -0.01770385 0.99946879 0.87822597] [ 0. 0. 0. 1. ]] SLAMing on 55.98486062399999 meters Centerline goodness : 0.798281 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 0.98938155 -0.14234298 -0.02937036 -4.00974238] [ 0.14277924 0.98966489 0.01332281 -0.9681595 ] [ 0.02717041 -0.01737482 0.99947981 0.87850506] [ 0. 0. 0. 1. ]] SLAMing on 56.044860623999995 meters Centerline goodness : 0.793106 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 0.98870648 -0.14709917 -0.02865879 -4.0100706 ] [ 0.14741326 0.98903255 0.0091624 -0.96836435] [ 0.02699669 -0.01328361 0.99954726 0.87841815] [ 0. 0. 0. 1. ]] SLAMing on 56.104860624 meters Centerline goodness : 0.792374 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 0.98796587 -0.1521216 -0.02797249 -4.01013127] [ 0.15231881 0.98831852 0.00504749 -0.96953742] [ 0.0268779 -0.00924749 0.99959595 0.87804645] [ 0. 0. 0. 1. ]] SLAMing on 56.16486062399999 meters Centerline goodness : 0.796936 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 9.87134025e-01 -1.57566964e-01 -2.71858058e-02 -4.01068733e+00] [ 1.57643270e-01 9.87495897e-01 6.73320277e-04 -9.69348736e-01] [ 2.67397786e-02 -4.95031667e-03 9.99630171e-01 8.77702601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224860623999994 meters Centerline goodness : 0.797328 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 9.86951425e-01 -1.58764428e-01 -2.68466072e-02 -4.01212710e+00] [ 1.58823340e-01 9.87307015e-01 6.29170821e-05 -9.68720395e-01] [ 2.64958546e-02 -4.32596393e-03 9.99639563e-01 8.78217398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284860624 meters Centerline goodness : 0.796701 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 9.86854166e-01 -1.59392257e-01 -2.67013814e-02 -4.01230179e+00] [ 1.59440260e-01 9.87207522e-01 -3.35193684e-04 -9.68001673e-01] [ 2.64132319e-02 -3.92648791e-03 9.99643398e-01 8.77835630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34486062399999 meters Centerline goodness : 0.797481 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.88 [[ 9.86826149e-01 -1.59556574e-01 -2.67554114e-02 -4.01229305e+00] [ 1.59594396e-01 9.87182403e-01 -7.29532558e-04 -9.67105555e-01] [ 2.65288731e-02 -3.55009192e-03 9.99641744e-01 8.78053094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404860623999994 meters Centerline goodness : 0.801821 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.88 [[ 9.87320853e-01 -1.56419795e-01 -2.70255742e-02 -4.01408140e+00] [ 1.56527456e-01 9.87671776e-01 1.90208403e-03 -9.63999761e-01] [ 2.63948732e-02 -6.10821161e-03 9.99632933e-01 8.79289286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464860623999996 meters Centerline goodness : 0.804108 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98789004 -0.15275979 -0.02716074 -4.01548271] [ 0.15295124 0.98822055 0.00510446 -0.96275183] [ 0.02606105 -0.00919691 0.99961805 0.87997148] [ 0. 0. 0. 1. ]] SLAMing on 56.52486062399999 meters Centerline goodness : 0.804252 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.88 [[ 0.98802514 -0.15184883 -0.02735429 -4.01460191] [ 0.15203825 0.98836211 0.00497121 -0.96035284] [ 0.02628107 -0.00907058 0.99961344 0.87986404] [ 0. 0. 0. 1. ]] SLAMing on 56.584860623999994 meters Centerline goodness : 0.806960 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98797018 -0.15222163 -0.02726712 -4.01547511] [ 0.15238954 0.98831168 0.00417772 -0.9580039 ] [ 0.02631247 -0.00828268 0.99961945 0.88083117] [ 0. 0. 0. 1. ]] SLAMing on 56.644860623999996 meters Centerline goodness : 0.803739 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.88 [[ 9.87375927e-01 -1.56105257e-01 -2.68314608e-02 -4.01465376e+00] [ 1.56170437e-01 9.87730064e-01 3.38186645e-04 -9.57339319e-01] [ 2.64494478e-02 -4.52419831e-03 9.99639914e-01 8.80350926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70486062399999 meters Centerline goodness : 0.805160 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.88 [[ 9.86734348e-01 -1.60188550e-01 -2.63619898e-02 -4.01392438e+00] [ 1.60148557e-01 9.87086230e-01 -3.63515104e-03 -9.56994170e-01] [ 2.66038667e-02 -6.34906252e-04 9.99645853e-01 8.79983143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76486062399999 meters Centerline goodness : 0.804738 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.88 [[ 9.85901033e-01 -1.65359227e-01 -2.56023293e-02 -4.01463652e+00] [ 1.65206845e-01 9.86226725e-01 -7.97151894e-03 -9.55891292e-01] [ 2.65678656e-02 3.62944871e-03 9.99640423e-01 8.80064621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824860623999996 meters Centerline goodness : 0.807407 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98561251 -0.1671539 -0.02505106 -4.01647222] [ 0.16699029 0.98592189 -0.0085014 -0.95659711] [ 0.02611943 0.0041958 0.99965002 0.88030115] [ 0. 0. 0. 1. ]] SLAMing on 56.88486062399999 meters Centerline goodness : 0.804630 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98493376 -0.17118063 -0.02454973 -4.01585144] [ 0.17091058 0.98520441 -0.01272184 -0.95603842] [ 0.02636424 0.00833436 0.99961766 0.88037313] [ 0. 0. 0. 1. ]] SLAMing on 56.94486062399999 meters Centerline goodness : 0.802450 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98472389 -0.17247096 -0.02392985 -4.01833579] [ 0.17218438 0.98497119 -0.01357543 -0.95572129] [ 0.02591158 0.0092477 0.99962146 0.88171411] [ 0. 0. 0. 1. ]] SLAMing on 57.004860623999996 meters Centerline goodness : 0.802772 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.88 [[ 0.98502604 -0.17080385 -0.02344649 -4.02284598] [ 0.17058643 0.98528138 -0.01099434 -0.95490963] [ 0.02497926 0.00683006 0.99966464 0.88372374] [ 0. 0. 0. 1. ]] SLAMing on 57.06486062399999 meters Centerline goodness : 0.801561 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.88 [[ 0.98504104 -0.17072942 -0.02335836 -4.02316432] [ 0.17050884 0.98529312 -0.01114428 -0.95468285] [ 0.02491749 0.00699477 0.99966504 0.88418585] [ 0. 0. 0. 1. ]] SLAMing on 57.12486062399999 meters Centerline goodness : 0.801819 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98507317 -0.17054165 -0.02337495 -4.02282792] [ 0.17033022 0.98532817 -0.01077078 -0.95604598] [ 0.02486886 0.00662855 0.99966875 0.88391886] [ 0. 0. 0. 1. ]] SLAMing on 57.184860623999995 meters Centerline goodness : 0.805275 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98498571 -0.17107549 -0.02315888 -4.0239508 ] [ 0.17086245 0.9852346 -0.01089959 -0.95684144] [ 0.02468158 0.00677896 0.99967238 0.88475062] [ 0. 0. 0. 1. ]] SLAMing on 57.24486062399999 meters Centerline goodness : 0.803847 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98507033 -0.17054632 -0.02346049 -4.02257346] [ 0.17034786 0.98533092 -0.01022704 -0.95815689] [ 0.02486053 0.00607791 0.99967245 0.88385511] [ 0. 0. 0. 1. ]] SLAMing on 57.30486062399999 meters Centerline goodness : 0.804583 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.98526833 -0.16933607 -0.02390864 -4.02013533] [ 0.1691636 0.9855462 -0.00907534 -0.96032607] [ 0.02509985 0.00489718 0.99967295 0.88220677] [ 0. 0. 0. 1. ]] SLAMing on 57.364860623999995 meters Centerline goodness : 0.812488 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 0.9853571 -0.1687909 -0.02410407 -4.01947556] [ 0.1686247 0.98564119 -0.00878348 -0.96083082] [ 0.02524054 0.00459032 0.99967087 0.88222981] [ 0. 0. 0. 1. ]] SLAMing on 57.424860624 meters Centerline goodness : 0.806468 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 9.85744683e-01 -1.66508263e-01 -2.41333289e-02 -4.02146913e+00] [ 1.66401097e-01 9.86037400e-01 -6.39689689e-03 -9.62524388e-01] [ 2.48615011e-02 2.28989470e-03 9.99688282e-01 8.83892023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48486062399999 meters Centerline goodness : 0.809061 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 9.85835135e-01 -1.65957495e-01 -2.42321185e-02 -4.02140728e+00] [ 1.65851850e-01 9.86130426e-01 -6.32029351e-03 -9.63163333e-01] [ 2.49449294e-02 2.21182574e-03 9.99686380e-01 8.84826861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544860623999995 meters Centerline goodness : 0.810381 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.88 [[ 9.85871586e-01 -1.65733821e-01 -2.42799738e-02 -4.02102917e+00] [ 1.65637329e-01 9.86168805e-01 -5.94677030e-03 -9.64955560e-01] [ 2.49297337e-02 1.84108186e-03 9.99687511e-01 8.84704506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604860624 meters Centerline goodness : 0.811242 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.88 [[ 9.85819519e-01 -1.66051220e-01 -2.42253650e-02 -4.02106529e+00] [ 1.65962588e-01 9.86115930e-01 -5.63850306e-03 -9.67380817e-01] [ 2.48252986e-02 1.53804212e-03 9.99690622e-01 8.84688885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66486062399999 meters Centerline goodness : 0.812177 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.88 [[ 9.85781340e-01 -1.66265299e-01 -2.43104950e-02 -4.02061392e+00] [ 1.66186025e-01 9.86080392e-01 -5.25981286e-03 -9.70131214e-01] [ 2.48466268e-02 1.14496082e-03 9.99690619e-01 8.84481462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724860623999994 meters Centerline goodness : 0.810230 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.88 [[ 9.85695902e-01 -1.66778020e-01 -2.42627571e-02 -4.02059119e+00] [ 1.66702548e-01 9.85993964e-01 -5.11496356e-03 -9.73790175e-01] [ 2.47759955e-02 9.97135206e-04 9.99692531e-01 8.84672395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784860624 meters Centerline goodness : 0.815943 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.89 [[ 9.85584416e-01 -1.67463824e-01 -2.40671263e-02 -4.02152428e+00] [ 1.67385050e-01 9.85877538e-01 -5.26554542e-03 -9.77790296e-01] [ 2.46090275e-02 1.16116239e-03 9.99696478e-01 8.86093817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84486062399999 meters Centerline goodness : 0.812400 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.89 [[ 9.85634948e-01 -1.67151326e-01 -2.41698876e-02 -4.02162643e+00] [ 1.67080463e-01 9.85930905e-01 -4.93650313e-03 -9.79330121e-01] [ 2.46549822e-02 8.27274002e-04 9.99695677e-01 8.86890784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904860623999994 meters Centerline goodness : 0.817100 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.88 [[ 9.86535605e-01 -1.62586625e-01 -1.76943453e-02 -4.02898512e+00] [ 1.62496900e-01 9.86688264e-01 -6.40525715e-03 -9.86288408e-01] [ 1.85002120e-02 3.44373797e-03 9.99822926e-01 8.82786166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964860623999996 meters Centerline goodness : 0.819547 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.88 [[ 9.86612270e-01 -1.62108218e-01 -1.78088339e-02 -4.02875886e+00] [ 1.62025852e-01 9.86768370e-01 -5.98398108e-03 -9.87877116e-01] [ 1.85432465e-02 3.01837766e-03 9.99823503e-01 8.83279355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02486062399999 meters Centerline goodness : 0.819248 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.88 [[ 9.86753817e-01 -1.61209742e-01 -1.81197191e-02 -4.02777000e+00] [ 1.61139961e-01 9.86917564e-01 -5.25692906e-03 -9.89872664e-01] [ 1.87301372e-02 2.26748398e-03 9.99822004e-01 8.83455190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084860623999994 meters Centerline goodness : 0.812479 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.99, Z:0.88 [[ 9.86802249e-01 -1.60867773e-01 -1.85170694e-02 -4.02612826e+00] [ 1.60814080e-01 9.86975074e-01 -4.36283083e-03 -9.93984999e-01] [ 1.89777248e-02 1.32744581e-03 9.99819026e-01 8.82668076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144860623999996 meters Centerline goodness : 0.817695 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.00, Z:0.88 [[ 0.98631582 -0.16383508 -0.01841631 -4.02415005] [ 0.16372784 0.98647929 -0.00719777 -0.99681523] [ 0.01934656 0.00408402 0.9998045 0.88220061] [ 0. 0. 0. 1. ]] SLAMing on 58.20486062399999 meters Centerline goodness : 0.821078 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.00, Z:0.88 [[ 0.98627925 -0.16405535 -0.01841402 -4.02464088] [ 0.16394758 0.98644257 -0.00722759 -0.99755942] [ 0.01935009 0.00410948 0.99980432 0.88290242] [ 0. 0. 0. 1. ]] SLAMing on 58.26486062399999 meters Centerline goodness : 0.819868 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.00, Z:0.88 [[ 0.98617323 -0.16471426 -0.01820943 -4.02592088] [ 0.16460543 0.98633224 -0.00733221 -0.9997557 ] [ 0.01916827 0.00423346 0.99980731 0.88441131] [ 0. 0. 0. 1. ]] SLAMing on 58.324860623999996 meters Centerline goodness : 0.821253 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.00, Z:0.88 [[ 9.86196491e-01 -1.64553568e-01 -1.84012110e-02 -4.02500328e+00] [ 1.64452792e-01 9.86361015e-01 -6.87226065e-03 -1.00212820e+00] [ 1.92810922e-02 3.75126881e-03 9.99807065e-01 8.84022036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38486062399999 meters Centerline goodness : 0.812113 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.00, Z:0.88 [[ 9.86194552e-01 -1.64560396e-01 -1.84440352e-02 -4.02464278e+00] [ 1.64463999e-01 9.86360756e-01 -6.63721750e-03 -1.00348506e+00] [ 1.92846957e-02 3.51220795e-03 9.99807864e-01 8.83935051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44486062399999 meters Centerline goodness : 0.811996 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.00, Z:0.89 [[ 9.86180763e-01 -1.64644297e-01 -1.84325363e-02 -4.02519425e+00] [ 1.64545921e-01 9.86346378e-01 -6.74262762e-03 -1.00418682e+00] [ 1.92910006e-02 3.61645099e-03 9.99807371e-01 8.85021778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504860623999996 meters Centerline goodness : 0.811218 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.89 [[ 9.86251933e-01 -1.64199303e-01 -1.85933890e-02 -4.02462848e+00] [ 1.64106974e-01 9.86421803e-01 -6.39754664e-03 -1.00544776e+00] [ 1.93913970e-02 3.25828793e-03 9.99806660e-01 8.85118237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56486062399999 meters Centerline goodness : 0.811906 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.88 [[ 9.86365985e-01 -1.63465065e-01 -1.90082995e-02 -4.02321786e+00] [ 1.63384745e-01 9.86545876e-01 -5.71492680e-03 -1.00724776e+00] [ 1.96867504e-02 2.53134323e-03 9.99802993e-01 8.84708603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62486062399999 meters Centerline goodness : 0.803677 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.88 [[ 9.87084090e-01 -1.58971790e-01 -1.98234582e-02 -4.02253429e+00] [ 1.58979991e-01 9.87281110e-01 -1.17162775e-03 -1.00877936e+00] [ 1.97575816e-02 -1.99503811e-03 9.99802809e-01 8.84463000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684860623999995 meters Centerline goodness : 0.817660 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.88 [[ 9.87293771e-01 -1.57597711e-01 -2.03462834e-02 -4.02064608e+00] [ 1.57622774e-01 9.87499326e-01 -3.76036623e-04 -1.00904041e+00] [ 2.01512037e-02 -2.83577901e-03 9.99792922e-01 8.83780701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74486062399999 meters Centerline goodness : 0.800667 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.88 [[ 9.87485277e-01 -1.56334883e-01 -2.07901877e-02 -4.01888589e+00] [ 1.56380180e-01 9.87696778e-01 5.61121221e-04 -1.01132628e+00] [ 2.04466786e-02 -3.80527225e-03 9.99783703e-01 8.83365607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80486062399999 meters Centerline goodness : 0.800899 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.88 [[ 9.87525159e-01 -1.56062825e-01 -2.09393001e-02 -4.01840274e+00] [ 1.56112922e-01 9.87738915e-01 7.69509099e-04 -1.01241265e+00] [ 2.05624698e-02 -4.02880493e-03 9.99780453e-01 8.83496420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864860623999995 meters Centerline goodness : 0.814392 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.01, Z:0.88 [[ 9.87517222e-01 -1.56100632e-01 -2.10316268e-02 -4.01832350e+00] [ 1.56151844e-01 9.87732734e-01 8.05029552e-04 -1.01347316e+00] [ 2.06479606e-02 -4.07910785e-03 9.99778487e-01 8.84050732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92486062399999 meters Centerline goodness : 0.798701 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.02, Z:0.88 [[ 9.87396747e-01 -1.56870548e-01 -2.09593811e-02 -4.01905280e+00] [ 1.56920052e-01 9.87611040e-01 7.28276083e-04 -1.01535091e+00] [ 2.05854711e-02 -4.00804462e-03 9.99780063e-01 8.84804874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98486062399999 meters Centerline goodness : 0.797225 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.02, Z:0.89 [[ 9.86588428e-01 -1.61988724e-01 -2.00730249e-02 -4.02078084e+00] [ 1.61950711e-01 9.86792585e-01 -3.51589065e-03 -1.01851555e+00] [ 2.03774468e-02 2.17896374e-04 9.99792335e-01 8.86934528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044860623999995 meters Centerline goodness : 0.797573 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.02, Z:0.89 [[ 0.98525799 -0.17000156 -0.01913546 -4.02036278] [ 0.16981737 0.98541546 -0.01088269 -1.02128151] [ 0.02070645 0.00747272 0.99975767 0.88786372] [ 0. 0. 0. 1. ]] SLAMing on 59.104860624 meters Centerline goodness : 0.797476 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.02, Z:0.89 [[ 0.98457726 -0.17394967 -0.01868494 -4.0195434 ] [ 0.17370231 0.98469661 -0.0141454 -1.02368293] [ 0.02085958 0.01068162 0.99972535 0.88756418] [ 0. 0. 0. 1. ]] SLAMing on 59.16486062399999 meters Centerline goodness : 0.798678 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.03, Z:0.89 [[ 0.98389054 -0.17783811 -0.0182488 -4.01895666] [ 0.17753238 0.98396456 -0.01720484 -1.02732032] [ 0.02101585 0.01368792 0.99968544 0.88777581] [ 0. 0. 0. 1. ]] SLAMing on 59.224860623999994 meters Centerline goodness : 0.808313 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.03, Z:0.89 [[ 0.98380822 -0.17832901 -0.01789265 -4.01993668] [ 0.17803866 0.98388181 -0.0166978 -1.03175965] [ 0.02058195 0.01324185 0.99970047 0.88857324] [ 0. 0. 0. 1. ]] SLAMing on 59.284860624 meters Centerline goodness : 0.808636 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.03, Z:0.89 [[ 0.98385561 -0.17806056 -0.01796026 -4.01979989] [ 0.17778374 0.98393956 -0.01599618 -1.03377012] [ 0.0205201 0.01254489 0.99971073 0.88873329] [ 0. 0. 0. 1. ]] SLAMing on 59.34486062399999 meters Centerline goodness : 0.804381 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.04, Z:0.89 [[ 0.98401604 -0.17715278 -0.01814713 -4.01860069] [ 0.17690306 0.98412056 -0.01456097 -1.03807143] [ 0.02043848 0.01111795 0.99972929 0.88802249] [ 0. 0. 0. 1. ]] SLAMing on 59.404860623999994 meters Centerline goodness : 0.803758 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.04, Z:0.89 [[ 0.98414843 -0.17638792 -0.01841658 -4.01733929] [ 0.17615819 0.98427009 -0.01344143 -1.04089038] [ 0.02049779 0.00998413 0.99974005 0.88728995] [ 0. 0. 0. 1. ]] SLAMing on 59.464860623999996 meters Centerline goodness : 0.806022 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.04, Z:0.89 [[ 0.98472532 -0.17314185 -0.01838349 -4.01682103] [ 0.17297393 0.98487176 -0.01037437 -1.04410735] [ 0.01990161 0.00703604 0.99977719 0.88653205] [ 0. 0. 0. 1. ]] SLAMing on 59.52486062399999 meters Centerline goodness : 0.803207 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.05, Z:0.89 [[ 0.98499914 -0.1715324 -0.01879701 -4.01506873] [ 0.17138723 0.98516179 -0.00909154 -1.0462885 ] [ 0.02007759 0.00573359 0.99978198 0.88583983] [ 0. 0. 0. 1. ]] SLAMing on 59.584860623999994 meters Centerline goodness : 0.801898 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.05, Z:0.88 [[ 9.85545747e-01 -1.68231486e-01 -1.99436256e-02 -4.01278692e+00] [ 1.68176685e-01 9.85747022e-01 -4.40586322e-03 -1.04883480e+00] [ 2.04005744e-02 9.88126913e-04 9.99791398e-01 8.84480883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644860623999996 meters Centerline goodness : 0.790767 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.06, Z:0.89 [[ 9.86225666e-01 -1.62411277e-01 -3.13291166e-02 -4.01404717e+00] [ 1.62472094e-01 9.86712949e-01 -6.11615604e-04 -1.05565993e+00] [ 3.10121783e-02 -4.48691617e-03 9.99508936e-01 8.87627852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70486062399999 meters Centerline goodness : 0.798430 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.06, Z:0.89 [[ 9.86341441e-01 -1.61694839e-01 -3.13901238e-02 -4.01375213e+00] [ 1.61784538e-01 9.86826053e-01 3.22195184e-04 -1.05764404e+00] [ 3.09244947e-02 -5.39623112e-03 9.99507157e-01 8.87760629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76486062399999 meters Centerline goodness : 0.796651 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.06, Z:0.89 [[ 9.86382848e-01 -1.61498985e-01 -3.10959025e-02 -4.01372855e+00] [ 1.61590325e-01 9.86857832e-01 4.30504852e-04 -1.05917402e+00] [ 3.06177088e-02 -5.44943959e-03 9.99516313e-01 8.87373338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824860623999996 meters Centerline goodness : 0.793649 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.06, Z:0.89 [[ 9.86498217e-01 -1.60785194e-01 -3.11350015e-02 -4.01366176e+00] [ 1.60920421e-01 9.86965611e-01 1.87092703e-03 -1.06154028e+00] [ 3.04283585e-02 -6.85592375e-03 9.99513437e-01 8.87889215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88486062399999 meters Centerline goodness : 0.788073 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.89 [[ 9.86516342e-01 -1.60653528e-01 -3.12402266e-02 -4.01215928e+00] [ 1.60832680e-01 9.86976194e-01 3.29254043e-03 -1.06528760e+00] [ 3.03044017e-02 -8.27259431e-03 9.99506482e-01 8.86961046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94486062399999 meters Centerline goodness : 0.786795 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.89 [[ 0.98666743 -0.15743128 -0.04126458 -4.01228867] [ 0.15775243 0.98746786 0.0046251 -1.07284011] [ 0.04001931 -0.01107302 0.99913755 0.88915153] [ 0. 0. 0. 1. ]] SLAMing on 60.004860623999996 meters Centerline goodness : 0.785955 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.89 [[ 0.98671358 -0.15708123 -0.04149455 -4.0113503 ] [ 0.15744943 0.98751037 0.00573922 -1.07462096] [ 0.04007477 -0.01219626 0.99912225 0.88887923] [ 0. 0. 0. 1. ]] SLAMing on 60.06486062399999 meters Centerline goodness : 0.795804 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.98684884 -0.15643725 -0.04070318 -4.01154261] [ 0.15679845 0.98761348 0.0058185 -1.07703372] [ 0.03928878 -0.01212417 0.99915434 0.88765859] [ 0. 0. 0. 1. ]] SLAMing on 60.12486062399999 meters Centerline goodness : 0.788275 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.98691428 -0.15598711 -0.04084393 -4.01068237] [ 0.15636979 0.98767831 0.00632879 -1.07782618] [ 0.03935346 -0.01263273 0.99914549 0.8870324 ] [ 0. 0. 0. 1. ]] SLAMing on 60.184860623999995 meters Centerline goodness : 0.788275 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.98691428 -0.15598711 -0.04084393 -4.01068237] [ 0.15636979 0.98767831 0.00632879 -1.07782618] [ 0.03935346 -0.01263273 0.99914549 0.8870324 ] [ 0. 0. 0. 1. ]] SLAMing on 60.24486062399999 meters Centerline goodness : 0.782450 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.98685253 -0.15630749 -0.0411102 -4.00972339] [ 0.15670178 0.98762437 0.00653037 -1.07906136] [ 0.03958069 -0.01288655 0.99913328 0.8868523 ] [ 0. 0. 0. 1. ]] SLAMing on 60.30486062399999 meters Centerline goodness : 0.784275 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.9867548 -0.15689968 -0.0412003 -4.00874711] [ 0.15727926 0.98753521 0.00611892 -1.08003745] [ 0.03972669 -0.01251783 0.99913217 0.88622181] [ 0. 0. 0. 1. ]] SLAMing on 60.364860623999995 meters Centerline goodness : 0.790107 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.98671013 -0.1570753 -0.041599 -4.00776865] [ 0.15745969 0.98750651 0.00611066 -1.07964461] [ 0.04011945 -0.01257961 0.9991157 0.88599644] [ 0. 0. 0. 1. ]] SLAMing on 60.42486062399999 meters Centerline goodness : 0.772135 with order 2 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.89 [[ 0.9871881 -0.15376008 -0.04263202 -4.00669764] [ 0.15430808 0.98797362 0.00985643 -1.07911097] [ 0.04060378 -0.01630862 0.99904222 0.88571405] [ 0. 0. 0. 1. ]] SLAMing on 60.48486062399999 meters Centerline goodness : 0.787438 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.88 [[ 0.98738982 -0.15265901 -0.04191152 -4.00739616] [ 0.15317223 0.98815573 0.00930112 -1.07838896] [ 0.03999521 -0.01560351 0.99907803 0.88449398] [ 0. 0. 0. 1. ]] SLAMing on 60.544860623999995 meters Centerline goodness : 0.789720 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.08, Z:0.88 [[ 0.98781959 -0.14970421 -0.04243954 -4.00723261] [ 0.15032743 0.98856492 0.01187702 -1.07736795] [ 0.0401762 -0.01811218 0.99902844 0.88424958] [ 0. 0. 0. 1. ]] SLAMing on 60.60486062399999 meters Centerline goodness : 0.787104 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.88 [[ 0.98854859 -0.14481655 -0.04242473 -4.00835841] [ 0.1455405 0.98924622 0.01448743 -1.07466689] [ 0.03987048 -0.02049605 0.99899462 0.88352241] [ 0. 0. 0. 1. ]] SLAMing on 60.66486062399999 meters Centerline goodness : 0.785076 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.88 [[ 0.98922719 -0.13994244 -0.04296131 -4.00738719] [ 0.1407812 0.98989224 0.01714685 -1.07224339] [ 0.0401275 -0.02301027 0.99892958 0.88145623] [ 0. 0. 0. 1. ]] SLAMing on 60.724860623999994 meters Centerline goodness : 0.795005 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.88 [[ 0.98897156 -0.14152032 -0.04367219 -4.00743621] [ 0.14235193 0.98967785 0.01654337 -1.06962447] [ 0.04088018 -0.02257775 0.99890893 0.88341715] [ 0. 0. 0. 1. ]] SLAMing on 60.784860624 meters Centerline goodness : 0.793332 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.07, Z:0.89 [[ 0.98864189 -0.13932905 -0.05634392 -4.00601509] [ 0.14054483 0.98990694 0.01820451 -1.07328053] [ 0.05323882 -0.02591658 0.99824544 0.88816283] [ 0. 0. 0. 1. ]] SLAMing on 60.84486062399999 meters Centerline goodness : 0.793399 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.89 [[ 0.98773481 -0.1451774 -0.0574758 -4.00376703] [ 0.14627102 0.98912656 0.01527872 -1.07322272] [ 0.05463272 -0.02349837 0.99822998 0.89013989] [ 0. 0. 0. 1. ]] SLAMing on 60.904860623999994 meters Centerline goodness : 0.790448 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.89 [[ 0.98739313 -0.14699492 -0.05871368 -4.0021572 ] [ 0.14813596 0.98884467 0.01555505 -1.07271346] [ 0.0557722 -0.02405656 0.99815367 0.89163837] [ 0. 0. 0. 1. ]] SLAMing on 60.964860623999996 meters Centerline goodness : 0.792839 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.89 [[ 0.98712864 -0.14857609 -0.05917934 -4.0013869 ] [ 0.14969368 0.98862019 0.01489713 -1.07253442] [ 0.05629254 -0.02356415 0.9981362 0.89215427] [ 0. 0. 0. 1. ]] SLAMing on 61.02486062399999 meters Centerline goodness : 0.795301 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.89 [[ 0.98676759 -0.15059903 -0.06008038 -3.99984713] [ 0.15167931 0.98833316 0.01381834 -1.07075996] [ 0.0572984 -0.02274844 0.99809789 0.89247488] [ 0. 0. 0. 1. ]] SLAMing on 61.084860623999994 meters Centerline goodness : 0.797666 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.90 [[ 0.98690012 -0.14893767 -0.06201382 -3.99908865] [ 0.15027644 0.98848932 0.01748875 -1.06962772] [ 0.05869527 -0.02657886 0.99792206 0.89515095] [ 0. 0. 0. 1. ]] SLAMing on 61.144860623999996 meters Centerline goodness : 0.801526 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.90 [[ 0.98725375 -0.14626948 -0.06273178 -3.99922862] [ 0.14778508 0.98881285 0.02021677 -1.06874783] [ 0.0590729 -0.0292299 0.99782564 0.89585874] [ 0. 0. 0. 1. ]] SLAMing on 61.20486062399999 meters Centerline goodness : 0.811168 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.90 [[ 0.98801011 -0.13721224 -0.07077299 -4.00464177] [ 0.13884526 0.99013805 0.01867185 -1.06746452] [ 0.06751302 -0.02827447 0.99731768 0.89984926] [ 0. 0. 0. 1. ]] SLAMing on 61.26486062399999 meters Centerline goodness : 0.811397 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.90 [[ 0.98846355 -0.13319306 -0.07210703 -4.00253034] [ 0.13511397 0.99057615 0.02243013 -1.0662337 ] [ 0.06843997 -0.03191403 0.99714466 0.89899683] [ 0. 0. 0. 1. ]] SLAMing on 61.324860623999996 meters Centerline goodness : 0.820164 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.06, Z:0.90 [[ 0.98900703 -0.12887981 -0.07249202 -4.00306289] [ 0.13098557 0.99106734 0.02506593 -1.06368524] [ 0.06861398 -0.03428579 0.99705396 0.8989819 ] [ 0. 0. 0. 1. ]] SLAMing on 61.38486062399999 meters Centerline goodness : 0.821231 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.06, Z:0.90 [[ 0.98941255 -0.12517879 -0.07343752 -4.00224714] [ 0.1275744 0.99140865 0.02887316 -1.06339544] [ 0.06919229 -0.03793621 0.99688177 0.89913207] [ 0. 0. 0. 1. ]] SLAMing on 61.44486062399999 meters Centerline goodness : 0.809690 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.06, Z:0.90 [[ 0.98942892 -0.12475334 -0.07393925 -4.00104298] [ 0.12710278 0.99149561 0.02795243 -1.05878038] [ 0.06982329 -0.03705482 0.99687093 0.89924522] [ 0. 0. 0. 1. ]] SLAMing on 61.504860623999996 meters Centerline goodness : 0.810039 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.06, Z:0.90 [[ 0.98931091 -0.12552782 -0.07420707 -4.0006448 ] [ 0.12780992 0.99143571 0.02683016 -1.05580279] [ 0.0702036 -0.03602777 0.99688187 0.89938943] [ 0. 0. 0. 1. ]] SLAMing on 61.56486062399999 meters Centerline goodness : 0.834965 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.90 [[ 0.98876922 -0.12980238 -0.07407277 -3.99986858] [ 0.13174608 0.99104009 0.02196627 -1.05298588] [ 0.07055782 -0.03147837 0.99701089 0.89978927] [ 0. 0. 0. 1. ]] SLAMing on 61.62486062399999 meters Centerline goodness : 0.799589 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.90 [[ 0.98806275 -0.13541362 -0.07345176 -4.00146358] [ 0.13692439 0.99045365 0.01591482 -1.0486698 ] [ 0.07059548 -0.02578218 0.99717178 0.90188125] [ 0. 0. 0. 1. ]] SLAMing on 61.684860623999995 meters Centerline goodness : 0.804609 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.90 [[ 0.98760228 -0.13881325 -0.07329818 -4.00042492] [ 0.14001054 0.99008402 0.011432 -1.04553541] [ 0.07098445 -0.02155278 0.99724455 0.902337 ] [ 0. 0. 0. 1. ]] SLAMing on 61.74486062399999 meters Centerline goodness : 0.798059 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98758799 -0.13882081 -0.07347612 -3.99972229] [ 0.14000548 0.99008737 0.01120091 -1.04478094] [ 0.07119286 -0.02134895 0.99723407 0.90215559] [ 0. 0. 0. 1. ]] SLAMing on 61.80486062399999 meters Centerline goodness : 0.802145 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98755638 -0.13898045 -0.07359917 -4.0001626 ] [ 0.14011111 0.99008113 0.01040363 -1.04226466] [ 0.07142325 -0.02058623 0.99723364 0.90327657] [ 0. 0. 0. 1. ]] SLAMing on 61.864860623999995 meters Centerline goodness : 0.802416 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.91 [[ 0.9875166 -0.13938011 -0.07337682 -4.00158873] [ 0.14043787 0.99004455 0.00943357 -1.04099801] [ 0.07133147 -0.01962069 0.99725967 0.90502406] [ 0. 0. 0. 1. ]] SLAMing on 61.92486062399999 meters Centerline goodness : 0.804627 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.91 [[ 0.98751635 -0.13936117 -0.07341612 -4.00151633] [ 0.14038088 0.99005764 0.0088921 -1.03972942] [ 0.07144698 -0.01908732 0.99726175 0.90543247] [ 0. 0. 0. 1. ]] SLAMing on 61.98486062399999 meters Centerline goodness : 0.802202 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.91 [[ 0.98750454 -0.13937254 -0.07355322 -4.00085853] [ 0.14035266 0.99006676 0.00830372 -1.0375907 ] [ 0.07166529 -0.01852335 0.99725672 0.90530824] [ 0. 0. 0. 1. ]] SLAMing on 62.044860623999995 meters Centerline goodness : 0.802126 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98750571 -0.13931199 -0.07365214 -4.0002798 ] [ 0.14028475 0.99007742 0.00817811 -1.03694028] [ 0.07178202 -0.0184082 0.99725046 0.90492676] [ 0. 0. 0. 1. ]] SLAMing on 62.10486062399999 meters Centerline goodness : 0.825798 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98752005 -0.13917462 -0.07371961 -3.99952328] [ 0.14012516 0.99010262 0.00785755 -1.03567293] [ 0.07189641 -0.01808946 0.99724805 0.90449384] [ 0. 0. 0. 1. ]] SLAMing on 62.16486062399999 meters Centerline goodness : 0.824442 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.91 [[ 0.98743317 -0.1399391 -0.07343552 -4.00112077] [ 0.14075844 0.99002531 0.00607753 -1.03142904] [ 0.07185254 -0.01633782 0.99728145 0.90632129] [ 0. 0. 0. 1. ]] SLAMing on 62.224860623999994 meters Centerline goodness : 0.796664 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.91 [[ 0.98736059 -0.14060081 -0.07314697 -4.0020076 ] [ 0.14132862 0.98995088 0.00484519 -1.02840884] [ 0.07173066 -0.01512171 0.9973094 0.90689997] [ 0. 0. 0. 1. ]] SLAMing on 62.284860624 meters Centerline goodness : 0.798670 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.91 [[ 0.98731377 -0.14101216 -0.07298688 -4.00234095] [ 0.14169011 0.98990228 0.00416984 -1.02710269] [ 0.07166188 -0.01445846 0.99732418 0.90703751] [ 0. 0. 0. 1. ]] SLAMing on 62.34486062399999 meters Centerline goodness : 0.815768 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.91 [[ 9.87266558e-01 -1.41537796e-01 -7.26071319e-02 -4.00316335e+00] [ 1.42152253e-01 9.89839169e-01 3.34004327e-03 -1.02507207e+00] [ 7.13966408e-02 -1.36187804e-02 9.97355026e-01 9.07176277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404860623999994 meters Centerline goodness : 0.817133 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.91 [[ 9.87231046e-01 -1.41780489e-01 -7.26164895e-02 -4.00321871e+00] [ 1.42355539e-01 9.89811687e-01 2.77929472e-03 -1.02359161e+00] [ 7.14826002e-02 -1.30811655e-02 9.97356065e-01 9.07467207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464860623999996 meters Centerline goodness : 0.816947 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.91 [[ 9.87195690e-01 -1.42134534e-01 -7.24047187e-02 -4.00407565e+00] [ 1.42675434e-01 9.89766792e-01 2.32764308e-03 -1.02308640e+00] [ 7.13329477e-02 -1.26282139e-02 9.97372618e-01 9.08171801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52486062399999 meters Centerline goodness : 0.808474 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.91 [[ 9.87130822e-01 -1.42733776e-01 -7.21097018e-02 -4.00494820e+00] [ 1.43253340e-01 9.89683910e-01 2.05889255e-03 -1.02333530e+00] [ 7.10719381e-02 -1.23623519e-02 9.97394582e-01 9.08476810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584860623999994 meters Centerline goodness : 0.811441 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.91 [[ 9.87088648e-01 -1.43137448e-01 -7.18865277e-02 -4.00519779e+00] [ 1.43656067e-01 9.89625510e-01 2.06997509e-03 -1.02393810e+00] [ 7.08444507e-02 -1.23701848e-02 9.97410669e-01 9.08105824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644860623999996 meters Centerline goodness : 0.816652 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.91 [[ 9.86555335e-01 -1.46967828e-01 -7.14774625e-02 -4.00396257e+00] [ 1.47225830e-01 9.89101487e-01 -1.67422324e-03 -1.02360931e+00] [ 7.09445214e-02 -8.87161490e-03 9.97440810e-01 9.07290189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70486062399999 meters Centerline goodness : 0.810949 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.91 [[ 0.98599144 -0.15091872 -0.07102413 -4.00368792] [ 0.15087186 0.98853478 -0.00605488 -1.02075866] [ 0.07112361 -0.00474548 0.99745622 0.9076038 ] [ 0. 0. 0. 1. ]] SLAMing on 62.76486062399999 meters Centerline goodness : 0.804181 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.91 [[ 9.85931608e-01 -1.51524255e-01 -7.05639031e-02 -4.00515964e+00] [ 1.51403197e-01 9.88446647e-01 -7.09207605e-03 -1.01844447e+00] [ 7.08232750e-02 -3.69129857e-03 9.97482049e-01 9.08427168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824860623999996 meters Centerline goodness : 0.803060 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.91 [[ 9.85917514e-01 -1.51628029e-01 -7.05379117e-02 -4.00530481e+00] [ 1.51447841e-01 9.88433466e-01 -7.92678572e-03 -1.01542697e+00] [ 7.09239554e-02 -2.86765758e-03 9.97477603e-01 9.08792432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88486062399999 meters Centerline goodness : 0.802787 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.91 [[ 9.85917204e-01 -1.51555666e-01 -7.06975812e-02 -4.00479759e+00] [ 1.51347237e-01 9.88445587e-01 -8.32679489e-03 -1.01375388e+00] [ 7.11426851e-02 -2.49035326e-03 9.97463040e-01 9.08764318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94486062399999 meters Centerline goodness : 0.791546 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.91 [[ 9.85897092e-01 -1.51765491e-01 -7.05277285e-02 -4.00484330e+00] [ 1.51543609e-01 9.88413875e-01 -8.51741100e-03 -1.01341125e+00] [ 7.10032345e-02 -2.29073577e-03 9.97473455e-01 9.08423727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004860623999996 meters Centerline goodness : 0.800483 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85831436e-01 -1.52305316e-01 -7.02813605e-02 -4.00602946e+00] [ 1.52028659e-01 9.88332328e-01 -9.30027934e-03 -1.01183125e+00] [ 7.08778227e-02 -1.51627329e-03 9.97483852e-01 9.09299874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06486062399999 meters Centerline goodness : 0.798680 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85844287e-01 -1.52244834e-01 -7.02321334e-02 -4.00606779e+00] [ 1.51941652e-01 9.88342156e-01 -9.67046606e-03 -1.01030748e+00] [ 7.08856566e-02 -1.13761265e-03 9.97483799e-01 9.09463955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12486062399999 meters Centerline goodness : 0.797603 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.91 [[ 9.85948043e-01 -1.51410944e-01 -7.05774958e-02 -4.00421215e+00] [ 1.51133468e-01 9.88469748e-01 -9.28611794e-03 -1.00995996e+00] [ 7.11697394e-02 -1.51099191e-03 9.97463075e-01 9.08258689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184860623999995 meters Centerline goodness : 0.796580 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.91 [[ 9.85977015e-01 -1.51123288e-01 -7.07889679e-02 -4.00365362e+00] [ 1.50837498e-01 9.88513913e-01 -9.39647805e-03 -1.00863747e+00] [ 7.13959063e-02 -1.41291942e-03 9.97447055e-01 9.08242190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24486062399999 meters Centerline goodness : 0.784024 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.91 [[ 9.86003420e-01 -1.51005940e-01 -7.06715054e-02 -4.00363696e+00] [ 1.50713470e-01 9.88532000e-01 -9.48341783e-03 -1.00786231e+00] [ 7.12930970e-02 -1.30046536e-03 9.97454562e-01 9.08038478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30486062399999 meters Centerline goodness : 0.794432 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85894334e-01 -1.52033834e-01 -6.99862503e-02 -4.00530500e+00] [ 1.51707668e-01 9.88374986e-01 -9.98351526e-03 -1.00811132e+00] [ 7.06904913e-02 -7.74759676e-04 9.97497997e-01 9.08240449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364860623999995 meters Centerline goodness : 0.791053 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85852225e-01 -1.52416622e-01 -6.97464214e-02 -4.00581249e+00] [ 1.52076892e-01 9.88316171e-01 -1.01864748e-02 -1.00762072e+00] [ 7.04841042e-02 -5.64460121e-04 9.97512743e-01 9.08129238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42486062399999 meters Centerline goodness : 0.792746 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85794516e-01 -1.52868245e-01 -6.95735058e-02 -4.00567307e+00] [ 1.52543901e-01 9.88246277e-01 -9.98272277e-03 -1.00860862e+00] [ 7.02817993e-02 -7.72100612e-04 9.97526878e-01 9.07226459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48486062399999 meters Centerline goodness : 0.783803 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.91 [[ 9.85607893e-01 -1.54208953e-01 -6.92580746e-02 -4.00394031e+00] [ 1.53780173e-01 9.88038012e-01 -1.15128148e-02 -1.00847359e+00] [ 7.02049894e-02 6.96602454e-04 9.97532342e-01 9.05742338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544860623999995 meters Centerline goodness : 0.782098 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85528515e-01 -1.54942970e-01 -6.87475212e-02 -4.00525030e+00] [ 1.54497728e-01 9.87922923e-01 -1.17792723e-02 -1.00862113e+00] [ 6.97423675e-02 9.87472946e-04 9.97564548e-01 9.05901655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60486062399999 meters Centerline goodness : 0.781240 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85490143e-01 -1.55388804e-01 -6.82898098e-02 -4.00650072e+00] [ 1.54927899e-01 9.87852570e-01 -1.20268616e-02 -1.00864035e+00] [ 6.93291038e-02 1.27235677e-03 9.97593031e-01 9.06218492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66486062399999 meters Centerline goodness : 0.782561 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85465271e-01 -1.55597494e-01 -6.81734464e-02 -4.00684293e+00] [ 1.55135267e-01 9.87819680e-01 -1.20552597e-02 -1.00944862e+00] [ 6.92188402e-02 1.30393395e-03 9.97600648e-01 9.06429594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724860623999994 meters Centerline goodness : 0.780046 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85461249e-01 -1.55617173e-01 -6.81866775e-02 -4.00683693e+00] [ 1.55163751e-01 9.87816741e-01 -1.19287951e-02 -1.00990343e+00] [ 6.92122669e-02 1.17526469e-03 9.97601263e-01 9.06431464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78486062399999 meters Centerline goodness : 0.790556 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85495429e-01 -1.55407638e-01 -6.81705558e-02 -4.00663200e+00] [ 1.54963773e-01 9.87849870e-01 -1.17840446e-02 -1.00968524e+00] [ 6.91736052e-02 1.04915555e-03 9.97604086e-01 9.06147806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84486062399999 meters Centerline goodness : 0.780557 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85538651e-01 -1.55175606e-01 -6.80742125e-02 -4.00676389e+00] [ 1.54744687e-01 9.87886502e-01 -1.15905488e-02 -1.01001828e+00] [ 6.90481661e-02 8.88811106e-04 9.97612931e-01 9.06153102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904860623999994 meters Centerline goodness : 0.778618 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85535751e-01 -1.55201543e-01 -6.80570690e-02 -4.00682986e+00] [ 1.54769365e-01 9.87882410e-01 -1.16098426e-02 -1.01009651e+00] [ 6.90342468e-02 9.08765649e-04 9.97613877e-01 9.06206392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964860623999996 meters Centerline goodness : 0.780696 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.91 [[ 9.85531328e-01 -1.55228090e-01 -6.80605774e-02 -4.00641935e+00] [ 1.54821495e-01 9.87878508e-01 -1.12408683e-02 -1.01122533e+00] [ 6.89804802e-02 5.40987491e-04 9.97617863e-01 9.05618228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024860624 meters Centerline goodness : 0.778435 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.01, Z:0.90 [[ 9.85519499e-01 -1.55247497e-01 -6.81874791e-02 -4.00553458e+00] [ 1.54875315e-01 9.87875606e-01 -1.07435016e-02 -1.01297898e+00] [ 6.90286490e-02 2.73729985e-05 9.97614678e-01 9.04805067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08486062399999 meters Centerline goodness : 0.777944 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.90 [[ 9.85387829e-01 -1.56243291e-01 -6.78148931e-02 -4.00654552e+00] [ 1.55868105e-01 9.87718596e-01 -1.08216727e-02 -1.01518825e+00] [ 6.86728448e-02 9.33657138e-05 9.97639229e-01 9.04933025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14486062399999 meters Centerline goodness : 0.777433 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.91 [[ 9.85360245e-01 -1.56514109e-01 -6.75908397e-02 -4.00717040e+00] [ 1.56147963e-01 9.87675723e-01 -1.06995364e-02 -1.01641389e+00] [ 6.84324599e-02 -1.12741508e-05 9.97655751e-01 9.05123538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20486062399999 meters Centerline goodness : 0.779395 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.91 [[ 9.85284553e-01 -1.57110841e-01 -6.73092425e-02 -4.00825271e+00] [ 1.56761279e-01 9.87580949e-01 -1.04771209e-02 -1.01968667e+00] [ 6.81193949e-02 -2.28537585e-04 9.97677150e-01 9.05781104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264860624 meters Centerline goodness : 0.779254 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.02, Z:0.91 [[ 9.85256579e-01 -1.57312396e-01 -6.72479270e-02 -4.00852136e+00] [ 1.56986095e-01 9.87548729e-01 -1.01426674e-02 -1.02211540e+00] [ 6.80061721e-02 -5.63859740e-04 9.97684741e-01 9.06025911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324860624 meters Centerline goodness : 0.780116 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 9.85243890e-01 -1.57368894e-01 -6.73016205e-02 -4.00847593e+00] [ 1.57089480e-01 9.87539091e-01 -9.45718408e-03 -1.02545819e+00] [ 6.79512477e-02 -1.25474375e-03 9.97687854e-01 9.06145521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384860624 meters Centerline goodness : 0.781196 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 9.85311646e-01 -1.56789708e-01 -6.76605322e-02 -4.00729026e+00] [ 1.56566969e-01 9.87629768e-01 -8.61544414e-03 -1.02797412e+00] [ 6.81743687e-02 -2.10450699e-03 9.97671202e-01 9.05768751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44486062399999 meters Centerline goodness : 0.781421 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 9.85398579e-01 -1.56084957e-01 -6.80229863e-02 -4.00619670e+00] [ 1.55898200e-01 9.87740094e-01 -8.07822507e-03 -1.02872801e+00] [ 6.84499203e-02 -2.64438965e-03 9.97651049e-01 9.05520332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50486062399999 meters Centerline goodness : 0.783133 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 0.98593892 -0.15244076 -0.06845626 -4.00728813] [ 0.15250435 0.98829333 -0.00432703 -1.03051072] [ 0.06831448 -0.00617369 0.99764473 0.90642993] [ 0. 0. 0. 1. ]] SLAMing on 64.56486062399999 meters Centerline goodness : 0.782888 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 9.86017949e-01 -1.51828612e-01 -6.86780667e-02 -4.00657337e+00] [ 1.51916406e-01 9.88385360e-01 -3.97323101e-03 -1.03104187e+00] [ 6.84836458e-02 -6.51564798e-03 9.97630962e-01 9.06333633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624860624 meters Centerline goodness : 0.783919 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 9.86134103e-01 -1.50969143e-01 -6.89046397e-02 -4.00570035e+00] [ 1.51097981e-01 9.88513052e-01 -3.36836830e-03 -1.03190878e+00] [ 6.86216554e-02 -7.08968912e-03 9.97617564e-01 9.06084008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684860624 meters Centerline goodness : 0.782345 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 9.86150878e-01 -1.50793099e-01 -6.90498885e-02 -4.00530152e+00] [ 1.50940057e-01 9.88538012e-01 -3.11428052e-03 -1.03244352e+00] [ 6.87280515e-02 -7.35124362e-03 9.97608347e-01 9.06038281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744860624 meters Centerline goodness : 0.782570 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.03, Z:0.91 [[ 0.98595617 -0.15233527 -0.06844262 -4.00533573] [ 0.1523717 0.98831199 -0.00471869 -1.03479126] [ 0.06836149 -0.0057763 0.9976439 0.90613357] [ 0. 0. 0. 1. ]] SLAMing on 64.804860624 meters Centerline goodness : 0.781801 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.04, Z:0.91 [[ 0.98573375 -0.15407596 -0.06774633 -4.00545201] [ 0.15399442 0.98805063 -0.00645571 -1.03643165] [ 0.06793148 -0.00406895 0.99768169 0.90599111] [ 0. 0. 0. 1. ]] SLAMing on 64.86486062399999 meters Centerline goodness : 0.782972 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.91 [[ 9.85224097e-01 -1.57348758e-01 -6.76376161e-02 -4.00368895e+00] [ 1.57063630e-01 9.87542346e-01 -9.54629074e-03 -1.03676057e+00] [ 6.82971070e-02 -1.21817382e-03 9.97664283e-01 9.05255858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92486062399999 meters Centerline goodness : 0.782161 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.85216574e-01 -1.57438969e-01 -6.75372028e-02 -4.00353520e+00] [ 1.57187967e-01 9.87527253e-01 -9.04808324e-03 -1.03898429e+00] [ 6.81193493e-02 -1.70171407e-03 9.97675728e-01 9.04854569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98486062399999 meters Centerline goodness : 0.782134 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.84658039e-01 -1.60980885e-01 -6.73327605e-02 -4.00236284e+00] [ 1.60540629e-01 9.86957075e-01 -1.19347850e-02 -1.04190462e+00] [ 6.83758166e-02 9.42038240e-04 9.97659190e-01 9.04761882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044860624 meters Centerline goodness : 0.783945 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.91 [[ 9.84521081e-01 -1.61857651e-01 -6.72334902e-02 -4.00326595e+00] [ 1.61437261e-01 9.86813908e-01 -1.16756489e-02 -1.04519594e+00] [ 6.82367364e-02 6.40931980e-04 9.97668952e-01 9.05551947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104860624 meters Centerline goodness : 0.785144 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.91 [[ 9.84524921e-01 -1.61802182e-01 -6.73107204e-02 -4.00299170e+00] [ 1.61408171e-01 9.86823182e-01 -1.12876096e-02 -1.04670003e+00] [ 6.82501391e-02 2.48432727e-04 9.97668210e-01 9.05465684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164860624 meters Centerline goodness : 0.784763 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.91 [[ 9.84574283e-01 -1.61376065e-01 -6.76110037e-02 -4.00205661e+00] [ 1.61027106e-01 9.86892890e-01 -1.06157724e-02 -1.04903053e+00] [ 6.84379504e-02 -4.35187761e-04 9.97655280e-01 9.05246097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22486062399999 meters Centerline goodness : 0.784553 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.91 [[ 9.84670115e-01 -1.60621706e-01 -6.80105342e-02 -4.00117112e+00] [ 1.60283522e-01 9.87015845e-01 -1.04362377e-02 -1.04792213e+00] [ 6.88037611e-02 -6.24716622e-04 9.97630018e-01 9.05362995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28486062399999 meters Centerline goodness : 0.785815 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.05, Z:0.91 [[ 9.85321243e-01 -1.56241036e-01 -6.87807161e-02 -4.00116471e+00] [ 1.56132806e-01 9.87711409e-01 -6.97990450e-03 -1.04626339e+00] [ 6.90260455e-02 -3.86147804e-03 9.97607385e-01 9.05898258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34486062399999 meters Centerline goodness : 0.784356 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.91 [[ 0.98551721 -0.15484041 -0.06913961 -3.99961545] [ 0.1547534 0.98793078 -0.00664553 -1.044654 ] [ 0.06933415 -0.00415031 0.99758486 0.90527921] [ 0. 0. 0. 1. ]] SLAMing on 65.404860624 meters Centerline goodness : 0.783041 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98577207 -0.15313104 -0.06931309 -3.99859607] [ 0.1530844 0.98819481 -0.00601585 -1.04231892] [ 0.06941605 -0.0046805 0.99757682 0.90471825] [ 0. 0. 0. 1. ]] SLAMing on 65.464860624 meters Centerline goodness : 0.782629 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98581443 -0.1528222 -0.06939227 -3.99849062] [ 0.15275473 0.98824399 -0.00630916 -1.04069317] [ 0.06954067 -0.00438034 0.9975695 0.90494843] [ 0. 0. 0. 1. ]] SLAMing on 65.524860624 meters Centerline goodness : 0.784543 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98581108 -0.15281019 -0.06946621 -3.99817991] [ 0.15272858 0.98824669 -0.00651599 -1.03963886] [ 0.06964546 -0.00418594 0.99756302 0.9048393 ] [ 0. 0. 0. 1. ]] SLAMing on 65.58486062399999 meters Centerline goodness : 0.782042 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98576529 -0.15311849 -0.06943718 -3.99763664] [ 0.15303945 0.98819878 -0.00648825 -1.04083236] [ 0.06961121 -0.00423074 0.99756523 0.90419312] [ 0. 0. 0. 1. ]] SLAMing on 65.64486062399999 meters Centerline goodness : 0.782900 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 0.98570977 -0.15352059 -0.06933746 -3.99797912] [ 0.15343009 0.98813706 -0.00666091 -1.03999669] [ 0.0695375 -0.00407273 0.99757102 0.90416499] [ 0. 0. 0. 1. ]] SLAMing on 65.70486062399999 meters Centerline goodness : 0.781381 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.85637182e-01 -1.54054700e-01 -6.91845039e-02 -3.99854595e+00] [ 1.53951517e-01 9.88054638e-01 -6.85300712e-03 -1.03958768e+00] [ 6.94138078e-02 -3.89648069e-03 9.97580343e-01 9.04275108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764860624 meters Centerline goodness : 0.781473 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.85020893e-01 -1.58193860e-01 -6.86188232e-02 -3.99811778e+00] [ 1.57841253e-01 9.87407982e-01 -1.05648552e-02 -1.04032903e+00] [ 6.94260690e-02 -4.24277916e-04 9.97587009e-01 9.04042661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824860624 meters Centerline goodness : 0.779799 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.84977736e-01 -1.58500201e-01 -6.85313550e-02 -3.99817925e+00] [ 1.58151113e-01 9.87358832e-01 -1.05243516e-02 -1.04078397e+00] [ 6.93331505e-02 -4.72058043e-04 9.97593450e-01 9.03798728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884860624 meters Centerline goodness : 0.781788 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.84807025e-01 -1.59624519e-01 -6.83749622e-02 -3.99922756e+00] [ 1.59226416e-01 9.87177780e-01 -1.12685262e-02 -1.03926461e+00] [ 6.92969765e-02 2.10223571e-04 9.97596053e-01 9.04407033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94486062399999 meters Centerline goodness : 0.782989 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.84774707e-01 -1.59848128e-01 -6.83180208e-02 -3.99898495e+00] [ 1.59439327e-01 9.87141552e-01 -1.14305586e-02 -1.03860180e+00] [ 6.92667104e-02 3.63945777e-04 9.97598111e-01 9.03933951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00486062399999 meters Centerline goodness : 0.779861 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.84979228e-01 -1.58644262e-01 -6.81756391e-02 -3.99837110e+00] [ 1.58242265e-01 9.87335752e-01 -1.12915478e-02 -1.03592857e+00] [ 6.91035852e-02 3.33672558e-04 9.97609434e-01 9.03174645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06486062399999 meters Centerline goodness : 0.782702 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.85160254e-01 -1.57386669e-01 -6.84741554e-02 -3.99741885e+00] [ 1.56997871e-01 9.87537045e-01 -1.10567811e-02 -1.03260024e+00] [ 6.93609550e-02 1.42404721e-04 9.97591619e-01 9.02874665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124860624 meters Centerline goodness : 0.780515 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.85782320e-01 -1.53331831e-01 -6.87209411e-02 -3.99839538e+00] [ 1.53164669e-01 9.88170475e-01 -7.72639051e-03 -1.03108085e+00] [ 6.90927066e-02 -2.90908107e-03 9.97606002e-01 9.03308670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184860624 meters Centerline goodness : 0.779030 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.86030507e-01 -1.51699024e-01 -6.87840509e-02 -3.99672207e+00] [ 1.51560088e-01 9.88421351e-01 -7.26453111e-03 -1.02948827e+00] [ 6.90896468e-02 -3.26186754e-03 9.97605123e-01 9.02005237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244860624 meters Centerline goodness : 0.778166 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.86713292e-01 -1.47004785e-01 -6.91843397e-02 -3.99647485e+00] [ 1.47101057e-01 9.89114439e-01 -3.72899652e-03 -1.02662750e+00] [ 6.89794097e-02 -6.49763903e-03 9.97596923e-01 9.01463458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30486062399999 meters Centerline goodness : 0.789180 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.87326824e-01 -1.42677674e-01 -6.94897416e-02 -3.99682507e+00] [ 1.42993038e-01 9.89723596e-01 -4.40326266e-04 -1.02422257e+00] [ 6.88384617e-02 -9.50180336e-03 9.97582569e-01 9.01506842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36486062399999 meters Centerline goodness : 0.780108 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.87413829e-01 -1.42070215e-01 -6.94980837e-02 -3.99625038e+00] [ 1.42381660e-01 9.89811717e-01 -4.76894909e-04 -1.02287023e+00] [ 6.88577701e-02 -9.42435989e-03 9.97581971e-01 9.01112300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42486062399999 meters Centerline goodness : 0.789384 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.87351111e-01 -1.42650527e-01 -6.91997844e-02 -3.99656400e+00] [ 1.42929649e-01 9.89732417e-01 -9.26341508e-04 -1.02179558e+00] [ 6.86214130e-02 -8.97607659e-03 9.97602392e-01 9.00657584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48486062399999 meters Centerline goodness : 0.790999 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.87269345e-01 -1.43372629e-01 -6.88732813e-02 -3.99705870e+00] [ 1.43624732e-01 9.89631365e-01 -1.30320678e-03 -1.02132935e+00] [ 6.83460035e-02 -8.60529043e-03 9.97624565e-01 9.00268336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544860624 meters Centerline goodness : 0.782876 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 0.98680587 -0.14659931 -0.06872282 -3.99513094] [ 0.14661306 0.98918193 -0.00487117 -1.01956669] [ 0.06869349 -0.00526876 0.9976239 0.89923883] [ 0. 0. 0. 1. ]] SLAMing on 66.604860624 meters Centerline goodness : 0.779749 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.02, Z:0.90 [[ 9.86317611e-01 -1.50029360e-01 -6.83283287e-02 -3.99424216e+00] [ 1.49797177e-01 9.88679878e-01 -8.53841221e-03 -1.01681355e+00] [ 6.88358562e-02 -1.81380442e-03 9.97626350e-01 8.98639527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664860624 meters Centerline goodness : 0.781500 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.86199254e-01 -1.50927327e-01 -6.80585980e-02 -3.99532132e+00] [ 1.50651963e-01 9.88544145e-01 -9.19019396e-03 -1.01506643e+00] [ 6.86659799e-02 -1.18979893e-03 9.97638997e-01 8.98974320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72486062399999 meters Centerline goodness : 0.782014 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.86141379e-01 -1.51360870e-01 -6.79342865e-02 -3.99585056e+00] [ 1.51064657e-01 9.88478173e-01 -9.50634449e-03 -1.01453069e+00] [ 6.85904480e-02 -8.87870033e-04 9.97644507e-01 8.99258160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78486062399999 meters Centerline goodness : 0.783488 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.86000108e-01 -1.52510548e-01 -6.74115664e-02 -3.99759551e+00] [ 1.52174175e-01 9.88301805e-01 -1.01272921e-02 -1.01413691e+00] [ 6.81674916e-02 -2.72788427e-04 9.97673854e-01 8.99759436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84486062399999 meters Centerline goodness : 0.781346 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85897936e-01 -1.53201988e-01 -6.73380346e-02 -3.99778600e+00] [ 1.52855251e-01 9.88194886e-01 -1.03024187e-02 -1.01363372e+00] [ 6.81214525e-02 -1.35838931e-04 9.97677027e-01 8.99482382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904860624 meters Centerline goodness : 0.778707 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85839627e-01 -1.53655238e-01 -6.71587447e-02 -3.99812560e+00] [ 1.53301430e-01 9.88124520e-01 -1.04213256e-02 -1.01361619e+00] [ 6.79624937e-02 -2.17758996e-05 9.97687877e-01 8.99310803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964860624 meters Centerline goodness : 0.782306 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85706231e-01 -1.54654825e-01 -6.68214851e-02 -3.99889696e+00] [ 1.54280695e-01 9.87968522e-01 -1.07548689e-02 -1.01448633e+00] [ 6.76808163e-02 2.91876114e-04 9.97706982e-01 8.99205462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024860624 meters Centerline goodness : 0.791719 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85648455e-01 -1.55095357e-01 -6.66524759e-02 -3.99914730e+00] [ 1.54712128e-01 9.87899408e-01 -1.09049501e-02 -1.01446918e+00] [ 6.75372486e-02 4.36500864e-04 9.97716658e-01 8.98992737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08486062399999 meters Centerline goodness : 0.782423 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85625652e-01 -1.55243397e-01 -6.66450369e-02 -3.99916978e+00] [ 1.54843984e-01 9.87876025e-01 -1.11490306e-02 -1.01323612e+00] [ 6.75678475e-02 6.69187522e-04 9.97714457e-01 8.98992000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14486062399999 meters Centerline goodness : 0.789849 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85620676e-01 -1.55348638e-01 -6.64731729e-02 -3.99953389e+00] [ 1.54928604e-01 9.87859205e-01 -1.14594570e-02 -1.01221982e+00] [ 6.74463468e-02 9.96081896e-04 9.97722405e-01 8.99080187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20486062399999 meters Centerline goodness : 0.791432 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85635902e-01 -1.55277067e-01 -6.64146075e-02 -3.99958673e+00] [ 1.54833949e-01 9.87870041e-01 -1.17995672e-02 -1.01077845e+00] [ 6.74412033e-02 1.34684106e-03 9.97722341e-01 8.99184475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264860624 meters Centerline goodness : 0.791219 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85565732e-01 -1.55897330e-01 -6.60015905e-02 -4.00068587e+00] [ 1.55439605e-01 9.87771948e-01 -1.20460826e-02 -1.01091438e+00] [ 6.70724717e-02 1.61294505e-03 9.97746803e-01 8.99353552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324860624 meters Centerline goodness : 0.791176 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85567904e-01 -1.55842771e-01 -6.60979336e-02 -3.99970246e+00] [ 1.55418121e-01 9.87781249e-01 -1.15503782e-02 -1.01293648e+00] [ 6.70903424e-02 1.11086537e-03 9.97746286e-01 8.98411225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384860624 meters Centerline goodness : 0.793687 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85581308e-01 -1.55758047e-01 -6.60977745e-02 -3.99964625e+00] [ 1.55351708e-01 9.87794877e-01 -1.12751348e-02 -1.01327515e+00] [ 6.70472360e-02 8.44159917e-04 9.97749445e-01 8.98248275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44486062399999 meters Centerline goodness : 0.795119 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85587270e-01 -1.55721970e-01 -6.60938793e-02 -3.99988755e+00] [ 1.55332583e-01 9.87800745e-01 -1.10216229e-02 -1.01435319e+00] [ 6.70038920e-02 5.96238238e-04 9.97752536e-01 8.98576112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50486062399999 meters Centerline goodness : 0.790007 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85615787e-01 -1.55537774e-01 -6.61023504e-02 -3.99948751e+00] [ 1.55182334e-01 9.87829940e-01 -1.05096478e-02 -1.01600477e+00] [ 6.69325281e-02 1.00557767e-04 9.97757499e-01 8.98123336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56486062399999 meters Centerline goodness : 0.800061 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85634687e-01 -1.55403483e-01 -6.61363840e-02 -3.99942488e+00] [ 1.55076094e-01 9.87851031e-01 -1.00869270e-02 -1.01765449e+00] [ 6.69004387e-02 -3.14147020e-04 9.97759607e-01 8.98210544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624860624 meters Centerline goodness : 0.798199 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85680917e-01 -1.55173715e-01 -6.59867286e-02 -3.99997663e+00] [ 1.54843858e-01 9.87887168e-01 -1.01154591e-02 -1.01797476e+00] [ 6.67570958e-02 -2.47024613e-04 9.97769226e-01 8.98863934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684860624 meters Centerline goodness : 0.800879 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85816104e-01 -1.54161202e-01 -6.63395289e-02 -3.99826997e+00] [ 1.53865215e-01 9.88045414e-01 -9.57894226e-03 -1.01773248e+00] [ 6.70231685e-02 -7.64270317e-04 9.97751127e-01 8.97916780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744860624 meters Centerline goodness : 0.801229 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85838425e-01 -1.53895640e-01 -6.66238038e-02 -3.99755337e+00] [ 1.53598011e-01 9.88086806e-01 -9.59761912e-03 -1.01745832e+00] [ 6.73071333e-02 -7.71582040e-04 9.97732005e-01 8.97930141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80486062399999 meters Centerline goodness : 0.798064 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 0.98639988 -0.15007782 -0.06702187 -3.99806033] [ 0.15002491 0.98866491 -0.00585057 -1.01770299] [ 0.06714021 -0.00428395 0.99773435 0.89792854] [ 0. 0. 0. 1. ]] SLAMing on 67.86486062399999 meters Centerline goodness : 0.796649 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 0.98646654 -0.14957886 -0.06715603 -3.99753706] [ 0.14952563 0.98874056 -0.00584691 -1.01711638] [ 0.06727447 -0.00427376 0.99772535 0.89791849] [ 0. 0. 0. 1. ]] SLAMing on 67.92486062399999 meters Centerline goodness : 0.796132 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.86534447e-01 -1.49146722e-01 -6.71195943e-02 -3.99748188e+00] [ 1.49068721e-01 9.88807418e-01 -6.19723952e-03 -1.01542935e+00] [ 6.72926507e-02 -3.89164182e-03 9.97725691e-01 8.98230720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98486062399999 meters Centerline goodness : 0.793934 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.86582586e-01 -1.48885851e-01 -6.69910765e-02 -3.99790536e+00] [ 1.48765731e-01 9.88849045e-01 -6.80615411e-03 -1.01286041e+00] [ 6.72574021e-02 -3.25114334e-03 9.97730360e-01 8.98822494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044860624 meters Centerline goodness : 0.791965 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.86625599e-01 -1.48588077e-01 -6.70187306e-02 -3.99758984e+00] [ 1.48463238e-01 9.88894083e-01 -6.86731807e-03 -1.01252503e+00] [ 6.72948277e-02 -3.17434593e-03 9.97728084e-01 8.98763012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104860624 meters Centerline goodness : 0.793144 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.86596958e-01 -1.48851299e-01 -6.68560691e-02 -3.99820799e+00] [ 1.48713459e-01 9.88855115e-01 -7.06176877e-03 -1.01160369e+00] [ 6.71621194e-02 -2.97527772e-03 9.97737640e-01 8.98938018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164860624 meters Centerline goodness : 0.790776 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.86524159e-01 -1.49311452e-01 -6.69042101e-02 -3.99786048e+00] [ 1.49182233e-01 9.88785284e-01 -6.95156527e-03 -1.01193315e+00] [ 6.71918467e-02 -3.12303238e-03 9.97735187e-01 8.98323213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22486062399999 meters Centerline goodness : 0.787847 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85883481e-01 -1.53794810e-01 -6.61884999e-02 -3.99769049e+00] [ 1.53435654e-01 9.88102786e-01 -1.05064203e-02 -1.01313043e+00] [ 6.70168741e-02 2.02430492e-04 9.97751822e-01 8.97688393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28486062399999 meters Centerline goodness : 0.788930 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85690344e-01 -1.55265823e-01 -6.56282781e-02 -3.99933201e+00] [ 1.54886264e-01 9.87872577e-01 -1.08635239e-02 -1.01444384e+00] [ 6.65191102e-02 5.43151779e-04 9.97785003e-01 8.97902620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34486062399999 meters Centerline goodness : 0.781689 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85521715e-01 -1.56555792e-01 -6.50940289e-02 -4.00105796e+00] [ 1.56156345e-01 9.87668721e-01 -1.12113219e-02 -1.01496246e+00] [ 6.60465336e-02 8.84155569e-04 9.97816152e-01 8.98236700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404860624 meters Centerline goodness : 0.780615 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 0.98484675 -0.1609897 -0.06449175 -4.00124046] [ 0.16033668 0.98694518 -0.01521056 -1.01521534] [ 0.06609856 0.00463968 0.99780231 0.8986011 ] [ 0. 0. 0. 1. ]] SLAMing on 68.464860624 meters Centerline goodness : 0.777369 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 0.98476871 -0.1615686 -0.06423537 -4.00179126] [ 0.16090562 0.98684967 -0.01539813 -1.01501659] [ 0.0658785 0.00482776 0.99781597 0.89844547] [ 0. 0. 0. 1. ]] SLAMing on 68.524860624 meters Centerline goodness : 0.775272 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85305860e-01 -1.58142086e-01 -6.45247456e-02 -4.00245745e+00] [ 1.57694176e-01 9.87414976e-01 -1.20088441e-02 -1.01342418e+00] [ 6.56118038e-02 1.65720782e-03 9.97843848e-01 8.98031115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58486062399999 meters Centerline goodness : 0.779984 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.85929392e-01 -1.53997432e-01 -6.50232653e-02 -4.00286677e+00] [ 1.53751723e-01 9.88070359e-01 -8.79615205e-03 -1.01128117e+00] [ 6.56021459e-02 -1.32505425e-03 9.97844979e-01 8.98478984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64486062399999 meters Centerline goodness : 0.775870 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 0.98654197 -0.14984053 -0.06544276 -4.00292828] [ 0.14981464 0.98869973 -0.00533079 -1.00916301] [ 0.06550201 -0.00454524 0.99784209 0.89811871] [ 0. 0. 0. 1. ]] SLAMing on 68.70486062399999 meters Centerline goodness : 0.776024 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 9.87749107e-01 -1.41247150e-01 -6.63396141e-02 -4.00251580e+00] [ 1.41710945e-01 9.89905375e-01 2.31454532e-03 -1.00700956e+00] [ 6.53430176e-02 -1.16872395e-02 9.97794417e-01 8.96783158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764860624 meters Centerline goodness : 0.773508 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 0.98836397 -0.13670101 -0.06670458 -4.00242528] [ 0.13739787 0.99049806 0.00595197 -1.0050472 ] [ 0.06525712 -0.01504778 0.99775502 0.8963634 ] [ 0. 0. 0. 1. ]] SLAMing on 68.824860624 meters Centerline goodness : 0.772495 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.90 [[ 0.98897771 -0.13202109 -0.06703372 -4.00193194] [ 0.13294839 0.99107699 0.0095464 -1.002351 ] [ 0.06517525 -0.01835321 0.99770504 0.89547977] [ 0. 0. 0. 1. ]] SLAMing on 68.884860624 meters Centerline goodness : 0.775550 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.90 [[ 0.98901986 -0.13174405 -0.06695692 -4.00181774] [ 0.1326513 0.99111942 0.00926986 -1.00035414] [ 0.06514105 -0.01805 0.9977128 0.89529412] [ 0. 0. 0. 1. ]] SLAMing on 68.94486062399999 meters Centerline goodness : 0.776604 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.89 [[ 0.98896559 -0.13228457 -0.06669224 -4.0020435 ] [ 0.13316172 0.99105469 0.00886329 -0.99895731] [ 0.06492318 -0.01764634 0.99773423 0.89469411] [ 0. 0. 0. 1. ]] SLAMing on 69.00486062399999 meters Centerline goodness : 0.776360 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.89 [[ 0.9889102 -0.13276528 -0.06655823 -4.00177666] [ 0.13363786 0.99099104 0.00881386 -0.99871023] [ 0.06478844 -0.01761082 0.99774361 0.89373107] [ 0. 0. 0. 1. ]] SLAMing on 69.06486062399999 meters Centerline goodness : 0.776702 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.89 [[ 0.9883075 -0.13750226 -0.06588942 -4.00179906] [ 0.13808897 0.99041 0.00441274 -0.99714588] [ 0.06465078 -0.01345974 0.99781717 0.8934126 ] [ 0. 0. 0. 1. ]] SLAMing on 69.124860624 meters Centerline goodness : 0.778751 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.89 [[ 9.88166298e-01 -1.38711691e-01 -6.54708610e-02 -4.00307286e+00] [ 1.39255038e-01 9.90249306e-01 3.78764371e-03 -9.97416181e-01] [ 6.43070842e-02 -1.28599691e-02 9.97847293e-01 8.93630635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184860624 meters Centerline goodness : 0.772205 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.89 [[ 9.88096128e-01 -1.39338794e-01 -6.51977188e-02 -4.00395505e+00] [ 1.39833142e-01 9.90170356e-01 3.05904375e-03 -9.94911018e-01] [ 6.41306050e-02 -1.21394312e-02 9.97867676e-01 8.93802064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244860624 meters Centerline goodness : 0.781373 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.89 [[ 9.88174961e-01 -1.38811938e-01 -6.51267431e-02 -4.00390856e+00] [ 1.39274388e-01 9.90250433e-01 2.59311330e-03 -9.92462466e-01] [ 6.41318305e-02 -1.16329369e-02 9.97873631e-01 8.94114457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30486062399999 meters Centerline goodness : 0.775323 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.89 [[ 9.88313659e-01 -1.37718769e-01 -6.53425667e-02 -4.00263826e+00] [ 1.38194557e-01 9.90401153e-01 2.79665363e-03 -9.90606235e-01] [ 6.43302017e-02 -1.17939580e-02 9.97858972e-01 8.93528295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36486062399999 meters Centerline goodness : 0.776190 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.89 [[ 0.98885845 -0.13360185 -0.06564691 -4.00288152] [ 0.13431432 0.99091718 0.00654228 -0.98955446] [ 0.06417659 -0.0152867 0.99782147 0.89312935] [ 0. 0. 0. 1. ]] SLAMing on 69.42486062399999 meters Centerline goodness : 0.776941 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.89 [[ 0.98960642 -0.12768687 -0.06614522 -4.0013208 ] [ 0.12867792 0.99162622 0.01092819 -0.98684791] [ 0.06419595 -0.01932603 0.99775016 0.89170653] [ 0. 0. 0. 1. ]] SLAMing on 69.48486062399999 meters Centerline goodness : 0.776436 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.89 [[ 0.9903689 -0.12134539 -0.06666882 -3.99858256] [ 0.12264033 0.99232744 0.01567168 -0.9842043 ] [ 0.06425561 -0.02369703 0.99765208 0.88901413] [ 0. 0. 0. 1. ]] SLAMing on 69.544860624 meters Centerline goodness : 0.778045 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.89 [[ 0.99087323 -0.11687047 -0.06716797 -3.99792341] [ 0.11839409 0.9927819 0.01915567 -0.98140662] [ 0.06444441 -0.02693313 0.99755778 0.88834052] [ 0. 0. 0. 1. ]] SLAMing on 69.604860624 meters Centerline goodness : 0.780580 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.89 [[ 0.99133237 -0.11274165 -0.06744958 -3.99791514] [ 0.11448583 0.99316856 0.02256568 -0.97906791] [ 0.06444471 -0.03009211 0.99746747 0.88781411] [ 0. 0. 0. 1. ]] SLAMing on 69.66486062399999 meters Centerline goodness : 0.779565 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.89 [[ 0.99139752 -0.11222299 -0.06735699 -3.99745474] [ 0.11390733 0.99325442 0.02169725 -0.97538406] [ 0.0644677 -0.02918305 0.99749299 0.88781448] [ 0. 0. 0. 1. ]] SLAMing on 69.72486062399999 meters Centerline goodness : 0.780610 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.89 [[ 0.99139091 -0.11229761 -0.06732982 -3.99717112] [ 0.11393697 0.99326576 0.02101163 -0.97285106] [ 0.06451685 -0.02850209 0.9975095 0.88755498] [ 0. 0. 0. 1. ]] SLAMing on 69.78486062399999 meters Centerline goodness : 0.784241 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.89 [[ 0.99127842 -0.11346338 -0.06703093 -3.99821161] [ 0.11500425 0.99317198 0.01958171 -0.96868095] [ 0.06435143 -0.02711977 0.99755873 0.88771467] [ 0. 0. 0. 1. ]] SLAMing on 69.84486062399999 meters Centerline goodness : 0.783916 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.89 [[ 0.99122167 -0.11406565 -0.06684781 -3.99819389] [ 0.1155796 0.9931122 0.01922296 -0.96777159] [ 0.0641947 -0.02678046 0.99757799 0.88692476] [ 0. 0. 0. 1. ]] SLAMing on 69.904860624 meters Centerline goodness : 0.784804 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 0.99069624 -0.11887222 -0.06625982 -3.99839938] [ 0.12006489 0.99266299 0.01430407 -0.96473306] [ 0.06407331 -0.02212647 0.99769987 0.88683665] [ 0. 0. 0. 1. ]] SLAMing on 69.964860624 meters Centerline goodness : 0.788112 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 0.99055518 -0.1203518 -0.06569542 -4.00046939] [ 0.12147673 0.99250394 0.01339167 -0.9637273 ] [ 0.06359125 -0.02124565 0.99774986 0.88739362] [ 0. 0. 0. 1. ]] SLAMing on 70.024860624 meters Centerline goodness : 0.787190 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 0.98997628 -0.12540928 -0.06495745 -4.00159224] [ 0.12621674 0.99196658 0.00846344 -0.96170536] [ 0.06337422 -0.01657732 0.99785214 0.88822702] [ 0. 0. 0. 1. ]] SLAMing on 70.08486062399999 meters Centerline goodness : 0.786330 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 0.9894309 -0.12981197 -0.06461699 -4.00127277] [ 0.13034701 0.99145989 0.00411659 -0.96121434] [ 0.06353077 -0.01249571 0.99790165 0.88855748] [ 0. 0. 0. 1. ]] SLAMing on 70.14486062399999 meters Centerline goodness : 0.787555 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 9.88759051e-01 -1.35296926e-01 -6.36418256e-02 -4.00318576e+00] [ 1.35533124e-01 9.90772627e-01 -6.11028880e-04 -9.59875757e-01] [ 6.31372491e-02 -8.02141513e-03 9.97972617e-01 8.89300049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20486062399999 meters Centerline goodness : 0.786118 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 9.88592689e-01 -1.36641024e-01 -6.33539719e-02 -4.00453870e+00] [ 1.36847955e-01 9.90591473e-01 -1.08195101e-03 -9.60477100e-01] [ 6.29057433e-02 -7.60025261e-03 9.97990533e-01 8.89621373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264860624 meters Centerline goodness : 0.786285 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:0.89 [[ 9.87980483e-01 -1.41161500e-01 -6.29920388e-02 -4.00393645e+00] [ 1.41119821e-01 9.89979217e-01 -5.13274384e-03 -9.61472088e-01] [ 6.30853551e-02 -3.81837451e-03 9.98000831e-01 8.89493532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324860624 meters Centerline goodness : 0.787944 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.89 [[ 9.87842293e-01 -1.42258267e-01 -6.26912244e-02 -4.00507567e+00] [ 1.42194237e-01 9.89823468e-01 -5.50459272e-03 -9.62159629e-01] [ 6.28363190e-02 -3.47666133e-03 9.98017790e-01 8.89712379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384860624 meters Centerline goodness : 0.785916 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.89 [[ 9.87759289e-01 -1.42921663e-01 -6.24898811e-02 -4.00628291e+00] [ 1.42830422e-01 9.89729303e-01 -5.94788154e-03 -9.62404260e-01] [ 6.26981476e-02 -3.05038082e-03 9.98027874e-01 8.90611914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44486062399999 meters Centerline goodness : 0.785063 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.89 [[ 9.87713472e-01 -1.43315850e-01 -6.23110241e-02 -4.00717721e+00] [ 1.43213110e-01 9.89672857e-01 -6.13517437e-03 -9.63457436e-01] [ 6.25467970e-02 -2.86396115e-03 9.98037923e-01 8.91316532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50486062399999 meters Centerline goodness : 0.788700 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.89 [[ 9.87671842e-01 -1.43627131e-01 -6.22541547e-02 -4.00791051e+00] [ 1.43511748e-01 9.89628278e-01 -6.34427739e-03 -9.64264277e-01] [ 6.25196823e-02 -2.66813843e-03 9.98040165e-01 8.92240333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56486062399999 meters Centerline goodness : 0.784791 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.89 [[ 9.87650687e-01 -1.43811499e-01 -6.21640822e-02 -4.00824565e+00] [ 1.43701122e-01 9.89601295e-01 -6.26622088e-03 -9.65448148e-01] [ 6.24188108e-02 -2.74421097e-03 9.98046272e-01 8.92451338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624860624 meters Centerline goodness : 0.785790 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.89 [[ 9.87132018e-01 -1.47334902e-01 -6.21514698e-02 -4.00671233e+00] [ 1.47021940e-01 9.89086603e-01 -9.60418308e-03 -9.67899000e-01] [ 6.28882175e-02 3.42966988e-04 9.98020518e-01 8.92580844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684860624 meters Centerline goodness : 0.785327 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:0.89 [[ 9.86603631e-01 -1.50782929e-01 -6.22718452e-02 -4.00478196e+00] [ 1.50288757e-01 9.88562208e-01 -1.25718437e-02 -9.70428444e-01] [ 6.34552122e-02 3.04466844e-03 9.97980043e-01 8.92337691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744860624 meters Centerline goodness : 0.790131 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.89 [[ 9.86563675e-01 -1.51024300e-01 -6.23199458e-02 -4.00501374e+00] [ 1.50557912e-01 9.88526646e-01 -1.21402112e-02 -9.73774807e-01] [ 6.34383940e-02 2.59433048e-03 9.97982384e-01 8.92773734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80486062399999 meters Centerline goodness : 0.785412 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.89 [[ 0.98603448 -0.15441127 -0.06239517 -4.00390819] [ 0.15374357 0.98799087 -0.01539318 -0.97734722] [ 0.06402274 0.00558535 0.99793281 0.8939876 ] [ 0. 0. 0. 1. ]] SLAMing on 70.86486062399999 meters Centerline goodness : 0.785848 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.90 [[ 0.9859365 -0.15509125 -0.06225698 -4.004989 ] [ 0.15443368 0.98788518 -0.01526803 -0.98073309] [ 0.06387068 0.00543873 0.99794336 0.89500501] [ 0. 0. 0. 1. ]] SLAMing on 70.92486062399999 meters Centerline goodness : 0.786213 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.90 [[ 0.98587623 -0.15544647 -0.06232535 -4.00501242] [ 0.15481124 0.98783133 -0.01492443 -0.98478527] [ 0.06388688 0.00506497 0.99794429 0.89542008] [ 0. 0. 0. 1. ]] SLAMing on 70.98486062399999 meters Centerline goodness : 0.785286 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.90 [[ 0.98583191 -0.15568466 -0.06243179 -4.00468757] [ 0.15506165 0.98779493 -0.01473293 -0.9906293 ] [ 0.0639635 0.00484341 0.99794049 0.89629002] [ 0. 0. 0. 1. ]] SLAMing on 71.044860624 meters Centerline goodness : 0.787041 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.90 [[ 0.98585123 -0.155481 -0.06263393 -4.00468143] [ 0.15489721 0.98782996 -0.01410073 -0.99428367] [ 0.06406407 0.0041994 0.99793695 0.89707391] [ 0. 0. 0. 1. ]] SLAMing on 71.104860624 meters Centerline goodness : 0.784879 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.00, Z:0.90 [[ 9.85827815e-01 -1.55594833e-01 -6.27197568e-02 -4.00417535e+00] [ 1.55041071e-01 9.87813978e-01 -1.36312939e-02 -1.00090175e+00] [ 6.40764114e-02 3.71397043e-03 9.97938084e-01 8.97718888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16486062399999 meters Centerline goodness : 0.784920 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 0.98542889 -0.15791951 -0.06317696 -4.00146812] [ 0.15724601 0.98743741 -0.01552582 -1.00652958] [ 0.06483512 0.00536527 0.99788157 0.89774201] [ 0. 0. 0. 1. ]] SLAMing on 71.22486062399999 meters Centerline goodness : 0.783920 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.01, Z:0.90 [[ 0.98541776 -0.15792134 -0.06334578 -4.00116533] [ 0.15729668 0.98744106 -0.01476147 -1.01139373] [ 0.06488137 0.00458213 0.99788246 0.8980922 ] [ 0. 0. 0. 1. ]] SLAMing on 71.28486062399999 meters Centerline goodness : 0.785231 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85410534e-01 -1.57901213e-01 -6.35081605e-02 -4.00053315e+00] [ 1.57312525e-01 9.87446815e-01 -1.41970789e-02 -1.01773052e+00] [ 6.49526668e-02 3.99932203e-03 9.97880332e-01 8.98691431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34486062399999 meters Centerline goodness : 0.782910 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.02, Z:0.90 [[ 9.85475910e-01 -1.57376039e-01 -6.37966529e-02 -3.99991052e+00] [ 1.56839099e-01 9.87533661e-01 -1.33703221e-02 -1.02141378e+00] [ 6.51055106e-02 3.17032080e-03 9.97873349e-01 8.99030279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404860624 meters Centerline goodness : 0.784075 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.85577376e-01 -1.56586300e-01 -6.41713886e-02 -3.99925684e+00] [ 1.56126609e-01 9.87662348e-01 -1.21477706e-02 -1.02707583e+00] [ 6.52818388e-02 1.95370662e-03 9.97864953e-01 8.99842157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464860624 meters Centerline goodness : 0.784472 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.85642054e-01 -1.56102522e-01 -6.43563782e-02 -3.99891625e+00] [ 1.55697279e-01 9.87740230e-01 -1.12957800e-02 -1.03079869e+00] [ 6.53306836e-02 1.11348282e-03 9.97863048e-01 9.00270381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524860624 meters Centerline goodness : 0.782990 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.03, Z:0.90 [[ 9.85769534e-01 -1.55130622e-01 -6.47527340e-02 -3.99798159e+00] [ 1.54812640e-01 9.87893939e-01 -9.93034927e-03 -1.03494970e+00] [ 6.55093347e-02 -2.35505921e-04 9.97851929e-01 9.00450084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58486062399999 meters Centerline goodness : 0.781388 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.85802698e-01 -1.54935361e-01 -6.47153301e-02 -3.99776178e+00] [ 1.54654315e-01 9.87924301e-01 -9.36048893e-03 -1.03705614e+00] [ 6.53841180e-02 -7.80909815e-04 9.97859864e-01 9.00181301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64486062399999 meters Centerline goodness : 0.781041 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.04, Z:0.90 [[ 9.85411250e-01 -1.57365162e-01 -6.48141437e-02 -3.99528739e+00] [ 1.56957455e-01 9.87539948e-01 -1.13669965e-02 -1.04224151e+00] [ 6.57953253e-02 1.02810318e-03 9.97832610e-01 8.99561159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70486062399999 meters Centerline goodness : 0.782404 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.04, Z:0.90 [[ 9.85448120e-01 -1.57051820e-01 -6.50132892e-02 -3.99470137e+00] [ 1.56686595e-01 9.87590295e-01 -1.07107806e-02 -1.04472804e+00] [ 6.58886411e-02 3.68207723e-04 9.97826915e-01 8.99594201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764860624 meters Centerline goodness : 0.790598 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.05, Z:0.90 [[ 9.85541071e-01 -1.56408586e-01 -6.51548310e-02 -3.99384080e+00] [ 1.56095285e-01 9.87692354e-01 -9.90334621e-03 -1.04712446e+00] [ 6.59018968e-02 -4.10207454e-04 9.97826023e-01 8.99158637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824860624 meters Centerline goodness : 0.792598 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.05, Z:0.90 [[ 9.85662149e-01 -1.55634308e-01 -6.51773789e-02 -3.99368246e+00] [ 1.55370401e-01 9.87814097e-01 -9.12954636e-03 -1.04997284e+00] [ 6.58040043e-02 -1.12798722e-03 9.97831930e-01 8.99588336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884860624 meters Centerline goodness : 0.792828 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.05, Z:0.90 [[ 9.85703238e-01 -1.55345859e-01 -6.52440888e-02 -3.99342539e+00] [ 1.55112762e-01 9.87858865e-01 -8.65413937e-03 -1.05199708e+00] [ 6.57963362e-02 -1.58977764e-03 9.97831807e-01 8.99710520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94486062399999 meters Centerline goodness : 0.784542 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.06, Z:0.90 [[ 9.85646568e-01 -1.55751234e-01 -6.51336710e-02 -3.99359319e+00] [ 1.55541394e-01 9.87794409e-01 -8.31148024e-03 -1.05527913e+00] [ 6.56331994e-02 -1.93879999e-03 9.97841933e-01 8.99844141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00486062399999 meters Centerline goodness : 0.785096 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.06, Z:0.90 [[ 9.85594675e-01 -1.55905704e-01 -6.55480524e-02 -3.99240626e+00] [ 1.55801950e-01 9.87765433e-01 -6.72321007e-03 -1.05890366e+00] [ 6.57942872e-02 -3.58615433e-03 9.97826764e-01 8.99841440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06486062399999 meters Centerline goodness : 0.784946 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.06, Z:0.90 [[ 0.98553265 -0.15638045 -0.06534947 -3.99271599] [ 0.15633815 0.98768661 -0.0057923 -1.06308848] [ 0.0654506 -0.00450811 0.99784563 0.90052927] [ 0. 0. 0. 1. ]] SLAMing on 72.124860624 meters Centerline goodness : 0.785372 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.07, Z:0.90 [[ 9.85624142e-01 -1.51131852e-01 -7.55262478e-02 -3.99627119e+00] [ 1.51338992e-01 9.88477350e-01 -3.00621503e-03 -1.06966842e+00] [ 7.51103201e-02 -8.46706811e-03 9.97139282e-01 9.03655006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184860624 meters Centerline goodness : 0.783346 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 9.85975984e-01 -1.48153116e-01 -7.68245655e-02 -3.99408878e+00] [ 1.48721968e-01 9.88877580e-01 1.70510992e-03 -1.07201484e+00] [ 7.57174730e-02 -1.31066980e-02 9.97043168e-01 9.03081696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244860624 meters Centerline goodness : 0.784409 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98649286 -0.14441775 -0.07730039 -3.99418272] [ 0.14528739 0.98937298 0.00571736 -1.07315971] [ 0.07565322 -0.0168709 0.99699146 0.90310089] [ 0. 0. 0. 1. ]] SLAMing on 72.30486062399999 meters Centerline goodness : 0.781326 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.9866555 -0.14346114 -0.07700533 -3.9947072 ] [ 0.14434075 0.98951014 0.00595217 -1.07277908] [ 0.07534365 -0.01698775 0.99701291 0.90286328] [ 0. 0. 0. 1. ]] SLAMing on 72.36486062399999 meters Centerline goodness : 0.787523 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98704246 -0.14023867 -0.07797624 -3.99384261] [ 0.14141974 0.98990113 0.00980891 -1.07334416] [ 0.07581318 -0.02070919 0.99690696 0.90281906] [ 0. 0. 0. 1. ]] SLAMing on 72.42486062399999 meters Centerline goodness : 0.786298 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98709188 -0.13976491 -0.07820101 -3.99259381] [ 0.14094665 0.98996894 0.00977438 -1.07251279] [ 0.07605045 -0.02067038 0.9968897 0.90161956] [ 0. 0. 0. 1. ]] SLAMing on 72.48486062399999 meters Centerline goodness : 0.782224 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98715636 -0.13921609 -0.07836586 -3.99199812] [ 0.14041099 0.99004358 0.00992275 -1.07216663] [ 0.07620421 -0.02079874 0.99687528 0.90117861] [ 0. 0. 0. 1. ]] SLAMing on 72.544860624 meters Centerline goodness : 0.782354 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98722075 -0.13864159 -0.07857294 -3.99167974] [ 0.13987186 0.99011552 0.01034979 -1.07192293] [ 0.07636137 -0.02120767 0.99685464 0.90110098] [ 0. 0. 0. 1. ]] SLAMing on 72.604860624 meters Centerline goodness : 0.779526 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98724143 -0.13829698 -0.07891968 -3.99125138] [ 0.13957801 0.99015079 0.01092669 -1.07189311] [ 0.07663125 -0.02180273 0.99682109 0.90136679] [ 0. 0. 0. 1. ]] SLAMing on 72.66486062399999 meters Centerline goodness : 0.785425 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98721942 -0.13818129 -0.07939611 -3.98984735] [ 0.1394972 0.99015859 0.01124684 -1.07189582] [ 0.07706064 -0.02217863 0.9967797 0.90084584] [ 0. 0. 0. 1. ]] SLAMing on 72.72486062399999 meters Centerline goodness : 0.780455 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98717566 -0.13812316 -0.08003881 -3.98817556] [ 0.13951558 0.99014659 0.01204681 -1.07303833] [ 0.07758621 -0.02305897 0.99671895 0.90046811] [ 0. 0. 0. 1. ]] SLAMing on 72.78486062399999 meters Centerline goodness : 0.779671 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.9871956 -0.13782975 -0.08029821 -3.98780247] [ 0.13927987 0.99017136 0.01272014 -1.07352777] [ 0.07775577 -0.02374119 0.99668972 0.90068961] [ 0. 0. 0. 1. ]] SLAMing on 72.84486062399999 meters Centerline goodness : 0.776535 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.9875844 -0.13476951 -0.08071074 -3.98843842] [ 0.13647983 0.99051302 0.01603759 -1.07387587] [ 0.07778366 -0.02685386 0.99660853 0.90138038] [ 0. 0. 0. 1. ]] SLAMing on 72.904860624 meters Centerline goodness : 0.783601 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98766082 -0.13419175 -0.08073836 -3.9877715 ] [ 0.135905 0.99059125 0.01608734 -1.0735137 ] [ 0.07781993 -0.02686158 0.9966055 0.90052625] [ 0. 0. 0. 1. ]] SLAMing on 72.964860624 meters Centerline goodness : 0.781624 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98803674 -0.13069502 -0.08186699 -3.98621681] [ 0.13274446 0.99094669 0.02008875 -1.07462231] [ 0.07850033 -0.03071581 0.99644078 0.90039382] [ 0. 0. 0. 1. ]] SLAMing on 73.02486062399998 meters Centerline goodness : 0.781040 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98814273 -0.12989331 -0.0818637 -3.98613263] [ 0.13194573 0.99105196 0.02015788 -1.07377902] [ 0.07851281 -0.03072043 0.99643966 0.89998779] [ 0. 0. 0. 1. ]] SLAMing on 73.08486062399999 meters Centerline goodness : 0.775760 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98851205 -0.12660711 -0.0825504 -3.98615083] [ 0.12894774 0.99136943 0.02364584 -1.07327098] [ 0.07884421 -0.03401889 0.99630633 0.90053409] [ 0. 0. 0. 1. ]] SLAMing on 73.14486062399999 meters Centerline goodness : 0.781964 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.07, Z:0.90 [[ 0.98853877 -0.1264715 -0.08243819 -3.98576511] [ 0.12876542 0.9914058 0.02310868 -1.07287357] [ 0.07880711 -0.03345902 0.99632823 0.8997715 ] [ 0. 0. 0. 1. ]] SLAMing on 73.20486062399999 meters Centerline goodness : 0.779876 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.07, Z:0.90 [[ 0.98849094 -0.12646723 -0.08301625 -3.98365308] [ 0.12882031 0.99138693 0.02360678 -1.07338727] [ 0.07931574 -0.03402926 0.99626855 0.89878483] [ 0. 0. 0. 1. ]] SLAMing on 73.264860624 meters Centerline goodness : 0.780344 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.07, Z:0.90 [[ 0.98836272 -0.12729654 -0.08327496 -3.983483 ] [ 0.12956897 0.9913161 0.02245611 -1.07043087] [ 0.07969322 -0.03298463 0.99627356 0.89900116] [ 0. 0. 0. 1. ]] SLAMing on 73.324860624 meters Centerline goodness : 0.776147 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.07, Z:0.90 [[ 0.98832295 -0.12744878 -0.08351384 -3.98332435] [ 0.12972839 0.99129559 0.02244098 -1.06970096] [ 0.07992683 -0.03301305 0.9962539 0.89939023] [ 0. 0. 0. 1. ]] SLAMing on 73.384860624 meters Centerline goodness : 0.769128 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.07, Z:0.90 [[ 0.98829384 -0.12748032 -0.08380959 -3.98300651] [ 0.12974756 0.99129931 0.02216406 -1.06789538] [ 0.08025491 -0.03277869 0.99623527 0.89950836] [ 0. 0. 0. 1. ]] SLAMing on 73.44486062399999 meters Centerline goodness : 0.771020 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.07, Z:0.90 [[ 0.98831841 -0.1271871 -0.08396521 -3.98250996] [ 0.12946233 0.99133556 0.02221045 -1.067121 ] [ 0.08041281 -0.03282133 0.99622113 0.89915657] [ 0. 0. 0. 1. ]] SLAMing on 73.50486062399999 meters Centerline goodness : 0.781987 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.07, Z:0.90 [[ 0.98829677 -0.12731612 -0.08402445 -3.98238915] [ 0.1295317 0.99134339 0.02144331 -1.06518557] [ 0.080567 -0.03207618 0.99623294 0.8989225 ] [ 0. 0. 0. 1. ]] SLAMing on 73.56486062399999 meters Centerline goodness : 0.779222 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98823803 -0.12742611 -0.08454696 -3.98052262] [ 0.12961163 0.99134534 0.02086241 -1.06313338] [ 0.08115682 -0.03157529 0.99620107 0.89766312] [ 0. 0. 0. 1. ]] SLAMing on 73.624860624 meters Centerline goodness : 0.782322 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98826326 -0.12738659 -0.08431127 -3.98115126] [ 0.12950515 0.99137435 0.02013234 -1.06202836] [ 0.08101944 -0.0308148 0.99623607 0.89771496] [ 0. 0. 0. 1. ]] SLAMing on 73.684860624 meters Centerline goodness : 0.783709 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98864167 -0.12392345 -0.08503308 -3.98095532] [ 0.12633089 0.9917093 0.0235196 -1.06036439] [ 0.08141346 -0.03399476 0.9961005 0.89783525] [ 0. 0. 0. 1. ]] SLAMing on 73.744860624 meters Centerline goodness : 0.782717 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98896019 -0.12087583 -0.08571333 -3.98020856] [ 0.12352558 0.99199292 0.02629595 -1.05892441] [ 0.08184847 -0.03659343 0.99597276 0.89737258] [ 0. 0. 0. 1. ]] SLAMing on 73.80486062399999 meters Centerline goodness : 0.784650 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98934355 -0.1177253 -0.08567435 -3.98098366] [ 0.12052889 0.99230624 0.02830407 -1.05747669] [ 0.08168309 -0.03832868 0.99592107 0.89698391] [ 0. 0. 0. 1. ]] SLAMing on 73.86486062399999 meters Centerline goodness : 0.785785 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98943865 -0.11718649 -0.08531402 -3.98131215] [ 0.11987384 0.99241996 0.02707176 -1.05509431] [ 0.0814949 -0.03701276 0.99598626 0.89611642] [ 0. 0. 0. 1. ]] SLAMing on 73.92486062399999 meters Centerline goodness : 0.785339 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.05, Z:0.90 [[ 0.98940253 -0.11753926 -0.08524761 -3.98127374] [ 0.12012039 0.99242426 0.02579089 -1.04976052] [ 0.08157035 -0.03575755 0.99602594 0.89582871] [ 0. 0. 0. 1. ]] SLAMing on 73.98486062399999 meters Centerline goodness : 0.784445 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.05, Z:0.90 [[ 0.98934437 -0.11807702 -0.08517938 -3.98098904] [ 0.12056105 0.9924007 0.02461487 -1.04647163] [ 0.08162563 -0.0346219 0.99606153 0.8954675 ] [ 0. 0. 0. 1. ]] SLAMing on 74.044860624 meters Centerline goodness : 0.771782 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.89 [[ 0.98897563 -0.12123622 -0.08502339 -3.97924865] [ 0.12338553 0.99214751 0.02047748 -1.0427163 ] [ 0.08187314 -0.03074239 0.99616851 0.89468494] [ 0. 0. 0. 1. ]] SLAMing on 74.104860624 meters Centerline goodness : 0.773617 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 0.98889499 -0.12192684 -0.0849738 -3.97972503] [ 0.12397548 0.99209865 0.01924445 -1.03889331] [ 0.08195597 -0.02956541 0.99619732 0.89502278] [ 0. 0. 0. 1. ]] SLAMing on 74.16486062399999 meters Centerline goodness : 0.773630 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.90 [[ 0.98879999 -0.12273039 -0.08492256 -3.9806413 ] [ 0.12464415 0.99204553 0.01759252 -1.03410411] [ 0.08208791 -0.02798058 0.99623223 0.89603106] [ 0. 0. 0. 1. ]] SLAMing on 74.22486062399999 meters Centerline goodness : 0.772786 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.90 [[ 0.98840032 -0.12600513 -0.08477923 -3.97913477] [ 0.12757768 0.99173843 0.01337228 -1.0309361 ] [ 0.08239384 -0.02403311 0.99631002 0.89569293] [ 0. 0. 0. 1. ]] SLAMing on 74.28486062399999 meters Centerline goodness : 0.774019 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.89 [[ 0.98796854 -0.12953649 -0.08448937 -3.977776 ] [ 0.13077219 0.99136943 0.00923545 -1.02706628] [ 0.08256385 -0.02017319 0.99638158 0.89484055] [ 0. 0. 0. 1. ]] SLAMing on 74.34486062399999 meters Centerline goodness : 0.778380 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98743184 -0.13379065 -0.08413337 -3.97754116] [ 0.13464231 0.99088402 0.0045058 -1.02331475] [ 0.08276358 -0.01577708 0.99644432 0.89522457] [ 0. 0. 0. 1. ]] SLAMing on 74.404860624 meters Centerline goodness : 0.778537 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98734616 -0.13454594 -0.08393422 -3.97839115] [ 0.13535395 0.99078929 0.00398559 -1.0231677 ] [ 0.08262488 -0.01529598 0.99646333 0.89565945] [ 0. 0. 0. 1. ]] SLAMing on 74.464860624 meters Centerline goodness : 0.780121 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 9.86792924e-01 -1.38778680e-01 -8.35476115e-02 -3.97789263e+00] [ 1.39245984e-01 9.90257795e-01 -2.36011416e-04 -1.02100739e+00] [ 8.27664269e-02 -1.14007750e-02 9.96503759e-01 8.95524209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52486062399998 meters Centerline goodness : 0.780464 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 9.86682341e-01 -1.39722500e-01 -8.32801385e-02 -3.97876672e+00] [ 1.40157623e-01 9.90129005e-01 -6.27386400e-04 -1.02077535e+00] [ 8.25457407e-02 -1.10533152e-02 9.96525978e-01 8.95553452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58486062399999 meters Centerline goodness : 0.778522 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98610567 -0.14390465 -0.08298827 -3.97805553] [ 0.14400903 0.98956493 -0.00475819 -1.01987176] [ 0.08280701 -0.00725898 0.99653916 0.89553344] [ 0. 0. 0. 1. ]] SLAMing on 74.64486062399999 meters Centerline goodness : 0.780276 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98604398 -0.14445226 -0.08276965 -3.9783862 ] [ 0.14454799 0.98948582 -0.00486637 -1.0201953 ] [ 0.08260236 -0.00716573 0.99655682 0.89519294] [ 0. 0. 0. 1. ]] SLAMing on 74.70486062399999 meters Centerline goodness : 0.780204 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98596335 -0.14512153 -0.08255922 -3.97970082] [ 0.14515594 0.98939284 -0.00561733 -1.01815044] [ 0.08249869 -0.00644548 0.99657033 0.89606035] [ 0. 0. 0. 1. ]] SLAMing on 74.764860624 meters Centerline goodness : 0.774358 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98596249 -0.14514966 -0.08251999 -3.97973877] [ 0.14517722 0.98938926 -0.00569822 -1.01809387] [ 0.08247149 -0.00636179 0.99657312 0.89607072] [ 0. 0. 0. 1. ]] SLAMing on 74.824860624 meters Centerline goodness : 0.775163 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98596879 -0.14510877 -0.08251665 -3.97935157] [ 0.14514661 0.98939447 -0.00557201 -1.01862884] [ 0.08245006 -0.00648319 0.99657411 0.89565279] [ 0. 0. 0. 1. ]] SLAMing on 74.884860624 meters Centerline goodness : 0.781181 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98595562 -0.14518675 -0.08253675 -3.97953461] [ 0.14521453 0.98938378 -0.00569847 -1.01787096] [ 0.08248787 -0.00636709 0.99657173 0.89583791] [ 0. 0. 0. 1. ]] SLAMing on 74.94486062399999 meters Centerline goodness : 0.781793 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.9859366 -0.14526405 -0.08262792 -3.97964614] [ 0.14528064 0.98937323 -0.00584374 -1.01793577] [ 0.08259874 -0.00624268 0.99656333 0.89626516] [ 0. 0. 0. 1. ]] SLAMing on 75.00486062399999 meters Centerline goodness : 0.782740 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98596303 -0.14500891 -0.08276066 -3.9788237 ] [ 0.14504412 0.98940923 -0.0056188 -1.01806731] [ 0.08269894 -0.00646402 0.99655361 0.89568936] [ 0. 0. 0. 1. ]] SLAMing on 75.06486062399999 meters Centerline goodness : 0.775503 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98597723 -0.14492663 -0.08273554 -3.97854114] [ 0.14496774 0.98942086 -0.0055422 -1.01814737] [ 0.08266348 -0.0065295 0.99655613 0.8953648 ] [ 0. 0. 0. 1. ]] SLAMing on 75.124860624 meters Centerline goodness : 0.782594 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98590235 -0.14554807 -0.08253677 -3.979416 ] [ 0.14557027 0.98933102 -0.005781 -1.01947745] [ 0.0824976 -0.0063154 0.99657125 0.89596606] [ 0. 0. 0. 1. ]] SLAMing on 75.184860624 meters Centerline goodness : 0.782876 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98587307 -0.1458324 -0.08238448 -3.97994412] [ 0.14585561 0.98928907 -0.00576916 -1.0206817 ] [ 0.08234339 -0.00632858 0.99658392 0.89627162] [ 0. 0. 0. 1. ]] SLAMing on 75.244860624 meters Centerline goodness : 0.783427 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98577379 -0.14668101 -0.08206532 -3.98112294] [ 0.1466967 0.98916409 -0.00587126 -1.02293222] [ 0.08203727 -0.00625097 0.99660966 0.89688984] [ 0. 0. 0. 1. ]] SLAMing on 75.30486062399999 meters Centerline goodness : 0.775191 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.02, Z:0.90 [[ 0.98570006 -0.14726817 -0.08189925 -3.98187652] [ 0.14727961 0.98907709 -0.00593472 -1.02482507] [ 0.08187867 -0.00621224 0.99662294 0.89740861] [ 0. 0. 0. 1. ]] SLAMing on 75.36486062399999 meters Centerline goodness : 0.778289 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.90 [[ 0.98564108 -0.14776801 -0.0817085 -3.98264544] [ 0.14778076 0.9890024 -0.00592508 -1.02722008] [ 0.08168544 -0.00623495 0.99663866 0.89795452] [ 0. 0. 0. 1. ]] SLAMing on 75.42486062399999 meters Centerline goodness : 0.782704 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.90 [[ 0.98560608 -0.14805658 -0.0816082 -3.98294341] [ 0.14809006 0.98895759 -0.00567606 -1.03018383] [ 0.08154742 -0.00649101 0.99664833 0.89826669] [ 0. 0. 0. 1. ]] SLAMing on 75.48486062399999 meters Centerline goodness : 0.782132 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.90 [[ 0.98562473 -0.14791143 -0.08164615 -3.98293444] [ 0.14799389 0.98897526 -0.00507444 -1.03221766] [ 0.08149659 -0.00708164 0.99664846 0.8983551 ] [ 0. 0. 0. 1. ]] SLAMing on 75.544860624 meters Centerline goodness : 0.775769 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.03, Z:0.90 [[ 0.98565417 -0.1476521 -0.08176012 -3.98286752] [ 0.14776967 0.9890109 -0.00464461 -1.03400921] [ 0.08154744 -0.00750368 0.99664121 0.89871515] [ 0. 0. 0. 1. ]] SLAMing on 75.604860624 meters Centerline goodness : 0.774993 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 9.85700300e-01 -1.47294360e-01 -8.18491912e-02 -3.98259925e+00] [ 1.47472105e-01 9.89058515e-01 -3.90282234e-03 -1.03772283e+00] [ 8.15285032e-02 -8.22345940e-03 9.96637084e-01 8.98923414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66486062399999 meters Centerline goodness : 0.773724 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 9.85736451e-01 -1.47083041e-01 -8.17938124e-02 -3.98254973e+00] [ 1.47289297e-01 9.89087122e-01 -3.53954936e-03 -1.03919680e+00] [ 8.14218142e-02 -8.55829028e-03 9.96642987e-01 8.98926801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72486062399999 meters Centerline goodness : 0.775762 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 9.85790239e-01 -1.46551991e-01 -8.20982219e-02 -3.98159719e+00] [ 1.46800650e-01 9.89161451e-01 -3.03212022e-03 -1.04053758e+00] [ 8.16527595e-02 -9.06303786e-03 9.96619631e-01 8.98774259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78486062399999 meters Centerline goodness : 0.775468 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 9.85876863e-01 -1.45737199e-01 -8.25074531e-02 -3.98040287e+00] [ 1.46057720e-01 9.89273690e-01 -2.17010804e-03 -1.04299059e+00] [ 8.19387181e-02 -9.91139119e-03 9.96588085e-01 8.98579371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84486062399999 meters Centerline goodness : 0.775298 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 9.85951818e-01 -1.45093354e-01 -8.27461851e-02 -3.98000190e+00] [ 1.45450568e-01 9.89364013e-01 -1.72686008e-03 -1.04397232e+00] [ 8.21166537e-02 -1.03328788e-02 9.96569158e-01 8.98955107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904860624 meters Centerline goodness : 0.782858 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.04, Z:0.90 [[ 9.85990166e-01 -1.44739606e-01 -8.29086191e-02 -3.97967052e+00] [ 1.45107310e-01 9.89414620e-01 -1.60540197e-03 -1.04456019e+00] [ 8.22633652e-02 -1.04477362e-02 9.96555861e-01 8.99247839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964860624 meters Centerline goodness : 0.777114 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.05, Z:0.90 [[ 9.86043226e-01 -1.44348664e-01 -8.29591464e-02 -3.97964573e+00] [ 1.44763114e-01 9.89465806e-01 -1.02916569e-03 -1.04695715e+00] [ 8.22337974e-02 -1.09946225e-02 9.96552418e-01 8.99558289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02486062399998 meters Centerline goodness : 0.779735 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.05, Z:0.90 [[ 9.86050749e-01 -1.44245928e-01 -8.30483729e-02 -3.97965816e+00] [ 1.44676256e-01 9.89478685e-01 -8.44573579e-04 -1.04764304e+00] [ 8.22964211e-02 -1.11823352e-02 9.96545159e-01 8.99840129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08486062399999 meters Centerline goodness : 0.780081 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.05, Z:0.90 [[ 9.86120161e-01 -1.43490142e-01 -8.35320778e-02 -3.97791225e+00] [ 1.44069182e-01 9.89567196e-01 9.14474543e-04 -1.05121803e+00] [ 8.25293858e-02 -1.29361799e-02 9.96504669e-01 8.99190847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14486062399999 meters Centerline goodness : 0.779940 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.05, Z:0.90 [[ 9.86090430e-01 -1.43797941e-01 -8.33535538e-02 -3.97773587e+00] [ 1.44422235e-01 9.89515050e-01 1.47752602e-03 -1.05496698e+00] [ 8.22671308e-02 -1.34950808e-02 9.96518942e-01 8.99143424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20486062399999 meters Centerline goodness : 0.775535 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 9.86092737e-01 -1.43453169e-01 -8.39184240e-02 -3.97642995e+00] [ 1.44249900e-01 9.89535181e-01 3.47743141e-03 -1.05895778e+00] [ 8.25413843e-02 -1.55342941e-02 9.96466560e-01 8.99408572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264860624 meters Centerline goodness : 0.776977 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.06, Z:0.90 [[ 0.98606062 -0.14354952 -0.08413084 -3.97608845] [ 0.14439275 0.9895124 0.00399353 -1.06035284] [ 0.08267524 -0.01608575 0.99644671 0.89980024] [ 0. 0. 0. 1. ]] SLAMing on 76.324860624 meters Centerline goodness : 0.776449 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.06, Z:0.90 [[ 0.9860021 -0.14362935 -0.08467859 -3.9742836 ] [ 0.14459968 0.98947546 0.00540725 -1.06360865] [ 0.08301074 -0.01757606 0.99639365 0.89933966] [ 0. 0. 0. 1. ]] SLAMing on 76.38486062399998 meters Centerline goodness : 0.778550 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.06, Z:0.90 [[ 0.98583684 -0.14428564 -0.08548318 -3.97277256] [ 0.14533658 0.98936304 0.0061681 -1.06493416] [ 0.08368393 -0.01850457 0.99632052 0.89989514] [ 0. 0. 0. 1. ]] SLAMing on 76.44486062399999 meters Centerline goodness : 0.777471 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98559719 -0.14559784 -0.08602 -3.97201231] [ 0.14668979 0.98916133 0.00647862 -1.06576581] [ 0.08414438 -0.01900357 0.99627235 0.90074855] [ 0. 0. 0. 1. ]] SLAMing on 76.50486062399999 meters Centerline goodness : 0.776667 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98531392 -0.1469168 -0.08701688 -3.96939557] [ 0.1481046 0.98894461 0.00731977 -1.06817492] [ 0.08497948 -0.02009987 0.99617995 0.90049743] [ 0. 0. 0. 1. ]] SLAMing on 76.56486062399999 meters Centerline goodness : 0.778785 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98524802 -0.14707381 -0.08749646 -3.96849523] [ 0.14831984 0.98890806 0.0078787 -1.06871693] [ 0.0853672 -0.02073994 0.99613367 0.90071822] [ 0. 0. 0. 1. ]] SLAMing on 76.624860624 meters Centerline goodness : 0.781016 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98526327 -0.14684157 -0.08771459 -3.96917264] [ 0.14811645 0.98893617 0.00817157 -1.06726468] [ 0.08554421 -0.02104312 0.99611213 0.90176026] [ 0. 0. 0. 1. ]] SLAMing on 76.684860624 meters Centerline goodness : 0.787758 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98561407 -0.14382148 -0.08877103 -3.9680866 ] [ 0.14548842 0.98928012 0.01256831 -1.06913179] [ 0.08601182 -0.02530266 0.99597276 0.90191396] [ 0. 0. 0. 1. ]] SLAMing on 76.744860624 meters Centerline goodness : 0.779601 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98575412 -0.14287477 -0.08874462 -3.96742838] [ 0.14458006 0.9894069 0.0130612 -1.06978143] [ 0.08593842 -0.02570583 0.99596877 0.90104625] [ 0. 0. 0. 1. ]] SLAMing on 76.80486062399999 meters Centerline goodness : 0.779623 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.9862588 -0.13863749 -0.08985111 -3.96660342] [ 0.14073357 0.98989463 0.01739782 -1.069335 ] [ 0.08653114 -0.02980382 0.99580324 0.90121707] [ 0. 0. 0. 1. ]] SLAMing on 76.86486062399999 meters Centerline goodness : 0.789446 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.07, Z:0.90 [[ 0.98703883 -0.13293706 -0.0899004 -3.96666948] [ 0.13525872 0.99060401 0.0202181 -1.06661532] [ 0.08636796 -0.03211586 0.99574552 0.89937068] [ 0. 0. 0. 1. ]] SLAMing on 76.92486062399999 meters Centerline goodness : 0.787942 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.06, Z:0.90 [[ 0.9876929 -0.12782396 -0.09013202 -3.96623706] [ 0.13039045 0.99119214 0.0231618 -1.06441673] [ 0.08637751 -0.0346291 0.99566046 0.89750204] [ 0. 0. 0. 1. ]] SLAMing on 76.98486062399999 meters Centerline goodness : 0.787804 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.06, Z:0.90 [[ 0.98813874 -0.12362268 -0.09110032 -3.96666557] [ 0.12652002 0.991604 0.02672436 -1.0611054 ] [ 0.08703171 -0.03793339 0.99548307 0.89864005] [ 0. 0. 0. 1. ]] SLAMing on 77.044860624 meters Centerline goodness : 0.789773 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.90 [[ 0.98835238 -0.12099866 -0.09229793 -3.96496756] [ 0.12423467 0.99179503 0.03013896 -1.0604713 ] [ 0.08789385 -0.04125451 0.99527521 0.89850205] [ 0. 0. 0. 1. ]] SLAMing on 77.104860624 meters Centerline goodness : 0.787558 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.90 [[ 0.98817435 -0.12231418 -0.09247002 -3.96444452] [ 0.1254175 0.9916944 0.02850722 -1.05761523] [ 0.08821516 -0.03976747 0.99530731 0.89821287] [ 0. 0. 0. 1. ]] SLAMing on 77.16486062399999 meters Centerline goodness : 0.789869 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.05, Z:0.90 [[ 0.98802868 -0.12360093 -0.09231542 -3.96570321] [ 0.12654656 0.99160007 0.02674455 -1.05313886] [ 0.08823432 -0.03810658 0.99537058 0.89907929] [ 0. 0. 0. 1. ]] SLAMing on 77.22486062399999 meters Centerline goodness : 0.788724 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.05, Z:0.90 [[ 0.98785117 -0.12530166 -0.09192145 -3.96778543] [ 0.12804557 0.99146406 0.02456301 -1.04750716] [ 0.08805903 -0.03603473 0.99546326 0.90022037] [ 0. 0. 0. 1. ]] SLAMing on 77.28486062399999 meters Centerline goodness : 0.789238 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.04, Z:0.90 [[ 0.98741718 -0.1288937 -0.09161729 -3.96705587] [ 0.13124132 0.9911476 0.02005361 -1.04439193] [ 0.08822147 -0.03182525 0.99559235 0.90050332] [ 0. 0. 0. 1. ]] SLAMing on 77.34486062399999 meters Centerline goodness : 0.787194 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.04, Z:0.90 [[ 0.98692899 -0.13294499 -0.09108679 -3.96690616] [ 0.13487648 0.99074335 0.0153606 -1.04055435] [ 0.08820152 -0.02744529 0.99572448 0.90061578] [ 0. 0. 0. 1. ]] SLAMing on 77.404860624 meters Centerline goodness : 0.785673 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.04, Z:0.90 [[ 0.9863352 -0.13769151 -0.09046503 -3.96750085] [ 0.13917247 0.9902152 0.01024127 -1.03559713] [ 0.08816971 -0.02269157 0.99584697 0.90114341] [ 0. 0. 0. 1. ]] SLAMing on 77.464860624 meters Centerline goodness : 0.787768 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 0.9862213 -0.13868204 -0.09019331 -3.96854001] [ 0.14007734 0.99009691 0.00929783 -1.03423489] [ 0.08801068 -0.02180376 0.99588087 0.90168684] [ 0. 0. 0. 1. ]] SLAMing on 77.52486062399998 meters Centerline goodness : 0.787003 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 0.9857034 -0.14262274 -0.08970823 -3.96757877] [ 0.14363841 0.98961793 0.00493651 -1.0325 ] [ 0.08807282 -0.01775148 0.99595585 0.90132586] [ 0. 0. 0. 1. ]] SLAMing on 77.58486062399999 meters Centerline goodness : 0.788167 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 0.9856303 -0.1431956 -0.08959876 -3.96804144] [ 0.14416035 0.98954475 0.00435669 -1.03147613] [ 0.08803812 -0.01721067 0.99596841 0.901602 ] [ 0. 0. 0. 1. ]] SLAMing on 77.64486062399999 meters Centerline goodness : 0.785437 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 0.98559984 -0.1434015 -0.08960453 -3.9680622 ] [ 0.14433645 0.98952055 0.00400931 -1.03054547] [ 0.08809059 -0.01688478 0.99596935 0.90174717] [ 0. 0. 0. 1. ]] SLAMing on 77.70486062399999 meters Centerline goodness : 0.789635 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 9.85603881e-01 -1.43315992e-01 -8.96968000e-02 -3.96791846e+00] [ 1.44231175e-01 9.89536830e-01 3.77219541e-03 -1.03033954e+00] [ 8.82176712e-02 -1.66549653e-02 9.95961974e-01 9.02079365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764860624 meters Centerline goodness : 0.784739 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 9.85716630e-01 -1.42472731e-01 -8.98011462e-02 -3.96754068e+00] [ 1.43368930e-01 9.89662851e-01 3.57645017e-03 -1.02769343e+00] [ 8.83633118e-02 -1.64000607e-02 9.95953294e-01 9.02260109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824860624 meters Centerline goodness : 0.785594 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.03, Z:0.90 [[ 9.85813982e-01 -1.41755851e-01 -8.98669604e-02 -3.96716729e+00] [ 1.42609381e-01 9.89774143e-01 3.11622601e-03 -1.02529005e+00] [ 8.85062505e-02 -1.58878908e-02 9.95948904e-01 9.02648212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88486062399998 meters Centerline goodness : 0.781675 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.98635908 -0.1377326 -0.09014152 -3.96798231] [ 0.13887565 0.99028847 0.00650373 -1.02459538] [ 0.08837033 -0.01893347 0.99590773 0.9029954 ] [ 0. 0. 0. 1. ]] SLAMing on 77.94486062399999 meters Centerline goodness : 0.785155 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.98648126 -0.13678697 -0.09024442 -3.96740687] [ 0.13792061 0.99042249 0.00641817 -1.02271201] [ 0.08850219 -0.01877797 0.99589897 0.90305713] [ 0. 0. 0. 1. ]] SLAMing on 78.00486062399999 meters Centerline goodness : 0.786382 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.98655338 -0.13616179 -0.09040131 -3.96676312] [ 0.13727342 0.990514 0.00616586 -1.02081821] [ 0.08870421 -0.01849265 0.99588633 0.90311124] [ 0. 0. 0. 1. ]] SLAMing on 78.06486062399999 meters Centerline goodness : 0.785704 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.9866438 -0.13537506 -0.09059584 -3.9661344 ] [ 0.13650444 0.99061905 0.00635956 -1.02022123] [ 0.08888504 -0.01864136 0.99586744 0.90314152] [ 0. 0. 0. 1. ]] SLAMing on 78.124860624 meters Centerline goodness : 0.782728 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.98663531 -0.13542487 -0.09061383 -3.96629518] [ 0.13653204 0.99061685 0.00610469 -1.02042457] [ 0.08893686 -0.01839479 0.99586739 0.90368901] [ 0. 0. 0. 1. ]] SLAMing on 78.184860624 meters Centerline goodness : 0.783995 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.98663147 -0.13542653 -0.0906532 -3.96632724] [ 0.13653051 0.99061733 0.00606072 -1.02130239] [ 0.08898185 -0.01835662 0.99586408 0.90412334] [ 0. 0. 0. 1. ]] SLAMing on 78.244860624 meters Centerline goodness : 0.783018 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 0.98659588 -0.13570732 -0.09062063 -3.96666805] [ 0.13680277 0.99058038 0.00595944 -1.02236387] [ 0.08895827 -0.01827672 0.99586766 0.90457677] [ 0. 0. 0. 1. ]] SLAMing on 78.30486062399999 meters Centerline goodness : 0.784372 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.02, Z:0.90 [[ 9.86169465e-01 -1.38897390e-01 -9.04284297e-02 -3.96541236e+00] [ 1.39691480e-01 9.90191968e-01 2.48143438e-03 -1.02303783e+00] [ 8.91968399e-02 -1.50791960e-02 9.95899865e-01 9.04713622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36486062399999 meters Centerline goodness : 0.784276 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.02, Z:0.90 [[ 9.85670056e-01 -1.42497842e-01 -9.02712952e-02 -3.96440666e+00] [ 1.42972801e-01 9.89725871e-01 -1.21624213e-03 -1.02320500e+00] [ 8.95171481e-02 -1.17075265e-02 9.95916469e-01 9.04970436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42486062399999 meters Centerline goodness : 0.785197 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.02, Z:0.91 [[ 0.98509781 -0.14654183 -0.09004331 -3.96414351] [ 0.14668776 0.98917005 -0.0050309 -1.02392115] [ 0.08980539 -0.00825232 0.99592514 0.90585536] [ 0. 0. 0. 1. ]] SLAMing on 78.48486062399999 meters Centerline goodness : 0.783245 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.02, Z:0.91 [[ 0.9845868 -0.14996886 -0.08998983 -3.96281384] [ 0.14980971 0.9886778 -0.00855893 -1.02420868] [ 0.09025452 -0.00505434 0.99590591 0.90604758] [ 0. 0. 0. 1. ]] SLAMing on 78.544860624 meters Centerline goodness : 0.787133 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.03, Z:0.91 [[ 9.84344132e-01 -1.51802563e-01 -8.95690301e-02 -3.96279733e+00] [ 1.51499074e-01 9.88404595e-01 -1.02169998e-02 -1.02665566e+00] [ 9.00814077e-02 -3.51258127e-03 9.95928211e-01 9.06262005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604860624 meters Centerline goodness : 0.786813 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.03, Z:0.91 [[ 9.84252114e-01 -1.52318566e-01 -8.97041267e-02 -3.96317758e+00] [ 1.52045388e-01 9.88323818e-01 -9.91115989e-03 -1.03000940e+00] [ 9.01663786e-02 -3.88401868e-03 9.95919143e-01 9.07059564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66486062399999 meters Centerline goodness : 0.790858 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.03, Z:0.91 [[ 0.98422582 -0.15240189 -0.08985095 -3.96299818] [ 0.15216714 0.98830914 -0.00949745 -1.03265554] [ 0.09024795 -0.00432472 0.99590994 0.90737474] [ 0. 0. 0. 1. ]] SLAMing on 78.72486062399999 meters Centerline goodness : 0.791071 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.04, Z:0.91 [[ 0.98418 -0.15257828 -0.09005331 -3.96299807] [ 0.15238431 0.98827973 -0.00906608 -1.03693233] [ 0.09038114 -0.00480006 0.99589568 0.9082221 ] [ 0. 0. 0. 1. ]] SLAMing on 78.78486062399999 meters Centerline goodness : 0.796965 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.04, Z:0.91 [[ 0.98414974 -0.15272622 -0.09013319 -3.96324067] [ 0.15255689 0.98825546 -0.00880583 -1.03976503] [ 0.0904195 -0.00508419 0.99589079 0.90899827] [ 0. 0. 0. 1. ]] SLAMing on 78.84486062399999 meters Centerline goodness : 0.798217 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.04, Z:0.91 [[ 0.98413161 -0.15269725 -0.0903799 -3.96288623] [ 0.15257609 0.98825696 -0.0082891 -1.04274064] [ 0.09058429 -0.00563225 0.99587287 0.90941167] [ 0. 0. 0. 1. ]] SLAMing on 78.904860624 meters Centerline goodness : 0.791886 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.05, Z:0.91 [[ 0.9841422 -0.15238462 -0.0907913 -3.96175101] [ 0.15235162 0.98829914 -0.00733471 -1.04691765] [ 0.09084666 -0.0066138 0.99584293 0.90932944] [ 0. 0. 0. 1. ]] SLAMing on 78.964860624 meters Centerline goodness : 0.806209 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.05, Z:0.91 [[ 0.98412133 -0.15244657 -0.09091348 -3.96180905] [ 0.15245007 0.98828676 -0.00694685 -1.05065077] [ 0.09090762 -0.00702322 0.99583456 0.91011515] [ 0. 0. 0. 1. ]] SLAMing on 79.02486062399998 meters Centerline goodness : 0.807993 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.05, Z:0.91 [[ 0.98413209 -0.15231794 -0.09101253 -3.96162452] [ 0.1523375 0.98830533 -0.00677277 -1.05153628] [ 0.09097978 -0.00719933 0.99582672 0.91035172] [ 0. 0. 0. 1. ]] SLAMing on 79.08486062399999 meters Centerline goodness : 0.811099 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.05, Z:0.91 [[ 0.98417697 -0.15190986 -0.09120905 -3.96103298] [ 0.15196555 0.98836523 -0.00637474 -1.05257119] [ 0.09111624 -0.00758676 0.99581136 0.91030315] [ 0. 0. 0. 1. ]] SLAMing on 79.14486062399999 meters Centerline goodness : 0.806323 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.05, Z:0.91 [[ 0.98422858 -0.15159171 -0.09118148 -3.96083244] [ 0.15166126 0.98841304 -0.00620612 -1.05380577] [ 0.09106576 -0.00772046 0.99581495 0.91048736] [ 0. 0. 0. 1. ]] SLAMing on 79.20486062399999 meters Centerline goodness : 0.806684 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.05, Z:0.91 [[ 0.98425948 -0.15139832 -0.0911692 -3.96083982] [ 0.15147818 0.98844188 -0.00608324 -1.05400461] [ 0.09103644 -0.00782266 0.99581684 0.91059924] [ 0. 0. 0. 1. ]] SLAMing on 79.264860624 meters Centerline goodness : 0.807511 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.84759189e-01 -1.47646550e-01 -9.19229927e-02 -3.95989196e+00] [ 1.48108598e-01 9.88969442e-01 -1.81263776e-03 -1.05610282e+00] [ 9.11766605e-02 -1.18295739e-02 9.95764469e-01 9.10146558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324860624 meters Centerline goodness : 0.808470 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.84856584e-01 -1.46972116e-01 -9.19603478e-02 -3.95916421e+00] [ 1.47445908e-01 9.89068732e-01 -1.65779134e-03 -1.05605197e+00] [ 9.11987537e-02 -1.19264903e-02 9.95761290e-01 9.09321626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38486062399998 meters Centerline goodness : 0.809042 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.84974024e-01 -1.46247315e-01 -9.18580140e-02 -3.95889006e+00] [ 1.46742141e-01 9.89173816e-01 -1.38058174e-03 -1.05610312e+00] [ 9.10654486e-02 -1.21196045e-02 9.95771158e-01 9.08634007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44486062399999 meters Centerline goodness : 0.809450 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.85097271e-01 -1.45600930e-01 -9.15627438e-02 -3.95905418e+00] [ 1.46110778e-01 9.89267571e-01 -1.14620868e-03 -1.05635978e+00] [ 9.07469422e-02 -1.22491767e-02 9.95798649e-01 9.08127649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50486062399999 meters Centerline goodness : 0.810865 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.85068953e-01 -1.45489247e-01 -9.20436719e-02 -3.95810280e+00] [ 1.46092463e-01 9.89270922e-01 -1.86129502e-04 -1.05728640e+00] [ 9.10832080e-02 -1.32635363e-02 9.95754954e-01 9.08257940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56486062399999 meters Centerline goodness : 0.809746 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.84973891e-01 -1.46203921e-01 -9.19284904e-02 -3.95885256e+00] [ 1.46787399e-01 9.89167976e-01 -4.18595662e-04 -1.05884733e+00] [ 9.09939191e-02 -1.30816382e-02 9.95765523e-01 9.08948422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624860624 meters Centerline goodness : 0.807523 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.84472437e-01 -1.49652224e-01 -9.17509266e-02 -3.95742537e+00] [ 1.49931015e-01 9.88688824e-01 -3.88584945e-03 -1.05865631e+00] [ 9.12946417e-02 -9.93079784e-03 9.95774406e-01 9.08638418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684860624 meters Centerline goodness : 0.807505 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 0.98391304 -0.15355122 -0.09130802 -3.95655032] [ 0.15351556 0.9881181 -0.00745584 -1.0586434 ] [ 0.09136796 -0.0066813 0.99579479 0.90818649] [ 0. 0. 0. 1. ]] SLAMing on 79.744860624 meters Centerline goodness : 0.802763 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.83290842e-01 -1.57751596e-01 -9.08490692e-02 -3.95560882e+00] [ 1.57410952e-01 9.87472498e-01 -1.09479929e-02 -1.06003968e+00] [ 9.14380206e-02 -3.53557726e-03 9.95804493e-01 9.07727728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80486062399999 meters Centerline goodness : 0.794923 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.91 [[ 9.82738140e-01 -1.61331951e-01 -9.05414230e-02 -3.95423412e+00] [ 1.60707178e-01 9.86900017e-01 -1.41971690e-02 -1.06087197e+00] [ 9.16457889e-02 -5.98557133e-04 9.95791490e-01 9.07141783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86486062399999 meters Centerline goodness : 0.791350 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.82566600e-01 -1.62478179e-01 -9.03532929e-02 -3.95505568e+00] [ 1.61838214e-01 9.86712030e-01 -1.44139723e-02 -1.06298452e+00] [ 9.14946370e-02 -4.59927787e-04 9.95805463e-01 9.07581644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92486062399999 meters Centerline goodness : 0.796390 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.91 [[ 9.82520442e-01 -1.62726236e-01 -9.04088054e-02 -3.95497123e+00] [ 1.62097930e-01 9.86671072e-01 -1.42988278e-02 -1.06445977e+00] [ 9.15305474e-02 -6.06189654e-04 9.95802084e-01 9.07757317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98486062399999 meters Centerline goodness : 0.795253 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.07, Z:0.91 [[ 9.82576013e-01 -1.62337442e-01 -9.05037768e-02 -3.95447226e+00] [ 1.61732276e-01 9.86734934e-01 -1.40300277e-02 -1.06509901e+00] [ 9.15808370e-02 -8.51813068e-04 9.95797281e-01 9.07603101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044860624 meters Centerline goodness : 0.791095 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.91 [[ 9.82659739e-01 -1.61766963e-01 -9.06161537e-02 -3.95401502e+00] [ 1.61176384e-01 9.86828481e-01 -1.38463481e-02 -1.06470239e+00] [ 9.16624830e-02 -9.98935248e-04 9.95789632e-01 9.07543392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104860624 meters Centerline goodness : 0.794468 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.07, Z:0.91 [[ 0.98341489 -0.1568489 -0.09106905 -3.95398725] [ 0.15664412 0.98761003 -0.00943665 -1.06603041] [ 0.09142083 -0.00498528 0.99579987 0.90706184] [ 0. 0. 0. 1. ]] SLAMing on 80.16486062399999 meters Centerline goodness : 0.795498 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.07, Z:0.91 [[ 0.98402417 -0.15348383 -0.09021716 -3.95564057] [ 0.15337741 0.98813405 -0.00815281 -1.06566927] [ 0.09039798 -0.00581472 0.99588875 0.90617165] [ 0. 0. 0. 1. ]] SLAMing on 80.22486062399999 meters Centerline goodness : 0.794142 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.07, Z:0.91 [[ 0.9848205 -0.14817836 -0.09039772 -3.95571694] [ 0.14839782 0.98891828 -0.00432609 -1.06570507] [ 0.09003699 -0.0091544 0.99589635 0.90503147] [ 0. 0. 0. 1. ]] SLAMing on 80.28486062399999 meters Centerline goodness : 0.790342 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.06, Z:0.91 [[ 9.85252767e-01 -1.45027966e-01 -9.07957856e-02 -3.95622611e+00] [ 1.45490081e-01 9.89358506e-01 -1.54354455e-03 -1.06472052e+00] [ 9.00534399e-02 -1.16891047e-02 9.95868336e-01 9.05194272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34486062399999 meters Centerline goodness : 0.793086 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.85714893e-01 -1.41394625e-01 -9.15079749e-02 -3.95462346e+00] [ 1.42135288e-01 9.89845955e-01 1.59518149e-03 -1.06414805e+00] [ 9.03532487e-02 -1.45789065e-02 9.95803066e-01 9.03591327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404860624 meters Centerline goodness : 0.794102 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.85725036e-01 -1.41127234e-01 -9.18109846e-02 -3.95324782e+00] [ 1.41828246e-01 9.89890644e-01 1.12323243e-03 -1.06252278e+00] [ 9.07243160e-02 -1.41285893e-02 9.95775819e-01 9.02500078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464860624 meters Centerline goodness : 0.791661 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.85700881e-01 -1.41120979e-01 -9.20795485e-02 -3.95298837e+00] [ 1.41798958e-01 9.89895129e-01 8.29580652e-04 -1.06077993e+00] [ 9.10320254e-02 -1.38745024e-02 9.95751309e-01 9.02615629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52486062399998 meters Centerline goodness : 0.792947 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.85508592e-01 -1.42029724e-01 -9.27381986e-02 -3.95152368e+00] [ 1.42711847e-01 9.89764009e-01 7.31548109e-04 -1.06032924e+00] [ 9.16850296e-02 -1.39557865e-02 9.95690259e-01 9.02586268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58486062399999 meters Centerline goodness : 0.790158 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.85334313e-01 -1.42827679e-01 -9.33624451e-02 -3.94999818e+00] [ 1.43573183e-01 9.89638871e-01 1.28275340e-03 -1.06165376e+00] [ 9.22118921e-02 -1.46682844e-02 9.95631362e-01 9.02689982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64486062399999 meters Centerline goodness : 0.791189 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.85036271e-01 -1.44195577e-01 -9.43990455e-02 -3.94820892e+00] [ 1.45028702e-01 9.89425449e-01 1.98898345e-03 -1.06303022e+00] [ 9.31140154e-02 -1.56497919e-02 9.95532453e-01 9.03584186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70486062399999 meters Centerline goodness : 0.788882 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.06, Z:0.90 [[ 9.84750240e-01 -1.45389957e-01 -9.55443604e-02 -3.94652445e+00] [ 1.46301732e-01 9.89236674e-01 2.57041210e-03 -1.06359739e+00] [ 9.41422731e-02 -1.65095193e-02 9.95421854e-01 9.04729411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764860624 meters Centerline goodness : 0.792465 with order 3 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.06, Z:0.90 [[ 9.84540946e-01 -1.46027853e-01 -9.67212049e-02 -3.94434582e+00] [ 1.46994526e-01 9.89133034e-01 2.90687289e-03 -1.06272816e+00] [ 9.52456545e-02 -1.70794230e-02 9.95307268e-01 9.04993591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824860624 meters Centerline goodness : 0.789087 with order 3 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.06, Z:0.90 [[ 0.98492388 -0.14273004 -0.09773984 -3.94332668] [ 0.14404295 0.98955026 0.00647423 -1.06284801] [ 0.09579442 -0.02045535 0.99519094 0.90496568] [ 0. 0. 0. 1. ]] SLAMing on 80.88486062399998 meters Centerline goodness : 0.793799 with order 3 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.06, Z:0.90 [[ 0.98542676 -0.13865043 -0.09854015 -3.94273159] [ 0.14026873 0.99006639 0.00965522 -1.06111467] [ 0.09622259 -0.02333662 0.99508624 0.90453303] [ 0. 0. 0. 1. ]] SLAMing on 80.94486062399999 meters Centerline goodness : 0.800660 with order 3 Centerline is valid? [False, False] Translation: X:-3.92, Y:-1.05, Z:0.91 [[ 9.86833632e-01 -1.28451437e-01 -9.82833204e-02 -3.92236912e+00] [ 1.29299902e-01 9.91602899e-01 2.28599170e-03 -1.05231846e+00] [ 9.71643865e-02 -1.49639172e-02 9.95155849e-01 9.09953082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00486062399999 meters Centerline goodness : 0.799991 with order 3 Centerline is valid? [False, False] Translation: X:-3.92, Y:-1.05, Z:0.91 [[ 0.98748133 -0.12306081 -0.09867453 -3.92177004] [ 0.12418713 0.99224449 0.00533127 -1.04712458] [ 0.09725319 -0.01751863 0.99510548 0.90971347] [ 0. 0. 0. 1. ]] SLAMing on 81.06486062399999 meters Centerline goodness : 0.800312 with order 3 Centerline is valid? [False, False] Translation: X:-3.92, Y:-1.04, Z:0.91 [[ 0.98760758 -0.12170639 -0.09909002 -3.91997907] [ 0.12279789 0.99241926 0.00496887 -1.04356229] [ 0.0977341 -0.01707534 0.99506607 0.90948616] [ 0. 0. 0. 1. ]] SLAMing on 81.124860624 meters Centerline goodness : 0.800156 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.03, Z:0.91 [[ 9.89069643e-01 -1.11069428e-01 -9.69784727e-02 -3.90172607e+00] [ 1.11545408e-01 9.93759204e-01 -5.16502946e-04 -1.03318070e+00] [ 9.64306176e-02 -1.03066459e-02 9.95286345e-01 9.12381279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184860624 meters Centerline goodness : 0.796062 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.03, Z:0.91 [[ 9.89481478e-01 -1.07184256e-01 -9.71490650e-02 -3.90255944e+00] [ 1.07878273e-01 9.94162286e-01 1.90438077e-03 -1.02793942e+00] [ 9.63778170e-02 -1.23646229e-02 9.95268020e-01 9.12851824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24486062399998 meters Centerline goodness : 0.794413 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.02, Z:0.91 [[ 9.89561687e-01 -1.06520322e-01 -9.70622976e-02 -3.90167635e+00] [ 1.07106979e-01 9.94247148e-01 8.39011894e-04 -1.02083713e+00] [ 9.64145408e-02 -1.12263035e-02 9.95277954e-01 9.12065491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30486062399999 meters Centerline goodness : 0.790810 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.02, Z:0.91 [[ 9.89493654e-01 -1.07207943e-01 -9.69987882e-02 -3.90146676e+00] [ 1.07703037e-01 9.94183101e-01 -1.32506898e-04 -1.01783458e+00] [ 9.64487618e-02 -1.03159494e-02 9.95284491e-01 9.11590893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36486062399999 meters Centerline goodness : 0.793960 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 0.98899228 -0.11229676 -0.09635196 -3.90182449] [ 0.1123255 0.99365816 -0.00514304 -1.01256097] [ 0.09631846 -0.00573636 0.99533404 0.91121051] [ 0. 0. 0. 1. ]] SLAMing on 81.42486062399999 meters Centerline goodness : 0.795310 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 9.88473940e-01 -1.17007592e-01 -9.60650452e-02 -3.90166146e+00] [ 1.16604336e-01 9.93129896e-01 -9.82033451e-03 -1.00952745e+00] [ 9.65541220e-02 -1.49445602e-03 9.95326614e-01 9.11454465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48486062399999 meters Centerline goodness : 0.795632 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.01, Z:0.91 [[ 0.98816253 -0.12408887 -0.09020407 -3.89299719] [ 0.12418911 0.99224826 -0.00452246 -1.00843482] [ 0.09006602 -0.00673344 0.99591303 0.90793236] [ 0. 0. 0. 1. ]] SLAMing on 81.544860624 meters Centerline goodness : 0.796468 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.01, Z:0.91 [[ 9.87584464e-01 -1.28870581e-01 -8.98292822e-02 -3.89274768e+00] [ 1.28579681e-01 9.91657959e-01 -9.04205524e-03 -1.00612946e+00] [ 9.02451775e-02 -2.62042720e-03 9.95916132e-01 9.07906903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604860624 meters Centerline goodness : 0.793988 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.00, Z:0.91 [[ 9.86978709e-01 -1.33932895e-01 -8.90786641e-02 -3.89292480e+00] [ 1.33270815e-01 9.90989524e-01 -1.33661504e-02 -1.00444593e+00] [ 9.00661901e-02 1.32051971e-03 9.95934906e-01 9.07205428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66486062399999 meters Centerline goodness : 0.796445 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.00, Z:0.91 [[ 9.86851282e-01 -1.35185732e-01 -8.85966401e-02 -3.89410114e+00] [ 1.34473484e-01 9.90818474e-01 -1.39868863e-02 -1.00391747e+00] [ 8.96740153e-02 1.88907785e-03 9.95969378e-01 9.07070050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72486062399999 meters Centerline goodness : 0.795981 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.00, Z:0.91 [[ 9.86712580e-01 -1.36501109e-01 -8.81233950e-02 -3.89565256e+00] [ 1.35721273e-01 9.90636367e-01 -1.48096304e-02 -1.00199327e+00] [ 8.93197708e-02 2.65262923e-03 9.95999469e-01 9.07204330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78486062399999 meters Centerline goodness : 0.794417 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.00, Z:0.91 [[ 9.86642062e-01 -1.37198793e-01 -8.78289989e-02 -3.89648867e+00] [ 1.36383614e-01 9.90538799e-01 -1.52445960e-02 -1.00203464e+00] [ 8.90895712e-02 3.06252331e-03 9.96018910e-01 9.07405802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84486062399999 meters Centerline goodness : 0.793503 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.00, Z:0.91 [[ 9.86566903e-01 -1.37840661e-01 -8.76681106e-02 -3.89682464e+00] [ 1.37015629e-01 9.90449344e-01 -1.53888077e-02 -1.00271674e+00] [ 8.89520261e-02 3.17018710e-03 9.96030866e-01 9.07235093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904860624 meters Centerline goodness : 0.794586 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.00, Z:0.91 [[ 9.86387410e-01 -1.39340964e-01 -8.73153659e-02 -3.89810093e+00] [ 1.38499915e-01 9.90238826e-01 -1.56474161e-02 -1.00376826e+00] [ 8.86433914e-02 3.34124347e-03 9.96057822e-01 9.07231842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964860624 meters Centerline goodness : 0.794895 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 9.86249959e-01 -1.40409332e-01 -8.71564041e-02 -3.89867319e+00] [ 1.39566104e-01 9.90087892e-01 -1.57247744e-02 -1.00588355e+00] [ 8.85004055e-02 3.34447832e-03 9.96070526e-01 9.07186558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02486062399998 meters Centerline goodness : 0.795635 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 0.98569744 -0.14441908 -0.08685439 -3.89772621] [ 0.14329276 0.98949605 -0.01909867 -1.00751817] [ 0.08870029 0.00637991 0.99603793 0.90685398] [ 0. 0. 0. 1. ]] SLAMing on 82.08486062399999 meters Centerline goodness : 0.796069 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 0.98563845 -0.14486956 -0.08677358 -3.89841227] [ 0.14375376 0.98943097 -0.01900575 -1.0088807 ] [ 0.08860982 0.00625877 0.99604675 0.90727882] [ 0. 0. 0. 1. ]] SLAMing on 82.14486062399999 meters Centerline goodness : 0.795132 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 0.98563626 -0.14487988 -0.08678126 -3.89843046] [ 0.14380104 0.98943199 -0.01858999 -1.01078596] [ 0.08855747 0.00584373 0.99605393 0.90727866] [ 0. 0. 0. 1. ]] SLAMing on 82.20486062399999 meters Centerline goodness : 0.785228 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.01, Z:0.91 [[ 0.98565037 -0.14480956 -0.08673839 -3.89851152] [ 0.14377719 0.98944515 -0.01806672 -1.01419434] [ 0.08843911 0.00533647 0.99606729 0.90746756] [ 0. 0. 0. 1. ]] SLAMing on 82.264860624 meters Centerline goodness : 0.787297 with order 1 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.02, Z:0.91 [[ 0.98567102 -0.1447014 -0.08668421 -3.89894001] [ 0.14370322 0.98946289 -0.01767983 -1.01597315] [ 0.0883291 0.0049697 0.99607895 0.9078994 ] [ 0. 0. 0. 1. ]] SLAMing on 82.324860624 meters Centerline goodness : 0.795468 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.02, Z:0.91 [[ 0.98572845 -0.14418839 -0.08688575 -3.89839526] [ 0.14322952 0.98953996 -0.01720377 -1.01720112] [ 0.08845751 0.00451364 0.99606972 0.90793395] [ 0. 0. 0. 1. ]] SLAMing on 82.38486062399998 meters Centerline goodness : 0.794197 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.02, Z:0.91 [[ 0.98580574 -0.14354911 -0.08706718 -3.897412 ] [ 0.14263328 0.989635 -0.01668273 -1.01824936] [ 0.08855952 0.00402725 0.99606275 0.90742649] [ 0. 0. 0. 1. ]] SLAMing on 82.44486062399999 meters Centerline goodness : 0.794927 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.02, Z:0.91 [[ 9.85928699e-01 -1.42435267e-01 -8.75031137e-02 -3.89586728e+00] [ 1.41587569e-01 9.89798821e-01 -1.58509914e-02 -1.01958543e+00] [ 8.88682189e-02 3.23859422e-03 9.96038127e-01 9.06958499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50486062399999 meters Centerline goodness : 0.795150 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.02, Z:0.91 [[ 9.85986907e-01 -1.41845481e-01 -8.78047770e-02 -3.89496345e+00] [ 1.41039675e-01 9.89885000e-01 -1.53458712e-02 -1.02066348e+00] [ 8.90933742e-02 2.74687085e-03 9.96019490e-01 9.06806552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56486062399999 meters Centerline goodness : 0.793503 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.02, Z:0.91 [[ 9.86054719e-01 -1.41249127e-01 -8.80044029e-02 -3.89436320e+00] [ 1.40498341e-01 9.89971792e-01 -1.46992493e-02 -1.02261775e+00] [ 8.91981326e-02 2.12979150e-03 9.96011625e-01 9.06822349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624860624 meters Centerline goodness : 0.794775 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.02, Z:0.91 [[ 9.86051147e-01 -1.41378758e-01 -8.78361067e-02 -3.89495149e+00] [ 1.40662198e-01 9.89953994e-01 -1.43260490e-02 -1.02470529e+00] [ 8.89791037e-02 1.77099725e-03 9.96031919e-01 9.07035558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684860624 meters Centerline goodness : 0.796251 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.03, Z:0.91 [[ 9.85879996e-01 -1.42784463e-01 -8.74827466e-02 -3.89585503e+00] [ 1.41981456e-01 9.89750047e-01 -1.53659023e-02 -1.02915091e+00] [ 8.87800646e-02 2.72800790e-03 9.96047518e-01 9.08285089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74486062399998 meters Centerline goodness : 0.793545 with order 3 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.03, Z:0.91 [[ 9.85879511e-01 -1.42817434e-01 -8.74343726e-02 -3.89586057e+00] [ 1.42063394e-01 9.89746630e-01 -1.48189365e-02 -1.03241564e+00] [ 8.86542780e-02 2.18846212e-03 9.96060053e-01 9.08298253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80486062399999 meters Centerline goodness : 0.795520 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.04, Z:0.91 [[ 9.85860693e-01 -1.42729624e-01 -8.77892258e-02 -3.89476778e+00] [ 1.42076082e-01 9.89761196e-01 -1.36807039e-02 -1.03777751e+00] [ 8.88430109e-02 1.01451896e-03 9.96045125e-01 9.07810236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86486062399999 meters Centerline goodness : 0.795907 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.04, Z:0.91 [[ 9.85858174e-01 -1.42582428e-01 -8.80563052e-02 -3.89416594e+00] [ 1.41994325e-01 9.89782899e-01 -1.29392563e-02 -1.04099025e+00] [ 8.90015357e-02 2.52775961e-04 9.96031457e-01 9.07831806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92486062399999 meters Centerline goodness : 0.795509 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.05, Z:0.91 [[ 9.85853857e-01 -1.42199456e-01 -8.87214050e-02 -3.89234552e+00] [ 1.41874932e-01 9.89834224e-01 -9.98563791e-03 -1.04730459e+00] [ 8.92394353e-02 -2.74296365e-03 9.96006425e-01 9.07843495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98486062399999 meters Centerline goodness : 0.785886 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.05, Z:0.91 [[ 9.85862512e-01 -1.42013550e-01 -8.89227744e-02 -3.89178354e+00] [ 1.41730685e-01 9.89859482e-01 -9.51938289e-03 -1.04878928e+00] [ 8.93729328e-02 -3.21828304e-03 9.95993033e-01 9.07884256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044860624 meters Centerline goodness : 0.794870 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.05, Z:0.91 [[ 0.98596719 -0.1411008 -0.08921471 -3.89035525] [ 0.14094331 0.98998458 -0.00809437 -1.05107866] [ 0.08946331 -0.00459343 0.99597953 0.90706683] [ 0. 0. 0. 1. ]] SLAMing on 83.104860624 meters Centerline goodness : 0.786086 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.05, Z:0.91 [[ 9.86596232e-01 -1.36351212e-01 -8.96449753e-02 -3.88963140e+00] [ 1.36578433e-01 9.90622633e-01 -3.62349968e-03 -1.05358906e+00] [ 8.92984101e-02 -8.66863916e-03 9.95967193e-01 9.06081814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16486062399999 meters Centerline goodness : 0.795055 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.06, Z:0.91 [[ 9.87062428e-01 -1.32471692e-01 -9.03272577e-02 -3.88846770e+00] [ 1.33106701e-01 9.91101193e-01 1.01598883e-03 -1.05650688e+00] [ 8.93888630e-02 -1.30260077e-02 9.95911620e-01 9.05349904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22486062399999 meters Centerline goodness : 0.786555 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.06, Z:0.91 [[ 0.98754048 -0.12840134 -0.09097743 -3.88771392] [ 0.12947438 0.99156481 0.00596781 -1.05982927] [ 0.08944374 -0.0176727 0.99583507 0.90514648] [ 0. 0. 0. 1. ]] SLAMing on 83.28486062399999 meters Centerline goodness : 0.788043 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.06, Z:0.90 [[ 0.98762231 -0.12767181 -0.09111576 -3.88681967] [ 0.12878163 0.99165244 0.0063826 -1.05989835] [ 0.08954028 -0.01803764 0.99581985 0.90437074] [ 0. 0. 0. 1. ]] SLAMing on 83.34486062399999 meters Centerline goodness : 0.788658 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.06, Z:0.90 [[ 0.9876837 -0.12696654 -0.09143527 -3.88535652] [ 0.12814248 0.99173048 0.0070831 -1.06107003] [ 0.08977982 -0.0187126 0.99578583 0.90341944] [ 0. 0. 0. 1. ]] SLAMing on 83.404860624 meters Centerline goodness : 0.790041 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.98768294 -0.12674824 -0.09174583 -3.88367542] [ 0.12797192 0.99174901 0.00755608 -1.06179569] [ 0.09003112 -0.0192039 0.99575379 0.90225671] [ 0. 0. 0. 1. ]] SLAMing on 83.464860624 meters Centerline goodness : 0.789773 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.98770512 -0.12650077 -0.09184855 -3.88328855] [ 0.12776057 0.99177322 0.00794446 -1.06200357] [ 0.09008795 -0.0195814 0.9957413 0.90214757] [ 0. 0. 0. 1. ]] SLAMing on 83.52486062399998 meters Centerline goodness : 0.787237 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.98765918 -0.1264089 -0.09246691 -3.88191248] [ 0.12774413 0.9917695 0.00864271 -1.0624368 ] [ 0.09061335 -0.02034815 0.99567825 0.90218382] [ 0. 0. 0. 1. ]] SLAMing on 83.58486062399999 meters Centerline goodness : 0.784350 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.98757086 -0.12681421 -0.09285443 -3.88066035] [ 0.12818265 0.99171064 0.00890038 -1.06302547] [ 0.09095603 -0.02069208 0.99563991 0.90189865] [ 0. 0. 0. 1. ]] SLAMing on 83.64486062399999 meters Centerline goodness : 0.785021 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.98736547 -0.127863 -0.09359744 -3.87887378] [ 0.12926931 0.99156782 0.0090945 -1.06325551] [ 0.09164536 -0.02107887 0.99556859 0.90177311] [ 0. 0. 0. 1. ]] SLAMing on 83.70486062399999 meters Centerline goodness : 0.786850 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.98718511 -0.12861541 -0.09446503 -3.87710648] [ 0.13006345 0.99146197 0.00930931 -1.06239728] [ 0.09246116 -0.02147646 0.99548465 0.90189593] [ 0. 0. 0. 1. ]] SLAMing on 83.764860624 meters Centerline goodness : 0.787018 with order 3 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.06, Z:0.90 [[ 0.9869331 -0.12978833 -0.09548851 -3.87544135] [ 0.13128153 0.99129962 0.00949818 -1.06139063] [ 0.09342497 -0.02190994 0.99538522 0.90257964] [ 0. 0. 0. 1. ]] SLAMing on 83.824860624 meters Centerline goodness : 0.786446 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.06, Z:0.90 [[ 0.98676297 -0.13062778 -0.09610007 -3.87463692] [ 0.13213754 0.99118596 0.00949024 -1.06045944] [ 0.09401335 -0.02206305 0.99532644 0.90317354] [ 0. 0. 0. 1. ]] SLAMing on 83.88486062399998 meters Centerline goodness : 0.785620 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.06, Z:0.90 [[ 0.98668725 -0.13085307 -0.09656991 -3.87399778] [ 0.13236453 0.99115666 0.00938699 -1.05872928] [ 0.09448759 -0.02204445 0.99528194 0.90342746] [ 0. 0. 0. 1. ]] SLAMing on 83.94486062399999 meters Centerline goodness : 0.792653 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.06, Z:0.90 [[ 0.98690367 -0.12844369 -0.0975877 -3.87276782] [ 0.13030356 0.99139017 0.01290386 -1.05847623] [ 0.09509007 -0.02545089 0.99514327 0.90342627] [ 0. 0. 0. 1. ]] SLAMing on 84.00486062399999 meters Centerline goodness : 0.794028 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.06, Z:0.90 [[ 0.98712826 -0.12610534 -0.09836278 -3.87208212] [ 0.12830034 0.99160151 0.01629331 -1.05810355] [ 0.09548201 -0.02870356 0.99501723 0.90335447] [ 0. 0. 0. 1. ]] SLAMing on 84.06486062399999 meters Centerline goodness : 0.793998 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.06, Z:0.90 [[ 0.98707515 -0.1262365 -0.09872688 -3.87108608] [ 0.12843122 0.99158651 0.0161744 -1.05755144] [ 0.09585445 -0.02864496 0.99498311 0.90301531] [ 0. 0. 0. 1. ]] SLAMing on 84.124860624 meters Centerline goodness : 0.793028 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.06, Z:0.90 [[ 0.98701268 -0.12663889 -0.09883602 -3.87111812] [ 0.12881278 0.99154135 0.01590666 -1.05626109] [ 0.0959856 -0.02843142 0.99497659 0.90325609] [ 0. 0. 0. 1. ]] SLAMing on 84.184860624 meters Centerline goodness : 0.795901 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 0.98688837 -0.1272026 -0.09935207 -3.87031788] [ 0.12936354 0.99147462 0.0155933 -1.05428852] [ 0.09652155 -0.02824138 0.99493016 0.90340146] [ 0. 0. 0. 1. ]] SLAMing on 84.24486062399998 meters Centerline goodness : 0.795036 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 0.98676503 -0.1277477 -0.09987642 -3.86856526] [ 0.12992984 0.99139997 0.01563094 -1.05449093] [ 0.09702066 -0.028401 0.99487706 0.90273954] [ 0. 0. 0. 1. ]] SLAMing on 84.30486062399999 meters Centerline goodness : 0.796606 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 0.98663796 -0.12903366 -0.09947786 -3.8705297 ] [ 0.1310652 0.99127295 0.01413699 -1.05146464] [ 0.09678557 -0.02698618 0.99493935 0.90391648] [ 0. 0. 0. 1. ]] SLAMing on 84.36486062399999 meters Centerline goodness : 0.797534 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 0.98656095 -0.12968176 -0.09939887 -3.87100657] [ 0.13162327 0.99121189 0.01320214 -1.04972135] [ 0.09681326 -0.02610792 0.99496008 0.90438859] [ 0. 0. 0. 1. ]] SLAMing on 84.42486062399999 meters Centerline goodness : 0.795798 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 0.98651982 -0.1301227 -0.09923072 -3.87124342] [ 0.1319693 0.99117811 0.01224981 -1.04694548] [ 0.09676134 -0.02518009 0.99498905 0.90431926] [ 0. 0. 0. 1. ]] SLAMing on 84.48486062399999 meters Centerline goodness : 0.795483 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 0.986493 -0.1303194 -0.09923914 -3.87089888] [ 0.13211003 0.99116644 0.01166279 -1.04512924] [ 0.09684262 -0.02461574 0.99499526 0.90403297] [ 0. 0. 0. 1. ]] SLAMing on 84.544860624 meters Centerline goodness : 0.796728 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.90 [[ 0.98645883 -0.13048195 -0.09936515 -3.87061234] [ 0.13221128 0.99116059 0.01099389 -1.04319647] [ 0.09705232 -0.02398221 0.9949903 0.90415786] [ 0. 0. 0. 1. ]] SLAMing on 84.60486062399998 meters Centerline goodness : 0.797202 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.91 [[ 0.98643061 -0.13071045 -0.09934505 -3.87117422] [ 0.13233745 0.99115489 0.00993917 -1.04015972] [ 0.09716718 -0.02295137 0.9950034 0.90504124] [ 0. 0. 0. 1. ]] SLAMing on 84.66486062399999 meters Centerline goodness : 0.788949 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.91 [[ 0.98638181 -0.13121242 -0.09916767 -3.87212071] [ 0.13276718 0.99110441 0.00921589 -1.03885932] [ 0.09707627 -0.0222566 0.99502806 0.90576033] [ 0. 0. 0. 1. ]] SLAMing on 84.72486062399999 meters Centerline goodness : 0.797709 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.91 [[ 0.9859342 -0.13474682 -0.09887897 -3.87134295] [ 0.13592944 0.99070439 0.00529142 -1.03737274] [ 0.09724683 -0.01865756 0.9950854 0.90586069] [ 0. 0. 0. 1. ]] SLAMing on 84.78486062399999 meters Centerline goodness : 0.797640 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.91 [[ 9.85532173e-01 -1.37894492e-01 -9.85466619e-02 -3.87031362e+00] [ 1.38736653e-01 9.90327830e-01 1.71170051e-03 -1.03554112e+00] [ 9.73574678e-02 -1.53589700e-02 9.95130959e-01 9.05525983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84486062399999 meters Centerline goodness : 0.797345 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.91 [[ 9.85430605e-01 -1.38647867e-01 -9.85052878e-02 -3.87069277e+00] [ 1.39440952e-01 9.90229686e-01 1.17910354e-03 -1.03520065e+00] [ 9.73793800e-02 -1.48975958e-02 9.95135829e-01 9.05812711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904860624 meters Centerline goodness : 0.800333 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.91 [[ 9.85382371e-01 -1.38976511e-01 -9.85246754e-02 -3.87068191e+00] [ 1.39735533e-01 9.90188528e-01 8.11810582e-04 -1.03473854e+00] [ 9.74451807e-02 -1.45673419e-02 9.95134277e-01 9.05908732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964860624 meters Centerline goodness : 0.800690 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.91 [[ 9.85308122e-01 -1.39507883e-01 -9.85162666e-02 -3.87090132e+00] [ 1.40213903e-01 9.90121205e-01 2.45486778e-04 -1.03414311e+00] [ 9.75087973e-02 -1.40552303e-02 9.95135410e-01 9.06223708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02486062399998 meters Centerline goodness : 0.801765 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.91 [[ 9.85254975e-01 -1.39978972e-01 -9.83794824e-02 -3.87152346e+00] [ 1.40598384e-01 9.90066504e-01 -6.42762819e-04 -1.03146485e+00] [ 9.74922034e-02 -1.31987109e-02 9.95148765e-01 9.06661568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08486062399999 meters Centerline goodness : 0.801776 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.91 [[ 9.85273605e-01 -1.39840432e-01 -9.83899258e-02 -3.87138046e+00] [ 1.40390794e-01 9.90095260e-01 -1.34165349e-03 -1.02852125e+00] [ 9.76030166e-02 -1.24911441e-02 9.95147036e-01 9.06772470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14486062399999 meters Centerline goodness : 0.802558 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.91 [[ 9.85293549e-01 -1.39735644e-01 -9.83390628e-02 -3.87142014e+00] [ 1.40229808e-01 9.90117155e-01 -1.90293575e-03 -1.02610471e+00] [ 9.76331010e-02 -1.19151176e-02 9.95151148e-01 9.06891278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20486062399999 meters Centerline goodness : 0.801723 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.91 [[ 9.85446549e-01 -1.38745431e-01 -9.82079655e-02 -3.87141171e+00] [ 1.39208174e-01 9.90260787e-01 -2.15812656e-03 -1.02209298e+00] [ 9.75509275e-02 -1.15446331e-02 9.95163573e-01 9.06927587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264860624 meters Centerline goodness : 0.803182 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.91 [[ 9.85487043e-01 -1.38395726e-01 -9.82950185e-02 -3.87092734e+00] [ 1.38826718e-01 9.90313596e-01 -2.47456954e-03 -1.02021272e+00] [ 9.76853631e-02 -1.12073186e-02 9.95154242e-01 9.06853596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324860624 meters Centerline goodness : 0.801690 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.91 [[ 9.85505587e-01 -1.38229912e-01 -9.83424105e-02 -3.87029607e+00] [ 1.38655824e-01 9.90337414e-01 -2.52347486e-03 -1.01949853e+00] [ 9.77409883e-02 -1.11488494e-02 9.95149437e-01 9.06326465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38486062399998 meters Centerline goodness : 0.802381 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.91 [[ 9.85489054e-01 -1.38469766e-01 -9.81705084e-02 -3.87076934e+00] [ 1.38842339e-01 9.90309772e-01 -3.05953974e-03 -1.01782156e+00] [ 9.76428676e-02 -1.06150801e-02 9.95164906e-01 9.06599002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44486062399999 meters Centerline goodness : 0.802384 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.91 [[ 9.85474122e-01 -1.38696699e-01 -9.79999031e-02 -3.87115271e+00] [ 1.39032817e-01 9.90281854e-01 -3.42429962e-03 -1.01656655e+00] [ 9.75224647e-02 -1.02506439e-02 9.95180533e-01 9.06603593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50486062399999 meters Centerline goodness : 0.802932 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.91 [[ 9.85435722e-01 -1.38978201e-01 -9.79872278e-02 -3.87087020e+00] [ 1.39278870e-01 9.90245912e-01 -3.79867616e-03 -1.01582183e+00] [ 9.75593849e-02 -9.90419915e-03 9.95180422e-01 9.06361132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56486062399999 meters Centerline goodness : 0.802909 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 0.98534424 -0.13981347 -0.09771856 -3.87145272] [ 0.14003103 0.99013614 -0.00466235 -1.01376503] [ 0.09740654 -0.00908961 0.99520317 0.90629454] [ 0. 0. 0. 1. ]] SLAMing on 85.624860624 meters Centerline goodness : 0.803430 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 0.98525464 -0.14062784 -0.09745305 -3.87178528] [ 0.14080013 0.99002469 -0.0051414 -1.01323035] [ 0.09720395 -0.00865581 0.99522684 0.90587298] [ 0. 0. 0. 1. ]] SLAMing on 85.684860624 meters Centerline goodness : 0.802944 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 0.98470923 -0.14465871 -0.09706488 -3.87079221] [ 0.14444532 0.98946946 -0.00925914 -1.01148524] [ 0.09738215 -0.004903 0.99523499 0.90544109] [ 0. 0. 0. 1. ]] SLAMing on 85.74486062399998 meters Centerline goodness : 0.798869 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 0.98453901 -0.14619055 -0.09649484 -3.87250046] [ 0.14589488 0.98924802 -0.01015093 -1.00991857] [ 0.0969413 -0.00408412 0.99528172 0.90547067] [ 0. 0. 0. 1. ]] SLAMing on 85.80486062399999 meters Centerline goodness : 0.798817 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 9.84472724e-01 -1.46865248e-01 -9.61460026e-02 -3.87353266e+00] [ 1.46506582e-01 9.89150541e-01 -1.08179800e-02 -1.00887182e+00] [ 9.66916558e-02 -3.43601603e-03 9.95308453e-01 9.05847918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86486062399999 meters Centerline goodness : 0.797007 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 9.84427774e-01 -1.47360443e-01 -9.58480943e-02 -3.87450456e+00] [ 1.46955062e-01 9.89078465e-01 -1.13136995e-02 -1.00805551e+00] [ 9.64684777e-02 -2.94784265e-03 9.95331675e-01 9.06219978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92486062399999 meters Centerline goodness : 0.798268 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 9.84431883e-01 -1.47393108e-01 -9.57556229e-02 -3.87460516e+00] [ 1.46955454e-01 9.89074554e-01 -1.16456716e-02 -1.00670929e+00] [ 9.64259418e-02 -2.60744060e-03 9.95336747e-01 9.06210430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98486062399999 meters Centerline goodness : 0.795780 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 9.84450346e-01 -1.47272718e-01 -9.57510434e-02 -3.87452552e+00] [ 1.46818439e-01 9.89092938e-01 -1.18112790e-02 -1.00576124e+00] [ 9.64461600e-02 -2.43040108e-03 9.95335236e-01 9.06205140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044860624 meters Centerline goodness : 0.794044 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 9.84497462e-01 -1.46969419e-01 -9.57326302e-02 -3.87379404e+00] [ 1.46556920e-01 9.89136954e-01 -1.13646489e-02 -1.00706493e+00] [ 9.63629381e-02 -2.84181144e-03 9.95342207e-01 9.05483962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10486062399998 meters Centerline goodness : 0.787989 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.91 [[ 9.84511834e-01 -1.46797883e-01 -9.58479500e-02 -3.87329880e+00] [ 1.46395291e-01 9.89162114e-01 -1.12574974e-02 -1.00735033e+00] [ 9.64617376e-02 -2.94854909e-03 9.95332326e-01 9.05341192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16486062399999 meters Centerline goodness : 0.785267 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84537963e-01 -1.46633291e-01 -9.58315057e-02 -3.87280833e+00] [ 1.46260916e-01 9.89185587e-01 -1.09370501e-02 -1.00818337e+00] [ 9.63988799e-02 -3.24846280e-03 9.95337482e-01 9.04818726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22486062399999 meters Centerline goodness : 0.793587 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84557810e-01 -1.46476643e-01 -9.58671560e-02 -3.87193987e+00] [ 1.46138280e-01 9.89207601e-01 -1.05794701e-02 -1.00947648e+00] [ 9.63821647e-02 -3.59376138e-03 9.95337914e-01 9.04010399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28486062399999 meters Centerline goodness : 0.791888 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84547890e-01 -1.46585662e-01 -9.58023796e-02 -3.87203933e+00] [ 1.46239394e-01 9.89191750e-01 -1.06640466e-02 -1.00926595e+00] [ 9.63301198e-02 -3.51081734e-03 9.95343248e-01 9.04005258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34486062399999 meters Centerline goodness : 0.791974 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84524230e-01 -1.46771462e-01 -9.57610460e-02 -3.87216803e+00] [ 1.46419022e-01 9.89164406e-01 -1.07353742e-02 -1.00989164e+00] [ 9.62990648e-02 -3.45200265e-03 9.95346459e-01 9.04170401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404860624 meters Centerline goodness : 0.789872 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84427715e-01 -1.47610719e-01 -9.54628181e-02 -3.87311610e+00] [ 1.47227381e-01 9.89040548e-01 -1.10856920e-02 -1.01123008e+00] [ 9.60529649e-02 -3.14167825e-03 9.95371266e-01 9.04498290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464860624 meters Centerline goodness : 0.787974 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84394387e-01 -1.47913096e-01 -9.53383801e-02 -3.87352226e+00] [ 1.47518733e-01 9.88995725e-01 -1.12106625e-02 -1.01116869e+00] [ 9.59474542e-02 -3.02848387e-03 9.95381793e-01 9.04633322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52486062399998 meters Centerline goodness : 0.784856 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84411669e-01 -1.47724348e-01 -9.54525205e-02 -3.87324355e+00] [ 1.47340141e-01 9.89023597e-01 -1.10998826e-02 -1.01144297e+00] [ 9.60445181e-02 -3.13713383e-03 9.95372096e-01 9.04661773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58486062399999 meters Centerline goodness : 0.790751 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84455950e-01 -1.47479971e-01 -9.53736911e-02 -3.87325249e+00] [ 1.47107500e-01 9.89059746e-01 -1.09637135e-02 -1.01229162e+00] [ 9.59472068e-02 -3.23689220e-03 9.95381161e-01 9.04801112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64486062399999 meters Centerline goodness : 0.790825 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.01, Z:0.90 [[ 9.84476500e-01 -1.47369336e-01 -9.53325771e-02 -3.87325844e+00] [ 1.47021087e-01 9.89075423e-01 -1.07054977e-02 -1.01347951e+00] [ 9.58687711e-02 -3.47658829e-03 9.95387910e-01 9.04829814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70486062399999 meters Centerline goodness : 0.789898 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98452868 -0.14690625 -0.09550833 -3.87228487] [ 0.1466153 0.98914207 -0.01009531 -1.01501238] [ 0.09595437 -0.00406386 0.99537744 0.90427465] [ 0. 0. 0. 1. ]] SLAMing on 86.764860624 meters Centerline goodness : 0.789378 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98455749 -0.14668137 -0.09555693 -3.87146067] [ 0.14643595 0.98917343 -0.00961419 -1.01717361] [ 0.0959326 -0.00452725 0.99537754 0.90363641] [ 0. 0. 0. 1. ]] SLAMing on 86.824860624 meters Centerline goodness : 0.788937 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98455624 -0.14663902 -0.09563475 -3.87110592] [ 0.1464159 0.98917861 -0.00938468 -1.018999 ] [ 0.09597601 -0.0047627 0.99537225 0.90366284] [ 0. 0. 0. 1. ]] SLAMing on 86.88486062399998 meters Centerline goodness : 0.787103 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98454489 -0.14673035 -0.09561153 -3.87108049] [ 0.14653573 0.98916359 -0.00909225 -1.02043473] [ 0.09590956 -0.00505878 0.9953772 0.90360361] [ 0. 0. 0. 1. ]] SLAMing on 86.94486062399999 meters Centerline goodness : 0.787154 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98453746 -0.14679547 -0.09558802 -3.87092721] [ 0.14660797 0.98915355 -0.0090202 -1.02131423] [ 0.09587536 -0.00513324 0.99538011 0.90354175] [ 0. 0. 0. 1. ]] SLAMing on 87.00486062399999 meters Centerline goodness : 0.781535 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.9845514 -0.14656403 -0.09579946 -3.86996054] [ 0.14640958 0.98918599 -0.00867777 -1.02254006] [ 0.09603533 -0.00548224 0.99536283 0.90307372] [ 0. 0. 0. 1. ]] SLAMing on 87.06486062399999 meters Centerline goodness : 0.781788 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98454405 -0.14661805 -0.09579224 -3.87004117] [ 0.14645044 0.98917872 -0.00881651 -1.02236707] [ 0.0960483 -0.00534857 0.9953623 0.90319661] [ 0. 0. 0. 1. ]] SLAMing on 87.124860624 meters Centerline goodness : 0.780315 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98452282 -0.14683107 -0.09568415 -3.87026546] [ 0.14664429 0.98914817 -0.00901967 -1.02198807] [ 0.09597017 -0.00515146 0.99537088 0.90322269] [ 0. 0. 0. 1. ]] SLAMing on 87.184860624 meters Centerline goodness : 0.779677 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98451302 -0.146884 -0.09570377 -3.86961633] [ 0.14670126 0.98914007 -0.00898135 -1.02283482] [ 0.09598366 -0.00519761 0.99536934 0.90272061] [ 0. 0. 0. 1. ]] SLAMing on 87.24486062399998 meters Centerline goodness : 0.779927 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98452064 -0.14688199 -0.09562836 -3.86951761] [ 0.146701 0.98914031 -0.00895901 -1.02309359] [ 0.09590579 -0.00520845 0.99537679 0.90255209] [ 0. 0. 0. 1. ]] SLAMing on 87.30486062399999 meters Centerline goodness : 0.783494 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.02, Z:0.90 [[ 0.98448248 -0.14709905 -0.09568762 -3.86957246] [ 0.14693661 0.98910694 -0.00878037 -1.02487616] [ 0.09593687 -0.00541589 0.99537269 0.90285367] [ 0. 0. 0. 1. ]] SLAMing on 87.36486062399999 meters Centerline goodness : 0.782290 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.90 [[ 9.83968432e-01 -1.50600249e-01 -9.55284788e-02 -3.86817953e+00] [ 1.50137737e-01 9.88591624e-01 -1.20524355e-02 -1.02611197e+00] [ 9.62537538e-02 -2.48321357e-03 9.95353730e-01 9.02680895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42486062399999 meters Centerline goodness : 0.784795 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.90 [[ 9.83766821e-01 -1.52177264e-01 -9.51047916e-02 -3.86815412e+00] [ 1.51613283e-01 9.88352135e-01 -1.31707955e-02 -1.02906627e+00] [ 9.60013195e-02 -1.46215811e-03 9.95380133e-01 9.02628489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48486062399999 meters Centerline goodness : 0.784664 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.03, Z:0.90 [[ 9.83234525e-01 -1.55741303e-01 -9.48394233e-02 -3.86697011e+00] [ 1.54919112e-01 9.87797313e-01 -1.60167711e-02 -1.03195553e+00] [ 9.61766003e-02 1.05580313e-03 9.95363726e-01 9.02303713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544860624 meters Centerline goodness : 0.780889 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.90 [[ 9.83154518e-01 -1.56282519e-01 -9.47785186e-02 -3.86726853e+00] [ 1.55495308e-01 9.87712161e-01 -1.56810869e-02 -1.03531574e+00] [ 9.60645752e-02 6.79316533e-04 9.95374872e-01 9.02504470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60486062399998 meters Centerline goodness : 0.781627 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.90 [[ 9.83082030e-01 -1.56751813e-01 -9.47554317e-02 -3.86733135e+00] [ 1.55986630e-01 9.87637930e-01 -1.54754584e-02 -1.03864506e+00] [ 9.60098646e-02 4.33064582e-04 9.95380288e-01 9.02737072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66486062399999 meters Centerline goodness : 0.782767 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.90 [[ 9.83064987e-01 -1.56957477e-01 -9.45916628e-02 -3.86809578e+00] [ 1.56234975e-01 9.87605362e-01 -1.50426847e-02 -1.04183494e+00] [ 9.57802952e-02 9.41065054e-06 9.95402499e-01 9.03319204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72486062399999 meters Centerline goodness : 0.776913 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.90 [[ 9.83082871e-01 -1.56762754e-01 -9.47286021e-02 -3.86745131e+00] [ 1.56081581e-01 9.87636196e-01 -1.46042663e-02 -1.04345920e+00] [ 9.58468012e-02 -4.28185921e-04 9.95396005e-01 9.03045115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78486062399999 meters Centerline goodness : 0.775923 with order 1 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.04, Z:0.90 [[ 9.83129252e-01 -1.56368268e-01 -9.48990953e-02 -3.86664897e+00] [ 1.55732611e-01 9.87698410e-01 -1.41139872e-02 -1.04498710e+00] [ 9.59386653e-02 -9.03010148e-04 9.95386838e-01 9.02704335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84486062399999 meters Centerline goodness : 0.784954 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 9.83218073e-01 -1.55586025e-01 -9.52638949e-02 -3.86530146e+00] [ 1.55001589e-01 9.87821292e-01 -1.35499856e-02 -1.04666862e+00] [ 9.62118921e-02 -1.44346438e-03 9.95359829e-01 9.02388082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904860624 meters Centerline goodness : 0.774915 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.05, Z:0.90 [[ 9.83331279e-01 -1.54782382e-01 -9.54044561e-02 -3.86511397e+00] [ 1.54203541e-01 9.87947479e-01 -1.34553351e-02 -1.04593853e+00] [ 9.63372407e-02 -1.48065306e-03 9.95347650e-01 9.02875834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96486062399998 meters Centerline goodness : 0.784630 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.83532841e-01 -1.53409407e-01 -9.55442580e-02 -3.86460329e+00] [ 1.52871720e-01 9.88160978e-01 -1.29660564e-02 -1.04577432e+00] [ 9.64022224e-02 -1.85347274e-03 9.95340734e-01 9.03192283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02486062399998 meters Centerline goodness : 0.782843 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 0.98424835 -0.14825402 -0.09631167 -3.86384126] [ 0.14812905 0.98893163 -0.00848622 -1.04756976] [ 0.09650378 -0.00591401 0.99531505 0.90310289] [ 0. 0. 0. 1. ]] SLAMing on 88.08486062399999 meters Centerline goodness : 0.784359 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 0.98443284 -0.14683159 -0.09660469 -3.86258814] [ 0.14676439 0.98914041 -0.00783995 -1.04744592] [ 0.09670676 -0.00646022 0.99529195 0.90279418] [ 0. 0. 0. 1. ]] SLAMing on 88.14486062399999 meters Centerline goodness : 0.781404 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.85172587e-01 -1.41564007e-01 -9.69257736e-02 -3.86241169e+00] [ 1.41946167e-01 9.89869904e-01 -2.97627125e-03 -1.04950974e+00] [ 9.63652391e-02 -1.08261012e-02 9.95287163e-01 9.01961569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20486062399999 meters Centerline goodness : 0.782374 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.85376781e-01 -1.40185138e-01 -9.68541460e-02 -3.86123997e+00] [ 1.40597985e-01 9.90063399e-01 -2.58310636e-03 -1.05021323e+00] [ 9.62538581e-02 -1.10721647e-02 9.95295234e-01 9.00356081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264860624 meters Centerline goodness : 0.784707 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.85447733e-01 -1.39466512e-01 -9.71692255e-02 -3.85959552e+00] [ 1.39939465e-01 9.90158112e-01 -1.96430563e-03 -1.05087719e+00] [ 9.64868518e-02 -1.16620889e-02 9.95265936e-01 8.99127321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324860624 meters Centerline goodness : 0.783481 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.85369341e-01 -1.39525803e-01 -9.78765171e-02 -3.85778452e+00] [ 1.40093204e-01 9.90137726e-01 -1.08517472e-03 -1.05192140e+00] [ 9.70626419e-02 -1.26425370e-02 9.95197975e-01 8.98837031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38486062399998 meters Centerline goodness : 0.776605 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.85260639e-01 -1.39803993e-01 -9.85713812e-02 -3.85563948e+00] [ 1.40408201e-01 9.90093366e-01 -8.14966053e-04 -1.05228041e+00] [ 9.77088060e-02 -1.30372763e-02 9.95129649e-01 8.98055698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44486062399999 meters Centerline goodness : 0.786374 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.05, Z:0.90 [[ 9.85213946e-01 -1.39826487e-01 -9.90052219e-02 -3.85507771e+00] [ 1.40472060e-01 9.90084539e-01 -4.54631506e-04 -1.05198680e+00] [ 9.80871089e-02 -1.34595582e-02 9.95086810e-01 8.98430099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50486062399999 meters Centerline goodness : 0.777927 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 0.98468538 -0.14348789 -0.09902493 -3.85368291] [ 0.14375759 0.98960296 -0.0044438 -1.0502264 ] [ 0.098633 -0.00985984 0.99507503 0.89853799] [ 0. 0. 0. 1. ]] SLAMing on 88.56486062399999 meters Centerline goodness : 0.776853 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 9.84484994e-01 -1.44145698e-01 -1.00056559e-01 -3.85129818e+00] [ 1.44512570e-01 9.89496380e-01 -3.60986072e-03 -1.05130706e+00] [ 9.95259491e-02 -1.09055768e-02 9.94975203e-01 8.98312983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624860624 meters Centerline goodness : 0.774474 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 9.84321554e-01 -1.44606528e-01 -1.00995196e-01 -3.84964187e+00] [ 1.45040616e-01 9.89420937e-01 -3.07066283e-03 -1.05121529e+00] [ 1.00370800e-01 -1.16258859e-02 9.94882175e-01 8.98636347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684860624 meters Centerline goodness : 0.783705 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 9.84300869e-01 -1.44467022e-01 -1.01395657e-01 -3.84867537e+00] [ 1.44933770e-01 9.89437432e-01 -2.78752872e-03 -1.05097368e+00] [ 1.00727364e-01 -1.19518879e-02 9.94842274e-01 8.98458198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74486062399998 meters Centerline goodness : 0.776532 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 9.84644601e-01 -1.41288948e-01 -1.02530207e-01 -3.84734184e+00] [ 1.42181606e-01 9.89839579e-01 1.41381560e-03 -1.05214879e+00] [ 1.01288700e-01 -1.59700154e-02 9.94728887e-01 8.98405777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80486062399999 meters Centerline goodness : 0.772607 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 0.98506698 -0.13772517 -0.10331898 -3.84670186] [ 0.13899028 0.99028055 0.00511205 -1.05211306] [ 0.10161072 -0.01939605 0.99463514 0.89820903] [ 0. 0. 0. 1. ]] SLAMing on 88.86486062399999 meters Centerline goodness : 0.784444 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.05, Z:0.90 [[ 0.98547435 -0.13425628 -0.10399783 -3.84579387] [ 0.13588091 0.99068728 0.00866521 -1.05227635] [ 0.10186597 -0.02267067 0.99453978 0.89750121] [ 0. 0. 0. 1. ]] SLAMing on 88.92486062399999 meters Centerline goodness : 0.785621 with order 3 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.05, Z:0.90 [[ 0.98585902 -0.13085158 -0.10468933 -3.84484801] [ 0.13276596 0.99108068 0.01150112 -1.05059681] [ 0.10225064 -0.02523767 0.99443847 0.89657037] [ 0. 0. 0. 1. ]] SLAMing on 88.98486062399999 meters Centerline goodness : 0.785574 with order 3 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.05, Z:0.90 [[ 0.98612526 -0.12808352 -0.10560102 -3.84338538] [ 0.13033397 0.9913617 0.01466397 -1.04981972] [ 0.10281059 -0.02822391 0.99430045 0.89593725] [ 0. 0. 0. 1. ]] SLAMing on 89.044860624 meters Centerline goodness : 0.789600 with order 3 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.05, Z:0.90 [[ 0.98600271 -0.128343 -0.10642709 -3.84154706] [ 0.1305187 0.99135109 0.01370718 -1.04513339] [ 0.10374739 -0.02740604 0.99422602 0.89508489] [ 0. 0. 0. 1. ]] SLAMing on 89.10486062399998 meters Centerline goodness : 0.787591 with order 3 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.04, Z:0.90 [[ 0.98602994 -0.12691882 -0.10787294 -3.83987765] [ 0.12943379 0.99144889 0.0166128 -1.0439125 ] [ 0.10484203 -0.03034312 0.99402588 0.89561667] [ 0. 0. 0. 1. ]] SLAMing on 89.16486062399999 meters Centerline goodness : 0.786644 with order 3 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.04, Z:0.90 [[ 0.98585218 -0.12865405 -0.10744117 -3.84167287] [ 0.13094253 0.991284 0.01449425 -1.03836394] [ 0.10463997 -0.02835781 0.99410578 0.89624574] [ 0. 0. 0. 1. ]] SLAMing on 89.22486062399999 meters Centerline goodness : 0.787390 with order 3 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.13, Z:0.91 [[ 0.96256283 -0.07462586 -0.26058354 -4.29474375] [ 0.16242446 0.92844117 0.33408873 -1.12852977] [ 0.21700483 -0.36390654 0.90580403 0.90524702] [ 0. 0. 0. 1. ]] SLAMing on 89.28486062399999 meters Centerline goodness : 0.783768 with order 3 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.95, Z:0.99 [[ 0.94601922 -0.23062432 -0.22772803 -3.94425791] [ 0.26320244 0.95666677 0.12455183 -0.94651523] [ 0.18913516 -0.177767 0.96572604 0.98895882] [ 0. 0. 0. 1. ]] SLAMing on 89.34486062399999 meters Centerline goodness : 0.785868 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.94, Z:0.99 [[ 0.94683599 -0.23301416 -0.22182426 -3.95077512] [ 0.26352635 0.95724642 0.11930282 -0.94384782] [ 0.18454123 -0.17141674 0.96776073 0.98585957] [ 0. 0. 0. 1. ]] SLAMing on 89.404860624 meters Centerline goodness : 0.783689 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.94, Z:0.98 [[ 0.94802438 -0.23481566 -0.21473562 -3.95868478] [ 0.26302922 0.95808113 0.1135613 -0.94246447] [ 0.17906818 -0.16414063 0.97004765 0.98174499] [ 0. 0. 0. 1. ]] SLAMing on 89.46486062399998 meters Centerline goodness : 0.783322 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.94, Z:0.98 [[ 0.94700483 -0.24001334 -0.21348405 -3.95947808] [ 0.26718243 0.9574922 0.10873012 -0.93893881] [ 0.17831263 -0.16000713 0.97087709 0.98146096] [ 0. 0. 0. 1. ]] SLAMing on 89.52486062399998 meters Centerline goodness : 0.782241 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:0.98 [[ 0.94824351 -0.24169366 -0.20595734 -3.96688692] [ 0.26612387 0.95871831 0.10018623 -0.93931701] [ 0.1732407 -0.1498111 0.97341887 0.97614589] [ 0. 0. 0. 1. ]] SLAMing on 89.58486062399999 meters Centerline goodness : 0.783433 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:0.98 [[ 0.94735835 -0.24641331 -0.2044325 -3.96866372] [ 0.26985839 0.95813709 0.09565439 -0.93601907] [ 0.17230384 -0.14578681 0.97419587 0.97633455] [ 0. 0. 0. 1. ]] SLAMing on 89.64486062399999 meters Centerline goodness : 0.782612 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:0.97 [[ 0.9480912 -0.24843329 -0.19850433 -3.97471497] [ 0.27026472 0.95844628 0.09131107 -0.93583662] [ 0.16757102 -0.14021993 0.97583724 0.97309158] [ 0. 0. 0. 1. ]] SLAMing on 89.70486062399999 meters Centerline goodness : 0.771635 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.94, Z:0.97 [[ 0.9492443 -0.24991208 -0.19099534 -3.9834064 ] [ 0.26969655 0.95915441 0.08536149 -0.93509162] [ 0.16186116 -0.13253969 0.97787228 0.96994297] [ 0. 0. 0. 1. ]] SLAMing on 89.764860624 meters Centerline goodness : 0.782024 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.94, Z:0.97 [[ 0.95090575 -0.24841372 -0.18457759 -3.99131295] [ 0.26689553 0.96016612 0.08275139 -0.93505424] [ 0.15666857 -0.12795171 0.97932799 0.96665434] [ 0. 0. 0. 1. ]] SLAMing on 89.824860624 meters Centerline goodness : 0.781672 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:0.96 [[ 0.95301323 -0.24530092 -0.17774488 -3.9995968 ] [ 0.26251787 0.96156222 0.08051378 -0.9353275 ] [ 0.15116265 -0.1233919 0.98077739 0.96246815] [ 0. 0. 0. 1. ]] SLAMing on 89.88486062399998 meters Centerline goodness : 0.782106 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:0.96 [[ 0.95423644 -0.24167984 -0.17613539 -4.00580365] [ 0.25705891 0.96384774 0.07013019 -0.93266404] [ 0.15281864 -0.11219795 0.98186459 0.96151524] [ 0. 0. 0. 1. ]] SLAMing on 89.94486062399999 meters Centerline goodness : 0.780118 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:0.96 [[ 0.95636492 -0.23595502 -0.17231184 -4.01462357] [ 0.24971491 0.96628141 0.06279097 -0.93137465] [ 0.15168588 -0.10307992 0.98303913 0.96002458] [ 0. 0. 0. 1. ]] SLAMing on 90.00486062399999 meters Centerline goodness : 0.780541 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.96 [[ 0.95791588 -0.2319314 -0.16913008 -4.01832786] [ 0.24556431 0.96723661 0.06443215 -0.93153765] [ 0.14864497 -0.1032529 0.98348539 0.95760356] [ 0. 0. 0. 1. ]] SLAMing on 90.06486062399999 meters Centerline goodness : 0.778345 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.95 [[ 0.95989516 -0.22754949 -0.16377578 -4.02413109] [ 0.24055903 0.96850307 0.06428956 -0.93279368] [ 0.14398829 -0.10110898 0.9844005 0.95364021] [ 0. 0. 0. 1. ]] SLAMing on 90.124860624 meters Centerline goodness : 0.779292 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.95 [[ 0.96162494 -0.223384 -0.15930181 -4.0296131 ] [ 0.23603412 0.96955183 0.06524677 -0.93440453] [ 0.13987628 -0.10034359 0.98507147 0.95085537] [ 0. 0. 0. 1. ]] SLAMing on 90.184860624 meters Centerline goodness : 0.778624 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.95 [[ 0.96166537 -0.22327897 -0.15920497 -4.03000814] [ 0.23590219 0.96959156 0.0651334 -0.93434893] [ 0.13982088 -0.10019334 0.98509462 0.95126175] [ 0. 0. 0. 1. ]] SLAMing on 90.24486062399998 meters Centerline goodness : 0.777720 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.95 [[ 0.96153468 -0.22405348 -0.15890596 -4.03030369] [ 0.23657287 0.9694657 0.06457187 -0.93553564] [ 0.13958632 -0.09968093 0.98517987 0.95159736] [ 0. 0. 0. 1. ]] SLAMing on 90.30486062399999 meters Centerline goodness : 0.779601 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.95 [[ 0.96072789 -0.22790442 -0.15830824 -4.02949762] [ 0.23984306 0.96891425 0.06066694 -0.93456528] [ 0.13956085 -0.09625356 0.98552424 0.95181834] [ 0. 0. 0. 1. ]] SLAMing on 90.36486062399999 meters Centerline goodness : 0.778981 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.95 [[ 0.95981959 -0.2321734 -0.15761303 -4.02914664] [ 0.24352633 0.96823302 0.05674274 -0.93466982] [ 0.13943199 -0.09284572 0.98586936 0.9523652 ] [ 0. 0. 0. 1. ]] SLAMing on 90.42486062399999 meters Centerline goodness : 0.779716 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.95 [[ 0.95893817 -0.23615547 -0.15706108 -4.0283621 ] [ 0.24694379 0.96758676 0.05286427 -0.93396504] [ 0.13948604 -0.08947882 0.986173 0.95271534] [ 0. 0. 0. 1. ]] SLAMing on 90.48486062399999 meters Centerline goodness : 0.779596 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.95 [[ 0.95799679 -0.24034894 -0.15644337 -4.02770582] [ 0.25057474 0.96685599 0.04900805 -0.93436203] [ 0.13947918 -0.08615031 0.98647032 0.95325956] [ 0. 0. 0. 1. ]] SLAMing on 90.544860624 meters Centerline goodness : 0.780320 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.95 [[ 0.95787184 -0.24087062 -0.15640617 -4.02815867] [ 0.25107286 0.96673575 0.04883048 -0.9356359 ] [ 0.1394416 -0.08604269 0.98648502 0.95391327] [ 0. 0. 0. 1. ]] SLAMing on 90.60486062399998 meters Centerline goodness : 0.778674 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.95 [[ 0.95778955 -0.24121253 -0.15638315 -4.0282523 ] [ 0.25138457 0.96666591 0.04860874 -0.93610953] [ 0.13944522 -0.08586925 0.98649962 0.95417726] [ 0. 0. 0. 1. ]] SLAMing on 90.66486062399999 meters Centerline goodness : 0.778394 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.95 [[ 0.95777571 -0.24117987 -0.15651821 -4.02776496] [ 0.25142436 0.96663382 0.04903922 -0.93892264] [ 0.13946852 -0.08632107 0.98645689 0.95452369] [ 0. 0. 0. 1. ]] SLAMing on 90.72486062399999 meters Centerline goodness : 0.777543 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.96 [[ 0.95777497 -0.24118546 -0.15651418 -4.02817677] [ 0.25142987 0.96663231 0.04904073 -0.94023194] [ 0.13946375 -0.08632232 0.98645746 0.95546877] [ 0. 0. 0. 1. ]] SLAMing on 90.78486062399999 meters Centerline goodness : 0.770089 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.96 [[ 0.95796081 -0.24036918 -0.15663254 -4.02707538] [ 0.25075174 0.96675946 0.04999707 -0.94343499] [ 0.13940823 -0.08717111 0.98639066 0.95536309] [ 0. 0. 0. 1. ]] SLAMing on 90.84486062399999 meters Centerline goodness : 0.770349 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:0.96 [[ 0.95800066 -0.23995889 -0.1570174 -4.02575418] [ 0.25044157 0.96681435 0.05048796 -0.94569076] [ 0.13969164 -0.08769118 0.98630447 0.95548683] [ 0. 0. 0. 1. ]] SLAMing on 90.904860624 meters Centerline goodness : 0.777487 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95815898 -0.2390204 -0.15748213 -4.02398016] [ 0.24966832 0.96696528 0.05141862 -0.94811768] [ 0.13998965 -0.08858551 0.98618229 0.95526333] [ 0. 0. 0. 1. ]] SLAMing on 90.96486062399998 meters Centerline goodness : 0.778825 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95819959 -0.23867336 -0.15776113 -4.02310405] [ 0.24938503 0.96702277 0.05171145 -0.94916333] [ 0.14021646 -0.08889316 0.98612238 0.95529114] [ 0. 0. 0. 1. ]] SLAMing on 91.02486062399998 meters Centerline goodness : 0.777549 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95825481 -0.23825147 -0.1580631 -4.02207404] [ 0.24904074 0.96709114 0.05209058 -0.95077665] [ 0.14045077 -0.0892802 0.98605407 0.95542964] [ 0. 0. 0. 1. ]] SLAMing on 91.08486062399999 meters Centerline goodness : 0.775897 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95814175 -0.23886517 -0.15782211 -4.0229506 ] [ 0.24959432 0.96696494 0.05178296 -0.95177833] [ 0.1402393 -0.08900692 0.98610887 0.95609194] [ 0. 0. 0. 1. ]] SLAMing on 91.14486062399999 meters Centerline goodness : 0.776899 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95723695 -0.24299595 -0.15700441 -4.02273172] [ 0.25311969 0.96625506 0.04776591 -0.95103076] [ 0.14009938 -0.0854642 0.98644211 0.95653912] [ 0. 0. 0. 1. ]] SLAMing on 91.20486062399999 meters Centerline goodness : 0.776325 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.9571169 -0.2435537 -0.15687204 -4.02328579] [ 0.25363445 0.96613281 0.0475075 -0.951718 ] [ 0.1399886 -0.08525838 0.98647565 0.95699255] [ 0. 0. 0. 1. ]] SLAMing on 91.264860624 meters Centerline goodness : 0.773968 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95700817 -0.24413498 -0.15663164 -4.02439191] [ 0.25415173 0.96601363 0.0471652 -0.95235853] [ 0.13979362 -0.08494569 0.98653027 0.95784971] [ 0. 0. 0. 1. ]] SLAMing on 91.32486062399998 meters Centerline goodness : 0.774896 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95695814 -0.24437859 -0.15655738 -4.02489753] [ 0.25436888 0.96596416 0.04700771 -0.95280484] [ 0.13974114 -0.08480774 0.98654957 0.95837081] [ 0. 0. 0. 1. ]] SLAMing on 91.38486062399998 meters Centerline goodness : 0.776258 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95699112 -0.24425334 -0.15655129 -4.02483336] [ 0.25425284 0.96599094 0.04708492 -0.95365818] [ 0.13972648 -0.08486346 0.98654686 0.95866756] [ 0. 0. 0. 1. ]] SLAMing on 91.44486062399999 meters Centerline goodness : 0.777303 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95705527 -0.24383322 -0.15681381 -4.02392473] [ 0.25387874 0.96607998 0.04727645 -0.95420946] [ 0.13996711 -0.08505787 0.986496 0.95863491] [ 0. 0. 0. 1. ]] SLAMing on 91.50486062399999 meters Centerline goodness : 0.780102 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:0.96 [[ 0.95726802 -0.24280228 -0.15711456 -4.02274163] [ 0.25295901 0.96628836 0.04794308 -0.95486248] [ 0.14017728 -0.08563792 0.98641597 0.95835351] [ 0. 0. 0. 1. ]] SLAMing on 91.56486062399999 meters Centerline goodness : 0.780094 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95730776 -0.24260699 -0.15717411 -4.02250534] [ 0.25276951 0.96633711 0.04796008 -0.95501679] [ 0.14024772 -0.08564138 0.98640566 0.95848764] [ 0. 0. 0. 1. ]] SLAMing on 91.624860624 meters Centerline goodness : 0.779362 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95733722 -0.24247765 -0.15719428 -4.02243749] [ 0.25263751 0.96637275 0.04793747 -0.95520119] [ 0.1402845 -0.08560549 0.98640355 0.9587101 ] [ 0. 0. 0. 1. ]] SLAMing on 91.684860624 meters Centerline goodness : 0.780806 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95724804 -0.2428751 -0.15712378 -4.02287345] [ 0.25302548 0.9662737 0.0478879 -0.95679846] [ 0.1401938 -0.08559692 0.98641719 0.95936023] [ 0. 0. 0. 1. ]] SLAMing on 91.74486062399998 meters Centerline goodness : 0.778773 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95629844 -0.24705593 -0.15638625 -4.02240494] [ 0.25661462 0.96551684 0.0438881 -0.95605324] [ 0.14015074 -0.08210112 0.98672041 0.9596577 ] [ 0. 0. 0. 1. ]] SLAMing on 91.80486062399999 meters Centerline goodness : 0.779925 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95530393 -0.2513142 -0.15567776 -4.0217666 ] [ 0.2602925 0.96470423 0.03991945 -0.95577084] [ 0.14015067 -0.07865696 0.98700095 0.95993391] [ 0. 0. 0. 1. ]] SLAMing on 91.86486062399999 meters Centerline goodness : 0.779345 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95413862 -0.25642356 -0.15448773 -4.02250573] [ 0.26476349 0.96365164 0.03571861 -0.95703959] [ 0.13971326 -0.07498322 0.98734884 0.96081825] [ 0. 0. 0. 1. ]] SLAMing on 91.92486062399999 meters Centerline goodness : 0.778878 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95314909 -0.26048258 -0.1538039 -4.02206282] [ 0.26825653 0.96282274 0.03179314 -0.95672455] [ 0.13980433 -0.0715625 0.98758977 0.96151306] [ 0. 0. 0. 1. ]] SLAMing on 91.98486062399999 meters Centerline goodness : 0.780133 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95219062 -0.26446423 -0.15294342 -4.02165539] [ 0.2717453 0.96194837 0.02845751 -0.95839952] [ 0.13959768 -0.06865863 0.98782513 0.96195394] [ 0. 0. 0. 1. ]] SLAMing on 92.044860624 meters Centerline goodness : 0.771486 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.9513585 -0.26778456 -0.15234312 -4.02037502] [ 0.27460588 0.96122516 0.02525467 -0.95895624] [ 0.13967323 -0.06586056 0.98800495 0.96200143] [ 0. 0. 0. 1. ]] SLAMing on 92.10486062399998 meters Centerline goodness : 0.774487 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95145005 -0.26740272 -0.15244207 -4.02020242] [ 0.27429004 0.96130347 0.02570229 -0.96089955] [ 0.13967023 -0.06626779 0.98797814 0.96249028] [ 0. 0. 0. 1. ]] SLAMing on 92.16486062399999 meters Centerline goodness : 0.774972 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95163158 -0.26664024 -0.15264442 -4.01964626] [ 0.27357156 0.96150094 0.02597209 -0.96058963] [ 0.13984255 -0.06647504 0.98793984 0.96247006] [ 0. 0. 0. 1. ]] SLAMing on 92.22486062399999 meters Centerline goodness : 0.774504 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95220474 -0.26503779 -0.15185883 -4.02073127] [ 0.27188421 0.96198233 0.0258645 -0.95985278] [ 0.13923044 -0.06591632 0.98806372 0.9614651 ] [ 0. 0. 0. 1. ]] SLAMing on 92.28486062399999 meters Centerline goodness : 0.776514 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:0.96 [[ 0.95378102 -0.25558464 -0.15804509 -4.02741431] [ 0.26257295 0.96459638 0.02468331 -0.96412129] [ 0.14614105 -0.06504084 0.98712334 0.9643827 ] [ 0. 0. 0. 1. ]] SLAMing on 92.34486062399999 meters Centerline goodness : 0.786304 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:0.96 [[ 0.95481568 -0.25237653 -0.15694939 -4.02850531] [ 0.25935681 0.96544835 0.02536769 -0.9646658 ] [ 0.14512432 -0.06492736 0.9872808 0.96240538] [ 0. 0. 0. 1. ]] SLAMing on 92.404860624 meters Centerline goodness : 0.785816 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:0.96 [[ 0.95505353 -0.25175732 -0.15649604 -4.02920953] [ 0.25867801 0.96563449 0.02521341 -0.96500887] [ 0.14477031 -0.06456225 0.98735671 0.96220007] [ 0. 0. 0. 1. ]] SLAMing on 92.46486062399998 meters Centerline goodness : 0.787320 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:0.96 [[ 0.95504384 -0.25155638 -0.15687783 -4.02793149] [ 0.25850794 0.96567864 0.02526678 -0.96471009] [ 0.14513755 -0.06468505 0.98729476 0.96166035] [ 0. 0. 0. 1. ]] SLAMing on 92.52486062399998 meters Centerline goodness : 0.787079 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:0.96 [[ 0.95493241 -0.25172455 -0.15728589 -4.02598434] [ 0.25869526 0.96563021 0.02520031 -0.96525993] [ 0.14553647 -0.06475371 0.98723153 0.96083693] [ 0. 0. 0. 1. ]] SLAMing on 92.58486062399999 meters Centerline goodness : 0.787089 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95468228 -0.25230366 -0.15787532 -4.02470362] [ 0.25933985 0.96545379 0.0253341 -0.96579075] [ 0.14602944 -0.06512937 0.98713402 0.96114647] [ 0. 0. 0. 1. ]] SLAMing on 92.64486062399999 meters Centerline goodness : 0.786459 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95448439 -0.25264931 -0.15851775 -4.02301996] [ 0.25980031 0.96531787 0.02579173 -0.96712049] [ 0.14650376 -0.06580076 0.9870192 0.96130782] [ 0. 0. 0. 1. ]] SLAMing on 92.70486062399999 meters Centerline goodness : 0.788394 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95439815 -0.253005 -0.15846968 -4.02297461] [ 0.26013543 0.96523145 0.02564776 -0.96756358] [ 0.14647091 -0.06570176 0.98703067 0.96146518] [ 0. 0. 0. 1. ]] SLAMing on 92.764860624 meters Centerline goodness : 0.781597 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95433038 -0.25311502 -0.15870196 -4.0229365 ] [ 0.2602853 0.96518693 0.02580221 -0.96732667] [ 0.14664613 -0.06593162 0.98698933 0.96197069] [ 0. 0. 0. 1. ]] SLAMing on 92.82486062399998 meters Centerline goodness : 0.780922 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95442314 -0.2526227 -0.15892843 -4.02310697] [ 0.25986476 0.96528899 0.0262195 -0.96730107] [ 0.14678823 -0.0663244 0.98694189 0.96256143] [ 0. 0. 0. 1. ]] SLAMing on 92.88486062399998 meters Centerline goodness : 0.781058 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95487193 -0.25000192 -0.16037031 -4.02155172] [ 0.25781637 0.96574088 0.02958492 -0.96795848] [ 0.14747988 -0.0695959 0.98661345 0.96253826] [ 0. 0. 0. 1. ]] SLAMing on 92.94486062399999 meters Centerline goodness : 0.778486 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.954816 -0.24989042 -0.16087631 -4.02007456] [ 0.25776714 0.96574841 0.02976765 -0.96788106] [ 0.14792739 -0.06989125 0.98652557 0.96206385] [ 0. 0. 0. 1. ]] SLAMing on 93.00486062399999 meters Centerline goodness : 0.786573 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95518343 -0.24742674 -0.162495 -4.01856643] [ 0.25587885 0.96614573 0.03299147 -0.96737979] [ 0.14883088 -0.07309194 0.98615766 0.96221582] [ 0. 0. 0. 1. ]] SLAMing on 93.06486062399999 meters Centerline goodness : 0.778302 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95495747 -0.24787897 -0.16313262 -4.01739841] [ 0.25635538 0.96602587 0.03280149 -0.96589674] [ 0.14945953 -0.07314395 0.98605873 0.96220967] [ 0. 0. 0. 1. ]] SLAMing on 93.124860624 meters Centerline goodness : 0.775579 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95459394 -0.24882559 -0.16381769 -4.01550443] [ 0.25724969 0.96581343 0.0320472 -0.96409097] [ 0.15024316 -0.07273411 0.98596995 0.96170541] [ 0. 0. 0. 1. ]] SLAMing on 93.184860624 meters Centerline goodness : 0.782773 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.96 [[ 0.95430316 -0.24971723 -0.16415477 -4.01486972] [ 0.25809881 0.96560372 0.03153496 -0.963715 ] [ 0.15063364 -0.07246206 0.9859304 0.9620945 ] [ 0. 0. 0. 1. ]] SLAMing on 93.24486062399998 meters Centerline goodness : 0.783891 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95411403 -0.25054355 -0.16399498 -4.01550964] [ 0.25884432 0.96542085 0.03101944 -0.96378198] [ 0.15055246 -0.07204525 0.98597335 0.96249415] [ 0. 0. 0. 1. ]] SLAMing on 93.30486062399999 meters Centerline goodness : 0.783033 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.96 [[ 0.95400058 -0.25112026 -0.16377273 -4.01658277] [ 0.25934381 0.96530093 0.03057608 -0.9640911 ] [ 0.1504117 -0.07164304 0.98602414 0.9633594 ] [ 0. 0. 0. 1. ]] SLAMing on 93.36486062399999 meters Centerline goodness : 0.784730 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95392943 -0.25157578 -0.1634878 -4.01765836] [ 0.25973725 0.96520478 0.03027049 -0.96504082] [ 0.15018388 -0.07133978 0.98608085 0.96427347] [ 0. 0. 0. 1. ]] SLAMing on 93.42486062399999 meters Centerline goodness : 0.784267 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.96 [[ 0.95385891 -0.25182481 -0.16351587 -4.01783136] [ 0.25997049 0.96514625 0.03013403 -0.96587873] [ 0.15022824 -0.07125292 0.98608037 0.96486055] [ 0. 0. 0. 1. ]] SLAMing on 93.48486062399999 meters Centerline goodness : 0.773906 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95314966 -0.24606496 -0.17594816 -4.01808938] [ 0.25555556 0.96622676 0.03312422 -0.9727064 ] [ 0.16185511 -0.07653687 0.98384197 0.96890744] [ 0. 0. 0. 1. ]] SLAMing on 93.544860624 meters Centerline goodness : 0.778080 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95332663 -0.24552143 -0.17574857 -4.01790412] [ 0.25498068 0.96638032 0.03307447 -0.9732274 ] [ 0.16171947 -0.07634326 0.98387932 0.96856507] [ 0. 0. 0. 1. ]] SLAMing on 93.60486062399998 meters Centerline goodness : 0.777919 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95433486 -0.24134245 -0.17606477 -4.01971866] [ 0.25133354 0.96721193 0.03650397 -0.97420295] [ 0.16148199 -0.07908799 0.98370151 0.96934202] [ 0. 0. 0. 1. ]] SLAMing on 93.66486062399999 meters Centerline goodness : 0.774155 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95478762 -0.23980621 -0.17570881 -4.02056643] [ 0.24977061 0.96761142 0.0366439 -0.97307942] [ 0.16123041 -0.07887403 0.98375995 0.96883818] [ 0. 0. 0. 1. ]] SLAMing on 93.72486062399999 meters Centerline goodness : 0.783612 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95575773 -0.23535486 -0.17645182 -4.01923461] [ 0.24593346 0.9684454 0.04037631 -0.97408441] [ 0.16138119 -0.08198538 0.98348081 0.96729893] [ 0. 0. 0. 1. ]] SLAMing on 93.78486062399999 meters Centerline goodness : 0.775682 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.9558595 -0.23520394 -0.17610147 -4.01982556] [ 0.24567887 0.96852826 0.03993614 -0.97332965] [ 0.16116612 -0.08143775 0.98356158 0.96707968] [ 0. 0. 0. 1. ]] SLAMing on 93.84486062399999 meters Centerline goodness : 0.787666 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95580489 -0.23529791 -0.17627225 -4.01952381] [ 0.24575921 0.96851521 0.0397581 -0.97263385] [ 0.16136736 -0.08132152 0.9835382 0.9670739 ] [ 0. 0. 0. 1. ]] SLAMing on 93.904860624 meters Centerline goodness : 0.785473 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95560559 -0.23673381 -0.17542822 -4.01917405] [ 0.24680936 0.96832993 0.03771326 -0.97344893] [ 0.16094439 -0.07933633 0.98376961 0.96623214] [ 0. 0. 0. 1. ]] SLAMing on 93.96486062399998 meters Centerline goodness : 0.788121 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.97 [[ 0.95511187 -0.23836048 -0.17591362 -4.01904818] [ 0.24851267 0.96789059 0.03780569 -0.9748476 ] [ 0.16125376 -0.07982542 0.98367938 0.96803112] [ 0. 0. 0. 1. ]] SLAMing on 94.02486062399998 meters Centerline goodness : 0.789093 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.97 [[ 0.9548124 -0.2393732 -0.17616398 -4.01886036] [ 0.24955945 0.96762124 0.03780492 -0.97563878] [ 0.16141052 -0.08005999 0.98363461 0.9689161 ] [ 0. 0. 0. 1. ]] SLAMing on 94.08486062399999 meters Centerline goodness : 0.789531 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.97 [[ 0.95420401 -0.24258265 -0.17506674 -4.01938392] [ 0.25219192 0.96705983 0.03456173 -0.97595367] [ 0.16091593 -0.07712936 0.98394976 0.96903924] [ 0. 0. 0. 1. ]] SLAMing on 94.14486062399999 meters Centerline goodness : 0.781121 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.97 [[ 0.95385744 -0.24316983 -0.17613748 -4.01704179] [ 0.25315836 0.96674351 0.03630195 -0.98004952] [ 0.16145223 -0.07921756 0.98369597 0.97001757] [ 0. 0. 0. 1. ]] SLAMing on 94.20486062399999 meters Centerline goodness : 0.783226 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.97 [[ 0.95309301 -0.24665491 -0.17542823 -4.01716862] [ 0.25621305 0.9660314 0.03373732 -0.9816517 ] [ 0.1611477 -0.0771018 0.98391399 0.97096986] [ 0. 0. 0. 1. ]] SLAMing on 94.264860624 meters Centerline goodness : 0.781285 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.98, Z:0.97 [[ 0.95302167 -0.24644565 -0.1761086 -4.01529195] [ 0.25619114 0.96600794 0.03456533 -0.98352105] [ 0.16160384 -0.07805897 0.98376369 0.9710139 ] [ 0. 0. 0. 1. ]] SLAMing on 94.32486062399998 meters Centerline goodness : 0.784685 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.97 [[ 0.9531373 -0.24564772 -0.17659692 -4.01411876] [ 0.25561508 0.96611778 0.03574036 -0.98487466] [ 0.16183389 -0.07920631 0.98363416 0.97088394] [ 0. 0. 0. 1. ]] SLAMing on 94.38486062399998 meters Centerline goodness : 0.782473 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95349891 -0.24414707 -0.1767259 -4.01338811] [ 0.25424051 0.96644952 0.03656636 -0.98524708] [ 0.16186909 -0.07979687 0.98358063 0.97000032] [ 0. 0. 0. 1. ]] SLAMing on 94.44486062399999 meters Centerline goodness : 0.783006 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95359018 -0.24381813 -0.17668756 -4.01325328] [ 0.25389242 0.96654367 0.03649634 -0.9851253 ] [ 0.16187778 -0.07966218 0.98359012 0.96977132] [ 0. 0. 0. 1. ]] SLAMing on 94.50486062399999 meters Centerline goodness : 0.790465 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95469058 -0.23915557 -0.17711724 -4.01303784] [ 0.2498049 0.96746322 0.04015512 -0.9866015 ] [ 0.16175109 -0.08258047 0.98337025 0.96881896] [ 0. 0. 0. 1. ]] SLAMing on 94.56486062399999 meters Centerline goodness : 0.784075 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95518952 -0.23786637 -0.17616063 -4.01460829] [ 0.24834304 0.96785824 0.03970096 -0.98627097] [ 0.161055 -0.08167021 0.9835605 0.96803517] [ 0. 0. 0. 1. ]] SLAMing on 94.624860624 meters Centerline goodness : 0.785956 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95625619 -0.23346822 -0.17625744 -4.01471759] [ 0.24435761 0.96875221 0.04252657 -0.98761101] [ 0.16082118 -0.08373615 0.98342504 0.96710686] [ 0. 0. 0. 1. ]] SLAMing on 94.684860624 meters Centerline goodness : 0.783360 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.99, Z:0.97 [[ 0.95642679 -0.23314048 -0.17576494 -4.01503104] [ 0.24390937 0.96888492 0.04207414 -0.98776319] [ 0.16048682 -0.08311155 0.98353264 0.96649058] [ 0. 0. 0. 1. ]] SLAMing on 94.74486062399998 meters Centerline goodness : 0.785783 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95628754 -0.23364804 -0.1758486 -4.01478337] [ 0.24447784 0.96872904 0.04236303 -0.98922532] [ 0.16045161 -0.08350233 0.98350528 0.96699211] [ 0. 0. 0. 1. ]] SLAMing on 94.80486062399999 meters Centerline goodness : 0.788419 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95560967 -0.2367972 -0.17532042 -4.01475791] [ 0.24721763 0.96813915 0.03987511 -0.98986505] [ 0.16029225 -0.08144734 0.98370358 0.96776928] [ 0. 0. 0. 1. ]] SLAMing on 94.86486062399999 meters Centerline goodness : 0.778753 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95450641 -0.24161935 -0.17475009 -4.01485538] [ 0.25159096 0.96712545 0.03701837 -0.99186137] [ 0.1600609 -0.07929981 0.98391669 0.9694873 ] [ 0. 0. 0. 1. ]] SLAMing on 94.92486062399999 meters Centerline goodness : 0.784628 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95398553 -0.24311256 -0.17552175 -4.01269157] [ 0.25328332 0.96665611 0.03772969 -0.99465103] [ 0.16049661 -0.08045031 0.9837523 0.97017454] [ 0. 0. 0. 1. ]] SLAMing on 94.98486062399999 meters Centerline goodness : 0.782625 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.95317914 -0.24517165 -0.17703216 -4.00926529] [ 0.25561919 0.96601143 0.03848036 -0.99670317] [ 0.1615808 -0.08193149 0.98345253 0.97098623] [ 0. 0. 0. 1. ]] SLAMing on 95.044860624 meters Centerline goodness : 0.783150 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.95269453 -0.24675939 -0.17743433 -4.0082722 ] [ 0.2572128 0.9656003 0.03817914 -0.99727098] [ 0.16190958 -0.08201144 0.98339179 0.97156006] [ 0. 0. 0. 1. ]] SLAMing on 95.10486062399998 meters Centerline goodness : 0.782745 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.9523863 -0.24778474 -0.17765995 -4.00805673] [ 0.25821953 0.9653439 0.03786594 -0.99740684] [ 0.16212035 -0.08193827 0.98336316 0.97231412] [ 0. 0. 0. 1. ]] SLAMing on 95.16486062399999 meters Centerline goodness : 0.780242 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.95238875 -0.24761408 -0.1778846 -4.00790452] [ 0.25807608 0.96537975 0.03792988 -0.9966295 ] [ 0.16233422 -0.08203175 0.98332009 0.97243421] [ 0. 0. 0. 1. ]] SLAMing on 95.22486062399999 meters Centerline goodness : 0.783894 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.9530886 -0.24406742 -0.17903413 -4.00782237] [ 0.25519128 0.96599421 0.04162439 -0.99746901] [ 0.16278678 -0.08535968 0.98296195 0.97306593] [ 0. 0. 0. 1. ]] SLAMing on 95.28486062399999 meters Centerline goodness : 0.786180 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.95329085 -0.24350561 -0.17872208 -4.00810061] [ 0.25451491 0.96619324 0.04114353 -0.9961978 ] [ 0.16266138 -0.08470919 0.98303898 0.9723135 ] [ 0. 0. 0. 1. ]] SLAMing on 95.34486062399999 meters Centerline goodness : 0.783951 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.9537329 -0.24176932 -0.17872085 -4.00765315] [ 0.25279749 0.96663305 0.04140015 -0.99507654] [ 0.1627482 -0.08466487 0.98302842 0.97114646] [ 0. 0. 0. 1. ]] SLAMing on 95.404860624 meters Centerline goodness : 0.783521 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95393719 -0.24098168 -0.17869431 -4.00770611] [ 0.25198568 0.96684789 0.04133252 -0.99434914] [ 0.16280984 -0.08445704 0.9830361 0.97087831] [ 0. 0. 0. 1. ]] SLAMing on 95.46486062399998 meters Centerline goodness : 0.781486 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.00, Z:0.97 [[ 0.95452688 -0.23776313 -0.17985308 -4.00674281] [ 0.24942899 0.96734867 0.04496352 -0.99505888] [ 0.16328997 -0.08777946 0.98266533 0.97078474] [ 0. 0. 0. 1. ]] SLAMing on 95.52486062399998 meters Centerline goodness : 0.782398 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95447483 -0.23789939 -0.1799491 -4.00654692] [ 0.24950569 0.96734839 0.0445421 -0.99415331] [ 0.16347694 -0.08741263 0.98266694 0.97072811] [ 0. 0. 0. 1. ]] SLAMing on 95.58486062399999 meters Centerline goodness : 0.784362 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95445875 -0.23772551 -0.18026393 -4.00682366] [ 0.24932782 0.96740253 0.04436195 -0.99139468] [ 0.16384182 -0.08728647 0.98261739 0.97101227] [ 0. 0. 0. 1. ]] SLAMing on 95.64486062399999 meters Centerline goodness : 0.784551 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.99, Z:0.97 [[ 0.95439935 -0.2380075 -0.18020628 -4.00726514] [ 0.24947449 0.96740122 0.04355867 -0.98923227] [ 0.16396448 -0.08652923 0.9826639 0.97099199] [ 0. 0. 0. 1. ]] SLAMing on 95.70486062399999 meters Centerline goodness : 0.786026 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.97 [[ 0.95434234 -0.23819383 -0.18026204 -4.00776805] [ 0.24938749 0.96749786 0.04187803 -0.98419151] [ 0.16442805 -0.08492108 0.98272673 0.97057989] [ 0. 0. 0. 1. ]] SLAMing on 95.764860624 meters Centerline goodness : 0.783597 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.97 [[ 0.9543145 -0.23831425 -0.18025025 -4.00857629] [ 0.24931808 0.96756432 0.04074052 -0.98044301] [ 0.16469466 -0.08381891 0.98277671 0.97058289] [ 0. 0. 0. 1. ]] SLAMing on 95.82486062399998 meters Centerline goodness : 0.782128 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.97 [[ 0.95416399 -0.23890689 -0.18026252 -4.00941077] [ 0.24966911 0.96753563 0.03924472 -0.97634196] [ 0.16503457 -0.08245188 0.98283533 0.9707572 ] [ 0. 0. 0. 1. ]] SLAMing on 95.88486062399998 meters Centerline goodness : 0.782528 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.97 [[ 0.95438029 -0.23689175 -0.18177062 -4.00795266] [ 0.24809854 0.96785488 0.04128015 -0.97329611] [ 0.16614865 -0.08449399 0.98247412 0.97048725] [ 0. 0. 0. 1. ]] SLAMing on 95.94486062399999 meters Centerline goodness : 0.781446 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.97 [[ 0.95421954 -0.23759034 -0.18170277 -4.00876125] [ 0.24856773 0.96779234 0.03990075 -0.96991833] [ 0.16637051 -0.08323952 0.98254366 0.97066203] [ 0. 0. 0. 1. ]] SLAMing on 96.00486062399999 meters Centerline goodness : 0.784108 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.97 [[ 0.95399362 -0.23848252 -0.1817203 -4.01042581] [ 0.2491688 0.96771036 0.03809941 -0.96467658] [ 0.16676658 -0.08162563 0.98261191 0.97156822] [ 0. 0. 0. 1. ]] SLAMing on 96.06486062399999 meters Centerline goodness : 0.788091 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.97 [[ 0.95381751 -0.23869753 -0.18236131 -4.00932867] [ 0.24939535 0.96766251 0.0378315 -0.96227351] [ 0.16743391 -0.08156441 0.9825035 0.971253 ] [ 0. 0. 0. 1. ]] SLAMing on 96.124860624 meters Centerline goodness : 0.787392 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:0.97 [[ 0.95363455 -0.23975171 -0.18193477 -4.01045305] [ 0.25017276 0.96751952 0.03632583 -0.95803992] [ 0.16731626 -0.08015668 0.98263939 0.97109194] [ 0. 0. 0. 1. ]] SLAMing on 96.18486062399998 meters Centerline goodness : 0.790211 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.95, Z:0.97 [[ 0.9535174 -0.24057727 -0.18145841 -4.01227883] [ 0.25064902 0.9674655 0.03443207 -0.95154806] [ 0.16727118 -0.07831395 0.98279564 0.97144284] [ 0. 0. 0. 1. ]] SLAMing on 96.24486062399998 meters Centerline goodness : 0.789184 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.95, Z:0.97 [[ 0.95343121 -0.24117103 -0.18112278 -4.01356661] [ 0.25098527 0.96742735 0.03302587 -0.94730639] [ 0.16725825 -0.07694705 0.98290581 0.97183084] [ 0. 0. 0. 1. ]] SLAMing on 96.30486062399999 meters Centerline goodness : 0.788247 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.95, Z:0.97 [[ 0.95334458 -0.24168348 -0.18089555 -4.01428331] [ 0.2513406 0.96736415 0.03216361 -0.94528855] [ 0.16721846 -0.0761294 0.98297625 0.97206851] [ 0. 0. 0. 1. ]] SLAMing on 96.36486062399999 meters Centerline goodness : 0.788137 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:0.97 [[ 0.95330093 -0.24235024 -0.18023236 -4.01618866] [ 0.251679 0.96733077 0.03047722 -0.93888002] [ 0.16695814 -0.07441467 0.98315179 0.97195817] [ 0. 0. 0. 1. ]] SLAMing on 96.42486062399999 meters Centerline goodness : 0.785895 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.97 [[ 0.95326387 -0.24273566 -0.17990943 -4.01759196] [ 0.2517992 0.9673441 0.02902667 -0.93310802] [ 0.16698851 -0.07297113 0.98325482 0.97222734] [ 0. 0. 0. 1. ]] SLAMing on 96.48486062399999 meters Centerline goodness : 0.789450 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:0.97 [[ 0.95326511 -0.24293851 -0.17962882 -4.01854838] [ 0.25179123 0.96737959 0.02789104 -0.92855938] [ 0.16699345 -0.07181652 0.98333899 0.97227222] [ 0. 0. 0. 1. ]] SLAMing on 96.544860624 meters Centerline goodness : 0.787694 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:0.97 [[ 0.95329518 -0.24322555 -0.17907995 -4.02031299] [ 0.2518052 0.96741521 0.02649425 -0.92220599] [ 0.16680059 -0.07035011 0.98347772 0.97224183] [ 0. 0. 0. 1. ]] SLAMing on 96.60486062399998 meters Centerline goodness : 0.788344 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:0.97 [[ 0.95312449 -0.24414093 -0.17874261 -4.02225254] [ 0.25241366 0.9673029 0.02474739 -0.91715788] [ 0.16685639 -0.06870442 0.98358459 0.97323645] [ 0. 0. 0. 1. ]] SLAMing on 96.66486062399999 meters Centerline goodness : 0.789753 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:0.97 [[ 0.95295233 -0.24509777 -0.1783506 -4.02393286] [ 0.25309829 0.96716186 0.02322056 -0.91228063] [ 0.16680259 -0.06726831 0.98369298 0.973545 ] [ 0. 0. 0. 1. ]] SLAMing on 96.72486062399999 meters Centerline goodness : 0.789167 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:0.97 [[ 0.95279597 -0.24581967 -0.17819241 -4.02434536] [ 0.2536613 0.96703638 0.02228433 -0.90971497] [ 0.16684062 -0.06643294 0.9837433 0.97341657] [ 0. 0. 0. 1. ]] SLAMing on 96.78486062399999 meters Centerline goodness : 0.791394 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.91, Z:0.97 [[ 0.95259618 -0.2468637 -0.17781684 -4.0258728 ] [ 0.25446077 0.96685723 0.02090021 -0.90541795] [ 0.166764 -0.06515687 0.98384163 0.97363529] [ 0. 0. 0. 1. ]] SLAMing on 96.84486062399999 meters Centerline goodness : 0.794389 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:0.97 [[ 0.95238773 -0.24786014 -0.17754706 -4.02730333] [ 0.25525462 0.96667269 0.01972288 -0.90262715] [ 0.16674138 -0.06410354 0.98391466 0.97423979] [ 0. 0. 0. 1. ]] SLAMing on 96.904860624 meters Centerline goodness : 0.796683 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:0.97 [[ 0.95219373 -0.24898029 -0.17701955 -4.0292576 ] [ 0.25612938 0.96646778 0.01837854 -0.89903761] [ 0.1665078 -0.06283984 0.98403572 0.97463818] [ 0. 0. 0. 1. ]] SLAMing on 96.96486062399998 meters Centerline goodness : 0.793870 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:0.98 [[ 0.95205023 -0.24967317 -0.17681537 -4.0304302 ] [ 0.25663281 0.96635458 0.01727515 -0.89615353] [ 0.1665532 -0.06182344 0.98409242 0.97525529] [ 0. 0. 0. 1. ]] SLAMing on 97.02486062399998 meters Centerline goodness : 0.793816 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:0.98 [[ 0.95190492 -0.25060057 -0.17628494 -4.03219128] [ 0.25733109 0.96619023 0.01603602 -0.89294047] [ 0.16630615 -0.06062837 0.98420855 0.97563407] [ 0. 0. 0. 1. ]] SLAMing on 97.08486062399999 meters Centerline goodness : 0.794157 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:0.98 [[ 0.9517759 -0.25129303 -0.17599557 -4.03339196] [ 0.2578664 0.96606179 0.01515057 -0.89109131] [ 0.16621536 -0.05980329 0.98427436 0.97617699] [ 0. 0. 0. 1. ]] SLAMing on 97.14486062399999 meters Centerline goodness : 0.793613 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:0.98 [[ 0.95161825 -0.2521233 -0.17566032 -4.03490496] [ 0.25855056 0.96589139 0.01433283 -0.88986106] [ 0.16605515 -0.05905646 0.98434649 0.97690374] [ 0. 0. 0. 1. ]] SLAMing on 97.20486062399999 meters Centerline goodness : 0.795880 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.89, Z:0.98 [[ 0.95144199 -0.25302766 -0.17531442 -4.0360933 ] [ 0.25934678 0.96568659 0.01373534 -0.88983592] [ 0.16582336 -0.05853561 0.98441668 0.97736784] [ 0. 0. 0. 1. ]] SLAMing on 97.264860624 meters Centerline goodness : 0.793347 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.89, Z:0.98 [[ 0.95134686 -0.25342725 -0.17525351 -4.03634324] [ 0.25972058 0.96558848 0.01356851 -0.89028309] [ 0.16578414 -0.0584253 0.98442984 0.9775852 ] [ 0. 0. 0. 1. ]] SLAMing on 97.32486062399998 meters Centerline goodness : 0.796416 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.89, Z:0.98 [[ 0.9511832 -0.25413679 -0.17511429 -4.03683715] [ 0.26040071 0.96540791 0.0133805 -0.89173821] [ 0.16565625 -0.05832719 0.98445718 0.97797995] [ 0. 0. 0. 1. ]] SLAMing on 97.38486062399998 meters Centerline goodness : 0.796389 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.89, Z:0.98 [[ 0.9508857 -0.25528336 -0.17506227 -4.03773056] [ 0.26148834 0.9651198 0.01294676 -0.89419842] [ 0.16565097 -0.05808763 0.98447224 0.9792123 ] [ 0. 0. 0. 1. ]] SLAMing on 97.44486062399999 meters Centerline goodness : 0.798617 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95074147 -0.25593914 -0.17488802 -4.03837178] [ 0.2621249 0.96494858 0.01283626 -0.89606906] [ 0.16547264 -0.05804647 0.98450465 0.97980287] [ 0. 0. 0. 1. ]] SLAMing on 97.50486062399999 meters Centerline goodness : 0.797647 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95063369 -0.25645147 -0.17472332 -4.03890355] [ 0.26263157 0.96481108 0.01281571 -0.89793092] [ 0.16528839 -0.0580709 0.98453416 0.98027332] [ 0. 0. 0. 1. ]] SLAMing on 97.56486062399999 meters Centerline goodness : 0.797325 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95060972 -0.25650021 -0.17478217 -4.03914667] [ 0.26268671 0.9647959 0.0128285 -0.89949351] [ 0.16533861 -0.05810785 0.98452355 0.98111405] [ 0. 0. 0. 1. ]] SLAMing on 97.624860624 meters Centerline goodness : 0.796883 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95064991 -0.25623828 -0.17494766 -4.03880457] [ 0.26244672 0.96485994 0.01292332 -0.89981132] [ 0.16548854 -0.05819999 0.98449292 0.98137817] [ 0. 0. 0. 1. ]] SLAMing on 97.68486062399998 meters Centerline goodness : 0.797094 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95073246 -0.25580617 -0.17513137 -4.0385382 ] [ 0.26206663 0.96495943 0.01320541 -0.90142869] [ 0.16561664 -0.0584509 0.98445651 0.98205659] [ 0. 0. 0. 1. ]] SLAMing on 97.74486062399998 meters Centerline goodness : 0.797055 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95077499 -0.25548949 -0.17536258 -4.03805058] [ 0.26179713 0.96502947 0.01343092 -0.90248158] [ 0.16579859 -0.0586792 0.9844123 0.98240418] [ 0. 0. 0. 1. ]] SLAMing on 97.80486062399999 meters Centerline goodness : 0.798335 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:0.98 [[ 0.95088275 -0.25500274 -0.17548675 -4.03754377] [ 0.26139729 0.96513055 0.01394543 -0.90467891] [ 0.1658115 -0.05913223 0.98438302 0.9826938 ] [ 0. 0. 0. 1. ]] SLAMing on 97.86486062399999 meters Centerline goodness : 0.798811 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:0.98 [[ 0.95093681 -0.2546443 -0.17571418 -4.0370865 ] [ 0.2610975 0.96520735 0.01424287 -0.90599394] [ 0.16597375 -0.05942261 0.98433819 0.98309127] [ 0. 0. 0. 1. ]] SLAMing on 97.92486062399999 meters Centerline goodness : 0.796824 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:0.98 [[ 0.9511461 -0.25348852 -0.17625174 -4.03554978] [ 0.2601004 0.96546367 0.01508938 -0.90812833] [ 0.16633967 -0.06019535 0.98422946 0.98334534] [ 0. 0. 0. 1. ]] SLAMing on 97.98486062399999 meters Centerline goodness : 0.795240 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:0.98 [[ 0.95122844 -0.25306748 -0.1764123 -4.03532456] [ 0.25974497 0.96555356 0.01545583 -0.90973577] [ 0.16642415 -0.06052423 0.98419501 0.98391095] [ 0. 0. 0. 1. ]] SLAMing on 98.044860624 meters Centerline goodness : 0.798464 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.91, Z:0.98 [[ 0.9513597 -0.25236999 -0.17670343 -4.03422718] [ 0.25921199 0.9656815 0.01638231 -0.91299666] [ 0.16650483 -0.06138912 0.9841278 0.98399244] [ 0. 0. 0. 1. ]] SLAMing on 98.10486062399998 meters Centerline goodness : 0.798335 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.92, Z:0.98 [[ 0.95138632 -0.25207149 -0.17698598 -4.03340082] [ 0.25899642 0.96573229 0.01679269 -0.91508424] [ 0.16668812 -0.06181507 0.9840701 0.98427675] [ 0. 0. 0. 1. ]] SLAMing on 98.16486062399999 meters Centerline goodness : 0.797116 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.92, Z:0.98 [[ 0.95138983 -0.25193992 -0.17715438 -4.03280149] [ 0.25897497 0.96572746 0.0173908 -0.91875106] [ 0.16670141 -0.06242398 0.98402941 0.98465244] [ 0. 0. 0. 1. ]] SLAMing on 98.22486062399999 meters Centerline goodness : 0.797461 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.92, Z:0.98 [[ 0.95137723 -0.25192811 -0.1772388 -4.0324823 ] [ 0.25899026 0.96572103 0.01751969 -0.9199722 ] [ 0.16674953 -0.06257096 0.98401193 0.98484884] [ 0. 0. 0. 1. ]] SLAMing on 98.28486062399999 meters Centerline goodness : 0.801261 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.92, Z:0.99 [[ 0.95137116 -0.25187389 -0.17734841 -4.03218694] [ 0.25899417 0.96571438 0.0178256 -0.92202742] [ 0.1667781 -0.06289097 0.98398668 0.98519587] [ 0. 0. 0. 1. ]] SLAMing on 98.34486062399999 meters Centerline goodness : 0.798755 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.92, Z:0.99 [[ 0.95138587 -0.2517869 -0.17739302 -4.03249674] [ 0.25893425 0.96572766 0.017976 -0.92374299] [ 0.16678722 -0.06303524 0.9839759 0.98606024] [ 0. 0. 0. 1. ]] SLAMing on 98.404860624 meters Centerline goodness : 0.799953 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.99 [[ 0.95132402 -0.25206971 -0.17732307 -4.0329459 ] [ 0.25922744 0.96564783 0.01803893 -0.9258876 ] [ 0.16668457 -0.06312788 0.98398736 0.98683423] [ 0. 0. 0. 1. ]] SLAMing on 98.46486062399998 meters Centerline goodness : 0.801043 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.99 [[ 0.95113736 -0.25279091 -0.1772977 -4.03374083] [ 0.25993276 0.96546097 0.01789085 -0.92883376] [ 0.16665137 -0.06310214 0.98399464 0.98821428] [ 0. 0. 0. 1. ]] SLAMing on 98.52486062399998 meters Centerline goodness : 0.798023 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.99 [[ 0.95101754 -0.25320557 -0.17734874 -4.03366655] [ 0.2603813 0.96533742 0.01803439 -0.93141696] [ 0.16663497 -0.06332932 0.98398282 0.98864986] [ 0. 0. 0. 1. ]] SLAMing on 98.58486062399999 meters Centerline goodness : 0.798197 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:0.99 [[ 0.95010918 -0.25689766 -0.17690713 -4.03214738] [ 0.26358606 0.96451933 0.01499528 -0.93404708] [ 0.1667781 -0.06087741 0.98411331 0.98905111] [ 0. 0. 0. 1. ]] SLAMing on 98.64486062399999 meters Centerline goodness : 0.798667 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.99 [[ 0.94997038 -0.25744256 -0.17686039 -4.0326103 ] [ 0.26415968 0.96436023 0.01513342 -0.93710834] [ 0.16666114 -0.06109569 0.9841196 0.98989141] [ 0. 0. 0. 1. ]] SLAMing on 98.70486062399999 meters Centerline goodness : 0.797366 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.99 [[ 0.94994545 -0.25744425 -0.17699182 -4.03213818] [ 0.26423981 0.96433169 0.01554739 -0.94015712] [ 0.16667624 -0.06153746 0.98408951 0.99032022] [ 0. 0. 0. 1. ]] SLAMing on 98.764860624 meters Centerline goodness : 0.798389 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.99 [[ 0.94911017 -0.26082076 -0.17652879 -4.03069798] [ 0.2671569 0.96356932 0.01270299 -0.94233213] [ 0.16678452 -0.05921743 0.9842135 0.99056215] [ 0. 0. 0. 1. ]] SLAMing on 98.82486062399998 meters Centerline goodness : 0.798955 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:0.99 [[ 0.9490569 -0.26100782 -0.17653869 -4.03066045] [ 0.26740896 0.96349453 0.01306633 -0.94495709] [ 0.16668365 -0.05960872 0.98420697 0.99093067] [ 0. 0. 0. 1. ]] SLAMing on 98.88486062399998 meters Centerline goodness : 0.797415 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:0.99 [[ 0.94817329 -0.26459577 -0.17594456 -4.02947881] [ 0.27050081 0.96266755 0.01002522 -0.94747833] [ 0.16672349 -0.05709879 0.98434903 0.99140261] [ 0. 0. 0. 1. ]] SLAMing on 98.94486062399999 meters Centerline goodness : 0.797944 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:0.99 [[ 0.94814075 -0.264744 -0.17589694 -4.02949613] [ 0.27068241 0.9626144 0.01022549 -0.94929664] [ 0.16661379 -0.05730741 0.98435548 0.99168989] [ 0. 0. 0. 1. ]] SLAMing on 99.00486062399999 meters Centerline goodness : 0.789591 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:0.99 [[ 0.94817897 -0.2645398 -0.17599812 -4.02898837] [ 0.27057924 0.96263706 0.01080537 -0.95202632] [ 0.16656387 -0.05786687 0.9843312 0.99184372] [ 0. 0. 0. 1. ]] SLAMing on 99.06486062399999 meters Centerline goodness : 0.789255 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:0.99 [[ 0.94813855 -0.26460568 -0.17611681 -4.0287747 ] [ 0.27067249 0.96260956 0.01091929 -0.95345411] [ 0.16664242 -0.05802298 0.98430871 0.9922306 ] [ 0. 0. 0. 1. ]] SLAMing on 99.124860624 meters Centerline goodness : 0.789875 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:0.99 [[ 0.94811625 -0.26459191 -0.17625748 -4.02816394] [ 0.27077393 0.96257366 0.01155105 -0.95650579] [ 0.1666045 -0.05867767 0.98427632 0.99227426] [ 0. 0. 0. 1. ]] SLAMing on 99.18486062399998 meters Centerline goodness : 0.788579 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:0.99 [[ 0.94797308 -0.26460058 -0.17701293 -4.02668353] [ 0.27101874 0.96249067 0.0126707 -0.95877367] [ 0.16702062 -0.0599853 0.98412696 0.99278933] [ 0. 0. 0. 1. ]] SLAMing on 99.24486062399998 meters Centerline goodness : 0.789810 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.99 [[ 0.94786483 -0.26435421 -0.17795819 -4.02482239] [ 0.27107653 0.96245403 0.01413329 -0.96143901] [ 0.16754038 -0.06163674 0.98393655 0.99336571] [ 0. 0. 0. 1. ]] SLAMing on 99.30486062399999 meters Centerline goodness : 0.791394 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.99 [[ 0.94772225 -0.26455826 -0.17841372 -4.02412797] [ 0.27145648 0.9623342 0.01497577 -0.96375933] [ 0.16773166 -0.06262443 0.98384159 0.99418862] [ 0. 0. 0. 1. ]] SLAMing on 99.36486062399999 meters Centerline goodness : 0.789294 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:0.99 [[ 0.94769433 -0.26436204 -0.17885235 -4.0226368 ] [ 0.27137384 0.96234933 0.01549222 -0.96491503] [ 0.16802289 -0.06321774 0.98375395 0.99383503] [ 0. 0. 0. 1. ]] SLAMing on 99.42486062399999 meters Centerline goodness : 0.787870 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.94782189 -0.26393359 -0.17880917 -4.02189243] [ 0.27101832 0.96244162 0.01597467 -0.96643699] [ 0.16787713 -0.0636017 0.98375408 0.99329819] [ 0. 0. 0. 1. ]] SLAMing on 99.48486062399999 meters Centerline goodness : 0.790066 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.94800479 -0.26315888 -0.17898133 -4.02141641] [ 0.27035284 0.96261788 0.01661822 -0.96722809] [ 0.16791739 -0.06414227 0.98371211 0.99319125] [ 0. 0. 0. 1. ]] SLAMing on 99.54486062399998 meters Centerline goodness : 0.787193 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.94830053 -0.26217848 -0.17885344 -4.02077139] [ 0.26943124 0.96286778 0.01710098 -0.96824978] [ 0.16772871 -0.06440557 0.9837271 0.99234936] [ 0. 0. 0. 1. ]] SLAMing on 99.60486062399998 meters Centerline goodness : 0.785116 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.9484291 -0.26147379 -0.17920298 -4.01931798] [ 0.26884819 0.96301917 0.01774064 -0.96890611] [ 0.16793719 -0.06500414 0.98365216 0.9916038 ] [ 0. 0. 0. 1. ]] SLAMing on 99.66486062399999 meters Centerline goodness : 0.785629 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.9484398 -0.26126911 -0.17944471 -4.01818941] [ 0.268678 0.96306435 0.01786587 -0.9691581 ] [ 0.16814901 -0.06515755 0.98360582 0.99101715] [ 0. 0. 0. 1. ]] SLAMing on 99.72486062399999 meters Centerline goodness : 0.785072 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.94846429 -0.26096975 -0.1797506 -4.01718169] [ 0.26845586 0.96311959 0.01822365 -0.96924516] [ 0.1683655 -0.06553958 0.9835434 0.99059466] [ 0. 0. 0. 1. ]] SLAMing on 99.78486062399999 meters Centerline goodness : 0.785579 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.94837313 -0.26101429 -0.18016645 -4.01593709] [ 0.26858887 0.96307587 0.01857114 -0.96982595] [ 0.16866663 -0.06600308 0.98346081 0.9903319 ] [ 0. 0. 0. 1. ]] SLAMing on 99.84486062399999 meters Centerline goodness : 0.786221 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:0.99 [[ 0.94813526 -0.26160276 -0.18056446 -4.01544084] [ 0.26931985 0.96285959 0.01918935 -0.97166521] [ 0.16883823 -0.06682369 0.98337594 0.99124866] [ 0. 0. 0. 1. ]] SLAMing on 99.904860624 meters Centerline goodness : 0.783408 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:0.99 [[ 0.94787815 -0.26224456 -0.18098288 -4.01452005] [ 0.27005262 0.96264825 0.01949192 -0.97316656] [ 0.1691112 -0.06735086 0.98329307 0.99183656] [ 0. 0. 0. 1. ]] SLAMing on 99.96486062399998 meters Centerline goodness : 0.783331 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94740098 -0.26310265 -0.18223166 -4.012129 ] [ 0.2712745 0.96227262 0.02101308 -0.97629094] [ 0.16982794 -0.06934261 0.98303106 0.99279818] [ 0. 0. 0. 1. ]] SLAMing on 100.02486062399998 meters Centerline goodness : 0.784028 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94714385 -0.26349446 -0.18300052 -4.0106964 ] [ 0.27186339 0.962089 0.02179567 -0.9774681 ] [ 0.17031975 -0.07039478 0.98287118 0.99329942] [ 0. 0. 0. 1. ]] SLAMing on 100.08486062399999 meters Centerline goodness : 0.783482 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94713142 -0.2635548 -0.18297796 -4.01036968] [ 0.27195843 0.96205749 0.02199993 -0.97848848] [ 0.17023714 -0.07059922 0.98287083 0.99319745] [ 0. 0. 0. 1. ]] SLAMing on 100.14486062399999 meters Centerline goodness : 0.785245 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.9472194 -0.26314302 -0.18311513 -4.00982168] [ 0.27157314 0.96216328 0.02213252 -0.97826198] [ 0.17036264 -0.0706935 0.98284231 0.9928105 ] [ 0. 0. 0. 1. ]] SLAMing on 100.20486062399999 meters Centerline goodness : 0.781188 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94789549 -0.25986727 -0.18429093 -4.00950693] [ 0.26900643 0.96278716 0.02600835 -0.98023452] [ 0.17067423 -0.07422864 0.98252757 0.9935489 ] [ 0. 0. 0. 1. ]] SLAMing on 100.264860624 meters Centerline goodness : 0.784297 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94790635 -0.25959516 -0.18461824 -4.00902523] [ 0.2687978 0.96283877 0.02625343 -0.98005735] [ 0.17094234 -0.07451077 0.9824596 0.99368745] [ 0. 0. 0. 1. ]] SLAMing on 100.32486062399998 meters Centerline goodness : 0.779750 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94786862 -0.25967535 -0.18469922 -4.00817019] [ 0.26892417 0.9627974 0.02647568 -0.98113173] [ 0.17095284 -0.07476555 0.98243841 0.99329753] [ 0. 0. 0. 1. ]] SLAMing on 100.38486062399998 meters Centerline goodness : 0.778601 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94784421 -0.2595059 -0.18506226 -4.00706873] [ 0.26887554 0.96279577 0.02702302 -0.98225272] [ 0.17116453 -0.07537233 0.98235519 0.99319431] [ 0. 0. 0. 1. ]] SLAMing on 100.44486062399999 meters Centerline goodness : 0.778576 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:0.99 [[ 0.94771481 -0.2593705 -0.18591284 -4.00638633] [ 0.26895133 0.96275067 0.02786268 -0.98233887] [ 0.17176096 -0.07640738 0.98217111 0.99414697] [ 0. 0. 0. 1. ]] SLAMing on 100.50486062399999 meters Centerline goodness : 0.777814 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.99 [[ 0.94761413 -0.25937191 -0.18642337 -4.00454823] [ 0.26902176 0.96272625 0.02802586 -0.98252112] [ 0.17220555 -0.07670965 0.98206969 0.9935199 ] [ 0. 0. 0. 1. ]] SLAMing on 100.56486062399999 meters Centerline goodness : 0.788446 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.99 [[ 0.94756506 -0.25924452 -0.18684951 -4.00297333] [ 0.26898952 0.96272471 0.02838628 -0.98351876] [ 0.17252565 -0.07715841 0.98197835 0.99315097] [ 0. 0. 0. 1. ]] SLAMing on 100.624860624 meters Centerline goodness : 0.778756 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.99 [[ 0.94764442 -0.25864418 -0.18727852 -4.00228447] [ 0.26853062 0.96283302 0.02904972 -0.98380475] [ 0.1728044 -0.07781882 0.98187722 0.99324666] [ 0. 0. 0. 1. ]] SLAMing on 100.68486062399998 meters Centerline goodness : 0.778699 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.99 [[ 0.94770169 -0.25821059 -0.18758678 -4.0017702 ] [ 0.2681724 0.96292296 0.02937589 -0.98370596] [ 0.17304645 -0.07814518 0.98180867 0.99323974] [ 0. 0. 0. 1. ]] SLAMing on 100.74486062399998 meters Centerline goodness : 0.785755 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.99 [[ 0.94783006 -0.25761193 -0.18776122 -4.00200691] [ 0.26767499 0.96304445 0.02992454 -0.98406177] [ 0.17311348 -0.07862236 0.98175875 0.99376874] [ 0. 0. 0. 1. ]] SLAMing on 100.80486062399999 meters Centerline goodness : 0.774409 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:0.99 [[ 0.94772632 -0.25782526 -0.18799192 -4.00206069] [ 0.26794537 0.96296311 0.03012186 -0.98434264] [ 0.17326311 -0.07891884 0.98170857 0.99444316] [ 0. 0. 0. 1. ]] SLAMing on 100.86486062399999 meters Centerline goodness : 0.776610 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.99 [[ 0.94744687 -0.25824625 -0.18882081 -3.99996507] [ 0.26852626 0.96278612 0.03060284 -0.98500033] [ 0.17389099 -0.07969791 0.9815346 0.99435578] [ 0. 0. 0. 1. ]] SLAMing on 100.92486062399999 meters Centerline goodness : 0.779753 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:0.99 [[ 0.94711753 -0.25899225 -0.18945026 -3.99891828] [ 0.26936089 0.96254856 0.03074056 -0.98529179] [ 0.17439351 -0.08014542 0.981409 0.99493114] [ 0. 0. 0. 1. ]] SLAMing on 100.98486062399999 meters Centerline goodness : 0.777411 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.99, Z:1.00 [[ 0.94688983 -0.25943331 -0.18998424 -3.99820135] [ 0.26990012 0.96238911 0.031002 -0.98509951] [ 0.17479581 -0.08063225 0.98129754 0.99539364] [ 0. 0. 0. 1. ]] SLAMing on 101.04486062399998 meters Centerline goodness : 0.777817 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.94675138 -0.25974534 -0.19024768 -3.9987612 ] [ 0.27021645 0.96230446 0.03087391 -0.98388342] [ 0.17505683 -0.08063797 0.98125054 0.99629513] [ 0. 0. 0. 1. ]] SLAMing on 101.10486062399998 meters Centerline goodness : 0.777095 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.94680995 -0.25960703 -0.19014495 -3.99923106] [ 0.27003488 0.96236124 0.03069223 -0.98303396] [ 0.17502021 -0.08040548 0.98127615 0.99631221] [ 0. 0. 0. 1. ]] SLAMing on 101.16486062399999 meters Centerline goodness : 0.779359 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.94740545 -0.25614771 -0.19186262 -3.99807216] [ 0.26735437 0.96297881 0.03454647 -0.98284437] [ 0.17591064 -0.08402482 0.98081358 0.99667607] [ 0. 0. 0. 1. ]] SLAMing on 101.22486062399999 meters Centerline goodness : 0.778791 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.94729067 -0.25664021 -0.19177118 -3.9985911 ] [ 0.26763767 0.96294127 0.03337947 -0.97996054] [ 0.17609787 -0.08294526 0.98087187 0.99653236] [ 0. 0. 0. 1. ]] SLAMing on 101.28486062399999 meters Centerline goodness : 0.777471 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.9479467 -0.25292292 -0.19346074 -3.99698377] [ 0.26467623 0.9636236 0.03709517 -0.97931348] [ 0.17704112 -0.0863687 0.98040649 0.99627684] [ 0. 0. 0. 1. ]] SLAMing on 101.34486062399999 meters Centerline goodness : 0.777829 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.94856088 -0.24975184 -0.1945669 -3.99685349] [ 0.26210258 0.96420522 0.04013132 -0.97872536] [ 0.17757955 -0.08906349 0.98006796 0.99653122] [ 0. 0. 0. 1. ]] SLAMing on 101.404860624 meters Centerline goodness : 0.778584 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.00 [[ 0.94871466 -0.24926875 -0.19443659 -3.99702152] [ 0.26150276 0.96439015 0.03959734 -0.97653258] [ 0.17764236 -0.08841228 0.98011553 0.99582818] [ 0. 0. 0. 1. ]] SLAMing on 101.46486062399998 meters Centerline goodness : 0.777260 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.00 [[ 0.94888235 -0.24896456 -0.19400755 -3.99826804] [ 0.26100108 0.96456042 0.0387508 -0.974133 ] [ 0.17748443 -0.08740613 0.98023438 0.9955462 ] [ 0. 0. 0. 1. ]] SLAMing on 101.52486062399998 meters Centerline goodness : 0.785179 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.00 [[ 0.94888292 -0.24885464 -0.19414575 -3.99804286] [ 0.26076297 0.96465529 0.03798478 -0.97169633] [ 0.17783104 -0.08666913 0.980237 0.99514668] [ 0. 0. 0. 1. ]] SLAMing on 101.58486062399999 meters Centerline goodness : 0.787209 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.00 [[ 0.94934025 -0.24614587 -0.19535942 -3.9980436 ] [ 0.25873315 0.96506308 0.04135709 -0.97209874] [ 0.17835429 -0.08980791 0.97985932 0.99607296] [ 0. 0. 0. 1. ]] SLAMing on 101.64486062399999 meters Centerline goodness : 0.785047 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.00 [[ 0.94921391 -0.24648177 -0.19554974 -3.99815499] [ 0.25904306 0.96499149 0.04108659 -0.97122424] [ 0.17857674 -0.08965577 0.97983274 0.99651905] [ 0. 0. 0. 1. ]] SLAMing on 101.70486062399999 meters Centerline goodness : 0.784462 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.00 [[ 0.94890827 -0.2470559 -0.1963071 -3.99695155] [ 0.25968761 0.96482051 0.04103323 -0.96966975] [ 0.17926362 -0.0899153 0.97968352 0.9967018 ] [ 0. 0. 0. 1. ]] SLAMing on 101.764860624 meters Centerline goodness : 0.782798 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.00 [[ 0.94869971 -0.24750261 -0.19675191 -3.99641784] [ 0.26004258 0.96475723 0.04026587 -0.96643382] [ 0.17985192 -0.0893641 0.97962612 0.99651639] [ 0. 0. 0. 1. ]] SLAMing on 101.82486062399998 meters Centerline goodness : 0.771368 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.00 [[ 0.94870878 -0.24771485 -0.19644083 -3.99762462] [ 0.26001237 0.96481407 0.03908175 -0.96213342] [ 0.17984774 -0.08815424 0.9797365 0.99676742] [ 0. 0. 0. 1. ]] SLAMing on 101.88486062399998 meters Centerline goodness : 0.781773 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.00 [[ 0.94873691 -0.2478079 -0.19618748 -3.9986799 ] [ 0.25989841 0.96488518 0.03807096 -0.95878687] [ 0.17986411 -0.08710814 0.97982706 0.99719623] [ 0. 0. 0. 1. ]] SLAMing on 101.94486062399999 meters Centerline goodness : 0.767538 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.00 [[ 0.94881564 -0.24776243 -0.1958639 -3.99995528] [ 0.25965246 0.96498763 0.03714128 -0.95494895] [ 0.17980403 -0.08609677 0.97992748 0.99752529] [ 0. 0. 0. 1. ]] SLAMing on 102.00486062399999 meters Centerline goodness : 0.767246 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.00 [[ 0.94966577 -0.24408287 -0.19636313 -4.00146003] [ 0.25647177 0.96572561 0.03995343 -0.95269512] [ 0.17988096 -0.08830401 0.97971692 0.99763685] [ 0. 0. 0. 1. ]] SLAMing on 102.06486062399999 meters Centerline goodness : 0.769515 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.00 [[ 0.9496316 -0.24423811 -0.19633537 -4.00148838] [ 0.25655666 0.96571886 0.03956984 -0.95168088] [ 0.1799403 -0.08794792 0.97973805 0.99762924] [ 0. 0. 0. 1. ]] SLAMing on 102.124860624 meters Centerline goodness : 0.782665 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.00 [[ 0.94961137 -0.24447413 -0.19613933 -4.001802 ] [ 0.2566823 0.96570687 0.03904413 -0.95008241] [ 0.17986782 -0.08742225 0.97979841 0.99746462] [ 0. 0. 0. 1. ]] SLAMing on 102.18486062399998 meters Centerline goodness : 0.783366 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.00 [[ 0.94947969 -0.24532445 -0.19571469 -4.00342418] [ 0.2573048 0.9655855 0.03793253 -0.94724224] [ 0.17967349 -0.0863745 0.97992698 0.9978777 ] [ 0. 0. 0. 1. ]] SLAMing on 102.24486062399998 meters Centerline goodness : 0.784661 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.00 [[ 0.94936056 -0.24596249 -0.19549164 -4.00410653] [ 0.25781689 0.96547374 0.037295 -0.94617304] [ 0.17956888 -0.08580744 0.97999597 0.9979938 ] [ 0. 0. 0. 1. ]] SLAMing on 102.30486062399999 meters Centerline goodness : 0.785015 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.00 [[ 0.9485181 -0.24982668 -0.19467935 -4.00290903] [ 0.26095014 0.96477667 0.03333159 -0.94388318] [ 0.17949497 -0.08241722 0.98030044 0.99723332] [ 0. 0. 0. 1. ]] SLAMing on 102.36486062399999 meters Centerline goodness : 0.786571 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.00 [[ 0.94837678 -0.25056442 -0.19441954 -4.00380704] [ 0.26156258 0.96463247 0.03269891 -0.94290063] [ 0.17935022 -0.08186377 0.98037331 0.99741976] [ 0. 0. 0. 1. ]] SLAMing on 102.42486062399999 meters Centerline goodness : 0.786159 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94813872 -0.2518085 -0.1939728 -4.00601135] [ 0.26259581 0.96438719 0.03163521 -0.94202969] [ 0.17909887 -0.08093101 0.98049669 0.99867061] [ 0. 0. 0. 1. ]] SLAMing on 102.48486062399999 meters Centerline goodness : 0.789053 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.9469444 -0.25727042 -0.19263495 -4.00785222] [ 0.26716199 0.96327863 0.02680951 -0.94045287] [ 0.17866384 -0.07685186 0.98090419 0.99986497] [ 0. 0. 0. 1. ]] SLAMing on 102.54486062399998 meters Centerline goodness : 0.787972 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94585638 -0.26178643 -0.19189469 -4.00729192] [ 0.27095262 0.96232466 0.02271414 -0.9397388 ] [ 0.17871873 -0.07347868 0.98115264 1.00019434] [ 0. 0. 0. 1. ]] SLAMing on 102.60486062399998 meters Centerline goodness : 0.789298 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94478437 -0.26599555 -0.1913867 -4.00619153] [ 0.27445781 0.96141815 0.01865597 -0.93841201] [ 0.17904024 -0.07015345 0.9813374 1.00052619] [ 0. 0. 0. 1. ]] SLAMing on 102.66486062399999 meters Centerline goodness : 0.788283 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94468124 -0.26635266 -0.1913991 -4.00678925] [ 0.27472188 0.96135323 0.01810675 -0.93757516] [ 0.17917936 -0.06968662 0.98134527 1.0012785 ] [ 0. 0. 0. 1. ]] SLAMing on 102.72486062399999 meters Centerline goodness : 0.788569 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94482637 -0.26553846 -0.19181361 -4.0065578 ] [ 0.27390125 0.96158961 0.01798676 -0.93677055] [ 0.17966979 -0.06953236 0.98126654 1.00237389] [ 0. 0. 0. 1. ]] SLAMing on 102.78486062399999 meters Centerline goodness : 0.790009 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94501511 -0.26467424 -0.1920781 -4.00620558] [ 0.27304485 0.96183272 0.01800919 -0.93583604] [ 0.17998043 -0.0694649 0.98121439 1.00292452] [ 0. 0. 0. 1. ]] SLAMing on 102.84486062399999 meters Centerline goodness : 0.788452 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94565452 -0.26238707 -0.19206915 -4.0068642 ] [ 0.27095631 0.96239779 0.01931767 -0.93608562] [ 0.17977822 -0.07031019 0.98119125 1.00361199] [ 0. 0. 0. 1. ]] SLAMing on 102.90486062399998 meters Centerline goodness : 0.792228 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.00 [[ 0.94573643 -0.2619254 -0.19229583 -4.00620446] [ 0.27052412 0.96251705 0.01943282 -0.93627013] [ 0.17999807 -0.07039899 0.98114458 1.00376589] [ 0. 0. 0. 1. ]] SLAMing on 102.96486062399998 meters Centerline goodness : 0.798573 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.00 [[ 0.94584524 -0.26113676 -0.19283248 -4.0044844 ] [ 0.26981505 0.96271004 0.0197285 -0.93615899] [ 0.18048993 -0.07068921 0.98103334 1.00353299] [ 0. 0. 0. 1. ]] SLAMing on 103.02486062399998 meters Centerline goodness : 0.798878 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.00 [[ 0.94593042 -0.26063247 -0.19309674 -4.00365189] [ 0.26934573 0.96283871 0.01986201 -0.93575843] [ 0.18074433 -0.07079786 0.98097867 1.00343869] [ 0. 0. 0. 1. ]] SLAMing on 103.08486062399999 meters Centerline goodness : 0.804486 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.00 [[ 0.94593115 -0.26056552 -0.19318349 -4.00351496] [ 0.26925281 0.96286817 0.01969303 -0.93571478] [ 0.18087891 -0.07064345 0.980965 1.00381817] [ 0. 0. 0. 1. ]] SLAMing on 103.14486062399999 meters Centerline goodness : 0.804402 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.00 [[ 0.94585849 -0.26094372 -0.19302875 -4.00418242] [ 0.26955853 0.96279009 0.01932456 -0.93578281] [ 0.18080355 -0.07031084 0.98100278 1.00438436] [ 0. 0. 0. 1. ]] SLAMing on 103.20486062399999 meters Centerline goodness : 0.806442 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.01 [[ 0.94575085 -0.26141158 -0.19292309 -4.00498819] [ 0.26991804 0.96270106 0.01873292 -0.93503805] [ 0.18083026 -0.06979009 0.98103505 1.00513879] [ 0. 0. 0. 1. ]] SLAMing on 103.264860624 meters Centerline goodness : 0.813381 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94572981 -0.26161167 -0.19275491 -4.00535643] [ 0.27006242 0.96266551 0.0184771 -0.93506792] [ 0.18072468 -0.06953021 0.98107295 1.00542804] [ 0. 0. 0. 1. ]] SLAMing on 103.32486062399998 meters Centerline goodness : 0.806793 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94565314 -0.26205679 -0.19252631 -4.00610769] [ 0.27042143 0.96257273 0.01805546 -0.93483097] [ 0.18058902 -0.06913744 0.98112569 1.00585389] [ 0. 0. 0. 1. ]] SLAMing on 103.38486062399998 meters Centerline goodness : 0.814070 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94566054 -0.26223209 -0.19225109 -4.006757 ] [ 0.27053603 0.96254499 0.01781558 -0.93474135] [ 0.18037851 -0.06885834 0.98118404 1.00612953] [ 0. 0. 0. 1. ]] SLAMing on 103.44486062399999 meters Centerline goodness : 0.816670 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94570399 -0.26202372 -0.19232145 -4.00643183] [ 0.27032799 0.96260354 0.01781029 -0.93446682] [ 0.18046259 -0.06883313 0.98117035 1.00610662] [ 0. 0. 0. 1. ]] SLAMing on 103.50486062399999 meters Centerline goodness : 0.821888 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94574583 -0.26177543 -0.19245375 -4.00588221] [ 0.27013 0.96265453 0.01805638 -0.93482724] [ 0.18053975 -0.06906428 0.98113991 1.00596423] [ 0. 0. 0. 1. ]] SLAMing on 103.56486062399999 meters Centerline goodness : 0.823026 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.9456945 -0.26187495 -0.19257057 -4.00559904] [ 0.27026347 0.96261464 0.01818562 -0.93597932] [ 0.18060889 -0.06924283 0.9811146 1.00615154] [ 0. 0. 0. 1. ]] SLAMing on 103.624860624 meters Centerline goodness : 0.824711 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94554822 -0.26243957 -0.19252022 -4.00604496] [ 0.27083359 0.96245449 0.01818035 -0.93819518] [ 0.1805207 -0.06933134 0.98112458 1.00684045] [ 0. 0. 0. 1. ]] SLAMing on 103.68486062399998 meters Centerline goodness : 0.823085 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94542429 -0.26304116 -0.19230773 -4.00689907] [ 0.2713958 0.96229967 0.01799074 -0.93930802] [ 0.18032536 -0.06920039 0.98116974 1.0074402 ] [ 0. 0. 0. 1. ]] SLAMing on 103.74486062399998 meters Centerline goodness : 0.826256 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94540386 -0.26312224 -0.19229722 -4.00678349] [ 0.27151584 0.96226189 0.01819901 -0.94101698] [ 0.18025173 -0.06941715 0.98116796 1.00773234] [ 0. 0. 0. 1. ]] SLAMing on 103.80486062399999 meters Centerline goodness : 0.825965 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94536553 -0.26326366 -0.19229214 -4.00675654] [ 0.27166622 0.96221875 0.01823605 -0.94187937] [ 0.18022621 -0.06947901 0.98116827 1.00792539] [ 0. 0. 0. 1. ]] SLAMing on 103.86486062399999 meters Centerline goodness : 0.822154 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94523547 -0.26375224 -0.19226195 -4.00698765] [ 0.27214165 0.96208641 0.01812886 -0.94339104] [ 0.18019109 -0.06945853 0.98117617 1.00845528] [ 0. 0. 0. 1. ]] SLAMing on 103.92486062399999 meters Centerline goodness : 0.824985 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94518353 -0.26394028 -0.19225927 -4.00702466] [ 0.2723043 0.9620433 0.01797348 -0.9436758 ] [ 0.18021782 -0.06934127 0.98117956 1.0086743 ] [ 0. 0. 0. 1. ]] SLAMing on 103.98486062399999 meters Centerline goodness : 0.821519 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94504753 -0.26460078 -0.19201979 -4.00817109] [ 0.27288395 0.96188664 0.01756252 -0.94409717] [ 0.18005421 -0.06899654 0.9812339 1.00944868] [ 0. 0. 0. 1. ]] SLAMing on 104.04486062399998 meters Centerline goodness : 0.815189 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94501204 -0.2648734 -0.19181845 -4.00902976] [ 0.27309118 0.96183334 0.01725791 -0.94419969] [ 0.17992622 -0.06869286 0.98127868 1.01013435] [ 0. 0. 0. 1. ]] SLAMing on 104.10486062399998 meters Centerline goodness : 0.816684 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94510406 -0.26452403 -0.19184723 -4.00884607] [ 0.27272501 0.96193846 0.01718908 -0.9434442 ] [ 0.17999831 -0.06856701 0.98127426 1.01014889] [ 0. 0. 0. 1. ]] SLAMing on 104.16486062399999 meters Centerline goodness : 0.816941 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94535338 -0.26355126 -0.19195758 -4.0085995 ] [ 0.27179441 0.96219675 0.01747053 -0.94318126] [ 0.18009658 -0.06868883 0.98124771 1.01049389] [ 0. 0. 0. 1. ]] SLAMing on 104.22486062399999 meters Centerline goodness : 0.808998 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94544329 -0.26314783 -0.19206822 -4.00827241] [ 0.27141445 0.96230174 0.01759454 -0.94334364] [ 0.18019762 -0.06876473 0.98122384 1.01062898] [ 0. 0. 0. 1. ]] SLAMing on 104.28486062399999 meters Centerline goodness : 0.810030 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94556804 -0.26262395 -0.19217115 -4.00783467] [ 0.27091374 0.9624403 0.01773159 -0.94270735] [ 0.18029652 -0.06882823 0.98120122 1.01050577] [ 0. 0. 0. 1. ]] SLAMing on 104.34486062399999 meters Centerline goodness : 0.808343 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94562347 -0.26236092 -0.19225764 -4.00718692] [ 0.27066672 0.96250834 0.01781064 -0.94285014] [ 0.18037676 -0.0688799 0.98118285 1.01030247] [ 0. 0. 0. 1. ]] SLAMing on 104.40486062399998 meters Centerline goodness : 0.807992 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.9458243 -0.26172377 -0.19213814 -4.00653969] [ 0.26997777 0.96270501 0.01763707 -0.94175855] [ 0.18035631 -0.0685546 0.98120939 1.00903782] [ 0. 0. 0. 1. ]] SLAMing on 104.46486062399998 meters Centerline goodness : 0.808071 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94658992 -0.25805171 -0.19333092 -4.00624674] [ 0.26699112 0.96346478 0.02124532 -0.94160007] [ 0.18078514 -0.07172824 0.98090356 1.00912787] [ 0. 0. 0. 1. ]] SLAMing on 104.52486062399998 meters Centerline goodness : 0.807633 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94650805 -0.2583055 -0.19339282 -4.0063654 ] [ 0.26718889 0.96341768 0.02089193 -0.94095012] [ 0.18092156 -0.07144679 0.98089895 1.00938247] [ 0. 0. 0. 1. ]] SLAMing on 104.58486062399999 meters Centerline goodness : 0.809151 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94627925 -0.25933175 -0.19313889 -4.0072593 ] [ 0.26803235 0.96320431 0.01990271 -0.93953276] [ 0.1808708 -0.070601 0.98096955 1.00969998] [ 0. 0. 0. 1. ]] SLAMing on 104.64486062399999 meters Centerline goodness : 0.808335 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94612687 -0.26016198 -0.19276848 -4.00837364] [ 0.26868992 0.96303869 0.01903165 -0.93813028] [ 0.1806922 -0.0698013 0.98105969 1.01002666] [ 0. 0. 0. 1. ]] SLAMing on 104.70486062399999 meters Centerline goodness : 0.810885 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94593899 -0.26121814 -0.19226157 -4.00987872] [ 0.26956589 0.96281092 0.01814825 -0.93697933] [ 0.18037088 -0.06899429 0.98117589 1.01033321] [ 0. 0. 0. 1. ]] SLAMing on 104.764860624 meters Centerline goodness : 0.810953 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.01 [[ 0.94581429 -0.26178709 -0.19210115 -4.01049195] [ 0.27002756 0.96269224 0.01757161 -0.93591874] [ 0.18033427 -0.06849209 0.98121781 1.01055623] [ 0. 0. 0. 1. ]] SLAMing on 104.82486062399998 meters Centerline goodness : 0.811555 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94576432 -0.26225107 -0.19171393 -4.01180618] [ 0.2703341 0.96261966 0.01681837 -0.93397988] [ 0.18013696 -0.06773303 0.98130674 1.01098069] [ 0. 0. 0. 1. ]] SLAMing on 104.88486062399998 meters Centerline goodness : 0.810180 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94573214 -0.262483 -0.19155522 -4.01210648] [ 0.27049595 0.96258014 0.01647453 -0.93318433] [ 0.18006297 -0.0673954 0.98134356 1.01095508] [ 0. 0. 0. 1. ]] SLAMing on 104.94486062399999 meters Centerline goodness : 0.809726 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94568737 -0.26276456 -0.19139013 -4.01208345] [ 0.27070285 0.96252826 0.016103 -0.93219184] [ 0.17998711 -0.06703825 0.98138194 1.01059841] [ 0. 0. 0. 1. ]] SLAMing on 105.00486062399999 meters Centerline goodness : 0.808532 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94557502 -0.26333631 -0.19115926 -4.01252868] [ 0.27120475 0.96239275 0.01575375 -0.93201604] [ 0.17982175 -0.06673965 0.9814326 1.01051641] [ 0. 0. 0. 1. ]] SLAMing on 105.06486062399999 meters Centerline goodness : 0.808316 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94547373 -0.26387154 -0.19092208 -4.01274048] [ 0.27167065 0.96226686 0.01541269 -0.93133242] [ 0.17965102 -0.06644022 0.98148419 1.01008759] [ 0. 0. 0. 1. ]] SLAMing on 105.124860624 meters Centerline goodness : 0.806167 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94540386 -0.26424225 -0.19075525 -4.01299797] [ 0.27193919 0.96219937 0.01488102 -0.92994384] [ 0.17961239 -0.0659424 0.98152483 1.00990786] [ 0. 0. 0. 1. ]] SLAMing on 105.18486062399998 meters Centerline goodness : 0.806628 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94545619 -0.26437836 -0.19030678 -4.01345661] [ 0.27192002 0.9622153 0.01418531 -0.92654862] [ 0.17936581 -0.06515981 0.98162218 1.00907226] [ 0. 0. 0. 1. ]] SLAMing on 105.24486062399998 meters Centerline goodness : 0.804841 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94544445 -0.26457856 -0.19008678 -4.01404049] [ 0.27197297 0.96221102 0.01344086 -0.92411859] [ 0.17934743 -0.06440606 0.98167528 1.00914378] [ 0. 0. 0. 1. ]] SLAMing on 105.30486062399999 meters Centerline goodness : 0.804006 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94557255 -0.26445984 -0.18961418 -4.0148711 ] [ 0.27169419 0.96229921 0.01274734 -0.92032073] [ 0.17909441 -0.06357061 0.98177593 1.00864786] [ 0. 0. 0. 1. ]] SLAMing on 105.36486062399999 meters Centerline goodness : 0.803521 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 0.94551356 -0.26491347 -0.18927483 -4.01595307] [ 0.27198201 0.96222856 0.01191587 -0.91768942] [ 0.17896897 -0.06274596 0.98185185 1.00876149] [ 0. 0. 0. 1. ]] SLAMing on 105.42486062399999 meters Centerline goodness : 0.802080 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 0.94545672 -0.26539374 -0.18888554 -4.0168009 ] [ 0.27230565 0.96214623 0.01114757 -0.9152353 ] [ 0.17877701 -0.06197415 0.98193584 1.00854339] [ 0. 0. 0. 1. ]] SLAMing on 105.48486062399999 meters Centerline goodness : 0.801860 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94542519 -0.26560381 -0.18874807 -4.016748 ] [ 0.27245102 0.96210881 0.0108202 -0.91404645] [ 0.1787223 -0.06165429 0.98196593 1.00812604] [ 0. 0. 0. 1. ]] SLAMing on 105.54486062399998 meters Centerline goodness : 0.799620 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94541315 -0.26575688 -0.18859283 -4.01654626] [ 0.27253838 0.96208763 0.01049862 -0.91246986] [ 0.17865274 -0.06132432 0.98199925 1.00742289] [ 0. 0. 0. 1. ]] SLAMing on 105.60486062399998 meters Centerline goodness : 0.799812 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94532357 -0.26623009 -0.18837432 -4.01704199] [ 0.27293784 0.96197841 0.0101233 -0.91198899] [ 0.1785169 -0.06098428 0.98204513 1.00740515] [ 0. 0. 0. 1. ]] SLAMing on 105.66486062399999 meters Centerline goodness : 0.799089 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94519971 -0.26693186 -0.18800237 -4.01787648] [ 0.27354157 0.96181183 0.00964454 -0.91179085] [ 0.17824847 -0.06054247 0.98212122 1.00747434] [ 0. 0. 0. 1. ]] SLAMing on 105.72486062399999 meters Centerline goodness : 0.798425 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.9450727 -0.26755411 -0.18775618 -4.01833735] [ 0.27408942 0.96165964 0.00925904 -0.91154164] [ 0.17808025 -0.06021245 0.98217203 1.00738576] [ 0. 0. 0. 1. ]] SLAMing on 105.78486062399999 meters Centerline goodness : 0.797767 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94489789 -0.2684817 -0.18731137 -4.0196793 ] [ 0.27488762 0.96143783 0.00860745 -0.91108907] [ 0.1777773 -0.05962274 0.98226288 1.00772614] [ 0. 0. 0. 1. ]] SLAMing on 105.84486062399999 meters Centerline goodness : 0.795877 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94484991 -0.26867621 -0.18727452 -4.01978307] [ 0.27504453 0.96139485 0.00839346 -0.91062358] [ 0.17778963 -0.0594394 0.98227176 1.00774413] [ 0. 0. 0. 1. ]] SLAMing on 105.90486062399998 meters Centerline goodness : 0.796732 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94484459 -0.26878782 -0.18714114 -4.01970955] [ 0.27510346 0.96138019 0.00813684 -0.90979031] [ 0.1777267 -0.05917122 0.98229934 1.00738617] [ 0. 0. 0. 1. ]] SLAMing on 105.96486062399998 meters Centerline goodness : 0.794231 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94483136 -0.26886443 -0.18709786 -4.01966984] [ 0.27513021 0.96137477 0.00786846 -0.90920434] [ 0.17775562 -0.05891064 0.98230977 1.00737765] [ 0. 0. 0. 1. ]] SLAMing on 106.02486062399998 meters Centerline goodness : 0.794545 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94486567 -0.26871369 -0.18714117 -4.01931362] [ 0.27498224 0.96141698 0.0078837 -0.90918556] [ 0.17780224 -0.05890954 0.98230139 1.00718953] [ 0. 0. 0. 1. ]] SLAMing on 106.08486062399999 meters Centerline goodness : 0.794932 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94485741 -0.2688072 -0.18704855 -4.01959626] [ 0.27504733 0.96139946 0.00774887 -0.90925566] [ 0.17774542 -0.05876878 0.98232011 1.0073962 ] [ 0. 0. 0. 1. ]] SLAMing on 106.14486062399999 meters Centerline goodness : 0.794707 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.9447935 -0.26910825 -0.18693846 -4.02013976] [ 0.27533574 0.9613174 0.00768684 -0.91035249] [ 0.17763861 -0.05873332 0.98234155 1.00787221] [ 0. 0. 0. 1. ]] SLAMing on 106.20486062399999 meters Centerline goodness : 0.791993 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94477172 -0.26913261 -0.18701347 -4.01966712] [ 0.27540794 0.96129479 0.00792382 -0.9121539 ] [ 0.17764252 -0.05899119 0.98232539 1.00792416] [ 0. 0. 0. 1. ]] SLAMing on 106.26486062399998 meters Centerline goodness : 0.793045 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.01 [[ 0.94469978 -0.26940809 -0.18698025 -4.0194858 ] [ 0.27573996 0.96119711 0.00822117 -0.91455323] [ 0.17751003 -0.05932447 0.98232927 1.00798797] [ 0. 0. 0. 1. ]] SLAMing on 106.32486062399998 meters Centerline goodness : 0.792635 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 0.9446048 -0.26970169 -0.1870368 -4.01941757] [ 0.27605404 0.96110639 0.00828691 -0.91588366] [ 0.17752727 -0.05946012 0.98231795 1.00824708] [ 0. 0. 0. 1. ]] SLAMing on 106.38486062399998 meters Centerline goodness : 0.792174 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 0.9436551 -0.27346819 -0.18636043 -4.01797233] [ 0.27925356 0.96020433 0.0050102 -0.91690756] [ 0.17757396 -0.05676972 0.98246867 1.00808003] [ 0. 0. 0. 1. ]] SLAMing on 106.44486062399999 meters Centerline goodness : 0.794590 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43231548e-01 -2.75628595e-01 -1.85318981e-01 -4.01826056e+00] [ 2.81028833e-01 9.59694636e-01 3.00010733e-03 -9.18063343e-01] [ 1.77022717e-01 -5.49097728e-02 9.82673839e-01 1.00821118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50486062399999 meters Centerline goodness : 0.792361 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43214215e-01 -2.75703294e-01 -1.85296082e-01 -4.01842428e+00] [ 2.81062010e-01 9.59685613e-01 2.76961438e-03 -9.17231743e-01] [ 1.77062392e-01 -5.46920290e-02 9.82678834e-01 1.00828281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56486062399999 meters Centerline goodness : 0.793706 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43385597e-01 -2.74959720e-01 -1.85528348e-01 -4.01742198e+00] [ 2.80345764e-01 9.59894643e-01 2.92027369e-03 -9.16632526e-01] [ 1.77284710e-01 -5.47670306e-02 9.82634573e-01 1.00798577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624860624 meters Centerline goodness : 0.792899 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43452508e-01 -2.74712690e-01 -1.85554047e-01 -4.01756895e+00] [ 2.80062453e-01 9.59977886e-01 2.73514339e-03 -9.15697363e-01] [ 1.77376403e-01 -5.45471994e-02 9.82630253e-01 1.00823711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68486062399998 meters Centerline goodness : 0.791274 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43542409e-01 -2.74349235e-01 -1.85634638e-01 -4.01742260e+00] [ 2.79702015e-01 9.60082890e-01 2.76191373e-03 -9.15091611e-01] [ 1.77466911e-01 -5.45283651e-02 9.82614957e-01 1.00831444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74486062399998 meters Centerline goodness : 0.793041 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43607980e-01 -2.74015315e-01 -1.85794476e-01 -4.01686571e+00] [ 2.79427100e-01 9.60162000e-01 3.07085869e-03 -9.16158263e-01] [ 1.77551333e-01 -5.48136983e-02 9.82583830e-01 1.00832950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80486062399999 meters Centerline goodness : 0.793965 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43619708e-01 -2.73895504e-01 -1.85911537e-01 -4.01615433e+00] [ 2.79364863e-01 9.60179127e-01 3.36420364e-03 -9.17490203e-01] [ 1.77586937e-01 -5.51116800e-02 9.82560727e-01 1.00811953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86486062399999 meters Centerline goodness : 0.791702 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43597662e-01 -2.73901386e-01 -1.86014737e-01 -4.01553345e+00] [ 2.79431560e-01 9.60158608e-01 3.66741764e-03 -9.19031269e-01] [ 1.77599140e-01 -5.54389550e-02 9.82540110e-01 1.00794449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92486062399999 meters Centerline goodness : 0.793610 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.43076300e-01 -2.76134441e-01 -1.85356042e-01 -4.01623130e+00] [ 2.81335372e-01 9.59607756e-01 1.83414545e-03 -9.21110788e-01] [ 1.77362625e-01 -5.38769502e-02 9.82669717e-01 1.00897336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98486062399999 meters Centerline goodness : 0.790344 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 9.42038753e-01 -2.80162114e-01 -1.84586504e-01 -4.01531483e+00] [ 2.84704196e-01 9.58613382e-01 -1.97612048e-03 -9.20532760e-01] [ 1.77500726e-01 -5.06909700e-02 9.82814284e-01 1.00907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04486062399998 meters Centerline goodness : 0.789801 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.9410441 -0.28403378 -0.18374116 -4.01434483] [ 0.28796027 0.95762643 -0.00552376 -0.92021756] [ 0.17752433 -0.04771205 0.98295914 1.00887723] [ 0. 0. 0. 1. ]] SLAMing on 107.10486062399998 meters Centerline goodness : 0.792510 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94004552 -0.28778454 -0.18301497 -4.0132327 ] [ 0.2911166 0.95664536 -0.00898775 -0.91988614] [ 0.17766695 -0.0448298 0.98306904 1.00880647] [ 0. 0. 0. 1. ]] SLAMing on 107.16486062399999 meters Centerline goodness : 0.791457 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.9399807 -0.2880391 -0.18294745 -4.01324977] [ 0.29134693 0.9565739 -0.00912936 -0.92048018] [ 0.17763237 -0.04471976 0.9830803 1.00894123] [ 0. 0. 0. 1. ]] SLAMing on 107.22486062399999 meters Centerline goodness : 0.792446 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 0.93974626 -0.28906897 -0.182527 -4.01513298] [ 0.29227532 0.95628518 -0.0096848 -0.92144241] [ 0.17734744 -0.04424688 0.98315314 1.01012822] [ 0. 0. 0. 1. ]] SLAMing on 107.28486062399999 meters Centerline goodness : 0.791927 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.01 [[ 0.93967066 -0.28938525 -0.18241501 -4.01526747] [ 0.29260681 0.95618463 -0.00960278 -0.92272519] [ 0.17720133 -0.04435242 0.98317473 1.01020681] [ 0. 0. 0. 1. ]] SLAMing on 107.34486062399999 meters Centerline goodness : 0.788941 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.93869893 -0.29302956 -0.18159843 -4.01420556] [ 0.29569544 0.95519597 -0.01283964 -0.92370756] [ 0.17722449 -0.04164527 0.98328895 1.01024275] [ 0. 0. 0. 1. ]] SLAMing on 107.40486062399998 meters Centerline goodness : 0.789181 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93858056 -0.29351013 -0.18143412 -4.01441601] [ 0.2962051 0.95504011 -0.01268562 -0.92619545] [ 0.17700022 -0.04183524 0.98332128 1.01052841] [ 0. 0. 0. 1. ]] SLAMing on 107.46486062399998 meters Centerline goodness : 0.788945 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.938511 -0.29372423 -0.18144744 -4.01392773] [ 0.29650315 0.9549534 -0.01224315 -0.92905006] [ 0.17686996 -0.04230941 0.98332443 1.01047961] [ 0. 0. 0. 1. ]] SLAMing on 107.52486062399998 meters Centerline goodness : 0.778265 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93855602 -0.29354774 -0.18150021 -4.01307688] [ 0.29641901 0.95498601 -0.01172528 -0.93150514] [ 0.17677209 -0.04279528 0.983321 1.01021088] [ 0. 0. 0. 1. ]] SLAMing on 107.58486062399999 meters Centerline goodness : 0.790317 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93863388 -0.29330082 -0.18149676 -4.01265445] [ 0.29622965 0.95504895 -0.01138015 -0.93282422] [ 0.17667609 -0.04308293 0.98332569 1.0100413 ] [ 0. 0. 0. 1. ]] SLAMing on 107.64486062399999 meters Centerline goodness : 0.782208 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93883176 -0.29251282 -0.18174483 -4.01204924] [ 0.29550282 0.95527825 -0.01102483 -0.93271922] [ 0.17684179 -0.04335565 0.98328392 1.01005323] [ 0. 0. 0. 1. ]] SLAMing on 107.70486062399999 meters Centerline goodness : 0.791519 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93890712 -0.29211872 -0.18198919 -4.01143854] [ 0.2951391 0.95539236 -0.01087865 -0.93242867] [ 0.17704895 -0.04349808 0.98324035 1.00997248] [ 0. 0. 0. 1. ]] SLAMing on 107.76486062399998 meters Centerline goodness : 0.781480 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93894004 -0.29196334 -0.18206869 -4.01126865] [ 0.29498353 0.95544034 -0.01088436 -0.93239781] [ 0.1771336 -0.0434875 0.98322557 1.01007563] [ 0. 0. 0. 1. ]] SLAMing on 107.82486062399998 meters Centerline goodness : 0.781833 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93941561 -0.29075306 -0.18155156 -4.01177496] [ 0.29377119 0.95581645 -0.01064885 -0.93255856] [ 0.17662616 -0.04333092 0.98332377 1.00931636] [ 0. 0. 0. 1. ]] SLAMing on 107.88486062399998 meters Centerline goodness : 0.782166 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.93966103 -0.29020758 -0.18115381 -4.0128241 ] [ 0.29313884 0.95600682 -0.01098116 -0.93171047] [ 0.17637109 -0.04278465 0.98339347 1.00928779] [ 0. 0. 0. 1. ]] SLAMing on 107.94486062399999 meters Centerline goodness : 0.789844 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:1.01 [[ 0.94085786 -0.28500846 -0.1831848 -4.01946135] [ 0.28690392 0.95781471 -0.01664708 -0.93466614] [ 0.18020166 -0.0368939 0.98293754 1.01100543] [ 0. 0. 0. 1. ]] SLAMing on 108.00486062399999 meters Centerline goodness : 0.789424 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:1.01 [[ 0.94235077 -0.28097231 -0.18174045 -4.02521375] [ 0.28190725 0.95920714 -0.0212123 -0.93865798] [ 0.18028681 -0.03124453 0.98311772 1.0105502 ] [ 0. 0. 0. 1. ]] SLAMing on 108.06486062399999 meters Centerline goodness : 0.790935 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:1.01 [[ 0.94237655 -0.28047552 -0.18237303 -4.0242806 ] [ 0.28160755 0.95931695 -0.02020343 -0.93991997] [ 0.1806201 -0.03231838 0.98302182 1.01100553] [ 0. 0. 0. 1. ]] SLAMing on 108.124860624 meters Centerline goodness : 0.782260 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:1.01 [[ 0.94171465 -0.27479207 -0.19406917 -4.02517407] [ 0.27689119 0.96075486 -0.01677401 -0.94861961] [ 0.19106226 -0.03793971 0.98084443 1.01489493] [ 0. 0. 0. 1. ]] SLAMing on 108.18486062399998 meters Centerline goodness : 0.783054 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.95, Z:1.01 [[ 0.94134087 -0.27530573 -0.19515155 -4.02188226] [ 0.27783553 0.96051395 -0.01484518 -0.95363044] [ 0.19153275 -0.04024566 0.98066074 1.01482402] [ 0. 0. 0. 1. ]] SLAMing on 108.24486062399998 meters Centerline goodness : 0.783863 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:1.02 [[ 0.94096654 -0.27584767 -0.19618879 -4.01954436] [ 0.27862041 0.96030091 -0.01388605 -0.95577945] [ 0.19223071 -0.04159589 0.98046781 1.01530878] [ 0. 0. 0. 1. ]] SLAMing on 108.30486062399999 meters Centerline goodness : 0.781498 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:1.02 [[ 0.94057904 -0.27642457 -0.19723217 -4.01690719] [ 0.27945413 0.96007274 -0.01287313 -0.95835378] [ 0.19291568 -0.04300915 0.98027229 1.01561778] [ 0. 0. 0. 1. ]] SLAMing on 108.36486062399999 meters Centerline goodness : 0.783319 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.96, Z:1.02 [[ 0.94029176 -0.27685992 -0.19798989 -4.0151971 ] [ 0.28007319 0.95990162 -0.01216112 -0.95993347] [ 0.19341774 -0.04401666 0.98012862 1.01594228] [ 0. 0. 0. 1. ]] SLAMing on 108.42486062399999 meters Centerline goodness : 0.781181 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94014265 -0.27679329 -0.19878949 -4.01398515] [ 0.28034899 0.95983951 -0.01060968 -0.96310237] [ 0.1937427 -0.04575582 0.97998478 1.01691013] [ 0. 0. 0. 1. ]] SLAMing on 108.48486062399999 meters Centerline goodness : 0.784956 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94009718 -0.27647682 -0.19944386 -4.0130842 ] [ 0.2801683 0.9598983 -0.01004894 -0.96311433] [ 0.19422412 -0.04643087 0.97985773 1.01721988] [ 0. 0. 0. 1. ]] SLAMing on 108.54486062399998 meters Centerline goodness : 0.787254 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94026377 -0.27588493 -0.19947819 -4.01224882] [ 0.27961592 0.96006197 -0.0097951 -0.96329664] [ 0.19421375 -0.0465673 0.97985331 1.01641438] [ 0. 0. 0. 1. ]] SLAMing on 108.60486062399998 meters Centerline goodness : 0.788529 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94049081 -0.27509841 -0.19949409 -4.01113275] [ 0.27885388 0.96028564 -0.00959194 -0.9633907 ] [ 0.19421004 -0.04660857 0.97985208 1.01524191] [ 0. 0. 0. 1. ]] SLAMing on 108.66486062399999 meters Centerline goodness : 0.788895 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.01 [[ 0.94150712 -0.2705292 -0.20094351 -4.00900466] [ 0.2750919 0.96140273 -0.00540715 -0.96475167] [ 0.19465043 -0.05018706 0.97958791 1.0141887 ] [ 0. 0. 0. 1. ]] SLAMing on 108.72486062399999 meters Centerline goodness : 0.786884 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.01 [[ 9.42413977e-01 -2.66267870e-01 -2.02379142e-01 -4.00757782e+00] [ 2.71587431e-01 9.62412539e-01 -1.54040902e-03 -9.65057304e-01] [ 1.95182385e-01 -5.35119281e-02 9.79306035e-01 1.01367793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78486062399999 meters Centerline goodness : 0.786760 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.01 [[ 9.43566694e-01 -2.61281612e-01 -2.03503843e-01 -4.00631473e+00] [ 2.67405525e-01 9.63580305e-01 2.69838722e-03 -9.66161733e-01] [ 1.95387256e-01 -5.69641602e-02 9.79070429e-01 1.01266241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84486062399999 meters Centerline goodness : 0.788694 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.01 [[ 0.9444548 -0.2572164 -0.20456016 -4.00577243] [ 0.26408317 0.96447783 0.00652667 -0.96726451] [ 0.19561497 -0.06018504 0.97883223 1.01256199] [ 0. 0. 0. 1. ]] SLAMing on 108.90486062399998 meters Centerline goodness : 0.790797 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.01 [[ 0.94508668 -0.25360284 -0.20614744 -4.00447089] [ 0.26131154 0.96519629 0.01060183 -0.96786074] [ 0.19628409 -0.06388835 0.97846351 1.01279776] [ 0. 0. 0. 1. ]] SLAMing on 108.96486062399998 meters Centerline goodness : 0.790515 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.01 [[ 0.94497489 -0.2538256 -0.20638559 -4.0034244 ] [ 0.26148703 0.96515242 0.01026372 -0.96699417] [ 0.19658835 -0.06366611 0.97841691 1.01227431] [ 0. 0. 0. 1. ]] SLAMing on 109.02486062399998 meters Centerline goodness : 0.788921 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.01 [[ 0.94468844 -0.25441808 -0.20696664 -4.001491 ] [ 0.26204908 0.9650042 0.00985772 -0.96587817] [ 0.19721569 -0.06354789 0.97829834 1.0116185 ] [ 0. 0. 0. 1. ]] SLAMing on 109.08486062399999 meters Centerline goodness : 0.789852 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.01 [[ 0.94500448 -0.25159353 -0.20896704 -4.0001672 ] [ 0.26005937 0.96549667 0.01361246 -0.96569697] [ 0.19833217 -0.06720767 0.97782794 1.0127457 ] [ 0. 0. 0. 1. ]] SLAMing on 109.14486062399999 meters Centerline goodness : 0.792087 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.9448251 -0.25176566 -0.20956999 -3.9992877 ] [ 0.26025104 0.96544686 0.01348164 -0.96446402] [ 0.19893448 -0.0672786 0.9777007 1.01302055] [ 0. 0. 0. 1. ]] SLAMing on 109.20486062399999 meters Centerline goodness : 0.786696 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.94492589 -0.2512946 -0.2096809 -3.99882418] [ 0.25979881 0.96556719 0.01358637 -0.96422416] [ 0.19904681 -0.06731296 0.97767547 1.01269783] [ 0. 0. 0. 1. ]] SLAMing on 109.26486062399998 meters Centerline goodness : 0.786407 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.94569942 -0.24758096 -0.21060927 -3.99887091] [ 0.25676375 0.9663249 0.0169873 -0.96446754] [ 0.19931125 -0.07014171 0.97742272 1.01290981] [ 0. 0. 0. 1. ]] SLAMing on 109.32486062399998 meters Centerline goodness : 0.784992 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.94650187 -0.24353496 -0.211719 -3.99829125] [ 0.2534347 0.96713475 0.02052386 -0.9639071 ] [ 0.19976253 -0.07308281 0.97711506 1.01258745] [ 0. 0. 0. 1. ]] SLAMing on 109.38486062399998 meters Centerline goodness : 0.783347 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.94737324 -0.23930123 -0.2126473 -3.99694662] [ 0.24977003 0.96802234 0.02340265 -0.96163135] [ 0.20024705 -0.07528397 0.97684873 1.01079498] [ 0. 0. 0. 1. ]] SLAMing on 109.44486062399999 meters Centerline goodness : 0.784435 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.94755986 -0.23915386 -0.21198052 -3.9979467 ] [ 0.24925524 0.96819067 0.02187807 -0.95852434] [ 0.20000534 -0.07356804 0.97702897 1.00980706] [ 0. 0. 0. 1. ]] SLAMing on 109.50486062399999 meters Centerline goodness : 0.792100 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.01 [[ 0.94808706 -0.23576727 -0.21341209 -3.99762006] [ 0.24669293 0.96875268 0.02570705 -0.9578702 ] [ 0.20068265 -0.07701977 0.97662399 1.01049029] [ 0. 0. 0. 1. ]] SLAMing on 109.56486062399999 meters Centerline goodness : 0.791775 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.01 [[ 0.9481506 -0.23588613 -0.21299804 -3.99945381] [ 0.24644847 0.96885653 0.0240868 -0.95306209] [ 0.2006828 -0.07533095 0.97675568 1.01039111] [ 0. 0. 0. 1. ]] SLAMing on 109.624860624 meters Centerline goodness : 0.791712 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.01 [[ 0.94814826 -0.23464624 -0.21437357 -3.99860185] [ 0.24560366 0.96903212 0.02560454 -0.94924524] [ 0.20172686 -0.07692784 0.97641609 1.01054706] [ 0. 0. 0. 1. ]] SLAMing on 109.68486062399998 meters Centerline goodness : 0.790103 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.01 [[ 0.94798029 -0.23543669 -0.21424971 -3.99943612] [ 0.24625848 0.96888398 0.0249118 -0.9478443 ] [ 0.20171796 -0.07637671 0.97646119 1.01094207] [ 0. 0. 0. 1. ]] SLAMing on 109.74486062399998 meters Centerline goodness : 0.792629 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.01 [[ 0.94776076 -0.23659023 -0.21394999 -4.00029943] [ 0.2470667 0.96871994 0.02323183 -0.94282822] [ 0.20176119 -0.07487814 0.97656832 1.01075036] [ 0. 0. 0. 1. ]] SLAMing on 109.80486062399999 meters Centerline goodness : 0.789426 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.01 [[ 0.94761764 -0.23745166 -0.2136294 -4.00148291] [ 0.24765635 0.96859939 0.0219445 -0.9390542 ] [ 0.20171055 -0.07370167 0.97666827 1.0109071 ] [ 0. 0. 0. 1. ]] SLAMing on 109.86486062399999 meters Centerline goodness : 0.788719 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.93, Z:1.01 [[ 0.94751457 -0.23833354 -0.21310386 -4.00294603] [ 0.24822743 0.96848402 0.02053873 -0.93489549] [ 0.20149262 -0.07235897 0.97681365 1.01090432] [ 0. 0. 0. 1. ]] SLAMing on 109.92486062399999 meters Centerline goodness : 0.789934 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.93, Z:1.01 [[ 0.94745212 -0.23895184 -0.21268872 -4.00424019] [ 0.24863166 0.96840007 0.01958551 -0.9323921 ] [ 0.20128778 -0.07143748 0.9769237 1.01114602] [ 0. 0. 0. 1. ]] SLAMing on 109.98486062399999 meters Centerline goodness : 0.788124 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.93, Z:1.01 [[ 0.94742054 -0.23926209 -0.21248053 -4.0048831 ] [ 0.24875253 0.96838638 0.0187081 -0.92896449] [ 0.20128712 -0.0705795 0.9769862 1.01102251] [ 0. 0. 0. 1. ]] SLAMing on 110.04486062399998 meters Centerline goodness : 0.773142 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94737826 -0.23942174 -0.21248921 -4.00503598] [ 0.2488023 0.96838413 0.01815468 -0.92741191] [ 0.20142456 -0.07006715 0.97699475 1.01122904] [ 0. 0. 0. 1. ]] SLAMing on 110.10486062399998 meters Centerline goodness : 0.788122 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94727069 -0.24005465 -0.21225458 -4.00598664] [ 0.24928221 0.96827407 0.01742738 -0.92631119] [ 0.20133708 -0.06941973 0.977059 1.01170789] [ 0. 0. 0. 1. ]] SLAMing on 110.16486062399999 meters Centerline goodness : 0.785948 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.01 [[ 0.94711256 -0.24067122 -0.21226204 -4.00620561] [ 0.24981628 0.96814475 0.01695808 -0.9258764 ] [ 0.20141905 -0.06908773 0.97706563 1.01194544] [ 0. 0. 0. 1. ]] SLAMing on 110.22486062399999 meters Centerline goodness : 0.786953 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.9461288 -0.2451329 -0.21154233 -4.00545585] [ 0.2534921 0.9672513 0.0129102 -0.92449664] [ 0.20144988 -0.06583902 0.97728357 1.01186933] [ 0. 0. 0. 1. ]] SLAMing on 110.28486062399999 meters Centerline goodness : 0.786876 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.92, Z:1.01 [[ 0.94517785 -0.24926977 -0.21095833 -4.00478833] [ 0.25684396 0.96641241 0.00884449 -0.92294191] [ 0.20166808 -0.06254298 0.97745504 1.01229317] [ 0. 0. 0. 1. ]] SLAMing on 110.34486062399999 meters Centerline goodness : 0.785215 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94490828 -0.25071869 -0.21044827 -4.0072802 ] [ 0.2580187 0.96611068 0.00751728 -0.92147039] [ 0.2014316 -0.06140273 0.97757609 1.01359596] [ 0. 0. 0. 1. ]] SLAMing on 110.40486062399998 meters Centerline goodness : 0.784040 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94480843 -0.2512086 -0.2103123 -4.00776893] [ 0.25836768 0.96602257 0.00682215 -0.9204356 ] [ 0.20145265 -0.06078353 0.97761045 1.01394565] [ 0. 0. 0. 1. ]] SLAMing on 110.46486062399998 meters Centerline goodness : 0.781467 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94479429 -0.25133623 -0.21022334 -4.00818595] [ 0.25838344 0.96602195 0.00629274 -0.91889804] [ 0.20149877 -0.06026358 0.97763314 1.01420407] [ 0. 0. 0. 1. ]] SLAMing on 110.52486062399998 meters Centerline goodness : 0.782971 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.01 [[ 0.94485675 -0.25111521 -0.21020674 -4.00890575] [ 0.25803821 0.96611778 0.00571949 -0.91661726] [ 0.20164822 -0.05964547 0.97764023 1.0149379 ] [ 0. 0. 0. 1. ]] SLAMing on 110.58486062399999 meters Centerline goodness : 0.782886 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94490822 -0.25092403 -0.21020369 -4.00909711] [ 0.25778296 0.96618759 0.00543069 -0.91519157] [ 0.2017335 -0.05931843 0.97764253 1.01520373] [ 0. 0. 0. 1. ]] SLAMing on 110.64486062399999 meters Centerline goodness : 0.781236 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94501767 -0.25045446 -0.21027165 -4.00863225] [ 0.25730422 0.96631527 0.00541714 -0.91424695] [ 0.20183195 -0.05922307 0.97762799 1.01502053] [ 0. 0. 0. 1. ]] SLAMing on 110.70486062399999 meters Centerline goodness : 0.766722 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.945021 -0.2504319 -0.21028357 -4.00857662] [ 0.25723346 0.96633539 0.00518261 -0.91325657] [ 0.20190656 -0.05898965 0.9776267 1.01504036] [ 0. 0. 0. 1. ]] SLAMing on 110.76486062399998 meters Centerline goodness : 0.781056 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94505457 -0.25021961 -0.21038539 -4.008341 ] [ 0.25698412 0.96640271 0.0049961 -0.91234467] [ 0.20206689 -0.05878729 0.97760576 1.0151023 ] [ 0. 0. 0. 1. ]] SLAMing on 110.82486062399998 meters Centerline goodness : 0.783427 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94505281 -0.25031939 -0.21027458 -4.0087857 ] [ 0.2570032 0.96639947 0.00462761 -0.91147127] [ 0.20205086 -0.05841458 0.97763142 1.01543818] [ 0. 0. 0. 1. ]] SLAMing on 110.88486062399998 meters Centerline goodness : 0.782766 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94503436 -0.25053857 -0.21009636 -4.00954361] [ 0.25713593 0.96636595 0.00423777 -0.91027115] [ 0.20196824 -0.05802816 0.9776715 1.01571652] [ 0. 0. 0. 1. ]] SLAMing on 110.94486062399999 meters Centerline goodness : 0.780811 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 9.44919842e-01 -2.51063432e-01 -2.09984869e-01 -4.01002324e+00] [ 2.57569203e-01 9.66252501e-01 3.76970493e-03 -9.09894364e-01] [ 2.01951970e-01 -5.76477043e-02 9.77697368e-01 1.01604215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00486062399999 meters Centerline goodness : 0.782597 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 9.44720776e-01 -2.51920804e-01 -2.09853675e-01 -4.01050158e+00] [ 2.58340768e-01 9.66048222e-01 3.29870790e-03 -9.10475071e-01] [ 2.01897756e-01 -5.73301173e-02 9.77727239e-01 1.01637831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06486062399999 meters Centerline goodness : 0.781369 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 9.44577264e-01 -2.52643854e-01 -2.09630330e-01 -4.01121547e+00] [ 2.58984570e-01 9.65877104e-01 2.90044867e-03 -9.11179881e-01] [ 2.01744355e-01 -5.70307186e-02 9.77776412e-01 1.01678304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12486062399998 meters Centerline goodness : 0.768713 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 9.43602675e-01 -2.56817813e-01 -2.08946412e-01 -4.01067528e+00] [ 2.62407268e-01 9.64956692e-01 -1.00440474e-03 -9.10485288e-01] [ 2.01882188e-01 -5.38812981e-02 9.77926576e-01 1.01727511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18486062399998 meters Centerline goodness : 0.782032 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 9.43454894e-01 -2.57564799e-01 -2.08694123e-01 -4.01167476e+00] [ 2.63107990e-01 9.64765590e-01 -1.24169393e-03 -9.11933001e-01] [ 2.01660725e-01 -5.37376090e-02 9.77980174e-01 1.01789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24486062399998 meters Centerline goodness : 0.782436 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 9.43255393e-01 -2.58583648e-01 -2.08335694e-01 -4.01293205e+00] [ 2.64074222e-01 9.64501178e-01 -1.51101804e-03 -9.14504435e-01] [ 2.01330747e-01 -5.35908104e-02 9.78056213e-01 1.01877555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30486062399999 meters Centerline goodness : 0.784235 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 9.42726728e-01 -2.60914446e-01 -2.07821962e-01 -4.01430628e+00] [ 2.66079532e-01 9.63945735e-01 -3.20986822e-03 -9.17112608e-01] [ 2.01166594e-01 -5.22711417e-02 9.78161402e-01 1.02038705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36486062399999 meters Centerline goodness : 0.785668 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94192146 -0.26422563 -0.20728915 -4.01261417] [ 0.26880262 0.96317472 -0.00629312 -0.91831516] [ 0.20131847 -0.04979224 0.97825948 1.02041931] [ 0. 0. 0. 1. ]] SLAMing on 111.42486062399999 meters Centerline goodness : 0.784545 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.9419063 -0.26425212 -0.20732422 -4.01253248] [ 0.26883826 0.96316499 -0.00626043 -0.91896247] [ 0.20134176 -0.04983994 0.97825226 1.02062452] [ 0. 0. 0. 1. ]] SLAMing on 111.48486062399999 meters Centerline goodness : 0.788909 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94196874 -0.26397445 -0.20739426 -4.01215279] [ 0.2685849 0.96323651 -0.00612962 -0.91916194] [ 0.20138779 -0.04992906 0.97823824 1.02056225] [ 0. 0. 0. 1. ]] SLAMing on 111.54486062399998 meters Centerline goodness : 0.788909 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94196874 -0.26397445 -0.20739426 -4.01215279] [ 0.2685849 0.96323651 -0.00612962 -0.91916194] [ 0.20138779 -0.04992906 0.97823824 1.02056225] [ 0. 0. 0. 1. ]] SLAMing on 111.60486062399998 meters Centerline goodness : 0.788143 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94210365 -0.26346542 -0.20742875 -4.0121974 ] [ 0.26802711 0.96339064 -0.00631931 -0.91784804] [ 0.20149984 -0.04964309 0.97822972 1.02089651] [ 0. 0. 0. 1. ]] SLAMing on 111.66486062399999 meters Centerline goodness : 0.770074 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94228973 -0.26284032 -0.20737657 -4.0123058 ] [ 0.26733658 0.96358092 -0.00655525 -0.91534467] [ 0.20154709 -0.0492624 0.97823923 1.02088323] [ 0. 0. 0. 1. ]] SLAMing on 111.72486062399999 meters Centerline goodness : 0.787575 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.9423424 -0.26263751 -0.20739415 -4.01217493] [ 0.26706765 0.96365338 -0.00685819 -0.91362152] [ 0.20165729 -0.0489255 0.97823342 1.02080743] [ 0. 0. 0. 1. ]] SLAMing on 111.78486062399999 meters Centerline goodness : 0.787308 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94243249 -0.26231511 -0.20739281 -4.01182158] [ 0.26666998 0.9637611 -0.00718753 -0.91146055] [ 0.20176252 -0.04853167 0.97823134 1.02044873] [ 0. 0. 0. 1. ]] SLAMing on 111.84486062399999 meters Centerline goodness : 0.786916 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94242428 -0.26247533 -0.20722736 -4.01203142] [ 0.26673771 0.96373909 -0.00761306 -0.90986809] [ 0.20171135 -0.04810062 0.97826319 1.02025683] [ 0. 0. 0. 1. ]] SLAMing on 111.90486062399998 meters Centerline goodness : 0.788221 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94237123 -0.26287103 -0.20696689 -4.01308615] [ 0.26701478 0.96365781 -0.00816882 -0.90833703] [ 0.20159261 -0.04756516 0.97831384 1.02063356] [ 0. 0. 0. 1. ]] SLAMing on 111.96486062399998 meters Centerline goodness : 0.786543 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.94225826 -0.26348092 -0.20670552 -4.01375732] [ 0.26757821 0.96349954 -0.00839825 -0.90897699] [ 0.20137345 -0.04739658 0.97836716 1.02079334] [ 0. 0. 0. 1. ]] SLAMing on 112.02486062399998 meters Centerline goodness : 0.784877 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.9411143 -0.26843911 -0.20553423 -4.01432547] [ 0.27173712 0.96228962 -0.01255498 -0.90831632] [ 0.2011537 -0.04403561 0.97856939 1.02116248] [ 0. 0. 0. 1. ]] SLAMing on 112.08486062399999 meters Centerline goodness : 0.785596 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.93994804 -0.27329484 -0.20446908 -4.0143681 ] [ 0.2758019 0.96106931 -0.01670582 -0.907073 ] [ 0.20107458 -0.04069036 0.97873046 1.02116356] [ 0. 0. 0. 1. ]] SLAMing on 112.14486062399999 meters Centerline goodness : 0.784423 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.93864415 -0.27875869 -0.2030782 -4.01462376] [ 0.28047941 0.95963339 -0.02085788 -0.90705548] [ 0.20069494 -0.03738112 0.97894034 1.02073009] [ 0. 0. 0. 1. ]] SLAMing on 112.20486062399999 meters Centerline goodness : 0.784792 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.91, Z:1.02 [[ 0.93751652 -0.28323688 -0.2020882 -4.01385708] [ 0.28419621 0.95844328 -0.02487945 -0.90563652] [ 0.20073686 -0.03410781 0.97905126 1.02030627] [ 0. 0. 0. 1. ]] SLAMing on 112.26486062399998 meters Centerline goodness : 0.786768 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.93714668 -0.28489062 -0.20147814 -4.01629625] [ 0.28559537 0.95799216 -0.02619753 -0.90347787] [ 0.20047791 -0.0329903 0.97914261 1.02105615] [ 0. 0. 0. 1. ]] SLAMing on 112.32486062399998 meters Centerline goodness : 0.783792 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.93707127 -0.28539425 -0.20111577 -4.01723416] [ 0.28595322 0.95786582 -0.02690414 -0.90144647] [ 0.2003202 -0.03229861 0.97919795 1.02106215] [ 0. 0. 0. 1. ]] SLAMing on 112.38486062399998 meters Centerline goodness : 0.779830 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.93699679 -0.28589044 -0.20075774 -4.01833011] [ 0.28629579 0.95774222 -0.02765079 -0.89906518] [ 0.20017926 -0.0315674 0.97925061 1.02110445] [ 0. 0. 0. 1. ]] SLAMing on 112.44486062399999 meters Centerline goodness : 0.780023 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.93694553 -0.28624776 -0.20048766 -4.01938295] [ 0.28650727 0.95765824 -0.02835999 -0.89683876] [ 0.20011664 -0.03086941 0.97928566 1.02147837] [ 0. 0. 0. 1. ]] SLAMing on 112.50486062399999 meters Centerline goodness : 0.778430 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:1.02 [[ 0.93691447 -0.28652714 -0.20023353 -4.02046028] [ 0.28663679 0.95759776 -0.029084 -0.89491143] [ 0.20007654 -0.03014507 0.97931642 1.02207625] [ 0. 0. 0. 1. ]] SLAMing on 112.56486062399999 meters Centerline goodness : 0.776291 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:1.02 [[ 0.93688607 -0.28673034 -0.20007549 -4.02070945] [ 0.28681908 0.95754013 -0.02918402 -0.89499177] [ 0.19994825 -0.03004337 0.97934575 1.02201821] [ 0. 0. 0. 1. ]] SLAMing on 112.62486062399998 meters Centerline goodness : 0.778995 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.93673775 -0.28725637 -0.20001543 -4.0206278 ] [ 0.28737471 0.95737649 -0.02908654 -0.89632061] [ 0.19984536 -0.03023292 0.97936092 1.02179859] [ 0. 0. 0. 1. ]] SLAMing on 112.68486062399998 meters Centerline goodness : 0.779741 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.93658575 -0.28796966 -0.19970129 -4.02117146] [ 0.28809904 0.95715956 -0.02906067 -0.89779018] [ 0.19951459 -0.03031594 0.97942579 1.02164669] [ 0. 0. 0. 1. ]] SLAMing on 112.74486062399998 meters Centerline goodness : 0.778066 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:1.02 [[ 0.93715088 -0.28909387 -0.19537901 -4.03621796] [ 0.28770772 0.95703856 -0.03607573 -0.9033238 ] [ 0.19741451 -0.02240365 0.98006407 1.01918215] [ 0. 0. 0. 1. ]] SLAMing on 112.80486062399999 meters Centerline goodness : 0.776728 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.90, Z:1.02 [[ 0.93662399 -0.29132582 -0.1945887 -4.03904153] [ 0.28977916 0.95637738 -0.03701813 -0.90494323] [ 0.19688457 -0.02171568 0.98018615 1.02027087] [ 0. 0. 0. 1. ]] SLAMing on 112.86486062399999 meters Centerline goodness : 0.778290 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.93643514 -0.29214174 -0.19427413 -4.03993839] [ 0.29055723 0.95613201 -0.03725698 -0.90602139] [ 0.19663603 -0.02155901 0.9802395 1.02055567] [ 0. 0. 0. 1. ]] SLAMing on 112.92486062399999 meters Centerline goodness : 0.780302 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.9362411 -0.29292445 -0.19403057 -4.04029492] [ 0.2913092 0.95589503 -0.03746513 -0.9072735 ] [ 0.19644731 -0.0214465 0.98027981 1.02054096] [ 0. 0. 0. 1. ]] SLAMing on 112.98486062399999 meters Centerline goodness : 0.767707 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.93614164 -0.29332245 -0.19390918 -4.0410443 ] [ 0.29166559 0.95577708 -0.03770096 -0.90786789] [ 0.19639249 -0.0212632 0.98029479 1.02117918] [ 0. 0. 0. 1. ]] SLAMing on 113.04486062399998 meters Centerline goodness : 0.776682 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.93615216 -0.29329935 -0.19389332 -4.0413282 ] [ 0.29163822 0.95578475 -0.03771818 -0.90846084] [ 0.19638299 -0.02123674 0.98029726 1.02166905] [ 0. 0. 0. 1. ]] SLAMing on 113.10486062399998 meters Centerline goodness : 0.776409 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.9362571 -0.29280506 -0.19413358 -4.04066967] [ 0.29122455 0.95592764 -0.0372908 -0.91023099] [ 0.19649659 -0.02162269 0.98026606 1.02193152] [ 0. 0. 0. 1. ]] SLAMing on 113.16486062399999 meters Centerline goodness : 0.774982 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.93647143 -0.29188157 -0.19449012 -4.03971469] [ 0.29042759 0.95619663 -0.03660357 -0.91196574] [ 0.1966547 -0.0222071 0.98022129 1.02211036] [ 0. 0. 0. 1. ]] SLAMing on 113.22486062399999 meters Centerline goodness : 0.777667 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.91, Z:1.02 [[ 0.93661517 -0.29122937 -0.19477545 -4.03919816] [ 0.28985124 0.95638722 -0.03619032 -0.91345831] [ 0.19682043 -0.0225595 0.98017998 1.02264347] [ 0. 0. 0. 1. ]] SLAMing on 113.28486062399999 meters Centerline goodness : 0.779525 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.92, Z:1.02 [[ 0.93677947 -0.29047152 -0.19511668 -4.0379488 ] [ 0.28925916 0.95659878 -0.03532582 -0.91618929] [ 0.19690952 -0.02334678 0.98014365 1.02253681] [ 0. 0. 0. 1. ]] SLAMing on 113.34486062399999 meters Centerline goodness : 0.780181 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.92, Z:1.02 [[ 0.93691835 -0.28965154 -0.19566807 -4.03571896] [ 0.28869867 0.95681552 -0.03401683 -0.92134227] [ 0.19707127 -0.02461812 0.98008003 1.02222515] [ 0. 0. 0. 1. ]] SLAMing on 113.40486062399998 meters Centerline goodness : 0.780557 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:1.02 [[ 0.93601919 -0.29269192 -0.19544698 -4.03318518] [ 0.2913332 0.95593165 -0.03632703 -0.92503154] [ 0.19746658 -0.0229374 0.98004124 1.02223659] [ 0. 0. 0. 1. ]] SLAMing on 113.46486062399998 meters Centerline goodness : 0.780811 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:1.02 [[ 0.93600831 -0.29271026 -0.1954716 -4.03287018] [ 0.29142441 0.95591734 -0.03597016 -0.92718245] [ 0.19738352 -0.02329683 0.98004949 1.02227666] [ 0. 0. 0. 1. ]] SLAMing on 113.52486062399998 meters Centerline goodness : 0.779905 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:1.02 [[ 0.93563087 -0.2943261 -0.1948513 -4.03283206] [ 0.29284173 0.9554427 -0.03705368 -0.93122205] [ 0.19707511 -0.02239202 0.98013264 1.02286089] [ 0. 0. 0. 1. ]] SLAMing on 113.58486062399999 meters Centerline goodness : 0.781442 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.93, Z:1.02 [[ 0.93552831 -0.29473683 -0.19472285 -4.033223 ] [ 0.29331313 0.95530866 -0.03678003 -0.9348672 ] [ 0.19686085 -0.02270601 0.98016848 1.02356056] [ 0. 0. 0. 1. ]] SLAMing on 113.64486062399999 meters Centerline goodness : 0.783625 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:1.02 [[ 0.93561636 -0.29435758 -0.19487342 -4.03265834] [ 0.29309961 0.95540644 -0.03593275 -0.93880095] [ 0.1967604 -0.02349806 0.98016998 1.0238568 ] [ 0. 0. 0. 1. ]] SLAMing on 113.70486062399999 meters Centerline goodness : 0.770905 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:1.02 [[ 0.93585726 -0.29327243 -0.19535216 -4.03081031] [ 0.29225557 0.95571134 -0.03467733 -0.94309908] [ 0.19687018 -0.02463972 0.9801199 1.02365243] [ 0. 0. 0. 1. ]] SLAMing on 113.76486062399998 meters Centerline goodness : 0.782809 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.94, Z:1.02 [[ 0.9360963 -0.29224367 -0.19574818 -4.02986806] [ 0.29135817 0.95601084 -0.03396612 -0.94437945] [ 0.19706376 -0.02523727 0.98006579 1.02380338] [ 0. 0. 0. 1. ]] SLAMing on 113.82486062399998 meters Centerline goodness : 0.781752 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:1.02 [[ 0.93785005 -0.28616063 -0.19633994 -4.02937388] [ 0.2862168 0.95773457 -0.02871291 -0.94854366] [ 0.19625805 -0.02926738 0.9801154 1.02245352] [ 0. 0. 0. 1. ]] SLAMing on 113.88486062399998 meters Centerline goodness : 0.773760 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.95, Z:1.02 [[ 0.93934934 -0.28065603 -0.19711676 -4.02854816] [ 0.28155201 0.95924435 -0.02405692 -0.95187045] [ 0.19583486 -0.03290076 0.98008482 1.02134747] [ 0. 0. 0. 1. ]] SLAMing on 113.94486062399999 meters Centerline goodness : 0.773784 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:1.02 [[ 0.94055508 -0.26907078 -0.20726085 -4.03122807] [ 0.27134339 0.96231546 -0.01793668 -0.96167656] [ 0.20427655 -0.03936843 0.97812127 1.02119433] [ 0. 0. 0. 1. ]] SLAMing on 114.00486062399999 meters Centerline goodness : 0.778656 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.96, Z:1.02 [[ 0.94169752 -0.26425998 -0.20826053 -4.02970435] [ 0.26737003 0.96349796 -0.01359961 -0.96418475] [ 0.20425243 -0.04287591 0.97797884 1.02004285] [ 0. 0. 0. 1. ]] SLAMing on 114.06486062399999 meters Centerline goodness : 0.773162 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:1.02 [[ 0.94279385 -0.25949027 -0.2092954 -4.02785938] [ 0.26348698 0.96462043 -0.00905755 -0.96748232] [ 0.20424096 -0.04660721 0.97781051 1.01882482] [ 0. 0. 0. 1. ]] SLAMing on 114.12486062399998 meters Centerline goodness : 0.774489 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.97, Z:1.02 [[ 0.94285969 -0.25898703 -0.20962185 -4.02631356] [ 0.2631091 0.96472883 -0.00847852 -0.96846256] [ 0.20442407 -0.04715937 0.97774577 1.01813029] [ 0. 0. 0. 1. ]] SLAMing on 114.18486062399998 meters Centerline goodness : 0.773753 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:1.02 [[ 0.94274915 -0.25907848 -0.21000567 -4.02429091] [ 0.26331824 0.96467571 -0.00801725 -0.97010803] [ 0.20466447 -0.04774007 0.9776673 1.01744133] [ 0. 0. 0. 1. ]] SLAMing on 114.24486062399998 meters Centerline goodness : 0.771917 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:1.02 [[ 0.94172385 -0.26161633 -0.2114547 -4.02102119] [ 0.26611572 0.96391258 -0.00741412 -0.97220138] [ 0.2057635 -0.04928937 0.97735968 1.0184421 ] [ 0. 0. 0. 1. ]] SLAMing on 114.30486062399999 meters Centerline goodness : 0.771954 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:1.02 [[ 0.94034505 -0.26662285 -0.2113373 -4.01896408] [ 0.27056308 0.96264389 -0.01060011 -0.97283588] [ 0.20626879 -0.04721231 0.97735571 1.0187615 ] [ 0. 0. 0. 1. ]] SLAMing on 114.36486062399999 meters Centerline goodness : 0.774851 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:1.02 [[ 0.93992613 -0.26751539 -0.21207164 -4.01766408] [ 0.27159744 0.96235686 -0.01020285 -0.97371415] [ 0.20681801 -0.04800819 0.97720086 1.01947661] [ 0. 0. 0. 1. ]] SLAMing on 114.42486062399999 meters Centerline goodness : 0.774461 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:1.02 [[ 0.93981547 -0.26755305 -0.21251412 -4.01694452] [ 0.2717257 0.96232397 -0.009885 -0.9737845 ] [ 0.20715219 -0.04845547 0.977108 1.019672 ] [ 0. 0. 0. 1. ]] SLAMing on 114.48486062399998 meters Centerline goodness : 0.773357 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.97, Z:1.02 [[ 0.93997934 -0.26691492 -0.21259179 -4.01564584] [ 0.2710808 0.96250606 -0.00986338 -0.97348055] [ 0.20725357 -0.04835818 0.97709132 1.01847584] [ 0. 0. 0. 1. ]] SLAMing on 114.54486062399998 meters Centerline goodness : 0.774771 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 0.94086187 -0.26265736 -0.21398608 -4.01434447] [ 0.26765163 0.96349814 -0.00582591 -0.97449142] [ 0.20770541 -0.05179234 0.97681934 1.01816315] [ 0. 0. 0. 1. ]] SLAMing on 114.60486062399998 meters Centerline goodness : 0.774667 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 9.41898876e-01 -2.57859525e-01 -2.15255596e-01 -4.01398074e+00] [ 2.63655709e-01 9.64615076e-01 -1.84975432e-03 -9.74015399e-01] [ 2.08115770e-01 -5.50110853e-02 9.76555993e-01 1.01800348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66486062399999 meters Centerline goodness : 0.775595 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 9.42772434e-01 -2.53748110e-01 -2.16314666e-01 -4.01315075e+00] [ 2.60299108e-01 9.65526237e-01 1.86009674e-03 -9.74555375e-01] [ 2.08385490e-01 -5.80601626e-02 9.76321927e-01 1.01744054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72486062399999 meters Centerline goodness : 0.776431 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.98, Z:1.02 [[ 0.94338919 -0.24998533 -0.21800038 -4.01149886] [ 0.25739808 0.96628793 0.00581997 -0.97510709] [ 0.20919623 -0.06160338 0.97593133 1.01749452] [ 0. 0. 0. 1. ]] SLAMing on 114.78486062399999 meters Centerline goodness : 0.776333 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 0.94395756 -0.24676279 -0.21920824 -4.01038987] [ 0.25476131 0.96696624 0.00854244 -0.97344189] [ 0.20985901 -0.06390948 0.9756407 1.01693311] [ 0. 0. 0. 1. ]] SLAMing on 114.84486062399999 meters Centerline goodness : 0.775124 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 0.94413394 -0.24435482 -0.22113759 -4.00832417] [ 0.25306291 0.96738159 0.01149029 -0.97163847] [ 0.21111672 -0.0668101 0.97517493 1.01711417] [ 0. 0. 0. 1. ]] SLAMing on 114.90486062399998 meters Centerline goodness : 0.777572 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 0.94381099 -0.24505645 -0.22173894 -4.00772423] [ 0.25369388 0.96722325 0.01089017 -0.96861398] [ 0.21180235 -0.06653208 0.97504525 1.01735522] [ 0. 0. 0. 1. ]] SLAMing on 114.96486062399998 meters Centerline goodness : 0.776789 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.97, Z:1.02 [[ 0.94326601 -0.2463819 -0.22258751 -4.00648432] [ 0.25492811 0.96690781 0.01004743 -0.96557319] [ 0.2127461 -0.06622121 0.97486094 1.01760848] [ 0. 0. 0. 1. ]] SLAMing on 115.02486062399998 meters Centerline goodness : 0.783047 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94300495 -0.2471566 -0.22283464 -4.00629361] [ 0.25559128 0.96673953 0.00936924 -0.96349416] [ 0.21310738 -0.06578983 0.97481123 1.0177458 ] [ 0. 0. 0. 1. ]] SLAMing on 115.08486062399999 meters Centerline goodness : 0.780731 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.9434121 -0.24454501 -0.22398962 -4.00620633] [ 0.25359117 0.96723592 0.01209101 -0.9618953 ] [ 0.21369401 -0.0682086 0.97451652 1.01813447] [ 0. 0. 0. 1. ]] SLAMing on 115.14486062399999 meters Centerline goodness : 0.772701 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94342254 -0.24438826 -0.22411667 -4.00582375] [ 0.25333522 0.96730882 0.01161556 -0.95950216] [ 0.21395133 -0.06773502 0.9744931 1.01754771] [ 0. 0. 0. 1. ]] SLAMing on 115.20486062399999 meters Centerline goodness : 0.781768 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94356284 -0.24408771 -0.22385344 -4.00676968] [ 0.25291417 0.96742405 0.01118627 -0.95746446] [ 0.21383077 -0.06717066 0.97455862 1.01734009] [ 0. 0. 0. 1. ]] SLAMing on 115.26486062399998 meters Centerline goodness : 0.783504 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94396164 -0.2411396 -0.22536217 -4.00539 ] [ 0.25081664 0.96791997 0.01489804 -0.95821046] [ 0.21454004 -0.07058777 0.97416115 1.01771385] [ 0. 0. 0. 1. ]] SLAMing on 115.32486062399998 meters Centerline goodness : 0.784014 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.96, Z:1.02 [[ 0.94379928 -0.24175376 -0.22538419 -4.00500129] [ 0.25124487 0.96782265 0.01397599 -0.95602449] [ 0.21475318 -0.06981715 0.97416972 1.01719951] [ 0. 0. 0. 1. ]] SLAMing on 115.38486062399998 meters Centerline goodness : 0.785641 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.02 [[ 0.94370967 -0.24204299 -0.225449 -4.00440494] [ 0.25145723 0.96777324 0.01357246 -0.95496203] [ 0.21489839 -0.06949924 0.97416043 1.01671853] [ 0. 0. 0. 1. ]] SLAMing on 115.44486062399999 meters Centerline goodness : 0.785714 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.02 [[ 0.94363457 -0.24192544 -0.22588907 -4.0027927 ] [ 0.25117379 0.96785881 0.01269033 -0.951125 ] [ 0.21555861 -0.06871244 0.97407037 1.01547843] [ 0. 0. 0. 1. ]] SLAMing on 115.50486062399999 meters Centerline goodness : 0.788409 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.02 [[ 0.94364077 -0.24213325 -0.22564039 -4.003447 ] [ 0.25113123 0.96788335 0.0116155 -0.94683876] [ 0.21558107 -0.06762621 0.97414142 1.01537065] [ 0. 0. 0. 1. ]] SLAMing on 115.56486062399999 meters Centerline goodness : 0.786223 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.02 [[ 0.94440598 -0.2389668 -0.22581455 -4.00586672] [ 0.24828522 0.96859464 0.0133742 -0.94140983] [ 0.21552677 -0.06869709 0.9740785 1.01560975] [ 0. 0. 0. 1. ]] SLAMing on 115.62486062399998 meters Centerline goodness : 0.783870 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.02 [[ 0.94511136 -0.23616558 -0.22581042 -4.00939189] [ 0.24564707 0.96925183 0.01443652 -0.93425501] [ 0.21545775 -0.06911378 0.97406429 1.01651131] [ 0. 0. 0. 1. ]] SLAMing on 115.68486062399998 meters Centerline goodness : 0.781161 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.93, Z:1.02 [[ 0.94508061 -0.23661915 -0.225464 -4.01026796] [ 0.24581058 0.9692282 0.01318551 -0.92937903] [ 0.21540612 -0.06788281 0.97416227 1.0162426 ] [ 0. 0. 0. 1. ]] SLAMing on 115.74486062399998 meters Centerline goodness : 0.779826 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94494222 -0.23774339 -0.22486057 -4.01221312] [ 0.24651218 0.9690734 0.01133577 -0.92281296] [ 0.21521139 -0.06614251 0.97432501 1.01610137] [ 0. 0. 0. 1. ]] SLAMing on 115.80486062399999 meters Centerline goodness : 0.779221 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.94481831 -0.23868786 -0.22438018 -4.01354462] [ 0.2471884 0.96891415 0.01016169 -0.91946035] [ 0.21497966 -0.06506513 0.9744487 1.01602399] [ 0. 0. 0. 1. ]] SLAMing on 115.86486062399999 meters Centerline goodness : 0.779589 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.92, Z:1.02 [[ 0.9446909 -0.23954106 -0.22400711 -4.01434864] [ 0.24783311 0.96875875 0.00923267 -0.91691439] [ 0.21479724 -0.0642384 0.97454378 1.01577944] [ 0. 0. 0. 1. ]] SLAMing on 115.92486062399999 meters Centerline goodness : 0.778386 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94447596 -0.24079337 -0.22357036 -4.01505548] [ 0.24889082 0.96849566 0.00833773 -0.91474409] [ 0.21451925 -0.0635194 0.97465213 1.01510217] [ 0. 0. 0. 1. ]] SLAMing on 115.98486062399998 meters Centerline goodness : 0.778837 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94426786 -0.24189754 -0.22325723 -4.01599467] [ 0.24983104 0.96825994 0.00755956 -0.9134376 ] [ 0.21434239 -0.06291483 0.97473025 1.01509762] [ 0. 0. 0. 1. ]] SLAMing on 116.04486062399998 meters Centerline goodness : 0.781041 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94399175 -0.24361222 -0.22255933 -4.0182301 ] [ 0.2512818 0.96789302 0.00636855 -0.91161001] [ 0.21386217 -0.06193696 0.97489835 1.01526246] [ 0. 0. 0. 1. ]] SLAMing on 116.10486062399998 meters Centerline goodness : 0.778805 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94388337 -0.24434275 -0.22221793 -4.01939453] [ 0.25182375 0.96775734 0.00552502 -0.9093845 ] [ 0.21370304 -0.06117473 0.97498137 1.01544862] [ 0. 0. 0. 1. ]] SLAMing on 116.16486062399999 meters Centerline goodness : 0.777390 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94380971 -0.24506162 -0.22173867 -4.02097163] [ 0.25226751 0.96764787 0.00432567 -0.90518354] [ 0.21350489 -0.06002007 0.97509653 1.01550467] [ 0. 0. 0. 1. ]] SLAMing on 116.22486062399999 meters Centerline goodness : 0.775569 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 9.43966690e-01 -2.44646042e-01 -2.21529237e-01 -4.02113844e+00] [ 2.51697861e-01 9.67798675e-01 3.72990194e-03 -9.01189374e-01] [ 2.13483196e-01 -5.92793383e-02 9.75146597e-01 1.01510411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28486062399999 meters Centerline goodness : 0.775870 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.01 [[ 9.44146820e-01 -2.44008883e-01 -2.21464327e-01 -4.02089039e+00] [ 2.50965493e-01 9.67990109e-01 3.38693851e-03 -8.97787693e-01] [ 2.13548835e-01 -5.87776711e-02 9.75162592e-01 1.01469788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34486062399999 meters Centerline goodness : 0.773083 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:1.01 [[ 0.94502236 -0.24029575 -0.22178975 -4.02286636] [ 0.24776641 0.96880079 0.00606916 -0.89382881] [ 0.21341169 -0.06068755 0.97507562 1.01462848] [ 0. 0. 0. 1. ]] SLAMing on 116.40486062399998 meters Centerline goodness : 0.774096 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:1.01 [[ 0.94513455 -0.23990805 -0.22173137 -4.02283976] [ 0.24726453 0.96893178 0.00560913 -0.8908604 ] [ 0.2134969 -0.06012768 0.97509166 1.01449107] [ 0. 0. 0. 1. ]] SLAMing on 116.46486062399998 meters Centerline goodness : 0.772461 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.89, Z:1.01 [[ 0.94525139 -0.23982556 -0.22132219 -4.02346495] [ 0.24700529 0.9690016 0.00492832 -0.88745203] [ 0.21327962 -0.05932625 0.97518829 1.01411457] [ 0. 0. 0. 1. ]] SLAMing on 116.52486062399998 meters Centerline goodness : 0.771875 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.88, Z:1.01 [[ 0.94534187 -0.23959968 -0.22118035 -4.02368492] [ 0.24664767 0.96909527 0.00439213 -0.88365035] [ 0.21329247 -0.05870568 0.97522303 1.0137898 ] [ 0. 0. 0. 1. ]] SLAMing on 116.58486062399999 meters Centerline goodness : 0.771041 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.88, Z:1.01 [[ 9.45331846e-01 -2.39768825e-01 -2.21039844e-01 -4.02398663e+00] [ 2.46714600e-01 9.69080154e-01 3.94480218e-03 -8.81641145e-01] [ 2.13259485e-01 -5.82629037e-02 9.75256800e-01 1.01363002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64486062399999 meters Centerline goodness : 0.771762 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.45218446e-01 -2.40873227e-01 -2.20322895e-01 -4.02605712e+00] [ 2.47615878e-01 9.68853366e-01 3.08755377e-03 -8.79422684e-01] [ 2.12716869e-01 -5.74738597e-02 9.75422108e-01 1.01352629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70486062399999 meters Centerline goodness : 0.771957 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.45105128e-01 -2.41753545e-01 -2.19844311e-01 -4.02758660e+00] [ 2.48338066e-01 9.68670470e-01 2.39287296e-03 -8.77866687e-01] [ 2.12378207e-01 -5.68572276e-02 9.75532036e-01 1.01364890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76486062399998 meters Centerline goodness : 0.773316 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44929810e-01 -2.42995462e-01 -2.19227872e-01 -4.02866589e+00] [ 2.49426238e-01 9.68392286e-01 1.71217542e-03 -8.76515759e-01] [ 2.11882530e-01 -5.62990692e-02 9.75672183e-01 1.01289527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82486062399998 meters Centerline goodness : 0.771144 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44786234e-01 -2.43789878e-01 -2.18964535e-01 -4.02921304e+00] [ 2.50081809e-01 9.68224137e-01 1.05317009e-03 -8.75477076e-01] [ 2.11749995e-01 -5.57540676e-02 9.75732250e-01 1.01279460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88486062399998 meters Centerline goodness : 0.771790 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:1.01 [[ 9.44626263e-01 -2.44919912e-01 -2.18392901e-01 -4.03039289e+00] [ 2.51022497e-01 9.67981231e-01 2.04061333e-04 -8.73521081e-01] [ 2.11350251e-01 -5.50142931e-02 9.75860902e-01 1.01228192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94486062399999 meters Centerline goodness : 0.774013 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:1.01 [[ 9.44567778e-01 -2.45276161e-01 -2.18246004e-01 -4.03062927e+00] [ 2.51291593e-01 9.67911409e-01 -2.00018138e-04 -8.72052211e-01] [ 2.11291857e-01 -5.46544553e-02 9.75893766e-01 1.01200277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00486062399999 meters Centerline goodness : 0.774696 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:1.01 [[ 9.44454972e-01 -2.46119987e-01 -2.17783740e-01 -4.03222064e+00] [ 2.52004520e-01 9.67725743e-01 -7.79329877e-04 -8.71425694e-01] [ 2.10946741e-01 -5.41464450e-02 9.75996739e-01 1.01235074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06486062399999 meters Centerline goodness : 0.776638 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:1.01 [[ 9.44355735e-01 -2.46669327e-01 -2.17592484e-01 -4.03294007e+00] [ 2.52509611e-01 9.67593873e-01 -9.96497458e-04 -8.72228152e-01] [ 2.10786959e-01 -5.40031454e-02 9.76039199e-01 1.01272573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12486062399998 meters Centerline goodness : 0.776992 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.87, Z:1.01 [[ 9.44261993e-01 -2.47239154e-01 -2.17352453e-01 -4.03360369e+00] [ 2.53070922e-01 9.67447172e-01 -1.03779254e-03 -8.73582958e-01] [ 2.10533599e-01 -5.40256376e-02 9.76092636e-01 1.01293501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18486062399998 meters Centerline goodness : 0.776037 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44270651e-01 -2.47220099e-01 -2.17336515e-01 -4.03337117e+00] [ 2.53139943e-01 9.67429471e-01 -6.22953889e-04 -8.75915194e-01] [ 2.10411756e-01 -5.44283160e-02 9.76096538e-01 1.01295829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24486062399998 meters Centerline goodness : 0.776942 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44286149e-01 -2.47091109e-01 -2.17415851e-01 -4.03300680e+00] [ 2.53059382e-01 9.67450663e-01 -4.04696450e-04 -8.77133765e-01] [ 2.10439106e-01 -5.46369716e-02 9.76078985e-01 1.01303445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30486062399999 meters Centerline goodness : 0.778597 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44286913e-01 -2.47014752e-01 -2.17499285e-01 -4.03283542e+00] [ 2.52990085e-01 9.67468795e-01 -3.85464952e-04 -8.77505713e-01] [ 2.10518987e-01 -5.46611731e-02 9.76060404e-01 1.01323527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36486062399999 meters Centerline goodness : 0.776582 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44329285e-01 -2.46772589e-01 -2.17590192e-01 -4.03286692e+00] [ 2.52809094e-01 9.67516177e-01 -9.85393645e-05 -8.79176822e-01] [ 2.10546347e-01 -5.49157256e-02 9.76040214e-01 1.01379983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42486062399999 meters Centerline goodness : 0.776108 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44459733e-01 -2.45959823e-01 -2.17943981e-01 -4.03136383e+00] [ 2.52124280e-01 9.67694738e-01 4.91886515e-04 -8.80169851e-01] [ 2.10782259e-01 -5.54135364e-02 9.75961157e-01 1.01348819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48486062399998 meters Centerline goodness : 0.778337 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44578870e-01 -2.45259939e-01 -2.18216225e-01 -4.03036692e+00] [ 2.51494071e-01 9.67858491e-01 8.20612428e-04 -8.80593862e-01] [ 2.11001163e-01 -5.56552199e-02 9.75900100e-01 1.01348854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54486062399998 meters Centerline goodness : 0.778555 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44610379e-01 -2.45152869e-01 -2.18200141e-01 -4.03044210e+00] [ 2.51347667e-01 9.67896648e-01 6.55244367e-04 -8.80334611e-01] [ 2.11034550e-01 -5.54630470e-02 9.75903822e-01 1.01378205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60486062399998 meters Centerline goodness : 0.777272 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44674013e-01 -2.44719881e-01 -2.18410595e-01 -4.03004504e+00] [ 2.50922061e-01 9.68007053e-01 6.82106519e-04 -8.80073187e-01] [ 2.11256072e-01 -5.54484050e-02 9.75856724e-01 1.01406757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66486062399999 meters Centerline goodness : 0.779420 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44752732e-01 -2.44285351e-01 -2.18556497e-01 -4.02938341e+00] [ 2.50487752e-01 9.68119520e-01 6.93508416e-04 -8.79447544e-01] [ 2.11419397e-01 -5.54009194e-02 9.75824050e-01 1.01393965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72486062399999 meters Centerline goodness : 0.773507 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44921455e-01 -2.43310644e-01 -2.18914082e-01 -4.02788060e+00] [ 2.49590201e-01 9.68350969e-01 1.06451910e-03 -8.79140943e-01] [ 2.11726654e-01 -5.56446965e-02 9.75743558e-01 1.01359816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78486062399999 meters Centerline goodness : 0.776752 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44944302e-01 -2.43071908e-01 -2.19080608e-01 -4.02734424e+00] [ 2.49368194e-01 9.68408096e-01 1.12401802e-03 -8.78956483e-01] [ 2.11886218e-01 -5.56938700e-02 9.75706115e-01 1.01356136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84486062399998 meters Centerline goodness : 0.780443 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44879686e-01 -2.43404331e-01 -2.18990205e-01 -4.02757366e+00] [ 2.49702800e-01 9.68321877e-01 1.12043578e-03 -8.80092747e-01] [ 2.11780288e-01 -5.57411443e-02 9.75726414e-01 1.01372836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90486062399998 meters Centerline goodness : 0.776400 with order 1 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44705437e-01 -2.44237090e-01 -2.18814719e-01 -4.02849841e+00] [ 2.50527006e-01 9.68109060e-01 1.03322990e-03 -8.82353366e-01] [ 2.11584159e-01 -5.57950945e-02 9.75765879e-01 1.01431095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96486062399998 meters Centerline goodness : 0.779674 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44691731e-01 -2.44311550e-01 -2.18790765e-01 -4.02844767e+00] [ 2.50621878e-01 9.68084401e-01 1.12534548e-03 -8.83504536e-01] [ 2.11532992e-01 -5.58968570e-02 9.75771149e-01 1.01449177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02486062399998 meters Centerline goodness : 0.781381 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.01 [[ 9.44589967e-01 -2.44762512e-01 -2.18726100e-01 -4.02872066e+00] [ 2.51057951e-01 9.67971518e-01 1.02265467e-03 -8.84506139e-01] [ 2.11470328e-01 -5.58789160e-02 9.75785759e-01 1.01469452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08486062399999 meters Centerline goodness : 0.779407 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.88, Z:1.02 [[ 9.43650945e-01 -2.48870592e-01 -2.18142892e-01 -4.02780290e+00] [ 2.54423164e-01 9.67089166e-01 -2.72021110e-03 -8.84724331e-01] [ 2.11640608e-01 -5.29336750e-02 9.75913049e-01 1.01515902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14486062399999 meters Centerline goodness : 0.779779 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:1.02 [[ 9.43441065e-01 -2.49790429e-01 -2.17999310e-01 -4.02852936e+00] [ 2.55316523e-01 9.66853143e-01 -2.91087662e-03 -8.86515730e-01] [ 2.11500427e-01 -5.29125854e-02 9.75944582e-01 1.01562552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20486062399999 meters Centerline goodness : 0.779510 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:1.02 [[ 0.94242111 -0.25403582 -0.21750461 -4.02771402] [ 0.25880238 0.96590652 -0.00677701 -0.88656727] [ 0.21181073 -0.04990392 0.97603577 1.01642066] [ 0. 0. 0. 1. ]] SLAMing on 118.26486062399998 meters Centerline goodness : 0.779599 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:1.02 [[ 0.94230335 -0.25449545 -0.2174775 -4.02784044] [ 0.25927236 0.96578048 -0.00677551 -0.88884382] [ 0.21175986 -0.05000132 0.97604182 1.01683995] [ 0. 0. 0. 1. ]] SLAMing on 118.32486062399998 meters Centerline goodness : 0.779177 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:1.02 [[ 0.94216332 -0.25508888 -0.21738891 -4.02861375] [ 0.25985339 0.96562358 -0.00687937 -0.89135224] [ 0.2116707 -0.05000775 0.97606083 1.01775321] [ 0. 0. 0. 1. ]] SLAMing on 118.38486062399998 meters Centerline goodness : 0.777909 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.89, Z:1.02 [[ 0.94213827 -0.2550673 -0.21752278 -4.02890336] [ 0.25989416 0.9656144 -0.00662193 -0.8939043 ] [ 0.21173216 -0.05029413 0.97603278 1.0187525 ] [ 0. 0. 0. 1. ]] SLAMing on 118.44486062399999 meters Centerline goodness : 0.777695 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:1.02 [[ 0.94220929 -0.25462298 -0.21773561 -4.02829955] [ 0.25953057 0.96571466 -0.00625088 -0.89571092] [ 0.21186209 -0.05061941 0.97598777 1.01912834] [ 0. 0. 0. 1. ]] SLAMing on 118.50486062399999 meters Centerline goodness : 0.776668 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:1.02 [[ 0.94236699 -0.25366498 -0.21817087 -4.02711127] [ 0.25876016 0.9659266 -0.00538437 -0.8983492 ] [ 0.21210287 -0.05137987 0.97589573 1.01943086] [ 0. 0. 0. 1. ]] SLAMing on 118.56486062399999 meters Centerline goodness : 0.777358 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.90, Z:1.02 [[ 0.94240471 -0.25327979 -0.21845527 -4.02659222] [ 0.2584574 0.96600955 -0.0050318 -0.89969406] [ 0.21230433 -0.05171939 0.97583399 1.01985136] [ 0. 0. 0. 1. ]] SLAMing on 118.62486062399998 meters Centerline goodness : 0.780875 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.90, Z:1.02 [[ 0.94249243 -0.25253767 -0.2189355 -4.0249267 ] [ 0.25792357 0.96615658 -0.00411043 -0.903075 ] [ 0.21256401 -0.05259458 0.97573068 1.01985749] [ 0. 0. 0. 1. ]] SLAMing on 118.68486062399998 meters Centerline goodness : 0.779952 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.91, Z:1.02 [[ 9.42439133e-01 -2.52720079e-01 -2.18954429e-01 -4.02523004e+00] [ 2.58174717e-01 9.66090688e-01 -3.82069592e-03 -9.06132731e-01] [ 2.12495401e-01 -5.29277245e-02 9.75727606e-01 1.02067740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74486062399998 meters Centerline goodness : 0.782965 with order 3 Centerline is valid? [False, False] Translation: X:-4.03, Y:-0.91, Z:1.02 [[ 9.42369605e-01 -2.52979369e-01 -2.18954259e-01 -4.02554833e+00] [ 2.58470893e-01 9.66012032e-01 -3.68113946e-03 -9.08256295e-01] [ 2.12443701e-01 -5.31243089e-02 9.75728180e-01 1.02129394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80486062399999 meters Centerline goodness : 0.782595 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94151369 -0.25654011 -0.2184929 -4.02378821] [ 0.26137599 0.96521178 -0.00698636 -0.909036 ] [ 0.21268421 -0.05053105 0.97581353 1.02137577] [ 0. 0. 0. 1. ]] SLAMing on 118.86486062399999 meters Centerline goodness : 0.782145 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94062015 -0.26016697 -0.21805249 -4.0217449 ] [ 0.26443404 0.96435286 -0.00990945 -0.91128032] [ 0.21285765 -0.04833947 0.97588673 1.02116777] [ 0. 0. 0. 1. ]] SLAMing on 118.92486062399999 meters Centerline goodness : 0.781951 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.91, Z:1.02 [[ 0.94047859 -0.2607739 -0.21793803 -4.02216289] [ 0.26505761 0.96418199 -0.00987661 -0.91398085] [ 0.21270749 -0.04847739 0.97591263 1.02175364] [ 0. 0. 0. 1. ]] SLAMing on 118.98486062399998 meters Centerline goodness : 0.782674 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.02 [[ 0.93942477 -0.26513178 -0.21722393 -4.02192022] [ 0.26872972 0.9631229 -0.01336473 -0.91621802] [ 0.21275676 -0.04581937 0.9760303 1.02280715] [ 0. 0. 0. 1. ]] SLAMing on 119.04486062399998 meters Centerline goodness : 0.782676 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.02 [[ 0.93845107 -0.26908756 -0.21656748 -4.02091495] [ 0.27200333 0.96214946 -0.01681065 -0.91742119] [ 0.21289382 -0.0431311 0.97612291 1.02322867] [ 0. 0. 0. 1. ]] SLAMing on 119.10486062399998 meters Centerline goodness : 0.785568 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.02 [[ 0.93752713 -0.27274912 -0.21598794 -4.01968682] [ 0.27506073 0.96122115 -0.0198869 -0.91938827] [ 0.21303632 -0.04076529 0.97619348 1.02362644] [ 0. 0. 0. 1. ]] SLAMing on 119.16486062399999 meters Centerline goodness : 0.785315 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.02 [[ 0.93753356 -0.27271266 -0.21600606 -4.01943304] [ 0.27507422 0.96122202 -0.01965731 -0.92053017] [ 0.21299058 -0.04098831 0.97619413 1.02357986] [ 0. 0. 0. 1. ]] SLAMing on 119.22486062399999 meters Centerline goodness : 0.786690 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.92, Z:1.02 [[ 0.93754502 -0.27261734 -0.21607663 -4.01938771] [ 0.27509402 0.96122694 -0.0191326 -0.92381637] [ 0.21291456 -0.04150371 0.97618893 1.02414042] [ 0. 0. 0. 1. ]] SLAMing on 119.28486062399999 meters Centerline goodness : 0.785876 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:1.02 [[ 0.93758706 -0.27239068 -0.21618007 -4.01896734] [ 0.27498412 0.961269 -0.01859178 -0.92647929] [ 0.21287142 -0.04201468 0.97617648 1.0243407 ] [ 0. 0. 0. 1. ]] SLAMing on 119.34486062399998 meters Centerline goodness : 0.785429 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:1.02 [[ 0.93763149 -0.27217657 -0.21625704 -4.01887612] [ 0.27490079 0.96130441 -0.01798278 -0.92959804] [ 0.21278333 -0.04258801 0.97617084 1.0248199 ] [ 0. 0. 0. 1. ]] SLAMing on 119.40486062399998 meters Centerline goodness : 0.786474 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.93, Z:1.03 [[ 0.93762187 -0.27214642 -0.21633666 -4.01841056] [ 0.27497925 0.96129093 -0.01749739 -0.93279686] [ 0.21272432 -0.04308216 0.97616202 1.02505202] [ 0. 0. 0. 1. ]] SLAMing on 119.46486062399998 meters Centerline goodness : 0.785083 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.94, Z:1.03 [[ 0.93734049 -0.27222558 -0.21745355 -4.01577945] [ 0.27543994 0.9611852 -0.01599513 -0.93628441] [ 0.21336742 -0.04490251 0.9759396 1.02548899] [ 0. 0. 0. 1. ]] SLAMing on 119.52486062399998 meters Centerline goodness : 0.780613 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.03 [[ 0.93730878 -0.27181118 -0.21810762 -4.0144191 ] [ 0.27525108 0.96125443 -0.0150588 -0.93795254] [ 0.21375006 -0.04591962 0.97580854 1.02577251] [ 0. 0. 0. 1. ]] SLAMing on 119.58486062399999 meters Centerline goodness : 0.780768 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.03 [[ 0.93745935 -0.27087745 -0.21862154 -4.01335191] [ 0.27466754 0.96144495 -0.01346668 -0.93974592] [ 0.21384039 -0.04742378 0.9757168 1.02580343] [ 0. 0. 0. 1. ]] SLAMing on 119.64486062399999 meters Centerline goodness : 0.782310 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.03 [[ 0.93782167 -0.26976719 -0.21844034 -4.01351882] [ 0.27366735 0.96173932 -0.0127932 -0.94079435] [ 0.21353385 -0.04778225 0.97576644 1.02546142] [ 0. 0. 0. 1. ]] SLAMing on 119.70486062399999 meters Centerline goodness : 0.778368 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.03 [[ 0.93803835 -0.26870521 -0.21881855 -4.01229668] [ 0.27285329 0.96198542 -0.01162444 -0.94240569] [ 0.2136238 -0.04880119 0.97569632 1.02513921] [ 0. 0. 0. 1. ]] SLAMing on 119.76486062399998 meters Centerline goodness : 0.780808 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.94, Z:1.03 [[ 0.9380868 -0.26811184 -0.21933807 -4.01117659] [ 0.27250788 0.96209575 -0.01054635 -0.94384376] [ 0.21385183 -0.04987796 0.97559191 1.02527781] [ 0. 0. 0. 1. ]] SLAMing on 119.82486062399998 meters Centerline goodness : 0.779349 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.95, Z:1.03 [[ 0.93825679 -0.26721378 -0.21970658 -4.00997907] [ 0.27195285 0.96226881 -0.00896596 -0.9471316 ] [ 0.21381262 -0.05133746 0.9755248 1.02527751] [ 0. 0. 0. 1. ]] SLAMing on 119.88486062399998 meters Centerline goodness : 0.780310 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.95, Z:1.03 [[ 0.93831952 -0.26651899 -0.22028188 -4.00836634] [ 0.27154368 0.96239511 -0.00772573 -0.94956138] [ 0.21405726 -0.05256695 0.97540566 1.02529644] [ 0. 0. 0. 1. ]] SLAMing on 119.94486062399999 meters Centerline goodness : 0.786617 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.95, Z:1.03 [[ 0.93823941 -0.26624012 -0.22095928 -4.00627478] [ 0.27162393 0.9623833 -0.00623084 -0.9529519 ] [ 0.21430642 -0.05417181 0.97526313 1.0254139 ] [ 0. 0. 0. 1. ]] SLAMing on 120.00486062399999 meters Centerline goodness : 0.787210 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.03 [[ 0.93796402 -0.26649327 -0.22182161 -4.00418598] [ 0.27234592 0.96218955 -0.00435649 -0.95761728] [ 0.21459541 -0.05632598 0.97507753 1.02619643] [ 0. 0. 0. 1. ]] SLAMing on 120.06486062399999 meters Centerline goodness : 0.790633 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.96, Z:1.03 [[ 9.37545271e-01 -2.66887082e-01 -2.23114658e-01 -4.00139017e+00] [ 2.73234488e-01 9.61944176e-01 -2.51337954e-03 -9.61507033e-01] [ 2.15294635e-01 -5.86062124e-02 9.74788968e-01 1.02713971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12486062399998 meters Centerline goodness : 0.791595 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.03 [[ 9.37276258e-01 -2.67501852e-01 -2.23508335e-01 -3.99902334e+00] [ 2.74099998e-01 9.61699928e-01 -1.56187166e-03 -9.66295214e-01] [ 2.15365753e-01 -5.97997289e-02 9.74700767e-01 1.02712646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18486062399998 meters Centerline goodness : 0.781420 with order 2 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.03 [[ 9.37199877e-01 -2.67204140e-01 -2.24183714e-01 -3.99661761e+00] [ 2.74092447e-01 9.61703261e-01 -4.08971112e-04 -9.69029225e-01] [ 2.15707488e-01 -6.10637751e-02 9.74546815e-01 1.02686342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24486062399998 meters Centerline goodness : 0.789146 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.97, Z:1.03 [[ 9.37317977e-01 -2.66428719e-01 -2.24612439e-01 -3.99523297e+00] [ 2.73533782e-01 9.61862247e-01 5.36059391e-04 -9.70538980e-01] [ 2.15903404e-01 -6.19415481e-02 9.74448031e-01 1.02658747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30486062399999 meters Centerline goodness : 0.785000 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.97, Z:1.03 [[ 0.93811514 -0.26259379 -0.22579742 -3.99399064] [ 0.27057165 0.96268901 0.00456695 -0.97332271] [ 0.21617345 -0.0653787 0.97416357 1.02659947] [ 0. 0. 0. 1. ]] SLAMing on 120.36486062399999 meters Centerline goodness : 0.784805 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.98, Z:1.03 [[ 0.93946757 -0.25718845 -0.22639518 -3.9936582 ] [ 0.26611255 0.9638973 0.00927959 -0.97619251] [ 0.2158351 -0.06896447 0.97399133 1.02570248] [ 0. 0. 0. 1. ]] SLAMing on 120.42486062399999 meters Centerline goodness : 0.787250 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.98, Z:1.03 [[ 0.94050116 -0.25254904 -0.22732476 -3.99349973] [ 0.26237736 0.96486965 0.01358986 -0.97800297] [ 0.21590665 -0.07242615 0.97372418 1.02570752] [ 0. 0. 0. 1. ]] SLAMing on 120.48486062399998 meters Centerline goodness : 0.785940 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.98, Z:1.02 [[ 0.94145445 -0.25034682 -0.22580962 -3.995682 ] [ 0.25988528 0.96555128 0.01305287 -0.97749671] [ 0.21476302 -0.07097327 0.974084 1.02403823] [ 0. 0. 0. 1. ]] SLAMing on 120.54486062399998 meters Centerline goodness : 0.788347 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.98, Z:1.02 [[ 0.94253838 -0.24606792 -0.22599109 -3.99463168] [ 0.25608451 0.96652761 0.01565567 -0.97860419] [ 0.21457427 -0.07262888 0.97400356 1.02210909] [ 0. 0. 0. 1. ]] SLAMing on 120.60486062399998 meters Centerline goodness : 0.788951 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.98, Z:1.02 [[ 0.9428014 -0.2448802 -0.226184 -3.9938083 ] [ 0.25494745 0.96682326 0.01595579 -0.97755026] [ 0.21477269 -0.07270817 0.97395391 1.02120082] [ 0. 0. 0. 1. ]] SLAMing on 120.66486062399999 meters Centerline goodness : 0.785473 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.98, Z:1.02 [[ 0.94302483 -0.24394262 -0.22626572 -3.99313823] [ 0.25395558 0.96708699 0.01578976 -0.97578847] [ 0.21496684 -0.07235158 0.97393763 1.02010705] [ 0. 0. 0. 1. ]] SLAMing on 120.72486062399999 meters Centerline goodness : 0.777930 with order 2 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.97, Z:1.02 [[ 0.94305358 -0.2437633 -0.22633914 -3.99342829] [ 0.25365379 0.96717515 0.01523074 -0.97303364] [ 0.2151969 -0.07177518 0.97392947 1.0198799 ] [ 0. 0. 0. 1. ]] SLAMing on 120.78486062399999 meters Centerline goodness : 0.788720 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.97, Z:1.01 [[ 0.94404513 -0.25077719 -0.21421856 -3.99232025] [ 0.25936226 0.96569942 0.01248394 -0.96646965] [ 0.20374005 -0.06734561 0.97670597 1.01490601] [ 0. 0. 0. 1. ]] SLAMing on 120.84486062399998 meters Centerline goodness : 0.785475 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.02 [[ 0.9437276 -0.25190813 -0.2142907 -3.99285727] [ 0.26024598 0.96547795 0.01115108 -0.96285895] [ 0.2040839 -0.06629187 0.97670628 1.01516831] [ 0. 0. 0. 1. ]] SLAMing on 120.90486062399998 meters Centerline goodness : 0.783703 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.01 [[ 0.9434488 -0.25270136 -0.21458422 -3.9919551 ] [ 0.26093964 0.96529812 0.01049023 -0.96119538] [ 0.20448685 -0.06589053 0.97664915 1.01477425] [ 0. 0. 0. 1. ]] SLAMing on 120.96486062399998 meters Centerline goodness : 0.783405 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.02 [[ 0.94304728 -0.25370187 -0.21516784 -3.99149349] [ 0.26187527 0.96505117 0.00987821 -0.95834092] [ 0.20514185 -0.06566275 0.97652712 1.01526507] [ 0. 0. 0. 1. ]] SLAMing on 121.02486062399998 meters Centerline goodness : 0.780649 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.02 [[ 0.94265256 -0.25482398 -0.21557107 -3.99103103] [ 0.26293061 0.96476988 0.00930418 -0.95616548] [ 0.20560555 -0.06545084 0.97644383 1.01545219] [ 0. 0. 0. 1. ]] SLAMing on 121.08486062399999 meters Centerline goodness : 0.783503 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.02 [[ 0.94250643 -0.25493625 -0.21607669 -3.99011995] [ 0.2630844 0.96472777 0.00932378 -0.95526459] [ 0.20607822 -0.06563413 0.97633187 1.01555755] [ 0. 0. 0. 1. ]] SLAMing on 121.14486062399999 meters Centerline goodness : 0.781756 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.02 [[ 0.94270997 -0.25268966 -0.21782067 -3.9889131 ] [ 0.26161929 0.96508776 0.01268665 -0.95506404] [ 0.20701028 -0.06894592 0.97590635 1.01647064] [ 0. 0. 0. 1. ]] SLAMing on 121.20486062399998 meters Centerline goodness : 0.778248 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.95, Z:1.02 [[ 0.94267328 -0.25263836 -0.21803889 -3.98891852] [ 0.26147533 0.96513328 0.01218185 -0.95192948] [ 0.20735899 -0.0684953 0.97586405 1.01620281] [ 0. 0. 0. 1. ]] SLAMing on 121.26486062399998 meters Centerline goodness : 0.775481 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.95, Z:1.02 [[ 0.94268151 -0.25288912 -0.21771236 -3.98929308] [ 0.26144413 0.96515665 0.01093614 -0.94879838] [ 0.20736091 -0.06722891 0.9759517 1.01532844] [ 0. 0. 0. 1. ]] SLAMing on 121.32486062399998 meters Centerline goodness : 0.770504 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.95, Z:1.01 [[ 0.94245365 -0.25314326 -0.2184024 -3.98783258] [ 0.26171132 0.96508644 0.01074008 -0.9466411 ] [ 0.20805842 -0.06728041 0.97579969 1.01499063] [ 0. 0. 0. 1. ]] SLAMing on 121.38486062399998 meters Centerline goodness : 0.768969 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.94, Z:1.02 [[ 0.9419088 -0.25440788 -0.21928167 -3.9868311 ] [ 0.26297908 0.96474633 0.01032115 -0.94423911] [ 0.2089254 -0.06738808 0.975607 1.01562143] [ 0. 0. 0. 1. ]] SLAMing on 121.44486062399999 meters Centerline goodness : 0.769959 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.94, Z:1.02 [[ 0.9415741 -0.25559747 -0.21933568 -3.98740284] [ 0.26400573 0.96447523 0.00940809 -0.9417433 ] [ 0.20913914 -0.06676429 0.97560409 1.01601842] [ 0. 0. 0. 1. ]] SLAMing on 121.50486062399999 meters Centerline goodness : 0.772274 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.94, Z:1.02 [[ 0.94155603 -0.2555432 -0.21947646 -3.98787118] [ 0.26394671 0.96449198 0.00934611 -0.94032696] [ 0.20929496 -0.06672997 0.97557303 1.01649585] [ 0. 0. 0. 1. ]] SLAMing on 121.56486062399999 meters Centerline goodness : 0.772347 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.94, Z:1.02 [[ 0.94192827 -0.25308389 -0.22072537 -3.98823939] [ 0.26206031 0.96497841 0.01187686 -0.93828303] [ 0.20998937 -0.06903051 0.97526368 1.01739676] [ 0. 0. 0. 1. ]] SLAMing on 121.62486062399998 meters Centerline goodness : 0.771562 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.94, Z:1.02 [[ 0.94194439 -0.25311416 -0.22062181 -3.98845761] [ 0.26194946 0.96501599 0.01125282 -0.93556434] [ 0.21005532 -0.06839129 0.97529452 1.01724765] [ 0. 0. 0. 1. ]] SLAMing on 121.68486062399998 meters Centerline goodness : 0.785347 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.93, Z:1.02 [[ 0.94289935 -0.24899946 -0.22122405 -3.98917909] [ 0.2584221 0.96592711 0.01424213 -0.9331599 ] [ 0.21014002 -0.07059808 0.97511901 1.01694088] [ 0. 0. 0. 1. ]] SLAMing on 121.74486062399998 meters Centerline goodness : 0.783130 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.93, Z:1.02 [[ 0.94304034 -0.2485661 -0.2211104 -3.98978333] [ 0.25783951 0.96609151 0.01363779 -0.92981295] [ 0.21022298 -0.06987198 0.97515343 1.01728438] [ 0. 0. 0. 1. ]] SLAMing on 121.80486062399999 meters Centerline goodness : 0.784528 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.93, Z:1.02 [[ 0.94333448 -0.24744513 -0.22111302 -3.98957934] [ 0.25670434 0.9663929 0.01369811 -0.9267879 ] [ 0.21029252 -0.06968257 0.97515198 1.01689488] [ 0. 0. 0. 1. ]] SLAMing on 121.86486062399999 meters Centerline goodness : 0.782929 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.93, Z:1.02 [[ 0.94329532 -0.24754642 -0.22116669 -3.98928554] [ 0.2567388 0.9663885 0.01335871 -0.92586813] [ 0.21042605 -0.06938328 0.97514452 1.01681879] [ 0. 0. 0. 1. ]] SLAMing on 121.92486062399999 meters Centerline goodness : 0.785463 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.02 [[ 0.94310109 -0.24856797 -0.22084903 -3.99024683] [ 0.25758089 0.96617566 0.01251756 -0.92435288] [ 0.21026749 -0.06869182 0.97522767 1.01684788] [ 0. 0. 0. 1. ]] SLAMing on 121.98486062399998 meters Centerline goodness : 0.785495 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.02 [[ 0.94209564 -0.25326164 -0.21980527 -3.99058026] [ 0.26135363 0.96520955 0.00805057 -0.92136985] [ 0.21011924 -0.06503131 0.97551055 1.0169826 ] [ 0. 0. 0. 1. ]] SLAMing on 122.04486062399998 meters Centerline goodness : 0.784991 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.02 [[ 0.94188224 -0.25430456 -0.21951548 -3.99136164] [ 0.26223935 0.9649753 0.00729316 -0.92094282] [ 0.20997233 -0.06443489 0.97558176 1.01716688] [ 0. 0. 0. 1. ]] SLAMing on 122.10486062399998 meters Centerline goodness : 0.783507 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.02 [[ 0.94160171 -0.25592581 -0.21883374 -3.99396706] [ 0.26355181 0.96462729 0.0058849 -0.91849338] [ 0.2095869 -0.06321526 0.97574441 1.01787968] [ 0. 0. 0. 1. ]] SLAMing on 122.16486062399999 meters Centerline goodness : 0.782993 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.02 [[ 0.94147452 -0.25670152 -0.21847209 -3.99494968] [ 0.26412951 0.96447434 0.00498546 -0.91609976] [ 0.20943095 -0.06239861 0.97583046 1.01779939] [ 0. 0. 0. 1. ]] SLAMing on 122.22486062399999 meters Centerline goodness : 0.780976 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.94137611 -0.25740728 -0.21806537 -3.99611493] [ 0.2646503 0.96433545 0.00416619 -0.9147164 ] [ 0.20921576 -0.06163301 0.97592527 1.01810639] [ 0. 0. 0. 1. ]] SLAMing on 122.28486062399999 meters Centerline goodness : 0.782831 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.41262667e-01 -2.58075986e-01 -2.17764498e-01 -3.99734963e+00] [ 2.65145320e-01 9.64202573e-01 3.36997780e-03 -9.12832292e-01] [ 2.09099379e-01 -6.09112717e-02 9.75995526e-01 1.01848001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34486062399998 meters Centerline goodness : 0.780906 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.41163314e-01 -2.58698243e-01 -2.17455364e-01 -3.99830487e+00] [ 2.65620308e-01 9.64073931e-01 2.70334393e-03 -9.11729984e-01] [ 2.08943697e-01 -6.03048488e-02 9.76066523e-01 1.01875066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40486062399998 meters Centerline goodness : 0.782965 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.41096316e-01 -2.59142110e-01 -2.17216691e-01 -3.99879290e+00] [ 2.65984583e-01 9.63974415e-01 2.35132704e-03 -9.11224539e-01] [ 2.08782005e-01 -5.99891161e-02 9.76120577e-01 1.01869078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46486062399998 meters Centerline goodness : 0.781554 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.41037149e-01 -2.59446632e-01 -2.17109487e-01 -3.99891936e+00] [ 2.66231942e-01 9.63906750e-01 2.08091785e-03 -9.11050340e-01] [ 2.08733413e-01 -5.97597013e-02 9.76145041e-01 1.01868513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52486062399998 meters Centerline goodness : 0.781311 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.41040183e-01 -2.59533943e-01 -2.16991950e-01 -3.99886037e+00] [ 2.66276724e-01 9.63894741e-01 1.90649678e-03 -9.10639586e-01] [ 2.08662599e-01 -5.95739959e-02 9.76171531e-01 1.01850752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58486062399999 meters Centerline goodness : 0.780586 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.40960537e-01 -2.59958785e-01 -2.16828729e-01 -3.99965510e+00] [ 2.66572692e-01 9.63813936e-01 1.30279552e-03 -9.09079580e-01] [ 2.08643878e-01 -5.90264973e-02 9.76208792e-01 1.01882778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64486062399999 meters Centerline goodness : 0.783396 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 9.40939648e-01 -2.60110003e-01 -2.16738010e-01 -4.00022903e+00] [ 2.66577577e-01 9.63813261e-01 6.27214652e-04 -9.06395764e-01] [ 2.08731824e-01 -5.83676647e-02 9.76229605e-01 1.01899933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70486062399998 meters Centerline goodness : 0.780821 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40924562e-01 -2.60222568e-01 -2.16668373e-01 -4.00049991e+00] [ 2.66588986e-01 9.63810296e-01 1.61233018e-04 -9.04685783e-01] [ 2.08785252e-01 -5.79131100e-02 9.76245251e-01 1.01904261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76486062399998 meters Centerline goodness : 0.780909 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40885507e-01 -2.60559982e-01 -2.16432341e-01 -4.00130550e+00] [ 2.66772657e-01 9.63759342e-01 -5.29450198e-04 -9.02032780e-01] [ 2.08726644e-01 -5.72400786e-02 9.76297476e-01 1.01901221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82486062399998 meters Centerline goodness : 0.781301 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40756544e-01 -2.61170127e-01 -2.16257462e-01 -4.00169265e+00] [ 2.67265144e-01 9.63622401e-01 -1.10031532e-03 -9.01126611e-01] [ 2.08677904e-01 -5.67629528e-02 9.76335751e-01 1.01899727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88486062399998 meters Centerline goodness : 0.778816 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40613446e-01 -2.61940490e-01 -2.15947970e-01 -4.00243660e+00] [ 2.67917523e-01 9.63440431e-01 -1.65426188e-03 -9.01014987e-01] [ 2.08486323e-01 -5.63002242e-02 9.76403471e-01 1.01914000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94486062399999 meters Centerline goodness : 0.778678 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40514975e-01 -2.62533155e-01 -2.15656958e-01 -4.00356795e+00] [ 2.68417644e-01 9.63300401e-01 -2.07495931e-03 -9.01097595e-01] [ 2.08287180e-01 -5.59346023e-02 9.76466984e-01 1.01965664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00486062399999 meters Centerline goodness : 0.777894 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40437901e-01 -2.62937884e-01 -2.15499939e-01 -4.00439739e+00] [ 2.68772053e-01 9.63201033e-01 -2.31376352e-03 -9.01206231e-01] [ 2.08178140e-01 -5.57444101e-02 9.76501112e-01 1.02009568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06486062399999 meters Centerline goodness : 0.779821 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40458654e-01 -2.62827987e-01 -2.15543430e-01 -4.00403985e+00] [ 2.68668180e-01 9.63230081e-01 -2.28496056e-03 -9.01984635e-01] [ 2.08218467e-01 -5.57607499e-02 9.76491582e-01 1.02020226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12486062399998 meters Centerline goodness : 0.779367 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40520745e-01 -2.62477972e-01 -2.15698961e-01 -4.00321261e+00] [ 2.68371591e-01 9.63313313e-01 -2.03745408e-03 -9.02361769e-01] [ 2.08320467e-01 -5.59712054e-02 9.76457786e-01 1.01987599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18486062399998 meters Centerline goodness : 0.779943 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40543330e-01 -2.62232859e-01 -2.15898524e-01 -4.00276254e+00] [ 2.68149906e-01 9.63375216e-01 -1.95476898e-03 -9.02351766e-01] [ 2.08503892e-01 -5.60546239e-02 9.76413850e-01 1.01996725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24486062399998 meters Centerline goodness : 0.778432 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40476262e-01 -2.62589556e-01 -2.15757100e-01 -4.00322666e+00] [ 2.68472373e-01 9.63285059e-01 -2.11674511e-03 -9.02825745e-01] [ 2.08391426e-01 -5.59340720e-02 9.76444772e-01 1.02021044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30486062399999 meters Centerline goodness : 0.780749 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 9.40402219e-01 -2.62876783e-01 -2.15730070e-01 -4.00318546e+00] [ 2.68760359e-01 9.63204701e-01 -2.13838923e-03 -9.04097843e-01] [ 2.08354351e-01 -5.59687452e-02 9.76450697e-01 1.02040129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36486062399999 meters Centerline goodness : 0.781893 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 0.93944759 -0.26679441 -0.21507898 -4.00214502] [ 0.27197644 0.96228705 -0.0056965 -0.90390359] [ 0.20848751 -0.05314485 0.97658004 1.02054211] [ 0. 0. 0. 1. ]] SLAMing on 123.42486062399999 meters Centerline goodness : 0.780071 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 0.93838728 -0.27113505 -0.21427809 -4.00185982] [ 0.27554929 0.96123917 -0.00958418 -0.90374068] [ 0.2085711 -0.0500505 0.97672567 1.0211523 ] [ 0. 0. 0. 1. ]] SLAMing on 123.48486062399998 meters Centerline goodness : 0.781450 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.90, Z:1.02 [[ 0.93734393 -0.27529287 -0.21354203 -4.00098685] [ 0.27900193 0.96020003 -0.01318456 -0.90448516] [ 0.20867268 -0.04722017 0.97684491 1.02147144] [ 0. 0. 0. 1. ]] SLAMing on 123.54486062399998 meters Centerline goodness : 0.780889 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93721045 -0.27593796 -0.21329513 -4.00189399] [ 0.2795972 0.9600234 -0.01343433 -0.90555618] [ 0.20847536 -0.04704593 0.97689544 1.02199597] [ 0. 0. 0. 1. ]] SLAMing on 123.60486062399998 meters Centerline goodness : 0.780936 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.9372742 -0.27564736 -0.21339075 -4.00187703] [ 0.27933573 0.96010156 -0.01328686 -0.90625766] [ 0.20853928 -0.04715422 0.97687658 1.02244448] [ 0. 0. 0. 1. ]] SLAMing on 123.66486062399999 meters Centerline goodness : 0.779475 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93747633 -0.27467474 -0.21375669 -4.00065833] [ 0.27843878 0.96036726 -0.01290652 -0.90640442] [ 0.20883002 -0.04741859 0.97680167 1.0223891 ] [ 0. 0. 0. 1. ]] SLAMing on 123.72486062399999 meters Centerline goodness : 0.778285 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93861397 -0.26987749 -0.21487194 -4.00061236] [ 0.27442082 0.96156774 -0.00898337 -0.90697264] [ 0.20903834 -0.05053342 0.97660092 1.02249979] [ 0. 0. 0. 1. ]] SLAMing on 123.78486062399999 meters Centerline goodness : 0.782289 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93862644 -0.26977523 -0.2149459 -4.00098722] [ 0.2743157 0.96159754 -0.00900331 -0.90699364] [ 0.20912032 -0.05051229 0.97658446 1.02310167] [ 0. 0. 0. 1. ]] SLAMing on 123.84486062399998 meters Centerline goodness : 0.779954 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93786585 -0.27256164 -0.21475055 -3.99804541] [ 0.27657333 0.96092108 -0.01174174 -0.90815424] [ 0.20955868 -0.0483821 0.97659835 1.02267674] [ 0. 0. 0. 1. ]] SLAMing on 123.90486062399998 meters Centerline goodness : 0.781695 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93766027 -0.27335498 -0.21463988 -3.99852271] [ 0.27734806 0.9606959 -0.01189317 -0.91028842] [ 0.20945471 -0.0483782 0.97662084 1.02320569] [ 0. 0. 0. 1. ]] SLAMing on 123.96486062399998 meters Centerline goodness : 0.782537 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93659154 -0.27746459 -0.21403197 -3.99763721] [ 0.28078536 0.95964771 -0.01535783 -0.91152819] [ 0.20965654 -0.04571303 0.97670592 1.02381765] [ 0. 0. 0. 1. ]] SLAMing on 124.02486062399998 meters Centerline goodness : 0.781529 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.93562079 -0.28113227 -0.21349094 -3.99619214] [ 0.28384244 0.95869237 -0.01850419 -0.91262562] [ 0.20987426 -0.04328489 0.97676978 1.02396413] [ 0. 0. 0. 1. ]] SLAMing on 124.08486062399999 meters Centerline goodness : 0.782989 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.91, Z:1.02 [[ 0.9345326 -0.28515421 -0.21292228 -3.99550295] [ 0.28720833 0.95761774 -0.02190086 -0.91412176] [ 0.21014327 -0.04068598 0.97682366 1.02491632] [ 0. 0. 0. 1. ]] SLAMing on 124.14486062399999 meters Centerline goodness : 0.774401 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.92, Z:1.03 [[ 0.93437919 -0.28568136 -0.21288892 -3.9958318 ] [ 0.28778204 0.95744919 -0.02173825 -0.91763574] [ 0.21004054 -0.04095384 0.97683456 1.0257323 ] [ 0. 0. 0. 1. ]] SLAMing on 124.20486062399998 meters Centerline goodness : 0.784857 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.92, Z:1.03 [[ 0.93428548 -0.28594483 -0.21294644 -3.99553783] [ 0.28810018 0.95735831 -0.02152583 -0.92087961] [ 0.21002125 -0.04123864 0.97682673 1.02625317] [ 0. 0. 0. 1. ]] SLAMing on 124.26486062399998 meters Centerline goodness : 0.771052 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.92, Z:1.03 [[ 0.93422728 -0.28617897 -0.21288726 -3.99553932] [ 0.28839391 0.95727573 -0.02126349 -0.92348988] [ 0.20987697 -0.04153046 0.97684537 1.0265604 ] [ 0. 0. 0. 1. ]] SLAMing on 124.32486062399998 meters Centerline goodness : 0.782357 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.93, Z:1.03 [[ 0.93423825 -0.28599276 -0.21308925 -3.99517839] [ 0.28834609 0.95730379 -0.02063926 -0.92688198] [ 0.20989383 -0.04216146 0.97681472 1.02709265] [ 0. 0. 0. 1. ]] SLAMing on 124.38486062399998 meters Centerline goodness : 0.769820 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.93, Z:1.03 [[ 0.93436519 -0.28534373 -0.21340256 -3.99457932] [ 0.28784814 0.95746873 -0.01992677 -0.92958422] [ 0.21001226 -0.04280865 0.97676111 1.02765367] [ 0. 0. 0. 1. ]] SLAMing on 124.44486062399999 meters Centerline goodness : 0.780977 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.93, Z:1.03 [[ 0.93446581 -0.28475343 -0.21375017 -3.99382834] [ 0.2873628 0.95762443 -0.01944387 -0.93127346] [ 0.2102291 -0.04325422 0.97669483 1.0280398 ] [ 0. 0. 0. 1. ]] SLAMing on 124.50486062399999 meters Centerline goodness : 0.770029 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.94, Z:1.03 [[ 0.9350621 -0.27419146 -0.2246729 -3.99728629] [ 0.27874869 0.9602913 -0.01182311 -0.94181909] [ 0.21899323 -0.05157193 0.97436251 1.03028791] [ 0. 0. 0. 1. ]] SLAMing on 124.56486062399999 meters Centerline goodness : 0.771850 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.95, Z:1.03 [[ 0.93537271 -0.27275771 -0.22512469 -3.99580682] [ 0.2777076 0.96061345 -0.01001496 -0.94528544] [ 0.21898946 -0.05315111 0.97427849 1.03008559] [ 0. 0. 0. 1. ]] SLAMing on 124.62486062399998 meters Centerline goodness : 0.772017 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.95, Z:1.03 [[ 0.93542754 -0.27208525 -0.22570982 -3.99367364] [ 0.27727894 0.96074733 -0.0089975 -0.94731925] [ 0.2192982 -0.05416807 0.97415303 1.02959622] [ 0. 0. 0. 1. ]] SLAMing on 124.68486062399998 meters Centerline goodness : 0.773650 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.95, Z:1.03 [[ 0.93557307 -0.27114732 -0.22623474 -3.99126165] [ 0.27669834 0.96092808 -0.00743283 -0.95114225] [ 0.21941071 -0.05564483 0.97404445 1.02900811] [ 0. 0. 0. 1. ]] SLAMing on 124.74486062399998 meters Centerline goodness : 0.773940 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.95, Z:1.03 [[ 0.93574528 -0.27039585 -0.22642184 -3.9903658 ] [ 0.27617734 0.9610856 -0.00636829 -0.95348373] [ 0.21933273 -0.05657349 0.97400852 1.02881276] [ 0. 0. 0. 1. ]] SLAMing on 124.80486062399999 meters Centerline goodness : 0.773266 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.03 [[ 0.93578353 -0.26992852 -0.22682101 -3.98920566] [ 0.27597101 0.96115157 -0.00526006 -0.95564957] [ 0.2194292 -0.05767375 0.97392226 1.0288656 ] [ 0. 0. 0. 1. ]] SLAMing on 124.86486062399999 meters Centerline goodness : 0.773388 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.03 [[ 9.35807663e-01 -2.69347982e-01 -2.27410822e-01 -3.98741480e+00] [ 2.75727031e-01 9.61228234e-01 -3.85829047e-03 -9.58683635e-01] [ 2.19632926e-01 -5.90926930e-02 9.73791267e-01 1.02887706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92486062399999 meters Centerline goodness : 0.772785 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.03 [[ 9.35716538e-01 -2.69202511e-01 -2.27957383e-01 -3.98615114e+00] [ 2.75768754e-01 9.61218803e-01 -3.16344680e-03 -9.59948039e-01] [ 2.19968530e-01 -5.99034339e-02 9.73665972e-01 1.02906635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98486062399998 meters Centerline goodness : 0.772255 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.96, Z:1.03 [[ 9.35473150e-01 -2.69605399e-01 -2.28479571e-01 -3.98551555e+00] [ 2.76575347e-01 9.60990947e-01 -1.57360524e-03 -9.64040495e-01] [ 2.19991052e-01 -6.17197513e-02 9.73547436e-01 1.03039205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04486062399998 meters Centerline goodness : 0.773175 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.97, Z:1.03 [[ 9.35404166e-01 -2.69424262e-01 -2.28975136e-01 -3.98380657e+00] [ 2.76627239e-01 9.60977070e-01 -6.64987970e-04 -9.66259919e-01] [ 2.20219019e-01 -6.27187272e-02 9.73432044e-01 1.03030149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10486062399998 meters Centerline goodness : 0.772702 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.97, Z:1.03 [[ 9.35426598e-01 -2.68980087e-01 -2.29405301e-01 -3.98199701e+00] [ 2.76471637e-01 9.61021928e-01 5.36870414e-04 -9.69287685e-01] [ 2.20319118e-01 -6.39262621e-02 9.73330838e-01 1.03003676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16486062399999 meters Centerline goodness : 0.772481 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.97, Z:1.03 [[ 0.93597308 -0.26545028 -0.23128024 -3.98038329] [ 0.2740929 0.96168771 0.00546221 -0.97186788] [ 0.22096942 -0.06850476 0.97287184 1.03096165] [ 0. 0. 0. 1. ]] SLAMing on 125.22486062399999 meters Centerline goodness : 0.773582 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.97, Z:1.03 [[ 0.93641367 -0.26408232 -0.23106269 -3.98014391] [ 0.27289324 0.96202278 0.00643877 -0.9738069 ] [ 0.22058721 -0.0690848 0.97291756 1.03033919] [ 0. 0. 0. 1. ]] SLAMing on 125.28486062399999 meters Centerline goodness : 0.771641 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93665558 -0.26308714 -0.23121738 -3.97978118] [ 0.27214403 0.96222657 0.00759367 -0.97559253] [ 0.22048571 -0.07003708 0.97287248 1.03039001] [ 0. 0. 0. 1. ]] SLAMing on 125.34486062399998 meters Centerline goodness : 0.773734 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93659066 -0.26298403 -0.23159734 -3.97881073] [ 0.27219096 0.9622088 0.00814333 -0.97662012] [ 0.22070344 -0.07066567 0.97277765 1.03049356] [ 0. 0. 0. 1. ]] SLAMing on 125.40486062399998 meters Centerline goodness : 0.770732 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93631824 -0.26352283 -0.23208592 -3.97632528] [ 0.272976 0.96197873 0.0090012 -0.97959151] [ 0.2208897 -0.07178188 0.97265364 1.03008 ] [ 0. 0. 0. 1. ]] SLAMing on 125.46486062399998 meters Centerline goodness : 0.770629 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.98, Z:1.03 [[ 0.9361164 -0.26381879 -0.23256338 -3.97413239] [ 0.27343456 0.96184349 0.0095208 -0.98138745] [ 0.22117781 -0.07250345 0.97253464 1.02959752] [ 0. 0. 0. 1. ]] SLAMing on 125.52486062399998 meters Centerline goodness : 0.772038 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.98, Z:1.03 [[ 0.93617616 -0.26325722 -0.23295888 -3.97299145] [ 0.27306023 0.96194203 0.01027775 -0.98229252] [ 0.22138725 -0.07323359 0.97243227 1.02939343] [ 0. 0. 0. 1. ]] SLAMing on 125.58486062399999 meters Centerline goodness : 0.776908 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93674697 -0.26183538 -0.23226568 -3.97503143] [ 0.27168034 0.96232616 0.01086985 -0.98306689] [ 0.22066922 -0.07328432 0.97259164 1.02953775] [ 0. 0. 0. 1. ]] SLAMing on 125.64486062399999 meters Centerline goodness : 0.773914 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.99, Z:1.03 [[ 0.93776563 -0.25732682 -0.23319206 -3.97457412] [ 0.26811587 0.963266 0.01524785 -0.98578856] [ 0.2207023 -0.0768214 0.97231115 1.02949433] [ 0. 0. 0. 1. ]] SLAMing on 125.70486062399998 meters Centerline goodness : 0.768260 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.99, Z:1.03 [[ 0.9380161 -0.25663872 -0.23294286 -3.97464447] [ 0.26741855 0.96345774 0.01537864 -0.98557891] [ 0.22048384 -0.07671866 0.97236882 1.02872999] [ 0. 0. 0. 1. ]] SLAMing on 125.76486062399998 meters Centerline goodness : 0.774551 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93850155 -0.25559124 -0.23213781 -3.97563522] [ 0.26616528 0.96381253 0.01488119 -0.9842385 ] [ 0.21993383 -0.07575304 0.97256907 1.02740147] [ 0. 0. 0. 1. ]] SLAMing on 125.82486062399998 meters Centerline goodness : 0.772332 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93906997 -0.25260164 -0.23310941 -3.97529336] [ 0.2637903 0.9644194 0.01760385 -0.98381954] [ 0.22036848 -0.07802324 0.97229116 1.02748312] [ 0. 0. 0. 1. ]] SLAMing on 125.88486062399998 meters Centerline goodness : 0.772149 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93939677 -0.25192833 -0.23252058 -3.97597581] [ 0.26286741 0.96468579 0.01679469 -0.98133143] [ 0.22007824 -0.07689896 0.97244646 1.02614253] [ 0. 0. 0. 1. ]] SLAMing on 125.94486062399999 meters Centerline goodness : 0.770590 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.98, Z:1.03 [[ 0.93951374 -0.25130571 -0.23272167 -3.97547129] [ 0.26215861 0.96488516 0.01641643 -0.97837611] [ 0.22042414 -0.07643345 0.97240482 1.02522341] [ 0. 0. 0. 1. ]] SLAMing on 126.00486062399999 meters Centerline goodness : 0.774466 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.98, Z:1.03 [[ 0.93934524 -0.2515789 -0.23310637 -3.97486997] [ 0.26240028 0.96482466 0.01610823 -0.97656452] [ 0.22085428 -0.07629836 0.97231782 1.02509279] [ 0. 0. 0. 1. ]] SLAMing on 126.06486062399998 meters Centerline goodness : 0.771733 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.97, Z:1.02 [[ 0.9390199 -0.2529645 -0.23291755 -3.97473906] [ 0.26345203 0.96456292 0.01453954 -0.97463586] [ 0.22098564 -0.07501552 0.97238779 1.02474662] [ 0. 0. 0. 1. ]] SLAMing on 126.12486062399998 meters Centerline goodness : 0.771134 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.97, Z:1.02 [[ 0.93878537 -0.2534722 -0.2333107 -3.97336345] [ 0.26393882 0.96443415 0.01424991 -0.97329593] [ 0.22140085 -0.07495736 0.97229782 1.02418425] [ 0. 0. 0. 1. ]] SLAMing on 126.18486062399998 meters Centerline goodness : 0.767214 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.97, Z:1.02 [[ 0.93859904 -0.25413584 -0.2333384 -3.97350962] [ 0.2643673 0.96433271 0.01312856 -0.96987696] [ 0.22167941 -0.07400949 0.97230696 1.02378296] [ 0. 0. 0. 1. ]] SLAMing on 126.24486062399998 meters Centerline goodness : 0.766742 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.97, Z:1.02 [[ 0.93848832 -0.25414071 -0.23377805 -3.972081 ] [ 0.2642119 0.96438652 0.01227619 -0.96603912] [ 0.22233252 -0.07328801 0.97221249 1.02255846] [ 0. 0. 0. 1. ]] SLAMing on 126.30486062399999 meters Centerline goodness : 0.768342 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.96, Z:1.02 [[ 0.93869674 -0.25358912 -0.23354012 -3.97355732] [ 0.26337212 0.96462973 0.01116273 -0.96093048] [ 0.222449 -0.07198638 0.97228309 1.02205705] [ 0. 0. 0. 1. ]] SLAMing on 126.36486062399999 meters Centerline goodness : 0.769278 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.95, Z:1.02 [[ 0.94117409 -0.25446675 -0.22234658 -3.97212744] [ 0.26405532 0.96440593 0.0139997 -0.95301202] [ 0.2108699 -0.07188795 0.97486718 1.01686621] [ 0. 0. 0. 1. ]] SLAMing on 126.42486062399999 meters Centerline goodness : 0.769356 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.95, Z:1.02 [[ 0.9419433 -0.25086256 -0.22318331 -3.97200738] [ 0.26097844 0.96520275 0.0165499 -0.95093455] [ 0.2112654 -0.0738351 0.97463599 1.01623666] [ 0. 0. 0. 1. ]] SLAMing on 126.48486062399998 meters Centerline goodness : 0.769763 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.95, Z:1.01 [[ 0.94258492 -0.24857392 -0.22303514 -3.97197454] [ 0.25871014 0.96580615 0.01695723 -0.94828678] [ 0.21119358 -0.07368508 0.97466291 1.01440328] [ 0. 0. 0. 1. ]] SLAMing on 126.54486062399998 meters Centerline goodness : 0.767902 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.94265047 -0.24829644 -0.22306717 -3.97169658] [ 0.25818387 0.96596609 0.0158302 -0.94298841] [ 0.21154474 -0.07251469 0.97467453 1.01299434] [ 0. 0. 0. 1. ]] SLAMing on 126.60486062399998 meters Centerline goodness : 0.766766 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.94232433 -0.24954908 -0.22304732 -3.97185781] [ 0.25920666 0.96571098 0.0146357 -0.94102935] [ 0.21174692 -0.07160693 0.97469774 1.01317208] [ 0. 0. 0. 1. ]] SLAMing on 126.66486062399999 meters Centerline goodness : 0.767858 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.94199949 -0.25041943 -0.22344365 -3.97084985] [ 0.26010087 0.96547245 0.01450848 -0.94048496] [ 0.21209548 -0.07178487 0.97460886 1.01310324] [ 0. 0. 0. 1. ]] SLAMing on 126.72486062399999 meters Centerline goodness : 0.768231 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.94132923 -0.25243152 -0.22400359 -3.97006218] [ 0.2621864 0.9649095 0.01442011 -0.94057754] [ 0.2125031 -0.07230477 0.97448163 1.01395808] [ 0. 0. 0. 1. ]] SLAMing on 126.78486062399999 meters Centerline goodness : 0.767786 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.9411155 -0.25277491 -0.22451383 -3.96875391] [ 0.26263447 0.9647837 0.01468175 -0.9407249 ] [ 0.2128961 -0.0727823 0.9743603 1.01399797] [ 0. 0. 0. 1. ]] SLAMing on 126.84486062399998 meters Centerline goodness : 0.767741 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.94001783 -0.25723631 -0.22404457 -3.9679179 ] [ 0.26637329 0.96380692 0.0110224 -0.93927384] [ 0.21310034 -0.07004074 0.97451657 1.01406323] [ 0. 0. 0. 1. ]] SLAMing on 126.90486062399998 meters Centerline goodness : 0.768354 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.93970522 -0.25781897 -0.22468527 -3.96642188] [ 0.26703402 0.96362323 0.01109517 -0.93926272] [ 0.2136514 -0.07042481 0.97436822 1.01416491] [ 0. 0. 0. 1. ]] SLAMing on 126.96486062399998 meters Centerline goodness : 0.766267 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.01 [[ 0.93974425 -0.25740858 -0.22499237 -3.96693252] [ 0.26665422 0.96372743 0.01117844 -0.93729223] [ 0.21395389 -0.07050004 0.9742964 1.01458791] [ 0. 0. 0. 1. ]] SLAMing on 127.02486062399998 meters Centerline goodness : 0.767789 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.94008572 -0.25470154 -0.2266406 -3.96677716] [ 0.2648528 0.96417158 0.01503856 -0.93834909] [ 0.21469008 -0.07416394 0.97386235 1.01627301] [ 0. 0. 0. 1. ]] SLAMing on 127.08486062399999 meters Centerline goodness : 0.766144 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.93996506 -0.25490294 -0.22691449 -3.96517816] [ 0.26506006 0.96411608 0.01494474 -0.93820978] [ 0.21496245 -0.0741935 0.97380001 1.01547604] [ 0. 0. 0. 1. ]] SLAMing on 127.14486062399999 meters Centerline goodness : 0.766697 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.9397854 -0.25572021 -0.22673902 -3.96579231] [ 0.26572201 0.96394499 0.01420775 -0.93732821] [ 0.21493074 -0.07360178 0.97385192 1.01574202] [ 0. 0. 0. 1. ]] SLAMing on 127.20486062399998 meters Centerline goodness : 0.768105 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.93970086 -0.25611561 -0.22664308 -3.9663478 ] [ 0.2660049 0.96387453 0.01368548 -0.9367912 ] [ 0.21495043 -0.07314843 0.97388173 1.01623679] [ 0. 0. 0. 1. ]] SLAMing on 127.26486062399998 meters Centerline goodness : 0.769501 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.93962947 -0.25632009 -0.22670789 -3.9665365 ] [ 0.26619915 0.96382221 0.0135927 -0.93809528] [ 0.21502202 -0.07312155 0.97386794 1.01694178] [ 0. 0. 0. 1. ]] SLAMing on 127.32486062399998 meters Centerline goodness : 0.766946 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.93954203 -0.25674095 -0.22659403 -3.96688655] [ 0.26659932 0.96371305 0.0134896 -0.93927223] [ 0.21490829 -0.07308386 0.97389588 1.01729966] [ 0. 0. 0. 1. ]] SLAMing on 127.38486062399998 meters Centerline goodness : 0.771584 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.93863527 -0.26052312 -0.22603438 -3.96576729] [ 0.26969605 0.96289218 0.01013365 -0.93970424] [ 0.21500668 -0.07047238 0.97406661 1.0175853 ] [ 0. 0. 0. 1. ]] SLAMing on 127.44486062399999 meters Centerline goodness : 0.772569 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.94, Z:1.02 [[ 0.93762638 -0.26484404 -0.22519857 -3.96507485] [ 0.27336249 0.96188608 0.00693649 -0.94239266] [ 0.21477828 -0.06806467 0.9742882 1.01788625] [ 0. 0. 0. 1. ]] SLAMing on 127.50486062399999 meters Centerline goodness : 0.769822 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.02 [[ 0.93658337 -0.26862345 -0.2250623 -3.96292685] [ 0.27674968 0.96093027 0.00475755 -0.9450512 ] [ 0.21499118 -0.06674176 0.97433276 1.01815565] [ 0. 0. 0. 1. ]] SLAMing on 127.56486062399998 meters Centerline goodness : 0.767552 with order 2 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.02 [[ 0.9365081 -0.26842297 -0.22561404 -3.96142997] [ 0.27676128 0.96092259 0.00556474 -0.94681574] [ 0.21530392 -0.06765266 0.97420087 1.01829473] [ 0. 0. 0. 1. ]] SLAMing on 127.62486062399998 meters Centerline goodness : 0.767768 with order 2 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.02 [[ 0.93663741 -0.26785151 -0.22575633 -3.96070065] [ 0.27633723 0.96104039 0.00625307 -0.94777323] [ 0.21528606 -0.06824174 0.97416373 1.01791749] [ 0. 0. 0. 1. ]] SLAMing on 127.68486062399998 meters Centerline goodness : 0.771647 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.02 [[ 0.93764641 -0.26311613 -0.22713238 -3.95860221] [ 0.27254885 0.9620832 0.01063188 -0.94978325] [ 0.21572283 -0.07187362 0.97380586 1.01703195] [ 0. 0. 0. 1. ]] SLAMing on 127.74486062399998 meters Centerline goodness : 0.771239 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.02 [[ 0.93822355 -0.26184764 -0.22621315 -3.95995806] [ 0.27104478 0.9625145 0.01002791 -0.94816473] [ 0.21510765 -0.07072232 0.97402621 1.01592245] [ 0. 0. 0. 1. ]] SLAMing on 127.80486062399999 meters Centerline goodness : 0.769891 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.02 [[ 0.94022346 -0.25258481 -0.22843107 -3.95897025] [ 0.26358529 0.96445907 0.01847981 -0.94942863] [ 0.2156447 -0.07758622 0.97338468 1.01525901] [ 0. 0. 0. 1. ]] SLAMing on 127.86486062399999 meters Centerline goodness : 0.773214 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.95, Z:1.01 [[ 0.94180222 -0.24705987 -0.22796931 -3.9615847 ] [ 0.25836586 0.96582593 0.02067259 -0.94614323] [ 0.21507131 -0.07836898 0.97344884 1.01361644] [ 0. 0. 0. 1. ]] SLAMing on 127.92486062399999 meters Centerline goodness : 0.772252 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.94, Z:1.01 [[ 0.9436113 -0.24864338 -0.21857306 -3.95797209] [ 0.25995787 0.96531783 0.02415342 -0.94065296] [ 0.20498689 -0.07961122 0.97552162 1.00764888] [ 0. 0. 0. 1. ]] SLAMing on 127.98486062399998 meters Centerline goodness : 0.773001 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.94, Z:1.01 [[ 0.94401569 -0.24742 -0.21821485 -3.95803646] [ 0.25855328 0.9657095 0.02356626 -0.93816745] [ 0.20490139 -0.07866709 0.97561617 1.00603791] [ 0. 0. 0. 1. ]] SLAMing on 128.044860624 meters Centerline goodness : 0.774515 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.94, Z:1.01 [[ 0.94360021 -0.24874948 -0.21850019 -3.95769867] [ 0.25968163 0.96543556 0.02235259 -0.93526907] [ 0.20538766 -0.0778324 0.97558087 1.00610526] [ 0. 0. 0. 1. ]] SLAMing on 128.104860624 meters Centerline goodness : 0.774849 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.93, Z:1.01 [[ 0.94207764 -0.25391074 -0.21913252 -3.95589683] [ 0.26435571 0.96423347 0.01923209 -0.93205675] [ 0.20641168 -0.07604705 0.97550554 1.0071229 ] [ 0. 0. 0. 1. ]] SLAMing on 128.16486062399997 meters Centerline goodness : 0.773837 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.93, Z:1.01 [[ 0.94134401 -0.25601239 -0.21983885 -3.95397411] [ 0.2665434 0.96363291 0.01913707 -0.93229677] [ 0.20694462 -0.07661116 0.97534848 1.00732732] [ 0. 0. 0. 1. ]] SLAMing on 128.22486062399997 meters Centerline goodness : 0.774110 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.93, Z:1.01 [[ 0.93985793 -0.2614588 -0.2197871 -3.95271374] [ 0.27120151 0.96240824 0.01483612 -0.92897042] [ 0.20764588 -0.07355044 0.97543504 1.00778811] [ 0. 0. 0. 1. ]] SLAMing on 128.28486062399998 meters Centerline goodness : 0.773240 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.93, Z:1.01 [[ 0.93946069 -0.26216033 -0.22064807 -3.95261453] [ 0.27192483 0.96220854 0.01454706 -0.92621314] [ 0.2084958 -0.07366608 0.975245 1.00902494] [ 0. 0. 0. 1. ]] SLAMing on 128.34486062399998 meters Centerline goodness : 0.772252 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.92, Z:1.01 [[ 0.93934711 -0.26297349 -0.22016346 -3.95448304] [ 0.27242932 0.96208546 0.01318439 -0.92242207] [ 0.20834892 -0.0723637 0.97537389 1.00950851] [ 0. 0. 0. 1. ]] SLAMing on 128.40486062399998 meters Centerline goodness : 0.773464 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.01 [[ 0.93930582 -0.26330753 -0.21994027 -3.95527278] [ 0.27258778 0.96205096 0.01240348 -0.92034241] [ 0.20832782 -0.07160369 0.97543448 1.00983171] [ 0. 0. 0. 1. ]] SLAMing on 128.46486062399998 meters Centerline goodness : 0.781619 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.01 [[ 0.93936375 -0.26334494 -0.21964786 -3.95665935] [ 0.27239324 0.96211829 0.01141533 -0.91617532] [ 0.20832105 -0.07055374 0.97551243 1.01023095] [ 0. 0. 0. 1. ]] SLAMing on 128.52486062399998 meters Centerline goodness : 0.773023 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93922696 -0.26420977 -0.2191938 -3.95804511] [ 0.27304734 0.96194344 0.01048648 -0.91481566] [ 0.20808141 -0.06969947 0.97562498 1.01064291] [ 0. 0. 0. 1. ]] SLAMing on 128.584860624 meters Centerline goodness : 0.781482 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93917306 -0.26442828 -0.21916124 -3.95756276] [ 0.27323467 0.96189198 0.01032666 -0.91471786] [ 0.20807878 -0.06958097 0.975634 1.0102278 ] [ 0. 0. 0. 1. ]] SLAMing on 128.644860624 meters Centerline goodness : 0.784040 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93909655 -0.26490932 -0.21890801 -3.95814203] [ 0.2736147 0.96178859 0.00988479 -0.91385094] [ 0.20792465 -0.06917922 0.97569543 1.01019746] [ 0. 0. 0. 1. ]] SLAMing on 128.704860624 meters Centerline goodness : 0.782063 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93898127 -0.26546823 -0.21872537 -3.95910933] [ 0.27405275 0.96166954 0.00931621 -0.91294171] [ 0.20786837 -0.06869004 0.97574198 1.01071861] [ 0. 0. 0. 1. ]] SLAMing on 128.764860624 meters Centerline goodness : 0.771110 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93893975 -0.2656254 -0.2187128 -3.95886722] [ 0.27416161 0.96164081 0.00907588 -0.91239854] [ 0.20791237 -0.06848436 0.97574707 1.01051254] [ 0. 0. 0. 1. ]] SLAMing on 128.824860624 meters Centerline goodness : 0.785133 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93881766 -0.26625678 -0.21846908 -3.95945964] [ 0.27466711 0.96150185 0.00849527 -0.9117177 ] [ 0.2077965 -0.06798178 0.97580689 1.010623 ] [ 0. 0. 0. 1. ]] SLAMing on 128.88486062399997 meters Centerline goodness : 0.783524 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93869886 -0.26698055 -0.21809593 -3.96081645] [ 0.27518238 0.96136233 0.00755788 -0.90907088] [ 0.20765141 -0.06711073 0.97589807 1.01083125] [ 0. 0. 0. 1. ]] SLAMing on 128.94486062399997 meters Centerline goodness : 0.784196 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93855622 -0.2677374 -0.21778177 -3.96234402] [ 0.27577707 0.96119748 0.00681313 -0.9081895 ] [ 0.20750716 -0.06645372 0.97597371 1.01163251] [ 0. 0. 0. 1. ]] SLAMing on 129.00486062399997 meters Centerline goodness : 0.784916 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93853322 -0.26796605 -0.21759962 -3.9631796 ] [ 0.2758946 0.96116709 0.00632402 -0.9071763 ] [ 0.20745497 -0.06596986 0.97601763 1.01208465] [ 0. 0. 0. 1. ]] SLAMing on 129.06486062399998 meters Centerline goodness : 0.786766 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93855007 -0.26784037 -0.21768164 -3.9630849 ] [ 0.27572579 0.96121692 0.00610872 -0.90626325] [ 0.20760311 -0.06575378 0.97600071 1.01221605] [ 0. 0. 0. 1. ]] SLAMing on 129.12486062399998 meters Centerline goodness : 0.787415 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.90, Z:1.01 [[ 0.93868929 -0.26724787 -0.21780954 -3.96291713] [ 0.27513251 0.96138677 0.00613094 -0.90493456] [ 0.20776073 -0.06568153 0.97597204 1.01231722] [ 0. 0. 0. 1. ]] SLAMing on 129.18486062399998 meters Centerline goodness : 0.788149 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.90, Z:1.01 [[ 0.93877269 -0.26674587 -0.21806532 -3.96214093] [ 0.27467222 0.96151727 0.00630094 -0.90491733] [ 0.20799282 -0.06581164 0.97591384 1.01235674] [ 0. 0. 0. 1. ]] SLAMing on 129.24486062399998 meters Centerline goodness : 0.785708 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.90, Z:1.01 [[ 0.93889068 -0.26605627 -0.21839951 -3.96159963] [ 0.27402972 0.96169931 0.00649183 -0.90481614] [ 0.20830747 -0.06594307 0.97583785 1.01273328] [ 0. 0. 0. 1. ]] SLAMing on 129.30486062399999 meters Centerline goodness : 0.787349 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93897353 -0.2656888 -0.21849066 -3.96161189] [ 0.27367699 0.9617992 0.00657314 -0.90514494] [ 0.20839773 -0.06596787 0.9758169 1.01324458] [ 0. 0. 0. 1. ]] SLAMing on 129.364860624 meters Centerline goodness : 0.787411 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93898435 -0.26554232 -0.2186222 -3.96116186] [ 0.27355718 0.9618326 0.006672 -0.90581223] [ 0.20850626 -0.06607057 0.97578677 1.01331593] [ 0. 0. 0. 1. ]] SLAMing on 129.424860624 meters Centerline goodness : 0.789049 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93902936 -0.26527562 -0.21875262 -3.96020509] [ 0.27336801 0.96188389 0.00702273 -0.90672566] [ 0.20855166 -0.06639451 0.97575508 1.01287001] [ 0. 0. 0. 1. ]] SLAMing on 129.484860624 meters Centerline goodness : 0.789980 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93900852 -0.26534405 -0.21875908 -3.96021166] [ 0.27346171 0.96185646 0.00713105 -0.90773763] [ 0.20852265 -0.06651835 0.97575284 1.01309846] [ 0. 0. 0. 1. ]] SLAMing on 129.544860624 meters Centerline goodness : 0.786847 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93887526 -0.26589347 -0.21866391 -3.96102995] [ 0.27399202 0.96170642 0.00701019 -0.90946803] [ 0.20842652 -0.06649386 0.97577505 1.01396543] [ 0. 0. 0. 1. ]] SLAMing on 129.604860624 meters Centerline goodness : 0.788849 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.9388097 -0.26613071 -0.21865679 -3.96103557] [ 0.27424087 0.96163527 0.00703987 -0.910908 ] [ 0.20839455 -0.06657373 0.97577643 1.01430875] [ 0. 0. 0. 1. ]] SLAMing on 129.66486062399997 meters Centerline goodness : 0.789357 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.01 [[ 0.93872952 -0.26638324 -0.21869353 -3.96107066] [ 0.27447676 0.96156883 0.00692116 -0.91168824] [ 0.2084452 -0.06652339 0.97576905 1.0146838 ] [ 0. 0. 0. 1. ]] SLAMing on 129.72486062399997 meters Centerline goodness : 0.788173 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93868704 -0.26649843 -0.21873552 -3.96122181] [ 0.27463044 0.96152383 0.00707449 -0.91379461] [ 0.20843407 -0.06671216 0.97575854 1.01534435] [ 0. 0. 0. 1. ]] SLAMing on 129.78486062399998 meters Centerline goodness : 0.789861 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93865439 -0.26661749 -0.21873053 -3.96143939] [ 0.27479753 0.9614745 0.00728745 -0.91640863] [ 0.20836086 -0.06694701 0.97575809 1.0160609 ] [ 0. 0. 0. 1. ]] SLAMing on 129.84486062399998 meters Centerline goodness : 0.788771 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93860445 -0.26676011 -0.21877095 -3.96164476] [ 0.27498115 0.96142075 0.00744995 -0.91807653] [ 0.20834358 -0.06715045 0.9757478 1.01661557] [ 0. 0. 0. 1. ]] SLAMing on 129.90486062399998 meters Centerline goodness : 0.787032 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93833836 -0.26725187 -0.21931155 -3.96044824] [ 0.27579283 0.96117763 0.00871122 -0.92196683] [ 0.20846927 -0.06865862 0.97561599 1.01751708] [ 0. 0. 0. 1. ]] SLAMing on 129.96486062399998 meters Centerline goodness : 0.787040 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93822829 -0.26704149 -0.22003755 -3.95840587] [ 0.27585814 0.96114863 0.00977716 -0.9237939 ] [ 0.20887788 -0.06987235 0.97544241 1.01738087] [ 0. 0. 0. 1. ]] SLAMing on 130.02486062399998 meters Centerline goodness : 0.776088 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.93, Z:1.02 [[ 0.93805574 -0.26710137 -0.22069952 -3.95662907] [ 0.27614511 0.96105749 0.01060142 -0.92568093] [ 0.20927327 -0.07088982 0.97528423 1.01756096] [ 0. 0. 0. 1. ]] SLAMing on 130.084860624 meters Centerline goodness : 0.789828 with order 3 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.93, Z:1.02 [[ 0.93882392 -0.26300278 -0.22234924 -3.95492998] [ 0.27299785 0.96189913 0.0149079 -0.92644589] [ 0.20995672 -0.07469675 0.9748531 1.0172998 ] [ 0. 0. 0. 1. ]] SLAMing on 130.144860624 meters Centerline goodness : 0.793097 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93906977 -0.26259226 -0.22179555 -3.95591734] [ 0.27230258 0.96211225 0.01383203 -0.92388677] [ 0.20976003 -0.07338475 0.97499508 1.01653869] [ 0. 0. 0. 1. ]] SLAMing on 130.204860624 meters Centerline goodness : 0.792898 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.94009054 -0.25813701 -0.22269948 -3.95540599] [ 0.26857164 0.96310302 0.01737374 -0.92353651] [ 0.20999774 -0.07614365 0.97473232 1.01564328] [ 0. 0. 0. 1. ]] SLAMing on 130.264860624 meters Centerline goodness : 0.793956 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.94135779 -0.25319226 -0.22302285 -3.95749937] [ 0.26417408 0.96426025 0.02035257 -0.92181953] [ 0.20989896 -0.07807591 0.97460073 1.01566542] [ 0. 0. 0. 1. ]] SLAMing on 130.324860624 meters Centerline goodness : 0.796406 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.94180722 -0.25227627 -0.22216173 -3.95970331] [ 0.26298655 0.96460203 0.01951925 -0.9192558 ] [ 0.20937341 -0.07680891 0.97481443 1.01514226] [ 0. 0. 0. 1. ]] SLAMing on 130.38486062399997 meters Centerline goodness : 0.793995 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.01 [[ 0.94194207 -0.25220294 -0.22167277 -3.9599018 ] [ 0.26276477 0.96467246 0.01901885 -0.91893795] [ 0.209045 -0.07616245 0.97493562 1.01435065] [ 0. 0. 0. 1. ]] SLAMing on 130.44486062399997 meters Centerline goodness : 0.796666 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.01 [[ 0.94182021 -0.25249901 -0.22185345 -3.95971842] [ 0.26310282 0.96457844 0.01911375 -0.91933557] [ 0.20916885 -0.07637199 0.97489267 1.01480028] [ 0. 0. 0. 1. ]] SLAMing on 130.50486062399997 meters Centerline goodness : 0.797313 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.94158788 -0.25329194 -0.22193571 -3.96012713] [ 0.26392409 0.96435382 0.01912571 -0.91960939] [ 0.20918016 -0.07658272 0.97487371 1.01565073] [ 0. 0. 0. 1. ]] SLAMing on 130.56486062399998 meters Centerline goodness : 0.797958 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.94092572 -0.25469402 -0.22313617 -3.95857434] [ 0.26577656 0.96381438 0.02060734 -0.92238067] [ 0.20981329 -0.07869434 0.97456944 1.01742818] [ 0. 0. 0. 1. ]] SLAMing on 130.62486062399998 meters Centerline goodness : 0.798361 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.94054418 -0.25573584 -0.22355275 -3.95783538] [ 0.26688597 0.96350701 0.02064288 -0.9229993 ] [ 0.21011552 -0.07907863 0.97447321 1.01809426] [ 0. 0. 0. 1. ]] SLAMing on 130.68486062399998 meters Centerline goodness : 0.799600 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93948364 -0.26008313 -0.22299607 -3.9573957 ] [ 0.27052092 0.96256299 0.01705673 -0.92204769] [ 0.21021159 -0.07634962 0.97467011 1.01850081] [ 0. 0. 0. 1. ]] SLAMing on 130.74486062399998 meters Centerline goodness : 0.801549 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93843392 -0.2645618 -0.22214596 -3.95748007] [ 0.27413638 0.96160495 0.01285167 -0.91980773] [ 0.2102166 -0.07295873 0.97492872 1.01888688] [ 0. 0. 0. 1. ]] SLAMing on 130.80486062399999 meters Centerline goodness : 0.803372 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93827585 -0.26534983 -0.22187359 -3.95858815] [ 0.27473476 0.96144544 0.01197803 -0.91838319] [ 0.21014099 -0.07219509 0.97500186 1.01936106] [ 0. 0. 0. 1. ]] SLAMing on 130.864860624 meters Centerline goodness : 0.802340 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.92, Z:1.02 [[ 0.93822776 -0.26568688 -0.22167353 -3.95992856] [ 0.27485415 0.96142301 0.01099958 -0.91549628] [ 0.21019959 -0.071248 0.9750589 1.02008337] [ 0. 0. 0. 1. ]] SLAMing on 130.924860624 meters Centerline goodness : 0.801071 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93839041 -0.26521106 -0.22155478 -3.96029934] [ 0.27427661 0.96159216 0.01062337 -0.91276119] [ 0.21022791 -0.07073617 0.97509006 1.02005848] [ 0. 0. 0. 1. ]] SLAMing on 130.984860624 meters Centerline goodness : 0.800990 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93864242 -0.26440668 -0.22144866 -3.96060645] [ 0.27339547 0.96184554 0.01039608 -0.91036313] [ 0.21025061 -0.07030126 0.97511662 1.02014207] [ 0. 0. 0. 1. ]] SLAMing on 131.044860624 meters Centerline goodness : 0.801353 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93866958 -0.26427754 -0.22148772 -3.9604114 ] [ 0.2732617 0.96188377 0.01037606 -0.90981667] [ 0.21030328 -0.0702638 0.97510796 1.02001979] [ 0. 0. 0. 1. ]] SLAMing on 131.10486062399997 meters Centerline goodness : 0.801991 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93857224 -0.26466929 -0.22143243 -3.9606629 ] [ 0.27358397 0.96179585 0.01002785 -0.90988256] [ 0.21031873 -0.06999222 0.97512416 1.02037965] [ 0. 0. 0. 1. ]] SLAMing on 131.16486062399997 meters Centerline goodness : 0.803138 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93828093 -0.26585999 -0.22124053 -3.96216661] [ 0.27466996 0.96149192 0.00947092 -0.91110464] [ 0.21020304 -0.06965451 0.97517328 1.02158726] [ 0. 0. 0. 1. ]] SLAMing on 131.22486062399997 meters Centerline goodness : 0.802576 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93807997 -0.26628435 -0.22158209 -3.96074811] [ 0.27527806 0.96131099 0.01015767 -0.91323517] [ 0.21030447 -0.0705254 0.97508882 1.0214965 ] [ 0. 0. 0. 1. ]] SLAMing on 131.28486062399998 meters Centerline goodness : 0.801912 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93704147 -0.27067468 -0.22065474 -3.96098773] [ 0.2788508 0.9603146 0.00617216 -0.91199557] [ 0.21022732 -0.06731332 0.97533245 1.02206646] [ 0. 0. 0. 1. ]] SLAMing on 131.34486062399998 meters Centerline goodness : 0.802626 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93693191 -0.27123402 -0.22043298 -3.96183016] [ 0.27928304 0.96019255 0.0055904 -0.91131693] [ 0.2101418 -0.06680101 0.9753861 1.02246453] [ 0. 0. 0. 1. ]] SLAMing on 131.40486062399998 meters Centerline goodness : 0.803785 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.91, Z:1.02 [[ 0.93672243 -0.27219829 -0.22013446 -3.96356565] [ 0.28006863 0.95996825 0.00474645 -0.91120252] [ 0.21003011 -0.06609886 0.97545799 1.0237024 ] [ 0. 0. 0. 1. ]] SLAMing on 131.46486062399998 meters Centerline goodness : 0.799845 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.02 [[ 0.93655423 -0.27308105 -0.21975647 -3.96509036] [ 0.2807929 0.95975992 0.00402959 -0.91061994] [ 0.20981305 -0.06547999 0.97554644 1.02437008] [ 0. 0. 0. 1. ]] SLAMing on 131.52486062399998 meters Centerline goodness : 0.801213 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.02 [[ 9.36505952e-01 -2.73463016e-01 -2.19487087e-01 -3.96615901e+00] [ 2.81041221e-01 9.59689497e-01 3.44982333e-03 -9.09226882e-01] [ 2.09696054e-01 -6.49156990e-02 9.75609306e-01 1.02470141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584860624 meters Centerline goodness : 0.796321 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.02 [[ 9.36545254e-01 -2.73342020e-01 -2.19470106e-01 -3.96634168e+00] [ 2.80870624e-01 9.59740176e-01 3.23839785e-03 -9.08231887e-01] [ 2.09749088e-01 -6.46756118e-02 9.75613851e-01 1.02481762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644860624 meters Centerline goodness : 0.794029 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.03 [[ 9.36600921e-01 -2.73260738e-01 -2.19333726e-01 -3.96683858e+00] [ 2.80759935e-01 9.59772844e-01 3.15399771e-03 -9.08482171e-01] [ 2.09648691e-01 -6.45341599e-02 9.75644796e-01 1.02519922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704860624 meters Centerline goodness : 0.795952 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.03 [[ 9.36511286e-01 -2.73664004e-01 -2.19213648e-01 -3.96730074e+00] [ 2.81134490e-01 9.59663653e-01 3.01178737e-03 -9.09426592e-01] [ 2.09547152e-01 -6.44490899e-02 9.75672233e-01 1.02559378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764860624 meters Centerline goodness : 0.797373 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.03 [[ 9.36340341e-01 -2.74311195e-01 -2.19134966e-01 -3.96741752e+00] [ 2.81807700e-01 9.59465952e-01 3.08333356e-03 -9.12471457e-01] [ 2.09406746e-01 -6.46409706e-02 9.75689684e-01 1.02609593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824860624 meters Centerline goodness : 0.795681 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.91, Z:1.03 [[ 9.36264447e-01 -2.74563342e-01 -2.19143462e-01 -3.96728687e+00] [ 2.82101675e-01 9.59379021e-01 3.24654101e-03 -9.14353737e-01] [ 2.09350259e-01 -6.48603587e-02 9.75687246e-01 1.02629390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88486062399997 meters Centerline goodness : 0.796039 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.92, Z:1.03 [[ 9.36203064e-01 -2.74633728e-01 -2.19317437e-01 -3.96716255e+00] [ 2.82213115e-01 9.59345804e-01 3.37441672e-03 -9.15959742e-01] [ 2.09474534e-01 -6.50533963e-02 9.75647721e-01 1.02686046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94486062399997 meters Centerline goodness : 0.800362 with order 3 Centerline is valid? [False, False] Translation: X:-3.91, Y:-0.90, Z:1.04 [[ 9.34400347e-01 -2.83593290e-01 -2.15570955e-01 -3.90690157e+00] [ 2.90093404e-01 9.56997078e-01 -1.55202862e-03 -8.96738866e-01] [ 2.06740919e-01 -6.10854961e-02 9.76486945e-01 1.03642483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00486062399997 meters Centerline goodness : 0.798732 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.91, Z:1.02 [[ 0.93594326 -0.28174496 -0.21125813 -3.99132932] [ 0.28611964 0.95813939 -0.01022063 -0.91219263] [ 0.20529434 -0.05087917 0.97737687 1.0191079 ] [ 0. 0. 0. 1. ]] SLAMing on 132.06486062399998 meters Centerline goodness : 0.799348 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.91, Z:1.02 [[ 0.93608838 -0.2811509 -0.2114065 -3.99099191] [ 0.28553337 0.95831497 -0.01015409 -0.91190688] [ 0.20544885 -0.05085849 0.97734548 1.0193771 ] [ 0. 0. 0. 1. ]] SLAMing on 132.12486062399998 meters Centerline goodness : 0.800144 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.91, Z:1.02 [[ 0.93746419 -0.27599623 -0.21210132 -3.99082031] [ 0.28111424 0.95965394 -0.00625331 -0.91237649] [ 0.20526975 -0.05376245 0.97722767 1.0182557 ] [ 0. 0. 0. 1. ]] SLAMing on 132.18486062399998 meters Centerline goodness : 0.796312 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.91, Z:1.02 [[ 9.39052015e-01 -2.70414478e-01 -2.12267104e-01 -3.99090937e+00] [ 2.76218764e-01 9.61091794e-01 -2.39956343e-03 -9.13934002e-01] [ 2.04657048e-01 -5.63788422e-02 9.77208739e-01 1.01652392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24486062399998 meters Centerline goodness : 0.795638 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.02 [[ 9.40103222e-01 -2.65818462e-01 -2.13416209e-01 -3.98922704e+00] [ 2.72435039e-01 9.62172750e-01 1.65768842e-03 -9.15623107e-01] [ 2.04902617e-01 -5.97004515e-02 9.76959965e-01 1.01546234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30486062399999 meters Centerline goodness : 0.795350 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 9.41392219e-01 -2.61544736e-01 -2.13014182e-01 -3.98976014e+00] [ 2.68517080e-01 9.63266803e-01 3.95526747e-03 -9.17866293e-01] [ 2.04155011e-01 -6.09214042e-02 9.77041101e-01 1.01429622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364860624 meters Centerline goodness : 0.795639 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.94178647 -0.26036118 -0.21272117 -3.98977838] [ 0.26738002 0.96358112 0.00439901 -0.91829338] [ 0.20382878 -0.06102032 0.97710304 1.01346425] [ 0. 0. 0. 1. ]] SLAMing on 132.424860624 meters Centerline goodness : 0.798418 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.9422402 -0.25929085 -0.21201808 -3.9897735 ] [ 0.26627821 0.96388533 0.00458165 -0.91953649] [ 0.20317314 -0.06077281 0.977255 1.01202582] [ 0. 0. 0. 1. ]] SLAMing on 132.484860624 meters Centerline goodness : 0.796285 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.94211679 -0.25916797 -0.21271559 -3.98834258] [ 0.26633106 0.96386745 0.00522477 -0.91942984] [ 0.20367554 -0.06157511 0.97710019 1.01197643] [ 0. 0. 0. 1. ]] SLAMing on 132.544860624 meters Centerline goodness : 0.798532 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.94199756 -0.25962553 -0.21268563 -3.98756138] [ 0.26676885 0.96374711 0.00508852 -0.9195284 ] [ 0.20365405 -0.06153128 0.97710743 1.01131115] [ 0. 0. 0. 1. ]] SLAMing on 132.60486062399997 meters Centerline goodness : 0.798007 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.94176954 -0.26014298 -0.2130628 -3.98624595] [ 0.26732962 0.96359153 0.00512209 -0.9197195 ] [ 0.20397303 -0.06178182 0.97702508 1.0111355 ] [ 0. 0. 0. 1. ]] SLAMing on 132.66486062399997 meters Centerline goodness : 0.797446 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.94143258 -0.26095701 -0.21355595 -3.98633111] [ 0.26823303 0.96333945 0.005306 -0.91940849] [ 0.20434223 -0.06227801 0.97691643 1.01227809] [ 0. 0. 0. 1. ]] SLAMing on 132.72486062399997 meters Centerline goodness : 0.797698 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.92, Z:1.01 [[ 0.94110421 -0.2615196 -0.2143137 -3.98541794] [ 0.26890619 0.96315047 0.00553401 -0.91864382] [ 0.20496909 -0.06283836 0.97674921 1.01288034] [ 0. 0. 0. 1. ]] SLAMing on 132.78486062399998 meters Centerline goodness : 0.795012 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.92, Z:1.01 [[ 0.94081691 -0.26226127 -0.21466849 -3.9839253 ] [ 0.26956648 0.96296904 0.00495286 -0.91778832] [ 0.20542017 -0.06252716 0.97667441 1.01227758] [ 0. 0. 0. 1. ]] SLAMing on 132.84486062399998 meters Centerline goodness : 0.794177 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.92, Z:1.01 [[ 0.94107428 -0.26007633 -0.21619321 -3.98291343] [ 0.2680738 0.96336519 0.00799693 -0.91739443] [ 0.2061932 -0.06548144 0.97631785 1.01282555] [ 0. 0. 0. 1. ]] SLAMing on 132.90486062399998 meters Centerline goodness : 0.795154 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.92, Z:1.01 [[ 0.9410675 -0.25992331 -0.21640666 -3.98237872] [ 0.26791333 0.96341055 0.00790946 -0.9161374 ] [ 0.2064326 -0.06542157 0.97627127 1.0124421 ] [ 0. 0. 0. 1. ]] SLAMing on 132.96486062399998 meters Centerline goodness : 0.791201 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.92, Z:1.01 [[ 0.94109285 -0.25984782 -0.21638706 -3.98285141] [ 0.26780021 0.96344333 0.00774636 -0.91530668] [ 0.20646379 -0.06523854 0.97627693 1.01263246] [ 0. 0. 0. 1. ]] SLAMing on 133.02486062399998 meters Centerline goodness : 0.779271 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.92, Z:1.01 [[ 0.94091575 -0.26044836 -0.2164352 -3.98273787] [ 0.26837382 0.96328537 0.00753602 -0.91501873] [ 0.20652612 -0.0651763 0.9762679 1.01270773] [ 0. 0. 0. 1. ]] SLAMing on 133.084860624 meters Centerline goodness : 0.793332 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.91, Z:1.01 [[ 0.94082106 -0.26053563 -0.21674161 -3.98136527] [ 0.26847994 0.96325595 0.00751626 -0.91464116] [ 0.20681939 -0.06526223 0.97620007 1.01202627] [ 0. 0. 0. 1. ]] SLAMing on 133.144860624 meters Centerline goodness : 0.791836 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.91, Z:1.01 [[ 0.94077551 -0.2609316 -0.2164628 -3.98212314] [ 0.26874401 0.96318664 0.0069386 -0.91326296] [ 0.20668358 -0.06470075 0.97626621 1.01215132] [ 0. 0. 0. 1. ]] SLAMing on 133.204860624 meters Centerline goodness : 0.791166 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.91, Z:1.01 [[ 0.94074472 -0.26119841 -0.21627473 -3.9827708 ] [ 0.26884833 0.96316256 0.00620096 -0.9110641 ] [ 0.20668804 -0.06397861 0.97631286 1.01241001] [ 0. 0. 0. 1. ]] SLAMing on 133.264860624 meters Centerline goodness : 0.791154 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.91, Z:1.01 [[ 0.94167376 -0.25738811 -0.21679921 -3.98403642] [ 0.26559764 0.96404098 0.00910352 -0.90893576] [ 0.20666018 -0.0661539 0.97617377 1.01233239] [ 0. 0. 0. 1. ]] SLAMing on 133.324860624 meters Centerline goodness : 0.791230 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.91, Z:1.01 [[ 0.94177399 -0.25698693 -0.21683974 -3.98389621] [ 0.26510308 0.96418088 0.00869442 -0.90633401] [ 0.20683838 -0.06567306 0.9761685 1.01221546] [ 0. 0. 0. 1. ]] SLAMing on 133.38486062399997 meters Centerline goodness : 0.791033 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.90, Z:1.01 [[ 0.94196357 -0.2564624 -0.2166372 -3.9845267 ] [ 0.26441772 0.96437457 0.00805977 -0.90239485] [ 0.20685238 -0.06487473 0.97621891 1.01226271] [ 0. 0. 0. 1. ]] SLAMing on 133.44486062399997 meters Centerline goodness : 0.790726 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.90, Z:1.01 [[ 0.94202165 -0.25631379 -0.21656052 -3.98470188] [ 0.2641475 0.96445292 0.00752715 -0.89995205] [ 0.20693311 -0.06429466 0.97624018 1.01225288] [ 0. 0. 0. 1. ]] SLAMing on 133.50486062399997 meters Centerline goodness : 0.787216 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94197514 -0.25673185 -0.2162674 -3.98554976] [ 0.26446128 0.96437031 0.0070809 -0.89940646] [ 0.20674397 -0.06386439 0.97630849 1.01248351] [ 0. 0. 0. 1. ]] SLAMing on 133.56486062399998 meters Centerline goodness : 0.786651 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94193124 -0.25685297 -0.2163148 -3.98540882] [ 0.26455681 0.96434519 0.00693152 -0.8998013 ] [ 0.20682175 -0.06375657 0.97629906 1.01273977] [ 0. 0. 0. 1. ]] SLAMing on 133.62486062399998 meters Centerline goodness : 0.784251 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94184095 -0.25727583 -0.21620537 -3.9858144 ] [ 0.2649475 0.9642391 0.00676664 -0.90009309] [ 0.20673278 -0.06365617 0.97632446 1.01290307] [ 0. 0. 0. 1. ]] SLAMing on 133.68486062399998 meters Centerline goodness : 0.787185 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94174887 -0.2576293 -0.21618559 -3.98588187] [ 0.26525664 0.96415577 0.00652382 -0.90050969] [ 0.20675586 -0.06348846 0.97633049 1.01316608] [ 0. 0. 0. 1. ]] SLAMing on 133.74486062399998 meters Centerline goodness : 0.789078 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94163195 -0.25815861 -0.21606342 -3.9865593 ] [ 0.26571923 0.9640306 0.00618759 -0.90074403] [ 0.20669437 -0.06323864 0.97635973 1.01365661] [ 0. 0. 0. 1. ]] SLAMing on 133.80486062399999 meters Centerline goodness : 0.787768 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94157498 -0.25847931 -0.21592824 -3.98724449] [ 0.26593642 0.96397369 0.00570475 -0.89964602] [ 0.20667459 -0.06279463 0.97639257 1.01401925] [ 0. 0. 0. 1. ]] SLAMing on 133.864860624 meters Centerline goodness : 0.788692 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.90, Z:1.01 [[ 0.94187747 -0.25745118 -0.21583724 -3.98753528] [ 0.26486167 0.96426999 0.00562829 -0.89643103] [ 0.20667637 -0.06246817 0.97641313 1.01391222] [ 0. 0. 0. 1. ]] SLAMing on 133.924860624 meters Centerline goodness : 0.790196 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.89, Z:1.01 [[ 0.94299423 -0.25303405 -0.21618428 -3.98925872] [ 0.2609931 0.9653023 0.00860672 -0.89314734] [ 0.20650539 -0.0645387 0.97631464 1.01387676] [ 0. 0. 0. 1. ]] SLAMing on 133.984860624 meters Centerline goodness : 0.787806 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.89, Z:1.01 [[ 0.9439173 -0.24891347 -0.21693828 -3.98991513] [ 0.25749005 0.96620964 0.01173936 -0.89178846] [ 0.20668577 -0.06694044 0.97611473 1.01398612] [ 0. 0. 0. 1. ]] SLAMing on 134.044860624 meters Centerline goodness : 0.785476 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.89, Z:1.01 [[ 0.94489288 -0.24476169 -0.21741472 -3.99136157] [ 0.2538979 0.96711956 0.01468393 -0.88943372] [ 0.20667196 -0.06907588 0.97596886 1.01417393] [ 0. 0. 0. 1. ]] SLAMing on 134.10486062399997 meters Centerline goodness : 0.787821 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.89, Z:1.01 [[ 0.94510649 -0.24393664 -0.21741352 -3.99121883] [ 0.25302084 0.96735171 0.01453042 -0.88649372] [ 0.20677083 -0.06874295 0.97597143 1.01395782] [ 0. 0. 0. 1. ]] SLAMing on 134.16486062399997 meters Centerline goodness : 0.786124 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.89, Z:1.01 [[ 0.94604576 -0.23950699 -0.21825175 -3.99091915] [ 0.24931043 0.96825402 0.0181234 -0.88543782] [ 0.20698245 -0.071558 0.9757242 1.01321852] [ 0. 0. 0. 1. ]] SLAMing on 134.22486062399997 meters Centerline goodness : 0.786001 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.01 [[ 0.94622092 -0.23870542 -0.21837055 -3.9899526 ] [ 0.24849579 0.96846369 0.01810859 -0.88320039] [ 0.20716133 -0.07139889 0.9756979 1.01259404] [ 0. 0. 0. 1. ]] SLAMing on 134.28486062399998 meters Centerline goodness : 0.784582 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.01 [[ 0.94711088 -0.23461075 -0.21894924 -3.99120764] [ 0.24500858 0.9692888 0.0212137 -0.88136108] [ 0.20724809 -0.07373617 0.97550562 1.01281311] [ 0. 0. 0. 1. ]] SLAMing on 134.34486062399998 meters Centerline goodness : 0.784595 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.01 [[ 0.94797522 -0.23074363 -0.21931796 -3.99320052] [ 0.2417205 0.97004339 0.02422835 -0.8803828 ] [ 0.2071574 -0.07598152 0.97535256 1.01348266] [ 0. 0. 0. 1. ]] SLAMing on 134.40486062399998 meters Centerline goodness : 0.785105 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.01 [[ 0.94795322 -0.23078495 -0.21936956 -3.99326068] [ 0.24168205 0.97006287 0.02382905 -0.87943388] [ 0.20730288 -0.07560651 0.97535079 1.01383545] [ 0. 0. 0. 1. ]] SLAMing on 134.46486062399998 meters Centerline goodness : 0.783529 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.01 [[ 0.94803672 -0.2305439 -0.21926214 -3.99369234] [ 0.2413231 0.97016409 0.02334081 -0.87694168] [ 0.20733917 -0.07504097 0.97538676 1.01400809] [ 0. 0. 0. 1. ]] SLAMing on 134.52486062399998 meters Centerline goodness : 0.783632 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.01 [[ 0.94806525 -0.2302855 -0.21941027 -3.99354818] [ 0.2409913 0.97025543 0.02296939 -0.87528379] [ 0.20759449 -0.07465245 0.97536226 1.01430506] [ 0. 0. 0. 1. ]] SLAMing on 134.584860624 meters Centerline goodness : 0.785857 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.94826516 -0.22934935 -0.21952689 -3.99284587] [ 0.24002198 0.97049793 0.02287379 -0.87331482] [ 0.20780431 -0.0743817 0.97533827 1.01421125] [ 0. 0. 0. 1. ]] SLAMing on 134.644860624 meters Centerline goodness : 0.782280 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.94853601 -0.22796809 -0.21979534 -3.99143225] [ 0.23867127 0.97082633 0.02307084 -0.8710686 ] [ 0.20812369 -0.07434236 0.97527316 1.0136566 ] [ 0. 0. 0. 1. ]] SLAMing on 134.704860624 meters Centerline goodness : 0.786454 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.94865705 -0.22720108 -0.22006696 -3.99063921] [ 0.23790859 0.97101338 0.02307649 -0.86970758] [ 0.20844496 -0.0742475 0.97521178 1.01363335] [ 0. 0. 0. 1. ]] SLAMing on 134.764860624 meters Centerline goodness : 0.785413 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.94954796 -0.22268762 -0.2208368 -3.99053398] [ 0.23413099 0.9718376 0.02672748 -0.87068739] [ 0.20866563 -0.07708376 0.97494449 1.0138103 ] [ 0. 0. 0. 1. ]] SLAMing on 134.824860624 meters Centerline goodness : 0.784370 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.94971171 -0.22189368 -0.22093183 -3.99035826] [ 0.23331611 0.97203484 0.02668088 -0.86922723] [ 0.20883311 -0.0768861 0.97492423 1.01411372] [ 0. 0. 0. 1. ]] SLAMing on 134.88486062399997 meters Centerline goodness : 0.784101 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.95007217 -0.22011875 -0.22115744 -3.9889986 ] [ 0.23167394 0.97240726 0.02740986 -0.86894428] [ 0.20902168 -0.07727776 0.97485285 1.01385839] [ 0. 0. 0. 1. ]] SLAMing on 134.94486062399997 meters Centerline goodness : 0.783596 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.95018292 -0.21942213 -0.22137379 -3.9878064 ] [ 0.23102301 0.97255625 0.02761732 -0.86902205] [ 0.20923861 -0.07738395 0.97479789 1.01363653] [ 0. 0. 0. 1. ]] SLAMing on 135.00486062399997 meters Centerline goodness : 0.785616 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.95028024 -0.21882074 -0.22155124 -3.98713354] [ 0.23044646 0.97268976 0.0277318 -0.86908945] [ 0.20943233 -0.07740868 0.97475433 1.01385437] [ 0. 0. 0. 1. ]] SLAMing on 135.06486062399998 meters Centerline goodness : 0.784314 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.01 [[ 0.95029169 -0.21856807 -0.22175145 -3.98652003] [ 0.23020605 0.97274643 0.02774089 -0.86979321] [ 0.20964466 -0.07741046 0.97470854 1.01427669] [ 0. 0. 0. 1. ]] SLAMing on 135.12486062399998 meters Centerline goodness : 0.785646 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.02 [[ 0.95024668 -0.21857002 -0.22194232 -3.98635399] [ 0.23023665 0.97273745 0.02780168 -0.87156817] [ 0.20981499 -0.07751771 0.97466336 1.01501167] [ 0. 0. 0. 1. ]] SLAMing on 135.18486062399998 meters Centerline goodness : 0.785667 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.02 [[ 0.95020266 -0.21876931 -0.22193444 -3.98683634] [ 0.23046463 0.97268019 0.02791603 -0.87446786] [ 0.20976407 -0.07767392 0.97466189 1.0160475 ] [ 0. 0. 0. 1. ]] SLAMing on 135.24486062399998 meters Centerline goodness : 0.785446 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.02 [[ 0.95015505 -0.21903764 -0.22187359 -3.9871102 ] [ 0.23074113 0.97261373 0.02794758 -0.87619258] [ 0.20967573 -0.0777499 0.97467484 1.01656286] [ 0. 0. 0. 1. ]] SLAMing on 135.30486062399999 meters Centerline goodness : 0.784053 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.02 [[ 0.94943447 -0.22255954 -0.22145301 -3.98547964] [ 0.23359707 0.97202171 0.02462104 -0.87703633] [ 0.20977749 -0.07510684 0.97486018 1.01676921] [ 0. 0. 0. 1. ]] SLAMing on 135.364860624 meters Centerline goodness : 0.784344 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.02 [[ 0.94851263 -0.22708953 -0.22080337 -3.98555828] [ 0.23744025 0.97117166 0.0211598 -0.88017847] [ 0.2096328 -0.07249795 0.97508878 1.01805335] [ 0. 0. 0. 1. ]] SLAMing on 135.424860624 meters Centerline goodness : 0.784506 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.88, Z:1.02 [[ 0.94760195 -0.23156695 -0.22006201 -3.98560009] [ 0.24115057 0.97033264 0.01734864 -0.88172785] [ 0.20951598 -0.06950768 0.9753316 1.01926184] [ 0. 0. 0. 1. ]] SLAMing on 135.484860624 meters Centerline goodness : 0.786982 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.89, Z:1.02 [[ 0.94662311 -0.23621851 -0.21932966 -3.98560857] [ 0.24510227 0.96939883 0.0138127 -0.88541801] [ 0.2093551 -0.06683362 0.97555303 1.02076767] [ 0. 0. 0. 1. ]] SLAMing on 135.544860624 meters Centerline goodness : 0.789432 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 0.94566871 -0.24049765 -0.21879572 -3.9840737 ] [ 0.24873023 0.96851622 0.01046877 -0.88794385] [ 0.20938949 -0.0643211 0.97571453 1.02103006] [ 0. 0. 0. 1. ]] SLAMing on 135.60486062399997 meters Centerline goodness : 0.794024 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 0.94458159 -0.24535454 -0.21809809 -3.98351121] [ 0.25293594 0.96745697 0.00710081 -0.88968049] [ 0.2092583 -0.06187214 0.97590102 1.02167203] [ 0. 0. 0. 1. ]] SLAMing on 135.66486062399997 meters Centerline goodness : 0.789640 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 0.94317797 -0.24986616 -0.21904843 -3.98082835] [ 0.25733591 0.96630471 0.0057828 -0.8915819 ] [ 0.2102226 -0.06182324 0.97569685 1.02327461] [ 0. 0. 0. 1. ]] SLAMing on 135.72486062399997 meters Centerline goodness : 0.793608 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 9.41938154e-01 -2.54498277e-01 -2.19050544e-01 -3.97949811e+00] [ 2.61467591e-01 9.65207798e-01 2.93347187e-03 -8.91284721e-01] [ 2.10682730e-01 -6.00377672e-02 9.75709103e-01 1.02397832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78486062399998 meters Centerline goodness : 0.792397 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 9.41720855e-01 -2.65391372e-01 -2.06710546e-01 -3.97823337e+00] [ 2.71323401e-01 9.62488172e-01 3.62094973e-04 -8.87470073e-01] [ 1.98860359e-01 -5.64264008e-02 9.78402074e-01 1.01995211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84486062399998 meters Centerline goodness : 0.789659 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 9.40491969e-01 -2.69855211e-01 -2.06526077e-01 -3.97717005e+00] [ 2.75300762e-01 9.61354996e-01 -2.46215670e-03 -8.87674635e-01] [ 1.99209302e-01 -5.45411477e-02 9.78437999e-01 1.02076007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90486062399998 meters Centerline goodness : 0.790347 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 9.39337175e-01 -2.73165082e-01 -2.07428324e-01 -3.97588616e+00] [ 2.78723561e-01 9.60368057e-01 -2.52432365e-03 -8.89061401e-01] [ 1.99897093e-01 -5.54439700e-02 9.78246962e-01 1.02256456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96486062399998 meters Centerline goodness : 0.789452 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 0.93818502 -0.278131 -0.20603887 -3.97738828] [ 0.28279412 0.95915455 -0.00707347 -0.88694988] [ 0.19959047 -0.05163036 0.97851824 1.02335926] [ 0. 0. 0. 1. ]] SLAMing on 136.02486062399998 meters Centerline goodness : 0.786267 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.89, Z:1.02 [[ 0.93804424 -0.27901983 -0.20547732 -3.9786829 ] [ 0.28350832 0.9589374 -0.00788022 -0.88510437] [ 0.19923863 -0.05086254 0.97863015 1.02318517] [ 0. 0. 0. 1. ]] SLAMing on 136.084860624 meters Centerline goodness : 0.790571 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.88, Z:1.02 [[ 0.93794444 -0.27958885 -0.2051592 -3.9796619 ] [ 0.2838977 0.95881472 -0.00874264 -0.88234204] [ 0.199154 -0.05004412 0.97868957 1.02320459] [ 0. 0. 0. 1. ]] SLAMing on 136.144860624 meters Centerline goodness : 0.789905 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.88, Z:1.02 [[ 0.93785186 -0.28011914 -0.20485888 -3.9804789 ] [ 0.28421735 0.9587102 -0.00975946 -0.87831023] [ 0.19913411 -0.04907152 0.97874286 1.02286852] [ 0. 0. 0. 1. ]] SLAMing on 136.204860624 meters Centerline goodness : 0.786495 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.88, Z:1.02 [[ 0.93774051 -0.28072564 -0.20453816 -3.98127073] [ 0.28464766 0.95857347 -0.01061176 -0.87570436] [ 0.19904385 -0.04827023 0.97880107 1.02273011] [ 0. 0. 0. 1. ]] SLAMing on 136.264860624 meters Centerline goodness : 0.788498 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.87, Z:1.02 [[ 0.93747996 -0.28209802 -0.20384314 -3.98380632] [ 0.28569134 0.95824391 -0.01220939 -0.87112402] [ 0.19877569 -0.04679016 0.97892743 1.02307328] [ 0. 0. 0. 1. ]] SLAMing on 136.324860624 meters Centerline goodness : 0.787475 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.87, Z:1.02 [[ 0.93734909 -0.28272016 -0.20358291 -3.98465272] [ 0.28615999 0.95809405 -0.01297114 -0.86908177] [ 0.19871878 -0.0460988 0.97897178 1.02315946] [ 0. 0. 0. 1. ]] SLAMing on 136.38486062399997 meters Centerline goodness : 0.785933 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.87, Z:1.02 [[ 0.93711571 -0.28384664 -0.2030892 -3.98505776] [ 0.28705444 0.95781017 -0.01412175 -0.86540646] [ 0.19852931 -0.04506394 0.9790584 1.0220381 ] [ 0. 0. 0. 1. ]] SLAMing on 136.44486062399997 meters Centerline goodness : 0.785568 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.86, Z:1.02 [[ 0.93691904 -0.28487409 -0.20255732 -3.98674569] [ 0.28785528 0.95755281 -0.01522974 -0.86277172] [ 0.19829789 -0.04403816 0.97915197 1.02225008] [ 0. 0. 0. 1. ]] SLAMing on 136.50486062399997 meters Centerline goodness : 0.771875 with order 1 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.86, Z:1.02 [[ 0.93673316 -0.28591324 -0.20195198 -3.98958106] [ 0.28856377 0.95731256 -0.01684105 -0.85718218] [ 0.19814624 -0.04250045 0.97925062 1.02297398] [ 0. 0. 0. 1. ]] SLAMing on 136.56486062399998 meters Centerline goodness : 0.784667 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.85, Z:1.02 [[ 0.93674204 -0.28624427 -0.2014412 -3.99099804] [ 0.28865682 0.95726448 -0.01794317 -0.85194503] [ 0.19796864 -0.04133926 0.97933625 1.02269279] [ 0. 0. 0. 1. ]] SLAMing on 136.62486062399998 meters Centerline goodness : 0.782922 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.85, Z:1.02 [[ 0.93670642 -0.28661621 -0.20107768 -3.99212826] [ 0.28882109 0.95719584 -0.01893434 -0.84784542] [ 0.1978976 -0.04033955 0.97939229 1.02262414] [ 0. 0. 0. 1. ]] SLAMing on 136.68486062399998 meters Centerline goodness : 0.783675 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.84, Z:1.02 [[ 0.93759086 -0.28362483 -0.20119725 -3.99491192] [ 0.28619813 0.95802297 -0.01681113 -0.84278394] [ 0.19751964 -0.04182032 0.97940648 1.02239277] [ 0. 0. 0. 1. ]] SLAMing on 136.74486062399998 meters Centerline goodness : 0.782573 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.84, Z:1.02 [[ 0.93768123 -0.28350587 -0.20094361 -3.99515024] [ 0.28591439 0.95809424 -0.01756106 -0.838469 ] [ 0.19750158 -0.04098599 0.97944539 1.02182711] [ 0. 0. 0. 1. ]] SLAMing on 136.80486062399999 meters Centerline goodness : 0.787763 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.83, Z:1.02 [[ 0.93769332 -0.28380918 -0.20045844 -3.9962373 ] [ 0.28600811 0.95804797 -0.01853207 -0.83229893] [ 0.19730837 -0.03995534 0.97952692 1.02090188] [ 0. 0. 0. 1. ]] SLAMing on 136.864860624 meters Centerline goodness : 0.786982 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.83, Z:1.02 [[ 0.93745512 -0.28508464 -0.19976146 -3.99873033] [ 0.28701129 0.95772089 -0.01988024 -0.82848849] [ 0.19698327 -0.03869696 0.97964286 1.02125923] [ 0. 0. 0. 1. ]] SLAMing on 136.924860624 meters Centerline goodness : 0.783788 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.82, Z:1.02 [[ 0.93702011 -0.28738058 -0.19850874 -4.00244941] [ 0.28897705 0.95709401 -0.02152513 -0.82499959] [ 0.19617743 -0.03719499 0.97986272 1.02126658] [ 0. 0. 0. 1. ]] SLAMing on 136.984860624 meters Centerline goodness : 0.784503 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.82, Z:1.02 [[ 0.93668369 -0.28911878 -0.19757022 -4.00512404] [ 0.29048387 0.95661086 -0.02268891 -0.82275741] [ 0.1955576 -0.03613863 0.98002613 1.0212483 ] [ 0. 0. 0. 1. ]] SLAMing on 137.044860624 meters Centerline goodness : 0.789093 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.82, Z:1.02 [[ 0.93629509 -0.29112479 -0.1964634 -4.00832338] [ 0.29219358 0.95605335 -0.02418475 -0.81834696] [ 0.19487027 -0.03476128 0.98021285 1.02085449] [ 0. 0. 0. 1. ]] SLAMing on 137.10486062399997 meters Centerline goodness : 0.786983 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.82, Z:1.02 [[ 0.93616526 -0.29191032 -0.19591573 -4.00957343] [ 0.29282505 0.95584059 -0.02494488 -0.81538517] [ 0.19454587 -0.03401651 0.98030341 1.02034496] [ 0. 0. 0. 1. ]] SLAMing on 137.16486062399997 meters Centerline goodness : 0.790450 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.81, Z:1.02 [[ 0.9359635 -0.29298808 -0.19526983 -4.01139539] [ 0.29363876 0.95555523 -0.02627712 -0.81065333] [ 0.19428999 -0.03274436 0.98039747 1.02007705] [ 0. 0. 0. 1. ]] SLAMing on 137.22486062399997 meters Centerline goodness : 0.789255 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.81, Z:1.02 [[ 0.93582606 -0.29390851 -0.19454403 -4.01364723] [ 0.29427763 0.95531923 -0.02767385 -0.80555408] [ 0.19398523 -0.03135205 0.98050333 1.02017 ] [ 0. 0. 0. 1. ]] SLAMing on 137.28486062399998 meters Centerline goodness : 0.789154 with order 1 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.80, Z:1.02 [[ 0.93578685 -0.29426559 -0.19419251 -4.01491364] [ 0.29445961 0.95523769 -0.02853947 -0.80241666] [ 0.19389819 -0.03047499 0.9805482 1.02050451] [ 0. 0. 0. 1. ]] SLAMing on 137.34486062399998 meters Centerline goodness : 0.794557 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.80, Z:1.02 [[ 0.93667616 -0.29151425 -0.19405467 -4.01899373] [ 0.29217207 0.95601562 -0.02587705 -0.79952975] [ 0.19306282 -0.03245894 0.98064936 1.02058259] [ 0. 0. 0. 1. ]] SLAMing on 137.40486062399998 meters Centerline goodness : 0.794778 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.80, Z:1.02 [[ 0.93672938 -0.2916784 -0.19355048 -4.02050672] [ 0.29217469 0.95599414 -0.02662987 -0.79559234] [ 0.19280048 -0.03160557 0.98072884 1.02053925] [ 0. 0. 0. 1. ]] SLAMing on 137.46486062399998 meters Centerline goodness : 0.795861 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.79, Z:1.02 [[ 0.93671395 -0.29181676 -0.19341652 -4.02063609] [ 0.29223435 0.95596489 -0.02702242 -0.79364877] [ 0.192785 -0.03121068 0.98074453 1.02019983] [ 0. 0. 0. 1. ]] SLAMing on 137.52486062399998 meters Centerline goodness : 0.802329 with order 1 Centerline is valid? [False, False] Translation: X:-4.28, Y:-0.87, Z:0.96 [[ 0.94011686 -0.27084294 -0.20694056 -4.28416057] [ 0.27914911 0.96017918 0.01147689 -0.86502881] [ 0.19559158 -0.06855689 0.9782862 0.9580713 ] [ 0. 0. 0. 1. ]] SLAMing on 137.584860624 meters Centerline goodness : 0.797259 with order 1 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.77, Z:1.04 [[ 0.93278721 -0.3168559 -0.17178579 -4.10229083] [ 0.30485146 0.94785143 -0.09296911 -0.76655903] [ 0.19228521 0.03435125 0.98073768 1.04150638] [ 0. 0. 0. 1. ]] SLAMing on 137.644860624 meters Centerline goodness : 0.797351 with order 1 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.77, Z:1.04 [[ 0.933886 -0.3133402 -0.17226391 -4.10407575] [ 0.30204041 0.94913231 -0.08899132 -0.76692056] [ 0.1913858 0.03107709 0.98102278 1.04045089] [ 0. 0. 0. 1. ]] SLAMing on 137.704860624 meters Centerline goodness : 0.798353 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.77, Z:1.04 [[ 0.93487689 -0.31014299 -0.17267465 -4.1063805 ] [ 0.29948568 0.95027502 -0.08535645 -0.76790265] [ 0.19056111 0.02808419 0.98127353 1.04016409] [ 0. 0. 0. 1. ]] SLAMing on 137.764860624 meters Centerline goodness : 0.798593 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.77, Z:1.04 [[ 0.93602684 -0.30632498 -0.1732592 -4.10799672] [ 0.29635217 0.95160229 -0.08141542 -0.76912852] [ 0.18981343 0.02486128 0.98150536 1.03978908] [ 0. 0. 0. 1. ]] SLAMing on 137.82486062399997 meters Centerline goodness : 0.798434 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.77, Z:1.04 [[ 0.93721408 -0.30220594 -0.1740728 -4.10849283] [ 0.29298792 0.95300669 -0.07704753 -0.77102133] [ 0.18917677 0.0212088 0.98171398 1.03876986] [ 0. 0. 0. 1. ]] SLAMing on 137.88486062399997 meters Centerline goodness : 0.799374 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.77, Z:1.04 [[ 0.93842686 -0.2978974 -0.17496332 -4.10856845] [ 0.28948273 0.95444126 -0.07239918 -0.77304138] [ 0.18855974 0.01729248 0.98190946 1.03738418] [ 0. 0. 0. 1. ]] SLAMing on 137.94486062399997 meters Centerline goodness : 0.796877 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.77, Z:1.04 [[ 0.93858846 -0.29714999 -0.17536698 -4.10704657] [ 0.28880421 0.95468173 -0.07193696 -0.77346129] [ 0.18879572 0.01687248 0.98187143 1.03693559] [ 0. 0. 0. 1. ]] SLAMing on 138.00486062399997 meters Centerline goodness : 0.796580 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.04 [[ 0.93939292 -0.29427735 -0.17590275 -4.10813898] [ 0.28654993 0.95561952 -0.06841397 -0.77612618] [ 0.18822879 0.01386268 0.98202737 1.03640344] [ 0. 0. 0. 1. ]] SLAMing on 138.06486062399998 meters Centerline goodness : 0.797288 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.04 [[ 0.93940635 -0.29414922 -0.1760453 -4.10767283] [ 0.28645131 0.95566167 -0.0682379 -0.77614806] [ 0.18831188 0.01367471 0.98201407 1.03615682] [ 0. 0. 0. 1. ]] SLAMing on 138.12486062399998 meters Centerline goodness : 0.797812 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.04 [[ 0.93936618 -0.29439454 -0.17584948 -4.10799572] [ 0.28668662 0.95558476 -0.0683267 -0.77579077] [ 0.18815409 0.0137701 0.98204298 1.03590248] [ 0. 0. 0. 1. ]] SLAMing on 138.18486062399998 meters Centerline goodness : 0.797104 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.04 [[ 0.94014948 -0.2916386 -0.17625515 -4.11005942] [ 0.2845471 0.95646768 -0.06482696 -0.77756478] [ 0.1874884 0.01079414 0.98220751 1.03560862] [ 0. 0. 0. 1. ]] SLAMing on 138.24486062399998 meters Centerline goodness : 0.800215 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.04 [[ 0.94092718 -0.28891414 -0.17659177 -4.11256307] [ 0.282433 0.95732277 -0.06135729 -0.7788095 ] [ 0.18678231 0.0078574 0.98236991 1.03542818] [ 0. 0. 0. 1. ]] SLAMing on 138.30486062399999 meters Centerline goodness : 0.798913 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.03 [[ 0.94176082 -0.2858728 -0.17709689 -4.11380875] [ 0.28001837 0.95825553 -0.05775857 -0.77999211] [ 0.18621568 0.00480438 0.98249714 1.03462687] [ 0. 0. 0. 1. ]] SLAMing on 138.364860624 meters Centerline goodness : 0.798163 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.78, Z:1.03 [[ 9.42703167e-01 -2.82373360e-01 -1.77696440e-01 -4.11456225e+00] [ 2.77189449e-01 9.59303352e-01 -5.38803073e-02 -7.80473485e-01] [ 1.85679154e-01 1.53755806e-03 9.82609224e-01 1.03331256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424860624 meters Centerline goodness : 0.798252 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.42652467e-01 -2.82656536e-01 -1.77515098e-01 -4.11526790e+00] [ 2.77431310e-01 9.59219544e-01 -5.41270309e-02 -7.79461472e-01] [ 1.85575310e-01 1.77473314e-03 9.82628442e-01 1.03337530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484860624 meters Centerline goodness : 0.799465 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.42503036e-01 -2.83351762e-01 -1.77199904e-01 -4.11595532e+00] [ 2.78099719e-01 9.59014098e-01 -5.43369671e-02 -7.78815018e-01] [ 1.85333682e-01 1.93351300e-03 9.82673744e-01 1.03288225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544860624 meters Centerline goodness : 0.799910 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.42406851e-01 -2.83834924e-01 -1.76938023e-01 -4.11587978e+00] [ 2.78656200e-01 9.58871857e-01 -5.39952274e-02 -7.79406510e-01] [ 1.84986622e-01 1.58059503e-03 9.82739768e-01 1.03157060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60486062399997 meters Centerline goodness : 0.799133 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.42107534e-01 -2.85191076e-01 -1.76350347e-01 -4.11740314e+00] [ 2.80019926e-01 9.58469392e-01 -5.40857240e-02 -7.79989473e-01] [ 1.84451176e-01 1.57295687e-03 9.82840419e-01 1.03081147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66486062399997 meters Centerline goodness : 0.797477 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.41897853e-01 -2.86146355e-01 -1.75922420e-01 -4.11877608e+00] [ 2.80959764e-01 9.58184450e-01 -5.42602222e-02 -7.80370195e-01] [ 1.84092492e-01 1.68046513e-03 9.82907488e-01 1.03074537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72486062399997 meters Centerline goodness : 0.799668 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.41505789e-01 -2.87845094e-01 -1.75248541e-01 -4.12164912e+00] [ 2.82573667e-01 9.57674576e-01 -5.48774015e-02 -7.80538028e-01] [ 1.83627263e-01 2.14676830e-03 9.82993601e-01 1.03134805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78486062399998 meters Centerline goodness : 0.801063 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.41403927e-01 -2.88372601e-01 -1.74928243e-01 -4.12258067e+00] [ 2.83084661e-01 9.57515571e-01 -5.50182399e-02 -7.80764496e-01] [ 1.83362269e-01 2.27488478e-03 9.83042778e-01 1.03131747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84486062399998 meters Centerline goodness : 0.802701 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.78, Z:1.03 [[ 9.41229419e-01 -2.89269571e-01 -1.74385480e-01 -4.12475723e+00] [ 2.83896404e-01 9.57243604e-01 -5.55654046e-02 -7.80345771e-01] [ 1.83002766e-01 2.79238269e-03 9.83108433e-01 1.03203299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90486062399998 meters Centerline goodness : 0.800307 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.78, Z:1.03 [[ 9.41147152e-01 -2.89720961e-01 -1.74079877e-01 -4.12593030e+00] [ 2.84320913e-01 9.57106516e-01 -5.57560283e-02 -7.80246537e-01] [ 1.82766675e-01 2.98007765e-03 9.83151800e-01 1.03229669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96486062399998 meters Centerline goodness : 0.799867 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.78, Z:1.03 [[ 9.41107197e-01 -2.89925693e-01 -1.73954984e-01 -4.12646169e+00] [ 2.84502569e-01 9.57044079e-01 -5.59009733e-02 -7.80163134e-01] [ 1.82689716e-01 3.11816846e-03 9.83165675e-01 1.03254192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02486062399998 meters Centerline goodness : 0.798678 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.78, Z:1.03 [[ 9.41007448e-01 -2.90327956e-01 -1.73823647e-01 -4.12701882e+00] [ 2.84936593e-01 9.56922659e-01 -5.57688419e-02 -7.81207139e-01] [ 1.82527040e-01 2.95017799e-03 9.83196408e-01 1.03254525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084860624 meters Centerline goodness : 0.795372 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.78, Z:1.03 [[ 9.40856230e-01 -2.90721660e-01 -1.73984111e-01 -4.12599162e+00] [ 2.85450979e-01 9.56805079e-01 -5.51523296e-02 -7.84739731e-01] [ 1.82502858e-01 2.22647802e-03 9.83202802e-01 1.03177487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144860624 meters Centerline goodness : 0.795909 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.79, Z:1.03 [[ 9.40830243e-01 -2.90822703e-01 -1.73955768e-01 -4.12570537e+00] [ 2.85648605e-01 9.56775420e-01 -5.46412908e-02 -7.86450876e-01] [ 1.82327531e-01 1.71795635e-03 9.83236350e-01 1.03116869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204860624 meters Centerline goodness : 0.799309 with order 1 Centerline is valid? [False, False] Translation: X:-4.13, Y:-0.79, Z:1.03 [[ 9.40743892e-01 -2.91210525e-01 -1.73773873e-01 -4.12665949e+00] [ 2.86084745e-01 9.56657850e-01 -5.44176050e-02 -7.89154836e-01] [ 1.82089119e-01 1.47897533e-03 9.83280919e-01 1.03182300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264860624 meters Centerline goodness : 0.796664 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.80, Z:1.03 [[ 0.94239529 -0.28851894 -0.16925704 -4.14590986] [ 0.28292157 0.95745734 -0.05684029 -0.79695768] [ 0.1784559 0.00567955 0.98393152 1.02955232] [ 0. 0. 0. 1. ]] SLAMing on 139.32486062399997 meters Centerline goodness : 0.793865 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.80, Z:1.03 [[ 0.94241058 -0.28839268 -0.16938702 -4.14581761] [ 0.28284683 0.95749714 -0.05654103 -0.79868989] [ 0.17849361 0.00537429 0.98392639 1.02994047] [ 0. 0. 0. 1. ]] SLAMing on 139.38486062399997 meters Centerline goodness : 0.794827 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.80, Z:1.03 [[ 0.94244436 -0.28821149 -0.16950742 -4.14551465] [ 0.28275059 0.95755425 -0.05605322 -0.80095341] [ 0.17846774 0.00489872 0.98393357 1.0300659 ] [ 0. 0. 0. 1. ]] SLAMing on 139.44486062399997 meters Centerline goodness : 0.791604 with order 1 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.81, Z:1.02 [[ 9.43026041e-01 -2.87421772e-01 -1.67602537e-01 -4.17239051e+00] [ 2.82990301e-01 9.57804116e-01 -5.02768821e-02 -8.14556343e-01] [ 1.74981070e-01 -1.74833002e-05 9.84571798e-01 1.01863154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50486062399997 meters Centerline goodness : 0.791691 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.82, Z:1.01 [[ 9.43789450e-01 -2.86940800e-01 -1.64092814e-01 -4.18874999e+00] [ 2.81990283e-01 9.57940157e-01 -5.32178162e-02 -8.24735134e-01] [ 1.72461458e-01 3.95383454e-03 9.85008331e-01 1.01451341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56486062399998 meters Centerline goodness : 0.787091 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.84, Z:1.01 [[ 9.44441779e-01 -2.85855665e-01 -1.62222887e-01 -4.20928965e+00] [ 2.81299624e-01 9.58269603e-01 -5.08909535e-02 -8.37730546e-01] [ 1.70000729e-01 2.43030551e-03 9.85440940e-01 1.00610534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62486062399998 meters Centerline goodness : 0.786993 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.84, Z:1.01 [[ 9.44486460e-01 -2.85586731e-01 -1.62436286e-01 -4.20809061e+00] [ 2.81163028e-01 9.58351454e-01 -5.00983248e-02 -8.41829952e-01] [ 1.69978467e-01 1.64611140e-03 9.85446402e-01 1.00589292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68486062399998 meters Centerline goodness : 0.788194 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.85, Z:1.01 [[ 9.44515547e-01 -2.85524989e-01 -1.62375684e-01 -4.20760852e+00] [ 2.81202398e-01 9.58370634e-01 -4.95069691e-02 -8.47020401e-01] [ 1.69751564e-01 1.09967024e-03 9.85486274e-01 1.00627298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74486062399998 meters Centerline goodness : 0.786851 with order 1 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.86, Z:1.00 [[ 0.94662215 -0.28161053 -0.1568503 -4.22070662] [ 0.27686872 0.95951262 -0.05176141 -0.85665237] [ 0.1650764 0.00557156 0.98626504 1.00409027] [ 0. 0. 0. 1. ]] SLAMing on 139.80486062399999 meters Centerline goodness : 0.783261 with order 1 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.86, Z:1.00 [[ 0.94668026 -0.28126578 -0.15711797 -4.22004263] [ 0.27658321 0.95961595 -0.05137069 -0.85844219] [ 0.16522173 0.00517542 0.98624287 1.00433759] [ 0. 0. 0. 1. ]] SLAMing on 139.864860624 meters Centerline goodness : 0.781266 with order 1 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.86, Z:1.00 [[ 9.46946565e-01 -2.79963113e-01 -1.57838079e-01 -4.21809545e+00] [ 2.75493532e-01 9.60003081e-01 -4.99739820e-02 -8.62850606e-01] [ 1.65515914e-01 3.83932080e-03 9.86199646e-01 1.00450517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924860624 meters Centerline goodness : 0.779519 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.87, Z:1.00 [[ 9.47322317e-01 -2.78117125e-01 -1.58843610e-01 -4.21469685e+00] [ 2.73904626e-01 9.60544598e-01 -4.82735044e-02 -8.66815943e-01] [ 1.66002060e-01 2.22256850e-03 9.86122901e-01 1.00374505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984860624 meters Centerline goodness : 0.779450 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.87, Z:1.00 [[ 9.47619804e-01 -2.76628964e-01 -1.59665665e-01 -4.21216770e+00] [ 2.72576744e-01 9.60976057e-01 -4.71904202e-02 -8.68618221e-01] [ 1.66489118e-01 1.19742963e-03 9.86042565e-01 1.00337538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044860624 meters Centerline goodness : 0.776052 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.87, Z:1.00 [[ 9.48107522e-01 -2.74330988e-01 -1.60731561e-01 -4.20864912e+00] [ 2.70519602e-01 9.61635291e-01 -4.55709519e-02 -8.71371042e-01] [ 1.67066666e-01 -2.74875697e-04 9.85945563e-01 1.00282786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10486062399997 meters Centerline goodness : 0.775727 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.87, Z:1.00 [[ 9.49147038e-01 -2.70115545e-01 -1.61732782e-01 -4.20863466e+00] [ 2.66942508e-01 9.62820320e-01 -4.14575503e-02 -8.74732740e-01] [ 1.66917938e-01 -3.82404323e-03 9.85963376e-01 1.00308748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16486062399997 meters Centerline goodness : 0.782109 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.88, Z:1.00 [[ 9.49261485e-01 -2.69474127e-01 -1.62130591e-01 -4.20745631e+00] [ 2.66344484e-01 9.62998840e-01 -4.11564008e-02 -8.75099074e-01] [ 1.67222156e-01 -4.11440249e-03 9.85910656e-01 1.00306350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22486062399997 meters Centerline goodness : 0.782901 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.88, Z:1.00 [[ 0.9494571 -0.26844379 -0.16269339 -4.20633984] [ 0.26545065 0.96328267 -0.04027974 -0.8779004 ] [ 0.16753257 -0.00494318 0.98585415 1.00366506] [ 0. 0. 0. 1. ]] SLAMing on 140.28486062399998 meters Centerline goodness : 0.780590 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.88, Z:1.00 [[ 0.94950298 -0.26810301 -0.16298729 -4.20541292] [ 0.26526968 0.96337218 -0.03931982 -0.88279173] [ 0.16755918 -0.0059013 0.98584436 1.00394776] [ 0. 0. 0. 1. ]] SLAMing on 140.34486062399998 meters Centerline goodness : 0.781103 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.89, Z:1.00 [[ 0.94936334 -0.26860529 -0.16297376 -4.20562245] [ 0.26583951 0.96322951 -0.03896493 -0.88659826] [ 0.16744732 -0.00633299 0.98586068 1.00443049] [ 0. 0. 0. 1. ]] SLAMing on 140.40486062399998 meters Centerline goodness : 0.779809 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.89, Z:1.01 [[ 9.48109606e-01 -2.73617743e-01 -1.61930560e-01 -4.20618388e+00] [ 2.70372184e-01 9.61831079e-01 -4.21883588e-02 -8.92152375e-01] [ 1.67293329e-01 -3.78233091e-03 9.85899912e-01 1.00562231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46486062399998 meters Centerline goodness : 0.781617 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.90, Z:1.01 [[ 9.46764922e-01 -2.78721596e-01 -1.61091447e-01 -4.20457423e+00] [ 2.74938579e-01 9.60371473e-01 -4.57756581e-02 -8.98134861e-01] [ 1.67466295e-01 -9.51466168e-04 9.85877343e-01 1.00585843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52486062399998 meters Centerline goodness : 0.785473 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.90, Z:1.01 [[ 9.45587223e-01 -2.83137066e-01 -1.60306597e-01 -4.20439142e+00] [ 2.78891950e-01 9.59078281e-01 -4.88685200e-02 -9.02536237e-01] [ 1.67583065e-01 1.50122863e-03 9.85856816e-01 1.00688525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584860624 meters Centerline goodness : 0.776793 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.91, Z:1.01 [[ 9.45419457e-01 -2.83755205e-01 -1.60203101e-01 -4.20477172e+00] [ 2.79576576e-01 9.58896132e-01 -4.85298534e-02 -9.06349031e-01] [ 1.67388732e-01 1.09203323e-03 9.85890369e-01 1.00734438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644860624 meters Centerline goodness : 0.777060 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.91, Z:1.01 [[ 9.45338439e-01 -2.83999875e-01 -1.60247640e-01 -4.20471720e+00] [ 2.79891586e-01 9.58824095e-01 -4.81357962e-02 -9.10596999e-01] [ 1.67319859e-01 6.52652297e-04 9.85902449e-01 1.00800750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704860624 meters Centerline goodness : 0.780354 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.91, Z:1.01 [[ 9.45337886e-01 -2.84018464e-01 -1.60217954e-01 -4.20491585e+00] [ 2.79983097e-01 9.58818780e-01 -4.77075622e-02 -9.13331055e-01] [ 1.67169812e-01 2.41447078e-04 9.85928089e-01 1.00844168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764860624 meters Centerline goodness : 0.783406 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.92, Z:1.01 [[ 9.45380566e-01 -2.83724630e-01 -1.60486510e-01 -4.20442193e+00] [ 2.79809332e-01 9.58905672e-01 -4.69749915e-02 -9.16731504e-01] [ 1.67219387e-01 -4.96379205e-04 9.85919586e-01 1.00884060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82486062399997 meters Centerline goodness : 0.784762 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.92, Z:1.01 [[ 9.45454671e-01 -2.83365665e-01 -1.60684053e-01 -4.20357262e+00] [ 2.79533321e-01 9.59011424e-01 -4.64565439e-02 -9.19198952e-01] [ 1.67262032e-01 -9.93990522e-04 9.85911976e-01 1.00882971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88486062399997 meters Centerline goodness : 0.787108 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.92, Z:1.01 [[ 9.45568522e-01 -2.82874187e-01 -1.60879969e-01 -4.20321881e+00] [ 2.79157878e-01 9.59155573e-01 -4.57325486e-02 -9.22058686e-01] [ 1.67245476e-01 -1.66765225e-03 9.85913875e-01 1.00921603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94486062399997 meters Centerline goodness : 0.802142 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.92, Z:1.01 [[ 9.45739518e-01 -2.82138826e-01 -1.61165896e-01 -4.20245974e+00] [ 2.78525121e-01 9.59370914e-01 -4.50689029e-02 -9.23406480e-01] [ 1.67333560e-01 -2.26530813e-03 9.85897737e-01 1.00919738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00486062399997 meters Centerline goodness : 0.804985 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.93, Z:1.01 [[ 9.45929591e-01 -2.81269367e-01 -1.61569650e-01 -4.20111166e+00] [ 2.77814197e-01 9.59623518e-01 -4.40678645e-02 -9.25898689e-01] [ 1.67440976e-01 -3.20124544e-03 9.85876905e-01 1.00887353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06486062399998 meters Centerline goodness : 0.807836 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.93, Z:1.01 [[ 9.46079947e-01 -2.80549168e-01 -1.61941031e-01 -4.20001344e+00] [ 2.77189476e-01 9.59832217e-01 -4.34523915e-02 -9.27293180e-01] [ 1.67626751e-01 -3.77891316e-03 9.85843290e-01 1.00875957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12486062399998 meters Centerline goodness : 0.809709 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.93, Z:1.01 [[ 0.94624098 -0.27233008 -0.17454034 -4.20173428] [ 0.26969667 0.96215115 -0.03910075 -0.93440645] [ 0.1785825 -0.01007421 0.98387337 1.0122929 ] [ 0. 0. 0. 1. ]] SLAMing on 141.18486062399998 meters Centerline goodness : 0.812619 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.94, Z:1.01 [[ 0.94719614 -0.26821293 -0.17573077 -4.20009621] [ 0.26627619 0.96326255 -0.0349608 -0.93638848] [ 0.1786518 -0.01367818 0.98381728 1.01132493] [ 0. 0. 0. 1. ]] SLAMing on 141.24486062399998 meters Centerline goodness : 0.815188 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.94, Z:1.01 [[ 0.94711183 -0.2680622 -0.17641381 -4.19914768] [ 0.26635125 0.96328462 -0.03376021 -0.93835601] [ 0.17898655 -0.01501335 0.98373696 1.01205222] [ 0. 0. 0. 1. ]] SLAMing on 141.30486062399999 meters Centerline goodness : 0.815450 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.94, Z:1.01 [[ 0.9468485 -0.26845939 -0.17722152 -4.19727535] [ 0.26702285 0.9631466 -0.03236381 -0.94182863] [ 0.17937867 -0.01667857 0.98363871 1.01253729] [ 0. 0. 0. 1. ]] SLAMing on 141.364860624 meters Centerline goodness : 0.814206 with order 3 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.94, Z:1.01 [[ 0.94662922 -0.26869417 -0.17803527 -4.19554355] [ 0.26746639 0.96305795 -0.03132273 -0.94387243] [ 0.17987452 -0.01796744 0.98352546 1.01294007] [ 0. 0. 0. 1. ]] SLAMing on 141.424860624 meters Centerline goodness : 0.807385 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.95, Z:1.01 [[ 0.94638969 -0.2689547 -0.17891317 -4.19370664] [ 0.26795703 0.96295793 -0.0301838 -0.94595855] [ 0.18040393 -0.0193754 0.98340176 1.01337093] [ 0. 0. 0. 1. ]] SLAMing on 141.484860624 meters Centerline goodness : 0.819723 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.95, Z:1.01 [[ 0.94650956 -0.26831314 -0.17924203 -4.1932565 ] [ 0.26744473 0.9631229 -0.02945479 -0.94690804] [ 0.18053521 -0.0200581 0.98336398 1.01360149] [ 0. 0. 0. 1. ]] SLAMing on 141.544860624 meters Centerline goodness : 0.822138 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.95, Z:1.01 [[ 0.94732435 -0.26472733 -0.18026651 -4.19306345] [ 0.26458412 0.96403102 -0.0252869 -0.95006212] [ 0.18047664 -0.02374076 0.98329271 1.01415515] [ 0. 0. 0. 1. ]] SLAMing on 141.60486062399997 meters Centerline goodness : 0.822466 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.95, Z:1.01 [[ 0.94815427 -0.26086152 -0.18153441 -4.19248928] [ 0.2614906 0.96497988 -0.02089242 -0.95224874] [ 0.18062708 -0.02766031 0.98316263 1.01453259] [ 0. 0. 0. 1. ]] SLAMing on 141.66486062399997 meters Centerline goodness : 0.824224 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.95, Z:1.01 [[ 0.94831455 -0.2600709 -0.18183134 -4.19177547] [ 0.26090195 0.96516297 -0.0197638 -0.95391306] [ 0.18063687 -0.02869785 0.9831311 1.01454322] [ 0. 0. 0. 1. ]] SLAMing on 141.72486062399997 meters Centerline goodness : 0.828417 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.96, Z:1.01 [[ 0.948376 -0.25939826 -0.18247056 -4.18962062] [ 0.26039601 0.96531695 -0.01889732 -0.95503484] [ 0.18104386 -0.02959284 0.9830297 1.01371177] [ 0. 0. 0. 1. ]] SLAMing on 141.78486062399998 meters Centerline goodness : 0.816296 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.96, Z:1.01 [[ 0.94856447 -0.25846756 -0.18281127 -4.18954831] [ 0.25972946 0.9655241 -0.01743064 -0.9569377 ] [ 0.18101394 -0.03094739 0.9829935 1.01437101] [ 0. 0. 0. 1. ]] SLAMing on 141.84486062399998 meters Centerline goodness : 0.832358 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.96, Z:1.01 [[ 0.9486673 -0.25784572 -0.18315552 -4.18833067] [ 0.25929804 0.96565815 -0.01639729 -0.95893772] [ 0.18109359 -0.0319363 0.98294719 1.01413543] [ 0. 0. 0. 1. ]] SLAMing on 141.90486062399998 meters Centerline goodness : 0.836627 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.96, Z:1.01 [[ 0.948737 -0.25743138 -0.1833772 -4.18741872] [ 0.25901627 0.96574571 -0.01567769 -0.96001545] [ 0.18113168 -0.03262367 0.9829176 1.01375854] [ 0. 0. 0. 1. ]] SLAMing on 141.96486062399998 meters Centerline goodness : 0.833877 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.96, Z:1.01 [[ 0.94871106 -0.25729425 -0.18370355 -4.18562999] [ 0.25895766 0.96576751 -0.01529875 -0.9607549 ] [ 0.1813512 -0.03305735 0.98286263 1.01287515] [ 0. 0. 0. 1. ]] SLAMing on 142.02486062399998 meters Centerline goodness : 0.820903 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.96, Z:1.01 [[ 0.94864633 -0.25705382 -0.18437317 -4.18346459] [ 0.25887138 0.96580196 -0.01456667 -0.96177291] [ 0.18181239 -0.03391032 0.98274836 1.01239034] [ 0. 0. 0. 1. ]] SLAMing on 142.084860624 meters Centerline goodness : 0.819859 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.96, Z:1.01 [[ 0.94868544 -0.25659064 -0.18481663 -4.1823227 ] [ 0.25858849 0.96589137 -0.01363267 -0.96309001] [ 0.1820108 -0.03485834 0.98267846 1.01228862] [ 0. 0. 0. 1. ]] SLAMing on 142.144860624 meters Centerline goodness : 0.817414 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.97, Z:1.01 [[ 0.94881933 -0.25598054 -0.18497524 -4.18142083] [ 0.25825304 0.96600127 -0.01212082 -0.96641272] [ 0.18178901 -0.03626995 0.98266843 1.01219624] [ 0. 0. 0. 1. ]] SLAMing on 142.204860624 meters Centerline goodness : 0.816111 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.97, Z:1.01 [[ 0.94859006 -0.2564929 -0.18544081 -4.1795519 ] [ 0.25895967 0.96582299 -0.01121741 -0.96855316] [ 0.18198018 -0.03738096 0.98259141 1.01195055] [ 0. 0. 0. 1. ]] SLAMing on 142.264860624 meters Centerline goodness : 0.816515 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.97, Z:1.01 [[ 0.94838629 -0.25669271 -0.18620501 -4.17716737] [ 0.25934227 0.96572933 -0.01041339 -0.9699025 ] [ 0.18249668 -0.03841491 0.98245573 1.01166607] [ 0. 0. 0. 1. ]] SLAMing on 142.32486062399997 meters Centerline goodness : 0.813033 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.97, Z:1.01 [[ 0.94829375 -0.25657142 -0.18684237 -4.17621342] [ 0.25940755 0.96572086 -0.00953643 -0.97067318] [ 0.18288435 -0.03942499 0.98234362 1.01221704] [ 0. 0. 0. 1. ]] SLAMing on 142.38486062399997 meters Centerline goodness : 0.811241 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.97, Z:1.01 [[ 0.94840545 -0.25597982 -0.18708668 -4.17573386] [ 0.25887935 0.96586593 -0.00919144 -0.97083386] [ 0.18305348 -0.03971567 0.98230041 1.01215299] [ 0. 0. 0. 1. ]] SLAMing on 142.44486062399997 meters Centerline goodness : 0.812486 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.97, Z:1.01 [[ 0.94839021 -0.25578804 -0.18742594 -4.17568882] [ 0.25884409 0.96588252 -0.00840862 -0.9714859 ] [ 0.18318226 -0.04053945 0.98224275 1.01290904] [ 0. 0. 0. 1. ]] SLAMing on 142.50486062399997 meters Centerline goodness : 0.814332 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.97, Z:1.01 [[ 0.94805705 -0.25652768 -0.18809937 -4.17341324] [ 0.25962914 0.96567194 -0.00839102 -0.97158263] [ 0.18379482 -0.04088091 0.98211416 1.01240625] [ 0. 0. 0. 1. ]] SLAMing on 142.56486062399998 meters Centerline goodness : 0.810428 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.97, Z:1.01 [[ 0.9478599 -0.25676451 -0.1887686 -4.17136587] [ 0.25997472 0.96558239 -0.00798693 -0.97203716] [ 0.1843224 -0.04150458 0.98198912 1.01213987] [ 0. 0. 0. 1. ]] SLAMing on 142.62486062399998 meters Centerline goodness : 0.804988 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.97, Z:1.01 [[ 0.94755027 -0.25729534 -0.18959851 -4.17014292] [ 0.26071034 0.96539064 -0.00714331 -0.97290562] [ 0.18487457 -0.04266165 0.98183572 1.01304842] [ 0. 0. 0. 1. ]] SLAMing on 142.68486062399998 meters Centerline goodness : 0.804684 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.97, Z:1.01 [[ 0.94735854 -0.25756906 -0.19018409 -4.1687078 ] [ 0.26109385 0.96528998 -0.00672689 -0.97384024] [ 0.18531543 -0.04328312 0.9817254 1.01326505] [ 0. 0. 0. 1. ]] SLAMing on 142.74486062399998 meters Centerline goodness : 0.799661 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.97, Z:1.01 [[ 0.94724437 -0.2576421 -0.19065322 -4.16661095] [ 0.26126249 0.96524697 -0.00634052 -0.97411726] [ 0.18566103 -0.04380451 0.98163697 1.01233418] [ 0. 0. 0. 1. ]] SLAMing on 142.80486062399999 meters Centerline goodness : 0.798307 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.97, Z:1.01 [[ 0.94704601 -0.25795172 -0.19121916 -4.16512522] [ 0.26166932 0.96513897 -0.00599507 -0.97451456] [ 0.18609951 -0.04435858 0.98152906 1.01232697] [ 0. 0. 0. 1. ]] SLAMing on 142.864860624 meters Centerline goodness : 0.794318 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 0.94695738 -0.25787282 -0.19176373 -4.16425326] [ 0.26173958 0.96512379 -0.00533452 -0.97500162] [ 0.18645137 -0.0451406 0.98142662 1.01268751] [ 0. 0. 0. 1. ]] SLAMing on 142.924860624 meters Centerline goodness : 0.793273 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 0.94660484 -0.25855487 -0.19258415 -4.16339123] [ 0.26268691 0.96487192 -0.00421446 -0.97684612] [ 0.18690871 -0.04659991 0.98127141 1.01412011] [ 0. 0. 0. 1. ]] SLAMing on 142.984860624 meters Centerline goodness : 0.792088 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 9.46467908e-01 -2.58517901e-01 -1.93305441e-01 -4.16240270e+00] [ 2.62899233e-01 9.64818351e-01 -3.08904039e-03 -9.78526275e-01] [ 1.87303209e-01 -4.78961746e-02 9.81133765e-01 1.01496776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044860624 meters Centerline goodness : 0.791445 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.02 [[ 9.46083680e-01 -2.59382231e-01 -1.94027134e-01 -4.16025409e+00] [ 2.63971434e-01 9.64527804e-01 -2.27961901e-03 -9.80729525e-01] [ 1.87735858e-01 -4.90609104e-02 9.80993514e-01 1.01511791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10486062399997 meters Centerline goodness : 0.792947 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.02 [[ 9.45888022e-01 -2.59583113e-01 -1.94711214e-01 -4.15897262e+00] [ 2.64311324e-01 9.64435811e-01 -1.75816518e-03 -9.80887580e-01] [ 1.88242857e-01 -4.98013514e-02 9.80859038e-01 1.01539728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16486062399997 meters Centerline goodness : 0.790672 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 9.46026275e-01 -2.59081873e-01 -1.94707139e-01 -4.15866347e+00] [ 2.63769100e-01 9.64583940e-01 -1.91937338e-03 -9.79919493e-01] [ 1.88308655e-01 -4.95419492e-02 9.80859544e-01 1.01475069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22486062399997 meters Centerline goodness : 0.792917 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 9.47025170e-01 -2.54818556e-01 -1.95475909e-01 -4.15797597e+00] [ 2.60145614e-01 9.65568011e-01 1.63599811e-03 -9.80668673e-01] [ 1.88328402e-01 -5.24015317e-02 9.80707139e-01 1.01383335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28486062399998 meters Centerline goodness : 0.790189 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 0.94773687 -0.2511828 -0.19672829 -4.15682415] [ 0.25723614 0.96633339 0.00541785 -0.98105997] [ 0.18874424 -0.05574032 0.98044308 1.01346475] [ 0. 0. 0. 1. ]] SLAMing on 143.34486062399998 meters Centerline goodness : 0.787514 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.98, Z:1.01 [[ 0.94862715 -0.24716703 -0.19752212 -4.15571794] [ 0.25376497 0.96722935 0.00840986 -0.980417 ] [ 0.18897055 -0.05810201 0.98026236 1.01204069] [ 0. 0. 0. 1. ]] SLAMing on 143.40486062399998 meters Centerline goodness : 0.787680 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.98, Z:1.01 [[ 0.94875461 -0.24659142 -0.19762937 -4.15493233] [ 0.25319953 0.96737684 0.00848758 -0.97983416] [ 0.18908911 -0.05809229 0.98024007 1.01123608] [ 0. 0. 0. 1. ]] SLAMing on 143.46486062399998 meters Centerline goodness : 0.786630 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.98, Z:1.01 [[ 0.94908756 -0.24540597 -0.19750626 -4.15475016] [ 0.25198787 0.96769297 0.00851075 -0.97879757] [ 0.18903683 -0.05784662 0.98026468 1.01023626] [ 0. 0. 0. 1. ]] SLAMing on 143.52486062399998 meters Centerline goodness : 0.784354 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.98, Z:1.01 [[ 0.94965625 -0.24240931 -0.198471 -4.15330661] [ 0.24956159 0.96829109 0.01146238 -0.9794416 ] [ 0.18939911 -0.06041605 0.98003973 1.00963412] [ 0. 0. 0. 1. ]] SLAMing on 143.584860624 meters Centerline goodness : 0.784464 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.98, Z:1.01 [[ 0.9498822 -0.2415952 -0.19838235 -4.15273594] [ 0.24869148 0.96851702 0.01128401 -0.97791786] [ 0.18941052 -0.06005448 0.98005975 1.00835959] [ 0. 0. 0. 1. ]] SLAMing on 143.644860624 meters Centerline goodness : 0.784157 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.98, Z:1.01 [[ 0.94994135 -0.24146464 -0.19825805 -4.15195492] [ 0.24843608 0.96858929 0.01069133 -0.97663265] [ 0.18944904 -0.05941059 0.98009155 1.00709661] [ 0. 0. 0. 1. ]] SLAMing on 143.704860624 meters Centerline goodness : 0.784223 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.01 [[ 0.94986133 -0.24153634 -0.19855391 -4.15129147] [ 0.24845955 0.96858708 0.01034048 -0.97488025] [ 0.18981915 -0.05915464 0.98003542 1.00672413] [ 0. 0. 0. 1. ]] SLAMing on 143.764860624 meters Centerline goodness : 0.782470 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.01 [[ 0.94997528 -0.24117448 -0.19844859 -4.15069295] [ 0.24795953 0.96872186 0.0096974 -0.97246999] [ 0.18990272 -0.05841951 0.98006332 1.00532011] [ 0. 0. 0. 1. ]] SLAMing on 143.82486062399997 meters Centerline goodness : 0.783140 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.01 [[ 0.94994763 -0.24165035 -0.19800154 -4.15217231] [ 0.2482356 0.96866011 0.00875633 -0.97100972] [ 0.18968022 -0.05746908 0.9801626 1.00568896] [ 0. 0. 0. 1. ]] SLAMing on 143.88486062399997 meters Centerline goodness : 0.782344 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.00 [[ 0.95065465 -0.23817574 -0.19881662 -4.15163459] [ 0.24531688 0.96937206 0.01172301 -0.97021815] [ 0.18993514 -0.05991761 0.97996659 1.00492549] [ 0. 0. 0. 1. ]] SLAMing on 143.94486062399997 meters Centerline goodness : 0.781488 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.00 [[ 0.95108093 -0.23552817 -0.19992886 -4.15066531] [ 0.24329344 0.96983918 0.01484177 -0.97023904] [ 0.19040318 -0.06275711 0.979698 1.00487643] [ 0. 0. 0. 1. ]] SLAMing on 144.00486062399997 meters Centerline goodness : 0.778160 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.00 [[ 0.95189916 -0.23199434 -0.20016649 -4.15181646] [ 0.24009263 0.97060403 0.01683266 -0.96737752] [ 0.19037732 -0.06408149 0.97961729 1.00425251] [ 0. 0. 0. 1. ]] SLAMing on 144.06486062399998 meters Centerline goodness : 0.776223 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.97, Z:1.00 [[ 0.95278789 -0.22815028 -0.20035639 -4.15243579] [ 0.23660995 0.97141864 0.01901443 -0.96536733] [ 0.19029179 -0.06552303 0.97953855 1.00311832] [ 0. 0. 0. 1. ]] SLAMing on 144.12486062399998 meters Centerline goodness : 0.775159 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.96, Z:1.00 [[ 0.95503532 -0.22581041 -0.19213849 -4.14846643] [ 0.23453495 0.97182022 0.02363939 -0.95743022] [ 0.18138605 -0.06763964 0.98108306 0.99589233] [ 0. 0. 0. 1. ]] SLAMing on 144.18486062399998 meters Centerline goodness : 0.775603 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.95, Z:0.99 [[ 0.95624051 -0.22061592 -0.19217882 -4.150253 ] [ 0.22972375 0.97290343 0.02619005 -0.95374328] [ 0.18119349 -0.06919202 0.98101039 0.9946865 ] [ 0. 0. 0. 1. ]] SLAMing on 144.24486062399998 meters Centerline goodness : 0.781737 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.94, Z:0.99 [[ 0.95880402 -0.21830911 -0.18175801 -4.14956649] [ 0.22664351 0.97362634 0.0261623 -0.94272226] [ 0.17125292 -0.06627879 0.9829952 0.98855718] [ 0. 0. 0. 1. ]] SLAMing on 144.30486062399999 meters Centerline goodness : 0.782905 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.94, Z:0.99 [[ 0.95993083 -0.21286568 -0.1822663 -4.14943918] [ 0.2215213 0.97474525 0.02828456 -0.93689645] [ 0.17164239 -0.06752708 0.9828423 0.98606917] [ 0. 0. 0. 1. ]] SLAMing on 144.364860624 meters Centerline goodness : 0.780467 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.93, Z:0.99 [[ 0.9599605 -0.21302006 -0.18192935 -4.1500566 ] [ 0.22143989 0.97479868 0.02705375 -0.93260197] [ 0.1715815 -0.06625695 0.98293937 0.9860869 ] [ 0. 0. 0. 1. ]] SLAMing on 144.424860624 meters Centerline goodness : 0.777765 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.93, Z:0.99 [[ 0.95987089 -0.21376868 -0.18152364 -4.15138814] [ 0.22193734 0.97472204 0.02570541 -0.92814347] [ 0.17144008 -0.06496074 0.98305056 0.98615024] [ 0. 0. 0. 1. ]] SLAMing on 144.484860624 meters Centerline goodness : 0.775980 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.93, Z:0.99 [[ 0.95972561 -0.21464754 -0.1812545 -4.15223061] [ 0.222639 0.97458766 0.02471388 -0.92579335] [ 0.17134362 -0.06407286 0.98312564 0.98622011] [ 0. 0. 0. 1. ]] SLAMing on 144.544860624 meters Centerline goodness : 0.778248 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.99 [[ 0.95876593 -0.21953918 -0.18047282 -4.15214993] [ 0.22669544 0.97376499 0.01977197 -0.92201594] [ 0.17139739 -0.05986906 0.98338122 0.98634975] [ 0. 0. 0. 1. ]] SLAMing on 144.60486062399997 meters Centerline goodness : 0.776554 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.99 [[ 0.95782588 -0.22424446 -0.17967749 -4.15215227] [ 0.23060524 0.97293089 0.01505647 -0.91879169] [ 0.17143745 -0.05585605 0.98361034 0.98657962] [ 0. 0. 0. 1. ]] SLAMing on 144.66486062399997 meters Centerline goodness : 0.776693 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.92, Z:0.99 [[ 0.95672815 -0.22961896 -0.17873551 -4.15257148] [ 0.23516838 0.97190099 0.01021235 -0.91616605] [ 0.17136827 -0.05180338 0.98384416 0.9867095 ] [ 0. 0. 0. 1. ]] SLAMing on 144.72486062399997 meters Centerline goodness : 0.776087 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.99 [[ 0.955818 -0.23387807 -0.17808143 -4.1519766 ] [ 0.2387166 0.97107113 0.00593761 -0.91394606] [ 0.17154106 -0.04818627 0.98399784 0.98680585] [ 0. 0. 0. 1. ]] SLAMing on 144.78486062399998 meters Centerline goodness : 0.776647 with order 3 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.91, Z:0.99 [[ 0.95548524 -0.23553159 -0.17768743 -4.15388128] [ 0.24016734 0.97071996 0.00473378 -0.91296401] [ 0.17136978 -0.04719777 0.98407559 0.9877105 ] [ 0. 0. 0. 1. ]] SLAMing on 144.84486062399998 meters Centerline goodness : 0.775107 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.55148895e-01 -2.37230136e-01 -1.77235581e-01 -4.15633191e+00] [ 2.41654857e-01 9.70355989e-01 3.49075330e-03 -9.11938263e-01] [ 1.71153496e-01 -4.61640281e-02 9.84162265e-01 9.89001791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90486062399998 meters Centerline goodness : 0.777456 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54981236e-01 -2.38035404e-01 -1.77059268e-01 -4.15687412e+00] [ 2.42403060e-01 9.70170560e-01 3.13698428e-03 -9.12395894e-01] [ 1.71030976e-01 -4.59154694e-02 9.84195192e-01 9.89158176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96486062399998 meters Centerline goodness : 0.774177 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54691083e-01 -2.39581996e-01 -1.76537259e-01 -4.15918379e+00] [ 2.43742019e-01 9.69838163e-01 1.94049063e-03 -9.11759481e-01] [ 1.70747664e-01 -4.48821170e-02 9.84292045e-01 9.90364389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02486062399998 meters Centerline goodness : 0.775300 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54586530e-01 -2.40106178e-01 -1.76390417e-01 -4.15988895e+00] [ 2.44189984e-01 9.69726263e-01 1.49216289e-03 -9.11257478e-01] [ 1.70692142e-01 -4.44971717e-02 9.84319153e-01 9.90715203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084860624 meters Centerline goodness : 0.777490 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54530074e-01 -2.40302574e-01 -1.76428484e-01 -4.15936710e+00] [ 2.44364426e-01 9.69682545e-01 1.33755021e-03 -9.10924584e-01] [ 1.70758205e-01 -4.43895773e-02 9.84312552e-01 9.90251058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144860624 meters Centerline goodness : 0.775535 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54489697e-01 -2.40439711e-01 -1.76460093e-01 -4.15905377e+00] [ 2.44466353e-01 9.69657136e-01 1.11375695e-03 -9.10081662e-01] [ 1.70837997e-01 -4.42016250e-02 9.84307165e-01 9.89997714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204860624 meters Centerline goodness : 0.777367 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54377098e-01 -2.41158628e-01 -1.76087679e-01 -4.16098050e+00] [ 2.45036315e-01 9.69513859e-01 2.86306847e-04 -9.08869589e-01] [ 1.70650400e-01 -4.34211207e-02 9.84374445e-01 9.91151369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264860624 meters Centerline goodness : 0.776500 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54181556e-01 -2.42203297e-01 -1.75713180e-01 -4.16286763e+00] [ 2.45935609e-01 9.69286011e-01 -5.52294115e-04 -9.07712481e-01] [ 1.70450095e-01 -4.26871392e-02 9.84441249e-01 9.92029555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32486062399997 meters Centerline goodness : 0.774407 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54087500e-01 -2.42655961e-01 -1.75599333e-01 -4.16322362e+00] [ 2.46318690e-01 9.69188407e-01 -9.66754451e-04 -9.07022056e-01] [ 1.70423427e-01 -4.23310294e-02 9.84461243e-01 9.92139547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38486062399997 meters Centerline goodness : 0.774668 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.91, Z:0.99 [[ 9.54007876e-01 -2.43127099e-01 -1.75380122e-01 -4.16376408e+00] [ 2.46684163e-01 9.69094667e-01 -1.56540428e-03 -9.05031950e-01] [ 1.70340533e-01 -4.17700905e-02 9.84499549e-01 9.91974528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44486062399997 meters Centerline goodness : 0.776090 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.90, Z:0.99 [[ 9.53959037e-01 -2.43310087e-01 -1.75392009e-01 -4.16390214e+00] [ 2.46776024e-01 9.69070243e-01 -2.11153309e-03 -9.03372576e-01] [ 1.70480935e-01 -4.12682268e-02 9.84496412e-01 9.92203894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50486062399997 meters Centerline goodness : 0.774361 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.90, Z:0.99 [[ 9.54042305e-01 -2.42880397e-01 -1.75534592e-01 -4.16340809e+00] [ 2.46289817e-01 9.69193172e-01 -2.43323717e-03 -9.00589705e-01] [ 1.70717913e-01 -4.09109713e-02 9.84470257e-01 9.91917823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56486062399998 meters Centerline goodness : 0.774931 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.90, Z:0.99 [[ 9.54092684e-01 -2.42720561e-01 -1.75481849e-01 -4.16401167e+00] [ 2.46011019e-01 9.69262101e-01 -3.09164387e-03 -8.97971435e-01] [ 1.70838311e-01 -4.02207536e-02 9.84477812e-01 9.92549969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62486062399998 meters Centerline goodness : 0.773237 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.90, Z:0.99 [[ 9.54859662e-01 -2.39370880e-01 -1.75910793e-01 -4.16624366e+00] [ 2.43121825e-01 9.69995733e-01 -2.35963616e-04 -8.97094237e-01] [ 1.70689202e-01 -4.25424409e-02 9.84406083e-01 9.93598925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68486062399998 meters Centerline goodness : 0.775101 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.90, Z:0.99 [[ 9.54817588e-01 -2.39546945e-01 -1.75899500e-01 -4.16663252e+00] [ 2.43229736e-01 9.69968496e-01 -6.42187604e-04 -8.96070288e-01] [ 1.70770808e-01 -4.21708169e-02 9.84407920e-01 9.93991838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74486062399998 meters Centerline goodness : 0.775566 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.90, Z:0.99 [[ 9.54635610e-01 -2.40501014e-01 -1.75585064e-01 -4.16774670e+00] [ 2.44086213e-01 9.69752776e-01 -1.21385384e-03 -8.95723993e-01] [ 1.70566036e-01 -4.16991052e-02 9.84463515e-01 9.94267804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80486062399999 meters Centerline goodness : 0.774142 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.90, Z:0.99 [[ 9.54321092e-01 -2.42219385e-01 -1.74931479e-01 -4.16994223e+00] [ 2.45647801e-01 9.69356839e-01 -2.11591335e-03 -8.95398209e-01] [ 1.70083541e-01 -4.09522725e-02 9.84578336e-01 9.94709168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864860624 meters Centerline goodness : 0.774796 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.90, Z:1.00 [[ 9.54184468e-01 -2.42964196e-01 -1.74643641e-01 -4.17100904e+00] [ 2.46316609e-01 9.69186053e-01 -2.55392949e-03 -8.95499466e-01] [ 1.69882694e-01 -4.05807096e-02 9.84628395e-01 9.95164792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924860624 meters Centerline goodness : 0.772524 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.89, Z:1.00 [[ 0.95317278 -0.24750414 -0.1737911 -4.17099869] [ 0.25015123 0.96818249 -0.00685787 -0.89388982] [ 0.16995885 -0.03693732 0.98475866 0.99560833] [ 0. 0. 0. 1. ]] SLAMing on 145.984860624 meters Centerline goodness : 0.773463 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.89, Z:1.00 [[ 0.95195787 -0.25288123 -0.17270581 -4.1720502 ] [ 0.25477885 0.96693138 -0.01146499 -0.89257603] [ 0.16989394 -0.0330876 0.98490673 0.99639854] [ 0. 0. 0. 1. ]] SLAMing on 146.04486062399997 meters Centerline goodness : 0.772749 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.89, Z:1.00 [[ 0.95073089 -0.25826136 -0.17149884 -4.17362009] [ 0.25935571 0.9656428 -0.01638927 -0.88987211] [ 0.16983933 -0.02889742 0.98504799 0.99738662] [ 0. 0. 0. 1. ]] SLAMing on 146.10486062399997 meters Centerline goodness : 0.775485 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.89, Z:1.00 [[ 0.95047562 -0.25956688 -0.1709419 -4.17586461] [ 0.26049519 0.96531875 -0.01737698 -0.88892441] [ 0.16952391 -0.02801315 0.98512786 0.9983269 ] [ 0. 0. 0. 1. ]] SLAMing on 146.16486062399997 meters Centerline goodness : 0.772965 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.89, Z:1.00 [[ 0.9503193 -0.2604934 -0.17040076 -4.17817325] [ 0.26124803 0.96509667 -0.01838176 -0.88723725] [ 0.16924153 -0.02704832 0.98520338 0.99937803] [ 0. 0. 0. 1. ]] SLAMing on 146.22486062399997 meters Centerline goodness : 0.772868 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.89, Z:1.00 [[ 0.95029682 -0.26073574 -0.17015533 -4.17919642] [ 0.26138527 0.965048 -0.01897624 -0.88515231] [ 0.16915584 -0.02644304 0.98523452 0.99980318] [ 0. 0. 0. 1. ]] SLAMing on 146.28486062399998 meters Centerline goodness : 0.772063 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95029356 -0.26075448 -0.17014479 -4.17947775] [ 0.26137487 0.96504746 -0.01914605 -0.88436824] [ 0.16919022 -0.0262772 0.98523306 0.99999979] [ 0. 0. 0. 1. ]] SLAMing on 146.34486062399998 meters Centerline goodness : 0.773265 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95028044 -0.26086515 -0.17004839 -4.1796222 ] [ 0.26147612 0.96501905 -0.01919564 -0.88428887] [ 0.16910741 -0.02622235 0.98524874 0.99992765] [ 0. 0. 0. 1. ]] SLAMing on 146.40486062399998 meters Centerline goodness : 0.773238 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95028389 -0.26089314 -0.16998619 -4.17963225] [ 0.26152038 0.96500908 -0.01909358 -0.88484042] [ 0.1690196 -0.02631053 0.98526145 0.99987672] [ 0. 0. 0. 1. ]] SLAMing on 146.46486062399998 meters Centerline goodness : 0.773086 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95029968 -0.26072478 -0.17015615 -4.17911376] [ 0.26134693 0.96505525 -0.0191349 -0.88462673] [ 0.16919902 -0.0262859 0.98523131 0.99992328] [ 0. 0. 0. 1. ]] SLAMing on 146.52486062399998 meters Centerline goodness : 0.775658 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95041173 -0.26013937 -0.17042611 -4.17822343] [ 0.26076249 0.96521365 -0.01911879 -0.88333249] [ 0.16947116 -0.02627002 0.98518496 0.99969165] [ 0. 0. 0. 1. ]] SLAMing on 146.584860624 meters Centerline goodness : 0.774259 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.9504812 -0.25985059 -0.17047918 -4.17799609] [ 0.26043268 0.9652983 -0.0193394 -0.88170904] [ 0.16958862 -0.02601662 0.98517148 0.99966164] [ 0. 0. 0. 1. ]] SLAMing on 146.644860624 meters Centerline goodness : 0.769216 with order 1 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95044924 -0.26004663 -0.17035844 -4.17912738] [ 0.26049452 0.9652657 -0.02011803 -0.87924488] [ 0.16967278 -0.02525627 0.98517677 1.00058342] [ 0. 0. 0. 1. ]] SLAMing on 146.704860624 meters Centerline goodness : 0.773034 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95026139 -0.26099857 -0.16995009 -4.18086329] [ 0.26130212 0.965029 -0.0209819 -0.8777544 ] [ 0.16948301 -0.02447002 0.98522928 1.0012407 ] [ 0. 0. 0. 1. ]] SLAMing on 146.764860624 meters Centerline goodness : 0.773942 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.95005223 -0.26212793 -0.16938038 -4.18263503] [ 0.26231376 0.96473892 -0.02168635 -0.87744851] [ 0.16909245 -0.02382764 0.98531213 1.00170588] [ 0. 0. 0. 1. ]] SLAMing on 146.82486062399997 meters Centerline goodness : 0.768397 with order 1 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.94986752 -0.26308857 -0.16892633 -4.18376536] [ 0.26318905 0.96448868 -0.02220623 -0.87737691] [ 0.16876973 -0.02336658 0.9853785 1.00176847] [ 0. 0. 0. 1. ]] SLAMing on 146.88486062399997 meters Centerline goodness : 0.768711 with order 1 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.94978552 -0.26357692 -0.16862584 -4.18423886] [ 0.2636256 0.96436239 -0.02251073 -0.87685302] [ 0.16854973 -0.02307372 0.98542305 1.00151437] [ 0. 0. 0. 1. ]] SLAMing on 146.94486062399997 meters Centerline goodness : 0.775849 with order 3 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.88, Z:1.00 [[ 0.94980424 -0.2635054 -0.16863219 -4.18461897] [ 0.26351357 0.96438758 -0.02274201 -0.87543707] [ 0.16861943 -0.02283641 0.98541666 1.00180704] [ 0. 0. 0. 1. ]] SLAMing on 147.00486062399997 meters Centerline goodness : 0.771714 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94971288 -0.26399849 -0.16837531 -4.18553048] [ 0.26396183 0.96425855 -0.02301317 -0.87612909] [ 0.16843278 -0.02258876 0.98545428 1.00228419] [ 0. 0. 0. 1. ]] SLAMing on 147.06486062399998 meters Centerline goodness : 0.776210 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94951395 -0.26502868 -0.1678781 -4.18726074] [ 0.26492671 0.96398408 -0.02342064 -0.87676551] [ 0.16803895 -0.02223717 0.98552951 1.00282558] [ 0. 0. 0. 1. ]] SLAMing on 147.12486062399998 meters Centerline goodness : 0.775893 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94934558 -0.26575852 -0.16767643 -4.18771622] [ 0.26563341 0.96378534 -0.02359466 -0.87820623] [ 0.16787457 -0.02214097 0.98555969 1.00301335] [ 0. 0. 0. 1. ]] SLAMing on 147.18486062399998 meters Centerline goodness : 0.778910 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94923307 -0.26630726 -0.16744257 -4.18777766] [ 0.26619999 0.96363114 -0.02350735 -0.88007032] [ 0.16761306 -0.02225926 0.98560154 1.00267005] [ 0. 0. 0. 1. ]] SLAMing on 147.24486062399998 meters Centerline goodness : 0.770244 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94917353 -0.26657745 -0.16735015 -4.18823514] [ 0.2664436 0.9635597 -0.02367538 -0.88031593] [ 0.16756319 -0.02211733 0.98561321 1.00302549] [ 0. 0. 0. 1. ]] SLAMing on 147.30486062399999 meters Centerline goodness : 0.780594 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94920408 -0.26639333 -0.16747002 -4.18848432] [ 0.26624995 0.96361185 -0.02373101 -0.87996478] [ 0.16769788 -0.02206331 0.98559151 1.00359926] [ 0. 0. 0. 1. ]] SLAMing on 147.364860624 meters Centerline goodness : 0.782008 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94926786 -0.26612456 -0.16753584 -4.1875002 ] [ 0.26602873 0.96368016 -0.02343637 -0.88130653] [ 0.16768796 -0.02232195 0.98558738 1.00311163] [ 0. 0. 0. 1. ]] SLAMing on 147.424860624 meters Centerline goodness : 0.781538 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94927718 -0.26606733 -0.16757391 -4.18725493] [ 0.26597448 0.96369556 -0.02341889 -0.88174077] [ 0.16772123 -0.02233936 0.98558132 1.0031323 ] [ 0. 0. 0. 1. ]] SLAMing on 147.484860624 meters Centerline goodness : 0.775419 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.9493862 -0.2654939 -0.16786553 -4.18669132] [ 0.26542353 0.96385093 -0.02327518 -0.8817339 ] [ 0.16797676 -0.02245833 0.9855351 1.00350905] [ 0. 0. 0. 1. ]] SLAMing on 147.54486062399997 meters Centerline goodness : 0.785220 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94942131 -0.26529678 -0.16797855 -4.18651376] [ 0.26523574 0.963904 -0.02321821 -0.88269783] [ 0.16807491 -0.02251005 0.98551719 1.00397358] [ 0. 0. 0. 1. ]] SLAMing on 147.60486062399997 meters Centerline goodness : 0.780890 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.88, Z:1.00 [[ 0.94949695 -0.26502587 -0.16797864 -4.18689153] [ 0.26499964 0.96397441 -0.02298987 -0.88389889] [ 0.16802002 -0.02268547 0.98552252 1.00463043] [ 0. 0. 0. 1. ]] SLAMing on 147.66486062399997 meters Centerline goodness : 0.781176 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.89, Z:1.01 [[ 0.94947732 -0.26513158 -0.16792281 -4.18742762] [ 0.26513538 0.96394123 -0.02281539 -0.88605857] [ 0.1679168 -0.02285958 0.98553609 1.00535663] [ 0. 0. 0. 1. ]] SLAMing on 147.72486062399997 meters Centerline goodness : 0.774072 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.89, Z:1.01 [[ 0.94943042 -0.26531904 -0.16789188 -4.18727073] [ 0.26537186 0.96388263 -0.02254012 -0.88835022] [ 0.16780839 -0.0231535 0.9855477 1.0054187 ] [ 0. 0. 0. 1. ]] SLAMing on 147.78486062399998 meters Centerline goodness : 0.774452 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.89, Z:1.01 [[ 0.94939385 -0.26552214 -0.16777759 -4.187323 ] [ 0.26560127 0.96382299 -0.02238756 -0.88974024] [ 0.16765229 -0.02330733 0.98557064 1.00537519] [ 0. 0. 0. 1. ]] SLAMing on 147.84486062399998 meters Centerline goodness : 0.771602 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.89, Z:1.01 [[ 0.94838898 -0.2693702 -0.16732613 -4.18597467] [ 0.26894677 0.96281417 -0.02562233 -0.89142778] [ 0.16800586 -0.02070189 0.9855686 1.00570596] [ 0. 0. 0. 1. ]] SLAMing on 147.90486062399998 meters Centerline goodness : 0.772876 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.89, Z:1.01 [[ 0.94834162 -0.26957833 -0.16725935 -4.18570657] [ 0.26920608 0.96274938 -0.02533217 -0.89367516] [ 0.16785784 -0.02100369 0.98558743 1.00553427] [ 0. 0. 0. 1. ]] SLAMing on 147.96486062399998 meters Centerline goodness : 0.775170 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94834688 -0.26957212 -0.16723957 -4.18554223] [ 0.26924135 0.96274598 -0.02508547 -0.89528825] [ 0.16777156 -0.02123808 0.9855971 1.00556825] [ 0. 0. 0. 1. ]] SLAMing on 148.02486062399998 meters Centerline goodness : 0.772180 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94839452 -0.2693949 -0.16725498 -4.18593946] [ 0.26907209 0.96279487 -0.0250249 -0.89588008] [ 0.16777381 -0.02127017 0.98559603 1.00617436] [ 0. 0. 0. 1. ]] SLAMing on 148.084860624 meters Centerline goodness : 0.783408 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94845025 -0.26914872 -0.16733528 -4.18571205] [ 0.26884006 0.96286214 -0.02493015 -0.89604024] [ 0.16783073 -0.02134142 0.9855848 1.00623783] [ 0. 0. 0. 1. ]] SLAMing on 148.144860624 meters Centerline goodness : 0.780808 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94850981 -0.26886936 -0.16744672 -4.18546086] [ 0.26859527 0.96293596 -0.02471667 -0.89682934] [ 0.16788602 -0.02153139 0.98557125 1.00642928] [ 0. 0. 0. 1. ]] SLAMing on 148.204860624 meters Centerline goodness : 0.781375 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94849724 -0.26896824 -0.16735913 -4.18593972] [ 0.26868275 0.9629099 -0.02478103 -0.89744087] [ 0.16781707 -0.02146178 0.98558451 1.00690397] [ 0. 0. 0. 1. ]] SLAMing on 148.264860624 meters Centerline goodness : 0.782836 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94842884 -0.26926589 -0.1672681 -4.18615271] [ 0.26899528 0.96282451 -0.02470832 -0.89948586] [ 0.16770294 -0.02156025 0.98560179 1.00725743] [ 0. 0. 0. 1. ]] SLAMing on 148.32486062399997 meters Centerline goodness : 0.783298 with order 3 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94842716 -0.26925277 -0.16729876 -4.1856843 ] [ 0.26905448 0.96281871 -0.02428609 -0.90109607] [ 0.16761748 -0.02197889 0.98560708 1.00689423] [ 0. 0. 0. 1. ]] SLAMing on 148.38486062399997 meters Centerline goodness : 0.774552 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94825177 -0.27002178 -0.16705337 -4.18705563] [ 0.2697886 0.96260715 -0.02452735 -0.90280829] [ 0.16742969 -0.02181099 0.98564272 1.00793967] [ 0. 0. 0. 1. ]] SLAMing on 148.44486062399997 meters Centerline goodness : 0.774830 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94721867 -0.27414536 -0.16619599 -4.18647691] [ 0.27339312 0.96149931 -0.02784372 -0.90404458] [ 0.16743056 -0.01906275 0.98569956 1.00796883] [ 0. 0. 0. 1. ]] SLAMing on 148.50486062399997 meters Centerline goodness : 0.777201 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.91, Z:1.01 [[ 0.94700251 -0.27499848 -0.1660183 -4.18696147] [ 0.27421817 0.96125792 -0.0280642 -0.90579516] [ 0.16730402 -0.01894837 0.98572325 1.0082904 ] [ 0. 0. 0. 1. ]] SLAMing on 148.56486062399998 meters Centerline goodness : 0.776788 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.91, Z:1.01 [[ 0.94694498 -0.27530893 -0.16583181 -4.18722917] [ 0.27452971 0.96116901 -0.02806384 -0.90641957] [ 0.16711862 -0.01895084 0.98575465 1.00818533] [ 0. 0. 0. 1. ]] SLAMing on 148.62486062399998 meters Centerline goodness : 0.781412 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.91, Z:1.01 [[ 0.94679408 -0.2760458 -0.16546809 -4.18833234] [ 0.27522131 0.96096266 -0.02835472 -0.90716923] [ 0.16683586 -0.01869426 0.98580745 1.00859619] [ 0. 0. 0. 1. ]] SLAMing on 148.68486062399998 meters Centerline goodness : 0.775020 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.91, Z:1.01 [[ 0.94671425 -0.2764208 -0.16529874 -4.18895144] [ 0.27554048 0.96086098 -0.02869873 -0.90680274] [ 0.16676204 -0.018377 0.9858259 1.00889723] [ 0. 0. 0. 1. ]] SLAMing on 148.74486062399998 meters Centerline goodness : 0.780475 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.91, Z:1.01 [[ 0.94674285 -0.27631194 -0.16531693 -4.18904181] [ 0.27538804 0.96089719 -0.02894865 -0.90563316] [ 0.16685143 -0.01811938 0.98581554 1.00908757] [ 0. 0. 0. 1. ]] SLAMing on 148.80486062399999 meters Centerline goodness : 0.772694 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94686033 -0.27584337 -0.16542656 -4.18863771] [ 0.27489617 0.96103475 -0.02905696 -0.90385083] [ 0.16699585 -0.01796225 0.98579397 1.0088591 ] [ 0. 0. 0. 1. ]] SLAMing on 148.864860624 meters Centerline goodness : 0.774932 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.9469296 -0.27556946 -0.16548657 -4.18840623] [ 0.27459177 0.96111685 -0.02921916 -0.90244293] [ 0.16710384 -0.01777276 0.9857791 1.00874021] [ 0. 0. 0. 1. ]] SLAMing on 148.924860624 meters Centerline goodness : 0.774209 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94786087 -0.27195621 -0.16613127 -4.18920628] [ 0.27149801 0.96209024 -0.0259077 -0.90167726] [ 0.16687904 -0.02054741 0.98576325 1.00833381] [ 0. 0. 0. 1. ]] SLAMing on 148.984860624 meters Centerline goodness : 0.774460 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94793222 -0.27174059 -0.16607696 -4.18931387] [ 0.27120615 0.96216103 -0.02633212 -0.89878362] [ 0.16694828 -0.02008003 0.98576116 1.00818868] [ 0. 0. 0. 1. ]] SLAMing on 149.04486062399997 meters Centerline goodness : 0.772083 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.90, Z:1.01 [[ 0.94887084 -0.26825791 -0.16637856 -4.19049683] [ 0.26815363 0.96308903 -0.02351919 -0.89531575] [ 0.16654657 -0.02229834 0.98578143 1.00723768] [ 0. 0. 0. 1. ]] SLAMing on 149.10486062399997 meters Centerline goodness : 0.775841 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.89, Z:1.01 [[ 0.94890204 -0.26872209 -0.16544898 -4.19602325] [ 0.26858955 0.96296552 -0.02360207 -0.88979562] [ 0.16566406 -0.02204181 0.98593589 1.00806372] [ 0. 0. 0. 1. ]] SLAMing on 149.16486062399997 meters Centerline goodness : 0.774304 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.89, Z:1.01 [[ 0.94711365 -0.2762129 -0.16334675 -4.19982341] [ 0.27518765 0.96094304 -0.02932955 -0.88562722] [ 0.16506812 -0.01717259 0.98613266 1.00845615] [ 0. 0. 0. 1. ]] SLAMing on 149.22486062399997 meters Centerline goodness : 0.776275 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.88, Z:1.01 [[ 0.94555968 -0.28255152 -0.16149778 -4.20193797] [ 0.28075561 0.95916551 -0.03431927 -0.88369466] [ 0.16460006 -0.01289049 0.98627616 1.00852787] [ 0. 0. 0. 1. ]] SLAMing on 149.28486062399998 meters Centerline goodness : 0.778572 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.88, Z:1.01 [[ 0.94347695 -0.2908147 -0.15899074 -4.20694222] [ 0.28807012 0.95674977 -0.04056447 -0.88006498] [ 0.1639111 -0.00752884 0.98644638 1.00953165] [ 0. 0. 0. 1. ]] SLAMing on 149.34486062399998 meters Centerline goodness : 0.778544 with order 1 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.88, Z:1.01 [[ 0.94310831 -0.29240333 -0.15826246 -4.20921074] [ 0.28947493 0.95627357 -0.04177469 -0.87721413] [ 0.16355727 -0.00641496 0.98651298 1.00967193] [ 0. 0. 0. 1. ]] SLAMing on 149.40486062399998 meters Centerline goodness : 0.778675 with order 1 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.88, Z:1.00 [[ 0.94451942 -0.29030396 -0.15364464 -4.24249304] [ 0.2878395 0.95690256 -0.03854746 -0.877684 ] [ 0.15821343 -0.00781617 0.987374 1.00293691] [ 0. 0. 0. 1. ]] SLAMing on 149.46486062399998 meters Centerline goodness : 0.777475 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.87, Z:1.00 [[ 0.94645358 -0.28323595 -0.1549291 -4.2456248 ] [ 0.28168275 0.95896191 -0.03235573 -0.87385015] [ 0.15773541 -0.01301766 0.98739561 1.00304832] [ 0. 0. 0. 1. ]] SLAMing on 149.52486062399998 meters Centerline goodness : 0.777065 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.87, Z:1.00 [[ 0.94789882 -0.27798732 -0.15559847 -4.24537324] [ 0.27706385 0.96044241 -0.02803577 -0.87206508] [ 0.15723695 -0.01653564 0.98742246 1.00141823] [ 0. 0. 0. 1. ]] SLAMing on 149.584860624 meters Centerline goodness : 0.777065 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.87, Z:1.00 [[ 0.94789882 -0.27798732 -0.15559847 -4.24537324] [ 0.27706385 0.96044241 -0.02803577 -0.87206508] [ 0.15723695 -0.01653564 0.98742246 1.00141823] [ 0. 0. 0. 1. ]] SLAMing on 149.644860624 meters Centerline goodness : 0.776685 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.87, Z:1.00 [[ 0.9488925 -0.27414358 -0.15635961 -4.24592422] [ 0.27378062 0.9614856 -0.02428201 -0.8723437 ] [ 0.15699427 -0.01976721 0.98740167 1.0009147 ] [ 0. 0. 0. 1. ]] SLAMing on 149.704860624 meters Centerline goodness : 0.776342 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.87, Z:1.00 [[ 0.95003024 -0.26956145 -0.15741403 -4.24578841] [ 0.26974186 0.96271171 -0.02062735 -0.87036744] [ 0.15710467 -0.02286455 0.98731724 1.0004164 ] [ 0. 0. 0. 1. ]] SLAMing on 149.764860624 meters Centerline goodness : 0.775605 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.87, Z:1.00 [[ 0.95110492 -0.26530667 -0.15815121 -4.24646162] [ 0.26596955 0.96382524 -0.01735246 -0.86765272] [ 0.15703385 -0.02555939 0.98726242 1.00007947] [ 0. 0. 0. 1. ]] SLAMing on 149.82486062399997 meters Centerline goodness : 0.776757 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.86, Z:1.00 [[ 0.95294771 -0.258268 -0.15870823 -4.24730396] [ 0.25975205 0.96560464 -0.01168596 -0.86259537] [ 0.15626752 -0.03008868 0.98725637 0.99785696] [ 0. 0. 0. 1. ]] SLAMing on 149.88486062399997 meters Centerline goodness : 0.776257 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.86, Z:1.00 [[ 0.95386565 -0.25461932 -0.15908903 -4.24887487] [ 0.25653241 0.96649607 -0.00874425 -0.85925781] [ 0.15598538 -0.03247066 0.98722552 0.99744031] [ 0. 0. 0. 1. ]] SLAMing on 149.94486062399997 meters Centerline goodness : 0.777234 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.85, Z:1.00 [[ 0.95485816 -0.25072144 -0.15932561 -4.25111398] [ 0.25295955 0.96745562 -0.0064106 -0.85282547] [ 0.15574773 -0.03418172 0.98720528 0.99748665] [ 0. 0. 0. 1. ]] SLAMing on 150.00486062399997 meters Centerline goodness : 0.779383 with order 1 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.85, Z:1.00 [[ 9.55872761e-01 -2.46687537e-01 -1.59538472e-01 -4.25289300e+00] [ 2.49260189e-01 9.68428293e-01 -4.00007570e-03 -8.46196730e-01] [ 1.55488339e-01 -3.59430263e-02 9.87183608e-01 9.97070457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06486062399998 meters Centerline goodness : 0.782806 with order 1 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.84, Z:0.99 [[ 9.57857802e-01 -2.41501391e-01 -1.55516910e-01 -4.25789508e+00] [ 2.44296904e-01 9.69699774e-01 -1.17124457e-03 -8.43456704e-01] [ 1.51087570e-01 -3.68704139e-02 9.87832536e-01 9.92119741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12486062399998 meters Centerline goodness : 0.785215 with order 1 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.84, Z:0.99 [[ 9.58807337e-01 -2.37390930e-01 -1.55993706e-01 -4.25874338e+00] [ 2.40610004e-01 9.70620190e-01 1.80909519e-03 -8.39233171e-01] [ 1.50981178e-01 -3.92682200e-02 9.87756392e-01 9.91512999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18486062399998 meters Centerline goodness : 0.786676 with order 1 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.83, Z:0.99 [[ 9.59724154e-01 -2.33636723e-01 -1.56023811e-01 -4.26170822e+00] [ 2.37135540e-01 9.71468605e-01 3.93506933e-03 -8.32618609e-01] [ 1.50652857e-01 -4.07753717e-02 9.87745456e-01 9.92167723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24486062399998 meters Centerline goodness : 0.785939 with order 1 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.83, Z:0.99 [[ 9.59363583e-01 -2.35742048e-01 -1.55071608e-01 -4.26602590e+00] [ 2.39002588e-01 9.71015820e-01 2.45771158e-03 -8.30521828e-01] [ 1.49997599e-01 -3.94203546e-02 9.87900175e-01 9.93645840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30486062399999 meters Centerline goodness : 0.784295 with order 1 Centerline is valid? [False, False] Translation: X:-4.29, Y:-0.84, Z:0.99 [[ 9.57009265e-01 -2.46309012e-01 -1.53183347e-01 -4.29262637e+00] [ 2.48666430e-01 9.68581415e-01 -3.87936406e-03 -8.37367658e-01] [ 1.49326065e-01 -3.43789686e-02 9.88190170e-01 9.85204090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364860624 meters Centerline goodness : 0.787299 with order 1 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.85, Z:0.98 [[ 0.9547442 -0.25802755 -0.14793682 -4.32315139] [ 0.25948025 0.96569937 -0.00973245 -0.84701241] [ 0.14537374 -0.02909468 0.98894892 0.97750412] [ 0. 0. 0. 1. ]] SLAMing on 150.424860624 meters Centerline goodness : 0.784546 with order 1 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.85, Z:0.97 [[ 0.95477984 -0.26125053 -0.14192819 -4.34594893] [ 0.26173683 0.96501374 -0.01556633 -0.85356669] [ 0.14102936 -0.02228542 0.98975456 0.97472737] [ 0. 0. 0. 1. ]] SLAMing on 150.484860624 meters Centerline goodness : 0.783537 with order 1 Centerline is valid? [False, False] Translation: X:-4.37, Y:-0.86, Z:0.97 [[ 0.95558931 -0.26139793 -0.13608894 -4.36873849] [ 0.26124328 0.96507973 -0.019315 -0.85958686] [ 0.13638558 -0.01709511 0.99050832 0.97292467] [ 0. 0. 0. 1. ]] SLAMing on 150.54486062399997 meters Centerline goodness : 0.782719 with order 1 Centerline is valid? [False, False] Translation: X:-4.39, Y:-0.87, Z:0.97 [[ 0.95680964 -0.25935354 -0.13134331 -4.38925662] [ 0.25866705 0.96570302 -0.02256195 -0.86553243] [ 0.13269015 -0.01238669 0.99108017 0.97131258] [ 0. 0. 0. 1. ]] SLAMing on 150.60486062399997 meters Centerline goodness : 0.785262 with order 1 Centerline is valid? [False, False] Translation: X:-4.41, Y:-0.87, Z:0.97 [[ 0.95764289 -0.2586899 -0.12648965 -4.41247423] [ 0.25759932 0.96592338 -0.02519156 -0.87390474] [ 0.12869611 -0.00845913 0.991648 0.9696711 ] [ 0. 0. 0. 1. ]] SLAMing on 150.66486062399997 meters Centerline goodness : 0.781431 with order 1 Centerline is valid? [False, False] Translation: X:-4.43, Y:-0.88, Z:0.97 [[ 0.95919322 -0.25463864 -0.12291266 -4.42890942] [ 0.25319105 0.96702475 -0.02752137 -0.8821131 ] [ 0.12586759 -0.00472208 0.99203581 0.96731948] [ 0. 0. 0. 1. ]] SLAMing on 150.72486062399997 meters Centerline goodness : 0.781247 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.89, Z:0.96 [[ 9.61436044e-01 -2.48568703e-01 -1.17704431e-01 -4.44164224e+00] [ 2.46775237e-01 9.68614190e-01 -2.98082636e-02 -8.89036755e-01] [ 1.21419584e-01 -3.87799951e-04 9.92601196e-01 9.64904811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78486062399998 meters Centerline goodness : 0.783619 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.90, Z:0.96 [[ 9.64425275e-01 -2.39565007e-01 -1.11769836e-01 -4.44825657e+00] [ 2.38026064e-01 9.70880220e-01 -2.71144223e-02 -8.96917013e-01] [ 1.15010789e-01 -4.54299868e-04 9.93364139e-01 9.59584179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84486062399998 meters Centerline goodness : 0.781605 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.90, Z:0.96 [[ 0.9655531 -0.23437069 -0.11303801 -4.44676038] [ 0.2333724 0.9721346 -0.0221732 -0.90092898] [ 0.11508491 -0.00497055 0.99334322 0.95921287] [ 0. 0. 0. 1. ]] SLAMing on 150.90486062399998 meters Centerline goodness : 0.777477 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.91, Z:0.95 [[ 0.96853233 -0.22457017 -0.10730036 -4.45059967] [ 0.22382991 0.97444202 -0.01905041 -0.90840395] [ 0.10883613 -0.00556609 0.99404412 0.95192873] [ 0. 0. 0. 1. ]] SLAMing on 150.96486062399998 meters Centerline goodness : 0.777570 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.91, Z:0.95 [[ 0.96959048 -0.21949448 -0.10824265 -4.44928377] [ 0.21927012 0.97556203 -0.01411879 -0.91194154] [ 0.10869642 -0.01004493 0.99402424 0.9510095 ] [ 0. 0. 0. 1. ]] SLAMing on 151.02486062399998 meters Centerline goodness : 0.777608 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.92, Z:0.95 [[ 0.97064334 -0.21418666 -0.10943302 -4.44763813] [ 0.2144954 0.97668277 -0.00908219 -0.91569062] [ 0.10882663 -0.01465731 0.99395268 0.9504029 ] [ 0. 0. 0. 1. ]] SLAMing on 151.084860624 meters Centerline goodness : 0.775241 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.92, Z:0.95 [[ 0.97079426 -0.21330057 -0.10982431 -4.44625531] [ 0.21366256 0.97686967 -0.00859977 -0.91674821] [ 0.10911837 -0.01511674 0.99391381 0.95035445] [ 0. 0. 0. 1. ]] SLAMing on 151.144860624 meters Centerline goodness : 0.773124 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.92, Z:0.95 [[ 0.97091835 -0.21257912 -0.1101257 -4.44489208] [ 0.21302043 0.97701597 -0.00787969 -0.91921275] [ 0.10926962 -0.01580849 0.99388643 0.9499948 ] [ 0. 0. 0. 1. ]] SLAMing on 151.204860624 meters Centerline goodness : 0.773817 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.92, Z:0.95 [[ 0.9708762 -0.21282568 -0.1100211 -4.44474542] [ 0.21328664 0.97695933 -0.00769957 -0.92141104] [ 0.10912481 -0.0159907 0.99389943 0.94982513] [ 0. 0. 0. 1. ]] SLAMing on 151.264860624 meters Centerline goodness : 0.772280 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.92, Z:0.95 [[ 0.97075002 -0.2134185 -0.10998614 -4.44444964] [ 0.21391047 0.97682489 -0.0074456 -0.92375622] [ 0.10902623 -0.01629937 0.99390523 0.9492718 ] [ 0. 0. 0. 1. ]] SLAMing on 151.32486062399997 meters Centerline goodness : 0.772648 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.93, Z:0.95 [[ 0.97055606 -0.21454758 -0.10950005 -4.44623327] [ 0.21499014 0.97658436 -0.0078888 -0.92552082] [ 0.10862856 -0.01588491 0.99395549 0.95017847] [ 0. 0. 0. 1. ]] SLAMing on 151.38486062399997 meters Centerline goodness : 0.773866 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.93, Z:0.95 [[ 0.97048185 -0.21501758 -0.10923564 -4.44728201] [ 0.21541321 0.97648766 -0.00830685 -0.92554732] [ 0.10845338 -0.01546916 0.99398117 0.95084142] [ 0. 0. 0. 1. ]] SLAMing on 151.44486062399997 meters Centerline goodness : 0.774696 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.92, Z:0.95 [[ 0.97046041 -0.21533121 -0.10880744 -4.44836092] [ 0.21568917 0.97642412 -0.00860959 -0.92494124] [ 0.10809612 -0.01511332 0.99402556 0.95094794] [ 0. 0. 0. 1. ]] SLAMing on 151.50486062399997 meters Centerline goodness : 0.775875 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.92, Z:0.95 [[ 0.97047486 -0.21537537 -0.108591 -4.44851631] [ 0.2157083 0.97641808 -0.00881221 -0.9233874 ] [ 0.10792815 -0.01487195 0.99404745 0.95044059] [ 0. 0. 0. 1. ]] SLAMing on 151.56486062399998 meters Centerline goodness : 0.778140 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.92, Z:0.95 [[ 0.97051251 -0.21522344 -0.10855569 -4.44834783] [ 0.21552014 0.97645669 -0.00913241 -0.92029148] [ 0.10796543 -0.01453282 0.99404842 0.94990899] [ 0. 0. 0. 1. ]] SLAMing on 151.62486062399998 meters Centerline goodness : 0.778795 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.92, Z:0.95 [[ 0.97056227 -0.21510202 -0.1083513 -4.44842642] [ 0.21534036 0.97649151 -0.00963597 -0.91633704] [ 0.10787685 -0.0139801 0.99406597 0.94931241] [ 0. 0. 0. 1. ]] SLAMing on 151.68486062399998 meters Centerline goodness : 0.778626 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.91, Z:0.95 [[ 0.97110691 -0.21300902 -0.10760357 -4.45058103] [ 0.21343695 0.97692682 -0.00765894 -0.91050216] [ 0.10675224 -0.01552893 0.99416438 0.94727391] [ 0. 0. 0. 1. ]] SLAMing on 151.74486062399998 meters Centerline goodness : 0.779632 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.90, Z:0.95 [[ 0.97167129 -0.21072049 -0.107013 -4.45184219] [ 0.2113182 0.9773998 -0.00585293 -0.9048403 ] [ 0.10582782 -0.01692667 0.99424039 0.94526392] [ 0. 0. 0. 1. ]] SLAMing on 151.80486062399999 meters Centerline goodness : 0.782761 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.89, Z:0.94 [[ 9.72840308e-01 -2.05575334e-01 -1.06397921e-01 -4.45542374e+00] [ 2.06580133e-01 9.78428361e-01 -1.60958532e-03 -8.93621050e-01] [ 1.04433635e-01 -2.04138273e-02 9.94322328e-01 9.42774462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864860624 meters Centerline goodness : 0.787213 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.88, Z:0.94 [[ 9.73459213e-01 -2.02885452e-01 -1.05899264e-01 -4.45852079e+00] [ 2.04015519e-01 9.78967640e-01 -1.65306024e-04 -8.84160977e-01] [ 1.03705491e-01 -2.14441746e-02 9.94376849e-01 9.42244426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924860624 meters Centerline goodness : 0.788723 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.87, Z:0.94 [[ 9.74528648e-01 -1.98256632e-01 -1.04824718e-01 -4.46424864e+00] [ 1.99652331e-01 9.79862546e-01 2.88737571e-03 -8.69646436e-01] [ 1.02141374e-01 -2.37423297e-02 9.94486522e-01 9.41132693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984860624 meters Centerline goodness : 0.790933 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.86, Z:0.94 [[ 9.74987534e-01 -1.96373998e-01 -1.04098807e-01 -4.46757408e+00] [ 1.97844612e-01 9.80225667e-01 3.89243097e-03 -8.59535955e-01] [ 1.01275950e-01 -2.43904598e-02 9.94559343e-01 9.40176629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04486062399997 meters Centerline goodness : 0.789559 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.84, Z:0.94 [[ 9.75378510e-01 -1.95037418e-01 -1.02942547e-01 -4.47261861e+00] [ 1.96503871e-01 9.80494042e-01 4.20259665e-03 -8.42938581e-01] [ 1.00114891e-01 -2.43277315e-02 9.94678425e-01 9.38642674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10486062399997 meters Centerline goodness : 0.787555 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.83, Z:0.94 [[ 9.75773985e-01 -1.93672488e-01 -1.01764915e-01 -4.47674572e+00] [ 1.95122823e-01 9.80768943e-01 4.40046706e-03 -8.26069931e-01] [ 9.89556183e-02 -2.41505186e-02 9.94798742e-01 9.36429859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16486062399997 meters Centerline goodness : 0.790755 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.81, Z:0.94 [[ 0.97620566 -0.19184798 -0.10107847 -4.4802019 ] [ 0.19335975 0.98111369 0.00528496 -0.81444545] [ 0.09815556 -0.02470371 0.99486442 0.93543329] [ 0. 0. 0. 1. ]] SLAMing on 152.22486062399997 meters Centerline goodness : 0.784809 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.80, Z:0.93 [[ 0.97719834 -0.187299 -0.10001241 -4.48577205] [ 0.18905762 0.98193074 0.00832045 -0.79702683] [ 0.09664684 -0.02703883 0.9949514 0.93341781] [ 0. 0. 0. 1. ]] SLAMing on 152.28486062399998 meters Centerline goodness : 0.782729 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.79, Z:0.93 [[ 0.97835064 -0.1813916 -0.09963487 -4.48973669] [ 0.18356082 0.9829227 0.01297661 -0.78636606] [ 0.09557953 -0.03098473 0.99493945 0.93246787] [ 0. 0. 0. 1. ]] SLAMing on 152.34486062399998 meters Centerline goodness : 0.784609 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.97954773 -0.17433089 -0.10047382 -4.49466046] [ 0.17703797 0.9840279 0.01861858 -0.7767143 ] [ 0.09562325 -0.03602547 0.99476548 0.93492906] [ 0. 0. 0. 1. ]] SLAMing on 152.40486062399998 meters Centerline goodness : 0.776281 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.97916932 -0.17638199 -0.10058252 -4.48941859] [ 0.17882309 0.98375563 0.01572155 -0.776983 ] [ 0.09617563 -0.03338054 0.9948045 0.93261988] [ 0. 0. 0. 1. ]] SLAMing on 152.46486062399998 meters Centerline goodness : 0.776262 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.97925695 -0.17576686 -0.10080595 -4.48743677] [ 0.17828831 0.98383989 0.01650312 -0.77954901] [ 0.09627621 -0.03413331 0.99476922 0.93122482] [ 0. 0. 0. 1. ]] SLAMing on 152.52486062399998 meters Centerline goodness : 0.771979 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.97992178 -0.17158146 -0.10155348 -4.48710233] [ 0.17448662 0.98444852 0.02038456 -0.77928746] [ 0.09647656 -0.03769499 0.99462121 0.93065179] [ 0. 0. 0. 1. ]] SLAMing on 152.584860624 meters Centerline goodness : 0.772535 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.98052035 -0.16785329 -0.10200547 -4.48812974] [ 0.17109686 0.98496515 0.02386452 -0.77880396] [ 0.0964661 -0.04085246 0.99449755 0.93098723] [ 0. 0. 0. 1. ]] SLAMing on 152.644860624 meters Centerline goodness : 0.772488 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.98050346 -0.16784337 -0.10218399 -4.48789586] [ 0.17101784 0.9849976 0.02307858 -0.77684465] [ 0.0967774 -0.04010391 0.99449777 0.93189312] [ 0. 0. 0. 1. ]] SLAMing on 152.704860624 meters Centerline goodness : 0.773303 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.93 [[ 0.98047956 -0.16805901 -0.10205881 -4.48845725] [ 0.17115611 0.98499096 0.02232496 -0.77538528] [ 0.09677509 -0.03935715 0.99452783 0.9327898 ] [ 0. 0. 0. 1. ]] SLAMing on 152.76486062399997 meters Centerline goodness : 0.774368 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.77, Z:0.93 [[ 0.98050578 -0.16776216 -0.10229505 -4.48800519] [ 0.17078321 0.98507482 0.02146379 -0.77283722] [ 0.09716747 -0.03851565 0.99452251 0.93397115] [ 0. 0. 0. 1. ]] SLAMing on 152.82486062399997 meters Centerline goodness : 0.777133 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.77, Z:0.93 [[ 0.98111013 -0.1638961 -0.10276659 -4.48891328] [ 0.1673048 0.98557751 0.02541808 -0.77356213] [ 0.09711852 -0.04213128 0.99438069 0.93393255] [ 0. 0. 0. 1. ]] SLAMing on 152.88486062399997 meters Centerline goodness : 0.777043 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.77, Z:0.93 [[ 0.98117465 -0.16326503 -0.10315439 -4.48747823] [ 0.16669201 0.98568011 0.02546559 -0.77334404] [ 0.09751959 -0.0421812 0.99433932 0.93393387] [ 0. 0. 0. 1. ]] SLAMing on 152.94486062399997 meters Centerline goodness : 0.777741 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.77, Z:0.93 [[ 0.9811998 -0.16317349 -0.10306004 -4.48755593] [ 0.16659478 0.98569688 0.02545277 -0.77425995] [ 0.09743274 -0.04214352 0.99434943 0.93419859] [ 0. 0. 0. 1. ]] SLAMing on 153.00486062399997 meters Centerline goodness : 0.777851 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.77, Z:0.93 [[ 0.98120701 -0.1631634 -0.10300728 -4.48760662] [ 0.16659276 0.98569448 0.02555866 -0.7746606 ] [ 0.09736347 -0.0422386 0.99435218 0.93415322] [ 0. 0. 0. 1. ]] SLAMing on 153.06486062399998 meters Centerline goodness : 0.779706 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.77, Z:0.94 [[ 0.98115083 -0.16346642 -0.10306198 -4.48845052] [ 0.16685658 0.98566112 0.02512065 -0.77456171] [ 0.09747781 -0.04184371 0.99435767 0.93547439] [ 0. 0. 0. 1. ]] SLAMing on 153.12486062399998 meters Centerline goodness : 0.783776 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.94 [[ 0.98114589 -0.16334348 -0.10330372 -4.48802318] [ 0.16675089 0.98567703 0.02519792 -0.77533791] [ 0.09770818 -0.04194882 0.99433063 0.93587621] [ 0. 0. 0. 1. ]] SLAMing on 153.18486062399998 meters Centerline goodness : 0.783775 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.78, Z:0.94 [[ 0.98122163 -0.16266487 -0.1036545 -4.48667668] [ 0.16609132 0.98578649 0.02527203 -0.77558326] [ 0.09807033 -0.04201358 0.99429225 0.9360989 ] [ 0. 0. 0. 1. ]] SLAMing on 153.24486062399998 meters Centerline goodness : 0.782016 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.78, Z:0.94 [[ 0.98145049 -0.16093128 -0.10419237 -4.48375096] [ 0.1644302 0.98604982 0.02585451 -0.7766555 ] [ 0.09857807 -0.04250729 0.99422105 0.93591008] [ 0. 0. 0. 1. ]] SLAMing on 153.30486062399999 meters Centerline goodness : 0.784481 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.78, Z:0.94 [[ 0.98151523 -0.16044013 -0.10433989 -4.48307728] [ 0.16395617 0.98612529 0.02598631 -0.77786011] [ 0.09872296 -0.04261313 0.99420214 0.93635586] [ 0. 0. 0. 1. ]] SLAMing on 153.364860624 meters Centerline goodness : 0.784940 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.78, Z:0.94 [[ 0.98152058 -0.16031806 -0.1044771 -4.48342625] [ 0.16385521 0.98613788 0.02614493 -0.7814983 ] [ 0.09883732 -0.0427809 0.99418357 0.93804294] [ 0. 0. 0. 1. ]] SLAMing on 153.424860624 meters Centerline goodness : 0.786366 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.78, Z:0.94 [[ 0.98173477 -0.15836521 -0.10543865 -4.48032306] [ 0.16185621 0.98648831 0.02536491 -0.78324571] [ 0.09999708 -0.04196751 0.99410226 0.94216255] [ 0. 0. 0. 1. ]] SLAMing on 153.484860624 meters Centerline goodness : 0.785018 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.79, Z:0.94 [[ 0.98179831 -0.15780492 -0.10568678 -4.47882491] [ 0.16139112 0.98654183 0.02623204 -0.78619571] [ 0.10012488 -0.04281148 0.99405341 0.94138195] [ 0. 0. 0. 1. ]] SLAMing on 153.54486062399997 meters Centerline goodness : 0.786760 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.79, Z:0.94 [[ 0.98135159 -0.1602714 -0.10612321 -4.47414693] [ 0.16362662 0.98623892 0.02364564 -0.78970956] [ 0.10087312 -0.04056927 0.9940718 0.94026215] [ 0. 0. 0. 1. ]] SLAMing on 153.60486062399997 meters Centerline goodness : 0.787027 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.79, Z:0.94 [[ 0.98080979 -0.16345362 -0.10627826 -4.4712666 ] [ 0.16655118 0.98581141 0.02089407 -0.79417892] [ 0.10135511 -0.03819388 0.99411688 0.93995371] [ 0. 0. 0. 1. ]] SLAMing on 153.66486062399997 meters Centerline goodness : 0.787918 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.80, Z:0.94 [[ 0.98076043 -0.16367029 -0.10640023 -4.47188573] [ 0.16678194 0.98577068 0.02097505 -0.79694692] [ 0.10145324 -0.03831714 0.99410213 0.94141039] [ 0. 0. 0. 1. ]] SLAMing on 153.72486062399997 meters Centerline goodness : 0.790302 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.80, Z:0.94 [[ 0.98078244 -0.16348673 -0.10647954 -4.47176192] [ 0.16661028 0.98579767 0.02107067 -0.79825496] [ 0.1015225 -0.03840633 0.99409161 0.94199221] [ 0. 0. 0. 1. ]] SLAMing on 153.78486062399998 meters Centerline goodness : 0.789956 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.80, Z:0.94 [[ 0.98083523 -0.162951 -0.10681393 -4.47073433] [ 0.16610596 0.98587833 0.02127735 -0.79920103] [ 0.10183837 -0.03861201 0.99405134 0.94230823] [ 0. 0. 0. 1. ]] SLAMing on 153.84486062399998 meters Centerline goodness : 0.788665 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.80, Z:0.94 [[ 0.98162543 -0.15757928 -0.10761172 -4.47004277] [ 0.16114216 0.98660937 0.02520213 -0.79803034] [ 0.1021994 -0.04207984 0.99387352 0.94297386] [ 0. 0. 0. 1. ]] SLAMing on 153.90486062399998 meters Centerline goodness : 0.793461 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.80, Z:0.94 [[ 0.98181321 -0.15609577 -0.10805989 -4.46815541] [ 0.15967329 0.98684738 0.02523267 -0.79681139] [ 0.10269991 -0.04202805 0.99382412 0.94365274] [ 0. 0. 0. 1. ]] SLAMing on 153.96486062399998 meters Centerline goodness : 0.790890 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.80, Z:0.94 [[ 0.98199376 -0.15456852 -0.10861322 -4.46457183] [ 0.15822901 0.9870632 0.0258808 -0.79709449] [ 0.10320776 -0.04260055 0.99374713 0.94213508] [ 0. 0. 0. 1. ]] SLAMing on 154.02486062399998 meters Centerline goodness : 0.791171 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.80, Z:0.94 [[ 0.98208512 -0.15389687 -0.10874089 -4.46359057] [ 0.15752974 0.98718247 0.02559594 -0.79557144] [ 0.10340796 -0.04226731 0.99374054 0.94234703] [ 0. 0. 0. 1. ]] SLAMing on 154.084860624 meters Centerline goodness : 0.789609 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:-1.25, Z:0.67 [[ 0.850117 0.29107115 0.43883786 -5.64452388] [-0.47457055 0.78463809 0.39890583 -1.25373394] [-0.22821892 -0.54737615 0.80516798 0.67385161] [ 0. 0. 0. 1. ]] SLAMing on 154.144860624 meters Centerline goodness : 0.790895 with order 1 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.65, Z:1.33 [[ 0.99785897 0.0453561 0.04711997 -4.74600798] [-0.01006878 0.81840957 -0.57454712 -0.64670421] [-0.06462265 0.57284256 0.81711402 1.33416918] [ 0. 0. 0. 1. ]] SLAMing on 154.204860624 meters Centerline goodness : 0.792156 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.64, Z:1.32 [[ 0.99789756 0.04707735 0.04454407 -4.7839911 ] [-0.0151055 0.83730671 -0.54652475 -0.64466379] [-0.06302599 0.54470285 0.83625745 1.32094008] [ 0. 0. 0. 1. ]] SLAMing on 154.26486062399997 meters Centerline goodness : 0.790493 with order 2 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.64, Z:1.31 [[ 0.99786756 0.04920711 0.04288347 -4.82082313] [-0.01990088 0.85508798 -0.51810086 -0.64222434] [-0.06216339 0.51614262 0.85424382 1.30749734] [ 0. 0. 0. 1. ]] SLAMing on 154.32486062399997 meters Centerline goodness : 0.793818 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.64, Z:1.30 [[ 0.99759596 0.0547149 0.04252747 -4.85159924] [-0.02688581 0.87120117 -0.49018942 -0.63794637] [-0.06387065 0.4878676 0.87057782 1.29601022] [ 0. 0. 0. 1. ]] SLAMing on 154.38486062399997 meters Centerline goodness : 0.793826 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.64, Z:1.29 [[ 0.99740653 0.05861893 0.04176175 -4.88096982] [-0.03256846 0.88501817 -0.46441591 -0.63531442] [-0.06418348 0.46185134 0.88463203 1.28520403] [ 0. 0. 0. 1. ]] SLAMing on 154.44486062399997 meters Centerline goodness : 0.794771 with order 1 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.63, Z:1.27 [[ 0.99705693 0.06415274 0.04197512 -4.90692222] [-0.03933256 0.89801704 -0.43819898 -0.63308141] [-0.06580604 0.43525834 0.8978974 1.27330784] [ 0. 0. 0. 1. ]] SLAMing on 154.50486062399997 meters Centerline goodness : 0.792488 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.63, Z:1.26 [[ 0.99681517 0.06795389 0.04173472 -4.92640124] [-0.04448185 0.90815617 -0.41626162 -0.632545 ] [-0.06618824 0.41307946 0.90828656 1.26058539] [ 0. 0. 0. 1. ]] SLAMing on 154.56486062399998 meters Centerline goodness : 0.792555 with order 1 Centerline is valid? [False, False] Translation: X:-4.95, Y:-0.63, Z:1.25 [[ 0.99681288 0.06839148 0.04106933 -4.94890561] [-0.04664881 0.91733485 -0.39537408 -0.63257997] [-0.06471455 0.39219814 0.91760157 1.24818088] [ 0. 0. 0. 1. ]] SLAMing on 154.62486062399998 meters Centerline goodness : 0.791243 with order 1 Centerline is valid? [False, False] Translation: X:-4.96, Y:-0.64, Z:1.24 [[ 0.99673239 0.07014389 0.04005457 -4.96381827] [-0.04989102 0.92459935 -0.3776598 -0.63517544] [-0.06352496 0.3744274 0.92507767 1.23668209] [ 0. 0. 0. 1. ]] SLAMing on 154.68486062399998 meters Centerline goodness : 0.786690 with order 1 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.64, Z:1.23 [[ 0.99693618 0.0686225 0.03753932 -4.98439515] [-0.05068694 0.93229002 -0.35814265 -0.63697099] [-0.05957418 0.35514262 0.93291191 1.22638342] [ 0. 0. 0. 1. ]] SLAMing on 154.74486062399998 meters Centerline goodness : 0.786292 with order 1 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.64, Z:1.22 [[ 0.99746041 0.06326231 0.03272005 -5.00221128] [-0.04870954 0.94108616 -0.33464045 -0.64158436] [-0.05196251 0.33219682 0.94177766 1.21627674] [ 0. 0. 0. 1. ]] SLAMing on 154.80486062399999 meters Centerline goodness : 0.786795 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.65, Z:1.21 [[ 0.99806302 0.05500983 0.02905373 -5.02117487] [-0.0433248 0.94976288 -0.30995714 -0.64531337] [-0.04464485 0.30809802 0.9503065 1.20574379] [ 0. 0. 0. 1. ]] SLAMing on 154.864860624 meters Centerline goodness : 0.783406 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.65, Z:1.20 [[ 0.99856368 0.04798494 0.02383341 -5.03585377] [-0.03912155 0.95695603 -0.28758418 -0.64853647] [-0.03660723 0.28623872 0.95745878 1.19639513] [ 0. 0. 0. 1. ]] SLAMing on 154.924860624 meters Centerline goodness : 0.786468 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.65, Z:1.19 [[ 0.99909187 0.03732422 0.02055101 -5.05168307] [-0.0305228 0.96349104 -0.26599508 -0.65120114] [-0.02972877 0.26512625 0.9637553 1.18722416] [ 0. 0. 0. 1. ]] SLAMing on 154.984860624 meters Centerline goodness : 0.784626 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.65, Z:1.18 [[ 0.99937946 0.02880803 0.02026805 -5.06491361] [-0.02300754 0.96958655 -0.24366489 -0.65430017] [-0.02667113 0.24304736 0.96964768 1.17708348] [ 0. 0. 0. 1. ]] SLAMing on 155.04486062399997 meters Centerline goodness : 0.781870 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.66, Z:1.17 [[ 0.99971505 0.01536592 0.01826755 -5.08458974] [-0.01090318 0.97471225 -0.22319755 -0.65690342] [-0.02123524 0.22293477 0.97460205 1.16788038] [ 0. 0. 0. 1. ]] SLAMing on 155.10486062399997 meters Centerline goodness : 0.782168 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.66, Z:1.16 [[ 9.99790601e-01 6.85365413e-03 1.92816383e-02 -5.09018480e+00] [-2.74166542e-03 9.78613907e-01 -2.05687394e-01 -6.60747596e-01] [-2.02789896e-02 2.05591460e-01 9.78427777e-01 1.15925817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16486062399997 meters Centerline goodness : 0.780958 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.66, Z:1.15 [[ 9.99878437e-01 -4.87947157e-03 1.48088499e-02 -5.10572309e+00] [ 7.56945009e-03 9.82248080e-01 -1.87433755e-01 -6.61299858e-01] [-1.36313867e-02 1.87523065e-01 9.82165610e-01 1.15308495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22486062399997 meters Centerline goodness : 0.778884 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.66, Z:1.15 [[ 0.99974734 -0.01285596 0.01843871 -5.11348439] [ 0.01579795 0.98540049 -0.16951783 -0.66320956] [-0.0159902 0.16976629 0.98535462 1.1456235 ] [ 0. 0. 0. 1. ]] SLAMing on 155.28486062399998 meters Centerline goodness : 0.781283 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.67, Z:1.14 [[ 0.99956316 -0.01703757 0.02414964 -5.11137947] [ 0.02056082 0.98784159 -0.15409815 -0.66619936] [-0.02123056 0.15452737 0.98776037 1.136738 ] [ 0. 0. 0. 1. ]] SLAMing on 155.34486062399998 meters Centerline goodness : 0.780958 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.67, Z:1.13 [[ 0.99929856 -0.02311932 0.02945997 -5.11115002] [ 0.02701305 0.98985517 -0.13948851 -0.66913627] [-0.02593622 0.14018647 0.98978536 1.12874261] [ 0. 0. 0. 1. ]] SLAMing on 155.40486062399998 meters Centerline goodness : 0.783166 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.67, Z:1.12 [[ 0.99907275 -0.02495145 0.03508646 -5.10403782] [ 0.02913974 0.99180021 -0.12443159 -0.67333559] [-0.03169401 0.12533862 0.99160764 1.1194062 ] [ 0. 0. 0. 1. ]] SLAMing on 155.46486062399998 meters Centerline goodness : 0.779999 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.68, Z:1.11 [[ 0.99889403 -0.02348573 0.04073244 -5.09533226] [ 0.02772586 0.99388643 -0.10686928 -0.67632201] [-0.03797352 0.10788043 0.99343838 1.10969543] [ 0. 0. 0. 1. ]] SLAMing on 155.52486062399998 meters Centerline goodness : 0.780673 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.68, Z:1.10 [[ 0.9986818 -0.02247249 0.04614807 -5.0861789 ] [ 0.02651344 0.9956869 -0.08890798 -0.68106517] [-0.04395105 0.09001433 0.99497021 1.09825745] [ 0. 0. 0. 1. ]] SLAMing on 155.584860624 meters Centerline goodness : 0.782231 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.68, Z:1.10 [[ 0.99874755 -0.01900763 0.04628223 -5.08637544] [ 0.02285517 0.99619726 -0.08407529 -0.68253083] [-0.04450816 0.08502777 0.995384 1.09608188] [ 0. 0. 0. 1. ]] SLAMing on 155.644860624 meters Centerline goodness : 0.782640 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.68, Z:1.10 [[ 0.99876183 -0.01871444 0.0460931 -5.08581832] [ 0.02255044 0.99619694 -0.08416141 -0.68201394] [-0.04434277 0.08509662 0.99538549 1.09641647] [ 0. 0. 0. 1. ]] SLAMing on 155.704860624 meters Centerline goodness : 0.782488 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.69, Z:1.09 [[ 0.99846548 -0.01997851 0.05164819 -5.0769807 ] [ 0.0235529 0.99730032 -0.0695509 -0.68728869] [-0.05011923 0.07066064 0.9962405 1.08761571] [ 0. 0. 0. 1. ]] SLAMing on 155.76486062399997 meters Centerline goodness : 0.784668 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.69, Z:1.09 [[ 0.99848369 -0.01965312 0.05142049 -5.0765617 ] [ 0.02318111 0.9973515 -0.0689392 -0.68935376] [-0.04992943 0.07002665 0.9962948 1.08739866] [ 0. 0. 0. 1. ]] SLAMing on 155.82486062399997 meters Centerline goodness : 0.783421 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.69, Z:1.09 [[ 0.9985022 -0.01919289 0.05123459 -5.07578929] [ 0.02266452 0.99742362 -0.06806204 -0.69156993] [-0.04979628 0.06912131 0.99636468 1.08644674] [ 0. 0. 0. 1. ]] SLAMing on 155.88486062399997 meters Centerline goodness : 0.787490 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.69, Z:1.09 [[ 0.99853082 -0.01851881 0.050924 -5.07451248] [ 0.02192722 0.99749798 -0.06720844 -0.69362776] [-0.04955196 0.06822632 0.99643854 1.08545682] [ 0. 0. 0. 1. ]] SLAMing on 155.94486062399997 meters Centerline goodness : 0.785986 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.70, Z:1.08 [[ 0.99856605 -0.01770893 0.05051964 -5.0730378 ] [ 0.0210296 0.99759965 -0.06597491 -0.69691081] [-0.04923003 0.06694271 0.99654156 1.08418192] [ 0. 0. 0. 1. ]] SLAMing on 156.00486062399997 meters Centerline goodness : 0.789158 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.70, Z:1.08 [[ 0.99858848 -0.01728843 0.05022101 -5.07208835] [ 0.02051176 0.99771376 -0.06439342 -0.70155999] [-0.04899293 0.06533265 0.99666009 1.08246846] [ 0. 0. 0. 1. ]] SLAMing on 156.06486062399998 meters Centerline goodness : 0.787579 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.70, Z:1.08 [[ 0.99861086 -0.01688748 0.04991159 -5.07133907] [ 0.02004663 0.99778126 -0.06348779 -0.70467854] [-0.0487287 0.06440015 0.99673373 1.08188711] [ 0. 0. 0. 1. ]] SLAMing on 156.12486062399998 meters Centerline goodness : 0.791872 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.71, Z:1.08 [[ 0.99864947 -0.01581565 0.0494884 -5.06974536] [ 0.01888873 0.99788129 -0.06225869 -0.70799577] [-0.04839889 0.06310938 0.99683236 1.08100201] [ 0. 0. 0. 1. ]] SLAMing on 156.18486062399998 meters Centerline goodness : 0.789545 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.71, Z:1.08 [[ 0.9986893 -0.01233019 0.04967541 -5.07037848] [ 0.01517941 0.99823619 -0.0573942 -0.71139925] [-0.04888011 0.05807301 0.99711497 1.0797124 ] [ 0. 0. 0. 1. ]] SLAMing on 156.24486062399998 meters Centerline goodness : 0.791195 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.71, Z:1.08 [[ 0.99872932 -0.00822689 0.04971989 -5.06993047] [ 0.01083238 0.99856935 -0.05236333 -0.71464988] [-0.04921798 0.05283538 0.9973896 1.07803746] [ 0. 0. 0. 1. ]] SLAMing on 156.30486062399999 meters Centerline goodness : 0.791609 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.72, Z:1.08 [[ 9.98756244e-01 -3.72207601e-03 4.97203350e-02 -5.06870893e+00] [ 6.08218575e-03 9.98857419e-01 -4.74010836e-02 -7.15895559e-01] [-4.94870951e-02 4.76445365e-02 9.97637723e-01 1.07603137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364860624 meters Centerline goodness : 0.793751 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.71, Z:1.08 [[ 9.98779942e-01 -2.42365284e-03 4.93229399e-02 -5.06639505e+00] [ 4.75066259e-03 9.98878096e-01 -4.71166718e-02 -7.14689142e-01] [-4.91534098e-02 4.72935034e-02 9.97670921e-01 1.07548673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424860624 meters Centerline goodness : 0.793781 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.71, Z:1.07 [[ 9.98804874e-01 -9.32653830e-04 4.88667030e-02 -5.06362762e+00] [ 3.21709511e-03 9.98904216e-01 -4.66906563e-02 -7.13339913e-01] [-4.87696094e-02 4.67920639e-02 9.97713400e-01 1.07455605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484860624 meters Centerline goodness : 0.795854 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.71, Z:1.07 [[ 9.98797754e-01 3.15350079e-03 4.89193412e-02 -5.06265248e+00] [-1.08138186e-03 9.99103241e-01 -4.23266347e-02 -7.12774470e-01] [-4.90089494e-02 4.22228472e-02 9.97905484e-01 1.07294327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54486062399997 meters Centerline goodness : 0.798680 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.71, Z:1.07 [[ 9.98802354e-01 3.54514728e-03 4.87984509e-02 -5.06186945e+00] [-1.45453729e-03 9.99082141e-01 -4.28107455e-02 -7.09861785e-01] [-4.89054312e-02 4.26884942e-02 9.97890751e-01 1.07331324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60486062399997 meters Centerline goodness : 0.796917 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.71, Z:1.07 [[ 9.98816463e-01 3.88477459e-03 4.84828013e-02 -5.06069594e+00] [-1.80442952e-03 9.99078637e-01 -4.28791517e-02 -7.08607364e-01] [-4.86047069e-02 4.27409188e-02 9.97903200e-01 1.07311610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66486062399997 meters Centerline goodness : 0.800876 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.71, Z:1.07 [[ 0.99879596 0.0082816 0.04835332 -5.05929116] [-0.00640986 0.99922887 -0.03873718 -0.70713244] [-0.04863684 0.0383806 0.99807885 1.07215929] [ 0. 0. 0. 1. ]] SLAMing on 156.72486062399997 meters Centerline goodness : 0.797664 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.71, Z:1.07 [[ 0.99879164 0.01006659 0.04810322 -5.05636586] [-0.0082316 0.99923644 -0.03819394 -0.70519679] [-0.04845097 0.03775182 0.99811187 1.07072811] [ 0. 0. 0. 1. ]] SLAMing on 156.78486062399998 meters Centerline goodness : 0.800042 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.70, Z:1.07 [[ 0.99873433 0.01416828 0.04825961 -5.05553533] [-0.01254125 0.99934818 -0.03385151 -0.70464654] [-0.04870777 0.03320343 0.99826103 1.06921413] [ 0. 0. 0. 1. ]] SLAMing on 156.84486062399998 meters Centerline goodness : 0.799749 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.70, Z:1.07 [[ 0.99873997 0.01461166 0.04801015 -5.05462382] [-0.01299246 0.9993419 -0.03386688 -0.70388573] [-0.04847341 0.03320044 0.99827254 1.06933957] [ 0. 0. 0. 1. ]] SLAMing on 156.90486062399998 meters Centerline goodness : 0.803371 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.70, Z:1.07 [[ 0.9987491 0.01479099 0.04776467 -5.05431288] [-0.01317797 0.999338 -0.03391035 -0.70351926] [-0.04823462 0.03323849 0.99828284 1.06996643] [ 0. 0. 0. 1. ]] SLAMing on 156.96486062399998 meters Centerline goodness : 0.805196 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.70, Z:1.07 [[ 0.99876123 0.01538923 0.04732005 -5.05254439] [-0.01381373 0.99934515 -0.03344332 -0.70421535] [-0.04780373 0.03274823 0.99831977 1.06918461] [ 0. 0. 0. 1. ]] SLAMing on 157.02486062399998 meters Centerline goodness : 0.805800 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.71, Z:1.07 [[ 0.9987663 0.01615096 0.04695765 -5.05066223] [-0.01461622 0.99935357 -0.03284534 -0.70502039] [-0.04745778 0.03211848 0.99835673 1.06805113] [ 0. 0. 0. 1. ]] SLAMing on 157.084860624 meters Centerline goodness : 0.802321 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.70, Z:1.07 [[ 0.99875348 0.01710604 0.04689218 -5.04932309] [-0.01557666 0.99934092 -0.03278856 -0.70348246] [-0.04742215 0.03201727 0.99836167 1.06780267] [ 0. 0. 0. 1. ]] SLAMing on 157.144860624 meters Centerline goodness : 0.806077 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.70, Z:1.07 [[ 0.99874787 0.01837076 0.04653173 -5.04705803] [-0.01686469 0.99932765 -0.0325549 -0.70213854] [-0.04709851 0.03172939 0.99838619 1.06729019] [ 0. 0. 0. 1. ]] SLAMing on 157.204860624 meters Centerline goodness : 0.806164 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.70, Z:1.07 [[ 0.99872215 0.0201385 0.04635196 -5.04429804] [-0.01866585 0.99931396 -0.03198756 -0.70063903] [-0.04696435 0.03108149 0.99841289 1.06596599] [ 0. 0. 0. 1. ]] SLAMing on 157.26486062399997 meters Centerline goodness : 0.809531 with order 2 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.70, Z:1.07 [[ 0.99872825 0.02051079 0.04605639 -5.04305725] [-0.01905896 0.99931431 -0.03174388 -0.70061882] [-0.0466759 0.03082572 0.99843434 1.06541351] [ 0. 0. 0. 1. ]] SLAMing on 157.32486062399997 meters Centerline goodness : 0.802986 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.70, Z:1.06 [[ 0.99872773 0.02128931 0.04571312 -5.0410864 ] [-0.01989292 0.99932797 -0.03078754 -0.70163947] [-0.04633784 0.029839 0.99848006 1.06368606] [ 0. 0. 0. 1. ]] SLAMing on 157.38486062399997 meters Centerline goodness : 0.803837 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.70, Z:1.06 [[ 0.9987293 0.02139381 0.04562999 -5.04044554] [-0.02002737 0.99934334 -0.03019584 -0.70318781] [-0.04624603 0.02924362 0.99850194 1.06255818] [ 0. 0. 0. 1. ]] SLAMing on 157.44486062399997 meters Centerline goodness : 0.803069 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.70, Z:1.06 [[ 0.99873537 0.02105324 0.04565551 -5.04054009] [-0.01971016 0.99936537 -0.02967093 -0.70495294] [-0.04625121 0.02873353 0.9985165 1.06152837] [ 0. 0. 0. 1. ]] SLAMing on 157.50486062399997 meters Centerline goodness : 0.804473 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.71, Z:1.06 [[ 0.99873878 0.02079916 0.04569736 -5.04093305] [-0.01946027 0.99937382 -0.02955117 -0.70563398] [-0.04628339 0.02862462 0.99851814 1.06151378] [ 0. 0. 0. 1. ]] SLAMing on 157.56486062399998 meters Centerline goodness : 0.803486 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.71, Z:1.06 [[ 0.99875636 0.01982678 0.04574532 -5.04228633] [-0.01846565 0.99937968 -0.02998776 -0.70613755] [-0.0463115 0.02910575 0.99850293 1.06245564] [ 0. 0. 0. 1. ]] SLAMing on 157.62486062399998 meters Centerline goodness : 0.798838 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.76, Z:1.04 [[ 9.96731883e-01 7.95085608e-02 1.42808523e-02 -5.78706185e+00] [-8.07670625e-02 9.84136948e-01 1.57959328e-01 -7.55316183e-01] [-1.49519557e-03 -1.58596521e-01 9.87342346e-01 1.04269079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68486062399998 meters Centerline goodness : 0.802795 with order 1 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.53, Z:1.21 [[ 0.9863797 -0.15782453 -0.04633043 -5.33517373] [ 0.15373585 0.98474644 -0.08148461 -0.52520172] [ 0.058484 0.07325212 0.99559718 1.20723196] [ 0. 0. 0. 1. ]] SLAMing on 157.74486062399998 meters Centerline goodness : 0.799010 with order 1 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.53, Z:1.20 [[ 0.98538036 -0.1640671 -0.04590783 -5.34244387] [ 0.16002331 0.98377837 -0.08107191 -0.52819158] [ 0.05846436 0.07254034 0.99565045 1.20440282] [ 0. 0. 0. 1. ]] SLAMing on 157.80486062399999 meters Centerline goodness : 0.799008 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.53, Z:1.21 [[ 0.98436258 -0.17020237 -0.04540324 -5.34722185] [ 0.16598432 0.98250318 -0.08447903 -0.5281631 ] [ 0.05898736 0.07562177 0.99539029 1.20587425] [ 0. 0. 0. 1. ]] SLAMing on 157.864860624 meters Centerline goodness : 0.796532 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.53, Z:1.21 [[ 0.98403539 -0.17218757 -0.04500877 -5.35004128] [ 0.16796943 0.98212746 -0.08492308 -0.52828087] [ 0.05882705 0.07600721 0.99537042 1.20620313] [ 0. 0. 0. 1. ]] SLAMing on 157.924860624 meters Centerline goodness : 0.793413 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.53, Z:1.21 [[ 0.98345797 -0.17560201 -0.04443382 -5.35448838] [ 0.17137366 0.98146927 -0.08572713 -0.5285418 ] [ 0.05866428 0.07669425 0.99532733 1.20655667] [ 0. 0. 0. 1. ]] SLAMing on 157.984860624 meters Centerline goodness : 0.790817 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.53, Z:1.21 [[ 0.98373481 -0.17399369 -0.04463214 -5.35735033] [ 0.16999107 0.98205521 -0.08167373 -0.52962998] [ 0.05804194 0.07275822 0.99565927 1.20509091] [ 0. 0. 0. 1. ]] SLAMing on 158.04486062399997 meters Centerline goodness : 0.791255 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.53, Z:1.20 [[ 0.98411705 -0.17179004 -0.04474155 -5.36010507] [ 0.16801891 0.9827246 -0.07760162 -0.52937828] [ 0.05729981 0.06885165 0.99598001 1.20380872] [ 0. 0. 0. 1. ]] SLAMing on 158.10486062399997 meters Centerline goodness : 0.791704 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.53, Z:1.20 [[ 0.9843439 -0.17053724 -0.04454372 -5.36451892] [ 0.16697405 0.98316365 -0.07422206 -0.52775361] [ 0.05645139 0.06562238 0.99624643 1.2033101 ] [ 0. 0. 0. 1. ]] SLAMing on 158.16486062399997 meters Centerline goodness : 0.791252 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.53, Z:1.20 [[ 0.98467183 -0.16863348 -0.04454372 -5.36767325] [ 0.16532503 0.98377125 -0.06972635 -0.5290208 ] [ 0.05557902 0.06129338 0.99657117 1.20140763] [ 0. 0. 0. 1. ]] SLAMing on 158.22486062399997 meters Centerline goodness : 0.787067 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.53, Z:1.20 [[ 0.98451056 -0.16963972 -0.04428678 -5.36982383] [ 0.16631573 0.98356535 -0.07027286 -0.52875488] [ 0.05548001 0.06181879 0.99654423 1.20271358] [ 0. 0. 0. 1. ]] SLAMing on 158.28486062399998 meters Centerline goodness : 0.788396 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.53, Z:1.20 [[ 0.98494197 -0.16703079 -0.04460985 -5.37167575] [ 0.16395989 0.98429742 -0.06538925 -0.53193979] [ 0.05483138 0.05709039 0.99686218 1.20083822] [ 0. 0. 0. 1. ]] SLAMing on 158.34486062399998 meters Centerline goodness : 0.786559 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.54, Z:1.20 [[ 0.98542222 -0.16407796 -0.04496081 -5.37341991] [ 0.1612585 0.98505812 -0.0604664 -0.53518657] [ 0.05421021 0.05233462 0.99715713 1.19930675] [ 0. 0. 0. 1. ]] SLAMing on 158.40486062399998 meters Centerline goodness : 0.787725 with order 1 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.54, Z:1.20 [[ 0.98582165 -0.16158695 -0.04522534 -5.37577489] [ 0.15900908 0.98570114 -0.05576175 -0.53864771] [ 0.05358904 0.0477799 0.99741932 1.19815594] [ 0. 0. 0. 1. ]] SLAMing on 158.46486062399998 meters Centerline goodness : 0.788625 with order 1 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.54, Z:1.20 [[ 0.98630256 -0.15853013 -0.04555717 -5.37785076] [ 0.15618895 0.98640708 -0.05104976 -0.54203006] [ 0.05303084 0.04323498 0.99765649 1.19763401] [ 0. 0. 0. 1. ]] SLAMing on 158.52486062399998 meters Centerline goodness : 0.790779 with order 1 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.54, Z:1.20 [[ 0.98768682 -0.14927617 -0.04681204 -5.37701361] [ 0.14734926 0.98818234 -0.0422358 -0.5443195 ] [ 0.05256363 0.03481802 0.99801041 1.19695304] [ 0. 0. 0. 1. ]] SLAMing on 158.584860624 meters Centerline goodness : 0.790156 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.55, Z:1.19 [[ 0.9885512 -0.14295684 -0.04826873 -5.37243883] [ 0.14128953 0.98930018 -0.03636514 -0.5472283 ] [ 0.05295091 0.02912894 0.99817218 1.19404577] [ 0. 0. 0. 1. ]] SLAMing on 158.644860624 meters Centerline goodness : 0.785311 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.55, Z:1.19 [[ 0.98910054 -0.13856494 -0.04979842 -5.36396056] [ 0.13700714 0.99000487 -0.03345748 -0.55033036] [ 0.05393672 0.02627008 0.99819873 1.18992732] [ 0. 0. 0. 1. ]] SLAMing on 158.704860624 meters Centerline goodness : 0.789747 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.55, Z:1.19 [[ 0.9895457 -0.13521438 -0.05016358 -5.36517238] [ 0.1339112 0.99058332 -0.0285039 -0.55455895] [ 0.05354534 0.02148845 0.99833418 1.18899852] [ 0. 0. 0. 1. ]] SLAMing on 158.76486062399997 meters Centerline goodness : 0.791255 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.56, Z:1.19 [[ 0.98945145 -0.13595352 -0.05002472 -5.36741053] [ 0.13466363 0.99048642 -0.02832591 -0.55826128] [ 0.05339982 0.02129061 0.99834622 1.19084583] [ 0. 0. 0. 1. ]] SLAMing on 158.82486062399997 meters Centerline goodness : 0.793295 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.56, Z:1.19 [[ 0.98940977 -0.13629179 -0.04992844 -5.36813979] [ 0.1350514 0.99045848 -0.02744296 -0.56236042] [ 0.0531923 0.02040943 0.9983757 1.19048663] [ 0. 0. 0. 1. ]] SLAMing on 158.88486062399997 meters Centerline goodness : 0.793441 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.57, Z:1.19 [[ 0.98940149 -0.13637707 -0.0498596 -5.36812305] [ 0.1352119 0.99047406 -0.02605512 -0.56762997] [ 0.05293797 0.01903737 0.99841632 1.18908536] [ 0. 0. 0. 1. ]] SLAMing on 158.94486062399997 meters Centerline goodness : 0.788324 with order 1 Centerline is valid? [False, False] Translation: X:-6.50, Y:-0.97, Z:0.94 [[ 0.96659702 0.17431298 0.18789676 -6.49882936] [-0.23884994 0.87851983 0.41370716 -0.96832604] [-0.0929565 -0.44476723 0.89080929 0.93848597] [ 0. 0. 0. 1. ]] SLAMing on 159.00486062399997 meters Centerline goodness : 0.798609 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.25, Z:1.66 [[ 0.96646874 -0.25036202 0.0570704 -5.95742371] [ 0.24100456 0.80768264 -0.53811295 -0.24558907] [ 0.08862827 0.53382357 0.84093842 1.66298549] [ 0. 0. 0. 1. ]] SLAMing on 159.06486062399998 meters Centerline goodness : 0.800271 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.26, Z:1.64 [[ 0.96691132 -0.25110001 0.04506972 -6.00313491] [ 0.23865244 0.82786646 -0.507624 -0.25902868] [ 0.09015268 0.5015834 0.86039909 1.63686848] [ 0. 0. 0. 1. ]] SLAMing on 159.12486062399998 meters Centerline goodness : 0.798670 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.27, Z:1.62 [[ 0.96768453 -0.25003388 0.0327064 -6.04237343] [ 0.23467761 0.84551504 -0.4796152 -0.2712713 ] [ 0.09226629 0.47179167 0.87686918 1.61525077] [ 0. 0. 0. 1. ]] SLAMing on 159.18486062399998 meters Centerline goodness : 0.800602 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.28, Z:1.59 [[ 0.96861631 -0.24768688 0.02082422 -6.08292145] [ 0.23034083 0.86297474 -0.44968623 -0.28383163] [ 0.09341061 0.44037008 0.89294381 1.59340581] [ 0. 0. 0. 1. ]] SLAMing on 159.24486062399998 meters Centerline goodness : 0.798194 with order 1 Centerline is valid? [False, False] Translation: X:-6.12, Y:-0.29, Z:1.57 [[ 0.96992179 -0.24322582 0.00963983 -6.11561095] [ 0.22451823 0.87861716 -0.42145398 -0.29443391] [ 0.09403877 0.41094172 0.90679855 1.5746988 ] [ 0. 0. 0. 1. ]] SLAMing on 159.30486062399999 meters Centerline goodness : 0.799081 with order 1 Centerline is valid? [False, False] Translation: X:-6.15, Y:-0.31, Z:1.56 [[ 9.70769101e-01 -2.40012212e-01 -1.22119590e-03 -6.14817628e+00] [ 2.20112786e-01 8.92288153e-01 -3.94172822e-01 -3.05929924e-01] [ 9.56959496e-02 3.82381995e-01 9.19035524e-01 1.55586134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364860624 meters Centerline goodness : 0.798569 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.32, Z:1.54 [[ 0.9713693 -0.23734437 -0.01045618 -6.17771511] [ 0.21691665 0.90399661 -0.36842543 -0.31687885] [ 0.09689605 0.35560903 0.9295985 1.53749162] [ 0. 0. 0. 1. ]] SLAMing on 159.424860624 meters Centerline goodness : 0.800018 with order 1 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.33, Z:1.52 [[ 0.97181848 -0.23496114 -0.01902906 -6.20519787] [ 0.21436819 0.91444534 -0.34327247 -0.3272922 ] [ 0.09805672 0.32951931 0.93904308 1.51951624] [ 0. 0. 0. 1. ]] SLAMing on 159.484860624 meters Centerline goodness : 0.802772 with order 1 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.34, Z:1.50 [[ 0.97236977 -0.23191871 -0.02665964 -6.23034324] [ 0.21163821 0.92396259 -0.31859443 -0.33652627] [ 0.09852051 0.30414939 0.94751615 1.50235112] [ 0. 0. 0. 1. ]] SLAMing on 159.54486062399997 meters Centerline goodness : 0.799888 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.34, Z:1.49 [[ 0.97318099 -0.2276695 -0.03294472 -6.2517557 ] [ 0.20809376 0.93230773 -0.29580278 -0.34455224] [ 0.09805989 0.28101405 0.95468076 1.48730235] [ 0. 0. 0. 1. ]] SLAMing on 159.60486062399997 meters Centerline goodness : 0.802043 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.35, Z:1.47 [[ 0.97367238 -0.22443307 -0.03989845 -6.27477775] [ 0.20549891 0.93996562 -0.2724607 -0.35221668] [ 0.09865236 0.25708837 0.96133932 1.47094757] [ 0. 0. 0. 1. ]] SLAMing on 159.66486062399997 meters Centerline goodness : 0.801963 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.36, Z:1.46 [[ 0.97423316 -0.22080796 -0.04597379 -6.29626621] [ 0.20279188 0.94678483 -0.24994786 -0.35849885] [ 0.09871777 0.23418438 0.96716724 1.4558639 ] [ 0. 0. 0. 1. ]] SLAMing on 159.72486062399997 meters Centerline goodness : 0.804671 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.36, Z:1.44 [[ 0.97614315 -0.21123629 -0.05023716 -6.30708126] [ 0.19463324 0.95382551 -0.22876802 -0.36110426] [ 0.09624159 0.21353251 0.97218384 1.44341596] [ 0. 0. 0. 1. ]] SLAMing on 159.78486062399998 meters Centerline goodness : 0.804391 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.36, Z:1.44 [[ 0.97696094 -0.20481702 -0.05997754 -6.29844045] [ 0.18858909 0.96006837 -0.20664677 -0.36053787] [ 0.09990731 0.19057472 0.97657555 1.4361618 ] [ 0. 0. 0. 1. ]] SLAMing on 159.84486062399998 meters Centerline goodness : 0.803887 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.36, Z:1.43 [[ 0.97808663 -0.19617974 -0.06971405 -6.28678654] [ 0.1798605 0.96483738 -0.19167431 -0.3557385 ] [ 0.10486533 0.17493527 0.97897953 1.43332526] [ 0. 0. 0. 1. ]] SLAMing on 159.90486062399998 meters Centerline goodness : 0.806403 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.36, Z:1.42 [[ 0.9791695 -0.1903655 -0.07062618 -6.27690209] [ 0.17643858 0.96986697 -0.1680104 -0.35893282] [ 0.10048139 0.15204947 0.98325198 1.4209842 ] [ 0. 0. 0. 1. ]] SLAMing on 159.96486062399998 meters Centerline goodness : 0.803871 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.36, Z:1.41 [[ 0.9798343 -0.18667362 -0.07125797 -6.27798364] [ 0.17350142 0.97175588 -0.15996175 -0.36404792] [ 0.09910599 0.14437265 0.98454789 1.41382325] [ 0. 0. 0. 1. ]] SLAMing on 160.02486062399998 meters Centerline goodness : 0.808813 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.37, Z:1.41 [[ 0.9803578 -0.18380459 -0.07151546 -6.2813469 ] [ 0.17137853 0.97335545 -0.15234362 -0.36908069] [ 0.09761142 0.13709504 0.98573676 1.40774259] [ 0. 0. 0. 1. ]] SLAMing on 160.084860624 meters Centerline goodness : 0.806073 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.37, Z:1.40 [[ 0.98055288 -0.18266819 -0.07175221 -6.28708565] [ 0.17095934 0.97457932 -0.14480347 -0.37467116] [ 0.09637921 0.12972075 0.9868554 1.40159439] [ 0. 0. 0. 1. ]] SLAMing on 160.144860624 meters Centerline goodness : 0.807056 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.38, Z:1.39 [[ 0.98057154 -0.18320407 -0.07011218 -6.278342 ] [ 0.17336501 0.97660373 -0.12723884 -0.37960359] [ 0.0917825 0.11261179 0.989391 1.39108892] [ 0. 0. 0. 1. ]] SLAMing on 160.204860624 meters Centerline goodness : 0.809957 with order 3 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.39, Z:1.38 [[ 0.97932608 -0.18853183 -0.0733224 -6.29639356] [ 0.17924523 0.9767676 -0.11745728 -0.38671065] [ 0.09376338 0.10188628 0.99036741 1.38285199] [ 0. 0. 0. 1. ]] SLAMing on 160.26486062399997 meters Centerline goodness : 0.804161 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.39, Z:1.38 [[ 0.97888049 -0.19086148 -0.07324529 -6.29928424] [ 0.18187834 0.97665933 -0.11426643 -0.39128553] [ 0.09334476 0.09853145 0.99074634 1.37713013] [ 0. 0. 0. 1. ]] SLAMing on 160.32486062399997 meters Centerline goodness : 0.804446 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.40, Z:1.37 [[ 0.97703396 -0.19928763 -0.07542596 -6.31464952] [ 0.19060913 0.97562876 -0.1087046 -0.39757743] [ 0.09525122 0.09183121 0.99120847 1.36951788] [ 0. 0. 0. 1. ]] SLAMing on 160.38486062399997 meters Centerline goodness : 0.808417 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:-0.40, Z:1.36 [[ 0.97518483 -0.20735158 -0.07758782 -6.34117897] [ 0.19934856 0.97484551 -0.09968138 -0.40316502] [ 0.09630523 0.08174075 0.99198979 1.36397434] [ 0. 0. 0. 1. ]] SLAMing on 160.44486062399997 meters Centerline goodness : 0.804924 with order 1 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.40, Z:1.36 [[ 0.97455252 -0.21057837 -0.07683837 -6.34912788] [ 0.20275271 0.9742664 -0.09846989 -0.40468102] [ 0.09559667 0.08038489 0.99216911 1.36357221] [ 0. 0. 0. 1. ]] SLAMing on 160.50486062399997 meters Centerline goodness : 0.139996 with order 1 Centerline is valid? [False, False] Translation: X:-6.36, Y:-0.41, Z:1.36 [[ 0.97333839 -0.21608913 -0.07692764 -6.36133726] [ 0.20859467 0.9733823 -0.09494819 -0.40690046] [ 0.09539727 0.07637002 0.99250541 1.35963912] [ 0. 0. 0. 1. ]] SLAMing on 160.56486062399998 meters Centerline goodness : 0.810795 with order 1 Centerline is valid? [False, False] Translation: X:-6.36, Y:-0.41, Z:1.36 [[ 0.97282707 -0.2185904 -0.0763264 -6.36487083] [ 0.21109785 0.97279717 -0.09541154 -0.40683748] [ 0.09510615 0.07670659 0.99250739 1.35963668] [ 0. 0. 0. 1. ]] SLAMing on 160.62486062399998 meters Centerline goodness : 0.821132 with order 1 Centerline is valid? [False, False] Translation: X:-6.37, Y:-0.41, Z:1.36 [[ 0.97193939 -0.22294138 -0.07503976 -6.37216437] [ 0.21542823 0.97172301 -0.0966699 -0.40537597] [ 0.09446958 0.0777916 0.99248374 1.36079794] [ 0. 0. 0. 1. ]] SLAMing on 160.68486062399998 meters Centerline goodness : 0.824446 with order 1 Centerline is valid? [False, False] Translation: X:-6.37, Y:-0.40, Z:1.36 [[ 0.97158718 -0.22465793 -0.0744793 -6.37485617] [ 0.21715516 0.97130373 -0.09701904 -0.40427674] [ 0.09413812 0.07808889 0.99249188 1.36083684] [ 0. 0. 0. 1. ]] SLAMing on 160.74486062399998 meters Centerline goodness : 0.837495 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.40, Z:1.36 [[ 0.9709748 -0.22747501 -0.07391245 -6.37752685] [ 0.22007248 0.97070657 -0.09642021 -0.4047181 ] [ 0.09368049 0.0773555 0.99259261 1.35813369] [ 0. 0. 0. 1. ]] SLAMing on 160.80486062399999 meters Centerline goodness : 0.840768 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.40, Z:1.36 [[ 0.97076778 -0.22848017 -0.07353044 -6.37900383] [ 0.22107595 0.97044558 -0.09675124 -0.40377674] [ 0.09346303 0.07766717 0.99258877 1.35816602] [ 0. 0. 0. 1. ]] SLAMing on 160.864860624 meters Centerline goodness : 0.850966 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.40, Z:1.36 [[ 0.97143927 -0.22555979 -0.07367851 -6.38062881] [ 0.21849659 0.97139642 -0.09299592 -0.40313458] [ 0.09254718 0.07424139 0.99293667 1.3570327 ] [ 0. 0. 0. 1. ]] SLAMing on 160.924860624 meters Centerline goodness : 0.825377 with order 3 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.40, Z:1.36 [[ 0.97210603 -0.22249545 -0.07419998 -6.38147211] [ 0.2158027 0.97240961 -0.08859315 -0.40402174] [ 0.09186435 0.07010938 0.99330037 1.35520487] [ 0. 0. 0. 1. ]] Total time of SLAM: 8652.33 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%| | 0/5366 [00:00