+ python -m lidar_slam --result /working/result.json --no-model /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 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 0.002414037 Adjusted end_distance from 9.223372036854776e+18 to 289.862414037 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002414037 meters Centerline goodness : 0.983880 with order 1 Centerline is valid? [0, True] SLAMing on 0.062414037 meters Centerline goodness : 0.987106 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:-0.00 [[ 9.99997899e-01 -2.04970160e-03 0.00000000e+00 6.12818736e-02] [ 2.04970160e-03 9.99997899e-01 0.00000000e+00 2.05885708e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83802407e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12241403699999999 meters Centerline goodness : 0.987820 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:-0.00 [[ 9.99999914e-01 4.15600387e-04 0.00000000e+00 1.21963187e-01] [-4.15600387e-04 9.99999914e-01 0.00000000e+00 2.18743094e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31978229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182414037 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:0.02, Z:0.00 [[ 9.99997299e-01 2.32402666e-03 0.00000000e+00 1.81068155e-01] [-2.32402666e-03 9.99997299e-01 0.00000000e+00 2.01829424e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69862585e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242414037 meters Centerline goodness : 0.989206 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:0.03, Z:-0.00 [[ 9.99990741e-01 4.30315951e-03 0.00000000e+00 2.41245520e-01] [-4.30315951e-03 9.99990741e-01 0.00000000e+00 2.73342796e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67665992e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30241403699999997 meters Centerline goodness : 0.990527 with order 1 Centerline is valid? [True, True] Translation: X:0.30, Y:0.03, Z:-0.01 [[ 9.99999992e-01 1.26257020e-04 0.00000000e+00 3.01415620e-01] [-1.26257020e-04 9.99999992e-01 0.00000000e+00 3.14788689e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19515237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36241403699999997 meters Centerline goodness : 0.990207 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:0.03, Z:0.00 [[ 9.99964756e-01 -8.39568991e-03 0.00000000e+00 3.61804797e-01] [ 8.39568991e-03 9.99964756e-01 0.00000000e+00 3.22495515e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39556478e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42241403699999996 meters Centerline goodness : 0.989522 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:0.03, Z:-0.00 [[ 9.99887297e-01 -1.50130859e-02 0.00000000e+00 4.24330665e-01] [ 1.50130859e-02 9.99887297e-01 0.00000000e+00 3.05252135e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47289601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48241403699999996 meters Centerline goodness : 0.988179 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:0.02, Z:-0.01 [[ 0.99984901 -0.01737674 0. 0.48490805] [ 0.01737674 0.99984901 0. 0.02127435] [ 0. 0. 1. -0.01307941] [ 0. 0. 0. 1. ]] SLAMing on 0.542414037 meters Centerline goodness : 0.987147 with order 1 Centerline is valid? [True, True] Translation: X:0.55, Y:0.02, Z:-0.01 [[ 0.9998381 -0.01799359 0. 0.54770781] [ 0.01799359 0.9998381 0. 0.02387336] [ 0. 0. 1. -0.01139746] [ 0. 0. 0. 1. ]] SLAMing on 0.602414037 meters Centerline goodness : 0.988426 with order 1 Centerline is valid? [True, True] Translation: X:0.61, Y:0.03, Z:-0.01 [[ 0.9998044 -0.01977784 0. 0.60918933] [ 0.01977784 0.9998044 0. 0.0291108 ] [ 0. 0. 1. -0.01066999] [ 0. 0. 0. 1. ]] SLAMing on 0.6624140369999999 meters Centerline goodness : 0.989100 with order 1 Centerline is valid? [True, True] Translation: X:0.67, Y:0.04, Z:-0.00 [[ 9.99750548e-01 -2.23347844e-02 0.00000000e+00 6.71980409e-01] [ 2.23347844e-02 9.99750548e-01 0.00000000e+00 4.10086340e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20182031e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722414037 meters Centerline goodness : 0.987439 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:0.04, Z:-0.00 [[ 0.9998085 -0.01956955 0. 0.73423355] [ 0.01956955 0.9998085 0. 0.04160733] [ 0. 0. 1. -0.00193044] [ 0. 0. 0. 1. ]] SLAMing on 0.782414037 meters Centerline goodness : 0.988890 with order 1 Centerline is valid? [True, True] Translation: X:0.80, Y:0.06, Z:0.01 [[ 0.99949327 -0.0318307 0. 0.79616819] [ 0.0318307 0.99949327 0. 0.05865543] [ 0. 0. 1. 0.01270625] [ 0. 0. 0. 1. ]] SLAMing on 0.842414037 meters Centerline goodness : 0.988975 with order 1 Centerline is valid? [True, True] Translation: X:0.86, Y:0.06, Z:0.01 [[ 0.99937341 -0.03539473 0. 0.85860131] [ 0.03539473 0.99937341 0. 0.06254653] [ 0. 0. 1. 0.0073754 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9024140369999999 meters Centerline goodness : 0.990072 with order 1 Centerline is valid? [True, True] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.99911361 -0.04209494 0. 0.91986237] [ 0.04209494 0.99911361 0. 0.06682793] [ 0. 0. 1. 0.00337487] [ 0. 0. 0. 1. ]] SLAMing on 0.9624140369999999 meters Centerline goodness : 0.988729 with order 1 Centerline is valid? [True, True] Translation: X:0.98, Y:0.07, Z:0.00 [[ 0.99897506 -0.04526393 0. 0.98264048] [ 0.04526393 0.99897506 0. 0.07458185] [ 0. 0. 1. 0.00215318] [ 0. 0. 0. 1. ]] SLAMing on 1.022414037 meters Centerline goodness : 0.989493 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:0.09, Z:0.00 [[ 9.98912476e-01 -4.66247318e-02 0.00000000e+00 1.04548343e+00] [ 4.66247318e-02 9.98912476e-01 0.00000000e+00 8.62568035e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94261596e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0824140370000002 meters Centerline goodness : 0.989424 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:0.09, Z:-0.00 [[ 0.9990207 -0.04424529 0. 1.10649034] [ 0.04424529 0.9990207 0. 0.09417387] [ 0. 0. 1. -0.00298428] [ 0. 0. 0. 1. ]] SLAMing on 1.142414037 meters Centerline goodness : 0.990131 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:0.09, Z:-0.01 [[ 0.99896843 -0.04541017 0. 1.16899794] [ 0.04541017 0.99896843 0. 0.09290058] [ 0. 0. 1. -0.00558927] [ 0. 0. 0. 1. ]] SLAMing on 1.202414037 meters Centerline goodness : 0.989020 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:0.10, Z:-0.00 [[ 0.99881955 -0.04857469 0. 1.23227412] [ 0.04857469 0.99881955 0. 0.10122493] [ 0. 0. 1. -0.00381497] [ 0. 0. 0. 1. ]] SLAMing on 1.262414037 meters Centerline goodness : 0.987257 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:0.11, Z:-0.01 [[ 0.99896209 -0.04554942 0. 1.29436274] [ 0.04554942 0.99896209 0. 0.10763341] [ 0. 0. 1. -0.00544973] [ 0. 0. 0. 1. ]] SLAMing on 1.322414037 meters Centerline goodness : 0.986763 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:0.12, Z:-0.00 [[ 0.99893981 -0.04603545 0. 1.35724869] [ 0.04603545 0.99893981 0. 0.11911177] [ 0. 0. 1. -0.00445567] [ 0. 0. 0. 1. ]] SLAMing on 1.382414037 meters Centerline goodness : 0.987541 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:0.13, Z:-0.01 [[ 0.99896906 -0.04539616 0. 1.41997838] [ 0.04539616 0.99896906 0. 0.12590671] [ 0. 0. 1. -0.01260641] [ 0. 0. 0. 1. ]] SLAMing on 1.442414037 meters Centerline goodness : 0.984359 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:0.12, Z:-0.02 [[ 0.99914659 -0.04130488 0. 1.48220984] [ 0.04130488 0.99914659 0. 0.12049993] [ 0. 0. 1. -0.01510607] [ 0. 0. 0. 1. ]] SLAMing on 1.502414037 meters Centerline goodness : 0.986306 with order 1 Centerline is valid? [True, True] Translation: X:1.54, Y:0.13, Z:-0.02 [[ 0.99901509 -0.04437179 0. 1.54370648] [ 0.04437179 0.99901509 0. 0.13000166] [ 0. 0. 1. -0.0187072 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5624140370000001 meters Centerline goodness : 0.985857 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:0.14, Z:-0.02 [[ 0.9990923 -0.04259779 0. 1.6077004 ] [ 0.04259779 0.9990923 0. 0.13580176] [ 0. 0. 1. -0.01877769] [ 0. 0. 0. 1. ]] SLAMing on 1.622414037 meters Centerline goodness : 0.985618 with order 1 Centerline is valid? [True, True] Translation: X:1.67, Y:0.14, Z:-0.02 [[ 0.99904545 -0.04368279 0. 1.67045633] [ 0.04368279 0.99904545 0. 0.13836861] [ 0. 0. 1. -0.0196217 ] [ 0. 0. 0. 1. ]] SLAMing on 1.682414037 meters Centerline goodness : 0.986011 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:0.14, Z:-0.02 [[ 0.99905079 -0.04356054 0. 1.73302001] [ 0.04356054 0.99905079 0. 0.14039968] [ 0. 0. 1. -0.02027763] [ 0. 0. 0. 1. ]] SLAMing on 1.742414037 meters Centerline goodness : 0.986436 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:0.14, Z:-0.03 [[ 0.99900364 -0.04462877 0. 1.79515427] [ 0.04462877 0.99900364 0. 0.14031018] [ 0. 0. 1. -0.02784042] [ 0. 0. 0. 1. ]] SLAMing on 1.802414037 meters Centerline goodness : 0.989362 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:0.15, Z:-0.04 [[ 0.99891768 -0.04651304 0. 1.85856539] [ 0.04651304 0.99891768 0. 0.15000846] [ 0. 0. 1. -0.04123322] [ 0. 0. 0. 1. ]] SLAMing on 1.862414037 meters Centerline goodness : 0.989007 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:0.15, Z:-0.03 [[ 0.99923546 -0.03909598 0. 1.92225342] [ 0.03909598 0.99923546 0. 0.15092501] [ 0. 0. 1. -0.02659325] [ 0. 0. 0. 1. ]] SLAMing on 1.922414037 meters Centerline goodness : 0.989329 with order 1 Centerline is valid? [True, True] Translation: X:1.99, Y:0.15, Z:-0.03 [[ 0.99923824 -0.03902475 0. 1.98530034] [ 0.03902475 0.99923824 0. 0.15018041] [ 0. 0. 1. -0.02996316] [ 0. 0. 0. 1. ]] SLAMing on 1.982414037 meters Centerline goodness : 0.991812 with order 1 Centerline is valid? [True, True] Translation: X:2.05, Y:0.15, Z:-0.04 [[ 0.99897184 -0.045335 0. 2.04519993] [ 0.045335 0.99897184 0. 0.15204969] [ 0. 0. 1. -0.04402362] [ 0. 0. 0. 1. ]] SLAMing on 2.042414037 meters Centerline goodness : 0.992024 with order 1 Centerline is valid? [True, True] Translation: X:2.11, Y:0.15, Z:-0.04 [[ 0.99910874 -0.04221043 0. 2.10674036] [ 0.04221043 0.99910874 0. 0.15461744] [ 0. 0. 1. -0.04054007] [ 0. 0. 0. 1. ]] SLAMing on 2.102414037 meters Centerline goodness : 0.987902 with order 1 Centerline is valid? [True, True] Translation: X:2.17, Y:0.15, Z:-0.04 [[ 0.99916445 -0.04087051 0. 2.16851395] [ 0.04087051 0.99916445 0. 0.14778256] [ 0. 0. 1. -0.03543449] [ 0. 0. 0. 1. ]] SLAMing on 2.162414037 meters Centerline goodness : 0.988579 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:0.14, Z:-0.04 [[ 0.99894916 -0.04583202 0. 2.22928393] [ 0.04583202 0.99894916 0. 0.14245891] [ 0. 0. 1. -0.03905785] [ 0. 0. 0. 1. ]] SLAMing on 2.2224140369999996 meters Centerline goodness : 0.987974 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:0.14, Z:-0.04 [[ 0.99893229 -0.04619829 0. 2.29146977] [ 0.04619829 0.99893229 0. 0.13869087] [ 0. 0. 1. -0.03908122] [ 0. 0. 0. 1. ]] SLAMing on 2.2824140369999997 meters Centerline goodness : 0.987792 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:0.13, Z:-0.04 [[ 0.99887253 -0.04747282 0. 2.35385408] [ 0.04747282 0.99887253 0. 0.13406807] [ 0. 0. 1. -0.04073138] [ 0. 0. 0. 1. ]] SLAMing on 2.3424140369999997 meters Centerline goodness : 0.990998 with order 1 Centerline is valid? [True, True] Translation: X:2.42, Y:0.14, Z:-0.06 [[ 0.99861218 -0.05266604 0. 2.41577633] [ 0.05266604 0.99861218 0. 0.13647456] [ 0. 0. 1. -0.05545056] [ 0. 0. 0. 1. ]] SLAMing on 2.402414037 meters Centerline goodness : 0.986405 with order 1 Centerline is valid? [True, True] Translation: X:2.48, Y:0.12, Z:-0.06 [[ 0.99912963 -0.04171305 0. 2.4771486 ] [ 0.04171305 0.99912963 0. 0.11616632] [ 0. 0. 1. -0.05935457] [ 0. 0. 0. 1. ]] SLAMing on 2.462414037 meters Centerline goodness : 0.991584 with order 1 Centerline is valid? [True, True] Translation: X:2.54, Y:0.13, Z:-0.05 [[ 0.99878018 -0.04937775 0. 2.53938477] [ 0.04937775 0.99878018 0. 0.1265164 ] [ 0. 0. 1. -0.05025352] [ 0. 0. 0. 1. ]] SLAMing on 2.522414037 meters Centerline goodness : 0.984466 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:0.11, Z:-0.05 [[ 0.99905684 -0.04342158 0. 2.60018073] [ 0.04342158 0.99905684 0. 0.10724271] [ 0. 0. 1. -0.05232061] [ 0. 0. 0. 1. ]] SLAMing on 2.582414037 meters Centerline goodness : 0.987325 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:0.11, Z:-0.05 [[ 0.99877322 -0.04951829 0. 2.6611841 ] [ 0.04951829 0.99877322 0. 0.10828019] [ 0. 0. 1. -0.045939 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6424140369999995 meters Centerline goodness : 0.986247 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:0.10, Z:-0.05 [[ 0.99882384 -0.04848646 0. 2.72279138] [ 0.04848646 0.99882384 0. 0.10004635] [ 0. 0. 1. -0.04528727] [ 0. 0. 0. 1. ]] SLAMing on 2.7024140369999996 meters Centerline goodness : 0.986472 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:0.09, Z:-0.04 [[ 0.9988567 -0.04780482 0. 2.78187938] [ 0.04780482 0.9988567 0. 0.09307188] [ 0. 0. 1. -0.04217352] [ 0. 0. 0. 1. ]] SLAMing on 2.7624140369999997 meters Centerline goodness : 0.985167 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:0.08, Z:-0.05 [[ 0.99888553 -0.04719841 0. 2.84238223] [ 0.04719841 0.99888553 0. 0.08396893] [ 0. 0. 1. -0.04731839] [ 0. 0. 0. 1. ]] SLAMing on 2.8224140369999997 meters Centerline goodness : 0.984079 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:0.07, Z:-0.04 [[ 0.99897836 -0.045191 0. 2.9028766 ] [ 0.045191 0.99897836 0. 0.07392221] [ 0. 0. 1. -0.0443882 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8824140369999998 meters Centerline goodness : 0.980401 with order 1 Centerline is valid? [True, True] Translation: X:2.97, Y:0.08, Z:-0.06 [[ 0.99883878 -0.0481778 0. 2.96527509] [ 0.0481778 0.99883878 0. 0.08019084] [ 0. 0. 1. -0.05635559] [ 0. 0. 0. 1. ]] SLAMing on 2.942414037 meters Centerline goodness : 0.978390 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:0.06, Z:-0.04 [[ 0.99926754 -0.03826736 0. 3.02415734] [ 0.03826736 0.99926754 0. 0.05825928] [ 0. 0. 1. -0.04446197] [ 0. 0. 0. 1. ]] SLAMing on 3.002414037 meters Centerline goodness : 0.975599 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:0.05, Z:-0.05 [[ 0.99943767 -0.03353134 0. 3.08569541] [ 0.03353134 0.99943767 0. 0.05339561] [ 0. 0. 1. -0.05049262] [ 0. 0. 0. 1. ]] SLAMing on 3.062414037 meters Centerline goodness : 0.975599 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:0.05, Z:-0.05 [[ 0.99944111 -0.03342853 0. 3.14903742] [ 0.03342853 0.99944111 0. 0.04837244] [ 0. 0. 1. -0.05049262] [ 0. 0. 0. 1. ]] SLAMing on 3.122414037 meters Centerline goodness : 0.969284 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:0.04, Z:-0.05 [[ 0.99970233 -0.02439793 0. 3.21000528] [ 0.02439793 0.99970233 0. 0.0438692 ] [ 0. 0. 1. -0.04872824] [ 0. 0. 0. 1. ]] SLAMing on 3.1824140369999996 meters Centerline goodness : 0.965235 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:0.04, Z:-0.05 [[ 0.99981117 -0.01943265 0. 3.27065378] [ 0.01943265 0.99981117 0. 0.03561397] [ 0. 0. 1. -0.05007851] [ 0. 0. 0. 1. ]] SLAMing on 3.2424140369999996 meters Centerline goodness : 0.948994 with order 2 Centerline is valid? [True, False] Translation: X:3.27, Y:0.03, Z:-0.05 [[ 9.99854092e-01 -1.70669253e-02 -7.17521654e-04 3.27248081e+00] [ 1.70676844e-02 9.99853769e-01 1.06548571e-03 3.24386639e-02] [ 6.99232165e-04 -1.07757668e-03 9.99999175e-01 -4.88067134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3024140369999997 meters Centerline goodness : 0.947419 with order 2 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.05 [[ 9.99885214e-01 -1.50749983e-02 -1.51789148e-03 3.27459919e+00] [ 1.50785809e-02 9.99883486e-01 2.37712699e-03 2.95558221e-02] [ 1.48187943e-03 -2.39974178e-03 9.99996023e-01 -4.83391105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3624140369999997 meters Centerline goodness : 0.940296 with order 2 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.05 [[ 9.99860648e-01 -1.64811130e-02 -2.65652516e-03 3.27851169e+00] [ 1.64831787e-02 9.99863856e-01 7.57580917e-04 2.36353552e-02] [ 2.64367771e-03 -8.01263326e-04 9.99996184e-01 -4.93577931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422414037 meters Centerline goodness : 0.927499 with order 2 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:-0.05 [[ 0.9997653 -0.0213194 -0.00385068 3.28411162] [ 0.02130353 0.99976457 -0.00411786 0.01702871] [ 0.00393756 0.00403486 0.99998411 -0.0521264 ] [ 0. 0. 0. 1. ]] SLAMing on 3.482414037 meters Centerline goodness : 0.918681 with order 2 Centerline is valid? [False, False] Translation: X:3.28, Y:0.01, Z:-0.05 [[ 0.99968541 -0.02476071 -0.0039985 3.28477656] [ 0.02473409 0.99967245 -0.00657431 0.01241032] [ 0.00415997 0.00647334 0.99997039 -0.05248096] [ 0. 0. 0. 1. ]] SLAMing on 3.542414037 meters Centerline goodness : 0.911379 with order 2 Centerline is valid? [False, False] Translation: X:3.29, Y:0.00, Z:-0.05 [[ 9.99479709e-01 -3.19369332e-02 -4.51044467e-03 3.28663342e+00] [ 3.18846276e-02 9.99428490e-01 -1.12278521e-02 2.42372456e-03] [ 4.86645006e-03 1.10781965e-02 9.99926793e-01 -5.40344778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6024140369999995 meters Centerline goodness : 0.919302 with order 3 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.06 [[ 0.99936463 -0.03531109 -0.00484298 3.28774509] [ 0.03524744 0.99929852 -0.01265239 -0.00519275] [ 0.00528635 0.01247364 0.99990823 -0.05503919] [ 0. 0. 0. 1. ]] SLAMing on 3.6624140369999996 meters Centerline goodness : 0.892963 with order 3 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.05 [[ 0.99909114 -0.04231273 -0.00515032 3.28849342] [ 0.0422114 0.99893913 -0.01840676 -0.01190979] [ 0.00592369 0.01817263 0.99981732 -0.05452679] [ 0. 0. 0. 1. ]] SLAMing on 3.7224140369999996 meters Centerline goodness : 0.868364 with order 2 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:-0.06 [[ 0.9989599 -0.04532513 -0.004975 3.28893458] [ 0.04521538 0.99877071 -0.02031373 -0.01834793] [ 0.00588961 0.02006766 0.99978128 -0.05528318] [ 0. 0. 0. 1. ]] SLAMing on 3.7824140369999997 meters Centerline goodness : 0.868270 with order 3 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.06 [[ 9.98895079e-01 -4.69009805e-02 -2.98657924e-03 3.28642661e+00] [ 4.68328105e-02 9.98705903e-01 -1.98294297e-02 -2.87577535e-02] [ 3.91273401e-03 1.96676498e-02 9.99798917e-01 -5.61872635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8424140369999997 meters Centerline goodness : 0.864742 with order 3 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.04, Z:-0.05 [[ 0.99912093 -0.03996467 -0.01265672 3.28291971] [ 0.03982052 0.99914131 -0.01144387 -0.04113002] [ 0.0131032 0.01092981 0.99985441 -0.05279067] [ 0. 0. 0. 1. ]] SLAMing on 3.902414037 meters Centerline goodness : 0.853537 with order 2 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.05, Z:-0.06 [[ 0.99908344 -0.04127547 -0.01134092 3.28390401] [ 0.04110658 0.99904601 -0.01474176 -0.04719337] [ 0.01193857 0.01426206 0.99982702 -0.05742356] [ 0. 0. 0. 1. ]] SLAMing on 3.962414037 meters Centerline goodness : 0.853153 with order 3 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.05, Z:-0.06 [[ 0.99918039 -0.03906238 -0.01061458 3.28392183] [ 0.03893401 0.99916922 -0.01204201 -0.05336501] [ 0.01107615 0.01161887 0.99987115 -0.05932967] [ 0. 0. 0. 1. ]] SLAMing on 4.022414037 meters Centerline goodness : 0.841562 with order 2 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.06, Z:-0.06 [[ 0.99930364 -0.03605726 -0.00959782 3.28482882] [ 0.03596379 0.99930563 -0.00973957 -0.06025357] [ 0.00994234 0.00938761 0.99990651 -0.06376342] [ 0. 0. 0. 1. ]] SLAMing on 4.082414037 meters Centerline goodness : 0.833879 with order 2 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.07, Z:-0.06 [[ 9.99447577e-01 -2.67689210e-02 -1.96968649e-02 3.28206201e+00] [ 2.67147850e-02 9.99638575e-01 -3.00651404e-03 -6.96342777e-02] [ 1.97702271e-02 2.47865566e-03 9.99801477e-01 -6.20954115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142414037 meters Centerline goodness : 0.831677 with order 2 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.07, Z:-0.07 [[ 0.9995847 -0.02378855 -0.01626425 3.24328705] [ 0.02400311 0.9996257 0.01312692 -0.07166026] [ 0.01594589 -0.01351186 0.99978156 -0.06911144] [ 0. 0. 0. 1. ]] SLAMing on 4.2024140370000005 meters Centerline goodness : 0.819712 with order 2 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.07, Z:-0.07 [[ 0.99964685 -0.02177382 -0.01523418 3.19562149] [ 0.02200771 0.99963984 0.01535772 -0.07360245] [ 0.0148943 -0.01568757 0.999766 -0.07353277] [ 0. 0. 0. 1. ]] SLAMing on 4.262414037 meters Centerline goodness : 0.819230 with order 2 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.08, Z:-0.08 [[ 0.99965804 -0.02354538 -0.01137655 3.16129111] [ 0.0238081 0.99943942 0.02353773 -0.07749552] [ 0.01081597 -0.02380054 0.99965822 -0.08152359] [ 0. 0. 0. 1. ]] SLAMing on 4.322414037000001 meters Centerline goodness : 0.820767 with order 3 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.08, Z:-0.08 [[ 0.99962726 -0.02623586 -0.00755102 3.12182438] [ 0.02645706 0.99917353 0.03085913 -0.07664164] [ 0.00673517 -0.03104741 0.99949522 -0.08475655] [ 0. 0. 0. 1. ]] SLAMing on 4.382414037 meters Centerline goodness : 0.811143 with order 2 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.07, Z:-0.09 [[ 0.99962385 -0.02620625 -0.00808588 3.07745047] [ 0.02642917 0.9992352 0.02881849 -0.07498752] [ 0.00732447 -0.02902135 0.99955196 -0.08789185] [ 0. 0. 0. 1. ]] SLAMing on 4.442414037 meters Centerline goodness : 0.806025 with order 2 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.07, Z:-0.09 [[ 0.999641 -0.0251108 -0.00934452 3.03555674] [ 0.02533287 0.99937986 0.02445712 -0.07223916] [ 0.00872458 -0.02468506 0.99965721 -0.09007372] [ 0. 0. 0. 1. ]] SLAMing on 4.502414037 meters Centerline goodness : 0.808022 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:-0.09 [[ 0.99978173 -0.02004086 -0.00590367 2.98473744] [ 0.02020578 0.99936518 0.02934222 -0.07049544] [ 0.00531188 -0.02945511 0.99955199 -0.09248751] [ 0. 0. 0. 1. ]] SLAMing on 4.562414037 meters Centerline goodness : 0.808652 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:-0.09 [[ 0.99984819 -0.01632777 -0.0060833 2.94358392] [ 0.01648398 0.99951076 0.02658041 -0.06721714] [ 0.00564633 -0.02667665 0.99962817 -0.09470811] [ 0. 0. 0. 1. ]] SLAMing on 4.622414037 meters Centerline goodness : 0.798316 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:-0.10 [[ 0.99991347 -0.01075504 -0.00757509 2.90436842] [ 0.01095348 0.99958449 0.02666224 -0.06394966] [ 0.00728519 -0.02674291 0.9996158 -0.09948598] [ 0. 0. 0. 1. ]] SLAMing on 4.682414037 meters Centerline goodness : 0.802207 with order 3 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.10 [[ 0.99994247 -0.00932282 -0.00530492 2.8646966 ] [ 0.00952385 0.99918509 0.03922313 -0.06377069] [ 0.00493493 -0.0392714 0.99921639 -0.10336486] [ 0. 0. 0. 1. ]] SLAMing on 4.7424140370000005 meters Centerline goodness : 0.793983 with order 3 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.11 [[ 0.999957 -0.00638939 -0.00672138 2.8241027 ] [ 0.00664449 0.99923103 0.03864207 -0.06338242] [ 0.00646931 -0.03868506 0.99923051 -0.10886682] [ 0. 0. 0. 1. ]] SLAMing on 4.802414037 meters Centerline goodness : 0.793064 with order 3 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.11 [[ 9.99970733e-01 -2.54674380e-03 -7.21440291e-03 2.77813151e+00] [ 2.85177018e-03 9.99088548e-01 4.25903788e-02 -5.76509506e-02] [ 7.09936055e-03 -4.26097062e-02 9.99066570e-01 -1.12529795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862414037 meters Centerline goodness : 0.788556 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.12 [[ 9.99968396e-01 2.40136634e-04 -7.94659493e-03 2.73109734e+00] [ 1.16183210e-04 9.98995588e-01 4.48084971e-02 -5.53941353e-02] [ 7.94937344e-03 -4.48080043e-02 9.98963988e-01 -1.16559001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922414037 meters Centerline goodness : 0.784735 with order 3 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.12 [[ 9.99950208e-01 2.89331364e-03 -9.55044006e-03 2.68217118e+00] [-2.42238694e-03 9.98797907e-01 4.89578788e-02 -4.92357203e-02] [ 9.68061004e-03 -4.89323062e-02 9.98755183e-01 -1.19655216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982414037 meters Centerline goodness : 0.784894 with order 3 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.04, Z:-0.11 [[ 0.99986291 0.00713189 -0.01494322 2.66978229] [-0.00648966 0.99907138 0.04259418 -0.04315144] [ 0.01523312 -0.04249137 0.9989807 -0.1148096 ] [ 0. 0. 0. 1. ]] SLAMing on 5.042414037 meters Centerline goodness : 0.786747 with order 3 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.12 [[ 0.99989178 0.00914169 -0.01152674 2.62079791] [-0.00866027 0.99911565 0.04114508 -0.03676421] [ 0.01189268 -0.0410408 0.99908669 -0.11575675] [ 0. 0. 0. 1. ]] SLAMing on 5.102414037 meters Centerline goodness : 0.787394 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:-0.11 [[ 0.99987713 0.00991188 -0.01214448 2.60609997] [-0.00953669 0.99948707 0.03057206 -0.0345619 ] [ 0.01244127 -0.03045248 0.99945878 -0.11188934] [ 0. 0. 0. 1. ]] SLAMing on 5.1624140370000005 meters Centerline goodness : 0.787334 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:-0.11 [[ 0.99987915 0.00995413 -0.01194145 2.57079354] [-0.00949854 0.99924694 0.03762088 -0.02472115] [ 0.01230695 -0.03750291 0.99922073 -0.11329777] [ 0. 0. 0. 1. ]] SLAMing on 5.222414037 meters Centerline goodness : 0.786544 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.11 [[ 0.99975173 0.01218369 -0.01865554 2.56056575] [-0.01162821 0.99949419 0.02959973 -0.02001276] [ 0.01900673 -0.02937546 0.99938773 -0.10959756] [ 0. 0. 0. 1. ]] SLAMing on 5.282414037 meters Centerline goodness : 0.787617 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.02, Z:-0.12 [[ 0.99974391 0.01267346 -0.01874836 2.5164815 ] [-0.01214056 0.99952661 0.02826944 -0.01648499] [ 0.01909775 -0.02803458 0.9994245 -0.11538641] [ 0. 0. 0. 1. ]] SLAMing on 5.342414037 meters Centerline goodness : 0.786262 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.12 [[ 0.99982098 0.01103628 -0.01536883 2.47934312] [-0.01053336 0.99941855 0.03242862 -0.0076952 ] [ 0.01571778 -0.03226093 0.99935588 -0.11683333] [ 0. 0. 0. 1. ]] SLAMing on 5.402414037 meters Centerline goodness : 0.786371 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.00, Z:-0.12 [[ 9.99878618e-01 5.52269884e-03 -1.45687919e-02 2.44133930e+00] [-5.00819277e-03 9.99370597e-01 3.51187645e-02 -2.03482121e-03] [ 1.47535727e-02 -3.50415384e-02 9.99276950e-01 -1.19039573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462414037 meters Centerline goodness : 0.788778 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:-0.12 [[ 9.99901344e-01 1.27749203e-03 -1.39882482e-02 2.41114027e+00] [-8.04079706e-04 9.99428393e-01 3.37970429e-02 1.00111610e-03] [ 1.40234279e-02 -3.37824609e-02 9.99330821e-01 -1.21397057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522414037 meters Centerline goodness : 0.785948 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.12 [[ 9.99795635e-01 2.67664407e-03 -2.00380517e-02 2.39816424e+00] [-2.15669583e-03 9.99661569e-01 2.59248324e-02 8.81141004e-03] [ 2.01006618e-02 -2.58763183e-02 9.99463046e-01 -1.15973007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582414037 meters Centerline goodness : 0.789385 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:-0.11 [[ 0.99961526 0.00570488 -0.02714396 2.38927035] [-0.00518959 0.99980571 0.0190161 0.01348968] [ 0.02724717 -0.01886792 0.99945065 -0.11341399] [ 0. 0. 0. 1. ]] SLAMing on 5.642414037 meters Centerline goodness : 0.786378 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.02, Z:-0.11 [[ 0.99962334 0.00564293 -0.0268578 2.38839512] [-0.00516417 0.99982713 0.01786186 0.01572729] [ 0.02695395 -0.01771644 0.99947967 -0.11229948] [ 0. 0. 0. 1. ]] SLAMing on 5.7024140370000005 meters Centerline goodness : 0.787278 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.11 [[ 0.99970122 0.0103702 -0.02213431 2.34824631] [-0.00973465 0.99954267 0.02863035 0.02009994] [ 0.02242109 -0.02840633 0.99934497 -0.11349123] [ 0. 0. 0. 1. ]] SLAMing on 5.762414037 meters Centerline goodness : 0.788513 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.11 [[ 0.99948943 0.01562171 -0.02787203 2.33545058] [-0.01496895 0.99961231 0.02347665 0.02642902] [ 0.02822797 -0.02304745 0.99933578 -0.10883368] [ 0. 0. 0. 1. ]] SLAMing on 5.822414037 meters Centerline goodness : 0.789841 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.11 [[ 0.99953595 0.02115767 -0.02191436 2.32360717] [-0.02073811 0.99960059 0.01919896 0.02756197] [ 0.02231181 -0.01873559 0.99957549 -0.10982113] [ 0. 0. 0. 1. ]] SLAMing on 5.882414037 meters Centerline goodness : 0.786744 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.11 [[ 0.9994678 0.02427199 -0.02179429 2.32328113] [-0.02379337 0.99947573 0.0219579 0.03068453] [ 0.02231583 -0.02142766 0.99952132 -0.10972738] [ 0. 0. 0. 1. ]] SLAMing on 5.942414037 meters Centerline goodness : 0.787018 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:-0.11 [[ 0.99958925 0.0203779 -0.02015104 2.28352982] [-0.01981784 0.99942222 0.02761298 0.03136123] [ 0.02070209 -0.02720229 0.99941556 -0.11295782] [ 0. 0. 0. 1. ]] SLAMing on 6.002414037 meters Centerline goodness : 0.788251 with order 3 Centerline is valid? [False, False] Translation: X:2.25, Y:0.04, Z:-0.11 [[ 0.99965078 0.02048932 -0.01668873 2.25057967] [-0.02001046 0.99939712 0.02837221 0.03848074] [ 0.01726 -0.02802836 0.9994581 -0.11258214] [ 0. 0. 0. 1. ]] SLAMing on 6.062414037 meters Centerline goodness : 0.793452 with order 3 Centerline is valid? [False, False] Translation: X:2.25, Y:0.04, Z:-0.11 [[ 0.9995844 0.02347006 -0.01673894 2.25049568] [-0.02292819 0.9992293 0.0318607 0.03878381] [ 0.01747381 -0.03146366 0.99935214 -0.11282515] [ 0. 0. 0. 1. ]] SLAMing on 6.122414037 meters Centerline goodness : 0.788510 with order 3 Centerline is valid? [False, False] Translation: X:2.20, Y:0.04, Z:-0.11 [[ 0.99965781 0.01960651 -0.01731607 2.20356132] [-0.01899182 0.99920766 0.03497656 0.04173242] [ 0.01798812 -0.03463572 0.99923811 -0.10877754] [ 0. 0. 0. 1. ]] SLAMing on 6.182414037 meters Centerline goodness : 0.788072 with order 3 Centerline is valid? [False, False] Translation: X:2.17, Y:0.05, Z:-0.10 [[ 0.99968188 0.0212595 -0.01357126 2.1728075 ] [-0.0208097 0.99925619 0.03246561 0.05147996] [ 0.01425137 -0.03217287 0.99938071 -0.10422602] [ 0. 0. 0. 1. ]] SLAMing on 6.2424140370000005 meters Centerline goodness : 0.789275 with order 3 Centerline is valid? [False, False] Translation: X:2.16, Y:0.06, Z:-0.10 [[ 0.99944449 0.02657026 -0.02011785 2.16314336] [-0.02602574 0.99930033 0.02686108 0.05696289] [ 0.02081748 -0.02632258 0.99943672 -0.10106301] [ 0. 0. 0. 1. ]] SLAMing on 6.302414037 meters Centerline goodness : 0.785753 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.06, Z:-0.10 [[ 0.99935695 0.02642828 -0.02423284 2.12740263] [-0.02570147 0.99922454 0.02982887 0.06062634] [ 0.02500238 -0.02918687 0.99926123 -0.10119021] [ 0. 0. 0. 1. ]] SLAMing on 6.362414037 meters Centerline goodness : 0.772803 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.10 [[ 0.99911655 0.03845572 -0.01694928 2.11470549] [-0.03791602 0.9987972 0.03108912 0.0620455 ] [ 0.01812445 -0.03041901 0.9993729 -0.10209433] [ 0. 0. 0. 1. ]] SLAMing on 6.422414037 meters Centerline goodness : 0.791589 with order 3 Centerline is valid? [False, False] Translation: X:2.08, Y:0.07, Z:-0.10 [[ 0.99869299 0.04740046 -0.01911807 2.08086371] [-0.0465799 0.99806058 0.04129634 0.07199226] [ 0.02103846 -0.04035185 0.99896402 -0.09746334] [ 0. 0. 0. 1. ]] SLAMing on 6.482414037 meters Centerline goodness : 0.773666 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.07, Z:-0.10 [[ 0.99832007 0.05399399 -0.0210164 2.04019459] [-0.05304034 0.99764193 0.04355797 0.07301965] [ 0.02331871 -0.04237008 0.99882982 -0.10236759] [ 0. 0. 0. 1. ]] SLAMing on 6.542414037 meters Centerline goodness : 0.789463 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:0.06, Z:-0.10 [[ 0.99811621 0.05509224 -0.02699775 2.018933 ] [-0.05247553 0.99459796 0.08956127 0.06426691] [ 0.03178604 -0.08797584 0.99561534 -0.10191183] [ 0. 0. 0. 1. ]] SLAMing on 6.602414037 meters Centerline goodness : 0.792244 with order 3 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.10 [[ 0.99765408 0.06203587 -0.02894642 2.02230632] [-0.05901206 0.99366292 0.09566385 0.06978162] [ 0.03469757 -0.09373124 0.99499273 -0.10072959] [ 0. 0. 0. 1. ]] SLAMing on 6.6624140370000005 meters Centerline goodness : 0.788090 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.07, Z:-0.10 [[ 0.99769 0.0577073 -0.03584032 2.03738947] [-0.05385192 0.99347497 0.10053579 0.07128786] [ 0.04140811 -0.09837348 0.9942877 -0.09825061] [ 0. 0. 0. 1. ]] SLAMing on 6.722414037 meters Centerline goodness : 0.787146 with order 3 Centerline is valid? [False, False] Translation: X:2.06, Y:0.04, Z:-0.11 [[ 0.9984763 0.05333362 -0.01416311 2.05662447] [-0.04994486 0.98257579 0.17902608 0.03790066] [ 0.02346444 -0.17804593 0.98374238 -0.10620669] [ 0. 0. 0. 1. ]] SLAMing on 6.782414037 meters Centerline goodness : 0.783571 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.02, Z:-0.10 [[ 0.9990604 0.04297484 -0.00561148 2.07151429] [-0.0388033 0.94462889 0.32583825 -0.02065718] [ 0.01930361 -0.32531435 0.94540888 -0.1039424 ] [ 0. 0. 0. 1. ]] SLAMing on 6.842414037 meters Centerline goodness : 0.786098 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.09 [[ 0.99945839 0.0327711 -0.0029953 2.09075016] [-0.02752879 0.88249215 0.46952079 -0.08061301] [ 0.01803004 -0.46918404 0.88291634 -0.09045314] [ 0. 0. 0. 1. ]] SLAMing on 6.902414037 meters Centerline goodness : 0.787455 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.09 [[ 0.99957157 0.02874644 -0.00550654 2.09150457] [-0.02289182 0.88505366 0.46492577 -0.06950668] [ 0.01823855 -0.46460053 0.88533254 -0.08611238] [ 0. 0. 0. 1. ]] SLAMing on 6.962414037 meters Centerline goodness : 0.788054 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.05, Z:-0.08 [[ 0.99964618 0.0221786 -0.01468389 2.08445276] [-0.013337 0.89557038 0.44471994 -0.05466825] [ 0.02301373 -0.44436675 0.8955493 -0.07678962] [ 0. 0. 0. 1. ]] SLAMing on 7.022414037 meters Centerline goodness : 0.789484 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.06 [[ 9.99638745e-01 1.10369409e-02 -2.45064351e-02 2.10572697e+00] [ 2.00779543e-03 8.78582618e-01 4.77586173e-01 -5.96177401e-02] [ 2.68020182e-02 -4.77462847e-01 8.78243065e-01 -6.39058580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082414037 meters Centerline goodness : 0.791860 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.07 [[ 0.99965098 0.00695132 -0.02548738 2.09162426] [ 0.00539007 0.8908019 0.4543599 -0.04610709] [ 0.02586261 -0.45433869 0.89045352 -0.06517307] [ 0. 0. 0. 1. ]] SLAMing on 7.142414037 meters Centerline goodness : 0.790747 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.03, Z:-0.06 [[ 9.99320747e-01 1.97133057e-03 -3.67988983e-02 2.08374255e+00] [ 1.45017321e-02 8.96964992e-01 4.41863670e-01 -2.99463851e-02] [ 3.38783829e-02 -4.42097181e-01 8.96327138e-01 -5.68427942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202414037 meters Centerline goodness : 0.781489 with order 3 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.06 [[ 9.99405059e-01 1.76088205e-03 -3.44445569e-02 2.06174289e+00] [ 1.27216748e-02 9.09453367e-01 4.15611276e-01 -1.48745780e-02] [ 3.20575607e-02 -4.15802204e-01 9.08889894e-01 -5.51108047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262414037 meters Centerline goodness : 0.789917 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.00, Z:-0.05 [[ 9.99482737e-01 1.02271859e-03 -3.21436270e-02 2.03118860e+00] [ 1.15965469e-02 9.20791313e-01 3.89883160e-01 3.62864299e-03] [ 2.99963132e-02 -3.90054243e-01 9.20303161e-01 -5.27026575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322414037 meters Centerline goodness : 0.779158 with order 3 Centerline is valid? [False, False] Translation: X:2.01, Y:0.02, Z:-0.05 [[ 9.99363302e-01 1.32728971e-03 -3.56543045e-02 2.01001252e+00] [ 1.18327394e-02 9.30421865e-01 3.66299248e-01 1.71099696e-02] [ 3.36597297e-02 -3.66487914e-01 9.29813762e-01 -5.35199437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382414037 meters Centerline goodness : 0.780403 with order 2 Centerline is valid? [False, False] Translation: X:1.98, Y:0.03, Z:-0.05 [[ 9.99413464e-01 1.82041677e-03 -3.41966980e-02 1.98020498e+00] [ 9.92206137e-03 9.40360277e-01 3.40035442e-01 2.88823148e-02] [ 3.27762226e-02 -3.40175301e-01 9.39790660e-01 -5.33290290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442414037 meters Centerline goodness : 0.788456 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.05 [[ 0.99953865 0.00475491 -0.02999809 1.95442373] [ 0.00511325 0.94722916 0.32051643 0.04544002] [ 0.02993909 -0.32052194 0.94676784 -0.05142626] [ 0. 0. 0. 1. ]] SLAMing on 7.502414037 meters Centerline goodness : 0.787036 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:-0.05 [[ 9.99521919e-01 8.86776443e-03 -2.96191981e-02 1.93289357e+00] [ 4.50454296e-04 9.53707987e-01 3.00733891e-01 5.80688248e-02] [ 3.09149031e-02 -3.00603458e-01 9.53248042e-01 -5.03335431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562414037 meters Centerline goodness : 0.788578 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.05 [[ 0.99955238 0.01073981 -0.02792295 1.87251862] [-0.00259668 0.96096532 0.27665666 0.07307002] [ 0.02980423 -0.27646032 0.96056306 -0.05098527] [ 0. 0. 0. 1. ]] SLAMing on 7.622414037 meters Centerline goodness : 0.789518 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.09, Z:-0.05 [[ 0.99955845 0.0152162 -0.02552181 1.85098211] [-0.00816929 0.96655838 0.25631654 0.0862951 ] [ 0.02856849 -0.25599487 0.9662559 -0.0500915 ] [ 0. 0. 0. 1. ]] SLAMing on 7.682414037 meters Centerline goodness : 0.788030 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.10, Z:-0.05 [[ 0.99946152 0.02124356 -0.02500763 1.83388737] [-0.01463575 0.97073908 0.23969028 0.09632641] [ 0.02936776 -0.2391952 0.97052727 -0.05141353] [ 0. 0. 0. 1. ]] SLAMing on 7.742414037 meters Centerline goodness : 0.787773 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.11, Z:-0.05 [[ 0.9993017 0.02877547 -0.02383451 1.81125623] [-0.02278514 0.97486078 0.2216468 0.10733209] [ 0.02961332 -0.22094895 0.97483568 -0.04921946] [ 0. 0. 0. 1. ]] SLAMing on 7.802414037 meters Centerline goodness : 0.786995 with order 3 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.04 [[ 0.99916475 0.03348941 -0.0234149 1.78470466] [-0.02807491 0.9789538 0.20214168 0.11845298] [ 0.02969172 -0.20131547 0.97907634 -0.0447779 ] [ 0. 0. 0. 1. ]] SLAMing on 7.862414037 meters Centerline goodness : 0.786759 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:-0.04 [[ 0.99910673 0.03542488 -0.02303939 1.76759336] [-0.03049577 0.98184606 0.18721196 0.13060109] [ 0.0292531 -0.18634212 0.98204932 -0.04238928] [ 0. 0. 0. 1. ]] SLAMing on 7.922414037 meters Centerline goodness : 0.786948 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.04 [[ 0.99912296 0.03379755 -0.02471932 1.72794417] [-0.02905764 0.98469396 0.17185299 0.14356927] [ 0.03014917 -0.17098399 0.98481242 -0.0365283 ] [ 0. 0. 0. 1. ]] SLAMing on 7.982414037 meters Centerline goodness : 0.786135 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:-0.03 [[ 0.99912736 0.03110415 -0.02787557 1.71536356] [-0.02647225 0.98781088 0.15339127 0.15253938] [ 0.0323069 -0.15251948 0.98777228 -0.02970977] [ 0. 0. 0. 1. ]] SLAMing on 8.042414036999999 meters Centerline goodness : 0.786620 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.03 [[ 0.99896772 0.03201787 -0.03222346 1.68880185] [-0.0273844 0.99044343 0.13517361 0.16367435] [ 0.03624349 -0.13415166 0.99029781 -0.02660424] [ 0. 0. 0. 1. ]] SLAMing on 8.102414036999999 meters Centerline goodness : 0.788033 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.01 [[ 0.99844417 0.02968098 -0.0472047 1.69163291] [-0.02231621 0.9885059 0.14952615 0.16437722] [ 0.05110021 -0.14824009 0.98763032 -0.01413466] [ 0. 0. 0. 1. ]] SLAMing on 8.162414037 meters Centerline goodness : 0.790856 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.17, Z:-0.01 [[ 0.99852758 0.02666764 -0.04723884 1.65252642] [-0.02013722 0.99081895 0.13368736 0.16952739] [ 0.05037026 -0.13253925 0.98989706 -0.01141799] [ 0. 0. 0. 1. ]] SLAMing on 8.222414036999998 meters Centerline goodness : 0.789892 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:0.18, Z:-0.01 [[ 0.9985692 0.02520397 -0.04716258 1.60844158] [-0.01911261 0.99191982 0.12541838 0.17749407] [ 0.04994254 -0.12433753 0.9909823 -0.01150114] [ 0. 0. 0. 1. ]] SLAMing on 8.282414036999999 meters Centerline goodness : 0.789955 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.01 [[ 0.9985426 0.02301094 -0.0488178 1.56999387] [-0.01751797 0.99376567 0.11010412 0.18589058] [ 0.05104706 -0.10908847 0.99272046 -0.00890621] [ 0. 0. 0. 1. ]] SLAMing on 8.342414037 meters Centerline goodness : 0.788621 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.01 [[ 0.99870981 0.02156836 -0.04597311 1.52230275] [-0.01739878 0.99585808 0.08924108 0.19096473] [ 0.04770747 -0.08832607 0.99494849 -0.01197612] [ 0. 0. 0. 1. ]] SLAMing on 8.402414037 meters Centerline goodness : 0.790095 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:0.20, Z:-0.01 [[ 0.99890129 0.01805237 -0.04324734 1.48299507] [-0.01395851 0.9955533 0.09316 0.19652789] [ 0.04473679 -0.09245398 0.99471146 -0.01460429] [ 0. 0. 0. 1. ]] SLAMing on 8.462414036999999 meters Centerline goodness : 0.779777 with order 3 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.01 [[ 0.99888957 0.01882062 -0.04319039 1.44432633] [-0.01525737 0.99656501 0.08139649 0.20403447] [ 0.04457397 -0.08064713 0.99574555 -0.01368986] [ 0. 0. 0. 1. ]] SLAMing on 8.522414036999999 meters Centerline goodness : 0.791057 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.21, Z:-0.02 [[ 0.99896356 0.01559601 -0.04276176 1.39227013] [-0.01219015 0.99681732 0.07878213 0.20654343] [ 0.04385435 -0.07817921 0.9959743 -0.01650626] [ 0. 0. 0. 1. ]] SLAMing on 8.582414037 meters Centerline goodness : 0.790342 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.21, Z:-0.02 [[ 0.99909113 0.01095312 -0.04119397 1.34288575] [-0.00794984 0.99734578 0.07237542 0.21250497] [ 0.04187737 -0.07198216 0.99652639 -0.01837801] [ 0. 0. 0. 1. ]] SLAMing on 8.642414037 meters Centerline goodness : 0.778992 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:0.21, Z:-0.02 [[ 0.99914092 0.01195359 -0.03968041 1.32726116] [-0.00938157 0.99788116 0.0643831 0.21395097] [ 0.04036594 -0.06395552 0.99713604 -0.01662604] [ 0. 0. 0. 1. ]] SLAMing on 8.702414036999999 meters Centerline goodness : 0.776439 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.22, Z:-0.02 [[ 0.99925618 0.01152685 -0.03679984 1.27273027] [-0.00913834 0.99788063 0.06442629 0.21814906] [ 0.03746448 -0.06404208 0.99724371 -0.02069146] [ 0. 0. 0. 1. ]] SLAMing on 8.762414037 meters Centerline goodness : 0.787096 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.23, Z:-0.02 [[ 0.9993082 0.01266795 -0.0349662 1.21501323] [-0.01024492 0.99758986 0.06862592 0.22572587] [ 0.03575128 -0.06822022 0.99702951 -0.02169059] [ 0. 0. 0. 1. ]] SLAMing on 8.822414037 meters Centerline goodness : 0.790624 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.24, Z:-0.02 [[ 0.99933028 0.01257882 -0.03436237 1.16664899] [-0.01050088 0.99814336 0.0599964 0.23872637] [ 0.03505326 -0.05959538 0.99760697 -0.01955607] [ 0. 0. 0. 1. ]] SLAMing on 8.882414036999998 meters Centerline goodness : 0.777179 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:0.25, Z:-0.02 [[ 0.99922614 0.01427073 -0.0366534 1.12555338] [-0.01225426 0.99842973 0.05466166 0.24868506] [ 0.0373759 -0.0541702 0.99783197 -0.02041354] [ 0. 0. 0. 1. ]] SLAMing on 8.942414036999999 meters Centerline goodness : 0.776441 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.02 [[ 0.99902776 0.01510911 -0.04141557 1.08593809] [-0.0125481 0.99803349 0.06141408 0.25377218] [ 0.04226204 -0.06083469 0.99725276 -0.02151762] [ 0. 0. 0. 1. ]] SLAMing on 9.002414037 meters Centerline goodness : 0.787841 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.26, Z:-0.02 [[ 0.99920575 0.02119937 -0.03374114 1.04628472] [-0.0188494 0.99747282 0.06850305 0.26290713] [ 0.03510809 -0.06781264 0.99708017 -0.02336197] [ 0. 0. 0. 1. ]] SLAMing on 9.062414037 meters Centerline goodness : 0.784571 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.27, Z:-0.02 [[ 0.99893221 0.03183431 -0.03348162 1.0438151 ] [-0.0291982 0.99664401 0.07647346 0.27031372] [ 0.03580374 -0.0754142 0.9965093 -0.02140065] [ 0. 0. 0. 1. ]] SLAMing on 9.122414036999999 meters Centerline goodness : 0.782821 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.27, Z:-0.02 [[ 0.99865802 0.03795383 -0.03523723 1.04905024] [-0.03507123 0.99624944 0.07910154 0.27471455] [ 0.03810728 -0.07775958 0.99624359 -0.02251637] [ 0. 0. 0. 1. ]] SLAMing on 9.182414037 meters Centerline goodness : 0.782695 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.02 [[ 0.99843877 0.0431326 -0.03549098 1.04921699] [-0.04011619 0.99584845 0.08171016 0.27795115] [ 0.03886801 -0.08015883 0.99602402 -0.02040108] [ 0. 0. 0. 1. ]] SLAMing on 9.242414037 meters Centerline goodness : 0.778468 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.01 [[ 0.99814901 0.04488785 -0.04103212 1.08686617] [-0.04184985 0.99651774 0.07211784 0.28197363] [ 0.04412645 -0.07026717 0.99655175 -0.01333905] [ 0. 0. 0. 1. ]] SLAMing on 9.302414036999998 meters Centerline goodness : 0.780552 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.01 [[ 0.99773076 0.04993414 -0.04516529 1.11329237] [-0.04727965 0.99719373 0.05804567 0.28191919] [ 0.04793701 -0.05577855 0.99729173 -0.00825057] [ 0. 0. 0. 1. ]] SLAMing on 9.362414036999999 meters Centerline goodness : 0.780591 with order 3 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:-0.00 [[ 0.99744473 0.05362746 -0.04720283 1.13613014] [-0.05162324 0.99775328 0.04270179 0.2844438 ] [ 0.04938677 -0.04015591 0.99797217 -0.00166848] [ 0. 0. 0. 1. ]] SLAMing on 9.422414037 meters Centerline goodness : 0.779922 with order 3 Centerline is valid? [False, False] Translation: X:1.17, Y:0.28, Z:0.01 [[ 0.9973652 0.05381055 -0.04865273 1.16668735] [-0.05219939 0.99806446 0.03380164 0.28310375] [ 0.05037745 -0.03117294 0.99824364 0.00843937] [ 0. 0. 0. 1. ]] SLAMing on 9.482414037 meters Centerline goodness : 0.784964 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.01 [[ 0.99759123 0.04871709 -0.04938006 1.18228826] [-0.04684048 0.99816116 0.03847427 0.27880659] [ 0.05116362 -0.03606861 0.99803875 0.00622701] [ 0. 0. 0. 1. ]] SLAMing on 9.542414036999999 meters Centerline goodness : 0.783293 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.27, Z:0.00 [[ 0.99805251 0.04366816 -0.04454534 1.19451403] [-0.04175257 0.99819951 0.04306355 0.27481346] [ 0.04634564 -0.0411198 0.99807878 0.00324333] [ 0. 0. 0. 1. ]] SLAMing on 9.602414036999999 meters Centerline goodness : 0.775742 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.27, Z:0.01 [[ 0.99807802 0.03839664 -0.04864115 1.22925709] [-0.03687788 0.99881541 0.03174586 0.26758216] [ 0.04980246 -0.02989106 0.99831169 0.00771255] [ 0. 0. 0. 1. ]] SLAMing on 9.662414037 meters Centerline goodness : 0.789169 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.26, Z:0.00 [[ 0.99847593 0.03368221 -0.04371875 1.24133631] [-0.03208218 0.99880761 0.03679807 0.26471937] [ 0.04490606 -0.03533939 0.99836595 0.00438003] [ 0. 0. 0. 1. ]] SLAMing on 9.722414036999998 meters Centerline goodness : 0.780224 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.26, Z:0.01 [[ 0.99863713 0.03075615 -0.04216565 1.26552655] [-0.02943651 0.99906803 0.03156838 0.26184471] [ 0.04309728 -0.03028415 0.99861178 0.00960198] [ 0. 0. 0. 1. ]] SLAMing on 9.782414036999999 meters Centerline goodness : 0.788357 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.25, Z:0.01 [[ 0.9990681 0.02130845 -0.03753497 1.27842509] [-0.02009203 0.99927002 0.03249211 0.25355119] [ 0.03819992 -0.03170768 0.99876693 0.00558652] [ 0. 0. 0. 1. ]] SLAMing on 9.842414037 meters Centerline goodness : 0.786471 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.25, Z:0.01 [[ 0.99925525 0.01279744 -0.03640301 1.31376007] [-0.01156955 0.99936357 0.03374327 0.2500292 ] [ 0.03681167 -0.03329697 0.99876735 0.00824546] [ 0. 0. 0. 1. ]] SLAMing on 9.902414037 meters Centerline goodness : 0.789037 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.25, Z:0.01 [[ 0.99928862 0.01002587 -0.03635579 1.34584805] [-0.00908533 0.99962212 0.02594378 0.24757986] [ 0.03660216 -0.02559502 0.99900209 0.0110522 ] [ 0. 0. 0. 1. ]] SLAMing on 9.962414036999999 meters Centerline goodness : 0.790195 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:0.23, Z:0.01 [[ 9.99546022e-01 -5.02091507e-04 -3.01247167e-02 1.39680447e+00] [ 1.73765117e-03 9.99157526e-01 4.10026696e-02 2.34801010e-01] [ 3.00787503e-02 -4.10364015e-02 9.98704802e-01 1.00428949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022414036999999 meters Centerline goodness : 0.796994 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:0.01 [[ 0.9993727 -0.00753528 -0.03460379 1.44637362] [ 0.00908606 0.99895111 0.04487892 0.23184781] [ 0.03422932 -0.04516518 0.99839294 0.01390413] [ 0. 0. 0. 1. ]] SLAMing on 10.082414037 meters Centerline goodness : 0.797181 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:0.02 [[ 0.99962261 -0.01606521 -0.02228316 1.47492442] [ 0.01938363 0.98728767 0.15775718 0.19267132] [ 0.01946549 -0.15812957 0.98722649 0.01834535] [ 0. 0. 0. 1. ]] SLAMing on 10.142414036999998 meters Centerline goodness : 0.787066 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.18, Z:0.02 [[ 0.99954813 -0.02582054 -0.01538978 1.50132076] [ 0.0283971 0.97901664 0.20179204 0.18405268] [ 0.00985648 -0.20213788 0.97930747 0.02273546] [ 0. 0. 0. 1. ]] SLAMing on 10.202414036999999 meters Centerline goodness : 0.787694 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:0.20, Z:0.03 [[ 0.9993842 -0.03139121 -0.01567859 1.52733534] [ 0.03381323 0.98095075 0.19129112 0.19844762] [ 0.00937506 -0.19170346 0.98140812 0.02951808] [ 0. 0. 0. 1. ]] SLAMing on 10.262414037 meters Centerline goodness : 0.791697 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:0.03 [[ 0.99906691 -0.04121156 -0.01291963 1.55714883] [ 0.04309384 0.97108366 0.23481791 0.19300543] [ 0.00286883 -0.23515556 0.97195351 0.03474303] [ 0. 0. 0. 1. ]] SLAMing on 10.322414037 meters Centerline goodness : 0.794405 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:0.04 [[ 0.99873111 -0.04836642 -0.01403039 1.56006878] [ 0.05026955 0.97417938 0.22010794 0.20904315] [ 0.00302228 -0.22053395 0.97537462 0.03595747] [ 0. 0. 0. 1. ]] SLAMing on 10.382414036999998 meters Centerline goodness : 0.792492 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.23, Z:0.04 [[ 0.99826891 -0.05254489 -0.02642374 1.56221983] [ 0.05688088 0.97678506 0.2065321 0.23109261] [ 0.01495811 -0.20767758 0.97808296 0.04452855] [ 0. 0. 0. 1. ]] SLAMing on 10.442414036999999 meters Centerline goodness : 0.795368 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.25, Z:0.06 [[ 0.99762534 -0.05724086 -0.03830349 1.55885477] [ 0.06348873 0.97987297 0.18925682 0.25139385] [ 0.02669933 -0.19123924 0.98118026 0.05554438] [ 0. 0. 0. 1. ]] SLAMing on 10.502414037 meters Centerline goodness : 0.793277 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.26, Z:0.05 [[ 0.99787892 -0.05632376 -0.03263889 1.54879643] [ 0.06124935 0.98217995 0.17768247 0.26087654] [ 0.02204951 -0.1793047 0.98354646 0.05402393] [ 0. 0. 0. 1. ]] SLAMing on 10.562414036999998 meters Centerline goodness : 0.788964 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:0.28, Z:0.06 [[ 0.99739721 -0.05630322 -0.04504161 1.54332196] [ 0.06315232 0.98360731 0.16890363 0.28063421] [ 0.03479344 -0.1713085 0.98460287 0.06351775] [ 0. 0. 0. 1. ]] SLAMing on 10.622414036999999 meters Centerline goodness : 0.784592 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:0.29, Z:0.06 [[ 0.99752035 -0.05279317 -0.04654056 1.53944685] [ 0.05935605 0.98639846 0.15328056 0.29247332] [ 0.03781537 -0.15566294 0.98708614 0.06193728] [ 0. 0. 0. 1. ]] SLAMing on 10.682414037 meters Centerline goodness : 0.783710 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:0.30, Z:0.06 [[ 0.99800997 -0.05151847 -0.0363585 1.54143904] [ 0.05635786 0.98739951 0.14787155 0.30256232] [ 0.02828225 -0.14962637 0.98833803 0.0586047 ] [ 0. 0. 0. 1. ]] SLAMing on 10.742414037 meters Centerline goodness : 0.782906 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.32, Z:0.07 [[ 0.99840887 -0.04323756 -0.03619738 1.56242267] [ 0.04760041 0.99038022 0.12992774 0.32115988] [ 0.03023141 -0.13144402 0.99086252 0.06783364] [ 0. 0. 0. 1. ]] SLAMing on 10.802414036999998 meters Centerline goodness : 0.781981 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.33, Z:0.07 [[ 0.9986088 -0.03536249 -0.03911465 1.591596 ] [ 0.03954128 0.99294282 0.11180807 0.33382728] [ 0.0348848 -0.11319916 0.99295972 0.07397876] [ 0. 0. 0. 1. ]] SLAMing on 10.862414036999999 meters Centerline goodness : 0.782585 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:0.34, Z:0.08 [[ 0.99867833 -0.03137535 -0.04070848 1.63104881] [ 0.0353516 0.99426321 0.10095013 0.34451802] [ 0.0373076 -0.10225582 0.99405829 0.07753304] [ 0. 0. 0. 1. ]] SLAMing on 10.922414037 meters Centerline goodness : 0.783944 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.35, Z:0.08 [[ 0.9987896 -0.02534066 -0.04215661 1.6569667 ] [ 0.02890207 0.99586402 0.08613665 0.35364348] [ 0.0397995 -0.08725081 0.99539103 0.08164144] [ 0. 0. 0. 1. ]] SLAMing on 10.982414037 meters Centerline goodness : 0.780501 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.36, Z:0.09 [[ 0.99885311 -0.0184053 -0.04420087 1.68056938] [ 0.02157686 0.9971435 0.07238283 0.36185618] [ 0.04274238 -0.07325353 0.99639701 0.08832721] [ 0. 0. 0. 1. ]] SLAMing on 11.042414036999999 meters Centerline goodness : 0.777949 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:0.37, Z:0.10 [[ 0.99885998 -0.01554764 -0.04513333 1.70406884] [ 0.01801748 0.99833245 0.05484232 0.36736026] [ 0.0442054 -0.05559299 0.99747446 0.09511069] [ 0. 0. 0. 1. ]] SLAMing on 11.102414036999999 meters Centerline goodness : 0.780595 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.37, Z:0.10 [[ 0.99911149 -0.01743656 -0.03836926 1.74158768] [ 0.01912833 0.99884063 0.04417586 0.37098155] [ 0.0375545 -0.04487055 0.99828668 0.0988562 ] [ 0. 0. 0. 1. ]] SLAMing on 11.162414037 meters Centerline goodness : 0.781507 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.37, Z:0.10 [[ 0.99893407 -0.01949266 -0.04184214 1.77647555] [ 0.02092767 0.99919805 0.03413623 0.37364871] [ 0.04114318 -0.0349755 0.99854091 0.10428674] [ 0. 0. 0. 1. ]] SLAMing on 11.222414036999998 meters Centerline goodness : 0.778729 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.37, Z:0.11 [[ 0.99868108 -0.02198222 -0.04639925 1.81195686] [ 0.02322473 0.99938133 0.02641148 0.3737865 ] [ 0.04578996 -0.02745426 0.99857375 0.10752691] [ 0. 0. 0. 1. ]] SLAMing on 11.282414036999999 meters Centerline goodness : 0.781156 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:0.11 [[ 0.99865498 -0.02550566 -0.0451407 1.85481482] [ 0.02688228 0.99918363 0.03015644 0.36995966] [ 0.04433469 -0.03132936 0.99852537 0.10802228] [ 0. 0. 0. 1. ]] SLAMing on 11.342414037 meters Centerline goodness : 0.779148 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:0.11 [[ 0.9988607 -0.03111507 -0.03618234 1.89961699] [ 0.03251053 0.99872415 0.03864111 0.36445098] [ 0.03493385 -0.03977339 0.99859787 0.10915158] [ 0. 0. 0. 1. ]] SLAMing on 11.402414037 meters Centerline goodness : 0.785156 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.35, Z:0.11 [[ 0.99898354 -0.03596311 -0.0271761 1.93450287] [ 0.03848357 0.99436681 0.09876065 0.34674581] [ 0.02347128 -0.0997061 0.99474006 0.10943468] [ 0. 0. 0. 1. ]] SLAMing on 11.462414036999999 meters Centerline goodness : 0.779883 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.35, Z:0.11 [[ 0.99884415 -0.04236696 -0.02270236 1.94953784] [ 0.04442566 0.99404123 0.0995409 0.34966525] [ 0.01834984 -0.10043442 0.99477445 0.10747881] [ 0. 0. 0. 1. ]] SLAMing on 11.522414036999999 meters Centerline goodness : 0.787075 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.34, Z:0.11 [[ 0.99829451 -0.05389352 -0.02243993 1.9824119 ] [ 0.05654533 0.9882294 0.1421453 0.33727824] [ 0.01451509 -0.14317174 0.98959141 0.10605482] [ 0. 0. 0. 1. ]] SLAMing on 11.582414037 meters Centerline goodness : 0.778981 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.34, Z:0.11 [[ 0.99804278 -0.05814839 -0.02300809 1.98088966] [ 0.06080684 0.98828596 0.1399764 0.34200106] [ 0.01459917 -0.14110148 0.98988749 0.10980956] [ 0. 0. 0. 1. ]] SLAMing on 11.642414036999998 meters Centerline goodness : 0.778281 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.35, Z:0.11 [[ 0.99785709 -0.06124522 -0.02302706 1.97826927] [ 0.06380157 0.9888119 0.13483469 0.35065802] [ 0.01451145 -0.13601491 0.99060051 0.11282047] [ 0. 0. 0. 1. ]] SLAMing on 11.702414036999999 meters Centerline goodness : 0.790278 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.36, Z:0.11 [[ 0.99763553 -0.06468621 -0.02321747 1.93647445] [ 0.06703686 0.99034874 0.12130717 0.36113188] [ 0.01514649 -0.12257677 0.99234345 0.11382975] [ 0. 0. 0. 1. ]] SLAMing on 11.762414037 meters Centerline goodness : 0.791305 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.36, Z:0.11 [[ 0.99740818 -0.06819311 -0.02294814 1.93653234] [ 0.07041979 0.99064756 0.11686947 0.36252812] [ 0.01476382 -0.11818257 0.99288212 0.11332596] [ 0. 0. 0. 1. ]] SLAMing on 11.822414037 meters Centerline goodness : 0.790568 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.37, Z:0.12 [[ 0.99726767 -0.06992854 -0.02381592 1.93653675] [ 0.07223493 0.99060125 0.11615194 0.36718566] [ 0.01546975 -0.11755492 0.99294588 0.11557616] [ 0. 0. 0. 1. ]] SLAMing on 11.882414036999998 meters Centerline goodness : 0.791032 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.37, Z:0.12 [[ 0.99708423 -0.07272435 -0.02311273 1.93470604] [ 0.07486767 0.99088866 0.11195754 0.36921437] [ 0.0147601 -0.11336149 0.99344417 0.11655945] [ 0. 0. 0. 1. ]] SLAMing on 11.942414036999999 meters Centerline goodness : 0.791190 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.37, Z:0.12 [[ 0.9968307 -0.07627131 -0.02261085 1.93496771] [ 0.07826553 0.99117382 0.10699981 0.37072349] [ 0.01425026 -0.10843035 0.99400191 0.11502354] [ 0. 0. 0. 1. ]] SLAMing on 12.002414037 meters Centerline goodness : 0.777285 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.38, Z:0.12 [[ 0.99685346 -0.07331867 -0.03012567 1.92976156] [ 0.07598243 0.99211447 0.09967722 0.3758749 ] [ 0.02257991 -0.1016526 0.99456367 0.12075632] [ 0. 0. 0. 1. ]] SLAMing on 12.062414036999998 meters Centerline goodness : 0.790464 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.38, Z:0.12 [[ 0.99711237 -0.06969051 -0.03016867 1.92736761] [ 0.07244378 0.99207834 0.10262784 0.37896926] [ 0.0227775 -0.10451702 0.99426223 0.12312499] [ 0. 0. 0. 1. ]] SLAMing on 12.122414036999999 meters Centerline goodness : 0.772145 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.38, Z:0.12 [[ 0.99702814 -0.07130447 -0.02916434 1.92681562] [ 0.07381095 0.99258822 0.09654307 0.38373857] [ 0.02206423 -0.0984088 0.99490144 0.12000862] [ 0. 0. 0. 1. ]] SLAMing on 12.182414037 meters Centerline goodness : 0.789418 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.39, Z:0.12 [[ 0.99682809 -0.07359928 -0.03028032 1.92722928] [ 0.07616935 0.99256103 0.09497807 0.38974475] [ 0.02306475 -0.09698324 0.99501873 0.12207439] [ 0. 0. 0. 1. ]] SLAMing on 12.242414037 meters Centerline goodness : 0.772677 with order 3 Centerline is valid? [False, False] Translation: X:1.93, Y:0.39, Z:0.13 [[ 0.99666376 -0.07541855 -0.03119929 1.92579722] [ 0.0780876 0.99234152 0.09571123 0.39327703] [ 0.02374194 -0.09782819 0.99492008 0.12689394] [ 0. 0. 0. 1. ]] SLAMing on 12.302414036999998 meters Centerline goodness : 0.787340 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.40, Z:0.13 [[ 0.99623142 -0.08065123 -0.03191144 1.92811559] [ 0.08321172 0.99252175 0.0893106 0.3998603 ] [ 0.02446979 -0.09162943 0.99549248 0.12529732] [ 0. 0. 0. 1. ]] SLAMing on 12.362414036999999 meters Centerline goodness : 0.785409 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.41, Z:0.12 [[ 0.99582317 -0.08537636 -0.03235868 1.93072221] [ 0.08779538 0.99270126 0.08268119 0.40633973] [ 0.02506348 -0.08517678 0.99605057 0.12248161] [ 0. 0. 0. 1. ]] SLAMing on 12.422414037 meters Centerline goodness : 0.786279 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.41, Z:0.13 [[ 0.99592482 -0.08400147 -0.03282539 1.92757205] [ 0.08654119 0.99255779 0.08567184 0.4107893 ] [ 0.02538453 -0.08816346 0.99578252 0.12741333] [ 0. 0. 0. 1. ]] SLAMing on 12.482414037 meters Centerline goodness : 0.781656 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.41, Z:0.13 [[ 0.99601678 -0.08326944 -0.03188679 1.92450205] [ 0.08569012 0.99276587 0.08410194 0.41443115] [ 0.024653 -0.08649933 0.99594683 0.12857553] [ 0. 0. 0. 1. ]] SLAMing on 12.542414036999999 meters Centerline goodness : 0.778685 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.42, Z:0.13 [[ 0.99600724 -0.08338111 -0.03189321 1.92420182] [ 0.0857791 0.99283593 0.08317905 0.41689941] [ 0.02472916 -0.08558271 0.99602413 0.12854415] [ 0. 0. 0. 1. ]] SLAMing on 12.602414036999999 meters Centerline goodness : 0.776853 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.42, Z:0.13 [[ 0.99599682 -0.08346755 -0.03199237 1.92378777] [ 0.08582994 0.9929769 0.08142544 0.42145068] [ 0.0249713 -0.08384538 0.99616584 0.1285663 ] [ 0. 0. 0. 1. ]] SLAMing on 12.662414037 meters Centerline goodness : 0.780889 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.43, Z:0.13 [[ 0.99631244 -0.07833377 -0.03500485 1.91814674] [ 0.08067171 0.99418742 0.07129834 0.42829233] [ 0.02921632 -0.07385933 0.99684061 0.13036708] [ 0. 0. 0. 1. ]] SLAMing on 12.722414036999998 meters Centerline goodness : 0.766648 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.43, Z:0.13 [[ 0.99663182 -0.074353 -0.0345926 1.91612745] [ 0.07672829 0.99435143 0.07333482 0.43152943] [ 0.02894454 -0.07574204 0.99670726 0.13052014] [ 0. 0. 0. 1. ]] SLAMing on 12.782414036999999 meters Centerline goodness : 0.768561 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.44, Z:0.13 [[ 0.99670175 -0.07365631 -0.03406408 1.91387961] [ 0.07596002 0.99449512 0.07217713 0.43518776] [ 0.02856026 -0.07452658 0.99680996 0.13153746] [ 0. 0. 0. 1. ]] SLAMing on 12.842414037 meters Centerline goodness : 0.787542 with order 3 Centerline is valid? [False, False] Translation: X:1.91, Y:0.44, Z:0.13 [[ 0.99665544 -0.07426458 -0.03409847 1.91369729] [ 0.07650202 0.99462128 0.06982796 0.43995184] [ 0.02872932 -0.07220302 0.9969761 0.13109916] [ 0. 0. 0. 1. ]] SLAMing on 12.902414037 meters Centerline goodness : 0.788778 with order 3 Centerline is valid? [False, False] Translation: X:1.92, Y:0.45, Z:0.13 [[ 0.99630884 -0.07852117 -0.03468593 1.91600931] [ 0.08060937 0.99471539 0.06358796 0.44703362] [ 0.02950962 -0.06614926 0.99737328 0.1291787 ] [ 0. 0. 0. 1. ]] SLAMing on 12.962414036999999 meters Centerline goodness : 0.771587 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.45, Z:0.13 [[ 0.99623065 -0.07935025 -0.03504316 1.91521994] [ 0.0814151 0.99474613 0.06206226 0.45241157] [ 0.02993439 -0.06468137 0.99745689 0.13059902] [ 0. 0. 0. 1. ]] SLAMing on 13.022414036999999 meters Centerline goodness : 0.771919 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.46, Z:0.13 [[ 0.99642448 -0.07652581 -0.03580588 1.91557006] [ 0.07867448 0.99490505 0.06304182 0.45846315] [ 0.03079913 -0.06563342 0.99736837 0.13053604] [ 0. 0. 0. 1. ]] SLAMing on 13.082414037 meters Centerline goodness : 0.786588 with order 3 Centerline is valid? [False, False] Translation: X:1.91, Y:0.46, Z:0.13 [[ 0.99657826 -0.07503543 -0.03466193 1.91319921] [ 0.07702849 0.99520525 0.06027544 0.46318104] [ 0.02997294 -0.06273915 0.99757978 0.12971835] [ 0. 0. 0. 1. ]] SLAMing on 13.142414036999998 meters Centerline goodness : 0.789574 with order 3 Centerline is valid? [False, False] Translation: X:1.91, Y:0.47, Z:0.13 [[ 0.99706006 -0.0679537 -0.03540531 1.91139924] [ 0.07016351 0.99538649 0.0654433 0.47109613] [ 0.03079485 -0.06773507 0.99722798 0.13186691] [ 0. 0. 0. 1. ]] SLAMing on 13.202414036999999 meters Centerline goodness : 0.789541 with order 3 Centerline is valid? [False, False] Translation: X:1.91, Y:0.48, Z:0.13 [[ 0.99721539 -0.06605108 -0.03462264 1.90999527] [ 0.06815557 0.99564478 0.06361043 0.47542552] [ 0.03027031 -0.06579302 0.99737405 0.13069663] [ 0. 0. 0. 1. ]] SLAMing on 13.262414037 meters Centerline goodness : 0.771119 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.48, Z:0.14 [[ 0.99752428 -0.06222432 -0.03276349 1.93408242] [ 0.06375124 0.99681906 0.04782817 0.48349464] [ 0.02968319 -0.04979848 0.9983181 0.13527399] [ 0. 0. 0. 1. ]] SLAMing on 13.322414037 meters Centerline goodness : 0.768245 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.49, Z:0.14 [[ 0.99770874 -0.05931654 -0.03253942 1.94250467] [ 0.06065662 0.99728013 0.0418702 0.49237239] [ 0.02996732 -0.043748 0.99859305 0.13735322] [ 0. 0. 0. 1. ]] SLAMing on 13.382414036999998 meters Centerline goodness : 0.771981 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.50, Z:0.14 [[ 0.99795673 -0.05483897 -0.032788 1.96193669] [ 0.05581706 0.99799922 0.02969872 0.49779707] [ 0.03109375 -0.03146817 0.99902099 0.14290233] [ 0. 0. 0. 1. ]] SLAMing on 13.442414036999999 meters Centerline goodness : 0.787823 with order 3 Centerline is valid? [False, False] Translation: X:1.98, Y:0.50, Z:0.15 [[ 0.99828909 -0.04920486 -0.03158743 1.98292272] [ 0.04983021 0.99857072 0.0193251 0.5034367 ] [ 0.03059139 -0.02086605 0.99931415 0.14555566] [ 0. 0. 0. 1. ]] SLAMing on 13.502414037 meters Centerline goodness : 0.789340 with order 3 Centerline is valid? [False, False] Translation: X:1.98, Y:0.51, Z:0.14 [[ 0.99847454 -0.04486789 -0.03217877 1.98487531] [ 0.04559747 0.99871076 0.02230882 0.50888468] [ 0.03113633 -0.02374205 0.99923313 0.14445896] [ 0. 0. 0. 1. ]] SLAMing on 13.562414036999998 meters Centerline goodness : 0.783788 with order 3 Centerline is valid? [False, False] Translation: X:2.03, Y:0.51, Z:0.14 [[ 0.99846132 -0.04669794 -0.02990488 2.02878115] [ 0.0474236 0.99858569 0.02403383 0.51467063] [ 0.02874026 -0.02541505 0.99926377 0.14236151] [ 0. 0. 0. 1. ]] SLAMing on 13.622414036999999 meters Centerline goodness : 0.783984 with order 3 Centerline is valid? [False, False] Translation: X:1.99, Y:0.51, Z:0.14 [[ 0.99855977 -0.04310992 -0.03193613 1.98738818] [ 0.04421409 0.99841874 0.03471495 0.51113246] [ 0.03038908 -0.03607698 0.99888686 0.13765937] [ 0. 0. 0. 1. ]] SLAMing on 13.682414037 meters Centerline goodness : 0.783505 with order 3 Centerline is valid? [False, False] Translation: X:2.00, Y:0.52, Z:0.14 [[ 0.99848925 -0.04498149 -0.03155753 1.99541442] [ 0.04576073 0.99865388 0.02442079 0.51646106] [ 0.03041657 -0.02582799 0.99920356 0.14105487] [ 0. 0. 0. 1. ]] SLAMing on 13.742414037 meters Centerline goodness : 0.782198 with order 3 Centerline is valid? [False, False] Translation: X:2.00, Y:0.52, Z:0.14 [[ 0.99834598 -0.0476719 -0.03213546 1.99898555] [ 0.04836322 0.99860714 0.02108986 0.51711926] [ 0.03108531 -0.02260915 0.99926099 0.13916915] [ 0. 0. 0. 1. ]] SLAMing on 13.802414036999998 meters Centerline goodness : 0.768758 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.52, Z:0.14 [[ 0.99833713 -0.04786328 -0.03212616 1.99801584] [ 0.04852705 0.99861739 0.02020957 0.51841144] [ 0.03111444 -0.02173495 0.99927948 0.14118493] [ 0. 0. 0. 1. ]] SLAMing on 13.862414036999999 meters Centerline goodness : 0.782186 with order 3 Centerline is valid? [False, False] Translation: X:2.00, Y:0.52, Z:0.14 [[ 0.99818188 -0.05040106 -0.03305558 2.00109015] [ 0.05096628 0.99856431 0.01648483 0.51856717] [ 0.03217727 -0.01813958 0.99931756 0.14156052] [ 0. 0. 0. 1. ]] SLAMing on 13.922414037 meters Centerline goodness : 0.769463 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.52, Z:0.14 [[ 0.99818829 -0.05005987 -0.03337885 2.00118743] [ 0.05061851 0.99858818 0.01610637 0.51841424] [ 0.03252545 -0.01776678 0.99931298 0.14323476] [ 0. 0. 0. 1. ]] SLAMing on 13.982414036999998 meters Centerline goodness : 0.779107 with order 3 Centerline is valid? [False, False] Translation: X:2.00, Y:0.52, Z:0.14 [[ 0.99823417 -0.0486591 -0.03407108 2.00329535] [ 0.04924356 0.99865001 0.01652989 0.51764102] [ 0.03322076 -0.01817849 0.9992827 0.14348917] [ 0. 0. 0. 1. ]] SLAMing on 14.042414036999999 meters Centerline goodness : 0.767222 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.52, Z:0.14 [[ 0.99818255 -0.04895055 -0.03514888 2.00930159] [ 0.04948768 0.99866835 0.01457707 0.51677763] [ 0.03438852 -0.01629001 0.99927577 0.14132916] [ 0. 0. 0. 1. ]] SLAMing on 14.102414036999999 meters Centerline goodness : 0.766966 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.52, Z:0.15 [[ 0.99842939 -0.04383145 -0.03489361 2.02994044] [ 0.04395681 0.99902941 0.0028333 0.52034382] [ 0.03473555 -0.00436267 0.99938702 0.14709831] [ 0. 0. 0. 1. ]] SLAMing on 14.162414037 meters Centerline goodness : 0.769778 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.52, Z:0.15 [[ 0.99854945 -0.04190184 -0.03381173 2.05106631] [ 0.0414706 0.99905044 -0.01335672 0.52201508] [ 0.03433929 0.01193515 0.99933896 0.15432819] [ 0. 0. 0. 1. ]] SLAMing on 14.222414036999998 meters Centerline goodness : 0.783918 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:0.52, Z:0.16 [[ 0.99836034 -0.04610497 -0.03392584 2.0549125 ] [ 0.04537529 0.99872833 -0.02197288 0.52401067] [ 0.03489576 0.02039746 0.99918278 0.1571854 ] [ 0. 0. 0. 1. ]] SLAMing on 14.282414036999999 meters Centerline goodness : 0.783809 with order 3 Centerline is valid? [False, False] Translation: X:2.06, Y:0.52, Z:0.16 [[ 0.9983289 -0.05070875 -0.02771319 2.06385831] [ 0.05026236 0.99859852 -0.01657374 0.52213267] [ 0.02851478 0.01515312 0.99947851 0.15672004] [ 0. 0. 0. 1. ]] SLAMing on 14.342414037 meters Centerline goodness : 0.784047 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.52, Z:0.16 [[ 0.99794738 -0.05723207 -0.02873191 2.06793211] [ 0.05657938 0.99813226 -0.02303818 0.51896116] [ 0.02999677 0.02136526 0.99932163 0.15580633] [ 0. 0. 0. 1. ]] SLAMing on 14.402414036999998 meters Centerline goodness : 0.784699 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.52, Z:0.15 [[ 0.99776154 -0.06017538 -0.02916897 2.07150779] [ 0.05943073 0.99790006 -0.02575759 0.51643365] [ 0.03065769 0.0239664 0.99924257 0.15363985] [ 0. 0. 0. 1. ]] SLAMing on 14.462414036999999 meters Centerline goodness : 0.790540 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.51, Z:0.15 [[ 0.99762851 -0.06184108 -0.03021665 2.07401317] [ 0.06111398 0.99783197 -0.024422 0.51370282] [ 0.03166142 0.02251742 0.99924497 0.1536305 ] [ 0. 0. 0. 1. ]] SLAMing on 14.522414036999999 meters Centerline goodness : 0.788708 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.51, Z:0.15 [[ 0.99760753 -0.06203798 -0.03050428 2.07453015] [ 0.06134998 0.99785137 -0.02299622 0.51102782] [ 0.03186537 0.02106976 0.99927007 0.15419811] [ 0. 0. 0. 1. ]] SLAMing on 14.582414037 meters Centerline goodness : 0.789851 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.51, Z:0.15 [[ 0.99776012 -0.05991968 -0.02973831 2.07283184] [ 0.0593224 0.99802678 -0.02057682 0.5056253 ] [ 0.03091259 0.01876659 0.9993459 0.15492439] [ 0. 0. 0. 1. ]] SLAMing on 14.642414036999998 meters Centerline goodness : 0.788442 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.50, Z:0.16 [[ 0.9977567 -0.05966232 -0.03036395 2.07314471] [ 0.05912442 0.99808258 -0.01831555 0.50248883] [ 0.03139848 0.01647922 0.99937109 0.15678852] [ 0. 0. 0. 1. ]] SLAMing on 14.702414036999999 meters Centerline goodness : 0.789744 with order 3 Centerline is valid? [False, False] Translation: X:2.08, Y:0.50, Z:0.16 [[ 0.99769102 -0.06041362 -0.03102949 2.0750329 ] [ 0.05988883 0.99805035 -0.01757324 0.50061403] [ 0.03203066 0.01567435 0.99936397 0.15636052] [ 0. 0. 0. 1. ]] SLAMing on 14.762414037 meters Centerline goodness : 0.767713 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.49, Z:0.16 [[ 0.99739117 -0.05683592 -0.04450328 2.07894662] [ 0.05615692 0.99828786 -0.01636277 0.49377968] [ 0.04535708 0.01382091 0.99887523 0.15674172] [ 0. 0. 0. 1. ]] SLAMing on 14.822414037 meters Centerline goodness : 0.768760 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.49, Z:0.15 [[ 0.99745625 -0.0554586 -0.04478134 2.08064651] [ 0.0548093 0.99837497 -0.01560024 0.49336126] [ 0.04557373 0.01310612 0.998875 0.15492562] [ 0. 0. 0. 1. ]] SLAMing on 14.882414036999998 meters Centerline goodness : 0.767278 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.49, Z:0.16 [[ 0.99790462 -0.04850947 -0.04281587 2.07584299] [ 0.04804808 0.99877602 -0.01174078 0.49135941] [ 0.04333301 0.00965896 0.99901399 0.15535539] [ 0. 0. 0. 1. ]] SLAMing on 14.942414036999999 meters Centerline goodness : 0.767992 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.49, Z:0.15 [[ 0.99845934 -0.03926412 -0.039208 2.06905486] [ 0.0389088 0.99919485 -0.00978512 0.48931483] [ 0.03956064 0.00824451 0.99918316 0.15339979] [ 0. 0. 0. 1. ]] SLAMing on 15.002414037 meters Centerline goodness : 0.767280 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.49, Z:0.15 [[ 0.99866119 -0.03575812 -0.03737886 2.06648099] [ 0.0353565 0.9993103 -0.01135114 0.48884248] [ 0.03775898 0.01001436 0.99923669 0.15080759] [ 0. 0. 0. 1. ]] SLAMing on 15.062414036999998 meters Centerline goodness : 0.794406 with order 3 Centerline is valid? [False, False] Translation: X:2.06, Y:0.49, Z:0.15 [[ 0.99883375 -0.03182748 -0.03630641 2.0638192 ] [ 0.03149966 0.99945799 -0.00956576 0.48716628] [ 0.03659119 0.00841096 0.99929492 0.15125817] [ 0. 0. 0. 1. ]] SLAMing on 15.122414036999999 meters Centerline goodness : 0.763823 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.49, Z:0.15 [[ 0.99885441 -0.03253967 -0.03508601 2.06194455] [ 0.03210952 0.99940297 -0.01275475 0.48600259] [ 0.0354801 0.01161355 0.9993029 0.15059202] [ 0. 0. 0. 1. ]] SLAMing on 15.182414037 meters Centerline goodness : 0.783279 with order 3 Centerline is valid? [False, False] Translation: X:2.10, Y:0.48, Z:0.15 [[ 0.99864384 -0.03900573 -0.03448232 2.09687372] [ 0.03887728 0.99923436 -0.00438784 0.48028921] [ 0.03462707 0.00304131 0.99939568 0.14806587] [ 0. 0. 0. 1. ]] SLAMing on 15.242414037 meters Centerline goodness : 0.767563 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.48, Z:0.15 [[ 0.99832161 -0.04783492 -0.03264631 2.12816991] [ 0.04793543 0.99884778 0.00230257 0.4754624 ] [ 0.03249855 -0.00386362 0.99946431 0.14682186] [ 0. 0. 0. 1. ]] SLAMing on 15.302414036999998 meters Centerline goodness : 0.786428 with order 3 Centerline is valid? [False, False] Translation: X:2.17, Y:0.46, Z:0.14 [[ 0.99810972 -0.05774049 -0.02104818 2.1694597 ] [ 0.05855382 0.99746948 0.04032468 0.46046022] [ 0.01866655 -0.04148091 0.99896491 0.1401106 ] [ 0. 0. 0. 1. ]] SLAMing on 15.362414036999999 meters Centerline goodness : 0.786472 with order 3 Centerline is valid? [False, False] Translation: X:2.17, Y:0.46, Z:0.14 [[ 0.99776328 -0.06297385 -0.02242179 2.17269944] [ 0.06382513 0.99717807 0.03952533 0.4573678 ] [ 0.01986946 -0.040868 0.99896697 0.14119535] [ 0. 0. 0. 1. ]] SLAMing on 15.422414037 meters Centerline goodness : 0.786984 with order 3 Centerline is valid? [False, False] Translation: X:2.18, Y:0.45, Z:0.14 [[ 0.99723753 -0.07065321 -0.02292217 2.17544468] [ 0.07143599 0.99681872 0.03534598 0.45165136] [ 0.02035194 -0.03688581 0.99911222 0.14148918] [ 0. 0. 0. 1. ]] SLAMing on 15.482414036999998 meters Centerline goodness : 0.783455 with order 3 Centerline is valid? [False, False] Translation: X:2.18, Y:0.45, Z:0.14 [[ 0.99686676 -0.07547913 -0.023655 2.17651249] [ 0.07626242 0.99650201 0.03417292 0.44927917] [ 0.02099291 -0.03586984 0.99913595 0.14419368] [ 0. 0. 0. 1. ]] SLAMing on 15.542414036999999 meters Centerline goodness : 0.782465 with order 3 Centerline is valid? [False, False] Translation: X:2.18, Y:0.45, Z:0.15 [[ 0.99675472 -0.07694714 -0.02364652 2.17550565] [ 0.07774633 0.99635956 0.0349735 0.44666919] [ 0.02086933 -0.03669843 0.99910845 0.14662521] [ 0. 0. 0. 1. ]] SLAMing on 15.602414036999999 meters Centerline goodness : 0.782669 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:0.14 [[ 0.99646798 -0.08064247 -0.02341718 2.17747164] [ 0.08138075 0.99615305 0.03250044 0.44101809] [ 0.02070618 -0.03429135 0.99919736 0.14484339] [ 0. 0. 0. 1. ]] SLAMing on 15.662414037 meters Centerline goodness : 0.782680 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:0.15 [[ 0.99615392 -0.0794517 -0.03694303 2.17812786] [ 0.08069513 0.99617638 0.03348006 0.43667309] [ 0.03414172 -0.03633242 0.99875638 0.15063139] [ 0. 0. 0. 1. ]] SLAMing on 15.722414036999998 meters Centerline goodness : 0.784289 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:0.15 [[ 0.9960572 -0.08044102 -0.03740709 2.17873386] [ 0.08171634 0.99607849 0.03391289 0.43605809] [ 0.03453241 -0.03683595 0.9987245 0.15168139] [ 0. 0. 0. 1. ]] SLAMing on 15.782414036999999 meters Centerline goodness : 0.787049 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:0.15 [[ 0.99596293 -0.08207385 -0.03635551 2.17790924] [ 0.08321632 0.99604575 0.03111113 0.43410183] [ 0.03365834 -0.0340109 0.99885453 0.1507273 ] [ 0. 0. 0. 1. ]] SLAMing on 15.842414037 meters Centerline goodness : 0.769133 with order 3 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:0.15 [[ 0.99588069 -0.08310644 -0.03626243 2.17676273] [ 0.08424722 0.99595778 0.03115282 0.43383967] [ 0.03352685 -0.0340795 0.99885662 0.15262173] [ 0. 0. 0. 1. ]] SLAMing on 15.902414036999998 meters Centerline goodness : 0.785079 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:0.15 [[ 0.99557695 -0.08588759 -0.03807699 2.17966636] [ 0.08712774 0.99567659 0.03220077 0.43342434] [ 0.03514672 -0.03537591 0.99875585 0.15453003] [ 0. 0. 0. 1. ]] SLAMing on 15.962414036999999 meters Centerline goodness : 0.784998 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:0.15 [[ 0.99514129 -0.09053802 -0.0386869 2.18218265] [ 0.09165756 0.99539081 0.02821383 0.43422433] [ 0.03595416 -0.03162269 0.99885299 0.15391315] [ 0. 0. 0. 1. ]] SLAMing on 16.022414037 meters Centerline goodness : 0.784859 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:0.15 [[ 0.99473644 -0.09486412 -0.03873269 2.18300182] [ 0.09585281 0.99509354 0.02451703 0.43532742] [ 0.03621686 -0.02810062 0.99894879 0.15405381] [ 0. 0. 0. 1. ]] SLAMing on 16.082414037 meters Centerline goodness : 0.784221 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:0.16 [[ 0.994619 -0.09516764 -0.04094095 2.18457521] [ 0.09637989 0.99492997 0.02872752 0.43681249] [ 0.03799945 -0.03251882 0.9987485 0.15798283] [ 0. 0. 0. 1. ]] SLAMing on 16.142414037 meters Centerline goodness : 0.767525 with order 3 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:0.16 [[ 0.99454032 -0.09600373 -0.04090032 2.18494154] [ 0.09716057 0.99489425 0.02729925 0.43774612] [ 0.03807066 -0.0311241 0.99879023 0.15728724] [ 0. 0. 0. 1. ]] SLAMing on 16.202414037 meters Centerline goodness : 0.782604 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:0.16 [[ 0.99450226 -0.09610549 -0.04158105 2.18579887] [ 0.09727742 0.9948872 0.02713954 0.43987833] [ 0.03876019 -0.03103523 0.99876647 0.15770799] [ 0. 0. 0. 1. ]] SLAMing on 16.262414037 meters Centerline goodness : 0.783483 with order 3 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:0.16 [[ 0.99462739 -0.09409796 -0.04315009 2.18714058] [ 0.09541473 0.99499916 0.02954147 0.44495682] [ 0.04015451 -0.03349991 0.99863175 0.15893531] [ 0. 0. 0. 1. ]] SLAMing on 16.322414037 meters Centerline goodness : 0.782502 with order 3 Centerline is valid? [False, False] Translation: X:2.19, Y:0.45, Z:0.16 [[ 0.99456951 -0.09473953 -0.04308035 2.18693196] [ 0.0959976 0.99498392 0.02813295 0.44700799] [ 0.04019895 -0.03211578 0.99867543 0.15900042] [ 0. 0. 0. 1. ]] SLAMing on 16.382414037 meters Centerline goodness : 0.779516 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.45, Z:0.16 [[ 0.9945161 -0.09509906 -0.04351888 2.18736454] [ 0.09638285 0.99493867 0.02841456 0.44709965] [ 0.04059642 -0.03245321 0.99864845 0.15971048] [ 0. 0. 0. 1. ]] SLAMing on 16.442414037 meters Centerline goodness : 0.778117 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.45, Z:0.16 [[ 0.99443099 -0.0958593 -0.04379506 2.18710055] [ 0.09708948 0.99491264 0.02687881 0.45137649] [ 0.04099568 -0.03098117 0.99867889 0.16052708] [ 0. 0. 0. 1. ]] SLAMing on 16.502414037 meters Centerline goodness : 0.776118 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.46, Z:0.16 [[ 0.99434632 -0.09621409 -0.04492491 2.18975129] [ 0.09743616 0.99490602 0.02584983 0.45589219] [ 0.04220894 -0.030081 0.99865587 0.15940022] [ 0. 0. 0. 1. ]] SLAMing on 16.562414037 meters Centerline goodness : 0.779633 with order 3 Centerline is valid? [False, False] Translation: X:2.19, Y:0.46, Z:0.16 [[ 0.99450435 -0.09422523 -0.04563661 2.19006315] [ 0.09550904 0.99506735 0.02681407 0.4613079 ] [ 0.04288494 -0.03102541 0.99859817 0.15939815] [ 0. 0. 0. 1. ]] SLAMing on 16.622414037000002 meters Centerline goodness : 0.764275 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.46, Z:0.16 [[ 0.99454669 -0.09370344 -0.04578809 2.19106227] [ 0.09495219 0.99514486 0.02589946 0.46383035] [ 0.04313892 -0.03010591 0.99861538 0.15793494] [ 0. 0. 0. 1. ]] SLAMing on 16.682414037 meters Centerline goodness : 0.777118 with order 3 Centerline is valid? [False, False] Translation: X:2.19, Y:0.47, Z:0.16 [[ 0.99448172 -0.09420732 -0.04616363 2.19068327] [ 0.09543909 0.99511516 0.0252428 0.46744569] [ 0.04356007 -0.02950931 0.9986149 0.1592765 ] [ 0. 0. 0. 1. ]] SLAMing on 16.742414037 meters Centerline goodness : 0.766394 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.47, Z:0.16 [[ 0.99427119 -0.09563885 -0.04772856 2.19219487] [ 0.09692842 0.99496532 0.02547323 0.47182593] [ 0.04505204 -0.02995356 0.99853548 0.16108115] [ 0. 0. 0. 1. ]] SLAMing on 16.802414037000002 meters Centerline goodness : 0.765137 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.47, Z:0.16 [[ 0.9941613 -0.09626072 -0.04875628 2.19476338] [ 0.09755349 0.99491967 0.02486285 0.47476176] [ 0.04611527 -0.02947403 0.99850121 0.16009948] [ 0. 0. 0. 1. ]] SLAMing on 16.862414037 meters Centerline goodness : 0.763418 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.48, Z:0.16 [[ 0.99395906 -0.09815556 -0.04910065 2.19669098] [ 0.09933307 0.99480791 0.02213967 0.47839025] [ 0.04667258 -0.02688324 0.99854843 0.15824853] [ 0. 0. 0. 1. ]] SLAMing on 16.922414037 meters Centerline goodness : 0.767045 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.48, Z:0.16 [[ 0.9938933 -0.09824878 -0.05023227 2.1973378 ] [ 0.09950278 0.99476915 0.02309852 0.48109779] [ 0.04770011 -0.02795571 0.99847042 0.15997612] [ 0. 0. 0. 1. ]] SLAMing on 16.982414037 meters Centerline goodness : 0.763937 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.49, Z:0.16 [[ 0.99381094 -0.09908668 -0.050216 2.19663205] [ 0.10025446 0.99473403 0.02128974 0.48612481] [ 0.04784203 -0.02619235 0.99851144 0.16112355] [ 0. 0. 0. 1. ]] SLAMing on 17.042414037 meters Centerline goodness : 0.764432 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.49, Z:0.16 [[ 0.99351082 -0.10198183 -0.05035825 2.19861505] [ 0.10294384 0.99454381 0.01688737 0.48977754] [ 0.04836128 -0.02196185 0.99858844 0.1609277 ] [ 0. 0. 0. 1. ]] SLAMing on 17.102414037 meters Centerline goodness : 0.765683 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.49, Z:0.16 [[ 0.99351808 -0.10168079 -0.0508216 2.20070618] [ 0.10264227 0.99457857 0.01667436 0.49234228] [ 0.04885061 -0.02178272 0.99856854 0.15946938] [ 0. 0. 0. 1. ]] SLAMing on 17.162414037 meters Centerline goodness : 0.763630 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.50, Z:0.16 [[ 0.99351249 -0.10153413 -0.05122258 2.20294598] [ 0.10249455 0.99459707 0.01647843 0.49589123] [ 0.0492727 -0.02162156 0.99855131 0.15735765] [ 0. 0. 0. 1. ]] SLAMing on 17.222414037 meters Centerline goodness : 0.763579 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.50, Z:0.16 [[ 0.99349361 -0.10171481 -0.05123022 2.20286059] [ 0.10264115 0.99459326 0.01578099 0.49727903] [ 0.04934807 -0.02093664 0.99856218 0.15773819] [ 0. 0. 0. 1. ]] SLAMing on 17.282414037000002 meters Centerline goodness : 0.764036 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.50, Z:0.16 [[ 0.99384914 -0.09811191 -0.05136093 2.20139005] [ 0.09915303 0.99490711 0.01812514 0.5015305 ] [ 0.04932107 -0.02310625 0.99851567 0.1592374 ] [ 0. 0. 0. 1. ]] SLAMing on 17.342414037 meters Centerline goodness : 0.762260 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.51, Z:0.16 [[ 0.99388332 -0.09750611 -0.05185084 2.20256394] [ 0.09850952 0.99498822 0.01715573 0.50553969] [ 0.04991818 -0.0221586 0.99850747 0.15978128] [ 0. 0. 0. 1. ]] SLAMing on 17.402414037 meters Centerline goodness : 0.761826 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.51, Z:0.16 [[ 0.99392956 -0.09687927 -0.05213863 2.20399919] [ 0.09785821 0.99506264 0.01655626 0.50850434] [ 0.05027724 -0.02155795 0.99850261 0.15928612] [ 0. 0. 0. 1. ]] SLAMing on 17.462414037000002 meters Centerline goodness : 0.761187 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.51, Z:0.16 [[ 0.99396803 -0.09622836 -0.05260859 2.20554834] [ 0.09717817 0.9951416 0.0157988 0.51368399] [ 0.05083271 -0.02081591 0.99849023 0.15898323] [ 0. 0. 0. 1. ]] SLAMing on 17.522414037 meters Centerline goodness : 0.776135 with order 3 Centerline is valid? [False, False] Translation: X:2.21, Y:0.52, Z:0.16 [[ 0.99375175 -0.0982572 -0.05294328 2.20900408] [ 0.09904231 0.99500585 0.01240921 0.51581239] [ 0.05145958 -0.0175753 0.99852042 0.15763607] [ 0. 0. 0. 1. ]] SLAMing on 17.582414037 meters Centerline goodness : 0.758934 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.52, Z:0.16 [[ 0.99348186 -0.10097813 -0.05288869 2.21088769] [ 0.10156454 0.99479253 0.00851299 0.51844858] [ 0.05175365 -0.01382912 0.99856413 0.15717749] [ 0. 0. 0. 1. ]] SLAMing on 17.642414037 meters Centerline goodness : 0.760354 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.52, Z:0.16 [[ 0.99350445 -0.1005796 -0.05322268 2.21181511] [ 0.1011497 0.99483807 0.00812177 0.52137774] [ 0.05213107 -0.01345247 0.99854964 0.15727535] [ 0. 0. 0. 1. ]] SLAMing on 17.702414037 meters Centerline goodness : 0.760805 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.52, Z:0.16 [[ 0.9932161 -0.10332034 -0.05335439 2.21393437] [ 0.10369011 0.99460078 0.00420205 0.52308292] [ 0.05263216 -0.00970586 0.9985668 0.15713137] [ 0. 0. 0. 1. ]] SLAMing on 17.762414037 meters Centerline goodness : 0.762754 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.52, Z:0.16 [[ 0.99326793 -0.10255506 -0.05386346 2.21579996] [ 0.10293188 0.99467928 0.00426152 0.52428646] [ 0.05313983 -0.0097771 0.99853922 0.15649744] [ 0. 0. 0. 1. ]] SLAMing on 17.822414037 meters Centerline goodness : 0.780148 with order 3 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 0.99331158 -0.1018796 -0.05433837 2.21759254] [ 0.1022436 0.99475153 0.00395422 0.52727435] [ 0.05365033 -0.00948352 0.99851475 0.15588232] [ 0. 0. 0. 1. ]] SLAMing on 17.882414037 meters Centerline goodness : 0.778818 with order 3 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 0.99331383 -0.10181674 -0.05441487 2.21795104] [ 0.10215415 0.9947626 0.00344833 0.52912753] [ 0.05377878 -0.00898398 0.99851246 0.15589108] [ 0. 0. 0. 1. ]] SLAMing on 17.942414037 meters Centerline goodness : 0.760339 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 0.99335063 -0.10149496 -0.05434426 2.21759294] [ 0.10177698 0.99480425 0.00244025 0.53085303] [ 0.05381422 -0.00795502 0.99851928 0.15735439] [ 0. 0. 0. 1. ]] SLAMing on 18.002414037 meters Centerline goodness : 0.761503 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 0.99337834 -0.10097763 -0.05479956 2.21914627] [ 0.10126751 0.99485601 0.00253189 0.53152292] [ 0.05426201 -0.00806454 0.99849417 0.15681166] [ 0. 0. 0. 1. ]] SLAMing on 18.062414037 meters Centerline goodness : 0.760744 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 9.93224780e-01 -1.02566713e-01 -5.46315496e-02 2.22118741e+00] [ 1.02725498e-01 9.94709738e-01 9.88881507e-05 5.31885022e-01] [ 5.43323918e-02 -5.71027131e-03 9.98506577e-01 1.55852894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122414037000002 meters Centerline goodness : 0.779837 with order 3 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 0.99299576 -0.10461104 -0.05491768 2.22396379] [ 0.10460463 0.99450936 -0.00299919 0.53313463] [ 0.0549299 -0.00276646 0.99848638 0.15524768] [ 0. 0. 0. 1. ]] SLAMing on 18.182414037 meters Centerline goodness : 0.781289 with order 3 Centerline is valid? [False, False] Translation: X:2.22, Y:0.53, Z:0.16 [[ 0.99307262 -0.10362951 -0.05538681 2.22466774] [ 0.10360916 0.99461279 -0.00324663 0.53435809] [ 0.05542487 -0.00251444 0.99845969 0.1566576 ] [ 0. 0. 0. 1. ]] SLAMing on 18.242414037 meters Centerline goodness : 0.780166 with order 3 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:0.16 [[ 0.99315045 -0.10256671 -0.05596647 2.22647847] [ 0.10254616 0.99472295 -0.00324643 0.53590206] [ 0.0560041 -0.00251495 0.99842737 0.15663396] [ 0. 0. 0. 1. ]] SLAMing on 18.302414037000002 meters Centerline goodness : 0.780566 with order 3 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:0.16 [[ 0.99320939 -0.10154508 -0.05677761 2.2293087 ] [ 0.10155331 0.9948263 -0.00274771 0.53547289] [ 0.05676287 -0.0030369 0.99838307 0.15560596] [ 0. 0. 0. 1. ]] SLAMing on 18.362414037 meters Centerline goodness : 0.766410 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.53, Z:0.15 [[ 9.93279143e-01 -1.00533711e-01 -5.73543034e-02 2.23159517e+00] [ 1.00582270e-01 9.94926639e-01 -2.04684754e-03 5.34037220e-01] [ 5.72691015e-02 -3.73573508e-03 9.98351789e-01 1.54663669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422414037 meters Centerline goodness : 0.765633 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:0.16 [[ 9.93374859e-01 -9.92656567e-02 -5.79026632e-02 2.23292794e+00] [ 9.93077551e-02 9.95054429e-01 -2.15713929e-03 5.35657359e-01] [ 5.78304313e-02 -3.60733555e-03 9.98319903e-01 1.55562496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482414037 meters Centerline goodness : 0.766555 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:0.16 [[ 0.99340434 -0.09869428 -0.05837166 2.2339395 ] [ 0.09873228 0.99511151 -0.00223976 0.53734991] [ 0.05830737 -0.00353818 0.99829241 0.15589272] [ 0. 0. 0. 1. ]] SLAMing on 18.542414037 meters Centerline goodness : 0.766737 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.54, Z:0.16 [[ 9.93120373e-01 -1.01319978e-01 -5.87042310e-02 2.23679111e+00] [ 1.01160138e-01 9.94853850e-01 -5.69594436e-03 5.36602087e-01] [ 5.89792432e-02 -2.81769746e-04 9.98259169e-01 1.55647727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602414037 meters Centerline goodness : 0.766211 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.54, Z:0.15 [[ 0.99285375 -0.10368303 -0.05908689 2.23992935] [ 0.10333817 0.99460672 -0.00887081 0.53683365] [ 0.05968797 0.00270149 0.99821343 0.15482016] [ 0. 0. 0. 1. ]] SLAMing on 18.662414037 meters Centerline goodness : 0.766995 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.54, Z:0.16 [[ 0.99288791 -0.10303285 -0.05964755 2.24117444] [ 0.10270009 0.99467496 -0.00862595 0.53661969] [ 0.06021868 0.0024388 0.99818223 0.15509497] [ 0. 0. 0. 1. ]] SLAMing on 18.722414037 meters Centerline goodness : 0.767233 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:0.54, Z:0.16 [[ 0.99341542 -0.09893439 -0.05777358 2.26149646] [ 0.09782497 0.99496632 -0.02173224 0.53906683] [ 0.05963283 0.01593744 0.99809314 0.16205127] [ 0. 0. 0. 1. ]] SLAMing on 18.782414037 meters Centerline goodness : 0.768599 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.54, Z:0.16 [[ 0.99334207 -0.09926259 -0.05846764 2.26692833] [ 0.09805776 0.99491179 -0.02313452 0.5380011 ] [ 0.06046653 0.01724729 0.99802121 0.15952302] [ 0. 0. 0. 1. ]] SLAMing on 18.842414037 meters Centerline goodness : 0.767621 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.54, Z:0.16 [[ 0.99352882 -0.09756208 -0.05815597 2.26729176] [ 0.09641267 0.99509251 -0.02225957 0.53651704] [ 0.06004226 0.01650855 0.99805931 0.15808463] [ 0. 0. 0. 1. ]] SLAMing on 18.902414037 meters Centerline goodness : 0.765948 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.53, Z:0.16 [[ 0.99358108 -0.09682695 -0.05849081 2.26835079] [ 0.09576338 0.9951883 -0.02072741 0.53448557] [ 0.06021635 0.01499308 0.99807274 0.15766291] [ 0. 0. 0. 1. ]] SLAMing on 18.962414037000002 meters Centerline goodness : 0.766826 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.53, Z:0.16 [[ 0.99366533 -0.09594281 -0.0585166 2.26779968] [ 0.09505381 0.99531303 -0.0177976 0.52852023] [ 0.05994988 0.01212264 0.99812777 0.15902572] [ 0. 0. 0. 1. ]] SLAMing on 19.022414037 meters Centerline goodness : 0.768671 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.52, Z:0.16 [[ 0.99353254 -0.09724769 -0.05861724 2.26788562] [ 0.09644793 0.99520408 -0.0163287 0.52474458] [ 0.05992405 0.01056959 0.99814698 0.15997452] [ 0. 0. 0. 1. ]] SLAMing on 19.082414037 meters Centerline goodness : 0.767905 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.52, Z:0.16 [[ 0.99272042 -0.10508828 -0.05884411 2.27018712] [ 0.10401426 0.99435333 -0.02103541 0.52186693] [ 0.06072241 0.01476166 0.99804553 0.16008443] [ 0. 0. 0. 1. ]] SLAMing on 19.142414037 meters Centerline goodness : 0.769550 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.52, Z:0.16 [[ 0.99220577 -0.10984988 -0.05882778 2.27212579] [ 0.10861336 0.99379842 -0.0238294 0.51901102] [ 0.06108061 0.01725418 0.99798369 0.15933806] [ 0. 0. 0. 1. ]] SLAMing on 19.202414037 meters Centerline goodness : 0.769248 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.52, Z:0.16 [[ 0.99168851 -0.11371032 -0.06019848 2.27544386] [ 0.11248247 0.99337772 -0.02341788 0.51656784] [ 0.06246269 0.01645197 0.99791169 0.16004202] [ 0. 0. 0. 1. ]] SLAMing on 19.262414037 meters Centerline goodness : 0.770740 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.51, Z:0.16 [[ 0.99173209 -0.11324283 -0.06036164 2.2768152 ] [ 0.11207181 0.99344635 -0.02245572 0.51364135] [ 0.062509 0.01550522 0.99792395 0.15885173] [ 0. 0. 0. 1. ]] SLAMing on 19.322414037 meters Centerline goodness : 0.771480 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.51, Z:0.16 [[ 0.99187014 -0.11205094 -0.06031762 2.2770618 ] [ 0.11094716 0.99359677 -0.02135833 0.51165449] [ 0.06232462 0.01449262 0.9979507 0.15842729] [ 0. 0. 0. 1. ]] SLAMing on 19.382414037 meters Centerline goodness : 0.775447 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.51, Z:0.16 [[ 0.99228709 -0.10784629 -0.0611188 2.2781641 ] [ 0.10696178 0.99410782 -0.01757325 0.51193544] [ 0.06265388 0.01090033 0.99797579 0.15778039] [ 0. 0. 0. 1. ]] SLAMing on 19.442414037 meters Centerline goodness : 0.771943 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.51, Z:0.15 [[ 0.99260223 -0.1050397 -0.06088898 2.27921422] [ 0.10413985 0.99440378 -0.01777693 0.51308249] [ 0.06241551 0.01130445 0.99798623 0.154841 ] [ 0. 0. 0. 1. ]] SLAMing on 19.502414037 meters Centerline goodness : 0.787088 with order 3 Centerline is valid? [False, False] Translation: X:2.28, Y:0.52, Z:0.15 [[ 0.99314525 -0.10101931 -0.05880141 2.27686838] [ 0.09997991 0.99478101 -0.02036559 0.51504767] [ 0.06055184 0.01434703 0.99806194 0.15105607] [ 0. 0. 0. 1. ]] SLAMing on 19.562414037 meters Centerline goodness : 0.773640 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.51, Z:0.15 [[ 0.99389387 -0.09366387 -0.05832707 2.27382044] [ 0.09304977 0.99557445 -0.01316299 0.51132174] [ 0.05930184 0.00765529 0.99821074 0.15275786] [ 0. 0. 0. 1. ]] SLAMing on 19.622414037000002 meters Centerline goodness : 0.773737 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.51, Z:0.15 [[ 0.99417438 -0.09106427 -0.05765937 2.27178784] [ 0.09060354 0.99583105 -0.01056033 0.50779986] [ 0.05838066 0.00527467 0.99828046 0.15369091] [ 0. 0. 0. 1. ]] SLAMing on 19.682414037 meters Centerline goodness : 0.770133 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.50, Z:0.15 [[ 0.99379 -0.09541024 -0.05725655 2.2730821 ] [ 0.09479078 0.99540641 -0.01344541 0.50429466] [ 0.05827637 0.00793452 0.99826896 0.1525924 ] [ 0. 0. 0. 1. ]] SLAMing on 19.742414037 meters Centerline goodness : 0.770567 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.50, Z:0.15 [[ 0.99320806 -0.10068113 -0.05831852 2.27742136] [ 0.09992899 0.99487101 -0.01568042 0.50264686] [ 0.05959813 0.0097462 0.99817487 0.15149195] [ 0. 0. 0. 1. ]] SLAMing on 19.802414037000002 meters Centerline goodness : 0.786327 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.50, Z:0.15 [[ 0.99235166 -0.10780292 -0.06013904 2.28312855] [ 0.10703742 0.99412916 -0.01581779 0.4965322 ] [ 0.06149118 0.00925968 0.99806467 0.15075291] [ 0. 0. 0. 1. ]] SLAMing on 19.862414037 meters Centerline goodness : 0.772787 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.49, Z:0.15 [[ 0.9919501 -0.11140195 -0.06020462 2.28430589] [ 0.11056652 0.99372256 -0.01704445 0.49308915] [ 0.06172547 0.01025062 0.99804053 0.15119788] [ 0. 0. 0. 1. ]] SLAMing on 19.922414037 meters Centerline goodness : 0.790926 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.49, Z:0.15 [[ 0.99143569 -0.11560367 -0.06075407 2.2867732 ] [ 0.1147032 0.99323458 -0.01811758 0.48840366] [ 0.0624375 0.01099373 0.99798832 0.15137844] [ 0. 0. 0. 1. ]] SLAMing on 19.982414037 meters Centerline goodness : 0.785139 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.49, Z:0.15 [[ 0.99096581 -0.11940023 -0.0610765 2.28959349] [ 0.11830961 0.99275075 -0.02118474 0.48835518] [ 0.0631632 0.01376741 0.99790825 0.14983092] [ 0. 0. 0. 1. ]] SLAMing on 20.042414037 meters Centerline goodness : 0.788061 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.48, Z:0.15 [[ 0.99061449 -0.12246388 -0.06070859 2.29077435] [ 0.12129146 0.9923585 -0.02264909 0.48389241] [ 0.06301839 0.01507309 0.99789853 0.14901727] [ 0. 0. 0. 1. ]] SLAMing on 20.102414037 meters Centerline goodness : 0.785930 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.48, Z:0.15 [[ 0.99077228 -0.12065137 -0.06175381 2.29084886] [ 0.11989249 0.99266013 -0.01586381 0.47746241] [ 0.06321454 0.0083136 0.99796533 0.1521236 ] [ 0. 0. 0. 1. ]] SLAMing on 20.162414037 meters Centerline goodness : 0.787405 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.48, Z:0.15 [[ 0.99084397 -0.11992733 -0.06201339 2.29112872] [ 0.11924418 0.99275738 -0.01461564 0.47661883] [ 0.06331706 0.00708708 0.9979683 0.15255177] [ 0. 0. 0. 1. ]] SLAMing on 20.222414037 meters Centerline goodness : 0.787574 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:0.15 [[ 0.99105384 -0.11845047 -0.06149611 2.29084727] [ 0.11780782 0.99293792 -0.01398577 0.47460861] [ 0.06271844 0.00661593 0.99800933 0.15154995] [ 0. 0. 0. 1. ]] SLAMing on 20.282414037 meters Centerline goodness : 0.785536 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:0.15 [[ 0.99130874 -0.11664382 -0.06083747 2.29205059] [ 0.1160058 0.99315088 -0.01392819 0.47168804] [ 0.06204543 0.00674963 0.9980505 0.14804965] [ 0. 0. 0. 1. ]] SLAMing on 20.342414037 meters Centerline goodness : 0.787257 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:0.15 [[ 0.99136027 -0.1162622 -0.06072819 2.29374626] [ 0.11564457 0.99319755 -0.01359991 0.46919533] [ 0.06189625 0.00645952 0.99806169 0.14577934] [ 0. 0. 0. 1. ]] SLAMing on 20.402414037 meters Centerline goodness : 0.783284 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:0.14 [[ 0.99139066 -0.11611294 -0.06051736 2.29447817] [ 0.11547826 0.99321284 -0.01389344 0.46764349] [ 0.06171983 0.00678539 0.99807045 0.14448412] [ 0. 0. 0. 1. ]] SLAMing on 20.462414037000002 meters Centerline goodness : 0.782957 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.14 [[ 0.99148892 -0.1152375 -0.06058083 2.29545403] [ 0.11470271 0.9933244 -0.01224407 0.46417975] [ 0.06158739 0.00519107 0.9980882 0.14375944] [ 0. 0. 0. 1. ]] SLAMing on 20.522414037 meters Centerline goodness : 0.784955 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.15 [[ 0.99143506 -0.11526336 -0.06140756 2.29647254] [ 0.11484171 0.99332974 -0.01036398 0.46293619] [ 0.06219254 0.00322307 0.99805897 0.14503884] [ 0. 0. 0. 1. ]] SLAMing on 20.582414037 meters Centerline goodness : 0.790363 with order 3 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.14 [[ 9.91526642e-01 -1.14500447e-01 -6.13560582e-02 2.29687022e+00] [ 1.14170502e-01 9.93421588e-01 -8.86825401e-03 4.59505012e-01] [ 6.19678518e-02 1.78805815e-03 9.98076544e-01 1.44845847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642414037 meters Centerline goodness : 0.789442 with order 3 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.14 [[ 9.91512135e-01 -1.14583281e-01 -6.14357967e-02 2.29800981e+00] [ 1.14308302e-01 9.93413244e-01 -7.98363629e-03 4.56606886e-01] [ 6.19459253e-02 8.93250687e-04 9.98079107e-01 1.44153448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702414037 meters Centerline goodness : 0.791780 with order 3 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.14 [[ 9.91356010e-01 -1.15352323e-01 -6.25068259e-02 2.30058926e+00] [ 1.15094524e-01 9.93324534e-01 -7.72146085e-03 4.58010095e-01] [ 6.29802521e-02 4.60523213e-04 9.98014667e-01 1.43803911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762414037 meters Centerline goodness : 0.789573 with order 3 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.14 [[ 9.91393513e-01 -1.15025653e-01 -6.25140081e-02 2.30185760e+00] [ 1.14771302e-01 9.93362434e-01 -7.65651216e-03 4.57115369e-01] [ 6.29797626e-02 4.15802413e-04 9.98014718e-01 1.42262274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822414037 meters Centerline goodness : 0.791962 with order 3 Centerline is valid? [False, False] Translation: X:2.30, Y:0.46, Z:0.14 [[ 9.91512947e-01 -1.14161863e-01 -6.22024575e-02 2.30357558e+00] [ 1.13873842e-01 9.93461644e-01 -8.16757585e-03 4.55843511e-01] [ 6.27281814e-02 1.01502436e-03 9.98030132e-01 1.39041187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882414037 meters Centerline goodness : 0.791673 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.45, Z:0.14 [[ 0.99170575 -0.11186739 -0.06328815 2.30282698] [ 0.11192062 0.99371344 -0.00271463 0.45427055] [ 0.06319396 -0.00439114 0.9979916 0.14283879] [ 0. 0. 0. 1. ]] SLAMing on 20.942414037 meters Centerline goodness : 0.793227 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.45, Z:0.14 [[ 9.91619547e-01 -1.12237642e-01 -6.39795769e-02 2.30437861e+00] [ 1.12359072e-01 9.93666202e-01 -1.70835232e-03 4.53078696e-01] [ 6.37660846e-02 -5.49465032e-03 9.97949746e-01 1.43083552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002414037 meters Centerline goodness : 0.789601 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.45, Z:0.14 [[ 0.99112209 -0.11635872 -0.06432457 2.30688255] [ 0.1163479 0.99320076 -0.00392697 0.45076607] [ 0.06434415 -0.00359192 0.9979213 0.14244123] [ 0. 0. 0. 1. ]] SLAMing on 21.062414037 meters Centerline goodness : 0.793506 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.45, Z:0.14 [[ 0.99090935 -0.11757653 -0.06537908 2.30946108] [ 0.11758111 0.99305605 -0.00379125 0.45190614] [ 0.06537086 -0.00393056 0.9978533 0.14220352] [ 0. 0. 0. 1. ]] SLAMing on 21.122414037 meters Centerline goodness : 0.792258 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.45, Z:0.14 [[ 0.99085343 -0.11754352 -0.06627968 2.31143764] [ 0.11754993 0.99305964 -0.0038167 0.45473111] [ 0.06626831 -0.00400938 0.99779378 0.1414479 ] [ 0. 0. 0. 1. ]] SLAMing on 21.182414037 meters Centerline goodness : 0.794101 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.45, Z:0.14 [[ 0.99108186 -0.11593264 -0.06569906 2.31111851] [ 0.11592853 0.99324995 -0.00388789 0.45394094] [ 0.06570632 -0.00376318 0.99783191 0.13981847] [ 0. 0. 0. 1. ]] SLAMing on 21.242414037 meters Centerline goodness : 0.790819 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.45, Z:0.14 [[ 9.91358928e-01 -1.12829284e-01 -6.69106023e-02 2.31101298e+00] [ 1.13183960e-01 9.93572884e-01 1.52162159e-03 4.52882926e-01] [ 6.63088767e-02 -9.08168008e-03 9.97757814e-01 1.42675967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302414037000002 meters Centerline goodness : 0.791589 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.15 [[ 0.99102256 -0.11463259 -0.06880161 2.31289179] [ 0.11511997 0.99334661 0.00314817 0.4550267 ] [ 0.06798296 -0.01104035 0.99762539 0.14559531] [ 0. 0. 0. 1. ]] SLAMing on 21.362414037 meters Centerline goodness : 0.792062 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.46, Z:0.14 [[ 0.99069884 -0.11669391 -0.06998809 2.31725846] [ 0.11715951 0.99310978 0.00257082 0.45519942] [ 0.06920586 -0.01074668 0.99754451 0.14347182] [ 0. 0. 0. 1. ]] SLAMing on 21.422414037 meters Centerline goodness : 0.789344 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 9.90583585e-01 -1.17609890e-01 -7.00861951e-02 2.31901054e+00] [ 1.18029551e-01 9.93008336e-01 1.86248300e-03 4.54621095e-01] [ 6.93771296e-02 -1.01171872e-02 9.97539200e-01 1.41736385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482414037 meters Centerline goodness : 0.787249 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.46, Z:0.14 [[ 0.99111355 -0.11301801 -0.07014892 2.31616648] [ 0.11369157 0.9934999 0.0056719 0.45690333] [ 0.06905191 -0.01359683 0.99752041 0.14404875] [ 0. 0. 0. 1. ]] SLAMing on 21.542414037 meters Centerline goodness : 0.788570 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99165649 -0.10823062 -0.07002527 2.31468323] [ 0.10916401 0.99397709 0.00963144 0.45668189] [ 0.06856109 -0.01719532 0.99749872 0.14442061] [ 0. 0. 0. 1. ]] SLAMing on 21.602414037 meters Centerline goodness : 0.790253 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99188878 -0.10680006 -0.06892308 2.3132073 ] [ 0.10755017 0.99417319 0.00725523 0.45948196] [ 0.06774662 -0.01460907 0.99759559 0.14246469] [ 0. 0. 0. 1. ]] SLAMing on 21.662414037 meters Centerline goodness : 0.793784 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99205358 -0.10553219 -0.06850292 2.31238133] [ 0.10621552 0.99432253 0.00640052 0.46174295] [ 0.06743854 -0.01362573 0.99763038 0.14170109] [ 0. 0. 0. 1. ]] SLAMing on 21.722414037 meters Centerline goodness : 0.787957 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99222428 -0.10403381 -0.06832234 2.31224637] [ 0.10469152 0.99448599 0.00610778 0.46378571] [ 0.0673102 -0.01321306 0.9976446 0.14063009] [ 0. 0. 0. 1. ]] SLAMing on 21.782414037 meters Centerline goodness : 0.788066 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99221167 -0.10416238 -0.06830953 2.3121103 ] [ 0.10484733 0.99446702 0.00650997 0.46358042] [ 0.06725348 -0.01362134 0.99764294 0.14099381] [ 0. 0. 0. 1. ]] SLAMing on 21.842414037 meters Centerline goodness : 0.789327 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99213588 -0.10486939 -0.06832874 2.31250841] [ 0.10552031 0.99439918 0.0059778 0.46358902] [ 0.06731916 -0.01314086 0.99764495 0.14079199] [ 0. 0. 0. 1. ]] SLAMing on 21.902414037 meters Centerline goodness : 0.787264 with order 3 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99221251 -0.10405558 -0.06846002 2.31372896] [ 0.10472951 0.99448066 0.00632005 0.4634327 ] [ 0.06742453 -0.01344061 0.99763384 0.13934959] [ 0. 0. 0. 1. ]] SLAMing on 21.962414037000002 meters Centerline goodness : 0.786709 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.14 [[ 0.99216024 -0.10454612 -0.06847021 2.31451282] [ 0.10522671 0.99442767 0.00639982 0.46287593] [ 0.0674196 -0.01355454 0.99763263 0.13864038] [ 0. 0. 0. 1. ]] SLAMing on 22.022414037 meters Centerline goodness : 0.790713 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.46, Z:0.14 [[ 0.99195283 -0.10595353 -0.06930686 2.31647703] [ 0.10673554 0.99425787 0.00766865 0.4611204 ] [ 0.06809637 -0.01500444 0.99756591 0.13918113] [ 0. 0. 0. 1. ]] SLAMing on 22.082414037 meters Centerline goodness : 0.793845 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.46, Z:0.14 [[ 0.99190583 -0.10610157 -0.06975155 2.31796806] [ 0.10693845 0.99423045 0.00836487 0.45970919] [ 0.06846159 -0.01575629 0.99752932 0.13887675] [ 0. 0. 0. 1. ]] SLAMing on 22.142414037 meters Centerline goodness : 0.787504 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.46, Z:0.14 [[ 0.9918256 -0.1066522 -0.07005211 2.31923246] [ 0.10757356 0.9941517 0.00950358 0.45708826] [ 0.06862884 -0.01696165 0.99749806 0.138728 ] [ 0. 0. 0. 1. ]] SLAMing on 22.202414037 meters Centerline goodness : 0.789971 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 0.9916977 -0.1075522 -0.07048542 2.31967227] [ 0.10859992 0.99402252 0.01119357 0.45463388] [ 0.0688602 -0.01875535 0.99745 0.14019369] [ 0. 0. 0. 1. ]] SLAMing on 22.262414037 meters Centerline goodness : 0.791510 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 0.99166902 -0.10756466 -0.07086894 2.3211719 ] [ 0.10867694 0.99400446 0.01201936 0.45314604] [ 0.06915119 -0.01962104 0.99741322 0.13955945] [ 0. 0. 0. 1. ]] SLAMing on 22.322414037 meters Centerline goodness : 0.778313 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 0.99147513 -0.10968549 -0.07032893 2.32293694] [ 0.11057047 0.99382928 0.00880473 0.45141081] [ 0.0689292 -0.01650597 0.997485 0.13669545] [ 0. 0. 0. 1. ]] SLAMing on 22.382414037 meters Centerline goodness : 0.788712 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 0.99139655 -0.11006525 -0.07084159 2.32336905] [ 0.11105104 0.99376319 0.01011876 0.45026494] [ 0.06928604 -0.01789874 0.99743625 0.13800526] [ 0. 0. 0. 1. ]] SLAMing on 22.442414037 meters Centerline goodness : 0.789084 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.14 [[ 0.99122106 -0.11110677 -0.0716666 2.32510074] [ 0.1121925 0.99362231 0.01129412 0.44877895] [ 0.06995468 -0.01923542 0.9973647 0.13857283] [ 0. 0. 0. 1. ]] SLAMing on 22.502414037 meters Centerline goodness : 0.787298 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.14 [[ 0.99089645 -0.11415082 -0.07137093 2.32774397] [ 0.11499841 0.99333451 0.00786832 0.44741648] [ 0.06999703 -0.01600424 0.99741881 0.13542298] [ 0. 0. 0. 1. ]] SLAMing on 22.562414037 meters Centerline goodness : 0.786629 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:0.14 [[ 0.99110046 -0.11173817 -0.07234957 2.32827057] [ 0.11295273 0.99351653 0.01290663 0.44480802] [ 0.07043834 -0.02096385 0.99729582 0.13718898] [ 0. 0. 0. 1. ]] SLAMing on 22.622414037 meters Centerline goodness : 0.786375 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.14 [[ 0.99144747 -0.10924746 -0.07139256 2.32532627] [ 0.11047262 0.9937884 0.01343199 0.44509662] [ 0.06948169 -0.02120403 0.99735785 0.13787869] [ 0. 0. 0. 1. ]] SLAMing on 22.682414037 meters Centerline goodness : 0.785685 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.14 [[ 0.99162235 -0.10801606 -0.07083541 2.32535249] [ 0.10915394 0.99394772 0.01238329 0.44601595] [ 0.06906911 -0.02001151 0.99741115 0.1357355 ] [ 0. 0. 0. 1. ]] SLAMing on 22.742414037 meters Centerline goodness : 0.789701 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 0.99181156 -0.10660184 -0.07032687 2.32406805] [ 0.10771325 0.99410722 0.0121943 0.44779556] [ 0.06861252 -0.01966958 0.99744946 0.1354323 ] [ 0. 0. 0. 1. ]] SLAMing on 22.802414037000002 meters Centerline goodness : 0.793723 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.14 [[ 0.99188215 -0.10620126 -0.06993627 2.32390494] [ 0.10732459 0.99414552 0.01249469 0.44544252] [ 0.06819988 -0.01989914 0.99747321 0.13500137] [ 0. 0. 0. 1. ]] SLAMing on 22.862414037 meters Centerline goodness : 0.790242 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:0.14 [[ 0.99187308 -0.10613819 -0.07016039 2.32422296] [ 0.10729091 0.99414449 0.01286016 0.44493797] [ 0.06838461 -0.02028322 0.99745282 0.13529124] [ 0. 0. 0. 1. ]] SLAMing on 22.922414037 meters Centerline goodness : 0.788783 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.13 [[ 0.99198522 -0.1050602 -0.07019742 2.32515336] [ 0.10614993 0.99427811 0.01196772 0.44883859] [ 0.06853843 -0.01932326 0.99746133 0.13331696] [ 0. 0. 0. 1. ]] SLAMing on 22.982414037 meters Centerline goodness : 0.787785 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.13 [[ 0.99203052 -0.10458454 -0.07026745 2.32573768] [ 0.10570794 0.99431923 0.01245368 0.44771389] [ 0.06856581 -0.01978226 0.99745045 0.13275297] [ 0. 0. 0. 1. ]] SLAMing on 23.042414037 meters Centerline goodness : 0.789931 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.13 [[ 0.99195123 -0.10528362 -0.07034286 2.32563427] [ 0.10645292 0.99423176 0.01307573 0.44578323] [ 0.06856045 -0.02045869 0.99743717 0.13376427] [ 0. 0. 0. 1. ]] SLAMing on 23.102414037 meters Centerline goodness : 0.789231 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.14 [[ 0.99171462 -0.10654081 -0.07177167 2.32756778] [ 0.10784338 0.99406194 0.01451395 0.44590902] [ 0.06979916 -0.0221338 0.99731548 0.13560705] [ 0. 0. 0. 1. ]] SLAMing on 23.162414037 meters Centerline goodness : 0.787747 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:0.14 [[ 0.99107774 -0.11167751 -0.07275332 2.33080402] [ 0.11289739 0.99352338 0.01286362 0.44346214] [ 0.07084555 -0.02096251 0.99726701 0.13603539] [ 0. 0. 0. 1. ]] SLAMing on 23.222414037 meters Centerline goodness : 0.787373 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.14 [[ 0.99031 -0.11733609 -0.0742856 2.33504791] [ 0.11845877 0.9928994 0.01087649 0.44251174] [ 0.07248193 -0.01957088 0.99717769 0.13656138] [ 0. 0. 0. 1. ]] SLAMing on 23.282414037 meters Centerline goodness : 0.777231 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.14 [[ 0.99009239 -0.11870789 -0.07500335 2.33805575] [ 0.11990602 0.99271674 0.01166257 0.43942384] [ 0.07307264 -0.02054037 0.99711508 0.13548949] [ 0. 0. 0. 1. ]] SLAMing on 23.342414037 meters Centerline goodness : 0.790819 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.14 [[ 0.99000093 -0.11863029 -0.07632181 2.33854575] [ 0.12012454 0.99264126 0.01527847 0.43818125] [ 0.07394769 -0.02429382 0.99696617 0.13871884] [ 0. 0. 0. 1. ]] SLAMing on 23.402414037 meters Centerline goodness : 0.789177 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.14 [[ 0.98997117 -0.11854762 -0.07683448 2.33920528] [ 0.120113 0.99263021 0.01606645 0.43866563] [ 0.07436358 -0.02513414 0.99691441 0.13929632] [ 0. 0. 0. 1. ]] SLAMing on 23.462414037000002 meters Centerline goodness : 0.795127 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.98990282 -0.12027867 -0.075003 2.34059379] [ 0.12131019 0.99257074 0.00933582 0.43872679] [ 0.07332288 -0.01834018 0.99713961 0.13280423] [ 0. 0. 0. 1. ]] SLAMing on 23.522414037 meters Centerline goodness : 0.792444 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.99018771 -0.1181312 -0.07465468 2.33973221] [ 0.11917449 0.99282631 0.00966253 0.43980089] [ 0.07297769 -0.01846465 0.99716263 0.1322333 ] [ 0. 0. 0. 1. ]] SLAMing on 23.582414037 meters Centerline goodness : 0.791350 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.14 [[ 0.99135573 -0.11019011 -0.07121762 2.33096873] [ 0.1111317 0.99376138 0.00938485 0.44648626] [ 0.0697392 -0.01721826 0.99741665 0.13531438] [ 0. 0. 0. 1. ]] SLAMing on 23.642414037 meters Centerline goodness : 0.785499 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.13 [[ 0.99201309 -0.10495919 -0.06995431 2.3297175 ] [ 0.10591676 0.99432358 0.01011251 0.44569448] [ 0.06849582 -0.01744107 0.99749894 0.13201449] [ 0. 0. 0. 1. ]] SLAMing on 23.702414037 meters Centerline goodness : 0.792194 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:0.13 [[ 0.99250475 -0.10162869 -0.06786706 2.32702272] [ 0.10244534 0.99470099 0.00865401 0.44490852] [ 0.06662794 -0.01554181 0.99765684 0.12902872] [ 0. 0. 0. 1. ]] SLAMing on 23.762414037 meters Centerline goodness : 0.783959 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.13 [[ 0.99264716 -0.09948916 -0.06894584 2.32763849] [ 0.10050651 0.99487064 0.01143874 0.447315 ] [ 0.06745416 -0.01828413 0.99755482 0.13024619] [ 0. 0. 0. 1. ]] SLAMing on 23.822414037 meters Centerline goodness : 0.784241 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.45, Z:0.13 [[ 0.99267147 -0.09925345 -0.06893552 2.32714005] [ 0.10030615 0.99488458 0.01197251 0.44795392] [ 0.06739457 -0.01879943 0.99754927 0.13090169] [ 0. 0. 0. 1. ]] SLAMing on 23.882414037 meters Centerline goodness : 0.783326 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:0.13 [[ 0.99235075 -0.10268985 -0.06851854 2.32899351] [ 0.10353282 0.99458659 0.00885782 0.44482153] [ 0.06723802 -0.01588398 0.99761052 0.12884934] [ 0. 0. 0. 1. ]] SLAMing on 23.942414037 meters Centerline goodness : 0.786774 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:0.13 [[ 0.99209295 -0.10433499 -0.06975527 2.33134922] [ 0.10525624 0.99439827 0.00965431 0.44478712] [ 0.06835724 -0.01692015 0.99751742 0.12970019] [ 0. 0. 0. 1. ]] SLAMing on 24.002414037 meters Centerline goodness : 0.789578 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:0.13 [[ 0.99167245 -0.10706064 -0.07158047 2.33452609] [ 0.10810876 0.99407908 0.01092111 0.44485561] [ 0.06998742 -0.01856864 0.99737504 0.13145946] [ 0. 0. 0. 1. ]] SLAMing on 24.062414037 meters Centerline goodness : 0.793078 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.99099156 -0.11247733 -0.07269516 2.33745691] [ 0.11343371 0.99350342 0.00915105 0.44371022] [ 0.07119361 -0.01731469 0.99731222 0.13272462] [ 0. 0. 0. 1. ]] SLAMing on 24.122414037 meters Centerline goodness : 0.792647 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.99035778 -0.11750589 -0.0733746 2.34067313] [ 0.11829721 0.99295684 0.00651834 0.44200549] [ 0.07209187 -0.0151355 0.99728315 0.13223099] [ 0. 0. 0. 1. ]] SLAMing on 24.182414037 meters Centerline goodness : 0.792524 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.99010318 -0.11903154 -0.07434509 2.34253073] [ 0.11991526 0.99275563 0.00752233 0.44121569] [ 0.07291111 -0.01636299 0.9972042 0.13308739] [ 0. 0. 0. 1. ]] SLAMing on 24.242414037 meters Centerline goodness : 0.789570 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.99044846 -0.11564718 -0.07508385 2.34158767] [ 0.11681043 0.99309022 0.01127573 0.4431857 ] [ 0.07326103 -0.01993861 0.99711347 0.13499142] [ 0. 0. 0. 1. ]] SLAMing on 24.302414037000002 meters Centerline goodness : 0.788019 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.13 [[ 0.99062279 -0.11459632 -0.07439205 2.34245365] [ 0.11559247 0.99325401 0.0092117 0.4445728 ] [ 0.07283458 -0.01772448 0.99718653 0.13120806] [ 0. 0. 0. 1. ]] SLAMing on 24.362414037 meters Centerline goodness : 0.785900 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.13 [[ 0.99098655 -0.11237527 -0.07292087 2.33984465] [ 0.11318472 0.99354894 0.00705151 0.44778798] [ 0.07165804 -0.01524148 0.9973128 0.12964621] [ 0. 0. 0. 1. ]] SLAMing on 24.422414037 meters Centerline goodness : 0.783211 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.13 [[ 0.99144509 -0.10799355 -0.07330773 2.33829513] [ 0.10907957 0.99397255 0.01096447 0.4498403 ] [ 0.07168178 -0.01886704 0.99724909 0.13121022] [ 0. 0. 0. 1. ]] SLAMing on 24.482414037 meters Centerline goodness : 0.784460 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.13 [[ 0.99165855 -0.10616551 -0.07309035 2.33790642] [ 0.10718894 0.9941862 0.01021397 0.45369249] [ 0.07158105 -0.01796324 0.99727302 0.13005443] [ 0. 0. 0. 1. ]] SLAMing on 24.542414037 meters Centerline goodness : 0.782867 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.13 [[ 0.99164883 -0.10623004 -0.07312847 2.33921499] [ 0.10717334 0.99419882 0.00908727 0.454715 ] [ 0.0717389 -0.0168488 0.99728113 0.12824471] [ 0. 0. 0. 1. ]] SLAMing on 24.602414037 meters Centerline goodness : 0.782327 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.99143652 -0.10746562 -0.0741941 2.3416863 ] [ 0.10839493 0.99407069 0.0086027 0.45735748] [ 0.07282969 -0.0165713 0.99720671 0.12786932] [ 0. 0. 0. 1. ]] SLAMing on 24.662414037 meters Centerline goodness : 0.782562 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.99126798 -0.10827204 -0.07526587 2.3432478 ] [ 0.10926757 0.99396957 0.00922506 0.45900466] [ 0.07381316 -0.01736863 0.99712083 0.12877259] [ 0. 0. 0. 1. ]] SLAMing on 24.722414037 meters Centerline goodness : 0.781067 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.991278 -0.10812274 -0.07534856 2.34310654] [ 0.10910877 0.99398832 0.00908286 0.46086899] [ 0.07391353 -0.01722482 0.99711589 0.12891068] [ 0. 0. 0. 1. ]] SLAMing on 24.782414037 meters Centerline goodness : 0.773872 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.99121392 -0.10826721 -0.07598138 2.34386421] [ 0.10932385 0.99395713 0.00987556 0.46124399] [ 0.07445304 -0.01809537 0.99706033 0.1297535 ] [ 0. 0. 0. 1. ]] SLAMing on 24.842414037 meters Centerline goodness : 0.783860 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.99110372 -0.10891536 -0.07649093 2.34466871] [ 0.10996032 0.99388988 0.00957248 0.46355321] [ 0.07498097 -0.01789829 0.99702433 0.12990331] [ 0. 0. 0. 1. ]] SLAMing on 24.902414037 meters Centerline goodness : 0.778594 with order 2 Centerline is valid? [False, False] Translation: X:2.35, Y:0.47, Z:0.13 [[ 0.99089329 -0.10996549 -0.07770507 2.34806363] [ 0.11101598 0.99377494 0.00931771 0.46522056] [ 0.07619673 -0.01785937 0.99693285 0.12873226] [ 0. 0. 0. 1. ]] SLAMing on 24.962414037000002 meters Centerline goodness : 0.785523 with order 3 Centerline is valid? [False, False] Translation: X:2.35, Y:0.47, Z:0.13 [[ 0.99097057 -0.10979443 -0.07695792 2.3472882 ] [ 0.11075445 0.99381309 0.0083067 0.46587522] [ 0.07556976 -0.01675512 0.99699974 0.12774101] [ 0. 0. 0. 1. ]] SLAMing on 25.022414037 meters Centerline goodness : 0.787849 with order 3 Centerline is valid? [False, False] Translation: X:2.35, Y:0.47, Z:0.13 [[ 0.9912452 -0.10674231 -0.0777112 2.34779255] [ 0.10799875 0.99407694 0.01213686 0.46505482] [ 0.0759554 -0.02042332 0.99690203 0.12840753] [ 0. 0. 0. 1. ]] SLAMing on 25.082414037 meters Centerline goodness : 0.781587 with order 3 Centerline is valid? [False, False] Translation: X:2.35, Y:0.47, Z:0.13 [[ 0.9917261 -0.1020117 -0.07792915 2.34650613] [ 0.10352403 0.99450447 0.01560892 0.46755922] [ 0.0759086 -0.02354731 0.9968367 0.12891131] [ 0. 0. 0. 1. ]] SLAMing on 25.142414037 meters Centerline goodness : 0.784406 with order 3 Centerline is valid? [False, False] Translation: X:2.35, Y:0.47, Z:0.13 [[ 0.99199106 -0.10045994 -0.07656073 2.34522543] [ 0.1017523 0.99472271 0.01316067 0.46894882] [ 0.07483458 -0.02084549 0.99697806 0.12618562] [ 0. 0. 0. 1. ]] SLAMing on 25.202414037 meters Centerline goodness : 0.781744 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.13 [[ 0.99230395 -0.09825435 -0.07535882 2.34253546] [ 0.09946162 0.99496377 0.01242914 0.46993414] [ 0.07375808 -0.01982879 0.99707902 0.12581344] [ 0. 0. 0. 1. ]] SLAMing on 25.262414037 meters Centerline goodness : 0.785371 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.13 [[ 0.99257483 -0.09620829 -0.0744256 2.33990226] [ 0.09732802 0.99518524 0.01155875 0.47258988] [ 0.07295521 -0.01871662 0.99715958 0.12589786] [ 0. 0. 0. 1. ]] SLAMing on 25.322414037 meters Centerline goodness : 0.788016 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.13 [[ 0.99290007 -0.09362093 -0.07337963 2.33726404] [ 0.09470611 0.9954395 0.01144367 0.47361039] [ 0.07197361 -0.01831192 0.99723842 0.12592863] [ 0. 0. 0. 1. ]] SLAMing on 25.382414037 meters Centerline goodness : 0.779608 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.13 [[ 0.99291687 -0.09353989 -0.0732555 2.33749866] [ 0.09464293 0.99544222 0.01172613 0.47295618] [ 0.07182476 -0.01857619 0.99724427 0.12548178] [ 0. 0. 0. 1. ]] SLAMing on 25.442414037 meters Centerline goodness : 0.783033 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.12 [[ 0.99252295 -0.09784492 -0.07296966 2.33905918] [ 0.09869112 0.99508536 0.00807405 0.47116374] [ 0.07182104 -0.01521514 0.99730148 0.12408935] [ 0. 0. 0. 1. ]] SLAMing on 25.502414037 meters Centerline goodness : 0.783355 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.12 [[ 0.99212707 -0.10160914 -0.07320832 2.34109062] [ 0.10229017 0.99473882 0.00560446 0.46975612] [ 0.07225369 -0.01304883 0.99730092 0.12343337] [ 0. 0. 0. 1. ]] SLAMing on 25.562414037 meters Centerline goodness : 0.784912 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.12 [[ 0.99181992 -0.10345968 -0.07476185 2.34421309] [ 0.10425831 0.99452667 0.00684913 0.46972137] [ 0.07364405 -0.01458765 0.9971779 0.12414675] [ 0. 0. 0. 1. ]] SLAMing on 25.622414037 meters Centerline goodness : 0.784976 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.47, Z:0.12 [[ 0.99190056 -0.10302849 -0.07428602 2.34353333] [ 0.10386209 0.9945639 0.00743682 0.46784864] [ 0.07311599 -0.01509209 0.99720925 0.12407061] [ 0. 0. 0. 1. ]] SLAMing on 25.682414037 meters Centerline goodness : 0.782395 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.12 [[ 0.99214 -0.10157876 -0.07307517 2.34101867] [ 0.10245009 0.9947038 0.00826616 0.46401716] [ 0.07184848 -0.01568774 0.99729218 0.12443331] [ 0. 0. 0. 1. ]] SLAMing on 25.742414037 meters Centerline goodness : 0.778336 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.99224783 -0.10065889 -0.0728837 2.34001909] [ 0.10160056 0.99478161 0.00932071 0.46296122] [ 0.07156515 -0.01665348 0.99729689 0.12535524] [ 0. 0. 0. 1. ]] SLAMing on 25.802414037000002 meters Centerline goodness : 0.783436 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.13 [[ 0.992401 -0.09934812 -0.07259623 2.33947602] [ 0.10031098 0.99490855 0.00973086 0.46250616] [ 0.07125986 -0.01693911 0.99731394 0.12507507] [ 0. 0. 0. 1. ]] SLAMing on 25.862414037 meters Centerline goodness : 0.782344 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.12 [[ 0.9924851 -0.09904587 -0.07185569 2.33991003] [ 0.09990519 0.99496103 0.0084563 0.46068352] [ 0.07065605 -0.01557151 0.99737919 0.12286052] [ 0. 0. 0. 1. ]] SLAMing on 25.922414037 meters Centerline goodness : 0.780034 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.46, Z:0.12 [[ 0.9925887 -0.09900322 -0.07047015 2.33877008] [ 0.09972977 0.99499092 0.00685877 0.45721987] [ 0.06943812 -0.01383591 0.99749031 0.12140385] [ 0. 0. 0. 1. ]] SLAMing on 25.982414037 meters Centerline goodness : 0.784548 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.12 [[ 0.99267045 -0.09809555 -0.07058779 2.33839519] [ 0.09896852 0.99505014 0.00896941 0.45436451] [ 0.06935853 -0.01588964 0.99746524 0.12263256] [ 0. 0. 0. 1. ]] SLAMing on 26.042414037 meters Centerline goodness : 0.783199 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.12 [[ 0.99264235 -0.09841608 -0.07053679 2.33813286] [ 0.09929248 0.99501741 0.0090195 0.45362256] [ 0.06929767 -0.01595691 0.9974684 0.1231188 ] [ 0. 0. 0. 1. ]] SLAMing on 26.102414037 meters Centerline goodness : 0.782148 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.12 [[ 0.99253332 -0.09931355 -0.07081267 2.34079989] [ 0.10021266 0.99492304 0.00925072 0.45055609] [ 0.06953444 -0.01627797 0.99744674 0.12111951] [ 0. 0. 0. 1. ]] SLAMing on 26.162414037 meters Centerline goodness : 0.782894 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.45, Z:0.12 [[ 0.99231369 -0.10095429 -0.07156657 2.34224868] [ 0.1019862 0.99472604 0.01090515 0.44659983] [ 0.07008821 -0.01812014 0.99737621 0.12246793] [ 0. 0. 0. 1. ]] SLAMing on 26.222414037 meters Centerline goodness : 0.780439 with order 3 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:0.12 [[ 0.99224463 -0.10121747 -0.07215003 2.34330256] [ 0.10241507 0.99465565 0.01308766 0.44276454] [ 0.07043973 -0.02037541 0.99730792 0.12352943] [ 0. 0. 0. 1. ]] SLAMing on 26.282414037 meters Centerline goodness : 0.779781 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.44, Z:0.12 [[ 0.99177356 -0.10573187 -0.07215242 2.34570306] [ 0.10680765 0.99421654 0.01120731 0.43768525] [ 0.07055016 -0.01882154 0.99733065 0.12250092] [ 0. 0. 0. 1. ]] SLAMing on 26.342414037 meters Centerline goodness : 0.782760 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.44, Z:0.12 [[ 0.99152319 -0.10729888 -0.07327153 2.34863381] [ 0.10851061 0.99401352 0.01275047 0.43521206] [ 0.07146478 -0.02059312 0.99723052 0.12268547] [ 0. 0. 0. 1. ]] SLAMing on 26.402414037 meters Centerline goodness : 0.787661 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:0.12 [[ 0.99145876 -0.10763919 -0.07364324 2.34998553] [ 0.10896593 0.99394363 0.01422991 0.43183294] [ 0.07166554 -0.02213298 0.99718312 0.12268632] [ 0. 0. 0. 1. ]] SLAMing on 26.462414037 meters Centerline goodness : 0.783151 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:0.12 [[ 0.99130231 -0.10963539 -0.07279984 2.35033022] [ 0.11078289 0.99377334 0.01190391 0.42830977] [ 0.07104145 -0.01986535 0.99727553 0.12128618] [ 0. 0. 0. 1. ]] SLAMing on 26.522414037 meters Centerline goodness : 0.777486 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:0.12 [[ 0.99138883 -0.10909105 -0.07243852 2.35015815] [ 0.11027751 0.99382129 0.01257448 0.42567211] [ 0.07061918 -0.02045454 0.99729361 0.12098789] [ 0. 0. 0. 1. ]] SLAMing on 26.582414037 meters Centerline goodness : 0.776525 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.42, Z:0.12 [[ 0.99153999 -0.10774098 -0.07239018 2.3493559 ] [ 0.1090276 0.9939394 0.01405188 0.42489665] [ 0.07043748 -0.02182553 0.9972774 0.12194059] [ 0. 0. 0. 1. ]] SLAMing on 26.642414037 meters Centerline goodness : 0.777860 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.42, Z:0.12 [[ 0.99174461 -0.106297 -0.07171874 2.3487286 ] [ 0.10767057 0.99406493 0.01555505 0.42024453] [ 0.06963963 -0.02314864 0.9973036 0.12147294] [ 0. 0. 0. 1. ]] SLAMing on 26.702414037 meters Centerline goodness : 0.783370 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.42, Z:0.12 [[ 0.99164302 -0.10721929 -0.07175055 2.34960516] [ 0.1085498 0.99397938 0.01489738 0.41989752] [ 0.06972128 -0.02256139 0.99731135 0.12073734] [ 0. 0. 0. 1. ]] SLAMing on 26.762414037 meters Centerline goodness : 0.782491 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.42, Z:0.12 [[ 0.99153743 -0.10796386 -0.0720925 2.35176837] [ 0.10926732 0.99390843 0.01437661 0.419201 ] [ 0.07010119 -0.02213231 0.99729433 0.11905224] [ 0. 0. 0. 1. ]] SLAMing on 26.822414037 meters Centerline goodness : 0.781989 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.42, Z:0.12 [[ 0.99143442 -0.10850778 -0.07269008 2.35381546] [ 0.1099065 0.99382083 0.01551501 0.41666579] [ 0.07055742 -0.02337123 0.99723389 0.11870684] [ 0. 0. 0. 1. ]] SLAMing on 26.882414037 meters Centerline goodness : 0.780391 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.41, Z:0.12 [[ 0.99090767 -0.11291699 -0.07315563 2.35531376] [ 0.11424198 0.99335183 0.01417463 0.41371438] [ 0.07106872 -0.0224032 0.9972198 0.12003136] [ 0. 0. 0. 1. ]] SLAMing on 26.942414037 meters Centerline goodness : 0.783321 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.41, Z:0.12 [[ 0.99045474 -0.11564751 -0.07500044 2.35878017] [ 0.11714015 0.99298965 0.01580315 0.41128136] [ 0.07264706 -0.02443786 0.99705827 0.12176471] [ 0. 0. 0. 1. ]] SLAMing on 27.002414037 meters Centerline goodness : 0.780491 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.41, Z:0.12 [[ 0.98967497 -0.1213394 -0.07629031 2.36183029] [ 0.12277641 0.9923296 0.01441936 0.40883282] [ 0.0739555 -0.02363713 0.99698138 0.12371498] [ 0. 0. 0. 1. ]] SLAMing on 27.062414037 meters Centerline goodness : 0.784371 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.41, Z:0.12 [[ 0.98923964 -0.12386007 -0.0778692 2.3652836 ] [ 0.12547282 0.99196556 0.01615222 0.4060087 ] [ 0.07524295 -0.02574889 0.99683273 0.12484914] [ 0. 0. 0. 1. ]] SLAMing on 27.122414037 meters Centerline goodness : 0.785301 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.40, Z:0.12 [[ 0.98836548 -0.12988633 -0.07914045 2.36989027] [ 0.13134618 0.99124455 0.01350656 0.40494355] [ 0.07669322 -0.02374421 0.99677197 0.12452177] [ 0. 0. 0. 1. ]] SLAMing on 27.182414037 meters Centerline goodness : 0.787878 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.41, Z:0.13 [[ 0.98803988 -0.13151243 -0.08050883 2.37160204] [ 0.13307947 0.99100083 0.01439461 0.40573521] [ 0.07789125 -0.02493652 0.99664995 0.12651166] [ 0. 0. 0. 1. ]] SLAMing on 27.242414037 meters Centerline goodness : 0.785779 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.41, Z:0.13 [[ 0.98750112 -0.13434986 -0.08241148 2.37498089] [ 0.13595564 0.99061362 0.01416736 0.40858839] [ 0.07973455 -0.02519459 0.99649768 0.12764344] [ 0. 0. 0. 1. ]] SLAMing on 27.302414037000002 meters Centerline goodness : 0.788054 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.41, Z:0.13 [[ 0.98717843 -0.13616076 -0.08330063 2.37730468] [ 0.13781405 0.99035339 0.01440308 0.40727547] [ 0.08053592 -0.02569841 0.99642037 0.12775893] [ 0. 0. 0. 1. ]] SLAMing on 27.362414037 meters Centerline goodness : 0.791019 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.41, Z:0.13 [[ 0.98678445 -0.13819457 -0.08460913 2.3789798 ] [ 0.13994827 0.99004321 0.01513056 0.40726136] [ 0.08167573 -0.02677151 0.99629933 0.12979694] [ 0. 0. 0. 1. ]] SLAMing on 27.422414037 meters Centerline goodness : 0.782742 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.41, Z:0.13 [[ 0.98680324 -0.13688625 -0.08649583 2.38029452] [ 0.13890295 0.99014754 0.01771526 0.41242071] [ 0.08321866 -0.029496 0.99609469 0.13150718] [ 0. 0. 0. 1. ]] SLAMing on 27.482414037 meters Centerline goodness : 0.780401 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.41, Z:0.13 [[ 0.98675849 -0.13709649 -0.0866731 2.38172255] [ 0.13902843 0.99014871 0.01663227 0.41401982] [ 0.08353903 -0.02846206 0.99609796 0.12981927] [ 0. 0. 0. 1. ]] SLAMing on 27.542414037 meters Centerline goodness : 0.780259 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:0.13 [[ 0.98670211 -0.13639287 -0.08840771 2.38427846] [ 0.13846461 0.99020899 0.01771204 0.41965831] [ 0.08512631 -0.02971785 0.99592689 0.1295071 ] [ 0. 0. 0. 1. ]] SLAMing on 27.602414037 meters Centerline goodness : 0.782555 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:0.13 [[ 0.98672479 -0.135035 -0.09022051 2.38600782] [ 0.13737412 0.99031299 0.02021205 0.42407823] [ 0.08661721 -0.03233769 0.99571669 0.13063685] [ 0. 0. 0. 1. ]] SLAMing on 27.662414037 meters Centerline goodness : 0.783461 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.43, Z:0.13 [[ 0.98684223 -0.13359479 -0.09107608 2.38532303] [ 0.13617706 0.99042381 0.02272615 0.42663454] [ 0.08716783 -0.0348296 0.99558459 0.13270657] [ 0. 0. 0. 1. ]] SLAMing on 27.722414037 meters Centerline goodness : 0.779374 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.43, Z:0.13 [[ 0.9867217 -0.13410233 -0.09163437 2.38519294] [ 0.13667124 0.99036474 0.02233075 0.42984306] [ 0.08775685 -0.03455802 0.9955423 0.13387661] [ 0. 0. 0. 1. ]] SLAMing on 27.782414037 meters Centerline goodness : 0.790550 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.43, Z:0.13 [[ 0.98662927 -0.13432083 -0.09230714 2.38615476] [ 0.13691647 0.99033024 0.02235822 0.43171174] [ 0.08841137 -0.03469765 0.99547953 0.13424632] [ 0. 0. 0. 1. ]] SLAMing on 27.842414037 meters Centerline goodness : 0.788153 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:0.14 [[ 0.98629716 -0.13557191 -0.09401158 2.38796993] [ 0.13828154 0.99012811 0.02290292 0.43640407] [ 0.08997851 -0.03558915 0.99530763 0.13567565] [ 0. 0. 0. 1. ]] SLAMing on 27.902414037 meters Centerline goodness : 0.788031 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:0.14 [[ 0.98641252 -0.1336088 -0.09559823 2.38992728] [ 0.13667943 0.99026621 0.02629777 0.43712341] [ 0.09115408 -0.03900676 0.99507256 0.13638282] [ 0. 0. 0. 1. ]] SLAMing on 27.962414037 meters Centerline goodness : 0.789683 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:0.14 [[ 0.98684129 -0.130051 -0.09607811 2.38917807] [ 0.13333134 0.99066099 0.02852277 0.44107256] [ 0.09147142 -0.04095767 0.99496505 0.13662614] [ 0. 0. 0. 1. ]] SLAMing on 28.022414037 meters Centerline goodness : 0.789936 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.45, Z:0.14 [[ 0.98726692 -0.12657661 -0.09634517 2.38803605] [ 0.13003086 0.9910427 0.03043574 0.44514081] [ 0.09162972 -0.04257605 0.99488254 0.13684853] [ 0. 0. 0. 1. ]] SLAMing on 28.082414037 meters Centerline goodness : 0.785440 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.45, Z:0.13 [[ 0.98790767 -0.12144481 -0.09638254 2.38787757] [ 0.12497419 0.99166155 0.03144566 0.45068373] [ 0.09175995 -0.04311074 0.99484751 0.13438837] [ 0. 0. 0. 1. ]] SLAMing on 28.142414037 meters Centerline goodness : 0.784473 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.46, Z:0.13 [[ 0.98853647 -0.11625876 -0.09633038 2.38565254] [ 0.1198124 0.99228243 0.03194634 0.45809777] [ 0.0918729 -0.0431217 0.99483661 0.13419627] [ 0. 0. 0. 1. ]] SLAMing on 28.202414037 meters Centerline goodness : 0.774325 with order 2 Centerline is valid? [False, False] Translation: X:2.38, Y:0.47, Z:0.13 [[ 0.98953542 -0.11806711 -0.08294464 2.383385 ] [ 0.12085874 0.99223231 0.0294655 0.46573522] [ 0.07882145 -0.03918174 0.99611845 0.13045173] [ 0. 0. 0. 1. ]] SLAMing on 28.262414037 meters Centerline goodness : 0.783854 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.47, Z:0.13 [[ 0.98998234 -0.11423869 -0.08297277 2.38095422] [ 0.1171751 0.99261438 0.03141162 0.47048896] [ 0.07877155 -0.0408193 0.99605664 0.13173229] [ 0. 0. 0. 1. ]] SLAMing on 28.322414037 meters Centerline goodness : 0.782759 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.47, Z:0.13 [[ 0.99002323 -0.11386765 -0.08299496 2.38113993] [ 0.11671378 0.99270412 0.03027262 0.4733029 ] [ 0.07894236 -0.03965725 0.99609006 0.13091356] [ 0. 0. 0. 1. ]] SLAMing on 28.382414037 meters Centerline goodness : 0.783888 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.48, Z:0.13 [[ 0.99003513 -0.11379674 -0.08295029 2.38051045] [ 0.11658846 0.9927388 0.02961086 0.47511917] [ 0.07897836 -0.03898684 0.99611367 0.13129027] [ 0. 0. 0. 1. ]] SLAMing on 28.442414037 meters Centerline goodness : 0.783850 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:0.48, Z:0.13 [[ 0.9902407 -0.1111075 -0.08413364 2.38077805] [ 0.1141354 0.99294767 0.03206307 0.4802748 ] [ 0.07997786 -0.04135278 0.9959385 0.13243595] [ 0. 0. 0. 1. ]] SLAMing on 28.502414037 meters Centerline goodness : 0.764708 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.48, Z:0.13 [[ 0.99030586 -0.11052992 -0.08412756 2.37957995] [ 0.11346558 0.99306011 0.0309384 0.48448008] [ 0.08012411 -0.04018406 0.99597458 0.13319056] [ 0. 0. 0. 1. ]] SLAMing on 28.562414037 meters Centerline goodness : 0.776680 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:0.49, Z:0.13 [[ 0.99046657 -0.10968231 -0.08334126 2.3783546 ] [ 0.11248323 0.99321037 0.02967636 0.48596334] [ 0.07952043 -0.03876793 0.99607909 0.13216472] [ 0. 0. 0. 1. ]] SLAMing on 28.622414037 meters Centerline goodness : 0.777077 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:0.49, Z:0.13 [[ 0.99055355 -0.10907965 -0.08309807 2.3767861 ] [ 0.11185187 0.99328823 0.02945604 0.4879019 ] [ 0.07932728 -0.03847245 0.99610594 0.13318018] [ 0. 0. 0. 1. ]] SLAMing on 28.682414037 meters Centerline goodness : 0.780040 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:0.49, Z:0.14 [[ 0.99081559 -0.10605348 -0.08388757 2.37543073] [ 0.10904003 0.99352708 0.03184682 0.49290608] [ 0.0799671 -0.04070143 0.99596619 0.13523376] [ 0. 0. 0. 1. ]] SLAMing on 28.742414037 meters Centerline goodness : 0.775060 with order 3 Centerline is valid? [False, False] Translation: X:2.37, Y:0.49, Z:0.13 [[ 0.99099495 -0.10529561 -0.08271541 2.37439734] [ 0.10807303 0.99369507 0.0298385 0.49408191] [ 0.07905203 -0.0385091 0.99612641 0.13302641] [ 0. 0. 0. 1. ]] SLAMing on 28.802414037 meters Centerline goodness : 0.776005 with order 3 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.13 [[ 0.99105007 -0.10507982 -0.0823286 2.37314534] [ 0.1077857 0.99374729 0.02913008 0.49511562] [ 0.07875284 -0.03774321 0.99617942 0.1334373 ] [ 0. 0. 0. 1. ]] SLAMing on 28.862414037 meters Centerline goodness : 0.777148 with order 3 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.14 [[ 0.99088772 -0.1062742 -0.0827485 2.37260544] [ 0.10900835 0.99361058 0.02924356 0.49687376] [ 0.07911195 -0.03799737 0.9961413 0.13546858] [ 0. 0. 0. 1. ]] SLAMing on 28.922414037 meters Centerline goodness : 0.760639 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.13 [[ 0.99055556 -0.10965501 -0.08231314 2.37313043] [ 0.1121177 0.99335724 0.02590375 0.49662075] [ 0.07892588 -0.03488787 0.99626981 0.134903 ] [ 0. 0. 0. 1. ]] SLAMing on 28.982414037 meters Centerline goodness : 0.771878 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.13 [[ 0.99027349 -0.1128871 -0.08133217 2.37276304] [ 0.11504692 0.99310831 0.02236254 0.49526353] [ 0.07824722 -0.03150204 0.99643615 0.13410348] [ 0. 0. 0. 1. ]] SLAMing on 29.042414037 meters Centerline goodness : 0.773455 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.14 [[ 0.99025536 -0.11295668 -0.0814562 2.3713673 ] [ 0.11514003 0.99309194 0.02260925 0.49715493] [ 0.07833963 -0.0317678 0.99642045 0.13607091] [ 0. 0. 0. 1. ]] SLAMing on 29.102414037 meters Centerline goodness : 0.773991 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.13 [[ 0.99043998 -0.11196308 -0.08057857 2.37007023] [ 0.11401464 0.99325046 0.0213118 0.49895684] [ 0.07764857 -0.0302952 0.9965204 0.1349283 ] [ 0. 0. 0. 1. ]] SLAMing on 29.162414037 meters Centerline goodness : 0.775444 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.50, Z:0.13 [[ 0.99123892 -0.10709562 -0.07730415 2.36583013] [ 0.10887162 0.99387182 0.01912536 0.49762627] [ 0.07478217 -0.02737403 0.9968241 0.13074918] [ 0. 0. 0. 1. ]] SLAMing on 29.222414037 meters Centerline goodness : 0.776669 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.50, Z:0.13 [[ 0.99189013 -0.10192766 -0.07592577 2.3628603 ] [ 0.1037337 0.99439944 0.02022538 0.49735398] [ 0.07343902 -0.02793741 0.99690833 0.12953329] [ 0. 0. 0. 1. ]] SLAMing on 29.282414037 meters Centerline goodness : 0.775974 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.50, Z:0.13 [[ 0.99286574 -0.09237762 -0.07539233 2.35944201] [ 0.09463739 0.99514655 0.02696501 0.49838786] [ 0.07253545 -0.03390757 0.99678929 0.13002089] [ 0. 0. 0. 1. ]] SLAMing on 29.342414037 meters Centerline goodness : 0.776242 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.50, Z:0.13 [[ 0.99317727 -0.0901907 -0.07392263 2.35709619] [ 0.09238029 0.99536443 0.02674944 0.49627061] [ 0.0711674 -0.03339593 0.99690517 0.12896143] [ 0. 0. 0. 1. ]] SLAMing on 29.402414037 meters Centerline goodness : 0.778490 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.49, Z:0.13 [[ 0.99326455 -0.0910375 -0.07167774 2.35502521] [ 0.09293993 0.9953905 0.02366259 0.49132159] [ 0.06919316 -0.03016494 0.99714712 0.12696991] [ 0. 0. 0. 1. ]] SLAMing on 29.462414037 meters Centerline goodness : 0.778612 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.49, Z:0.13 [[ 0.99291895 -0.09498252 -0.07134625 2.35557893] [ 0.09673186 0.99507889 0.02146991 0.4887328 ] [ 0.06895588 -0.02821934 0.99722052 0.12706912] [ 0. 0. 0. 1. ]] SLAMing on 29.522414037 meters Centerline goodness : 0.781119 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.48, Z:0.13 [[ 0.9919511 -0.10301215 -0.07363098 2.36068019] [ 0.10487226 0.99424566 0.02184903 0.4829228 ] [ 0.07095656 -0.02939502 0.99704619 0.12910415] [ 0. 0. 0. 1. ]] SLAMing on 29.582414037 meters Centerline goodness : 0.781417 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.48, Z:0.13 [[ 0.99112347 -0.10973229 -0.07505394 2.36608358] [ 0.11154853 0.99354879 0.02043837 0.47798735] [ 0.072327 -0.0286291 0.99697 0.12812488] [ 0. 0. 0. 1. ]] SLAMing on 29.642414037 meters Centerline goodness : 0.782349 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.47, Z:0.13 [[ 0.99002888 -0.11896494 -0.07543321 2.36991838] [ 0.12053282 0.99257107 0.01656846 0.47107682] [ 0.07290175 -0.02549543 0.9970132 0.12770863] [ 0. 0. 0. 1. ]] SLAMing on 29.702414037 meters Centerline goodness : 0.780130 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.47, Z:0.13 [[ 0.98981231 -0.12004377 -0.07655767 2.37207998] [ 0.12177055 0.99238986 0.01828387 0.46906144] [ 0.07378019 -0.02742007 0.9968975 0.12878198] [ 0. 0. 0. 1. ]] SLAMing on 29.762414037 meters Centerline goodness : 0.782109 with order 3 Centerline is valid? [False, False] Translation: X:2.37, Y:0.47, Z:0.13 [[ 0.98962713 -0.12057955 -0.07809425 2.37171645] [ 0.1227911 0.99213873 0.02414733 0.46549474] [ 0.07456865 -0.03348614 0.9966535 0.1344809 ] [ 0. 0. 0. 1. ]] SLAMing on 29.822414037 meters Centerline goodness : 0.783007 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:0.13 [[ 0.98926887 -0.12362433 -0.07787245 2.37292377] [ 0.12561558 0.99185257 0.0211946 0.46409256] [ 0.07461783 -0.03074915 0.99673801 0.13368847] [ 0. 0. 0. 1. ]] SLAMing on 29.882414037 meters Centerline goodness : 0.783363 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.46, Z:0.13 [[ 0.9888095 -0.1274856 -0.07748028 2.37601385] [ 0.12916032 0.99147831 0.01698164 0.46265477] [ 0.0746551 -0.02679898 0.99684925 0.13011584] [ 0. 0. 0. 1. ]] SLAMing on 29.942414037 meters Centerline goodness : 0.786272 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.46, Z:0.13 [[ 0.98859245 -0.12863394 -0.07834713 2.37810164] [ 0.13040583 0.99129884 0.0179145 0.46149036] [ 0.075361 -0.02792706 0.99676517 0.13034769] [ 0. 0. 0. 1. ]] SLAMing on 30.002414037 meters Centerline goodness : 0.784886 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.46, Z:0.13 [[ 0.98834342 -0.12997612 -0.07926853 2.3795473 ] [ 0.13188742 0.99107581 0.01935039 0.4597076 ] [ 0.07604603 -0.02957935 0.99666547 0.13177417] [ 0. 0. 0. 1. ]] SLAMing on 30.062414037 meters Centerline goodness : 0.781893 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.46, Z:0.13 [[ 0.98822825 -0.13052008 -0.07980879 2.38071511] [ 0.13247888 0.99098925 0.01973942 0.45946589] [ 0.07651326 -0.03008003 0.99661473 0.13201743] [ 0. 0. 0. 1. ]] SLAMing on 30.122414037 meters Centerline goodness : 0.785103 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.46, Z:0.13 [[ 0.98785901 -0.13343769 -0.07955473 2.38215778] [ 0.135194 0.99067173 0.01709088 0.45737909] [ 0.07653205 -0.0276387 0.99668398 0.13095301] [ 0. 0. 0. 1. ]] SLAMing on 30.182414037 meters Centerline goodness : 0.785193 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.46, Z:0.13 [[ 0.9876887 -0.13424603 -0.08030593 2.38372006] [ 0.13606187 0.99054473 0.01755878 0.456851 ] [ 0.07718942 -0.02826919 0.9966156 0.13126568] [ 0. 0. 0. 1. ]] SLAMing on 30.242414037 meters Centerline goodness : 0.781452 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.46, Z:0.13 [[ 0.98778336 -0.13237511 -0.08222451 2.38567205] [ 0.13451864 0.99068689 0.02107633 0.45958253] [ 0.07866876 -0.03187958 0.99639095 0.13246125] [ 0. 0. 0. 1. ]] SLAMing on 30.302414037 meters Centerline goodness : 0.780577 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.46, Z:0.13 [[ 0.98782444 -0.13197908 -0.08236741 2.38802975] [ 0.1340023 0.99078886 0.01951443 0.46161126] [ 0.07903322 -0.03031425 0.99641096 0.12916597] [ 0. 0. 0. 1. ]] SLAMing on 30.362414037 meters Centerline goodness : 0.780145 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.46, Z:0.13 [[ 0.98831295 -0.12811249 -0.08261175 2.38724348] [ 0.1303939 0.99119969 0.02281663 0.4622783 ] [ 0.07896164 -0.03332204 0.99632058 0.12919869] [ 0. 0. 0. 1. ]] SLAMing on 30.422414037 meters Centerline goodness : 0.773870 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.47, Z:0.13 [[ 0.9885489 -0.12548534 -0.08381234 2.38735002] [ 0.12805832 0.99142467 0.02604207 0.46536576] [ 0.07982572 -0.03647673 0.99614121 0.13071641] [ 0. 0. 0. 1. ]] SLAMing on 30.482414037 meters Centerline goodness : 0.779563 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.47, Z:0.13 [[ 0.98860195 -0.12411684 -0.08521266 2.38858097] [ 0.12691519 0.99151187 0.0282268 0.46870817] [ 0.08098594 -0.03871985 0.99596288 0.13158901] [ 0. 0. 0. 1. ]] SLAMing on 30.542414037 meters Centerline goodness : 0.773582 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.47, Z:0.13 [[ 0.98845065 -0.12517804 -0.08541524 2.38956099] [ 0.12786958 0.99142932 0.02678198 0.47070914] [ 0.08133065 -0.03739467 0.99598542 0.13069052] [ 0. 0. 0. 1. ]] SLAMing on 30.602414037 meters Centerline goodness : 0.776749 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.48, Z:0.13 [[ 0.9880879 -0.12698409 -0.08693298 2.39230179] [ 0.129642 0.99122981 0.02562067 0.47584426] [ 0.08291714 -0.03658564 0.99588465 0.13072783] [ 0. 0. 0. 1. ]] SLAMing on 30.662414037 meters Centerline goodness : 0.760290 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.48, Z:0.13 [[ 0.98773846 -0.12887818 -0.08810877 2.39330252] [ 0.13148617 0.99101664 0.02444167 0.48209472] [ 0.08416726 -0.03572706 0.99581095 0.13181575] [ 0. 0. 0. 1. ]] SLAMing on 30.722414037 meters Centerline goodness : 0.761521 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.48, Z:0.13 [[ 0.98790497 -0.1269912 -0.08897756 2.39366648] [ 0.12981832 0.99117776 0.02671811 0.48462513] [ 0.08479961 -0.03794587 0.99567522 0.13237066] [ 0. 0. 0. 1. ]] SLAMing on 30.782414037 meters Centerline goodness : 0.760921 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.49, Z:0.13 [[ 0.98819761 -0.12423033 -0.08962319 2.3934399 ] [ 0.12725722 0.99144959 0.02886721 0.48853825] [ 0.0852707 -0.03993171 0.99555731 0.13264136] [ 0. 0. 0. 1. ]] SLAMing on 30.842414037 meters Centerline goodness : 0.773765 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.49, Z:0.13 [[ 0.98803565 -0.12519775 -0.09006148 2.39321807] [ 0.12815043 0.99136607 0.02776312 0.49295499] [ 0.08580802 -0.03897237 0.99554916 0.133609 ] [ 0. 0. 0. 1. ]] SLAMing on 30.902414037 meters Centerline goodness : 0.773962 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:0.50, Z:0.13 [[ 0.98764822 -0.12762584 -0.09089903 2.3942061 ] [ 0.13043334 0.99112597 0.0256215 0.49846302] [ 0.08682242 -0.0371613 0.99553046 0.13414126] [ 0. 0. 0. 1. ]] SLAMing on 30.962414037 meters Centerline goodness : 0.771852 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.50, Z:0.13 [[ 0.98732572 -0.12979004 -0.09133711 2.3955588 ] [ 0.1324079 0.99092412 0.02318502 0.50268983] [ 0.08749896 -0.03498492 0.99555009 0.13331464] [ 0. 0. 0. 1. ]] SLAMing on 31.022414037 meters Centerline goodness : 0.758292 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.51, Z:0.14 [[ 0.9869959 -0.13120828 -0.09286274 2.39614812] [ 0.13392138 0.99071122 0.02358687 0.50721638] [ 0.08890537 -0.03571645 0.9953995 0.13582737] [ 0. 0. 0. 1. ]] SLAMing on 31.082414037 meters Centerline goodness : 0.771779 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.51, Z:0.14 [[ 0.9867347 -0.13268503 -0.09353773 2.39646293] [ 0.135178 0.99060274 0.0208115 0.51495297] [ 0.08989736 -0.03317968 0.9953982 0.13631623] [ 0. 0. 0. 1. ]] SLAMing on 31.142414037 meters Centerline goodness : 0.757168 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.52, Z:0.13 [[ 0.9867071 -0.13269417 -0.0938155 2.39852061] [ 0.13510674 0.99063276 0.01982174 0.51659545] [ 0.09030648 -0.03223336 0.99539226 0.1340122 ] [ 0. 0. 0. 1. ]] SLAMing on 31.202414037 meters Centerline goodness : 0.761678 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.52, Z:0.14 [[ 0.98678842 -0.13023029 -0.09637783 2.39740366] [ 0.13314319 0.99079619 0.02440897 0.52395377] [ 0.092312 -0.03691854 0.99504548 0.13944556] [ 0. 0. 0. 1. ]] SLAMing on 31.262414037 meters Centerline goodness : 0.757896 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.53, Z:0.14 [[ 0.98694603 -0.12822093 -0.09745221 2.39930531] [ 0.13130873 0.99100222 0.02593486 0.52809473] [ 0.09324997 -0.03839263 0.99490223 0.13826762] [ 0. 0. 0. 1. ]] SLAMing on 31.322414037 meters Centerline goodness : 0.757184 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.53, Z:0.13 [[ 0.9871669 -0.12700187 -0.09680925 2.40055241] [ 0.12982853 0.991259 0.02345515 0.53236081] [ 0.0929842 -0.03572275 0.99502654 0.13419822] [ 0. 0. 0. 1. ]] SLAMing on 31.382414037 meters Centerline goodness : 0.756600 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.54, Z:0.13 [[ 0.9875299 -0.12368824 -0.09739571 2.3999808 ] [ 0.12680515 0.99157448 0.02646702 0.53568849] [ 0.09330144 -0.03848725 0.99489375 0.13467361] [ 0. 0. 0. 1. ]] SLAMing on 31.442414037 meters Centerline goodness : 0.757764 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.54, Z:0.14 [[ 0.98750165 -0.12440743 -0.0967641 2.39746579] [ 0.12721091 0.99160105 0.02333972 0.54495484] [ 0.09304775 -0.03535746 0.99503365 0.13729649] [ 0. 0. 0. 1. ]] SLAMing on 31.502414037 meters Centerline goodness : 0.757439 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.55, Z:0.14 [[ 0.98746557 -0.12457705 -0.09691396 2.39876331] [ 0.12734137 0.99159555 0.0228571 0.54701062] [ 0.09325198 -0.03491175 0.99503027 0.13604315] [ 0. 0. 0. 1. ]] SLAMing on 31.562414037 meters Centerline goodness : 0.756968 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.55, Z:0.14 [[ 0.98730431 -0.12617184 -0.09649283 2.39793012] [ 0.12875965 0.9914523 0.02105438 0.55252187] [ 0.09301157 -0.03321146 0.99511097 0.13547627] [ 0. 0. 0. 1. ]] SLAMing on 31.622414037 meters Centerline goodness : 0.757272 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.56, Z:0.14 [[ 0.98674808 -0.13050705 -0.09641651 2.39889814] [ 0.13263382 0.99103659 0.01596099 0.55660647] [ 0.09346927 -0.02853757 0.99521309 0.13584251] [ 0. 0. 0. 1. ]] SLAMing on 31.682414037 meters Centerline goodness : 0.776211 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.56, Z:0.14 [[ 0.98615201 -0.1353937 -0.09577457 2.3987236 ] [ 0.13703271 0.99050854 0.01071752 0.5604427 ] [ 0.09341445 -0.02369335 0.99534535 0.13598195] [ 0. 0. 0. 1. ]] SLAMing on 31.742414037 meters Centerline goodness : 0.757096 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.57, Z:0.14 [[ 0.98559948 -0.1397884 -0.09514659 2.3977891 ] [ 0.14098432 0.98999406 0.00593175 0.56681234] [ 0.09336537 -0.0192605 0.9954456 0.1364488 ] [ 0. 0. 0. 1. ]] SLAMing on 31.802414037 meters Centerline goodness : 0.758655 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.57, Z:0.14 [[ 0.98548717 -0.14077365 -0.09485677 2.39666432] [ 0.14182739 0.98988151 0.0044261 0.57146126] [ 0.09327389 -0.01781515 0.99548109 0.13695125] [ 0. 0. 0. 1. ]] SLAMing on 31.862414037 meters Centerline goodness : 0.759324 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.58, Z:0.14 [[ 9.85360683e-01 -1.41922286e-01 -9.44583954e-02 2.39478020e+00] [ 1.42765845e-01 9.89754050e-01 2.19877977e-03 5.76812314e-01] [ 9.31785235e-02 -1.56520237e-02 9.95526382e-01 1.38559937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922414037 meters Centerline goodness : 0.759244 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.58, Z:0.14 [[ 9.85273492e-01 -1.42739475e-01 -9.41360120e-02 2.39320903e+00] [ 1.43422564e-01 9.89661418e-01 4.96088166e-04 5.80893581e-01] [ 9.30919678e-02 -1.39900108e-02 9.95559222e-01 1.39908582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982414037 meters Centerline goodness : 0.762534 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.58, Z:0.14 [[ 9.85246346e-01 -1.42855498e-01 -9.42440649e-02 2.39318040e+00] [ 1.43449104e-01 9.89657579e-01 -4.80887843e-04 5.84430944e-01] [ 9.33380506e-02 -1.30454337e-02 9.95549007e-01 1.40447764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042414037 meters Centerline goodness : 0.760029 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.59, Z:0.14 [[ 9.85343067e-01 -1.41919137e-01 -9.46467110e-02 2.39557421e+00] [ 1.42547887e-01 9.89787899e-01 -1.19094683e-04 5.85556704e-01] [ 9.36970711e-02 -1.33743395e-02 9.95510917e-01 1.38807246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102414037 meters Centerline goodness : 0.761121 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.59, Z:0.14 [[ 9.85331572e-01 -1.42020857e-01 -9.46137890e-02 2.39487844e+00] [ 1.42606684e-01 9.89779270e-01 -5.75311540e-04 5.86168437e-01] [ 9.37284732e-02 -1.29256860e-02 9.95513887e-01 1.39811358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162414037 meters Centerline goodness : 0.761084 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.59, Z:0.14 [[ 0.98583085 -0.13828947 -0.09493981 2.39284482] [ 0.13915185 0.99026792 0.00249173 0.58789451] [ 0.09367127 -0.01566748 0.9954799 0.14165219] [ 0. 0. 0. 1. ]] SLAMing on 32.222414037 meters Centerline goodness : 0.762948 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.59, Z:0.14 [[ 0.98597377 -0.13694328 -0.09540581 2.39504973] [ 0.13785889 0.99044721 0.00304131 0.58858959] [ 0.09407793 -0.01615119 0.99543382 0.14069331] [ 0. 0. 0. 1. ]] SLAMing on 32.282414037 meters Centerline goodness : 0.761231 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.59, Z:0.14 [[ 0.98666819 -0.13105548 -0.09649017 2.39845567] [ 0.13243058 0.99116032 0.00795986 0.58811437] [ 0.09459405 -0.02063199 0.99530211 0.13842027] [ 0. 0. 0. 1. ]] SLAMing on 32.342414037 meters Centerline goodness : 0.762252 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.59, Z:0.14 [[ 0.98721467 -0.12646141 -0.09702945 2.3983743 ] [ 0.12818258 0.99168169 0.01168982 0.58854512] [ 0.09474402 -0.02397785 0.99521286 0.13888329] [ 0. 0. 0. 1. ]] SLAMing on 32.402414037 meters Centerline goodness : 0.763663 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.59, Z:0.13 [[ 0.98919383 -0.11520546 -0.09068225 2.39084768] [ 0.11690182 0.99305028 0.01360505 0.5870295 ] [ 0.08848465 -0.02405895 0.99578694 0.13416019] [ 0. 0. 0. 1. ]] SLAMing on 32.462414037 meters Centerline goodness : 0.762070 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.59, Z:0.13 [[ 0.98981372 -0.10918527 -0.09136392 2.39201764] [ 0.11127081 0.99362641 0.01803785 0.58724589] [ 0.08881214 -0.02802025 0.99565419 0.13434682] [ 0. 0. 0. 1. ]] SLAMing on 32.522414037 meters Centerline goodness : 0.761907 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.59, Z:0.13 [[ 0.99180092 -0.09392482 -0.0866549 2.38854297] [ 0.09654394 0.99497491 0.0265367 0.58537061] [ 0.083727 -0.03468513 0.9958849 0.12781253] [ 0. 0. 0. 1. ]] SLAMing on 32.582414037 meters Centerline goodness : 0.761428 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.58, Z:0.13 [[ 0.99227673 -0.08775052 -0.08767405 2.391178 ] [ 0.09077684 0.99538425 0.03114105 0.58492656] [ 0.08453673 -0.03885931 0.99566234 0.12744911] [ 0. 0. 0. 1. ]] SLAMing on 32.642414037 meters Centerline goodness : 0.764197 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.59, Z:0.14 [[ 0.99300774 -0.07891297 -0.08779731 2.41211961] [ 0.08119327 0.9964397 0.02270612 0.58556369] [ 0.08569292 -0.0296759 0.99587954 0.13521027] [ 0. 0. 0. 1. ]] SLAMing on 32.702414037 meters Centerline goodness : 0.762754 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.59, Z:0.14 [[ 0.99306181 -0.07747446 -0.08846437 2.41413539] [ 0.07980451 0.99654266 0.02310768 0.58557122] [ 0.08636826 -0.03000721 0.99581127 0.13548351] [ 0. 0. 0. 1. ]] SLAMing on 32.762414037 meters Centerline goodness : 0.763980 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.58, Z:0.14 [[ 0.99309744 -0.07699722 -0.08848113 2.41366335] [ 0.07941057 0.99655107 0.02408167 0.57998279] [ 0.08632174 -0.03094178 0.99578671 0.13679111] [ 0. 0. 0. 1. ]] SLAMing on 32.822414037 meters Centerline goodness : 0.762024 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.58, Z:0.14 [[ 0.99254558 -0.08353684 -0.0887405 2.41630752] [ 0.08532589 0.99621554 0.01655547 0.57835045] [ 0.08702167 -0.02400392 0.99591719 0.13826059] [ 0. 0. 0. 1. ]] SLAMing on 32.882414037 meters Centerline goodness : 0.761414 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.57, Z:0.14 [[ 0.99180115 -0.09204011 -0.08865159 2.41656773] [ 0.09321137 0.99560425 0.00915513 0.57406109] [ 0.08741926 -0.01734341 0.99602062 0.14027877] [ 0. 0. 0. 1. ]] SLAMing on 32.942414037 meters Centerline goodness : 0.761314 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.57, Z:0.14 [[ 9.91018870e-01 -9.99868676e-02 -8.87931631e-02 2.41900316e+00] [ 1.00590370e-01 9.94925181e-01 2.33691465e-03 5.70051334e-01] [ 8.81088931e-02 -1.12476636e-02 9.96047345e-01 1.40235829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002414037 meters Centerline goodness : 0.758917 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.56, Z:0.14 [[ 0.98981918 -0.11254223 -0.08713349 2.4187264 ] [ 0.11237213 0.99364244 -0.00687041 0.56186653] [ 0.08735274 -0.00299091 0.99617295 0.14084095] [ 0. 0. 0. 1. ]] SLAMing on 33.062414037 meters Centerline goodness : 0.760482 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.55, Z:0.14 [[ 0.98931555 -0.11705169 -0.08691168 2.41752647] [ 0.11687357 0.99312104 -0.00715283 0.55452757] [ 0.08715107 -0.00308127 0.99619034 0.14433276] [ 0. 0. 0. 1. ]] SLAMing on 33.122414037 meters Centerline goodness : 0.763279 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.55, Z:0.15 [[ 0.98928532 -0.11815881 -0.08574995 2.41507641] [ 0.11792938 0.99299171 -0.00775412 0.54945304] [ 0.08606521 -0.0024414 0.99628651 0.14581493] [ 0. 0. 0. 1. ]] SLAMing on 33.182414037 meters Centerline goodness : 0.763937 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.54, Z:0.14 [[ 9.89432403e-01 -1.18594244e-01 -8.34201699e-02 2.41257127e+00] [ 1.18249231e-01 9.92942412e-01 -9.08215160e-03 5.41331996e-01] [ 8.39085156e-02 -8.78195830e-04 9.96473075e-01 1.44683115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242414037 meters Centerline goodness : 0.776232 with order 3 Centerline is valid? [False, False] Translation: X:2.41, Y:0.54, Z:0.14 [[ 9.89653298e-01 -1.17320100e-01 -8.25974828e-02 2.41210942e+00] [ 1.16998117e-01 9.93093638e-01 -8.74448042e-03 5.38303683e-01] [ 8.30529381e-02 -1.00974611e-03 9.96544625e-01 1.43324725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302414037 meters Centerline goodness : 0.775906 with order 3 Centerline is valid? [False, False] Translation: X:2.41, Y:0.53, Z:0.14 [[ 9.90318378e-01 -1.13394769e-01 -8.00695720e-02 2.40941985e+00] [ 1.12996544e-01 9.93549946e-01 -9.50188675e-03 5.33388528e-01] [ 8.06305832e-02 3.62308121e-04 9.96743988e-01 1.40023861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362414037 meters Centerline goodness : 0.761679 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.53, Z:0.14 [[ 0.99073915 -0.11126564 -0.07781964 2.40707701] [ 0.1107276 0.99378759 -0.01120851 0.52887947] [ 0.07858331 0.00248793 0.99690445 0.1373884 ] [ 0. 0. 0. 1. ]] SLAMing on 33.422414037 meters Centerline goodness : 0.765159 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.52, Z:0.14 [[ 9.91327142e-01 -1.07057352e-01 -7.62182401e-02 2.40285112e+00] [ 1.06828034e-01 9.94252224e-01 -7.09122058e-03 5.20480679e-01] [ 7.65393220e-02 -1.11252533e-03 9.97065943e-01 1.39125471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482414037 meters Centerline goodness : 0.781330 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.52, Z:0.14 [[ 9.91481971e-01 -1.06756017e-01 -7.46100067e-02 2.40055149e+00] [ 1.06466763e-01 9.94285235e-01 -7.85491445e-03 5.15431542e-01] [ 7.50221874e-02 -1.55479863e-04 9.97181853e-01 1.38926735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542414037 meters Centerline goodness : 0.779801 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.51, Z:0.14 [[ 9.91251617e-01 -1.09440710e-01 -7.37764360e-02 2.40043131e+00] [ 1.08993714e-01 9.93991431e-01 -1.00700471e-02 5.11397549e-01] [ 7.44352183e-02 1.94078272e-03 9.97223963e-01 1.38517982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602414037 meters Centerline goodness : 0.775763 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.51, Z:0.14 [[ 0.99101091 -0.11207046 -0.07305877 2.40133107] [ 0.11149846 0.99369366 -0.01187414 0.50635407] [ 0.07392877 0.00362147 0.99725695 0.1371902 ] [ 0. 0. 0. 1. ]] SLAMing on 33.662414037 meters Centerline goodness : 0.775097 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.50, Z:0.13 [[ 0.99067301 -0.11610237 -0.07132475 2.40273932] [ 0.11527498 0.99321075 -0.01562299 0.49728629] [ 0.07265437 0.00725532 0.99733079 0.13357514] [ 0. 0. 0. 1. ]] SLAMing on 33.722414037 meters Centerline goodness : 0.778990 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.49, Z:0.13 [[ 0.99042636 -0.11843246 -0.07091809 2.40293654] [ 0.11776459 0.99294922 -0.01354037 0.48682415] [ 0.07202168 0.0050591 0.99739024 0.13491312] [ 0. 0. 0. 1. ]] SLAMing on 33.782414037 meters Centerline goodness : 0.779151 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.48, Z:0.14 [[ 0.99042399 -0.11852575 -0.07079527 2.40300454] [ 0.11802447 0.9929471 -0.0112371 0.48086899] [ 0.07162784 0.00277392 0.99742757 0.13563697] [ 0. 0. 0. 1. ]] SLAMing on 33.842414037 meters Centerline goodness : 0.779244 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.48, Z:0.14 [[ 9.90388160e-01 -1.18636794e-01 -7.11098053e-02 2.40460589e+00] [ 1.18241663e-01 9.92936926e-01 -9.75548802e-03 4.77171918e-01] [ 7.17649113e-02 1.25357823e-03 9.97420787e-01 1.35138661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902414037 meters Centerline goodness : 0.780290 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.47, Z:0.13 [[ 9.89981119e-01 -1.22152763e-01 -7.08243375e-02 2.40720699e+00] [ 1.21768898e-01 9.92510800e-01 -9.72867050e-03 4.67477109e-01] [ 7.14823039e-02 1.00699859e-03 9.97441360e-01 1.33424731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962414037 meters Centerline goodness : 0.778739 with order 3 Centerline is valid? [False, False] Translation: X:2.41, Y:0.46, Z:0.13 [[ 9.89884176e-01 -1.22533894e-01 -7.15175731e-02 2.40853705e+00] [ 1.22386974e-01 9.92461503e-01 -6.44937190e-03 4.61178401e-01] [ 7.17687047e-02 -2.36868820e-03 9.97418489e-01 1.34832895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022414037 meters Centerline goodness : 0.785855 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.46, Z:0.13 [[ 9.89650714e-01 -1.24604791e-01 -7.11695905e-02 2.41060102e+00] [ 1.24395487e-01 9.92205248e-01 -7.38299584e-03 4.55301975e-01] [ 7.15347978e-02 -1.54658876e-03 9.97436906e-01 1.33179757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082414037 meters Centerline goodness : 0.782442 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.45, Z:0.13 [[ 9.89406813e-01 -1.26803572e-01 -7.06754010e-02 2.41274520e+00] [ 1.26475741e-01 9.91927844e-01 -9.11256641e-03 4.50680293e-01] [ 7.12604042e-02 7.73115871e-05 9.97457743e-01 1.30834793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142414037 meters Centerline goodness : 0.784429 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.45, Z:0.13 [[ 9.89431597e-01 -1.26509268e-01 -7.08556304e-02 2.41421949e+00] [ 1.26322444e-01 9.91963613e-01 -7.12961163e-03 4.45529270e-01] [ 7.11881690e-02 -1.89639335e-03 9.97461101e-01 1.30297336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202414037 meters Centerline goodness : 0.785897 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.44, Z:0.13 [[ 0.98930701 -0.1273409 -0.07110516 2.41541415] [ 0.127339 0.99184869 -0.00457823 0.43798461] [ 0.07110855 -0.00452518 0.99745832 0.13100093] [ 0. 0. 0. 1. ]] SLAMing on 34.262414037 meters Centerline goodness : 0.786519 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:0.13 [[ 9.89130657e-01 -1.28300684e-01 -7.18295106e-02 2.41781881e+00] [ 1.28472279e-01 9.91710559e-01 -2.24523043e-03 4.32002855e-01] [ 7.15221487e-02 -7.00727467e-03 9.97414398e-01 1.31149225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322414037 meters Centerline goodness : 0.789010 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:0.13 [[ 9.88989660e-01 -1.28922709e-01 -7.26525073e-02 2.42021707e+00] [ 1.29172853e-01 9.91621286e-01 -1.26474753e-03 4.30034407e-01] [ 7.22068273e-02 -8.13390938e-03 9.97356513e-01 1.30784619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382414037 meters Centerline goodness : 0.785201 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:0.13 [[ 9.88949820e-01 -1.28975076e-01 -7.31004995e-02 2.42192828e+00] [ 1.29281572e-01 9.91607775e-01 -5.43098530e-04 4.28495582e-01] [ 7.25570698e-02 -8.91345027e-03 9.97324432e-01 1.30036618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442414037 meters Centerline goodness : 0.786565 with order 3 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:0.13 [[ 0.98916671 -0.12653981 -0.0744103 2.42388614] [ 0.12715249 0.99187688 0.00353586 0.42709385] [ 0.07335843 -0.01295901 0.99722144 0.13029764] [ 0. 0. 0. 1. ]] SLAMing on 34.502414037 meters Centerline goodness : 0.788254 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:0.13 [[ 0.98953433 -0.12314449 -0.07521461 2.42477569] [ 0.12405187 0.99224742 0.00749565 0.42595734] [ 0.07370845 -0.01674771 0.9971392 0.13030753] [ 0. 0. 0. 1. ]] SLAMing on 34.562414037 meters Centerline goodness : 0.789913 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.42, Z:0.13 [[ 0.98974318 -0.12177901 -0.07468805 2.42554374] [ 0.12266157 0.9924215 0.00732842 0.42452861] [ 0.07322958 -0.0164146 0.99718002 0.12765122] [ 0. 0. 0. 1. ]] SLAMing on 34.622414037 meters Centerline goodness : 0.786399 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.42, Z:0.13 [[ 0.98980449 -0.12129319 -0.07466619 2.42535527] [ 0.12223558 0.99246752 0.00816667 0.42309643] [ 0.07311321 -0.01721027 0.99717514 0.12802624] [ 0. 0. 0. 1. ]] SLAMing on 34.682414037 meters Centerline goodness : 0.786985 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.42, Z:0.13 [[ 0.98991252 -0.12034119 -0.07477435 2.42506707] [ 0.12139425 0.99255712 0.00968484 0.42140077] [ 0.07305233 -0.01866432 0.99715345 0.12888408] [ 0. 0. 0. 1. ]] SLAMing on 34.742414037 meters Centerline goodness : 0.786127 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.42, Z:0.13 [[ 0.98985853 -0.12054929 -0.07515293 2.42754657] [ 0.12163724 0.9925237 0.01005462 0.4188865 ] [ 0.07337899 -0.01909405 0.99712133 0.12707986] [ 0. 0. 0. 1. ]] SLAMing on 34.802414037 meters Centerline goodness : 0.789254 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.42, Z:0.13 [[ 0.98974404 -0.12101267 -0.07591228 2.43007257] [ 0.12219492 0.99244394 0.01111017 0.41690635] [ 0.07399421 -0.02027232 0.9970526 0.12633466] [ 0. 0. 0. 1. ]] SLAMing on 34.862414037 meters Centerline goodness : 0.788497 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.41, Z:0.13 [[ 0.98959712 -0.12158463 -0.07690718 2.43043574] [ 0.12298297 0.99231425 0.01369743 0.41422472] [ 0.07465069 -0.02301322 0.99694416 0.12944627] [ 0. 0. 0. 1. ]] SLAMing on 34.922414037 meters Centerline goodness : 0.787792 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.41, Z:0.13 [[ 0.98888495 -0.12680754 -0.07762989 2.43226021] [ 0.12810536 0.99168854 0.01195265 0.41150974] [ 0.07546898 -0.0217646 0.9969106 0.13146607] [ 0. 0. 0. 1. ]] SLAMing on 34.982414037 meters Centerline goodness : 0.788219 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.98812336 -0.13204292 -0.07859315 2.43630327] [ 0.13320955 0.99103976 0.0097678 0.40806406] [ 0.07659916 -0.02012115 0.99685892 0.13106106] [ 0. 0. 0. 1. ]] SLAMing on 35.042414037 meters Centerline goodness : 0.789459 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.9879104 -0.13302209 -0.07961258 2.43867063] [ 0.134252 0.99089393 0.0102768 0.40795342] [ 0.07752058 -0.02084071 0.99677291 0.13111169] [ 0. 0. 0. 1. ]] SLAMing on 35.102414037 meters Centerline goodness : 0.791851 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.98821407 -0.12996121 -0.08088901 2.4404664 ] [ 0.1315484 0.99120239 0.0145894 0.40757078] [ 0.07828132 -0.02505827 0.99661633 0.13111315] [ 0. 0. 0. 1. ]] SLAMing on 35.162414037 meters Centerline goodness : 0.792357 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.98846497 -0.12840112 -0.0803129 2.44009917] [ 0.12995152 0.99141631 0.01436339 0.40758859] [ 0.07777924 -0.0246345 0.99666621 0.12949681] [ 0. 0. 0. 1. ]] SLAMing on 35.222414037 meters Centerline goodness : 0.793130 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.98920097 -0.1232662 -0.07928993 2.43932847] [ 0.12490478 0.99203923 0.01603005 0.40680538] [ 0.07668275 -0.02576063 0.9967227 0.12629848] [ 0. 0. 0. 1. ]] SLAMing on 35.282414037 meters Centerline goodness : 0.793177 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.98985436 -0.11830085 -0.07869719 2.4367857 ] [ 0.12016129 0.99256629 0.019324 0.40715754] [ 0.07582613 -0.0285843 0.99671126 0.12639517] [ 0. 0. 0. 1. ]] SLAMing on 35.342414037 meters Centerline goodness : 0.791743 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.99008514 -0.11647907 -0.0785114 2.43612957] [ 0.11834634 0.99277991 0.01954965 0.40881191] [ 0.07566742 -0.02864736 0.99672151 0.12603088] [ 0. 0. 0. 1. ]] SLAMing on 35.402414037 meters Centerline goodness : 0.793659 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.13 [[ 0.99028547 -0.11514746 -0.07794714 2.43540126] [ 0.1169801 0.99294567 0.01935314 0.40898668] [ 0.07516881 -0.0282834 0.99676963 0.12507841] [ 0. 0. 0. 1. ]] SLAMing on 35.462414037 meters Centerline goodness : 0.791701 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.12 [[ 0.99046219 -0.11394223 -0.07747137 2.43588599] [ 0.11573559 0.99309732 0.01905233 0.40826432] [ 0.07476575 -0.02783681 0.99681252 0.1228931 ] [ 0. 0. 0. 1. ]] SLAMing on 35.522414037 meters Centerline goodness : 0.794864 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.12 [[ 0.99060403 -0.11284866 -0.0772582 2.43598614] [ 0.11468857 0.99320429 0.01979315 0.40712747] [ 0.07449954 -0.02846781 0.99681463 0.1221985 ] [ 0. 0. 0. 1. ]] SLAMing on 35.582414037 meters Centerline goodness : 0.793994 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.12 [[ 0.99045423 -0.11353284 -0.07817108 2.43759928] [ 0.11543163 0.99310999 0.02020123 0.40835035] [ 0.07533898 -0.02903181 0.99673527 0.1226238 ] [ 0. 0. 0. 1. ]] SLAMing on 35.642414037 meters Centerline goodness : 0.795683 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.41, Z:0.12 [[ 0.98984602 -0.11820614 -0.07894411 2.44230869] [ 0.11987211 0.99264901 0.01669184 0.40793792] [ 0.07639071 -0.02598555 0.99673929 0.12015634] [ 0. 0. 0. 1. ]] SLAMing on 35.702414037 meters Centerline goodness : 0.796160 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:0.12 [[ 0.98959067 -0.11971223 -0.0798705 2.44389154] [ 0.1215204 0.99242283 0.01815821 0.40483185] [ 0.07709155 -0.02767509 0.99663985 0.12184105] [ 0. 0. 0. 1. ]] SLAMing on 35.762414037 meters Centerline goodness : 0.791038 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.40, Z:0.13 [[ 0.98921096 -0.12150213 -0.08184687 2.44530641] [ 0.12360703 0.99210599 0.02114235 0.40422241] [ 0.07863193 -0.03103109 0.99642064 0.12617222] [ 0. 0. 0. 1. ]] SLAMing on 35.822414037 meters Centerline goodness : 0.789390 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.41, Z:0.13 [[ 0.9881578 -0.12865122 -0.08362427 2.44974595] [ 0.13055405 0.99128361 0.0176762 0.40640308] [ 0.0806213 -0.02838436 0.99634057 0.1272538 ] [ 0. 0. 0. 1. ]] SLAMing on 35.882414037 meters Centerline goodness : 0.790290 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.40, Z:0.13 [[ 0.98707227 -0.13563808 -0.08538522 2.45578734] [ 0.1374089 0.99039796 0.0151881 0.40358924] [ 0.08250526 -0.02672444 0.99623225 0.12683845] [ 0. 0. 0. 1. ]] SLAMing on 35.942414037 meters Centerline goodness : 0.789763 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:0.13 [[ 0.98665109 -0.13767999 -0.08697038 2.45842281] [ 0.13950393 0.99010446 0.01522506 0.40591099] [ 0.08401358 -0.02715453 0.99609455 0.12803375] [ 0. 0. 0. 1. ]] SLAMing on 36.002414037 meters Centerline goodness : 0.789409 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:0.13 [[ 0.98623468 -0.13966869 -0.08850883 2.46056706] [ 0.14151907 0.98982254 0.01495663 0.40950086] [ 0.08551906 -0.02727644 0.99596309 0.12928686] [ 0. 0. 0. 1. ]] SLAMing on 36.062414036999996 meters Centerline goodness : 0.790800 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:0.13 [[ 0.98607269 -0.14044921 -0.08907676 2.46184733] [ 0.1423358 0.9897023 0.01516151 0.40937454] [ 0.08603005 -0.02762917 0.99590936 0.12941539] [ 0. 0. 0. 1. ]] SLAMing on 36.122414037 meters Centerline goodness : 0.787807 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:0.13 [[ 0.98601702 -0.14066973 -0.08934464 2.46155141] [ 0.14259631 0.98965913 0.01552758 0.40962467] [ 0.08623648 -0.02805068 0.99587973 0.13056319] [ 0. 0. 0. 1. ]] SLAMing on 36.182414037 meters Centerline goodness : 0.794709 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:0.13 [[ 0.98540577 -0.14326614 -0.09192536 2.46400013] [ 0.1453645 0.98924028 0.01651752 0.4148394 ] [ 0.08856987 -0.02963914 0.9956289 0.13376863] [ 0. 0. 0. 1. ]] SLAMing on 36.242414037 meters Centerline goodness : 0.794786 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.42, Z:0.14 [[ 0.98454377 -0.1471466 -0.09498123 2.46882692] [ 0.14924839 0.98868014 0.01537834 0.42235121] [ 0.09164318 -0.02931645 0.99536027 0.13512198] [ 0. 0. 0. 1. ]] SLAMing on 36.302414037 meters Centerline goodness : 0.792735 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.43, Z:0.13 [[ 0.98422812 -0.14863701 -0.09592726 2.47196939] [ 0.15061442 0.98849803 0.01367239 0.42554161] [ 0.09279168 -0.02790478 0.99529444 0.13345305] [ 0. 0. 0. 1. ]] SLAMing on 36.362414037 meters Centerline goodness : 0.792981 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.43, Z:0.13 [[ 0.98400229 -0.14866173 -0.09817938 2.47492314] [ 0.15075961 0.98846753 0.0142647 0.43332723] [ 0.09492651 -0.02883798 0.99506649 0.13366305] [ 0. 0. 0. 1. ]] SLAMing on 36.422414037 meters Centerline goodness : 0.790937 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:0.13 [[ 0.984085 -0.14691223 -0.09996755 2.47640821] [ 0.1492241 0.98867371 0.01601457 0.43969224] [ 0.09648256 -0.03067727 0.99486181 0.13439985] [ 0. 0. 0. 1. ]] SLAMing on 36.482414037 meters Centerline goodness : 0.787308 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:0.13 [[ 0.98421733 -0.14506415 -0.10135403 2.4784526 ] [ 0.14741842 0.98894321 0.01609765 0.44817908] [ 0.09789819 -0.03078503 0.99472018 0.13282214] [ 0. 0. 0. 1. ]] SLAMing on 36.542414037 meters Centerline goodness : 0.776615 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.46, Z:0.14 [[ 0.98448109 -0.14252571 -0.10238852 2.47676543] [ 0.14507934 0.98925802 0.01790399 0.45517989] [ 0.09873689 -0.0324806 0.99458335 0.13557522] [ 0. 0. 0. 1. ]] SLAMing on 36.602414037 meters Centerline goodness : 0.784704 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.46, Z:0.14 [[ 0.98453456 -0.14070089 -0.10437888 2.4774721 ] [ 0.14359289 0.9894205 0.02069207 0.46088587] [ 0.10036321 -0.03536012 0.99432233 0.13790743] [ 0. 0. 0. 1. ]] SLAMing on 36.662414037 meters Centerline goodness : 0.777706 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.47, Z:0.14 [[ 0.98444424 -0.14014337 -0.10596873 2.47887952] [ 0.14319761 0.98945516 0.02174681 0.46720747] [ 0.10180364 -0.03658299 0.99413163 0.13859117] [ 0. 0. 0. 1. ]] SLAMing on 36.722414037 meters Centerline goodness : 0.779815 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.47, Z:0.14 [[ 0.9842695 -0.14086494 -0.1066331 2.4817018 ] [ 0.14375962 0.98941202 0.01992576 0.47171397] [ 0.10269723 -0.03494185 0.99409876 0.13612988] [ 0. 0. 0. 1. ]] SLAMing on 36.782414037 meters Centerline goodness : 0.775723 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.48, Z:0.13 [[ 0.9843741 -0.13936799 -0.10762992 2.48330089] [ 0.14235053 0.98960387 0.0205061 0.4776677 ] [ 0.10365309 -0.03550685 0.99397953 0.1347885 ] [ 0. 0. 0. 1. ]] SLAMing on 36.842414037 meters Centerline goodness : 0.776170 with order 3 Centerline is valid? [False, False] Translation: X:2.48, Y:0.48, Z:0.14 [[ 0.98464346 -0.13631511 -0.10906624 2.48405267] [ 0.13962693 0.98993022 0.02329136 0.4823807 ] [ 0.104793 -0.03816227 0.99376158 0.13550069] [ 0. 0. 0. 1. ]] SLAMing on 36.902414037 meters Centerline goodness : 0.762922 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.49, Z:0.13 [[ 0.98502589 -0.13326346 -0.10938397 2.48366993] [ 0.13657434 0.99035525 0.02332243 0.49023702] [ 0.10522096 -0.03791224 0.99372592 0.13419438] [ 0. 0. 0. 1. ]] SLAMing on 36.962414037 meters Centerline goodness : 0.760249 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.49, Z:0.13 [[ 0.98534522 -0.13033947 -0.11002916 2.48375532] [ 0.13382232 0.99069362 0.02485439 0.49497171] [ 0.10576568 -0.03921451 0.99361755 0.13389878] [ 0. 0. 0. 1. ]] SLAMing on 37.022414037 meters Centerline goodness : 0.760559 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.51, Z:0.13 [[ 0.98628663 -0.13161286 -0.09958281 2.48362047] [ 0.13467904 0.99058159 0.02469161 0.50987018] [ 0.09539517 -0.03776473 0.99472287 0.13196635] [ 0. 0. 0. 1. ]] SLAMing on 37.082414037 meters Centerline goodness : 0.758666 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.52, Z:0.13 [[ 0.98643225 -0.12994537 -0.10032758 2.48398516] [ 0.13304151 0.99080054 0.02478382 0.51720908] [ 0.09618408 -0.0377953 0.99464573 0.13132237] [ 0. 0. 0. 1. ]] SLAMing on 37.142414037 meters Centerline goodness : 0.756584 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.52, Z:0.13 [[ 0.98622957 -0.13118811 -0.10070215 2.48538728] [ 0.13414859 0.99069002 0.0231828 0.52022433] [ 0.09672331 -0.03637261 0.99464649 0.13025662] [ 0. 0. 0. 1. ]] SLAMing on 37.202414037 meters Centerline goodness : 0.759402 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.52, Z:0.13 [[ 0.98635042 -0.1292575 -0.10200665 2.48622852] [ 0.13255929 0.99082732 0.02625365 0.52216984] [ 0.09767749 -0.03941723 0.99443722 0.13133154] [ 0. 0. 0. 1. ]] SLAMing on 37.262414037 meters Centerline goodness : 0.760199 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.53, Z:0.13 [[ 0.98678519 -0.1252966 -0.10274121 2.48483148] [ 0.12885802 0.99124574 0.0287661 0.52979442] [ 0.09823749 -0.04162499 0.99429209 0.13227393] [ 0. 0. 0. 1. ]] SLAMing on 37.322414037 meters Centerline goodness : 0.775471 with order 3 Centerline is valid? [False, False] Translation: X:2.48, Y:0.54, Z:0.13 [[ 0.98699098 -0.12417197 -0.10212799 2.48345111] [ 0.127485 0.99148498 0.02655399 0.53514154] [ 0.09796111 -0.03922834 0.99441679 0.13147721] [ 0. 0. 0. 1. ]] SLAMing on 37.382414037 meters Centerline goodness : 0.759555 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.54, Z:0.13 [[ 0.98714628 -0.12306158 -0.10197091 2.48371987] [ 0.1262187 0.99168522 0.02508531 0.5396445 ] [ 0.09803601 -0.03763351 0.99447105 0.1297917 ] [ 0. 0. 0. 1. ]] SLAMing on 37.442414037 meters Centerline goodness : 0.760017 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.54, Z:0.13 [[ 0.98744231 -0.12028623 -0.10241541 2.48439057] [ 0.12365241 0.99195394 0.02715628 0.54199687] [ 0.09832484 -0.03947917 0.99437097 0.12873184] [ 0. 0. 0. 1. ]] SLAMing on 37.502414037 meters Centerline goodness : 0.761054 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.55, Z:0.12 [[ 0.98820901 -0.1222341 -0.09220511 2.48669339] [ 0.12516689 0.99177628 0.02670313 0.55313394] [ 0.08818281 -0.0379293 0.99538192 0.12455949] [ 0. 0. 0. 1. ]] SLAMing on 37.562414036999996 meters Centerline goodness : 0.762225 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.56, Z:0.12 [[ 0.98827336 -0.1220914 -0.09170304 2.48522393] [ 0.12485125 0.99186132 0.02496568 0.55702443] [ 0.0879086 -0.03612216 0.99547339 0.12468167] [ 0. 0. 0. 1. ]] SLAMing on 37.622414037 meters Centerline goodness : 0.762169 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.56, Z:0.13 [[ 0.98819322 -0.1229725 -0.09138887 2.48341623] [ 0.12554597 0.99182247 0.02294348 0.56087235] [ 0.08782012 -0.03414609 0.99555094 0.12670404] [ 0. 0. 0. 1. ]] SLAMing on 37.682414037 meters Centerline goodness : 0.759951 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.56, Z:0.13 [[ 0.98817691 -0.12289579 -0.09166798 2.4843198 ] [ 0.12544602 0.99184355 0.02257572 0.56189748] [ 0.08814583 -0.03380819 0.99553369 0.12653086] [ 0. 0. 0. 1. ]] SLAMing on 37.742414037 meters Centerline goodness : 0.759068 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.57, Z:0.13 [[ 0.98831948 -0.1216151 -0.09183882 2.48570203] [ 0.12415587 0.99200856 0.02245724 0.56622976] [ 0.08837376 -0.03359726 0.99552062 0.12568176] [ 0. 0. 0. 1. ]] SLAMing on 37.802414037 meters Centerline goodness : 0.759096 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.57, Z:0.13 [[ 0.9882933 -0.12182413 -0.09184354 2.485105 ] [ 0.12425553 0.99202342 0.02121565 0.5697297 ] [ 0.08852636 -0.03237935 0.99554742 0.12691502] [ 0. 0. 0. 1. ]] SLAMing on 37.862414037 meters Centerline goodness : 0.757460 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.57, Z:0.13 [[ 0.98792979 -0.12509233 -0.09136 2.48485814] [ 0.12704985 0.9917687 0.01591155 0.57233929] [ 0.08861757 -0.02732677 0.9956908 0.12955997] [ 0. 0. 0. 1. ]] SLAMing on 37.922414037 meters Centerline goodness : 0.758390 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.57, Z:0.13 [[ 0.98756501 -0.12769133 -0.09170752 2.48803951] [ 0.12932961 0.99152753 0.01212471 0.57489191] [ 0.08938231 -0.02383443 0.99571217 0.12881359] [ 0. 0. 0. 1. ]] SLAMing on 37.982414037 meters Centerline goodness : 0.761194 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 0.98755826 -0.12727567 -0.09235571 2.49050902] [ 0.12893822 0.9915771 0.01223925 0.5768201 ] [ 0.09002005 -0.02399516 0.99565085 0.12733584] [ 0. 0. 0. 1. ]] SLAMing on 38.042414037 meters Centerline goodness : 0.756635 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 0.98753806 -0.12759931 -0.09212492 2.48973706] [ 0.12919063 0.99155312 0.0114971 0.57776576] [ 0.08987973 -0.0232555 0.99568108 0.12810135] [ 0. 0. 0. 1. ]] SLAMing on 38.102414037 meters Centerline goodness : 0.756179 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 0.9874678 -0.12828928 -0.09191957 2.48858009] [ 0.12981103 0.9914805 0.01074736 0.57868973] [ 0.08975769 -0.02254484 0.99570843 0.12903664] [ 0. 0. 0. 1. ]] SLAMing on 38.162414037 meters Centerline goodness : 0.756118 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 0.98698839 -0.1320968 -0.0916753 2.48959325] [ 0.1332338 0.99106418 0.00636819 0.58128284] [ 0.09001489 -0.01849958 0.99576859 0.12902372] [ 0. 0. 0. 1. ]] SLAMing on 38.222414037 meters Centerline goodness : 0.758681 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 9.86343752e-01 -1.37372031e-01 -9.08566309e-02 2.48735864e+00] [ 1.38049568e-01 9.90424612e-01 1.18524895e-03 5.81478637e-01] [ 8.98238234e-02 -1.37117815e-02 9.95863278e-01 1.31689605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282414037 meters Centerline goodness : 0.760965 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 9.85746429e-01 -1.41651200e-01 -9.07684747e-02 2.48847696e+00] [ 1.42015684e-01 9.89861343e-01 -2.46334822e-03 5.81002002e-01] [ 9.01971405e-02 -1.04623103e-02 9.95868975e-01 1.31530849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342414037 meters Centerline goodness : 0.757777 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 0.98521812 -0.14528179 -0.09076594 2.49112604] [ 0.14536848 0.98936122 -0.00569059 0.58080467] [ 0.09062704 -0.00758803 0.99585599 0.12981437] [ 0. 0. 0. 1. ]] SLAMing on 38.402414037 meters Centerline goodness : 0.758528 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.58, Z:0.13 [[ 0.98457155 -0.14992944 -0.09022209 2.49192814] [ 0.14971715 0.98868648 -0.00915484 0.57752272] [ 0.09057394 -0.0044942 0.99587959 0.12900953] [ 0. 0. 0. 1. ]] SLAMing on 38.462414037 meters Centerline goodness : 0.761002 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.58, Z:0.13 [[ 9.84370622e-01 -1.54652908e-01 -8.42434354e-02 2.50011423e+00] [ 1.55023579e-01 9.87908402e-01 -2.16338187e-03 5.75026706e-01] [ 8.35593709e-02 -1.09301493e-02 9.96442855e-01 1.27374245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522414037 meters Centerline goodness : 0.760570 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98434503 -0.15785969 -0.07839119 2.50835606] [ 0.15880761 0.9872915 0.00596938 0.57349245] [ 0.07645263 -0.01832505 0.9969048 0.12578223] [ 0. 0. 0. 1. ]] SLAMing on 38.582414037 meters Centerline goodness : 0.757914 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98379151 -0.16137011 -0.07819171 2.51002948] [ 0.16205971 0.98677775 0.00251358 0.5718002 ] [ 0.07675223 -0.01514456 0.99693517 0.12545512] [ 0. 0. 0. 1. ]] SLAMing on 38.642414037 meters Centerline goodness : 0.757831 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.12 [[ 9.83280959e-01 -1.64487057e-01 -7.81189068e-02 2.51219334e+00] [ 1.64930822e-01 9.86304828e-01 -7.81391433e-04 5.71221513e-01] [ 7.71775837e-02 -1.21158882e-02 9.96943743e-01 1.24750615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702414037 meters Centerline goodness : 0.758275 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.12 [[ 9.83290399e-01 -1.64287921e-01 -7.84185534e-02 2.51278208e+00] [ 1.64727177e-01 9.86338778e-01 -8.78554542e-04 5.72245755e-01] [ 7.74915960e-02 -1.20537927e-02 9.96920137e-01 1.24925146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762414037 meters Centerline goodness : 0.759756 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 9.83383828e-01 -1.63559332e-01 -7.87692359e-02 2.51328766e+00] [ 1.64025232e-01 9.86455983e-01 -5.62679761e-04 5.71449307e-01] [ 7.77944156e-02 -1.23668120e-02 9.96892718e-01 1.25633131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822414037 meters Centerline goodness : 0.760118 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.57, Z:0.12 [[ 9.83595089e-01 -1.62034252e-01 -7.92817887e-02 2.51590630e+00] [ 1.62597785e-01 9.86692213e-01 6.61552987e-04 5.69474392e-01] [ 7.81195293e-02 -1.35417435e-02 9.96852025e-01 1.24140693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882414037 meters Centerline goodness : 0.763528 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.57, Z:0.12 [[ 9.83636421e-01 -1.61704639e-01 -7.94418116e-02 2.51642955e+00] [ 1.62261658e-01 9.86747605e-01 5.64071260e-04 5.71302654e-01] [ 7.82978044e-02 -1.34452011e-02 9.96839345e-01 1.23929645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942414037 meters Centerline goodness : 0.762713 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.57, Z:0.13 [[ 9.83592620e-01 -1.62046084e-01 -7.92882419e-02 2.51532817e+00] [ 1.62539191e-01 9.86702060e-01 -2.37816878e-04 5.73048344e-01] [ 7.82724089e-02 -1.26535318e-02 9.96851703e-01 1.25169463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002414037 meters Centerline goodness : 0.760456 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 9.83529797e-01 -1.62494489e-01 -7.91497219e-02 2.51444616e+00] [ 1.62934515e-01 9.86636466e-01 -9.10153188e-04 5.72352715e-01] [ 7.82398967e-02 -1.20010588e-02 9.96862324e-01 1.26444944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062414036999996 meters Centerline goodness : 0.763345 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 9.83392459e-01 -1.63596267e-01 -7.85845640e-02 2.51216215e+00] [ 1.63926408e-01 9.86469947e-01 -2.27534694e-03 5.74612020e-01] [ 7.78935489e-02 -1.06445263e-02 9.96904855e-01 1.28062837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122414037 meters Centerline goodness : 0.760030 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.58, Z:0.13 [[ 0.98333876 -0.16388776 -0.07864909 2.5123141 ] [ 0.16418439 0.9864259 -0.00272429 0.57659554] [ 0.07802798 -0.01023405 0.99689864 0.12794833] [ 0. 0. 0. 1. ]] SLAMing on 39.182414037 meters Centerline goodness : 0.764847 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.58, Z:0.13 [[ 0.98265642 -0.16819825 -0.07807506 2.51253286] [ 0.16818635 0.98573193 -0.00677545 0.576687 ] [ 0.0781007 -0.00647322 0.99692446 0.12815216] [ 0. 0. 0. 1. ]] SLAMing on 39.242414037 meters Centerline goodness : 0.762520 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.58, Z:0.13 [[ 0.98207359 -0.17172432 -0.07773175 2.51385847] [ 0.17142578 0.98514058 -0.01054735 0.57748095] [ 0.07838794 -0.00296695 0.99691852 0.12775039] [ 0. 0. 0. 1. ]] SLAMing on 39.302414037 meters Centerline goodness : 0.765906 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.58, Z:0.13 [[ 9.81323923e-01 -1.76187680e-01 -7.72091885e-02 2.51481065e+00] [ 1.75621692e-01 9.84356550e-01 -1.41139758e-02 5.76528676e-01] [ 7.84880791e-02 2.90773730e-04 9.96915010e-01 1.26825327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362414037 meters Centerline goodness : 0.767334 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.58, Z:0.13 [[ 0.98067057 -0.1800002 -0.07671487 2.51586398] [ 0.17917373 0.98366037 -0.01758014 0.57661511] [ 0.07862581 0.00349504 0.99689807 0.12611478] [ 0. 0. 0. 1. ]] SLAMing on 39.422414037 meters Centerline goodness : 0.769628 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.58, Z:0.13 [[ 0.97994002 -0.1842306 -0.07600422 2.51557369] [ 0.18311788 0.98285761 -0.02141869 0.57501169] [ 0.0786473 0.0070713 0.99687742 0.12700935] [ 0. 0. 0. 1. ]] SLAMing on 39.482414037 meters Centerline goodness : 0.769686 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.57, Z:0.13 [[ 0.97996116 -0.18404858 -0.0761725 2.51562114] [ 0.18293547 0.98289195 -0.0214015 0.57448934] [ 0.07880825 0.00703799 0.99686495 0.1276835 ] [ 0. 0. 0. 1. ]] SLAMing on 39.542414037 meters Centerline goodness : 0.770226 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.57, Z:0.13 [[ 0.98068237 -0.17983683 -0.07694675 2.51543568] [ 0.17901597 0.98369065 -0.01749253 0.57429783] [ 0.0788376 0.00337992 0.99688174 0.12809002] [ 0. 0. 0. 1. ]] SLAMing on 39.602414037 meters Centerline goodness : 0.772300 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98120952 -0.1775691 -0.07547907 2.51294207] [ 0.17674852 0.984101 -0.01746959 0.57323414] [ 0.07738109 0.00380051 0.99699434 0.1275795 ] [ 0. 0. 0. 1. ]] SLAMing on 39.662414037 meters Centerline goodness : 0.772913 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98142497 -0.17685596 -0.07434373 2.51077007] [ 0.17599965 0.98422623 -0.01796828 0.57124271] [ 0.07634884 0.00455005 0.99707079 0.12793869] [ 0. 0. 0. 1. ]] SLAMing on 39.722414037 meters Centerline goodness : 0.773153 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 9.82039558e-01 -1.73198727e-01 -7.48365363e-02 2.50999706e+00] [ 1.72626860e-01 9.84886467e-01 -1.40930654e-02 5.71228704e-01] [ 7.61463928e-02 9.21151446e-04 9.97096223e-01 1.27933446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782414037 meters Centerline goodness : 0.772593 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 9.82063019e-01 -1.72981881e-01 -7.50299594e-02 2.51041635e+00] [ 1.72422729e-01 9.84924736e-01 -1.39164163e-02 5.70632153e-01] [ 7.63061508e-02 7.29927431e-04 9.97084168e-01 1.28053778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842414037 meters Centerline goodness : 0.768506 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98155262 -0.17592614 -0.07486286 2.51292331] [ 0.17514006 0.98439691 -0.0169907 0.56989802] [ 0.07668387 0.00356578 0.99704908 0.12665746] [ 0. 0. 0. 1. ]] SLAMing on 39.902414037 meters Centerline goodness : 0.771344 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98140323 -0.17698125 -0.07433256 2.51104568] [ 0.17617883 0.98420668 -0.01726914 0.56856021] [ 0.07621492 0.00385217 0.99708397 0.12752252] [ 0. 0. 0. 1. ]] SLAMing on 39.962414037 meters Centerline goodness : 0.770790 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.57, Z:0.13 [[ 0.98128674 -0.17767328 -0.07421957 2.51052684] [ 0.17688728 0.98408281 -0.0170855 0.56564644] [ 0.07607384 0.00363727 0.99709555 0.12783791] [ 0. 0. 0. 1. ]] SLAMing on 40.022414037 meters Centerline goodness : 0.771321 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.56, Z:0.13 [[ 9.81302380e-01 -1.72242348e-01 -8.58965238e-02 2.50888761e+00] [ 1.71586445e-01 9.85054604e-01 -1.50172647e-02 5.59645506e-01] [ 8.71993752e-02 -2.20156245e-06 9.96190880e-01 1.32512865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082414037 meters Centerline goodness : 0.768740 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.55, Z:0.14 [[ 0.98082886 -0.16862699 -0.09767131 2.50737662] [ 0.16833358 0.98566536 -0.01129657 0.55013979] [ 0.09817613 -0.00536136 0.99515461 0.13624324] [ 0. 0. 0. 1. ]] SLAMing on 40.142414037 meters Centerline goodness : 0.768211 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.54, Z:0.14 [[ 0.9802614 -0.16573386 -0.10779548 2.50562854] [ 0.16563652 0.98613699 -0.00991886 0.54005999] [ 0.107945 -0.00813179 0.99412361 0.13819175] [ 0. 0. 0. 1. ]] SLAMing on 40.202414037 meters Centerline goodness : 0.769272 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.54, Z:0.14 [[ 0.98038218 -0.1648659 -0.10802782 2.50591358] [ 0.1649705 0.98626581 -0.00802995 0.53647451] [ 0.10786802 -0.00994898 0.99411544 0.13868166] [ 0. 0. 0. 1. ]] SLAMing on 40.262414037 meters Centerline goodness : 0.769759 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.53, Z:0.14 [[ 9.80888349e-01 -1.61146197e-01 -1.09041047e-01 2.50667063e+00] [ 1.61877895e-01 9.86808417e-01 -2.16691830e-03 5.30844382e-01] [ 1.07951813e-01 -1.55258301e-02 9.94034886e-01 1.39338637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322414037 meters Centerline goodness : 0.768009 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.53, Z:0.14 [[ 9.80906243e-01 -1.60753094e-01 -1.09459511e-01 2.50956965e+00] [ 1.61553079e-01 9.86862762e-01 -1.57883438e-03 5.28778266e-01] [ 1.08275318e-01 -1.61348325e-02 9.93990001e-01 1.37119300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382414037 meters Centerline goodness : 0.770481 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.14 [[ 9.81148796e-01 -1.59289526e-01 -1.09425260e-01 2.51069140e+00] [ 1.60248908e-01 9.87076637e-01 -2.69190416e-05 5.24959377e-01] [ 1.08015406e-01 -1.75088670e-02 9.93995026e-01 1.35841746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442414037 meters Centerline goodness : 0.768934 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.14 [[ 0.98167855 -0.15529538 -0.11041092 2.5108775 ] [ 0.1567951 0.9876186 0.00497943 0.52290043] [ 0.1082706 -0.02220009 0.99387355 0.1368061 ] [ 0. 0. 0. 1. ]] SLAMing on 40.502414037 meters Centerline goodness : 0.768084 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.13 [[ 0.98207358 -0.1532534 -0.10974913 2.5115972 ] [ 0.15473851 0.98794233 0.00509416 0.52232736] [ 0.10764512 -0.02198526 0.99394626 0.13391299] [ 0. 0. 0. 1. ]] SLAMing on 40.562414036999996 meters Centerline goodness : 0.768076 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.13 [[ 0.98264219 -0.14924639 -0.11018098 2.51237352] [ 0.1511137 0.98847767 0.00874904 0.52032074] [ 0.10760567 -0.02524703 0.99387303 0.13282941] [ 0. 0. 0. 1. ]] SLAMing on 40.622414037 meters Centerline goodness : 0.766272 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.13 [[ 0.98269814 -0.14898848 -0.11003088 2.5116425 ] [ 0.15087344 0.98851246 0.00896182 0.52033463] [ 0.10743169 -0.0254075 0.99388777 0.13335732] [ 0. 0. 0. 1. ]] SLAMing on 40.682414037 meters Centerline goodness : 0.767940 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.13 [[ 0.98269324 -0.14872822 -0.11042602 2.51198927] [ 0.15076739 0.98851555 0.01030493 0.51816655] [ 0.1076252 -0.02677523 0.99383092 0.13417406] [ 0. 0. 0. 1. ]] SLAMing on 40.742414037 meters Centerline goodness : 0.775249 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.13 [[ 0.98258316 -0.14899182 -0.11104852 2.51340601] [ 0.15117929 0.98843949 0.01149786 0.51615924] [ 0.10805165 -0.02808584 0.99374847 0.13443544] [ 0. 0. 0. 1. ]] SLAMing on 40.802414037 meters Centerline goodness : 0.769144 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.14 [[ 0.98202187 -0.15266836 -0.11101986 2.51398768] [ 0.15460311 0.98793584 0.0089812 0.51540912] [ 0.10830935 -0.02598375 0.99377761 0.13527959] [ 0. 0. 0. 1. ]] SLAMing on 40.862414037 meters Centerline goodness : 0.767177 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:0.13 [[ 0.98178103 -0.15360422 -0.11185596 2.51719084] [ 0.15566602 0.98776028 0.00988584 0.51266149] [ 0.10896837 -0.0271179 0.99367526 0.13404234] [ 0. 0. 0. 1. ]] SLAMing on 40.922414037 meters Centerline goodness : 0.766725 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:0.13 [[ 0.98109315 -0.15776807 -0.11209579 2.5211482 ] [ 0.1595483 0.98716506 0.00703518 0.51003438] [ 0.10954712 -0.02478686 0.9936725 0.13181278] [ 0. 0. 0. 1. ]] SLAMing on 40.982414037 meters Centerline goodness : 0.770758 with order 3 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:0.13 [[ 0.98092281 -0.15843695 -0.11264174 2.52255002] [ 0.16031023 0.98703654 0.00771385 0.50863551] [ 0.10995936 -0.02562432 0.99360572 0.13191503] [ 0. 0. 0. 1. ]] SLAMing on 41.042414037 meters Centerline goodness : 0.771760 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:0.13 [[ 0.98085208 -0.15862328 -0.1129949 2.52345984] [ 0.16061298 0.98697938 0.00867001 0.50681138] [ 0.11014837 -0.02665244 0.99355774 0.1319917 ] [ 0. 0. 0. 1. ]] SLAMing on 41.102414037 meters Centerline goodness : 0.773804 with order 3 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:0.13 [[ 0.98090755 -0.15824318 -0.11304637 2.52274229] [ 0.16033904 0.98701496 0.00963664 0.50521393] [ 0.11005353 -0.0275784 0.99354298 0.13317793] [ 0. 0. 0. 1. ]] SLAMing on 41.162414037 meters Centerline goodness : 0.769316 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:0.13 [[ 0.98086406 -0.15813404 -0.11357519 2.52277784] [ 0.16032789 0.98700912 0.01039073 0.50509429] [ 0.11045662 -0.02840116 0.99347507 0.13442222] [ 0. 0. 0. 1. ]] SLAMing on 41.222414037 meters Centerline goodness : 0.770325 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.51, Z:0.13 [[ 0.98078037 -0.15807526 -0.11437694 2.52532493] [ 0.16034547 0.98700111 0.01086959 0.50517821] [ 0.11117196 -0.0290005 0.99337796 0.13321232] [ 0. 0. 0. 1. ]] SLAMing on 41.282414037 meters Centerline goodness : 0.772246 with order 3 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.98087342 -0.1576947 -0.114104 2.52658263] [ 0.15991125 0.98707574 0.01048238 0.50446626] [ 0.11097628 -0.0285284 0.99341351 0.13120475] [ 0. 0. 0. 1. ]] SLAMing on 41.342414037 meters Centerline goodness : 0.767817 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.98140289 -0.15376763 -0.11490815 2.5271385 ] [ 0.15650859 0.98756008 0.01517043 0.50181716] [ 0.11114599 -0.03287241 0.99326028 0.1314372 ] [ 0. 0. 0. 1. ]] SLAMing on 41.402414037 meters Centerline goodness : 0.774672 with order 3 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.98206772 -0.1488731 -0.1156711 2.52777436] [ 0.1520853 0.98817677 0.01940961 0.50271318] [ 0.11141393 -0.03665343 0.99309791 0.13063878] [ 0. 0. 0. 1. ]] SLAMing on 41.462414037 meters Centerline goodness : 0.766239 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.98223251 -0.14777074 -0.11568538 2.5284528 ] [ 0.15102669 0.98833025 0.01985584 0.50232976] [ 0.11140125 -0.03697463 0.99308743 0.12969766] [ 0. 0. 0. 1. ]] SLAMing on 41.522414037 meters Centerline goodness : 0.772744 with order 3 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.98225174 -0.14802331 -0.11519819 2.52727332] [ 0.15130371 0.98828041 0.02022429 0.49959084] [ 0.11085444 -0.03729526 0.99313663 0.13055435] [ 0. 0. 0. 1. ]] SLAMing on 41.582414037 meters Centerline goodness : 0.776004 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.9815435 -0.15229189 -0.11566996 2.53048418] [ 0.15530585 0.98771223 0.01745389 0.49832898] [ 0.11159055 -0.03509598 0.99313434 0.12965616] [ 0. 0. 0. 1. ]] SLAMing on 41.642414037 meters Centerline goodness : 0.774250 with order 3 Centerline is valid? [False, False] Translation: X:2.53, Y:0.50, Z:0.13 [[ 0.98084662 -0.15622522 -0.11633391 2.53362579] [ 0.15901332 0.98716208 0.01502629 0.49747347] [ 0.11249294 -0.03323713 0.99309649 0.12918389] [ 0. 0. 0. 1. ]] SLAMing on 41.702414037 meters Centerline goodness : 0.777826 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.49, Z:0.13 [[ 0.98001175 -0.16090568 -0.11698862 2.53754587] [ 0.16351957 0.98645396 0.01303588 0.49329271] [ 0.11330634 -0.03190525 0.9930477 0.12839065] [ 0. 0. 0. 1. ]] SLAMing on 41.762414037 meters Centerline goodness : 0.778246 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.49, Z:0.13 [[ 0.97943188 -0.16448619 -0.11686528 2.5391032 ] [ 0.16684114 0.98592686 0.01059494 0.49089318] [ 0.1134779 -0.02987495 0.99309126 0.12820763] [ 0. 0. 0. 1. ]] SLAMing on 41.822414037 meters Centerline goodness : 0.774522 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.97942406 -0.16447801 -0.11694227 2.53880896] [ 0.16708066 0.98586086 0.01274464 0.48478741] [ 0.11319259 -0.0320212 0.99305694 0.12976313] [ 0. 0. 0. 1. ]] SLAMing on 41.882414037 meters Centerline goodness : 0.775292 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.98000339 -0.1605645 -0.11752614 2.5377913 ] [ 0.1637379 0.98634327 0.01780012 0.48130703] [ 0.11306304 -0.03668767 0.99291025 0.13145189] [ 0. 0. 0. 1. ]] SLAMing on 41.942414037 meters Centerline goodness : 0.781173 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.98023404 -0.15914349 -0.11753545 2.53969667] [ 0.16241837 0.98654346 0.01876919 0.47887587] [ 0.11296683 -0.03748811 0.9928913 0.12923272] [ 0. 0. 0. 1. ]] SLAMing on 42.002414037 meters Centerline goodness : 0.780575 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.98049901 -0.15756559 -0.11745121 2.54055146] [ 0.1609811 0.9867523 0.02012411 0.47656494] [ 0.11272438 -0.03863909 0.99287473 0.12798816] [ 0. 0. 0. 1. ]] SLAMing on 42.062414036999996 meters Centerline goodness : 0.778605 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.47, Z:0.13 [[ 0.98101657 -0.15416822 -0.11763775 2.53946387] [ 0.15799652 0.98715072 0.02388632 0.4744938 ] [ 0.11244368 -0.04201923 0.99276926 0.12888334] [ 0. 0. 0. 1. ]] SLAMing on 42.122414037 meters Centerline goodness : 0.782518 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.47, Z:0.13 [[ 0.98098586 -0.15555973 -0.11605137 2.53933113] [ 0.1590399 0.98704237 0.02129959 0.47119186] [ 0.11123426 -0.03935139 0.99301481 0.12672454] [ 0. 0. 0. 1. ]] SLAMing on 42.182414037 meters Centerline goodness : 0.781911 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.47, Z:0.13 [[ 0.9809371 -0.15543772 -0.11662552 2.54179069] [ 0.1590941 0.98700313 0.02266908 0.46779551] [ 0.11158613 -0.04079138 0.99291722 0.12569965] [ 0. 0. 0. 1. ]] SLAMing on 42.242414036999996 meters Centerline goodness : 0.781166 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.47, Z:0.13 [[ 0.98100184 -0.1536938 -0.11837907 2.54294617] [ 0.15784528 0.9871089 0.02647426 0.46903413] [ 0.1127841 -0.04465687 0.99261549 0.12758999] [ 0. 0. 0. 1. ]] SLAMing on 42.302414037 meters Centerline goodness : 0.781564 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.47, Z:0.13 [[ 0.98092629 -0.15404589 -0.11854738 2.5444704 ] [ 0.15822658 0.98704327 0.02664471 0.46697203] [ 0.11290688 -0.04489384 0.99259084 0.12657854] [ 0. 0. 0. 1. ]] SLAMing on 42.362414037 meters Centerline goodness : 0.782196 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.47, Z:0.13 [[ 0.98077773 -0.15479388 -0.11880195 2.54643699] [ 0.15897975 0.98692486 0.0265473 0.46503819] [ 0.11313924 -0.04492411 0.99256301 0.12549416] [ 0. 0. 0. 1. ]] SLAMing on 42.422414037 meters Centerline goodness : 0.780369 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.47, Z:0.13 [[ 0.98078616 -0.15362416 -0.12024196 2.5453334 ] [ 0.15820661 0.98696577 0.02948275 0.4686489 ] [ 0.11414544 -0.04793935 0.99230673 0.12901043] [ 0. 0. 0. 1. ]] SLAMing on 42.482414037 meters Centerline goodness : 0.780551 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.47, Z:0.13 [[ 0.98071726 -0.15421546 -0.12004688 2.54538236] [ 0.15864749 0.9869318 0.02822388 0.47054409] [ 0.11412553 -0.04672478 0.99236695 0.12836915] [ 0. 0. 0. 1. ]] SLAMing on 42.542414037 meters Centerline goodness : 0.780517 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.47, Z:0.13 [[ 0.98076023 -0.15368393 -0.12037696 2.54635253] [ 0.15820179 0.98698489 0.02886192 0.47024427] [ 0.11437463 -0.04735048 0.99230861 0.12785917] [ 0. 0. 0. 1. ]] SLAMing on 42.602414037 meters Centerline goodness : 0.778232 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.47, Z:0.13 [[ 0.98080924 -0.15330712 -0.12045816 2.54454379] [ 0.15775495 0.98707434 0.02824209 0.47494449] [ 0.11457145 -0.04670297 0.99231659 0.12936804] [ 0. 0. 0. 1. ]] SLAMing on 42.662414037 meters Centerline goodness : 0.775428 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.98155063 -0.14737538 -0.12181485 2.5434178 ] [ 0.15259149 0.98768312 0.03461069 0.47743907] [ 0.11521371 -0.05256005 0.99194921 0.13105333] [ 0. 0. 0. 1. ]] SLAMing on 42.722414037 meters Centerline goodness : 0.777446 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.98162149 -0.14739267 -0.1212215 2.54361587] [ 0.15239028 0.9877695 0.03299409 0.47934388] [ 0.11487581 -0.05086068 0.99207698 0.12900508] [ 0. 0. 0. 1. ]] SLAMing on 42.782414037 meters Centerline goodness : 0.764618 with order 3 Centerline is valid? [False, False] Translation: X:2.54, Y:0.48, Z:0.13 [[ 0.98141259 -0.14858131 -0.1214616 2.5446029 ] [ 0.15342903 0.98765646 0.03153169 0.48195305] [ 0.11527731 -0.04958133 0.99209517 0.12831859] [ 0. 0. 0. 1. ]] SLAMing on 42.842414037 meters Centerline goodness : 0.774296 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.48, Z:0.13 [[ 0.98123103 -0.14929268 -0.12205477 2.54601292] [ 0.15413188 0.9875587 0.03116387 0.4832184 ] [ 0.11588372 -0.04939149 0.99203399 0.12808559] [ 0. 0. 0. 1. ]] SLAMing on 42.902414037 meters Centerline goodness : 0.774355 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.49, Z:0.13 [[ 0.98109569 -0.14997052 -0.12231145 2.54588253] [ 0.15473867 0.98748731 0.03040974 0.48648139] [ 0.11622044 -0.04876118 0.99202578 0.1284817 ] [ 0. 0. 0. 1. ]] SLAMing on 42.962414037 meters Centerline goodness : 0.771245 with order 3 Centerline is valid? [False, False] Translation: X:2.55, Y:0.49, Z:0.13 [[ 0.98115292 -0.14939475 -0.12255671 2.54745847] [ 0.15403627 0.98763182 0.02926101 0.49048224] [ 0.11666947 -0.0475877 0.99203006 0.1264203 ] [ 0. 0. 0. 1. ]] SLAMing on 43.022414037 meters Centerline goodness : 0.769464 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.49, Z:0.13 [[ 0.98117047 -0.14921739 -0.12263228 2.54808043] [ 0.15382212 0.98767503 0.0289274 0.49148286] [ 0.11680437 -0.04724627 0.99203051 0.12568439] [ 0. 0. 0. 1. ]] SLAMing on 43.082414037 meters Centerline goodness : 0.771932 with order 3 Centerline is valid? [False, False] Translation: X:2.55, Y:0.50, Z:0.13 [[ 0.98141136 -0.14810703 -0.12204939 2.54615813] [ 0.15257675 0.98789273 0.02807635 0.49555141] [ 0.1164134 -0.04617635 0.99212684 0.12565864] [ 0. 0. 0. 1. ]] SLAMing on 43.142414037 meters Centerline goodness : 0.765684 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.50, Z:0.13 [[ 0.98162514 -0.14579675 -0.12310726 2.54640102] [ 0.15061383 0.98811513 0.03072405 0.49809217] [ 0.11716468 -0.04870115 0.99191766 0.12646289] [ 0. 0. 0. 1. ]] SLAMing on 43.202414037 meters Centerline goodness : 0.770747 with order 3 Centerline is valid? [False, False] Translation: X:2.55, Y:0.50, Z:0.13 [[ 0.98148733 -0.14664101 -0.12320326 2.54583148] [ 0.15127309 0.98806438 0.02907277 0.50230466] [ 0.11746949 -0.04717189 0.99195551 0.12695898] [ 0. 0. 0. 1. ]] SLAMing on 43.262414037 meters Centerline goodness : 0.771513 with order 3 Centerline is valid? [False, False] Translation: X:2.55, Y:0.51, Z:0.13 [[ 0.98142515 -0.14723361 -0.12299161 2.54533043] [ 0.15168458 0.98804371 0.02759392 0.50533277] [ 0.11745834 -0.0457373 0.99202401 0.12666805] [ 0. 0. 0. 1. ]] SLAMing on 43.322414037 meters Centerline goodness : 0.765240 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.51, Z:0.13 [[ 0.98137278 -0.14706042 -0.12361513 2.54457073] [ 0.15157945 0.98805033 0.02793225 0.50896478] [ 0.11803024 -0.04614947 0.99193704 0.12821927] [ 0. 0. 0. 1. ]] SLAMing on 43.382414037 meters Centerline goodness : 0.766015 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.52, Z:0.13 [[ 0.98150938 -0.14412001 -0.12597124 2.54815806] [ 0.14907704 0.98834574 0.03080153 0.51537422] [ 0.12006403 -0.04901142 0.9915556 0.12711827] [ 0. 0. 0. 1. ]] SLAMing on 43.442414037 meters Centerline goodness : 0.771104 with order 3 Centerline is valid? [False, False] Translation: X:2.55, Y:0.52, Z:0.13 [[ 0.98153164 -0.14444251 -0.12542728 2.54803125] [ 0.14908727 0.98841554 0.02842002 0.51918239] [ 0.11986921 -0.04659476 0.99169567 0.12548085] [ 0. 0. 0. 1. ]] SLAMing on 43.502414037 meters Centerline goodness : 0.763278 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.52, Z:0.12 [[ 0.9816689 -0.14418332 -0.12464888 2.54665095] [ 0.14858047 0.98854031 0.02668135 0.52303583] [ 0.11937344 -0.04471264 0.99184211 0.12454646] [ 0. 0. 0. 1. ]] SLAMing on 43.562414036999996 meters Centerline goodness : 0.764338 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.53, Z:0.12 [[ 0.98224848 -0.14881135 -0.11420639 2.54908083] [ 0.15271867 0.98792201 0.02621281 0.5303337 ] [ 0.10892624 -0.04318894 0.99311117 0.12154198] [ 0. 0. 0. 1. ]] SLAMing on 43.622414037 meters Centerline goodness : 0.764873 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.53, Z:0.12 [[ 0.98218833 -0.14880281 -0.11473368 2.54891745] [ 0.15272594 0.98792262 0.02614729 0.53298394] [ 0.10945721 -0.04320437 0.99305211 0.12269482] [ 0. 0. 0. 1. ]] SLAMing on 43.682414037 meters Centerline goodness : 0.766393 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.53, Z:0.12 [[ 0.98210857 -0.14913665 -0.1149827 2.54992668] [ 0.15300187 0.98789667 0.02550692 0.53466481] [ 0.10978701 -0.04264314 0.99303997 0.12186936] [ 0. 0. 0. 1. ]] SLAMing on 43.742414036999996 meters Centerline goodness : 0.765507 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.54, Z:0.12 [[ 0.98217906 -0.14763087 -0.11631601 2.55206284] [ 0.1517856 0.98802631 0.02766133 0.53733901] [ 0.11083961 -0.04482347 0.99282699 0.12114682] [ 0. 0. 0. 1. ]] SLAMing on 43.802414037 meters Centerline goodness : 0.764801 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.54, Z:0.12 [[ 0.98220807 -0.14708656 -0.11675977 2.55242694] [ 0.1511813 0.9881379 0.02697583 0.54232583] [ 0.11140697 -0.04414777 0.99279377 0.12087507] [ 0. 0. 0. 1. ]] SLAMing on 43.862414037 meters Centerline goodness : 0.766294 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.55, Z:0.12 [[ 0.9822251 -0.14721781 -0.11645069 2.5515601 ] [ 0.15108502 0.98820304 0.02506132 0.54848497] [ 0.11138746 -0.04220981 0.99288024 0.12175681] [ 0. 0. 0. 1. ]] SLAMing on 43.922414037 meters Centerline goodness : 0.764881 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.55, Z:0.12 [[ 0.98217653 -0.14774329 -0.1161946 2.55068694] [ 0.15139566 0.98820064 0.02321321 0.55336142] [ 0.11139398 -0.04039083 0.99295517 0.12256606] [ 0. 0. 0. 1. ]] SLAMing on 43.982414037 meters Centerline goodness : 0.765115 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.56, Z:0.12 [[ 0.98215228 -0.14793131 -0.11616033 2.55082174] [ 0.15148577 0.98820689 0.02234285 0.5556474 ] [ 0.11148524 -0.03954072 0.99297914 0.12260522] [ 0. 0. 0. 1. ]] SLAMing on 44.042414037 meters Centerline goodness : 0.768613 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.56, Z:0.12 [[ 0.98225621 -0.14706542 -0.11638087 2.55183088] [ 0.15056672 0.98835858 0.02183974 0.56116124] [ 0.11181416 -0.03897531 0.99296451 0.12201807] [ 0. 0. 0. 1. ]] SLAMing on 44.102414037 meters Centerline goodness : 0.764655 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.56, Z:0.12 [[ 0.9822438 -0.14717072 -0.1163525 2.55162243] [ 0.15057128 0.98837716 0.0209495 0.56407495] [ 0.111917 -0.03809686 0.99298702 0.12243636] [ 0. 0. 0. 1. ]] SLAMing on 44.162414037 meters Centerline goodness : 0.761881 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.57, Z:0.12 [[ 0.98189973 -0.14959113 -0.11616973 2.55426116] [ 0.15266827 0.98811342 0.01800757 0.56532728] [ 0.1120951 -0.03541706 0.99306612 0.12076218] [ 0. 0. 0. 1. ]] SLAMing on 44.222414037 meters Centerline goodness : 0.765267 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.57, Z:0.12 [[ 0.98140482 -0.15331577 -0.11549397 2.55448353] [ 0.15592304 0.98767231 0.01383517 0.56769371] [ 0.11194904 -0.03158607 0.99321183 0.1208237 ] [ 0. 0. 0. 1. ]] SLAMing on 44.282414037 meters Centerline goodness : 0.766172 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.57, Z:0.12 [[ 0.98123958 -0.1548155 -0.11489581 2.55091553] [ 0.15715548 0.98750645 0.01153978 0.57201492] [ 0.11167381 -0.0293798 0.99331052 0.12397396] [ 0. 0. 0. 1. ]] SLAMing on 44.342414037 meters Centerline goodness : 0.764602 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.57, Z:0.12 [[ 0.98128206 -0.15414594 -0.11543201 2.5532705 ] [ 0.15650609 0.9876087 0.01161502 0.57317294] [ 0.11221124 -0.02946342 0.99324747 0.12275944] [ 0. 0. 0. 1. ]] SLAMing on 44.402414037 meters Centerline goodness : 0.764152 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.57, Z:0.12 [[ 0.9812892 -0.15398853 -0.11558132 2.55468098] [ 0.15635594 0.98763208 0.01164879 0.57346335] [ 0.11235804 -0.02950266 0.99322971 0.12158516] [ 0. 0. 0. 1. ]] SLAMing on 44.462414037 meters Centerline goodness : 0.764178 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.12 [[ 0.98121056 -0.1547499 -0.11523152 2.5527853 ] [ 0.15695537 0.98755237 0.01026309 0.57701012] [ 0.11220895 -0.02815646 0.99328564 0.1229667 ] [ 0. 0. 0. 1. ]] SLAMing on 44.522414037 meters Centerline goodness : 0.764801 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98111014 -0.1557251 -0.11477193 2.54991285] [ 0.1577135 0.98744921 0.00839658 0.57994289] [ 0.11202389 -0.02633905 0.99335638 0.12581499] [ 0. 0. 0. 1. ]] SLAMing on 44.582414037 meters Centerline goodness : 0.764015 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98109154 -0.15574477 -0.11490413 2.55010457] [ 0.15768633 0.98745725 0.00794942 0.58102109] [ 0.11222483 -0.02591792 0.99334478 0.12611851] [ 0. 0. 0. 1. ]] SLAMing on 44.642414037 meters Centerline goodness : 0.766896 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98101039 -0.15624223 -0.1149216 2.55023399] [ 0.1581679 0.98738161 0.00777619 0.58076966] [ 0.11225651 -0.02580543 0.99334413 0.12587926] [ 0. 0. 0. 1. ]] SLAMing on 44.702414037 meters Centerline goodness : 0.764749 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98047246 -0.15966088 -0.11481356 2.55185732] [ 0.16119672 0.98691353 0.00415858 0.58113139] [ 0.1126471 -0.02258495 0.99337835 0.12577132] [ 0. 0. 0. 1. ]] SLAMing on 44.762414037 meters Centerline goodness : 0.765225 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98041561 -0.1601403 -0.11463124 2.55069088] [ 0.16162725 0.98684481 0.00373591 0.58020539] [ 0.11252498 -0.02219028 0.99340109 0.12700708] [ 0. 0. 0. 1. ]] SLAMing on 44.822414037 meters Centerline goodness : 0.765659 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.9804504 -0.15973981 -0.11489214 2.55123549] [ 0.16119814 0.98691601 0.00345543 0.5819998 ] [ 0.11283693 -0.02190828 0.99337196 0.12737613] [ 0. 0. 0. 1. ]] SLAMing on 44.882414037 meters Centerline goodness : 0.765356 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98044723 -0.15975195 -0.11490229 2.55098314] [ 0.16119451 0.98691709 0.00331401 0.58069475] [ 0.11286962 -0.02177083 0.99337127 0.12814518] [ 0. 0. 0. 1. ]] SLAMing on 44.942414037 meters Centerline goodness : 0.765738 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98045735 -0.15962115 -0.11499774 2.55159725] [ 0.16108768 0.98693384 0.00351381 0.57948087] [ 0.11293428 -0.02196986 0.99335954 0.12789398] [ 0. 0. 0. 1. ]] SLAMing on 45.002414037 meters Centerline goodness : 0.764904 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98046453 -0.15937592 -0.11527628 2.55274858] [ 0.16091045 0.98696062 0.0040705 0.57754625] [ 0.11312441 -0.02254014 0.99332513 0.12731567] [ 0. 0. 0. 1. ]] SLAMing on 45.062414036999996 meters Centerline goodness : 0.764849 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98041758 -0.15977051 -0.11512932 2.55110087] [ 0.16124131 0.98690875 0.00351691 0.57808837] [ 0.11306023 -0.02201165 0.99334429 0.12909379] [ 0. 0. 0. 1. ]] SLAMing on 45.122414037 meters Centerline goodness : 0.766969 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98034881 -0.16022677 -0.11508077 2.54990389] [ 0.1616518 0.986843 0.00309772 0.57707452] [ 0.11307031 -0.02163986 0.99335131 0.13063506] [ 0. 0. 0. 1. ]] SLAMing on 45.182414037 meters Centerline goodness : 0.765703 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 9.79914586e-01 -1.62765286e-01 -1.15216601e-01 2.55294167e+00] [ 1.63863082e-01 9.86483090e-01 5.74782328e-05 5.77053652e-01] [ 1.13649873e-01 -1.89360712e-02 9.93340391e-01 1.29716716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242414036999996 meters Centerline goodness : 0.766178 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 9.79936625e-01 -1.62393620e-01 -1.15553116e-01 2.55486922e+00] [ 1.63547361e-01 9.86535352e-01 5.10606247e-04 5.76316798e-01] [ 1.13914315e-01 -1.93987690e-02 9.93301171e-01 1.28376232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302414037 meters Centerline goodness : 0.766968 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.79964607e-01 -1.62092768e-01 -1.15738081e-01 2.55546058e+00] [ 1.63240473e-01 9.86586210e-01 4.44076524e-04 5.76559593e-01] [ 1.14113613e-01 -1.93283184e-02 9.93279668e-01 1.28499304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362414037 meters Centerline goodness : 0.765740 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98054281 -0.15856169 -0.11573243 2.55266408] [ 0.16004554 0.98710313 0.00358388 0.57562145] [ 0.11367157 -0.02203661 0.99327396 0.13049625] [ 0. 0. 0. 1. ]] SLAMing on 45.422414037 meters Centerline goodness : 0.768971 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.98053222 -0.15872154 -0.11560294 2.5511007 ] [ 0.16011114 0.98709509 0.00277569 0.5767181 ] [ 0.11367053 -0.02123098 0.99329163 0.13254832] [ 0. 0. 0. 1. ]] SLAMing on 45.482414037 meters Centerline goodness : 0.766236 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.57, Z:0.13 [[ 0.98048584 -0.15898785 -0.11563037 2.55068786] [ 0.16037016 0.98705328 0.00269127 0.57492066] [ 0.11370545 -0.02118242 0.99328867 0.13341849] [ 0. 0. 0. 1. ]] SLAMing on 45.542414037 meters Centerline goodness : 0.763832 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 9.80023265e-01 -1.61934390e-01 -1.15462776e-01 2.55288128e+00] [ 1.62970881e-01 9.86630768e-01 -4.69389109e-04 5.75208519e-01] [ 1.13995137e-01 -1.83570580e-02 9.93311697e-01 1.32466480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602414037 meters Centerline goodness : 0.764351 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.97954321 -0.16485377 -0.11540513 2.55585842] [ 0.16560261 0.98618758 -0.00313528 0.57591629] [ 0.11432797 -0.01604025 0.99331356 0.13024064] [ 0. 0. 0. 1. ]] SLAMing on 45.662414037 meters Centerline goodness : 0.765009 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.97945785 -0.16554884 -0.11513425 2.55522215] [ 0.16625041 0.98607718 -0.00354945 0.57646951] [ 0.11411886 -0.01566458 0.9933436 0.13020772] [ 0. 0. 0. 1. ]] SLAMing on 45.722414037 meters Centerline goodness : 0.765012 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.58, Z:0.13 [[ 0.97876216 -0.1702001 -0.11426534 2.55435575] [ 0.17040631 0.98534114 -0.00803323 0.57593873] [ 0.1139576 -0.01160891 0.99341779 0.13139655] [ 0. 0. 0. 1. ]] SLAMing on 45.782414037 meters Centerline goodness : 0.767568 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.78868321e-01 -1.73748314e-01 -1.07834752e-01 2.56046642e+00] [ 1.74729369e-01 9.84616433e-01 -3.56105315e-04 5.75840927e-01] [ 1.06237742e-01 -1.84933181e-02 9.94168768e-01 1.30983041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842414037 meters Centerline goodness : 0.766137 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.78788842e-01 -1.74305910e-01 -1.07656173e-01 2.55993947e+00] [ 1.75224377e-01 9.84528075e-01 -9.41861747e-04 5.77433702e-01] [ 1.06154697e-01 -1.79421020e-02 9.94187740e-01 1.31125502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902414037 meters Centerline goodness : 0.767581 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.78636685e-01 -1.75161935e-01 -1.07650055e-01 2.56379402e+00] [ 1.75934025e-01 9.84399137e-01 -2.35733356e-03 5.77478793e-01] [ 1.06383537e-01 -1.66323345e-02 9.94186053e-01 1.28418345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962414037 meters Centerline goodness : 0.765958 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.9786475 -0.17517947 -0.10752313 2.56379029] [ 0.17591786 0.98440127 -0.00265361 0.57779577] [ 0.10631077 -0.01631829 0.99419904 0.12842096] [ 0. 0. 0. 1. ]] SLAMing on 46.022414037 meters Centerline goodness : 0.766967 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.79240541e-01 -1.71834213e-01 -1.07521931e-01 2.56097860e+00] [ 1.72843283e-01 9.84949336e-01 6.65509923e-05 5.79821093e-01] [ 1.05892219e-01 -1.86496129e-02 9.94202711e-01 1.30042188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082414037 meters Centerline goodness : 0.770376 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.97995545 -0.16738833 -0.1080207 2.56042363] [ 0.16877282 0.98564788 0.00373906 0.57946511] [ 0.1058445 -0.02189507 0.99414161 0.13066008] [ 0. 0. 0. 1. ]] SLAMing on 46.142414037 meters Centerline goodness : 0.768030 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.98003754 -0.16676958 -0.10823272 2.56110671] [ 0.16813457 0.98575767 0.00354607 0.58076287] [ 0.10609986 -0.02167295 0.99411926 0.13084689] [ 0. 0. 0. 1. ]] SLAMing on 46.202414037 meters Centerline goodness : 0.768859 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.98004926 -0.1664173 -0.10866796 2.56247999] [ 0.16777809 0.9858188 0.00343699 0.58164319] [ 0.10655494 -0.02160052 0.99407216 0.13058377] [ 0. 0. 0. 1. ]] SLAMing on 46.262414037 meters Centerline goodness : 0.770673 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.98005164 -0.166266 -0.10887793 2.56356235] [ 0.1676465 0.98584065 0.00358612 0.58131724] [ 0.10674004 -0.02176759 0.99404866 0.12987673] [ 0. 0. 0. 1. ]] SLAMing on 46.322414037 meters Centerline goodness : 0.768916 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 0.98007361 -0.16602537 -0.10904725 2.56468227] [ 0.1674311 0.98587646 0.00379922 0.5813796 ] [ 0.10687635 -0.02198141 0.99402931 0.12897388] [ 0. 0. 0. 1. ]] SLAMing on 46.382414037 meters Centerline goodness : 0.768624 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.58, Z:0.13 [[ 9.79617939e-01 -1.69008820e-01 -1.08557417e-01 2.56600003e+00] [ 1.70027758e-01 9.85439265e-01 1.31861192e-04 5.82929028e-01] [ 1.06954455e-01 -1.85869477e-02 9.94090172e-01 1.28576970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442414037 meters Centerline goodness : 0.767813 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.79543701e-01 -1.69685063e-01 -1.08171704e-01 2.56418547e+00] [ 1.70637288e-01 9.85333804e-01 -4.59896620e-04 5.81936191e-01] [ 1.06663275e-01 -1.80076374e-02 9.94132119e-01 1.30127873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502414037 meters Centerline goodness : 0.765996 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.79509762e-01 -1.69877319e-01 -1.08177278e-01 2.56381802e+00] [ 1.70800686e-01 9.85305322e-01 -7.40332269e-04 5.82567218e-01] [ 1.06713414e-01 -1.77515907e-02 9.94131344e-01 1.30686404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562414036999996 meters Centerline goodness : 0.765128 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.58, Z:0.13 [[ 9.79532825e-01 -1.69624458e-01 -1.08365070e-01 2.56385353e+00] [ 1.70517460e-01 9.85354106e-01 -1.04006803e-03 5.83578887e-01] [ 1.06954387e-01 -1.74593557e-02 9.94110623e-01 1.31417157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622414037 meters Centerline goodness : 0.766773 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.59, Z:0.13 [[ 9.79782344e-01 -1.68225723e-01 -1.08289725e-01 2.56447246e+00] [ 1.69113343e-01 9.85596102e-01 -1.00054905e-03 5.85224864e-01] [ 1.06898249e-01 -1.73329171e-02 9.94118873e-01 1.31407841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682414037 meters Centerline goodness : 0.765310 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.59, Z:0.13 [[ 9.80424788e-01 -1.64070143e-01 -1.08849541e-01 2.56410925e+00] [ 1.65295745e-01 9.86241429e-01 2.27169703e-03 5.86939931e-01] [ 1.06979210e-01 -2.02195941e-02 9.94055641e-01 1.31736322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742414036999996 meters Centerline goodness : 0.764411 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 9.80636602e-01 -1.62606219e-01 -1.09137860e-01 2.56573381e+00] [ 1.63844979e-01 9.86483131e-01 2.41980194e-03 5.88834669e-01] [ 1.07269183e-01 -2.02546367e-02 9.94023678e-01 1.31281691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802414037 meters Centerline goodness : 0.762116 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 0.98136401 -0.1580782 -0.10925184 2.56782334] [ 0.15965094 0.98715681 0.00574558 0.5877474 ] [ 0.10694044 -0.02308066 0.9939975 0.12939707] [ 0. 0. 0. 1. ]] SLAMing on 46.862414037 meters Centerline goodness : 0.763892 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 0.98138641 -0.15770963 -0.10958278 2.56869108] [ 0.15926494 0.98722037 0.00553269 0.58894171] [ 0.1073098 -0.0228824 0.99396227 0.12953475] [ 0. 0. 0. 1. ]] SLAMing on 46.922414037 meters Centerline goodness : 0.765003 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 0.98158748 -0.15662994 -0.10933015 2.56795557] [ 0.15812099 0.98740683 0.0050499 0.59265175] [ 0.10716237 -0.02224431 0.99399266 0.13069311] [ 0. 0. 0. 1. ]] SLAMing on 46.982414037 meters Centerline goodness : 0.777313 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 0.98159882 -0.15651456 -0.10939356 2.56807539] [ 0.15800203 0.98742608 0.00500987 0.59108542] [ 0.10723394 -0.02220209 0.99398589 0.13127804] [ 0. 0. 0. 1. ]] SLAMing on 47.042414037 meters Centerline goodness : 0.774797 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 9.81186271e-01 -1.59161688e-01 -1.09275154e-01 2.57075479e+00] [ 1.60338350e-01 9.87060066e-01 2.00998711e-03 5.90448759e-01] [ 1.07541228e-01 -1.94931697e-02 9.94009507e-01 1.30087346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102414037 meters Centerline goodness : 0.762979 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 9.81216926e-01 -1.58849515e-01 -1.09453986e-01 2.57135415e+00] [ 1.60037742e-01 9.87108659e-01 2.10142855e-03 5.91617182e-01] [ 1.07709167e-01 -1.95787261e-02 9.93989642e-01 1.29777297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162414037 meters Centerline goodness : 0.776869 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 9.81202798e-01 -1.58805396e-01 -1.09644496e-01 2.57135301e+00] [ 1.59968866e-01 9.87120343e-01 1.84105449e-03 5.91754432e-01] [ 1.07939943e-01 -1.93461535e-02 9.93969162e-01 1.30616820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222414037 meters Centerline goodness : 0.763935 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 9.80672930e-01 -1.62117039e-01 -1.09538440e-01 2.57236697e+00] [ 1.62895881e-01 9.86641510e-01 -1.86070921e-03 5.89270404e-01] [ 1.08376825e-01 -1.60186136e-02 9.93980819e-01 1.32240551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282414037 meters Centerline goodness : 0.761627 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 0.98027104 -0.16458372 -0.10945723 2.57415192] [ 0.16508565 0.98626886 -0.00452338 0.58833616] [ 0.10869873 -0.01363567 0.99398121 0.13208069] [ 0. 0. 0. 1. ]] SLAMing on 47.342414037 meters Centerline goodness : 0.761518 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.59, Z:0.13 [[ 0.98020454 -0.16506443 -0.10932883 2.57447363] [ 0.16558616 0.98618572 -0.00435269 0.58617271] [ 0.108537 -0.01383682 0.99399611 0.13197813] [ 0. 0. 0. 1. ]] SLAMing on 47.402414037 meters Centerline goodness : 0.763124 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.58, Z:0.13 [[ 0.98051522 -0.16415793 -0.10789843 2.57449404] [ 0.164634 0.98634427 -0.00454216 0.58033696] [ 0.10717063 -0.01331009 0.99415155 0.1295153 ] [ 0. 0. 0. 1. ]] SLAMing on 47.462414037 meters Centerline goodness : 0.762039 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.58, Z:0.13 [[ 0.98078539 -0.16319153 -0.10690438 2.57321215] [ 0.16370386 0.98650131 -0.00402508 0.5769526 ] [ 0.10611817 -0.01355292 0.99426116 0.12897103] [ 0. 0. 0. 1. ]] SLAMing on 47.522414037 meters Centerline goodness : 0.763707 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.57, Z:0.13 [[ 0.98117366 -0.16124299 -0.10629649 2.57245922] [ 0.16186754 0.98680857 -0.00278273 0.57463485] [ 0.10534299 -0.01447561 0.99433058 0.12825794] [ 0. 0. 0. 1. ]] SLAMing on 47.582414037 meters Centerline goodness : 0.762325 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.57, Z:0.13 [[ 0.98164423 -0.15929989 -0.10487205 2.57202519] [ 0.15982485 0.98713942 -0.00343335 0.5720577 ] [ 0.10407026 -0.01339083 0.9944798 0.12527595] [ 0. 0. 0. 1. ]] SLAMing on 47.642414037 meters Centerline goodness : 0.763309 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.57, Z:0.12 [[ 0.98247752 -0.15539282 -0.10291255 2.57042516] [ 0.15581017 0.98777884 -0.00402041 0.56899278] [ 0.10227958 -0.01208486 0.99468228 0.12199202] [ 0. 0. 0. 1. ]] SLAMing on 47.702414037 meters Centerline goodness : 0.776508 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.56, Z:0.12 [[ 9.83551979e-01 -1.49449871e-01 -1.01440819e-01 2.56620203e+00] [ 1.50257150e-01 9.88646896e-01 3.21036102e-04 5.63119545e-01] [ 1.00241172e-01 -1.55579641e-02 9.94841524e-01 1.22802492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762414037 meters Centerline goodness : 0.764543 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.56, Z:0.12 [[ 9.83704583e-01 -1.49148880e-01 -1.00398729e-01 2.56442601e+00] [ 1.50010929e-01 9.88683781e-01 1.04942247e-03 5.58098628e-01] [ 9.91060747e-02 -1.60932283e-02 9.94946729e-01 1.23322632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822414037 meters Centerline goodness : 0.764231 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.56, Z:0.12 [[ 9.83419089e-01 -1.51511161e-01 -9.96557294e-02 2.56510062e+00] [ 1.52158218e-01 9.88355514e-01 -1.11980997e-03 5.55407381e-01] [ 9.86649534e-02 -1.40621957e-02 9.95021347e-01 1.22192325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882414037 meters Centerline goodness : 0.777171 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.55, Z:0.12 [[ 0.98274122 -0.1557904 -0.09974489 2.56829695] [ 0.15631196 0.98770428 -0.00261308 0.55004955] [ 0.09892555 -0.01302334 0.99500961 0.1209051 ] [ 0. 0. 0. 1. ]] SLAMing on 47.942414037 meters Centerline goodness : 0.765073 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.54, Z:0.12 [[ 0.98191755 -0.1604529 -0.10046288 2.57260908] [ 0.16094569 0.98695797 -0.00323364 0.54426984] [ 0.09967149 -0.0129939 0.99493555 0.1197058 ] [ 0. 0. 0. 1. ]] SLAMing on 48.002414037 meters Centerline goodness : 0.764593 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.54, Z:0.12 [[ 9.81547215e-01 -1.62262106e-01 -1.01173486e-01 2.57453024e+00] [ 1.62920853e-01 9.86637549e-01 -1.77297092e-03 5.40341289e-01] [ 1.00109247e-01 -1.47430160e-02 9.94867218e-01 1.20458011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062414036999996 meters Centerline goodness : 0.780149 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:0.12 [[ 0.98087644 -0.16635132 -0.10103782 2.57748992] [ 0.16690533 0.98596835 -0.00300503 0.53358769] [ 0.10011998 -0.01391619 0.99487805 0.11928529] [ 0. 0. 0. 1. ]] SLAMing on 48.122414037 meters Centerline goodness : 0.778630 with order 3 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:0.12 [[ 0.98005436 -0.17077412 -0.1016349 2.5809934 ] [ 0.17128705 0.98521413 -0.00372359 0.52807762] [ 0.10076804 -0.01375943 0.9948148 0.11914789] [ 0. 0. 0. 1. ]] SLAMing on 48.182414037 meters Centerline goodness : 0.779319 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.52, Z:0.12 [[ 9.79746543e-01 -1.71866825e-01 -1.02754594e-01 2.58340033e+00] [ 1.72608472e-01 9.84989053e-01 -1.69712055e-03 5.24859046e-01] [ 1.01503829e-01 -1.60735655e-02 9.94705290e-01 1.20020802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242414036999996 meters Centerline goodness : 0.779845 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.52, Z:0.12 [[ 9.79629481e-01 -1.72308842e-01 -1.03129738e-01 2.58490134e+00] [ 1.73228651e-01 9.84881634e-01 -3.80113403e-05 5.21197298e-01] [ 1.01577135e-01 -1.78277884e-02 9.94667912e-01 1.20136222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302414037 meters Centerline goodness : 0.781965 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.52, Z:0.12 [[ 9.79249684e-01 -1.74797346e-01 -1.02547274e-01 2.58664597e+00] [ 1.75562952e-01 9.84466935e-01 -1.58211201e-03 5.16206621e-01] [ 1.01230950e-01 -1.64542195e-02 9.94726874e-01 1.18640430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362414037 meters Centerline goodness : 0.783063 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.12 [[ 9.79041449e-01 -1.75463667e-01 -1.03394108e-01 2.58943808e+00] [ 1.76458644e-01 9.84307936e-01 4.84033013e-04 5.11705490e-01] [ 1.01686711e-01 -1.87186725e-02 9.94640349e-01 1.18455175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422414037 meters Centerline goodness : 0.775218 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.12 [[ 9.79063706e-01 -1.74946434e-01 -1.04057696e-01 2.58978610e+00] [ 1.76162549e-01 9.84357809e-01 2.54156585e-03 5.10119656e-01] [ 1.01985368e-01 -2.08194238e-02 9.94568015e-01 1.19865492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482414037 meters Centerline goodness : 0.783299 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.12 [[ 0.97910883 -0.17455146 -0.10429614 2.59046617] [ 0.17588962 0.98440293 0.00370206 0.5076984 ] [ 0.10202323 -0.02196933 0.9945394 0.12004917] [ 0. 0. 0. 1. ]] SLAMing on 48.542414037 meters Centerline goodness : 0.783779 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.12 [[ 9.78981036e-01 -1.75868229e-01 -1.03278735e-01 2.59244476e+00] [ 1.76897485e-01 9.84228941e-01 8.19948367e-04 5.05093790e-01] [ 1.01505717e-01 -1.90724624e-02 9.94652115e-01 1.16363231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602414037 meters Centerline goodness : 0.784508 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.12 [[ 9.79298530e-01 -1.74140821e-01 -1.03195753e-01 2.59123239e+00] [ 1.75254463e-01 9.84521608e-01 1.75430440e-03 5.05583159e-01] [ 1.01292953e-01 -1.98035040e-02 9.94659519e-01 1.17039578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662414037 meters Centerline goodness : 0.780930 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.11 [[ 9.79687759e-01 -1.72135814e-01 -1.02864747e-01 2.59215410e+00] [ 1.73207998e-01 9.84884101e-01 1.51585869e-03 5.05337828e-01] [ 1.01048920e-01 -1.93020651e-02 9.94694197e-01 1.14372798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722414037 meters Centerline goodness : 0.785523 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.11 [[ 9.79934375e-01 -1.70902505e-01 -1.02571707e-01 2.59309576e+00] [ 1.71898483e-01 9.85114272e-01 8.84599900e-04 5.05705096e-01] [ 1.00893672e-01 -1.84987706e-02 9.94725220e-01 1.11909993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782414037 meters Centerline goodness : 0.780791 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.11 [[ 9.80081163e-01 -1.70016122e-01 -1.02642253e-01 2.59381279e+00] [ 1.71003192e-01 9.85270125e-01 8.30087001e-04 5.06387503e-01] [ 1.00989218e-01 -1.83657056e-02 9.94717990e-01 1.10790256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842414037 meters Centerline goodness : 0.780925 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.51, Z:0.11 [[ 0.98079497 -0.16553767 -0.10314311 2.593628 ] [ 0.16691585 0.98595938 0.00481665 0.50578802] [ 0.10089758 -0.02194036 0.99465486 0.11056562] [ 0. 0. 0. 1. ]] SLAMing on 48.902414037 meters Centerline goodness : 0.782191 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.50, Z:0.11 [[ 0.98105896 -0.16341434 -0.10401478 2.59364923] [ 0.16516612 0.98623 0.00839858 0.5036248 ] [ 0.10121005 -0.02541922 0.99454029 0.1123638 ] [ 0. 0. 0. 1. ]] SLAMing on 48.962414037 meters Centerline goodness : 0.778755 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.50, Z:0.11 [[ 0.98079214 -0.16444293 -0.10490616 2.59562095] [ 0.16629654 0.98603367 0.00911357 0.50204413] [ 0.10194234 -0.02638405 0.99444037 0.11285665] [ 0. 0. 0. 1. ]] SLAMing on 49.022414037 meters Centerline goodness : 0.780436 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.50, Z:0.11 [[ 0.97979988 -0.16962008 -0.1059303 2.60058703] [ 0.17123212 0.98521092 0.00624606 0.50116806] [ 0.10330423 -0.02425856 0.99435394 0.11142113] [ 0. 0. 0. 1. ]] SLAMing on 49.082414037 meters Centerline goodness : 0.783591 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.50, Z:0.11 [[ 0.97954018 -0.17030466 -0.10722579 2.60138184] [ 0.17213788 0.98504029 0.00801134 0.50094503] [ 0.10425735 -0.02630505 0.99420242 0.11396344] [ 0. 0. 0. 1. ]] SLAMing on 49.142414037 meters Centerline goodness : 0.779845 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.50, Z:0.11 [[ 0.97935144 -0.17092788 -0.10795558 2.60286778] [ 0.17291509 0.98489327 0.00925305 0.49909252] [ 0.10474312 -0.02772913 0.99411266 0.11450472] [ 0. 0. 0. 1. ]] SLAMing on 49.202414037 meters Centerline goodness : 0.782590 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.11 [[ 0.97916494 -0.17157335 -0.10862143 2.60508201] [ 0.17364933 0.984758 0.00987929 0.49717902] [ 0.1052708 -0.02853549 0.9940341 0.11417744] [ 0. 0. 0. 1. ]] SLAMing on 49.262414037 meters Centerline goodness : 0.784817 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.12 [[ 0.97870444 -0.17315967 -0.11024226 2.60726803] [ 0.1754234 0.98443047 0.01110281 0.49802577] [ 0.10660328 -0.03020544 0.99384273 0.11598267] [ 0. 0. 0. 1. ]] SLAMing on 49.322414037 meters Centerline goodness : 0.783296 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.12 [[ 0.97854035 -0.17369922 -0.11084839 2.60785635] [ 0.17606461 0.98430736 0.01184417 0.49761074] [ 0.10705157 -0.03110648 0.99376675 0.11703055] [ 0. 0. 0. 1. ]] SLAMing on 49.382414037 meters Centerline goodness : 0.782032 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.12 [[ 0.97859806 -0.17330209 -0.11096042 2.60938573] [ 0.17567408 0.98437652 0.01189434 0.49633049] [ 0.10716552 -0.03113265 0.99375365 0.1156256 ] [ 0. 0. 0. 1. ]] SLAMing on 49.442414037 meters Centerline goodness : 0.782894 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.12 [[ 0.97883803 -0.17202943 -0.11082413 2.6084896 ] [ 0.17445663 0.9845853 0.01251658 0.49664529] [ 0.10696259 -0.0315857 0.99376121 0.11588657] [ 0. 0. 0. 1. ]] SLAMing on 49.502414037 meters Centerline goodness : 0.785548 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.12 [[ 0.97893115 -0.17160098 -0.11066571 2.60863966] [ 0.17399817 0.98466906 0.01230778 0.49681903] [ 0.10685707 -0.0313041 0.99378147 0.11517668] [ 0. 0. 0. 1. ]] SLAMing on 49.562414036999996 meters Centerline goodness : 0.779210 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.50, Z:0.11 [[ 0.97926393 -0.16901693 -0.11169346 2.61019455] [ 0.17179391 0.98500853 0.01565418 0.49549617] [ 0.10737319 -0.03451783 0.9936194 0.11493358] [ 0. 0. 0. 1. ]] SLAMing on 49.622414037 meters Centerline goodness : 0.786041 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.49, Z:0.11 [[ 0.97917745 -0.16933176 -0.11197446 2.61177241] [ 0.1721173 0.98495253 0.01562527 0.49470092] [ 0.10764368 -0.03457265 0.99358823 0.11402382] [ 0. 0. 0. 1. ]] SLAMing on 49.682414037 meters Centerline goodness : 0.787682 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.49, Z:0.11 [[ 0.97936242 -0.16829505 -0.11191977 2.6116777 ] [ 0.17121503 0.98508801 0.01694181 0.49211952] [ 0.1073996 -0.03575452 0.99357282 0.11420795] [ 0. 0. 0. 1. ]] SLAMing on 49.742414036999996 meters Centerline goodness : 0.779987 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.49, Z:0.11 [[ 0.97958798 -0.16735843 -0.11134871 2.609909 ] [ 0.17019935 0.98527235 0.01644923 0.49365509] [ 0.10695589 -0.03506495 0.99364525 0.11446532] [ 0. 0. 0. 1. ]] SLAMing on 49.802414037 meters Centerline goodness : 0.784327 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.49, Z:0.11 [[ 0.98016259 -0.16459711 -0.11040421 2.60826339] [ 0.16740844 0.98574731 0.01663282 0.49339504] [ 0.10609294 -0.03478546 0.99374758 0.11325213] [ 0. 0. 0. 1. ]] SLAMing on 49.862414037 meters Centerline goodness : 0.780844 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.49, Z:0.11 [[ 0.98143409 -0.15813322 -0.10854035 2.60557538] [ 0.16098461 0.98679322 0.01797482 0.49124989] [ 0.10426446 -0.03511443 0.99392952 0.11014872] [ 0. 0. 0. 1. ]] SLAMing on 49.922414037 meters Centerline goodness : 0.778977 with order 3 Centerline is valid? [False, False] Translation: X:2.60, Y:0.49, Z:0.11 [[ 0.98216406 -0.1535356 -0.10853836 2.60329466] [ 0.15674399 0.98740255 0.02162248 0.49091866] [ 0.10385123 -0.03824955 0.99385708 0.11131616] [ 0. 0. 0. 1. ]] SLAMing on 49.982414037 meters Centerline goodness : 0.778887 with order 3 Centerline is valid? [False, False] Translation: X:2.60, Y:0.49, Z:0.11 [[ 0.98258719 -0.15155328 -0.10748963 2.60154466] [ 0.15475666 0.98770618 0.02206535 0.48914771] [ 0.10282409 -0.03831587 0.99396132 0.11058895] [ 0. 0. 0. 1. ]] SLAMing on 50.042414037 meters Centerline goodness : 0.778637 with order 3 Centerline is valid? [False, False] Translation: X:2.60, Y:0.49, Z:0.11 [[ 0.98214969 -0.15460365 -0.10714334 2.60316942] [ 0.15756453 0.98731233 0.01969197 0.4862221 ] [ 0.10273949 -0.03622245 0.99404856 0.10965415] [ 0. 0. 0. 1. ]] SLAMing on 50.102414037 meters Centerline goodness : 0.779904 with order 3 Centerline is valid? [False, False] Translation: X:2.61, Y:0.48, Z:0.11 [[ 0.98164385 -0.15664251 -0.10880481 2.605972 ] [ 0.1599246 0.9868825 0.02206937 0.4832061 ] [ 0.10392056 -0.03906483 0.99381812 0.11180149] [ 0. 0. 0. 1. ]] SLAMing on 50.162414037 meters Centerline goodness : 0.786464 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.48, Z:0.11 [[ 0.98053426 -0.16253667 -0.1101562 2.60951807] [ 0.1657032 0.98596945 0.02016659 0.48216598] [ 0.10533284 -0.03802727 0.99370968 0.1133626 ] [ 0. 0. 0. 1. ]] SLAMing on 50.222414037 meters Centerline goodness : 0.779786 with order 3 Centerline is valid? [False, False] Translation: X:2.62, Y:0.47, Z:0.11 [[ 0.97858248 -0.17073643 -0.11500174 2.62016938] [ 0.17439459 0.98441961 0.02246224 0.4742236 ] [ 0.10937485 -0.04203684 0.9931113 0.11210825] [ 0. 0. 0. 1. ]] SLAMing on 50.282414037 meters Centerline goodness : 0.787242 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.47, Z:0.11 [[ 0.97794228 -0.17336756 -0.1165014 2.6230318 ] [ 0.17733312 0.98384581 0.02450278 0.47022548] [ 0.11037143 -0.04462186 0.99288823 0.11416068] [ 0. 0. 0. 1. ]] SLAMing on 50.342414037 meters Centerline goodness : 0.786529 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.47, Z:0.12 [[ 0.97719248 -0.17637792 -0.11826111 2.62572569] [ 0.18069379 0.98317589 0.02673824 0.4666783 ] [ 0.11155544 -0.04749745 0.99262247 0.11698751] [ 0. 0. 0. 1. ]] SLAMing on 50.402414037 meters Centerline goodness : 0.787248 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.46, Z:0.12 [[ 0.97629581 -0.18101813 -0.11865469 2.62757508] [ 0.18520615 0.98237699 0.02518181 0.46387284] [ 0.11200527 -0.04656048 0.99261621 0.11839003] [ 0. 0. 0. 1. ]] SLAMing on 50.462414037 meters Centerline goodness : 0.785747 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.46, Z:0.12 [[ 0.97595098 -0.18219759 -0.11968176 2.63004084] [ 0.18662823 0.98206437 0.02682322 0.46027275] [ 0.11264807 -0.04851414 0.99244989 0.1192018 ] [ 0. 0. 0. 1. ]] SLAMing on 50.522414037 meters Centerline goodness : 0.787585 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.46, Z:0.12 [[ 0.97508917 -0.18668254 -0.11979454 2.63261388] [ 0.19079524 0.98134298 0.02373033 0.45959588] [ 0.1131295 -0.04599542 0.99251506 0.11851482] [ 0. 0. 0. 1. ]] SLAMing on 50.582414037 meters Centerline goodness : 0.788254 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.46, Z:0.12 [[ 0.97480124 -0.18748436 -0.12088073 2.63483685] [ 0.19172777 0.98114529 0.02437998 0.45957379] [ 0.11403069 -0.04694183 0.99236761 0.11886206] [ 0. 0. 0. 1. ]] SLAMing on 50.642414037 meters Centerline goodness : 0.786744 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:0.12 [[ 0.97474761 -0.18754544 -0.12121797 2.63566389] [ 0.19179406 0.98113476 0.02428228 0.46052395] [ 0.11437714 -0.04691798 0.99232886 0.11856449] [ 0. 0. 0. 1. ]] SLAMing on 50.702414037 meters Centerline goodness : 0.785286 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:0.12 [[ 0.97476447 -0.18729145 -0.12147488 2.63702484] [ 0.19156899 0.98117478 0.02444121 0.45984796] [ 0.11461046 -0.04709524 0.99229355 0.11768098] [ 0. 0. 0. 1. ]] SLAMing on 50.762414037 meters Centerline goodness : 0.788382 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:0.12 [[ 0.97474498 -0.18709657 -0.12193071 2.63826942] [ 0.19143914 0.98119048 0.02482526 0.46001002] [ 0.11499253 -0.04754061 0.9922281 0.11726531] [ 0. 0. 0. 1. ]] SLAMing on 50.822414037 meters Centerline goodness : 0.789529 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:0.12 [[ 0.975191 -0.18400045 -0.12307049 2.63819107] [ 0.18877517 0.98161447 0.02823052 0.46142733] [ 0.11561334 -0.05076281 0.99199632 0.11845136] [ 0. 0. 0. 1. ]] SLAMing on 50.882414037 meters Centerline goodness : 0.786940 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:0.12 [[ 0.97584411 -0.18017499 -0.12355264 2.6376223 ] [ 0.18535374 0.9821607 0.03169147 0.46118556] [ 0.11563854 -0.05382688 0.99183184 0.11864036] [ 0. 0. 0. 1. ]] SLAMing on 50.942414037 meters Centerline goodness : 0.788548 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:0.12 [[ 0.97594157 -0.1796126 -0.12360163 2.63873796] [ 0.18470922 0.9823043 0.0309961 0.46265311] [ 0.11584712 -0.05308075 0.99184771 0.11689815] [ 0. 0. 0. 1. ]] SLAMing on 51.002414037 meters Centerline goodness : 0.784181 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.47, Z:0.12 [[ 0.97603373 -0.1779565 -0.12525833 2.63994364] [ 0.18346958 0.98244227 0.03385415 0.46545823] [ 0.11703452 -0.05602389 0.99154639 0.11808301] [ 0. 0. 0. 1. ]] SLAMing on 51.062414036999996 meters Centerline goodness : 0.783696 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.47, Z:0.12 [[ 0.97568005 -0.17929714 -0.12609909 2.64123032] [ 0.18480956 0.98220763 0.03337048 0.46759687] [ 0.11787226 -0.05586323 0.99145622 0.11870773] [ 0. 0. 0. 1. ]] SLAMing on 51.122414037 meters Centerline goodness : 0.786965 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.47, Z:0.12 [[ 0.9752076 -0.18115778 -0.12709053 2.64272062] [ 0.18678193 0.98182228 0.03372727 0.46737908] [ 0.11867035 -0.0566293 0.99131754 0.12012974] [ 0. 0. 0. 1. ]] SLAMing on 51.182414037 meters Centerline goodness : 0.788338 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.47, Z:0.12 [[ 0.97470884 -0.18304117 -0.12821315 2.64343608] [ 0.18861233 0.98150887 0.03264538 0.47224193] [ 0.1198669 -0.05600232 0.99120919 0.12157276] [ 0. 0. 0. 1. ]] SLAMing on 51.242414036999996 meters Centerline goodness : 0.787351 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:0.12 [[ 0.97437037 -0.18385083 -0.12961963 2.6468315 ] [ 0.18939065 0.98139041 0.03168656 0.47745799] [ 0.12138186 -0.05542319 0.99105737 0.12020278] [ 0. 0. 0. 1. ]] SLAMing on 51.302414037 meters Centerline goodness : 0.785097 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:0.12 [[ 0.97442057 -0.1839412 -0.12911309 2.64543642] [ 0.1893111 0.98144265 0.03052276 0.47974309] [ 0.1211027 -0.05418455 0.99116001 0.12014026] [ 0. 0. 0. 1. ]] SLAMing on 51.362414037 meters Centerline goodness : 0.787540 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:0.12 [[ 0.9746522 -0.18169447 -0.13053815 2.64602451] [ 0.18755276 0.98166671 0.03397704 0.4805855 ] [ 0.12197152 -0.05759859 0.99086091 0.12162972] [ 0. 0. 0. 1. ]] SLAMing on 51.422414036999996 meters Centerline goodness : 0.782351 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:0.12 [[ 0.97477175 -0.17968456 -0.13241409 2.64566225] [ 0.18606861 0.98182365 0.03742707 0.48465458] [ 0.12328222 -0.06112096 0.99048762 0.12465875] [ 0. 0. 0. 1. ]] SLAMing on 51.482414037 meters Centerline goodness : 0.776141 with order 2 Centerline is valid? [False, False] Translation: X:2.65, Y:0.49, Z:0.12 [[ 0.97412995 -0.18231385 -0.13353835 2.64834073] [ 0.18859524 0.98139859 0.03589764 0.48738851] [ 0.12450971 -0.06015366 0.99039329 0.12442581] [ 0. 0. 0. 1. ]] SLAMing on 51.542414037 meters Centerline goodness : 0.781363 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.49, Z:0.12 [[ 0.97375614 -0.18386354 -0.13413865 2.65014424] [ 0.19002727 0.98116953 0.03458299 0.49051544] [ 0.1252542 -0.0591654 0.99035894 0.12362093] [ 0. 0. 0. 1. ]] SLAMing on 51.602414037 meters Centerline goodness : 0.784303 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.50, Z:0.12 [[ 0.97381499 -0.18266509 -0.1353434 2.65000071] [ 0.18908813 0.98129564 0.03611843 0.49513181] [ 0.12621431 -0.0607645 0.9901402 0.12486276] [ 0. 0. 0. 1. ]] SLAMing on 51.662414037 meters Centerline goodness : 0.779003 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.50, Z:0.13 [[ 0.97381591 -0.18288929 -0.13503364 2.64866078] [ 0.18912316 0.98133763 0.03476908 0.49876121] [ 0.1261547 -0.05939667 0.9902308 0.12505176] [ 0. 0. 0. 1. ]] SLAMing on 51.722414037 meters Centerline goodness : 0.779613 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.50, Z:0.13 [[ 0.97418116 -0.18033621 -0.13583046 2.64668256] [ 0.18695078 0.98165249 0.03752054 0.50198507] [ 0.126572 -0.06194542 0.99002136 0.12739787] [ 0. 0. 0. 1. ]] SLAMing on 51.782414037 meters Centerline goodness : 0.782072 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.51, Z:0.13 [[ 0.97393539 -0.18100039 -0.13670664 2.64727484] [ 0.18758875 0.98155629 0.03684712 0.50592132] [ 0.12751592 -0.06153134 0.98992605 0.12824129] [ 0. 0. 0. 1. ]] SLAMing on 51.842414037 meters Centerline goodness : 0.778320 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.51, Z:0.13 [[ 0.97369246 -0.18177987 -0.13740117 2.64794906] [ 0.18822822 0.98148773 0.03538316 0.51213847] [ 0.12842562 -0.06031509 0.9898833 0.12795898] [ 0. 0. 0. 1. ]] SLAMing on 51.902414037 meters Centerline goodness : 0.782682 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.51, Z:0.13 [[ 0.97407283 -0.17915067 -0.13815629 2.64829711] [ 0.18587739 0.98186379 0.03732409 0.51484962] [ 0.12896403 -0.06203651 0.9897069 0.12756123] [ 0. 0. 0. 1. ]] SLAMing on 51.962414037 meters Centerline goodness : 0.782503 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.52, Z:0.13 [[ 0.97488694 -0.17451201 -0.13835105 2.6474166 ] [ 0.18131954 0.98268463 0.0381333 0.52199768] [ 0.12930073 -0.06226141 0.98964885 0.12582236] [ 0. 0. 0. 1. ]] SLAMing on 52.022414037 meters Centerline goodness : 0.766312 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.53, Z:0.13 [[ 0.97573656 -0.16981664 -0.13820449 2.64533189] [ 0.17682425 0.98342836 0.04002316 0.52636677] [ 0.12911761 -0.06348997 0.9895947 0.12519726] [ 0. 0. 0. 1. ]] SLAMing on 52.082414037 meters Centerline goodness : 0.768040 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.54, Z:0.13 [[ 0.97675278 -0.16485847 -0.13702441 2.6404238 ] [ 0.1716503 0.98437605 0.0392425 0.53507222] [ 0.12841409 -0.0618505 0.98979005 0.12574937] [ 0. 0. 0. 1. ]] SLAMing on 52.142414037 meters Centerline goodness : 0.778848 with order 3 Centerline is valid? [False, False] Translation: X:2.64, Y:0.55, Z:0.12 [[ 0.97813831 -0.16590134 -0.12538814 2.63969707] [ 0.17185149 0.98438377 0.03815309 0.54753093] [ 0.11710041 -0.05886714 0.99137387 0.12186463] [ 0. 0. 0. 1. ]] SLAMing on 52.202414037 meters Centerline goodness : 0.764715 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.55, Z:0.12 [[ 0.97824606 -0.16570872 -0.12480091 2.63934899] [ 0.17136437 0.98455125 0.03595965 0.5509898 ] [ 0.11691406 -0.05656382 0.99152995 0.12011729] [ 0. 0. 0. 1. ]] SLAMing on 52.262414037 meters Centerline goodness : 0.766849 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.56, Z:0.12 [[ 0.97834494 -0.16533534 -0.1245207 2.63848636] [ 0.17076285 0.98471914 0.03417984 0.55695522] [ 0.11696678 -0.05470319 0.99162812 0.11918145] [ 0. 0. 0. 1. ]] SLAMing on 52.322414037 meters Centerline goodness : 0.764885 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.56, Z:0.12 [[ 0.97841839 -0.16393354 -0.12579053 2.63862378] [ 0.16960735 0.98486373 0.03573209 0.56213062] [ 0.11802884 -0.05629593 0.99141311 0.12026446] [ 0. 0. 0. 1. ]] SLAMing on 52.382414037 meters Centerline goodness : 0.763301 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.57, Z:0.11 [[ 0.97940225 -0.16770443 -0.11245648 2.63921407] [ 0.1722395 0.98454058 0.03183401 0.57021004] [ 0.10537926 -0.05054775 0.99314658 0.11281857] [ 0. 0. 0. 1. ]] SLAMing on 52.442414037 meters Centerline goodness : 0.763911 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.57, Z:0.11 [[ 0.97950114 -0.16709176 -0.11250712 2.63897569] [ 0.17162004 0.98465063 0.03177591 0.57148434] [ 0.10547071 -0.05043302 0.99314271 0.11284543] [ 0. 0. 0. 1. ]] SLAMing on 52.502414037 meters Centerline goodness : 0.764927 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.58, Z:0.12 [[ 0.97979013 -0.16458287 -0.11368277 2.63682997] [ 0.16944548 0.984937 0.03445771 0.57682078] [ 0.10629922 -0.05302436 0.99291938 0.11611748] [ 0. 0. 0. 1. ]] SLAMing on 52.562414036999996 meters Centerline goodness : 0.764702 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.58, Z:0.12 [[ 0.97975959 -0.16427209 -0.11439331 2.63797367] [ 0.16919241 0.98497361 0.03465418 0.57861412] [ 0.10698167 -0.05330725 0.99283093 0.11606278] [ 0. 0. 0. 1. ]] SLAMing on 52.622414037 meters Centerline goodness : 0.764977 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.58, Z:0.11 [[ 0.97984863 -0.16430093 -0.11358642 2.63789586] [ 0.16901879 0.98505458 0.03316812 0.57964164] [ 0.10643927 -0.05169798 0.99297432 0.11401628] [ 0. 0. 0. 1. ]] SLAMing on 52.682414037 meters Centerline goodness : 0.764553 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.58, Z:0.11 [[ 0.97973714 -0.1648698 -0.1137237 2.63748427] [ 0.16956296 0.98497195 0.03284283 0.58099936] [ 0.10659987 -0.05146067 0.99296942 0.11485251] [ 0. 0. 0. 1. ]] SLAMing on 52.742414036999996 meters Centerline goodness : 0.764790 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.58, Z:0.12 [[ 0.97927609 -0.1667037 -0.11501401 2.63753556] [ 0.17151648 0.98462062 0.03323148 0.58448819] [ 0.10770536 -0.05226959 0.99280786 0.11749216] [ 0. 0. 0. 1. ]] SLAMing on 52.802414037 meters Centerline goodness : 0.762728 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.58, Z:0.12 [[ 0.97863531 -0.17066919 -0.11465146 2.63806356] [ 0.17511303 0.98409722 0.02980088 0.58494947] [ 0.10774209 -0.04924116 0.99295869 0.11746017] [ 0. 0. 0. 1. ]] SLAMing on 52.862414037 meters Centerline goodness : 0.764478 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97762363 -0.17636865 -0.11465658 2.6398245 ] [ 0.18036947 0.98327021 0.0254274 0.58539114] [ 0.1082538 -0.04553897 0.99307971 0.11728871] [ 0. 0. 0. 1. ]] SLAMing on 52.922414036999996 meters Centerline goodness : 0.764699 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97716436 -0.17816336 -0.11579129 2.64069831] [ 0.18219694 0.9829403 0.02515227 0.58788652] [ 0.10933471 -0.04567473 0.99295505 0.1189869 ] [ 0. 0. 0. 1. ]] SLAMing on 52.982414037 meters Centerline goodness : 0.761922 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97675888 -0.17965474 -0.11690282 2.64319897] [ 0.18368093 0.98267952 0.02454126 0.58885542] [ 0.11046905 -0.04544371 0.9928401 0.11891648] [ 0. 0. 0. 1. ]] SLAMing on 53.042414037 meters Centerline goodness : 0.763046 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97685502 -0.17942437 -0.11645244 2.64398548] [ 0.18338955 0.98274264 0.02419035 0.58701567] [ 0.11010244 -0.04498662 0.99290164 0.11732238] [ 0. 0. 0. 1. ]] SLAMing on 53.102414037 meters Centerline goodness : 0.763148 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97736133 -0.17602463 -0.11738891 2.64315023] [ 0.1804424 0.98318555 0.0280483 0.58701613] [ 0.11047789 -0.04859526 0.99268985 0.11915813] [ 0. 0. 0. 1. ]] SLAMing on 53.162414037 meters Centerline goodness : 0.761459 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97810417 -0.17170664 -0.11759705 2.64128288] [ 0.17650959 0.98379006 0.03164606 0.58765419] [ 0.11025698 -0.05171015 0.99255703 0.12006201] [ 0. 0. 0. 1. ]] SLAMing on 53.222414037 meters Centerline goodness : 0.760369 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97809009 -0.17136377 -0.11821269 2.64416733] [ 0.17613892 0.98387308 0.03112629 0.58825679] [ 0.11097237 -0.05126617 0.99250033 0.11790509] [ 0. 0. 0. 1. ]] SLAMing on 53.282414037 meters Centerline goodness : 0.758991 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97806068 -0.17167462 -0.11800484 2.6446466 ] [ 0.17626238 0.98390019 0.02952946 0.59045664] [ 0.11103552 -0.04968142 0.99257386 0.11680482] [ 0. 0. 0. 1. ]] SLAMing on 53.342414037 meters Centerline goodness : 0.759336 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.59, Z:0.12 [[ 0.97874605 -0.16734709 -0.1185374 2.64426379] [ 0.17231112 0.98449391 0.0328727 0.59284113] [ 0.1111982 -0.05259934 0.9924053 0.11684937] [ 0. 0. 0. 1. ]] SLAMing on 53.402414037 meters Centerline goodness : 0.762739 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97893298 -0.16599541 -0.11889387 2.64586097] [ 0.17095874 0.98473313 0.03276845 0.59524111] [ 0.11163932 -0.05240407 0.9923661 0.11657842] [ 0. 0. 0. 1. ]] SLAMing on 53.462414037 meters Centerline goodness : 0.760017 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97919418 -0.1645649 -0.11873141 2.64620201] [ 0.1694534 0.98501024 0.03225492 0.59801482] [ 0.11164363 -0.05170327 0.99240237 0.11711683] [ 0. 0. 0. 1. ]] SLAMing on 53.522414037 meters Centerline goodness : 0.762252 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.60, Z:0.12 [[ 0.97919775 -0.16470321 -0.11850996 2.64468118] [ 0.16943454 0.98505528 0.03095224 0.60076998] [ 0.11164093 -0.05038804 0.99247033 0.11914291] [ 0. 0. 0. 1. ]] SLAMing on 53.582414037 meters Centerline goodness : 0.761605 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.60, Z:0.12 [[ 0.97923227 -0.16440566 -0.11863787 2.6447962 ] [ 0.1691038 0.98512263 0.03061552 0.60139394] [ 0.11183949 -0.05004182 0.99246549 0.11982045] [ 0. 0. 0. 1. ]] SLAMing on 53.642414037 meters Centerline goodness : 0.760954 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97875785 -0.16729568 -0.11851253 2.64775702] [ 0.17163555 0.9847811 0.02733897 0.60206211] [ 0.1121352 -0.0470992 0.99257612 0.11822431] [ 0. 0. 0. 1. ]] SLAMing on 53.702414037 meters Centerline goodness : 0.771433 with order 3 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97859216 -0.16755998 -0.11950332 2.6506188 ] [ 0.17205204 0.98468286 0.02824473 0.60143266] [ 0.11294018 -0.04820086 0.99243196 0.11717026] [ 0. 0. 0. 1. ]] SLAMing on 53.762414037 meters Centerline goodness : 0.759032 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97873618 -0.1670501 -0.11903681 2.64884523] [ 0.17156227 0.98475658 0.02865092 0.60049363] [ 0.11243614 -0.04846392 0.99247638 0.11831521] [ 0. 0. 0. 1. ]] SLAMing on 53.822414037 meters Centerline goodness : 0.759981 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97887554 -0.16673099 -0.11833615 2.64615878] [ 0.17124558 0.98480163 0.02899496 0.59959578] [ 0.11170327 -0.048647 0.99255017 0.1198831 ] [ 0. 0. 0. 1. ]] SLAMing on 53.882414037 meters Centerline goodness : 0.760810 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97846882 -0.1697469 -0.11740854 2.64639321] [ 0.17390459 0.98441793 0.02604858 0.59778462] [ 0.11115741 -0.04590561 0.99274201 0.11918712] [ 0. 0. 0. 1. ]] SLAMing on 53.942414037 meters Centerline goodness : 0.758845 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97779083 -0.17387284 -0.11701846 2.64712297] [ 0.17766414 0.98382916 0.02270752 0.59719093] [ 0.11117796 -0.04299319 0.99287011 0.11927887] [ 0. 0. 0. 1. ]] SLAMing on 54.002414037 meters Centerline goodness : 0.761094 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.60, Z:0.12 [[ 0.97731261 -0.17661217 -0.11691109 2.64693027] [ 0.18026055 0.98338779 0.02132094 0.5955703 ] [ 0.1112034 -0.04191168 0.9929135 0.12076027] [ 0. 0. 0. 1. ]] SLAMing on 54.062414036999996 meters Centerline goodness : 0.762314 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97730012 -0.1762162 -0.1176109 2.64794789] [ 0.18002842 0.98340327 0.02253369 0.59475968] [ 0.11168814 -0.04319548 0.99280406 0.12137932] [ 0. 0. 0. 1. ]] SLAMing on 54.122414037 meters Centerline goodness : 0.763187 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.9773214 -0.17587055 -0.11795099 2.64947135] [ 0.17980406 0.98342179 0.02349646 0.59332812] [ 0.11186324 -0.04417166 0.9927414 0.12036071] [ 0. 0. 0. 1. ]] SLAMing on 54.182414037 meters Centerline goodness : 0.761856 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97694251 -0.17895376 -0.11644262 2.64850953] [ 0.18239587 0.98303136 0.01952143 0.59224635] [ 0.11097331 -0.04030997 0.99300555 0.11972067] [ 0. 0. 0. 1. ]] SLAMing on 54.242414036999996 meters Centerline goodness : 0.761910 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97687085 -0.17917066 -0.11670997 2.64809707] [ 0.18283826 0.98290947 0.02142773 0.58826271] [ 0.11087612 -0.04227117 0.99293486 0.1216928 ] [ 0. 0. 0. 1. ]] SLAMing on 54.302414037 meters Centerline goodness : 0.762126 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97609974 -0.18359186 -0.11628979 2.6483402 ] [ 0.18688337 0.98221775 0.01796909 0.58786141] [ 0.11092292 -0.03927226 0.99305277 0.12242834] [ 0. 0. 0. 1. ]] SLAMing on 54.362414037 meters Centerline goodness : 0.763167 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97542505 -0.18732746 -0.11599305 2.64996899] [ 0.19028041 0.98161775 0.01483125 0.58715618] [ 0.11108254 -0.03653798 0.99313929 0.12174953] [ 0. 0. 0. 1. ]] SLAMing on 54.422414036999996 meters Centerline goodness : 0.763910 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97451206 -0.19197836 -0.11606273 2.65238924] [ 0.19460927 0.98081141 0.01167054 0.58617193] [ 0.11159516 -0.03395997 0.99317332 0.12120479] [ 0. 0. 0. 1. ]] SLAMing on 54.482414037 meters Centerline goodness : 0.763638 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:0.12 [[ 0.97434686 -0.19228508 -0.11693868 2.6543148 ] [ 0.19504771 0.98071346 0.01254981 0.58519701] [ 0.1122702 -0.03503649 0.99305984 0.12134566] [ 0. 0. 0. 1. ]] SLAMing on 54.542414037 meters Centerline goodness : 0.763613 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.58, Z:0.12 [[ 0.97391874 -0.19395864 -0.11773843 2.65492532] [ 0.19687246 0.98033572 0.01353166 0.58301438] [ 0.11279861 -0.03635819 0.99295244 0.12351553] [ 0. 0. 0. 1. ]] SLAMing on 54.602414037 meters Centerline goodness : 0.764189 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.58, Z:0.12 [[ 0.97384863 -0.19396215 -0.11831114 2.65602816] [ 0.1969577 0.98031113 0.01406241 0.58267824] [ 0.11325415 -0.03699695 0.99287699 0.12360821] [ 0. 0. 0. 1. ]] SLAMing on 54.662414037 meters Centerline goodness : 0.763697 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.58, Z:0.12 [[ 0.97364459 -0.19448241 -0.11913352 2.65745254] [ 0.19752398 0.98019574 0.01416328 0.58371194] [ 0.11401966 -0.03732173 0.99277722 0.12386012] [ 0. 0. 0. 1. ]] SLAMing on 54.722414037 meters Centerline goodness : 0.761487 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.58, Z:0.12 [[ 0.97331078 -0.19583124 -0.11965054 2.65877595] [ 0.1988253 0.97994193 0.01350235 0.5839638 ] [ 0.1146064 -0.03693153 0.99272425 0.12401633] [ 0. 0. 0. 1. ]] SLAMing on 54.782414037 meters Centerline goodness : 0.763122 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.58, Z:0.12 [[ 0.97334679 -0.19433127 -0.12178417 2.66151727] [ 0.1978077 0.98009308 0.01701991 0.58489461] [ 0.11605232 -0.04065612 0.99241067 0.12440094] [ 0. 0. 0. 1. ]] SLAMing on 54.842414037 meters Centerline goodness : 0.763130 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.59, Z:0.12 [[ 0.97343603 -0.1937492 -0.12199813 2.66182092] [ 0.19724712 0.98020356 0.01716257 0.5862873 ] [ 0.11625776 -0.04077044 0.99238193 0.12416277] [ 0. 0. 0. 1. ]] SLAMing on 54.902414037 meters Centerline goodness : 0.767041 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.59, Z:0.13 [[ 0.97355741 -0.19297838 -0.12225101 2.66095307] [ 0.19657442 0.98032449 0.01795529 0.58655193] [ 0.11638068 -0.04151193 0.99233679 0.12548269] [ 0. 0. 0. 1. ]] SLAMing on 54.962414037 meters Centerline goodness : 0.767869 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.59, Z:0.12 [[ 0.97316537 -0.19408449 -0.12361384 2.66433711] [ 0.19773231 0.98009371 0.01783983 0.58856639] [ 0.11769071 -0.04180355 0.99217003 0.12440958] [ 0. 0. 0. 1. ]] SLAMing on 55.022414037 meters Centerline goodness : 0.766251 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.59, Z:0.12 [[ 0.97279815 -0.19517945 -0.12477478 2.66747679] [ 0.19884944 0.97987297 0.01754596 0.58971379] [ 0.11883882 -0.04188007 0.99202994 0.12361372] [ 0. 0. 0. 1. ]] SLAMing on 55.082414037 meters Centerline goodness : 0.767096 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.59, Z:0.12 [[ 0.97272198 -0.19510209 -0.12548758 2.66977162] [ 0.19874056 0.97990403 0.0170375 0.5920359 ] [ 0.11964174 -0.04151222 0.99194889 0.12223857] [ 0. 0. 0. 1. ]] SLAMing on 55.142414037 meters Centerline goodness : 0.765432 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.59, Z:0.12 [[ 0.97289728 -0.19416372 -0.125584 2.66915865] [ 0.19782767 0.98008463 0.01727231 0.59361621] [ 0.11972929 -0.04164818 0.99193262 0.1227451 ] [ 0. 0. 0. 1. ]] SLAMing on 55.202414037 meters Centerline goodness : 0.766478 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.60, Z:0.13 [[ 0.97328855 -0.19090175 -0.12753796 2.66899705] [ 0.19516793 0.98052934 0.02171864 0.59594769] [ 0.12090858 -0.04602983 0.99159587 0.12528392] [ 0. 0. 0. 1. ]] SLAMing on 55.262414037 meters Centerline goodness : 0.765461 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.60, Z:0.13 [[ 0.97314215 -0.19173121 -0.12741077 2.66770627] [ 0.19583703 0.98042422 0.02040125 0.59808829] [ 0.12100504 -0.04480506 0.9916402 0.12673629] [ 0. 0. 0. 1. ]] SLAMing on 55.322414037 meters Centerline goodness : 0.765044 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.60, Z:0.12 [[ 0.97283139 -0.1933241 -0.12737695 2.6707957 ] [ 0.19718095 0.98019671 0.01827781 0.60034557] [ 0.12132092 -0.04289754 0.99168596 0.12451626] [ 0. 0. 0. 1. ]] SLAMing on 55.382414037 meters Centerline goodness : 0.768618 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.60, Z:0.12 [[ 0.97278597 -0.19367812 -0.12718583 2.67029889] [ 0.19741066 0.9801681 0.01730697 0.60367556] [ 0.12131151 -0.04194382 0.9917279 0.12460054] [ 0. 0. 0. 1. ]] SLAMing on 55.442414037 meters Centerline goodness : 0.766605 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.61, Z:0.12 [[ 0.97288995 -0.19322286 -0.12708293 2.6699608 ] [ 0.1968961 0.98027893 0.01688611 0.60671197] [ 0.12131393 -0.04145046 0.99174835 0.12481991] [ 0. 0. 0. 1. ]] SLAMing on 55.502414037 meters Centerline goodness : 0.764115 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.61, Z:0.13 [[ 0.97305898 -0.19232944 -0.12714403 2.67012137] [ 0.19595728 0.98047277 0.01654989 0.60881547] [ 0.12147823 -0.04101882 0.99174619 0.12539094] [ 0. 0. 0. 1. ]] SLAMing on 55.562414036999996 meters Centerline goodness : 0.765343 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.61, Z:0.13 [[ 0.97312269 -0.19186879 -0.12735223 2.67095391] [ 0.19547083 0.98057409 0.01629759 0.61108299] [ 0.1217513 -0.0407532 0.99172365 0.12501431] [ 0. 0. 0. 1. ]] SLAMing on 55.622414037 meters Centerline goodness : 0.765716 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.61, Z:0.13 [[ 0.97317212 -0.19175619 -0.12714398 2.67066022] [ 0.19524487 0.98063281 0.01545062 0.61418083] [ 0.1217188 -0.03986032 0.99176393 0.12513381] [ 0. 0. 0. 1. ]] SLAMing on 55.682414037 meters Centerline goodness : 0.766677 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.62, Z:0.13 [[ 0.97321759 -0.19145539 -0.12724917 2.67091872] [ 0.19487694 0.9807147 0.01488846 0.61708925] [ 0.12194466 -0.03928764 0.99175903 0.12518581] [ 0. 0. 0. 1. ]] SLAMing on 55.742414036999996 meters Centerline goodness : 0.761136 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.62, Z:0.13 [[ 0.97332144 -0.1910237 -0.12710361 2.67025726] [ 0.19431189 0.98084163 0.0138779 0.62102784] [ 0.12201751 -0.0382054 0.99179236 0.12609364] [ 0. 0. 0. 1. ]] SLAMing on 55.802414037 meters Centerline goodness : 0.760102 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.62, Z:0.13 [[ 0.97349497 -0.19017309 -0.12705016 2.67048429] [ 0.19343456 0.98101709 0.0137309 0.62305347] [ 0.12202713 -0.03794285 0.99180125 0.12609047] [ 0. 0. 0. 1. ]] SLAMing on 55.862414037 meters Centerline goodness : 0.761115 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.62, Z:0.13 [[ 0.97355041 -0.18972097 -0.12730106 2.6715921 ] [ 0.19298078 0.98110734 0.01366746 0.62415735] [ 0.12230301 -0.03787262 0.99176995 0.12563481] [ 0. 0. 0. 1. ]] SLAMing on 55.922414036999996 meters Centerline goodness : 0.760047 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97425593 -0.18569609 -0.12783721 2.67124404] [ 0.18939504 0.98174845 0.01730633 0.6257549 ] [ 0.12229026 -0.04107253 0.99164416 0.12500412] [ 0. 0. 0. 1. ]] SLAMing on 55.982414037 meters Centerline goodness : 0.764558 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97427309 -0.18554606 -0.12792422 2.67059586] [ 0.18914506 0.98181091 0.01647689 0.62820245] [ 0.12254017 -0.04024923 0.99164707 0.12632382] [ 0. 0. 0. 1. ]] SLAMing on 56.042414037 meters Centerline goodness : 0.762870 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97428969 -0.18548446 -0.12788714 2.67080851] [ 0.1890456 0.98183489 0.01618667 0.62806494] [ 0.12256169 -0.03994701 0.99165663 0.1264714 ] [ 0. 0. 0. 1. ]] SLAMing on 56.102414037 meters Centerline goodness : 0.759178 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97424999 -0.18550872 -0.12815413 2.67119517] [ 0.18903164 0.98184405 0.01578909 0.62929982] [ 0.12289835 -0.03960771 0.99162857 0.12681904] [ 0. 0. 0. 1. ]] SLAMing on 56.162414037 meters Centerline goodness : 0.761639 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97437304 -0.18485427 -0.12816427 2.67122221] [ 0.18836799 0.98197217 0.01575277 0.63171978] [ 0.12294178 -0.03949112 0.99162784 0.12680847] [ 0. 0. 0. 1. ]] SLAMing on 56.222414037 meters Centerline goodness : 0.771985 with order 3 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97437531 -0.18480276 -0.12822128 2.67084476] [ 0.18827701 0.98199491 0.01541938 0.63134968] [ 0.1230631 -0.03916538 0.99162571 0.12792629] [ 0. 0. 0. 1. ]] SLAMing on 56.282414037 meters Centerline goodness : 0.773516 with order 3 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.9744641 -0.1844056 -0.12811828 2.67022543] [ 0.1877824 0.98210076 0.01469209 0.63297446] [ 0.12311576 -0.03837527 0.99165006 0.12937879] [ 0. 0. 0. 1. ]] SLAMing on 56.342414037 meters Centerline goodness : 0.763916 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97450993 -0.18392105 -0.12846573 2.67053724] [ 0.18727553 0.98220136 0.01443466 0.63389782] [ 0.12352438 -0.0381252 0.99160889 0.13032589] [ 0. 0. 0. 1. ]] SLAMing on 56.402414037 meters Centerline goodness : 0.773899 with order 3 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97452701 -0.18354042 -0.12887986 2.67211884] [ 0.18692511 0.98226608 0.014572 0.63377329] [ 0.12391977 -0.03829169 0.99155314 0.12978941] [ 0. 0. 0. 1. ]] SLAMing on 56.462414037 meters Centerline goodness : 0.759966 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97459738 -0.18266074 -0.12959551 2.67493084] [ 0.18613812 0.98240687 0.01514374 0.63314743] [ 0.12454935 -0.03888171 0.9914513 0.12859743] [ 0. 0. 0. 1. ]] SLAMing on 56.522414037 meters Centerline goodness : 0.762579 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97459237 -0.18273627 -0.12952671 2.67384765] [ 0.18609192 0.98242984 0.01419171 0.6345634 ] [ 0.12465757 -0.03793501 0.99147437 0.13048663] [ 0. 0. 0. 1. ]] SLAMing on 56.582414037 meters Centerline goodness : 0.763148 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97463104 -0.18244167 -0.129651 2.67376952] [ 0.18576512 0.98249562 0.01391665 0.6337059 ] [ 0.12484257 -0.03764824 0.99146202 0.13180305] [ 0. 0. 0. 1. ]] SLAMing on 56.642414037 meters Centerline goodness : 0.763656 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.63, Z:0.13 [[ 0.97468745 -0.18183835 -0.13007381 2.67492377] [ 0.18515484 0.98261285 0.01377214 0.63423314] [ 0.1253079 -0.03750733 0.99140866 0.13213327] [ 0. 0. 0. 1. ]] SLAMing on 56.702414037 meters Centerline goodness : 0.765500 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.13 [[ 0.97478152 -0.18103342 -0.13049094 2.67626707] [ 0.18438391 0.98275506 0.01396661 0.633427 ] [ 0.12571221 -0.03767482 0.99135112 0.13244803] [ 0. 0. 0. 1. ]] SLAMing on 56.762414037 meters Centerline goodness : 0.765439 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.13 [[ 0.97482869 -0.18057846 -0.13076867 2.6771538 ] [ 0.18397881 0.98282612 0.01430466 0.632374 ] [ 0.12593975 -0.03800325 0.99130971 0.13247595] [ 0. 0. 0. 1. ]] SLAMing on 56.822414037 meters Centerline goodness : 0.764791 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.13 [[ 0.97415878 -0.18446653 -0.13033332 2.67743404] [ 0.18735127 0.98224082 0.01012276 0.63301869] [ 0.12615139 -0.03427929 0.99141856 0.13372448] [ 0. 0. 0. 1. ]] SLAMing on 56.882414037 meters Centerline goodness : 0.766549 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.13 [[ 9.72661125e-01 -1.92920775e-01 -1.29274556e-01 2.67846062e+00] [ 1.94830606e-01 9.80834500e-01 2.17215442e-03 6.32080478e-01] [ 1.26377891e-01 -2.72994103e-02 9.91606460e-01 1.34718155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942414037 meters Centerline goodness : 0.766011 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.14 [[ 0.97131664 -0.20022737 -0.12826922 2.6799344 ] [ 0.20124599 0.97952744 -0.00510349 0.63317789] [ 0.12666508 -0.02085657 0.99172625 0.13503872] [ 0. 0. 0. 1. ]] SLAMing on 57.002414037 meters Centerline goodness : 0.764133 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.14 [[ 0.97037155 -0.20509753 -0.12772647 2.68044246] [ 0.20569217 0.97857842 -0.00866056 0.63049599] [ 0.12676663 -0.01786837 0.99177162 0.13516789] [ 0. 0. 0. 1. ]] SLAMing on 57.062414036999996 meters Centerline goodness : 0.764536 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.14 [[ 0.9695195 -0.20969563 -0.12672678 2.67965683] [ 0.20982639 0.97765916 -0.01246832 0.62960408] [ 0.12651014 -0.01450234 0.9918593 0.13586627] [ 0. 0. 0. 1. ]] SLAMing on 57.122414037 meters Centerline goodness : 0.764047 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.14 [[ 0.9686945 -0.21396679 -0.12589349 2.67930531] [ 0.21360727 0.97678012 -0.01650857 0.62921102] [ 0.12650254 -0.01090001 0.99190639 0.13680403] [ 0. 0. 0. 1. ]] SLAMing on 57.182414037 meters Centerline goodness : 0.768510 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.63, Z:0.14 [[ 0.96843005 -0.21459416 -0.12685657 2.68097246] [ 0.21447242 0.9766182 -0.01478073 0.62601648] [ 0.12706229 -0.01289313 0.99181094 0.137594 ] [ 0. 0. 0. 1. ]] SLAMing on 57.242414036999996 meters Centerline goodness : 0.765029 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.62, Z:0.14 [[ 0.96784052 -0.21642548 -0.12823701 2.68368249] [ 0.21640504 0.9761995 -0.01426173 0.62460453] [ 0.1282715 -0.01394806 0.991641 0.13836394] [ 0. 0. 0. 1. ]] SLAMing on 57.302414037 meters Centerline goodness : 0.765079 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.14 [[ 0.96764804 -0.21662901 -0.1293412 2.6852605 ] [ 0.21667566 0.97614494 -0.01388221 0.62583142] [ 0.12926305 -0.014592 0.99150297 0.13892082] [ 0. 0. 0. 1. ]] SLAMing on 57.362414037 meters Centerline goodness : 0.765828 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.14 [[ 0.96787421 -0.21558306 -0.12939655 2.68695081] [ 0.21552753 0.9763886 -0.01460092 0.62777021] [ 0.12948903 -0.01375666 0.99148542 0.13652227] [ 0. 0. 0. 1. ]] SLAMing on 57.422414036999996 meters Centerline goodness : 0.766898 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.14 [[ 0.96859241 -0.2116481 -0.13051368 2.68738551] [ 0.21212917 0.97718665 -0.0103667 0.62645679] [ 0.12973032 -0.01764465 0.99139231 0.13692641] [ 0. 0. 0. 1. ]] SLAMing on 57.482414037 meters Centerline goodness : 0.768349 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.14 [[ 0.96876011 -0.21096003 -0.13038295 2.68713779] [ 0.21135366 0.97734808 -0.01097064 0.63018659] [ 0.12974389 -0.01692899 0.99140301 0.13735241] [ 0. 0. 0. 1. ]] SLAMing on 57.542414037 meters Centerline goodness : 0.766948 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.14 [[ 0.96870406 -0.21133677 -0.13018913 2.68592353] [ 0.211598 0.97728332 -0.01198302 0.63343251] [ 0.12976412 -0.01593976 0.99141676 0.13830133] [ 0. 0. 0. 1. ]] SLAMing on 57.602414036999996 meters Centerline goodness : 0.768265 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.14 [[ 0.9686277 -0.21183429 -0.12994847 2.68539772] [ 0.21201372 0.9771853 -0.01261256 0.63468258] [ 0.12965551 -0.01533399 0.99144053 0.13841289] [ 0. 0. 0. 1. ]] SLAMing on 57.662414037 meters Centerline goodness : 0.768424 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.64, Z:0.14 [[ 0.96777396 -0.21641434 -0.12875714 2.68432098] [ 0.21599475 0.97623977 -0.01738302 0.63655587] [ 0.12945978 -0.01098804 0.99152379 0.13938828] [ 0. 0. 0. 1. ]] SLAMing on 57.722414037 meters Centerline goodness : 0.767503 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.64, Z:0.14 [[ 0.96764843 -0.21714617 -0.12846809 2.68361246] [ 0.21667862 0.97608115 -0.01777531 0.63659964] [ 0.12925513 -0.01063603 0.99155433 0.139456 ] [ 0. 0. 0. 1. ]] SLAMing on 57.782414037 meters Centerline goodness : 0.769458 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.64, Z:0.14 [[ 0.96768276 -0.21689676 -0.12863077 2.68488938] [ 0.21645174 0.97613468 -0.01759947 0.6389012 ] [ 0.12937822 -0.01081165 0.99153638 0.13793463] [ 0. 0. 0. 1. ]] SLAMing on 57.842414037 meters Centerline goodness : 0.766918 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.64, Z:0.14 [[ 0.96762982 -0.21720311 -0.12851206 2.68408675] [ 0.21666339 0.97607416 -0.01833591 0.64114137] [ 0.12941992 -0.01010149 0.99153842 0.13859223] [ 0. 0. 0. 1. ]] SLAMing on 57.902414037 meters Centerline goodness : 0.766019 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.64, Z:0.14 [[ 0.96752081 -0.21799284 -0.12799456 2.68204638] [ 0.21732243 0.97590801 -0.01935229 0.64232752] [ 0.12912958 -0.00909234 0.99158604 0.13988768] [ 0. 0. 0. 1. ]] SLAMing on 57.962414037 meters Centerline goodness : 0.764795 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.64, Z:0.14 [[ 0.96746317 -0.21832416 -0.12786544 2.6816845 ] [ 0.21757785 0.9758391 -0.01994824 0.64377905] [ 0.12913128 -0.0085215 0.99159089 0.14007886] [ 0. 0. 0. 1. ]] SLAMing on 58.022414037 meters Centerline goodness : 0.766710 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96745293 -0.2182615 -0.12804974 2.68183618] [ 0.21747141 0.97585574 -0.02029204 0.64531701] [ 0.12938705 -0.00821556 0.99156013 0.14037699] [ 0. 0. 0. 1. ]] SLAMing on 58.082414037 meters Centerline goodness : 0.765504 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96755928 -0.21772155 -0.1281654 2.68211394] [ 0.21690463 0.97597818 -0.02046881 0.64676767] [ 0.12954314 -0.00799488 0.99154156 0.14060191] [ 0. 0. 0. 1. ]] SLAMing on 58.142414037 meters Centerline goodness : 0.763212 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96761466 -0.2174865 -0.12814639 2.68209571] [ 0.21663338 0.97603293 -0.020729 0.6480788 ] [ 0.12958338 -0.0077031 0.99153861 0.14076664] [ 0. 0. 0. 1. ]] SLAMing on 58.202414037 meters Centerline goodness : 0.762206 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96769006 -0.21705821 -0.12830305 2.68259418] [ 0.21618287 0.9761296 -0.02087976 0.65017075] [ 0.12977253 -0.00753179 0.99151518 0.14056051] [ 0. 0. 0. 1. ]] SLAMing on 58.262414037 meters Centerline goodness : 0.763077 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96768392 -0.21705578 -0.12835354 2.6826651 ] [ 0.2161607 0.97613122 -0.02103318 0.6508351 ] [ 0.12985527 -0.00739152 0.99150541 0.14064077] [ 0. 0. 0. 1. ]] SLAMing on 58.322414037 meters Centerline goodness : 0.764761 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96767454 -0.21714155 -0.12827909 2.68246847] [ 0.21620653 0.97611441 -0.02133973 0.65140435] [ 0.12984881 -0.00708487 0.99150849 0.14093064] [ 0. 0. 0. 1. ]] SLAMing on 58.382414037 meters Centerline goodness : 0.764063 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.9676545 -0.21733993 -0.12809418 2.68219222] [ 0.2163695 0.97607228 -0.02161342 0.65222625] [ 0.12972664 -0.00680135 0.99152647 0.14083143] [ 0. 0. 0. 1. ]] SLAMing on 58.442414037 meters Centerline goodness : 0.764115 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96755805 -0.21798127 -0.12773246 2.68157143] [ 0.21694563 0.97593267 -0.02213657 0.65349345] [ 0.12948364 -0.00629259 0.99156159 0.14047869] [ 0. 0. 0. 1. ]] SLAMing on 58.502414037 meters Centerline goodness : 0.760561 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96745932 -0.21866343 -0.12731364 2.68026896] [ 0.21756415 0.97578319 -0.02264984 0.65407438] [ 0.1291832 -0.00578609 0.99160386 0.14091123] [ 0. 0. 0. 1. ]] SLAMing on 58.562414036999996 meters Centerline goodness : 0.763969 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96732742 -0.21935393 -0.12712792 2.67944786] [ 0.21819629 0.97563063 -0.0231354 0.65475914] [ 0.12910474 -0.00535933 0.99161648 0.14125453] [ 0. 0. 0. 1. ]] SLAMing on 58.622414037 meters Centerline goodness : 0.762123 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96708053 -0.22084944 -0.1264151 2.67767221] [ 0.21965433 0.97529485 -0.02349319 0.65472437] [ 0.12848045 -0.00504782 0.9916992 0.14089082] [ 0. 0. 0. 1. ]] SLAMing on 58.682414037 meters Centerline goodness : 0.761251 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 0.96673038 -0.22278307 -0.12569834 2.67549442] [ 0.2214864 0.97485868 -0.02437883 0.65389869] [ 0.12796931 -0.00427272 0.99176892 0.1413929 ] [ 0. 0. 0. 1. ]] SLAMing on 58.742414036999996 meters Centerline goodness : 0.761848 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.14 [[ 9.65785402e-01 -2.27314695e-01 -1.24846255e-01 2.67636005e+00] [ 2.25556834e-01 9.73820941e-01 -2.82292228e-02 6.54463909e-01] [ 1.27994814e-01 -8.96554626e-04 9.91774432e-01 1.40303607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802414037 meters Centerline goodness : 0.763206 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.14 [[ 9.65587689e-01 -2.28394289e-01 -1.24404438e-01 2.67462039e+00] [ 2.26531769e-01 9.73568715e-01 -2.91086679e-02 6.57598286e-01] [ 1.27764523e-01 -7.45860693e-05 9.91804528e-01 1.40553031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862414037 meters Centerline goodness : 0.764654 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.14 [[ 9.65462580e-01 -2.29085089e-01 -1.24104908e-01 2.67316579e+00] [ 2.27120179e-01 9.73406129e-01 -2.99488209e-02 6.59446162e-01] [ 1.27665307e-01 7.27736853e-04 9.91817039e-01 1.41407634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922414036999996 meters Centerline goodness : 0.762637 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.14 [[ 9.65327541e-01 -2.29922911e-01 -1.23604987e-01 2.67191319e+00] [ 2.27853335e-01 9.73207548e-01 -3.08208626e-02 6.61347414e-01] [ 1.27379729e-01 1.58841897e-03 9.91852752e-01 1.41462836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982414037 meters Centerline goodness : 0.763210 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.14 [[ 9.65281624e-01 -2.30186500e-01 -1.23472923e-01 2.67234421e+00] [ 2.28120836e-01 9.73145263e-01 -3.08087871e-02 6.61672893e-01] [ 1.27248857e-01 1.57240971e-03 9.91869576e-01 1.40413214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042414037 meters Centerline goodness : 0.763106 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.14 [[ 9.65806012e-01 -2.27936173e-01 -1.23546947e-01 2.66973695e+00] [ 2.26231279e-01 9.73675503e-01 -2.78464119e-02 6.61811608e-01] [ 1.26641840e-01 -1.05595177e-03 9.91947947e-01 1.40667245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102414036999996 meters Centerline goodness : 0.763764 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.14 [[ 9.65797354e-01 -2.27934019e-01 -1.23618581e-01 2.66974097e+00] [ 2.26193745e-01 9.73676252e-01 -2.81237759e-02 6.63325558e-01] [ 1.26774842e-01 -7.99881305e-04 9.91931197e-01 1.40823654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162414037 meters Centerline goodness : 0.765745 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.65725630e-01 -2.28330983e-01 -1.23446219e-01 2.66916914e+00] [ 2.26537630e-01 9.73583493e-01 -2.85636973e-02 6.65209665e-01] [ 1.26707178e-01 -3.80519352e-04 9.91940092e-01 1.40749564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222414037 meters Centerline goodness : 0.763734 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.65721909e-01 -2.28391297e-01 -1.23363732e-01 2.66955144e+00] [ 2.26600172e-01 9.73569345e-01 -2.85498379e-02 6.65844424e-01] [ 1.26623682e-01 -3.83038838e-04 9.91950753e-01 1.39918693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282414037 meters Centerline goodness : 0.764029 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.65676185e-01 -2.28647240e-01 -1.23247496e-01 2.66924645e+00] [ 2.26779085e-01 9.73509318e-01 -2.91694147e-02 6.67021041e-01] [ 1.26652092e-01 2.18254841e-04 9.91947176e-01 1.40225647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342414037 meters Centerline goodness : 0.766259 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.66491482e-01 -2.24960517e-01 -1.23640529e-01 2.66759326e+00] [ 2.23483101e-01 9.74364344e-01 -2.58733326e-02 6.67678103e-01] [ 1.26291401e-01 -2.62521327e-03 9.91989713e-01 1.40844052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402414037 meters Centerline goodness : 0.767671 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.96744811 -0.22038506 -0.1243969 2.66663776] [ 0.21928168 0.97539828 -0.02266587 0.67125971] [ 0.12633175 -0.00534991 0.99197362 0.14164536] [ 0. 0. 0. 1. ]] SLAMing on 59.462414037 meters Centerline goodness : 0.765870 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.9682838 -0.21635805 -0.1249627 2.66597143] [ 0.2157026 0.97627587 -0.01891612 0.67060404] [ 0.12609072 -0.00863861 0.9919811 0.14166734] [ 0. 0. 0. 1. ]] SLAMing on 59.522414037 meters Centerline goodness : 0.767243 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.96923032 -0.21159963 -0.12577039 2.66700816] [ 0.21141678 0.97728159 -0.01495477 0.67176786] [ 0.12607751 -0.01209535 0.99194665 0.14033097] [ 0. 0. 0. 1. ]] SLAMing on 59.582414037 meters Centerline goodness : 0.765320 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.96928527 -0.21142472 -0.12564093 2.66670429] [ 0.21114549 0.97732872 -0.01568945 0.67438809] [ 0.12610963 -0.01132096 0.99195171 0.14071524] [ 0. 0. 0. 1. ]] SLAMing on 59.642414037 meters Centerline goodness : 0.766808 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.96922563 -0.21186677 -0.1253561 2.66566477] [ 0.21153132 0.97723802 -0.01613555 0.67452841] [ 0.12592133 -0.01087775 0.99198059 0.14140669] [ 0. 0. 0. 1. ]] SLAMing on 59.702414037 meters Centerline goodness : 0.767915 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.96918201 -0.2120385 -0.12540297 2.66501405] [ 0.21165259 0.97720486 -0.01654803 0.67575903] [ 0.12605321 -0.01050381 0.99196787 0.14228725] [ 0. 0. 0. 1. ]] SLAMing on 59.762414037 meters Centerline goodness : 0.768306 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.96917308 -0.21201409 -0.12551319 2.66511421] [ 0.21162243 0.9772105 -0.01660091 0.6758659 ] [ 0.12617243 -0.01047225 0.99195305 0.14254488] [ 0. 0. 0. 1. ]] SLAMing on 59.822414037 meters Centerline goodness : 0.767082 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.96921059 -0.21169443 -0.1257629 2.66616092] [ 0.21133682 0.97727681 -0.0163337 0.67512233] [ 0.12636292 -0.01074754 0.99192586 0.14214514] [ 0. 0. 0. 1. ]] SLAMing on 59.882414037 meters Centerline goodness : 0.766407 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.96938653 -0.210571 -0.12629177 2.66793669] [ 0.21025698 0.9775158 -0.01596456 0.67567928] [ 0.12681387 -0.0110779 0.99186467 0.14178366] [ 0. 0. 0. 1. ]] SLAMing on 59.942414037 meters Centerline goodness : 0.766033 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.97020131 -0.20642081 -0.12688525 2.66659583] [ 0.2065375 0.97836035 -0.01238115 0.67641411] [ 0.12669522 -0.01419435 0.99184013 0.14263414] [ 0. 0. 0. 1. ]] SLAMing on 60.002414037 meters Centerline goodness : 0.766699 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.97035314 -0.20546544 -0.12727428 2.66833117] [ 0.20564189 0.97855501 -0.01189541 0.67535562] [ 0.12698898 -0.01463017 0.99179623 0.14223195] [ 0. 0. 0. 1. ]] SLAMing on 60.062414036999996 meters Centerline goodness : 0.765727 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.97049726 -0.20476466 -0.12730474 2.66837466] [ 0.20493635 0.97870308 -0.01188984 0.67602708] [ 0.12702816 -0.01455031 0.99179238 0.14278192] [ 0. 0. 0. 1. ]] SLAMing on 60.122414037 meters Centerline goodness : 0.768399 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.14 [[ 0.97120187 -0.20122225 -0.12757953 2.66585708] [ 0.20178941 0.97939119 -0.0085989 0.67589424] [ 0.12668056 -0.01739293 0.99179107 0.14432784] [ 0. 0. 0. 1. ]] SLAMing on 60.182414037 meters Centerline goodness : 0.764492 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.97158326 -0.19867669 -0.1286606 2.6706315 ] [ 0.19947461 0.9798795 -0.00678552 0.67298394] [ 0.12742001 -0.01907183 0.99166547 0.14238231] [ 0. 0. 0. 1. ]] SLAMing on 60.242414036999996 meters Centerline goodness : 0.763186 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 0.97165686 -0.19818709 -0.12885973 2.671712 ] [ 0.19903167 0.97997203 -0.0064203 0.67214149] [ 0.12755135 -0.01940884 0.99164205 0.14193181] [ 0. 0. 0. 1. ]] SLAMing on 60.302414037 meters Centerline goodness : 0.764697 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.72360037e-01 -1.94391137e-01 -1.29336938e-01 2.67001687e+00] [ 1.95707077e-01 9.80659005e-01 -2.57991989e-03 6.70699143e-01] [ 1.27336946e-01 -2.28035430e-02 9.91597348e-01 1.42986678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362414037 meters Centerline goodness : 0.764212 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.72439704e-01 -1.93697052e-01 -1.29778561e-01 2.67153295e+00] [ 1.95105519e-01 9.80780427e-01 -1.89494895e-03 6.68355160e-01] [ 1.27651319e-01 -2.34777900e-02 9.91541191e-01 1.42803615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422414036999996 meters Centerline goodness : 0.765297 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.14 [[ 9.72553075e-01 -1.92735557e-01 -1.30359204e-01 2.67423510e+00] [ 1.94281097e-01 9.80945506e-01 -8.77576196e-04 6.65110770e-01] [ 1.28044416e-01 -2.44728397e-02 9.91466443e-01 1.41678344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482414037 meters Centerline goodness : 0.763524 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.72738972e-01 -1.91506266e-01 -1.30783191e-01 2.67556577e+00] [ 1.93126966e-01 9.81173729e-01 -2.96597952e-04 6.64470228e-01] [ 1.28377831e-01 -2.49692485e-02 9.91410949e-01 1.41824187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542414037 meters Centerline goodness : 0.762751 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.72855393e-01 -1.90756924e-01 -1.31012137e-01 2.67602411e+00] [ 1.92401720e-01 9.81316242e-01 -1.05463226e-04 6.64568646e-01] [ 1.28584455e-01 -2.51043600e-02 9.91380759e-01 1.42381118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602414036999996 meters Centerline goodness : 0.761821 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.72996865e-01 -1.89900315e-01 -1.31205832e-01 2.67619274e+00] [ 1.91582919e-01 9.81476410e-01 2.05025365e-04 6.62265919e-01] [ 1.28736495e-01 -2.53362854e-02 9.91355127e-01 1.43725333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662414037 meters Centerline goodness : 0.761332 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.73006734e-01 -1.89666983e-01 -1.31469888e-01 2.67672197e+00] [ 1.91379384e-01 9.81516059e-01 3.97355278e-04 6.60270530e-01] [ 1.28964441e-01 -2.55472555e-02 9.91320085e-01 1.44291393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722414037 meters Centerline goodness : 0.760164 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.72456795e-01 -1.92455860e-01 -1.31485828e-01 2.67913704e+00] [ 1.93814640e-01 9.81034965e-01 -2.50646605e-03 6.58833314e-01] [ 1.29474579e-01 -2.30464485e-02 9.91314882e-01 1.44186299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782414037 meters Centerline goodness : 0.759957 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.72533899e-01 -1.91700464e-01 -1.32017984e-01 2.68087760e+00] [ 1.93149944e-01 9.81167490e-01 -1.85880089e-03 6.56751907e-01] [ 1.29888087e-01 -2.36915192e-02 9.91245578e-01 1.44091680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842414037 meters Centerline goodness : 0.758878 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.14 [[ 9.72768232e-01 -1.89940623e-01 -1.32832701e-01 2.68408168e+00] [ 1.91537106e-01 9.81485068e-01 -7.72951934e-04 6.55041199e-01] [ 1.30520128e-01 -2.46904881e-02 9.91138172e-01 1.43381767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902414037 meters Centerline goodness : 0.759793 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.15 [[ 9.72955964e-01 -1.88901818e-01 -1.32939067e-01 2.68456380e+00] [ 1.90498653e-01 9.81687193e-01 -7.19840583e-04 6.51165389e-01] [ 1.30640559e-01 -2.46243399e-02 9.91123951e-01 1.45609706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962414037 meters Centerline goodness : 0.760660 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.15 [[ 9.73054090e-01 -1.88290450e-01 -1.33088110e-01 2.68463752e+00] [ 1.89839111e-01 9.81814628e-01 -1.07143063e-03 6.50808357e-01] [ 1.30869593e-01 -2.42227684e-02 9.91103631e-01 1.47381298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022414037 meters Centerline goodness : 0.759885 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.65, Z:0.15 [[ 9.73167121e-01 -1.87594011e-01 -1.33245047e-01 2.68504157e+00] [ 1.89084826e-01 9.81959626e-01 -1.49055533e-03 6.49192807e-01] [ 1.31120875e-01 -2.37440571e-02 9.91082003e-01 1.49781411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082414037 meters Centerline goodness : 0.773576 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.65, Z:0.15 [[ 0.97253934 -0.19085347 -0.13319983 2.68692376] [ 0.19190289 0.981401 -0.00503511 0.64805064] [ 0.13168342 -0.02066459 0.99107641 0.15048726] [ 0. 0. 0. 1. ]] SLAMing on 61.142414037 meters Centerline goodness : 0.773583 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.64, Z:0.15 [[ 0.97116836 -0.1983039 -0.13231619 2.69001095] [ 0.19829783 0.9800508 -0.01335677 0.64447644] [ 0.13232528 -0.01326634 0.99111756 0.15304822] [ 0. 0. 0. 1. ]] SLAMing on 61.202414037 meters Centerline goodness : 0.757081 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.64, Z:0.16 [[ 0.96940979 -0.20660803 -0.1325058 2.69129226] [ 0.20629915 0.97835474 -0.01620706 0.63899109] [ 0.13298619 -0.01162455 0.99104972 0.15615305] [ 0. 0. 0. 1. ]] SLAMing on 61.262414037 meters Centerline goodness : 0.759825 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.64, Z:0.16 [[ 0.96830906 -0.21182328 -0.13231952 2.69232061] [ 0.21124326 0.97725712 -0.01856898 0.63511835] [ 0.13324353 -0.0099711 0.99103317 0.15753772] [ 0. 0. 0. 1. ]] SLAMing on 61.322414037 meters Centerline goodness : 0.758076 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.16 [[ 0.96723886 -0.21707387 -0.13163553 2.6942614 ] [ 0.21628115 0.97611662 -0.02046469 0.62887905] [ 0.13293398 -0.00867604 0.99108692 0.15680778] [ 0. 0. 0. 1. ]] SLAMing on 61.382414037 meters Centerline goodness : 0.759663 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.63, Z:0.16 [[ 0.9665409 -0.22019534 -0.1315777 2.69602884] [ 0.21921552 0.97542686 -0.02206824 0.62529223] [ 0.13320375 -0.00751402 0.99106019 0.156957 ] [ 0. 0. 0. 1. ]] SLAMing on 61.442414037 meters Centerline goodness : 0.761755 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.16 [[ 0.96627421 -0.22104477 -0.13211115 2.69614434] [ 0.22033729 0.97521589 -0.0201356 0.62040054] [ 0.13328776 -0.0096525 0.99103037 0.15925276] [ 0. 0. 0. 1. ]] SLAMing on 61.502414037 meters Centerline goodness : 0.763017 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.16 [[ 0.9663659 -0.22039957 -0.13251784 2.69714115] [ 0.21993239 0.97534276 -0.01833682 0.61736992] [ 0.13329174 -0.01142489 0.99101099 0.15939333] [ 0. 0. 0. 1. ]] SLAMing on 61.562414036999996 meters Centerline goodness : 0.762286 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.61, Z:0.16 [[ 0.96611682 -0.22211468 -0.13146619 2.69919653] [ 0.22129626 0.97498071 -0.0209901 0.61396421] [ 0.13283921 -0.00881408 0.99109841 0.15658117] [ 0. 0. 0. 1. ]] SLAMing on 61.622414037 meters Centerline goodness : 0.764349 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.61, Z:0.16 [[ 0.96618726 -0.2216468 -0.13173791 2.70038574] [ 0.22094177 0.97507921 -0.02013142 0.61248982] [ 0.13291696 -0.00965568 0.99108014 0.15605686] [ 0. 0. 0. 1. ]] SLAMing on 61.682414037 meters Centerline goodness : 0.763539 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.61, Z:0.16 [[ 0.96639994 -0.22075794 -0.13167041 2.70072315] [ 0.22018245 0.97527173 -0.0190982 0.61055804] [ 0.1326305 -0.01053501 0.99110956 0.15565387] [ 0. 0. 0. 1. ]] SLAMing on 61.742414036999996 meters Centerline goodness : 0.763016 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.61, Z:0.15 [[ 0.9666286 -0.21994895 -0.13134537 2.70285616] [ 0.21936056 0.97545662 -0.01911349 0.60791758] [ 0.1323257 -0.01033634 0.99115239 0.15291067] [ 0. 0. 0. 1. ]] SLAMing on 61.802414037 meters Centerline goodness : 0.763998 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.60, Z:0.15 [[ 0.96715955 -0.21792608 -0.13080764 2.70243138] [ 0.21753577 0.9758965 -0.01744165 0.60403953] [ 0.13145571 -0.01158648 0.99125433 0.15226252] [ 0. 0. 0. 1. ]] SLAMing on 61.862414037 meters Centerline goodness : 0.767485 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.60, Z:0.16 [[ 0.96803761 -0.21368472 -0.13130893 2.6993006 ] [ 0.21399289 0.97676241 -0.01192634 0.59968449] [ 0.1308061 -0.01655403 0.99126975 0.15573564] [ 0. 0. 0. 1. ]] SLAMing on 61.922414036999996 meters Centerline goodness : 0.765111 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.60, Z:0.15 [[ 0.96821331 -0.21308185 -0.1309928 2.70005119] [ 0.2133444 0.97690099 -0.0121914 0.59865163] [ 0.13056476 -0.01614271 0.99130836 0.15427754] [ 0. 0. 0. 1. ]] SLAMing on 61.982414037 meters Centerline goodness : 0.780226 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.60, Z:0.15 [[ 0.9686392 -0.21150836 -0.13039295 2.70158436] [ 0.21169046 0.97725524 -0.01262322 0.59697216] [ 0.13009711 -0.0153756 0.99138203 0.15114233] [ 0. 0. 0. 1. ]] SLAMing on 62.042414037 meters Centerline goodness : 0.778631 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.60, Z:0.15 [[ 0.96876798 -0.21089569 -0.13042856 2.70185388] [ 0.21115596 0.97737884 -0.0119901 0.59617657] [ 0.13000677 -0.01592515 0.99138521 0.15086664] [ 0. 0. 0. 1. ]] SLAMing on 62.102414036999996 meters Centerline goodness : 0.779734 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.60, Z:0.15 [[ 0.96866739 -0.2111928 -0.13069465 2.70370903] [ 0.21145227 0.97731405 -0.01204929 0.59528284] [ 0.13027444 -0.01596392 0.99134945 0.14980163] [ 0. 0. 0. 1. ]] SLAMing on 62.162414037 meters Centerline goodness : 0.779640 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:0.15 [[ 0.96864044 -0.21115658 -0.13095266 2.70579267] [ 0.21153997 0.9773059 -0.01113687 0.59253463] [ 0.13033243 -0.0169141 0.99132607 0.14863162] [ 0. 0. 0. 1. ]] SLAMing on 62.222414037 meters Centerline goodness : 0.779639 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:0.15 [[ 0.96829965 -0.21194972 -0.13218586 2.70798748] [ 0.21263797 0.97708913 -0.00905158 0.58954647] [ 0.13107585 -0.01934309 0.99118362 0.14985292] [ 0. 0. 0. 1. ]] SLAMing on 62.282414037 meters Centerline goodness : 0.784240 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:0.15 [[ 0.96794695 -0.21294155 -0.13317129 2.71048956] [ 0.21383707 0.97683892 -0.00770922 0.58689326] [ 0.13172851 -0.02101484 0.99106305 0.15018388] [ 0. 0. 0. 1. ]] SLAMing on 62.342414037 meters Centerline goodness : 0.784186 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.58, Z:0.15 [[ 0.96748791 -0.21545975 -0.13245467 2.71170891] [ 0.21613633 0.97631774 -0.00942125 0.58259939] [ 0.13134774 -0.01951332 0.99114429 0.14949777] [ 0. 0. 0. 1. ]] SLAMing on 62.402414037 meters Centerline goodness : 0.782380 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.58, Z:0.15 [[ 0.96736412 -0.21536945 -0.13350151 2.71236947] [ 0.21633684 0.97629081 -0.00739105 0.58114277] [ 0.1319281 -0.02173146 0.99102105 0.15141549] [ 0. 0. 0. 1. ]] SLAMing on 62.462414037 meters Centerline goodness : 0.775933 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.58, Z:0.15 [[ 0.96670992 -0.21724359 -0.13519306 2.71589267] [ 0.21846334 0.97582715 -0.00592862 0.57903838] [ 0.13321301 -0.02380347 0.99080154 0.15237912] [ 0. 0. 0. 1. ]] SLAMing on 62.522414037 meters Centerline goodness : 0.784203 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.58, Z:0.15 [[ 0.96590765 -0.22090008 -0.13500212 2.71787125] [ 0.22182733 0.97505042 -0.0083258 0.57693487] [ 0.13347304 -0.0219052 0.99081033 0.1520718 ] [ 0. 0. 0. 1. ]] SLAMing on 62.582414037 meters Centerline goodness : 0.780713 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.58, Z:0.15 [[ 0.96495825 -0.22365253 -0.13724112 2.72176327] [ 0.22488567 0.97436243 -0.006655 0.57545721] [ 0.135211 -0.02444177 0.99051531 0.1539225 ] [ 0. 0. 0. 1. ]] SLAMing on 62.642414037 meters Centerline goodness : 0.781225 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.58, Z:0.15 [[ 0.9645142 -0.22490445 -0.13831252 2.72443794] [ 0.2262247 0.97405473 -0.00630683 0.57538761] [ 0.1361424 -0.02520668 0.99036855 0.15391868] [ 0. 0. 0. 1. ]] SLAMing on 62.702414037 meters Centerline goodness : 0.780589 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.57, Z:0.15 [[ 0.96435371 -0.22535739 -0.13869376 2.72635619] [ 0.22677042 0.97393134 -0.00573736 0.57343931] [ 0.13637116 -0.02591879 0.9903187 0.15321788] [ 0. 0. 0. 1. ]] SLAMing on 62.762414037 meters Centerline goodness : 0.782583 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.57, Z:0.15 [[ 9.64654422e-01 -2.22892226e-01 -1.40573477e-01 2.72824233e+00] [ 2.24902832e-01 9.74379845e-01 -1.62322163e-03 5.72832930e-01] [ 1.37333767e-01 -3.00495252e-02 9.90068918e-01 1.54190339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822414037 meters Centerline goodness : 0.782940 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.57, Z:0.15 [[ 9.64915516e-01 -2.21812698e-01 -1.40489052e-01 2.72873632e+00] [ 2.23855842e-01 9.74621411e-01 -1.29141828e-03 5.72432495e-01] [ 1.37210091e-01 -3.02031855e-02 9.90081390e-01 1.53249110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882414037 meters Centerline goodness : 0.776710 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.57, Z:0.15 [[ 9.64666509e-01 -2.22280676e-01 -1.41456100e-01 2.73154703e+00] [ 2.24421208e-01 9.74491874e-01 -8.41882660e-04 5.72284923e-01] [ 1.38034954e-01 -3.09336128e-02 9.89944172e-01 1.52536672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942414037 meters Centerline goodness : 0.781718 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.57, Z:0.15 [[ 9.64607980e-01 -2.22182779e-01 -1.42007948e-01 2.73248237e+00] [ 2.24487624e-01 9.74476916e-01 2.15230727e-04 5.71015155e-01] [ 1.38335646e-01 -3.20866401e-02 9.89865494e-01 1.52981413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002414037 meters Centerline goodness : 0.776526 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.57, Z:0.15 [[ 9.64465710e-01 -2.22306235e-01 -1.42778962e-01 2.73388751e+00] [ 2.24769458e-01 9.74411289e-01 1.15374435e-03 5.70653416e-01] [ 1.38868948e-01 -3.32050968e-02 9.89753927e-01 1.53319605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062414036999996 meters Centerline goodness : 0.781468 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.57, Z:0.15 [[ 9.64291666e-01 -2.22558396e-01 -1.43559549e-01 2.73519089e+00] [ 2.25082691e-01 9.74338687e-01 1.37996906e-03 5.71508844e-01] [ 1.39568499e-01 -3.36434622e-02 9.89640718e-01 1.53614324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122414037 meters Centerline goodness : 0.787139 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.57, Z:0.15 [[ 9.64093979e-01 -2.22999619e-01 -1.44201140e-01 2.73713583e+00] [ 2.25617615e-01 9.74214175e-01 1.85292517e-03 5.70767908e-01] [ 1.40069593e-01 -3.43207113e-02 9.89546663e-01 1.53184491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182414037 meters Centerline goodness : 0.785371 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.57, Z:0.15 [[ 0.96361658 -0.22409187 -0.14569118 2.73876359] [ 0.22690219 0.97391367 0.00274944 0.57197685] [ 0.14127451 -0.03570705 0.9893263 0.15491512] [ 0. 0. 0. 1. ]] SLAMing on 63.242414036999996 meters Centerline goodness : 0.774688 with order 2 Centerline is valid? [False, False] Translation: X:2.74, Y:0.57, Z:0.16 [[ 9.62757264e-01 -2.26700678e-01 -1.47327026e-01 2.74239454e+00] [ 2.29577760e-01 9.73286853e-01 2.59875152e-03 5.72848476e-01] [ 1.42802319e-01 -3.63249754e-02 9.89084422e-01 1.55333349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302414037 meters Centerline goodness : 0.782866 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.57, Z:0.16 [[ 0.96215973 -0.22833863 -0.14869475 2.74508266] [ 0.23134906 0.97286606 0.0030387 0.57311993] [ 0.14396622 -0.03732411 0.98887847 0.15590022] [ 0. 0. 0. 1. ]] SLAMing on 63.362414037 meters Centerline goodness : 0.781229 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.57, Z:0.16 [[ 0.96214216 -0.22718245 -0.15056757 2.74615158] [ 0.23081597 0.97297313 0.00687634 0.57304533] [ 0.14493602 -0.04136941 0.98857581 0.15798288] [ 0. 0. 0. 1. ]] SLAMing on 63.422414036999996 meters Centerline goodness : 0.781909 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.57, Z:0.16 [[ 0.96192049 -0.22771344 -0.15118054 2.7471774 ] [ 0.23137165 0.97284149 0.00682659 0.57456731] [ 0.14552019 -0.04154553 0.9884826 0.15810529] [ 0. 0. 0. 1. ]] SLAMing on 63.482414037 meters Centerline goodness : 0.784565 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:0.16 [[ 0.96129979 -0.22957732 -0.15230553 2.74990875] [ 0.23318946 0.97241251 0.00604787 0.57653092] [ 0.14671535 -0.04132986 0.98831495 0.15784778] [ 0. 0. 0. 1. ]] SLAMing on 63.542414037 meters Centerline goodness : 0.785311 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:0.16 [[ 0.96131067 -0.22787781 -0.15476918 2.75174602] [ 0.23211882 0.97263945 0.00966177 0.57877239] [ 0.14833291 -0.0452128 0.98790341 0.1595695 ] [ 0. 0. 0. 1. ]] SLAMing on 63.602414036999996 meters Centerline goodness : 0.780528 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:0.16 [[ 0.96156034 -0.22571566 -0.15637823 2.75307619] [ 0.23043561 0.97300728 0.01250021 0.58024262] [ 0.14933566 -0.04805482 0.98761814 0.16005576] [ 0. 0. 0. 1. ]] SLAMing on 63.662414037 meters Centerline goodness : 0.782730 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:0.16 [[ 0.96153215 -0.22551472 -0.15684077 2.7536586 ] [ 0.2302336 0.97305691 0.01235871 0.58222066] [ 0.14982792 -0.04799331 0.98754657 0.15998564] [ 0. 0. 0. 1. ]] SLAMing on 63.722414037 meters Centerline goodness : 0.774464 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.59, Z:0.16 [[ 0.96142589 -0.22420111 -0.15935535 2.75568113] [ 0.22946392 0.97319866 0.01518827 0.58614256] [ 0.15167919 -0.0511687 0.98710445 0.16147487] [ 0. 0. 0. 1. ]] SLAMing on 63.782414037 meters Centerline goodness : 0.786276 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.59, Z:0.16 [[ 0.96105927 -0.22544441 -0.15981209 2.75627229] [ 0.23065552 0.97292597 0.01459776 0.5883557 ] [ 0.15219435 -0.05089086 0.98703951 0.16177663] [ 0. 0. 0. 1. ]] SLAMing on 63.842414037 meters Centerline goodness : 0.788003 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.59, Z:0.16 [[ 0.96047818 -0.22766407 -0.16015845 2.75661014] [ 0.2327794 0.9724333 0.01368278 0.59013658] [ 0.15262833 -0.0504236 0.98699648 0.16247294] [ 0. 0. 0. 1. ]] SLAMing on 63.902414037 meters Centerline goodness : 0.776130 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.59, Z:0.17 [[ 0.96001993 -0.22869313 -0.16143475 2.75609129] [ 0.23400559 0.97212802 0.01443947 0.59281628] [ 0.15363304 -0.05163881 0.98677775 0.16533212] [ 0. 0. 0. 1. ]] SLAMing on 63.962414037 meters Centerline goodness : 0.793532 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.60, Z:0.17 [[ 0.95910998 -0.23066776 -0.16401349 2.75822149] [ 0.236254 0.9715734 0.01513843 0.59831762] [ 0.1558592 -0.05326826 0.98634193 0.16756256] [ 0. 0. 0. 1. ]] SLAMing on 64.02241403699999 meters Centerline goodness : 0.789469 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.60, Z:0.17 [[ 0.95888699 -0.23105642 -0.16476854 2.76007744] [ 0.23666529 0.97147563 0.01498822 0.5994332 ] [ 0.1566055 -0.053367 0.98621837 0.16716412] [ 0. 0. 0. 1. ]] SLAMing on 64.08241403699999 meters Centerline goodness : 0.775700 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.60, Z:0.17 [[ 0.95872699 -0.23141347 -0.16519794 2.76171322] [ 0.23693835 0.97141968 0.01428342 0.60125445] [ 0.15717116 -0.05283562 0.986157 0.1661558 ] [ 0. 0. 0. 1. ]] SLAMing on 64.142414037 meters Centerline goodness : 0.778425 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.61, Z:0.17 [[ 0.95943194 -0.22702484 -0.16718276 2.75975361] [ 0.23337235 0.97220006 0.01908883 0.60681827] [ 0.15820145 -0.05733026 0.98574111 0.168569 ] [ 0. 0. 0. 1. ]] SLAMing on 64.202414037 meters Centerline goodness : 0.776112 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.61, Z:0.17 [[ 0.96026297 -0.22305734 -0.16775119 2.75847242] [ 0.22962063 0.97306324 0.02055 0.61259438] [ 0.15864869 -0.05825253 0.98561516 0.16822477] [ 0. 0. 0. 1. ]] SLAMing on 64.26241403699999 meters Centerline goodness : 0.777962 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.62, Z:0.17 [[ 0.96065227 -0.22183336 -0.1671442 2.75752461] [ 0.2281534 0.97343266 0.019362 0.61596735] [ 0.15840848 -0.05673467 0.98574232 0.16689443] [ 0. 0. 0. 1. ]] SLAMing on 64.32241403699999 meters Centerline goodness : 0.775287 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.62, Z:0.17 [[ 0.96122653 -0.21859504 -0.16810641 2.75793384] [ 0.22520774 0.97408239 0.02109421 0.6214076 ] [ 0.15913841 -0.05813518 0.98554313 0.16580649] [ 0. 0. 0. 1. ]] SLAMing on 64.38241403699999 meters Centerline goodness : 0.775606 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.63, Z:0.16 [[ 0.96121188 -0.21829734 -0.16857636 2.75939535] [ 0.22480865 0.97419104 0.02031979 0.62533733] [ 0.15978982 -0.05742905 0.98547913 0.16441601] [ 0. 0. 0. 1. ]] SLAMing on 64.44241403699999 meters Centerline goodness : 0.774407 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.63, Z:0.16 [[ 0.9610085 -0.21927287 -0.1684698 2.75850084] [ 0.22544878 0.97408483 0.01820985 0.63018739] [ 0.16011095 -0.05548114 0.9855386 0.16447768] [ 0. 0. 0. 1. ]] SLAMing on 64.502414037 meters Centerline goodness : 0.776100 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.64, Z:0.17 [[ 0.96060134 -0.22196533 -0.16726167 2.75313815] [ 0.22757806 0.97364547 0.0149242 0.63607928] [ 0.15954091 -0.05240129 0.98579958 0.16752273] [ 0. 0. 0. 1. ]] SLAMing on 64.562414037 meters Centerline goodness : 0.777081 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.64, Z:0.17 [[ 0.95973994 -0.22634715 -0.16633163 2.7524702 ] [ 0.23119341 0.97285522 0.01011554 0.64095429] [ 0.15952697 -0.04816307 0.98601798 0.16802218] [ 0. 0. 0. 1. ]] SLAMing on 64.622414037 meters Centerline goodness : 0.776081 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.65, Z:0.17 [[ 0.95869641 -0.2314746 -0.16528974 2.75183816] [ 0.23549533 0.97186322 0.00488161 0.64615452] [ 0.15950905 -0.04360495 0.98623297 0.16804762] [ 0. 0. 0. 1. ]] SLAMing on 64.68241403699999 meters Centerline goodness : 0.774223 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.65, Z:0.17 [[ 0.95838586 -0.23311755 -0.16478093 2.74964493] [ 0.23691517 0.97152403 0.00350071 0.64763849] [ 0.15927256 -0.04239413 0.98632398 0.16913449] [ 0. 0. 0. 1. ]] SLAMing on 64.74241403699999 meters Centerline goodness : 0.776330 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.65, Z:0.17 [[ 0.95819525 -0.23399905 -0.16463994 2.74986836] [ 0.23772119 0.97132881 0.00299618 0.64938912] [ 0.15921841 -0.04200932 0.98634918 0.168013 ] [ 0. 0. 0. 1. ]] SLAMing on 64.80241403699999 meters Centerline goodness : 0.777487 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.65, Z:0.17 [[ 0.95819177 -0.23385861 -0.16485958 2.75137862] [ 0.23758369 0.97136254 0.00296766 0.65087648] [ 0.15944441 -0.04201154 0.98631258 0.16668004] [ 0. 0. 0. 1. ]] SLAMing on 64.862414037 meters Centerline goodness : 0.777712 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.65, Z:0.17 [[ 0.95892761 -0.23088493 -0.16477253 2.74795006] [ 0.23495838 0.97199042 0.00540223 0.65342107] [ 0.15891002 -0.04389503 0.9863168 0.16767781] [ 0. 0. 0. 1. ]] SLAMing on 64.922414037 meters Centerline goodness : 0.775178 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95893585 -0.23105705 -0.16448308 2.74664722] [ 0.23493521 0.97200172 0.00425544 0.65687341] [ 0.15889458 -0.04272356 0.98637073 0.16870659] [ 0. 0. 0. 1. ]] SLAMing on 64.982414037 meters Centerline goodness : 0.773116 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95893723 -0.23101609 -0.16453251 2.74679759] [ 0.23478998 0.97203946 0.00359865 0.65920456] [ 0.15910075 -0.04208146 0.9863651 0.16879849] [ 0. 0. 0. 1. ]] SLAMing on 65.04241403699999 meters Centerline goodness : 0.772441 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.9589215 -0.23116518 -0.16441479 2.74594542] [ 0.23480159 0.97203939 0.00276515 0.66173638] [ 0.15917845 -0.04125642 0.98638741 0.16960078] [ 0. 0. 0. 1. ]] SLAMing on 65.10241403699999 meters Centerline goodness : 0.772931 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.58881615e-01 -2.31363038e-01 -1.64369076e-01 2.74549007e+00] [ 2.34940434e-01 9.72006820e-01 2.39468196e-03 6.63000105e-01] [ 1.59213822e-01 -4.09131585e-02 9.86396002e-01 1.69904955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16241403699999 meters Centerline goodness : 0.772054 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.58888768e-01 -2.31249191e-01 -1.64487517e-01 2.74625787e+00] [ 2.34832790e-01 9.72032789e-01 2.41190921e-03 6.63575018e-01] [ 1.59329508e-01 -4.09398152e-02 9.86376216e-01 1.69351648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222414037 meters Centerline goodness : 0.769142 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95891953 -0.23096699 -0.16470453 2.74784857] [ 0.2346383 0.97207836 0.00292187 0.66270912] [ 0.15943086 -0.04144783 0.98633862 0.16805551] [ 0. 0. 0. 1. ]] SLAMing on 65.282414037 meters Centerline goodness : 0.770128 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.58812936e-01 -2.31791322e-01 -1.64166186e-01 2.74581660e+00] [ 2.35331124e-01 9.71912814e-01 2.17809842e-03 6.62521113e-01] [ 1.59050356e-01 -4.07218022e-02 9.86430291e-01 1.69345778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342414037 meters Centerline goodness : 0.768124 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.66, Z:0.17 [[ 9.58750739e-01 -2.32256517e-01 -1.63871689e-01 2.74420874e+00] [ 2.35673787e-01 9.71831133e-01 1.45420581e-03 6.63556605e-01] [ 1.58917860e-01 -4.00144824e-02 9.86480590e-01 1.70594906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40241403699999 meters Centerline goodness : 0.779797 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.66, Z:0.17 [[ 9.58733055e-01 -2.32424796e-01 -1.63736504e-01 2.74355537e+00] [ 2.35771083e-01 9.71808072e-01 1.03360426e-03 6.63919271e-01] [ 1.58880221e-01 -3.95952835e-02 9.86503568e-01 1.71282672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46241403699999 meters Centerline goodness : 0.767517 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.58885521e-01 -2.31524345e-01 -1.64118965e-01 2.74537939e+00] [ 2.34956213e-01 9.72004730e-01 1.54371220e-03 6.63941038e-01] [ 1.59167003e-01 -4.00410138e-02 9.86439346e-01 1.70346957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52241403699999 meters Centerline goodness : 0.764877 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.58976921e-01 -2.30915419e-01 -1.64442496e-01 2.74695990e+00] [ 2.34396765e-01 9.72139315e-01 1.81906065e-03 6.64825005e-01] [ 1.59440966e-01 -4.02892263e-02 9.86384994e-01 1.69379215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58241403699999 meters Centerline goodness : 0.764923 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.67, Z:0.17 [[ 9.59181970e-01 -2.29974990e-01 -1.64564431e-01 2.74775291e+00] [ 2.33503582e-01 9.72353543e-01 2.15981898e-03 6.65687362e-01] [ 1.59518103e-01 -4.04980435e-02 9.86363971e-01 1.68962158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642414037 meters Centerline goodness : 0.767308 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.67, Z:0.17 [[ 9.59208907e-01 -2.30024674e-01 -1.64337829e-01 2.74699753e+00] [ 2.33517957e-01 9.72350442e-01 1.99534804e-03 6.65099839e-01] [ 1.59334982e-01 -4.02897898e-02 9.86402097e-01 1.69644610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702414037 meters Centerline goodness : 0.779320 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.59200123e-01 -2.30091808e-01 -1.64295113e-01 2.74618895e+00] [ 2.33531355e-01 9.72347841e-01 1.66792429e-03 6.64861332e-01] [ 1.59368222e-01 -3.99679335e-02 9.86409820e-01 1.70844797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76241403699999 meters Centerline goodness : 0.767300 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.67, Z:0.17 [[ 9.59275435e-01 -2.29592695e-01 -1.64553439e-01 2.74674004e+00] [ 2.33049609e-01 9.72463269e-01 1.75202786e-03 6.65222967e-01] [ 1.59619922e-01 -4.00297919e-02 9.86366613e-01 1.71036113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82241403699999 meters Centerline goodness : 0.765735 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.59334241e-01 -2.29024162e-01 -1.65002266e-01 2.74813494e+00] [ 2.32529725e-01 9.72587262e-01 1.98630374e-03 6.64499378e-01] [ 1.60024191e-01 -4.02734608e-02 9.86291188e-01 1.71066595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88241403699999 meters Centerline goodness : 0.778092 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.59339983e-01 -2.28909128e-01 -1.65128459e-01 2.74871035e+00] [ 2.32432841e-01 9.72610233e-01 2.07569804e-03 6.63646481e-01] [ 1.60130482e-01 -4.03725769e-02 9.86269884e-01 1.71048564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94241403699999 meters Centerline goodness : 0.778363 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 9.59392478e-01 -2.28566218e-01 -1.65298386e-01 2.74920340e+00] [ 2.32145785e-01 9.72678030e-01 2.40523030e-03 6.61892680e-01] [ 1.60232354e-01 -4.06808833e-02 9.86240670e-01 1.71392354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002414037 meters Centerline goodness : 0.761608 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95960512 -0.2272702 -0.16585015 2.75181855] [ 0.23102712 0.97294115 0.00346267 0.66118031] [ 0.16057548 -0.04163868 0.98614489 0.16996664] [ 0. 0. 0. 1. ]] SLAMing on 66.062414037 meters Centerline goodness : 0.776999 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95971503 -0.22672348 -0.16596244 2.75206587] [ 0.23048766 0.97306887 0.00352435 0.66154019] [ 0.16069383 -0.04163467 0.98612578 0.17025074] [ 0. 0. 0. 1. ]] SLAMing on 66.122414037 meters Centerline goodness : 0.763375 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95987229 -0.2260705 -0.16594369 2.75181265] [ 0.22982049 0.97322675 0.003498 0.6616349 ] [ 0.16071005 -0.04149489 0.98612903 0.17103262] [ 0. 0. 0. 1. ]] SLAMing on 66.18241403699999 meters Centerline goodness : 0.765214 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95991056 -0.22583267 -0.16604611 2.75182407] [ 0.22955135 0.97329096 0.00329952 0.66188849] [ 0.16086604 -0.04128335 0.98611247 0.17164758] [ 0. 0. 0. 1. ]] SLAMing on 66.24241403699999 meters Centerline goodness : 0.765274 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95989783 -0.22595157 -0.16595798 2.75087435] [ 0.22958177 0.97328543 0.00276982 0.6622504 ] [ 0.16089864 -0.04075967 0.98612894 0.17292436] [ 0. 0. 0. 1. ]] SLAMing on 66.30241403699999 meters Centerline goodness : 0.764650 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.95998229 -0.2251983 -0.16649244 2.75207536] [ 0.22888013 0.97344995 0.00301274 0.66253473] [ 0.16139359 -0.04099898 0.98603813 0.17313855] [ 0. 0. 0. 1. ]] SLAMing on 66.362414037 meters Centerline goodness : 0.762352 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.66, Z:0.17 [[ 0.96005218 -0.22447716 -0.16706233 2.75438493] [ 0.22826057 0.97359362 0.00354673 0.66173098] [ 0.16185466 -0.04153879 0.98593996 0.17224675] [ 0. 0. 0. 1. ]] SLAMing on 66.422414037 meters Centerline goodness : 0.779225 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.17 [[ 0.96021177 -0.22356297 -0.1673707 2.75581605] [ 0.22745295 0.97378004 0.00419334 0.66058014] [ 0.16204477 -0.04209545 0.98588512 0.17179774] [ 0. 0. 0. 1. ]] SLAMing on 66.482414037 meters Centerline goodness : 0.764690 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.17 [[ 0.96019832 -0.22359258 -0.16740834 2.75531115] [ 0.2274123 0.97379133 0.00375361 0.66084433] [ 0.16218151 -0.04167493 0.9858805 0.17290787] [ 0. 0. 0. 1. ]] SLAMing on 66.54241403699999 meters Centerline goodness : 0.778405 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.17 [[ 0.96025361 -0.22330874 -0.16747002 2.75539974] [ 0.22712667 0.973858 0.00375111 0.66010321] [ 0.16225436 -0.04163892 0.98587003 0.1735245 ] [ 0. 0. 0. 1. ]] SLAMing on 66.60241403699999 meters Centerline goodness : 0.780256 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.17 [[ 0.96035119 -0.22254322 -0.16792889 2.75679675] [ 0.22646973 0.97400846 0.00435596 0.65752214] [ 0.16259477 -0.04221406 0.98578949 0.17395632] [ 0. 0. 0. 1. ]] SLAMing on 66.66241403699999 meters Centerline goodness : 0.766582 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.18 [[ 9.59483451e-01 -2.26705723e-01 -1.67320120e-01 2.75663129e+00] [ 2.29982543e-01 9.73194731e-01 2.12938298e-04 6.58708039e-01] [ 1.62786785e-01 -3.86850174e-02 9.85902598e-01 1.75216350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722414037 meters Centerline goodness : 0.762120 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.18 [[ 0.95855723 -0.23105692 -0.16667555 2.75753799] [ 0.23374047 0.97229233 -0.00360729 0.65772404] [ 0.16289085 -0.03550103 0.9860052 0.17546612] [ 0. 0. 0. 1. ]] SLAMing on 66.782414037 meters Centerline goodness : 0.776794 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.18 [[ 0.95753727 -0.23586688 -0.16579868 2.75797173] [ 0.23795526 0.97124759 -0.0074434 0.6561619 ] [ 0.16278722 -0.03232533 0.98613153 0.17553729] [ 0. 0. 0. 1. ]] SLAMing on 66.842414037 meters Centerline goodness : 0.763222 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.66, Z:0.17 [[ 0.95697928 -0.23732378 -0.16693737 2.76214363] [ 0.23948108 0.97087295 -0.00738483 0.65507322] [ 0.16382757 -0.03291121 0.98593984 0.17426849] [ 0. 0. 0. 1. ]] SLAMing on 66.90241403699999 meters Centerline goodness : 0.762548 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.65, Z:0.17 [[ 0.9567101 -0.2380129 -0.16749821 2.76332333] [ 0.24026555 0.97068205 -0.00698737 0.65459296] [ 0.16425059 -0.03355916 0.98584762 0.17456969] [ 0. 0. 0. 1. ]] SLAMing on 66.96241403699999 meters Centerline goodness : 0.763042 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.65, Z:0.18 [[ 0.95659093 -0.23877645 -0.1670916 2.76150359] [ 0.24091757 0.9705155 -0.00764061 0.6545214 ] [ 0.16398939 -0.03294637 0.98591177 0.17583832] [ 0. 0. 0. 1. ]] SLAMing on 67.02241403699999 meters Centerline goodness : 0.765725 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.65, Z:0.18 [[ 0.95649231 -0.23894598 -0.16741349 2.76145097] [ 0.24130379 0.97042839 -0.00641967 0.65222918] [ 0.16399676 -0.03425715 0.98586587 0.1768981 ] [ 0. 0. 0. 1. ]] SLAMing on 67.08241403699999 meters Centerline goodness : 0.765687 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.65, Z:0.18 [[ 0.95605674 -0.2399986 -0.16839296 2.7642676 ] [ 0.24246709 0.97014072 -0.00605797 0.65166276] [ 0.16481877 -0.03503799 0.98570133 0.17645655] [ 0. 0. 0. 1. ]] SLAMing on 67.142414037 meters Centerline goodness : 0.767558 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.18 [[ 0.95498485 -0.24444722 -0.16807585 2.76521615] [ 0.24641033 0.96911997 -0.00940382 0.65182921] [ 0.1651844 -0.03243512 0.98572921 0.17682198] [ 0. 0. 0. 1. ]] SLAMing on 67.202414037 meters Centerline goodness : 0.769574 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.18 [[ 0.95474942 -0.24459272 -0.16919798 2.76698055] [ 0.24681916 0.96902789 -0.00807762 0.65075492] [ 0.16593329 -0.0340492 0.98554898 0.17753636] [ 0. 0. 0. 1. ]] SLAMing on 67.26241403699999 meters Centerline goodness : 0.772603 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.18 [[ 0.95477069 -0.24409047 -0.16980215 2.76747739] [ 0.24653604 0.96910934 -0.00686073 0.64970439] [ 0.16623149 -0.03531192 0.98545429 0.17832796] [ 0. 0. 0. 1. ]] SLAMing on 67.32241403699999 meters Centerline goodness : 0.772333 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.18 [[ 0.95457984 -0.24429678 -0.17057668 2.76988236] [ 0.24689279 0.96902324 -0.00615777 0.64791388] [ 0.16679709 -0.03623607 0.98532516 0.17788797] [ 0. 0. 0. 1. ]] SLAMing on 67.38241403699999 meters Centerline goodness : 0.771598 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.18 [[ 0.95436688 -0.24522566 -0.17043542 2.77179043] [ 0.24769965 0.96881208 -0.00693074 0.64728579] [ 0.16681948 -0.03560233 0.98534447 0.17627037] [ 0. 0. 0. 1. ]] SLAMing on 67.44241403699999 meters Centerline goodness : 0.773141 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.65, Z:0.18 [[ 0.95468469 -0.24246768 -0.17258788 2.77512778] [ 0.24557632 0.96937117 -0.00343724 0.64779708] [ 0.16813513 -0.03910201 0.98498813 0.17569662] [ 0. 0. 0. 1. ]] SLAMing on 67.502414037 meters Centerline goodness : 0.773075 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.18 [[ 9.55712277e-01 -2.38143787e-01 -1.72920735e-01 2.77368522e+00] [ 2.41794977e-01 9.70327360e-01 5.20278703e-05 6.47296694e-01] [ 1.67777330e-01 -4.18610888e-02 9.84935742e-01 1.75994939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562414037 meters Centerline goodness : 0.773185 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.17 [[ 0.95715273 -0.23253979 -0.17258014 2.77247305] [ 0.23657603 0.97160863 0.00290719 0.64767471] [ 0.16700432 -0.04361095 0.98499119 0.17409034] [ 0. 0. 0. 1. ]] SLAMing on 67.622414037 meters Centerline goodness : 0.771272 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.65, Z:0.17 [[ 0.95790059 -0.22882947 -0.17338836 2.77342582] [ 0.23329294 0.97239075 0.00553547 0.64977655] [ 0.16733456 -0.04575271 0.98483797 0.17263751] [ 0. 0. 0. 1. ]] SLAMing on 67.68241403699999 meters Centerline goodness : 0.769967 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.66, Z:0.17 [[ 0.95963028 -0.23001261 -0.16187629 2.7751789 ] [ 0.23411868 0.97218629 0.00650042 0.65724956] [ 0.15587873 -0.04413626 0.98678965 0.1661588 ] [ 0. 0. 0. 1. ]] SLAMing on 67.74241403699999 meters Centerline goodness : 0.769525 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.66, Z:0.16 [[ 0.96028259 -0.22784942 -0.16106519 2.77403743] [ 0.23192287 0.97271108 0.00670432 0.65786965] [ 0.15514232 -0.04379274 0.986921 0.16479617] [ 0. 0. 0. 1. ]] SLAMing on 67.80241403699999 meters Centerline goodness : 0.769334 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.66, Z:0.16 [[ 0.96077346 -0.22459158 -0.16270522 2.7760414 ] [ 0.22930114 0.97329867 0.01052063 0.65727405] [ 0.15599793 -0.04741643 0.98661863 0.16477346] [ 0. 0. 0. 1. ]] SLAMing on 67.862414037 meters Centerline goodness : 0.771710 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.66, Z:0.16 [[ 0.9615412 -0.22080871 -0.16334638 2.77567755] [ 0.22587672 0.97407053 0.01289601 0.66021832] [ 0.15626334 -0.04929619 0.98648449 0.16429421] [ 0. 0. 0. 1. ]] SLAMing on 67.922414037 meters Centerline goodness : 0.771608 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.66, Z:0.16 [[ 0.96197196 -0.21964413 -0.16237734 2.77440444] [ 0.22439937 0.97443154 0.01131763 0.66276083] [ 0.15573975 -0.04732462 0.98666383 0.16287674] [ 0. 0. 0. 1. ]] SLAMing on 67.982414037 meters Centerline goodness : 0.770075 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.67, Z:0.16 [[ 0.96415261 -0.21935218 -0.149313 2.77462099] [ 0.2238801 0.97451594 0.01401345 0.66678846] [ 0.14243402 -0.04693932 0.98869067 0.15511612] [ 0. 0. 0. 1. ]] SLAMing on 68.04241403699999 meters Centerline goodness : 0.771365 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.67, Z:0.16 [[ 0.96421796 -0.21939954 -0.14882057 2.77210504] [ 0.22369726 0.97457758 0.01257251 0.67104968] [ 0.14227879 -0.0454134 0.98878429 0.1572745 ] [ 0. 0. 0. 1. ]] SLAMing on 68.10241403699999 meters Centerline goodness : 0.770405 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.68, Z:0.16 [[ 0.96353675 -0.22293683 -0.14797333 2.77140918] [ 0.2264801 0.97398824 0.00732599 0.67513898] [ 0.14249105 -0.04057187 0.98896422 0.15979618] [ 0. 0. 0. 1. ]] SLAMing on 68.16241403699999 meters Centerline goodness : 0.767838 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.67, Z:0.16 [[ 0.96267494 -0.22681671 -0.14768596 2.77371492] [ 0.22988005 0.97321161 0.00378579 0.67329733] [ 0.14287101 -0.03759454 0.98902706 0.15945183] [ 0. 0. 0. 1. ]] SLAMing on 68.222414037 meters Centerline goodness : 0.766630 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.67, Z:0.16 [[ 9.61897424e-01 -2.30146946e-01 -1.47599893e-01 2.77704480e+00] [ 2.32679124e-01 9.72553552e-01 -1.13684372e-04 6.74444813e-01] [ 1.43574964e-01 -3.42340610e-02 9.89047147e-01 1.59061265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282414037 meters Centerline goodness : 0.783964 with order 3 Centerline is valid? [False, False] Translation: X:2.78, Y:0.68, Z:0.16 [[ 9.62106431e-01 -2.29229549e-01 -1.47665263e-01 2.77707013e+00] [ 2.31708369e-01 9.72785202e-01 -4.26647336e-04 6.76596210e-01] [ 1.43744383e-01 -3.38047972e-02 9.89037304e-01 1.59945974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342414037 meters Centerline goodness : 0.781349 with order 3 Centerline is valid? [False, False] Translation: X:2.78, Y:0.68, Z:0.16 [[ 9.62356362e-01 -2.28053292e-01 -1.47857796e-01 2.77830573e+00] [ 2.30547570e-01 9.73061016e-01 -2.76263950e-04 6.75659265e-01] [ 1.43937660e-01 -3.38223913e-02 9.89008592e-01 1.60544440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40241403699999 meters Centerline goodness : 0.782239 with order 3 Centerline is valid? [False, False] Translation: X:2.80, Y:0.69, Z:0.18 [[ 0.96402344 -0.22670497 -0.13879362 2.79679526] [ 0.22594078 0.97390489 -0.02144818 0.68616127] [ 0.14003419 -0.01068259 0.99008904 0.17509175] [ 0. 0. 0. 1. ]] SLAMing on 68.46241403699999 meters Centerline goodness : 0.783110 with order 3 Centerline is valid? [False, False] Translation: X:2.81, Y:0.70, Z:0.19 [[ 0.96498451 -0.22679915 -0.13178404 2.80817574] [ 0.22336292 0.97389383 -0.04049453 0.69565252] [ 0.13752779 0.00964093 0.99045099 0.19038931] [ 0. 0. 0. 1. ]] SLAMing on 68.52241403699999 meters Centerline goodness : 0.767924 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.69, Z:0.19 [[ 0.96519627 -0.22603754 -0.1315416 2.81062124] [ 0.22260737 0.97407001 -0.04041752 0.69323137] [ 0.1372666 0.00972871 0.99048636 0.18740836] [ 0. 0. 0. 1. ]] SLAMing on 68.58241403699999 meters Centerline goodness : 0.764850 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.69, Z:0.19 [[ 0.96447412 -0.22965028 -0.13057724 2.81214609] [ 0.22581998 0.97319182 -0.04362356 0.6914689 ] [ 0.13709487 0.01258684 0.99047795 0.18587714] [ 0. 0. 0. 1. ]] SLAMing on 68.642414037 meters Centerline goodness : 0.765253 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.69, Z:0.19 [[ 0.96323265 -0.2343779 -0.13133872 2.81466778] [ 0.23045348 0.97206345 -0.04454031 0.68821562] [ 0.13810883 0.01263521 0.99033646 0.18728035] [ 0. 0. 0. 1. ]] SLAMing on 68.702414037 meters Centerline goodness : 0.766088 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.68, Z:0.19 [[ 0.96248653 -0.23675914 -0.13253224 2.81761184] [ 0.2330421 0.97151042 -0.04311476 0.68448105] [ 0.13896427 0.01061178 0.99024054 0.18797298] [ 0. 0. 0. 1. ]] SLAMing on 68.76241403699999 meters Centerline goodness : 0.764799 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.67, Z:0.19 [[ 0.96012249 -0.24001949 -0.14337171 2.81853293] [ 0.2355416 0.97069374 -0.04768462 0.67455553] [ 0.15061526 0.01201308 0.98851946 0.19129992] [ 0. 0. 0. 1. ]] SLAMing on 68.82241403699999 meters Centerline goodness : 0.767510 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.67, Z:0.19 [[ 0.95887001 -0.24433682 -0.14445696 2.82132101] [ 0.23983945 0.9696232 -0.04804056 0.67174771] [ 0.1518069 0.01141818 0.98834422 0.1929084 ] [ 0. 0. 0. 1. ]] SLAMing on 68.88241403699999 meters Centerline goodness : 0.766027 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.67, Z:0.19 [[ 0.95756883 -0.24921593 -0.14475274 2.82330852] [ 0.2446783 0.96838369 -0.04863691 0.66647071] [ 0.15229729 0.01115534 0.98827177 0.19451776] [ 0. 0. 0. 1. ]] SLAMing on 68.94241403699999 meters Centerline goodness : 0.765780 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.66, Z:0.19 [[ 0.95659665 -0.25304661 -0.14453466 2.82629759] [ 0.24820619 0.96736924 -0.05089645 0.66403217] [ 0.15269756 0.01281297 0.9881899 0.19338731] [ 0. 0. 0. 1. ]] SLAMing on 69.002414037 meters Centerline goodness : 0.765925 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.66, Z:0.19 [[ 0.95564595 -0.25656991 -0.14461224 2.82940235] [ 0.25142395 0.96641835 -0.05311849 0.66236391] [ 0.15338453 0.01440349 0.9880616 0.19245278] [ 0. 0. 0. 1. ]] SLAMing on 69.062414037 meters Centerline goodness : 0.778465 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.66, Z:0.19 [[ 0.95595486 -0.254263 -0.14663094 2.83228257] [ 0.24970832 0.96708117 -0.04898742 0.66073206] [ 0.15425971 0.01021479 0.98797753 0.19247995] [ 0. 0. 0. 1. ]] SLAMing on 69.122414037 meters Centerline goodness : 0.767568 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.66, Z:0.19 [[ 0.95670031 -0.25075604 -0.14780368 2.83434047] [ 0.24668211 0.96802393 -0.0455807 0.65965933] [ 0.15450714 0.00714655 0.98796583 0.19119004] [ 0. 0. 0. 1. ]] SLAMing on 69.18241403699999 meters Centerline goodness : 0.768176 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.19 [[ 0.95759449 -0.24686025 -0.14856918 2.83522397] [ 0.24326239 0.96904164 -0.04221024 0.6590523 ] [ 0.15438975 0.00427899 0.98800076 0.1901007 ] [ 0. 0. 0. 1. ]] SLAMing on 69.24241403699999 meters Centerline goodness : 0.767282 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.19 [[ 9.58588285e-01 -2.42428945e-01 -1.49454699e-01 2.83552786e+00] [ 2.39360671e-01 9.70168543e-01 -3.84638403e-02 6.58516840e-01] [ 1.54320996e-01 1.09740972e-03 9.88020155e-01 1.89602418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30241403699999 meters Centerline goodness : 0.767729 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.19 [[ 9.59529237e-01 -2.38173612e-01 -1.50256362e-01 2.83626765e+00] [ 2.35494813e-01 9.71221872e-01 -3.56408366e-02 6.60009179e-01] [ 1.54420972e-01 -1.18616918e-03 9.88004431e-01 1.88208129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362414037 meters Centerline goodness : 0.767295 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.19 [[ 0.96022909 -0.23475596 -0.15116127 2.83761915] [ 0.23243956 0.97204846 -0.03307022 0.66079367] [ 0.15469951 -0.00338087 0.98795578 0.1869436 ] [ 0. 0. 0. 1. ]] SLAMing on 69.422414037 meters Centerline goodness : 0.766772 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.19 [[ 0.9610297 -0.23121257 -0.15153438 2.83770266] [ 0.22927413 0.97288748 -0.03038629 0.66143648] [ 0.1544516 -0.00554079 0.98798482 0.18590536] [ 0. 0. 0. 1. ]] SLAMing on 69.482414037 meters Centerline goodness : 0.777514 with order 3 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.96125534 -0.23039203 -0.15135285 2.83807866] [ 0.22845217 0.97308276 -0.03032413 0.6616754 ] [ 0.15426529 -0.00542766 0.98801455 0.18488635] [ 0. 0. 0. 1. ]] SLAMing on 69.54241403699999 meters Centerline goodness : 0.767106 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.19 [[ 0.96144608 -0.22963363 -0.15129386 2.8372903 ] [ 0.2277735 0.97325952 -0.02975124 0.66172153] [ 0.15408007 -0.00585652 0.98804101 0.18529433] [ 0. 0. 0. 1. ]] SLAMing on 69.60241403699999 meters Centerline goodness : 0.765905 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.96166609 -0.22899794 -0.15085844 2.83711882] [ 0.22697449 0.97341563 -0.03073408 0.66312049] [ 0.153886 -0.0046851 0.9880775 0.18416875] [ 0. 0. 0. 1. ]] SLAMing on 69.66241403699999 meters Centerline goodness : 0.765612 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.96197921 -0.22778692 -0.15069545 2.83799974] [ 0.22580823 0.973699 -0.03034646 0.66250754] [ 0.15364453 -0.00483561 0.98811435 0.18259263] [ 0. 0. 0. 1. ]] SLAMing on 69.722414037 meters Centerline goodness : 0.766857 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.9620892 -0.22718925 -0.1508954 2.8387127 ] [ 0.22526634 0.97383685 -0.0299476 0.66252954] [ 0.15375128 -0.0051794 0.98809601 0.18210374] [ 0. 0. 0. 1. ]] SLAMing on 69.782414037 meters Centerline goodness : 0.766441 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.96267044 -0.22488603 -0.15063828 2.83786641] [ 0.22319126 0.97436413 -0.028288 0.66076164] [ 0.15313811 -0.00638913 0.98818414 0.18193903] [ 0. 0. 0. 1. ]] SLAMing on 69.842414037 meters Centerline goodness : 0.765156 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.96256028 -0.22480029 -0.15146791 2.84017984] [ 0.22333808 0.97437193 -0.02682237 0.65827207] [ 0.15361576 -0.00801041 0.98809819 0.18167217] [ 0. 0. 0. 1. ]] SLAMing on 69.90241403699999 meters Centerline goodness : 0.764521 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.66, Z:0.18 [[ 0.96131051 -0.22988193 -0.15177746 2.84383624] [ 0.22818449 0.97319337 -0.02874878 0.65533305] [ 0.15431764 -0.00699676 0.98799651 0.18115663] [ 0. 0. 0. 1. ]] SLAMing on 69.96241403699999 meters Centerline goodness : 0.766687 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.65, Z:0.18 [[ 0.96004955 -0.2344806 -0.15272105 2.84662132] [ 0.23278537 0.97209132 -0.02914507 0.65173071] [ 0.15529276 -0.00757051 0.98783948 0.18284677] [ 0. 0. 0. 1. ]] SLAMing on 70.02241403699999 meters Centerline goodness : 0.768046 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.65, Z:0.18 [[ 0.95934704 -0.23650514 -0.15400834 2.84972 ] [ 0.23508054 0.97158216 -0.02766316 0.64844788] [ 0.15617424 -0.00966579 0.98768223 0.1836166 ] [ 0. 0. 0. 1. ]] SLAMing on 70.08241403699999 meters Centerline goodness : 0.780186 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.65, Z:0.18 [[ 0.95835536 -0.24039354 -0.15416212 2.85298583] [ 0.23872156 0.97063843 -0.02954757 0.64595077] [ 0.15673872 -0.00848475 0.98760366 0.18293327] [ 0. 0. 0. 1. ]] SLAMing on 70.142414037 meters Centerline goodness : 0.769894 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.64, Z:0.18 [[ 0.95723762 -0.24461832 -0.15446041 2.8556742 ] [ 0.24273078 0.96958991 -0.0312599 0.64343328] [ 0.15741 -0.00756914 0.98750433 0.18335613] [ 0. 0. 0. 1. ]] SLAMing on 70.202414037 meters Centerline goodness : 0.780087 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.64, Z:0.18 [[ 0.95703709 -0.24471131 -0.15555184 2.85712873] [ 0.2430881 0.96955027 -0.02967238 0.64208756] [ 0.1580765 -0.00941524 0.98738198 0.18445957] [ 0. 0. 0. 1. ]] SLAMing on 70.26241403699999 meters Centerline goodness : 0.776216 with order 3 Centerline is valid? [False, False] Translation: X:2.86, Y:0.64, Z:0.18 [[ 0.95710009 -0.24425639 -0.1558789 2.85852067] [ 0.24268774 0.96966144 -0.02931471 0.6419011 ] [ 0.15831006 -0.00977278 0.98734108 0.18358928] [ 0. 0. 0. 1. ]] SLAMing on 70.32241403699999 meters Centerline goodness : 0.777580 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.64, Z:0.18 [[ 0.95700372 -0.24428771 -0.15642055 2.86062187] [ 0.24278714 0.96964817 -0.02892803 0.6415926 ] [ 0.15873966 -0.01029267 0.98726682 0.18266008] [ 0. 0. 0. 1. ]] SLAMing on 70.38241403699999 meters Centerline goodness : 0.782159 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.64, Z:0.18 [[ 0.95732553 -0.24195845 -0.15806309 2.86262916] [ 0.24103504 0.97018709 -0.02528087 0.64118068] [ 0.15946769 -0.01389672 0.98710533 0.18280502] [ 0. 0. 0. 1. ]] SLAMing on 70.44241403699999 meters Centerline goodness : 0.771238 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.64, Z:0.18 [[ 0.9572026 -0.24186924 -0.15894167 2.86453864] [ 0.24094563 0.97020743 -0.02535241 0.6439328 ] [ 0.16033836 -0.01402891 0.98696241 0.18213927] [ 0. 0. 0. 1. ]] SLAMing on 70.502414037 meters Centerline goodness : 0.779775 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.65, Z:0.18 [[ 0.95698417 -0.24248998 -0.15931072 2.86577643] [ 0.24151086 0.97005567 -0.02577799 0.64522418] [ 0.16079117 -0.01380615 0.98689188 0.18160739] [ 0. 0. 0. 1. ]] SLAMing on 70.562414037 meters Centerline goodness : 0.780467 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.65, Z:0.18 [[ 0.95683285 -0.24136577 -0.16190572 2.86819237] [ 0.24104446 0.97026638 -0.02192531 0.64597643] [ 0.1623837 -0.01804762 0.98656263 0.18349495] [ 0. 0. 0. 1. ]] SLAMing on 70.62241403699998 meters Centerline goodness : 0.779139 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.65, Z:0.18 [[ 0.9565759 -0.2417542 -0.16284183 2.86966213] [ 0.24142667 0.97016734 -0.02210179 0.64822358] [ 0.16332703 -0.01817232 0.98640461 0.18366622] [ 0. 0. 0. 1. ]] SLAMing on 70.68241403699999 meters Centerline goodness : 0.766095 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.65, Z:0.18 [[ 0.95631021 -0.242178 -0.16376995 2.87197009] [ 0.24180886 0.97006316 -0.022493 0.65032284] [ 0.1643145 -0.01809074 0.98624209 0.1830897 ] [ 0. 0. 0. 1. ]] SLAMing on 70.74241403699999 meters Centerline goodness : 0.766689 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.65, Z:0.18 [[ 0.95617782 -0.24217131 -0.16455101 2.87388884] [ 0.2418073 0.97006225 -0.02254901 0.65224604] [ 0.16508544 -0.01822877 0.9861108 0.18249125] [ 0. 0. 0. 1. ]] SLAMing on 70.80241403699999 meters Centerline goodness : 0.781681 with order 3 Centerline is valid? [False, False] Translation: X:2.87, Y:0.65, Z:0.18 [[ 0.95674774 -0.23934136 -0.16537678 2.87460032] [ 0.23936015 0.97072244 -0.02011613 0.65371228] [ 0.16534957 -0.02033855 0.98602528 0.18168381] [ 0. 0. 0. 1. ]] SLAMing on 70.862414037 meters Centerline goodness : 0.766968 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.65, Z:0.18 [[ 0.95710422 -0.23791082 -0.1653782 2.87588803] [ 0.23787026 0.97108383 -0.02034558 0.65492664] [ 0.16543653 -0.01986571 0.98602034 0.1797106 ] [ 0. 0. 0. 1. ]] SLAMing on 70.922414037 meters Centerline goodness : 0.770303 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.66, Z:0.18 [[ 0.95807957 -0.2337208 -0.16570494 2.87370221] [ 0.23408306 0.97205692 -0.01762 0.65660168] [ 0.1651928 -0.02190736 0.98601795 0.18044056] [ 0. 0. 0. 1. ]] SLAMing on 70.982414037 meters Centerline goodness : 0.769520 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.95969089 -0.23357924 -0.1563142 2.87559713] [ 0.23455703 0.97202296 -0.01242458 0.66323362] [ 0.15484312 -0.02474084 0.98762923 0.17499961] [ 0. 0. 0. 1. ]] SLAMing on 71.04241403699999 meters Centerline goodness : 0.766997 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.95991006 -0.23307537 -0.15571945 2.87585409] [ 0.23387124 0.97217453 -0.01345099 0.6644689 ] [ 0.15452158 -0.02350656 0.98770974 0.17300286] [ 0. 0. 0. 1. ]] SLAMing on 71.10241403699999 meters Centerline goodness : 0.768311 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.67, Z:0.17 [[ 0.9604002 -0.23126623 -0.15539427 2.87517428] [ 0.23203613 0.97261459 -0.0134198 0.66611846] [ 0.15424228 -0.0231687 0.98776137 0.17197584] [ 0. 0. 0. 1. ]] SLAMing on 71.16241403699999 meters Centerline goodness : 0.779891 with order 3 Centerline is valid? [False, False] Translation: X:2.87, Y:0.67, Z:0.17 [[ 0.96082697 -0.22993589 -0.15472884 2.87303548] [ 0.23071013 0.97293322 -0.01318271 0.66735491] [ 0.15357201 -0.0230312 0.98786902 0.17209769] [ 0. 0. 0. 1. ]] SLAMing on 71.222414037 meters Centerline goodness : 0.769160 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.67, Z:0.17 [[ 0.96110559 -0.22897853 -0.1544179 2.87244307] [ 0.22977746 0.97315772 -0.01289894 0.66776572] [ 0.15322655 -0.02308451 0.98792142 0.17162468] [ 0. 0. 0. 1. ]] SLAMing on 71.282414037 meters Centerline goodness : 0.766428 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.67, Z:0.17 [[ 0.96105617 -0.22922579 -0.15435858 2.87331193] [ 0.22995117 0.97311013 -0.01338409 0.66814869] [ 0.15327588 -0.02263207 0.98792424 0.17060388] [ 0. 0. 0. 1. ]] SLAMing on 71.342414037 meters Centerline goodness : 0.781198 with order 3 Centerline is valid? [False, False] Translation: X:2.88, Y:0.67, Z:0.17 [[ 0.96092077 -0.22916888 -0.1552833 2.87517757] [ 0.23009492 0.97309133 -0.01223095 0.66720698] [ 0.15390778 -0.02397692 0.98779426 0.17072775] [ 0. 0. 0. 1. ]] SLAMing on 71.40241403699999 meters Centerline goodness : 0.782547 with order 3 Centerline is valid? [False, False] Translation: X:2.88, Y:0.67, Z:0.17 [[ 0.96064371 -0.22989007 -0.15593015 2.87715697] [ 0.23099128 0.97289053 -0.01127136 0.66584808] [ 0.15429414 -0.02519075 0.98770377 0.17053025] [ 0. 0. 0. 1. ]] SLAMing on 71.46241403699999 meters Centerline goodness : 0.766418 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.95977611 -0.23324733 -0.15628661 2.88083989] [ 0.23405272 0.97213029 -0.01349179 0.66488439] [ 0.15507787 -0.02363021 0.9876196 0.16925469] [ 0. 0. 0. 1. ]] SLAMing on 71.52241403699999 meters Centerline goodness : 0.767497 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.95943152 -0.23380154 -0.15756902 2.88340354] [ 0.23495555 0.97193773 -0.01153003 0.66229372] [ 0.15584302 -0.02595945 0.98744066 0.16993121] [ 0. 0. 0. 1. ]] SLAMing on 71.58241403699999 meters Centerline goodness : 0.780876 with order 3 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.95930708 -0.23396849 -0.15807807 2.88454219] [ 0.23530613 0.97186492 -0.0104691 0.66088377] [ 0.15607997 -0.02715366 0.98737112 0.17018323] [ 0. 0. 0. 1. ]] SLAMing on 71.642414037 meters Centerline goodness : 0.766137 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.66, Z:0.17 [[ 0.95918637 -0.23423964 -0.15840864 2.88609079] [ 0.23562624 0.97178979 -0.01024074 0.66081918] [ 0.15633868 -0.02750246 0.98732053 0.16943062] [ 0. 0. 0. 1. ]] SLAMing on 71.702414037 meters Centerline goodness : 0.768289 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.66, Z:0.17 [[ 0.95931669 -0.23417123 -0.1577191 2.88625629] [ 0.23551154 0.97181585 -0.01040558 0.65904358] [ 0.15571061 -0.02716242 0.98742919 0.1681662 ] [ 0. 0. 0. 1. ]] SLAMing on 71.76241403699999 meters Centerline goodness : 0.779658 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.66, Z:0.17 [[ 0.95958431 -0.23300773 -0.15781429 2.88566958] [ 0.2345931 0.97205408 -0.00877142 0.65753628] [ 0.15544784 -0.02860523 0.98742985 0.16885601] [ 0. 0. 0. 1. ]] SLAMing on 71.82241403699999 meters Centerline goodness : 0.767036 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.66, Z:0.17 [[ 0.95938312 -0.23351545 -0.15828636 2.88696536] [ 0.23517898 0.97191573 -0.00840625 0.65750498] [ 0.15580399 -0.02916081 0.98735747 0.16869811] [ 0. 0. 0. 1. ]] SLAMing on 71.88241403699999 meters Centerline goodness : 0.768292 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.66, Z:0.17 [[ 0.95855522 -0.23737444 -0.15756036 2.88906928] [ 0.23860902 0.97104982 -0.01131302 0.65509025] [ 0.15568438 -0.02675117 0.98744455 0.16731953] [ 0. 0. 0. 1. ]] SLAMing on 71.94241403699999 meters Centerline goodness : 0.782506 with order 3 Centerline is valid? [False, False] Translation: X:2.89, Y:0.65, Z:0.17 [[ 0.9582668 -0.23812036 -0.15818795 2.88990001] [ 0.23959272 0.97082219 -0.00998037 0.65341263] [ 0.1559489 -0.02833682 0.98735858 0.1684064 ] [ 0. 0. 0. 1. ]] SLAMing on 72.002414037 meters Centerline goodness : 0.782856 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.65, Z:0.17 [[ 0.9580514 -0.2385231 -0.1588844 2.89252316] [ 0.24028893 0.97066601 -0.00828979 0.64960772] [ 0.15620099 -0.03023612 0.98726239 0.16804669] [ 0. 0. 0. 1. ]] SLAMing on 72.062414037 meters Centerline goodness : 0.768886 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.65, Z:0.17 [[ 0.95797527 -0.23895313 -0.15869716 2.89435227] [ 0.24069629 0.97056385 -0.00843228 0.64737296] [ 0.15604065 -0.0301199 0.9872913 0.16657335] [ 0. 0. 0. 1. ]] SLAMing on 72.12241403699998 meters Centerline goodness : 0.782456 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.65, Z:0.17 [[ 0.95783268 -0.23914148 -0.15927304 2.89562716] [ 0.2410885 0.97047587 -0.00727429 0.64598174] [ 0.15631023 -0.03143135 0.98720777 0.16690228] [ 0. 0. 0. 1. ]] SLAMing on 72.18241403699999 meters Centerline goodness : 0.783218 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.17 [[ 0.9578239 -0.23896081 -0.15959671 2.89695656] [ 0.24106876 0.97048753 -0.00631009 0.64384823] [ 0.15639448 -0.03242983 0.98716213 0.16667931] [ 0. 0. 0. 1. ]] SLAMing on 72.24241403699999 meters Centerline goodness : 0.781863 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.17 [[ 0.95789143 -0.23943104 -0.15848278 2.8968945 ] [ 0.24138295 0.97040393 -0.00710589 0.64058244] [ 0.15549368 -0.03144837 0.98733617 0.16564504] [ 0. 0. 0. 1. ]] SLAMing on 72.30241403699999 meters Centerline goodness : 0.779551 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.17 [[ 0.957947 -0.23874862 -0.15917488 2.89802857] [ 0.24088711 0.97053453 -0.00601031 0.64002362] [ 0.15591967 -0.03258561 0.98723211 0.16585455] [ 0. 0. 0. 1. ]] SLAMing on 72.362414037 meters Centerline goodness : 0.780616 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.17 [[ 0.95834973 -0.23714409 -0.15914923 2.89827008] [ 0.23936985 0.97091389 -0.00531868 0.63961753] [ 0.15578149 -0.03299837 0.98724021 0.16514461] [ 0. 0. 0. 1. ]] SLAMing on 72.422414037 meters Centerline goodness : 0.781885 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.16 [[ 0.95850351 -0.23683633 -0.15868075 2.89973144] [ 0.23897048 0.97100966 -0.00577457 0.63867559] [ 0.15544817 -0.03238507 0.98731306 0.16269979] [ 0. 0. 0. 1. ]] SLAMing on 72.482414037 meters Centerline goodness : 0.783029 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.16 [[ 0.95873017 -0.2359562 -0.1586226 2.90061193] [ 0.23818997 0.97120542 -0.00505623 0.63671484] [ 0.15524818 -0.03293475 0.98732634 0.16172756] [ 0. 0. 0. 1. ]] SLAMing on 72.54241403699999 meters Centerline goodness : 0.781975 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.16 [[ 0.95880968 -0.23550527 -0.15881202 2.90119504] [ 0.23782964 0.97129653 -0.00448389 0.63643225] [ 0.15530955 -0.033471 0.98729866 0.16150377] [ 0. 0. 0. 1. ]] SLAMing on 72.60241403699999 meters Centerline goodness : 0.776137 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.16 [[ 0.95876165 -0.23583822 -0.15860781 2.90134262] [ 0.23812992 0.97122206 -0.0046747 0.63565922] [ 0.15514588 -0.03328734 0.9873306 0.16129108] [ 0. 0. 0. 1. ]] SLAMing on 72.66241403699999 meters Centerline goodness : 0.778261 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 0.95898042 -0.23510782 -0.15836941 2.9026082 ] [ 0.23748039 0.9713839 -0.00404687 0.63296323] [ 0.15478895 -0.03372877 0.98737164 0.15974863] [ 0. 0. 0. 1. ]] SLAMing on 72.722414037 meters Centerline goodness : 0.775738 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 9.59446051e-01 -2.33120110e-01 -1.58487504e-01 2.90206010e+00] [ 2.35757840e-01 9.71809305e-01 -2.21698376e-03 6.31398611e-01] [ 1.54536455e-01 -3.52375953e-02 9.87358494e-01 1.60278425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782414037 meters Centerline goodness : 0.777795 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 9.59900309e-01 -2.31729613e-01 -1.57774470e-01 2.90132680e+00] [ 2.34259050e-01 9.72170646e-01 -2.63282651e-03 6.31200709e-01] [ 1.53993813e-01 -3.44328466e-02 9.87471663e-01 1.59173728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842414037 meters Centerline goodness : 0.780104 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 9.60519282e-01 -2.29420882e-01 -1.57380966e-01 2.90151412e+00] [ 2.32029933e-01 9.72706900e-01 -1.84297876e-03 6.29847231e-01] [ 1.53508370e-01 -3.47468785e-02 9.87536245e-01 1.57561391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90241403699999 meters Centerline goodness : 0.774313 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 9.61022350e-01 -2.27692342e-01 -1.56819130e-01 2.90023971e+00] [ 2.30300878e-01 9.73118194e-01 -1.57678080e-03 6.29953528e-01] [ 1.52962569e-01 -3.46002618e-02 9.87626080e-01 1.57121937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96241403699999 meters Centerline goodness : 0.775137 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 9.61170883e-01 -2.26989788e-01 -1.56927273e-01 2.90117816e+00] [ 2.29650666e-01 9.73272375e-01 -1.20665386e-03 6.29548574e-01] [ 1.53006878e-01 -3.48786522e-02 9.87609424e-01 1.56224557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02241403699999 meters Centerline goodness : 0.775043 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.16 [[ 9.61370974e-01 -2.26342552e-01 -1.56636202e-01 2.90086013e+00] [ 2.29125344e-01 9.73396881e-01 -2.98010266e-04 6.26867084e-01] [ 1.52536643e-01 -3.56028254e-02 9.87656322e-01 1.56373246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08241403699999 meters Centerline goodness : 0.776537 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.62, Z:0.16 [[ 9.60696822e-01 -2.28031965e-01 -1.58313104e-01 2.90448996e+00] [ 2.31134014e-01 9.72921162e-01 1.21650150e-03 6.24293175e-01] [ 1.53748768e-01 -3.77602324e-02 9.87388212e-01 1.57305792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142414037 meters Centerline goodness : 0.775745 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.62, Z:0.16 [[ 9.59608105e-01 -2.32475449e-01 -1.58453310e-01 2.90659531e+00] [ 2.35225394e-01 9.71939784e-01 -1.43855230e-03 6.23891662e-01] [ 1.54341504e-01 -3.58917957e-02 9.87365423e-01 1.57650028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202414037 meters Centerline goodness : 0.777285 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.62, Z:0.16 [[ 0.95771915 -0.2391742 -0.15990537 2.91235403] [ 0.24180772 0.97031932 -0.00307343 0.62078113] [ 0.15589436 -0.03572287 0.98712756 0.15803969] [ 0. 0. 0. 1. ]] SLAMing on 73.26241403699999 meters Centerline goodness : 0.779246 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.62, Z:0.16 [[ 0.9565287 -0.24370063 -0.16019631 2.91521121] [ 0.24614502 0.96922155 -0.00471374 0.61763026] [ 0.15641446 -0.03492269 0.98707392 0.15858627] [ 0. 0. 0. 1. ]] SLAMing on 73.32241403699999 meters Centerline goodness : 0.787288 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.16 [[ 9.55474463e-01 -2.46500305e-01 -1.62191708e-01 2.91877071e+00] [ 2.49457227e-01 9.68383319e-01 -2.19970393e-03 6.13047174e-01] [ 1.57605972e-01 -3.83581327e-02 9.86756815e-01 1.61084834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38241403699999 meters Centerline goodness : 0.786708 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.16 [[ 9.54738490e-01 -2.48159109e-01 -1.63986195e-01 2.92116599e+00] [ 2.51369826e-01 9.67890359e-01 -1.20961712e-03 6.13621058e-01] [ 1.59020834e-01 -4.00663132e-02 9.86461892e-01 1.63007217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44241403699999 meters Centerline goodness : 0.788667 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.16 [[ 9.54620727e-01 -2.48579126e-01 -1.64035625e-01 2.92354303e+00] [ 2.51712725e-01 9.67800439e-01 -1.73622618e-03 6.12662464e-01] [ 1.59185339e-01 -3.96324165e-02 9.86452888e-01 1.61046343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502414037 meters Centerline goodness : 0.784677 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.61, Z:0.16 [[ 9.54478119e-01 -2.48928053e-01 -1.64336071e-01 2.92557978e+00] [ 2.52060202e-01 9.67709785e-01 -1.85086840e-03 6.12169414e-01] [ 1.59490357e-01 -3.96559700e-02 9.86402671e-01 1.59807900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562414037 meters Centerline goodness : 0.785359 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.61, Z:0.16 [[ 9.54567489e-01 -2.46980067e-01 -1.66738582e-01 2.92767141e+00] [ 2.50817723e-01 9.68032213e-01 2.02582284e-03 6.13219125e-01] [ 1.60907981e-01 -4.37547761e-02 9.85999057e-01 1.61387665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62241403699998 meters Centerline goodness : 0.784922 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.62, Z:0.16 [[ 9.53925652e-01 -2.48175446e-01 -1.68626210e-01 2.92960559e+00] [ 2.52220989e-01 9.67665995e-01 2.66347060e-03 6.17029301e-01] [ 1.62512842e-01 -4.50718225e-02 9.85676472e-01 1.62867173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68241403699999 meters Centerline goodness : 0.787316 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.62, Z:0.16 [[ 9.53500321e-01 -2.49290018e-01 -1.69386024e-01 2.93197611e+00] [ 2.53279583e-01 9.67391024e-01 2.01455763e-03 6.18239352e-01] [ 1.63360310e-01 -4.48229030e-02 9.85547724e-01 1.62269050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74241403699999 meters Centerline goodness : 0.786257 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.62, Z:0.17 [[ 9.52729846e-01 -2.51100682e-01 -1.71038847e-01 2.93262790e+00] [ 2.55291510e-01 9.66860637e-01 2.59867809e-03 6.20903211e-01] [ 1.64718199e-01 -4.61406035e-02 9.85260859e-01 1.65091391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80241403699999 meters Centerline goodness : 0.785402 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.62, Z:0.17 [[ 0.95184655 -0.25307707 -0.1730322 2.93386905] [ 0.2575432 0.9662605 0.00348622 0.6233893 ] [ 0.1663119 -0.04788161 0.98491 0.16816307] [ 0. 0. 0. 1. ]] SLAMing on 73.862414037 meters Centerline goodness : 0.777533 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.17 [[ 9.49671821e-01 -2.60495369e-01 -1.73970098e-01 2.93873130e+00] [ 2.64250254e-01 9.64452762e-01 -1.63510082e-03 6.27775214e-01] [ 1.68211878e-01 -4.44188334e-02 9.84749578e-01 1.67553425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922414037 meters Centerline goodness : 0.785868 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.17 [[ 0.94790259 -0.26639066 -0.17469029 2.94107558] [ 0.26966894 0.96293937 -0.00514145 0.63102911] [ 0.16958579 -0.04223495 0.98461001 0.16862327] [ 0. 0. 0. 1. ]] SLAMing on 73.982414037 meters Centerline goodness : 0.774486 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.17 [[ 9.47980364e-01 -2.64567997e-01 -1.77022607e-01 2.94093314e+00] [ 2.68609136e-01 9.63248537e-01 -1.17809520e-03 6.32273159e-01] [ 1.70828454e-01 -4.64330785e-02 9.84206080e-01 1.72151867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04241403699999 meters Centerline goodness : 0.788349 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.17 [[ 9.48115966e-01 -2.62568077e-01 -1.79259925e-01 2.94234247e+00] [ 2.67118544e-01 9.63662806e-01 1.29569818e-03 6.36479445e-01] [ 1.72405913e-01 -4.91121222e-02 9.83800895e-01 1.73019897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10241403699999 meters Centerline goodness : 0.783492 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.17 [[ 9.48097007e-01 -2.62415263e-01 -1.79583669e-01 2.94463322e+00] [ 2.66704567e-01 9.63778295e-01 -2.69138981e-04 6.40173093e-01] [ 1.73149469e-01 -4.76406149e-02 9.83742666e-01 1.70647998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16241403699999 meters Centerline goodness : 0.773075 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.17 [[ 9.49021135e-01 -2.58430840e-01 -1.80478217e-01 2.94434214e+00] [ 2.63082906e-01 9.64771341e-01 1.90920812e-03 6.43819731e-01] [ 1.73626813e-01 -4.92926127e-02 9.83577129e-01 1.70006544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222414037 meters Centerline goodness : 0.781415 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.65, Z:0.17 [[ 0.94983854 -0.25443593 -0.18184911 2.94391047] [ 0.25960173 0.96570392 0.00478395 0.6479753 ] [ 0.17439519 -0.05175233 0.98331481 0.17036274] [ 0. 0. 0. 1. ]] SLAMing on 74.282414037 meters Centerline goodness : 0.790215 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.65, Z:0.17 [[ 0.95080824 -0.2498893 -0.18308203 2.94366826] [ 0.25547248 0.96678965 0.00718231 0.65333398] [ 0.17520703 -0.05360142 0.9830714 0.16986919] [ 0. 0. 0. 1. ]] SLAMing on 74.342414037 meters Centerline goodness : 0.791354 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.66, Z:0.17 [[ 0.95166364 -0.24592484 -0.1840035 2.94387034] [ 0.25190448 0.96770561 0.00948614 0.65648236] [ 0.17572835 -0.05537892 0.98287981 0.16900664] [ 0. 0. 0. 1. ]] SLAMing on 74.40241403699999 meters Centerline goodness : 0.776852 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.66, Z:0.17 [[ 0.95204733 -0.24354834 -0.18517584 2.9436419 ] [ 0.24992876 0.96819515 0.01156569 0.65961127] [ 0.17646954 -0.05729185 0.98263734 0.16971261] [ 0. 0. 0. 1. ]] SLAMing on 74.46241403699999 meters Centerline goodness : 0.791830 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.66, Z:0.17 [[ 0.95225546 -0.24164818 -0.18658962 2.9452859 ] [ 0.24837898 0.96857274 0.01321831 0.66315186] [ 0.17753144 -0.05893215 0.98234902 0.16914865] [ 0. 0. 0. 1. ]] SLAMing on 74.52241403699999 meters Centerline goodness : 0.773529 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.67, Z:0.17 [[ 0.95234702 -0.24161922 -0.18615936 2.94392078] [ 0.24812141 0.96865338 0.01209939 0.66627179] [ 0.17740045 -0.05771294 0.98244506 0.1689846 ] [ 0. 0. 0. 1. ]] SLAMing on 74.58241403699999 meters Centerline goodness : 0.791434 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.67, Z:0.17 [[ 0.95302274 -0.23818875 -0.1871197 2.94439424] [ 0.24506217 0.96940403 0.01415502 0.67017659] [ 0.17802302 -0.05934602 0.98223513 0.16780793] [ 0. 0. 0. 1. ]] SLAMing on 74.642414037 meters Centerline goodness : 0.791286 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.67, Z:0.17 [[ 0.95322795 -0.23773099 -0.18665595 2.94205821] [ 0.2443505 0.96960047 0.01295241 0.674299 ] [ 0.17790251 -0.05795607 0.98233996 0.16820839] [ 0. 0. 0. 1. ]] SLAMing on 74.702414037 meters Centerline goodness : 0.791041 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.16 [[ 0.95464895 -0.23885895 -0.17774076 2.94548886] [ 0.24604619 0.9690674 0.0192264 0.67795062] [ 0.16765038 -0.0620869 0.98388951 0.16258634] [ 0. 0. 0. 1. ]] SLAMing on 74.76241403699999 meters Centerline goodness : 0.790294 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.16 [[ 0.95481218 -0.23820603 -0.17774023 2.94506718] [ 0.24540094 0.96922895 0.01932946 0.67892135] [ 0.16766659 -0.06207362 0.98388759 0.16258333] [ 0. 0. 0. 1. ]] SLAMing on 74.82241403699999 meters Centerline goodness : 0.791173 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.68, Z:0.16 [[ 0.9549934 -0.23774415 -0.17738467 2.94452156] [ 0.24476667 0.96940567 0.01849106 0.68174764] [ 0.16756157 -0.0610767 0.98396786 0.16169358] [ 0. 0. 0. 1. ]] SLAMing on 74.88241403699999 meters Centerline goodness : 0.791554 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.68, Z:0.16 [[ 0.9551538 -0.23714908 -0.1773176 2.94358172] [ 0.24408598 0.9695853 0.01806587 0.68422141] [ 0.16764023 -0.06053643 0.98398785 0.16188933] [ 0. 0. 0. 1. ]] SLAMing on 74.94241403699999 meters Centerline goodness : 0.770188 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.95560468 -0.23570133 -0.17681792 2.94368514] [ 0.24247407 0.97000163 0.01741159 0.6861114 ] [ 0.16740974 -0.05951236 0.98408956 0.15990029] [ 0. 0. 0. 1. ]] SLAMing on 75.002414037 meters Centerline goodness : 0.770861 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.95579688 -0.2351841 -0.17646749 2.94262183] [ 0.24184141 0.97016853 0.01690428 0.68739655] [ 0.16722759 -0.0588342 0.9841613 0.15981061] [ 0. 0. 0. 1. ]] SLAMing on 75.062414037 meters Centerline goodness : 0.770803 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.9560397 -0.23465428 -0.17585637 2.94073413] [ 0.24119973 0.97033507 0.01650914 0.6883813 ] [ 0.16676566 -0.05819991 0.98427739 0.1602165 ] [ 0. 0. 0. 1. ]] SLAMing on 75.12241403699998 meters Centerline goodness : 0.770719 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.95628833 -0.23395126 -0.1754407 2.93990214] [ 0.24039938 0.97053982 0.01614285 0.68978953] [ 0.16649555 -0.05761305 0.98435764 0.15987463] [ 0. 0. 0. 1. ]] SLAMing on 75.18241403699999 meters Centerline goodness : 0.768971 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.95639962 -0.23374166 -0.17511314 2.93971263] [ 0.24020214 0.97058519 0.01634968 0.68985821] [ 0.16614062 -0.05769938 0.98441255 0.15914034] [ 0. 0. 0. 1. ]] SLAMing on 75.24241403699999 meters Centerline goodness : 0.768487 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.95581618 -0.23721187 -0.1736259 2.93884589] [ 0.24304752 0.96992935 0.01284368 0.68995767] [ 0.16535818 -0.05447554 0.98472793 0.15853835] [ 0. 0. 0. 1. ]] SLAMing on 75.30241403699999 meters Centerline goodness : 0.769936 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.95457397 -0.24578436 -0.16845943 2.94522116] [ 0.25199567 0.96759273 0.01620179 0.69213904] [ 0.15901798 -0.05791686 0.98557543 0.15641678] [ 0. 0. 0. 1. ]] SLAMing on 75.362414037 meters Centerline goodness : 0.786328 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.16 [[ 0.95381678 -0.24930821 -0.16756781 2.94462129] [ 0.25506652 0.96683044 0.01341524 0.69175295] [ 0.15866513 -0.05553661 0.98576927 0.15711617] [ 0. 0. 0. 1. ]] SLAMing on 75.422414037 meters Centerline goodness : 0.784581 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.9532626 -0.25194367 -0.16677772 2.94513525] [ 0.25727541 0.96627761 0.01081381 0.69125446] [ 0.15842911 -0.05321621 0.98593522 0.15663212] [ 0. 0. 0. 1. ]] SLAMing on 75.482414037 meters Centerline goodness : 0.786657 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.95311794 -0.25180411 -0.16781206 2.94688474] [ 0.2574208 0.9662219 0.01223832 0.69028992] [ 0.15906202 -0.05486288 0.98574304 0.15710212] [ 0. 0. 0. 1. ]] SLAMing on 75.54241403699999 meters Centerline goodness : 0.784169 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.95342167 -0.2507115 -0.16772255 2.94660365] [ 0.25649662 0.96645213 0.01340766 0.68867016] [ 0.15873436 -0.05580342 0.98574306 0.15720559] [ 0. 0. 0. 1. ]] SLAMing on 75.60241403699999 meters Centerline goodness : 0.778141 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.9533162 -0.25120254 -0.16758732 2.94768072] [ 0.25689639 0.96635356 0.01284714 0.68845892] [ 0.15872137 -0.05529996 0.98577352 0.15613506] [ 0. 0. 0. 1. ]] SLAMing on 75.66241403699999 meters Centerline goodness : 0.779015 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.95338737 -0.25099838 -0.1674883 2.9476962 ] [ 0.25670859 0.9664014 0.01300114 0.68779788] [ 0.15859766 -0.05539081 0.98578833 0.15609705] [ 0. 0. 0. 1. ]] SLAMing on 75.722414037 meters Centerline goodness : 0.784404 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.16 [[ 0.95339254 -0.25025549 -0.16856706 2.94875901] [ 0.25626872 0.96649596 0.0145566 0.68704686] [ 0.15927652 -0.05707662 0.9855827 0.15723057] [ 0. 0. 0. 1. ]] SLAMing on 75.782414037 meters Centerline goodness : 0.785266 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.17 [[ 0.95367866 -0.25793831 -0.15480584 2.97559299] [ 0.26029491 0.96551513 -0.00520424 0.70093037] [ 0.15080975 -0.035332 0.98793121 0.17140598] [ 0. 0. 0. 1. ]] SLAMing on 75.842414037 meters Centerline goodness : 0.785278 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.15 [[ 0.95484166 -0.23909372 -0.17638479 2.97438967] [ 0.25457461 0.96446046 0.07076577 0.67775704] [ 0.1531965 -0.11247319 0.98177422 0.14642322] [ 0. 0. 0. 1. ]] SLAMing on 75.90241403699999 meters Centerline goodness : 0.788479 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.15 [[ 0.95529466 -0.23781371 -0.17566092 2.97201052] [ 0.25311466 0.96488387 0.07022889 0.6793148 ] [ 0.15279099 -0.11155164 0.98194254 0.14661107] [ 0. 0. 0. 1. ]] SLAMing on 75.96241403699999 meters Centerline goodness : 0.788015 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.15 [[ 0.95641917 -0.233345 -0.17553482 2.96942991] [ 0.2490856 0.9656933 0.0734358 0.67891139] [ 0.15237692 -0.11395861 0.98173047 0.14722038] [ 0. 0. 0. 1. ]] SLAMing on 76.02241403699999 meters Centerline goodness : 0.788452 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.15 [[ 0.95697607 -0.23198877 -0.17429288 2.9678794 ] [ 0.24738035 0.96622474 0.0721991 0.67953432] [ 0.15165671 -0.11220945 0.98204342 0.14561721] [ 0. 0. 0. 1. ]] SLAMing on 76.08241403699999 meters Centerline goodness : 0.773046 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.14 [[ 0.95821175 -0.22843226 -0.17218869 2.96491177] [ 0.24346946 0.96725608 0.07168188 0.67870241] [ 0.15017611 -0.11060911 0.98245242 0.14329528] [ 0. 0. 0. 1. ]] SLAMing on 76.142414037 meters Centerline goodness : 0.791773 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.14 [[ 0.95924292 -0.223929 -0.1723625 2.96275184] [ 0.2394489 0.96800914 0.0749835 0.67911427] [ 0.1500575 -0.1131994 0.98217546 0.14397502] [ 0. 0. 0. 1. ]] SLAMing on 76.202414037 meters Centerline goodness : 0.772123 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.14 [[ 0.96020575 -0.22111212 -0.17062927 2.96008185] [ 0.23630861 0.96883001 0.07434144 0.67851208] [ 0.14887297 -0.11170425 0.98252684 0.14246541] [ 0. 0. 0. 1. ]] SLAMing on 76.26241403699999 meters Centerline goodness : 0.772684 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.14 [[ 0.96143276 -0.22754187 -0.15450485 2.95715191] [ 0.2400972 0.96837056 0.06791024 0.67997509] [ 0.13416553 -0.10238731 0.98565534 0.13626867] [ 0. 0. 0. 1. ]] SLAMing on 76.32241403699999 meters Centerline goodness : 0.792402 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.14 [[ 0.96180143 -0.22633368 -0.15398398 2.95485069] [ 0.23900581 0.96854655 0.06923724 0.677509 ] [ 0.13346993 -0.10339554 0.98564453 0.13795773] [ 0. 0. 0. 1. ]] SLAMing on 76.38241403699999 meters Centerline goodness : 0.772542 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.14 [[ 0.96179501 -0.22637751 -0.15395967 2.95466468] [ 0.23911703 0.96848217 0.06975192 0.67599218] [ 0.13331693 -0.10390143 0.98561204 0.13872976] [ 0. 0. 0. 1. ]] SLAMing on 76.44241403699999 meters Centerline goodness : 0.790114 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.14 [[ 0.96094174 -0.23091058 -0.15254926 2.95599436] [ 0.24298108 0.96780747 0.06564222 0.67165002] [ 0.13248083 -0.10014494 0.98611349 0.13798736] [ 0. 0. 0. 1. ]] SLAMing on 76.502414037 meters Centerline goodness : 0.784151 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.14 [[ 0.95929486 -0.23808834 -0.15187924 2.95746926] [ 0.24966939 0.96633731 0.06210795 0.6665991 ] [ 0.1319794 -0.09749944 0.98644579 0.13992933] [ 0. 0. 0. 1. ]] SLAMing on 76.562414037 meters Centerline goodness : 0.787331 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.66, Z:0.14 [[ 0.95796584 -0.24352905 -0.15164121 2.95856147] [ 0.25481858 0.96513796 0.05980144 0.66388033] [ 0.1317913 -0.09592873 0.98662492 0.14164907] [ 0. 0. 0. 1. ]] SLAMing on 76.62241403699998 meters Centerline goodness : 0.785277 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.66, Z:0.14 [[ 0.95598619 -0.25183403 -0.15056568 2.96029696] [ 0.26242635 0.96339079 0.05486893 0.65905298] [ 0.13123573 -0.09196634 0.98707618 0.14312524] [ 0. 0. 0. 1. ]] SLAMing on 76.68241403699999 meters Centerline goodness : 0.782962 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.66, Z:0.14 [[ 0.9545078 -0.25748036 -0.15039524 2.96232642] [ 0.26777979 0.96205132 0.05245231 0.6553707 ] [ 0.1311825 -0.09033894 0.98723352 0.14439139] [ 0. 0. 0. 1. ]] SLAMing on 76.74241403699999 meters Centerline goodness : 0.777953 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.65, Z:0.14 [[ 0.9533626 -0.26198953 -0.14987072 2.9640077 ] [ 0.27191243 0.96103746 0.04970543 0.65265264] [ 0.13100907 -0.08813901 0.98745538 0.14467817] [ 0. 0. 0. 1. ]] SLAMing on 76.80241403699999 meters Centerline goodness : 0.779590 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.95182629 -0.26714022 -0.15054173 2.96553219] [ 0.27696267 0.95967192 0.04818186 0.65029312] [ 0.13159936 -0.0875552 0.98742883 0.14793296] [ 0. 0. 0. 1. ]] SLAMing on 76.862414037 meters Centerline goodness : 0.787686 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.95103379 -0.2694748 -0.15138711 2.96644664] [ 0.27947548 0.95891176 0.04880252 0.64785995] [ 0.13201583 -0.08872184 0.98726909 0.15046253] [ 0. 0. 0. 1. ]] SLAMing on 76.922414037 meters Centerline goodness : 0.786044 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.64, Z:0.15 [[ 0.94953618 -0.2682504 -0.16255082 2.96673016] [ 0.27862016 0.95937756 0.04433389 0.644118 ] [ 0.14405502 -0.08738657 0.98570368 0.15384046] [ 0. 0. 0. 1. ]] SLAMing on 76.982414037 meters Centerline goodness : 0.785841 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.64, Z:0.15 [[ 0.94912191 -0.26958676 -0.16275927 2.96768324] [ 0.27986071 0.95905657 0.04345663 0.64499085] [ 0.14438002 -0.08679557 0.98570834 0.15367894] [ 0. 0. 0. 1. ]] SLAMing on 77.04241403699999 meters Centerline goodness : 0.784895 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.94954162 -0.26708486 -0.16442744 2.96861397] [ 0.27796314 0.95945503 0.04671762 0.64570398] [ 0.14528316 -0.09006509 0.98528223 0.1544966 ] [ 0. 0. 0. 1. ]] SLAMing on 77.10241403699999 meters Centerline goodness : 0.785112 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.94965415 -0.26687892 -0.16411165 2.96844316] [ 0.27765976 0.95956464 0.04626827 0.64599019] [ 0.14512771 -0.08950605 0.98535609 0.15393658] [ 0. 0. 0. 1. ]] SLAMing on 77.16241403699999 meters Centerline goodness : 0.787007 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.94952008 -0.26696716 -0.16474272 2.96897712] [ 0.27772587 0.95957176 0.04572068 0.64910517] [ 0.14587654 -0.08916602 0.98527633 0.15394527] [ 0. 0. 0. 1. ]] SLAMing on 77.222414037 meters Centerline goodness : 0.784700 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.94998358 -0.26425689 -0.16643167 2.96968882] [ 0.27555749 0.96006012 0.04850392 0.65149013] [ 0.14696692 -0.09193943 0.98485931 0.15457902] [ 0. 0. 0. 1. ]] SLAMing on 77.282414037 meters Centerline goodness : 0.783716 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.65, Z:0.15 [[ 0.95122278 -0.25953614 -0.16678193 2.96880444] [ 0.27109358 0.96123603 0.05033461 0.65493719] [ 0.14725315 -0.09309294 0.98470819 0.15302414] [ 0. 0. 0. 1. ]] SLAMing on 77.342414037 meters Centerline goodness : 0.781990 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.66, Z:0.15 [[ 0.95181558 -0.25793955 -0.16587429 2.96786747] [ 0.26914851 0.96186721 0.04868835 0.65820677] [ 0.14699039 -0.09098715 0.98494424 0.15077063] [ 0. 0. 0. 1. ]] SLAMing on 77.40241403699999 meters Centerline goodness : 0.784506 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.66, Z:0.15 [[ 0.95297585 -0.25323429 -0.16646149 2.96640608] [ 0.26487083 0.96290715 0.05150976 0.65992003] [ 0.14724292 -0.09317835 0.98470164 0.15093447] [ 0. 0. 0. 1. ]] SLAMing on 77.46241403699999 meters Centerline goodness : 0.774517 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.66, Z:0.15 [[ 0.95421673 -0.24807453 -0.16712108 2.96351079] [ 0.26016694 0.9640252 0.05448472 0.66370784] [ 0.14759266 -0.09546961 0.98442976 0.15206404] [ 0. 0. 0. 1. ]] SLAMing on 77.52241403699999 meters Centerline goodness : 0.773140 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.15 [[ 0.95429803 -0.24833372 -0.16626978 2.96288325] [ 0.2599503 0.96422948 0.05183959 0.66759896] [ 0.14744871 -0.0926923 0.98471672 0.15019971] [ 0. 0. 0. 1. ]] SLAMing on 77.58241403699999 meters Centerline goodness : 0.773362 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.15 [[ 0.954256 -0.24820898 -0.16669668 2.96466155] [ 0.2598046 0.96429024 0.05143834 0.66913685] [ 0.14797652 -0.0923939 0.98466559 0.14877486] [ 0. 0. 0. 1. ]] SLAMing on 77.642414037 meters Centerline goodness : 0.773525 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.15 [[ 0.9544334 -0.24656385 -0.16811647 2.96290151] [ 0.25872142 0.96442039 0.05437397 0.67120639] [ 0.1487283 -0.09539166 0.98426639 0.15192193] [ 0. 0. 0. 1. ]] SLAMing on 77.702414037 meters Centerline goodness : 0.774402 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.15 [[ 0.95423601 -0.247587 -0.16773284 2.96236518] [ 0.25948687 0.9642998 0.05284371 0.67298526] [ 0.14866133 -0.09394984 0.98441517 0.15167042] [ 0. 0. 0. 1. ]] SLAMing on 77.76241403699999 meters Centerline goodness : 0.773421 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.15 [[ 0.95383494 -0.24915004 -0.16769965 2.96261081] [ 0.26080309 0.9640375 0.05112187 0.67535172] [ 0.14893173 -0.09249841 0.98451175 0.1513177 ] [ 0. 0. 0. 1. ]] SLAMing on 77.82241403699999 meters Centerline goodness : 0.771913 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.15 [[ 0.95354799 -0.25002114 -0.1680347 2.96321 ] [ 0.2615944 0.96386507 0.05032396 0.67731224] [ 0.14938073 -0.09194324 0.98449573 0.15137122] [ 0. 0. 0. 1. ]] SLAMing on 77.88241403699999 meters Centerline goodness : 0.781808 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.15 [[ 0.95335603 -0.25076842 -0.16801034 2.96266874] [ 0.26223388 0.96373008 0.04957545 0.67852661] [ 0.14948467 -0.09132106 0.98453786 0.15194143] [ 0. 0. 0. 1. ]] SLAMing on 77.94241403699999 meters Centerline goodness : 0.770518 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.15 [[ 0.95253299 -0.25450897 -0.16705112 2.96411822] [ 0.26533131 0.96307616 0.04564651 0.67866064] [ 0.14926551 -0.0878037 0.98489102 0.15036848] [ 0. 0. 0. 1. ]] SLAMing on 78.002414037 meters Centerline goodness : 0.771309 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.68, Z:0.15 [[ 0.95141304 -0.25915249 -0.16629256 2.96400433] [ 0.26936402 0.96213455 0.04171493 0.68003804] [ 0.14918528 -0.08448136 0.98519371 0.15092153] [ 0. 0. 0. 1. ]] SLAMing on 78.062414037 meters Centerline goodness : 0.782110 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.15 [[ 0.9506688 -0.26138201 -0.16705769 2.96508575] [ 0.27171836 0.96146286 0.04193209 0.6790462 ] [ 0.14965947 -0.08525617 0.98505504 0.15250942] [ 0. 0. 0. 1. ]] SLAMing on 78.12241403699998 meters Centerline goodness : 0.778204 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.15 [[ 0.94970071 -0.26568327 -0.16577381 2.96519324] [ 0.27546316 0.96053369 0.0386661 0.67648623] [ 0.1489584 -0.0823858 0.98540549 0.15282148] [ 0. 0. 0. 1. ]] SLAMing on 78.18241403699999 meters Centerline goodness : 0.779728 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.94889866 -0.26745349 -0.1675111 2.9674317 ] [ 0.27760137 0.95986423 0.03997665 0.67533993] [ 0.15009602 -0.0844351 0.98505934 0.15501858] [ 0. 0. 0. 1. ]] SLAMing on 78.24241403699999 meters Centerline goodness : 0.783345 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.94820617 -0.26930772 -0.16845891 2.96750932] [ 0.2795478 0.95930239 0.03989937 0.67655044] [ 0.15085783 -0.08492515 0.98490082 0.15732767] [ 0. 0. 0. 1. ]] SLAMing on 78.30241403699999 meters Centerline goodness : 0.775758 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.9468764 -0.2739686 -0.16842297 2.97102979] [ 0.28379622 0.95817547 0.03687116 0.67538054] [ 0.15127721 -0.08271023 0.98502499 0.15634196] [ 0. 0. 0. 1. ]] SLAMing on 78.362414037 meters Centerline goodness : 0.780631 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.94522116 -0.27985709 -0.16803858 2.97182128] [ 0.28907939 0.95674717 0.03267982 0.67699237] [ 0.15162476 -0.07946614 0.98523858 0.15740968] [ 0. 0. 0. 1. ]] SLAMing on 78.422414037 meters Centerline goodness : 0.781985 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.94454578 -0.28114694 -0.1696752 2.97221096] [ 0.29068733 0.95622227 0.03376171 0.67859256] [ 0.1527552 -0.08121191 0.98492156 0.160065 ] [ 0. 0. 0. 1. ]] SLAMing on 78.482414037 meters Centerline goodness : 0.776369 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.94428348 -0.2817381 -0.17015392 2.97363834] [ 0.29135092 0.95601458 0.03392296 0.67703529] [ 0.15311224 -0.08160739 0.98483343 0.16041236] [ 0. 0. 0. 1. ]] SLAMing on 78.54241403699999 meters Centerline goodness : 0.779293 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.9440782 -0.2819902 -0.17087384 2.97400373] [ 0.29164186 0.95593148 0.03376417 0.6794739 ] [ 0.15382252 -0.08170999 0.98471423 0.16098601] [ 0. 0. 0. 1. ]] SLAMing on 78.60241403699999 meters Centerline goodness : 0.780389 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.17 [[ 0.94419958 -0.27483497 -0.18152932 2.97034414] [ 0.28502691 0.95798025 0.03214806 0.67960234] [ 0.16506609 -0.08209493 0.98285991 0.16506982] [ 0. 0. 0. 1. ]] SLAMing on 78.66241403699999 meters Centerline goodness : 0.779242 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.16 [[ 0.94429894 -0.27442569 -0.18163161 2.97164159] [ 0.28461767 0.95810245 0.03213224 0.67932787] [ 0.16520378 -0.08203801 0.98284153 0.16395751] [ 0. 0. 0. 1. ]] SLAMing on 78.722414037 meters Centerline goodness : 0.784520 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.17 [[ 0.94411386 -0.2745615 -0.18238694 2.97064374] [ 0.28486907 0.95801784 0.03242565 0.68234267] [ 0.1658271 -0.08256991 0.98269201 0.16561094] [ 0. 0. 0. 1. ]] SLAMing on 78.782414037 meters Centerline goodness : 0.784180 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.17 [[ 0.94432246 -0.27324862 -0.18327652 2.97034498] [ 0.28389135 0.95825098 0.03406999 0.68365181] [ 0.16631532 -0.08420367 0.98247084 0.16653066] [ 0. 0. 0. 1. ]] SLAMing on 78.842414037 meters Centerline goodness : 0.784327 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.17 [[ 0.94435739 -0.27354862 -0.18264793 2.97064464] [ 0.28393642 0.95827998 0.03285715 0.68417732] [ 0.16603983 -0.08288929 0.9826292 0.16501261] [ 0. 0. 0. 1. ]] SLAMing on 78.90241403699999 meters Centerline goodness : 0.771959 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.68, Z:0.17 [[ 0.9448935 -0.27064034 -0.18420119 2.971623 ] [ 0.28169955 0.95881678 0.03627324 0.68437773] [ 0.16679819 -0.08616374 0.98221901 0.16539085] [ 0. 0. 0. 1. ]] SLAMing on 78.96241403699999 meters Centerline goodness : 0.773420 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.69, Z:0.16 [[ 0.94497841 -0.27018493 -0.18443404 2.9716117 ] [ 0.28115796 0.95899782 0.03568454 0.68742439] [ 0.16723041 -0.08557622 0.98219687 0.16492637] [ 0. 0. 0. 1. ]] SLAMing on 79.02241403699999 meters Centerline goodness : 0.773280 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.69, Z:0.16 [[ 0.94542677 -0.26881799 -0.18413343 2.97107422] [ 0.27962941 0.95946949 0.03500978 0.69040492] [ 0.16725914 -0.08458831 0.98227756 0.16362454] [ 0. 0. 0. 1. ]] SLAMing on 79.08241403699999 meters Centerline goodness : 0.784623 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.69, Z:0.16 [[ 0.94628474 -0.2652705 -0.18486954 2.97079609] [ 0.27656553 0.96025241 0.03777319 0.69100555] [ 0.16750131 -0.08687274 0.98203688 0.16346303] [ 0. 0. 0. 1. ]] SLAMing on 79.142414037 meters Centerline goodness : 0.774048 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.16 [[ 0.94734402 -0.26143252 -0.18491171 2.96783571] [ 0.27294804 0.96122266 0.03937462 0.69549595] [ 0.16744752 -0.0877726 0.98196604 0.16353793] [ 0. 0. 0. 1. ]] SLAMing on 79.202414037 meters Centerline goodness : 0.774219 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.16 [[ 0.94818854 -0.25748298 -0.18612098 2.96887516] [ 0.26964179 0.96200798 0.04282472 0.69583651] [ 0.16802323 -0.0907919 0.98159311 0.16285548] [ 0. 0. 0. 1. ]] SLAMing on 79.26241403699999 meters Centerline goodness : 0.775789 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.16 [[ 0.94838441 -0.25726007 -0.18542995 2.96666352] [ 0.26918324 0.96217962 0.04184215 0.69784102] [ 0.16765261 -0.08959707 0.98176625 0.16313599] [ 0. 0. 0. 1. ]] SLAMing on 79.32241403699999 meters Centerline goodness : 0.777313 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.16 [[ 0.94824475 -0.25737687 -0.18598129 2.96685977] [ 0.26921679 0.96220442 0.04104847 0.70224894] [ 0.1683871 -0.08899328 0.98169546 0.16295673] [ 0. 0. 0. 1. ]] SLAMing on 79.38241403699999 meters Centerline goodness : 0.774631 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:0.16 [[ 0.94807227 -0.25802591 -0.18596126 2.96739426] [ 0.26960958 0.96215881 0.03951074 0.70522492] [ 0.16872947 -0.08759597 0.98176235 0.1620278 ] [ 0. 0. 0. 1. ]] SLAMing on 79.44241403699999 meters Centerline goodness : 0.772851 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:0.16 [[ 0.94843641 -0.25711745 -0.1853618 2.96817972] [ 0.2684106 0.96254644 0.03821122 0.70755313] [ 0.16859457 -0.08599399 0.98192714 0.15920658] [ 0. 0. 0. 1. ]] SLAMing on 79.502414037 meters Centerline goodness : 0.770991 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:0.16 [[ 0.94985748 -0.25157362 -0.18569189 2.966951 ] [ 0.26346291 0.96375532 0.04198783 0.70806716] [ 0.16839852 -0.08880538 0.98171052 0.15845856] [ 0. 0. 0. 1. ]] SLAMing on 79.562414037 meters Centerline goodness : 0.773755 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:0.16 [[ 0.95094662 -0.24725259 -0.18592119 2.96461587] [ 0.25954 0.96470417 0.04455159 0.71001598] [ 0.16834345 -0.09062017 0.98155411 0.15886261] [ 0. 0. 0. 1. ]] SLAMing on 79.62241403699998 meters Centerline goodness : 0.772521 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:0.16 [[ 0.95132812 -0.2464972 -0.18497011 2.96282036] [ 0.25841559 0.96507747 0.04297521 0.71332814] [ 0.16791721 -0.08868268 0.98180405 0.15785128] [ 0. 0. 0. 1. ]] SLAMing on 79.68241403699999 meters Centerline goodness : 0.770577 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.72, Z:0.16 [[ 0.95135946 -0.24630565 -0.18506405 2.96272266] [ 0.25810703 0.96519171 0.0422578 0.71578204] [ 0.16821395 -0.08796869 0.98181749 0.15838414] [ 0. 0. 0. 1. ]] SLAMing on 79.74241403699999 meters Centerline goodness : 0.771247 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.72, Z:0.16 [[ 0.95221405 -0.24444859 -0.18312095 2.96099521] [ 0.25604133 0.96574335 0.042221 0.71668197] [ 0.16652698 -0.08708997 0.98218333 0.15828915] [ 0. 0. 0. 1. ]] SLAMing on 79.80241403699999 meters Centerline goodness : 0.786634 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.72, Z:0.16 [[ 0.95326347 -0.23956999 -0.18410589 2.96142058] [ 0.25185353 0.96666366 0.04616455 0.71681951] [ 0.16690884 -0.0903747 0.9818217 0.15802779] [ 0. 0. 0. 1. ]] SLAMing on 79.862414037 meters Centerline goodness : 0.771870 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.72, Z:0.16 [[ 0.95392635 -0.2376308 -0.18318329 2.95887919] [ 0.24985569 0.9671666 0.0464854 0.71678791] [ 0.1661224 -0.09011304 0.98197912 0.1582225 ] [ 0. 0. 0. 1. ]] SLAMing on 79.922414037 meters Centerline goodness : 0.771972 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:0.16 [[ 0.95490852 -0.23497174 -0.18148831 2.95578253] [ 0.24713525 0.96782716 0.04727313 0.71302181] [ 0.16454146 -0.08999367 0.9822562 0.15807386] [ 0. 0. 0. 1. ]] SLAMing on 79.982414037 meters Centerline goodness : 0.773843 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:0.16 [[ 0.95493272 -0.23496501 -0.18136964 2.95517051] [ 0.24717338 0.96780103 0.04760755 0.71176558] [ 0.16434361 -0.09029176 0.98226197 0.15879224] [ 0. 0. 0. 1. ]] SLAMing on 80.04241403699999 meters Centerline goodness : 0.770190 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.71, Z:0.16 [[ 0.95436128 -0.23810544 -0.18027853 2.95414349] [ 0.24977475 0.96727051 0.04472515 0.71051811] [ 0.16372881 -0.08771298 0.98259824 0.15957968] [ 0. 0. 0. 1. ]] SLAMing on 80.10241403699999 meters Centerline goodness : 0.772544 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.71, Z:0.16 [[ 0.95402455 -0.24096099 -0.17825533 2.95404833] [ 0.25188286 0.96688594 0.04106828 0.70765819] [ 0.16245672 -0.08407961 0.98312687 0.15786958] [ 0. 0. 0. 1. ]] SLAMing on 80.16241403699999 meters Centerline goodness : 0.771391 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.16 [[ 0.95392423 -0.24274362 -0.17636354 2.95384394] [ 0.25307225 0.96668909 0.03829671 0.70403106] [ 0.16119243 -0.08116488 0.98357982 0.15639696] [ 0. 0. 0. 1. ]] SLAMing on 80.222414037 meters Centerline goodness : 0.772040 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.71, Z:0.15 [[ 0.95485135 -0.24923106 -0.16168731 2.95229352] [ 0.25801019 0.96549183 0.03544386 0.7055647 ] [ 0.14727407 -0.07556059 0.98620533 0.15173795] [ 0. 0. 0. 1. ]] SLAMing on 80.282414037 meters Centerline goodness : 0.773692 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.15 [[ 0.95541484 -0.24758378 -0.16088741 2.95041092] [ 0.25657881 0.96579797 0.03743798 0.6995325 ] [ 0.1461157 -0.0770491 0.98626246 0.15312228] [ 0. 0. 0. 1. ]] SLAMing on 80.342414037 meters Centerline goodness : 0.787584 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.15 [[ 0.95505081 -0.24999133 -0.15931817 2.94951332] [ 0.25864837 0.96530789 0.03580088 0.69418735] [ 0.14484118 -0.07539905 0.98657793 0.15373645] [ 0. 0. 0. 1. ]] SLAMing on 80.40241403699999 meters Centerline goodness : 0.782558 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.15 [[ 0.95423483 -0.25358718 -0.15852264 2.94969696] [ 0.26199917 0.96445905 0.0342808 0.68989424] [ 0.14419542 -0.07424473 0.98676005 0.15491018] [ 0. 0. 0. 1. ]] SLAMing on 80.46241403699999 meters Centerline goodness : 0.789147 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.15 [[ 0.95326556 -0.25795617 -0.15730033 2.95212653] [ 0.26579245 0.96354341 0.03063455 0.68719672] [ 0.14366332 -0.0710121 0.98707555 0.15291097] [ 0. 0. 0. 1. ]] SLAMing on 80.52241403699999 meters Centerline goodness : 0.786787 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.15 [[ 0.95239692 -0.26183779 -0.15614443 2.95435177] [ 0.26921151 0.96268181 0.027729 0.68325541] [ 0.1430569 -0.0684449 0.98734493 0.15147318] [ 0. 0. 0. 1. ]] SLAMing on 80.58241403699999 meters Centerline goodness : 0.786728 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.15 [[ 0.95243115 -0.2627574 -0.15438091 2.95280761] [ 0.26985703 0.96253272 0.02660726 0.67752891] [ 0.14160542 -0.06700236 0.98765307 0.1518398 ] [ 0. 0. 0. 1. ]] SLAMing on 80.642414037 meters Centerline goodness : 0.780797 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.67, Z:0.15 [[ 0.9526196 -0.2622865 -0.15401847 2.95267704] [ 0.26950038 0.96260425 0.0276152 0.67309714] [ 0.14101574 -0.06781481 0.98768199 0.15243294] [ 0. 0. 0. 1. ]] SLAMing on 80.702414037 meters Centerline goodness : 0.782076 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.67, Z:0.15 [[ 0.9533004 -0.2605357 -0.15277269 2.95208447] [ 0.26771472 0.96308823 0.0281051 0.66821434] [ 0.1398112 -0.0676921 0.98786163 0.15124178] [ 0. 0. 0. 1. ]] SLAMing on 80.76241403699999 meters Centerline goodness : 0.786560 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.67, Z:0.15 [[ 0.9537929 -0.2592104 -0.15195091 2.95052255] [ 0.26642791 0.96342215 0.02887782 0.66520928] [ 0.13890744 -0.06802743 0.98796609 0.1514995 ] [ 0. 0. 0. 1. ]] SLAMing on 80.82241403699999 meters Centerline goodness : 0.787699 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.66, Z:0.15 [[ 0.95430232 -0.25767132 -0.15136896 2.95026045] [ 0.26499063 0.96378407 0.03000386 0.66109726] [ 0.13815586 -0.06874411 0.98802186 0.15120633] [ 0. 0. 0. 1. ]] SLAMing on 80.88241403699999 meters Centerline goodness : 0.783854 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.66, Z:0.15 [[ 0.9544791 -0.25700074 -0.15139443 2.95103498] [ 0.26444337 0.96390538 0.03092108 0.65817902] [ 0.13798317 -0.06954878 0.98798968 0.15102542] [ 0. 0. 0. 1. ]] SLAMing on 80.94241403699999 meters Centerline goodness : 0.787604 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.65, Z:0.15 [[ 0.95422265 -0.25887317 -0.14981263 2.95057456] [ 0.26598659 0.9635338 0.02921901 0.65301683] [ 0.13678551 -0.06772959 0.98828256 0.15078686] [ 0. 0. 0. 1. ]] SLAMing on 81.002414037 meters Centerline goodness : 0.790739 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.65, Z:0.15 [[ 0.95418246 -0.25968536 -0.14865849 2.94963707] [ 0.2667042 0.96334042 0.02905362 0.64733372] [ 0.13566393 -0.0673703 0.9884617 0.151737 ] [ 0. 0. 0. 1. ]] SLAMing on 81.062414037 meters Centerline goodness : 0.793399 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.64, Z:0.15 [[ 0.95370304 -0.26097387 -0.14947627 2.95120487] [ 0.26819629 0.9628961 0.03003079 0.64499488] [ 0.13609286 -0.06872944 0.98830916 0.15313805] [ 0. 0. 0. 1. ]] SLAMing on 81.12241403699998 meters Centerline goodness : 0.787318 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.64, Z:0.15 [[ 0.95278138 -0.26434131 -0.14943668 2.95435542] [ 0.2712649 0.9621076 0.02764621 0.64331952] [ 0.13646613 -0.06687772 0.98838473 0.15217012] [ 0. 0. 0. 1. ]] SLAMing on 81.18241403699999 meters Centerline goodness : 0.786227 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.64, Z:0.15 [[ 0.95172231 -0.26825136 -0.14921749 2.95858646] [ 0.2749647 0.96110399 0.02595268 0.63823158] [ 0.13645169 -0.06572928 0.98846376 0.15050709] [ 0. 0. 0. 1. ]] SLAMing on 81.24241403699999 meters Centerline goodness : 0.789732 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.63, Z:0.15 [[ 0.95151687 -0.26837061 -0.15030924 2.96058566] [ 0.27548618 0.96088801 0.02831261 0.63363229] [ 0.13683207 -0.06834805 0.98823354 0.15209109] [ 0. 0. 0. 1. ]] SLAMing on 81.30241403699999 meters Centerline goodness : 0.791222 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.63, Z:0.15 [[ 0.95189671 -0.26707245 -0.15021639 2.95932905] [ 0.27443036 0.96113246 0.03020551 0.63032032] [ 0.13631079 -0.06997646 0.98819161 0.15367772] [ 0. 0. 0. 1. ]] SLAMing on 81.362414037 meters Centerline goodness : 0.790247 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.63, Z:0.15 [[ 0.95218333 -0.26597297 -0.15035057 2.96065986] [ 0.27349171 0.96136239 0.03137891 0.62753336] [ 0.13619544 -0.07099811 0.98813464 0.15292192] [ 0. 0. 0. 1. ]] SLAMing on 81.422414037 meters Centerline goodness : 0.793360 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.63, Z:0.15 [[ 0.95239771 -0.26525471 -0.15026159 2.96004639] [ 0.27284359 0.96152656 0.03198527 0.6265711 ] [ 0.13599627 -0.07146061 0.98812873 0.15347282] [ 0. 0. 0. 1. ]] SLAMing on 81.482414037 meters Centerline goodness : 0.789087 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.62, Z:0.15 [[ 0.9521884 -0.2655494 -0.15106547 2.96234751] [ 0.27335714 0.96134218 0.03312242 0.62396866] [ 0.13642997 -0.0728336 0.98796869 0.15352119] [ 0. 0. 0. 1. ]] SLAMing on 81.54241403699999 meters Centerline goodness : 0.791534 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.62, Z:0.15 [[ 0.95192294 -0.26641182 -0.15121987 2.96448128] [ 0.27422781 0.96109705 0.03303882 0.62111642] [ 0.13653504 -0.07291911 0.98794787 0.15295546] [ 0. 0. 0. 1. ]] SLAMing on 81.60241403699999 meters Centerline goodness : 0.793962 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.61, Z:0.16 [[ 0.95118899 -0.26140112 -0.1640395 2.96380751] [ 0.27036499 0.96213852 0.03452894 0.6140105 ] [ 0.14880282 -0.07719408 0.98584928 0.15839161] [ 0. 0. 0. 1. ]] SLAMing on 81.66241403699999 meters Centerline goodness : 0.791155 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.61, Z:0.16 [[ 0.95111009 -0.26120233 -0.16481183 2.96493759] [ 0.2705428 0.96201096 0.03662652 0.61070816] [ 0.14898385 -0.07942451 0.98564474 0.15974383] [ 0. 0. 0. 1. ]] SLAMing on 81.722414037 meters Centerline goodness : 0.795095 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.61, Z:0.16 [[ 0.95068643 -0.26199498 -0.16599383 2.96847513] [ 0.27171029 0.96161283 0.03839631 0.60647389] [ 0.14956215 -0.08160508 0.985379 0.1599642 ] [ 0. 0. 0. 1. ]] SLAMing on 81.782414037 meters Centerline goodness : 0.794893 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.60, Z:0.16 [[ 0.95014713 -0.26326206 -0.16707343 2.96971961] [ 0.27347713 0.96100497 0.04098414 0.60081999] [ 0.14976882 -0.08463173 0.98509227 0.16313132] [ 0. 0. 0. 1. ]] SLAMing on 81.842414037 meters Centerline goodness : 0.795308 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.60, Z:0.16 [[ 0.94840857 -0.26877575 -0.16816892 2.97361576] [ 0.27879762 0.95957061 0.03867982 0.60052708] [ 0.15097376 -0.08356937 0.98499903 0.16421084] [ 0. 0. 0. 1. ]] SLAMing on 81.90241403699999 meters Centerline goodness : 0.797445 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.60, Z:0.16 [[ 0.94717574 -0.27319319 -0.16799883 2.97775935] [ 0.28277861 0.95852481 0.03558707 0.59907784] [ 0.1513089 -0.08121368 0.98514464 0.16236528] [ 0. 0. 0. 1. ]] SLAMing on 81.96241403699999 meters Centerline goodness : 0.794812 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.60, Z:0.16 [[ 0.9465559 -0.27452445 -0.16931702 2.98009511] [ 0.28443171 0.9579878 0.03685061 0.59763481] [ 0.15208725 -0.0830403 0.98487247 0.16362055] [ 0. 0. 0. 1. ]] SLAMing on 82.02241403699999 meters Centerline goodness : 0.793630 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.60, Z:0.17 [[ 0.94629215 -0.2748799 -0.17021225 2.98076489] [ 0.28505858 0.95775341 0.03807913 0.59652494] [ 0.15255417 -0.08455444 0.9846714 0.16531693] [ 0. 0. 0. 1. ]] SLAMing on 82.08241403699999 meters Centerline goodness : 0.797146 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.60, Z:0.17 [[ 0.94633321 -0.27449954 -0.17059735 2.98173294] [ 0.28481996 0.95779521 0.03880621 0.59515862] [ 0.15274503 -0.08531314 0.98457637 0.16534647] [ 0. 0. 0. 1. ]] SLAMing on 82.142414037 meters Centerline goodness : 0.795730 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.59, Z:0.17 [[ 0.94692955 -0.27131362 -0.1723756 2.98238805] [ 0.28240319 0.95833289 0.04297105 0.59459083] [ 0.15353458 -0.08936998 0.98409356 0.16677853] [ 0. 0. 0. 1. ]] SLAMing on 82.202414037 meters Centerline goodness : 0.797047 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.60, Z:0.17 [[ 0.94681972 -0.27123629 -0.1730991 2.9844971 ] [ 0.28225988 0.95841236 0.04213199 0.59846767] [ 0.15447259 -0.08875033 0.98400284 0.16510393] [ 0. 0. 0. 1. ]] SLAMing on 82.26241403699999 meters Centerline goodness : 0.797266 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.60, Z:0.16 [[ 0.94642575 -0.27232343 -0.17354608 2.98623512] [ 0.28319534 0.95819296 0.04082472 0.60115676] [ 0.1551731 -0.08778501 0.98397922 0.16397874] [ 0. 0. 0. 1. ]] SLAMing on 82.32241403699999 meters Centerline goodness : 0.797333 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.60, Z:0.16 [[ 0.94599432 -0.27341109 -0.17418703 2.98718498] [ 0.28427826 0.95789267 0.04034247 0.6028753 ] [ 0.1558224 -0.08768133 0.98388585 0.16435533] [ 0. 0. 0. 1. ]] SLAMing on 82.38241403699999 meters Centerline goodness : 0.797016 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.61, Z:0.17 [[ 0.94519173 -0.27507388 -0.17591748 2.98883901] [ 0.28612448 0.95734139 0.04037621 0.60659733] [ 0.15730664 -0.08849755 0.98357654 0.16581414] [ 0. 0. 0. 1. ]] SLAMing on 82.44241403699999 meters Centerline goodness : 0.794603 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.61, Z:0.17 [[ 0.94482363 -0.27601553 -0.1764192 2.98959076] [ 0.28701292 0.95710439 0.0396834 0.60900317] [ 0.15789836 -0.0881284 0.98351487 0.16581304] [ 0. 0. 0. 1. ]] SLAMing on 82.502414037 meters Centerline goodness : 0.794437 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.61, Z:0.17 [[ 0.94435017 -0.27719366 -0.17710572 2.98994088] [ 0.28806825 0.95683807 0.03843949 0.61340034] [ 0.15880631 -0.08731888 0.98344088 0.16610556] [ 0. 0. 0. 1. ]] SLAMing on 82.562414037 meters Centerline goodness : 0.794985 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.62, Z:0.17 [[ 0.94422588 -0.2760284 -0.17957118 2.99076647] [ 0.28738437 0.95697493 0.04011502 0.6199872 ] [ 0.16077223 -0.08948359 0.98292674 0.16761756] [ 0. 0. 0. 1. ]] SLAMing on 82.62241403699998 meters Centerline goodness : 0.789367 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.63, Z:0.17 [[ 0.94343168 -0.27806561 -0.18059948 2.99240587] [ 0.28915954 0.95653519 0.03777824 0.62715272] [ 0.16224493 -0.08786325 0.98283093 0.1669976 ] [ 0. 0. 0. 1. ]] SLAMing on 82.68241403699999 meters Centerline goodness : 0.790827 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.63, Z:0.17 [[ 0.94232374 -0.28098296 -0.18186406 2.99433651] [ 0.2919227 0.95576743 0.03591326 0.63274217] [ 0.16372873 -0.08693217 0.98266764 0.16734571] [ 0. 0. 0. 1. ]] SLAMing on 82.74241403699999 meters Centerline goodness : 0.790876 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.64, Z:0.17 [[ 0.94125406 -0.28328411 -0.18382304 2.99497438] [ 0.2944312 0.95499825 0.03589715 0.63802523] [ 0.16538159 -0.08791158 0.98230366 0.16987057] [ 0. 0. 0. 1. ]] SLAMing on 82.80241403699999 meters Centerline goodness : 0.786571 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.64, Z:0.17 [[ 0.94133308 -0.28171298 -0.18582203 2.99598496] [ 0.29347386 0.9551886 0.03857252 0.6399742 ] [ 0.16662871 -0.09084349 0.98182602 0.17121106] [ 0. 0. 0. 1. ]] SLAMing on 82.862414037 meters Centerline goodness : 0.787491 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.64, Z:0.17 [[ 0.94136101 -0.28017402 -0.18799462 2.99808191] [ 0.2923695 0.95546661 0.04004543 0.64491536] [ 0.16840289 -0.0926611 0.98135334 0.17103024] [ 0. 0. 0. 1. ]] SLAMing on 82.922414037 meters Centerline goodness : 0.778129 with order 2 Centerline is valid? [False, False] Translation: X:3.00, Y:0.65, Z:0.17 [[ 0.94176847 -0.2777702 -0.18951483 2.99818961] [ 0.29020295 0.95609568 0.04078361 0.65267378] [ 0.16986584 -0.09340648 0.98103049 0.17050869] [ 0. 0. 0. 1. ]] SLAMing on 82.982414037 meters Centerline goodness : 0.773649 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.66, Z:0.17 [[ 0.94238188 -0.27478883 -0.19080746 3.00009555] [ 0.28746432 0.95688225 0.04172069 0.6590073 ] [ 0.17111589 -0.09416716 0.98074048 0.1676846 ] [ 0. 0. 0. 1. ]] SLAMing on 83.04241403699999 meters Centerline goodness : 0.781655 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.66, Z:0.17 [[ 0.94246489 -0.27467897 -0.19055549 2.99903616] [ 0.2870354 0.95708269 0.0400424 0.66446548] [ 0.17137856 -0.09243473 0.98085942 0.16674783] [ 0. 0. 0. 1. ]] SLAMing on 83.10241403699999 meters Centerline goodness : 0.781774 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.67, Z:0.17 [[ 0.94285036 -0.27229141 -0.19206922 2.99902114] [ 0.28507525 0.95759075 0.04185766 0.66967105] [ 0.17252623 -0.09421969 0.98048832 0.16687202] [ 0. 0. 0. 1. ]] SLAMing on 83.16241403699999 meters Centerline goodness : 0.779449 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.67, Z:0.17 [[ 0.94231072 -0.27324788 -0.19335488 2.99853641] [ 0.28612005 0.95729202 0.04156074 0.67493848] [ 0.1737407 -0.09448584 0.98024823 0.16860238] [ 0. 0. 0. 1. ]] SLAMing on 83.222414037 meters Centerline goodness : 0.781392 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.68, Z:0.17 [[ 0.9423953 -0.27209688 -0.19456202 2.99617409] [ 0.28535098 0.9574516 0.04314218 0.67914666] [ 0.17454486 -0.09617545 0.97994101 0.17116964] [ 0. 0. 0. 1. ]] SLAMing on 83.282414037 meters Centerline goodness : 0.779511 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.68, Z:0.17 [[ 0.94210442 -0.27255299 -0.19533081 2.99691944] [ 0.28572858 0.9573795 0.04223357 0.68330975] [ 0.17549482 -0.09560002 0.97982764 0.17111841] [ 0. 0. 0. 1. ]] SLAMing on 83.342414037 meters Centerline goodness : 0.783024 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.69, Z:0.17 [[ 0.94171779 -0.27351563 -0.19584895 2.99805451] [ 0.28628091 0.95732788 0.03957993 0.6899433 ] [ 0.17666593 -0.09334094 0.979835 0.169969 ] [ 0. 0. 0. 1. ]] SLAMing on 83.40241403699999 meters Centerline goodness : 0.779916 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.69, Z:0.17 [[ 0.94159443 -0.27391447 -0.19588466 2.99874544] [ 0.28641988 0.95734697 0.03808452 0.69308314] [ 0.17709768 -0.09196543 0.97988712 0.16885783] [ 0. 0. 0. 1. ]] SLAMing on 83.46241403699999 meters Centerline goodness : 0.766077 with order 2 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.17 [[ 0.94232576 -0.27027531 -0.19741685 2.99830185] [ 0.28343761 0.95810414 0.04122582 0.6959653 ] [ 0.17800358 -0.09480351 0.97945241 0.16966826] [ 0. 0. 0. 1. ]] SLAMing on 83.52241403699999 meters Centerline goodness : 0.779642 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.17 [[ 0.94250917 -0.27036889 -0.1964106 2.99592829] [ 0.28313848 0.95826143 0.03959324 0.69918165] [ 0.17750792 -0.09292839 0.97972203 0.1691843 ] [ 0. 0. 0. 1. ]] SLAMing on 83.58241403699999 meters Centerline goodness : 0.778244 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.17 [[ 0.94322787 -0.26678771 -0.19785223 2.99622708] [ 0.280372 0.95889939 0.04362913 0.6980731 ] [ 0.17808066 -0.09662444 0.97926043 0.1701043 ] [ 0. 0. 0. 1. ]] SLAMing on 83.642414037 meters Centerline goodness : 0.780360 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.17 [[ 0.94322758 -0.26687269 -0.19773897 2.99516918] [ 0.2802592 0.9589788 0.04259631 0.70222049] [ 0.17825968 -0.09559618 0.97932878 0.17063807] [ 0. 0. 0. 1. ]] SLAMing on 83.702414037 meters Centerline goodness : 0.779486 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.17 [[ 0.94306265 -0.26702833 -0.19831468 2.99724425] [ 0.2803515 0.95898153 0.04192221 0.70474222] [ 0.1789857 -0.09513309 0.97924145 0.16934599] [ 0. 0. 0. 1. ]] SLAMing on 83.76241403699999 meters Centerline goodness : 0.779328 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.17 [[ 0.94302427 -0.26768433 -0.19761156 2.99800154] [ 0.28061932 0.95898058 0.04011284 0.70615991] [ 0.17876807 -0.09328101 0.97945936 0.16724636] [ 0. 0. 0. 1. ]] SLAMing on 83.82241403699999 meters Centerline goodness : 0.780293 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.17 [[ 0.94380997 -0.26442173 -0.19825208 2.99612467] [ 0.27798868 0.9595975 0.04353074 0.70514986] [ 0.17873173 -0.09619658 0.97918394 0.16885711] [ 0. 0. 0. 1. ]] SLAMing on 83.88241403699999 meters Centerline goodness : 0.779638 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.17 [[ 0.94387939 -0.26440525 -0.19794334 2.99514982] [ 0.27779788 0.95968807 0.04274522 0.70704173] [ 0.1786618 -0.09533457 0.979281 0.16878451] [ 0. 0. 0. 1. ]] SLAMing on 83.94241403699999 meters Centerline goodness : 0.778098 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.17 [[ 0.94443736 -0.26290069 -0.19728481 2.99521492] [ 0.27604039 0.96023445 0.04185093 0.70849285] [ 0.17843703 -0.09398416 0.9794525 0.16679232] [ 0. 0. 0. 1. ]] SLAMing on 84.002414037 meters Centerline goodness : 0.781161 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.71, Z:0.17 [[ 0.94571533 -0.25818775 -0.19738694 2.993157 ] [ 0.27181672 0.96130041 0.04491306 0.70882705] [ 0.17815215 -0.09612804 0.97929628 0.1667261 ] [ 0. 0. 0. 1. ]] SLAMing on 84.062414037 meters Centerline goodness : 0.781013 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.73, Z:0.19 [[ 9.48902599e-01 -2.71358470e-01 -1.61085191e-01 2.98770969e+00] [ 2.75271125e-01 9.61364438e-01 2.05544817e-03 7.27161865e-01] [ 1.54303811e-01 -4.62925219e-02 9.86938365e-01 1.90855719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12241403699998 meters Centerline goodness : 0.778987 with order 3 Centerline is valid? [False, False] Translation: X:3.09, Y:0.69, Z:0.18 [[ 0.94878197 -0.27947386 -0.14733344 3.08764537] [ 0.30850888 0.92007035 0.24143906 0.68538929] [ 0.06808122 -0.2745267 0.95916632 0.18414013] [ 0. 0. 0. 1. ]] SLAMing on 84.18241403699999 meters Centerline goodness : 0.780240 with order 3 Centerline is valid? [False, False] Translation: X:3.08, Y:0.69, Z:0.18 [[ 0.94961391 -0.27741464 -0.14585792 3.08484416] [ 0.30607722 0.92097807 0.24107286 0.68524872] [ 0.06745481 -0.27356993 0.95948389 0.18360035] [ 0. 0. 0. 1. ]] SLAMing on 84.24241403699999 meters Centerline goodness : 0.781673 with order 3 Centerline is valid? [False, False] Translation: X:3.08, Y:0.68, Z:0.18 [[ 0.95107432 -0.27254978 -0.14551376 3.08128774] [ 0.30148014 0.92169003 0.24412539 0.68447362] [ 0.06758225 -0.2760509 0.95876407 0.18482922] [ 0. 0. 0. 1. ]] SLAMing on 84.30241403699999 meters Centerline goodness : 0.782061 with order 3 Centerline is valid? [False, False] Translation: X:3.08, Y:0.68, Z:0.18 [[ 0.95216099 -0.26947595 -0.14412553 3.0790295 ] [ 0.29810137 0.92283725 0.24394051 0.68362305] [ 0.0672683 -0.27523466 0.95902078 0.18374964] [ 0. 0. 0. 1. ]] SLAMing on 84.362414037 meters Centerline goodness : 0.767008 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.68, Z:0.18 [[ 0.95267229 -0.26897393 -0.14166347 3.07653359] [ 0.29674195 0.92400217 0.24117254 0.68232773] [ 0.06602822 -0.27179589 0.96008711 0.18224356] [ 0. 0. 0. 1. ]] SLAMing on 84.422414037 meters Centerline goodness : 0.782192 with order 3 Centerline is valid? [False, False] Translation: X:3.07, Y:0.68, Z:0.18 [[ 0.95263857 -0.26932664 -0.14121941 3.07447749] [ 0.297001 0.92376997 0.24174253 0.68046249] [ 0.06534655 -0.27223556 0.96000918 0.18484553] [ 0. 0. 0. 1. ]] SLAMing on 84.48241403699998 meters Centerline goodness : 0.769366 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.68, Z:0.19 [[ 0.95161641 -0.27342859 -0.14022486 3.07477422] [ 0.3004895 0.92348455 0.23850021 0.67983943] [ 0.06428271 -0.26909681 0.96096547 0.18513651] [ 0. 0. 0. 1. ]] SLAMing on 84.54241403699999 meters Centerline goodness : 0.767660 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.68, Z:0.19 [[ 0.95088237 -0.27658051 -0.13901774 3.07345465] [ 0.3031195 0.92302287 0.23695433 0.67598534] [ 0.06277961 -0.26745469 0.96152312 0.18808222] [ 0. 0. 0. 1. ]] SLAMing on 84.60241403699999 meters Centerline goodness : 0.767355 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.67, Z:0.19 [[ 0.95010644 -0.27963169 -0.13821676 3.07250681] [ 0.30575402 0.92259728 0.2352206 0.67406441] [ 0.06174327 -0.26574494 0.96206413 0.19045733] [ 0. 0. 0. 1. ]] SLAMing on 84.66241403699999 meters Centerline goodness : 0.782205 with order 3 Centerline is valid? [False, False] Translation: X:3.07, Y:0.67, Z:0.19 [[ 0.94943361 -0.28269735 -0.1365944 3.07162188] [ 0.30805374 0.92281385 0.23133849 0.67440749] [ 0.06065243 -0.26171895 0.96323646 0.18987831] [ 0. 0. 0. 1. ]] SLAMing on 84.722414037 meters Centerline goodness : 0.778478 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.67, Z:0.19 [[ 0.94943391 -0.28434811 -0.13312173 3.07132535] [ 0.30845593 0.92386696 0.22654975 0.67068279] [ 0.05856777 -0.2561562 0.96485948 0.18626988] [ 0. 0. 0. 1. ]] SLAMing on 84.782414037 meters Centerline goodness : 0.785339 with order 3 Centerline is valid? [False, False] Translation: X:3.07, Y:0.67, Z:0.19 [[ 0.95080144 -0.28057808 -0.13134898 3.06631108] [ 0.30442774 0.92480091 0.228182 0.66803165] [ 0.05744879 -0.25694205 0.96471779 0.1879848 ] [ 0. 0. 0. 1. ]] SLAMing on 84.842414037 meters Centerline goodness : 0.785477 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.67, Z:0.19 [[ 0.95213197 -0.2787858 -0.12539217 3.05667492] [ 0.30092405 0.92694171 0.22410662 0.66780113] [ 0.05375349 -0.25111259 0.96646419 0.18946596] [ 0. 0. 0. 1. ]] SLAMing on 84.90241403699999 meters Centerline goodness : 0.785307 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.67, Z:0.19 [[ 0.95195761 -0.28060697 -0.12262314 3.05504317] [ 0.3017783 0.92765294 0.21997699 0.66605583] [ 0.05202464 -0.24641377 0.96776737 0.18766785] [ 0. 0. 0. 1. ]] SLAMing on 84.96241403699999 meters Centerline goodness : 0.783713 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:0.19 [[ 0.95117705 -0.28394855 -0.12097704 3.05572765] [ 0.30442656 0.92769189 0.21613013 0.66471804] [ 0.05085958 -0.24240664 0.96884071 0.18618082] [ 0. 0. 0. 1. ]] SLAMing on 85.02241403699999 meters Centerline goodness : 0.790346 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:0.19 [[ 0.95037669 -0.2860809 -0.12223692 3.0555884 ] [ 0.30689544 0.92651784 0.21766919 0.66409856] [ 0.05098369 -0.24438168 0.96833788 0.19047747] [ 0. 0. 0. 1. ]] SLAMing on 85.08241403699999 meters Centerline goodness : 0.788618 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.66, Z:0.19 [[ 0.94934474 -0.28987539 -0.12131292 3.05495971] [ 0.31021026 0.92612775 0.2146089 0.66397214] [ 0.05014142 -0.24137034 0.96913683 0.19174035] [ 0. 0. 0. 1. ]] SLAMing on 85.142414037 meters Centerline goodness : 0.782335 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:0.19 [[ 0.94734635 -0.29726442 -0.11903262 3.05536228] [ 0.31653379 0.92553277 0.20783514 0.66322807] [ 0.0483866 -0.23456971 0.97089432 0.19162692] [ 0. 0. 0. 1. ]] SLAMing on 85.202414037 meters Centerline goodness : 0.784876 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:0.19 [[ 0.94585937 -0.30206286 -0.11877749 3.0553655 ] [ 0.32101979 0.9246325 0.20494153 0.66397608] [ 0.0479203 -0.23197579 0.97154047 0.19373204] [ 0. 0. 0. 1. ]] SLAMing on 85.26241403699999 meters Centerline goodness : 0.784726 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.67, Z:0.20 [[ 0.94476609 -0.30487549 -0.12028289 3.05663187] [ 0.32412107 0.92355039 0.20493952 0.66582801] [ 0.04860628 -0.23260612 0.97135566 0.19614798] [ 0. 0. 0. 1. ]] SLAMing on 85.32241403699999 meters Centerline goodness : 0.785512 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.67, Z:0.20 [[ 0.94383894 -0.30841368 -0.11852875 3.05637444] [ 0.32697311 0.9234399 0.20086645 0.66583241] [ 0.04750422 -0.22834129 0.97242152 0.19514074] [ 0. 0. 0. 1. ]] SLAMing on 85.38241403699999 meters Centerline goodness : 0.783729 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:0.20 [[ 0.9428264 -0.31208922 -0.11695597 3.05483081] [ 0.33003496 0.92314242 0.19719281 0.66642453] [ 0.04642527 -0.22451815 0.97336339 0.19586218] [ 0. 0. 0. 1. ]] SLAMing on 85.44241403699999 meters Centerline goodness : 0.786031 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:0.20 [[ 0.94270127 -0.31248489 -0.11690811 3.05423802] [ 0.33040341 0.92304721 0.19702141 0.66698755] [ 0.04634549 -0.22435917 0.97340385 0.19638168] [ 0. 0. 0. 1. ]] SLAMing on 85.502414037 meters Centerline goodness : 0.783191 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:0.20 [[ 0.94269916 -0.3125951 -0.1166302 3.05137784] [ 0.33043219 0.92311079 0.19667494 0.66903725] [ 0.04618298 -0.22394368 0.97350725 0.19840432] [ 0. 0. 0. 1. ]] SLAMing on 85.562414037 meters Centerline goodness : 0.772563 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:0.20 [[ 0.9418827 -0.31577226 -0.11465103 3.04981445] [ 0.33289872 0.92314571 0.19230297 0.67063698] [ 0.04511566 -0.21929402 0.97461516 0.19753813] [ 0. 0. 0. 1. ]] SLAMing on 85.62241403699998 meters Centerline goodness : 0.782773 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:0.20 [[ 0.94092133 -0.31919375 -0.11305932 3.04895583] [ 0.33571336 0.92299238 0.18809998 0.67225853] [ 0.04431256 -0.21494281 0.97562082 0.19688094] [ 0. 0. 0. 1. ]] SLAMing on 85.68241403699999 meters Centerline goodness : 0.784073 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:0.20 [[ 0.93964528 -0.32322798 -0.11220707 3.04804322] [ 0.33933264 0.92236946 0.1846292 0.67433703] [ 0.04381905 -0.21156147 0.97638191 0.19797799] [ 0. 0. 0. 1. ]] SLAMing on 85.74241403699999 meters Centerline goodness : 0.782254 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.68, Z:0.20 [[ 0.9382561 -0.32755483 -0.11128042 3.04687466] [ 0.34321695 0.92168345 0.18083621 0.67705098] [ 0.04333155 -0.207864 0.97719749 0.19903426] [ 0. 0. 0. 1. ]] SLAMing on 85.80241403699999 meters Centerline goodness : 0.783831 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.68, Z:0.20 [[ 0.93717093 -0.33112969 -0.10983518 3.04555912] [ 0.34626403 0.92128074 0.1770396 0.67852278] [ 0.04256596 -0.20394834 0.97805583 0.19946984] [ 0. 0. 0. 1. ]] SLAMing on 85.862414037 meters Centerline goodness : 0.771214 with order 3 Centerline is valid? [False, False] Translation: X:3.04, Y:0.68, Z:0.20 [[ 0.9365164 -0.33280097 -0.1103655 3.04478125] [ 0.34798401 0.92077153 0.17631481 0.68133033] [ 0.04294367 -0.20352714 0.97812706 0.20103532] [ 0. 0. 0. 1. ]] SLAMing on 85.922414037 meters Centerline goodness : 0.781450 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.68, Z:0.20 [[ 0.93599636 -0.33420835 -0.11052416 3.04502645] [ 0.34935285 0.92045882 0.1752374 0.68316244] [ 0.04316714 -0.2026335 0.97830275 0.20107775] [ 0. 0. 0. 1. ]] SLAMing on 85.98241403699998 meters Centerline goodness : 0.780986 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.69, Z:0.20 [[ 0.93453696 -0.33873996 -0.10906835 3.04243903] [ 0.35330491 0.91986463 0.17036639 0.68809453] [ 0.04261822 -0.19774807 0.97932599 0.20183658] [ 0. 0. 0. 1. ]] SLAMing on 86.04241403699999 meters Centerline goodness : 0.781417 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.69, Z:0.20 [[ 0.93413877 -0.33974511 -0.10935274 3.04149324] [ 0.35432894 0.91956332 0.16986556 0.68993488] [ 0.04284577 -0.19742484 0.97938127 0.20325689] [ 0. 0. 0. 1. ]] SLAMing on 86.10241403699999 meters Centerline goodness : 0.778986 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.69, Z:0.20 [[ 0.93338075 -0.34169941 -0.10973554 3.04113036] [ 0.35627673 0.9190286 0.16868114 0.69268607] [ 0.04321186 -0.19653995 0.97954315 0.20416994] [ 0. 0. 0. 1. ]] SLAMing on 86.16241403699999 meters Centerline goodness : 0.780854 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.70, Z:0.20 [[ 0.93273718 -0.34340019 -0.1098984 3.04035584] [ 0.35792685 0.91862211 0.16739711 0.69598758] [ 0.0434709 -0.1954731 0.97974514 0.20469739] [ 0. 0. 0. 1. ]] SLAMing on 86.222414037 meters Centerline goodness : 0.778931 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.70, Z:0.20 [[ 0.93257322 -0.34403377 -0.1093067 3.03820665] [ 0.3583515 0.91879866 0.16550899 0.70039735] [ 0.04349017 -0.19351947 0.98013204 0.20433431] [ 0. 0. 0. 1. ]] SLAMing on 86.282414037 meters Centerline goodness : 0.787526 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.21 [[ 0.93316887 -0.34133594 -0.11263056 3.0312928 ] [ 0.35586718 0.92142848 0.15597471 0.70299451] [ 0.05054123 -0.18563226 0.98131863 0.20888641] [ 0. 0. 0. 1. ]] SLAMing on 86.342414037 meters Centerline goodness : 0.786283 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:0.21 [[ 0.93390383 -0.33779293 -0.11713062 3.02488473] [ 0.35270404 0.92408229 0.14721336 0.70609978] [ 0.0585107 -0.17879556 0.98214492 0.21343526] [ 0. 0. 0. 1. ]] SLAMing on 86.40241403699999 meters Centerline goodness : 0.785614 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:0.21 [[ 0.93372521 -0.33841914 -0.11674637 3.02256686] [ 0.35314523 0.92420481 0.14537507 0.71126094] [ 0.05869985 -0.17696879 0.98246444 0.21344989] [ 0. 0. 0. 1. ]] SLAMing on 86.46241403699999 meters Centerline goodness : 0.786968 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.72, Z:0.21 [[ 0.93404535 -0.33786763 -0.11577888 3.01906479] [ 0.35231365 0.92482091 0.1434621 0.71665032] [ 0.05860353 -0.17479059 0.98286005 0.21321686] [ 0. 0. 0. 1. ]] SLAMing on 86.52241403699999 meters Centerline goodness : 0.788295 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.72, Z:0.21 [[ 0.93478029 -0.33547954 -0.11678735 3.0164725 ] [ 0.35021883 0.92537999 0.14497806 0.72162954] [ 0.05943551 -0.17642376 0.98251823 0.21429206] [ 0. 0. 0. 1. ]] SLAMing on 86.58241403699999 meters Centerline goodness : 0.789755 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.72, Z:0.22 [[ 0.93543572 -0.33277534 -0.11925013 3.00842203] [ 0.34745872 0.92764468 0.13692253 0.72218529] [ 0.0650573 -0.16951672 0.98337766 0.21915337] [ 0. 0. 0. 1. ]] SLAMing on 86.642414037 meters Centerline goodness : 0.788978 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.73, Z:0.22 [[ 0.93427896 -0.33596026 -0.11938817 3.00062938] [ 0.34946405 0.92925928 0.1198001 0.72696387] [ 0.07069449 -0.15364859 0.98559343 0.22184724] [ 0. 0. 0. 1. ]] SLAMing on 86.702414037 meters Centerline goodness : 0.770006 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.73, Z:0.22 [[ 0.93365203 -0.33766718 -0.11947704 2.99191546] [ 0.35006429 0.93084293 0.10481621 0.73125839] [ 0.07582137 -0.13968651 0.98728861 0.22385825] [ 0. 0. 0. 1. ]] SLAMing on 86.76241403699999 meters Centerline goodness : 0.768106 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.73, Z:0.22 [[ 0.93349791 -0.33986656 -0.11433448 2.98544567] [ 0.3512969 0.93074535 0.10150658 0.73172487] [ 0.0719176 -0.13492153 0.98824291 0.22381625] [ 0. 0. 0. 1. ]] SLAMing on 86.82241403699999 meters Centerline goodness : 0.768147 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.73, Z:0.22 [[ 0.93480095 -0.33926555 -0.10510028 2.97311425] [ 0.34891793 0.93249921 0.09328182 0.72953935] [ 0.06635862 -0.12387131 0.99007698 0.22345094] [ 0. 0. 0. 1. ]] SLAMing on 86.88241403699999 meters Centerline goodness : 0.771098 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.73, Z:0.22 [[ 0.93474147 -0.3394082 -0.10516867 2.97294672] [ 0.34903834 0.93249935 0.09282891 0.73040906] [ 0.06656283 -0.12347893 0.99011229 0.22393014] [ 0. 0. 0. 1. ]] SLAMing on 86.94241403699999 meters Centerline goodness : 0.770692 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.73, Z:0.23 [[ 0.93574108 -0.33718838 -0.10340518 2.95727345] [ 0.34582151 0.93477332 0.08127927 0.73276972] [ 0.06925398 -0.11181609 0.99131279 0.22842515] [ 0. 0. 0. 1. ]] SLAMing on 87.002414037 meters Centerline goodness : 0.789287 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.73, Z:0.23 [[ 0.9370749 -0.33385502 -0.10213452 2.94914769] [ 0.34151035 0.93730633 0.06948044 0.73453471] [ 0.07253494 -0.09998837 0.99234118 0.22778409] [ 0. 0. 0. 1. ]] SLAMing on 87.062414037 meters Centerline goodness : 0.764965 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.74, Z:0.23 [[ 0.93820505 -0.33076953 -0.1017978 2.94289704] [ 0.33752617 0.93952957 0.05796787 0.73671105] [ 0.07646804 -0.08874517 0.99311476 0.2283618 ] [ 0. 0. 0. 1. ]] SLAMing on 87.12241403699998 meters Centerline goodness : 0.770856 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.74, Z:0.23 [[ 0.93930332 -0.32748546 -0.10228656 2.94028391] [ 0.33449029 0.94044402 0.06067362 0.73820792] [ 0.07632506 -0.0912048 0.9929029 0.22952278] [ 0. 0. 0. 1. ]] SLAMing on 87.18241403699999 meters Centerline goodness : 0.786485 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.74, Z:0.23 [[ 0.94130794 -0.32385381 -0.09517388 2.93174246] [ 0.33010478 0.94208794 0.05917048 0.73534801] [ 0.07049958 -0.087115 0.99370055 0.22692477] [ 0. 0. 0. 1. ]] SLAMing on 87.24241403699999 meters Centerline goodness : 0.786493 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.74, Z:0.23 [[ 0.94147372 -0.32341406 -0.09502933 2.93155933] [ 0.32965091 0.94224781 0.05915523 0.73641089] [ 0.07040955 -0.0870196 0.99371529 0.22680898] [ 0. 0. 0. 1. ]] SLAMing on 87.30241403699999 meters Centerline goodness : 0.785066 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.73, Z:0.22 [[ 0.94368624 -0.31879249 -0.08847391 2.92496619] [ 0.32444152 0.94407254 0.05886204 0.7330984 ] [ 0.06476101 -0.08425191 0.99433778 0.22222925] [ 0. 0. 0. 1. ]] SLAMing on 87.362414037 meters Centerline goodness : 0.786554 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.73, Z:0.22 [[ 0.94403257 -0.31768119 -0.08877594 2.92594227] [ 0.32336199 0.94443652 0.05896342 0.73489616] [ 0.06511167 -0.08437016 0.99430486 0.22180159] [ 0. 0. 0. 1. ]] SLAMing on 87.422414037 meters Centerline goodness : 0.787889 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.73, Z:0.22 [[ 0.94690666 -0.31053041 -0.08329852 2.91960227] [ 0.31588227 0.94682668 0.06113611 0.73247203] [ 0.05988464 -0.08420272 0.99464754 0.21769035] [ 0. 0. 0. 1. ]] SLAMing on 87.48241403699998 meters Centerline goodness : 0.786393 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.22 [[ 0.9492791 -0.30512903 -0.07593064 2.91007198] [ 0.30981307 0.94889625 0.06009801 0.72886996] [ 0.05371265 -0.08057409 0.99530034 0.21622664] [ 0. 0. 0. 1. ]] SLAMing on 87.54241403699999 meters Centerline goodness : 0.784450 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.22 [[ 0.94952232 -0.30444424 -0.07563767 2.90943024] [ 0.30910378 0.94912882 0.06007769 0.72894952] [ 0.05349958 -0.08042499 0.99532387 0.21725904] [ 0. 0. 0. 1. ]] SLAMing on 87.60241403699999 meters Centerline goodness : 0.783816 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:0.22 [[ 0.9521306 -0.29331064 -0.08611723 2.90608197] [ 0.29887752 0.95235329 0.06079011 0.7239722 ] [ 0.06418364 -0.08361863 0.99442867 0.2222792 ] [ 0. 0. 0. 1. ]] SLAMing on 87.66241403699999 meters Centerline goodness : 0.788895 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.23 [[ 0.95471887 -0.28249773 -0.09331079 2.90057585] [ 0.28846467 0.95573348 0.05797968 0.71940559] [ 0.07280112 -0.08227116 0.99394741 0.22656883] [ 0. 0. 0. 1. ]] SLAMing on 87.722414037 meters Centerline goodness : 0.788241 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.23 [[ 0.95512317 -0.28142146 -0.09242127 2.89924009] [ 0.2872812 0.95611699 0.05753105 0.7204813 ] [ 0.07217508 -0.08150013 0.99405658 0.22797373] [ 0. 0. 0. 1. ]] SLAMing on 87.782414037 meters Centerline goodness : 0.784560 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.23 [[ 0.95628767 -0.2780354 -0.09061021 2.89618937] [ 0.28380886 0.95709802 0.05844579 0.71704457] [ 0.07047285 -0.08160697 0.99416995 0.22770177] [ 0. 0. 0. 1. ]] SLAMing on 87.842414037 meters Centerline goodness : 0.786237 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.71, Z:0.23 [[ 0.95666959 -0.27715646 -0.08926134 2.89506739] [ 0.2828336 0.9573736 0.05865948 0.71217229] [ 0.06919859 -0.08136385 0.99427938 0.22774504] [ 0. 0. 0. 1. ]] SLAMing on 87.90241403699999 meters Centerline goodness : 0.787232 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.70, Z:0.23 [[ 0.95679278 -0.27290582 -0.10034935 2.8954493 ] [ 0.27930839 0.95855169 0.05626259 0.70375188] [ 0.08083566 -0.08186005 0.99336022 0.23449651] [ 0. 0. 0. 1. ]] SLAMing on 87.96241403699999 meters Centerline goodness : 0.784856 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.70, Z:0.23 [[ 0.95610466 -0.27577194 -0.09906418 2.8956719 ] [ 0.28188525 0.9579321 0.05391464 0.69968611] [ 0.08002862 -0.07947277 0.99361939 0.23479632] [ 0. 0. 0. 1. ]] SLAMing on 88.02241403699999 meters Centerline goodness : 0.769412 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.69, Z:0.24 [[ 0.95578082 -0.27312502 -0.10902175 2.8960392 ] [ 0.27971092 0.95876815 0.05025377 0.69127676] [ 0.09080102 -0.07852616 0.99276826 0.24140077] [ 0. 0. 0. 1. ]] SLAMing on 88.08241403699999 meters Centerline goodness : 0.787255 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.68, Z:0.25 [[ 0.95490274 -0.27082791 -0.12170869 2.89788999] [ 0.27836109 0.9591977 0.04954663 0.68379591] [ 0.10332409 -0.08119118 0.99132847 0.24724595] [ 0. 0. 0. 1. ]] SLAMing on 88.142414037 meters Centerline goodness : 0.770549 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.67, Z:0.25 [[ 0.95285966 -0.27268998 -0.13303625 2.89874225] [ 0.28079479 0.95865681 0.04616723 0.67251748] [ 0.11494677 -0.08134677 0.99003532 0.25289644] [ 0. 0. 0. 1. ]] SLAMing on 88.202414037 meters Centerline goodness : 0.781271 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.67, Z:0.25 [[ 0.9524284 -0.27465189 -0.13208516 2.89884121] [ 0.28251885 0.95822053 0.0446825 0.66883661] [ 0.11429458 -0.07987343 0.99023077 0.25336959] [ 0. 0. 0. 1. ]] SLAMing on 88.26241403699999 meters Centerline goodness : 0.780828 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.67, Z:0.25 [[ 0.95224506 -0.27604369 -0.13049607 2.89839099] [ 0.28353316 0.95802337 0.0424284 0.6657977 ] [ 0.1133062 -0.0774022 0.99054056 0.25270727] [ 0. 0. 0. 1. ]] SLAMing on 88.32241403699999 meters Centerline goodness : 0.783200 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.66, Z:0.25 [[ 0.95239573 -0.27591856 -0.12965852 2.89782856] [ 0.28331923 0.95809533 0.04223205 0.6625474 ] [ 0.11257262 -0.07695638 0.99065893 0.25272581] [ 0. 0. 0. 1. ]] SLAMing on 88.38241403699999 meters Centerline goodness : 0.783408 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.66, Z:0.25 [[ 0.95272263 -0.27527819 -0.12861376 2.89686678] [ 0.28262977 0.95828475 0.04255286 0.65866857] [ 0.11153473 -0.07689115 0.99078139 0.25265678] [ 0. 0. 0. 1. ]] SLAMing on 88.44241403699999 meters Centerline goodness : 0.783364 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.65, Z:0.26 [[ 0.95343616 -0.26841705 -0.1375201 2.89555256] [ 0.27617865 0.9602523 0.04050775 0.65137147] [ 0.12118102 -0.07660166 0.98967032 0.25691128] [ 0. 0. 0. 1. ]] SLAMing on 88.502414037 meters Centerline goodness : 0.782170 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.65, Z:0.26 [[ 0.95292308 -0.27112183 -0.13575917 2.89504095] [ 0.27837931 0.95974605 0.03731582 0.64950462] [ 0.12017719 -0.07335165 0.99003888 0.25608109] [ 0. 0. 0. 1. ]] SLAMing on 88.562414037 meters Centerline goodness : 0.784395 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.26 [[ 0.9528214 -0.27145469 -0.13580768 2.89516929] [ 0.27886744 0.95955567 0.03854698 0.64438806] [ 0.11985127 -0.07460072 0.98998505 0.25782527] [ 0. 0. 0. 1. ]] SLAMing on 88.62241403699998 meters Centerline goodness : 0.779409 with order 3 Centerline is valid? [False, False] Translation: X:2.89, Y:0.64, Z:0.26 [[ 0.95231666 -0.26670777 -0.14818886 2.89475798] [ 0.27514808 0.96059671 0.0393383 0.63830728] [ 0.1318579 -0.0782364 0.98817638 0.2630772 ] [ 0. 0. 0. 1. ]] SLAMing on 88.68241403699999 meters Centerline goodness : 0.781693 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.26 [[ 0.95127785 -0.27101098 -0.14704931 2.89609079] [ 0.27892603 0.95964575 0.03578138 0.63625385] [ 0.1314181 -0.07505392 0.98848176 0.26227708] [ 0. 0. 0. 1. ]] SLAMing on 88.74241403699999 meters Centerline goodness : 0.782464 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.26 [[ 0.9505867 -0.27385809 -0.14624181 2.89664693] [ 0.28143519 0.95899509 0.033506 0.63453508] [ 0.13106929 -0.07300795 0.98868128 0.26218557] [ 0. 0. 0. 1. ]] SLAMing on 88.80241403699999 meters Centerline goodness : 0.781750 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.26 [[ 0.95014679 -0.27491929 -0.14710695 2.89964087] [ 0.28276182 0.95855345 0.03494334 0.62988996] [ 0.13140328 -0.07479753 0.98850317 0.26264638] [ 0. 0. 0. 1. ]] SLAMing on 88.862414037 meters Centerline goodness : 0.780630 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.26 [[ 0.94979104 -0.2759256 -0.1475196 2.90058869] [ 0.28385387 0.95821819 0.03528297 0.62833191] [ 0.13162049 -0.07538546 0.9884296 0.26350906] [ 0. 0. 0. 1. ]] SLAMing on 88.922414037 meters Centerline goodness : 0.779622 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.26 [[ 0.94911299 -0.27896618 -0.14615883 2.90028999] [ 0.28640265 0.95756982 0.03214915 0.62719083] [ 0.13098876 -0.07237345 0.9887386 0.26321185] [ 0. 0. 0. 1. ]] SLAMing on 88.98241403699998 meters Centerline goodness : 0.780615 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.62, Z:0.26 [[ 0.94931841 -0.27814391 -0.14639168 2.90108365] [ 0.28578387 0.95770452 0.03360995 0.62420327] [ 0.13085157 -0.07374293 0.98865558 0.26341937] [ 0. 0. 0. 1. ]] SLAMing on 89.04241403699999 meters Centerline goodness : 0.781014 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.62, Z:0.27 [[ 0.94853871 -0.27286515 -0.16068271 2.90309235] [ 0.28186888 0.95878675 0.03574781 0.61904262] [ 0.14430612 -0.07919963 0.98635854 0.26855787] [ 0. 0. 0. 1. ]] SLAMing on 89.10241403699999 meters Centerline goodness : 0.777687 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.62, Z:0.27 [[ 0.9482409 -0.2737312 -0.16096715 2.9047345 ] [ 0.28271748 0.95854951 0.03540704 0.61880279] [ 0.14460297 -0.07908263 0.98632445 0.26798498] [ 0. 0. 0. 1. ]] SLAMing on 89.16241403699999 meters Centerline goodness : 0.778629 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.62, Z:0.27 [[ 0.94804389 -0.27407644 -0.16153915 2.90667676] [ 0.28334364 0.9583053 0.03697742 0.61502998] [ 0.14466918 -0.08082731 0.9861733 0.26831944] [ 0. 0. 0. 1. ]] SLAMing on 89.222414037 meters Centerline goodness : 0.778856 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94801781 -0.27387762 -0.16202866 2.90714593] [ 0.28338332 0.95824008 0.03833841 0.61263381] [ 0.14476232 -0.08226171 0.98604101 0.26952206] [ 0. 0. 0. 1. ]] SLAMing on 89.282414037 meters Centerline goodness : 0.778375 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94751916 -0.27525015 -0.16261855 2.90933883] [ 0.28481402 0.9578176 0.03829394 0.61181622] [ 0.1452185 -0.08260029 0.98594563 0.26937511] [ 0. 0. 0. 1. ]] SLAMing on 89.342414037 meters Centerline goodness : 0.782923 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94659336 -0.27884946 -0.16187648 2.91108573] [ 0.28783389 0.95705835 0.03451052 0.61255381] [ 0.145302 -0.07926096 0.9862074 0.26797271] [ 0. 0. 0. 1. ]] SLAMing on 89.40241403699999 meters Centerline goodness : 0.781779 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94680765 -0.27802794 -0.16203619 2.91196414] [ 0.28713787 0.9572373 0.0353354 0.61135555] [ 0.14528286 -0.07998256 0.98615196 0.26738902] [ 0. 0. 0. 1. ]] SLAMing on 89.46241403699999 meters Centerline goodness : 0.778349 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94745685 -0.27609512 -0.16154566 2.91093489] [ 0.28521598 0.95779343 0.03582725 0.61078905] [ 0.14483564 -0.08002018 0.98621469 0.26678621] [ 0. 0. 0. 1. ]] SLAMing on 89.52241403699999 meters Centerline goodness : 0.777575 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94777439 -0.27496028 -0.16161851 2.91047762] [ 0.2842029 0.9580615 0.03669986 0.61012415] [ 0.14474947 -0.08071564 0.98617066 0.26708411] [ 0. 0. 0. 1. ]] SLAMing on 89.58241403699999 meters Centerline goodness : 0.778068 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94770364 -0.27486791 -0.16218956 2.91117053] [ 0.28420789 0.95804667 0.03704659 0.61071589] [ 0.14520225 -0.08120474 0.98606394 0.26742772] [ 0. 0. 0. 1. ]] SLAMing on 89.642414037 meters Centerline goodness : 0.779102 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.94734289 -0.27590547 -0.16253498 2.91357285] [ 0.28516556 0.95779316 0.03623339 0.61121188] [ 0.14567791 -0.08067483 0.98603728 0.26606217] [ 0. 0. 0. 1. ]] SLAMing on 89.702414037 meters Centerline goodness : 0.780783 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94710183 -0.2763516 -0.16318061 2.91511099] [ 0.28575159 0.95759754 0.03678281 0.61052752] [ 0.14609636 -0.08146618 0.9859103 0.26623314] [ 0. 0. 0. 1. ]] SLAMing on 89.76241403699999 meters Centerline goodness : 0.782123 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94725003 -0.27448746 -0.16545096 2.91685391] [ 0.28465791 0.95776093 0.04079062 0.61038284] [ 0.14726595 -0.08573584 0.98537409 0.2679717 ] [ 0. 0. 0. 1. ]] SLAMing on 89.82241403699999 meters Centerline goodness : 0.782823 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94711536 -0.27482126 -0.16566764 2.91808074] [ 0.28501541 0.95765434 0.04079673 0.6094536 ] [ 0.14744052 -0.08585704 0.98533744 0.26769396] [ 0. 0. 0. 1. ]] SLAMing on 89.88241403699999 meters Centerline goodness : 0.785612 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94678756 -0.27538409 -0.16660406 2.92004614] [ 0.28579825 0.95738349 0.04166798 0.60871153] [ 0.14802928 -0.08706587 0.98514307 0.26814382] [ 0. 0. 0. 1. ]] SLAMing on 89.94241403699999 meters Centerline goodness : 0.785806 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94598453 -0.27745328 -0.16772879 2.92300244] [ 0.28803985 0.95669753 0.04198666 0.60781991] [ 0.14881639 -0.08803131 0.98493866 0.2686767 ] [ 0. 0. 0. 1. ]] SLAMing on 90.002414037 meters Centerline goodness : 0.778255 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94548969 -0.27894954 -0.1680369 2.92376042] [ 0.28959569 0.95622345 0.04208391 0.6064357 ] [ 0.14894154 -0.08845266 0.984882 0.26970001] [ 0. 0. 0. 1. ]] SLAMing on 90.062414037 meters Centerline goodness : 0.786165 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.61, Z:0.27 [[ 0.94526889 -0.27922464 -0.1688204 2.92532623] [ 0.29000067 0.95608457 0.04244889 0.60671715] [ 0.14955381 -0.08908365 0.98473233 0.26982554] [ 0. 0. 0. 1. ]] SLAMing on 90.12241403699998 meters Centerline goodness : 0.781498 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94577423 -0.27789328 -0.16818572 2.9243702 ] [ 0.28849266 0.95657077 0.04176532 0.60775806] [ 0.14927524 -0.08802091 0.98487016 0.26871855] [ 0. 0. 0. 1. ]] SLAMing on 90.18241403699999 meters Centerline goodness : 0.785165 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94745943 -0.27232932 -0.16780157 2.92026846] [ 0.28329782 0.95798252 0.04485337 0.60810742] [ 0.14853608 -0.09003457 0.98479988 0.26928593] [ 0. 0. 0. 1. ]] SLAMing on 90.24241403699999 meters Centerline goodness : 0.788523 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94836971 -0.26987147 -0.16662617 2.91738326] [ 0.28055991 0.95883259 0.04388842 0.61022008] [ 0.14792237 -0.08837107 0.98504291 0.2683365 ] [ 0. 0. 0. 1. ]] SLAMing on 90.30241403699999 meters Centerline goodness : 0.782333 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.95042023 -0.26334725 -0.1653772 2.91442133] [ 0.27414839 0.96059258 0.04587549 0.6104499 ] [ 0.14677892 -0.08893888 0.98516284 0.2657565 ] [ 0. 0. 0. 1. ]] SLAMing on 90.362414037 meters Centerline goodness : 0.780501 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.26 [[ 0.95244079 -0.25645957 -0.1645753 2.91078176] [ 0.2675592 0.96230126 0.0488708 0.6103483 ] [ 0.14583763 -0.09058018 0.98515309 0.26464191] [ 0. 0. 0. 1. ]] SLAMing on 90.422414037 meters Centerline goodness : 0.778751 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.26 [[ 0.95335871 -0.25378199 -0.16340708 2.90859685] [ 0.26473332 0.96308689 0.0487843 0.61072419] [ 0.14499464 -0.08976823 0.98535182 0.26328922] [ 0. 0. 0. 1. ]] SLAMing on 90.48241403699998 meters Centerline goodness : 0.780715 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.26 [[ 0.95374712 -0.25279618 -0.1626669 2.90777979] [ 0.2636064 0.96341766 0.04835366 0.61063962] [ 0.14449255 -0.0889972 0.98549551 0.26228398] [ 0. 0. 0. 1. ]] SLAMing on 90.54241403699999 meters Centerline goodness : 0.779097 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.26 [[ 0.95379039 -0.2527219 -0.16252857 2.90924522] [ 0.26359296 0.96339577 0.04886048 0.60765729] [ 0.14423122 -0.08944404 0.98549334 0.26138768] [ 0. 0. 0. 1. ]] SLAMing on 90.60241403699999 meters Centerline goodness : 0.776367 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.26 [[ 0.95302457 -0.25605128 -0.16180827 2.91011249] [ 0.26655409 0.96269483 0.04655723 0.60547436] [ 0.14385095 -0.08750084 0.98572334 0.26143386] [ 0. 0. 0. 1. ]] SLAMing on 90.66241403699999 meters Centerline goodness : 0.778501 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.60, Z:0.26 [[ 0.95267363 -0.25669231 -0.16285579 2.91235146] [ 0.26745681 0.96239074 0.04765412 0.60354554] [ 0.14449846 -0.08895571 0.98549839 0.26221401] [ 0. 0. 0. 1. ]] SLAMing on 90.722414037 meters Centerline goodness : 0.785232 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.26 [[ 0.9510526 -0.26199899 -0.1638764 2.91560611] [ 0.2728872 0.96087326 0.04748855 0.59857664] [ 0.1450225 -0.08988388 0.98533718 0.26499585] [ 0. 0. 0. 1. ]] SLAMing on 90.782414037 meters Centerline goodness : 0.786466 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.27 [[ 0.94982778 -0.26626988 -0.16409613 2.91777089] [ 0.27698495 0.95977853 0.04587489 0.59599688] [ 0.14528084 -0.0890254 0.98537706 0.26620815] [ 0. 0. 0. 1. ]] SLAMing on 90.842414037 meters Centerline goodness : 0.789059 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.27 [[ 0.94822595 -0.27153845 -0.16472525 2.92161965] [ 0.28217932 0.95832408 0.04460713 0.59177513] [ 0.14574762 -0.0887797 0.9853303 0.26745067] [ 0. 0. 0. 1. ]] SLAMing on 90.90241403699999 meters Centerline goodness : 0.786214 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.27 [[ 0.9468221 -0.2761801 -0.16508318 2.92459297] [ 0.28661861 0.95709336 0.04268572 0.5897429 ] [ 0.14621107 -0.08773169 0.98535551 0.26826032] [ 0. 0. 0. 1. ]] SLAMing on 90.96241403699999 meters Centerline goodness : 0.791312 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.27 [[ 0.94472366 -0.27491493 -0.17865886 2.92782966] [ 0.28673049 0.95702059 0.04355693 0.58343191] [ 0.15900576 -0.0923762 0.98294649 0.27272286] [ 0. 0. 0. 1. ]] SLAMing on 91.02241403699999 meters Centerline goodness : 0.791122 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.27 [[ 0.94331561 -0.27946537 -0.17903847 2.93033499] [ 0.2911083 0.9557721 0.04190052 0.58123073] [ 0.15941023 -0.091645 0.98294942 0.27409425] [ 0. 0. 0. 1. ]] SLAMing on 91.08241403699999 meters Centerline goodness : 0.791435 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.28 [[ 0.94272533 -0.28095846 -0.17980906 2.93122666] [ 0.29300107 0.95510885 0.04378875 0.57595685] [ 0.1594344 -0.09396501 0.98272644 0.27712866] [ 0. 0. 0. 1. ]] SLAMing on 91.142414037 meters Centerline goodness : 0.792744 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.28 [[ 0.94222996 -0.28182186 -0.18105012 2.93370474] [ 0.29414566 0.95471462 0.04470257 0.57523171] [ 0.16025304 -0.0953752 0.9824574 0.27792367] [ 0. 0. 0. 1. ]] SLAMing on 91.202414037 meters Centerline goodness : 0.789459 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.58, Z:0.28 [[ 0.94165088 -0.28329396 -0.18176403 2.93656247] [ 0.29560603 0.95429236 0.04408144 0.5758368 ] [ 0.16096802 -0.09523987 0.98235364 0.27706295] [ 0. 0. 0. 1. ]] SLAMing on 91.26241403699999 meters Centerline goodness : 0.791127 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.58, Z:0.28 [[ 0.94132846 -0.28400386 -0.18232535 2.93873103] [ 0.29634446 0.95407348 0.04386072 0.57626747] [ 0.16149517 -0.09531845 0.98225949 0.2762952 ] [ 0. 0. 0. 1. ]] SLAMing on 91.32241403699999 meters Centerline goodness : 0.793557 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.58, Z:0.28 [[ 0.94076142 -0.28526999 -0.183273 2.94016213] [ 0.29762308 0.95370252 0.04326664 0.57924445] [ 0.16244525 -0.09524986 0.98210947 0.27660937] [ 0. 0. 0. 1. ]] SLAMing on 91.38241403699999 meters Centerline goodness : 0.792724 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.58, Z:0.28 [[ 0.94046487 -0.28586495 -0.18386698 2.94063347] [ 0.29821694 0.95353544 0.04285814 0.5818711 ] [ 0.16307205 -0.09513882 0.98201635 0.27687467] [ 0. 0. 0. 1. ]] SLAMing on 91.44241403699999 meters Centerline goodness : 0.790016 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.59, Z:0.28 [[ 0.93996839 -0.28707408 -0.1845207 2.94158409] [ 0.29927786 0.95326384 0.04148255 0.58594332] [ 0.16398834 -0.09421525 0.9819528 0.27667942] [ 0. 0. 0. 1. ]] SLAMing on 91.502414037 meters Centerline goodness : 0.788708 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.59, Z:0.28 [[ 0.93971968 -0.28645493 -0.18673641 2.94289978] [ 0.29920307 0.95319847 0.04347633 0.5896535 ] [ 0.16554286 -0.09672767 0.98144756 0.27802057] [ 0. 0. 0. 1. ]] SLAMing on 91.562414037 meters Centerline goodness : 0.790469 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.59, Z:0.28 [[ 0.93947312 -0.28685317 -0.18736467 2.9434905 ] [ 0.29953944 0.95312766 0.04270582 0.59363298] [ 0.16633215 -0.09624408 0.98136165 0.27775068] [ 0. 0. 0. 1. ]] SLAMing on 91.62241403699998 meters Centerline goodness : 0.788795 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.60, Z:0.28 [[ 0.94029098 -0.28355613 -0.18827849 2.9419443 ] [ 0.2966764 0.9539171 0.04500305 0.59678352] [ 0.16684118 -0.09817374 0.98108406 0.27832568] [ 0. 0. 0. 1. ]] SLAMing on 91.68241403699999 meters Centerline goodness : 0.788182 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.60, Z:0.28 [[ 0.94110155 -0.28009623 -0.18940429 2.94034929] [ 0.29372785 0.95470225 0.04761897 0.59972253] [ 0.16748681 -0.1004476 0.98074382 0.27944994] [ 0. 0. 0. 1. ]] SLAMing on 91.74241403699999 meters Centerline goodness : 0.786468 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.60, Z:0.28 [[ 0.9419932 -0.27661718 -0.19008354 2.93914995] [ 0.2905695 0.95557927 0.04937225 0.60360674] [ 0.16798268 -0.1017408 0.98052569 0.27897619] [ 0. 0. 0. 1. ]] SLAMing on 91.80241403699999 meters Centerline goodness : 0.787646 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.61, Z:0.28 [[ 0.94196589 -0.2765433 -0.19032618 2.94056631] [ 0.29038018 0.95567858 0.04855726 0.60597482] [ 0.16846247 -0.10100623 0.98051932 0.27734291] [ 0. 0. 0. 1. ]] SLAMing on 91.862414037 meters Centerline goodness : 0.786268 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.61, Z:0.28 [[ 0.94171764 -0.27727158 -0.19049504 2.94102646] [ 0.290954 0.95555742 0.04749516 0.60915606] [ 0.16885989 -0.10015232 0.98053855 0.27661134] [ 0. 0. 0. 1. ]] SLAMing on 91.922414037 meters Centerline goodness : 0.789898 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.61, Z:0.28 [[ 0.9416627 -0.27723498 -0.19081961 2.9385603 ] [ 0.29095876 0.95555359 0.04754297 0.61236225] [ 0.16915779 -0.10029008 0.98047312 0.27867828] [ 0. 0. 0. 1. ]] SLAMing on 91.98241403699998 meters Centerline goodness : 0.787330 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.61, Z:0.28 [[ 0.94178208 -0.27683602 -0.19080966 2.93760925] [ 0.29047154 0.95572513 0.04707181 0.61469183] [ 0.16933041 -0.09975616 0.98049779 0.27875183] [ 0. 0. 0. 1. ]] SLAMing on 92.04241403699999 meters Centerline goodness : 0.788578 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.62, Z:0.28 [[ 0.94157117 -0.27754253 -0.19082418 2.93842215] [ 0.29093994 0.95565282 0.04562503 0.61751317] [ 0.16969878 -0.09847759 0.98056335 0.27745731] [ 0. 0. 0. 1. ]] SLAMing on 92.10241403699999 meters Centerline goodness : 0.789345 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.62, Z:0.28 [[ 0.94136986 -0.27773 -0.19154331 2.93871382] [ 0.29112582 0.95561747 0.04517742 0.62118732] [ 0.17049501 -0.09829187 0.98044386 0.27763848] [ 0. 0. 0. 1. ]] SLAMing on 92.16241403699999 meters Centerline goodness : 0.790163 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.62, Z:0.28 [[ 0.94107933 -0.2783945 -0.19200572 2.93879176] [ 0.29168555 0.95549023 0.04424875 0.62493841] [ 0.17114098 -0.09764688 0.98039576 0.27781118] [ 0. 0. 0. 1. ]] SLAMing on 92.222414037 meters Centerline goodness : 0.787999 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.28 [[ 0.9406791 -0.27961255 -0.19219691 2.93897312] [ 0.29276276 0.95520759 0.04322537 0.62685923] [ 0.17150159 -0.0969293 0.98040396 0.27801874] [ 0. 0. 0. 1. ]] SLAMing on 92.282414037 meters Centerline goodness : 0.788042 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.28 [[ 0.9399664 -0.28123603 -0.19331182 2.9401113 ] [ 0.29450416 0.95467717 0.04311376 0.62858428] [ 0.17242524 -0.09745662 0.98018965 0.27936645] [ 0. 0. 0. 1. ]] SLAMing on 92.342414037 meters Centerline goodness : 0.777712 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.28 [[ 0.93949205 -0.28241843 -0.19389305 2.94019537] [ 0.29571805 0.95431358 0.04285361 0.62960973] [ 0.17293212 -0.0975983 0.98008625 0.28074079] [ 0. 0. 0. 1. ]] SLAMing on 92.40241403699999 meters Centerline goodness : 0.787307 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.28 [[ 0.93876593 -0.2841047 -0.19494373 2.9421476 ] [ 0.29737171 0.95384115 0.04191814 0.6325168 ] [ 0.17403621 -0.09732207 0.97991827 0.28085329] [ 0. 0. 0. 1. ]] SLAMing on 92.46241403699999 meters Centerline goodness : 0.784584 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.63, Z:0.28 [[ 0.93835727 -0.28516579 -0.19536146 2.94268181] [ 0.2983514 0.95356958 0.04112779 0.63434609] [ 0.17456251 -0.09687892 0.97986857 0.28116415] [ 0. 0. 0. 1. ]] SLAMing on 92.52241403699999 meters Centerline goodness : 0.784167 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.28 [[ 0.93846536 -0.2835202 -0.19722845 2.94370025] [ 0.29728266 0.95380079 0.04344042 0.63722819] [ 0.17580041 -0.09939993 0.97939464 0.28195631] [ 0. 0. 0. 1. ]] SLAMing on 92.58241403699999 meters Centerline goodness : 0.783176 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.28 [[ 0.93834653 -0.28361985 -0.19765012 2.94460243] [ 0.29740543 0.95376809 0.04331794 0.6382527 ] [ 0.17622654 -0.09942946 0.97931506 0.28175003] [ 0. 0. 0. 1. ]] SLAMing on 92.642414037 meters Centerline goodness : 0.783104 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.28 [[ 0.93820033 -0.28429443 -0.19737482 2.94458062] [ 0.2978539 0.95368017 0.04215666 0.63971336] [ 0.17624755 -0.09834025 0.97942126 0.28112877] [ 0. 0. 0. 1. ]] SLAMing on 92.702414037 meters Centerline goodness : 0.782447 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.64, Z:0.28 [[ 0.93823805 -0.28396667 -0.19766713 2.94424929] [ 0.2975224 0.95379053 0.04200048 0.64172224] [ 0.17660631 -0.09821684 0.97936901 0.28137026] [ 0. 0. 0. 1. ]] SLAMing on 92.76241403699999 meters Centerline goodness : 0.783227 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.65, Z:0.28 [[ 0.93925557 -0.28010484 -0.19834378 2.94189625] [ 0.29399915 0.95479952 0.04384496 0.64664924] [ 0.17709736 -0.09949452 0.97915135 0.28164915] [ 0. 0. 0. 1. ]] SLAMing on 92.82241403699999 meters Centerline goodness : 0.783436 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.65, Z:0.28 [[ 0.94063192 -0.27522176 -0.19865693 2.94083867] [ 0.28947966 0.95607247 0.04611899 0.64947247] [ 0.17723747 -0.10088814 0.97898338 0.28009587] [ 0. 0. 0. 1. ]] SLAMing on 92.88241403699999 meters Centerline goodness : 0.782119 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.65, Z:0.28 [[ 0.94230539 -0.26970931 -0.19828626 2.93836009] [ 0.2839984 0.95767195 0.04700371 0.65487823] [ 0.17721585 -0.10060483 0.97901645 0.27786968] [ 0. 0. 0. 1. ]] SLAMing on 92.94241403699999 meters Centerline goodness : 0.770271 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.66, Z:0.28 [[ 0.94323797 -0.26749771 -0.19684285 2.93549556] [ 0.28141516 0.9584843 0.04597128 0.65688385] [ 0.17637357 -0.09875642 0.97935669 0.2763661 ] [ 0. 0. 0. 1. ]] SLAMing on 93.002414037 meters Centerline goodness : 0.772248 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.66, Z:0.28 [[ 0.94484313 -0.2621518 -0.19633617 2.93215141] [ 0.27633227 0.95985268 0.0482007 0.65887162] [ 0.1758179 -0.09979612 0.97935121 0.27558019] [ 0. 0. 0. 1. ]] SLAMing on 93.062414037 meters Centerline goodness : 0.771787 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.66, Z:0.28 [[ 0.94587555 -0.25811133 -0.19671803 2.92993354] [ 0.27275263 0.96073678 0.05090027 0.66058624] [ 0.17585631 -0.10180069 0.97913798 0.27603942] [ 0. 0. 0. 1. ]] SLAMing on 93.12241403699998 meters Centerline goodness : 0.772837 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.67, Z:0.27 [[ 0.94780282 -0.26171616 -0.18213858 2.92667685] [ 0.27451919 0.96035318 0.04859002 0.66632621] [ 0.16220057 -0.09605429 0.98207156 0.27098538] [ 0. 0. 0. 1. ]] SLAMing on 93.18241403699999 meters Centerline goodness : 0.773470 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94802447 -0.26140507 -0.18143041 2.92491858] [ 0.27404747 0.96051433 0.04806465 0.66652028] [ 0.16170216 -0.09528701 0.98222849 0.27110858] [ 0. 0. 0. 1. ]] SLAMing on 93.24241403699999 meters Centerline goodness : 0.772428 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94783657 -0.2621629 -0.18131864 2.9246146 ] [ 0.27469688 0.96036126 0.04741184 0.6674013 ] [ 0.16170177 -0.09474634 0.98228085 0.27125913] [ 0. 0. 0. 1. ]] SLAMing on 93.30241403699999 meters Centerline goodness : 0.783768 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.9478769 -0.26219722 -0.18105802 2.92369055] [ 0.27464891 0.96039211 0.04706344 0.66769741] [ 0.16154679 -0.09433773 0.98234568 0.27169337] [ 0. 0. 0. 1. ]] SLAMing on 93.362414037 meters Centerline goodness : 0.784284 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94826154 -0.26152053 -0.18001963 2.92268473] [ 0.27373817 0.96068904 0.04630316 0.66730808] [ 0.16083366 -0.09318575 0.98257262 0.27048275] [ 0. 0. 0. 1. ]] SLAMing on 93.422414037 meters Centerline goodness : 0.785322 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94857006 -0.26081835 -0.17941188 2.92130718] [ 0.27290793 0.96094304 0.04593185 0.66750972] [ 0.16042473 -0.0925325 0.9827012 0.27033917] [ 0. 0. 0. 1. ]] SLAMing on 93.48241403699998 meters Centerline goodness : 0.786021 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94910333 -0.25954617 -0.1784339 2.91942739] [ 0.2715067 0.96134563 0.04581155 0.66664245] [ 0.15964644 -0.09192589 0.98288486 0.27006728] [ 0. 0. 0. 1. ]] SLAMing on 93.54241403699999 meters Centerline goodness : 0.786662 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94918373 -0.25951922 -0.17804501 2.918456 ] [ 0.27138663 0.96139591 0.04546636 0.66653581] [ 0.15937236 -0.09147497 0.9829714 0.27037186] [ 0. 0. 0. 1. ]] SLAMing on 93.60241403699999 meters Centerline goodness : 0.785772 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.27 [[ 0.94870935 -0.26232168 -0.17645937 2.91673393] [ 0.27360229 0.9609025 0.04252251 0.66549193] [ 0.15840567 -0.08862119 0.983389 0.27072768] [ 0. 0. 0. 1. ]] SLAMing on 93.66241403699999 meters Centerline goodness : 0.773371 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.66, Z:0.27 [[ 0.94786191 -0.2658159 -0.17578311 2.91843581] [ 0.27674942 0.96008974 0.0404653 0.66155545] [ 0.15801124 -0.08700339 0.9835969 0.27068961] [ 0. 0. 0. 1. ]] SLAMing on 93.722414037 meters Centerline goodness : 0.774507 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.66, Z:0.27 [[ 0.94698503 -0.26947851 -0.1749305 2.91796554] [ 0.27995929 0.9592667 0.03781784 0.66019041] [ 0.15761391 -0.08478635 0.98385422 0.27190095] [ 0. 0. 0. 1. ]] SLAMing on 93.782414037 meters Centerline goodness : 0.790778 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.66, Z:0.27 [[ 0.9466343 -0.2701026 -0.17586382 2.91934103] [ 0.28081109 0.95898353 0.03867464 0.65962472] [ 0.15820438 -0.08599525 0.98365451 0.27291076] [ 0. 0. 0. 1. ]] SLAMing on 93.842414037 meters Centerline goodness : 0.786875 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.66, Z:0.27 [[ 0.94678945 -0.26993738 -0.17528136 2.91903506] [ 0.28059621 0.95904542 0.0386996 0.65750279] [ 0.15765632 -0.08582366 0.98375748 0.27264868] [ 0. 0. 0. 1. ]] SLAMing on 93.90241403699999 meters Centerline goodness : 0.788722 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.65, Z:0.27 [[ 0.94712359 -0.26894978 -0.17499406 2.9191356 ] [ 0.27977543 0.95923261 0.03998141 0.65369111] [ 0.15710701 -0.08682638 0.98375737 0.27265352] [ 0. 0. 0. 1. ]] SLAMing on 93.96241403699999 meters Centerline goodness : 0.790148 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.65, Z:0.27 [[ 0.94678628 -0.27005191 -0.17512197 2.9187916 ] [ 0.2808272 0.95894491 0.03950634 0.65497851] [ 0.15726356 -0.08658307 0.9837538 0.27343626] [ 0. 0. 0. 1. ]] SLAMing on 94.02241403699999 meters Centerline goodness : 0.783085 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.66, Z:0.27 [[ 0.94648039 -0.27104368 -0.17524324 2.91876216] [ 0.28174669 0.95869965 0.0389073 0.65562815] [ 0.15746005 -0.0861992 0.98375608 0.27403692] [ 0. 0. 0. 1. ]] SLAMing on 94.08241403699999 meters Centerline goodness : 0.791206 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.65, Z:0.27 [[ 0.94653428 -0.27158828 -0.17410531 2.92037035] [ 0.28188947 0.95873426 0.03697225 0.65395591] [ 0.15687949 -0.08407396 0.98403272 0.27122685] [ 0. 0. 0. 1. ]] SLAMing on 94.142414037 meters Centerline goodness : 0.786294 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.65, Z:0.27 [[ 0.94643035 -0.27195345 -0.17410027 2.91860873] [ 0.28231465 0.95859559 0.03732205 0.65424235] [ 0.15674189 -0.08447378 0.98402041 0.27310858] [ 0. 0. 0. 1. ]] SLAMing on 94.202414037 meters Centerline goodness : 0.782467 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.66, Z:0.27 [[ 0.94646433 -0.27194544 -0.17392799 2.91732495] [ 0.28221362 0.95864427 0.03683242 0.65540862] [ 0.15671866 -0.08394542 0.98406932 0.27386391] [ 0. 0. 0. 1. ]] SLAMing on 94.26241403699999 meters Centerline goodness : 0.784741 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.65, Z:0.27 [[ 0.94678773 -0.2713167 -0.17314802 2.91677231] [ 0.2814043 0.95890742 0.03616875 0.65483966] [ 0.15621974 -0.08296872 0.98423147 0.27282237] [ 0. 0. 0. 1. ]] SLAMing on 94.32241403699999 meters Centerline goodness : 0.786049 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.65, Z:0.27 [[ 0.94769698 -0.26910964 -0.1716113 2.91464387] [ 0.27896223 0.95963889 0.0356829 0.65393863] [ 0.15508227 -0.08168965 0.9845183 0.27134259] [ 0. 0. 0. 1. ]] SLAMing on 94.38241403699999 meters Centerline goodness : 0.785785 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.65, Z:0.27 [[ 0.94862787 -0.26531747 -0.1723711 2.91323402] [ 0.27572996 0.96043856 0.03912486 0.65381626] [ 0.15517134 -0.08464281 0.98425477 0.27244955] [ 0. 0. 0. 1. ]] SLAMing on 94.44241403699999 meters Centerline goodness : 0.784757 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.65, Z:0.27 [[ 0.94972237 -0.26255529 -0.1705642 2.91031818] [ 0.27274822 0.96129717 0.03893799 0.65202524] [ 0.15373951 -0.08350136 0.98457691 0.27127337] [ 0. 0. 0. 1. ]] SLAMing on 94.502414037 meters Centerline goodness : 0.787011 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.65, Z:0.27 [[ 0.95000496 -0.26195726 -0.16990869 2.90996254] [ 0.27201623 0.9615228 0.03848476 0.651208 ] [ 0.15328971 -0.08277863 0.98470806 0.27039724] [ 0. 0. 0. 1. ]] SLAMing on 94.562414037 meters Centerline goodness : 0.783940 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.65, Z:0.27 [[ 0.95073033 -0.25972124 -0.16928296 2.90758426] [ 0.26978141 0.96213114 0.03900851 0.65127063] [ 0.15274107 -0.08275597 0.98479521 0.27085428] [ 0. 0. 0. 1. ]] SLAMing on 94.62241403699998 meters Centerline goodness : 0.782210 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.65, Z:0.27 [[ 0.95096595 -0.26045318 -0.16681698 2.9060812 ] [ 0.26973959 0.96228745 0.03526223 0.64994858] [ 0.15134173 -0.07853032 0.98535713 0.26867743] [ 0. 0. 0. 1. ]] SLAMing on 94.68241403699999 meters Centerline goodness : 0.781183 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.27 [[ 0.95152519 -0.26006567 -0.16421223 2.90410272] [ 0.26890999 0.9625738 0.03375039 0.64443177] [ 0.14928908 -0.07627265 0.98584748 0.26732125] [ 0. 0. 0. 1. ]] SLAMing on 94.74241403699999 meters Centerline goodness : 0.782461 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.64, Z:0.27 [[ 0.95149117 -0.2609692 -0.16297127 2.90352372] [ 0.2695483 0.96243621 0.03256164 0.64054826] [ 0.14835187 -0.07491074 0.98609335 0.26729012] [ 0. 0. 0. 1. ]] SLAMing on 94.80241403699999 meters Centerline goodness : 0.786262 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.63, Z:0.27 [[ 0.95076927 -0.26422568 -0.16193389 2.90490747] [ 0.27252998 0.96164752 0.03100748 0.63488869] [ 0.14753035 -0.07361279 0.98631433 0.26703671] [ 0. 0. 0. 1. ]] SLAMing on 94.862414037 meters Centerline goodness : 0.785140 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.63, Z:0.27 [[ 0.95011769 -0.26680908 -0.16152182 2.90742531] [ 0.27493589 0.96099974 0.0298288 0.63052746] [ 0.14726383 -0.07274901 0.98641824 0.26631988] [ 0. 0. 0. 1. ]] SLAMing on 94.922414037 meters Centerline goodness : 0.783012 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.62, Z:0.27 [[ 0.9493313 -0.26966204 -0.1614078 2.91111848] [ 0.27781521 0.96017084 0.02984395 0.62314592] [ 0.14693128 -0.07317334 0.98643645 0.26562668] [ 0. 0. 0. 1. ]] SLAMing on 94.98241403699998 meters Centerline goodness : 0.783479 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.62, Z:0.27 [[ 0.9487183 -0.27224688 -0.16067115 2.91228359] [ 0.28016151 0.95953239 0.02840992 0.61893348] [ 0.14643466 -0.07196689 0.98659904 0.26572566] [ 0. 0. 0. 1. ]] SLAMing on 95.04241403699999 meters Centerline goodness : 0.784280 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.27 [[ 0.9478903 -0.27511409 -0.16067428 2.91495232] [ 0.28305311 0.95868507 0.02835255 0.61258459] [ 0.14623584 -0.07235446 0.98660018 0.26623552] [ 0. 0. 0. 1. ]] SLAMing on 95.10241403699999 meters Centerline goodness : 0.783049 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.61, Z:0.27 [[ 0.94763916 -0.2754544 -0.16157008 2.91757979] [ 0.28379516 0.95839722 0.03057915 0.60760251] [ 0.14642515 -0.07483081 0.98638736 0.26683969] [ 0. 0. 0. 1. ]] SLAMing on 95.16241403699999 meters Centerline goodness : 0.786712 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.27 [[ 0.94672792 -0.27862483 -0.16147585 2.92016512] [ 0.28687873 0.9575033 0.02979961 0.60211175] [ 0.14631075 -0.07453611 0.98642665 0.26738202] [ 0. 0. 0. 1. ]] SLAMing on 95.222414037 meters Centerline goodness : 0.789953 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.27 [[ 0.94559395 -0.27471286 -0.17431271 2.9217217 ] [ 0.28417931 0.95825696 0.03139603 0.59293289] [ 0.15841147 -0.07922396 0.9841897 0.27148771] [ 0. 0. 0. 1. ]] SLAMing on 95.282414037 meters Centerline goodness : 0.790751 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.27 [[ 0.94565119 -0.27426592 -0.17470555 2.9239587 ] [ 0.28392615 0.95829736 0.03243628 0.59034011] [ 0.1585237 -0.08027688 0.98408631 0.27056618] [ 0. 0. 0. 1. ]] SLAMing on 95.342414037 meters Centerline goodness : 0.792725 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.27 [[ 0.94591432 -0.27351516 -0.17445789 2.92460255] [ 0.28320895 0.95849601 0.03283436 0.5884056 ] [ 0.15823649 -0.08046653 0.98411704 0.26965426] [ 0. 0. 0. 1. ]] SLAMing on 95.40241403699999 meters Centerline goodness : 0.793492 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.58, Z:0.27 [[ 0.9467946 -0.27079318 -0.17392826 2.92346678] [ 0.28073736 0.95915006 0.03489558 0.58494572] [ 0.15737381 -0.08186711 0.98413986 0.2696059 ] [ 0. 0. 0. 1. ]] SLAMing on 95.46241403699999 meters Centerline goodness : 0.797831 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.58, Z:0.27 [[ 0.94727015 -0.26912941 -0.1739213 2.92296871] [ 0.2793298 0.95949596 0.03663842 0.58168953] [ 0.15701631 -0.08328788 0.98407775 0.27034862] [ 0. 0. 0. 1. ]] SLAMing on 95.52241403699999 meters Centerline goodness : 0.795576 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.58, Z:0.27 [[ 0.94722767 -0.26878682 -0.17468079 2.92348656] [ 0.27923131 0.95948023 0.03778311 0.58107248] [ 0.15744717 -0.08456555 0.98389992 0.27152785] [ 0. 0. 0. 1. ]] SLAMing on 95.58241403699999 meters Centerline goodness : 0.795595 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.27 [[ 0.94687637 -0.26940399 -0.17563209 2.92541272] [ 0.2800644 0.95920648 0.03855968 0.57978534] [ 0.15807931 -0.08569955 0.98370042 0.27215922] [ 0. 0. 0. 1. ]] SLAMing on 95.642414037 meters Centerline goodness : 0.796908 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.27 [[ 0.94664542 -0.26953627 -0.17667103 2.92615977] [ 0.2805286 0.95901037 0.04003506 0.57838587] [ 0.15863845 -0.08746028 0.98345541 0.2740231 ] [ 0. 0. 0. 1. ]] SLAMing on 95.702414037 meters Centerline goodness : 0.796153 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.28 [[ 0.94609469 -0.27038476 -0.1783169 2.92764994] [ 0.28191087 0.95850616 0.04233431 0.57518505] [ 0.15947129 -0.09032174 0.983062 0.27720573] [ 0. 0. 0. 1. ]] SLAMing on 95.76241403699999 meters Centerline goodness : 0.795076 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.57, Z:0.28 [[ 0.9453604 -0.27187591 -0.17993665 2.93143214] [ 0.28369549 0.95794615 0.04308187 0.5743249 ] [ 0.1606567 -0.09177511 0.98273433 0.27767599] [ 0. 0. 0. 1. ]] SLAMing on 95.82241403699999 meters Centerline goodness : 0.796384 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.57, Z:0.28 [[ 0.94378062 -0.27697355 -0.18045439 2.93566886] [ 0.28838332 0.95668473 0.03986725 0.57452548] [ 0.16159579 -0.08966598 0.98277506 0.27718837] [ 0. 0. 0. 1. ]] SLAMing on 95.88241403699999 meters Centerline goodness : 0.795178 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.57, Z:0.28 [[ 0.94326168 -0.27810237 -0.18142897 2.93886354] [ 0.28972131 0.95625412 0.04049227 0.57287573] [ 0.1622312 -0.09075864 0.98257005 0.27701412] [ 0. 0. 0. 1. ]] SLAMing on 95.94241403699999 meters Centerline goodness : 0.792748 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.57, Z:0.28 [[ 0.94269714 -0.27947551 -0.18225133 2.942403 ] [ 0.2912109 0.95579637 0.04061428 0.57185554] [ 0.16284446 -0.09136054 0.98241281 0.27602491] [ 0. 0. 0. 1. ]] SLAMing on 96.002414037 meters Centerline goodness : 0.795988 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.57, Z:0.28 [[ 0.94265074 -0.27925193 -0.18283308 2.94216914] [ 0.29126928 0.95571871 0.04199957 0.57064763] [ 0.16300853 -0.09284458 0.98224646 0.27774901] [ 0. 0. 0. 1. ]] SLAMing on 96.062414037 meters Centerline goodness : 0.795327 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.57, Z:0.28 [[ 0.94199898 -0.2805541 -0.18419371 2.94273832] [ 0.29285563 0.9551979 0.04280831 0.57181556] [ 0.1639314 -0.09426755 0.98195729 0.28024245] [ 0. 0. 0. 1. ]] SLAMing on 96.12241403699998 meters Centerline goodness : 0.795939 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.57, Z:0.28 [[ 0.94130057 -0.28217408 -0.18528635 2.94482276] [ 0.2946187 0.95465196 0.04288881 0.57195248] [ 0.16478187 -0.09496009 0.98174819 0.28116482] [ 0. 0. 0. 1. ]] SLAMing on 96.18241403699999 meters Centerline goodness : 0.797831 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.57, Z:0.28 [[ 0.9393711 -0.28828532 -0.18567042 2.94679796] [ 0.30018123 0.95308925 0.03888573 0.57452252] [ 0.1657503 -0.09226291 0.98184235 0.28242228] [ 0. 0. 0. 1. ]] SLAMing on 96.24241403699999 meters Centerline goodness : 0.792335 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.58, Z:0.28 [[ 0.93799869 -0.29159937 -0.18742537 2.94919036] [ 0.30359481 0.95203539 0.03819447 0.57722199] [ 0.1672981 -0.09272773 0.981536 0.28429788] [ 0. 0. 0. 1. ]] SLAMing on 96.30241403699999 meters Centerline goodness : 0.794079 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.58, Z:0.28 [[ 0.93727416 -0.29317991 -0.18858074 2.95079444] [ 0.30517435 0.95156173 0.03740175 0.58071779] [ 0.16848077 -0.0926057 0.98134521 0.28487357] [ 0. 0. 0. 1. ]] SLAMing on 96.362414037 meters Centerline goodness : 0.790886 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.58, Z:0.29 [[ 0.9369569 -0.29380343 -0.18918593 2.95172075] [ 0.30579673 0.95137751 0.03700262 0.58252604] [ 0.16911574 -0.0925223 0.98124385 0.28503738] [ 0. 0. 0. 1. ]] SLAMing on 96.422414037 meters Centerline goodness : 0.788671 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.59, Z:0.28 [[ 0.93601683 -0.29599769 -0.19041498 2.95332678] [ 0.30775926 0.95082792 0.03479232 0.59011098] [ 0.17075343 -0.09116817 0.98108696 0.28469616] [ 0. 0. 0. 1. ]] SLAMing on 96.48241403699998 meters Centerline goodness : 0.788672 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.60, Z:0.29 [[ 0.93553297 -0.29600342 -0.19276937 2.95450658] [ 0.308125 0.95068077 0.03556757 0.59709793] [ 0.17273402 -0.09267169 0.98059926 0.28576236] [ 0. 0. 0. 1. ]] SLAMing on 96.54241403699999 meters Centerline goodness : 0.793161 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.60, Z:0.29 [[ 0.93561659 -0.29429141 -0.19497221 2.95484527] [ 0.30702892 0.95094155 0.03799219 0.60083282] [ 0.1742264 -0.09540823 0.98007267 0.28755895] [ 0. 0. 0. 1. ]] SLAMing on 96.60241403699999 meters Centerline goodness : 0.787859 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.61, Z:0.29 [[ 0.93567627 -0.29289304 -0.19678307 2.9552447 ] [ 0.30591771 0.95127025 0.03872029 0.60838376] [ 0.17585298 -0.09642908 0.97968217 0.2875436 ] [ 0. 0. 0. 1. ]] SLAMing on 96.66241403699999 meters Centerline goodness : 0.793075 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.61, Z:0.29 [[ 0.93581609 -0.29115107 -0.19869401 2.95777791] [ 0.30456997 0.95164972 0.03999941 0.61356715] [ 0.17744123 -0.09794831 0.97924498 0.2862333 ] [ 0. 0. 0. 1. ]] SLAMing on 96.722414037 meters Centerline goodness : 0.780591 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.62, Z:0.28 [[ 0.9363564 -0.2887649 -0.19962845 2.95732609] [ 0.30222315 0.95240107 0.03991703 0.62201842] [ 0.17859971 -0.09770891 0.97905828 0.28479303] [ 0. 0. 0. 1. ]] SLAMing on 96.782414037 meters Centerline goodness : 0.789441 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.63, Z:0.29 [[ 0.9372108 -0.28505887 -0.2009412 2.95564491] [ 0.29898274 0.9533305 0.04207465 0.62779401] [ 0.17956962 -0.09951077 0.97869932 0.28539858] [ 0. 0. 0. 1. ]] SLAMing on 96.842414037 meters Centerline goodness : 0.777843 with order 2 Centerline is valid? [False, False] Translation: X:2.95, Y:0.63, Z:0.29 [[ 0.93846875 -0.27933967 -0.20309049 2.95317584] [ 0.29423024 0.95459658 0.04662548 0.63397179] [ 0.18084515 -0.10351192 0.97804924 0.28692892] [ 0. 0. 0. 1. ]] SLAMing on 96.90241403699999 meters Centerline goodness : 0.783894 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.65, Z:0.29 [[ 0.93881287 -0.27711322 -0.20454501 2.9530641 ] [ 0.29198786 0.9553196 0.04590811 0.64590516] [ 0.18268411 -0.10282379 0.97778003 0.28539773] [ 0. 0. 0. 1. ]] SLAMing on 96.96241403699999 meters Centerline goodness : 0.781744 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.66, Z:0.28 [[ 0.93787201 -0.27965229 -0.20540371 2.95442674] [ 0.29403908 0.95484436 0.04258252 0.6557307 ] [ 0.18422027 -0.10033367 0.9777505 0.28399851] [ 0. 0. 0. 1. ]] SLAMing on 97.02241403699999 meters Centerline goodness : 0.779942 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.66, Z:0.29 [[ 0.93694714 -0.28230186 -0.20599932 2.95335054] [ 0.29632304 0.95424707 0.04006469 0.66296157] [ 0.18526391 -0.09858085 0.97773161 0.28520633] [ 0. 0. 0. 1. ]] SLAMing on 97.08241403699999 meters Centerline goodness : 0.776661 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.67, Z:0.29 [[ 0.93589834 -0.28373737 -0.20877596 2.95351088] [ 0.29825978 0.953602 0.0410407 0.6696406 ] [ 0.18744439 -0.10067939 0.97710197 0.28839543] [ 0. 0. 0. 1. ]] SLAMing on 97.142414037 meters Centerline goodness : 0.777265 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.67, Z:0.29 [[ 0.93526591 -0.28543452 -0.20929601 2.95410489] [ 0.29972649 0.95321159 0.03939147 0.67403407] [ 0.1882597 -0.09957306 0.97705859 0.28835438] [ 0. 0. 0. 1. ]] SLAMing on 97.202414037 meters Centerline goodness : 0.776690 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.68, Z:0.29 [[ 0.93462307 -0.28728469 -0.20963591 2.95351699] [ 0.30115195 0.95286481 0.03682616 0.68068947] [ 0.18917509 -0.09755084 0.97708578 0.28867608] [ 0. 0. 0. 1. ]] SLAMing on 97.26241403699999 meters Centerline goodness : 0.765681 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.29 [[ 0.93499472 -0.28507512 -0.21099064 2.95366538] [ 0.29916384 0.9534655 0.03747708 0.68811646] [ 0.19048851 -0.09816164 0.97676938 0.28798061] [ 0. 0. 0. 1. ]] SLAMing on 97.32241403699999 meters Centerline goodness : 0.766738 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.69, Z:0.29 [[ 0.93577798 -0.2826109 -0.21083324 2.94918098] [ 0.29683859 0.95415036 0.03852203 0.69317878] [ 0.19027987 -0.09863151 0.97676271 0.28954608] [ 0. 0. 0. 1. ]] SLAMing on 97.38241403699999 meters Centerline goodness : 0.783310 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:0.29 [[ 0.93747994 -0.27864048 -0.20854458 2.94216289] [ 0.29268914 0.95540358 0.03920548 0.70071225] [ 0.18832 -0.09779308 0.97722673 0.29087074] [ 0. 0. 0. 1. ]] SLAMing on 97.44241403699999 meters Centerline goodness : 0.769045 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:0.28 [[ 0.94011639 -0.27375773 -0.2030711 2.93713363] [ 0.28714725 0.95708779 0.03910775 0.70392474] [ 0.18365082 -0.09507715 0.9783827 0.2842558 ] [ 0. 0. 0. 1. ]] SLAMing on 97.502414037 meters Centerline goodness : 0.781306 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.71, Z:0.28 [[ 0.94255938 -0.27064515 -0.1957882 2.93036331] [ 0.28244993 0.95865873 0.03457557 0.70656584] [ 0.17833636 -0.08788989 0.98003648 0.27786215] [ 0. 0. 0. 1. ]] SLAMing on 97.562414037 meters Centerline goodness : 0.780535 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.71, Z:0.28 [[ 0.9432521 -0.26859232 -0.19527837 2.92482294] [ 0.2803839 0.95925143 0.03495082 0.71276492] [ 0.17793354 -0.08772035 0.98012489 0.28015359] [ 0. 0. 0. 1. ]] SLAMing on 97.62241403699998 meters Centerline goodness : 0.768420 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:0.28 [[ 0.94394396 -0.26621299 -0.19519333 2.91997625] [ 0.27823998 0.95981733 0.03651308 0.71618503] [ 0.17762969 -0.08877689 0.98008487 0.28224877] [ 0. 0. 0. 1. ]] SLAMing on 97.68241403699999 meters Centerline goodness : 0.782336 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:0.28 [[ 0.9453617 -0.26455565 -0.19052966 2.91668424] [ 0.27587934 0.9605514 0.03509403 0.71948591] [ 0.17372921 -0.08573975 0.98105395 0.27718754] [ 0. 0. 0. 1. ]] SLAMing on 97.74241403699999 meters Centerline goodness : 0.781881 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:0.28 [[ 0.94534084 -0.26461235 -0.19055444 2.91750358] [ 0.27582083 0.96059237 0.03442632 0.7227565 ] [ 0.17393551 -0.08510349 0.9810728 0.27608944] [ 0. 0. 0. 1. ]] SLAMing on 97.80241403699999 meters Centerline goodness : 0.784240 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94517156 -0.26579351 -0.18974861 2.91467603] [ 0.27665999 0.96040847 0.03278456 0.72633964] [ 0.17352225 -0.08348289 0.9812852 0.2770039 ] [ 0. 0. 0. 1. ]] SLAMing on 97.862414037 meters Centerline goodness : 0.775685 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.945122 -0.26639814 -0.18914662 2.91227651] [ 0.27701054 0.96034767 0.03158356 0.72858475] [ 0.17323272 -0.08224592 0.98144079 0.27836545] [ 0. 0. 0. 1. ]] SLAMing on 97.922414037 meters Centerline goodness : 0.772631 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.9450473 -0.26680063 -0.18895246 2.91134711] [ 0.27730337 0.96028156 0.03101878 0.73000852] [ 0.17317174 -0.08171137 0.98149621 0.27880191] [ 0. 0. 0. 1. ]] SLAMing on 97.98241403699998 meters Centerline goodness : 0.784538 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94491255 -0.26770371 -0.18834809 2.90851282] [ 0.27795188 0.96013328 0.02977981 0.7322656 ] [ 0.1728671 -0.08049102 0.98165073 0.28041846] [ 0. 0. 0. 1. ]] SLAMing on 98.04241403699999 meters Centerline goodness : 0.783171 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94488325 -0.26774842 -0.1884315 2.90896304] [ 0.27798395 0.96012756 0.02966458 0.73191018] [ 0.17297564 -0.0804105 0.98163821 0.2803914 ] [ 0. 0. 0. 1. ]] SLAMing on 98.10241403699999 meters Centerline goodness : 0.776720 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94486253 -0.26792683 -0.18828175 2.9089852 ] [ 0.27813222 0.96008822 0.02954781 0.73165116] [ 0.17285044 -0.08028584 0.98167047 0.28021729] [ 0. 0. 0. 1. ]] SLAMing on 98.16241403699999 meters Centerline goodness : 0.776430 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94488465 -0.26771747 -0.18846846 2.90922415] [ 0.27783976 0.96018936 0.02900782 0.7344149 ] [ 0.17319951 -0.07977308 0.98165075 0.28026334] [ 0. 0. 0. 1. ]] SLAMing on 98.222414037 meters Centerline goodness : 0.777669 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.74, Z:0.28 [[ 0.94490187 -0.26750214 -0.18868776 2.90958674] [ 0.27759919 0.96026573 0.02878226 0.7354008 ] [ 0.17349107 -0.07957598 0.98161526 0.28050173] [ 0. 0. 0. 1. ]] SLAMing on 98.282414037 meters Centerline goodness : 0.777306 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94609872 -0.26582335 -0.18502745 2.90674609] [ 0.27561125 0.96083535 0.02887669 0.73371812] [ 0.17010482 -0.07831584 0.982309 0.27758943] [ 0. 0. 0. 1. ]] SLAMing on 98.342414037 meters Centerline goodness : 0.774674 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94616021 -0.26543916 -0.18526444 2.90786805] [ 0.27525022 0.96093711 0.02893417 0.73433095] [ 0.17034722 -0.07837044 0.98226264 0.27703051] [ 0. 0. 0. 1. ]] SLAMing on 98.40241403699999 meters Centerline goodness : 0.787843 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.74, Z:0.28 [[ 0.94610886 -0.26567572 -0.18518757 2.90747812] [ 0.27543311 0.96089354 0.02863918 0.73545854] [ 0.1703368 -0.07810257 0.98228578 0.27706453] [ 0. 0. 0. 1. ]] SLAMing on 98.46241403699999 meters Centerline goodness : 0.785637 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:0.28 [[ 0.94599079 -0.26634553 -0.18482825 2.90627914] [ 0.27603537 0.9607291 0.02835618 0.73409489] [ 0.17001734 -0.07784382 0.98236167 0.27786449] [ 0. 0. 0. 1. ]] SLAMing on 98.52241403699999 meters Centerline goodness : 0.777203 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:0.28 [[ 0.94556101 -0.2687069 -0.1836055 2.90160934] [ 0.27797752 0.96022808 0.02627801 0.73337877] [ 0.16924207 -0.07588566 0.98264871 0.28107535] [ 0. 0. 0. 1. ]] SLAMing on 98.58241403699999 meters Centerline goodness : 0.777205 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:0.28 [[ 0.94548258 -0.26912291 -0.18339997 2.90044917] [ 0.27825773 0.96016669 0.0255452 0.7349123 ] [ 0.16921975 -0.075185 0.98270641 0.28189627] [ 0. 0. 0. 1. ]] SLAMing on 98.642414037 meters Centerline goodness : 0.777472 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94562896 -0.26814366 -0.18407837 2.9032008 ] [ 0.27738803 0.96040713 0.02596215 0.73557662] [ 0.16982859 -0.0756117 0.98256863 0.28071579] [ 0. 0. 0. 1. ]] SLAMing on 98.702414037 meters Centerline goodness : 0.783405 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94571313 -0.26777567 -0.18418162 2.90404193] [ 0.27702882 0.96050979 0.02599955 0.73648345] [ 0.16994621 -0.07561173 0.9825483 0.28004339] [ 0. 0. 0. 1. ]] SLAMing on 98.76241403699999 meters Centerline goodness : 0.784547 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94563139 -0.26824897 -0.18391239 2.90280116] [ 0.2773994 0.96041665 0.02548392 0.7374245 ] [ 0.16979648 -0.07511559 0.98261223 0.28068615] [ 0. 0. 0. 1. ]] SLAMing on 98.82241403699999 meters Centerline goodness : 0.785794 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94546677 -0.26914775 -0.18344501 2.90060428] [ 0.27812235 0.96023077 0.02459317 0.73824559] [ 0.16953035 -0.07427218 0.98272229 0.28204499] [ 0. 0. 0. 1. ]] SLAMing on 98.88241403699999 meters Centerline goodness : 0.776082 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94544004 -0.26918234 -0.18353199 2.90116913] [ 0.2781102 0.96024225 0.02428059 0.73901384] [ 0.16969926 -0.07399797 0.98271382 0.28181333] [ 0. 0. 0. 1. ]] SLAMing on 98.94241403699999 meters Centerline goodness : 0.776502 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94536934 -0.26947417 -0.18346794 2.9009651 ] [ 0.27830595 0.96019939 0.02372609 0.74168564] [ 0.16977224 -0.07349014 0.98273933 0.28140328] [ 0. 0. 0. 1. ]] SLAMing on 99.002414037 meters Centerline goodness : 0.784948 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94531542 -0.26992218 -0.18308681 2.90066709] [ 0.27866296 0.96010566 0.02332543 0.74283227] [ 0.16948663 -0.0730694 0.98282 0.2806526 ] [ 0. 0. 0. 1. ]] SLAMing on 99.062414037 meters Centerline goodness : 0.778475 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:0.28 [[ 0.94500983 -0.2716573 -0.18209538 2.89681084] [ 0.28010499 0.95971963 0.0218958 0.74327791] [ 0.16881236 -0.07169757 0.98303705 0.28269859] [ 0. 0. 0. 1. ]] SLAMing on 99.12241403699998 meters Centerline goodness : 0.779826 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.74, Z:0.29 [[ 0.94441645 -0.27442827 -0.18101571 2.89182993] [ 0.28253357 0.95904664 0.02010789 0.74381339] [ 0.16808433 -0.07013324 0.98327462 0.28513986] [ 0. 0. 0. 1. ]] SLAMing on 99.18241403699999 meters Centerline goodness : 0.778322 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.74, Z:0.28 [[ 0.94334295 -0.27848371 -0.1804187 2.89358345] [ 0.28597848 0.95809541 0.01641638 0.74475292] [ 0.16828664 -0.06708214 0.98345289 0.28447085] [ 0. 0. 0. 1. ]] SLAMing on 99.24241403699999 meters Centerline goodness : 0.776747 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.75, Z:0.29 [[ 0.94211199 -0.2833691 -0.17923995 2.89309912] [ 0.29011666 0.95691526 0.01206299 0.74565434] [ 0.16809916 -0.06336518 0.98373143 0.28503744] [ 0. 0. 0. 1. ]] SLAMing on 99.30241403699999 meters Centerline goodness : 0.779272 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.75, Z:0.29 [[ 0.94194715 -0.28407983 -0.17898106 2.89173125] [ 0.29067467 0.95675637 0.01120228 0.74735457] [ 0.16805892 -0.06257721 0.98378874 0.28585876] [ 0. 0. 0. 1. ]] SLAMing on 99.362414037 meters Centerline goodness : 0.778057 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.75, Z:0.29 [[ 0.94191289 -0.28416948 -0.17901904 2.89218861] [ 0.29075484 0.95673292 0.01112415 0.74751909] [ 0.16811226 -0.06252864 0.98378272 0.28549897] [ 0. 0. 0. 1. ]] SLAMing on 99.422414037 meters Centerline goodness : 0.776989 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.75, Z:0.28 [[ 0.94201887 -0.28378311 -0.17907429 2.89435755] [ 0.29040805 0.95683534 0.01137045 0.74645121] [ 0.16811786 -0.0627158 0.98376985 0.28419505] [ 0. 0. 0. 1. ]] SLAMing on 99.48241403699998 meters Centerline goodness : 0.782066 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.75, Z:0.29 [[ 0.94265819 -0.28169507 -0.17900678 2.88911249] [ 0.28866931 0.95733176 0.01363554 0.74728021] [ 0.16752782 -0.06452742 0.98375334 0.2865022 ] [ 0. 0. 0. 1. ]] SLAMing on 99.54241403699999 meters Centerline goodness : 0.780120 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.75, Z:0.29 [[ 0.94268192 -0.28148985 -0.17920451 2.8892182 ] [ 0.2884225 0.95741041 0.01333319 0.74769984] [ 0.1678191 -0.06425557 0.98372149 0.28729415] [ 0. 0. 0. 1. ]] SLAMing on 99.60241403699999 meters Centerline goodness : 0.782107 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.74, Z:0.28 [[ 0.9439549 -0.27957099 -0.17546855 2.88670032] [ 0.28630151 0.95804069 0.01376503 0.74416213] [ 0.1642577 -0.06323048 0.9843888 0.28425484] [ 0. 0. 0. 1. ]] SLAMing on 99.66241403699999 meters Centerline goodness : 0.782005 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.74, Z:0.29 [[ 0.94489277 -0.27600366 -0.17606713 2.88448829] [ 0.28325983 0.95889261 0.0169952 0.74425082] [ 0.16413873 -0.06593139 0.98423144 0.28530505] [ 0. 0. 0. 1. ]] SLAMing on 99.722414037 meters Centerline goodness : 0.784057 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.74, Z:0.29 [[ 0.94590755 -0.27201078 -0.17683056 2.8829434 ] [ 0.27981045 0.95984085 0.02028924 0.74438355] [ 0.1642103 -0.06867079 0.98403216 0.28639065] [ 0. 0. 0. 1. ]] SLAMing on 99.782414037 meters Centerline goodness : 0.780960 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.74, Z:0.28 [[ 0.9469243 -0.26944655 -0.17530811 2.8826312 ] [ 0.27736433 0.96051568 0.02187802 0.74289493] [ 0.16249123 -0.06934105 0.9842705 0.28466737] [ 0. 0. 0. 1. ]] SLAMing on 99.842414037 meters Centerline goodness : 0.779947 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.74, Z:0.28 [[ 0.94707884 -0.26845936 -0.17598648 2.88594149] [ 0.27654783 0.96073199 0.02270117 0.74242372] [ 0.1629815 -0.07016848 0.98413079 0.28279162] [ 0. 0. 0. 1. ]] SLAMing on 99.90241403699999 meters Centerline goodness : 0.781066 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.74, Z:0.28 [[ 0.94709991 -0.2684281 -0.17592075 2.88679868] [ 0.27655727 0.96072268 0.02297857 0.74341637] [ 0.16284296 -0.07041517 0.98413611 0.28119748] [ 0. 0. 0. 1. ]] SLAMing on 99.96241403699999 meters Centerline goodness : 0.787889 with order 3 Centerline is valid? [False, False] Translation: X:2.88, Y:0.74, Z:0.28 [[ 0.94689587 -0.26973657 -0.17501539 2.88367714] [ 0.27765142 0.96043082 0.02196186 0.74307337] [ 0.16216625 -0.06938887 0.98432073 0.2828284 ] [ 0. 0. 0. 1. ]] SLAMing on 100.02241403699999 meters Centerline goodness : 0.784492 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.74, Z:0.28 [[ 0.94668102 -0.27100278 -0.17421982 2.88045378] [ 0.27868826 0.96015634 0.02080045 0.7443318 ] [ 0.16164129 -0.06824441 0.98448707 0.28446965] [ 0. 0. 0. 1. ]] SLAMing on 100.08241403699999 meters Centerline goodness : 0.787052 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.75, Z:0.29 [[ 0.94634314 -0.27280342 -0.17324246 2.87634393] [ 0.28017342 0.9597587 0.01913351 0.74653881] [ 0.16105127 -0.06664479 0.98469333 0.28647194] [ 0. 0. 0. 1. ]] SLAMing on 100.142414037 meters Centerline goodness : 0.785480 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.75, Z:0.29 [[ 0.94543834 -0.27641416 -0.17245742 2.87765765] [ 0.28316231 0.95894933 0.01533903 0.74752889] [ 0.16113801 -0.06333555 0.98489753 0.28630013] [ 0. 0. 0. 1. ]] SLAMing on 100.202414037 meters Centerline goodness : 0.786462 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.75, Z:0.29 [[ 0.94539276 -0.27662462 -0.1723698 2.8772579 ] [ 0.28332396 0.95890605 0.0150572 0.74770109] [ 0.16112125 -0.06307147 0.98491722 0.28669403] [ 0. 0. 0. 1. ]] SLAMing on 100.26241403699999 meters Centerline goodness : 0.786008 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.75, Z:0.29 [[ 0.94534392 -0.2768662 -0.17224977 2.87650305] [ 0.28348725 0.95886478 0.01460497 0.74949699] [ 0.16112062 -0.06263734 0.98494503 0.28694508] [ 0. 0. 0. 1. ]] SLAMing on 100.32241403699999 meters Centerline goodness : 0.784702 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.75, Z:0.29 [[ 0.94533029 -0.27701776 -0.17208079 2.87551838] [ 0.28352693 0.95886245 0.01397407 0.75217944] [ 0.16113074 -0.06199965 0.98498372 0.28735445] [ 0. 0. 0. 1. ]] SLAMing on 100.38241403699999 meters Centerline goodness : 0.787974 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.75, Z:0.29 [[ 0.94528859 -0.27728199 -0.1718842 2.8752312 ] [ 0.28374685 0.95880054 0.01375655 0.75172349] [ 0.16098822 -0.06177551 0.98502111 0.28753911] [ 0. 0. 0. 1. ]] SLAMing on 100.44241403699999 meters Centerline goodness : 0.787489 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.75, Z:0.29 [[ 0.94514337 -0.27797557 -0.17156222 2.87469466] [ 0.28438559 0.95861514 0.01348526 0.75199448] [ 0.16071356 -0.06153533 0.98508099 0.28706973] [ 0. 0. 0. 1. ]] SLAMing on 100.502414037 meters Centerline goodness : 0.785947 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.75, Z:0.29 [[ 0.94493796 -0.2789127 -0.17117229 2.87310894] [ 0.28518401 0.9583886 0.01270325 0.75345131] [ 0.16050648 -0.06081938 0.98515921 0.28763637] [ 0. 0. 0. 1. ]] SLAMing on 100.562414037 meters Centerline goodness : 0.786343 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.75, Z:0.29 [[ 0.94472667 -0.2799142 -0.17070311 2.8719749 ] [ 0.28605201 0.95813926 0.01197505 0.75383782] [ 0.16020537 -0.06014312 0.98524974 0.28779533] [ 0. 0. 0. 1. ]] SLAMing on 100.62241403699998 meters Centerline goodness : 0.786920 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.76, Z:0.29 [[ 0.94461127 -0.28049747 -0.17038404 2.87123115] [ 0.2865285 0.95800404 0.01138804 0.7553046 ] [ 0.16003428 -0.05957715 0.98531193 0.28769028] [ 0. 0. 0. 1. ]] SLAMing on 100.68241403699999 meters Centerline goodness : 0.785609 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.76, Z:0.29 [[ 0.94445276 -0.28152098 -0.16957274 2.86843456] [ 0.28732428 0.95777908 0.01019803 0.75891854] [ 0.15954226 -0.05835392 0.98546491 0.28825226] [ 0. 0. 0. 1. ]] SLAMing on 100.74241403699999 meters Centerline goodness : 0.788478 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.76, Z:0.29 [[ 0.94468217 -0.28106911 -0.16904364 2.86160386] [ 0.28695281 0.95788233 0.01093251 0.76058361] [ 0.15885113 -0.0588353 0.98554793 0.29157085] [ 0. 0. 0. 1. ]] SLAMing on 100.80241403699999 meters Centerline goodness : 0.788214 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.76, Z:0.29 [[ 0.94439991 -0.28242151 -0.16836538 2.85962899] [ 0.28813511 0.95753743 0.01001161 0.7611026 ] [ 0.15838866 -0.05796694 0.98567381 0.2920063 ] [ 0. 0. 0. 1. ]] SLAMing on 100.862414037 meters Centerline goodness : 0.784745 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.76, Z:0.29 [[ 0.9434376 -0.28580903 -0.16804375 2.86402301] [ 0.29109068 0.95666876 0.00714887 0.76083855] [ 0.15871899 -0.05566048 0.98575362 0.28919597] [ 0. 0. 0. 1. ]] SLAMing on 100.922414037 meters Centerline goodness : 0.786572 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.76, Z:0.29 [[ 0.94323927 -0.28680159 -0.16746498 2.86288074] [ 0.29198586 0.95639943 0.006662 0.76361377] [ 0.15825274 -0.05518127 0.98585552 0.28798111] [ 0. 0. 0. 1. ]] SLAMing on 100.98241403699998 meters Centerline goodness : 0.787075 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.77, Z:0.29 [[ 0.94386093 -0.28502505 -0.1669948 2.85738385] [ 0.29043706 0.95685717 0.00840701 0.76513892] [ 0.15739397 -0.05643652 0.98592193 0.28998126] [ 0. 0. 0. 1. ]] SLAMing on 101.04241403699999 meters Centerline goodness : 0.785531 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.77, Z:0.29 [[ 0.94386158 -0.2852713 -0.16657013 2.85603844] [ 0.29056122 0.95682482 0.00777402 0.76594837] [ 0.15716073 -0.05573642 0.98599896 0.29084314] [ 0. 0. 0. 1. ]] SLAMing on 101.10241403699999 meters Centerline goodness : 0.783888 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.77, Z:0.29 [[ 0.94405077 -0.28434388 -0.16708293 2.85858719] [ 0.28974665 0.95706673 0.00837596 0.76662008] [ 0.15752785 -0.05631905 0.98590727 0.28915991] [ 0. 0. 0. 1. ]] SLAMing on 101.16241403699999 meters Centerline goodness : 0.789495 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.77, Z:0.29 [[ 0.94503999 -0.28068237 -0.16768073 2.8569719 ] [ 0.28665355 0.9579588 0.01202835 0.766648 ] [ 0.15725509 -0.05943355 0.98576797 0.2891461 ] [ 0. 0. 0. 1. ]] SLAMing on 101.222414037 meters Centerline goodness : 0.786315 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.76, Z:0.29 [[ 0.94685254 -0.27864087 -0.16071569 2.84976069] [ 0.2839275 0.95878879 0.01045158 0.76160227] [ 0.15118016 -0.05552771 0.9869454 0.28525322] [ 0. 0. 0. 1. ]] SLAMing on 101.282414037 meters Centerline goodness : 0.784800 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.76, Z:0.28 [[ 0.94694899 -0.2780208 -0.16122051 2.8519016 ] [ 0.28339913 0.95893997 0.01091217 0.76108449] [ 0.15156698 -0.05602302 0.98685808 0.28429705] [ 0. 0. 0. 1. ]] SLAMing on 101.34241403699998 meters Centerline goodness : 0.785367 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.76, Z:0.28 [[ 0.94711256 -0.2772381 -0.16160707 2.85358372] [ 0.28268239 0.95914746 0.0112608 0.7619336 ] [ 0.15188309 -0.05634871 0.98679094 0.28338507] [ 0. 0. 0. 1. ]] SLAMing on 101.40241403699999 meters Centerline goodness : 0.782187 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.76, Z:0.28 [[ 0.94958791 -0.2721882 -0.15555186 2.8469585 ] [ 0.27731853 0.96070475 0.01186629 0.75854729] [ 0.14620955 -0.0544055 0.98775645 0.27949367] [ 0. 0. 0. 1. ]] SLAMing on 101.46241403699999 meters Centerline goodness : 0.782662 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:0.28 [[ 0.95158537 -0.26768392 -0.15109798 2.83996018] [ 0.27278446 0.96197746 0.01371165 0.75537123] [ 0.14168247 -0.05426499 0.98842369 0.27856855] [ 0. 0. 0. 1. ]] SLAMing on 101.52241403699999 meters Centerline goodness : 0.784576 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:0.28 [[ 0.95166914 -0.26703418 -0.15171881 2.84140273] [ 0.27219937 0.96213945 0.01397077 0.75533183] [ 0.14224398 -0.05459332 0.98832496 0.27868908] [ 0. 0. 0. 1. ]] SLAMing on 101.58241403699999 meters Centerline goodness : 0.783184 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.28 [[ 0.95183663 -0.26595807 -0.15255597 2.84459044] [ 0.27129091 0.96238224 0.01488832 0.75314784] [ 0.14285749 -0.05555829 0.98818268 0.27775489] [ 0. 0. 0. 1. ]] SLAMing on 101.642414037 meters Centerline goodness : 0.778474 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.27 [[ 0.95379408 -0.26230573 -0.14653515 2.84012409] [ 0.26732904 0.96348299 0.01535297 0.74772377] [ 0.13715696 -0.05381667 0.98908631 0.27233231] [ 0. 0. 0. 1. ]] SLAMing on 101.702414037 meters Centerline goodness : 0.779761 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.28 [[ 0.95464173 -0.25918773 -0.14656362 2.83594751] [ 0.26455339 0.96420225 0.01804209 0.74716398] [ 0.13664069 -0.05599763 0.9890367 0.27523474] [ 0. 0. 0. 1. ]] SLAMing on 101.76241403699999 meters Centerline goodness : 0.783690 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.75, Z:0.28 [[ 0.95496696 -0.25835329 -0.14591668 2.83454043] [ 0.26373242 0.96441905 0.01846884 0.74542385] [ 0.13595334 -0.05612009 0.98912447 0.27630983] [ 0. 0. 0. 1. ]] SLAMing on 101.82241403699999 meters Centerline goodness : 0.782868 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.75, Z:0.28 [[ 0.95508229 -0.25783721 -0.14607462 2.8349798 ] [ 0.26322713 0.96455614 0.01851866 0.74525221] [ 0.13612237 -0.05613765 0.98910023 0.27671395] [ 0. 0. 0. 1. ]] SLAMing on 101.88241403699999 meters Centerline goodness : 0.782127 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95515986 -0.25734315 -0.1464382 2.83684633] [ 0.26282013 0.96465708 0.0190343 0.74451811] [ 0.1363643 -0.05666771 0.98903668 0.27569928] [ 0. 0. 0. 1. ]] SLAMing on 101.94241403699999 meters Centerline goodness : 0.777713 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95429354 -0.26082063 -0.145933 2.83882782] [ 0.26583226 0.96389281 0.01561589 0.7445226 ] [ 0.13659083 -0.05369584 0.98917122 0.27517649] [ 0. 0. 0. 1. ]] SLAMing on 102.002414037 meters Centerline goodness : 0.779622 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95407557 -0.26180472 -0.14559568 2.8376665 ] [ 0.26677971 0.96363429 0.01541251 0.74187938] [ 0.13626592 -0.05354667 0.98922412 0.27605563] [ 0. 0. 0. 1. ]] SLAMing on 102.062414037 meters Centerline goodness : 0.778847 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95375815 -0.26326116 -0.14504809 2.83504227] [ 0.26813398 0.96326824 0.01478032 0.74078982] [ 0.13582914 -0.05298918 0.9893142 0.2776926 ] [ 0. 0. 0. 1. ]] SLAMing on 102.12241403699998 meters Centerline goodness : 0.777744 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95375253 -0.26324636 -0.14511193 2.8357652 ] [ 0.26815706 0.96325792 0.01503205 0.73988519] [ 0.13582308 -0.05324964 0.98930105 0.27715484] [ 0. 0. 0. 1. ]] SLAMing on 102.18241403699999 meters Centerline goodness : 0.776595 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.9533844 -0.26512948 -0.14409909 2.83798987] [ 0.26973578 0.9628457 0.01306811 0.73812392] [ 0.13528045 -0.05132762 0.98947697 0.27541534] [ 0. 0. 0. 1. ]] SLAMing on 102.24241403699999 meters Centerline goodness : 0.772954 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95341313 -0.2650936 -0.14397495 2.83756818] [ 0.26967219 0.96286556 0.01291555 0.73827273] [ 0.13520469 -0.0511399 0.98949705 0.27582123] [ 0. 0. 0. 1. ]] SLAMing on 102.30241403699999 meters Centerline goodness : 0.783754 with order 3 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95351393 -0.26460808 -0.14420036 2.83775773] [ 0.26920554 0.96299497 0.01300259 0.73835385] [ 0.13542363 -0.05121769 0.98946308 0.27638679] [ 0. 0. 0. 1. ]] SLAMing on 102.362414037 meters Centerline goodness : 0.777532 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95357364 -0.26429295 -0.14438332 2.83858115] [ 0.26894329 0.9630636 0.01334171 0.73760998] [ 0.13552421 -0.05155323 0.98943188 0.27602571] [ 0. 0. 0. 1. ]] SLAMing on 102.422414037 meters Centerline goodness : 0.778170 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95360546 -0.26412967 -0.14447196 2.83841004] [ 0.26874825 0.96312153 0.01308784 0.73828128] [ 0.13568716 -0.05130723 0.98942234 0.27671219] [ 0. 0. 0. 1. ]] SLAMing on 102.48241403699998 meters Centerline goodness : 0.777544 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95460373 -0.26007036 -0.1452416 2.83720079] [ 0.26513654 0.96407236 0.01634298 0.73908008] [ 0.13577308 -0.05410993 0.98926123 0.27753212] [ 0. 0. 0. 1. ]] SLAMing on 102.54241403699999 meters Centerline goodness : 0.781300 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95470317 -0.25949014 -0.14562532 2.83904202] [ 0.26460351 0.96421486 0.01657379 0.73926421] [ 0.13611337 -0.05435602 0.98920098 0.27659917] [ 0. 0. 0. 1. ]] SLAMing on 102.60241403699999 meters Centerline goodness : 0.776975 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95465774 -0.25971677 -0.14551905 2.83896377] [ 0.26477307 0.96417491 0.01618532 0.74086 ] [ 0.13610222 -0.05398096 0.98922305 0.27624552] [ 0. 0. 0. 1. ]] SLAMing on 102.66241403699999 meters Centerline goodness : 0.779637 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95459238 -0.26020798 -0.1450696 2.83801233] [ 0.26515009 0.96408259 0.0154979 0.74347023] [ 0.1358264 -0.05325939 0.98930007 0.27581585] [ 0. 0. 0. 1. ]] SLAMing on 102.722414037 meters Centerline goodness : 0.777508 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.74, Z:0.28 [[ 0.95439955 -0.26133294 -0.14431422 2.83569717] [ 0.26612256 0.96382862 0.01460065 0.74412997] [ 0.13527854 -0.05234012 0.98942419 0.2766057 ] [ 0. 0. 0. 1. ]] SLAMing on 102.782414037 meters Centerline goodness : 0.781725 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.74, Z:0.28 [[ 0.95407916 -0.26299586 -0.14340898 2.83266358] [ 0.26760675 0.96343335 0.01352103 0.74491824] [ 0.13460902 -0.05127734 0.98957114 0.27758078] [ 0. 0. 0. 1. ]] SLAMing on 102.84241403699998 meters Centerline goodness : 0.782133 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.75, Z:0.28 [[ 0.95389849 -0.26384822 -0.14304471 2.83068046] [ 0.26827766 0.96326356 0.01226388 0.74859953] [ 0.13455395 -0.0500742 0.98964024 0.27859544] [ 0. 0. 0. 1. ]] SLAMing on 102.90241403699999 meters Centerline goodness : 0.784811 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.75, Z:0.28 [[ 0.95396455 -0.26333065 -0.143557 2.83325212] [ 0.2678121 0.96339019 0.0124904 0.75017856] [ 0.1350123 -0.0503617 0.98956323 0.27653908] [ 0. 0. 0. 1. ]] SLAMing on 102.96241403699999 meters Centerline goodness : 0.784655 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.27 [[ 0.95351426 -0.26544254 -0.1426563 2.83512536] [ 0.26957053 0.96292794 0.0100753 0.75314665] [ 0.13469333 -0.04806288 0.98972101 0.27402058] [ 0. 0. 0. 1. ]] SLAMing on 103.02241403699999 meters Centerline goodness : 0.788420 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.76, Z:0.28 [[ 0.95322627 -0.26699389 -0.14168256 2.83167829] [ 0.27090214 0.96256766 0.00869092 0.75579459] [ 0.13405863 -0.04666652 0.98987399 0.27511153] [ 0. 0. 0. 1. ]] SLAMing on 103.08241403699999 meters Centerline goodness : 0.793705 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:0.28 [[ 0.95296401 -0.26853103 -0.14053713 2.82218196] [ 0.27226196 0.96219263 0.00766538 0.7584035 ] [ 0.1331654 -0.04556774 0.99004574 0.28059005] [ 0. 0. 0. 1. ]] SLAMing on 103.142414037 meters Centerline goodness : 0.790525 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:0.28 [[ 0.95269828 -0.26964923 -0.14019731 2.8210739 ] [ 0.27326715 0.96191372 0.00686064 0.75885007] [ 0.13300775 -0.04484744 0.99009982 0.28094476] [ 0. 0. 0. 1. ]] SLAMing on 103.202414037 meters Centerline goodness : 0.794686 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:0.28 [[ 0.95275125 -0.26934677 -0.14041855 2.82192178] [ 0.27292776 0.96201235 0.00653296 0.76230378] [ 0.13332475 -0.04454841 0.99007068 0.28007888] [ 0. 0. 0. 1. ]] SLAMing on 103.26241403699999 meters Centerline goodness : 0.792370 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:0.28 [[ 0.95385623 -0.26493747 -0.14130265 2.82236097] [ 0.26903449 0.96307469 0.01037248 0.76489438] [ 0.13333695 -0.04790914 0.9899121 0.27827029] [ 0. 0. 0. 1. ]] SLAMing on 103.32241403699999 meters Centerline goodness : 0.796966 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.77, Z:0.28 [[ 0.95483756 -0.2610322 -0.14194161 2.82109742] [ 0.26553485 0.96400778 0.0134251 0.76750926] [ 0.13332843 -0.05050924 0.98978399 0.27835475] [ 0. 0. 0. 1. ]] SLAMing on 103.38241403699999 meters Centerline goodness : 0.795031 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.77, Z:0.28 [[ 0.95515551 -0.25953372 -0.14254894 2.82384686] [ 0.26410568 0.96439483 0.01381289 0.7703886 ] [ 0.13388855 -0.05084144 0.98969137 0.27666954] [ 0. 0. 0. 1. ]] SLAMing on 103.44241403699999 meters Centerline goodness : 0.795575 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.77, Z:0.28 [[ 0.95619125 -0.25538683 -0.14309388 2.82290766] [ 0.26040203 0.96534757 0.01717115 0.77261936] [ 0.13375004 -0.05368084 0.98956015 0.27620572] [ 0. 0. 0. 1. ]] SLAMing on 103.502414037 meters Centerline goodness : 0.797963 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.78, Z:0.28 [[ 0.95720854 -0.25269882 -0.14105007 2.81489567] [ 0.25776059 0.96603083 0.01854512 0.77545201] [ 0.13157238 -0.0541087 0.98982875 0.27984706] [ 0. 0. 0. 1. ]] SLAMing on 103.562414037 meters Centerline goodness : 0.798548 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.78, Z:0.28 [[ 0.957111 -0.2532313 -0.14075669 2.81329693] [ 0.25816124 0.96594084 0.01763686 0.77649121] [ 0.13149643 -0.05321836 0.98988711 0.28135433] [ 0. 0. 0. 1. ]] SLAMing on 103.62241403699998 meters Centerline goodness : 0.799340 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.78, Z:0.28 [[ 0.95637326 -0.25597361 -0.14081086 2.81731114] [ 0.26052075 0.96535861 0.01454969 0.77725856] [ 0.13220864 -0.05059909 0.9899296 0.27977663] [ 0. 0. 0. 1. ]] SLAMing on 103.68241403699999 meters Centerline goodness : 0.797853 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.78, Z:0.28 [[ 0.95635919 -0.25593798 -0.14097112 2.81848512] [ 0.26053967 0.96534818 0.01489838 0.77749991] [ 0.13227315 -0.05097678 0.9899016 0.27839132] [ 0. 0. 0. 1. ]] SLAMing on 103.74241403699999 meters Centerline goodness : 0.796613 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.78, Z:0.28 [[ 0.95622871 -0.25660691 -0.14063976 2.81749559] [ 0.26116623 0.96518247 0.0146627 0.77551311] [ 0.13198048 -0.05075125 0.98995225 0.27917977] [ 0. 0. 0. 1. ]] SLAMing on 103.80241403699999 meters Centerline goodness : 0.799043 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.77, Z:0.28 [[ 0.95605023 -0.2575411 -0.1401447 2.81533714] [ 0.26203809 0.96495127 0.01432063 0.77370383] [ 0.13154466 -0.05041449 0.99002747 0.28069685] [ 0. 0. 0. 1. ]] SLAMing on 103.862414037 meters Centerline goodness : 0.798820 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.77, Z:0.28 [[ 0.95565514 -0.25944683 -0.13932192 2.81148849] [ 0.26377122 0.96449494 0.0132008 0.77189113] [ 0.13095038 -0.04936453 0.99015915 0.2834286 ] [ 0. 0. 0. 1. ]] SLAMing on 103.922414037 meters Centerline goodness : 0.796507 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.77, Z:0.28 [[ 0.95481808 -0.2625334 -0.13927903 2.81513899] [ 0.26650356 0.96377861 0.01032703 0.76978301] [ 0.13152296 -0.0469788 0.99019932 0.28244525] [ 0. 0. 0. 1. ]] SLAMing on 103.98241403699998 meters Centerline goodness : 0.798203 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.77, Z:0.28 [[ 0.95474523 -0.26293951 -0.1390121 2.81464406] [ 0.26690422 0.96366744 0.01035366 0.76906445] [ 0.13123905 -0.04698802 0.99023656 0.28232176] [ 0. 0. 0. 1. ]] SLAMing on 104.04241403699999 meters Centerline goodness : 0.794648 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.77, Z:0.28 [[ 0.95453657 -0.26389688 -0.13863033 2.81328244] [ 0.26782715 0.96341337 0.01016391 0.76829132] [ 0.13087609 -0.04683079 0.99029204 0.28264234] [ 0. 0. 0. 1. ]] SLAMing on 104.10241403699999 meters Centerline goodness : 0.792937 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.77, Z:0.28 [[ 0.95337473 -0.26869424 -0.13740462 2.81343183] [ 0.27212627 0.96223975 0.00647741 0.76703808] [ 0.13047574 -0.04356681 0.99049382 0.282149 ] [ 0. 0. 0. 1. ]] SLAMing on 104.16241403699999 meters Centerline goodness : 0.788790 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.76, Z:0.28 [[ 9.53131860e-01 -2.73216842e-01 -1.29970050e-01 2.78794874e+00] [ 2.75502071e-01 9.61300389e-01 -4.12830668e-04 7.61178315e-01] [ 1.25053052e-01 -3.54135357e-02 9.91517834e-01 2.80783663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222414037 meters Centerline goodness : 0.791197 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.28 [[ 9.52303729e-01 -2.76722238e-01 -1.28617304e-01 2.78200829e+00] [ 2.78708832e-01 9.60371993e-01 -2.64992985e-03 7.61196787e-01] [ 1.24253751e-01 -3.33232405e-02 9.91690762e-01 2.84064424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282414037 meters Centerline goodness : 0.791100 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.28 [[ 9.52229082e-01 -2.76975961e-01 -1.28623845e-01 2.78228469e+00] [ 2.78964381e-01 9.60297781e-01 -2.65428647e-03 7.60043159e-01] [ 1.24252367e-01 -3.33539825e-02 9.91689902e-01 2.84030929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34241403699998 meters Centerline goodness : 0.791893 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.28 [[ 9.52352754e-01 -2.76310421e-01 -1.29138623e-01 2.78471761e+00] [ 2.78398561e-01 9.60463648e-01 -1.95510144e-03 7.59785530e-01] [ 1.24573168e-01 -3.40900605e-02 9.91624623e-01 2.82337641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40241403699999 meters Centerline goodness : 0.794704 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.76, Z:0.28 [[ 9.52402069e-01 -2.76051692e-01 -1.29328121e-01 2.78508175e+00] [ 2.78116697e-01 9.60544834e-01 -2.17360689e-03 7.61309743e-01] [ 1.24825487e-01 -3.38981623e-02 9.91599472e-01 2.82437448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46241403699999 meters Centerline goodness : 0.789657 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.76, Z:0.28 [[ 9.52559732e-01 -2.75349670e-01 -1.29663090e-01 2.78644703e+00] [ 2.77440650e-01 9.60740672e-01 -2.01164391e-03 7.61952394e-01] [ 1.25126510e-01 -3.40576010e-02 9.91556068e-01 2.81884810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52241403699999 meters Centerline goodness : 0.792948 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.28 [[ 9.52437311e-01 -2.75964624e-01 -1.29254379e-01 2.78483204e+00] [ 2.77975396e-01 9.60584734e-01 -2.57837538e-03 7.62274276e-01] [ 1.24871324e-01 -3.34737963e-02 9.91608117e-01 2.82827183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58241403699999 meters Centerline goodness : 0.797228 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.29 [[ 0.95219576 -0.27717509 -0.12844141 2.78119575] [ 0.27899992 0.96028311 -0.00392405 0.76349847] [ 0.12442777 -0.03209868 0.99170933 0.28533641] [ 0. 0. 0. 1. ]] SLAMing on 104.642414037 meters Centerline goodness : 0.796715 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.28 [[ 0.95231132 -0.27660091 -0.12882192 2.78269138] [ 0.2784709 0.96043783 -0.00362503 0.76379058] [ 0.12472813 -0.032421 0.99166112 0.28461176] [ 0. 0. 0. 1. ]] SLAMing on 104.702414037 meters Centerline goodness : 0.793570 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.28 [[ 0.95229 -0.27672122 -0.12872113 2.7832077 ] [ 0.27860227 0.96040012 -0.00351877 0.76453668] [ 0.12459751 -0.03251111 0.99167459 0.28335737] [ 0. 0. 0. 1. ]] SLAMing on 104.76241403699999 meters Centerline goodness : 0.799735 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.77, Z:0.28 [[ 0.95206852 -0.27771619 -0.12821567 2.78153542] [ 0.27950195 0.96013588 -0.00421378 0.76511078] [ 0.1242747 -0.03182472 0.99173736 0.28391965] [ 0. 0. 0. 1. ]] SLAMing on 104.82241403699999 meters Centerline goodness : 0.797434 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.77, Z:0.29 [[ 0.9507636 -0.28269276 -0.12701723 2.78036814] [ 0.28387576 0.95881816 -0.00907132 0.76584222] [ 0.12435082 -0.02743243 0.99185903 0.28566788] [ 0. 0. 0. 1. ]] SLAMing on 104.88241403699999 meters Centerline goodness : 0.790767 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.77, Z:0.29 [[ 0.95046855 -0.28390035 -0.12653113 2.7790958 ] [ 0.28506356 0.95846444 -0.00920276 0.76605205] [ 0.12388825 -0.02732248 0.99191995 0.28500082] [ 0. 0. 0. 1. ]] SLAMing on 104.94241403699999 meters Centerline goodness : 0.791547 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.76, Z:0.29 [[ 0.95021563 -0.28517413 -0.12556267 2.77639179] [ 0.28625795 0.95810336 -0.00971234 0.76468138] [ 0.12307172 -0.02671449 0.99203815 0.28581354] [ 0. 0. 0. 1. ]] SLAMing on 105.002414037 meters Centerline goodness : 0.791766 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.76, Z:0.28 [[ 0.95117482 -0.28406846 -0.12071275 2.76899599] [ 0.28502433 0.95847181 -0.00963972 0.76193074] [ 0.11843811 -0.02523701 0.99264067 0.28465123] [ 0. 0. 0. 1. ]] SLAMing on 105.062414037 meters Centerline goodness : 0.793575 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.76, Z:0.29 [[ 0.95205269 -0.28091114 -0.12118003 2.76651771] [ 0.28226185 0.95931718 -0.00622811 0.76245538] [ 0.11799963 -0.02827501 0.99261101 0.28521066] [ 0. 0. 0. 1. ]] SLAMing on 105.12241403699998 meters Centerline goodness : 0.788660 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.76, Z:0.29 [[ 0.95105698 -0.28300043 -0.12410227 2.75828211] [ 0.2827682 0.95898279 -0.01985352 0.76147297] [ 0.1246305 -0.01621035 0.9920708 0.28644635] [ 0. 0. 0. 1. ]] SLAMing on 105.18241403699999 meters Centerline goodness : 0.788927 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.76, Z:0.29 [[ 0.95097929 -0.28336256 -0.1238711 2.75769782] [ 0.28313386 0.9588756 -0.01981898 0.76055852] [ 0.12439293 -0.01622466 0.99210038 0.28654294] [ 0. 0. 0. 1. ]] SLAMing on 105.24241403699999 meters Centerline goodness : 0.792200 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.76, Z:0.29 [[ 0.95182114 -0.28033129 -0.12430163 2.75413287] [ 0.28047657 0.95971573 -0.01669184 0.75986209] [ 0.12397347 -0.01897604 0.99210407 0.28881433] [ 0. 0. 0. 1. ]] SLAMing on 105.30241403699999 meters Centerline goodness : 0.789436 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.76, Z:0.29 [[ 0.95223188 -0.2784253 -0.12543441 2.75845016] [ 0.27872693 0.96024535 -0.01549757 0.75875928] [ 0.12476273 -0.02020467 0.99198086 0.28721093] [ 0. 0. 0. 1. ]] SLAMing on 105.362414037 meters Centerline goodness : 0.789022 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.76, Z:0.29 [[ 0.95246413 -0.27740508 -0.12593056 2.76129876] [ 0.27781885 0.96052221 -0.01462116 0.75824587] [ 0.12501508 -0.02105975 0.99193131 0.28521904] [ 0. 0. 0. 1. ]] SLAMing on 105.422414037 meters Centerline goodness : 0.791210 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.75, Z:0.29 [[ 0.95490682 -0.27321392 -0.11622014 2.74415142] [ 0.27306532 0.96183612 -0.01751058 0.75449812] [ 0.11656886 -0.01501472 0.99306911 0.28648488] [ 0. 0. 0. 1. ]] SLAMing on 105.48241403699998 meters Centerline goodness : 0.793489 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.29 [[ 0.95708551 -0.26884034 -0.10822294 2.72621624] [ 0.26827415 0.96313429 -0.02003321 0.74840468] [ 0.10961896 -0.00985992 0.99392478 0.28786796] [ 0. 0. 0. 1. ]] SLAMing on 105.54241403699999 meters Centerline goodness : 0.791794 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.28 [[ 0.95757519 -0.26643433 -0.10982945 2.73252171] [ 0.26611237 0.96377671 -0.01785132 0.74685042] [ 0.11060727 -0.01213299 0.99379013 0.28411783] [ 0. 0. 0. 1. ]] SLAMing on 105.60241403699999 meters Centerline goodness : 0.792168 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.75, Z:0.28 [[ 0.95793946 -0.26490003 -0.11036289 2.73539786] [ 0.26469493 0.9641863 -0.01677424 0.7466857 ] [ 0.11085388 -0.01314379 0.9937498 0.28214411] [ 0. 0. 0. 1. ]] SLAMing on 105.66241403699999 meters Centerline goodness : 0.791045 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.28 [[ 0.95839691 -0.26342867 -0.10991222 2.73234803] [ 0.26335527 0.96457523 -0.01544779 0.74594933] [ 0.110088 -0.01414085 0.99382125 0.28368398] [ 0. 0. 0. 1. ]] SLAMing on 105.722414037 meters Centerline goodness : 0.794885 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.29 [[ 0.95828393 -0.26395494 -0.10963436 2.73054774] [ 0.26378985 0.96444293 -0.01627139 0.74745058] [ 0.11003099 -0.01332782 0.99383879 0.28516379] [ 0. 0. 0. 1. ]] SLAMing on 105.782414037 meters Centerline goodness : 0.791136 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.29 [[ 0.95835008 -0.26367583 -0.10972779 2.73083437] [ 0.26346654 0.96452457 -0.01666523 0.74964136] [ 0.11022937 -0.01293848 0.99382196 0.28509224] [ 0. 0. 0. 1. ]] SLAMing on 105.84241403699998 meters Centerline goodness : 0.793988 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.28 [[ 0.95849291 -0.26309371 -0.10987743 2.73172936] [ 0.26284599 0.96468811 -0.01699489 0.75187749] [ 0.11046869 -0.01259136 0.99379984 0.28469808] [ 0. 0. 0. 1. ]] SLAMing on 105.90241403699999 meters Centerline goodness : 0.796506 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.29 [[ 0.95850549 -0.26296003 -0.11008746 2.73194971] [ 0.26266864 0.96472914 -0.01740316 0.75348302] [ 0.11078092 -0.0122355 0.99376953 0.28508033] [ 0. 0. 0. 1. ]] SLAMing on 105.96241403699999 meters Centerline goodness : 0.798827 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.29 [[ 0.95950383 -0.25905032 -0.1106586 2.72976714] [ 0.25905427 0.96575251 -0.01459381 0.75682074] [ 0.11064935 -0.01466376 0.99375132 0.28637601] [ 0. 0. 0. 1. ]] SLAMing on 106.02241403699999 meters Centerline goodness : 0.798888 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.29 [[ 0.96054746 -0.25487479 -0.11129879 2.72919369] [ 0.25527838 0.96680671 -0.01085055 0.75705603] [ 0.11036995 -0.01798971 0.99372775 0.2860197 ] [ 0. 0. 0. 1. ]] SLAMing on 106.08241403699999 meters Centerline goodness : 0.795301 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96118022 -0.25204484 -0.11227641 2.73385372] [ 0.25263706 0.96751779 -0.00915708 0.75825742] [ 0.11093742 -0.01956358 0.99363482 0.28308559] [ 0. 0. 0. 1. ]] SLAMing on 106.142414037 meters Centerline goodness : 0.794401 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.76, Z:0.28 [[ 0.9621084 -0.24825723 -0.11276421 2.73656921] [ 0.24921996 0.96843011 -0.00570353 0.76046104] [ 0.1106202 -0.02261567 0.99360541 0.27915911] [ 0. 0. 0. 1. ]] SLAMing on 106.202414037 meters Centerline goodness : 0.793332 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96207137 -0.24877476 -0.11193657 2.73404027] [ 0.24965465 0.96831436 -0.00631236 0.75950698] [ 0.10996014 -0.02187254 0.99369531 0.28083792] [ 0. 0. 0. 1. ]] SLAMing on 106.26241403699999 meters Centerline goodness : 0.793582 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96196513 -0.24930002 -0.11168075 2.73200579] [ 0.25004901 0.96820432 -0.00747598 0.76099563] [ 0.10999354 -0.02073403 0.99371602 0.28319594] [ 0. 0. 0. 1. ]] SLAMing on 106.32241403699999 meters Centerline goodness : 0.796260 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96307271 -0.24426887 -0.11324165 2.73312636] [ 0.2454522 0.96940205 -0.003589 0.7617179 ] [ 0.11065337 -0.02433894 0.99356099 0.28357463] [ 0. 0. 0. 1. ]] SLAMing on 106.38241403699999 meters Centerline goodness : 0.795061 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 9.64086211e-01 -2.39631820e-01 -1.14517983e-01 2.73436428e+00] [ 2.41288223e-01 9.70453300e-01 6.21371666e-04 7.61069781e-01] [ 1.10985454e-01 -2.82308964e-02 9.93420981e-01 2.82906275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44241403699999 meters Centerline goodness : 0.796509 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96500845 -0.23576549 -0.11477515 2.73236132] [ 0.23779118 0.97130768 0.00409211 0.76191448] [ 0.11051721 -0.03124144 0.99338307 0.28333397] [ 0. 0. 0. 1. ]] SLAMing on 106.502414037 meters Centerline goodness : 0.795838 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96502792 -0.23583528 -0.11446757 2.73182065] [ 0.23787207 0.97128708 0.00427565 0.75876712] [ 0.11017253 -0.03135476 0.99341778 0.28394983] [ 0. 0. 0. 1. ]] SLAMing on 106.562414037 meters Centerline goodness : 0.794093 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.76, Z:0.28 [[ 0.96507135 -0.23554171 -0.1147057 2.73206331] [ 0.2376299 0.97134446 0.0046874 0.75666052] [ 0.11031467 -0.03178118 0.99338846 0.28471738] [ 0. 0. 0. 1. ]] SLAMing on 106.62241403699998 meters Centerline goodness : 0.793610 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.75, Z:0.28 [[ 0.96524092 -0.23446638 -0.11547936 2.73418573] [ 0.23667197 0.9715736 0.00557782 0.75467239] [ 0.11088889 -0.03271467 0.99329422 0.28463826] [ 0. 0. 0. 1. ]] SLAMing on 106.68241403699999 meters Centerline goodness : 0.791201 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.75, Z:0.28 [[ 0.96549976 -0.23290265 -0.11647561 2.73813553] [ 0.23527037 0.97190606 0.00681681 0.75258708] [ 0.1116157 -0.03398489 0.99317016 0.28303577] [ 0. 0. 0. 1. ]] SLAMing on 106.74241403699999 meters Centerline goodness : 0.799121 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.68, Z:0.25 [[ 0.96741933 -0.21236877 -0.13783809 2.49176895] [ 0.22281907 0.97267368 0.06525016 0.67718401] [ 0.12021439 -0.09383722 0.98830313 0.24707755] [ 0. 0. 0. 1. ]] SLAMing on 106.80241403699999 meters Centerline goodness : 0.793767 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.78, Z:0.34 [[ 0.96837909 -0.23830421 -0.07384474 2.70215085] [ 0.23110961 0.9683511 -0.09425761 0.78465647] [ 0.09396962 0.07421087 0.99280535 0.34074179] [ 0. 0. 0. 1. ]] SLAMing on 106.862414037 meters Centerline goodness : 0.793019 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.78, Z:0.34 [[ 0.96868863 -0.23665923 -0.07506492 2.7057771 ] [ 0.2295427 0.9688945 -0.09248562 0.7803514 ] [ 0.09461757 0.07235916 0.99288049 0.33949294] [ 0. 0. 0. 1. ]] SLAMing on 106.922414037 meters Centerline goodness : 0.791351 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.78, Z:0.34 [[ 0.96884604 -0.23578998 -0.07576572 2.70814698] [ 0.22876763 0.96922159 -0.09096631 0.7768809 ] [ 0.09488271 0.07079961 0.99296762 0.33795131] [ 0. 0. 0. 1. ]] SLAMing on 106.98241403699998 meters Centerline goodness : 0.785764 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.77, Z:0.34 [[ 0.96869731 -0.23638109 -0.07582552 2.70706244] [ 0.22940251 0.96911833 -0.09046627 0.76950327] [ 0.09486842 0.07023987 0.99300873 0.3399885 ] [ 0. 0. 0. 1. ]] SLAMing on 107.04241403699999 meters Centerline goodness : 0.789196 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.76, Z:0.34 [[ 0.96872498 -0.23611611 -0.07629612 2.7084539 ] [ 0.22924372 0.96929081 -0.08900923 0.76455026] [ 0.09496964 0.06873506 0.99310435 0.33900774] [ 0. 0. 0. 1. ]] SLAMing on 107.10241403699999 meters Centerline goodness : 0.782807 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.76, Z:0.34 [[ 0.96887715 -0.23524883 -0.07703935 2.71122271] [ 0.2285409 0.96966106 -0.08675532 0.75755687] [ 0.09511114 0.06644861 0.99324642 0.33693004] [ 0. 0. 0. 1. ]] SLAMing on 107.16241403699999 meters Centerline goodness : 0.783144 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.75, Z:0.34 [[ 0.96907408 -0.23413329 -0.07795529 2.71369812] [ 0.22753282 0.97005399 -0.08499448 0.75222237] [ 0.09552087 0.06462856 0.99332719 0.33619405] [ 0. 0. 0. 1. ]] SLAMing on 107.222414037 meters Centerline goodness : 0.787355 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.75, Z:0.34 [[ 0.96927875 -0.23307034 -0.07859335 2.71476205] [ 0.22653864 0.97038701 -0.08384089 0.74763289] [ 0.09580679 0.06346076 0.99337495 0.3370349 ] [ 0. 0. 0. 1. ]] SLAMing on 107.282414037 meters Centerline goodness : 0.787263 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.74, Z:0.34 [[ 0.96952088 -0.23173442 -0.07955135 2.71780521] [ 0.22533697 0.97083998 -0.08181066 0.74207355] [ 0.09618998 0.06139128 0.99346797 0.33556401] [ 0. 0. 0. 1. ]] SLAMing on 107.34241403699998 meters Centerline goodness : 0.789129 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.74, Z:0.33 [[ 0.96957381 -0.23132997 -0.08008164 2.71942853] [ 0.22502799 0.97102245 -0.08048477 0.73854853] [ 0.09637961 0.06001532 0.99353366 0.33439371] [ 0. 0. 0. 1. ]] SLAMing on 107.40241403699999 meters Centerline goodness : 0.790336 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.73, Z:0.33 [[ 0.96870414 -0.23501527 -0.07987561 2.72165493] [ 0.22850516 0.97001455 -0.08280803 0.73384145] [ 0.09694166 0.0619645 0.99335931 0.33308189] [ 0. 0. 0. 1. ]] SLAMing on 107.46241403699999 meters Centerline goodness : 0.787995 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.73, Z:0.33 [[ 0.96752283 -0.24026973 -0.07854959 2.71980627] [ 0.23348219 0.96849813 -0.08658778 0.73003295] [ 0.09687955 0.06543573 0.99314275 0.33450291] [ 0. 0. 0. 1. ]] SLAMing on 107.52241403699999 meters Centerline goodness : 0.785971 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.96629051 -0.24512191 -0.07872678 2.70932071] [ 0.23878564 0.96761329 -0.08188978 0.72238287] [ 0.09625005 0.06033049 0.99352713 0.33203019] [ 0. 0. 0. 1. ]] SLAMing on 107.58241403699999 meters Centerline goodness : 0.785496 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.96505147 -0.25015345 -0.0780955 2.71054678] [ 0.24359648 0.96617708 -0.08463217 0.71837364] [ 0.09662512 0.06265061 0.99334711 0.33025422] [ 0. 0. 0. 1. ]] SLAMing on 107.642414037 meters Centerline goodness : 0.786997 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.96485889 -0.25090486 -0.07806457 2.7109522 ] [ 0.24442789 0.96603632 -0.08383813 0.7160613 ] [ 0.09644861 0.06181081 0.99341688 0.32864364] [ 0. 0. 0. 1. ]] SLAMing on 107.702414037 meters Centerline goodness : 0.781506 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.9644752 -0.25269221 -0.07703396 2.70767661] [ 0.2461677 0.96549109 -0.08502016 0.71843366] [ 0.09585954 0.06303657 0.99339687 0.32949524] [ 0. 0. 0. 1. ]] SLAMing on 107.76241403699999 meters Centerline goodness : 0.780671 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.96432751 -0.25333706 -0.07676447 2.70745244] [ 0.24681276 0.9653103 -0.08520264 0.71893163] [ 0.09568652 0.0632168 0.9934021 0.32866428] [ 0. 0. 0. 1. ]] SLAMing on 107.82241403699999 meters Centerline goodness : 0.782449 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.96478961 -0.25147242 -0.07708841 2.70602732] [ 0.24523539 0.96599125 -0.08197866 0.71953853] [ 0.09508211 0.06018735 0.99364827 0.32744736] [ 0. 0. 0. 1. ]] SLAMing on 107.88241403699999 meters Centerline goodness : 0.781485 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.72, Z:0.33 [[ 0.96513646 -0.25039467 -0.07625041 2.70076636] [ 0.24440759 0.96637847 -0.0798598 0.723673 ] [ 0.09368322 0.05843942 0.99388545 0.32777335] [ 0. 0. 0. 1. ]] SLAMing on 107.94241403699999 meters Centerline goodness : 0.783075 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.73, Z:0.33 [[ 0.96563768 -0.24861188 -0.0757364 2.69648947] [ 0.24288061 0.9669618 -0.07742021 0.72606253] [ 0.09248179 0.05636497 0.99411775 0.32823301] [ 0. 0. 0. 1. ]] SLAMing on 108.002414037 meters Centerline goodness : 0.784249 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.73, Z:0.33 [[ 0.96630366 -0.24596975 -0.07586908 2.69408357] [ 0.24052359 0.96780146 -0.07422082 0.72765941] [ 0.09168228 0.05347155 0.99435162 0.32809802] [ 0. 0. 0. 1. ]] SLAMing on 108.062414037 meters Centerline goodness : 0.785019 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.73, Z:0.33 [[ 0.96697567 -0.24331645 -0.07586281 2.69174744] [ 0.23814227 0.968616 -0.07121315 0.73310872] [ 0.09080927 0.05079524 0.99457203 0.32690032] [ 0. 0. 0. 1. ]] SLAMing on 108.12241403699998 meters Centerline goodness : 0.777847 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.73, Z:0.33 [[ 0.96669656 -0.24473824 -0.07483959 2.68976479] [ 0.23956335 0.96822022 -0.07182622 0.73497521] [ 0.09003982 0.05150533 0.99460547 0.32579527] [ 0. 0. 0. 1. ]] SLAMing on 108.18241403699999 meters Centerline goodness : 0.779566 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.74, Z:0.32 [[ 0.96717848 -0.24286344 -0.07472045 2.68754396] [ 0.23800309 0.96885552 -0.06836306 0.73669287] [ 0.08899621 0.04833559 0.99485846 0.32382832] [ 0. 0. 0. 1. ]] SLAMing on 108.24241403699999 meters Centerline goodness : 0.781401 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.74, Z:0.32 [[ 0.96785325 -0.24013063 -0.07481561 2.68534057] [ 0.23557937 0.96969347 -0.06478379 0.73778599] [ 0.08810478 0.04507619 0.99509079 0.32309026] [ 0. 0. 0. 1. ]] SLAMing on 108.30241403699999 meters Centerline goodness : 0.781519 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.96857249 -0.23713327 -0.07506761 2.68322282] [ 0.23286619 0.97057058 -0.06136852 0.73862804] [ 0.08741093 0.04195916 0.99528828 0.32307886] [ 0. 0. 0. 1. ]] SLAMing on 108.362414037 meters Centerline goodness : 0.784426 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.96948029 -0.2331302 -0.0758833 2.68318692] [ 0.22915633 0.97168692 -0.05754911 0.74095433] [ 0.08715125 0.03840359 0.99545458 0.32197719] [ 0. 0. 0. 1. ]] SLAMing on 108.422414037 meters Centerline goodness : 0.786025 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.97011527 -0.23054828 -0.0756561 2.67976526] [ 0.22683716 0.97240332 -0.05455896 0.74286102] [ 0.08614672 0.03576687 0.99564023 0.32235491] [ 0. 0. 0. 1. ]] SLAMing on 108.48241403699998 meters Centerline goodness : 0.787068 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.9707449 -0.22782177 -0.07583922 2.67730607] [ 0.2243861 0.97315371 -0.05121272 0.74235746] [ 0.08547059 0.03269722 0.99580403 0.32288053] [ 0. 0. 0. 1. ]] SLAMing on 108.54241403699999 meters Centerline goodness : 0.791478 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97137315 -0.22511208 -0.07588652 2.67456199] [ 0.22197142 0.97388765 -0.04766056 0.74219345] [ 0.08463391 0.02945155 0.99597676 0.32303839] [ 0. 0. 0. 1. ]] SLAMing on 108.60241403699999 meters Centerline goodness : 0.789561 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.97150011 -0.22439742 -0.07637621 2.67681192] [ 0.22129899 0.97407401 -0.04697416 0.74251914] [ 0.08493696 0.02873342 0.99597194 0.32127016] [ 0. 0. 0. 1. ]] SLAMing on 108.66241403699999 meters Centerline goodness : 0.790159 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.97178057 -0.22294507 -0.07705851 2.68078958] [ 0.2199781 0.97445872 -0.04516461 0.74227727] [ 0.08515957 0.02693891 0.99600308 0.31714529] [ 0. 0. 0. 1. ]] SLAMing on 108.722414037 meters Centerline goodness : 0.793060 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97269388 -0.21884939 -0.07727592 2.67417417] [ 0.21632778 0.97551239 -0.03972237 0.74255511] [ 0.08407683 0.02192078 0.99621813 0.31975184] [ 0. 0. 0. 1. ]] SLAMing on 108.782414037 meters Centerline goodness : 0.792219 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97323342 -0.21646063 -0.07721075 2.67056331] [ 0.21415673 0.97609583 -0.03706513 0.74133072] [ 0.08338823 0.01953783 0.99632559 0.32191038] [ 0. 0. 0. 1. ]] SLAMing on 108.84241403699998 meters Centerline goodness : 0.796378 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97329338 -0.21603866 -0.07763567 2.67194532] [ 0.21373815 0.97619342 -0.03691072 0.74130219] [ 0.08376157 0.01933125 0.9962983 0.32146901] [ 0. 0. 0. 1. ]] SLAMing on 108.90241403699999 meters Centerline goodness : 0.795412 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97409393 -0.21217703 -0.07824274 2.67177581] [ 0.21021136 0.97711054 -0.0326522 0.739689 ] [ 0.08337985 0.0153588 0.99639947 0.32067973] [ 0. 0. 0. 1. ]] SLAMing on 108.96241403699999 meters Centerline goodness : 0.795432 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97522864 -0.20631163 -0.07977845 2.6743534 ] [ 0.20471148 0.97842662 -0.02783074 0.74160466] [ 0.08379917 0.01080977 0.99642403 0.31906973] [ 0. 0. 0. 1. ]] SLAMing on 109.02241403699999 meters Centerline goodness : 0.793076 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.32 [[ 0.97536028 -0.20559325 -0.08002333 2.67561594] [ 0.20400722 0.97858014 -0.02760368 0.7418316 ] [ 0.08398438 0.0105982 0.99641071 0.31857193] [ 0. 0. 0. 1. ]] SLAMing on 109.08241403699999 meters Centerline goodness : 0.796299 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97596177 -0.20278904 -0.07984509 2.67285124] [ 0.20147124 0.97919263 -0.02431337 0.74159298] [ 0.08311421 0.00764243 0.99651072 0.31893535] [ 0. 0. 0. 1. ]] SLAMing on 109.142414037 meters Centerline goodness : 0.800390 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97588315 -0.20325247 -0.07962738 2.67165876] [ 0.20187624 0.97909055 -0.02505357 0.74297792] [ 0.08305462 0.00837448 0.99650981 0.31997805] [ 0. 0. 0. 1. ]] SLAMing on 109.202414037 meters Centerline goodness : 0.798931 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97660486 -0.19951 -0.08024159 2.67101047] [ 0.1984379 0.97988412 -0.02120184 0.74255133] [ 0.08285744 0.00478285 0.99654993 0.31992282] [ 0. 0. 0. 1. ]] SLAMing on 109.26241403699999 meters Centerline goodness : 0.801262 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 0.97693349 -0.19762397 -0.08090566 2.67440777] [ 0.19663353 0.98027077 -0.02011125 0.74356026] [ 0.08328392 0.00373859 0.99651885 0.31768917] [ 0. 0. 0. 1. ]] SLAMing on 109.32241403699999 meters Centerline goodness : 0.802400 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.32 [[ 9.77542271e-01 -1.94539584e-01 -8.10275209e-02 2.67216703e+00] [ 1.93839997e-01 9.80894582e-01 -1.64886258e-02 7.42111706e-01] [ 8.26871466e-02 4.11954282e-04 9.96575469e-01 3.18326654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38241403699999 meters Centerline goodness : 0.798692 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.74, Z:0.32 [[ 9.79569608e-01 -1.87315398e-01 -7.31869205e-02 2.66012193e+00] [ 1.86633690e-01 9.82297539e-01 -1.61062125e-02 7.38702118e-01] [ 7.49082735e-02 2.11801123e-03 9.97188179e-01 3.16533479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44241403699999 meters Centerline goodness : 0.798835 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.74, Z:0.32 [[ 9.80576405e-01 -1.81389123e-01 -7.46183558e-02 2.66289292e+00] [ 1.81051571e-01 9.83408451e-01 -1.13202502e-02 7.38474476e-01] [ 7.54336919e-02 -2.40940027e-03 9.97147909e-01 3.15417284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502414037 meters Centerline goodness : 0.797934 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.74, Z:0.31 [[ 0.98287707 -0.17101992 -0.06859197 2.65974744] [ 0.17086415 0.98526068 -0.00817516 0.73557836] [ 0.06897908 -0.00368473 0.9976113 0.30649264] [ 0. 0. 0. 1. ]] SLAMing on 109.562414037 meters Centerline goodness : 0.799803 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.73, Z:0.31 [[ 9.84296325e-01 -1.62139604e-01 -6.97960890e-02 2.65927528e+00] [ 1.62529585e-01 9.86703667e-01 -9.26880983e-05 7.34341935e-01] [ 6.88830853e-02 -1.12526968e-02 9.97561275e-01 3.07123157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62241403699998 meters Centerline goodness : 0.798340 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.73, Z:0.31 [[ 0.98498207 -0.15767248 -0.07035416 2.65888195] [ 0.15834563 0.9873754 0.0040606 0.7325242 ] [ 0.06882572 -0.01513989 0.99751381 0.30783774] [ 0. 0. 0. 1. ]] SLAMing on 109.68241403699999 meters Centerline goodness : 0.796677 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.73, Z:0.31 [[ 0.98517183 -0.15604447 -0.0713203 2.66227105] [ 0.15683622 0.98760872 0.00560501 0.72816416] [ 0.06956192 -0.01670751 0.99743772 0.30683044] [ 0. 0. 0. 1. ]] SLAMing on 109.74241403699999 meters Centerline goodness : 0.796698 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.73, Z:0.31 [[ 0.98518027 -0.15588974 -0.07154172 2.66283548] [ 0.15671092 0.98762642 0.00597799 0.72612267] [ 0.06972459 -0.01710077 0.99741969 0.30694048] [ 0. 0. 0. 1. ]] SLAMing on 109.80241403699999 meters Centerline goodness : 0.793778 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.72, Z:0.31 [[ 0.98463773 -0.15921757 -0.071682 2.66396628] [ 0.15985755 0.98713476 0.00324463 0.72152857] [ 0.07024319 -0.01465369 0.99742226 0.3080675 ] [ 0. 0. 0. 1. ]] SLAMing on 109.862414037 meters Centerline goodness : 0.791148 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.72, Z:0.31 [[ 9.84006517e-01 -1.63273329e-01 -7.12249614e-02 2.66416548e+00] [ 1.63678484e-01 9.86513726e-01 -1.50024531e-04 7.16307285e-01] [ 7.02888970e-02 -1.15103686e-02 9.97460266e-01 3.09289773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922414037 meters Centerline goodness : 0.790464 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.71, Z:0.31 [[ 0.98278938 -0.17076242 -0.07046439 2.66207832] [ 0.17076436 0.98529338 -0.0060411 0.70881868] [ 0.07045969 -0.00609568 0.997496 0.31316396] [ 0. 0. 0. 1. ]] SLAMing on 109.98241403699998 meters Centerline goodness : 0.786830 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.70, Z:0.31 [[ 0.98199269 -0.1753003 -0.07042841 2.66313661] [ 0.17513008 0.98450746 -0.00863287 0.70177106] [ 0.07085064 -0.00385672 0.99747948 0.31342131] [ 0. 0. 0. 1. ]] SLAMing on 110.04241403699999 meters Centerline goodness : 0.784597 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.69, Z:0.31 [[ 9.81306371e-01 -1.79238721e-01 -7.00805767e-02 2.66399234e+00] [ 1.78879090e-01 9.83804720e-01 -1.14255455e-02 6.94403172e-01] [ 7.09935024e-02 -1.32398918e-03 9.97475899e-01 3.14182244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10241403699999 meters Centerline goodness : 0.794198 with order 3 Centerline is valid? [False, False] Translation: X:2.66, Y:0.69, Z:0.32 [[ 9.81287893e-01 -1.79251923e-01 -7.03051813e-02 2.66400677e+00] [ 1.78921999e-01 9.83801612e-01 -1.10139633e-02 6.88248884e-01] [ 7.11406247e-02 -1.77127473e-03 9.97464723e-01 3.15842942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16241403699999 meters Centerline goodness : 0.785161 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.69, Z:0.32 [[ 9.81392611e-01 -1.78449709e-01 -7.08819009e-02 2.66516288e+00] [ 1.78179041e-01 9.83945480e-01 -1.01745390e-02 6.85522903e-01] [ 7.15595695e-02 -2.64445171e-03 9.97432822e-01 3.16302354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222414037 meters Centerline goodness : 0.784669 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.32 [[ 0.98154554 -0.17740134 -0.07139406 2.66581866] [ 0.17721949 0.98413089 -0.00892434 0.6791912 ] [ 0.07184429 -0.00389277 0.99740826 0.31782171] [ 0. 0. 0. 1. ]] SLAMing on 110.282414037 meters Centerline goodness : 0.784199 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.68, Z:0.32 [[ 0.98157657 -0.17714781 -0.07159669 2.66621083] [ 0.17701302 0.98417373 -0.00827391 0.67527282] [ 0.07192928 -0.00455207 0.99739935 0.31832404] [ 0. 0. 0. 1. ]] SLAMing on 110.34241403699998 meters Centerline goodness : 0.782945 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.32 [[ 0.98166704 -0.17636472 -0.07228624 2.6683111 ] [ 0.17633365 0.98430654 -0.00686179 0.67062675] [ 0.07236199 -0.00601051 0.99736032 0.31775864] [ 0. 0. 0. 1. ]] SLAMing on 110.40241403699999 meters Centerline goodness : 0.788610 with order 3 Centerline is valid? [False, False] Translation: X:2.67, Y:0.67, Z:0.32 [[ 0.98111655 -0.17932514 -0.07247622 2.67069691] [ 0.17909377 0.98378388 -0.00973178 0.66882429] [ 0.07304609 -0.00343203 0.99732266 0.3174842 ] [ 0. 0. 0. 1. ]] SLAMing on 110.46241403699999 meters Centerline goodness : 0.781799 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.66, Z:0.32 [[ 9.80256333e-01 -1.84334665e-01 -7.15419663e-02 2.67029966e+00] [ 1.83849954e-01 9.82863535e-01 -1.33591300e-02 6.64288830e-01] [ 7.27785406e-02 -5.76154024e-05 9.97348124e-01 3.17798596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52241403699999 meters Centerline goodness : 0.788602 with order 3 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.32 [[ 0.97975847 -0.18951398 -0.06448099 2.67677779] [ 0.18945989 0.98186345 -0.00700856 0.66202027] [ 0.06463975 -0.00534987 0.99789432 0.31671932] [ 0. 0. 0. 1. ]] SLAMing on 110.58241403699999 meters Centerline goodness : 0.781913 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.32 [[ 0.97962449 -0.19022846 -0.06441272 2.67571308] [ 0.19015231 0.98172696 -0.00736731 0.65976684] [ 0.06463718 -0.00503103 0.99789615 0.31838631] [ 0. 0. 0. 1. ]] SLAMing on 110.642414037 meters Centerline goodness : 0.778100 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.32 [[ 0.97981542 -0.18901554 -0.06507585 2.67709193] [ 0.18898216 0.9819575 -0.00672429 0.65869024] [ 0.06517271 -0.00570961 0.99785766 0.31893591] [ 0. 0. 0. 1. ]] SLAMing on 110.702414037 meters Centerline goodness : 0.775640 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.32 [[ 9.80849309e-01 -1.82951429e-01 -6.68087440e-02 2.68081795e+00] [ 1.83268454e-01 9.83061901e-01 -1.40465497e-03 6.57100157e-01] [ 6.59341145e-02 -1.08661804e-02 9.97764811e-01 3.17071237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76241403699999 meters Centerline goodness : 0.786330 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.66, Z:0.31 [[ 9.81494038e-01 -1.79225173e-01 -6.74373104e-02 2.68520813e+00] [ 1.79678959e-01 9.83725071e-01 6.75158521e-04 6.55888040e-01] [ 6.62187676e-02 -1.27797298e-02 9.97723285e-01 3.14703239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82241403699999 meters Centerline goodness : 0.789638 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.66, Z:0.32 [[ 9.81764499e-01 -1.77689747e-01 -6.75634733e-02 2.68670944e+00] [ 1.78132192e-01 9.84006422e-01 5.32969391e-04 6.56979623e-01] [ 6.63881884e-02 -1.25584800e-02 9.97714836e-01 3.15139416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88241403699999 meters Centerline goodness : 0.789310 with order 3 Centerline is valid? [False, False] Translation: X:2.68, Y:0.66, Z:0.32 [[ 9.81636755e-01 -1.78719290e-01 -6.66985515e-02 2.68283043e+00] [ 1.79067391e-01 9.83836508e-01 -7.71067714e-04 6.55466532e-01] [ 6.57582747e-02 -1.11866272e-02 9.97772874e-01 3.19402131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94241403699999 meters Centerline goodness : 0.792659 with order 3 Centerline is valid? [False, False] Translation: X:2.68, Y:0.65, Z:0.32 [[ 0.98080528 -0.18340951 -0.06619633 2.68205184] [ 0.18347085 0.98301138 -0.00520343 0.65004008] [ 0.0660261 -0.00704155 0.99779305 0.3229978 ] [ 0. 0. 0. 1. ]] SLAMing on 111.002414037 meters Centerline goodness : 0.792275 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.64, Z:0.33 [[ 0.97953016 -0.18425835 -0.08105257 2.68551378] [ 0.18435689 0.98283898 -0.00633114 0.64318766] [ 0.08082819 -0.00874106 0.99668972 0.32950609] [ 0. 0. 0. 1. ]] SLAMing on 111.062414037 meters Centerline goodness : 0.772631 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.64, Z:0.33 [[ 0.97849823 -0.18303762 -0.09507074 2.68991528] [ 0.18324172 0.98304537 -0.00665392 0.63663584] [ 0.09467677 -0.01091007 0.99544828 0.33294706] [ 0. 0. 0. 1. ]] SLAMing on 111.12241403699998 meters Centerline goodness : 0.773584 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.63, Z:0.34 [[ 0.97752232 -0.18112108 -0.10791328 2.6932344 ] [ 0.18176384 0.98333435 -0.00393252 0.62759672] [ 0.1068271 -0.01577061 0.99415253 0.33637142] [ 0. 0. 0. 1. ]] SLAMing on 111.18241403699999 meters Centerline goodness : 0.795778 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.62, Z:0.34 [[ 0.97712826 -0.18275819 -0.10871894 2.69413701] [ 0.18355466 0.98300574 -0.00272181 0.6236265 ] [ 0.10736878 -0.01729631 0.9940688 0.33845875] [ 0. 0. 0. 1. ]] SLAMing on 111.24241403699999 meters Centerline goodness : 0.778207 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.62, Z:0.34 [[ 9.77281416e-01 -1.81642626e-01 -1.09210757e-01 2.69446384e+00] [ 1.82592954e-01 9.83187710e-01 -1.31943596e-03 6.22612319e-01] [ 1.07614340e-01 -1.86516546e-02 9.94017741e-01 3.39151773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30241403699999 meters Centerline goodness : 0.778033 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.62, Z:0.34 [[ 0.97808156 -0.17702532 -0.10962895 2.69459294] [ 0.17842721 0.98394844 0.00303366 0.61986998] [ 0.1073322 -0.02252795 0.99396795 0.33862854] [ 0. 0. 0. 1. ]] SLAMing on 111.362414037 meters Centerline goodness : 0.793002 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.34 [[ 0.97875657 -0.17318967 -0.10973107 2.69568368] [ 0.17480127 0.98459017 0.00516758 0.61900262] [ 0.10714516 -0.02423893 0.99394788 0.33655561] [ 0. 0. 0. 1. ]] SLAMing on 111.422414037 meters Centerline goodness : 0.793515 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.62, Z:0.34 [[ 0.97933047 -0.16922197 -0.11079598 2.69465043] [ 0.17139753 0.98514764 0.01034512 0.61770857] [ 0.10739978 -0.02912145 0.99378933 0.33895968] [ 0. 0. 0. 1. ]] SLAMing on 111.48241403699998 meters Centerline goodness : 0.792067 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.34 [[ 0.97870469 -0.17211325 -0.11186672 2.69595987] [ 0.17437433 0.98462153 0.01067848 0.61671749] [ 0.10830848 -0.02995777 0.99366584 0.3409008 ] [ 0. 0. 0. 1. ]] SLAMing on 111.54241403699999 meters Centerline goodness : 0.793170 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.34 [[ 0.97742933 -0.17855003 -0.11292379 2.70070684] [ 0.18050364 0.9835477 0.00723569 0.61568317] [ 0.109774 -0.02745553 0.99357731 0.33994942] [ 0. 0. 0. 1. ]] SLAMing on 111.60241403699999 meters Centerline goodness : 0.791579 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.34 [[ 0.9771787 -0.17970859 -0.11325464 2.70118924] [ 0.18165628 0.98333694 0.0070333 0.61558243] [ 0.11010352 -0.02744621 0.9935411 0.34056925] [ 0. 0. 0. 1. ]] SLAMing on 111.66241403699999 meters Centerline goodness : 0.792628 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.62, Z:0.34 [[ 0.97644531 -0.18237377 -0.11530118 2.7030976 ] [ 0.18449867 0.98280067 0.00794267 0.61638488] [ 0.11186954 -0.0290285 0.99329882 0.34354828] [ 0. 0. 0. 1. ]] SLAMing on 111.722414037 meters Centerline goodness : 0.791411 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.62, Z:0.35 [[ 0.97562728 -0.18561961 -0.11703317 2.70547649] [ 0.18779026 0.98217894 0.0077041 0.61719994] [ 0.11351748 -0.02949402 0.99309812 0.34530635] [ 0. 0. 0. 1. ]] SLAMing on 111.782414037 meters Centerline goodness : 0.792174 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.62, Z:0.35 [[ 0.97524227 -0.18640782 -0.11897326 2.70582481] [ 0.18887273 0.98195377 0.00968968 0.62004156] [ 0.11502001 -0.03192059 0.99285018 0.34827106] [ 0. 0. 0. 1. ]] SLAMing on 111.84241403699998 meters Centerline goodness : 0.793742 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.63, Z:0.35 [[ 0.9750849 -0.18739162 -0.11871738 2.70426827] [ 0.18959021 0.9818354 0.00740271 0.62692891] [ 0.11517372 -0.02972592 0.99290049 0.34946157] [ 0. 0. 0. 1. ]] SLAMing on 111.90241403699999 meters Centerline goodness : 0.792219 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.63, Z:0.35 [[ 0.97561533 -0.18445651 -0.11895593 2.70300784] [ 0.18682477 0.98235224 0.00897674 0.63372892] [ 0.11520081 -0.03098176 0.99285895 0.34937805] [ 0. 0. 0. 1. ]] SLAMing on 111.96241403699999 meters Centerline goodness : 0.793472 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.64, Z:0.35 [[ 0.97528481 -0.18654539 -0.1184076 2.7046301 ] [ 0.18855779 0.98204421 0.00592638 0.63962684] [ 0.11517596 -0.02810658 0.99294739 0.34724357] [ 0. 0. 0. 1. ]] SLAMing on 112.02241403699999 meters Centerline goodness : 0.794577 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.65, Z:0.35 [[ 0.97501293 -0.18848968 -0.11756453 2.70183703] [ 0.19022948 0.98173285 0.00365496 0.64902744] [ 0.11472804 -0.02592788 0.99305852 0.34710534] [ 0. 0. 0. 1. ]] SLAMing on 112.08241403699999 meters Centerline goodness : 0.794552 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.66, Z:0.35 [[ 9.74650950e-01 -1.91202310e-01 -1.16177461e-01 2.69683002e+00] [ 1.92463781e-01 9.81304009e-01 -3.66559680e-04 6.59087890e-01] [ 1.14075496e-01 -2.20026858e-02 9.93228404e-01 3.49576435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142414037 meters Centerline goodness : 0.790408 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.67, Z:0.35 [[ 0.97431501 -0.19373942 -0.11478371 2.69268781] [ 0.19460872 0.98087401 -0.00369191 0.66666587] [ 0.11330363 -0.01874082 0.99338365 0.35083518] [ 0. 0. 0. 1. ]] SLAMing on 112.202414037 meters Centerline goodness : 0.789099 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.68, Z:0.35 [[ 0.97405203 -0.19559601 -0.11386325 2.6919043 ] [ 0.19621115 0.98054398 -0.00588973 0.67539071] [ 0.11279993 -0.01660433 0.99347897 0.34881339] [ 0. 0. 0. 1. ]] SLAMing on 112.26241403699999 meters Centerline goodness : 0.795181 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.68, Z:0.35 [[ 0.97438746 -0.19413814 -0.11348776 2.69149621] [ 0.19487331 0.98081722 -0.00468707 0.68169604] [ 0.11222068 -0.01754872 0.99352834 0.34653177] [ 0. 0. 0. 1. ]] SLAMing on 112.32241403699999 meters Centerline goodness : 0.793128 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97480902 -0.19264984 -0.11239845 2.68784946] [ 0.19343083 0.98110568 -0.00401903 0.6903228 ] [ 0.11104903 -0.01782354 0.99365509 0.34580822] [ 0. 0. 0. 1. ]] SLAMing on 112.38241403699999 meters Centerline goodness : 0.788709 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.35 [[ 9.75305571e-01 -1.90361370e-01 -1.11989246e-01 2.68369157e+00] [ 1.91316253e-01 9.81525851e-01 -2.25734445e-03 6.95222907e-01] [ 1.10350051e-01 -1.92237623e-02 9.93706855e-01 3.47195510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44241403699999 meters Centerline goodness : 0.787925 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.34 [[ 9.75782030e-01 -1.88182139e-01 -1.11520906e-01 2.68436820e+00] [ 1.89273836e-01 9.81924007e-01 -8.11973206e-04 7.01023491e-01] [ 1.09657854e-01 -2.03156808e-02 9.93761756e-01 3.44122556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502414037 meters Centerline goodness : 0.790773 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.34 [[ 9.75637305e-01 -1.89342100e-01 -1.10821562e-01 2.68240704e+00] [ 1.90244836e-01 9.81733574e-01 -2.46826373e-03 7.06045460e-01] [ 1.09264594e-01 -1.86750997e-02 9.93837255e-01 3.44419175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562414037 meters Centerline goodness : 0.791725 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.35 [[ 9.76043528e-01 -1.87524435e-01 -1.10334120e-01 2.67774597e+00] [ 1.88618644e-01 9.82050267e-01 -5.29432756e-04 7.08831578e-01] [ 1.08452933e-01 -2.02943227e-02 9.93894412e-01 3.46086525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62241403699998 meters Centerline goodness : 0.794930 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.35 [[ 9.75997799e-01 -1.88028039e-01 -1.09880632e-01 2.67715652e+00] [ 1.88992501e-01 9.81977119e-01 -1.66514166e-03 7.14794000e-01] [ 1.08213360e-01 -1.91414409e-02 9.93943396e-01 3.45164834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68241403699999 meters Centerline goodness : 0.792375 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.72, Z:0.34 [[ 9.76120193e-01 -1.87405003e-01 -1.09857787e-01 2.67842487e+00] [ 1.88371507e-01 9.82096529e-01 -1.60726235e-03 7.18476951e-01] [ 1.08192161e-01 -1.91251958e-02 9.93946016e-01 3.43284409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74241403699999 meters Centerline goodness : 0.792411 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.72, Z:0.34 [[ 9.76232948e-01 -1.87189166e-01 -1.09222014e-01 2.67758303e+00] [ 1.88073722e-01 9.82152363e-01 -2.23872126e-03 7.23111269e-01] [ 1.07691723e-01 -1.83562772e-02 9.94014859e-01 3.42654257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80241403699999 meters Centerline goodness : 0.795302 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.73, Z:0.35 [[ 9.76698679e-01 -1.85107796e-01 -1.08603841e-01 2.67197580e+00] [ 1.86119654e-01 9.82526732e-01 -8.33659150e-04 7.27668099e-01] [ 1.06860494e-01 -1.93990755e-02 9.94084760e-01 3.45624825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862414037 meters Centerline goodness : 0.796024 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.73, Z:0.35 [[ 9.77323656e-01 -1.81685429e-01 -1.08760642e-01 2.66966244e+00] [ 1.82912685e-01 9.83128261e-01 1.33149300e-03 7.33102725e-01] [ 1.06683748e-01 -2.11950006e-02 9.94067075e-01 3.46805066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922414037 meters Centerline goodness : 0.796300 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.34 [[ 9.77462344e-01 -1.80838603e-01 -1.08925508e-01 2.67402784e+00] [ 1.82059758e-01 9.83286623e-01 1.28875653e-03 7.36023724e-01] [ 1.06871938e-01 -2.10906626e-02 9.94049080e-01 3.42957595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98241403699998 meters Centerline goodness : 0.797186 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.34 [[ 9.77432102e-01 -1.81254207e-01 -1.08505289e-01 2.67348364e+00] [ 1.82415852e-01 9.83221148e-01 7.93878693e-04 7.38362445e-01] [ 1.06540801e-01 -2.05690473e-02 9.94095555e-01 3.42270292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04241403699999 meters Centerline goodness : 0.796583 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.35 [[ 9.77796657e-01 -1.79535319e-01 -1.08077598e-01 2.66731004e+00] [ 1.80822715e-01 9.83513355e-01 2.15087730e-03 7.39839489e-01] [ 1.05909602e-01 -2.16460052e-02 9.94140134e-01 3.46910815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10241403699999 meters Centerline goodness : 0.799294 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.35 [[ 0.9779554 -0.17822113 -0.10881394 2.67026272] [ 0.17957451 0.9837407 0.0026879 0.74043171] [ 0.10656566 -0.02216885 0.9940585 0.34583975] [ 0. 0. 0. 1. ]] SLAMing on 113.16241403699999 meters Centerline goodness : 0.796954 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.34 [[ 0.97823614 -0.17613665 -0.10968109 2.67443957] [ 0.17763131 0.98408926 0.00393118 0.74098115] [ 0.10724356 -0.02332841 0.99395906 0.34349402] [ 0. 0. 0. 1. ]] SLAMing on 113.222414037 meters Centerline goodness : 0.800752 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97834904 -0.17519236 -0.1101853 2.67634661] [ 0.17672922 0.98425028 0.00426305 0.74206949] [ 0.10770305 -0.02364372 0.99390192 0.34274342] [ 0. 0. 0. 1. ]] SLAMing on 113.282414037 meters Centerline goodness : 0.798346 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.9784062 -0.17494471 -0.11007115 2.67638938] [ 0.17649019 0.98429264 0.00438181 0.74208801] [ 0.10757565 -0.02371367 0.99391405 0.34262932] [ 0. 0. 0. 1. ]] SLAMing on 113.34241403699998 meters Centerline goodness : 0.799183 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97861537 -0.17368169 -0.11021175 2.67784057] [ 0.17527605 0.98450727 0.00487192 0.74399006] [ 0.10765811 -0.02408522 0.99389619 0.34155686] [ 0. 0. 0. 1. ]] SLAMing on 113.40241403699999 meters Centerline goodness : 0.800600 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 0.97853853 -0.17445888 -0.10966512 2.6752854 ] [ 0.17589384 0.98440301 0.00347468 0.74596116] [ 0.10734849 -0.02268952 0.99396252 0.34377183] [ 0. 0. 0. 1. ]] SLAMing on 113.46241403699999 meters Centerline goodness : 0.799078 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 9.77907725e-01 -1.78009872e-01 -1.09585430e-01 2.67725755e+00] [ 1.79026782e-01 9.83844037e-01 -5.68304776e-04 7.46065224e-01] [ 1.07916136e-01 -1.90629772e-02 9.93977218e-01 3.44056455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52241403699999 meters Centerline goodness : 0.799839 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 9.77831355e-01 -1.78618335e-01 -1.09276401e-01 2.67674464e+00] [ 1.79626381e-01 9.83734704e-01 -6.29116320e-04 7.45090753e-01] [ 1.07611360e-01 -1.90137549e-02 9.94011203e-01 3.43783185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58241403699999 meters Centerline goodness : 0.800344 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 9.77815315e-01 -1.78577138e-01 -1.09487059e-01 2.67742905e+00] [ 1.79609004e-01 9.83737977e-01 -4.44598524e-04 7.45192945e-01] [ 1.07785973e-01 -1.92301263e-02 9.93988122e-01 3.43324572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642414037 meters Centerline goodness : 0.801992 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 9.77845980e-01 -1.78384013e-01 -1.09527999e-01 2.67786264e+00] [ 1.79440472e-01 9.83768810e-01 -2.14413103e-04 7.44348122e-01] [ 1.07788477e-01 -1.94440929e-02 9.93983688e-01 3.43118156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702414037 meters Centerline goodness : 0.799136 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 9.77812035e-01 -1.78647110e-01 -1.09402166e-01 2.67713897e+00] [ 1.79657326e-01 9.83729050e-01 -6.33045740e-04 7.44442053e-01] [ 1.07735180e-01 -1.90359007e-02 9.93997367e-01 3.43939098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76241403699999 meters Centerline goodness : 0.798950 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97709279 -0.18280067 -0.10896602 2.67780927] [ 0.18340205 0.9830274 -0.00456337 0.74385397] [ 0.10795077 -0.01552576 0.994035 0.3443304 ] [ 0. 0. 0. 1. ]] SLAMing on 113.82241403699999 meters Centerline goodness : 0.798402 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97639019 -0.18665256 -0.10873368 2.67940373] [ 0.18688392 0.9823482 -0.00815005 0.74356329] [ 0.10833557 -0.01236295 0.99403751 0.34396502] [ 0. 0. 0. 1. ]] SLAMing on 113.88241403699999 meters Centerline goodness : 0.796323 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97609418 -0.18846361 -0.10826643 2.67770852] [ 0.18868555 0.98200262 -0.00828409 0.74129196] [ 0.10787917 -0.01234226 0.9940874 0.34376411] [ 0. 0. 0. 1. ]] SLAMing on 113.94241403699999 meters Centerline goodness : 0.793415 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.35 [[ 0.97585953 -0.19022081 -0.10730435 2.67404179] [ 0.19033984 0.9816749 -0.00922655 0.74014155] [ 0.10709307 -0.01142048 0.99418341 0.34560988] [ 0. 0. 0. 1. ]] SLAMing on 114.002414037 meters Centerline goodness : 0.794169 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.35 [[ 0.97576355 -0.19091255 -0.10694804 2.67242734] [ 0.19095941 0.98154803 -0.00989832 0.73991434] [ 0.10686436 -0.01076432 0.99421534 0.34693743] [ 0. 0. 0. 1. ]] SLAMing on 114.062414037 meters Centerline goodness : 0.792100 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.35 [[ 0.97584999 -0.19021938 -0.10739357 2.67477169] [ 0.19036776 0.98167192 -0.00896368 0.739017 ] [ 0.10713032 -0.01169706 0.99417618 0.34506461] [ 0. 0. 0. 1. ]] SLAMing on 114.12241403699998 meters Centerline goodness : 0.792806 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97597396 -0.18931695 -0.10786064 2.67648006] [ 0.18949861 0.98184282 -0.00865732 0.73999105] [ 0.10754117 -0.01199012 0.99412833 0.34449664] [ 0. 0. 0. 1. ]] SLAMing on 114.18241403699999 meters Centerline goodness : 0.794217 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97696821 -0.1834861 -0.10893099 2.67767983] [ 0.18408649 0.98289926 -0.00460567 0.74127158] [ 0.10791326 -0.01555313 0.99403865 0.34486897] [ 0. 0. 0. 1. ]] SLAMing on 114.24241403699999 meters Centerline goodness : 0.789643 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.34 [[ 9.79464764e-01 -1.73802256e-01 -1.02183908e-01 2.66946881e+00] [ 1.74485459e-01 9.84657104e-01 -2.28282060e-03 7.39485300e-01] [ 1.01012871e-01 -1.55936638e-02 9.94762905e-01 3.40392281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30241403699999 meters Centerline goodness : 0.790488 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.34 [[ 0.98039855 -0.16757218 -0.10362551 2.67313852] [ 0.16878312 0.98564875 0.00296668 0.73830779] [ 0.10164122 -0.02039877 0.99461196 0.33843586] [ 0. 0. 0. 1. ]] SLAMing on 114.362414037 meters Centerline goodness : 0.791019 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.98085893 -0.1641768 -0.10469836 2.67831273] [ 0.16560877 0.98617848 0.00507371 0.73794815] [ 0.10241828 -0.02231556 0.99449108 0.33595726] [ 0. 0. 0. 1. ]] SLAMing on 114.422414037 meters Centerline goodness : 0.790418 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.98097136 -0.16338058 -0.10489032 2.67920275] [ 0.16485413 0.98630275 0.00547688 0.73729263] [ 0.10255879 -0.02266426 0.99446872 0.33588162] [ 0. 0. 0. 1. ]] SLAMing on 114.48241403699998 meters Centerline goodness : 0.797041 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.73, Z:0.34 [[ 0.98119266 -0.16221783 -0.10462474 2.67500037] [ 0.16381169 0.98646841 0.00676762 0.73473317] [ 0.10211117 -0.02377909 0.99448875 0.3395767 ] [ 0. 0. 0. 1. ]] SLAMing on 114.54241403699999 meters Centerline goodness : 0.793418 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.73, Z:0.34 [[ 0.9810611 -0.16328926 -0.10419084 2.67191057] [ 0.16478203 0.9863128 0.00582541 0.73189513] [ 0.10181354 -0.02288386 0.99454026 0.34313661] [ 0. 0. 0. 1. ]] SLAMing on 114.60241403699999 meters Centerline goodness : 0.790623 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.73, Z:0.34 [[ 0.98053778 -0.16612317 -0.10463629 2.6759492 ] [ 0.16739253 0.98588444 0.0034065 0.72863104] [ 0.10259339 -0.02085553 0.99450472 0.34168427] [ 0. 0. 0. 1. ]] SLAMing on 114.66241403699999 meters Centerline goodness : 0.788922 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.72, Z:0.34 [[ 0.98050773 -0.16614409 -0.10488438 2.67680733] [ 0.16749359 0.98586451 0.00413027 0.72396425] [ 0.10271557 -0.02161722 0.99447585 0.34167786] [ 0. 0. 0. 1. ]] SLAMing on 114.722414037 meters Centerline goodness : 0.787285 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.72, Z:0.34 [[ 0.98062467 -0.16528344 -0.1051506 2.67845936] [ 0.166745 0.98598633 0.0052026 0.72008279] [ 0.10281715 -0.02263513 0.9944427 0.34107753] [ 0. 0. 0. 1. ]] SLAMing on 114.782414037 meters Centerline goodness : 0.789082 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.72, Z:0.34 [[ 0.98125453 -0.16127414 -0.10549974 2.67722404] [ 0.16314906 0.98655729 0.00933252 0.71637371] [ 0.10257645 -0.02636976 0.99437554 0.34221106] [ 0. 0. 0. 1. ]] SLAMing on 114.84241403699998 meters Centerline goodness : 0.789436 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.34 [[ 0.98129441 -0.16080204 -0.10584891 2.67834005] [ 0.1627275 0.98662282 0.00975567 0.7147604 ] [ 0.10286422 -0.02679771 0.99433437 0.34222217] [ 0. 0. 0. 1. ]] SLAMing on 114.90241403699999 meters Centerline goodness : 0.784417 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.34 [[ 0.98060568 -0.16538757 -0.10516397 2.67758204] [ 0.16689897 0.98595766 0.00567626 0.71178943] [ 0.10274844 -0.02311793 0.9944387 0.34384965] [ 0. 0. 0. 1. ]] SLAMing on 114.96241403699999 meters Centerline goodness : 0.791711 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.34 [[ 9.79970551e-01 -1.69197268e-01 -1.05023821e-01 2.67876971e+00] [ 1.70329968e-01 9.85385354e-01 1.84570227e-03 7.11228347e-01] [ 1.03176647e-01 -1.96974379e-02 9.94467994e-01 3.44347153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02241403699999 meters Centerline goodness : 0.789286 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.34 [[ 9.79956563e-01 -1.69277746e-01 -1.05024664e-01 2.67866328e+00] [ 1.70471623e-01 9.85359587e-01 2.43119553e-03 7.08943430e-01] [ 1.03075512e-01 -2.02861909e-02 9.94466646e-01 3.44351669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08241403699999 meters Centerline goodness : 0.788313 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.71, Z:0.35 [[ 9.79974329e-01 -1.69181898e-01 -1.05013335e-01 2.67829209e+00] [ 1.70384318e-01 9.85374461e-01 2.52097268e-03 7.07392994e-01] [ 1.03050956e-01 -2.03631139e-02 9.94467618e-01 3.45203661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142414037 meters Centerline goodness : 0.787006 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.35 [[ 9.79947505e-01 -1.69450748e-01 -1.04830016e-01 2.67768129e+00] [ 1.70666839e-01 9.85325161e-01 2.67535574e-03 7.03133049e-01] [ 1.02838311e-01 -2.05127156e-02 9.94486556e-01 3.46170036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20241403699998 meters Centerline goodness : 0.785889 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.34 [[ 0.98022541 -0.16731899 -0.10565269 2.68152042] [ 0.16869568 0.98565937 0.0041671 0.70269244] [ 0.10344033 -0.02190785 0.99439436 0.34410981] [ 0. 0. 0. 1. ]] SLAMing on 115.26241403699999 meters Centerline goodness : 0.785635 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.34 [[ 0.98041849 -0.1657648 -0.10630906 2.68434134] [ 0.16723295 0.98590481 0.00498508 0.70226997] [ 0.10398426 -0.02266584 0.99432064 0.34304899] [ 0. 0. 0. 1. ]] SLAMing on 115.32241403699999 meters Centerline goodness : 0.786888 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.70, Z:0.34 [[ 0.98130694 -0.15968151 -0.10741742 2.68740243] [ 0.16173579 0.98677678 0.01063561 0.69801223] [ 0.10429871 -0.02781004 0.99415712 0.34122361] [ 0. 0. 0. 1. ]] SLAMing on 115.38241403699999 meters Centerline goodness : 0.785764 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.34 [[ 0.98183534 -0.15631782 -0.10753656 2.68494943] [ 0.15874044 0.98721684 0.01429645 0.69609265] [ 0.10392711 -0.03110716 0.99409834 0.34274071] [ 0. 0. 0. 1. ]] SLAMing on 115.44241403699999 meters Centerline goodness : 0.788961 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.70, Z:0.34 [[ 0.98182695 -0.15643654 -0.10744042 2.68406217] [ 0.15882156 0.98720862 0.01395928 0.695166 ] [ 0.10388237 -0.03076945 0.99411352 0.34416113] [ 0. 0. 0. 1. ]] SLAMing on 115.502414037 meters Centerline goodness : 0.785113 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.69, Z:0.35 [[ 0.98120418 -0.1605202 -0.10710567 2.68446206] [ 0.16253175 0.9866499 0.01026642 0.69278598] [ 0.10402783 -0.02748153 0.99419464 0.34514616] [ 0. 0. 0. 1. ]] SLAMing on 115.562414037 meters Centerline goodness : 0.797300 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.34 [[ 0.97999198 -0.16789509 -0.10689695 2.68801368] [ 0.16924311 0.98556776 0.00360067 0.68970201] [ 0.10474965 -0.0216202 0.99426359 0.3444724 ] [ 0. 0. 0. 1. ]] SLAMing on 115.62241403699998 meters Centerline goodness : 0.783734 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.34 [[ 9.79330433e-01 -1.71957039e-01 -1.06502022e-01 2.68903192e+00] [ 1.72960448e-01 9.84928753e-01 1.87778201e-04 6.89419336e-01] [ 1.04864614e-01 -1.86045343e-02 9.94312468e-01 3.43914189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68241403699999 meters Centerline goodness : 0.794378 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.34 [[ 0.9786219 -0.17654093 -0.10551059 2.68842728] [ 0.17716529 0.98417489 -0.00350029 0.6886909 ] [ 0.10445881 -0.01526735 0.99441202 0.34389704] [ 0. 0. 0. 1. ]] SLAMing on 115.74241403699999 meters Centerline goodness : 0.794618 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.9778028 -0.18177691 -0.10420576 2.68649105] [ 0.18192419 0.98327862 -0.00817008 0.68652694] [ 0.10394843 -0.01096882 0.9945222 0.34568748] [ 0. 0. 0. 1. ]] SLAMing on 115.80241403699999 meters Centerline goodness : 0.792829 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97700503 -0.186592 -0.10317265 2.68525857] [ 0.18630391 0.98241254 -0.01250778 0.68607527] [ 0.10369196 -0.0070013 0.99458482 0.34680342] [ 0. 0. 0. 1. ]] SLAMing on 115.862414037 meters Centerline goodness : 0.794867 with order 3 Centerline is valid? [False, False] Translation: X:2.68, Y:0.69, Z:0.35 [[ 0.9767406 -0.18818216 -0.10278748 2.68358595] [ 0.18784594 0.98211208 -0.01302898 0.68607912] [ 0.10340064 -0.00658228 0.99461801 0.3471858 ] [ 0. 0. 0. 1. ]] SLAMing on 115.922414037 meters Centerline goodness : 0.795129 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97676287 -0.18787295 -0.10314097 2.68550969] [ 0.1875671 0.98216912 -0.01274399 0.6858542 ] [ 0.10369612 -0.006898 0.99458511 0.34584873] [ 0. 0. 0. 1. ]] SLAMing on 115.98241403699998 meters Centerline goodness : 0.795528 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97682912 -0.18745155 -0.10328018 2.68540918] [ 0.1871016 0.98225251 -0.01315326 0.68783082] [ 0.10391281 -0.0064754 0.99456533 0.34667457] [ 0. 0. 0. 1. ]] SLAMing on 116.04241403699999 meters Centerline goodness : 0.800713 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.34 [[ 0.97702077 -0.18615825 -0.10380518 2.68784317] [ 0.18588937 0.98249313 -0.01234456 0.68928478] [ 0.10428592 -0.00723539 0.99452104 0.34496052] [ 0. 0. 0. 1. ]] SLAMing on 116.10241403699999 meters Centerline goodness : 0.795637 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97703933 -0.18618869 -0.10357564 2.68725548] [ 0.18589389 0.98248932 -0.01257783 0.68927746] [ 0.10410381 -0.00696504 0.99454205 0.34547785] [ 0. 0. 0. 1. ]] SLAMing on 116.16241403699999 meters Centerline goodness : 0.793639 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97709839 -0.18608217 -0.10320931 2.6865454 ] [ 0.18575289 0.9825121 -0.01287806 0.68991931] [ 0.10380077 -0.00658829 0.99457629 0.3458555 ] [ 0. 0. 0. 1. ]] SLAMing on 116.222414037 meters Centerline goodness : 0.796028 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97779227 -0.18205814 -0.10381286 2.68564789] [ 0.18205459 0.98324166 -0.0095901 0.69202568] [ 0.10381909 -0.00952248 0.99455061 0.34653328] [ 0. 0. 0. 1. ]] SLAMing on 116.282414037 meters Centerline goodness : 0.777847 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97803536 -0.18038223 -0.10444661 2.68870072] [ 0.18046246 0.98354286 -0.00876038 0.69207995] [ 0.10430794 -0.01028073 0.99449191 0.34500644] [ 0. 0. 0. 1. ]] SLAMing on 116.34241403699998 meters Centerline goodness : 0.791734 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97868644 -0.17670408 -0.10463517 2.68589626] [ 0.1770583 0.98418227 -0.00596806 0.69280592] [ 0.10403466 -0.01268567 0.99449277 0.34758049] [ 0. 0. 0. 1. ]] SLAMing on 116.40241403699999 meters Centerline goodness : 0.779029 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97910474 -0.17395962 -0.10531841 2.68874072] [ 0.17446778 0.98465287 -0.00444001 0.69376326] [ 0.10447446 -0.01402743 0.99442864 0.3464652 ] [ 0. 0. 0. 1. ]] SLAMing on 116.46241403699999 meters Centerline goodness : 0.776157 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97923358 -0.17286258 -0.1059251 2.69095921] [ 0.17346065 0.98483418 -0.00361093 0.69169996] [ 0.10494285 -0.01483789 0.99436756 0.34587357] [ 0. 0. 0. 1. ]] SLAMing on 116.52241403699999 meters Centerline goodness : 0.777530 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97943122 -0.17144121 -0.10640678 2.69243278] [ 0.1721195 0.98507197 -0.00284497 0.6908905 ] [ 0.10530608 -0.01552823 0.99431861 0.34593389] [ 0. 0. 0. 1. ]] SLAMing on 116.58241403699999 meters Centerline goodness : 0.794602 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.35 [[ 0.97939202 -0.17175217 -0.10626599 2.69174252] [ 0.17244176 0.98501592 -0.00273408 0.68917908] [ 0.10514328 -0.01564696 0.99433398 0.34654497] [ 0. 0. 0. 1. ]] SLAMing on 116.642414037 meters Centerline goodness : 0.774308 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.68, Z:0.35 [[ 0.97862449 -0.17669609 -0.10522641 2.69047262] [ 0.17699466 0.98418989 -0.0065687 0.68293379] [ 0.10472344 -0.01219622 0.9944266 0.34850318] [ 0. 0. 0. 1. ]] SLAMing on 116.70241403699998 meters Centerline goodness : 0.789935 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.68, Z:0.35 [[ 0.97773577 -0.18189348 -0.10463046 2.68991737] [ 0.18188309 0.9832721 -0.0097217 0.67756339] [ 0.10464853 -0.00952525 0.99446365 0.34932491] [ 0. 0. 0. 1. ]] SLAMing on 116.76241403699999 meters Centerline goodness : 0.786160 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.67, Z:0.35 [[ 0.97694686 -0.18638451 -0.10409441 2.69039951] [ 0.18605719 0.9824538 -0.0129323 0.67496558] [ 0.10467833 -0.00673334 0.99448334 0.3491806 ] [ 0. 0. 0. 1. ]] SLAMing on 116.82241403699999 meters Centerline goodness : 0.789339 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.67, Z:0.35 [[ 9.75558162e-01 -1.93814249e-01 -1.03548590e-01 2.69391278e+00] [ 1.92886073e-01 9.81037191e-01 -1.89998081e-02 6.70980248e-01] [ 1.05267451e-01 -1.43766299e-03 9.94442908e-01 3.47618707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88241403699999 meters Centerline goodness : 0.788745 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.67, Z:0.35 [[ 9.74799057e-01 -1.97825735e-01 -1.03110508e-01 2.69429847e+00] [ 1.96504768e-01 9.80235002e-01 -2.29176182e-02 6.71777503e-01] [ 1.05606224e-01 2.07836607e-03 9.94405856e-01 3.48234500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94241403699999 meters Centerline goodness : 0.788134 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.67, Z:0.35 [[ 9.74504314e-01 -1.99109532e-01 -1.03425030e-01 2.69447634e+00] [ 1.97784286e-01 9.79975248e-01 -2.30193138e-02 6.71134053e-01] [ 1.05937334e-01 1.97657501e-03 9.94370844e-01 3.48017391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002414037 meters Centerline goodness : 0.788674 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.67, Z:0.35 [[ 0.97368849 -0.20343851 -0.10268154 2.69538401] [ 0.20174832 0.9790735 -0.02669651 0.67035026] [ 0.10596387 0.00527825 0.99435597 0.34717876] [ 0. 0. 0. 1. ]] SLAMing on 117.062414037 meters Centerline goodness : 0.784252 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.67, Z:0.35 [[ 9.73356506e-01 -2.08180204e-01 -9.61151105e-02 2.70188765e+00] [ 2.07187316e-01 9.78090477e-01 -2.03084896e-02 6.72643717e-01] [ 9.82370998e-02 -1.46431354e-04 9.95163027e-01 3.45677494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12241403699998 meters Centerline goodness : 0.782979 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.68, Z:0.35 [[ 9.73252568e-01 -2.08704139e-01 -9.60313543e-02 2.70124757e+00] [ 2.07642817e-01 9.77978684e-01 -2.10274551e-02 6.76055015e-01] [ 9.83051344e-02 5.24803782e-04 9.95156181e-01 3.45801334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18241403699999 meters Centerline goodness : 0.785644 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.68, Z:0.34 [[ 0.97250805 -0.21233239 -0.09561928 2.70386633] [ 0.21092641 0.97718992 -0.02469623 0.67915848] [ 0.09868201 0.00384865 0.99511158 0.34338113] [ 0. 0. 0. 1. ]] SLAMing on 117.24241403699999 meters Centerline goodness : 0.784833 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.68, Z:0.34 [[ 0.97228071 -0.21377803 -0.09470572 2.70174789] [ 0.21232524 0.97687204 -0.02527875 0.68048254] [ 0.09791941 0.00446962 0.99518431 0.34297464] [ 0. 0. 0. 1. ]] SLAMing on 117.30241403699999 meters Centerline goodness : 0.782150 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.68, Z:0.34 [[ 9.71964166e-01 -2.18372476e-01 -8.71729450e-02 2.70400454e+00] [ 2.17566662e-01 9.75865217e-01 -1.87570236e-02 6.84865219e-01] [ 8.91650625e-02 -7.34771884e-04 9.96016592e-01 3.43928505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362414037 meters Centerline goodness : 0.783057 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.69, Z:0.34 [[ 9.71853795e-01 -2.18989246e-01 -8.68556868e-02 2.70299247e+00] [ 2.18125839e-01 9.75727270e-01 -1.94271085e-02 6.86518194e-01] [ 8.90017900e-02 -6.51603793e-05 9.96031464e-01 3.44257331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422414037 meters Centerline goodness : 0.782992 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.69, Z:0.34 [[ 9.71645724e-01 -2.20020020e-01 -8.65781564e-02 2.70250573e+00] [ 2.19040647e-01 9.75494595e-01 -2.07723585e-02 6.91800791e-01] [ 8.90268584e-02 1.21923794e-03 9.96028479e-01 3.43515118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48241403699998 meters Centerline goodness : 0.784187 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.70, Z:0.34 [[ 9.72283348e-01 -2.17333864e-01 -8.62037225e-02 2.70133717e+00] [ 2.16550595e-01 9.76097054e-01 -1.84494047e-02 6.98250905e-01] [ 8.81528801e-02 -7.29418356e-04 9.96106690e-01 3.41210838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54241403699999 meters Centerline goodness : 0.778543 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.70, Z:0.34 [[ 0.97291062 -0.21455072 -0.08609827 2.69862715] [ 0.21395877 0.9767091 -0.01615459 0.70292308] [ 0.08755894 -0.00270451 0.99615567 0.3414513 ] [ 0. 0. 0. 1. ]] SLAMing on 117.60241403699999 meters Centerline goodness : 0.782020 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.71, Z:0.34 [[ 0.97353263 -0.21186121 -0.08572655 2.69621323] [ 0.21144415 0.97728951 -0.0140209 0.70881972] [ 0.08675014 -0.00447658 0.99622004 0.34071887] [ 0. 0. 0. 1. ]] SLAMing on 117.66241403699999 meters Centerline goodness : 0.783689 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.71, Z:0.34 [[ 0.97408242 -0.20961488 -0.08500021 2.69500005] [ 0.20936314 0.97776475 -0.01196571 0.71315338] [ 0.0856184 -0.00614032 0.99630908 0.33853567] [ 0. 0. 0. 1. ]] SLAMing on 117.722414037 meters Centerline goodness : 0.785619 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.72, Z:0.34 [[ 0.9746037 -0.20742311 -0.08439951 2.69034729] [ 0.20730061 0.97822297 -0.01030938 0.71841148] [ 0.08469995 -0.00744851 0.99637866 0.34007687] [ 0. 0. 0. 1. ]] SLAMing on 117.782414037 meters Centerline goodness : 0.790225 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.73, Z:0.35 [[ 0.9750615 -0.20589336 -0.08284319 2.68286546] [ 0.2056623 0.97855655 -0.01140596 0.72760494] [ 0.08341516 -0.00591621 0.99649732 0.34558229] [ 0. 0. 0. 1. ]] SLAMing on 117.84241403699998 meters Centerline goodness : 0.790634 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.73, Z:0.35 [[ 0.97505299 -0.20595087 -0.08280038 2.68323216] [ 0.2056744 0.97854754 -0.01194776 0.7299203 ] [ 0.08348476 -0.00538022 0.99649453 0.34506289] [ 0. 0. 0. 1. ]] SLAMing on 117.90241403699999 meters Centerline goodness : 0.789714 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.73, Z:0.34 [[ 0.97498039 -0.20632392 -0.08272648 2.68357123] [ 0.20600754 0.97847139 -0.01243539 0.73432895] [ 0.08351121 -0.00491802 0.9964947 0.34352156] [ 0. 0. 0. 1. ]] SLAMing on 117.96241403699999 meters Centerline goodness : 0.792235 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97558849 -0.20360062 -0.08230367 2.68094668] [ 0.20353427 0.9790238 -0.00928459 0.73748754] [ 0.0824676 -0.00769368 0.99656405 0.34246081] [ 0. 0. 0. 1. ]] SLAMing on 118.02241403699999 meters Centerline goodness : 0.789316 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97566758 -0.20326117 -0.082205 2.68116701] [ 0.20317016 0.97909678 -0.00955922 0.73899741] [ 0.08242967 -0.00737499 0.9965696 0.34227628] [ 0. 0. 0. 1. ]] SLAMing on 118.08241403699999 meters Centerline goodness : 0.791388 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.97648547 -0.19906001 -0.08277221 2.68170323] [ 0.19928831 0.97992502 -0.00557851 0.7405417 ] [ 0.08222102 -0.0110482 0.99655288 0.34051261] [ 0. 0. 0. 1. ]] SLAMing on 118.142414037 meters Centerline goodness : 0.792249 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 9.77279884e-01 -1.94873972e-01 -8.33556474e-02 2.68109603e+00] [ 1.95346832e-01 9.80730974e-01 -2.52425999e-03 7.46580283e-01] [ 8.22413779e-02 -1.38163532e-02 9.96516665e-01 3.40098407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20241403699998 meters Centerline goodness : 0.788335 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 0.97739698 -0.194272 -0.08338783 2.68193566] [ 0.19469022 0.98085967 -0.0031652 0.75070825] [ 0.08240667 -0.01314114 0.99651214 0.33961043] [ 0. 0. 0. 1. ]] SLAMing on 118.26241403699999 meters Centerline goodness : 0.789077 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 0.97732833 -0.19476809 -0.08303449 2.6811582 ] [ 0.19511617 0.98077206 -0.00398082 0.75366243] [ 0.08221324 -0.0123108 0.99653872 0.33952389] [ 0. 0. 0. 1. ]] SLAMing on 118.32241403699999 meters Centerline goodness : 0.787956 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.34 [[ 0.97737384 -0.19461372 -0.08286065 2.68159806] [ 0.19492273 0.98080863 -0.00442226 0.75695497] [ 0.08213108 -0.01182922 0.99655133 0.33850071] [ 0. 0. 0. 1. ]] SLAMing on 118.38241403699999 meters Centerline goodness : 0.789633 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.34 [[ 0.97749122 -0.1940263 -0.08285352 2.68220531] [ 0.19430249 0.98092994 -0.00479435 0.75933764] [ 0.08220373 -0.01141221 0.9965502 0.33832551] [ 0. 0. 0. 1. ]] SLAMing on 118.44241403699999 meters Centerline goodness : 0.789355 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.34 [[ 9.78076409e-01 -1.91183786e-01 -8.25548159e-02 2.67793237e+00] [ 1.91620978e-01 9.81465373e-01 -2.66862376e-03 7.62143811e-01] [ 8.15348908e-02 -1.32091166e-02 9.96582952e-01 3.41074991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502414037 meters Centerline goodness : 0.791191 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.34 [[ 9.78906751e-01 -1.86405168e-01 -8.36342469e-02 2.67887593e+00] [ 1.87181406e-01 9.82324266e-01 1.46857178e-03 7.63292487e-01] [ 8.18822009e-02 -1.70923708e-02 9.96495437e-01 3.40619679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562414037 meters Centerline goodness : 0.788184 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.34 [[ 0.97958247 -0.18245174 -0.08443667 2.68470851] [ 0.18345306 0.98301954 0.00418977 0.7639176 ] [ 0.08223847 -0.01959439 0.99642004 0.33616018] [ 0. 0. 0. 1. ]] SLAMing on 118.62241403699998 meters Centerline goodness : 0.786644 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.76, Z:0.34 [[ 0.97976367 -0.18137459 -0.08465461 2.68643252] [ 0.18241511 0.98321057 0.00465762 0.76361583] [ 0.08238853 -0.02000564 0.99639947 0.3352634 ] [ 0. 0. 0. 1. ]] SLAMing on 118.68241403699999 meters Centerline goodness : 0.788561 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.76, Z:0.33 [[ 0.98180726 -0.17388222 -0.07628548 2.67446772] [ 0.17469632 0.98461391 0.00408029 0.76082145] [ 0.07440226 -0.01733285 0.99707767 0.33487874] [ 0. 0. 0. 1. ]] SLAMing on 118.74241403699999 meters Centerline goodness : 0.789536 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.76, Z:0.34 [[ 0.98243973 -0.17011357 -0.07663915 2.67281324] [ 0.17120914 0.98520295 0.00791077 0.75908813] [ 0.07415938 -0.02089318 0.99702751 0.33620341] [ 0. 0. 0. 1. ]] SLAMing on 118.80241403699999 meters Centerline goodness : 0.790567 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.34 [[ 0.98268045 -0.16819649 -0.07777579 2.67630282] [ 0.16938358 0.98551021 0.00887909 0.75821722] [ 0.07515541 -0.02189925 0.99693134 0.33569102] [ 0. 0. 0. 1. ]] SLAMing on 118.862414037 meters Centerline goodness : 0.791303 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.33 [[ 0.98274449 -0.16765591 -0.07813305 2.67793909] [ 0.16888294 0.98559202 0.00932324 0.75774267] [ 0.07544421 -0.0223577 0.99689934 0.33473099] [ 0. 0. 0. 1. ]] SLAMing on 118.922414037 meters Centerline goodness : 0.790849 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.33 [[ 0.98223412 -0.17067838 -0.0780065 2.68061248] [ 0.17167035 0.9851353 0.00614274 0.75549648] [ 0.07579852 -0.01942501 0.99693393 0.33386212] [ 0. 0. 0. 1. ]] SLAMing on 118.98241403699998 meters Centerline goodness : 0.788791 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.33 [[ 0.98158585 -0.17473752 -0.07717523 2.68051188] [ 0.17547687 0.98447942 0.00285223 0.75123535] [ 0.07547903 -0.01634217 0.99701346 0.33431229] [ 0. 0. 0. 1. ]] SLAMing on 119.04241403699999 meters Centerline goodness : 0.788769 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 9.81486072e-01 -1.75424373e-01 -7.68854921e-02 2.67832167e+00] [ 1.76135105e-01 9.84362803e-01 2.50925490e-03 7.50702076e-01] [ 7.52430340e-02 -1.60050330e-02 9.97036772e-01 3.36294359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10241403699999 meters Centerline goodness : 0.787178 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.75, Z:0.34 [[ 0.98152711 -0.17507967 -0.07714685 2.67887676] [ 0.17585216 0.98441111 0.00328319 0.74793796] [ 0.07536939 -0.01678898 0.99701434 0.33649727] [ 0. 0. 0. 1. ]] SLAMing on 119.16241403699999 meters Centerline goodness : 0.785353 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 9.81035608e-01 -1.77724458e-01 -7.73508457e-02 2.68162366e+00] [ 1.78288015e-01 9.83978269e-01 3.86370177e-04 7.43320249e-01] [ 7.60428838e-02 -1.41697716e-02 9.97003860e-01 3.37026889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222414037 meters Centerline goodness : 0.785586 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 9.81034512e-01 -1.77740962e-01 -7.73268189e-02 2.68117776e+00] [ 1.78300585e-01 9.83976009e-01 3.38627545e-04 7.42156441e-01] [ 7.60275467e-02 -1.41196224e-02 9.97005741e-01 3.37924677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282414037 meters Centerline goodness : 0.786260 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.74, Z:0.34 [[ 0.98175284 -0.1733708 -0.07812758 2.68135601] [ 0.174272 0.98468577 0.00481615 0.7392139 ] [ 0.07609614 -0.01834372 0.99693174 0.33821843] [ 0. 0. 0. 1. ]] SLAMing on 119.34241403699998 meters Centerline goodness : 0.783761 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.74, Z:0.34 [[ 0.98226371 -0.16969865 -0.079752 2.68792233] [ 0.17081232 0.9852765 0.00730575 0.73661441] [ 0.077338 -0.02079879 0.99678796 0.33549011] [ 0. 0. 0. 1. ]] SLAMing on 119.40241403699999 meters Centerline goodness : 0.784971 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.73, Z:0.33 [[ 0.98447549 -0.15923813 -0.07383238 2.68552257] [ 0.16037566 0.98700834 0.00970507 0.72838801] [ 0.07132776 -0.02139532 0.99722344 0.32781209] [ 0. 0. 0. 1. ]] SLAMing on 119.46241403699999 meters Centerline goodness : 0.785052 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.73, Z:0.33 [[ 0.98520104 -0.15435956 -0.07451196 2.68532705] [ 0.1558352 0.98767841 0.0143788 0.72606919] [ 0.07137435 -0.02577759 0.99711645 0.32853481] [ 0. 0. 0. 1. ]] SLAMing on 119.52241403699999 meters Centerline goodness : 0.784490 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.72, Z:0.33 [[ 0.98529703 -0.1535994 -0.07481306 2.68629631] [ 0.15516193 0.98776734 0.01550692 0.71801866] [ 0.07151604 -0.02688706 0.997077 0.3298315 ] [ 0. 0. 0. 1. ]] SLAMing on 119.58241403699999 meters Centerline goodness : 0.783043 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.71, Z:0.33 [[ 0.98476347 -0.15701729 -0.07474272 2.68875616] [ 0.15838827 0.98729464 0.01274578 0.71018856] [ 0.07179178 -0.02438995 0.99712139 0.32982191] [ 0. 0. 0. 1. ]] SLAMing on 119.642414037 meters Centerline goodness : 0.782017 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.70, Z:0.33 [[ 0.98407317 -0.1614006 -0.07449724 2.68867022] [ 0.16258342 0.98664356 0.01005562 0.70364265] [ 0.07187924 -0.02200749 0.99717052 0.33116293] [ 0. 0. 0. 1. ]] SLAMing on 119.70241403699998 meters Centerline goodness : 0.781562 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.70, Z:0.33 [[ 0.98351531 -0.16473162 -0.07457301 2.6898591 ] [ 0.16571564 0.98614756 0.00716327 0.70011732] [ 0.07235998 -0.0194031 0.99718983 0.33210102] [ 0. 0. 0. 1. ]] SLAMing on 119.76241403699999 meters Centerline goodness : 0.785158 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.33 [[ 9.82416616e-01 -1.71206940e-01 -7.44699651e-02 2.69279067e+00] [ 1.71806508e-01 9.85129293e-01 1.67311160e-03 6.91388548e-01] [ 7.30760957e-02 -1.44381173e-02 9.97221853e-01 3.32813164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82241403699999 meters Centerline goodness : 0.786661 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.69, Z:0.33 [[ 9.81744858e-01 -1.75239889e-01 -7.39460295e-02 2.69243991e+00] [ 1.75599891e-01 9.84460227e-01 -1.65541030e-03 6.86966557e-01] [ 7.30870189e-02 -1.13597242e-02 9.97260871e-01 3.34510904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88241403699999 meters Centerline goodness : 0.788863 with order 3 Centerline is valid? [False, False] Translation: X:2.69, Y:0.68, Z:0.34 [[ 9.81456853e-01 -1.76679427e-01 -7.43426298e-02 2.69254851e+00] [ 1.77006335e-01 9.84207207e-01 -2.22059453e-03 6.82250381e-01] [ 7.35608854e-02 -1.09796987e-02 9.97230286e-01 3.36160986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94241403699999 meters Centerline goodness : 0.789312 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.68, Z:0.34 [[ 0.98097804 -0.17928079 -0.07443448 2.69536861] [ 0.17942781 0.98375962 -0.00476199 0.67823958] [ 0.07407936 -0.00868421 0.99721454 0.33564299] [ 0. 0. 0. 1. ]] SLAMing on 120.002414037 meters Centerline goodness : 0.787698 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.67, Z:0.34 [[ 0.98105799 -0.17879509 -0.07454892 2.69518559] [ 0.17899935 0.98384111 -0.003987 0.67286116] [ 0.07405715 -0.00943273 0.99720939 0.33724943] [ 0. 0. 0. 1. ]] SLAMing on 120.062414037 meters Centerline goodness : 0.788520 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.67, Z:0.34 [[ 0.98063976 -0.18110461 -0.07447677 2.69665344] [ 0.18107802 0.98344263 -0.00716584 0.67202704] [ 0.07454139 -0.00645899 0.997197 0.33857899] [ 0. 0. 0. 1. ]] SLAMing on 120.12241403699998 meters Centerline goodness : 0.788817 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.67, Z:0.34 [[ 9.79436045e-01 -1.87645157e-01 -7.41237342e-02 2.70039769e+00] [ 1.87190318e-01 9.82236327e-01 -1.30989837e-02 6.65509595e-01] [ 7.52649852e-02 -1.04562860e-03 9.97163020e-01 3.38461426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18241403699999 meters Centerline goodness : 0.788731 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.66, Z:0.34 [[ 9.78706141e-01 -1.91681163e-01 -7.34344659e-02 2.70058635e+00] [ 1.91016898e-01 9.81455842e-01 -1.60304296e-02 6.61160047e-01] [ 7.51454170e-02 1.66185603e-03 9.97171201e-01 3.38864517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24241403699999 meters Centerline goodness : 0.790167 with order 3 Centerline is valid? [False, False] Translation: X:2.70, Y:0.66, Z:0.34 [[ 0.97744486 -0.19821283 -0.07289186 2.7035427 ] [ 0.19709436 0.98013083 -0.02230192 0.65909331] [ 0.07586409 0.00743233 0.99709047 0.33865269] [ 0. 0. 0. 1. ]] SLAMing on 120.30241403699999 meters Centerline goodness : 0.788116 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.65, Z:0.34 [[ 0.97646971 -0.19829811 -0.08476298 2.70559165] [ 0.19691297 0.98011518 -0.02448512 0.64950329] [ 0.08793284 0.00721805 0.99610025 0.34102609] [ 0. 0. 0. 1. ]] SLAMing on 120.362414037 meters Centerline goodness : 0.786755 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.64, Z:0.35 [[ 9.75952575e-01 -1.94671451e-01 -9.80795455e-02 2.70741479e+00] [ 1.93628662e-01 9.80868285e-01 -2.01332640e-02 6.40877836e-01] [ 1.00122487e-01 6.58099652e-04 9.94974901e-01 3.45500562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422414037 meters Centerline goodness : 0.787225 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.63, Z:0.35 [[ 0.97520104 -0.19100496 -0.11180359 2.70796862] [ 0.19063676 0.98155974 -0.01407477 0.63375607] [ 0.11243026 -0.00758814 0.99363064 0.35341851] [ 0. 0. 0. 1. ]] SLAMing on 120.48241403699998 meters Centerline goodness : 0.791001 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.63, Z:0.36 [[ 0.97414061 -0.1879151 -0.12545116 2.71067954] [ 0.18766474 0.98213453 -0.01391833 0.62843394] [ 0.12582538 -0.00998435 0.99200216 0.35630366] [ 0. 0. 0. 1. ]] SLAMing on 120.54241403699999 meters Centerline goodness : 0.787338 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.63, Z:0.36 [[ 0.97362271 -0.18976351 -0.12668322 2.71393799] [ 0.18961546 0.98176782 -0.01333871 0.62663392] [ 0.12690471 -0.01103422 0.99185354 0.35617655] [ 0. 0. 0. 1. ]] SLAMing on 120.60241403699999 meters Centerline goodness : 0.788066 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.63, Z:0.35 [[ 0.9727152 -0.19423773 -0.12687331 2.71798564] [ 0.19354597 0.98092831 -0.01787758 0.62943743] [ 0.12792612 -0.00716602 0.99175781 0.35341846] [ 0. 0. 0. 1. ]] SLAMing on 120.66241403699999 meters Centerline goodness : 0.785307 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.63, Z:0.35 [[ 0.97273855 -0.19390764 -0.12719882 2.717192 ] [ 0.19335183 0.98098526 -0.01682216 0.62906839] [ 0.12804211 -0.00823056 0.99173458 0.35493082] [ 0. 0. 0. 1. ]] SLAMing on 120.722414037 meters Centerline goodness : 0.785138 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.63, Z:0.36 [[ 0.97334119 -0.19009698 -0.12833575 2.71565439] [ 0.19010987 0.98168623 -0.01226332 0.62914136] [ 0.12831666 -0.0124615 0.99165495 0.35747278] [ 0. 0. 0. 1. ]] SLAMing on 120.782414037 meters Centerline goodness : 0.786184 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.64, Z:0.36 [[ 0.97364066 -0.18811552 -0.12898222 2.71772739] [ 0.18823948 0.98205769 -0.01134018 0.63509301] [ 0.12880125 -0.01323829 0.99158206 0.3555422 ] [ 0. 0. 0. 1. ]] SLAMing on 120.84241403699998 meters Centerline goodness : 0.787101 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.64, Z:0.35 [[ 0.97364612 -0.18777875 -0.12943093 2.72052715] [ 0.18785473 0.98212675 -0.01173223 0.63988034] [ 0.12932064 -0.01289118 0.99151903 0.35314104] [ 0. 0. 0. 1. ]] SLAMing on 120.90241403699999 meters Centerline goodness : 0.783007 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.65, Z:0.35 [[ 0.97360425 -0.18842678 -0.12880265 2.71955022] [ 0.18823778 0.98202722 -0.01375065 0.64737196] [ 0.1290787 -0.01085783 0.99157491 0.35278345] [ 0. 0. 0. 1. ]] SLAMing on 120.96241403699999 meters Centerline goodness : 0.784806 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.65, Z:0.35 [[ 0.97363257 -0.18827354 -0.12881262 2.72117022] [ 0.18798412 0.98206485 -0.01451226 0.65313016] [ 0.12923462 -0.01008512 0.99156276 0.3507314 ] [ 0. 0. 0. 1. ]] SLAMing on 121.02241403699999 meters Centerline goodness : 0.784800 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.66, Z:0.35 [[ 0.97566156 -0.18800234 -0.11287 2.71448129] [ 0.18782323 0.98212564 -0.01231518 0.66016094] [ 0.1131678 -0.00918416 0.99353344 0.34718968] [ 0. 0. 0. 1. ]] SLAMing on 121.08241403699999 meters Centerline goodness : 0.786578 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.67, Z:0.34 [[ 0.97737755 -0.18635358 -0.10002735 2.71138927] [ 0.18634434 0.98243838 -0.00951875 0.669845 ] [ 0.10004456 -0.00933611 0.99493916 0.34352942] [ 0. 0. 0. 1. ]] SLAMing on 121.142414037 meters Centerline goodness : 0.784377 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.67, Z:0.34 [[ 0.9773154 -0.18670015 -0.09998834 2.71215259] [ 0.18665504 0.98237574 -0.00988972 0.67097248] [ 0.10007253 -0.00899795 0.99493946 0.34251081] [ 0. 0. 0. 1. ]] SLAMing on 121.20241403699998 meters Centerline goodness : 0.786368 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.68, Z:0.34 [[ 0.97662263 -0.19063853 -0.09932367 2.71345845] [ 0.19017592 0.98164743 -0.01419314 0.67523141] [ 0.10020658 -0.00502763 0.99495395 0.34099887] [ 0. 0. 0. 1. ]] SLAMing on 121.26241403699999 meters Centerline goodness : 0.784879 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.68, Z:0.33 [[ 0.97697221 -0.1889696 -0.09907466 2.71664787] [ 0.18863552 0.98196356 -0.0128145 0.68396266] [ 0.09970926 -0.00616959 0.99499749 0.33477846] [ 0. 0. 0. 1. ]] SLAMing on 121.32241403699999 meters Centerline goodness : 0.775942 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.69, Z:0.34 [[ 0.97738698 -0.18721641 -0.09830929 2.71211805] [ 0.18705243 0.98228873 -0.01096505 0.68986977] [ 0.09862095 -0.00767189 0.9950955 0.33517544] [ 0. 0. 0. 1. ]] SLAMing on 121.38241403699999 meters Centerline goodness : 0.778782 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.69, Z:0.33 [[ 0.97858766 -0.18862345 -0.08238559 2.7070239 ] [ 0.18848662 0.98202975 -0.00950598 0.69392461] [ 0.08269815 -0.00622614 0.99655519 0.33098538] [ 0. 0. 0. 1. ]] SLAMing on 121.44241403699999 meters Centerline goodness : 0.785326 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.70, Z:0.33 [[ 0.97849288 -0.19224859 -0.0747808 2.70986956] [ 0.19251473 0.9812871 -0.00370106 0.70153875] [ 0.07409296 -0.01077495 0.99719313 0.33288897] [ 0. 0. 0. 1. ]] SLAMing on 121.502414037 meters Centerline goodness : 0.786056 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.71, Z:0.33 [[ 0.97839566 -0.19276247 -0.07472998 2.70938731] [ 0.19293743 0.98119863 -0.0049395 0.70749038] [ 0.0742771 -0.00958543 0.99719157 0.33281456] [ 0. 0. 0. 1. ]] SLAMing on 121.562414037 meters Centerline goodness : 0.788219 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.71, Z:0.33 [[ 0.97886389 -0.19058579 -0.07417907 2.70822964] [ 0.19086325 0.98161076 -0.00339616 0.71296998] [ 0.07346224 -0.01083368 0.99723915 0.33126466] [ 0. 0. 0. 1. ]] SLAMing on 121.62241403699998 meters Centerline goodness : 0.786027 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 0.97913982 -0.18905742 -0.07444794 2.71127271] [ 0.18937251 0.98190113 -0.00286819 0.71624176] [ 0.07364277 -0.01129004 0.99722078 0.32826209] [ 0. 0. 0. 1. ]] SLAMing on 121.68241403699999 meters Centerline goodness : 0.788952 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.72, Z:0.33 [[ 9.79749359e-01 -1.85902806e-01 -7.43729849e-02 2.70901102e+00] [ 1.86403171e-01 9.82473313e-01 -2.17258653e-04 7.20398551e-01] [ 7.31098618e-02 -1.36505012e-02 9.97230471e-01 3.28429517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74241403699999 meters Centerline goodness : 0.793127 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.73, Z:0.33 [[ 0.98095832 -0.17936368 -0.07449457 2.70457599] [ 0.18022936 0.98361185 0.0050105 0.72759097] [ 0.07237504 -0.01834121 0.99720883 0.33010505] [ 0. 0. 0. 1. ]] SLAMing on 121.80241403699999 meters Centerline goodness : 0.795073 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.73, Z:0.33 [[ 0.98094213 -0.17953516 -0.07429439 2.70416639] [ 0.18030937 0.98360264 0.00379301 0.73028786] [ 0.07239518 -0.0171167 0.99722914 0.33083957] [ 0. 0. 0. 1. ]] SLAMing on 121.862414037 meters Centerline goodness : 0.794852 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.73, Z:0.33 [[ 0.98084158 -0.1801936 -0.07402748 2.70367426] [ 0.18088679 0.98350018 0.00271314 0.733601 ] [ 0.07231715 -0.01605175 0.99725251 0.33059228] [ 0. 0. 0. 1. ]] SLAMing on 121.922414037 meters Centerline goodness : 0.798301 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.98154471 -0.17605006 -0.07467503 2.70417776] [ 0.17700723 0.98418909 0.00634698 0.73771823] [ 0.07237696 -0.01944786 0.99718772 0.32903328] [ 0. 0. 0. 1. ]] SLAMing on 121.98241403699998 meters Centerline goodness : 0.795488 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.74, Z:0.33 [[ 0.98238155 -0.17103624 -0.07532002 2.70519791] [ 0.17228126 0.98499388 0.01030648 0.74102662] [ 0.07242697 -0.02310113 0.99710615 0.32750892] [ 0. 0. 0. 1. ]] SLAMing on 122.04241403699999 meters Centerline goodness : 0.796222 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.9830142 -0.16735697 -0.07533076 2.70327512] [ 0.16881265 0.98555782 0.01334467 0.74174519] [ 0.07200949 -0.02583479 0.9970693 0.32861208] [ 0. 0. 0. 1. ]] SLAMing on 122.10241403699999 meters Centerline goodness : 0.797548 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.98348573 -0.16467277 -0.07509127 2.69961869] [ 0.16630251 0.98594577 0.01595023 0.74344944] [ 0.07140935 -0.02817469 0.99704909 0.33049235] [ 0. 0. 0. 1. ]] SLAMing on 122.16241403699999 meters Centerline goodness : 0.797034 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.75, Z:0.33 [[ 0.98331211 -0.16586155 -0.07474782 2.69715837] [ 0.16736574 0.98579136 0.01428641 0.7456153 ] [ 0.07131618 -0.02655823 0.99710013 0.33305755] [ 0. 0. 0. 1. ]] SLAMing on 122.222414037 meters Centerline goodness : 0.797098 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.98337726 -0.16530889 -0.07511421 2.69940175] [ 0.16685125 0.98587248 0.01470085 0.74428716] [ 0.07162285 -0.02698938 0.99706657 0.3317381 ] [ 0. 0. 0. 1. ]] SLAMing on 122.282414037 meters Centerline goodness : 0.798658 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.75, Z:0.33 [[ 0.98340644 -0.16508437 -0.07522588 2.69936916] [ 0.16660344 0.98591966 0.01434315 0.74562268] [ 0.07179885 -0.02663803 0.99706336 0.33241813] [ 0. 0. 0. 1. ]] SLAMing on 122.34241403699998 meters Centerline goodness : 0.797439 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.75, Z:0.33 [[ 0.9835958 -0.16371855 -0.0757333 2.7013064 ] [ 0.1652999 0.98612831 0.01506322 0.74522574] [ 0.07221662 -0.02733483 0.99701433 0.33196441] [ 0. 0. 0. 1. ]] SLAMing on 122.40241403699999 meters Centerline goodness : 0.798022 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.75, Z:0.33 [[ 0.98363709 -0.16330763 -0.0760835 2.7017963 ] [ 0.16490202 0.98619398 0.01512466 0.74535669] [ 0.07256312 -0.0274235 0.99698673 0.33260824] [ 0. 0. 0. 1. ]] SLAMing on 122.46241403699999 meters Centerline goodness : 0.798471 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.74, Z:0.33 [[ 0.98326061 -0.1653634 -0.07650827 2.70643234] [ 0.1667869 0.98591295 0.01256161 0.74461659] [ 0.07335326 -0.02511191 0.99698981 0.33048149] [ 0. 0. 0. 1. ]] SLAMing on 122.52241403699999 meters Centerline goodness : 0.800626 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.74, Z:0.33 [[ 0.98323318 -0.16557234 -0.07640881 2.7062484 ] [ 0.16699362 0.985878 0.01255798 0.74275205] [ 0.07325051 -0.0251072 0.99699749 0.33087778] [ 0. 0. 0. 1. ]] SLAMing on 122.58241403699999 meters Centerline goodness : 0.797640 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.9838288 -0.16189974 -0.07661184 2.70461691] [ 0.16357711 0.98639902 0.01610888 0.7424119 ] [ 0.07296182 -0.02838032 0.99693086 0.33174312] [ 0. 0. 0. 1. ]] SLAMing on 122.642414037 meters Centerline goodness : 0.796300 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.98589776 -0.15226095 -0.06944215 2.69619413] [ 0.15381515 0.98794323 0.01758066 0.73745014] [ 0.06592805 -0.02801399 0.99743105 0.32791802] [ 0. 0. 0. 1. ]] SLAMing on 122.70241403699998 meters Centerline goodness : 0.800618 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.74, Z:0.33 [[ 0.98649922 -0.14817717 -0.06973393 2.69443675] [ 0.14995439 0.98847088 0.02095217 0.73777896] [ 0.06582533 -0.03112621 0.99734557 0.32995044] [ 0. 0. 0. 1. ]] SLAMing on 122.76241403699999 meters Centerline goodness : 0.798505 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.74, Z:0.33 [[ 0.98697975 -0.14426551 -0.07112271 2.69987367] [ 0.1462281 0.9889793 0.02317926 0.73583086] [ 0.06699492 -0.0332776 0.99719822 0.32860107] [ 0. 0. 0. 1. ]] SLAMing on 122.82241403699999 meters Centerline goodness : 0.795673 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.73, Z:0.33 [[ 0.98685076 -0.14249654 -0.07629096 2.70051552] [ 0.14367406 0.98957304 0.01014687 0.7313619 ] [ 0.07404958 -0.02097448 0.99703397 0.32924263] [ 0. 0. 0. 1. ]] SLAMing on 122.88241403699999 meters Centerline goodness : 0.796477 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.73, Z:0.33 [[ 0.98687226 -0.14228144 -0.07641417 2.70025496] [ 0.14349495 0.98959424 0.0106039 0.72781454] [ 0.07411028 -0.02142975 0.99701978 0.33049306] [ 0. 0. 0. 1. ]] SLAMing on 122.94241403699999 meters Centerline goodness : 0.796009 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.72, Z:0.33 [[ 0.9868538 -0.14228279 -0.07664976 2.69692179] [ 0.14354184 0.98958147 0.01114677 0.72407616] [ 0.07426519 -0.02200268 0.99699577 0.33488081] [ 0. 0. 0. 1. ]] SLAMing on 123.002414037 meters Centerline goodness : 0.791202 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.72, Z:0.33 [[ 0.98639641 -0.14525057 -0.07697005 2.70023716] [ 0.14631982 0.9892016 0.00840905 0.71823575] [ 0.07491748 -0.0195569 0.99699794 0.33445959] [ 0. 0. 0. 1. ]] SLAMing on 123.062414037 meters Centerline goodness : 0.792320 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.71, Z:0.33 [[ 0.98597423 -0.14792626 -0.07728291 2.70415292] [ 0.148842 0.98884159 0.00619456 0.7124525 ] [ 0.07550422 -0.01761062 0.99698996 0.33295435] [ 0. 0. 0. 1. ]] SLAMing on 123.12241403699998 meters Centerline goodness : 0.789685 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.71, Z:0.33 [[ 0.98599272 -0.14767558 -0.07752604 2.70482361] [ 0.14865345 0.98886482 0.0069658 0.70932223] [ 0.07563409 -0.01839274 0.99696599 0.33293084] [ 0. 0. 0. 1. ]] SLAMing on 123.18241403699999 meters Centerline goodness : 0.792242 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.71, Z:0.34 [[ 0.98605288 -0.14725273 -0.07756518 2.70339271] [ 0.14826531 0.98891971 0.00742999 0.70720393] [ 0.07561165 -0.01882659 0.9969596 0.33530377] [ 0. 0. 0. 1. ]] SLAMing on 123.24241403699999 meters Centerline goodness : 0.789434 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.70, Z:0.34 [[ 0.98556831 -0.15044126 -0.07760505 2.70416715] [ 0.1512199 0.98849113 0.00422249 0.70202769] [ 0.07607667 -0.01589698 0.99697524 0.33732275] [ 0. 0. 0. 1. ]] SLAMing on 123.30241403699999 meters Centerline goodness : 0.788862 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.70, Z:0.34 [[ 9.84964669e-01 -1.54519609e-01 -7.72547173e-02 2.70376885e+00] [ 1.55027687e-01 9.87909951e-01 5.86826919e-04 6.97389767e-01] [ 7.62300277e-02 -1.25546239e-02 9.97011216e-01 3.39490612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362414037 meters Centerline goodness : 0.788873 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.69, Z:0.34 [[ 9.84960789e-01 -1.54091353e-01 -7.81543307e-02 2.70584089e+00] [ 1.54710491e-01 9.87958035e-01 1.89340054e-03 6.93781902e-01] [ 7.69214423e-02 -1.39562202e-02 9.96939474e-01 3.38986917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422414037 meters Centerline goodness : 0.786232 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.69, Z:0.34 [[ 9.84522059e-01 -1.56781100e-01 -7.83326324e-02 2.70886729e+00] [ 1.57217644e-01 9.87563796e-01 -6.01281289e-04 6.89610843e-01] [ 7.74527414e-02 -1.17232972e-02 9.96927097e-01 3.38169813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48241403699998 meters Centerline goodness : 0.782397 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.68, Z:0.34 [[ 0.98405332 -0.15974673 -0.07823069 2.70857015] [ 0.16001798 0.98711004 -0.0028298 0.6818461 ] [ 0.07767435 -0.00973364 0.99693127 0.34066434] [ 0. 0. 0. 1. ]] SLAMing on 123.54241403699999 meters Centerline goodness : 0.798372 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.68, Z:0.34 [[ 9.84017894e-01 -1.59828346e-01 -7.85091284e-02 2.70828365e+00] [ 1.60123840e-01 9.87093619e-01 -2.55787168e-03 6.79523667e-01] [ 7.79046801e-02 -1.00541916e-02 9.96910113e-01 3.42091881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60241403699999 meters Centerline goodness : 0.796004 with order 3 Centerline is valid? [False, False] Translation: X:2.71, Y:0.67, Z:0.34 [[ 0.98354156 -0.16249841 -0.07899537 2.71157098] [ 0.16262847 0.98667557 -0.00482749 0.67209184] [ 0.07872726 -0.00809886 0.99686329 0.34225071] [ 0. 0. 0. 1. ]] SLAMing on 123.66241403699999 meters Centerline goodness : 0.792695 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.67, Z:0.34 [[ 0.98314337 -0.16483298 -0.07911513 2.71506512] [ 0.16481868 0.98630075 -0.00675588 0.66642789] [ 0.0791449 -0.00639765 0.99684259 0.34086638] [ 0. 0. 0. 1. ]] SLAMing on 123.722414037 meters Centerline goodness : 0.798999 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.66, Z:0.34 [[ 0.98321382 -0.16423743 -0.07947735 2.71534508] [ 0.16430272 0.98639313 -0.00576229 0.66478731] [ 0.0793423 -0.00739278 0.99682002 0.34163038] [ 0. 0. 0. 1. ]] SLAMing on 123.782414037 meters Centerline goodness : 0.797593 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.66, Z:0.34 [[ 0.98268122 -0.16736381 -0.07954227 2.71786317] [ 0.16722481 0.98588255 -0.00845305 0.66020946] [ 0.07983407 -0.00499479 0.99679565 0.34124896] [ 0. 0. 0. 1. ]] SLAMing on 123.84241403699998 meters Centerline goodness : 0.794802 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.66, Z:0.34 [[ 9.82038744e-01 -1.71249877e-01 -7.92047051e-02 2.71977585e+00] [ 1.70863160e-01 9.85225479e-01 -1.16848969e-02 6.57672503e-01] [ 8.00355306e-02 -2.05814472e-03 9.96789887e-01 3.40121188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90241403699999 meters Centerline goodness : 0.773990 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.66, Z:0.34 [[ 0.98158624 -0.17641837 -0.07324624 2.72693431] [ 0.17655767 0.98427945 -0.00461997 0.65647329] [ 0.07290982 -0.00839729 0.99730319 0.33822401] [ 0. 0. 0. 1. ]] SLAMing on 123.96241403699999 meters Centerline goodness : 0.795351 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.66, Z:0.34 [[ 0.98154176 -0.17672466 -0.07310387 2.72618026] [ 0.17683706 0.98422752 -0.0049835 0.65593732] [ 0.07283155 -0.00803596 0.99731188 0.33916161] [ 0. 0. 0. 1. ]] SLAMing on 124.02241403699999 meters Centerline goodness : 0.797507 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.66, Z:0.34 [[ 0.98157039 -0.17659824 -0.07302485 2.72617591] [ 0.17669458 0.98425204 -0.00519014 0.65577295] [ 0.07279143 -0.00780861 0.99731662 0.33951043] [ 0. 0. 0. 1. ]] SLAMing on 124.08241403699999 meters Centerline goodness : 0.793966 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.65, Z:0.34 [[ 9.82129244e-01 -1.73365897e-01 -7.32558042e-02 2.72326210e+00] [ 1.73671509e-01 9.84801123e-01 -2.22593707e-03 6.54503092e-01] [ 7.25282998e-02 -1.05362881e-02 9.97310700e-01 3.42510789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142414037 meters Centerline goodness : 0.795448 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.66, Z:0.34 [[ 9.82347440e-01 -1.71896452e-01 -7.37910377e-02 2.72515195e+00] [ 1.72249205e-01 9.85052099e-01 -1.60447364e-03 6.55097862e-01] [ 7.29638199e-02 -1.11342970e-02 9.97272434e-01 3.41981422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20241403699998 meters Centerline goodness : 0.800986 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.66, Z:0.34 [[ 9.82556899e-01 -1.70563765e-01 -7.40941462e-02 2.72705147e+00] [ 1.70944421e-01 9.85279917e-01 -1.22050289e-03 6.56968564e-01] [ 7.32116478e-02 -1.14667674e-02 9.97250504e-01 3.40853079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26241403699999 meters Centerline goodness : 0.798744 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.66, Z:0.34 [[ 0.98199708 -0.17422737 -0.07298322 2.72700254] [ 0.1743072 0.98467693 -0.00532324 0.6558558 ] [ 0.07279235 -0.00749409 0.99731896 0.34159434] [ 0. 0. 0. 1. ]] SLAMing on 124.32241403699999 meters Centerline goodness : 0.795649 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.65, Z:0.34 [[ 0.98130283 -0.17849784 -0.07199502 2.72602734] [ 0.17828327 0.98393385 -0.00944774 0.65354014] [ 0.07252474 -0.00356441 0.99736024 0.34321143] [ 0. 0. 0. 1. ]] SLAMing on 124.38241403699999 meters Centerline goodness : 0.801487 with order 3 Centerline is valid? [False, False] Translation: X:2.72, Y:0.65, Z:0.35 [[ 9.81139527e-01 -1.79470039e-01 -7.18034317e-02 2.72410033e+00] [ 1.79190059e-01 9.83759769e-01 -1.03749167e-02 6.54088460e-01] [ 7.24993141e-02 -2.68722028e-03 9.97364842e-01 3.45516514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44241403699999 meters Centerline goodness : 0.801111 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.65, Z:0.34 [[ 9.80607159e-01 -1.82079337e-01 -7.25032079e-02 2.72913880e+00] [ 1.81615913e-01 9.83283748e-01 -1.29896130e-02 6.52906853e-01] [ 7.36563661e-02 -4.30028801e-04 9.97283588e-01 3.43116218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502414037 meters Centerline goodness : 0.800265 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.65, Z:0.34 [[ 0.97927645 -0.18963137 -0.07111665 2.73052187] [ 0.18864838 0.98183373 -0.02035462 0.65270772] [ 0.0736846 0.00651676 0.9972603 0.34243775] [ 0. 0. 0. 1. ]] SLAMing on 124.562414037 meters Centerline goodness : 0.802732 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.65, Z:0.35 [[ 9.79175422e-01 -1.84497306e-01 -8.47126748e-02 2.73169593e+00] [ 1.83846449e-01 9.82832935e-01 -1.54888851e-02 6.46654337e-01] [ 8.61160643e-02 -4.07788863e-04 9.96285028e-01 3.47899051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62241403699998 meters Centerline goodness : 0.804068 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.64, Z:0.35 [[ 0.97905349 -0.17851739 -0.09790718 2.73341634] [ 0.17817979 0.98392167 -0.01225223 0.64041748] [ 0.09852023 -0.0054495 0.99512013 0.35088297] [ 0. 0. 0. 1. ]] SLAMing on 124.68241403699999 meters Centerline goodness : 0.807331 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.64, Z:0.35 [[ 0.97965004 -0.17445771 -0.09924874 2.73432862] [ 0.17458849 0.98461343 -0.00743371 0.63867265] [ 0.09901851 -0.01004525 0.99503489 0.35161932] [ 0. 0. 0. 1. ]] SLAMing on 124.74241403699999 meters Centerline goodness : 0.805700 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.64, Z:0.35 [[ 0.98085095 -0.16895397 -0.09688125 2.73195125] [ 0.16901182 0.98558419 -0.00766873 0.63838067] [ 0.09678029 -0.00885219 0.9952664 0.347809 ] [ 0. 0. 0. 1. ]] SLAMing on 124.80241403699999 meters Centerline goodness : 0.804439 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.64, Z:0.35 [[ 0.98188214 -0.16332545 -0.09608463 2.72916472] [ 0.1637116 0.98650052 -0.00390434 0.63526447] [ 0.09542522 -0.01189657 0.99536551 0.34810707] [ 0. 0. 0. 1. ]] SLAMing on 124.862414037 meters Centerline goodness : 0.797014 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.63, Z:0.35 [[ 9.82796115e-01 -1.57752844e-01 -9.60512230e-02 2.72593882e+00] [ 1.58692551e-01 9.87325650e-01 2.17584992e-03 6.30943956e-01] [ 9.44905897e-02 -1.73810304e-02 9.95374014e-01 3.50791588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922414037 meters Centerline goodness : 0.798779 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.63, Z:0.35 [[ 9.82378094e-01 -1.60980882e-01 -9.49654442e-02 2.72638727e+00] [ 1.61597231e-01 9.86856048e-01 -1.21493736e-03 6.27916276e-01] [ 9.39128046e-02 -1.41526250e-02 9.95479828e-01 3.49741806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98241403699998 meters Centerline goodness : 0.803556 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.62, Z:0.35 [[ 0.98173234 -0.16510602 -0.09456015 2.72902309] [ 0.16544052 0.9862102 -0.00434575 0.6246291 ] [ 0.0939737 -0.01137772 0.99550966 0.34780432] [ 0. 0. 0. 1. ]] SLAMing on 125.04241403699999 meters Centerline goodness : 0.801721 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.62, Z:0.35 [[ 0.98131534 -0.16689106 -0.09574751 2.73154932] [ 0.16736693 0.98588981 -0.00309635 0.62255519] [ 0.09491325 -0.01298647 0.99540084 0.34860341] [ 0. 0. 0. 1. ]] SLAMing on 125.10241403699999 meters Centerline goodness : 0.801467 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.62, Z:0.35 [[ 0.98080695 -0.16987336 -0.09571196 2.73359068] [ 0.1702565 0.98539079 -0.0042093 0.61842116] [ 0.09502873 -0.01216708 0.99540017 0.34805992] [ 0. 0. 0. 1. ]] SLAMing on 125.16241403699999 meters Centerline goodness : 0.795405 with order 3 Centerline is valid? [False, False] Translation: X:2.73, Y:0.61, Z:0.35 [[ 0.98062892 -0.17097293 -0.09557811 2.73397512] [ 0.17141499 0.98519224 -0.00362742 0.61393086] [ 0.094783 -0.01282637 0.99541532 0.34862 ] [ 0. 0. 0. 1. ]] SLAMing on 125.222414037 meters Centerline goodness : 0.799335 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.61, Z:0.35 [[ 9.80034167e-01 -1.73529113e-01 -9.70601742e-02 2.73652259e+00] [ 1.74129913e-01 9.84719976e-01 -2.31114787e-03 6.10930674e-01] [ 9.59781438e-02 -1.46360758e-02 9.95275832e-01 3.50477181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282414037 meters Centerline goodness : 0.811738 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.61, Z:0.35 [[ 0.97868436 -0.17982069 -0.09920409 2.74390965] [ 0.18008701 0.98363027 -0.00633774 0.61375668] [ 0.09871981 -0.01166272 0.99504692 0.34801355] [ 0. 0. 0. 1. ]] SLAMing on 125.34241403699998 meters Centerline goodness : 0.801967 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.61, Z:0.35 [[ 0.97880502 -0.17929128 -0.09897156 2.74338354] [ 0.17967136 0.9837133 -0.00513262 0.61200068] [ 0.09827987 -0.01275852 0.99507703 0.34838179] [ 0. 0. 0. 1. ]] SLAMing on 125.40241403699999 meters Centerline goodness : 0.796463 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.61, Z:0.35 [[ 0.97874711 -0.17936553 -0.09940872 2.74314084] [ 0.1799397 0.98367233 -0.0032336 0.60993595] [ 0.09836561 -0.0147227 0.99504143 0.35032228] [ 0. 0. 0. 1. ]] SLAMing on 125.46241403699999 meters Centerline goodness : 0.795585 with order 3 Centerline is valid? [False, False] Translation: X:2.74, Y:0.61, Z:0.35 [[ 9.77892928e-01 -1.82860748e-01 -1.01426660e-01 2.74479688e+00] [ 1.83739788e-01 9.82974679e-01 -6.86663758e-04 6.06798776e-01] [ 9.98254019e-02 -1.79646292e-02 9.94842782e-01 3.54651376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52241403699999 meters Centerline goodness : 0.797263 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.60, Z:0.36 [[ 9.76506646e-01 -1.81576246e-01 -1.16038088e-01 2.74856966e+00] [ 1.82900022e-01 9.83131213e-01 7.73992953e-04 6.02799399e-01] [ 1.13940127e-01 -2.19791781e-02 9.93244463e-01 3.59289473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58241403699999 meters Centerline goodness : 0.802672 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.61, Z:0.36 [[ 9.75581566e-01 -1.84239861e-01 -1.19567063e-01 2.75201345e+00] [ 1.85892322e-01 9.82566357e-01 2.72009263e-03 6.07526769e-01] [ 1.16981424e-01 -2.48802712e-02 9.92822400e-01 3.62679013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642414037 meters Centerline goodness : 0.800438 with order 3 Centerline is valid? [False, False] Translation: X:2.75, Y:0.61, Z:0.36 [[ 9.75170435e-01 -1.85544217e-01 -1.20896512e-01 2.75440135e+00] [ 1.87103275e-01 9.82338988e-01 1.57377921e-03 6.12636990e-01] [ 1.18469352e-01 -2.41548364e-02 9.92663869e-01 3.62361893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70241403699998 meters Centerline goodness : 0.798856 with order 3 Centerline is valid? [False, False] Translation: X:2.76, Y:0.62, Z:0.36 [[ 9.74534419e-01 -1.88300560e-01 -1.21760281e-01 2.75777635e+00] [ 1.89565327e-01 9.81867356e-01 -1.21745170e-03 6.17572283e-01] [ 1.19781692e-01 -2.18950788e-02 9.92558790e-01 3.60241604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76241403699999 meters Centerline goodness : 0.805752 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:0.59, Z:0.32 [[ 0.97950835 -0.17427263 -0.10095762 2.39715543] [ 0.17361984 0.98469412 -0.01528519 0.58988728] [ 0.10207616 -0.00255628 0.9947733 0.32091903] [ 0. 0. 0. 1. ]] SLAMing on 125.82241403699999 meters Centerline goodness : 0.798858 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.80, Z:0.41 [[ 0.91519347 -0.37063932 -0.15826375 2.92901795] [ 0.35410451 0.92703558 -0.12334919 0.80177195] [ 0.19243419 0.05684647 0.97966196 0.40946958] [ 0. 0. 0. 1. ]] SLAMing on 125.88241403699999 meters Centerline goodness : 0.797287 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.80, Z:0.41 [[ 0.91647943 -0.36710964 -0.15904708 2.92322362] [ 0.35113982 0.92860123 -0.12000243 0.80295078] [ 0.19174536 0.05413199 0.97995074 0.41232684] [ 0. 0. 0. 1. ]] SLAMing on 125.94241403699999 meters Centerline goodness : 0.795179 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.81, Z:0.41 [[ 0.91768423 -0.36364904 -0.16004698 2.9222114 ] [ 0.3481392 0.93009624 -0.11713278 0.80798774] [ 0.19145431 0.05177228 0.98013513 0.41128238] [ 0. 0. 0. 1. ]] SLAMing on 126.002414037 meters Centerline goodness : 0.788900 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.81, Z:0.41 [[ 0.91772301 -0.36365412 -0.1598129 2.923486 ] [ 0.34819973 0.93010121 -0.11691318 0.81191592] [ 0.19115813 0.05164711 0.98019954 0.40813077] [ 0. 0. 0. 1. ]] SLAMing on 126.062414037 meters Centerline goodness : 0.785480 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.81, Z:0.41 [[ 0.91991454 -0.35763375 -0.16079596 2.91914779] [ 0.34323436 0.93269184 -0.11079759 0.81411505] [ 0.18959804 0.04673362 0.98074898 0.4076474 ] [ 0. 0. 0. 1. ]] SLAMing on 126.12241403699998 meters Centerline goodness : 0.788034 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.81, Z:0.41 [[ 0.92213617 -0.35094846 -0.1627884 2.91731603] [ 0.33769194 0.93550341 -0.10391111 0.81443021] [ 0.18875655 0.04084786 0.981174 0.40683651] [ 0. 0. 0. 1. ]] SLAMing on 126.18241403699999 meters Centerline goodness : 0.773569 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.81, Z:0.41 [[ 0.92320363 -0.34781401 -0.16346398 2.91537481] [ 0.33510948 0.9367872 -0.10065473 0.81306755] [ 0.18814009 0.03814648 0.98140112 0.40737574] [ 0. 0. 0. 1. ]] SLAMing on 126.24241403699999 meters Centerline goodness : 0.776469 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.81, Z:0.41 [[ 0.92593191 -0.33918417 -0.16614511 2.91591348] [ 0.32772668 0.94018836 -0.0929574 0.81480014] [ 0.18773737 0.03162203 0.9817101 0.40565191] [ 0. 0. 0. 1. ]] SLAMing on 126.30241403699999 meters Centerline goodness : 0.793238 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.92845706 -0.3313661 -0.16782129 2.91367525] [ 0.3210751 0.94314651 -0.08593863 0.81797636] [ 0.18675721 0.02590709 0.98206444 0.40458389] [ 0. 0. 0. 1. ]] SLAMing on 126.362414037 meters Centerline goodness : 0.787500 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.92863592 -0.33086949 -0.16781151 2.91471928] [ 0.32060249 0.94332239 -0.08577248 0.81853078] [ 0.18667985 0.02585062 0.98208064 0.40360734] [ 0. 0. 0. 1. ]] SLAMing on 126.422414037 meters Centerline goodness : 0.776756 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.92968652 -0.3276191 -0.1683707 2.91351766] [ 0.31797138 0.94453361 -0.08216126 0.81704277] [ 0.18594938 0.02284715 0.98229366 0.40304385] [ 0. 0. 0. 1. ]] SLAMing on 126.48241403699998 meters Centerline goodness : 0.791450 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.93115582 -0.32306729 -0.16904545 2.90665966] [ 0.3143969 0.94620287 -0.0765161 0.81703109] [ 0.18467114 0.01810105 0.98263367 0.40478152] [ 0. 0. 0. 1. ]] SLAMing on 126.54241403699999 meters Centerline goodness : 0.787376 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.81, Z:0.41 [[ 0.93185118 -0.32096347 -0.16922125 2.90252317] [ 0.31272885 0.94695588 -0.07399484 0.81471385] [ 0.1839947 0.01603181 0.98279649 0.40714838] [ 0. 0. 0. 1. ]] SLAMing on 126.60241403699999 meters Centerline goodness : 0.786796 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.41 [[ 0.93200124 -0.3201686 -0.16989926 2.90525829] [ 0.31201498 0.94723491 -0.07343485 0.81395644] [ 0.18444605 0.01543026 0.98272151 0.40603299] [ 0. 0. 0. 1. ]] SLAMing on 126.66241403699999 meters Centerline goodness : 0.791206 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.93262947 -0.31740079 -0.17163627 2.91159641] [ 0.30957227 0.94819698 -0.07132668 0.81620328] [ 0.18538414 0.01338753 0.98257493 0.40169462] [ 0. 0. 0. 1. ]] SLAMing on 126.722414037 meters Centerline goodness : 0.773668 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.93282978 -0.31664592 -0.17194172 2.91336825] [ 0.30888194 0.94845439 -0.07089577 0.81673026] [ 0.18552774 0.01302399 0.98255271 0.40053131] [ 0. 0. 0. 1. ]] SLAMing on 126.782414037 meters Centerline goodness : 0.775202 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.82, Z:0.40 [[ 0.93373388 -0.31388896 -0.1720894 2.90883399] [ 0.30661738 0.9493988 -0.06802724 0.8157848 ] [ 0.18473447 0.01075374 0.98272963 0.40288868] [ 0. 0. 0. 1. ]] SLAMing on 126.84241403699998 meters Centerline goodness : 0.776430 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 0.93462844 -0.31082975 -0.17278468 2.90737182] [ 0.30416204 0.95043417 -0.06450068 0.81420849] [ 0.1842692 0.00772963 0.98284542 0.40293517] [ 0. 0. 0. 1. ]] SLAMing on 126.90241403699999 meters Centerline goodness : 0.789969 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 0.93558894 -0.30747626 -0.17358477 2.90649186] [ 0.30143481 0.95154471 -0.06082524 0.81316063] [ 0.18387599 0.00458293 0.98293877 0.4025337 ] [ 0. 0. 0. 1. ]] SLAMing on 126.96241403699999 meters Centerline goodness : 0.773425 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 0.9353813 -0.30846106 -0.17295549 2.90541261] [ 0.30234572 0.95122345 -0.06132714 0.81099347] [ 0.18343635 0.0050719 0.9830185 0.40297519] [ 0. 0. 0. 1. ]] SLAMing on 127.02241403699999 meters Centerline goodness : 0.783421 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.81, Z:0.40 [[ 9.35922637e-01 -3.06492360e-01 -1.73525938e-01 2.90291707e+00] [ 3.00860891e-01 9.51869616e-01 -5.85402235e-02 8.09192254e-01] [ 1.83116199e-01 2.58195209e-03 9.83087886e-01 4.03916300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08241403699999 meters Centerline goodness : 0.786875 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.81, Z:0.40 [[ 9.35932155e-01 -3.06205409e-01 -1.73980599e-01 2.90363010e+00] [ 3.00600497e-01 9.51962621e-01 -5.83653135e-02 8.08952722e-01] [ 1.83494802e-01 2.32731901e-03 9.83017925e-01 4.04255162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142414037 meters Centerline goodness : 0.785254 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 9.36063809e-01 -3.05553010e-01 -1.74418762e-01 2.90576585e+00] [ 3.00078414e-01 9.52173755e-01 -5.76028258e-02 8.07262502e-01] [ 1.83677685e-01 1.58061500e-03 9.82985254e-01 4.03185287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20241403699998 meters Centerline goodness : 0.789760 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 9.36130866e-01 -3.04957351e-01 -1.75100014e-01 2.90783058e+00] [ 2.99563534e-01 9.52365473e-01 -5.71112534e-02 8.07485270e-01] [ 1.84175705e-01 1.01002803e-03 9.82892817e-01 4.02330739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26241403699999 meters Centerline goodness : 0.791959 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 9.37254725e-01 -3.00893668e-01 -1.76115248e-01 2.90742810e+00] [ 2.96146872e-01 9.53655118e-01 -5.32817631e-02 8.07388309e-01] [ 1.83985353e-01 -2.21739557e-03 9.82926484e-01 4.02003904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32241403699999 meters Centerline goodness : 0.788221 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 0.93808026 -0.29783666 -0.1769145 2.91155204] [ 0.29334178 0.95461068 -0.05166295 0.80923061] [ 0.1842716 -0.00343242 0.98286937 0.3994207 ] [ 0. 0. 0. 1. ]] SLAMing on 127.38241403699999 meters Centerline goodness : 0.769647 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 0.93905516 -0.29456414 -0.17722124 2.90821587] [ 0.2905267 0.95561559 -0.04891902 0.80914348] [ 0.18376517 -0.00554984 0.98295451 0.40129958] [ 0. 0. 0. 1. ]] SLAMing on 127.44241403699999 meters Centerline goodness : 0.772033 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.81, Z:0.41 [[ 0.93975843 -0.29228955 -0.17725943 2.89884264] [ 0.28875103 0.95629702 -0.04603091 0.80801585] [ 0.18296702 -0.00792591 0.9830871 0.40666477] [ 0. 0. 0. 1. ]] SLAMing on 127.502414037 meters Centerline goodness : 0.784206 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.81, Z:0.41 [[ 0.9385282 -0.29664959 -0.17653281 2.8999955 ] [ 0.29248961 0.95497362 -0.04975162 0.80698144] [ 0.18334298 -0.00494072 0.98303659 0.4069148 ] [ 0. 0. 0. 1. ]] SLAMing on 127.562414037 meters Centerline goodness : 0.769259 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.81, Z:0.40 [[ 9.36641544e-01 -3.02750889e-01 -1.76194545e-01 2.90739040e+00] [ 2.97750794e-01 9.53069057e-01 -5.48072678e-02 8.05934348e-01] [ 1.84518518e-01 -1.12730180e-03 9.82828391e-01 4.03039519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62241403699998 meters Centerline goodness : 0.789755 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.80, Z:0.40 [[ 0.93764516 -0.29931019 -0.17673418 2.90595643] [ 0.29501332 0.95414495 -0.05074005 0.8049837 ] [ 0.18381704 -0.00456277 0.98294989 0.40227953] [ 0. 0. 0. 1. ]] SLAMing on 127.68241403699999 meters Centerline goodness : 0.787221 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.80, Z:0.40 [[ 0.93871836 -0.29558156 -0.17731152 2.90404884] [ 0.29189734 0.95528793 -0.04712665 0.8036954 ] [ 0.18331332 -0.00751811 0.98302579 0.4030005 ] [ 0. 0. 0. 1. ]] SLAMing on 127.74241403699999 meters Centerline goodness : 0.772579 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.80, Z:0.40 [[ 0.94005256 -0.29044245 -0.17872987 2.90524707] [ 0.28748198 0.95682787 -0.04283149 0.80084604] [ 0.18345381 -0.01111776 0.98296546 0.40317832] [ 0. 0. 0. 1. ]] SLAMing on 127.80241403699999 meters Centerline goodness : 0.772107 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.80, Z:0.40 [[ 0.94117722 -0.28619464 -0.17966099 2.90431539] [ 0.28386022 0.95806677 -0.03913371 0.79950231] [ 0.18332708 -0.01416685 0.98294989 0.404021 ] [ 0. 0. 0. 1. ]] SLAMing on 127.862414037 meters Centerline goodness : 0.775975 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.80, Z:0.41 [[ 0.94221521 -0.28236738 -0.18027525 2.90250532] [ 0.28060157 0.95915772 -0.03576638 0.79820674] [ 0.18301166 -0.01688589 0.98296572 0.40525545] [ 0. 0. 0. 1. ]] SLAMing on 127.922414037 meters Centerline goodness : 0.786757 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.80, Z:0.41 [[ 0.94259904 -0.28070695 -0.18086089 2.90451949] [ 0.27901525 0.95963897 -0.03526372 0.79799924] [ 0.18345993 -0.0172234 0.98287629 0.40543982] [ 0. 0. 0. 1. ]] SLAMing on 127.98241403699998 meters Centerline goodness : 0.774357 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.80, Z:0.41 [[ 0.94380771 -0.27572696 -0.1822132 2.90525882] [ 0.27474719 0.96101308 -0.03111027 0.79706492] [ 0.18368721 -0.02070046 0.98276676 0.40551276] [ 0. 0. 0. 1. ]] SLAMing on 128.042414037 meters Centerline goodness : 0.787239 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.80, Z:0.41 [[ 0.94393014 -0.27515254 -0.18244719 2.90600999] [ 0.27424286 0.96117011 -0.03070638 0.79577587] [ 0.18381173 -0.02105016 0.98273605 0.4056507 ] [ 0. 0. 0. 1. ]] SLAMing on 128.102414037 meters Centerline goodness : 0.785929 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.79, Z:0.41 [[ 0.9431281 -0.27816182 -0.18203127 2.90742083] [ 0.2768332 0.96034455 -0.03319218 0.7905045 ] [ 0.18404554 -0.01908783 0.98273236 0.40694972] [ 0. 0. 0. 1. ]] SLAMing on 128.162414037 meters Centerline goodness : 0.790313 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.79, Z:0.41 [[ 0.94303776 -0.27859904 -0.18183056 2.90542764] [ 0.27726616 0.96021811 -0.03323635 0.78945149] [ 0.18385661 -0.01907233 0.98276803 0.40862747] [ 0. 0. 0. 1. ]] SLAMing on 128.222414037 meters Centerline goodness : 0.789332 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.79, Z:0.41 [[ 0.94311227 -0.27810444 -0.18220091 2.90689628] [ 0.27686479 0.96035132 -0.03272973 0.78808051] [ 0.18407916 -0.01957721 0.98271644 0.40830632] [ 0. 0. 0. 1. ]] SLAMing on 128.282414037 meters Centerline goodness : 0.785155 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.78, Z:0.41 [[ 0.94192103 -0.282556 -0.18151273 2.91461319] [ 0.28056086 0.95911806 -0.0371235 0.78247878] [ 0.18458161 -0.01595796 0.98268763 0.40562841] [ 0. 0. 0. 1. ]] SLAMing on 128.342414037 meters Centerline goodness : 0.781353 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.78, Z:0.41 [[ 0.94193272 -0.28264522 -0.1813131 2.91438681] [ 0.28075012 0.95908352 -0.03658116 0.77842231] [ 0.1842339 -0.01644668 0.98274482 0.4062755 ] [ 0. 0. 0. 1. ]] SLAMing on 128.402414037 meters Centerline goodness : 0.787378 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.78, Z:0.41 [[ 0.94305069 -0.27850528 -0.18190711 2.90983757] [ 0.27733337 0.96022814 -0.03237463 0.77516077] [ 0.18368883 -0.019918 0.98278262 0.40970213] [ 0. 0. 0. 1. ]] SLAMing on 128.462414037 meters Centerline goodness : 0.786228 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.77, Z:0.41 [[ 0.94257431 -0.28036672 -0.18151631 2.91431965] [ 0.27885922 0.95971892 -0.03430932 0.76978509] [ 0.18382383 -0.01827841 0.98278925 0.4088193 ] [ 0. 0. 0. 1. ]] SLAMing on 128.52241403699998 meters Centerline goodness : 0.787168 with order 3 Centerline is valid? [False, False] Translation: X:2.91, Y:0.77, Z:0.41 [[ 0.94181196 -0.2840721 -0.17970328 2.91363298] [ 0.28173967 0.95870111 -0.03892222 0.77051376] [ 0.18333845 -0.01397213 0.98295056 0.41072985] [ 0. 0. 0. 1. ]] SLAMing on 128.58241403699998 meters Centerline goodness : 0.787397 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.77, Z:0.41 [[ 0.94092556 -0.28721646 -0.17934826 2.91644706] [ 0.28447076 0.95778986 -0.04141219 0.76666024] [ 0.1836722 -0.01205355 0.98291365 0.41045124] [ 0. 0. 0. 1. ]] SLAMing on 128.64241403699998 meters Centerline goodness : 0.789818 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.76, Z:0.41 [[ 0.94050257 -0.28788261 -0.1804952 2.91963202] [ 0.28551581 0.95755817 -0.03953563 0.76213572] [ 0.18421628 -0.01435087 0.98278096 0.41059641] [ 0. 0. 0. 1. ]] SLAMing on 128.70241403699998 meters Centerline goodness : 0.792331 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.76, Z:0.41 [[ 0.94046804 -0.2877996 -0.18080725 2.92002062] [ 0.28591548 0.95754117 -0.03697638 0.75521363] [ 0.18377218 -0.01692049 0.98282322 0.41198805] [ 0. 0. 0. 1. ]] SLAMing on 128.76241403699999 meters Centerline goodness : 0.791872 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.75, Z:0.41 [[ 0.94044586 -0.28740837 -0.18154342 2.92169551] [ 0.28577724 0.95763242 -0.03565839 0.75293447] [ 0.18410038 -0.01834619 0.98273621 0.41221286] [ 0. 0. 0. 1. ]] SLAMing on 128.822414037 meters Centerline goodness : 0.793581 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.75, Z:0.41 [[ 0.93964398 -0.28999176 -0.18158736 2.92253662] [ 0.28833318 0.95685085 -0.03606155 0.74862467] [ 0.18420957 -0.01847265 0.98271338 0.41380131] [ 0. 0. 0. 1. ]] SLAMing on 128.882414037 meters Centerline goodness : 0.795038 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:0.75, Z:0.41 [[ 0.93880717 -0.29302848 -0.18103982 2.92445116] [ 0.29096851 0.95595987 -0.03844537 0.74732306] [ 0.18433239 -0.01658409 0.98272404 0.41304883] [ 0. 0. 0. 1. ]] SLAMing on 128.942414037 meters Centerline goodness : 0.795265 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.74, Z:0.41 [[ 0.93842646 -0.29502022 -0.17977444 2.92631927] [ 0.29272178 0.95536893 -0.03980149 0.74187878] [ 0.18349316 -0.01527313 0.98290233 0.41127611] [ 0. 0. 0. 1. ]] SLAMing on 129.002414037 meters Centerline goodness : 0.796461 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.74, Z:0.41 [[ 0.93871917 -0.29382237 -0.1802075 2.9277451 ] [ 0.29187016 0.95570798 -0.03786898 0.73869677] [ 0.1833525 -0.01704885 0.98289938 0.41092097] [ 0. 0. 0. 1. ]] SLAMing on 129.062414037 meters Centerline goodness : 0.799991 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.74, Z:0.41 [[ 0.93878044 -0.2933618 -0.18063816 2.93102361] [ 0.29152185 0.95583805 -0.03726432 0.73753424] [ 0.18359276 -0.01767696 0.98284344 0.40882895] [ 0. 0. 0. 1. ]] SLAMing on 129.122414037 meters Centerline goodness : 0.796497 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.73, Z:0.41 [[ 0.93951118 -0.29140026 -0.1800129 2.93212399] [ 0.2897629 0.95642404 -0.03592368 0.73327902] [ 0.18263683 -0.01841036 0.98300806 0.40689379] [ 0. 0. 0. 1. ]] SLAMing on 129.182414037 meters Centerline goodness : 0.796270 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.73, Z:0.41 [[ 0.94039072 -0.28888874 -0.17946754 2.93245341] [ 0.28750141 0.95716678 -0.03427386 0.72921618] [ 0.1816817 -0.01936635 0.98316667 0.40548782] [ 0. 0. 0. 1. ]] SLAMing on 129.242414037 meters Centerline goodness : 0.797725 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.73, Z:0.41 [[ 0.94100948 -0.28671804 -0.17970512 2.93257269] [ 0.28572917 0.95777824 -0.03193256 0.72549767] [ 0.18127329 -0.02129815 0.98320211 0.40587059] [ 0. 0. 0. 1. ]] SLAMing on 129.30241403699998 meters Centerline goodness : 0.801209 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.72, Z:0.41 [[ 0.94162689 -0.28372214 -0.18121961 2.93230714] [ 0.28356837 0.95856293 -0.02731451 0.72282821] [ 0.18146013 -0.02566807 0.98306326 0.40799381] [ 0. 0. 0. 1. ]] SLAMing on 129.36241403699998 meters Centerline goodness : 0.798770 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.72, Z:0.41 [[ 0.94199124 -0.28343877 -0.17976363 2.93343386] [ 0.28314966 0.95867227 -0.02781642 0.71740075] [ 0.18021866 -0.02469719 0.98331647 0.40579156] [ 0. 0. 0. 1. ]] SLAMing on 129.42241403699998 meters Centerline goodness : 0.799342 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.71, Z:0.40 [[ 0.94065658 -0.28789958 -0.17966366 2.93797233] [ 0.28753934 0.95734106 -0.02862192 0.7108705 ] [ 0.18023964 -0.02473697 0.98331163 0.40454722] [ 0. 0. 0. 1. ]] SLAMing on 129.48241403699998 meters Centerline goodness : 0.802014 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.71, Z:0.40 [[ 0.9390731 -0.29280378 -0.18002128 2.94280703] [ 0.2921374 0.95587988 -0.03081228 0.70834594] [ 0.18110067 -0.02365596 0.98318002 0.4035419 ] [ 0. 0. 0. 1. ]] SLAMing on 129.542414037 meters Centerline goodness : 0.800769 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.41 [[ 0.93732209 -0.29732625 -0.18172615 2.94646186] [ 0.29703781 0.95441152 -0.02944816 0.70224641] [ 0.18219724 -0.02637713 0.98290814 0.40658641] [ 0. 0. 0. 1. ]] SLAMing on 129.602414037 meters Centerline goodness : 0.798634 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.41 [[ 0.93606619 -0.30135994 -0.18155517 2.94976566] [ 0.30080712 0.95317301 -0.03124551 0.69855003] [ 0.18246963 -0.02536522 0.98288425 0.40619916] [ 0. 0. 0. 1. ]] SLAMing on 129.662414037 meters Centerline goodness : 0.797346 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.40 [[ 0.93404092 -0.30749661 -0.1816959 2.95639485] [ 0.30630069 0.95127928 -0.03532154 0.69814655] [ 0.1837048 -0.02266182 0.9827202 0.4032106 ] [ 0. 0. 0. 1. ]] SLAMing on 129.722414037 meters Centerline goodness : 0.801349 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.69, Z:0.41 [[ 0.93444275 -0.30603712 -0.18209344 2.95569327] [ 0.3053434 0.95168616 -0.03254024 0.69408582] [ 0.18325433 -0.02519404 0.98274265 0.40502262] [ 0. 0. 0. 1. ]] SLAMing on 129.782414037 meters Centerline goodness : 0.791111 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.69, Z:0.41 [[ 0.93515175 -0.30258569 -0.18420942 2.95589878] [ 0.30272192 0.95266529 -0.0280765 0.69399073] [ 0.18398547 -0.02950844 0.98248593 0.4069561 ] [ 0. 0. 0. 1. ]] SLAMing on 129.842414037 meters Centerline goodness : 0.798002 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.69, Z:0.41 [[ 0.93609862 -0.29846938 -0.18610589 2.95510748] [ 0.29951165 0.9538114 -0.0231645 0.69326575] [ 0.18442382 -0.03405662 0.98225659 0.40933301] [ 0. 0. 0. 1. ]] SLAMing on 129.902414037 meters Centerline goodness : 0.799634 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.69, Z:0.41 [[ 0.93603558 -0.29850266 -0.1863694 2.95698735] [ 0.29950951 0.95380618 -0.02340578 0.69331724] [ 0.18474697 -0.03391077 0.9822009 0.40817545] [ 0. 0. 0. 1. ]] SLAMing on 129.962414037 meters Centerline goodness : 0.799132 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.41 [[ 0.93566278 -0.29916628 -0.1871756 2.95931135] [ 0.29993951 0.95363427 -0.02485888 0.6983964 ] [ 0.18593401 -0.03288183 0.98201188 0.40678281] [ 0. 0. 0. 1. ]] SLAMing on 130.02241403699998 meters Centerline goodness : 0.800022 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.40 [[ 0.93656348 -0.29699708 -0.18612247 2.95995208] [ 0.29755777 0.9543611 -0.02557845 0.69900695] [ 0.18522477 -0.03142635 0.98219355 0.40322396] [ 0. 0. 0. 1. ]] SLAMing on 130.08241403699998 meters Centerline goodness : 0.799051 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.40 [[ 0.93754719 -0.29280416 -0.18780572 2.95931977] [ 0.2941102 0.95552931 -0.02151567 0.70038563] [ 0.18575374 -0.03506362 0.98197051 0.4045143 ] [ 0. 0. 0. 1. ]] SLAMing on 130.14241403699998 meters Centerline goodness : 0.799662 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.41 [[ 0.93874536 -0.2879269 -0.18935484 2.95762504] [ 0.29001456 0.95686755 -0.01720624 0.70161742] [ 0.18614164 -0.03876339 0.98175796 0.40636916] [ 0. 0. 0. 1. ]] SLAMing on 130.20241403699998 meters Centerline goodness : 0.798199 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.41 [[ 0.93918801 -0.28668353 -0.18904614 2.95769679] [ 0.28864332 0.95727327 -0.01768951 0.7024184 ] [ 0.18604011 -0.03795313 0.98180886 0.40515554] [ 0. 0. 0. 1. ]] SLAMing on 130.26241403699999 meters Centerline goodness : 0.799787 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.40 [[ 0.93844002 -0.28842148 -0.19011411 2.96160751] [ 0.29027257 0.95676208 -0.01865901 0.70414545] [ 0.18727563 -0.03767455 0.98158467 0.40393519] [ 0. 0. 0. 1. ]] SLAMing on 130.322414037 meters Centerline goodness : 0.796586 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.41 [[ 0.93776304 -0.28981117 -0.19133729 2.96326521] [ 0.29188657 0.95628573 -0.01788389 0.70350966] [ 0.18815607 -0.03907794 0.98136141 0.40542608] [ 0. 0. 0. 1. ]] SLAMing on 130.382414037 meters Centerline goodness : 0.794242 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.41 [[ 0.93681063 -0.29185089 -0.19289608 2.96650983] [ 0.29406476 0.95562143 -0.01770889 0.70411393] [ 0.18950399 -0.04013407 0.98105937 0.4059926 ] [ 0. 0. 0. 1. ]] SLAMing on 130.442414037 meters Centerline goodness : 0.793851 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:0.41 [[ 0.93651974 -0.29239538 -0.19348312 2.96833923] [ 0.29460912 0.95545032 -0.01789301 0.70506601] [ 0.19009534 -0.04024473 0.98094043 0.40540968] [ 0. 0. 0. 1. ]] SLAMing on 130.502414037 meters Centerline goodness : 0.793172 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.40 [[ 0.93653227 -0.29222625 -0.19367788 2.97029019] [ 0.29445958 0.95549784 -0.01781643 0.70426604] [ 0.19026522 -0.04034465 0.98090339 0.40422992] [ 0. 0. 0. 1. ]] SLAMing on 130.562414037 meters Centerline goodness : 0.790625 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.40 [[ 0.93643206 -0.29233803 -0.1939935 2.97249762] [ 0.29460456 0.95545484 -0.0177255 0.70370026] [ 0.19053387 -0.04055265 0.98084266 0.40302428] [ 0. 0. 0. 1. ]] SLAMing on 130.622414037 meters Centerline goodness : 0.792143 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.41 [[ 0.93602829 -0.29280175 -0.19523878 2.97374002] [ 0.29555791 0.95519849 -0.01553602 0.70071234] [ 0.19104076 -0.04316221 0.98063268 0.40519667] [ 0. 0. 0. 1. ]] SLAMing on 130.682414037 meters Centerline goodness : 0.792735 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.40 [[ 0.93589195 -0.29285786 -0.1958074 2.97605184] [ 0.29566314 0.95516778 -0.01542146 0.70098698] [ 0.19154521 -0.04346021 0.98052111 0.40419673] [ 0. 0. 0. 1. ]] SLAMing on 130.742414037 meters Centerline goodness : 0.793089 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.40 [[ 0.93665618 -0.29062639 -0.19547761 2.97692739] [ 0.29342927 0.95586117 -0.01512267 0.70056643] [ 0.1912445 -0.04319411 0.98059156 0.40206427] [ 0. 0. 0. 1. ]] SLAMing on 130.80241403699998 meters Centerline goodness : 0.793512 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.40 [[ 0.93836637 -0.28461006 -0.19612665 2.97528175] [ 0.28823133 0.95750384 -0.01044549 0.69870514] [ 0.19076491 -0.04672815 0.98052294 0.4024331 ] [ 0. 0. 0. 1. ]] SLAMing on 130.86241403699998 meters Centerline goodness : 0.796667 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.40 [[ 0.93978198 -0.27961898 -0.19652751 2.97422063] [ 0.28365569 0.95889374 -0.00788891 0.70067369] [ 0.19065489 -0.04833229 0.98046657 0.40148885] [ 0. 0. 0. 1. ]] SLAMing on 130.92241403699998 meters Centerline goodness : 0.792195 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.70, Z:0.40 [[ 0.940244 -0.27946211 -0.19453058 2.9748298 ] [ 0.28286585 0.95910049 -0.01063752 0.6998126 ] [ 0.18954716 -0.04502419 0.98083877 0.39773427] [ 0. 0. 0. 1. ]] SLAMing on 130.98241403699998 meters Centerline goodness : 0.792821 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.40 [[ 0.94056906 -0.27855161 -0.19426489 2.97634293] [ 0.28197831 0.95936485 -0.01035981 0.69779008] [ 0.18925665 -0.04503437 0.9808944 0.39598175] [ 0. 0. 0. 1. ]] SLAMing on 131.042414037 meters Centerline goodness : 0.794763 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.40 [[ 0.94096034 -0.27614473 -0.19580023 2.97632117] [ 0.28040783 0.95986113 -0.00616928 0.69616342] [ 0.18964465 -0.04909887 0.9806244 0.39788595] [ 0. 0. 0. 1. ]] SLAMing on 131.102414037 meters Centerline goodness : 0.790711 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.69, Z:0.40 [[ 0.94089243 -0.27613051 -0.19614631 2.97860093] [ 0.28052244 0.95983117 -0.00559393 0.69443749] [ 0.189812 -0.04976015 0.98055868 0.39680993] [ 0. 0. 0. 1. ]] SLAMing on 131.162414037 meters Centerline goodness : 0.795284 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.69, Z:0.40 [[ 0.94046316 -0.27711234 -0.19681922 2.9796745 ] [ 0.2817346 0.95948091 -0.0046895 0.69176463] [ 0.19014381 -0.05104048 0.98042858 0.39817143] [ 0. 0. 0. 1. ]] SLAMing on 131.222414037 meters Centerline goodness : 0.797789 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.69, Z:0.40 [[ 9.40056858e-01 -2.77719174e-01 -1.97901907e-01 2.98222870e+00] [ 2.82788782e-01 9.59178258e-01 -2.75217222e-03 6.88356297e-01] [ 1.90587537e-01 -5.33772408e-02 9.80217966e-01 3.98898662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282414037 meters Centerline goodness : 0.797904 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.40 [[ 9.40098702e-01 -2.77072854e-01 -1.98607816e-01 2.98265017e+00] [ 2.82751094e-01 9.59193287e-01 2.39236775e-04 6.83389408e-01] [ 1.90436998e-01 -5.63814833e-02 9.80079016e-01 4.00812770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342414037 meters Centerline goodness : 0.790735 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.68, Z:0.40 [[ 9.39804249e-01 -2.77558294e-01 -1.99322267e-01 2.98540743e+00] [ 2.83355591e-01 9.59014738e-01 5.83445308e-04 6.82428771e-01] [ 1.90991052e-01 -5.70274031e-02 9.79933821e-01 4.00141387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402414037 meters Centerline goodness : 0.791620 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.68, Z:0.40 [[ 9.39463788e-01 -2.79657504e-01 -1.97988562e-01 2.98787522e+00] [ 2.84906576e-01 9.58553083e-01 -2.05643810e-03 6.79656276e-01] [ 1.90357645e-01 -5.44762942e-02 9.80202173e-01 3.97265276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462414037 meters Centerline goodness : 0.788621 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.68, Z:0.40 [[ 9.39521059e-01 -2.79149292e-01 -1.98433496e-01 2.99005837e+00] [ 2.84731019e-01 9.58607359e-01 -4.22195919e-04 6.76236568e-01] [ 1.90337665e-01 -5.61035094e-02 9.80114263e-01 3.96723911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52241403699998 meters Centerline goodness : 0.792910 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.68, Z:0.40 [[ 9.39491473e-01 -2.78875400e-01 -1.98957992e-01 2.99131710e+00] [ 2.84578519e-01 9.58652732e-01 7.25175248e-05 6.76311420e-01] [ 1.90711400e-01 -5.66873004e-02 9.80008016e-01 3.96503425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58241403699998 meters Centerline goodness : 0.787767 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.67, Z:0.40 [[ 0.94066183 -0.27437945 -0.19967784 2.99011492] [ 0.28106905 0.9596724 0.00539136 0.67109456] [ 0.19014604 -0.06119471 0.97984677 0.39817085] [ 0. 0. 0. 1. ]] SLAMing on 131.64241403699998 meters Centerline goodness : 0.793532 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.67, Z:0.40 [[ 0.94067739 -0.27469864 -0.19916504 2.9915485 ] [ 0.28115339 0.95965314 0.00431414 0.67024799] [ 0.18994427 -0.06005414 0.97995647 0.3963962 ] [ 0. 0. 0. 1. ]] SLAMing on 131.70241403699998 meters Centerline goodness : 0.793027 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.67, Z:0.40 [[ 0.93995615 -0.27588142 -0.20092755 2.99523508] [ 0.28275644 0.95917436 0.00577456 0.66848951] [ 0.19113146 -0.06224139 0.97958908 0.39713515] [ 0. 0. 0. 1. ]] SLAMing on 131.76241403699999 meters Centerline goodness : 0.794169 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.66, Z:0.40 [[ 0.93915065 -0.277481 -0.20248543 2.99779418] [ 0.28495915 0.95850491 0.00816188 0.66360652] [ 0.19181851 -0.06536531 0.97925126 0.39960812] [ 0. 0. 0. 1. ]] SLAMing on 131.822414037 meters Centerline goodness : 0.790827 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.66, Z:0.40 [[ 0.93807604 -0.28136658 -0.2021044 3.00146556] [ 0.28821654 0.95755384 0.00467766 0.663573 ] [ 0.1922097 -0.06263783 0.97935281 0.39760805] [ 0. 0. 0. 1. ]] SLAMing on 131.882414037 meters Centerline goodness : 0.790355 with order 2 Centerline is valid? [False, False] Translation: X:3.00, Y:0.66, Z:0.40 [[ 0.9375301 -0.28375019 -0.2013036 3.00385358] [ 0.29035894 0.95691155 0.00345946 0.65879599] [ 0.19164812 -0.06169365 0.97952279 0.39646447] [ 0. 0. 0. 1. ]] SLAMing on 131.942414037 meters Centerline goodness : 0.794714 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.66, Z:0.40 [[ 0.93775473 -0.28153639 -0.20335517 3.00412008] [ 0.28912339 0.95725854 0.00798461 0.65729531] [ 0.19241551 -0.06628235 0.97907248 0.39930813] [ 0. 0. 0. 1. ]] SLAMing on 132.002414037 meters Centerline goodness : 0.793320 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.93736086 -0.28212994 -0.20434606 3.00771425] [ 0.28970499 0.9570865 0.00751356 0.65889681] [ 0.19345705 -0.06624299 0.97886988 0.39782753] [ 0. 0. 0. 1. ]] SLAMing on 132.062414037 meters Centerline goodness : 0.790408 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.93724639 -0.2823372 -0.20458474 3.00916865] [ 0.28998551 0.95699943 0.00777836 0.65772589] [ 0.19359136 -0.06661685 0.97881795 0.39743417] [ 0. 0. 0. 1. ]] SLAMing on 132.122414037 meters Centerline goodness : 0.790100 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.93806904 -0.27849389 -0.20607675 3.00850577] [ 0.28709111 0.9578225 0.01243987 0.65611666] [ 0.19392052 -0.07083226 0.97845676 0.39944488] [ 0. 0. 0. 1. ]] SLAMing on 132.182414037 meters Centerline goodness : 0.794717 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.93867073 -0.27521172 -0.20773967 3.00932967] [ 0.28457324 0.95852073 0.01600288 0.6562138 ] [ 0.1947186 -0.07413858 0.97805324 0.40028877] [ 0. 0. 0. 1. ]] SLAMing on 132.242414037 meters Centerline goodness : 0.792545 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.93818335 -0.27698979 -0.20757806 3.0132599 ] [ 0.28546443 0.95832113 0.01143091 0.66131239] [ 0.19576019 -0.06998044 0.97815167 0.39550276] [ 0. 0. 0. 1. ]] SLAMing on 132.30241403699998 meters Centerline goodness : 0.790743 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.39 [[ 0.93880072 -0.2752303 -0.20712673 3.01311743] [ 0.28375765 0.95882034 0.01204808 0.65972942] [ 0.19528133 -0.07008454 0.97823993 0.39461653] [ 0. 0. 0. 1. ]] SLAMing on 132.36241403699998 meters Centerline goodness : 0.795752 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.94050246 -0.269117 -0.20743956 3.0111543 ] [ 0.27861543 0.96024415 0.01745314 0.65513967] [ 0.19449568 -0.07421058 0.97809213 0.39551238] [ 0. 0. 0. 1. ]] SLAMing on 132.42241403699998 meters Centerline goodness : 0.791520 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:0.66, Z:0.40 [[ 0.94033911 -0.26921394 -0.20805339 3.01223584] [ 0.27886141 0.96016356 0.0179515 0.6551571 ] [ 0.19493249 -0.07489856 0.97795272 0.39586558] [ 0. 0. 0. 1. ]] SLAMing on 132.48241403699998 meters Centerline goodness : 0.795499 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.65, Z:0.40 [[ 0.94030617 -0.26898545 -0.20849731 3.01330822] [ 0.27885808 0.96014574 0.01892943 0.65353258] [ 0.19509607 -0.07594062 0.97783974 0.39613212] [ 0. 0. 0. 1. ]] SLAMing on 132.542414037 meters Centerline goodness : 0.792006 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.40 [[ 0.93981893 -0.27002644 -0.20934686 3.01512761] [ 0.280349 0.95967426 0.02073055 0.64836439] [ 0.19530699 -0.07817314 0.97762167 0.39790768] [ 0. 0. 0. 1. ]] SLAMing on 132.602414037 meters Centerline goodness : 0.796308 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.40 [[ 0.9395389 -0.27018224 -0.21040011 3.01689872] [ 0.28081372 0.95951413 0.02182385 0.64730103] [ 0.19598546 -0.07958759 0.97737174 0.3988128 ] [ 0. 0. 0. 1. ]] SLAMing on 132.662414037 meters Centerline goodness : 0.790567 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.40 [[ 0.93847189 -0.27239587 -0.21229932 3.02078749] [ 0.28322057 0.95880796 0.02175801 0.64870573] [ 0.19762748 -0.08054682 0.97696243 0.39950375] [ 0. 0. 0. 1. ]] SLAMing on 132.722414037 meters Centerline goodness : 0.786987 with order 2 Centerline is valid? [False, False] Translation: X:3.03, Y:0.65, Z:0.40 [[ 0.93693282 -0.27769494 -0.21223196 3.02687838] [ 0.28766402 0.95758062 0.01699351 0.65031569] [ 0.1985102 -0.07697327 0.97707155 0.39587082] [ 0. 0. 0. 1. ]] SLAMing on 132.782414037 meters Centerline goodness : 0.789327 with order 2 Centerline is valid? [False, False] Translation: X:3.03, Y:0.64, Z:0.40 [[ 0.93722833 -0.27683569 -0.21204963 3.02504585] [ 0.28755157 0.95753824 0.02084757 0.6430148 ] [ 0.19727428 -0.08051414 0.9770365 0.39931741] [ 0. 0. 0. 1. ]] SLAMing on 132.842414037 meters Centerline goodness : 0.789566 with order 2 Centerline is valid? [False, False] Translation: X:3.03, Y:0.64, Z:0.40 [[ 0.93718683 -0.2752693 -0.21426072 3.02531295] [ 0.28689245 0.9576481 0.02455284 0.64323358] [ 0.19842773 -0.08448038 0.97646787 0.40231831] [ 0. 0. 0. 1. ]] SLAMing on 132.902414037 meters Centerline goodness : 0.795839 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:0.64, Z:0.40 [[ 0.93664884 -0.2761978 -0.21541525 3.02771551] [ 0.28788691 0.95735671 0.02427458 0.64477449] [ 0.19952465 -0.08475199 0.97622078 0.40238564] [ 0. 0. 0. 1. ]] SLAMing on 132.962414037 meters Centerline goodness : 0.792989 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:0.64, Z:0.40 [[ 0.93662752 -0.27613466 -0.2155888 3.03062686] [ 0.28776543 0.95740213 0.02392106 0.64426618] [ 0.19979975 -0.08444413 0.9761912 0.40019938] [ 0. 0. 0. 1. ]] SLAMing on 133.02241403699998 meters Centerline goodness : 0.787925 with order 2 Centerline is valid? [False, False] Translation: X:3.03, Y:0.65, Z:0.40 [[ 0.93731969 -0.27415527 -0.21510621 3.02934973] [ 0.28578174 0.95798602 0.02432255 0.64556794] [ 0.19940058 -0.08427143 0.97628773 0.39938412] [ 0. 0. 0. 1. ]] SLAMing on 133.08241403699998 meters Centerline goodness : 0.788103 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.40 [[ 0.9385353 -0.26965593 -0.21549284 3.02482226] [ 0.28196263 0.95901763 0.0279689 0.64663273] [ 0.19911946 -0.08701073 0.9761048 0.40204167] [ 0. 0. 0. 1. ]] SLAMing on 133.14241403699998 meters Centerline goodness : 0.786490 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.40 [[ 0.93945948 -0.26708898 -0.21466102 3.02492629] [ 0.27902226 0.95991117 0.02677904 0.64921377] [ 0.19890312 -0.08505302 0.97632143 0.39873234] [ 0. 0. 0. 1. ]] SLAMing on 133.20241403699998 meters Centerline goodness : 0.788108 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:0.66, Z:0.39 [[ 0.93983893 -0.26689075 -0.21324192 3.02609983] [ 0.27783846 0.96036279 0.02256339 0.65500712] [ 0.19876764 -0.08045276 0.97673885 0.39328739] [ 0. 0. 0. 1. ]] SLAMing on 133.26241403699999 meters Centerline goodness : 0.788739 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.66, Z:0.39 [[ 0.94042537 -0.26528955 -0.21265366 3.02430458] [ 0.2760943 0.96087242 0.02227411 0.65753534] [ 0.19842395 -0.0796596 0.97687373 0.39261168] [ 0. 0. 0. 1. ]] SLAMing on 133.322414037 meters Centerline goodness : 0.788672 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.66, Z:0.39 [[ 0.94111099 -0.26343033 -0.21193056 3.0214594 ] [ 0.27425753 0.96138405 0.02288042 0.65736291] [ 0.19771927 -0.07965656 0.97701685 0.39333576] [ 0. 0. 0. 1. ]] SLAMing on 133.382414037 meters Centerline goodness : 0.789861 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.40 [[ 0.94170262 -0.2611246 -0.21215587 3.01960009] [ 0.27241603 0.96184618 0.02532662 0.65459768] [ 0.19744791 -0.0816448 0.97690759 0.39535583] [ 0. 0. 0. 1. ]] SLAMing on 133.442414037 meters Centerline goodness : 0.793028 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.66, Z:0.40 [[ 0.9418536 -0.26034382 -0.21244504 3.01972747] [ 0.27172961 0.96202899 0.02575352 0.65527462] [ 0.19767352 -0.08198365 0.97683359 0.39546957] [ 0. 0. 0. 1. ]] SLAMing on 133.502414037 meters Centerline goodness : 0.791293 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.66, Z:0.39 [[ 0.94298657 -0.25763157 -0.21071853 3.01710649] [ 0.26873879 0.96287852 0.02538535 0.65502751] [ 0.19635628 -0.08056629 0.97721711 0.39376881] [ 0. 0. 0. 1. ]] SLAMing on 133.562414037 meters Centerline goodness : 0.791509 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.39 [[ 0.94395377 -0.25534668 -0.20916347 3.01658519] [ 0.26630814 0.96354934 0.02554675 0.65174618] [ 0.19501604 -0.07981688 0.97754693 0.39142837] [ 0. 0. 0. 1. ]] SLAMing on 133.622414037 meters Centerline goodness : 0.790963 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.39 [[ 0.94516623 -0.2523837 -0.20727583 3.01683072] [ 0.26323759 0.9643779 0.02610055 0.64744347] [ 0.19330488 -0.07923215 0.9779343 0.38764148] [ 0. 0. 0. 1. ]] SLAMing on 133.682414037 meters Centerline goodness : 0.790721 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.65, Z:0.39 [[ 0.94580072 -0.25057157 -0.206579 3.01634099] [ 0.26148523 0.96483307 0.0268816 0.64621436] [ 0.19257849 -0.079442 0.97806058 0.38644035] [ 0. 0. 0. 1. ]] SLAMing on 133.742414037 meters Centerline goodness : 0.793735 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.63, Z:0.38 [[ 0.94729356 -0.24746381 -0.20346149 3.0140525 ] [ 0.25837313 0.9656248 0.02849683 0.63410266] [ 0.18941552 -0.07956384 0.97866815 0.38496398] [ 0. 0. 0. 1. ]] SLAMing on 133.80241403699998 meters Centerline goodness : 0.793047 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:0.62, Z:0.39 [[ 0.94806131 -0.24477214 -0.20314121 3.01255771] [ 0.2564365 0.96600377 0.03281815 0.62480967] [ 0.18820221 -0.08320644 0.97859931 0.38733807] [ 0. 0. 0. 1. ]] SLAMing on 133.86241403699998 meters Centerline goodness : 0.797643 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.62, Z:0.39 [[ 0.94824884 -0.24306976 -0.2043067 3.01372379] [ 0.25563784 0.96605884 0.03714316 0.61657225] [ 0.18834392 -0.08744949 0.978202 0.39027851] [ 0. 0. 0. 1. ]] SLAMing on 133.92241403699998 meters Centerline goodness : 0.798434 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.61, Z:0.39 [[ 0.94767653 -0.24553766 -0.20401092 3.01757735] [ 0.25797721 0.96546606 0.03637386 0.60939127] [ 0.18803447 -0.08710082 0.97829264 0.38939035] [ 0. 0. 0. 1. ]] SLAMing on 133.98241403699998 meters Centerline goodness : 0.795235 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:0.60, Z:0.39 [[ 0.94569774 -0.24958965 -0.20823256 3.02621414] [ 0.26345454 0.96378798 0.04128489 0.59543542] [ 0.19038776 -0.09390284 0.97720763 0.39120944] [ 0. 0. 0. 1. ]] SLAMing on 134.042414037 meters Centerline goodness : 0.796679 with order 2 Centerline is valid? [False, False] Translation: X:3.03, Y:0.59, Z:0.39 [[ 0.94435781 -0.25098621 -0.2125894 3.03375276] [ 0.26629227 0.9627826 0.04623951 0.58752457] [ 0.19307189 -0.10027755 0.97604695 0.39296314] [ 0. 0. 0. 1. ]] SLAMing on 134.102414037 meters Centerline goodness : 0.794356 with order 2 Centerline is valid? [False, False] Translation: X:3.04, Y:0.57, Z:0.39 [[ 0.94201087 -0.25812092 -0.21445074 3.04125003] [ 0.27408938 0.9605118 0.04787574 0.57225457] [ 0.19362473 -0.10387814 0.97556076 0.39466278] [ 0. 0. 0. 1. ]] SLAMing on 134.162414037 meters Centerline goodness : 0.795102 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.56, Z:0.40 [[ 0.93984169 -0.26242753 -0.21869931 3.04923253] [ 0.28002798 0.95851497 0.05322949 0.55779658] [ 0.19565768 -0.11126922 0.97433938 0.39795937] [ 0. 0. 0. 1. ]] SLAMing on 134.222414037 meters Centerline goodness : 0.793695 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.55, Z:0.40 [[ 0.93917844 -0.26355596 -0.22018655 3.05126107] [ 0.28177052 0.95788697 0.05529847 0.55361861] [ 0.19633959 -0.11397721 0.97388909 0.4006115 ] [ 0. 0. 0. 1. ]] SLAMing on 134.282414037 meters Centerline goodness : 0.792044 with order 2 Centerline is valid? [False, False] Translation: X:3.06, Y:0.55, Z:0.40 [[ 0.93799325 -0.26731398 -0.22070774 3.05643376] [ 0.28555469 0.95679742 0.05474682 0.54635482] [ 0.19653801 -0.11437628 0.97380228 0.40088462] [ 0. 0. 0. 1. ]] SLAMing on 134.342414037 meters Centerline goodness : 0.796854 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.54, Z:0.40 [[ 0.93840813 -0.26653161 -0.2198888 3.05579346] [ 0.2850634 0.9568265 0.05676191 0.53858052] [ 0.19526659 -0.11594809 0.97387217 0.4019947 ] [ 0. 0. 0. 1. ]] SLAMing on 134.402414037 meters Centerline goodness : 0.796317 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.54, Z:0.40 [[ 0.93921448 -0.26265712 -0.22110494 3.05510517] [ 0.28190611 0.95756622 0.05996571 0.54045821] [ 0.1959722 -0.1186515 0.9734047 0.40265667] [ 0. 0. 0. 1. ]] SLAMing on 134.462414037 meters Centerline goodness : 0.797120 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.54, Z:0.40 [[ 0.93970477 -0.26118544 -0.22076482 3.05447495] [ 0.28030697 0.9580531 0.05968471 0.54254744] [ 0.19591565 -0.11796793 0.97349917 0.40150744] [ 0. 0. 0. 1. ]] SLAMing on 134.52241403699998 meters Centerline goodness : 0.794656 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.54, Z:0.40 [[ 0.94045069 -0.25916554 -0.21996757 3.0533719 ] [ 0.27832622 0.95857516 0.06056545 0.53975338] [ 0.19515897 -0.11818156 0.97362523 0.40115692] [ 0. 0. 0. 1. ]] SLAMing on 134.58241403699998 meters Centerline goodness : 0.796473 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.54, Z:0.40 [[ 0.94206158 -0.25322572 -0.21999253 3.051069 ] [ 0.27303205 0.95985104 0.0643387 0.54008795] [ 0.19486784 -0.12067603 0.97337753 0.40084191] [ 0. 0. 0. 1. ]] SLAMing on 134.64241403699998 meters Centerline goodness : 0.795164 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.54, Z:0.40 [[ 0.94332932 -0.24791409 -0.22060917 3.04947567] [ 0.26854011 0.96082745 0.06853341 0.53908243] [ 0.19497695 -0.12389198 0.97295157 0.40165981] [ 0. 0. 0. 1. ]] SLAMing on 134.70241403699998 meters Centerline goodness : 0.795912 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.53, Z:0.40 [[ 0.94464557 -0.24389193 -0.21945722 3.04903075] [ 0.26478372 0.96169167 0.07098392 0.53155327] [ 0.19373778 -0.12516334 0.97303639 0.40091623] [ 0. 0. 0. 1. ]] SLAMing on 134.76241403699999 meters Centerline goodness : 0.795047 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.53, Z:0.40 [[ 0.94499574 -0.24216221 -0.21986475 3.05223241] [ 0.26339381 0.96195444 0.07257653 0.5279349 ] [ 0.19392458 -0.12649553 0.97282688 0.39935941] [ 0. 0. 0. 1. ]] SLAMing on 134.822414037 meters Centerline goodness : 0.792661 with order 3 Centerline is valid? [False, False] Translation: X:3.05, Y:0.52, Z:0.40 [[ 0.94519393 -0.24092284 -0.22037381 3.0531756 ] [ 0.26279325 0.96188971 0.07555063 0.52062214] [ 0.19377343 -0.12932274 0.97248521 0.40135441] [ 0. 0. 0. 1. ]] SLAMing on 134.882414037 meters Centerline goodness : 0.793737 with order 3 Centerline is valid? [False, False] Translation: X:3.06, Y:0.51, Z:0.40 [[ 0.94454991 -0.24310769 -0.2207354 3.05626495] [ 0.26535302 0.96107223 0.07699315 0.50692439] [ 0.19342504 -0.13129668 0.97229005 0.40492451] [ 0. 0. 0. 1. ]] SLAMing on 134.942414037 meters Centerline goodness : 0.798389 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.50, Z:0.41 [[ 0.94374504 -0.24682262 -0.22005432 3.05519749] [ 0.26882952 0.96018981 0.0759356 0.4992075 ] [ 0.19255129 -0.13082094 0.97252757 0.40863879] [ 0. 0. 0. 1. ]] SLAMing on 135.002414037 meters Centerline goodness : 0.805619 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.49, Z:0.41 [[ 0.94299377 -0.24973571 -0.21998822 3.05606942] [ 0.27182494 0.95932977 0.07614193 0.48560988] [ 0.19202589 -0.13159965 0.9725264 0.41366342] [ 0. 0. 0. 1. ]] SLAMing on 135.062414037 meters Centerline goodness : 0.809242 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.48, Z:0.42 [[ 0.94239484 -0.2515025 -0.22054127 3.0601823 ] [ 0.27381113 0.95871943 0.07671062 0.4758799 ] [ 0.19214429 -0.13267835 0.97235643 0.41509741] [ 0. 0. 0. 1. ]] SLAMing on 135.122414037 meters Centerline goodness : 0.813091 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.47, Z:0.42 [[ 0.94166073 -0.25435856 -0.22040143 3.06199207] [ 0.27657006 0.95797856 0.07606628 0.46869626] [ 0.19179173 -0.13258506 0.97243875 0.41693 ] [ 0. 0. 0. 1. ]] SLAMing on 135.182414037 meters Centerline goodness : 0.820874 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:0.43 [[ 0.94006028 -0.25655115 -0.22465125 3.06692844] [ 0.28296308 0.95451164 0.09401816 0.44554358] [ 0.19031176 -0.15195075 0.96989298 0.42971514] [ 0. 0. 0. 1. ]] SLAMing on 135.242414037 meters Centerline goodness : 0.805945 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.43 [[ 0.93732731 -0.26754307 -0.22324475 3.07183598] [ 0.292465 0.95234298 0.08664334 0.43688576] [ 0.18942475 -0.14650444 0.97090407 0.4304504 ] [ 0. 0. 0. 1. ]] SLAMing on 135.30241403699998 meters Centerline goodness : 0.806471 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.43 [[ 0.93641847 -0.27137171 -0.22243614 3.07355507] [ 0.29575413 0.951547 0.08418909 0.43301405] [ 0.18881191 -0.14462263 0.97130549 0.43038556] [ 0. 0. 0. 1. ]] SLAMing on 135.36241403699998 meters Centerline goodness : 0.807788 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.43 [[ 0.93702146 -0.27439934 -0.21609208 3.06400569] [ 0.29668104 0.95179776 0.07785486 0.4198623 ] [ 0.18431264 -0.1370621 0.97326401 0.42987243] [ 0. 0. 0. 1. ]] SLAMing on 135.42241403699998 meters Centerline goodness : 0.808163 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.42, Z:0.43 [[ 0.93683718 -0.27986946 -0.20978364 3.06721244] [ 0.29905232 0.95198943 0.06545104 0.41560012] [ 0.18139406 -0.12405325 0.97555471 0.43379592] [ 0. 0. 0. 1. ]] SLAMing on 135.48241403699998 meters Centerline goodness : 0.809676 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.42, Z:0.44 [[ 0.93663905 -0.2828354 -0.20666743 3.07650225] [ 0.29984065 0.95237123 0.05553933 0.41564272] [ 0.18111563 -0.1139876 0.97683364 0.43578234] [ 0. 0. 0. 1. ]] SLAMing on 135.542414037 meters Centerline goodness : 0.809985 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.42, Z:0.44 [[ 0.93637275 -0.28837387 -0.20011644 3.08254758] [ 0.30243664 0.9521993 0.04299513 0.41578337] [ 0.17815206 -0.10078201 0.97882829 0.43847636] [ 0. 0. 0. 1. ]] SLAMing on 135.602414037 meters Centerline goodness : 0.814170 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.41, Z:0.44 [[ 0.9332739 -0.30003053 -0.19743735 3.08260382] [ 0.31230539 0.94938976 0.03353244 0.41171452] [ 0.17738424 -0.0929557 0.97974184 0.44042915] [ 0. 0. 0. 1. ]] SLAMing on 135.662414037 meters Centerline goodness : 0.812685 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.44 [[ 0.92995324 -0.31191537 -0.19466834 3.08533851] [ 0.32241536 0.94629461 0.02397605 0.40860614] [ 0.1767351 -0.08506067 0.98057605 0.44002469] [ 0. 0. 0. 1. ]] SLAMing on 135.722414037 meters Centerline goodness : 0.811236 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.44 [[ 0.92781406 -0.31923753 -0.19299862 3.0896848 ] [ 0.32873541 0.94424108 0.01848795 0.40500604] [ 0.17633518 -0.08059886 0.98102484 0.43814608] [ 0. 0. 0. 1. ]] SLAMing on 135.782414037 meters Centerline goodness : 0.812093 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.9270243 -0.3221909 -0.19188271 3.08878659] [ 0.33122046 0.94341602 0.01610023 0.40328309] [ 0.17583787 -0.07848079 0.98128579 0.4389336 ] [ 0. 0. 0. 1. ]] SLAMing on 135.842414037 meters Centerline goodness : 0.813480 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.9272582 -0.3213533 -0.19215693 3.08951703] [ 0.33053359 0.94364293 0.01689872 0.40177143] [ 0.17589707 -0.07918379 0.98121871 0.43896281] [ 0. 0. 0. 1. ]] SLAMing on 135.902414037 meters Centerline goodness : 0.810628 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.92758125 -0.31958976 -0.19353401 3.09252017] [ 0.32893796 0.94419168 0.01737518 0.40136967] [ 0.17718027 -0.07977757 0.9809397 0.43894196] [ 0. 0. 0. 1. ]] SLAMing on 135.962414037 meters Centerline goodness : 0.813377 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.92765005 -0.31932361 -0.19364354 3.09325912] [ 0.328653 0.94429324 0.01724738 0.40180328] [ 0.17734879 -0.07964106 0.98092034 0.43862028] [ 0. 0. 0. 1. ]] SLAMing on 136.02241403699998 meters Centerline goodness : 0.813234 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.92793171 -0.31853662 -0.1935902 3.09221338] [ 0.32786455 0.94456556 0.01734175 0.40319033] [ 0.17733465 -0.07956332 0.9809292 0.43913189] [ 0. 0. 0. 1. ]] SLAMing on 136.08241403699998 meters Centerline goodness : 0.814890 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.92747823 -0.32009824 -0.19318706 3.09052101] [ 0.32905882 0.94418486 0.01533737 0.40206571] [ 0.17749483 -0.07779498 0.98104206 0.44158917] [ 0. 0. 0. 1. ]] SLAMing on 136.14241403699998 meters Centerline goodness : 0.812984 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.92617496 -0.32457255 -0.1919703 3.09117356] [ 0.33278001 0.9429373 0.01125665 0.4048725 ] [ 0.17736236 -0.07430951 0.98133618 0.44038825] [ 0. 0. 0. 1. ]] SLAMing on 136.20241403699998 meters Centerline goodness : 0.815376 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.44 [[ 0.92480093 -0.32930807 -0.19052412 3.09249012] [ 0.33677789 0.94155583 0.00729867 0.40498026] [ 0.17698558 -0.07091413 0.98165538 0.43908768] [ 0. 0. 0. 1. ]] SLAMing on 136.26241403699999 meters Centerline goodness : 0.817425 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.44 [[ 9.26014098e-01 -3.33038375e-01 -1.77717000e-01 3.09244564e+00] [ 3.38382153e-01 9.41008742e-01 -2.55337909e-04 4.07085019e-01] [ 1.67318288e-01 -5.98998147e-02 9.84081604e-01 4.38632967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322414037 meters Centerline goodness : 0.815626 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.44 [[ 9.25992567e-01 -3.33334325e-01 -1.77273781e-01 3.09078168e+00] [ 3.38471354e-01 9.40975742e-01 -1.34004977e-03 4.12138258e-01] [ 1.67257012e-01 -5.87612205e-02 9.84160663e-01 4.38391386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382414037 meters Centerline goodness : 0.815194 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.44 [[ 9.25854848e-01 -3.33691845e-01 -1.77320480e-01 3.09189878e+00] [ 3.38741884e-01 9.40877419e-01 -1.90224490e-03 4.13217528e-01] [ 1.67471599e-01 -5.83046707e-02 9.84151324e-01 4.37712564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442414037 meters Centerline goodness : 0.813899 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.42, Z:0.44 [[ 0.92449686 -0.33815287 -0.17594941 3.09288327] [ 0.3424225 0.93952396 -0.0064462 0.41572372] [ 0.16748848 -0.05428955 0.9843781 0.43646822] [ 0. 0. 0. 1. ]] SLAMing on 136.502414037 meters Centerline goodness : 0.813227 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:0.43 [[ 0.92377552 -0.340387 -0.17542939 3.09542307] [ 0.34428153 0.93882619 -0.00869517 0.41958803] [ 0.16765743 -0.05236472 0.98445362 0.43351209] [ 0. 0. 0. 1. ]] SLAMing on 136.562414037 meters Centerline goodness : 0.812518 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.42, Z:0.43 [[ 0.92342185 -0.34151185 -0.17510496 3.09490754] [ 0.345238 0.93846515 -0.00968934 0.42146171] [ 0.16763893 -0.05150554 0.98450209 0.43342782] [ 0. 0. 0. 1. ]] SLAMing on 136.622414037 meters Centerline goodness : 0.811914 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:0.43 [[ 0.9239386 -0.34749177 -0.15995917 3.09300991] [ 0.35022934 0.93659123 -0.01167388 0.42541501] [ 0.15387293 -0.04523645 0.9870546 0.43028838] [ 0. 0. 0. 1. ]] SLAMing on 136.682414037 meters Centerline goodness : 0.808185 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:0.43 [[ 0.92303337 -0.35013472 -0.15942107 3.09460473] [ 0.35248301 0.93570979 -0.01424471 0.42958993] [ 0.15415942 -0.04304488 0.9871079 0.42833554] [ 0. 0. 0. 1. ]] SLAMing on 136.742414037 meters Centerline goodness : 0.804228 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:0.42 [[ 0.92247899 -0.35160408 -0.159396 3.09738591] [ 0.35363574 0.93523961 -0.01639012 0.43862766] [ 0.15483628 -0.04124858 0.98707866 0.42416158] [ 0. 0. 0. 1. ]] SLAMing on 136.80241403699998 meters Centerline goodness : 0.805001 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.45, Z:0.42 [[ 0.92381341 -0.35251956 -0.14932766 3.10052582] [ 0.3533319 0.93524047 -0.02195046 0.44975583] [ 0.14739524 -0.0324841 0.98854409 0.42131842] [ 0. 0. 0. 1. ]] SLAMing on 136.86241403699998 meters Centerline goodness : 0.803701 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.46, Z:0.42 [[ 0.925127 -0.35309166 -0.13952175 3.10221823] [ 0.3529652 0.93526149 -0.02648616 0.46334614] [ 0.13984136 -0.02474326 0.98986472 0.41880159] [ 0. 0. 0. 1. ]] SLAMing on 136.92241403699998 meters Centerline goodness : 0.801296 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.47, Z:0.42 [[ 0.92550008 -0.35226796 -0.13912901 3.0995085 ] [ 0.35212586 0.93557847 -0.02646324 0.47012026] [ 0.13948825 -0.02449919 0.98992061 0.41836093] [ 0. 0. 0. 1. ]] SLAMing on 136.98241403699998 meters Centerline goodness : 0.801195 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.48, Z:0.42 [[ 0.92550519 -0.35284851 -0.13761563 3.09348427] [ 0.35255939 0.93539135 -0.02729269 0.48076063] [ 0.13835466 -0.02325816 0.99010961 0.41796452] [ 0. 0. 0. 1. ]] SLAMing on 137.042414037 meters Centerline goodness : 0.797382 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.49, Z:0.42 [[ 0.92395945 -0.35747388 -0.13605645 3.08902918] [ 0.35667186 0.93371285 -0.03107252 0.49443076] [ 0.13814527 -0.01981775 0.99021368 0.41693013] [ 0. 0. 0. 1. ]] SLAMing on 137.102414037 meters Centerline goodness : 0.802051 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.50, Z:0.42 [[ 0.92333341 -0.35953069 -0.13488181 3.08796641] [ 0.35834664 0.93297624 -0.03380867 0.50206832] [ 0.13799677 -0.01711777 0.99028474 0.41506319] [ 0. 0. 0. 1. ]] SLAMing on 137.162414037 meters Centerline goodness : 0.806342 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.51, Z:0.41 [[ 0.92391519 -0.35700802 -0.13757179 3.06419704] [ 0.35571559 0.93394916 -0.03471869 0.51231488] [ 0.1408799 -0.01685931 0.98988313 0.41356017] [ 0. 0. 0. 1. ]] SLAMing on 137.222414037 meters Centerline goodness : 0.798894 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.52, Z:0.41 [[ 0.92802444 -0.34483292 -0.14092869 3.03337196] [ 0.34496325 0.93830187 -0.0242892 0.52067906] [ 0.14060936 -0.02607425 0.98972175 0.41320523] [ 0. 0. 0. 1. ]] SLAMing on 137.282414037 meters Centerline goodness : 0.791538 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.53, Z:0.42 [[ 0.93193411 -0.33245679 -0.1448147 3.01453617] [ 0.3346953 0.94228006 -0.00934599 0.52818339] [ 0.13956314 -0.03975895 0.98941465 0.41754672] [ 0. 0. 0. 1. ]] SLAMing on 137.342414037 meters Centerline goodness : 0.789556 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.54, Z:0.42 [[ 0.93346232 -0.32751156 -0.14623362 3.01132126] [ 0.33020494 0.94388917 -0.00615965 0.53678628] [ 0.14004568 -0.04253726 0.98923091 0.41761733] [ 0. 0. 0. 1. ]] SLAMing on 137.402414037 meters Centerline goodness : 0.789823 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.54, Z:0.42 [[ 0.93288997 -0.32925022 -0.14598147 3.01265088] [ 0.33160324 0.94337954 -0.00862148 0.54306126] [ 0.14055456 -0.04036504 0.98924976 0.41504115] [ 0. 0. 0. 1. ]] SLAMing on 137.462414037 meters Centerline goodness : 0.789146 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.55, Z:0.42 [[ 0.93102284 -0.33444418 -0.14609438 3.01133547] [ 0.33621624 0.94169323 -0.0131341 0.55432011] [ 0.14196872 -0.03689116 0.98918346 0.41558433] [ 0. 0. 0. 1. ]] SLAMing on 137.52241403699998 meters Centerline goodness : 0.786359 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:0.57, Z:0.42 [[ 0.92836913 -0.33983403 -0.15047789 3.01737358] [ 0.34156453 0.93973862 -0.01500022 0.56978019] [ 0.14650747 -0.03747216 0.98849957 0.41631177] [ 0. 0. 0. 1. ]] SLAMing on 137.58241403699998 meters Centerline goodness : 0.790044 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.58, Z:0.42 [[ 0.92821809 -0.33989112 -0.15127859 3.01618982] [ 0.34158317 0.93972423 -0.01546976 0.57719678] [ 0.14741819 -0.03731491 0.98837011 0.41630921] [ 0. 0. 0. 1. ]] SLAMing on 137.64241403699998 meters Centerline goodness : 0.788342 with order 2 Centerline is valid? [False, False] Translation: X:3.00, Y:0.60, Z:0.42 [[ 0.92996463 -0.33514429 -0.15114262 3.0023132 ] [ 0.33696091 0.94141148 -0.01420486 0.59546775] [ 0.14704807 -0.03771914 0.9884099 0.4233092 ] [ 0. 0. 0. 1. ]] SLAMing on 137.70241403699998 meters Centerline goodness : 0.786956 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.60, Z:0.43 [[ 0.93170495 -0.32620183 -0.15974431 2.99314054] [ 0.32786409 0.94457915 -0.01659437 0.60369496] [ 0.15630425 -0.03691337 0.98701894 0.42526222] [ 0. 0. 0. 1. ]] SLAMing on 137.76241403699999 meters Centerline goodness : 0.792657 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.61, Z:0.43 [[ 0.93344386 -0.31672974 -0.16841865 2.98482189] [ 0.31816181 0.94784315 -0.01914231 0.61218965] [ 0.1656974 -0.03571611 0.98552967 0.42660394] [ 0. 0. 0. 1. ]] SLAMing on 137.822414037 meters Centerline goodness : 0.793403 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.62, Z:0.43 [[ 0.93585247 -0.30425079 -0.17779652 2.97509976] [ 0.30580573 0.95189881 -0.01927436 0.62233978] [ 0.17510853 -0.03633324 0.9838785 0.42857458] [ 0. 0. 0. 1. ]] SLAMing on 137.882414037 meters Centerline goodness : 0.787301 with order 2 Centerline is valid? [False, False] Translation: X:2.97, Y:0.63, Z:0.43 [[ 0.93635076 -0.3017807 -0.17937577 2.97240386] [ 0.30367288 0.95261586 -0.01748705 0.62875944] [ 0.17615346 -0.03809755 0.9836252 0.43114255] [ 0. 0. 0. 1. ]] SLAMing on 137.942414037 meters Centerline goodness : 0.790196 with order 2 Centerline is valid? [False, False] Translation: X:2.97, Y:0.64, Z:0.43 [[ 0.93508538 -0.30373272 -0.18265203 2.974195 ] [ 0.3057817 0.95194011 -0.01753807 0.63750417] [ 0.17920068 -0.03945206 0.98302119 0.43403327] [ 0. 0. 0. 1. ]] SLAMing on 138.002414037 meters Centerline goodness : 0.791557 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.64, Z:0.44 [[ 0.93332619 -0.30042903 -0.19658233 2.97686422] [ 0.30243086 0.95295111 -0.02048776 0.64134673] [ 0.19348847 -0.0403308 0.98027325 0.4352561 ] [ 0. 0. 0. 1. ]] SLAMing on 138.062414037 meters Centerline goodness : 0.788707 with order 2 Centerline is valid? [False, False] Translation: X:2.98, Y:0.65, Z:0.43 [[ 0.93520448 -0.29325784 -0.19847523 2.97684328] [ 0.29588228 0.95507329 -0.01699102 0.64981352] [ 0.19454114 -0.04283523 0.97995862 0.4329989 ] [ 0. 0. 0. 1. ]] SLAMing on 138.122414037 meters Centerline goodness : 0.785981 with order 2 Centerline is valid? [False, False] Translation: X:2.97, Y:0.66, Z:0.43 [[ 0.93864287 -0.28347923 -0.19644107 2.96821077] [ 0.28588864 0.95811918 -0.01659303 0.66171959] [ 0.19291773 -0.04058534 0.98037522 0.43343291] [ 0. 0. 0. 1. ]] SLAMing on 138.182414037 meters Centerline goodness : 0.787969 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.43 [[ 0.94099453 -0.27466909 -0.19770227 2.96474314] [ 0.27796754 0.96052245 -0.01143078 0.66702383] [ 0.19303715 -0.04419851 0.98019546 0.43374319] [ 0. 0. 0. 1. ]] SLAMing on 138.242414037 meters Centerline goodness : 0.793929 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.43 [[ 0.94253274 -0.26907102 -0.19807276 2.96176876] [ 0.27299942 0.96198315 -0.00772893 0.66802985] [ 0.19262229 -0.04678898 0.98015685 0.43447873] [ 0. 0. 0. 1. ]] SLAMing on 138.30241403699998 meters Centerline goodness : 0.790301 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.43 [[ 0.9436397 -0.26437075 -0.19912863 2.9613903 ] [ 0.26894397 0.96314655 -0.00422627 0.66828672] [ 0.19290736 -0.04956637 0.97996425 0.43470353] [ 0. 0. 0. 1. ]] SLAMing on 138.36241403699998 meters Centerline goodness : 0.794237 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.43 [[ 0.94369679 -0.26380696 -0.19960523 2.96401278] [ 0.26833521 0.963315 -0.00451954 0.66937183] [ 0.193475 -0.04929603 0.97986597 0.4328319 ] [ 0. 0. 0. 1. ]] SLAMing on 138.42241403699998 meters Centerline goodness : 0.794784 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.67, Z:0.43 [[ 0.94408016 -0.26309379 -0.19873174 2.96493377] [ 0.26742109 0.96356552 -0.00523903 0.66842783] [ 0.19286941 -0.048199 0.98003992 0.43029971] [ 0. 0. 0. 1. ]] SLAMing on 138.48241403699998 meters Centerline goodness : 0.790395 with order 3 Centerline is valid? [False, False] Translation: X:2.96, Y:0.66, Z:0.43 [[ 9.46780887e-01 -2.54980340e-01 -1.96445864e-01 2.96219237e+00] [ 2.59627738e-01 9.65706345e-01 -2.16625428e-03 6.64569184e-01] [ 1.90261370e-01 -4.89518272e-02 9.80512279e-01 4.26144820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542414037 meters Centerline goodness : 0.786202 with order 2 Centerline is valid? [False, False] Translation: X:2.96, Y:0.66, Z:0.43 [[ 0.94998262 -0.2447314 -0.19400918 2.95573245] [ 0.25021125 0.96818352 0.00387313 0.6574005 ] [ 0.18688862 -0.05222269 0.98099207 0.42550956] [ 0. 0. 0. 1. ]] SLAMing on 138.602414037 meters Centerline goodness : 0.786360 with order 2 Centerline is valid? [False, False] Translation: X:2.96, Y:0.65, Z:0.43 [[ 0.95108279 -0.24073029 -0.19362454 2.95544458] [ 0.24674959 0.96905234 0.00722552 0.65134229] [ 0.18589291 -0.05464885 0.9810491 0.42502173] [ 0. 0. 0. 1. ]] SLAMing on 138.662414037 meters Centerline goodness : 0.787916 with order 2 Centerline is valid? [False, False] Translation: X:2.96, Y:0.64, Z:0.42 [[ 0.95144875 -0.24004487 -0.1926752 2.95649494] [ 0.24628813 0.969157 0.00876794 0.6414006 ] [ 0.18462782 -0.05579586 0.98122342 0.42475296] [ 0. 0. 0. 1. ]] SLAMing on 138.722414037 meters Centerline goodness : 0.786703 with order 2 Centerline is valid? [False, False] Translation: X:2.97, Y:0.63, Z:0.42 [[ 0.94973717 -0.24508837 -0.19475882 2.9680293 ] [ 0.25160459 0.9677877 0.00906107 0.62830356] [ 0.18626443 -0.05760785 0.98080931 0.41967936] [ 0. 0. 0. 1. ]] SLAMing on 138.782414037 meters Centerline goodness : 0.783966 with order 2 Centerline is valid? [False, False] Translation: X:2.98, Y:0.61, Z:0.42 [[ 0.94879399 -0.24659198 -0.19743952 2.97595571] [ 0.25437279 0.96699515 0.01465833 0.61279539] [ 0.18730843 -0.06413098 0.98020547 0.41866433] [ 0. 0. 0. 1. ]] SLAMing on 138.842414037 meters Centerline goodness : 0.786136 with order 2 Centerline is valid? [False, False] Translation: X:2.98, Y:0.60, Z:0.42 [[ 0.9482655 -0.24852805 -0.1975509 2.97915279] [ 0.25652424 0.96641266 0.0155526 0.60375805] [ 0.18705043 -0.06542459 0.98016925 0.41924791] [ 0. 0. 0. 1. ]] SLAMing on 138.902414037 meters Centerline goodness : 0.785517 with order 2 Centerline is valid? [False, False] Translation: X:2.98, Y:0.59, Z:0.42 [[ 0.94726443 -0.25140682 -0.19870761 2.98479339] [ 0.25984984 0.96549616 0.01718196 0.59306363] [ 0.18753177 -0.06791 0.97990819 0.41958599] [ 0. 0. 0. 1. ]] SLAMing on 138.962414037 meters Centerline goodness : 0.785258 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.58, Z:0.42 [[ 0.94542433 -0.25533639 -0.20242571 2.99179384] [ 0.26535029 0.96386544 0.02350835 0.57527515] [ 0.18910861 -0.07593908 0.97901542 0.42291553] [ 0. 0. 0. 1. ]] SLAMing on 139.02241403699998 meters Centerline goodness : 0.788016 with order 2 Centerline is valid? [False, False] Translation: X:3.00, Y:0.56, Z:0.43 [[ 0.94222037 -0.2626438 -0.2079399 3.00356847] [ 0.27579184 0.96052583 0.03645543 0.55642485] [ 0.19015685 -0.09169718 0.97746202 0.4311175 ] [ 0. 0. 0. 1. ]] SLAMing on 139.08241403699998 meters Centerline goodness : 0.790188 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.54, Z:0.43 [[ 0.94046122 -0.26572308 -0.21195266 3.01276807] [ 0.28030661 0.95901526 0.04144797 0.54140243] [ 0.19225215 -0.09839194 0.9764006 0.43157988] [ 0. 0. 0. 1. ]] SLAMing on 139.14241403699998 meters Centerline goodness : 0.789557 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.53, Z:0.43 [[ 0.93878558 -0.26191617 -0.22378909 3.01411225] [ 0.27808123 0.95957286 0.04348291 0.52836255] [ 0.20335305 -0.10305268 0.97366713 0.43301647] [ 0. 0. 0. 1. ]] SLAMing on 139.20241403699998 meters Centerline goodness : 0.791609 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.52, Z:0.44 [[ 0.93907989 -0.26049126 -0.224217 3.01388891] [ 0.27735729 0.95962794 0.04676705 0.52228855] [ 0.20298249 -0.10610621 0.97341645 0.43539149] [ 0. 0. 0. 1. ]] SLAMing on 139.26241403699999 meters Centerline goodness : 0.790562 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.52, Z:0.44 [[ 0.93864971 -0.26145468 -0.2248959 3.01438582] [ 0.27872391 0.95915929 0.04823309 0.51593338] [ 0.20310023 -0.10795784 0.97318827 0.43849736] [ 0. 0. 0. 1. ]] SLAMing on 139.322414037 meters Centerline goodness : 0.791770 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.51, Z:0.44 [[ 0.93767648 -0.26514711 -0.22463267 3.01765946] [ 0.28197209 0.95832603 0.04585808 0.51277859] [ 0.2031122 -0.10634019 0.97336386 0.43777432] [ 0. 0. 0. 1. ]] SLAMing on 139.382414037 meters Centerline goodness : 0.792122 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.51, Z:0.44 [[ 0.93760049 -0.26538524 -0.22466864 3.01823357] [ 0.28221314 0.95825653 0.04582766 0.51239749] [ 0.2031282 -0.10637248 0.97335699 0.43752008] [ 0. 0. 0. 1. ]] SLAMing on 139.442414037 meters Centerline goodness : 0.791448 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.51, Z:0.44 [[ 0.93892491 -0.25497941 -0.23109634 3.01282657] [ 0.27192963 0.96130259 0.04417697 0.51186681] [ 0.2108893 -0.1043208 0.9719274 0.43679287] [ 0. 0. 0. 1. ]] SLAMing on 139.502414037 meters Centerline goodness : 0.792870 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.51, Z:0.44 [[ 0.94041327 -0.24942154 -0.23110989 3.01030831] [ 0.26705817 0.96248711 0.0479427 0.5116586 ] [ 0.21048235 -0.10680573 0.97174571 0.4368168 ] [ 0. 0. 0. 1. ]] SLAMing on 139.562414037 meters Centerline goodness : 0.794547 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.51, Z:0.44 [[ 0.94241619 -0.24224086 -0.2305886 3.00245613] [ 0.26093747 0.96385001 0.0538962 0.51008834] [ 0.20919696 -0.11096185 0.97155756 0.44075368] [ 0. 0. 0. 1. ]] SLAMing on 139.622414037 meters Centerline goodness : 0.795923 with order 3 Centerline is valid? [False, False] Translation: X:3.00, Y:0.51, Z:0.44 [[ 0.94249868 -0.24171558 -0.23080254 3.0020557 ] [ 0.2606008 0.96389519 0.05471091 0.50932614] [ 0.20924498 -0.11171229 0.97146122 0.4416383 ] [ 0. 0. 0. 1. ]] SLAMing on 139.682414037 meters Centerline goodness : 0.790614 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.51, Z:0.44 [[ 0.94141557 -0.2462068 -0.23047544 3.00581388] [ 0.26465345 0.9629202 0.05237596 0.50511142] [ 0.20903414 -0.11030367 0.97166755 0.44056507] [ 0. 0. 0. 1. ]] SLAMing on 139.74241403699997 meters Centerline goodness : 0.792715 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.50, Z:0.44 [[ 0.94041491 -0.2504943 -0.22993998 3.0068551 ] [ 0.26862575 0.96190725 0.05074097 0.49986281] [ 0.20847061 -0.10948537 0.97188115 0.44191035] [ 0. 0. 0. 1. ]] SLAMing on 139.80241403699998 meters Centerline goodness : 0.790135 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.45 [[ 0.93814695 -0.25221759 -0.23720579 3.01591834] [ 0.27292064 0.96026459 0.05836303 0.49225231] [ 0.21306013 -0.11949146 0.96970468 0.44706904] [ 0. 0. 0. 1. ]] SLAMing on 139.86241403699998 meters Centerline goodness : 0.787567 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.44 [[ 0.93695196 -0.25702789 -0.23676506 3.01997863] [ 0.27691183 0.95935617 0.05436524 0.49186363] [ 0.21316863 -0.11650066 0.9700447 0.44499932] [ 0. 0. 0. 1. ]] SLAMing on 139.92241403699998 meters Centerline goodness : 0.790450 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.45 [[ 0.93721776 -0.25580835 -0.23703366 3.01788749] [ 0.27594093 0.95957219 0.05547802 0.49265556] [ 0.21325917 -0.11740227 0.9699161 0.44648707] [ 0. 0. 0. 1. ]] SLAMing on 139.98241403699998 meters Centerline goodness : 0.787102 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.50, Z:0.45 [[ 0.93704911 -0.2564477 -0.23700959 3.01859895] [ 0.27630195 0.95954378 0.05415688 0.49500997] [ 0.21353267 -0.11623386 0.96999664 0.44548636] [ 0. 0. 0. 1. ]] SLAMing on 140.042414037 meters Centerline goodness : 0.786963 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.45 [[ 0.93728498 -0.25630771 -0.23622704 3.0162225 ] [ 0.27612375 0.95957933 0.05443518 0.49292597] [ 0.21272643 -0.11624917 0.97017194 0.44658453] [ 0. 0. 0. 1. ]] SLAMing on 140.102414037 meters Centerline goodness : 0.786892 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.50, Z:0.45 [[ 0.93794089 -0.25298645 -0.23720188 3.01596218] [ 0.27331775 0.96025765 0.05659197 0.49668518] [ 0.21345792 -0.11791141 0.96981061 0.4460977 ] [ 0. 0. 0. 1. ]] SLAMing on 140.162414037 meters Centerline goodness : 0.785794 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.45 [[ 0.93777214 -0.25349262 -0.2373287 3.01563166] [ 0.27392128 0.960067 0.05690775 0.49491607] [ 0.21342576 -0.11837588 0.9697611 0.44737964] [ 0. 0. 0. 1. ]] SLAMing on 140.222414037 meters Centerline goodness : 0.785682 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.45 [[ 0.93764795 -0.25377894 -0.23751332 3.01593101] [ 0.27432139 0.95993008 0.0572888 0.49309577] [ 0.21345749 -0.11887171 0.96969346 0.44817241] [ 0. 0. 0. 1. ]] SLAMing on 140.282414037 meters Centerline goodness : 0.786098 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.45 [[ 0.9365531 -0.25872592 -0.23649353 3.016851 ] [ 0.27829712 0.95903674 0.05290789 0.49498576] [ 0.21311734 -0.11536652 0.97019151 0.44702663] [ 0. 0. 0. 1. ]] SLAMing on 140.342414037 meters Centerline goodness : 0.782461 with order 3 Centerline is valid? [False, False] Translation: X:3.02, Y:0.50, Z:0.45 [[ 0.9363445 -0.25978988 -0.2361529 3.01500925] [ 0.27923763 0.95879024 0.05241782 0.4954959 ] [ 0.21280347 -0.11502392 0.97030108 0.44821093] [ 0. 0. 0. 1. ]] SLAMing on 140.402414037 meters Centerline goodness : 0.789028 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.50, Z:0.45 [[ 0.93749767 -0.25505218 -0.23674144 3.01041076] [ 0.27531367 0.95970378 0.056312 0.49531823] [ 0.21283916 -0.11797052 0.96993941 0.45139632] [ 0. 0. 0. 1. ]] SLAMing on 140.462414037 meters Centerline goodness : 0.784817 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.50, Z:0.45 [[ 0.93764308 -0.2494521 -0.24207254 3.00967373] [ 0.26839491 0.96210404 0.04816636 0.49979264] [ 0.22088376 -0.11013389 0.96906186 0.44549964] [ 0. 0. 0. 1. ]] SLAMing on 140.52241403699998 meters Centerline goodness : 0.785939 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:0.50, Z:0.45 [[ 0.93883302 -0.24467 -0.24234097 3.00775873] [ 0.26414426 0.96313892 0.05090415 0.50247234] [ 0.22095331 -0.11180347 0.9688548 0.44501784] [ 0. 0. 0. 1. ]] SLAMing on 140.58241403699998 meters Centerline goodness : 0.788267 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.50, Z:0.45 [[ 0.94301725 -0.23652667 -0.23403759 2.99074811] [ 0.25481406 0.96565434 0.05080828 0.50050047] [ 0.2139819 -0.10754915 0.97089903 0.44607338] [ 0. 0. 0. 1. ]] SLAMing on 140.64241403699998 meters Centerline goodness : 0.783190 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.50, Z:0.45 [[ 0.94419366 -0.23079478 -0.23501509 2.99094578] [ 0.24995823 0.96669958 0.05488906 0.50050707] [ 0.21452088 -0.11056986 0.97044067 0.44565706] [ 0. 0. 0. 1. ]] SLAMing on 140.70241403699998 meters Centerline goodness : 0.787579 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.50, Z:0.44 [[ 0.9444534 -0.22960851 -0.23513337 2.99274001] [ 0.24897831 0.96689522 0.05588763 0.49813601] [ 0.21451706 -0.11132637 0.97035502 0.44458393] [ 0. 0. 0. 1. ]] SLAMing on 140.76241403699999 meters Centerline goodness : 0.784180 with order 3 Centerline is valid? [False, False] Translation: X:2.99, Y:0.49, Z:0.44 [[ 0.94438679 -0.23081671 -0.23421623 2.9940725 ] [ 0.25002649 0.96664589 0.05551999 0.49181645] [ 0.21358922 -0.11099261 0.9705979 0.44413278] [ 0. 0. 0. 1. ]] SLAMing on 140.822414037 meters Centerline goodness : 0.794233 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.48, Z:0.45 [[ 0.94350374 -0.23452385 -0.23409239 2.99588495] [ 0.25370066 0.96571564 0.05503885 0.483885 ] [ 0.21315876 -0.11131875 0.97065518 0.44588732] [ 0. 0. 0. 1. ]] SLAMing on 140.882414037 meters Centerline goodness : 0.796649 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.45 [[ 0.9424068 -0.23826952 -0.23472762 2.99858481] [ 0.2577282 0.96461765 0.05557855 0.47415397] [ 0.21317973 -0.11287353 0.970471 0.44901398] [ 0. 0. 0. 1. ]] SLAMing on 140.942414037 meters Centerline goodness : 0.798249 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.46, Z:0.46 [[ 0.938978 -0.24574114 -0.24068986 3.00795821] [ 0.2683006 0.961112 0.0654103 0.45723185] [ 0.21525591 -0.12599606 0.96839552 0.45875496] [ 0. 0. 0. 1. ]] SLAMing on 141.002414037 meters Centerline goodness : 0.803196 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.45, Z:0.46 [[ 0.93696234 -0.25449942 -0.23944022 3.00903612] [ 0.27578374 0.95937874 0.05946222 0.45311009] [ 0.21458076 -0.12174757 0.96908856 0.46042821] [ 0. 0. 0. 1. ]] SLAMing on 141.062414037 meters Centerline goodness : 0.806468 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.45, Z:0.46 [[ 0.9349217 -0.26294311 -0.23829045 3.01152031] [ 0.28292981 0.95765687 0.05332963 0.4494167 ] [ 0.21417783 -0.1172785 0.96972863 0.46092669] [ 0. 0. 0. 1. ]] SLAMing on 141.122414037 meters Centerline goodness : 0.807550 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.45, Z:0.46 [[ 0.93309767 -0.27094 -0.23647462 3.01051001] [ 0.28957601 0.95598498 0.04731218 0.44670016] [ 0.21324743 -0.11262426 0.97048509 0.46242313] [ 0. 0. 0. 1. ]] SLAMing on 141.182414037 meters Centerline goodness : 0.808283 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.45, Z:0.46 [[ 0.93115988 -0.27949735 -0.23414209 3.00738475] [ 0.29656291 0.95415777 0.04041525 0.44635409] [ 0.21211254 -0.10707092 0.97136198 0.46429108] [ 0. 0. 0. 1. ]] SLAMing on 141.24241403699997 meters Centerline goodness : 0.806454 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.45, Z:0.47 [[ 0.92851647 -0.29086293 -0.23077243 3.00119903] [ 0.30595846 0.95151531 0.03174964 0.44867041] [ 0.2103487 -0.10008684 0.97248961 0.4668028 ] [ 0. 0. 0. 1. ]] SLAMing on 141.30241403699998 meters Centerline goodness : 0.804141 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.45, Z:0.47 [[ 0.92724419 -0.29615476 -0.22915186 2.99680789] [ 0.31029168 0.95024417 0.02747884 0.45009666] [ 0.20961223 -0.09658351 0.97300274 0.46908511] [ 0. 0. 0. 1. ]] SLAMing on 141.36241403699998 meters Centerline goodness : 0.800365 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.45, Z:0.47 [[ 0.9264378 -0.29734455 -0.23086625 2.98029338] [ 0.31015271 0.95046679 0.02044938 0.45390336] [ 0.21335019 -0.09054887 0.97277058 0.46784289] [ 0. 0. 0. 1. ]] SLAMing on 141.42241403699998 meters Centerline goodness : 0.798623 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.47, Z:0.47 [[ 0.92605499 -0.29227518 -0.23874121 2.97023486] [ 0.30499777 0.95219504 0.01734818 0.46722539] [ 0.22225775 -0.08888091 0.97092825 0.46541029] [ 0. 0. 0. 1. ]] SLAMing on 141.48241403699998 meters Centerline goodness : 0.794809 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.47, Z:0.46 [[ 0.92653454 -0.28642683 -0.24391274 2.95601573] [ 0.29890066 0.95416737 0.01493426 0.47313597] [ 0.228456 -0.08674278 0.96968219 0.46437786] [ 0. 0. 0. 1. ]] SLAMing on 141.542414037 meters Centerline goodness : 0.789955 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.49, Z:0.46 [[ 0.92813116 -0.28103097 -0.24411912 2.95131412] [ 0.29397523 0.95565225 0.01753117 0.48612297] [ 0.22836619 -0.0880362 0.96958677 0.46253016] [ 0. 0. 0. 1. ]] SLAMing on 141.602414037 meters Centerline goodness : 0.790345 with order 3 Centerline is valid? [False, False] Translation: X:2.95, Y:0.49, Z:0.46 [[ 0.9286884 -0.27936928 -0.24390707 2.94760876] [ 0.29226686 0.95617436 0.01762594 0.49371776] [ 0.22829354 -0.08765496 0.96963842 0.46228744] [ 0. 0. 0. 1. ]] SLAMing on 141.662414037 meters Centerline goodness : 0.793579 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.51, Z:0.46 [[ 0.92862677 -0.27920329 -0.24433143 2.94472779] [ 0.29192235 0.95629581 0.01672308 0.50524017] [ 0.22898398 -0.0868553 0.96954757 0.46179144] [ 0. 0. 0. 1. ]] SLAMing on 141.722414037 meters Centerline goodness : 0.788969 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.52, Z:0.46 [[ 0.92802416 -0.28022585 -0.2454478 2.94361821] [ 0.29272859 0.95607399 0.01524786 0.51754216] [ 0.23039342 -0.08599997 0.96928988 0.46149833] [ 0. 0. 0. 1. ]] SLAMing on 141.782414037 meters Centerline goodness : 0.789787 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.52, Z:0.46 [[ 0.92801122 -0.27940737 -0.24642787 2.94376923] [ 0.29200301 0.95629396 0.01536551 0.52391865] [ 0.23136425 -0.08621705 0.96903932 0.46085389] [ 0. 0. 0. 1. ]] SLAMing on 141.842414037 meters Centerline goodness : 0.794685 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.53, Z:0.46 [[ 0.92806064 -0.27870603 -0.2470352 2.9419578 ] [ 0.29118106 0.95655473 0.01471898 0.53257017] [ 0.23220042 -0.08559208 0.96889471 0.46075187] [ 0. 0. 0. 1. ]] SLAMing on 141.902414037 meters Centerline goodness : 0.793887 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.54, Z:0.46 [[ 0.92901862 -0.27339676 -0.24935641 2.94094066] [ 0.28682086 0.95780655 0.01845034 0.54142226] [ 0.23379094 -0.08866133 0.96823601 0.46086556] [ 0. 0. 0. 1. ]] SLAMing on 141.962414037 meters Centerline goodness : 0.797254 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.55, Z:0.46 [[ 0.93058417 -0.26642155 -0.25106308 2.93585222] [ 0.28083862 0.95948488 0.02276927 0.55023599] [ 0.234825 -0.09169693 0.96770289 0.462926 ] [ 0. 0. 0. 1. ]] SLAMing on 142.02241403699998 meters Centerline goodness : 0.796418 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.56, Z:0.46 [[ 0.93282771 -0.25614591 -0.25342007 2.93504363] [ 0.27194312 0.96188283 0.02878116 0.56003775] [ 0.23638824 -0.0957637 0.96692808 0.46093408] [ 0. 0. 0. 1. ]] SLAMing on 142.08241403699998 meters Centerline goodness : 0.797462 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.56, Z:0.46 [[ 0.93369281 -0.25260211 -0.25379109 2.93365827] [ 0.26869083 0.96275078 0.03026827 0.56478938] [ 0.23669174 -0.0964526 0.96678535 0.45993744] [ 0. 0. 0. 1. ]] SLAMing on 142.14241403699998 meters Centerline goodness : 0.796952 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.58, Z:0.46 [[ 0.93677081 -0.2445452 -0.250316 2.92452422] [ 0.259547 0.96531709 0.02825384 0.58022972] [ 0.23472498 -0.09143614 0.96775184 0.45784642] [ 0. 0. 0. 1. ]] SLAMing on 142.20241403699998 meters Centerline goodness : 0.800641 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.46 [[ 0.93786896 -0.24073248 -0.24989935 2.9220079 ] [ 0.2557041 0.96632678 0.02877437 0.58501656] [ 0.23455751 -0.09088688 0.96784418 0.45640279] [ 0. 0. 0. 1. ]] SLAMing on 142.26241403699999 meters Centerline goodness : 0.799695 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.46 [[ 0.93887016 -0.23707593 -0.2496354 2.91900347] [ 0.25200915 0.96728487 0.02917818 0.59128936] [ 0.2345511 -0.09030492 0.9679002 0.45545889] [ 0. 0. 0. 1. ]] SLAMing on 142.322414037 meters Centerline goodness : 0.799227 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.45 [[ 0.94102967 -0.24054452 -0.2379107 2.91867599] [ 0.25376159 0.9669144 0.02610739 0.60211204] [ 0.22375929 -0.08494043 0.9709361 0.4516974 ] [ 0. 0. 0. 1. ]] SLAMing on 142.382414037 meters Centerline goodness : 0.799845 with order 2 Centerline is valid? [False, False] Translation: X:2.91, Y:0.61, Z:0.45 [[ 0.94165102 -0.23948753 -0.23651446 2.91480675] [ 0.25227468 0.96733516 0.02490338 0.60538492] [ 0.22282471 -0.08311691 0.97130877 0.45126022] [ 0. 0. 0. 1. ]] SLAMing on 142.442414037 meters Centerline goodness : 0.799494 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.45 [[ 0.939829 -0.24559379 -0.23749765 2.91914225] [ 0.25815986 0.96583226 0.02283693 0.60370741] [ 0.22377428 -0.08277517 0.97111963 0.45230776] [ 0. 0. 0. 1. ]] SLAMing on 142.502414037 meters Centerline goodness : 0.796358 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.60, Z:0.45 [[ 0.93723511 -0.25366985 -0.23925292 2.92511391] [ 0.26582817 0.96382446 0.01943673 0.60431774] [ 0.22566731 -0.08181696 0.97076272 0.45325779] [ 0. 0. 0. 1. ]] SLAMing on 142.562414037 meters Centerline goodness : 0.798480 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.61, Z:0.45 [[ 0.93674413 -0.25794932 -0.23658527 2.93125266] [ 0.27180813 0.96196194 0.02737803 0.60573601] [ 0.22052388 -0.08995201 0.97122492 0.45425979] [ 0. 0. 0. 1. ]] SLAMing on 142.622414037 meters Centerline goodness : 0.797611 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.60, Z:0.45 [[ 0.9365156 -0.25802162 -0.23740972 2.93307551] [ 0.27213908 0.96184579 0.0281601 0.60451892] [ 0.22108562 -0.09098084 0.97100136 0.4546797 ] [ 0. 0. 0. 1. ]] SLAMing on 142.682414037 meters Centerline goodness : 0.799808 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.60, Z:0.45 [[ 0.93689451 -0.25708686 -0.23692829 2.93353207] [ 0.27113791 0.96212785 0.02818232 0.60368035] [ 0.22071 -0.0906441 0.97111829 0.45326964] [ 0. 0. 0. 1. ]] SLAMing on 142.74241403699997 meters Centerline goodness : 0.798595 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.60, Z:0.45 [[ 0.93800185 -0.25385127 -0.23603404 2.93404061] [ 0.26767494 0.96310414 0.02793825 0.60472626] [ 0.2202332 -0.08938653 0.97134308 0.44962385] [ 0. 0. 0. 1. ]] SLAMing on 142.80241403699998 meters Centerline goodness : 0.793136 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.61, Z:0.45 [[ 0.94046402 -0.24607171 -0.23446989 2.93163715] [ 0.26012011 0.96509446 0.03049928 0.60551924] [ 0.21878058 -0.08967381 0.97164482 0.4453766 ] [ 0. 0. 0. 1. ]] SLAMing on 142.86241403699998 meters Centerline goodness : 0.795859 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.44 [[ 0.94504552 -0.2371102 -0.22509489 2.91649382] [ 0.25011597 0.96772874 0.03070981 0.59997175] [ 0.21054918 -0.085322 0.97385276 0.44452641] [ 0. 0. 0. 1. ]] SLAMing on 142.92241403699998 meters Centerline goodness : 0.798890 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.60, Z:0.45 [[ 0.94548385 -0.23569759 -0.22473749 2.91516731] [ 0.24883186 0.96803073 0.0316102 0.59832207] [ 0.21010235 -0.08580878 0.97390649 0.44510386] [ 0. 0. 0. 1. ]] SLAMing on 142.98241403699998 meters Centerline goodness : 0.797256 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.45 [[ 0.94441093 -0.23961817 -0.2251025 2.91916226] [ 0.2526685 0.96706782 0.03063438 0.59310174] [ 0.21034883 -0.08580775 0.97385338 0.44523292] [ 0. 0. 0. 1. ]] SLAMing on 143.042414037 meters Centerline goodness : 0.799680 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:0.59, Z:0.44 [[ 0.94364128 -0.24281877 -0.22490035 2.92259633] [ 0.2557375 0.9662883 0.02975327 0.58698604] [ 0.21009393 -0.08559187 0.9739274 0.44473366] [ 0. 0. 0. 1. ]] SLAMing on 143.102414037 meters Centerline goodness : 0.797540 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.58, Z:0.45 [[ 0.94264473 -0.24649415 -0.2250812 2.92611129] [ 0.25955198 0.96526574 0.02991342 0.57964895] [ 0.20988969 -0.08661799 0.97388071 0.44516008] [ 0. 0. 0. 1. ]] SLAMing on 143.162414037 meters Centerline goodness : 0.799744 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.57, Z:0.45 [[ 0.94243836 -0.24776171 -0.22455303 2.92664777] [ 0.26116836 0.96477519 0.03162161 0.56970073] [ 0.20880857 -0.08844756 0.97394867 0.44718384] [ 0. 0. 0. 1. ]] SLAMing on 143.222414037 meters Centerline goodness : 0.798468 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.56, Z:0.45 [[ 0.94214503 -0.24955039 -0.22380203 2.92874258] [ 0.26271436 0.96438783 0.03061487 0.56452062] [ 0.20819201 -0.08763966 0.97415367 0.44629251] [ 0. 0. 0. 1. ]] SLAMing on 143.282414037 meters Centerline goodness : 0.795684 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:0.56, Z:0.44 [[ 0.94215923 -0.24980876 -0.22345373 2.93299848] [ 0.26281863 0.9643783 0.03001449 0.56033852] [ 0.20799604 -0.08700623 0.97425231 0.44336193] [ 0. 0. 0. 1. ]] SLAMing on 143.342414037 meters Centerline goodness : 0.795267 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.55, Z:0.44 [[ 0.94285031 -0.24795052 -0.22260691 2.935216 ] [ 0.26105244 0.96482624 0.03101524 0.55463598] [ 0.20708674 -0.08735481 0.97441481 0.44097534] [ 0. 0. 0. 1. ]] SLAMing on 143.402414037 meters Centerline goodness : 0.806099 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.54, Z:0.44 [[ 0.94385491 -0.24369311 -0.22305063 2.93628248] [ 0.25801757 0.96542981 0.03704343 0.5429306 ] [ 0.2063125 -0.0925146 0.97410277 0.44251632] [ 0. 0. 0. 1. ]] SLAMing on 143.462414037 meters Centerline goodness : 0.805864 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.54, Z:0.44 [[ 0.9441661 -0.24234994 -0.22319694 2.937509 ] [ 0.25705282 0.96561381 0.03890783 0.5386072 ] [ 0.20609273 -0.09410886 0.97399656 0.44241961] [ 0. 0. 0. 1. ]] SLAMing on 143.52241403699998 meters Centerline goodness : 0.803149 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.53, Z:0.44 [[ 0.94542609 -0.2393234 -0.22111945 2.93893049] [ 0.25400837 0.96636957 0.04011986 0.52843191] [ 0.20408149 -0.09409656 0.97442115 0.43913583] [ 0. 0. 0. 1. ]] SLAMing on 143.58241403699998 meters Centerline goodness : 0.798875 with order 3 Centerline is valid? [False, False] Translation: X:2.93, Y:0.52, Z:0.44 [[ 0.94925239 -0.23698494 -0.20678015 2.93472814] [ 0.25089089 0.96703966 0.04345166 0.51837582] [ 0.18966721 -0.09312585 0.97742208 0.438814 ] [ 0. 0. 0. 1. ]] SLAMing on 143.64241403699998 meters Centerline goodness : 0.795129 with order 2 Centerline is valid? [False, False] Translation: X:2.94, Y:0.50, Z:0.44 [[ 0.94757383 -0.23440724 -0.2171568 2.93657296] [ 0.24917677 0.96750596 0.04293205 0.50259404] [ 0.20003692 -0.09479172 0.97519217 0.43919135] [ 0. 0. 0. 1. ]] SLAMing on 143.70241403699998 meters Centerline goodness : 0.801542 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.49, Z:0.44 [[ 0.94703611 -0.23621932 -0.2175386 2.94289591] [ 0.25114961 0.96697733 0.04334415 0.49062296] [ 0.20011617 -0.0956832 0.97508884 0.43898175] [ 0. 0. 0. 1. ]] SLAMing on 143.76241403699999 meters Centerline goodness : 0.806683 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.47, Z:0.44 [[ 0.9475745 -0.23398592 -0.21760782 2.94390898] [ 0.25033001 0.96684526 0.05044926 0.47208168] [ 0.19858868 -0.1022782 0.97473161 0.44191953] [ 0. 0. 0. 1. ]] SLAMing on 143.822414037 meters Centerline goodness : 0.810837 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.46, Z:0.45 [[ 0.9472305 -0.23476711 -0.2182631 2.9464764 ] [ 0.25160153 0.96640976 0.05242946 0.45938987] [ 0.19862288 -0.10457812 0.97448056 0.44502106] [ 0. 0. 0. 1. ]] SLAMing on 143.882414037 meters Centerline goodness : 0.804190 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.43, Z:0.46 [[ 0.94490847 -0.23014212 -0.23277153 2.96408645] [ 0.25517877 0.96328472 0.08346461 0.42980701] [ 0.20501653 -0.13826477 0.96894328 0.46068706] [ 0. 0. 0. 1. ]] SLAMing on 143.942414037 meters Centerline goodness : 0.805765 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.42, Z:0.46 [[ 0.94345082 -0.23649413 -0.23231677 2.96832929] [ 0.26087306 0.96204645 0.08007413 0.42043552] [ 0.20456246 -0.13615119 0.96933846 0.46168138] [ 0. 0. 0. 1. ]] SLAMing on 144.002414037 meters Centerline goodness : 0.805580 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.41, Z:0.46 [[ 0.94185199 -0.24331002 -0.23176509 2.97132197] [ 0.2670058 0.9606488 0.07656228 0.41069867] [ 0.20401649 -0.13399296 0.96975418 0.46379189] [ 0. 0. 0. 1. ]] SLAMing on 144.062414037 meters Centerline goodness : 0.804962 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.40, Z:0.46 [[ 0.93930567 -0.25477515 -0.22977051 2.97513695] [ 0.2767503 0.95849303 0.06855936 0.40119138] [ 0.20276621 -0.12798725 0.97082703 0.46425272] [ 0. 0. 0. 1. ]] SLAMing on 144.122414037 meters Centerline goodness : 0.808548 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.39, Z:0.47 [[ 0.93452877 -0.27556251 -0.22521385 2.97671395] [ 0.29428425 0.95421369 0.05360052 0.39020306] [ 0.20013184 -0.11636812 0.97283385 0.46612111] [ 0. 0. 0. 1. ]] SLAMing on 144.182414037 meters Centerline goodness : 0.811003 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.38, Z:0.47 [[ 0.9307398 -0.29065932 -0.22190219 2.97466849] [ 0.3070746 0.9507284 0.04266962 0.38370603] [ 0.19856639 -0.10785485 0.97413486 0.4701053 ] [ 0. 0. 0. 1. ]] SLAMing on 144.24241403699997 meters Centerline goodness : 0.809407 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.47 [[ 0.92912268 -0.2961823 -0.22137543 2.98017938] [ 0.31180645 0.94936564 0.03849185 0.38207703] [ 0.19876563 -0.10478994 0.9744287 0.46791267] [ 0. 0. 0. 1. ]] SLAMing on 144.30241403699998 meters Centerline goodness : 0.810338 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.47 [[ 0.9276208 -0.30160502 -0.22034987 2.98316202] [ 0.31635783 0.94802401 0.03417884 0.38107968] [ 0.19858846 -0.10141441 0.9748219 0.46660635] [ 0. 0. 0. 1. ]] SLAMing on 144.36241403699998 meters Centerline goodness : 0.810892 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.47 [[ 0.92544303 -0.30995302 -0.217909 2.98385152] [ 0.32318529 0.94594966 0.02702788 0.38077909] [ 0.19775357 -0.09543775 0.97559477 0.46592544] [ 0. 0. 0. 1. ]] SLAMing on 144.42241403699998 meters Centerline goodness : 0.812487 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.47 [[ 0.92421024 -0.31453979 -0.21656441 2.98235027] [ 0.32691783 0.94477388 0.02295775 0.38226035] [ 0.19738328 -0.09201656 0.97599836 0.46664392] [ 0. 0. 0. 1. ]] SLAMing on 144.48241403699998 meters Centerline goodness : 0.812952 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.47 [[ 0.92381066 -0.31604024 -0.21608433 2.97898641] [ 0.32811114 0.94439441 0.02150053 0.38372843] [ 0.1972738 -0.09076209 0.97613795 0.46889984] [ 0. 0. 0. 1. ]] SLAMing on 144.542414037 meters Centerline goodness : 0.809790 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.39, Z:0.47 [[ 0.9227157 -0.31919338 -0.21612804 2.98173734] [ 0.33064674 0.94358136 0.01808192 0.39055746] [ 0.19816276 -0.0881465 0.97619758 0.46651356] [ 0. 0. 0. 1. ]] SLAMing on 144.602414037 meters Centerline goodness : 0.811656 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.40, Z:0.46 [[ 0.92074229 -0.32621226 -0.2140542 2.98250552] [ 0.33633858 0.94166887 0.0116663 0.39545939] [ 0.19776249 -0.08273634 0.97675212 0.46446428] [ 0. 0. 0. 1. ]] SLAMing on 144.662414037 meters Centerline goodness : 0.811289 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.41, Z:0.46 [[ 9.16746407e-01 -3.40074967e-01 -2.09583017e-01 2.98053986e+00] [ 3.47853877e-01 9.37548722e-01 2.71686949e-04 4.05992721e-01] [ 1.96401896e-01 -7.31533331e-02 9.77790819e-01 4.61817678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722414037 meters Centerline goodness : 0.813249 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.42, Z:0.46 [[ 0.91430802 -0.3487888 -0.20588156 2.97438935] [ 0.3552491 0.93475276 -0.00594607 0.42039739] [ 0.19452227 -0.0677027 0.97855885 0.45899312] [ 0. 0. 0. 1. ]] SLAMing on 144.782414037 meters Centerline goodness : 0.812028 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.44, Z:0.46 [[ 0.91369996 -0.35311144 -0.20115838 2.96367343] [ 0.35763153 0.93374769 -0.01466048 0.43883965] [ 0.19300796 -0.0585453 0.97944902 0.46059677] [ 0. 0. 0. 1. ]] SLAMing on 144.842414037 meters Centerline goodness : 0.814626 with order 2 Centerline is valid? [False, False] Translation: X:2.95, Y:0.45, Z:0.46 [[ 0.91449668 -0.35167504 -0.20005123 2.95497138] [ 0.35614492 0.93431956 -0.01441391 0.45042222] [ 0.19198078 -0.05806576 0.97967941 0.46135329] [ 0. 0. 0. 1. ]] SLAMing on 144.902414037 meters Centerline goodness : 0.820704 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.48, Z:0.46 [[ 0.91566046 -0.34848954 -0.20030218 2.95102613] [ 0.35187941 0.93583986 -0.01961207 0.47576074] [ 0.19428536 -0.05252422 0.97953785 0.45934935] [ 0. 0. 0. 1. ]] SLAMing on 144.962414037 meters Centerline goodness : 0.813480 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.48, Z:0.46 [[ 0.916168 -0.3453218 -0.20344298 2.92767447] [ 0.34885374 0.93697608 -0.01941396 0.48378704] [ 0.19732527 -0.0531854 0.9788943 0.45588741] [ 0. 0. 0. 1. ]] SLAMing on 145.02241403699998 meters Centerline goodness : 0.806418 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.50, Z:0.45 [[ 0.91729562 -0.34239944 -0.20330117 2.92195471] [ 0.34619507 0.93799489 -0.01773573 0.49937916] [ 0.19676817 -0.05411295 0.9789556 0.45359691] [ 0. 0. 0. 1. ]] SLAMing on 145.08241403699998 meters Centerline goodness : 0.804075 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:0.50, Z:0.44 [[ 0.91782613 -0.34052595 -0.20405213 2.89512587] [ 0.34558594 0.93831741 -0.01143644 0.50249483] [ 0.19536007 -0.06002088 0.97889322 0.44326934] [ 0. 0. 0. 1. ]] SLAMing on 145.14241403699998 meters Centerline goodness : 0.803474 with order 3 Centerline is valid? [False, False] Translation: X:2.86, Y:0.51, Z:0.43 [[ 0.9191611 -0.33464469 -0.20773974 2.85926941] [ 0.34358784 0.93909087 0.00746513 0.50520848] [ 0.19258833 -0.07823851 0.97815565 0.43396233] [ 0. 0. 0. 1. ]] SLAMing on 145.20241403699998 meters Centerline goodness : 0.802300 with order 3 Centerline is valid? [False, False] Translation: X:2.86, Y:0.52, Z:0.43 [[ 0.92071306 -0.32965215 -0.20884665 2.85559864] [ 0.33922786 0.94064273 0.01075729 0.51526619] [ 0.19290392 -0.08075098 0.97788924 0.43278899] [ 0. 0. 0. 1. ]] SLAMing on 145.26241403699999 meters Centerline goodness : 0.795952 with order 2 Centerline is valid? [False, False] Translation: X:2.85, Y:0.53, Z:0.43 [[ 0.92127494 -0.32703652 -0.21047469 2.85102868] [ 0.33688111 0.94147443 0.01170499 0.5323635 ] [ 0.19432858 -0.08168846 0.97752923 0.43221594] [ 0. 0. 0. 1. ]] SLAMing on 145.322414037 meters Centerline goodness : 0.797374 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.55, Z:0.43 [[ 0.92198364 -0.32407291 -0.21195027 2.84700836] [ 0.33404004 0.94248231 0.01201442 0.54770114] [ 0.19586584 -0.08187698 0.9772066 0.432114 ] [ 0. 0. 0. 1. ]] SLAMing on 145.382414037 meters Centerline goodness : 0.801190 with order 2 Centerline is valid? [False, False] Translation: X:2.83, Y:0.56, Z:0.43 [[ 0.92409479 -0.31580877 -0.21520605 2.83272822] [ 0.32547641 0.94549614 0.01010699 0.55562542] [ 0.20028461 -0.07938431 0.97651636 0.43298622] [ 0. 0. 0. 1. ]] SLAMing on 145.442414037 meters Centerline goodness : 0.802267 with order 2 Centerline is valid? [False, False] Translation: X:2.82, Y:0.57, Z:0.44 [[ 0.92752378 -0.29921954 -0.22398058 2.81801289] [ 0.30957042 0.95080375 0.01176383 0.57128795] [ 0.20944161 -0.08024899 0.97452261 0.4358695 ] [ 0. 0. 0. 1. ]] SLAMing on 145.502414037 meters Centerline goodness : 0.802654 with order 2 Centerline is valid? [False, False] Translation: X:2.82, Y:0.58, Z:0.43 [[ 0.93082672 -0.28801797 -0.22496059 2.81569555] [ 0.2989557 0.95414262 0.01540597 0.58248212] [ 0.21020729 -0.08159354 0.97424606 0.43207545] [ 0. 0. 0. 1. ]] SLAMing on 145.562414037 meters Centerline goodness : 0.802440 with order 2 Centerline is valid? [False, False] Translation: X:2.80, Y:0.60, Z:0.43 [[ 0.93700003 -0.2697939 -0.22190585 2.80196263] [ 0.28103867 0.95948501 0.02014389 0.59845886] [ 0.20748064 -0.08123895 0.97486 0.43100468] [ 0. 0. 0. 1. ]] SLAMing on 145.622414037 meters Centerline goodness : 0.801634 with order 2 Centerline is valid? [False, False] Translation: X:2.79, Y:0.61, Z:0.43 [[ 0.94197567 -0.25518653 -0.21808637 2.78989249] [ 0.26644598 0.96356652 0.02336888 0.60911056] [ 0.2041773 -0.08012116 0.97564965 0.43048178] [ 0. 0. 0. 1. ]] SLAMing on 145.682414037 meters Centerline goodness : 0.801233 with order 2 Centerline is valid? [False, False] Translation: X:2.79, Y:0.61, Z:0.43 [[ 0.94363852 -0.24966592 -0.21728617 2.78779908] [ 0.2611068 0.96498192 0.02516192 0.6109485 ] [ 0.20339515 -0.08047866 0.97578358 0.42807918] [ 0. 0. 0. 1. ]] SLAMing on 145.74241403699997 meters Centerline goodness : 0.807426 with order 3 Centerline is valid? [False, False] Translation: X:2.78, Y:0.61, Z:0.43 [[ 0.94562962 -0.24274478 -0.21647076 2.78392136] [ 0.2545922 0.96663735 0.02819669 0.61193245] [ 0.20240412 -0.08177539 0.97588184 0.42717255] [ 0. 0. 0. 1. ]] SLAMing on 145.80241403699998 meters Centerline goodness : 0.801158 with order 2 Centerline is valid? [False, False] Translation: X:2.78, Y:0.61, Z:0.42 [[ 0.94626427 -0.24117472 -0.21544997 2.78406078] [ 0.25283318 0.96710835 0.02787152 0.61138721] [ 0.20164156 -0.08084673 0.97611705 0.4246648 ] [ 0. 0. 0. 1. ]] SLAMing on 145.86241403699998 meters Centerline goodness : 0.800034 with order 2 Centerline is valid? [False, False] Translation: X:2.79, Y:0.61, Z:0.42 [[ 0.94686518 -0.24190806 -0.2119595 2.78522019] [ 0.2525528 0.96727909 0.02425389 0.60525633] [ 0.19915678 -0.07649613 0.97697744 0.41939075] [ 0. 0. 0. 1. ]] SLAMing on 145.92241403699998 meters Centerline goodness : 0.802152 with order 2 Centerline is valid? [False, False] Translation: X:2.78, Y:0.60, Z:0.42 [[ 0.94720707 -0.24083329 -0.21165561 2.78422475] [ 0.25168525 0.967473 0.02550534 0.60247977] [ 0.19862856 -0.07742944 0.97701145 0.42009297] [ 0. 0. 0. 1. ]] SLAMing on 145.98241403699998 meters Centerline goodness : 0.802627 with order 2 Centerline is valid? [False, False] Translation: X:2.78, Y:0.60, Z:0.42 [[ 0.94764046 -0.23876916 -0.21205387 2.78475341] [ 0.25021054 0.96777304 0.02846106 0.59640485] [ 0.1984244 -0.08002897 0.97684345 0.42139945] [ 0. 0. 0. 1. ]] SLAMing on 146.042414037 meters Centerline goodness : 0.801638 with order 2 Centerline is valid? [False, False] Translation: X:2.79, Y:0.59, Z:0.42 [[ 0.94728343 -0.24059219 -0.21158806 2.78829286] [ 0.25193028 0.96734159 0.02795311 0.58883917] [ 0.19795263 -0.07978496 0.97695912 0.42031902] [ 0. 0. 0. 1. ]] SLAMing on 146.102414037 meters Centerline goodness : 0.802821 with order 2 Centerline is valid? [False, False] Translation: X:2.80, Y:0.57, Z:0.42 [[ 0.94575243 -0.24534044 -0.21297984 2.79658287] [ 0.25756111 0.96575745 0.03122214 0.56869207] [ 0.19802681 -0.08438374 0.97655761 0.42070731] [ 0. 0. 0. 1. ]] SLAMing on 146.162414037 meters Centerline goodness : 0.807246 with order 3 Centerline is valid? [False, False] Translation: X:2.80, Y:0.56, Z:0.42 [[ 0.94398206 -0.24909963 -0.21644226 2.80479403] [ 0.26229721 0.96438524 0.03407767 0.55930092] [ 0.20024498 -0.08894091 0.9757005 0.42115816] [ 0. 0. 0. 1. ]] SLAMing on 146.222414037 meters Centerline goodness : 0.800418 with order 2 Centerline is valid? [False, False] Translation: X:2.82, Y:0.54, Z:0.42 [[ 0.94131843 -0.25570557 -0.22030495 2.81584507] [ 0.27015694 0.96207988 0.03765021 0.54121956] [ 0.20232359 -0.09495775 0.97470416 0.42200637] [ 0. 0. 0. 1. ]] SLAMing on 146.282414037 meters Centerline goodness : 0.801123 with order 2 Centerline is valid? [False, False] Translation: X:2.83, Y:0.51, Z:0.43 [[ 0.93856174 -0.25972323 -0.2272569 2.82987846] [ 0.27887714 0.95868647 0.05610509 0.5111777 ] [ 0.20329632 -0.11603485 0.97221732 0.43050178] [ 0. 0. 0. 1. ]] SLAMing on 146.342414037 meters Centerline goodness : 0.807154 with order 3 Centerline is valid? [False, False] Translation: X:2.83, Y:0.50, Z:0.43 [[ 0.93789911 -0.26175388 -0.22766241 2.83076029] [ 0.28136874 0.95785349 0.05786473 0.5014888 ] [ 0.20292092 -0.11832837 0.97201929 0.43444726] [ 0. 0. 0. 1. ]] SLAMing on 146.402414037 meters Centerline goodness : 0.806972 with order 3 Centerline is valid? [False, False] Translation: X:2.84, Y:0.48, Z:0.44 [[ 0.93796967 -0.25818132 -0.23142018 2.83520641] [ 0.28065807 0.95728445 0.06955228 0.4810937 ] [ 0.20357784 -0.13018787 0.97036446 0.44069726] [ 0. 0. 0. 1. ]] SLAMing on 146.462414037 meters Centerline goodness : 0.806821 with order 3 Centerline is valid? [False, False] Translation: X:2.84, Y:0.47, Z:0.44 [[ 0.93753371 -0.26086147 -0.23017785 2.83643668] [ 0.28307598 0.95662325 0.06884732 0.47010295] [ 0.20223387 -0.1297045 0.97071015 0.44222075] [ 0. 0. 0. 1. ]] SLAMing on 146.52241403699998 meters Centerline goodness : 0.805915 with order 3 Centerline is valid? [False, False] Translation: X:2.84, Y:0.46, Z:0.45 [[ 0.93835628 -0.25777052 -0.23030816 2.83537684] [ 0.28094566 0.95689133 0.07367846 0.46037217] [ 0.20138774 -0.13384072 0.9703245 0.445258 ] [ 0. 0. 0. 1. ]] SLAMing on 146.58241403699998 meters Centerline goodness : 0.804689 with order 3 Centerline is valid? [False, False] Translation: X:2.83, Y:0.46, Z:0.44 [[ 0.93912937 -0.25588097 -0.22926175 2.83299642] [ 0.27682413 0.95879776 0.0638378 0.45717393] [ 0.20348077 -0.12341714 0.97126916 0.43879041] [ 0. 0. 0. 1. ]] SLAMing on 146.64241403699998 meters Centerline goodness : 0.802140 with order 3 Centerline is valid? [False, False] Translation: X:2.84, Y:0.45, Z:0.43 [[ 0.94054819 -0.25354898 -0.2260133 2.83523775] [ 0.27385986 0.95970162 0.06303626 0.44551622] [ 0.20092255 -0.12118461 0.97208252 0.43370669] [ 0. 0. 0. 1. ]] SLAMing on 146.70241403699998 meters Centerline goodness : 0.807515 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:0.44 [[ 0.94096025 -0.25237932 -0.22560695 2.83042061] [ 0.27324531 0.95967089 0.06609677 0.43849155] [ 0.19982696 -0.12384047 0.97197362 0.43873143] [ 0. 0. 0. 1. ]] SLAMing on 146.76241403699999 meters Centerline goodness : 0.813969 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:0.44 [[ 0.93968959 -0.25706293 -0.22561501 2.83258753] [ 0.27764416 0.958533 0.06425118 0.42733994] [ 0.19974284 -0.12301685 0.9720955 0.44263211] [ 0. 0. 0. 1. ]] SLAMing on 146.822414037 meters Centerline goodness : 0.817210 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.41, Z:0.45 [[ 0.9396916 -0.25460318 -0.22837889 2.83795396] [ 0.27695321 0.95823527 0.07128881 0.41294634] [ 0.20069035 -0.13023977 0.9709588 0.44558815] [ 0. 0. 0. 1. ]] SLAMing on 146.882414037 meters Centerline goodness : 0.807241 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.40, Z:0.45 [[ 0.93995274 -0.25466191 -0.22723589 2.83783955] [ 0.27725551 0.95800139 0.07323055 0.39614893] [ 0.19904327 -0.13183566 0.97108246 0.44883134] [ 0. 0. 0. 1. ]] SLAMing on 146.942414037 meters Centerline goodness : 0.809254 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.38, Z:0.45 [[ 0.94146585 -0.25341333 -0.22231451 2.8275122 ] [ 0.27469063 0.95897008 0.07015307 0.38321504] [ 0.19541524 -0.12711443 0.97244784 0.44870979] [ 0. 0. 0. 1. ]] SLAMing on 147.002414037 meters Centerline goodness : 0.809200 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:0.44 [[ 0.94344557 -0.24946634 -0.21835066 2.80551205] [ 0.26542313 0.96300525 0.04659884 0.36034765] [ 0.19864799 -0.10191879 0.97475717 0.44213323] [ 0. 0. 0. 1. ]] SLAMing on 147.062414037 meters Centerline goodness : 0.809841 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:0.43 [[ 0.94527597 -0.24862631 -0.21127777 2.78288132] [ 0.25916918 0.96555058 0.0233111 0.34371336] [ 0.19820363 -0.07679211 0.97714804 0.43293015] [ 0. 0. 0. 1. ]] SLAMing on 147.122414037 meters Centerline goodness : 0.809676 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:0.43 [[ 0.94777357 -0.24815152 -0.2003649 2.75837919] [ 0.25168245 0.96777622 -0.00807109 0.32460284] [ 0.19591124 -0.04277876 0.97968809 0.43040939] [ 0. 0. 0. 1. ]] SLAMing on 147.182414037 meters Centerline goodness : 0.813368 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:0.43 [[ 0.94960101 -0.25213229 -0.18624506 2.74553156] [ 0.24511588 0.96762456 -0.06017397 0.32224297] [ 0.1953871 0.01148964 0.9806589 0.43427565] [ 0. 0. 0. 1. ]] SLAMing on 147.24241403699997 meters Centerline goodness : 0.815654 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.30, Z:0.43 [[ 0.95057615 -0.25175744 -0.1817228 2.74031034] [ 0.24484573 0.96771044 -0.05989225 0.2976039 ] [ 0.19093337 0.01243809 0.98152419 0.43230946] [ 0. 0. 0. 1. ]] SLAMing on 147.30241403699998 meters Centerline goodness : 0.817765 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.29, Z:0.43 [[ 0.95070434 -0.25748277 -0.17281168 2.74418462] [ 0.24804909 0.96587805 -0.0745066 0.28640401] [ 0.18609918 0.02796796 0.98213283 0.43488784] [ 0. 0. 0. 1. ]] SLAMing on 147.36241403699998 meters Centerline goodness : 0.818680 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.26, Z:0.43 [[ 0.94845107 -0.26331167 -0.17637328 2.75449697] [ 0.25506124 0.96450702 -0.06833714 0.26186721] [ 0.18810724 0.01982844 0.98194832 0.43385851] [ 0. 0. 0. 1. ]] SLAMing on 147.42241403699998 meters Centerline goodness : 0.818906 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.24, Z:0.43 [[ 0.94506521 -0.27410725 -0.17809255 2.76428701] [ 0.26656366 0.96159135 -0.06546665 0.23599697] [ 0.18919714 0.01439725 0.98183357 0.43214441] [ 0. 0. 0. 1. ]] SLAMing on 147.48241403699998 meters Centerline goodness : 0.822315 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.22, Z:0.44 [[ 0.94381469 -0.27922457 -0.17676952 2.76415223] [ 0.2722451 0.96015801 -0.06308089 0.21846196] [ 0.18734041 0.01141203 0.98222876 0.43700277] [ 0. 0. 0. 1. ]] SLAMing on 147.542414037 meters Centerline goodness : 0.821643 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.20, Z:0.44 [[ 0.94215911 -0.28220781 -0.18081752 2.77285891] [ 0.27649715 0.95934758 -0.05658229 0.19845418] [ 0.18943481 0.00331399 0.98188771 0.43773936] [ 0. 0. 0. 1. ]] SLAMing on 147.602414037 meters Centerline goodness : 0.824521 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.19, Z:0.44 [[ 9.42416945e-01 -2.80677610e-01 -1.81852634e-01 2.77760594e+00] [ 2.75433827e-01 9.59801763e-01 -5.40072418e-02 1.90182708e-01] [ 1.89701103e-01 8.08972707e-04 9.81841554e-01 4.36387092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662414037 meters Centerline goodness : 0.828821 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.18, Z:0.44 [[ 9.43222452e-01 -2.78353043e-01 -1.81248419e-01 2.77442825e+00] [ 2.73659485e-01 9.60477552e-01 -5.09250192e-02 1.77252721e-01] [ 1.88260172e-01 -1.56672743e-03 9.82117943e-01 4.39122710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722414037 meters Centerline goodness : 0.829830 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.17, Z:0.44 [[ 0.94361157 -0.27658467 -0.1819289 2.77448787] [ 0.27235514 0.96098151 -0.04834467 0.17058511] [ 0.1882017 -0.00393068 0.98212253 0.44075508] [ 0. 0. 0. 1. ]] SLAMing on 147.782414037 meters Centerline goodness : 0.829748 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.16, Z:0.44 [[ 0.94302035 -0.27827973 -0.18240892 2.77938953] [ 0.27395501 0.96049275 -0.04901358 0.16410814] [ 0.18884193 -0.00375104 0.98200033 0.43949949] [ 0. 0. 0. 1. ]] SLAMing on 147.842414037 meters Centerline goodness : 0.828871 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.16, Z:0.44 [[ 0.94273097 -0.27897322 -0.18284489 2.7834759 ] [ 0.27468628 0.96028999 -0.04889349 0.16120775] [ 0.1892241 -0.00413158 0.98192524 0.43761919] [ 0. 0. 0. 1. ]] SLAMing on 147.902414037 meters Centerline goodness : 0.830346 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.16, Z:0.44 [[ 0.94262866 -0.27920806 -0.18301384 2.78527835] [ 0.27506253 0.96021803 -0.04818646 0.15787383] [ 0.18918724 -0.00491831 0.98192871 0.43697831] [ 0. 0. 0. 1. ]] SLAMing on 147.962414037 meters Centerline goodness : 0.828993 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:0.44 [[ 0.94156691 -0.28334302 -0.18212216 2.78685029] [ 0.2787429 0.9590145 -0.05092724 0.15449291] [ 0.18908767 -0.00281386 0.98195618 0.43634222] [ 0. 0. 0. 1. ]] SLAMing on 148.02241403699998 meters Centerline goodness : 0.832725 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.43 [[ 0.93977709 -0.29351887 -0.17511621 2.77640569] [ 0.29000901 0.95592266 -0.04589818 0.1441408 ] [ 0.18086953 -0.00765122 0.98347734 0.433506 ] [ 0. 0. 0. 1. ]] SLAMing on 148.08241403699998 meters Centerline goodness : 0.834955 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.14, Z:0.43 [[ 0.93859959 -0.30120472 -0.1682454 2.76611713] [ 0.298261 0.95351003 -0.04311605 0.13654849] [ 0.17341044 -0.00971233 0.98480175 0.43349335] [ 0. 0. 0. 1. ]] SLAMing on 148.14241403699998 meters Centerline goodness : 0.836213 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.13, Z:0.43 [[ 0.93567238 -0.31248943 -0.16391323 2.74850248] [ 0.31153924 0.94968937 -0.03214645 0.12896594] [ 0.16571208 -0.02098686 0.98595084 0.42933044] [ 0. 0. 0. 1. ]] SLAMing on 148.20241403699998 meters Centerline goodness : 0.832608 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.13, Z:0.42 [[ 0.93407001 -0.31664962 -0.16506431 2.72929883] [ 0.31686563 0.9481213 -0.0257328 0.12508479] [ 0.16464927 -0.02826697 0.98594706 0.42126899] [ 0. 0. 0. 1. ]] SLAMing on 148.26241403699999 meters Centerline goodness : 0.831115 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.13, Z:0.42 [[ 0.93472411 -0.31447438 -0.16551952 2.73021446] [ 0.31496666 0.94880017 -0.02396344 0.12925068] [ 0.16458084 -0.02973393 0.98591533 0.41907913] [ 0. 0. 0. 1. ]] SLAMing on 148.322414037 meters Centerline goodness : 0.830242 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.14, Z:0.42 [[ 0.93575495 -0.31136852 -0.16556666 2.72606343] [ 0.31214552 0.94977991 -0.02198416 0.13611036] [ 0.16409707 -0.0311091 0.98595354 0.41941259] [ 0. 0. 0. 1. ]] SLAMing on 148.382414037 meters Centerline goodness : 0.826875 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.14, Z:0.42 [[ 0.93649325 -0.30901803 -0.16579581 2.72362394] [ 0.3100087 0.95051197 -0.02053298 0.1416058 ] [ 0.16393596 -0.03216915 0.98594632 0.41947592] [ 0. 0. 0. 1. ]] SLAMing on 148.442414037 meters Centerline goodness : 0.825103 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:0.42 [[ 0.93663373 -0.30862623 -0.16573203 2.72299699] [ 0.30952632 0.9506583 -0.02102968 0.15125504] [ 0.16404484 -0.03160132 0.98594657 0.41740848] [ 0. 0. 0. 1. ]] SLAMing on 148.502414037 meters Centerline goodness : 0.824431 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:0.42 [[ 0.93646009 -0.30950524 -0.16507273 2.71996232] [ 0.3101958 0.95041245 -0.02224262 0.16455818] [ 0.16377139 -0.03037554 0.98603056 0.41597536] [ 0. 0. 0. 1. ]] SLAMing on 148.562414037 meters Centerline goodness : 0.824560 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.17, Z:0.42 [[ 0.93680527 -0.30866666 -0.16468386 2.71663436] [ 0.30930896 0.95069809 -0.02238553 0.17387929] [ 0.16347429 -0.02996731 0.98609235 0.41543713] [ 0. 0. 0. 1. ]] SLAMing on 148.622414037 meters Centerline goodness : 0.824845 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.19, Z:0.41 [[ 0.93816968 -0.31125162 -0.15152584 2.71289974] [ 0.3111805 0.95002726 -0.02479721 0.19024281] [ 0.15167185 -0.02388789 0.98814221 0.41326426] [ 0. 0. 0. 1. ]] SLAMing on 148.682414037 meters Centerline goodness : 0.826461 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.20, Z:0.41 [[ 0.93870887 -0.30966951 -0.15142805 2.70763156] [ 0.30966055 0.95053799 -0.02424603 0.19921778] [ 0.15144637 -0.02413133 0.98817087 0.41466312] [ 0. 0. 0. 1. ]] SLAMing on 148.74241403699997 meters Centerline goodness : 0.821956 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.41 [[ 0.94001056 -0.30535324 -0.15211686 2.7089404 ] [ 0.30527663 0.95195003 -0.02444018 0.21672471] [ 0.15227053 -0.0234637 0.98806029 0.40731476] [ 0. 0. 0. 1. ]] SLAMing on 148.80241403699998 meters Centerline goodness : 0.819450 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.23, Z:0.41 [[ 0.94149308 -0.30028527 -0.15303441 2.70693961] [ 0.30069932 0.953488 -0.0209892 0.22564785] [ 0.15221922 -0.02625615 0.98799794 0.40618361] [ 0. 0. 0. 1. ]] SLAMing on 148.86241403699998 meters Centerline goodness : 0.818677 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.24, Z:0.41 [[ 0.94198474 -0.29896097 -0.15260107 2.70319492] [ 0.29919505 0.95393891 -0.02197451 0.23848243] [ 0.15214162 -0.02495783 0.98804354 0.40563343] [ 0. 0. 0. 1. ]] SLAMing on 148.92241403699998 meters Centerline goodness : 0.815285 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.25, Z:0.40 [[ 0.94334894 -0.29369868 -0.15438223 2.70419323] [ 0.29446732 0.95548459 -0.01839027 0.24756571] [ 0.15291104 -0.02811208 0.98784003 0.40354041] [ 0. 0. 0. 1. ]] SLAMing on 148.98241403699998 meters Centerline goodness : 0.814874 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.26, Z:0.40 [[ 0.94507116 -0.28746778 -0.15557242 2.70383424] [ 0.28866278 0.95730775 -0.01535147 0.25971585] [ 0.15334374 -0.03039974 0.9877052 0.40052788] [ 0. 0. 0. 1. ]] SLAMing on 149.042414037 meters Centerline goodness : 0.814377 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.27, Z:0.40 [[ 0.94783138 -0.28228605 -0.14808868 2.70892401] [ 0.28277197 0.95901435 -0.01820679 0.26892309] [ 0.14715869 -0.02461836 0.98880648 0.3982846 ] [ 0. 0. 0. 1. ]] SLAMing on 149.102414037 meters Centerline goodness : 0.815548 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.28, Z:0.40 [[ 0.95095496 -0.27594631 -0.13977946 2.71310002] [ 0.27596462 0.9609671 -0.01964094 0.28277149] [ 0.13974331 -0.01989653 0.98998785 0.39607867] [ 0. 0. 0. 1. ]] SLAMing on 149.162414037 meters Centerline goodness : 0.816233 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.29, Z:0.39 [[ 0.95373481 -0.27002337 -0.13220172 2.71788163] [ 0.26945594 0.96274968 -0.02250651 0.29407124] [ 0.13335444 -0.01415729 0.99096729 0.39326175] [ 0. 0. 0. 1. ]] SLAMing on 149.222414037 meters Centerline goodness : 0.816704 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.30, Z:0.39 [[ 0.95554364 -0.26741039 -0.12420963 2.72722746] [ 0.26622169 0.9635507 -0.026383 0.30376136] [ 0.12673737 -0.00785719 0.99190519 0.38968376] [ 0. 0. 0. 1. ]] SLAMing on 149.282414037 meters Centerline goodness : 0.818560 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.31, Z:0.39 [[ 0.95775331 -0.26374161 -0.11466893 2.72997772] [ 0.2623012 0.96458701 -0.02774844 0.31495952] [ 0.11792658 -0.00350164 0.99301614 0.3901037 ] [ 0. 0. 0. 1. ]] SLAMing on 149.342414037 meters Centerline goodness : 0.816744 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:0.39 [[ 0.95939949 -0.25994026 -0.10946997 2.74889324] [ 0.25710657 0.96557547 -0.03949961 0.32622971] [ 0.11596906 0.00975046 0.99320497 0.39112358] [ 0. 0. 0. 1. ]] SLAMing on 149.402414037 meters Centerline goodness : 0.813489 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.39 [[ 0.95962527 -0.25817423 -0.11164856 2.75644872] [ 0.25511399 0.96603594 -0.04112689 0.32986766] [ 0.11847443 0.01098329 0.99289636 0.38907273] [ 0. 0. 0. 1. ]] SLAMing on 149.462414037 meters Centerline goodness : 0.813813 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.35, Z:0.39 [[ 0.9630186 -0.2501695 -0.10005201 2.78202115] [ 0.24494457 0.96757317 -0.0616791 0.34869112] [ 0.11223787 0.03489092 0.99306862 0.3908784 ] [ 0. 0. 0. 1. ]] SLAMing on 149.52241403699998 meters Centerline goodness : 0.814743 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:0.40 [[ 0.9652714 -0.24585712 -0.08834818 2.7954995 ] [ 0.23753349 0.96672421 -0.09498492 0.36050097] [ 0.10876105 0.07070058 0.99155053 0.39697344] [ 0. 0. 0. 1. ]] SLAMing on 149.58241403699998 meters Centerline goodness : 0.811997 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:0.40 [[ 0.96824538 -0.23942019 -0.07196429 2.81000147] [ 0.22706488 0.96263453 -0.14756793 0.37571628] [ 0.10460605 0.1265414 0.98643036 0.40248392] [ 0. 0. 0. 1. ]] SLAMing on 149.64241403699998 meters Centerline goodness : 0.815970 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:0.40 [[ 0.97016714 -0.23485201 -0.06016855 2.81191802] [ 0.22424291 0.96361318 -0.14548113 0.37281368] [ 0.09214574 0.12764864 0.98752974 0.4029976 ] [ 0. 0. 0. 1. ]] SLAMing on 149.70241403699998 meters Centerline goodness : 0.813536 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.38, Z:0.42 [[ 0.97160709 -0.23124781 -0.05004105 2.81911766] [ 0.21825867 0.95766031 -0.18774951 0.37977325] [ 0.09133899 0.17149686 0.98094139 0.42095016] [ 0. 0. 0. 1. ]] SLAMing on 149.76241403699999 meters Centerline goodness : 0.810747 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.39, Z:0.44 [[ 0.97169856 -0.23197087 -0.04462533 2.83264395] [ 0.21530671 0.94742798 -0.23669229 0.38760954] [ 0.097185 0.22038543 0.97055929 0.43881793] [ 0. 0. 0. 1. ]] SLAMing on 149.822414037 meters Centerline goodness : 0.809099 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.39, Z:0.45 [[ 0.97093527 -0.23593935 -0.04021591 2.85192579] [ 0.2165919 0.93765196 -0.27183956 0.39149904] [ 0.10184618 0.25522818 0.96150191 0.45418471] [ 0. 0. 0. 1. ]] SLAMing on 149.882414037 meters Centerline goodness : 0.814904 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.38, Z:0.46 [[ 0.96831699 -0.24554645 -0.04548786 2.8714192 ] [ 0.22619792 0.93960166 -0.25687201 0.37831657] [ 0.10581448 0.23844427 0.96537435 0.45704293] [ 0. 0. 0. 1. ]] SLAMing on 149.942414037 meters Centerline goodness : 0.813079 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.36, Z:0.45 [[ 0.96476879 -0.25753979 -0.05380005 2.88592773] [ 0.23776005 0.94098737 -0.24085874 0.36306507] [ 0.11265587 0.21958149 0.96906791 0.45482889] [ 0. 0. 0. 1. ]] SLAMing on 150.002414037 meters Centerline goodness : 0.811304 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.36, Z:0.45 [[ 0.96246647 -0.26331221 -0.06576446 2.90864452] [ 0.2426427 0.94339263 -0.22613021 0.3570623 ] [ 0.12158455 0.20168548 0.97187456 0.4539503 ] [ 0. 0. 0. 1. ]] SLAMing on 150.062414037 meters Centerline goodness : 0.813037 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.45 [[ 0.96098382 -0.2677624 -0.06937862 2.91621021] [ 0.2478048 0.94484492 -0.21415148 0.3438777 ] [ 0.12289375 0.18860375 0.97433349 0.4526878 ] [ 0. 0. 0. 1. ]] SLAMing on 150.122414037 meters Centerline goodness : 0.813677 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.46 [[ 0.96031075 -0.2698724 -0.07051353 2.923529 ] [ 0.2511515 0.94656291 -0.20234028 0.33558104] [ 0.12135154 0.17659996 0.97677339 0.45804258] [ 0. 0. 0. 1. ]] SLAMing on 150.182414037 meters Centerline goodness : 0.812335 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:0.46 [[ 0.95773836 -0.27694985 -0.07769176 2.93977559] [ 0.25917266 0.94803435 -0.18455461 0.33068229] [ 0.12476683 0.15661945 0.97974669 0.4644318 ] [ 0. 0. 0. 1. ]] SLAMing on 150.24241403699997 meters Centerline goodness : 0.811517 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.32, Z:0.47 [[ 0.95507955 -0.28521529 -0.08046924 2.93923386] [ 0.26839684 0.9476166 -0.17316441 0.32425136] [ 0.12564312 0.1437881 0.98160012 0.46542086] [ 0. 0. 0. 1. ]] SLAMing on 150.30241403699998 meters Centerline goodness : 0.811608 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:0.46 [[ 0.95330571 -0.2887617 -0.08845847 2.94319911] [ 0.27202671 0.94824242 -0.16382242 0.32573692] [ 0.13118571 0.13210979 0.98251581 0.46303402] [ 0. 0. 0. 1. ]] SLAMing on 150.36241403699998 meters Centerline goodness : 0.811774 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.33, Z:0.46 [[ 0.95455294 -0.28407765 -0.09015862 2.94711316] [ 0.26771623 0.95020147 -0.15951545 0.32896854] [ 0.13098363 0.12812902 0.98306981 0.4596503 ] [ 0. 0. 0. 1. ]] SLAMing on 150.42241403699998 meters Centerline goodness : 0.809449 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.33, Z:0.46 [[ 0.95718272 -0.27493273 -0.09062691 2.94947103] [ 0.26083127 0.95488763 -0.14197418 0.33330077] [ 0.12557186 0.1122569 0.98571299 0.46324321] [ 0. 0. 0. 1. ]] SLAMing on 150.48241403699998 meters Centerline goodness : 0.809341 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.34, Z:0.47 [[ 0.95885062 -0.26678274 -0.09712085 2.95337189] [ 0.2533078 0.95837506 -0.13172853 0.33923085] [ 0.1282211 0.10170651 0.98651667 0.46863803] [ 0. 0. 0. 1. ]] SLAMing on 150.542414037 meters Centerline goodness : 0.809586 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.35, Z:0.47 [[ 0.96129691 -0.25836429 -0.09568777 2.96877146] [ 0.24511379 0.96057877 -0.13117797 0.35469957] [ 0.12580735 0.10264659 0.98673005 0.46992186] [ 0. 0. 0. 1. ]] SLAMing on 150.602414037 meters Centerline goodness : 0.808322 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.36, Z:0.47 [[ 0.96237523 -0.25337824 -0.09814977 2.97159657] [ 0.240458 0.96236155 -0.12664991 0.35735113] [ 0.12654589 0.09828384 0.98707975 0.46980742] [ 0. 0. 0. 1. ]] SLAMing on 150.662414037 meters Centerline goodness : 0.807628 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.36, Z:0.47 [[ 0.96291512 -0.25031979 -0.10067013 2.97970114] [ 0.23862002 0.96425196 -0.11523301 0.3623943 ] [ 0.12591647 0.0869377 0.9882241 0.47188348] [ 0. 0. 0. 1. ]] SLAMing on 150.722414037 meters Centerline goodness : 0.809687 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.36, Z:0.47 [[ 0.96362287 -0.2485774 -0.09818471 2.98590848] [ 0.2386292 0.96565612 -0.10278305 0.36257149] [ 0.12036221 0.07561436 0.98984615 0.47221575] [ 0. 0. 0. 1. ]] SLAMing on 150.782414037 meters Centerline goodness : 0.806661 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.36, Z:0.47 [[ 0.96404634 -0.24722423 -0.09744148 2.99249896] [ 0.23876677 0.96682872 -0.090734 0.36173555] [ 0.11664086 0.06420599 0.99109662 0.47375484] [ 0. 0. 0. 1. ]] SLAMing on 150.842414037 meters Centerline goodness : 0.806972 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.36, Z:0.47 [[ 0.96463433 -0.24435376 -0.09885268 2.99597542] [ 0.23613131 0.9677368 -0.08790612 0.36181084] [ 0.11714357 0.06145505 0.99121171 0.47176666] [ 0. 0. 0. 1. ]] SLAMing on 150.902414037 meters Centerline goodness : 0.806062 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.36, Z:0.48 [[ 0.96451504 -0.24479546 -0.09892384 3.00169358] [ 0.23778932 0.96822144 -0.07748219 0.35964601] [ 0.11474747 0.05120971 0.99207388 0.47527567] [ 0. 0. 0. 1. ]] SLAMing on 150.962414037 meters Centerline goodness : 0.805936 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.36, Z:0.47 [[ 0.96455695 -0.24440963 -0.09946772 3.00346888] [ 0.23744971 0.96835685 -0.07682869 0.35857748] [ 0.11509792 0.05048706 0.99207032 0.47452826] [ 0. 0. 0. 1. ]] SLAMing on 151.02241403699998 meters Centerline goodness : 0.807205 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.36, Z:0.47 [[ 0.96476919 -0.24329561 -0.10013819 3.00630334] [ 0.23644274 0.96870164 -0.07557748 0.35857251] [ 0.1153917 0.04923788 0.99209898 0.47250334] [ 0. 0. 0. 1. ]] SLAMing on 151.08241403699998 meters Centerline goodness : 0.806191 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.36, Z:0.47 [[ 0.9652641 -0.24286354 -0.09634583 3.016564 ] [ 0.23730429 0.96921423 -0.06565398 0.35803919] [ 0.10932471 0.04051015 0.99318026 0.47018899] [ 0. 0. 0. 1. ]] SLAMing on 151.14241403699998 meters Centerline goodness : 0.803618 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.36, Z:0.47 [[ 0.96433441 -0.2465217 -0.09636487 3.02263525] [ 0.24063961 0.96818013 -0.0687009 0.35594714] [ 0.11023482 0.04306143 0.9929723 0.46622076] [ 0. 0. 0. 1. ]] SLAMing on 151.20241403699998 meters Centerline goodness : 0.805244 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.35, Z:0.46 [[ 0.96399098 -0.24724932 -0.09792428 3.02717989] [ 0.24134238 0.96803017 -0.06834791 0.35404062] [ 0.11169263 0.04225349 0.9928441 0.46498298] [ 0. 0. 0. 1. ]] SLAMing on 151.26241403699999 meters Centerline goodness : 0.802275 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.35, Z:0.47 [[ 0.96493103 -0.24537474 -0.09327024 3.0342198 ] [ 0.24094793 0.96890628 -0.05625584 0.35067158] [ 0.10417389 0.03180974 0.99405027 0.46504697] [ 0. 0. 0. 1. ]] SLAMing on 151.322414037 meters Centerline goodness : 0.804633 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.35, Z:0.46 [[ 0.96646533 -0.2411086 -0.08838216 3.04433604] [ 0.23792145 0.9702351 -0.04513568 0.34548288] [ 0.09663407 0.02259406 0.9950635 0.46454442] [ 0. 0. 0. 1. ]] SLAMing on 151.382414037 meters Centerline goodness : 0.801897 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:0.46 [[ 0.96969928 -0.2295195 -0.08369051 3.06689297] [ 0.22591731 0.97284382 -0.05036148 0.3507353 ] [ 0.09297673 0.02992835 0.99521838 0.4625495 ] [ 0. 0. 0. 1. ]] SLAMing on 151.442414037 meters Centerline goodness : 0.802265 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.37, Z:0.47 [[ 0.97386469 -0.21784394 -0.06427735 3.08729705] [ 0.21264539 0.97393151 -0.07898961 0.36502764] [ 0.07980914 0.06325691 0.99480102 0.46699311] [ 0. 0. 0. 1. ]] SLAMing on 151.502414037 meters Centerline goodness : 0.803405 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.38, Z:0.47 [[ 0.97569094 -0.21352375 -0.04934359 3.10321418] [ 0.20648838 0.97113615 -0.11940324 0.3758082 ] [ 0.07341477 0.10631178 0.99161892 0.4748302 ] [ 0. 0. 0. 1. ]] SLAMing on 151.562414037 meters Centerline goodness : 0.799237 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:0.48 [[ 0.97698879 -0.20903502 -0.04239425 3.12174245] [ 0.2012271 0.96923835 -0.14172043 0.3797831 ] [ 0.07071467 0.1299284 0.98899851 0.48341781] [ 0. 0. 0. 1. ]] SLAMing on 151.622414037 meters Centerline goodness : 0.798803 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:0.39, Z:0.49 [[ 0.97740721 -0.20841159 -0.03521013 3.13905587] [ 0.1997982 0.96536159 -0.16780252 0.38830306] [ 0.06896249 0.15697647 0.98519164 0.49225154] [ 0. 0. 0. 1. ]] SLAMing on 151.682414037 meters Centerline goodness : 0.796608 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:0.38, Z:0.49 [[ 0.97671535 -0.21156271 -0.0356137 3.14458751] [ 0.20273003 0.96446227 -0.1694493 0.38030566] [ 0.07019723 0.15828376 0.98489522 0.48872507] [ 0. 0. 0. 1. ]] SLAMing on 151.74241403699997 meters Centerline goodness : 0.797052 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:0.49 [[ 0.97589483 -0.21442709 -0.04062386 3.15549908] [ 0.20497113 0.96445493 -0.16677386 0.37299674] [ 0.07494071 0.15442703 0.98515795 0.48676925] [ 0. 0. 0. 1. ]] SLAMing on 151.80241403699998 meters Centerline goodness : 0.797480 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.36, Z:0.49 [[ 0.97515736 -0.21801227 -0.03922721 3.14946309] [ 0.20991087 0.96603632 -0.15070251 0.36044273] [ 0.0707499 0.13872444 0.98780058 0.48631982] [ 0. 0. 0. 1. ]] SLAMing on 151.86241403699998 meters Centerline goodness : 0.796862 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.35, Z:0.49 [[ 0.97453851 -0.22073483 -0.03938048 3.15138476] [ 0.21282099 0.96590318 -0.14743902 0.3478823 ] [ 0.07058266 0.13530401 0.98828686 0.48797757] [ 0. 0. 0. 1. ]] SLAMing on 151.92241403699998 meters Centerline goodness : 0.796804 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.49 [[ 0.97359119 -0.22413684 -0.04339213 3.14769883] [ 0.21642224 0.96662454 -0.13710728 0.33920236] [ 0.07267469 0.12409542 0.98960533 0.48638593] [ 0. 0. 0. 1. ]] SLAMing on 151.98241403699998 meters Centerline goodness : 0.799173 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.33, Z:0.49 [[ 0.97205776 -0.22945906 -0.04952021 3.14939764] [ 0.22189991 0.96701933 -0.12503613 0.33336871] [ 0.07657767 0.11055381 0.99091559 0.48660864] [ 0. 0. 0. 1. ]] SLAMing on 152.042414037 meters Centerline goodness : 0.795470 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.33, Z:0.49 [[ 0.97136665 -0.23171184 -0.05250194 3.15460218] [ 0.22389499 0.96669314 -0.12399764 0.32990728] [ 0.07948499 0.10869225 0.99089259 0.48866539] [ 0. 0. 0. 1. ]] SLAMing on 152.102414037 meters Centerline goodness : 0.797177 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.32, Z:0.48 [[ 0.97031213 -0.23592674 -0.05322532 3.15238121] [ 0.22846746 0.96633206 -0.11834261 0.32432487] [ 0.07935352 0.10266901 0.99154531 0.48299595] [ 0. 0. 0. 1. ]] SLAMing on 152.162414037 meters Centerline goodness : 0.797613 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.32, Z:0.49 [[ 0.97025452 -0.23548556 -0.05614899 3.16172493] [ 0.22861448 0.96756759 -0.10746339 0.32495843] [ 0.07963402 0.09143036 0.99262224 0.48553272] [ 0. 0. 0. 1. ]] SLAMing on 152.222414037 meters Centerline goodness : 0.797860 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.32, Z:0.49 [[ 0.97023098 -0.23453676 -0.06036845 3.16565984] [ 0.22772474 0.96835009 -0.10217414 0.32250734] [ 0.08242138 0.08538512 0.99293308 0.49095491] [ 0. 0. 0. 1. ]] SLAMing on 152.282414037 meters Centerline goodness : 0.798213 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.32, Z:0.49 [[ 0.9700525 -0.23513756 -0.0608973 3.16752527] [ 0.22826722 0.96820742 -0.10231556 0.32057491] [ 0.08301945 0.0853506 0.99288622 0.49058669] [ 0. 0. 0. 1. ]] SLAMing on 152.342414037 meters Centerline goodness : 0.798335 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.32, Z:0.49 [[ 0.97012795 -0.23418002 -0.06333621 3.17476266] [ 0.22792736 0.96926617 -0.09258626 0.32209613] [ 0.0830715 0.07538447 0.99368823 0.49377426] [ 0. 0. 0. 1. ]] SLAMing on 152.402414037 meters Centerline goodness : 0.798010 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:0.33, Z:0.50 [[ 0.97165423 -0.22758389 -0.06398147 3.17874901] [ 0.22259055 0.971892 -0.07667717 0.32625478] [ 0.07963357 0.06026203 0.995001 0.49773608] [ 0. 0. 0. 1. ]] SLAMing on 152.462414037 meters Centerline goodness : 0.799319 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:0.33, Z:0.50 [[ 0.97314885 -0.22210413 -0.06042413 3.19292549] [ 0.2174366 0.97316958 -0.07524817 0.333454 ] [ 0.07551586 0.06008926 0.99533243 0.49806041] [ 0. 0. 0. 1. ]] SLAMing on 152.52241403699998 meters Centerline goodness : 0.798126 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.34, Z:0.50 [[ 0.97429833 -0.21653677 -0.06208537 3.21158802] [ 0.21185521 0.97448615 -0.07412232 0.34322797] [ 0.07655154 0.05906414 0.99531467 0.49731298] [ 0. 0. 0. 1. ]] SLAMing on 152.58241403699998 meters Centerline goodness : 0.798546 with order 2 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:0.50 [[ 0.97444715 -0.21578134 -0.06237918 3.21397135] [ 0.21112551 0.97468708 -0.07356033 0.34746922] [ 0.07667312 0.05851082 0.99533799 0.49530816] [ 0. 0. 0. 1. ]] SLAMing on 152.64241403699998 meters Centerline goodness : 0.794874 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:0.50 [[ 0.97380473 -0.21764283 -0.06584793 3.21769422] [ 0.21293759 0.97443409 -0.07166446 0.34904793] [ 0.07976172 0.0557657 0.99525286 0.50017086] [ 0. 0. 0. 1. ]] SLAMing on 152.70241403699998 meters Centerline goodness : 0.793308 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:0.50 [[ 0.97323856 -0.21936752 -0.06844408 3.22209214] [ 0.21454695 0.97410587 -0.07132578 0.35184349] [ 0.08231834 0.05473254 0.99510203 0.50138887] [ 0. 0. 0. 1. ]] SLAMing on 152.76241403699999 meters Centerline goodness : 0.791849 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.36, Z:0.50 [[ 0.97259234 -0.22201089 -0.06910354 3.2263865 ] [ 0.21700424 0.97342639 -0.0731452 0.35707751] [ 0.08350624 0.05614471 0.99492436 0.49873018] [ 0. 0. 0. 1. ]] SLAMing on 152.822414037 meters Centerline goodness : 0.791353 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.36, Z:0.50 [[ 0.97214703 -0.22392726 -0.06918627 3.22803708] [ 0.21878891 0.97291085 -0.07467193 0.35843309] [ 0.08403315 0.05745491 0.99480519 0.49792624] [ 0. 0. 0. 1. ]] SLAMing on 152.882414037 meters Centerline goodness : 0.792495 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.36, Z:0.50 [[ 0.97235072 -0.22379763 -0.06669855 3.23512377] [ 0.21969926 0.97349351 -0.06358162 0.36001651] [ 0.07916003 0.04717001 0.99574529 0.49769558] [ 0. 0. 0. 1. ]] SLAMing on 152.942414037 meters Centerline goodness : 0.791088 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.36, Z:0.50 [[ 0.97318171 -0.21991185 -0.06749923 3.23568374] [ 0.21602736 0.97451956 -0.06036389 0.36287673] [ 0.07905406 0.04416335 0.99589159 0.496885 ] [ 0. 0. 0. 1. ]] SLAMing on 153.002414037 meters Centerline goodness : 0.792219 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:0.37, Z:0.50 [[ 0.97683838 -0.20601387 -0.05783656 3.25351002] [ 0.20219862 0.97714877 -0.0655438 0.37242531] [ 0.07001785 0.05233122 0.99617215 0.49664922] [ 0. 0. 0. 1. ]] SLAMing on 153.062414037 meters Centerline goodness : 0.794269 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.39, Z:0.50 [[ 0.98074426 -0.19186973 -0.03642399 3.27759328] [ 0.18739722 0.97707037 -0.1010731 0.3945375 ] [ 0.05498167 0.09230111 0.99421201 0.5039387 ] [ 0. 0. 0. 1. ]] SLAMing on 153.122414037 meters Centerline goodness : 0.794875 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:0.42, Z:0.52 [[ 0.98241637 -0.18567342 -0.01958184 3.29173944] [ 0.18037396 0.97095517 -0.15719826 0.41630674] [ 0.04820063 0.15090209 0.98737291 0.51824843] [ 0. 0. 0. 1. ]] SLAMing on 153.182414037 meters Centerline goodness : 0.793933 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.43, Z:0.53 [[ 0.98263516 -0.18512175 -0.01257283 3.31853366] [ 0.17871682 0.96249911 -0.20409741 0.43155832] [ 0.04988421 0.19830632 0.97886984 0.53311972] [ 0. 0. 0. 1. ]] SLAMing on 153.24241403699997 meters Centerline goodness : 0.792666 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:0.53 [[ 0.98203342 -0.18842224 -0.01036471 3.33207343] [ 0.18279201 0.96345928 -0.19578891 0.42544914] [ 0.04687696 0.19037666 0.98059129 0.52795421] [ 0. 0. 0. 1. ]] SLAMing on 153.30241403699998 meters Centerline goodness : 0.795295 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.42, Z:0.52 [[ 0.98176178 -0.19004441 -0.00518906 3.34388006] [ 0.18570715 0.96448448 -0.18783649 0.42019644] [ 0.04070204 0.18344704 0.98218661 0.52282017] [ 0. 0. 0. 1. ]] SLAMing on 153.36241403699998 meters Centerline goodness : 0.793111 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.41, Z:0.52 [[ 0.98212286 -0.18792013 -0.0109872 3.35371032] [ 0.18309745 0.96720936 -0.17601525 0.40780285] [ 0.04370373 0.17085687 0.98432612 0.52162731] [ 0. 0. 0. 1. ]] SLAMing on 153.42241403699998 meters Centerline goodness : 0.793596 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.40, Z:0.52 [[ 0.9818867 -0.18932552 -0.00737219 3.36434191] [ 0.18548998 0.96847056 -0.16630766 0.39933052] [ 0.03862604 0.16192781 0.98604635 0.5178484 ] [ 0. 0. 0. 1. ]] SLAMing on 153.48241403699998 meters Centerline goodness : 0.795073 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.38, Z:0.52 [[ 0.98125145 -0.19265434 -0.00546756 3.36466335] [ 0.18933036 0.96885157 -0.1596266 0.38126062] [ 0.03605001 0.15559865 0.98716232 0.51779656] [ 0. 0. 0. 1. ]] SLAMing on 153.542414037 meters Centerline goodness : 0.796404 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.38, Z:0.52 [[ 0.98077576 -0.19501842 -0.00683564 3.37118454] [ 0.19174624 0.96963911 -0.15176753 0.37514106] [ 0.03622557 0.14753921 0.98839258 0.52064032] [ 0. 0. 0. 1. ]] SLAMing on 153.602414037 meters Centerline goodness : 0.797253 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.36, Z:0.52 [[ 0.97944035 -0.20163034 -0.00646521 3.36471911] [ 0.1988757 0.97044288 -0.13670802 0.35735192] [ 0.0338386 0.13261158 0.99059029 0.52120912] [ 0. 0. 0. 1. ]] SLAMing on 153.662414037 meters Centerline goodness : 0.798495 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.52 [[ 0.97906505 -0.20322327 -0.01148632 3.37275969] [ 0.20014377 0.97143531 -0.12749864 0.34842745] [ 0.03706891 0.12253054 0.99177223 0.52265366] [ 0. 0. 0. 1. ]] SLAMing on 153.722414037 meters Centerline goodness : 0.798358 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.34, Z:0.52 [[ 0.97851269 -0.20583975 -0.01195444 3.37865662] [ 0.20264362 0.9707828 -0.12851585 0.33945971] [ 0.03805884 0.12333189 0.9916354 0.51830804] [ 0. 0. 0. 1. ]] SLAMing on 153.782414037 meters Centerline goodness : 0.799498 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.33, Z:0.52 [[ 0.97883761 -0.20416375 -0.01393201 3.38184474] [ 0.2009103 0.9717111 -0.12414748 0.33383007] [ 0.0388843 0.11872114 0.99216597 0.51835942] [ 0. 0. 0. 1. ]] SLAMing on 153.842414037 meters Centerline goodness : 0.799358 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.33, Z:0.52 [[ 0.97882033 -0.20427939 -0.01344227 3.38157223] [ 0.20149178 0.97291754 -0.11328071 0.32516697] [ 0.03621914 0.10817295 0.99347209 0.51801563] [ 0. 0. 0. 1. ]] SLAMing on 153.902414037 meters Centerline goodness : 0.802310 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.32, Z:0.52 [[ 0.97904245 -0.20317922 -0.01393147 3.38194092] [ 0.20042697 0.97339472 -0.11104843 0.31800761] [ 0.03612355 0.10592888 0.99371734 0.51886785] [ 0. 0. 0. 1. ]] SLAMing on 153.962414037 meters Centerline goodness : 0.803122 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:0.52 [[ 0.98004083 -0.19822034 -0.01512198 3.38279992] [ 0.19557546 0.97500625 -0.1054185 0.31381876] [ 0.03564011 0.10035695 0.99431296 0.51862095] [ 0. 0. 0. 1. ]] SLAMing on 154.02241403699998 meters Centerline goodness : 0.803932 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:0.52 [[ 0.98271015 -0.18428814 -0.01785078 3.38389048] [ 0.18192523 0.97901007 -0.091883 0.3117199 ] [ 0.03440904 0.08704685 0.99560979 0.51805062] [ 0. 0. 0. 1. ]] SLAMing on 154.08241403699998 meters Centerline goodness : 0.804359 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.31, Z:0.52 [[ 0.98467084 -0.17327908 -0.01994246 3.38677284] [ 0.1711347 0.98186845 -0.0815307 0.30945845] [ 0.03370844 0.07686806 0.9964713 0.51600704] [ 0. 0. 0. 1. ]] SLAMing on 154.14241403699998 meters Centerline goodness : 0.809189 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.30, Z:0.52 [[ 0.98637531 -0.16397464 -0.01326935 3.39765486] [ 0.16256136 0.98389191 -0.07436742 0.30458252] [ 0.02524997 0.0711971 0.99714262 0.51650223] [ 0. 0. 0. 1. ]] SLAMing on 154.20241403699998 meters Centerline goodness : 0.809410 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.30, Z:0.52 [[ 0.98660123 -0.16254336 -0.01405939 3.3987324 ] [ 0.16115391 0.98434326 -0.07139856 0.2954515 ] [ 0.02544463 0.06817618 0.99734877 0.51720231] [ 0. 0. 0. 1. ]] SLAMing on 154.26241403699999 meters Centerline goodness : 0.810095 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.29, Z:0.52 [[ 0.98629681 -0.16435379 -0.01436801 3.40152665] [ 0.16292369 0.98400849 -0.07199424 0.28812007] [ 0.02597077 0.0686668 0.99730155 0.51580314] [ 0. 0. 0. 1. ]] SLAMing on 154.322414037 meters Centerline goodness : 0.815733 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.27, Z:0.52 [[ 0.98613565 -0.16532698 -0.01426445 3.4014868 ] [ 0.16402251 0.98415963 -0.06727874 0.27214374] [ 0.02516149 0.06400627 0.99763225 0.51974483] [ 0. 0. 0. 1. ]] SLAMing on 154.382414037 meters Centerline goodness : 0.818908 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.26, Z:0.52 [[ 0.98593543 -0.16649642 -0.01450103 3.40336997] [ 0.16519099 0.9840083 -0.06663034 0.26213918] [ 0.02536285 0.06329777 0.99767235 0.51926642] [ 0. 0. 0. 1. ]] SLAMing on 154.442414037 meters Centerline goodness : 0.820590 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.24, Z:0.52 [[ 0.98584006 -0.16698936 -0.01529483 3.40798 ] [ 0.16569035 0.98407153 -0.06441998 0.24386081] [ 0.02580866 0.06097359 0.99780566 0.51764116] [ 0. 0. 0. 1. ]] SLAMing on 154.502414037 meters Centerline goodness : 0.822744 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.23, Z:0.52 [[ 0.98600542 -0.1659777 -0.01564308 3.41084842] [ 0.16474494 0.98444141 -0.06110815 0.22802767] [ 0.02554229 0.05767585 0.99800856 0.51626011] [ 0. 0. 0. 1. ]] SLAMing on 154.562414037 meters Centerline goodness : 0.825418 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.22, Z:0.51 [[ 0.98584606 -0.166924 -0.01561838 3.41324872] [ 0.1657103 0.98432558 -0.06035935 0.21748494] [ 0.02544899 0.0569169 0.99805451 0.51473031] [ 0. 0. 0. 1. ]] SLAMing on 154.622414037 meters Centerline goodness : 0.826160 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:0.51 [[ 0.9848682 -0.172569 -0.01595535 3.41804554] [ 0.17135134 0.98341501 -0.05944446 0.19851186] [ 0.025949 0.05581099 0.99810409 0.51454209] [ 0. 0. 0. 1. ]] SLAMing on 154.682414037 meters Centerline goodness : 0.828424 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.18, Z:0.51 [[ 0.98316804 -0.18180853 -0.01806281 3.42543616] [ 0.18056189 0.98197616 -0.05585897 0.17682401] [ 0.02789289 0.0516573 0.99827527 0.51414175] [ 0. 0. 0. 1. ]] SLAMing on 154.74241403699997 meters Centerline goodness : 0.829841 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.17, Z:0.51 [[ 0.98226631 -0.18661961 -0.01805567 3.42846135] [ 0.18533779 0.98102558 -0.05690979 0.1653585 ] [ 0.02833356 0.05255417 0.99821604 0.5142802 ] [ 0. 0. 0. 1. ]] SLAMing on 154.80241403699998 meters Centerline goodness : 0.831744 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:0.51 [[ 0.98108912 -0.19212142 -0.02352641 3.43994258] [ 0.190664 0.98019691 -0.05349069 0.15057097] [ 0.03333722 0.0479935 0.99829117 0.51255242] [ 0. 0. 0. 1. ]] SLAMing on 154.86241403699998 meters Centerline goodness : 0.830765 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.14, Z:0.51 [[ 0.98046094 -0.19530025 -0.02354046 3.4424594 ] [ 0.19378428 0.9794944 -0.05512154 0.14332394] [ 0.03382299 0.04948274 0.99820212 0.51191847] [ 0. 0. 0. 1. ]] SLAMing on 154.92241403699998 meters Centerline goodness : 0.832951 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.13, Z:0.51 [[ 0.9800395 -0.19742063 -0.02340248 3.44428846] [ 0.19588413 0.97903442 -0.05586595 0.13499543] [ 0.03394093 0.05016666 0.99816397 0.51156464] [ 0. 0. 0. 1. ]] SLAMing on 154.98241403699998 meters Centerline goodness : 0.834142 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.13, Z:0.51 [[ 0.98093625 -0.19280841 -0.02426917 3.44393644] [ 0.19140547 0.98019477 -0.0508149 0.13259393] [ 0.03358606 0.04520093 0.99841317 0.51228192] [ 0. 0. 0. 1. ]] SLAMing on 155.042414037 meters Centerline goodness : 0.834154 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.13, Z:0.51 [[ 0.98341974 -0.18053073 -0.01715449 3.44926039] [ 0.17957331 0.98263762 -0.04665553 0.13181323] [ 0.0252794 0.04280148 0.99876373 0.51266134] [ 0. 0. 0. 1. ]] SLAMing on 155.102414037 meters Centerline goodness : 0.831373 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.13, Z:0.51 [[ 0.98502846 -0.17131636 -0.01922577 3.45021468] [ 0.17051509 0.98463832 -0.03757647 0.12608023] [ 0.0253679 0.03373561 0.99910879 0.5134269 ] [ 0. 0. 0. 1. ]] SLAMing on 155.162414037 meters Centerline goodness : 0.832847 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:0.51 [[ 0.98581754 -0.16661964 -0.02004195 3.44986701] [ 0.16592862 0.98560985 -0.03226326 0.1230736 ] [ 0.02512924 0.02848016 0.99927844 0.51440598] [ 0. 0. 0. 1. ]] SLAMing on 155.222414037 meters Centerline goodness : 0.832641 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:0.51 [[ 0.98529265 -0.16970772 -0.01994204 3.4519912 ] [ 0.16897796 0.98503727 -0.03388252 0.11710809] [ 0.02539377 0.03001443 0.99922685 0.51358056] [ 0. 0. 0. 1. ]] SLAMing on 155.282414037 meters Centerline goodness : 0.832779 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.11, Z:0.51 [[ 0.98394394 -0.17742559 -0.01935174 3.4559329 ] [ 0.17657243 0.98350177 -0.03932492 0.10777397] [ 0.02600972 0.03527653 0.99903907 0.51176804] [ 0. 0. 0. 1. ]] SLAMing on 155.342414037 meters Centerline goodness : 0.832858 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.10, Z:0.51 [[ 0.98311839 -0.18197284 -0.01908199 3.45886998] [ 0.18104813 0.98256242 -0.04233984 0.10273992] [ 0.02645395 0.03817032 0.99892103 0.51015623] [ 0. 0. 0. 1. ]] SLAMing on 155.402414037 meters Centerline goodness : 0.831989 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.10, Z:0.50 [[ 0.98183432 -0.1888386 -0.01847558 3.4586029 ] [ 0.18808291 0.98147514 -0.03648784 0.09534797] [ 0.02502364 0.03235007 0.9991633 0.50372652] [ 0. 0. 0. 1. ]] SLAMing on 155.462414037 meters Centerline goodness : 0.830924 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 0.98183462 -0.18881776 -0.01867173 3.45904902] [ 0.18807358 0.98150303 -0.03577883 0.09302692] [ 0.02508204 0.03161724 0.99918529 0.50401319] [ 0. 0. 0. 1. ]] SLAMing on 155.52241403699998 meters Centerline goodness : 0.830313 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 0.98080491 -0.19417598 -0.01781644 3.46039921] [ 0.19335533 0.98031823 -0.03987326 0.08909543] [ 0.02520821 0.03566298 0.99904589 0.50358429] [ 0. 0. 0. 1. ]] SLAMing on 155.58241403699998 meters Centerline goodness : 0.830998 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 0.98051648 -0.19564562 -0.01761332 3.46123207] [ 0.19481692 0.98000509 -0.04045243 0.08865704] [ 0.02517548 0.0362329 0.99902621 0.50296746] [ 0. 0. 0. 1. ]] SLAMing on 155.64241403699998 meters Centerline goodness : 0.833545 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 0.97949809 -0.20079001 -0.0163362 3.46038994] [ 0.19987853 0.97875999 -0.04557915 0.09206053] [ 0.02514106 0.04137944 0.99882715 0.50294374] [ 0. 0. 0. 1. ]] SLAMing on 155.70241403699998 meters Centerline goodness : 0.832213 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 0.97907448 -0.20287008 -0.01602793 3.46180887] [ 0.20192909 0.97826217 -0.04719935 0.0934793 ] [ 0.02525486 0.04297517 0.99875689 0.50145348] [ 0. 0. 0. 1. ]] SLAMing on 155.76241403699999 meters Centerline goodness : 0.830897 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.10, Z:0.50 [[ 0.97852791 -0.20553718 -0.01541412 3.46241865] [ 0.20456225 0.97760016 -0.0495198 0.09677519] [ 0.02524701 0.04530336 0.99865419 0.50037225] [ 0. 0. 0. 1. ]] SLAMing on 155.822414037 meters Centerline goodness : 0.833207 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.10, Z:0.50 [[ 0.97831361 -0.20658085 -0.01506092 3.46197751] [ 0.20559996 0.97733968 -0.05035688 0.10476232] [ 0.0251224 0.0461683 0.99861772 0.49978331] [ 0. 0. 0. 1. ]] SLAMing on 155.882414037 meters Centerline goodness : 0.831802 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.11, Z:0.50 [[ 0.97874225 -0.2045067 -0.01551196 3.46291756] [ 0.20354612 0.97784769 -0.04881476 0.11046524] [ 0.02515128 0.04461967 0.99868739 0.49797642] [ 0. 0. 0. 1. ]] SLAMing on 155.942414037 meters Centerline goodness : 0.830351 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:0.50 [[ 0.979121 -0.20267839 -0.01560599 3.46130862] [ 0.20173005 0.97825309 -0.04822728 0.120586 ] [ 0.02504123 0.04407214 0.99871447 0.4981108 ] [ 0. 0. 0. 1. ]] SLAMing on 156.002414037 meters Centerline goodness : 0.829727 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:0.50 [[ 0.97951211 -0.20075727 -0.01589145 3.46012013] [ 0.19982724 0.97870006 -0.04706653 0.12724129] [ 0.02500191 0.04292669 0.99876534 0.49847479] [ 0. 0. 0. 1. ]] SLAMing on 156.062414037 meters Centerline goodness : 0.828810 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.14, Z:0.50 [[ 0.97985335 -0.19903539 -0.01650228 3.45961024] [ 0.19811181 0.97910703 -0.04583811 0.14117058] [ 0.0252809 0.04164533 0.99881257 0.49825625] [ 0. 0. 0. 1. ]] SLAMing on 156.122414037 meters Centerline goodness : 0.828692 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.15, Z:0.50 [[ 0.98018828 -0.19739163 -0.01635502 3.45580737] [ 0.19649008 0.97946095 -0.04525378 0.14853406] [ 0.02495182 0.04114363 0.99884163 0.50101361] [ 0. 0. 0. 1. ]] SLAMing on 156.182414037 meters Centerline goodness : 0.827199 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:0.50 [[ 0.98123045 -0.1920386 -0.01754941 3.4534979 ] [ 0.19117962 0.98066358 -0.04182456 0.16472052] [ 0.02524199 0.03768445 0.99897083 0.50233598] [ 0. 0. 0. 1. ]] SLAMing on 156.24241403699997 meters Centerline goodness : 0.821738 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:0.50 [[ 0.98359534 -0.17919452 -0.02072514 3.45586861] [ 0.1783583 0.98327338 -0.0369024 0.18639233] [ 0.02699118 0.03260053 0.99910394 0.49510463] [ 0. 0. 0. 1. ]] SLAMing on 156.30241403699998 meters Centerline goodness : 0.820017 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.20, Z:0.49 [[ 0.98548756 -0.16930335 -0.01227408 3.46002492] [ 0.16878665 0.98502651 -0.03512611 0.20000677] [ 0.01803726 0.03254465 0.99930751 0.49196929] [ 0. 0. 0. 1. ]] SLAMing on 156.36241403699998 meters Centerline goodness : 0.820184 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.22, Z:0.49 [[ 9.87657172e-01 -1.56604236e-01 -2.90229710e-03 3.45851297e+00] [ 1.56456061e-01 9.87259720e-01 -2.89783729e-02 2.16046800e-01] [ 7.40345698e-03 2.81666158e-02 9.99575825e-01 4.94043903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42241403699998 meters Centerline goodness : 0.818648 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.22, Z:0.49 [[ 0.98862266 -0.15036433 -0.00397665 3.45884718] [ 0.15022693 0.98835722 -0.02412195 0.22331339] [ 0.00755743 0.0232501 0.99970111 0.49351421] [ 0. 0. 0. 1. ]] SLAMing on 156.48241403699998 meters Centerline goodness : 0.817716 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.23, Z:0.49 [[ 0.98926621 -0.14605576 -0.00448029 3.45868539] [ 0.14593931 0.98909122 -0.02000703 0.2313763 ] [ 0.00735356 0.01913843 0.9997898 0.49259673] [ 0. 0. 0. 1. ]] SLAMing on 156.542414037 meters Centerline goodness : 0.813967 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:0.49 [[ 0.9895111 -0.14437984 -0.00471622 3.45824036] [ 0.14427016 0.98936479 -0.01853202 0.23706012] [ 0.00734171 0.01765723 0.99981714 0.49255117] [ 0. 0. 0. 1. ]] SLAMing on 156.602414037 meters Centerline goodness : 0.812586 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:0.49 [[ 0.98993548 -0.14141912 -0.00532656 3.4591023 ] [ 0.14132082 0.98983917 -0.01571153 0.23890324] [ 0.00749434 0.01480065 0.99986238 0.49176323] [ 0. 0. 0. 1. ]] SLAMing on 156.662414037 meters Centerline goodness : 0.811969 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:0.49 [[ 0.99058729 -0.13677321 -0.00546962 3.45667759] [ 0.13669921 0.99053789 -0.01216647 0.24335244] [ 0.00708192 0.01130426 0.99991103 0.49342449] [ 0. 0. 0. 1. ]] SLAMing on 156.722414037 meters Centerline goodness : 0.807889 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.25, Z:0.49 [[ 9.92518897e-01 -1.22048180e-01 -3.23736356e-03 3.46644611e+00] [ 1.22011365e-01 9.92480087e-01 -9.82364307e-03 2.50789843e-01] [ 4.41197662e-03 9.35515624e-03 9.99946506e-01 4.90922332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782414037 meters Centerline goodness : 0.807844 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.25, Z:0.49 [[ 9.93740533e-01 -1.11706509e-01 -1.18681230e-03 3.47676271e+00] [ 1.11685392e-01 9.93675915e-01 -1.15995757e-02 2.54827675e-01] [ 2.47505490e-03 1.13944190e-02 9.99932018e-01 4.88885119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842414037 meters Centerline goodness : 0.805049 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:0.49 [[ 9.95226872e-01 -9.75882471e-02 -8.39650952e-05 3.49586030e+00] [ 9.75739612e-02 9.95095185e-01 -1.62756052e-02 2.55732679e-01] [ 1.67186104e-03 1.61897268e-02 9.99867540e-01 4.87789484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902414037 meters Centerline goodness : 0.805795 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.25, Z:0.49 [[ 9.95609978e-01 -9.35957563e-02 -7.79170034e-04 3.49814551e+00] [ 9.35796064e-02 9.95538653e-01 -1.20684212e-02 2.52468148e-01] [ 1.90524689e-03 1.19425261e-02 9.99926870e-01 4.86265066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962414037 meters Centerline goodness : 0.806898 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.24, Z:0.49 [[ 9.95780829e-01 -9.17525663e-02 -1.41661216e-03 3.49852975e+00] [ 9.17398648e-02 9.95756068e-01 -7.32457807e-03 2.40891365e-01] [ 2.08264899e-03 7.16371462e-03 9.99972171e-01 4.88350526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02241403699998 meters Centerline goodness : 0.807542 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.23, Z:0.49 [[ 9.95150592e-01 -9.83379784e-02 -2.22268885e-03 3.50290225e+00] [ 9.83139822e-02 9.95113724e-01 -9.11249799e-03 2.25184619e-01] [ 3.10793281e-03 8.84978638e-03 9.99956010e-01 4.87491917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08241403699998 meters Centerline goodness : 0.808446 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.21, Z:0.49 [[ 9.94579477e-01 -1.03962845e-01 -1.84148701e-03 3.50438745e+00] [ 1.03931807e-01 9.94505078e-01 -1.25630432e-02 2.13293732e-01] [ 3.13745789e-03 1.23035558e-02 9.99919386e-01 4.87206384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14241403699998 meters Centerline goodness : 0.811437 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:0.49 [[ 9.94156215e-01 -1.07934679e-01 -1.87759107e-03 3.50632700e+00] [ 1.07921374e-01 9.94140472e-01 -6.14002427e-03 1.93817493e-01] [ 2.52931082e-03 5.90151108e-03 9.99979387e-01 4.90523752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20241403699998 meters Centerline goodness : 0.812989 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.18, Z:0.49 [[ 9.93861037e-01 -1.10617729e-01 -1.98936968e-03 3.50769304e+00] [ 1.10602725e-01 9.93843358e-01 -6.51282646e-03 1.84033220e-01] [ 2.69755592e-03 6.25281475e-03 9.99976812e-01 4.90932386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26241403699999 meters Centerline goodness : 0.813066 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.17, Z:0.49 [[ 9.93160789e-01 -1.16735721e-01 -2.10214234e-03 3.51224512e+00] [ 1.16708284e-01 9.93112832e-01 -1.02994654e-02 1.71683359e-01] [ 3.28998005e-03 9.98368779e-03 9.99944749e-01 4.88262207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322414037 meters Centerline goodness : 0.815053 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.17, Z:0.49 [[ 9.93193857e-01 -1.16446978e-01 -2.46248881e-03 3.51317730e+00] [ 1.16420986e-01 9.93160167e-01 -8.89024113e-03 1.66467120e-01] [ 3.48088751e-03 8.54304750e-03 9.99957449e-01 4.88438056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382414037 meters Centerline goodness : 0.815540 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.16, Z:0.49 [[ 9.92876282e-01 -1.19130536e-01 -2.14557012e-03 3.51336102e+00] [ 1.19104998e-01 9.92835630e-01 -9.56096509e-03 1.57184440e-01] [ 3.26920136e-03 9.23730735e-03 9.99951991e-01 4.89263233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442414037 meters Centerline goodness : 0.816791 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.15, Z:0.49 [[ 9.92505052e-01 -1.22187297e-01 -1.99667312e-03 3.51408990e+00] [ 1.22156746e-01 9.92444452e-01 -1.14777962e-02 1.51211575e-01] [ 3.38402806e-03 1.11478636e-02 9.99932134e-01 4.89532925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502414037 meters Centerline goodness : 0.816322 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:0.49 [[ 9.91653112e-01 -1.28921358e-01 -1.84109572e-03 3.51839249e+00] [ 1.28874548e-01 9.91526343e-01 -1.63359147e-02 1.43004160e-01] [ 3.93154321e-03 1.59622903e-02 9.99864865e-01 4.86595511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562414037 meters Centerline goodness : 0.818294 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:0.49 [[ 9.90672680e-01 -1.36259431e-01 -1.00377505e-03 3.51909275e+00] [ 1.36204155e-01 9.90433763e-01 -2.21221340e-02 1.37395137e-01] [ 4.00852210e-03 2.17790755e-02 9.99754772e-01 4.86668879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622414037 meters Centerline goodness : 0.819523 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:0.49 [[ 9.90154775e-01 -1.39975324e-01 -6.56475041e-04 3.51853565e+00] [ 1.39919210e-01 9.89870659e-01 -2.40560386e-02 1.30562810e-01] [ 4.01707717e-03 2.37273480e-02 9.99710396e-01 4.88986784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682414037 meters Centerline goodness : 0.817432 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:0.49 [[ 9.89999324e-01 -1.41066818e-01 -1.22083774e-03 3.52219477e+00] [ 1.40997500e-01 9.89720151e-01 -2.39526027e-02 1.25697812e-01] [ 4.58720516e-03 2.35409255e-02 9.99712350e-01 4.86716794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74241403699997 meters Centerline goodness : 0.820432 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:0.49 [[ 9.91098684e-01 -1.33109298e-01 -2.30508506e-03 3.52261960e+00] [ 1.33059175e-01 9.90990200e-01 -1.52865603e-02 1.23595756e-01] [ 4.31910002e-03 1.48437771e-02 9.99880497e-01 4.86526839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80241403699998 meters Centerline goodness : 0.819562 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:0.49 [[ 9.92242321e-01 -1.24272489e-01 -3.39475577e-03 3.52216153e+00] [ 1.24248130e-01 9.92229012e-01 -6.63244777e-03 1.21808855e-01] [ 4.19260595e-03 6.15920331e-03 9.99972243e-01 4.87323791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86241403699998 meters Centerline goodness : 0.819921 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:0.49 [[ 9.92382760e-01 -1.23151514e-01 -3.18795477e-03 3.52036826e+00] [ 1.23131895e-01 9.92373630e-01 -5.75457266e-03 1.22268484e-01] [ 3.87232658e-03 5.31819978e-03 9.99978361e-01 4.88786860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92241403699998 meters Centerline goodness : 0.819472 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:0.49 [[ 9.92339678e-01 -1.23505362e-01 -2.89632862e-03 3.51905606e+00] [ 1.23485466e-01 9.92326633e-01 -6.26047692e-03 1.24300711e-01] [ 3.64730650e-03 5.85486516e-03 9.99976209e-01 4.89863755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98241403699998 meters Centerline goodness : 0.819331 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:0.49 [[ 9.92176868e-01 -1.24801621e-01 -3.10142788e-03 3.52098126e+00] [ 1.24774275e-01 9.92154207e-01 -7.83639070e-03 1.27152958e-01] [ 4.05508898e-03 7.38810716e-03 9.99964485e-01 4.88031903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042414037 meters Centerline goodness : 0.817359 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:0.49 [[ 0.99241379 -0.12288471 -0.00377099 3.52346916] [ 0.1228625 0.99240765 -0.0056441 0.12779053] [ 0.00443593 0.00513797 0.99997696 0.4860992 ] [ 0. 0. 0. 1. ]] SLAMing on 158.102414037 meters Centerline goodness : 0.815324 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:0.49 [[ 9.92792788e-01 -1.19763105e-01 -4.39079037e-03 3.52385545e+00] [ 1.19752923e-01 9.92800543e-01 -2.51369276e-03 1.29733672e-01] [ 4.66022671e-03 1.96976606e-03 9.99987201e-01 4.86095395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162414037 meters Centerline goodness : 0.815723 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.13, Z:0.49 [[ 9.93193248e-01 -1.16367393e-01 -5.07949860e-03 3.52452811e+00] [ 1.16373835e-01 9.93204988e-01 9.90717951e-04 1.29703975e-01] [ 4.92969608e-03 -1.57509511e-03 9.99986608e-01 4.86126550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222414037 meters Centerline goodness : 0.814178 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:0.48 [[ 0.99355692 -0.11317394 -0.00602608 3.52690224] [ 0.11319912 0.99356421 0.00401533 0.13051349] [ 0.00553286 -0.0046716 0.99997378 0.48450784] [ 0. 0. 0. 1. ]] SLAMing on 158.282414037 meters Centerline goodness : 0.814089 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:0.49 [[ 9.94531002e-01 -1.04329784e-01 -4.83561048e-03 3.53442364e+00] [ 1.04333369e-01 9.94542258e-01 4.94529349e-04 1.30493179e-01] [ 4.75762483e-03 -9.96340303e-04 9.99988186e-01 4.85689475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342414037 meters Centerline goodness : 0.814447 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.49 [[ 9.94776399e-01 -1.01924047e-01 -5.60401249e-03 3.53596436e+00] [ 1.01940501e-01 9.94786745e-01 2.73258256e-03 1.29333279e-01] [ 5.29628147e-03 -3.28958448e-03 9.99980564e-01 4.85072328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402414037 meters Centerline goodness : 0.814924 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.48 [[ 0.99502849 -0.09939753 -0.00620016 3.53791799] [ 0.09943301 0.99502791 0.00570363 0.1290811 ] [ 0.00560241 -0.00629177 0.99996451 0.48351085] [ 0. 0. 0. 1. ]] SLAMing on 158.462414037 meters Centerline goodness : 0.815147 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.48 [[ 0.99496998 -0.09997278 -0.00633901 3.5381053 ] [ 0.10000818 0.99497121 0.00553623 0.12769751] [ 0.00575366 -0.00614234 0.99996458 0.48406928] [ 0. 0. 0. 1. ]] SLAMing on 158.52241403699998 meters Centerline goodness : 0.814366 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.48 [[ 0.99495936 -0.10005625 -0.00667981 3.53911301] [ 0.10009221 0.99496413 0.00528489 0.12733722] [ 0.00611738 -0.00592684 0.99996372 0.48370605] [ 0. 0. 0. 1. ]] SLAMing on 158.58241403699998 meters Centerline goodness : 0.814781 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.48 [[ 0.99530617 -0.09649818 -0.00732984 3.54043933] [ 0.09655885 0.99529157 0.00843049 0.12858563] [ 0.00648181 -0.00909868 0.9999376 0.48270342] [ 0. 0. 0. 1. ]] SLAMing on 158.64241403699998 meters Centerline goodness : 0.816223 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.48 [[ 0.99531557 -0.09639724 -0.00738153 3.54017057] [ 0.09645857 0.99530105 0.00845913 0.12864955] [ 0.00653141 -0.00913152 0.99993698 0.48322083] [ 0. 0. 0. 1. ]] SLAMing on 158.70241403699998 meters Centerline goodness : 0.814854 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:0.48 [[ 0.99494293 -0.10017333 -0.00733989 3.54065432] [ 0.1002133 0.99495188 0.00529558 0.12590818] [ 0.00677237 -0.00600435 0.99995904 0.48372732] [ 0. 0. 0. 1. ]] SLAMing on 158.76241403699999 meters Centerline goodness : 0.814412 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.12, Z:0.48 [[ 9.94562716e-01 -1.03876459e-01 -7.39496914e-03 3.54429089e+00] [ 1.03896369e-01 9.94585328e-01 2.36011820e-03 1.23035403e-01] [ 7.10976709e-03 -3.11559602e-03 9.99969872e-01 4.80621277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822414037 meters Centerline goodness : 0.814834 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.12, Z:0.48 [[ 9.94398627e-01 -1.05417771e-01 -7.64614049e-03 3.54763361e+00] [ 1.05436019e-01 9.94424031e-01 2.02292879e-03 1.20829880e-01] [ 7.39025321e-03 -2.81777622e-03 9.99968722e-01 4.77624599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882414037 meters Centerline goodness : 0.815525 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.12, Z:0.48 [[ 9.94137437e-01 -1.07883965e-01 -7.19763142e-03 3.54539491e+00] [ 1.07881750e-01 9.94163489e-01 -6.96364035e-04 1.20586284e-01] [ 7.23074887e-03 -8.42115156e-05 9.99973854e-01 4.80029337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942414037 meters Centerline goodness : 0.816244 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.12, Z:0.48 [[ 9.94129273e-01 -1.07950357e-01 -7.32870202e-03 3.54506176e+00] [ 1.07950434e-01 9.94156202e-01 -3.86192750e-04 1.18028835e-01] [ 7.32756421e-03 -4.07211047e-04 9.99973070e-01 4.81263876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002414037 meters Centerline goodness : 0.815664 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.12, Z:0.48 [[ 9.94460950e-01 -1.04802342e-01 -7.99298969e-03 3.54637606e+00] [ 1.04827474e-01 9.94486504e-01 2.79178869e-03 1.18294104e-01] [ 7.65633437e-03 -3.61420976e-03 9.99964158e-01 4.80441560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062414037 meters Centerline goodness : 0.817365 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.12, Z:0.48 [[ 9.94860878e-01 -1.01242013e-01 -1.37449441e-03 3.55452865e+00] [ 1.01237549e-01 9.94857755e-01 -3.00114677e-03 1.20770771e-01] [ 1.67126857e-03 2.84657306e-03 9.99994552e-01 4.78012498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122414037 meters Centerline goodness : 0.815247 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.48 [[ 9.94841681e-01 -1.01423756e-01 -1.80326170e-03 3.55530281e+00] [ 1.01417808e-01 9.94838997e-01 -3.13015238e-03 1.20296270e-01] [ 2.11142687e-03 2.93112321e-03 9.99993475e-01 4.78240965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182414037 meters Centerline goodness : 0.813746 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.47 [[ 9.94860128e-01 -1.01230051e-01 -2.40889360e-03 3.55954707e+00] [ 1.01222993e-01 9.94859561e-01 -2.89121756e-03 1.20525512e-01] [ 2.68918893e-03 2.63252166e-03 9.99992919e-01 4.74345803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24241403699997 meters Centerline goodness : 0.811582 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.47 [[ 9.94842472e-01 -1.01398422e-01 -2.61066530e-03 3.56065634e+00] [ 1.01390300e-01 9.94841971e-01 -3.07573102e-03 1.20638454e-01] [ 2.90907369e-03 2.79517172e-03 9.99991862e-01 4.73394251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30241403699998 meters Centerline goodness : 0.813473 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.47 [[ 9.94845879e-01 -1.01368843e-01 -2.45660648e-03 3.55968817e+00] [ 1.01359150e-01 9.94842669e-01 -3.79290314e-03 1.23621735e-01] [ 2.82841915e-03 3.52435451e-03 9.99989789e-01 4.74031257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36241403699998 meters Centerline goodness : 0.812047 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.47 [[ 9.95247594e-01 -9.73222119e-02 -3.25778892e-03 3.56049871e+00] [ 9.73221380e-02 9.95252917e-01 -1.81595512e-04 1.23790320e-01] [ 3.25999720e-03 -1.36322486e-04 9.99994677e-01 4.74049253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42241403699998 meters Centerline goodness : 0.810764 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.47 [[ 9.95358432e-01 -9.61724831e-02 -3.52790115e-03 3.56016802e+00] [ 9.61734083e-02 9.95364590e-01 9.31607536e-05 1.24756719e-01] [ 3.50258838e-03 -4.32018620e-04 9.99993773e-01 4.74654757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48241403699998 meters Centerline goodness : 0.812147 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.48 [[ 0.99576913 -0.09179096 -0.00427239 3.56023677] [ 0.09181118 0.99576485 0.00480332 0.12257196] [ 0.00381339 -0.00517525 0.99997934 0.47565174] [ 0. 0. 0. 1. ]] SLAMing on 159.542414037 meters Centerline goodness : 0.812858 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.12, Z:0.48 [[ 0.99581321 -0.09129266 -0.00465882 3.56100521] [ 0.09132111 0.9958015 0.00631129 0.11702815] [ 0.00406308 -0.00671032 0.99996923 0.47604179] [ 0. 0. 0. 1. ]] SLAMing on 159.602414037 meters Centerline goodness : 0.812491 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.11, Z:0.48 [[ 0.99566772 -0.09288148 -0.00433944 3.55866335] [ 0.09290237 0.99566322 0.00488868 0.1147839 ] [ 0.00386655 -0.00527065 0.99997863 0.47873648] [ 0. 0. 0. 1. ]] SLAMing on 159.662414037 meters Centerline goodness : 0.812815 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.11, Z:0.48 [[ 0.99573255 -0.09214652 -0.00507005 3.56092334] [ 0.09217738 0.99572309 0.00623308 0.11013869] [ 0.00447401 -0.00667383 0.99996772 0.477889 ] [ 0. 0. 0. 1. ]] SLAMing on 159.722414037 meters Centerline goodness : 0.811246 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.11, Z:0.47 [[ 0.99591458 -0.09008876 -0.00617831 3.56539964] [ 0.09013921 0.9958934 0.00844177 0.10728016] [ 0.00539243 -0.00896419 0.99994528 0.47474205] [ 0. 0. 0. 1. ]] SLAMing on 159.782414037 meters Centerline goodness : 0.813853 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.10, Z:0.48 [[ 9.96550323e-01 -8.29609191e-02 -2.22257961e-03 3.57155169e+00] [ 8.29683550e-02 9.96546060e-01 3.49319443e-03 1.02723296e-01] [ 1.92510433e-03 -3.66554781e-03 9.99991429e-01 4.75710555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842414037 meters Centerline goodness : 0.813382 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.10, Z:0.48 [[ 9.96832713e-01 -7.94641691e-02 -3.16045353e-03 3.57339196e+00] [ 7.94850352e-02 9.96810487e-01 7.14014066e-03 9.86394845e-02] [ 2.58298788e-03 -7.36873455e-03 9.99969514e-01 4.75212813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902414037 meters Centerline goodness : 0.813578 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.09, Z:0.47 [[ 9.97191802e-01 -7.47754409e-02 -4.14050193e-03 3.57511909e+00] [ 7.48206760e-02 9.97123184e-01 1.21335557e-02 9.12113715e-02] [ 3.22129849e-03 -1.24092774e-02 9.99917813e-01 4.74903933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962414037 meters Centerline goodness : 0.812550 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.09, Z:0.47 [[ 9.97589980e-01 -6.93713527e-02 -1.35890520e-03 3.58312581e+00] [ 6.93783927e-02 9.97571784e-01 6.09705278e-03 8.72418189e-02] [ 9.32644683e-04 -6.17663742e-03 9.99980489e-01 4.74684559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02241403699998 meters Centerline goodness : 0.817485 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.08, Z:0.48 [[ 9.97510365e-01 -7.05067397e-02 -1.36809069e-03 3.58252648e+00] [ 7.05142947e-02 9.97488803e-01 6.61978537e-03 7.62462231e-02] [ 8.97915659e-04 -6.69977447e-03 9.99977153e-01 4.76685836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08241403699998 meters Centerline goodness : 0.815877 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.07, Z:0.47 [[ 9.97309331e-01 -7.32920477e-02 -1.54082258e-03 3.58535806e+00] [ 7.32991891e-02 9.97296192e-01 5.24731309e-03 6.96425857e-02] [ 1.15207017e-03 -5.34613535e-03 9.99985046e-01 4.74689111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14241403699998 meters Centerline goodness : 0.816658 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:0.47 [[ 9.96769393e-01 -8.03094518e-02 -1.08140812e-03 3.58742540e+00] [ 8.03102155e-02 9.96769684e-01 6.82285832e-04 5.95643437e-02] [ 1.02312083e-03 -7.66929754e-04 9.99999183e-01 4.73465607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20241403699998 meters Centerline goodness : 0.819874 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:0.47 [[ 9.95819227e-01 -9.13454802e-02 -2.66181552e-04 3.58858945e+00] [ 9.13408483e-02 9.95790824e-01 -7.58183658e-03 4.85480658e-02] [ 9.57627650e-04 7.52582539e-03 9.99971222e-01 4.73820413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26241403699999 meters Centerline goodness : 0.819206 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.04, Z:0.47 [[ 9.95331805e-01 -9.65120895e-02 -1.18452016e-04 3.59086889e+00] [ 9.65050454e-02 9.95272565e-01 -1.09223606e-02 4.33451746e-02] [ 1.17203189e-03 1.08599417e-02 9.99940342e-01 4.72559769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322414037 meters Centerline goodness : 0.823089 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:0.48 [[ 9.94905530e-01 -1.00811335e-01 -2.49006425e-04 3.59175697e+00] [ 1.00805120e-01 9.94866219e-01 -8.91813783e-03 3.29414094e-02] [ 1.14677746e-03 8.84760352e-03 9.99960202e-01 4.78550458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382414037 meters Centerline goodness : 0.824412 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:0.48 [[ 9.94942768e-01 -1.00440225e-01 -8.05931544e-04 3.59304374e+00] [ 1.00431488e-01 9.94916044e-01 -7.45527067e-03 2.74468127e-02] [ 1.55064329e-03 7.33662673e-03 9.99971884e-01 4.78845398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442414037 meters Centerline goodness : 0.825577 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:0.47 [[ 9.95319420e-01 -9.66244090e-02 -1.72521758e-03 3.59831806e+00] [ 9.66192012e-02 9.95317246e-01 -2.88275371e-03 2.52953838e-02] [ 1.99568318e-03 2.70257160e-03 9.99994357e-01 4.73792471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502414037 meters Centerline goodness : 0.827083 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:0.47 [[ 9.95287543e-01 -9.69580865e-02 -1.35500160e-03 3.59819012e+00] [ 9.69536461e-02 9.95284289e-01 -3.02882725e-03 2.56947246e-02] [ 1.64228110e-03 2.88318168e-03 9.99994495e-01 4.73256650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562414037 meters Centerline goodness : 0.829224 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.02, Z:0.47 [[ 0.99502125 -0.09936227 0.00773646 3.60512856] [ 0.0994399 0.99498927 -0.01039476 0.02427735] [-0.00666485 0.01111232 0.99991604 0.47475286] [ 0. 0. 0. 1. ]] SLAMing on 160.622414037 meters Centerline goodness : 0.832031 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.02, Z:0.47 [[ 0.99455025 -0.10393972 0.00814517 3.60554228] [ 0.10404961 0.99446663 -0.01448475 0.02392816] [-0.00659456 0.01525332 0.99986191 0.47451971] [ 0. 0. 0. 1. ]] SLAMing on 160.682414037 meters Centerline goodness : 0.833568 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:0.47 [[ 0.99424176 -0.10682769 0.00843594 3.60843478] [ 0.10695407 0.99413022 -0.01630742 0.02636637] [-0.00664434 0.01711577 0.99983144 0.47103912] [ 0. 0. 0. 1. ]] SLAMing on 160.74241403699997 meters Centerline goodness : 0.835483 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:0.47 [[ 0.99379024 -0.1108858 0.0092353 3.60600988] [ 0.11105246 0.99361172 -0.02007751 0.02738887] [-0.00694999 0.02097843 0.99975577 0.47370231] [ 0. 0. 0. 1. ]] SLAMing on 160.80241403699998 meters Centerline goodness : 0.833854 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:0.47 [[ 0.99363585 -0.11228797 0.00889983 3.60842721] [ 0.11245841 0.99341769 -0.02178083 0.02990072] [-0.00639552 0.02264308 0.99972316 0.47153556] [ 0. 0. 0. 1. ]] SLAMing on 160.86241403699998 meters Centerline goodness : 0.830520 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:0.47 [[ 0.99400119 -0.10909505 0.00773986 3.6142219 ] [ 0.10922323 0.99384095 -0.01872024 0.03875709] [-0.00564991 0.01945332 0.9997948 0.46562821] [ 0. 0. 0. 1. ]] SLAMing on 160.92241403699998 meters Centerline goodness : 0.829884 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:0.47 [[ 0.99435509 -0.10583167 0.00759042 3.61361764] [ 0.10594494 0.99423483 -0.01651593 0.0445978 ] [-0.00579875 0.01722686 0.99983479 0.46557136] [ 0. 0. 0. 1. ]] SLAMing on 160.98241403699998 meters Centerline goodness : 0.829686 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:0.05, Z:0.46 [[ 0.995226 -0.09642187 0.01510083 3.61850152] [ 0.09669106 0.99514723 -0.01824374 0.05412921] [-0.01326846 0.01961676 0.99971953 0.46411598] [ 0. 0. 0. 1. ]] SLAMing on 161.042414037 meters Centerline goodness : 0.832011 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:0.46 [[ 0.99663352 -0.07944898 0.02023575 3.62711824] [ 0.07967829 0.99676225 -0.01078815 0.06764424] [-0.01931313 0.01236418 0.99973703 0.46305827] [ 0. 0. 0. 1. ]] SLAMing on 161.102414037 meters Centerline goodness : 0.829621 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:0.46 [[ 0.99717359 -0.07262553 0.01924477 3.62821175] [ 0.07273659 0.99733797 -0.00513415 0.07387501] [-0.01882066 0.00651944 0.99980162 0.462304 ] [ 0. 0. 0. 1. ]] SLAMing on 161.162414037 meters Centerline goodness : 0.830104 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.08, Z:0.46 [[ 9.97358202e-01 -7.02417488e-02 1.85125293e-02 3.63040651e+00] [ 7.03051293e-02 9.97521618e-01 -2.79456122e-03 7.50271936e-02] [-1.82703534e-02 4.08870432e-03 9.99824723e-01 4.60797295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222414037 meters Centerline goodness : 0.830281 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.08, Z:0.46 [[ 0.99726357 -0.07155149 0.01859471 3.63086529] [ 0.07165534 0.99741702 -0.00497949 0.08015488] [-0.01819039 0.00629827 0.9998147 0.45999742] [ 0. 0. 0. 1. ]] SLAMing on 161.282414037 meters Centerline goodness : 0.829724 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:0.46 [[ 0.99711691 -0.07350988 0.01881931 3.63163399] [ 0.07365426 0.99725859 -0.00709666 0.08628247] [-0.01824605 0.00846232 0.99979772 0.45857821] [ 0. 0. 0. 1. ]] SLAMing on 161.342414037 meters Centerline goodness : 0.827695 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:0.46 [[ 0.99707168 -0.07412172 0.01881601 3.63166624] [ 0.07428112 0.99720591 -0.00791772 0.08823908] [-0.01817656 0.00929221 0.99979161 0.45870838] [ 0. 0. 0. 1. ]] SLAMing on 161.402414037 meters Centerline goodness : 0.826437 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:0.46 [[ 0.9971086 -0.07363423 0.01877321 3.63011341] [ 0.07379789 0.99723968 -0.00817883 0.09110085] [-0.01811915 0.0095406 0.99979031 0.46061675] [ 0. 0. 0. 1. ]] SLAMing on 161.462414037 meters Centerline goodness : 0.825758 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.09, Z:0.46 [[ 0.99733638 -0.07068145 0.01800773 3.63180024] [ 0.07079528 0.99747422 -0.00576322 0.09470445] [-0.01755489 0.00702273 0.99982124 0.45954615] [ 0. 0. 0. 1. ]] SLAMing on 161.52241403699998 meters Centerline goodness : 0.824562 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.10, Z:0.46 [[ 0.99750518 -0.06845112 0.01725865 3.6347298 ] [ 0.06853267 0.99764012 -0.00417805 0.09942471] [-0.01693193 0.00535041 0.99984233 0.45681012] [ 0. 0. 0. 1. ]] SLAMing on 161.58241403699998 meters Centerline goodness : 0.825579 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.46 [[ 0.9974819 -0.06884309 0.01704349 3.63523739] [ 0.0689335 0.99760983 -0.00477472 0.10006435] [-0.01667405 0.00593757 0.99984335 0.45679255] [ 0. 0. 0. 1. ]] SLAMing on 161.64241403699998 meters Centerline goodness : 0.825775 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.46 [[ 9.97573465e-01 -6.75902383e-02 1.66955504e-02 3.63718033e+00] [ 6.76526222e-02 9.97703806e-01 -3.19981891e-03 1.02417812e-01] [-1.64409376e-02 4.32155220e-03 9.99855499e-01 4.55067003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70241403699998 meters Centerline goodness : 0.823875 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.45 [[ 9.97667141e-01 -6.63102359e-02 1.62243336e-02 3.63980906e+00] [ 6.63432675e-02 9.97795723e-01 -1.50565206e-03 1.04463330e-01] [-1.60887306e-02 2.57851490e-03 9.99867243e-01 4.52768350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76241403699999 meters Centerline goodness : 0.825355 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.45 [[ 9.97572234e-01 -6.77370146e-02 1.61658238e-02 3.63962424e+00] [ 6.77819543e-02 9.97697627e-01 -2.24775988e-03 1.04010639e-01] [-1.59763475e-02 3.33805398e-03 9.99866798e-01 4.53874957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822414037 meters Centerline goodness : 0.826970 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.45 [[ 9.97536664e-01 -6.82661611e-02 1.61349028e-02 3.64009079e+00] [ 6.83168421e-02 9.97660260e-01 -2.61040985e-03 1.04259367e-01] [-1.59189486e-02 3.70626514e-03 9.99866416e-01 4.53514704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882414037 meters Centerline goodness : 0.826461 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.11, Z:0.45 [[ 9.97755236e-01 -6.50142348e-02 1.60510908e-02 3.64016904e+00] [ 6.50230226e-02 9.97883764e-01 -2.56699814e-05 1.09100077e-01] [-1.60154540e-02 1.06930280e-03 9.99871173e-01 4.52859422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942414037 meters Centerline goodness : 0.825941 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.11, Z:0.45 [[ 0.99816526 -0.05849138 0.01564816 3.63912532] [ 0.05841512 0.99827838 0.00528724 0.11452951] [-0.01593048 -0.00436345 0.99986358 0.45386816] [ 0. 0. 0. 1. ]] SLAMing on 162.002414037 meters Centerline goodness : 0.823100 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.12, Z:0.45 [[ 0.99837486 -0.05495443 0.01508803 3.63994561] [ 0.05484344 0.99846548 0.00767404 0.11844526] [-0.0154866 -0.00683409 0.99985672 0.45344463] [ 0. 0. 0. 1. ]] SLAMing on 162.062414037 meters Centerline goodness : 0.822720 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.12, Z:0.45 [[ 0.99859793 -0.05089063 0.01457121 3.64073795] [ 0.05074875 0.99866192 0.00994686 0.12348643] [-0.01505791 -0.00919344 0.99984436 0.45253751] [ 0. 0. 0. 1. ]] SLAMing on 162.122414037 meters Centerline goodness : 0.824766 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.45 [[ 0.99877288 -0.04739429 0.01437073 3.64088866] [ 0.04720917 0.99880096 0.01295868 0.12621071] [-0.01496766 -0.01226434 0.99981276 0.4523356 ] [ 0. 0. 0. 1. ]] SLAMing on 162.182414037 meters Centerline goodness : 0.826760 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.45 [[ 0.99899882 -0.04116676 0.01751143 3.64731373] [ 0.04106018 0.99913616 0.0064028 0.13107726] [-0.01775989 -0.00567737 0.99982616 0.45244976] [ 0. 0. 0. 1. ]] SLAMing on 162.24241403699997 meters Centerline goodness : 0.824054 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.45 [[ 0.99895222 -0.04258188 0.01677062 3.65101708] [ 0.04250781 0.99908485 0.00474895 0.13231695] [-0.01695749 -0.0040311 0.99984809 0.44932635] [ 0. 0. 0. 1. ]] SLAMing on 162.30241403699998 meters Centerline goodness : 0.823069 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.45 [[ 9.98878790e-01 -4.43875580e-02 1.64592571e-02 3.65309519e+00] [ 4.43386550e-02 9.99011027e-01 3.32444557e-03 1.32566850e-01] [-1.65905434e-02 -2.59093684e-03 9.99859011e-01 4.47730472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36241403699998 meters Centerline goodness : 0.823429 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.45 [[ 9.98653444e-01 -4.91337270e-02 1.66486228e-02 3.65314409e+00] [ 4.91590221e-02 9.98790344e-01 -1.11328343e-03 1.33258799e-01] [-1.65737840e-02 1.93021435e-03 9.99860782e-01 4.47922692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42241403699998 meters Centerline goodness : 0.821465 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:0.45 [[ 9.98556912e-01 -5.11144938e-02 1.64742551e-02 3.65593914e+00] [ 5.11620500e-02 9.98687290e-01 -2.47801177e-03 1.32419879e-01] [-1.63259668e-02 3.31729244e-03 9.99861220e-01 4.45215753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48241403699998 meters Centerline goodness : 0.820835 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:0.44 [[ 9.98670878e-01 -4.89611047e-02 1.61024065e-02 3.65788588e+00] [ 4.89698399e-02 9.98800247e-01 -1.48395962e-04 1.33997776e-01] [-1.60758219e-02 9.36730993e-04 9.99870337e-01 4.43499238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542414037 meters Centerline goodness : 0.823822 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.44 [[ 0.99877789 -0.04385774 0.02278646 3.66423697] [ 0.04399426 0.99901651 -0.00552471 0.13736246] [-0.02252175 0.00652043 0.99972509 0.44203575] [ 0. 0. 0. 1. ]] SLAMing on 162.602414037 meters Centerline goodness : 0.823550 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.44 [[ 0.99878395 -0.04375105 0.02272586 3.66363592] [ 0.04389305 0.99901947 -0.00578726 0.13896677] [-0.02245038 0.00677773 0.99972498 0.4430757 ] [ 0. 0. 0. 1. ]] SLAMing on 162.662414037 meters Centerline goodness : 0.823595 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:0.14, Z:0.44 [[ 0.99887278 -0.0420658 0.02199194 3.66653165] [ 0.04216171 0.99910313 -0.00391544 0.14141804] [-0.02180751 0.00483824 0.99975048 0.44088854] [ 0. 0. 0. 1. ]] SLAMing on 162.722414037 meters Centerline goodness : 0.819628 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:0.14, Z:0.43 [[ 9.99023462e-01 -3.90563252e-02 2.06573454e-02 3.67304238e+00] [ 3.90972629e-02 9.99234158e-01 -1.58145781e-03 1.42698621e-01] [-2.05797592e-02 2.38755912e-03 9.99785364e-01 4.34598034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782414037 meters Centerline goodness : 0.817780 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:0.14, Z:0.43 [[ 9.99157696e-01 -3.56960427e-02 2.02408190e-02 3.67486601e+00] [ 3.56751639e-02 9.99362470e-01 1.39178277e-03 1.44299628e-01] [-2.02775960e-02 -6.68515933e-04 9.99794165e-01 4.32838756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842414037 meters Centerline goodness : 0.821797 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.15, Z:0.43 [[ 0.99919143 -0.0298661 0.02691664 3.67791065] [ 0.0299836 0.9995425 -0.00397228 0.1457005 ] [-0.02678569 0.00477613 0.99962979 0.43469967] [ 0. 0. 0. 1. ]] SLAMing on 162.902414037 meters Centerline goodness : 0.823548 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.14, Z:0.44 [[ 9.99208969e-01 -2.92038983e-02 2.69920022e-02 3.67632103e+00] [ 2.92929374e-02 9.99566636e-01 -2.90913290e-03 1.43965524e-01] [-2.68953468e-02 3.69750672e-03 9.99631416e-01 4.36901793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962414037 meters Centerline goodness : 0.821343 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.14, Z:0.44 [[ 9.99223836e-01 -2.90298917e-02 2.66268996e-02 3.67757327e+00] [ 2.90999367e-02 9.99573982e-01 -2.24682296e-03 1.41516960e-01] [-2.65503311e-02 3.01992015e-03 9.99642916e-01 4.36144220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02241403699998 meters Centerline goodness : 0.823951 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.14, Z:0.43 [[ 9.99285182e-01 -2.73547456e-02 2.60929553e-02 3.68078825e+00] [ 2.73649173e-02 9.99625510e-01 -3.27629538e-05 1.39945468e-01] [-2.60822875e-02 7.46771098e-04 9.99659520e-01 4.33124217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08241403699998 meters Centerline goodness : 0.822788 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.14, Z:0.43 [[ 9.99308592e-01 -2.69532252e-02 2.56097903e-02 3.68443038e+00] [ 2.69425413e-02 9.99636693e-01 7.62201698e-04 1.38634961e-01] [-2.56210299e-02 -7.16818713e-05 9.99671725e-01 4.29477421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14241403699998 meters Centerline goodness : 0.822158 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:0.43 [[ 9.99303097e-01 -2.73063436e-02 2.54496175e-02 3.68562866e+00] [ 2.72962117e-02 9.99627111e-01 7.45488997e-04 1.35227606e-01] [-2.54604842e-02 -5.02913153e-05 9.99675828e-01 4.28521035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20241403699998 meters Centerline goodness : 0.822871 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:0.43 [[ 9.99331287e-01 -2.63524374e-02 2.53481138e-02 3.68540226e+00] [ 2.63232138e-02 9.99652380e-01 1.48593193e-03 1.34251263e-01] [-2.53784602e-02 -8.17694453e-04 9.99677581e-01 4.29033648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26241403699999 meters Centerline goodness : 0.822594 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.13, Z:0.43 [[ 0.99947544 -0.02068325 0.02492086 3.6849752 ] [ 0.02050908 0.99976357 0.00722425 0.13148494] [-0.02506438 -0.00670935 0.99966332 0.43037863] [ 0. 0. 0. 1. ]] SLAMing on 163.322414037 meters Centerline goodness : 0.820565 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:0.43 [[ 0.99956473 -0.01745307 0.02378513 3.68832607] [ 0.01719901 0.99979327 0.01084446 0.12672278] [-0.02396948 -0.01043066 0.99965827 0.42831005] [ 0. 0. 0. 1. ]] SLAMing on 163.382414037 meters Centerline goodness : 0.822752 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.43 [[ 0.99956713 -0.01795644 0.02330499 3.69072088] [ 0.01770663 0.99978401 0.01088195 0.12311785] [-0.02349536 -0.01046459 0.99966918 0.42644159] [ 0. 0. 0. 1. ]] SLAMing on 163.442414037 meters Centerline goodness : 0.822274 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.43 [[ 0.99955607 -0.01917363 0.02280422 3.69274408] [ 0.01894897 0.99977017 0.0100274 0.1196434 ] [-0.02299124 -0.00959083 0.99968966 0.42505261] [ 0. 0. 0. 1. ]] SLAMing on 163.502414037 meters Centerline goodness : 0.822558 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.42 [[ 0.9994945 -0.02212783 0.02282756 3.69319132] [ 0.02195117 0.99972735 0.00796048 0.11471765] [-0.02299748 -0.00745537 0.99970772 0.42477048] [ 0. 0. 0. 1. ]] SLAMing on 163.562414037 meters Centerline goodness : 0.824349 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.43 [[ 0.9994271 -0.02496721 0.02284967 3.69286385] [ 0.02483941 0.99967428 0.0058598 0.1102272 ] [-0.02298853 -0.00528887 0.99972174 0.42551039] [ 0. 0. 0. 1. ]] SLAMing on 163.622414037 meters Centerline goodness : 0.823409 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.43 [[ 9.99310511e-01 -2.93014248e-02 2.28019334e-02 3.69278553e+00] [ 2.92370224e-02 9.99567535e-01 3.15276782e-03 1.04607203e-01] [-2.28844529e-02 -2.48393338e-03 9.99735031e-01 4.26708075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682414037 meters Centerline goodness : 0.824458 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.43 [[ 0.99901107 -0.03820986 0.02273536 3.69451839] [ 0.03832216 0.99925519 -0.00452447 0.10039743] [-0.02254555 0.00539127 0.99973128 0.42566207] [ 0. 0. 0. 1. ]] SLAMing on 163.74241403699997 meters Centerline goodness : 0.823687 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:0.09, Z:0.42 [[ 0.99840238 -0.05313518 0.01921799 3.70365855] [ 0.05339389 0.99848616 -0.01320888 0.09302158] [-0.01848704 0.0142139 0.99972806 0.42491342] [ 0. 0. 0. 1. ]] SLAMing on 163.80241403699998 meters Centerline goodness : 0.823908 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.09, Z:0.42 [[ 0.99807436 -0.05899623 0.01915758 3.70668983] [ 0.05934551 0.99807148 -0.01820553 0.09277874] [-0.01804657 0.01930739 0.99965071 0.42197513] [ 0. 0. 0. 1. ]] SLAMing on 163.86241403699998 meters Centerline goodness : 0.822522 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.42 [[ 0.99774293 -0.06436827 0.01912538 3.70860439] [ 0.06481147 0.99761995 -0.02353542 0.09506549] [-0.01756493 0.02472185 0.99954005 0.42026785] [ 0. 0. 0. 1. ]] SLAMing on 163.92241403699998 meters Centerline goodness : 0.821078 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.42 [[ 0.99762039 -0.06626609 0.01903558 3.71030564] [ 0.06674434 0.9974392 -0.02569507 0.09821047] [-0.01728412 0.02690445 0.99948857 0.41862487] [ 0. 0. 0. 1. ]] SLAMing on 163.98241403699998 meters Centerline goodness : 0.821775 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.42 [[ 0.9977694 -0.06404117 0.01883995 3.71145061] [ 0.06447878 0.99763958 -0.02361698 0.1023909 ] [-0.01728302 0.02477907 0.99954354 0.41722377] [ 0. 0. 0. 1. ]] SLAMing on 164.042414037 meters Centerline goodness : 0.822978 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.11, Z:0.42 [[ 0.99786933 -0.06220868 0.01966926 3.70736921] [ 0.06264605 0.99778302 -0.02246166 0.11029112] [-0.01822835 0.023646 0.9995542 0.42064558] [ 0. 0. 0. 1. ]] SLAMing on 164.102414037 meters Centerline goodness : 0.823230 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:0.12, Z:0.42 [[ 0.99780618 -0.06311141 0.01999458 3.70490414] [ 0.06359649 0.99767168 -0.02463152 0.11883481] [-0.0183935 0.02584907 0.99949663 0.42320712] [ 0. 0. 0. 1. ]] SLAMing on 164.162414037 meters Centerline goodness : 0.822357 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:0.42 [[ 0.99790807 -0.06159714 0.0196286 3.70699508] [ 0.06205499 0.99779276 -0.02363872 0.12513392] [-0.01812919 0.02480732 0.99952785 0.4210997 ] [ 0. 0. 0. 1. ]] SLAMing on 164.222414037 meters Centerline goodness : 0.822082 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.13, Z:0.42 [[ 0.99801881 -0.05984601 0.01941395 3.70815346] [ 0.06028457 0.99791964 -0.02285092 0.13414603] [-0.01800602 0.02397601 0.99955037 0.41972069] [ 0. 0. 0. 1. ]] SLAMing on 164.282414037 meters Centerline goodness : 0.819478 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.15, Z:0.42 [[ 0.99813721 -0.05786854 0.01932224 3.70849418] [ 0.05829022 0.99805671 -0.02202381 0.1485634 ] [-0.0180102 0.02310908 0.99957071 0.41946471] [ 0. 0. 0. 1. ]] SLAMing on 164.342414037 meters Centerline goodness : 0.817057 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.17, Z:0.42 [[ 0.9983912 -0.05353932 0.01866963 3.71052964] [ 0.05389918 0.99835914 -0.01933651 0.16690366] [-0.01760373 0.02031168 0.99963871 0.4177052 ] [ 0. 0. 0. 1. ]] SLAMing on 164.402414037 meters Centerline goodness : 0.814715 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.18, Z:0.42 [[ 0.99864678 -0.04874407 0.01812824 3.71058706] [ 0.04903949 0.99866505 -0.0162247 0.1794908 ] [-0.01731318 0.01709174 0.99970402 0.41838011] [ 0. 0. 0. 1. ]] SLAMing on 164.462414037 meters Centerline goodness : 0.815735 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.20, Z:0.42 [[ 0.99896306 -0.04154646 0.01861987 3.70706818] [ 0.04188111 0.99896119 -0.01795843 0.20282063] [-0.01785441 0.01871963 0.99966534 0.42367114] [ 0. 0. 0. 1. ]] SLAMing on 164.52241403699998 meters Centerline goodness : 0.812381 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:0.42 [[ 0.99925696 -0.03485112 0.01645971 3.71132 ] [ 0.03512749 0.99924143 -0.01681115 0.22172911] [-0.01586134 0.01737685 0.99972319 0.42070422] [ 0. 0. 0. 1. ]] SLAMing on 164.58241403699998 meters Centerline goodness : 0.811142 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.23, Z:0.42 [[ 0.99942036 -0.02992314 0.01623414 3.7116373 ] [ 0.03013725 0.99945981 -0.01310865 0.23152367] [-0.01583311 0.01359031 0.99978228 0.42058478] [ 0. 0. 0. 1. ]] SLAMing on 164.64241403699998 meters Centerline goodness : 0.812754 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:0.42 [[ 0.99943394 -0.02911929 0.01684839 3.70914234] [ 0.02933353 0.99949012 -0.01261116 0.24541562] [-0.01647258 0.01309824 0.99977852 0.4224848 ] [ 0. 0. 0. 1. ]] SLAMing on 164.70241403699998 meters Centerline goodness : 0.814686 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:0.42 [[ 0.99935765 -0.03165027 0.01680939 3.71033062] [ 0.03191484 0.99936709 -0.01571179 0.25281605] [-0.01630147 0.01623816 0.99973526 0.42125113] [ 0. 0. 0. 1. ]] SLAMing on 164.76241403699999 meters Centerline goodness : 0.815968 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:0.42 [[ 0.99902479 -0.04212892 0.01321443 3.72001139] [ 0.04241583 0.99885247 -0.02224031 0.26767054] [-0.01226231 0.02277912 0.99966532 0.42177568] [ 0. 0. 0. 1. ]] SLAMing on 164.822414037 meters Centerline goodness : 0.816222 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:0.29, Z:0.42 [[ 0.99890135 -0.04565911 0.01055162 3.72556656] [ 0.04590137 0.99865793 -0.02398763 0.28701977] [-0.0094422 0.02444561 0.99965657 0.42351598] [ 0. 0. 0. 1. ]] SLAMing on 164.882414037 meters Centerline goodness : 0.814961 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:0.30, Z:0.42 [[ 0.99905609 -0.042188 0.01034897 3.74619582] [ 0.04244564 0.99875816 -0.02608658 0.30170651] [-0.00923558 0.02650122 0.99960612 0.41905779] [ 0. 0. 0. 1. ]] SLAMing on 164.942414037 meters Centerline goodness : 0.814121 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:0.31, Z:0.42 [[ 0.99917551 -0.03925041 0.0103781 3.76568673] [ 0.03951449 0.99886487 -0.02660029 0.30878349] [-0.00932225 0.02698845 0.99959228 0.41653739] [ 0. 0. 0. 1. ]] SLAMing on 165.002414037 meters Centerline goodness : 0.814781 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:0.33, Z:0.41 [[ 0.99939672 -0.03162118 0.01436283 3.79652614] [ 0.03215969 0.9987234 -0.03895284 0.33378341] [-0.01311276 0.03939125 0.99913782 0.41476342] [ 0. 0. 0. 1. ]] SLAMing on 165.062414037 meters Centerline goodness : 0.815506 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:0.41 [[ 0.99939421 -0.02875519 0.0196051 3.80975735] [ 0.02956885 0.99865627 -0.04255975 0.34910015] [-0.01835494 0.04311366 0.99890155 0.41272321] [ 0. 0. 0. 1. ]] SLAMing on 165.122414037 meters Centerline goodness : 0.814800 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.37, Z:0.42 [[ 0.99939525 -0.02713238 0.02174767 3.84360871] [ 0.02818375 0.99837186 -0.04959146 0.37003543] [-0.02036673 0.0501744 0.99853279 0.41530044] [ 0. 0. 0. 1. ]] SLAMing on 165.182414037 meters Centerline goodness : 0.811071 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.38, Z:0.41 [[ 0.99946823 -0.02951133 0.01386856 3.87449324] [ 0.03013506 0.99843301 -0.04715292 0.38358003] [-0.01245529 0.04754577 0.9987914 0.41382319] [ 0. 0. 0. 1. ]] SLAMing on 165.24241403699997 meters Centerline goodness : 0.809592 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.39, Z:0.41 [[ 0.99947434 -0.0295893 0.01324854 3.87699874] [ 0.03018887 0.99840972 -0.04760956 0.3912327 ] [-0.01181873 0.0479845 0.99877816 0.41229567] [ 0. 0. 0. 1. ]] SLAMing on 165.30241403699998 meters Centerline goodness : 0.808419 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.40, Z:0.41 [[ 0.9991801 -0.03631228 0.0179037 3.89599272] [ 0.03703821 0.99842936 -0.04203562 0.40264378] [-0.01634917 0.04266427 0.99895569 0.41369125] [ 0. 0. 0. 1. ]] SLAMing on 165.36241403699998 meters Centerline goodness : 0.805257 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.41, Z:0.41 [[ 0.99910993 -0.03817915 0.01793601 3.89710445] [ 0.03895449 0.99822379 -0.04507571 0.41054475] [-0.0161832 0.04573428 0.99882255 0.4127697 ] [ 0. 0. 0. 1. ]] SLAMing on 165.42241403699998 meters Centerline goodness : 0.806670 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:0.41 [[ 0.99915365 -0.03731953 0.01729866 3.90073401] [ 0.03807265 0.99823988 -0.04547114 0.42460848] [-0.01557125 0.04609126 0.99881586 0.41003271] [ 0. 0. 0. 1. ]] SLAMing on 165.48241403699998 meters Centerline goodness : 0.804605 with order 2 Centerline is valid? [False, False] Translation: X:3.90, Y:0.44, Z:0.42 [[ 0.99933489 -0.03160231 0.0181955 3.89582177] [ 0.03238485 0.99848645 -0.04445262 0.44330004] [-0.01676316 0.04501231 0.99884578 0.41726015] [ 0. 0. 0. 1. ]] SLAMing on 165.542414037 meters Centerline goodness : 0.799720 with order 2 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.42 [[ 0.99950592 -0.02557547 0.01827073 3.89523575] [ 0.02629311 0.99884637 -0.04018212 0.45405469] [-0.01722198 0.04064266 0.99902531 0.41786808] [ 0. 0. 0. 1. ]] SLAMing on 165.602414037 meters Centerline goodness : 0.801515 with order 2 Centerline is valid? [False, False] Translation: X:3.89, Y:0.47, Z:0.42 [[ 0.9996866 -0.01567373 0.01952028 3.88974773] [ 0.01627714 0.99938229 -0.03114625 0.46816169] [-0.01902004 0.03145422 0.99932421 0.42160446] [ 0. 0. 0. 1. ]] SLAMing on 165.662414037 meters Centerline goodness : 0.801077 with order 2 Centerline is valid? [False, False] Translation: X:3.87, Y:0.48, Z:0.42 [[ 0.99968957 -0.01656175 0.01861368 3.86598953] [ 0.01677178 0.99979678 -0.01118509 0.47593621] [-0.01842466 0.0114938 0.99976418 0.42477797] [ 0. 0. 0. 1. ]] SLAMing on 165.722414037 meters Centerline goodness : 0.810148 with order 3 Centerline is valid? [False, False] Translation: X:3.84, Y:0.48, Z:0.43 [[ 0.99973589 -0.02164161 0.00773229 3.8423836 ] [ 0.02147593 0.99955081 0.02090344 0.48079004] [-0.0081812 -0.02073186 0.9997516 0.4331197 ] [ 0. 0. 0. 1. ]] SLAMing on 165.782414037 meters Centerline goodness : 0.808556 with order 2 Centerline is valid? [False, False] Translation: X:3.82, Y:0.50, Z:0.43 [[ 0.99952369 -0.03026798 0.00602002 3.82369572] [ 0.03007269 0.99909003 0.03024471 0.49579096] [-0.00692999 -0.03004927 0.9995244 0.43329742] [ 0. 0. 0. 1. ]] SLAMing on 165.842414037 meters Centerline goodness : 0.816507 with order 3 Centerline is valid? [False, False] Translation: X:3.80, Y:0.51, Z:0.43 [[ 0.99912774 -0.04154033 0.00426188 3.80472287] [ 0.04135414 0.99845562 0.0370973 0.50597448] [-0.00579634 -0.03688869 0.99930257 0.43334694] [ 0. 0. 0. 1. ]] SLAMing on 165.902414037 meters Centerline goodness : 0.816565 with order 3 Centerline is valid? [False, False] Translation: X:3.80, Y:0.51, Z:0.43 [[ 0.99900369 -0.04446063 0.0038582 3.80487487] [ 0.0443095 0.99847239 0.03300843 0.51411 ] [-0.00531988 -0.03280459 0.99944763 0.43369234] [ 0. 0. 0. 1. ]] SLAMing on 165.962414037 meters Centerline goodness : 0.827037 with order 3 Centerline is valid? [False, False] Translation: X:3.80, Y:0.53, Z:0.44 [[ 0.99902429 -0.04397107 0.00412523 3.80075524] [ 0.04381027 0.99848748 0.03321763 0.52871562] [-0.0055796 -0.03300449 0.99943963 0.43674275] [ 0. 0. 0. 1. ]] SLAMing on 166.02241403699998 meters Centerline goodness : 0.827833 with order 3 Centerline is valid? [False, False] Translation: X:3.79, Y:0.54, Z:0.44 [[ 9.99265467e-01 -3.82723760e-02 -1.93711940e-03 3.78660816e+00] [ 3.83175009e-02 9.98605331e-01 3.63202598e-02 5.38399965e-01] [ 5.44355120e-04 -3.63678069e-02 9.99338324e-01 4.43550162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08241403699998 meters Centerline goodness : 0.829073 with order 3 Centerline is valid? [False, False] Translation: X:3.78, Y:0.56, Z:0.45 [[ 0.99942032 -0.03279619 -0.00913436 3.7751122 ] [ 0.03307937 0.99891435 0.03280061 0.55664171] [ 0.00804871 -0.03308376 0.99942017 0.44989017] [ 0. 0. 0. 1. ]] SLAMing on 166.14241403699998 meters Centerline goodness : 0.828117 with order 2 Centerline is valid? [False, False] Translation: X:3.77, Y:0.57, Z:0.45 [[ 0.99969195 -0.02212255 -0.01125116 3.77338342] [ 0.02259873 0.99877055 0.0441212 0.56980494] [ 0.01026125 -0.04436187 0.99896283 0.45388908] [ 0. 0. 0. 1. ]] SLAMing on 166.20241403699998 meters Centerline goodness : 0.836479 with order 3 Centerline is valid? [False, False] Translation: X:3.75, Y:0.57, Z:0.47 [[ 0.99945619 -0.02164956 -0.02487215 3.74715737] [ 0.02380902 0.99564907 0.0900892 0.57479265] [ 0.02281354 -0.09063239 0.99562308 0.46663504] [ 0. 0. 0. 1. ]] SLAMing on 166.26241403699999 meters Centerline goodness : 0.840344 with order 3 Centerline is valid? [False, False] Translation: X:3.75, Y:0.58, Z:0.48 [[ 0.99897063 -0.01770783 -0.04176253 3.75125148] [ 0.02286401 0.99171405 0.12641396 0.58064622] [ 0.03917797 -0.1272387 0.99109808 0.48452931] [ 0. 0. 0. 1. ]] SLAMing on 166.322414037 meters Centerline goodness : 0.834653 with order 3 Centerline is valid? [False, False] Translation: X:3.76, Y:0.58, Z:0.50 [[ 0.99809724 -0.01855476 -0.05880148 3.76343011] [ 0.02929952 0.98182435 0.1875166 0.57607214] [ 0.0542534 -0.18888266 0.98049983 0.5028287 ] [ 0. 0. 0. 1. ]] SLAMing on 166.382414037 meters Centerline goodness : 0.849932 with order 3 Centerline is valid? [False, False] Translation: X:3.77, Y:0.58, Z:0.52 [[ 0.99731655 -0.01900356 -0.07070053 3.77380885] [ 0.03450547 0.97374554 0.22500889 0.57813876] [ 0.06456836 -0.22684464 0.97178827 0.5194659 ] [ 0. 0. 0. 1. ]] SLAMing on 166.442414037 meters Centerline goodness : 0.839885 with order 3 Centerline is valid? [False, False] Translation: X:3.76, Y:0.56, Z:0.53 [[ 0.99649358 -0.01594823 -0.08213522 3.75805406] [ 0.04168551 0.94578766 0.3220994 0.55790885] [ 0.07254556 -0.32439384 0.94313614 0.53310601] [ 0. 0. 0. 1. ]] SLAMing on 166.502414037 meters Centerline goodness : 0.844981 with order 3 Centerline is valid? [False, False] Translation: X:3.75, Y:0.55, Z:0.55 [[ 0.99513113 -0.01491036 -0.09742541 3.74972859] [ 0.05288642 0.91491121 0.40017559 0.54703033] [ 0.08316884 -0.40337967 0.91124518 0.54590567] [ 0. 0. 0. 1. ]] SLAMing on 166.562414037 meters Centerline goodness : 0.848121 with order 3 Centerline is valid? [False, False] Translation: X:3.76, Y:0.55, Z:0.56 [[ 0.99328872 -0.01466237 -0.11472812 3.76034255] [ 0.06504979 0.89100222 0.44931456 0.54714392] [ 0.095635 -0.45376213 0.88597623 0.55892671] [ 0. 0. 0. 1. ]] SLAMing on 166.622414037 meters Centerline goodness : 0.835345 with order 3 Centerline is valid? [False, False] Translation: X:3.75, Y:0.53, Z:0.57 [[ 0.99301936 -0.00791474 -0.11768562 3.74544273] [ 0.06937196 0.8461261 0.52844882 0.53475547] [ 0.09539434 -0.53292399 0.84076866 0.57294481] [ 0. 0. 0. 1. ]] SLAMing on 166.682414037 meters Centerline goodness : 0.838088 with order 3 Centerline is valid? [False, False] Translation: X:3.75, Y:0.54, Z:0.59 [[ 0.99215227 0.00662299 -0.12485995 3.74932646] [ 0.06758562 0.81173599 0.58010073 0.54330849] [ 0.10519532 -0.583987 0.80491809 0.59101767] [ 0. 0. 0. 1. ]] SLAMing on 166.74241403699997 meters Centerline goodness : 0.838157 with order 3 Centerline is valid? [False, False] Translation: X:3.77, Y:0.55, Z:0.60 [[ 0.99120713 0.01619772 -0.13132424 3.76755375] [ 0.06792175 0.78946038 0.61003193 0.54507753] [ 0.11355641 -0.61358777 0.78141858 0.59880263] [ 0. 0. 0. 1. ]] SLAMing on 166.80241403699998 meters Centerline goodness : 0.830746 with order 3 Centerline is valid? [False, False] Translation: X:3.79, Y:0.55, Z:0.60 [[ 0.99090119 0.02538508 -0.13217572 3.7921655 ] [ 0.06013941 0.79505356 0.6035504 0.54993639] [ 0.12040795 -0.60600778 0.78629288 0.59994496] [ 0. 0. 0. 1. ]] SLAMing on 166.86241403699998 meters Centerline goodness : 0.830853 with order 3 Centerline is valid? [False, False] Translation: X:3.81, Y:0.56, Z:0.60 [[ 0.99159444 0.03051236 -0.12573565 3.8117384 ] [ 0.05107531 0.80056137 0.59707018 0.55762788] [ 0.11887713 -0.59847346 0.79227378 0.6048942 ] [ 0. 0. 0. 1. ]] SLAMing on 166.92241403699998 meters Centerline goodness : 0.833061 with order 3 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:0.61 [[ 0.99178197 0.03353965 -0.12346504 3.83315321] [ 0.0455429 0.80926192 0.58567994 0.56518433] [ 0.11955906 -0.58648976 0.80108389 0.60901554] [ 0. 0. 0. 1. ]] SLAMing on 166.98241403699998 meters Centerline goodness : 0.833330 with order 3 Centerline is valid? [False, False] Translation: X:3.86, Y:0.57, Z:0.61 [[ 0.99247097 0.03246332 -0.11809958 3.85821407] [ 0.0415104 0.81801516 0.57369685 0.56674613] [ 0.11523135 -0.57427983 0.81050874 0.61395087] [ 0. 0. 0. 1. ]] SLAMing on 167.042414037 meters Centerline goodness : 0.825623 with order 3 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:0.62 [[ 0.99392642 0.03504581 -0.10431715 3.8877972 ] [ 0.03501377 0.79796333 0.60168809 0.55613515] [ 0.10432791 -0.60168622 0.79188975 0.62329223] [ 0. 0. 0. 1. ]] SLAMing on 167.102414037 meters Centerline goodness : 0.834571 with order 3 Centerline is valid? [False, False] Translation: X:3.91, Y:0.56, Z:0.63 [[ 0.9939309 0.03808977 -0.10320139 3.91158163] [ 0.03038141 0.80660691 0.59030692 0.56067965] [ 0.10572761 -0.58985969 0.80055432 0.6293088 ] [ 0. 0. 0. 1. ]] SLAMing on 167.162414037 meters Centerline goodness : 0.806427 with order 3 Centerline is valid? [False, False] Translation: X:3.91, Y:0.57, Z:0.63 [[ 0.99344306 0.03845299 -0.10766733 3.91198497] [ 0.02827876 0.82983072 0.5572982 0.57444416] [ 0.11077544 -0.55668873 0.82330217 0.63403803] [ 0. 0. 0. 1. ]] SLAMing on 167.222414037 meters Centerline goodness : 0.832437 with order 3 Centerline is valid? [False, False] Translation: X:3.91, Y:0.59, Z:0.64 [[ 0.99311765 0.04750352 -0.10705493 3.90944896] [ 0.01592012 0.8508176 0.52521992 0.58831383] [ 0.11603401 -0.52330949 0.84420571 0.64014281] [ 0. 0. 0. 1. ]] SLAMing on 167.282414037 meters Centerline goodness : 0.827003 with order 3 Centerline is valid? [False, False] Translation: X:3.90, Y:0.60, Z:0.65 [[ 9.92299700e-01 6.01219369e-02 -1.08289698e-01 3.90421261e+00] [ 1.29095221e-03 8.69223218e-01 4.94418175e-01 6.01778568e-01] [ 1.23853298e-01 -4.90750803e-01 8.62452323e-01 6.45525793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342414037 meters Centerline goodness : 0.820220 with order 3 Centerline is valid? [False, False] Translation: X:3.91, Y:0.61, Z:0.65 [[ 9.91491859e-01 6.20925400e-02 -1.14404587e-01 3.90676178e+00] [-2.51552796e-03 8.87870516e-01 4.60086535e-01 6.10445733e-01] [ 1.30144401e-01 -4.55884266e-01 8.80472584e-01 6.51905101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402414037 meters Centerline goodness : 0.813476 with order 2 Centerline is valid? [False, False] Translation: X:3.91, Y:0.61, Z:0.66 [[ 0.99136332 0.06144992 -0.11585629 3.90867634] [-0.00569423 0.90276364 0.43009927 0.61344951] [ 0.13102042 -0.42572493 0.89531667 0.65746097] [ 0. 0. 0. 1. ]] SLAMing on 167.462414037 meters Centerline goodness : 0.822485 with order 3 Centerline is valid? [False, False] Translation: X:3.91, Y:0.61, Z:0.67 [[ 0.99093776 0.06151296 -0.11940902 3.91482864] [-0.0079094 0.91415603 0.40528532 0.61477328] [ 0.13408877 -0.40066808 0.90635826 0.67005579] [ 0. 0. 0. 1. ]] SLAMing on 167.52241403699998 meters Centerline goodness : 0.812811 with order 3 Centerline is valid? [False, False] Translation: X:3.92, Y:0.61, Z:0.68 [[ 0.9904015 0.06104771 -0.12400824 3.91673023] [-0.00953317 0.92521129 0.37933255 0.61313949] [ 0.13789121 -0.37450934 0.91691263 0.68367122] [ 0. 0. 0. 1. ]] SLAMing on 167.58241403699998 meters Centerline goodness : 0.813043 with order 3 Centerline is valid? [False, False] Translation: X:3.93, Y:0.61, Z:0.69 [[ 0.98952973 0.06058513 -0.13099754 3.92684016] [-0.01028115 0.93491344 0.35472687 0.61183461] [ 0.14396254 -0.34966598 0.92574753 0.69407268] [ 0. 0. 0. 1. ]] SLAMing on 167.64241403699998 meters Centerline goodness : 0.812136 with order 2 Centerline is valid? [False, False] Translation: X:3.93, Y:0.61, Z:0.71 [[ 0.98865949 0.06272445 -0.13644796 3.93488037] [-0.01421957 0.94361343 0.33074386 0.60747148] [ 0.14949986 -0.32505283 0.93380429 0.70731598] [ 0. 0. 0. 1. ]] SLAMing on 167.70241403699998 meters Centerline goodness : 0.811123 with order 2 Centerline is valid? [False, False] Translation: X:3.93, Y:0.60, Z:0.72 [[ 0.98790608 0.06766207 -0.13951133 3.93438363] [-0.02263326 0.95305369 0.30195431 0.60195473] [ 0.15339264 -0.2951449 0.94305895 0.71794088] [ 0. 0. 0. 1. ]] SLAMing on 167.76241403699999 meters Centerline goodness : 0.824061 with order 2 Centerline is valid? [False, False] Translation: X:3.94, Y:0.60, Z:0.73 [[ 0.98750193 0.06847429 -0.14195496 3.9372524 ] [-0.02701843 0.96090523 0.27555605 0.59784231] [ 0.15527377 -0.26827673 0.95074584 0.72622543] [ 0. 0. 0. 1. ]] SLAMing on 167.822414037 meters Centerline goodness : 0.841180 with order 3 Centerline is valid? [False, False] Translation: X:3.94, Y:0.59, Z:0.74 [[ 0.98744182 0.06881383 -0.1422087 3.94454934] [-0.03024645 0.96584566 0.25734667 0.5858575 ] [ 0.15506067 -0.24981355 0.95579777 0.73848241] [ 0. 0. 0. 1. ]] SLAMing on 167.882414037 meters Centerline goodness : 0.836830 with order 3 Centerline is valid? [False, False] Translation: X:3.95, Y:0.58, Z:0.75 [[ 0.98722115 0.06684516 -0.14465867 3.95325515] [-0.03142003 0.97159873 0.23453932 0.57589029] [ 0.156228 -0.226997 0.96128309 0.75115728] [ 0. 0. 0. 1. ]] SLAMing on 167.942414037 meters Centerline goodness : 0.832918 with order 3 Centerline is valid? [False, False] Translation: X:3.97, Y:0.56, Z:0.76 [[ 0.98650928 0.06219914 -0.15142887 3.9735717 ] [-0.02833477 0.97592303 0.21626692 0.56180279] [ 0.16123453 -0.20905862 0.96451953 0.76450615] [ 0. 0. 0. 1. ]] SLAMing on 168.002414037 meters Centerline goodness : 0.816166 with order 3 Centerline is valid? [False, False] Translation: X:4.00, Y:0.53, Z:0.77 [[ 0.98689367 0.0597108 -0.14991836 4.00034732] [-0.02584189 0.97551226 0.21842168 0.53253406] [ 0.15928933 -0.2116848 0.96426991 0.77207999] [ 0. 0. 0. 1. ]] SLAMing on 168.062414037 meters Centerline goodness : 0.808439 with order 2 Centerline is valid? [False, False] Translation: X:4.01, Y:0.52, Z:0.78 [[ 0.98647482 0.0573693 -0.15354543 4.0137944 ] [-0.02475397 0.97814803 0.20643081 0.52022602] [ 0.16203295 -0.19983793 0.96633851 0.7803653 ] [ 0. 0. 0. 1. ]] SLAMing on 168.122414037 meters Centerline goodness : 0.824805 with order 3 Centerline is valid? [False, False] Translation: X:4.04, Y:0.49, Z:0.79 [[ 0.98720734 0.06051635 -0.1475108 4.03531992] [-0.02853783 0.97729594 0.20994818 0.48809157] [ 0.156867 -0.20305274 0.96652073 0.78663837] [ 0. 0. 0. 1. ]] SLAMing on 168.182414037 meters Centerline goodness : 0.826186 with order 2 Centerline is valid? [False, False] Translation: X:4.05, Y:0.46, Z:0.80 [[ 0.98800037 0.06501614 -0.14010057 4.05099223] [-0.03382385 0.976145 0.21446884 0.46186065] [ 0.15070241 -0.20715655 0.96663072 0.79519132] [ 0. 0. 0. 1. ]] SLAMing on 168.24241403699997 meters Centerline goodness : 0.835302 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.45, Z:0.80 [[ 0.98782482 0.06549621 -0.14111118 4.06775921] [-0.03595586 0.97861804 0.2025189 0.44853287] [ 0.15135817 -0.19497943 0.96905817 0.80174222] [ 0. 0. 0. 1. ]] SLAMing on 168.30241403699998 meters Centerline goodness : 0.833460 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.39, Z:0.84 [[ 0.98846244 0.07186366 -0.13333276 4.11023774] [-0.0291567 0.95409417 0.29808421 0.39489744] [ 0.14863343 -0.29075751 0.94518156 0.83530931] [ 0. 0. 0. 1. ]] SLAMing on 168.36241403699998 meters Centerline goodness : 0.838400 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:0.84 [[ 0.98864463 0.06073199 -0.13745334 4.11486907] [-0.01882935 0.95755056 0.28764974 0.38252925] [ 0.14908807 -0.28179522 0.94782077 0.84422258] [ 0. 0. 0. 1. ]] SLAMing on 168.42241403699998 meters Centerline goodness : 0.834624 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:0.85 [[ 0.99008652 0.04530079 -0.1329531 4.1072331 ] [-0.00926403 0.96556266 0.26000563 0.3654003 ] [ 0.14015301 -0.25619639 0.95641024 0.84875927] [ 0. 0. 0. 1. ]] SLAMing on 168.48241403699998 meters Centerline goodness : 0.832251 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.35, Z:0.85 [[ 0.98999466 0.03935304 -0.13550611 4.08885774] [-0.00570467 0.97069967 0.24022825 0.34859049] [ 0.14098944 -0.23705166 0.96121199 0.8510594 ] [ 0. 0. 0. 1. ]] SLAMing on 168.542414037 meters Centerline goodness : 0.830211 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.34, Z:0.85 [[ 0.98998804 0.03740575 -0.13610473 4.07213293] [-0.00649313 0.97529485 0.22081166 0.33687049] [ 0.14100187 -0.21771715 0.96577312 0.84607013] [ 0. 0. 0. 1. ]] SLAMing on 168.602414037 meters Centerline goodness : 0.830690 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.84 [[ 0.99027493 0.03636822 -0.13428667 4.05501417] [-0.00796161 0.97846055 0.20628029 0.3212299 ] [ 0.13889625 -0.20320506 0.96923451 0.84382047] [ 0. 0. 0. 1. ]] SLAMing on 168.662414037 meters Centerline goodness : 0.831382 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:0.84 [[ 0.99077015 0.03529012 -0.13087823 4.05213254] [-0.00982569 0.98167349 0.19031716 0.31383672] [ 0.135196 -0.1872746 0.97295954 0.84283756] [ 0. 0. 0. 1. ]] SLAMing on 168.722414037 meters Centerline goodness : 0.832429 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:0.84 [[ 0.99144368 0.0359579 -0.12548492 4.04927064] [-0.01336666 0.98422381 0.17642229 0.30600625] [ 0.12984902 -0.17323545 0.97628311 0.84239377] [ 0. 0. 0. 1. ]] SLAMing on 168.782414037 meters Centerline goodness : 0.836404 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:0.30, Z:0.84 [[ 0.99207498 0.03679478 -0.12013895 4.04997227] [-0.01652026 0.98605819 0.16557877 0.29929381] [ 0.12455643 -0.16228183 0.97885152 0.8440173 ] [ 0. 0. 0. 1. ]] SLAMing on 168.842414037 meters Centerline goodness : 0.835618 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.29, Z:0.85 [[ 0.9918543 0.03823978 -0.12150214 4.05842731] [-0.01864759 0.98718806 0.15846768 0.29274901] [ 0.12600523 -0.15491112 0.9798598 0.8471013 ] [ 0. 0. 0. 1. ]] SLAMing on 168.902414037 meters Centerline goodness : 0.830839 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.28, Z:0.85 [[ 0.99131675 0.03579918 -0.12652873 4.05818432] [-0.01699349 0.98903623 0.14669203 0.28125678] [ 0.13039295 -0.1432681 0.98105654 0.8453231 ] [ 0. 0. 0. 1. ]] SLAMing on 168.96241403699997 meters Centerline goodness : 0.832130 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.27, Z:0.84 [[ 0.99146799 0.02782499 -0.12734598 4.0554348 ] [-0.01100048 0.99132682 0.13095847 0.26839322] [ 0.1298854 -0.12844027 0.9831749 0.83862748] [ 0. 0. 0. 1. ]] SLAMing on 169.02241403699998 meters Centerline goodness : 0.831765 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.84 [[ 0.99142544 0.02465493 -0.12832667 4.06337752] [-0.0090772 0.99266117 0.12058779 0.26456389] [ 0.13035798 -0.11838895 0.98437333 0.84021091] [ 0. 0. 0. 1. ]] SLAMing on 169.08241403699998 meters Centerline goodness : 0.831121 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.84 [[ 0.99125363 0.02201813 -0.13012087 4.06971743] [-0.00761678 0.99388534 0.11015403 0.25770825] [ 0.13175062 -0.10819948 0.98536016 0.84470595] [ 0. 0. 0. 1. ]] SLAMing on 169.14241403699998 meters Centerline goodness : 0.831429 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.25, Z:0.85 [[ 0.99076662 0.0203749 -0.13403871 4.07693283] [-0.0061182 0.9943552 0.10592598 0.25179822] [ 0.13544032 -0.10412785 0.98529859 0.84589419] [ 0. 0. 0. 1. ]] SLAMing on 169.20241403699998 meters Centerline goodness : 0.831240 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.24, Z:0.85 [[ 0.99023002 0.02342101 -0.13746259 4.08536286] [-0.00948975 0.99482705 0.10113895 0.24412793] [ 0.13912028 -0.09884634 0.98532987 0.84966548] [ 0. 0. 0. 1. ]] SLAMing on 169.26241403699999 meters Centerline goodness : 0.830300 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.24, Z:0.85 [[ 0.98960267 0.02670693 -0.14132694 4.09425528] [-0.01309281 0.99525679 0.09639757 0.23695568] [ 0.14323108 -0.09354493 0.98525845 0.85353015] [ 0. 0. 0. 1. ]] SLAMing on 169.322414037 meters Centerline goodness : 0.829347 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.22, Z:0.85 [[ 0.98950671 0.0347931 -0.14023517 4.08852894] [-0.02163337 0.99530919 0.09429538 0.21866907] [ 0.14285818 -0.09027216 0.98561782 0.84748127] [ 0. 0. 0. 1. ]] SLAMing on 169.382414037 meters Centerline goodness : 0.827706 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.21, Z:0.85 [[ 0.98882183 0.03802013 -0.14417299 4.09695607] [-0.02501068 0.99553703 0.09099723 0.21114132] [ 0.14698928 -0.08637418 0.98535966 0.85046549] [ 0. 0. 0. 1. ]] SLAMing on 169.442414037 meters Centerline goodness : 0.831760 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.20, Z:0.85 [[ 0.98938527 0.03363314 -0.14137046 4.09783206] [-0.02307856 0.99686758 0.07564662 0.19804961] [ 0.14347186 -0.07158102 0.9870623 0.85360606] [ 0. 0. 0. 1. ]] SLAMing on 169.502414037 meters Centerline goodness : 0.830740 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.19, Z:0.85 [[ 0.98953163 0.02628123 -0.14190293 4.09922354] [-0.01639869 0.99738626 0.0703686 0.18935042] [ 0.14338141 -0.06730494 0.98737623 0.85360728] [ 0. 0. 0. 1. ]] SLAMing on 169.562414037 meters Centerline goodness : 0.831353 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.18, Z:0.85 [[ 0.98965937 0.0195231 -0.14210271 4.10029897] [-0.0102631 0.99779271 0.06560769 0.18239941] [ 0.14306991 -0.06347085 0.98767528 0.85326804] [ 0. 0. 0. 1. ]] SLAMing on 169.622414037 meters Centerline goodness : 0.829736 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.17, Z:0.85 [[ 9.89777453e-01 9.19964138e-03 -1.42323437e-01 4.10142384e+00] [-9.22485250e-04 9.98309507e-01 5.81143522e-02 1.72160495e-01] [ 1.42617472e-01 -5.73889842e-02 9.88112727e-01 8.53046294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682414037 meters Centerline goodness : 0.828484 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.16, Z:0.85 [[ 9.89695467e-01 2.72068173e-03 -1.43162430e-01 4.10485793e+00] [ 4.93338632e-03 9.98577965e-01 5.30821034e-02 1.64399820e-01] [ 1.43103267e-01 -5.32413927e-02 9.88274663e-01 8.51708537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74241403699997 meters Centerline goodness : 0.827492 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.15, Z:0.85 [[ 9.89644574e-01 -7.61833373e-04 -1.43537577e-01 4.10699544e+00] [ 8.19311281e-03 9.98655406e-01 5.11884121e-02 1.54015264e-01] [ 1.43305580e-01 -5.18343539e-02 9.88320146e-01 8.50884690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80241403699998 meters Centerline goodness : 0.829792 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.14, Z:0.85 [[ 0.99126421 -0.00508527 -0.13179304 4.1082988 ] [ 0.01153926 0.99876847 0.04825328 0.14108108] [ 0.13138535 -0.04935255 0.99010212 0.85188374] [ 0. 0. 0. 1. ]] SLAMing on 169.86241403699998 meters Centerline goodness : 0.824512 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.13, Z:0.85 [[ 0.99115435 -0.01239912 -0.13213368 4.11078083] [ 0.01833554 0.99887179 0.04380578 0.12936021] [ 0.13144145 -0.04584103 0.99026347 0.85106273] [ 0. 0. 0. 1. ]] SLAMing on 169.92241403699998 meters Centerline goodness : 0.827093 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.13, Z:0.85 [[ 0.99103521 -0.0170722 -0.13250566 4.11341004] [ 0.02263662 0.99891896 0.04060155 0.12530001] [ 0.13166926 -0.04323704 0.99035032 0.84963881] [ 0. 0. 0. 1. ]] SLAMing on 169.98241403699998 meters Centerline goodness : 0.821478 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.12, Z:0.85 [[ 0.99069882 -0.02952775 -0.1328306 4.11759507] [ 0.0339142 0.99894751 0.03088208 0.1181913 ] [ 0.13177892 -0.03509969 0.99065752 0.84733243] [ 0. 0. 0. 1. ]] SLAMing on 170.042414037 meters Centerline goodness : 0.822316 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.11, Z:0.85 [[ 0.99036757 -0.03907658 -0.13283485 4.11888729] [ 0.04252495 0.9988255 0.02322166 0.11379471] [ 0.13177141 -0.02864677 0.99086611 0.84704871] [ 0. 0. 0. 1. ]] SLAMing on 170.102414037 meters Centerline goodness : 0.826213 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.11, Z:0.85 [[ 0.99026624 -0.04364021 -0.13216775 4.11698801] [ 0.04667713 0.99871047 0.01996587 0.11369542] [ 0.131126 -0.02594073 0.99102626 0.84827668] [ 0. 0. 0. 1. ]] SLAMing on 170.162414037 meters Centerline goodness : 0.827925 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.12, Z:0.84 [[ 0.99177222 -0.04211423 -0.12088941 4.12017906] [ 0.04435738 0.99888881 0.01592353 0.11731017] [ 0.12008447 -0.02115486 0.99253826 0.84341004] [ 0. 0. 0. 1. ]] SLAMing on 170.222414037 meters Centerline goodness : 0.824909 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.12, Z:0.84 [[ 0.99237026 -0.03875557 -0.11704392 4.12911029] [ 0.0397084 0.99919437 0.00581907 0.12398942] [ 0.11672411 -0.0104223 0.99310969 0.83951497] [ 0. 0. 0. 1. ]] SLAMing on 170.282414037 meters Centerline goodness : 0.822015 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:0.13, Z:0.84 [[ 9.92934161e-01 -3.51313301e-02 -1.13346992e-01 4.13901071e+00] [ 3.50577766e-02 9.99381793e-01 -2.64274849e-03 1.30075445e-01] [ 1.13369764e-01 -1.34961828e-03 9.93551949e-01 8.36535731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342414037 meters Centerline goodness : 0.825195 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.14, Z:0.83 [[ 9.93822439e-01 -2.91246886e-02 -1.07092075e-01 4.14813580e+00] [ 2.85228030e-02 9.99567584e-01 -7.14798994e-03 1.40246309e-01] [ 1.07253950e-01 4.04926663e-03 9.94223412e-01 8.33339814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402414037 meters Centerline goodness : 0.824898 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:0.83 [[ 9.93820314e-01 -2.70483109e-02 -1.07654876e-01 4.15067939e+00] [ 2.65459403e-02 9.99629000e-01 -6.09708826e-03 1.45846758e-01] [ 1.07779852e-01 3.20161027e-03 9.94169630e-01 8.31754650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46241403699997 meters Centerline goodness : 0.826048 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:0.83 [[ 0.99376952 -0.02830848 -0.10779969 4.15157909] [ 0.02767956 0.99959 -0.00732627 0.14778132] [ 0.10796289 0.00429678 0.99414564 0.83126141] [ 0. 0. 0. 1. ]] SLAMing on 170.52241403699998 meters Centerline goodness : 0.827179 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:0.83 [[ 0.99361706 -0.03207042 -0.10815092 4.15455927] [ 0.03115731 0.99946323 -0.01012254 0.1515998 ] [ 0.1084175 0.00668823 0.99408295 0.8296429 ] [ 0. 0. 0. 1. ]] SLAMing on 170.58241403699998 meters Centerline goodness : 0.827629 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:0.83 [[ 0.99358136 -0.03318595 -0.10814239 4.1547407 ] [ 0.03216072 0.99941983 -0.01121114 0.15399098] [ 0.1084517 0.00766125 0.9940722 0.82958287] [ 0. 0. 0. 1. ]] SLAMing on 170.64241403699998 meters Centerline goodness : 0.828508 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:0.83 [[ 0.99468955 -0.03408334 -0.09711341 4.15820819] [ 0.03255454 0.9993205 -0.01728406 0.16652846] [ 0.09763652 0.01403079 0.99512323 0.82600342] [ 0. 0. 0. 1. ]] SLAMing on 170.70241403699998 meters Centerline goodness : 0.828508 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:0.83 [[ 0.99468955 -0.03408334 -0.09711341 4.15820819] [ 0.03255454 0.9993205 -0.01728406 0.16652846] [ 0.09763652 0.01403079 0.99512323 0.82600342] [ 0. 0. 0. 1. ]] SLAMing on 170.76241403699999 meters Centerline goodness : 0.827431 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:0.82 [[ 0.99541833 -0.02968311 -0.09089147 4.16746142] [ 0.02771273 0.9993544 -0.02286445 0.17769794] [ 0.09151148 0.02024084 0.99559829 0.82384876] [ 0. 0. 0. 1. ]] SLAMing on 170.822414037 meters Centerline goodness : 0.827201 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:0.82 [[ 0.9955194 -0.02415437 -0.09142036 4.17010414] [ 0.02255541 0.99957472 -0.01848329 0.18338016] [ 0.09182793 0.01633845 0.99564084 0.82213088] [ 0. 0. 0. 1. ]] SLAMing on 170.882414037 meters Centerline goodness : 0.826536 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.19, Z:0.82 [[ 0.99619506 -0.01877785 -0.08510467 4.17975594] [ 0.0168618 0.99958916 -0.02317728 0.19334643] [ 0.08550492 0.02165407 0.99610241 0.81925913] [ 0. 0. 0. 1. ]] SLAMing on 170.942414037 meters Centerline goodness : 0.825911 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.20, Z:0.82 [[ 0.99623368 -0.01582394 -0.08525294 4.18049242] [ 0.01409648 0.99968372 -0.02082674 0.19694725] [ 0.08555554 0.01954653 0.99614165 0.81887349] [ 0. 0. 0. 1. ]] SLAMing on 171.002414037 meters Centerline goodness : 0.826853 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.20, Z:0.82 [[ 0.99622544 -0.01386695 -0.08568888 4.18219671] [ 0.01228876 0.99974552 -0.01891791 0.20012248] [ 0.08592941 0.01779349 0.99614232 0.81822087] [ 0. 0. 0. 1. ]] SLAMing on 171.062414037 meters Centerline goodness : 0.822559 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.20, Z:0.82 [[ 0.99614263 -0.01548896 -0.08637102 4.1848475 ] [ 0.01373057 0.99968696 -0.02091557 0.20373501] [ 0.08666794 0.01964897 0.99604347 0.81694385] [ 0. 0. 0. 1. ]] SLAMing on 171.122414037 meters Centerline goodness : 0.822652 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.21, Z:0.82 [[ 0.99613861 -0.01258483 -0.08688781 4.18738409] [ 0.01100721 0.99976618 -0.01861227 0.2062117 ] [ 0.08710172 0.01758401 0.99604422 0.81535952] [ 0. 0. 0. 1. ]] SLAMing on 171.182414037 meters Centerline goodness : 0.823523 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.21, Z:0.81 [[ 9.96721024e-01 -1.00597444e-03 -8.09085124e-02 4.19599815e+00] [-4.68457260e-04 9.99834213e-01 -1.82023970e-02 2.13317766e-01] [ 8.09134100e-02 1.81806140e-02 9.96555310e-01 8.13002379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24241403699997 meters Centerline goodness : 0.823651 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.22, Z:0.81 [[ 0.99711707 0.0136871 -0.07463392 4.20583261] [-0.01484043 0.99977855 -0.01492053 0.21948451] [ 0.07441317 0.01598512 0.99709937 0.80987945] [ 0. 0. 0. 1. ]] SLAMing on 171.30241403699998 meters Centerline goodness : 0.823173 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.22, Z:0.81 [[ 0.99739892 0.02313688 -0.0682648 4.21382184] [-0.02432298 0.9995664 -0.01659509 0.22291088] [ 0.06785124 0.01821233 0.99752921 0.80775066] [ 0. 0. 0. 1. ]] SLAMing on 171.36241403699998 meters Centerline goodness : 0.824603 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.81 [[ 0.99737495 0.03588479 -0.06289267 4.22615139] [-0.03754137 0.99897326 -0.02535875 0.22657581] [ 0.0619181 0.02765326 0.99769807 0.81267159] [ 0. 0. 0. 1. ]] SLAMing on 171.42241403699998 meters Centerline goodness : 0.824253 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.81 [[ 0.9978715 0.03956582 -0.05183642 4.22527327] [-0.04059554 0.99899567 -0.01896432 0.22513663] [ 0.05103402 0.02102828 0.99847551 0.81114753] [ 0. 0. 0. 1. ]] SLAMing on 171.48241403699998 meters Centerline goodness : 0.821398 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.22, Z:0.81 [[ 0.99766828 0.04381691 -0.05232677 4.2280082 ] [-0.0446538 0.99889092 -0.01493244 0.22266464] [ 0.05161444 0.01723421 0.99851837 0.80922495] [ 0. 0. 0. 1. ]] SLAMing on 171.542414037 meters Centerline goodness : 0.821044 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.22, Z:0.81 [[ 0.99737122 0.04981889 -0.05261874 4.23152839] [-0.05034964 0.9986928 -0.00880887 0.21762205] [ 0.0521111 0.01143505 0.99857582 0.80612105] [ 0. 0. 0. 1. ]] SLAMing on 171.602414037 meters Centerline goodness : 0.818381 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.21, Z:0.80 [[ 0.99725706 0.05184901 -0.05282075 4.23332063] [-0.05224342 0.99861567 -0.00611279 0.21035628] [ 0.05243069 0.00885556 0.9985853 0.80443372] [ 0. 0. 0. 1. ]] SLAMing on 171.662414037 meters Centerline goodness : 0.819054 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.20, Z:0.81 [[ 9.97162279e-01 5.33943953e-02 -5.30700236e-02 4.23213596e+00] [-5.36184258e-02 9.98557556e-01 -2.80562800e-03 1.96477682e-01] [ 5.28436683e-02 5.64319753e-03 9.98586852e-01 8.05971063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722414037 meters Centerline goodness : 0.818447 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.19, Z:0.81 [[ 9.97086630e-01 5.43045445e-02 -5.35655484e-02 4.23320693e+00] [-5.43902101e-02 9.98519747e-01 -1.41719616e-04 1.86087642e-01] [ 5.34785618e-02 3.05474816e-03 9.98564325e-01 8.05767272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782414037 meters Centerline goodness : 0.817136 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.18, Z:0.80 [[ 9.97181200e-01 5.17409746e-02 -5.43371457e-02 4.23502959e+00] [-5.18554340e-02 9.98654358e-01 -6.97755804e-04 1.75218067e-01] [ 5.42279248e-02 3.51346524e-03 9.98522402e-01 8.04985167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842414037 meters Centerline goodness : 0.814977 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:0.81 [[ 9.97476081e-01 4.57051292e-02 -5.43369947e-02 4.23435115e+00] [-4.58603699e-02 9.98946558e-01 -1.61290911e-03 1.57720683e-01] [ 5.42060356e-02 4.10075294e-03 9.98521352e-01 8.07250947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902414037 meters Centerline goodness : 0.817631 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:0.81 [[ 9.97622520e-01 4.20886427e-02 -5.45697092e-02 4.23364050e+00] [-4.23105738e-02 9.99100247e-01 -2.91751519e-03 1.46534108e-01] [ 5.43978156e-02 5.21945456e-03 9.98505701e-01 8.08522221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96241403699997 meters Centerline goodness : 0.817161 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:0.81 [[ 9.97715310e-01 4.04426155e-02 -5.41161305e-02 4.23154224e+00] [-4.06504124e-02 9.99169662e-01 -2.74418001e-03 1.35545364e-01] [ 5.39602140e-02 4.93775343e-03 9.98530878e-01 8.09774670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02241403699998 meters Centerline goodness : 0.824652 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.12, Z:0.81 [[ 9.98131771e-01 4.25191492e-02 -4.38758409e-02 4.23334794e+00] [-4.23467256e-02 9.99091192e-01 4.85222092e-03 1.21577182e-01] [ 4.40422785e-02 -2.98515766e-03 9.99025208e-01 8.08373761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08241403699998 meters Centerline goodness : 0.824236 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.11, Z:0.81 [[ 0.9980699 0.04384865 -0.04397472 4.23305827] [-0.04357042 0.99902393 0.00726624 0.11414443] [ 0.04425041 -0.00533622 0.99900622 0.80901766] [ 0. 0. 0. 1. ]] SLAMing on 172.14241403699998 meters Centerline goodness : 0.824114 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.11, Z:0.81 [[ 9.98137829e-01 4.16949914e-02 -4.45241732e-02 4.23560420e+00] [-4.14678203e-02 9.99121740e-01 6.01408666e-03 1.05040153e-01] [ 4.47358267e-02 -4.15656700e-03 9.98990205e-01 8.06818491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20241403699998 meters Centerline goodness : 0.821265 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.09, Z:0.80 [[ 9.98192147e-01 3.97927136e-02 -4.50441755e-02 4.24067026e+00] [-3.95858427e-02 9.99201170e-01 5.47570495e-03 9.24799286e-02] [ 4.52260860e-02 -3.68269403e-03 9.98969989e-01 8.01457056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26241403699999 meters Centerline goodness : 0.822383 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.08, Z:0.80 [[ 0.99813904 0.04097349 -0.04516237 4.24061891] [-0.04062304 0.99913709 0.00865077 0.08345463] [ 0.04547785 -0.00680004 0.9989422 0.80240563] [ 0. 0. 0. 1. ]] SLAMing on 172.322414037 meters Centerline goodness : 0.815190 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.07, Z:0.81 [[ 0.99791845 0.04660391 -0.04457407 4.31036772] [-0.04752302 0.99867414 -0.01978673 0.06679064] [ 0.04359283 0.02186384 0.99881011 0.80509133] [ 0. 0. 0. 1. ]] SLAMing on 172.382414037 meters Centerline goodness : 0.809505 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.06, Z:0.80 [[ 0.99823398 0.04661097 -0.0368285 4.35505638] [-0.04813145 0.99797694 -0.04153781 0.05970473] [ 0.03481787 0.04323706 0.99845795 0.80015274] [ 0. 0. 0. 1. ]] SLAMing on 172.442414037 meters Centerline goodness : 0.805418 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.06, Z:0.79 [[ 0.99872809 0.04624667 -0.02008583 4.39562623] [-0.0480501 0.99370014 -0.10124827 0.05959252] [ 0.0152769 0.10208461 0.99465841 0.78832904] [ 0. 0. 0. 1. ]] SLAMing on 172.502414037 meters Centerline goodness : 0.800676 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.04, Z:0.79 [[ 0.99890054 0.04492555 -0.013394 4.41153995] [-0.04620768 0.99174304 -0.1196269 0.04355116] [ 0.0079091 0.12011428 0.99272857 0.78866891] [ 0. 0. 0. 1. ]] SLAMing on 172.562414037 meters Centerline goodness : 0.799549 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.04, Z:0.79 [[ 0.99899487 0.04249053 -0.01427627 4.41150062] [-0.04392196 0.9914992 -0.12247526 0.03929635] [ 0.00895087 0.1229792 0.99236888 0.78990652] [ 0. 0. 0. 1. ]] SLAMing on 172.622414037 meters Centerline goodness : 0.800253 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.02, Z:0.80 [[ 0.99910145 0.03923297 -0.01603331 4.43539958] [-0.04064136 0.99417556 -0.09981599 0.02235232] [ 0.01202385 0.10037791 0.99487673 0.79833088] [ 0. 0. 0. 1. ]] SLAMing on 172.682414037 meters Centerline goodness : 0.797080 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:0.00, Z:0.80 [[ 9.99151374e-01 3.55671907e-02 -2.07727426e-02 4.46734437e+00] [-3.70559802e-02 9.96393696e-01 -7.63312267e-02 3.46925505e-03] [ 1.79829425e-02 7.70362044e-02 9.96866108e-01 8.00325217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74241403699997 meters Centerline goodness : 0.798508 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.01, Z:0.80 [[ 0.99933196 0.0320926 -0.01748447 4.48939945] [-0.03313289 0.99747139 -0.06287315 -0.00683696] [ 0.01542249 0.06341046 0.99786836 0.80011232] [ 0. 0. 0. 1. ]] SLAMing on 172.80241403699998 meters Centerline goodness : 0.793323 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.02, Z:0.80 [[ 0.99961506 0.02444841 -0.0131148 4.5138216 ] [-0.02508251 0.99840459 -0.05058795 -0.02213524] [ 0.01185708 0.05089743 0.9986335 0.80102099] [ 0. 0. 0. 1. ]] SLAMing on 172.86241403699998 meters Centerline goodness : 0.794938 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.04, Z:0.81 [[ 0.99985113 0.01563953 -0.00728903 4.53772681] [-0.01589349 0.99921838 -0.03619427 -0.03644879] [ 0.00671728 0.03630473 0.99931819 0.80648963] [ 0. 0. 0. 1. ]] SLAMing on 172.92241403699998 meters Centerline goodness : 0.796002 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:0.81 [[ 0.99994094 0.00956686 -0.00515625 4.55111836] [-0.00970524 0.99957429 -0.02751449 -0.04583007] [ 0.00489082 0.02756291 0.99960811 0.81122381] [ 0. 0. 0. 1. ]] SLAMing on 172.98241403699998 meters Centerline goodness : 0.795475 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.06, Z:0.81 [[ 9.99990613e-01 3.44604442e-03 -2.62666479e-03 4.56897250e+00] [-3.49459888e-03 9.99818838e-01 -1.87103971e-02 -5.63039217e-02] [ 2.56171208e-03 1.87194006e-02 9.99821495e-01 8.11725426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042414037 meters Centerline goodness : 0.794276 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.06, Z:0.82 [[ 9.99991277e-01 4.12516881e-03 -6.55314213e-04 4.58230801e+00] [-4.12760903e-03 9.99984386e-01 -3.76708920e-03 -6.40205507e-02] [ 6.39764102e-04 3.76976122e-03 9.99992690e-01 8.15629460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102414037 meters Centerline goodness : 0.795878 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.07, Z:0.82 [[ 9.99980062e-01 6.31283168e-03 1.56607209e-04 4.58304154e+00] [-6.31365639e-03 9.99962137e-01 5.98859020e-03 -7.20212517e-02] [-1.18796317e-04 -5.98945957e-03 9.99982056e-01 8.23533730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162414037 meters Centerline goodness : 0.794693 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.08, Z:0.83 [[ 9.99995446e-01 2.90454595e-03 -8.19263787e-04 4.59094360e+00] [-2.89520301e-03 9.99933270e-01 1.11835771e-02 -7.69036017e-02] [ 8.51692331e-04 -1.11811542e-02 9.99937126e-01 8.28464648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222414037 meters Centerline goodness : 0.795061 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.08, Z:0.83 [[ 9.99992209e-01 -3.94333693e-03 1.76606770e-04 4.61396752e+00] [ 3.93777499e-03 9.99687445e-01 2.46881991e-02 -8.13038459e-02] [-2.73905458e-04 -2.46873113e-02 9.99695184e-01 8.34957087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282414037 meters Centerline goodness : 0.794086 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:0.84 [[ 9.99964333e-01 -8.42583594e-03 -5.81047541e-04 4.62722046e+00] [ 8.44021362e-03 9.99442002e-01 3.23179180e-02 -8.38030039e-02] [ 3.08417842e-04 -3.23216695e-02 9.99477471e-01 8.39833363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342414037 meters Centerline goodness : 0.792756 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.09, Z:0.86 [[ 9.99926852e-01 -1.19814489e-02 1.65369667e-03 4.65850410e+00] [ 1.18512272e-02 9.97883613e-01 6.39362516e-02 -9.33873691e-02] [-2.41624574e-03 -6.39119764e-02 9.97952615e-01 8.56594510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402414037 meters Centerline goodness : 0.792192 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.10, Z:0.87 [[ 9.99904096e-01 -1.30866437e-02 4.53185009e-03 4.68021942e+00] [ 1.26290987e-02 9.95913224e-01 8.94279328e-02 -9.92546892e-02] [-5.68364093e-03 -8.93621231e-02 9.95982985e-01 8.71246304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46241403699997 meters Centerline goodness : 0.793478 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.10, Z:0.89 [[ 0.99991769 -0.01168105 0.00530796 4.69765331] [ 0.01099438 0.99332292 0.11484208 -0.10123473] [-0.006614 -0.11477427 0.99336958 0.88705331] [ 0. 0. 0. 1. ]] SLAMing on 173.52241403699998 meters Centerline goodness : 0.791338 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.10, Z:0.90 [[ 0.99992926 -0.00990529 0.0065843 4.70054358] [ 0.00896631 0.99148677 0.12989837 -0.10281193] [-0.00781493 -0.12983014 0.99150545 0.90045058] [ 0. 0. 0. 1. ]] SLAMing on 173.58241403699998 meters Centerline goodness : 0.795469 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.11, Z:0.93 [[ 0.99992838 -0.00778954 0.00908589 4.69991075] [ 0.00632548 0.9884679 0.15129835 -0.10667427] [-0.01015965 -0.15123004 0.98844639 0.92555216] [ 0. 0. 0. 1. ]] SLAMing on 173.64241403699998 meters Centerline goodness : 0.796631 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.10, Z:0.94 [[ 0.99994109 -0.00773065 0.00761964 4.70112043] [ 0.00643336 0.98748132 0.15760473 -0.10130748] [-0.00874264 -0.15754643 0.98747288 0.93635603] [ 0. 0. 0. 1. ]] SLAMing on 173.70241403699998 meters Centerline goodness : 0.795698 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.10, Z:0.95 [[ 9.99971942e-01 -4.64263809e-03 5.87880756e-03 4.71071567e+00] [ 3.51901585e-03 9.83940004e-01 1.78464802e-01 -1.00598357e-01] [-6.61294142e-03 -1.78439107e-01 9.83928734e-01 9.54750139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76241403699999 meters Centerline goodness : 0.793704 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:0.95 [[ 9.99981453e-01 -2.78919526e-03 5.41419328e-03 4.71181953e+00] [ 1.78543538e-03 9.84165511e-01 1.77242936e-01 -9.06144184e-02] [-5.82282745e-03 -1.77229982e-01 9.84152238e-01 9.50735090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822414037 meters Centerline goodness : 0.794686 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:0.95 [[ 9.99990025e-01 -1.45731730e-03 4.22216628e-03 4.69680568e+00] [ 7.47812372e-04 9.86558746e-01 1.63405269e-01 -8.15051100e-02] [-4.40354839e-03 -1.63400482e-01 9.86549994e-01 9.46380431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882414037 meters Centerline goodness : 0.798862 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.07, Z:0.94 [[ 9.99998309e-01 1.71624093e-03 6.60188470e-04 4.67069141e+00] [-1.79437777e-03 9.89232336e-01 1.46342629e-01 -6.87629896e-02] [-4.01920573e-04 -1.46343566e-01 9.89233743e-01 9.43343576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942414037 meters Centerline goodness : 0.799335 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.06, Z:0.94 [[ 9.99992482e-01 3.38103990e-03 1.89834919e-03 4.66922034e+00] [-3.62232566e-03 9.89240875e-01 1.46251049e-01 -5.98649338e-02] [-1.38344398e-03 -1.46256826e-01 9.89245686e-01 9.41990949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002414037 meters Centerline goodness : 0.800288 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.05, Z:0.94 [[ 9.99966847e-01 7.26511669e-03 3.67746419e-03 4.67784087e+00] [-7.69284625e-03 9.90929732e-01 1.34160671e-01 -5.27042407e-02] [-2.66941568e-03 -1.34184514e-01 9.90952769e-01 9.36085515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062414037 meters Centerline goodness : 0.800361 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.04, Z:0.93 [[ 9.99978764e-01 4.27513690e-03 -4.91883377e-03 4.67504846e+00] [-3.60359846e-03 9.91606253e-01 1.29244163e-01 -4.30242979e-02] [ 5.43008282e-03 -1.29223693e-01 9.91600601e-01 9.33501749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122414037 meters Centerline goodness : 0.804861 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.04, Z:0.93 [[ 9.99982062e-01 2.19548572e-03 -5.57278749e-03 4.67802863e+00] [-1.47928455e-03 9.92103711e-01 1.25411479e-01 -3.51037637e-02] [ 5.80412226e-03 -1.25400986e-01 9.92089162e-01 9.29337108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182414037 meters Centerline goodness : 0.802455 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.03, Z:0.92 [[ 9.99979134e-01 6.97603503e-04 -6.42224628e-03 4.68179884e+00] [ 8.81889238e-05 9.92585418e-01 1.21549083e-01 -2.83087533e-02] [ 6.45942108e-03 -1.21547113e-01 9.92564645e-01 9.23722018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24241403699997 meters Centerline goodness : 0.801108 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.02, Z:0.92 [[ 9.99971480e-01 2.29495694e-03 -7.19531394e-03 4.68495632e+00] [-1.41960483e-03 9.92847596e-01 1.19380216e-01 -1.88610745e-02] [ 7.41782261e-03 -1.19366597e-01 9.92822538e-01 9.17053998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30241403699998 meters Centerline goodness : 0.807878 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.01, Z:0.92 [[ 9.99956021e-01 8.16507064e-03 -4.61378551e-03 4.68636599e+00] [-7.62108612e-03 9.94160456e-01 1.07642498e-01 -7.56467258e-03] [ 5.46575170e-03 -1.07602602e-01 9.94178961e-01 9.15672140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36241403699998 meters Centerline goodness : 0.812987 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:0.00, Z:0.91 [[ 9.99914919e-01 1.30425493e-02 2.16271777e-04 4.68916886e+00] [-1.30022292e-02 9.95218544e-01 9.68038868e-02 5.46199887e-04] [ 1.04733179e-03 -9.67984627e-02 9.95303452e-01 9.14066356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42241403699998 meters Centerline goodness : 0.818013 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.01, Z:0.91 [[ 9.99831896e-01 1.83116881e-02 9.27980539e-04 4.69525828e+00] [-1.83236030e-02 9.96120860e-01 8.60667111e-02 8.67085041e-03] [ 6.51645999e-04 -8.60692469e-02 9.96288944e-01 9.11710977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48241403699998 meters Centerline goodness : 0.818826 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.02, Z:0.91 [[ 9.99829750e-01 1.84501641e-02 2.50979501e-04 4.69789760e+00] [-1.84053150e-02 9.96249189e-01 8.45505671e-02 1.53111913e-02] [ 1.30993372e-03 -8.45407917e-02 9.96419158e-01 9.08491421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542414037 meters Centerline goodness : 0.823580 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.02, Z:0.91 [[ 9.99858520e-01 1.68196127e-02 -2.01042570e-04 4.70030400e+00] [-1.67472502e-02 9.96531224e-01 8.15171719e-02 2.20699071e-02] [ 1.57143246e-03 -8.15022719e-02 9.96671917e-01 9.05412418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602414037 meters Centerline goodness : 0.823680 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.03, Z:0.90 [[ 9.99934564e-01 1.14256767e-02 -5.67875526e-04 4.70253487e+00] [-1.13502284e-02 9.97082935e-01 7.54771077e-02 2.61932799e-02] [ 1.42859603e-03 -7.54657233e-02 9.97147373e-01 9.02760353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662414037 meters Centerline goodness : 0.822669 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.03, Z:0.90 [[ 9.99997745e-01 1.97345906e-03 -7.84225056e-04 4.70493087e+00] [-1.91783155e-03 9.97849031e-01 6.55258179e-02 3.14279888e-02] [ 9.11850731e-04 -6.55241661e-02 9.97850566e-01 8.99729885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722414037 meters Centerline goodness : 0.824122 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:0.04, Z:0.90 [[ 9.99997680e-01 -1.66107787e-03 1.37151548e-03 4.71381254e+00] [ 1.59228595e-03 9.98811183e-01 4.87204854e-02 3.59736938e-02] [-1.45081352e-03 -4.87181885e-02 9.98811510e-01 8.96466336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782414037 meters Centerline goodness : 0.821520 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:0.04, Z:0.89 [[ 9.99960824e-01 -8.80445051e-03 9.12574337e-04 4.71735337e+00] [ 8.75886456e-03 9.99095745e-01 4.16049719e-02 4.06369350e-02] [-1.27805805e-03 -4.15953489e-02 9.99133722e-01 8.93286154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842414037 meters Centerline goodness : 0.822319 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:0.05, Z:0.89 [[ 9.99885934e-01 -1.50721988e-02 9.73811699e-04 4.71840832e+00] [ 1.50290620e-02 9.99278267e-01 3.48865694e-02 4.59651797e-02] [-1.49892618e-03 -3.48679546e-02 9.99390804e-01 8.91913940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902414037 meters Centerline goodness : 0.822557 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:0.05, Z:0.89 [[ 9.99856168e-01 -1.69487048e-02 6.20600410e-04 4.72080772e+00] [ 1.69196735e-02 9.99330882e-01 3.24270389e-02 5.01188452e-02] [-1.16978146e-03 -3.24118745e-02 9.99473913e-01 8.89556339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96241403699997 meters Centerline goodness : 0.824021 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:0.06, Z:0.88 [[ 0.9998765 -0.01453803 0.00596925 4.7296039 ] [ 0.01440803 0.99966989 0.02127246 0.06226663] [-0.00627653 -0.02118383 0.9997559 0.88283508] [ 0. 0. 0. 1. ]] SLAMing on 175.02241403699998 meters Centerline goodness : 0.825217 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:0.07, Z:0.88 [[ 0.99993578 -0.0083604 0.00765149 4.7347075 ] [ 0.00828317 0.99991498 0.01007035 0.07482975] [-0.00773503 -0.01000633 0.99992002 0.88155436] [ 0. 0. 0. 1. ]] SLAMing on 175.08241403699998 meters Centerline goodness : 0.821953 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:0.09, Z:0.88 [[ 9.99976616e-01 -2.41590526e-03 6.39767122e-03 4.73815280e+00] [ 2.34301182e-03 9.99932537e-01 1.13768345e-02 8.66789239e-02] [-6.42472496e-03 -1.13615786e-02 9.99914815e-01 8.76192945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14241403699998 meters Centerline goodness : 0.820746 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:0.09, Z:0.87 [[ 9.99982518e-01 1.91364016e-04 5.90990776e-03 4.74099028e+00] [-2.62745411e-04 9.99927001e-01 1.20798453e-02 9.46602151e-02] [-5.90716470e-03 -1.20811869e-02 9.99909571e-01 8.72833029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20241403699998 meters Centerline goodness : 0.819759 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.10, Z:0.87 [[ 9.99932472e-01 3.81228425e-03 1.09780753e-02 4.75006982e+00] [-3.84244870e-03 9.99988897e-01 2.72791982e-03 1.03231503e-01] [-1.09675538e-02 -2.76991830e-03 9.99936018e-01 8.68620112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26241403699999 meters Centerline goodness : 0.822797 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.11, Z:0.87 [[ 9.99918156e-01 6.47457531e-03 1.10345859e-02 4.74901190e+00] [-6.51247114e-03 9.99973007e-01 3.40181221e-03 1.13852546e-01] [-1.10122628e-02 -3.47339621e-03 9.99933331e-01 8.69867658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322414037 meters Centerline goodness : 0.821411 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.12, Z:0.87 [[ 9.99903443e-01 8.88181574e-03 1.06873117e-02 4.75047521e+00] [-8.93147352e-03 9.99949498e-01 4.60770077e-03 1.20400747e-01] [-1.06458473e-02 -4.70270930e-03 9.99932273e-01 8.68812034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382414037 meters Centerline goodness : 0.821182 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.13, Z:0.87 [[ 0.99988744 0.0111069 0.01008665 4.75288044] [-0.01115675 0.99992575 0.00490016 0.12948565] [-0.01003148 -0.00501214 0.99993712 0.86680011] [ 0. 0. 0. 1. ]] SLAMing on 175.442414037 meters Centerline goodness : 0.821994 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.14, Z:0.87 [[ 0.99984556 0.01441549 0.01005191 4.75308119] [-0.01447857 0.99987576 0.00623112 0.13784113] [-0.00996084 -0.0063757 0.99993006 0.86643384] [ 0. 0. 0. 1. ]] SLAMing on 175.502414037 meters Centerline goodness : 0.823375 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.14, Z:0.87 [[ 0.99979812 0.01737156 0.01009648 4.7517738 ] [-0.0174533 0.99981515 0.00806481 0.14405859] [-0.00995452 -0.00823939 0.99991651 0.86811368] [ 0. 0. 0. 1. ]] SLAMing on 175.562414037 meters Centerline goodness : 0.821126 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.15, Z:0.87 [[ 0.99971622 0.0217146 0.00979586 4.75172479] [-0.02181726 0.99970686 0.0104981 0.1508584 ] [-0.00956503 -0.01070884 0.99989691 0.86885684] [ 0. 0. 0. 1. ]] SLAMing on 175.622414037 meters Centerline goodness : 0.817830 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.86 [[ 0.99961878 0.02663861 0.00725855 4.75874259] [-0.02672116 0.9995765 0.01152414 0.1577217 ] [-0.00694849 -0.01171371 0.99990725 0.86148512] [ 0. 0. 0. 1. ]] SLAMing on 175.682414037 meters Centerline goodness : 0.818111 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.86 [[ 0.99947471 0.03144787 0.00783107 4.75742451] [-0.0315624 0.99938984 0.01495848 0.16419704] [-0.00735588 -0.01519779 0.99985745 0.86223232] [ 0. 0. 0. 1. ]] SLAMing on 175.74241403699997 meters Centerline goodness : 0.817792 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.86 [[ 0.99946295 0.03180639 0.00788441 4.75646393] [-0.03191856 0.99938479 0.01453418 0.16569547] [-0.00741728 -0.01477803 0.99986329 0.86336603] [ 0. 0. 0. 1. ]] SLAMing on 175.80241403699998 meters Centerline goodness : 0.818094 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.86 [[ 0.99945497 0.03206305 0.0078562 4.75598376] [-0.03217136 0.9993833 0.01407213 0.16730191] [-0.00740016 -0.0143172 0.99987012 0.86403633] [ 0. 0. 0. 1. ]] SLAMing on 175.86241403699998 meters Centerline goodness : 0.815869 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.86 [[ 0.99938707 0.03427451 0.0071233 4.76000895] [-0.03438651 0.99927656 0.01624558 0.16892424] [-0.00656134 -0.01648057 0.99984266 0.86056751] [ 0. 0. 0. 1. ]] SLAMing on 175.92241403699998 meters Centerline goodness : 0.816430 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.86 [[ 0.99949936 0.03088323 0.00687445 4.75961516] [-0.03096545 0.99944606 0.01219486 0.17028136] [-0.00649403 -0.01240163 0.99990201 0.86130516] [ 0. 0. 0. 1. ]] SLAMing on 175.98241403699998 meters Centerline goodness : 0.817541 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.86 [[ 9.99711658e-01 2.31597337e-02 6.34244663e-03 4.75969064e+00] [-2.31841076e-02 9.99724003e-01 3.79678807e-03 1.71916476e-01] [-6.25276354e-03 -3.94273726e-03 9.99972679e-01 8.61814642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042414037 meters Centerline goodness : 0.815479 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.86 [[ 9.99881367e-01 1.44740500e-02 5.26826605e-03 4.76568248e+00] [-1.44520737e-02 9.99886802e-01 -4.18588470e-03 1.71018314e-01] [-5.32825639e-03 4.10925075e-03 9.99977362e-01 8.56334937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102414037 meters Centerline goodness : 0.816884 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.85 [[ 0.99995401 0.00821025 0.004957 4.76822468] [-0.00816301 0.99992177 -0.00947702 0.17012772] [-0.00503442 0.00943612 0.99994281 0.85390551] [ 0. 0. 0. 1. ]] SLAMing on 176.162414037 meters Centerline goodness : 0.817577 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.85 [[ 9.99986332e-01 -1.77216139e-03 4.91884481e-03 4.76852905e+00] [ 1.86104893e-03 9.99833988e-01 -1.81254558e-02 1.69242606e-01] [-4.88590699e-03 1.81343623e-02 9.99823621e-01 8.54078593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222414037 meters Centerline goodness : 0.816347 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.85 [[ 9.99964723e-01 -6.85321610e-03 4.85659239e-03 4.76879612e+00] [ 6.96082527e-03 9.99722652e-01 -2.24981481e-02 1.68080618e-01] [-4.70106076e-03 2.25311604e-02 9.99735088e-01 8.54225365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282414037 meters Centerline goodness : 0.817619 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.85 [[ 9.99955082e-01 -8.07974692e-03 4.95503388e-03 4.76943450e+00] [ 8.19479013e-03 9.99686614e-01 -2.36541655e-02 1.70949600e-01] [-4.76236137e-03 2.36937085e-02 9.99707921e-01 8.53434628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342414037 meters Centerline goodness : 0.816015 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.18, Z:0.85 [[ 0.99996792 -0.00631938 0.00492165 4.77043671] [ 0.00642911 0.99972375 -0.02260734 0.17874498] [-0.00477742 0.02263826 0.99973231 0.85268028] [ 0. 0. 0. 1. ]] SLAMing on 176.402414037 meters Centerline goodness : 0.815146 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.18, Z:0.85 [[ 9.99980718e-01 -3.81296169e-03 4.90153345e-03 4.77043577e+00] [ 3.91414256e-03 9.99775962e-01 -2.08015800e-02 1.83707076e-01] [-4.82111969e-03 2.08203642e-02 9.99771609e-01 8.53091544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46241403699997 meters Centerline goodness : 0.816643 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.19, Z:0.85 [[ 9.99987812e-01 -1.59488057e-03 4.67258616e-03 4.77196955e+00] [ 1.68630734e-03 9.99805921e-01 -1.96284764e-02 1.90771461e-01] [-4.64037423e-03 1.96361166e-02 9.99796424e-01 8.51957569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52241403699998 meters Centerline goodness : 0.812705 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.20, Z:0.85 [[ 9.99995259e-01 1.33838622e-03 2.77335524e-03 4.77821442e+00] [-1.29144259e-03 9.99857028e-01 -1.68598663e-02 2.04131156e-01] [-2.79552375e-03 1.68562047e-02 9.99854016e-01 8.50028519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58241403699998 meters Centerline goodness : 0.812350 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.21, Z:0.85 [[ 9.99989072e-01 3.81853855e-03 2.69721937e-03 4.77865601e+00] [-3.77559753e-03 9.99868831e-01 -1.57500724e-02 2.12665533e-01] [-2.75700784e-03 1.57397167e-02 9.99872322e-01 8.50010655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64241403699998 meters Centerline goodness : 0.811877 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.23, Z:0.85 [[ 9.99964744e-01 8.12880103e-03 2.10534739e-03 4.78041046e+00] [-8.10138175e-03 9.99886276e-01 -1.27202060e-02 2.27164813e-01] [-2.20850798e-03 1.27027013e-02 9.99916878e-01 8.50372802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70241403699998 meters Centerline goodness : 0.811039 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.24, Z:0.85 [[ 9.99912965e-01 1.31003191e-02 1.56310182e-03 4.78154914e+00] [-1.30841115e-02 9.99864755e-01 -9.96386784e-03 2.41213954e-01] [-1.69342027e-03 9.94254884e-03 9.99949138e-01 8.51156823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76241403699999 meters Centerline goodness : 0.810690 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.25, Z:0.85 [[ 9.99832057e-01 1.83043345e-02 8.99028209e-04 4.78360447e+00] [-1.82970098e-02 9.99803915e-01 -7.57299362e-03 2.54636577e-01] [-1.03747053e-03 7.55527226e-03 9.99970920e-01 8.50551712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822414037 meters Centerline goodness : 0.809986 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.26, Z:0.85 [[ 9.99713172e-01 2.39361429e-02 7.96262822e-04 4.78479646e+00] [-2.39330420e-02 9.99706719e-01 -3.69929292e-03 2.63745609e-01] [-8.84576097e-04 3.67917487e-03 9.99992841e-01 8.50068850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882414037 meters Centerline goodness : 0.810919 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:0.28, Z:0.85 [[ 0.99941335 0.0336973 0.00611911 4.79507349] [-0.03365966 0.9994144 -0.00615431 0.27639555] [-0.00632291 0.00594473 0.99996234 0.84704082] [ 0. 0. 0. 1. ]] SLAMing on 176.942414037 meters Centerline goodness : 0.807225 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:0.28, Z:0.85 [[ 9.99161249e-01 4.04754096e-02 6.20800066e-03 4.79725888e+00] [-4.04654402e-02 9.99179453e-01 -1.72323626e-03 2.83910012e-01] [-6.27265539e-03 1.47058142e-03 9.99979245e-01 8.45427042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002414037 meters Centerline goodness : 0.806070 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.29, Z:0.84 [[ 0.99863685 0.05188543 0.00568685 4.81769917] [-0.05183358 0.99861595 -0.00891478 0.29394208] [-0.00614153 0.00860786 0.99994409 0.84418853] [ 0. 0. 0. 1. ]] SLAMing on 177.062414037 meters Centerline goodness : 0.805525 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.84 [[ 0.99844497 0.05546191 0.00562267 4.81858625] [-0.0554151 0.99843003 -0.00816346 0.30150584] [-0.00606661 0.00783919 0.99995087 0.84491229] [ 0. 0. 0. 1. ]] SLAMing on 177.122414037 meters Centerline goodness : 0.806319 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.84 [[ 0.9984514 0.05538797 0.00519375 4.81977916] [-0.05533707 0.99842273 -0.00948003 0.30473366] [-0.00571064 0.00917794 0.99994158 0.84477857] [ 0. 0. 0. 1. ]] SLAMing on 177.182414037 meters Centerline goodness : 0.807022 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.85 [[ 0.99846247 0.055196 0.00510819 4.81951883] [-0.05514465 0.99843127 -0.00969908 0.30452669] [-0.00563552 0.00940248 0.99993992 0.84545209] [ 0. 0. 0. 1. ]] SLAMing on 177.24241403699997 meters Centerline goodness : 0.807551 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.85 [[ 0.99847742 0.05494752 0.00485907 4.81997646] [-0.05489726 0.99844258 -0.00993483 0.30477773] [-0.0053974 0.00965295 0.99993884 0.84546204] [ 0. 0. 0. 1. ]] SLAMing on 177.30241403699998 meters Centerline goodness : 0.809179 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.84 [[ 9.98538692e-01 5.38634519e-02 4.38281617e-03 4.82146017e+00] [-5.38208704e-02 9.98507168e-01 -9.31392537e-03 3.01326366e-01] [-4.87795353e-03 9.06442787e-03 9.99947019e-01 8.43905073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36241403699998 meters Centerline goodness : 0.809935 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.84 [[ 9.98794210e-01 4.88894481e-02 4.46634167e-03 4.82079133e+00] [-4.88334168e-02 9.98736114e-01 -1.18941898e-02 2.96550821e-01] [-5.04219710e-03 1.16617412e-02 9.99919287e-01 8.43428488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42241403699998 meters Centerline goodness : 0.808385 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.29, Z:0.84 [[ 9.99037946e-01 4.36470344e-02 4.25661422e-03 4.82155521e+00] [-4.35781117e-02 9.98935510e-01 -1.51259606e-02 2.93091929e-01] [-4.91228642e-03 1.49259134e-02 9.99876536e-01 8.41625886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48241403699998 meters Centerline goodness : 0.808432 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.29, Z:0.84 [[ 9.99439052e-01 3.32851942e-02 3.69829900e-03 4.82385424e+00] [-3.31868680e-02 9.99159597e-01 -2.40568284e-02 2.89918137e-01] [-4.49592715e-03 2.39205988e-02 9.99703752e-01 8.39112359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542414037 meters Centerline goodness : 0.809843 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.29, Z:0.84 [[ 9.99575784e-01 2.88874767e-02 3.71010337e-03 4.82333138e+00] [-2.87720456e-02 9.99190882e-01 -2.81025083e-02 2.89959172e-01] [-4.51891201e-03 2.79838395e-02 9.99598161e-01 8.39597765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602414037 meters Centerline goodness : 0.814184 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.29, Z:0.84 [[ 9.99570324e-01 2.90063765e-02 4.21873204e-03 4.82022621e+00] [-2.88776450e-02 9.99193269e-01 -2.79086553e-02 2.92171069e-01] [-5.02485762e-03 2.77748366e-02 9.99601575e-01 8.42813944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662414037 meters Centerline goodness : 0.810231 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.29, Z:0.84 [[ 9.99464502e-01 3.24706036e-02 4.04586434e-03 4.82045813e+00] [-3.23602293e-02 9.99166658e-01 -2.48757831e-02 2.94124655e-01] [-4.85022445e-03 2.47315370e-02 9.99682363e-01 8.43542949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722414037 meters Centerline goodness : 0.810110 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.84 [[ 9.99206347e-01 3.96770831e-02 3.52199443e-03 4.82413548e+00] [-3.96042071e-02 9.99038801e-01 -1.87877668e-02 2.98239890e-01] [-4.26405288e-03 1.86333700e-02 9.99817291e-01 8.40732144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782414037 meters Centerline goodness : 0.811373 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:0.84 [[ 9.98887882e-01 4.69924660e-02 3.83507183e-03 4.82441220e+00] [-4.69426011e-02 9.98823148e-01 -1.21946867e-02 3.01772138e-01] [-4.40361692e-03 1.20010966e-02 9.99918288e-01 8.40930594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842414037 meters Centerline goodness : 0.811068 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:0.85 [[ 9.98173590e-01 6.02599455e-02 -4.26875005e-03 4.84751549e+00] [-6.03669866e-02 9.97649243e-01 -3.24317058e-02 3.11788335e-01] [ 2.30438243e-03 3.26301638e-02 9.99464838e-01 8.49233754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902414037 meters Centerline goodness : 0.808261 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:0.85 [[ 9.97757322e-01 6.67996804e-02 -4.25782136e-03 4.85001105e+00] [-6.68902295e-02 9.97399453e-01 -2.68333385e-02 3.15268334e-01] [ 2.45429026e-03 2.70579666e-02 9.99630853e-01 8.47622953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96241403699997 meters Centerline goodness : 0.808768 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.32, Z:0.85 [[ 9.97222866e-01 7.41786026e-02 -6.64008224e-03 4.85556951e+00] [-7.43501231e-02 9.96748382e-01 -3.10599638e-02 3.21445505e-01] [ 4.31450652e-03 3.14673970e-02 9.99495467e-01 8.53610274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02241403699998 meters Centerline goodness : 0.807581 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.32, Z:0.85 [[ 9.96686260e-01 8.11006609e-02 -6.25952949e-03 4.85651097e+00] [-8.12283664e-02 9.96407967e-01 -2.39398377e-02 3.21912020e-01] [ 4.29550840e-03 2.43689586e-02 9.99693804e-01 8.52985976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08241403699998 meters Centerline goodness : 0.808359 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.33, Z:0.86 [[ 0.99623741 0.08628452 -0.00812378 4.86314743] [-0.08650196 0.99573896 -0.03195827 0.32619984] [ 0.00533166 0.03254074 0.99945619 0.8588109 ] [ 0. 0. 0. 1. ]] SLAMing on 178.14241403699998 meters Centerline goodness : 0.807923 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.32, Z:0.86 [[ 0.99612231 0.08760508 -0.00810549 4.86237961] [-0.08781225 0.9956769 -0.03027421 0.32234167] [ 0.00541828 0.03086857 0.99950877 0.85956627] [ 0. 0. 0. 1. ]] SLAMing on 178.20241403699998 meters Centerline goodness : 0.809115 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.32, Z:0.86 [[ 0.99608382 0.08801701 -0.00836789 4.86294878] [-0.08822747 0.99566455 -0.02946214 0.3193572 ] [ 0.00573844 0.03008504 0.99953087 0.85922844] [ 0. 0. 0. 1. ]] SLAMing on 178.26241403699999 meters Centerline goodness : 0.807123 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:0.86 [[ 0.99616482 0.08707902 -0.00853781 4.86342336] [-0.08728615 0.99579 -0.02798932 0.31033217] [ 0.00606458 0.02862721 0.99957176 0.85749505] [ 0. 0. 0. 1. ]] SLAMing on 178.322414037 meters Centerline goodness : 0.808283 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:0.86 [[ 0.99613281 0.08745985 -0.00837852 4.86276176] [-0.08765097 0.9958093 -0.02609868 0.30544784] [ 0.00606082 0.02673213 0.99962426 0.85739138] [ 0. 0. 0. 1. ]] SLAMing on 178.382414037 meters Centerline goodness : 0.809515 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.30, Z:0.86 [[ 0.99639917 0.0844384 -0.00767089 4.85925126] [-0.08460798 0.99608965 -0.02543414 0.29520014] [ 0.00549327 0.02599157 0.99964707 0.85877956] [ 0. 0. 0. 1. ]] SLAMing on 178.442414037 meters Centerline goodness : 0.811611 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.29, Z:0.86 [[ 0.99668472 0.08104566 -0.00715332 4.85732662] [-0.0812022 0.99637635 -0.02530565 0.28628505] [ 0.00507649 0.02580262 0.99965417 0.85826717] [ 0. 0. 0. 1. ]] SLAMing on 178.502414037 meters Centerline goodness : 0.811879 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.28, Z:0.86 [[ 0.99701144 0.07691305 -0.00725025 4.85630982] [-0.07708348 0.99665231 -0.02724555 0.27987237] [ 0.00513044 0.027723 0.99960248 0.85819178] [ 0. 0. 0. 1. ]] SLAMing on 178.562414037 meters Centerline goodness : 0.814188 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.27, Z:0.86 [[ 9.97489620e-01 7.05030592e-02 -6.61632014e-03 4.85324308e+00] [-7.06722690e-02 9.97038876e-01 -3.03135156e-02 2.72002840e-01] [ 4.45953281e-03 3.07050076e-02 9.99518542e-01 8.58788478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622414037 meters Centerline goodness : 0.812064 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.27, Z:0.86 [[ 9.97729640e-01 6.70220951e-02 -6.60328841e-03 4.85379434e+00] [-6.71965123e-02 9.97251656e-01 -3.12051790e-02 2.66237781e-01] [ 4.49370383e-03 3.15780500e-02 9.99491187e-01 8.56311610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682414037 meters Centerline goodness : 0.813208 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:0.85 [[ 9.97747931e-01 6.67823613e-02 -6.25964649e-03 4.85349586e+00] [-6.69378300e-02 9.97327993e-01 -2.92609131e-02 2.61032885e-01] [ 4.28880781e-03 2.96140226e-02 9.99552208e-01 8.54872756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74241403699997 meters Centerline goodness : 0.814806 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:0.86 [[ 9.97812572e-01 6.58691704e-02 -5.59681001e-03 4.85168136e+00] [-6.60022391e-02 9.97415227e-01 -2.84001803e-02 2.58243634e-01] [ 3.71164721e-03 2.87074590e-02 9.99580965e-01 8.55258160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80241403699998 meters Centerline goodness : 0.814392 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:0.85 [[ 9.97878520e-01 6.48874167e-02 -5.29933271e-03 4.85122891e+00] [-6.50093754e-02 9.97504376e-01 -2.75463286e-02 2.55385345e-01] [ 3.49869747e-03 2.78323959e-02 9.99606481e-01 8.54404930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86241403699998 meters Centerline goodness : 0.812258 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.25, Z:0.85 [[ 9.97948047e-01 6.37987634e-02 -5.42333879e-03 4.85252787e+00] [-6.39241568e-02 9.97577709e-01 -2.74301994e-02 2.53699112e-01] [ 3.66018909e-03 2.77205963e-02 9.99609009e-01 8.52445307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92241403699998 meters Centerline goodness : 0.814894 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:0.85 [[ 9.98003172e-01 6.29656062e-02 -5.00009820e-03 4.85137472e+00] [-6.30829105e-02 9.97602402e-01 -2.84603922e-02 2.55301906e-01] [ 3.19608413e-03 2.87189824e-02 9.99582415e-01 8.53345357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98241403699998 meters Centerline goodness : 0.812154 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:0.85 [[ 9.97874976e-01 6.49732128e-02 -4.90044879e-03 4.85259454e+00] [-6.50786345e-02 9.97545715e-01 -2.58324798e-02 2.55633187e-01] [ 3.21000249e-03 2.60964997e-02 9.99654275e-01 8.51963923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042414037 meters Centerline goodness : 0.813146 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.26, Z:0.85 [[ 9.97752383e-01 6.68207388e-02 -5.01714507e-03 4.85504675e+00] [-6.69220860e-02 9.97472263e-01 -2.38855213e-02 2.57705536e-01] [ 3.40841486e-03 2.41675936e-02 9.99702111e-01 8.49565354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102414037 meters Centerline goodness : 0.811418 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.26, Z:0.85 [[ 9.97704785e-01 6.75198980e-02 -5.12104005e-03 4.85720229e+00] [-6.76218924e-02 9.97436326e-01 -2.34105989e-02 2.61296689e-01] [ 3.52723012e-03 2.37031610e-02 9.99712818e-01 8.47764218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162414037 meters Centerline goodness : 0.809217 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.26, Z:0.85 [[ 9.97604928e-01 6.89643741e-02 -5.32192008e-03 4.85931234e+00] [-6.90652100e-02 9.97371012e-01 -2.19331019e-02 2.63891145e-01] [ 3.79532617e-03 2.22481301e-02 9.99745276e-01 8.46196502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222414037 meters Centerline goodness : 0.808133 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.27, Z:0.85 [[ 0.99739299 0.07083319 -0.01377992 4.87502912] [-0.07130822 0.99674018 -0.03773785 0.27069108] [ 0.01106191 0.03862209 0.99919266 0.85000215] [ 0. 0. 0. 1. ]] SLAMing on 179.282414037 meters Centerline goodness : 0.807476 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.27, Z:0.85 [[ 0.99713933 0.07436492 -0.01352866 4.87549376] [-0.07479682 0.99658942 -0.0348562 0.27324173] [ 0.01089044 0.03576839 0.99930077 0.8498741 ] [ 0. 0. 0. 1. ]] SLAMing on 179.342414037 meters Centerline goodness : 0.807560 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.28, Z:0.85 [[ 0.99677488 0.07909437 -0.01356158 4.87666481] [-0.07951422 0.99625806 -0.03387288 0.28129373] [ 0.01083168 0.03484197 0.99933413 0.8514592 ] [ 0. 0. 0. 1. ]] SLAMing on 179.402414037 meters Centerline goodness : 0.806667 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.28, Z:0.85 [[ 0.99649642 0.08254293 -0.0134744 4.87720858] [-0.0829291 0.9960673 -0.03118803 0.28366998] [ 0.01084705 0.03219618 0.99942271 0.85182051] [ 0. 0. 0. 1. ]] SLAMing on 179.46241403699997 meters Centerline goodness : 0.807653 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.29, Z:0.85 [[ 0.99640451 0.08371817 -0.01301265 4.87522265] [-0.08409103 0.9959636 -0.03138793 0.28674951] [ 0.01033239 0.03236932 0.99942257 0.85427365] [ 0. 0. 0. 1. ]] SLAMing on 179.52241403699998 meters Centerline goodness : 0.807490 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.30, Z:0.89 [[ 0.99374773 0.09624081 -0.05659646 4.95713771] [-0.10266924 0.98688886 -0.12453676 0.30162073] [ 0.04386889 0.12956884 0.99059953 0.89413435] [ 0. 0. 0. 1. ]] SLAMing on 179.58241403699998 meters Centerline goodness : 0.806884 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.30, Z:0.89 [[ 0.99340076 0.09885339 -0.0581631 4.96051598] [-0.10530333 0.98705841 -0.12094172 0.30296014] [ 0.04545488 0.12626836 0.99095416 0.89480238] [ 0. 0. 0. 1. ]] SLAMing on 179.64241403699998 meters Centerline goodness : 0.805848 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.30, Z:0.90 [[ 0.99312808 0.10290506 -0.05574192 4.96943927] [-0.1081082 0.98907897 -0.10017688 0.2968627 ] [ 0.04482445 0.10551463 0.99340698 0.89875536] [ 0. 0. 0. 1. ]] SLAMing on 179.70241403699998 meters Centerline goodness : 0.804738 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.30, Z:0.90 [[ 0.99265834 0.1073352 -0.05575469 4.97178417] [-0.11236081 0.98896149 -0.09659309 0.29914112] [ 0.0447714 0.10214858 0.99376113 0.89754822] [ 0. 0. 0. 1. ]] SLAMing on 179.76241403699999 meters Centerline goodness : 0.804892 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.30, Z:0.90 [[ 0.99196304 0.11366674 -0.0555806 4.97505115] [-0.11839363 0.98880452 -0.09082166 0.30136948] [ 0.04463495 0.09667212 0.99431495 0.8954429 ] [ 0. 0. 0. 1. ]] SLAMing on 179.822414037 meters Centerline goodness : 0.804771 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.30, Z:0.90 [[ 0.99141292 0.11851854 -0.055261 4.97581105] [-0.12307119 0.98849407 -0.08793718 0.30363946] [ 0.04420299 0.0939831 0.99459201 0.89628995] [ 0. 0. 0. 1. ]] SLAMing on 179.882414037 meters Centerline goodness : 0.804295 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.30, Z:0.90 [[ 0.9903754 0.12741825 -0.05404769 4.97499081] [-0.1314857 0.98809152 -0.07991657 0.30325426] [ 0.04322123 0.08625391 0.99533521 0.8970193 ] [ 0. 0. 0. 1. ]] SLAMing on 179.942414037 meters Centerline goodness : 0.803957 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.30, Z:0.90 [[ 0.98979553 0.13204823 -0.05355435 4.97460357] [-0.13590799 0.98777817 -0.07631063 0.30402067] [ 0.04282313 0.08281038 0.99564483 0.89853514] [ 0. 0. 0. 1. ]] SLAMing on 180.002414037 meters Centerline goodness : 0.804579 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.30, Z:0.90 [[ 0.98909746 0.13731665 -0.05320108 4.97444846] [-0.14091431 0.98746551 -0.07109871 0.30112294] [ 0.0427712 0.07782035 0.99604951 0.89901117] [ 0. 0. 0. 1. ]] SLAMing on 180.062414037 meters Centerline goodness : 0.803937 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.30, Z:0.90 [[ 0.98855519 0.14139189 -0.05260195 4.97477909] [-0.14472012 0.98726859 -0.06600614 0.29722649] [ 0.04259952 0.07286328 0.99643175 0.89762612] [ 0. 0. 0. 1. ]] SLAMing on 180.122414037 meters Centerline goodness : 0.804818 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.29, Z:0.90 [[ 0.98798945 0.14558008 -0.05180039 4.97410749] [-0.14862266 0.98702708 -0.06073582 0.29321398] [ 0.04228647 0.06770506 0.99680885 0.89716108] [ 0. 0. 0. 1. ]] SLAMing on 180.182414037 meters Centerline goodness : 0.804475 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.29, Z:0.90 [[ 0.98789122 0.1463222 -0.0515824 4.97309474] [-0.14929445 0.98700468 -0.05943843 0.29010459] [ 0.04221491 0.06641967 0.99689835 0.89753745] [ 0. 0. 0. 1. ]] SLAMing on 180.24241403699997 meters Centerline goodness : 0.803781 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.29, Z:0.90 [[ 0.98779441 0.14700037 -0.05150813 4.97308799] [-0.14990137 0.98700489 -0.05788719 0.28649386] [ 0.04232933 0.06490178 0.99699347 0.89688454] [ 0. 0. 0. 1. ]] SLAMing on 180.30241403699998 meters Centerline goodness : 0.803972 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.28, Z:0.90 [[ 0.98790307 0.14643326 -0.05103748 4.97216786] [-0.14923963 0.98719375 -0.05635636 0.28156196] [ 0.04213144 0.06329143 0.99710538 0.89569823] [ 0. 0. 0. 1. ]] SLAMing on 180.36241403699998 meters Centerline goodness : 0.804879 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.28, Z:0.90 [[ 0.98850277 0.1424142 -0.0507983 4.96915908] [-0.14530187 0.98765175 -0.05857804 0.27694546] [ 0.04182869 0.06528564 0.99698954 0.89676765] [ 0. 0. 0. 1. ]] SLAMing on 180.42241403699998 meters Centerline goodness : 0.806670 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.27, Z:0.90 [[ 0.99002599 0.13282005 -0.04698275 4.96238047] [-0.13509622 0.98961373 -0.04912919 0.26618234] [ 0.03996944 0.05498636 0.9976868 0.89653986] [ 0. 0. 0. 1. ]] SLAMing on 180.48241403699998 meters Centerline goodness : 0.805921 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.26, Z:0.89 [[ 0.99044565 0.12952621 -0.04733259 4.96404435] [-0.13187702 0.98998075 -0.05046348 0.2624613 ] [ 0.04032201 0.05622342 0.99760366 0.89366429] [ 0. 0. 0. 1. ]] SLAMing on 180.542414037 meters Centerline goodness : 0.805168 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.26, Z:0.89 [[ 0.99142224 0.12297802 -0.04425327 4.95663362] [-0.12499258 0.99108785 -0.04606226 0.25755138] [ 0.03819424 0.05119848 0.99795787 0.88912996] [ 0. 0. 0. 1. ]] SLAMing on 180.602414037 meters Centerline goodness : 0.804443 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.25, Z:0.89 [[ 0.99194378 0.11866902 -0.04433069 4.95513174] [-0.12080353 0.99146407 -0.04904601 0.25412644] [ 0.03813204 0.05400619 0.99781225 0.8894326 ] [ 0. 0. 0. 1. ]] SLAMing on 180.662414037 meters Centerline goodness : 0.806516 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.25, Z:0.89 [[ 0.99218854 0.11733461 -0.04236135 4.95149387] [-0.11928975 0.99174544 -0.04702055 0.24978793] [ 0.03649454 0.05170653 0.99799528 0.89049511] [ 0. 0. 0. 1. ]] SLAMing on 180.722414037 meters Centerline goodness : 0.806362 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.25, Z:0.89 [[ 0.99219144 0.11733879 -0.04228176 4.95129529] [-0.11925779 0.99179043 -0.04614457 0.24886213] [ 0.0365201 0.05082667 0.99803954 0.89045706] [ 0. 0. 0. 1. ]] SLAMing on 180.782414037 meters Centerline goodness : 0.805231 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.25, Z:0.89 [[ 0.99222276 0.11707022 -0.04229132 4.951943 ] [-0.1189886 0.99182431 -0.04611133 0.24899139] [ 0.03654729 0.05078489 0.99804068 0.88962886] [ 0. 0. 0. 1. ]] SLAMing on 180.842414037 meters Centerline goodness : 0.803946 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.25, Z:0.94 [[ 0.98699886 0.12845234 -0.09660869 5.05189555] [-0.14125082 0.98001961 -0.14003487 0.25341158] [ 0.0766906 0.15186031 0.98542224 0.935785 ] [ 0. 0. 0. 1. ]] SLAMing on 180.902414037 meters Centerline goodness : 0.804614 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.26, Z:0.94 [[ 0.98678379 0.13057641 -0.09595595 5.05223751] [-0.14321652 0.97981474 -0.13947077 0.26041311] [ 0.07580746 0.15136997 0.98556601 0.9369733 ] [ 0. 0. 0. 1. ]] SLAMing on 180.96241403699997 meters Centerline goodness : 0.804910 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.26, Z:0.94 [[ 0.98681716 0.13189892 -0.09377932 5.05620635] [-0.14342201 0.98119726 -0.12915903 0.26066709] [ 0.07498008 0.14090636 0.98717951 0.94110124] [ 0. 0. 0. 1. ]] SLAMing on 181.02241403699998 meters Centerline goodness : 0.804158 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.27, Z:0.94 [[ 0.98696656 0.13048238 -0.09418788 5.05853493] [-0.14226073 0.98103712 -0.13163609 0.2662613 ] [ 0.07522562 0.14331966 0.98681335 0.94095696] [ 0. 0. 0. 1. ]] SLAMing on 181.08241403699998 meters Centerline goodness : 0.803634 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.27, Z:0.94 [[ 0.98641867 0.13257832 -0.09695977 5.06690542] [-0.14416954 0.98170681 -0.1243659 0.26761231] [ 0.07869784 0.13665549 0.98748768 0.94265162] [ 0. 0. 0. 1. ]] SLAMing on 181.14241403699998 meters Centerline goodness : 0.801929 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.28, Z:0.94 [[ 0.98563524 0.13871631 -0.09633777 5.06819597] [-0.1499318 0.98125823 -0.12104848 0.27690622] [ 0.07774083 0.13375375 0.98796068 0.9447854 ] [ 0. 0. 0. 1. ]] SLAMing on 181.20241403699998 meters Centerline goodness : 0.802554 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.28, Z:0.95 [[ 0.98493031 0.14402295 -0.09575844 5.06615047] [-0.15491647 0.98082943 -0.11821384 0.28108389] [ 0.07689719 0.13126695 0.98836016 0.94888157] [ 0. 0. 0. 1. ]] SLAMing on 181.26241403699999 meters Centerline goodness : 0.802901 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.29, Z:0.95 [[ 0.98363827 0.15306168 -0.09501511 5.06827127] [-0.16329694 0.98026876 -0.11138791 0.28740867] [ 0.07609112 0.12508109 0.98922437 0.94996264] [ 0. 0. 0. 1. ]] SLAMing on 181.322414037 meters Centerline goodness : 0.802998 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.29, Z:0.95 [[ 0.9820571 0.16375032 -0.0935398 5.07019763] [-0.17315838 0.97945954 -0.1033208 0.2946057 ] [ 0.07469964 0.11766412 0.99023993 0.95061458] [ 0. 0. 0. 1. ]] SLAMing on 181.382414037 meters Centerline goodness : 0.800518 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.30, Z:0.95 [[ 0.9814348 0.16776346 -0.09295786 5.07056703] [-0.17688261 0.9790856 -0.10051826 0.297583 ] [ 0.07415041 0.11509475 0.99058312 0.95133504] [ 0. 0. 0. 1. ]] SLAMing on 181.442414037 meters Centerline goodness : 0.801396 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.30, Z:0.95 [[ 0.98022557 0.17526863 -0.09186255 5.07190377] [-0.18379262 0.97842193 -0.09439699 0.30111855] [ 0.07333551 0.10941401 0.99128728 0.95118556] [ 0. 0. 0. 1. ]] SLAMing on 181.502414037 meters Centerline goodness : 0.803856 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.31, Z:0.95 [[ 0.97889593 0.18308824 -0.09078245 5.07308483] [-0.19107359 0.97754874 -0.08882198 0.30783419] [ 0.07248201 0.1042936 0.99190181 0.95243979] [ 0. 0. 0. 1. ]] SLAMing on 181.562414037 meters Centerline goodness : 0.804346 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.31, Z:0.95 [[ 0.97798743 0.1884687 -0.08955518 5.0709082 ] [-0.1960277 0.97692647 -0.08478091 0.31034668] [ 0.07151028 0.10046997 0.9923669 0.95481266] [ 0. 0. 0. 1. ]] SLAMing on 181.622414037 meters Centerline goodness : 0.805528 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.31, Z:0.96 [[ 0.97647564 0.19678999 -0.08814208 5.07157204] [-0.20371411 0.97592292 -0.07794235 0.31290607] [ 0.0706816 0.0940646 0.99305386 0.9550319 ] [ 0. 0. 0. 1. ]] SLAMing on 181.682414037 meters Centerline goodness : 0.806170 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.31, Z:0.96 [[ 0.97489001 0.2039753 -0.08935072 5.0624282 ] [-0.20978722 0.97582491 -0.06127864 0.31468659] [ 0.07469133 0.07848457 0.99411336 0.95701563] [ 0. 0. 0. 1. ]] SLAMing on 181.74241403699997 meters Centerline goodness : 0.804307 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.31, Z:0.96 [[ 0.97311159 0.21299561 -0.08767389 5.06231235] [-0.21803522 0.97452808 -0.05249444 0.31206732] [ 0.07425958 0.07019894 0.99476511 0.95686828] [ 0. 0. 0. 1. ]] SLAMing on 181.80241403699998 meters Centerline goodness : 0.803768 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.30, Z:0.95 [[ 0.97281335 0.21446531 -0.0874003 5.06271766] [-0.21930986 0.97436765 -0.05010857 0.3046296 ] [ 0.07441348 0.06791403 0.99491222 0.95470581] [ 0. 0. 0. 1. ]] SLAMing on 181.86241403699998 meters Centerline goodness : 0.802099 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.30, Z:0.96 [[ 0.97273302 0.21502569 -0.08691615 5.06063783] [-0.21970546 0.97436845 -0.04832831 0.29934781] [ 0.07429652 0.0661065 0.99504269 0.9552921 ] [ 0. 0. 0. 1. ]] SLAMing on 181.92241403699998 meters Centerline goodness : 0.805869 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:0.96 [[ 0.97330315 0.21311856 -0.08521418 5.05345924] [-0.2175355 0.97495248 -0.04632462 0.28834031] [ 0.07320714 0.06362501 0.99528517 0.95940394] [ 0. 0. 0. 1. ]] SLAMing on 181.98241403699998 meters Centerline goodness : 0.804812 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.28, Z:0.96 [[ 0.97360996 0.21167364 -0.08531069 5.05285376] [-0.2160577 0.97530446 -0.04582882 0.27840417] [ 0.07350314 0.06305143 0.99529986 0.95735569] [ 0. 0. 0. 1. ]] SLAMing on 182.042414037 meters Centerline goodness : 0.806111 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.27, Z:0.96 [[ 0.97342486 0.21277992 -0.08466842 5.05102675] [-0.21694907 0.97521634 -0.04343023 0.27168678] [ 0.07332894 0.0606448 0.99546224 0.95690866] [ 0. 0. 0. 1. ]] SLAMing on 182.102414037 meters Centerline goodness : 0.807483 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.26, Z:0.96 [[ 0.97335997 0.21403326 -0.08222002 5.04466704] [-0.21783511 0.97515135 -0.04034489 0.26486329] [ 0.07154182 0.0571805 0.99579725 0.95820802] [ 0. 0. 0. 1. ]] SLAMing on 182.162414037 meters Centerline goodness : 0.808408 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.26, Z:0.96 [[ 0.97325477 0.21460612 -0.08197168 5.04343149] [-0.21824945 0.97514034 -0.03832094 0.25838456] [ 0.07170999 0.05518631 0.99589766 0.95790499] [ 0. 0. 0. 1. ]] SLAMing on 182.222414037 meters Centerline goodness : 0.806462 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.25, Z:0.96 [[ 0.97374222 0.21008711 -0.08768976 5.04090172] [-0.21328933 0.97656459 -0.028797 0.24713381] [ 0.07958484 0.04674414 0.99573151 0.95751539] [ 0. 0. 0. 1. ]] SLAMing on 182.282414037 meters Centerline goodness : 0.806876 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.23, Z:0.96 [[ 0.97441254 0.20741424 -0.08659986 5.03593714] [-0.2104194 0.97723693 -0.02704915 0.23350797] [ 0.07901821 0.04457932 0.9958759 0.95758587] [ 0. 0. 0. 1. ]] SLAMing on 182.342414037 meters Centerline goodness : 0.808122 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.23, Z:0.96 [[ 0.97488837 0.20516889 -0.0865932 5.03389928] [-0.20816777 0.97771886 -0.02705573 0.22555444] [ 0.07911281 0.04440223 0.9958763 0.95709681] [ 0. 0. 0. 1. ]] SLAMing on 182.402414037 meters Centerline goodness : 0.806024 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:0.95 [[ 0.97529047 0.20340102 -0.08623525 5.03222323] [-0.20619691 0.97819709 -0.02476472 0.21317489] [ 0.0793179 0.04193424 0.99596696 0.95490103] [ 0. 0. 0. 1. ]] SLAMing on 182.46241403699997 meters Centerline goodness : 0.807072 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.20, Z:0.96 [[ 0.9758321 0.20095696 -0.08583711 5.02833362] [-0.20372942 0.97871378 -0.02477211 0.20484157] [ 0.07903184 0.04166097 0.99600117 0.95551785] [ 0. 0. 0. 1. ]] SLAMing on 182.52241403699998 meters Centerline goodness : 0.808073 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.19, Z:0.95 [[ 0.97661071 0.19735275 -0.08534292 5.02505214] [-0.20004403 0.97948947 -0.02414031 0.19383743] [ 0.07882833 0.04064803 0.99605915 0.95468729] [ 0. 0. 0. 1. ]] SLAMing on 182.58241403699998 meters Centerline goodness : 0.809148 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.19, Z:0.95 [[ 0.97726616 0.1941384 -0.08521232 5.02331964] [-0.19685398 0.98012328 -0.02463456 0.18656869] [ 0.07873606 0.04084891 0.99605823 0.9534175 ] [ 0. 0. 0. 1. ]] SLAMing on 182.64241403699998 meters Centerline goodness : 0.810201 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.18, Z:0.95 [[ 0.97732323 0.19403216 -0.0847987 5.02165253] [-0.19667514 0.98017659 -0.02393204 0.18444464] [ 0.07847411 0.04006714 0.99611066 0.95402764] [ 0. 0. 0. 1. ]] SLAMing on 182.70241403699998 meters Centerline goodness : 0.809388 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.18, Z:0.96 [[ 0.97775726 0.1914134 -0.08574179 5.01985587] [-0.19432965 0.98056497 -0.02698739 0.18276713] [ 0.07890965 0.04304929 0.99595182 0.95660162] [ 0. 0. 0. 1. ]] SLAMing on 182.76241403699999 meters Centerline goodness : 0.810044 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.18, Z:0.95 [[ 0.97763628 0.19217211 -0.08542357 5.02060177] [-0.19492174 0.98049944 -0.02502727 0.17939877] [ 0.07894822 0.04111848 0.99603035 0.95448549] [ 0. 0. 0. 1. ]] SLAMing on 182.822414037 meters Centerline goodness : 0.808443 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.18, Z:0.95 [[ 0.9775865 0.19256934 -0.08509803 5.02146118] [-0.19517757 0.98048885 -0.02339493 0.17705949] [ 0.07893253 0.0394798 0.99609789 0.9523569 ] [ 0. 0. 0. 1. ]] SLAMing on 182.882414037 meters Centerline goodness : 0.809915 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.17, Z:0.95 [[ 0.97750657 0.1930008 -0.08503877 5.02020475] [-0.19552383 0.98044461 -0.02233377 0.17411692] [ 0.07906537 0.03845851 0.99612731 0.95326502] [ 0. 0. 0. 1. ]] SLAMing on 182.942414037 meters Centerline goodness : 0.807739 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.17, Z:0.95 [[ 0.97719513 0.19450588 -0.08518889 5.01925376] [-0.19685376 0.98022873 -0.02000596 0.16841352] [ 0.07961332 0.03631948 0.99616395 0.9539168 ] [ 0. 0. 0. 1. ]] SLAMing on 183.002414037 meters Centerline goodness : 0.808763 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.17, Z:0.95 [[ 0.97670141 0.19653775 -0.08618161 5.02082213] [-0.19887658 0.97983322 -0.01936398 0.1677354 ] [ 0.08063785 0.03605233 0.99609124 0.95474356] [ 0. 0. 0. 1. ]] SLAMing on 183.062414037 meters Centerline goodness : 0.809723 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.17, Z:0.96 [[ 0.97642904 0.19797208 -0.08598478 5.01913423] [-0.20019451 0.97959162 -0.01795604 0.16561835] [ 0.08067517 0.03474648 0.99613463 0.95631607] [ 0. 0. 0. 1. ]] SLAMing on 183.122414037 meters Centerline goodness : 0.808977 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.96 [[ 0.97520632 0.19783662 -0.099163 5.02319286] [-0.20081273 0.97940694 -0.0208877 0.1625361 ] [ 0.09298858 0.04028301 0.99485195 0.96036452] [ 0. 0. 0. 1. ]] SLAMing on 183.182414037 meters Centerline goodness : 0.806936 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.96 [[ 0.97451906 0.19522314 -0.11045603 5.02206196] [-0.19823551 0.98000916 -0.01687382 0.16264027] [ 0.10495376 0.03834017 0.99373776 0.96223855] [ 0. 0. 0. 1. ]] SLAMing on 183.24241403699997 meters Centerline goodness : 0.809813 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.96 [[ 0.97499187 0.19196591 -0.11198188 5.02176179] [-0.19542597 0.98050034 -0.02068272 0.16265512] [ 0.10582789 0.04204965 0.99349498 0.96457466] [ 0. 0. 0. 1. ]] SLAMing on 183.30241403699998 meters Centerline goodness : 0.808547 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.97 [[ 0.97558806 0.18812355 -0.11330259 5.02104383] [-0.19200352 0.98109419 -0.02426615 0.16053097] [ 0.10659547 0.04542826 0.99326415 0.96639091] [ 0. 0. 0. 1. ]] SLAMing on 183.36241403699998 meters Centerline goodness : 0.809105 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.96 [[ 0.97561929 0.18823256 -0.11285168 5.02115797] [-0.1919651 0.98113042 -0.02307606 0.15898101] [ 0.10637855 0.04417704 0.99334384 0.96489136] [ 0. 0. 0. 1. ]] SLAMing on 183.42241403699998 meters Centerline goodness : 0.807421 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.96 [[ 0.97484858 0.19220602 -0.11281441 5.02361839] [-0.19548313 0.98052993 -0.01863853 0.15561853] [ 0.10703547 0.04022305 0.99344125 0.9629162 ] [ 0. 0. 0. 1. ]] SLAMing on 183.48241403699998 meters Centerline goodness : 0.809172 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.15, Z:0.96 [[ 0.97444656 0.19377358 -0.11360323 5.02478576] [-0.19698148 0.98024888 -0.01761913 0.15292322] [ 0.10794531 0.03954663 0.99336996 0.96320821] [ 0. 0. 0. 1. ]] SLAMing on 183.542414037 meters Centerline goodness : 0.808670 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.15, Z:0.96 [[ 0.97390231 0.19578334 -0.11481804 5.02654144] [-0.19897196 0.97985966 -0.01688804 0.15146759] [ 0.10919916 0.03929287 0.99324298 0.9641276 ] [ 0. 0. 0. 1. ]] SLAMing on 183.602414037 meters Centerline goodness : 0.809929 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.15, Z:0.97 [[ 0.97362689 0.19695833 -0.11514383 5.02612688] [-0.20004942 0.97965807 -0.01582085 0.14919449] [ 0.10968554 0.03843806 0.99322283 0.96521771] [ 0. 0. 0. 1. ]] SLAMing on 183.662414037 meters Centerline goodness : 0.811422 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.14, Z:0.97 [[ 0.97343519 0.19718119 -0.11637661 5.02515493] [-0.20037892 0.97958233 -0.01633218 0.14415627] [ 0.11078007 0.03921774 0.99307087 0.96750145] [ 0. 0. 0. 1. ]] SLAMing on 183.722414037 meters Centerline goodness : 0.810905 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.14, Z:0.97 [[ 0.97289526 0.19942886 -0.11705958 5.02612922] [-0.20237471 0.97921203 -0.01372173 0.13808342] [ 0.11188964 0.03703971 0.99303009 0.96719271] [ 0. 0. 0. 1. ]] SLAMing on 183.782414037 meters Centerline goodness : 0.810710 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.13, Z:0.97 [[ 0.97269128 0.20045685 -0.1169988 5.02559011] [-0.20319306 0.9790673 -0.01182387 0.13408467] [ 0.11217952 0.03527432 0.99306167 0.96711651] [ 0. 0. 0. 1. ]] SLAMing on 183.842414037 meters Centerline goodness : 0.812251 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.13, Z:0.97 [[ 0.97289488 0.19861323 -0.11844128 5.02526726] [-0.20147767 0.97941206 -0.01260035 0.12652951] [ 0.11350022 0.03612208 0.99288111 0.96796609] [ 0. 0. 0. 1. ]] SLAMing on 183.902414037 meters Centerline goodness : 0.812685 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.13, Z:0.97 [[ 0.97207936 0.19351532 -0.13271602 5.02517791] [-0.19712361 0.98027165 -0.0144836 0.12532747] [ 0.12729495 0.04024067 0.99104828 0.97172285] [ 0. 0. 0. 1. ]] SLAMing on 183.96241403699997 meters Centerline goodness : 0.813438 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.12, Z:0.97 [[ 0.97160455 0.19545043 -0.13335566 5.02532528] [-0.19875489 0.97997815 -0.01180307 0.11821138] [ 0.12837871 0.037973 0.99099796 0.97199924] [ 0. 0. 0. 1. ]] SLAMing on 184.02241403699998 meters Centerline goodness : 0.812037 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.12, Z:0.97 [[ 0.97185542 0.19298735 -0.13510339 5.02696827] [-0.19673755 0.9803437 -0.0148517 0.11677182] [ 0.12958157 0.04101361 0.99072019 0.97260199] [ 0. 0. 0. 1. ]] SLAMing on 184.08241403699998 meters Centerline goodness : 0.812447 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.11, Z:0.97 [[ 0.97208689 0.19084318 -0.13647698 5.02670278] [-0.19484377 0.98069623 -0.01645617 0.11136034] [ 0.13070191 0.04258852 0.99050655 0.97371138] [ 0. 0. 0. 1. ]] SLAMing on 184.14241403699998 meters Centerline goodness : 0.813058 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.10, Z:0.97 [[ 0.97235998 0.1888525 -0.13729823 5.02539267] [-0.19274804 0.98112535 -0.01553194 0.10054994] [ 0.13177352 0.0415666 0.99040797 0.97373356] [ 0. 0. 0. 1. ]] SLAMing on 184.20241403699998 meters Centerline goodness : 0.814716 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.09, Z:0.97 [[ 0.97264545 0.18699208 -0.13782159 5.02345129] [-0.19074179 0.98153459 -0.01440225 0.09042559] [ 0.13258355 0.04029662 0.99035235 0.97408216] [ 0. 0. 0. 1. ]] SLAMing on 184.26241403699999 meters Centerline goodness : 0.815453 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.08, Z:0.97 [[ 0.97286122 0.18515859 -0.13877079 5.02278841] [-0.18896597 0.98187411 -0.01466618 0.08289585] [ 0.13353988 0.04049112 0.99021592 0.97433935] [ 0. 0. 0. 1. ]] SLAMing on 184.322414037 meters Centerline goodness : 0.813707 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.07, Z:0.97 [[ 0.97313717 0.18274905 -0.1400244 5.02475011] [-0.18640951 0.98238109 -0.01337484 0.07122584] [ 0.13511309 0.03911743 0.99005772 0.97134164] [ 0. 0. 0. 1. ]] SLAMing on 184.382414037 meters Centerline goodness : 0.816234 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.07, Z:0.97 [[ 0.97379917 0.17908695 -0.14015365 5.02200695] [-0.18293408 0.98301137 -0.01495893 0.06619086] [ 0.13509368 0.04020587 0.99001676 0.97217362] [ 0. 0. 0. 1. ]] SLAMing on 184.442414037 meters Centerline goodness : 0.818598 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.06, Z:0.98 [[ 0.97549968 0.1736993 -0.13501453 5.01140759] [-0.17694829 0.9841426 -0.01235506 0.0583744 ] [ 0.13072749 0.03594295 0.99076659 0.97503931] [ 0. 0. 0. 1. ]] SLAMing on 184.502414037 meters Centerline goodness : 0.817345 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.05, Z:0.97 [[ 0.97620505 0.16950864 -0.13524245 5.01278171] [-0.17263734 0.98491638 -0.01166504 0.04983678] [ 0.13122518 0.03473537 0.99074387 0.97059085] [ 0. 0. 0. 1. ]] SLAMing on 184.562414037 meters Centerline goodness : 0.818765 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.05, Z:0.97 [[ 0.97662463 0.16759162 -0.1346008 5.01281305] [-0.17046181 0.98531347 -0.01000678 0.04523817] [ 0.13094693 0.03271716 0.99084938 0.96770921] [ 0. 0. 0. 1. ]] SLAMing on 184.622414037 meters Centerline goodness : 0.820346 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.04, Z:0.97 [[ 0.97737068 0.16309765 -0.13470603 5.01070131] [-0.16628406 0.98599642 -0.01267553 0.04259512] [ 0.13075232 0.03478816 0.99080453 0.96821381] [ 0. 0. 0. 1. ]] SLAMing on 184.682414037 meters Centerline goodness : 0.819435 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.04, Z:0.96 [[ 0.97853015 0.16640827 -0.12160193 5.01131399] [-0.16905223 0.98553781 -0.01168616 0.03878092] [ 0.11789863 0.03199234 0.99251015 0.96367794] [ 0. 0. 0. 1. ]] SLAMing on 184.74241403699997 meters Centerline goodness : 0.818795 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.04, Z:0.96 [[ 0.97926911 0.1620892 -0.12148704 5.0088321 ] [-0.16509052 0.98616446 -0.01499281 0.03819266] [ 0.11737603 0.03473835 0.99247978 0.96457524] [ 0. 0. 0. 1. ]] SLAMing on 184.80241403699998 meters Centerline goodness : 0.818406 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.04, Z:0.97 [[ 0.98006595 0.15741001 -0.12121394 5.00574212] [-0.1607714 0.98682001 -0.01840736 0.03800202] [ 0.11671883 0.03752816 0.99245572 0.96585779] [ 0. 0. 0. 1. ]] SLAMing on 184.86241403699998 meters Centerline goodness : 0.817018 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.04, Z:0.96 [[ 0.98117627 0.15136592 -0.11992282 5.00419541] [-0.15478259 0.98775306 -0.0196531 0.0354835 ] [ 0.11547932 0.03784512 0.99258867 0.9624381 ] [ 0. 0. 0. 1. ]] SLAMing on 184.92241403699998 meters Centerline goodness : 0.814408 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.04, Z:0.96 [[ 0.98196707 0.14854206 -0.11694416 5.00251402] [-0.15155686 0.98829759 -0.01727397 0.03705653] [ 0.11300972 0.03468616 0.99298825 0.95763348] [ 0. 0. 0. 1. ]] SLAMing on 184.98241403699998 meters Centerline goodness : 0.815265 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.04, Z:0.96 [[ 0.98344575 0.14860602 -0.10368562 4.99961065] [-0.15162239 0.98819809 -0.02179865 0.04039338] [ 0.09922252 0.03715885 0.99437121 0.9565605 ] [ 0. 0. 0. 1. ]] SLAMing on 185.042414037 meters Centerline goodness : 0.816063 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.04, Z:0.96 [[ 0.98386374 0.14636703 -0.10290202 4.99892577] [-0.14952983 0.98847354 -0.02368318 0.04419629] [ 0.09824949 0.03868794 0.99440951 0.95595349] [ 0. 0. 0. 1. ]] SLAMing on 185.102414037 meters Centerline goodness : 0.813636 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.05, Z:0.95 [[ 0.98429095 0.14458475 -0.10132414 4.99973651] [-0.14767752 0.98875209 -0.02367818 0.04964996] [ 0.09676096 0.03826951 0.99457165 0.95261437] [ 0. 0. 0. 1. ]] SLAMing on 185.162414037 meters Centerline goodness : 0.812828 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.06, Z:0.95 [[ 0.98495306 0.14105423 -0.09985578 5.0010398 ] [-0.14431354 0.9891859 -0.02616979 0.05866043] [ 0.09508457 0.04018655 0.99465771 0.9493058 ] [ 0. 0. 0. 1. ]] SLAMing on 185.222414037 meters Centerline goodness : 0.813099 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.07, Z:0.95 [[ 0.98548665 0.13785131 -0.09906095 5.00206908] [-0.14143898 0.98948859 -0.03012214 0.0689843 ] [ 0.0938673 0.04369605 0.99462535 0.94799196] [ 0. 0. 0. 1. ]] SLAMing on 185.282414037 meters Centerline goodness : 0.809863 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.08, Z:0.95 [[ 0.98549733 0.13812455 -0.09857297 5.00480642] [-0.14188651 0.98935909 -0.03219952 0.08188595] [ 0.09307652 0.04571871 0.99460875 0.94684743] [ 0. 0. 0. 1. ]] SLAMing on 185.342414037 meters Centerline goodness : 0.811915 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.09, Z:0.95 [[ 0.98555205 0.13718259 -0.09933828 5.00767933] [-0.14136225 0.9892921 -0.03630229 0.09092355] [ 0.09329453 0.04982048 0.9943913 0.94690865] [ 0. 0. 0. 1. ]] SLAMing on 185.402414037 meters Centerline goodness : 0.811094 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.11, Z:0.95 [[ 0.98542619 0.13841837 -0.09887152 5.0088335 ] [-0.14285026 0.98896716 -0.03921418 0.10559193] [ 0.09235272 0.0527665 0.99432725 0.94815645] [ 0. 0. 0. 1. ]] SLAMing on 185.46241403699997 meters Centerline goodness : 0.810084 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.12, Z:0.95 [[ 0.98469608 0.14142101 -0.10185155 5.01521201] [-0.14664235 0.98813301 -0.04570751 0.12476789] [ 0.09417887 0.05994376 0.99374901 0.94841538] [ 0. 0. 0. 1. ]] SLAMing on 185.52241403699998 meters Centerline goodness : 0.807361 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.13, Z:0.95 [[ 0.98417689 0.14457918 -0.10243392 5.01872917] [-0.14994525 0.98758883 -0.046741 0.13442182] [ 0.09440482 0.06136089 0.99364107 0.94864637] [ 0. 0. 0. 1. ]] SLAMing on 185.58241403699998 meters Centerline goodness : 0.806368 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.15, Z:0.95 [[ 0.98319448 0.15153777 -0.10180827 5.01876872] [-0.15691668 0.986491 -0.04703904 0.15036939] [ 0.09330475 0.06222394 0.9936913 0.95271753] [ 0. 0. 0. 1. ]] SLAMing on 185.64241403699998 meters Centerline goodness : 0.806460 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.16, Z:0.95 [[ 0.98227835 0.15775528 -0.10120533 5.02058534] [-0.16284126 0.98566706 -0.04408132 0.15941268] [ 0.0928007 0.05978053 0.99388848 0.95369639] [ 0. 0. 0. 1. ]] SLAMing on 185.70241403699998 meters Centerline goodness : 0.804086 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.17, Z:0.95 [[ 0.98168835 0.15977896 -0.10372402 5.02753741] [-0.16547035 0.98500912 -0.04875028 0.17374782] [ 0.09437984 0.06502084 0.99341066 0.95326068] [ 0. 0. 0. 1. ]] SLAMing on 185.76241403699999 meters Centerline goodness : 0.801511 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.18, Z:0.95 [[ 0.98151509 0.16102702 -0.1034332 5.02890466] [-0.16676724 0.98475679 -0.04942427 0.18179777] [ 0.0938979 0.06575994 0.99340768 0.95374817] [ 0. 0. 0. 1. ]] SLAMing on 185.822414037 meters Centerline goodness : 0.800210 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.19, Z:0.95 [[ 0.98143587 0.16155157 -0.10336694 5.03143729] [-0.16747459 0.984536 -0.05139195 0.19494437] [ 0.09346602 0.06774924 0.99331473 0.95460611] [ 0. 0. 0. 1. ]] SLAMing on 185.882414037 meters Centerline goodness : 0.801488 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.95 [[ 0.98184029 0.15852342 -0.1042112 5.03538396] [-0.16497031 0.98468378 -0.0564149 0.20648424] [ 0.09367199 0.07258218 0.99295387 0.95427459] [ 0. 0. 0. 1. ]] SLAMing on 185.942414037 meters Centerline goodness : 0.800709 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.95 [[ 0.98196088 0.15772682 -0.10428366 5.03588807] [-0.164303 0.98471777 -0.05775324 0.20939551] [ 0.09358074 0.07384554 0.99286932 0.95434831] [ 0. 0. 0. 1. ]] SLAMing on 186.002414037 meters Centerline goodness : 0.800770 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:0.22, Z:1.05 [[ 0.96736903 0.15570118 -0.19988571 5.15379871] [-0.19471564 0.96162654 -0.19328792 0.21802744] [ 0.16212025 0.22590163 0.96056519 1.04671868] [ 0. 0. 0. 1. ]] SLAMing on 186.062414037 meters Centerline goodness : 0.801653 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:0.22, Z:1.05 [[ 0.96835273 0.1523534 -0.19769023 5.16213436] [-0.18938143 0.96443397 -0.18439574 0.2220055 ] [ 0.16256585 0.21599898 0.96276518 1.05351032] [ 0. 0. 0. 1. ]] SLAMing on 186.122414037 meters Centerline goodness : 0.800078 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:0.22, Z:1.06 [[ 0.96811694 0.1515367 -0.19946482 5.17438417] [-0.18708015 0.96691493 -0.1734259 0.22048215] [ 0.16658513 0.20521247 0.96443623 1.0591859 ] [ 0. 0. 0. 1. ]] SLAMing on 186.182414037 meters Centerline goodness : 0.800733 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:0.22, Z:1.07 [[ 0.96820695 0.14845521 -0.2013364 5.18976035] [-0.18265834 0.96947933 -0.16354131 0.22296026] [ 0.17091292 0.1951176 0.96577321 1.06606866] [ 0. 0. 0. 1. ]] SLAMing on 186.24241403699997 meters Centerline goodness : 0.800947 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:0.22, Z:1.07 [[ 0.96865806 0.14841807 -0.19918245 5.20041197] [-0.17973851 0.97226849 -0.14962635 0.22278268] [ 0.17145157 0.18073753 0.96847215 1.07357868] [ 0. 0. 0. 1. ]] SLAMing on 186.30241403699998 meters Centerline goodness : 0.801278 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:0.23, Z:1.08 [[ 0.9679702 0.14891303 -0.20213511 5.20664533] [-0.18025506 0.97262487 -0.1466594 0.22611304] [ 0.17476214 0.1783978 0.96831421 1.07717557] [ 0. 0. 0. 1. ]] SLAMing on 186.36241403699998 meters Centerline goodness : 0.800980 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:0.23, Z:1.08 [[ 0.9671624 0.14944805 -0.20557766 5.22196289] [-0.18021288 0.97360603 -0.1400522 0.23312258] [ 0.17922112 0.17250097 0.96856761 1.08014216] [ 0. 0. 0. 1. ]] SLAMing on 186.42241403699998 meters Centerline goodness : 0.799959 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.24, Z:1.09 [[ 0.96650564 0.15300323 -0.20605062 5.23635676] [-0.18155817 0.97506899 -0.12758175 0.24248948] [ 0.18139315 0.16071866 0.97018866 1.08772296] [ 0. 0. 0. 1. ]] SLAMing on 186.48241403699998 meters Centerline goodness : 0.799856 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.25, Z:1.09 [[ 0.96526231 0.15813275 -0.20799689 5.24225364] [-0.18551016 0.97536479 -0.11937126 0.24809994] [ 0.18399634 0.15381011 0.97081811 1.09361802] [ 0. 0. 0. 1. ]] SLAMing on 186.542414037 meters Centerline goodness : 0.800686 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:0.26, Z:1.09 [[ 0.96449868 0.16351828 -0.20737421 5.24523245] [-0.19032376 0.97477622 -0.11656842 0.25923366] [ 0.18308238 0.15189832 0.97129179 1.09486344] [ 0. 0. 0. 1. ]] SLAMing on 186.602414037 meters Centerline goodness : 0.801722 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:0.27, Z:1.09 [[ 0.96399261 0.16744866 -0.20658941 5.24749213] [-0.19366206 0.97443998 -0.11384964 0.26508962] [ 0.18224501 0.14975874 0.97178139 1.09436323] [ 0. 0. 0. 1. ]] SLAMing on 186.662414037 meters Centerline goodness : 0.801965 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.28, Z:1.09 [[ 0.9641446 0.17140561 -0.20259642 5.24393947] [-0.19537578 0.97511378 -0.10479224 0.27558223] [ 0.17959259 0.1406173 0.97363919 1.09050135] [ 0. 0. 0. 1. ]] SLAMing on 186.722414037 meters Centerline goodness : 0.801424 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.29, Z:1.09 [[ 0.96445186 0.17520561 -0.19782721 5.24021226] [-0.1973991 0.97535822 -0.09853904 0.28610208] [ 0.17568781 0.13408708 0.97527148 1.08711862] [ 0. 0. 0. 1. ]] SLAMing on 186.782414037 meters Centerline goodness : 0.801175 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:0.29, Z:1.08 [[ 0.96505126 0.17686257 -0.19337966 5.2339612 ] [-0.19760612 0.97579357 -0.09369485 0.29220483] [ 0.17212752 0.12863334 0.97663994 1.08452663] [ 0. 0. 0. 1. ]] SLAMing on 186.842414037 meters Centerline goodness : 0.802910 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.30, Z:1.09 [[ 0.96504692 0.18062707 -0.18989027 5.23834054] [-0.19903071 0.9765033 -0.08263219 0.29817779] [ 0.17050286 0.11753793 0.97832183 1.08999613] [ 0. 0. 0. 1. ]] SLAMing on 186.902414037 meters Centerline goodness : 0.799657 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.30, Z:1.09 [[ 0.96394765 0.18696217 -0.18934117 5.2419355 ] [-0.2045451 0.975756 -0.07785582 0.30412299] [ 0.17019469 0.11377775 0.9788199 1.08935108] [ 0. 0. 0. 1. ]] SLAMing on 186.96241403699997 meters Centerline goodness : 0.797726 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:0.31, Z:1.09 [[ 0.96266724 0.19420089 -0.18856776 5.24581921] [-0.2109945 0.9747346 -0.07330609 0.31272808] [ 0.16956741 0.11035613 0.97932039 1.08867867] [ 0. 0. 0. 1. ]] SLAMing on 187.02241403699998 meters Centerline goodness : 0.798097 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.33, Z:1.09 [[ 0.96209352 0.20106212 -0.18425547 5.23504306] [-0.21598884 0.97425162 -0.06467307 0.3251052 ] [ 0.16650789 0.10201867 0.98074834 1.09195759] [ 0. 0. 0. 1. ]] SLAMing on 187.08241403699998 meters Centerline goodness : 0.797576 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:0.33, Z:1.10 [[ 0.96120329 0.20611152 -0.18332013 5.22258537] [-0.21889728 0.97434733 -0.05226142 0.33477117] [ 0.1678458 0.09036212 0.98166312 1.09542757] [ 0. 0. 0. 1. ]] SLAMing on 187.14241403699998 meters Centerline goodness : 0.805167 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:0.34, Z:1.10 [[ 0.95982176 0.20952854 -0.18665471 5.21450435] [-0.22048241 0.97458023 -0.03976024 0.34213688] [ 0.17357909 0.07931682 0.98162067 1.09919158] [ 0. 0. 0. 1. ]] SLAMing on 187.20241403699998 meters Centerline goodness : 0.802319 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:0.35, Z:1.10 [[ 0.9592289 0.21071552 -0.18835839 5.20673668] [-0.22009529 0.9750136 -0.03010894 0.34742704] [ 0.17730757 0.07033816 0.98163872 1.10034837] [ 0. 0. 0. 1. ]] SLAMing on 187.26241403699999 meters Centerline goodness : 0.798965 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:1.10 [[ 0.95997037 0.21118465 -0.18400526 5.1833913 ] [-0.21695095 0.97611412 -0.01155492 0.36263357] [ 0.17716991 0.0510125 0.98285734 1.09627931] [ 0. 0. 0. 1. ]] SLAMing on 187.322414037 meters Centerline goodness : 0.798456 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:0.37, Z:1.10 [[ 0.95957184 0.21319596 -0.18376444 5.15109676] [-0.21394509 0.97671502 0.01597702 0.37198558] [ 0.18289173 0.0239844 0.98284046 1.09616081] [ 0. 0. 0. 1. ]] SLAMing on 187.382414037 meters Centerline goodness : 0.796797 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:0.39, Z:1.09 [[ 0.96086711 0.20986984 -0.18080115 5.12603041] [-0.21017949 0.97750321 0.01766521 0.38695813] [ 0.18044109 0.02102678 0.98336102 1.08955377] [ 0. 0. 0. 1. ]] SLAMing on 187.442414037 meters Centerline goodness : 0.794420 with order 3 Centerline is valid? [False, False] Translation: X:5.12, Y:0.39, Z:1.09 [[ 0.96081563 0.208046 -0.18316712 5.11974752] [-0.20703603 0.978018 0.02483679 0.39263742] [ 0.18430794 0.01405862 0.982768 1.09105724] [ 0. 0. 0. 1. ]] SLAMing on 187.502414037 meters Centerline goodness : 0.790869 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.40, Z:1.09 [[ 0.96142926 0.2049914 -0.18339115 5.12061299] [-0.20450797 0.97862316 0.02175343 0.40066924] [ 0.18393009 0.01659056 0.98279931 1.09130236] [ 0. 0. 0. 1. ]] SLAMing on 187.562414037 meters Centerline goodness : 0.791734 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.41, Z:1.09 [[ 0.96201408 0.20193392 -0.18371607 5.12267092] [-0.20201524 0.97920814 0.01847322 0.4079728 ] [ 0.18362664 0.01934195 0.98280575 1.09039963] [ 0. 0. 0. 1. ]] SLAMing on 187.622414037 meters Centerline goodness : 0.789517 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:0.42, Z:1.08 [[ 0.96335009 0.1990749 -0.17979376 5.09637536] [-0.19804326 0.97990294 0.02385561 0.42002586] [ 0.18092949 0.01262564 0.98341503 1.08077732] [ 0. 0. 0. 1. ]] SLAMing on 187.682414037 meters Centerline goodness : 0.789300 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:0.43, Z:1.08 [[ 0.96403344 0.19543473 -0.1801244 5.09620667] [-0.19507763 0.98058648 0.01987125 0.42966215] [ 0.18051108 0.01598169 0.9834431 1.08206644] [ 0. 0. 0. 1. ]] SLAMing on 187.74241403699997 meters Centerline goodness : 0.788861 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:0.44, Z:1.08 [[ 0.96416524 0.19513401 -0.17974456 5.09644462] [-0.19489148 0.9806372 0.01918318 0.44016812] [ 0.18000749 0.01653492 0.98352626 1.08283447] [ 0. 0. 0. 1. ]] SLAMing on 187.80241403699998 meters Centerline goodness : 0.788333 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.45, Z:1.07 [[ 9.65012313e-01 1.95334698e-01 -1.74915952e-01 5.06193505e+00] [-1.93104835e-01 9.80724029e-01 2.98479857e-02 4.52891879e-01] [ 1.77374625e-01 4.97344240e-03 9.84130839e-01 1.07480797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86241403699998 meters Centerline goodness : 0.788892 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.46, Z:1.08 [[ 9.64951437e-01 1.96154632e-01 -1.74333257e-01 5.06107227e+00] [-1.93915855e-01 9.80560728e-01 2.99549602e-02 4.59708668e-01] [ 1.76820149e-01 4.90090066e-03 9.84230977e-01 1.07573647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92241403699998 meters Centerline goodness : 0.790243 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.48, Z:1.07 [[ 9.65352929e-01 1.97050567e-01 -1.71069564e-01 5.03545179e+00] [-1.94422404e-01 9.80390810e-01 3.21525782e-02 4.79637847e-01] [ 1.74050712e-01 2.22117024e-03 9.84734186e-01 1.06890444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98241403699998 meters Centerline goodness : 0.790760 with order 2 Centerline is valid? [False, False] Translation: X:5.03, Y:0.49, Z:1.07 [[ 9.64397777e-01 2.02836309e-01 -1.69689006e-01 5.03422528e+00] [-1.99511022e-01 9.79211588e-01 3.66062452e-02 4.88570340e-01] [ 1.73586517e-01 -1.44815443e-03 9.84817559e-01 1.07074828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042414037 meters Centerline goodness : 0.790502 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.51, Z:1.07 [[ 9.61785702e-01 2.09225208e-01 -1.76615617e-01 5.02579438e+00] [-2.05937752e-01 9.77867129e-01 3.69529509e-02 5.06441949e-01] [ 1.80438095e-01 8.31003295e-04 9.83585992e-01 1.07372694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102414037 meters Centerline goodness : 0.790362 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.52, Z:1.07 [[ 0.96115012 0.21133013 -0.17756694 4.99869158] [-0.20392666 0.97719632 0.05917144 0.52084276] [ 0.18602247 -0.02066201 0.98232821 1.07316265] [ 0. 0. 0. 1. ]] SLAMing on 188.162414037 meters Centerline goodness : 0.794306 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.54, Z:1.07 [[ 0.95970786 0.21600198 -0.17973305 4.96870787] [-0.20487892 0.9756319 0.07853042 0.5430126 ] [ 0.19231602 -0.03854274 0.98057585 1.06851793] [ 0. 0. 0. 1. ]] SLAMing on 188.222414037 meters Centerline goodness : 0.793232 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.56, Z:1.07 [[ 0.95764155 0.21942178 -0.18648525 4.95801377] [-0.20880221 0.97507427 0.0750454 0.55902259] [ 0.19830356 -0.03292807 0.97958738 1.07191927] [ 0. 0. 0. 1. ]] SLAMing on 188.282414037 meters Centerline goodness : 0.795704 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.07 [[ 0.9564701 0.22347914 -0.18767533 4.92252021] [-0.2092819 0.97346209 0.09258855 0.58151637] [ 0.20338643 -0.04928113 0.97785752 1.07033263] [ 0. 0. 0. 1. ]] SLAMing on 188.342414037 meters Centerline goodness : 0.798410 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:0.60, Z:1.07 [[ 0.95618504 0.2241365 -0.18834276 4.90325561] [-0.20564929 0.97210317 0.11279979 0.59520207] [ 0.20837115 -0.06912492 0.97560402 1.06829243] [ 0. 0. 0. 1. ]] SLAMing on 188.402414037 meters Centerline goodness : 0.799762 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.60, Z:1.07 [[ 0.95470812 0.23376037 -0.18408828 4.88903236] [-0.20317131 0.96415932 0.17064064 0.59909999] [ 0.21737945 -0.12551055 0.96798413 1.07442582] [ 0. 0. 0. 1. ]] SLAMing on 188.46241403699997 meters Centerline goodness : 0.798392 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.61, Z:1.08 [[ 0.95220209 0.24483308 -0.18266896 4.88630258] [-0.21200864 0.96020342 0.18182885 0.61042544] [ 0.21991708 -0.13441042 0.96621443 1.08101739] [ 0. 0. 0. 1. ]] SLAMing on 188.52241403699998 meters Centerline goodness : 0.798779 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.09 [[ 0.94959961 0.248473 -0.19110664 4.90947868] [-0.21787933 0.96149707 0.16748728 0.61580237] [ 0.22536454 -0.11740767 0.96717437 1.09211977] [ 0. 0. 0. 1. ]] SLAMing on 188.58241403699998 meters Centerline goodness : 0.804031 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.10 [[ 0.94754133 0.25142705 -0.1973572 4.93213221] [-0.22337271 0.96252561 0.15378259 0.62012432] [ 0.22862646 -0.10163114 0.96819474 1.10068755] [ 0. 0. 0. 1. ]] SLAMing on 188.64241403699998 meters Centerline goodness : 0.805657 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.11 [[ 0.94686573 0.25338051 -0.19809998 4.95410596] [-0.22856739 0.96343843 0.13979752 0.62047997] [ 0.2262791 -0.08709029 0.97016135 1.10776999] [ 0. 0. 0. 1. ]] SLAMing on 188.70241403699998 meters Centerline goodness : 0.802470 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.12 [[ 0.94594805 0.25827769 -0.19615025 4.98026556] [-0.23405655 0.96232555 0.13837292 0.61760892] [ 0.22449904 -0.08498334 0.97076156 1.1169228 ] [ 0. 0. 0. 1. ]] SLAMing on 188.76241403699999 meters Centerline goodness : 0.800982 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.13 [[ 0.94390319 0.26152426 -0.20162302 5.00103458] [-0.23982039 0.96262087 0.12588579 0.61683576] [ 0.22700871 -0.07047069 0.97133976 1.12666415] [ 0. 0. 0. 1. ]] SLAMing on 188.822414037 meters Centerline goodness : 0.801720 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.13 [[ 0.94370675 0.26339707 -0.20009887 4.9999618 ] [-0.2423577 0.96227314 0.12366551 0.62350997] [ 0.2251229 -0.06820848 0.97193996 1.12704867] [ 0. 0. 0. 1. ]] SLAMing on 188.882414037 meters Centerline goodness : 0.799607 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.63, Z:1.12 [[ 0.94342076 0.26680806 -0.19690285 4.99610031] [-0.24731622 0.96170267 0.1181637 0.62549914] [ 0.22088903 -0.06278082 0.97327622 1.120769 ] [ 0. 0. 0. 1. ]] SLAMing on 188.942414037 meters Centerline goodness : 0.799552 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.63, Z:1.11 [[ 0.94217095 0.27056607 -0.19775719 4.99290276] [-0.2527654 0.96116323 0.11079214 0.62515284] [ 0.22005353 -0.05439896 0.97396981 1.11488252] [ 0. 0. 0. 1. ]] SLAMing on 189.002414037 meters Centerline goodness : 0.799619 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.63, Z:1.12 [[ 0.9417736 0.27187261 -0.19785793 4.99386674] [-0.25395534 0.96077936 0.1113989 0.6253813 ] [ 0.22038413 -0.05466547 0.97388014 1.11502429] [ 0. 0. 0. 1. ]] SLAMing on 189.062414037 meters Centerline goodness : 0.798676 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.62, Z:1.11 [[ 0.94038798 0.28007385 -0.19294839 4.98608071] [-0.26283741 0.95851287 0.11031578 0.62432677] [ 0.21584008 -0.05302558 0.97498787 1.11037587] [ 0. 0. 0. 1. ]] SLAMing on 189.122414037 meters Centerline goodness : 0.799286 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.11 [[ 0.94035601 0.2828064 -0.18907963 4.97949439] [-0.2663069 0.95780165 0.10815095 0.62171445] [ 0.21168657 -0.05134719 0.97598784 1.10761127] [ 0. 0. 0. 1. ]] SLAMing on 189.182414037 meters Centerline goodness : 0.798702 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.11 [[ 0.94083196 0.28069662 -0.18985425 4.97901452] [-0.26447452 0.95849387 0.10650228 0.61699597] [ 0.21186897 -0.04998914 0.97601876 1.10830221] [ 0. 0. 0. 1. ]] SLAMing on 189.24241403699997 meters Centerline goodness : 0.796727 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.11 [[ 0.94138549 0.27815146 -0.19085368 4.98017237] [-0.26221607 0.95930992 0.10472448 0.61265708] [ 0.2122171 -0.04854121 0.97601622 1.10761685] [ 0. 0. 0. 1. ]] SLAMing on 189.30241403699998 meters Centerline goodness : 0.796056 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.60, Z:1.10 [[ 0.94232175 0.27638094 -0.1887943 4.97264791] [-0.26216972 0.96013366 0.09700722 0.60277845] [ 0.20807871 -0.04191586 0.97721354 1.10271405] [ 0. 0. 0. 1. ]] SLAMing on 189.36241403699998 meters Centerline goodness : 0.795876 with order 3 Centerline is valid? [False, False] Translation: X:4.97, Y:0.60, Z:1.10 [[ 0.94288135 0.27377574 -0.18979358 4.97226845] [-0.25983247 0.96093807 0.09531588 0.59783289] [ 0.20847505 -0.04055703 0.97718641 1.10329768] [ 0. 0. 0. 1. ]] SLAMing on 189.42241403699998 meters Centerline goodness : 0.795808 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.59, Z:1.10 [[ 0.94304902 0.27274885 -0.19043793 4.97113598] [-0.25880271 0.96123636 0.09510953 0.59071408] [ 0.20899688 -0.0404071 0.97708115 1.10430196] [ 0. 0. 0. 1. ]] SLAMing on 189.48241403699998 meters Centerline goodness : 0.794484 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.58, Z:1.10 [[ 0.94348806 0.27078445 -0.19106559 4.97025861] [-0.25705531 0.96183416 0.09379566 0.58343803] [ 0.20917181 -0.03938066 0.97708562 1.10443391] [ 0. 0. 0. 1. ]] SLAMing on 189.542414037 meters Centerline goodness : 0.793737 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.57, Z:1.10 [[ 0.94367029 0.26997036 -0.19131751 4.96911157] [-0.2562043 0.96205632 0.09384561 0.57390533] [ 0.20939376 -0.03954295 0.97703153 1.10448156] [ 0. 0. 0. 1. ]] SLAMing on 189.602414037 meters Centerline goodness : 0.789614 with order 2 Centerline is valid? [False, False] Translation: X:4.97, Y:0.57, Z:1.11 [[ 0.94419071 0.26754364 -0.19215697 4.96827501] [-0.25400425 0.96277859 0.09240799 0.56851405] [ 0.20972779 -0.03844208 0.97700382 1.10516726] [ 0. 0. 0. 1. ]] SLAMing on 189.662414037 meters Centerline goodness : 0.800968 with order 3 Centerline is valid? [False, False] Translation: X:4.97, Y:0.55, Z:1.11 [[ 0.9452222 0.26309483 -0.19322552 4.9668927 ] [-0.24986961 0.96405601 0.09033927 0.55323241] [ 0.21004802 -0.03710949 0.97698655 1.10593684] [ 0. 0. 0. 1. ]] SLAMing on 189.722414037 meters Centerline goodness : 0.790044 with order 2 Centerline is valid? [False, False] Translation: X:4.97, Y:0.55, Z:1.11 [[ 0.94596442 0.25990149 -0.19391371 4.96711642] [-0.24704426 0.96498099 0.08820892 0.54897457] [ 0.21004867 -0.03553723 0.97704486 1.10572499] [ 0. 0. 0. 1. ]] SLAMing on 189.782414037 meters Centerline goodness : 0.795073 with order 3 Centerline is valid? [False, False] Translation: X:4.97, Y:0.54, Z:1.11 [[ 0.94736894 0.25350375 -0.19551965 4.96709501] [-0.24141346 0.9667995 0.08377514 0.54133679] [ 0.21026561 -0.03216489 0.97711504 1.10555179] [ 0. 0. 0. 1. ]] SLAMing on 189.842414037 meters Centerline goodness : 0.789291 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.51, Z:1.11 [[ 0.95192218 0.25034904 -0.1765489 4.98532984] [-0.23212101 0.96555072 0.117608 0.51168622] [ 0.19990997 -0.07097295 0.97724042 1.11300212] [ 0. 0. 0. 1. ]] SLAMing on 189.902414037 meters Centerline goodness : 0.796274 with order 3 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:1.14 [[ 0.95571885 0.25566501 -0.14572882 5.00671471] [-0.22043797 0.95002588 0.22103831 0.45911017] [ 0.19495791 -0.17912631 0.96431591 1.14274545] [ 0. 0. 0. 1. ]] SLAMing on 189.96241403699997 meters Centerline goodness : 0.799229 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.42, Z:1.17 [[ 0.95760563 0.26050292 -0.12300279 5.01941322] [-0.20978657 0.92320784 0.32198895 0.41935379] [ 0.1974362 -0.2825341 0.93871904 1.17394689] [ 0. 0. 0. 1. ]] SLAMing on 190.02241403699998 meters Centerline goodness : 0.797319 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.37, Z:1.22 [[ 0.95979877 0.2644398 -0.0941165 5.01649235] [-0.19320105 0.86563039 0.46190625 0.37220087] [ 0.2036165 -0.42515364 0.88192103 1.22405748] [ 0. 0. 0. 1. ]] SLAMing on 190.08241403699998 meters Centerline goodness : 0.804336 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.34, Z:1.27 [[ 0.9609968 0.26765307 -0.06962024 5.00622853] [-0.1794414 0.79500187 0.57945907 0.34188995] [ 0.21044222 -0.54436556 0.8120223 1.27202662] [ 0. 0. 0. 1. ]] SLAMing on 190.14241403699998 meters Centerline goodness : 0.805321 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.32, Z:1.32 [[ 0.96199837 0.26896715 -0.04707246 4.99522722] [-0.16938318 0.72303255 0.66972627 0.32111034] [ 0.21416928 -0.6363023 0.74111464 1.31637118] [ 0. 0. 0. 1. ]] SLAMing on 190.20241403699998 meters Centerline goodness : 0.806676 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.31, Z:1.36 [[ 0.96292533 0.26848876 -0.02624092 5.00270124] [-0.15996129 0.64659396 0.74587441 0.30561634] [ 0.21722612 -0.71402384 0.66556951 1.36162986] [ 0. 0. 0. 1. ]] SLAMing on 190.26241403699999 meters Centerline goodness : 0.807802 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.30, Z:1.41 [[ 9.62710567e-01 2.70500950e-01 -4.19530858e-03 4.99361461e+00] [-1.51245509e-01 5.51009708e-01 8.20678438e-01 2.97923761e-01] [ 2.24305953e-01 -7.89441282e-01 5.71374922e-01 1.41136728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322414037 meters Centerline goodness : 0.808806 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.46 [[ 0.9625498 0.27074286 0.01400647 5.01311061] [-0.14487315 0.47001175 0.8706898 0.29769625] [ 0.22914984 -0.84011145 0.49163309 1.45735008] [ 0. 0. 0. 1. ]] SLAMing on 190.382414037 meters Centerline goodness : 0.811371 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.31, Z:1.48 [[ 0.96196242 0.2728956 0.01250182 5.0161889 ] [-0.13930182 0.45064641 0.88176687 0.30960025] [ 0.2349964 -0.84996812 0.47151976 1.47582584] [ 0. 0. 0. 1. ]] SLAMing on 190.442414037 meters Centerline goodness : 0.812653 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:1.54, Z:1.05 [[-0.03186017 -0.86208655 0.50575855 3.90801225] [ 0.94406872 0.1402053 0.29845723 1.54173772] [-0.32820599 0.48697972 0.80940199 1.04541488] [ 0. 0. 0. 1. ]] SLAMing on 190.502414037 meters Centerline goodness : 0.804920 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:1.05, Z:1.45 [[ 0.9936339 -0.10754164 -0.03356303 5.14535948] [ 0.10396543 0.99008197 -0.09449278 1.0476326 ] [ 0.04339206 0.09040183 0.99495962 1.44553977] [ 0. 0. 0. 1. ]] SLAMing on 190.562414037 meters Centerline goodness : 0.805181 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:1.04, Z:1.44 [[ 0.99351688 -0.10775563 -0.03623446 5.15072158] [ 0.10413114 0.99045742 -0.09028178 1.03930715] [ 0.04561706 0.08592333 0.99525688 1.44488828] [ 0. 0. 0. 1. ]] SLAMing on 190.622414037 meters Centerline goodness : 0.804496 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:1.03, Z:1.45 [[ 0.99295628 -0.11063673 -0.04239506 5.16111981] [ 0.10683474 0.99077625 -0.08335918 1.02943708] [ 0.0512266 0.07824276 0.99561735 1.44548293] [ 0. 0. 0. 1. ]] SLAMing on 190.682414037 meters Centerline goodness : 0.803203 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:1.02, Z:1.45 [[ 0.99262694 -0.11157033 -0.04736894 5.16962645] [ 0.10766665 0.99110532 -0.07821853 1.02308966] [ 0.05567448 0.07254177 0.99581025 1.44640181] [ 0. 0. 0. 1. ]] SLAMing on 190.74241403699997 meters Centerline goodness : 0.803270 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:1.02, Z:1.45 [[ 0.99244857 -0.11225826 -0.04943593 5.17337679] [ 0.10829672 0.99116238 -0.07660907 1.01741879] [ 0.05759903 0.07067682 0.9958349 1.44667488] [ 0. 0. 0. 1. ]] SLAMing on 190.80241403699998 meters Centerline goodness : 0.805926 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:1.01, Z:1.45 [[ 0.99209509 -0.11559354 -0.04884129 5.17586567] [ 0.11214153 0.99133999 -0.06833225 1.00984609] [ 0.05631709 0.06231495 0.99646637 1.45219044] [ 0. 0. 0. 1. ]] SLAMing on 190.86241403699998 meters Centerline goodness : 0.807531 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:1.01, Z:1.45 [[ 0.99197569 -0.11681703 -0.04835308 5.17305626] [ 0.11340872 0.99121317 -0.06808015 1.00560429] [ 0.05588113 0.06205019 0.99650744 1.45450845] [ 0. 0. 0. 1. ]] SLAMing on 190.92241403699998 meters Centerline goodness : 0.807325 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:1.00, Z:1.45 [[ 0.99097756 -0.12532842 -0.04750022 5.18739119] [ 0.12220537 0.99045386 -0.06377309 0.99924476] [ 0.05503936 0.05739292 0.99683335 1.45049174] [ 0. 0. 0. 1. ]] SLAMing on 190.98241403699998 meters Centerline goodness : 0.804715 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:0.99, Z:1.45 [[ 0.99013626 -0.13268435 -0.04500044 5.1982311 ] [ 0.1299834 0.98979371 -0.0584185 0.99422414] [ 0.05229238 0.05199297 0.99727741 1.44850592] [ 0. 0. 0. 1. ]] SLAMing on 191.042414037 meters Centerline goodness : 0.806473 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:0.99, Z:1.45 [[ 0.99000639 -0.13495634 -0.04091613 5.20705501] [ 0.13291673 0.9899131 -0.04904273 0.99131246] [ 0.04712204 0.04311418 0.99795826 1.44710831] [ 0. 0. 0. 1. ]] SLAMing on 191.102414037 meters Centerline goodness : 0.804017 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:0.99, Z:1.45 [[ 0.98923784 -0.13899887 -0.04569248 5.21566426] [ 0.13685154 0.98946706 -0.04718669 0.99106798] [ 0.0517701 0.04042577 0.99784048 1.45001488] [ 0. 0. 0. 1. ]] SLAMing on 191.162414037 meters Centerline goodness : 0.803224 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:0.99, Z:1.45 [[ 0.98833417 -0.14392434 -0.04981309 5.22606782] [ 0.14177799 0.98890912 -0.04424655 0.99222644] [ 0.05562877 0.03666798 0.99777798 1.45201551] [ 0. 0. 0. 1. ]] SLAMing on 191.222414037 meters Centerline goodness : 0.802561 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.99, Z:1.45 [[ 0.98769418 -0.1491232 -0.04714324 5.23573852] [ 0.147418 0.98835152 -0.03780482 0.99264107] [ 0.05223167 0.03038984 0.99817249 1.45031016] [ 0. 0. 0. 1. ]] SLAMing on 191.282414037 meters Centerline goodness : 0.799947 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.00, Z:1.45 [[ 0.98681453 -0.15398893 -0.04984474 5.24120584] [ 0.15207877 0.98755446 -0.0401028 0.99913523] [ 0.05539978 0.0319937 0.99795154 1.45105906] [ 0. 0. 0. 1. ]] SLAMing on 191.342414037 meters Centerline goodness : 0.800520 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.00, Z:1.45 [[ 0.98651879 -0.15666641 -0.04728958 5.24934164] [ 0.15530398 0.98737234 -0.03124971 1.00157806] [ 0.0515882 0.02348417 0.99839228 1.45022426] [ 0. 0. 0. 1. ]] SLAMing on 191.402414037 meters Centerline goodness : 0.799658 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.01, Z:1.45 [[ 0.98589788 -0.16173288 -0.04298659 5.25509514] [ 0.16076127 0.98667169 -0.0251951 1.00808451] [ 0.04648853 0.01792922 0.99875791 1.45006242] [ 0. 0. 0. 1. ]] SLAMing on 191.46241403699997 meters Centerline goodness : 0.797616 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.01, Z:1.45 [[ 0.98605416 -0.16093108 -0.0424074 5.25160119] [ 0.15997972 0.98680447 -0.02496836 1.01472903] [ 0.045866 0.01783584 0.99878836 1.45179732] [ 0. 0. 0. 1. ]] SLAMing on 191.52241403699998 meters Centerline goodness : 0.806486 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.03, Z:1.45 [[ 0.98656329 -0.15783581 -0.04219883 5.24924352] [ 0.15699835 0.98734267 -0.022494 1.02704916] [ 0.04521506 0.01556661 0.99885599 1.45116544] [ 0. 0. 0. 1. ]] SLAMing on 191.58241403699998 meters Centerline goodness : 0.805949 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.03, Z:1.45 [[ 0.98694011 -0.15548624 -0.04210998 5.24786468] [ 0.15469679 0.9877298 -0.02141837 1.03459026] [ 0.04492354 0.01462437 0.99888338 1.45099764] [ 0. 0. 0. 1. ]] SLAMing on 191.64241403699998 meters Centerline goodness : 0.799910 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.04, Z:1.45 [[ 0.9872955 -0.15321356 -0.04210944 5.24664607] [ 0.15248426 0.98810277 -0.02003645 1.04034864] [ 0.04467831 0.01336087 0.99891208 1.4509851 ] [ 0. 0. 0. 1. ]] SLAMing on 191.70241403699998 meters Centerline goodness : 0.798585 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.05, Z:1.45 [[ 0.98754297 -0.15157566 -0.04223385 5.24711797] [ 0.15087877 0.98836492 -0.01924512 1.0475395 ] [ 0.04465954 0.0126332 0.99892238 1.44932622] [ 0. 0. 0. 1. ]] SLAMing on 191.76241403699999 meters Centerline goodness : 0.793658 with order 3 Centerline is valid? [False, False] Translation: X:5.25, Y:1.06, Z:1.45 [[ 0.98798609 -0.1485964 -0.042457 5.24686036] [ 0.14801771 0.98884738 -0.01648067 1.06074361] [ 0.04443246 0.00999828 0.99896236 1.44710737] [ 0. 0. 0. 1. ]] SLAMing on 191.822414037 meters Centerline goodness : 0.792230 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.07, Z:1.45 [[ 0.98861057 -0.14430978 -0.04270625 5.24207697] [ 0.14392561 0.98951631 -0.01195379 1.06599463] [ 0.04398358 0.00567112 0.99901616 1.4507523 ] [ 0. 0. 0. 1. ]] SLAMing on 191.882414037 meters Centerline goodness : 0.792718 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.08, Z:1.45 [[ 9.89297893e-01 -1.39540611e-01 -4.26391375e-02 5.23821479e+00] [ 1.39289716e-01 9.90212445e-01 -8.81414202e-03 1.07606063e+00] [ 4.34517353e-02 2.78061880e-03 9.99051658e-01 1.45235658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942414037 meters Centerline goodness : 0.791812 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.09, Z:1.45 [[ 9.89828905e-01 -1.35485995e-01 -4.33852890e-02 5.23659753e+00] [ 1.35381523e-01 9.90779093e-01 -5.35080326e-03 1.08785197e+00] [ 4.37101962e-02 -5.77186769e-04 9.99044086e-01 1.45276184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002414037 meters Centerline goodness : 0.789853 with order 2 Centerline is valid? [False, False] Translation: X:5.24, Y:1.09, Z:1.45 [[ 9.90074563e-01 -1.33519599e-01 -4.38734221e-02 5.23629862e+00] [ 1.33449177e-01 9.91045244e-01 -4.54326520e-03 1.09473891e+00] [ 4.40871613e-02 -1.35670075e-03 9.99026767e-01 1.45253291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062414037 meters Centerline goodness : 0.788864 with order 2 Centerline is valid? [False, False] Translation: X:5.24, Y:1.11, Z:1.45 [[ 9.90693542e-01 -1.28437932e-01 -4.50555701e-02 5.23579133e+00] [ 1.28503646e-01 9.91707981e-01 -1.44688653e-03 1.10600848e+00] [ 4.48678035e-02 -4.35638387e-03 9.98983434e-01 1.45241837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122414037 meters Centerline goodness : 0.789538 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:1.12, Z:1.46 [[ 9.91432775e-01 -1.19663698e-01 -5.23607851e-02 5.22513931e+00] [ 1.19759422e-01 9.92802068e-01 -1.31683683e-03 1.11624621e+00] [ 5.21414733e-02 -4.96514216e-03 9.98627365e-01 1.45684712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182414037 meters Centerline goodness : 0.791716 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:1.12, Z:1.46 [[ 9.91782612e-01 -1.16385631e-01 -5.31190731e-02 5.22476919e+00] [ 1.16550883e-01 9.93184722e-01 1.33366964e-05 1.12343585e+00] [ 5.27554996e-02 -6.20430195e-03 9.98588185e-01 1.45711952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24241403699997 meters Centerline goodness : 0.792864 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:1.13, Z:1.46 [[ 9.92392539e-01 -1.06290023e-01 -6.21247161e-02 5.21752141e+00] [ 1.06528058e-01 9.94309559e-01 5.22548996e-04 1.13214855e+00] [ 6.17156574e-02 -7.13659906e-03 9.98068257e-01 1.46107219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30241403699998 meters Centerline goodness : 0.792695 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:1.14, Z:1.46 [[ 9.92724048e-01 -1.02541689e-01 -6.31202494e-02 5.21895034e+00] [ 1.02889507e-01 9.94690187e-01 2.27623120e-03 1.13792788e+00] [ 6.25516841e-02 -8.75408082e-03 9.98003333e-01 1.45970813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36241403699998 meters Centerline goodness : 0.793363 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:1.15, Z:1.46 [[ 0.99314186 -0.09724047 -0.06491169 5.21961477] [ 0.09789809 0.99517168 0.00702073 1.14542086] [ 0.06391558 -0.01332731 0.99786631 1.46084937] [ 0. 0. 0. 1. ]] SLAMing on 192.42241403699998 meters Centerline goodness : 0.796357 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:1.15, Z:1.46 [[ 0.99310685 -0.09647639 -0.06656646 5.22082331] [ 0.09723594 0.99522709 0.00825892 1.15184048] [ 0.06545196 -0.01467464 0.99774781 1.46233673] [ 0. 0. 0. 1. ]] SLAMing on 192.48241403699998 meters Centerline goodness : 0.794567 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:1.15, Z:1.46 [[ 0.99278281 -0.09884877 -0.06790587 5.22353205] [ 0.09955579 0.99500665 0.00709953 1.15465149] [ 0.06686502 -0.01380871 0.99766647 1.46244126] [ 0. 0. 0. 1. ]] SLAMing on 192.542414037 meters Centerline goodness : 0.799015 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:1.16, Z:1.46 [[ 0.9922153 -0.10286583 -0.07019561 5.22661325] [ 0.10354196 0.99460667 0.00605282 1.15912503] [ 0.0691944 -0.01327389 0.99751488 1.46483868] [ 0. 0. 0. 1. ]] SLAMing on 192.602414037 meters Centerline goodness : 0.800523 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.16, Z:1.47 [[ 0.9920852 -0.10256497 -0.07243877 5.22900486] [ 0.10346068 0.99459538 0.00871307 1.16306558] [ 0.07115361 -0.01613868 0.9973348 1.46696771] [ 0. 0. 0. 1. ]] SLAMing on 192.662414037 meters Centerline goodness : 0.797887 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:1.17, Z:1.47 [[ 0.9921864 -0.10062806 -0.07375736 5.23090642] [ 0.10159852 0.99477997 0.00951626 1.16981546] [ 0.07241474 -0.01693554 0.99723081 1.46609941] [ 0. 0. 0. 1. ]] SLAMing on 192.722414037 meters Centerline goodness : 0.799085 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:1.17, Z:1.47 [[ 0.99257172 -0.09660228 -0.0739552 5.23006798] [ 0.09773534 0.99514189 0.0118499 1.17389512] [ 0.07245119 -0.01898992 0.99719116 1.46601295] [ 0. 0. 0. 1. ]] SLAMing on 192.782414037 meters Centerline goodness : 0.796952 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:1.18, Z:1.47 [[ 0.99324766 -0.08901762 -0.07439719 5.22764135] [ 0.09050995 0.99575168 0.01692737 1.18152472] [ 0.07257429 -0.02354675 0.99708501 1.4673976 ] [ 0. 0. 0. 1. ]] SLAMing on 192.842414037 meters Centerline goodness : 0.795402 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.19, Z:1.47 [[ 0.99358967 -0.08503719 -0.07448648 5.22721982] [ 0.08651709 0.99610759 0.01686609 1.18945641] [ 0.07276231 -0.02320233 0.99707938 1.46572451] [ 0. 0. 0. 1. ]] SLAMing on 192.902414037 meters Centerline goodness : 0.796278 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.19, Z:1.47 [[ 0.99365529 -0.08444501 -0.07428467 5.22654864] [ 0.08580078 0.99619564 0.01524733 1.19397419] [ 0.0727145 -0.02152427 0.99712051 1.46512114] [ 0. 0. 0. 1. ]] SLAMing on 192.96241403699997 meters Centerline goodness : 0.794596 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:1.20, Z:1.47 [[ 0.99349327 -0.0857486 -0.07495526 5.22745615] [ 0.08697792 0.99612162 0.01328728 1.20030653] [ 0.07352519 -0.01972028 0.99709837 1.46516058] [ 0. 0. 0. 1. ]] SLAMing on 193.02241403699998 meters Centerline goodness : 0.792654 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:1.20, Z:1.46 [[ 0.99325104 -0.08751554 -0.07611444 5.23086939] [ 0.08869149 0.99598439 0.01220267 1.20268435] [ 0.07474087 -0.01887102 0.99702442 1.46384039] [ 0. 0. 0. 1. ]] SLAMing on 193.08241403699998 meters Centerline goodness : 0.789593 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:1.21, Z:1.46 [[ 0.99304484 -0.08898681 -0.07709276 5.23281889] [ 0.09013228 0.99586339 0.01150149 1.20511578] [ 0.07575037 -0.01837004 0.99695758 1.46397582] [ 0. 0. 0. 1. ]] SLAMing on 193.14241403699998 meters Centerline goodness : 0.792524 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.21, Z:1.47 [[ 0.99286721 -0.08969592 -0.07854515 5.23402907] [ 0.09094694 0.99577741 0.01249046 1.210015 ] [ 0.07709314 -0.01954481 0.99683231 1.46568029] [ 0. 0. 0. 1. ]] SLAMing on 193.20241403699998 meters Centerline goodness : 0.789189 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.21, Z:1.47 [[ 0.99292102 -0.08808845 -0.07967606 5.23534651] [ 0.0894839 0.99588832 0.01410947 1.21497235] [ 0.07810558 -0.02113932 0.99672095 1.4657852 ] [ 0. 0. 0. 1. ]] SLAMing on 193.26241403699999 meters Centerline goodness : 0.791275 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.22, Z:1.47 [[ 0.99295761 -0.08775962 -0.07958283 5.23447925] [ 0.08909543 0.99593314 0.01338576 1.21817379] [ 0.07808445 -0.02038196 0.99673838 1.46618793] [ 0. 0. 0. 1. ]] SLAMing on 193.322414037 meters Centerline goodness : 0.792727 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.22, Z:1.47 [[ 0.99316155 -0.08489978 -0.08013839 5.23387726] [ 0.08642663 0.99613333 0.015774 1.2224845 ] [ 0.07848931 -0.02259222 0.99665893 1.46715478] [ 0. 0. 0. 1. ]] SLAMing on 193.382414037 meters Centerline goodness : 0.788943 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.23, Z:1.47 [[ 0.99318099 -0.08456731 -0.08024888 5.23377921] [ 0.08600981 0.99618604 0.01468596 1.22659099] [ 0.07870086 -0.02148801 0.99666666 1.46689501] [ 0. 0. 0. 1. ]] SLAMing on 193.442414037 meters Centerline goodness : 0.791311 with order 3 Centerline is valid? [False, False] Translation: X:5.23, Y:1.23, Z:1.47 [[ 0.99312738 -0.08476983 -0.08069745 5.2348531 ] [ 0.08614806 0.9961875 0.01374701 1.23043647] [ 0.07922446 -0.02060446 0.99664384 1.46617224] [ 0. 0. 0. 1. ]] SLAMing on 193.502414037 meters Centerline goodness : 0.786469 with order 2 Centerline is valid? [False, False] Translation: X:5.24, Y:1.23, Z:1.47 [[ 0.99299638 -0.08605095 -0.08095325 5.23544896] [ 0.08728499 0.99611321 0.01182405 1.23450516] [ 0.07962113 -0.01880725 0.99664776 1.4657735 ] [ 0. 0. 0. 1. ]] SLAMing on 193.562414037 meters Centerline goodness : 0.791869 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.24, Z:1.47 [[ 0.99294556 -0.08639581 -0.08120886 5.23562241] [ 0.08761432 0.99608744 0.01155631 1.23579208] [ 0.07989271 -0.01858984 0.99663011 1.46616875] [ 0. 0. 0. 1. ]] SLAMing on 193.622414037 meters Centerline goodness : 0.793505 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.24, Z:1.47 [[ 0.99292503 -0.08631544 -0.0815446 5.23587095] [ 0.08748629 0.9961062 0.01088953 1.23857873] [ 0.08028715 -0.01794652 0.9966102 1.46638749] [ 0. 0. 0. 1. ]] SLAMing on 193.682414037 meters Centerline goodness : 0.791494 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.24, Z:1.47 [[ 0.99301256 -0.08440203 -0.08247643 5.23664118] [ 0.0857323 0.99623705 0.01271662 1.24272976] [ 0.08109276 -0.01969866 0.99651188 1.46669976] [ 0. 0. 0. 1. ]] SLAMing on 193.74241403699997 meters Centerline goodness : 0.791010 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.25, Z:1.47 [[ 0.99282816 -0.08570975 -0.08334317 5.23838076] [ 0.08694445 0.99614915 0.01129302 1.24755671] [ 0.0820543 -0.01845826 0.99645692 1.46630443] [ 0. 0. 0. 1. ]] SLAMing on 193.80241403699998 meters Centerline goodness : 0.792173 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.25, Z:1.47 [[ 0.99258072 -0.08779843 -0.08411274 5.24024897] [ 0.08897637 0.99597994 0.01035224 1.24918567] [ 0.08286569 -0.01775948 0.99640247 1.4661794 ] [ 0. 0. 0. 1. ]] SLAMing on 193.86241403699998 meters Centerline goodness : 0.790619 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.25, Z:1.47 [[ 0.9922601 -0.09068283 -0.08483235 5.24148543] [ 0.09180123 0.99573328 0.00936891 1.25034778] [ 0.0836208 -0.01708411 0.99635119 1.46689759] [ 0. 0. 0. 1. ]] SLAMing on 193.92241403699998 meters Centerline goodness : 0.790878 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.25, Z:1.47 [[ 0.99209773 -0.09187249 -0.08544903 5.24212093] [ 0.09294143 0.99563436 0.00860829 1.25348556] [ 0.08428513 -0.01648202 0.99630535 1.46757302] [ 0. 0. 0. 1. ]] SLAMing on 193.98241403699998 meters Centerline goodness : 0.790848 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.26, Z:1.47 [[ 0.99203384 -0.09218885 -0.08584918 5.24257827] [ 0.09305 0.9956429 0.00607541 1.26110752] [ 0.08491504 -0.01401528 0.99628962 1.46719803] [ 0. 0. 0. 1. ]] SLAMing on 194.042414037 meters Centerline goodness : 0.791270 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.26, Z:1.47 [[ 0.99240348 -0.08804705 -0.08592464 5.24190484] [ 0.08916468 0.99597395 0.00924965 1.26277321] [ 0.08476429 -0.01684083 0.9962587 1.46706152] [ 0. 0. 0. 1. ]] SLAMing on 194.102414037 meters Centerline goodness : 0.781409 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.27, Z:1.46 [[ 0.99296544 -0.09009651 -0.07682612 5.24615384] [ 0.09143708 0.99571093 0.01410685 1.26719976] [ 0.07522563 -0.02103237 0.9969447 1.46220977] [ 0. 0. 0. 1. ]] SLAMing on 194.162414037 meters Centerline goodness : 0.789355 with order 3 Centerline is valid? [False, False] Translation: X:5.25, Y:1.27, Z:1.46 [[ 0.99300505 -0.089665 -0.07681894 5.24676899] [ 0.09083475 0.99579531 0.01186406 1.27276777] [ 0.07543215 -0.0187589 0.99697447 1.46058691] [ 0. 0. 0. 1. ]] SLAMing on 194.222414037 meters Centerline goodness : 0.780677 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.27, Z:1.46 [[ 0.99297176 -0.08962117 -0.07729891 5.24876622] [ 0.0907608 0.99580803 0.01135118 1.27456619] [ 0.07595757 -0.01828711 0.99694334 1.4589114 ] [ 0. 0. 0. 1. ]] SLAMing on 194.282414037 meters Centerline goodness : 0.789421 with order 3 Centerline is valid? [False, False] Translation: X:5.25, Y:1.28, Z:1.46 [[ 0.99278872 -0.09093846 -0.07810728 5.24985061] [ 0.0919749 0.99571341 0.00976862 1.27944205] [ 0.07688412 -0.01688209 0.9968971 1.4592612 ] [ 0. 0. 0. 1. ]] SLAMing on 194.342414037 meters Centerline goodness : 0.777288 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.28, Z:1.46 [[ 0.9925952 -0.09247015 -0.07876571 5.2503575 ] [ 0.09340689 0.99559355 0.00828463 1.28385408] [ 0.07765255 -0.01558055 0.99685873 1.46003947] [ 0. 0. 0. 1. ]] SLAMing on 194.402414037 meters Centerline goodness : 0.779576 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.29, Z:1.46 [[ 0.99227934 -0.09480861 -0.07995647 5.25264129] [ 0.09569609 0.99538359 0.00733287 1.28643255] [ 0.07889214 -0.01492778 0.99677138 1.46020072] [ 0. 0. 0. 1. ]] SLAMing on 194.46241403699997 meters Centerline goodness : 0.778604 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.29, Z:1.46 [[ 0.99215042 -0.09587805 -0.0802804 5.252209 ] [ 0.09669895 0.99529315 0.00639173 1.28976185] [ 0.07928971 -0.01410459 0.99675183 1.46143879] [ 0. 0. 0. 1. ]] SLAMing on 194.52241403699998 meters Centerline goodness : 0.779536 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.30, Z:1.46 [[ 0.99232469 -0.09425173 -0.08005202 5.24940149] [ 0.09509742 0.99544468 0.00680965 1.29904878] [ 0.07904554 -0.01437013 0.99676743 1.46302185] [ 0. 0. 0. 1. ]] SLAMing on 194.58241403699998 meters Centerline goodness : 0.775114 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.31, Z:1.46 [[ 9.92323163e-01 -9.40852667e-02 -8.02664441e-02 5.25076516e+00] [ 9.47981114e-02 9.95483411e-01 5.10848055e-03 1.30624156e+00] [ 7.94232808e-02 -1.26783709e-02 9.96760353e-01 1.46248264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64241403699998 meters Centerline goodness : 0.777271 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.31, Z:1.46 [[ 9.92302617e-01 -9.41529684e-02 -8.04408838e-02 5.25171119e+00] [ 9.47853125e-02 9.95489415e-01 4.07044474e-03 1.30992114e+00] [ 7.96948039e-02 -1.16637273e-02 9.96751070e-01 1.46205881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70241403699998 meters Centerline goodness : 0.778042 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.32, Z:1.46 [[ 0.99257308 -0.09138096 -0.0803007 5.2500027 ] [ 0.09216403 0.9957252 0.00609222 1.31567768] [ 0.07940072 -0.01344781 0.99675207 1.46251304] [ 0. 0. 0. 1. ]] SLAMing on 194.76241403699999 meters Centerline goodness : 0.776494 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.32, Z:1.46 [[ 0.99255916 -0.09101251 -0.08088905 5.25169333] [ 0.091753 0.99576673 0.00547734 1.31933433] [ 0.08004812 -0.0128584 0.99670806 1.46226206] [ 0. 0. 0. 1. ]] SLAMing on 194.822414037 meters Centerline goodness : 0.775904 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.32, Z:1.46 [[ 9.92549932e-01 -9.07586898e-02 -8.12864825e-02 5.25343943e+00] [ 9.14524960e-02 9.95797651e-01 4.84556182e-03 1.32307255e+00] [ 8.05051115e-02 -1.22433138e-02 9.96679000e-01 1.46141928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882414037 meters Centerline goodness : 0.776054 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.33, Z:1.46 [[ 9.92510909e-01 -9.11758496e-02 -8.12961266e-02 5.25365388e+00] [ 9.18141740e-02 9.95767550e-01 4.14062754e-03 1.32527314e+00] [ 8.05745196e-02 -1.15737547e-02 9.96681391e-01 1.46120190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942414037 meters Centerline goodness : 0.780718 with order 3 Centerline is valid? [False, False] Translation: X:5.25, Y:1.33, Z:1.46 [[ 9.92423558e-01 -9.24185975e-02 -8.09585393e-02 5.25181487e+00] [ 9.28912312e-02 9.95674083e-01 2.08308894e-03 1.32951435e+00] [ 8.04158032e-02 -9.58764493e-03 9.96715293e-01 1.46293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002414037 meters Centerline goodness : 0.779680 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.33, Z:1.46 [[ 9.92423676e-01 -9.21545295e-02 -8.12575566e-02 5.25293482e+00] [ 9.25718578e-02 9.95705056e-01 1.37553173e-03 1.33295790e+00] [ 8.07817984e-02 -8.88727323e-03 9.96692188e-01 1.46271230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062414037 meters Centerline goodness : 0.778970 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.34, Z:1.46 [[ 9.92482433e-01 -9.12904324e-02 -8.15148870e-02 5.25542717e+00] [ 9.16974446e-02 9.95786123e-01 1.25568803e-03 1.33719897e+00] [ 8.10567609e-02 -8.72095515e-03 9.96671333e-01 1.46066183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122414037 meters Centerline goodness : 0.779901 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.34, Z:1.46 [[ 9.92431283e-01 -9.18194272e-02 -8.15434881e-02 5.25494601e+00] [ 9.20917103e-02 9.95750439e-01 -4.23586661e-04 1.34130032e+00] [ 8.12358576e-02 -7.08909863e-03 9.96669695e-01 1.46193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182414037 meters Centerline goodness : 0.779492 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.34, Z:1.46 [[ 9.92390892e-01 -9.20371496e-02 -8.17892469e-02 5.25499344e+00] [ 9.22247146e-02 9.95737105e-01 -1.48965930e-03 1.34443535e+00] [ 8.15776919e-02 -6.06466563e-03 9.96648534e-01 1.46285546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24241403699997 meters Centerline goodness : 0.778601 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 9.92379729e-01 -9.20528352e-02 -8.19069576e-02 5.25571183e+00] [ 9.22071166e-02 9.95738027e-01 -1.90502956e-03 1.34646715e+00] [ 8.17332357e-02 -5.66189166e-03 9.96638160e-01 1.46238596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30241403699998 meters Centerline goodness : 0.780172 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 9.92076411e-01 -9.54376736e-02 -8.17070678e-02 5.25662739e+00] [ 9.52638328e-02 9.95433781e-01 -6.03231759e-03 1.34807732e+00] [ 8.19096858e-02 -1.79920846e-03 9.96638132e-01 1.46254314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36241403699998 meters Centerline goodness : 0.782099 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 9.92036948e-01 -9.61343588e-02 -8.13687866e-02 5.25511057e+00] [ 9.58990804e-02 9.95367809e-01 -6.80377662e-03 1.34918390e+00] [ 8.16459476e-02 -1.05359402e-03 9.96660840e-01 1.46365728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42241403699998 meters Centerline goodness : 0.784342 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 9.92025115e-01 -9.60958121e-02 -8.15583623e-02 5.25554462e+00] [ 9.58604682e-02 9.95371517e-01 -6.80546122e-03 1.34972758e+00] [ 8.18348471e-02 -1.06703434e-03 9.96645333e-01 1.46363447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48241403699998 meters Centerline goodness : 0.784664 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.35, Z:1.46 [[ 9.91949932e-01 -9.71552537e-02 -8.12169312e-02 5.25415226e+00] [ 9.68887864e-02 9.95268991e-01 -7.22492603e-03 1.35011480e+00] [ 8.15346326e-02 -7.02245012e-04 9.96670262e-01 1.46404425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542414037 meters Centerline goodness : 0.784963 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 9.91564755e-01 -1.01123367e-01 -8.10765161e-02 5.25540890e+00] [ 1.00550138e-01 9.94869706e-01 -1.11327094e-02 1.35060961e+00] [ 8.17863468e-02 2.88654744e-03 9.96645705e-01 1.46343380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602414037 meters Centerline goodness : 0.784757 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 0.99114124 -0.10527069 -0.08097606 5.25670392] [ 0.10437013 0.99442103 -0.01528662 1.35276348] [ 0.08213353 0.00669972 0.99659881 1.46276523] [ 0. 0. 0. 1. ]] SLAMing on 195.662414037 meters Centerline goodness : 0.782358 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.35, Z:1.46 [[ 0.99113062 -0.10533071 -0.08102794 5.25735743] [ 0.10443346 0.99441503 -0.01524455 1.35297858] [ 0.08218112 0.00664732 0.99659524 1.46207081] [ 0. 0. 0. 1. ]] SLAMing on 195.722414037 meters Centerline goodness : 0.781060 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 0.99112533 -0.10531315 -0.08111543 5.25723527] [ 0.10435682 0.99441198 -0.01595222 1.35587018] [ 0.08234213 0.00734571 0.99657705 1.46273722] [ 0. 0. 0. 1. ]] SLAMing on 195.782414037 meters Centerline goodness : 0.793025 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.91508704e-01 -1.01375150e-01 -8.14467295e-02 5.25654838e+00] [ 1.00651754e-01 9.94837440e-01 -1.29496265e-02 1.35859860e+00] [ 8.23390262e-02 4.64191121e-03 9.96593567e-01 1.46360866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842414037 meters Centerline goodness : 0.781610 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.91551340e-01 -1.00833013e-01 -8.16005099e-02 5.25731528e+00] [ 1.00101492e-01 9.94892078e-01 -1.30170497e-02 1.35922711e+00] [ 8.24962492e-02 4.73874026e-03 9.96580109e-01 1.46349330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902414037 meters Centerline goodness : 0.781939 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.91915769e-01 -9.71881897e-02 -8.15938921e-02 5.25588562e+00] [ 9.67389976e-02 9.95264922e-01 -9.44995822e-03 1.35903100e+00] [ 8.21259629e-02 1.48025125e-03 9.96620858e-01 1.46400561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96241403699997 meters Centerline goodness : 0.796484 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.92293300e-01 -9.30137149e-02 -8.18685298e-02 5.25572099e+00] [ 9.28816703e-02 9.95662358e-01 -5.42816028e-03 1.35936869e+00] [ 8.20183067e-02 -2.21775871e-03 9.96628355e-01 1.46372883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02241403699998 meters Centerline goodness : 0.783360 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.92419047e-01 -9.11118534e-02 -8.24806907e-02 5.25930542e+00] [ 9.10604716e-02 9.95835678e-01 -4.39239538e-03 1.36006571e+00] [ 8.25374138e-02 -3.15163375e-03 9.96582983e-01 1.46155184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08241403699998 meters Centerline goodness : 0.793322 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.92439559e-01 -9.07881766e-02 -8.25907264e-02 5.26017943e+00] [ 9.07456119e-02 9.95864922e-01 -4.27681592e-03 1.35992302e+00] [ 8.26374916e-02 -3.25026469e-03 9.96574373e-01 1.46099331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14241403699998 meters Centerline goodness : 0.780308 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.92421485e-01 -9.08464584e-02 -8.27436794e-02 5.25918210e+00] [ 9.06575008e-02 9.95863779e-01 -6.04572776e-03 1.36377724e+00] [ 8.29506662e-02 -1.50142505e-03 9.96552524e-01 1.46400978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20241403699998 meters Centerline goodness : 0.781327 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.47 [[ 9.92469389e-01 -9.01944239e-02 -8.28823189e-02 5.25927939e+00] [ 8.99461884e-02 9.95923876e-01 -6.73173265e-03 1.36693343e+00] [ 8.31516450e-02 -7.73910080e-04 9.96536605e-01 1.46521608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26241403699999 meters Centerline goodness : 0.780112 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.46 [[ 9.92513972e-01 -8.93948815e-02 -8.32139988e-02 5.26190192e+00] [ 8.91852298e-02 9.95995506e-01 -6.24069881e-03 1.36679023e+00] [ 8.34386554e-02 -1.22747884e-03 9.96512160e-01 1.46314323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322414037 meters Centerline goodness : 0.778943 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.46 [[ 9.92166903e-01 -9.34166179e-02 -8.29347443e-02 5.26284009e+00] [ 9.29042380e-02 9.95624585e-01 -1.00244031e-02 1.36641901e+00] [ 8.35083162e-02 2.24089178e-03 9.96504561e-01 1.46246951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382414037 meters Centerline goodness : 0.780273 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.46 [[ 9.92152374e-01 -9.36684281e-02 -8.28244633e-02 5.26238181e+00] [ 9.31481077e-02 9.95600702e-01 -1.01327140e-02 1.36737964e+00] [ 8.34092092e-02 2.33825424e-03 9.96512637e-01 1.46261672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442414037 meters Centerline goodness : 0.781502 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.46 [[ 9.92166524e-01 -9.37499909e-02 -8.25622620e-02 5.26216466e+00] [ 9.32274699e-02 9.95592895e-01 -1.01699007e-02 1.36844250e+00] [ 8.31518295e-02 2.39316422e-03 9.96534016e-01 1.46217319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502414037 meters Centerline goodness : 0.794594 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.46 [[ 9.92136860e-01 -9.43162097e-02 -8.22733523e-02 5.26087546e+00] [ 9.37427173e-02 9.95537720e-01 -1.08144279e-02 1.36817749e+00] [ 8.29262014e-02 3.01686494e-03 9.96551124e-01 1.46329834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562414037 meters Centerline goodness : 0.790006 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.37, Z:1.46 [[ 9.93413459e-01 -9.22881251e-02 -6.79161414e-02 5.26016498e+00] [ 9.19716551e-02 9.95731243e-01 -7.77855685e-03 1.36520831e+00] [ 6.83440923e-02 1.48096313e-03 9.97660710e-01 1.45839785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622414037 meters Centerline goodness : 0.793296 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.93427641e-01 -9.19714849e-02 -6.81378630e-02 5.26151219e+00] [ 9.17156252e-02 9.95761469e-01 -6.88051754e-03 1.36269298e+00] [ 6.84818700e-02 5.85989603e-04 9.97652189e-01 1.45710597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682414037 meters Centerline goodness : 0.776204 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.93463064e-01 -9.13346235e-02 -6.84771965e-02 5.26346649e+00] [ 9.11786992e-02 9.95819875e-01 -5.40564618e-03 1.35878298e+00] [ 6.86846760e-02 -8.73351885e-04 9.97638037e-01 1.45530082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74241403699997 meters Centerline goodness : 0.797401 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.45 [[ 9.93861956e-01 -8.65323179e-02 -6.89243792e-02 5.26422627e+00] [ 8.66924997e-02 9.96234893e-01 -6.69387805e-04 1.35750346e+00] [ 6.87227952e-02 -5.30994764e-03 9.97621663e-01 1.45455911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80241403699998 meters Centerline goodness : 0.777526 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.45 [[ 9.94256782e-01 -8.15547650e-02 -6.92984262e-02 5.26521602e+00] [ 8.20250500e-02 9.96622387e-01 3.96340395e-03 1.35632718e+00] [ 6.87411284e-02 -9.62484813e-03 9.97588101e-01 1.45357804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86241403699998 meters Centerline goodness : 0.776099 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.45 [[ 9.94282190e-01 -8.11711788e-02 -6.93841893e-02 5.26566424e+00] [ 8.16261767e-02 9.96655987e-01 3.74310803e-03 1.35607720e+00] [ 6.88483352e-02 -9.38527174e-03 9.97582991e-01 1.45389061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92241403699998 meters Centerline goodness : 0.774819 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.94274133e-01 -8.12295736e-02 -6.94312924e-02 5.26489422e+00] [ 8.16050005e-02 9.96661402e-01 2.58327983e-03 1.35745886e+00] [ 6.89896505e-02 -8.23442897e-03 9.97583391e-01 1.45600927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98241403699998 meters Centerline goodness : 0.788599 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.36, Z:1.46 [[ 9.94270636e-01 -8.12873180e-02 -6.94137963e-02 5.26432815e+00] [ 8.16120136e-02 9.96662459e-01 1.84992580e-03 1.35906846e+00] [ 6.90317494e-02 -7.50432659e-03 9.97586238e-01 1.45721807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042414037 meters Centerline goodness : 0.787980 with order 3 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.46 [[ 9.94289064e-01 -8.07597661e-02 -6.97647353e-02 5.26562424e+00] [ 8.10891081e-02 9.96705051e-01 1.89704224e-03 1.35913453e+00] [ 6.93816594e-02 -7.54336852e-03 9.97561669e-01 1.45695241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102414037 meters Centerline goodness : 0.785083 with order 3 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.46 [[ 9.94317053e-01 -8.05201700e-02 -6.96426682e-02 5.26584270e+00] [ 8.08740396e-02 9.96721740e-01 2.27206493e-03 1.35694496e+00] [ 6.92314144e-02 -7.89143681e-03 9.97569414e-01 1.45660037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162414037 meters Centerline goodness : 0.784384 with order 3 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.46 [[ 9.94054367e-01 -8.36870049e-02 -6.96591800e-02 5.26732235e+00] [ 8.38198803e-02 9.96480401e-01 -1.01841920e-03 1.35661433e+00] [ 6.94992361e-02 -4.82646008e-03 9.97570329e-01 1.45618884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222414037 meters Centerline goodness : 0.786213 with order 3 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.45 [[ 9.93840974e-01 -8.57413539e-02 -7.02035530e-02 5.27104699e+00] [ 8.57112531e-02 9.96314058e-01 -3.44656348e-03 1.35622411e+00] [ 7.02402998e-02 -2.59189849e-03 9.97526733e-01 1.45449033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282414037 meters Centerline goodness : 0.783072 with order 3 Centerline is valid? [False, False] Translation: X:5.27, Y:1.36, Z:1.45 [[ 9.93579487e-01 -8.83624035e-02 -7.06533023e-02 5.27440567e+00] [ 8.81402694e-02 9.96088392e-01 -6.26157417e-03 1.35615766e+00] [ 7.09302221e-02 -6.02944434e-06 9.97481280e-01 1.45285530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342414037 meters Centerline goodness : 0.784618 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 9.93388067e-01 -9.04332628e-02 -7.07246306e-02 5.27658978e+00] [ 9.00179771e-02 9.95899078e-01 -9.04379030e-03 1.35747584e+00] [ 7.12524539e-02 2.61750519e-03 9.97454879e-01 1.45200753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402414037 meters Centerline goodness : 0.775120 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.994198 -0.09009875 -0.05875837 5.27748414] [ 0.08959493 0.99591578 -0.01115868 1.35757501] [ 0.05952377 0.00582949 0.99820987 1.44737493] [ 0. 0. 0. 1. ]] SLAMing on 197.46241403699997 meters Centerline goodness : 0.776812 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99415775 -0.09053522 -0.05876857 5.27744029] [ 0.08999837 0.9958729 -0.01172397 1.35850915] [ 0.05958746 0.0063664 0.99820279 1.44754632] [ 0. 0. 0. 1. ]] SLAMing on 197.52241403699998 meters Centerline goodness : 0.779573 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99382658 -0.09387093 -0.05913529 5.27986438] [ 0.09310826 0.99553488 -0.01552928 1.36058262] [ 0.06032899 0.00992743 0.99812918 1.44680939] [ 0. 0. 0. 1. ]] SLAMing on 197.58241403699998 meters Centerline goodness : 0.785992 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99376373 -0.0945443 -0.05911874 5.2801296 ] [ 0.09380845 0.99547564 -0.01510705 1.3594634 ] [ 0.06027955 0.009467 0.99813664 1.445625 ] [ 0. 0. 0. 1. ]] SLAMing on 197.64241403699998 meters Centerline goodness : 0.787627 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99373202 -0.09485373 -0.05915613 5.28008739] [ 0.09410956 0.99544508 -0.01524766 1.36029073] [ 0.06033297 0.00958493 0.99813229 1.44566379] [ 0. 0. 0. 1. ]] SLAMing on 197.70241403699998 meters Centerline goodness : 0.789131 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99373623 -0.09477003 -0.05921947 5.28017016] [ 0.0940156 0.99545153 -0.01540491 1.36106789] [ 0.06041004 0.00974087 0.99812612 1.44588766] [ 0. 0. 0. 1. ]] SLAMing on 197.76241403699999 meters Centerline goodness : 0.781511 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99374351 -0.09474813 -0.05913228 5.28005854] [ 0.09400447 0.99545512 -0.01523999 1.36041429] [ 0.06030749 0.00958594 0.99813382 1.44579415] [ 0. 0. 0. 1. ]] SLAMing on 197.822414037 meters Centerline goodness : 0.791517 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99375403 -0.09453902 -0.05929003 5.28090078] [ 0.09383167 0.99548088 -0.01460926 1.35889567] [ 0.06040323 0.00895473 0.99813389 1.44502284] [ 0. 0. 0. 1. ]] SLAMing on 197.882414037 meters Centerline goodness : 0.791490 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.45 [[ 0.99372046 -0.0948055 -0.05942699 5.28100089] [ 0.09409605 0.9954556 -0.01463132 1.35975931] [ 0.06054406 0.0089476 0.99812542 1.44506437] [ 0. 0. 0. 1. ]] SLAMing on 197.942414037 meters Centerline goodness : 0.782524 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.44 [[ 0.99373111 -0.09457271 -0.05961946 5.28256186] [ 0.09391136 0.99548484 -0.01380506 1.35839085] [ 0.06065585 0.00811957 0.99812571 1.44325071] [ 0. 0. 0. 1. ]] SLAMing on 198.002414037 meters Centerline goodness : 0.782066 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.44 [[ 0.99338912 -0.09794729 -0.05986975 5.28489576] [ 0.09706192 0.99512398 -0.0175288 1.35990167] [ 0.06129472 0.01160184 0.99805228 1.4423798 ] [ 0. 0. 0. 1. ]] SLAMing on 198.062414037 meters Centerline goodness : 0.793732 with order 3 Centerline is valid? [False, False] Translation: X:5.28, Y:1.36, Z:1.44 [[ 0.99335284 -0.09824212 -0.05998848 5.28481478] [ 0.09729635 0.99508358 -0.01849547 1.36347315] [ 0.06151058 0.01253587 0.99802771 1.44303911] [ 0. 0. 0. 1. ]] SLAMing on 198.122414037 meters Centerline goodness : 0.791011 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 0.9933626 -0.09801205 -0.06020279 5.28552297] [ 0.0970585 0.9951054 -0.0185711 1.36395282] [ 0.06172831 0.01260464 0.9980134 1.44287553] [ 0. 0. 0. 1. ]] SLAMing on 198.182414037 meters Centerline goodness : 0.790352 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 0.99335861 -0.09796981 -0.06033729 5.28528227] [ 0.09700651 0.99510806 -0.01869989 1.36323719] [ 0.06187415 0.01272259 0.99800287 1.44383108] [ 0. 0. 0. 1. ]] SLAMing on 198.24241403699997 meters Centerline goodness : 0.791319 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 0.99377942 -0.09328976 -0.06082338 5.28581006] [ 0.09259928 0.9956039 -0.01407993 1.36237532] [ 0.0618695 0.00836014 0.99804923 1.44337742] [ 0. 0. 0. 1. ]] SLAMing on 198.30241403699998 meters Centerline goodness : 0.792981 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 0.9939119 -0.09124527 -0.06175309 5.28963477] [ 0.09063193 0.99580389 -0.01266722 1.36168274] [ 0.06264979 0.0069933 0.99801107 1.44153992] [ 0. 0. 0. 1. ]] SLAMing on 198.36241403699998 meters Centerline goodness : 0.795035 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 0.994049 -0.08947727 -0.06213208 5.29154194] [ 0.08892614 0.99597085 -0.01158517 1.36004983] [ 0.06291835 0.00599106 0.9980007 1.44090692] [ 0. 0. 0. 1. ]] SLAMing on 198.42241403699998 meters Centerline goodness : 0.795308 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 9.94402499e-01 -8.53259796e-02 -6.23149053e-02 5.29025247e+00] [ 8.50042411e-02 9.96350051e-01 -7.80093172e-03 1.35882284e+00] [ 6.27530812e-02 2.46023476e-03 9.98026051e-01 1.44238459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48241403699998 meters Centerline goodness : 0.796130 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.36, Z:1.44 [[ 9.94450671e-01 -8.42495016e-02 -6.30070222e-02 5.29224352e+00] [ 8.39527775e-02 9.96442650e-01 -7.34681318e-03 1.35892635e+00] [ 6.34018495e-02 2.01642878e-03 9.97986042e-01 1.44225672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542414037 meters Centerline goodness : 0.795714 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.36, Z:1.44 [[ 9.94503337e-01 -8.31269423e-02 -6.36633690e-02 5.29520276e+00] [ 8.28945558e-02 9.96538489e-01 -6.28752537e-03 1.35709029e+00] [ 6.39656603e-02 9.75618269e-04 9.97951623e-01 1.44038119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602414037 meters Centerline goodness : 0.793248 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.36, Z:1.44 [[ 9.94265970e-01 -8.56674910e-02 -6.40020492e-02 5.29806896e+00] [ 8.52448725e-02 9.96316533e-01 -9.31004298e-03 1.35722481e+00] [ 6.45638678e-02 3.80081238e-03 9.97906339e-01 1.43918079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662414037 meters Centerline goodness : 0.794721 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.36, Z:1.44 [[ 9.94274418e-01 -8.57235019e-02 -6.37954706e-02 5.29766290e+00] [ 8.53155381e-02 9.96312454e-01 -9.09681343e-03 1.35605034e+00] [ 6.43400326e-02 3.60198397e-03 9.97921533e-01 1.43921805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722414037 meters Centerline goodness : 0.793950 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.36, Z:1.44 [[ 9.94274621e-01 -8.57316371e-02 -6.37813766e-02 5.29716554e+00] [ 8.53200068e-02 9.96311541e-01 -9.15474264e-03 1.35580850e+00] [ 6.43309727e-02 3.66050079e-03 9.97921904e-01 1.44001471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782414037 meters Centerline goodness : 0.793442 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.36, Z:1.44 [[ 0.99395691 -0.08928541 -0.0638574 5.29792428] [ 0.08862738 0.9959791 -0.01306985 1.35614445] [ 0.06476758 0.00733135 0.99787344 1.4407924 ] [ 0. 0. 0. 1. ]] SLAMing on 198.842414037 meters Centerline goodness : 0.795645 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.35, Z:1.44 [[ 0.99361654 -0.09301614 -0.06382925 5.29918486] [ 0.09214258 0.99560907 -0.01650224 1.35496443] [ 0.06508396 0.01051551 0.99782438 1.44026265] [ 0. 0. 0. 1. ]] SLAMing on 198.902414037 meters Centerline goodness : 0.795511 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.35, Z:1.44 [[ 0.99359973 -0.09317665 -0.06385678 5.29938053] [ 0.09233261 0.99559886 -0.01605014 1.35402453] [ 0.06507124 0.01005135 0.99783 1.43973441] [ 0. 0. 0. 1. ]] SLAMing on 198.96241403699997 meters Centerline goodness : 0.792185 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.35, Z:1.44 [[ 0.99326696 -0.09652098 -0.06406589 5.30172778] [ 0.09547335 0.99524633 -0.01922436 1.35388934] [ 0.0656169 0.01297834 0.99776048 1.43844189] [ 0. 0. 0. 1. ]] SLAMing on 199.02241403699998 meters Centerline goodness : 0.790031 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.35, Z:1.43 [[ 0.99307883 -0.10180538 -0.058567 5.31109652] [ 0.10126749 0.9947858 -0.01208776 1.35165967] [ 0.05949222 0.00607317 0.99821029 1.43442598] [ 0. 0. 0. 1. ]] SLAMing on 199.08241403699998 meters Centerline goodness : 0.789413 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.35, Z:1.43 [[ 0.99264821 -0.10596038 -0.05849732 5.31210611] [ 0.10518496 0.99432091 -0.01618821 1.35323628] [ 0.05988042 0.00991616 0.9981563 1.43411761] [ 0. 0. 0. 1. ]] SLAMing on 199.14241403699998 meters Centerline goodness : 0.785174 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.35, Z:1.43 [[ 9.92319013e-01 -1.11932485e-01 -5.26696740e-02 5.32062885e+00] [ 1.11573536e-01 9.93708682e-01 -9.71604137e-03 1.35184223e+00] [ 5.34258530e-02 3.76487079e-03 9.98564722e-01 1.43062119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20241403699998 meters Centerline goodness : 0.784794 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.35, Z:1.43 [[ 9.92239103e-01 -1.12708002e-01 -5.25211259e-02 5.32006702e+00] [ 1.12332398e-01 9.93619772e-01 -1.00588413e-02 1.35206421e+00] [ 5.33197411e-02 4.08095159e-03 9.98569152e-01 1.43065977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26241403699999 meters Centerline goodness : 0.788519 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.35, Z:1.43 [[ 9.92165662e-01 -1.13347233e-01 -5.25328772e-02 5.31966549e+00] [ 1.12933263e-01 9.93543961e-01 -1.07923521e-02 1.35460383e+00] [ 5.34170061e-02 4.77509194e-03 9.98560875e-01 1.43106198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322414037 meters Centerline goodness : 0.788158 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.43 [[ 0.99207359 -0.11417776 -0.05247315 5.31937557] [ 0.11371345 0.99344398 -0.0117603 1.3574991 ] [ 0.0534719 0.00570018 0.99855309 1.43109756] [ 0. 0. 0. 1. ]] SLAMing on 199.382414037 meters Centerline goodness : 0.787197 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.43 [[ 0.99183679 -0.11615092 -0.05261889 5.32195182] [ 0.11555489 0.99319899 -0.01424169 1.3595412 ] [ 0.05391521 0.00804506 0.99851311 1.42963025] [ 0. 0. 0. 1. ]] SLAMing on 199.442414037 meters Centerline goodness : 0.785037 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.43 [[ 0.99181139 -0.11629797 -0.05277265 5.32228619] [ 0.11566825 0.99317697 -0.0148444 1.36273039] [ 0.05413895 0.00861873 0.99849622 1.42968754] [ 0. 0. 0. 1. ]] SLAMing on 199.502414037 meters Centerline goodness : 0.783699 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.43 [[ 0.99219061 -0.11295881 -0.05289699 5.32088188] [ 0.11251071 0.99358531 -0.01138334 1.36357607] [ 0.05384352 0.00534297 0.99853509 1.43026576] [ 0. 0. 0. 1. ]] SLAMing on 199.562414037 meters Centerline goodness : 0.783309 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.37, Z:1.43 [[ 9.92618265e-01 -1.09004133e-01 -5.31702803e-02 5.32073893e+00] [ 1.08742885e-01 9.94039381e-01 -7.79056468e-03 1.36529574e+00] [ 5.37025563e-02 1.95116709e-03 9.98555070e-01 1.42984798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622414037 meters Centerline goodness : 0.780779 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.37, Z:1.43 [[ 9.92640973e-01 -1.08827286e-01 -5.31085732e-02 5.32073091e+00] [ 1.08531049e-01 9.94057239e-01 -8.43904521e-03 1.36858323e+00] [ 5.37113600e-02 2.61301288e-03 9.98553084e-01 1.43008083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682414037 meters Centerline goodness : 0.782116 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.37, Z:1.43 [[ 9.92622796e-01 -1.08898090e-01 -5.33028280e-02 5.32119765e+00] [ 1.08583242e-01 9.94048620e-01 -8.77617403e-03 1.37066767e+00] [ 5.39413112e-02 2.92363653e-03 9.98539828e-01 1.43007257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74241403699997 meters Centerline goodness : 0.782243 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.37, Z:1.43 [[ 9.92589454e-01 -1.09177221e-01 -5.33526932e-02 5.32177154e+00] [ 1.08859729e-01 9.94017904e-01 -8.82979767e-03 1.37147448e+00] [ 5.39975451e-02 2.95640431e-03 9.98536692e-01 1.42933995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80241403699998 meters Centerline goodness : 0.780962 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.37, Z:1.43 [[ 9.92580230e-01 -1.09282427e-01 -5.33088936e-02 5.32298927e+00] [ 1.08972565e-01 9.94006740e-01 -8.69375926e-03 1.37400847e+00] [ 5.39394746e-02 2.82004667e-03 9.98540225e-01 1.42722920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86241403699998 meters Centerline goodness : 0.781751 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.38, Z:1.43 [[ 9.92501290e-01 -1.10141070e-01 -5.30107057e-02 5.32227090e+00] [ 1.09779270e-01 9.93908678e-01 -9.69800080e-03 1.37847970e+00] [ 5.37559486e-02 3.80580172e-03 9.98546851e-01 1.42717831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92241403699998 meters Centerline goodness : 0.783340 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.38, Z:1.43 [[ 9.92446257e-01 -1.10724526e-01 -5.28252453e-02 5.32160910e+00] [ 1.10315842e-01 9.93840060e-01 -1.05995727e-02 1.38045911e+00] [ 5.36734776e-02 4.69204487e-03 9.98547516e-01 1.42774200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98241403699998 meters Centerline goodness : 0.787992 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.38, Z:1.42 [[ 9.93288733e-01 -1.08866977e-01 -3.90573262e-02 5.32135818e+00] [ 1.08652752e-01 9.94050922e-01 -7.57258539e-03 1.38237147e+00] [ 3.96493756e-02 3.27807777e-03 9.99208277e-01 1.42169112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042414037 meters Centerline goodness : 0.793289 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.38, Z:1.42 [[ 9.93558422e-01 -1.06567293e-01 -3.85366724e-02 5.31806702e+00] [ 1.06463552e-01 9.94305307e-01 -4.74006976e-03 1.38442650e+00] [ 3.88223543e-02 6.06785206e-04 9.99245944e-01 1.42263963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102414037 meters Centerline goodness : 0.792309 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.42 [[ 9.93526552e-01 -1.06933179e-01 -3.83443098e-02 5.31794350e+00] [ 1.06807896e-01 9.94265513e-01 -5.30695800e-03 1.38701596e+00] [ 3.86919148e-02 1.17712865e-03 9.99250494e-01 1.42232174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162414037 meters Centerline goodness : 0.793514 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.42 [[ 9.93489230e-01 -1.07467065e-01 -3.78150804e-02 5.31735017e+00] [ 1.07339768e-01 9.94207805e-01 -5.38651291e-03 1.38751316e+00] [ 3.81749209e-02 1.29238059e-03 9.99270236e-01 1.42140850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222414037 meters Centerline goodness : 0.793089 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.42 [[ 9.93451359e-01 -1.08032320e-01 -3.71942819e-02 5.31667340e+00] [ 1.07913464e-01 9.94146721e-01 -5.19432629e-03 1.38733270e+00] [ 3.75377286e-02 1.14654670e-03 9.99294553e-01 1.42028127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282414037 meters Centerline goodness : 0.796464 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.42 [[ 9.93482910e-01 -1.07760195e-01 -3.71409297e-02 5.31751652e+00] [ 1.07653919e-01 9.94176573e-01 -4.85536127e-03 1.38936004e+00] [ 3.74478569e-02 8.25351817e-04 9.99298242e-01 1.41895122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342414037 meters Centerline goodness : 0.796925 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.42 [[ 9.93498578e-01 -1.07615122e-01 -3.71424301e-02 5.31804252e+00] [ 1.07506783e-01 9.94192238e-01 -4.90767459e-03 1.39093928e+00] [ 3.74548557e-02 8.82704552e-04 9.99297931e-01 1.41842390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402414037 meters Centerline goodness : 0.798619 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.42 [[ 9.93463917e-01 -1.08116387e-01 -3.66100017e-02 5.31725132e+00] [ 1.07984826e-01 9.94137006e-01 -5.55786199e-03 1.39327649e+00] [ 3.69962534e-02 1.56821067e-03 9.99314174e-01 1.41824708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46241403699997 meters Centerline goodness : 0.796337 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.40, Z:1.42 [[ 9.93408843e-01 -1.08765196e-01 -3.61801544e-02 5.31663665e+00] [ 1.08612104e-01 9.94065021e-01 -6.17610273e-03 1.39506203e+00] [ 3.66371709e-02 2.20579237e-03 9.99326199e-01 1.41788121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52241403699998 meters Centerline goodness : 0.799089 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.40, Z:1.42 [[ 9.93398588e-01 -1.08873773e-01 -3.61351206e-02 5.31694193e+00] [ 1.08709625e-01 9.94052410e-01 -6.48257254e-03 1.39730067e+00] [ 3.66259859e-02 2.51154302e-03 9.99325887e-01 1.41741298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58241403699998 meters Centerline goodness : 0.800477 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.40, Z:1.42 [[ 9.93723519e-01 -1.06001902e-01 -3.57374480e-02 5.31476640e+00] [ 1.05961470e-01 9.94365623e-01 -3.02883884e-03 1.39814505e+00] [ 3.58571525e-02 -7.76964134e-04 9.99356624e-01 1.41740604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64241403699998 meters Centerline goodness : 0.800119 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.40, Z:1.42 [[ 9.93665581e-01 -1.06746634e-01 -3.51264849e-02 5.31359301e+00] [ 1.06694400e-01 9.94286172e-01 -3.36351964e-03 1.39928485e+00] [ 3.52848226e-02 -4.05585549e-04 9.99377214e-01 1.41704376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70241403699998 meters Centerline goodness : 0.801976 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.40, Z:1.42 [[ 9.93237317e-01 -1.10780559e-01 -3.47462214e-02 5.31422880e+00] [ 1.10606579e-01 9.93840345e-01 -6.89592771e-03 1.39809916e+00] [ 3.52961314e-02 3.00613205e-03 9.99372376e-01 1.41653138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76241403699999 meters Centerline goodness : 0.800778 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.40, Z:1.42 [[ 9.93160008e-01 -1.11660254e-01 -3.41348091e-02 5.31261796e+00] [ 1.11496805e-01 9.93742469e-01 -6.66092009e-03 1.39646374e+00] [ 3.46649695e-02 2.80943730e-03 9.99395040e-01 1.41637926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822414037 meters Centerline goodness : 0.799985 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.42 [[ 9.93112955e-01 -1.12261398e-01 -3.35266695e-02 5.31150525e+00] [ 1.12131134e-01 9.93676801e-01 -5.74662586e-03 1.39315752e+00] [ 3.39597980e-02 1.94766511e-03 9.99421302e-01 1.41559874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882414037 meters Centerline goodness : 0.803776 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.42 [[ 9.93098593e-01 -1.12484382e-01 -3.32031433e-02 5.31091582e+00] [ 1.12371639e-01 9.93652389e-01 -5.24823005e-03 1.39119327e+00] [ 3.35827266e-02 1.48091824e-03 9.99434844e-01 1.41528606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942414037 meters Centerline goodness : 0.806263 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.41 [[ 9.93111489e-01 -1.12424412e-01 -3.30200346e-02 5.31087995e+00] [ 1.12329177e-01 9.93659787e-01 -4.73111890e-03 1.38938026e+00] [ 3.33425739e-02 9.89415230e-04 9.99443492e-01 1.41490971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002414037 meters Centerline goodness : 0.811169 with order 2 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.41 [[ 9.93131447e-01 -1.12253842e-01 -3.30000574e-02 5.31175475e+00] [ 1.12188225e-01 9.93679557e-01 -3.83919395e-03 1.38601211e+00] [ 3.32224467e-02 1.10606363e-04 9.99447976e-01 1.41373752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062414037 meters Centerline goodness : 0.811621 with order 2 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.41 [[ 9.93130038e-01 -1.12302909e-01 -3.28752986e-02 5.31146225e+00] [ 1.12238294e-01 9.93674015e-01 -3.81019498e-03 1.38582566e+00] [ 3.30952259e-02 9.41516699e-05 9.99452199e-01 1.41398586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122414037 meters Centerline goodness : 0.807564 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.42 [[ 9.93163920e-01 -1.12012777e-01 -3.28415146e-02 5.31125049e+00] [ 1.11933737e-01 9.93706622e-01 -4.24125546e-03 1.38694469e+00] [ 3.31099054e-02 5.36188424e-04 9.99451573e-01 1.41505231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18241403699997 meters Centerline goodness : 0.789583 with order 2 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.42 [[ 9.93165736e-01 -1.12029639e-01 -3.27289145e-02 5.31081896e+00] [ 1.11937527e-01 9.93704418e-01 -4.63904048e-03 1.38673057e+00] [ 3.30425770e-02 9.43742306e-04 9.99453499e-01 1.41604691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24241403699997 meters Centerline goodness : 0.787649 with order 2 Centerline is valid? [False, False] Translation: X:5.31, Y:1.39, Z:1.42 [[ 9.93177318e-01 -1.11920059e-01 -3.27523186e-02 5.31081788e+00] [ 1.11834245e-01 9.93716928e-01 -4.44614397e-03 1.38521799e+00] [ 3.30441461e-02 7.52978503e-04 9.99453609e-01 1.41637561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30241403699998 meters Centerline goodness : 0.809312 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.38, Z:1.42 [[ 9.93240233e-01 -1.11296543e-01 -3.29684514e-02 5.31208112e+00] [ 1.11250341e-01 9.93787138e-01 -3.23821704e-03 1.38169506e+00] [ 3.31240253e-02 -4.51424000e-04 9.99451147e-01 1.41536287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36241403699998 meters Centerline goodness : 0.806204 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.38, Z:1.41 [[ 9.93324985e-01 -1.10426583e-01 -3.33383181e-02 5.31400736e+00] [ 1.10427845e-01 9.93882497e-01 -1.80906314e-03 1.37850993e+00] [ 3.33341395e-02 -1.88449100e-03 9.99442487e-01 1.41377718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42241403699998 meters Centerline goodness : 0.801249 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.37, Z:1.41 [[ 9.93353114e-01 -1.10219369e-01 -3.31855529e-02 5.31357394e+00] [ 1.10249100e-01 9.93903544e-01 -9.38186147e-04 1.37453972e+00] [ 3.30866450e-02 -2.72672721e-03 9.99448768e-01 1.41423512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48241403699998 meters Centerline goodness : 0.797299 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.37, Z:1.41 [[ 9.93369850e-01 -1.10057501e-01 -3.32217801e-02 5.31355527e+00] [ 1.10103518e-01 9.93920025e-01 -4.46674388e-04 1.37219249e+00] [ 3.30689524e-02 -3.21412198e-03 9.99447904e-01 1.41458739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542414037 meters Centerline goodness : 0.813439 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.37, Z:1.41 [[ 9.93412399e-01 -1.09611102e-01 -3.34247053e-02 5.31469876e+00] [ 1.09694006e-01 9.93965191e-01 6.51173262e-04 1.36876285e+00] [ 3.31516178e-02 -4.31337342e-03 9.99441026e-01 1.41360851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602414037 meters Centerline goodness : 0.807605 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.37, Z:1.41 [[ 9.93377421e-01 -1.09939485e-01 -3.33857465e-02 5.31428771e+00] [ 1.10027256e-01 9.93928250e-01 7.97697171e-04 1.36581290e+00] [ 3.30953382e-02 -4.46575644e-03 9.99442222e-01 1.41423986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662414037 meters Centerline goodness : 0.803164 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.37, Z:1.42 [[ 9.93372828e-01 -1.09921636e-01 -3.35806258e-02 5.31428711e+00] [ 1.10007531e-01 9.93930496e-01 7.15472129e-04 1.36515806e+00] [ 3.32981622e-02 -4.40485232e-03 9.99435756e-01 1.41505917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722414037 meters Centerline goodness : 0.789611 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.42 [[ 9.93392244e-01 -1.09641961e-01 -3.39188850e-02 5.31511866e+00] [ 1.09743986e-01 9.93959216e-01 1.15530926e-03 1.36319555e+00] [ 3.35873180e-02 -4.87006890e-03 9.99423921e-01 1.41513104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782414037 meters Centerline goodness : 0.788548 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.42 [[ 9.93046432e-01 -1.12686336e-01 -3.40671881e-02 5.31671498e+00] [ 1.12679662e-01 9.93629102e-01 -2.12189077e-03 1.36120377e+00] [ 3.40892576e-02 -1.73154317e-03 9.99417292e-01 1.41549083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842414037 meters Centerline goodness : 0.785685 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.42 [[ 9.93014518e-01 -1.13016638e-01 -3.39029023e-02 5.31567219e+00] [ 1.13020534e-01 9.93591008e-01 -1.80762604e-03 1.35802690e+00] [ 3.38899107e-02 -2.03672523e-03 9.99423497e-01 1.41660137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902414037 meters Centerline goodness : 0.783650 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.36, Z:1.42 [[ 9.93045991e-01 -1.12696738e-01 -3.40456215e-02 5.31653119e+00] [ 1.12733207e-01 9.93624928e-01 -8.52631876e-04 1.35503897e+00] [ 3.39246670e-02 -2.99136943e-03 9.99419916e-01 1.41579600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96241403699997 meters Centerline goodness : 0.783028 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.35, Z:1.42 [[ 9.92700062e-01 -1.15712566e-01 -3.40174963e-02 5.31831158e+00] [ 1.15671007e-01 9.93282446e-01 -3.19378933e-03 1.34944155e+00] [ 3.41585435e-02 -7.64363175e-04 9.99416134e-01 1.41511871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02241403699998 meters Centerline goodness : 0.784924 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.35, Z:1.42 [[ 9.92689416e-01 -1.15826961e-01 -3.39387388e-02 5.31771649e+00] [ 1.15806452e-01 9.93268458e-01 -2.57602890e-03 1.34630943e+00] [ 3.40086524e-02 -1.37312831e-03 9.99420595e-01 1.41569797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08241403699998 meters Centerline goodness : 0.783462 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.34, Z:1.42 [[ 9.92725364e-01 -1.15393971e-01 -3.43596154e-02 5.31833992e+00] [ 1.15401431e-01 9.93317355e-01 -1.77262516e-03 1.34450218e+00] [ 3.43345526e-02 -2.20541883e-03 9.99407962e-01 1.41603745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14241403699998 meters Centerline goodness : 0.783079 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.34, Z:1.42 [[ 9.92741103e-01 -1.15248018e-01 -3.43947115e-02 5.31867966e+00] [ 1.15274738e-01 9.93332908e-01 -1.21176209e-03 1.34175815e+00] [ 3.43050520e-02 -2.76187532e-03 9.99407592e-01 1.41579933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20241403699998 meters Centerline goodness : 0.790572 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.34, Z:1.42 [[ 9.92374325e-01 -1.18391008e-01 -3.43040514e-02 5.32052653e+00] [ 1.18310820e-01 9.92967016e-01 -4.36524779e-03 1.33912884e+00] [ 3.45795976e-02 2.73419390e-04 9.99401909e-01 1.41504219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26241403699999 meters Centerline goodness : 0.783268 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.34, Z:1.41 [[ 9.92396725e-01 -1.18190537e-01 -3.43473133e-02 5.32084489e+00] [ 1.18125664e-01 9.92990921e-01 -3.91901521e-03 1.33787953e+00] [ 3.45697608e-02 -1.68081352e-04 9.99402273e-01 1.41485800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322414037 meters Centerline goodness : 0.784180 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.33, Z:1.42 [[ 9.92445201e-01 -1.17722683e-01 -3.45527572e-02 5.32130788e+00] [ 1.17685282e-01 9.93046037e-01 -3.12132829e-03 1.33442459e+00] [ 3.46799298e-02 -9.68603696e-04 9.99398001e-01 1.41509459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382414037 meters Centerline goodness : 0.786983 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.33, Z:1.42 [[ 9.92460745e-01 -1.17544718e-01 -3.47117882e-02 5.32148126e+00] [ 1.17513086e-01 9.93066931e-01 -2.95713317e-03 1.33405252e+00] [ 3.48187244e-02 -1.14425077e-03 9.99392989e-01 1.41544167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442414037 meters Centerline goodness : 0.786740 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.33, Z:1.42 [[ 9.92504866e-01 -1.17137041e-01 -3.48282162e-02 5.32185209e+00] [ 1.17123548e-01 9.93114368e-01 -2.43442345e-03 1.33269833e+00] [ 3.48735631e-02 -1.66302714e-03 9.99390349e-01 1.41542234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502414037 meters Centerline goodness : 0.783590 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.33, Z:1.42 [[ 9.92147823e-01 -1.20091889e-01 -3.49376005e-02 5.32324089e+00] [ 1.19971670e-01 9.92761942e-01 -5.52486361e-03 1.32946615e+00] [ 3.53482114e-02 1.28995910e-03 9.99374224e-01 1.41592953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562414037 meters Centerline goodness : 0.782118 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.33, Z:1.42 [[ 9.92210663e-01 -1.19445563e-01 -3.53660623e-02 5.32449872e+00] [ 1.19340643e-01 9.92840421e-01 -5.07051249e-03 1.32934155e+00] [ 3.57185064e-02 8.10407933e-04 9.99361562e-01 1.41564919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622414037 meters Centerline goodness : 0.784667 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.33, Z:1.42 [[ 9.92227697e-01 -1.19275178e-01 -3.54630555e-02 5.32478622e+00] [ 1.19194852e-01 9.92861228e-01 -4.37823391e-03 1.32682010e+00] [ 3.57321075e-02 1.17191280e-04 9.99361397e-01 1.41555056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68241403699997 meters Centerline goodness : 0.782885 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.41 [[ 9.91840719e-01 -1.22440460e-01 -3.55010051e-02 5.32665026e+00] [ 1.22265389e-01 9.92472266e-01 -7.06934613e-03 1.32305691e+00] [ 3.60993370e-02 2.67112114e-03 9.99344637e-01 1.41484526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74241403699997 meters Centerline goodness : 0.789290 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.42 [[ 9.91831425e-01 -1.22502878e-01 -3.55453212e-02 5.32648283e+00] [ 1.22333786e-01 9.92465017e-01 -6.90181268e-03 1.32235105e+00] [ 3.61229798e-02 2.49704096e-03 9.99344233e-01 1.41520981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80241403699998 meters Centerline goodness : 0.790094 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.42 [[ 9.91852190e-01 -1.22335389e-01 -3.55427418e-02 5.32649005e+00] [ 1.22176630e-01 9.92486342e-01 -6.61302655e-03 1.32153879e+00] [ 3.60846930e-02 2.21665245e-03 9.99346277e-01 1.41535348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86241403699998 meters Centerline goodness : 0.789418 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.41 [[ 9.91884615e-01 -1.22030350e-01 -3.56861803e-02 5.32721949e+00] [ 1.21888268e-01 9.92524846e-01 -6.13839745e-03 1.31936302e+00] [ 3.61684914e-02 1.73885527e-03 9.99344193e-01 1.41497400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92241403699998 meters Centerline goodness : 0.790031 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.41 [[ 9.91931366e-01 -1.21655002e-01 -3.56682784e-02 5.32744335e+00] [ 1.21534090e-01 9.92571760e-01 -5.54677543e-03 1.31717896e+00] [ 3.60781188e-02 1.16710878e-03 9.99348291e-01 1.41487774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98241403699998 meters Centerline goodness : 0.791467 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.41 [[ 9.91994286e-01 -1.21067998e-01 -3.59148550e-02 5.32815686e+00] [ 1.20961302e-01 9.92643932e-01 -5.13696914e-03 1.31703887e+00] [ 3.62725854e-02 7.51536422e-04 9.99341651e-01 1.41484997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042414037 meters Centerline goodness : 0.791635 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.32, Z:1.41 [[ 9.92032339e-01 -1.20746902e-01 -3.59447229e-02 5.32835831e+00] [ 1.20648275e-01 9.92683183e-01 -4.90832884e-03 1.31659481e+00] [ 3.62743875e-02 5.32552107e-04 9.99341726e-01 1.41485302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102414037 meters Centerline goodness : 0.785961 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92077659e-01 -1.20365496e-01 -3.59731346e-02 5.32879266e+00] [ 1.20287521e-01 9.92729644e-01 -4.33196248e-03 1.31450861e+00] [ 3.62330159e-02 -2.94759766e-05 9.99343368e-01 1.41462432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162414037 meters Centerline goodness : 0.784145 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92141431e-01 -1.19867410e-01 -3.58773519e-02 5.32874950e+00] [ 1.19810494e-01 9.92789735e-01 -3.73995543e-03 1.31264766e+00] [ 3.60669655e-02 -5.87918518e-04 9.99349202e-01 1.41473614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222414037 meters Centerline goodness : 0.784860 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92212734e-01 -1.19158518e-01 -3.62648245e-02 5.33020226e+00] [ 1.19120803e-01 9.92874590e-01 -3.20659712e-03 1.31232615e+00] [ 3.63885161e-02 -1.13826854e-03 9.99337070e-01 1.41415669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282414037 meters Centerline goodness : 0.784495 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92293629e-01 -1.18401796e-01 -3.65289977e-02 5.33227139e+00] [ 1.18414097e-01 9.92962606e-01 -1.83421997e-03 1.30911943e+00] [ 3.64891037e-02 -2.50546347e-03 9.99330910e-01 1.41210739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342414037 meters Centerline goodness : 0.784023 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92327690e-01 -1.18145997e-01 -3.64318535e-02 5.33272752e+00] [ 1.18179422e-01 9.92991481e-01 -1.24221539e-03 1.30726655e+00] [ 3.63232829e-02 -3.07281065e-03 9.99335368e-01 1.41142866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402414037 meters Centerline goodness : 0.783121 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92320426e-01 -1.18281593e-01 -3.61889023e-02 5.33184491e+00] [ 1.18307846e-01 9.92975946e-01 -1.42265549e-03 1.30750453e+00] [ 3.61029835e-02 -2.86970100e-03 9.99343955e-01 1.41217475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46241403699997 meters Centerline goodness : 0.780957 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.92334802e-01 -1.18123657e-01 -3.63103725e-02 5.33220031e+00] [ 1.18154381e-01 9.92994379e-01 -1.30603610e-03 1.30735295e+00] [ 3.62102695e-02 -2.99420452e-03 9.99339708e-01 1.41221187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52241403699998 meters Centerline goodness : 0.779234 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.31, Z:1.41 [[ 9.91973873e-01 -1.21159429e-01 -3.61694412e-02 5.33376877e+00] [ 1.21066978e-01 9.92633007e-01 -4.74346942e-03 1.30704737e+00] [ 3.64776972e-02 3.26472779e-04 9.99334414e-01 1.41173530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58241403699998 meters Centerline goodness : 0.777281 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.30, Z:1.41 [[ 9.91983166e-01 -1.21091986e-01 -3.61404125e-02 5.33411153e+00] [ 1.21018187e-01 9.92641274e-01 -4.23068343e-03 1.30472979e+00] [ 3.63867670e-02 -1.76880475e-04 9.99337767e-01 1.41133392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64241403699998 meters Centerline goodness : 0.769455 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.30, Z:1.41 [[ 9.91931836e-01 -1.21470171e-01 -3.62798885e-02 5.33806405e+00] [ 1.21366907e-01 9.92594901e-01 -5.04338466e-03 1.30397031e+00] [ 3.66238531e-02 5.99515954e-04 9.99328942e-01 1.40830136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70241403699998 meters Centerline goodness : 0.768861 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.30, Z:1.41 [[ 9.92013344e-01 -1.20770730e-01 -3.63862178e-02 5.33880688e+00] [ 1.20695796e-01 9.92680413e-01 -4.25706060e-03 1.30185899e+00] [ 3.66340141e-02 -1.68602604e-04 9.99328735e-01 1.40792358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76241403699999 meters Centerline goodness : 0.767316 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.30, Z:1.41 [[ 9.92140334e-01 -1.19975864e-01 -3.55436209e-02 5.33854330e+00] [ 1.19902687e-01 9.92776803e-01 -4.19097837e-03 1.29898870e+00] [ 3.57896986e-02 -1.03736961e-04 9.99359338e-01 1.40662650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822414037 meters Centerline goodness : 0.772798 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.30, Z:1.41 [[ 9.92200644e-01 -1.19554949e-01 -3.52774045e-02 5.33766023e+00] [ 1.19502365e-01 9.92827378e-01 -3.60297695e-03 1.29787271e+00] [ 3.54551268e-02 -6.40857209e-04 9.99371064e-01 1.40733188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882414037 meters Centerline goodness : 0.773154 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.30, Z:1.41 [[ 9.92298108e-01 -1.18831073e-01 -3.49805758e-02 5.33734042e+00] [ 1.18799278e-01 9.92913778e-01 -2.99341653e-03 1.29639639e+00] [ 3.50884066e-02 -1.18530558e-03 9.99383509e-01 1.40705407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942414037 meters Centerline goodness : 0.771577 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.29, Z:1.41 [[ 9.92486056e-01 -1.13264327e-01 -4.62884440e-02 5.33665018e+00] [ 1.13426195e-01 9.93546038e-01 8.76962356e-04 1.28973241e+00] [ 4.58903716e-02 -6.12069497e-03 9.98927731e-01 1.40913494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002414037 meters Centerline goodness : 0.769985 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.29, Z:1.41 [[ 9.92419049e-01 -1.13761706e-01 -4.65049059e-02 5.33742989e+00] [ 1.13914072e-01 9.93490406e-01 6.30708829e-04 1.28881931e+00] [ 4.61304273e-02 -5.92349064e-03 9.98917862e-01 1.40879720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062414037 meters Centerline goodness : 0.766140 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.29, Z:1.41 [[ 9.92407372e-01 -1.13585659e-01 -4.71795172e-02 5.33839053e+00] [ 1.13815004e-01 9.93499536e-01 2.19480440e-03 1.28753652e+00] [ 4.66235301e-02 -7.54787702e-03 9.98884015e-01 1.40927147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122414037 meters Centerline goodness : 0.768910 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 9.92335245e-01 -1.14099553e-01 -4.74558031e-02 5.33950550e+00] [ 1.14349104e-01 9.93437308e-01 2.56855978e-03 1.28461513e+00] [ 4.68512937e-02 -7.97540096e-03 9.98870036e-01 1.40903037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18241403699997 meters Centerline goodness : 0.769409 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 9.92207836e-01 -1.15054552e-01 -4.78127640e-02 5.34062455e+00] [ 1.15301604e-01 9.93327551e-01 2.43236567e-03 1.28363829e+00] [ 4.72138811e-02 -7.92630065e-03 9.98853354e-01 1.40875420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24241403699997 meters Centerline goodness : 0.767674 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 0.99222815 -0.10924589 -0.05957046 5.33939364] [ 0.10978937 0.99393726 0.00591802 1.27867881] [ 0.05856278 -0.01241223 0.99820656 1.41314409] [ 0. 0. 0. 1. ]] SLAMing on 204.30241403699998 meters Centerline goodness : 0.770089 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 0.99238056 -0.10788141 -0.05951821 5.33943638] [ 0.10846599 0.99407778 0.00667072 1.2776858 ] [ 0.05844608 -0.01307559 0.99820493 1.41288004] [ 0. 0. 0. 1. ]] SLAMing on 204.36241403699998 meters Centerline goodness : 0.769174 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 0.99248222 -0.10694979 -0.05950453 5.34077944] [ 0.1075407 0.99417737 0.00680912 1.27695507] [ 0.05842982 -0.01315709 0.99820481 1.41093861] [ 0. 0. 0. 1. ]] SLAMing on 204.42241403699998 meters Centerline goodness : 0.770608 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 0.99245126 -0.10691744 -0.06007634 5.3429667 ] [ 0.10753789 0.99417505 0.00718196 1.27636633] [ 0.05895853 -0.01358822 0.99816795 1.40955961] [ 0. 0. 0. 1. ]] SLAMing on 204.48241403699998 meters Centerline goodness : 0.770792 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.28, Z:1.41 [[ 0.99241136 -0.1068777 -0.06080169 5.34395498] [ 0.10756623 0.99416446 0.00815664 1.27588758] [ 0.05957512 -0.01463495 0.99811654 1.41012913] [ 0. 0. 0. 1. ]] SLAMing on 204.542414037 meters Centerline goodness : 0.774267 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.28, Z:1.41 [[ 0.9925316 -0.1047342 -0.06254422 5.3463923 ] [ 0.10566497 0.9943323 0.01175527 1.27577957] [ 0.06095856 -0.01827621 0.99797296 1.41049824] [ 0. 0. 0. 1. ]] SLAMing on 204.602414037 meters Centerline goodness : 0.771355 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.28, Z:1.41 [[ 0.99248359 -0.10493072 -0.06297509 5.34751148] [ 0.10584804 0.99431694 0.01140206 1.27680933] [ 0.06142077 -0.01798215 0.99794996 1.41006038] [ 0. 0. 0. 1. ]] SLAMing on 204.662414037 meters Centerline goodness : 0.768931 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.28, Z:1.41 [[ 0.99232343 -0.10578421 -0.06406176 5.35077087] [ 0.10671088 0.99422689 0.01121099 1.27691096] [ 0.06250598 -0.01796102 0.99788296 1.4084418 ] [ 0. 0. 0. 1. ]] SLAMing on 204.722414037 meters Centerline goodness : 0.768779 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.28, Z:1.41 [[ 0.99213959 -0.10689574 -0.06505635 5.35295299] [ 0.10786645 0.99409788 0.01158622 1.27551061] [ 0.06343386 -0.01851254 0.99781433 1.40835722] [ 0. 0. 0. 1. ]] SLAMing on 204.782414037 meters Centerline goodness : 0.769004 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.28, Z:1.41 [[ 0.99202277 -0.10755983 -0.06573966 5.35337584] [ 0.10858763 0.99401132 0.01225615 1.27520949] [ 0.06402769 -0.01929689 0.99776154 1.409791 ] [ 0. 0. 0. 1. ]] SLAMing on 204.842414037 meters Centerline goodness : 0.769053 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.9917797 -0.10906895 -0.0669103 5.35504739] [ 0.11020574 0.99381671 0.01352966 1.27235842] [ 0.06502091 -0.02079234 0.99766726 1.41105387] [ 0. 0. 0. 1. ]] SLAMing on 204.902414037 meters Centerline goodness : 0.769441 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.99127383 -0.11366883 -0.06675028 5.3555293 ] [ 0.11454235 0.99337393 0.00939594 1.27242712] [ 0.06523997 -0.01695968 0.99772547 1.41140183] [ 0. 0. 0. 1. ]] SLAMing on 204.96241403699997 meters Centerline goodness : 0.769801 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.99110625 -0.114337 -0.06808411 5.35799186] [ 0.11532997 0.99326826 0.01082407 1.2709091 ] [ 0.0663882 -0.01857995 0.99762087 1.411771 ] [ 0. 0. 0. 1. ]] SLAMing on 205.02241403699998 meters Centerline goodness : 0.770985 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.99124786 -0.11199607 -0.06988961 5.36013246] [ 0.11332493 0.99343963 0.01533502 1.26996079] [ 0.06771364 -0.02312104 0.99743686 1.41261333] [ 0. 0. 0. 1. ]] SLAMing on 205.08241403699998 meters Centerline goodness : 0.771974 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.99137901 -0.11107506 -0.06949811 5.35888609] [ 0.11233094 0.99356622 0.01441929 1.2725664 ] [ 0.06744935 -0.02210177 0.99747787 1.41291889] [ 0. 0. 0. 1. ]] SLAMing on 205.14241403699998 meters Centerline goodness : 0.771712 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.99183445 -0.10635267 -0.07038129 5.3597577 ] [ 0.10790643 0.99398621 0.01864456 1.27339788] [ 0.06797514 -0.02608691 0.9973459 1.41251001] [ 0. 0. 0. 1. ]] SLAMing on 205.20241403699998 meters Centerline goodness : 0.769637 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.27, Z:1.41 [[ 0.99219819 -0.1025474 -0.07089982 5.36087726] [ 0.10429873 0.99431473 0.02144738 1.27481532] [ 0.06829736 -0.02867481 0.99725284 1.41112013] [ 0. 0. 0. 1. ]] SLAMing on 205.26241403699999 meters Centerline goodness : 0.770884 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.28, Z:1.41 [[ 0.99262665 -0.0983368 -0.07086756 5.36110378] [ 0.10021217 0.9946908 0.0234036 1.27757132] [ 0.06818988 -0.03033282 0.99721114 1.40922149] [ 0. 0. 0. 1. ]] SLAMing on 205.322414037 meters Centerline goodness : 0.771631 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.28, Z:1.41 [[ 0.99299088 -0.09422777 -0.07134594 5.3601396 ] [ 0.09633777 0.9949898 0.02672693 1.28046385] [ 0.06847006 -0.03341291 0.99709349 1.41041621] [ 0. 0. 0. 1. ]] SLAMing on 205.382414037 meters Centerline goodness : 0.772323 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.28, Z:1.41 [[ 0.9929961 -0.09409857 -0.0714437 5.35923854] [ 0.09615615 0.99502868 0.02592126 1.28383624] [ 0.06864938 -0.03260946 0.99710776 1.41157251] [ 0. 0. 0. 1. ]] SLAMing on 205.442414037 meters Centerline goodness : 0.771704 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.29, Z:1.41 [[ 0.99290923 -0.0943749 -0.07228168 5.36106294] [ 0.09646508 0.99499709 0.02598611 1.28536476] [ 0.06946762 -0.03277451 0.99704568 1.41124307] [ 0. 0. 0. 1. ]] SLAMing on 205.502414037 meters Centerline goodness : 0.770280 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.29, Z:1.41 [[ 0.9925106 -0.09837507 -0.07242281 5.36281914] [ 0.1001373 0.99474969 0.02110876 1.2897172 ] [ 0.06996599 -0.02820289 0.99715062 1.41080501] [ 0. 0. 0. 1. ]] SLAMing on 205.562414037 meters Centerline goodness : 0.768244 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.29, Z:1.41 [[ 0.9920603 -0.10281269 -0.07242864 5.36432298] [ 0.10425305 0.99441582 0.01638505 1.29273268] [ 0.0703396 -0.02380586 0.997239 1.41015467] [ 0. 0. 0. 1. ]] SLAMing on 205.622414037 meters Centerline goodness : 0.770562 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.30, Z:1.41 [[ 0.99163344 -0.10694043 -0.07229706 5.3650776 ] [ 0.10804485 0.99407915 0.01153072 1.29696429] [ 0.0706359 -0.01924557 0.99731649 1.41037898] [ 0. 0. 0. 1. ]] SLAMing on 205.68241403699997 meters Centerline goodness : 0.771760 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.30, Z:1.41 [[ 0.99153797 -0.10808502 -0.07190324 5.3632268 ] [ 0.1090942 0.99397859 0.0102478 1.29902091] [ 0.07036265 -0.01800531 0.99735897 1.4116651 ] [ 0. 0. 0. 1. ]] SLAMing on 205.74241403699997 meters Centerline goodness : 0.772012 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.30, Z:1.41 [[ 0.99112348 -0.1121256 -0.071429 5.36275122] [ 0.11280728 0.99360128 0.00556929 1.30233937] [ 0.07034749 -0.01357756 0.99743014 1.41259384] [ 0. 0. 0. 1. ]] SLAMing on 205.80241403699998 meters Centerline goodness : 0.771834 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.30, Z:1.41 [[ 9.90726967e-01 -1.15598099e-01 -7.13943713e-02 5.36444514e+00] [ 1.16020727e-01 9.93245184e-01 1.78736405e-03 1.30412448e+00] [ 7.07054996e-02 -1.00540166e-02 9.97446565e-01 1.41179174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86241403699998 meters Centerline goodness : 0.771960 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.90307673e-01 -1.19148245e-01 -7.13751252e-02 5.36611457e+00] [ 1.19311469e-01 9.92854885e-01 -1.98744183e-03 1.30571345e+00] [ 7.11019420e-02 -6.54769217e-03 9.97447563e-01 1.41111951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92241403699998 meters Centerline goodness : 0.772069 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.90010091e-01 -1.21559105e-01 -7.14381163e-02 5.36792120e+00] [ 1.21510653e-01 9.92577332e-01 -5.03987836e-03 1.30789625e+00] [ 7.15204980e-02 -3.69096174e-03 9.97432301e-01 1.41066071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98241403699998 meters Centerline goodness : 0.773878 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89984939e-01 -1.21842957e-01 -7.13029769e-02 5.36769370e+00] [ 1.21779390e-01 9.92543285e-01 -5.25429718e-03 1.30742958e+00] [ 7.14114901e-02 -3.48155793e-03 9.97440864e-01 1.41078204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042414037 meters Centerline goodness : 0.773706 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89584506e-01 -1.25089133e-01 -7.12405408e-02 5.36914664e+00] [ 1.24779541e-01 9.92145491e-01 -8.79721522e-03 1.30735773e+00] [ 7.17814173e-02 -1.83774129e-04 9.97420370e-01 1.41060096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102414037 meters Centerline goodness : 0.775225 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89613313e-01 -1.24827032e-01 -7.13000959e-02 5.36941999e+00] [ 1.24557134e-01 9.92178250e-01 -8.23656014e-03 1.30553044e+00] [ 7.17705497e-02 -7.29926055e-04 9.97420902e-01 1.41050220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162414037 meters Centerline goodness : 0.783214 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.30, Z:1.41 [[ 9.89660213e-01 -1.24352819e-01 -7.14775376e-02 5.37009155e+00] [ 1.24120249e-01 9.92237280e-01 -7.70354940e-03 1.30474717e+00] [ 7.18806356e-02 -1.24791340e-03 9.97412461e-01 1.41020198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222414037 meters Centerline goodness : 0.773237 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.30, Z:1.41 [[ 9.89661035e-01 -1.24333749e-01 -7.14993399e-02 5.37030146e+00] [ 1.24115846e-01 9.92239392e-01 -7.49973912e-03 1.30339762e+00] [ 7.18769322e-02 -1.45200151e-03 9.97412451e-01 1.41009208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282414037 meters Centerline goodness : 0.781828 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.30, Z:1.41 [[ 9.89713330e-01 -1.23877871e-01 -7.15667395e-02 5.37080435e+00] [ 1.23673034e-01 9.92296146e-01 -7.30343723e-03 1.30296379e+00] [ 7.19201340e-02 -1.62256666e-03 9.97409074e-01 1.40995497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342414037 meters Centerline goodness : 0.784800 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89763187e-01 -1.23400285e-01 -7.17021909e-02 5.37110261e+00] [ 1.23169732e-01 9.92356171e-01 -7.64506564e-03 1.30510615e+00] [ 7.20975149e-02 -1.26473511e-03 9.97396786e-01 1.41033314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402414037 meters Centerline goodness : 0.771891 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89711440e-01 -1.23835753e-01 -7.16656921e-02 5.37007913e+00] [ 1.23531797e-01 9.92302693e-01 -8.67525632e-03 1.30633448e+00] [ 7.21883662e-02 -2.66991321e-04 9.97390981e-01 1.41195403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46241403699997 meters Centerline goodness : 0.783157 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89484370e-01 -1.25809129e-01 -7.13634676e-02 5.37168957e+00] [ 1.25320020e-01 9.92051923e-01 -1.13081407e-02 1.30714176e+00] [ 7.22189326e-02 2.24595734e-03 9.97386275e-01 1.41102062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52241403699998 meters Centerline goodness : 0.784951 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89530956e-01 -1.25172276e-01 -7.18358411e-02 5.37352235e+00] [ 1.24714548e-01 9.92133447e-01 -1.08399397e-02 1.30708648e+00] [ 7.26276006e-02 1.76748149e-03 9.97357563e-01 1.40999931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58241403699998 meters Centerline goodness : 0.790708 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89972450e-01 -1.21604776e-01 -7.18806386e-02 5.37195968e+00] [ 1.21397861e-01 9.92577403e-01 -7.25667794e-03 1.30688832e+00] [ 7.22295443e-02 -1.54224452e-03 9.97386843e-01 1.41068173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64241403699998 meters Centerline goodness : 0.791587 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.90015584e-01 -1.21117609e-01 -7.21087189e-02 5.37268560e+00] [ 1.20922231e-01 9.92636699e-01 -7.08500266e-03 1.30744998e+00] [ 7.24358793e-02 -1.70528411e-03 9.97371613e-01 1.41051202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70241403699998 meters Centerline goodness : 0.789187 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.90006683e-01 -1.21253348e-01 -7.20027336e-02 5.37263451e+00] [ 1.21055440e-01 9.92620196e-01 -7.12233414e-03 1.30669200e+00] [ 7.23349744e-02 -1.66516424e-03 9.97379005e-01 1.41039808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76241403699999 meters Centerline goodness : 0.790780 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89954060e-01 -1.21835690e-01 -7.17427635e-02 5.37182084e+00] [ 1.21613819e-01 9.92549391e-01 -7.46899961e-03 1.30578288e+00] [ 7.21182269e-02 -1.33094494e-03 9.97395202e-01 1.41082249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822414037 meters Centerline goodness : 0.789896 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.30, Z:1.41 [[ 9.89896724e-01 -1.22325587e-01 -7.17002572e-02 5.37117573e+00] [ 1.22091469e-01 9.92489329e-01 -7.65540072e-03 1.30499449e+00] [ 7.20981915e-02 -1.17593363e-03 9.97396846e-01 1.41152069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882414037 meters Centerline goodness : 0.792422 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89878622e-01 -1.22462466e-01 -7.17165160e-02 5.37089597e+00] [ 1.22215264e-01 9.92472639e-01 -7.84157167e-03 1.30527275e+00] [ 7.21369781e-02 -1.00264875e-03 9.97394231e-01 1.41201579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942414037 meters Centerline goodness : 0.792007 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89849674e-01 -1.22683830e-01 -7.17377252e-02 5.37061527e+00] [ 1.22413283e-01 9.92445565e-01 -8.17247277e-03 1.30592617e+00] [ 7.21984174e-02 -6.92130947e-04 9.97390049e-01 1.41252271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002414037 meters Centerline goodness : 0.792402 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89505578e-01 -1.25343709e-01 -7.18864853e-02 5.37352919e+00] [ 1.24860211e-01 9.92111145e-01 -1.11984236e-02 1.30616863e+00] [ 7.27230352e-02 2.10514092e-03 9.97349953e-01 1.41098238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062414037 meters Centerline goodness : 0.792332 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.30, Z:1.41 [[ 9.89479475e-01 -1.25581781e-01 -7.18302569e-02 5.37393780e+00] [ 1.25114282e-01 9.92081477e-01 -1.09890259e-02 1.30479249e+00] [ 7.26414888e-02 1.88642457e-03 9.97356333e-01 1.41029388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122414037 meters Centerline goodness : 0.779231 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89483189e-01 -1.25339378e-01 -7.22015202e-02 5.37450816e+00] [ 1.24865081e-01 9.92112044e-01 -1.10635868e-02 1.30552488e+00] [ 7.30187009e-02 1.93178448e-03 9.97328701e-01 1.41075173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18241403699997 meters Centerline goodness : 0.776774 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89541941e-01 -1.24775809e-01 -7.23722625e-02 5.37458028e+00] [ 1.24290451e-01 9.92182787e-01 -1.11893135e-02 1.30701087e+00] [ 7.32026687e-02 2.07711390e-03 9.97314923e-01 1.41147412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24241403699997 meters Centerline goodness : 0.779734 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89529470e-01 -1.24912503e-01 -7.23069482e-02 5.37382106e+00] [ 1.24405540e-01 9.92164919e-01 -1.14906805e-02 1.30669914e+00] [ 7.31757470e-02 2.37498204e-03 9.97316233e-01 1.41249062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30241403699998 meters Centerline goodness : 0.778532 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.31, Z:1.41 [[ 9.89534067e-01 -1.24772240e-01 -7.24859917e-02 5.37489119e+00] [ 1.24284886e-01 9.92183216e-01 -1.12131163e-02 1.30570202e+00] [ 7.33184699e-02 2.08684743e-03 9.97306396e-01 1.41169284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36241403699998 meters Centerline goodness : 0.774964 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89410370e-01 -1.25075502e-01 -7.36426375e-02 5.37816529e+00] [ 1.24600720e-01 9.92145715e-01 -1.10245725e-02 1.30636320e+00] [ 7.44431311e-02 1.73190069e-03 9.97223757e-01 1.41027242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42241403699998 meters Centerline goodness : 0.777651 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89456318e-01 -1.24430469e-01 -7.41164772e-02 5.37964490e+00] [ 1.23965549e-01 9.92227110e-01 -1.08584418e-02 1.30791132e+00] [ 7.48914990e-02 1.55606408e-03 9.97190474e-01 1.40979734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48241403699998 meters Centerline goodness : 0.776699 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89790822e-01 -1.21062088e-01 -7.52203344e-02 5.38073534e+00] [ 1.20904516e-01 9.92641787e-01 -6.66185546e-03 1.30770480e+00] [ 7.54733453e-02 -2.50063475e-03 9.97144684e-01 1.40984391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542414037 meters Centerline goodness : 0.793726 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89734607e-01 -1.21738705e-01 -7.48671889e-02 5.37955301e+00] [ 1.21504303e-01 9.92561079e-01 -7.69478390e-03 1.30881981e+00] [ 7.52470108e-02 -1.48089166e-03 9.97163825e-01 1.41074098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602414037 meters Centerline goodness : 0.794290 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89686933e-01 -1.22029442e-01 -7.50239285e-02 5.37937525e+00] [ 1.21717893e-01 9.92526358e-01 -8.72827427e-03 1.31138873e+00] [ 7.55283330e-02 -4.93495476e-04 9.97143534e-01 1.41177878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662414037 meters Centerline goodness : 0.795837 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89681007e-01 -1.21786196e-01 -7.54958678e-02 5.38042171e+00] [ 1.21461530e-01 9.92556289e-01 -8.89433615e-03 1.31271881e+00] [ 7.60171057e-02 -3.67288040e-04 9.97106446e-01 1.41184036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722414037 meters Centerline goodness : 0.793502 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89682501e-01 -1.21443836e-01 -7.60259334e-02 5.38181739e+00] [ 1.21121749e-01 9.92598203e-01 -8.85037787e-03 1.31365239e+00] [ 7.65380287e-02 -4.49329913e-04 9.97066562e-01 1.41155921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782414037 meters Centerline goodness : 0.793429 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 9.89650788e-01 -1.21722528e-01 -7.59930466e-02 5.38219657e+00] [ 1.21393261e-01 9.92564101e-01 -8.95443747e-03 1.31408015e+00] [ 7.65179267e-02 -3.63277668e-04 9.97068140e-01 1.41094045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842414037 meters Centerline goodness : 0.792876 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.32, Z:1.41 [[ 9.89229099e-01 -1.25100248e-01 -7.59981439e-02 5.38409509e+00] [ 1.24498743e-01 9.92139502e-01 -1.26202807e-02 1.31500106e+00] [ 7.69795609e-02 3.02267554e-03 9.97028089e-01 1.41026606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902414037 meters Centerline goodness : 0.794501 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.32, Z:1.41 [[ 0.98872039 -0.12914064 -0.07585968 5.38480322] [ 0.12821939 0.99160162 -0.01691206 1.31700323] [ 0.07740662 0.00699462 0.99697507 1.4107131 ] [ 0. 0. 0. 1. ]] SLAMing on 207.96241403699997 meters Centerline goodness : 0.791320 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.32, Z:1.41 [[ 0.9886561 -0.12965311 -0.07582336 5.3842458 ] [ 0.12870845 0.99153268 -0.01723617 1.31730217] [ 0.07741607 0.00728154 0.99697228 1.41120913] [ 0. 0. 0. 1. ]] SLAMing on 208.02241403699998 meters Centerline goodness : 0.792631 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.32, Z:1.41 [[ 0.98858769 -0.13033317 -0.07554891 5.38370662] [ 0.12939504 0.99144388 -0.01720312 1.31561684] [ 0.07714464 0.00723114 0.99699369 1.41098672] [ 0. 0. 0. 1. ]] SLAMing on 208.08241403699998 meters Centerline goodness : 0.788575 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 0.98855792 -0.13061728 -0.0754478 5.3830881 ] [ 0.12968245 0.99140672 -0.01718062 1.31476437] [ 0.07704354 0.00719979 0.99700173 1.41149502] [ 0. 0. 0. 1. ]] SLAMing on 208.14241403699998 meters Centerline goodness : 0.790547 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 0.9885443 -0.13066273 -0.07554747 5.38300785] [ 0.12973364 0.99140144 -0.01709884 1.31495706] [ 0.07713205 0.00710191 0.99699559 1.41176363] [ 0. 0. 0. 1. ]] SLAMing on 208.20241403699998 meters Centerline goodness : 0.788360 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 0.98854801 -0.13069571 -0.07544174 5.38314962] [ 0.12980111 0.99140002 -0.01666319 1.31367871] [ 0.07697075 0.00667994 0.99701097 1.41111333] [ 0. 0. 0. 1. ]] SLAMing on 208.26241403699999 meters Centerline goodness : 0.787135 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 0.98809597 -0.13414059 -0.07531707 5.38471479] [ 0.13300724 0.99091546 -0.01989016 1.31243695] [ 0.07730092 0.00963567 0.99696124 1.41050263] [ 0. 0. 0. 1. ]] SLAMing on 208.322414037 meters Centerline goodness : 0.786715 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 0.98799593 -0.13499893 -0.07509546 5.38367619] [ 0.13389408 0.99080218 -0.01958076 1.30899699] [ 0.07704812 0.00929087 0.99698409 1.4109809 ] [ 0. 0. 0. 1. ]] SLAMing on 208.382414037 meters Centerline goodness : 0.787264 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.31, Z:1.41 [[ 0.98801054 -0.13483012 -0.07520649 5.38404818] [ 0.13376854 0.99083041 -0.01900175 1.30746997] [ 0.07707889 0.00871367 0.99698692 1.41075183] [ 0. 0. 0. 1. ]] SLAMing on 208.442414037 meters Centerline goodness : 0.788395 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.30, Z:1.41 [[ 0.98803187 -0.13465141 -0.07524637 5.38418143] [ 0.13364236 0.99086045 -0.01831102 1.30483465] [ 0.07702426 0.00803577 0.99699684 1.41073258] [ 0. 0. 0. 1. ]] SLAMing on 208.502414037 meters Centerline goodness : 0.787625 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.30, Z:1.41 [[ 0.98805572 -0.13440818 -0.07536797 5.38445898] [ 0.13344111 0.99089784 -0.01774649 1.30281743] [ 0.07706723 0.00747733 0.99699786 1.41079438] [ 0. 0. 0. 1. ]] SLAMing on 208.562414037 meters Centerline goodness : 0.784304 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.30, Z:1.41 [[ 0.98802947 -0.13462423 -0.07532651 5.38408888] [ 0.13370262 0.99087275 -0.01716995 1.29887506] [ 0.07695048 0.00689306 0.99701109 1.4112455 ] [ 0. 0. 0. 1. ]] SLAMing on 208.622414037 meters Centerline goodness : 0.783930 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.29, Z:1.41 [[ 0.98804771 -0.13447375 -0.0753561 5.38456153] [ 0.13362926 0.9908996 -0.01616187 1.29472962] [ 0.07684367 0.00589892 0.9970257 1.41073118] [ 0. 0. 0. 1. ]] SLAMing on 208.68241403699997 meters Centerline goodness : 0.782171 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.29, Z:1.41 [[ 9.88098417e-01 -1.33931454e-01 -7.56563514e-02 5.38533413e+00] [ 1.33131063e-01 9.90976473e-01 -1.55482926e-02 1.29349583e+00] [ 7.70560697e-02 5.29103287e-03 9.97012722e-01 1.41061354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74241403699997 meters Centerline goodness : 0.785482 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.29, Z:1.41 [[ 9.88181618e-01 -1.33118033e-01 -7.60044692e-02 5.38655714e+00] [ 1.32378715e-01 9.91090106e-01 -1.47063976e-02 1.29190149e+00] [ 7.72849641e-02 4.47121780e-03 9.96999018e-01 1.41011714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80241403699998 meters Centerline goodness : 0.784319 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.29, Z:1.41 [[ 9.88240813e-01 -1.32605977e-01 -7.61298302e-02 5.38699610e+00] [ 1.31897425e-01 9.91160460e-01 -1.42832743e-02 1.29042200e+00] [ 7.73509251e-02 4.07398599e-03 9.96995605e-01 1.41025595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86241403699998 meters Centerline goodness : 0.782345 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.29, Z:1.41 [[ 9.88293084e-01 -1.32131691e-01 -7.62757972e-02 5.38709158e+00] [ 1.31442751e-01 9.91224828e-01 -1.40051042e-02 1.28976456e+00] [ 7.74569821e-02 3.81524701e-03 9.96988395e-01 1.41074297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92241403699998 meters Centerline goodness : 0.782189 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.29, Z:1.41 [[ 9.88642272e-01 -1.28891768e-01 -7.72875822e-02 5.38717144e+00] [ 1.28578978e-01 9.91658153e-01 -9.03067191e-03 1.28652271e+00] [ 7.78068403e-02 -1.00945437e-03 9.96967942e-01 1.41217243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98241403699998 meters Centerline goodness : 0.781065 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.28, Z:1.41 [[ 9.88705445e-01 -1.28216352e-01 -7.76022599e-02 5.38829971e+00] [ 1.27971765e-01 9.91744429e-01 -8.13729467e-03 1.28387170e+00] [ 7.80049432e-02 -1.88551062e-03 9.96951189e-01 1.41173917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042414037 meters Centerline goodness : 0.781972 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.28, Z:1.41 [[ 9.88733017e-01 -1.27961006e-01 -7.76724063e-02 5.38902825e+00] [ 1.27771992e-01 9.91775820e-01 -7.41890849e-03 1.28098226e+00] [ 7.79829455e-02 -2.58903832e-03 9.96951331e-01 1.41114481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102414037 meters Centerline goodness : 0.787214 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.28, Z:1.41 [[ 9.88764844e-01 -1.27548285e-01 -7.79456108e-02 5.38968735e+00] [ 1.27492816e-01 9.91823069e-01 -5.70805044e-03 1.27697181e+00] [ 7.80363069e-02 -4.29358578e-03 9.96941272e-01 1.41136292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162414037 meters Centerline goodness : 0.786626 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 9.88831715e-01 -1.26904011e-01 -7.81486501e-02 5.38985160e+00] [ 1.26960902e-01 9.91898573e-01 -4.26034473e-03 1.27438667e+00] [ 7.80561894e-02 -5.70905916e-03 9.96932615e-01 1.41184160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222414037 meters Centerline goodness : 0.789810 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 9.88909735e-01 -1.26148672e-01 -7.83839818e-02 5.39058014e+00] [ 1.26301893e-01 9.91987254e-01 -3.01979371e-03 1.27192341e+00] [ 7.81368538e-02 -6.91374188e-03 9.96918669e-01 1.41169809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282414037 meters Centerline goodness : 0.788180 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 9.88876652e-01 -1.25841679e-01 -7.92895892e-02 5.39235750e+00] [ 1.26184303e-01 9.92006572e-01 -6.94430062e-04 1.26851769e+00] [ 7.87431819e-02 -9.31839590e-03 9.96851383e-01 1.41193319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342414037 meters Centerline goodness : 0.788534 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 9.88769104e-01 -1.26265345e-01 -7.99544957e-02 5.39388990e+00] [ 1.26658530e-01 9.91946366e-01 -1.55191501e-04 1.26709648e+00] [ 7.93301668e-02 -9.97347036e-03 9.96798502e-01 1.41196169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402414037 meters Centerline goodness : 0.777126 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 9.88855935e-01 -1.25653449e-01 -7.98445379e-02 5.39361549e+00] [ 1.26141472e-01 9.92011677e-01 1.07776669e-03 1.26467083e+00] [ 7.90712889e-02 -1.11374635e-02 9.96806746e-01 1.41219203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46241403699997 meters Centerline goodness : 0.775695 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 9.88875134e-01 -1.25552939e-01 -7.97648317e-02 5.39282403e+00] [ 1.26044679e-01 9.92023911e-01 1.13999744e-03 1.26458225e+00] [ 7.89854902e-02 -1.11812477e-02 9.96813058e-01 1.41304464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52241403699998 meters Centerline goodness : 0.777455 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 0.98923014 -0.12209736 -0.08072154 5.39377706] [ 0.12299645 0.99238748 0.00624246 1.26081009] [ 0.07934486 -0.01610369 0.99671714 1.41335458] [ 0. 0. 0. 1. ]] SLAMing on 209.58241403699998 meters Centerline goodness : 0.784950 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.26, Z:1.41 [[ 0.98928748 -0.12129998 -0.08121947 5.39505677] [ 0.12234023 0.99245648 0.00793783 1.25888749] [ 0.07964393 -0.01778921 0.99666463 1.41313344] [ 0. 0. 0. 1. ]] SLAMing on 209.64241403699998 meters Centerline goodness : 0.776746 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.26, Z:1.41 [[ 0.98931078 -0.12086828 -0.08157844 5.39568578] [ 0.12196762 0.99249672 0.00861145 1.25870979] [ 0.07992549 -0.01846933 0.99662972 1.41321598] [ 0. 0. 0. 1. ]] SLAMing on 209.70241403699998 meters Centerline goodness : 0.784693 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 0.98982923 -0.11647256 -0.08168373 5.39484751] [ 0.11792252 0.99293585 0.0131407 1.25612308] [ 0.07957618 -0.0226394 0.99657167 1.41364846] [ 0. 0. 0. 1. ]] SLAMing on 209.76241403699999 meters Centerline goodness : 0.776293 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 0.98996368 -0.11576524 -0.08105757 5.39369863] [ 0.1171374 0.99303872 0.01236666 1.25725866] [ 0.07906168 -0.02173742 0.9966327 1.41337003] [ 0. 0. 0. 1. ]] SLAMing on 209.822414037 meters Centerline goodness : 0.785902 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.26, Z:1.41 [[ 0.99033789 -0.11179074 -0.08205907 5.39629989] [ 0.11344946 0.99341777 0.01582268 1.25767464] [ 0.07975011 -0.02497935 0.99650186 1.4112002 ] [ 0. 0. 0. 1. ]] SLAMing on 209.882414037 meters Centerline goodness : 0.787885 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.26, Z:1.41 [[ 0.99066133 -0.10813869 -0.08304312 5.39747355] [ 0.11013375 0.99371918 0.01981809 1.25797377] [ 0.08037844 -0.02877886 0.99634888 1.41100077] [ 0. 0. 0. 1. ]] SLAMing on 209.942414037 meters Centerline goodness : 0.785965 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 0.99102181 -0.10570103 -0.0818723 5.39402966] [ 0.10766155 0.9939884 0.01990099 1.25987053] [ 0.07927656 -0.02853681 0.99644412 1.41189009] [ 0. 0. 0. 1. ]] SLAMing on 210.002414037 meters Centerline goodness : 0.782952 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 0.99112094 -0.10500495 -0.08156743 5.39338397] [ 0.10695045 0.99406622 0.01984813 1.26051889] [ 0.07899928 -0.02839557 0.99647017 1.41178272] [ 0. 0. 0. 1. ]] SLAMing on 210.062414037 meters Centerline goodness : 0.781679 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.26, Z:1.41 [[ 0.99115552 -0.10466468 -0.08158457 5.39353133] [ 0.10649804 0.99414187 0.01844199 1.26445084] [ 0.07917641 -0.02696748 0.99649579 1.41117752] [ 0. 0. 0. 1. ]] SLAMing on 210.122414037 meters Centerline goodness : 0.783082 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 0.99147916 -0.10107354 -0.08217789 5.39475665] [ 0.10316805 0.99442845 0.02164283 1.26583268] [ 0.07953251 -0.02993655 0.99638265 1.40978019] [ 0. 0. 0. 1. ]] SLAMing on 210.18241403699997 meters Centerline goodness : 0.783149 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 0.99162509 -0.10009504 -0.0816129 5.393867 ] [ 0.10212815 0.99454704 0.02111939 1.26718681] [ 0.07905393 -0.02927749 0.99644032 1.40918211] [ 0. 0. 0. 1. ]] SLAMing on 210.24241403699997 meters Centerline goodness : 0.784444 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 0.99163347 -0.09991936 -0.08172631 5.39346106] [ 0.10198297 0.99455448 0.02146769 1.26806107] [ 0.07913623 -0.02962277 0.99642358 1.40994963] [ 0. 0. 0. 1. ]] SLAMing on 210.30241403699998 meters Centerline goodness : 0.778498 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 0.99152006 -0.101079 -0.0816762 5.3925397 ] [ 0.10310674 0.99444877 0.02099164 1.2679972 ] [ 0.07910098 -0.029235 0.99643783 1.41132644] [ 0. 0. 0. 1. ]] SLAMing on 210.36241403699998 meters Centerline goodness : 0.786841 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 0.99130016 -0.10257616 -0.082475 5.39442234] [ 0.1046325 0.99428925 0.02099845 1.26733277] [ 0.07985007 -0.02944533 0.99637189 1.41122908] [ 0. 0. 0. 1. ]] SLAMing on 210.42241403699998 meters Centerline goodness : 0.786285 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.27, Z:1.41 [[ 0.9911837 -0.10319188 -0.08310415 5.39531933] [ 0.10526392 0.99422387 0.02093828 1.26834625] [ 0.08046347 -0.02950155 0.99632088 1.41166441] [ 0. 0. 0. 1. ]] SLAMing on 210.48241403699998 meters Centerline goodness : 0.785572 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.27, Z:1.41 [[ 0.99117541 -0.10344396 -0.08288941 5.3951867 ] [ 0.10546661 0.99421369 0.02039467 1.26899234] [ 0.08030008 -0.02895676 0.99635004 1.41138016] [ 0. 0. 0. 1. ]] SLAMing on 210.542414037 meters Centerline goodness : 0.786576 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.27, Z:1.41 [[ 0.99119254 -0.10313553 -0.08306866 5.39595807] [ 0.10516225 0.99424597 0.02039223 1.26941093] [ 0.08048752 -0.02894831 0.99633516 1.41080851] [ 0. 0. 0. 1. ]] SLAMing on 210.602414037 meters Centerline goodness : 0.789120 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.27, Z:1.41 [[ 0.99137548 -0.10085964 -0.0836779 5.39573221] [ 0.10314282 0.99439091 0.0234154 1.27077313] [ 0.08084688 -0.03184423 0.99621771 1.41159614] [ 0. 0. 0. 1. ]] SLAMing on 210.662414037 meters Centerline goodness : 0.789787 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.27, Z:1.41 [[ 0.99138218 -0.10060141 -0.08390904 5.39645392] [ 0.10288757 0.9944184 0.0233707 1.27162028] [ 0.08108956 -0.03180249 0.99619932 1.41124393] [ 0. 0. 0. 1. ]] SLAMing on 210.722414037 meters Centerline goodness : 0.788206 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.27, Z:1.41 [[ 0.99146459 -0.10056168 -0.08297777 5.39448801] [ 0.10269685 0.99447231 0.02186714 1.27393296] [ 0.0803201 -0.03020205 0.99631146 1.41126751] [ 0. 0. 0. 1. ]] SLAMing on 210.782414037 meters Centerline goodness : 0.788321 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.28, Z:1.41 [[ 0.99141343 -0.1011701 -0.08284941 5.3940683 ] [ 0.10320182 0.99444693 0.02060813 1.27731258] [ 0.08030442 -0.02898139 0.99634897 1.41152507] [ 0. 0. 0. 1. ]] SLAMing on 210.842414037 meters Centerline goodness : 0.787042 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.28, Z:1.41 [[ 0.99151916 -0.09921515 -0.08394116 5.39574268] [ 0.10155769 0.99453763 0.02410253 1.27709806] [ 0.08109131 -0.03242299 0.99617918 1.41124534] [ 0. 0. 0. 1. ]] SLAMing on 210.902414037 meters Centerline goodness : 0.790900 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.28, Z:1.41 [[ 0.99116913 -0.10274111 -0.08383329 5.39694779] [ 0.10472532 0.99430777 0.01961292 1.28083021] [ 0.08134104 -0.02821919 0.99628676 1.41104289] [ 0. 0. 0. 1. ]] SLAMing on 210.96241403699997 meters Centerline goodness : 0.789774 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.28, Z:1.41 [[ 0.99081539 -0.10590669 -0.08407523 5.39932592] [ 0.10759116 0.99407044 0.01575097 1.28376423] [ 0.08190857 -0.02465205 0.99633492 1.410239 ] [ 0. 0. 0. 1. ]] SLAMing on 211.02241403699998 meters Centerline goodness : 0.793560 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.29, Z:1.41 [[ 0.99037538 -0.11000068 -0.08400275 5.40060553] [ 0.11132436 0.99372073 0.01122519 1.28731625] [ 0.0822405 -0.02046871 0.99640229 1.40979248] [ 0. 0. 0. 1. ]] SLAMing on 211.08241403699998 meters Centerline goodness : 0.779621 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:1.29, Z:1.41 [[ 0.98989313 -0.1145935 -0.0835459 5.4005112 ] [ 0.11552477 0.99328409 0.00638309 1.28951873] [ 0.08225335 -0.0159702 0.99648349 1.410174 ] [ 0. 0. 0. 1. ]] SLAMing on 211.14241403699998 meters Centerline goodness : 0.791493 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.29, Z:1.41 [[ 9.89468823e-01 -1.18443991e-01 -8.32013753e-02 5.40051928e+00] [ 1.19015162e-01 9.92890578e-01 1.92147192e-03 1.29273595e+00] [ 8.23822747e-02 -1.18034617e-02 9.96530902e-01 1.41087271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20241403699998 meters Centerline goodness : 0.792118 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.29, Z:1.41 [[ 9.89387432e-01 -1.19194635e-01 -8.30972165e-02 5.39964219e+00] [ 1.19686523e-01 9.92811282e-01 9.45437619e-04 1.29442723e+00] [ 8.23871629e-02 -1.08810210e-02 9.96540997e-01 1.41177845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26241403699999 meters Centerline goodness : 0.791163 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.89350697e-01 -1.19489394e-01 -8.31112655e-02 5.39945633e+00] [ 1.19949149e-01 9.92779889e-01 5.42725184e-04 1.29501962e+00] [ 8.24463430e-02 -1.05060711e-02 9.96540126e-01 1.41210803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322414037 meters Centerline goodness : 0.794265 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.89336090e-01 -1.19596478e-01 -8.31311205e-02 5.40019108e+00] [ 1.20055397e-01 9.92767055e-01 5.25600846e-04 1.29513882e+00] [ 8.24669776e-02 -1.05003356e-02 9.96538479e-01 1.41126975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382414037 meters Centerline goodness : 0.780139 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.89020610e-01 -1.22280828e-01 -8.29797149e-02 5.40240004e+00] [ 1.22486582e-01 9.92466696e-01 -2.62587530e-03 1.29632403e+00] [ 8.26756976e-02 -7.56685690e-03 9.96547777e-01 1.40987957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442414037 meters Centerline goodness : 0.794432 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.88633491e-01 -1.25485673e-01 -8.28080093e-02 5.40318674e+00] [ 1.25375205e-01 9.92087754e-01 -6.55338952e-03 1.29768963e+00] [ 8.29751685e-02 -3.90317077e-03 9.96543971e-01 1.41063393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502414037 meters Centerline goodness : 0.795040 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.88600977e-01 -1.25682466e-01 -8.28976893e-02 5.40251591e+00] [ 1.25548130e-01 9.92063866e-01 -6.85218107e-03 1.29826345e+00] [ 8.31010012e-02 -3.63357694e-03 9.96534506e-01 1.41171600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562414037 meters Centerline goodness : 0.782950 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.88611703e-01 -1.25396707e-01 -8.32019666e-02 5.40350047e+00] [ 1.25270075e-01 9.92099638e-01 -6.76144051e-03 1.29843866e+00] [ 8.33925033e-02 -3.73827740e-03 9.96509767e-01 1.41143057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622414037 meters Centerline goodness : 0.791493 with order 3 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.88631018e-01 -1.25011600e-01 -8.35512443e-02 5.40494278e+00] [ 1.24907095e-01 9.92147166e-01 -6.49752334e-03 1.29799078e+00] [ 8.37073961e-02 -4.01249010e-03 9.96482299e-01 1.41068373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68241403699997 meters Centerline goodness : 0.780311 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:1.30, Z:1.41 [[ 9.88639173e-01 -1.25024442e-01 -8.34354526e-02 5.40496731e+00] [ 1.24930640e-01 9.92145062e-01 -6.36489594e-03 1.29698617e+00] [ 8.35758398e-02 -4.13105906e-03 9.96492857e-01 1.41045296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74241403699997 meters Centerline goodness : 0.780448 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88639212e-01 -1.24864816e-01 -8.36736942e-02 5.40523127e+00] [ 1.24758983e-01 9.92165701e-01 -6.51297982e-03 1.29725130e+00] [ 8.38314115e-02 -4.00005775e-03 9.96471923e-01 1.41095936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80241403699998 meters Centerline goodness : 0.782016 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88641952e-01 -1.24721429e-01 -8.38549736e-02 5.40534198e+00] [ 1.24604319e-01 9.92184232e-01 -6.64931660e-03 1.29775144e+00] [ 8.40288948e-02 -3.87489854e-03 9.96455784e-01 1.41150445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86241403699998 meters Centerline goodness : 0.782538 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88655658e-01 -1.24511293e-01 -8.40055226e-02 5.40592627e+00] [ 1.24425018e-01 9.92209125e-01 -6.28224995e-03 1.29611593e+00] [ 8.41332572e-02 -4.24140668e-03 9.96445485e-01 1.41127895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92241403699998 meters Centerline goodness : 0.793709 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.29, Z:1.41 [[ 9.88681215e-01 -1.24166814e-01 -8.42143492e-02 5.40685573e+00] [ 1.24127807e-01 9.92249755e-01 -5.71945546e-03 1.29429939e+00] [ 8.42718338e-02 -4.79862427e-03 9.96431248e-01 1.41070280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98241403699998 meters Centerline goodness : 0.791910 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.29, Z:1.41 [[ 9.88702064e-01 -1.23711384e-01 -8.46387701e-02 5.40799949e+00] [ 1.23698865e-01 9.92305042e-01 -5.41249335e-03 1.29436865e+00] [ 8.46570653e-02 -5.11837644e-03 9.96397001e-01 1.41044176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042414037 meters Centerline goodness : 0.781714 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88735784e-01 -1.23384882e-01 -8.47214253e-02 5.40842619e+00] [ 1.23370499e-01 9.92345849e-01 -5.42539931e-03 1.29509671e+00] [ 8.47423671e-02 -5.08783812e-03 9.96389906e-01 1.41033641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102414037 meters Centerline goodness : 0.791280 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88729765e-01 -1.23435223e-01 -8.47183393e-02 5.40830907e+00] [ 1.23388151e-01 9.92341468e-01 -5.81163794e-03 1.29567736e+00] [ 8.47868820e-02 -4.70709987e-03 9.96387991e-01 1.41073974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162414037 meters Centerline goodness : 0.790523 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88690780e-01 -1.23758066e-01 -8.47023198e-02 5.40802754e+00] [ 1.23670422e-01 9.92303341e-01 -6.30132153e-03 1.29632097e+00] [ 8.48302343e-02 -4.24511314e-03 9.96386376e-01 1.41114174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222414037 meters Centerline goodness : 0.790206 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88313709e-01 -1.26529763e-01 -8.50072405e-02 5.41070575e+00] [ 1.26181351e-01 9.91961884e-01 -9.48087560e-03 1.29734991e+00] [ 8.55235554e-02 -1.35624907e-03 9.96335226e-01 1.41025333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282414037 meters Centerline goodness : 0.789505 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88305634e-01 -1.26581677e-01 -8.50238376e-02 5.41101434e+00] [ 1.26236665e-01 9.91955200e-01 -9.44376991e-03 1.29696397e+00] [ 8.55352461e-02 -1.39979466e-03 9.96334162e-01 1.41000602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342414037 meters Centerline goodness : 0.790541 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88336523e-01 -1.26126391e-01 -8.53407894e-02 5.41169686e+00] [ 1.25778511e-01 9.92013218e-01 -9.46265709e-03 1.29876120e+00] [ 8.58526819e-02 -1.38174778e-03 9.96306884e-01 1.41007029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402414037 meters Centerline goodness : 0.778894 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88393532e-01 -1.25440990e-01 -8.56900441e-02 5.41326534e+00] [ 1.25090452e-01 9.92100151e-01 -9.46937633e-03 1.30071632e+00] [ 8.62009536e-02 -1.35953602e-03 9.96276843e-01 1.40926382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46241403699997 meters Centerline goodness : 0.787234 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88411728e-01 -1.25214738e-01 -8.58109911e-02 5.41418767e+00] [ 1.24878524e-01 9.92128488e-01 -9.29614207e-03 1.30020208e+00] [ 8.62995428e-02 -1.52753405e-03 9.96268064e-01 1.40853205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52241403699998 meters Centerline goodness : 0.786631 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88403411e-01 -1.25224500e-01 -8.58925058e-02 5.41439587e+00] [ 1.24842807e-01 9.92127913e-01 -9.82233236e-03 1.30207634e+00] [ 8.64463492e-02 -1.01463477e-03 9.96255991e-01 1.40874159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58241403699998 meters Centerline goodness : 0.787822 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88396681e-01 -1.25189108e-01 -8.60214455e-02 5.41471707e+00] [ 1.24792590e-01 9.92132527e-01 -9.99289931e-03 1.30323066e+00] [ 8.65956762e-02 -8.57890508e-04 9.96243170e-01 1.40867618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64241403699998 meters Centerline goodness : 0.786409 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.31, Z:1.41 [[ 9.88408076e-01 -1.24736250e-01 -8.65467704e-02 5.41591353e+00] [ 1.24319280e-01 9.92189712e-01 -1.02123206e-02 1.30532599e+00] [ 8.71446618e-02 -6.65492032e-04 9.96195445e-01 1.40875185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70241403699998 meters Centerline goodness : 0.786317 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.31, Z:1.41 [[ 9.88421216e-01 -1.24616518e-01 -8.65691873e-02 5.41642247e+00] [ 1.24182831e-01 9.92204868e-01 -1.03982838e-02 1.30656819e+00] [ 8.71901670e-02 -4.72522455e-04 9.96191574e-01 1.40831947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76241403699999 meters Centerline goodness : 0.775103 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.31, Z:1.41 [[ 9.88406503e-01 -1.24707861e-01 -8.66056241e-02 5.41704200e+00] [ 1.24246702e-01 9.92193490e-01 -1.07161502e-02 1.30813004e+00] [ 8.72659246e-02 -1.68550624e-04 9.96185038e-01 1.40765385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822414037 meters Centerline goodness : 0.787319 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.31, Z:1.41 [[ 9.88344906e-01 -1.25234057e-01 -8.65492809e-02 5.41672970e+00] [ 1.24714003e-01 9.92127107e-01 -1.14114562e-02 1.30937807e+00] [ 8.72969906e-02 4.84547328e-04 9.96182213e-01 1.40798368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882414037 meters Centerline goodness : 0.779281 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.31, Z:1.41 [[ 9.88286985e-01 -1.25582358e-01 -8.67058593e-02 5.41643226e+00] [ 1.24968362e-01 9.92082044e-01 -1.24950839e-02 1.31322321e+00] [ 8.75884882e-02 1.51323962e-03 9.96155594e-01 1.40886466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942414037 meters Centerline goodness : 0.778869 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.32, Z:1.41 [[ 9.88268591e-01 -1.25569545e-01 -8.69337707e-02 5.41693605e+00] [ 1.24907278e-01 9.92082750e-01 -1.30379676e-02 1.31557658e+00] [ 8.78826660e-02 2.02635318e-03 9.96128772e-01 1.40892819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002414037 meters Centerline goodness : 0.776459 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.32, Z:1.41 [[ 9.88233914e-01 -1.25919577e-01 -8.68216122e-02 5.41692047e+00] [ 1.25183516e-01 9.92036328e-01 -1.38928453e-02 1.31765231e+00] [ 8.78795745e-02 2.86074626e-03 9.96126998e-01 1.40887765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062414037 meters Centerline goodness : 0.777608 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.32, Z:1.41 [[ 9.88202539e-01 -1.26160267e-01 -8.68293069e-02 5.41701311e+00] [ 1.25393275e-01 9.92004719e-01 -1.42535734e-02 1.31901528e+00] [ 8.79333168e-02 3.19760633e-03 9.96121231e-01 1.40875590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122414037 meters Centerline goodness : 0.790385 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.32, Z:1.41 [[ 9.88550697e-01 -1.23530039e-01 -8.66478459e-02 5.41467957e+00] [ 1.23017847e-01 9.92340727e-01 -1.12467906e-02 1.32075668e+00] [ 8.73735029e-02 4.58791233e-04 9.96175517e-01 1.40919278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18241403699997 meters Centerline goodness : 0.776832 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.32, Z:1.41 [[ 9.88519707e-01 -1.23863489e-01 -8.65252840e-02 5.41476508e+00] [ 1.23310499e-01 9.92298838e-01 -1.17276512e-02 1.32250308e+00] [ 8.73115665e-02 9.23538356e-04 9.96180625e-01 1.40874733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24241403699997 meters Centerline goodness : 0.776923 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.32, Z:1.41 [[ 9.88485080e-01 -1.24330049e-01 -8.62512891e-02 5.41474545e+00] [ 1.23745969e-01 9.92240074e-01 -1.21066421e-02 1.32380890e+00] [ 8.70872049e-02 1.29398572e-03 9.96199852e-01 1.40795893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30241403699998 meters Centerline goodness : 0.785554 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.88423037e-01 -1.25072920e-01 -8.58875087e-02 5.41450414e+00] [ 1.24434648e-01 9.92145672e-01 -1.27665039e-02 1.32636240e+00] [ 8.68096640e-02 1.93132459e-03 9.96223043e-01 1.40706811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36241403699998 meters Centerline goodness : 0.785326 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.88310844e-01 -1.26277328e-01 -8.54149381e-02 5.41252317e+00] [ 1.25546824e-01 9.91990423e-01 -1.38923259e-02 1.32881015e+00] [ 8.64850863e-02 3.00636212e-03 9.96248609e-01 1.40801518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42241403699998 meters Centerline goodness : 0.776119 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.88246443e-01 -1.27034106e-01 -8.50370727e-02 5.41122496e+00] [ 1.26246413e-01 9.91891478e-01 -1.45992529e-02 1.33032072e+00] [ 8.62021508e-02 3.69203435e-03 9.96270826e-01 1.40852082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48241403699998 meters Centerline goodness : 0.776652 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.88215970e-01 -1.27309874e-01 -8.49787763e-02 5.41182223e+00] [ 1.26502273e-01 9.91855251e-01 -1.48437136e-02 1.33224622e+00] [ 8.61763969e-02 3.91878651e-03 9.96272188e-01 1.40740709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542414037 meters Centerline goodness : 0.775331 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.88229760e-01 -1.27307075e-01 -8.48224604e-02 5.41239849e+00] [ 1.26478610e-01 9.91854517e-01 -1.50923548e-02 1.33441372e+00] [ 8.60529040e-02 4.18648727e-03 9.96281773e-01 1.40624286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602414037 meters Centerline goodness : 0.774862 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.34, Z:1.41 [[ 9.88613196e-01 -1.24401646e-01 -8.46651007e-02 5.41038566e+00] [ 1.23836938e-01 9.92231106e-01 -1.19098875e-02 1.33522186e+00] [ 8.54889561e-02 1.28960512e-03 9.96338284e-01 1.40648180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662414037 meters Centerline goodness : 0.775706 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.34, Z:1.41 [[ 9.88577565e-01 -1.24808217e-01 -8.44825815e-02 5.40963277e+00] [ 1.24208619e-01 9.92179424e-01 -1.23373506e-02 1.33632041e+00] [ 8.53616818e-02 1.70296331e-03 9.96348575e-01 1.40685633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722414037 meters Centerline goodness : 0.778208 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.34, Z:1.41 [[ 9.88096234e-01 -1.28551870e-01 -8.44999963e-02 5.41093908e+00] [ 1.27625717e-01 9.91688535e-01 -1.62949796e-02 1.33734598e+00] [ 8.58924277e-02 5.31663535e-03 9.96290231e-01 1.40702375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782414037 meters Centerline goodness : 0.778477 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.34, Z:1.41 [[ 9.88073171e-01 -1.28816810e-01 -8.43661018e-02 5.41104870e+00] [ 1.27915069e-01 9.91655559e-01 -1.60308165e-02 1.33578823e+00] [ 8.57271525e-02 5.04792389e-03 9.96305864e-01 1.40645969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842414037 meters Centerline goodness : 0.779571 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.88001941e-01 -1.29601538e-01 -8.39976533e-02 5.41008420e+00] [ 1.28707023e-01 9.91553558e-01 -1.60013626e-02 1.33450602e+00] [ 8.53619732e-02 4.99828941e-03 9.96337468e-01 1.40635338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902414037 meters Centerline goodness : 0.778781 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.87968796e-01 -1.30021168e-01 -8.37386005e-02 5.40904010e+00] [ 1.29143899e-01 9.91499466e-01 -1.58323206e-02 1.33269752e+00] [ 8.50853144e-02 4.82750937e-03 9.96361975e-01 1.40688192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96241403699997 meters Centerline goodness : 0.786064 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.87977325e-01 -1.29998693e-01 -8.36728464e-02 5.40901038e+00] [ 1.29146768e-01 9.91503747e-01 -1.55380535e-02 1.33081977e+00] [ 8.49818674e-02 4.54516687e-03 9.96372131e-01 1.40689053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02241403699998 meters Centerline goodness : 0.778478 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.33, Z:1.41 [[ 9.87970295e-01 -1.29981929e-01 -8.37818207e-02 5.40925978e+00] [ 1.29192300e-01 9.91509083e-01 -1.48016440e-02 1.32659346e+00] [ 8.49943825e-02 3.79961852e-03 9.96374186e-01 1.40689993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08241403699998 meters Centerline goodness : 0.790586 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.32, Z:1.41 [[ 9.87997066e-01 -1.29691611e-01 -8.39159314e-02 5.40884368e+00] [ 1.28959271e-01 9.91549466e-01 -1.41125245e-02 1.32361585e+00] [ 8.50370730e-02 3.12139543e-03 9.96372899e-01 1.40783346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14241403699998 meters Centerline goodness : 0.790114 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.32, Z:1.41 [[ 9.88029409e-01 -1.29270996e-01 -8.41837026e-02 5.40896812e+00] [ 1.28577108e-01 9.91605766e-01 -1.36356610e-02 1.32159309e+00] [ 8.52397404e-02 2.64833700e-03 9.96356951e-01 1.40862766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20241403699998 meters Centerline goodness : 0.788865 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.32, Z:1.41 [[ 9.88102174e-01 -1.28586889e-01 -8.43771592e-02 5.40983427e+00] [ 1.27984526e-01 9.91696981e-01 -1.25323071e-02 1.31601190e+00] [ 8.52880644e-02 1.58422910e-03 9.96355075e-01 1.40857431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26241403699999 meters Centerline goodness : 0.789378 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.31, Z:1.41 [[ 9.88206967e-01 -1.27436806e-01 -8.48931681e-02 5.41146299e+00] [ 1.26964979e-01 9.91846691e-01 -1.09560914e-02 1.31117204e+00] [ 8.55972171e-02 4.84265199e-05 9.96329822e-01 1.40815646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322414037 meters Centerline goodness : 0.780409 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.31, Z:1.41 [[ 9.88757351e-01 -1.22628525e-01 -8.55636902e-02 5.41156290e+00] [ 1.22575152e-01 9.92441714e-01 -5.89713099e-03 1.30622897e+00] [ 8.56401318e-02 -4.65715073e-03 9.96315251e-01 1.40861611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382414037 meters Centerline goodness : 0.793423 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88860879e-01 -1.21467716e-01 -8.60218365e-02 5.41283656e+00] [ 1.21486791e-01 9.92580290e-01 -5.03274279e-03 1.30425219e+00] [ 8.59948952e-02 -5.47383438e-03 9.96280540e-01 1.40866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442414037 meters Centerline goodness : 0.791715 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88979358e-01 -1.20204230e-01 -8.64336281e-02 5.41362817e+00] [ 1.20316627e-01 9.92727802e-01 -3.92695110e-03 1.30080887e+00] [ 8.62771018e-02 -6.51572903e-03 9.96249872e-01 1.40928949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502414037 meters Centerline goodness : 0.792191 with order 3 Centerline is valid? [False, False] Translation: X:5.41, Y:1.30, Z:1.41 [[ 9.88985943e-01 -1.19988190e-01 -8.66581691e-02 5.41403086e+00] [ 1.20112399e-01 9.92753032e-01 -3.79843146e-03 1.29990563e+00] [ 8.64859270e-02 -6.65212528e-03 9.96230864e-01 1.40959264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562414037 meters Centerline goodness : 0.791460 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.30, Z:1.41 [[ 9.89105345e-01 -1.18616637e-01 -8.71820515e-02 5.41581680e+00] [ 1.18858483e-01 9.92908231e-01 -2.43025497e-03 1.29592390e+00] [ 8.68520452e-02 -7.95854822e-03 9.96189432e-01 1.40916830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622414037 meters Centerline goodness : 0.791086 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.29, Z:1.41 [[ 9.89387050e-01 -1.16448142e-01 -8.69085491e-02 5.41704522e+00] [ 1.16801292e-01 9.93154772e-01 -1.02800785e-03 1.29299081e+00] [ 8.64333499e-02 -9.13393316e-03 9.96215763e-01 1.40693687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68241403699997 meters Centerline goodness : 0.792490 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.29, Z:1.41 [[ 9.89746717e-01 -1.12564760e-01 -8.79238990e-02 5.41831052e+00] [ 1.13372976e-01 9.93543464e-01 4.23718332e-03 1.28947077e+00] [ 8.68792576e-02 -1.41619324e-02 9.96118183e-01 1.40713894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74241403699997 meters Centerline goodness : 0.792811 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.29, Z:1.41 [[ 0.98988806 -0.11154102 -0.08763692 5.41743147] [ 0.11253416 0.99362686 0.00645921 1.28537906] [ 0.08635793 -0.01625604 0.99613154 1.40795508] [ 0. 0. 0. 1. ]] SLAMing on 214.80241403699998 meters Centerline goodness : 0.794708 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 9.89552658e-01 -1.14526136e-01 -8.75745501e-02 5.41933889e+00] [ 1.15308954e-01 9.93321956e-01 3.91616258e-03 1.28282388e+00] [ 8.65412204e-02 -1.39733789e-02 9.96150271e-01 1.40671894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86241403699998 meters Centerline goodness : 0.785330 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 9.89384788e-01 -1.15804750e-01 -8.77895317e-02 5.42172722e+00] [ 1.16515588e-01 9.93184335e-01 2.99906914e-03 1.28108114e+00] [ 8.68438812e-02 -1.31960823e-02 9.96134531e-01 1.40502973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92241403699998 meters Centerline goodness : 0.795787 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 9.89248794e-01 -1.16733956e-01 -8.80909024e-02 5.42235776e+00] [ 1.17515746e-01 9.93064038e-01 3.72361375e-03 1.27888839e+00] [ 8.70452351e-02 -1.40356486e-02 9.96105480e-01 1.40544855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98241403699998 meters Centerline goodness : 0.798457 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 9.89329904e-01 -1.15995788e-01 -8.81550855e-02 5.42105741e+00] [ 1.16865169e-01 9.93136440e-01 4.74802029e-03 1.27871523e+00] [ 8.69992774e-02 -1.49996174e-02 9.96095446e-01 1.40725080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042414037 meters Centerline goodness : 0.788006 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 0.9895797 -0.1130455 -0.08917808 5.42203515] [ 0.11430397 0.99340399 0.009117 1.27759866] [ 0.08755923 -0.0192154 0.99597397 1.40763066] [ 0. 0. 0. 1. ]] SLAMing on 215.102414037 meters Centerline goodness : 0.787975 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 0.9895837 -0.11281683 -0.08942292 5.42241348] [ 0.11403635 0.99343908 0.00863164 1.27958573] [ 0.08786243 -0.01873919 0.99595634 1.40748486] [ 0. 0. 0. 1. ]] SLAMing on 215.162414037 meters Centerline goodness : 0.787643 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.28, Z:1.41 [[ 0.98960799 -0.11241735 -0.08965691 5.42369738] [ 0.11356085 0.99350089 0.00774057 1.28209421] [ 0.08820404 -0.01784165 0.99594263 1.40613154] [ 0. 0. 0. 1. ]] SLAMing on 215.222414037 meters Centerline goodness : 0.797862 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.28, Z:1.40 [[ 0.98963607 -0.11203765 -0.08982217 5.42507412] [ 0.11315287 0.99354999 0.00740523 1.28365313] [ 0.08841315 -0.01749212 0.99593029 1.40456928] [ 0. 0. 0. 1. ]] SLAMing on 215.282414037 meters Centerline goodness : 0.797711 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.28, Z:1.40 [[ 0.98985998 -0.10948225 -0.09050333 5.42557667] [ 0.11093791 0.99376425 0.01119793 1.28253175] [ 0.088713 -0.02112463 0.9958332 1.40496399] [ 0. 0. 0. 1. ]] SLAMing on 215.342414037 meters Centerline goodness : 0.799628 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.28, Z:1.41 [[ 0.98987907 -0.10914633 -0.09070012 5.42579037] [ 0.11067346 0.99378478 0.01196672 1.28207564] [ 0.08883027 -0.0218837 0.99580635 1.40527152] [ 0. 0. 0. 1. ]] SLAMing on 215.402414037 meters Centerline goodness : 0.798336 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.28, Z:1.41 [[ 0.98981575 -0.10960063 -0.09084317 5.42627467] [ 0.11116957 0.99372435 0.01237937 1.28144618] [ 0.08891628 -0.02235229 0.99578827 1.40517181] [ 0. 0. 0. 1. ]] SLAMing on 215.46241403699997 meters Centerline goodness : 0.798123 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.28, Z:1.41 [[ 0.98958887 -0.11135629 -0.09117921 5.4260633 ] [ 0.11286352 0.99354362 0.01152845 1.2828623 ] [ 0.08930676 -0.02169923 0.99576777 1.40645045] [ 0. 0. 0. 1. ]] SLAMing on 215.52241403699998 meters Centerline goodness : 0.798726 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.29, Z:1.41 [[ 0.98937957 -0.11228279 -0.0923073 5.42819968] [ 0.11377158 0.99344591 0.01101103 1.2855363 ] [ 0.09046596 -0.02139604 0.99566968 1.40632719] [ 0. 0. 0. 1. ]] SLAMing on 215.58241403699998 meters Centerline goodness : 0.796758 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.29, Z:1.41 [[ 0.98933562 -0.11265455 -0.09232543 5.42860969] [ 0.11402304 0.99343107 0.00966713 1.28860884] [ 0.09062991 -0.02009126 0.99568196 1.40555816] [ 0. 0. 0. 1. ]] SLAMing on 215.64241403699998 meters Centerline goodness : 0.798133 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.29, Z:1.41 [[ 0.9892921 -0.11285893 -0.09254193 5.42898588] [ 0.11413305 0.99342846 0.00857617 1.2921923 ] [ 0.09096589 -0.01904643 0.99567185 1.40589248] [ 0. 0. 0. 1. ]] SLAMing on 215.70241403699998 meters Centerline goodness : 0.782218 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.30, Z:1.41 [[ 0.9892735 -0.11291466 -0.09267262 5.42923852] [ 0.1141062 0.99343915 0.00764407 1.2952218 ] [ 0.09120148 -0.0181366 0.99566729 1.40621236] [ 0. 0. 0. 1. ]] SLAMing on 215.76241403699999 meters Centerline goodness : 0.782597 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.30, Z:1.41 [[ 0.98925366 -0.11293575 -0.09285856 5.42978854] [ 0.114088 0.99344472 0.00717808 1.29665877] [ 0.09143918 -0.01769499 0.99565344 1.40618999] [ 0. 0. 0. 1. ]] SLAMing on 215.822414037 meters Centerline goodness : 0.793657 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.30, Z:1.41 [[ 0.98921087 -0.11320832 -0.09298239 5.42969759] [ 0.11424483 0.9934352 0.00588385 1.30094671] [ 0.09170588 -0.01644313 0.99565037 1.40685841] [ 0. 0. 0. 1. ]] SLAMing on 215.882414037 meters Centerline goodness : 0.781028 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.30, Z:1.41 [[ 9.89180734e-01 -1.13352028e-01 -9.31278328e-02 5.43017988e+00] [ 1.14318225e-01 9.93431147e-01 5.08924767e-03 1.30343957e+00] [ 9.19392132e-02 -1.56803943e-02 9.95641153e-01 1.40690234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942414037 meters Centerline goodness : 0.781679 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.31, Z:1.41 [[ 9.88808540e-01 -1.16583379e-01 -9.30912856e-02 5.43229498e+00] [ 1.17194713e-01 9.93108338e-01 1.10866269e-03 1.30650379e+00] [ 9.23204802e-02 -1.20060616e-02 9.95656961e-01 1.40596879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002414037 meters Centerline goodness : 0.791387 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.31, Z:1.41 [[ 9.88442785e-01 -1.19579560e-01 -9.31750436e-02 5.43411919e+00] [ 1.19864642e-01 9.92786966e-01 -2.55098414e-03 1.31018989e+00] [ 9.28080144e-02 -8.64689138e-03 9.95646475e-01 1.40545465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062414037 meters Centerline goodness : 0.789300 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.31, Z:1.41 [[ 9.88337986e-01 -1.20576531e-01 -9.30017532e-02 5.43326130e+00] [ 1.20743971e-01 9.92676235e-01 -3.84512272e-03 1.31348176e+00] [ 9.27842618e-02 -7.42912017e-03 9.95658520e-01 1.40595352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122414037 meters Centerline goodness : 0.786787 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 0.98826071 -0.12121615 -0.09299146 5.43296972] [ 0.12121942 0.99260975 -0.00563431 1.31873172] [ 0.09298719 -0.00570421 0.99565096 1.40665601] [ 0. 0. 0. 1. ]] SLAMing on 216.18241403699997 meters Centerline goodness : 0.786123 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 9.88308279e-01 -1.20841133e-01 -9.29740049e-02 5.43322034e+00] [ 1.20724040e-01 9.92662102e-01 -6.90349478e-03 1.32461859e+00] [ 9.31259972e-02 -4.40141640e-03 9.95644603e-01 1.40695785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24241403699997 meters Centerline goodness : 0.787175 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.33, Z:1.41 [[ 9.88279755e-01 -1.21019773e-01 -9.30448294e-02 5.43321054e+00] [ 1.20829033e-01 9.92643455e-01 -7.70165495e-03 1.32705048e+00] [ 9.32923935e-02 -3.63112705e-03 9.95632133e-01 1.40732148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30241403699998 meters Centerline goodness : 0.778256 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.33, Z:1.41 [[ 9.88217075e-01 -1.21739537e-01 -9.27712127e-02 5.43214474e+00] [ 1.21491581e-01 9.92557450e-01 -8.33695259e-03 1.32745395e+00] [ 9.30956950e-02 -3.03220240e-03 9.95652548e-01 1.40796644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36241403699998 meters Centerline goodness : 0.777564 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.33, Z:1.41 [[ 9.87709475e-01 -1.25962575e-01 -9.25387664e-02 5.43249099e+00] [ 1.25380736e-01 9.92034934e-01 -1.20979997e-02 1.32702256e+00] [ 9.33255842e-02 3.46730348e-04 9.95635583e-01 1.40834917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42241403699998 meters Centerline goodness : 0.779080 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.33, Z:1.41 [[ 9.87690541e-01 -1.26147846e-01 -9.24884684e-02 5.43246011e+00] [ 1.25590616e-01 9.92011449e-01 -1.18441096e-02 1.32575532e+00] [ 9.32437284e-02 8.26313383e-05 9.95643310e-01 1.40817614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48241403699998 meters Centerline goodness : 0.777123 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 9.87204830e-01 -1.30105166e-01 -9.21914866e-02 5.43362587e+00] [ 1.29276508e-01 9.91496188e-01 -1.49296088e-02 1.32401336e+00] [ 9.33499268e-02 2.82038847e-03 9.95629367e-01 1.40728478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542414037 meters Centerline goodness : 0.773508 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 0.98669022 -0.13413735 -0.09192158 5.43453782] [ 0.13299865 0.99094482 -0.0184314 1.32313122] [ 0.09356155 0.00596063 0.99559565 1.40691442] [ 0. 0. 0. 1. ]] SLAMing on 216.602414037 meters Centerline goodness : 0.775337 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 0.98663364 -0.13455158 -0.09192347 5.43387118] [ 0.13339323 0.99088752 -0.0186593 1.32190112] [ 0.09359646 0.00614792 0.99559123 1.40785623] [ 0. 0. 0. 1. ]] SLAMing on 216.662414037 meters Centerline goodness : 0.775697 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 0.98666738 -0.13416552 -0.09212546 5.43461761] [ 0.13303925 0.99094203 -0.01828779 1.32114705] [ 0.09374459 0.00578767 0.99557946 1.40757503] [ 0. 0. 0. 1. ]] SLAMing on 216.722414037 meters Centerline goodness : 0.784423 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.32, Z:1.41 [[ 0.98674963 -0.13347499 -0.0922475 5.43515275] [ 0.13237644 0.99103689 -0.01795427 1.32123648] [ 0.09381712 0.00550497 0.99557423 1.40748661] [ 0. 0. 0. 1. ]] SLAMing on 216.782414037 meters Centerline goodness : 0.785944 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 9.87061658e-01 -1.31389400e-01 -9.19027109e-02 5.43321720e+00] [ 1.30450735e-01 9.91322864e-01 -1.61735986e-02 1.31918408e+00] [ 9.32302980e-02 3.97556282e-03 9.95636634e-01 1.40884647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842414037 meters Centerline goodness : 0.786346 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.32, Z:1.41 [[ 9.87117402e-01 -1.30809932e-01 -9.21303221e-02 5.43383034e+00] [ 1.29954091e-01 9.91402665e-01 -1.52541589e-02 1.31588826e+00] [ 9.33336424e-02 3.08493342e-03 9.95630109e-01 1.40882484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902414037 meters Centerline goodness : 0.786328 with order 3 Centerline is valid? [False, False] Translation: X:5.43, Y:1.31, Z:1.41 [[ 9.87170427e-01 -1.30252842e-01 -9.23512016e-02 5.43496321e+00] [ 1.29482359e-01 9.91478434e-01 -1.43119780e-02 1.31363783e+00] [ 9.34284006e-02 2.17051001e-03 9.95623635e-01 1.40797835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96241403699997 meters Centerline goodness : 0.784776 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.31, Z:1.41 [[ 9.87225700e-01 -1.29749440e-01 -9.24689152e-02 5.43584488e+00] [ 1.29084607e-01 9.91546251e-01 -1.31604152e-02 1.30990576e+00] [ 9.33947627e-02 1.05598653e-03 9.95628597e-01 1.40729082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02241403699998 meters Centerline goodness : 0.786910 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.31, Z:1.41 [[ 9.86824854e-01 -1.32746701e-01 -9.24933613e-02 5.43733526e+00] [ 1.31810307e-01 9.91142777e-01 -1.61876168e-02 1.30831929e+00] [ 9.38229797e-02 3.78276424e-03 9.95581709e-01 1.40740094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08241403699998 meters Centerline goodness : 0.776013 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:1.31, Z:1.41 [[ 9.86820475e-01 -1.32806112e-01 -9.24547770e-02 5.43687972e+00] [ 1.31889314e-01 9.91135573e-01 -1.59838844e-02 1.30696779e+00] [ 9.37579759e-02 3.57942727e-03 9.95588585e-01 1.40785784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14241403699998 meters Centerline goodness : 0.790068 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.31, Z:1.41 [[ 9.86855061e-01 -1.32487986e-01 -9.25420030e-02 5.43759093e+00] [ 1.31624600e-01 9.91180024e-01 -1.53988747e-02 1.30516262e+00] [ 9.37659506e-02 3.01565331e-03 9.95589701e-01 1.40724053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20241403699998 meters Centerline goodness : 0.790296 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.30, Z:1.41 [[ 9.86858622e-01 -1.32481066e-01 -9.25139304e-02 5.43734704e+00] [ 1.31650083e-01 9.91181919e-01 -1.50552172e-02 1.30258426e+00] [ 9.36926663e-02 2.67790427e-03 9.95597566e-01 1.40761516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26241403699999 meters Centerline goodness : 0.792093 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.30, Z:1.41 [[ 9.86921655e-01 -1.31766684e-01 -9.28611247e-02 5.43829617e+00] [ 1.31003929e-01 9.91278865e-01 -1.42892329e-02 1.30185344e+00] [ 9.39341152e-02 1.93718117e-03 9.95576531e-01 1.40732158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322414037 meters Centerline goodness : 0.793193 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.30, Z:1.41 [[ 9.86949883e-01 -1.31339863e-01 -9.31652782e-02 5.43914271e+00] [ 1.30684461e-01 9.91337092e-01 -1.31278957e-02 1.29971488e+00] [ 9.40824120e-02 7.81320986e-04 9.95564106e-01 1.40705847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382414037 meters Centerline goodness : 0.790676 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.29, Z:1.41 [[ 9.86600074e-01 -1.34233763e-01 -9.27447641e-02 5.44011656e+00] [ 1.33444341e-01 9.90947434e-01 -1.46898480e-02 1.29466204e+00] [ 9.38770595e-02 2.11674123e-03 9.95581547e-01 1.40648864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442414037 meters Centerline goodness : 0.791273 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.29, Z:1.41 [[ 9.86046419e-01 -1.37921885e-01 -9.32202382e-02 5.44153097e+00] [ 1.36995229e-01 9.90437610e-01 -1.62986852e-02 1.29143030e+00] [ 9.45767754e-02 3.30053236e-03 9.95512099e-01 1.40761034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502414037 meters Centerline goodness : 0.790431 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.29, Z:1.41 [[ 9.85903860e-01 -1.38226379e-01 -9.42711384e-02 5.44426865e+00] [ 1.37555171e-01 9.90400556e-01 -1.36129559e-02 1.28546937e+00] [ 9.52478575e-02 4.53583136e-04 9.95453485e-01 1.40704568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562414037 meters Centerline goodness : 0.790369 with order 3 Centerline is valid? [False, False] Translation: X:5.45, Y:1.28, Z:1.41 [[ 9.85924089e-01 -1.37749460e-01 -9.47564083e-02 5.44547598e+00] [ 1.37212496e-01 9.90466618e-01 -1.21905876e-02 1.28258816e+00] [ 9.55323061e-02 -9.82769299e-04 9.95425845e-01 1.40695325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622414037 meters Centerline goodness : 0.790838 with order 3 Centerline is valid? [False, False] Translation: X:5.44, Y:1.28, Z:1.41 [[ 9.86046996e-01 -1.36873410e-01 -9.47469834e-02 5.44492149e+00] [ 1.36485174e-01 9.90585436e-01 -1.05967614e-02 1.27994415e+00] [ 9.53053967e-02 -2.48265378e-03 9.95444985e-01 1.40778887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68241403699997 meters Centerline goodness : 0.778781 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.28, Z:1.41 [[ 9.85988988e-01 -1.36825935e-01 -9.54168669e-02 5.44743836e+00] [ 1.36522274e-01 9.90589173e-01 -9.73445413e-03 1.27738244e+00] [ 9.58508411e-02 -3.42846309e-03 9.95389804e-01 1.40659832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74241403699997 meters Centerline goodness : 0.778293 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.28, Z:1.41 [[ 9.86028846e-01 -1.36524121e-01 -9.54373012e-02 5.44763641e+00] [ 1.36273340e-01 9.90628822e-01 -9.17130404e-03 1.27589755e+00] [ 9.57950455e-02 -3.96238948e-03 9.95393193e-01 1.40652489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80241403699998 meters Centerline goodness : 0.777817 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.27, Z:1.41 [[ 9.86474259e-01 -1.32702979e-01 -9.62208734e-02 5.44764588e+00] [ 1.32848087e-01 9.91124174e-01 -4.92525622e-03 1.27487597e+00] [ 9.60204298e-02 -7.92412050e-03 9.95347821e-01 1.40723391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86241403699998 meters Centerline goodness : 0.774918 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.27, Z:1.41 [[ 9.87049310e-01 -1.27976411e-01 -9.67248560e-02 5.44867566e+00] [ 1.28572883e-01 9.91700060e-01 -6.65690971e-05 1.27280835e+00] [ 9.59305648e-02 -1.23704866e-02 9.95311156e-01 1.40598811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92241403699998 meters Centerline goodness : 0.775183 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.27, Z:1.40 [[ 9.87294217e-01 -1.26364929e-01 -9.63433085e-02 5.44923098e+00] [ 1.26994173e-01 9.91903381e-01 4.02846062e-04 1.27196829e+00] [ 9.55123479e-02 -1.26327663e-02 9.95348082e-01 1.40428453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98241403699998 meters Centerline goodness : 0.776666 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.27, Z:1.40 [[ 9.87329087e-01 -1.25896099e-01 -9.65994106e-02 5.44982436e+00] [ 1.26569655e-01 9.91957356e-01 8.52391059e-04 1.27169672e+00] [ 9.57151832e-02 -1.30681446e-02 9.95322976e-01 1.40427674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042414037 meters Centerline goodness : 0.775686 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.27, Z:1.40 [[ 0.98748609 -0.12325946 -0.09837851 5.45269624] [ 0.12447584 0.99220264 0.0063001 1.26803696] [ 0.09683487 -0.01846701 0.99512913 1.40436719] [ 0. 0. 0. 1. ]] SLAMing on 218.102414037 meters Centerline goodness : 0.774527 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.27, Z:1.40 [[ 9.87074545e-01 -1.26508724e-01 -9.83838649e-02 5.45416583e+00] [ 1.27428899e-01 9.91842862e-01 3.10059188e-03 1.26776682e+00] [ 9.71890821e-02 -1.55974629e-02 9.95143709e-01 1.40391034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162414037 meters Centerline goodness : 0.773930 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.27, Z:1.40 [[ 9.86912500e-01 -1.27108454e-01 -9.92328503e-02 5.45572067e+00] [ 1.28100408e-01 9.91754438e-01 3.66330386e-03 1.26743958e+00] [ 9.79489828e-02 -1.63271290e-02 9.95057497e-01 1.40416380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222414037 meters Centerline goodness : 0.781159 with order 3 Centerline is valid? [False, False] Translation: X:5.46, Y:1.27, Z:1.40 [[ 9.86892384e-01 -1.26961934e-01 -9.96197289e-02 5.45637991e+00] [ 1.27973438e-01 9.91770301e-01 3.80382017e-03 1.26821542e+00] [ 9.83169481e-02 -1.65026403e-02 9.95018312e-01 1.40426749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282414037 meters Centerline goodness : 0.782119 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.27, Z:1.40 [[ 9.86862905e-01 -1.26861059e-01 -1.00039381e-01 5.45694455e+00] [ 1.27841274e-01 9.91788733e-01 3.42306799e-03 1.27016360e+00] [ 9.87836769e-02 -1.61672607e-02 9.94977590e-01 1.40441781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342414037 meters Centerline goodness : 0.780961 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.27, Z:1.40 [[ 0.98714738 -0.12353487 -0.10138636 5.45873383] [ 0.1248508 0.99215281 0.0067136 1.27235514] [ 0.0997614 -0.01928548 0.99482447 1.4040039 ] [ 0. 0. 0. 1. ]] SLAMing on 218.402414037 meters Centerline goodness : 0.774032 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.27, Z:1.40 [[ 0.9872369 -0.12290274 -0.10128287 5.45855441] [ 0.12414739 0.99224532 0.00605452 1.27492109] [ 0.09975333 -0.01855125 0.99483925 1.40366874] [ 0. 0. 0. 1. ]] SLAMing on 218.46241403699997 meters Centerline goodness : 0.782249 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.27, Z:1.40 [[ 0.98761579 -0.11942037 -0.10175375 5.45809589] [ 0.12111075 0.99258264 0.01057759 1.27406821] [ 0.09973583 -0.02277007 0.99475338 1.40449148] [ 0. 0. 0. 1. ]] SLAMing on 218.52241403699998 meters Centerline goodness : 0.783055 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.40 [[ 0.98766294 -0.11921943 -0.10153146 5.45719171] [ 0.12083661 0.99262297 0.00990715 1.27608836] [ 0.09960133 -0.02205364 0.994783 1.40477675] [ 0. 0. 0. 1. ]] SLAMing on 218.58241403699998 meters Centerline goodness : 0.774235 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.40 [[ 0.98750282 -0.11982536 -0.10237216 5.45872639] [ 0.12143893 0.99255195 0.00965487 1.27753208] [ 0.10045279 -0.02196618 0.99469931 1.40493738] [ 0. 0. 0. 1. ]] SLAMing on 218.64241403699998 meters Centerline goodness : 0.776258 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.40 [[ 0.98749644 -0.11970013 -0.10257998 5.45946335] [ 0.12131995 0.99256628 0.00967737 1.27803035] [ 0.10065905 -0.02200137 0.99467768 1.40445572] [ 0. 0. 0. 1. ]] SLAMing on 218.70241403699998 meters Centerline goodness : 0.776538 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.40 [[ 0.98762582 -0.11745681 -0.1039189 5.46156294] [ 0.11947615 0.99274659 0.01340364 1.27775814] [ 0.10159078 -0.02565361 0.99449545 1.40423352] [ 0. 0. 0. 1. ]] SLAMing on 218.76241403699999 meters Centerline goodness : 0.782550 with order 3 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.40 [[ 0.98758287 -0.11825549 -0.10342011 5.4602552 ] [ 0.12019715 0.99266847 0.01272625 1.27783084] [ 0.10115693 -0.02499903 0.99455635 1.40469604] [ 0. 0. 0. 1. ]] SLAMing on 218.822414037 meters Centerline goodness : 0.782702 with order 3 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.41 [[ 0.98750127 -0.11925557 -0.10305021 5.45865677] [ 0.12105485 0.99258077 0.01136368 1.28040726] [ 0.10093048 -0.02369638 0.99461124 1.40586644] [ 0. 0. 0. 1. ]] SLAMing on 218.882414037 meters Centerline goodness : 0.774649 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.28, Z:1.41 [[ 0.98747011 -0.11958071 -0.10297201 5.45852266] [ 0.12128851 0.99256214 0.01046395 1.28334102] [ 0.10095483 -0.02282216 0.99462921 1.40595793] [ 0. 0. 0. 1. ]] SLAMing on 218.942414037 meters Centerline goodness : 0.775083 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.29, Z:1.41 [[ 0.98746478 -0.11962213 -0.10297504 5.45871399] [ 0.12124323 0.99257633 0.00960743 1.28523939] [ 0.10106133 -0.02197202 0.99463754 1.40619601] [ 0. 0. 0. 1. ]] SLAMing on 219.002414037 meters Centerline goodness : 0.773815 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.29, Z:1.41 [[ 0.9875638 -0.11895882 -0.1027937 5.4586925 ] [ 0.12050535 0.99267237 0.00894587 1.28922151] [ 0.10097628 -0.02122181 0.99466247 1.4063078 ] [ 0. 0. 0. 1. ]] SLAMing on 219.062414037 meters Centerline goodness : 0.772672 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.29, Z:1.41 [[ 0.98756169 -0.1188157 -0.1029793 5.45937406] [ 0.12027913 0.99270709 0.00809744 1.29269581] [ 0.10126618 -0.02038299 0.99465054 1.40627796] [ 0. 0. 0. 1. ]] SLAMing on 219.122414037 meters Centerline goodness : 0.773413 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.29, Z:1.40 [[ 0.98785371 -0.11557272 -0.10386524 5.46163829] [ 0.11740137 0.99301624 0.01164773 1.29259831] [ 0.10179371 -0.02370017 0.99452317 1.40460533] [ 0. 0. 0. 1. ]] SLAMing on 219.18241403699997 meters Centerline goodness : 0.784713 with order 3 Centerline is valid? [False, False] Translation: X:5.46, Y:1.29, Z:1.40 [[ 0.98780514 -0.11617448 -0.10365567 5.46100577] [ 0.11791494 0.99296493 0.01080306 1.29364331] [ 0.10167141 -0.02289387 0.99455457 1.40495864] [ 0. 0. 0. 1. ]] SLAMing on 219.24241403699997 meters Centerline goodness : 0.773106 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.30, Z:1.40 [[ 0.98736406 -0.12018432 -0.10328569 5.46155419] [ 0.1214921 0.99257149 0.00644235 1.29749415] [ 0.10174416 -0.01890934 0.99463087 1.4049305 ] [ 0. 0. 0. 1. ]] SLAMing on 219.30241403699998 meters Centerline goodness : 0.773718 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.30, Z:1.40 [[ 9.86856416e-01 -1.24471569e-01 -1.03059413e-01 5.46259631e+00] [ 1.25359214e-01 9.92109077e-01 2.15575424e-03 1.29888649e+00] [ 1.01977849e-01 -1.50468669e-02 9.94672866e-01 1.40463081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36241403699998 meters Centerline goodness : 0.777063 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.30, Z:1.40 [[ 9.86270964e-01 -1.29516800e-01 -1.02445031e-01 5.46237572e+00] [ 1.29924639e-01 9.91520168e-01 -2.70994219e-03 1.30139542e+00] [ 1.01927298e-01 -1.06373964e-02 9.94734976e-01 1.40473382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42241403699998 meters Centerline goodness : 0.776955 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.30, Z:1.41 [[ 9.86096174e-01 -1.30991997e-01 -1.02251808e-01 5.46122023e+00] [ 1.31258504e-01 9.91339502e-01 -4.14694246e-03 1.30496367e+00] [ 1.01909473e-01 -9.33213531e-03 9.94749904e-01 1.40538606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48241403699998 meters Centerline goodness : 0.777791 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.31, Z:1.41 [[ 9.86019502e-01 -1.31651287e-01 -1.02144413e-01 5.46114742e+00] [ 1.31854283e-01 9.91257529e-01 -4.79159273e-03 1.30610405e+00] [ 1.01882238e-01 -8.74357450e-03 9.94758041e-01 1.40517361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542414037 meters Centerline goodness : 0.777366 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.31, Z:1.40 [[ 9.85566521e-01 -1.35292595e-01 -1.01757287e-01 5.46217018e+00] [ 1.35089126e-01 9.90793299e-01 -8.92001351e-03 1.30939784e+00] [ 1.02027250e-01 -4.95503633e-03 9.94769264e-01 1.40463173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602414037 meters Centerline goodness : 0.777134 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.31, Z:1.41 [[ 9.85507703e-01 -1.35744972e-01 -1.01724480e-01 5.46162454e+00] [ 1.35430246e-01 9.90736153e-01 -1.00261123e-02 1.31290449e+00] [ 1.02143114e-01 -3.89576037e-03 9.94762086e-01 1.40541043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662414037 meters Centerline goodness : 0.777193 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.31, Z:1.41 [[ 9.85464592e-01 -1.36031784e-01 -1.01758985e-01 5.46105341e+00] [ 1.35641577e-01 9.90699361e-01 -1.07767462e-02 1.31451320e+00] [ 1.02278541e-01 -3.18264738e-03 9.94750708e-01 1.40641377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722414037 meters Centerline goodness : 0.776091 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.32, Z:1.41 [[ 9.85421558e-01 -1.36311888e-01 -1.01800892e-01 5.46038051e+00] [ 1.35844413e-01 9.90662933e-01 -1.15433334e-02 1.31569149e+00] [ 1.02423864e-01 -2.45403294e-03 9.94737820e-01 1.40772101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782414037 meters Centerline goodness : 0.775780 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.32, Z:1.41 [[ 9.85463264e-01 -1.35759621e-01 -1.02134625e-01 5.46141916e+00] [ 1.35297361e-01 9.90738619e-01 -1.14723151e-02 1.31679325e+00] [ 1.02746194e-01 -2.51300006e-03 9.94704431e-01 1.40752455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842414037 meters Centerline goodness : 0.774788 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.41 [[ 9.85661120e-01 -1.33588439e-01 -1.03083877e-01 5.46504276e+00] [ 1.33250905e-01 9.91030000e-01 -1.01850522e-02 1.31756506e+00] [ 1.03519820e-01 -3.69700993e-03 9.94620520e-01 1.40590225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902414037 meters Centerline goodness : 0.775828 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.40 [[ 9.85795665e-01 -1.32076433e-01 -1.03743542e-01 5.46764243e+00] [ 1.31798313e-01 9.91230436e-01 -9.56179596e-03 1.31834971e+00] [ 1.04096644e-01 -4.24724681e-03 9.94558118e-01 1.40490866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96241403699997 meters Centerline goodness : 0.775438 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.41 [[ 9.85807408e-01 -1.31778339e-01 -1.04010686e-01 5.46820473e+00] [ 1.31490237e-01 9.91270474e-01 -9.65215591e-03 1.31918680e+00] [ 1.04374667e-01 -4.16122291e-03 9.94529342e-01 1.40509315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02241403699998 meters Centerline goodness : 0.776894 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.41 [[ 9.85792175e-01 -1.31901929e-01 -1.03998403e-01 5.46746061e+00] [ 1.31570531e-01 9.91255657e-01 -1.00706632e-02 1.31917350e+00] [ 1.04417345e-01 -3.75554414e-03 9.94526477e-01 1.40637485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08241403699998 meters Centerline goodness : 0.776523 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.41 [[ 9.85764214e-01 -1.32014220e-01 -1.04120893e-01 5.46737686e+00] [ 1.31657785e-01 9.91241515e-01 -1.03191914e-02 1.31871207e+00] [ 1.04571232e-01 -3.53603652e-03 9.94511113e-01 1.40713842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14241403699998 meters Centerline goodness : 0.784070 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.41 [[ 9.85732671e-01 -1.32238818e-01 -1.04134513e-01 5.46697081e+00] [ 1.31872482e-01 9.91211861e-01 -1.04256625e-02 1.31712052e+00] [ 1.04598042e-01 -3.45556059e-03 9.94508577e-01 1.40795098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20241403699998 meters Centerline goodness : 0.780015 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.32, Z:1.41 [[ 9.85719390e-01 -1.32255272e-01 -1.04239282e-01 5.46741365e+00] [ 1.31908219e-01 9.91208971e-01 -1.02468359e-02 1.31616496e+00] [ 1.04678109e-01 -3.64951320e-03 9.94499459e-01 1.40777042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26241403699999 meters Centerline goodness : 0.779734 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85678800e-01 -1.32247362e-01 -1.04632394e-01 5.46859810e+00] [ 1.31968898e-01 9.91207265e-01 -9.61080578e-03 1.31307608e+00] [ 1.04983393e-01 -4.33505421e-03 9.94464527e-01 1.40740608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322414037 meters Centerline goodness : 0.779771 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85704226e-01 -1.31946246e-01 -1.04772933e-01 5.46952731e+00] [ 1.31733712e-01 9.91244495e-01 -8.97668677e-03 1.31164468e+00] [ 1.05040033e-01 -4.95376928e-03 9.94455656e-01 1.40672402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382414037 meters Centerline goodness : 0.781817 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85702160e-01 -1.32019870e-01 -1.04699596e-01 5.46931709e+00] [ 1.31798370e-01 9.91235123e-01 -9.06206434e-03 1.31149925e+00] [ 1.04978289e-01 -4.86673965e-03 9.94462605e-01 1.40705861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442414037 meters Centerline goodness : 0.783544 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85643829e-01 -1.32757146e-01 -1.04315782e-01 5.46798018e+00] [ 1.32466328e-01 9.91139629e-01 -9.74205373e-03 1.31165530e+00] [ 1.04684833e-01 -4.21613352e-03 9.94496511e-01 1.40793056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502414037 meters Centerline goodness : 0.784372 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85571728e-01 -1.33424219e-01 -1.04145793e-01 5.46716317e+00] [ 1.33074262e-01 9.91052204e-01 -1.03329743e-02 1.31188540e+00] [ 1.04592587e-01 -3.67523724e-03 9.94508363e-01 1.40862789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562414037 meters Centerline goodness : 0.784437 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85539814e-01 -1.33455015e-01 -1.04408021e-01 5.46782044e+00] [ 1.33069920e-01 9.91049139e-01 -1.06770841e-02 1.31308824e+00] [ 1.04898390e-01 -3.37087556e-03 9.94477232e-01 1.40877284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622414037 meters Centerline goodness : 0.789029 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85545405e-01 -1.33285008e-01 -1.04572281e-01 5.46826384e+00] [ 1.32879615e-01 9.91072626e-01 -1.08654844e-02 1.31436827e+00] [ 1.05086931e-01 -3.18709620e-03 9.94457932e-01 1.40881891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68241403699997 meters Centerline goodness : 0.788382 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85568309e-01 -1.32914902e-01 -1.04827173e-01 5.46989120e+00] [ 1.32539119e-01 9.91121371e-01 -1.05740153e-02 1.31419376e+00] [ 1.05301895e-01 -3.47228681e-03 9.94434238e-01 1.40768786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74241403699997 meters Centerline goodness : 0.788027 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85528083e-01 -1.33408696e-01 -1.04577809e-01 5.46945521e+00] [ 1.33017268e-01 9.91055527e-01 -1.07400683e-02 1.31368190e+00] [ 1.05075234e-01 -3.32601547e-03 9.94458714e-01 1.40761927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80241403699998 meters Centerline goodness : 0.785668 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85503086e-01 -1.33654831e-01 -1.04499064e-01 5.46928934e+00] [ 1.33247696e-01 9.91022833e-01 -1.08993692e-02 1.31354725e+00] [ 1.05017712e-01 -3.18289749e-03 9.94465258e-01 1.40776915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86241403699998 meters Centerline goodness : 0.785094 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85492856e-01 -1.33816504e-01 -1.04388573e-01 5.46918567e+00] [ 1.33400967e-01 9.91001276e-01 -1.09842128e-02 1.31335152e+00] [ 1.04919078e-01 -3.10067336e-03 9.94475929e-01 1.40776635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92241403699998 meters Centerline goodness : 0.786786 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85459758e-01 -1.34161363e-01 -1.04258302e-01 5.46865538e+00] [ 1.33712855e-01 9.90955561e-01 -1.13114328e-02 1.31351412e+00] [ 1.04832901e-01 -2.79371346e-03 9.94485926e-01 1.40819788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98241403699998 meters Centerline goodness : 0.787514 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85450215e-01 -1.34185413e-01 -1.04317539e-01 5.46907373e+00] [ 1.33734529e-01 9.90952346e-01 -1.13368298e-02 1.31378533e+00] [ 1.04894948e-01 -2.77897564e-03 9.94479425e-01 1.40799990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042414037 meters Centerline goodness : 0.786391 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85080142e-01 -1.36783396e-01 -1.04438575e-01 5.47170667e+00] [ 1.36046616e-01 9.90600951e-01 -1.41800348e-02 1.31452973e+00] [ 1.05396545e-01 -2.40043955e-04 9.94430244e-01 1.40687494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102414037 meters Centerline goodness : 0.772126 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85041479e-01 -1.37416245e-01 -1.03971442e-01 5.47067727e+00] [ 1.36652325e-01 9.90513389e-01 -1.44695692e-02 1.31389283e+00] [ 1.04973459e-01 4.51865859e-05 9.94475023e-01 1.40698964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162414037 meters Centerline goodness : 0.770168 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85050755e-01 -1.37529554e-01 -1.03733461e-01 5.47009546e+00] [ 1.36745394e-01 9.90497629e-01 -1.46678195e-02 1.31426448e+00] [ 1.04765006e-01 2.63473618e-04 9.94496970e-01 1.40729993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222414037 meters Centerline goodness : 0.770645 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85085823e-01 -1.37211572e-01 -1.03821507e-01 5.47087058e+00] [ 1.36458119e-01 9.90541763e-01 -1.43595856e-02 1.31379977e+00] [ 1.04809840e-01 -2.18633168e-05 9.94492281e-01 1.40672104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282414037 meters Centerline goodness : 0.770784 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85099312e-01 -1.37233694e-01 -1.03664166e-01 5.47041452e+00] [ 1.36500826e-01 9.90538679e-01 -1.41650847e-02 1.31267004e+00] [ 1.04627293e-01 -1.96229220e-04 9.94511484e-01 1.40704747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342414037 meters Centerline goodness : 0.785478 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.85103182e-01 -1.37237702e-01 -1.03622073e-01 5.47019182e+00] [ 1.36515712e-01 9.90538100e-01 -1.40617728e-02 1.31191164e+00] [ 1.04571417e-01 -2.93744011e-04 9.94517336e-01 1.40740687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402414037 meters Centerline goodness : 0.786640 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.84717283e-01 -1.39767906e-01 -1.03907675e-01 5.47346350e+00] [ 1.38783175e-01 9.90182257e-01 -1.66831722e-02 1.31053960e+00] [ 1.05219308e-01 2.00757101e-03 9.94447016e-01 1.40615078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46241403699997 meters Centerline goodness : 0.784224 with order 3 Centerline is valid? [False, False] Translation: X:5.47, Y:1.31, Z:1.41 [[ 9.84760114e-01 -1.39334254e-01 -1.04084019e-01 5.47471195e+00] [ 1.38414575e-01 9.90244429e-01 -1.60429661e-02 1.30930203e+00] [ 1.05303955e-01 1.39172789e-03 9.94439108e-01 1.40519034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52241403699998 meters Centerline goodness : 0.784180 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.31, Z:1.40 [[ 9.84864575e-01 -1.38411378e-01 -1.04326692e-01 5.47590226e+00] [ 1.37527729e-01 9.90374249e-01 -1.56515613e-02 1.31052883e+00] [ 1.05488823e-01 1.06685532e-03 9.94419916e-01 1.40457321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58241403699998 meters Centerline goodness : 0.782088 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.31, Z:1.40 [[ 9.84916842e-01 -1.38054796e-01 -1.04305738e-01 5.47589039e+00] [ 1.37160525e-01 9.90423879e-01 -1.57331306e-02 1.31135793e+00] [ 1.05478928e-01 1.18919563e-03 9.94420827e-01 1.40478252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64241403699998 meters Centerline goodness : 0.780722 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.31, Z:1.41 [[ 9.84932898e-01 -1.37969826e-01 -1.04266549e-01 5.47549373e+00] [ 1.37002972e-01 9.90434646e-01 -1.64133364e-02 1.31318602e+00] [ 1.05533748e-01 1.88120790e-03 9.94413943e-01 1.40570578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70241403699998 meters Centerline goodness : 0.780057 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.32, Z:1.41 [[ 9.84947134e-01 -1.37694879e-01 -1.04495281e-01 5.47603301e+00] [ 1.36699713e-01 9.90472414e-01 -1.66609294e-02 1.31508181e+00] [ 1.05793818e-01 2.12565971e-03 9.94385815e-01 1.40575686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76241403699999 meters Centerline goodness : 0.764467 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.32, Z:1.40 [[ 9.85050785e-01 -1.36645322e-01 -1.04895222e-01 5.47836840e+00] [ 1.35683084e-01 9.90618377e-01 -1.62890003e-02 1.31676255e+00] [ 1.06136951e-01 1.81298529e-03 9.94349868e-01 1.40419441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822414037 meters Centerline goodness : 0.767679 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.32, Z:1.40 [[ 9.85153090e-01 -1.35778237e-01 -1.05060262e-01 5.47979267e+00] [ 1.34820086e-01 9.90737624e-01 -1.62019805e-02 1.31925924e+00] [ 1.06287031e-01 1.79719761e-03 9.94333866e-01 1.40311600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882414037 meters Centerline goodness : 0.766139 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.32, Z:1.40 [[ 9.85168085e-01 -1.35662070e-01 -1.05069720e-01 5.47983682e+00] [ 1.34646062e-01 9.90752402e-01 -1.67366867e-02 1.32173804e+00] [ 1.06368611e-01 2.34122556e-03 9.94324010e-01 1.40336050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942414037 meters Centerline goodness : 0.779063 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.32, Z:1.40 [[ 9.85178730e-01 -1.35577198e-01 -1.05079460e-01 5.48021786e+00] [ 1.34497345e-01 9.90762427e-01 -1.73285083e-02 1.32409380e+00] [ 1.06458131e-01 2.93876947e-03 9.94312843e-01 1.40318488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002414037 meters Centerline goodness : 0.774635 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 9.85173565e-01 -1.35622327e-01 -1.05069652e-01 5.48051790e+00] [ 1.34498043e-01 9.90754941e-01 -1.77460801e-02 1.32627617e+00] [ 1.06505042e-01 3.35130645e-03 9.94306515e-01 1.40285262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062414037 meters Centerline goodness : 0.761879 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 9.85154401e-01 -1.35676402e-01 -1.05179471e-01 5.48075156e+00] [ 1.34525203e-01 9.90746737e-01 -1.79964492e-02 1.32761117e+00] [ 1.06647911e-01 3.57999147e-03 9.94290404e-01 1.40284779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122414037 meters Centerline goodness : 0.775761 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 9.85147562e-01 -1.35718783e-01 -1.05188848e-01 5.48085810e+00] [ 1.34570079e-01 9.90741030e-01 -1.79751100e-02 1.32757890e+00] [ 1.06654467e-01 3.55286418e-03 9.94289798e-01 1.40273009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18241403699997 meters Centerline goodness : 0.773996 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 9.85099822e-01 -1.36170592e-01 -1.05051941e-01 5.48081403e+00] [ 1.35002045e-01 9.90678361e-01 -1.81888033e-02 1.32839317e+00] [ 1.06549465e-01 3.73556012e-03 9.94300386e-01 1.40223996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24241403699997 meters Centerline goodness : 0.777734 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 9.85057814e-01 -1.36545364e-01 -1.04959354e-01 5.48110545e+00] [ 1.35369867e-01 9.90626549e-01 -1.82767625e-02 1.32893845e+00] [ 1.06471130e-01 3.79533390e-03 9.94308551e-01 1.40146913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30241403699998 meters Centerline goodness : 0.776644 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 0.98454772 -0.1401416 -0.10500536 5.48324488] [ 0.13857665 0.99010531 -0.02209046 1.33095325] [ 0.10706216 0.00719782 0.99422627 1.40062048] [ 0. 0. 0. 1. ]] SLAMing on 222.36241403699998 meters Centerline goodness : 0.779006 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 0.98450934 -0.14053706 -0.10483651 5.48275691] [ 0.13893836 0.99004684 -0.02243643 1.33257149] [ 0.1069462 0.00752306 0.99423635 1.40056098] [ 0. 0. 0. 1. ]] SLAMing on 222.42241403699998 meters Centerline goodness : 0.776418 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.34, Z:1.40 [[ 0.98453809 -0.14032535 -0.10485014 5.48271193] [ 0.13868849 0.99007405 -0.02277903 1.33523165] [ 0.10700588 0.00788532 0.99422712 1.40069435] [ 0. 0. 0. 1. ]] SLAMing on 222.48241403699998 meters Centerline goodness : 0.764524 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.34, Z:1.40 [[ 0.98456047 -0.14008641 -0.10495946 5.48306924] [ 0.13841873 0.99010565 -0.0230445 1.33665343] [ 0.10714918 0.00816035 0.99420947 1.40072325] [ 0. 0. 0. 1. ]] SLAMing on 222.542414037 meters Centerline goodness : 0.766609 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.34, Z:1.40 [[ 0.98462498 -0.13942344 -0.10523667 5.48448232] [ 0.13776001 0.99019973 -0.02294933 1.33827493] [ 0.10740499 0.00809908 0.99418236 1.39992814] [ 0. 0. 0. 1. ]] SLAMing on 222.602414037 meters Centerline goodness : 0.775648 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.34, Z:1.40 [[ 0.98465354 -0.13906506 -0.10544341 5.48577041] [ 0.13745167 0.99025397 -0.02245234 1.3381564 ] [ 0.10753809 0.0076144 0.99417181 1.39876723] [ 0. 0. 0. 1. ]] SLAMing on 222.662414037 meters Centerline goodness : 0.777281 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.34, Z:1.40 [[ 0.98465331 -0.13918186 -0.10529131 5.48583051] [ 0.13760589 0.99023997 -0.02212292 1.3369591 ] [ 0.10734277 0.00729471 0.99419531 1.39820381] [ 0. 0. 0. 1. ]] SLAMing on 222.722414037 meters Centerline goodness : 0.768483 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.34, Z:1.40 [[ 0.9845509 -0.14011213 -0.10501484 5.48436572] [ 0.13853501 0.99010866 -0.02220127 1.33628393] [ 0.10708677 0.00731005 0.99422281 1.39878364] [ 0. 0. 0. 1. ]] SLAMing on 222.782414037 meters Centerline goodness : 0.777603 with order 3 Centerline is valid? [False, False] Translation: X:5.48, Y:1.33, Z:1.40 [[ 0.98452617 -0.14027932 -0.10502347 5.48453598] [ 0.13875759 0.99008871 -0.02169506 1.33474234] [ 0.10702592 0.00678655 0.99423307 1.39832674] [ 0. 0. 0. 1. ]] SLAMing on 222.842414037 meters Centerline goodness : 0.767482 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.33, Z:1.40 [[ 0.98401835 -0.14384698 -0.10495683 5.48660752] [ 0.14200715 0.98955401 -0.02483605 1.33303012] [ 0.10743304 0.00953451 0.9941666 1.39737886] [ 0. 0. 0. 1. ]] SLAMing on 222.902414037 meters Centerline goodness : 0.769036 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.33, Z:1.40 [[ 0.98405727 -0.14348674 -0.10508494 5.48765331] [ 0.14172474 0.98961303 -0.02408607 1.33219366] [ 0.10744946 0.00880894 0.99417152 1.39625815] [ 0. 0. 0. 1. ]] SLAMing on 222.96241403699997 meters Centerline goodness : 0.777279 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.33, Z:1.40 [[ 0.98407986 -0.14326776 -0.10517218 5.48756395] [ 0.14150605 0.98964485 -0.0240648 1.33222508] [ 0.10753082 0.00879919 0.99416281 1.3967167 ] [ 0. 0. 0. 1. ]] SLAMing on 223.02241403699998 meters Centerline goodness : 0.776005 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.33, Z:1.40 [[ 0.98411612 -0.14288114 -0.10535867 5.48769734] [ 0.14114232 0.98970276 -0.02381793 1.33160392] [ 0.1076769 0.00856904 0.99414901 1.39720247] [ 0. 0. 0. 1. ]] SLAMing on 223.08241403699998 meters Centerline goodness : 0.778561 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.33, Z:1.40 [[ 0.98412841 -0.14274244 -0.10543181 5.48758831] [ 0.14102517 0.98972454 -0.02360593 1.33061213] [ 0.10771802 0.00836272 0.99414631 1.39761164] [ 0. 0. 0. 1. ]] SLAMing on 223.14241403699998 meters Centerline goodness : 0.774531 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.33, Z:1.40 [[ 0.98419691 -0.14206822 -0.10570273 5.48909206] [ 0.14047119 0.9898304 -0.02244153 1.32728023] [ 0.10781601 0.00723869 0.99414451 1.39654539] [ 0. 0. 0. 1. ]] SLAMing on 223.20241403699998 meters Centerline goodness : 0.778088 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.39 [[ 0.98428434 -0.14119999 -0.10605144 5.49130407] [ 0.13974452 0.9899634 -0.0210698 1.32432195] [ 0.1079621 0.00591857 0.99413739 1.39476123] [ 0. 0. 0. 1. ]] SLAMing on 223.26241403699999 meters Centerline goodness : 0.777693 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.39 [[ 9.84339552e-01 -1.40736922e-01 -1.06154437e-01 5.49192638e+00] [ 1.39356508e-01 9.90033179e-01 -2.03486491e-02 1.32269358e+00] [ 1.07960221e-01 5.23666852e-03 9.94141423e-01 1.39426561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322414037 meters Centerline goodness : 0.763816 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.39 [[ 9.84385951e-01 -1.40522869e-01 -1.06007658e-01 5.49128245e+00] [ 1.39185649e-01 9.90065407e-01 -1.99460485e-02 1.32077289e+00] [ 1.07757391e-01 4.87986524e-03 9.94165244e-01 1.39487945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382414037 meters Centerline goodness : 0.776678 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.40 [[ 9.84393549e-01 -1.40587312e-01 -1.05851543e-01 5.49065762e+00] [ 1.39265116e-01 9.90056808e-01 -1.98177948e-02 1.31968275e+00] [ 1.07585172e-01 4.76708194e-03 9.94184443e-01 1.39533550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442414037 meters Centerline goodness : 0.764931 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.40 [[ 0.98389395 -0.14406949 -0.10581433 5.49200175] [ 0.14238586 0.98953608 -0.02333686 1.3193468 ] [ 0.10806923 0.00789453 0.99411202 1.39554021] [ 0. 0. 0. 1. ]] SLAMing on 223.502414037 meters Centerline goodness : 0.764512 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.40 [[ 0.98386582 -0.14432036 -0.105734 5.49191986] [ 0.14269368 0.98950353 -0.02283155 1.31698163] [ 0.10791923 0.00737561 0.99413231 1.39521994] [ 0. 0. 0. 1. ]] SLAMing on 223.562414037 meters Centerline goodness : 0.779980 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.32, Z:1.39 [[ 0.98389651 -0.14409338 -0.10575801 5.49247299] [ 0.14253716 0.98954116 -0.02216874 1.31507447] [ 0.10784627 0.0067373 0.99414475 1.39454335] [ 0. 0. 0. 1. ]] SLAMing on 223.622414037 meters Centerline goodness : 0.780253 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.31, Z:1.39 [[ 0.98393982 -0.14368793 -0.10590665 5.49303587] [ 0.14218926 0.98960361 -0.02160786 1.31372206] [ 0.1079104 0.00620205 0.99414128 1.39428391] [ 0. 0. 0. 1. ]] SLAMing on 223.68241403699997 meters Centerline goodness : 0.780421 with order 3 Centerline is valid? [False, False] Translation: X:5.49, Y:1.31, Z:1.39 [[ 0.98402759 -0.14292324 -0.10612561 5.49382623] [ 0.14150097 0.98971848 -0.0208518 1.31176539] [ 0.10801468 0.00550187 0.99413407 1.39407301] [ 0. 0. 0. 1. ]] SLAMing on 223.74241403699997 meters Centerline goodness : 0.780240 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.31, Z:1.39 [[ 9.84163022e-01 -1.41695471e-01 -1.06515446e-01 5.49517231e+00] [ 1.40371045e-01 9.89899598e-01 -1.98684648e-02 1.31050416e+00] [ 1.08254869e-01 4.60212396e-03 9.94112521e-01 1.39370017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80241403699998 meters Centerline goodness : 0.769067 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.31, Z:1.39 [[ 9.84300555e-01 -1.40533829e-01 -1.06783241e-01 5.49621341e+00] [ 1.39281106e-01 9.90067941e-01 -1.91375399e-02 1.30964501e+00] [ 1.08412136e-01 3.96420314e-03 9.94098131e-01 1.39348929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86241403699998 meters Centerline goodness : 0.770076 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.31, Z:1.39 [[ 9.84311195e-01 -1.40116742e-01 -1.07232319e-01 5.49826094e+00] [ 1.38928493e-01 9.90129418e-01 -1.85096937e-02 1.30834541e+00] [ 1.08767391e-01 3.32167428e-03 9.94061679e-01 1.39217231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92241403699998 meters Centerline goodness : 0.779226 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.31, Z:1.39 [[ 9.84311531e-01 -1.40103709e-01 -1.07246265e-01 5.49874390e+00] [ 1.38992132e-01 9.90133363e-01 -1.78076008e-02 1.30513722e+00] [ 1.08683016e-01 2.62183977e-03 9.94072999e-01 1.39168866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98241403699998 meters Centerline goodness : 0.778931 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84315140e-01 -1.40096644e-01 -1.07222364e-01 5.49903113e+00] [ 1.39052504e-01 9.90135791e-01 -1.71905973e-02 1.30324353e+00] [ 1.08573045e-01 2.01142699e-03 9.94086439e-01 1.39116851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042414037 meters Centerline goodness : 0.769250 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84309297e-01 -1.39930088e-01 -1.07493158e-01 5.49976905e+00] [ 1.38902437e-01 9.90159699e-01 -1.70259575e-02 1.30322412e+00] [ 1.08817837e-01 1.82774664e-03 9.94060027e-01 1.39095158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102414037 meters Centerline goodness : 0.770278 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84266602e-01 -1.40296402e-01 -1.07406592e-01 5.49952098e+00] [ 1.39255435e-01 9.90107645e-01 -1.71690205e-02 1.30329483e+00] [ 1.08752840e-01 1.94194172e-03 9.94066924e-01 1.39095037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162414037 meters Centerline goodness : 0.770624 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84236453e-01 -1.40506067e-01 -1.07408798e-01 5.49942615e+00] [ 1.39450713e-01 9.90077673e-01 -1.73118511e-02 1.30322237e+00] [ 1.08775473e-01 2.06072147e-03 9.94064208e-01 1.39107183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222414037 meters Centerline goodness : 0.776439 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84167146e-01 -1.41150582e-01 -1.07198612e-01 5.49890046e+00] [ 1.40072650e-01 9.89985549e-01 -1.75574716e-02 1.30234987e+00] [ 1.08603325e-01 2.26389296e-03 9.94082588e-01 1.39113061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282414037 meters Centerline goodness : 0.777152 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84164723e-01 -1.41206599e-01 -1.07147073e-01 5.49902247e+00] [ 1.40147605e-01 9.89977930e-01 -1.73881329e-02 1.30163591e+00] [ 1.08528556e-01 2.09638140e-03 9.94091121e-01 1.39081896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342414037 meters Centerline goodness : 0.769691 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84181677e-01 -1.41107549e-01 -1.07121825e-01 5.49894532e+00] [ 1.40084378e-01 9.89992674e-01 -1.70549886e-02 1.30083078e+00] [ 1.08456410e-01 1.77911304e-03 9.94099614e-01 1.39081666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402414037 meters Centerline goodness : 0.769724 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.84199407e-01 -1.41006347e-01 -1.07092193e-01 5.49892615e+00] [ 1.40040812e-01 9.90007886e-01 -1.65213921e-02 1.29920170e+00] [ 1.08351737e-01 1.26306659e-03 9.94111818e-01 1.39074285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46241403699997 meters Centerline goodness : 0.769615 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.83712231e-01 -1.44404350e-01 -1.07040318e-01 5.50059101e+00] [ 1.43090972e-01 9.89509634e-01 -1.98911630e-02 1.29958184e+00] [ 1.08789796e-01 4.25067723e-03 9.94055689e-01 1.39030160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52241403699998 meters Centerline goodness : 0.776250 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.83702730e-01 -1.44416228e-01 -1.07111586e-01 5.50120490e+00] [ 1.43129065e-01 9.89508951e-01 -1.96495887e-02 1.29916636e+00] [ 1.08825593e-01 3.99857289e-03 9.94052816e-01 1.38965189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58241403699998 meters Centerline goodness : 0.769719 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.83710351e-01 -1.44320907e-01 -1.07170058e-01 5.50203855e+00] [ 1.43047835e-01 9.89523388e-01 -1.95136232e-02 1.29933395e+00] [ 1.08863503e-01 3.86530833e-03 9.94049193e-01 1.38877932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64241403699998 meters Centerline goodness : 0.771543 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.83748720e-01 -1.43848499e-01 -1.07452622e-01 5.50311769e+00] [ 1.42558657e-01 9.89591664e-01 -1.96307882e-02 1.30191199e+00] [ 1.09158078e-01 3.99346131e-03 9.94016381e-01 1.38830626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70241403699998 meters Centerline goodness : 0.781215 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.83745147e-01 -1.43989689e-01 -1.07296110e-01 5.50219270e+00] [ 1.42606589e-01 9.89567254e-01 -2.04941389e-02 1.30468145e+00] [ 1.09127662e-01 4.85987735e-03 9.94015863e-01 1.38924794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76241403699999 meters Centerline goodness : 0.772294 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.31, Z:1.39 [[ 9.83722202e-01 -1.44170554e-01 -1.07263599e-01 5.50191309e+00] [ 1.42745191e-01 9.89538986e-01 -2.08903162e-02 1.30531823e+00] [ 1.09153281e-01 5.23890494e-03 9.94011124e-01 1.38965028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822414037 meters Centerline goodness : 0.782326 with order 3 Centerline is valid? [False, False] Translation: X:5.50, Y:1.31, Z:1.39 [[ 9.83760798e-01 -1.43837734e-01 -1.07356413e-01 5.50276406e+00] [ 1.42446057e-01 9.89588982e-01 -2.05613247e-02 1.30508071e+00] [ 1.09196218e-01 4.93492746e-03 9.94007964e-01 1.38891695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882414037 meters Centerline goodness : 0.769734 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.30, Z:1.39 [[ 9.83792393e-01 -1.43451354e-01 -1.07583623e-01 5.50382097e+00] [ 1.42098127e-01 9.89646835e-01 -2.01807837e-02 1.30477951e+00] [ 1.09364753e-01 4.56627018e-03 9.93991197e-01 1.38826553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942414037 meters Centerline goodness : 0.769342 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 9.83852301e-01 -1.42747526e-01 -1.07971260e-01 5.50519904e+00] [ 1.41465838e-01 9.89751492e-01 -1.94782072e-02 1.30424249e+00] [ 1.09645182e-01 3.88943416e-03 9.93963182e-01 1.38761216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002414037 meters Centerline goodness : 0.782933 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 9.83852651e-01 -1.42756143e-01 -1.07956681e-01 5.50509469e+00] [ 1.41478386e-01 9.89750380e-01 -1.94435571e-02 1.30398953e+00] [ 1.09625853e-01 3.85605824e-03 9.93965444e-01 1.38779383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062414037 meters Centerline goodness : 0.769065 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 9.83837709e-01 -1.42927659e-01 -1.07865877e-01 5.50510108e+00] [ 1.41684538e-01 9.89726773e-01 -1.91417379e-02 1.30250128e+00] [ 1.09493630e-01 3.54943661e-03 9.93981160e-01 1.38749834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122414037 meters Centerline goodness : 0.780772 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 0.98329143 -0.14682349 -0.10761429 5.50594158] [ 0.14519124 0.98913875 -0.02289195 1.30291829] [ 0.10980654 0.0068848 0.99392913 1.38751557] [ 0. 0. 0. 1. ]] SLAMing on 225.18241403699997 meters Centerline goodness : 0.777182 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 0.98326804 -0.1468026 -0.10785618 5.50646943] [ 0.1451542 0.98914118 -0.02302152 1.30423625] [ 0.1100646 0.00698055 0.99389992 1.38745559] [ 0. 0. 0. 1. ]] SLAMing on 225.24241403699997 meters Centerline goodness : 0.779921 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 0.98329924 -0.14642241 -0.10808828 5.50751423] [ 0.14479786 0.9891992 -0.02277123 1.30485793] [ 0.11025506 0.00673998 0.99388047 1.38676465] [ 0. 0. 0. 1. ]] SLAMing on 225.30241403699998 meters Centerline goodness : 0.772445 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.31, Z:1.39 [[ 0.98334047 -0.14605654 -0.10820817 5.50826934] [ 0.14445393 0.98925463 -0.02254642 1.30503915] [ 0.11033849 0.00653971 0.99387255 1.38620734] [ 0. 0. 0. 1. ]] SLAMing on 225.36241403699998 meters Centerline goodness : 0.779666 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.31, Z:1.39 [[ 0.98336372 -0.1458222 -0.10831286 5.50872407] [ 0.14423423 0.98929011 -0.02239583 1.30526483] [ 0.11041865 0.00640083 0.99386455 1.3859383 ] [ 0. 0. 0. 1. ]] SLAMing on 225.42241403699998 meters Centerline goodness : 0.773626 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 0.98338116 -0.14568203 -0.10834312 5.50899534] [ 0.14413189 0.98931288 -0.02204595 1.30416889] [ 0.11039695 0.00606387 0.99386908 1.38575408] [ 0. 0. 0. 1. ]] SLAMing on 225.48241403699998 meters Centerline goodness : 0.779352 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 9.83411986e-01 -1.45401104e-01 -1.08440700e-01 5.50920981e+00] [ 1.43928456e-01 9.89358237e-01 -2.13278840e-02 1.30196124e+00] [ 1.10387798e-01 5.36639420e-03 9.93874105e-01 1.38571746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542414037 meters Centerline goodness : 0.782098 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 9.83709476e-01 -1.42123727e-01 -1.10075037e-01 5.51173084e+00] [ 1.41179981e-01 9.89848746e-01 -1.63607252e-02 1.29962124e+00] [ 1.11282884e-01 5.53808780e-04 9.93788616e-01 1.38545673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602414037 meters Centerline goodness : 0.772708 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.38 [[ 9.83774209e-01 -1.41444627e-01 -1.10370842e-01 5.51314767e+00] [ 1.40554043e-01 9.89946166e-01 -1.58476969e-02 1.29936405e+00] [ 1.11502764e-01 7.74873668e-05 9.93764121e-01 1.38461625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662414037 meters Centerline goodness : 0.775631 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.38 [[ 9.83859313e-01 -1.40504552e-01 -1.10812104e-01 5.51479347e+00] [ 1.39663483e-01 9.90079964e-01 -1.53550261e-02 1.29918128e+00] [ 1.11870295e-01 -3.69219078e-04 9.93722748e-01 1.38406394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722414037 meters Centerline goodness : 0.784929 with order 3 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.38 [[ 9.84362915e-01 -1.36549263e-01 -1.11283195e-01 5.51410900e+00] [ 1.36141095e-01 9.90625075e-01 -1.12944102e-02 1.29866748e+00] [ 1.11782166e-01 -4.03241747e-03 9.93724553e-01 1.38472580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782414037 meters Centerline goodness : 0.776066 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.30, Z:1.39 [[ 9.84371686e-01 -1.36239416e-01 -1.11584972e-01 5.51468937e+00] [ 1.35795462e-01 9.90668923e-01 -1.16050422e-02 1.29969544e+00] [ 1.12124829e-01 -3.72905789e-03 9.93687132e-01 1.38513771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842414037 meters Centerline goodness : 0.772021 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84366455e-01 -1.36252582e-01 -1.11615033e-01 5.51511018e+00] [ 1.35812292e-01 9.90666975e-01 -1.15743251e-02 1.29949004e+00] [ 1.12150359e-01 -3.76531618e-03 9.93684114e-01 1.38475488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902414037 meters Centerline goodness : 0.773251 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84079232e-01 -1.38327522e-01 -1.11595523e-01 5.51745925e+00] [ 1.37633878e-01 9.90385168e-01 -1.39332263e-02 1.30064071e+00] [ 1.12449900e-01 -1.64792591e-03 9.93656029e-01 1.38349071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96241403699997 meters Centerline goodness : 0.775201 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84046658e-01 -1.38633258e-01 -1.11503340e-01 5.51741470e+00] [ 1.37916026e-01 9.90342733e-01 -1.41577449e-02 1.30109325e+00] [ 1.12389256e-01 -1.44621593e-03 9.93663204e-01 1.38330198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02241403699998 meters Centerline goodness : 0.785168 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84018173e-01 -1.39014435e-01 -1.11279923e-01 5.51706326e+00] [ 1.38275800e-01 9.90289565e-01 -1.43659676e-02 1.30113846e+00] [ 1.12196423e-01 -1.25094714e-03 9.93685261e-01 1.38319564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08241403699998 meters Centerline goodness : 0.787695 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.83963335e-01 -1.39531545e-01 -1.11117516e-01 5.51645381e+00] [ 1.38730751e-01 9.90217371e-01 -1.49444245e-02 1.30278764e+00] [ 1.12115713e-01 -7.10650750e-04 9.93694904e-01 1.38344160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14241403699998 meters Centerline goodness : 0.784009 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.83941532e-01 -1.39682146e-01 -1.11121378e-01 5.51655874e+00] [ 1.38839113e-01 9.90196333e-01 -1.53272014e-02 1.30401359e+00] [ 1.12172917e-01 -3.46923494e-04 9.93688642e-01 1.38340628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20241403699998 meters Centerline goodness : 0.785752 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.83934623e-01 -1.39607229e-01 -1.11276586e-01 5.51717158e+00] [ 1.38750719e-01 9.90206929e-01 -1.54426782e-02 1.30479998e+00] [ 1.12342756e-01 -2.45120488e-04 9.93669485e-01 1.38313534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26241403699999 meters Centerline goodness : 0.775856 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 9.83938960e-01 -1.39337671e-01 -1.11575697e-01 5.51814098e+00] [ 1.38448165e-01 9.90244926e-01 -1.57191741e-02 1.30788477e+00] [ 1.12677541e-01 1.92572565e-05 9.93631607e-01 1.38269685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322414037 meters Centerline goodness : 0.775050 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 9.83885379e-01 -1.39647707e-01 -1.11660551e-01 5.51831588e+00] [ 1.38718173e-01 9.90201193e-01 -1.60893363e-02 1.30865913e+00] [ 1.12813250e-01 3.40715131e-04 9.93616151e-01 1.38272730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382414037 meters Centerline goodness : 0.776566 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 9.83294106e-01 -1.44003960e-01 -1.11335354e-01 5.51917108e+00] [ 1.42634109e-01 9.89569041e-01 -2.02144398e-02 1.30989091e+00] [ 1.13084979e-01 3.99652049e-03 9.93577282e-01 1.38241339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442414037 meters Centerline goodness : 0.775148 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.9826743 -0.14825139 -0.11123281 5.52055949] [ 0.14643413 0.98891998 -0.0243786 1.31236922] [ 0.11361451 0.00766794 0.99349532 1.38195059] [ 0. 0. 0. 1. ]] SLAMing on 226.502414037 meters Centerline goodness : 0.776455 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.98261669 -0.14866416 -0.11119087 5.52030709] [ 0.14681182 0.98885573 -0.02471117 1.31320997] [ 0.11362539 0.00795748 0.9934918 1.38206163] [ 0. 0. 0. 1. ]] SLAMing on 226.562414037 meters Centerline goodness : 0.777481 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.98432219 -0.14695921 -0.09753369 5.52020826] [ 0.14557083 0.9891198 -0.02124053 1.31342906] [ 0.09959399 0.00670947 0.99500554 1.37631215] [ 0. 0. 0. 1. ]] SLAMing on 226.622414037 meters Centerline goodness : 0.776227 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.9842933 -0.14722862 -0.09741881 5.51985492] [ 0.14580452 0.98907719 -0.0216186 1.31438289] [ 0.0995376 0.00707494 0.99500865 1.37651467] [ 0. 0. 0. 1. ]] SLAMing on 226.68241403699997 meters Centerline goodness : 0.778786 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.98429348 -0.14728262 -0.09733537 5.51991859] [ 0.145862 0.98906928 -0.02159234 1.31420708] [ 0.09945161 0.00705567 0.99501738 1.37625356] [ 0. 0. 0. 1. ]] SLAMing on 226.74241403699997 meters Centerline goodness : 0.777301 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.32, Z:1.38 [[ 0.9843024 -0.14706115 -0.09757976 5.52075749] [ 0.14563504 0.98910214 -0.021619 1.31577261] [ 0.09969566 0.00706861 0.99499287 1.37578732] [ 0. 0. 0. 1. ]] SLAMing on 226.80241403699998 meters Centerline goodness : 0.780519 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.32, Z:1.38 [[ 0.98430406 -0.14702382 -0.09761922 5.52117408] [ 0.14560738 0.98910842 -0.02151791 1.31652942] [ 0.09971964 0.00696609 0.99499119 1.3752622 ] [ 0. 0. 0. 1. ]] SLAMing on 226.86241403699998 meters Centerline goodness : 0.776820 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.37 [[ 0.98421932 -0.14780874 -0.09728771 5.52047839] [ 0.14641156 0.98899255 -0.02138662 1.31457289] [ 0.09937795 0.00680508 0.99502649 1.37495131] [ 0. 0. 0. 1. ]] SLAMing on 226.92241403699998 meters Centerline goodness : 0.777566 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.98414571 -0.14855642 -0.09689279 5.51922583] [ 0.14716362 0.9888805 -0.02140619 1.31330272] [ 0.09899542 0.00680772 0.9950646 1.37521764] [ 0. 0. 0. 1. ]] SLAMing on 226.98241403699998 meters Centerline goodness : 0.776714 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.98396558 -0.15000819 -0.09648458 5.5177013 ] [ 0.14859338 0.98865968 -0.02172661 1.31021473] [ 0.09864958 0.00704127 0.99509732 1.37590134] [ 0. 0. 0. 1. ]] SLAMing on 227.042414037 meters Centerline goodness : 0.778281 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.9838843 -0.15076477 -0.0961336 5.51655188] [ 0.14939305 0.98854732 -0.02135192 1.30691033] [ 0.09825173 0.00664613 0.9951394 1.37621585] [ 0. 0. 0. 1. ]] SLAMing on 227.102414037 meters Centerline goodness : 0.787624 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.31, Z:1.38 [[ 0.9839339 -0.15045733 -0.09610757 5.51637225] [ 0.14911865 0.98859621 -0.02100402 1.30603342] [ 0.09817179 0.00633514 0.99514932 1.37646329] [ 0. 0. 0. 1. ]] SLAMing on 227.162414037 meters Centerline goodness : 0.785991 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 0.98398952 -0.14997556 -0.09629104 5.51706768] [ 0.14868837 0.98867267 -0.02044783 1.30479472] [ 0.09826699 0.0058031 0.99514317 1.37614412] [ 0. 0. 0. 1. ]] SLAMing on 227.222414037 meters Centerline goodness : 0.776823 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84107439e-01 -1.48845081e-01 -9.68384707e-02 5.51911235e+00] [ 1.47643574e-01 9.88848437e-01 -1.94972757e-02 1.30294162e+00] [ 9.86606440e-02 4.88983615e-03 9.95109123e-01 1.37534739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282414037 meters Centerline goodness : 0.776303 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84225366e-01 -1.47778251e-01 -9.72729040e-02 5.52042912e+00] [ 1.46621957e-01 9.89010697e-01 -1.89695326e-02 1.30291499e+00] [ 9.90072269e-02 4.40795159e-03 9.95076951e-01 1.37514639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342414037 meters Centerline goodness : 0.779086 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.84862220e-01 -1.43238421e-01 -9.76174315e-02 5.51964377e+00] [ 1.42462928e-01 9.89687909e-01 -1.49048995e-02 1.30235746e+00] [ 9.87457460e-02 7.72407363e-04 9.95112396e-01 1.37555653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402414037 meters Centerline goodness : 0.788165 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.85482758e-01 -1.38615894e-01 -9.80273857e-02 5.51906093e+00] [ 1.38220745e-01 9.90342081e-01 -1.08438310e-02 1.30105032e+00] [ 9.85837725e-02 -2.86300982e-03 9.95124637e-01 1.37613734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46241403699997 meters Centerline goodness : 0.787905 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.38 [[ 9.85632163e-01 -1.37336757e-01 -9.83252493e-02 5.52024740e+00] [ 1.37001822e-01 9.90518460e-01 -1.01824409e-02 1.30039993e+00] [ 9.87913979e-02 -3.43459700e-03 9.95102238e-01 1.37588094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52241403699998 meters Centerline goodness : 0.778098 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.37 [[ 9.85735349e-01 -1.36439025e-01 -9.85404205e-02 5.52189790e+00] [ 1.36157595e-01 9.90640608e-01 -9.60706854e-03 1.29938508e+00] [ 9.89289211e-02 -3.94699956e-03 9.95086674e-01 1.37435850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58241403699998 meters Centerline goodness : 0.786527 with order 3 Centerline is valid? [False, False] Translation: X:5.52, Y:1.30, Z:1.37 [[ 9.85732488e-01 -1.35924485e-01 -9.92773717e-02 5.52496362e+00] [ 1.35701626e-01 9.90708637e-01 -9.02582829e-03 1.29837504e+00] [ 9.95817807e-02 -4.57504856e-03 9.95018863e-01 1.37246233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64241403699998 meters Centerline goodness : 0.787325 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.30, Z:1.37 [[ 9.85731978e-01 -1.35613130e-01 -9.97073041e-02 5.52642709e+00] [ 1.35463205e-01 9.90747578e-01 -8.30397042e-03 1.29740324e+00] [ 9.99108975e-02 -5.32118184e-03 9.94982159e-01 1.37171216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70241403699998 meters Centerline goodness : 0.776363 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.30, Z:1.37 [[ 0.98576964 -0.13521781 -0.09987169 5.52738961] [ 0.13515058 0.99079691 -0.00747012 1.29577389] [ 0.09996265 -0.0061339 0.99497228 1.37102399] [ 0. 0. 0. 1. ]] SLAMing on 227.76241403699999 meters Centerline goodness : 0.778934 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 0.98589504 -0.1345403 -0.09954837 5.52702544] [ 0.13453088 0.99088581 -0.00683831 1.29361556] [ 0.0995611 -0.00665048 0.99500923 1.37087287] [ 0. 0. 0. 1. ]] SLAMing on 227.822414037 meters Centerline goodness : 0.777662 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 0.98592999 -0.13412975 -0.09975603 5.52788698] [ 0.13414796 0.99093963 -0.00655588 1.29336205] [ 0.09973155 -0.00691843 0.99499033 1.37033719] [ 0. 0. 0. 1. ]] SLAMing on 227.882414037 meters Centerline goodness : 0.778786 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 9.86284641e-01 -1.30716453e-01 -1.00776067e-01 5.52954888e+00] [ 1.31179244e-01 9.91356548e-01 -2.04947583e-03 1.29097623e+00] [ 1.00172914e-01 -1.11983618e-02 9.94907023e-01 1.36970860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942414037 meters Centerline goodness : 0.778240 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 9.86586300e-01 -1.27360923e-01 -1.02111059e-01 5.53184857e+00] [ 1.28292327e-01 9.91733041e-01 2.57970400e-03 1.28889783e+00] [ 1.00938357e-01 -1.56451660e-02 9.94769660e-01 1.36917435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002414037 meters Centerline goodness : 0.787368 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 0.98695658 -0.12423012 -0.10238943 5.53148863] [ 0.12560823 0.99205453 0.00709851 1.28605982] [ 0.10069405 -0.01986688 0.99471906 1.36950031] [ 0. 0. 0. 1. ]] SLAMing on 228.062414037 meters Centerline goodness : 0.788473 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.28, Z:1.37 [[ 0.98694447 -0.12430749 -0.10241223 5.53216673] [ 0.12574537 0.99203282 0.00768063 1.28357153] [ 0.10064153 -0.02045822 0.99471239 1.36918577] [ 0. 0. 0. 1. ]] SLAMing on 228.122414037 meters Centerline goodness : 0.778831 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.28, Z:1.37 [[ 0.98684667 -0.12447039 -0.10315413 5.5347277 ] [ 0.12601519 0.99199128 0.00857096 1.28205561] [ 0.10126117 -0.02145721 0.99462846 1.36799183] [ 0. 0. 0. 1. ]] SLAMing on 228.18241403699997 meters Centerline goodness : 0.779010 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.28, Z:1.37 [[ 0.98686013 -0.12421476 -0.10333334 5.53596415] [ 0.12579837 0.99201567 0.00892648 1.28132629] [ 0.10139949 -0.02180835 0.99460673 1.36694683] [ 0. 0. 0. 1. ]] SLAMing on 228.24241403699997 meters Centerline goodness : 0.787468 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.28, Z:1.37 [[ 0.98701038 -0.12330776 -0.10298406 5.53490946] [ 0.12495912 0.99211432 0.00971562 1.28053493] [ 0.10097395 -0.02245822 0.99463556 1.3673804 ] [ 0. 0. 0. 1. ]] SLAMing on 228.30241403699998 meters Centerline goodness : 0.779476 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.28, Z:1.37 [[ 0.98711218 -0.12271218 -0.10271933 5.53352856] [ 0.12440467 0.99217902 0.01021152 1.28030425] [ 0.10066289 -0.02285868 0.99465796 1.36850929] [ 0. 0. 0. 1. ]] SLAMing on 228.36241403699998 meters Centerline goodness : 0.786532 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.28, Z:1.37 [[ 0.98735537 -0.12007608 -0.10349451 5.53442696] [ 0.12216506 0.99241014 0.01406463 1.27878238] [ 0.10102017 -0.0265302 0.99453058 1.36850905] [ 0. 0. 0. 1. ]] SLAMing on 228.42241403699998 meters Centerline goodness : 0.788837 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.28, Z:1.37 [[ 0.98748099 -0.11903509 -0.10349851 5.53594318] [ 0.12109121 0.99254556 0.0137927 1.27969692] [ 0.10108517 -0.02615279 0.99453397 1.36630371] [ 0. 0. 0. 1. ]] SLAMing on 228.48241403699998 meters Centerline goodness : 0.776928 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.28, Z:1.37 [[ 0.98763449 -0.11832968 -0.10284069 5.53452499] [ 0.12017947 0.99268015 0.01195896 1.28396689] [ 0.10067281 -0.02417042 0.99462595 1.3657831 ] [ 0. 0. 0. 1. ]] SLAMing on 228.542414037 meters Centerline goodness : 0.777316 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.28, Z:1.37 [[ 0.98794078 -0.11500499 -0.10366711 5.53511714] [ 0.11725968 0.99297394 0.01590338 1.28393891] [ 0.10110977 -0.02786757 0.9944849 1.36600186] [ 0. 0. 0. 1. ]] SLAMing on 228.602414037 meters Centerline goodness : 0.788386 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 0.98789792 -0.1155398 -0.10348066 5.53377882] [ 0.11770745 0.99293395 0.015071 1.28634996] [ 0.10100816 -0.02706906 0.99451728 1.36699018] [ 0. 0. 0. 1. ]] SLAMing on 228.662414037 meters Centerline goodness : 0.788154 with order 3 Centerline is valid? [False, False] Translation: X:5.53, Y:1.29, Z:1.37 [[ 0.98765954 -0.11686369 -0.10426651 5.53420598] [ 0.11910199 0.99276128 0.01548414 1.28704044] [ 0.10170222 -0.0277114 0.99442885 1.36858139] [ 0. 0. 0. 1. ]] SLAMing on 228.722414037 meters Centerline goodness : 0.788225 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.29, Z:1.37 [[ 0.9874106 -0.11822421 -0.10508733 5.53540487] [ 0.12050897 0.992589 0.01564209 1.2872772 ] [ 0.10245925 -0.02810913 0.99433997 1.36930031] [ 0. 0. 0. 1. ]] SLAMing on 228.782414037 meters Centerline goodness : 0.789183 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.29, Z:1.37 [[ 0.98706893 -0.12033637 -0.10589657 5.53754942] [ 0.12256184 0.9923514 0.01474097 1.28872217] [ 0.10331273 -0.02752923 0.99426788 1.36880324] [ 0. 0. 0. 1. ]] SLAMing on 228.842414037 meters Centerline goodness : 0.789233 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.29, Z:1.37 [[ 0.98686946 -0.12142605 -0.10650999 5.53933715] [ 0.12359564 0.99223409 0.01398644 1.29014145] [ 0.10398453 -0.02696696 0.99421326 1.36810281] [ 0. 0. 0. 1. ]] SLAMing on 228.902414037 meters Centerline goodness : 0.790270 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.29, Z:1.37 [[ 0.98690561 -0.12009068 -0.10768264 5.54030649] [ 0.12260019 0.99231103 0.01697123 1.29092202] [ 0.10481659 -0.02995091 0.99404045 1.36884953] [ 0. 0. 0. 1. ]] SLAMing on 228.96241403699997 meters Centerline goodness : 0.787270 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.29, Z:1.37 [[ 0.98683779 -0.12081765 -0.10749081 5.53941381] [ 0.12321177 0.99225313 0.01589295 1.29303661] [ 0.10473795 -0.0289279 0.99407904 1.3695148 ] [ 0. 0. 0. 1. ]] SLAMing on 229.02241403699998 meters Centerline goodness : 0.790729 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.30, Z:1.37 [[ 0.98673966 -0.12167468 -0.10742491 5.53878546] [ 0.12391396 0.99218852 0.01439705 1.29702077] [ 0.10483401 -0.02751759 0.99410895 1.37015135] [ 0. 0. 0. 1. ]] SLAMing on 229.08241403699998 meters Centerline goodness : 0.790298 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.30, Z:1.37 [[ 0.98662736 -0.12247615 -0.10754557 5.53842189] [ 0.12454601 0.9921323 0.01271979 1.30197765] [ 0.10514156 -0.02594407 0.99411878 1.37094384] [ 0. 0. 0. 1. ]] SLAMing on 229.14241403699998 meters Centerline goodness : 0.774710 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.30, Z:1.37 [[ 0.98655355 -0.12319395 -0.10740271 5.53774293] [ 0.12514801 0.99207001 0.01162161 1.30412349] [ 0.10511929 -0.02490658 0.99414767 1.37146114] [ 0. 0. 0. 1. ]] SLAMing on 229.20241403699998 meters Centerline goodness : 0.773690 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.31, Z:1.37 [[ 0.98648444 -0.12383203 -0.10730371 5.53766644] [ 0.12565327 0.99202018 0.01035496 1.30816455] [ 0.10516517 -0.02369807 0.99417236 1.37133542] [ 0. 0. 0. 1. ]] SLAMing on 229.26241403699999 meters Centerline goodness : 0.775304 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.31, Z:1.37 [[ 0.98641082 -0.12440973 -0.10731225 5.53744941] [ 0.12609485 0.99197703 0.00903654 1.31255152] [ 0.10532705 -0.02244526 0.9941843 1.37161735] [ 0. 0. 0. 1. ]] SLAMing on 229.322414037 meters Centerline goodness : 0.789613 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.31, Z:1.37 [[ 0.98634871 -0.12480343 -0.10742591 5.53753955] [ 0.12642071 0.99194156 0.00835178 1.31441018] [ 0.1055179 -0.02181863 0.99417801 1.37179354] [ 0. 0. 0. 1. ]] SLAMing on 229.382414037 meters Centerline goodness : 0.789736 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.32, Z:1.37 [[ 9.85907626e-01 -1.28426766e-01 -1.07204103e-01 5.53889302e+00] [ 1.29633745e-01 9.91552458e-01 4.33773218e-03 1.31769359e+00] [ 1.05741411e-01 -1.81738726e-02 9.94227572e-01 1.37105558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442414037 meters Centerline goodness : 0.788801 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.32, Z:1.37 [[ 9.85385465e-01 -1.32654576e-01 -1.06856208e-01 5.53922613e+00] [ 1.33391452e-01 9.91063397e-01 -2.53580629e-04 1.32052075e+00] [ 1.05934915e-01 -1.40038301e-02 9.94274452e-01 1.37143623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502414037 meters Centerline goodness : 0.788995 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.32, Z:1.37 [[ 9.84789335e-01 -1.37416916e-01 -1.06332297e-01 5.53884868e+00] [ 1.37685912e-01 9.90464104e-01 -4.84241481e-03 1.32191909e+00] [ 1.05983753e-01 -9.87170085e-03 9.94318859e-01 1.37213532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562414037 meters Centerline goodness : 0.772922 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.32, Z:1.37 [[ 0.98421724 -0.14170496 -0.10600061 5.53930234] [ 0.14154585 0.98989023 -0.00906115 1.32322648] [ 0.10621298 -0.00608581 0.99432478 1.37236736] [ 0. 0. 0. 1. ]] SLAMing on 229.622414037 meters Centerline goodness : 0.786273 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.32, Z:1.37 [[ 0.98413396 -0.14246769 -0.10575119 5.53851195] [ 0.14226213 0.9897832 -0.00952358 1.32316342] [ 0.10602756 -0.00567191 0.99434702 1.37268557] [ 0. 0. 0. 1. ]] SLAMing on 229.68241403699997 meters Centerline goodness : 0.788382 with order 3 Centerline is valid? [False, False] Translation: X:5.54, Y:1.32, Z:1.37 [[ 9.84132137e-01 -1.42401359e-01 -1.05857406e-01 5.53859502e+00] [ 1.42165624e-01 9.89794287e-01 -9.80840682e-03 1.32360869e+00] [ 1.06173786e-01 -5.39651581e-03 9.94332945e-01 1.37320549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74241403699997 meters Centerline goodness : 0.791438 with order 3 Centerline is valid? [False, False] Translation: X:4.98, Y:1.26, Z:1.38 [[ 0.95909813 -0.0913584 -0.26792615 4.98203134] [ 0.14676889 0.96982051 0.19469737 1.2638528 ] [ 0.24205304 -0.22605711 0.94356161 1.37643238] [ 0. 0. 0. 1. ]] SLAMing on 229.80241403699998 meters Centerline goodness : 0.786725 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.47 [[ 0.93404497 -0.26788577 -0.23621432 5.3432676 ] [ 0.27959877 0.95996788 0.01691723 1.43642176] [ 0.22222628 -0.08184669 0.97155371 1.47027802] [ 0. 0. 0. 1. ]] SLAMing on 229.86241403699998 meters Centerline goodness : 0.774251 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.47 [[ 0.93507057 -0.26523235 -0.23514853 5.342541 ] [ 0.277138 0.96065223 0.01848846 1.43662073] [ 0.22099222 -0.08245661 0.97178359 1.46906453] [ 0. 0. 0. 1. ]] SLAMing on 229.92241403699998 meters Centerline goodness : 0.775301 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.47 [[ 0.93521285 -0.26472374 -0.23515583 5.34289563] [ 0.2766801 0.96077876 0.01876984 1.43628523] [ 0.2209639 -0.08261673 0.97177643 1.4689413 ] [ 0. 0. 0. 1. ]] SLAMing on 229.98241403699998 meters Centerline goodness : 0.776640 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.47 [[ 0.93516828 -0.26506081 -0.23495331 5.34182309] [ 0.27692636 0.96071482 0.01840749 1.43624587] [ 0.22084402 -0.08227886 0.97183235 1.46973355] [ 0. 0. 0. 1. ]] SLAMing on 230.042414037 meters Centerline goodness : 0.777718 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93510401 -0.2654101 -0.23481475 5.34116286] [ 0.27726234 0.96061881 0.01835998 1.43456365] [ 0.22069455 -0.08227378 0.97186673 1.47047081] [ 0. 0. 0. 1. ]] SLAMing on 230.102414037 meters Centerline goodness : 0.776266 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93406461 -0.26964909 -0.23412106 5.34263832] [ 0.28080725 0.95964612 0.01505379 1.43266399] [ 0.22061412 -0.0798041 0.9720909 1.47036677] [ 0. 0. 0. 1. ]] SLAMing on 230.162414037 meters Centerline goodness : 0.776372 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93301817 -0.2738007 -0.23347436 5.34432425] [ 0.28426286 0.95867473 0.01172123 1.43170268] [ 0.22061669 -0.07730421 0.97229231 1.47004792] [ 0. 0. 0. 1. ]] SLAMing on 230.222414037 meters Centerline goodness : 0.776071 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93298832 -0.27398691 -0.23337515 5.34384559] [ 0.28441409 0.95863159 0.01158012 1.4313505 ] [ 0.22054799 -0.0771793 0.97231782 1.4704638 ] [ 0. 0. 0. 1. ]] SLAMing on 230.282414037 meters Centerline goodness : 0.777479 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93290587 -0.27430099 -0.23333583 5.34294452] [ 0.28463984 0.95856949 0.0111668 1.4308062 ] [ 0.22060554 -0.07683425 0.97233209 1.47167831] [ 0. 0. 0. 1. ]] SLAMing on 230.342414037 meters Centerline goodness : 0.776974 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93286369 -0.27460576 -0.23314592 5.34206029] [ 0.28487626 0.95850236 0.01089641 1.42986282] [ 0.2204787 -0.07658261 0.97238071 1.47258837] [ 0. 0. 0. 1. ]] SLAMing on 230.40241403699997 meters Centerline goodness : 0.777018 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93291914 -0.27410282 -0.23351558 5.34366751] [ 0.28448373 0.95861413 0.01131179 1.4284561 ] [ 0.22075074 -0.07698437 0.97228726 1.47232057] [ 0. 0. 0. 1. ]] SLAMing on 230.46241403699997 meters Centerline goodness : 0.775496 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.47 [[ 0.93296171 -0.2738261 -0.2336701 5.34455802] [ 0.28430741 0.95866139 0.01173203 1.4267892 ] [ 0.22079797 -0.07737968 0.97224516 1.47214919] [ 0. 0. 0. 1. ]] SLAMing on 230.52241403699998 meters Centerline goodness : 0.791063 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.42, Z:1.47 [[ 0.93392565 -0.27312753 -0.23061708 5.3415981 ] [ 0.28336186 0.95894022 0.01182018 1.42218507] [ 0.21791958 -0.07638725 0.97297279 1.47072922] [ 0. 0. 0. 1. ]] SLAMing on 230.58241403699998 meters Centerline goodness : 0.793961 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.42, Z:1.47 [[ 0.9339911 -0.27298196 -0.23052434 5.34082056] [ 0.28331351 0.9589484 0.01230536 1.41932356] [ 0.2177018 -0.07680376 0.97298875 1.47178825] [ 0. 0. 0. 1. ]] SLAMing on 230.64241403699998 meters Centerline goodness : 0.796464 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.42, Z:1.47 [[ 0.93401478 -0.27290298 -0.23052192 5.34108757] [ 0.28334237 0.95893343 0.01279779 1.41648103] [ 0.21756262 -0.07726995 0.97298297 1.47206603] [ 0. 0. 0. 1. ]] SLAMing on 230.70241403699998 meters Centerline goodness : 0.796288 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.41, Z:1.47 [[ 0.93320356 -0.27581747 -0.23033855 5.34464792] [ 0.28581041 0.95822844 0.01051991 1.41344867] [ 0.21781537 -0.07565037 0.97305369 1.47123896] [ 0. 0. 0. 1. ]] SLAMing on 230.76241403699999 meters Centerline goodness : 0.803175 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.41, Z:1.47 [[ 0.93317208 -0.27557967 -0.23075035 5.34470913] [ 0.28583426 0.95820923 0.01156906 1.41138086] [ 0.21791892 -0.07675228 0.97294421 1.4723326 ] [ 0. 0. 0. 1. ]] SLAMing on 230.822414037 meters Centerline goodness : 0.799968 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.41, Z:1.47 [[ 0.93330295 -0.27511279 -0.23077816 5.34454726] [ 0.28551441 0.95829585 0.01227152 1.40974894] [ 0.2177777 -0.07734353 0.97292901 1.47283128] [ 0. 0. 0. 1. ]] SLAMing on 230.882414037 meters Centerline goodness : 0.799225 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.47 [[ 0.93336817 -0.27410753 -0.23170869 5.34750355] [ 0.28506496 0.95839808 0.0145287 1.40496141] [ 0.21808673 -0.07961266 0.97267672 1.47268766] [ 0. 0. 0. 1. ]] SLAMing on 230.942414037 meters Centerline goodness : 0.799902 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.47 [[ 0.93337058 -0.27410919 -0.23169704 5.34806121] [ 0.28519371 0.95835095 0.01509996 1.40246515] [ 0.21790804 -0.0801724 0.97267079 1.47284655] [ 0. 0. 0. 1. ]] SLAMing on 231.002414037 meters Centerline goodness : 0.800156 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.47 [[ 0.9335921 -0.2728832 -0.23225106 5.3490768 ] [ 0.28443931 0.95854083 0.01713919 1.39996121] [ 0.21794513 -0.08206234 0.97250486 1.47316945] [ 0. 0. 0. 1. ]] SLAMing on 231.062414037 meters Centerline goodness : 0.798791 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.47 [[ 0.93393338 -0.27202061 -0.23189056 5.34911756] [ 0.28379158 0.95871054 0.01834228 1.39570608] [ 0.21732645 -0.08293906 0.97256893 1.4732788 ] [ 0. 0. 0. 1. ]] SLAMing on 231.122414037 meters Centerline goodness : 0.803092 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.47 [[ 0.93400366 -0.27139481 -0.23234031 5.35048421] [ 0.28347055 0.95878057 0.01960253 1.39327015] [ 0.21744335 -0.08417047 0.972437 1.47324175] [ 0. 0. 0. 1. ]] SLAMing on 231.18241403699997 meters Centerline goodness : 0.792208 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.47 [[ 0.93405845 -0.27086484 -0.23273815 5.3520939 ] [ 0.28309943 0.95887747 0.02021681 1.39203124] [ 0.21769135 -0.08477172 0.97232928 1.47284487] [ 0. 0. 0. 1. ]] SLAMing on 231.24241403699997 meters Centerline goodness : 0.799159 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.47 [[ 0.93434761 -0.27032673 -0.2322025 5.35267998] [ 0.28253325 0.95904122 0.02036922 1.39032181] [ 0.21718543 -0.08463686 0.97245416 1.47160868] [ 0. 0. 0. 1. ]] SLAMing on 231.30241403699998 meters Centerline goodness : 0.802825 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.47 [[ 0.93445197 -0.26946601 -0.23278226 5.35359607] [ 0.28193603 0.95919414 0.02141684 1.38946626] [ 0.21751227 -0.08564272 0.97229303 1.47190941] [ 0. 0. 0. 1. ]] SLAMing on 231.36241403699998 meters Centerline goodness : 0.801124 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.47 [[ 0.93465297 -0.26852483 -0.23306275 5.35385177] [ 0.28127374 0.95935998 0.02266068 1.38768023] [ 0.21750613 -0.0867343 0.97219764 1.47235729] [ 0. 0. 0. 1. ]] SLAMing on 231.42241403699998 meters Centerline goodness : 0.794717 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93460334 -0.26876524 -0.23298463 5.35539622] [ 0.2815891 0.9592594 0.02299952 1.38473193] [ 0.21731122 -0.08710136 0.97220841 1.47172576] [ 0. 0. 0. 1. ]] SLAMing on 231.48241403699998 meters Centerline goodness : 0.796479 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.9344194 -0.26925528 -0.23315654 5.35578962] [ 0.28212708 0.95909926 0.02308524 1.38390848] [ 0.21740444 -0.08735107 0.97216516 1.47215155] [ 0. 0. 0. 1. ]] SLAMing on 231.542414037 meters Centerline goodness : 0.796892 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.9343227 -0.2692941 -0.23349898 5.35581969] [ 0.28229826 0.95903806 0.02353064 1.38336064] [ 0.21759775 -0.08790156 0.97207229 1.4729935 ] [ 0. 0. 0. 1. ]] SLAMing on 231.602414037 meters Centerline goodness : 0.795289 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93458444 -0.26852586 -0.2333362 5.35634486] [ 0.28167693 0.95920039 0.02434581 1.38062083] [ 0.2172787 -0.08847864 0.9720913 1.47281393] [ 0. 0. 0. 1. ]] SLAMing on 231.662414037 meters Centerline goodness : 0.795179 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93501368 -0.26538395 -0.23520369 5.35805676] [ 0.27963814 0.95967213 0.02884271 1.37850877] [ 0.21806404 -0.09274026 0.97151805 1.47365508] [ 0. 0. 0. 1. ]] SLAMing on 231.722414037 meters Centerline goodness : 0.801243 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93510317 -0.26525958 -0.23498812 5.3574498 ] [ 0.27942853 0.9597413 0.02857139 1.3792397 ] [ 0.21794897 -0.09237958 0.97157823 1.47364631] [ 0. 0. 0. 1. ]] SLAMing on 231.782414037 meters Centerline goodness : 0.800336 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93507908 -0.26552501 -0.23478413 5.35792248] [ 0.27954975 0.95972326 0.02798569 1.37951222] [ 0.21789689 -0.09180267 0.97164459 1.47295244] [ 0. 0. 0. 1. ]] SLAMing on 231.842414037 meters Centerline goodness : 0.807408 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93522604 -0.26505356 -0.23473149 5.35867617] [ 0.27908302 0.95985619 0.0280849 1.37937138] [ 0.21786447 -0.0917753 0.97165445 1.47224594] [ 0. 0. 0. 1. ]] SLAMing on 231.90241403699997 meters Centerline goodness : 0.800761 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93508694 -0.26558735 -0.23468228 5.35774072] [ 0.27950038 0.95975099 0.02752413 1.38099244] [ 0.21792649 -0.09133124 0.97168238 1.47290389] [ 0. 0. 0. 1. ]] SLAMing on 231.96241403699997 meters Centerline goodness : 0.800517 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93514312 -0.2657173 -0.23431102 5.35741856] [ 0.27944581 0.95978612 0.02684486 1.38150563] [ 0.21775532 -0.09058102 0.97179097 1.47261951] [ 0. 0. 0. 1. ]] SLAMing on 232.02241403699998 meters Centerline goodness : 0.803523 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93509378 -0.26573086 -0.2344925 5.3585907 ] [ 0.27943283 0.9597954 0.02664749 1.3822108 ] [ 0.21798376 -0.09044281 0.97175263 1.47181686] [ 0. 0. 0. 1. ]] SLAMing on 232.08241403699998 meters Centerline goodness : 0.802795 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.38, Z:1.47 [[ 0.93494054 -0.26573667 -0.23509616 5.35967413] [ 0.27950734 0.95977236 0.02669559 1.38420604] [ 0.2185448 -0.09066989 0.97160545 1.4715281 ] [ 0. 0. 0. 1. ]] SLAMing on 232.14241403699998 meters Centerline goodness : 0.801364 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.47 [[ 0.93477701 -0.26643829 -0.23495229 5.35902431] [ 0.28000188 0.95965396 0.02575313 1.38598725] [ 0.21861127 -0.08986052 0.97166568 1.47181752] [ 0. 0. 0. 1. ]] SLAMing on 232.20241403699998 meters Centerline goodness : 0.803956 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.47 [[ 0.93465182 -0.26651137 -0.2353671 5.35955318] [ 0.28013904 0.95961122 0.0258539 1.38680882] [ 0.21897055 -0.09009991 0.97156261 1.47210016] [ 0. 0. 0. 1. ]] SLAMing on 232.26241403699999 meters Centerline goodness : 0.811126 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.47 [[ 0.93453566 -0.26666661 -0.23565234 5.35940245] [ 0.28029694 0.95956852 0.02572691 1.3880903 ] [ 0.21926406 -0.09009535 0.97149683 1.47265577] [ 0. 0. 0. 1. ]] SLAMing on 232.322414037 meters Centerline goodness : 0.800213 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.47 [[ 0.9340326 -0.26839044 -0.23568979 5.3593447 ] [ 0.2817228 0.95919094 0.02418688 1.39123737] [ 0.21957999 -0.08899052 0.97152731 1.47265235] [ 0. 0. 0. 1. ]] SLAMing on 232.382414037 meters Centerline goodness : 0.804606 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.47 [[ 0.93377874 -0.26934914 -0.23560201 5.358953 ] [ 0.2825394 0.95896828 0.0234803 1.39256773] [ 0.21961045 -0.08849225 0.97156594 1.47290943] [ 0. 0. 0. 1. ]] SLAMing on 232.442414037 meters Centerline goodness : 0.805322 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.47 [[ 0.93386431 -0.26712765 -0.23778199 5.3600887 ] [ 0.28126145 0.95925159 0.02698865 1.3931756 ] [ 0.22088334 -0.09208265 0.97094353 1.47445769] [ 0. 0. 0. 1. ]] SLAMing on 232.502414037 meters Centerline goodness : 0.805616 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.47 [[ 0.93364415 -0.26772627 -0.23797321 5.36001563] [ 0.28172709 0.9591354 0.02625131 1.39587322] [ 0.22122037 -0.09155288 0.9709169 1.47447416] [ 0. 0. 0. 1. ]] SLAMing on 232.562414037 meters Centerline goodness : 0.803309 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.47 [[ 0.93331702 -0.26840042 -0.23849644 5.36064912] [ 0.28219761 0.95902901 0.02505714 1.40013245] [ 0.22199966 -0.09068938 0.97082006 1.47430862] [ 0. 0. 0. 1. ]] SLAMing on 232.622414037 meters Centerline goodness : 0.802073 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.47 [[ 0.93367359 -0.26605637 -0.23972407 5.36115136] [ 0.28052687 0.95944473 0.02775754 1.40101929] [ 0.22261692 -0.09316552 0.97044417 1.47458192] [ 0. 0. 0. 1. ]] SLAMing on 232.68241403699997 meters Centerline goodness : 0.782909 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.47 [[ 0.93337219 -0.26686963 -0.23999366 5.36090138] [ 0.281105 0.95931051 0.02652047 1.40557185] [ 0.22315093 -0.09221689 0.97041213 1.47452312] [ 0. 0. 0. 1. ]] SLAMing on 232.74241403699997 meters Centerline goodness : 0.798481 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93304572 -0.26754938 -0.24050577 5.36109738] [ 0.28172984 0.9591419 0.02598276 1.40784651] [ 0.22372749 -0.09200076 0.97029989 1.47508732] [ 0. 0. 0. 1. ]] SLAMing on 232.80241403699998 meters Centerline goodness : 0.796711 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93262625 -0.26887375 -0.24065573 5.36028001] [ 0.28296364 0.95879515 0.02536597 1.40940418] [ 0.2239193 -0.09175379 0.97027903 1.47611132] [ 0. 0. 0. 1. ]] SLAMing on 232.86241403699998 meters Centerline goodness : 0.794676 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93226052 -0.26973156 -0.24111243 5.36064194] [ 0.28388088 0.95852502 0.02532634 1.41039876] [ 0.22428098 -0.09205795 0.97016667 1.47664103] [ 0. 0. 0. 1. ]] SLAMing on 232.92241403699998 meters Centerline goodness : 0.795037 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93156485 -0.271483 -0.24183446 5.36081224] [ 0.28556071 0.95804743 0.02449913 1.41327026] [ 0.22503778 -0.09188095 0.97000819 1.47775722] [ 0. 0. 0. 1. ]] SLAMing on 232.98241403699998 meters Centerline goodness : 0.795902 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93140644 -0.27232003 -0.24150331 5.36020147] [ 0.2862166 0.95787045 0.02375403 1.41502199] [ 0.22486018 -0.09124692 0.97010922 1.47743146] [ 0. 0. 0. 1. ]] SLAMing on 233.042414037 meters Centerline goodness : 0.795291 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93110665 -0.27297442 -0.24192019 5.36142443] [ 0.28680335 0.9577083 0.02320862 1.41672496] [ 0.22535361 -0.09099322 0.97001855 1.47703793] [ 0. 0. 0. 1. ]] SLAMing on 233.102414037 meters Centerline goodness : 0.793240 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93102688 -0.27366719 -0.24144404 5.36040683] [ 0.28730662 0.95757426 0.02250427 1.41835568] [ 0.22504192 -0.09032055 0.97015377 1.47682351] [ 0. 0. 0. 1. ]] SLAMing on 233.162414037 meters Centerline goodness : 0.784919 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93095645 -0.27438841 -0.24089644 5.35879238] [ 0.2878204 0.95743748 0.02174588 1.4198393 ] [ 0.22467646 -0.08957937 0.97030718 1.47713169] [ 0. 0. 0. 1. ]] SLAMing on 233.222414037 meters Centerline goodness : 0.793970 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93091312 -0.2747535 -0.24064761 5.35773945] [ 0.28802516 0.95739013 0.02111015 1.42147656] [ 0.22459356 -0.08896429 0.97038296 1.47753429] [ 0. 0. 0. 1. ]] SLAMing on 233.282414037 meters Centerline goodness : 0.782051 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93093164 -0.27484462 -0.24047187 5.35696944] [ 0.28797442 0.95741743 0.02055738 1.42326543] [ 0.22458187 -0.08838726 0.97043839 1.47788051] [ 0. 0. 0. 1. ]] SLAMing on 233.342414037 meters Centerline goodness : 0.781390 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.9309312 -0.27486216 -0.24045352 5.35762601] [ 0.28805157 0.95738854 0.02082028 1.42181997] [ 0.22448474 -0.08864526 0.97043734 1.4775135 ] [ 0. 0. 0. 1. ]] SLAMing on 233.40241403699997 meters Centerline goodness : 0.781157 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93092039 -0.27490079 -0.24045119 5.35776012] [ 0.28810961 0.95736933 0.02090038 1.42100489] [ 0.22445506 -0.08873289 0.97043619 1.47760489] [ 0. 0. 0. 1. ]] SLAMing on 233.46241403699997 meters Centerline goodness : 0.790384 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93090761 -0.2749611 -0.24043171 5.35775873] [ 0.2882296 0.95732753 0.021159 1.41946938] [ 0.224354 -0.08899662 0.97043541 1.47784651] [ 0. 0. 0. 1. ]] SLAMing on 233.52241403699998 meters Centerline goodness : 0.791844 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93088917 -0.27509618 -0.24034861 5.35747879] [ 0.28836984 0.95728441 0.0211987 1.41836744] [ 0.2242503 -0.08904293 0.97045513 1.47822236] [ 0. 0. 0. 1. ]] SLAMing on 233.58241403699998 meters Centerline goodness : 0.780181 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.48 [[ 0.93084188 -0.27553574 -0.24002801 5.35620461] [ 0.28880269 0.95715285 0.02124673 1.41507378] [ 0.22388926 -0.08909808 0.97053343 1.47955595] [ 0. 0. 0. 1. ]] SLAMing on 233.64241403699998 meters Centerline goodness : 0.789093 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93080895 -0.27567961 -0.23999051 5.35541429] [ 0.28893707 0.95711326 0.02120337 1.41399449] [ 0.22385276 -0.08907845 0.97054365 1.48051817] [ 0. 0. 0. 1. ]] SLAMing on 233.70241403699998 meters Centerline goodness : 0.789584 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93098879 -0.27464532 -0.24047833 5.3571208 ] [ 0.28824886 0.95728811 0.02262885 1.41111786] [ 0.22399214 -0.09038481 0.9703907 1.48029072] [ 0. 0. 0. 1. ]] SLAMing on 233.76241403699999 meters Centerline goodness : 0.790616 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93105737 -0.27373962 -0.24124427 5.36053386] [ 0.28762565 0.95745104 0.02364284 1.40925392] [ 0.2245076 -0.09140088 0.97017638 1.47898432] [ 0. 0. 0. 1. ]] SLAMing on 233.822414037 meters Centerline goodness : 0.777462 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93127454 -0.27310174 -0.24112895 5.36081951] [ 0.28700552 0.95763208 0.02384595 1.40921194] [ 0.22440045 -0.09141246 0.97020008 1.47840782] [ 0. 0. 0. 1. ]] SLAMing on 233.882414037 meters Centerline goodness : 0.775721 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93260864 -0.26767895 -0.24205186 5.36185632] [ 0.28277611 0.95873921 0.02927113 1.4054539 ] [ 0.22422934 -0.09574499 0.96982168 1.47766797] [ 0. 0. 0. 1. ]] SLAMing on 233.942414037 meters Centerline goodness : 0.776989 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.48 [[ 0.93353501 -0.26552244 -0.24085311 5.35984669] [ 0.28053334 0.95938518 0.02968367 1.40463885] [ 0.22318922 -0.09527808 0.97010755 1.47677175] [ 0. 0. 0. 1. ]] SLAMing on 234.002414037 meters Centerline goodness : 0.776871 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.48 [[ 0.93396832 -0.26464996 -0.24013242 5.35834467] [ 0.27951552 0.95968876 0.02947142 1.40507068] [ 0.22265277 -0.09464611 0.97029267 1.47649376] [ 0. 0. 0. 1. ]] SLAMing on 234.062414037 meters Centerline goodness : 0.775597 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.48 [[ 0.93412849 -0.26444805 -0.23973152 5.35817178] [ 0.27917716 0.95979932 0.02907537 1.40497416] [ 0.22240522 -0.0940877 0.97040374 1.47597334] [ 0. 0. 0. 1. ]] SLAMing on 234.122414037 meters Centerline goodness : 0.774192 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.47 [[ 0.93388736 -0.26501022 -0.24004994 5.36041726] [ 0.27980565 0.95961376 0.02915855 1.40384052] [ 0.22262792 -0.09439813 0.97032253 1.47499017] [ 0. 0. 0. 1. ]] SLAMing on 234.18241403699997 meters Centerline goodness : 0.773524 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.47 [[ 0.93303874 -0.26905708 -0.23884512 5.36085461] [ 0.2830404 0.95876508 0.02564473 1.40288926] [ 0.22209646 -0.09153035 0.97071899 1.47462656] [ 0. 0. 0. 1. ]] SLAMing on 234.24241403699997 meters Centerline goodness : 0.787924 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.48 [[ 0.93290617 -0.26875251 -0.23970434 5.36258095] [ 0.2831612 0.95868735 0.02717182 1.40071314] [ 0.22249902 -0.09322373 0.97046562 1.47512545] [ 0. 0. 0. 1. ]] SLAMing on 234.30241403699998 meters Centerline goodness : 0.788566 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.48 [[ 0.93257851 -0.26954558 -0.24008852 5.36242288] [ 0.28420473 0.95835461 0.02800206 1.39806437] [ 0.22254211 -0.09434842 0.97034705 1.47685083] [ 0. 0. 0. 1. ]] SLAMing on 234.36241403699998 meters Centerline goodness : 0.775931 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.48 [[ 0.93253864 -0.2694119 -0.24039323 5.36333106] [ 0.28435413 0.958277 0.0291189 1.39537886] [ 0.22251833 -0.09551131 0.97023873 1.47718352] [ 0. 0. 0. 1. ]] SLAMing on 234.42241403699998 meters Centerline goodness : 0.776961 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.48 [[ 0.93162775 -0.27343777 -0.23937735 5.36274731] [ 0.28762756 0.95739501 0.0257913 1.39495601] [ 0.22212636 -0.09287942 0.970584 1.47795397] [ 0. 0. 0. 1. ]] SLAMing on 234.48241403699998 meters Centerline goodness : 0.783947 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.48 [[ 0.93114459 -0.2738238 -0.24081171 5.36635868] [ 0.28841571 0.957128 0.02687706 1.39338638] [ 0.22312805 -0.09448031 0.97019964 1.47801298] [ 0. 0. 0. 1. ]] SLAMing on 234.542414037 meters Centerline goodness : 0.783210 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.48 [[ 0.93113411 -0.27402147 -0.24062733 5.36740251] [ 0.28860966 0.9570684 0.02691718 1.39177532] [ 0.22292093 -0.09451088 0.97024428 1.47721659] [ 0. 0. 0. 1. ]] SLAMing on 234.602414037 meters Centerline goodness : 0.785546 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.48 [[ 0.93139361 -0.27314824 -0.24061585 5.36745686] [ 0.28792613 0.95724746 0.02785393 1.39005438] [ 0.22272066 -0.09522256 0.97022068 1.47736783] [ 0. 0. 0. 1. ]] SLAMing on 234.662414037 meters Centerline goodness : 0.782285 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.48 [[ 0.93165953 -0.27270998 -0.2400829 5.36634959] [ 0.28746974 0.95737854 0.02806218 1.38862107] [ 0.22219738 -0.09516096 0.9703467 1.47764776] [ 0. 0. 0. 1. ]] SLAMing on 234.722414037 meters Centerline goodness : 0.785711 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.48 [[ 0.93183756 -0.27178682 -0.24043852 5.36750988] [ 0.28683044 0.95753456 0.02925531 1.38673192] [ 0.22227699 -0.09622628 0.9702234 1.47745388] [ 0. 0. 0. 1. ]] SLAMing on 234.782414037 meters Centerline goodness : 0.785692 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93200679 -0.27060918 -0.24110998 5.36917653] [ 0.28603236 0.95772638 0.03075173 1.38475797] [ 0.22259569 -0.09762608 0.97001047 1.47740136] [ 0. 0. 0. 1. ]] SLAMing on 234.842414037 meters Centerline goodness : 0.781708 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93213753 -0.27044943 -0.24078357 5.36932785] [ 0.28581788 0.95779274 0.03067927 1.38360898] [ 0.22232356 -0.09741755 0.97009384 1.47701692] [ 0. 0. 0. 1. ]] SLAMing on 234.90241403699997 meters Centerline goodness : 0.781611 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93214634 -0.27061773 -0.24056029 5.36946158] [ 0.28601811 0.95772589 0.03089923 1.38177461] [ 0.22202894 -0.0976072 0.97014225 1.47703101] [ 0. 0. 0. 1. ]] SLAMing on 234.96241403699997 meters Centerline goodness : 0.782289 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93190394 -0.27130779 -0.24072212 5.36984613] [ 0.28667212 0.95754039 0.03058591 1.38151398] [ 0.22220295 -0.09751145 0.97011204 1.47739789] [ 0. 0. 0. 1. ]] SLAMing on 235.02241403699998 meters Centerline goodness : 0.780463 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93172783 -0.27136773 -0.24133544 5.37052146] [ 0.28687428 0.95746905 0.03092189 1.38184733] [ 0.22268002 -0.09804371 0.96994899 1.47796591] [ 0. 0. 0. 1. ]] SLAMing on 235.08241403699998 meters Centerline goodness : 0.781426 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93179132 -0.27094078 -0.24156994 5.37078466] [ 0.28651826 0.95756741 0.03117592 1.38241349] [ 0.22287268 -0.09826365 0.96988248 1.47799581] [ 0. 0. 0. 1. ]] SLAMing on 235.14241403699998 meters Centerline goodness : 0.782210 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93176836 -0.27074874 -0.24187363 5.37087335] [ 0.28635256 0.95761697 0.03117606 1.38361744] [ 0.22318141 -0.09831 0.96980679 1.47828933] [ 0. 0. 0. 1. ]] SLAMing on 235.20241403699998 meters Centerline goodness : 0.781659 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93165456 -0.27075232 -0.24230759 5.37207896] [ 0.28649004 0.95756327 0.0315602 1.38334359] [ 0.22347985 -0.09882192 0.96968602 1.47806301] [ 0. 0. 0. 1. ]] SLAMing on 235.26241403699999 meters Centerline goodness : 0.783027 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93155461 -0.27088725 -0.24254092 5.37308465] [ 0.28663101 0.95752424 0.03146408 1.3833762 ] [ 0.22371559 -0.09883025 0.96963081 1.4778033 ] [ 0. 0. 0. 1. ]] SLAMing on 235.322414037 meters Centerline goodness : 0.792484 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.48 [[ 0.93135336 -0.27139383 -0.24274743 5.37416018] [ 0.28709573 0.957396 0.03112785 1.38401985] [ 0.22395751 -0.09868278 0.96958999 1.47737926] [ 0. 0. 0. 1. ]] SLAMing on 235.382414037 meters Centerline goodness : 0.784122 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.38, Z:1.48 [[ 0.93133032 -0.27120692 -0.24304452 5.37521717] [ 0.28707563 0.95738201 0.03173745 1.38248638] [ 0.22407904 -0.09933021 0.96949579 1.47745187] [ 0. 0. 0. 1. ]] SLAMing on 235.442414037 meters Centerline goodness : 0.783875 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.38, Z:1.48 [[ 0.93118361 -0.27104308 -0.24378829 5.37650325] [ 0.2871283 0.95734562 0.03235292 1.38240619] [ 0.22462061 -0.10012502 0.96928869 1.47782096] [ 0. 0. 0. 1. ]] SLAMing on 235.502414037 meters Centerline goodness : 0.788672 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.38, Z:1.48 [[ 0.93083061 -0.27196434 -0.24411015 5.37600027] [ 0.28799766 0.95710065 0.03187 1.38352359] [ 0.22497048 -0.09996872 0.96922368 1.47902975] [ 0. 0. 0. 1. ]] SLAMing on 235.562414037 meters Centerline goodness : 0.782497 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.38, Z:1.48 [[ 0.93124078 -0.26885973 -0.24597775 5.37664404] [ 0.2859172 0.95758605 0.0357814 1.38354198] [ 0.22592469 -0.10365037 0.9686148 1.480428 ] [ 0. 0. 0. 1. ]] SLAMing on 235.622414037 meters Centerline goodness : 0.788857 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.39, Z:1.48 [[ 0.93123836 -0.26885946 -0.24598721 5.37680459] [ 0.28566449 0.95770143 0.03469547 1.3865921 ] [ 0.2262541 -0.10257956 0.96865191 1.47969773] [ 0. 0. 0. 1. ]] SLAMing on 235.68241403699997 meters Centerline goodness : 0.788978 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.39, Z:1.48 [[ 0.9317625 -0.26775425 -0.24520668 5.37630746] [ 0.28385975 0.95832519 0.03219419 1.3940661 ] [ 0.22636761 -0.09960164 0.96893613 1.47673623] [ 0. 0. 0. 1. ]] SLAMing on 235.74241403699997 meters Centerline goodness : 0.787519 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.48 [[ 0.93196183 -0.26763068 -0.24458326 5.37445285] [ 0.28337461 0.95851004 0.03094092 1.39724132] [ 0.22615477 -0.09814444 0.9691345 1.4764476 ] [ 0. 0. 0. 1. ]] SLAMing on 235.80241403699998 meters Centerline goodness : 0.778851 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.48 [[ 0.93222897 -0.26753223 -0.2436712 5.37075277] [ 0.28293929 0.95867128 0.02991216 1.3999505 ] [ 0.22559811 -0.09682914 0.96939652 1.47757263] [ 0. 0. 0. 1. ]] SLAMing on 235.86241403699998 meters Centerline goodness : 0.780120 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.48 [[ 0.93204991 -0.26824925 -0.24356787 5.36995571] [ 0.28357375 0.95849609 0.02951553 1.40069036] [ 0.22554133 -0.0965794 0.96943464 1.47811241] [ 0. 0. 0. 1. ]] SLAMing on 235.92241403699998 meters Centerline goodness : 0.787671 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.48 [[ 0.93166041 -0.26927758 -0.24392309 5.37038895] [ 0.28453879 0.95822695 0.02896196 1.40187941] [ 0.22593487 -0.09638829 0.96936202 1.47853015] [ 0. 0. 0. 1. ]] SLAMing on 235.98241403699998 meters Centerline goodness : 0.789843 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.48 [[ 0.93118067 -0.27075234 -0.24412236 5.37136367] [ 0.28575619 0.95790508 0.02759106 1.40451585] [ 0.2263757 -0.09545173 0.96935185 1.47793487] [ 0. 0. 0. 1. ]] SLAMing on 236.042414037 meters Centerline goodness : 0.790613 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.41, Z:1.48 [[ 0.93100616 -0.27132615 -0.24415087 5.37255834] [ 0.28610532 0.95783037 0.02654668 1.40664475] [ 0.22665231 -0.09456799 0.96937383 1.47670185] [ 0. 0. 0. 1. ]] SLAMing on 236.102414037 meters Centerline goodness : 0.791499 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.41, Z:1.48 [[ 0.93148253 -0.26861238 -0.24533178 5.37299189] [ 0.28409197 0.95834743 0.02935914 1.40687854] [ 0.22722685 -0.09704431 0.96899451 1.47710467] [ 0. 0. 0. 1. ]] SLAMing on 236.162414037 meters Centerline goodness : 0.778550 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.41, Z:1.48 [[ 0.93228755 -0.26516014 -0.24602851 5.37143865] [ 0.28109074 0.95916748 0.03139642 1.41051139] [ 0.22765747 -0.09842682 0.96875396 1.47734641] [ 0. 0. 0. 1. ]] SLAMing on 236.222414037 meters Centerline goodness : 0.789487 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.41, Z:1.48 [[ 0.93295676 -0.26425057 -0.24446538 5.36799374] [ 0.2795294 0.95968642 0.0294159 1.41497707] [ 0.22683693 -0.09577902 0.96921173 1.4764479 ] [ 0. 0. 0. 1. ]] SLAMing on 236.282414037 meters Centerline goodness : 0.788823 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.48 [[ 0.93315619 -0.26418248 -0.24377684 5.36624586] [ 0.27909522 0.95985057 0.02815575 1.41758223] [ 0.22655108 -0.09431066 0.96942256 1.4762273 ] [ 0. 0. 0. 1. ]] SLAMing on 236.342414037 meters Centerline goodness : 0.777409 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.48 [[ 0.93306043 -0.26500874 -0.24324599 5.36504839] [ 0.27935672 0.95983902 0.02586261 1.42262532] [ 0.22662318 -0.09208378 0.96961978 1.47563635] [ 0. 0. 0. 1. ]] SLAMing on 236.40241403699997 meters Centerline goodness : 0.775990 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.48 [[ 0.93273782 -0.26591616 -0.24349281 5.36591721] [ 0.28009763 0.95964759 0.02493649 1.42502425] [ 0.22703627 -0.09146096 0.96958209 1.47508166] [ 0. 0. 0. 1. ]] SLAMing on 236.46241403699997 meters Centerline goodness : 0.776175 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.48 [[ 0.93237976 -0.26696331 -0.24371823 5.365972 ] [ 0.28106679 0.95937845 0.02438117 1.42596384] [ 0.22730914 -0.09123361 0.96953957 1.47572927] [ 0. 0. 0. 1. ]] SLAMing on 236.52241403699998 meters Centerline goodness : 0.774285 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.48 [[ 0.93185951 -0.26814103 -0.24441407 5.36602115] [ 0.28227903 0.95902971 0.02409512 1.42782964] [ 0.22793946 -0.09144623 0.96937154 1.47697298] [ 0. 0. 0. 1. ]] SLAMing on 236.58241403699998 meters Centerline goodness : 0.774290 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.48 [[ 0.9315633 -0.26906985 -0.24452246 5.36550407] [ 0.28314835 0.95878369 0.02368219 1.42900953] [ 0.22807198 -0.09129759 0.96935438 1.47757873] [ 0. 0. 0. 1. ]] SLAMing on 236.64241403699998 meters Centerline goodness : 0.773830 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.48 [[ 0.93132922 -0.27025111 -0.24411107 5.36420719] [ 0.28408347 0.95853181 0.02265749 1.43031775] [ 0.22786502 -0.0904495 0.96948255 1.47793054] [ 0. 0. 0. 1. ]] SLAMing on 236.70241403699998 meters Centerline goodness : 0.775693 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.48 [[ 0.93113923 -0.27107108 -0.24392663 5.36334936] [ 0.28470677 0.95836688 0.02179385 1.43169456] [ 0.22786352 -0.08974068 0.96954877 1.47837628] [ 0. 0. 0. 1. ]] SLAMing on 236.76241403699999 meters Centerline goodness : 0.774326 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.48 [[ 0.93104575 -0.27137153 -0.24394939 5.36351857] [ 0.28483642 0.95834563 0.02102083 1.4340411 ] [ 0.22808338 -0.08905703 0.96956012 1.47830758] [ 0. 0. 0. 1. ]] SLAMing on 236.822414037 meters Centerline goodness : 0.774165 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.48 [[ 0.93123188 -0.27058525 -0.24411228 5.36365937] [ 0.28392325 0.95862753 0.02051481 1.43818627] [ 0.22846175 -0.08841319 0.96952996 1.47840809] [ 0. 0. 0. 1. ]] SLAMing on 236.882414037 meters Centerline goodness : 0.772604 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.48 [[ 0.93135396 -0.2701569 -0.24412096 5.36393743] [ 0.28335171 0.95880838 0.01995744 1.44105974] [ 0.22867359 -0.08775953 0.9695394 1.47828285] [ 0. 0. 0. 1. ]] SLAMing on 236.942414037 meters Centerline goodness : 0.773178 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.48 [[ 0.93263876 -0.26780223 -0.2417993 5.3604418 ] [ 0.28087243 0.95952321 0.02063717 1.44415804] [ 0.22648536 -0.08716178 0.9701068 1.47691031] [ 0. 0. 0. 1. ]] SLAMing on 237.002414037 meters Centerline goodness : 0.776330 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.48 [[ 0.93257372 -0.26830682 -0.24149059 5.35935187] [ 0.28109907 0.95948051 0.01950569 1.44777266] [ 0.226472 -0.08607328 0.9702071 1.47707095] [ 0. 0. 0. 1. ]] SLAMing on 237.062414037 meters Centerline goodness : 0.776406 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.48 [[ 0.93239831 -0.26928313 -0.24108088 5.35798293] [ 0.28186986 0.9592711 0.01866367 1.44877696] [ 0.22623611 -0.08535541 0.97032555 1.47750673] [ 0. 0. 0. 1. ]] SLAMing on 237.122414037 meters Centerline goodness : 0.790378 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.48 [[ 0.93112984 -0.27484463 -0.23970323 5.35649904] [ 0.28632042 0.95803558 0.01372759 1.45173889] [ 0.22587127 -0.0814141 0.97074915 1.47810411] [ 0. 0. 0. 1. ]] SLAMing on 237.18241403699997 meters Centerline goodness : 0.777334 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.48 [[ 0.92979481 -0.28047101 -0.23836446 5.35572856] [ 0.2908883 0.95671507 0.00895937 1.45336333] [ 0.22553403 -0.07766781 0.97113445 1.47848205] [ 0. 0. 0. 1. ]] SLAMing on 237.24241403699997 meters Centerline goodness : 0.777793 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.46, Z:1.48 [[ 9.28551770e-01 -2.85439532e-01 -2.37309681e-01 5.35593421e+00] [ 2.94878800e-01 9.55524107e-01 4.49150677e-03 1.45509528e+00] [ 2.25473067e-01 -7.41481905e-02 9.71423668e-01 1.47866506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30241403699998 meters Centerline goodness : 0.785828 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.46, Z:1.48 [[ 9.28467837e-01 -2.85937415e-01 -2.37038540e-01 5.35517708e+00] [ 2.95250636e-01 9.55411556e-01 3.97744994e-03 1.45632110e+00] [ 2.25332058e-01 -7.36787141e-02 9.71492105e-01 1.47869996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36241403699998 meters Centerline goodness : 0.788357 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.28435679e-01 -2.86104564e-01 -2.36962801e-01 5.35483753e+00] [ 2.95344931e-01 9.55383650e-01 3.66786764e-03 1.45692400e+00] [ 2.25340992e-01 -7.33911412e-02 9.71511800e-01 1.47893383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42241403699998 meters Centerline goodness : 0.789830 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.28419981e-01 -2.86252596e-01 -2.36845497e-01 5.35395248e+00] [ 2.95346932e-01 9.55385175e-01 3.05898465e-03 1.45822644e+00] [ 2.25403034e-01 -7.27916133e-02 9.71542512e-01 1.47974188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48241403699998 meters Centerline goodness : 0.790193 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 0.92924075 -0.28332005 -0.23715263 5.35100312] [ 0.29289791 0.95612843 0.00540715 1.45807352] [ 0.22521642 -0.07448605 0.97145735 1.4813606 ] [ 0. 0. 0. 1. ]] SLAMing on 237.542414037 meters Centerline goodness : 0.782164 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.29277127e-01 -2.82972474e-01 -2.37424936e-01 5.35161996e+00] [ 2.92538935e-01 9.56238876e-01 5.30888152e-03 1.45847947e+00] [ 2.25532687e-01 -7.43894602e-02 9.71391381e-01 1.48166419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602414037 meters Centerline goodness : 0.782014 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 0.9293447 -0.28242187 -0.23781571 5.35304928] [ 0.29207851 0.95637776 0.00563301 1.45798606] [ 0.22585077 -0.07469587 0.97129396 1.48139191] [ 0. 0. 0. 1. ]] SLAMing on 237.662414037 meters Centerline goodness : 0.780268 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 0.92939051 -0.28199416 -0.238144 5.35414746] [ 0.29171508 0.95648737 0.00585096 1.45811444] [ 0.22613179 -0.07490802 0.97121223 1.48115017] [ 0. 0. 0. 1. ]] SLAMing on 237.722414037 meters Centerline goodness : 0.781684 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 0.92938396 -0.28196911 -0.23819924 5.3541623 ] [ 0.29165144 0.95650787 0.00566958 1.45813163] [ 0.2262408 -0.07474036 0.97119976 1.48154315] [ 0. 0. 0. 1. ]] SLAMing on 237.782414037 meters Centerline goodness : 0.785180 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.31780909e-01 -2.79326955e-01 -2.31863730e-01 5.34648516e+00] [ 2.88210644e-01 9.57555746e-01 4.64948046e-03 1.45525036e+00] [ 2.20723722e-01 -7.11578922e-02 9.72737165e-01 1.47794277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842414037 meters Centerline goodness : 0.785506 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.31869541e-01 -2.79075145e-01 -2.31810745e-01 5.34561320e+00] [ 2.87811078e-01 9.57678656e-01 4.04669430e-03 1.45717503e+00] [ 2.20870871e-01 -7.04886917e-02 9.72752488e-01 1.47905388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90241403699997 meters Centerline goodness : 0.787979 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.31903730e-01 -2.78793895e-01 -2.32011642e-01 5.34563076e+00] [ 2.87448835e-01 9.57789006e-01 3.65892953e-03 1.45866038e+00] [ 2.21198113e-01 -7.01012464e-02 9.72706127e-01 1.47967552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96241403699997 meters Centerline goodness : 0.791605 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32024118e-01 -2.78088310e-01 -2.32374558e-01 5.34712822e+00] [ 2.86830447e-01 9.57972972e-01 4.00994502e-03 1.45829921e+00] [ 2.21493427e-01 -7.03894636e-02 9.72618109e-01 1.47928144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02241403699998 meters Centerline goodness : 0.791507 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32147966e-01 -2.77310584e-01 -2.32806805e-01 5.34866810e+00] [ 2.86155719e-01 9.58172953e-01 4.41554934e-03 1.45819857e+00] [ 2.21844705e-01 -7.07349440e-02 9.72512979e-01 1.47894098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08241403699998 meters Centerline goodness : 0.812241 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32239654e-01 -2.76852007e-01 -2.32985394e-01 5.34905500e+00] [ 2.85680126e-01 9.58315210e-01 4.33869481e-03 1.45919519e+00] [ 2.22072271e-01 -7.06040002e-02 9.72470556e-01 1.47909582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14241403699998 meters Centerline goodness : 0.812671 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32267888e-01 -2.76725390e-01 -2.33022839e-01 5.34909679e+00] [ 2.85517554e-01 9.58364344e-01 4.18456671e-03 1.45940115e+00] [ 2.22162805e-01 -7.04332483e-02 9.72462259e-01 1.47940255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20241403699998 meters Centerline goodness : 0.816994 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32267361e-01 -2.76767141e-01 -2.32975358e-01 5.34873790e+00] [ 2.85474366e-01 9.58378719e-01 3.82313291e-03 1.46015495e+00] [ 2.22220508e-01 -7.00726747e-02 9.72475124e-01 1.47988808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26241403699999 meters Centerline goodness : 0.819212 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32252001e-01 -2.76978106e-01 -2.32786031e-01 5.34843122e+00] [ 2.85617809e-01 9.58336983e-01 3.56297818e-03 1.46063593e+00] [ 2.22100596e-01 -6.98094298e-02 9.72521449e-01 1.47988266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322414037 meters Centerline goodness : 0.819058 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32210279e-01 -2.77187392e-01 -2.32703988e-01 5.34843114e+00] [ 2.85774036e-01 9.58291241e-01 3.33145812e-03 1.46104593e+00] [ 2.22074755e-01 -6.96063773e-02 9.72541904e-01 1.47977783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382414037 meters Centerline goodness : 0.816534 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.46, Z:1.48 [[ 9.32067607e-01 -2.78123836e-01 -2.32157508e-01 5.34631149e+00] [ 2.86408915e-01 9.58105239e-01 2.07000935e-03 1.46382633e+00] [ 2.21855606e-01 -6.84213687e-02 9.72676003e-01 1.48067587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442414037 meters Centerline goodness : 0.815956 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.47, Z:1.48 [[ 9.31875958e-01 -2.79245643e-01 -2.31579508e-01 5.34406777e+00] [ 2.87221965e-01 9.57863751e-01 7.59844416e-04 1.46659819e+00] [ 2.21609433e-01 -6.72228022e-02 9.72815683e-01 1.48146525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502414037 meters Centerline goodness : 0.795333 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.47, Z:1.48 [[ 9.30651097e-01 -2.84316918e-01 -2.30331122e-01 5.34355955e+00] [ 2.91273850e-01 9.56631517e-01 -3.96037062e-03 1.46956754e+00] [ 2.21468011e-01 -6.34037095e-02 9.73104254e-01 1.48164944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562414037 meters Centerline goodness : 0.794965 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.47, Z:1.48 [[ 0.92947637 -0.28913643 -0.22907162 5.34339434] [ 0.29515288 0.95541376 -0.00832621 1.47186839] [ 0.22126559 -0.05987213 0.97337396 1.48154978] [ 0. 0. 0. 1. ]] SLAMing on 238.622414037 meters Centerline goodness : 0.794668 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.47, Z:1.48 [[ 0.92819762 -0.29428987 -0.22768981 5.34272497] [ 0.29934412 0.95405906 -0.01282191 1.47434162] [ 0.22100288 -0.05625634 0.9736493 1.48156096] [ 0. 0. 0. 1. ]] SLAMing on 238.68241403699997 meters Centerline goodness : 0.799301 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.47, Z:1.48 [[ 0.92799353 -0.29549046 -0.22696561 5.34077728] [ 0.30038027 0.9537239 -0.01350586 1.47491266] [ 0.22045338 -0.05564264 0.97380912 1.48175955] [ 0. 0. 0. 1. ]] SLAMing on 238.74241403699997 meters Centerline goodness : 0.816465 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.48, Z:1.48 [[ 0.92785565 -0.29619089 -0.2266161 5.33941631] [ 0.30091991 0.95354351 -0.01421198 1.47612178] [ 0.22029777 -0.05500663 0.97388047 1.48228425] [ 0. 0. 0. 1. ]] SLAMing on 238.80241403699998 meters Centerline goodness : 0.816771 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.48, Z:1.48 [[ 0.92780479 -0.29656585 -0.22633374 5.33902458] [ 0.3011979 0.95344965 -0.01461449 1.47800825] [ 0.22013199 -0.05461186 0.97394017 1.48172913] [ 0. 0. 0. 1. ]] SLAMing on 238.86241403699998 meters Centerline goodness : 0.814671 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.48, Z:1.48 [[ 0.92782911 -0.29665916 -0.22611168 5.33906855] [ 0.30117466 0.95344966 -0.0150853 1.48076887] [ 0.22006129 -0.05410253 0.97398457 1.48090047] [ 0. 0. 0. 1. ]] SLAMing on 238.92241403699998 meters Centerline goodness : 0.816037 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.48, Z:1.48 [[ 0.92782039 -0.29681331 -0.2259451 5.33835398] [ 0.30113824 0.95344783 -0.01590569 1.48402534] [ 0.22014789 -0.05328308 0.97401017 1.48105347] [ 0. 0. 0. 1. ]] SLAMing on 238.98241403699998 meters Centerline goodness : 0.806597 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92875304 -0.2938554 -0.22597964 5.33489047] [ 0.29866497 0.95426385 -0.01340644 1.48627457] [ 0.21958376 -0.05504093 0.97403977 1.48147558] [ 0. 0. 0. 1. ]] SLAMing on 239.042414037 meters Centerline goodness : 0.812023 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.9286572 -0.29454845 -0.22547064 5.33351554] [ 0.29916263 0.95409606 -0.01422793 1.48847959] [ 0.21931147 -0.05423952 0.97414606 1.48151578] [ 0. 0. 0. 1. ]] SLAMing on 239.102414037 meters Centerline goodness : 0.802608 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92847672 -0.29564402 -0.22477898 5.33162817] [ 0.3000917 0.95379357 -0.0149267 1.48931147] [ 0.21880573 -0.05359521 0.97429544 1.48162905] [ 0. 0. 0. 1. ]] SLAMing on 239.162414037 meters Centerline goodness : 0.805276 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.9282375 -0.29704269 -0.22392139 5.3292861 ] [ 0.30135188 0.95338703 -0.01549888 1.48957262] [ 0.21808758 -0.05309249 0.97448396 1.48167654] [ 0. 0. 0. 1. ]] SLAMing on 239.222414037 meters Centerline goodness : 0.804837 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92699394 -0.30164964 -0.22291192 5.32977001] [ 0.30513858 0.95210876 -0.01947694 1.49071089] [ 0.21811161 -0.04996402 0.974644 1.48158591] [ 0. 0. 0. 1. ]] SLAMing on 239.282414037 meters Centerline goodness : 0.801919 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92695067 -0.30195254 -0.22268167 5.32948902] [ 0.30543176 0.95201422 -0.01950288 1.49006832] [ 0.21788506 -0.04993585 0.97469611 1.48147737] [ 0. 0. 0. 1. ]] SLAMing on 239.342414037 meters Centerline goodness : 0.802040 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92666162 -0.30325796 -0.22210999 5.32812129] [ 0.3066472 0.95161458 -0.01992932 1.48899889] [ 0.21740683 -0.04964167 0.97481792 1.48154371] [ 0. 0. 0. 1. ]] SLAMing on 239.40241403699997 meters Centerline goodness : 0.798831 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92652921 -0.30393064 -0.22174263 5.32687863] [ 0.30724139 0.95141557 -0.02027674 1.4888843 ] [ 0.21713211 -0.04934153 0.97489438 1.48194304] [ 0. 0. 0. 1. ]] SLAMing on 239.46241403699997 meters Centerline goodness : 0.799956 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92648831 -0.3042141 -0.2215247 5.32616608] [ 0.30750557 0.95132872 -0.02034672 1.48853084] [ 0.21693257 -0.04926908 0.97494247 1.48215058] [ 0. 0. 0. 1. ]] SLAMing on 239.52241403699998 meters Centerline goodness : 0.802064 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.49, Z:1.48 [[ 0.92644026 -0.30444557 -0.22140761 5.32568689] [ 0.30771717 0.95125837 -0.02043664 1.48840746] [ 0.21683769 -0.0491976 0.97496719 1.48236647] [ 0. 0. 0. 1. ]] SLAMing on 239.58241403699998 meters Centerline goodness : 0.800160 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.49, Z:1.48 [[ 0.92628872 -0.30512487 -0.22110636 5.32484855] [ 0.30837055 0.951044 -0.02056479 1.48591703] [ 0.21655671 -0.04913376 0.97503285 1.48302176] [ 0. 0. 0. 1. ]] SLAMing on 239.64241403699998 meters Centerline goodness : 0.796241 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.48, Z:1.48 [[ 0.92553967 -0.30802482 -0.22022042 5.32493753] [ 0.31080755 0.95019944 -0.02279671 1.48294819] [ 0.21627527 -0.04734691 0.97518371 1.48367579] [ 0. 0. 0. 1. ]] SLAMing on 239.70241403699998 meters Centerline goodness : 0.799732 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.48, Z:1.48 [[ 0.92552484 -0.30797446 -0.22035313 5.32523839] [ 0.31083602 0.95019802 -0.02246512 1.48094886] [ 0.21629779 -0.04770167 0.97516143 1.48401672] [ 0. 0. 0. 1. ]] SLAMing on 239.76241403699999 meters Centerline goodness : 0.802912 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.48, Z:1.48 [[ 0.92567481 -0.30716706 -0.2208496 5.3264396 ] [ 0.31019621 0.95042427 -0.02172614 1.47904642] [ 0.21657437 -0.04839537 0.97506586 1.48425617] [ 0. 0. 0. 1. ]] SLAMing on 239.822414037 meters Centerline goodness : 0.804599 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.48, Z:1.48 [[ 0.92580687 -0.30663698 -0.22103259 5.32704494] [ 0.30979307 0.95056912 -0.02113303 1.47726975] [ 0.21658693 -0.04890926 0.97503743 1.48433939] [ 0. 0. 0. 1. ]] SLAMing on 239.882414037 meters Centerline goodness : 0.800579 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.49 [[ 0.92577788 -0.3068964 -0.22079384 5.32645892] [ 0.31013821 0.95046561 -0.0207224 1.4725941 ] [ 0.21621658 -0.04929226 0.97510033 1.48527989] [ 0. 0. 0. 1. ]] SLAMing on 239.942414037 meters Centerline goodness : 0.801437 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92743849 -0.3057768 -0.21531001 5.32345493] [ 0.30845847 0.9509859 -0.02189015 1.46651878] [ 0.21145029 -0.04611243 0.97630037 1.48058337] [ 0. 0. 0. 1. ]] SLAMing on 240.002414037 meters Centerline goodness : 0.800387 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.92764147 -0.30477554 -0.21585453 5.32557903] [ 0.30767114 0.95126301 -0.02090845 1.46472136] [ 0.21170681 -0.04701666 0.97620165 1.47988528] [ 0. 0. 0. 1. ]] SLAMing on 240.062414037 meters Centerline goodness : 0.800456 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.92853338 -0.3017314 -0.21629593 5.32650831] [ 0.30508951 0.95214358 -0.01852008 1.46195888] [ 0.21153287 -0.0487931 0.97615218 1.47984747] [ 0. 0. 0. 1. ]] SLAMing on 240.122414037 meters Centerline goodness : 0.803445 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.48 [[ 0.9310391 -0.29744603 -0.21140494 5.32196475] [ 0.30071043 0.95355842 -0.01730799 1.45671927] [ 0.20673516 -0.04745726 0.9772453 1.4760532 ] [ 0. 0. 0. 1. ]] SLAMing on 240.18241403699997 meters Centerline goodness : 0.788888 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.48 [[ 0.93119762 -0.2966803 -0.21178241 5.3230993 ] [ 0.30006984 0.95377072 -0.0167184 1.45518737] [ 0.20695188 -0.04798138 0.97717384 1.4761495 ] [ 0. 0. 0. 1. ]] SLAMing on 240.24241403699997 meters Centerline goodness : 0.789137 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93145832 -0.29537419 -0.21246057 5.32531537] [ 0.29903546 0.95411692 -0.01544967 1.45175554] [ 0.20727566 -0.04914252 0.9770475 1.47600672] [ 0. 0. 0. 1. ]] SLAMing on 240.30241403699998 meters Centerline goodness : 0.788630 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.9316195 -0.29455328 -0.2128931 5.32656735] [ 0.2983581 0.95433948 -0.01478488 1.45013175] [ 0.20752723 -0.0497445 0.97696363 1.47607733] [ 0. 0. 0. 1. ]] SLAMing on 240.36241403699998 meters Centerline goodness : 0.801566 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93177291 -0.29373947 -0.21334565 5.32733096] [ 0.29764248 0.95456969 -0.01434101 1.44884194] [ 0.20786581 -0.05013817 0.97687152 1.47679418] [ 0. 0. 0. 1. ]] SLAMing on 240.42241403699998 meters Centerline goodness : 0.787863 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93178675 -0.29356707 -0.21352242 5.32729934] [ 0.29749496 0.95461706 -0.01424801 1.44742982] [ 0.20801489 -0.05024573 0.97683426 1.47771336] [ 0. 0. 0. 1. ]] SLAMing on 240.48241403699998 meters Centerline goodness : 0.802463 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93188036 -0.29294711 -0.21396493 5.32867852] [ 0.29700358 0.95477832 -0.01368332 1.44505939] [ 0.20829757 -0.05079713 0.9767455 1.4779175 ] [ 0. 0. 0. 1. ]] SLAMing on 240.542414037 meters Centerline goodness : 0.805663 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.93193921 -0.29259999 -0.21418346 5.32944758] [ 0.29673818 0.95486604 -0.01331497 1.44410597] [ 0.20841248 -0.05114767 0.9767027 1.47782083] [ 0. 0. 0. 1. ]] SLAMing on 240.602414037 meters Centerline goodness : 0.806131 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.93190602 -0.29273147 -0.21414823 5.3290929 ] [ 0.29686097 0.95482722 -0.01336203 1.44351667] [ 0.20838604 -0.05112009 0.97670978 1.47832202] [ 0. 0. 0. 1. ]] SLAMing on 240.662414037 meters Centerline goodness : 0.804180 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.93177992 -0.29323838 -0.21400335 5.32868348] [ 0.29738071 0.95466601 -0.01332381 1.44075675] [ 0.20820878 -0.05122561 0.97674205 1.47896026] [ 0. 0. 0. 1. ]] SLAMing on 240.722414037 meters Centerline goodness : 0.805439 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.93160136 -0.29408497 -0.21361867 5.32743198] [ 0.29821252 0.95440552 -0.01339361 1.43799754] [ 0.20781769 -0.05122626 0.9768253 1.47980559] [ 0. 0. 0. 1. ]] SLAMing on 240.782414037 meters Centerline goodness : 0.806974 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.93160487 -0.29397684 -0.21375215 5.32792902] [ 0.29816605 0.95442377 -0.0131252 1.43657266] [ 0.20786863 -0.05150613 0.97679975 1.47990972] [ 0. 0. 0. 1. ]] SLAMing on 240.842414037 meters Centerline goodness : 0.808106 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.93144169 -0.29376033 -0.21475856 5.330331 ] [ 0.29811804 0.95444628 -0.01256704 1.4360932 ] [ 0.2086672 -0.05231794 0.97658632 1.47979554] [ 0. 0. 0. 1. ]] SLAMing on 240.90241403699997 meters Centerline goodness : 0.810928 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.48 [[ 0.9312924 -0.29371898 -0.21546142 5.33226939] [ 0.29822762 0.95441886 -0.01203844 1.4355173 ] [ 0.20917637 -0.05304524 0.97643814 1.47955607] [ 0. 0. 0. 1. ]] SLAMing on 240.96241403699997 meters Centerline goodness : 0.794782 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.48 [[ 0.93111083 -0.29374675 -0.216207 5.33536086] [ 0.29843714 0.95436133 -0.01138946 1.43378577] [ 0.20968521 -0.05391935 0.97628111 1.47860967] [ 0. 0. 0. 1. ]] SLAMing on 241.02241403699998 meters Centerline goodness : 0.797792 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.48 [[ 0.93090193 -0.29395206 -0.2168266 5.33785051] [ 0.29880287 0.95425339 -0.01083164 1.43249803] [ 0.2100915 -0.05470522 0.97615004 1.47791803] [ 0. 0. 0. 1. ]] SLAMing on 241.08241403699998 meters Centerline goodness : 0.796330 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.48 [[ 0.93082268 -0.29380468 -0.21736593 5.33897994] [ 0.2987312 0.95427834 -0.01060733 1.43310512] [ 0.21054408 -0.05506044 0.97603255 1.47784582] [ 0. 0. 0. 1. ]] SLAMing on 241.14241403699998 meters Centerline goodness : 0.820626 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.48 [[ 0.93071615 -0.2942721 -0.21718973 5.338134 ] [ 0.29904154 0.95417267 -0.01134308 1.43465293] [ 0.21057446 -0.05439156 0.9760635 1.47837381] [ 0. 0. 0. 1. ]] SLAMing on 241.20241403699998 meters Centerline goodness : 0.820422 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.43, Z:1.48 [[ 0.93121186 -0.29123171 -0.21915422 5.33956458] [ 0.29690218 0.95487955 -0.00735726 1.43420636] [ 0.21140855 -0.05821619 0.97566249 1.47902554] [ 0. 0. 0. 1. ]] SLAMing on 241.26241403699999 meters Centerline goodness : 0.815919 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.48 [[ 0.93101084 -0.29250454 -0.21831148 5.33664458] [ 0.29781328 0.95458225 -0.00894249 1.43703649] [ 0.21101198 -0.05669051 0.97583817 1.48017037] [ 0. 0. 0. 1. ]] SLAMing on 241.322414037 meters Centerline goodness : 0.815824 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.48 [[ 0.93090526 -0.29307181 -0.21800072 5.3360327 ] [ 0.29822835 0.95444599 -0.00962782 1.43854753] [ 0.21089156 -0.05605141 0.97590112 1.48014127] [ 0. 0. 0. 1. ]] SLAMing on 241.382414037 meters Centerline goodness : 0.817734 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.48 [[ 0.93086107 -0.29335139 -0.21781331 5.33628844] [ 0.29838487 0.95439135 -0.01017921 1.44102194] [ 0.21086523 -0.05551677 0.97593737 1.47926902] [ 0. 0. 0. 1. ]] SLAMing on 241.442414037 meters Centerline goodness : 0.812123 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.44, Z:1.48 [[ 0.93100474 -0.29296355 -0.21772122 5.33672898] [ 0.29791303 0.95453529 -0.01049785 1.44452983] [ 0.21089808 -0.05508844 0.97595454 1.47823078] [ 0. 0. 0. 1. ]] SLAMing on 241.502414037 meters Centerline goodness : 0.809669 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.45, Z:1.48 [[ 0.93099388 -0.29337031 -0.21721935 5.33546691] [ 0.29815883 0.95445106 -0.01115719 1.44672567] [ 0.21059843 -0.05437859 0.97605905 1.47822569] [ 0. 0. 0. 1. ]] SLAMing on 241.562414037 meters Centerline goodness : 0.809130 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93076194 -0.29490831 -0.21612795 5.33179632] [ 0.29927582 0.954078 -0.01300614 1.44977294] [ 0.21003854 -0.05257625 0.97627842 1.47975932] [ 0. 0. 0. 1. ]] SLAMing on 241.622414037 meters Centerline goodness : 0.801985 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93049824 -0.29620613 -0.2154877 5.33022902] [ 0.30035309 0.95372504 -0.0140202 1.45136736] [ 0.20966889 -0.05167663 0.9764059 1.47977187] [ 0. 0. 0. 1. ]] SLAMing on 241.68241403699997 meters Centerline goodness : 0.802917 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93040497 -0.29659006 -0.21536234 5.33080342] [ 0.3006889 0.95361571 -0.01425733 1.45236224] [ 0.20960149 -0.05149197 0.97643013 1.47879865] [ 0. 0. 0. 1. ]] SLAMing on 241.74241403699997 meters Centerline goodness : 0.784552 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.45, Z:1.48 [[ 0.93031053 -0.29715273 -0.21499436 5.33097157] [ 0.30114099 0.95346561 -0.01474582 1.45462287] [ 0.20937149 -0.05102542 0.97650396 1.47745673] [ 0. 0. 0. 1. ]] SLAMing on 241.80241403699998 meters Centerline goodness : 0.797338 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93016137 -0.29797161 -0.21450583 5.32911794] [ 0.30166939 0.95327706 -0.01607551 1.45831642] [ 0.20927354 -0.04975703 0.97659041 1.47805027] [ 0. 0. 0. 1. ]] SLAMing on 241.86241403699998 meters Centerline goodness : 0.785125 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93005216 -0.29852241 -0.21421335 5.32771445] [ 0.30202189 0.9531495 -0.01699416 1.4601808 ] [ 0.20925049 -0.04889167 0.97663905 1.47888426] [ 0. 0. 0. 1. ]] SLAMing on 241.92241403699998 meters Centerline goodness : 0.783940 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.92992553 -0.2992204 -0.21378882 5.32652594] [ 0.30258327 0.95296022 -0.0176119 1.46087964] [ 0.20900208 -0.04831116 0.97672113 1.4792266 ] [ 0. 0. 0. 1. ]] SLAMing on 241.98241403699998 meters Centerline goodness : 0.783899 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.92984506 -0.2994876 -0.21376467 5.32668018] [ 0.30281952 0.95288202 -0.01778177 1.46097346] [ 0.20901793 -0.04819782 0.97672334 1.47909515] [ 0. 0. 0. 1. ]] SLAMing on 242.042414037 meters Centerline goodness : 0.782113 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.92974441 -0.29988538 -0.21364479 5.32656553] [ 0.30316358 0.95276756 -0.01805061 1.46189298] [ 0.20896694 -0.04798687 0.97674463 1.47873403] [ 0. 0. 0. 1. ]] SLAMing on 242.102414037 meters Centerline goodness : 0.778101 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.92965625 -0.30026424 -0.21349625 5.32605444] [ 0.30343867 0.95267049 -0.01854472 1.46280017] [ 0.20895989 -0.0475428 0.97676786 1.4790152 ] [ 0. 0. 0. 1. ]] SLAMing on 242.162414037 meters Centerline goodness : 0.778913 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92963822 -0.30024505 -0.2136017 5.326106 ] [ 0.30331078 0.95270075 -0.01907474 1.46512539] [ 0.2092256 -0.0470551 0.97673459 1.47909207] [ 0. 0. 0. 1. ]] SLAMing on 242.222414037 meters Centerline goodness : 0.778902 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92976871 -0.29960783 -0.21392825 5.32690463] [ 0.30260826 0.95291796 -0.01938025 1.46809025] [ 0.20966255 -0.0467173 0.97665711 1.47896057] [ 0. 0. 0. 1. ]] SLAMing on 242.282414037 meters Centerline goodness : 0.782380 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92973794 -0.29982328 -0.21376007 5.32618867] [ 0.30267122 0.95288353 -0.02007742 1.46986104] [ 0.20970813 -0.04603228 0.97667985 1.47947927] [ 0. 0. 0. 1. ]] SLAMing on 242.342414037 meters Centerline goodness : 0.782402 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92961866 -0.30043514 -0.21341946 5.3246749 ] [ 0.30312103 0.95272444 -0.02082723 1.47102194] [ 0.20958717 -0.04533055 0.97673863 1.48029184] [ 0. 0. 0. 1. ]] SLAMing on 242.40241403699997 meters Centerline goodness : 0.780923 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92966143 -0.30024722 -0.21349761 5.32522557] [ 0.30291799 0.95278758 -0.0208932 1.47234825] [ 0.20969099 -0.04524867 0.97672015 1.47974027] [ 0. 0. 0. 1. ]] SLAMing on 242.46241403699997 meters Centerline goodness : 0.781987 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92968013 -0.30009312 -0.21363279 5.32610782] [ 0.30277618 0.95283364 -0.02084799 1.47300447] [ 0.20981285 -0.04530096 0.97669155 1.47909908] [ 0. 0. 0. 1. ]] SLAMing on 242.52241403699998 meters Centerline goodness : 0.781039 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92959139 -0.30046224 -0.2135001 5.32539773] [ 0.30304588 0.95273735 -0.02132438 1.47367832] [ 0.20981669 -0.04487736 0.97671028 1.47961415] [ 0. 0. 0. 1. ]] SLAMing on 242.58241403699998 meters Centerline goodness : 0.775890 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92954309 -0.30070219 -0.21337251 5.32477384] [ 0.30324263 0.95267023 -0.02152542 1.47321837] [ 0.20974638 -0.04469484 0.97673375 1.48022263] [ 0. 0. 0. 1. ]] SLAMing on 242.64241403699998 meters Centerline goodness : 0.776957 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92948763 -0.30096594 -0.21324225 5.32460922] [ 0.30350297 0.95258691 -0.0215434 1.47185011] [ 0.2096156 -0.04469533 0.97676181 1.48049971] [ 0. 0. 0. 1. ]] SLAMing on 242.70241403699998 meters Centerline goodness : 0.783662 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.9295003 -0.30087154 -0.21332018 5.3250346 ] [ 0.30345621 0.95260667 -0.02132756 1.47102334] [ 0.20962708 -0.04490936 0.97674953 1.48041023] [ 0. 0. 0. 1. ]] SLAMing on 242.76241403699999 meters Centerline goodness : 0.777141 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92954253 -0.30065467 -0.21344194 5.32541753] [ 0.30326435 0.95267033 -0.02121271 1.47058026] [ 0.2097175 -0.04501122 0.97672543 1.48053984] [ 0. 0. 0. 1. ]] SLAMing on 242.822414037 meters Centerline goodness : 0.777117 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92962718 -0.30027293 -0.21361056 5.3261369 ] [ 0.3029438 0.95277877 -0.02092067 1.46971571] [ 0.20980551 -0.04526357 0.97669486 1.48049129] [ 0. 0. 0. 1. ]] SLAMing on 242.882414037 meters Centerline goodness : 0.786882 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.48 [[ 0.92956812 -0.30055351 -0.21347297 5.3258173 ] [ 0.30320631 0.95269336 -0.02100693 1.46900071] [ 0.20968798 -0.04519898 0.97672309 1.48068414] [ 0. 0. 0. 1. ]] SLAMing on 242.942414037 meters Centerline goodness : 0.789768 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92944018 -0.301192 -0.21312982 5.32447587] [ 0.30375946 0.95250832 -0.02140313 1.46855353] [ 0.20945438 -0.04484727 0.97678943 1.4814669 ] [ 0. 0. 0. 1. ]] SLAMing on 243.002414037 meters Centerline goodness : 0.789942 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92911068 -0.30233277 -0.21295125 5.32370694] [ 0.30479113 0.95216498 -0.02200495 1.46705892] [ 0.20941754 -0.04446062 0.976815 1.48228065] [ 0. 0. 0. 1. ]] SLAMing on 243.062414037 meters Centerline goodness : 0.791550 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.92905481 -0.30259191 -0.21282694 5.32361835] [ 0.30505106 0.95208176 -0.02200419 1.46633637] [ 0.20928693 -0.04447999 0.97684211 1.48224681] [ 0. 0. 0. 1. ]] SLAMing on 243.122414037 meters Centerline goodness : 0.791844 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.9288503 -0.30350616 -0.21241736 5.32218279] [ 0.30587021 0.95180814 -0.02246518 1.4655605 ] [ 0.20899889 -0.04410536 0.97692077 1.4829633 ] [ 0. 0. 0. 1. ]] SLAMing on 243.18241403699997 meters Centerline goodness : 0.780624 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.48 [[ 0.9287556 -0.30402896 -0.21208354 5.32042285] [ 0.30627607 0.95166483 -0.02300063 1.46529945] [ 0.2088253 -0.04359415 0.97698083 1.48432105] [ 0. 0. 0. 1. ]] SLAMing on 243.24241403699997 meters Centerline goodness : 0.794118 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.48 [[ 0.92876625 -0.30402514 -0.21204235 5.3203099 ] [ 0.30629649 0.95166121 -0.02287793 1.4637462 ] [ 0.20874795 -0.04369958 0.97699265 1.48477832] [ 0. 0. 0. 1. ]] SLAMing on 243.30241403699998 meters Centerline goodness : 0.797508 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.48 [[ 0.92877465 -0.30387219 -0.21222473 5.32104663] [ 0.30628154 0.95168082 -0.02225383 1.46096219] [ 0.20873252 -0.04433173 0.97696747 1.4847915 ] [ 0. 0. 0. 1. ]] SLAMing on 243.36241403699998 meters Centerline goodness : 0.799387 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.48 [[ 0.92880731 -0.30356357 -0.21252328 5.32243715] [ 0.30614387 0.95174281 -0.0214837 1.45766489] [ 0.20878917 -0.04510848 0.97691981 1.48452304] [ 0. 0. 0. 1. ]] SLAMing on 243.42241403699998 meters Centerline goodness : 0.800798 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.48 [[ 0.9288141 -0.30351533 -0.21256249 5.32283336] [ 0.30618698 0.95173843 -0.0210593 1.45550049] [ 0.20869571 -0.04552369 0.97692052 1.4845133 ] [ 0. 0. 0. 1. ]] SLAMing on 243.48241403699998 meters Centerline goodness : 0.802507 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.45, Z:1.49 [[ 0.92883434 -0.30352105 -0.21246586 5.32247025] [ 0.30625637 0.95172311 -0.02074009 1.45290976] [ 0.20850372 -0.04580491 0.97694837 1.4851606 ] [ 0. 0. 0. 1. ]] SLAMing on 243.542414037 meters Centerline goodness : 0.801882 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.45, Z:1.49 [[ 0.92892354 -0.30318892 -0.21255008 5.32283001] [ 0.30602799 0.95180745 -0.0202346 1.45058627] [ 0.20844165 -0.04624988 0.97694065 1.48544749] [ 0. 0. 0. 1. ]] SLAMing on 243.602414037 meters Centerline goodness : 0.803780 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.45, Z:1.49 [[ 0.92891122 -0.30322556 -0.21255166 5.32273547] [ 0.3061046 0.95178669 -0.02005187 1.44888304] [ 0.20838408 -0.04643663 0.97694407 1.48589405] [ 0. 0. 0. 1. ]] SLAMing on 243.662414037 meters Centerline goodness : 0.802807 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.44, Z:1.49 [[ 0.92844403 -0.30527689 -0.2116547 5.32208781] [ 0.30786298 0.95118863 -0.02146118 1.44477981] [ 0.20787515 -0.04523514 0.97710885 1.48686507] [ 0. 0. 0. 1. ]] SLAMing on 243.722414037 meters Centerline goodness : 0.806942 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.44, Z:1.49 [[ 0.9274613 -0.30852449 -0.21125381 5.32470015] [ 0.31062284 0.95022922 -0.02403895 1.44179079] [ 0.20815615 -0.04332507 0.97713559 1.48666235] [ 0. 0. 0. 1. ]] SLAMing on 243.782414037 meters Centerline goodness : 0.807022 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.44, Z:1.49 [[ 0.92746373 -0.30842528 -0.21138799 5.32522448] [ 0.31063925 0.95023701 -0.02351356 1.43898283] [ 0.20812087 -0.04385743 0.97711935 1.48691121] [ 0. 0. 0. 1. ]] SLAMing on 243.842414037 meters Centerline goodness : 0.808144 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.49 [[ 0.92745897 -0.30768025 -0.21249169 5.32749641] [ 0.31041304 0.95036449 -0.02123859 1.43364812] [ 0.20847925 -0.04626227 0.97693204 1.4876948 ] [ 0. 0. 0. 1. ]] SLAMing on 243.90241403699997 meters Centerline goodness : 0.809522 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.49 [[ 0.9275245 -0.30687019 -0.21337522 5.32971933] [ 0.31006639 0.95052142 -0.01917992 1.42949252] [ 0.20870346 -0.04837064 0.97678204 1.48787867] [ 0. 0. 0. 1. ]] SLAMing on 243.96241403699997 meters Centerline goodness : 0.808176 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.49 [[ 0.92765898 -0.30601981 -0.21401097 5.33134019] [ 0.30966025 0.95069248 -0.0171562 1.42484915] [ 0.20870876 -0.05035559 0.97668059 1.48826708] [ 0. 0. 0. 1. ]] SLAMing on 244.02241403699998 meters Centerline goodness : 0.788231 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.49 [[ 0.92732518 -0.29918942 -0.2248415 5.32986642] [ 0.30396368 0.95258195 -0.01391765 1.41484113] [ 0.21834397 -0.05543747 0.97429595 1.49004704] [ 0. 0. 0. 1. ]] SLAMing on 244.08241403699998 meters Centerline goodness : 0.791674 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.49 [[ 0.9273711 -0.2985332 -0.22552334 5.33242256] [ 0.30356862 0.95272288 -0.01285298 1.41281881] [ 0.21869829 -0.05654233 0.97415298 1.48929062] [ 0. 0. 0. 1. ]] SLAMing on 244.14241403699998 meters Centerline goodness : 0.810890 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.49 [[ 0.92746397 -0.29772002 -0.22621531 5.33378245] [ 0.30307783 0.95289636 -0.01150477 1.41046572] [ 0.21898494 -0.05789059 0.97400938 1.4896689 ] [ 0. 0. 0. 1. ]] SLAMing on 244.20241403699998 meters Centerline goodness : 0.807119 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.49 [[ 0.92761694 -0.29699588 -0.22653977 5.33409646] [ 0.30258678 0.95306435 -0.01046862 1.40918397] [ 0.21901612 -0.05883707 0.97394566 1.49005647] [ 0. 0. 0. 1. ]] SLAMing on 244.26241403699999 meters Centerline goodness : 0.808803 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.49 [[ 0.92764954 -0.2965381 -0.22700549 5.3348351 ] [ 0.30232439 0.95315601 -0.00967373 1.40762347] [ 0.21924028 -0.05965546 0.97384543 1.4905533 ] [ 0. 0. 0. 1. ]] SLAMing on 244.322414037 meters Centerline goodness : 0.801168 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.41, Z:1.49 [[ 0.9273988 -0.29670698 -0.22780789 5.33739143] [ 0.30265298 0.95305631 -0.00921146 1.40701522] [ 0.21984685 -0.06040404 0.97366253 1.48997498] [ 0. 0. 0. 1. ]] SLAMing on 244.382414037 meters Centerline goodness : 0.800849 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.41, Z:1.49 [[ 0.92718191 -0.29661377 -0.22880991 5.33968193] [ 0.30283465 0.95300723 -0.00827002 1.40639321] [ 0.2205105 -0.06162375 0.97343599 1.4898605 ] [ 0. 0. 0. 1. ]] SLAMing on 244.442414037 meters Centerline goodness : 0.802317 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.41, Z:1.49 [[ 0.92706806 -0.29638791 -0.22956267 5.34070346] [ 0.30285422 0.95300834 -0.00737786 1.40527729] [ 0.22096185 -0.06268424 0.97326592 1.49060707] [ 0. 0. 0. 1. ]] SLAMing on 244.502414037 meters Centerline goodness : 0.798761 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.40, Z:1.49 [[ 0.92703202 -0.29618533 -0.22996933 5.34095162] [ 0.30279069 0.95303239 -0.00685983 1.40473923] [ 0.2212 -0.06327329 0.9731737 1.49125973] [ 0. 0. 0. 1. ]] SLAMing on 244.562414037 meters Centerline goodness : 0.804028 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.40, Z:1.49 [[ 0.92690537 -0.29595423 -0.23077594 5.34125278] [ 0.30283511 0.95302495 -0.0058597 1.40422222] [ 0.22166944 -0.06445567 0.97298927 1.49256221] [ 0. 0. 0. 1. ]] SLAMing on 244.622414037 meters Centerline goodness : 0.799081 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.40, Z:1.49 [[ 0.92655402 -0.29643028 -0.23157448 5.34371168] [ 0.30336814 0.95285511 -0.005908 1.40452826] [ 0.22240824 -0.06477824 0.97279924 1.49212005] [ 0. 0. 0. 1. ]] SLAMing on 244.68241403699997 meters Centerline goodness : 0.799699 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 0.92638606 -0.29634724 -0.2323514 5.34574282] [ 0.30343927 0.95283515 -0.00545792 1.40385472] [ 0.22301002 -0.0654484 0.97261659 1.49203114] [ 0. 0. 0. 1. ]] SLAMing on 244.74241403699997 meters Centerline goodness : 0.801162 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.26230153e-01 -2.96330246e-01 -2.32993754e-01 5.34670133e+00] [ 3.03629620e-01 9.52778314e-01 -4.74743505e-03 1.40306474e+00] [ 2.23398205e-01 -6.63465877e-02 9.72466643e-01 1.49256369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80241403699998 meters Centerline goodness : 0.801226 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.26155788e-01 -2.96077332e-01 -2.33610081e-01 5.34777079e+00] [ 3.03563020e-01 9.52802564e-01 -4.09482498e-03 1.40249263e+00] [ 2.23796669e-01 -6.71229359e-02 9.72321738e-01 1.49289674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86241403699998 meters Centerline goodness : 0.799298 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.26168360e-01 -2.95836869e-01 -2.33864739e-01 5.34881724e+00] [ 3.03459488e-01 9.52837733e-01 -3.54887046e-03 1.40095644e+00] [ 2.23885034e-01 -6.76816224e-02 9.72262665e-01 1.49279925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92241403699998 meters Centerline goodness : 0.798165 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.26196782e-01 -2.95284038e-01 -2.34450117e-01 5.34886857e+00] [ 3.03255302e-01 9.52906920e-01 -2.15021390e-03 1.39923472e+00] [ 2.24044063e-01 -6.91067200e-02 9.72125773e-01 1.49397951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98241403699998 meters Centerline goodness : 0.798120 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.26131963e-01 -2.94969775e-01 -2.35100868e-01 5.34991006e+00] [ 3.03073287e-01 9.52965654e-01 -1.74481209e-03 1.39910136e+00] [ 2.24557719e-01 -6.96368665e-02 9.71969412e-01 1.49440488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042414037 meters Centerline goodness : 0.803589 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.26167787e-01 -2.94471839e-01 -2.35583460e-01 5.35104003e+00] [ 3.02697828e-01 9.53085682e-01 -1.30703659e-03 1.39868960e+00] [ 2.24916108e-01 -7.01000663e-02 9.71853243e-01 1.49445372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102414037 meters Centerline goodness : 0.804513 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 9.27046371e-01 -2.90522633e-01 -2.37026636e-01 5.35284190e+00] [ 2.99678629e-01 9.54036305e-01 2.72900508e-03 1.39686601e+00] [ 2.25339178e-01 -7.35617316e-02 9.71499319e-01 1.49385622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162414037 meters Centerline goodness : 0.798838 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 0.92822521 -0.28585194 -0.23808953 5.35461205] [ 0.29581606 0.95522326 0.00643242 1.39645597] [ 0.22558994 -0.07640144 0.97122191 1.49214949] [ 0. 0. 0. 1. ]] SLAMing on 245.222414037 meters Centerline goodness : 0.795151 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.49 [[ 0.92923922 -0.28180138 -0.23896122 5.3548232 ] [ 0.29259218 0.95618305 0.01018755 1.39515012] [ 0.2256198 -0.07938486 0.97097567 1.49189641] [ 0. 0. 0. 1. ]] SLAMing on 245.282414037 meters Centerline goodness : 0.795934 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.49 [[ 0.93025084 -0.27773358 -0.23978621 5.35375915] [ 0.28938668 0.95710842 0.01410028 1.39433256] [ 0.22558528 -0.08250773 0.97072332 1.4925021 ] [ 0. 0. 0. 1. ]] SLAMing on 245.342414037 meters Centerline goodness : 0.798241 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.49 [[ 0.93096708 -0.274423 -0.24081592 5.35375443] [ 0.28685202 0.9578159 0.01745349 1.39391276] [ 0.22586768 -0.08532716 0.97041386 1.49273711] [ 0. 0. 0. 1. ]] SLAMing on 245.40241403699997 meters Centerline goodness : 0.795865 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.39, Z:1.49 [[ 0.93080386 -0.27439496 -0.24147789 5.35502172] [ 0.28692832 0.9577895 0.01764705 1.3943907 ] [ 0.22644272 -0.08571279 0.97024585 1.49282938] [ 0. 0. 0. 1. ]] SLAMing on 245.46241403699997 meters Centerline goodness : 0.801878 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.93069098 -0.27470789 -0.2415572 5.35611966] [ 0.28710182 0.95774956 0.01698028 1.39613268] [ 0.22668668 -0.0851549 0.97023801 1.49174456] [ 0. 0. 0. 1. ]] SLAMing on 245.52241403699998 meters Centerline goodness : 0.792705 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.93100194 -0.27222967 -0.24315918 5.35808272] [ 0.28548 0.95816928 0.02031726 1.39578097] [ 0.2274567 -0.08833249 0.96977359 1.49154634] [ 0. 0. 0. 1. ]] SLAMing on 245.58241403699998 meters Centerline goodness : 0.801464 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.93088741 -0.27243967 -0.24336241 5.35862869] [ 0.28568813 0.95810969 0.02020199 1.3964802 ] [ 0.22766405 -0.08833153 0.96972502 1.49133137] [ 0. 0. 0. 1. ]] SLAMing on 245.64241403699998 meters Centerline goodness : 0.797667 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.93052694 -0.27328058 -0.24379775 5.35926153] [ 0.28656242 0.95785143 0.02006525 1.39697373] [ 0.22803858 -0.08853453 0.9696185 1.49180013] [ 0. 0. 0. 1. ]] SLAMing on 245.70241403699998 meters Centerline goodness : 0.797535 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.93030009 -0.2737031 -0.24418917 5.35924658] [ 0.28709539 0.95768634 0.02032499 1.39698323] [ 0.22829362 -0.08901393 0.96951459 1.49269685] [ 0. 0. 0. 1. ]] SLAMing on 245.76241403699999 meters Centerline goodness : 0.797362 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.93011014 -0.2738723 -0.2447225 5.35997893] [ 0.28736091 0.95760301 0.02049816 1.39729812] [ 0.22873312 -0.08938922 0.96937646 1.49307848] [ 0. 0. 0. 1. ]] SLAMing on 245.822414037 meters Centerline goodness : 0.795863 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.92971133 -0.27490188 -0.24508325 5.36115684] [ 0.28833858 0.95731953 0.02000427 1.39769089] [ 0.22912377 -0.08926516 0.96929564 1.49298022] [ 0. 0. 0. 1. ]] SLAMing on 245.882414037 meters Centerline goodness : 0.785631 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.92970595 -0.27484016 -0.24517287 5.36194344] [ 0.28832311 0.95732068 0.02017162 1.39720362] [ 0.22916508 -0.08944268 0.9692695 1.49264674] [ 0. 0. 0. 1. ]] SLAMing on 245.942414037 meters Centerline goodness : 0.783709 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.40, Z:1.49 [[ 0.92975547 -0.27445282 -0.24541885 5.36260037] [ 0.28811696 0.9573674 0.0208873 1.3960779 ] [ 0.22922343 -0.09012942 0.96919209 1.49266027] [ 0. 0. 0. 1. ]] SLAMing on 246.002414037 meters Centerline goodness : 0.783269 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.92957664 -0.27414792 -0.24643496 5.3651115 ] [ 0.28828324 0.95728079 0.02250016 1.39313311] [ 0.22973908 -0.09195869 0.96889811 1.49285365] [ 0. 0. 0. 1. ]] SLAMing on 246.062414037 meters Centerline goodness : 0.781770 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.9292751 -0.2747582 -0.24689212 5.36664711] [ 0.28900199 0.95705953 0.02269171 1.39178635] [ 0.23005572 -0.09243916 0.96877725 1.49296977] [ 0. 0. 0. 1. ]] SLAMing on 246.122414037 meters Centerline goodness : 0.782902 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.92894722 -0.27493113 -0.24793129 5.36890978] [ 0.28948014 0.95689499 0.02352082 1.39064369] [ 0.23077761 -0.09362078 0.96849205 1.49319419] [ 0. 0. 0. 1. ]] SLAMing on 246.18241403699997 meters Centerline goodness : 0.783556 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.92908846 -0.27434385 -0.24805258 5.3691809 ] [ 0.28915461 0.95696517 0.02464276 1.38763016] [ 0.23061709 -0.09462086 0.96843309 1.49377168] [ 0. 0. 0. 1. ]] SLAMing on 246.24241403699997 meters Centerline goodness : 0.782621 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.9291382 -0.2737797 -0.2484892 5.36994724] [ 0.2888964 0.95701232 0.02581252 1.38550748] [ 0.23074028 -0.09577104 0.96829067 1.49423884] [ 0. 0. 0. 1. ]] SLAMing on 246.30241403699998 meters Centerline goodness : 0.784963 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.49 [[ 0.92935515 -0.27286344 -0.24868565 5.37044843] [ 0.28818776 0.9572012 0.02671473 1.38396621] [ 0.23075273 -0.09649563 0.96821577 1.49428159] [ 0. 0. 0. 1. ]] SLAMing on 246.36241403699998 meters Centerline goodness : 0.782843 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.49 [[ 0.92949676 -0.271831 -0.24928634 5.37231181] [ 0.28736459 0.9574275 0.02746232 1.38347701] [ 0.23120848 -0.0971622 0.96804036 1.49369414] [ 0. 0. 0. 1. ]] SLAMing on 246.42241403699998 meters Centerline goodness : 0.785014 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.49 [[ 0.93005285 -0.27060205 -0.24854822 5.37232654] [ 0.28587746 0.95788988 0.02685266 1.38439165] [ 0.23081544 -0.09602873 0.96824724 1.49190045] [ 0. 0. 0. 1. ]] SLAMing on 246.48241403699998 meters Centerline goodness : 0.784632 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.38, Z:1.49 [[ 0.93126828 -0.26547025 -0.24952944 5.3730239 ] [ 0.28169364 0.95900214 0.03104167 1.38374642] [ 0.23105863 -0.09919898 0.96786955 1.49099393] [ 0. 0. 0. 1. ]] SLAMing on 246.542414037 meters Centerline goodness : 0.785648 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93165488 -0.26459265 -0.24901789 5.37264289] [ 0.28062921 0.95932856 0.03059336 1.38501285] [ 0.23079519 -0.09838415 0.96801557 1.48995058] [ 0. 0. 0. 1. ]] SLAMing on 246.602414037 meters Centerline goodness : 0.782749 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93210996 -0.26393969 -0.24800579 5.37063394] [ 0.27968911 0.95962459 0.02991057 1.3863355 ] [ 0.23009787 -0.09724446 0.96829669 1.48939609] [ 0. 0. 0. 1. ]] SLAMing on 246.662414037 meters Centerline goodness : 0.781081 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93216364 -0.26386897 -0.24787923 5.37030101] [ 0.27945999 0.95970994 0.02930769 1.38784266] [ 0.23015877 -0.09659189 0.96834753 1.48921328] [ 0. 0. 0. 1. ]] SLAMing on 246.722414037 meters Centerline goodness : 0.780412 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93222967 -0.26388139 -0.24761755 5.37009115] [ 0.2793355 0.95976027 0.02884274 1.38864356] [ 0.23004242 -0.09605643 0.96842844 1.48879635] [ 0. 0. 0. 1. ]] SLAMing on 246.782414037 meters Centerline goodness : 0.782577 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93198764 -0.26469728 -0.2476578 5.36999938] [ 0.28000155 0.9595884 0.02809338 1.38948721] [ 0.23021331 -0.09552725 0.96844018 1.48915414] [ 0. 0. 0. 1. ]] SLAMing on 246.842414037 meters Centerline goodness : 0.780309 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93184983 -0.2644069 -0.24848518 5.37168664] [ 0.28001805 0.95955469 0.02906366 1.38873987] [ 0.23075048 -0.0966633 0.96819958 1.4893715 ] [ 0. 0. 0. 1. ]] SLAMing on 246.90241403699997 meters Centerline goodness : 0.780421 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93151648 -0.26526361 -0.24882177 5.37267325] [ 0.28085836 0.95931873 0.02874281 1.38882453] [ 0.23107496 -0.09665807 0.96812271 1.4895159 ] [ 0. 0. 0. 1. ]] SLAMing on 246.96241403699997 meters Centerline goodness : 0.781589 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93067677 -0.26936232 -0.24755746 5.3721629 ] [ 0.28392095 0.95853672 0.02441841 1.39088076] [ 0.23071551 -0.0930124 0.96856546 1.48914618] [ 0. 0. 0. 1. ]] SLAMing on 247.02241403699998 meters Centerline goodness : 0.783818 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93047356 -0.26954393 -0.24812302 5.37327376] [ 0.28428499 0.95841576 0.02492522 1.39026206] [ 0.23108657 -0.09372991 0.96840782 1.48948977] [ 0. 0. 0. 1. ]] SLAMing on 247.08241403699998 meters Centerline goodness : 0.782602 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.93021523 -0.27033882 -0.2482268 5.37291335] [ 0.28505153 0.95819485 0.02466296 1.390575 ] [ 0.23118228 -0.09369929 0.96838794 1.49026022] [ 0. 0. 0. 1. ]] SLAMing on 247.14241403699998 meters Centerline goodness : 0.784333 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.39, Z:1.49 [[ 0.92986466 -0.27102338 -0.24879318 5.37410887] [ 0.28569793 0.9580146 0.02418093 1.3919781 ] [ 0.2317939 -0.09356469 0.96825474 1.49028544] [ 0. 0. 0. 1. ]] SLAMing on 247.20241403699998 meters Centerline goodness : 0.785184 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.39, Z:1.49 [[ 0.92969689 -0.27104743 -0.24939323 5.3755079 ] [ 0.28570189 0.95802184 0.0238451 1.39403426] [ 0.23246101 -0.09342084 0.96810869 1.48982916] [ 0. 0. 0. 1. ]] SLAMing on 247.26241403699999 meters Centerline goodness : 0.781959 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.40, Z:1.49 [[ 0.92977437 -0.27093915 -0.24922198 5.37528767] [ 0.28542517 0.95811948 0.02322801 1.39569228] [ 0.23249105 -0.09273103 0.96816779 1.48945306] [ 0. 0. 0. 1. ]] SLAMing on 247.322414037 meters Centerline goodness : 0.783852 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.49 [[ 0.93057734 -0.2671817 -0.25027936 5.37483887] [ 0.28256613 0.95886774 0.02700074 1.3953716 ] [ 0.2327707 -0.09584675 0.96779709 1.48993577] [ 0. 0. 0. 1. ]] SLAMing on 247.382414037 meters Centerline goodness : 0.789449 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.40, Z:1.49 [[ 0.93057487 -0.26750034 -0.24994796 5.37387698] [ 0.28270065 0.95884661 0.02633479 1.39652406] [ 0.23261719 -0.09516694 0.96790108 1.49014749] [ 0. 0. 0. 1. ]] SLAMing on 247.442414037 meters Centerline goodness : 0.790448 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.40, Z:1.49 [[ 0.93027699 -0.26815132 -0.25035891 5.3750025 ] [ 0.28331804 0.95867514 0.02593975 1.39802565] [ 0.23305709 -0.09506235 0.96780553 1.48979876] [ 0. 0. 0. 1. ]] SLAMing on 247.502414037 meters Centerline goodness : 0.791735 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.40, Z:1.49 [[ 0.92998396 -0.26865399 -0.2509081 5.37555396] [ 0.28366681 0.95859675 0.02500813 1.40261902] [ 0.23380116 -0.09443147 0.96768782 1.48934504] [ 0. 0. 0. 1. ]] SLAMing on 247.562414037 meters Centerline goodness : 0.794962 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.41, Z:1.49 [[ 0.93010003 -0.26839214 -0.25075804 5.37539812] [ 0.28322507 0.95874407 0.02435925 1.40520572] [ 0.23387495 -0.09367751 0.96774327 1.48854606] [ 0. 0. 0. 1. ]] SLAMing on 247.622414037 meters Centerline goodness : 0.794463 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:1.41, Z:1.49 [[ 0.93071734 -0.26539083 -0.25166036 5.3750116 ] [ 0.28085957 0.95936921 0.02699305 1.40706832] [ 0.23427149 -0.09580412 0.96743911 1.48846509] [ 0. 0. 0. 1. ]] SLAMing on 247.68241403699997 meters Centerline goodness : 0.791777 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.41, Z:1.49 [[ 0.93089447 -0.26561027 -0.25077214 5.37176382] [ 0.28059644 0.95949124 0.0253415 1.41115758] [ 0.23388271 -0.09395603 0.96771439 1.48887868] [ 0. 0. 0. 1. ]] SLAMing on 247.74241403699997 meters Centerline goodness : 0.791789 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.41, Z:1.49 [[ 0.93108147 -0.26558562 -0.25010314 5.36954675] [ 0.28024125 0.95962322 0.02425121 1.41455254] [ 0.23356401 -0.09266907 0.96791544 1.48874766] [ 0. 0. 0. 1. ]] SLAMing on 247.80241403699998 meters Centerline goodness : 0.791832 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.49 [[ 0.93103616 -0.26600163 -0.24982953 5.36782744] [ 0.2803181 0.95963387 0.02290409 1.41890334] [ 0.23365235 -0.09135628 0.96801891 1.48889209] [ 0. 0. 0. 1. ]] SLAMing on 247.86241403699998 meters Centerline goodness : 0.779667 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.49 [[ 0.93085977 -0.26685181 -0.24958005 5.3672292 ] [ 0.28088596 0.95949521 0.02172615 1.42250612] [ 0.2336732 -0.09032753 0.96811041 1.48853003] [ 0. 0. 0. 1. ]] SLAMing on 247.92241403699998 meters Centerline goodness : 0.791782 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.49 [[ 0.9307339 -0.26745012 -0.249409 5.36698285] [ 0.28131937 0.95938363 0.02103455 1.42406675] [ 0.23365322 -0.08974115 0.96816977 1.48834519] [ 0. 0. 0. 1. ]] SLAMing on 247.98241403699998 meters Centerline goodness : 0.794468 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93049938 -0.26863052 -0.24901516 5.36572867] [ 0.28223143 0.95913938 0.01992675 1.4260984 ] [ 0.23348732 -0.08882173 0.96829457 1.48847505] [ 0. 0. 0. 1. ]] SLAMing on 248.042414037 meters Centerline goodness : 0.793445 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.9302269 -0.27014599 -0.24839294 5.36369508] [ 0.28347242 0.95879537 0.01883689 1.4273629 ] [ 0.23306929 -0.08793513 0.96847618 1.48886914] [ 0. 0. 0. 1. ]] SLAMing on 248.102414037 meters Centerline goodness : 0.795048 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.93002146 -0.27139733 -0.24779745 5.36160711] [ 0.28447521 0.95851676 0.01787412 1.42821916] [ 0.23266702 -0.08711554 0.96864696 1.48952089] [ 0. 0. 0. 1. ]] SLAMing on 248.162414037 meters Centerline goodness : 0.777479 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.92886502 -0.27627091 -0.24674716 5.36127831] [ 0.28831053 0.95744426 0.01332366 1.43095695] [ 0.23256572 -0.08351569 0.9689883 1.48984809] [ 0. 0. 0. 1. ]] SLAMing on 248.222414037 meters Centerline goodness : 0.791351 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.92788509 -0.28028549 -0.24590509 5.36231415] [ 0.29146641 0.95653353 0.00953569 1.43380868] [ 0.23254375 -0.0805211 0.96924701 1.48910137] [ 0. 0. 0. 1. ]] SLAMing on 248.282414037 meters Centerline goodness : 0.793392 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92772317 -0.28106825 -0.24562238 5.36130916] [ 0.29205472 0.95636182 0.00872473 1.43536565] [ 0.23245162 -0.07982931 0.96932633 1.48936571] [ 0. 0. 0. 1. ]] SLAMing on 248.342414037 meters Centerline goodness : 0.790948 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92762274 -0.28149629 -0.24551148 5.36065903] [ 0.29234968 0.95627673 0.00815382 1.43683375] [ 0.23248165 -0.07933887 0.96935939 1.48960084] [ 0. 0. 0. 1. ]] SLAMing on 248.40241403699997 meters Centerline goodness : 0.791550 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92765626 -0.2815326 -0.24534314 5.36025568] [ 0.29222321 0.9563205 0.00752944 1.43923814] [ 0.23250689 -0.07867969 0.96940706 1.48957272] [ 0. 0. 0. 1. ]] SLAMing on 248.46241403699997 meters Centerline goodness : 0.793239 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92764031 -0.28173159 -0.24517496 5.35940095] [ 0.29217851 0.9563414 0.00654626 1.44266894] [ 0.23262668 -0.07770743 0.96945675 1.4899354 ] [ 0. 0. 0. 1. ]] SLAMing on 248.52241403699998 meters Centerline goodness : 0.790410 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92758468 -0.28194377 -0.24514154 5.35891527] [ 0.29221533 0.95633496 0.00579985 1.44499327] [ 0.23280219 -0.07701397 0.96946995 1.49031394] [ 0. 0. 0. 1. ]] SLAMing on 248.58241403699998 meters Centerline goodness : 0.793717 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27509983e-01 -2.82230222e-01 -2.45094541e-01 5.35828394e+00] [ 2.92332203e-01 9.56303377e-01 5.07282479e-03 1.44724489e+00] [ 2.32953033e-01 -7.63541227e-02 9.69485911e-01 1.49074282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64241403699998 meters Centerline goodness : 0.780132 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27438266e-01 -2.82534754e-01 -2.45015052e-01 5.35832202e+00] [ 2.92595338e-01 9.56223863e-01 4.88801924e-03 1.44721972e+00] [ 2.32908204e-01 -7.62235979e-02 9.69506953e-01 1.49064256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70241403699998 meters Centerline goodness : 0.792364 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27356141e-01 -2.82862358e-01 -2.44947902e-01 5.35796765e+00] [ 2.92858585e-01 9.56144699e-01 4.60042075e-03 1.44723929e+00] [ 2.32904352e-01 -7.60013245e-02 9.69525328e-01 1.49098708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76241403699999 meters Centerline goodness : 0.781772 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27304376e-01 -2.83102433e-01 -2.44866507e-01 5.35755355e+00] [ 2.93037609e-01 9.56091053e-01 4.34258744e-03 1.44764454e+00] [ 2.32885279e-01 -7.57819961e-02 9.69547078e-01 1.49124226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822414037 meters Centerline goodness : 0.793004 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27230621e-01 -2.83523823e-01 -2.44658163e-01 5.35671460e+00] [ 2.93346849e-01 9.55998163e-01 3.89084704e-03 1.44797294e+00] [ 2.32789607e-01 -7.53774138e-02 9.69601591e-01 1.49173517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882414037 meters Centerline goodness : 0.792498 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27144024e-01 -2.84068700e-01 -2.44354111e-01 5.35517262e+00] [ 2.93755436e-01 9.55874728e-01 3.35376062e-03 1.44796896e+00] [ 2.32619221e-01 -7.48897674e-02 9.69680267e-01 1.49273750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942414037 meters Centerline goodness : 0.792535 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27279688e-01 -2.83670626e-01 -2.44301773e-01 5.35507254e+00] [ 2.93407094e-01 9.55980701e-01 3.62991613e-03 1.44755354e+00] [ 2.32518080e-01 -7.50458208e-02 9.69692460e-01 1.49284822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002414037 meters Centerline goodness : 0.793014 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27311883e-01 -2.83442086e-01 -2.44444789e-01 5.35564443e+00] [ 2.93219205e-01 9.56037761e-01 3.78128412e-03 1.44687778e+00] [ 2.32626673e-01 -7.51823363e-02 9.69655840e-01 1.49288483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062414037 meters Centerline goodness : 0.793955 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 9.27480401e-01 -2.82599219e-01 -2.44781102e-01 5.35678398e+00] [ 2.92541943e-01 9.56242256e-01 4.46768108e-03 1.44548458e+00] [ 2.32807470e-01 -7.57524257e-02 9.69568075e-01 1.49279144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122414037 meters Centerline goodness : 0.794051 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 9.27518565e-01 -2.82293491e-01 -2.44989176e-01 5.35709998e+00] [ 2.92306967e-01 9.56312839e-01 4.73183783e-03 1.44447769e+00] [ 2.32950527e-01 -7.60009104e-02 9.69514267e-01 1.49318057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18241403699997 meters Centerline goodness : 0.792646 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 9.27669553e-01 -2.81829288e-01 -2.44951941e-01 5.35685020e+00] [ 2.91957998e-01 9.56416544e-01 5.28410562e-03 1.44216556e+00] [ 2.32786873e-01 -7.64175822e-02 9.69520822e-01 1.49376077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24241403699997 meters Centerline goodness : 0.794523 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92774473 -0.28143074 -0.2451254 5.35722946] [ 0.29166576 0.9565032 0.00571939 1.4401258 ] [ 0.23285362 -0.07680082 0.96947451 1.49425867] [ 0. 0. 0. 1. ]] SLAMing on 249.30241403699998 meters Centerline goodness : 0.783833 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.50 [[ 0.92788668 -0.28096944 -0.24511729 5.35673206] [ 0.29132922 0.9566021 0.00630127 1.43716539] [ 0.23270925 -0.0772567 0.96947295 1.49532199] [ 0. 0. 0. 1. ]] SLAMing on 249.36241403699998 meters Centerline goodness : 0.797194 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.50 [[ 0.92791169 -0.28097483 -0.24501641 5.35645681] [ 0.29145007 0.95656176 0.00681651 1.43336962] [ 0.23245806 -0.07773517 0.96949497 1.49605639] [ 0. 0. 0. 1. ]] SLAMing on 249.42241403699998 meters Centerline goodness : 0.797161 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 9.27111737e-01 -2.84173845e-01 -2.44354358e-01 5.35918113e+00] [ 2.94031662e-01 9.55787084e-01 4.05359836e-03 1.43135411e+00] [ 2.32398812e-01 -7.56060566e-02 9.69677532e-01 1.49485661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48241403699998 meters Centerline goodness : 0.797586 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 9.27006634e-01 -2.83727757e-01 -2.45269770e-01 5.36188356e+00] [ 2.93894217e-01 9.55824408e-01 5.08816569e-03 1.42998588e+00] [ 2.32991179e-01 -7.68001303e-02 9.69441515e-01 1.49437917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542414037 meters Centerline goodness : 0.795228 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.92778475 -0.27953754 -0.24713197 5.36359406] [ 0.29100793 0.95666416 0.01039594 1.42644334] [ 0.23351624 -0.08156255 0.96892606 1.49490966] [ 0. 0. 0. 1. ]] SLAMing on 249.602414037 meters Centerline goodness : 0.795713 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.92894086 -0.28294281 -0.23877238 5.36840779] [ 0.29482446 0.95543637 0.01482852 1.42845844] [ 0.22393619 -0.08417075 0.97096234 1.49055092] [ 0. 0. 0. 1. ]] SLAMing on 249.662414037 meters Centerline goodness : 0.794397 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.92950565 -0.28156183 -0.23820617 5.3676791 ] [ 0.29345385 0.95585139 0.01526301 1.42759309] [ 0.22339222 -0.08408957 0.97109467 1.48999521] [ 0. 0. 0. 1. ]] SLAMing on 249.722414037 meters Centerline goodness : 0.794212 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.92976322 -0.28080626 -0.23809285 5.36814497] [ 0.29262099 0.95610984 0.01506389 1.42844864] [ 0.22341288 -0.08367682 0.97112557 1.48905025] [ 0. 0. 0. 1. ]] SLAMing on 249.782414037 meters Centerline goodness : 0.796989 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93067278 -0.27661289 -0.23944412 5.36998586] [ 0.28926443 0.95706689 0.01868282 1.42845569] [ 0.22399613 -0.08665026 0.97073038 1.48779291] [ 0. 0. 0. 1. ]] SLAMing on 249.842414037 meters Centerline goodness : 0.796718 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.44, Z:1.49 [[ 0.9300919 -0.27651776 -0.24179949 5.42295554] [ 0.29332006 0.95534559 0.03575105 1.4393079 ] [ 0.22111627 -0.1041764 0.9696674 1.49156566] [ 0. 0. 0. 1. ]] SLAMing on 249.90241403699997 meters Centerline goodness : 0.782802 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.92980734 -0.27710539 -0.24222079 5.36467937] [ 0.29117353 0.95637901 0.02360452 1.43153113] [ 0.22511394 -0.09247594 0.96993398 1.48698994] [ 0. 0. 0. 1. ]] SLAMing on 249.96241403699997 meters Centerline goodness : 0.782919 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93025643 -0.27431881 -0.24366404 5.36569615] [ 0.28920185 0.95689197 0.02683374 1.43205281] [ 0.22579916 -0.09543035 0.96948842 1.48696857] [ 0. 0. 0. 1. ]] SLAMing on 250.02241403699998 meters Centerline goodness : 0.784542 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92996375 -0.27610629 -0.24276066 5.36232423] [ 0.29051318 0.95654548 0.02495669 1.43536726] [ 0.22532091 -0.09373399 0.96976514 1.48799334] [ 0. 0. 0. 1. ]] SLAMing on 250.08241403699998 meters Centerline goodness : 0.784809 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92965024 -0.27776075 -0.24207314 5.35952027] [ 0.29181198 0.95618664 0.02351338 1.43708221] [ 0.22493601 -0.09249906 0.96997305 1.48909698] [ 0. 0. 0. 1. ]] SLAMing on 250.14241403699998 meters Centerline goodness : 0.783768 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.92830063 -0.28344374 -0.24066072 5.35791025] [ 0.29628965 0.95492484 0.01819326 1.44167813] [ 0.22465614 -0.0881941 0.97043878 1.48957665] [ 0. 0. 0. 1. ]] SLAMing on 250.20241403699998 meters Centerline goodness : 0.785104 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.44, Z:1.49 [[ 0.9270732 -0.28830668 -0.23961331 5.35826041] [ 0.30015536 0.95379202 0.01369449 1.44464706] [ 0.22459305 -0.08461701 0.97077182 1.48928462] [ 0. 0. 0. 1. ]] SLAMing on 250.26241403699999 meters Centerline goodness : 0.793684 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 0.9257105 -0.29378411 -0.2382246 5.35796365] [ 0.304599 0.95243755 0.00906487 1.4472284 ] [ 0.22423094 -0.08095442 0.97116778 1.48874763] [ 0. 0. 0. 1. ]] SLAMing on 250.322414037 meters Centerline goodness : 0.795567 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.45, Z:1.49 [[ 0.9251786 -0.29605397 -0.23747967 5.35524941] [ 0.30654432 0.95182565 0.00764899 1.447754 ] [ 0.22377473 -0.07987472 0.97136239 1.4896204 ] [ 0. 0. 0. 1. ]] SLAMing on 250.382414037 meters Centerline goodness : 0.795145 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.45, Z:1.49 [[ 0.9249384 -0.29728566 -0.23687591 5.35299876] [ 0.3075627 0.9515036 0.0067891 1.44836906] [ 0.22336998 -0.07913369 0.97151619 1.4903975 ] [ 0. 0. 0. 1. ]] SLAMing on 250.442414037 meters Centerline goodness : 0.786034 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.45, Z:1.49 [[ 0.9247603 -0.29803646 -0.23662769 5.35174312] [ 0.30813338 0.95132423 0.00600188 1.44979454] [ 0.22332087 -0.07846319 0.97158186 1.49095183] [ 0. 0. 0. 1. ]] SLAMing on 250.502414037 meters Centerline goodness : 0.786672 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.45, Z:1.49 [[ 0.92473431 -0.29810738 -0.2366399 5.35160556] [ 0.30808264 0.95134393 0.00545951 1.45177613] [ 0.22349841 -0.07795324 0.97158209 1.49106647] [ 0. 0. 0. 1. ]] SLAMing on 250.562414037 meters Centerline goodness : 0.785850 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.45, Z:1.49 [[ 0.92702802 -0.2943376 -0.23234548 5.34745709] [ 0.30409311 0.95262012 0.00650288 1.45227447] [ 0.21942294 -0.07668301 0.97261158 1.48658206] [ 0. 0. 0. 1. ]] SLAMing on 250.622414037 meters Centerline goodness : 0.784996 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.45, Z:1.49 [[ 0.92809292 -0.29118257 -0.23206948 5.34600613] [ 0.30131774 0.95348434 0.00867344 1.45367941] [ 0.21874906 -0.07797641 0.97266054 1.48616554] [ 0. 0. 0. 1. ]] SLAMing on 250.68241403699997 meters Centerline goodness : 0.785844 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.46, Z:1.49 [[ 0.92916035 -0.28792323 -0.23186473 5.34356131] [ 0.2984497 0.95436327 0.01088684 1.4553987 ] [ 0.21814861 -0.07931558 0.97268712 1.48642135] [ 0. 0. 0. 1. ]] SLAMing on 250.74241403699997 meters Centerline goodness : 0.786675 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.46, Z:1.49 [[ 0.93022635 -0.28391233 -0.23253545 5.34195298] [ 0.29506637 0.95537544 0.01391463 1.45668441] [ 0.21820812 -0.08155714 0.97248838 1.48687543] [ 0. 0. 0. 1. ]] SLAMing on 250.80241403699998 meters Centerline goodness : 0.783777 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93318855 -0.27910296 -0.22640818 5.33460641] [ 0.28956795 0.95705931 0.01370713 1.45702271] [ 0.21286035 -0.07835189 0.97393606 1.48230772] [ 0. 0. 0. 1. ]] SLAMing on 250.86241403699998 meters Centerline goodness : 0.786273 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.46, Z:1.48 [[ 0.93324748 -0.27877411 -0.22657037 5.33509315] [ 0.28919566 0.95717501 0.01348589 1.45875105] [ 0.21310798 -0.07810884 0.97390143 1.48215028] [ 0. 0. 0. 1. ]] SLAMing on 250.92241403699998 meters Centerline goodness : 0.786671 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93319353 -0.27910172 -0.2263892 5.33433319] [ 0.28943001 0.95710968 0.01308919 1.45954071] [ 0.21302608 -0.07773858 0.97394897 1.48245752] [ 0. 0. 0. 1. ]] SLAMing on 250.98241403699998 meters Centerline goodness : 0.786275 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.933073 -0.2797414 -0.22609628 5.33338772] [ 0.28998224 0.95694744 0.01272367 1.45897222] [ 0.21280293 -0.07743601 0.97402186 1.48294275] [ 0. 0. 0. 1. ]] SLAMing on 251.042414037 meters Centerline goodness : 0.796902 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93292801 -0.28055806 -0.22568231 5.33217384] [ 0.29071 0.95673118 0.01237517 1.45843604] [ 0.21244535 -0.07715325 0.97412235 1.48323288] [ 0. 0. 0. 1. ]] SLAMing on 251.102414037 meters Centerline goodness : 0.786054 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93276488 -0.28138371 -0.22532839 5.33095556] [ 0.29144953 0.95651075 0.01201511 1.45793968] [ 0.21214817 -0.07687912 0.97420878 1.48365076] [ 0. 0. 0. 1. ]] SLAMing on 251.162414037 meters Centerline goodness : 0.788048 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93262066 -0.28214385 -0.22497457 5.32959331] [ 0.29208835 0.9563222 0.01149995 1.45767593] [ 0.21190353 -0.07643754 0.97429677 1.48437998] [ 0. 0. 0. 1. ]] SLAMing on 251.222414037 meters Centerline goodness : 0.787000 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.49 [[ 0.93245312 -0.28298843 -0.22460793 5.32798154] [ 0.29275971 0.95612573 0.01073954 1.45833713] [ 0.21171425 -0.07577028 0.97439003 1.48517423] [ 0. 0. 0. 1. ]] SLAMing on 251.282414037 meters Centerline goodness : 0.787839 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.49 [[ 0.93243141 -0.28311792 -0.22453489 5.32800396] [ 0.2928266 0.95610831 0.01046306 1.45900044] [ 0.21171739 -0.07550588 0.97440988 1.48507964] [ 0. 0. 0. 1. ]] SLAMing on 251.342414037 meters Centerline goodness : 0.787811 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.9327628 -0.28245338 -0.22399477 5.32791894] [ 0.29221035 0.95629126 0.01096117 1.45925698] [ 0.21110822 -0.07567776 0.97452871 1.48408558] [ 0. 0. 0. 1. ]] SLAMing on 251.40241403699997 meters Centerline goodness : 0.789634 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93316917 -0.2811163 -0.22398422 5.32815207] [ 0.29093184 0.95667597 0.01139106 1.46135235] [ 0.21107811 -0.07579393 0.9745262 1.48360951] [ 0. 0. 0. 1. ]] SLAMing on 251.46241403699997 meters Centerline goodness : 0.786957 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93315027 -0.28133845 -0.22378393 5.32683289] [ 0.29098258 0.95666911 0.01064717 1.46341191] [ 0.21109171 -0.07505263 0.97458062 1.48446387] [ 0. 0. 0. 1. ]] SLAMing on 251.52241403699998 meters Centerline goodness : 0.795779 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93312755 -0.28152931 -0.22363861 5.32651429] [ 0.29108483 0.95664214 0.01026867 1.46390653] [ 0.21105118 -0.07467978 0.97461804 1.48471519] [ 0. 0. 0. 1. ]] SLAMing on 251.58241403699998 meters Centerline goodness : 0.785646 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93310676 -0.28155823 -0.22368892 5.32720743] [ 0.29110396 0.95663703 0.01020191 1.46435687] [ 0.21111667 -0.0746362 0.9746072 1.48414557] [ 0. 0. 0. 1. ]] SLAMing on 251.64241403699998 meters Centerline goodness : 0.786352 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.48 [[ 0.93300507 -0.2820539 -0.22348856 5.32653393] [ 0.2915102 0.95651748 0.00980372 1.46484989] [ 0.21100554 -0.07429611 0.97465725 1.48432534] [ 0. 0. 0. 1. ]] SLAMing on 251.70241403699998 meters Centerline goodness : 0.799714 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 0.93269515 -0.28367594 -0.22272792 5.323773 ] [ 0.29287696 0.95611049 0.00870739 1.46501994] [ 0.21048242 -0.07335322 0.97484176 1.48537229] [ 0. 0. 0. 1. ]] SLAMing on 251.76241403699999 meters Centerline goodness : 0.786807 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.49 [[ 0.93243829 -0.28503284 -0.22207007 5.32152743] [ 0.29403186 0.95576341 0.0078471 1.46498951] [ 0.21000977 -0.07261261 0.97499913 1.48620855] [ 0. 0. 0. 1. ]] SLAMing on 251.822414037 meters Centerline goodness : 0.798528 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 9.31207675e-01 -2.89847968e-01 -2.20998692e-01 5.32107804e+00] [ 2.97926108e-01 9.54582948e-01 3.38079072e-03 1.46703078e+00] [ 2.09981668e-01 -6.89894985e-02 9.75268244e-01 1.48682061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882414037 meters Centerline goodness : 0.799267 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 9.30986773e-01 -2.90889157e-01 -2.20560937e-01 5.32000284e+00] [ 2.98839337e-01 9.54299295e-01 2.81170602e-03 1.46708426e+00] [ 2.09663252e-01 -6.85299453e-02 9.75369144e-01 1.48690974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942414037 meters Centerline goodness : 0.798171 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 9.30899073e-01 -2.91340377e-01 -2.20335427e-01 5.31967424e+00] [ 2.99212812e-01 9.54183200e-01 2.47276137e-03 1.46743039e+00] [ 2.09519948e-01 -6.82290741e-02 9.75421030e-01 1.48677403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002414037 meters Centerline goodness : 0.783040 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 9.30805729e-01 -2.91851655e-01 -2.20052961e-01 5.31862185e+00] [ 2.99599552e-01 9.54063098e-01 1.92719776e-03 1.46816780e+00] [ 2.09381954e-01 -6.77216152e-02 9.75486023e-01 1.48722967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062414037 meters Centerline goodness : 0.784983 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 9.30780285e-01 -2.92503084e-01 -2.19294339e-01 5.31595489e+00] [ 3.00101997e-01 9.53906081e-01 1.40702448e-03 1.46811328e+00] [ 2.08774644e-01 -6.71202997e-02 9.75657734e-01 1.48836744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122414037 meters Centerline goodness : 0.785904 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.49 [[ 9.30704805e-01 -2.92884532e-01 -2.19105494e-01 5.31492241e+00] [ 3.00398397e-01 9.53813267e-01 1.02726386e-03 1.46811883e+00] [ 2.08684857e-01 -6.67750185e-02 9.75700634e-01 1.48917215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18241403699997 meters Centerline goodness : 0.786009 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.49 [[ 9.30616377e-01 -2.93115580e-01 -2.19172115e-01 5.31531008e+00] [ 3.00666536e-01 9.53728634e-01 1.15197503e-03 1.46612593e+00] [ 2.08693060e-01 -6.69697673e-02 9.75685532e-01 1.48938455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24241403699997 meters Centerline goodness : 0.786087 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.49 [[ 9.30266909e-01 -2.94873591e-01 -2.18295770e-01 5.31581942e+00] [ 3.02084133e-01 9.53281200e-01 -3.59962301e-04 1.46447722e+00] [ 2.08203397e-01 -6.56088273e-02 9.75882589e-01 1.48911049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30241403699998 meters Centerline goodness : 0.789537 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.49 [[ 9.29152589e-01 -2.98793568e-01 -2.17710520e-01 5.31759357e+00] [ 3.05363428e-01 9.52228957e-01 -3.63173973e-03 1.46302592e+00] [ 2.08395402e-01 -6.31063904e-02 9.76006629e-01 1.48919096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36241403699998 meters Centerline goodness : 0.785972 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.49 [[ 9.28883891e-01 -2.99777740e-01 -2.17504077e-01 5.31684324e+00] [ 3.06297751e-01 9.51927704e-01 -3.91573453e-03 1.46074203e+00] [ 2.08222007e-01 -6.29837471e-02 9.76051558e-01 1.48993136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42241403699998 meters Centerline goodness : 0.787803 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.49 [[ 9.28373382e-01 -3.01630683e-01 -2.17121611e-01 5.31593942e+00] [ 3.07881284e-01 9.51410148e-01 -5.27678217e-03 1.45801399e+00] [ 2.08163344e-01 -6.19488564e-02 9.76130299e-01 1.49150886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48241403699998 meters Centerline goodness : 0.799920 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.49 [[ 0.92823848 -0.30217826 -0.21693693 5.31512966] [ 0.30839714 0.95124218 -0.00543299 1.4560055 ] [ 0.20800129 -0.06185962 0.9761705 1.49245367] [ 0. 0. 0. 1. ]] SLAMing on 252.542414037 meters Centerline goodness : 0.786687 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.45, Z:1.49 [[ 0.92814182 -0.30311803 -0.21603756 5.31375226] [ 0.30918881 0.95098196 -0.00596523 1.45249555] [ 0.20725599 -0.06125981 0.97636683 1.4935446 ] [ 0. 0. 0. 1. ]] SLAMing on 252.602414037 meters Centerline goodness : 0.799114 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.45, Z:1.49 [[ 0.92809974 -0.30321477 -0.21608257 5.31395127] [ 0.30937019 0.95092525 -0.00559134 1.44916566] [ 0.20717374 -0.06166019 0.97635908 1.49415251] [ 0. 0. 0. 1. ]] SLAMing on 252.662414037 meters Centerline goodness : 0.796851 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.45, Z:1.49 [[ 0.92809686 -0.30342347 -0.21580178 5.31412186] [ 0.30962041 0.95084528 -0.00533381 1.44574373] [ 0.20681251 -0.06186634 0.97642262 1.49436246] [ 0. 0. 0. 1. ]] SLAMing on 252.722414037 meters Centerline goodness : 0.801079 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.44, Z:1.49 [[ 0.93074655 -0.29975017 -0.20942946 5.30535657] [ 0.30473581 0.952396 -0.00882903 1.43767937] [ 0.20210628 -0.05560307 0.9777839 1.49080029] [ 0. 0. 0. 1. ]] SLAMing on 252.782414037 meters Centerline goodness : 0.800815 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.44, Z:1.49 [[ 0.93092499 -0.2987945 -0.21000121 5.30673224] [ 0.30398144 0.95264511 -0.0079104 1.43501905] [ 0.20242021 -0.05647249 0.97766912 1.49115893] [ 0. 0. 0. 1. ]] SLAMing on 252.842414037 meters Centerline goodness : 0.800555 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.43, Z:1.49 [[ 9.32265906e-01 -2.95386982e-01 -2.08870323e-01 5.30615069e+00] [ 3.00994114e-01 9.53612031e-01 -5.16123848e-03 1.42979707e+00] [ 2.00705816e-01 -5.80570911e-02 9.77929726e-01 1.49042854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90241403699997 meters Centerline goodness : 0.799741 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.43, Z:1.49 [[ 9.33072766e-01 -2.93419401e-01 -2.08039105e-01 5.30572827e+00] [ 2.99256915e-01 9.54165901e-01 -3.56812527e-03 1.42707616e+00] [ 1.99550777e-01 -5.89278202e-02 9.78114001e-01 1.48991175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96241403699997 meters Centerline goodness : 0.800898 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.42, Z:1.49 [[ 9.34375924e-01 -2.90212637e-01 -2.06683957e-01 5.30502442e+00] [ 2.96373848e-01 9.55071248e-01 -1.20549531e-03 1.42321395e+00] [ 1.97747755e-01 -6.01293340e-02 9.78407016e-01 1.48878079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02241403699998 meters Centerline goodness : 0.801342 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.42, Z:1.49 [[ 9.35026317e-01 -2.88200079e-01 -2.06558710e-01 5.30583418e+00] [ 2.94545018e-01 9.55637604e-01 -3.62558220e-05 1.42126044e+00] [ 1.97405720e-01 -6.08069389e-02 9.78434207e-01 1.48768760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08241403699998 meters Centerline goodness : 0.803922 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.42, Z:1.49 [[ 9.35544222e-01 -2.86536584e-01 -2.06527951e-01 5.30614982e+00] [ 2.93190334e-01 9.56052604e-01 1.68730218e-03 1.41772771e+00] [ 1.96968112e-01 -6.21305448e-02 9.78439246e-01 1.48755791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14241403699998 meters Centerline goodness : 0.802109 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.41, Z:1.49 [[ 9.35689990e-01 -2.85642604e-01 -2.07105155e-01 5.30745541e+00] [ 2.92628529e-01 9.56220691e-01 3.24577758e-03 1.41473317e+00] [ 1.97111102e-01 -6.36419185e-02 9.78313303e-01 1.48796390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20241403699998 meters Centerline goodness : 0.803171 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.41, Z:1.49 [[ 9.35768401e-01 -2.85417347e-01 -2.07061433e-01 5.30871622e+00] [ 2.92654797e-01 9.56207408e-01 4.53454681e-03 1.40915138e+00] [ 1.96699438e-01 -6.48408072e-02 9.78317434e-01 1.48806886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26241403699999 meters Centerline goodness : 0.801647 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.40, Z:1.49 [[ 0.93571752 -0.28485757 -0.20805984 5.31142962] [ 0.29260171 0.95621043 0.00677097 1.40397419] [ 0.19702023 -0.06721438 0.97809266 1.48832469] [ 0. 0. 0. 1. ]] SLAMing on 253.322414037 meters Centerline goodness : 0.790308 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.40, Z:1.49 [[ 0.93562636 -0.28432103 -0.20920053 5.31408046] [ 0.29255904 0.95620629 0.00887376 1.39930577] [ 0.19751587 -0.06950603 0.9778325 1.48887367] [ 0. 0. 0. 1. ]] SLAMing on 253.382414037 meters Centerline goodness : 0.789332 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.40, Z:1.49 [[ 0.93558668 -0.28428591 -0.20942562 5.31501002] [ 0.29266469 0.95616801 0.00949308 1.39698551] [ 0.19754733 -0.07017308 0.9777785 1.489099 ] [ 0. 0. 0. 1. ]] SLAMing on 253.442414037 meters Centerline goodness : 0.790570 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.49 [[ 0.93559922 -0.28364208 -0.21024099 5.31705464] [ 0.29234828 0.95624999 0.01088316 1.39480238] [ 0.19795602 -0.07164586 0.97758902 1.48910337] [ 0. 0. 0. 1. ]] SLAMing on 253.502414037 meters Centerline goodness : 0.791224 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.49 [[ 0.93594962 -0.28218353 -0.21064367 5.31940902] [ 0.29127991 0.95655199 0.01281837 1.39133749] [ 0.19787449 -0.07335361 0.97747887 1.48791105] [ 0. 0. 0. 1. ]] SLAMing on 253.562414037 meters Centerline goodness : 0.788612 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.49 [[ 0.93604831 -0.28160377 -0.21098075 5.32113328] [ 0.29102403 0.95660808 0.01435255 1.38740532] [ 0.19778416 -0.07483515 0.97738484 1.48761231] [ 0. 0. 0. 1. ]] SLAMing on 253.622414037 meters Centerline goodness : 0.791654 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.39, Z:1.49 [[ 0.93596305 -0.28126161 -0.21181379 5.32194481] [ 0.29096944 0.95660703 0.01548441 1.38577306] [ 0.19826739 -0.07612418 0.97718737 1.48880734] [ 0. 0. 0. 1. ]] SLAMing on 253.68241403699997 meters Centerline goodness : 0.794768 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.38, Z:1.49 [[ 0.93603579 -0.28071218 -0.21222081 5.32286046] [ 0.2906531 0.95668567 0.01653173 1.38360861] [ 0.19838795 -0.07715693 0.9770819 1.4891388 ] [ 0. 0. 0. 1. ]] SLAMing on 253.74241403699997 meters Centerline goodness : 0.793250 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93623302 -0.27973439 -0.2126415 5.32513543] [ 0.28983754 0.95692006 0.01726862 1.38206248] [ 0.19865029 -0.07779894 0.97697768 1.48799438] [ 0. 0. 0. 1. ]] SLAMing on 253.80241403699998 meters Centerline goodness : 0.794804 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93715416 -0.27578573 -0.21373889 5.32616349] [ 0.28664577 0.95780715 0.02096824 1.38058367] [ 0.19893789 -0.08091782 0.97666577 1.48755031] [ 0. 0. 0. 1. ]] SLAMing on 253.86241403699998 meters Centerline goodness : 0.790943 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93759287 -0.27433063 -0.21368741 5.32631092] [ 0.28531268 0.95818776 0.0217462 1.37993819] [ 0.19878701 -0.08135681 0.97666002 1.4870358 ] [ 0. 0. 0. 1. ]] SLAMing on 253.92241403699998 meters Centerline goodness : 0.790520 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93814415 -0.2726646 -0.21340002 5.32581653] [ 0.2838202 0.95860403 0.0229001 1.37792433] [ 0.19832207 -0.08205084 0.97669648 1.48697475] [ 0. 0. 0. 1. ]] SLAMing on 253.98241403699998 meters Centerline goodness : 0.792185 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93831796 -0.27178605 -0.21375628 5.32672301] [ 0.28313317 0.95878561 0.0237859 1.3767762 ] [ 0.19848177 -0.08284023 0.9765974 1.48689924] [ 0. 0. 0. 1. ]] SLAMing on 254.042414037 meters Centerline goodness : 0.790179 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93823905 -0.27195165 -0.21389198 5.32753027] [ 0.28333944 0.95872158 0.02391023 1.37592756] [ 0.19856043 -0.08303754 0.97656465 1.48675581] [ 0. 0. 0. 1. ]] SLAMing on 254.102414037 meters Centerline goodness : 0.793825 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93810527 -0.27178219 -0.21469269 5.3294457 ] [ 0.28335501 0.95870224 0.02449379 1.37561026] [ 0.19916938 -0.08381201 0.97637447 1.48663684] [ 0. 0. 0. 1. ]] SLAMing on 254.162414037 meters Centerline goodness : 0.790257 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.38, Z:1.49 [[ 0.93806663 -0.27149119 -0.215229 5.33049882] [ 0.28323303 0.95872205 0.02512147 1.37558413] [ 0.19952453 -0.08452557 0.97624044 1.48659508] [ 0. 0. 0. 1. ]] SLAMing on 254.222414037 meters Centerline goodness : 0.789322 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.37, Z:1.49 [[ 0.93779061 -0.27230816 -0.2153997 5.33014847] [ 0.28409637 0.95846487 0.02518623 1.37498856] [ 0.19959464 -0.08481368 0.97620112 1.48782992] [ 0. 0. 0. 1. ]] SLAMing on 254.282414037 meters Centerline goodness : 0.789230 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.37, Z:1.49 [[ 0.93750154 -0.27290287 -0.21590479 5.33081519] [ 0.28490242 0.95820562 0.02593458 1.37322969] [ 0.19980357 -0.0858255 0.97606993 1.48885695] [ 0. 0. 0. 1. ]] SLAMing on 254.342414037 meters Centerline goodness : 0.787976 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.37, Z:1.49 [[ 0.93734371 -0.27308327 -0.21636151 5.33161867] [ 0.28522115 0.95809838 0.02638919 1.37230207] [ 0.20008917 -0.08644662 0.97595661 1.48934184] [ 0. 0. 0. 1. ]] SLAMing on 254.40241403699997 meters Centerline goodness : 0.789992 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.37, Z:1.49 [[ 0.93689631 -0.27406077 -0.21706218 5.33307915] [ 0.28629458 0.95777674 0.02644085 1.37209475] [ 0.20065071 -0.08691607 0.97579962 1.48984649] [ 0. 0. 0. 1. ]] SLAMing on 254.46241403699997 meters Centerline goodness : 0.787704 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.37, Z:1.49 [[ 0.93671707 -0.27445852 -0.21733305 5.33434974] [ 0.28672716 0.95764717 0.02644696 1.37155359] [ 0.20086979 -0.0870886 0.97573916 1.48953201] [ 0. 0. 0. 1. ]] SLAMing on 254.52241403699998 meters Centerline goodness : 0.787259 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.37, Z:1.49 [[ 0.93649672 -0.27467917 -0.21800286 5.33605722] [ 0.28712582 0.95751259 0.02698877 1.37065779] [ 0.20132723 -0.08786915 0.97557489 1.48952244] [ 0. 0. 0. 1. ]] SLAMing on 254.58241403699998 meters Centerline goodness : 0.788753 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.37, Z:1.49 [[ 0.93617938 -0.27570837 -0.21806664 5.33604995] [ 0.2881111 0.95722648 0.02663552 1.37057725] [ 0.20139552 -0.08776305 0.97557034 1.49011142] [ 0. 0. 0. 1. ]] SLAMing on 254.64241403699998 meters Centerline goodness : 0.775247 with order 2 Centerline is valid? [False, False] Translation: X:5.34, Y:1.37, Z:1.49 [[ 0.93602275 -0.27582065 -0.21859639 5.33631822] [ 0.288317 0.95715878 0.02683995 1.3713866 ] [ 0.20182844 -0.08814786 0.97544617 1.49075182] [ 0. 0. 0. 1. ]] SLAMing on 254.70241403699998 meters Centerline goodness : 0.786945 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.37, Z:1.49 [[ 0.93602011 -0.27566014 -0.21881005 5.33634513] [ 0.28808137 0.95724197 0.02639961 1.3730304 ] [ 0.20217684 -0.08774566 0.97541028 1.49077364] [ 0. 0. 0. 1. ]] SLAMing on 254.76241403699999 meters Centerline goodness : 0.784677 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.37, Z:1.49 [[ 0.93660151 -0.27241338 -0.22038277 5.33729611] [ 0.28566945 0.95785654 0.03006362 1.37275616] [ 0.20290535 -0.09111426 0.97495006 1.49116847] [ 0. 0. 0. 1. ]] SLAMing on 254.822414037 meters Centerline goodness : 0.785432 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.38, Z:1.49 [[ 0.93737504 -0.26919918 -0.22104263 5.33584218] [ 0.28288822 0.95861268 0.0321866 1.37515343] [ 0.20322967 -0.09270128 0.97473287 1.49161793] [ 0. 0. 0. 1. ]] SLAMing on 254.882414037 meters Centerline goodness : 0.785094 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.38, Z:1.49 [[ 0.93798413 -0.26622114 -0.22206322 5.33604137] [ 0.28023055 0.95934571 0.03356566 1.37957056] [ 0.20409951 -0.09371296 0.97445435 1.49082752] [ 0. 0. 0. 1. ]] SLAMing on 254.942414037 meters Centerline goodness : 0.783654 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.38, Z:1.49 [[ 0.93849113 -0.26446821 -0.22201571 5.335856 ] [ 0.27835515 0.95990445 0.0331942 1.38357298] [ 0.20433506 -0.09295168 0.9744779 1.48932032] [ 0. 0. 0. 1. ]] SLAMing on 255.002414037 meters Centerline goodness : 0.783620 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.39, Z:1.49 [[ 0.93953146 -0.26053542 -0.22226543 5.33339193] [ 0.27475922 0.96087182 0.03511021 1.38795615] [ 0.20442113 -0.09405662 0.97435381 1.4890783 ] [ 0. 0. 0. 1. ]] SLAMing on 255.062414037 meters Centerline goodness : 0.788577 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.39, Z:1.49 [[ 0.93961675 -0.26039736 -0.2220666 5.33211147] [ 0.27433167 0.96103958 0.03383876 1.39163295] [ 0.20460327 -0.09271536 0.97444413 1.48919483] [ 0. 0. 0. 1. ]] SLAMing on 255.122414037 meters Centerline goodness : 0.783959 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.40, Z:1.49 [[ 0.93922519 -0.26178229 -0.22209472 5.32964807] [ 0.27540732 0.96078809 0.03220331 1.39690501] [ 0.2049557 -0.09141268 0.97449314 1.49070865] [ 0. 0. 0. 1. ]] SLAMing on 255.18241403699997 meters Centerline goodness : 0.788160 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.40, Z:1.49 [[ 0.93829388 -0.26447589 -0.22283872 5.32935835] [ 0.27791121 0.96011701 0.03067052 1.40058421] [ 0.20583964 -0.09070734 0.97437273 1.492462 ] [ 0. 0. 0. 1. ]] SLAMing on 255.24241403699997 meters Centerline goodness : 0.788501 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.40, Z:1.49 [[ 0.93717135 -0.26771977 -0.22368724 5.33105113] [ 0.28101541 0.95925676 0.0292712 1.40306821] [ 0.20673702 -0.09029169 0.97422134 1.49288656] [ 0. 0. 0. 1. ]] SLAMing on 255.30241403699998 meters Centerline goodness : 0.788068 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.49 [[ 0.93634139 -0.26999392 -0.22442836 5.33185577] [ 0.28319946 0.95864447 0.02826378 1.40502291] [ 0.20751596 -0.09002253 0.97408063 1.49388782] [ 0. 0. 0. 1. ]] SLAMing on 255.36241403699998 meters Centerline goodness : 0.785914 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.50 [[ 0.93546327 -0.2725897 -0.22495185 5.33120925] [ 0.28559531 0.95797539 0.02680442 1.40842051] [ 0.20819172 -0.08931975 0.97400112 1.49544556] [ 0. 0. 0. 1. ]] SLAMing on 255.42241403699998 meters Centerline goodness : 0.788867 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.50 [[ 0.93522621 -0.273006 -0.22543216 5.33086253] [ 0.2859696 0.95787631 0.02635068 1.41083512] [ 0.20874223 -0.08911059 0.97390245 1.49635986] [ 0. 0. 0. 1. ]] SLAMing on 255.48241403699998 meters Centerline goodness : 0.772605 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.50 [[ 0.93583075 -0.26990489 -0.22665425 5.32956536] [ 0.28353387 0.95851577 0.02925875 1.41357372] [ 0.20935459 -0.09164539 0.97353571 1.49735547] [ 0. 0. 0. 1. ]] SLAMing on 255.542414037 meters Centerline goodness : 0.786867 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.50 [[ 0.93580187 -0.27023107 -0.22638467 5.32872273] [ 0.28358593 0.95853599 0.02806744 1.41762636] [ 0.20941316 -0.09046507 0.9736335 1.49742171] [ 0. 0. 0. 1. ]] SLAMing on 255.602414037 meters Centerline goodness : 0.770820 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.50 [[ 0.93608013 -0.26934988 -0.22628439 5.32928893] [ 0.28260323 0.95883572 0.02773935 1.4220164 ] [ 0.20949797 -0.08991495 0.97366622 1.49621826] [ 0. 0. 0. 1. ]] SLAMing on 255.662414037 meters Centerline goodness : 0.790452 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93618867 -0.2689763 -0.22627973 5.32969372] [ 0.28212461 0.95898939 0.0272956 1.42550836] [ 0.20965799 -0.08939291 0.97367984 1.49544304] [ 0. 0. 0. 1. ]] SLAMing on 255.722414037 meters Centerline goodness : 0.793026 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93608261 -0.26975686 -0.22578879 5.32753262] [ 0.28268203 0.95885075 0.02638381 1.42756573] [ 0.20938054 -0.08852386 0.97381893 1.49622632] [ 0. 0. 0. 1. ]] SLAMing on 255.782414037 meters Centerline goodness : 0.794148 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93492474 -0.27459965 -0.224746 5.32678195] [ 0.28660054 0.9577981 0.02197552 1.42929652] [ 0.20922682 -0.08495778 0.97416955 1.49708234] [ 0. 0. 0. 1. ]] SLAMing on 255.842414037 meters Centerline goodness : 0.790978 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93377186 -0.27921583 -0.22384958 5.32700319] [ 0.29034693 0.95675658 0.01776285 1.43042971] [ 0.20920988 -0.08158049 0.97446183 1.49752425] [ 0. 0. 0. 1. ]] SLAMing on 255.90241403699997 meters Centerline goodness : 0.792521 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93252189 -0.28405944 -0.22296448 5.3273137 ] [ 0.29429671 0.95562032 0.01338845 1.43184405] [ 0.20926627 -0.07810273 0.97473463 1.49789103] [ 0. 0. 0. 1. ]] SLAMing on 255.96241403699997 meters Centerline goodness : 0.793219 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.9323962 -0.28452512 -0.22289636 5.32686786] [ 0.29467344 0.95551031 0.01294642 1.4325657 ] [ 0.20929619 -0.07775283 0.97475618 1.49814431] [ 0. 0. 0. 1. ]] SLAMing on 256.022414037 meters Centerline goodness : 0.792522 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93226211 -0.28517247 -0.22262979 5.32549562] [ 0.29516285 0.95536859 0.01223702 1.4331685 ] [ 0.20920385 -0.07712015 0.97482626 1.49912129] [ 0. 0. 0. 1. ]] SLAMing on 256.082414037 meters Centerline goodness : 0.794802 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.43, Z:1.50 [[ 0.9321453 -0.28585128 -0.22224802 5.32374117] [ 0.29570956 0.95520641 0.0116865 1.43281789] [ 0.20895213 -0.07661437 0.97492012 1.50028391] [ 0. 0. 0. 1. ]] SLAMing on 256.142414037 meters Centerline goodness : 0.793770 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.43, Z:1.50 [[ 0.9321249 -0.28595154 -0.22220463 5.32302186] [ 0.29574953 0.95519738 0.01140992 1.43261803] [ 0.2089866 -0.07635238 0.97493329 1.50120039] [ 0. 0. 0. 1. ]] SLAMing on 256.202414037 meters Centerline goodness : 0.794819 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.43, Z:1.50 [[ 0.93218666 -0.28544793 -0.22259272 5.32460938] [ 0.2953728 0.95530779 0.01191391 1.43137516] [ 0.20924376 -0.07685382 0.97483872 1.50077365] [ 0. 0. 0. 1. ]] SLAMing on 256.262414037 meters Centerline goodness : 0.795286 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93226864 -0.28506889 -0.22273507 5.32527322] [ 0.29509496 0.95538778 0.01237541 1.42984531] [ 0.20927052 -0.07726521 0.97480046 1.50074521] [ 0. 0. 0. 1. ]] SLAMing on 256.322414037 meters Centerline goodness : 0.795410 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93231567 -0.2848517 -0.22281608 5.3255208 ] [ 0.29491985 0.95543936 0.01256586 1.42909722] [ 0.20930785 -0.07742824 0.97477951 1.50093304] [ 0. 0. 0. 1. ]] SLAMing on 256.382414037 meters Centerline goodness : 0.795753 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93229083 -0.2848268 -0.2229518 5.32571829] [ 0.29489763 0.9554467 0.01252979 1.42872125] [ 0.20944974 -0.07742936 0.97474894 1.50124324] [ 0. 0. 0. 1. ]] SLAMing on 256.442414037 meters Centerline goodness : 0.795982 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93232777 -0.28461204 -0.22307154 5.32597957] [ 0.29473132 0.95549531 0.01273458 1.42790658] [ 0.2095194 -0.07761898 0.97471889 1.501506 ] [ 0. 0. 0. 1. ]] SLAMing on 256.502414037 meters Centerline goodness : 0.799790 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.43, Z:1.50 [[ 0.93230935 -0.28474787 -0.22297517 5.32564547] [ 0.29490539 0.95543892 0.01293349 1.42612566] [ 0.20935638 -0.07781459 0.97473832 1.50197968] [ 0. 0. 0. 1. ]] SLAMing on 256.562414037 meters Centerline goodness : 0.799328 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.50 [[ 0.93212606 -0.28548115 -0.22280378 5.32502093] [ 0.29559345 0.95522936 0.01270344 1.42397248] [ 0.20920212 -0.07770055 0.97478054 1.50278557] [ 0. 0. 0. 1. ]] SLAMing on 256.622414037 meters Centerline goodness : 0.798851 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.50 [[ 0.93203396 -0.28577536 -0.22281189 5.32507563] [ 0.29589424 0.95513631 0.0126971 1.4228058 ] [ 0.20918721 -0.07776288 0.97477877 1.50300615] [ 0. 0. 0. 1. ]] SLAMing on 256.682414037 meters Centerline goodness : 0.785486 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.50 [[ 0.93159536 -0.28641395 -0.22382387 5.32816856] [ 0.29676476 0.95485779 0.01331443 1.42049503] [ 0.20990653 -0.0788267 0.97453866 1.5029317 ] [ 0. 0. 0. 1. ]] SLAMing on 256.742414037 meters Centerline goodness : 0.783131 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.50 [[ 0.93041754 -0.29110219 -0.22267176 5.32777524] [ 0.30067156 0.95367969 0.00957397 1.41940267] [ 0.20957053 -0.07585886 0.97484646 1.50368358] [ 0. 0. 0. 1. ]] SLAMing on 256.802414037 meters Centerline goodness : 0.784703 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.42, Z:1.51 [[ 0.92975925 -0.29372459 -0.22197658 5.32612083] [ 0.30289742 0.95299223 0.00767841 1.4171865 ] [ 0.20928662 -0.0743752 0.97502176 1.50536472] [ 0. 0. 0. 1. ]] SLAMing on 256.862414037 meters Centerline goodness : 0.786530 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.51 [[ 9.28558927e-01 -2.98270981e-01 -2.20936057e-01 5.32627752e+00] [ 3.06765178e-01 9.51775258e-01 4.35693516e-03 1.41410559e+00] [ 2.08981926e-01 -7.18211600e-02 9.75278563e-01 1.50627970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922414037 meters Centerline goodness : 0.785287 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.51 [[ 0.92837316 -0.29811978 -0.22191862 5.32826153] [ 0.30701592 0.9516861 0.00589808 1.41061994] [ 0.20943853 -0.07360817 0.97504735 1.50694954] [ 0. 0. 0. 1. ]] SLAMing on 256.982414037 meters Centerline goodness : 0.785883 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.41, Z:1.51 [[ 0.92837583 -0.29749015 -0.22275082 5.33012037] [ 0.3068024 0.95174286 0.00760405 1.40691084] [ 0.20973937 -0.0753999 0.97484576 1.50740552] [ 0. 0. 0. 1. ]] SLAMing on 257.04241403699996 meters Centerline goodness : 0.786615 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.40, Z:1.51 [[ 0.92900665 -0.29386783 -0.22491853 5.33236007] [ 0.30432156 0.95248735 0.01249948 1.40337596] [ 0.21055886 -0.08005966 0.9742974 1.50818163] [ 0. 0. 0. 1. ]] SLAMing on 257.10241403699996 meters Centerline goodness : 0.799205 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.40, Z:1.51 [[ 0.92909143 -0.2933146 -0.22529017 5.33313566] [ 0.30390269 0.95261383 0.01304026 1.40156827] [ 0.21078963 -0.08058188 0.97420444 1.50861876] [ 0. 0. 0. 1. ]] SLAMing on 257.16241403699996 meters Centerline goodness : 0.800553 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.40, Z:1.51 [[ 0.9293319 -0.29210246 -0.22587246 5.33540997] [ 0.30296697 0.95289482 0.01422906 1.3994232 ] [ 0.21107636 -0.08165542 0.97405296 1.50786031] [ 0. 0. 0. 1. ]] SLAMing on 257.22241403699996 meters Centerline goodness : 0.800627 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.40, Z:1.51 [[ 0.93016668 -0.28817929 -0.22747009 5.3376632 ] [ 0.2999503 0.95378087 0.01821725 1.39737179] [ 0.21170679 -0.0851748 0.97361465 1.50737349] [ 0. 0. 0. 1. ]] SLAMing on 257.28241403699997 meters Centerline goodness : 0.785498 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.40, Z:1.51 [[ 0.93072829 -0.28684035 -0.2268644 5.33709374] [ 0.29862267 0.95418852 0.01867546 1.39677147] [ 0.21111453 -0.08512863 0.97374728 1.50649643] [ 0. 0. 0. 1. ]] SLAMing on 257.34241403699997 meters Centerline goodness : 0.799795 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.39, Z:1.51 [[ 0.9314979 -0.28293976 -0.22859736 5.33821137] [ 0.29582935 0.95495186 0.02349357 1.39377594] [ 0.21165221 -0.08951002 0.97323754 1.50732919] [ 0. 0. 0. 1. ]] SLAMing on 257.40241403699997 meters Centerline goodness : 0.801390 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.39, Z:1.51 [[ 0.9317136 -0.28223777 -0.22858611 5.33735897] [ 0.29534683 0.95507362 0.02458943 1.39174183] [ 0.2113765 -0.09042249 0.97321311 1.50839636] [ 0. 0. 0. 1. ]] SLAMing on 257.462414037 meters Centerline goodness : 0.801412 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.39, Z:1.51 [[ 0.93157228 -0.28227895 -0.22911064 5.33824496] [ 0.2956296 0.95496318 0.02546513 1.38977903] [ 0.21160396 -0.0914545 0.97306723 1.50913866] [ 0. 0. 0. 1. ]] SLAMing on 257.522414037 meters Centerline goodness : 0.803466 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.39, Z:1.51 [[ 0.93040498 -0.28632284 -0.22883574 5.34014691] [ 0.29924615 0.95389501 0.02315277 1.38719872] [ 0.21165611 -0.09001967 0.97318968 1.50957841] [ 0. 0. 0. 1. ]] SLAMing on 257.582414037 meters Centerline goodness : 0.794271 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.38, Z:1.51 [[ 0.92926423 -0.29006515 -0.22875795 5.34345055] [ 0.30257024 0.95289948 0.02082887 1.384929 ] [ 0.2119416 -0.08857087 0.97326048 1.50894765] [ 0. 0. 0. 1. ]] SLAMing on 257.642414037 meters Centerline goodness : 0.796797 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.92891777 -0.29065108 -0.22942041 5.34506638] [ 0.30339524 0.95262059 0.02157189 1.38211804] [ 0.21228071 -0.08964357 0.97308835 1.5096078 ] [ 0. 0. 0. 1. ]] SLAMing on 257.702414037 meters Centerline goodness : 0.795606 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.92884974 -0.29012794 -0.23035613 5.34675998] [ 0.30355787 0.95250146 0.02436385 1.3764697 ] [ 0.21234592 -0.09255678 0.97280134 1.51088905] [ 0. 0. 0. 1. ]] SLAMing on 257.762414037 meters Centerline goodness : 0.796867 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.92937582 -0.28848376 -0.23029915 5.34661841] [ 0.30224801 0.95287156 0.02611397 1.37303278] [ 0.21191205 -0.09387715 0.97276943 1.51121478] [ 0. 0. 0. 1. ]] SLAMing on 257.822414037 meters Centerline goodness : 0.796143 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.93036798 -0.28389184 -0.23199318 5.34792907] [ 0.29884338 0.95378872 0.03130039 1.36917086] [ 0.21238655 -0.0984505 0.97221369 1.5118672 ] [ 0. 0. 0. 1. ]] SLAMing on 257.882414037 meters Centerline goodness : 0.796752 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.93049538 -0.2828778 -0.23271979 5.35017755] [ 0.29820833 0.95393698 0.03280289 1.36601417] [ 0.2127208 -0.09992192 0.97199047 1.51181284] [ 0. 0. 0. 1. ]] SLAMing on 257.942414037 meters Centerline goodness : 0.790536 with order 2 Centerline is valid? [False, False] Translation: X:5.35, Y:1.36, Z:1.51 [[ 0.93096583 -0.28243018 -0.2313781 5.35138025] [ 0.29742249 0.95421128 0.03194818 1.36238236] [ 0.21176046 -0.09855972 0.97233918 1.50967834] [ 0. 0. 0. 1. ]] SLAMing on 258.002414037 meters Centerline goodness : 0.799051 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.36, Z:1.51 [[ 0.93132208 -0.28140878 -0.23118886 5.3517427 ] [ 0.29657957 0.95443865 0.032976 1.35962808] [ 0.21137585 -0.09927717 0.97234988 1.50938567] [ 0. 0. 0. 1. ]] SLAMing on 258.062414037 meters Centerline goodness : 0.800061 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.36, Z:1.51 [[ 0.93279259 -0.27599008 -0.23179183 5.35068204] [ 0.29218111 0.95560812 0.03799105 1.35540801] [ 0.211017 -0.10316297 0.97202326 1.51012956] [ 0. 0. 0. 1. ]] SLAMing on 258.122414037 meters Centerline goodness : 0.800354 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93447491 -0.27012057 -0.23192999 5.34899283] [ 0.28707462 0.95698281 0.04209583 1.35286882] [ 0.21058207 -0.10591871 0.97182119 1.51022808] [ 0. 0. 0. 1. ]] SLAMing on 258.182414037 meters Centerline goodness : 0.800877 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93557983 -0.26539972 -0.23292353 5.34937024] [ 0.28328311 0.957914 0.04638371 1.35066629] [ 0.21081049 -0.10937896 0.97138828 1.51035224] [ 0. 0. 0. 1. ]] SLAMing on 258.242414037 meters Centerline goodness : 0.798078 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93626481 -0.26381344 -0.2319713 5.34839066] [ 0.28160492 0.95839629 0.04663918 1.34908635] [ 0.21001639 -0.10899088 0.97160388 1.5094528 ] [ 0. 0. 0. 1. ]] SLAMing on 258.302414037 meters Centerline goodness : 0.799099 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93631005 -0.26376639 -0.23184214 5.34851872] [ 0.28149427 0.95843951 0.04641862 1.3487849 ] [ 0.20996299 -0.10872445 0.97164527 1.50926808] [ 0. 0. 0. 1. ]] SLAMing on 258.362414037 meters Centerline goodness : 0.798927 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93676172 -0.26263985 -0.23129589 5.3481912 ] [ 0.28038568 0.95874026 0.0469147 1.34725285] [ 0.20943101 -0.10879995 0.97175163 1.50859818] [ 0. 0. 0. 1. ]] SLAMing on 258.422414037 meters Centerline goodness : 0.800668 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.9370288 -0.26187113 -0.23108555 5.34761113] [ 0.27964234 0.95894196 0.04722799 1.34668938] [ 0.20922998 -0.10887529 0.97178649 1.50872246] [ 0. 0. 0. 1. ]] SLAMing on 258.482414037 meters Centerline goodness : 0.800679 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93747042 -0.26051734 -0.23082444 5.34703491] [ 0.27830742 0.95931176 0.04760166 1.34680206] [ 0.20903154 -0.10886531 0.97183031 1.50842819] [ 0. 0. 0. 1. ]] SLAMing on 258.54241403699996 meters Centerline goodness : 0.803557 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93771665 -0.26007437 -0.23032324 5.34559723] [ 0.27765324 0.95953424 0.04693317 1.34779811] [ 0.20879692 -0.10796001 0.97198173 1.50855435] [ 0. 0. 0. 1. ]] SLAMing on 258.60241403699996 meters Centerline goodness : 0.805793 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.35, Z:1.51 [[ 0.9377567 -0.2601051 -0.23012542 5.34442877] [ 0.2775825 0.9595728 0.04656185 1.34852555] [ 0.20871112 -0.10754248 0.97204644 1.50920158] [ 0. 0. 0. 1. ]] SLAMing on 258.66241403699996 meters Centerline goodness : 0.809102 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93747396 -0.26051683 -0.23081064 5.34573461] [ 0.27808619 0.95942589 0.04658353 1.34927016] [ 0.20930991 -0.1078561 0.97188293 1.50949399] [ 0. 0. 0. 1. ]] SLAMing on 258.72241403699996 meters Centerline goodness : 0.808189 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93649628 -0.26477171 -0.22993619 5.34584229] [ 0.28147756 0.95862347 0.04256099 1.35097721] [ 0.20915329 -0.10458008 0.97227461 1.50938006] [ 0. 0. 0. 1. ]] SLAMing on 258.78241403699997 meters Centerline goodness : 0.808479 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93529627 -0.26964032 -0.2291615 5.34556651] [ 0.2855063 0.95760287 0.03850835 1.35289749] [ 0.20906231 -0.10144377 0.9726264 1.51012477] [ 0. 0. 0. 1. ]] SLAMing on 258.84241403699997 meters Centerline goodness : 0.812108 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93469457 -0.27118772 -0.22978963 5.34631672] [ 0.28712366 0.95712557 0.03834907 1.35318536] [ 0.20953774 -0.1018227 0.97248449 1.51125042] [ 0. 0. 0. 1. ]] SLAMing on 258.90241403699997 meters Centerline goodness : 0.816600 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.35, Z:1.51 [[ 0.93387998 -0.27344366 -0.23042732 5.34563217] [ 0.28934659 0.95648458 0.03762722 1.35498647] [ 0.21011126 -0.10181267 0.97236178 1.51361786] [ 0. 0. 0. 1. ]] SLAMing on 258.962414037 meters Centerline goodness : 0.812935 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.36, Z:1.51 [[ 0.93279835 -0.27775506 -0.22965053 5.34492592] [ 0.29278008 0.95559426 0.03345794 1.3582173 ] [ 0.21015962 -0.09844661 0.9726979 1.51425591] [ 0. 0. 0. 1. ]] SLAMing on 259.022414037 meters Centerline goodness : 0.814723 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.36, Z:1.51 [[ 0.93246635 -0.27822979 -0.23042285 5.34597345] [ 0.29336585 0.95541149 0.03354634 1.35943087] [ 0.21081505 -0.09887903 0.97251219 1.51476001] [ 0. 0. 0. 1. ]] SLAMing on 259.082414037 meters Centerline goodness : 0.817228 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.36, Z:1.51 [[ 0.93227279 -0.27856351 -0.23080255 5.34645408] [ 0.29358111 0.95537194 0.03278093 1.36225609] [ 0.21137071 -0.09832003 0.97244825 1.51466953] [ 0. 0. 0. 1. ]] SLAMing on 259.142414037 meters Centerline goodness : 0.822778 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.93236582 -0.27840131 -0.23062238 5.34563481] [ 0.29315873 0.95553849 0.03168822 1.36579658] [ 0.21154652 -0.09715398 0.97252721 1.51439173] [ 0. 0. 0. 1. ]] SLAMing on 259.202414037 meters Centerline goodness : 0.817374 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.93257335 -0.27784709 -0.23045161 5.34574451] [ 0.29237096 0.95581021 0.03075823 1.36872367] [ 0.21172192 -0.09606167 0.97259755 1.51326471] [ 0. 0. 0. 1. ]] SLAMing on 259.262414037 meters Centerline goodness : 0.820321 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.93255467 -0.27784033 -0.23053534 5.34547117] [ 0.29216556 0.9559031 0.02980857 1.37214276] [ 0.21208742 -0.0951526 0.97260727 1.51309494] [ 0. 0. 0. 1. ]] SLAMing on 259.322414037 meters Centerline goodness : 0.822139 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.37, Z:1.51 [[ 0.93256568 -0.27759943 -0.23078087 5.34584233] [ 0.29189997 0.95599039 0.02961037 1.37376836] [ 0.21240448 -0.09497854 0.9725551 1.51294742] [ 0. 0. 0. 1. ]] SLAMing on 259.382414037 meters Centerline goodness : 0.823523 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.932432 -0.27811482 -0.23070047 5.34618956] [ 0.29223625 0.95591338 0.02876782 1.37554625] [ 0.21252891 -0.09424307 0.97259946 1.51238527] [ 0. 0. 0. 1. ]] SLAMing on 259.442414037 meters Centerline goodness : 0.827904 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.93227068 -0.27837399 -0.23103961 5.34652092] [ 0.29246603 0.95585262 0.02844965 1.37691464] [ 0.21292018 -0.09409401 0.97252831 1.51265803] [ 0. 0. 0. 1. ]] SLAMing on 259.502414037 meters Centerline goodness : 0.827028 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.93215726 -0.27867712 -0.23113181 5.34647518] [ 0.29272076 0.95578346 0.02815188 1.37819722] [ 0.21306668 -0.09389906 0.97251507 1.5127284 ] [ 0. 0. 0. 1. ]] SLAMing on 259.562414037 meters Centerline goodness : 0.829127 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.93193402 -0.27906052 -0.23156904 5.34733271] [ 0.29308724 0.95568049 0.02783305 1.37966719] [ 0.2135389 -0.0938085 0.97242023 1.51272274] [ 0. 0. 0. 1. ]] SLAMing on 259.622414037 meters Centerline goodness : 0.839301 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.93172992 -0.27974701 -0.23156203 5.34708567] [ 0.2937251 0.95549327 0.02753509 1.38043915] [ 0.2135531 -0.09367085 0.97243038 1.51303339] [ 0. 0. 0. 1. ]] SLAMing on 259.682414037 meters Centerline goodness : 0.836071 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.93172624 -0.27980075 -0.23151189 5.34731447] [ 0.29373532 0.95549535 0.0273532 1.38097204] [ 0.21355509 -0.09348892 0.97244745 1.51267343] [ 0. 0. 0. 1. ]] SLAMing on 259.742414037 meters Centerline goodness : 0.823682 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.38, Z:1.51 [[ 0.93160788 -0.27989774 -0.23187071 5.34828509] [ 0.29378025 0.95549315 0.02694444 1.38287612] [ 0.21400918 -0.09322069 0.97237337 1.51216893] [ 0. 0. 0. 1. ]] SLAMing on 259.802414037 meters Centerline goodness : 0.815940 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.51 [[ 0.93152961 -0.28024882 -0.23176103 5.34917217] [ 0.29384837 0.95550737 0.02566713 1.38606782] [ 0.21425619 -0.09201229 0.97243407 1.51059414] [ 0. 0. 0. 1. ]] SLAMing on 259.862414037 meters Centerline goodness : 0.815525 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.51 [[ 0.9315782 -0.28007513 -0.2317757 5.34937961] [ 0.29358455 0.95559899 0.02527212 1.38767389] [ 0.21440654 -0.09158872 0.97244092 1.51013114] [ 0. 0. 0. 1. ]] SLAMing on 259.922414037 meters Centerline goodness : 0.821120 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.51 [[ 0.93220232 -0.27709568 -0.23284507 5.34935632] [ 0.29128637 0.95621923 0.02823169 1.38874406] [ 0.21482806 -0.09414224 0.97210398 1.51027372] [ 0. 0. 0. 1. ]] SLAMing on 259.982414037 meters Centerline goodness : 0.810853 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.51 [[ 0.9321314 -0.27738589 -0.23278344 5.34933119] [ 0.29140781 0.95620465 0.02746197 1.39102031] [ 0.21497104 -0.09343308 0.97214079 1.50985371] [ 0. 0. 0. 1. ]] SLAMing on 260.04241403699996 meters Centerline goodness : 0.815056 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.39, Z:1.51 [[ 0.93185862 -0.27795493 -0.23319641 5.35094133] [ 0.29179831 0.9561153 0.02640611 1.3945633 ] [ 0.21562295 -0.09265308 0.97207106 1.50854498] [ 0. 0. 0. 1. ]] SLAMing on 260.10241403699996 meters Centerline goodness : 0.812757 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.51 [[ 0.93164865 -0.27845949 -0.23343332 5.35143323] [ 0.29216916 0.95602288 0.02564057 1.39677781] [ 0.21602773 -0.09209002 0.97203469 1.50827976] [ 0. 0. 0. 1. ]] SLAMing on 260.16241403699996 meters Centerline goodness : 0.809577 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.51 [[ 0.93143056 -0.27940444 -0.23317432 5.35042173] [ 0.29284981 0.95584573 0.02445263 1.3997227 ] [ 0.2160465 -0.09106098 0.97212746 1.50828635] [ 0. 0. 0. 1. ]] SLAMing on 260.22241403699996 meters Centerline goodness : 0.808668 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.51 [[ 0.93124996 -0.27956633 -0.23370105 5.35151656] [ 0.29312399 0.95575506 0.02471005 1.40002619] [ 0.21645287 -0.09151462 0.97199446 1.50826275] [ 0. 0. 0. 1. ]] SLAMing on 260.28241403699997 meters Centerline goodness : 0.792660 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.51 [[ 0.92991118 -0.28452017 -0.23305253 5.35210041] [ 0.29723647 0.95458118 0.02062161 1.40214625] [ 0.21660029 -0.08844798 0.97224548 1.50838548] [ 0. 0. 0. 1. ]] SLAMing on 260.34241403699997 meters Centerline goodness : 0.802839 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.40, Z:1.51 [[ 0.92864893 -0.28941339 -0.23205831 5.35192374] [ 0.30115602 0.9534394 0.0160739 1.40440012] [ 0.21660153 -0.08481277 0.97256906 1.50883139] [ 0. 0. 0. 1. ]] SLAMing on 260.40241403699997 meters Centerline goodness : 0.798993 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.9279028 -0.29073279 -0.23338988 5.35312658] [ 0.30260242 0.95298344 0.01594801 1.40608273] [ 0.21778008 -0.08542255 0.97225245 1.51020124] [ 0. 0. 0. 1. ]] SLAMing on 260.462414037 meters Centerline goodness : 0.799611 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92778576 -0.29120293 -0.23326901 5.35295137] [ 0.30293423 0.95288828 0.01532225 1.4075883 ] [ 0.21781742 -0.08488094 0.97229152 1.51009506] [ 0. 0. 0. 1. ]] SLAMing on 260.522414037 meters Centerline goodness : 0.796945 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92829828 -0.28802457 -0.23516836 5.35494657] [ 0.30060568 0.95356484 0.01871693 1.4080029 ] [ 0.21885734 -0.08806783 0.97177442 1.50995947] [ 0. 0. 0. 1. ]] SLAMing on 260.582414037 meters Centerline goodness : 0.799767 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.9282292 -0.2885131 -0.23484196 5.35331081] [ 0.30086011 0.95350304 0.01775248 1.4105794 ] [ 0.2188007 -0.08713295 0.97187144 1.51066157] [ 0. 0. 0. 1. ]] SLAMing on 260.642414037 meters Centerline goodness : 0.798602 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92818538 -0.28876495 -0.23470556 5.35239913] [ 0.30099107 0.9534711 0.01724065 1.41166663] [ 0.21880648 -0.0866468 0.97191361 1.51130508] [ 0. 0. 0. 1. ]] SLAMing on 260.702414037 meters Centerline goodness : 0.798053 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92822267 -0.28855752 -0.23481318 5.35292279] [ 0.30076351 0.95354485 0.01713265 1.41243793] [ 0.21896114 -0.08652615 0.97188952 1.51110142] [ 0. 0. 0. 1. ]] SLAMing on 260.762414037 meters Centerline goodness : 0.795738 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92821221 -0.28839209 -0.23505763 5.35376925] [ 0.30058243 0.9536046 0.01698417 1.41306584] [ 0.21925394 -0.08641911 0.97183304 1.51096637] [ 0. 0. 0. 1. ]] SLAMing on 260.822414037 meters Centerline goodness : 0.793276 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92823875 -0.28812871 -0.23527575 5.35447382] [ 0.30032943 0.9536845 0.01697382 1.41364726] [ 0.21948819 -0.08641599 0.97178043 1.51080574] [ 0. 0. 0. 1. ]] SLAMing on 260.882414037 meters Centerline goodness : 0.797204 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92830079 -0.28783832 -0.23538636 5.35507764] [ 0.30007259 0.95376286 0.0171128 1.41363047] [ 0.21957705 -0.08651882 0.97175121 1.51061539] [ 0. 0. 0. 1. ]] SLAMing on 260.942414037 meters Centerline goodness : 0.796736 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92847961 -0.28730592 -0.23533152 5.35515018] [ 0.2995406 0.95392848 0.01720144 1.41405356] [ 0.21954737 -0.08646253 0.97176293 1.51029693] [ 0. 0. 0. 1. ]] SLAMing on 261.002414037 meters Centerline goodness : 0.795687 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92852961 -0.28739055 -0.23503071 5.35409633] [ 0.29953651 0.9539348 0.01691979 1.41398198] [ 0.21934138 -0.0861108 0.97184067 1.510985 ] [ 0. 0. 0. 1. ]] SLAMing on 261.062414037 meters Centerline goodness : 0.794409 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.41, Z:1.51 [[ 0.92861516 -0.2869289 -0.23525664 5.35461696] [ 0.29916676 0.95404416 0.0172915 1.41403686] [ 0.21948379 -0.08643811 0.97177946 1.51088987] [ 0. 0. 0. 1. ]] SLAMing on 261.122414037 meters Centerline goodness : 0.793469 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92861906 -0.2864754 -0.23579331 5.35685679] [ 0.29875515 0.95417271 0.01731478 1.41499915] [ 0.22002728 -0.0865233 0.97164897 1.50976205] [ 0. 0. 0. 1. ]] SLAMing on 261.182414037 meters Centerline goodness : 0.791552 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92871742 -0.28598901 -0.23599628 5.3581515 ] [ 0.29840228 0.95427268 0.01788119 1.41340522] [ 0.22009098 -0.0870284 0.97158943 1.50933229] [ 0. 0. 0. 1. ]] SLAMing on 261.242414037 meters Centerline goodness : 0.790862 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92878727 -0.28571629 -0.23605171 5.358507 ] [ 0.29816923 0.95434202 0.01806689 1.41290312] [ 0.22011206 -0.08716366 0.97157253 1.50935541] [ 0. 0. 0. 1. ]] SLAMing on 261.302414037 meters Centerline goodness : 0.789511 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92890162 -0.28528367 -0.236125 5.35859224] [ 0.29771401 0.95448558 0.01798996 1.41383699] [ 0.22024566 -0.08700862 0.97155615 1.50954276] [ 0. 0. 0. 1. ]] SLAMing on 261.362414037 meters Centerline goodness : 0.790293 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.41, Z:1.51 [[ 0.92894375 -0.28510694 -0.2361727 5.35855731] [ 0.29749996 0.95455537 0.01782749 1.41443565] [ 0.22035718 -0.08682211 0.97154755 1.5098204 ] [ 0. 0. 0. 1. ]] SLAMing on 261.422414037 meters Centerline goodness : 0.788921 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.9290317 -0.28470343 -0.23631346 5.35918796] [ 0.29707583 0.95468929 0.01772875 1.41515532] [ 0.22055849 -0.08667358 0.97151513 1.50971746] [ 0. 0. 0. 1. ]] SLAMing on 261.482414037 meters Centerline goodness : 0.789412 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.92905696 -0.2845046 -0.23645359 5.35977754] [ 0.29681273 0.95477692 0.0174136 1.41675671] [ 0.22080618 -0.08636066 0.97148673 1.50949702] [ 0. 0. 0. 1. ]] SLAMing on 261.54241403699996 meters Centerline goodness : 0.788862 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.92920218 -0.28387061 -0.23664485 5.36088102] [ 0.29620601 0.95496312 0.01753389 1.41782433] [ 0.22100975 -0.08638816 0.97143799 1.50887678] [ 0. 0. 0. 1. ]] SLAMing on 261.60241403699996 meters Centerline goodness : 0.781650 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.92944672 -0.2830128 -0.23671193 5.36147828] [ 0.29538298 0.95521376 0.01776427 1.41800001] [ 0.22108298 -0.08643162 0.97141747 1.50826712] [ 0. 0. 0. 1. ]] SLAMing on 261.66241403699996 meters Centerline goodness : 0.783541 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.93055019 -0.27853824 -0.23768211 5.36116497] [ 0.29173312 0.95625734 0.02153324 1.41753532] [ 0.22128743 -0.08937751 0.97110429 1.50838573] [ 0. 0. 0. 1. ]] SLAMing on 261.72241403699996 meters Centerline goodness : 0.786232 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.93166722 -0.27417247 -0.23838132 5.36194369] [ 0.28802817 0.95730421 0.02466612 1.41788949] [ 0.22144067 -0.09164115 0.97085835 1.50697597] [ 0. 0. 0. 1. ]] SLAMing on 261.78241403699997 meters Centerline goodness : 0.785790 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.51 [[ 0.93204484 -0.27290521 -0.2383593 5.36261017] [ 0.28675125 0.95768438 0.02478599 1.41861263] [ 0.22150875 -0.09145148 0.9708607 1.50585071] [ 0. 0. 0. 1. ]] SLAMing on 261.84241403699997 meters Centerline goodness : 0.788038 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.50 [[ 0.93345498 -0.2677298 -0.23871019 5.36216966] [ 0.28223826 0.95893092 0.02816106 1.41880877] [ 0.22136703 -0.09366023 0.97068244 1.50462939] [ 0. 0. 0. 1. ]] SLAMing on 261.90241403699997 meters Centerline goodness : 0.789431 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.50 [[ 0.93515891 -0.26178812 -0.23863108 5.36100587] [ 0.27666518 0.96048157 0.03052095 1.42111011] [ 0.22121073 -0.09456285 0.97063056 1.50273903] [ 0. 0. 0. 1. ]] SLAMing on 261.962414037 meters Centerline goodness : 0.778547 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.50 [[ 0.93675328 -0.25623838 -0.2384013 5.36028092] [ 0.27149739 0.96187476 0.03295637 1.42204883] [ 0.22086751 -0.09559732 0.97060739 1.50047724] [ 0. 0. 0. 1. ]] SLAMing on 262.022414037 meters Centerline goodness : 0.787638 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.43, Z:1.49 [[ 0.94117044 -0.25283501 -0.22421566 5.35585225] [ 0.26661045 0.96324146 0.03293576 1.42722254] [ 0.20764651 -0.0907764 0.97398284 1.49288904] [ 0. 0. 0. 1. ]] SLAMing on 262.082414037 meters Centerline goodness : 0.785434 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.43, Z:1.49 [[ 0.94522717 -0.25018207 -0.20965334 5.35068794] [ 0.2627406 0.96427096 0.03389522 1.43220276] [ 0.19368265 -0.08712312 0.97718811 1.48656628] [ 0. 0. 0. 1. ]] SLAMing on 262.142414037 meters Centerline goodness : 0.786585 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.44, Z:1.48 [[ 0.94696649 -0.25539457 -0.19500792 5.34774596] [ 0.26631476 0.96336976 0.03154611 1.43693157] [ 0.17980802 -0.0818066 0.98029422 1.48162628] [ 0. 0. 0. 1. ]] SLAMing on 262.202414037 meters Centerline goodness : 0.786598 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.44, Z:1.48 [[ 0.94765191 -0.25355986 -0.19407026 5.34595336] [ 0.26430503 0.96393449 0.03119526 1.43746809] [ 0.17916115 -0.08085599 0.9804915 1.48097552] [ 0. 0. 0. 1. ]] SLAMing on 262.262414037 meters Centerline goodness : 0.787072 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.44, Z:1.48 [[ 0.94774897 -0.25350921 -0.19366201 5.34584591] [ 0.26414318 0.96399227 0.03077787 1.43684246] [ 0.1788862 -0.08032419 0.98058541 1.48046167] [ 0. 0. 0. 1. ]] SLAMing on 262.322414037 meters Centerline goodness : 0.787079 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.44, Z:1.48 [[ 0.94686518 -0.25735469 -0.19291163 5.3463023 ] [ 0.26736839 0.96320616 0.02735031 1.43687701] [ 0.17877494 -0.07747553 0.98083488 1.48047017] [ 0. 0. 0. 1. ]] SLAMing on 262.382414037 meters Centerline goodness : 0.789162 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.43, Z:1.48 [[ 0.94518122 -0.26445089 -0.19156774 5.34790238] [ 0.27350443 0.96161964 0.02197701 1.4349957 ] [ 0.17840346 -0.07316689 0.98123331 1.4803537 ] [ 0. 0. 0. 1. ]] SLAMing on 262.442414037 meters Centerline goodness : 0.788394 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.43, Z:1.48 [[ 0.94314298 -0.27272628 -0.19000449 5.34832393] [ 0.28075869 0.95964184 0.01618931 1.43253778] [ 0.17792101 -0.06861425 0.98164973 1.4816688 ] [ 0. 0. 0. 1. ]] SLAMing on 262.502414037 meters Centerline goodness : 0.787632 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.43, Z:1.48 [[ 0.94193266 -0.27684994 -0.19004468 5.35007332] [ 0.28458652 0.95854602 0.0141437 1.43073142] [ 0.17825089 -0.06740657 0.98167356 1.48266601] [ 0. 0. 0. 1. ]] SLAMing on 262.562414037 meters Centerline goodness : 0.788820 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.43, Z:1.48 [[ 0.94028625 -0.28180286 -0.19091597 5.35300238] [ 0.28949424 0.95709042 0.01307713 1.42731461] [ 0.17903867 -0.06756531 0.98151927 1.48475477] [ 0. 0. 0. 1. ]] SLAMing on 262.622414037 meters Centerline goodness : 0.788820 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.49 [[ 0.93847023 -0.28747687 -0.19139145 5.35543992] [ 0.29490079 0.955466 0.01087426 1.42468849] [ 0.17974192 -0.06664666 0.98145355 1.48676586] [ 0. 0. 0. 1. ]] SLAMing on 262.682414037 meters Centerline goodness : 0.786848 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.49 [[ 0.93700769 -0.29206903 -0.19160448 5.35771852] [ 0.29914223 0.95417132 0.00842714 1.42363361] [ 0.18036219 -0.06521328 0.98143604 1.48760053] [ 0. 0. 0. 1. ]] SLAMing on 262.742414037 meters Centerline goodness : 0.789785 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.49 [[ 0.93549544 -0.29684075 -0.19166077 5.36014995] [ 0.30347023 0.95282494 0.00551885 1.42341882] [ 0.18098094 -0.06332619 0.98144572 1.48796143] [ 0. 0. 0. 1. ]] SLAMing on 262.802414037 meters Centerline goodness : 0.781073 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.49 [[ 0.93501714 -0.29762506 -0.1927752 5.36260904] [ 0.3043998 0.95252654 0.00582681 1.42327915] [ 0.18188929 -0.0641289 0.98122565 1.48817703] [ 0. 0. 0. 1. ]] SLAMing on 262.862414037 meters Centerline goodness : 0.787066 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.42, Z:1.49 [[ 0.93472939 -0.29795919 -0.19365249 5.36387229] [ 0.30488523 0.95236832 0.00629109 1.42295681] [ 0.18255401 -0.06492225 0.98105002 1.48897992] [ 0. 0. 0. 1. ]] SLAMing on 262.922414037 meters Centerline goodness : 0.791391 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.49 [[ 0.93459173 -0.29782979 -0.19451405 5.36509562] [ 0.30498124 0.95233115 0.00719931 1.42257828] [ 0.18309762 -0.06605155 0.98087331 1.48943033] [ 0. 0. 0. 1. ]] SLAMing on 262.982414037 meters Centerline goodness : 0.792094 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.42, Z:1.49 [[ 0.93427365 -0.29824172 -0.19540887 5.36668692] [ 0.30544074 0.95218475 0.00708267 1.42414553] [ 0.18395299 -0.06630298 0.98069629 1.48952108] [ 0. 0. 0. 1. ]] SLAMing on 263.04241403699996 meters Centerline goodness : 0.792031 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93387527 -0.29897806 -0.19618637 5.36765945] [ 0.30613143 0.95196721 0.00647985 1.42660343] [ 0.18482565 -0.06611019 0.98054522 1.48982003] [ 0. 0. 0. 1. ]] SLAMing on 263.10241403699996 meters Centerline goodness : 0.793745 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93371409 -0.29915909 -0.19667698 5.36853354] [ 0.30628792 0.95191904 0.00615282 1.42804457] [ 0.18537989 -0.06598476 0.98044903 1.48972946] [ 0. 0. 0. 1. ]] SLAMing on 263.16241403699996 meters Centerline goodness : 0.794122 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93398257 -0.2970037 -0.1986589 5.36945538] [ 0.30475044 0.95239066 0.00889991 1.42976469] [ 0.18655757 -0.06885375 0.98002828 1.49069165] [ 0. 0. 0. 1. ]] SLAMing on 263.22241403699996 meters Centerline goodness : 0.792274 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93447892 -0.29422287 -0.20045462 5.37040013] [ 0.30262617 0.95303456 0.01193891 1.4312576 ] [ 0.18752748 -0.07181947 0.97963024 1.49116281] [ 0. 0. 0. 1. ]] SLAMing on 263.28241403699997 meters Centerline goodness : 0.794053 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.43, Z:1.49 [[ 0.93487205 -0.29181104 -0.20213994 5.37110365] [ 0.3007036 0.95361384 0.01407116 1.43445867] [ 0.18865733 -0.07393894 0.97925556 1.49150985] [ 0. 0. 0. 1. ]] SLAMing on 263.34241403699997 meters Centerline goodness : 0.793555 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.44, Z:1.49 [[ 0.93450339 -0.29263823 -0.20264818 5.37154468] [ 0.30133445 0.95343304 0.01276645 1.43869475] [ 0.18947552 -0.07299516 0.97916839 1.49135839] [ 0. 0. 0. 1. ]] SLAMing on 263.40241403699997 meters Centerline goodness : 0.792090 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.44, Z:1.49 [[ 0.93463446 -0.29074314 -0.20476046 5.37247805] [ 0.30008263 0.95378836 0.01543339 1.44118809] [ 0.19081099 -0.07586964 0.97869043 1.49242979] [ 0. 0. 0. 1. ]] SLAMing on 263.462414037 meters Centerline goodness : 0.793238 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.44, Z:1.49 [[ 0.93420258 -0.29185404 -0.20515056 5.37321687] [ 0.3009736 0.95352921 0.01403342 1.44436814] [ 0.19152134 -0.07485496 0.97862981 1.49225794] [ 0. 0. 0. 1. ]] SLAMing on 263.522414037 meters Centerline goodness : 0.793438 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.45, Z:1.49 [[ 0.93399802 -0.29274267 -0.20481557 5.37217612] [ 0.30166611 0.95332405 0.01306991 1.44642622] [ 0.19142949 -0.07399318 0.97871332 1.49238972] [ 0. 0. 0. 1. ]] SLAMing on 263.582414037 meters Centerline goodness : 0.793299 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.45, Z:1.49 [[ 0.93378483 -0.29391694 -0.20410468 5.37026046] [ 0.30257745 0.95305078 0.01187857 1.4489497 ] [ 0.19103081 -0.0728495 0.978877 1.49249596] [ 0. 0. 0. 1. ]] SLAMing on 263.642414037 meters Centerline goodness : 0.795824 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.45, Z:1.49 [[ 0.93360939 -0.29474611 -0.20371118 5.36886369] [ 0.30320951 0.9528612 0.01093268 1.45068773] [ 0.19088612 -0.07197402 0.97896998 1.49296688] [ 0. 0. 0. 1. ]] SLAMing on 263.702414037 meters Centerline goodness : 0.793877 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.45, Z:1.49 [[ 0.93348267 -0.29542811 -0.20330356 5.36713008] [ 0.30361502 0.95274645 0.00959786 1.45434725] [ 0.19086127 -0.07068545 0.97906871 1.49361871] [ 0. 0. 0. 1. ]] SLAMing on 263.762414037 meters Centerline goodness : 0.797938 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.46, Z:1.49 [[ 0.93351494 -0.29539767 -0.2031996 5.36667635] [ 0.30338006 0.9528309 0.00859151 1.45829578] [ 0.19107695 -0.06966701 0.97909964 1.49364485] [ 0. 0. 0. 1. ]] SLAMing on 263.822414037 meters Centerline goodness : 0.796926 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.46, Z:1.49 [[ 0.93350001 -0.29533893 -0.2033535 5.36729963] [ 0.30322568 0.95288476 0.00805108 1.46071562] [ 0.19139465 -0.06917768 0.97907228 1.49320083] [ 0. 0. 0. 1. ]] SLAMing on 263.882414037 meters Centerline goodness : 0.797866 with order 3 Centerline is valid? [False, False] Translation: X:5.37, Y:1.47, Z:1.49 [[ 0.93342343 -0.29587312 -0.20292807 5.3659184 ] [ 0.30348977 0.95281066 0.00676789 1.46506522] [ 0.1913496 -0.0679039 0.97917026 1.493288 ] [ 0. 0. 0. 1. ]] SLAMing on 263.942414037 meters Centerline goodness : 0.793317 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.47, Z:1.49 [[ 9.33255941e-01 -2.96736197e-01 -2.02437589e-01 5.36373401e+00] [ 3.04055831e-01 9.52639294e-01 5.33176746e-03 1.46864454e+00] [ 1.91267874e-01 -6.65282331e-02 9.79280652e-01 1.49421196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002414037 meters Centerline goodness : 0.793653 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.47, Z:1.49 [[ 9.33193173e-01 -2.97075519e-01 -2.02229172e-01 5.36317316e+00] [ 3.04300814e-01 9.52563456e-01 4.88633266e-03 1.46943307e+00] [ 1.91184509e-01 -6.60983940e-02 9.79326036e-01 1.49437946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062414037 meters Centerline goodness : 0.794771 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.47, Z:1.49 [[ 9.32997723e-01 -2.98004986e-01 -2.01762921e-01 5.36189141e+00] [ 3.05035071e-01 9.52332924e-01 3.95051160e-03 1.47127681e+00] [ 1.90968201e-01 -6.52305853e-02 9.79426423e-01 1.49450769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122414037 meters Centerline goodness : 0.797338 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.47, Z:1.49 [[ 9.32915865e-01 -2.98345201e-01 -2.01638613e-01 5.36182639e+00] [ 3.05302772e-01 9.52248581e-01 3.58564682e-03 1.47287375e+00] [ 1.90940322e-01 -6.49059342e-02 9.79453426e-01 1.49394231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182414037 meters Centerline goodness : 0.798538 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.48, Z:1.49 [[ 9.32827171e-01 -2.98773358e-01 -2.01414870e-01 5.36200583e+00] [ 3.05632411e-01 9.52144498e-01 3.11202656e-03 1.47508448e+00] [ 1.90846270e-01 -6.44618953e-02 9.79501080e-01 1.49287322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242414037 meters Centerline goodness : 0.795418 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.48, Z:1.49 [[ 9.32662808e-01 -2.99698836e-01 -2.00800134e-01 5.36010593e+00] [ 3.06322246e-01 9.51925747e-01 2.01358126e-03 1.47732818e+00] [ 1.90543349e-01 -6.33875403e-02 9.79630161e-01 1.49334773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302414037 meters Centerline goodness : 0.793227 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.48, Z:1.49 [[ 9.32518177e-01 -3.00387458e-01 -2.00442572e-01 5.35833882e+00] [ 3.06779401e-01 9.51780248e-01 8.70665758e-04 1.48008133e+00] [ 1.90515744e-01 -6.23035639e-02 9.79705066e-01 1.49423846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362414037 meters Centerline goodness : 0.790770 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.48, Z:1.50 [[ 9.32390304e-01 -3.01056775e-01 -2.00032847e-01 5.35648676e+00] [ 3.07142807e-01 9.51663222e-01 -6.38321340e-04 1.48434706e+00] [ 1.90556075e-01 -6.08434856e-02 9.79788984e-01 1.49506567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422414037 meters Centerline goodness : 0.792207 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.49, Z:1.49 [[ 9.32449631e-01 -3.00826451e-01 -2.00102803e-01 5.35684691e+00] [ 3.06769269e-01 9.51782923e-01 -1.37222690e-03 1.48844360e+00] [ 1.90867233e-01 -6.01058583e-02 9.79773946e-01 1.49451240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482414037 meters Centerline goodness : 0.794661 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.49, Z:1.49 [[ 9.32487777e-01 -3.00597864e-01 -2.00268495e-01 5.35764476e+00] [ 3.06462715e-01 9.51880960e-01 -1.80081794e-03 1.49134044e+00] [ 1.91173089e-01 -5.96955859e-02 9.79739398e-01 1.49380357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54241403699996 meters Centerline goodness : 0.793484 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.50, Z:1.49 [[ 9.32533568e-01 -3.00596124e-01 -2.00057778e-01 5.35698771e+00] [ 3.06289569e-01 9.51934806e-01 -2.61228602e-03 1.49506419e+00] [ 1.91227205e-01 -5.88395662e-02 9.79780619e-01 1.49374306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60241403699996 meters Centerline goodness : 0.792606 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 9.32375116e-01 -3.01462416e-01 -1.99491992e-01 5.35449375e+00] [ 3.06885670e-01 9.51738340e-01 -3.91382754e-03 1.49775084e+00] [ 1.91044049e-01 -5.75720780e-02 9.79891641e-01 1.49500951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66241403699996 meters Centerline goodness : 0.791324 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 9.32182617e-01 -3.02392015e-01 -1.98984015e-01 5.35263797e+00] [ 3.07650530e-01 9.51487799e-01 -4.70307405e-03 1.49875351e+00] [ 1.90753034e-01 -5.68334136e-02 9.79991451e-01 1.49570326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72241403699996 meters Centerline goodness : 0.788893 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 9.31872879e-01 -3.03661072e-01 -1.98501613e-01 5.35147713e+00] [ 3.08794329e-01 9.51113868e-01 -5.33595873e-03 1.49884336e+00] [ 1.90417959e-01 -5.63237371e-02 9.80086036e-01 1.49567459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78241403699997 meters Centerline goodness : 0.790429 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 0.93053903 -0.30847158 -0.19733826 5.35154389] [ 0.31278722 0.94977352 -0.00971644 1.50065366] [ 0.1904239 -0.05268336 0.98028731 1.49574866] [ 0. 0. 0. 1. ]] SLAMing on 264.84241403699997 meters Centerline goodness : 0.779598 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 0.93035916 -0.3091901 -0.19706172 5.35118877] [ 0.31344906 0.94955229 -0.01000682 1.50132091] [ 0.19021441 -0.05245888 0.98034001 1.49516501] [ 0. 0. 0. 1. ]] SLAMing on 264.90241403699997 meters Centerline goodness : 0.795145 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 0.93022727 -0.30982627 -0.1966848 5.349983 ] [ 0.31396181 0.94937638 -0.01060528 1.50231854] [ 0.1900137 -0.0518862 0.98040941 1.49550983] [ 0. 0. 0. 1. ]] SLAMing on 264.962414037 meters Centerline goodness : 0.792346 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 0.93007603 -0.31055915 -0.19624371 5.34802085] [ 0.3144783 0.94919282 -0.01167828 1.50421739] [ 0.18989992 -0.0508527 0.98048561 1.49666084] [ 0. 0. 0. 1. ]] SLAMing on 265.022414037 meters Centerline goodness : 0.792303 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.51, Z:1.50 [[ 0.9299942 -0.31097841 -0.19596738 5.34672812] [ 0.31473109 0.94909847 -0.01250739 1.50616133] [ 0.18988187 -0.05004522 0.98053065 1.49742345] [ 0. 0. 0. 1. ]] SLAMing on 265.082414037 meters Centerline goodness : 0.791217 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.51, Z:1.50 [[ 0.9300013 -0.31084764 -0.19614108 5.34731639] [ 0.31458508 0.9491454 -0.01261886 1.50689199] [ 0.19008894 -0.0499675 0.98049449 1.49725647] [ 0. 0. 0. 1. ]] SLAMing on 265.142414037 meters Centerline goodness : 0.792588 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.51, Z:1.50 [[ 0.92996414 -0.31094836 -0.19615764 5.3474629 ] [ 0.31466327 0.94911773 -0.01275018 1.50713418] [ 0.19014134 -0.0498664 0.98048948 1.4972052 ] [ 0. 0. 0. 1. ]] SLAMing on 265.202414037 meters Centerline goodness : 0.793702 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.51, Z:1.50 [[ 0.92987664 -0.31130538 -0.19600611 5.34696129] [ 0.314996 0.94900569 -0.01287282 1.50659298] [ 0.19001829 -0.04977101 0.98051818 1.4974836 ] [ 0. 0. 0. 1. ]] SLAMing on 265.262414037 meters Centerline goodness : 0.791770 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.50, Z:1.50 [[ 0.92956165 -0.31249474 -0.1956072 5.34525234] [ 0.31609987 0.94863221 -0.01333419 1.50472727] [ 0.18972616 -0.04943646 0.98059167 1.49868758] [ 0. 0. 0. 1. ]] SLAMing on 265.322414037 meters Centerline goodness : 0.791941 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.50, Z:1.50 [[ 0.92935753 -0.31338079 -0.19515907 5.34390757] [ 0.31691576 0.94835514 -0.01367215 1.50313826] [ 0.18936469 -0.04914267 0.9806763 1.49947756] [ 0. 0. 0. 1. ]] SLAMing on 265.382414037 meters Centerline goodness : 0.791051 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.50, Z:1.50 [[ 0.92907131 -0.31447857 -0.19475558 5.34254505] [ 0.31796778 0.94799935 -0.01391869 1.50096305] [ 0.1890053 -0.04899454 0.98075304 1.50023607] [ 0. 0. 0. 1. ]] SLAMing on 265.442414037 meters Centerline goodness : 0.788779 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.50, Z:1.50 [[ 0.92894061 -0.31495201 -0.19461393 5.34244136] [ 0.31846834 0.94783318 -0.01379035 1.49848447] [ 0.18880484 -0.04916796 0.98078298 1.50050776] [ 0. 0. 0. 1. ]] SLAMing on 265.502414037 meters Centerline goodness : 0.789323 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.50, Z:1.50 [[ 0.9288919 -0.3150914 -0.19462076 5.34225753] [ 0.31863725 0.94777839 -0.01365355 1.49640038] [ 0.18875947 -0.04933075 0.98078353 1.50120636] [ 0. 0. 0. 1. ]] SLAMing on 265.562414037 meters Centerline goodness : 0.788522 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.50, Z:1.50 [[ 0.92888746 -0.31518698 -0.19448715 5.3416725 ] [ 0.31871389 0.94775157 -0.01372645 1.49594883] [ 0.1886519 -0.04923543 0.98080902 1.50174673] [ 0. 0. 0. 1. ]] SLAMing on 265.622414037 meters Centerline goodness : 0.788602 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.49, Z:1.50 [[ 0.92890488 -0.31507744 -0.1945814 5.34178825] [ 0.318627 0.94778229 -0.01362228 1.49447611] [ 0.18871288 -0.04934508 0.98079178 1.5023638 ] [ 0. 0. 0. 1. ]] SLAMing on 265.682414037 meters Centerline goodness : 0.786528 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.49, Z:1.50 [[ 0.92895225 -0.3148602 -0.1947069 5.34266169] [ 0.31849241 0.94783345 -0.01320339 1.49260105] [ 0.18870693 -0.04974735 0.9807726 1.50218716] [ 0. 0. 0. 1. ]] SLAMing on 265.742414037 meters Centerline goodness : 0.787271 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.49, Z:1.50 [[ 0.92892312 -0.3149679 -0.19467165 5.34245629] [ 0.31860305 0.94779645 -0.01318999 1.49185004] [ 0.18866353 -0.04977049 0.98077978 1.50254531] [ 0. 0. 0. 1. ]] SLAMing on 265.802414037 meters Centerline goodness : 0.791061 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.49, Z:1.50 [[ 0.92884165 -0.31552473 -0.194158 5.34093833] [ 0.3191328 0.94761736 -0.01325144 1.48991896] [ 0.18816865 -0.0496537 0.98088076 1.50339321] [ 0. 0. 0. 1. ]] SLAMing on 265.862414037 meters Centerline goodness : 0.791346 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.49, Z:1.50 [[ 0.9286282 -0.31641428 -0.19373091 5.3396125 ] [ 0.31998321 0.94732796 -0.01343438 1.48718618] [ 0.18777754 -0.0495151 0.98096272 1.50442269] [ 0. 0. 0. 1. ]] SLAMing on 265.922414037 meters Centerline goodness : 0.790084 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.48, Z:1.50 [[ 0.93032933 -0.31383789 -0.18971853 5.32409755] [ 0.31639281 0.94846728 -0.01747569 1.48175359] [ 0.18542635 -0.04376743 0.98168298 1.50245871] [ 0. 0. 0. 1. ]] SLAMing on 265.982414037 meters Centerline goodness : 0.793765 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.48, Z:1.50 [[ 0.93026858 -0.31389234 -0.18992622 5.32497077] [ 0.31654624 0.9484246 -0.01700763 1.47888966] [ 0.18546926 -0.04429877 0.98165104 1.50248095] [ 0. 0. 0. 1. ]] SLAMing on 266.04241403699996 meters Centerline goodness : 0.791091 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.48, Z:1.50 [[ 0.93033022 -0.3135311 -0.19022076 5.32658342] [ 0.31634726 0.9485054 -0.01618394 1.47594662] [ 0.18549958 -0.04511941 0.98160794 1.50188647] [ 0. 0. 0. 1. ]] SLAMing on 266.10241403699996 meters Centerline goodness : 0.791666 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.50 [[ 0.93036943 -0.31332979 -0.19036063 5.32674914] [ 0.31621352 0.94855579 -0.01584039 1.47408517] [ 0.18553094 -0.04545719 0.98158643 1.5024184 ] [ 0. 0. 0. 1. ]] SLAMing on 266.16241403699996 meters Centerline goodness : 0.790906 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.50 [[ 0.93045822 -0.31302306 -0.19043126 5.32654894] [ 0.3159668 0.94864348 -0.01550891 1.47169953] [ 0.18550602 -0.04573957 0.98157802 1.50347598] [ 0. 0. 0. 1. ]] SLAMing on 266.22241403699996 meters Centerline goodness : 0.790041 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.50 [[ 0.93051625 -0.3127277 -0.19063288 5.32699229] [ 0.31573404 0.94872601 -0.01519802 1.47005507] [ 0.18561121 -0.04604729 0.98154375 1.50388779] [ 0. 0. 0. 1. ]] SLAMing on 266.28241403699997 meters Centerline goodness : 0.789348 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.50 [[ 0.93059874 -0.31222801 -0.19104882 5.32797197] [ 0.31533886 0.94886528 -0.01469978 1.46774719] [ 0.18586928 -0.04656552 0.98147046 1.50437327] [ 0. 0. 0. 1. ]] SLAMing on 266.34241403699997 meters Centerline goodness : 0.791334 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.47, Z:1.50 [[ 0.93067266 -0.31179529 -0.19139514 5.32870344] [ 0.31498777 0.9489878 -0.0143129 1.46602718] [ 0.18609435 -0.0469665 0.9814087 1.50483851] [ 0. 0. 0. 1. ]] SLAMing on 266.40241403699997 meters Centerline goodness : 0.790090 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.50 [[ 0.9307712 -0.31131266 -0.19170132 5.32956595] [ 0.31459997 0.94912342 -0.01384206 1.46461211] [ 0.18625742 -0.04742544 0.9813557 1.5049106 ] [ 0. 0. 0. 1. ]] SLAMing on 266.462414037 meters Centerline goodness : 0.792032 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93083703 -0.31103205 -0.19183712 5.32982922] [ 0.31436153 0.94920554 -0.01362607 1.46375323] [ 0.186331 -0.04762256 0.98133218 1.50521288] [ 0. 0. 0. 1. ]] SLAMing on 266.522414037 meters Centerline goodness : 0.792788 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93082005 -0.31112172 -0.19177414 5.32935846] [ 0.31441906 0.94918414 -0.0137883 1.46358589] [ 0.18631881 -0.04746301 0.98134222 1.50574432] [ 0. 0. 0. 1. ]] SLAMing on 266.582414037 meters Centerline goodness : 0.795730 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93081508 -0.31125775 -0.19157739 5.32895197] [ 0.31454099 0.9491432 -0.01382567 1.46261742] [ 0.18613773 -0.0473898 0.98138013 1.50609738] [ 0. 0. 0. 1. ]] SLAMing on 266.642414037 meters Centerline goodness : 0.791987 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93068632 -0.31181451 -0.19129736 5.328211 ] [ 0.31507226 0.94896523 -0.01394521 1.46119581] [ 0.18588286 -0.04729388 0.98143306 1.50655786] [ 0. 0. 0. 1. ]] SLAMing on 266.702414037 meters Centerline goodness : 0.792156 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93055558 -0.31241667 -0.19095058 5.3274973 ] [ 0.31564373 0.94877331 -0.01407991 1.45975841] [ 0.18556762 -0.04717022 0.98149867 1.50690414] [ 0. 0. 0. 1. ]] SLAMing on 266.762414037 meters Centerline goodness : 0.795349 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93043967 -0.31282826 -0.19084156 5.32725002] [ 0.31603797 0.94864048 -0.01418604 1.45887694] [ 0.18547782 -0.04711393 0.98151834 1.50712745] [ 0. 0. 0. 1. ]] SLAMing on 266.822414037 meters Centerline goodness : 0.797384 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.46, Z:1.51 [[ 0.93028659 -0.313401 -0.19064802 5.32667025] [ 0.31658502 0.94845587 -0.01433121 1.45774399] [ 0.18531265 -0.04702417 0.98155384 1.50750357] [ 0. 0. 0. 1. ]] SLAMing on 266.882414037 meters Centerline goodness : 0.796834 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.93005597 -0.31442055 -0.19009368 5.32486143] [ 0.3174935 0.94814365 -0.01488275 1.45683868] [ 0.18491556 -0.04651171 0.98165314 1.50849945] [ 0. 0. 0. 1. ]] SLAMing on 266.942414037 meters Centerline goodness : 0.799854 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.92986685 -0.3152732 -0.18960606 5.32345431] [ 0.31821246 0.94789178 -0.01555677 1.45714109] [ 0.18463066 -0.04586929 0.981737 1.50907863] [ 0. 0. 0. 1. ]] SLAMing on 267.002414037 meters Centerline goodness : 0.799726 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.92975095 -0.3157714 -0.18934518 5.32280498] [ 0.31862609 0.94774557 -0.01599214 1.45778222] [ 0.18450091 -0.04546161 0.98178035 1.50917284] [ 0. 0. 0. 1. ]] SLAMing on 267.062414037 meters Centerline goodness : 0.802828 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.92960364 -0.31637474 -0.1890611 5.32194624] [ 0.31911119 0.94757167 -0.01661272 1.4587573 ] [ 0.18440479 -0.04488826 0.98182479 1.50949259] [ 0. 0. 0. 1. ]] SLAMing on 267.122414037 meters Centerline goodness : 0.803753 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.92945551 -0.31691393 -0.18888625 5.32115814] [ 0.3195133 0.94742285 -0.01735486 1.46036786] [ 0.18445514 -0.0442211 0.98184561 1.50991843] [ 0. 0. 0. 1. ]] SLAMing on 267.182414037 meters Centerline goodness : 0.802200 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.92935319 -0.3173809 -0.18860547 5.32053848] [ 0.31989802 0.94728528 -0.01777259 1.4611261 ] [ 0.18430386 -0.0438175 0.98189211 1.50992408] [ 0. 0. 0. 1. ]] SLAMing on 267.242414037 meters Centerline goodness : 0.801053 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.9291991 -0.31807455 -0.18819568 5.31913506] [ 0.32045718 0.94708307 -0.01846216 1.46200482] [ 0.18410929 -0.04315364 0.98195801 1.51053389] [ 0. 0. 0. 1. ]] SLAMing on 267.302414037 meters Centerline goodness : 0.805057 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.46, Z:1.51 [[ 0.92911695 -0.31845755 -0.18795343 5.31834103] [ 0.32071819 0.94698217 -0.0190947 1.46374868] [ 0.1840694 -0.04253887 0.98199231 1.51074127] [ 0. 0. 0. 1. ]] SLAMing on 267.362414037 meters Centerline goodness : 0.804398 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.51 [[ 0.92904534 -0.31876026 -0.18779417 5.31777111] [ 0.32093337 0.94689987 -0.01955541 1.4650196 ] [ 0.18405576 -0.04210155 0.98201371 1.51092037] [ 0. 0. 0. 1. ]] SLAMing on 267.422414037 meters Centerline goodness : 0.783592 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.51 [[ 0.9289226 -0.31925821 -0.18755535 5.31712297] [ 0.3213285 0.94675445 -0.02009981 1.46569757] [ 0.18398589 -0.04159571 0.98204836 1.51120305] [ 0. 0. 0. 1. ]] SLAMing on 267.482414037 meters Centerline goodness : 0.805371 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.51 [[ 0.92874034 -0.32005163 -0.18710513 5.31565288] [ 0.3219802 0.94651712 -0.02083501 1.46670458] [ 0.18376649 -0.04089383 0.98211892 1.51174517] [ 0. 0. 0. 1. ]] SLAMing on 267.54241403699996 meters Centerline goodness : 0.806093 with order 3 Centerline is valid? [False, False] Translation: X:5.32, Y:1.47, Z:1.51 [[ 0.92864201 -0.32038246 -0.18702702 5.31507915] [ 0.32216247 0.94643692 -0.02164496 1.46901361] [ 0.18394394 -0.04015267 0.98211628 1.51218999] [ 0. 0. 0. 1. ]] SLAMing on 267.60241403699996 meters Centerline goodness : 0.809165 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.51 [[ 0.92857513 -0.32067254 -0.18686183 5.31411556] [ 0.32231194 0.94636872 -0.02238879 1.47096499] [ 0.18401967 -0.03943812 0.98213105 1.51284858] [ 0. 0. 0. 1. ]] SLAMing on 267.66241403699996 meters Centerline goodness : 0.811613 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.51 [[ 0.92843126 -0.32131487 -0.18647293 5.31263575] [ 0.32278338 0.94618645 -0.02328268 1.4730111 ] [ 0.18391923 -0.038574 0.98218418 1.5134803 ] [ 0. 0. 0. 1. ]] SLAMing on 267.72241403699996 meters Centerline goodness : 0.811505 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.51 [[ 0.92833439 -0.32181325 -0.18609539 5.31171926] [ 0.32319875 0.94603437 -0.02369687 1.47389792] [ 0.18367861 -0.03814718 0.98224588 1.51351249] [ 0. 0. 0. 1. ]] SLAMing on 267.78241403699997 meters Centerline goodness : 0.813889 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.51 [[ 0.92804232 -0.32303695 -0.18543079 5.31024754] [ 0.32431654 0.94563776 -0.02424877 1.47358821] [ 0.18318361 -0.03763439 0.98235809 1.51361292] [ 0. 0. 0. 1. ]] SLAMing on 267.84241403699997 meters Centerline goodness : 0.811481 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.51 [[ 0.92792552 -0.32354348 -0.18513195 5.3095209 ] [ 0.32479487 0.94546997 -0.02438907 1.47303543] [ 0.18292762 -0.03749867 0.98241098 1.51378496] [ 0. 0. 0. 1. ]] SLAMing on 267.90241403699997 meters Centerline goodness : 0.812784 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.51 [[ 0.92642911 -0.32863826 -0.18364641 5.30831825] [ 0.32911718 0.943851 -0.02876079 1.4735913 ] [ 0.18278674 -0.03379635 0.98257153 1.51481599] [ 0. 0. 0. 1. ]] SLAMing on 267.962414037 meters Centerline goodness : 0.812872 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.92496315 -0.3335331 -0.18220547 5.30759838] [ 0.3333027 0.94224875 -0.03281145 1.47313601] [ 0.18262658 -0.03038019 0.98271286 1.51564844] [ 0. 0. 0. 1. ]] SLAMing on 268.022414037 meters Centerline goodness : 0.811384 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.92360867 -0.33786078 -0.18109972 5.30808212] [ 0.33698934 0.94080004 -0.03651669 1.47317884] [ 0.18271619 -0.02730154 0.98278656 1.51581229] [ 0. 0. 0. 1. ]] SLAMing on 268.082414037 meters Centerline goodness : 0.813055 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.92350147 -0.33831145 -0.18080484 5.30764676] [ 0.33745268 0.94063659 -0.0364486 1.47210855] [ 0.18240263 -0.02735274 0.98284338 1.5157246 ] [ 0. 0. 0. 1. ]] SLAMing on 268.142414037 meters Centerline goodness : 0.815950 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.9232821 -0.33917327 -0.18030992 5.3064669 ] [ 0.33828919 0.94033036 -0.03659571 1.47007391] [ 0.18196317 -0.02720873 0.98292883 1.51622902] [ 0. 0. 0. 1. ]] SLAMing on 268.202414037 meters Centerline goodness : 0.813958 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.92323005 -0.33943649 -0.18008091 5.30578124] [ 0.33857251 0.94023294 -0.03647835 1.46805562] [ 0.18170009 -0.02729254 0.98297518 1.51686466] [ 0. 0. 0. 1. ]] SLAMing on 268.262414037 meters Centerline goodness : 0.813915 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.92326461 -0.33929153 -0.18017692 5.30573899] [ 0.33846092 0.94028009 -0.03629814 1.4670943 ] [ 0.18173242 -0.02747006 0.98296425 1.51734244] [ 0. 0. 0. 1. ]] SLAMing on 268.322414037 meters Centerline goodness : 0.813312 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.47, Z:1.52 [[ 0.92359764 -0.33823699 -0.18045259 5.30587449] [ 0.33752883 0.94064276 -0.0355736 1.46609239] [ 0.18177373 -0.02805226 0.98294017 1.51790123] [ 0. 0. 0. 1. ]] SLAMing on 268.382414037 meters Centerline goodness : 0.810362 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.46, Z:1.52 [[ 0.9244243 -0.33582769 -0.18071933 5.30526223] [ 0.33544625 0.94145968 -0.03360773 1.46389016] [ 0.18142637 -0.02955382 0.98296035 1.51862189] [ 0. 0. 0. 1. ]] SLAMing on 268.442414037 meters Centerline goodness : 0.807999 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.46, Z:1.52 [[ 0.92478178 -0.33457547 -0.18121235 5.30667165] [ 0.33427523 0.94189319 -0.03312532 1.46443949] [ 0.18176559 -0.02994111 0.98288595 1.51836717] [ 0. 0. 0. 1. ]] SLAMing on 268.502414037 meters Centerline goodness : 0.809914 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.46, Z:1.52 [[ 0.92490854 -0.33404952 -0.1815354 5.30764455] [ 0.33378699 0.94207341 -0.03292322 1.46478053] [ 0.18201766 -0.03014319 0.98283313 1.51809441] [ 0. 0. 0. 1. ]] SLAMing on 268.562414037 meters Centerline goodness : 0.812858 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.46, Z:1.52 [[ 0.92490674 -0.33407938 -0.18148963 5.3075461 ] [ 0.33380161 0.94206551 -0.03300082 1.46477784] [ 0.18200002 -0.03005885 0.98283898 1.5181841 ] [ 0. 0. 0. 1. ]] SLAMing on 268.622414037 meters Centerline goodness : 0.810964 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.46, Z:1.52 [[ 0.92473661 -0.33479052 -0.18104561 5.30627738] [ 0.33446168 0.94182177 -0.03327365 1.46406838] [ 0.1816524 -0.02978346 0.98291167 1.51867086] [ 0. 0. 0. 1. ]] SLAMing on 268.682414037 meters Centerline goodness : 0.807040 with order 3 Centerline is valid? [False, False] Translation: X:5.31, Y:1.46, Z:1.52 [[ 0.92459812 -0.33539213 -0.18063899 5.30516297] [ 0.33498455 0.94162103 -0.0336926 1.46443874] [ 0.18139371 -0.02935916 0.98297221 1.51891227] [ 0. 0. 0. 1. ]] SLAMing on 268.742414037 meters Centerline goodness : 0.807463 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.47, Z:1.52 [[ 0.92449125 -0.33590033 -0.18024124 5.30435125] [ 0.33542639 0.9414513 -0.03403795 1.46505565] [ 0.18112171 -0.02898989 0.98303332 1.51883848] [ 0. 0. 0. 1. ]] SLAMing on 268.802414037 meters Centerline goodness : 0.807932 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.47, Z:1.52 [[ 0.92436536 -0.33639916 -0.17995635 5.30370451] [ 0.33586715 0.94128257 -0.0343567 1.46527226] [ 0.18094734 -0.02868329 0.98307443 1.51895045] [ 0. 0. 0. 1. ]] SLAMing on 268.862414037 meters Centerline goodness : 0.805101 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.47, Z:1.52 [[ 0.92399913 -0.33775846 -0.1792898 5.30172237] [ 0.33710919 0.9408139 -0.03502293 1.4651258 ] [ 0.18050763 -0.02807909 0.9831727 1.5194845 ] [ 0. 0. 0. 1. ]] SLAMing on 268.922414037 meters Centerline goodness : 0.806597 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.47, Z:1.52 [[ 0.92384716 -0.3383511 -0.17895521 5.30081415] [ 0.33762476 0.94061304 -0.035449 1.4654231 ] [ 0.18032181 -0.02767025 0.98321839 1.5197802 ] [ 0. 0. 0. 1. ]] SLAMing on 268.982414037 meters Centerline goodness : 0.811086 with order 3 Centerline is valid? [False, False] Translation: X:5.34, Y:1.48, Z:1.53 [[ 0.92063849 -0.34680356 -0.17930996 5.33860719] [ 0.34322998 0.93783275 -0.05160345 1.48259216] [ 0.18605901 -0.01403644 0.9824383 1.53258653] [ 0. 0. 0. 1. ]] SLAMing on 269.04241403699996 meters Centerline goodness : 0.798544 with order 3 Centerline is valid? [False, False] Translation: X:5.45, Y:1.52, Z:1.58 [[ 0.92564642 -0.3481515 -0.14822022 5.45022066] [ 0.33497195 0.93613841 -0.10695171 1.52163246] [ 0.17599004 0.04934985 0.98315416 1.576834 ] [ 0. 0. 0. 1. ]] SLAMing on 269.10241403699996 meters Centerline goodness : 0.794849 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.51, Z:1.57 [[ 0.92691597 -0.34496501 -0.14773602 5.42232494] [ 0.33317956 0.93765058 -0.09900896 1.51445577] [ 0.17267939 0.04255036 0.98405858 1.56554937] [ 0. 0. 0. 1. ]] SLAMing on 269.16241403699996 meters Centerline goodness : 0.795703 with order 3 Centerline is valid? [False, False] Translation: X:5.42, Y:1.52, Z:1.57 [[ 0.92775956 -0.3424685 -0.14824822 5.4196233 ] [ 0.33112376 0.93867043 -0.09620231 1.51500445] [ 0.17210248 0.0401641 0.98425992 1.56612216] [ 0. 0. 0. 1. ]] SLAMing on 269.22241403699996 meters Centerline goodness : 0.796334 with order 3 Centerline is valid? [False, False] Translation: X:5.39, Y:1.51, Z:1.56 [[ 0.92889483 -0.34011127 -0.14655622 5.38935604] [ 0.33004169 0.93975826 -0.08903311 1.50805449] [ 0.16800858 0.03433274 0.98518748 1.5564545 ] [ 0. 0. 0. 1. ]] SLAMing on 269.28241403699997 meters Centerline goodness : 0.794229 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.50, Z:1.55 [[ 0.93020291 -0.33701129 -0.14541643 5.36081479] [ 0.32818706 0.94107739 -0.0816493 1.50020259] [ 0.16436485 0.02822662 0.98599567 1.5463916 ] [ 0. 0. 0. 1. ]] SLAMing on 269.34241403699997 meters Centerline goodness : 0.797122 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.50, Z:1.55 [[ 0.93114728 -0.3341861 -0.1458917 5.35869465] [ 0.32581891 0.94215732 -0.07862331 1.50196643] [ 0.16372775 0.02567561 0.98617138 1.54601407] [ 0. 0. 0. 1. ]] SLAMing on 269.40241403699997 meters Centerline goodness : 0.797718 with order 3 Centerline is valid? [False, False] Translation: X:5.36, Y:1.50, Z:1.55 [[ 0.93215866 -0.33118437 -0.14627763 5.3565098 ] [ 0.3232647 0.94328007 -0.07564812 1.504481 ] [ 0.16303425 0.02322965 0.98634691 1.54553251] [ 0. 0. 0. 1. ]] SLAMing on 269.462414037 meters Centerline goodness : 0.790466 with order 3 Centerline is valid? [False, False] Translation: X:5.35, Y:1.51, Z:1.55 [[ 0.93286262 -0.3293101 -0.14602121 5.35210358] [ 0.32175546 0.9439787 -0.07333235 1.50613554] [ 0.16198999 0.02142589 0.98655977 1.54623168] [ 0. 0. 0. 1. ]] SLAMing on 269.522414037 meters Centerline goodness : 0.791372 with order 3 Centerline is valid? [False, False] Translation: X:5.33, Y:1.50, Z:1.54 [[ 0.93462115 -0.32613547 -0.14184134 5.33107365] [ 0.31837569 0.9449945 -0.07498214 1.50307278] [ 0.15849362 0.02492106 0.98704545 1.5441071 ] [ 0. 0. 0. 1. ]] SLAMing on 269.582414037 meters Centerline goodness : 0.789698 with order 3 Centerline is valid? [False, False] Translation: X:5.30, Y:1.50, Z:1.53 [[ 0.93615035 -0.32237038 -0.1403562 5.30205764] [ 0.31590986 0.9464401 -0.06672406 1.49556072] [ 0.15434859 0.01812384 0.98785021 1.53355679] [ 0. 0. 0. 1. ]] SLAMing on 269.642414037 meters Centerline goodness : 0.786076 with order 3 Centerline is valid? [False, False] Translation: X:5.29, Y:1.50, Z:1.53 [[ 0.93721832 -0.31832775 -0.14244042 5.28888246] [ 0.31081298 0.94767749 -0.07281942 1.49606182] [ 0.15816802 0.02397536 0.9871211 1.53378737] [ 0. 0. 0. 1. ]] SLAMing on 269.702414037 meters Centerline goodness : 0.785778 with order 3 Centerline is valid? [False, False] Translation: X:5.26, Y:1.49, Z:1.52 [[ 0.93891631 -0.31384407 -0.14120221 5.26243904] [ 0.30735648 0.94928935 -0.06619457 1.48994052] [ 0.15481653 0.01875175 0.98776526 1.52384212] [ 0. 0. 0. 1. ]] SLAMing on 269.762414037 meters Centerline goodness : 0.787646 with order 3 Centerline is valid? [False, False] Translation: X:5.25, Y:1.49, Z:1.52 [[ 0.94154607 -0.30756935 -0.13744853 5.24780635] [ 0.30070439 0.9512387 -0.0687154 1.48789375] [ 0.15188112 0.02336734 0.98812251 1.52162676] [ 0. 0. 0. 1. ]] SLAMing on 269.822414037 meters Centerline goodness : 0.788490 with order 3 Centerline is valid? [False, False] Translation: X:5.22, Y:1.48, Z:1.51 [[ 0.94400814 -0.30102226 -0.13503416 5.21979404] [ 0.29526913 0.95344795 -0.06126294 1.48286712] [ 0.14718955 0.01796129 0.98894521 1.51380917] [ 0. 0. 0. 1. ]] SLAMing on 269.882414037 meters Centerline goodness : 0.785000 with order 3 Centerline is valid? [False, False] Translation: X:5.22, Y:1.48, Z:1.51 [[ 0.94502877 -0.29760556 -0.1354679 5.21791569] [ 0.2922706 0.95456509 -0.05816697 1.48383257] [ 0.14662374 0.01537618 0.98907282 1.51407164] [ 0. 0. 0. 1. ]] SLAMing on 269.942414037 meters Centerline goodness : 0.779659 with order 2 Centerline is valid? [False, False] Translation: X:5.20, Y:1.48, Z:1.51 [[ 0.9470255 -0.29231839 -0.13301379 5.199948 ] [ 0.28678299 0.95614854 -0.05945997 1.47979493] [ 0.14456218 0.01816401 0.98932899 1.51207017] [ 0. 0. 0. 1. ]] SLAMing on 270.002414037 meters Centerline goodness : 0.790216 with order 3 Centerline is valid? [False, False] Translation: X:5.20, Y:1.48, Z:1.51 [[ 0.94811033 -0.28842616 -0.13378024 5.19909438] [ 0.28338248 0.9573856 -0.05574212 1.4803214 ] [ 0.14415676 0.01493871 0.9894421 1.51181661] [ 0. 0. 0. 1. ]] SLAMing on 270.062414037 meters Centerline goodness : 0.788942 with order 3 Centerline is valid? [False, False] Translation: X:5.16, Y:1.47, Z:1.50 [[ 0.94975318 -0.28339317 -0.13288041 5.15658605] [ 0.27820244 0.9588582 -0.05651853 1.47250664] [ 0.14343044 0.016711 0.9895193 1.50432519] [ 0. 0. 0. 1. ]] SLAMing on 270.122414037 meters Centerline goodness : 0.789314 with order 3 Centerline is valid? [False, False] Translation: X:5.16, Y:1.47, Z:1.50 [[ 0.94980637 -0.28315608 -0.1330056 5.15735108] [ 0.2780007 0.95893283 -0.05624444 1.47240746] [ 0.1434694 0.01644568 0.9895181 1.50376519] [ 0. 0. 0. 1. ]] SLAMing on 270.182414037 meters Centerline goodness : 0.792106 with order 3 Centerline is valid? [False, False] Translation: X:5.13, Y:1.46, Z:1.49 [[ 0.95074168 -0.2816613 -0.12944951 5.1282532 ] [ 0.27739908 0.95944074 -0.05023157 1.46284016] [ 0.13834742 0.01184807 0.99031289 1.49447267] [ 0. 0. 0. 1. ]] SLAMing on 270.242414037 meters Centerline goodness : 0.792858 with order 3 Centerline is valid? [False, False] Translation: X:5.13, Y:1.46, Z:1.50 [[ 0.95060278 -0.28236123 -0.12894376 5.12677823] [ 0.27810021 0.95923349 -0.05031275 1.46061192] [ 0.13789355 0.01196815 0.99037474 1.49526589] [ 0. 0. 0. 1. ]] SLAMing on 270.302414037 meters Centerline goodness : 0.791942 with order 3 Centerline is valid? [False, False] Translation: X:5.11, Y:1.45, Z:1.49 [[ 0.95221092 -0.27959446 -0.12296868 5.11006086] [ 0.27500995 0.95997141 -0.05314531 1.45388747] [ 0.13290555 0.01678793 0.99098652 1.49390419] [ 0. 0. 0. 1. ]] SLAMing on 270.362414037 meters Centerline goodness : 0.793048 with order 3 Centerline is valid? [False, False] Translation: X:5.08, Y:1.44, Z:1.49 [[ 0.95349201 -0.27674089 -0.11944649 5.08457755] [ 0.27289813 0.96085767 -0.04774037 1.44454775] [ 0.12798279 0.01292334 0.99169219 1.48507478] [ 0. 0. 0. 1. ]] SLAMing on 270.422414037 meters Centerline goodness : 0.794230 with order 3 Centerline is valid? [False, False] Translation: X:5.09, Y:1.44, Z:1.48 [[ 0.95366539 -0.27589865 -0.12000943 5.08686077] [ 0.2721897 0.96111461 -0.04659912 1.44201207] [ 0.12819945 0.01177463 0.99167851 1.4839639 ] [ 0. 0. 0. 1. ]] SLAMing on 270.482414037 meters Centerline goodness : 0.793846 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 0.95515471 -0.27193237 -0.11718474 5.06104165] [ 0.26887349 0.96228224 -0.04147218 1.43363717] [ 0.12404242 0.00810448 0.99224382 1.47692492] [ 0. 0. 0. 1. ]] SLAMing on 270.54241403699996 meters Centerline goodness : 0.793894 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 0.95597671 -0.2690149 -0.11721568 5.06078049] [ 0.26623126 0.96311631 -0.03908826 1.43080159] [ 0.12340765 0.00616099 0.99233694 1.47729705] [ 0. 0. 0. 1. ]] SLAMing on 270.60241403699996 meters Centerline goodness : 0.795886 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 0.95620563 -0.26799752 -0.117678 5.0622978 ] [ 0.26526205 0.96340267 -0.03861778 1.43047772] [ 0.12372077 0.00571103 0.99230064 1.47711951] [ 0. 0. 0. 1. ]] SLAMing on 270.66241403699996 meters Centerline goodness : 0.798410 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 9.57393817e-01 -2.63193615e-01 -1.18853693e-01 5.06285983e+00] [ 2.60963306e-01 9.64741426e-01 -3.42364423e-02 1.42868337e+00] [ 1.23673894e-01 1.76130561e-03 9.92321352e-01 1.47707589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72241403699996 meters Centerline goodness : 0.797658 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 9.58545984e-01 -2.58518360e-01 -1.19824260e-01 5.06293233e+00] [ 2.56768192e-01 9.66004432e-01 -3.00920838e-02 1.42730496e+00] [ 1.23530122e-01 -1.92241252e-03 9.92338961e-01 1.47727754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78241403699997 meters Centerline goodness : 0.799662 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 0.95955495 -0.25441936 -0.12052011 5.06212255] [ 0.25312833 0.9670789 -0.02616206 1.42555883] [ 0.12320859 -0.00540312 0.99236609 1.47769587] [ 0. 0. 0. 1. ]] SLAMing on 270.84241403699997 meters Centerline goodness : 0.801189 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 0.95965895 -0.25385733 -0.12087657 5.06323447] [ 0.25258345 0.9672256 -0.02600458 1.4254369 ] [ 0.12351637 -0.00557589 0.99232687 1.47768127] [ 0. 0. 0. 1. ]] SLAMing on 270.90241403699997 meters Centerline goodness : 0.804128 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.42, Z:1.48 [[ 0.95980199 -0.25322388 -0.12106941 5.06422176] [ 0.25198572 0.96738999 -0.02568652 1.42498687] [ 0.12362577 -0.00585379 0.99231165 1.47745791] [ 0. 0. 0. 1. ]] SLAMing on 270.962414037 meters Centerline goodness : 0.809130 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.48 [[ 0.95984132 -0.25307634 -0.12106612 5.06402866] [ 0.25181564 0.96742971 -0.02585795 1.42526636] [ 0.123667 -0.00566682 0.99230759 1.47812132] [ 0. 0. 0. 1. ]] SLAMing on 271.022414037 meters Centerline goodness : 0.810640 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.42, Z:1.48 [[ 0.95976429 -0.25353844 -0.12070943 5.06267805] [ 0.25223799 0.96731073 -0.02619052 1.42416955] [ 0.12340383 -0.00531078 0.99234233 1.47933992] [ 0. 0. 0. 1. ]] SLAMing on 271.082414037 meters Centerline goodness : 0.812132 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.42, Z:1.48 [[ 0.95984764 -0.25316643 -0.12082745 5.06320801] [ 0.25187668 0.9674077 -0.0260861 1.42374113] [ 0.12349353 -0.00539493 0.99233071 1.47950091] [ 0. 0. 0. 1. ]] SLAMing on 271.142414037 meters Centerline goodness : 0.812655 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.42, Z:1.48 [[ 0.96001994 -0.25239242 -0.12107759 5.06428199] [ 0.25111473 0.96760938 -0.02595131 1.42489073] [ 0.12370572 -0.00549059 0.99230376 1.47911133] [ 0. 0. 0. 1. ]] SLAMing on 271.202414037 meters Centerline goodness : 0.815002 with order 3 Centerline is valid? [False, False] Translation: X:5.07, Y:1.43, Z:1.48 [[ 0.96156266 -0.24587354 -0.12224345 5.06622729] [ 0.24514061 0.96925491 -0.02123697 1.42725779] [ 0.12370667 -0.00954616 0.99227291 1.47759432] [ 0. 0. 0. 1. ]] SLAMing on 271.262414037 meters Centerline goodness : 0.815225 with order 3 Centerline is valid? [False, False] Translation: X:5.07, Y:1.43, Z:1.48 [[ 0.96272525 -0.24086066 -0.12307006 5.06652594] [ 0.24055252 0.97047689 -0.01758117 1.42955018] [ 0.12367126 -0.01267898 0.99224224 1.47715768] [ 0. 0. 0. 1. ]] SLAMing on 271.322414037 meters Centerline goodness : 0.819701 with order 3 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.47 [[ 0.96654141 -0.22820091 -0.1171411 5.05917213] [ 0.22800665 0.97354034 -0.0152374 1.43229665] [ 0.11751877 -0.01198137 0.99299838 1.47168038] [ 0. 0. 0. 1. ]] SLAMing on 271.382414037 meters Centerline goodness : 0.800715 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:1.43, Z:1.47 [[ 0.9684426 -0.21907396 -0.11885089 5.05976371] [ 0.2197295 0.97553027 -0.0077229 1.43481147] [ 0.11763453 -0.01863586 0.99288208 1.47074754] [ 0. 0. 0. 1. ]] SLAMing on 271.442414037 meters Centerline goodness : 0.805819 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:1.44, Z:1.47 [[ 0.97237298 -0.20382441 -0.11378224 5.05410387] [ 0.20451664 0.9788466 -0.00568076 1.44146101] [ 0.11253323 -0.01774655 0.99348947 1.4656466 ] [ 0. 0. 0. 1. ]] SLAMing on 271.502414037 meters Centerline goodness : 0.810470 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:1.45, Z:1.46 [[ 9.75727433e-01 -1.90357497e-01 -1.08258952e-01 5.04862000e+00] [ 1.90987272e-01 9.81581652e-01 -4.61768270e-03 1.44968841e+00] [ 1.07144011e-01 -1.61704822e-02 9.94112004e-01 1.46017847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562414037 meters Centerline goodness : 0.816382 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:1.46, Z:1.46 [[ 9.77213778e-01 -1.82317568e-01 -1.08690095e-01 5.04869899e+00] [ 1.83551459e-01 9.83009144e-01 1.37250933e-03 1.45742788e+00] [ 1.06593125e-01 -2.12914606e-02 9.94074735e-01 1.45778238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622414037 meters Centerline goodness : 0.812774 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:1.46, Z:1.46 [[ 9.77201100e-01 -1.82444430e-01 -1.08591164e-01 5.04849034e+00] [ 1.83557744e-01 9.83008894e-01 2.60901937e-04 1.46124528e+00] [ 1.06698480e-01 -2.01877027e-02 9.94086461e-01 1.45811109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682414037 meters Centerline goodness : 0.820276 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:1.47, Z:1.46 [[ 9.77663900e-01 -1.80637575e-01 -1.07440051e-01 5.04363183e+00] [ 1.81811989e-01 9.83332632e-01 1.15596432e-03 1.46930971e+00] [ 1.05440498e-01 -2.06640340e-02 9.94210893e-01 1.45886219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742414037 meters Centerline goodness : 0.820640 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:1.48, Z:1.46 [[ 9.77412399e-01 -1.82936403e-01 -1.05826631e-01 5.03858167e+00] [ 1.83726024e-01 9.82974748e-01 -2.32239053e-03 1.48032523e+00] [ 1.04449755e-01 -1.71731728e-02 9.94381884e-01 1.46062272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802414037 meters Centerline goodness : 0.825666 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:1.49, Z:1.46 [[ 9.77139733e-01 -1.84958608e-01 -1.04824880e-01 5.03631896e+00] [ 1.85507828e-01 9.82632153e-01 -4.57148545e-03 1.49039156e+00] [ 1.03849833e-01 -1.49788557e-02 9.94480189e-01 1.45931415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862414037 meters Centerline goodness : 0.830086 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:1.50, Z:1.46 [[ 0.97690726 -0.18680282 -0.10371555 5.03560974] [ 0.18716243 0.98230851 -0.0063411 1.49771793] [ 0.10306521 -0.01321699 0.99458679 1.45671959] [ 0. 0. 0. 1. ]] SLAMing on 271.922414037 meters Centerline goodness : 0.837789 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:1.51, Z:1.45 [[ 0.97650384 -0.19009035 -0.10151807 5.03167526] [ 0.19015225 0.98171191 -0.00915652 1.50960975] [ 0.10140206 -0.01036251 0.99479156 1.45407448] [ 0. 0. 0. 1. ]] SLAMing on 271.982414037 meters Centerline goodness : 0.837305 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.52, Z:1.45 [[ 0.97629963 -0.19271846 -0.09848158 5.021532 ] [ 0.19266 0.98121262 -0.01019377 1.52151723] [ 0.0985959 -0.00902129 0.99508666 1.45361971] [ 0. 0. 0. 1. ]] SLAMing on 272.04241403699996 meters Centerline goodness : 0.835205 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.54, Z:1.45 [[ 9.75595208e-01 -1.97757550e-01 -9.54250580e-02 5.01218379e+00] [ 1.97293502e-01 9.80239167e-01 -1.43683528e-02 1.53500901e+00] [ 9.63808296e-02 -4.80904774e-03 9.95332914e-01 1.45421158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10241403699996 meters Centerline goodness : 0.836705 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.55, Z:1.45 [[ 9.74854410e-01 -2.02660303e-01 -9.26697391e-02 5.00430964e+00] [ 2.01858496e-01 9.79248465e-01 -1.80441405e-02 1.54937666e+00] [ 9.44035307e-02 -1.11576418e-03 9.95533389e-01 1.45288539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16241403699996 meters Centerline goodness : 0.839867 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.56, Z:1.45 [[ 9.74463335e-01 -2.05081550e-01 -9.14481652e-02 5.00164165e+00] [ 2.04101215e-01 9.78744502e-01 -2.00472991e-02 1.55964438e+00] [ 9.36157201e-02 8.70676300e-04 9.95608025e-01 1.45071977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22241403699996 meters Centerline goodness : 0.834973 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:1.58, Z:1.45 [[ 9.73809666e-01 -2.09813237e-01 -8.75964624e-02 4.98861906e+00] [ 2.08809673e-01 9.77739932e-01 -2.05704902e-02 1.57982844e+00] [ 8.99625203e-02 1.74075356e-03 9.95943630e-01 1.44589286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28241403699997 meters Centerline goodness : 0.836292 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.59, Z:1.45 [[ 9.73196641e-01 -2.13499925e-01 -8.54756067e-02 4.98193719e+00] [ 2.12258236e-01 9.76931798e-01 -2.34670916e-02 1.59006151e+00] [ 8.85140604e-02 4.69519320e-03 9.96063862e-01 1.44577449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34241403699997 meters Centerline goodness : 0.835462 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:1.61, Z:1.45 [[ 9.74195627e-01 -2.09440593e-01 -8.41279905e-02 4.97304916e+00] [ 2.08519913e-01 9.77820008e-01 -1.96844674e-02 1.60531800e+00] [ 8.63847588e-02 1.63416077e-03 9.96260510e-01 1.44562260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40241403699997 meters Centerline goodness : 0.843409 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:1.62, Z:1.44 [[ 0.9773427 -0.19366662 -0.08540779 4.96953747] [ 0.19384651 0.98101189 -0.00626156 1.61663252] [ 0.08499872 -0.01043631 0.9963264 1.44433566] [ 0. 0. 0. 1. ]] SLAMing on 272.462414037 meters Centerline goodness : 0.836772 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.62, Z:1.44 [[ 9.78429714e-01 -1.87787673e-01 -8.60876603e-02 4.97584550e+00] [ 1.88323404e-01 9.82105176e-01 -1.92862978e-03 1.61748088e+00] [ 8.49093097e-02 -1.43252925e-02 9.96285700e-01 1.43930553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.522414037 meters Centerline goodness : 0.828840 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.61, Z:1.44 [[ 9.78040489e-01 -1.89482413e-01 -8.67941079e-02 4.98299225e+00] [ 1.89898093e-01 9.81797504e-01 -3.51794031e-03 1.61329664e+00] [ 8.58808263e-02 -1.30413475e-02 9.96220059e-01 1.43548114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.582414037 meters Centerline goodness : 0.826974 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.61, Z:1.43 [[ 9.78046787e-01 -1.89391493e-01 -8.69214833e-02 4.98354804e+00] [ 1.89883578e-01 9.81803044e-01 -2.64746014e-03 1.61081201e+00] [ 8.58411833e-02 -1.39156224e-02 9.96211648e-01 1.43463219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.642414037 meters Centerline goodness : 0.830979 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.61, Z:1.44 [[ 9.78674360e-01 -1.86047526e-01 -8.70793635e-02 4.98028886e+00] [ 1.86819593e-01 9.82393967e-01 7.30117642e-04 1.61012328e+00] [ 8.54104048e-02 -1.69826786e-02 9.96201110e-01 1.43689018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.702414037 meters Centerline goodness : 0.825624 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.61, Z:1.44 [[ 9.78687371e-01 -1.86069716e-01 -8.68855051e-02 4.97983903e+00] [ 1.86843967e-01 9.82389283e-01 7.93420107e-04 1.60872509e+00] [ 8.52077575e-02 -1.70105427e-02 9.96217988e-01 1.43736558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.762414037 meters Centerline goodness : 0.824530 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.61, Z:1.44 [[ 9.78814700e-01 -1.85224147e-01 -8.72570863e-02 4.98148702e+00] [ 1.86030615e-01 9.82543297e-01 1.13178830e-03 1.60721993e+00] [ 8.55242307e-02 -1.73403004e-02 9.96185184e-01 1.43741875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822414037 meters Centerline goodness : 0.823024 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.61, Z:1.44 [[ 9.78962582e-01 -1.83985376e-01 -8.82136285e-02 4.98451400e+00] [ 1.84835530e-01 9.82768327e-01 1.49714153e-03 1.60748734e+00] [ 8.64181080e-02 -1.77706583e-02 9.96100454e-01 1.43709508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.882414037 meters Centerline goodness : 0.820762 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:1.61, Z:1.44 [[ 0.9799026 -0.17820966 -0.08962263 4.98736689] [ 0.17948448 0.98374059 0.0063068 1.60726491] [ 0.08704149 -0.02226592 0.99595583 1.43592523] [ 0. 0. 0. 1. ]] SLAMing on 272.942414037 meters Centerline goodness : 0.820826 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:1.61, Z:1.43 [[ 0.98094361 -0.17141418 -0.09147033 4.99220733] [ 0.17317675 0.98482205 0.01163395 1.60627358] [ 0.08808777 -0.02725279 0.99573984 1.43431246] [ 0. 0. 0. 1. ]] SLAMing on 273.002414037 meters Centerline goodness : 0.813904 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.43 [[ 0.98122547 -0.16906778 -0.09280447 4.99748639] [ 0.17096755 0.98519274 0.01285899 1.60480491] [ 0.08925625 -0.02848412 0.99560131 1.43286381] [ 0. 0. 0. 1. ]] SLAMing on 273.062414037 meters Centerline goodness : 0.812114 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.61, Z:1.43 [[ 0.98131931 -0.16799468 -0.09375608 5.00013445] [ 0.16991441 0.98537536 0.01282556 1.60572006] [ 0.09023031 -0.02851648 0.99551258 1.43322108] [ 0. 0. 0. 1. ]] SLAMing on 273.122414037 meters Centerline goodness : 0.813291 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.43 [[ 0.98198705 -0.1637456 -0.0942805 4.99965659] [ 0.16605145 0.98596879 0.01710135 1.60448907] [ 0.09015736 -0.03244871 0.99539878 1.43306287] [ 0. 0. 0. 1. ]] SLAMing on 273.182414037 meters Centerline goodness : 0.808253 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.43 [[ 0.98197961 -0.1637805 -0.09429737 4.99975996] [ 0.16605314 0.98597493 0.01672722 1.60445366] [ 0.09023525 -0.03208417 0.99540354 1.4335193 ] [ 0. 0. 0. 1. ]] SLAMing on 273.242414037 meters Centerline goodness : 0.810240 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.43 [[ 0.98199111 -0.16350352 -0.09465761 5.00047472] [ 0.16576158 0.98602863 0.01645136 1.60479488] [ 0.09064526 -0.03184568 0.99537394 1.43424325] [ 0. 0. 0. 1. ]] SLAMing on 273.302414037 meters Centerline goodness : 0.806716 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.43 [[ 0.98201775 -0.16289762 -0.09542275 5.0020649 ] [ 0.16520318 0.98611768 0.01672799 1.60341622] [ 0.09137311 -0.03219132 0.99529627 1.43489544] [ 0. 0. 0. 1. ]] SLAMing on 273.362414037 meters Centerline goodness : 0.807651 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.43 [[ 0.98202089 -0.16269415 -0.09573704 5.00273937] [ 0.16504402 0.98613782 0.01710749 1.60182818] [ 0.09162663 -0.03260074 0.99525964 1.43497382] [ 0. 0. 0. 1. ]] SLAMing on 273.422414037 meters Centerline goodness : 0.807592 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98207366 -0.16213382 -0.09614551 5.00414329] [ 0.16455126 0.98620937 0.01771866 1.59861789] [ 0.09194681 -0.03322189 0.99520957 1.43502834] [ 0. 0. 0. 1. ]] SLAMing on 273.482414037 meters Centerline goodness : 0.811098 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.59, Z:1.44 [[ 0.98211699 -0.16155361 -0.09667808 5.00570449] [ 0.16405893 0.98627707 0.01849893 1.59498983] [ 0.09236281 -0.03402902 0.99514378 1.43505143] [ 0. 0. 0. 1. ]] SLAMing on 273.54241403699996 meters Centerline goodness : 0.809461 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.59, Z:1.44 [[ 0.98210947 -0.16127724 -0.09721445 5.00666092] [ 0.16380898 0.98631677 0.01859698 1.59372468] [ 0.09288497 -0.03418887 0.9950897 1.43581343] [ 0. 0. 0. 1. ]] SLAMing on 273.60241403699996 meters Centerline goodness : 0.812043 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.59, Z:1.44 [[ 0.98212134 -0.16064548 -0.09813617 5.00877776] [ 0.16317819 0.98642691 0.01829861 1.59426067] [ 0.09386457 -0.03398513 0.99500475 1.43671446] [ 0. 0. 0. 1. ]] SLAMing on 273.66241403699996 meters Centerline goodness : 0.811627 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.60, Z:1.44 [[ 0.98234974 -0.15856175 -0.09923288 5.01272589] [ 0.16113546 0.98676019 0.01843096 1.59557559] [ 0.09499661 -0.03409559 0.99489353 1.43708708] [ 0. 0. 0. 1. ]] SLAMing on 273.72241403699996 meters Centerline goodness : 0.817438 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.60, Z:1.44 [[ 0.98242167 -0.15778775 -0.0997531 5.01377684] [ 0.16028273 0.98691668 0.01746171 1.59689825] [ 0.09569275 -0.03314346 0.99485899 1.43948464] [ 0. 0. 0. 1. ]] SLAMing on 273.78241403699997 meters Centerline goodness : 0.821181 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.60, Z:1.44 [[ 0.9823877 -0.15790919 -0.09989546 5.0128714 ] [ 0.16027358 0.98694209 0.01605248 1.59691233] [ 0.0960562 -0.03178036 0.99486844 1.44310864] [ 0. 0. 0. 1. ]] SLAMing on 273.84241403699997 meters Centerline goodness : 0.825067 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.60, Z:1.44 [[ 0.98241469 -0.15748327 -0.10030152 5.01389249] [ 0.15984977 0.98701232 0.01596024 1.59525428] [ 0.09648536 -0.03171275 0.99482907 1.44420568] [ 0. 0. 0. 1. ]] SLAMing on 273.90241403699997 meters Centerline goodness : 0.825166 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.44 [[ 0.98245755 -0.15686434 -0.10085007 5.01577066] [ 0.15929281 0.9870944 0.01644531 1.59360234] [ 0.09696885 -0.03222151 0.99476571 1.44400907] [ 0. 0. 0. 1. ]] SLAMing on 273.962414037 meters Centerline goodness : 0.826863 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.44 [[ 0.98244274 -0.15671525 -0.10122547 5.01666621] [ 0.1591398 0.98712169 0.01628757 1.59306346] [ 0.09736935 -0.03211061 0.99473017 1.44465804] [ 0. 0. 0. 1. ]] SLAMing on 274.022414037 meters Centerline goodness : 0.829536 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.45 [[ 0.98242824 -0.15670497 -0.10138201 5.01648622] [ 0.15907677 0.9871414 0.01569857 1.59296946] [ 0.09761834 -0.03155024 0.9947237 1.44642155] [ 0. 0. 0. 1. ]] SLAMing on 274.082414037 meters Centerline goodness : 0.834778 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.45 [[ 0.98243775 -0.15652718 -0.10156426 5.01641803] [ 0.15882615 0.98719401 0.01490794 1.59292004] [ 0.09793013 -0.03077718 0.99471727 1.4485936 ] [ 0. 0. 0. 1. ]] SLAMing on 274.142414037 meters Centerline goodness : 0.834862 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.45 [[ 0.9824433 -0.15634027 -0.10179821 5.01710778] [ 0.1586524 0.9872209 0.01497675 1.59018114] [ 0.09815585 -0.03086434 0.99469233 1.4494744 ] [ 0. 0. 0. 1. ]] SLAMing on 274.202414037 meters Centerline goodness : 0.833516 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.45 [[ 0.98241791 -0.15637487 -0.10198991 5.01757336] [ 0.15874769 0.98719706 0.01552857 1.5867781 ] [ 0.09825586 -0.0314462 0.99466423 1.44958852] [ 0. 0. 0. 1. ]] SLAMing on 274.262414037 meters Centerline goodness : 0.836372 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.59, Z:1.45 [[ 0.98232096 -0.15712197 -0.10177531 5.01601089] [ 0.15945555 0.98708866 0.01516294 1.58539903] [ 0.09807882 -0.03112352 0.99469185 1.45113303] [ 0. 0. 0. 1. ]] SLAMing on 274.322414037 meters Centerline goodness : 0.835813 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.45 [[ 0.98225483 -0.1578059 -0.10135456 5.0142625 ] [ 0.16007859 0.98699564 0.01464401 1.58416601] [ 0.0977256 -0.03060884 0.99474258 1.45267073] [ 0. 0. 0. 1. ]] SLAMing on 274.382414037 meters Centerline goodness : 0.836819 with order 2 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.45 [[ 0.9816167 -0.16206517 -0.10081432 5.01429923] [ 0.16391943 0.9864196 0.01033377 1.58302796] [ 0.09777047 -0.02666923 0.99485159 1.45429702] [ 0. 0. 0. 1. ]] SLAMing on 274.442414037 meters Centerline goodness : 0.822509 with order 2 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.46 [[ 0.98089429 -0.16685321 -0.10003194 5.01352705] [ 0.16828762 0.98571957 0.00601696 1.58084698] [ 0.09759949 -0.02273614 0.99496603 1.4559155 ] [ 0. 0. 0. 1. ]] SLAMing on 274.502414037 meters Centerline goodness : 0.819673 with order 2 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.46 [[ 9.80106752e-01 -1.71872525e-01 -9.92501411e-02 5.01250190e+00] [ 1.72892117e-01 9.84939301e-01 1.70001820e-03 1.58019965e+00] [ 9.74631782e-02 -1.88257663e-02 9.95061063e-01 1.45712614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562414037 meters Centerline goodness : 0.821270 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.46 [[ 9.79310583e-01 -1.76908332e-01 -9.82559069e-02 5.01155167e+00] [ 1.77542711e-01 9.84110363e-01 -2.31911434e-03 1.58021733e+00] [ 9.71049269e-02 -1.51734869e-02 9.95158479e-01 1.45720382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622414037 meters Centerline goodness : 0.846506 with order 2 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.46 [[ 0.97848272 -0.18202475 -0.09715224 5.01021959] [ 0.18222878 0.98323234 -0.00684405 1.58071684] [ 0.09676901 -0.01100715 0.995246 1.45804024] [ 0. 0. 0. 1. ]] SLAMing on 274.682414037 meters Centerline goodness : 0.828595 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:1.58, Z:1.46 [[ 0.97794689 -0.18540082 -0.09615829 5.00628735] [ 0.1854278 0.98261908 -0.00873398 1.57988236] [ 0.09610626 -0.00928906 0.99532774 1.45940377] [ 0. 0. 0. 1. ]] SLAMing on 274.742414037 meters Centerline goodness : 0.827546 with order 2 Centerline is valid? [False, False] Translation: X:5.00, Y:1.58, Z:1.46 [[ 0.97778328 -0.18659387 -0.09551225 5.0041536 ] [ 0.18657458 0.98239761 -0.00921208 1.57963096] [ 0.09554993 -0.00881274 0.99538563 1.45983287] [ 0. 0. 0. 1. ]] SLAMing on 274.802414037 meters Centerline goodness : 0.839266 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.58, Z:1.46 [[ 0.97758526 -0.1879609 -0.09485654 5.00214955] [ 0.18791292 0.98213956 -0.00951901 1.57932465] [ 0.09495156 -0.00851913 0.99544544 1.45971415] [ 0. 0. 0. 1. ]] SLAMing on 274.862414037 meters Centerline goodness : 0.840627 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.58, Z:1.46 [[ 0.97730963 -0.18982655 -0.09397749 4.99907864] [ 0.18972417 0.98178542 -0.01010549 1.5796918 ] [ 0.09418402 -0.00795361 0.99552303 1.45982131] [ 0. 0. 0. 1. ]] SLAMing on 274.922414037 meters Centerline goodness : 0.839201 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.58, Z:1.46 [[ 0.97696196 -0.1920153 -0.09314208 4.99617797] [ 0.19186707 0.98136337 -0.01062837 1.57956975] [ 0.09344704 -0.00748739 0.9955961 1.45947407] [ 0. 0. 0. 1. ]] SLAMing on 274.982414037 meters Centerline goodness : 0.841033 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:1.58, Z:1.46 [[ 0.97657768 -0.19446491 -0.09208386 4.99244615] [ 0.19426191 0.98088519 -0.01124962 1.58027765] [ 0.09251135 -0.00690226 0.99568771 1.45909215] [ 0. 0. 0. 1. ]] SLAMing on 275.04241403699996 meters Centerline goodness : 0.839083 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:1.58, Z:1.46 [[ 0.97619191 -0.19712924 -0.09049535 4.98758771] [ 0.19683507 0.98036005 -0.01225288 1.5823247 ] [ 0.09113343 -0.0058515 0.9958215 1.45886641] [ 0. 0. 0. 1. ]] SLAMing on 275.10241403699996 meters Centerline goodness : 0.837050 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.59, Z:1.46 [[ 9.75773298e-01 -1.99933176e-01 -8.88436600e-02 4.98230083e+00] [ 1.99504877e-01 9.79800134e-01 -1.37659889e-02 1.58575070e+00] [ 8.98013078e-02 -4.29225908e-03 9.95950451e-01 1.45914271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16241403699996 meters Centerline goodness : 0.831299 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.59, Z:1.46 [[ 9.75318108e-01 -2.02819065e-01 -8.72869679e-02 4.97693343e+00] [ 2.02277260e-01 9.79211855e-01 -1.51014322e-02 1.58898003e+00] [ 8.85352921e-02 -2.92746837e-03 9.96068739e-01 1.45924737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22241403699996 meters Centerline goodness : 0.830125 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:1.59, Z:1.46 [[ 9.74813616e-01 -2.05819382e-01 -8.58882726e-02 4.97184978e+00] [ 2.05208731e-01 9.78587845e-01 -1.59751741e-02 1.59066382e+00] [ 8.73372201e-02 -2.05220621e-03 9.96176690e-01 1.45892707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28241403699997 meters Centerline goodness : 0.829716 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:1.59, Z:1.46 [[ 9.74635171e-01 -2.06957220e-01 -8.51762427e-02 4.97007448e+00] [ 2.06344701e-01 9.78348046e-01 -1.60301671e-02 1.59104710e+00] [ 8.66495694e-02 -1.95210168e-03 9.96236940e-01 1.45789201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34241403699997 meters Centerline goodness : 0.827478 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:1.59, Z:1.46 [[ 9.74663602e-01 -2.06899740e-01 -8.49903510e-02 4.97045145e+00] [ 2.06288641e-01 9.78360245e-01 -1.60071155e-02 1.59258426e+00] [ 8.64630486e-02 -1.93099115e-03 9.96253187e-01 1.45674218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40241403699997 meters Centerline goodness : 0.820258 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.59, Z:1.45 [[ 9.77105192e-01 -1.98364938e-01 -7.69207066e-02 4.96232430e+00] [ 1.97803191e-01 9.80128032e-01 -1.49311038e-02 1.59096000e+00] [ 7.83539483e-02 -6.25902226e-04 9.96925407e-01 1.45103841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.462414037 meters Centerline goodness : 0.818746 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.59, Z:1.45 [[ 9.77182293e-01 -1.97868904e-01 -7.72182764e-02 4.96345865e+00] [ 1.97281422e-01 9.80228433e-01 -1.52400941e-02 1.59224435e+00] [ 7.87070907e-02 -3.41381283e-04 9.96897727e-01 1.45122966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.522414037 meters Centerline goodness : 0.814977 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.59, Z:1.44 [[ 9.79707494e-01 -1.87920382e-01 -6.97076483e-02 4.95688131e+00] [ 1.87488278e-01 9.82184094e-01 -1.27495258e-02 1.59026893e+00] [ 7.08616392e-02 -5.78560944e-04 9.97485987e-01 1.44469644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.582414037 meters Centerline goodness : 0.814158 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.59, Z:1.44 [[ 9.80745922e-01 -1.81954029e-01 -7.09236813e-02 4.95964723e+00] [ 1.81794255e-01 9.83297608e-01 -8.75570818e-03 1.59251562e+00] [ 7.13322226e-02 -4.30639271e-03 9.97443316e-01 1.44423034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.642414037 meters Centerline goodness : 0.810829 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:1.59, Z:1.44 [[ 9.83224505e-01 -1.71147651e-01 -6.30718213e-02 4.95343377e+00] [ 1.71039386e-01 9.85238233e-01 -7.15205578e-03 1.59014428e+00] [ 6.33648273e-02 -3.75568910e-03 9.97983363e-01 1.43827172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.702414037 meters Centerline goodness : 0.808180 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.59, Z:1.44 [[ 9.84056892e-01 -1.65890773e-01 -6.41270930e-02 4.95591905e+00] [ 1.66094448e-01 9.86107441e-01 -2.17909597e-03 1.58884751e+00] [ 6.35976955e-02 -8.50679970e-03 9.97939361e-01 1.43631033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.762414037 meters Centerline goodness : 0.804398 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:1.59, Z:1.43 [[ 9.86354868e-01 -1.54627646e-01 -5.65187228e-02 4.95115904e+00] [ 1.54816960e-01 9.87942623e-01 -1.03999606e-03 1.58626976e+00] [ 5.59980675e-02 -7.72425171e-03 9.98400998e-01 1.42993893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.822414037 meters Centerline goodness : 0.803090 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:1.59, Z:1.43 [[ 9.87311155e-01 -1.48028400e-01 -5.74828309e-02 4.96035962e+00] [ 1.48221713e-01 9.88953738e-01 -9.09634940e-04 1.58960250e+00] [ 5.69825123e-02 -7.62211095e-03 9.98346081e-01 1.43130009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882414037 meters Centerline goodness : 0.803419 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.60, Z:1.44 [[ 9.88393497e-01 -1.41163658e-01 -5.61348052e-02 4.97764694e+00] [ 1.40909364e-01 9.89986160e-01 -8.48258786e-03 1.59509924e+00] [ 5.67701134e-02 4.74214978e-04 9.98387164e-01 1.43800206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942414037 meters Centerline goodness : 0.802112 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:1.60, Z:1.44 [[ 9.88542446e-01 -1.39713193e-01 -5.71319106e-02 4.98099647e+00] [ 1.39427564e-01 9.90191599e-01 -8.97510620e-03 1.59626442e+00] [ 5.78254787e-02 9.06510318e-04 9.98326295e-01 1.43888769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002414037 meters Centerline goodness : 0.804010 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:1.60, Z:1.44 [[ 9.88773575e-01 -1.37498793e-01 -5.84884478e-02 4.98623993e+00] [ 1.37217269e-01 9.90501689e-01 -8.82186044e-03 1.59669508e+00] [ 5.91459015e-02 6.97197425e-04 9.98249105e-01 1.43865413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062414037 meters Centerline goodness : 0.802239 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98907513 -0.13576706 -0.0574255 4.99816026] [ 0.13503011 0.99070339 -0.01654254 1.60060371] [ 0.05913757 0.00860765 0.99821273 1.44276781] [ 0. 0. 0. 1. ]] SLAMing on 276.122414037 meters Centerline goodness : 0.805151 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98915871 -0.13471927 -0.05844457 5.00130126] [ 0.13398741 0.99084925 -0.01628326 1.60064521] [ 0.06010343 0.00827589 0.99815785 1.44272196] [ 0. 0. 0. 1. ]] SLAMing on 276.182414037 meters Centerline goodness : 0.803558 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98915458 -0.13464343 -0.05868877 5.00211908] [ 0.13387445 0.99085485 -0.01686125 1.60208652] [ 0.06042231 0.00882146 0.99813392 1.44303344] [ 0. 0. 0. 1. ]] SLAMing on 276.242414037 meters Centerline goodness : 0.807081 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.61, Z:1.44 [[ 0.98915917 -0.13443472 -0.05908848 5.0033079 ] [ 0.13357233 0.99086957 -0.01832811 1.60666081] [ 0.06101291 0.01023684 0.99808448 1.44390716] [ 0. 0. 0. 1. ]] SLAMing on 276.302414037 meters Centerline goodness : 0.811960 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.61, Z:1.44 [[ 0.98908435 -0.13511562 -0.05878705 5.0022476 ] [ 0.13426669 0.99077851 -0.01817689 1.60620778] [ 0.06070093 0.01008533 0.99810505 1.44351356] [ 0. 0. 0. 1. ]] SLAMing on 276.362414037 meters Centerline goodness : 0.812813 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.61, Z:1.44 [[ 0.98845697 -0.1397916 -0.05840492 5.00221665] [ 0.13870349 0.9900827 -0.02230663 1.60649105] [ 0.06094398 0.01394818 0.99804373 1.44360821] [ 0. 0. 0. 1. ]] SLAMing on 276.422414037 meters Centerline goodness : 0.823173 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.61, Z:1.44 [[ 0.98826001 -0.14133232 -0.05802865 5.00021993] [ 0.14028106 0.98987109 -0.02182756 1.60515265] [ 0.06052582 0.01343098 0.99807627 1.44254529] [ 0. 0. 0. 1. ]] SLAMing on 276.482414037 meters Centerline goodness : 0.827870 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98808233 -0.14267012 -0.05778016 4.99813849] [ 0.1416319 0.98968146 -0.02170286 1.60455825] [ 0.0602803 0.0132607 0.9980934 1.44263388] [ 0. 0. 0. 1. ]] SLAMing on 276.54241403699996 meters Centerline goodness : 0.826591 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98802897 -0.14309575 -0.05763991 4.99775145] [ 0.14210984 0.98963072 -0.02087638 1.60229335] [ 0.06002955 0.01243527 0.99811914 1.44149585] [ 0. 0. 0. 1. ]] SLAMing on 276.60241403699996 meters Centerline goodness : 0.827458 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98805285 -0.14283178 -0.05788471 4.99882673] [ 0.14187378 0.98967543 -0.02035614 1.60115989] [ 0.06019458 0.01190062 0.99811572 1.44064963] [ 0. 0. 0. 1. ]] SLAMing on 276.66241403699996 meters Centerline goodness : 0.829890 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 0.98866643 -0.13827618 -0.05846691 4.99971028] [ 0.13759421 0.99036657 -0.01555286 1.59962558] [ 0.06005426 0.00733188 0.99816819 1.43919265] [ 0. 0. 0. 1. ]] SLAMing on 276.72241403699996 meters Centerline goodness : 0.825935 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:1.60, Z:1.44 [[ 9.89371725e-01 -1.32684012e-01 -5.94856495e-02 5.00185722e+00] [ 1.32245451e-01 9.91152959e-01 -1.12672779e-02 1.60071915e+00] [ 6.04543652e-02 3.28081965e-03 9.98165570e-01 1.43893023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78241403699997 meters Centerline goodness : 0.829196 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:1.60, Z:1.44 [[ 0.99041249 -0.12486473 -0.05909225 5.01902846] [ 0.12415058 0.99214043 -0.01562062 1.60403948] [ 0.06057828 0.00813452 0.9981303 1.44292346] [ 0. 0. 0. 1. ]] SLAMing on 276.84241403699997 meters Centerline goodness : 0.827070 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:1.60, Z:1.44 [[ 0.99094074 -0.11979168 -0.06071578 5.02798811] [ 0.11909764 0.99277019 -0.01493684 1.60446686] [ 0.06206613 0.00757042 0.99804333 1.44290232] [ 0. 0. 0. 1. ]] SLAMing on 276.90241403699997 meters Centerline goodness : 0.824602 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:1.63, Z:1.49 [[ 0.99263728 -0.11067893 -0.04920773 5.11743885] [ 0.10754043 0.99223951 -0.06241641 1.62539328] [ 0.05573404 0.05666504 0.99683639 1.48534754] [ 0. 0. 0. 1. ]] SLAMing on 276.962414037 meters Centerline goodness : 0.822482 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:1.63, Z:1.50 [[ 0.99387094 -0.10132807 -0.0441947 5.15484446] [ 0.09737284 0.99169946 -0.08396847 1.6336009 ] [ 0.05233622 0.07915046 0.99548788 1.50192315] [ 0. 0. 0. 1. ]] SLAMing on 277.022414037 meters Centerline goodness : 0.826233 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:1.63, Z:1.50 [[ 0.99487062 -0.0922119 -0.04158635 5.13980103] [ 0.08843394 0.99244799 -0.08500834 1.63012485] [ 0.04911107 0.08089466 0.99551201 1.50117792] [ 0. 0. 0. 1. ]] SLAMing on 277.082414037 meters Centerline goodness : 0.823238 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.62, Z:1.49 [[ 0.99533284 -0.08789497 -0.03983727 5.10881368] [ 0.08471503 0.99354091 -0.07549717 1.62321806] [ 0.04621578 0.07177 0.99634992 1.49150867] [ 0. 0. 0. 1. ]] SLAMing on 277.142414037 meters Centerline goodness : 0.824035 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.62, Z:1.49 [[ 0.99525813 -0.08894191 -0.03937751 5.10766022] [ 0.08579557 0.99345222 -0.07544407 1.62247037] [ 0.04582981 0.07170791 0.99637222 1.49211583] [ 0. 0. 0. 1. ]] SLAMing on 277.202414037 meters Centerline goodness : 0.823332 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.62, Z:1.49 [[ 0.99474736 -0.09495042 -0.03823757 5.10412858] [ 0.09165717 0.99255364 -0.08022614 1.62284097] [ 0.04557035 0.07629999 0.996043 1.49324564] [ 0. 0. 0. 1. ]] SLAMing on 277.262414037 meters Centerline goodness : 0.826026 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.62, Z:1.48 [[ 0.99401851 -0.10332851 -0.03536139 5.11130497] [ 0.10069427 0.99248267 -0.06956162 1.61947186] [ 0.04228326 0.06558485 0.99695073 1.48372187] [ 0. 0. 0. 1. ]] SLAMing on 277.322414037 meters Centerline goodness : 0.830020 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.62, Z:1.48 [[ 0.99335638 -0.1098028 -0.03444473 5.10797296] [ 0.10706529 0.99155365 -0.07320095 1.61686454] [ 0.04219146 0.0690268 0.99672222 1.48322995] [ 0. 0. 0. 1. ]] SLAMing on 277.382414037 meters Centerline goodness : 0.828680 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.61, Z:1.48 [[ 0.99330086 -0.11043047 -0.0340369 5.10688782] [ 0.10776403 0.99155495 -0.07215056 1.6146612 ] [ 0.04171707 0.06799926 0.99681281 1.48148656] [ 0. 0. 0. 1. ]] SLAMing on 277.442414037 meters Centerline goodness : 0.825543 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.61, Z:1.48 [[ 0.99258001 -0.11706796 -0.03286368 5.10320924] [ 0.11430656 0.99052729 -0.07609011 1.61243504] [ 0.04146008 0.07176899 0.99655922 1.4812029 ] [ 0. 0. 0. 1. ]] SLAMing on 277.502414037 meters Centerline goodness : 0.827683 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.61, Z:1.47 [[ 0.99164297 -0.1258479 -0.02839932 5.10893681] [ 0.12371973 0.99003897 -0.06720311 1.60954035] [ 0.0365738 0.06312793 0.99733506 1.47410385] [ 0. 0. 0. 1. ]] SLAMing on 277.562414037 meters Centerline goodness : 0.828310 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.61, Z:1.47 [[ 0.99121774 -0.12931136 -0.02767593 5.10456525] [ 0.12720858 0.98956912 -0.06760864 1.6074803 ] [ 0.03612981 0.06349427 0.99732799 1.47392864] [ 0. 0. 0. 1. ]] SLAMing on 277.622414037 meters Centerline goodness : 0.826100 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.61, Z:1.47 [[ 0.9900522 -0.13878737 -0.02312385 5.10850969] [ 0.13720755 0.98873833 -0.05975447 1.60787859] [ 0.0311566 0.05598728 0.99794523 1.46856985] [ 0. 0. 0. 1. ]] SLAMing on 277.682414037 meters Centerline goodness : 0.821903 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.61, Z:1.47 [[ 0.98965634 -0.14175914 -0.02201534 5.10389441] [ 0.14022825 0.988296 -0.06005874 1.60917284] [ 0.03027154 0.05635034 0.99795204 1.46763781] [ 0. 0. 0. 1. ]] SLAMing on 277.742414037 meters Centerline goodness : 0.818784 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.61, Z:1.46 [[ 0.98895223 -0.14716351 -0.01778747 5.11156542] [ 0.14614026 0.98803468 -0.04930003 1.60967961] [ 0.0248298 0.04615591 0.99862561 1.46001881] [ 0. 0. 0. 1. ]] SLAMing on 277.802414037 meters Centerline goodness : 0.820353 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:1.61, Z:1.46 [[ 0.98835616 -0.15125292 -0.01657263 5.10549463] [ 0.15027157 0.98739298 -0.04973497 1.60985841] [ 0.02388625 0.04666547 0.99862495 1.45931077] [ 0. 0. 0. 1. ]] SLAMing on 277.862414037 meters Centerline goodness : 0.819129 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.61, Z:1.46 [[ 0.98802256 -0.15348437 -0.01593645 5.10227199] [ 0.15253016 0.98704575 -0.04975172 1.6090341 ] [ 0.02336612 0.04672503 0.99863447 1.45882373] [ 0. 0. 0. 1. ]] SLAMing on 277.922414037 meters Centerline goodness : 0.812839 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.61, Z:1.46 [[ 0.98758091 -0.15636678 -0.0152768 5.09842255] [ 0.15544228 0.98659518 -0.0496754 1.60815704] [ 0.0228396 0.04668382 0.99864857 1.45787367] [ 0. 0. 0. 1. ]] SLAMing on 277.98241403699996 meters Centerline goodness : 0.815105 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.61, Z:1.45 [[ 0.98782587 -0.15480808 -0.01531389 5.09530408] [ 0.1540108 0.98708962 -0.04398593 1.6052993 ] [ 0.02192556 0.04109194 0.99891477 1.45431107] [ 0. 0. 0. 1. ]] SLAMing on 278.04241403699996 meters Centerline goodness : 0.810901 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:1.60, Z:1.45 [[ 0.98819495 -0.15244739 -0.01518343 5.09255336] [ 0.15176726 0.98765335 -0.03882737 1.6038367 ] [ 0.0209151 0.03606466 0.99913057 1.45172446] [ 0. 0. 0. 1. ]] SLAMing on 278.10241403699996 meters Centerline goodness : 0.808568 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:1.60, Z:1.45 [[ 0.98866978 -0.14935421 -0.01501274 5.09041861] [ 0.14877783 0.98828239 -0.03410383 1.60291052] [ 0.01993038 0.03148386 0.99930553 1.45001792] [ 0. 0. 0. 1. ]] SLAMing on 278.16241403699996 meters Centerline goodness : 0.808167 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:1.60, Z:1.45 [[ 0.98918022 -0.14592919 -0.01507207 5.08918294] [ 0.14544824 0.98893512 -0.02919146 1.60131266] [ 0.01916519 0.02668341 0.9994602 1.44817826] [ 0. 0. 0. 1. ]] SLAMing on 278.22241403699996 meters Centerline goodness : 0.751129 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:1.60, Z:1.45 [[ 0.98984683 -0.14125714 -0.01580088 5.09052484] [ 0.14084842 0.98972714 -0.02453375 1.6011103 ] [ 0.01910412 0.02205912 0.99957412 1.44663781] [ 0. 0. 0. 1. ]] SLAMing on 278.28241403699997 meters Centerline goodness : 0.806221 with order 3 Centerline is valid? [False, False] Translation: X:5.09, Y:1.60, Z:1.44 [[ 0.99057692 -0.13589466 -0.01702985 5.0936653 ] [ 0.1355586 0.99057654 -0.01954459 1.60174275] [ 0.01952538 0.01705188 0.99966394 1.44421461] [ 0. 0. 0. 1. ]] SLAMing on 278.34241403699997 meters Centerline goodness : 0.748906 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.60, Z:1.44 [[ 0.99131711 -0.13018994 -0.01846509 5.09743348] [ 0.12992906 0.99141444 -0.01469189 1.60285051] [ 0.02021929 0.01216517 0.99972156 1.44221254] [ 0. 0. 0. 1. ]] SLAMing on 278.40241403699997 meters Centerline goodness : 0.811117 with order 3 Centerline is valid? [False, False] Translation: X:5.10, Y:1.60, Z:1.44 [[ 0.99193846 -0.12526631 -0.01914258 5.09851514] [ 0.12508158 0.9920902 -0.01056531 1.60328378] [ 0.02031465 0.00808575 0.99976094 1.44214947] [ 0. 0. 0. 1. ]] SLAMing on 278.462414037 meters Centerline goodness : 0.810041 with order 2 Centerline is valid? [False, False] Translation: X:5.10, Y:1.60, Z:1.44 [[ 0.9921703 -0.12326792 -0.02007779 5.10244117] [ 0.123081 0.99234319 -0.01029848 1.6033801 ] [ 0.02119353 0.00774665 0.99974538 1.44204757] [ 0. 0. 0. 1. ]] SLAMing on 278.522414037 meters Centerline goodness : 0.812392 with order 3 Centerline is valid? [False, False] Translation: X:5.11, Y:1.60, Z:1.44 [[ 0.99233061 -0.12181949 -0.0209755 5.10560843] [ 0.12162377 0.99252209 -0.01037117 1.6035279 ] [ 0.02208206 0.00774051 0.9997262 1.44253268] [ 0. 0. 0. 1. ]] SLAMing on 278.582414037 meters Centerline goodness : 0.808427 with order 2 Centerline is valid? [False, False] Translation: X:5.11, Y:1.60, Z:1.44 [[ 9.92987006e-01 -1.16069344e-01 -2.24658117e-02 5.10920068e+00] [ 1.15962150e-01 9.93235382e-01 -6.02119833e-03 1.60267926e+00] [ 2.30127156e-02 3.37378787e-03 9.99729480e-01 1.44248431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.642414037 meters Centerline goodness : 0.812364 with order 2 Centerline is valid? [False, False] Translation: X:5.11, Y:1.60, Z:1.44 [[ 9.93581037e-01 -1.10588615e-01 -2.38092732e-02 5.11239067e+00] [ 1.10584124e-01 9.93865622e-01 -1.50925006e-03 1.60240523e+00] [ 2.38301240e-02 -1.13336538e-03 9.99715380e-01 1.44184726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702414037 meters Centerline goodness : 0.815557 with order 3 Centerline is valid? [False, False] Translation: X:5.12, Y:1.60, Z:1.44 [[ 9.94236450e-01 -1.04187905e-01 -2.52737359e-02 5.12206155e+00] [ 1.04235518e-01 9.94552478e-01 5.70239360e-04 1.60326697e+00] [ 2.50766446e-02 -3.20137372e-03 9.99680405e-01 1.43996673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762414037 meters Centerline goodness : 0.798354 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:1.61, Z:1.46 [[ 0.99523461 -0.09533091 -0.02049626 5.1612398 ] [ 0.09487594 0.99524307 -0.02213118 1.61135572] [ 0.02250855 0.02008112 0.99954495 1.45617884] [ 0. 0. 0. 1. ]] SLAMing on 278.822414037 meters Centerline goodness : 0.797712 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:1.62, Z:1.47 [[ 0.99606292 -0.08703472 -0.01684082 5.18692734] [ 0.0863821 0.9956033 -0.03622429 1.61841053] [ 0.01991955 0.03462692 0.99920178 1.46675135] [ 0. 0. 0. 1. ]] SLAMing on 278.882414037 meters Centerline goodness : 0.795621 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.63, Z:1.50 [[ 0.99696328 -0.07762121 -0.00625793 5.24247414] [ 0.07688855 0.99391347 -0.07889335 1.63182463] [ 0.01234364 0.07817261 0.99686342 1.49820006] [ 0. 0. 0. 1. ]] SLAMing on 278.942414037 meters Centerline goodness : 0.797763 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.63, Z:1.51 [[ 0.99745937 -0.06934308 -0.01632013 5.24335167] [ 0.06778378 0.99432565 -0.08198693 1.62665613] [ 0.02191275 0.08067239 0.99649977 1.50600723] [ 0. 0. 0. 1. ]] SLAMing on 279.002414037 meters Centerline goodness : 0.796771 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.63, Z:1.50 [[ 0.99770433 -0.06568062 -0.01649599 5.24535825] [ 0.06409901 0.99449576 -0.08288249 1.62759497] [ 0.02184897 0.08163485 0.99642279 1.50460471] [ 0. 0. 0. 1. ]] SLAMing on 279.062414037 meters Centerline goodness : 0.798679 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.63, Z:1.50 [[ 0.99797717 -0.06128433 -0.01690566 5.24681341] [ 0.05970391 0.99484673 -0.08194768 1.62799526] [ 0.02184065 0.08077258 0.99649324 1.50416339] [ 0. 0. 0. 1. ]] SLAMing on 279.122414037 meters Centerline goodness : 0.798507 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.63, Z:1.50 [[ 0.99807757 -0.05978757 -0.01632849 5.24634841] [ 0.05825988 0.99493769 -0.08188273 1.62773696] [ 0.0211414 0.08077402 0.9965082 1.50439106] [ 0. 0. 0. 1. ]] SLAMing on 279.182414037 meters Centerline goodness : 0.795242 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.63, Z:1.50 [[ 0.99815903 -0.05793546 -0.01794507 5.25016203] [ 0.05633851 0.9952474 -0.07942665 1.62802914] [ 0.02246141 0.07826943 0.99667918 1.50244407] [ 0. 0. 0. 1. ]] SLAMing on 279.242414037 meters Centerline goodness : 0.795695 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.63, Z:1.50 [[ 0.99812456 -0.05800349 -0.01956932 5.25324019] [ 0.05631374 0.9953619 -0.07799653 1.62756419] [ 0.02400262 0.07674823 0.99676155 1.50190569] [ 0. 0. 0. 1. ]] SLAMing on 279.302414037 meters Centerline goodness : 0.795117 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.63, Z:1.50 [[ 0.99806384 -0.05799389 -0.02247828 5.25855641] [ 0.05617418 0.99563522 -0.0745317 1.62681765] [ 0.02670255 0.0731247 0.99696527 1.50031784] [ 0. 0. 0. 1. ]] SLAMing on 279.362414037 meters Centerline goodness : 0.792338 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:1.63, Z:1.54 [[ 0.99708686 -0.06677009 -0.03687195 5.19230782] [ 0.06261963 0.99259359 -0.10409969 1.63407336] [ 0.04354961 0.10148753 0.99388315 1.5372568 ] [ 0. 0. 0. 1. ]] SLAMing on 279.422414037 meters Centerline goodness : 0.793653 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:1.63, Z:1.53 [[ 0.99709481 -0.06655664 -0.03704272 5.19344473] [ 0.06247863 0.99281266 -0.10207565 1.62902145] [ 0.04357029 0.09946472 0.99408672 1.53459681] [ 0. 0. 0. 1. ]] SLAMing on 279.48241403699996 meters Centerline goodness : 0.794081 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:1.62, Z:1.52 [[ 0.99718649 -0.06716917 -0.03327775 5.2047742 ] [ 0.06407952 0.9941865 -0.0865276 1.62392098] [ 0.03889628 0.08415173 0.99569351 1.52402795] [ 0. 0. 0. 1. ]] SLAMing on 279.54241403699996 meters Centerline goodness : 0.800985 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:1.62, Z:1.51 [[ 0.99726215 -0.06786954 -0.02935859 5.21549129] [ 0.06562629 0.99527221 -0.07159904 1.61951505] [ 0.03407918 0.06947631 0.99700133 1.51447713] [ 0. 0. 0. 1. ]] SLAMing on 279.60241403699996 meters Centerline goodness : 0.801920 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:1.62, Z:1.50 [[ 0.99741519 -0.06717529 -0.02550339 5.22669835] [ 0.06568326 0.99630054 -0.05541608 1.61607908] [ 0.02913163 0.05359769 0.99813758 1.50445932] [ 0. 0. 0. 1. ]] SLAMing on 279.66241403699996 meters Centerline goodness : 0.802001 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.61, Z:1.49 [[ 0.99737447 -0.06899742 -0.02198903 5.23657448] [ 0.06806897 0.99685852 -0.04049322 1.61154002] [ 0.02471388 0.03889013 0.99893783 1.49452058] [ 0. 0. 0. 1. ]] SLAMing on 279.72241403699996 meters Centerline goodness : 0.803403 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.61, Z:1.49 [[ 0.99724897 -0.07176115 -0.01856962 5.24893228] [ 0.0712138 0.99705021 -0.02862651 1.60796585] [ 0.02056912 0.02722534 0.99941768 1.4858604 ] [ 0. 0. 0. 1. ]] SLAMing on 279.78241403699997 meters Centerline goodness : 0.805299 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.60, Z:1.48 [[ 0.99727441 -0.07237136 -0.01435725 5.26109688] [ 0.07215093 0.99727606 -0.01531992 1.6046492 ] [ 0.01542687 0.01424227 0.99977956 1.47762443] [ 0. 0. 0. 1. ]] SLAMing on 279.84241403699997 meters Centerline goodness : 0.804724 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.47 [[ 9.97294999e-01 -7.28278805e-02 -9.93904232e-03 5.27267303e+00] [ 7.28083165e-02 9.97343262e-01 -2.31672128e-03 1.60212820e+00] [ 1.00813588e-02 1.58680961e-03 9.99947923e-01 1.47033441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90241403699997 meters Centerline goodness : 0.810786 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.47 [[ 9.97228471e-01 -7.38020129e-02 -9.41488247e-03 5.27046339e+00] [ 7.37838880e-02 9.97271696e-01 -2.25864238e-03 1.60059211e+00] [ 9.55588817e-03 1.55771585e-03 9.99953128e-01 1.47073601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962414037 meters Centerline goodness : 0.811752 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.47 [[ 9.97050667e-01 -7.61946172e-02 -9.18407039e-03 5.26764151e+00] [ 7.61748104e-02 9.97091374e-01 -2.48801393e-03 1.59710752e+00] [ 9.34693063e-03 1.78108113e-03 9.99954730e-01 1.47122555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022414037 meters Centerline goodness : 0.815304 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.96928953e-01 -7.78033516e-02 -8.90516712e-03 5.26551792e+00] [ 7.77862439e-02 9.96967516e-01 -2.25211978e-03 1.59440394e+00] [ 9.05338481e-03 1.55250391e-03 9.99957812e-01 1.47106905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.082414037 meters Centerline goodness : 0.815319 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.96879762e-01 -7.84707419e-02 -8.54889254e-03 5.26422107e+00] [ 7.84558027e-02 9.96915445e-01 -2.06958726e-03 1.59333317e+00] [ 8.68492505e-03 1.39241943e-03 9.99961316e-01 1.47093534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.142414037 meters Centerline goodness : 0.815423 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.96793661e-01 -7.96195245e-02 -7.94532613e-03 5.26156483e+00] [ 7.96043319e-02 9.96824088e-01 -2.21091800e-03 1.59264798e+00] [ 8.09612471e-03 1.57134667e-03 9.99965991e-01 1.47158589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.202414037 meters Centerline goodness : 0.821367 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.96776729e-01 -7.98202884e-02 -8.05438796e-03 5.26068090e+00] [ 7.97946461e-02 9.96805329e-01 -3.45681480e-03 1.59442488e+00] [ 8.30458079e-03 2.80297551e-03 9.99961588e-01 1.47440437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.262414037 meters Centerline goodness : 0.820467 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.96809861e-01 -7.93687604e-02 -8.40843672e-03 5.26161374e+00] [ 7.93410941e-02 9.96841116e-01 -3.57483652e-03 1.59446703e+00] [ 8.66560579e-03 2.89629772e-03 9.99958258e-01 1.47499426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.322414037 meters Centerline goodness : 0.820444 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.96860493e-01 -7.86728858e-02 -8.92937961e-03 5.26335578e+00] [ 7.86494429e-02 9.96897978e-01 -2.94737762e-03 1.59329440e+00] [ 9.13355917e-03 2.23583357e-03 9.99955789e-01 1.47430915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382414037 meters Centerline goodness : 0.817378 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.96941119e-01 -7.75613548e-02 -9.62506218e-03 5.26640376e+00] [ 7.75476473e-02 9.96987040e-01 -1.78984435e-03 1.59136566e+00] [ 9.73488501e-03 1.03796850e-03 9.99952076e-01 1.47229017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442414037 meters Centerline goodness : 0.816954 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.96959857e-01 -7.73103279e-02 -9.70340552e-03 5.26694588e+00] [ 7.73033278e-02 9.97007019e-01 -1.09497536e-03 1.58918395e+00] [ 9.75901632e-03 3.41540945e-04 9.99952321e-01 1.47155751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502414037 meters Centerline goodness : 0.814404 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.96943913e-01 -7.75328399e-02 -9.56518900e-03 5.26629651e+00] [ 7.75249956e-02 9.96989700e-01 -1.18871540e-03 1.58851216e+00] [ 9.62855939e-03 4.43541347e-04 9.99953546e-01 1.47210662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562414037 meters Centerline goodness : 0.810038 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.96850581e-01 -7.87601311e-02 -9.26072712e-03 5.26370927e+00] [ 7.87487117e-02 9.96893227e-01 -1.59190740e-03 1.58754527e+00] [ 9.35733498e-03 8.57623489e-04 9.99955851e-01 1.47384867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622414037 meters Centerline goodness : 0.809512 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.48 [[ 0.99646174 -0.08356524 -0.00899219 5.26260897] [ 0.08351141 0.9964875 -0.00620481 1.58703718] [ 0.00947911 0.0054319 0.99994032 1.47555463] [ 0. 0. 0. 1. ]] SLAMing on 280.682414037 meters Centerline goodness : 0.808321 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.48 [[ 0.99604709 -0.08840231 -0.00867335 5.2617909 ] [ 0.08831615 0.99604369 -0.00986021 1.58502791] [ 0.0095107 0.00905524 0.99991377 1.4755728 ] [ 0. 0. 0. 1. ]] SLAMing on 280.742414037 meters Centerline goodness : 0.806949 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.58, Z:1.47 [[ 0.99593159 -0.08969483 -0.00866688 5.26085606] [ 0.08961443 0.9959335 -0.00925867 1.5820713 ] [ 0.00946209 0.00844433 0.99991958 1.4746447 ] [ 0. 0. 0. 1. ]] SLAMing on 280.802414037 meters Centerline goodness : 0.808604 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.58, Z:1.47 [[ 0.99588273 -0.09026459 -0.00836048 5.2600496 ] [ 0.090185 0.99588017 -0.00945246 1.58302579] [ 0.00917926 0.00865956 0.99992037 1.47419474] [ 0. 0. 0. 1. ]] SLAMing on 280.862414037 meters Centerline goodness : 0.815174 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.95493482e-01 -9.47689903e-02 -3.40084562e-03 5.26723997e+00] [ 9.47711813e-02 9.95498963e-01 4.88634674e-04 1.58298389e+00] [ 3.33923087e-03 -8.08734790e-04 9.99994098e-01 1.46970148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922414037 meters Centerline goodness : 0.813225 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.95418378e-01 -9.55675952e-02 -3.01444946e-03 5.26582032e+00] [ 9.55671882e-02 9.95422943e-01 -2.79095473e-04 1.58463078e+00] [ 3.02732463e-03 -1.02656959e-05 9.99995418e-01 1.47025118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98241403699996 meters Centerline goodness : 0.816482 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.95350859e-01 -9.62803154e-02 -2.60173433e-03 5.26491639e+00] [ 9.62772225e-02 9.95353723e-01 -1.28928141e-03 1.58842793e+00] [ 2.71377838e-03 1.03279960e-03 9.99995784e-01 1.47001186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04241403699996 meters Centerline goodness : 0.815794 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.59, Z:1.47 [[ 9.95281620e-01 -9.70008150e-02 -2.31062269e-03 5.26453596e+00] [ 9.69966335e-02 9.95282975e-01 -1.85806853e-03 1.59270508e+00] [ 2.47995758e-03 1.62517883e-03 9.99995604e-01 1.46861378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10241403699996 meters Centerline goodness : 0.821370 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.60, Z:1.47 [[ 9.95142433e-01 -9.84324425e-02 -1.60987150e-03 5.26195188e+00] [ 9.84280044e-02 9.95140682e-01 -2.63636996e-03 1.59501401e+00] [ 1.86155296e-03 2.46510718e-03 9.99995229e-01 1.46885814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16241403699996 meters Centerline goodness : 0.822859 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.60, Z:1.47 [[ 9.94984566e-01 -1.00025491e-01 -7.83480617e-04 5.25890929e+00] [ 1.00022246e-01 9.94979246e-01 -3.44233804e-03 1.59661066e+00] [ 1.12386851e-03 3.34670773e-03 9.99993768e-01 1.46934080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22241403699996 meters Centerline goodness : 0.828112 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.46 [[ 9.94338928e-01 -1.06099446e-01 5.74495557e-03 5.26507198e+00] [ 1.06076451e-01 9.94349232e-01 4.17023946e-03 1.59795960e+00] [-6.15495225e-03 -3.53722694e-03 9.99974802e-01 1.46488626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28241403699997 meters Centerline goodness : 0.831395 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.60, Z:1.47 [[ 9.94072954e-01 -1.08507922e-01 6.70765462e-03 5.26008609e+00] [ 1.08488480e-01 9.94092561e-01 3.19841049e-03 1.59750329e+00] [-7.01508244e-03 -2.45175011e-03 9.99972388e-01 1.46724280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34241403699997 meters Centerline goodness : 0.834760 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.60, Z:1.47 [[ 0.99455605 -0.10400664 0.00639388 5.26098198] [ 0.10395274 0.994548 0.00825307 1.59548833] [-0.0072174 -0.00754348 0.9999455 1.46523735] [ 0. 0. 0. 1. ]] SLAMing on 281.40241403699997 meters Centerline goodness : 0.831605 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.46 [[ 0.99482732 -0.10143593 0.00541782 5.26677896] [ 0.10137639 0.99479461 0.01032051 1.59323289] [-0.00643648 -0.00971789 0.99993206 1.46103873] [ 0. 0. 0. 1. ]] SLAMing on 281.462414037 meters Centerline goodness : 0.837458 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.46 [[ 9.94920903e-01 -1.00541355e-01 4.88188263e-03 5.26843749e+00] [ 1.00491388e-01 9.94891774e-01 9.58326741e-03 1.59498093e+00] [-5.82045956e-03 -9.04400590e-03 9.99942162e-01 1.46231918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.522414037 meters Centerline goodness : 0.835262 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.46 [[ 9.94892644e-01 -1.00814286e-01 5.01061519e-03 5.26732276e+00] [ 1.00771375e-01 9.94875947e-01 8.18416785e-03 1.59674280e+00] [-5.81002157e-03 -7.63744181e-03 9.99953956e-01 1.46496864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.582414037 meters Centerline goodness : 0.824111 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.47 [[ 0.99485661 -0.10115446 0.00530173 5.26566653] [ 0.10111706 0.99485058 0.00690453 1.59678608] [-0.00597285 -0.00633292 0.99996211 1.4681379 ] [ 0. 0. 0. 1. ]] SLAMing on 281.642414037 meters Centerline goodness : 0.824402 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.60, Z:1.47 [[ 9.94963299e-01 -1.00127344e-01 4.74850841e-03 5.26789420e+00] [ 1.00089487e-01 9.94949153e-01 7.63403686e-03 1.59543100e+00] [-5.48890026e-03 -7.12031073e-03 9.99959586e-01 1.46725382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.702414037 meters Centerline goodness : 0.824040 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.95086905e-01 -9.89217437e-02 4.06692905e-03 5.27114705e+00] [ 9.88838627e-02 9.95061400e-01 8.64826286e-03 1.59419324e+00] [-4.90234536e-03 -8.20361947e-03 9.99954333e-01 1.46512553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.762414037 meters Centerline goodness : 0.825292 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.46 [[ 9.95198284e-01 -9.78145822e-02 3.56132797e-03 5.27391048e+00] [ 9.77758771e-02 9.95160438e-01 9.77651461e-03 1.59256039e+00] [-4.50037840e-03 -9.38135860e-03 9.99945867e-01 1.46301656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.822414037 meters Centerline goodness : 0.823807 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.95129399e-01 -9.84967071e-02 3.98462564e-03 5.27178067e+00] [ 9.84573054e-02 9.95099628e-01 9.10434562e-03 1.59169443e+00] [-4.86184756e-03 -8.66768649e-03 9.99950616e-01 1.46522853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882414037 meters Centerline goodness : 0.824409 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.95086519e-01 -9.89155840e-02 4.30430911e-03 5.27016307e+00] [ 9.88765045e-02 9.95063384e-01 8.50288803e-03 1.59054701e+00] [-5.12412853e-03 -8.03551421e-03 9.99954586e-01 1.46728044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942414037 meters Centerline goodness : 0.826190 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.59, Z:1.47 [[ 9.95152328e-01 -9.82672806e-02 3.92253608e-03 5.27163030e+00] [ 9.82296300e-02 9.95124402e-01 8.85239931e-03 1.58967481e+00] [-4.77331257e-03 -8.42417651e-03 9.99953123e-01 1.46690913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002414037 meters Centerline goodness : 0.820422 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.59, Z:1.47 [[ 9.95322361e-01 -9.65627089e-02 3.00683268e-03 5.27566571e+00] [ 9.65292957e-02 9.95282189e-01 9.77033760e-03 1.58855564e+00] [-3.93609728e-03 -9.43438804e-03 9.99947748e-01 1.46525002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062414037 meters Centerline goodness : 0.820978 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.59, Z:1.46 [[ 9.95412242e-01 -9.56437756e-02 2.59559750e-03 5.27767894e+00] [ 9.56114772e-02 9.95362703e-01 1.05610124e-02 1.58759088e+00] [-3.59365604e-03 -1.02643921e-02 9.99940862e-01 1.46400582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122414037 meters Centerline goodness : 0.820362 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.59, Z:1.46 [[ 9.95441846e-01 -9.53358694e-02 2.56952758e-03 5.27820754e+00] [ 9.53026040e-02 9.95388560e-01 1.09100344e-02 1.58582056e+00] [-3.59779597e-03 -1.06154221e-02 9.99937182e-01 1.46385043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182414037 meters Centerline goodness : 0.814027 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.59, Z:1.46 [[ 9.95450562e-01 -9.52432251e-02 2.62816515e-03 5.27805839e+00] [ 9.52114374e-02 9.95403446e-01 1.03325572e-02 1.58606829e+00] [-3.60019072e-03 -1.00353185e-02 9.99943164e-01 1.46497539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242414037 meters Centerline goodness : 0.817091 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.59, Z:1.47 [[ 9.95579140e-01 -9.38971613e-02 2.34500290e-03 5.27971197e+00] [ 9.38715755e-02 9.95540670e-01 9.32213401e-03 1.58855681e+00] [-3.20986768e-03 -9.06079304e-03 9.99953798e-01 1.46659387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302414037 meters Centerline goodness : 0.814716 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.59, Z:1.47 [[ 9.96094877e-01 -8.82767264e-02 1.48836964e-03 5.28287593e+00] [ 8.82484334e-02 9.96005326e-01 1.36237060e-02 1.58986540e+00] [-2.68508026e-03 -1.34391575e-02 9.99906085e-01 1.46517789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362414037 meters Centerline goodness : 0.813583 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.46 [[ 9.96668776e-01 -8.15551967e-02 3.15996393e-04 5.28838963e+00] [ 8.15361751e-02 9.96506372e-01 1.80804241e-02 1.59268832e+00] [-1.78944496e-03 -1.79944290e-02 9.99836486e-01 1.46261086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422414037 meters Centerline goodness : 0.815799 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.46 [[ 9.96719046e-01 -8.09389842e-02 -1.57846194e-04 5.28976864e+00] [ 8.09289988e-02 9.96561424e-01 1.77714612e-02 1.59343884e+00] [-1.28110059e-03 -1.77259282e-02 9.99842063e-01 1.46325339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48241403699996 meters Centerline goodness : 0.817743 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.60, Z:1.46 [[ 9.96856218e-01 -7.92292401e-02 -6.38419643e-04 5.29263813e+00] [ 7.92285469e-02 9.96709624e-01 1.71103290e-02 1.59553779e+00] [-7.19319364e-04 -1.71071189e-02 9.99853404e-01 1.46398751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54241403699996 meters Centerline goodness : 0.817199 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.60, Z:1.47 [[ 9.96616002e-01 -8.21925732e-02 -9.62303145e-04 5.29457070e+00] [ 8.21981974e-02 9.96542138e-01 1.21335764e-02 1.59637869e+00] [-3.83142314e-05 -1.21716160e-02 9.99925922e-01 1.46626518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60241403699996 meters Centerline goodness : 0.814939 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.60, Z:1.47 [[ 9.96431806e-01 -8.43926330e-02 -1.24090424e-03 5.29781234e+00] [ 8.43993438e-02 9.96406781e-01 7.09065449e-03 1.59867197e+00] [ 6.38046396e-04 -7.17008516e-03 9.99974091e-01 1.46765991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66241403699996 meters Centerline goodness : 0.815673 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.60, Z:1.47 [[ 9.96359584e-01 -8.52465748e-02 -7.75724377e-04 5.29600017e+00] [ 8.52498894e-02 9.96336249e-01 6.82170136e-03 1.59792810e+00] [ 1.91355641e-04 -6.86299794e-03 9.99976431e-01 1.46826365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72241403699996 meters Centerline goodness : 0.815253 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.60, Z:1.47 [[ 9.96267046e-01 -8.63237880e-02 -4.19792331e-04 5.29404564e+00] [ 8.63246609e-02 9.96244559e-01 6.69557453e-03 1.59688914e+00] [-1.59771531e-04 -6.70681869e-03 9.99977496e-01 1.46889686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78241403699997 meters Centerline goodness : 0.814576 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.47 [[ 9.96148724e-01 -8.76795240e-02 -1.43867092e-04 5.29195734e+00] [ 8.76785232e-02 9.96126383e-01 6.68621229e-03 1.59480809e+00] [-4.42934104e-04 -6.67307589e-03 9.99977637e-01 1.46946821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84241403699997 meters Centerline goodness : 0.809567 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.47 [[ 9.96192066e-01 -8.71845515e-02 -4.71141339e-04 5.29351891e+00] [ 8.71856069e-02 9.96162964e-01 7.61706085e-03 1.59293715e+00] [-1.94756481e-04 -7.62913233e-03 9.99970879e-01 1.46786896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90241403699997 meters Centerline goodness : 0.808013 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.59, Z:1.47 [[ 9.95991641e-01 -8.94422812e-02 -8.53855257e-04 5.29682321e+00] [ 8.94449251e-02 9.95984328e-01 3.85011141e-03 1.59345513e+00] [ 5.06063706e-04 -3.91105181e-03 9.99992224e-01 1.46765422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.962414037 meters Centerline goodness : 0.811241 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.59, Z:1.47 [[ 9.95945424e-01 -8.99578076e-02 -5.52234532e-04 5.29552240e+00] [ 8.99592418e-02 9.95938553e-01 3.70586472e-03 1.59284636e+00] [ 2.16620195e-04 -3.74051761e-03 9.99992981e-01 1.46827218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.022414037 meters Centerline goodness : 0.807142 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.47 [[ 9.95794651e-01 -9.16132565e-02 1.58105660e-04 5.29180417e+00] [ 9.16123293e-02 9.95789923e-01 3.10007080e-03 1.59148334e+00] [-4.41447604e-04 -3.07254950e-03 9.99995182e-01 1.47034681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.082414037 meters Centerline goodness : 0.805346 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.47 [[ 9.95716338e-01 -9.24602221e-02 2.87324051e-04 5.29076164e+00] [ 9.24586827e-02 9.95710511e-01 3.45974959e-03 1.58882859e+00] [-6.05980792e-04 -3.41836359e-03 9.99993974e-01 1.47030263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.142414037 meters Centerline goodness : 0.805840 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.47 [[ 9.95366214e-01 -9.61566355e-02 3.58675799e-05 5.29232029e+00] [ 9.61566420e-02 9.95366169e-01 -3.00542965e-04 1.58816918e+00] [-6.80217528e-06 3.02599219e-04 9.99999954e-01 1.47016287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.202414037 meters Centerline goodness : 0.802385 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.59, Z:1.47 [[ 9.94922947e-01 -1.00639238e-01 2.69207675e-04 5.29235315e+00] [ 1.00639546e-01 9.94916180e-01 -3.67110822e-03 1.58659576e+00] [ 1.01618461e-04 3.67956275e-03 9.99993225e-01 1.46933902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.262414037 meters Centerline goodness : 0.798476 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.58, Z:1.47 [[ 9.94584726e-01 -1.03928169e-01 3.99139962e-04 5.28891583e+00] [ 1.03928897e-01 9.94573686e-01 -4.68691844e-03 1.58497878e+00] [ 9.01287491e-05 4.70301967e-03 9.99988937e-01 1.47061975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.322414037 meters Centerline goodness : 0.807479 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.58, Z:1.47 [[ 9.94249056e-01 -1.07088101e-01 9.75938940e-04 5.28408719e+00] [ 1.07091846e-01 9.94234253e-01 -5.43929293e-03 1.58332010e+00] [-3.87828371e-04 5.51252696e-03 9.99984731e-01 1.47252395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382414037 meters Centerline goodness : 0.801585 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.58, Z:1.47 [[ 9.94090414e-01 -1.08545061e-01 1.48980057e-03 5.28171501e+00] [ 1.08551505e-01 9.94076704e-01 -5.29888679e-03 1.58197485e+00] [-9.05808049e-04 5.42929266e-03 9.99984851e-01 1.47248183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442414037 meters Centerline goodness : 0.807407 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.58, Z:1.47 [[ 9.93799103e-01 -1.11181471e-01 1.42274348e-03 5.27950804e+00] [ 1.11187406e-01 9.93786014e-01 -5.16903123e-03 1.58047596e+00] [-8.39202075e-04 5.29516976e-03 9.99985628e-01 1.47183487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502414037 meters Centerline goodness : 0.809235 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.58, Z:1.47 [[ 9.93491701e-01 -1.13888446e-01 1.91338877e-03 5.27639973e+00] [ 1.13896841e-01 9.93479594e-01 -5.07990366e-03 1.57969212e+00] [-1.32237036e-03 5.26477107e-03 9.99985267e-01 1.47077319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562414037 meters Centerline goodness : 0.803025 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.93232797e-01 -1.16113117e-01 2.52078386e-03 5.27350474e+00] [ 1.16124246e-01 9.93222895e-01 -4.84154782e-03 1.57784079e+00] [-1.94153304e-03 5.10150821e-03 9.99985102e-01 1.46997399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622414037 meters Centerline goodness : 0.800342 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.92813728e-01 -1.19625967e-01 3.24481308e-03 5.26890966e+00] [ 1.19641532e-01 9.92803936e-01 -5.12323703e-03 1.57663275e+00] [-2.60859101e-03 5.47463447e-03 9.99981612e-01 1.46976447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682414037 meters Centerline goodness : 0.804615 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.58, Z:1.47 [[ 9.92394910e-01 -1.23014964e-01 4.43404912e-03 5.26290982e+00] [ 1.23040131e-01 9.92383935e-01 -5.93736187e-03 1.57686750e+00] [-3.66989476e-03 6.43777369e-03 9.99972543e-01 1.47099495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742414037 meters Centerline goodness : 0.801710 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.58, Z:1.47 [[ 9.92800647e-01 -1.19701887e-01 4.28169265e-03 5.26137822e+00] [ 1.19712863e-01 9.92805643e-01 -2.40545175e-03 1.57819969e+00] [-3.96295151e-03 2.90070774e-03 9.99987940e-01 1.47151364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802414037 meters Centerline goodness : 0.799084 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.58, Z:1.47 [[ 9.92940952e-01 -1.18556743e-01 3.54470867e-03 5.26423430e+00] [ 1.18565040e-01 9.92943785e-01 -2.22953613e-03 1.57931597e+00] [-3.25536990e-03 2.63407625e-03 9.99991232e-01 1.47064531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862414037 meters Centerline goodness : 0.796245 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.93366983e-01 -1.14909037e-01 4.23667247e-03 5.26526341e+00] [ 1.14906106e-01 9.93375922e-01 9.29785540e-04 1.57798671e+00] [-4.31544918e-03 -4.36798723e-04 9.99990593e-01 1.46834644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922414037 meters Centerline goodness : 0.793552 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.93409563e-01 -1.14552230e-01 3.90219208e-03 5.26593457e+00] [ 1.14548640e-01 9.93416996e-01 1.13224476e-03 1.57716550e+00] [-4.00620509e-03 -6.77791975e-04 9.99991745e-01 1.46870109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98241403699996 meters Centerline goodness : 0.792731 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.58, Z:1.47 [[ 9.93385196e-01 -1.14758521e-01 4.04156320e-03 5.26523179e+00] [ 1.14753930e-01 9.93393029e-01 1.35103561e-03 1.57566530e+00] [-4.16990356e-03 -8.78313519e-04 9.99990920e-01 1.46902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04241403699996 meters Centerline goodness : 0.792564 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.57, Z:1.47 [[ 9.93380036e-01 -1.14796599e-01 4.22430021e-03 5.26457860e+00] [ 1.14788649e-01 9.93387760e-01 2.07928852e-03 1.57174896e+00] [-4.43506337e-03 -1.58062199e-03 9.99988916e-01 1.46924762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10241403699996 meters Centerline goodness : 0.790546 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.57, Z:1.47 [[ 9.93575244e-01 -1.13124667e-01 3.32341856e-03 5.26785266e+00] [ 1.13112405e-01 9.93575414e-01 3.67166305e-03 1.56743637e+00] [-3.71742263e-03 -3.27215364e-03 9.99987737e-01 1.46811836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16241403699996 meters Centerline goodness : 0.789790 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.56, Z:1.47 [[ 9.93670554e-01 -1.12296039e-01 2.90330081e-03 5.26946052e+00] [ 1.12280555e-01 9.93663777e-01 5.03733016e-03 1.56311115e+00] [-3.45057707e-03 -4.67946242e-03 9.99983098e-01 1.46722055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22241403699996 meters Centerline goodness : 0.791017 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.56, Z:1.47 [[ 9.93530702e-01 -1.13526818e-01 2.89942067e-03 5.26931505e+00] [ 1.13513601e-01 9.93526804e-01 4.37642830e-03 1.55779703e+00] [-3.37749412e-03 -4.01899220e-03 9.99986220e-01 1.46814582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28241403699997 meters Centerline goodness : 0.793781 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.55, Z:1.47 [[ 9.93100582e-01 -1.17223963e-01 3.12673030e-03 5.26941691e+00] [ 1.17220698e-01 9.93105154e-01 1.20834932e-03 1.55336859e+00] [-3.24681947e-03 -8.33494906e-04 9.99994382e-01 1.46895261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34241403699997 meters Centerline goodness : 0.790760 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.55, Z:1.47 [[ 9.92631090e-01 -1.21127800e-01 3.40213397e-03 5.26918071e+00] [ 1.21135575e-01 9.92633578e-01 -2.17978677e-03 1.54931681e+00] [-3.11303964e-03 2.57584357e-03 9.99991837e-01 1.47005706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40241403699997 meters Centerline goodness : 0.791605 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.55, Z:1.47 [[ 9.92655323e-01 -1.20929266e-01 3.39440941e-03 5.26912559e+00] [ 1.20933433e-01 9.92660064e-01 -1.04959316e-03 1.54505944e+00] [-3.24256813e-03 1.45238182e-03 9.99993688e-01 1.46982473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.462414037 meters Centerline goodness : 0.795319 with order 2 Centerline is valid? [False, False] Translation: X:5.27, Y:1.54, Z:1.47 [[ 9.92826679e-01 -1.19535847e-01 2.52336628e-03 5.27158276e+00] [ 1.19536223e-01 9.92829840e-01 1.81664106e-06 1.54234961e+00] [-2.50549050e-03 2.99830066e-04 9.99996816e-01 1.46973363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.522414037 meters Centerline goodness : 0.791004 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.54, Z:1.47 [[ 9.92893549e-01 -1.18984994e-01 2.22954048e-03 5.27251448e+00] [ 1.18983750e-01 9.92895967e-01 6.83007440e-04 1.54013583e+00] [-2.29496938e-03 -4.12874595e-04 9.99997281e-01 1.46951265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.582414037 meters Centerline goodness : 0.791324 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.54, Z:1.47 [[ 9.92922462e-01 -1.18744841e-01 2.15583494e-03 5.27299386e+00] [ 1.18741166e-01 9.92923682e-01 1.75991658e-03 1.53520819e+00] [-2.34956058e-03 -1.49147435e-03 9.99996128e-01 1.46903960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.642414037 meters Centerline goodness : 0.791268 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.53, Z:1.47 [[ 9.92920191e-01 -1.18762990e-01 2.20134420e-03 5.27263681e+00] [ 1.18757474e-01 9.92920177e-01 2.48697470e-03 1.53162314e+00] [-2.48111962e-03 -2.20794131e-03 9.99994485e-01 1.46924814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.702414037 meters Centerline goodness : 0.795156 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.53, Z:1.47 [[ 9.92885921e-01 -1.19045756e-01 2.37826881e-03 5.27163909e+00] [ 1.19039524e-01 9.92886087e-01 2.60975594e-03 1.52993067e+00] [-2.67203038e-03 -2.30808194e-03 9.99993766e-01 1.47008606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.762414037 meters Centerline goodness : 0.797375 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.53, Z:1.47 [[ 9.92835697e-01 -1.19459062e-01 2.60972448e-03 5.27043920e+00] [ 1.19449969e-01 9.92834400e-01 3.39997414e-03 1.52565184e+00] [-2.99718196e-03 -3.06388418e-03 9.99990815e-01 1.47044130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.822414037 meters Centerline goodness : 0.793724 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.52, Z:1.47 [[ 9.92904535e-01 -1.18891655e-01 2.31472666e-03 5.27160146e+00] [ 1.18879916e-01 9.92897610e-01 4.67981207e-03 1.52091067e+00] [-2.85467718e-03 -4.37143211e-03 9.99986371e-01 1.46968843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882414037 meters Centerline goodness : 0.796552 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.52, Z:1.47 [[ 9.92996043e-01 -1.18131201e-01 1.96939189e-03 5.27304964e+00] [ 1.18117821e-01 9.92982026e-01 5.90559870e-03 1.51727946e+00] [-2.65320622e-03 -5.63161586e-03 9.99980623e-01 1.46877743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942414037 meters Centerline goodness : 0.798177 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.51, Z:1.47 [[ 9.93041277e-01 -1.17753873e-01 1.74553908e-03 5.27360597e+00] [ 1.17740257e-01 9.93023046e-01 6.51628525e-03 1.51497047e+00] [-2.50067836e-03 -6.26542001e-03 9.99977245e-01 1.46884388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002414037 meters Centerline goodness : 0.800787 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.51, Z:1.47 [[ 9.93032014e-01 -1.17829893e-01 1.88047968e-03 5.27292192e+00] [ 1.17814434e-01 9.93011714e-01 6.89169586e-03 1.51281578e+00] [-2.67938614e-03 -6.62212697e-03 9.99974484e-01 1.46935993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062414037 meters Centerline goodness : 0.798394 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.51, Z:1.47 [[ 9.93032889e-01 -1.17821988e-01 1.91349126e-03 5.27260915e+00] [ 1.17804679e-01 9.93008573e-01 7.48544865e-03 1.50921652e+00] [-2.78206367e-03 -7.20787847e-03 9.99970153e-01 1.46980286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122414037 meters Centerline goodness : 0.798152 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.51, Z:1.47 [[ 9.93020714e-01 -1.17923398e-01 1.98315086e-03 5.27230606e+00] [ 1.17904458e-01 9.92993696e-01 7.87767094e-03 1.50670361e+00] [-2.89821804e-03 -7.58886809e-03 9.99967004e-01 1.46999710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182414037 meters Centerline goodness : 0.805403 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.93015323e-01 -1.17968254e-01 2.01455166e-03 5.27217363e+00] [ 1.17947439e-01 9.92984060e-01 8.42957225e-03 1.50372582e+00] [-2.99483961e-03 -8.13308321e-03 9.99962441e-01 1.47008156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242414037 meters Centerline goodness : 0.803165 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.92979643e-01 -1.18266409e-01 2.11770597e-03 5.27172685e+00] [ 1.18243699e-01 9.92945919e-01 8.76525790e-03 1.50104699e+00] [-3.13940308e-03 -8.45331728e-03 9.99959342e-01 1.47030099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302414037 meters Centerline goodness : 0.803143 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.92532792e-01 -1.21956656e-01 2.28700259e-03 5.27227856e+00] [ 1.21944009e-01 9.92524226e-01 5.03183077e-03 1.49935066e+00] [-2.88357073e-03 -4.71537078e-03 9.99984725e-01 1.47094318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362414037 meters Centerline goodness : 0.805067 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.92096529e-01 -1.25455844e-01 2.30417486e-03 5.27320990e+00] [ 1.25453866e-01 9.92098966e-01 9.84146739e-04 1.49921386e+00] [-2.40943646e-03 -6.87300919e-04 9.99996861e-01 1.47181271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422414037 meters Centerline goodness : 0.806837 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.91901286e-01 -1.26975987e-01 2.98972214e-03 5.27011233e+00] [ 1.26974323e-01 9.91905728e-01 7.40937459e-04 1.49655918e+00] [-3.05960378e-03 -3.55318874e-04 9.99995256e-01 1.47330267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48241403699996 meters Centerline goodness : 0.806392 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.49, Z:1.47 [[ 9.91816509e-01 -1.27627301e-01 3.35933972e-03 5.26891763e+00] [ 1.27624786e-01 9.91822063e-01 9.53530877e-04 1.49492944e+00] [-3.45356382e-03 -5.16992654e-04 9.99993903e-01 1.47332034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54241403699996 meters Centerline goodness : 0.809546 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.49, Z:1.47 [[ 9.91775062e-01 -1.27944741e-01 3.51704262e-03 5.26906135e+00] [ 1.27939711e-01 9.91780623e-01 1.62074062e-03 1.49281491e+00] [-3.69549996e-03 -1.15744071e-03 9.99992502e-01 1.47201327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60241403699996 meters Centerline goodness : 0.806144 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.49, Z:1.47 [[ 9.91770284e-01 -1.27977277e-01 3.67709968e-03 5.26912978e+00] [ 1.27972007e-01 9.91776432e-01 1.63529816e-03 1.49346472e+00] [-3.85614180e-03 -1.15127429e-03 9.99991902e-01 1.47137197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66241403699996 meters Centerline goodness : 0.810823 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.91725414e-01 -1.28313686e-01 4.03737410e-03 5.26769942e+00] [ 1.28311909e-01 9.91733617e-01 6.97203473e-04 1.49582939e+00] [-4.09346037e-03 -1.73391226e-04 9.99991607e-01 1.47271752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72241403699996 meters Centerline goodness : 0.807074 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:1.50, Z:1.47 [[ 9.91622668e-01 -1.29088128e-01 4.55408738e-03 5.26584753e+00] [ 1.29088411e-01 9.91633061e-01 2.32995678e-04 1.49637934e+00] [-4.54606059e-03 3.56836107e-04 9.99989603e-01 1.47343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78241403699997 meters Centerline goodness : 0.807728 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.50, Z:1.47 [[ 9.91366195e-01 -1.31001908e-01 5.61846677e-03 5.26206384e+00] [ 1.31005690e-01 9.91381568e-01 -3.08969162e-04 1.49603067e+00] [-5.52956885e-03 1.04235270e-03 9.99984169e-01 1.47421469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84241403699997 meters Centerline goodness : 0.810380 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.50, Z:1.47 [[ 9.91065651e-01 -1.33236737e-01 6.07026220e-03 5.26004253e+00] [ 1.33244025e-01 9.91082929e-01 -8.10486518e-04 1.49517775e+00] [-5.90814667e-03 1.61207151e-03 9.99981247e-01 1.47385291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90241403699997 meters Centerline goodness : 0.811094 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.49, Z:1.47 [[ 9.90871754e-01 -1.34640709e-01 6.71172480e-03 5.25832591e+00] [ 1.34648951e-01 9.90893050e-01 -7.89620593e-04 1.49402438e+00] [-6.54428638e-03 1.68613945e-03 9.99977164e-01 1.47307642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.962414037 meters Centerline goodness : 0.812349 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.50, Z:1.47 [[ 9.90623817e-01 -1.36404475e-01 7.63364496e-03 5.25523184e+00] [ 1.36419395e-01 9.90650088e-01 -1.46672455e-03 1.49539837e+00] [-7.36220326e-03 2.49434950e-03 9.99969788e-01 1.47327916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.022414037 meters Centerline goodness : 0.811323 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.50, Z:1.47 [[ 9.90451833e-01 -1.37610420e-01 8.27886607e-03 5.25272190e+00] [ 1.37637331e-01 9.90478817e-01 -2.77104616e-03 1.49892863e+00] [-7.81871664e-03 3.88406878e-03 9.99961890e-01 1.47441406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.082414037 meters Centerline goodness : 0.811675 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.50, Z:1.48 [[ 9.90374698e-01 -1.38146463e-01 8.57393343e-03 5.25161961e+00] [ 1.38181965e-01 9.90399970e-01 -3.69366190e-03 1.50152412e+00] [-7.98135709e-03 4.84287226e-03 9.99956421e-01 1.47509213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.142414037 meters Centerline goodness : 0.816402 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.50, Z:1.47 [[ 9.90711815e-01 -1.35692092e-01 8.81791513e-03 5.24942972e+00] [ 1.35700977e-01 9.90749753e-01 -4.14462055e-04 1.50404915e+00] [-8.68010801e-03 1.60721216e-03 9.99961036e-01 1.47435041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.202414037 meters Centerline goodness : 0.813654 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.51, Z:1.47 [[ 9.91108723e-01 -1.32763964e-01 8.78798787e-03 5.24851651e+00] [ 1.32740715e-01 9.91145694e-01 3.18062313e-03 1.50681365e+00] [-9.13244847e-03 -1.98581954e-03 9.99956326e-01 1.47269352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.262414037 meters Centerline goodness : 0.808552 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.51, Z:1.47 [[ 9.91413051e-01 -1.30447433e-01 9.14490025e-03 5.24581301e+00] [ 1.30397608e-01 9.91444520e-01 5.85042584e-03 1.51111853e+00] [-9.82983427e-03 -4.60771541e-03 9.99941070e-01 1.47266194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.322414037 meters Centerline goodness : 0.802882 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.51, Z:1.47 [[ 0.99171225 -0.12812058 0.00958836 5.24279254] [ 0.12803592 0.99172888 0.00897912 1.51283641] [-0.01065946 -0.00767705 0.99991372 1.4728874 ] [ 0. 0. 0. 1. ]] SLAMing on 286.382414037 meters Centerline goodness : 0.808722 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.52, Z:1.47 [[ 0.99198458 -0.12595516 0.01009384 5.23939221] [ 0.12583895 0.9919849 0.01142392 1.51681464] [-0.01145183 -0.01006216 0.9998838 1.47356864] [ 0. 0. 0. 1. ]] SLAMing on 286.442414037 meters Centerline goodness : 0.802920 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.52, Z:1.47 [[ 0.99195499 -0.12620269 0.00990851 5.23937731] [ 0.12610391 0.9919663 0.01003286 1.52226053] [-0.01109509 -0.00870265 0.99990058 1.47428928] [ 0. 0. 0. 1. ]] SLAMing on 286.502414037 meters Centerline goodness : 0.861342 with order 3 Centerline is valid? [False, False] Translation: X:5.24, Y:1.53, Z:1.47 [[ 0.99198538 -0.12598942 0.00957442 5.24033125] [ 0.12590092 0.9919988 0.00934572 1.52541912] [-0.01067528 -0.00806539 0.99991049 1.47429121] [ 0. 0. 0. 1. ]] SLAMing on 286.562414037 meters Centerline goodness : 0.791285 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.53, Z:1.47 [[ 0.99243533 -0.12240841 0.00939705 5.24010144] [ 0.12228484 0.99241302 0.01275985 1.52892142] [-0.01088767 -0.01151421 0.99987443 1.4730649 ] [ 0. 0. 0. 1. ]] SLAMing on 286.622414037 meters Centerline goodness : 0.787950 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.53, Z:1.47 [[ 0.99289774 -0.11861844 0.00915075 5.2401491 ] [ 0.11845703 0.99282163 0.01652705 1.53080233] [-0.01104548 -0.0153257 0.99982154 1.47193476] [ 0. 0. 0. 1. ]] SLAMing on 286.682414037 meters Centerline goodness : 0.794965 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.53, Z:1.47 [[ 0.99326374 -0.11550134 0.00930508 5.23844266] [ 0.1152999 0.99313202 0.0198677 1.53346603] [-0.01153592 -0.01866099 0.99975932 1.47167728] [ 0. 0. 0. 1. ]] SLAMing on 286.742414037 meters Centerline goodness : 0.794070 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99320607 -0.11598338 0.00946345 5.23756949] [ 0.11579382 0.99309936 0.0185865 1.53641515] [-0.01155387 -0.01736442 0.99978247 1.47287749] [ 0. 0. 0. 1. ]] SLAMing on 286.802414037 meters Centerline goodness : 0.788582 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99318363 -0.11616274 0.00961788 5.23754711] [ 0.11597587 0.99308664 0.01812499 1.53805713] [-0.01165683 -0.016886 0.99978947 1.47249403] [ 0. 0. 0. 1. ]] SLAMing on 286.862414037 meters Centerline goodness : 0.792584 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99317628 -0.1162271 0.00959926 5.23764258] [ 0.11604256 0.993082 0.01795161 1.53869951] [-0.01161932 -0.01671519 0.99979278 1.47242712] [ 0. 0. 0. 1. ]] SLAMing on 286.922414037 meters Centerline goodness : 0.791582 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99323678 -0.11573833 0.0092375 5.23860763] [ 0.11556614 0.99314745 0.01739556 1.54085103] [-0.01118753 -0.01621037 0.99980601 1.47300577] [ 0. 0. 0. 1. ]] SLAMing on 286.98241403699996 meters Centerline goodness : 0.796365 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99368817 -0.11180788 0.00910055 5.23827224] [ 0.1115913 0.99351984 0.02158027 1.54050457] [-0.01145442 -0.02042851 0.9997257 1.47234941] [ 0. 0. 0. 1. ]] SLAMing on 287.04241403699996 meters Centerline goodness : 0.797931 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99389922 -0.10998592 0.0082121 5.24204728] [ 0.10978023 0.99370565 0.02230201 1.54081423] [-0.01061332 -0.02126442 0.99971755 1.47095163] [ 0. 0. 0. 1. ]] SLAMing on 287.10241403699996 meters Centerline goodness : 0.802239 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.54, Z:1.47 [[ 0.99395978 -0.10946513 0.00783243 5.24314666] [ 0.10926573 0.99375818 0.02248713 1.54076368] [-0.0102451 -0.02149549 0.99971645 1.47089535] [ 0. 0. 0. 1. ]] SLAMing on 287.16241403699996 meters Centerline goodness : 0.800483 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 0.99410235 -0.10820586 0.00721143 5.24552651] [ 0.10801677 0.99388683 0.02283308 1.54048635] [-0.00963802 -0.02191946 0.99971328 1.47060258] [ 0. 0. 0. 1. ]] SLAMing on 287.22241403699996 meters Centerline goodness : 0.796717 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 0.99421768 -0.10716921 0.00678034 5.2476791 ] [ 0.10698273 0.99398077 0.02359923 1.53908986] [-0.00926864 -0.02273739 0.99969851 1.46945318] [ 0. 0. 0. 1. ]] SLAMing on 287.28241403699997 meters Centerline goodness : 0.793773 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 0.99436224 -0.10585401 0.00621878 5.24974115] [ 0.10568188 0.99412329 0.02345669 1.53940792] [-0.00866522 -0.02266724 0.99970551 1.4701758 ] [ 0. 0. 0. 1. ]] SLAMing on 287.34241403699997 meters Centerline goodness : 0.801900 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 0.99480207 -0.10166822 0.00569386 5.2498892 ] [ 0.10147647 0.9944605 0.02740146 1.53876223] [-0.00844818 -0.02668124 0.99960829 1.47075928] [ 0. 0. 0. 1. ]] SLAMing on 287.40241403699997 meters Centerline goodness : 0.807019 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 9.94888629e-01 -1.00842599e-01 5.23311424e-03 5.25145416e+00] [ 1.00664425e-01 9.94546401e-01 2.72787428e-02 1.53942925e+00] [-7.95543427e-03 -2.66125226e-02 9.99614168e-01 1.47105122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.462414037 meters Centerline goodness : 0.802543 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 9.95000019e-01 -9.97631104e-02 4.72065363e-03 5.25393344e+00] [ 9.95950645e-02 9.94639560e-01 2.78023204e-02 1.53883359e+00] [-7.46899481e-03 -2.71931555e-02 9.99602294e-01 1.46992163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.522414037 meters Centerline goodness : 0.803806 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.54, Z:1.47 [[ 9.95008438e-01 -9.96804729e-02 4.69171694e-03 5.25429952e+00] [ 9.95084683e-02 9.94630158e-01 2.84413943e-02 1.53630916e+00] [-7.50157480e-03 -2.78325618e-02 9.99584451e-01 1.46935069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.582414037 meters Centerline goodness : 0.805418 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.53, Z:1.47 [[ 9.95021518e-01 -9.95552379e-02 4.57524434e-03 5.25428194e+00] [ 9.93862835e-02 9.94641445e-01 2.84738884e-02 1.53462094e+00] [-7.38545238e-03 -2.78774151e-02 9.99584066e-01 1.47031535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.642414037 meters Centerline goodness : 0.806196 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.53, Z:1.47 [[ 9.95045597e-01 -9.93255499e-02 4.32370647e-03 5.25469999e+00] [ 9.91649368e-02 9.94668496e-01 2.83001491e-02 1.53405093e+00] [-7.11158248e-03 -2.77311787e-02 9.99590120e-01 1.47117378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.702414037 meters Centerline goodness : 0.805779 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95146655e-01 -9.83369533e-02 3.60256080e-03 5.25702301e+00] [ 9.81935688e-02 9.94750605e-01 2.87968231e-02 1.53250640e+00] [-6.41544138e-03 -2.83033139e-02 9.99578794e-01 1.47103496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.762414037 meters Centerline goodness : 0.805695 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95236221e-01 -9.74440757e-02 3.08484682e-03 5.25910462e+00] [ 9.73150090e-02 9.94833452e-01 2.89169711e-02 1.53229919e+00] [-5.88669633e-03 -2.84790152e-02 9.99577057e-01 1.47074713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.822414037 meters Centerline goodness : 0.805432 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95306529e-01 -9.67357421e-02 2.66627566e-03 5.26082854e+00] [ 9.66172757e-02 9.94892815e-01 2.92128057e-02 1.53102491e+00] [-5.47858094e-03 -2.88180880e-02 9.99569659e-01 1.47041889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882414037 meters Centerline goodness : 0.803431 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95286029e-01 -9.69470582e-02 2.64370322e-03 5.26020491e+00] [ 9.68321881e-02 9.94888146e-01 2.86549020e-02 1.53054274e+00] [-5.40819745e-03 -2.82638280e-02 9.99585868e-01 1.47204151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942414037 meters Centerline goodness : 0.812214 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95278872e-01 -9.70246390e-02 2.48717604e-03 5.25996636e+00] [ 9.69162765e-02 9.94891499e-01 2.82513776e-02 1.53019031e+00] [-5.21555002e-03 -2.78769514e-02 9.99597756e-01 1.47337809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002414037 meters Centerline goodness : 0.811276 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95306806e-01 -9.67447993e-02 2.19238401e-03 5.26099611e+00] [ 9.66419098e-02 9.94901603e-01 2.88295258e-02 1.52813766e+00] [-4.97031306e-03 -2.84823471e-02 9.99581939e-01 1.47288568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062414037 meters Centerline goodness : 0.812186 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95345625e-01 -9.63493804e-02 1.97061095e-03 5.26201442e+00] [ 9.62509207e-02 9.94926931e-01 2.92602496e-02 1.52648442e+00] [-4.77982082e-03 -2.89343883e-02 9.99569885e-01 1.47249987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122414037 meters Centerline goodness : 0.816650 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.53, Z:1.47 [[ 9.95025509e-01 -9.96053171e-02 1.73678463e-03 5.26351330e+00] [ 9.95315430e-02 9.94722745e-01 2.49024472e-02 1.52675483e+00] [-4.20803533e-03 -2.46057054e-02 9.99688377e-01 1.47373217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182414037 meters Centerline goodness : 0.810821 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.47 [[ 9.94583564e-01 -1.03919096e-01 2.08690657e-03 5.26313073e+00] [ 1.03852543e-01 9.94369618e-01 2.10644614e-02 1.52442983e+00] [-4.26415628e-03 -2.07336366e-02 9.99775942e-01 1.47446065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242414037 meters Centerline goodness : 0.818299 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.94043670e-01 -1.08949156e-01 2.69511627e-03 5.26144211e+00] [ 1.08888811e-01 9.93910628e-01 1.68787109e-02 1.52196833e+00] [-4.51762601e-03 -1.64847078e-02 9.99853912e-01 1.47591416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302414037 meters Centerline goodness : 0.813978 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.93516357e-01 -1.13642924e-01 3.24550589e-03 5.25989273e+00] [ 1.13595214e-01 9.93450841e-01 1.23107467e-02 1.52094417e+00] [-4.62327980e-03 -1.18622543e-02 9.99918953e-01 1.47803061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362414037 meters Centerline goodness : 0.819921 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.93396290e-01 -1.14675658e-01 3.64758149e-03 5.25800064e+00] [ 1.14626385e-01 9.93340267e-01 1.16578919e-02 1.52014549e+00] [-4.96016599e-03 -1.11627975e-02 9.99925392e-01 1.47936789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422414037 meters Centerline goodness : 0.820705 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.93331118e-01 -1.15234376e-01 3.78536034e-03 5.25740612e+00] [ 1.15183960e-01 9.93276741e-01 1.15745715e-02 1.51940595e+00] [-5.09369891e-03 -1.10613693e-02 9.99925847e-01 1.47941909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48241403699996 meters Centerline goodness : 0.828063 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.93336093e-01 -1.15193991e-01 3.70832319e-03 5.25826488e+00] [ 1.15143330e-01 9.93278882e-01 1.17930391e-02 1.51958910e+00] [-5.04188634e-03 -1.12874627e-02 9.99923583e-01 1.47824626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54241403699996 meters Centerline goodness : 0.826842 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.93319056e-01 -1.15338416e-01 3.78178301e-03 5.25820080e+00] [ 1.15288580e-01 9.93265849e-01 1.14671755e-02 1.52088711e+00] [-5.07892176e-03 -1.09545675e-02 9.99927098e-01 1.47813740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60241403699996 meters Centerline goodness : 0.826760 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.52, Z:1.48 [[ 9.93221722e-01 -1.16158447e-01 4.22218846e-03 5.25663385e+00] [ 1.16107722e-01 9.93178518e-01 1.07437559e-02 1.52220447e+00] [-5.44136487e-03 -1.01807030e-02 9.99933370e-01 1.47876765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66241403699996 meters Centerline goodness : 0.827521 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:1.45, Z:1.44 [[ 9.96337137e-01 -8.54243785e-02 -3.87110521e-03 4.44328136e+00] [ 8.50784134e-02 9.85715226e-01 1.45351841e-01 1.44553159e+00] [-8.60078333e-03 -1.45148785e-01 9.89372456e-01 1.44053419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72241403699996 meters Centerline goodness : 0.831924 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.63, Z:1.54 [[ 0.9731835 -0.22897362 -0.0220215 4.7513451 ] [ 0.22828239 0.97313221 -0.03001419 1.63390829] [ 0.02830229 0.0241822 0.99930686 1.54079393] [ 0. 0. 0. 1. ]] SLAMing on 288.78241403699997 meters Centerline goodness : 0.833060 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.64, Z:1.54 [[ 0.97317723 -0.22899006 -0.02212743 4.75155525] [ 0.2282868 0.97312087 -0.03034665 1.63544064] [ 0.02848175 0.02448127 0.99929448 1.54079093] [ 0. 0. 0. 1. ]] SLAMing on 288.84241403699997 meters Centerline goodness : 0.835810 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.64, Z:1.54 [[ 0.97389382 -0.22589686 -0.02239279 4.74994211] [ 0.22527633 0.97391509 -0.02720243 1.63833662] [ 0.02795362 0.02144771 0.9993791 1.54028426] [ 0. 0. 0. 1. ]] SLAMing on 288.90241403699997 meters Centerline goodness : 0.832816 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.64, Z:1.54 [[ 0.97456584 -0.22297163 -0.02247382 4.74717329] [ 0.22242177 0.97464051 -0.02458525 1.64249031] [ 0.02738571 0.01896128 0.99944509 1.54103774] [ 0. 0. 0. 1. ]] SLAMing on 288.962414037 meters Centerline goodness : 0.832153 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.65, Z:1.54 [[ 0.97530807 -0.21967249 -0.02276312 4.74552386] [ 0.21920202 0.97544338 -0.02146345 1.64594133] [ 0.02691906 0.01594375 0.99951046 1.54080065] [ 0. 0. 0. 1. ]] SLAMing on 289.022414037 meters Centerline goodness : 0.834788 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:1.65, Z:1.54 [[ 0.97607152 -0.21621364 -0.02315268 4.74443034] [ 0.21582747 0.97626413 -0.018079 1.64906076] [ 0.02651206 0.01264941 0.99956846 1.54004558] [ 0. 0. 0. 1. ]] SLAMing on 289.082414037 meters Centerline goodness : 0.831946 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:1.65, Z:1.54 [[ 0.9767385 -0.21315576 -0.02337803 4.74260784] [ 0.21285786 0.97697416 -0.01459514 1.65009001] [ 0.02595077 0.00927943 0.99962015 1.5398414 ] [ 0. 0. 0. 1. ]] SLAMing on 289.142414037 meters Centerline goodness : 0.830611 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:1.65, Z:1.54 [[ 0.97730398 -0.21057413 -0.0231401 4.7390583 ] [ 0.21035074 0.97755567 -0.01172497 1.65248467] [ 0.02508971 0.00659132 0.99966347 1.54061617] [ 0. 0. 0. 1. ]] SLAMing on 289.202414037 meters Centerline goodness : 0.848583 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:1.65, Z:1.54 [[ 9.77925288e-01 -2.07656841e-01 -2.32543942e-02 4.73682808e+00] [ 2.07516751e-01 9.78196166e-01 -8.31014427e-03 1.65385829e+00] [ 2.44730175e-02 3.30102390e-03 9.99695041e-01 1.54050204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.262414037 meters Centerline goodness : 0.847132 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:1.66, Z:1.54 [[ 9.78000961e-01 -2.07263636e-01 -2.35776622e-02 4.73802518e+00] [ 2.07118033e-01 9.78279163e-01 -8.48520608e-03 1.65567983e+00] [ 2.48242103e-02 3.41518069e-03 9.99685998e-01 1.53995593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.322414037 meters Centerline goodness : 0.849499 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:1.66, Z:1.54 [[ 9.78692102e-01 -2.03936499e-01 -2.39097140e-02 4.73716957e+00] [ 2.03883318e-01 9.78984070e-01 -4.66719815e-03 1.65651872e+00] [ 2.43590412e-02 -3.07041844e-04 9.99703227e-01 1.53888397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382414037 meters Centerline goodness : 0.855878 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:1.66, Z:1.54 [[ 9.79166232e-01 -2.01704719e-01 -2.34242767e-02 4.73347559e+00] [ 2.01729117e-01 9.79440434e-01 -1.34125170e-03 1.65695683e+00] [ 2.32132206e-02 -3.41205028e-03 9.99724714e-01 1.53903869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442414037 meters Centerline goodness : 0.865846 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:1.66, Z:1.54 [[ 9.79589822e-01 -1.99674721e-01 -2.31038242e-02 4.73018947e+00] [ 1.99775968e-01 9.79839271e-01 2.13694411e-03 1.65597787e+00] [ 2.22113405e-02 -6.70891753e-03 9.99730787e-01 1.53897580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502414037 meters Centerline goodness : 0.868464 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:1.66, Z:1.54 [[ 9.79556872e-01 -1.99844897e-01 -2.30293546e-02 4.73044202e+00] [ 1.99942360e-01 9.79805647e-01 1.98678537e-03 1.65642887e+00] [ 2.21672428e-02 -6.55071278e-03 9.99732815e-01 1.53868958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562414037 meters Centerline goodness : 0.862470 with order 3 Centerline is valid? [False, False] Translation: X:4.73, Y:1.66, Z:1.54 [[ 9.79490287e-01 -2.00177047e-01 -2.29766898e-02 4.73087092e+00] [ 2.00285125e-01 9.79734515e-01 2.47958760e-03 1.65580762e+00] [ 2.20146995e-02 -7.03062117e-03 9.99732926e-01 1.53739286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622414037 meters Centerline goodness : 0.127808 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:1.65, Z:1.54 [[ 9.79391697e-01 -2.00682398e-01 -2.27701427e-02 4.73092501e+00] [ 2.00803919e-01 9.79626362e-01 3.15869633e-03 1.65403598e+00] [ 2.16723373e-02 -7.66593485e-03 9.99735737e-01 1.53630679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682414037 meters Centerline goodness : 0.128595 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:1.65, Z:1.54 [[ 9.79298085e-01 -2.01177124e-01 -2.24282399e-02 4.73029549e+00] [ 2.01304523e-01 9.79522268e-01 3.55183304e-03 1.65233457e+00] [ 2.12544128e-02 -7.99320942e-03 9.99742146e-01 1.53598441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742414037 meters Centerline goodness : 0.129385 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:1.65, Z:1.53 [[ 0.9789313 -0.20338657 -0.0180946 4.74566227] [ 0.20361629 0.97897847 0.01189765 1.65068326] [ 0.0152944 -0.01533134 0.99976549 1.5304937 ] [ 0. 0. 0. 1. ]] SLAMing on 289.802414037 meters Centerline goodness : 0.123695 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:1.65, Z:1.52 [[ 0.97832615 -0.20656903 -0.01439381 4.76107454] [ 0.20683542 0.97816165 0.02046712 1.64761033] [ 0.0098516 -0.02300066 0.99968691 1.52466071] [ 0. 0. 0. 1. ]] Total time of SLAM: 14157.09 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%| | 0/9662 [00:00