+ python -m lidar_slam --result /working/result.json --no-model /working/84283bf0-e279-4586-a2c6-074052c145ce Lidar SLAM 0.0.16 ===================================================== The recording path: /working/84283bf0-e279-4586-a2c6-074052c145ce 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 0.019928851 Adjusted end_distance from 9.223372036854776e+18 to 205.149928851 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019928851 meters Centerline goodness : 0.828579 with order 3 Centerline is valid? [0, False] SLAMing on 0.079928851 meters Centerline goodness : 0.828876 with order 3 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999768e-01 -6.64687096e-04 1.47549424e-04 -5.81711101e-04] [ 6.64761423e-04 9.99999652e-01 -5.04271243e-04 1.00685409e-03] [-1.47214190e-04 5.04369212e-04 9.99999862e-01 5.21154299e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139928851 meters Centerline goodness : 0.154529 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99987493e-01 -4.98958595e-03 -3.44079296e-04 6.74282266e-04] [ 4.98765948e-03 9.99973039e-01 -5.38925483e-03 2.83051271e-03] [ 3.70960170e-04 5.38747128e-03 9.99985419e-01 2.11804515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199928851 meters Centerline goodness : 0.841474 with order 3 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99981364e-01 -6.07819057e-03 -5.72659047e-04 8.07811544e-04] [ 6.07530094e-03 9.99969445e-01 -4.91938243e-03 7.49514687e-04] [ 6.02542493e-04 4.91581167e-03 9.99987736e-01 1.53114041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259928851 meters Centerline goodness : 0.834222 with order 3 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99932876e-01 -1.15184786e-02 -1.25213427e-03 1.67908848e-03] [ 1.15068010e-02 9.99893612e-01 -8.96430501e-03 7.05500876e-04] [ 1.35525621e-03 8.94929523e-03 9.99959036e-01 2.29325053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.319928851 meters Centerline goodness : 0.831565 with order 3 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 0.99992648 -0.01201465 -0.00163998 0.00331914] [ 0.01200094 0.99989491 -0.00813258 -0.00109916] [ 0.00173752 0.0081123 0.99996559 0.0012525 ] [ 0. 0. 0. 1. ]] SLAMing on 0.379928851 meters Centerline goodness : 0.132027 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99987429 -0.01550481 -0.0033167 0.00953565] [ 0.0154652 0.99981253 -0.0116506 -0.00226395] [ 0.00349672 0.01159785 0.99992663 0.00125055] [ 0. 0. 0. 1. ]] SLAMing on 0.439928851 meters Centerline goodness : 0.131031 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.00 [[ 0.99989187 -0.01386214 -0.00490869 0.01624592] [ 0.01380388 0.99983614 -0.01171125 -0.00106471] [ 0.00507023 0.01164223 0.99991937 0.00154278] [ 0. 0. 0. 1. ]] SLAMing on 0.499928851 meters Centerline goodness : 0.131162 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99906101e-01 -1.19300892e-02 -6.74250554e-03 2.54603679e-02] [ 1.18533693e-02 9.99865825e-01 -1.13062071e-02 -2.29022897e-03] [ 6.87648493e-03 1.12252241e-02 9.99913350e-01 9.09404544e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.559928851 meters Centerline goodness : 0.128150 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99865080e-01 -1.40304026e-02 -8.54223396e-03 3.39609743e-02] [ 1.39061091e-02 9.99799033e-01 -1.44400190e-02 -2.84902619e-03] [ 8.74311653e-03 1.43192815e-02 9.99859248e-01 -3.72452382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.619928851 meters Centerline goodness : 0.179099 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.00 [[ 0.99969996 -0.02172898 -0.01130634 0.04366481] [ 0.02147378 0.99952239 -0.02222309 -0.00117059] [ 0.01178382 0.02197363 0.9996891 0.00113667] [ 0. 0. 0. 1. ]] SLAMing on 0.6799288509999999 meters Centerline goodness : 0.209711 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 0.99959683 -0.02760338 -0.00665051 0.06347845] [ 0.02747415 0.99944579 -0.0187959 -0.0050538 ] [ 0.00716566 0.01860561 0.99980122 -0.00323596] [ 0. 0. 0. 1. ]] SLAMing on 0.7399288509999999 meters Centerline goodness : 0.249059 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.01 [[ 0.99946789 -0.03255444 -0.00203677 0.09073938] [ 0.03251181 0.9993039 -0.01829454 -0.00969509] [ 0.00263092 0.01821859 0.99983057 -0.00725341] [ 0. 0. 0. 1. ]] SLAMing on 0.799928851 meters Centerline goodness : 0.269816 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.01 [[ 0.99930508 -0.03723369 0.00173472 0.12143546] [ 0.03726019 0.99912076 -0.01921916 -0.01464308] [-0.00101759 0.01927044 0.99981379 -0.01135925] [ 0. 0. 0. 1. ]] SLAMing on 0.8599288509999999 meters Centerline goodness : 0.555752 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.01 [[ 0.99899411 -0.04480385 -0.00183861 0.13527109] [ 0.0447401 0.99865224 -0.02630622 -0.01494131] [ 0.00301475 0.0261975 0.99965224 -0.01175984] [ 0. 0. 0. 1. ]] SLAMing on 0.9199288509999999 meters Centerline goodness : 0.338704 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.02 [[ 9.98880032e-01 -4.72691975e-02 2.07463999e-03 1.69132523e-01] [ 4.73078761e-02 9.98520201e-01 -2.68211145e-02 -1.93664981e-02] [-8.03757380e-04 2.68892225e-02 9.99638096e-01 -1.59949947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9799288509999999 meters Centerline goodness : 0.327059 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:-0.02 [[ 0.99869621 -0.05076041 0.00540893 0.21143854] [ 0.05089869 0.99826598 -0.02956944 -0.02368642] [-0.0038986 0.0298062 0.99954809 -0.01981359] [ 0. 0. 0. 1. ]] SLAMing on 1.039928851 meters Centerline goodness : 0.633707 with order 2 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.02 [[ 0.99860891 -0.05201961 0.00861426 0.24751505] [ 0.05225648 0.99818186 -0.03003738 -0.02808661] [-0.00703606 0.03044575 0.99951166 -0.02445278] [ 0. 0. 0. 1. ]] SLAMing on 1.099928851 meters Centerline goodness : 0.244350 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.03 [[ 0.9984049 -0.05518701 0.01191833 0.29078795] [ 0.0555617 0.99788279 -0.03380594 -0.03338397] [-0.01002745 0.03441422 0.99935735 -0.02838701] [ 0. 0. 0. 1. ]] SLAMing on 1.1599288509999999 meters Centerline goodness : 0.269418 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.03 [[ 0.99819021 -0.0580768 0.01560071 0.31868062] [ 0.05854205 0.99779617 -0.03123511 -0.03853938] [-0.01375229 0.03209188 0.99939031 -0.03315324] [ 0. 0. 0. 1. ]] SLAMing on 1.219928851 meters Centerline goodness : 0.164803 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.04 [[ 0.99786627 -0.0627643 0.01798745 0.35824195] [ 0.06335496 0.99739797 -0.0344011 -0.04447145] [-0.01578148 0.03546729 0.99924622 -0.03667598] [ 0. 0. 0. 1. ]] SLAMing on 1.279928851 meters Centerline goodness : 0.696461 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.04 [[ 0.99767276 -0.06621602 0.01626369 0.36602387] [ 0.06678078 0.99707913 -0.03706124 -0.04690449] [-0.01376214 0.03806109 0.99918064 -0.038223 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3399288509999998 meters Centerline goodness : 0.163164 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.04 [[ 0.99729163 -0.07041526 0.02123911 0.40434965] [ 0.07122232 0.9966583 -0.03999531 -0.05423775] [-0.01835186 0.04139968 0.99897411 -0.04322258] [ 0. 0. 0. 1. ]] SLAMing on 1.3999288509999999 meters Centerline goodness : 0.155648 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.05 [[ 0.99702181 -0.07296614 0.02496888 0.44539544] [ 0.07400004 0.99631571 -0.04334737 -0.06066104] [-0.021714 0.04506597 0.998748 -0.04804044] [ 0. 0. 0. 1. ]] SLAMing on 1.459928851 meters Centerline goodness : 0.328449 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99688943 -0.07463051 0.02533261 0.47749762] [ 0.07566866 0.99621193 -0.04284909 -0.06440238] [-0.0220388 0.04463269 0.99876034 -0.05131677] [ 0. 0. 0. 1. ]] SLAMing on 1.519928851 meters Centerline goodness : 0.586431 with order 2 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.05 [[ 0.9970055 -0.07126498 0.03002222 0.52098954] [ 0.07255376 0.99638101 -0.04428127 -0.06740475] [-0.02675786 0.04632689 0.99856789 -0.05474901] [ 0. 0. 0. 1. ]] SLAMing on 1.579928851 meters Centerline goodness : 0.592247 with order 2 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.06 [[ 0.99720199 -0.06734783 0.03244163 0.56096202] [ 0.06880571 0.99656252 -0.04614025 -0.06831554] [-0.02922267 0.04824332 0.99840804 -0.05619986] [ 0. 0. 0. 1. ]] SLAMing on 1.6399288509999999 meters Centerline goodness : 0.574408 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.06 [[ 0.99749029 -0.06180671 0.0345406 0.6113166 ] [ 0.06353902 0.99664789 -0.05153419 -0.06511573] [-0.03123966 0.05359953 0.99807373 -0.05768508] [ 0. 0. 0. 1. ]] SLAMing on 1.699928851 meters Centerline goodness : 0.591487 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.06 [[ 0.99780773 -0.05538567 0.03622371 0.66492955] [ 0.05740335 0.99670763 -0.05726045 -0.05998718] [-0.03293304 0.05921428 0.9977019 -0.06053366] [ 0. 0. 0. 1. ]] SLAMing on 1.759928851 meters Centerline goodness : 0.613631 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.05, Z:-0.06 [[ 0.9980857 -0.05196715 0.03353133 0.70235409] [ 0.0538808 0.99680611 -0.05894429 -0.054858 ] [-0.03036107 0.06063815 0.99769796 -0.06004351] [ 0. 0. 0. 1. ]] SLAMing on 1.8199288509999998 meters Centerline goodness : 0.755539 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.06 [[ 0.99838603 -0.04754748 0.03105751 0.74090408] [ 0.0493939 0.99687357 -0.06167117 -0.04835658] [-0.0280281 0.06310569 0.9976132 -0.05775495] [ 0. 0. 0. 1. ]] SLAMing on 1.8799288509999998 meters Centerline goodness : 0.637341 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.06 [[ 0.99869436 -0.03781753 0.03434262 0.7952787 ] [ 0.03996935 0.99712997 -0.06429828 -0.03730118] [-0.03181246 0.06558698 0.99733962 -0.0612786 ] [ 0. 0. 0. 1. ]] SLAMing on 1.939928851 meters Centerline goodness : 0.651392 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.06 [[ 0.99895063 -0.02765096 0.03651104 0.85146727] [ 0.0300918 0.99722537 -0.06808853 -0.02241788] [-0.03452703 0.06911576 0.99701098 -0.06371195] [ 0. 0. 0. 1. ]] SLAMing on 1.999928851 meters Centerline goodness : 0.673421 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.06 [[ 0.99919232 -0.02204808 0.03359446 0.88659394] [ 0.02430662 0.9973635 -0.06837568 -0.01181934] [-0.03199834 0.06913702 0.99709387 -0.06240258] [ 0. 0. 0. 1. ]] SLAMing on 2.059928851 meters Centerline goodness : 0.769406 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.00, Z:-0.06 [[ 0.999336 -0.01867452 0.03128599 0.92101509] [ 0.02086096 0.99725223 -0.07108306 -0.00112154] [-0.02987258 0.07168851 0.99697963 -0.06001001] [ 0. 0. 0. 1. ]] SLAMing on 2.119928851 meters Centerline goodness : 0.783213 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:-0.06 [[ 0.99940277 -0.01905372 0.028828 0.97664308] [ 0.02110869 0.99712713 -0.07274553 0.01510725] [-0.02735911 0.07331061 0.99693382 -0.05926645] [ 0. 0. 0. 1. ]] SLAMing on 2.179928851 meters Centerline goodness : 0.808831 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:0.02, Z:-0.06 [[ 0.99945983 -0.02567333 0.02051646 1.00453506] [ 0.02690844 0.99768944 -0.06238366 0.02479624] [-0.01886746 0.06290203 0.99784135 -0.06027689] [ 0. 0. 0. 1. ]] SLAMing on 2.2399288509999997 meters Centerline goodness : 0.805616 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.06 [[ 0.99939528 -0.03125965 0.01522885 1.05217008] [ 0.03213792 0.99760059 -0.06132064 0.04058859] [-0.01327545 0.06177298 0.99800193 -0.05942241] [ 0. 0. 0. 1. ]] SLAMing on 2.2999288509999998 meters Centerline goodness : 0.756207 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.05, Z:-0.06 [[ 0.99929408 -0.0347825 0.01419542 1.07174036] [ 0.03553531 0.99775495 -0.05676539 0.04961321] [-0.0121891 0.05722976 0.99828662 -0.06249369] [ 0. 0. 0. 1. ]] SLAMing on 2.359928851 meters Centerline goodness : 0.755397 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.06 [[ 0.99926658 -0.03640178 0.01188338 1.10570682] [ 0.03708891 0.99726638 -0.06390753 0.06682312] [-0.00952455 0.0643014 0.99788507 -0.05742487] [ 0. 0. 0. 1. ]] SLAMing on 2.419928851 meters Centerline goodness : 0.772257 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.06 [[ 0.99900784 -0.04320387 0.01080599 1.12666264] [ 0.04380318 0.99703264 -0.06330238 0.0774579 ] [-0.00803902 0.06371291 0.99793589 -0.05749203] [ 0. 0. 0. 1. ]] SLAMing on 2.479928851 meters Centerline goodness : 0.162539 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:-0.06 [[ 0.99869159 -0.04954 0.01268451 1.14296399] [ 0.05019958 0.99702882 -0.05842541 0.07938724] [-0.00975243 0.05898572 0.99821119 -0.06176614] [ 0. 0. 0. 1. ]] SLAMing on 2.539928851 meters Centerline goodness : 0.138068 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:-0.06 [[ 0.99883395 -0.04712565 0.01048352 1.15214031] [ 0.04765007 0.99722515 -0.05719674 0.07785869] [-0.007759 0.05762959 0.99830788 -0.06449335] [ 0. 0. 0. 1. ]] SLAMing on 2.599928851 meters Centerline goodness : 0.134143 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.07 [[ 0.99907241 -0.04205935 0.00923722 1.1579072 ] [ 0.04247861 0.99778396 -0.05121275 0.07345706] [-0.00706278 0.05155763 0.99864505 -0.06909144] [ 0. 0. 0. 1. ]] SLAMing on 2.6599288509999996 meters Centerline goodness : 0.816015 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.07 [[ 0.99925523 -0.03778193 0.00784237 1.16111009] [ 0.03810462 0.99820669 -0.04616746 0.0710911 ] [-0.00608401 0.04643191 0.99890293 -0.07102024] [ 0. 0. 0. 1. ]] SLAMing on 2.7199288509999997 meters Centerline goodness : 0.828069 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:-0.07 [[ 0.99952495 -0.03041159 0.00500192 1.17078046] [ 0.03059173 0.99868696 -0.04109143 0.07023233] [-0.00374569 0.04122492 0.99914287 -0.07214147] [ 0. 0. 0. 1. ]] SLAMing on 2.7799288509999998 meters Centerline goodness : 0.823505 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.08 [[ 0.99980397 -0.01964929 0.00243607 1.17951898] [ 0.01971389 0.99935035 -0.03017004 0.06600485] [-0.00184167 0.03021215 0.99954181 -0.07683699] [ 0. 0. 0. 1. ]] SLAMing on 2.839928851 meters Centerline goodness : 0.830642 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.06, Z:-0.08 [[ 9.99913806e-01 -1.31196612e-02 5.04169346e-04 1.18625309e+00] [ 1.31280377e-02 9.99618686e-01 -2.42927314e-02 6.26731820e-02] [-1.85264694e-04 2.42972562e-02 9.99704761e-01 -7.92630123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.899928851 meters Centerline goodness : 0.835577 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.07 [[ 9.99993556e-01 -3.58961232e-03 -5.91839973e-05 1.23302535e+00] [ 3.58657629e-03 9.99606482e-01 -2.78211709e-02 6.60293115e-02] [ 1.59027925e-04 2.78207793e-02 9.99612915e-01 -7.37539724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.959928851 meters Centerline goodness : 0.835908 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.07 [[ 9.99997092e-01 -9.44750925e-06 -2.41176186e-03 1.24121516e+00] [-5.62935890e-05 9.99628457e-01 -2.72570130e-02 6.73879648e-02] [ 2.41112330e-03 2.72570695e-02 9.99625549e-01 -7.37429676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.019928851 meters Centerline goodness : 0.836274 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.08, Z:-0.05 [[ 9.99959020e-01 9.04852648e-03 -2.85714894e-04 1.31279414e+00] [-9.05027382e-03 9.98376339e-01 -5.62385814e-02 7.66509077e-02] [-2.23625303e-04 5.62388626e-02 9.98417318e-01 -5.00851959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.079928851 meters Centerline goodness : 0.830291 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.08, Z:-0.05 [[ 0.99993822 0.01044814 -0.00379312 1.34886285] [-0.01064946 0.9982807 -0.05763882 0.07816651] [ 0.00318438 0.05767565 0.9983303 -0.04845484] [ 0. 0. 0. 1. ]] SLAMing on 3.139928851 meters Centerline goodness : 0.824431 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:-0.04 [[ 0.99993063 0.01125781 -0.00346307 1.38894361] [-0.0114615 0.99776285 -0.06586291 0.08149366] [ 0.00271385 0.06589804 0.99782267 -0.04278145] [ 0. 0. 0. 1. ]] SLAMing on 3.1999288509999997 meters Centerline goodness : 0.838176 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.04 [[ 9.99946028e-01 1.03661017e-02 -6.96253362e-04 1.42226926e+00] [-1.03892916e-02 9.97302986e-01 -7.26554638e-02 8.41740505e-02] [-5.87783728e-05 7.26587760e-02 9.97356856e-01 -3.71289082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2599288509999997 meters Centerline goodness : 0.830531 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.02 [[ 0.99995168 0.00927598 0.00325549 1.45966457] [-0.00890507 0.99497347 -0.09974213 0.0928228 ] [-0.00416434 0.09970832 0.99500799 -0.01985895] [ 0. 0. 0. 1. ]] SLAMing on 3.319928851 meters Centerline goodness : 0.836332 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.01 [[ 0.99995147 0.00872805 0.00456976 1.48600349] [-0.00810793 0.99255091 -0.12156049 0.09697238] [-0.00559671 0.12151754 0.99257351 -0.0086906 ] [ 0. 0. 0. 1. ]] SLAMing on 3.379928851 meters Centerline goodness : 0.821386 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.01 [[ 0.99999223 -0.0017077 0.00355371 1.52015261] [ 0.00210197 0.99346942 -0.11407937 0.09673162] [-0.00333569 0.11408595 0.99346528 -0.01311483] [ 0. 0. 0. 1. ]] SLAMing on 3.439928851 meters Centerline goodness : 0.803430 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.02 [[ 0.99994361 -0.00598406 0.00877337 1.5320559 ] [ 0.00686427 0.99455382 -0.10399797 0.09339656] [-0.00810326 0.10405233 0.99453881 -0.02243113] [ 0. 0. 0. 1. ]] SLAMing on 3.499928851 meters Centerline goodness : 0.805132 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:-0.03 [[ 0.999869 -0.0155505 0.00449068 1.55462486] [ 0.01588556 0.99599088 -0.08803307 0.09275448] [-0.00310372 0.08809287 0.99610743 -0.02790383] [ 0. 0. 0. 1. ]] SLAMing on 3.559928851 meters Centerline goodness : 0.810643 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:-0.03 [[ 9.99727091e-01 -2.33293821e-02 1.21821447e-03 1.57416670e+00] [ 2.33573825e-02 9.97266565e-01 -7.00987207e-02 9.24858246e-02] [ 4.20475278e-04 7.01080444e-02 9.97539315e-01 -3.20248730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6199288509999996 meters Centerline goodness : 0.809747 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.09, Z:-0.04 [[ 0.9996434 -0.0257197 0.0071812 1.58265055] [ 0.02608784 0.99803233 -0.05701667 0.08895618] [-0.00570062 0.05718368 0.9983474 -0.04100194] [ 0. 0. 0. 1. ]] SLAMing on 3.6799288509999997 meters Centerline goodness : 0.814295 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.05 [[ 0.99949338 -0.02920496 0.01265099 1.59007008] [ 0.02973359 0.99859618 -0.04383576 0.08429533] [-0.01135301 0.04418972 0.99895865 -0.04978234] [ 0. 0. 0. 1. ]] SLAMing on 3.7399288509999997 meters Centerline goodness : 0.811510 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.05 [[ 0.99955486 -0.02696226 0.0127719 1.58792689] [ 0.02743903 0.99887196 -0.03875456 0.08095638] [-0.01171258 0.03908775 0.99916713 -0.05150758] [ 0. 0. 0. 1. ]] SLAMing on 3.7999288509999998 meters Centerline goodness : 0.812622 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.06 [[ 0.99966061 -0.02282422 0.01255885 1.58887546] [ 0.02320507 0.99924798 -0.03106455 0.07462555] [-0.01184038 0.03134544 0.99943848 -0.05754449] [ 0. 0. 0. 1. ]] SLAMing on 3.859928851 meters Centerline goodness : 0.812523 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.06 [[ 0.99968567 -0.02197223 0.01207445 1.59086336] [ 0.02232686 0.99929854 -0.03006569 0.07237727] [-0.01140537 0.03032582 0.99947499 -0.05884409] [ 0. 0. 0. 1. ]] SLAMing on 3.919928851 meters Centerline goodness : 0.813313 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.06 [[ 0.99968137 -0.02215295 0.01210009 1.58986926] [ 0.02250292 0.99930863 -0.02959536 0.06906151] [-0.0114361 0.02985822 0.99948872 -0.05804242] [ 0. 0. 0. 1. ]] SLAMing on 3.979928851 meters Centerline goodness : 0.810179 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.06 [[ 0.99966049 -0.02298918 0.01226371 1.5878007 ] [ 0.02334079 0.99929686 -0.02934256 0.06646084] [-0.01158052 0.02961885 0.99949418 -0.05688248] [ 0. 0. 0. 1. ]] SLAMing on 4.039928851 meters Centerline goodness : 0.809651 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:-0.06 [[ 0.9996329 -0.02422485 0.0121338 1.58647438] [ 0.02455809 0.99930305 -0.02811247 0.06039687] [-0.01144432 0.02840013 0.99953112 -0.05771169] [ 0. 0. 0. 1. ]] SLAMing on 4.0999288510000005 meters Centerline goodness : 0.807627 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:-0.06 [[ 0.99963324 -0.02426719 0.01202031 1.58693177] [ 0.02457337 0.99935946 -0.0260158 0.05502165] [-0.01138128 0.02630163 0.99958926 -0.06044866] [ 0. 0. 0. 1. ]] SLAMing on 4.159928851 meters Centerline goodness : 0.808220 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.06 [[ 0.99962561 -0.02458818 0.01200217 1.58649069] [ 0.0248793 0.99938427 -0.02474074 0.05061385] [-0.01138645 0.02503008 0.99962185 -0.06152232] [ 0. 0. 0. 1. ]] SLAMing on 4.219928851000001 meters Centerline goodness : 0.809715 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.06 [[ 0.99959186 -0.02587911 0.01209937 1.58412303] [ 0.02616536 0.99936634 -0.02413057 0.04575951] [-0.01146723 0.02443731 0.99963559 -0.06062531] [ 0. 0. 0. 1. ]] SLAMing on 4.279928851 meters Centerline goodness : 0.808595 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.04, Z:-0.06 [[ 0.99948099 -0.0298977 0.011995 1.583748 ] [ 0.03021164 0.99918134 -0.02690539 0.04017211] [-0.01118077 0.02725382 0.99956602 -0.06044992] [ 0. 0. 0. 1. ]] SLAMing on 4.339928851000001 meters Centerline goodness : 0.809349 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.06 [[ 0.99947754 -0.03010314 0.01176657 1.58382015] [ 0.03039233 0.99921973 -0.0252239 0.03459394] [-0.01099807 0.02556833 0.99961258 -0.0618594 ] [ 0. 0. 0. 1. ]] SLAMing on 4.399928851 meters Centerline goodness : 0.808770 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.06 [[ 0.9994767 -0.03034611 0.01119998 1.58453012] [ 0.03059546 0.99927161 -0.02280717 0.02701492] [-0.01049971 0.0231379 0.99967714 -0.06415847] [ 0. 0. 0. 1. ]] SLAMing on 4.459928851 meters Centerline goodness : 0.808899 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:-0.07 [[ 0.99949877 -0.02975833 0.0108008 1.58558932] [ 0.0299846 0.99932061 -0.02142991 0.02292775] [-0.01015575 0.02174303 0.99971201 -0.06503196] [ 0. 0. 0. 1. ]] SLAMing on 4.519928851 meters Centerline goodness : 0.809241 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.07 [[ 0.99959752 -0.02631669 0.01059428 1.58483109] [ 0.02648962 0.99951245 -0.01652737 0.01680705] [-0.01015417 0.01680136 0.99980729 -0.06505905] [ 0. 0. 0. 1. ]] SLAMing on 4.579928851 meters Centerline goodness : 0.807499 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:-0.07 [[ 0.99961543 -0.02577485 0.01022981 1.58583 ] [ 0.02593772 0.99953356 -0.0161215 0.01575833] [-0.00980951 0.01638064 0.99981771 -0.06503396] [ 0. 0. 0. 1. ]] SLAMing on 4.6399288510000005 meters Centerline goodness : 0.798009 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.07 [[ 0.99964473 -0.02480923 0.00974214 1.58724836] [ 0.02495539 0.99957331 -0.01517948 0.01276788] [-0.00936139 0.01541721 0.99983732 -0.06515486] [ 0. 0. 0. 1. ]] SLAMing on 4.699928851 meters Centerline goodness : 0.797321 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:-0.07 [[ 0.99968216 -0.02350425 0.0091174 1.58924781] [ 0.02362625 0.99962953 -0.01351329 0.00765288] [-0.0087964 0.0137244 0.99986712 -0.06589644] [ 0. 0. 0. 1. ]] SLAMing on 4.759928851000001 meters Centerline goodness : 0.798636 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.07 [[ 0.99970794 -0.02258959 0.00858767 1.59058766] [ 0.02269295 0.99966883 -0.01213521 0.00335049] [-0.0083107 0.01232654 0.99988949 -0.06615577] [ 0. 0. 0. 1. ]] SLAMing on 4.819928851 meters Centerline goodness : 0.799677 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.07 [[ 9.99727379e-01 -2.18938140e-02 8.11353918e-03 1.59196383e+00] [ 2.19820278e-02 9.99698425e-01 -1.09475891e-02 -4.85824673e-05] [-7.87140786e-03 1.11229566e-02 9.99907156e-01 -6.67933498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879928851 meters Centerline goodness : 0.799937 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.00, Z:-0.07 [[ 0.99968892 -0.02393321 0.00701863 1.59608851] [ 0.02402549 0.99962191 -0.01337184 -0.00398084] [-0.00669595 0.01353631 0.99988596 -0.0679294 ] [ 0. 0. 0. 1. ]] SLAMing on 4.939928851 meters Centerline goodness : 0.798212 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.01, Z:-0.07 [[ 0.99969562 -0.02372109 0.00678115 1.59669417] [ 0.02380233 0.9996427 -0.01216251 -0.00770089] [-0.00649022 0.01232022 0.99990304 -0.06891942] [ 0. 0. 0. 1. ]] SLAMing on 4.999928851 meters Centerline goodness : 0.810796 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.01, Z:-0.07 [[ 0.99969397 -0.02380248 0.00673818 1.59629138] [ 0.02387893 0.99964867 -0.01150341 -0.01119654] [-0.00646201 0.01166079 0.99991113 -0.06866343] [ 0. 0. 0. 1. ]] SLAMing on 5.0599288510000004 meters Centerline goodness : 0.796396 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:-0.07 [[ 0.99967455 -0.02453156 0.00700005 1.59359285] [ 0.02461043 0.99963198 -0.01141225 -0.01495963] [-0.00671751 0.01158081 0.99991038 -0.06618004] [ 0. 0. 0. 1. ]] SLAMing on 5.119928851 meters Centerline goodness : 0.795906 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:-0.07 [[ 0.99967236 -0.02466947 0.00682543 1.59332074] [ 0.02474114 0.99963745 -0.01062266 -0.01847166] [-0.0065609 0.01078805 0.99992028 -0.06600425] [ 0. 0. 0. 1. ]] SLAMing on 5.1799288510000006 meters Centerline goodness : 0.822541 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.11 [[ 0.99294896 0.05536358 -0.10482003 0.81844223] [-0.01217454 0.92719024 0.37439289 -0.1682079 ] [ 0.11791584 -0.37047689 0.92132661 -0.1064966 ] [ 0. 0. 0. 1. ]] SLAMing on 5.239928851 meters Centerline goodness : 0.794435 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:0.05 [[ 0.96451455 -0.21975979 -0.14634656 1.25787616] [ 0.23246469 0.96962649 0.07605686 0.13370062] [ 0.12518726 -0.10737835 0.98630525 0.04610885] [ 0. 0. 0. 1. ]] SLAMing on 5.299928851 meters Centerline goodness : 0.793507 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:0.05 [[ 0.96378716 -0.22366206 -0.14522259 1.25652359] [ 0.23585717 0.96905551 0.07282038 0.13062313] [ 0.1244416 -0.10443514 0.98671556 0.04798929] [ 0. 0. 0. 1. ]] SLAMing on 5.359928851 meters Centerline goodness : 0.795534 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:0.05 [[ 0.96349734 -0.22733864 -0.14138608 1.25297365] [ 0.2386762 0.96864597 0.06898295 0.12360775] [ 0.12127056 -0.10021039 0.98754814 0.04896695] [ 0. 0. 0. 1. ]] SLAMing on 5.419928851 meters Centerline goodness : 0.793395 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:0.05 [[ 0.96324312 -0.22867577 -0.14096129 1.25238709] [ 0.23982833 0.96844719 0.06776741 0.12007119] [ 0.1210168 -0.099083 0.98769302 0.05088477] [ 0. 0. 0. 1. ]] SLAMing on 5.479928851 meters Centerline goodness : 0.790918 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:0.05 [[ 0.96325544 -0.22871766 -0.14080907 1.25262309] [ 0.2398475 0.96844678 0.06770537 0.11707062] [ 0.12088068 -0.09899027 0.98771898 0.05186222] [ 0. 0. 0. 1. ]] SLAMing on 5.539928851 meters Centerline goodness : 0.790017 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.11, Z:0.05 [[ 0.9654404 -0.22429375 -0.1327296 1.24365857] [ 0.23426983 0.97000642 0.06484751 0.11144048] [ 0.11420367 -0.09370095 0.98902864 0.04935911] [ 0. 0. 0. 1. ]] SLAMing on 5.5999288510000005 meters Centerline goodness : 0.791945 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.11, Z:0.05 [[ 0.96743196 -0.21945879 -0.1261477 1.23702682] [ 0.22876677 0.97133605 0.06459138 0.10798714] [ 0.10835666 -0.09134617 0.98990642 0.04557282] [ 0. 0. 0. 1. ]] SLAMing on 5.659928851 meters Centerline goodness : 0.793791 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:0.04 [[ 0.96929109 -0.21465303 -0.11999526 1.23153163] [ 0.22339526 0.97257544 0.06474228 0.10251272] [ 0.10280732 -0.08956049 0.99066118 0.04186255] [ 0. 0. 0. 1. ]] SLAMing on 5.719928851000001 meters Centerline goodness : 0.788779 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:0.04 [[ 0.96933105 -0.21433601 -0.12023887 1.23203106] [ 0.22313236 0.97261456 0.06506046 0.09839718] [ 0.10300128 -0.08989431 0.9906108 0.04336198] [ 0. 0. 0. 1. ]] SLAMing on 5.779928851 meters Centerline goodness : 0.790563 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:0.04 [[ 0.96940028 -0.21424355 -0.1198449 1.23113792] [ 0.2230044 0.97264348 0.06506692 0.09616703] [ 0.10262619 -0.08980183 0.99065811 0.04456738] [ 0. 0. 0. 1. ]] SLAMing on 5.839928851 meters Centerline goodness : 0.793531 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:0.04 [[ 0.97105142 -0.21014107 -0.11357762 1.22481851] [ 0.21831088 0.97371776 0.06491596 0.09065342] [ 0.09695104 -0.08783196 0.99140609 0.04122729] [ 0. 0. 0. 1. ]] SLAMing on 5.899928851 meters Centerline goodness : 0.791738 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:0.04 [[ 0.97114754 -0.2093969 -0.11412888 1.22634071] [ 0.21765836 0.97383341 0.06537074 0.08924308] [ 0.09745408 -0.08832574 0.9913129 0.04150502] [ 0. 0. 0. 1. ]] SLAMing on 5.959928851 meters Centerline goodness : 0.789869 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:0.04 [[ 0.97261348 -0.20615682 -0.10734234 1.21940784] [ 0.2136966 0.97479276 0.0641314 0.08391294] [ 0.09141541 -0.08531376 0.99215159 0.0384419 ] [ 0. 0. 0. 1. ]] SLAMing on 6.019928851 meters Centerline goodness : 0.790902 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:0.04 [[ 0.97264397 -0.20598214 -0.10740145 1.21938188] [ 0.2135138 0.97484195 0.06399243 0.08351454] [ 0.09151814 -0.08517354 0.99215417 0.03918785] [ 0. 0. 0. 1. ]] SLAMing on 6.079928851 meters Centerline goodness : 0.790747 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:0.04 [[ 0.97270102 -0.20551316 -0.10778246 1.22045989] [ 0.21311312 0.97490362 0.06438729 0.0817484 ] [ 0.09184508 -0.08559944 0.9920873 0.03949014] [ 0. 0. 0. 1. ]] SLAMing on 6.1399288510000005 meters Centerline goodness : 0.791102 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:0.04 [[ 0.97250866 -0.20652575 -0.10758262 1.21916265] [ 0.21408818 0.97470605 0.06414329 0.0792008 ] [ 0.09161419 -0.08541207 0.9921248 0.04081956] [ 0. 0. 0. 1. ]] SLAMing on 6.199928851 meters Centerline goodness : 0.789762 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:0.04 [[ 0.97153505 -0.21146108 -0.1067888 1.21825521] [ 0.21857861 0.9739782 0.05991547 0.07660062] [ 0.09134017 -0.08155173 0.99247483 0.04288428] [ 0. 0. 0. 1. ]] SLAMing on 6.259928851000001 meters Centerline goodness : 0.789900 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:0.04 [[ 0.97071781 -0.21543853 -0.10626933 1.2189631 ] [ 0.22217702 0.97338888 0.05613778 0.07561498] [ 0.09134714 -0.07810455 0.99275142 0.04352779] [ 0. 0. 0. 1. ]] SLAMing on 6.319928851 meters Centerline goodness : 0.793534 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:0.04 [[ 0.96977123 -0.21994772 -0.10567289 1.21902713] [ 0.22629552 0.97265633 0.05224936 0.07309872] [ 0.09129128 -0.07458323 0.99302731 0.04494246] [ 0. 0. 0. 1. ]] SLAMing on 6.379928851 meters Centerline goodness : 0.793976 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:0.05 [[ 0.96884888 -0.22423812 -0.1051148 1.21919592] [ 0.23019324 0.97194653 0.04828054 0.0719474 ] [ 0.09133963 -0.07097326 0.9932874 0.04619701] [ 0. 0. 0. 1. ]] SLAMing on 6.439928851 meters Centerline goodness : 0.794066 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:0.05 [[ 0.96759722 -0.23003571 -0.10411141 1.21766302] [ 0.23553089 0.9708784 0.04382163 0.06783281] [ 0.09099897 -0.06692314 0.99359976 0.04867201] [ 0. 0. 0. 1. ]] SLAMing on 6.499928851 meters Centerline goodness : 0.791707 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:0.05 [[ 0.96669365 -0.23403438 -0.10359194 1.21816996] [ 0.23912911 0.97017694 0.03967338 0.06803435] [ 0.09121758 -0.06312385 0.99382832 0.04972449] [ 0. 0. 0. 1. ]] SLAMing on 6.5599288510000004 meters Centerline goodness : 0.793204 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:0.05 [[ 0.9656757 -0.23854104 -0.10280378 1.21784595] [ 0.24323552 0.96931151 0.03566072 0.06630783] [ 0.09114235 -0.05944222 0.99406222 0.05121583] [ 0. 0. 0. 1. ]] SLAMing on 6.619928851 meters Centerline goodness : 0.791120 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:0.05 [[ 0.96480596 -0.24217874 -0.10246427 1.21925376] [ 0.24655872 0.96858946 0.03229951 0.06395898] [ 0.09142356 -0.05642622 0.99421216 0.05201144] [ 0. 0. 0. 1. ]] SLAMing on 6.6799288510000006 meters Centerline goodness : 0.792531 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:0.05 [[ 0.96486963 -0.24179708 -0.10276565 1.22006402] [ 0.24624493 0.96865024 0.03286557 0.06140832] [ 0.09159717 -0.05701651 0.9941625 0.05233726] [ 0. 0. 0. 1. ]] SLAMing on 6.739928851 meters Centerline goodness : 0.790810 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:0.05 [[ 0.96494553 -0.24136358 -0.10307156 1.22123399] [ 0.24587455 0.96872686 0.03337645 0.0594909 ] [ 0.09179233 -0.05754913 0.99411381 0.05217568] [ 0. 0. 0. 1. ]] SLAMing on 6.799928851 meters Centerline goodness : 0.793319 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:0.05 [[ 0.96500336 -0.24101022 -0.1033566 1.22197331] [ 0.24557727 0.96878694 0.0338182 0.05696265] [ 0.09197999 -0.05801671 0.99406929 0.05271087] [ 0. 0. 0. 1. ]] SLAMing on 6.859928851 meters Centerline goodness : 0.792210 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:0.05 [[ 0.96500313 -0.24093141 -0.10354228 1.22217932] [ 0.24553631 0.968787 0.03411251 0.05503274] [ 0.09209164 -0.05834207 0.9940399 0.05332352] [ 0. 0. 0. 1. ]] SLAMing on 6.919928851 meters Centerline goodness : 0.792058 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:0.05 [[ 0.96489657 -0.24137911 -0.10349267 1.2212824 ] [ 0.24596487 0.9686851 0.03391839 0.05312994] [ 0.09206461 -0.0581833 0.99405171 0.05482005] [ 0. 0. 0. 1. ]] SLAMing on 6.979928851 meters Centerline goodness : 0.792569 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:0.06 [[ 0.96474174 -0.24207482 -0.103311 1.21996683] [ 0.24664677 0.96851392 0.03385505 0.04889074] [ 0.09186268 -0.05814271 0.99407277 0.05695207] [ 0. 0. 0. 1. ]] SLAMing on 7.039928851 meters Centerline goodness : 0.791040 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:0.06 [[ 0.96473984 -0.24202046 -0.10345592 1.22008703] [ 0.24662214 0.96851207 0.03408662 0.04653338] [ 0.09194865 -0.05839924 0.99404978 0.05780954] [ 0. 0. 0. 1. ]] SLAMing on 7.0999288510000005 meters Centerline goodness : 0.792524 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:0.06 [[ 0.96489435 -0.24111427 -0.10412878 1.22248398] [ 0.2458591 0.9686649 0.03523642 0.04290124] [ 0.09236989 -0.05960043 0.99393943 0.05733621] [ 0. 0. 0. 1. ]] SLAMing on 7.159928851 meters Centerline goodness : 0.790685 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:0.06 [[ 0.96498245 -0.24054808 -0.10462067 1.22412212] [ 0.24540124 0.96874908 0.03610339 0.03965659] [ 0.09266658 -0.06051318 0.99385666 0.0572493 ] [ 0. 0. 0. 1. ]] SLAMing on 7.219928851 meters Centerline goodness : 0.789270 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:0.06 [[ 0.96492869 -0.24074099 -0.10467282 1.22348417] [ 0.24561371 0.96868897 0.03627092 0.03626332] [ 0.09266351 -0.06070793 0.99384507 0.05903459] [ 0. 0. 0. 1. ]] SLAMing on 7.279928851 meters Centerline goodness : 0.793919 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:0.06 [[ 0.96491756 -0.24080877 -0.10461952 1.22262854] [ 0.24571698 0.96864722 0.03668426 0.03236642] [ 0.09250551 -0.06110408 0.99383551 0.06076773] [ 0. 0. 0. 1. ]] SLAMing on 7.339928851 meters Centerline goodness : 0.787984 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:0.06 [[ 0.96491858 -0.24079115 -0.10465065 1.22261073] [ 0.24573136 0.96863125 0.03700803 0.0296579 ] [ 0.09245668 -0.06142568 0.99382023 0.06153827] [ 0. 0. 0. 1. ]] SLAMing on 7.399928851 meters Centerline goodness : 0.792589 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:0.06 [[ 0.96422355 -0.24358198 -0.10459811 1.22538148] [ 0.24827152 0.96808527 0.03423697 0.02696439] [ 0.09292038 -0.05898082 0.99392508 0.06151569] [ 0. 0. 0. 1. ]] SLAMing on 7.459928851 meters Centerline goodness : 0.786581 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.06 [[ 0.96421396 -0.24354703 -0.10476776 1.22574878] [ 0.2482753 0.96807338 0.03454415 0.02494054] [ 0.09300976 -0.0593192 0.99389658 0.06193407] [ 0. 0. 0. 1. ]] SLAMing on 7.519928851 meters Centerline goodness : 0.792891 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.06 [[ 0.96424273 -0.24330291 -0.10506977 1.22685509] [ 0.24812227 0.96808416 0.03533277 0.02121494] [ 0.09311981 -0.06013952 0.99383698 0.06198659] [ 0. 0. 0. 1. ]] SLAMing on 7.579928851 meters Centerline goodness : 0.782967 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.06 [[ 0.96427553 -0.24312297 -0.10518519 1.22698414] [ 0.24797031 0.96811463 0.03556397 0.01973178] [ 0.0931849 -0.06037627 0.99381652 0.06253696] [ 0. 0. 0. 1. ]] SLAMing on 7.6399288510000005 meters Centerline goodness : 0.788869 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.06 [[ 0.96442209 -0.24240682 -0.1054939 1.22785035] [ 0.24734058 0.96824789 0.03631332 0.01734002] [ 0.09334165 -0.06111429 0.9937567 0.06282166] [ 0. 0. 0. 1. ]] SLAMing on 7.699928851 meters Centerline goodness : 0.792093 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.06 [[ 0.96452953 -0.24181085 -0.10587864 1.22867134] [ 0.24680076 0.96837174 0.03668187 0.01613036] [ 0.09365981 -0.06151167 0.99370225 0.06327477] [ 0. 0. 0. 1. ]] SLAMing on 7.759928851 meters Centerline goodness : 0.788127 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96542646 -0.23795314 -0.10644269 1.22845955] [ 0.2432715 0.96913534 0.03994581 0.01331572] [ 0.09365214 -0.06445922 0.99351612 0.06422896] [ 0. 0. 0. 1. ]] SLAMing on 7.819928851 meters Centerline goodness : 0.789073 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96636971 -0.23367037 -0.10736728 1.22826456] [ 0.23941936 0.96991772 0.0440226 0.01168981] [ 0.09385065 -0.06824792 0.99324432 0.06467401] [ 0. 0. 0. 1. ]] SLAMing on 7.879928851 meters Centerline goodness : 0.789126 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96760706 -0.22858818 -0.10716356 1.22801343] [ 0.234696 0.97087406 0.0481803 0.01048837] [ 0.09302887 -0.07177046 0.99307333 0.06360782] [ 0. 0. 0. 1. ]] SLAMing on 7.939928851 meters Centerline goodness : 0.789660 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96865108 -0.22362475 -0.10819917 1.22850654] [ 0.23018396 0.97173858 0.05234007 0.00998375] [ 0.09343677 -0.07560497 0.99275045 0.06364764] [ 0. 0. 0. 1. ]] SLAMing on 7.999928851 meters Centerline goodness : 0.788509 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96880541 -0.22280306 -0.10851211 1.229121 ] [ 0.22937942 0.97193116 0.05229627 0.01065718] [ 0.09381453 -0.07555535 0.9927186 0.06419582] [ 0. 0. 0. 1. ]] SLAMing on 8.059928850999999 meters Centerline goodness : 0.786746 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96894303 -0.22208808 -0.10874875 1.22942269] [ 0.22867429 0.97210065 0.0522341 0.01157629] [ 0.09411416 -0.07547991 0.99269598 0.0647444 ] [ 0. 0. 0. 1. ]] SLAMing on 8.119928851 meters Centerline goodness : 0.785766 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.06 [[ 0.96894583 -0.22202711 -0.10884823 1.22977809] [ 0.22861612 0.97211692 0.05218579 0.01109966] [ 0.09422655 -0.07544966 0.99268762 0.06491244] [ 0. 0. 0. 1. ]] SLAMing on 8.179928851 meters Centerline goodness : 0.790330 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.07 [[ 0.96890302 -0.22219923 -0.10887808 1.22986682] [ 0.22877932 0.97208518 0.05206181 0.01062372] [ 0.09427067 -0.0753519 0.99269085 0.06507053] [ 0. 0. 0. 1. ]] SLAMing on 8.239928850999998 meters Centerline goodness : 0.785896 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.07 [[ 0.96879576 -0.22278439 -0.10863651 1.22891854] [ 0.22933049 0.97196518 0.05187698 0.0095231 ] [ 0.09403352 -0.07517187 0.992727 0.0657795 ] [ 0. 0. 0. 1. ]] SLAMing on 8.299928850999999 meters Centerline goodness : 0.785344 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.07 [[ 0.96864533 -0.22355696 -0.10839056 1.22781954] [ 0.23005386 0.97181282 0.05152739 0.00864548] [ 0.09381603 -0.07484743 0.99277209 0.06660878] [ 0. 0. 0. 1. ]] SLAMing on 8.359928851 meters Centerline goodness : 0.785840 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.07 [[ 0.96854192 -0.22414625 -0.10809718 1.22703361] [ 0.2306129 0.97168592 0.05142145 0.00754706] [ 0.09351059 -0.07473243 0.99280957 0.06693749] [ 0. 0. 0. 1. ]] SLAMing on 8.419928851 meters Centerline goodness : 0.780423 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.07 [[ 0.96837393 -0.22505042 -0.10772294 1.22551532] [ 0.2314595 0.97150273 0.05107784 0.00684134] [ 0.09315805 -0.07439595 0.99286798 0.06772442] [ 0. 0. 0. 1. ]] SLAMing on 8.479928850999999 meters Centerline goodness : 0.780522 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96736619 -0.22986865 -0.10659765 1.22389799] [ 0.23576288 0.97070783 0.04628372 0.00855421] [ 0.092836 -0.06990508 0.99322442 0.06929801] [ 0. 0. 0. 1. ]] SLAMing on 8.539928850999999 meters Centerline goodness : 0.781533 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96656634 -0.23360563 -0.10572572 1.22447663] [ 0.23907862 0.97007961 0.04227245 0.00966119] [ 0.09268728 -0.06613589 0.99349641 0.06919629] [ 0. 0. 0. 1. ]] SLAMing on 8.599928851 meters Centerline goodness : 0.779179 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96563785 -0.23785515 -0.1047305 1.22465468] [ 0.24291274 0.9692903 0.03833687 0.01022784] [ 0.09239564 -0.0624599 0.99376144 0.06891695] [ 0. 0. 0. 1. ]] SLAMing on 8.659928851 meters Centerline goodness : 0.780956 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96549203 -0.23859506 -0.10439125 1.22338501] [ 0.24359657 0.96913458 0.03793254 0.01017291] [ 0.09211865 -0.06205291 0.99381265 0.06951628] [ 0. 0. 0. 1. ]] SLAMing on 8.719928850999999 meters Centerline goodness : 0.782005 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96449438 -0.24312436 -0.10315588 1.22214878] [ 0.24767664 0.9682566 0.03369622 0.01035677] [ 0.09168899 -0.05804911 0.99409428 0.07057678] [ 0. 0. 0. 1. ]] SLAMing on 8.779928851 meters Centerline goodness : 0.779293 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96337178 -0.24806615 -0.10187245 1.22090024] [ 0.25216876 0.96723702 0.02938485 0.01069769] [ 0.09124542 -0.05399758 0.99436338 0.07133786] [ 0. 0. 0. 1. ]] SLAMing on 8.839928851 meters Centerline goodness : 0.780429 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.9623067 -0.25261986 -0.10074233 1.22041379] [ 0.25630278 0.9662667 0.02524979 0.0108853 ] [ 0.09096536 -0.05011858 0.99459209 0.07176341] [ 0. 0. 0. 1. ]] SLAMing on 8.899928850999999 meters Centerline goodness : 0.780861 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.9613605 -0.25650884 -0.09994605 1.22135172] [ 0.25983997 0.96540893 0.02165133 0.01008379] [ 0.09093505 -0.04678472 0.99475726 0.07160987] [ 0. 0. 0. 1. ]] SLAMing on 8.959928850999999 meters Centerline goodness : 0.768716 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96037934 -0.26051029 -0.09902477 1.22176225] [ 0.26347591 0.96449947 0.01792256 0.0099598 ] [ 0.09084033 -0.0433031 0.99492355 0.07162373] [ 0. 0. 0. 1. ]] SLAMing on 9.019928851 meters Centerline goodness : 0.768653 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.96021845 -0.26122625 -0.09869837 1.22084162] [ 0.26418215 0.96430596 0.01793899 0.00818246] [ 0.09048929 -0.0432997 0.99495569 0.07207126] [ 0. 0. 0. 1. ]] SLAMing on 9.079928851 meters Centerline goodness : 0.781953 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.07 [[ 0.95910359 -0.26578798 -0.09735014 1.21994338] [ 0.2683628 0.96321406 0.01414488 0.00559605] [ 0.09000948 -0.03969156 0.99514967 0.07322215] [ 0. 0. 0. 1. ]] SLAMing on 9.139928850999999 meters Centerline goodness : 0.783984 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.00, Z:0.07 [[ 0.95845644 -0.26845266 -0.09640753 1.21880574] [ 0.27077591 0.96257207 0.01163682 0.00451021] [ 0.08967526 -0.03725822 0.99527392 0.07442174] [ 0. 0. 0. 1. ]] SLAMing on 9.199928851 meters Centerline goodness : 0.786137 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.00, Z:0.07 [[ 0.95837648 -0.26875657 -0.09635577 1.21907878] [ 0.27110783 0.96247474 0.01195521 0.00239218] [ 0.08952695 -0.03758039 0.99527516 0.07416753] [ 0. 0. 0. 1. ]] SLAMing on 9.259928851 meters Centerline goodness : 0.788466 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.00, Z:0.07 [[ 9.58458196e-01 -2.68397932e-01 -9.65424043e-02 1.22035585e+00] [ 2.70803547e-01 9.62553510e-01 1.24971736e-02 5.23580246e-04] [ 8.95730146e-02 -3.81220439e-02 9.95250413e-01 7.34876882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319928850999998 meters Centerline goodness : 0.789861 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 9.58486154e-01 -2.68315067e-01 -9.64951716e-02 1.22033461e+00] [ 2.70730509e-01 9.62572314e-01 1.26305679e-02 -1.57345016e-04] [ 8.94946089e-02 -3.82304113e-02 9.95253310e-01 7.35641507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379928850999999 meters Centerline goodness : 0.789418 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.00, Z:0.07 [[ 9.58589698e-01 -2.67923639e-01 -9.65542085e-02 1.22042555e+00] [ 2.70347801e-01 9.62678685e-01 1.27207309e-02 1.55608429e-04] [ 8.95424939e-02 -3.82971795e-02 9.95246436e-01 7.36522025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439928851 meters Centerline goodness : 0.789955 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 9.58637848e-01 -2.67714168e-01 -9.66571262e-02 1.22047457e+00] [ 2.70137065e-01 9.62738477e-01 1.26724729e-02 -3.45247808e-05] [ 8.96629339e-02 -3.82589845e-02 9.95237061e-01 7.41066217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499928851 meters Centerline goodness : 0.774554 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 0.958684 -0.26754785 -0.09665985 1.2205344 ] [ 0.26998498 0.96277896 0.01283716 -0.00141815] [ 0.08962752 -0.03840349 0.99523469 0.07451495] [ 0. 0. 0. 1. ]] SLAMing on 9.559928850999999 meters Centerline goodness : 0.791084 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 0.95870694 -0.2674542 -0.09669154 1.22065898] [ 0.26990475 0.96279957 0.01297709 -0.00231814] [ 0.08962379 -0.03853873 0.99522979 0.07473315] [ 0. 0. 0. 1. ]] SLAMing on 9.619928851 meters Centerline goodness : 0.791229 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.08 [[ 0.95882462 -0.2669544 -0.09690562 1.22113987] [ 0.26944854 0.96292167 0.01339154 -0.00363239] [ 0.08973759 -0.03895121 0.99520348 0.07504057] [ 0. 0. 0. 1. ]] SLAMing on 9.679928851 meters Centerline goodness : 0.791919 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 0.95892908 -0.26650198 -0.097117 1.22206895] [ 0.26903473 0.96303235 0.01374836 -0.00468487] [ 0.08986285 -0.03931154 0.99517801 0.07479081] [ 0. 0. 0. 1. ]] SLAMing on 9.739928850999998 meters Centerline goodness : 0.793418 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 0.95909878 -0.26575828 -0.09747851 1.22286587] [ 0.26833653 0.96322164 0.01412743 -0.00460047] [ 0.09013893 -0.03970664 0.99513736 0.0747742 ] [ 0. 0. 0. 1. ]] SLAMing on 9.799928850999999 meters Centerline goodness : 0.792574 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:0.07 [[ 0.9591938 -0.26534277 -0.09767532 1.22319493] [ 0.26793672 0.96333137 0.01423313 -0.00430311] [ 0.09031704 -0.03982314 0.99511655 0.07495372] [ 0. 0. 0. 1. ]] SLAMing on 9.859928851 meters Centerline goodness : 0.795367 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:0.08 [[ 0.95931566 -0.26476567 -0.09804389 1.22421717] [ 0.26739629 0.96347754 0.01450037 -0.00552654] [ 0.09062389 -0.04012701 0.99507645 0.07522875] [ 0. 0. 0. 1. ]] SLAMing on 9.919928851 meters Centerline goodness : 0.793174 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:0.08 [[ 0.95937578 -0.26448914 -0.0982019 1.22479641] [ 0.26712722 0.9635518 0.01452508 -0.00581039] [ 0.09078089 -0.04016741 0.99506051 0.07527807] [ 0. 0. 0. 1. ]] SLAMing on 9.979928850999999 meters Centerline goodness : 0.794827 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:0.08 [[ 0.95939054 -0.26440615 -0.09828109 1.22456426] [ 0.26705031 0.96357258 0.01456053 -0.00598262] [ 0.09085108 -0.04021523 0.99505217 0.07585684] [ 0. 0. 0. 1. ]] SLAMing on 10.039928850999999 meters Centerline goodness : 0.796673 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:0.08 [[ 0.95931881 -0.26466552 -0.0982832 1.22458347] [ 0.26732009 0.96349625 0.01466127 -0.00821896] [ 0.09081516 -0.04033791 0.99505048 0.07640386] [ 0. 0. 0. 1. ]] SLAMing on 10.099928851 meters Centerline goodness : 0.798587 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:0.08 [[ 0.95827115 -0.26867629 -0.09761895 1.22559772] [ 0.27102315 0.96250551 0.01138363 -0.01089039] [ 0.09090026 -0.0373656 0.99515876 0.07671326] [ 0. 0. 0. 1. ]] SLAMing on 10.159928850999998 meters Centerline goodness : 0.800442 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:0.08 [[ 0.95801263 -0.26480602 -0.10995257 1.22581582] [ 0.26765448 0.96344344 0.0117392 -0.01788008] [ 0.10282447 -0.0406756 0.99386751 0.0824723 ] [ 0. 0. 0. 1. ]] SLAMing on 10.219928850999999 meters Centerline goodness : 0.798737 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:0.09 [[ 0.95801928 -0.25900657 -0.12294171 1.22602824] [ 0.26275721 0.96474447 0.0150585 -0.02551154] [ 0.11470709 -0.04673015 0.99229964 0.08741302] [ 0. 0. 0. 1. ]] SLAMing on 10.279928851 meters Centerline goodness : 0.799523 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:0.09 [[ 0.95803789 -0.253276 -0.13421872 1.22474713] [ 0.25742034 0.96619535 0.0141884 -0.0301605 ] [ 0.12608792 -0.04814365 0.99085015 0.09301399] [ 0. 0. 0. 1. ]] SLAMing on 10.339928851 meters Centerline goodness : 0.801586 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:0.10 [[ 0.95781098 -0.2471913 -0.14661033 1.22436168] [ 0.25215053 0.96755627 0.01596787 -0.0375376 ] [ 0.13790663 -0.05226208 0.98906544 0.09762835] [ 0. 0. 0. 1. ]] SLAMing on 10.399928850999999 meters Centerline goodness : 0.802839 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95791289 -0.2466951 -0.14678019 1.22504756] [ 0.25175496 0.9676476 0.0166603 -0.03935686] [ 0.13792148 -0.05291176 0.98902882 0.0976435 ] [ 0. 0. 0. 1. ]] SLAMing on 10.459928850999999 meters Centerline goodness : 0.799396 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95796824 -0.24609102 -0.14743154 1.22654935] [ 0.251296 0.96775227 0.01748908 -0.04011769] [ 0.1383733 -0.05380294 0.98891763 0.09750423] [ 0. 0. 0. 1. ]] SLAMing on 10.519928851 meters Centerline goodness : 0.797099 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95801689 -0.24584807 -0.14752071 1.22741378] [ 0.25111881 0.96778998 0.01794162 -0.04184226] [ 0.13835815 -0.0542336 0.98889622 0.09722299] [ 0. 0. 0. 1. ]] SLAMing on 10.579928850999998 meters Centerline goodness : 0.803406 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.9580096 -0.24542699 -0.14826729 1.2289061 ] [ 0.25085204 0.96784334 0.01877542 -0.04204648] [ 0.13889152 -0.05518018 0.98876908 0.0971012 ] [ 0. 0. 0. 1. ]] SLAMing on 10.639928850999999 meters Centerline goodness : 0.798861 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95799465 -0.24528771 -0.14859403 1.2284123 ] [ 0.25077084 0.96785868 0.01906727 -0.04158342] [ 0.13914105 -0.05552939 0.98871445 0.09825056] [ 0. 0. 0. 1. ]] SLAMing on 10.699928851 meters Centerline goodness : 0.799216 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.10 [[ 0.95786571 -0.23931429 -0.15881419 1.22660379] [ 0.24517366 0.96931031 0.0180943 -0.0454734 ] [ 0.14961001 -0.05626897 0.98714267 0.10264213] [ 0. 0. 0. 1. ]] SLAMing on 10.759928851 meters Centerline goodness : 0.796034 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.10 [[ 0.9578973 -0.23909008 -0.1589613 1.2275418 ] [ 0.24498489 0.96935437 0.01828969 -0.04597161] [ 0.14971695 -0.05646276 0.98711539 0.10206448] [ 0. 0. 0. 1. ]] SLAMing on 10.819928850999998 meters Centerline goodness : 0.805747 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95823492 -0.23675035 -0.16042166 1.22839475] [ 0.24315713 0.96975368 0.02126977 -0.04484236] [ 0.15053387 -0.05938911 0.98681938 0.1026524 ] [ 0. 0. 0. 1. ]] SLAMing on 10.879928850999999 meters Centerline goodness : 0.797996 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95841881 -0.23601595 -0.1604053 1.22908395] [ 0.24238201 0.96995213 0.02106729 -0.04414866] [ 0.15061325 -0.05907065 0.98682638 0.10160513] [ 0. 0. 0. 1. ]] SLAMing on 10.939928851 meters Centerline goodness : 0.797120 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95823044 -0.23673285 -0.16047426 1.22893669] [ 0.24308275 0.96978085 0.02087753 -0.04430544] [ 0.15068247 -0.05901401 0.9868192 0.10226205] [ 0. 0. 0. 1. ]] SLAMing on 10.999928851 meters Centerline goodness : 0.803690 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95809015 -0.23682147 -0.16117955 1.22925136] [ 0.24329685 0.96971555 0.02140999 -0.04367686] [ 0.15122797 -0.05972717 0.98669284 0.1033429 ] [ 0. 0. 0. 1. ]] SLAMing on 11.059928850999999 meters Centerline goodness : 0.807779 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95782581 -0.23763755 -0.16154909 1.23011053] [ 0.24411519 0.96951421 0.02121244 -0.0437742 ] [ 0.15158326 -0.05975441 0.98663667 0.10357433] [ 0. 0. 0. 1. ]] SLAMing on 11.119928851 meters Centerline goodness : 0.804708 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:0.10 [[ 0.95726533 -0.23908643 -0.16272912 1.2324881 ] [ 0.24571165 0.96910269 0.02158154 -0.0443553 ] [ 0.15254138 -0.0606437 0.98643473 0.10427253] [ 0. 0. 0. 1. ]] SLAMing on 11.179928851 meters Centerline goodness : 0.801587 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.11 [[ 0.95696822 -0.23988096 -0.1633063 1.23346321] [ 0.24666609 0.96884354 0.02231689 -0.04589078] [ 0.15286485 -0.06163868 0.98632297 0.10502446] [ 0. 0. 0. 1. ]] SLAMing on 11.239928850999998 meters Centerline goodness : 0.800023 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.11 [[ 0.95659428 -0.24134116 -0.16334573 1.23324958] [ 0.24810938 0.96848048 0.02207475 -0.04690407] [ 0.15286961 -0.06164419 0.98632189 0.10604695] [ 0. 0. 0. 1. ]] SLAMing on 11.299928850999999 meters Centerline goodness : 0.803041 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.11 [[ 0.95643692 -0.24156706 -0.16393225 1.23376227] [ 0.24846157 0.96837738 0.02262976 -0.04696881] [ 0.15328168 -0.0623748 0.986212 0.10680562] [ 0. 0. 0. 1. ]] SLAMing on 11.359928851 meters Centerline goodness : 0.806031 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.11 [[ 0.95640561 -0.24133612 -0.1644542 1.2345031 ] [ 0.24831651 0.96840623 0.02298452 -0.04671021] [ 0.15371148 -0.06281922 0.98611689 0.10700585] [ 0. 0. 0. 1. ]] SLAMing on 11.419928851 meters Centerline goodness : 0.803771 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.05, Z:0.11 [[ 0.95657211 -0.24069747 -0.16442178 1.2347829 ] [ 0.24764166 0.96858298 0.02281707 -0.04576458] [ 0.15376413 -0.06254386 0.98612619 0.10624705] [ 0. 0. 0. 1. ]] SLAMing on 11.479928850999999 meters Centerline goodness : 0.806016 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95657629 -0.24041986 -0.16480317 1.2353499 ] [ 0.24747676 0.96861112 0.02340398 -0.04571316] [ 0.15400341 -0.06317265 0.98604877 0.10633149] [ 0. 0. 0. 1. ]] SLAMing on 11.539928850999999 meters Centerline goodness : 0.804914 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.9564207 -0.24051221 -0.16556968 1.23626265] [ 0.24779153 0.96850361 0.02449731 -0.04713082] [ 0.15446293 -0.0644565 0.98589379 0.10733341] [ 0. 0. 0. 1. ]] SLAMing on 11.599928851 meters Centerline goodness : 0.799058 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95616232 -0.24214553 -0.16467897 1.23625083] [ 0.24905911 0.96822924 0.02239843 -0.0490306 ] [ 0.15402331 -0.06243133 0.98609287 0.10716021] [ 0. 0. 0. 1. ]] SLAMing on 11.659928850999998 meters Centerline goodness : 0.803822 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95591725 -0.24293204 -0.16494314 1.2363037 ] [ 0.24989199 0.96801173 0.02252293 -0.04978218] [ 0.15419535 -0.06274803 0.98604588 0.10817665] [ 0. 0. 0. 1. ]] SLAMing on 11.719928850999999 meters Centerline goodness : 0.800780 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95570381 -0.24324884 -0.16571131 1.2372472 ] [ 0.25037899 0.96786832 0.02326521 -0.0502796 ] [ 0.15472749 -0.06372528 0.98589984 0.1090184 ] [ 0. 0. 0. 1. ]] SLAMing on 11.779928851 meters Centerline goodness : 0.798480 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95484636 -0.24676201 -0.16545978 1.23917474] [ 0.25352755 0.96710537 0.0207603 -0.05206311] [ 0.15489419 -0.06177151 0.98599801 0.10879594] [ 0. 0. 0. 1. ]] SLAMing on 11.839928851 meters Centerline goodness : 0.799245 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95418478 -0.24986605 -0.1646158 1.23964663] [ 0.25615693 0.96647102 0.01781567 -0.05262099] [ 0.15464487 -0.05916692 0.98619686 0.10842039] [ 0. 0. 0. 1. ]] SLAMing on 11.899928850999999 meters Centerline goodness : 0.799665 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.11 [[ 0.95398007 -0.2500177 -0.16556927 1.24088855] [ 0.25659983 0.96632536 0.01928299 -0.05486731] [ 0.15517269 -0.06088063 0.98600963 0.10972426] [ 0. 0. 0. 1. ]] SLAMing on 11.959928850999999 meters Centerline goodness : 0.801495 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.11 [[ 0.95378345 -0.25033638 -0.16621923 1.24193722] [ 0.25709719 0.96617586 0.02013052 -0.0567628 ] [ 0.1555576 -0.06193465 0.98588333 0.11057856] [ 0. 0. 0. 1. ]] SLAMing on 12.019928851 meters Centerline goodness : 0.800810 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.06, Z:0.11 [[ 0.95361558 -0.25040378 -0.16707862 1.24412515] [ 0.2574378 0.96605558 0.02150319 -0.05962445] [ 0.15602275 -0.06351813 0.98570906 0.11082822] [ 0. 0. 0. 1. ]] SLAMing on 12.079928850999998 meters Centerline goodness : 0.803531 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.06, Z:0.11 [[ 0.95351664 -0.25040252 -0.16764428 1.24511392] [ 0.2576186 0.9659866 0.02241734 -0.06158696] [ 0.15632877 -0.06456359 0.98559264 0.11152895] [ 0. 0. 0. 1. ]] SLAMing on 12.139928850999999 meters Centerline goodness : 0.806943 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.06, Z:0.11 [[ 0.95358918 -0.24996755 -0.16788061 1.24583672] [ 0.2573522 0.96603391 0.0234163 -0.06401182] [ 0.15632504 -0.06553397 0.98552919 0.11180758] [ 0. 0. 0. 1. ]] SLAMing on 12.199928851 meters Centerline goodness : 0.807732 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.06, Z:0.11 [[ 0.95359868 -0.24974156 -0.16816275 1.24673827] [ 0.25720502 0.96606345 0.0238113 -0.06465777] [ 0.15650922 -0.06595873 0.98547162 0.11155268] [ 0. 0. 0. 1. ]] SLAMing on 12.259928851 meters Centerline goodness : 0.804082 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:0.11 [[ 0.95359805 -0.24936622 -0.16872239 1.2483563 ] [ 0.25698455 0.96610298 0.02457594 -0.06569495] [ 0.15687479 -0.06679461 0.98535718 0.11120996] [ 0. 0. 0. 1. ]] SLAMing on 12.319928850999998 meters Centerline goodness : 0.805923 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:0.11 [[ 0.95352991 -0.24956198 -0.16881801 1.24893771] [ 0.25720363 0.9660424 0.02466506 -0.06652079] [ 0.15692989 -0.06693948 0.98533858 0.11117408] [ 0. 0. 0. 1. ]] SLAMing on 12.379928850999999 meters Centerline goodness : 0.806454 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:0.12 [[ 0.95311496 -0.24483533 -0.17784129 1.24599401] [ 0.25274344 0.96726215 0.02290586 -0.07221375] [ 0.16641099 -0.06678014 0.98379256 0.11584032] [ 0. 0. 0. 1. ]] SLAMing on 12.439928851 meters Centerline goodness : 0.806098 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:0.12 [[ 0.95303106 -0.24474614 -0.17841279 1.24684292] [ 0.25282585 0.96722166 0.02369291 -0.07295658] [ 0.16676597 -0.06768745 0.98367043 0.11639265] [ 0. 0. 0. 1. ]] SLAMing on 12.499928851 meters Centerline goodness : 0.807921 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:0.12 [[ 0.95320335 -0.24416 -0.17829548 1.24660177] [ 0.25227713 0.96735702 0.02401359 -0.07349812] [ 0.16661222 -0.0678697 0.98368393 0.11638132] [ 0. 0. 0. 1. ]] SLAMing on 12.559928850999999 meters Centerline goodness : 0.810874 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95319573 -0.2437335 -0.17891864 1.24874145] [ 0.25204965 0.96739222 0.02496531 -0.07500643] [ 0.16699962 -0.06889321 0.98354708 0.11570309] [ 0. 0. 0. 1. ]] SLAMing on 12.619928851 meters Centerline goodness : 0.812119 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95326712 -0.24316609 -0.17930996 1.24958171] [ 0.25167539 0.96746275 0.0259871 -0.07658418] [ 0.16715652 -0.06990055 0.98344934 0.11583408] [ 0. 0. 0. 1. ]] SLAMing on 12.679928851 meters Centerline goodness : 0.803204 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95362902 -0.24175731 -0.17929055 1.24917172] [ 0.25044799 0.96774827 0.02718637 -0.07814823] [ 0.16693561 -0.07082867 0.98342046 0.11604587] [ 0. 0. 0. 1. ]] SLAMing on 12.739928850999998 meters Centerline goodness : 0.809251 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95361988 -0.24181718 -0.17925841 1.24896956] [ 0.25048725 0.96774127 0.02707351 -0.07830635] [ 0.16692892 -0.07071978 0.98342943 0.11629885] [ 0. 0. 0. 1. ]] SLAMing on 12.799928850999999 meters Centerline goodness : 0.811331 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95360495 -0.24159143 -0.17964182 1.25081072] [ 0.25036826 0.96775843 0.02755628 -0.07931859] [ 0.16719252 -0.07125441 0.98334606 0.1154724 ] [ 0. 0. 0. 1. ]] SLAMing on 12.859928851 meters Centerline goodness : 0.808762 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95374944 -0.24104877 -0.17960371 1.25083902] [ 0.24988703 0.9678706 0.02798156 -0.08047951] [ 0.16708823 -0.07156803 0.98334101 0.1154875 ] [ 0. 0. 0. 1. ]] SLAMing on 12.919928851 meters Centerline goodness : 0.810424 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95379754 -0.24089786 -0.17955077 1.25037443] [ 0.24980309 0.96787973 0.02841212 -0.08170541] [ 0.16693913 -0.07195175 0.98333833 0.11614597] [ 0. 0. 0. 1. ]] SLAMing on 12.979928850999999 meters Centerline goodness : 0.804408 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:0.12 [[ 0.95367235 -0.24101961 -0.18005163 1.25184819] [ 0.25014239 0.96776072 0.02946142 -0.08436394] [ 0.16714612 -0.07313508 0.98321586 0.11640124] [ 0. 0. 0. 1. ]] SLAMing on 13.039928850999999 meters Centerline goodness : 0.814048 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95366169 -0.24077941 -0.18042911 1.25290983] [ 0.25006337 0.96775646 0.03026133 -0.08583035] [ 0.16732513 -0.07397778 0.98312237 0.1163802 ] [ 0. 0. 0. 1. ]] SLAMing on 13.099928851 meters Centerline goodness : 0.814249 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95371079 -0.24044716 -0.18061252 1.25358761] [ 0.24978064 0.96782202 0.03049862 -0.08600037] [ 0.16746747 -0.07420037 0.98308135 0.11605573] [ 0. 0. 0. 1. ]] SLAMing on 13.159928850999998 meters Centerline goodness : 0.819333 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95377041 -0.24008523 -0.18077912 1.25371474] [ 0.24954658 0.96785987 0.03120539 -0.08695096] [ 0.1674769 -0.07487559 0.98302855 0.11634466] [ 0. 0. 0. 1. ]] SLAMing on 13.219928850999999 meters Centerline goodness : 0.808937 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95369209 -0.2402284 -0.18100198 1.25407457] [ 0.24982699 0.96776498 0.03189685 -0.08867331] [ 0.16750485 -0.07563895 0.98296535 0.11684871] [ 0. 0. 0. 1. ]] SLAMing on 13.279928851 meters Centerline goodness : 0.817307 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95348632 -0.24079489 -0.18133299 1.25478726] [ 0.2504697 0.96759071 0.0321427 -0.0898325 ] [ 0.16771632 -0.07606604 0.98289633 0.11738244] [ 0. 0. 0. 1. ]] SLAMing on 13.339928851 meters Centerline goodness : 0.816069 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:0.12 [[ 0.95352693 -0.24022985 -0.18186814 1.25617828] [ 0.25011817 0.96764614 0.03319397 -0.09127491] [ 0.16800982 -0.07713987 0.9827625 0.11728558] [ 0. 0. 0. 1. ]] SLAMing on 13.399928850999999 meters Centerline goodness : 0.818557 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:0.12 [[ 0.95377596 -0.23962725 -0.18135656 1.25507282] [ 0.24949277 0.96780218 0.03335101 -0.09193277] [ 0.16752547 -0.07705654 0.98285172 0.11729347] [ 0. 0. 0. 1. ]] SLAMing on 13.459928850999999 meters Centerline goodness : 0.813069 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:0.12 [[ 0.95399447 -0.23873605 -0.18138261 1.25506929] [ 0.24872417 0.96797267 0.03413507 -0.09320912] [ 0.16742414 -0.07767891 0.98282 0.117384 ] [ 0. 0. 0. 1. ]] SLAMing on 13.519928851 meters Centerline goodness : 0.820205 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:0.12 [[ 0.95424851 -0.2380431 -0.18095653 1.25513037] [ 0.24797974 0.96816515 0.0340925 -0.09409727] [ 0.16708032 -0.07740627 0.98290001 0.11645626] [ 0. 0. 0. 1. ]] SLAMing on 13.579928850999998 meters Centerline goodness : 0.824532 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95457785 -0.23696941 -0.18062844 1.2545006 ] [ 0.24690817 0.96842983 0.03435131 -0.09470612] [ 0.16678577 -0.07738964 0.98295135 0.11622188] [ 0. 0. 0. 1. ]] SLAMing on 13.639928850999999 meters Centerline goodness : 0.819557 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.12 [[ 0.95531734 -0.23445639 -0.17999718 1.25278865] [ 0.24442972 0.96903271 0.03506743 -0.09472899] [ 0.16620137 -0.07749718 0.98304186 0.11582437] [ 0. 0. 0. 1. ]] SLAMing on 13.699928851 meters Centerline goodness : 0.819719 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95547716 -0.23421206 -0.17946619 1.25252048] [ 0.24409237 0.96912781 0.03478801 -0.09581772] [ 0.1657779 -0.07704548 0.98314886 0.11521037] [ 0. 0. 0. 1. ]] SLAMing on 13.759928851 meters Centerline goodness : 0.822911 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95564921 -0.23340471 -0.17960186 1.25292843] [ 0.2434829 0.96923813 0.03596563 -0.09781439] [ 0.16568243 -0.0781005 0.98308171 0.1152838 ] [ 0. 0. 0. 1. ]] SLAMing on 13.819928850999998 meters Centerline goodness : 0.817861 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95558254 -0.2335019 -0.17983011 1.25290274] [ 0.24373007 0.96914705 0.03673755 -0.09902041] [ 0.16570354 -0.07893577 0.98301144 0.11616723] [ 0. 0. 0. 1. ]] SLAMing on 13.879928850999999 meters Centerline goodness : 0.812700 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95489789 -0.23716649 -0.1786675 1.25225336] [ 0.24675699 0.96850888 0.03318945 -0.09951023] [ 0.16516963 -0.07577999 0.98334957 0.11633067] [ 0. 0. 0. 1. ]] SLAMing on 13.939928851 meters Centerline goodness : 0.811999 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95419928 -0.24040782 -0.17806689 1.25307499] [ 0.2496115 0.96785341 0.03088493 -0.10145898] [ 0.16491766 -0.07391792 0.98353358 0.11641464] [ 0. 0. 0. 1. ]] SLAMing on 13.999928850999998 meters Centerline goodness : 0.815047 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95412101 -0.24060558 -0.1782191 1.25281777] [ 0.24994896 0.96774219 0.03163176 -0.10302175] [ 0.16485937 -0.07472621 0.98348227 0.1174775 ] [ 0. 0. 0. 1. ]] SLAMing on 14.059928850999999 meters Centerline goodness : 0.813606 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95414759 -0.24026887 -0.17853079 1.2532358 ] [ 0.24975187 0.96776937 0.03234899 -0.10400632] [ 0.16500417 -0.07545411 0.98340241 0.11787983] [ 0. 0. 0. 1. ]] SLAMing on 14.119928851 meters Centerline goodness : 0.814931 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.12 [[ 0.95401488 -0.24050102 -0.17892699 1.25473705] [ 0.25005884 0.96768199 0.03259065 -0.10490131] [ 0.16530634 -0.07583424 0.98332242 0.11759855] [ 0. 0. 0. 1. ]] SLAMing on 14.179928851 meters Centerline goodness : 0.817579 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95322416 -0.24431059 -0.17797762 1.25595012] [ 0.25333268 0.96692906 0.0295083 -0.10731973] [ 0.16488254 -0.07321557 0.983592 0.11696221] [ 0. 0. 0. 1. ]] SLAMing on 14.239928850999998 meters Centerline goodness : 0.817109 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95309484 -0.2444732 -0.17844629 1.25585701] [ 0.25371791 0.96679383 0.03060896 -0.10886502] [ 0.1650377 -0.07444826 0.98347344 0.11854264] [ 0. 0. 0. 1. ]] SLAMing on 14.299928850999999 meters Centerline goodness : 0.817914 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95313467 -0.24401524 -0.17885987 1.25703527] [ 0.25344096 0.96683668 0.03153576 -0.11011189] [ 0.16523308 -0.07538824 0.98336903 0.11840093] [ 0. 0. 0. 1. ]] SLAMing on 14.359928851 meters Centerline goodness : 0.814664 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.9530559 -0.24400699 -0.17929035 1.25851951] [ 0.25350739 0.96681124 0.0317809 -0.11077372] [ 0.16558516 -0.0757404 0.98328274 0.11800103] [ 0. 0. 0. 1. ]] SLAMing on 14.419928850999998 meters Centerline goodness : 0.810372 with order 2 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95292403 -0.24418601 -0.179747 1.25885672] [ 0.25375845 0.96673879 0.03198071 -0.10987559] [ 0.16595915 -0.07608751 0.98319289 0.11846934] [ 0. 0. 0. 1. ]] SLAMing on 14.479928850999999 meters Centerline goodness : 0.815943 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95343046 -0.2426495 -0.17914121 1.25829284] [ 0.25223114 0.9671228 0.03244921 -0.11099959] [ 0.16537776 -0.07612306 0.98328809 0.11748464] [ 0. 0. 0. 1. ]] SLAMing on 14.539928850999999 meters Centerline goodness : 0.813910 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.9534833 -0.24250776 -0.1790519 1.2584247 ] [ 0.25204733 0.96717729 0.03225277 -0.11051642] [ 0.16535339 -0.07588203 0.98331082 0.11703229] [ 0. 0. 0. 1. ]] SLAMing on 14.599928851 meters Centerline goodness : 0.813094 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95380491 -0.24016266 -0.18049404 1.25828679] [ 0.25044664 0.96745399 0.03618357 -0.11120364] [ 0.16592974 -0.07971619 0.9829103 0.11903783] [ 0. 0. 0. 1. ]] SLAMing on 14.659928850999998 meters Centerline goodness : 0.811299 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95385219 -0.23993223 -0.18055062 1.25898962] [ 0.25030237 0.96747242 0.03668583 -0.11288391] [ 0.16587563 -0.08018511 0.98288129 0.11887517] [ 0. 0. 0. 1. ]] SLAMing on 14.719928850999999 meters Centerline goodness : 0.808834 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95307408 -0.24349654 -0.17988671 1.25991358] [ 0.25334801 0.96679053 0.03362824 -0.11334357] [ 0.16572441 -0.07762414 0.98311236 0.11845641] [ 0. 0. 0. 1. ]] SLAMing on 14.779928851 meters Centerline goodness : 0.811728 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:0.12 [[ 0.95250765 -0.24509085 -0.1807198 1.26073538] [ 0.25510605 0.96631287 0.03406387 -0.11399681] [ 0.16628313 -0.07854881 0.98294456 0.12015116] [ 0. 0. 0. 1. ]] SLAMing on 14.839928851 meters Centerline goodness : 0.811733 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:0.12 [[ 0.9517811 -0.24838427 -0.18004996 1.26185951] [ 0.25798593 0.96563008 0.0316513 -0.11658918] [ 0.16599998 -0.07657547 0.98314811 0.12002073] [ 0. 0. 0. 1. ]] SLAMing on 14.899928850999999 meters Centerline goodness : 0.811226 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:0.12 [[ 0.95152355 -0.24879515 -0.18084222 1.26362165] [ 0.25863425 0.96542349 0.03264667 -0.11854009] [ 0.16646699 -0.07783607 0.98297014 0.12059835] [ 0. 0. 0. 1. ]] SLAMing on 14.959928850999999 meters Centerline goodness : 0.815627 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:0.12 [[ 0.95111364 -0.24969533 -0.18175558 1.2647001 ] [ 0.25981107 0.96506905 0.03376301 -0.12045089] [ 0.16697622 -0.07933458 0.98276394 0.12227619] [ 0. 0. 0. 1. ]] SLAMing on 15.019928851 meters Centerline goodness : 0.811045 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.12, Z:0.12 [[ 0.95096527 -0.24978417 -0.18240868 1.26596154] [ 0.26010025 0.96496091 0.03461645 -0.12170463] [ 0.16737061 -0.08036359 0.98261324 0.12273654] [ 0. 0. 0. 1. ]] SLAMing on 15.079928850999998 meters Centerline goodness : 0.815600 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.12, Z:0.12 [[ 0.9507754 -0.25013943 -0.18291094 1.2679373 ] [ 0.26066194 0.96477537 0.03555061 -0.12435046] [ 0.16757536 -0.08147857 0.98248651 0.12251978] [ 0. 0. 0. 1. ]] SLAMing on 15.139928850999999 meters Centerline goodness : 0.813193 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95051402 -0.25063685 -0.18358724 1.26898748] [ 0.26134071 0.96456628 0.03623429 -0.12533195] [ 0.16800042 -0.08242002 0.98233538 0.12333777] [ 0. 0. 0. 1. ]] SLAMing on 15.199928851 meters Centerline goodness : 0.815165 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95022401 -0.25118642 -0.18433586 1.27071089] [ 0.26206025 0.96434943 0.0368049 -0.12623827] [ 0.16851929 -0.08328001 0.98217396 0.12357247] [ 0. 0. 0. 1. ]] SLAMing on 15.259928851 meters Centerline goodness : 0.812356 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95021604 -0.25103787 -0.18457917 1.27197835] [ 0.26195667 0.96437173 0.03695764 -0.1269864 ] [ 0.16872516 -0.08346949 0.98212253 0.12300724] [ 0. 0. 0. 1. ]] SLAMing on 15.319928850999998 meters Centerline goodness : 0.817051 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95048075 -0.25002314 -0.18459352 1.27127633] [ 0.26102483 0.96460263 0.0375208 -0.12672618] [ 0.16867832 -0.08384629 0.98209848 0.12338546] [ 0. 0. 0. 1. ]] SLAMing on 15.379928850999999 meters Centerline goodness : 0.817390 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95052704 -0.24953412 -0.18501638 1.27242964] [ 0.26060565 0.96470679 0.03775589 -0.12627645] [ 0.16906518 -0.0841043 0.98200989 0.12288826] [ 0. 0. 0. 1. ]] SLAMing on 15.439928851 meters Centerline goodness : 0.806654 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95053179 -0.24920037 -0.18544136 1.27400936] [ 0.26041735 0.96473167 0.03841365 -0.12763666] [ 0.16932845 -0.08480554 0.98190422 0.12241456] [ 0. 0. 0. 1. ]] SLAMing on 15.499928850999998 meters Centerline goodness : 0.803173 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.94978318 -0.25270314 -0.18453462 1.27351581] [ 0.26332629 0.96406752 0.03511528 -0.12728294] [ 0.16903009 -0.08194471 0.9821985 0.12279849] [ 0. 0. 0. 1. ]] SLAMing on 15.559928850999999 meters Centerline goodness : 0.809555 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.13, Z:0.12 [[ 0.94958996 -0.25286975 -0.18529921 1.27501516] [ 0.26369115 0.96393989 0.03587294 -0.12850171] [ 0.16954612 -0.08292635 0.98202716 0.12331977] [ 0. 0. 0. 1. ]] SLAMing on 15.619928851 meters Centerline goodness : 0.810535 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.13, Z:0.12 [[ 0.94949122 -0.25280547 -0.18589193 1.27661191] [ 0.26388349 0.96384206 0.03706729 -0.13115365] [ 0.16979964 -0.08424888 0.98187077 0.12364338] [ 0. 0. 0. 1. ]] SLAMing on 15.679928851 meters Centerline goodness : 0.807759 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.13, Z:0.12 [[ 0.9494135 -0.25266669 -0.18647665 1.27796953] [ 0.26390273 0.96381239 0.03769652 -0.13192872] [ 0.17020386 -0.08500128 0.98173593 0.1237108 ] [ 0. 0. 0. 1. ]] SLAMing on 15.739928850999998 meters Centerline goodness : 0.805171 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.13, Z:0.12 [[ 0.94959868 -0.25185757 -0.18662826 1.27787764] [ 0.26326662 0.96394706 0.03868794 -0.13320264] [ 0.17015591 -0.08587101 0.98166855 0.1241633 ] [ 0. 0. 0. 1. ]] SLAMing on 15.799928850999999 meters Centerline goodness : 0.806469 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.9497548 -0.2511038 -0.18684941 1.27896605] [ 0.26268649 0.96406658 0.03964137 -0.13533728] [ 0.17018117 -0.0867324 0.98158844 0.12383786] [ 0. 0. 0. 1. ]] SLAMing on 15.859928851 meters Centerline goodness : 0.809328 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.94982239 -0.25054357 -0.18725742 1.28026228] [ 0.26232021 0.96412659 0.04059592 -0.13699424] [ 0.17036881 -0.08768032 0.98147167 0.12359517] [ 0. 0. 0. 1. ]] SLAMing on 15.919928850999998 meters Centerline goodness : 0.808131 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95010553 -0.2494215 -0.18731895 1.28042033] [ 0.26127302 0.96438987 0.04109233 -0.13707323] [ 0.17039919 -0.08798344 0.98143927 0.1232616 ] [ 0. 0. 0. 1. ]] SLAMing on 15.979928850999999 meters Centerline goodness : 0.810539 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95038797 -0.24835378 -0.18730486 1.28082437] [ 0.26029146 0.96462969 0.04168844 -0.13797494] [ 0.17032634 -0.08837405 0.98141682 0.12270418] [ 0. 0. 0. 1. ]] SLAMing on 16.039928851 meters Centerline goodness : 0.808300 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95103509 -0.24630017 -0.18673103 1.27993372] [ 0.25828393 0.96513665 0.0424341 -0.13933371] [ 0.16976944 -0.08858594 0.9814942 0.12205352] [ 0. 0. 0. 1. ]] SLAMing on 16.099928850999998 meters Centerline goodness : 0.811588 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95142842 -0.24489466 -0.18657591 1.27944511] [ 0.25694538 0.96546777 0.04302398 -0.13952319] [ 0.16959669 -0.08887406 0.98149802 0.12180003] [ 0. 0. 0. 1. ]] SLAMing on 16.159928851 meters Centerline goodness : 0.808313 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95177425 -0.24358545 -0.18652589 1.27955542] [ 0.25563824 0.96580799 0.0431743 -0.13882028] [ 0.16963157 -0.08877534 0.98150093 0.12096661] [ 0. 0. 0. 1. ]] SLAMing on 16.219928851 meters Centerline goodness : 0.809370 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95285158 -0.23876547 -0.1872563 1.28045673] [ 0.25155942 0.96667684 0.04747362 -0.14146012] [ 0.16968127 -0.0923414 0.98116325 0.12007537] [ 0. 0. 0. 1. ]] SLAMing on 16.279928850999998 meters Centerline goodness : 0.809791 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95336586 -0.23706372 -0.18680024 1.27991059] [ 0.24989535 0.96707807 0.0480865 -0.14260066] [ 0.16925086 -0.09252454 0.98122034 0.11936865] [ 0. 0. 0. 1. ]] SLAMing on 16.339928851 meters Centerline goodness : 0.811394 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95431657 -0.23277851 -0.18733406 1.27835344] [ 0.24617364 0.9678615 0.05140668 -0.1422648 ] [ 0.16934706 -0.09517496 0.9809502 0.11997359] [ 0. 0. 0. 1. ]] SLAMing on 16.399928851 meters Centerline goodness : 0.809548 with order 2 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95487386 -0.23138542 -0.18621683 1.27680252] [ 0.24450676 0.96832826 0.05056512 -0.14176109] [ 0.16861899 -0.09381459 0.98120663 0.11844893] [ 0. 0. 0. 1. ]] SLAMing on 16.459928850999997 meters Centerline goodness : 0.813850 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95485226 -0.23160372 -0.18605613 1.27662526] [ 0.24458835 0.96834514 0.04984198 -0.1408867 ] [ 0.16862297 -0.09309889 0.98127412 0.11816965] [ 0. 0. 0. 1. ]] SLAMing on 16.519928851 meters Centerline goodness : 0.812950 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95447806 -0.23388457 -0.18512062 1.27551975] [ 0.24641256 0.9679998 0.04751042 -0.14181876] [ 0.16808477 -0.0909637 0.98156666 0.11877941] [ 0. 0. 0. 1. ]] SLAMing on 16.579928851 meters Centerline goodness : 0.812730 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95440062 -0.23389489 -0.18550641 1.2757813 ] [ 0.24662214 0.96789936 0.04845984 -0.14313326] [ 0.16821703 -0.09200009 0.98144741 0.11972639] [ 0. 0. 0. 1. ]] SLAMing on 16.639928851 meters Centerline goodness : 0.814348 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95412816 -0.23487331 -0.1856717 1.27641286] [ 0.24752345 0.9677002 0.04783793 -0.14260432] [ 0.16843869 -0.09160162 0.98144666 0.11967712] [ 0. 0. 0. 1. ]] SLAMing on 16.699928851 meters Centerline goodness : 0.812626 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95402357 -0.23485425 -0.18623243 1.27734527] [ 0.24754019 0.96770081 0.04773887 -0.14114882] [ 0.1690056 -0.09164402 0.98134524 0.11956985] [ 0. 0. 0. 1. ]] SLAMing on 16.759928850999998 meters Centerline goodness : 0.810607 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95410917 -0.23482311 -0.18583273 1.2756326 ] [ 0.24734416 0.96778698 0.04700239 -0.13913183] [ 0.16880925 -0.09081005 0.98145656 0.11988136] [ 0. 0. 0. 1. ]] SLAMing on 16.819928851 meters Centerline goodness : 0.810210 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.12 [[ 0.95418234 -0.23472583 -0.18557976 1.27507844] [ 0.24705678 0.96790652 0.04604248 -0.1374099 ] [ 0.1688165 -0.08978166 0.98154992 0.11942269] [ 0. 0. 0. 1. ]] SLAMing on 16.879928851 meters Centerline goodness : 0.812923 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95491014 -0.23127524 -0.18616765 1.27273616] [ 0.24399669 0.96857361 0.04827805 -0.13390445] [ 0.16915156 -0.09152549 0.98133115 0.12042681] [ 0. 0. 0. 1. ]] SLAMing on 16.939928850999998 meters Centerline goodness : 0.816962 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95499322 -0.2311144 -0.18594108 1.27215339] [ 0.24363466 0.96871553 0.04724795 -0.13136211] [ 0.16920433 -0.09042316 0.98142424 0.11981415] [ 0. 0. 0. 1. ]] SLAMing on 16.999928851 meters Centerline goodness : 0.817324 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95458637 -0.23263253 -0.18613696 1.27177784] [ 0.24494909 0.96845189 0.04583535 -0.1284521 ] [ 0.1696019 -0.08934788 0.9814541 0.12041384] [ 0. 0. 0. 1. ]] SLAMing on 17.059928851 meters Centerline goodness : 0.817191 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95426261 -0.23356141 -0.18663316 1.27164498] [ 0.24591391 0.96821376 0.0456997 -0.12685258] [ 0.17002711 -0.0895052 0.98136619 0.12150953] [ 0. 0. 0. 1. ]] SLAMing on 17.119928850999997 meters Centerline goodness : 0.814433 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.13, Z:0.12 [[ 0.95364132 -0.23527273 -0.18765653 1.27257181] [ 0.2477611 0.96773846 0.04578981 -0.12557458] [ 0.17082935 -0.09016105 0.98116682 0.123029 ] [ 0. 0. 0. 1. ]] SLAMing on 17.179928851 meters Centerline goodness : 0.805075 with order 2 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.12, Z:0.12 [[ 0.95307226 -0.23682579 -0.18859166 1.27411702] [ 0.249294 0.96737978 0.0450429 -0.1225581 ] [ 0.17177244 -0.08994391 0.98102208 0.12324458] [ 0. 0. 0. 1. ]] SLAMing on 17.239928851 meters Centerline goodness : 0.809852 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.12, Z:0.12 [[ 0.95243877 -0.23884676 -0.1892422 1.27528744] [ 0.25107221 0.9670064 0.04314346 -0.11792474] [ 0.17269374 -0.08860496 0.98098218 0.12298854] [ 0. 0. 0. 1. ]] SLAMing on 17.299928851 meters Centerline goodness : 0.802277 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.11, Z:0.13 [[ 0.95199791 -0.24026674 -0.1896625 1.27334207] [ 0.25232197 0.96673849 0.04183685 -0.11335946] [ 0.17330204 -0.08768461 0.9809576 0.12513234] [ 0. 0. 0. 1. ]] SLAMing on 17.359928851 meters Centerline goodness : 0.809522 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.11, Z:0.13 [[ 0.95176571 -0.24086723 -0.1900658 1.27238597] [ 0.2528352 0.96663665 0.0410846 -0.10978754] [ 0.17382863 -0.08715824 0.98091134 0.12617935] [ 0. 0. 0. 1. ]] SLAMing on 17.419928850999998 meters Centerline goodness : 0.811772 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.10, Z:0.13 [[ 0.95161306 -0.24128049 -0.19030583 1.27166269] [ 0.25302924 0.96664408 0.03969173 -0.10467675] [ 0.17438117 -0.08592411 0.98092215 0.12618059] [ 0. 0. 0. 1. ]] SLAMing on 17.479928851 meters Centerline goodness : 0.812967 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.10, Z:0.13 [[ 0.95139025 -0.24193168 -0.19059288 1.27136626] [ 0.25344371 0.9665971 0.03816201 -0.10009605] [ 0.17499392 -0.08461153 0.98092712 0.1261849 ] [ 0. 0. 0. 1. ]] SLAMing on 17.539928851 meters Centerline goodness : 0.801249 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.10, Z:0.13 [[ 0.95170515 -0.23981925 -0.19168735 1.27076582] [ 0.25168302 0.96699196 0.03977693 -0.09607754] [ 0.17582085 -0.08610036 0.98064966 0.12681275] [ 0. 0. 0. 1. ]] SLAMing on 17.599928850999998 meters Centerline goodness : 0.819063 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.09, Z:0.13 [[ 0.9518315 -0.23942562 -0.19155199 1.26981834] [ 0.25110182 0.96718139 0.03883343 -0.09232314] [ 0.1759678 -0.08506193 0.98071392 0.12643417] [ 0. 0. 0. 1. ]] SLAMing on 17.659928851 meters Centerline goodness : 0.804967 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.09, Z:0.13 [[ 0.95255265 -0.23590398 -0.19233501 1.26864807] [ 0.24789915 0.96793737 0.04053712 -0.08710624] [ 0.17660538 -0.08629342 0.98049171 0.12624928] [ 0. 0. 0. 1. ]] SLAMing on 17.719928851 meters Centerline goodness : 0.819545 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.08, Z:0.13 [[ 0.95340977 -0.23185316 -0.19301273 1.26776617] [ 0.24420221 0.96879157 0.04252252 -0.08241051] [ 0.17713012 -0.08767552 0.98027441 0.12550015] [ 0. 0. 0. 1. ]] SLAMing on 17.779928850999998 meters Centerline goodness : 0.817292 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.08, Z:0.13 [[ 0.95374498 -0.23112658 -0.19222648 1.26529916] [ 0.24313382 0.96912224 0.04108563 -0.07840047] [ 0.17679497 -0.08592197 0.98049016 0.12520136] [ 0. 0. 0. 1. ]] SLAMing on 17.839928851 meters Centerline goodness : 0.816976 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.08, Z:0.13 [[ 0.95387014 -0.23106416 -0.19167969 1.2634336 ] [ 0.2427694 0.96927203 0.03968317 -0.07529118] [ 0.1766204 -0.08438656 0.98065496 0.12511943] [ 0. 0. 0. 1. ]] SLAMing on 17.899928851 meters Centerline goodness : 0.816055 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:0.12 [[ 0.95405475 -0.23028039 -0.19170413 1.26271295] [ 0.2419157 0.96949889 0.03935354 -0.07265361] [ 0.17679459 -0.08392167 0.98066346 0.12499207] [ 0. 0. 0. 1. ]] SLAMing on 17.959928850999997 meters Centerline goodness : 0.818811 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:0.13 [[ 0.95419123 -0.2299941 -0.19136825 1.26106349] [ 0.24143556 0.96965423 0.03846478 -0.06979925] [ 0.17671436 -0.08290585 0.98076432 0.12509649] [ 0. 0. 0. 1. ]] SLAMing on 18.019928851 meters Centerline goodness : 0.804473 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:0.12 [[ 0.95449094 -0.22939268 -0.19059395 1.25926015] [ 0.24047495 0.96995413 0.03688879 -0.06661609] [ 0.17640537 -0.08104309 0.98097562 0.12437969] [ 0. 0. 0. 1. ]] SLAMing on 18.079928851 meters Centerline goodness : 0.815666 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:0.12 [[ 0.95475748 -0.22866441 -0.19013348 1.25792272] [ 0.23949646 0.97023788 0.03577571 -0.06383094] [ 0.17629407 -0.07969343 0.98110619 0.12389982] [ 0. 0. 0. 1. ]] SLAMing on 18.139928851 meters Centerline goodness : 0.816680 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:0.12 [[ 0.95595974 -0.223896 -0.18976714 1.25567207] [ 0.23492764 0.97128979 0.03748524 -0.06068955] [ 0.17592609 -0.08041593 0.98111329 0.12271543] [ 0. 0. 0. 1. ]] SLAMing on 18.199928851 meters Centerline goodness : 0.814137 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:0.12 [[ 0.95806537 -0.22499724 -0.17744573 1.25518199] [ 0.23504629 0.97125947 0.03752703 -0.05378916] [ 0.16390237 -0.07766131 0.98341483 0.1175663 ] [ 0. 0. 0. 1. ]] SLAMing on 18.259928850999998 meters Centerline goodness : 0.801780 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.05, Z:0.12 [[ 0.96011967 -0.21753945 -0.1756326 1.25012006] [ 0.22757199 0.97298351 0.03891104 -0.05008678] [ 0.16242294 -0.07732832 0.9836865 0.11575208] [ 0. 0. 0. 1. ]] SLAMing on 18.319928851 meters Centerline goodness : 0.820690 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.05, Z:0.11 [[ 0.96074708 -0.21568574 -0.17448415 1.2483699 ] [ 0.22536808 0.97355235 0.03748403 -0.04784794] [ 0.16178468 -0.07533583 0.98394625 0.11411406] [ 0. 0. 0. 1. ]] SLAMing on 18.379928851 meters Centerline goodness : 0.815603 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.04, Z:0.11 [[ 0.96265579 -0.21711596 -0.16172353 1.24556837] [ 0.22540992 0.97364903 0.03461106 -0.03975052] [ 0.14994735 -0.06977263 0.98622897 0.10977216] [ 0. 0. 0. 1. ]] SLAMing on 18.439928850999998 meters Centerline goodness : 0.834754 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.04, Z:0.11 [[ 0.96367407 -0.21248991 -0.16180338 1.24411459] [ 0.22115404 0.97452324 0.03735433 -0.03861977] [ 0.14974374 -0.07178087 0.98611577 0.10928828] [ 0. 0. 0. 1. ]] SLAMing on 18.499928851 meters Centerline goodness : 0.826846 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.04, Z:0.11 [[ 0.96437676 -0.21040762 -0.16033123 1.24081497] [ 0.2187402 0.97511795 0.03602363 -0.03579045] [ 0.14876222 -0.06981124 0.98640569 0.10846096] [ 0. 0. 0. 1. ]] SLAMing on 18.559928851 meters Centerline goodness : 0.826880 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:0.11 [[ 0.96451067 -0.21016792 -0.15983932 1.23992361] [ 0.21831298 0.97524994 0.03502857 -0.03422365] [ 0.14852141 -0.06868043 0.98652136 0.10798696] [ 0. 0. 0. 1. ]] SLAMing on 18.619928850999997 meters Centerline goodness : 0.833720 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:0.11 [[ 0.96470956 -0.20938033 -0.15967259 1.23826374] [ 0.2174915 0.97543666 0.03493949 -0.03230234] [ 0.14843485 -0.06843389 0.98655152 0.10866133] [ 0. 0. 0. 1. ]] SLAMing on 18.679928851 meters Centerline goodness : 0.829663 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:0.11 [[ 0.96444829 -0.21050289 -0.15977496 1.23841843] [ 0.21841887 0.97527948 0.03351313 -0.02965073] [ 0.14877063 -0.06721954 0.98658443 0.10852878] [ 0. 0. 0. 1. ]] SLAMing on 18.739928851 meters Centerline goodness : 0.825246 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:0.11 [[ 0.96446796 -0.21051101 -0.15964544 1.23737108] [ 0.21839922 0.9752882 0.03338741 -0.02871076] [ 0.1486719 -0.06706752 0.98660966 0.1090659 ] [ 0. 0. 0. 1. ]] SLAMing on 18.799928850999997 meters Centerline goodness : 0.827438 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:0.11 [[ 0.96442234 -0.21088334 -0.15942949 1.23622952] [ 0.2186943 0.97523712 0.032945 -0.02766745] [ 0.148534 -0.06663922 0.98665945 0.10964495] [ 0. 0. 0. 1. ]] SLAMing on 18.859928851 meters Centerline goodness : 0.826792 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:0.11 [[ 0.96416297 -0.21184813 -0.15971892 1.2363524 ] [ 0.21955709 0.97507254 0.03206584 -0.02594276] [ 0.14894445 -0.06598411 0.9866416 0.11017512] [ 0. 0. 0. 1. ]] SLAMing on 18.919928850999998 meters Centerline goodness : 0.830712 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:0.11 [[ 0.96365619 -0.21517705 -0.15832112 1.23438753] [ 0.22217609 0.97461271 0.02771001 -0.02381569] [ 0.14833922 -0.06187809 0.98699877 0.11049371] [ 0. 0. 0. 1. ]] SLAMing on 18.979928851 meters Centerline goodness : 0.831037 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:0.11 [[ 0.96280648 -0.21974896 -0.15720714 1.23270104] [ 0.22593804 0.97388363 0.02242068 -0.01905745] [ 0.14817454 -0.05710585 0.98731111 0.11203451] [ 0. 0. 0. 1. ]] SLAMing on 19.039928851 meters Centerline goodness : 0.802260 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:0.11 [[ 0.96186407 -0.22429423 -0.15655548 1.23310693] [ 0.22960707 0.97314385 0.0164813 -0.01446226] [ 0.14865434 -0.05179901 0.98753164 0.11360307] [ 0. 0. 0. 1. ]] SLAMing on 19.099928850999998 meters Centerline goodness : 0.827719 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:0.11 [[ 0.96167878 -0.22526578 -0.15629859 1.23222058] [ 0.23039495 0.97297731 0.01527492 -0.01171132] [ 0.14863406 -0.05069997 0.98759173 0.11382556] [ 0. 0. 0. 1. ]] SLAMing on 19.159928851 meters Centerline goodness : 0.803016 with order 2 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:0.11 [[ 0.96147861 -0.22650269 -0.15574147 1.23010017] [ 0.23132638 0.97278479 0.0133362 -0.00698318] [ 0.14848225 -0.04884958 0.98770782 0.11476894] [ 0. 0. 0. 1. ]] SLAMing on 19.219928851 meters Centerline goodness : 0.830557 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.00, Z:0.12 [[ 0.9613398 -0.22728257 -0.15546195 1.22898099] [ 0.23192569 0.97265742 0.01216583 -0.00475273] [ 0.14844614 -0.04775112 0.98776696 0.11548531] [ 0. 0. 0. 1. ]] SLAMing on 19.279928850999998 meters Centerline goodness : 0.823678 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.00, Z:0.12 [[ 0.96123569 -0.22788953 -0.15521698 1.22815311] [ 0.23235974 0.97256718 0.01104646 -0.00170425] [ 0.14844157 -0.04668443 0.98781864 0.11583427] [ 0. 0. 0. 1. ]] SLAMing on 19.339928851 meters Centerline goodness : 0.829200 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.00, Z:0.12 [[ 0.96118652 -0.22837386 -0.15480908 1.22683327] [ 0.23260711 0.97252381 0.00955887 0.0037222 ] [ 0.14837252 -0.04519755 0.98789816 0.116058 ] [ 0. 0. 0. 1. ]] SLAMing on 19.399928851 meters Centerline goodness : 0.826061 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:0.12 [[ 0.96114743 -0.22887872 -0.15430538 1.22509513] [ 0.23289696 0.97246651 0.00823965 0.00803878] [ 0.14817093 -0.04385677 0.98798885 0.11659273] [ 0. 0. 0. 1. ]] SLAMing on 19.459928850999997 meters Centerline goodness : 0.827621 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.12 [[ 0.96108781 -0.22942375 -0.15386671 1.22355521] [ 0.23327411 0.97238432 0.00720654 0.01107323] [ 0.14796422 -0.04281923 0.98806533 0.11709993] [ 0. 0. 0. 1. ]] SLAMing on 19.519928851 meters Centerline goodness : 0.807988 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:0.12 [[ 0.96095856 -0.23027671 -0.15339907 1.22178531] [ 0.23394771 0.97223019 0.00607618 0.01330061] [ 0.14774 -0.04172632 0.98814564 0.11791699] [ 0. 0. 0. 1. ]] SLAMing on 19.579928851 meters Centerline goodness : 0.828128 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.12 [[ 0.96077214 -0.23128106 -0.15305545 1.22114409] [ 0.23482785 0.97202272 0.00526355 0.01548577] [ 0.14755602 -0.04099875 0.98820358 0.11742293] [ 0. 0. 0. 1. ]] SLAMing on 19.639928851 meters Centerline goodness : 0.827856 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.12 [[ 0.96068796 -0.23174537 -0.15288145 1.2207012 ] [ 0.23520128 0.97193548 0.00466696 0.0169116 ] [ 0.14750936 -0.04044141 0.98823352 0.11748261] [ 0. 0. 0. 1. ]] SLAMing on 19.699928851 meters Centerline goodness : 0.829932 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.12 [[ 0.96055204 -0.23252589 -0.15254999 1.21936389] [ 0.23582964 0.97178746 0.00367687 0.01922621] [ 0.1473912 -0.03950764 0.98828892 0.11802919] [ 0. 0. 0. 1. ]] SLAMing on 19.759928850999998 meters Centerline goodness : 0.808709 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.12 [[ 0.96040179 -0.2333584 -0.15222438 1.21797642] [ 0.23653887 0.97161778 0.00287198 0.02035729] [ 0.14723372 -0.03876524 0.98834179 0.11876716] [ 0. 0. 0. 1. ]] SLAMing on 19.819928851 meters Centerline goodness : 0.814363 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.12 [[ 0.96028584 -0.23398296 -0.15199699 1.21705987] [ 0.23707619 0.97148834 0.00229736 0.02090561] [ 0.14712576 -0.03824099 0.98837829 0.1192551 ] [ 0. 0. 0. 1. ]] SLAMing on 19.879928851 meters Centerline goodness : 0.810647 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.12 [[ 0.96017622 -0.23467136 -0.15162775 1.21586705] [ 0.23766987 0.9713445 0.00170295 0.02131679] [ 0.14688315 -0.03767248 0.9884362 0.11979004] [ 0. 0. 0. 1. ]] SLAMing on 19.939928850999998 meters Centerline goodness : 0.831410 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 9.60041476e-01 -2.35440631e-01 -1.51288047e-01 1.21446999e+00] [ 2.38358693e-01 9.71176462e-01 1.18867425e-03 2.14007136e-02] [ 1.46647528e-01 -3.72019976e-02 9.88489006e-01 1.20505804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999928851 meters Centerline goodness : 0.810134 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 9.59905317e-01 -2.36054311e-01 -1.51195717e-01 1.21397351e+00] [ 2.38943695e-01 9.71032939e-01 9.71004232e-04 2.05053500e-02] [ 1.46586811e-01 -3.70593353e-02 9.88503370e-01 1.20937437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059928851 meters Centerline goodness : 0.808629 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 9.59757324e-01 -2.36864850e-01 -1.50867233e-01 1.21283062e+00] [ 2.39661509e-01 9.70856440e-01 3.65378240e-04 2.07589289e-02] [ 1.46383880e-01 -3.65077432e-02 9.88553966e-01 1.21521415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119928850999997 meters Centerline goodness : 0.828432 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 9.59522569e-01 -2.38077604e-01 -1.50450972e-01 1.21119020e+00] [ 2.40757784e-01 9.70585143e-01 -4.12480267e-04 2.04582306e-02] [ 1.46123681e-01 -3.58264585e-02 9.88617385e-01 1.22413970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179928851 meters Centerline goodness : 0.807685 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 9.59441778e-01 -2.38422190e-01 -1.50420522e-01 1.21129601e+00] [ 2.41077411e-01 9.70505704e-01 -6.00683862e-04 1.98542717e-02] [ 1.46127191e-01 -3.56866688e-02 9.88621923e-01 1.22439499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239928851 meters Centerline goodness : 0.827406 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 9.59225797e-01 -2.39372232e-01 -1.50289068e-01 1.21011523e+00] [ 2.41944555e-01 9.70289330e-01 -1.20344227e-03 1.96858027e-02] [ 1.46111950e-01 -3.52072489e-02 9.88641365e-01 1.23460015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299928850999997 meters Centerline goodness : 0.825499 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.12 [[ 0.95912423 -0.24005173 -0.14985284 1.20821048] [ 0.24251166 0.97014661 -0.0019123 0.02002966] [ 0.14583828 -0.03450693 0.98870646 0.12469868] [ 0. 0. 0. 1. ]] SLAMing on 20.359928851 meters Centerline goodness : 0.810695 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.13 [[ 0.95907676 -0.24029674 -0.14976399 1.20762047] [ 0.24271105 0.97009609 -0.00221947 0.019755 ] [ 0.14581879 -0.03422073 0.98871928 0.12540215] [ 0. 0. 0. 1. ]] SLAMing on 20.419928850999998 meters Centerline goodness : 0.808731 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.13 [[ 0.95894695 -0.24095029 -0.14954498 1.20690932] [ 0.24330377 0.96994657 -0.00263129 0.01984298] [ 0.14568465 -0.03386159 0.98875142 0.12571118] [ 0. 0. 0. 1. ]] SLAMing on 20.479928851 meters Centerline goodness : 0.829080 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.13 [[ 0.9588507 -0.24140274 -0.14943244 1.20641668] [ 0.24372424 0.96984036 -0.00285717 0.01899023] [ 0.14561534 -0.03368071 0.98876781 0.12622197] [ 0. 0. 0. 1. ]] SLAMing on 20.539928851 meters Centerline goodness : 0.808433 with order 2 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.13 [[ 0.95867112 -0.24223496 -0.14923775 1.20560401] [ 0.24453218 0.96963641 -0.00304138 0.01705614] [ 0.14544309 -0.03357775 0.98879666 0.12686137] [ 0. 0. 0. 1. ]] SLAMing on 20.599928850999998 meters Centerline goodness : 0.824224 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.13 [[ 0.95843793 -0.24327755 -0.1490395 1.20458576] [ 0.24551731 0.96938601 -0.00346722 0.01560243] [ 0.14532031 -0.03326866 0.98882516 0.12767303] [ 0. 0. 0. 1. ]] SLAMing on 20.659928851 meters Centerline goodness : 0.809192 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95836389 -0.24349055 -0.14916772 1.20496353] [ 0.24573981 0.96932969 -0.00344884 0.01414743] [ 0.14543246 -0.03335121 0.98880589 0.12785181] [ 0. 0. 0. 1. ]] SLAMing on 20.719928851 meters Centerline goodness : 0.824962 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95834589 -0.24363388 -0.14904927 1.20454611] [ 0.24587262 0.96929581 -0.00350411 0.01353918] [ 0.14532655 -0.03328899 0.98882356 0.12824991] [ 0. 0. 0. 1. ]] SLAMing on 20.779928850999998 meters Centerline goodness : 0.822011 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95816662 -0.24465914 -0.14852147 1.20202621] [ 0.24677085 0.9690642 -0.00432813 0.01406109] [ 0.14498576 -0.0325037 0.98889971 0.12978919] [ 0. 0. 0. 1. ]] SLAMing on 20.839928851 meters Centerline goodness : 0.808849 with order 2 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95733381 -0.24830312 -0.14784295 1.20326662] [ 0.24989298 0.96824023 -0.00802246 0.01362659] [ 0.14513949 -0.02926474 0.98897831 0.12985232] [ 0. 0. 0. 1. ]] SLAMing on 20.899928851 meters Centerline goodness : 0.811451 with order 2 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95721314 -0.24899765 -0.14745569 1.20217559] [ 0.25053617 0.96807125 -0.00834794 0.01360218] [ 0.14482624 -0.02895223 0.98903343 0.1301169 ] [ 0. 0. 0. 1. ]] SLAMing on 20.959928850999997 meters Centerline goodness : 0.812980 with order 2 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95689973 -0.25045372 -0.14702329 1.2001056 ] [ 0.25186985 0.96771728 -0.00921082 0.01358037] [ 0.14458386 -0.0282169 0.98909014 0.13130285] [ 0. 0. 0. 1. ]] SLAMing on 21.019928851 meters Centerline goodness : 0.813947 with order 2 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95595811 -0.25439573 -0.14637931 1.20109297] [ 0.25527787 0.96677971 -0.0130461 0.01346113] [ 0.14483542 -0.02489587 0.98914251 0.131572 ] [ 0. 0. 0. 1. ]] SLAMing on 21.079928851 meters Centerline goodness : 0.815137 with order 2 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95554127 -0.25642385 -0.14555992 1.19776787] [ 0.25711857 0.96627338 -0.01434559 0.01346226] [ 0.14432923 -0.02371836 0.98924543 0.13332974] [ 0. 0. 0. 1. ]] SLAMing on 21.139928850999997 meters Centerline goodness : 0.825028 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95529198 -0.25768331 -0.14497088 1.19563 ] [ 0.25827501 0.96595416 -0.01505281 0.01380124] [ 0.14391408 -0.02306252 0.98932141 0.13414368] [ 0. 0. 0. 1. ]] SLAMing on 21.199928851 meters Centerline goodness : 0.828428 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.13 [[ 0.95510184 -0.25837629 -0.14499026 1.19581959] [ 0.25895749 0.96576941 -0.01518134 0.01267144] [ 0.14394966 -0.02304659 0.98931661 0.13398911] [ 0. 0. 0. 1. ]] SLAMing on 21.259928850999998 meters Centerline goodness : 0.827214 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.13 [[ 0.95482767 -0.25974628 -0.14434679 1.19366996] [ 0.26022875 0.96541668 -0.01586305 0.01220593] [ 0.14347517 -0.0224167 0.9894 0.13481651] [ 0. 0. 0. 1. ]] SLAMing on 21.319928851 meters Centerline goodness : 0.825248 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95479591 -0.26010192 -0.14391582 1.19200873] [ 0.26050167 0.9653342 -0.01639391 0.01338563] [ 0.14319095 -0.02183747 0.98945413 0.13568626] [ 0. 0. 0. 1. ]] SLAMing on 21.379928851 meters Centerline goodness : 0.825054 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:0.14 [[ 0.95499202 -0.25925402 -0.14414434 1.19288858] [ 0.25964599 0.96556429 -0.0164181 0.01530234] [ 0.14343708 -0.02174735 0.98942046 0.13540585] [ 0. 0. 0. 1. ]] SLAMing on 21.439928850999998 meters Centerline goodness : 0.811034 with order 2 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:0.13 [[ 0.9550444 -0.25904144 -0.14417949 1.1934015 ] [ 0.25946906 0.96561619 -0.0161613 0.0151858 ] [ 0.14340849 -0.02197536 0.98941957 0.13488047] [ 0. 0. 0. 1. ]] SLAMing on 21.499928851 meters Centerline goodness : 0.828541 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:0.14 [[ 0.95494505 -0.2596687 -0.14370842 1.19144823] [ 0.26001335 0.96546042 -0.01671012 0.01578621] [ 0.14308388 -0.02140886 0.98947899 0.13592262] [ 0. 0. 0. 1. ]] SLAMing on 21.559928851 meters Centerline goodness : 0.824378 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95491191 -0.25996374 -0.1433949 1.19088243] [ 0.26031432 0.96538046 -0.01664399 0.01473426] [ 0.14275746 -0.02143421 0.98952558 0.13594059] [ 0. 0. 0. 1. ]] SLAMing on 21.619928850999997 meters Centerline goodness : 0.825466 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95491235 -0.26000815 -0.14331144 1.19103109] [ 0.26039882 0.96536258 -0.01635666 0.01354861] [ 0.14260037 -0.02169896 0.98954246 0.1357146 ] [ 0. 0. 0. 1. ]] SLAMing on 21.679928851 meters Centerline goodness : 0.824379 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95487714 -0.2601881 -0.14321938 1.19054139] [ 0.26061425 0.9653086 -0.01610971 0.01177076] [ 0.14244245 -0.02194222 0.98955984 0.13622715] [ 0. 0. 0. 1. ]] SLAMing on 21.739928851 meters Centerline goodness : 0.825730 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95486256 -0.26033277 -0.14305361 1.18996414] [ 0.26074655 0.96527168 -0.01618084 0.01168262] [ 0.14229801 -0.02185026 0.98958266 0.13649534] [ 0. 0. 0. 1. ]] SLAMing on 21.799928850999997 meters Centerline goodness : 0.824219 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95486328 -0.26044252 -0.14284888 1.18931058] [ 0.26086568 0.96524098 -0.01609205 0.01051028] [ 0.14207465 -0.02189866 0.98961368 0.1370004 ] [ 0. 0. 0. 1. ]] SLAMing on 21.859928851 meters Centerline goodness : 0.820938 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95489687 -0.26036923 -0.14275797 1.18990494] [ 0.26088674 0.96524635 -0.01541435 0.00787447] [ 0.14181003 -0.02252454 0.98963759 0.13628757] [ 0. 0. 0. 1. ]] SLAMing on 21.919928850999998 meters Centerline goodness : 0.820901 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95490103 -0.26035088 -0.14276356 1.19015571] [ 0.26090626 0.96524526 -0.01514952 0.00694149] [ 0.14174605 -0.02278161 0.98964087 0.13611266] [ 0. 0. 0. 1. ]] SLAMing on 21.979928851 meters Centerline goodness : 0.819888 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.14 [[ 0.95392992 -0.2643192 -0.14196149 1.19077132] [ 0.26440121 0.96423278 -0.01863191 0.0059429 ] [ 0.14180869 -0.01976125 0.98969682 0.13638107] [ 0. 0. 0. 1. ]] SLAMing on 22.039928851 meters Centerline goodness : 0.820008 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.00, Z:0.14 [[ 0.95369099 -0.26536515 -0.14161508 1.18987624] [ 0.26542507 0.96394786 -0.01881629 0.00306603] [ 0.14150274 -0.01964327 0.98974296 0.13696953] [ 0. 0. 0. 1. ]] SLAMing on 22.099928850999998 meters Centerline goodness : 0.819005 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.00, Z:0.14 [[ 9.53318165e-01 -2.66921548e-01 -1.41199732e-01 1.18842223e+00] [ 2.66909144e-01 9.63526777e-01 -1.93819266e-02 6.41708972e-04] [ 1.41223176e-01 -1.92103569e-02 9.89791380e-01 1.37958725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159928851 meters Centerline goodness : 0.816112 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.14 [[ 9.53296801e-01 -2.66952551e-01 -1.41285332e-01 1.18897321e+00] [ 2.66999353e-01 9.63509762e-01 -1.89811569e-02 -6.56364615e-04] [ 1.41196865e-01 -1.96284162e-02 9.89786932e-01 1.37522989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219928851 meters Centerline goodness : 0.818771 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.14 [[ 0.95242659 -0.27037924 -0.1406366 1.19066154] [ 0.27000678 0.96260498 -0.02209072 -0.0020567 ] [ 0.14135037 -0.01693305 0.9898148 0.13708146] [ 0. 0. 0. 1. ]] SLAMing on 22.279928850999998 meters Centerline goodness : 0.814164 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.14 [[ 0.95235147 -0.27082982 -0.14027787 1.18944016] [ 0.27043783 0.96248103 -0.02221808 -0.00290509] [ 0.14103211 -0.01677702 0.98986286 0.13774511] [ 0. 0. 0. 1. ]] SLAMing on 22.339928851 meters Centerline goodness : 0.813287 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.14 [[ 0.95232371 -0.27110336 -0.13993757 1.18829048] [ 0.27068506 0.96240772 -0.02238257 -0.00276789] [ 0.14074498 -0.01656356 0.98990732 0.1382006 ] [ 0. 0. 0. 1. ]] SLAMing on 22.399928851 meters Centerline goodness : 0.817175 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.14 [[ 0.95238774 -0.27076936 -0.14014826 1.18950025] [ 0.27043725 0.96249127 -0.0217771 -0.00408921] [ 0.14078805 -0.01716107 0.98989102 0.13740633] [ 0. 0. 0. 1. ]] SLAMing on 22.459928850999997 meters Centerline goodness : 0.814489 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95240977 -0.27067428 -0.14018226 1.19038155] [ 0.27040843 0.96250986 -0.02130821 -0.00501598] [ 0.14069439 -0.01761232 0.98989641 0.13642432] [ 0. 0. 0. 1. ]] SLAMing on 22.519928851 meters Centerline goodness : 0.815260 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95231014 -0.27126866 -0.13970935 1.18828253] [ 0.2709385 0.96235099 -0.02174646 -0.00505111] [ 0.14034856 -0.01714327 0.98995373 0.13765658] [ 0. 0. 0. 1. ]] SLAMing on 22.579928851 meters Centerline goodness : 0.814866 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95233892 -0.27121855 -0.13961048 1.18821883] [ 0.27090228 0.96236375 -0.0216325 -0.00561492] [ 0.1402232 -0.01721933 0.98997018 0.13757969] [ 0. 0. 0. 1. ]] SLAMing on 22.639928850999997 meters Centerline goodness : 0.813664 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95239593 -0.27094941 -0.13974406 1.18918913] [ 0.27068007 0.96243374 -0.02129794 -0.00557156] [ 0.14026506 -0.01754186 0.98995858 0.13665239] [ 0. 0. 0. 1. ]] SLAMing on 22.699928851 meters Centerline goodness : 0.812507 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95241633 -0.27089336 -0.13971373 1.18915163] [ 0.27063206 0.96244867 -0.02123319 -0.00539167] [ 0.14021922 -0.01758818 0.98996425 0.13653135] [ 0. 0. 0. 1. ]] SLAMing on 22.759928850999998 meters Centerline goodness : 0.812065 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95228528 -0.27149652 -0.13943597 1.18852036] [ 0.27124324 0.96227764 -0.02118603 -0.00705599] [ 0.13992805 -0.01764592 0.99000443 0.13667667] [ 0. 0. 0. 1. ]] SLAMing on 22.819928851 meters Centerline goodness : 0.813806 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95224641 -0.27173835 -0.13923021 1.18816523] [ 0.27148249 0.96220995 -0.02119596 -0.00737421] [ 0.13972845 -0.01761479 0.99003317 0.13657352] [ 0. 0. 0. 1. ]] SLAMing on 22.879928851 meters Centerline goodness : 0.809519 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95232302 -0.27153058 -0.13911153 1.18802148] [ 0.27124857 0.96227249 -0.02135086 -0.00607221] [ 0.13966062 -0.01740089 0.99004653 0.13647928] [ 0. 0. 0. 1. ]] SLAMing on 22.939928850999998 meters Centerline goodness : 0.810159 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95238356 -0.27128346 -0.13917914 1.18873653] [ 0.27104127 0.96233734 -0.02105884 -0.00673025] [ 0.1396502 -0.0176672 0.99004328 0.13594121] [ 0. 0. 0. 1. ]] SLAMing on 22.999928851 meters Centerline goodness : 0.811314 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.9523922 -0.27127648 -0.13913363 1.18854254] [ 0.27103719 0.96233908 -0.02103198 -0.00679085] [ 0.13959921 -0.01767969 0.99005025 0.13607037] [ 0. 0. 0. 1. ]] SLAMing on 23.059928851 meters Centerline goodness : 0.810752 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95240138 -0.27121947 -0.13918195 1.18803845] [ 0.27093314 0.96236099 -0.0213673 -0.00586002] [ 0.13973851 -0.01735875 0.99003627 0.13685431] [ 0. 0. 0. 1. ]] SLAMing on 23.119928850999997 meters Centerline goodness : 0.809071 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95250118 -0.2707919 -0.13933142 1.18853193] [ 0.27052668 0.96247892 -0.02120491 -0.00535835] [ 0.13984567 -0.01749517 0.99001874 0.13662112] [ 0. 0. 0. 1. ]] SLAMing on 23.179928851 meters Centerline goodness : 0.809536 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95244611 -0.27104242 -0.13922072 1.18852443] [ 0.27080496 0.96240487 -0.02101279 -0.00683974] [ 0.13968206 -0.01768811 0.99003841 0.13652494] [ 0. 0. 0. 1. ]] SLAMing on 23.239928851 meters Centerline goodness : 0.807421 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95194704 -0.27298583 -0.13883646 1.18830375] [ 0.27259364 0.96187297 -0.02220589 -0.00943816] [ 0.13960493 -0.01670711 0.99006633 0.13704184] [ 0. 0. 0. 1. ]] SLAMing on 23.299928850999997 meters Centerline goodness : 0.812169 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95185973 -0.2734183 -0.13858384 1.18771533] [ 0.27305453 0.96174684 -0.02200526 -0.01097772] [ 0.13929921 -0.01689503 0.9901062 0.13714807] [ 0. 0. 0. 1. ]] SLAMing on 23.359928851 meters Centerline goodness : 0.809453 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.14 [[ 0.95175673 -0.27385717 -0.13842466 1.18750009] [ 0.27352457 0.96161803 -0.0217963 -0.01313075] [ 0.13908072 -0.01711776 0.99013309 0.13720494] [ 0. 0. 0. 1. ]] SLAMing on 23.419928850999998 meters Centerline goodness : 0.807617 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95182482 -0.27356687 -0.13853042 1.18806303] [ 0.27332265 0.96168967 -0.02115891 -0.01546596] [ 0.13901165 -0.01772393 0.99013212 0.13707569] [ 0. 0. 0. 1. ]] SLAMing on 23.479928851 meters Centerline goodness : 0.808987 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95186624 -0.27335443 -0.13866515 1.18817989] [ 0.27313774 0.96174646 -0.02096459 -0.01589213] [ 0.13909148 -0.0179192 0.9901174 0.13733666] [ 0. 0. 0. 1. ]] SLAMing on 23.539928851 meters Centerline goodness : 0.808562 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95200472 -0.27282361 -0.13875986 1.18863497] [ 0.27268229 0.96188781 -0.02040125 -0.01749929] [ 0.13903736 -0.01841528 0.9901159 0.1373062 ] [ 0. 0. 0. 1. ]] SLAMing on 23.599928850999998 meters Centerline goodness : 0.808394 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95204364 -0.27271051 -0.1387151 1.18869756] [ 0.27258376 0.96191823 -0.02028313 -0.01773219] [ 0.13896401 -0.01850105 0.9901246 0.13719775] [ 0. 0. 0. 1. ]] SLAMing on 23.659928851 meters Centerline goodness : 0.809519 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95221328 -0.27195889 -0.13902603 1.18972092] [ 0.27190777 0.96212101 -0.0197314 -0.0182984 ] [ 0.13912599 -0.01901376 0.99009213 0.13688325] [ 0. 0. 0. 1. ]] SLAMing on 23.719928851 meters Centerline goodness : 0.809549 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95251846 -0.27062115 -0.13954487 1.19161346] [ 0.27068867 0.96248214 -0.01886182 -0.01890939] [ 0.13941385 -0.01980699 0.99003609 0.13620288] [ 0. 0. 0. 1. ]] SLAMing on 23.779928850999998 meters Centerline goodness : 0.807844 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95269746 -0.2697965 -0.13991923 1.19277402] [ 0.26992783 0.9627047 -0.018402 -0.01897545] [ 0.13966569 -0.02023656 0.98999191 0.13590337] [ 0. 0. 0. 1. ]] SLAMing on 23.839928851 meters Centerline goodness : 0.803798 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95292469 -0.26884122 -0.14021031 1.19360884] [ 0.26901395 0.96296656 -0.01808045 -0.01893221] [ 0.13987861 -0.02048922 0.98995665 0.13600102] [ 0. 0. 0. 1. ]] SLAMing on 23.899928851 meters Centerline goodness : 0.804234 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95413788 -0.26408016 -0.14100562 1.19308981] [ 0.26477484 0.96420635 -0.01415587 -0.01879418] [ 0.1396968 -0.02382809 0.98990758 0.1360648 ] [ 0. 0. 0. 1. ]] SLAMing on 23.959928850999997 meters Centerline goodness : 0.806991 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95515234 -0.2597233 -0.14222454 1.1936663 ] [ 0.26096677 0.96529422 -0.01016971 -0.01925226] [ 0.13992983 -0.02740226 0.98978218 0.13572445] [ 0. 0. 0. 1. ]] SLAMing on 24.019928851 meters Centerline goodness : 0.806432 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95534703 -0.25886503 -0.14248143 1.19492628] [ 0.26018432 0.96551104 -0.0096204 -0.02011986] [ 0.14005778 -0.02788061 0.98975072 0.13523388] [ 0. 0. 0. 1. ]] SLAMing on 24.079928851 meters Centerline goodness : 0.806134 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:0.14 [[ 0.95547215 -0.25842011 -0.14245003 1.19478274] [ 0.25972836 0.96563341 -0.0096587 -0.01962642] [ 0.14005051 -0.0277697 0.98975487 0.1356321 ] [ 0. 0. 0. 1. ]] SLAMing on 24.139928850999997 meters Centerline goodness : 0.803644 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.02, Z:0.13 [[ 0.95587378 -0.25682569 -0.142639 1.19586171] [ 0.25819471 0.96604959 -0.00914757 -0.01762148] [ 0.14014568 -0.02808471 0.98973251 0.13498105] [ 0. 0. 0. 1. ]] SLAMing on 24.199928851 meters Centerline goodness : 0.805426 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.02, Z:0.13 [[ 0.95625233 -0.25519126 -0.14303463 1.19766263] [ 0.2566106 0.96647527 -0.00875004 -0.01579953] [ 0.14047237 -0.02833696 0.989679 0.13424525] [ 0. 0. 0. 1. ]] SLAMing on 24.259928850999998 meters Centerline goodness : 0.805481 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.02, Z:0.13 [[ 0.95724965 -0.25094245 -0.14387838 1.19763915] [ 0.25286609 0.96748806 -0.00505876 -0.0153149 ] [ 0.14047007 -0.03153947 0.98958245 0.13380741] [ 0. 0. 0. 1. ]] SLAMing on 24.319928851 meters Centerline goodness : 0.805751 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:0.13 [[ 0.95731539 -0.25074568 -0.14378406 1.19725837] [ 0.25262847 0.96754879 -0.00531045 -0.01403733] [ 0.14044967 -0.03124018 0.98959484 0.13412555] [ 0. 0. 0. 1. ]] SLAMing on 24.379928851 meters Centerline goodness : 0.806211 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:0.13 [[ 0.95733448 -0.2507476 -0.1436535 1.1972609 ] [ 0.25258235 0.96755908 -0.00561994 -0.01267214] [ 0.14040243 -0.03090417 0.98961209 0.13382772] [ 0. 0. 0. 1. ]] SLAMing on 24.439928850999998 meters Centerline goodness : 0.804694 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:0.13 [[ 0.95729526 -0.25088698 -0.14367149 1.19790966] [ 0.25268716 0.96753018 -0.00587806 -0.01141887] [ 0.14048124 -0.0306769 0.98960798 0.13309843] [ 0. 0. 0. 1. ]] SLAMing on 24.499928851 meters Centerline goodness : 0.804738 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:0.13 [[ 0.95717309 -0.2515398 -0.14334365 1.19713215] [ 0.25324815 0.9673795 -0.0065028 -0.01009638] [ 0.14030343 -0.03007721 0.98965161 0.13311139] [ 0. 0. 0. 1. ]] SLAMing on 24.559928851 meters Centerline goodness : 0.805883 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:0.13 [[ 0.95702435 -0.25237473 -0.1428684 1.19557093] [ 0.25395515 0.96718794 -0.00736711 -0.00921677] [ 0.14003987 -0.02923166 0.98971427 0.13394743] [ 0. 0. 0. 1. ]] SLAMing on 24.619928850999997 meters Centerline goodness : 0.805740 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:0.13 [[ 0.95690907 -0.25314249 -0.14228112 1.19412318] [ 0.25458394 0.96701518 -0.00828609 -0.00659312] [ 0.13968556 -0.02829346 0.98979161 0.13404596] [ 0. 0. 0. 1. ]] SLAMing on 24.679928851 meters Centerline goodness : 0.803644 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.13 [[ 0.95687998 -0.25338859 -0.14203845 1.19412369] [ 0.25477009 0.9669627 -0.00868015 -0.0047284 ] [ 0.13954533 -0.02788129 0.98982308 0.13335831] [ 0. 0. 0. 1. ]] SLAMing on 24.739928851 meters Centerline goodness : 0.802065 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.13 [[ 0.95683441 -0.25372378 -0.14174677 1.19394227] [ 0.25502277 0.96689097 -0.00923249 -0.00214001] [ 0.13939618 -0.02731469 0.9898599 0.13260424] [ 0. 0. 0. 1. ]] SLAMing on 24.799928850999997 meters Centerline goodness : 0.804929 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.00, Z:0.13 [[ 9.56700985e-01 -2.54387806e-01 -1.41456953e-01 1.19294342e+00] [ 2.55577142e-01 9.66736903e-01 -1.00042892e-02 -1.37975426e-04] [ 1.39296626e-01 -2.65820504e-02 9.89893855e-01 1.32841841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859928851 meters Centerline goodness : 0.801841 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.00, Z:0.13 [[ 0.95651032 -0.25560084 -0.14055679 1.19025264] [ 0.25656693 0.96645787 -0.01151516 0.00354263] [ 0.13878551 -0.02504785 0.99000565 0.13353789] [ 0. 0. 0. 1. ]] SLAMing on 24.919928850999998 meters Centerline goodness : 0.799590 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.13 [[ 0.95646629 -0.2560328 -0.14006944 1.18945691] [ 0.25687622 0.96636558 -0.01233559 0.00754786] [ 0.1385166 -0.02418194 0.99006484 0.13275907] [ 0. 0. 0. 1. ]] SLAMing on 24.979928851 meters Centerline goodness : 0.799430 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.13 [[ 0.95636546 -0.25652145 -0.1398637 1.1889026 ] [ 0.25726229 0.96625323 -0.01306922 0.01022853] [ 0.13849629 -0.02348271 0.99008451 0.13258089] [ 0. 0. 0. 1. ]] SLAMing on 25.039928851 meters Centerline goodness : 0.796597 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:0.13 [[ 0.95617789 -0.25751606 -0.13931733 1.18704803] [ 0.25809681 0.96601475 -0.01419665 0.01297897] [ 0.13823846 -0.02238284 0.99014602 0.13311695] [ 0. 0. 0. 1. ]] SLAMing on 25.099928850999998 meters Centerline goodness : 0.796188 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:0.13 [[ 0.95580612 -0.25939012 -0.13838869 1.184475 ] [ 0.25979523 0.96554017 -0.01544721 0.01491404] [ 0.13762669 -0.02118818 0.99025752 0.1333451 ] [ 0. 0. 0. 1. ]] SLAMing on 25.159928851 meters Centerline goodness : 0.798931 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.13 [[ 0.95569171 -0.26004599 -0.13794722 1.18370251] [ 0.26036411 0.96537702 -0.01605397 0.01716321] [ 0.13734585 -0.02057386 0.99030946 0.13276586] [ 0. 0. 0. 1. ]] SLAMing on 25.219928851 meters Centerline goodness : 0.798650 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.13 [[ 0.95588486 -0.25931358 -0.13798769 1.18433584] [ 0.25962293 0.96557635 -0.01606979 0.02119991] [ 0.13740477 -0.0204639 0.99030357 0.1315068 ] [ 0. 0. 0. 1. ]] SLAMing on 25.279928850999998 meters Centerline goodness : 0.797973 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.13 [[ 0.9566409 -0.25628337 -0.13840889 1.18233779] [ 0.25699853 0.96632452 -0.01298764 0.02196829] [ 0.13707642 -0.02314638 0.99029001 0.13183732] [ 0. 0. 0. 1. ]] SLAMing on 25.339928851 meters Centerline goodness : 0.792005 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.13 [[ 0.95664239 -0.2565229 -0.1379541 1.18077757] [ 0.25708935 0.96628616 -0.01400433 0.02546119] [ 0.13689557 -0.0220694 0.99033961 0.13256326] [ 0. 0. 0. 1. ]] SLAMing on 25.399928851 meters Centerline goodness : 0.791844 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.13 [[ 0.95667317 -0.2564051 -0.13795971 1.1809293 ] [ 0.25692896 0.96632442 -0.01430462 0.02729291] [ 0.13698161 -0.021761 0.99033454 0.1323229 ] [ 0. 0. 0. 1. ]] SLAMing on 25.459928850999997 meters Centerline goodness : 0.795994 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.13 [[ 0.95779307 -0.25157841 -0.13907097 1.18237713] [ 0.25262569 0.96750859 -0.01036261 0.0294628 ] [ 0.13715937 -0.02520767 0.9902282 0.13057851] [ 0. 0. 0. 1. ]] SLAMing on 25.519928851 meters Centerline goodness : 0.797537 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.13 [[ 0.95790177 -0.25105532 -0.13926744 1.18309516] [ 0.25208622 0.96764804 -0.01047878 0.03118835] [ 0.13739262 -0.02506976 0.99019936 0.13034304] [ 0. 0. 0. 1. ]] SLAMing on 25.579928851 meters Centerline goodness : 0.796102 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.13 [[ 0.95894655 -0.24663354 -0.13997649 1.18225009] [ 0.24813273 0.96870135 -0.006917 0.03244278] [ 0.13730138 -0.02809972 0.99013067 0.13055453] [ 0. 0. 0. 1. ]] SLAMing on 25.639928850999997 meters Centerline goodness : 0.795903 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.13 [[ 0.95986674 -0.24274748 -0.14046172 1.18079994] [ 0.24469656 0.96959343 -0.0034904 0.03287848] [ 0.13703805 -0.03102018 0.99007996 0.13095885] [ 0. 0. 0. 1. ]] SLAMing on 25.699928851 meters Centerline goodness : 0.794700 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.13 [[ 9.61119377e-01 -2.37068584e-01 -1.41591065e-01 1.18196388e+00] [ 2.39554154e-01 9.70882862e-01 5.24853320e-04 3.54478459e-02] [ 1.37343912e-01 -3.44231745e-02 9.89925096e-01 1.30152452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759928850999998 meters Centerline goodness : 0.793104 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.13 [[ 0.96220076 -0.23178626 -0.14298539 1.18415673] [ 0.23488726 0.97200993 0.0049666 0.03553208] [ 0.13783203 -0.03836432 0.98971234 0.12872778] [ 0. 0. 0. 1. ]] SLAMing on 25.819928851 meters Centerline goodness : 0.791958 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:0.13 [[ 0.96348753 -0.22563746 -0.144151 1.18585682] [ 0.22936589 0.97329321 0.00957167 0.03653728] [ 0.13814147 -0.0422855 0.98950941 0.1277605 ] [ 0. 0. 0. 1. ]] SLAMing on 25.879928851 meters Centerline goodness : 0.792559 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:0.13 [[ 0.96438559 -0.22121636 -0.14499574 1.18551559] [ 0.22547606 0.97415621 0.01342502 0.03594725] [ 0.13827867 -0.04563997 0.9893412 0.12817113] [ 0. 0. 0. 1. ]] SLAMing on 25.939928850999998 meters Centerline goodness : 0.793579 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:0.13 [[ 0.96543624 -0.21590006 -0.14601383 1.18659351] [ 0.22074329 0.97517265 0.01762664 0.03510283] [ 0.1385831 -0.04924897 0.9891255 0.12801978] [ 0. 0. 0. 1. ]] SLAMing on 25.999928851 meters Centerline goodness : 0.793653 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96635227 -0.21104511 -0.14704848 1.18746347] [ 0.21649762 0.97603675 0.02193279 0.03376915] [ 0.13889591 -0.05303045 0.98888609 0.1276965 ] [ 0. 0. 0. 1. ]] SLAMing on 26.059928851 meters Centerline goodness : 0.791059 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96666548 -0.20918593 -0.14764515 1.18990531] [ 0.21477809 0.97639609 0.02282659 0.03442771] [ 0.13938515 -0.05377662 0.98877695 0.12685451] [ 0. 0. 0. 1. ]] SLAMing on 26.119928850999997 meters Centerline goodness : 0.787019 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.9666534 -0.20925283 -0.14762943 1.18972866] [ 0.21484249 0.9763823 0.02281022 0.03323948] [ 0.13936966 -0.05376665 0.98877967 0.12745879] [ 0. 0. 0. 1. ]] SLAMing on 26.179928851 meters Centerline goodness : 0.789654 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96576427 -0.21395831 -0.14670109 1.18904525] [ 0.21894681 0.97556039 0.01855309 0.03250599] [ 0.13914618 -0.05003765 0.98900686 0.12865502] [ 0. 0. 0. 1. ]] SLAMing on 26.239928851 meters Centerline goodness : 0.790081 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96490568 -0.21819203 -0.14611391 1.18985753] [ 0.22261824 0.9747985 0.01445681 0.03326833] [ 0.13927726 -0.04647708 0.98916213 0.12882887] [ 0. 0. 0. 1. ]] SLAMing on 26.299928850999997 meters Centerline goodness : 0.787647 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96388873 -0.22319141 -0.1452725 1.18964931] [ 0.22703353 0.97383338 0.01021403 0.03268684] [ 0.13919153 -0.04282692 0.98933896 0.12948714] [ 0. 0. 0. 1. ]] SLAMing on 26.359928851 meters Centerline goodness : 0.787392 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96293209 -0.22785437 -0.14437515 1.1896075 ] [ 0.23111765 0.97290717 0.00602218 0.03251078] [ 0.13909144 -0.0391666 0.9895047 0.13000083] [ 0. 0. 0. 1. ]] SLAMing on 26.419928850999998 meters Centerline goodness : 0.789754 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 9.61675541e-01 -2.34074890e-01 -1.42790408e-01 1.18681160e+00] [ 2.36644769e-01 9.71595677e-01 1.04583712e-03 3.21141867e-02] [ 1.38489739e-01 -3.47963592e-02 9.89752396e-01 1.31801596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479928850999997 meters Centerline goodness : 0.789536 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.96061161 -0.23904475 -0.14171432 1.18628838] [ 0.24102718 0.97051288 -0.00326362 0.03218452] [ 0.13831572 -0.03102193 0.98990222 0.13230856] [ 0. 0. 0. 1. ]] SLAMing on 26.539928851 meters Centerline goodness : 0.786916 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.95947775 -0.24423768 -0.14053616 1.18580478] [ 0.24564083 0.96933155 -0.00754517 0.03235875] [ 0.13806895 -0.02728199 0.9900468 0.13230657] [ 0. 0. 0. 1. ]] SLAMing on 26.599928850999998 meters Centerline goodness : 0.787269 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:0.13 [[ 0.95839641 -0.24889197 -0.13974659 1.18592821] [ 0.24972137 0.96824519 -0.01185276 0.03386576] [ 0.13825902 -0.02353806 0.99011636 0.13259447] [ 0. 0. 0. 1. ]] SLAMing on 26.659928851 meters Centerline goodness : 0.796425 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.13 [[ 0.95703932 -0.2549738 -0.13807284 1.18292532] [ 0.25508439 0.96676589 -0.01719516 0.0359251 ] [ 0.13786843 -0.01876378 0.9902728 0.13433343] [ 0. 0. 0. 1. ]] SLAMing on 26.719928851 meters Centerline goodness : 0.796522 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.13 [[ 0.95585908 -0.26007748 -0.1367228 1.1817294 ] [ 0.25956212 0.96547805 -0.02190048 0.03817895] [ 0.13769868 -0.01455429 0.99036723 0.13480121] [ 0. 0. 0. 1. ]] SLAMing on 26.779928850999998 meters Centerline goodness : 0.797675 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.13 [[ 0.95570375 -0.26083 -0.13637464 1.18081724] [ 0.26021689 0.96528515 -0.02262201 0.0406249 ] [ 0.13754091 -0.01386705 0.99039901 0.134573 ] [ 0. 0. 0. 1. ]] SLAMing on 26.839928851 meters Centerline goodness : 0.794558 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.13 [[ 0.95553191 -0.26161349 -0.13607778 1.17974204] [ 0.26089601 0.96508325 -0.02340081 0.04295935] [ 0.13744835 -0.01314193 0.99042175 0.13469675] [ 0. 0. 0. 1. ]] SLAMing on 26.899928851 meters Centerline goodness : 0.794449 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.14 [[ 0.95512952 -0.26365067 -0.13496636 1.17620098] [ 0.26275694 0.96454539 -0.02471819 0.04452925] [ 0.13669815 -0.01185427 0.99054182 0.13549609] [ 0. 0. 0. 1. ]] SLAMing on 26.959928850999997 meters Centerline goodness : 0.800909 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:0.14 [[ 0.95482849 -0.2652007 -0.13405648 1.17330001] [ 0.26414506 0.96413438 -0.02592853 0.04752016] [ 0.13612472 -0.01065306 0.99063443 0.13597331] [ 0. 0. 0. 1. ]] SLAMing on 27.019928851 meters Centerline goodness : 0.799260 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:0.14 [[ 0.95473771 -0.26560334 -0.13390581 1.17275308] [ 0.2644721 0.9640293 -0.02649556 0.05069276] [ 0.13612643 -0.01011804 0.9906398 0.13567422] [ 0. 0. 0. 1. ]] SLAMing on 27.079928851 meters Centerline goodness : 0.803222 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:0.13 [[ 0.95469174 -0.2658331 -0.13377756 1.17316467] [ 0.26465614 0.9639694 -0.02683515 0.05230688] [ 0.13609115 -0.00978576 0.99064799 0.13471924] [ 0. 0. 0. 1. ]] SLAMing on 27.139928850999997 meters Centerline goodness : 0.805483 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:0.13 [[ 0.9545674 -0.26644435 -0.13344848 1.17189882] [ 0.2651661 0.96380785 -0.02759298 0.05509615] [ 0.13597068 -0.00904666 0.99067156 0.13497674] [ 0. 0. 0. 1. ]] SLAMing on 27.199928851 meters Centerline goodness : 0.810220 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:0.14 [[ 0.95521886 -0.26421562 -0.13321803 1.16786799] [ 0.2632673 0.96439878 -0.02500661 0.05756189] [ 0.13508244 -0.01118517 0.99077123 0.1353764 ] [ 0. 0. 0. 1. ]] SLAMing on 27.259928850999998 meters Centerline goodness : 0.809418 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:0.13 [[ 0.95525559 -0.26409326 -0.13319725 1.16845224] [ 0.2631258 0.96443401 -0.02513661 0.05887074] [ 0.13509836 -0.01103575 0.99077073 0.13458583] [ 0. 0. 0. 1. ]] SLAMing on 27.319928851 meters Centerline goodness : 0.813644 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:0.13 [[ 0.95583965 -0.26192442 -0.13328974 1.16540313] [ 0.26128312 0.96499771 -0.02259516 0.06085358] [ 0.13454251 -0.01322901 0.99081951 0.13484866] [ 0. 0. 0. 1. ]] SLAMing on 27.379928851 meters Centerline goodness : 0.813791 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:0.13 [[ 0.95574485 -0.26229683 -0.1332372 1.16506698] [ 0.2615972 0.96490196 -0.02304573 0.06273229] [ 0.13460566 -0.01282864 0.9908162 0.13478273] [ 0. 0. 0. 1. ]] SLAMing on 27.439928850999998 meters Centerline goodness : 0.819271 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:0.13 [[ 0.95556756 -0.26314321 -0.13283935 1.16400344] [ 0.26238592 0.96467701 -0.02349254 0.06319791] [ 0.13432897 -0.01240647 0.99085913 0.13480126] [ 0. 0. 0. 1. ]] SLAMing on 27.499928851 meters Centerline goodness : 0.821918 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:0.14 [[ 0.95534699 -0.26420758 -0.13231206 1.16216383] [ 0.26335127 0.96439515 -0.02425074 0.06411704] [ 0.13400833 -0.01167667 0.99091141 0.13540118] [ 0. 0. 0. 1. ]] SLAMing on 27.559928851 meters Centerline goodness : 0.820949 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:0.14 [[ 0.95501302 -0.2658189 -0.13149313 1.15899626] [ 0.26474455 0.96397042 -0.02591061 0.06763154] [ 0.13364302 -0.01006712 0.9909784 0.13666065] [ 0. 0. 0. 1. ]] SLAMing on 27.619928850999997 meters Centerline goodness : 0.821311 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:0.14 [[ 0.95492597 -0.26634478 -0.13106049 1.15810898] [ 0.26520476 0.96383056 -0.02640247 0.06909867] [ 0.13335226 -0.00954546 0.99102273 0.13646081] [ 0. 0. 0. 1. ]] SLAMing on 27.679928851 meters Centerline goodness : 0.824562 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:0.14 [[ 0.95471913 -0.26737598 -0.13046636 1.15626287] [ 0.26612057 0.96355333 -0.02729143 0.07131212] [ 0.13300837 -0.00866413 0.99107704 0.13672629] [ 0. 0. 0. 1. ]] SLAMing on 27.739928851 meters Centerline goodness : 0.821564 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:0.14 [[ 0.95453824 -0.26823517 -0.13002555 1.15492357] [ 0.26690053 0.96331975 -0.02791361 0.07304088] [ 0.13274359 -0.00805928 0.99111765 0.13678429] [ 0. 0. 0. 1. ]] SLAMing on 27.799928850999997 meters Centerline goodness : 0.825219 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.14 [[ 0.95432356 -0.26926607 -0.12946942 1.15332562] [ 0.26783119 0.96303827 -0.02870106 0.0755731 ] [ 0.13241223 -0.00728585 0.99116796 0.13662005] [ 0. 0. 0. 1. ]] SLAMing on 27.859928851 meters Centerline goodness : 0.824618 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.14 [[ 0.95422653 -0.26974353 -0.12919042 1.1534593 ] [ 0.26830245 0.96290518 -0.02876469 0.07562478] [ 0.13215721 -0.00721408 0.99120252 0.13560005] [ 0. 0. 0. 1. ]] SLAMing on 27.919928850999998 meters Centerline goodness : 0.827530 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.14 [[ 0.95378026 -0.27192903 -0.12789771 1.14937857] [ 0.27033473 0.96229885 -0.03000109 0.07704819] [ 0.13123398 -0.00596075 0.9913335 0.13636996] [ 0. 0. 0. 1. ]] SLAMing on 27.979928850999997 meters Centerline goodness : 0.827581 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.14 [[ 0.95348506 -0.2733879 -0.12698541 1.1459128 ] [ 0.27162042 0.96189298 -0.03137279 0.07911206] [ 0.13072332 -0.00457835 0.99140832 0.13796714] [ 0. 0. 0. 1. ]] SLAMing on 28.039928851 meters Centerline goodness : 0.828874 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.14 [[ 0.95322499 -0.27471449 -0.12607166 1.14306873] [ 0.27282838 0.9615192 -0.03233423 0.08052588] [ 0.130103 -0.00357413 0.99149404 0.13862898] [ 0. 0. 0. 1. ]] SLAMing on 28.099928850999998 meters Centerline goodness : 0.833271 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.14 [[ 0.95308231 -0.27536172 -0.12573799 1.14233518] [ 0.2734493 0.96133488 -0.03256884 0.08142655] [ 0.12984453 -0.00334218 0.99152873 0.13816241] [ 0. 0. 0. 1. ]] SLAMing on 28.159928851 meters Centerline goodness : 0.829787 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.14 [[ 0.95289169 -0.27625691 -0.12521804 1.14107726] [ 0.27431405 0.96107899 -0.03284776 0.08188862] [ 0.12941885 -0.00304871 0.99158533 0.13782149] [ 0. 0. 0. 1. ]] SLAMing on 28.219928851 meters Centerline goodness : 0.834233 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.14 [[ 0.95278321 -0.27680559 -0.12483116 1.14064706] [ 0.27488987 0.96092064 -0.03266611 0.0809873 ] [ 0.128995 -0.00319111 0.99164011 0.13702823] [ 0. 0. 0. 1. ]] SLAMing on 28.279928850999998 meters Centerline goodness : 0.837372 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.14 [[ 0.95233658 -0.27873869 -0.12393456 1.13719914] [ 0.27674312 0.96036373 -0.033388 0.08052158] [ 0.12832879 -0.00250143 0.99172852 0.13804052] [ 0. 0. 0. 1. ]] SLAMing on 28.339928851 meters Centerline goodness : 0.835202 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:0.14 [[ 0.95189283 -0.28055137 -0.12325166 1.13458476] [ 0.27851541 0.95983661 -0.03380601 0.07837995] [ 0.12778578 -0.00214779 0.99179947 0.13890778] [ 0. 0. 0. 1. ]] SLAMing on 28.399928851 meters Centerline goodness : 0.836964 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:0.14 [[ 0.95171804 -0.28135789 -0.122762 1.13337227] [ 0.27936214 0.95959996 -0.03353676 0.07639199] [ 0.12723824 -0.00237752 0.99186933 0.13871284] [ 0. 0. 0. 1. ]] SLAMing on 28.459928850999997 meters Centerline goodness : 0.830745 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:0.13 [[ 0.95177384 -0.28295371 -0.11859072 1.10876077] [ 0.28108951 0.95913059 -0.03251446 0.06531617] [ 0.12294408 -0.00238819 0.99241073 0.13061074] [ 0. 0. 0. 1. ]] SLAMing on 28.519928851 meters Centerline goodness : 0.828146 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.13 [[ 0.95259595 -0.28204629 -0.11406507 1.08432974] [ 0.2802879 0.9593988 -0.0315062 0.05635197] [ 0.1183201 -0.00195838 0.99297357 0.12510231] [ 0. 0. 0. 1. ]] SLAMing on 28.579928851 meters Centerline goodness : 0.827544 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.13 [[ 0.95246967 -0.28258443 -0.11378742 1.08328176] [ 0.28087059 0.95923972 -0.03115889 0.05334195] [ 0.11795443 -0.00228164 0.99301639 0.12566529] [ 0. 0. 0. 1. ]] SLAMing on 28.639928850999997 meters Centerline goodness : 0.825167 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.13 [[ 0.95273918 -0.28226922 -0.11230379 1.08211908] [ 0.28061903 0.95933226 -0.03057087 0.04908688] [ 0.11636587 -0.00238851 0.99320354 0.12510568] [ 0. 0. 0. 1. ]] SLAMing on 28.699928851 meters Centerline goodness : 0.822427 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:0.12 [[ 9.54135425e-01 -2.78194190e-01 -1.10605531e-01 1.06494600e+00] [ 2.76395220e-01 9.60524756e-01 -3.15891554e-02 4.17265897e-02] [ 1.15027270e-01 -4.30507859e-04 9.93362241e-01 1.22269267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759928850999998 meters Centerline goodness : 0.819258 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.04, Z:0.12 [[ 0.95431279 -0.27734594 -0.11120402 1.06666023] [ 0.27564746 0.96076914 -0.03067806 0.03953878] [ 0.11534983 -0.00137664 0.99332398 0.12198061] [ 0. 0. 0. 1. ]] SLAMing on 28.819928850999997 meters Centerline goodness : 0.819006 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.04, Z:0.12 [[ 0.95459445 -0.27609962 -0.11188585 1.06855089] [ 0.27453263 0.96112559 -0.02948614 0.03599653] [ 0.11567747 -0.00256902 0.99328351 0.12206394] [ 0. 0. 0. 1. ]] SLAMing on 28.879928851 meters Centerline goodness : 0.813752 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.03, Z:0.12 [[ 0.95495269 -0.2745366 -0.11267218 1.07073845] [ 0.27309684 0.96156945 -0.02832508 0.0327492 ] [ 0.11611839 -0.0037213 0.99322841 0.12227708] [ 0. 0. 0. 1. ]] SLAMing on 28.939928850999998 meters Centerline goodness : 0.815902 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.03, Z:0.12 [[ 0.95525097 -0.27325222 -0.11326436 1.0723066 ] [ 0.27188644 0.96193239 -0.02763785 0.03150047] [ 0.11650476 -0.00439396 0.99318041 0.12249516] [ 0. 0. 0. 1. ]] SLAMing on 28.999928851 meters Centerline goodness : 0.806724 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.12 [[ 0.95783552 -0.26636461 -0.10770799 1.06893138] [ 0.26508143 0.96386657 -0.02632607 0.02363555] [ 0.11082846 -0.00333534 0.99383395 0.11686806] [ 0. 0. 0. 1. ]] SLAMing on 29.059928851 meters Centerline goodness : 0.799513 with order 2 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.12 [[ 0.95814846 -0.26490732 -0.1085156 1.07109987] [ 0.26371062 0.96426479 -0.0254975 0.02213968] [ 0.11139225 -0.00418633 0.9937677 0.11698582] [ 0. 0. 0. 1. ]] SLAMing on 29.119928850999997 meters Centerline goodness : 0.804201 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.12 [[ 0.95858096 -0.26287063 -0.10964294 1.07455132] [ 0.26184879 0.96481352 -0.02387637 0.01837514] [ 0.11206139 -0.00582244 0.99368423 0.11653218] [ 0. 0. 0. 1. ]] SLAMing on 29.179928851 meters Centerline goodness : 0.805879 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.02, Z:0.12 [[ 0.95884236 -0.26163868 -0.11030203 1.07642784] [ 0.26071808 0.96514225 -0.02294617 0.01590641] [ 0.11246075 -0.00675597 0.9936332 0.11654421] [ 0. 0. 0. 1. ]] SLAMing on 29.239928851 meters Centerline goodness : 0.805183 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.01, Z:0.12 [[ 0.95913127 -0.2602539 -0.1110636 1.07794694] [ 0.25942367 0.96551031 -0.02211773 0.01361563] [ 0.11298927 -0.00759871 0.99356715 0.11739249] [ 0. 0. 0. 1. ]] SLAMing on 29.299928850999997 meters Centerline goodness : 0.806603 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.01, Z:0.12 [[ 0.95928795 -0.25950271 -0.11146734 1.07901691] [ 0.25876953 0.96570533 -0.02124979 0.01068288] [ 0.11315899 -0.00845969 0.99354088 0.11757786] [ 0. 0. 0. 1. ]] SLAMing on 29.359928851 meters Centerline goodness : 0.807519 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.01, Z:0.12 [[ 0.95933849 -0.25916488 -0.11181785 1.0799209 ] [ 0.25849514 0.96579074 -0.02070062 0.00883124] [ 0.11335752 -0.00904547 0.99351309 0.11752728] [ 0. 0. 0. 1. ]] SLAMing on 29.419928850999998 meters Centerline goodness : 0.804775 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.12 [[ 0.95912562 -0.26002205 -0.11165381 1.08045078] [ 0.25933124 0.96556178 -0.02092281 0.00358322] [ 0.11324904 -0.00888772 0.99352688 0.11813997] [ 0. 0. 0. 1. ]] SLAMing on 29.479928850999997 meters Centerline goodness : 0.805786 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.12 [[ 9.59168970e-01 -2.59803258e-01 -1.11790673e-01 1.08088102e+00] [ 2.59192635e-01 9.65614016e-01 -2.02175579e-02 2.20567382e-04] [ 1.13199228e-01 -9.58326497e-03 9.93526092e-01 1.18381502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539928851 meters Centerline goodness : 0.806639 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.12 [[ 0.95835101 -0.26295933 -0.1114259 1.08290936] [ 0.26205818 0.96477981 -0.02292224 -0.00324372] [ 0.11352907 -0.00723252 0.99350835 0.11840216] [ 0. 0. 0. 1. ]] SLAMing on 29.599928850999998 meters Centerline goodness : 0.810890 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.9581694 -0.26370265 -0.11123091 1.08180224] [ 0.26284056 0.96457431 -0.02261079 -0.00633276] [ 0.113253 -0.00757103 0.99353734 0.11925552] [ 0. 0. 0. 1. ]] SLAMing on 29.659928851 meters Centerline goodness : 0.809381 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95728157 -0.2671221 -0.11071486 1.08372247] [ 0.265922 0.96365075 -0.02574352 -0.0084262 ] [ 0.11356712 -0.00479772 0.99351874 0.11895032] [ 0. 0. 0. 1. ]] SLAMing on 29.719928851 meters Centerline goodness : 0.808861 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95627987 -0.27099209 -0.1099641 1.08456825] [ 0.26944308 0.9625797 -0.02899571 -0.01040015] [ 0.11370682 -0.00190105 0.99351253 0.11909358] [ 0. 0. 0. 1. ]] SLAMing on 29.779928850999998 meters Centerline goodness : 0.812227 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95618703 -0.27140379 -0.10975582 1.08337684] [ 0.26983344 0.96246409 -0.02920272 -0.01053827] [ 0.11356177 -0.00169253 0.9935295 0.11994972] [ 0. 0. 0. 1. ]] SLAMing on 29.839928851 meters Centerline goodness : 0.814837 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95626176 -0.27109108 -0.1098775 1.08397279] [ 0.26956368 0.96255148 -0.02881102 -0.01174381] [ 0.11357316 -0.0020681 0.99352748 0.11975849] [ 0. 0. 0. 1. ]] SLAMing on 29.899928851 meters Centerline goodness : 0.809128 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95627745 -0.27104419 -0.10985662 1.08445287] [ 0.26957327 0.96256356 -0.02831343 -0.01377058] [ 0.11341817 -0.00253892 0.9935441 0.11927319] [ 0. 0. 0. 1. ]] SLAMing on 29.959928850999997 meters Centerline goodness : 0.810074 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95621504 -0.27127738 -0.10982436 1.0840188 ] [ 0.26977552 0.96249851 -0.0285971 -0.01333106] [ 0.11346353 -0.00228295 0.99353954 0.11973345] [ 0. 0. 0. 1. ]] SLAMing on 30.019928851 meters Centerline goodness : 0.808959 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.9563119 -0.27083143 -0.11008131 1.0845207 ] [ 0.26933266 0.96262393 -0.02854971 -0.01313159] [ 0.11369906 -0.00234606 0.99351247 0.11997418] [ 0. 0. 0. 1. ]] SLAMing on 30.079928851 meters Centerline goodness : 0.810258 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95638557 -0.27055277 -0.11012647 1.08482429] [ 0.26906123 0.96270215 -0.02847138 -0.01290152] [ 0.113722 -0.00240114 0.99350971 0.11981634] [ 0. 0. 0. 1. ]] SLAMing on 30.139928850999997 meters Centerline goodness : 0.809922 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95632913 -0.27079466 -0.11002201 1.08408977] [ 0.26927282 0.96263477 -0.02874805 -0.0125757 ] [ 0.11369583 -0.00213334 0.99351331 0.12043923] [ 0. 0. 0. 1. ]] SLAMing on 30.199928851 meters Centerline goodness : 0.809248 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95624059 -0.27121444 -0.10975727 1.08322393] [ 0.26968833 0.96251675 -0.02880457 -0.01325535] [ 0.11345542 -0.00205615 0.99354096 0.12077751] [ 0. 0. 0. 1. ]] SLAMing on 30.259928850999998 meters Centerline goodness : 0.808926 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95518423 -0.27526439 -0.10886965 1.0839734 ] [ 0.2733591 0.96136789 -0.03235107 -0.01436424] [ 0.11356889 0.00114073 0.99352947 0.12065729] [ 0. 0. 0. 1. ]] SLAMing on 30.319928850999997 meters Centerline goodness : 0.804901 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.9539348 -0.28002301 -0.10768248 1.08377805] [ 0.27774467 0.95998343 -0.03591247 -0.01609442] [ 0.11342972 0.00434992 0.9935365 0.12072427] [ 0. 0. 0. 1. ]] SLAMing on 30.379928851 meters Centerline goodness : 0.805979 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95372775 -0.28087341 -0.107301 1.08243605] [ 0.27859765 0.95973476 -0.03595185 -0.01786321] [ 0.11307842 0.00439447 0.99357635 0.12137806] [ 0. 0. 0. 1. ]] SLAMing on 30.439928850999998 meters Centerline goodness : 0.806344 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95364939 -0.28129303 -0.10689745 1.08151292] [ 0.27903232 0.95961198 -0.03585831 -0.01936134] [ 0.11266676 0.00436841 0.99362323 0.1215424 ] [ 0. 0. 0. 1. ]] SLAMing on 30.499928851 meters Centerline goodness : 0.806403 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95363783 -0.28134267 -0.10686993 1.08173633] [ 0.27911182 0.95959853 -0.03559865 -0.02017084] [ 0.11256764 0.00411956 0.99363552 0.12116742] [ 0. 0. 0. 1. ]] SLAMing on 30.559928851 meters Centerline goodness : 0.804061 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95360787 -0.28146825 -0.10680667 1.08198496] [ 0.27928355 0.95956326 -0.03520001 -0.02115486] [ 0.11239544 0.00373766 0.99365653 0.1205576 ] [ 0. 0. 0. 1. ]] SLAMing on 30.619928850999997 meters Centerline goodness : 0.804240 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95364857 -0.28133498 -0.10679431 1.08185891] [ 0.27911478 0.95960106 -0.03550694 -0.02030156] [ 0.11246927 0.00405327 0.99364694 0.12086837] [ 0. 0. 0. 1. ]] SLAMing on 30.679928851 meters Centerline goodness : 0.807417 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 9.54858809e-01 -2.76902380e-01 -1.07562665e-01 1.08140969e+00] [ 2.75075843e-01 9.60897771e-01 -3.17609047e-02 -1.91725992e-02] [ 1.12151395e-01 7.39288862e-04 9.93690856e-01 1.20360536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739928851 meters Centerline goodness : 0.806269 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95609771 -0.27216467 -0.10864417 1.08151268] [ 0.27072234 0.96224732 -0.02809836 -0.0170155 ] [ 0.11218994 -0.00254763 0.99368351 0.12002114] [ 0. 0. 0. 1. ]] SLAMing on 30.799928850999997 meters Centerline goodness : 0.804363 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.12 [[ 0.95640371 -0.27091563 -0.10907181 1.08345508] [ 0.26951212 0.9625987 -0.02769407 -0.01584559] [ 0.11249514 -0.00290946 0.99364802 0.11892759] [ 0. 0. 0. 1. ]] SLAMing on 30.859928851 meters Centerline goodness : 0.802662 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95774622 -0.26573799 -0.11002502 1.08412862] [ 0.26476204 0.96402356 -0.02365682 -0.01390499] [ 0.11235323 -0.00647322 0.99364725 0.11767135] [ 0. 0. 0. 1. ]] SLAMing on 30.919928850999998 meters Centerline goodness : 0.801469 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.12 [[ 0.95885031 -0.26141603 -0.11075986 1.08322839] [ 0.26079774 0.96518017 -0.02029231 -0.01161221] [ 0.11220795 -0.00942863 0.99364001 0.11775619] [ 0. 0. 0. 1. ]] SLAMing on 30.979928850999997 meters Centerline goodness : 0.798678 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.11 [[ 0.96255623 -0.24991685 -0.10500987 1.07674486] [ 0.24957931 0.96821281 -0.01655635 -0.0108571 ] [ 0.10580961 -0.01027187 0.99433335 0.11052566] [ 0. 0. 0. 1. ]] SLAMing on 31.039928851 meters Centerline goodness : 0.798594 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.11 [[ 0.96370486 -0.24511768 -0.10578402 1.07656435] [ 0.24514112 0.96940046 -0.01298402 -0.00837146] [ 0.10572969 -0.01341925 0.99430436 0.11016499] [ 0. 0. 0. 1. ]] SLAMing on 31.099928850999998 meters Centerline goodness : 0.793454 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.11 [[ 0.96484045 -0.24031499 -0.10645002 1.07600152] [ 0.24065777 0.9705605 -0.00980634 -0.00428011] [ 0.10567279 -0.01615647 0.9942697 0.11000334] [ 0. 0. 0. 1. ]] SLAMing on 31.159928851 meters Centerline goodness : 0.794628 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.11 [[ 0.96574431 -0.2365037 -0.1067892 1.07450165] [ 0.2371648 0.97144667 -0.0066502 -0.00150248] [ 0.10531281 -0.01890425 0.99425944 0.10980005] [ 0. 0. 0. 1. ]] SLAMing on 31.219928851 meters Centerline goodness : 0.797834 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.11 [[ 9.65750730e-01 -2.36495977e-01 -1.06748210e-01 1.07462801e+00] [ 2.37138259e-01 9.71451971e-01 -6.82012765e-03 -8.53697438e-04] [ 1.05313692e-01 -1.87275414e-02 9.94262694e-01 1.09616374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279928850999998 meters Centerline goodness : 0.796747 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.11 [[ 9.65772028e-01 -2.36450743e-01 -1.06655691e-01 1.07520443e+00] [ 2.37082648e-01 9.71464987e-01 -6.89909615e-03 3.10314615e-04] [ 1.05243566e-01 -1.86232596e-02 9.94272078e-01 1.08580929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339928851 meters Centerline goodness : 0.797976 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.96546636 -0.2380634 -0.10583255 1.07265932] [ 0.23860242 0.97108661 -0.0077251 0.00154045] [ 0.10461164 -0.01779357 0.99435396 0.10894949] [ 0. 0. 0. 1. ]] SLAMing on 31.399928851 meters Centerline goodness : 0.799950 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.96515098 -0.2396471 -0.10513259 1.07034545] [ 0.24011163 0.9707089 -0.00840464 0.00120808] [ 0.10406729 -0.01713181 0.9944227 0.1096612 ] [ 0. 0. 0. 1. ]] SLAMing on 31.459928850999997 meters Centerline goodness : 0.798777 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.96411536 -0.24423042 -0.10408211 1.07023893] [ 0.24426525 0.96962647 -0.01260922 0.00176233] [ 0.10400032 -0.0132669 0.99448877 0.10972614] [ 0. 0. 0. 1. ]] SLAMing on 31.519928851 meters Centerline goodness : 0.800318 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.962837 -0.24981034 -0.10266309 1.06858186] [ 0.24938577 0.9682522 -0.01715869 0.00194012] [ 0.10369018 -0.00908169 0.99456818 0.11042554] [ 0. 0. 0. 1. ]] SLAMing on 31.579928851 meters Centerline goodness : 0.801791 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.96246538 -0.25155465 -0.10188548 1.06573063] [ 0.25104784 0.96780772 -0.01797781 0.00183592] [ 0.10312795 -0.0082751 0.99463368 0.11156062] [ 0. 0. 0. 1. ]] SLAMing on 31.639928850999997 meters Centerline goodness : 0.803100 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.96138513 -0.25604676 -0.10088953 1.06604458] [ 0.25515565 0.96665284 -0.02186029 0.00125883] [ 0.10312241 -0.00472638 0.99465744 0.11136485] [ 0. 0. 0. 1. ]] SLAMing on 31.699928851 meters Centerline goodness : 0.802073 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.11 [[ 0.96123181 -0.25669228 -0.10070989 1.06537675] [ 0.255756 0.96648362 -0.02232237 0.00289959] [ 0.10306444 -0.00430018 0.99466539 0.1113129 ] [ 0. 0. 0. 1. ]] SLAMing on 31.759928850999998 meters Centerline goodness : 0.801694 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.00, Z:0.11 [[ 0.96213489 -0.25303673 -0.10133543 1.06420226] [ 0.25244932 0.9674276 -0.01879322 0.00333654] [ 0.10279007 -0.00750045 0.99467479 0.11145673] [ 0. 0. 0. 1. ]] SLAMing on 31.819928850999997 meters Centerline goodness : 0.801717 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.00, Z:0.11 [[ 0.96321457 -0.24850244 -0.10229486 1.06453041] [ 0.24827706 0.96857084 -0.01513405 0.00483594] [ 0.10284067 -0.01082013 0.99463899 0.11092322] [ 0. 0. 0. 1. ]] SLAMing on 31.879928851 meters Centerline goodness : 0.803883 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96408166 -0.2448933 -0.10282912 1.06335673] [ 0.24502501 0.96944801 -0.01154545 0.00528089] [ 0.10251489 -0.01406495 0.99463203 0.1108085 ] [ 0. 0. 0. 1. ]] SLAMing on 31.939928850999998 meters Centerline goodness : 0.804841 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96482028 -0.24175319 -0.10333067 1.06169222] [ 0.24219494 0.97019089 -0.00844047 0.00534659] [ 0.10229098 -0.01688263 0.99461125 0.11152533] [ 0. 0. 0. 1. ]] SLAMing on 31.999928851 meters Centerline goodness : 0.805422 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96494803 -0.24123434 -0.10335035 1.06182712] [ 0.24163143 0.97032775 -0.00884944 0.00743671] [ 0.1024185 -0.01643345 0.99460565 0.11172702] [ 0. 0. 0. 1. ]] SLAMing on 32.059928851 meters Centerline goodness : 0.807254 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.9649316 -0.24129881 -0.10335325 1.06176529] [ 0.24166155 0.97031711 -0.00918689 0.00883291] [ 0.10250221 -0.01611179 0.99460229 0.1118067 ] [ 0. 0. 0. 1. ]] SLAMing on 32.119928851000004 meters Centerline goodness : 0.808044 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96487942 -0.24147868 -0.10342031 1.06199187] [ 0.24182506 0.97027466 -0.0093659 0.00954945] [ 0.10260777 -0.01597266 0.99459365 0.1116652 ] [ 0. 0. 0. 1. ]] SLAMing on 32.179928851 meters Centerline goodness : 0.805985 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96474132 -0.2421396 -0.10316294 1.06127066] [ 0.2424658 0.97011288 -0.00955743 0.00855402] [ 0.10239392 -0.01579304 0.99461855 0.11191245] [ 0. 0. 0. 1. ]] SLAMing on 32.239928851 meters Centerline goodness : 0.808739 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96446286 -0.24353871 -0.10247091 1.05930843] [ 0.24381214 0.9697705 -0.01004098 0.00778669] [ 0.10181863 -0.0152995 0.99468532 0.11230287] [ 0. 0. 0. 1. ]] SLAMing on 32.299928851000004 meters Centerline goodness : 0.806556 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.11 [[ 0.96408459 -0.24541338 -0.10155385 1.05628589] [ 0.24560205 0.96931016 -0.01083693 0.00719761] [ 0.1010967 -0.01449412 0.99477102 0.11326886] [ 0. 0. 0. 1. ]] SLAMing on 32.359928851 meters Centerline goodness : 0.808159 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.01, Z:0.11 [[ 0.96387215 -0.24654261 -0.10083266 1.05439754] [ 0.24669103 0.96902956 -0.01119148 0.00631927] [ 0.100469 -0.01408736 0.99484045 0.11361375] [ 0. 0. 0. 1. ]] SLAMing on 32.419928851 meters Centerline goodness : 0.809637 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.01, Z:0.11 [[ 0.96329157 -0.24915823 -0.09994757 1.05310239] [ 0.24910338 0.96838653 -0.01322986 0.00543391] [ 0.10008421 -0.01215307 0.99490475 0.11418999] [ 0. 0. 0. 1. ]] SLAMing on 32.479928851000004 meters Centerline goodness : 0.810400 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.11 [[ 0.96308253 -0.25007103 -0.09968213 1.05265908] [ 0.25002064 0.96815051 -0.01320078 0.00376686] [ 0.09980844 -0.01220915 0.99493176 0.1138723 ] [ 0. 0. 0. 1. ]] SLAMing on 32.539928851 meters Centerline goodness : 0.804259 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.11 [[ 0.96197081 -0.25473247 -0.09860797 1.05252242] [ 0.25431269 0.96697235 -0.0170155 0.00267145] [ 0.09968558 -0.00870884 0.99498087 0.11396186] [ 0. 0. 0. 1. ]] SLAMing on 32.599928851 meters Centerline goodness : 0.809824 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.11 [[ 0.96171158 -0.25600453 -0.09783927 1.05007489] [ 0.25553089 0.96664149 -0.01755515 0.00235819] [ 0.0990697 -0.00811797 0.99504738 0.11477126] [ 0. 0. 0. 1. ]] SLAMing on 32.659928851000004 meters Centerline goodness : 0.804629 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.12 [[ 0.96153667 -0.25692036 -0.09715536 1.04838394] [ 0.25641344 0.96640176 -0.01788233 0.00108058] [ 0.09848545 -0.00771742 0.99510857 0.11528031] [ 0. 0. 0. 1. ]] SLAMing on 32.719928851 meters Centerline goodness : 0.800950 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.00, Z:0.12 [[ 9.61442625e-01 -2.57381137e-01 -9.68660415e-02 1.04783422e+00] [ 2.56883137e-01 9.66278673e-01 -1.77926732e-02 -2.58880333e-04] [ 9.81790886e-02 -7.77661822e-03 9.95138378e-01 1.15182504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779928851 meters Centerline goodness : 0.804175 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.12 [[ 9.61274289e-01 -2.58238171e-01 -9.62537748e-02 1.04594093e+00] [ 2.57702113e-01 9.66053452e-01 -1.81755080e-02 1.63428355e-04] [ 9.76799013e-02 -7.33315261e-03 9.95190867e-01 1.15700782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839928851 meters Centerline goodness : 0.799277 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.11 [[ 9.61354515e-01 -2.57953627e-01 -9.62155077e-02 1.04653600e+00] [ 2.57441553e-01 9.66127811e-01 -1.79136749e-02 1.55402110e-04] [ 9.75773753e-02 -7.54847746e-03 9.95199315e-01 1.14951616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899928851 meters Centerline goodness : 0.803261 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.00, Z:0.11 [[ 0.96139886 -0.2577987 -0.09618764 1.04792202] [ 0.25733229 0.96616563 -0.01743753 -0.00109289] [ 0.09742857 -0.00798776 0.99521046 0.11342549] [ 0. 0. 0. 1. ]] SLAMing on 32.959928851 meters Centerline goodness : 0.796403 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.00, Z:0.11 [[ 9.61333010e-01 -2.58166516e-01 -9.58587124e-02 1.04707906e+00] [ 2.57675891e-01 9.66069694e-01 -1.76771409e-02 -4.24110503e-04] [ 9.71698429e-02 -7.70686004e-03 9.95237975e-01 1.13509240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019928851 meters Centerline goodness : 0.799985 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.00, Z:0.11 [[ 9.61312015e-01 -2.58384650e-01 -9.54807954e-02 1.04619234e+00] [ 2.57871001e-01 9.66013626e-01 -1.78947136e-02 -5.03550198e-04] [ 9.68594687e-02 -7.41932505e-03 9.95270414e-01 1.13846469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079928851000005 meters Centerline goodness : 0.796399 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96120351 -0.25905084 -0.09476538 1.04454498] [ 0.25852045 0.9658372 -0.01804636 -0.00166551] [ 0.09620286 -0.00715256 0.99533605 0.11414038] [ 0. 0. 0. 1. ]] SLAMing on 33.139928851 meters Centerline goodness : 0.795967 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96117545 -0.25924818 -0.09450995 1.04408812] [ 0.25872744 0.96578381 -0.017937 -0.00250078] [ 0.09592631 -0.00721171 0.99536231 0.11413411] [ 0. 0. 0. 1. ]] SLAMing on 33.199928851 meters Centerline goodness : 0.796998 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96115769 -0.25935893 -0.09438668 1.04431977] [ 0.25887405 0.96575145 -0.0175605 -0.00369781] [ 0.09570854 -0.00755586 0.99538072 0.11349252] [ 0. 0. 0. 1. ]] SLAMing on 33.259928851000005 meters Centerline goodness : 0.794271 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96114037 -0.25949594 -0.09418619 1.0443508 ] [ 0.25904419 0.96571221 -0.01720596 -0.00515499] [ 0.09542164 -0.00786104 0.9954059 0.11300456] [ 0. 0. 0. 1. ]] SLAMing on 33.319928851 meters Centerline goodness : 0.792258 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96111221 -0.25964956 -0.09405008 1.04459767] [ 0.25923057 0.96566829 -0.01685996 -0.00704845] [ 0.09519886 -0.00817634 0.9954247 0.11254568] [ 0. 0. 0. 1. ]] SLAMing on 33.379928851 meters Centerline goodness : 0.789444 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96102013 -0.2601181 -0.0936957 1.04375843] [ 0.25971135 0.96554146 -0.01672413 -0.00903411] [ 0.09481733 -0.00826161 0.99546041 0.11285765] [ 0. 0. 0. 1. ]] SLAMing on 33.439928851000005 meters Centerline goodness : 0.789028 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96104551 -0.25998975 -0.09379154 1.04434745] [ 0.25960731 0.96557379 -0.01647105 -0.0100353 ] [ 0.09484495 -0.00851954 0.9954556 0.11254429] [ 0. 0. 0. 1. ]] SLAMing on 33.499928851 meters Centerline goodness : 0.788852 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96105119 -0.26002197 -0.09364393 1.04425396] [ 0.25964734 0.96556463 -0.01637728 -0.0103213 ] [ 0.09467771 -0.00857499 0.99547104 0.11222601] [ 0. 0. 0. 1. ]] SLAMing on 33.559928851 meters Centerline goodness : 0.787428 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96105118 -0.26009427 -0.09344306 1.04394888] [ 0.25972532 0.96554491 -0.01630274 -0.01098949] [ 0.09446372 -0.00860176 0.99549114 0.11216606] [ 0. 0. 0. 1. ]] SLAMing on 33.619928851000004 meters Centerline goodness : 0.785064 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96110277 -0.25989974 -0.09345367 1.04413354] [ 0.2595384 0.96559667 -0.01621395 -0.01132738] [ 0.09445255 -0.00867154 0.9954916 0.11218471] [ 0. 0. 0. 1. ]] SLAMing on 33.679928851 meters Centerline goodness : 0.784909 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96120924 -0.25942213 -0.09368543 1.04493391] [ 0.25909384 0.96572186 -0.01586405 -0.01138066] [ 0.09458955 -0.00902464 0.99547545 0.11174303] [ 0. 0. 0. 1. ]] SLAMing on 33.739928851 meters Centerline goodness : 0.784476 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.96150176 -0.25812458 -0.09426595 1.04710234] [ 0.25785554 0.96606336 -0.01523498 -0.01102733] [ 0.0949994 -0.00965854 0.99543047 0.11072673] [ 0. 0. 0. 1. ]] SLAMing on 33.799928851000004 meters Centerline goodness : 0.782700 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.96162006 -0.25755572 -0.09461455 1.04846343] [ 0.25733177 0.96621021 -0.01477123 -0.01184469] [ 0.09522195 -0.01014302 0.99540439 0.11015479] [ 0. 0. 0. 1. ]] SLAMing on 33.859928851 meters Centerline goodness : 0.785885 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.961682 -0.25728651 -0.09471739 1.04879467] [ 0.25708905 0.96627905 -0.01449215 -0.01275716] [ 0.09525206 -0.01041396 0.99539871 0.11017738] [ 0. 0. 0. 1. ]] SLAMing on 33.919928851 meters Centerline goodness : 0.788744 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.96173026 -0.25709671 -0.0947427 1.04890229] [ 0.25690767 0.9663287 -0.01439746 -0.01308452] [ 0.09525413 -0.01049366 0.99539768 0.11026382] [ 0. 0. 0. 1. ]] SLAMing on 33.979928851000004 meters Centerline goodness : 0.788691 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.96169948 -0.2572565 -0.09462138 1.04853333] [ 0.25707321 0.96628565 -0.01433177 -0.01376944] [ 0.09511822 -0.01054177 0.99541016 0.11042475] [ 0. 0. 0. 1. ]] SLAMing on 34.039928851 meters Centerline goodness : 0.779641 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.9616574 -0.25751871 -0.09433532 1.04812311] [ 0.25734034 0.96621559 -0.01426139 -0.01457338] [ 0.09482083 -0.01056172 0.99543833 0.11028699] [ 0. 0. 0. 1. ]] SLAMing on 34.099928851 meters Centerline goodness : 0.778968 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96080665 -0.26082771 -0.09391212 1.05022034] [ 0.26035586 0.96535485 -0.01745949 -0.01551154] [ 0.09521244 -0.00767538 0.99542739 0.10963938] [ 0. 0. 0. 1. ]] SLAMing on 34.159928851000004 meters Centerline goodness : 0.784218 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96071317 -0.26128397 -0.09359961 1.04925912] [ 0.26078951 0.96523353 -0.01769373 -0.01544459] [ 0.09496857 -0.0074112 0.99545268 0.10995552] [ 0. 0. 0. 1. ]] SLAMing on 34.219928851 meters Centerline goodness : 0.778572 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96076319 -0.26104565 -0.0937511 1.05020797] [ 0.26058776 0.96529495 -0.01731093 -0.01642387] [ 0.0950164 -0.00779868 0.99544516 0.1093099 ] [ 0. 0. 0. 1. ]] SLAMing on 34.279928851 meters Centerline goodness : 0.778482 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96071596 -0.26127441 -0.09359774 1.05000429] [ 0.26083681 0.96523151 -0.01709659 -0.01789729] [ 0.09481039 -0.00798877 0.99546329 0.10927976] [ 0. 0. 0. 1. ]] SLAMing on 34.339928851 meters Centerline goodness : 0.784402 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.9605231 -0.26216775 -0.09307762 1.04813668] [ 0.26170611 0.96499165 -0.0173503 -0.01910423] [ 0.09436782 -0.00769362 0.99550767 0.11024051] [ 0. 0. 0. 1. ]] SLAMing on 34.399928851 meters Centerline goodness : 0.782075 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96050101 -0.26226143 -0.09304162 1.0484253 ] [ 0.26183391 0.96496336 -0.0169917 -0.02107878] [ 0.09423802 -0.00804091 0.99551722 0.11000532] [ 0. 0. 0. 1. ]] SLAMing on 34.459928851 meters Centerline goodness : 0.778348 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96038779 -0.26271452 -0.09293211 1.04845553] [ 0.26232787 0.96483649 -0.01657207 -0.02372386] [ 0.09401801 -0.00846307 0.99553452 0.10973686] [ 0. 0. 0. 1. ]] SLAMing on 34.519928851 meters Centerline goodness : 0.778410 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96036894 -0.26279989 -0.09288545 1.04855412] [ 0.26242792 0.96481194 -0.01641646 -0.02475967] [ 0.09393124 -0.00860988 0.99554146 0.10967064] [ 0. 0. 0. 1. ]] SLAMing on 34.579928851000005 meters Centerline goodness : 0.778331 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96069938 -0.26139519 -0.09343053 1.05039236] [ 0.26109006 0.96518689 -0.01569248 -0.02487998] [ 0.09427986 -0.00931802 0.99550213 0.10908201] [ 0. 0. 0. 1. ]] SLAMing on 34.639928851 meters Centerline goodness : 0.779576 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96172823 -0.25728563 -0.09424921 1.04997506] [ 0.25733035 0.96625036 -0.01188838 -0.02533504] [ 0.09412705 -0.0128198 0.99547765 0.10919352] [ 0. 0. 0. 1. ]] SLAMing on 34.699928851 meters Centerline goodness : 0.778785 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96302581 -0.25187496 -0.0956049 1.05152474] [ 0.2523465 0.96760921 -0.00732536 -0.02529877] [ 0.09435325 -0.01707105 0.99539241 0.10818504] [ 0. 0. 0. 1. ]] SLAMing on 34.759928851000005 meters Centerline goodness : 0.775028 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96415408 -0.2469926 -0.09696168 1.05305047] [ 0.24788809 0.96878436 -0.00289043 -0.02685355] [ 0.09464887 -0.02124883 0.99528392 0.10751619] [ 0. 0. 0. 1. ]] SLAMing on 34.819928851 meters Centerline goodness : 0.779040 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96432842 -0.24628675 -0.0970234 1.05302829] [ 0.24717328 0.96896676 -0.0029627 -0.0256685 ] [ 0.09474213 -0.02112458 0.99527769 0.10802156] [ 0. 0. 0. 1. ]] SLAMing on 34.879928851 meters Centerline goodness : 0.780282 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96442536 -0.24584816 -0.09717204 1.0532487 ] [ 0.24674291 0.96907667 -0.00288764 -0.0254581 ] [ 0.09487708 -0.02119159 0.99526341 0.10832745] [ 0. 0. 0. 1. ]] SLAMing on 34.939928851000005 meters Centerline goodness : 0.781647 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96442273 -0.24579877 -0.09732297 1.0540343 ] [ 0.24674895 0.96907662 -0.002338 -0.02889212] [ 0.09488809 -0.02175952 0.99525011 0.1082952 ] [ 0. 0. 0. 1. ]] SLAMing on 34.999928851 meters Centerline goodness : 0.783179 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96420802 -0.24675439 -0.09703181 1.05263987] [ 0.2476859 0.96883712 -0.00251547 -0.03110491] [ 0.09462872 -0.02160797 0.9952781 0.10944962] [ 0. 0. 0. 1. ]] SLAMing on 35.059928851 meters Centerline goodness : 0.783732 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96413771 -0.2470491 -0.09698054 1.05251187] [ 0.24797532 0.96876293 -0.00257422 -0.03204215] [ 0.09458711 -0.02156688 0.99528295 0.10969724] [ 0. 0. 0. 1. ]] SLAMing on 35.119928851000004 meters Centerline goodness : 0.785137 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.11 [[ 0.96327045 -0.25053962 -0.0966434 1.05513076] [ 0.25122495 0.96791471 -0.00520894 -0.03565735] [ 0.09484762 -0.01926162 0.99530544 0.10863037] [ 0. 0. 0. 1. ]] SLAMing on 35.179928851 meters Centerline goodness : 0.787956 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.11 [[ 0.96237341 -0.25415816 -0.0961304 1.05650199] [ 0.25451804 0.96702884 -0.00870568 -0.03612116] [ 0.09517349 -0.01608881 0.99533068 0.10853042] [ 0. 0. 0. 1. ]] SLAMing on 35.239928851 meters Centerline goodness : 0.788801 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.9620904 -0.2554253 -0.09560326 1.05438945] [ 0.25573314 0.96670338 -0.00922671 -0.03794599] [ 0.09477673 -0.01557199 0.99537676 0.11010411] [ 0. 0. 0. 1. ]] SLAMing on 35.299928851000004 meters Centerline goodness : 0.787121 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.96204631 -0.25561189 -0.0955482 1.05439745] [ 0.25593226 0.96665193 -0.00909521 -0.03941116] [ 0.0946867 -0.01570385 0.99538325 0.11019398] [ 0. 0. 0. 1. ]] SLAMing on 35.359928851 meters Centerline goodness : 0.788478 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.96196954 -0.25593599 -0.09545354 1.05419058] [ 0.25626417 0.96656476 -0.00901363 -0.04062823] [ 0.09456894 -0.01579048 0.99539308 0.11031645] [ 0. 0. 0. 1. ]] SLAMing on 35.419928851 meters Centerline goodness : 0.790611 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.96192749 -0.25612769 -0.09536301 1.05358569] [ 0.2564382 0.9665169 -0.00919421 -0.04034656] [ 0.09452485 -0.01561056 0.9954001 0.11082028] [ 0. 0. 0. 1. ]] SLAMing on 35.479928851000004 meters Centerline goodness : 0.788895 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.96199089 -0.25589101 -0.09535884 1.05398872] [ 0.25622584 0.96657574 -0.00892548 -0.04170274] [ 0.09445549 -0.01584717 0.99540295 0.11066734] [ 0. 0. 0. 1. ]] SLAMing on 35.539928851 meters Centerline goodness : 0.790237 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.96223612 -0.25484682 -0.09568048 1.05497094] [ 0.25520891 0.96684733 -0.00864061 -0.04000032] [ 0.09471045 -0.01610421 0.9953746 0.11023179] [ 0. 0. 0. 1. ]] SLAMing on 35.599928851 meters Centerline goodness : 0.787911 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.11 [[ 0.9631772 -0.25096357 -0.09647261 1.05464786] [ 0.25167142 0.96780003 -0.0049587 -0.04008237] [ 0.09461065 -0.01950329 0.99532329 0.1100572 ] [ 0. 0. 0. 1. ]] SLAMing on 35.659928851000004 meters Centerline goodness : 0.788751 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.11 [[ 0.96361148 -0.24914367 -0.09685222 1.05643068] [ 0.24992559 0.96825608 -0.00416829 -0.03893166] [ 0.09481625 -0.02018923 0.99529004 0.10897795] [ 0. 0. 0. 1. ]] SLAMing on 35.719928851 meters Centerline goodness : 0.786438 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.11 [[ 0.9636634 -0.24894834 -0.09683783 1.0560711 ] [ 0.24968937 0.96831514 -0.00458441 -0.03698301] [ 0.09491081 -0.01976155 0.99528962 0.10939074] [ 0. 0. 0. 1. ]] SLAMing on 35.779928851 meters Centerline goodness : 0.791016 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.11 [[ 0.96450968 -0.24536475 -0.09755619 1.05549738] [ 0.24641662 0.96916312 -0.00130444 -0.03595351] [ 0.09486793 -0.02278132 0.99522916 0.10925642] [ 0. 0. 0. 1. ]] SLAMing on 35.839928851 meters Centerline goodness : 0.787041 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.11 [[ 0.96451493 -0.24539916 -0.0974177 1.0551749 ] [ 0.2463954 0.96916761 -0.00185667 -0.03387743] [ 0.0948697 -0.02221249 0.99524185 0.10930615] [ 0. 0. 0. 1. ]] SLAMing on 35.899928851 meters Centerline goodness : 0.790264 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96449532 -0.24553796 -0.09726199 1.05484872] [ 0.24649453 0.96914158 -0.00224371 -0.03218089] [ 0.09481155 -0.0218105 0.99525628 0.10908843] [ 0. 0. 0. 1. ]] SLAMing on 35.959928851 meters Centerline goodness : 0.787370 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96430548 -0.24643519 -0.09687436 1.05314439] [ 0.24730822 0.96893197 -0.00307889 -0.03023711] [ 0.09462341 -0.02098884 0.99529186 0.10979653] [ 0. 0. 0. 1. ]] SLAMing on 36.019928851 meters Centerline goodness : 0.785046 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96415246 -0.24716038 -0.09654937 1.05223571] [ 0.24797854 0.96875876 -0.00362165 -0.02928412] [ 0.09442818 -0.02045035 0.99532161 0.10991116] [ 0. 0. 0. 1. ]] SLAMing on 36.079928851 meters Centerline goodness : 0.784557 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.03, Z:0.11 [[ 0.96400839 -0.24782849 -0.09627498 1.05178088] [ 0.24857476 0.96860292 -0.0043547 -0.0270307 ] [ 0.09433144 -0.01973357 0.99534525 0.10949364] [ 0. 0. 0. 1. ]] SLAMing on 36.139928851 meters Centerline goodness : 0.780161 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.9639205 -0.24831015 -0.09591313 1.05076819] [ 0.24899128 0.96849286 -0.00499218 -0.02483761] [ 0.09413079 -0.01906947 0.99537719 0.10955798] [ 0. 0. 0. 1. ]] SLAMing on 36.199928851 meters Centerline goodness : 0.780985 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96379335 -0.2490378 -0.09530239 1.04852977] [ 0.24958389 0.96833243 -0.00633859 -0.02076032] [ 0.09386294 -0.01767685 0.99542819 0.1104246 ] [ 0. 0. 0. 1. ]] SLAMing on 36.259928851000005 meters Centerline goodness : 0.785382 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.11 [[ 0.96365968 -0.24967315 -0.09499126 1.0474126 ] [ 0.25013376 0.96818437 -0.0072199 -0.01798301] [ 0.09377167 -0.01680299 0.99545192 0.11066708] [ 0. 0. 0. 1. ]] SLAMing on 36.319928851 meters Centerline goodness : 0.781441 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.11 [[ 0.96344818 -0.25074244 -0.09431771 1.04560559] [ 0.25110283 0.9679255 -0.00822154 -0.01459304] [ 0.09335401 -0.01576242 0.9955082 0.11042592] [ 0. 0. 0. 1. ]] SLAMing on 36.379928851 meters Centerline goodness : 0.785063 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96323439 -0.25179315 -0.09370012 1.04410733] [ 0.25208004 0.96766494 -0.00895665 -0.01320975] [ 0.09292555 -0.01499258 0.99556018 0.11036863] [ 0. 0. 0. 1. ]] SLAMing on 36.439928851000005 meters Centerline goodness : 0.782043 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96302621 -0.25279505 -0.09314068 1.04254436] [ 0.25298108 0.96741954 -0.01000066 -0.00941045] [ 0.09263423 -0.01393193 0.99560273 0.1101399 ] [ 0. 0. 0. 1. ]] SLAMing on 36.499928851 meters Centerline goodness : 0.783815 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.11 [[ 0.96291969 -0.2533207 -0.09281325 1.04151256] [ 0.25343692 0.96729241 -0.010729 -0.0068164 ] [ 0.09249543 -0.01319114 0.99562573 0.11017684] [ 0. 0. 0. 1. ]] SLAMing on 36.559928851 meters Centerline goodness : 0.788711 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96277396 -0.25399944 -0.09246941 1.04035931] [ 0.25402802 0.96712659 -0.01165842 -0.0037682 ] [ 0.09239086 -0.0122654 0.99564727 0.11032018] [ 0. 0. 0. 1. ]] SLAMing on 36.619928851000004 meters Centerline goodness : 0.786237 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96246605 -0.25548772 -0.09157036 1.0376065 ] [ 0.25542321 0.96674695 -0.01262212 -0.00204149] [ 0.09175016 -0.01124084 0.99571861 0.11080188] [ 0. 0. 0. 1. ]] SLAMing on 36.679928851 meters Centerline goodness : 0.788711 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96229411 -0.25632168 -0.09104532 1.03645187] [ 0.25621921 0.96653112 -0.01301163 -0.00177223] [ 0.0913333 -0.01080654 0.99576174 0.11064856] [ 0. 0. 0. 1. ]] SLAMing on 36.739928851 meters Centerline goodness : 0.788758 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 9.62110523e-01 -2.57160155e-01 -9.06200642e-02 1.03518025e+00] [ 2.56994741e-01 9.66315832e-01 -1.36899538e-02 2.27492507e-04] [ 9.10881134e-02 -1.01176314e-02 9.95791439e-01 1.10694782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799928851000004 meters Centerline goodness : 0.789395 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.00, Z:0.11 [[ 0.96205013 -0.25740365 -0.09056992 1.03460999] [ 0.25719202 0.96625597 -0.0142011 0.00167127] [ 0.09116914 -0.00963169 0.99578884 0.11120911] [ 0. 0. 0. 1. ]] SLAMing on 36.859928851 meters Centerline goodness : 0.789107 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 0.96209269 -0.25722971 -0.09061195 1.03512024] [ 0.25701256 0.96630289 -0.01425764 0.00243118] [ 0.09122608 -0.00957123 0.99578421 0.11070484] [ 0. 0. 0. 1. ]] SLAMing on 36.919928851 meters Centerline goodness : 0.790497 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 0.96214281 -0.2569812 -0.09078479 1.03519772] [ 0.2567309 0.96637227 -0.01462489 0.00451727] [ 0.09149022 -0.00923602 0.99576314 0.11100979] [ 0. 0. 0. 1. ]] SLAMing on 36.979928851000004 meters Centerline goodness : 0.790499 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 0.96314381 -0.25290617 -0.09161045 1.03518631] [ 0.25300844 0.96740503 -0.01068866 0.0042048 ] [ 0.09132763 -0.0128835 0.99573756 0.11042836] [ 0. 0. 0. 1. ]] SLAMing on 37.039928851 meters Centerline goodness : 0.789571 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.01, Z:0.11 [[ 0.96339219 -0.25183157 -0.09195837 1.03634007] [ 0.25195894 0.9676819 -0.01041313 0.0053831 ] [ 0.0916088 -0.01313781 0.9957084 0.11010993] [ 0. 0. 0. 1. ]] SLAMing on 37.099928851 meters Centerline goodness : 0.788611 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.01, Z:0.11 [[ 0.96437448 -0.24774419 -0.09276137 1.03565944] [ 0.24820154 0.96868485 -0.00675722 0.00592726] [ 0.0915306 -0.01650702 0.99566544 0.11032293] [ 0. 0. 0. 1. ]] SLAMing on 37.159928851000004 meters Centerline goodness : 0.788312 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.01, Z:0.11 [[ 0.96452794 -0.2470455 -0.09302892 1.03628449] [ 0.2474975 0.96886446 -0.00682966 0.00657128] [ 0.09181965 -0.01643703 0.99563998 0.11074518] [ 0. 0. 0. 1. ]] SLAMing on 37.219928851 meters Centerline goodness : 0.790916 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.01, Z:0.11 [[ 0.96471018 -0.24622675 -0.09330949 1.03716911] [ 0.24670036 0.96906929 -0.00660641 0.00699375] [ 0.09205003 -0.01664622 0.99561523 0.11067384] [ 0. 0. 0. 1. ]] SLAMing on 37.279928851 meters Centerline goodness : 0.787662 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.01, Z:0.11 [[ 0.96464373 -0.24651853 -0.09322603 1.03653026] [ 0.24698358 0.96899651 -0.00669808 0.00611232] [ 0.0919869 -0.01656404 0.99562244 0.11140459] [ 0. 0. 0. 1. ]] SLAMing on 37.339928851 meters Centerline goodness : 0.785849 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 0.9645148 -0.24711156 -0.09298968 1.03561667] [ 0.24756016 0.96884822 -0.00686261 0.00482063] [ 0.09178872 -0.01640145 0.99564342 0.1120568 ] [ 0. 0. 0. 1. ]] SLAMing on 37.399928851 meters Centerline goodness : 0.786712 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 0.96357952 -0.25099338 -0.09228671 1.03641336] [ 0.25111913 0.96789991 -0.01043726 0.00324794] [ 0.09194398 -0.01311783 0.99567777 0.11242572] [ 0. 0. 0. 1. ]] SLAMing on 37.459928851 meters Centerline goodness : 0.785482 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.00, Z:0.11 [[ 9.63377412e-01 -2.51852731e-01 -9.20552261e-02 1.03570372e+00] [ 2.51979525e-01 9.67676311e-01 -1.04343688e-02 7.97903260e-04] [ 9.17075859e-02 -1.31437969e-02 9.95699231e-01 1.12802026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519928851 meters Centerline goodness : 0.787409 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 9.62441863e-01 -2.55578741e-01 -9.15705587e-02 1.03726462e+00] [ 2.55405685e-01 9.66735448e-01 -1.38025247e-02 -3.77150253e-04] [ 9.20521369e-02 -1.01035137e-02 9.95702929e-01 1.12563778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579928851 meters Centerline goodness : 0.786489 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.11 [[ 0.96229987 -0.25620334 -0.09131707 1.03635205] [ 0.25602227 0.96657106 -0.01389151 -0.00188466] [ 0.09182349 -0.01001141 0.99572497 0.11315982] [ 0. 0. 0. 1. ]] SLAMing on 37.639928851 meters Centerline goodness : 0.786154 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.00, Z:0.11 [[ 0.96214373 -0.25693268 -0.09091227 1.03454438] [ 0.25671533 0.9663816 -0.01427719 -0.003106 ] [ 0.09152422 -0.00960187 0.99575656 0.11459092] [ 0. 0. 0. 1. ]] SLAMing on 37.699928851 meters Centerline goodness : 0.786610 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.00, Z:0.12 [[ 0.96212008 -0.25704385 -0.09084827 1.03408846] [ 0.25682432 0.96635231 -0.01429956 -0.00377083] [ 0.09146705 -0.00957415 0.99576208 0.11513005] [ 0. 0. 0. 1. ]] SLAMing on 37.759928851000005 meters Centerline goodness : 0.784412 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.01, Z:0.12 [[ 0.96173135 -0.25858436 -0.09059214 1.03452734] [ 0.25825502 0.96595174 -0.01554289 -0.00654422] [ 0.09152678 -0.00844779 0.99576678 0.11561194] [ 0. 0. 0. 1. ]] SLAMing on 37.819928851 meters Centerline goodness : 0.782106 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.12 [[ 0.96172696 -0.2585823 -0.09064466 1.03532607] [ 0.25830248 0.9659475 -0.01500871 -0.00884416] [ 0.09143897 -0.00897946 0.9957702 0.11501847] [ 0. 0. 0. 1. ]] SLAMing on 37.879928851 meters Centerline goodness : 0.782338 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.12 [[ 0.96167309 -0.25875733 -0.09071666 1.03511899] [ 0.2584819 0.9659 -0.01497658 -0.01045275] [ 0.09149852 -0.00904604 0.99576412 0.1157877 ] [ 0. 0. 0. 1. ]] SLAMing on 37.939928851000005 meters Centerline goodness : 0.780184 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.01, Z:0.12 [[ 0.96166071 -0.25881163 -0.09069296 1.03497409] [ 0.25855135 0.96588395 -0.01481179 -0.01188264] [ 0.09143234 -0.00920488 0.99576875 0.11618418] [ 0. 0. 0. 1. ]] SLAMing on 37.999928851 meters Centerline goodness : 0.781362 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.12 [[ 0.96163723 -0.25888534 -0.09073159 1.03514834] [ 0.25865579 0.96586095 -0.01448455 -0.01456967] [ 0.09138393 -0.00953937 0.99577004 0.11652071] [ 0. 0. 0. 1. ]] SLAMing on 38.059928851 meters Centerline goodness : 0.780210 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.02, Z:0.12 [[ 0.96158345 -0.25908976 -0.09071804 1.03528007] [ 0.25888056 0.96580391 -0.014271 -0.01674393] [ 0.09131331 -0.00976238 0.99577436 0.11668385] [ 0. 0. 0. 1. ]] SLAMing on 38.119928851000004 meters Centerline goodness : 0.781427 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.02, Z:0.12 [[ 0.96148392 -0.25946607 -0.09069746 1.0350318 ] [ 0.25926544 0.96570181 -0.01419338 -0.01907426] [ 0.0912694 -0.00986801 0.99577734 0.1173895 ] [ 0. 0. 0. 1. ]] SLAMing on 38.179928851 meters Centerline goodness : 0.782030 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.02, Z:0.12 [[ 0.96145065 -0.25959494 -0.09068143 1.03477025] [ 0.25940814 0.96566563 -0.01404687 -0.02091933] [ 0.09121443 -0.01001813 0.99578088 0.11800037] [ 0. 0. 0. 1. ]] SLAMing on 38.239928851 meters Centerline goodness : 0.779610 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.02, Z:0.12 [[ 0.96136104 -0.25997888 -0.09053138 1.03409498] [ 0.25980746 0.96556067 -0.01388042 -0.02386985] [ 0.09102216 -0.01017664 0.99579687 0.11892659] [ 0. 0. 0. 1. ]] SLAMing on 38.299928851000004 meters Centerline goodness : 0.783220 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:0.12 [[ 0.96117161 -0.26067876 -0.09053021 1.03393027] [ 0.26051224 0.96537105 -0.01386018 -0.0272678 ] [ 0.0910083 -0.01026222 0.99579726 0.11972978] [ 0. 0. 0. 1. ]] SLAMing on 38.359928851 meters Centerline goodness : 0.780183 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:0.12 [[ 0.96102001 -0.26123754 -0.09052888 1.03399814] [ 0.26108319 0.96521832 -0.01375353 -0.03037651] [ 0.09097307 -0.01041815 0.99579886 0.12018331] [ 0. 0. 0. 1. ]] SLAMing on 38.419928851 meters Centerline goodness : 0.782654 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:0.12 [[ 0.96094521 -0.26144906 -0.09071216 1.03469899] [ 0.261337 0.96515568 -0.01332238 -0.03374424] [ 0.09103448 -0.01090437 0.99578804 0.12026462] [ 0. 0. 0. 1. ]] SLAMing on 38.479928851000004 meters Centerline goodness : 0.783122 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:0.12 [[ 0.96090635 -0.26162404 -0.09061925 1.03394697] [ 0.26150841 0.96510875 -0.01335873 -0.03578725] [ 0.09095239 -0.01086121 0.99579601 0.12158161] [ 0. 0. 0. 1. ]] SLAMing on 38.539928851 meters Centerline goodness : 0.782352 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:0.12 [[ 0.9609937 -0.26125154 -0.0907675 1.03425415] [ 0.26116327 0.9652063 -0.01305945 -0.03732451] [ 0.09102117 -0.01115509 0.99578648 0.12199272] [ 0. 0. 0. 1. ]] SLAMing on 38.599928851 meters Centerline goodness : 0.783534 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.12 [[ 0.96120301 -0.26033443 -0.09118532 1.03531776] [ 0.26032038 0.96544448 -0.01225749 -0.03971081] [ 0.09122541 -0.01195546 0.9957585 0.12228781] [ 0. 0. 0. 1. ]] SLAMing on 38.659928851000004 meters Centerline goodness : 0.784012 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.12 [[ 0.96132784 -0.25975986 -0.09150742 1.03598473] [ 0.25978814 0.9655934 -0.0118114 -0.04068646] [ 0.09142709 -0.01241791 0.99573434 0.12253257] [ 0. 0. 0. 1. ]] SLAMing on 38.719928851 meters Centerline goodness : 0.782230 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.12 [[ 0.96162644 -0.2584138 -0.09217859 1.038244 ] [ 0.25856997 0.96593598 -0.01045213 -0.04431886] [ 0.09173959 -0.01378357 0.99568763 0.12207045] [ 0. 0. 0. 1. ]] SLAMing on 38.779928851 meters Centerline goodness : 0.782759 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.12 [[ 0.96179116 -0.2577145 -0.09241755 1.03892182] [ 0.25791327 0.9661164 -0.0099927 -0.04511855] [ 0.09186137 -0.01422483 0.9956702 0.12214799] [ 0. 0. 0. 1. ]] SLAMing on 38.839928851 meters Centerline goodness : 0.783841 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.12 [[ 0.96211815 -0.25629071 -0.09297166 1.04054016] [ 0.25656032 0.966484 -0.00924511 -0.04628787] [ 0.09222506 -0.01495795 0.99562583 0.12215802] [ 0. 0. 0. 1. ]] SLAMing on 38.899928851 meters Centerline goodness : 0.782449 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.12 [[ 0.96218133 -0.25600839 -0.09309563 1.04099114] [ 0.25630886 0.96655379 -0.00891859 -0.0472772 ] [ 0.09226517 -0.01527993 0.99561723 0.12210567] [ 0. 0. 0. 1. ]] SLAMing on 38.959928851 meters Centerline goodness : 0.781882 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.12 [[ 0.96232083 -0.25531766 -0.09354951 1.04217456] [ 0.25569418 0.96672343 -0.00814246 -0.04963881] [ 0.09251542 -0.01608441 0.99558133 0.12222381] [ 0. 0. 0. 1. ]] SLAMing on 39.019928851 meters Centerline goodness : 0.780394 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.12 [[ 0.96234276 -0.25521321 -0.09360891 1.04193542] [ 0.25560746 0.96674791 -0.00795709 -0.05105355] [ 0.09252697 -0.01626969 0.99557725 0.12301155] [ 0. 0. 0. 1. ]] SLAMing on 39.079928851 meters Centerline goodness : 0.779489 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.12 [[ 0.96251587 -0.25451236 -0.09373715 1.04245776] [ 0.25495936 0.96692362 -0.00737799 -0.05303669] [ 0.09251446 -0.01679773 0.99556964 0.12325774] [ 0. 0. 0. 1. ]] SLAMing on 39.139928851 meters Centerline goodness : 0.782472 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:0.13 [[ 0.96391464 -0.247973 -0.09683986 1.03558739] [ 0.24805736 0.96867874 -0.01135949 -0.05699279] [ 0.09662356 -0.01307226 0.99523515 0.12648997] [ 0. 0. 0. 1. ]] SLAMing on 39.199928851 meters Centerline goodness : 0.781866 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:0.13 [[ 0.96564795 -0.23910523 -0.10174831 1.0281233 ] [ 0.23894193 0.97093336 -0.01397026 -0.06025446] [ 0.10213119 -0.01082158 0.99471208 0.13014677] [ 0. 0. 0. 1. ]] SLAMing on 39.259928851000005 meters Centerline goodness : 0.779013 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.13 [[ 0.96684131 -0.22888015 -0.11327734 1.0258965 ] [ 0.22929711 0.97331001 -0.0095114 -0.06661005] [ 0.11243094 -0.01677815 0.99351788 0.13248333] [ 0. 0. 0. 1. ]] SLAMing on 39.319928851 meters Centerline goodness : 0.776750 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.14 [[ 0.96875711 -0.21754001 -0.11910501 1.01841059] [ 0.21781901 0.97592909 -0.01083 -0.0692095 ] [ 0.118594 -0.0154517 0.9928226 0.1355225 ] [ 0. 0. 0. 1. ]] SLAMing on 39.379928851 meters Centerline goodness : 0.777074 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.14 [[ 0.97033775 -0.20710057 -0.12471568 1.01100488] [ 0.20716114 0.97822535 -0.01262672 -0.07137535] [ 0.12461504 -0.01358406 0.99211217 0.13852191] [ 0. 0. 0. 1. ]] SLAMing on 39.439928851000005 meters Centerline goodness : 0.791891 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.13 [[ 0.97260709 -0.19594249 -0.12506791 1.0110199 ] [ 0.19673255 0.98043806 -0.00612464 -0.069926 ] [ 0.12382142 -0.01864806 0.99212928 0.13478605] [ 0. 0. 0. 1. ]] SLAMing on 39.499928851 meters Centerline goodness : 0.792668 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.13 [[ 9.74914323e-01 -1.83987526e-01 -1.25262338e-01 1.01064579e+00] [ 1.85430916e-01 9.82657293e-01 -1.39132609e-04 -6.63048362e-02] [ 1.23115548e-01 -2.30918677e-02 9.92123645e-01 1.30760714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559928851 meters Centerline goodness : 0.788991 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.13 [[ 0.97644337 -0.17511473 -0.12606812 1.01079564] [ 0.17731845 0.9841328 0.00638761 -0.06491065] [ 0.12294921 -0.02859135 0.99200102 0.12872555] [ 0. 0. 0. 1. ]] SLAMing on 39.619928851000004 meters Centerline goodness : 0.768892 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.14 [[ 0.97805617 -0.16783497 -0.1234405 1.03113724] [ 0.16828002 0.98571517 -0.00688727 -0.05486362] [ 0.1228331 -0.01403643 0.99232807 0.13868112] [ 0. 0. 0. 1. ]] SLAMing on 39.679928851 meters Centerline goodness : 0.768941 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.15 [[ 0.97927035 -0.16459439 -0.11806041 1.05222252] [ 0.16269591 0.98634387 -0.02560887 -0.04398146] [ 0.12066324 0.00587006 0.99267614 0.14993875] [ 0. 0. 0. 1. ]] SLAMing on 39.739928851 meters Centerline goodness : 0.768348 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.16 [[ 0.98034586 -0.1631805 -0.11087882 1.07436789] [ 0.15879794 0.98617603 -0.0473291 -0.03118057] [ 0.11706922 0.02879156 0.99270632 0.16188497] [ 0. 0. 0. 1. ]] SLAMing on 39.799928851000004 meters Centerline goodness : 0.767227 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.16 [[ 0.97973962 -0.16717241 -0.11028897 1.07529159] [ 0.16224915 0.98536487 -0.05226174 -0.02961682] [ 0.1174116 0.0333086 0.99252459 0.16300507] [ 0. 0. 0. 1. ]] SLAMing on 39.859928851 meters Centerline goodness : 0.784193 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.16 [[ 0.97934425 -0.17306043 -0.10457021 1.08456805] [ 0.16894236 0.98449991 -0.0471 -0.02880803] [ 0.11110051 0.02846078 0.99340156 0.16057389] [ 0. 0. 0. 1. ]] SLAMing on 39.919928851 meters Centerline goodness : 0.783986 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.16 [[ 0.97816396 -0.18328081 -0.09799705 1.09235736] [ 0.17967541 0.98271866 -0.04450606 -0.02918449] [ 0.10446063 0.02592656 0.99419102 0.15800328] [ 0. 0. 0. 1. ]] SLAMing on 39.979928851000004 meters Centerline goodness : 0.785542 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:0.15 [[ 0.97732333 -0.19078212 -0.0918765 1.10042959] [ 0.18788562 0.98140489 -0.03928653 -0.02976148] [ 0.09766322 0.02113337 0.99499511 0.15472313] [ 0. 0. 0. 1. ]] SLAMing on 40.039928851 meters Centerline goodness : 0.786986 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.15 [[ 0.97604487 -0.19941331 -0.08700995 1.10703829] [ 0.197214 0.97979585 -0.03326768 -0.03122919] [ 0.09188601 0.01531117 0.99565181 0.15175455] [ 0. 0. 0. 1. ]] SLAMing on 40.099928851 meters Centerline goodness : 0.774945 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.15 [[ 0.97570512 -0.20113798 -0.08685068 1.10600782] [ 0.19891087 0.9794391 -0.03366761 -0.03179255] [ 0.09183678 0.01557411 0.99565227 0.15183776] [ 0. 0. 0. 1. ]] SLAMing on 40.159928851000004 meters Centerline goodness : 0.790598 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.14 [[ 0.97634237 -0.20276047 -0.07512501 1.10604339] [ 0.20101662 0.97912316 -0.03016875 -0.03257214] [ 0.07967366 0.01435365 0.99671765 0.142614 ] [ 0. 0. 0. 1. ]] SLAMing on 40.219928851 meters Centerline goodness : 0.776913 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.14 [[ 0.97617532 -0.20368403 -0.07479675 1.10537671] [ 0.2018592 0.97891503 -0.03127662 -0.02891291] [ 0.07959021 0.01543305 0.99670819 0.14236127] [ 0. 0. 0. 1. ]] SLAMing on 40.279928851 meters Centerline goodness : 0.792121 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:0.14 [[ 0.97681155 -0.20049663 -0.07510189 1.10400911] [ 0.19890234 0.97961307 -0.02821527 -0.0261661 ] [ 0.07922786 0.01262306 0.99677661 0.14226314] [ 0. 0. 0. 1. ]] SLAMing on 40.339928851 meters Centerline goodness : 0.775181 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.14 [[ 0.97746135 -0.19723087 -0.07529468 1.10240137] [ 0.19585049 0.98030554 -0.02537001 -0.02296498] [ 0.07881554 0.0100517 0.99683854 0.14233825] [ 0. 0. 0. 1. ]] SLAMing on 40.399928851 meters Centerline goodness : 0.791917 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.14 [[ 0.9780998 -0.19398834 -0.0754275 1.10235368] [ 0.1928072 0.98097387 -0.02270804 -0.01805433] [ 0.0783975 0.00766776 0.99689269 0.14048653] [ 0. 0. 0. 1. ]] SLAMing on 40.459928851 meters Centerline goodness : 0.792695 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.14 [[ 0.97853607 -0.19197473 -0.07491906 1.10024791] [ 0.19096176 0.98138286 -0.02052531 -0.01342177] [ 0.07746462 0.00577808 0.99697836 0.13922099] [ 0. 0. 0. 1. ]] SLAMing on 40.519928851 meters Centerline goodness : 0.797656 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.14 [[ 0.9783693 -0.19306916 -0.074282 1.09848035] [ 0.19194595 0.98115794 -0.02204198 -0.00866773] [ 0.077138 0.00730707 0.99699365 0.13955264] [ 0. 0. 0. 1. ]] SLAMing on 40.579928851 meters Centerline goodness : 0.787676 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.14 [[ 9.78099125e-01 -1.96498652e-01 -6.86322161e-02 1.10442924e+00] [ 1.96072313e-01 9.80503784e-01 -1.29605861e-02 -3.61479035e-03] [ 6.98408853e-02 -7.80139429e-04 9.97557839e-01 1.36126613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639928851 meters Centerline goodness : 0.790931 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.00, Z:0.14 [[ 9.77810387e-01 -1.98275780e-01 -6.76281189e-02 1.10164819e+00] [ 1.97751432e-01 9.80145997e-01 -1.44290194e-02 2.55488413e-05] [ 6.91463550e-02 7.35287708e-04 9.97606255e-01 1.36366661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699928851 meters Centerline goodness : 0.793068 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.00, Z:0.14 [[ 0.97739409 -0.20070328 -0.06647552 1.09930068] [ 0.20008482 0.97964951 -0.01590287 0.0040427 ] [ 0.06831447 0.00224263 0.99766132 0.13523048] [ 0. 0. 0. 1. ]] SLAMing on 40.759928851000005 meters Centerline goodness : 0.793156 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:0.14 [[ 0.97714866 -0.20219461 -0.06555788 1.09710259] [ 0.20150333 0.97933925 -0.01705998 0.00729898] [ 0.06765284 0.00346001 0.99770292 0.13500365] [ 0. 0. 0. 1. ]] SLAMing on 40.819928851 meters Centerline goodness : 0.797859 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:0.13 [[ 0.97697422 -0.20324636 -0.06490221 1.09550406] [ 0.20248747 0.97911695 -0.01813368 0.01083097] [ 0.06723246 0.00457426 0.99772685 0.1348835 ] [ 0. 0. 0. 1. ]] SLAMing on 40.879928851 meters Centerline goodness : 0.795714 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.14 [[ 0.97679568 -0.20429673 -0.06428881 1.09340207] [ 0.20345 0.97889068 -0.01952255 0.0144402 ] [ 0.06692011 0.00598998 0.99774036 0.13580328] [ 0. 0. 0. 1. ]] SLAMing on 40.939928851000005 meters Centerline goodness : 0.800840 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.02, Z:0.14 [[ 0.97662311 -0.20530673 -0.06369022 1.09183585] [ 0.20438265 0.9786707 -0.02077019 0.01913436] [ 0.06659601 0.00726747 0.99775355 0.13572312] [ 0. 0. 0. 1. ]] SLAMing on 40.999928851 meters Centerline goodness : 0.797288 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.02, Z:0.14 [[ 0.97646243 -0.20622308 -0.06319156 1.09053932] [ 0.20525384 0.97847183 -0.02153465 0.02111585] [ 0.0662721 0.00805747 0.99776905 0.13574805] [ 0. 0. 0. 1. ]] SLAMing on 41.059928851 meters Centerline goodness : 0.798132 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.02, Z:0.14 [[ 0.97617005 -0.20788097 -0.06226991 1.08757514] [ 0.20684038 0.97810931 -0.02278672 0.02342396] [ 0.06564371 0.00936379 0.99779919 0.1365562 ] [ 0. 0. 0. 1. ]] SLAMing on 41.119928851000004 meters Centerline goodness : 0.800917 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.02, Z:0.14 [[ 0.9760129 -0.20875733 -0.06179963 1.08633194] [ 0.20769695 0.97791845 -0.02318371 0.02393231] [ 0.06527477 0.00979201 0.99781928 0.1365051 ] [ 0. 0. 0. 1. ]] SLAMing on 41.179928851 meters Centerline goodness : 0.802890 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.03, Z:0.14 [[ 0.97585915 -0.20959541 -0.06138957 1.08512784] [ 0.20849823 0.97773224 -0.02383597 0.02611375] [ 0.06501847 0.01046093 0.99782923 0.1365183 ] [ 0. 0. 0. 1. ]] SLAMing on 41.239928851 meters Centerline goodness : 0.803969 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97574664 -0.2102487 -0.06094238 1.08403948] [ 0.20911223 0.97758383 -0.02453418 0.02812326] [ 0.06473456 0.01119534 0.99783972 0.13653558] [ 0. 0. 0. 1. ]] SLAMing on 41.299928851000004 meters Centerline goodness : 0.803332 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97565954 -0.2107445 -0.0606236 1.08352201] [ 0.20960669 0.97747565 -0.02462493 0.02865875] [ 0.06444766 0.01131844 0.9978569 0.13592374] [ 0. 0. 0. 1. ]] SLAMing on 41.359928851 meters Centerline goodness : 0.805926 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97546284 -0.21180456 -0.06009221 1.08157996] [ 0.21061744 0.97723545 -0.02551795 0.03033756] [ 0.06412906 0.01223535 0.9978666 0.13670747] [ 0. 0. 0. 1. ]] SLAMing on 41.419928851 meters Centerline goodness : 0.805628 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97533221 -0.21250462 -0.05974006 1.07993777] [ 0.21127337 0.97707325 -0.02629489 0.03156501] [ 0.0639582 0.01302477 0.99786758 0.13789303] [ 0. 0. 0. 1. ]] SLAMing on 41.479928851000004 meters Centerline goodness : 0.807001 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97582262 -0.21032342 -0.05944969 1.07638058] [ 0.20927975 0.97757726 -0.0233387 0.03115409] [ 0.06302534 0.01033282 0.99795844 0.13891888] [ 0. 0. 0. 1. ]] SLAMing on 41.539928851 meters Centerline goodness : 0.806561 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97576167 -0.210669 -0.05922608 1.07553656] [ 0.20959548 0.97749704 -0.0238593 0.0321575 ] [ 0.06291974 0.01086747 0.99795942 0.13954539] [ 0. 0. 0. 1. ]] SLAMing on 41.599928851 meters Centerline goodness : 0.804511 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:0.14 [[ 0.97571522 -0.21098309 -0.05887234 1.07501718] [ 0.20992558 0.9774307 -0.02367434 0.03112027] [ 0.06253852 0.01074061 0.99798476 0.13913076] [ 0. 0. 0. 1. ]] SLAMing on 41.659928851000004 meters Centerline goodness : 0.804929 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.03, Z:0.14 [[ 0.9756326 -0.2114346 -0.05862107 1.07455967] [ 0.21041617 0.97733886 -0.023104 0.02850634] [ 0.06217763 0.0102062 0.99801291 0.13865905] [ 0. 0. 0. 1. ]] SLAMing on 41.719928851 meters Centerline goodness : 0.802210 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.03, Z:0.14 [[ 0.97559461 -0.21165722 -0.05844983 1.07414888] [ 0.21064421 0.97729098 -0.02305113 0.02772299] [ 0.06200143 0.01017644 0.99802418 0.13878588] [ 0. 0. 0. 1. ]] SLAMing on 41.779928851 meters Centerline goodness : 0.802618 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.03, Z:0.14 [[ 0.97556632 -0.21183241 -0.05828708 1.07392445] [ 0.21085293 0.97725786 -0.02254138 0.02525088] [ 0.0617365 0.00970061 0.99804534 0.13856444] [ 0. 0. 0. 1. ]] SLAMing on 41.839928851 meters Centerline goodness : 0.799964 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.14 [[ 0.9755066 -0.21215675 -0.05810668 1.0734256 ] [ 0.2111974 0.9771901 -0.02225247 0.02272175] [ 0.06150228 0.00943545 0.99806234 0.13881018] [ 0. 0. 0. 1. ]] SLAMing on 41.899928851 meters Centerline goodness : 0.801414 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.14 [[ 0.97542636 -0.21258398 -0.05789192 1.07235552] [ 0.21163705 0.97709854 -0.02209522 0.02024134] [ 0.0612632 0.00930019 0.99807832 0.13965082] [ 0. 0. 0. 1. ]] SLAMing on 41.959928851 meters Centerline goodness : 0.799261 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.14 [[ 0.97545999 -0.21240706 -0.05797462 1.07313013] [ 0.21151298 0.97714488 -0.02121658 0.01644644] [ 0.06115616 0.00843354 0.99809258 0.13909022] [ 0. 0. 0. 1. ]] SLAMing on 42.019928851 meters Centerline goodness : 0.798514 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:0.14 [[ 0.97553795 -0.21197653 -0.05823803 1.07390666] [ 0.21110548 0.97724209 -0.02079368 0.01502489] [ 0.06132043 0.00799065 0.99808615 0.13910304] [ 0. 0. 0. 1. ]] SLAMing on 42.079928851 meters Centerline goodness : 0.793080 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.14 [[ 0.97561008 -0.21163123 -0.05828544 1.07390562] [ 0.2107931 0.97732111 -0.02024167 0.01224102] [ 0.06124736 0.0074618 0.99809473 0.13963206] [ 0. 0. 0. 1. ]] SLAMing on 42.139928851 meters Centerline goodness : 0.791162 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.14 [[ 0.97569605 -0.2111867 -0.05845848 1.07449354] [ 0.21038414 0.97742171 -0.01962921 0.01016825] [ 0.06128402 0.00685341 0.99809684 0.1395976 ] [ 0. 0. 0. 1. ]] SLAMing on 42.199928851 meters Centerline goodness : 0.789771 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.01, Z:0.14 [[ 0.97579932 -0.21063228 -0.05873445 1.07543647] [ 0.20989524 0.9775485 -0.01851789 0.00636408] [ 0.06131624 0.00574166 0.99810187 0.13931986] [ 0. 0. 0. 1. ]] SLAMing on 42.259928851 meters Centerline goodness : 0.786991 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.14 [[ 0.97587566 -0.21020428 -0.05899885 1.07636141] [ 0.20950756 0.97764452 -0.01782628 0.00346639] [ 0.06142706 0.00503553 0.99809887 0.13921589] [ 0. 0. 0. 1. ]] SLAMing on 42.319928851 meters Centerline goodness : 0.782871 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.14 [[ 0.9759655 -0.20971541 -0.05925185 1.07779661] [ 0.20909143 0.97775499 -0.01661162 -0.00175644] [ 0.0614175 0.00382331 0.99810484 0.13854958] [ 0. 0. 0. 1. ]] SLAMing on 42.379928851 meters Centerline goodness : 0.779960 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.14 [[ 0.97606963 -0.20913841 -0.05957511 1.07896328] [ 0.2085578 0.97788124 -0.01587236 -0.0042876 ] [ 0.06157691 0.00306767 0.99809763 0.13830139] [ 0. 0. 0. 1. ]] SLAMing on 42.439928851000005 meters Centerline goodness : 0.780039 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.14 [[ 0.9763521 -0.2075883 -0.06036281 1.08163412] [ 0.20707838 0.97821462 -0.01465298 -0.00649092] [ 0.06208957 0.00180664 0.99806895 0.13747594] [ 0. 0. 0. 1. ]] SLAMing on 42.499928851 meters Centerline goodness : 0.780615 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.14 [[ 9.76458701e-01 -2.07000549e-01 -6.06562368e-02 1.08268478e+00] [ 2.06539967e-01 9.78340333e-01 -1.38359685e-02 -9.03841808e-03] [ 6.22064960e-02 9.82314627e-04 9.98062817e-01 1.37183697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559928851 meters Centerline goodness : 0.779339 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.14 [[ 9.76521338e-01 -2.06640227e-01 -6.08760464e-02 1.08333996e+00] [ 2.06228724e-01 9.78416980e-01 -1.30356248e-02 -1.24151637e-02] [ 6.22558419e-02 1.75176375e-04 9.98060208e-01 1.37253480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619928851000004 meters Centerline goodness : 0.776191 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.14 [[ 9.76586026e-01 -2.06261604e-01 -6.11218807e-02 1.08446992e+00] [ 2.05908196e-01 9.78496577e-01 -1.20939698e-02 -1.64981232e-02] [ 6.23020726e-02 -7.74694309e-04 9.98057038e-01 1.36862841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679928851 meters Centerline goodness : 0.777982 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:0.14 [[ 0.97661446 -0.20609518 -0.06122885 1.0850313 ] [ 0.20576311 0.9785313 -0.01174864 -0.01760092] [ 0.06233568 -0.00112474 0.99805461 0.13653257] [ 0. 0. 0. 1. ]] SLAMing on 42.739928851 meters Centerline goodness : 0.773144 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:0.14 [[ 0.97663566 -0.20600659 -0.06118879 1.08504452] [ 0.20570321 0.97854935 -0.01128523 -0.01998031] [ 0.06220108 -0.00156518 0.99806241 0.13666423] [ 0. 0. 0. 1. ]] SLAMing on 42.799928851000004 meters Centerline goodness : 0.775332 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:0.14 [[ 0.97667098 -0.20579612 -0.06133314 1.08543651] [ 0.20551492 0.97859298 -0.01092676 -0.02166044] [ 0.06226886 -0.00193303 0.99805754 0.13683491] [ 0. 0. 0. 1. ]] SLAMing on 42.859928851 meters Centerline goodness : 0.774367 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:0.14 [[ 0.97670382 -0.20564465 -0.06131818 1.08534466] [ 0.20538332 0.97862417 -0.0106028 -0.02320647] [ 0.06218786 -0.00223793 0.99806195 0.13710548] [ 0. 0. 0. 1. ]] SLAMing on 42.919928851 meters Centerline goodness : 0.776885 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.14 [[ 0.97673814 -0.20545394 -0.0614108 1.0849496 ] [ 0.20519949 0.97866395 -0.01048998 -0.02443471] [ 0.06225574 -0.0023555 0.99805745 0.13824353] [ 0. 0. 0. 1. ]] SLAMing on 42.979928851000004 meters Centerline goodness : 0.772949 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.9767491 -0.2053673 -0.06152617 1.08536417] [ 0.20514705 0.97868065 -0.00994381 -0.02742281] [ 0.06225661 -0.00290931 0.99805594 0.1383494 ] [ 0. 0. 0. 1. ]] SLAMing on 43.039928851 meters Centerline goodness : 0.778199 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.976729 -0.20546118 -0.06153173 1.08550701] [ 0.20526736 0.9786596 -0.00952317 -0.0300038 ] [ 0.06217526 -0.0033289 0.9980597 0.13838415] [ 0. 0. 0. 1. ]] SLAMing on 43.099928851 meters Centerline goodness : 0.779131 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 9.75999883e-01 -2.08968303e-01 -6.12901056e-02 1.08685940e+00] [ 2.08582940e-01 9.77922333e-01 -1.26912192e-02 -3.24717543e-02] [ 6.25890257e-02 -3.97441939e-04 9.98039306e-01 1.38629913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159928851000004 meters Centerline goodness : 0.779469 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 9.75873535e-01 -2.09573602e-01 -6.12351989e-02 1.08646239e+00] [ 2.09205973e-01 9.77792635e-01 -1.24267198e-02 -3.56948315e-02] [ 6.24796390e-02 -6.83862367e-04 9.98046004e-01 1.39130575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219928851 meters Centerline goodness : 0.774726 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.97499266 -0.21381341 -0.06060643 1.08657086] [ 0.21323104 0.97687087 -0.01599487 -0.03838108] [ 0.06262457 0.0026717 0.99803358 0.13996798] [ 0. 0. 0. 1. ]] SLAMing on 43.279928851 meters Centerline goodness : 0.775729 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.97413353 -0.21786155 -0.06000169 1.08686418] [ 0.21706895 0.97596139 -0.01950478 -0.04103236] [ 0.06280867 0.00597575 0.9980077 0.14075287] [ 0. 0. 0. 1. ]] SLAMing on 43.339928851 meters Centerline goodness : 0.776118 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.97334983 -0.22140165 -0.0597613 1.08836579] [ 0.22040311 0.97514011 -0.02289618 -0.04264586] [ 0.0633449 0.00911442 0.99795007 0.14096176] [ 0. 0. 0. 1. ]] SLAMing on 43.399928851 meters Centerline goodness : 0.777952 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97293286 -0.22332223 -0.05940398 1.08773203] [ 0.22225359 0.97469072 -0.024111 -0.04611823] [ 0.06328503 0.01025563 0.9979428 0.14193911] [ 0. 0. 0. 1. ]] SLAMing on 43.459928851 meters Centerline goodness : 0.777043 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97294664 -0.2232166 -0.0595751 1.08818196] [ 0.22217226 0.97471939 -0.02369787 -0.04802739] [ 0.06335876 0.00982083 0.99794249 0.14193612] [ 0. 0. 0. 1. ]] SLAMing on 43.519928851 meters Centerline goodness : 0.776718 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97311589 -0.22238004 -0.05993823 1.08922903] [ 0.2213813 0.97491836 -0.02290228 -0.05011868] [ 0.06352789 0.00901737 0.99793932 0.14185506] [ 0. 0. 0. 1. ]] SLAMing on 43.579928851 meters Centerline goodness : 0.777587 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97407735 -0.21787905 -0.06084434 1.08910492] [ 0.21714106 0.9759636 -0.01856926 -0.05167988] [ 0.06342771 0.00487609 0.99797452 0.14220725] [ 0. 0. 0. 1. ]] SLAMing on 43.639928851 meters Centerline goodness : 0.776153 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97422102 -0.21718674 -0.06101903 1.08929414] [ 0.21646741 0.97611941 -0.01824173 -0.05208275] [ 0.06352373 0.00456285 0.9979699 0.14264858] [ 0. 0. 0. 1. ]] SLAMing on 43.699928851 meters Centerline goodness : 0.773855 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97444579 -0.21605894 -0.06143237 1.0903617 ] [ 0.21537185 0.97637217 -0.01767372 -0.05239581] [ 0.06379942 0.00399128 0.99795476 0.1426629 ] [ 0. 0. 0. 1. ]] SLAMing on 43.759928851 meters Centerline goodness : 0.786600 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97455906 -0.21546496 -0.06172109 1.09106152] [ 0.21479756 0.97650482 -0.01733064 -0.05263223] [ 0.06400509 0.0036322 0.99794296 0.142607 ] [ 0. 0. 0. 1. ]] SLAMing on 43.819928851 meters Centerline goodness : 0.775247 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97455834 -0.21543606 -0.06183324 1.0914522 ] [ 0.21478772 0.97651233 -0.01702639 -0.05371639] [ 0.06404902 0.00331219 0.99794126 0.14244577] [ 0. 0. 0. 1. ]] SLAMing on 43.879928851 meters Centerline goodness : 0.776329 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97445842 -0.21587374 -0.06188153 1.09186026] [ 0.21524229 0.9764166 -0.01677465 -0.05598903] [ 0.06404336 0.00302668 0.99794253 0.14209446] [ 0. 0. 0. 1. ]] SLAMing on 43.939928851000005 meters Centerline goodness : 0.776181 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97440578 -0.21611808 -0.06185751 1.09195236] [ 0.21550116 0.97636321 -0.01655692 -0.05719424] [ 0.06397364 0.00280279 0.99794765 0.14190108] [ 0. 0. 0. 1. ]] SLAMing on 43.999928851 meters Centerline goodness : 0.775907 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97431715 -0.21656193 -0.06170106 1.09140481] [ 0.21593977 0.97626455 -0.01665956 -0.05790732] [ 0.06384438 0.00290798 0.99795563 0.14222325] [ 0. 0. 0. 1. ]] SLAMing on 44.059928851 meters Centerline goodness : 0.775317 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97422485 -0.21699471 -0.06163792 1.09116731] [ 0.21636784 0.97616823 -0.01674968 -0.0589257 ] [ 0.06380357 0.00298149 0.99795802 0.14255286] [ 0. 0. 0. 1. ]] SLAMing on 44.119928851000004 meters Centerline goodness : 0.775239 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.9741326 -0.21753123 -0.06120327 1.08977695] [ 0.21688039 0.97604728 -0.01716418 -0.05906927] [ 0.06347103 0.0034464 0.99797773 0.14334187] [ 0. 0. 0. 1. ]] SLAMing on 44.179928851 meters Centerline goodness : 0.777336 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97412234 -0.21761533 -0.06106751 1.08941369] [ 0.21696307 0.97602833 -0.01719658 -0.05917576] [ 0.06334586 0.00350218 0.99798549 0.14349829] [ 0. 0. 0. 1. ]] SLAMing on 44.239928851 meters Centerline goodness : 0.775968 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97416509 -0.21739062 -0.06118571 1.08991058] [ 0.2167481 0.97607901 -0.01703001 -0.05906541] [ 0.06342425 0.00332816 0.99798111 0.14315499] [ 0. 0. 0. 1. ]] SLAMing on 44.299928851000004 meters Centerline goodness : 0.774166 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.9742434 -0.21700981 -0.06129056 1.09026556] [ 0.21636101 0.97616347 -0.01711127 -0.05777911] [ 0.06354292 0.00340966 0.99797328 0.14304505] [ 0. 0. 0. 1. ]] SLAMing on 44.359928851 meters Centerline goodness : 0.774900 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 9.74904677e-01 -2.13906403e-01 -6.16840462e-02 1.08882490e+00] [ 2.13457534e-01 9.76854101e-01 -1.38544621e-02 -5.79207365e-02] [ 6.32198717e-02 3.39855529e-04 9.97999565e-01 1.43601678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419928851 meters Centerline goodness : 0.773545 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 9.74997524e-01 -2.13458116e-01 -6.17694131e-02 1.08929483e+00] [ 2.12984368e-01 9.76951951e-01 -1.42318131e-02 -5.52732617e-02] [ 6.33836446e-02 7.20063092e-04 9.97988975e-01 1.43317700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479928851000004 meters Centerline goodness : 0.772632 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97490058 -0.21403567 -0.0612992 1.08801581] [ 0.21352884 0.97682495 -0.01477993 -0.05420795] [ 0.06304202 0.00131981 0.99801 0.14368219] [ 0. 0. 0. 1. ]] SLAMing on 44.539928851 meters Centerline goodness : 0.774242 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97478223 -0.21469075 -0.06088917 1.08665608] [ 0.21415965 0.97668047 -0.01519555 -0.05434752] [ 0.06273161 0.00177235 0.99802886 0.14438079] [ 0. 0. 0. 1. ]] SLAMing on 44.599928851 meters Centerline goodness : 0.784636 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97474965 -0.214857 -0.0608242 1.08647449] [ 0.2143273 0.97664393 -0.01518017 -0.0547259 ] [ 0.06266515 0.00176058 0.99803306 0.14444262] [ 0. 0. 0. 1. ]] SLAMing on 44.659928851000004 meters Centerline goodness : 0.784007 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.14 [[ 0.97458295 -0.21570347 -0.06049861 1.08563485] [ 0.21516996 0.97645712 -0.01527662 -0.05608804] [ 0.06236952 0.00187085 0.99805137 0.14462378] [ 0. 0. 0. 1. ]] SLAMing on 44.719928851 meters Centerline goodness : 0.784150 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:0.14 [[ 0.97446049 -0.21633874 -0.06020211 1.08481398] [ 0.21580304 0.9763164 -0.01534033 -0.0572478 ] [ 0.06209502 0.00195674 0.99806832 0.14486772] [ 0. 0. 0. 1. ]] SLAMing on 44.779928851 meters Centerline goodness : 0.774905 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:0.14 [[ 0.97439507 -0.21670428 -0.05994576 1.08458566] [ 0.21617754 0.97623551 -0.01521517 -0.05819499] [ 0.06181837 0.00186666 0.99808567 0.14444142] [ 0. 0. 0. 1. ]] SLAMing on 44.839928851 meters Centerline goodness : 0.774279 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:0.14 [[ 0.97443207 -0.21654122 -0.05993367 1.08458558] [ 0.2159992 0.97627118 -0.01545719 -0.05667874] [ 0.06185863 0.00211636 0.99808268 0.14441315] [ 0. 0. 0. 1. ]] SLAMing on 44.899928851 meters Centerline goodness : 0.772891 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.14 [[ 0.97458605 -0.21583013 -0.0599949 1.08496409] [ 0.21528084 0.97642836 -0.01555054 -0.05485154] [ 0.06193699 0.00223958 0.99807755 0.14429767] [ 0. 0. 0. 1. ]] SLAMing on 44.959928851 meters Centerline goodness : 0.771477 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.14 [[ 0.97548532 -0.21152594 -0.06070556 1.08463528] [ 0.21120056 0.97737151 -0.01180088 -0.05411384] [ 0.06182807 -0.00130946 0.99808596 0.14434412] [ 0. 0. 0. 1. ]] SLAMing on 45.019928851 meters Centerline goodness : 0.782707 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.14 [[ 0.97629818 -0.20752781 -0.0614334 1.08461408] [ 0.20743622 0.97821636 -0.00793542 -0.05475586] [ 0.06174198 -0.00499618 0.99807964 0.14412113] [ 0. 0. 0. 1. ]] SLAMing on 45.079928851 meters Centerline goodness : 0.769265 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.14 [[ 0.97713954 -0.20336119 -0.06198826 1.08436382] [ 0.2034985 0.97906643 -0.00415689 -0.05465707] [ 0.06153598 -0.00855266 0.99806822 0.14387918] [ 0. 0. 0. 1. ]] SLAMing on 45.139928851 meters Centerline goodness : 0.778857 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97733165 -0.20238017 -0.06217005 1.08514588] [ 0.20252693 0.97926853 -0.00399804 -0.05350545] [ 0.06169029 -0.0086837 0.99805756 0.14371959] [ 0. 0. 0. 1. ]] SLAMing on 45.199928851 meters Centerline goodness : 0.769602 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 9.78203577e-01 -1.97849973e-01 -6.30329271e-02 1.08589173e+00] [ 1.98241515e-01 9.80153202e-01 -4.32512332e-05 -5.34501286e-02] [ 6.17904826e-02 -1.24534344e-02 9.98011447e-01 1.43117960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259928851 meters Centerline goodness : 0.769312 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97884444 -0.19460058 -0.06319944 1.08698696] [ 0.19513524 0.98077355 0.00234087 -0.05311794] [ 0.0615288 -0.01462378 0.99799817 0.1419919 ] [ 0. 0. 0. 1. ]] SLAMing on 45.319928851 meters Centerline goodness : 0.783681 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97903925 -0.19349794 -0.06356649 1.08830562] [ 0.19405506 0.98098706 0.00265145 -0.0521495 ] [ 0.06184486 -0.01493127 0.99797408 0.14157398] [ 0. 0. 0. 1. ]] SLAMing on 45.379928851 meters Centerline goodness : 0.772065 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97977042 -0.18956079 -0.06416093 1.08769781] [ 0.19034493 0.98169718 0.00628167 -0.0521693 ] [ 0.06179585 -0.0183673 0.99791979 0.14200947] [ 0. 0. 0. 1. ]] SLAMing on 45.439928851000005 meters Centerline goodness : 0.773402 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.97987834 -0.18894792 -0.06432049 1.08834017] [ 0.18973013 0.98181656 0.00622272 -0.05135157] [ 0.06197515 -0.01830104 0.99790989 0.14197705] [ 0. 0. 0. 1. ]] SLAMing on 45.499928851 meters Centerline goodness : 0.773788 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.98011468 -0.18762683 -0.06458628 1.08956144] [ 0.18842529 0.98206636 0.0064472 -0.04959745] [ 0.06221835 -0.01848868 0.9978913 0.14150717] [ 0. 0. 0. 1. ]] SLAMing on 45.559928851 meters Centerline goodness : 0.786160 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.98026143 -0.18684391 -0.06462877 1.08988195] [ 0.18762157 0.98222228 0.00612626 -0.04703849] [ 0.06233516 -0.01813109 0.99789057 0.14166365] [ 0. 0. 0. 1. ]] SLAMing on 45.619928851000004 meters Centerline goodness : 0.773383 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.05, Z:0.14 [[ 0.98108565 -0.18215424 -0.06550407 1.09102169] [ 0.1831921 0.98302471 0.01015236 -0.04682727] [ 0.06254283 -0.02196016 0.99780065 0.14076201] [ 0. 0. 0. 1. ]] SLAMing on 45.679928851 meters Centerline goodness : 0.778420 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.98199571 -0.17697934 -0.06605102 1.09092325] [ 0.17823424 0.98389452 0.01356914 -0.04286633] [ 0.06258577 -0.02509739 0.99772398 0.14082834] [ 0. 0. 0. 1. ]] SLAMing on 45.739928851 meters Centerline goodness : 0.779496 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.98271245 -0.17273937 -0.06661341 1.09033381] [ 0.17418904 0.98457295 0.01656167 -0.0401052 ] [ 0.06272491 -0.02787869 0.9976414 0.14156642] [ 0. 0. 0. 1. ]] SLAMing on 45.799928851000004 meters Centerline goodness : 0.779658 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.98343935 -0.1682918 -0.06726742 1.09064522] [ 0.16997133 0.98524529 0.02003636 -0.03860851] [ 0.06290296 -0.03113808 0.99753378 0.14131974] [ 0. 0. 0. 1. ]] SLAMing on 45.859928851 meters Centerline goodness : 0.796898 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.14 [[ 0.98340013 -0.16859569 -0.06707958 1.09009525] [ 0.17021336 0.98522137 0.01913802 -0.03617631] [ 0.06286165 -0.03023818 0.99756407 0.14172736] [ 0. 0. 0. 1. ]] SLAMing on 45.919928851 meters Centerline goodness : 0.781891 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.98278767 -0.17229772 -0.06664751 1.09083449] [ 0.17363758 0.98469812 0.01481872 -0.03389597] [ 0.06307445 -0.02613617 0.99766653 0.14189342] [ 0. 0. 0. 1. ]] SLAMing on 45.979928851000004 meters Centerline goodness : 0.783816 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.98199455 -0.1770325 -0.06592576 1.09066928] [ 0.17810206 0.98395418 0.0106693 -0.03470093] [ 0.06297911 -0.02221871 0.99776749 0.14219303] [ 0. 0. 0. 1. ]] SLAMing on 46.039928851 meters Centerline goodness : 0.804726 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.98120496 -0.18165755 -0.06509505 1.08991073] [ 0.18243776 0.98319786 0.0061988 -0.03393236] [ 0.06287525 -0.01795809 0.99785981 0.14311142] [ 0. 0. 0. 1. ]] SLAMing on 46.099928851 meters Centerline goodness : 0.782813 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.98026309 -0.18701864 -0.06409598 1.08876635] [ 0.18750424 0.9822625 0.00159273 -0.03457561] [ 0.06266121 -0.01357956 0.99794247 0.1441197 ] [ 0. 0. 0. 1. ]] SLAMing on 46.159928851000004 meters Centerline goodness : 0.782274 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.97945974 -0.19141138 -0.06340579 1.08887158] [ 0.19163405 0.98146298 -0.00260768 -0.03403213] [ 0.06272958 -0.00959659 0.99798442 0.14433727] [ 0. 0. 0. 1. ]] SLAMing on 46.219928851 meters Centerline goodness : 0.782617 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.97860303 -0.19612123 -0.06222999 1.08807066] [ 0.19606076 0.98056578 -0.00713663 -0.03232269] [ 0.06242024 -0.00521694 0.99803632 0.14440793] [ 0. 0. 0. 1. ]] SLAMing on 46.279928851 meters Centerline goodness : 0.779026 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.97848426 -0.19682588 -0.06187183 1.08734918] [ 0.19671203 0.98042878 -0.00798652 -0.02982923] [ 0.06223287 -0.00435625 0.99805215 0.1442514 ] [ 0. 0. 0. 1. ]] SLAMing on 46.339928851 meters Centerline goodness : 0.781214 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.97849399 -0.1967783 -0.06186933 1.08778349] [ 0.19663687 0.98044017 -0.0084267 -0.02757428] [ 0.06231737 -0.00392031 0.99804868 0.14370965] [ 0. 0. 0. 1. ]] SLAMing on 46.399928851 meters Centerline goodness : 0.800526 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:0.14 [[ 0.97904833 -0.19399624 -0.06188562 1.08575707] [ 0.19402116 0.98098099 -0.00566432 -0.02511206] [ 0.06180748 -0.00646148 0.99806717 0.14385561] [ 0. 0. 0. 1. ]] SLAMing on 46.459928851 meters Centerline goodness : 0.779331 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.14 [[ 0.97898908 -0.1944185 -0.0614966 1.08496668] [ 0.19439894 0.98090194 -0.00635872 -0.02287106] [ 0.06155839 -0.00572976 0.99808704 0.14379676] [ 0. 0. 0. 1. ]] SLAMing on 46.519928851 meters Centerline goodness : 0.776612 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.14 [[ 0.97890457 -0.19497442 -0.06108035 1.08407971] [ 0.19490523 0.98079604 -0.00714662 -0.02044349] [ 0.06130077 -0.00490902 0.99810727 0.14374844] [ 0. 0. 0. 1. ]] SLAMing on 46.579928851 meters Centerline goodness : 0.779715 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:0.14 [[ 0.97882789 -0.19549106 -0.0606565 1.08292154] [ 0.19536006 0.9806978 -0.00814055 -0.01708876] [ 0.0610771 -0.00388166 0.9981255 0.14406156] [ 0. 0. 0. 1. ]] SLAMing on 46.639928851 meters Centerline goodness : 0.776658 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.14 [[ 0.97876323 -0.19597049 -0.06015069 1.08190516] [ 0.19575431 0.98060673 -0.0095238 -0.01197672] [ 0.06085056 -0.00245322 0.99814387 0.14403561] [ 0. 0. 0. 1. ]] SLAMing on 46.699928851 meters Centerline goodness : 0.777281 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.14 [[ 0.97870228 -0.19638048 -0.05980422 1.08120619] [ 0.19610511 0.98052669 -0.01049736 -0.00822029] [ 0.06070111 -0.00145413 0.99815493 0.14394052] [ 0. 0. 0. 1. ]] SLAMing on 46.759928851 meters Centerline goodness : 0.779142 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.14 [[ 9.78539387e-01 -1.97381118e-01 -5.91723174e-02 1.08024611e+00] [ 1.97045119e-01 9.80326753e-01 -1.15185808e-02 -4.74740369e-03] [ 6.02817561e-02 -3.88231285e-04 9.98181326e-01 1.43236334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819928851 meters Centerline goodness : 0.779033 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.14 [[ 9.78312871e-01 -1.98706359e-01 -5.84782744e-02 1.07836468e+00] [ 1.98319718e-01 9.80058925e-01 -1.24013289e-02 -2.81685387e-03] [ 5.97763776e-02 5.34984829e-04 9.98211650e-01 1.43305082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879928851 meters Centerline goodness : 0.783892 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.00, Z:0.14 [[ 9.77966404e-01 -2.00681492e-01 -5.75208744e-02 1.07639348e+00] [ 2.00237195e-01 9.79655182e-01 -1.34457977e-02 -9.43693873e-04] [ 5.90489454e-02 1.63171989e-03 9.98253755e-01 1.42628865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939928851000005 meters Centerline goodness : 0.785114 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.14 [[ 0.97754919 -0.20306973 -0.0562162 1.0724148 ] [ 0.20253819 0.97915861 -0.01505661 0.00210911] [ 0.05810211 0.00333265 0.99830508 0.14339011] [ 0. 0. 0. 1. ]] SLAMing on 46.999928851 meters Centerline goodness : 0.782072 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.14 [[ 0.97729031 -0.20457015 -0.0552693 1.06971469] [ 0.20398719 0.97884196 -0.01605125 0.00381867] [ 0.05738351 0.0044125 0.99834246 0.14388326] [ 0. 0. 0. 1. ]] SLAMing on 47.059928851 meters Centerline goodness : 0.781328 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.14 [[ 0.97695354 -0.20647394 -0.05413216 1.06630579] [ 0.20582673 0.97843497 -0.01733104 0.00632546] [ 0.0565432 0.00578977 0.99838337 0.1445363 ] [ 0. 0. 0. 1. ]] SLAMing on 47.119928851000004 meters Centerline goodness : 0.782106 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.14 [[ 0.97679986 -0.20732157 -0.05366376 1.06502395] [ 0.20663215 0.97825029 -0.01815262 0.00876658] [ 0.05626002 0.00664282 0.99839405 0.1446273 ] [ 0. 0. 0. 1. ]] SLAMing on 47.179928851 meters Centerline goodness : 0.782794 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.14 [[ 0.97674559 -0.20762946 -0.0534609 1.06517614] [ 0.2069148 0.9781815 -0.01863372 0.01219969] [ 0.05616337 0.00713855 0.99839607 0.1433765 ] [ 0. 0. 0. 1. ]] SLAMing on 47.239928851 meters Centerline goodness : 0.784570 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.14 [[ 0.97735512 -0.20475118 -0.0534221 1.06359282] [ 0.20421686 0.97880556 -0.01533442 0.01443845] [ 0.05542958 0.00407748 0.99845427 0.14220178] [ 0. 0. 0. 1. ]] SLAMing on 47.299928851000004 meters Centerline goodness : 0.787552 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.02, Z:0.14 [[ 0.97729316 -0.20514963 -0.0530256 1.06258174] [ 0.20457753 0.97871862 -0.01605926 0.01727301] [ 0.05519169 0.00484676 0.99846401 0.14226864] [ 0. 0. 0. 1. ]] SLAMing on 47.359928851 meters Centerline goodness : 0.785867 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.02, Z:0.14 [[ 0.97782108 -0.20266274 -0.05285588 1.06022303] [ 0.20225178 0.97924637 -0.01306764 0.01900455] [ 0.05440725 0.00208762 0.99851665 0.14192075] [ 0. 0. 0. 1. ]] SLAMing on 47.419928851 meters Centerline goodness : 0.785048 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.02, Z:0.14 [[ 0.97776847 -0.20295462 -0.05270905 1.05989483] [ 0.20250702 0.97918421 -0.01375435 0.02179803] [ 0.05440337 0.00277462 0.99851518 0.14184943] [ 0. 0. 0. 1. ]] SLAMing on 47.479928851000004 meters Centerline goodness : 0.787385 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.02, Z:0.14 [[ 0.97765391 -0.20360162 -0.05233746 1.05867049] [ 0.20311368 0.97904727 -0.01453506 0.02448144] [ 0.05420021 0.0035798 0.99852367 0.14204607] [ 0. 0. 0. 1. ]] SLAMing on 47.539928851 meters Centerline goodness : 0.789017 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.14 [[ 0.97755819 -0.20417058 -0.05190729 1.0576769 ] [ 0.203667 0.9789273 -0.01486901 0.02558533] [ 0.05384928 0.00396353 0.99854121 0.141839 ] [ 0. 0. 0. 1. ]] SLAMing on 47.599928851 meters Centerline goodness : 0.788165 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.14 [[ 0.97748995 -0.20459067 -0.05153687 1.05704178] [ 0.20406313 0.97883731 -0.0153544 0.0275471 ] [ 0.05358758 0.004492 0.99855305 0.14142167] [ 0. 0. 0. 1. ]] SLAMing on 47.659928851000004 meters Centerline goodness : 0.784120 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.14 [[ 0.97746297 -0.20478102 -0.05129207 1.05652709] [ 0.20423177 0.97879527 -0.01578601 0.0296329 ] [ 0.05343711 0.00495477 0.99855892 0.14128942] [ 0. 0. 0. 1. ]] SLAMing on 47.719928851 meters Centerline goodness : 0.787263 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.14 [[ 0.97744576 -0.20490062 -0.05114209 1.05607612] [ 0.20433147 0.9787681 -0.01617588 0.03084031] [ 0.05337069 0.00536111 0.99856038 0.14156382] [ 0. 0. 0. 1. ]] SLAMing on 47.779928851 meters Centerline goodness : 0.787034 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.14 [[ 0.97740474 -0.2051469 -0.05093843 1.05571878] [ 0.20457574 0.978716 -0.01624031 0.03107178] [ 0.05318591 0.00545259 0.99856974 0.14132416] [ 0. 0. 0. 1. ]] SLAMing on 47.839928851 meters Centerline goodness : 0.787103 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:0.14 [[ 0.97729701 -0.20575686 -0.05054382 1.05447954] [ 0.20517857 0.97858661 -0.01643152 0.03117661] [ 0.0528424 0.00568797 0.99858667 0.14157959] [ 0. 0. 0. 1. ]] SLAMing on 47.899928851 meters Centerline goodness : 0.783631 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:0.14 [[ 0.97722718 -0.20617486 -0.0501893 1.05376369] [ 0.20560686 0.97849917 -0.01628482 0.02979216] [ 0.05246771 0.0055947 0.99860695 0.14143488] [ 0. 0. 0. 1. ]] SLAMing on 47.959928851 meters Centerline goodness : 0.782599 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:0.14 [[ 0.97704256 -0.20715537 -0.04974413 1.05242907] [ 0.20659175 0.9782919 -0.01627306 0.02818507] [ 0.05203533 0.00562274 0.99862942 0.14150535] [ 0. 0. 0. 1. ]] SLAMing on 48.019928851 meters Centerline goodness : 0.783450 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:0.14 [[ 0.97695594 -0.2076362 -0.04943977 1.0516806 ] [ 0.20709137 0.97819149 -0.01595518 0.0265466 ] [ 0.05167444 0.00534896 0.99864966 0.14134057] [ 0. 0. 0. 1. ]] SLAMing on 48.079928851 meters Centerline goodness : 0.777709 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:0.14 [[ 0.97624846 -0.2110208 -0.04908329 1.05331849] [ 0.2103167 0.9774457 -0.0191515 0.02463859] [ 0.05201761 0.00837359 0.99861106 0.14091477] [ 0. 0. 0. 1. ]] SLAMing on 48.139928851 meters Centerline goodness : 0.777119 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:0.14 [[ 0.97613791 -0.21157503 -0.04889571 1.05292908] [ 0.21090029 0.97733006 -0.01862874 0.02110084] [ 0.05172863 0.0078721 0.99863015 0.14080734] [ 0. 0. 0. 1. ]] SLAMing on 48.199928851 meters Centerline goodness : 0.773529 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:0.14 [[ 0.97617713 -0.21136904 -0.04900348 1.05342382] [ 0.21072143 0.97737886 -0.01808418 0.0190445 ] [ 0.0517174 0.00732728 0.99863488 0.14061606] [ 0. 0. 0. 1. ]] SLAMing on 48.259928851 meters Centerline goodness : 0.773593 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:0.14 [[ 0.97638211 -0.21030291 -0.04950411 1.05478852] [ 0.20969163 0.97761464 -0.01729239 0.01693826] [ 0.05203259 0.00650338 0.99862421 0.14074492] [ 0. 0. 0. 1. ]] SLAMing on 48.319928851 meters Centerline goodness : 0.777898 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.14 [[ 0.97720405 -0.20623806 -0.05037969 1.05516026] [ 0.20584425 0.9784992 -0.01294063 0.01407609] [ 0.05196534 0.00227527 0.9986463 0.14054782] [ 0. 0. 0. 1. ]] SLAMing on 48.379928851 meters Centerline goodness : 0.774174 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.14 [[ 9.77592278e-01 -2.04146947e-01 -5.13552553e-02 1.05844671e+00] [ 2.03825697e-01 9.78939970e-01 -1.14726002e-02 1.20074394e-02] [ 5.26158084e-02 7.48004637e-04 9.98614549e-01 1.39593062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439928851000005 meters Centerline goodness : 0.773843 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.14 [[ 9.77687873e-01 -2.03587523e-01 -5.17546463e-02 1.05963913e+00] [ 2.03285303e-01 9.79056696e-01 -1.10937438e-02 1.10789192e-02] [ 5.29292808e-02 3.25259814e-04 9.98598210e-01 1.39400613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499928851 meters Centerline goodness : 0.773373 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.14 [[ 9.77957517e-01 -2.02079468e-01 -5.25640883e-02 1.06190503e+00] [ 2.01829499e-01 9.79368837e-01 -1.00764143e-02 8.82903883e-03] [ 5.35158665e-02 -7.54678539e-04 9.98566714e-01 1.39375600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559928851 meters Centerline goodness : 0.773371 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.01, Z:0.14 [[ 0.97810632 -0.20123604 -0.05302909 1.06333373] [ 0.20102188 0.97954168 -0.00939698 0.00773514] [ 0.05383522 -0.00146876 0.99854875 0.13906123] [ 0. 0. 0. 1. ]] SLAMing on 48.619928851000004 meters Centerline goodness : 0.773499 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.14 [[ 0.97827947 -0.2002225 -0.05366781 1.06532365] [ 0.20006251 0.97974719 -0.0083922 0.0051701 ] [ 0.05426119 -0.002527 0.99852358 0.13864041] [ 0. 0. 0. 1. ]] SLAMing on 48.679928851 meters Centerline goodness : 0.772836 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.14 [[ 0.97834795 -0.1998291 -0.05388528 1.06612863] [ 0.19969599 0.97982607 -0.00789828 0.00305832] [ 0.05437651 -0.0030334 0.9985159 0.13853474] [ 0. 0. 0. 1. ]] SLAMing on 48.739928851 meters Centerline goodness : 0.771705 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.14 [[ 9.78364509e-01 -1.99715153e-01 -5.40069058e-02 1.06684711e+00] [ 1.99618910e-01 9.79846969e-01 -7.22555256e-03 -5.78789360e-04] [ 5.43615553e-02 -3.71157551e-03 9.98514419e-01 1.38271197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799928851000004 meters Centerline goodness : 0.772768 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.14 [[ 0.97840159 -0.19947685 -0.0542154 1.06729573] [ 0.19941744 0.97989268 -0.0065583 -0.00310332] [ 0.0544335 -0.00439485 0.99850773 0.13834511] [ 0. 0. 0. 1. ]] SLAMing on 48.859928851 meters Centerline goodness : 0.771118 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.14 [[ 0.97837436 -0.19958432 -0.05431134 1.06763745] [ 0.1995536 0.97986828 -0.00604321 -0.0065217 ] [ 0.05442409 -0.0049255 0.99850576 0.13843903] [ 0. 0. 0. 1. ]] SLAMing on 48.919928851 meters Centerline goodness : 0.770558 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.14 [[ 0.97771013 -0.2028615 -0.05413047 1.06916523] [ 0.2026659 0.97920532 -0.00913651 -0.00926527] [ 0.05485829 -0.00203755 0.99849207 0.13876422] [ 0. 0. 0. 1. ]] SLAMing on 48.979928851000004 meters Centerline goodness : 0.770296 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.14 [[ 0.97758341 -0.20351265 -0.05397484 1.06828041] [ 0.2033259 0.97906987 -0.00898709 -0.01194142] [ 0.05467413 -0.00218885 0.99850185 0.13954414] [ 0. 0. 0. 1. ]] SLAMing on 49.039928851 meters Centerline goodness : 0.769921 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.02, Z:0.14 [[ 9.76929169e-01 -2.06674945e-01 -5.38039670e-02 1.07026902e+00] [ 2.06344115e-01 9.78409609e-01 -1.16936910e-02 -1.61988442e-02] [ 5.50591113e-02 3.21775873e-04 9.98483045e-01 1.39396262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099928851 meters Centerline goodness : 0.771625 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.02, Z:0.14 [[ 9.76857629e-01 -2.06991194e-01 -5.38870946e-02 1.07046322e+00] [ 2.06690749e-01 9.78342775e-01 -1.11511796e-02 -1.96971776e-02] [ 5.50282457e-02 -2.44849020e-04 9.98484768e-01 1.39444847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159928851000004 meters Centerline goodness : 0.773056 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.02, Z:0.14 [[ 9.76887340e-01 -2.06802380e-01 -5.40730989e-02 1.07060033e+00] [ 2.06536692e-01 9.78382327e-01 -1.05175021e-02 -2.29162685e-02] [ 5.50792088e-02 -8.93664350e-04 9.98481588e-01 1.40124505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219928851 meters Centerline goodness : 0.770543 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97712429 -0.20555838 -0.05453321 1.072178 ] [ 0.20534692 0.97864301 -0.00951354 -0.02509252] [ 0.05532413 -0.00190232 0.99846664 0.13977124] [ 0. 0. 0. 1. ]] SLAMing on 49.279928851 meters Centerline goodness : 0.771466 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97723043 -0.20495492 -0.05490138 1.07337573] [ 0.20477674 0.97876814 -0.00891196 -0.02692171] [ 0.05556228 -0.00253349 0.99845201 0.13954786] [ 0. 0. 0. 1. ]] SLAMing on 49.339928851 meters Centerline goodness : 0.771746 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97733343 -0.20434284 -0.05534774 1.07453086] [ 0.20420862 0.97889363 -0.00813031 -0.02871816] [ 0.05584093 -0.00335646 0.99843404 0.1393257 ] [ 0. 0. 0. 1. ]] SLAMing on 49.399928851 meters Centerline goodness : 0.771932 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97740518 -0.20390651 -0.05568887 1.07588488] [ 0.20382101 0.97898117 -0.00727104 -0.03251989] [ 0.05600096 -0.00424381 0.9984217 0.13893903] [ 0. 0. 0. 1. ]] SLAMing on 49.459928851 meters Centerline goodness : 0.773627 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97742273 -0.2037846 -0.05582696 1.07624741] [ 0.20371735 0.97900505 -0.0069534 -0.03395626] [ 0.05607187 -0.00457651 0.99841625 0.13897109] [ 0. 0. 0. 1. ]] SLAMing on 49.519928851 meters Centerline goodness : 0.772607 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97747212 -0.20352173 -0.0559211 1.07627406] [ 0.20346931 0.97905847 -0.00668973 -0.03476839] [ 0.05611154 -0.0048392 0.99841278 0.13934812] [ 0. 0. 0. 1. ]] SLAMing on 49.579928851 meters Centerline goodness : 0.775221 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:0.14 [[ 0.97757046 -0.20298326 -0.05615866 1.07711298] [ 0.20295074 0.97916841 -0.00634183 -0.03538287] [ 0.05627607 -0.00519786 0.99840172 0.13910292] [ 0. 0. 0. 1. ]] SLAMing on 49.639928851 meters Centerline goodness : 0.773298 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:0.14 [[ 0.97774704 -0.20204532 -0.05646601 1.07796158] [ 0.20202927 0.97936078 -0.00605212 -0.03519005] [ 0.0565234 -0.00549035 0.99838618 0.13920351] [ 0. 0. 0. 1. ]] SLAMing on 49.699928851 meters Centerline goodness : 0.783634 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97789003 -0.20128059 -0.05672047 1.07880245] [ 0.20128212 0.97951646 -0.00574521 -0.03468865] [ 0.05671503 -0.00579863 0.99837357 0.13892344] [ 0. 0. 0. 1. ]] SLAMing on 49.759928851 meters Centerline goodness : 0.783216 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:0.14 [[ 0.97791655 -0.20113228 -0.05678936 1.07901313] [ 0.2011433 0.97954593 -0.00558103 -0.0352576 ] [ 0.05675031 -0.00596502 0.99837058 0.1389377 ] [ 0. 0. 0. 1. ]] SLAMing on 49.819928851 meters Centerline goodness : 0.782678 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:0.14 [[ 0.97786941 -0.20138897 -0.05669135 1.07873943] [ 0.20139339 0.97949389 -0.00569447 -0.03550419] [ 0.05667563 -0.00584881 0.99837551 0.13902208] [ 0. 0. 0. 1. ]] SLAMing on 49.879928851 meters Centerline goodness : 0.774598 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:0.14 [[ 0.97784208 -0.20157148 -0.05651381 1.07834776] [ 0.20156671 0.97945736 -0.00584381 -0.03563887] [ 0.05653081 -0.00567698 0.99838471 0.1391982 ] [ 0. 0. 0. 1. ]] SLAMing on 49.939928851000005 meters Centerline goodness : 0.773328 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97775929 -0.20202889 -0.05631251 1.07726875] [ 0.20199389 0.97936605 -0.00637213 -0.03480278] [ 0.05643791 -0.00514437 0.99839286 0.14004391] [ 0. 0. 0. 1. ]] SLAMing on 49.999928851 meters Centerline goodness : 0.780605 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97771407 -0.20224956 -0.05630561 1.0770484 ] [ 0.20219547 0.97932216 -0.00671547 -0.03403795] [ 0.05649953 -0.00481893 0.998391 0.14029989] [ 0. 0. 0. 1. ]] SLAMing on 50.059928851 meters Centerline goodness : 0.780000 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97766362 -0.20253367 -0.05616008 1.07681765] [ 0.20247132 0.97926418 -0.0068577 -0.03393672] [ 0.05638447 -0.00466629 0.99839823 0.14014883] [ 0. 0. 0. 1. ]] SLAMing on 50.119928851000004 meters Centerline goodness : 0.778940 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:0.14 [[ 0.97751066 -0.2033712 -0.05579478 1.07549582] [ 0.2032773 0.97909314 -0.00741317 -0.0338007 ] [ 0.05613591 -0.00409536 0.99841474 0.14086659] [ 0. 0. 0. 1. ]] SLAMing on 50.179928851 meters Centerline goodness : 0.770928 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97742344 -0.20387186 -0.05549492 1.07466175] [ 0.20376045 0.97899035 -0.00771869 -0.03393169] [ 0.05590261 -0.00376324 0.99842913 0.14118549] [ 0. 0. 0. 1. ]] SLAMing on 50.239928851 meters Centerline goodness : 0.779719 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97733495 -0.20434199 -0.05532399 1.07437907] [ 0.20423195 0.97889227 -0.00769598 -0.03453289] [ 0.05572884 -0.00377737 0.9984388 0.14087811] [ 0. 0. 0. 1. ]] SLAMing on 50.299928851000004 meters Centerline goodness : 0.779453 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97728702 -0.20461203 -0.05517241 1.07413126] [ 0.20449571 0.97883633 -0.00780628 -0.03485615] [ 0.05560202 -0.00365355 0.99844633 0.14087247] [ 0. 0. 0. 1. ]] SLAMing on 50.359928851 meters Centerline goodness : 0.781378 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:0.14 [[ 0.97717094 -0.20521146 -0.05500185 1.07376794] [ 0.20509086 0.97871114 -0.00788898 -0.03596981] [ 0.05544984 -0.00357149 0.99845509 0.14089756] [ 0. 0. 0. 1. ]] SLAMing on 50.419928851 meters Centerline goodness : 0.781313 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:0.14 [[ 0.97708486 -0.20567565 -0.05479695 1.07304752] [ 0.20554465 0.97861441 -0.00807692 -0.03619675] [ 0.05528631 -0.00337139 0.99846485 0.1412161 ] [ 0. 0. 0. 1. ]] SLAMing on 50.479928851000004 meters Centerline goodness : 0.780697 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:0.14 [[ 0.97692629 -0.20651299 -0.05447385 1.071707 ] [ 0.20635972 0.97843941 -0.00848507 -0.03698673] [ 0.05505164 -0.00295192 0.99847915 0.14215861] [ 0. 0. 0. 1. ]] SLAMing on 50.539928851 meters Centerline goodness : 0.780815 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:0.14 [[ 0.97689909 -0.20666613 -0.05438093 1.07169361] [ 0.20651154 0.97840717 -0.00850813 -0.0371246 ] [ 0.05496504 -0.0029187 0.99848401 0.14194279] [ 0. 0. 0. 1. ]] SLAMing on 50.599928851 meters Centerline goodness : 0.769740 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:0.14 [[ 0.97697008 -0.20630147 -0.05449005 1.07261519] [ 0.20613955 0.97848449 -0.00863679 -0.03537272] [ 0.05509945 -0.00279467 0.99847696 0.14105534] [ 0. 0. 0. 1. ]] SLAMing on 50.659928851000004 meters Centerline goodness : 0.772326 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97704834 -0.20593694 -0.05446584 1.07285037] [ 0.205753 0.97856235 -0.00902419 -0.0331388 ] [ 0.05515664 -0.00238944 0.99847485 0.14083938] [ 0. 0. 0. 1. ]] SLAMing on 50.719928851 meters Centerline goodness : 0.778821 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97707334 -0.20579517 -0.05455295 1.07292775] [ 0.20558793 0.97859307 -0.00944483 -0.0307967 ] [ 0.05532884 -0.00198714 0.99846621 0.14088725] [ 0. 0. 0. 1. ]] SLAMing on 50.779928851 meters Centerline goodness : 0.781224 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 9.77041642e-01 -2.06024819e-01 -5.42531414e-02 1.07163117e+00] [ 2.05762621e-01 9.78546288e-01 -1.04357748e-02 -2.73553192e-02] [ 5.52392388e-02 -9.67082033e-04 9.98472679e-01 1.41757010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839928851 meters Centerline goodness : 0.772739 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 9.77020776e-01 -2.06167251e-01 -5.40875913e-02 1.07092258e+00] [ 2.05874012e-01 9.78516690e-01 -1.09989930e-02 -2.57958126e-02] [ 5.51932430e-02 -3.88984698e-04 9.98475615e-01 1.42332370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899928851 meters Centerline goodness : 0.772285 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.02, Z:0.14 [[ 9.76989646e-01 -2.06366802e-01 -5.38885371e-02 1.07046243e+00] [ 2.06053900e-01 9.78474702e-01 -1.13598935e-02 -2.40698822e-02] [ 5.50728752e-02 -5.44495443e-06 9.98482338e-01 1.42177902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959928851 meters Centerline goodness : 0.772822 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.02, Z:0.14 [[ 9.76878315e-01 -2.06974621e-01 -5.35748437e-02 1.06976269e+00] [ 2.06648728e-01 9.78346274e-01 -1.16134321e-02 -2.37155124e-02] [ 5.48184345e-02 2.73736694e-04 9.98496302e-01 1.41970332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019928851 meters Centerline goodness : 0.781337 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.02, Z:0.14 [[ 9.76624400e-01 -2.08278131e-01 -5.31507407e-02 1.06872528e+00] [ 2.07926501e-01 9.78069322e-01 -1.21231713e-02 -2.47029587e-02] [ 5.45101003e-02 7.88337411e-04 9.98512908e-01 1.42083825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079928851 meters Centerline goodness : 0.772935 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:0.14 [[ 0.97613135 -0.21071375 -0.05260511 1.06634828] [ 0.21030032 0.97754585 -0.01333728 -0.02592445] [ 0.05423425 0.00195607 0.99852632 0.14342207] [ 0. 0. 0. 1. ]] SLAMing on 51.139928851 meters Centerline goodness : 0.780204 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.14 [[ 0.9758898 -0.21195675 -0.05209064 1.06463906] [ 0.21152191 0.97727601 -0.01378695 -0.02677353] [ 0.05382917 0.00243624 0.99854719 0.14404313] [ 0. 0. 0. 1. ]] SLAMing on 51.199928851 meters Centerline goodness : 0.779872 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.14 [[ 0.97569622 -0.21292009 -0.05178719 1.06358439] [ 0.21246619 0.97706551 -0.01418154 -0.02779151] [ 0.05361901 0.00283385 0.99855745 0.14455751] [ 0. 0. 0. 1. ]] SLAMing on 51.259928851 meters Centerline goodness : 0.778798 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97571629 -0.21280544 -0.05188032 1.06358558] [ 0.21232916 0.97708929 -0.01458937 -0.02650535] [ 0.0537964 0.00321939 0.99854674 0.14501731] [ 0. 0. 0. 1. ]] SLAMing on 51.319928851 meters Centerline goodness : 0.778058 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97584345 -0.21215875 -0.05213656 1.06414961] [ 0.21168254 0.97723008 -0.01455584 -0.0255491 ] [ 0.05403756 0.00316782 0.99853388 0.14518514] [ 0. 0. 0. 1. ]] SLAMing on 51.379928851 meters Centerline goodness : 0.777705 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 9.76697637e-01 -2.07970753e-01 -5.30084111e-02 1.06420392e+00] [ 2.07697576e-01 9.78134869e-01 -1.06721477e-02 -2.60499924e-02] [ 5.40688699e-02 -5.86257095e-04 9.98537037e-01 1.45293573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439928851 meters Centerline goodness : 0.768794 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 9.76846644e-01 -2.07212760e-01 -5.32306907e-02 1.06486467e+00] [ 2.06950606e-01 9.78295569e-01 -1.04511296e-02 -2.55266787e-02] [ 5.42409563e-02 -8.06972834e-04 9.98527550e-01 1.45217988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499928851 meters Centerline goodness : 0.776744 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97753155 -0.20380154 -0.0538239 1.06385178] [ 0.20373188 0.97900285 -0.00683602 -0.02698079] [ 0.05408694 -0.00428322 0.99852704 0.14599209] [ 0. 0. 0. 1. ]] SLAMing on 51.559928851 meters Centerline goodness : 0.779339 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97758676 -0.20347504 -0.05405591 1.06438467] [ 0.203419 0.97906957 -0.00659494 -0.0274337 ] [ 0.0542664 -0.00454888 0.99851613 0.1460219 ] [ 0. 0. 0. 1. ]] SLAMing on 51.619928851000004 meters Centerline goodness : 0.780479 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97753016 -0.20378525 -0.05391064 1.06391075] [ 0.20372448 0.97900548 -0.00667883 -0.02811953] [ 0.05413986 -0.00445416 0.99852343 0.14629877] [ 0. 0. 0. 1. ]] SLAMing on 51.679928851 meters Centerline goodness : 0.778909 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97731551 -0.2048587 -0.05373375 1.06287102] [ 0.20476913 0.97878362 -0.00722616 -0.02957353] [ 0.05407405 -0.00394078 0.99852915 0.14728849] [ 0. 0. 0. 1. ]] SLAMing on 51.739928851 meters Centerline goodness : 0.778673 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97719766 -0.20547828 -0.05351086 1.06245341] [ 0.20538558 0.97865402 -0.00728524 -0.03090118] [ 0.05386558 -0.00387124 0.99854069 0.14727154] [ 0. 0. 0. 1. ]] SLAMing on 51.799928851000004 meters Centerline goodness : 0.769677 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97697892 -0.20662708 -0.05307962 1.06082613] [ 0.2065042 0.97841423 -0.00784902 -0.0315094 ] [ 0.05355568 -0.00329284 0.99855944 0.14818022] [ 0. 0. 0. 1. ]] SLAMing on 51.859928851 meters Centerline goodness : 0.768220 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97684542 -0.20738127 -0.05259301 1.05928986] [ 0.20723879 0.97825595 -0.00820826 -0.03202524] [ 0.05315166 -0.00288111 0.9985823 0.14886922] [ 0. 0. 0. 1. ]] SLAMing on 51.919928851 meters Centerline goodness : 0.781300 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97670308 -0.20811651 -0.05233166 1.05839271] [ 0.20795228 0.97810095 -0.00862432 -0.03277814] [ 0.05298051 -0.00245909 0.99859252 0.14948686] [ 0. 0. 0. 1. ]] SLAMing on 51.979928851000004 meters Centerline goodness : 0.770880 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97665278 -0.20840255 -0.05213188 1.05776687] [ 0.20822131 0.97804084 -0.00894437 -0.03185335] [ 0.05285114 -0.00211942 0.99860015 0.14967311] [ 0. 0. 0. 1. ]] SLAMing on 52.039928851 meters Centerline goodness : 0.770601 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97661328 -0.2086101 -0.05204164 1.05737703] [ 0.20841183 0.97799724 -0.0092684 -0.03230735] [ 0.05283006 -0.00179445 0.99860191 0.15031802] [ 0. 0. 0. 1. ]] SLAMing on 52.099928851 meters Centerline goodness : 0.778932 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97662627 -0.20853383 -0.05210346 1.05762747] [ 0.20834124 0.97801329 -0.00916108 -0.03307781] [ 0.05286827 -0.00190835 0.99859967 0.15033224] [ 0. 0. 0. 1. ]] SLAMing on 52.159928851000004 meters Centerline goodness : 0.779763 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.9769629 -0.20698167 -0.05198149 1.05602335] [ 0.20684863 0.97834037 -0.00798521 -0.03330393] [ 0.05250838 -0.00295105 0.99861612 0.15170872] [ 0. 0. 0. 1. ]] SLAMing on 52.219928851 meters Centerline goodness : 0.768360 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97698195 -0.20686401 -0.05209169 1.05620636] [ 0.20672536 0.97836553 -0.00809471 -0.03307425] [ 0.05263921 -0.00286029 0.9986095 0.15191618] [ 0. 0. 0. 1. ]] SLAMing on 52.279928851 meters Centerline goodness : 0.777791 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97714883 -0.20597683 -0.05247588 1.05767465] [ 0.2058738 0.97855042 -0.00741988 -0.03440783] [ 0.05287862 -0.00355308 0.99859463 0.15135925] [ 0. 0. 0. 1. ]] SLAMing on 52.339928851 meters Centerline goodness : 0.768784 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:0.15 [[ 0.97717994 -0.20577155 -0.05270137 1.05812943] [ 0.20567716 0.97859292 -0.00726713 -0.0344761 ] [ 0.05306855 -0.00373818 0.99858387 0.15137522] [ 0. 0. 0. 1. ]] SLAMing on 52.399928851 meters Centerline goodness : 0.777852 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.15 [[ 0.97714826 -0.20593049 -0.05266797 1.05775032] [ 0.20583654 0.97855945 -0.00726077 -0.0359843 ] [ 0.05303396 -0.00374614 0.99858568 0.15213488] [ 0. 0. 0. 1. ]] SLAMing on 52.459928851 meters Centerline goodness : 0.776723 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.15 [[ 0.97705744 -0.20640635 -0.0524898 1.05715131] [ 0.20630416 0.9784598 -0.00741671 -0.03802228] [ 0.05289002 -0.00358231 0.99859392 0.15285375] [ 0. 0. 0. 1. ]] SLAMing on 52.519928851 meters Centerline goodness : 0.777981 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.15 [[ 0.97692689 -0.20705673 -0.052358 1.05627345] [ 0.20695415 0.97832241 -0.00743281 -0.03989874] [ 0.05276201 -0.00357439 0.99860072 0.1536973 ] [ 0. 0. 0. 1. ]] SLAMing on 52.579928851 meters Centerline goodness : 0.769445 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:0.16 [[ 0.97654611 -0.20897636 -0.05183211 1.05420711] [ 0.20879679 0.9779184 -0.0089161 -0.04280358] [ 0.05255083 -0.00211539 0.99861601 0.15612311] [ 0. 0. 0. 1. ]] SLAMing on 52.639928851 meters Centerline goodness : 0.778835 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:0.16 [[ 0.97637083 -0.20987009 -0.0515223 1.05330642] [ 0.20967543 0.97772761 -0.00921561 -0.04540787] [ 0.05230885 -0.0018051 0.99862932 0.15693668] [ 0. 0. 0. 1. ]] SLAMing on 52.699928851 meters Centerline goodness : 0.767450 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:0.16 [[ 0.97613754 -0.21101444 -0.05126798 1.05213927] [ 0.21080829 0.97748167 -0.00945738 -0.04737607] [ 0.05210916 -0.00157602 0.99864015 0.15780366] [ 0. 0. 0. 1. ]] SLAMing on 52.759928851 meters Centerline goodness : 0.770589 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:0.16 [[ 0.97603073 -0.21151293 -0.05124732 1.05206502] [ 0.21131053 0.9773738 -0.00939803 -0.05041818] [ 0.0520756 -0.00165633 0.99864177 0.15832883] [ 0. 0. 0. 1. ]] SLAMing on 52.819928851 meters Centerline goodness : 0.770854 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:0.16 [[ 0.97608944 -0.21117612 -0.05151757 1.05255656] [ 0.2109963 0.97744573 -0.00896651 -0.05274951] [ 0.05224914 -0.0021179 0.99863184 0.1588082 ] [ 0. 0. 0. 1. ]] SLAMing on 52.879928851 meters Centerline goodness : 0.768883 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:0.16 [[ 0.97681707 -0.20766104 -0.05201245 1.05079914] [ 0.20765816 0.97818589 -0.00551912 -0.05374913] [ 0.05202395 -0.00540964 0.99863119 0.16039491] [ 0. 0. 0. 1. ]] SLAMing on 52.939928851 meters Centerline goodness : 0.767797 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:0.16 [[ 0.97702019 -0.20659603 -0.052437 1.05190785] [ 0.20661503 0.97840893 -0.00511736 -0.05381723] [ 0.05236206 -0.00583451 0.99861112 0.16048555] [ 0. 0. 0. 1. ]] SLAMing on 52.999928851 meters Centerline goodness : 0.770895 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 9.77895585e-01 -2.02231213e-01 -5.31296740e-02 1.05155392e+00] [ 2.02468926e-01 9.79288250e-01 -9.25688603e-04 -5.53140160e-02] [ 5.22164686e-02 -9.85188124e-03 9.98587192e-01 1.60863153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059928851 meters Centerline goodness : 0.783697 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.9786107 -0.19861352 -0.05360746 1.05041844] [ 0.19904082 0.97998748 0.00269956 -0.05611754] [ 0.05199847 -0.0133119 0.99855844 0.16159619] [ 0. 0. 0. 1. ]] SLAMing on 53.119928851000004 meters Centerline goodness : 0.769947 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97881653 -0.19749321 -0.05398733 1.05200745] [ 0.19796225 0.98020364 0.00342981 -0.05673497] [ 0.05224121 -0.01404461 0.99853573 0.16083153] [ 0. 0. 0. 1. ]] SLAMing on 53.179928851 meters Centerline goodness : 0.786001 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97884095 -0.19730495 -0.0542323 1.05320658] [ 0.19779394 0.98023645 0.00374874 -0.05801765] [ 0.05242083 -0.01439624 0.99852131 0.16018689] [ 0. 0. 0. 1. ]] SLAMing on 53.239928851 meters Centerline goodness : 0.784443 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97878817 -0.197593 -0.05413619 1.05242445] [ 0.19807367 0.98018049 0.00360864 -0.05866996] [ 0.0523502 -0.01425505 0.99852704 0.16108474] [ 0. 0. 0. 1. ]] SLAMing on 53.299928851000004 meters Centerline goodness : 0.766027 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97873 -0.19790171 -0.05406008 1.05168519] [ 0.19837455 0.98012014 0.00347156 -0.06039078] [ 0.05229835 -0.01412186 0.99853165 0.16226127] [ 0. 0. 0. 1. ]] SLAMing on 53.359928851 meters Centerline goodness : 0.784290 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97863601 -0.19842583 -0.05384005 1.05080498] [ 0.1988878 0.98001668 0.00330873 -0.061657 ] [ 0.05210761 -0.01394617 0.99854409 0.16299628] [ 0. 0. 0. 1. ]] SLAMing on 53.419928851 meters Centerline goodness : 0.770995 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97851497 -0.19911209 -0.05350537 1.04966294] [ 0.19956128 0.97988034 0.00313387 -0.06355595] [ 0.05180487 -0.01374414 0.99856264 0.16383823] [ 0. 0. 0. 1. ]] SLAMing on 53.479928851000004 meters Centerline goodness : 0.788807 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.16 [[ 0.97851741 -0.19909629 -0.05351965 1.04970438] [ 0.19954586 0.97988347 0.0031378 -0.06424799] [ 0.05181829 -0.01375002 0.99856187 0.1641564 ] [ 0. 0. 0. 1. ]] SLAMing on 53.539928851 meters Centerline goodness : 0.769642 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:0.16 [[ 0.97841257 -0.19966983 -0.05329914 1.04898425] [ 0.20010519 0.97977011 0.00290631 -0.06526118] [ 0.0516406 -0.01350901 0.99857436 0.16467744] [ 0. 0. 0. 1. ]] SLAMing on 53.599928851 meters Centerline goodness : 0.788380 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:0.17 [[ 0.97830643 -0.20020773 -0.05322966 1.04874238] [ 0.20063534 0.97966211 0.00275996 -0.06659259] [ 0.05159452 -0.01337984 0.99857848 0.16502893] [ 0. 0. 0. 1. ]] SLAMing on 53.659928851000004 meters Centerline goodness : 0.768260 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:0.17 [[ 0.97819617 -0.20076382 -0.05316151 1.0484866 ] [ 0.20117134 0.97955319 0.00237367 -0.06709069] [ 0.05159798 -0.01301648 0.99858311 0.16540465] [ 0. 0. 0. 1. ]] SLAMing on 53.719928851 meters Centerline goodness : 0.767438 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:0.17 [[ 0.97809159 -0.20139146 -0.05270979 1.04705886] [ 0.20176327 0.97943271 0.00177529 -0.06626884] [ 0.05126816 -0.01237129 0.99860829 0.16604309] [ 0. 0. 0. 1. ]] SLAMing on 53.779928851 meters Centerline goodness : 0.770801 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:0.17 [[ 9.77900235e-01 -2.02436270e-01 -5.22559786e-02 1.04569963e+00] [ 2.02756755e-01 9.79228765e-01 8.50803414e-04 -6.54601619e-02] [ 5.09983239e-02 -1.14272535e-02 9.98633361e-01 1.66694684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839928851 meters Centerline goodness : 0.771320 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:0.17 [[ 9.77816564e-01 -2.02910311e-01 -5.19824332e-02 1.04505945e+00] [ 2.03200914e-01 9.79137013e-01 3.12094864e-04 -6.43720365e-02] [ 5.08345971e-02 -1.08680495e-02 9.98647951e-01 1.66803126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899928851 meters Centerline goodness : 0.770188 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:0.17 [[ 9.77651832e-01 -2.03825792e-01 -5.14970118e-02 1.04374196e+00] [ 2.04069429e-01 9.78956270e-01 -5.37628048e-04 -6.28956919e-02] [ 5.05229051e-02 -9.98335275e-03 9.98673004e-01 1.67153827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959928851 meters Centerline goodness : 0.786318 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:0.17 [[ 0.97752844 -0.20449152 -0.05119921 1.04292427] [ 0.20469973 0.97882408 -0.00119943 -0.06178169] [ 0.0503603 -0.00930799 0.99868774 0.16745261] [ 0. 0. 0. 1. ]] SLAMing on 54.019928851 meters Centerline goodness : 0.784717 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:0.17 [[ 0.97733071 -0.20556224 -0.05068385 1.0412315 ] [ 0.20570717 0.97861066 -0.00239648 -0.05994512] [ 0.05009238 -0.00808387 0.99871187 0.1683695 ] [ 0. 0. 0. 1. ]] SLAMing on 54.079928851 meters Centerline goodness : 0.787184 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:0.17 [[ 0.97726853 -0.20589291 -0.05054046 1.04064447] [ 0.20601431 0.97854482 -0.00285184 -0.05900878] [ 0.05004328 -0.00762504 0.99871794 0.16875027] [ 0. 0. 0. 1. ]] SLAMing on 54.139928851 meters Centerline goodness : 0.772380 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:0.17 [[ 0.97715269 -0.20654992 -0.05009733 1.0394188 ] [ 0.20661831 0.97841398 -0.00386627 -0.05591077] [ 0.0498145 -0.00657309 0.99873686 0.16897328] [ 0. 0. 0. 1. ]] SLAMing on 54.199928851 meters Centerline goodness : 0.773511 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.17 [[ 0.97709234 -0.20691142 -0.04978172 1.03894592] [ 0.20694392 0.97834219 -0.00455696 -0.0532481 ] [ 0.04964645 -0.00584945 0.99874973 0.16858745] [ 0. 0. 0. 1. ]] SLAMing on 54.259928851 meters Centerline goodness : 0.773604 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.17 [[ 0.97693609 -0.2077899 -0.0491858 1.03713933] [ 0.20777406 0.97816143 -0.00549123 -0.05115807] [ 0.04925267 -0.00485495 0.99877455 0.16922071] [ 0. 0. 0. 1. ]] SLAMing on 54.319928851 meters Centerline goodness : 0.773210 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.17 [[ 0.97679939 -0.20851664 -0.04882388 1.03625406] [ 0.20847901 0.97800893 -0.00591854 -0.05105844] [ 0.0489843 -0.00439752 0.99878987 0.16937824] [ 0. 0. 0. 1. ]] SLAMing on 54.379928851 meters Centerline goodness : 0.788548 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:0.17 [[ 0.9766171 -0.20946043 -0.04842897 1.03500006] [ 0.20938608 0.97781037 -0.00666042 -0.05040627] [ 0.04874945 -0.00363567 0.99880442 0.16989214] [ 0. 0. 0. 1. ]] SLAMing on 54.439928851 meters Centerline goodness : 0.786115 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 0.97652401 -0.20995882 -0.04814725 1.03411388] [ 0.20986298 0.97770507 -0.00709399 -0.04971261] [ 0.04856325 -0.00317688 0.99881506 0.17027128] [ 0. 0. 0. 1. ]] SLAMing on 54.499928851 meters Centerline goodness : 0.791824 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 0.97636207 -0.21082198 -0.04765718 1.03277114] [ 0.21070122 0.97752096 -0.00760069 -0.0495171 ] [ 0.04818828 -0.0026204 0.99883483 0.17061282] [ 0. 0. 0. 1. ]] SLAMing on 54.559928851 meters Centerline goodness : 0.777463 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 0.97605774 -0.21230484 -0.04730689 1.03163335] [ 0.21214836 0.97720169 -0.00836252 -0.05072387] [ 0.04800378 -0.00187378 0.9988454 0.17135226] [ 0. 0. 0. 1. ]] SLAMing on 54.619928851000004 meters Centerline goodness : 0.779604 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 9.75727129e-01 -2.13948012e-01 -4.67206283e-02 1.02949270e+00] [ 2.13751756e-01 9.76844542e-01 -9.21565220e-03 -5.20705534e-02] [ 4.76104612e-02 -9.94654457e-04 9.98865484e-01 1.72748103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679928851 meters Centerline goodness : 0.791556 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 9.75571745e-01 -2.14743182e-01 -4.63156172e-02 1.02819234e+00] [ 2.14533335e-01 9.76670332e-01 -9.51376125e-03 -5.33039758e-02] [ 4.72781045e-02 -6.54887133e-04 9.98881551e-01 1.73508996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739928851 meters Centerline goodness : 0.780072 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 9.75411510e-01 -2.15558780e-01 -4.58998809e-02 1.02664342e+00] [ 2.15334842e-01 9.76490821e-01 -9.82762226e-03 -5.43636258e-02] [ 4.69392427e-02 -2.97867754e-04 9.98897702e-01 1.74507512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799928851000004 meters Centerline goodness : 0.790059 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 9.75464483e-01 -2.15276086e-01 -4.61004214e-02 1.02738456e+00] [ 2.15062154e-01 9.76553079e-01 -9.61013309e-03 -5.46840849e-02] [ 4.70883403e-02 -5.40112422e-04 9.98890583e-01 1.74144585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859928851 meters Centerline goodness : 0.788196 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 0.97581483 -0.21354204 -0.04674619 1.02967302] [ 0.2133648 0.9769329 -0.00880735 -0.05400449] [ 0.04754863 -0.00137965 0.99886797 0.17315798] [ 0. 0. 0. 1. ]] SLAMing on 54.919928851 meters Centerline goodness : 0.787039 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 0.97678392 -0.20887897 -0.0475683 1.02945893] [ 0.20888072 0.9779284 -0.00498961 -0.05198435] [ 0.04756061 -0.00506233 0.99885553 0.17328359] [ 0. 0. 0. 1. ]] SLAMing on 54.979928851000004 meters Centerline goodness : 0.790140 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.17 [[ 0.97758788 -0.204969 -0.04805869 1.02865139] [ 0.20515074 0.97872969 -0.00117284 -0.05227852] [ 0.04727686 -0.00871273 0.99884383 0.17342246] [ 0. 0. 0. 1. ]] SLAMing on 55.039928851 meters Centerline goodness : 0.787238 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:0.17 [[ 0.97939782 -0.19759953 -0.04164531 1.02189257] [ 0.19769961 0.9802611 -0.00174262 -0.05339741] [ 0.04116762 -0.00652654 0.99913094 0.16739314] [ 0. 0. 0. 1. ]] SLAMing on 55.099928851 meters Centerline goodness : 0.775681 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:0.17 [[ 0.98029676 -0.19292905 -0.04238681 1.02209184] [ 0.193188 0.98115959 0.00206163 -0.05170401] [ 0.04119048 -0.01020964 0.99909915 0.16706416] [ 0. 0. 0. 1. ]] SLAMing on 55.159928851000004 meters Centerline goodness : 0.770832 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:0.17 [[ 0.98111799 -0.18855637 -0.043058 1.0222859 ] [ 0.18897883 0.98196329 0.00592431 -0.05069983] [ 0.04116431 -0.0139495 0.99905501 0.16650865] [ 0. 0. 0. 1. ]] SLAMing on 55.219928851 meters Centerline goodness : 0.770646 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:0.16 [[ 0.98356027 -0.17666493 -0.03739922 1.01567989] [ 0.1770804 0.98416323 0.00807823 -0.04996666] [ 0.0353798 -0.01456809 0.99926775 0.16002377] [ 0. 0. 0. 1. ]] SLAMing on 55.279928851 meters Centerline goodness : 0.770460 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.16 [[ 0.98625712 -0.16216319 -0.03162279 1.00806045] [ 0.16257492 0.98663601 0.01089818 -0.0465852 ] [ 0.0294329 -0.01588948 0.99944046 0.15511894] [ 0. 0. 0. 1. ]] SLAMing on 55.339928851 meters Centerline goodness : 0.771509 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.16 [[ 0.9875558 -0.15383917 -0.03266566 1.00754139] [ 0.15448102 0.98782967 0.018115 -0.04405367] [ 0.02948131 -0.0229358 0.99930216 0.15526012] [ 0. 0. 0. 1. ]] SLAMing on 55.399928851 meters Centerline goodness : 0.781026 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.15 [[ 0.98970695 -0.1406672 -0.02632282 0.99959292] [ 0.14114232 0.98984078 0.01714847 -0.03928025] [ 0.02364318 -0.02068722 0.9995064 0.15255108] [ 0. 0. 0. 1. ]] SLAMing on 55.459928851 meters Centerline goodness : 0.773274 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.15 [[ 0.99085376 -0.13220329 -0.0270393 0.9992639 ] [ 0.13286793 0.99083181 0.02446294 -0.03601341] [ 0.02355732 -0.02783185 0.999335 0.15191855] [ 0. 0. 0. 1. ]] SLAMing on 55.519928851 meters Centerline goodness : 0.773562 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99108987 -0.13044424 -0.02692878 1.00005219] [ 0.13110569 0.9910667 0.02445614 -0.0322571 ] [ 0.02349805 -0.02776875 0.99933815 0.15151013] [ 0. 0. 0. 1. ]] SLAMing on 55.579928851 meters Centerline goodness : 0.773519 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99161725 -0.12627583 -0.02737948 1.00030485] [ 0.12703315 0.99150467 0.02794745 -0.03082429] [ 0.02361779 -0.03119127 0.99923436 0.15117848] [ 0. 0. 0. 1. ]] SLAMing on 55.639928851 meters Centerline goodness : 0.776743 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99162609 -0.12622201 -0.02730747 0.99984267] [ 0.12695568 0.99153973 0.02704091 -0.02811819] [ 0.02366328 -0.03028131 0.99926127 0.15211286] [ 0. 0. 0. 1. ]] SLAMing on 55.699928851 meters Centerline goodness : 0.774405 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99155971 -0.12679127 -0.02707987 0.99895323] [ 0.12750663 0.9914821 0.02655739 -0.02844767] [ 0.02348196 -0.0297861 0.99928043 0.15292011] [ 0. 0. 0. 1. ]] SLAMing on 55.759928851 meters Centerline goodness : 0.773605 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99107137 -0.13063227 -0.02669727 0.99903065] [ 0.13122791 0.99110977 0.02192378 -0.02777888] [ 0.02359597 -0.02523145 0.99940312 0.15427792] [ 0. 0. 0. 1. ]] SLAMing on 55.819928851 meters Centerline goodness : 0.771986 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.9910479 -0.13080697 -0.02671309 0.9989864 ] [ 0.1314001 0.99108968 0.0218004 -0.02837459] [ 0.02362343 -0.02511534 0.9994054 0.15458079] [ 0. 0. 0. 1. ]] SLAMing on 55.879928851 meters Centerline goodness : 0.774113 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99071557 -0.13326321 -0.02689923 1.00158466] [ 0.13378746 0.99083311 0.01872593 -0.02898727] [ 0.02415717 -0.02215085 0.99946274 0.15380384] [ 0. 0. 0. 1. ]] SLAMing on 55.939928851 meters Centerline goodness : 0.771810 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99035111 -0.13589846 -0.02713476 1.003953 ] [ 0.13635142 0.99053774 0.0155972 -0.03002211] [ 0.02475836 -0.01914657 0.9995101 0.15352557] [ 0. 0. 0. 1. ]] SLAMing on 55.999928851 meters Centerline goodness : 0.772766 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.99032976 -0.13604004 -0.02720437 1.00402573] [ 0.13649254 0.99051946 0.01552349 -0.03075033] [ 0.02483464 -0.01908657 0.99950935 0.15381665] [ 0. 0. 0. 1. ]] SLAMing on 56.059928851 meters Centerline goodness : 0.770861 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:0.15 [[ 0.98994229 -0.13882235 -0.02725093 1.0061594 ] [ 0.13919907 0.99018625 0.01244234 -0.03183154] [ 0.02525623 -0.0161105 0.99955119 0.15320854] [ 0. 0. 0. 1. ]] SLAMing on 56.119928851000004 meters Centerline goodness : 0.777877 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:0.15 [[ 0.98946384 -0.14219964 -0.02721335 1.00776425] [ 0.14249118 0.9897544 0.00908203 -0.03328786] [ 0.02564307 -0.012864 0.99958839 0.15291998] [ 0. 0. 0. 1. ]] SLAMing on 56.179928851 meters Centerline goodness : 0.770952 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:0.15 [[ 0.98890362 -0.1461108 -0.02685641 1.00812513] [ 0.14629278 0.98922905 0.00493015 -0.03372686] [ 0.02584679 -0.00880434 0.99962714 0.15373045] [ 0. 0. 0. 1. ]] SLAMing on 56.239928851 meters Centerline goodness : 0.768934 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 9.88199898e-01 -1.50891391e-01 -2.63201389e-02 1.00762647e+00] [ 1.50968915e-01 9.88538032e-01 9.72174046e-04 -3.67719799e-02] [ 2.58717656e-02 -4.93422511e-03 9.99653092e-01 1.54875193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299928851000004 meters Centerline goodness : 0.769431 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.16 [[ 0.98746655 -0.15572208 -0.02569909 1.00707047] [ 0.1557097 0.98779971 -0.00249442 -0.04102777] [ 0.02577399 -0.00153844 0.99966661 0.15567441] [ 0. 0. 0. 1. ]] SLAMing on 56.359928851 meters Centerline goodness : 0.776721 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.16 [[ 0.98683059 -0.15977665 -0.02523508 1.00720561] [ 0.15967834 0.9871516 -0.00587681 -0.04356498] [ 0.02584982 0.00176992 0.99966427 0.15609457] [ 0. 0. 0. 1. ]] SLAMing on 56.419928851 meters Centerline goodness : 0.766294 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.16 [[ 0.98607034 -0.16448991 -0.02466492 1.00680799] [ 0.16430919 0.98636601 -0.00919694 -0.0483213 ] [ 0.02584145 0.00501615 0.99965347 0.1569107 ] [ 0. 0. 0. 1. ]] SLAMing on 56.479928851000004 meters Centerline goodness : 0.777186 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.16 [[ 0.98530424 -0.16912661 -0.02391105 1.00642604] [ 0.16887016 0.98556055 -0.01238025 -0.05323978] [ 0.02565962 0.00816045 0.99963743 0.15728399] [ 0. 0. 0. 1. ]] SLAMing on 56.539928851 meters Centerline goodness : 0.779195 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.16 [[ 0.98472393 -0.17249871 -0.02372735 1.00771663] [ 0.17216343 0.98494599 -0.015529 -0.0552779 ] [ 0.0260489 0.0112068 0.99959785 0.15718247] [ 0. 0. 0. 1. ]] SLAMing on 56.599928851 meters Centerline goodness : 0.781938 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.16 [[ 0.98469842 -0.17262049 -0.02389956 1.00828875] [ 0.1723074 0.98493491 -0.01460792 -0.05997738] [ 0.02606114 0.01026632 0.99960763 0.15700152] [ 0. 0. 0. 1. ]] SLAMing on 56.659928851000004 meters Centerline goodness : 0.780297 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.16 [[ 0.98477229 -0.17217611 -0.02406102 1.00856981] [ 0.17188295 0.98502102 -0.0137784 -0.06260004] [ 0.02607292 0.0094329 0.99961554 0.15720614] [ 0. 0. 0. 1. ]] SLAMing on 56.719928851 meters Centerline goodness : 0.769435 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.16 [[ 0.98487821 -0.17150311 -0.02452747 1.00970086] [ 0.17122086 0.98514432 -0.01319394 -0.06426055] [ 0.0264259 0.00879481 0.99961209 0.15728044] [ 0. 0. 0. 1. ]] SLAMing on 56.779928851 meters Centerline goodness : 0.781251 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.98532354 -0.16894516 -0.02439355 1.00940395] [ 0.16871932 0.98560217 -0.01105238 -0.06585241] [ 0.02590958 0.00677451 0.99964134 0.15731408] [ 0. 0. 0. 1. ]] SLAMing on 56.839928851 meters Centerline goodness : 0.782416 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.98546518 -0.16802914 -0.02499157 1.01158732] [ 0.16781502 0.98576315 -0.01044656 -0.06627874] [ 0.02639109 0.00610076 0.99963308 0.15618292] [ 0. 0. 0. 1. ]] SLAMing on 56.899928851 meters Centerline goodness : 0.769988 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.98552096 -0.16771453 -0.02490528 1.01200947] [ 0.1675088 0.98581839 -0.01014375 -0.06629306] [ 0.02625334 0.00582502 0.99963835 0.15535784] [ 0. 0. 0. 1. ]] SLAMing on 56.959928851 meters Centerline goodness : 0.782103 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.98546773 -0.16801961 -0.02495517 1.01184055] [ 0.16780493 0.98576456 -0.01047577 -0.06550634] [ 0.02636006 0.00613593 0.99963368 0.15565824] [ 0. 0. 0. 1. ]] SLAMing on 57.019928851 meters Centerline goodness : 0.782287 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.9853623 -0.16868615 -0.02461955 1.01063366] [ 0.16846999 0.98564957 -0.01061998 -0.06602699] [ 0.02605769 0.00631688 0.99964048 0.15616407] [ 0. 0. 0. 1. ]] SLAMing on 57.079928851 meters Centerline goodness : 0.784225 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.98480687 -0.1719585 -0.02420108 1.01174634] [ 0.17165224 0.9850549 -0.014225 -0.06512824] [ 0.0262855 0.00985471 0.9996059 0.15557921] [ 0. 0. 0. 1. ]] SLAMing on 57.139928851 meters Centerline goodness : 0.783080 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.16 [[ 0.98466658 -0.17278221 -0.02404246 1.01138227] [ 0.17247236 0.98490866 -0.0144295 -0.06503422] [ 0.02617279 0.01006159 0.9996068 0.15523246] [ 0. 0. 0. 1. ]] SLAMing on 57.199928851 meters Centerline goodness : 0.781859 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.15 [[ 0.98453329 -0.17356848 -0.02383649 1.01122726] [ 0.17325101 0.98476635 -0.01480975 -0.06447762] [ 0.02604388 0.010451 0.99960617 0.15456641] [ 0. 0. 0. 1. ]] SLAMing on 57.259928851 meters Centerline goodness : 0.779688 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.15 [[ 0.98451819 -0.17365449 -0.02383393 1.01152774] [ 0.1733291 0.98474797 -0.01511512 -0.06215245] [ 0.02609522 0.01074999 0.99960166 0.15390791] [ 0. 0. 0. 1. ]] SLAMing on 57.319928851 meters Centerline goodness : 0.780208 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.15 [[ 0.98503476 -0.17069465 -0.02387178 1.00983493] [ 0.17045529 0.98529546 -0.0117407 -0.06154515] [ 0.02552483 0.00749593 0.99964608 0.15403417] [ 0. 0. 0. 1. ]] SLAMing on 57.379928851 meters Centerline goodness : 0.769887 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.15 [[ 0.98562271 -0.16721708 -0.02421427 1.00923767] [ 0.16705461 0.98591015 -0.00859823 -0.05908391] [ 0.02531086 0.0044295 0.99966982 0.15373121] [ 0. 0. 0. 1. ]] SLAMing on 57.439928851 meters Centerline goodness : 0.767859 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.15 [[ 0.98570292 -0.16677305 -0.02401063 1.00913358] [ 0.16660149 0.98598332 -0.00899056 -0.05612993] [ 0.02517347 0.00486181 0.99967128 0.15344095] [ 0. 0. 0. 1. ]] SLAMing on 57.499928851 meters Centerline goodness : 0.778802 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.15 [[ 0.98634399 -0.1628857 -0.02436767 1.009238 ] [ 0.16279528 0.98664362 -0.00566265 -0.05373753] [ 0.02496457 0.00161838 0.99968703 0.1524164 ] [ 0. 0. 0. 1. ]] SLAMing on 57.559928851 meters Centerline goodness : 0.768288 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.15 [[ 0.98700247 -0.15881017 -0.0246058 1.00848245] [ 0.15880151 0.98730781 -0.00231838 -0.05067606] [ 0.02466168 -0.00161919 0.99969454 0.15215747] [ 0. 0. 0. 1. ]] SLAMing on 57.619928851 meters Centerline goodness : 0.776851 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.15 [[ 0.98765413 -0.15460203 -0.0252493 1.00907888] [ 0.15468116 0.98796371 0.00119971 -0.04831124] [ 0.02475991 -0.00509049 0.99968047 0.15136641] [ 0. 0. 0. 1. ]] SLAMing on 57.679928851 meters Centerline goodness : 0.778383 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:0.15 [[ 9.87703820e-01 -1.54290348e-01 -2.52121469e-02 1.00915666e+00] [ 1.54361487e-01 9.88014039e-01 8.88470187e-04 -4.59511832e-02] [ 2.47728728e-02 -4.76932988e-03 9.99681728e-01 1.51225878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739928851 meters Centerline goodness : 0.779345 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 9.87651799e-01 -1.54635953e-01 -2.51325743e-02 1.00908299e+00] [ 1.54694935e-01 9.87962201e-01 4.08004192e-04 -4.44792887e-02] [ 2.47669413e-02 -4.29084802e-03 9.99684044e-01 1.51003165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799928851000004 meters Centerline goodness : 0.774867 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 9.86999600e-01 -1.58841696e-01 -2.45174516e-02 1.00917665e+00] [ 1.58790139e-01 9.87304059e-01 -4.04804936e-03 -4.27042673e-02] [ 2.48491785e-02 1.02293549e-04 9.99691206e-01 1.51013079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859928851 meters Centerline goodness : 0.775180 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98633765 -0.16297965 -0.02399302 1.00910706] [ 0.16281827 0.98661907 -0.00854574 -0.04027419] [ 0.02506475 0.00452248 0.9996756 0.15147625] [ 0. 0. 0. 1. ]] SLAMing on 57.919928851 meters Centerline goodness : 0.774668 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98629562 -0.16325046 -0.02387976 1.00888989] [ 0.16308806 0.98657394 -0.00861037 -0.04025381] [ 0.0249648 0.00459787 0.99967776 0.15135206] [ 0. 0. 0. 1. ]] SLAMing on 57.979928851000004 meters Centerline goodness : 0.775960 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98620554 -0.16383615 -0.02358719 1.00811365] [ 0.16367033 0.98647575 -0.00880993 -0.04000547] [ 0.02471158 0.00482788 0.99968296 0.15132986] [ 0. 0. 0. 1. ]] SLAMing on 58.039928851 meters Centerline goodness : 0.772531 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98604016 -0.16485828 -0.02337837 1.00736495] [ 0.1646926 0.98630518 -0.00885695 -0.04094694] [ 0.02451835 0.00488306 0.99968745 0.15118421] [ 0. 0. 0. 1. ]] SLAMing on 58.099928851 meters Centerline goodness : 0.774391 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98534431 -0.1690464 -0.02280152 1.00779705] [ 0.16878941 0.98556936 -0.01277415 -0.04066709] [ 0.0246319 0.00873828 0.9996584 0.15072577] [ 0. 0. 0. 1. ]] SLAMing on 58.159928851000004 meters Centerline goodness : 0.777065 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98520423 -0.16991694 -0.02237976 1.00683863] [ 0.16965814 0.98541711 -0.01300898 -0.04028504] [ 0.02426384 0.0090196 0.9996649 0.15034902] [ 0. 0. 0. 1. ]] SLAMing on 58.219928851 meters Centerline goodness : 0.775045 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:0.15 [[ 0.98567411 -0.16713904 -0.02260708 1.00553256] [ 0.16695906 0.98591669 -0.00964103 -0.04044342] [ 0.02390009 0.00572845 0.99969794 0.15046429] [ 0. 0. 0. 1. ]] SLAMing on 58.279928851 meters Centerline goodness : 0.775649 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.15 [[ 0.9862582 -0.16362045 -0.02287187 1.00468429] [ 0.16351842 0.98652033 -0.00627477 -0.03899278] [ 0.02359024 0.00244857 0.99971871 0.15032672] [ 0. 0. 0. 1. ]] SLAMing on 58.339928851 meters Centerline goodness : 0.775405 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.15 [[ 0.98655392 -0.16189501 -0.02239107 1.00326513] [ 0.1618276 0.98680736 -0.00480236 -0.03730148] [ 0.02287315 0.00111429 0.99973775 0.15033419] [ 0. 0. 0. 1. ]] SLAMing on 58.399928851 meters Centerline goodness : 0.775615 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98650641 -0.16224153 -0.02197239 1.00188926] [ 0.16215325 0.98674882 -0.00575305 -0.03367389] [ 0.02261461 0.00211253 0.99974203 0.15095259] [ 0. 0. 0. 1. ]] SLAMing on 58.459928851 meters Centerline goodness : 0.775680 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98648179 -0.16242358 -0.02173147 1.00177894] [ 0.16232652 0.98671781 -0.00617023 -0.03115965] [ 0.02244502 0.00255922 0.9997448 0.15018498] [ 0. 0. 0. 1. ]] SLAMing on 58.519928851 meters Centerline goodness : 0.775700 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98641888 -0.1628317 -0.02153187 1.00206981] [ 0.16273178 0.98665007 -0.00632579 -0.02968395] [ 0.02227446 0.00273596 0.99974815 0.14876422] [ 0. 0. 0. 1. ]] SLAMing on 58.579928851 meters Centerline goodness : 0.773141 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98635892 -0.16321467 -0.02137886 1.0019963 ] [ 0.16311291 0.98658644 -0.00643192 -0.02931382] [ 0.02214188 0.00285701 0.99975076 0.14812908] [ 0. 0. 0. 1. ]] SLAMing on 58.639928851 meters Centerline goodness : 0.778007 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98621109 -0.16417373 -0.02084862 1.00063356] [ 0.16406559 0.98642594 -0.00680733 -0.02926397] [ 0.0216832 0.00329293 0.99975947 0.14823034] [ 0. 0. 0. 1. ]] SLAMing on 58.699928851 meters Centerline goodness : 0.778037 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98598159 -0.16562288 -0.02023283 0.99781862] [ 0.16550051 0.98618049 -0.00759151 -0.02937844] [ 0.02121055 0.00413654 0.99976647 0.15001246] [ 0. 0. 0. 1. ]] SLAMing on 58.759928851 meters Centerline goodness : 0.778108 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.9857916 -0.16680821 -0.01974676 0.9957111 ] [ 0.1666785 0.98597841 -0.00805335 -0.03052646] [ 0.02081324 0.00464756 0.99977258 0.15131663] [ 0. 0. 0. 1. ]] SLAMing on 58.819928851 meters Centerline goodness : 0.771915 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98507993 -0.171026 -0.01917409 0.99579802] [ 0.1708202 0.98523019 -0.01191321 -0.03140593] [ 0.02092836 0.00846014 0.99974518 0.15152064] [ 0. 0. 0. 1. ]] SLAMing on 58.879928851 meters Centerline goodness : 0.773317 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.9849102 -0.17202384 -0.01896559 0.9954318 ] [ 0.17182331 0.98505769 -0.01175143 -0.03364985] [ 0.02070373 0.00831538 0.99975107 0.15097795] [ 0. 0. 0. 1. ]] SLAMing on 58.939928851 meters Centerline goodness : 0.774437 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98486305 -0.17229156 -0.01898409 0.99548832] [ 0.1720912 0.98501109 -0.01173762 -0.03407917] [ 0.02072183 0.00829296 0.99975089 0.1508636 ] [ 0. 0. 0. 1. ]] SLAMing on 58.999928851 meters Centerline goodness : 0.777420 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98492718 -0.17189924 -0.01921221 0.99650934] [ 0.17170343 0.98508241 -0.01142736 -0.03431168] [ 0.02088996 0.00795632 0.99975012 0.15010912] [ 0. 0. 0. 1. ]] SLAMing on 59.059928851 meters Centerline goodness : 0.777936 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.9849676 -0.17167233 -0.01916845 0.99604683] [ 0.17146659 0.98511785 -0.01191721 -0.03209637] [ 0.02092904 0.00845132 0.99974524 0.15086382] [ 0. 0. 0. 1. ]] SLAMing on 59.119928851 meters Centerline goodness : 0.774122 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98500611 -0.17143076 -0.01935076 0.99631253] [ 0.1712161 0.98515715 -0.01226493 -0.03036984] [ 0.02116612 0.00876787 0.99973753 0.15115926] [ 0. 0. 0. 1. ]] SLAMing on 59.179928851 meters Centerline goodness : 0.778285 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.15 [[ 0.98559668 -0.16797232 -0.01960828 0.99550308] [ 0.1678304 0.98577763 -0.00868412 -0.03020191] [ 0.02078809 0.00526818 0.99977002 0.15094977] [ 0. 0. 0. 1. ]] SLAMing on 59.239928851 meters Centerline goodness : 0.774422 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.03, Z:0.15 [[ 0.98613184 -0.16480123 -0.01960995 0.99355855] [ 0.16472312 0.98632426 -0.00554489 -0.02867707] [ 0.02025557 0.00223778 0.99979233 0.15147852] [ 0. 0. 0. 1. ]] SLAMing on 59.299928851000004 meters Centerline goodness : 0.779939 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.03, Z:0.15 [[ 0.98616465 -0.16460138 -0.01963838 0.99376478] [ 0.16451824 0.98635706 -0.00578758 -0.026907 ] [ 0.0203231 0.00247663 0.9997904 0.15127633] [ 0. 0. 0. 1. ]] SLAMing on 59.359928851 meters Centerline goodness : 0.781667 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.02, Z:0.15 [[ 0.98606022 -0.16527489 -0.01922109 0.99285004] [ 0.16518284 0.98624289 -0.00629285 -0.02447421] [ 0.01999671 0.00303014 0.99979545 0.15081402] [ 0. 0. 0. 1. ]] SLAMing on 59.419928851 meters Centerline goodness : 0.781298 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.02, Z:0.15 [[ 0.9859955 -0.16569227 -0.01894585 0.99248061] [ 0.16559451 0.98617165 -0.00662786 -0.02313293] [ 0.01978205 0.00339771 0.99979854 0.15028309] [ 0. 0. 0. 1. ]] SLAMing on 59.479928851000004 meters Centerline goodness : 0.775501 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.02, Z:0.15 [[ 0.98589088 -0.166361 -0.01852552 0.99158236] [ 0.16624844 0.98605561 -0.00746928 -0.02026861] [ 0.01950979 0.00428406 0.99980049 0.15006161] [ 0. 0. 0. 1. ]] SLAMing on 59.539928851 meters Centerline goodness : 0.782163 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.02, Z:0.15 [[ 0.98580987 -0.16687215 -0.01823717 0.99056173] [ 0.16673986 0.98596377 -0.00855906 -0.01621914] [ 0.01940945 0.00539674 0.99979705 0.15042944] [ 0. 0. 0. 1. ]] SLAMing on 59.599928851 meters Centerline goodness : 0.776467 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.02, Z:0.15 [[ 0.98566514 -0.16777719 -0.01774961 0.98887081] [ 0.16763377 0.98580555 -0.00929146 -0.01541577] [ 0.01905656 0.00618284 0.99979929 0.15125323] [ 0. 0. 0. 1. ]] SLAMing on 59.659928851000004 meters Centerline goodness : 0.782305 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.01, Z:0.15 [[ 0.98537873 -0.16952613 -0.01701887 0.98593296] [ 0.16936629 0.98549786 -0.01044128 -0.01364701] [ 0.01854213 0.00740619 0.99980065 0.152543 ] [ 0. 0. 0. 1. ]] SLAMing on 59.719928851 meters Centerline goodness : 0.780954 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.01, Z:0.15 [[ 0.98499314 -0.17181721 -0.01635107 0.98355702] [ 0.17164536 0.98509284 -0.01140032 -0.01468497] [ 0.01806609 0.00842265 0.99980132 0.15315274] [ 0. 0. 0. 1. ]] SLAMing on 59.779928851 meters Centerline goodness : 0.779769 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98477802 -0.17308988 -0.01587897 0.98223019] [ 0.17292067 0.98486881 -0.01148368 -0.01630272] [ 0.01762641 0.00856307 0.99980797 0.15304783] [ 0. 0. 0. 1. ]] SLAMing on 59.839928851 meters Centerline goodness : 0.778571 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98458364 -0.17424155 -0.01532792 0.98045974] [ 0.17407205 0.98466242 -0.01178336 -0.01667698] [ 0.01714598 0.00893354 0.99981309 0.15338707] [ 0. 0. 0. 1. ]] SLAMing on 59.899928851 meters Centerline goodness : 0.779447 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98449435 -0.17477267 -0.01501281 0.97951373] [ 0.1746027 0.98456607 -0.0119811 -0.0169003 ] [ 0.01687508 0.00917405 0.99981552 0.15368366] [ 0. 0. 0. 1. ]] SLAMing on 59.959928851 meters Centerline goodness : 0.780289 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98452765 -0.17458003 -0.0150703 0.97960673] [ 0.17440984 0.98460048 -0.0119623 -0.01702308] [ 0.01692661 0.00914881 0.99981488 0.15388614] [ 0. 0. 0. 1. ]] SLAMing on 60.019928851 meters Centerline goodness : 0.779517 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.9850915 -0.17135101 -0.01528295 0.97819789] [ 0.17124177 0.98519491 -0.00820055 -0.01819741] [ 0.01646186 0.00546121 0.99984958 0.15425106] [ 0. 0. 0. 1. ]] SLAMing on 60.079928851 meters Centerline goodness : 0.779311 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98515252 -0.17098437 -0.01545512 0.9784682 ] [ 0.17087516 0.98525906 -0.00814021 -0.01826307] [ 0.01661914 0.00537845 0.99984743 0.15465353] [ 0. 0. 0. 1. ]] SLAMing on 60.139928851 meters Centerline goodness : 0.780009 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98520524 -0.17067644 -0.01549775 0.97905808] [ 0.17057612 0.98531527 -0.00758959 -0.01990814] [ 0.01656553 0.00483375 0.9998511 0.15406089] [ 0. 0. 0. 1. ]] SLAMing on 60.199928851 meters Centerline goodness : 0.777026 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98517891 -0.17083536 -0.01542054 0.97893908] [ 0.17073913 0.98528874 -0.00736482 -0.02132798] [ 0.01645185 0.00462278 0.99985397 0.15397889] [ 0. 0. 0. 1. ]] SLAMing on 60.259928851 meters Centerline goodness : 0.775575 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.9851374 -0.17108419 -0.01531373 0.97844053] [ 0.17098799 0.98524537 -0.00739434 -0.02197821] [ 0.01635283 0.00466598 0.9998554 0.15438307] [ 0. 0. 0. 1. ]] SLAMing on 60.319928851 meters Centerline goodness : 0.778388 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.15 [[ 0.98510758 -0.17125697 -0.01530038 0.97813274] [ 0.1711602 0.98521516 -0.00743479 -0.02237343] [ 0.01634742 0.00470526 0.9998553 0.15478892] [ 0. 0. 0. 1. ]] SLAMing on 60.379928851 meters Centerline goodness : 0.777647 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.16 [[ 0.98503242 -0.17171736 -0.01497608 0.97723803] [ 0.17162325 0.98513511 -0.00736723 -0.0245263 ] [ 0.01601854 0.00468672 0.99986071 0.1552684 ] [ 0. 0. 0. 1. ]] SLAMing on 60.439928851 meters Centerline goodness : 0.778809 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 0.98494015 -0.1722726 -0.01466478 0.97621317] [ 0.17218351 0.98503898 -0.00714474 -0.02643593] [ 0.01567622 0.00451211 0.99986694 0.15559731] [ 0. 0. 0. 1. ]] SLAMing on 60.499928851 meters Centerline goodness : 0.777825 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 0.98486265 -0.17272961 -0.01449282 0.97584523] [ 0.17264433 0.9849597 -0.00695196 -0.02864104] [ 0.01547565 0.00434462 0.99987081 0.15564167] [ 0. 0. 0. 1. ]] SLAMing on 60.559928851 meters Centerline goodness : 0.780310 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 0.98432454 -0.17577699 -0.01441018 0.97766579] [ 0.17564366 0.98440243 -0.01005763 -0.03106858] [ 0.01595332 0.00736891 0.99984558 0.15544525] [ 0. 0. 0. 1. ]] SLAMing on 60.619928851 meters Centerline goodness : 0.778842 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 0.98429307 -0.17595079 -0.01443875 0.97755925] [ 0.1758275 0.98437597 -0.00941529 -0.03461573] [ 0.01586978 0.00672868 0.99985143 0.15573405] [ 0. 0. 0. 1. ]] SLAMing on 60.679928851 meters Centerline goodness : 0.780589 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98434432 -0.17564719 -0.01463978 0.97767631] [ 0.17553198 0.98443418 -0.00882475 -0.03717613] [ 0.01596195 0.00611684 0.99985389 0.15638637] [ 0. 0. 0. 1. ]] SLAMing on 60.739928851 meters Centerline goodness : 0.783637 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98452577 -0.17457894 -0.01520532 0.97948959] [ 0.17447649 0.98463019 -0.00783289 -0.03972352] [ 0.01633907 0.00505872 0.99985371 0.15590421] [ 0. 0. 0. 1. ]] SLAMing on 60.799928851000004 meters Centerline goodness : 0.784546 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98463617 -0.17391596 -0.01564783 0.98066435] [ 0.17381908 0.98475008 -0.00736202 -0.04041742] [ 0.01668958 0.00452902 0.99985046 0.15571135] [ 0. 0. 0. 1. ]] SLAMing on 60.859928851 meters Centerline goodness : 0.777992 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98481991 -0.1728101 -0.01632215 0.98265768] [ 0.17272378 0.9849484 -0.00656876 -0.04178358] [ 0.01721162 0.00364983 0.99984521 0.15523449] [ 0. 0. 0. 1. ]] SLAMing on 60.919928851 meters Centerline goodness : 0.776968 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.15 [[ 9.85561515e-01 -1.68447851e-01 -1.71412459e-02 9.83305173e-01] [ 1.68434481e-01 9.85710326e-01 -2.23112784e-03 -4.38546393e-02] [ 1.72721318e-02 -6.88263131e-04 9.99850589e-01 1.54988563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979928851000004 meters Centerline goodness : 0.778197 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98629922 -0.16399692 -0.01785643 0.98348585] [ 0.16405884 0.98644842 0.00205003 -0.04466453] [ 0.01727825 -0.00495145 0.99983846 0.15501186] [ 0. 0. 0. 1. ]] SLAMing on 61.039928851 meters Centerline goodness : 0.777539 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98696868 -0.15984763 -0.01848139 0.98334322] [ 0.15998349 0.98710076 0.00611311 -0.04583604] [ 0.01726582 -0.00899017 0.99981052 0.15535453] [ 0. 0. 0. 1. ]] SLAMing on 61.099928851 meters Centerline goodness : 0.778315 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98735862 -0.15746017 -0.01814503 0.98253208] [ 0.15762296 0.98746767 0.00791185 -0.04653112] [ 0.01667183 -0.01067191 0.99980406 0.15571548] [ 0. 0. 0. 1. ]] SLAMing on 61.159928851000004 meters Centerline goodness : 0.785351 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98743179 -0.15697642 -0.01835368 0.98305584] [ 0.15714596 0.98754148 0.0081835 -0.04688994] [ 0.0168404 -0.01096486 0.99979807 0.15581702] [ 0. 0. 0. 1. ]] SLAMing on 61.219928851 meters Centerline goodness : 0.777727 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98742134 -0.15703754 -0.01839308 0.98315247] [ 0.15720999 0.98753007 0.00832984 -0.04832046] [ 0.01685562 -0.01111663 0.99979613 0.15592504] [ 0. 0. 0. 1. ]] SLAMing on 61.279928851 meters Centerline goodness : 0.777691 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98738913 -0.15723928 -0.01839887 0.98339593] [ 0.15741287 0.98749722 0.00839226 -0.04969612] [ 0.01684924 -0.01118265 0.9997955 0.15579278] [ 0. 0. 0. 1. ]] SLAMing on 61.339928851 meters Centerline goodness : 0.791486 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98732051 -0.15766286 -0.01845631 0.98330529] [ 0.15783655 0.98742989 0.00835684 -0.05099976] [ 0.01690674 -0.01116396 0.99979474 0.15610787] [ 0. 0. 0. 1. ]] SLAMing on 61.399928851 meters Centerline goodness : 0.777600 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98729948 -0.15779518 -0.01845012 0.98301347] [ 0.15796392 0.98741193 0.00806749 -0.05031503] [ 0.01694485 -0.01087948 0.99979723 0.1565611 ] [ 0. 0. 0. 1. ]] SLAMing on 61.459928851 meters Centerline goodness : 0.789843 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98733359 -0.15757956 -0.01846802 0.98289493] [ 0.15774138 0.98745082 0.00765095 -0.04878943] [ 0.01703062 -0.01046721 0.99980018 0.15703485] [ 0. 0. 0. 1. ]] SLAMing on 61.519928851 meters Centerline goodness : 0.775881 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98735467 -0.15745561 -0.01839825 0.98295329] [ 0.15761106 0.98747414 0.00731955 -0.04730454] [ 0.01701529 -0.01012676 0.99980395 0.15689308] [ 0. 0. 0. 1. ]] SLAMing on 61.579928851 meters Centerline goodness : 0.787928 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.16 [[ 0.98790206 -0.15394167 -0.01874785 0.98204597] [ 0.1541565 0.98798956 0.01060176 -0.04561295] [ 0.01689063 -0.0133636 0.99976803 0.15712874] [ 0. 0. 0. 1. ]] SLAMing on 61.639928851 meters Centerline goodness : 0.779694 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98794761 -0.15365311 -0.01871494 0.98203725] [ 0.15385375 0.98804512 0.0097911 -0.04213217] [ 0.01698677 -0.01255246 0.99977692 0.15737296] [ 0. 0. 0. 1. ]] SLAMing on 61.699928851 meters Centerline goodness : 0.777682 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98785281 -0.15430829 -0.01832431 0.981297 ] [ 0.15449227 0.98795226 0.00908082 -0.03984694] [ 0.0167023 -0.01180148 0.99979086 0.15701393] [ 0. 0. 0. 1. ]] SLAMing on 61.759928851 meters Centerline goodness : 0.777868 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98777043 -0.1548605 -0.01810529 0.98046592] [ 0.15503258 0.98787267 0.00851361 -0.0389411 ] [ 0.0165673 -0.0112164 0.99979984 0.15748856] [ 0. 0. 0. 1. ]] SLAMing on 61.819928851 meters Centerline goodness : 0.779773 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.16 [[ 0.98700809 -0.15974646 -0.01720763 0.97878568] [ 0.15982285 0.98714069 0.00315055 -0.03529372] [ 0.01648306 -0.00585979 0.99984697 0.15906369] [ 0. 0. 0. 1. ]] SLAMing on 61.879928851 meters Centerline goodness : 0.779945 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 0.98686379 -0.16066966 -0.0168855 0.97838402] [ 0.16073938 0.98699278 0.0028472 -0.03488871] [ 0.0162084 -0.00552396 0.99985338 0.15824593] [ 0. 0. 0. 1. ]] SLAMing on 61.939928851 meters Centerline goodness : 0.783365 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 9.86033880e-01 -1.65779181e-01 -1.59515222e-02 9.77114844e-01] [ 1.65765436e-01 9.86162779e-01 -2.18925121e-03 -3.21514786e-02] [ 1.60937297e-02 -4.85535163e-04 9.99870370e-01 1.58913538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999928851 meters Centerline goodness : 0.783045 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.16 [[ 0.98525418 -0.17042331 -0.01516886 0.97660968] [ 0.17033587 0.98536197 -0.00689023 -0.02972066] [ 0.01612107 0.00420483 0.99986121 0.15918449] [ 0. 0. 0. 1. ]] SLAMing on 62.059928851 meters Centerline goodness : 0.780792 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98499192 -0.17200139 -0.01436826 0.97416726] [ 0.17190323 0.98508282 -0.00781771 -0.02880885] [ 0.01549858 0.00523043 0.99986621 0.15982254] [ 0. 0. 0. 1. ]] SLAMing on 62.119928851 meters Centerline goodness : 0.783618 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98483553 -0.17293602 -0.01386034 0.97278283] [ 0.17283341 0.98491613 -0.00829618 -0.02743238] [ 0.01508598 0.00577484 0.99986952 0.15977408] [ 0. 0. 0. 1. ]] SLAMing on 62.179928851 meters Centerline goodness : 0.783259 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98464929 -0.17403323 -0.01334964 0.97127636] [ 0.17392523 0.98471888 -0.00887371 -0.02791049] [ 0.01468997 0.00641566 0.99987151 0.16031575] [ 0. 0. 0. 1. ]] SLAMing on 62.239928851 meters Centerline goodness : 0.783333 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98453966 -0.17467338 -0.01307202 0.97008748] [ 0.17456198 0.98460288 -0.00923512 -0.02810401] [ 0.01448388 0.00681047 0.99987191 0.16114185] [ 0. 0. 0. 1. ]] SLAMing on 62.299928851000004 meters Centerline goodness : 0.786678 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98516184 -0.17107975 -0.0137062 0.96953371] [ 0.17101957 0.98525252 -0.00545752 -0.03076303] [ 0.01443773 0.00303251 0.99989117 0.16212968] [ 0. 0. 0. 1. ]] SLAMing on 62.359928851 meters Centerline goodness : 0.786678 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98516184 -0.17107975 -0.0137062 0.96953371] [ 0.17101957 0.98525252 -0.00545752 -0.03076303] [ 0.01443773 0.00303251 0.99989117 0.16212968] [ 0. 0. 0. 1. ]] SLAMing on 62.419928851 meters Centerline goodness : 0.786397 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 9.85734278e-01 -1.67719250e-01 -1.40778287e-02 9.68184673e-01] [ 1.67711557e-01 9.85834584e-01 -1.73371154e-03 -3.22959570e-02] [ 1.41691872e-02 -6.52035672e-04 9.99899399e-01 1.63139963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479928851000004 meters Centerline goodness : 0.785363 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98583505 -0.1670926 -0.01446797 0.96919857] [ 0.16709117 0.98594057 -0.00131619 -0.03376401] [ 0.01448449 -0.00111992 0.99989447 0.16329723] [ 0. 0. 0. 1. ]] SLAMing on 62.539928851 meters Centerline goodness : 0.782050 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 9.85965511e-01 -1.66294784e-01 -1.47666953e-02 9.69717574e-01] [ 1.66298451e-01 9.86074971e-01 -9.87829389e-04 -3.43738879e-02] [ 1.47253395e-02 -1.48171285e-03 9.99890478e-01 1.63841396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599928851 meters Centerline goodness : 0.782493 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98600174 -0.16605597 -0.01503262 0.97025925] [ 0.16605873 0.98611528 -0.00107314 -0.03418336] [ 0.0150021 -0.00143818 0.99988643 0.16408677] [ 0. 0. 0. 1. ]] SLAMing on 62.659928851000004 meters Centerline goodness : 0.781626 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98607437 -0.16560747 -0.01521538 0.97086355] [ 0.1656102 0.98619069 -0.00108962 -0.03355995] [ 0.01518572 -0.00144537 0.99988365 0.16409231] [ 0. 0. 0. 1. ]] SLAMing on 62.719928851 meters Centerline goodness : 0.788759 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98610352 -0.16542407 -0.01532076 0.97112976] [ 0.16542592 0.98622154 -0.00115526 -0.03346109] [ 0.01530077 -0.00139525 0.99988196 0.1642922 ] [ 0. 0. 0. 1. ]] SLAMing on 62.779928851 meters Centerline goodness : 0.781804 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98615199 -0.16512201 -0.01545882 0.97148026] [ 0.16512538 0.98627201 -0.00106713 -0.033354 ] [ 0.0154228 -0.00150029 0.99987994 0.1642902 ] [ 0. 0. 0. 1. ]] SLAMing on 62.839928851 meters Centerline goodness : 0.785227 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 0.98621341 -0.16473788 -0.01563768 0.97218644] [ 0.16474072 0.98633628 -0.00111497 -0.03210746] [ 0.01560769 -0.00147656 0.9998771 0.16389788] [ 0. 0. 0. 1. ]] SLAMing on 62.899928851 meters Centerline goodness : 0.783351 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 9.86201389e-01 -1.64826509e-01 -1.54610146e-02 9.71302379e-01] [ 1.64820258e-01 9.86322178e-01 -1.68638619e-03 -3.05132236e-02] [ 1.55275027e-02 -8.85172019e-04 9.99879049e-01 1.64826776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959928851 meters Centerline goodness : 0.789257 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.17 [[ 9.86080434e-01 -1.65575813e-01 -1.51666429e-02 9.70337456e-01] [ 1.65564605e-01 9.86196918e-01 -2.00032282e-03 -3.11237326e-02] [ 1.52885016e-02 -5.38580053e-04 9.99882979e-01 1.65273027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019928851 meters Centerline goodness : 0.783975 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 9.86034245e-01 -1.65865678e-01 -1.50014881e-02 9.70151445e-01] [ 1.65856212e-01 9.86148151e-01 -1.88162787e-03 -3.18122724e-02] [ 1.51057872e-02 -6.32740470e-04 9.99885701e-01 1.64958872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079928851 meters Centerline goodness : 0.782623 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.16 [[ 9.85886407e-01 -1.66779743e-01 -1.45777141e-02 9.69209371e-01] [ 1.66765499e-01 9.85994141e-01 -2.19589501e-03 -3.28514187e-02] [ 1.47397715e-02 -2.66156732e-04 9.99891328e-01 1.64997290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139928851 meters Centerline goodness : 0.781219 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.17 [[ 9.85907748e-01 -1.66649322e-01 -1.46258769e-02 9.69256174e-01] [ 1.66633882e-01 9.86016210e-01 -2.27662701e-03 -3.26450032e-02] [ 1.48007500e-02 -1.92622436e-04 9.99890444e-01 1.65235797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199928851 meters Centerline goodness : 0.780982 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.17 [[ 9.85747945e-01 -1.67629422e-01 -1.41903069e-02 9.66970152e-01] [ 1.67602202e-01 9.85849849e-01 -3.09467387e-03 -3.24405661e-02] [ 1.45082703e-02 6.72241715e-04 9.99894524e-01 1.67212775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259928851 meters Centerline goodness : 0.778230 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.17 [[ 0.98508528 -0.17149684 -0.01399352 0.96785986] [ 0.17141135 0.98517393 -0.00710406 -0.03225253] [ 0.01500437 0.00459946 0.99987685 0.16761602] [ 0. 0. 0. 1. ]] SLAMing on 63.319928851 meters Centerline goodness : 0.780409 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:0.17 [[ 0.98433528 -0.17580242 -0.0133254 0.96770742] [ 0.1756647 0.98438979 -0.0108927 -0.03436518] [ 0.01503235 0.00838127 0.99985188 0.16814757] [ 0. 0. 0. 1. ]] SLAMing on 63.379928851 meters Centerline goodness : 0.786702 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:0.17 [[ 0.98372946 -0.1791757 -0.01313049 0.96895818] [ 0.17898819 0.98374739 -0.01429331 -0.03639229] [ 0.0154781 0.01171054 0.99981163 0.16839727] [ 0. 0. 0. 1. ]] SLAMing on 63.439928851 meters Centerline goodness : 0.784851 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:0.17 [[ 0.98367999 -0.17945252 -0.0130563 0.96796133] [ 0.17926851 0.98369882 -0.01412234 -0.03836953] [ 0.01537776 0.01155128 0.99981503 0.16965303] [ 0. 0. 0. 1. ]] SLAMing on 63.499928851 meters Centerline goodness : 0.786695 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:0.17 [[ 0.98364928 -0.1796201 -0.01306588 0.96773474] [ 0.17944032 0.9836715 -0.01384008 -0.04106751] [ 0.01533849 0.01126924 0.99981885 0.17026294] [ 0. 0. 0. 1. ]] SLAMing on 63.559928851 meters Centerline goodness : 0.784843 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:0.17 [[ 0.98357228 -0.18005665 -0.01285164 0.96706052] [ 0.17988034 0.9835921 -0.0137711 -0.04417597] [ 0.01512035 0.01123312 0.99982258 0.17102216] [ 0. 0. 0. 1. ]] SLAMing on 63.619928851 meters Centerline goodness : 0.777550 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:0.17 [[ 0.98360998 -0.17984059 -0.01299144 0.96748666] [ 0.17966922 0.98363658 -0.01334339 -0.04624009] [ 0.01517854 0.01079053 0.99982657 0.17110234] [ 0. 0. 0. 1. ]] SLAMing on 63.679928851 meters Centerline goodness : 0.786504 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:0.17 [[ 0.98384124 -0.17852696 -0.01358439 0.96917976] [ 0.17836449 0.98388678 -0.01236551 -0.04776075] [ 0.01557308 0.00974272 0.99983126 0.17081669] [ 0. 0. 0. 1. ]] SLAMing on 63.739928851 meters Centerline goodness : 0.786894 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:0.17 [[ 0.98403016 -0.17743887 -0.01414527 0.97068471] [ 0.17727972 0.98408956 -0.01181654 -0.04879301] [ 0.01601693 0.00912016 0.99983013 0.17087921] [ 0. 0. 0. 1. ]] SLAMing on 63.799928851000004 meters Centerline goodness : 0.777775 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:0.17 [[ 0.98424737 -0.1761843 -0.0147042 0.97207379] [ 0.17603388 0.98432294 -0.0109739 -0.05064688] [ 0.01640711 0.0082126 0.99983167 0.17103311] [ 0. 0. 0. 1. ]] SLAMing on 63.859928851 meters Centerline goodness : 0.778910 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:0.17 [[ 0.98442399 -0.17515578 -0.01516089 0.9731554 ] [ 0.17501128 0.98451156 -0.0103941 -0.05215212] [ 0.01674666 0.00757888 0.99983104 0.17138032] [ 0. 0. 0. 1. ]] SLAMing on 63.919928851 meters Centerline goodness : 0.790387 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.17 [[ 0.98464099 -0.17387162 -0.01583623 0.97509921] [ 0.17373805 0.98474644 -0.00946261 -0.05358073] [ 0.01723995 0.00656592 0.99982982 0.17093526] [ 0. 0. 0. 1. ]] SLAMing on 63.979928851000004 meters Centerline goodness : 0.791957 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.17 [[ 0.98475779 -0.17317002 -0.01625517 0.97626896] [ 0.17304245 0.98487359 -0.00896198 -0.05445718] [ 0.01756123 0.00601254 0.99982771 0.17072404] [ 0. 0. 0. 1. ]] SLAMing on 64.039928851 meters Centerline goodness : 0.791028 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:0.17 [[ 0.98488119 -0.17243392 -0.01660059 0.97714915] [ 0.17231429 0.98500624 -0.00839639 -0.05530483] [ 0.0177995 0.00540893 0.99982695 0.17069575] [ 0. 0. 0. 1. ]] SLAMing on 64.099928851 meters Centerline goodness : 0.792423 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:0.17 [[ 0.98487353 -0.17248712 -0.01650209 0.97670411] [ 0.17236936 0.98499724 -0.00832092 -0.05685344] [ 0.01768976 0.0053506 0.99982921 0.17136306] [ 0. 0. 0. 1. ]] SLAMing on 64.159928851 meters Centerline goodness : 0.789362 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:0.17 [[ 0.98487555 -0.17247571 -0.01650106 0.97635513] [ 0.17235826 0.98499933 -0.00830405 -0.05806303] [ 0.01768578 0.00533436 0.99982936 0.17219514] [ 0. 0. 0. 1. ]] SLAMing on 64.219928851 meters Centerline goodness : 0.792814 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:0.17 [[ 0.98484082 -0.17269139 -0.01631705 0.97576699] [ 0.17257375 0.98496102 -0.00837227 -0.05879182] [ 0.01751748 0.00542946 0.99983182 0.17265221] [ 0. 0. 0. 1. ]] SLAMing on 64.279928851 meters Centerline goodness : 0.792969 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:0.17 [[ 0.98479893 -0.17292697 -0.01635045 0.97545879] [ 0.17280833 0.98491947 -0.00842073 -0.05959355] [ 0.01756005 0.00546723 0.99983086 0.17328494] [ 0. 0. 0. 1. ]] SLAMing on 64.339928851 meters Centerline goodness : 0.794542 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:0.17 [[ 0.98468258 -0.17360488 -0.016173 0.97492908] [ 0.17348582 0.98479964 -0.00850574 -0.06097942] [ 0.0174038 0.00556966 0.99983303 0.17346689] [ 0. 0. 0. 1. ]] SLAMing on 64.399928851 meters Centerline goodness : 0.795226 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:0.17 [[ 0.98445803 -0.17489989 -0.01588784 0.9738273 ] [ 0.1747743 0.98456751 -0.00898726 -0.06359652] [ 0.01721453 0.0060708 0.99983339 0.17441956] [ 0. 0. 0. 1. ]] SLAMing on 64.459928851 meters Centerline goodness : 0.781581 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.17 [[ 0.98440121 -0.1752166 -0.01591864 0.97386364] [ 0.17509529 0.98451279 -0.0087294 -0.06548031] [ 0.01720164 0.00580595 0.99983518 0.17449778] [ 0. 0. 0. 1. ]] SLAMing on 64.519928851 meters Centerline goodness : 0.800297 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98430533 -0.17575827 -0.01587576 0.97338366] [ 0.1756393 0.98441692 -0.00861202 -0.06784856] [ 0.017142 0.00568845 0.99983688 0.17510937] [ 0. 0. 0. 1. ]] SLAMing on 64.579928851 meters Centerline goodness : 0.797609 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.9842419 -0.17613052 -0.01568169 0.97262314] [ 0.17601341 0.98435047 -0.00856939 -0.06974192] [ 0.01694561 0.00567416 0.99984031 0.17583143] [ 0. 0. 0. 1. ]] SLAMing on 64.63992885100001 meters Centerline goodness : 0.798752 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98421639 -0.17628078 -0.01559447 0.97178255] [ 0.17616364 0.98432331 -0.00860178 -0.07072579] [ 0.01686633 0.00571884 0.9998414 0.17695791] [ 0. 0. 0. 1. ]] SLAMing on 64.699928851 meters Centerline goodness : 0.800065 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98419742 -0.17638818 -0.01557698 0.97168993] [ 0.17627258 0.98430455 -0.00851681 -0.07187877] [ 0.01683476 0.00563642 0.9998424 0.17723921] [ 0. 0. 0. 1. ]] SLAMing on 64.759928851 meters Centerline goodness : 0.802453 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98425326 -0.17606279 -0.01572925 0.97278108] [ 0.17595659 0.98436616 -0.00790868 -0.07308379] [ 0.01687576 0.00501648 0.99984501 0.17619714] [ 0. 0. 0. 1. ]] SLAMing on 64.819928851 meters Centerline goodness : 0.785479 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98425062 -0.17608134 -0.01568657 0.97269603] [ 0.17597763 0.98436347 -0.00777426 -0.07344775] [ 0.01681019 0.00489134 0.99984673 0.17619527] [ 0. 0. 0. 1. ]] SLAMing on 64.879928851 meters Centerline goodness : 0.802363 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98422132 -0.17625845 -0.01553564 0.97219546] [ 0.1761537 0.98433112 -0.00788171 -0.07405964] [ 0.01668143 0.00502068 0.99984825 0.17662091] [ 0. 0. 0. 1. ]] SLAMing on 64.939928851 meters Centerline goodness : 0.784476 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.9842549 -0.17607752 -0.01545973 0.97172739] [ 0.17597049 0.9843626 -0.00804097 -0.07344066] [ 0.01663382 0.0051939 0.99984816 0.17724364] [ 0. 0. 0. 1. ]] SLAMing on 64.999928851 meters Centerline goodness : 0.804010 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98435144 -0.17551425 -0.01571624 0.97229495] [ 0.17540856 0.9844642 -0.00787875 -0.0729835 ] [ 0.01685491 0.0049987 0.99984545 0.17736606] [ 0. 0. 0. 1. ]] SLAMing on 65.059928851 meters Centerline goodness : 0.781451 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98427878 -0.1759363 -0.01554698 0.97188682] [ 0.17583688 0.98439031 -0.00755667 -0.07629886] [ 0.01663378 0.00470414 0.99985058 0.17769645] [ 0. 0. 0. 1. ]] SLAMing on 65.119928851 meters Centerline goodness : 0.802289 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98419577 -0.17641473 -0.01537955 0.97126822] [ 0.1763178 0.98430505 -0.00745652 -0.07818857] [ 0.01645361 0.00462699 0.99985392 0.17816119] [ 0. 0. 0. 1. ]] SLAMing on 65.179928851 meters Centerline goodness : 0.798042 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98403171 -0.177346 -0.01516529 0.97055925] [ 0.17725259 0.98413827 -0.00730692 -0.08106362] [ 0.0162206 0.00450215 0.9998583 0.17845239] [ 0. 0. 0. 1. ]] SLAMing on 65.239928851 meters Centerline goodness : 0.799312 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98388875 -0.17815202 -0.01499299 0.97000562] [ 0.1780591 0.98399249 -0.00733033 -0.08402908] [ 0.0160589 0.00454259 0.99986073 0.17899564] [ 0. 0. 0. 1. ]] SLAMing on 65.299928851 meters Centerline goodness : 0.801774 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:0.18 [[ 0.98386534 -0.17829427 -0.01483716 0.96965277] [ 0.17820413 0.98396719 -0.00720157 -0.08508208] [ 0.01588327 0.00444133 0.99986399 0.17920465] [ 0. 0. 0. 1. ]] SLAMing on 65.359928851 meters Centerline goodness : 0.799923 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:0.18 [[ 0.98378576 -0.17875636 -0.01455122 0.96864887] [ 0.17866144 0.98388133 -0.00759111 -0.08513978] [ 0.01567363 0.00486828 0.99986531 0.18001909] [ 0. 0. 0. 1. ]] SLAMing on 65.419928851 meters Centerline goodness : 0.800209 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98388937 -0.17819174 -0.01447093 0.96859225] [ 0.17809482 0.98398288 -0.00774125 -0.08381805] [ 0.01561857 0.00503934 0.99986532 0.18023705] [ 0. 0. 0. 1. ]] SLAMing on 65.479928851 meters Centerline goodness : 0.801322 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98450861 -0.17470121 -0.01490917 0.96763164] [ 0.17465367 0.9846199 -0.00444298 -0.08331051] [ 0.01545606 0.00177022 0.99987898 0.18087362] [ 0. 0. 0. 1. ]] SLAMing on 65.539928851 meters Centerline goodness : 0.801684 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98454241 -0.17449863 -0.01504894 0.96806709] [ 0.17444814 0.98465555 -0.00461552 -0.08193566] [ 0.01562342 0.00191891 0.99987611 0.18068662] [ 0. 0. 0. 1. ]] SLAMing on 65.599928851 meters Centerline goodness : 0.803590 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98516321 -0.17091623 -0.01552721 0.96739685] [ 0.17092013 0.98528429 -0.00108516 -0.08184099] [ 0.01548418 -0.00158485 0.99987886 0.18099656] [ 0. 0. 0. 1. ]] SLAMing on 65.659928851 meters Centerline goodness : 0.804279 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98523587 -0.17049652 -0.01553103 0.96753804] [ 0.17050152 0.98535689 -0.00101136 -0.08151754] [ 0.01547604 -0.00165163 0.99987887 0.1810073 ] [ 0. 0. 0. 1. ]] SLAMing on 65.719928851 meters Centerline goodness : 0.788522 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.9852385 -0.1704944 -0.01538671 0.96751845] [ 0.17049815 0.98535741 -0.00107701 -0.0808131 ] [ 0.01534503 -0.00156229 0.99988104 0.18064333] [ 0. 0. 0. 1. ]] SLAMing on 65.779928851 meters Centerline goodness : 0.787097 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98521354 -0.17064366 -0.01533056 0.96753901] [ 0.17064567 0.98533174 -0.00118668 -0.08028136] [ 0.01530819 -0.00144696 0.99988178 0.18035985] [ 0. 0. 0. 1. ]] SLAMing on 65.839928851 meters Centerline goodness : 0.791699 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 9.85142112e-01 -1.71070913e-01 -1.51578660e-02 9.67000227e-01] [ 1.71066111e-01 9.85258217e-01 -1.62243306e-03 -7.96846540e-02] [ 1.52119631e-02 -9.94670063e-04 9.99883797e-01 1.80632907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.899928851 meters Centerline goodness : 0.788483 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 9.84974388e-01 -1.72075638e-01 -1.46775143e-02 9.65736451e-01] [ 1.72058608e-01 9.85083731e-01 -2.42469671e-03 -7.79085466e-02] [ 1.48758117e-02 -1.37128523e-04 9.99889340e-01 1.80728705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.959928851 meters Centerline goodness : 0.786475 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98443793 -0.17514623 -0.01434438 0.96693381] [ 0.17507433 0.98453612 -0.00613304 -0.07552481] [ 0.01519674 0.00352627 0.9998783 0.18013012] [ 0. 0. 0. 1. ]] SLAMing on 66.019928851 meters Centerline goodness : 0.786539 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 0.98433982 -0.17572344 -0.01401421 0.96609158] [ 0.17564408 0.98443083 -0.00671523 -0.07466318] [ 0.01497604 0.00414856 0.99987925 0.18039055] [ 0. 0. 0. 1. ]] SLAMing on 66.079928851 meters Centerline goodness : 0.801416 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98426648 -0.1761522 -0.01378061 0.96495919] [ 0.17605997 0.98434971 -0.00765091 -0.07193108] [ 0.01491266 0.00510432 0.99987577 0.18135401] [ 0. 0. 0. 1. ]] SLAMing on 66.13992885100001 meters Centerline goodness : 0.786559 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98425441 -0.17623647 -0.01356297 0.96439924] [ 0.17613845 0.98433191 -0.00812019 -0.07001656] [ 0.01478154 0.00560338 0.99987505 0.18160462] [ 0. 0. 0. 1. ]] SLAMing on 66.199928851 meters Centerline goodness : 0.799292 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98420644 -0.17651608 -0.01340731 0.96402134] [ 0.17641517 0.98428019 -0.00837811 -0.06942418] [ 0.01467542 0.00588053 0.99987502 0.18163355] [ 0. 0. 0. 1. ]] SLAMing on 66.259928851 meters Centerline goodness : 0.789461 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98410681 -0.1770916 -0.01312836 0.96397642] [ 0.17699244 0.98417658 -0.00837439 -0.06976629] [ 0.01440366 0.00591768 0.99987875 0.18071447] [ 0. 0. 0. 1. ]] SLAMing on 66.319928851 meters Centerline goodness : 0.789316 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98402574 -0.17756529 -0.01280259 0.96338783] [ 0.17746123 0.98408791 -0.00886033 -0.06805735] [ 0.01417216 0.00644683 0.99987879 0.18047601] [ 0. 0. 0. 1. ]] SLAMing on 66.379928851 meters Centerline goodness : 0.798334 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98392692 -0.17813433 -0.01248901 0.96270705] [ 0.17802015 0.9839787 -0.00973384 -0.06485754] [ 0.01402286 0.00735409 0.99987463 0.18035811] [ 0. 0. 0. 1. ]] SLAMing on 66.439928851 meters Centerline goodness : 0.797386 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98382207 -0.17874468 -0.01202004 0.96168347] [ 0.1786196 0.98385907 -0.01078778 -0.06150197] [ 0.01375429 0.00846624 0.99986956 0.18030101] [ 0. 0. 0. 1. ]] SLAMing on 66.499928851 meters Centerline goodness : 0.797779 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98378847 -0.17894372 -0.01180647 0.96125433] [ 0.17881124 0.98381659 -0.01146585 -0.05880664] [ 0.01366714 0.00916884 0.99986456 0.18033051] [ 0. 0. 0. 1. ]] SLAMing on 66.559928851 meters Centerline goodness : 0.797512 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.98409464 -0.17726104 -0.01167271 0.96093606] [ 0.1771441 0.98413001 -0.01039624 -0.05419256] [ 0.01333031 0.00816313 0.99987783 0.1794614 ] [ 0. 0. 0. 1. ]] SLAMing on 66.619928851 meters Centerline goodness : 0.796791 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.9846142 -0.17435942 -0.01156111 0.9589883 ] [ 0.17428077 0.98466743 -0.00750142 -0.05178052] [ 0.01269179 0.00537113 0.99990503 0.17953749] [ 0. 0. 0. 1. ]] SLAMing on 66.679928851 meters Centerline goodness : 0.790143 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.98465138 -0.17416238 -0.01136332 0.95850048] [ 0.17407835 0.9846992 -0.00801392 -0.04875083] [ 0.01258517 0.00591281 0.99990332 0.1796293 ] [ 0. 0. 0. 1. ]] SLAMing on 66.739928851 meters Centerline goodness : 0.789062 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.98457967 -0.17458245 -0.01112829 0.95786052] [ 0.17449684 0.98462312 -0.00825628 -0.04793446] [ 0.01239857 0.00618712 0.99990399 0.17961293] [ 0. 0. 0. 1. ]] SLAMing on 66.799928851 meters Centerline goodness : 0.788026 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.98438614 -0.17567381 -0.01107419 0.95781902] [ 0.17558589 0.98442765 -0.00847371 -0.05010479] [ 0.01239035 0.00639693 0.99990277 0.17939245] [ 0. 0. 0. 1. ]] SLAMing on 66.859928851 meters Centerline goodness : 0.786483 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.98421714 -0.17663571 -0.01079123 0.95717112] [ 0.17654934 0.9842551 -0.00849918 -0.05218948] [ 0.01212258 0.00645986 0.99990565 0.17938014] [ 0. 0. 0. 1. ]] SLAMing on 66.919928851 meters Centerline goodness : 0.787240 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.18 [[ 0.9834798 -0.18072232 -0.01034059 0.95757978] [ 0.18059397 0.98348159 -0.01223834 -0.05347202] [ 0.01238152 0.01016872 0.99987164 0.1797042 ] [ 0. 0. 0. 1. ]] SLAMing on 66.979928851 meters Centerline goodness : 0.794435 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98345056 -0.18088096 -0.01034787 0.95795433] [ 0.18075752 0.98345648 -0.0118353 -0.05541718] [ 0.01231746 0.00976898 0.99987642 0.17919778] [ 0. 0. 0. 1. ]] SLAMing on 67.039928851 meters Centerline goodness : 0.795668 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98340044 -0.18116015 -0.01022639 0.95721209] [ 0.18103624 0.98340357 -0.01197107 -0.05617014] [ 0.01222535 0.00992101 0.99987605 0.18010195] [ 0. 0. 0. 1. ]] SLAMing on 67.099928851 meters Centerline goodness : 0.792152 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98350884 -0.18055027 -0.01058126 0.95781947] [ 0.18042637 0.98351902 -0.01168989 -0.05709835] [ 0.01251749 0.00958797 0.99987568 0.18067639] [ 0. 0. 0. 1. ]] SLAMing on 67.159928851 meters Centerline goodness : 0.791979 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98358963 -0.18010318 -0.01069043 0.95788727] [ 0.17998274 0.9836045 -0.01133127 -0.05860842] [ 0.01255595 0.00922123 0.99987865 0.18127915] [ 0. 0. 0. 1. ]] SLAMing on 67.219928851 meters Centerline goodness : 0.793586 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98385095 -0.17863092 -0.01132729 0.95964661] [ 0.17851696 0.983882 -0.01038817 -0.06004245] [ 0.01300036 0.0081983 0.99988188 0.18105552] [ 0. 0. 0. 1. ]] SLAMing on 67.279928851 meters Centerline goodness : 0.792224 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98458375 -0.17449165 -0.0121447 0.96005058] [ 0.17443019 0.98465153 -0.00595676 -0.06245371] [ 0.0129977 0.00374652 0.99990851 0.18091944] [ 0. 0. 0. 1. ]] SLAMing on 67.339928851 meters Centerline goodness : 0.794332 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 9.85404655e-01 -1.69721961e-01 -1.31194955e-02 9.60871471e-01] [ 1.69719222e-01 9.85491561e-01 -1.33000387e-03 -6.41314455e-02] [ 1.31548829e-02 -9.16038558e-04 9.99913051e-01 1.80820928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.399928851 meters Centerline goodness : 0.792988 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 9.85650737e-01 -1.68244974e-01 -1.36474516e-02 9.62266477e-01] [ 1.68255781e-01 9.85743304e-01 -3.60655066e-04 -6.61327216e-02] [ 1.35135625e-02 -1.94078271e-03 9.99906804e-01 1.81022982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.459928851 meters Centerline goodness : 0.794218 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 9.85680254e-01 -1.68055742e-01 -1.38457398e-02 9.62671505e-01] [ 1.68069332e-01 9.85775160e-01 -1.84484848e-04 -6.69493022e-02] [ 1.36797901e-02 -2.14520116e-03 9.99904126e-01 1.81210774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519928851 meters Centerline goodness : 0.796275 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 9.85682828e-01 -1.68017633e-01 -1.41222377e-02 9.63309078e-01] [ 1.68041272e-01 9.85779836e-01 4.95822662e-04 -7.08073606e-02] [ 1.38381102e-02 -2.86184267e-03 9.99900153e-01 1.81395635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579928851 meters Centerline goodness : 0.794209 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.18 [[ 9.85196540e-01 -1.70846295e-01 -1.41181020e-02 9.65256747e-01] [ 1.70830177e-01 9.85297688e-01 -2.34878874e-03 -7.28280609e-02] [ 1.43118151e-02 -9.77793174e-05 9.99897576e-01 1.80965178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63992885100001 meters Centerline goodness : 0.794499 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 9.85017733e-01 -1.71903960e-01 -1.37511254e-02 9.65639005e-01] [ 1.71874981e-01 9.85113339e-01 -3.27102777e-03 -7.63923144e-02] [ 1.41087197e-02 8.58545948e-04 9.99900098e-01 1.81022093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.699928851 meters Centerline goodness : 0.799216 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 9.84978050e-01 -1.72135745e-01 -1.36940096e-02 9.65106531e-01] [ 1.72109463e-01 9.85073003e-01 -3.08400127e-03 -7.84889852e-02] [ 1.40204660e-02 6.80804927e-04 9.99901477e-01 1.81817047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.759928851 meters Centerline goodness : 0.796669 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 9.84932487e-01 -1.72403072e-01 -1.36079627e-02 9.64464288e-01] [ 1.72375615e-01 9.85026178e-01 -3.17430859e-03 -7.95234146e-02] [ 1.39514600e-02 7.80798715e-04 9.99902369e-01 1.82663735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.819928851 meters Centerline goodness : 0.798729 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 9.85008990e-01 -1.71968713e-01 -1.35665507e-02 9.64398185e-01] [ 1.71944547e-01 9.85102253e-01 -2.93676481e-03 -8.13089385e-02] [ 1.38694713e-02 5.60045319e-04 9.99903657e-01 1.83265509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879928851 meters Centerline goodness : 0.796864 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 9.85581829e-01 -1.68622529e-01 -1.39606806e-02 9.63048359e-01] [ 1.68646542e-01 9.85676437e-01 5.52589034e-04 -8.18373341e-02] [ 1.36675349e-02 -2.89904222e-03 9.99902392e-01 1.84417092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939928851 meters Centerline goodness : 0.799460 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 0.98568896 -0.16797962 -0.01414648 0.96354771] [ 0.16801063 0.98578465 0.00102415 -0.0827412 ] [ 0.01377335 -0.00338625 0.99989941 0.18450198] [ 0. 0. 0. 1. ]] SLAMing on 67.999928851 meters Centerline goodness : 0.801529 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.9858289 -0.16712301 -0.01453518 0.9651578 ] [ 0.16716507 0.98592742 0.00171959 -0.08428327] [ 0.01404325 -0.00412499 0.99989288 0.18379904] [ 0. 0. 0. 1. ]] SLAMing on 68.059928851 meters Centerline goodness : 0.803098 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98586823 -0.16687236 -0.01474634 0.96562933] [ 0.16691622 0.98596946 0.0017868 -0.0834848 ] [ 0.01424127 -0.00422295 0.99988967 0.18373254] [ 0. 0. 0. 1. ]] SLAMing on 68.119928851 meters Centerline goodness : 0.801123 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98587264 -0.16684219 -0.01479242 0.96607758] [ 0.16688498 0.98597491 0.00169851 -0.08365085] [ 0.01430157 -0.00414315 0.99988914 0.18354297] [ 0. 0. 0. 1. ]] SLAMing on 68.179928851 meters Centerline goodness : 0.795119 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.18 [[ 0.98576522 -0.16749322 -0.01459291 0.96557221] [ 0.16752931 0.98586627 0.00127834 -0.08417448] [ 0.01417255 -0.00370489 0.9998927 0.18379677] [ 0. 0. 0. 1. ]] SLAMing on 68.239928851 meters Centerline goodness : 0.798038 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.19 [[ 9.85529535e-01 -1.68927420e-01 -1.39664593e-02 9.63397462e-01] [ 1.68940348e-01 9.85626244e-01 -2.57508536e-04 -8.20053555e-02] [ 1.38092091e-02 -2.10571623e-03 9.99902431e-01 1.85172821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299928851 meters Centerline goodness : 0.789911 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 9.85511209e-01 -1.69045106e-01 -1.38350952e-02 9.63409210e-01] [ 1.69051157e-01 9.85607001e-01 -7.39385484e-04 -7.98804470e-02] [ 1.37609561e-02 -1.61016616e-03 9.99904017e-01 1.84785955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359928851 meters Centerline goodness : 0.798905 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 9.85525322e-01 -1.68955702e-01 -1.39215586e-02 9.63759486e-01] [ 1.68959199e-01 9.85622605e-01 -9.33111649e-04 -7.86541409e-02] [ 1.38790574e-02 -1.43257023e-03 9.99902655e-01 1.84548208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.419928851 meters Centerline goodness : 0.796516 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.18 [[ 0.98607696 -0.16567952 -0.0142314 0.96274346] [ 0.16572769 0.98616895 0.00226628 -0.07733659] [ 0.01365909 -0.00459327 0.99989616 0.18483354] [ 0. 0. 0. 1. ]] SLAMing on 68.479928851 meters Centerline goodness : 0.797074 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.19 [[ 0.98618651 -0.16504153 -0.01405182 0.96240293] [ 0.16507859 0.98627926 0.00151182 -0.07399444] [ 0.01360951 -0.00381059 0.99990013 0.18544584] [ 0. 0. 0. 1. ]] SLAMing on 68.539928851 meters Centerline goodness : 0.794711 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98679775 -0.16131272 -0.01443598 0.96239357] [ 0.16139958 0.98687616 0.00506144 -0.07276709] [ 0.01343005 -0.00732458 0.99988299 0.18455044] [ 0. 0. 0. 1. ]] SLAMing on 68.599928851 meters Centerline goodness : 0.792254 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98741633 -0.15743807 -0.01490772 0.96239815] [ 0.1575766 0.98746916 0.00861767 -0.07118764] [ 0.01336416 -0.01085833 0.99985174 0.18387644] [ 0. 0. 0. 1. ]] SLAMing on 68.659928851 meters Centerline goodness : 0.791150 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.18 [[ 0.98793331 -0.15413397 -0.01518211 0.96131861] [ 0.15431682 0.98795204 0.01170838 -0.06934939] [ 0.01319454 -0.01390995 0.99981619 0.18420692] [ 0. 0. 0. 1. ]] SLAMing on 68.719928851 meters Centerline goodness : 0.790404 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.9879523 -0.15402488 -0.01505274 0.96107466] [ 0.15419162 0.98798387 0.01062101 -0.06490309] [ 0.01323596 -0.01281406 0.99983029 0.1845168 ] [ 0. 0. 0. 1. ]] SLAMing on 68.779928851 meters Centerline goodness : 0.784408 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98779994 -0.15503527 -0.01467489 0.9602554 ] [ 0.15518092 0.98784169 0.00936318 -0.06251247] [ 0.01304485 -0.01152621 0.99984848 0.18460164] [ 0. 0. 0. 1. ]] SLAMing on 68.839928851 meters Centerline goodness : 0.779952 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98756711 -0.15656517 -0.0140907 0.95862923] [ 0.1566891 0.98761425 0.00816169 -0.06089844] [ 0.01263834 -0.01026807 0.99986741 0.18489899] [ 0. 0. 0. 1. ]] SLAMing on 68.899928851 meters Centerline goodness : 0.784753 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.19 [[ 0.98741913 -0.15752986 -0.01370423 0.95750033] [ 0.15763893 0.98747003 0.007274 -0.05902286] [ 0.01238664 -0.00934281 0.99987963 0.18515937] [ 0. 0. 0. 1. ]] SLAMing on 68.959928851 meters Centerline goodness : 0.785504 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98727262 -0.15848206 -0.01327422 0.95681542] [ 0.15858219 0.98732196 0.00685864 -0.05816229] [ 0.01201895 -0.0088764 0.99988837 0.18445966] [ 0. 0. 0. 1. ]] SLAMing on 69.019928851 meters Centerline goodness : 0.774102 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.18 [[ 0.98709791 -0.15960577 -0.01279484 0.95572254] [ 0.15969441 0.98714685 0.00622782 -0.05749195] [ 0.01163639 -0.00819073 0.99989875 0.18426153] [ 0. 0. 0. 1. ]] SLAMing on 69.079928851 meters Centerline goodness : 0.784230 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98693743 -0.1606503 -0.01208278 0.95336323] [ 0.16072071 0.98698677 0.00509518 -0.05516241] [ 0.011107 -0.00697058 0.99991402 0.18541341] [ 0. 0. 0. 1. ]] SLAMing on 69.13992885100001 meters Centerline goodness : 0.774764 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.9868389 -0.16127875 -0.01175369 0.95282593] [ 0.16134057 0.98688849 0.00450976 -0.0537991 ] [ 0.01087226 -0.00634676 0.99992075 0.185007 ] [ 0. 0. 0. 1. ]] SLAMing on 69.199928851 meters Centerline goodness : 0.779943 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98666224 -0.16239121 -0.0112567 0.9514426 ] [ 0.16244185 0.98671105 0.00373448 -0.05261747] [ 0.01050066 -0.00551323 0.99992967 0.18517417] [ 0. 0. 0. 1. ]] SLAMing on 69.259928851 meters Centerline goodness : 0.778446 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.18 [[ 0.98645639 -0.16366642 -0.01082102 0.95028288] [ 0.16370653 0.98650475 0.00292524 -0.0508064 ] [ 0.01019623 -0.0046571 0.99993717 0.18497416] [ 0. 0. 0. 1. ]] SLAMing on 69.319928851 meters Centerline goodness : 0.773987 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.18 [[ 0.98638836 -0.16408606 -0.0106666 0.95007061] [ 0.16412409 0.98643576 0.00278796 -0.05094545] [ 0.01006445 -0.00450066 0.99993922 0.18475509] [ 0. 0. 0. 1. ]] SLAMing on 69.379928851 meters Centerline goodness : 0.779750 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.18 [[ 0.98619477 -0.16528454 -0.01004485 0.94845502] [ 0.16531139 0.9862396 0.0018985 -0.04964998] [ 0.00959284 -0.00353282 0.99994775 0.18497627] [ 0. 0. 0. 1. ]] SLAMing on 69.439928851 meters Centerline goodness : 0.774019 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98605208 -0.16616354 -0.00953827 0.94713439] [ 0.16618122 0.98609463 0.00108663 -0.04731462] [ 0.00922508 -0.00265655 0.99995392 0.1850539 ] [ 0. 0. 0. 1. ]] SLAMing on 69.499928851 meters Centerline goodness : 0.776932 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.18 [[ 9.85933056e-01 -1.66897168e-01 -9.01915452e-03 9.46158587e-01] [ 1.66908430e-01 9.85972272e-01 5.05425557e-04 -4.65347445e-02] [ 8.80828217e-03 -2.00368869e-03 9.99959199e-01 1.84868439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.559928851 meters Centerline goodness : 0.776441 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.19 [[ 9.85816195e-01 -1.67608306e-01 -8.59572409e-03 9.44978904e-01] [ 1.67614491e-01 9.85852617e-01 -8.79190555e-07 -4.58205668e-02] [ 8.47426445e-03 -1.43990119e-03 9.99963056e-01 1.85095148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.619928851 meters Centerline goodness : 0.775260 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.19 [[ 9.85709049e-01 -1.68253778e-01 -8.26657346e-03 9.43730874e-01] [ 1.68255723e-01 9.85743271e-01 -4.64552324e-04 -4.52658576e-02] [ 8.22688184e-03 -9.32984864e-04 9.99965723e-01 1.85771834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.679928851 meters Centerline goodness : 0.775404 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.19 [[ 9.85626287e-01 -1.68754455e-01 -7.92183475e-03 9.42654277e-01] [ 1.68753023e-01 9.85657998e-01 -8.53602662e-04 -4.45466205e-02] [ 7.95226903e-03 -4.95500343e-04 9.99968257e-01 1.86217982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739928851 meters Centerline goodness : 0.774905 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.19 [[ 9.85596012e-01 -1.68936403e-01 -7.80980541e-03 9.42109017e-01] [ 1.68930857e-01 9.85626953e-01 -1.36930382e-03 -4.26131428e-02] [ 7.92887997e-03 3.02632696e-05 9.99968565e-01 1.86601928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799928851 meters Centerline goodness : 0.774993 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.19 [[ 9.85712577e-01 -1.68245513e-01 -8.01011432e-03 9.43447458e-01] [ 1.68242858e-01 9.85745060e-01 -1.00906847e-03 -4.21941269e-02] [ 8.06570186e-03 -3.52993038e-04 9.99967409e-01 1.85421679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859928851 meters Centerline goodness : 0.772783 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.18 [[ 9.85779235e-01 -1.67849817e-01 -8.10793862e-03 9.44161586e-01] [ 1.67847352e-01 9.85812502e-01 -9.88446911e-04 -4.10993619e-02] [ 8.15881789e-03 -3.86505586e-04 9.99966642e-01 1.84781245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.919928851 meters Centerline goodness : 0.773283 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.18 [[ 9.85898329e-01 -1.67138812e-01 -8.31273182e-03 9.44799633e-01] [ 1.67135004e-01 9.85933342e-01 -1.15571554e-03 -3.94810578e-02] [ 8.38896439e-03 -2.49930443e-04 9.99964781e-01 1.84905115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.979928851 meters Centerline goodness : 0.773713 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.19 [[ 0.98652246 -0.16339785 -0.00863607 0.94360113] [ 0.16342328 0.98655331 0.00232199 -0.03908794] [ 0.00814053 -0.00370203 0.99996001 0.18573461] [ 0. 0. 0. 1. ]] SLAMing on 70.039928851 meters Centerline goodness : 0.772358 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.19 [[ 0.9866116 -0.16285254 -0.0087528 0.94405576] [ 0.16287915 0.98664307 0.00241388 -0.0386653 ] [ 0.00824279 -0.00380721 0.99995878 0.18574555] [ 0. 0. 0. 1. ]] SLAMing on 70.099928851 meters Centerline goodness : 0.776897 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:0.19 [[ 9.86068730e-01 -1.66113153e-01 -8.65334932e-03 9.45326802e-01] [ 1.66109972e-01 9.86106632e-01 -1.09001059e-03 -3.96611578e-02] [ 8.71419024e-03 -3.62582256e-04 9.99961965e-01 1.85983575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159928851 meters Centerline goodness : 0.774025 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:0.19 [[ 0.98542056 -0.16993465 -0.008279 0.94582785] [ 0.1699014 0.98545046 -0.00457112 -0.04160268] [ 0.00893534 0.00309786 0.99995528 0.18639232] [ 0. 0. 0. 1. ]] SLAMing on 70.219928851 meters Centerline goodness : 0.772581 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:0.19 [[ 0.98526839 -0.17082598 -0.00804225 0.94500469] [ 0.17079396 0.98529641 -0.00451863 -0.04423712] [ 0.0086959 0.00307849 0.99995745 0.18679635] [ 0. 0. 0. 1. ]] SLAMing on 70.279928851 meters Centerline goodness : 0.774432 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98462979 -0.17448623 -0.00766357 0.94582088] [ 0.17442796 0.98463973 -0.00771334 -0.04697514] [ 0.00889173 0.00625804 0.99994089 0.18676671] [ 0. 0. 0. 1. ]] SLAMing on 70.339928851 meters Centerline goodness : 0.777926 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98391138 -0.17851254 -0.00718886 0.94588697] [ 0.178426 0.98388868 -0.01127974 -0.0492245 ] [ 0.00908661 0.00981558 0.99991054 0.18754445] [ 0. 0. 0. 1. ]] SLAMing on 70.399928851 meters Centerline goodness : 0.773590 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98375392 -0.17938678 -0.00697129 0.94525135] [ 0.17930496 0.98373219 -0.01098677 -0.0521227 ] [ 0.00882876 0.00955829 0.99991534 0.18757577] [ 0. 0. 0. 1. ]] SLAMing on 70.459928851 meters Centerline goodness : 0.779373 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98316772 -0.18257701 -0.00684659 0.94675797] [ 0.18246708 0.98310908 -0.014223 -0.0545002 ] [ 0.00932774 0.01273431 0.99987541 0.187675 ] [ 0. 0. 0. 1. ]] SLAMing on 70.519928851 meters Centerline goodness : 0.777626 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98372036 -0.17956425 -0.00713708 0.94532575] [ 0.17948283 0.98370219 -0.010766 -0.05582586] [ 0.00895395 0.00930975 0.99991657 0.1884901 ] [ 0. 0. 0. 1. ]] SLAMing on 70.579928851 meters Centerline goodness : 0.776335 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98449883 -0.17522278 -0.00768328 0.94538872] [ 0.17517564 0.98451616 -0.00643559 -0.05735083] [ 0.00869197 0.00498991 0.99994977 0.18816132] [ 0. 0. 0. 1. ]] SLAMing on 70.639928851 meters Centerline goodness : 0.773723 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 9.85353695e-01 -1.70301409e-01 -8.69051603e-03 9.46600970e-01] [ 1.70290847e-01 9.85391921e-01 -1.94668262e-03 -5.79890101e-02] [ 8.89508708e-03 4.38255580e-04 9.99960342e-01 1.87576521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.699928851 meters Centerline goodness : 0.771451 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98616846 -0.16547314 -0.00950837 0.9470598 ] [ 0.1655013 0.98620701 0.00224946 -0.05732453] [ 0.009005 -0.003792 0.99995226 0.1875697 ] [ 0. 0. 0. 1. ]] SLAMing on 70.759928851 meters Centerline goodness : 0.769177 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98691357 -0.16092161 -0.01028809 0.94808112] [ 0.16099405 0.98693301 0.00664507 -0.05863265] [ 0.00908432 -0.00821443 0.999925 0.18675716] [ 0. 0. 0. 1. ]] SLAMing on 70.819928851 meters Centerline goodness : 0.770064 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98758645 -0.15669166 -0.01098758 0.94894476] [ 0.15680926 0.98756977 0.01080746 -0.05891215] [ 0.00915756 -0.01239626 0.99988123 0.18573419] [ 0. 0. 0. 1. ]] SLAMing on 70.879928851 meters Centerline goodness : 0.780625 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98828166 -0.15220352 -0.01155166 0.94929357] [ 0.15236449 0.98821598 0.01463699 -0.05762654] [ 0.00918773 -0.01622553 0.99982614 0.18526419] [ 0. 0. 0. 1. ]] SLAMing on 70.939928851 meters Centerline goodness : 0.778920 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.9888534 -0.14841475 -0.01191743 0.94846914] [ 0.14861446 0.98872924 0.01811713 -0.0568788 ] [ 0.00909426 -0.01968629 0.99976484 0.18580933] [ 0. 0. 0. 1. ]] SLAMing on 70.999928851 meters Centerline goodness : 0.768993 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:0.19 [[ 0.98877346 -0.14896033 -0.0117415 0.94730417] [ 0.14914713 0.98866759 0.01707446 -0.0550204 ] [ 0.00906503 -0.01863398 0.99978528 0.18713482] [ 0. 0. 0. 1. ]] SLAMing on 71.059928851 meters Centerline goodness : 0.778579 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.9886202 -0.15000808 -0.01129922 0.94569646] [ 0.15017974 0.98852449 0.01629026 -0.05468278] [ 0.00872589 -0.0178018 0.99980346 0.18803199] [ 0. 0. 0. 1. ]] SLAMing on 71.119928851 meters Centerline goodness : 0.781098 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98795501 -0.15436963 -0.01071968 0.94579562] [ 0.15449173 0.98792497 0.01168604 -0.05325917] [ 0.00878627 -0.01320138 0.99987425 0.18820601] [ 0. 0. 0. 1. ]] SLAMing on 71.179928851 meters Centerline goodness : 0.778317 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98731209 -0.15846864 -0.01012514 0.94606769] [ 0.1585482 0.98732196 0.0076039 -0.0524636 ] [ 0.00879179 -0.00911274 0.99991983 0.18787247] [ 0. 0. 0. 1. ]] SLAMing on 71.239928851 meters Centerline goodness : 0.778004 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:0.19 [[ 0.98724569 -0.15889294 -0.00994875 0.94547868] [ 0.1589691 0.98725586 0.00739543 -0.0527917 ] [ 0.00864688 -0.00888265 0.99992316 0.18820988] [ 0. 0. 0. 1. ]] SLAMing on 71.299928851 meters Centerline goodness : 0.777839 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.19 [[ 0.98658662 -0.1629728 -0.00931171 0.94495474] [ 0.16300918 0.98661907 0.00328742 -0.05326322] [ 0.00865135 -0.00476122 0.99995124 0.18933033] [ 0. 0. 0. 1. ]] SLAMing on 71.359928851 meters Centerline goodness : 0.769948 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.19 [[ 9.85860866e-01 -1.67344789e-01 -8.60661002e-03 9.44056736e-01] [ 1.67344320e-01 9.85898205e-01 -7.79805911e-04 -5.44038694e-02] [ 8.61573782e-03 -6.71487168e-04 9.99962658e-01 1.90680669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.419928851 meters Centerline goodness : 0.781986 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.06, Z:0.19 [[ 0.98518956 -0.17127948 -0.00805475 0.94447787] [ 0.17125196 0.98521917 -0.00399487 -0.05722083] [ 0.00861993 0.00255631 0.99995958 0.1905023 ] [ 0. 0. 0. 1. ]] SLAMing on 71.479928851 meters Centerline goodness : 0.771686 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.06, Z:0.19 [[ 0.98494802 -0.17266898 -0.00792638 0.94367287] [ 0.1726384 0.98497545 -0.00439809 -0.06008784] [ 0.0085667 0.0029635 0.99995891 0.19137028] [ 0. 0. 0. 1. ]] SLAMing on 71.539928851 meters Centerline goodness : 0.781518 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.06, Z:0.19 [[ 0.98422325 -0.17678067 -0.007293 0.94355928] [ 0.17672276 0.9842286 -0.00794495 -0.06257736] [ 0.0085825 0.00653077 0.99994184 0.19194255] [ 0. 0. 0. 1. ]] SLAMing on 71.599928851 meters Centerline goodness : 0.782571 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:0.19 [[ 0.98422467 -0.17676556 -0.00746565 0.94435393] [ 0.1767133 0.98423629 -0.00716445 -0.06703792] [ 0.00861439 0.00573214 0.99994647 0.19162664] [ 0. 0. 0. 1. ]] SLAMing on 71.659928851 meters Centerline goodness : 0.771941 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:0.19 [[ 0.98428996 -0.17638803 -0.00778002 0.9448934 ] [ 0.1763369 0.98430614 -0.00683484 -0.06770437] [ 0.0088635 0.00535556 0.99994638 0.19184799] [ 0. 0. 0. 1. ]] SLAMing on 71.719928851 meters Centerline goodness : 0.782772 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:0.19 [[ 0.98448797 -0.17525635 -0.008285 0.94624055] [ 0.17520967 0.98451246 -0.00606469 -0.06942909] [ 0.00921956 0.004519 0.99994729 0.1918849 ] [ 0. 0. 0. 1. ]] SLAMing on 71.779928851 meters Centerline goodness : 0.782765 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:0.19 [[ 0.98550226 -0.16965146 -0.00191748 0.93816997] [ 0.16963513 0.98548376 -0.00675883 -0.07445011] [ 0.00303629 0.00633557 0.99997532 0.18853452] [ 0. 0. 0. 1. ]] SLAMing on 71.839928851 meters Centerline goodness : 0.778739 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.08, Z:0.19 [[ 0.98561316 -0.16900382 -0.00209826 0.93844611] [ 0.1689877 0.9855978 -0.00633554 -0.07505029] [ 0.00313878 0.00588982 0.99997773 0.18888219] [ 0. 0. 0. 1. ]] SLAMing on 71.899928851 meters Centerline goodness : 0.782318 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.08, Z:0.19 [[ 0.98577761 -0.1680358 -0.00254274 0.94001375] [ 0.16802222 0.9857713 -0.00484593 -0.0790188 ] [ 0.00332085 0.00434977 0.99998503 0.18806805] [ 0. 0. 0. 1. ]] SLAMing on 71.959928851 meters Centerline goodness : 0.781882 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.08, Z:0.19 [[ 0.9857354 -0.16828247 -0.00259582 0.94039067] [ 0.16827052 0.98573152 -0.00428933 -0.0841666 ] [ 0.0032806 0.00379134 0.99998743 0.18821426] [ 0. 0. 0. 1. ]] SLAMing on 72.019928851 meters Centerline goodness : 0.784610 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:0.19 [[ 0.98567523 -0.1686369 -0.00243773 0.93943609] [ 0.16862773 0.98567332 -0.00357747 -0.08778242] [ 0.0030061 0.00311516 0.99999063 0.18902872] [ 0. 0. 0. 1. ]] SLAMing on 72.079928851 meters Centerline goodness : 0.784816 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:0.19 [[ 0.98567664 -0.16862756 -0.00251216 0.93967522] [ 0.1686199 0.98567658 -0.00300167 -0.09091267] [ 0.00298235 0.00253507 0.99999234 0.18910568] [ 0. 0. 0. 1. ]] SLAMing on 72.139928851 meters Centerline goodness : 0.774215 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:0.19 [[ 0.98571066 -0.1684257 -0.0026973 0.94023038] [ 0.16841962 0.98571261 -0.00234317 -0.09381975] [ 0.00305341 0.00185541 0.99999362 0.1890844 ] [ 0. 0. 0. 1. ]] SLAMing on 72.199928851 meters Centerline goodness : 0.775634 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.19 [[ 0.98572615 -0.16833622 -0.00262092 0.9398739 ] [ 0.1683315 0.98572856 -0.00192909 -0.09549986] [ 0.00290825 0.00146037 0.9999947 0.18944189] [ 0. 0. 0. 1. ]] SLAMing on 72.259928851 meters Centerline goodness : 0.785345 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.19 [[ 9.86692035e-01 -1.62100280e-01 -1.27407507e-02 9.36097083e-01] [ 1.62085523e-01 9.86774285e-01 -2.18930226e-03 -9.97607204e-02] [ 1.29271317e-02 9.50758678e-05 9.99916437e-01 1.94380481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.319928851 meters Centerline goodness : 0.779987 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:0.20 [[ 0.98667494 -0.16227805 -0.01176426 0.93375573] [ 0.16224771 0.98674387 -0.00349521 -0.0988205 ] [ 0.01217551 0.00153992 0.99992469 0.19525018] [ 0. 0. 0. 1. ]] SLAMing on 72.379928851 meters Centerline goodness : 0.780754 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.20 [[ 0.98767966 -0.15487725 -0.02240372 0.93061917] [ 0.15502781 0.98789675 0.00513677 -0.10829001] [ 0.02133699 -0.00854669 0.99973581 0.19876245] [ 0. 0. 0. 1. ]] SLAMing on 72.439928851 meters Centerline goodness : 0.778895 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:0.20 [[ 0.98824047 -0.15109314 -0.02348715 0.92421045] [ 0.15110978 0.9885164 -0.00107473 -0.11154202] [ 0.02337982 -0.00248705 0.99972356 0.20178688] [ 0. 0. 0. 1. ]] SLAMing on 72.499928851 meters Centerline goodness : 0.773095 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:0.20 [[ 0.98790469 -0.15348677 -0.02204858 0.92287471] [ 0.15341802 0.98814979 -0.00478667 -0.11209387] [ 0.02252199 0.00134612 0.99974544 0.20139694] [ 0. 0. 0. 1. ]] SLAMing on 72.559928851 meters Centerline goodness : 0.777852 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:0.21 [[ 0.98797001 -0.15085588 -0.03402582 0.92203557] [ 0.1508527 0.98855263 -0.0026755 -0.11972289] [ 0.03403993 -0.00248957 0.99941737 0.20609784] [ 0. 0. 0. 1. ]] SLAMing on 72.619928851 meters Centerline goodness : 0.778739 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:0.21 [[ 0.98809625 -0.14666546 -0.04642238 0.9216018 ] [ 0.14691732 0.98914667 0.00204231 -0.12834571] [ 0.04561901 -0.00883825 0.99891981 0.21015573] [ 0. 0. 0. 1. ]] SLAMing on 72.679928851 meters Centerline goodness : 0.779084 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.98798977 -0.14312917 -0.05822596 0.92039614] [ 0.14358771 0.9896305 0.0037473 -0.13532133] [ 0.05708584 -0.01206283 0.9982964 0.21441681] [ 0. 0. 0. 1. ]] SLAMing on 72.739928851 meters Centerline goodness : 0.786613 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.22 [[ 0.98781258 -0.13880469 -0.0704242 0.91931154] [ 0.13964715 0.99017545 0.00715964 -0.14314482] [ 0.06873852 -0.01690692 0.99749144 0.21873699] [ 0. 0. 0. 1. ]] SLAMing on 72.799928851 meters Centerline goodness : 0.789580 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.22 [[ 0.98782462 -0.13850747 -0.07083925 0.92041777] [ 0.13941982 0.99020042 0.00807706 -0.14433361] [ 0.06902632 -0.01785511 0.99745504 0.21844519] [ 0. 0. 0. 1. ]] SLAMing on 72.859928851 meters Centerline goodness : 0.789109 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.22 [[ 0.98796928 -0.13763357 -0.07052447 0.91999551] [ 0.13851036 0.99033126 0.00767318 -0.14370333] [ 0.0687865 -0.01734923 0.99748054 0.21801516] [ 0. 0. 0. 1. ]] SLAMing on 72.919928851 meters Centerline goodness : 0.775833 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.22 [[ 0.98851297 -0.13347868 -0.07089107 0.919976 ] [ 0.13460194 0.99083543 0.01128999 -0.14429458] [ 0.06873441 -0.02070238 0.99742017 0.21755336] [ 0. 0. 0. 1. ]] SLAMing on 72.979928851 meters Centerline goodness : 0.783298 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.22 [[ 0.98910656 -0.12867399 -0.07149284 0.92047251] [ 0.13009355 0.99137981 0.01554817 -0.14434715] [ 0.06887591 -0.02467956 0.99731992 0.21686162] [ 0. 0. 0. 1. ]] SLAMing on 73.039928851 meters Centerline goodness : 0.783218 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.22 [[ 0.98961304 -0.1247323 -0.07146946 0.91963221] [ 0.12633645 0.99181744 0.01836483 -0.14321055] [ 0.06859397 -0.02720327 0.99727371 0.21634418] [ 0. 0. 0. 1. ]] SLAMing on 73.099928851 meters Centerline goodness : 0.782377 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.98999427 -0.12155555 -0.07166303 0.9204884 ] [ 0.12329982 0.99215927 0.020424 -0.14331334] [ 0.06861849 -0.02905568 0.99721977 0.21493411] [ 0. 0. 0. 1. ]] SLAMing on 73.159928851 meters Centerline goodness : 0.781600 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.99003123 -0.12114543 -0.0718467 0.92121184] [ 0.12288304 0.99221428 0.02026293 -0.14221342] [ 0.06883256 -0.02888967 0.99720984 0.21425335] [ 0. 0. 0. 1. ]] SLAMing on 73.219928851 meters Centerline goodness : 0.782741 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.99017362 -0.11996871 -0.071859 0.92146194] [ 0.12170144 0.99236068 0.02022475 -0.14069512] [ 0.06888371 -0.02877135 0.99720973 0.2134437 ] [ 0. 0. 0. 1. ]] SLAMing on 73.279928851 meters Centerline goodness : 0.783723 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.99032707 -0.11911815 -0.07115589 0.92083556] [ 0.12074161 0.99250304 0.01895206 -0.13859497] [ 0.0683649 -0.02736022 0.99728514 0.2119081 ] [ 0. 0. 0. 1. ]] SLAMing on 73.339928851 meters Centerline goodness : 0.781453 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.99058115 -0.11615193 -0.07251016 0.92250947] [ 0.11814701 0.99270976 0.02384569 -0.14022141] [ 0.06921182 -0.03218795 0.99708257 0.21237536] [ 0. 0. 0. 1. ]] SLAMing on 73.399928851 meters Centerline goodness : 0.783204 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.99054556 -0.11603784 -0.07317587 0.92378032] [ 0.11810343 0.99269783 0.02454785 -0.13987436] [ 0.06979304 -0.03295809 0.9970169 0.21237802] [ 0. 0. 0. 1. ]] SLAMing on 73.459928851 meters Centerline goodness : 0.783212 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.9904147 -0.11705148 -0.07333261 0.92432888] [ 0.11908636 0.99259368 0.02400465 -0.14031974] [ 0.06997971 -0.03250747 0.99701861 0.21242259] [ 0. 0. 0. 1. ]] SLAMing on 73.519928851 meters Centerline goodness : 0.783900 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:0.21 [[ 0.99025342 -0.11819812 -0.07367073 0.92437678] [ 0.12022546 0.99246356 0.02370483 -0.13992721] [ 0.07031365 -0.03233089 0.99700085 0.21347478] [ 0. 0. 0. 1. ]] SLAMing on 73.579928851 meters Centerline goodness : 0.782586 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.21 [[ 0.99019547 -0.11835486 -0.07419615 0.92581764] [ 0.12042356 0.99243145 0.02404145 -0.14025432] [ 0.07078917 -0.0327407 0.99695383 0.21308794] [ 0. 0. 0. 1. ]] SLAMing on 73.639928851 meters Centerline goodness : 0.780529 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.21 [[ 0.9900469 -0.11947386 -0.07438496 0.92571048] [ 0.12152605 0.99230558 0.02368641 -0.14041122] [ 0.0709827 -0.03249037 0.99694826 0.21403835] [ 0. 0. 0. 1. ]] SLAMing on 73.699928851 meters Centerline goodness : 0.788839 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.21 [[ 0.99001204 -0.11966615 -0.07453981 0.92552343] [ 0.1217127 0.99228642 0.02353035 -0.13981684] [ 0.07114905 -0.03236777 0.99694039 0.214736 ] [ 0. 0. 0. 1. ]] SLAMing on 73.759928851 meters Centerline goodness : 0.781326 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.22 [[ 0.99030172 -0.116637 -0.07548715 0.92604458] [ 0.11899494 0.99251352 0.02751586 -0.13977476] [ 0.07171265 -0.03623159 0.99676706 0.21535317] [ 0. 0. 0. 1. ]] SLAMing on 73.819928851 meters Centerline goodness : 0.784750 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.21 [[ 0.99031719 -0.11632021 -0.07577246 0.92686283] [ 0.11870071 0.99254379 0.02769413 -0.13945358] [ 0.0719861 -0.03642022 0.99674047 0.21496416] [ 0. 0. 0. 1. ]] SLAMing on 73.879928851 meters Centerline goodness : 0.790454 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.22 [[ 0.99013828 -0.11752995 -0.07624234 0.92691993] [ 0.11987174 0.99242525 0.02688669 -0.13734199] [ 0.07250483 -0.03576085 0.99672675 0.21603444] [ 0. 0. 0. 1. ]] SLAMing on 73.939928851 meters Centerline goodness : 0.780209 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.22 [[ 0.98996009 -0.11869275 -0.07675315 0.92842827] [ 0.12101172 0.99230296 0.02628686 -0.13602494] [ 0.07304232 -0.03531097 0.99670354 0.21536825] [ 0. 0. 0. 1. ]] SLAMing on 73.999928851 meters Centerline goodness : 0.782142 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:0.22 [[ 0.98970357 -0.12027058 -0.07760041 0.93006235] [ 0.12260171 0.99211552 0.02599269 -0.13522289] [ 0.07386241 -0.035239 0.99664565 0.21555509] [ 0. 0. 0. 1. ]] SLAMing on 74.059928851 meters Centerline goodness : 0.792077 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:0.22 [[ 0.98956015 -0.1209589 -0.07835594 0.93052583] [ 0.12332853 0.99202193 0.02612594 -0.13364079] [ 0.07457064 -0.03551671 0.99658305 0.21680352] [ 0. 0. 0. 1. ]] SLAMing on 74.119928851 meters Centerline goodness : 0.792074 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:0.22 [[ 0.98939661 -0.12183426 -0.07906182 0.93100369] [ 0.12422374 0.99191288 0.02602484 -0.13262575] [ 0.07525172 -0.03557025 0.99652995 0.2180513 ] [ 0. 0. 0. 1. ]] SLAMing on 74.179928851 meters Centerline goodness : 0.792810 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:0.22 [[ 0.98898078 -0.12539102 -0.07870261 0.93164405] [ 0.1274257 0.99161796 0.02136628 -0.12789434] [ 0.07536378 -0.03115957 0.99666914 0.21798417] [ 0. 0. 0. 1. ]] SLAMing on 74.239928851 meters Centerline goodness : 0.792563 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:0.22 [[ 0.98921144 -0.12261637 -0.08016203 0.93375754] [ 0.12497857 0.9918412 0.02512738 -0.12729286] [ 0.07642697 -0.03487482 0.99646508 0.21775603] [ 0. 0. 0. 1. ]] SLAMing on 74.299928851 meters Centerline goodness : 0.787457 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:0.22 [[ 0.9893239 -0.12162503 -0.08028438 0.9350069 ] [ 0.12394995 0.99198297 0.02462107 -0.12304998] [ 0.0766462 -0.03430946 0.99646787 0.21689316] [ 0. 0. 0. 1. ]] SLAMing on 74.359928851 meters Centerline goodness : 0.787356 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:0.22 [[ 0.98979493 -0.11736886 -0.08081175 0.93519827] [ 0.11992125 0.99240318 0.02747396 -0.11895792] [ 0.07697325 -0.03688464 0.99635066 0.21693556] [ 0. 0. 0. 1. ]] SLAMing on 74.419928851 meters Centerline goodness : 0.772979 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.22 [[ 0.99018618 -0.11391328 -0.08096348 0.93375151] [ 0.11665247 0.99272162 0.02993313 -0.11487597] [ 0.07696442 -0.03908396 0.9962675 0.21771295] [ 0. 0. 0. 1. ]] SLAMing on 74.479928851 meters Centerline goodness : 0.788210 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.22 [[ 0.99012293 -0.11452569 -0.08087307 0.93310847] [ 0.11713737 0.99271219 0.02830791 -0.11074751] [ 0.0770417 -0.03750157 0.99632234 0.21844069] [ 0. 0. 0. 1. ]] SLAMing on 74.539928851 meters Centerline goodness : 0.784729 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.22 [[ 0.98971773 -0.11828023 -0.0804276 0.93331518] [ 0.1205246 0.99242903 0.02363115 -0.10537885] [ 0.07702358 -0.03308168 0.99648029 0.21836125] [ 0. 0. 0. 1. ]] SLAMing on 74.599928851 meters Centerline goodness : 0.786833 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:0.22 [[ 0.98920132 -0.12270726 -0.08014781 0.93355665] [ 0.12455463 0.99204114 0.01845295 -0.10090099] [ 0.07724562 -0.02823646 0.99661217 0.21885791] [ 0. 0. 0. 1. ]] SLAMing on 74.659928851 meters Centerline goodness : 0.772234 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:0.22 [[ 0.98862124 -0.12771073 -0.07948597 0.93325975] [ 0.12915776 0.99153464 0.01331664 -0.09773244] [ 0.07711241 -0.02343134 0.99674703 0.21889797] [ 0. 0. 0. 1. ]] SLAMing on 74.719928851 meters Centerline goodness : 0.787106 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:0.22 [[ 0.98848534 -0.12895355 -0.07916893 0.93217951] [ 0.13031947 0.99139558 0.01231427 -0.09625659] [ 0.07689976 -0.02248973 0.99678515 0.21916726] [ 0. 0. 0. 1. ]] SLAMing on 74.779928851 meters Centerline goodness : 0.773696 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.22 [[ 0.98833349 -0.13031053 -0.07884208 0.93109795] [ 0.13155385 0.99125058 0.0107644 -0.09197114] [ 0.07674954 -0.02101079 0.996829 0.21935411] [ 0. 0. 0. 1. ]] SLAMing on 74.839928851 meters Centerline goodness : 0.783866 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.22 [[ 0.98818907 -0.1316978 -0.07834573 0.92911594] [ 0.1327881 0.99110493 0.00885066 -0.08794995] [ 0.07648323 -0.0191495 0.99688696 0.22051272] [ 0. 0. 0. 1. ]] SLAMing on 74.899928851 meters Centerline goodness : 0.775224 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.22 [[ 0.98811286 -0.13253959 -0.07788604 0.92756006] [ 0.13348033 0.99102691 0.00697604 -0.08281431] [ 0.07626256 -0.01728937 0.99693786 0.22146699] [ 0. 0. 0. 1. ]] SLAMing on 74.959928851 meters Centerline goodness : 0.784626 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.22 [[ 0.9880989 -0.13268909 -0.07780858 0.92722142] [ 0.13354153 0.99102605 0.00583346 -0.07876335] [ 0.07633629 -0.01615472 0.99695125 0.22193193] [ 0. 0. 0. 1. ]] SLAMing on 75.019928851 meters Centerline goodness : 0.781826 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 0.98816519 -0.13223396 -0.07774144 0.92755916] [ 0.13303599 0.99109753 0.00520682 -0.07470792] [ 0.07636083 -0.01548761 0.99695996 0.22158134] [ 0. 0. 0. 1. ]] SLAMing on 75.079928851 meters Centerline goodness : 0.783641 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 0.98814086 -0.13236495 -0.07782773 0.92781688] [ 0.13314331 0.9910848 0.00487549 -0.07403686] [ 0.07648854 -0.01517991 0.9969549 0.22164774] [ 0. 0. 0. 1. ]] SLAMing on 75.139928851 meters Centerline goodness : 0.775563 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 0.98809414 -0.13279504 -0.07768821 0.92762203] [ 0.13351707 0.99103782 0.0041516 -0.0717862 ] [ 0.07644064 -0.01447487 0.99696906 0.22154483] [ 0. 0. 0. 1. ]] SLAMing on 75.199928851 meters Centerline goodness : 0.780979 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 9.87583567e-01 -1.36725850e-01 -7.73611043e-02 9.28486758e-01] [ 1.37135678e-01 9.90552273e-01 -1.49849498e-05 -6.99480428e-02] [ 7.66322665e-02 -1.05941686e-02 9.97003139e-01 2.21268742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.259928851 meters Centerline goodness : 0.775246 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 0.98703351 -0.14079366 -0.07708429 0.92930905] [ 0.1408927 0.99001605 -0.00417948 -0.06889113] [ 0.07690312 -0.00673533 0.99701582 0.22129434] [ 0. 0. 0. 1. ]] SLAMing on 75.319928851 meters Centerline goodness : 0.781949 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 0.98641145 -0.14546343 -0.07637299 0.9285506 ] [ 0.14523402 0.98936013 -0.00857919 -0.0680933 ] [ 0.07680835 -0.00262935 0.99704241 0.22204396] [ 0. 0. 0. 1. ]] SLAMing on 75.379928851 meters Centerline goodness : 0.774796 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.22 [[ 0.98617444 -0.14735177 -0.07581178 0.92610555] [ 0.14703628 0.98908297 -0.00975712 -0.06939203] [ 0.07642187 -0.00152486 0.99707441 0.22357398] [ 0. 0. 0. 1. ]] SLAMing on 75.439928851 meters Centerline goodness : 0.781662 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.22 [[ 0.98605416 -0.14833026 -0.07546742 0.9247717 ] [ 0.14800586 0.98893689 -0.00990455 -0.07161157] [ 0.07610166 -0.0014032 0.99709908 0.22421472] [ 0. 0. 0. 1. ]] SLAMing on 75.499928851 meters Centerline goodness : 0.779061 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.23 [[ 0.98593056 -0.14925981 -0.07524918 0.92371185] [ 0.1489178 0.98879731 -0.01016743 -0.07456119] [ 0.07592378 -0.00118156 0.99711292 0.22516141] [ 0. 0. 0. 1. ]] SLAMing on 75.559928851 meters Centerline goodness : 0.772327 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:0.22 [[ 0.98593703 -0.14922655 -0.07523043 0.92398796] [ 0.14891435 0.98880179 -0.00977412 -0.07659646] [ 0.07584655 -0.00156623 0.99711827 0.22488677] [ 0. 0. 0. 1. ]] SLAMing on 75.619928851 meters Centerline goodness : 0.781335 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:0.22 [[ 0.98596353 -0.1489172 -0.07549563 0.92464913] [ 0.14862913 0.98884784 -0.00945155 -0.07754453] [ 0.07606119 -0.00190196 0.99710134 0.22489751] [ 0. 0. 0. 1. ]] SLAMing on 75.679928851 meters Centerline goodness : 0.772562 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.22 [[ 0.98611905 -0.14770702 -0.07584094 0.92571873] [ 0.14749323 0.98902703 -0.0084434 -0.0806619 ] [ 0.07625589 -0.00285983 0.99708418 0.22499027] [ 0. 0. 0. 1. ]] SLAMing on 75.739928851 meters Centerline goodness : 0.773876 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98623674 -0.14674494 -0.07617747 0.92669559] [ 0.14656466 0.98916889 -0.00798234 -0.08111564] [ 0.07652376 -0.00329245 0.99706232 0.22504442] [ 0. 0. 0. 1. ]] SLAMing on 75.799928851 meters Centerline goodness : 0.773977 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98684978 -0.14224478 -0.07677191 0.92634292] [ 0.14237395 0.98980558 -0.00381626 -0.08177056] [ 0.07653211 -0.00716424 0.99704138 0.22553563] [ 0. 0. 0. 1. ]] SLAMing on 75.859928851 meters Centerline goodness : 0.777735 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98699097 -0.14104414 -0.07717113 0.92788531] [ 0.14122442 0.98997262 -0.00314372 -0.08243621] [ 0.07684071 -0.00779563 0.99701291 0.22508383] [ 0. 0. 0. 1. ]] SLAMing on 75.919928851 meters Centerline goodness : 0.776793 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.22 [[ 0.98721557 -0.13911041 -0.07780556 0.93048024] [ 0.13938662 0.99023622 -0.00189612 -0.08398055] [ 0.07730965 -0.00897318 0.99696675 0.22405292] [ 0. 0. 0. 1. ]] SLAMing on 75.979928851 meters Centerline goodness : 0.767681 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.22 [[ 0.98722427 -0.13896893 -0.07794787 0.93068567] [ 0.13923491 0.99025728 -0.00203861 -0.08345237] [ 0.07747175 -0.0088405 0.99695535 0.22436082] [ 0. 0. 0. 1. ]] SLAMing on 76.039928851 meters Centerline goodness : 0.776529 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.22 [[ 0.98724021 -0.1387586 -0.07812052 0.93144864] [ 0.1390615 0.99028249 -0.00157587 -0.08586069] [ 0.07758005 -0.00930779 0.99694268 0.22408198] [ 0. 0. 0. 1. ]] SLAMing on 76.099928851 meters Centerline goodness : 0.775321 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.98689441 -0.14138282 -0.07778382 0.92992197] [ 0.14152575 0.98992766 -0.00369993 -0.08776797] [ 0.07752346 -0.00735698 0.99696338 0.22576452] [ 0. 0. 0. 1. ]] SLAMing on 76.159928851 meters Centerline goodness : 0.765491 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.98678526 -0.142316 -0.07746615 0.92863698] [ 0.14243218 0.98979627 -0.00405176 -0.08934799] [ 0.07725234 -0.00703545 0.99698675 0.22656076] [ 0. 0. 0. 1. ]] SLAMing on 76.219928851 meters Centerline goodness : 0.778535 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.98652486 -0.1445112 -0.07671512 0.92784477] [ 0.14447487 0.98948996 -0.00605264 -0.0908564 ] [ 0.07678351 -0.00511233 0.99703468 0.22690312] [ 0. 0. 0. 1. ]] SLAMing on 76.279928851 meters Centerline goodness : 0.778778 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.986547 -0.14424809 -0.07692533 0.92841958] [ 0.14421435 0.98952814 -0.00602285 -0.0906405 ] [ 0.07698857 -0.00515191 0.99701867 0.22687197] [ 0. 0. 0. 1. ]] SLAMing on 76.339928851 meters Centerline goodness : 0.776391 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.98673987 -0.14280692 -0.07714027 0.92945935] [ 0.14278528 0.98973655 -0.00582444 -0.08813327] [ 0.07718032 -0.00526729 0.99700324 0.22669054] [ 0. 0. 0. 1. ]] SLAMing on 76.399928851 meters Centerline goodness : 0.765392 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.98684823 -0.14190729 -0.07741377 0.93041729] [ 0.14187703 0.9898666 -0.00591874 -0.08581663] [ 0.07746922 -0.00514233 0.99698148 0.22656616] [ 0. 0. 0. 1. ]] SLAMing on 76.459928851 meters Centerline goodness : 0.775457 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98741428 -0.13762396 -0.0779275 0.93051899] [ 0.13783353 0.99045171 -0.00270879 -0.08392728] [ 0.07755622 -0.00806632 0.99695535 0.22665435] [ 0. 0. 0. 1. ]] SLAMing on 76.519928851 meters Centerline goodness : 0.764113 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 9.87914667e-01 -1.33839762e-01 -7.81762634e-02 9.29680296e-01] [ 1.34269938e-01 9.90944762e-01 2.48534049e-04 -8.07158268e-02] [ 7.74350950e-02 -1.07422524e-02 9.96939522e-01 2.26842378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579928851 meters Centerline goodness : 0.762578 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 9.87929885e-01 -1.33755109e-01 -7.81288181e-02 9.29989337e-01] [ 1.34130501e-01 9.90963576e-01 -4.46837123e-04 -7.78982786e-02] [ 7.74825798e-02 -1.00380137e-02 9.96943172e-01 2.26658201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.639928851 meters Centerline goodness : 0.772444 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 9.87872797e-01 -1.34245273e-01 -7.80098893e-02 9.29785701e-01] [ 1.34583259e-01 9.90901850e-01 -9.32566480e-04 -7.71132694e-02] [ 7.74253363e-02 -9.57756805e-03 9.96952149e-01 2.26593960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.699928851 meters Centerline goodness : 0.765275 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98768365 -0.13576348 -0.0777772 0.92850725] [ 0.1360291 0.99070303 -0.00189739 -0.07667557] [ 0.0773117 -0.00870594 0.99696896 0.227257 ] [ 0. 0. 0. 1. ]] SLAMing on 76.759928851 meters Centerline goodness : 0.766500 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.9871097 -0.14008614 -0.07739715 0.92890247] [ 0.14002917 0.99012803 -0.00618962 -0.07512948] [ 0.07750017 -0.00472803 0.99698113 0.22732818] [ 0. 0. 0. 1. ]] SLAMing on 76.819928851 meters Centerline goodness : 0.764222 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98677826 -0.1428029 -0.07665501 0.92750912] [ 0.14254735 0.98974866 -0.00882329 -0.07558986] [ 0.07712919 -0.00222034 0.99701863 0.22838869] [ 0. 0. 0. 1. ]] SLAMing on 76.879928851 meters Centerline goodness : 0.775617 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98674826 -0.14302282 -0.07663128 0.92704911] [ 0.14274833 0.9897174 -0.009076 -0.0749318 ] [ 0.07714139 -0.00198326 0.99701819 0.22886814] [ 0. 0. 0. 1. ]] SLAMing on 76.939928851 meters Centerline goodness : 0.765057 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98683241 -0.14232956 -0.07683814 0.92767956] [ 0.14205106 0.98981745 -0.00910607 -0.07367292] [ 0.07735179 -0.00192877 0.997002 0.22900008] [ 0. 0. 0. 1. ]] SLAMing on 76.999928851 meters Centerline goodness : 0.762891 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98690639 -0.14172331 -0.07700833 0.92847872] [ 0.14144629 0.9899044 -0.00906762 -0.07262815] [ 0.07751598 -0.00194365 0.99698922 0.22872739] [ 0. 0. 0. 1. ]] SLAMing on 77.059928851 meters Centerline goodness : 0.764017 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98704378 -0.14063291 -0.07724611 0.92939579] [ 0.14035546 0.99005994 -0.00903647 -0.06991145] [ 0.0777491 -0.00192252 0.9969711 0.22864028] [ 0. 0. 0. 1. ]] SLAMing on 77.119928851 meters Centerline goodness : 0.763377 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98757066 -0.13679649 -0.07740099 0.92808612] [ 0.13676612 0.99058686 -0.0057182 -0.06929391] [ 0.07745463 -0.0049387 0.99698365 0.22936369] [ 0. 0. 0. 1. ]] SLAMing on 77.179928851 meters Centerline goodness : 0.762794 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98756201 -0.13686863 -0.07738381 0.92799016] [ 0.1368216 0.99057793 -0.00593435 -0.06920797] [ 0.07746692 -0.00472724 0.99698372 0.22962702] [ 0. 0. 0. 1. ]] SLAMing on 77.239928851 meters Centerline goodness : 0.761778 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.98751185 -0.13730679 -0.0772476 0.92766284] [ 0.13724643 0.99051806 -0.00611511 -0.06905068] [ 0.07735479 -0.00456321 0.99699319 0.22957185] [ 0. 0. 0. 1. ]] SLAMing on 77.299928851 meters Centerline goodness : 0.762020 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.9869193 -0.14173255 -0.07682561 0.92773283] [ 0.14138846 0.98990441 -0.0099274 -0.07029153] [ 0.07745705 -0.00106471 0.99699512 0.22994981] [ 0. 0. 0. 1. ]] SLAMing on 77.359928851 meters Centerline goodness : 0.761617 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.9863583 -0.14572071 -0.07656877 0.92842224] [ 0.14509624 0.98932288 -0.01368648 -0.07109829] [ 0.07774564 0.00238993 0.99697036 0.23024573] [ 0. 0. 0. 1. ]] SLAMing on 77.419928851 meters Centerline goodness : 0.761767 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.23 [[ 0.9857189 -0.15026755 -0.07601261 0.92800883] [ 0.14937833 0.98862904 -0.01728413 -0.07330449] [ 0.07774552 0.00568266 0.99695704 0.2308338 ] [ 0. 0. 0. 1. ]] SLAMing on 77.479928851 meters Centerline goodness : 0.762653 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98511654 -0.15437494 -0.07558962 0.92852025] [ 0.15325371 0.98797524 -0.02045062 -0.07631029] [ 0.07783773 0.00856186 0.99692928 0.230785 ] [ 0. 0. 0. 1. ]] SLAMing on 77.539928851 meters Centerline goodness : 0.760646 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.9850362 -0.15499653 -0.07536422 0.92779294] [ 0.15390325 0.98788065 -0.02013954 -0.07920967] [ 0.07757241 0.00823938 0.99695267 0.23088873] [ 0. 0. 0. 1. ]] SLAMing on 77.599928851 meters Centerline goodness : 0.760874 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98493316 -0.15576457 -0.07512698 0.92662868] [ 0.15467575 0.98776007 -0.02013578 -0.08206247] [ 0.07734387 0.00821208 0.99697065 0.23176337] [ 0. 0. 0. 1. ]] SLAMing on 77.659928851 meters Centerline goodness : 0.762582 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.23 [[ 0.98496843 -0.15547484 -0.07526463 0.9267792 ] [ 0.15442896 0.9878103 -0.01955768 -0.0844791 ] [ 0.07738791 0.00764066 0.99697178 0.23205236] [ 0. 0. 0. 1. ]] SLAMing on 77.719928851 meters Centerline goodness : 0.762849 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.9850532 -0.15478819 -0.07556989 0.92751892] [ 0.15376897 0.98792105 -0.01915975 -0.08519247] [ 0.07762279 0.00725307 0.99695642 0.23223135] [ 0. 0. 0. 1. ]] SLAMing on 77.779928851 meters Centerline goodness : 0.760255 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.98571184 -0.15015612 -0.0763237 0.92831568] [ 0.14945711 0.98865711 -0.01482198 -0.08711269] [ 0.07768358 0.00320308 0.99697292 0.23186489] [ 0. 0. 0. 1. ]] SLAMing on 77.839928851 meters Centerline goodness : 0.769098 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 9.86370582e-01 -1.45403478e-01 -7.70123654e-02 9.29006334e-01] [ 1.45026237e-01 9.89372108e-01 -1.04987239e-02 -8.88188602e-02] [ 7.77204373e-02 -8.13181176e-04 9.96974860e-01 2.31569915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.899928851 meters Centerline goodness : 0.769672 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.987597 -0.13613945 -0.07821897 0.92928633] [ 0.13636914 0.99065513 -0.00242252 -0.08976408] [ 0.07781783 -0.00827418 0.99693326 0.2319131 ] [ 0. 0. 0. 1. ]] SLAMing on 77.959928851 meters Centerline goodness : 0.770341 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.23 [[ 9.89460404e-01 -1.25476950e-01 -7.22747822e-02 9.21531496e-01] [ 1.25772231e-01 9.92059033e-01 -4.69039758e-04 -9.16545511e-02] [ 7.17597043e-02 -8.62606433e-03 9.97384648e-01 2.27860103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019928851 meters Centerline goodness : 0.768810 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.23 [[ 0.99002974 -0.12052392 -0.07290469 0.92220287] [ 0.12111851 0.99263088 0.00377425 -0.09249446] [ 0.07191256 -0.01256672 0.99733177 0.22775546] [ 0. 0. 0. 1. ]] SLAMing on 78.079928851 meters Centerline goodness : 0.769827 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.23 [[ 0.99072973 -0.11424906 -0.07349661 0.92324098] [ 0.11517717 0.99330858 0.0085022 -0.09193921] [ 0.07203345 -0.01688851 0.99725922 0.22760516] [ 0. 0. 0. 1. ]] SLAMing on 78.139928851 meters Centerline goodness : 0.759536 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.23 [[ 0.99128365 -0.1091042 -0.07384437 0.92336363] [ 0.11032826 0.99381415 0.01269296 -0.09176084] [ 0.07200273 -0.02072945 0.997189 0.2276603 ] [ 0. 0. 0. 1. ]] SLAMing on 78.199928851 meters Centerline goodness : 0.771999 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.23 [[ 0.99135544 -0.10819764 -0.07421356 0.92469982] [ 0.10943825 0.99391057 0.0128471 -0.09166127] [ 0.07237162 -0.02085784 0.99715962 0.22753474] [ 0. 0. 0. 1. ]] SLAMing on 78.259928851 meters Centerline goodness : 0.772192 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.99138604 -0.10783045 -0.07433924 0.92516422] [ 0.10906672 0.99395248 0.01276418 -0.09175244] [ 0.07251331 -0.02076217 0.99715132 0.22776079] [ 0. 0. 0. 1. ]] SLAMing on 78.319928851 meters Centerline goodness : 0.774007 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.23 [[ 0.99139239 -0.10770816 -0.07443176 0.92495682] [ 0.10893502 0.99396885 0.01261281 -0.09223889] [ 0.07262435 -0.02061247 0.99714634 0.2286888 ] [ 0. 0. 0. 1. ]] SLAMing on 78.379928851 meters Centerline goodness : 0.761515 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.99139184 -0.10758239 -0.07462066 0.92549847] [ 0.10882464 0.99397888 0.01277437 -0.09339166] [ 0.07279706 -0.02078497 0.99713017 0.22872211] [ 0. 0. 0. 1. ]] SLAMing on 78.439928851 meters Centerline goodness : 0.778329 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.99114972 -0.11004783 -0.07424089 0.92614557] [ 0.11103362 0.9937734 0.0092716 -0.0923475 ] [ 0.0727583 -0.01743278 0.99719724 0.22928279] [ 0. 0. 0. 1. ]] SLAMing on 78.499928851 meters Centerline goodness : 0.774398 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:0.23 [[ 0.99118007 -0.10978722 -0.07422156 0.92585808] [ 0.11074711 0.99380849 0.00893081 -0.09193684] [ 0.07278153 -0.01707186 0.99720179 0.2302439 ] [ 0. 0. 0. 1. ]] SLAMing on 78.559928851 meters Centerline goodness : 0.775913 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.09, Z:0.24 [[ 0.99172441 -0.10493776 -0.07396463 0.94732993] [ 0.10497599 0.99446901 -0.00338141 -0.08916181] [ 0.07391037 -0.00441108 0.99725513 0.2370055 ] [ 0. 0. 0. 1. ]] SLAMing on 78.619928851 meters Centerline goodness : 0.776150 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:0.24 [[ 0.9924182 -0.09956449 -0.07206269 0.96813159] [ 0.09879734 0.99500708 -0.01414176 -0.086233 ] [ 0.07311091 0.00691493 0.99729984 0.24159537] [ 0. 0. 0. 1. ]] SLAMing on 78.679928851 meters Centerline goodness : 0.776748 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:0.24 [[ 0.99292111 -0.09388944 -0.07274916 0.9694908 ] [ 0.09341688 0.99557807 -0.00987878 -0.08589708] [ 0.07335499 0.00301285 0.99730134 0.24182065] [ 0. 0. 0. 1. ]] SLAMing on 78.739928851 meters Centerline goodness : 0.774496 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.25 [[ 0.99392338 -0.08756487 -0.06669865 0.99353834] [ 0.0856712 0.99584892 -0.03074683 -0.07822731] [ 0.06911412 0.02484584 0.99729931 0.25435816] [ 0. 0. 0. 1. ]] SLAMing on 78.799928851 meters Centerline goodness : 0.773155 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.27 [[ 0.99464062 -0.08408639 -0.0601625 1.0147839 ] [ 0.08077411 0.99518488 -0.05552115 -0.06930487] [ 0.06454138 0.05036402 0.9966433 0.26823117] [ 0. 0. 0. 1. ]] SLAMing on 78.859928851 meters Centerline goodness : 0.774094 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.28 [[ 0.9950755 -0.08066199 -0.05760545 1.03656169] [ 0.07642449 0.99444905 -0.07232142 -0.06655181] [ 0.06311927 0.06756281 0.99571644 0.27714283] [ 0. 0. 0. 1. ]] SLAMing on 78.919928851 meters Centerline goodness : 0.774934 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.28 [[ 0.99503943 -0.08076606 -0.05808081 1.03867881] [ 0.076541 0.9944908 -0.07162069 -0.06838822] [ 0.06354535 0.06681985 0.99573947 0.27570695] [ 0. 0. 0. 1. ]] SLAMing on 78.979928851 meters Centerline goodness : 0.760561 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.27 [[ 0.99491441 -0.0817125 -0.05889295 1.04120396] [ 0.07750044 0.99449159 -0.07057026 -0.07052261] [ 0.06433502 0.06564714 0.99576677 0.27493665] [ 0. 0. 0. 1. ]] SLAMing on 79.039928851 meters Centerline goodness : 0.760076 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.28 [[ 0.99478376 -0.08254041 -0.05993625 1.04352893] [ 0.07836133 0.99453316 -0.06901667 -0.07286094] [ 0.06530525 0.06395997 0.99581341 0.27502423] [ 0. 0. 0. 1. ]] SLAMing on 79.099928851 meters Centerline goodness : 0.775746 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:0.28 [[ 0.99436568 -0.08693379 -0.06065814 1.0458253 ] [ 0.08256241 0.99403976 -0.07119266 -0.07461261] [ 0.06648565 0.06578346 0.99561649 0.27505862] [ 0. 0. 0. 1. ]] SLAMing on 79.159928851 meters Centerline goodness : 0.763051 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.08, Z:0.27 [[ 0.99377922 -0.09277256 -0.06161264 1.04917711] [ 0.08817889 0.99338885 -0.07350564 -0.07723948] [ 0.06802462 0.06761544 0.99538977 0.27469055] [ 0. 0. 0. 1. ]] SLAMing on 79.219928851 meters Centerline goodness : 0.779525 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.08, Z:0.28 [[ 0.9934427 -0.09533864 -0.06310419 1.05225071] [ 0.09074333 0.99326295 -0.07207188 -0.07942606] [ 0.06955029 0.06587299 0.99540118 0.27527581] [ 0. 0. 0. 1. ]] SLAMing on 79.279928851 meters Centerline goodness : 0.777475 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.28 [[ 0.99300511 -0.09875654 -0.06471474 1.05511137] [ 0.09415097 0.99304248 -0.07072641 -0.0821199 ] [ 0.07124918 0.06413873 0.99539428 0.27667959] [ 0. 0. 0. 1. ]] SLAMing on 79.339928851 meters Centerline goodness : 0.781030 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.28 [[ 0.99268247 -0.10108898 -0.06604942 1.05791124] [ 0.09647272 0.99289217 -0.06970051 -0.08350552] [ 0.07262591 0.06281851 0.99537898 0.2771742 ] [ 0. 0. 0. 1. ]] SLAMing on 79.399928851 meters Centerline goodness : 0.781458 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.28 [[ 0.99195338 -0.10699576 -0.06767859 1.06111201] [ 0.1021377 0.99219159 -0.07158035 -0.08255004] [ 0.07480892 0.06409184 0.9951361 0.27862699] [ 0. 0. 0. 1. ]] SLAMing on 79.459928851 meters Centerline goodness : 0.781598 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.28 [[ 0.99153791 -0.10985455 -0.06917048 1.06414348] [ 0.10493845 0.99193384 -0.07109973 -0.08298778] [ 0.07642317 0.06323944 0.99506797 0.27930515] [ 0. 0. 0. 1. ]] SLAMing on 79.519928851 meters Centerline goodness : 0.783001 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:0.28 [[ 0.991032 -0.11331889 -0.07081246 1.06681268] [ 0.10835433 0.99161548 -0.07041362 -0.08394164] [ 0.07819793 0.06210931 0.99500127 0.28092912] [ 0. 0. 0. 1. ]] SLAMing on 79.579928851 meters Centerline goodness : 0.779933 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:0.28 [[ 0.99066703 -0.11552054 -0.0723453 1.06955596] [ 0.11046072 0.99138198 -0.07042868 -0.08180476] [ 0.07985779 0.06178005 0.99488992 0.28159457] [ 0. 0. 0. 1. ]] SLAMing on 79.639928851 meters Centerline goodness : 0.780693 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:0.28 [[ 0.99052229 -0.11629134 -0.07308846 1.07066822] [ 0.11114281 0.99126778 -0.070961 -0.07945451] [ 0.08070238 0.0621652 0.99479778 0.28202653] [ 0. 0. 0. 1. ]] SLAMing on 79.699928851 meters Centerline goodness : 0.783501 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:0.28 [[ 0.99052688 -0.1150635 -0.07494593 1.07298723] [ 0.11007206 0.99161894 -0.06764628 -0.07750092] [ 0.08210143 0.058756 0.99489049 0.28284363] [ 0. 0. 0. 1. ]] SLAMing on 79.759928851 meters Centerline goodness : 0.764125 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:0.28 [[ 0.99080585 -0.11556961 -0.07033801 1.08341737] [ 0.11171692 0.99213518 -0.05645452 -0.07704046] [ 0.07630924 0.04807752 0.99592442 0.27825546] [ 0. 0. 0. 1. ]] SLAMing on 79.819928851 meters Centerline goodness : 0.783921 with order 3 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.07, Z:0.27 [[ 0.99087019 -0.11744608 -0.06620188 1.09269466] [ 0.11454275 0.99234907 -0.04607901 -0.07462232] [ 0.07110717 0.03807537 0.99674171 0.27370327] [ 0. 0. 0. 1. ]] SLAMing on 79.879928851 meters Centerline goodness : 0.759904 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:0.27 [[ 0.99090229 -0.11958934 -0.06173357 1.10221765] [ 0.1175086 0.99240766 -0.03631481 -0.07108926] [ 0.06560773 0.0287302 0.9974318 0.26876967] [ 0. 0. 0. 1. ]] SLAMing on 79.939928851 meters Centerline goodness : 0.764826 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:0.26 [[ 0.99199227 -0.11624161 -0.0493886 1.1040299 ] [ 0.11493207 0.99296199 -0.02858507 -0.06837209] [ 0.05236378 0.02267984 0.9983705 0.25928345] [ 0. 0. 0. 1. ]] SLAMing on 79.999928851 meters Centerline goodness : 0.777740 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.25 [[ 0.99299209 -0.11267461 -0.03565314 1.10335269] [ 0.11196003 0.99348122 -0.02144796 -0.06491141] [ 0.03783737 0.01730593 0.99913404 0.25207618] [ 0. 0. 0. 1. ]] SLAMing on 80.059928851 meters Centerline goodness : 0.776886 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.24 [[ 0.9937042 -0.10958728 -0.02329377 1.10452391] [ 0.10924519 0.99389418 -0.01548724 -0.06462807] [ 0.02484875 0.012845 0.9996087 0.2426987 ] [ 0. 0. 0. 1. ]] SLAMing on 80.119928851 meters Centerline goodness : 0.775004 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.24 [[ 0.99366286 -0.11003977 -0.02292078 1.10416831] [ 0.10968151 0.99383238 -0.01634524 -0.05698743] [ 0.02457804 0.01372767 0.99960366 0.24134431] [ 0. 0. 0. 1. ]] SLAMing on 80.179928851 meters Centerline goodness : 0.773320 with order 3 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.24 [[ 0.99364002 -0.11022903 -0.02300177 1.10474907] [ 0.10985669 0.99380424 -0.01687115 -0.0539761 ] [ 0.02471895 0.01423695 0.99959306 0.2406775 ] [ 0. 0. 0. 1. ]] SLAMing on 80.239928851 meters Centerline goodness : 0.765348 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.05, Z:0.24 [[ 0.99359393 -0.11066272 -0.0229098 1.10504133] [ 0.11027411 0.99374561 -0.01758644 -0.04979645] [ 0.02471268 0.01494743 0.99958284 0.23973939] [ 0. 0. 0. 1. ]] SLAMing on 80.299928851 meters Centerline goodness : 0.767996 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.05, Z:0.24 [[ 0.99355703 -0.11101238 -0.02281845 1.10511002] [ 0.11061066 0.9936976 -0.01817578 -0.04720493] [ 0.02469237 0.01553471 0.99957439 0.23931026] [ 0. 0. 0. 1. ]] SLAMing on 80.359928851 meters Centerline goodness : 0.767774 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.24 [[ 0.99348467 -0.11171999 -0.02251336 1.1046437 ] [ 0.1113038 0.99360545 -0.01896498 -0.04387579] [ 0.02448817 0.01633559 0.99956665 0.23877536] [ 0. 0. 0. 1. ]] SLAMing on 80.419928851 meters Centerline goodness : 0.764929 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.24 [[ 0.99334654 -0.11301251 -0.02215466 1.10388635] [ 0.11257855 0.99344258 -0.0199476 -0.0410592 ] [ 0.02426372 0.01732074 0.99955553 0.23834913] [ 0. 0. 0. 1. ]] SLAMing on 80.479928851 meters Centerline goodness : 0.771278 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:0.23 [[ 0.99295089 -0.11738895 -0.0163817 1.11123039] [ 0.1172169 0.99304433 -0.0110979 -0.0400908 ] [ 0.01757052 0.00909945 0.99980422 0.23394944] [ 0. 0. 0. 1. ]] SLAMing on 80.539928851 meters Centerline goodness : 0.774030 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:0.23 [[ 0.9928026 -0.11870944 -0.01584516 1.1095832 ] [ 0.11852664 0.99287812 -0.01201997 -0.03790491] [ 0.0171592 0.01005538 0.99980221 0.23410831] [ 0. 0. 0. 1. ]] SLAMing on 80.599928851 meters Centerline goodness : 0.772038 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.23 [[ 0.99274046 -0.11926391 -0.01557258 1.10903493] [ 0.1190692 0.99280233 -0.01288631 -0.03410761] [ 0.01699736 0.01093855 0.9997957 0.2338283 ] [ 0. 0. 0. 1. ]] SLAMing on 80.659928851 meters Centerline goodness : 0.772771 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.23 [[ 0.99307243 -0.11651443 -0.01521634 1.10704922] [ 0.11637697 0.99315843 -0.00963017 -0.03216384] [ 0.01623429 0.00779262 0.99983785 0.23345154] [ 0. 0. 0. 1. ]] SLAMing on 80.719928851 meters Centerline goodness : 0.775298 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.23 [[ 0.9933168 -0.11448269 -0.01467845 1.10591657] [ 0.11438908 0.99341088 -0.00706811 -0.02989696] [ 0.01539091 0.00534182 0.99986728 0.23199108] [ 0. 0. 0. 1. ]] SLAMing on 80.779928851 meters Centerline goodness : 0.774001 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.23 [[ 0.993305 -0.11458482 -0.01467994 1.10595294] [ 0.11448847 0.99339815 -0.00724667 -0.02876351] [ 0.01541338 0.00551747 0.99986598 0.23180788] [ 0. 0. 0. 1. ]] SLAMing on 80.839928851 meters Centerline goodness : 0.777772 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.23 [[ 0.99328993 -0.11472234 -0.01462514 1.10606295] [ 0.11462043 0.99338007 -0.0076288 -0.0266889 ] [ 0.01540352 0.00590127 0.99986394 0.23144995] [ 0. 0. 0. 1. ]] SLAMing on 80.899928851 meters Centerline goodness : 0.776990 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:0.23 [[ 0.99330616 -0.11458573 -0.01459401 1.10667879] [ 0.1144775 0.99339323 -0.0080498 -0.02300058] [ 0.01541998 0.00632523 0.9998611 0.23041588] [ 0. 0. 0. 1. ]] SLAMing on 80.959928851 meters Centerline goodness : 0.776919 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:0.23 [[ 0.99365981 -0.11151393 -0.01431191 1.10545195] [ 0.11145879 0.99375842 -0.00459693 -0.02139145] [ 0.0147352 0.00297259 0.99988701 0.22942106] [ 0. 0. 0. 1. ]] SLAMing on 81.019928851 meters Centerline goodness : 0.778716 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.23 [[ 9.94013263e-01 -1.08332913e-01 -1.41990772e-02 1.10410486e+00] [ 1.08327365e-01 9.94114597e-01 -1.16152413e-03 -1.98387883e-02] [ 1.42413413e-02 -3.83578239e-04 9.99898513e-01 2.29105154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079928851 meters Centerline goodness : 0.781294 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.23 [[ 9.93997006e-01 -1.08503413e-01 -1.40342624e-02 1.10336454e+00] [ 1.08489193e-01 9.94096048e-01 -1.77283692e-03 -1.71436606e-02] [ 1.41437636e-02 2.39628784e-04 9.99899943e-01 2.29700198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.139928851 meters Centerline goodness : 0.779381 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.23 [[ 9.94018345e-01 -1.08292041e-01 -1.41549842e-02 1.10377532e+00] [ 1.08273159e-01 9.94118972e-01 -2.09585536e-03 -1.56091165e-02] [ 1.42987028e-02 5.50713819e-04 9.99897617e-01 2.29748364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.199928851 meters Centerline goodness : 0.780157 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 9.94018940e-01 -1.08277699e-01 -1.42227258e-02 1.10397782e+00] [ 1.08255717e-01 9.94120400e-01 -2.30868280e-03 -1.45620490e-02] [ 1.43890807e-02 7.55183043e-04 9.99896187e-01 2.29754750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.259928851 meters Centerline goodness : 0.782049 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 9.94032953e-01 -1.08122259e-01 -1.44244901e-02 1.10481855e+00] [ 1.08104687e-01 9.94137515e-01 -1.99467432e-03 -1.47793024e-02] [ 1.45555955e-02 4.23417011e-04 9.99893972e-01 2.29039705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319928851 meters Centerline goodness : 0.780451 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.23 [[ 9.93941113e-01 -1.08982991e-01 -1.42748692e-02 1.10436786e+00] [ 1.08964743e-01 9.94043497e-01 -2.05228521e-03 -1.58193939e-02] [ 1.44135051e-02 4.84393189e-04 9.99896003e-01 2.28673303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379928851 meters Centerline goodness : 0.780880 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.23 [[ 9.93839866e-01 -1.09949859e-01 -1.39050379e-02 1.10297257e+00] [ 1.09927119e-01 9.93936773e-01 -2.39156575e-03 -1.58115519e-02] [ 1.40836808e-02 8.48292627e-04 9.99900460e-01 2.29033282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439928851 meters Centerline goodness : 0.779461 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 0.9938216 -0.11013052 -0.01378029 1.10267337] [ 0.11010102 0.99391622 -0.00288433 -0.01411334] [ 0.01401411 0.00134929 0.99990089 0.22922727] [ 0. 0. 0. 1. ]] SLAMing on 81.499928851 meters Centerline goodness : 0.784557 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 9.94106632e-01 -1.07565445e-01 -1.34788527e-02 1.09999930e+00] [ 1.07576649e-01 9.94196788e-01 1.06835703e-04 -1.35600240e-02] [ 1.33891402e-02 -1.55621589e-03 9.99909150e-01 2.30281131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.559928851 meters Centerline goodness : 0.786196 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 0.99445813 -0.10428055 -0.01336385 1.09836134] [ 0.10432608 0.99453933 0.00275463 -0.00956302] [ 0.01300361 -0.00413357 0.99990691 0.23089674] [ 0. 0. 0. 1. ]] SLAMing on 81.619928851 meters Centerline goodness : 0.784158 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 0.99446579 -0.10421701 -0.01328938 1.0987756 ] [ 0.10425845 0.99454719 0.00246246 -0.00785165] [ 0.01296028 -0.00383437 0.99990866 0.23021769] [ 0. 0. 0. 1. ]] SLAMing on 81.679928851 meters Centerline goodness : 0.787866 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 0.99448623 -0.10403368 -0.01319607 1.09906537] [ 0.10406935 0.99456794 0.00204402 -0.00444349] [ 0.01291174 -0.00340606 0.99991084 0.22965967] [ 0. 0. 0. 1. ]] SLAMing on 81.739928851 meters Centerline goodness : 0.785983 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 0.9944685 -0.10423981 -0.01290224 1.0985854 ] [ 0.10426876 0.99454789 0.00159023 -0.00212676] [ 0.01266613 -0.00292674 0.9999155 0.22937208] [ 0. 0. 0. 1. ]] SLAMing on 81.799928851 meters Centerline goodness : 0.787514 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 0.9943926 -0.10501465 -0.01246149 1.09751597] [ 0.10503976 0.99446707 0.00137656 -0.00161348] [ 0.01224798 -0.0026778 0.99992141 0.22900693] [ 0. 0. 0. 1. ]] SLAMing on 81.859928851 meters Centerline goodness : 0.787137 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 9.93928157e-01 -1.09360847e-01 -1.21253122e-02 1.09760219e+00] [ 1.09334871e-01 9.94001066e-01 -2.78686072e-03 -8.53921161e-04] [ 1.23573467e-02 1.44421989e-03 9.99922602e-01 2.28958455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.919928851 meters Centerline goodness : 0.785122 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 9.93464193e-01 -1.13532132e-01 -1.18047226e-02 1.09846949e+00] [ 1.13461915e-01 9.93521350e-01 -6.45911496e-03 -8.05895443e-04] [ 1.24615610e-02 5.07751301e-03 9.99909460e-01 2.27707801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.979928851 meters Centerline goodness : 0.789169 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 9.93396029e-01 -1.14134538e-01 -1.17318667e-02 1.09818894e+00] [ 1.14064880e-01 9.93452387e-01 -6.44656451e-03 -5.67664375e-04] [ 1.23908266e-02 5.06579762e-03 9.99910399e-01 2.27240359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.039928851 meters Centerline goodness : 0.784670 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 0.9933698 -0.11436811 -0.01167764 1.09792066] [ 0.11429883 0.99342554 -0.00643932 -0.00113263] [ 0.01233732 0.00506189 0.99991108 0.22733628] [ 0. 0. 0. 1. ]] SLAMing on 82.099928851 meters Centerline goodness : 0.784640 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 9.93314581e-01 -1.14865842e-01 -1.14883439e-02 1.09663687e+00] [ 1.14790736e-01 9.93365043e-01 -6.99838736e-03 -3.45739713e-04] [ 1.22159949e-02 5.63284475e-03 9.99909516e-01 2.28558135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159928851 meters Centerline goodness : 0.784924 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 9.93386131e-01 -1.14206742e-01 -1.18665306e-02 1.09767034e+00] [ 1.14132636e-01 9.93442609e-01 -6.74719345e-03 -7.77795735e-04] [ 1.25592921e-02 5.34820998e-03 9.99906826e-01 2.28635024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219928851 meters Centerline goodness : 0.784294 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.23 [[ 9.93886652e-01 -1.09696435e-01 -1.24905986e-02 1.09847312e+00] [ 1.09680041e-01 9.93964949e-01 -1.99204131e-03 -3.59546111e-03] [ 1.26337370e-02 6.09893899e-04 9.99920005e-01 2.27973399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.279928851 meters Centerline goodness : 0.784279 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 0.99479113 -0.10104927 -0.01340334 1.09881334] [ 0.10114556 0.99484901 0.00671034 -0.00500724] [ 0.01265623 -0.00803107 0.99988765 0.22745604] [ 0. 0. 0. 1. ]] SLAMing on 82.339928851 meters Centerline goodness : 0.782745 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.23 [[ 0.99535925 -0.09515693 -0.01432212 1.10106949] [ 0.09532558 0.99537865 0.0115923 -0.00591843] [ 0.01315285 -0.01290377 0.99983023 0.22690283] [ 0. 0. 0. 1. ]] SLAMing on 82.399928851 meters Centerline goodness : 0.785131 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.22 [[ 0.99669733 -0.08078463 -0.00826309 1.09538005] [ 0.0809089 0.99659291 0.01601009 -0.00926713] [ 0.00694157 -0.01662577 0.99983769 0.22105969] [ 0. 0. 0. 1. ]] SLAMing on 82.459928851 meters Centerline goodness : 0.784793 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.01, Z:0.22 [[ 9.97864908e-01 -6.52871211e-02 -1.79384918e-03 1.08838703e+00] [ 6.53109101e-02 9.97615631e-01 2.23055505e-02 -1.26213114e-02] [ 3.33306810e-04 -2.23750840e-02 9.99749591e-01 2.15667679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519928851 meters Centerline goodness : 0.784437 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.01, Z:0.22 [[ 0.99858432 -0.05297169 -0.00483303 1.08733927] [ 0.05304624 0.99844934 0.01688253 -0.01368076] [ 0.00393124 -0.017115 0.9998458 0.21655334] [ 0. 0. 0. 1. ]] SLAMing on 82.579928851 meters Centerline goodness : 0.782231 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:0.22 [[ 0.99891646 -0.04612778 -0.00617558 1.09179604] [ 0.0462573 0.99866947 0.0227938 -0.01722397] [ 0.00511593 -0.02305476 0.99972111 0.2150367 ] [ 0. 0. 0. 1. ]] SLAMing on 82.639928851 meters Centerline goodness : 0.783117 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.21 [[ 0.99899796 -0.04416864 -0.0072254 1.09508266] [ 0.0443279 0.99873803 0.02360882 -0.01847275] [ 0.00617351 -0.02390545 0.99969516 0.21490297] [ 0. 0. 0. 1. ]] SLAMing on 82.699928851 meters Centerline goodness : 0.783862 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.21 [[ 0.99896867 -0.04467868 -0.00808779 1.09947787] [ 0.04484026 0.99877255 0.02104162 -0.01984524] [ 0.00713775 -0.02138257 0.99974589 0.21449068] [ 0. 0. 0. 1. ]] SLAMing on 82.759928851 meters Centerline goodness : 0.780643 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.21 [[ 0.99888887 -0.04624904 -0.00905782 1.10307399] [ 0.04640521 0.99876292 0.01786602 -0.02106604] [ 0.00822033 -0.0182665 0.99979936 0.21484875] [ 0. 0. 0. 1. ]] SLAMing on 82.819928851 meters Centerline goodness : 0.779007 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:0.22 [[ 0.99880432 -0.04783742 -0.01007552 1.10609267] [ 0.04798487 0.99873633 0.01493987 -0.02345285] [ 0.0093481 -0.01540548 0.99983763 0.2160279 ] [ 0. 0. 0. 1. ]] SLAMing on 82.879928851 meters Centerline goodness : 0.778440 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.22 [[ 0.99848001 -0.05398153 -0.0111207 1.1088202 ] [ 0.05407008 0.99850651 0.00782181 -0.02746284] [ 0.01068186 -0.00841122 0.99990757 0.21814259] [ 0. 0. 0. 1. ]] SLAMing on 82.939928851 meters Centerline goodness : 0.777099 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:0.22 [[ 0.99804599 -0.06148138 -0.01114654 1.10787563] [ 0.0615013 0.99810595 0.00145275 -0.03453733] [ 0.01103611 -0.00213544 0.99993682 0.22062726] [ 0. 0. 0. 1. ]] SLAMing on 82.999928851 meters Centerline goodness : 0.776091 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:0.22 [[ 0.99751982 -0.06955419 -0.01078993 1.10646952] [ 0.06950546 0.99756989 -0.00482717 -0.04261869] [ 0.01109946 0.00406524 0.99993014 0.22262585] [ 0. 0. 0. 1. ]] SLAMing on 83.059928851 meters Centerline goodness : 0.780852 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.05, Z:0.22 [[ 0.99699897 -0.07662552 -0.01102662 1.10736318] [ 0.07651327 0.99701571 -0.01026627 -0.05155059] [ 0.01178037 0.00939178 0.9998865 0.22349786] [ 0. 0. 0. 1. ]] SLAMing on 83.119928851 meters Centerline goodness : 0.778136 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.06, Z:0.22 [[ 0.99665182 -0.08102199 -0.01098134 1.10697444] [ 0.08088633 0.99664767 -0.01228117 -0.05968917] [ 0.01193957 0.01135181 0.99986428 0.22385009] [ 0. 0. 0. 1. ]] SLAMing on 83.179928851 meters Centerline goodness : 0.777927 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.06, Z:0.22 [[ 0.99636878 -0.08442612 -0.01102227 1.10788227] [ 0.08425764 0.99633188 -0.01494762 -0.06387641] [ 0.01224381 0.01396463 0.99982752 0.22374405] [ 0. 0. 0. 1. ]] SLAMing on 83.239928851 meters Centerline goodness : 0.780118 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:0.22 [[ 0.99607575 -0.0878109 -0.01106135 1.10909861] [ 0.08761585 0.99600872 -0.01703195 -0.07023084] [ 0.01251279 0.01599597 0.99979376 0.22292517] [ 0. 0. 0. 1. ]] SLAMing on 83.299928851 meters Centerline goodness : 0.779133 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:0.22 [[ 0.99605386 -0.08803707 -0.01123346 1.10957553] [ 0.08785172 0.99600431 -0.01604676 -0.07331366] [ 0.01260128 0.01499656 0.99980814 0.22203662] [ 0. 0. 0. 1. ]] SLAMing on 83.359928851 meters Centerline goodness : 0.779387 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:0.22 [[ 0.9960721 -0.08778882 -0.01155366 1.1107627 ] [ 0.08760914 0.99603842 -0.01523523 -0.07499243] [ 0.01284537 0.01416318 0.99981718 0.22094791] [ 0. 0. 0. 1. ]] SLAMing on 83.419928851 meters Centerline goodness : 0.778865 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:0.22 [[ 0.99577867 -0.09102302 -0.0118173 1.11283103] [ 0.09079125 0.99569139 -0.01885758 -0.07428496] [ 0.01348286 0.01770507 0.99975234 0.22014934] [ 0. 0. 0. 1. ]] SLAMing on 83.479928851 meters Centerline goodness : 0.778831 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.22 [[ 0.99545723 -0.09503463 -0.00577296 1.12068039] [ 0.09497178 0.99542637 -0.01032939 -0.07491985] [ 0.00672821 0.0097342 0.99992999 0.21641674] [ 0. 0. 0. 1. ]] SLAMing on 83.539928851 meters Centerline goodness : 0.778975 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.22 [[ 0.99540119 -0.09563136 -0.00557751 1.12023554] [ 0.09556922 0.99536732 -0.01050815 -0.07474685] [ 0.00655658 0.00992678 0.99992923 0.21615748] [ 0. 0. 0. 1. ]] SLAMing on 83.599928851 meters Centerline goodness : 0.777027 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.22 [[ 0.99539819 -0.09565625 -0.00568497 1.12072021] [ 0.09559134 0.99536247 -0.01076351 -0.07312861] [ 0.0066882 0.01017054 0.99992591 0.21570198] [ 0. 0. 0. 1. ]] SLAMing on 83.659928851 meters Centerline goodness : 0.776838 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.22 [[ 0.99565886 -0.09291969 -0.00541955 1.11917477] [ 0.09287173 0.99564165 -0.00851686 -0.06776213] [ 0.00618731 0.00797656 0.99994904 0.21568197] [ 0. 0. 0. 1. ]] SLAMing on 83.719928851 meters Centerline goodness : 0.776466 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.22 [[ 0.9956837 -0.09263527 -0.00571682 1.12026661] [ 0.09258072 0.995663 -0.00916538 -0.06380698] [ 0.00654106 0.00859655 0.99994166 0.21523868] [ 0. 0. 0. 1. ]] SLAMing on 83.779928851 meters Centerline goodness : 0.776827 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.21 [[ 0.99569187 -0.09254263 -0.00579271 1.12093988] [ 0.0924825 0.99566503 -0.00990601 -0.05871194] [ 0.00668433 0.0093276 0.99993416 0.21447129] [ 0. 0. 0. 1. ]] SLAMing on 83.839928851 meters Centerline goodness : 0.778923 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 0.99596117 -0.08962958 0.00528147 1.12464256] [ 0.08966004 0.99595528 -0.00584397 -0.05520899] [-0.00473631 0.00629391 0.99996898 0.20493466] [ 0. 0. 0. 1. ]] SLAMing on 83.899928851 meters Centerline goodness : 0.773097 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.20 [[ 0.99586801 -0.09063714 0.00564051 1.12388769] [ 0.09067718 0.99585358 -0.00730061 -0.05030067] [-0.00495541 0.00778191 0.99995744 0.20466966] [ 0. 0. 0. 1. ]] SLAMing on 83.959928851 meters Centerline goodness : 0.778305 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.20 [[ 0.99573575 -0.09204201 0.00621091 1.12264782] [ 0.09209391 0.99571265 -0.00866253 -0.04610051] [-0.00538696 0.00919758 0.99994319 0.20422037] [ 0. 0. 0. 1. ]] SLAMing on 84.019928851 meters Centerline goodness : 0.780354 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 0.99563121 -0.09313759 0.00662476 1.12122669] [ 0.09319951 0.99559972 -0.00974934 -0.04254922] [-0.00568758 0.01032418 0.99993053 0.20452777] [ 0. 0. 0. 1. ]] SLAMing on 84.079928851 meters Centerline goodness : 0.776263 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 0.99551229 -0.09435843 0.00719523 1.11939805] [ 0.09443343 0.99547136 -0.01091335 -0.0393743 ] [-0.00613288 0.01154384 0.99991456 0.20498109] [ 0. 0. 0. 1. ]] SLAMing on 84.139928851 meters Centerline goodness : 0.778785 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:0.20 [[ 0.99509185 -0.09804468 0.01339566 1.12773947] [ 0.09808418 0.99517541 -0.00232274 -0.03797512] [-0.0131033 0.00362525 0.99990758 0.20030756] [ 0. 0. 0. 1. ]] SLAMing on 84.199928851 meters Centerline goodness : 0.779293 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:0.20 [[ 0.99499546 -0.09896912 0.01375301 1.12692784] [ 0.09902023 0.99508064 -0.00308482 -0.03492335] [-0.01338005 0.00443121 0.99990066 0.19981469] [ 0. 0. 0. 1. ]] SLAMing on 84.259928851 meters Centerline goodness : 0.780306 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:0.20 [[ 0.99497566 -0.09915407 0.01385269 1.12770488] [ 0.09920372 0.99506279 -0.00294262 -0.03420497] [-0.01349253 0.00430207 0.99989972 0.19793726] [ 0. 0. 0. 1. ]] SLAMing on 84.319928851 meters Centerline goodness : 0.780915 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:0.20 [[ 0.99498499 -0.09908516 0.01367451 1.12812645] [ 0.09914611 0.99506543 -0.00385199 -0.02958606] [-0.01322536 0.00518845 0.99989908 0.19808929] [ 0. 0. 0. 1. ]] SLAMing on 84.379928851 meters Centerline goodness : 0.779270 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:0.20 [[ 9.95301349e-01 -9.58313444e-02 1.38411537e-02 1.12696859e+00] [ 9.58416459e-02 9.95396590e-01 -8.13503164e-05 -2.89580763e-02] [-1.37696413e-02 1.40752703e-03 9.99904203e-01 1.97466996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439928851 meters Centerline goodness : 0.780270 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:0.20 [[ 9.95314718e-01 -9.57128841e-02 1.36987867e-02 1.12755461e+00] [ 9.57215647e-02 9.95408148e-01 2.20923469e-05 -2.88394867e-02] [-1.36379985e-02 1.28928046e-03 9.99906167e-01 1.97026768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49992885099999 meters Centerline goodness : 0.782459 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 9.95140623e-01 -9.73961630e-02 1.44612501e-02 1.12471485e+00] [ 9.74195026e-02 9.95242985e-01 -9.16694850e-04 -2.74531745e-02] [-1.43031751e-02 2.32104807e-03 9.99895010e-01 1.98007336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.559928851 meters Centerline goodness : 0.782324 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 9.95111376e-01 -9.76653943e-02 1.46567526e-02 1.12430485e+00] [ 9.76875101e-02 9.95216817e-01 -7.98931986e-04 -2.79120501e-02] [-1.45086187e-02 2.22680798e-03 9.99892265e-01 1.97757615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.619928851 meters Centerline goodness : 0.781644 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 9.94995700e-01 -9.87614765e-02 1.51567638e-02 1.12313189e+00] [ 9.87843984e-02 9.95108562e-01 -7.69343164e-04 -2.86182370e-02] [-1.50066440e-02 2.26274493e-03 9.99884834e-01 1.97014931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.679928851 meters Centerline goodness : 0.782262 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 0.99489512 -0.09971162 0.0155338 1.12151637] [ 0.09974374 0.9950123 -0.00130555 -0.02780672] [-0.01532614 0.00284828 0.99987849 0.19769315] [ 0. 0. 0. 1. ]] SLAMing on 84.739928851 meters Centerline goodness : 0.779720 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 0.99487714 -0.0998693 0.01567174 1.1214489 ] [ 0.09990033 0.99499672 -0.00120808 -0.02760961] [-0.01547268 0.0027675 0.99987646 0.19710361] [ 0. 0. 0. 1. ]] SLAMing on 84.799928851 meters Centerline goodness : 0.781147 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 0.99486508 -0.09997642 0.01575399 1.12121062] [ 0.10000719 0.99498602 -0.00117608 -0.02740405] [-0.01555742 0.00274555 0.99987521 0.19705505] [ 0. 0. 0. 1. ]] SLAMing on 84.859928851 meters Centerline goodness : 0.781794 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 0.99480375 -0.10052115 0.01615571 1.11949158] [ 0.10055772 0.99493015 -0.00146548 -0.02764603] [-0.01592649 0.00308245 0.99986841 0.19823269] [ 0. 0. 0. 1. ]] SLAMing on 84.919928851 meters Centerline goodness : 0.780211 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 0.99478151 -0.10072203 0.01627355 1.11914052] [ 0.10075501 0.99491052 -0.00121741 -0.02905896] [-0.01606811 0.0028507 0.99986684 0.19820061] [ 0. 0. 0. 1. ]] SLAMing on 84.979928851 meters Centerline goodness : 0.780033 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:0.20 [[ 9.94744106e-01 -1.01053173e-01 1.65051526e-02 1.11889365e+00] [ 1.01076124e-01 9.94878537e-01 -5.60165264e-04 -3.21175108e-02] [-1.63640156e-02 2.22549794e-03 9.99863624e-01 1.97458846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.039928851 meters Centerline goodness : 0.778307 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 9.94749166e-01 -1.01010651e-01 1.64604398e-02 1.11941696e+00] [ 1.01017071e-01 9.94884594e-01 4.43069815e-04 -3.57221044e-02] [-1.64209927e-02 1.22204209e-03 9.99864420e-01 1.96557867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099928851 meters Centerline goodness : 0.775924 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 9.94750703e-01 -1.01016808e-01 1.63292297e-02 1.11963685e+00] [ 1.01009440e-01 9.94884647e-01 1.27745886e-03 -3.86482011e-02] [-1.63747447e-02 3.78653246e-04 9.99865853e-01 1.96293078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159928851 meters Centerline goodness : 0.775708 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 9.94788351e-01 -1.00656292e-01 1.62618514e-02 1.11971742e+00] [ 1.00639437e-01 9.94921237e-01 1.85363080e-03 -4.11222668e-02] [-1.63658409e-02 -2.07386759e-04 9.99866049e-01 1.96598084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219928851 meters Centerline goodness : 0.774312 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 9.94816216e-01 -1.00386605e-01 1.62242447e-02 1.11969325e+00] [ 1.00367552e-01 9.94948445e-01 1.98646008e-03 -4.19565096e-02] [-1.63417010e-02 -3.47774989e-04 9.99866405e-01 1.97061064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.279928851 meters Centerline goodness : 0.773481 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.20 [[ 0.99519833 -0.09656514 0.01598306 1.11927389] [ 0.09647386 0.99531502 0.00638817 -0.04447377] [-0.01652505 -0.00481555 0.99985186 0.19706772] [ 0. 0. 0. 1. ]] SLAMing on 85.339928851 meters Centerline goodness : 0.771521 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.20 [[ 0.99527447 -0.09582828 0.0156738 1.12012721] [ 0.09573052 0.99538355 0.00687452 -0.04596093] [-0.01626022 -0.00534157 0.99985353 0.19718918] [ 0. 0. 0. 1. ]] SLAMing on 85.399928851 meters Centerline goodness : 0.769733 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.20 [[ 0.99530493 -0.0955233 0.01560095 1.120699 ] [ 0.09541269 0.99540811 0.00768843 -0.04840951] [-0.01626373 -0.0061638 0.99984874 0.19653362] [ 0. 0. 0. 1. ]] SLAMing on 85.459928851 meters Centerline goodness : 0.768400 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.20 [[ 0.9952449 -0.09611277 0.01580896 1.11982177] [ 0.09599444 0.99534905 0.00808282 -0.051653 ] [-0.0165123 -0.00652682 0.99984236 0.19686639] [ 0. 0. 0. 1. ]] SLAMing on 85.519928851 meters Centerline goodness : 0.766304 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.20 [[ 0.99517625 -0.09678961 0.01600008 1.11898224] [ 0.09666805 0.99528285 0.00820527 -0.05420917] [-0.01671879 -0.00661899 0.99983832 0.19723933] [ 0. 0. 0. 1. ]] SLAMing on 85.579928851 meters Centerline goodness : 0.767329 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 0.99475482 -0.10096806 0.01638004 1.11866234] [ 0.10090726 0.99488566 0.00449906 -0.05621221] [-0.01675053 -0.00282259 0.99985572 0.19780046] [ 0. 0. 0. 1. ]] SLAMing on 85.639928851 meters Centerline goodness : 0.768618 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94429276e-01 -1.04120893e-01 1.64089719e-02 1.11988722e+00] [ 1.04119065e-01 9.94564369e-01 9.67983077e-04 -5.71853897e-02] [-1.64205660e-02 7.45896102e-04 9.99864895e-01 1.97696132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.699928851 meters Centerline goodness : 0.766346 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94490026e-01 -1.03554069e-01 1.63138787e-02 1.12045857e+00] [ 1.03550222e-01 9.94623637e-01 1.08258164e-03 -5.66958678e-02] [-1.63382751e-02 6.12689118e-04 9.99866334e-01 1.97506278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.759928851 meters Centerline goodness : 0.764747 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94593639e-01 -1.02629191e-01 1.58348337e-02 1.12236638e+00] [ 1.02614508e-01 9.94719678e-01 1.73918503e-03 -5.66410752e-02] [-1.59297119e-02 -1.04898701e-04 9.99873109e-01 1.96357468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819928851 meters Centerline goodness : 0.763677 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94606355e-01 -1.02497424e-01 1.58894998e-02 1.12224542e+00] [ 1.02482436e-01 9.94733263e-01 1.75685521e-03 -5.61301412e-02] [-1.59858871e-02 -1.18984720e-04 9.99872210e-01 1.96406544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879928851 meters Centerline goodness : 0.764362 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94606877e-01 -1.02466159e-01 1.60576165e-02 1.12206429e+00] [ 1.02449656e-01 9.94736472e-01 1.84919017e-03 -5.60596480e-02] [-1.61625762e-02 -1.94119965e-04 9.99869358e-01 1.96175634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939928851 meters Centerline goodness : 0.763524 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94554757e-01 -1.02916968e-01 1.63991951e-02 1.12128768e+00] [ 1.02901036e-01 9.94689944e-01 1.81462721e-03 -5.70370993e-02] [-1.64988704e-02 -1.17251963e-04 9.99863877e-01 1.96132150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99992885099999 meters Centerline goodness : 0.763985 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94490369e-01 -1.03482317e-01 1.67426198e-02 1.12062091e+00] [ 1.03465198e-01 9.94631283e-01 1.88780246e-03 -5.79337399e-02] [-1.68480875e-02 -1.45122901e-04 9.99858050e-01 1.95707151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.059928851 meters Centerline goodness : 0.764066 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94464306e-01 -1.03698813e-01 1.69499111e-02 1.12032995e+00] [ 1.03677328e-01 9.94608675e-01 2.14378197e-03 -5.90065794e-02] [-1.70808362e-02 -3.74593157e-04 9.99854042e-01 1.95347911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.119928851 meters Centerline goodness : 0.762491 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94315144e-01 -1.05055034e-01 1.73445622e-02 1.11852581e+00] [ 1.05039171e-01 9.94466410e-01 1.82557455e-03 -6.15488186e-02] [-1.74403702e-02 6.66201193e-06 9.99847905e-01 1.96318094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179928851 meters Centerline goodness : 0.762807 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.20 [[ 9.94052746e-01 -1.07493963e-01 1.74409564e-02 1.11772350e+00] [ 1.07506111e-01 9.94204394e-01 2.42304602e-04 -6.38183427e-02] [-1.73659217e-02 1.63414583e-03 9.99847866e-01 1.97081537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239928851 meters Centerline goodness : 0.759240 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.20 [[ 0.99362572 -0.11131615 0.01779474 1.11821188] [ 0.11138554 0.99377288 -0.00295411 -0.06697721] [-0.01735509 0.00491736 0.9998373 0.19665947] [ 0. 0. 0. 1. ]] SLAMing on 86.299928851 meters Centerline goodness : 0.762223 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.20 [[ 0.99320823 -0.1149481 0.01800958 1.11871828] [ 0.11508064 0.99333488 -0.00650161 -0.0688886 ] [-0.0171422 0.00853 0.99981668 0.19695153] [ 0. 0. 0. 1. ]] SLAMing on 86.359928851 meters Centerline goodness : 0.759136 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.20 [[ 0.99324262 -0.11466154 0.01793952 1.11882257] [ 0.11478412 0.99337261 -0.00595568 -0.07085313] [-0.01713774 0.00797461 0.99982134 0.1971334 ] [ 0. 0. 0. 1. ]] SLAMing on 86.419928851 meters Centerline goodness : 0.758431 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.20 [[ 9.93774818e-01 -1.10041818e-01 1.73899186e-02 1.11979693e+00] [ 1.10076274e-01 9.93922605e-01 -1.03388576e-03 -7.34350155e-02] [-1.71704626e-02 2.94166709e-03 9.99848249e-01 1.96119282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.479928851 meters Centerline goodness : 0.759377 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.20 [[ 9.93845220e-01 -1.09458471e-01 1.70447223e-02 1.12063194e+00] [ 1.09487439e-01 9.93987879e-01 -7.72969442e-04 -7.35806978e-02] [-1.68576393e-02 2.63439498e-03 9.99854429e-01 1.96224404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.539928851 meters Centerline goodness : 0.757842 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.08, Z:0.20 [[ 0.99437204 -0.1046589 0.01645458 1.12142943] [ 0.10460678 0.99450562 0.00399908 -0.07558263] [-0.01678271 -0.00225531 0.99985662 0.19582352] [ 0. 0. 0. 1. ]] SLAMing on 86.599928851 meters Centerline goodness : 0.758237 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.08, Z:0.20 [[ 0.99492146 -0.099434 0.01562603 1.12316004] [ 0.09930091 0.99501606 0.00907595 -0.07813865] [-0.0164506 -0.00747817 0.99983671 0.19503838] [ 0. 0. 0. 1. ]] SLAMing on 86.659928851 meters Centerline goodness : 0.755669 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.08, Z:0.19 [[ 0.9953562 -0.09504742 0.01523255 1.12335867] [ 0.09484454 0.99540013 0.01353134 -0.07991997] [-0.0164486 -0.01202378 0.99979241 0.19495731] [ 0. 0. 0. 1. ]] SLAMing on 86.719928851 meters Centerline goodness : 0.755464 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.08, Z:0.19 [[ 0.99585509 -0.08978609 0.01452886 1.12486625] [ 0.08951235 0.99581374 0.01850777 -0.08221609] [-0.01612978 -0.01713055 0.99972315 0.19426988] [ 0. 0. 0. 1. ]] SLAMing on 86.779928851 meters Centerline goodness : 0.755791 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:0.19 [[ 0.99598677 -0.08838511 0.0140867 1.12622421] [ 0.08810513 0.9959224 0.01939206 -0.08401002] [-0.01574323 -0.01807312 0.99971272 0.19430868] [ 0. 0. 0. 1. ]] SLAMing on 86.839928851 meters Centerline goodness : 0.754626 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.19 [[ 0.9957419 -0.09112922 0.01391162 1.12751586] [ 0.09089984 0.99572637 0.01631631 -0.08595223] [-0.01533906 -0.01498227 0.9997701 0.1946517 ] [ 0. 0. 0. 1. ]] SLAMing on 86.899928851 meters Centerline goodness : 0.754452 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.19 [[ 0.99538258 -0.09495713 0.01402334 1.12802677] [ 0.09477961 0.99541566 0.01282506 -0.08841256] [-0.01517688 -0.01143672 0.99981942 0.19495416] [ 0. 0. 0. 1. ]] SLAMing on 86.959928851 meters Centerline goodness : 0.754936 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.20 [[ 0.99492625 -0.09955452 0.01451404 1.12738058] [ 0.09942971 0.99500313 0.00908347 -0.09213914] [-0.01534582 -0.00759425 0.99985341 0.19564181] [ 0. 0. 0. 1. ]] SLAMing on 87.019928851 meters Centerline goodness : 0.755240 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.20 [[ 0.994507 -0.1036018 0.01491605 1.12751759] [ 0.10353039 0.99461117 0.0054842 -0.09436907] [-0.01540385 -0.00390981 0.99987371 0.19559043] [ 0. 0. 0. 1. ]] SLAMing on 87.079928851 meters Centerline goodness : 0.753028 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.19 [[ 9.94201644e-01 -1.06510055e-01 1.47884739e-02 1.12951353e+00] [ 1.06490340e-01 9.94311484e-01 2.11648298e-03 -9.39244810e-02] [-1.49297762e-02 -5.29381235e-04 9.99888405e-01 1.94635596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.139928851 meters Centerline goodness : 0.754522 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.20 [[ 9.94110940e-01 -1.07305984e-01 1.51282563e-02 1.12763596e+00] [ 1.07288653e-01 9.94225992e-01 1.95491609e-03 -9.59971071e-02] [-1.52506798e-02 -3.20313236e-04 9.99883650e-01 1.96254028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.199928851 meters Centerline goodness : 0.757302 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.20 [[ 9.94102015e-01 -1.07370569e-01 1.52559926e-02 1.12689265e+00] [ 1.07353026e-01 9.94219020e-01 1.96657440e-03 -9.67406282e-02] [-1.53789502e-02 -3.17198606e-04 9.99881687e-01 1.97043899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.259928851 meters Centerline goodness : 0.758744 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.20 [[ 9.94088548e-01 -1.07466856e-01 1.54542326e-02 1.12602605e+00] [ 1.07448762e-01 9.94208614e-01 1.99882368e-03 -9.72570686e-02] [-1.55795385e-02 -3.26469584e-04 9.99878578e-01 1.97775689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319928851 meters Centerline goodness : 0.760527 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.20 [[ 0.99415776 -0.10684635 0.01530344 1.12707018] [ 0.10681234 0.9942746 0.00302497 -0.10062947] [-0.01553903 -0.0013727 0.99987832 0.19682805] [ 0. 0. 0. 1. ]] SLAMing on 87.379928851 meters Centerline goodness : 0.758452 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.20 [[ 0.99422912 -0.10620899 0.015103 1.12837079] [ 0.10616432 0.9943416 0.0037318 -0.10172315] [-0.0154139 -0.00210686 0.99987898 0.19566933] [ 0. 0. 0. 1. ]] SLAMing on 87.439928851 meters Centerline goodness : 0.766924 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 0.99431422 -0.1054767 0.01462499 1.12995451] [ 0.10542566 0.99441823 0.00422036 -0.10139074] [-0.01498851 -0.00265452 0.99988414 0.19486755] [ 0. 0. 0. 1. ]] SLAMing on 87.49992885099999 meters Centerline goodness : 0.756448 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 0.99438268 -0.10488274 0.01423684 1.13136562] [ 0.10482464 0.99447928 0.00476962 -0.10287017] [-0.01465849 -0.00325046 0.99988728 0.19418387] [ 0. 0. 0. 1. ]] SLAMing on 87.559928851 meters Centerline goodness : 0.758172 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 0.99437764 -0.10493403 0.01421106 1.13165238] [ 0.10487616 0.9944739 0.00476034 -0.10267259] [-0.01463205 -0.00324317 0.99988769 0.19382054] [ 0. 0. 0. 1. ]] SLAMing on 87.619928851 meters Centerline goodness : 0.758818 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 9.94085568e-01 -1.07710761e-01 1.38663449e-02 1.13400694e+00] [ 1.07706235e-01 9.94182182e-01 1.07496839e-03 -1.00813818e-01] [-1.39014587e-02 4.24881240e-04 9.99903280e-01 1.93154070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679928851 meters Centerline goodness : 0.758578 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 0.99352889 -0.11263276 0.01463547 1.13307991] [ 0.11268554 0.99362667 -0.00283024 -0.10286739] [-0.01422342 0.00446113 0.99988889 0.19321311] [ 0. 0. 0. 1. ]] SLAMing on 87.739928851 meters Centerline goodness : 0.760213 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 0.99308266 -0.116476 0.01483834 1.13371957] [ 0.11658199 0.99315988 -0.00648771 -0.10359923] [-0.01398119 0.00817272 0.99986886 0.19309704] [ 0. 0. 0. 1. ]] SLAMing on 87.799928851 meters Centerline goodness : 0.761132 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.19 [[ 0.99265516 -0.12004853 0.01496931 1.13464155] [ 0.12020573 0.9926978 -0.01008231 -0.10368697] [-0.01364963 0.01180765 0.99983712 0.19284868] [ 0. 0. 0. 1. ]] SLAMing on 87.859928851 meters Centerline goodness : 0.771250 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.11, Z:0.19 [[ 0.99262686 -0.12025871 0.01515799 1.13407246] [ 0.12041287 0.99267649 -0.00970192 -0.10555039] [-0.01388024 0.0114556 0.99983804 0.19300298] [ 0. 0. 0. 1. ]] SLAMing on 87.919928851 meters Centerline goodness : 0.761532 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.11, Z:0.19 [[ 0.99277925 -0.11906478 0.01459264 1.13592758] [ 0.11920431 0.99282809 -0.00909443 -0.1050384 ] [-0.01340516 0.01076827 0.99985216 0.19222399] [ 0. 0. 0. 1. ]] SLAMing on 87.979928851 meters Centerline goodness : 0.762122 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99289132 -0.11815931 0.01432513 1.13696161] [ 0.11828926 0.99294204 -0.00858853 -0.10478953] [-0.01320921 0.01022198 0.9998605 0.19173118] [ 0. 0. 0. 1. ]] SLAMing on 88.039928851 meters Centerline goodness : 0.760558 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99308224 -0.1165906 0.01393878 1.13897109] [ 0.11670518 0.9931367 -0.00770743 -0.10441995] [-0.0129445 0.00928084 0.99987314 0.19026178] [ 0. 0. 0. 1. ]] SLAMing on 88.099928851 meters Centerline goodness : 0.761179 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99322982 -0.11540697 0.01325728 1.14115542] [ 0.11550855 0.99328062 -0.00716842 -0.10291644] [-0.01234092 0.00865121 0.99988642 0.18920609] [ 0. 0. 0. 1. ]] SLAMing on 88.159928851 meters Centerline goodness : 0.760977 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99358341 -0.11234621 0.01305149 1.14294345] [ 0.11241585 0.99365 -0.00472822 -0.10205212] [-0.01243742 0.00616508 0.99990365 0.18733647] [ 0. 0. 0. 1. ]] SLAMing on 88.219928851 meters Centerline goodness : 0.760291 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99366124 -0.11170013 0.01266571 1.14406302] [ 0.11177042 0.99372157 -0.00498217 -0.09937994] [-0.01202968 0.00636624 0.99990737 0.18704518] [ 0. 0. 0. 1. ]] SLAMing on 88.279928851 meters Centerline goodness : 0.761224 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99367291 -0.1116313 0.01235296 1.14466132] [ 0.11170486 0.99372658 -0.00543213 -0.09699626] [-0.01166907 0.00677765 0.99990894 0.18708601] [ 0. 0. 0. 1. ]] SLAMing on 88.339928851 meters Centerline goodness : 0.761537 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99357947 -0.11243672 0.01256307 1.14424138] [ 0.11251629 0.99363286 -0.00581532 -0.09681595] [-0.01182923 0.00719153 0.99990417 0.18672647] [ 0. 0. 0. 1. ]] SLAMing on 88.399928851 meters Centerline goodness : 0.760358 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.19 [[ 0.99358541 -0.11238197 0.01258241 1.14467181] [ 0.11246013 0.99363998 -0.00568443 -0.09655811] [-0.01186356 0.00706298 0.99990468 0.18602833] [ 0. 0. 0. 1. ]] SLAMing on 88.459928851 meters Centerline goodness : 0.761529 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.09, Z:0.19 [[ 0.99354084 -0.11277379 0.01259676 1.14450253] [ 0.11286191 0.99358932 -0.00651585 -0.09248228] [-0.01178119 0.00789545 0.99989943 0.18593607] [ 0. 0. 0. 1. ]] SLAMing on 88.519928851 meters Centerline goodness : 0.761774 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.09, Z:0.19 [[ 0.99348069 -0.11327264 0.01286158 1.14377283] [ 0.11337037 0.99352714 -0.00714021 -0.09049561] [-0.01196954 0.00855178 0.99989179 0.18608348] [ 0. 0. 0. 1. ]] SLAMing on 88.579928851 meters Centerline goodness : 0.760801 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.09, Z:0.19 [[ 0.99342185 -0.11375056 0.01318468 1.14313461] [ 0.11385658 0.99346822 -0.007588 -0.08857114] [-0.01223542 0.00903925 0.99988429 0.18577151] [ 0. 0. 0. 1. ]] SLAMing on 88.639928851 meters Centerline goodness : 0.760529 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.09, Z:0.19 [[ 0.99340268 -0.11392112 0.01315661 1.14330297] [ 0.11403227 0.99344459 -0.00802997 -0.08584579] [-0.01215558 0.00947727 0.9998812 0.18538127] [ 0. 0. 0. 1. ]] SLAMing on 88.699928851 meters Centerline goodness : 0.760550 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.09, Z:0.18 [[ 0.99344385 -0.11358014 0.01299464 1.14462497] [ 0.11368587 0.99348685 -0.00770764 -0.08542588] [-0.01203457 0.00913442 0.99988586 0.1838096 ] [ 0. 0. 0. 1. ]] SLAMing on 88.759928851 meters Centerline goodness : 0.760769 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.99347318 -0.11334856 0.01277271 1.14523907] [ 0.11345316 0.99351286 -0.00778384 -0.08403288] [-0.01180756 0.00918214 0.99988813 0.18353477] [ 0. 0. 0. 1. ]] SLAMing on 88.819928851 meters Centerline goodness : 0.760313 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.99357009 -0.1125354 0.01242047 1.14624583] [ 0.11263456 0.99360746 -0.00759407 -0.08222352] [-0.01148647 0.00894422 0.99989403 0.18329896] [ 0. 0. 0. 1. ]] SLAMing on 88.879928851 meters Centerline goodness : 0.762305 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.99364168 -0.11193225 0.01214008 1.14714252] [ 0.11202341 0.99368015 -0.00710675 -0.08256813] [-0.01126788 0.00842153 0.99990105 0.1828825 ] [ 0. 0. 0. 1. ]] SLAMing on 88.939928851 meters Centerline goodness : 0.763325 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.9937078 -0.11137005 0.01189646 1.14762716] [ 0.11145646 0.99374562 -0.00686304 -0.08285273] [-0.01105772 0.00814579 0.99990568 0.18320821] [ 0. 0. 0. 1. ]] SLAMing on 88.99992885099999 meters Centerline goodness : 0.763077 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.99385589 -0.11008854 0.01144448 1.14928832] [ 0.11016356 0.99389449 -0.00614288 -0.08333521] [-0.01069835 0.0073659 0.99991564 0.18257438] [ 0. 0. 0. 1. ]] SLAMing on 89.059928851 meters Centerline goodness : 0.760150 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.9939705 -0.10909143 0.01103222 1.15082798] [ 0.10915632 0.99400961 -0.00545923 -0.08411362] [-0.01037058 0.00663055 0.99992424 0.18191144] [ 0. 0. 0. 1. ]] SLAMing on 89.119928851 meters Centerline goodness : 0.764051 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.9941759 -0.1072309 0.01076202 1.15205167] [ 0.1072859 0.99421725 -0.00466916 -0.08399918] [-0.01019911 0.00579658 0.99993119 0.18194834] [ 0. 0. 0. 1. ]] SLAMing on 89.179928851 meters Centerline goodness : 0.765882 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.99444924 -0.104682 0.01060129 1.15346945] [ 0.10472384 0.99449529 -0.00347005 -0.08375126] [-0.01017968 0.004561 0.99993778 0.18166745] [ 0. 0. 0. 1. ]] SLAMing on 89.239928851 meters Centerline goodness : 0.765652 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.18 [[ 0.99454129 -0.10384158 0.01022499 1.15437822] [ 0.10387927 0.99458468 -0.00322563 -0.08436948] [-0.00983466 0.00427019 0.99994252 0.18207564] [ 0. 0. 0. 1. ]] SLAMing on 89.299928851 meters Centerline goodness : 0.764082 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:0.18 [[ 0.99424105 -0.10669225 0.01007433 1.15652696] [ 0.10675828 0.99426531 -0.00625885 -0.08551241] [-0.00934879 0.00729833 0.99992966 0.18094403] [ 0. 0. 0. 1. ]] SLAMing on 89.359928851 meters Centerline goodness : 0.766703 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:0.18 [[ 0.99385291 -0.11025093 0.01005582 1.15785164] [ 0.11034515 0.99384934 -0.00935124 -0.08744446] [-0.00896299 0.01040336 0.99990571 0.18023023] [ 0. 0. 0. 1. ]] SLAMing on 89.419928851 meters Centerline goodness : 0.768452 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:0.18 [[ 0.99376284 -0.11105032 0.01016109 1.15705004] [ 0.11114572 0.99376003 -0.00936101 -0.09029572] [-0.00905814 0.01043199 0.99990456 0.18097637] [ 0. 0. 0. 1. ]] SLAMing on 89.479928851 meters Centerline goodness : 0.767763 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:0.18 [[ 0.99336727 -0.11453133 0.01019968 1.15814603] [ 0.11465423 0.99332792 -0.01241144 -0.09233539] [-0.00871013 0.01349855 0.99987095 0.18061519] [ 0. 0. 0. 1. ]] SLAMing on 89.539928851 meters Centerline goodness : 0.770754 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.10, Z:0.18 [[ 0.99296119 -0.11801071 0.01007747 1.16012558] [ 0.1181533 0.9928825 -0.01497135 -0.09556701] [-0.00823896 0.01605666 0.99983714 0.17908032] [ 0. 0. 0. 1. ]] SLAMing on 89.599928851 meters Centerline goodness : 0.770005 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.10, Z:0.18 [[ 0.99333595 -0.11522309 -0.00270553 1.15989522] [ 0.11518095 0.99326598 -0.01249185 -0.10205856] [ 0.00412666 0.01209698 0.99991831 0.1843145 ] [ 0. 0. 0. 1. ]] SLAMing on 89.659928851 meters Centerline goodness : 0.773752 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.19 [[ 0.99315349 -0.11678883 -0.0025531 1.15904216] [ 0.11674964 0.99308662 -0.01218569 -0.10533552] [ 0.00395861 0.01180419 0.99992249 0.18597002] [ 0. 0. 0. 1. ]] SLAMing on 89.719928851 meters Centerline goodness : 0.774966 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.19 [[ 0.99318405 -0.11652436 -0.00274293 1.15925437] [ 0.11648402 0.99312097 -0.01192551 -0.10557937] [ 0.00411367 0.01152471 0.99992513 0.18623893] [ 0. 0. 0. 1. ]] SLAMing on 89.779928851 meters Centerline goodness : 0.773634 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.10, Z:0.19 [[ 0.99322238 -0.11619068 -0.00300318 1.1601981 ] [ 0.11614737 0.99316038 -0.01192685 -0.10446959] [ 0.00436843 0.0114972 0.99992436 0.18577759] [ 0. 0. 0. 1. ]] SLAMing on 89.839928851 meters Centerline goodness : 0.773748 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.10, Z:0.19 [[ 0.99326106 -0.11585547 -0.00315986 1.16090708] [ 0.11581138 0.99320227 -0.01170351 -0.10382927] [ 0.0044943 0.01125869 0.99992652 0.18518859] [ 0. 0. 0. 1. ]] SLAMing on 89.899928851 meters Centerline goodness : 0.773816 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.10, Z:0.18 [[ 0.99322271 -0.11618337 -0.00317499 1.16132231] [ 0.11614064 0.99316783 -0.01135825 -0.10436098] [ 0.00447293 0.01091253 0.99993045 0.18415263] [ 0. 0. 0. 1. ]] SLAMing on 89.959928851 meters Centerline goodness : 0.774248 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 0.99257402 -0.12161932 0.00235606 1.17033144] [ 0.12162873 0.99256601 -0.00437907 -0.10466771] [-0.00180597 0.00463312 0.99998764 0.18005178] [ 0. 0. 0. 1. ]] SLAMing on 90.019928851 meters Centerline goodness : 0.774976 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 0.99213498 -0.12514968 0.00239748 1.17195907] [ 0.12516521 0.99210283 -0.00810199 -0.10382949] [-0.00136459 0.00833835 0.9999643 0.17908419] [ 0. 0. 0. 1. ]] SLAMing on 90.079928851 meters Centerline goodness : 0.774473 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 9.91617772e-01 -1.29179292e-01 2.62756183e-03 1.17235995e+00] [ 1.29202199e-01 9.91539690e-01 -1.24833813e-02 -1.01628744e-01] [-9.92737480e-04 1.27182296e-02 9.99918627e-01 1.79350679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.139928851 meters Centerline goodness : 0.774007 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 9.91541737e-01 -1.29758444e-01 2.78033615e-03 1.17158971e+00] [ 1.29783537e-01 9.91460498e-01 -1.27402943e-02 -1.01298983e-01] [-1.10343269e-03 1.29933754e-02 9.99914974e-01 1.79761742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.199928851 meters Centerline goodness : 0.774761 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 9.91527148e-01 -1.29870342e-01 2.75840861e-03 1.17149159e+00] [ 1.29895019e-01 9.91447332e-01 -1.26282146e-02 -1.02093538e-01] [-1.09478630e-03 1.28795212e-02 9.99916456e-01 1.80003325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.259928851 meters Centerline goodness : 0.772842 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 9.91531886e-01 -1.29834533e-01 2.74099543e-03 1.17145703e+00] [ 1.29858592e-01 9.91456631e-01 -1.22676133e-02 -1.03019097e-01] [-1.12481826e-03 1.25196715e-02 9.99920993e-01 1.80044887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319928851 meters Centerline goodness : 0.777688 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 9.91538363e-01 -1.29786911e-01 2.65204603e-03 1.17151096e+00] [ 1.29809519e-01 9.91466988e-01 -1.19457593e-02 -1.03924329e-01] [-1.07901290e-03 1.21889394e-02 9.99925130e-01 1.80166629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379928851 meters Centerline goodness : 0.774243 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.18 [[ 9.91589249e-01 -1.29401795e-01 2.43659690e-03 1.17257954e+00] [ 1.29421299e-01 9.91524345e-01 -1.13842361e-02 -1.04975239e-01] [-9.42804574e-04 1.16038336e-02 9.99932229e-01 1.79311175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439928851 meters Centerline goodness : 0.773500 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.18 [[ 9.91767952e-01 -1.28035822e-01 1.77699641e-03 1.17527327e+00] [ 1.28047442e-01 9.91713190e-01 -1.04307954e-02 -1.04047901e-01] [-4.26755305e-04 1.05724685e-02 9.99944019e-01 1.77400989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49992885099999 meters Centerline goodness : 0.771303 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.18 [[ 9.92128351e-01 -1.25219784e-01 1.15814801e-03 1.17800429e+00] [ 1.25225119e-01 9.92091049e-01 -8.60354569e-03 -1.02600472e-01] [-7.16541383e-05 8.68085082e-03 9.99962318e-01 1.75602614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.559928851 meters Centerline goodness : 0.773008 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.18 [[ 9.92294201e-01 -1.23901610e-01 7.81192048e-04 1.17923542e+00] [ 1.23903736e-01 9.92257094e-01 -8.58627414e-03 -1.00771286e-01] [ 2.88709839e-04 8.61690265e-03 9.99962832e-01 1.75712090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.619928851 meters Centerline goodness : 0.785393 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.18 [[ 9.92755734e-01 -1.20148398e-01 6.43888383e-04 1.17812824e+00] [ 1.20150112e-01 9.92743670e-01 -4.89456854e-03 -1.00307386e-01] [-5.11415482e-05 4.93647424e-03 9.99987814e-01 1.76222346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.679928851 meters Centerline goodness : 0.771249 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.17 [[ 9.92912989e-01 -1.18843546e-01 8.46073058e-05 1.18058353e+00] [ 1.18842819e-01 9.92903869e-01 -4.27689612e-03 -1.00054147e-01] [ 4.24274580e-04 4.25664068e-03 9.99990850e-01 1.74771621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739928851 meters Centerline goodness : 0.773586 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.17 [[ 9.92955014e-01 -1.18491934e-01 -3.44501095e-05 1.18108989e+00] [ 1.18490783e-01 9.92946564e-01 -4.12971968e-03 -9.92859044e-02] [ 5.23545591e-04 4.09654384e-03 9.99991472e-01 1.74406584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799928851 meters Centerline goodness : 0.771989 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.17 [[ 9.93038572e-01 -1.17789129e-01 -3.40879175e-04 1.18225879e+00] [ 1.17787142e-01 9.93032284e-01 -3.61563643e-03 -9.89027195e-02] [ 7.64386693e-04 3.55031525e-03 9.99993405e-01 1.73589481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859928851 meters Centerline goodness : 0.789226 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.17 [[ 9.92878220e-01 -1.19133165e-01 -3.59629316e-04 1.18459391e+00] [ 1.19129435e-01 9.92863651e-01 -5.47250523e-03 -9.85772294e-02] [ 1.00901975e-03 5.39068881e-03 9.99984961e-01 1.71973242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.919928851 meters Centerline goodness : 0.772312 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.17 [[ 9.92846307e-01 -1.19398152e-01 -5.40039475e-04 1.18470534e+00] [ 1.19393005e-01 9.92829910e-01 -5.83775174e-03 -9.80450576e-02] [ 1.23318411e-03 5.73151332e-03 9.99982814e-01 1.72400705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.979928851 meters Centerline goodness : 0.770887 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.17 [[ 9.92880836e-01 -1.19109497e-01 -7.57617677e-04 1.18509754e+00] [ 1.19102353e-01 9.92861676e-01 -6.34996449e-03 -9.55093465e-02] [ 1.50855063e-03 6.21452400e-03 9.99979552e-01 1.72720912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.039928851 meters Centerline goodness : 0.787365 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 9.92917524e-01 -1.18803490e-01 -7.22170746e-04 1.18500759e+00] [ 1.18795983e-01 9.92895779e-01 -6.74443120e-03 -9.34015969e-02] [ 1.51830225e-03 6.61087294e-03 9.99976995e-01 1.72973811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099928851 meters Centerline goodness : 0.772788 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 9.92930641e-01 -1.18692428e-01 -9.21634068e-04 1.18555554e+00] [ 1.18683553e-01 9.92909013e-01 -6.77539070e-03 -9.22047540e-02] [ 1.71928634e-03 6.61811023e-03 9.99976622e-01 1.72655972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159928851 meters Centerline goodness : 0.770190 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 9.92937916e-01 -1.18630769e-01 -1.01748046e-03 1.18611007e+00] [ 1.18621242e-01 9.92916384e-01 -6.78643541e-03 -9.14218953e-02] [ 1.81535307e-03 6.61781424e-03 9.99976454e-01 1.72097245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219928851 meters Centerline goodness : 0.772152 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 0.99294894 -0.11853594 -0.00127926 1.18698893] [ 0.11852484 0.99292839 -0.00671405 -0.09096402] [ 0.00206607 0.00651509 0.99997664 0.1715324 ] [ 0. 0. 0. 1. ]] SLAMing on 91.279928851 meters Centerline goodness : 0.772057 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 0.99292655 -0.11872224 -0.00137756 1.18737664] [ 0.11871078 0.99290705 -0.00658376 -0.09080668] [ 0.00214943 0.00637366 0.99997738 0.17098433] [ 0. 0. 0. 1. ]] SLAMing on 91.339928851 meters Centerline goodness : 0.771960 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 0.99293679 -0.11863399 -0.00158582 1.18842488] [ 0.11862118 0.99291769 -0.00659375 -0.08994318] [ 0.00235683 0.00635907 0.999977 0.17001102] [ 0. 0. 0. 1. ]] SLAMing on 91.399928851 meters Centerline goodness : 0.772123 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 0.99296543 -0.1183908 -0.00181126 1.18922313] [ 0.1183756 0.99294448 -0.00696289 -0.08780656] [ 0.00262282 0.0066995 0.99997412 0.16973281] [ 0. 0. 0. 1. ]] SLAMing on 91.459928851 meters Centerline goodness : 0.773321 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 0.9929629 -0.11841038 -0.00191211 1.18923251] [ 0.11839348 0.99293964 -0.00733821 -0.08605982] [ 0.00276753 0.00706019 0.99997125 0.17005267] [ 0. 0. 0. 1. ]] SLAMing on 91.519928851 meters Centerline goodness : 0.784788 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.17 [[ 0.99293959 -0.11860379 -0.00202553 1.18942491] [ 0.1185855 0.99291523 -0.00753829 -0.08548772] [ 0.00290525 0.00724487 0.99996954 0.17002255] [ 0. 0. 0. 1. ]] SLAMing on 91.579928851 meters Centerline goodness : 0.772467 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.08, Z:0.17 [[ 0.99252823 -0.12199951 -0.00195516 1.19035008] [ 0.12196917 0.99246661 -0.01155642 -0.08293516] [ 0.00335031 0.01123161 0.99993131 0.17004562] [ 0. 0. 0. 1. ]] SLAMing on 91.639928851 meters Centerline goodness : 0.775766 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.08, Z:0.17 [[ 0.99251275 -0.12212262 -0.00212413 1.19080939] [ 0.12208992 0.99245026 -0.01168452 -0.08199512] [ 0.00353504 0.0113377 0.99992948 0.16969453] [ 0. 0. 0. 1. ]] SLAMing on 91.699928851 meters Centerline goodness : 0.772761 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.08, Z:0.17 [[ 0.9924788 -0.12240173 -0.00190904 1.1904459 ] [ 0.12237093 0.99241376 -0.01184425 -0.08134183] [ 0.00334432 0.01152156 0.99992803 0.1693986 ] [ 0. 0. 0. 1. ]] SLAMing on 91.759928851 meters Centerline goodness : 0.773506 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.16 [[ 0.99256495 -0.12137792 0.00906747 1.19103858] [ 0.12145768 0.9925573 -0.0088335 -0.08514436] [-0.0079278 0.00986914 0.99991987 0.16191691] [ 0. 0. 0. 1. ]] SLAMing on 91.819928851 meters Centerline goodness : 0.770871 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.16 [[ 0.99254557 -0.1215308 0.00914102 1.19065327] [ 0.12161047 0.9925395 -0.00873101 -0.08612002] [-0.00801173 0.00977757 0.9999201 0.16225462] [ 0. 0. 0. 1. ]] SLAMing on 91.879928851 meters Centerline goodness : 0.769787 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.16 [[ 0.99256199 -0.1213954 0.00915707 1.19037683] [ 0.12147211 0.99255976 -0.00834537 -0.0874525 ] [-0.00807585 0.00939562 0.99992325 0.16266497] [ 0. 0. 0. 1. ]] SLAMing on 91.939928851 meters Centerline goodness : 0.770149 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.16 [[ 0.99258533 -0.12120397 0.00916289 1.19003613] [ 0.12127698 0.99258741 -0.0078819 -0.08970975] [-0.00813965 0.00893471 0.99992696 0.16329371] [ 0. 0. 0. 1. ]] SLAMing on 91.99992885099999 meters Centerline goodness : 0.772478 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.16 [[ 0.99263356 -0.12082324 0.00896451 1.19052574] [ 0.12088877 0.99264019 -0.00716679 -0.09227579] [-0.00803262 0.00819771 0.99993414 0.16333678] [ 0. 0. 0. 1. ]] SLAMing on 92.059928851 meters Centerline goodness : 0.774682 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.16 [[ 0.99271194 -0.120194 0.00874103 1.19147133] [ 0.12025065 0.99272376 -0.00627079 -0.09465824] [-0.00792372 0.00727621 0.99994213 0.16274027] [ 0. 0. 0. 1. ]] SLAMing on 92.119928851 meters Centerline goodness : 0.770912 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.16 [[ 0.99279681 -0.11951537 0.00840039 1.19253761] [ 0.11956203 0.99281265 -0.00528892 -0.09719877] [-0.0077079 0.00625519 0.99995073 0.16229703] [ 0. 0. 0. 1. ]] SLAMing on 92.179928851 meters Centerline goodness : 0.783647 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.16 [[ 0.99281472 -0.11936674 0.00839692 1.19264691] [ 0.11941004 0.99283314 -0.00485824 -0.09843289] [-0.00775683 0.00582601 0.99995294 0.16214202] [ 0. 0. 0. 1. ]] SLAMing on 92.239928851 meters Centerline goodness : 0.783947 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.16 [[ 0.99276997 -0.11973035 0.0085105 1.19207277] [ 0.11977021 0.99279216 -0.00433778 -0.10279312] [-0.0079298 0.00532572 0.99995438 0.16268818] [ 0. 0. 0. 1. ]] SLAMing on 92.299928851 meters Centerline goodness : 0.786936 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.16 [[ 0.99241549 -0.12264593 0.00833526 1.19364984] [ 0.12270722 0.99241616 -0.00728756 -0.104623 ] [-0.00737825 0.00825508 0.99993871 0.16264601] [ 0. 0. 0. 1. ]] SLAMing on 92.359928851 meters Centerline goodness : 0.788661 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.11, Z:0.16 [[ 0.99206221 -0.12547497 0.00828276 1.19504532] [ 0.12555466 0.99203705 -0.00992595 -0.10840631] [-0.00697134 0.0108871 0.99991643 0.16262415] [ 0. 0. 0. 1. ]] SLAMing on 92.419928851 meters Centerline goodness : 0.786717 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.11, Z:0.16 [[ 0.99207382 -0.12538997 0.0081788 1.19517168] [ 0.12546132 0.99205871 -0.00888665 -0.11353379] [-0.00699956 0.00984234 0.99992706 0.16285234] [ 0. 0. 0. 1. ]] SLAMing on 92.479928851 meters Centerline goodness : 0.775069 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.12, Z:0.16 [[ 0.992127 -0.12496366 0.00825248 1.19526405] [ 0.12502813 0.99212237 -0.00782085 -0.11684934] [-0.00721015 0.00879107 0.99993536 0.16263218] [ 0. 0. 0. 1. ]] SLAMing on 92.539928851 meters Centerline goodness : 0.787231 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:0.16 [[ 0.99190349 -0.12664016 0.00947287 1.19402488] [ 0.12673461 0.99188485 -0.01013865 -0.12022623] [-0.00811204 0.0112571 0.99990373 0.16278233] [ 0. 0. 0. 1. ]] SLAMing on 92.599928851 meters Centerline goodness : 0.787628 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.17 [[ 0.99269149 -0.12066428 -0.00193474 1.1919063 ] [ 0.12065422 0.99268361 -0.00467086 -0.13103609] [ 0.00248419 0.00440329 0.99998722 0.16612166] [ 0. 0. 0. 1. ]] SLAMing on 92.659928851 meters Centerline goodness : 0.780468 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.17 [[ 9.93489914e-01 -1.13254081e-01 -1.23006019e-02 1.18843110e+00] [ 1.13239031e-01 9.93565928e-01 -1.91541852e-03 -1.37622596e-01] [ 1.24383879e-02 5.10040737e-04 9.99922510e-01 1.71217736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719928851 meters Centerline goodness : 0.775092 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.18 [[ 0.99403018 -0.10650851 -0.02366305 1.1864581 ] [ 0.1065957 0.99429943 0.00245051 -0.14468561] [ 0.02326716 -0.00495826 0.99971699 0.17545211] [ 0. 0. 0. 1. ]] SLAMing on 92.779928851 meters Centerline goodness : 0.785620 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:0.18 [[ 0.99415134 -0.10556284 -0.0227946 1.18497298] [ 0.10564498 0.99440095 0.00242651 -0.14622975] [ 0.02241082 -0.00482046 0.99973722 0.17525762] [ 0. 0. 0. 1. ]] SLAMing on 92.839928851 meters Centerline goodness : 0.786709 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:0.18 [[ 0.9945286 -0.09864394 -0.03438373 1.18301906] [ 0.09898339 0.99505439 0.00830994 -0.15308378] [ 0.03339396 -0.01166789 0.99937416 0.17981428] [ 0. 0. 0. 1. ]] SLAMing on 92.899928851 meters Centerline goodness : 0.775223 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:0.18 [[ 0.99451833 -0.09888099 -0.03399764 1.18263353] [ 0.09923501 0.99502436 0.00888415 -0.15616451] [ 0.03295 -0.0122092 0.99938243 0.17990759] [ 0. 0. 0. 1. ]] SLAMing on 92.959928851 meters Centerline goodness : 0.786463 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:0.18 [[ 0.99421611 -0.10208401 -0.03336434 1.18243298] [ 0.10231098 0.99473906 0.00516312 -0.15642458] [ 0.03266174 -0.0085468 0.99942992 0.17966798] [ 0. 0. 0. 1. ]] SLAMing on 93.019928851 meters Centerline goodness : 0.785571 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:0.18 [[ 0.99410659 -0.09791666 -0.0465233 1.18281781] [ 0.09852628 0.99507375 0.01099072 -0.1642289 ] [ 0.04521794 -0.01550972 0.99885674 0.18461923] [ 0. 0. 0. 1. ]] SLAMing on 93.079928851 meters Centerline goodness : 0.787348 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.17, Z:0.18 [[ 0.99392386 -0.09928054 -0.04752624 1.18540092] [ 0.09994622 0.99492245 0.01183556 -0.16679737] [ 0.04610988 -0.01651372 0.99879987 0.18436707] [ 0. 0. 0. 1. ]] SLAMing on 93.139928851 meters Centerline goodness : 0.785374 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.17, Z:0.19 [[ 0.99378948 -0.10034833 -0.04809029 1.18610981] [ 0.10101931 0.99481537 0.01172511 -0.16682028] [ 0.04666436 -0.01651034 0.99877417 0.18509785] [ 0. 0. 0. 1. ]] SLAMing on 93.199928851 meters Centerline goodness : 0.784486 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.17, Z:0.19 [[ 0.99368087 -0.10100756 -0.04894686 1.18741597] [ 0.10172579 0.99473513 0.01240541 -0.16713184] [ 0.04743612 -0.01730617 0.99872434 0.18577308] [ 0. 0. 0. 1. ]] SLAMing on 93.259928851 meters Centerline goodness : 0.783248 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.16, Z:0.19 [[ 0.99357811 -0.10164088 -0.04971594 1.1887724 ] [ 0.10235241 0.99467612 0.01197526 -0.1646462 ] [ 0.04823408 -0.0169869 0.9986916 0.18571462] [ 0. 0. 0. 1. ]] SLAMing on 93.319928851 meters Centerline goodness : 0.781791 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.16, Z:0.19 [[ 0.99377495 -0.09912496 -0.0508487 1.18987574] [ 0.10000787 0.9948718 0.0151173 -0.162893 ] [ 0.04908944 -0.02010846 0.99859195 0.18603416] [ 0. 0. 0. 1. ]] SLAMing on 93.379928851 meters Centerline goodness : 0.782319 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.16, Z:0.19 [[ 0.99411014 -0.09551738 -0.05120026 1.18984392] [ 0.09653034 0.99517292 0.01768497 -0.15963981] [ 0.04926389 -0.02252318 0.99853181 0.18541858] [ 0. 0. 0. 1. ]] SLAMing on 93.439928851 meters Centerline goodness : 0.785165 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.16, Z:0.18 [[ 0.99439562 -0.09211753 -0.05188178 1.19124836] [ 0.09327968 0.99543016 0.02043771 -0.15750611] [ 0.04976201 -0.02516268 0.99844408 0.18405166] [ 0. 0. 0. 1. ]] SLAMing on 93.49992885099999 meters Centerline goodness : 0.783124 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:0.18 [[ 0.99456711 -0.08994755 -0.05239951 1.19082055] [ 0.09122445 0.99557605 0.02250408 -0.15396466] [ 0.05014351 -0.02716193 0.9983726 0.18474932] [ 0. 0. 0. 1. ]] SLAMing on 93.559928851 meters Centerline goodness : 0.783419 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:0.18 [[ 0.99451382 -0.09052214 -0.05242132 1.1906909 ] [ 0.09174294 0.9955535 0.02136516 -0.15087161] [ 0.05025421 -0.02605723 0.99839648 0.18496443] [ 0. 0. 0. 1. ]] SLAMing on 93.619928851 meters Centerline goodness : 0.785076 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:0.18 [[ 0.99447904 -0.09093687 -0.05236342 1.19072532] [ 0.09211838 0.99553484 0.02060555 -0.14851283] [ 0.05025581 -0.02531542 0.99841549 0.18476691] [ 0. 0. 0. 1. ]] SLAMing on 93.679928851 meters Centerline goodness : 0.785476 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:0.18 [[ 0.99442458 -0.09153902 -0.05234848 1.19080229] [ 0.09266937 0.99550432 0.01958421 -0.14524339] [ 0.05032041 -0.02432612 0.99843683 0.18458079] [ 0. 0. 0. 1. ]] SLAMing on 93.739928851 meters Centerline goodness : 0.789660 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.18 [[ 0.99440488 -0.09165149 -0.05252561 1.19181652] [ 0.09274854 0.99551133 0.01883855 -0.14195812] [ 0.05056326 -0.02360482 0.99844187 0.18378556] [ 0. 0. 0. 1. ]] SLAMing on 93.799928851 meters Centerline goodness : 0.786379 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.18 [[ 0.99434584 -0.09231625 -0.05247923 1.19131049] [ 0.0933481 0.99547871 0.01755792 -0.13870004] [ 0.05062108 -0.02235748 0.99846765 0.1843541 ] [ 0. 0. 0. 1. ]] SLAMing on 93.859928851 meters Centerline goodness : 0.784019 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.18 [[ 0.99428818 -0.09295303 -0.05244754 1.19080298] [ 0.09393555 0.99544013 0.01658484 -0.1364013 ] [ 0.05066678 -0.02141679 0.99848595 0.18491635] [ 0. 0. 0. 1. ]] SLAMing on 93.919928851 meters Centerline goodness : 0.785357 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.99426896 -0.09307856 -0.05258906 1.19085925] [ 0.09402191 0.99544549 0.01575302 -0.13421761] [ 0.05088328 -0.02060726 0.99849198 0.18541334] [ 0. 0. 0. 1. ]] SLAMing on 93.979928851 meters Centerline goodness : 0.771062 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.99425867 -0.09317788 -0.0526077 1.19066201] [ 0.0940735 0.99545513 0.01480756 -0.13132403] [ 0.05098887 -0.01967153 0.99850547 0.18601821] [ 0. 0. 0. 1. ]] SLAMing on 94.039928851 meters Centerline goodness : 0.787024 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.9942766 -0.09292894 -0.05270924 1.19085942] [ 0.09381632 0.99548227 0.01461337 -0.13029542] [ 0.05111311 -0.01947472 0.99850297 0.18620907] [ 0. 0. 0. 1. ]] SLAMing on 94.099928851 meters Centerline goodness : 0.769581 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.99407264 -0.0951555 -0.05258342 1.19238402] [ 0.09588348 0.9953262 0.01149381 -0.12889589] [ 0.05124396 -0.01646756 0.99855039 0.18568035] [ 0. 0. 0. 1. ]] SLAMing on 94.159928851 meters Centerline goodness : 0.786089 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.9940706 -0.09510369 -0.0527156 1.19248678] [ 0.09583352 0.99533107 0.01148868 -0.1295656 ] [ 0.05137686 -0.01647248 0.99854348 0.18610931] [ 0. 0. 0. 1. ]] SLAMing on 94.219928851 meters Centerline goodness : 0.784992 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.99388916 -0.09708727 -0.05252053 1.19370222] [ 0.0976787 0.99517903 0.00880769 -0.12971519] [ 0.05141222 -0.013884 0.998581 0.18578415] [ 0. 0. 0. 1. ]] SLAMing on 94.279928851 meters Centerline goodness : 0.786260 with order 3 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.99389299 -0.09704757 -0.05252142 1.19396627] [ 0.0976648 0.99517582 0.00930978 -0.13215604] [ 0.05136456 -0.01438242 0.9985764 0.18547097] [ 0. 0. 0. 1. ]] SLAMing on 94.339928851 meters Centerline goodness : 0.786676 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.9936027 -0.09997935 -0.05251472 1.19578142] [ 0.10042799 0.99492643 0.00596849 -0.13220018] [ 0.05165156 -0.01120426 0.99860231 0.18480821] [ 0. 0. 0. 1. ]] SLAMing on 94.399928851 meters Centerline goodness : 0.767620 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:0.19 [[ 0.99353067 -0.10076914 -0.05236782 1.19465779] [ 0.10119353 0.9948515 0.00550986 -0.13260874] [ 0.05154298 -0.0107735 0.99861266 0.18578577] [ 0. 0. 0. 1. ]] SLAMing on 94.459928851 meters Centerline goodness : 0.766827 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.19 [[ 0.99320696 -0.10401153 -0.05216829 1.19575201] [ 0.10424611 0.99454992 0.00178845 -0.13089741] [ 0.05169795 -0.00721464 0.99863671 0.18531045] [ 0. 0. 0. 1. ]] SLAMing on 94.519928851 meters Centerline goodness : 0.783182 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99319175 -0.10412349 -0.05223444 1.19615057] [ 0.10434117 0.99454051 0.00145038 -0.1294737 ] [ 0.05179825 -0.00689071 0.9986338 0.18494273] [ 0. 0. 0. 1. ]] SLAMing on 94.579928851 meters Centerline goodness : 0.779615 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.19 [[ 9.93173671e-01 -1.04278481e-01 -5.22690882e-02 1.19600532e+00] [ 1.04463807e-01 9.94528352e-01 8.18775946e-04 -1.28125640e-01] [ 5.18977094e-02 -6.27341466e-03 9.98632701e-01 1.85459939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.639928851 meters Centerline goodness : 0.778526 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.19 [[ 9.93171825e-01 -1.04344227e-01 -5.21728628e-02 1.19513887e+00] [ 1.04474799e-01 9.94527509e-01 -2.25737921e-04 -1.25489614e-01] [ 5.19109017e-02 -5.22655279e-03 9.98638043e-01 1.86854974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.699928851 meters Centerline goodness : 0.779086 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.12, Z:0.19 [[ 9.93224921e-01 -1.03675570e-01 -5.24941265e-02 1.19588334e+00] [ 1.03790791e-01 9.94599008e-01 -5.33756454e-04 -1.23226760e-01] [ 5.22659436e-02 -4.91826670e-03 9.98621090e-01 1.87217630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.759928851 meters Centerline goodness : 0.777010 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.12, Z:0.19 [[ 9.93260012e-01 -1.03246345e-01 -5.26758015e-02 1.19674562e+00] [ 1.03379422e-01 9.94641973e-01 -1.99373075e-04 -1.23948933e-01] [ 5.24141477e-02 -5.24756461e-03 9.98611646e-01 1.86786345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819928851 meters Centerline goodness : 0.778334 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.12, Z:0.19 [[ 0.99295095 -0.10598965 -0.05305285 1.19933645] [ 0.10596185 0.99436457 -0.00334445 -0.12392036] [ 0.05310835 -0.00230071 0.99858611 0.18602487] [ 0. 0. 0. 1. ]] SLAMing on 94.879928851 meters Centerline goodness : 0.780196 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.12, Z:0.19 [[ 9.92598683e-01 -1.09206888e-01 -5.31197667e-02 1.20114274e+00] [ 1.09016347e-01 9.94018835e-01 -6.48010192e-03 -1.24209538e-01] [ 5.35097204e-02 6.41217716e-04 9.98567123e-01 1.85172691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939928851 meters Centerline goodness : 0.781544 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99219792 -0.1128131 -0.05307063 1.2026911 ] [ 0.11246351 0.99361008 -0.00953762 -0.12605142] [ 0.05380749 0.00349469 0.99854521 0.18424531] [ 0. 0. 0. 1. ]] SLAMing on 94.99992885099999 meters Centerline goodness : 0.767909 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99178554 -0.11636897 -0.05310085 1.203979 ] [ 0.11583112 0.99318244 -0.013107 -0.1260884 ] [ 0.05426408 0.0068486 0.99850313 0.18411869] [ 0. 0. 0. 1. ]] SLAMing on 95.059928851 meters Centerline goodness : 0.784451 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99176023 -0.11651216 -0.05325946 1.20390835] [ 0.11597386 0.99316589 -0.01309892 -0.1265801 ] [ 0.05442166 0.00681429 0.99849479 0.18461827] [ 0. 0. 0. 1. ]] SLAMing on 95.119928851 meters Centerline goodness : 0.783608 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99177677 -0.11625693 -0.05350862 1.2045808 ] [ 0.11571587 0.99319581 -0.01311165 -0.1259758 ] [ 0.05466885 0.00681204 0.9984813 0.18451659] [ 0. 0. 0. 1. ]] SLAMing on 95.179928851 meters Centerline goodness : 0.785473 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99176896 -0.11628023 -0.05360253 1.20465661] [ 0.11572745 0.99319177 -0.01331428 -0.1253677 ] [ 0.05478578 0.0070014 0.99847358 0.18475558] [ 0. 0. 0. 1. ]] SLAMing on 95.239928851 meters Centerline goodness : 0.786799 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99173199 -0.11664159 -0.05350136 1.20430546] [ 0.11608133 0.99314833 -0.01347321 -0.12608104] [ 0.05470632 0.00715131 0.99847688 0.18496537] [ 0. 0. 0. 1. ]] SLAMing on 95.299928851 meters Centerline goodness : 0.772906 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:0.18 [[ 0.99173784 -0.11662851 -0.05342148 1.20441193] [ 0.11608171 0.99315146 -0.01323708 -0.12662682] [ 0.05459944 0.00692646 0.99848431 0.18452476] [ 0. 0. 0. 1. ]] SLAMing on 95.359928851 meters Centerline goodness : 0.790404 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.13, Z:0.18 [[ 0.9917889 -0.11603739 -0.05375971 1.20566426] [ 0.11550992 0.9932235 -0.0128274 -0.12622184] [ 0.05488386 0.00651229 0.99847151 0.18384587] [ 0. 0. 0. 1. ]] SLAMing on 95.419928851 meters Centerline goodness : 0.775402 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.12, Z:0.18 [[ 0.99186949 -0.11513579 -0.05420945 1.2072909 ] [ 0.11461729 0.99332995 -0.01258896 -0.12484406] [ 0.05529731 0.00627326 0.99845023 0.18321165] [ 0. 0. 0. 1. ]] SLAMing on 95.479928851 meters Centerline goodness : 0.790280 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.12, Z:0.18 [[ 0.9923056 -0.11110045 -0.05464694 1.20736387] [ 0.11076096 0.99380438 -0.00921177 -0.12274418] [ 0.0553318 0.00308814 0.99846325 0.1830952 ] [ 0. 0. 0. 1. ]] SLAMing on 95.539928851 meters Centerline goodness : 0.792338 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.12, Z:0.18 [[ 9.92689573e-01 -1.07554061e-01 -5.47680250e-02 1.20677957e+00] [ 1.07355272e-01 9.94199032e-01 -6.56741015e-03 -1.18745664e-01] [ 5.51566691e-02 6.39763361e-04 9.98477507e-01 1.83049269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599928851 meters Centerline goodness : 0.792782 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.12, Z:0.18 [[ 0.99269909 -0.10729398 -0.05510464 1.20789181] [ 0.10705371 0.99422642 -0.0073022 -0.11517824] [ 0.05556997 0.00134973 0.99845388 0.1828104 ] [ 0. 0. 0. 1. ]] SLAMing on 95.659928851 meters Centerline goodness : 0.769392 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.18 [[ 0.99271754 -0.10702169 -0.05530133 1.20927088] [ 0.10673413 0.99425431 -0.00813604 -0.11015087] [ 0.05585432 0.00217425 0.99843656 0.1818234 ] [ 0. 0. 0. 1. ]] SLAMing on 95.719928851 meters Centerline goodness : 0.769808 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.18 [[ 0.99269215 -0.10721168 -0.05538907 1.2098256 ] [ 0.10687512 0.99423161 -0.00901172 -0.10500698] [ 0.05603572 0.00302615 0.99842418 0.18122958] [ 0. 0. 0. 1. ]] SLAMing on 95.779928851 meters Centerline goodness : 0.769677 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.10, Z:0.18 [[ 0.99265181 -0.1075396 -0.05547621 1.21018652] [ 0.10713982 0.99419226 -0.01013944 -0.10058418] [ 0.05624441 0.00412122 0.99840852 0.18111629] [ 0. 0. 0. 1. ]] SLAMing on 95.839928851 meters Centerline goodness : 0.771987 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.10, Z:0.18 [[ 0.99264826 -0.10750208 -0.05561229 1.21082877] [ 0.10705695 0.9941928 -0.01093104 -0.0956546 ] [ 0.05646445 0.00489699 0.9983926 0.18064233] [ 0. 0. 0. 1. ]] SLAMing on 95.899928851 meters Centerline goodness : 0.770220 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.18 [[ 0.99263869 -0.10750451 -0.05577815 1.21149552] [ 0.10703622 0.99419062 -0.01132485 -0.09311449] [ 0.05667159 0.0052712 0.99837896 0.18018881] [ 0. 0. 0. 1. ]] SLAMing on 95.959928851 meters Centerline goodness : 0.790799 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.18 [[ 0.99259899 -0.10797485 -0.05557584 1.21141315] [ 0.10747 0.99413587 -0.01200267 -0.09048306] [ 0.05654592 0.0059411 0.99838232 0.17963966] [ 0. 0. 0. 1. ]] SLAMing on 96.019928851 meters Centerline goodness : 0.773755 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.17 [[ 0.99341355 -0.10686776 -0.04133754 1.21136531] [ 0.10663371 0.99426752 -0.00783239 -0.09034242] [ 0.0419376 0.00337282 0.99911454 0.17265809] [ 0. 0. 0. 1. ]] SLAMing on 96.079928851 meters Centerline goodness : 0.789123 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.17 [[ 9.94018495e-01 -1.05773789e-01 -2.71870638e-02 1.21090089e+00] [ 1.05703177e-01 9.94389579e-01 -4.02547521e-03 -8.91520575e-02] [ 2.74603227e-02 1.12763780e-03 9.99622258e-01 1.65516075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.139928851 meters Centerline goodness : 0.788152 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.17 [[ 0.99397174 -0.1062689 -0.02696484 1.21037097] [ 0.10618433 0.99433604 -0.00455283 -0.08728638] [ 0.02729593 0.00166214 0.99962601 0.16535824] [ 0. 0. 0. 1. ]] SLAMing on 96.199928851 meters Centerline goodness : 0.791411 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:0.16 [[ 0.99391235 -0.10691403 -0.0266014 1.20980567] [ 0.10681017 0.99426531 -0.00529909 -0.08400461] [ 0.02701539 0.00242553 0.99963207 0.16475274] [ 0. 0. 0. 1. ]] SLAMing on 96.259928851 meters Centerline goodness : 0.783690 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:0.16 [[ 0.99384584 -0.10758494 -0.02638031 1.20962124] [ 0.10746421 0.99419111 -0.00595654 -0.08144499] [ 0.0268679 0.00308494 0.99963423 0.16402629] [ 0. 0. 0. 1. ]] SLAMing on 96.319928851 meters Centerline goodness : 0.782505 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:0.16 [[ 0.99376315 -0.10845047 -0.02594813 1.208506 ] [ 0.1083123 0.9940945 -0.00667649 -0.08032355] [ 0.02651896 0.00382435 0.999641 0.1640828 ] [ 0. 0. 0. 1. ]] SLAMing on 96.379928851 meters Centerline goodness : 0.786948 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:0.16 [[ 0.99368754 -0.10921366 -0.02564072 1.20754812] [ 0.10905689 0.99400767 -0.0074392 -0.07809596] [ 0.02629953 0.00459594 0.99964354 0.16425205] [ 0. 0. 0. 1. ]] SLAMing on 96.439928851 meters Centerline goodness : 0.787422 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:0.16 [[ 0.99356017 -0.11046819 -0.02519843 1.20589827] [ 0.11030855 0.993868 -0.00764377 -0.07964105] [ 0.0258883 0.00481494 0.99965325 0.1646471 ] [ 0. 0. 0. 1. ]] SLAMing on 96.49992885099999 meters Centerline goodness : 0.781812 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:0.16 [[ 0.99349503 -0.1111254 -0.02487524 1.20501602] [ 0.11097464 0.99379594 -0.00736576 -0.08156335] [ 0.02553943 0.00455733 0.99966343 0.16446351] [ 0. 0. 0. 1. ]] SLAMing on 96.559928851 meters Centerline goodness : 0.781985 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.08, Z:0.16 [[ 0.99339687 -0.11208789 -0.02447365 1.20349183] [ 0.11194373 0.99368855 -0.00718765 -0.08392214] [ 0.02512484 0.00440052 0.99967464 0.16481789] [ 0. 0. 0. 1. ]] SLAMing on 96.619928851 meters Centerline goodness : 0.777753 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.16 [[ 0.99304413 -0.1151228 -0.02470002 1.20550089] [ 0.1148979 0.99332345 -0.01034381 -0.08550213] [ 0.02572592 0.00743388 0.99964139 0.16446019] [ 0. 0. 0. 1. ]] SLAMing on 96.679928851 meters Centerline goodness : 0.779477 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.16 [[ 0.99313396 -0.11425645 -0.02510774 1.20693282] [ 0.11404913 0.99342926 -0.00954445 -0.08738793] [ 0.02603328 0.0066154 0.99963919 0.16394773] [ 0. 0. 0. 1. ]] SLAMing on 96.739928851 meters Centerline goodness : 0.774760 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.16 [[ 0.99320939 -0.11353305 -0.02540365 1.20736105] [ 0.11332965 0.99351379 -0.0093129 -0.08839815] [ 0.0262962 0.00637067 0.9996339 0.16472708] [ 0. 0. 0. 1. ]] SLAMing on 96.799928851 meters Centerline goodness : 0.776238 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.16 [[ 0.99331461 -0.11249843 -0.02588814 1.20882201] [ 0.11230952 0.99363568 -0.00864366 -0.08959444] [ 0.02669577 0.00567839 0.99962748 0.16450638] [ 0. 0. 0. 1. ]] SLAMing on 96.859928851 meters Centerline goodness : 0.770986 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.16 [[ 0.99337198 -0.11193439 -0.02613061 1.20964727] [ 0.1117572 0.99370212 -0.00815016 -0.09062695] [ 0.02687833 0.00517586 0.99962531 0.16422958] [ 0. 0. 0. 1. ]] SLAMing on 96.919928851 meters Centerline goodness : 0.771945 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.09, Z:0.16 [[ 0.9934298 -0.11137412 -0.02632553 1.21040681] [ 0.11121692 0.99376885 -0.00736634 -0.09334043] [ 0.02698191 0.00439009 0.99962628 0.16395554] [ 0. 0. 0. 1. ]] SLAMing on 96.979928851 meters Centerline goodness : 0.766498 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.10, Z:0.16 [[ 0.99346428 -0.11102914 -0.02648134 1.21110087] [ 0.1108925 0.99381063 -0.00657853 -0.09649802] [ 0.02704785 0.00359896 0.99962766 0.16356451] [ 0. 0. 0. 1. ]] SLAMing on 97.039928851 meters Centerline goodness : 0.767333 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.10, Z:0.16 [[ 0.99342714 -0.11141064 -0.02627143 1.2102374 ] [ 0.11128576 0.99376927 -0.00617328 -0.09992547] [ 0.02679551 0.00320906 0.99963578 0.16407232] [ 0. 0. 0. 1. ]] SLAMing on 97.099928851 meters Centerline goodness : 0.764791 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.10, Z:0.16 [[ 0.99346802 -0.11100527 -0.02644083 1.21073903] [ 0.11090929 0.99381758 -0.00507389 -0.10421151] [ 0.02684059 0.00210821 0.9996375 0.16392337] [ 0. 0. 0. 1. ]] SLAMing on 97.159928851 meters Centerline goodness : 0.764824 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.16 [[ 0.9935105 -0.11055897 -0.02671338 1.21143449] [ 0.11048128 0.99386859 -0.00437157 -0.10654036] [ 0.02703291 0.00139187 0.99963358 0.16389504] [ 0. 0. 0. 1. ]] SLAMing on 97.219928851 meters Centerline goodness : 0.765242 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.17 [[ 9.93528512e-01 -1.10423431e-01 -2.66037745e-02 1.21037239e+00] [ 1.10358199e-01 9.93884179e-01 -3.91235156e-03 -1.09577092e-01] [ 2.68730858e-02 9.51088183e-04 9.99638401e-01 1.65272840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.279928851 meters Centerline goodness : 0.763067 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.16 [[ 9.93607086e-01 -1.09638926e-01 -2.69121528e-02 1.21143692e+00] [ 1.09599221e-01 9.93971481e-01 -2.95046884e-03 -1.12583349e-01] [ 2.70733986e-02 -1.79442349e-05 9.99633448e-01 1.64990988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.339928851 meters Centerline goodness : 0.761700 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.16 [[ 9.93716515e-01 -1.08531107e-01 -2.73584849e-02 1.21320419e+00] [ 1.08510550e-01 9.94092775e-01 -2.23930636e-03 -1.13363094e-01] [ 2.74399066e-02 -7.43448524e-04 9.99623178e-01 1.64255852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.399928851 meters Centerline goodness : 0.761523 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:0.16 [[ 9.93801231e-01 -1.07641507e-01 -2.77924131e-02 1.21464849e+00] [ 1.07631464e-01 9.94189118e-01 -1.86142196e-03 -1.13743857e-01] [ 2.78312809e-02 -1.14145469e-03 9.99611983e-01 1.63965864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459928851 meters Centerline goodness : 0.760224 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:0.16 [[ 9.93995096e-01 -1.05727900e-01 -2.82021178e-02 1.21660697e+00] [ 1.05738521e-01 9.94393340e-01 -1.11862353e-03 -1.13050546e-01] [ 2.81622678e-02 -1.87014393e-03 9.99601615e-01 1.63258299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519928851 meters Centerline goodness : 0.758574 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:0.16 [[ 9.94200663e-01 -1.03747218e-01 -2.83117645e-02 1.21779154e+00] [ 1.03773797e-01 9.94600782e-01 -5.32876635e-04 -1.11757932e-01] [ 2.82141875e-02 -2.40823299e-03 9.99599000e-01 1.62957586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579928851 meters Centerline goodness : 0.758525 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:0.16 [[ 9.94330662e-01 -1.02322948e-01 -2.89231464e-02 1.21976717e+00] [ 1.02349838e-01 9.94748312e-01 -5.53098426e-04 -1.09671374e-01] [ 2.88278457e-02 -2.41031662e-03 9.99581485e-01 1.62880529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.639928851 meters Centerline goodness : 0.758784 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:0.16 [[ 9.94331310e-01 -1.02336607e-01 -2.88524802e-02 1.21945337e+00] [ 1.02363158e-01 9.94746938e-01 -5.59182970e-04 -1.10327636e-01] [ 2.87581412e-02 -2.39741784e-03 9.99583524e-01 1.63268929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.699928851 meters Centerline goodness : 0.760589 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:0.16 [[ 9.94004368e-01 -1.05465263e-01 -2.88512612e-02 1.22109367e+00] [ 1.05398789e-01 9.94422701e-01 -3.81941492e-03 -1.11599254e-01] [ 2.90931647e-02 7.55627132e-04 9.99576419e-01 1.62676859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.759928851 meters Centerline goodness : 0.760600 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:0.16 [[ 0.99367067 -0.10849752 -0.02910145 1.22334325] [ 0.10834428 0.9940902 -0.00679645 -0.11247751] [ 0.02966687 0.00360046 0.99955336 0.16175302] [ 0. 0. 0. 1. ]] SLAMing on 97.819928851 meters Centerline goodness : 0.758793 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99335389 -0.11130213 -0.02932386 1.22560863] [ 0.11106329 0.99376642 -0.00965663 -0.1136494 ] [ 0.03021587 0.00633565 0.99952332 0.16082407] [ 0. 0. 0. 1. ]] SLAMing on 97.879928851 meters Centerline goodness : 0.759318 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99310343 -0.1134312 -0.02964706 1.22831505] [ 0.11310662 0.99350535 -0.01241054 -0.11354641] [ 0.03086226 0.00897167 0.99948338 0.15984051] [ 0. 0. 0. 1. ]] SLAMing on 97.939928851 meters Centerline goodness : 0.760694 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99309779 -0.11344173 -0.02979518 1.22853183] [ 0.11312427 0.9935067 -0.01213824 -0.11436522] [ 0.0309787 0.0086839 0.99948232 0.15985273] [ 0. 0. 0. 1. ]] SLAMing on 97.99992885099999 meters Centerline goodness : 0.757996 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99307935 -0.11355521 -0.02997691 1.22884908] [ 0.11323645 0.99349401 -0.01213063 -0.11481141] [ 0.03115938 0.0086522 0.99947698 0.15989043] [ 0. 0. 0. 1. ]] SLAMing on 98.059928851 meters Centerline goodness : 0.760130 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:0.16 [[ 0.99307107 -0.11356533 -0.03021195 1.22953962] [ 0.11324635 0.99349358 -0.01207317 -0.11512791] [ 0.03138647 0.00856812 0.9994706 0.15955701] [ 0. 0. 0. 1. ]] SLAMing on 98.119928851 meters Centerline goodness : 0.761880 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99303051 -0.11393652 -0.03014759 1.22930699] [ 0.1136051 0.99344744 -0.0124922 -0.1135607 ] [ 0.03137336 0.00898022 0.99946739 0.1595508 ] [ 0. 0. 0. 1. ]] SLAMing on 98.179928851 meters Centerline goodness : 0.761836 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99302474 -0.11393984 -0.03032446 1.22974113] [ 0.11360727 0.99344737 -0.01247862 -0.1134077 ] [ 0.03154756 0.0089465 0.99946221 0.15941431] [ 0. 0. 0. 1. ]] SLAMing on 98.239928851 meters Centerline goodness : 0.761005 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99302547 -0.11389006 -0.03048728 1.23043652] [ 0.11355032 0.99345161 -0.01265766 -0.11176122] [ 0.03172922 0.00910754 0.99945501 0.15886707] [ 0. 0. 0. 1. ]] SLAMing on 98.299928851 meters Centerline goodness : 0.759478 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99304529 -0.11364294 -0.03076244 1.23105655] [ 0.11328738 0.99347629 -0.01307003 -0.10885644] [ 0.03204707 0.00949413 0.99944127 0.15887642] [ 0. 0. 0. 1. ]] SLAMing on 98.359928851 meters Centerline goodness : 0.759692 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.9931406 -0.11274082 -0.03100428 1.23231575] [ 0.11237773 0.99357762 -0.01321988 -0.10533464] [ 0.03229558 0.00964501 0.99943182 0.15817652] [ 0. 0. 0. 1. ]] SLAMing on 98.419928851 meters Centerline goodness : 0.760192 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:0.16 [[ 0.99352562 -0.10925251 -0.03115654 1.23178283] [ 0.10901114 0.99399657 -0.00934814 -0.10517531] [ 0.0319908 0.0058912 0.9994708 0.15759071] [ 0. 0. 0. 1. ]] SLAMing on 98.479928851 meters Centerline goodness : 0.760159 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.10, Z:0.16 [[ 0.99352326 -0.10923949 -0.03127713 1.232337 ] [ 0.10898274 0.99399529 -0.00980414 -0.10271387] [ 0.03216031 0.00633197 0.99946267 0.15721447] [ 0. 0. 0. 1. ]] SLAMing on 98.539928851 meters Centerline goodness : 0.758127 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.10, Z:0.16 [[ 0.99347875 -0.10965364 -0.03124175 1.23248484] [ 0.10938253 0.99394674 -0.0102635 -0.10069082] [ 0.03217807 0.00677927 0.99945916 0.15673797] [ 0. 0. 0. 1. ]] SLAMing on 98.599928851 meters Centerline goodness : 0.759425 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.10, Z:0.16 [[ 0.99308922 -0.11309771 -0.03134817 1.2343361 ] [ 0.11269642 0.99352669 -0.01429093 -0.09824668] [ 0.03276151 0.01065934 0.99940635 0.1560522 ] [ 0. 0. 0. 1. ]] SLAMing on 98.659928851 meters Centerline goodness : 0.760833 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.10, Z:0.15 [[ 0.99271098 -0.11763893 -0.02619146 1.24296973] [ 0.11752034 0.99305218 -0.00602748 -0.09729986] [ 0.02671855 0.00290552 0.99963877 0.1517761 ] [ 0. 0. 0. 1. ]] SLAMing on 98.719928851 meters Centerline goodness : 0.762250 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.15 [[ 9.92146236e-01 -1.23384046e-01 -2.05481055e-02 1.25148085e+00] [ 1.23423441e-01 9.92353881e-01 6.55361488e-04 -9.71367890e-02] [ 2.03101310e-02 -3.18633233e-03 9.99788651e-01 1.48241890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.779928851 meters Centerline goodness : 0.761395 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.91694940e-01 -1.26965675e-01 -2.05149339e-02 1.25274403e+00] [ 1.26917289e-01 9.91906592e-01 -3.64889023e-03 -9.43744798e-02] [ 2.08121819e-02 1.01488619e-03 9.99782888e-01 1.48112364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.839928851 meters Centerline goodness : 0.763244 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 0.9915859 -0.12788987 -0.02003966 1.25142371] [ 0.12782589 0.99178665 -0.00444659 -0.09256741] [ 0.02044374 0.00184758 0.9997893 0.14830378] [ 0. 0. 0. 1. ]] SLAMing on 98.899928851 meters Centerline goodness : 0.764611 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 0.99164181 -0.12747134 -0.01993957 1.25143485] [ 0.12739566 0.99183925 -0.00502564 -0.08928549] [ 0.02041747 0.00244342 0.99978856 0.14841083] [ 0. 0. 0. 1. ]] SLAMing on 98.959928851 meters Centerline goodness : 0.765570 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92015867e-01 -1.24562103e-01 -1.97180700e-02 1.24863895e+00] [ 1.24546159e-01 9.92211719e-01 -2.03938329e-03 -8.79558411e-02] [ 1.98185300e-02 -4.32709298e-04 9.99803500e-01 1.49893616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019928851 meters Centerline goodness : 0.764706 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92028720e-01 -1.24448283e-01 -1.97899784e-02 1.24889500e+00] [ 1.24433190e-01 9.92225979e-01 -1.99703871e-03 -8.78288040e-02] [ 1.98846587e-02 -4.81410380e-04 9.99802165e-01 1.49836962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079928851 meters Centerline goodness : 0.762717 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92022909e-01 -1.24497938e-01 -1.97689646e-02 1.24902624e+00] [ 1.24482684e-01 9.92219754e-01 -2.00509936e-03 -8.78127142e-02] [ 1.98647879e-02 -4.71789278e-04 9.99802564e-01 1.49608244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.139928851 meters Centerline goodness : 0.764462 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92035816e-01 -1.24387637e-01 -1.98155471e-02 1.24946215e+00] [ 1.24375372e-01 9.92233504e-01 -1.85496237e-03 -8.79326231e-02] [ 1.98923841e-02 -6.24376930e-04 9.99801932e-01 1.49127648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.199928851 meters Centerline goodness : 0.771004 with order 3 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92086469e-01 -1.23960027e-01 -1.99586815e-02 1.25037596e+00] [ 1.23953052e-01 9.92286808e-01 -1.59100538e-03 -8.79092344e-02] [ 2.00019574e-02 -8.95524575e-04 9.99799540e-01 1.48395315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.259928851 meters Centerline goodness : 0.763236 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92110518e-01 -1.23752664e-01 -2.00498835e-02 1.25071230e+00] [ 1.23746242e-01 9.92312661e-01 -1.56542879e-03 -8.77778705e-02] [ 2.00894792e-02 -9.28019381e-04 9.99797755e-01 1.48325132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319928851 meters Centerline goodness : 0.761258 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92118465e-01 -1.23702820e-01 -1.99640444e-02 1.25017232e+00] [ 1.23697693e-01 9.92318821e-01 -1.49624262e-03 -8.86919499e-02] [ 1.99957864e-02 -9.85056299e-04 9.99799579e-01 1.49036503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379928851 meters Centerline goodness : 0.762714 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92157445e-01 -1.23366185e-01 -2.01094136e-02 1.25037182e+00] [ 1.23371819e-01 9.92360047e-01 -9.64908612e-04 -9.07018801e-02] [ 2.00748158e-02 -1.52359368e-03 9.99797320e-01 1.49305535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439928851 meters Centerline goodness : 0.762652 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92212660e-01 -1.22890471e-01 -2.02970214e-02 1.25069796e+00] [ 1.22905254e-01 9.92418272e-01 -5.22234894e-04 -9.23316399e-02] [ 2.02073126e-02 -1.97644249e-03 9.99793858e-01 1.49667670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49992885099999 meters Centerline goodness : 0.763772 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.15 [[ 9.92235022e-01 -1.22713399e-01 -2.02751687e-02 1.25033186e+00] [ 1.22733242e-01 9.92439661e-01 -2.67503283e-04 -9.39338727e-02] [ 2.01547077e-02 -2.22301105e-03 9.99794402e-01 1.50304888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.559928851 meters Centerline goodness : 0.761938 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.15 [[ 9.92325796e-01 -1.21944498e-01 -2.04708211e-02 1.25105431e+00] [ 1.21981753e-01 9.92532176e-01 5.76535605e-04 -9.65248374e-02] [ 2.02476433e-02 -3.06917780e-03 9.99790285e-01 1.50245855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.619928851 meters Centerline goodness : 0.759591 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.15 [[ 0.99245854 -0.1207536 -0.02108608 1.25336049] [ 0.12081309 0.99267404 0.00156568 -0.09811139] [ 0.02074254 -0.00410134 0.99977644 0.14917033] [ 0. 0. 0. 1. ]] SLAMing on 99.679928851 meters Centerline goodness : 0.760581 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.15 [[ 0.99301807 -0.11594425 -0.02172661 1.25445728] [ 0.11610922 0.99321527 0.00648731 -0.10082199] [ 0.02082704 -0.00896468 0.9997429 0.14834046] [ 0. 0. 0. 1. ]] SLAMing on 99.739928851 meters Centerline goodness : 0.760258 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:0.15 [[ 0.99352547 -0.11139668 -0.02231391 1.25451286] [ 0.11165661 0.99368861 0.01075883 -0.10213549] [ 0.02097458 -0.01318067 0.99969312 0.14885216] [ 0. 0. 0. 1. ]] SLAMing on 99.799928851 meters Centerline goodness : 0.760043 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99362015 -0.11048683 -0.02261968 1.25534907] [ 0.11074925 0.99379085 0.01069372 -0.10135721] [ 0.02129771 -0.01313061 0.99968695 0.14925325] [ 0. 0. 0. 1. ]] SLAMing on 99.859928851 meters Centerline goodness : 0.763248 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99369224 -0.10976648 -0.02295761 1.25616038] [ 0.11002841 0.99387327 0.010472 -0.10036854] [ 0.02166748 -0.01293194 0.99968159 0.14969703] [ 0. 0. 0. 1. ]] SLAMing on 99.919928851 meters Centerline goodness : 0.762614 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99379214 -0.10881552 -0.02315965 1.25665197] [ 0.10907681 0.99397964 0.01033116 -0.09966996] [ 0.02189603 -0.01279321 0.9996784 0.15042801] [ 0. 0. 0. 1. ]] SLAMing on 99.979928851 meters Centerline goodness : 0.763535 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99384085 -0.10828211 -0.02356587 1.25779851] [ 0.10855276 0.99403501 0.01052173 -0.10003056] [ 0.02228598 -0.01301506 0.99966692 0.15035454] [ 0. 0. 0. 1. ]] SLAMing on 100.039928851 meters Centerline goodness : 0.768989 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99394299 -0.10721409 -0.02413439 1.2596822 ] [ 0.10751156 0.99413868 0.01138185 -0.1021816 ] [ 0.02277264 -0.01390764 0.99964393 0.149832 ] [ 0. 0. 0. 1. ]] SLAMing on 100.099928851 meters Centerline goodness : 0.789520 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99398883 -0.10671222 -0.02446855 1.26065222] [ 0.10702509 0.99418568 0.01185147 -0.10374814] [ 0.02306159 -0.01439898 0.99963035 0.14974234] [ 0. 0. 0. 1. ]] SLAMing on 100.159928851 meters Centerline goodness : 0.790195 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99409032 -0.10558105 -0.02524042 1.26220804] [ 0.10591594 0.99429879 0.01231749 -0.10447947] [ 0.02379603 -0.01491806 0.99960552 0.15036775] [ 0. 0. 0. 1. ]] SLAMing on 100.219928851 meters Centerline goodness : 0.772086 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:0.15 [[ 0.99420185 -0.1044279 -0.02564175 1.26352155] [ 0.10477587 0.99441578 0.01262061 -0.10457834] [ 0.02418062 -0.01523407 0.99959153 0.15044847] [ 0. 0. 0. 1. ]] SLAMing on 100.279928851 meters Centerline goodness : 0.793835 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.11, Z:0.15 [[ 0.99473439 -0.09897914 -0.02658248 1.26550774] [ 0.09944643 0.9948999 0.01687001 -0.10502917] [ 0.02477712 -0.01942472 0.99950426 0.15047573] [ 0. 0. 0. 1. ]] SLAMing on 100.339928851 meters Centerline goodness : 0.793396 with order 3 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.10, Z:0.16 [[ 0.99544268 -0.09194092 -0.02531295 1.28714038] [ 0.09208538 0.99574049 0.00459943 -0.10011593] [ 0.02478225 -0.00690942 0.999669 0.15711383] [ 0. 0. 0. 1. ]] SLAMing on 100.399928851 meters Centerline goodness : 0.795783 with order 3 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.10, Z:0.16 [[ 0.99577247 -0.08791497 -0.02661103 1.29348288] [ 0.08800166 0.99611811 0.00210213 -0.09814959] [ 0.02632292 -0.00443506 0.99964365 0.16086274] [ 0. 0. 0. 1. ]] SLAMing on 100.459928851 meters Centerline goodness : 0.796532 with order 3 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.10, Z:0.16 [[ 9.95661053e-01 -8.92962369e-02 -2.61772905e-02 1.29430730e+00] [ 8.92835392e-02 9.96004873e-01 -1.65580625e-03 -9.59463931e-02] [ 2.62205662e-02 -6.88579351e-04 9.99655945e-01 1.62095777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519928851 meters Centerline goodness : 0.797613 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:0.16 [[ 0.99535521 -0.09260139 -0.02632457 1.29524613] [ 0.09248572 0.99569837 -0.00558039 -0.09578052] [ 0.02672808 0.00311982 0.99963787 0.16302279] [ 0. 0. 0. 1. ]] SLAMing on 100.579928851 meters Centerline goodness : 0.800165 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:0.16 [[ 0.99467265 -0.09966655 -0.02632311 1.29721658] [ 0.09935664 0.99496913 -0.012833 -0.09734945] [ 0.02746971 0.01014926 0.99957111 0.16335774] [ 0. 0. 0. 1. ]] SLAMing on 100.639928851 meters Centerline goodness : 0.801769 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:0.16 [[ 0.99429902 -0.10331835 -0.02635849 1.29834128] [ 0.10291688 0.99455865 -0.01616191 -0.09941708] [ 0.02788489 0.01335704 0.9995219 0.1633963 ] [ 0. 0. 0. 1. ]] SLAMing on 100.699928851 meters Centerline goodness : 0.804569 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:0.16 [[ 0.99385479 -0.10756835 -0.02610934 1.29807434] [ 0.10706377 0.9940507 -0.02001389 -0.10219895] [ 0.02810687 0.01709553 0.99945873 0.16487914] [ 0. 0. 0. 1. ]] SLAMing on 100.759928851 meters Centerline goodness : 0.774423 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.11, Z:0.17 [[ 0.99390515 -0.10307616 -0.03908775 1.29812461] [ 0.1024791 0.99459009 -0.01698789 -0.11160546] [ 0.04062734 0.01287868 0.99909137 0.17022529] [ 0. 0. 0. 1. ]] SLAMing on 100.819928851 meters Centerline goodness : 0.776007 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.12, Z:0.18 [[ 0.99406782 -0.09586509 -0.0513717 1.29748013] [ 0.09537374 0.99536995 -0.01193765 -0.119627 ] [ 0.05227825 0.00696732 0.99860825 0.17511973] [ 0. 0. 0. 1. ]] SLAMing on 100.879928851 meters Centerline goodness : 0.777930 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.12, Z:0.17 [[ 0.99429059 -0.09379418 -0.05088094 1.29672656] [ 0.09338069 0.99557564 -0.01044907 -0.12254149] [ 0.05163589 0.00563812 0.99865006 0.17478318] [ 0. 0. 0. 1. ]] SLAMing on 100.939928851 meters Centerline goodness : 0.809784 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.13, Z:0.17 [[ 0.99451725 -0.09172696 -0.05021556 1.295768 ] [ 0.0914028 0.99577583 -0.00871907 -0.12692557] [ 0.05080321 0.00408142 0.99870034 0.17445725] [ 0. 0. 0. 1. ]] SLAMing on 100.99992885099999 meters Centerline goodness : 0.802802 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.13, Z:0.17 [[ 0.9946339 -0.09071654 -0.04973838 1.29529064] [ 0.09044536 0.9958718 -0.00768055 -0.13079917] [ 0.0502298 0.00314073 0.99873275 0.17416677] [ 0. 0. 0. 1. ]] SLAMing on 101.059928851 meters Centerline goodness : 0.781789 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.14, Z:0.17 [[ 0.99442699 -0.09326464 -0.04915953 1.29620759] [ 0.09293065 0.99563153 -0.00904138 -0.13660392] [ 0.04978802 0.00442257 0.99875002 0.17300637] [ 0. 0. 0. 1. ]] SLAMing on 101.119928851 meters Centerline goodness : 0.807846 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.14, Z:0.17 [[ 0.99404124 -0.0971261 -0.0494826 1.298023 ] [ 0.09672675 0.99525656 -0.01040796 -0.14084766] [ 0.05025877 0.00555965 0.99872076 0.17326105] [ 0. 0. 0. 1. ]] SLAMing on 101.179928851 meters Centerline goodness : 0.811348 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.15, Z:0.18 [[ 0.99334794 -0.10337769 -0.05072401 1.30102988] [ 0.1030158 0.99463238 -0.00970462 -0.14864925] [ 0.05145499 0.00441469 0.99866556 0.17505656] [ 0. 0. 0. 1. ]] SLAMing on 101.239928851 meters Centerline goodness : 0.786821 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.18 [[ 0.99289469 -0.10759892 -0.05081935 1.30238328] [ 0.10719671 0.99418151 -0.01058288 -0.15500355] [ 0.05166236 0.00506002 0.99865179 0.17588373] [ 0. 0. 0. 1. ]] SLAMing on 101.299928851 meters Centerline goodness : 0.790240 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.18 [[ 0.99230751 -0.11270236 -0.05122478 1.30391672] [ 0.11233772 0.99362025 -0.00995183 -0.1637487 ] [ 0.05201957 0.0041208 0.99863756 0.17794961] [ 0. 0. 0. 1. ]] SLAMing on 101.35992885099999 meters Centerline goodness : 0.783784 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.18 [[ 0.99186922 -0.11020235 -0.06364656 1.30500222] [ 0.11009569 0.99390744 -0.00519126 -0.17312582] [ 0.06383088 -0.00185816 0.997959 0.18272326] [ 0. 0. 0. 1. ]] SLAMing on 101.419928851 meters Centerline goodness : 0.787020 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.18 [[ 9.91421535e-01 -1.14112144e-01 -6.37319325e-02 1.30680593e+00] [ 1.13945965e-01 9.93467301e-01 -6.24805675e-03 -1.79182884e-01] [ 6.40285701e-02 -1.06753852e-03 9.97947495e-01 1.82753411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.479928851 meters Centerline goodness : 0.794381 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.18 [[ 9.90933396e-01 -1.18119520e-01 -6.40217375e-02 1.30916413e+00] [ 1.17857627e-01 9.92999354e-01 -7.86527444e-03 -1.83149135e-01] [ 6.45025864e-02 2.48513075e-04 9.97917509e-01 1.82423101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.539928851 meters Centerline goodness : 0.783418 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.18 [[ 0.99068274 -0.11962112 -0.06510368 1.31170704] [ 0.11946705 0.99281838 -0.00626845 -0.18594634] [ 0.06538597 -0.0015677 0.99785882 0.18283377] [ 0. 0. 0. 1. ]] SLAMing on 101.599928851 meters Centerline goodness : 0.793885 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.18 [[ 0.99047753 -0.12089096 -0.06587595 1.31329404] [ 0.12083777 0.99266063 -0.00480597 -0.18866091] [ 0.06597346 -0.0032001 0.99781625 0.18365936] [ 0. 0. 0. 1. ]] SLAMing on 101.659928851 meters Centerline goodness : 0.788388 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.18 [[ 0.99034234 -0.12161825 -0.06656613 1.31465995] [ 0.121629 0.99256795 -0.00390628 -0.19030039] [ 0.06654649 -0.00422782 0.99777437 0.18420328] [ 0. 0. 0. 1. ]] SLAMing on 101.719928851 meters Centerline goodness : 0.785982 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.19 [[ 0.99004894 -0.12331276 -0.06780158 1.31677134] [ 0.12336526 0.99235541 -0.00342824 -0.19009061] [ 0.06770601 -0.00497024 0.99769294 0.18514309] [ 0. 0. 0. 1. ]] SLAMing on 101.779928851 meters Centerline goodness : 0.783273 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.19 [[ 0.98996683 -0.12363203 -0.06841634 1.31795581] [ 0.12370328 0.99231406 -0.00321057 -0.18972015] [ 0.06828742 -0.00528497 0.99765169 0.1852223 ] [ 0. 0. 0. 1. ]] SLAMing on 101.839928851 meters Centerline goodness : 0.785340 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.19 [[ 0.98983522 -0.12440846 -0.06891138 1.31891828] [ 0.12443443 0.99222004 -0.00393231 -0.18774517] [ 0.06886447 -0.00468261 0.99761504 0.18509312] [ 0. 0. 0. 1. ]] SLAMing on 101.899928851 meters Centerline goodness : 0.790428 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.19 [[ 9.89982441e-01 -1.22395424e-01 -7.03855589e-02 1.32083778e+00] [ 1.22665241e-01 9.92447982e-01 -4.92384707e-04 -1.86882123e-01] [ 6.99142715e-02 -8.14640935e-03 9.97519739e-01 1.85430071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.959928851 meters Centerline goodness : 0.790718 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.18, Z:0.19 [[ 0.99007323 -0.12067114 -0.07206583 1.32252332] [ 0.12109261 0.99264009 0.00149218 -0.18138736] [ 0.07135537 -0.01020401 0.99739876 0.18595898] [ 0. 0. 0. 1. ]] SLAMing on 102.019928851 meters Centerline goodness : 0.793240 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.18, Z:0.19 [[ 0.99017643 -0.11879824 -0.07374025 1.32469728] [ 0.11940109 0.99283881 0.00380595 -0.17720631] [ 0.07276004 -0.01257323 0.99727022 0.18593664] [ 0. 0. 0. 1. ]] SLAMing on 102.079928851 meters Centerline goodness : 0.812047 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:0.18 [[ 0.99020999 -0.11733444 -0.0756095 1.32763892] [ 0.11797772 0.99300785 0.00408281 -0.16847603] [ 0.07460177 -0.01296308 0.99712915 0.18477392] [ 0. 0. 0. 1. ]] SLAMing on 102.139928851 meters Centerline goodness : 0.812579 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.16, Z:0.19 [[ 0.99032719 -0.11540668 -0.07702829 1.32881956] [ 0.11615076 0.9932178 0.00523554 -0.16139015] [ 0.07590165 -0.01413179 0.99701516 0.18500404] [ 0. 0. 0. 1. ]] SLAMing on 102.199928851 meters Centerline goodness : 0.783115 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.15, Z:0.19 [[ 0.9906896 -0.11062038 -0.07935521 1.33065462] [ 0.11167031 0.99370542 0.00890354 -0.15033111] [ 0.07787079 -0.01768227 0.99680664 0.18509977] [ 0. 0. 0. 1. ]] SLAMing on 102.259928851 meters Centerline goodness : 0.812564 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.14, Z:0.19 [[ 0.99108228 -0.10553738 -0.08134971 1.33199482] [ 0.10691585 0.9941861 0.01276722 -0.14030764] [ 0.07952933 -0.02135094 0.99660384 0.18514502] [ 0. 0. 0. 1. ]] SLAMing on 102.319928851 meters Centerline goodness : 0.813086 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.13, Z:0.19 [[ 0.99117948 -0.10339627 -0.08290021 1.33327727] [ 0.10490402 0.99438337 0.01403104 -0.13186823] [ 0.08098383 -0.02260385 0.99645907 0.18552309] [ 0. 0. 0. 1. ]] SLAMing on 102.379928851 meters Centerline goodness : 0.805432 with order 3 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.12, Z:0.19 [[ 0.99187303 -0.10023734 -0.07836051 1.35443802] [ 0.10089006 0.99488783 0.00440549 -0.11681676] [ 0.07751833 -0.01227548 0.99691535 0.18627523] [ 0. 0. 0. 1. ]] SLAMing on 102.439928851 meters Centerline goodness : 0.807666 with order 3 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.11, Z:0.19 [[ 0.99212003 -0.09809728 -0.0779408 1.35247886] [ 0.09883091 0.99508847 0.00560243 -0.10889281] [ 0.07700841 -0.01326124 0.99694225 0.18630333] [ 0. 0. 0. 1. ]] SLAMing on 102.49992885099999 meters Centerline goodness : 0.779858 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.10, Z:0.19 [[ 0.99231867 -0.09622498 -0.07774575 1.35175788] [ 0.09692632 0.9952775 0.00528955 -0.09562987] [ 0.0768696 -0.01278453 0.99695919 0.18605049] [ 0. 0. 0. 1. ]] SLAMing on 102.559928851 meters Centerline goodness : 0.781022 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.08, Z:0.19 [[ 0.9925889 -0.09353861 -0.07757448 1.35148879] [ 0.09424126 0.99553453 0.00543888 -0.08150389] [ 0.07671933 -0.01270929 0.99697172 0.18546835] [ 0. 0. 0. 1. ]] SLAMing on 102.619928851 meters Centerline goodness : 0.782805 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:0.18 [[ 0.99287903 -0.0903024 -0.0776962 1.3516757 ] [ 0.09111873 0.9958153 0.00701914 -0.07295755] [ 0.07673722 -0.01404873 0.99695237 0.18479705] [ 0. 0. 0. 1. ]] SLAMing on 102.679928851 meters Centerline goodness : 0.787357 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:0.19 [[ 0.99346355 -0.08396859 -0.07732697 1.34945565] [ 0.08505158 0.99631786 0.01081435 -0.06106646] [ 0.07613418 -0.01732044 0.99694713 0.1853786 ] [ 0. 0. 0. 1. ]] SLAMing on 102.739928851 meters Centerline goodness : 0.788688 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:0.19 [[ 0.99403491 -0.07724295 -0.07699432 1.34736984] [ 0.07865165 0.99678274 0.01543025 -0.05132721] [ 0.07555473 -0.02139393 0.99691212 0.18573871] [ 0. 0. 0. 1. ]] SLAMing on 102.799928851 meters Centerline goodness : 0.791158 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:0.19 [[ 0.99429127 -0.07396401 -0.07690386 1.34627743] [ 0.07552246 0.99698958 0.01755406 -0.04552396] [ 0.07537398 -0.02326182 0.99688397 0.18601219] [ 0. 0. 0. 1. ]] SLAMing on 102.85992885099999 meters Centerline goodness : 0.793149 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.19 [[ 0.99452433 -0.07101275 -0.07667165 1.34462504] [ 0.07270475 0.99716279 0.01950353 -0.03964001] [ 0.07506912 -0.02497113 0.99686562 0.18648947] [ 0. 0. 0. 1. ]] SLAMing on 102.919928851 meters Centerline goodness : 0.790714 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.19 [[ 0.99447339 -0.07177774 -0.07662005 1.34393784] [ 0.07336538 0.99714073 0.01810763 -0.03614295] [ 0.07510125 -0.02362881 0.99689592 0.18733615] [ 0. 0. 0. 1. ]] SLAMing on 102.979928851 meters Centerline goodness : 0.794177 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.19 [[ 0.99440693 -0.07304497 -0.07628425 1.34192192] [ 0.0745175 0.99708095 0.01663482 -0.03288939] [ 0.07484648 -0.02222629 0.99694734 0.18879418] [ 0. 0. 0. 1. ]] SLAMing on 103.039928851 meters Centerline goodness : 0.794411 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.19 [[ 0.99434794 -0.07423201 -0.07590644 1.34023714] [ 0.07566219 0.9970029 0.01613851 -0.03323903] [ 0.07448095 -0.02179054 0.99698433 0.189369 ] [ 0. 0. 0. 1. ]] SLAMing on 103.099928851 meters Centerline goodness : 0.793517 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.19 [[ 0.99402557 -0.07839003 -0.07594853 1.34070905] [ 0.07949151 0.99676822 0.01158552 -0.03187268] [ 0.07479489 -0.01755356 0.99704443 0.19030093] [ 0. 0. 0. 1. ]] SLAMing on 103.159928851 meters Centerline goodness : 0.792045 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.19 [[ 0.99366056 -0.08325071 -0.07555142 1.33952724] [ 0.08402235 0.99643866 0.00708749 -0.03211421] [ 0.07469232 -0.01339057 0.99711672 0.19173109] [ 0. 0. 0. 1. ]] SLAMing on 103.219928851 meters Centerline goodness : 0.793124 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.19 [[ 0.99359304 -0.08433747 -0.07523336 1.33769134] [ 0.08508245 0.99635107 0.00674708 -0.03367644] [ 0.07438981 -0.01310489 0.99714313 0.19275372] [ 0. 0. 0. 1. ]] SLAMing on 103.279928851 meters Centerline goodness : 0.786097 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.19 [[ 0.99354854 -0.0850821 -0.07498221 1.33626881] [ 0.08582908 0.99628673 0.00679077 -0.03620719] [ 0.07412601 -0.01318261 0.99716175 0.1935224 ] [ 0. 0. 0. 1. ]] SLAMing on 103.339928851 meters Centerline goodness : 0.787211 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.19 [[ 0.9935332 -0.0852898 -0.07494953 1.33575864] [ 0.08604492 0.99626738 0.00689843 -0.03778188] [ 0.07408141 -0.01330284 0.99716347 0.19401606] [ 0. 0. 0. 1. ]] SLAMing on 103.399928851 meters Centerline goodness : 0.784403 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.19 [[ 0.99351057 -0.08552139 -0.07498565 1.33543035] [ 0.0863217 0.99623915 0.00749171 -0.0413467 ] [ 0.07406294 -0.01391598 0.99715647 0.19427647] [ 0. 0. 0. 1. ]] SLAMing on 103.459928851 meters Centerline goodness : 0.783658 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.19 [[ 0.99348789 -0.0857966 -0.07497173 1.33503845] [ 0.08663507 0.99620801 0.00799816 -0.0445637 ] [ 0.07400122 -0.01444126 0.99715358 0.19449667] [ 0. 0. 0. 1. ]] SLAMing on 103.519928851 meters Centerline goodness : 0.781111 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.20 [[ 0.9931719 -0.08899612 -0.07542729 1.33679543] [ 0.08961619 0.99596447 0.0048696 -0.04746714] [ 0.07468952 -0.01159586 0.99713941 0.19509144] [ 0. 0. 0. 1. ]] SLAMing on 103.579928851 meters Centerline goodness : 0.777883 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.19 [[ 0.99318055 -0.08872606 -0.07563128 1.33731595] [ 0.089428 0.99597558 0.00593879 -0.05228954] [ 0.07479998 -0.01266184 0.99711817 0.19497307] [ 0. 0. 0. 1. ]] SLAMing on 103.639928851 meters Centerline goodness : 0.776940 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.20 [[ 0.99318536 -0.08857764 -0.07574197 1.33747045] [ 0.08930154 0.99598523 0.00621794 -0.05364614] [ 0.07488711 -0.01293944 0.99710806 0.1951729 ] [ 0. 0. 0. 1. ]] SLAMing on 103.699928851 meters Centerline goodness : 0.778010 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.06, Z:0.20 [[ 0.99320528 -0.08828334 -0.07582431 1.3376758 ] [ 0.08905943 0.99600235 0.00690909 -0.05657234] [ 0.07491123 -0.01361501 0.99709726 0.19521191] [ 0. 0. 0. 1. ]] SLAMing on 103.759928851 meters Centerline goodness : 0.774702 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.06, Z:0.20 [[ 0.99321963 -0.0881163 -0.07583063 1.33756922] [ 0.08895381 0.99600574 0.00773204 -0.06097875] [ 0.07484642 -0.01442504 0.99709073 0.1954481 ] [ 0. 0. 0. 1. ]] SLAMing on 103.819928851 meters Centerline goodness : 0.773531 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.06, Z:0.20 [[ 0.99323994 -0.08766743 -0.07608449 1.33808355] [ 0.08856733 0.99603368 0.00852871 -0.06400397] [ 0.07503503 -0.01520965 0.9970649 0.19567847] [ 0. 0. 0. 1. ]] SLAMing on 103.879928851 meters Centerline goodness : 0.772749 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99325091 -0.08741187 -0.07623517 1.33852735] [ 0.0883483 0.99604905 0.00899221 -0.06585293] [ 0.07514795 -0.01566677 0.99704932 0.19564842] [ 0. 0. 0. 1. ]] SLAMing on 103.939928851 meters Centerline goodness : 0.772538 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99326942 -0.08706998 -0.07638512 1.33882332] [ 0.08804794 0.99607071 0.00952372 -0.0683946 ] [ 0.07525575 -0.01618517 0.9970329 0.19590696] [ 0. 0. 0. 1. ]] SLAMing on 103.99992885099999 meters Centerline goodness : 0.772694 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99327598 -0.08682643 -0.07657676 1.3390945 ] [ 0.08782256 0.9960886 0.00973173 -0.06943121] [ 0.07543227 -0.01639146 0.99701619 0.19624038] [ 0. 0. 0. 1. ]] SLAMing on 104.059928851 meters Centerline goodness : 0.772996 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.9932699 -0.0868868 -0.07658715 1.33854018] [ 0.0879077 0.99607788 0.01005461 -0.0721635 ] [ 0.07541315 -0.01671954 0.99701219 0.19702236] [ 0. 0. 0. 1. ]] SLAMing on 104.119928851 meters Centerline goodness : 0.782169 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99294462 -0.09020316 -0.07696997 1.34023709] [ 0.09096237 0.99583371 0.00640827 -0.07264074] [ 0.07607124 -0.01336442 0.99701282 0.19751032] [ 0. 0. 0. 1. ]] SLAMing on 104.179928851 meters Centerline goodness : 0.781209 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99261217 -0.09354698 -0.07726608 1.34167254] [ 0.09406484 0.9955613 0.0030823 -0.07472107] [ 0.07663478 -0.01032755 0.99700574 0.19811849] [ 0. 0. 0. 1. ]] SLAMing on 104.239928851 meters Centerline goodness : 0.770426 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99259306 -0.09380683 -0.07719646 1.34072825] [ 0.09435548 0.99553248 0.00348273 -0.07764747] [ 0.07652488 -0.01074085 0.99700982 0.1989689 ] [ 0. 0. 0. 1. ]] SLAMing on 104.299928851 meters Centerline goodness : 0.780688 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99258648 -0.09384779 -0.07723126 1.34075012] [ 0.09442256 0.99552489 0.00381639 -0.07941316] [ 0.07652748 -0.01108047 0.9970059 0.19903892] [ 0. 0. 0. 1. ]] SLAMing on 104.35992885099999 meters Centerline goodness : 0.778286 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.92249353e-01 -9.71622110e-02 -7.74643514e-02 1.34254548e+00] [ 9.74906806e-02 9.95236331e-01 4.60887915e-04 -8.06780284e-02] [ 7.70505560e-02 -8.00936808e-03 9.96995016e-01 1.98947273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.419928851 meters Centerline goodness : 0.777898 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.92225646e-01 -9.73588051e-02 -7.75211679e-02 1.34228911e+00] [ 9.76969374e-02 9.95216047e-01 5.72252064e-04 -8.17050974e-02] [ 7.70945965e-02 -8.14138386e-03 9.96990542e-01 1.99309978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.479928851 meters Centerline goodness : 0.779003 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.92176054e-01 -9.80707589e-02 -7.72580416e-02 1.34074179e+00] [ 9.83707997e-02 9.95149828e-01 7.83475579e-05 -8.22061202e-02] [ 7.68756432e-02 -7.67766991e-03 9.97011128e-01 2.00517986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.539928851 meters Centerline goodness : 0.779441 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.92152721e-01 -9.84700380e-02 -7.70495240e-02 1.34012374e+00] [ 9.87550971e-02 9.95111762e-01 -1.11028625e-04 -8.23274715e-02] [ 7.66838206e-02 -7.49887587e-03 9.97027261e-01 2.00656178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599928851 meters Centerline goodness : 0.778021 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.92101945e-01 -9.91602171e-02 -7.68178444e-02 1.33941421e+00] [ 9.94373787e-02 9.95043798e-01 -2.17946734e-04 -8.27914208e-02] [ 7.64587313e-02 -7.42233971e-03 9.97045120e-01 2.00588382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659928851 meters Centerline goodness : 0.777573 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99170072 -0.10326683 -0.07658746 1.33977698] [ 0.10322058 0.99464798 -0.0045728 -0.08148901] [ 0.07664978 -0.00337055 0.99705238 0.20101311] [ 0. 0. 0. 1. ]] SLAMing on 104.719928851 meters Centerline goodness : 0.769848 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.91239077e-01 -1.07876791e-01 -7.62081987e-02 1.33954277e+00] [ 1.07506665e-01 9.94164036e-01 -8.95466183e-03 -8.08394380e-02] [ 7.67294506e-02 6.83321435e-04 9.97051716e-01 2.01562277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.779928851 meters Centerline goodness : 0.778732 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.91196036e-01 -1.08463793e-01 -7.59343410e-02 1.33872445e+00] [ 1.08098367e-01 9.94100200e-01 -8.91829747e-03 -8.14117477e-02] [ 7.64536559e-02 6.31402838e-04 9.97072936e-01 2.01495436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.839928851 meters Centerline goodness : 0.776413 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 9.91193540e-01 -1.08605604e-01 -7.57640366e-02 1.33847460e+00] [ 1.08240484e-01 9.94084710e-01 -8.92113672e-03 -8.14427716e-02] [ 7.62847558e-02 6.41837074e-04 9.97085866e-01 2.01390595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.899928851 meters Centerline goodness : 0.779256 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99119223 -0.10864561 -0.07572377 1.33783437] [ 0.10822006 0.99407951 -0.00971285 -0.07899992] [ 0.0763307 0.00143247 0.99708153 0.20243174] [ 0. 0. 0. 1. ]] SLAMing on 104.959928851 meters Centerline goodness : 0.769689 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99121552 -0.10829187 -0.07592543 1.33840393] [ 0.10783783 0.99411753 -0.01006675 -0.07735371] [ 0.07656895 0.00179069 0.99706268 0.20262707] [ 0. 0. 0. 1. ]] SLAMing on 105.019928851 meters Centerline goodness : 0.770313 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.991229 -0.10807184 -0.07606277 1.33899829] [ 0.1076013 0.99414108 -0.01026958 -0.07562597] [ 0.07672698 0.00199505 0.99705014 0.20237866] [ 0. 0. 0. 1. ]] SLAMing on 105.079928851 meters Centerline goodness : 0.765516 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.9912234 -0.10810199 -0.07609292 1.33910653] [ 0.10761998 0.99413751 -0.01041891 -0.07517688] [ 0.07677313 0.00213834 0.99704629 0.20239373] [ 0. 0. 0. 1. ]] SLAMing on 105.139928851 meters Centerline goodness : 0.774073 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99120639 -0.10837978 -0.07591917 1.33900848] [ 0.10789223 0.99410708 -0.01050647 -0.07483362] [ 0.07661048 0.00222299 0.99705862 0.20196294] [ 0. 0. 0. 1. ]] SLAMing on 105.199928851 meters Centerline goodness : 0.773163 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99108487 -0.1097163 -0.07558516 1.33762365] [ 0.10921692 0.99396012 -0.01072148 -0.07650326] [ 0.07630495 0.00237071 0.99708171 0.20222461] [ 0. 0. 0. 1. ]] SLAMing on 105.259928851 meters Centerline goodness : 0.773399 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99101828 -0.11055084 -0.07524145 1.33655895] [ 0.11004094 0.99386726 -0.01090191 -0.07825345] [ 0.07598523 0.00252435 0.99710575 0.20248459] [ 0. 0. 0. 1. ]] SLAMing on 105.319928851 meters Centerline goodness : 0.771648 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99096956 -0.11116079 -0.07498405 1.33501203] [ 0.11060524 0.99379749 -0.01153426 -0.07727706] [ 0.07580111 0.00313647 0.99711802 0.20371202] [ 0. 0. 0. 1. ]] SLAMing on 105.379928851 meters Centerline goodness : 0.769696 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:0.20 [[ 0.99095421 -0.11136711 -0.07488065 1.334634 ] [ 0.11079772 0.99377377 -0.01172865 -0.07703315] [ 0.07572061 0.00332595 0.99712353 0.20391147] [ 0. 0. 0. 1. ]] SLAMing on 105.439928851 meters Centerline goodness : 0.768307 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.20 [[ 0.99096474 -0.11129965 -0.07484169 1.33504163] [ 0.11072175 0.99378092 -0.01183988 -0.07618208] [ 0.07569402 0.00344631 0.99712514 0.2034527 ] [ 0. 0. 0. 1. ]] SLAMing on 105.49992885099999 meters Centerline goodness : 0.767548 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.9909624 -0.1113031 -0.07486749 1.33531219] [ 0.11070088 0.99377939 -0.01215904 -0.07493465] [ 0.0757551 0.00376125 0.99711936 0.20332784] [ 0. 0. 0. 1. ]] SLAMing on 105.559928851 meters Centerline goodness : 0.766806 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99097771 -0.11106658 -0.07501602 1.33597353] [ 0.11043431 0.99380435 -0.0125374 -0.07300539] [ 0.07594374 0.00413995 0.99710351 0.20319806] [ 0. 0. 0. 1. ]] SLAMing on 105.619928851 meters Centerline goodness : 0.767738 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.07, Z:0.20 [[ 0.99098703 -0.110863 -0.07519371 1.33637871] [ 0.11018239 0.99382435 -0.01315314 -0.07038887] [ 0.07618753 0.00474957 0.99708219 0.20351744] [ 0. 0. 0. 1. ]] SLAMing on 105.679928851 meters Centerline goodness : 0.765461 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99136167 -0.10767243 -0.07489119 1.33437575] [ 0.10721872 0.99418452 -0.01006441 -0.06880437] [ 0.07553933 0.00194773 0.99714092 0.20383501] [ 0. 0. 0. 1. ]] SLAMing on 105.739928851 meters Centerline goodness : 0.765083 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99136008 -0.10775916 -0.07478746 1.3342632 ] [ 0.10727407 0.9941742 -0.01048508 -0.0674117 ] [ 0.07548162 0.00237174 0.99714437 0.20393699] [ 0. 0. 0. 1. ]] SLAMing on 105.799928851 meters Centerline goodness : 0.766231 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99134482 -0.10802263 -0.07460938 1.33409446] [ 0.1075132 0.99414475 -0.01082273 -0.06614902] [ 0.07534163 0.00270756 0.9971541 0.20365099] [ 0. 0. 0. 1. ]] SLAMing on 105.85992885099999 meters Centerline goodness : 0.758889 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99133349 -0.10813852 -0.07459206 1.33435832] [ 0.10762873 0.99413214 -0.01083251 -0.06577284] [ 0.07532577 0.00271038 0.99715529 0.20320791] [ 0. 0. 0. 1. ]] SLAMing on 105.919928851 meters Centerline goodness : 0.760250 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.9913162 -0.10845667 -0.07435952 1.33450873] [ 0.10798255 0.99409861 -0.010379 -0.06733795] [ 0.07504637 0.00225934 0.99717749 0.20215963] [ 0. 0. 0. 1. ]] SLAMing on 105.979928851 meters Centerline goodness : 0.760268 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99127809 -0.10901542 -0.07404984 1.33387225] [ 0.10855747 0.99403791 -0.0101934 -0.06931393] [ 0.07471959 0.00206583 0.99720244 0.20196045] [ 0. 0. 0. 1. ]] SLAMing on 106.039928851 meters Centerline goodness : 0.767104 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99119587 -0.11012462 -0.07350722 1.3320126 ] [ 0.10966687 0.99391558 -0.01024693 -0.07072565] [ 0.07418841 0.00209541 0.99724204 0.20229657] [ 0. 0. 0. 1. ]] SLAMing on 106.099928851 meters Centerline goodness : 0.766352 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99116665 -0.11048948 -0.07335355 1.3315921 ] [ 0.11004458 0.99387542 -0.01009165 -0.07250862] [ 0.07401931 0.00193035 0.99725494 0.20235616] [ 0. 0. 0. 1. ]] SLAMing on 106.159928851 meters Centerline goodness : 0.767619 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99117564 -0.11050159 -0.07321365 1.33127682] [ 0.11006212 0.99387418 -0.01002256 -0.07334405] [ 0.07387267 0.00187607 0.99726592 0.20250625] [ 0. 0. 0. 1. ]] SLAMing on 106.219928851 meters Centerline goodness : 0.768384 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99118519 -0.1103797 -0.0732683 1.3313881 ] [ 0.10992975 0.99388745 -0.01015805 -0.07279248] [ 0.07394169 0.00201414 0.99726053 0.20272238] [ 0. 0. 0. 1. ]] SLAMing on 106.279928851 meters Centerline goodness : 0.768389 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99122593 -0.1098985 -0.07344025 1.33192752] [ 0.10943445 0.99394038 -0.0103254 -0.07154399] [ 0.07412998 0.00219791 0.99724617 0.20289814] [ 0. 0. 0. 1. ]] SLAMing on 106.339928851 meters Centerline goodness : 0.768788 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99123646 -0.10983956 -0.07338627 1.33179686] [ 0.10937983 0.99394701 -0.01026655 -0.07205201] [ 0.07406974 0.0021496 0.99725075 0.20300688] [ 0. 0. 0. 1. ]] SLAMing on 106.399928851 meters Centerline goodness : 0.767423 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99123245 -0.11007627 -0.07308514 1.33108508] [ 0.10961491 0.9939207 -0.01030618 -0.07247882] [ 0.0737753 0.0022046 0.99727245 0.20314653] [ 0. 0. 0. 1. ]] SLAMing on 106.459928851 meters Centerline goodness : 0.766420 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:0.20 [[ 0.99124154 -0.11005329 -0.07299645 1.33109116] [ 0.10961099 0.99392375 -0.01005003 -0.07348822] [ 0.07365894 0.0019608 0.99728156 0.20293446] [ 0. 0. 0. 1. ]] SLAMing on 106.519928851 meters Centerline goodness : 0.766669 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:0.20 [[ 0.99119506 -0.11069548 -0.07265578 1.33042668] [ 0.11027915 0.99385303 -0.00972933 -0.07677841] [ 0.07328616 0.00163124 0.99730962 0.20270088] [ 0. 0. 0. 1. ]] SLAMing on 106.579928851 meters Centerline goodness : 0.767668 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:0.20 [[ 0.99078408 -0.11444029 -0.0724592 1.33090433] [ 0.11379438 0.99341935 -0.01299394 -0.07959743] [ 0.0734694 0.00462874 0.99728673 0.20310418] [ 0. 0. 0. 1. ]] SLAMing on 106.639928851 meters Centerline goodness : 0.766410 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:0.20 [[ 0.99071006 -0.11534693 -0.07203236 1.32956346] [ 0.11473247 0.99331621 -0.01262428 -0.08303505] [ 0.07300708 0.00424255 0.9973224 0.20317628] [ 0. 0. 0. 1. ]] SLAMing on 106.699928851 meters Centerline goodness : 0.770128 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:0.20 [[ 0.99065923 -0.11590808 -0.07183041 1.32883767] [ 0.11532297 0.99325246 -0.01225424 -0.08722288] [ 0.07276609 0.00385608 0.99734158 0.20353585] [ 0. 0. 0. 1. ]] SLAMing on 106.759928851 meters Centerline goodness : 0.770237 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:0.20 [[ 0.99069946 -0.1155764 -0.07181001 1.32914889] [ 0.11504389 0.99329359 -0.01152172 -0.08964546] [ 0.07266006 0.00315325 0.99735178 0.20314086] [ 0. 0. 0. 1. ]] SLAMing on 106.819928851 meters Centerline goodness : 0.771626 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:0.20 [[ 0.99075837 -0.11491735 -0.07205459 1.33016739] [ 0.1144483 0.99337245 -0.01061863 -0.09250707] [ 0.07279731 0.00227397 0.99734416 0.20270542] [ 0. 0. 0. 1. ]] SLAMing on 106.879928851 meters Centerline goodness : 0.771370 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:0.20 [[ 9.90869818e-01 -1.13627360e-01 -7.25660193e-02 1.33188153e+00] [ 1.13232738e-01 9.93522667e-01 -9.54241004e-03 -9.47151821e-02] [ 7.31802639e-02 1.23843703e-03 9.97317961e-01 2.02312104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939928851 meters Centerline goodness : 0.769919 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.10, Z:0.20 [[ 9.91014117e-01 -1.12082214e-01 -7.29972408e-02 1.33355962e+00] [ 1.11740625e-01 9.93698799e-01 -8.75957994e-03 -9.57077027e-02] [ 7.35190636e-02 5.24110100e-04 9.97293674e-01 2.02077473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99992885099999 meters Centerline goodness : 0.769335 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.10, Z:0.20 [[ 9.92439900e-01 -1.02878808e-01 -6.69252943e-02 1.32725712e+00] [ 1.02669121e-01 9.94693838e-01 -6.57425200e-03 -9.89608183e-02] [ 6.72465290e-02 -3.46611172e-04 9.97736330e-01 1.96629839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.059928851 meters Centerline goodness : 0.767568 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.10, Z:0.20 [[ 0.99299073 -0.09693924 -0.06761793 1.32864047] [ 0.09703624 0.99527912 -0.00185621 -0.09939859] [ 0.06747866 -0.00471819 0.99770956 0.19641745] [ 0. 0. 0. 1. ]] SLAMing on 107.119928851 meters Centerline goodness : 0.769192 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.10, Z:0.20 [[ 0.99343796 -0.09189484 -0.06809074 1.32936914] [ 0.09229519 0.99572789 0.00275058 -0.10135796] [ 0.06754708 -0.00901698 0.99767534 0.19608431] [ 0. 0. 0. 1. ]] SLAMing on 107.179928851 meters Centerline goodness : 0.768087 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.10, Z:0.19 [[ 0.99466795 -0.08238669 -0.06203311 1.32255157] [ 0.08284093 0.99655131 0.00478222 -0.10496229] [ 0.06142519 -0.0098956 0.99806264 0.19113409] [ 0. 0. 0. 1. ]] SLAMing on 107.239928851 meters Centerline goodness : 0.769050 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:0.19 [[ 0.99504737 -0.07702559 -0.06283142 1.32452485] [ 0.07778437 0.99692285 0.00971736 -0.10698563] [ 0.06188959 -0.01455653 0.99797685 0.19022556] [ 0. 0. 0. 1. ]] SLAMing on 107.299928851 meters Centerline goodness : 0.767873 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:0.18 [[ 0.99612175 -0.06677977 -0.05728809 1.32043997] [ 0.0675965 0.99763522 0.01243712 -0.1104158 ] [ 0.05632207 -0.01626136 0.99828022 0.18368401] [ 0. 0. 0. 1. ]] SLAMing on 107.35992885099999 meters Centerline goodness : 0.768140 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:0.18 [[ 0.9964457 -0.06105171 -0.05804021 1.32253989] [ 0.06215015 0.99791668 0.01731094 -0.11163231] [ 0.05686243 -0.02085661 0.99816415 0.18295778] [ 0. 0. 0. 1. ]] SLAMing on 107.419928851 meters Centerline goodness : 0.769087 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:0.18 [[ 0.99648232 -0.06019106 -0.05830974 1.32346443] [ 0.06128903 0.99797139 0.01722653 -0.11070437] [ 0.05715457 -0.02073968 0.9981499 0.18319797] [ 0. 0. 0. 1. ]] SLAMing on 107.479928851 meters Centerline goodness : 0.768454 with order 3 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.11, Z:0.18 [[ 0.99674853 -0.05443018 -0.05941155 1.32826806] [ 0.05572572 0.99823829 0.02037046 -0.1105457 ] [ 0.05819812 -0.02361498 0.99802571 0.18232847] [ 0. 0. 0. 1. ]] SLAMing on 107.539928851 meters Centerline goodness : 0.768828 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.11, Z:0.19 [[ 0.99689388 -0.05105682 -0.05996487 1.34257179] [ 0.05190663 0.99857119 0.01269964 -0.10925761] [ 0.05923079 -0.01577277 0.9981197 0.18543624] [ 0. 0. 0. 1. ]] SLAMing on 107.599928851 meters Centerline goodness : 0.771015 with order 3 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.11, Z:0.19 [[ 9.97170959e-01 -4.70784862e-02 -5.85977419e-02 1.36650253e+00] [ 4.70226484e-02 9.98891101e-01 -2.33219724e-03 -1.06827800e-01] [ 5.86425592e-02 -4.29821658e-04 9.98278952e-01 1.91793580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659928851 meters Centerline goodness : 0.769164 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.11, Z:0.19 [[ 9.97181311e-01 -4.65962735e-02 -5.88066309e-02 1.36731219e+00] [ 4.65582475e-02 9.98913540e-01 -2.01736066e-03 -1.07693733e-01] [ 5.88367413e-02 -7.26259331e-04 9.98267354e-01 1.91667734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719928851 meters Centerline goodness : 0.770459 with order 3 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.11, Z:0.19 [[ 0.99701694 -0.04945855 -0.05925425 1.36921345] [ 0.04923811 0.99877366 -0.00517554 -0.10888677] [ 0.05943756 0.00224253 0.99822951 0.19176261] [ 0. 0. 0. 1. ]] SLAMing on 107.779928851 meters Centerline goodness : 0.770374 with order 3 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.11, Z:0.19 [[ 0.99680911 -0.05320069 -0.05950875 1.37025478] [ 0.05276893 0.99856793 -0.00880462 -0.11020378] [ 0.05989194 0.00563631 0.99818895 0.19213905] [ 0. 0. 0. 1. ]] SLAMing on 107.839928851 meters Centerline goodness : 0.770651 with order 3 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.12, Z:0.19 [[ 0.99662654 -0.06193211 -0.0538513 1.37936341] [ 0.06174297 0.99807869 -0.00517045 -0.11523242] [ 0.05406805 0.00182806 0.99853558 0.189068 ] [ 0. 0. 0. 1. ]] SLAMing on 107.899928851 meters Centerline goodness : 0.771854 with order 3 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.12, Z:0.19 [[ 0.99611975 -0.06965649 -0.05379055 1.380546 ] [ 0.06910746 0.99753702 -0.01200262 -0.11852755] [ 0.05449412 0.00823872 0.9984801 0.18919711] [ 0. 0. 0. 1. ]] SLAMing on 107.959928851 meters Centerline goodness : 0.771664 with order 3 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.12, Z:0.19 [[ 0.99585603 -0.07315737 -0.05402555 1.38224076] [ 0.07244673 0.99725949 -0.0149996 -0.12038533] [ 0.05497483 0.01102347 0.99842689 0.1886095 ] [ 0. 0. 0. 1. ]] SLAMing on 108.019928851 meters Centerline goodness : 0.772965 with order 3 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.12, Z:0.19 [[ 0.99559157 -0.07653977 -0.05421341 1.38380279] [ 0.07572916 0.99698596 -0.01685505 -0.12330195] [ 0.05534009 0.01267521 0.99838711 0.18799082] [ 0. 0. 0. 1. ]] SLAMing on 108.079928851 meters Centerline goodness : 0.771616 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.13, Z:0.19 [[ 0.99552839 -0.076961 -0.05477425 1.38555396] [ 0.07620018 0.99696657 -0.01584871 -0.12512581] [ 0.05582783 0.01160403 0.99837298 0.18744783] [ 0. 0. 0. 1. ]] SLAMing on 108.139928851 meters Centerline goodness : 0.772086 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.13, Z:0.19 [[ 0.99549532 -0.0771566 -0.05509917 1.38622177] [ 0.07644414 0.99696214 -0.01492627 -0.12644346] [ 0.05608344 0.01064702 0.99836931 0.18756391] [ 0. 0. 0. 1. ]] SLAMing on 108.199928851 meters Centerline goodness : 0.773590 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.13, Z:0.19 [[ 0.99549364 -0.07682015 -0.0555975 1.38779121] [ 0.07613997 0.99699526 -0.01425352 -0.12696804] [ 0.05652541 0.0099561 0.99835152 0.18674389] [ 0. 0. 0. 1. ]] SLAMing on 108.259928851 meters Centerline goodness : 0.774185 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.13, Z:0.19 [[ 0.99542032 -0.07714413 -0.05645509 1.39007734] [ 0.07645984 0.99697175 -0.01418535 -0.12580602] [ 0.05737845 0.00980383 0.99830436 0.18580367] [ 0. 0. 0. 1. ]] SLAMing on 108.319928851 meters Centerline goodness : 0.773832 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:0.19 [[ 0.99536902 -0.07723536 -0.05722956 1.39146139] [ 0.07654895 0.99696621 -0.01409404 -0.12462539] [ 0.05814449 0.0096479 0.99826156 0.18587484] [ 0. 0. 0. 1. ]] SLAMing on 108.379928851 meters Centerline goodness : 0.774116 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:0.19 [[ 0.99524522 -0.07796335 -0.05838381 1.39369514] [ 0.07724282 0.99690684 -0.01450153 -0.12207595] [ 0.05933381 0.00992285 0.99818888 0.18582449] [ 0. 0. 0. 1. ]] SLAMing on 108.439928851 meters Centerline goodness : 0.760123 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.12, Z:0.19 [[ 0.99497671 -0.08122753 -0.05851005 1.3953666 ] [ 0.08028777 0.9966048 -0.01824109 -0.11888539] [ 0.05979308 0.01345182 0.99812015 0.18523981] [ 0. 0. 0. 1. ]] SLAMing on 108.49992885099999 meters Centerline goodness : 0.772478 with order 3 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.12, Z:0.18 [[ 0.99545628 -0.08359958 -0.04558413 1.39830296] [ 0.08283795 0.99639404 -0.01835208 -0.11717589] [ 0.04695398 0.0144926 0.99879191 0.17786737] [ 0. 0. 0. 1. ]] SLAMing on 108.559928851 meters Centerline goodness : 0.759922 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.12, Z:0.17 [[ 0.99584249 -0.08473331 -0.03343637 1.40200804] [ 0.08416713 0.99628916 -0.01799476 -0.11662454] [ 0.03483705 0.01510571 0.99927884 0.16924726] [ 0. 0. 0. 1. ]] SLAMing on 108.619928851 meters Centerline goodness : 0.761521 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.11, Z:0.17 [[ 0.99556399 -0.08987879 -0.02782361 1.41040867] [ 0.08960582 0.99591756 -0.01090948 -0.1149365 ] [ 0.02869055 0.00836793 0.99955332 0.16512024] [ 0. 0. 0. 1. ]] SLAMing on 108.679928851 meters Centerline goodness : 0.763053 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.11, Z:0.16 [[ 0.99530381 -0.09264192 -0.0280677 1.41222871] [ 0.0922791 0.99563532 -0.01395994 -0.11119098] [ 0.02923847 0.01130432 0.99950854 0.16406796] [ 0. 0. 0. 1. ]] SLAMing on 108.739928851 meters Centerline goodness : 0.772965 with order 3 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.11, Z:0.16 [[ 0.99515693 -0.09441509 -0.0273584 1.41084283] [ 0.09400726 0.99544563 -0.01583123 -0.10542499] [ 0.02872851 0.01318267 0.99950032 0.16365965] [ 0. 0. 0. 1. ]] SLAMing on 108.799928851 meters Centerline goodness : 0.772264 with order 3 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.10, Z:0.16 [[ 0.99511229 -0.09490705 -0.02727971 1.41111152] [ 0.094477 0.99538786 -0.01664639 -0.10197989] [ 0.02873375 0.01398772 0.99948923 0.1630246 ] [ 0. 0. 0. 1. ]] SLAMing on 108.85992885099999 meters Centerline goodness : 0.772744 with order 3 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.09, Z:0.16 [[ 0.99505272 -0.09561098 -0.02699291 1.41095171] [ 0.0951427 0.99529848 -0.0181329 -0.09411989] [ 0.0285997 0.01547501 0.99947115 0.16225423] [ 0. 0. 0. 1. ]] SLAMing on 108.919928851 meters Centerline goodness : 0.774206 with order 3 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.09, Z:0.16 [[ 0.9953066 -0.09304627 -0.02659241 1.40914963] [ 0.09264751 0.99557272 -0.01585581 -0.08920459] [ 0.02795 0.01331767 0.9995206 0.16222285] [ 0. 0. 0. 1. ]] SLAMing on 108.979928851 meters Centerline goodness : 0.767122 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.08, Z:0.16 [[ 0.99558408 -0.09012448 -0.0262663 1.40892068] [ 0.08977802 0.99586218 -0.01408631 -0.08146315] [ 0.02742713 0.01166597 0.99955573 0.16097111] [ 0. 0. 0. 1. ]] SLAMing on 109.039928851 meters Centerline goodness : 0.766583 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.08, Z:0.16 [[ 0.99580739 -0.08782972 -0.02556544 1.40903863] [ 0.0875463 0.99608812 -0.012004 -0.07717316] [ 0.02651974 0.00971551 0.99960108 0.15838441] [ 0. 0. 0. 1. ]] SLAMing on 109.099928851 meters Centerline goodness : 0.770683 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:0.16 [[ 0.99597388 -0.08609974 -0.02495731 1.40902765] [ 0.08586002 0.99625162 -0.01052467 -0.06991057] [ 0.02576993 0.00833946 0.99963311 0.15572908] [ 0. 0. 0. 1. ]] SLAMing on 109.159928851 meters Centerline goodness : 0.773269 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:0.15 [[ 0.99629464 -0.08531012 -0.0109169 1.40739231] [ 0.08526912 0.99634924 -0.00416825 -0.06592483] [ 0.01123264 0.00322193 0.99993172 0.14679841] [ 0. 0. 0. 1. ]] SLAMing on 109.219928851 meters Centerline goodness : 0.775115 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.14 [[ 0.99642677 -0.08444207 0.00179868 1.40775629] [ 0.08444655 0.99642467 -0.00258045 -0.0643202 ] [-0.00157435 0.00272313 0.99999505 0.13887423] [ 0. 0. 0. 1. ]] SLAMing on 109.279928851 meters Centerline goodness : 0.777259 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.14 [[ 0.99631496 -0.08573378 0.00249406 1.40644466] [ 0.08574308 0.99630967 -0.00389519 -0.05913945] [-0.00215091 0.00409468 0.9999893 0.13810164] [ 0. 0. 0. 1. ]] SLAMing on 109.339928851 meters Centerline goodness : 0.780697 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.14 [[ 0.99628711 -0.08605472 0.00256605 1.40645596] [ 0.08606528 0.99628006 -0.00433648 -0.05721101] [-0.00218333 0.00454123 0.99998731 0.13772592] [ 0. 0. 0. 1. ]] SLAMing on 109.399928851 meters Centerline goodness : 0.781243 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.14 [[ 0.9962615 -0.08634526 0.00274113 1.40690305] [ 0.08635779 0.99625243 -0.00483974 -0.05403045] [-0.00231297 0.00505836 0.99998453 0.13639656] [ 0. 0. 0. 1. ]] SLAMing on 109.459928851 meters Centerline goodness : 0.780965 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.13 [[ 0.99623563 -0.08663972 0.00285154 1.40778888] [ 0.08665382 0.9962246 -0.00526019 -0.05044565] [-0.00238504 0.00548748 0.9999821 0.13442702] [ 0. 0. 0. 1. ]] SLAMing on 109.519928851 meters Centerline goodness : 0.784260 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.13 [[ 0.99622589 -0.08675411 0.00277663 1.40843105] [ 0.08676901 0.99621163 -0.00579004 -0.04735417] [-0.0022638 0.00600911 0.99997938 0.13367763] [ 0. 0. 0. 1. ]] SLAMing on 109.579928851 meters Centerline goodness : 0.789352 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99647953 -0.08378251 0.00300547 1.40703979] [ 0.08379116 0.99647919 -0.00287565 -0.04375947] [-0.00275396 0.00311736 0.99999135 0.13352326] [ 0. 0. 0. 1. ]] SLAMing on 109.639928851 meters Centerline goodness : 0.790406 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99650651 -0.08345969 0.00304302 1.40761228] [ 0.08347047 0.99650372 -0.00360677 -0.03951751] [-0.00273136 0.00384818 0.99998887 0.13306356] [ 0. 0. 0. 1. ]] SLAMing on 109.699928851 meters Centerline goodness : 0.791388 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.9964738 -0.08383628 0.00338306 1.40703633] [ 0.0838492 0.99647091 -0.00387817 -0.03789335] [-0.00304599 0.00414816 0.99998676 0.1325725 ] [ 0. 0. 0. 1. ]] SLAMing on 109.759928851 meters Centerline goodness : 0.792996 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.9964348 -0.08428784 0.00364098 1.40646646] [ 0.08430184 0.9964327 -0.00388175 -0.03751819] [-0.0033008 0.00417485 0.99998584 0.13214676] [ 0. 0. 0. 1. ]] SLAMing on 109.819928851 meters Centerline goodness : 0.795002 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99642216 -0.08443488 0.00369301 1.40684224] [ 0.08444685 0.99642281 -0.00321294 -0.03902376] [-0.00340852 0.0035133 0.99998802 0.13086704] [ 0. 0. 0. 1. ]] SLAMing on 109.879928851 meters Centerline goodness : 0.793312 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99639894 -0.08469951 0.00389175 1.40658543] [ 0.08471155 0.99640087 -0.00304232 -0.03937939] [-0.00362006 0.00336104 0.9999878 0.13031951] [ 0. 0. 0. 1. ]] SLAMing on 109.939928851 meters Centerline goodness : 0.795980 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99638754 -0.08483195 0.00392667 1.40661407] [ 0.0848436 0.99639005 -0.0029026 -0.03937933] [-0.00366626 0.00322526 0.99998808 0.12988341] [ 0. 0. 0. 1. ]] SLAMing on 109.99992885099999 meters Centerline goodness : 0.795979 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99637636 -0.08495701 0.00405694 1.40649403] [ 0.08496724 0.99638081 -0.00241961 -0.04114657] [-0.00383669 0.00275555 0.99998884 0.12936363] [ 0. 0. 0. 1. ]] SLAMing on 110.059928851 meters Centerline goodness : 0.798561 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99635318 -0.08522526 0.00412172 1.40623952] [ 0.08523387 0.99635904 -0.00196071 -0.04385274] [-0.00393961 0.00230487 0.99998958 0.12929824] [ 0. 0. 0. 1. ]] SLAMing on 110.119928851 meters Centerline goodness : 0.795984 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.13 [[ 0.99636268 -0.08512034 0.00399222 1.40631065] [ 0.08512765 0.9963686 -0.00169892 -0.04470951] [-0.00383311 0.00203259 0.99999059 0.12954751] [ 0. 0. 0. 1. ]] SLAMing on 110.179928851 meters Centerline goodness : 0.796439 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.13 [[ 9.96434646e-01 -8.42940369e-02 3.53725684e-03 1.40758275e+00] [ 8.42983043e-02 9.96439983e-01 -1.07490020e-03 -4.69662439e-02] [-3.43405647e-03 1.36925255e-03 9.99993166e-01 1.29501061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239928851 meters Centerline goodness : 0.795743 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.13 [[ 9.96514331e-01 -8.33658917e-02 3.05218865e-03 1.40913339e+00] [ 8.33677412e-02 9.96518733e-01 -4.83590391e-04 -4.78861966e-02] [-3.00124822e-03 7.36358829e-04 9.99995225e-01 1.29153194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299928851 meters Centerline goodness : 0.797073 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.13 [[ 0.99688944 -0.07877552 0.00242049 1.41003309] [ 0.07876454 0.99688381 0.00433696 -0.05063063] [-0.0027546 -0.00413282 0.99998767 0.1288802 ] [ 0. 0. 0. 1. ]] SLAMing on 110.35992885099999 meters Centerline goodness : 0.795874 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.13 [[ 0.99693515 -0.07820321 0.00213778 1.41050025] [ 0.07819222 0.99692668 0.00481404 -0.05270524] [-0.00250769 -0.00463213 0.99998613 0.12949988] [ 0. 0. 0. 1. ]] SLAMing on 110.419928851 meters Centerline goodness : 0.796400 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.13 [[ 0.99695442 -0.07796619 0.00177842 1.41119698] [ 0.07795441 0.99693925 0.0059372 -0.05785566] [-0.00223588 -0.00578048 0.99998079 0.12943422] [ 0. 0. 0. 1. ]] SLAMing on 110.479928851 meters Centerline goodness : 0.794605 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.13 [[ 0.99696578 -0.07782463 0.00160237 1.41185718] [ 0.07781206 0.99694484 0.00680263 -0.06152685] [-0.00212689 -0.0066573 0.99997558 0.12893225] [ 0. 0. 0. 1. ]] SLAMing on 110.539928851 meters Centerline goodness : 0.793314 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:0.13 [[ 0.99694964 -0.07802961 0.00167191 1.41136833] [ 0.07801573 0.99692626 0.00718183 -0.06516267] [-0.00222717 -0.00702949 0.99997281 0.12953159] [ 0. 0. 0. 1. ]] SLAMing on 110.599928851 meters Centerline goodness : 0.790812 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:0.13 [[ 0.99696865 -0.07779075 0.00145409 1.41145783] [ 0.07777706 0.99693987 0.00784957 -0.07042064] [-0.00206026 -0.00771268 0.99996813 0.13049972] [ 0. 0. 0. 1. ]] SLAMing on 110.659928851 meters Centerline goodness : 0.790437 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:0.13 [[ 9.96990899e-01 -7.75083583e-02 1.26536277e-03 1.41147919e+00] [ 7.74952991e-02 9.96958253e-01 8.28975874e-03 -7.23552583e-02] [-1.90403945e-03 -8.16675436e-03 9.99964839e-01 1.31199577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719928851 meters Centerline goodness : 0.790283 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.08, Z:0.13 [[ 9.97001799e-01 -7.73703535e-02 1.11450528e-03 1.41135707e+00] [ 7.73569469e-02 9.96961228e-01 9.17672683e-03 -7.82889546e-02] [-1.82112515e-03 -9.06299843e-03 9.99957272e-01 1.32054890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.779928851 meters Centerline goodness : 0.789566 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.08, Z:0.13 [[ 9.96803458e-01 -7.98902353e-02 6.44813699e-04 1.41367751e+00] [ 7.98838014e-02 9.96779639e-01 6.99489626e-03 -8.44643018e-02] [-1.20156107e-03 -6.92102662e-03 9.99975328e-01 1.31696623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.839928851 meters Centerline goodness : 0.783697 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.09, Z:0.13 [[ 9.96821210e-01 -7.96702147e-02 3.64764672e-04 1.41477611e+00] [ 7.96646512e-02 9.96788731e-01 8.10982709e-03 -8.93983464e-02] [-1.00970498e-03 -8.05498880e-03 9.99967048e-01 1.30990456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.899928851 meters Centerline goodness : 0.789781 with order 3 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.09, Z:0.13 [[ 9.96616117e-01 -8.21967064e-02 -1.33156179e-04 1.41710432e+00] [ 8.21960325e-02 9.96598265e-01 5.97579488e-03 -9.47269698e-02] [-3.58487440e-04 -5.96651840e-03 9.99982136e-01 1.30564055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.959928851 meters Centerline goodness : 0.790349 with order 3 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.10, Z:0.13 [[ 9.96363656e-01 -8.52014949e-02 -4.12357365e-04 1.41850003e+00] [ 8.52023383e-02 9.96359395e-01 2.91835909e-03 -9.78051830e-02] [ 1.62207578e-04 -2.94288075e-03 9.99995657e-01 1.30974603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019928851 meters Centerline goodness : 0.778545 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.10, Z:0.13 [[ 9.96105087e-01 -8.81727499e-02 -4.70256202e-04 1.41947458e+00] [ 8.81729451e-02 9.96105096e-01 4.11651519e-04 -1.03011153e-01] [ 4.32128153e-04 -4.51512047e-04 9.99999805e-01 1.31258805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079928851 meters Centerline goodness : 0.791259 with order 3 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:0.13 [[ 9.96103757e-01 -8.81880220e-02 -4.21805435e-04 1.41916062e+00] [ 8.81884454e-02 9.96103179e-01 1.12064389e-03 -1.06346196e-01] [ 3.21334366e-04 -1.15347596e-03 9.99999283e-01 1.31546149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.139928851 meters Centerline goodness : 0.780127 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:0.13 [[ 9.96121300e-01 -8.79896548e-02 -4.20452000e-04 1.41927578e+00] [ 8.79902910e-02 9.96119584e-01 1.86621485e-03 -1.11004637e-01] [ 2.54612871e-04 -1.89597205e-03 9.99998170e-01 1.31713234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.199928851 meters Centerline goodness : 0.778334 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:0.13 [[ 9.96165670e-01 -8.74858095e-02 -4.37482850e-04 1.42014257e+00] [ 8.74866712e-02 9.96162092e-01 2.67755404e-03 -1.13620293e-01] [ 2.01555848e-04 -2.70556133e-03 9.99996320e-01 1.30843151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.259928851 meters Centerline goodness : 0.779605 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:0.13 [[ 9.96192948e-01 -8.71740757e-02 -5.39808699e-04 1.42078202e+00] [ 8.71753394e-02 9.96188127e-01 3.11055015e-03 -1.14379298e-01] [ 2.66591682e-04 -3.14576613e-03 9.99995017e-01 1.30309515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319928851 meters Centerline goodness : 0.779905 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.13 [[ 9.96264028e-01 -8.63566260e-02 -7.21324080e-04 1.42182970e+00] [ 8.63587379e-02 9.96257032e-01 3.75435014e-03 -1.15429558e-01] [ 3.94411176e-04 -3.80261663e-03 9.99992692e-01 1.29718002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379928851 meters Centerline goodness : 0.775240 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.13 [[ 9.96323127e-01 -8.56694722e-02 -9.83578132e-04 1.42304388e+00] [ 8.56728849e-02 9.96314392e-01 4.21781780e-03 -1.16504479e-01] [ 6.18614824e-04 -4.28657540e-03 9.99990621e-01 1.29176132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439928851 meters Centerline goodness : 0.775072 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.13 [[ 9.96381057e-01 -8.49913368e-02 -1.12300169e-03 1.42408319e+00] [ 8.49955422e-02 9.96371310e-01 4.46888893e-03 -1.16527343e-01] [ 7.39109825e-04 -4.54816641e-03 9.99989384e-01 1.28619111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49992885099999 meters Centerline goodness : 0.774317 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.13 [[ 9.96399057e-01 -8.47792143e-02 -1.18464681e-03 1.42466337e+00] [ 8.47838122e-02 9.96388719e-01 4.60712701e-03 -1.16249356e-01] [ 7.89780108e-04 -4.69097588e-03 9.99988685e-01 1.28095530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.559928851 meters Centerline goodness : 0.771879 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.12, Z:0.13 [[ 9.96146734e-01 -8.76939216e-02 -1.20851148e-03 1.42643221e+00] [ 8.76954472e-02 9.96146519e-01 1.27309508e-03 -1.15828821e-01] [ 1.09221180e-03 -1.37417046e-03 9.99998459e-01 1.27021239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.619928851 meters Centerline goodness : 0.773771 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.12, Z:0.13 [[ 9.96082509e-01 -8.84257887e-02 -7.18004745e-04 1.42528885e+00] [ 8.84265233e-02 9.96082133e-01 1.06543641e-03 -1.16475873e-01] [ 6.20979643e-04 -1.12475323e-03 9.99999175e-01 1.27001391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.679928851 meters Centerline goodness : 0.774027 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.13 [[ 9.95999974e-01 -8.93527163e-02 -3.78289512e-04 1.42424223e+00] [ 8.93529264e-02 9.95999858e-01 5.80621688e-04 -1.16211160e-01] [ 3.24896175e-04 -6.12100461e-04 9.99999760e-01 1.27235333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739928851 meters Centerline goodness : 0.774046 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.13 [[ 9.95990726e-01 -8.94559568e-02 -3.25496031e-04 1.42448131e+00] [ 8.94561517e-02 9.95990553e-01 6.44054038e-04 -1.16365170e-01] [ 2.66576502e-04 -6.70589471e-04 9.99999740e-01 1.26765931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799928851 meters Centerline goodness : 0.789607 with order 3 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.12, Z:0.13 [[ 9.95994475e-01 -8.94137305e-02 -4.37211703e-04 1.42513652e+00] [ 8.94139992e-02 9.95994341e-01 6.39334717e-04 -1.15505673e-01] [ 3.78295080e-04 -6.75866693e-04 9.99999700e-01 1.26116078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85992885099999 meters Centerline goodness : 0.782403 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.11, Z:0.13 [[ 9.96011186e-01 -8.92260952e-02 -6.49393922e-04 1.42575307e+00] [ 8.92264110e-02 9.96011256e-01 4.74833630e-04 -1.13902276e-01] [ 6.04436105e-04 -5.30882696e-04 9.99999676e-01 1.25990416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.919928851 meters Centerline goodness : 0.783202 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.11, Z:0.13 [[ 9.96020781e-01 -8.91178840e-02 -7.78758892e-04 1.42584413e+00] [ 8.91175971e-02 9.96021033e-01 -3.95715492e-04 -1.11283382e-01] [ 8.10925563e-04 3.24739733e-04 9.99999618e-01 1.26842945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.979928851 meters Centerline goodness : 0.791000 with order 3 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.11, Z:0.13 [[ 9.96061045e-01 -8.86645218e-02 -9.98343859e-04 1.42675908e+00] [ 8.86639490e-02 9.96061413e-01 -6.04150766e-04 -1.09480147e-01] [ 1.04797853e-03 5.13253934e-04 9.99999319e-01 1.26472463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.039928851 meters Centerline goodness : 0.783612 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.11, Z:0.12 [[ 9.96229133e-01 -8.67546792e-02 -1.06803463e-03 1.42847463e+00] [ 8.67550096e-02 9.96229641e-01 2.66939689e-04 -1.06949174e-01] [ 1.04084949e-03 -3.58590449e-04 9.99999394e-01 1.24912220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099928851 meters Centerline goodness : 0.783672 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.11, Z:0.12 [[ 9.96250761e-01 -8.65053478e-02 -1.11659013e-03 1.42916044e+00] [ 8.65055913e-02 9.96251350e-01 1.71610147e-04 -1.05482273e-01] [ 1.09755923e-03 -2.67558029e-04 9.99999362e-01 1.24213859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159928851 meters Centerline goodness : 0.789204 with order 3 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.10, Z:0.12 [[ 9.96216464e-01 -8.69013363e-02 -9.56118140e-04 1.42896797e+00] [ 8.69012618e-02 9.96216922e-01 -1.19209992e-04 -1.04395996e-01] [ 9.62860578e-04 3.56710842e-05 9.99999536e-01 1.23890128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219928851 meters Centerline goodness : 0.792367 with order 3 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.10, Z:0.12 [[ 9.95903302e-01 -9.04193933e-02 -9.72529317e-04 1.43043340e+00] [ 9.04149031e-02 9.95896346e-01 -3.95137437e-03 -1.02686514e-01] [ 1.32581927e-03 3.84725564e-03 9.99991720e-01 1.23077416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.279928851 meters Centerline goodness : 0.797209 with order 3 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.10, Z:0.12 [[ 9.95464880e-01 -9.51285154e-02 -4.88779600e-04 1.43039039e+00] [ 9.51213313e-02 9.95431865e-01 -8.20578106e-03 -1.01699290e-01] [ 1.26715056e-03 8.12207349e-03 9.99966213e-01 1.22516294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.339928851 meters Centerline goodness : 0.784900 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.10, Z:0.12 [[ 9.95064149e-01 -9.92336235e-02 -1.63116125e-04 1.43108051e+00] [ 9.92241703e-02 9.94989518e-01 -1.22647296e-02 -1.00864241e-01] [ 1.37937239e-03 1.21880076e-02 9.99924772e-01 1.21755519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.399928851 meters Centerline goodness : 0.787741 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.10, Z:0.12 [[ 0.99454175 -0.10418475 0.00567882 1.43921962] [ 0.10421002 0.99454579 -0.00435132 -0.10149243] [-0.00519451 0.00491935 0.99997441 0.11749439] [ 0. 0. 0. 1. ]] SLAMing on 112.459928851 meters Centerline goodness : 0.788049 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.10, Z:0.12 [[ 0.99450503 -0.10452172 0.00591243 1.43857619] [ 0.10454981 0.99450874 -0.00465914 -0.10025161] [-0.00539298 0.00525169 0.99997167 0.11761782] [ 0. 0. 0. 1. ]] SLAMing on 112.519928851 meters Centerline goodness : 0.796401 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.10, Z:0.12 [[ 0.99416563 -0.10779847 0.0037679 1.48817128] [ 0.10781569 0.99415973 -0.00471253 -0.09556261] [-0.00323789 0.00509127 0.9999818 0.11902877] [ 0. 0. 0. 1. ]] SLAMing on 112.579928851 meters Centerline goodness : 0.796429 with order 3 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:0.14 [[ 0.99511537 -0.09749068 0.01552289 1.61208419] [ 0.09823158 0.9934887 -0.05771266 -0.08244497] [-0.00979537 0.05895559 0.99821255 0.14283956] [ 0. 0. 0. 1. ]] SLAMing on 112.639928851 meters Centerline goodness : 0.796661 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:0.14 [[ 0.99503048 -0.09780859 0.01864996 1.62090412] [ 0.09854043 0.99418204 -0.04349538 -0.08507251] [-0.01428723 0.045117 0.99887954 0.13800254] [ 0. 0. 0. 1. ]] SLAMing on 112.699928851 meters Centerline goodness : 0.788454 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:0.14 [[ 0.99533167 -0.09470338 0.01860467 1.62040617] [ 0.09536976 0.99467862 -0.03897488 -0.08779021] [-0.01481461 0.04056726 0.99906698 0.13679917] [ 0. 0. 0. 1. ]] SLAMing on 112.759928851 meters Centerline goodness : 0.788652 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:0.14 [[ 0.99534204 -0.09461065 0.01852137 1.62077518] [ 0.09526813 0.9947031 -0.038597 -0.08882175] [-0.01477158 0.04018171 0.99908319 0.13639295] [ 0. 0. 0. 1. ]] SLAMing on 112.819928851 meters Centerline goodness : 0.795731 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:0.14 [[ 0.99533164 -0.09469153 0.01866635 1.62065862] [ 0.09534445 0.99472237 -0.03790573 -0.09103156] [-0.01497848 0.03950851 0.99910696 0.13584217] [ 0. 0. 0. 1. ]] SLAMing on 112.879928851 meters Centerline goodness : 0.796842 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:0.14 [[ 0.99534435 -0.09456982 0.01860596 1.62114067] [ 0.0952105 0.99476022 -0.03724323 -0.09247871] [-0.01498639 0.03884132 0.999133 0.13501024] [ 0. 0. 0. 1. ]] SLAMing on 112.939928851 meters Centerline goodness : 0.796642 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.10, Z:0.13 [[ 0.99532456 -0.09476108 0.0186909 1.62136819] [ 0.09539243 0.99477347 -0.03641465 -0.09502049] [-0.01514252 0.03802737 0.99916196 0.1339221 ] [ 0. 0. 0. 1. ]] SLAMing on 112.99992885099999 meters Centerline goodness : 0.789179 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.10, Z:0.13 [[ 0.99526314 -0.09535135 0.01895778 1.62039195] [ 0.09598918 0.99472401 -0.03619697 -0.09663324] [-0.01540632 0.03784525 0.99916484 0.13414421] [ 0. 0. 0. 1. ]] SLAMing on 113.059928851 meters Centerline goodness : 0.797931 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:0.13 [[ 0.99484126 -0.09856223 0.02400721 1.62750634] [ 0.09916001 0.99475415 -0.02512897 -0.10056241] [-0.02140451 0.02737989 0.99939591 0.13014617] [ 0. 0. 0. 1. ]] SLAMing on 113.119928851 meters Centerline goodness : 0.799016 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:0.13 [[ 0.99512027 -0.09570486 0.02400491 1.62644476] [ 0.09621102 0.99514155 -0.02089825 -0.10301639] [-0.02188822 0.02310581 0.99949339 0.12967364] [ 0. 0. 0. 1. ]] SLAMing on 113.179928851 meters Centerline goodness : 0.799076 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:0.13 [[ 0.99539402 -0.09281837 0.02398954 1.62519945] [ 0.09323305 0.99550282 -0.01678507 -0.10490592] [-0.02232369 0.01894438 0.99957129 0.12963566] [ 0. 0. 0. 1. ]] SLAMing on 113.239928851 meters Centerline goodness : 0.799776 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.11, Z:0.13 [[ 0.99568639 -0.08968243 0.02378379 1.62449234] [ 0.08999421 0.99586537 -0.01237763 -0.10708798] [-0.0225754 0.01446464 0.9996405 0.12934588] [ 0. 0. 0. 1. ]] SLAMing on 113.299928851 meters Centerline goodness : 0.799724 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:0.13 [[ 0.99573874 -0.08915124 0.02358838 1.62523757] [ 0.08944299 0.99592422 -0.01161454 -0.1085325 ] [-0.02245678 0.01367486 0.99965429 0.12884072] [ 0. 0. 0. 1. ]] SLAMing on 113.35992885099999 meters Centerline goodness : 0.797520 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:0.13 [[ 0.99577237 -0.08883521 0.02336009 1.6256693 ] [ 0.08910721 0.99596271 -0.0108709 -0.11060208] [-0.02230006 0.01290649 0.99966801 0.12869602] [ 0. 0. 0. 1. ]] SLAMing on 113.419928851 meters Centerline goodness : 0.801320 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:0.13 [[ 0.99582085 -0.08835835 0.02310055 1.62648391] [ 0.08860502 0.99601784 -0.00988 -0.11351122] [-0.02213558 0.01188553 0.99968433 0.12821653] [ 0. 0. 0. 1. ]] SLAMing on 113.479928851 meters Centerline goodness : 0.801603 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.12, Z:0.13 [[ 0.99588253 -0.08773219 0.02282665 1.62751515] [ 0.08795451 0.99608453 -0.0089229 -0.1156016 ] [-0.02195444 0.01089387 0.99969962 0.12751978] [ 0. 0. 0. 1. ]] SLAMing on 113.539928851 meters Centerline goodness : 0.794006 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.12, Z:0.13 [[ 0.99596385 -0.08692451 0.02236363 1.62898871] [ 0.0871179 0.9961673 -0.00782171 -0.11795552] [-0.02159802 0.00973841 0.99971931 0.12678581] [ 0. 0. 0. 1. ]] SLAMing on 113.599928851 meters Centerline goodness : 0.804240 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.12, Z:0.13 [[ 0.9960365 -0.08619522 0.02194691 1.63014761] [ 0.08635488 0.99624367 -0.00643262 -0.12203656] [-0.02131001 0.00830234 0.99973844 0.12630154] [ 0. 0. 0. 1. ]] SLAMing on 113.659928851 meters Centerline goodness : 0.805812 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:0.13 [[ 0.99606421 -0.08588645 0.02189983 1.63072989] [ 0.0860167 0.99628077 -0.00507443 -0.12801589] [-0.02138256 0.00693821 0.99974729 0.1256282 ] [ 0. 0. 0. 1. ]] SLAMing on 113.719928851 meters Centerline goodness : 0.805696 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:0.13 [[ 0.99611159 -0.08537406 0.02174798 1.63137137] [ 0.08547677 0.99633278 -0.00383585 -0.13135134] [-0.02134074 0.00567988 0.99975613 0.12501848] [ 0. 0. 0. 1. ]] SLAMing on 113.779928851 meters Centerline goodness : 0.804445 with order 3 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:0.12 [[ 0.99596375 -0.08723855 0.02111026 1.63448131] [ 0.0873778 0.99615857 -0.00576424 -0.13479176] [-0.02052631 0.00758554 0.99976054 0.12375279] [ 0. 0. 0. 1. ]] SLAMing on 113.839928851 meters Centerline goodness : 0.803512 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:0.12 [[ 0.99601797 -0.08668042 0.02084966 1.63554013] [ 0.08679267 0.99621606 -0.00453862 -0.13803797] [-0.02037735 0.00633015 0.99977232 0.12288489] [ 0. 0. 0. 1. ]] SLAMing on 113.899928851 meters Centerline goodness : 0.802265 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:0.12 [[ 0.99603932 -0.08643849 0.02083434 1.63562913] [ 0.08652985 0.99624303 -0.00352225 -0.14241256] [-0.02045161 0.00531109 0.99977674 0.12289348] [ 0. 0. 0. 1. ]] SLAMing on 113.959928851 meters Centerline goodness : 0.801230 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:0.12 [[ 0.99583751 -0.0888188 0.02046636 1.63787191] [ 0.08896628 0.99601401 -0.00641022 -0.14349876] [-0.01981544 0.00820435 0.99976999 0.12221771] [ 0. 0. 0. 1. ]] SLAMing on 114.019928851 meters Centerline goodness : 0.800202 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:0.12 [[ 0.99588127 -0.0883816 0.02022866 1.63845067] [ 0.08850766 0.99606074 -0.00542216 -0.14650587] [-0.01966975 0.00719022 0.99978068 0.1220551 ] [ 0. 0. 0. 1. ]] SLAMing on 114.079928851 meters Centerline goodness : 0.800394 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:0.12 [[ 0.99593557 -0.08783518 0.01993308 1.63939412] [ 0.08794168 0.99611533 -0.00452894 -0.14854121] [-0.01945784 0.00626348 0.99979106 0.12151964] [ 0. 0. 0. 1. ]] SLAMing on 114.139928851 meters Centerline goodness : 0.797780 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:0.12 [[ 0.99600838 -0.08709414 0.01954272 1.64066623] [ 0.0871745 0.9961876 -0.00329693 -0.15144019] [-0.01918107 0.0049874 0.99980359 0.12077338] [ 0. 0. 0. 1. ]] SLAMing on 114.199928851 meters Centerline goodness : 0.798554 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:0.12 [[ 0.99607417 -0.08639827 0.01927681 1.64181184] [ 0.08646475 0.99625141 -0.0026408 -0.1522414 ] [-0.01897639 0.00429719 0.9998107 0.12002683] [ 0. 0. 0. 1. ]] SLAMing on 114.259928851 meters Centerline goodness : 0.796691 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:0.12 [[ 0.9961453 -0.08565501 0.01891443 1.64330677] [ 0.08570512 0.99631882 -0.0018531 -0.1534033 ] [-0.01868607 0.00346702 0.99981939 0.11904463] [ 0. 0. 0. 1. ]] SLAMing on 114.319928851 meters Centerline goodness : 0.795026 with order 3 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:0.12 [[ 9.96202141e-01 -8.50618606e-02 1.85950025e-02 1.64465057e+00] [ 8.50967354e-02 9.96372097e-01 -1.09091431e-03 -1.54819361e-01] [-1.84347464e-02 2.66914518e-03 9.99826503e-01 1.18032610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379928851 meters Centerline goodness : 0.792266 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.12 [[ 9.96253585e-01 -8.45138073e-02 1.83360671e-02 1.64560254e+00] [ 8.45400977e-02 9.96419858e-01 -6.62057052e-04 -1.54786089e-01] [-1.82144684e-02 2.20970961e-03 9.99831661e-01 1.17550307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439928851 meters Centerline goodness : 0.793144 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.12 [[ 9.96306605e-01 -8.39625346e-02 1.79844761e-02 1.64665579e+00] [ 8.39850114e-02 9.96466894e-01 -4.96844975e-04 -1.54033547e-01] [-1.78792187e-02 2.00543636e-03 9.99838143e-01 1.17192157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49992885099999 meters Centerline goodness : 0.797054 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.12 [[ 9.96396547e-01 -8.29836030e-02 1.75397208e-02 1.64861252e+00] [ 8.29998765e-02 9.96549537e-01 -2.00641113e-04 -1.52855240e-01] [-1.74625508e-02 1.65571277e-03 9.99846147e-01 1.16036941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.559928851 meters Centerline goodness : 0.794046 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.12 [[ 9.96474161e-01 -8.21291302e-02 1.71479283e-02 1.65013245e+00] [ 8.21415595e-02 9.96620672e-01 -2.05682622e-05 -1.51391932e-01] [-1.70882906e-02 1.42905332e-03 9.99852963e-01 1.15279949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.619928851 meters Centerline goodness : 0.793328 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.11 [[ 9.96562778e-01 -8.11062725e-02 1.68642233e-02 1.65153072e+00] [ 8.11210556e-02 9.96704237e-01 -1.93249217e-04 -1.48661054e-01] [-1.67929691e-02 1.56062857e-03 9.99857770e-01 1.14834491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.679928851 meters Centerline goodness : 0.795103 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:0.11 [[ 9.96673045e-01 -7.97910605e-02 1.66201363e-02 1.65335497e+00] [ 7.98049029e-02 9.96810488e-01 -1.70251069e-04 -1.45838136e-01] [-1.65535417e-02 1.49605302e-03 9.99861862e-01 1.13752139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739928851 meters Centerline goodness : 0.795919 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.14, Z:0.11 [[ 9.96720392e-01 -7.92840873e-02 1.62016854e-02 1.65477300e+00] [ 7.92990004e-02 9.96850837e-01 -2.79101807e-04 -1.44131202e-01] [-1.61285353e-02 1.56296392e-03 9.99868705e-01 1.13123798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799928851 meters Centerline goodness : 0.800611 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 9.96718937e-01 -7.93298124e-02 1.60667895e-02 1.65540308e+00] [ 7.93465029e-02 9.96847014e-01 -4.03026971e-04 -1.43673256e-01] [-1.59841591e-02 1.67654818e-03 9.99870840e-01 1.12679668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85992885099999 meters Centerline goodness : 0.800207 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.99648595 -0.08224047 0.01588265 1.65737398] [ 0.08231365 0.99659841 -0.00400939 -0.14171249] [-0.01549889 0.00530266 0.99986582 0.11169167] [ 0. 0. 0. 1. ]] SLAMing on 114.919928851 meters Centerline goodness : 0.797046 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.99623152 -0.08527852 0.01582208 1.65890799] [ 0.08540802 0.99631633 -0.00769662 -0.14024775] [-0.01510744 0.00901895 0.9998452 0.11100977] [ 0. 0. 0. 1. ]] SLAMing on 114.979928851 meters Centerline goodness : 0.796608 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.99593622 -0.08865301 0.01586472 1.65991462] [ 0.08883914 0.9959803 -0.0114385 -0.13914787] [-0.01478689 0.01280143 0.99980872 0.11068992] [ 0. 0. 0. 1. ]] SLAMing on 115.039928851 meters Centerline goodness : 0.795109 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.99593763 -0.08865416 0.01576969 1.66017447] [ 0.08883371 0.99598491 -0.01107357 -0.14014352] [-0.01472466 0.01242947 0.99981433 0.11041239] [ 0. 0. 0. 1. ]] SLAMing on 115.099928851 meters Centerline goodness : 0.796273 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.9959128 -0.08891293 0.0158806 1.66015639] [ 0.08908719 0.99596717 -0.01062383 -0.14164482] [-0.01487196 0.01199517 0.99981745 0.10985509] [ 0. 0. 0. 1. ]] SLAMing on 115.159928851 meters Centerline goodness : 0.796838 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.9956131 -0.09222245 0.01579786 1.66178015] [ 0.09244606 0.9956184 -0.01406166 -0.1412957 ] [-0.01443184 0.01546043 0.99977632 0.10891385] [ 0. 0. 0. 1. ]] SLAMing on 115.21992885099999 meters Centerline goodness : 0.799877 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.995575 -0.09263209 0.01580212 1.66162746] [ 0.09285163 0.99558467 -0.0137744 -0.14268858] [-0.01445639 0.0151807 0.99978026 0.10880492] [ 0. 0. 0. 1. ]] SLAMing on 115.279928851 meters Centerline goodness : 0.800005 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:0.11 [[ 0.99554687 -0.09290793 0.01595476 1.66114146] [ 0.09312516 0.99556345 -0.01345834 -0.14396959] [-0.01463359 0.0148842 0.99978214 0.108801 ] [ 0. 0. 0. 1. ]] SLAMing on 115.339928851 meters Centerline goodness : 0.800506 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:0.11 [[ 0.99552861 -0.09309474 0.0160047 1.66114647] [ 0.09330537 0.9955532 -0.01295902 -0.14539522] [-0.01472712 0.0143944 0.99978793 0.10838152] [ 0. 0. 0. 1. ]] SLAMing on 115.399928851 meters Centerline goodness : 0.800014 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:0.11 [[ 0.99555994 -0.09280958 0.01570937 1.66246328] [ 0.09299896 0.99559644 -0.01178653 -0.14801647] [-0.01454629 0.01319515 0.99980713 0.10693763] [ 0. 0. 0. 1. ]] SLAMing on 115.459928851 meters Centerline goodness : 0.799855 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:0.11 [[ 0.99555586 -0.09286435 0.01564416 1.66275135] [ 0.09303313 0.99560839 -0.01042922 -0.15235048] [-0.01460695 0.01183829 0.99982323 0.10619679] [ 0. 0. 0. 1. ]] SLAMing on 115.519928851 meters Centerline goodness : 0.803837 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:0.11 [[ 0.99551589 -0.09329134 0.01564732 1.66245909] [ 0.0934574 0.99557064 -0.01023817 -0.15304784] [-0.01462288 0.01165462 0.99982516 0.10683459] [ 0. 0. 0. 1. ]] SLAMing on 115.579928851 meters Centerline goodness : 0.800741 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.16, Z:0.11 [[ 0.9961071 -0.08803199 0.00458353 1.66084939] [ 0.08805919 0.99609647 -0.00611601 -0.16053394] [-0.00402723 0.00649582 0.99997079 0.11102007] [ 0. 0. 0. 1. ]] SLAMing on 115.639928851 meters Centerline goodness : 0.804830 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.16, Z:0.11 [[ 0.99585924 -0.09074617 0.00543139 1.66035478] [ 0.09079431 0.99582537 -0.00939236 -0.1617383 ] [-0.00455639 0.00984661 0.99994114 0.11060229] [ 0. 0. 0. 1. ]] SLAMing on 115.699928851 meters Centerline goodness : 0.806189 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.16, Z:0.11 [[ 0.99581665 -0.0912201 0.00530036 1.66032171] [ 0.09126597 0.9957843 -0.00917371 -0.1624302 ] [-0.00444119 0.00961907 0.99994387 0.11131041] [ 0. 0. 0. 1. ]] SLAMing on 115.759928851 meters Centerline goodness : 0.803510 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.16, Z:0.11 [[ 0.99574619 -0.09198631 0.00529651 1.66043514] [ 0.09203148 0.99571514 -0.00903182 -0.16357529] [-0.00444301 0.00948085 0.99994519 0.11147671] [ 0. 0. 0. 1. ]] SLAMing on 115.819928851 meters Centerline goodness : 0.806030 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:0.12 [[ 0.99623086 -0.0865757 -0.00536001 1.65787916] [ 0.086549 0.99623491 -0.0050275 -0.16959141] [ 0.00577508 0.00454464 0.999973 0.11528703] [ 0. 0. 0. 1. ]] SLAMing on 115.879928851 meters Centerline goodness : 0.787945 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:0.12 [[ 9.96606426e-01 -8.06255155e-02 -1.65878872e-02 1.65593186e+00] [ 8.06146643e-02 9.96744464e-01 -1.32288133e-03 -1.74450034e-01] [ 1.66405428e-02 -1.88349228e-05 9.99861536e-01 1.19934124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939928851 meters Centerline goodness : 0.807658 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:0.12 [[ 9.96618654e-01 -8.03989333e-02 -1.69490673e-02 1.65654216e+00] [ 8.03919146e-02 9.96762729e-01 -1.09613439e-03 -1.73986080e-01] [ 1.69823266e-02 -2.70139996e-04 9.99855753e-01 1.20013916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99992885099999 meters Centerline goodness : 0.802168 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:0.12 [[ 9.96687890e-01 -7.95677476e-02 -1.67995083e-02 1.65732536e+00] [ 7.95600135e-02 9.96829438e-01 -1.12926902e-03 -1.73956553e-01] [ 1.68360979e-02 -2.11040354e-04 9.99858241e-01 1.18436646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.059928851 meters Centerline goodness : 0.805164 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.18, Z:0.12 [[ 9.97120471e-01 -7.22365624e-02 -2.30791137e-02 1.65090510e+00] [ 7.21875321e-02 9.97386709e-01 -2.95164337e-03 -1.76624046e-01] [ 2.32320178e-02 1.27711977e-03 9.99729285e-01 1.22977022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.119928851 meters Centerline goodness : 0.803319 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.18, Z:0.12 [[ 9.97076848e-01 -7.26339362e-02 -2.37080257e-02 1.65122308e+00] [ 7.26262172e-02 9.97358522e-01 -1.18759459e-03 -1.79245116e-01] [ 2.37316611e-02 -5.37701149e-04 9.99718220e-01 1.24805245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179928851 meters Centerline goodness : 0.805408 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.18, Z:0.12 [[ 0.99676045 -0.07672216 -0.0241314 1.65323643] [ 0.07665443 0.99705078 -0.00372071 -0.18235972] [ 0.02434569 0.00185888 0.99970187 0.12450103] [ 0. 0. 0. 1. ]] SLAMing on 116.239928851 meters Centerline goodness : 0.795907 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.19, Z:0.13 [[ 9.96266542e-01 -7.88294092e-02 -3.51980223e-02 1.65212890e+00] [ 7.87490953e-02 9.96887733e-01 -3.66447158e-03 -1.92112106e-01] [ 3.53773448e-02 8.78978019e-04 9.99373639e-01 1.27839120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299928851 meters Centerline goodness : 0.793482 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.20, Z:0.13 [[ 0.9958987 -0.08307618 -0.0358348 1.65384305] [ 0.08292949 0.99653989 -0.00556318 -0.19551749] [ 0.03617297 0.0025686 0.99934224 0.12851284] [ 0. 0. 0. 1. ]] SLAMing on 116.35992885099999 meters Centerline goodness : 0.802888 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:0.13 [[ 0.99559475 -0.08648591 -0.03621176 1.65592412] [ 0.08628319 0.99624516 -0.00712674 -0.20048936] [ 0.03669215 0.00397088 0.99931873 0.12800481] [ 0. 0. 0. 1. ]] SLAMing on 116.419928851 meters Centerline goodness : 0.797070 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:0.13 [[ 0.99562392 -0.0860228 -0.03651143 1.65656742] [ 0.08587925 0.99629046 -0.00548463 -0.20408696] [ 0.03684779 0.00232506 0.99931818 0.12818177] [ 0. 0. 0. 1. ]] SLAMing on 116.479928851 meters Centerline goodness : 0.796497 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.21, Z:0.13 [[ 9.95743599e-01 -8.48831222e-02 -3.59101823e-02 1.65470158e+00] [ 8.47772207e-02 9.96389930e-01 -4.46428779e-03 -2.06244036e-01] [ 3.61594867e-02 1.40092054e-03 9.99345050e-01 1.29408501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.539928851 meters Centerline goodness : 0.795236 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.21, Z:0.13 [[ 9.96100328e-01 -8.03680917e-02 -3.64019973e-02 1.65533716e+00] [ 8.04628076e-02 9.96756957e-01 1.14209306e-03 -2.10531023e-01] [ 3.61921562e-02 -4.06664618e-03 9.99336575e-01 1.29193050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599928851 meters Centerline goodness : 0.797558 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:0.13 [[ 0.99652793 -0.07510689 -0.03593115 1.65430117] [ 0.07537343 0.9971366 0.00612005 -0.21511826] [ 0.0353686 -0.00880705 0.99933553 0.12877189] [ 0. 0. 0. 1. ]] SLAMing on 116.659928851 meters Centerline goodness : 0.795810 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:0.13 [[ 0.99684043 -0.07080702 -0.03599341 1.6539288 ] [ 0.07125537 0.99739378 0.01132826 -0.21902482] [ 0.03509748 -0.0138572 0.99928782 0.12898362] [ 0. 0. 0. 1. ]] SLAMing on 116.71992885099999 meters Centerline goodness : 0.795079 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:0.13 [[ 0.99705967 -0.06828688 -0.03476953 1.6523529 ] [ 0.06872382 0.9975691 0.01152927 -0.22038507] [ 0.03389771 -0.01388487 0.99932885 0.1276348 ] [ 0. 0. 0. 1. ]] SLAMing on 116.779928851 meters Centerline goodness : 0.794982 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:0.13 [[ 0.99721926 -0.06633668 -0.03395874 1.65169057] [ 0.06676305 0.99770168 0.01157801 -0.22105152] [ 0.03311265 -0.01381301 0.99935617 0.12609473] [ 0. 0. 0. 1. ]] SLAMing on 116.839928851 meters Centerline goodness : 0.797313 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:0.13 [[ 0.99752323 -0.0615425 -0.03405765 1.65191035] [ 0.06213669 0.99792841 0.01667122 -0.22371402] [ 0.03296111 -0.01874616 0.99928081 0.12545997] [ 0. 0. 0. 1. ]] SLAMing on 116.899928851 meters Centerline goodness : 0.794167 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.23, Z:0.13 [[ 0.99790154 -0.05570348 -0.0330098 1.64965444] [ 0.05640712 0.99819154 0.02078196 -0.22605711] [ 0.03179247 -0.02260033 0.99923894 0.12500297] [ 0. 0. 0. 1. ]] SLAMing on 116.959928851 meters Centerline goodness : 0.795146 with order 3 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.23, Z:0.12 [[ 0.99814258 -0.05069125 -0.03379048 1.61159442] [ 0.05204208 0.99782843 0.04037385 -0.23020414] [ 0.0316705 -0.04205739 0.99861312 0.1232726 ] [ 0. 0. 0. 1. ]] SLAMing on 117.019928851 meters Centerline goodness : 0.788795 with order 3 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.24, Z:0.13 [[ 0.99776506 -0.04700114 -0.04749512 1.61149398] [ 0.04989372 0.99684852 0.06167363 -0.23572496] [ 0.04444671 -0.0639055 0.99696568 0.13495362] [ 0. 0. 0. 1. ]] SLAMing on 117.079928851 meters Centerline goodness : 0.781239 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.25, Z:0.15 [[ 0.99669379 -0.04307384 -0.06889225 1.58235905] [ 0.05063914 0.99240197 0.11213387 -0.24776582] [ 0.06353877 -0.11525178 0.9913021 0.14608781] [ 0. 0. 0. 1. ]] SLAMing on 117.139928851 meters Centerline goodness : 0.798255 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.25, Z:0.16 [[ 0.99569961 -0.0396352 -0.08373378 1.58465475] [ 0.05067167 0.98967276 0.13409028 -0.25231115] [ 0.07755434 -0.13775657 0.98742516 0.15841032] [ 0. 0. 0. 1. ]] SLAMing on 117.199928851 meters Centerline goodness : 0.780078 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.27, Z:0.17 [[ 0.99380745 -0.03636144 -0.1049981 1.58161796] [ 0.05829854 0.97506492 0.2141254 -0.27072854] [ 0.09459405 -0.21892065 0.9711466 0.17184455] [ 0. 0. 0. 1. ]] SLAMing on 117.259928851 meters Centerline goodness : 0.783388 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.30, Z:0.18 [[ 0.993175 -0.02986323 -0.11274574 1.58368419] [ 0.06448698 0.94607087 0.31747651 -0.30302788] [ 0.09718459 -0.32258037 0.94153973 0.17874634] [ 0. 0. 0. 1. ]] SLAMing on 117.319928851 meters Centerline goodness : 0.787409 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.33, Z:0.19 [[ 0.99183091 -0.02468881 -0.12514755 1.58301987] [ 0.07401098 0.91044823 0.40694765 -0.32823105] [ 0.10389331 -0.41288556 0.90483794 0.19117294] [ 0. 0. 0. 1. ]] SLAMing on 117.379928851 meters Centerline goodness : 0.786057 with order 3 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.36, Z:0.21 [[ 0.99057 -0.0152469 -0.13615657 1.58687636] [ 0.08377334 0.8537714 0.51386421 -0.36151086] [ 0.10841175 -0.52042476 0.84699762 0.20726932] [ 0. 0. 0. 1. ]] SLAMing on 117.439928851 meters Centerline goodness : 0.785834 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:0.22 [[ 0.98855836 -0.00785054 -0.15063446 1.57535974] [ 0.09576778 0.80421222 0.58657585 -0.37616612] [ 0.11653714 -0.59429039 0.79576254 0.22499117] [ 0. 0. 0. 1. ]] SLAMing on 117.49992885099999 meters Centerline goodness : 0.789466 with order 3 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.38, Z:0.25 [[ 0.98661789 -0.00519089 -0.16296682 1.59548412] [ 0.10791739 0.77002901 0.62881569 -0.37979957] [ 0.12222507 -0.63798776 0.76028458 0.24613755] [ 0. 0. 0. 1. ]] SLAMing on 117.559928851 meters Centerline goodness : 0.786737 with order 3 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.40, Z:0.27 [[ 0.98465483 0.0026541 -0.17449306 1.58715204] [ 0.12198507 0.70456949 0.69907186 -0.3971453 ] [ 0.12479789 -0.70963003 0.69343399 0.26721683] [ 0. 0. 0. 1. ]] SLAMing on 117.619928851 meters Centerline goodness : 0.789062 with order 3 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.42, Z:0.29 [[ 0.98255504 0.0195802 -0.18493837 1.53232203] [ 0.13496127 0.60910571 0.78152139 -0.42128515] [ 0.12794936 -0.7928473 0.59583732 0.28729369] [ 0. 0. 0. 1. ]] SLAMing on 117.679928851 meters Centerline goodness : 0.785307 with order 3 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.43, Z:0.31 [[ 0.98061772 0.03121561 -0.1934282 1.5161844 ] [ 0.14817347 0.52777026 0.83636306 -0.43289975] [ 0.12819324 -0.84881337 0.51291555 0.30957909] [ 0. 0. 0. 1. ]] SLAMing on 117.739928851 meters Centerline goodness : 0.789226 with order 3 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.42, Z:0.30 [[ 0.97937488 0.02497582 -0.20050201 1.47297726] [ 0.15368193 0.55215282 0.8194566 -0.41800072] [ 0.13117435 -0.83336875 0.53692627 0.29934639] [ 0. 0. 0. 1. ]] SLAMing on 117.799928851 meters Centerline goodness : 0.791329 with order 3 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.41, Z:0.29 [[ 0.97679517 0.024519 -0.2127675 1.36276219] [ 0.16565273 0.54320808 0.82309426 -0.41269024] [ 0.13575848 -0.83924001 0.52654139 0.28575357] [ 0. 0. 0. 1. ]] SLAMing on 117.85992885099999 meters Centerline goodness : 0.796135 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.40, Z:0.27 [[ 0.97360301 0.02258777 -0.22712765 1.26940358] [ 0.18037285 0.5336377 0.82625446 -0.40432739] [ 0.13986712 -0.8454115 0.51547705 0.2737434 ] [ 0. 0. 0. 1. ]] SLAMing on 117.919928851 meters Centerline goodness : 0.792701 with order 3 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.40, Z:0.25 [[ 0.97364283 0.01769033 -0.22739108 1.1750638 ] [ 0.17869324 0.56038637 0.80872483 -0.40262785] [ 0.14173347 -0.82804237 0.54245502 0.24994764] [ 0. 0. 0. 1. ]] SLAMing on 117.979928851 meters Centerline goodness : 0.799497 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.39, Z:0.24 [[ 0.97105878 0.01327835 -0.23847124 1.12507311] [ 0.18950356 0.56488468 0.803115 -0.39210336] [ 0.1453728 -0.82506302 0.54601993 0.24083646] [ 0. 0. 0. 1. ]] SLAMing on 118.039928851 meters Centerline goodness : 0.797648 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.38, Z:0.24 [[ 0.96745122 0.011587 -0.25279216 1.07215184] [ 0.20330834 0.5592161 0.80370584 -0.38199698] [ 0.15067798 -0.82894095 0.53865856 0.23613646] [ 0. 0. 0. 1. ]] SLAMing on 118.099928851 meters Centerline goodness : 0.800869 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.38, Z:0.22 [[ 0.96652583 0.00711444 -0.25647066 1.00273179] [ 0.20486162 0.58041016 0.78813436 -0.37704533] [ 0.15446531 -0.81429321 0.55952393 0.22001107] [ 0. 0. 0. 1. ]] SLAMing on 118.159928851 meters Centerline goodness : 0.784584 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.37, Z:0.20 [[ 9.67339725e-01 1.42615460e-04 -2.53483404e-01 9.43049750e-01] [ 2.01201760e-01 6.07815781e-01 7.68165235e-01 -3.70322712e-01] [ 1.54180765e-01 -7.94078054e-01 5.87935656e-01 2.02324635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21992885099999 meters Centerline goodness : 0.784873 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.18 [[ 0.96646463 -0.00153059 -0.25679519 0.84428425] [ 0.20279852 0.61801254 0.75956123 -0.37187916] [ 0.15754007 -0.78616675 0.59759766 0.18174625] [ 0. 0. 0. 1. ]] SLAMing on 118.279928851 meters Centerline goodness : 0.808742 with order 3 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.37, Z:0.17 [[ 0.96638383 -0.01067836 -0.25688179 0.78778494] [ 0.20368981 0.64147141 0.73961131 -0.36613242] [ 0.15688449 -0.76707262 0.62208267 0.16532881] [ 0. 0. 0. 1. ]] SLAMing on 118.339928851 meters Centerline goodness : 0.806433 with order 3 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.36, Z:0.15 [[ 0.9666577 -0.02031068 -0.2552653 0.74980385] [ 0.2026882 0.66989531 0.71425329 -0.35613758] [ 0.15649405 -0.7421777 0.6516762 0.15293382] [ 0. 0. 0. 1. ]] SLAMing on 118.399928851 meters Centerline goodness : 0.808373 with order 3 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.35, Z:0.14 [[ 0.96661099 -0.02784319 -0.25473113 0.69347415] [ 0.20301866 0.68976567 0.69498686 -0.34942602] [ 0.15635414 -0.72349711 0.67238777 0.13833983] [ 0. 0. 0. 1. ]] SLAMing on 118.459928851 meters Centerline goodness : 0.804480 with order 3 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.34, Z:0.12 [[ 0.9670491 -0.03404608 -0.25230319 0.64280129] [ 0.20077983 0.71132143 0.67357945 -0.34145995] [ 0.15653593 -0.70204179 0.69471852 0.12279875] [ 0. 0. 0. 1. ]] SLAMing on 118.519928851 meters Centerline goodness : 0.808621 with order 3 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.33, Z:0.11 [[ 0.96781976 -0.03912465 -0.24858435 0.59883484] [ 0.19683275 0.73316616 0.65094105 -0.33368968] [ 0.15678579 -0.67892315 0.7172737 0.11037961] [ 0. 0. 0. 1. ]] SLAMing on 118.579928851 meters Centerline goodness : 0.804788 with order 3 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.32, Z:0.10 [[ 0.96893092 -0.0433194 -0.24350832 0.55228437] [ 0.19175198 0.75342017 0.62895884 -0.32328652] [ 0.15621796 -0.65611087 0.73831868 0.09634797] [ 0. 0. 0. 1. ]] SLAMing on 118.639928851 meters Centerline goodness : 0.789895 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:0.09 [[ 0.96970552 -0.04772276 -0.2395699 0.51384129] [ 0.18791367 0.77235161 0.60676309 -0.31556475] [ 0.15607579 -0.63339998 0.75792138 0.08681827] [ 0. 0. 0. 1. ]] SLAMing on 118.699928851 meters Centerline goodness : 0.804767 with order 3 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:0.08 [[ 0.97004806 -0.05687217 -0.23616164 0.50631864] [ 0.19033162 0.78202622 0.59347188 -0.30107792] [ 0.15093256 -0.62064527 0.76942759 0.08237711] [ 0. 0. 0. 1. ]] SLAMing on 118.759928851 meters Centerline goodness : 0.804420 with order 3 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.28, Z:0.09 [[ 0.96876752 -0.06283682 -0.23987709 0.51665516] [ 0.19355093 0.79631782 0.57307589 -0.28105287] [ 0.15500813 -0.60160574 0.78360897 0.09059582] [ 0. 0. 0. 1. ]] SLAMing on 118.819928851 meters Centerline goodness : 0.804008 with order 3 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:0.09 [[ 0.96747042 -0.06954542 -0.24323738 0.51040775] [ 0.19698293 0.81038407 0.55179288 -0.26379851] [ 0.15874103 -0.5817569 0.79772188 0.09020247] [ 0. 0. 0. 1. ]] SLAMing on 118.879928851 meters Centerline goodness : 0.806123 with order 3 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:0.09 [[ 0.96816013 -0.07853078 -0.23769494 0.49917451] [ 0.19562173 0.82981065 0.52263412 -0.2498225 ] [ 0.15619893 -0.55249181 0.81875191 0.08703739] [ 0. 0. 0. 1. ]] SLAMing on 118.939928851 meters Centerline goodness : 0.790005 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:0.09 [[ 0.9684018 -0.0902737 -0.23248356 0.49551196] [ 0.19693963 0.84873413 0.49078015 -0.22741706] [ 0.15301219 -0.52105761 0.83969413 0.08505768] [ 0. 0. 0. 1. ]] SLAMing on 118.99992885099999 meters Centerline goodness : 0.803061 with order 3 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:0.08 [[ 0.96907919 -0.09935284 -0.22586399 0.48452408] [ 0.1964011 0.86469665 0.46230543 -0.21092713] [ 0.14937248 -0.49237051 0.85747253 0.08239924] [ 0. 0. 0. 1. ]] SLAMing on 119.059928851 meters Centerline goodness : 0.801508 with order 3 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:0.08 [[ 0.96935414 -0.10839493 -0.22046107 0.47897351] [ 0.19687828 0.87951964 0.43322529 -0.19092124] [ 0.14694041 -0.46335273 0.87390661 0.08104837] [ 0. 0. 0. 1. ]] SLAMing on 119.119928851 meters Centerline goodness : 0.800639 with order 3 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.17, Z:0.08 [[ 0.96942372 -0.11699461 -0.21570794 0.47058911] [ 0.19807995 0.89195346 0.40642756 -0.17337554] [ 0.14485161 -0.43672794 0.88785512 0.07963911] [ 0. 0. 0. 1. ]] SLAMing on 119.179928851 meters Centerline goodness : 0.799453 with order 3 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.16, Z:0.08 [[ 0.96909933 -0.12529778 -0.21247814 0.46217926] [ 0.20052641 0.9018079 0.38279456 -0.16110601] [ 0.14365116 -0.41357343 0.89906694 0.07922574] [ 0. 0. 0. 1. ]] SLAMing on 119.239928851 meters Centerline goodness : 0.800268 with order 3 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.15, Z:0.08 [[ 0.96796556 -0.1362203 -0.21091873 0.45513268] [ 0.20609062 0.91088121 0.35752213 -0.14750602] [ 0.14342014 -0.38953748 0.90977537 0.0807239 ] [ 0. 0. 0. 1. ]] SLAMing on 119.299928851 meters Centerline goodness : 0.798701 with order 3 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:0.08 [[ 0.96680704 -0.14495794 -0.21040756 0.4472919 ] [ 0.21060233 0.91838263 0.33499254 -0.13708914] [ 0.14467482 -0.36818547 0.91842727 0.08230356] [ 0. 0. 0. 1. ]] SLAMing on 119.35992885099999 meters Centerline goodness : 0.800807 with order 3 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:0.08 [[ 0.96593577 -0.1530686 -0.20865784 0.44030992] [ 0.21417795 0.92541856 0.31261524 -0.127087 ] [ 0.14524426 -0.34665615 0.92667881 0.08297432] [ 0. 0. 0. 1. ]] SLAMing on 119.419928851 meters Centerline goodness : 0.794716 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:0.08 [[ 0.96567994 -0.15865141 -0.20565017 0.43062963] [ 0.2153841 0.93164369 0.29265974 -0.11846004] [ 0.1451618 -0.32690941 0.93384061 0.08423848] [ 0. 0. 0. 1. ]] SLAMing on 119.479928851 meters Centerline goodness : 0.793177 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.09 [[ 0.96585565 -0.16294721 -0.2014226 0.41840748] [ 0.21520566 0.9374742 0.27354824 -0.11089872] [ 0.14425457 -0.3075554 0.94053192 0.08515752] [ 0. 0. 0. 1. ]] SLAMing on 119.539928851 meters Centerline goodness : 0.793717 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.11, Z:0.08 [[ 0.96634932 -0.16633909 -0.19621493 0.40650738] [ 0.21400424 0.94311078 0.25444888 -0.10580633] [ 0.14272763 -0.28787733 0.94697173 0.08488794] [ 0. 0. 0. 1. ]] SLAMing on 119.599928851 meters Centerline goodness : 0.794197 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.08 [[ 0.96742432 -0.16875184 -0.18871406 0.39479844] [ 0.21206769 0.94731773 0.24003418 -0.10237208] [ 0.13826597 -0.27223506 0.95224503 0.08466924] [ 0. 0. 0. 1. ]] SLAMing on 119.659928851 meters Centerline goodness : 0.794757 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:0.09 [[ 0.9675268 -0.17094259 -0.18620022 0.38431704] [ 0.21122346 0.95139784 0.22411335 -0.09891639] [ 0.13883997 -0.25616553 0.95660999 0.08633844] [ 0. 0. 0. 1. ]] SLAMing on 119.71992885099999 meters Centerline goodness : 0.798446 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.09 [[ 0.96801107 -0.1732105 -0.18152877 0.37165814] [ 0.20965231 0.95584267 0.20593858 -0.09845143] [ 0.13784222 -0.23740875 0.96158027 0.0855337 ] [ 0. 0. 0. 1. ]] SLAMing on 119.779928851 meters Centerline goodness : 0.795247 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.09 [[ 0.96732595 -0.17646508 -0.18204553 0.3651578 ] [ 0.21053885 0.95914403 0.18898712 -0.09570436] [ 0.14125825 -0.2211398 0.96495766 0.08786959] [ 0. 0. 0. 1. ]] SLAMing on 119.839928851 meters Centerline goodness : 0.792474 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.09 [[ 0.96854142 -0.17634058 -0.17558905 0.35033135] [ 0.20667421 0.96301765 0.17286637 -0.09686617] [ 0.138612 -0.20371796 0.96916753 0.08709495] [ 0. 0. 0. 1. ]] SLAMing on 119.899928851 meters Centerline goodness : 0.798825 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.10, Z:0.09 [[ 0.96921537 -0.17572326 -0.17246132 0.3420582 ] [ 0.20366904 0.96578667 0.16054606 -0.09645388] [ 0.13834916 -0.19072874 0.97184467 0.08700679] [ 0. 0. 0. 1. ]] SLAMing on 119.959928851 meters Centerline goodness : 0.797967 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.09 [[ 0.97086294 -0.17303912 -0.16577879 0.32803687] [ 0.19781439 0.96917674 0.14685335 -0.09844532] [ 0.13525757 -0.17536791 0.97516741 0.08530463] [ 0. 0. 0. 1. ]] SLAMing on 120.019928851 meters Centerline goodness : 0.796656 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.10, Z:0.08 [[ 0.97216906 -0.17142755 -0.15968691 0.31917196] [ 0.19394565 0.97124605 0.13808041 -0.10067343] [ 0.1314245 -0.16520808 0.97746299 0.08272026] [ 0. 0. 0. 1. ]] SLAMing on 120.079928851 meters Centerline goodness : 0.796656 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:0.08 [[ 0.97370885 -0.1679873 -0.15385493 0.3088878 ] [ 0.18815142 0.97383161 0.12747959 -0.10279167] [ 0.12841384 -0.15307603 0.9798355 0.08023117] [ 0. 0. 0. 1. ]] SLAMing on 120.139928851 meters Centerline goodness : 0.796018 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.10, Z:0.08 [[ 0.97449575 -0.1644542 -0.15268547 0.30232141] [ 0.1830144 0.97616383 0.11666149 -0.10263529] [ 0.12986056 -0.14162976 0.98136499 0.07982701] [ 0. 0. 0. 1. ]] SLAMing on 120.199928851 meters Centerline goodness : 0.796020 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.10, Z:0.08 [[ 0.97606853 -0.16027196 -0.14698 0.29483445] [ 0.17720829 0.9779608 0.11040783 -0.10407055] [ 0.1260454 -0.13381168 0.98295828 0.07577101] [ 0. 0. 0. 1. ]] SLAMing on 120.259928851 meters Centerline goodness : 0.797083 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.10, Z:0.07 [[ 0.9779835 -0.15465397 -0.14010862 0.28598671] [ 0.17012476 0.97969391 0.10610097 -0.10489001] [ 0.12085463 -0.12760095 0.98443494 0.07205387] [ 0. 0. 0. 1. ]] SLAMing on 120.319928851 meters Centerline goodness : 0.797371 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.07 [[ 0.97907309 -0.15214746 -0.1351556 0.28074316] [ 0.1668684 0.98035082 0.10520083 -0.10634136] [ 0.11649386 -0.1255525 0.9852237 0.06883311] [ 0. 0. 0. 1. ]] SLAMing on 120.379928851 meters Centerline goodness : 0.798647 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.07 [[ 0.97982859 -0.15170781 -0.13007947 0.27621116] [ 0.16543625 0.98091699 0.10214065 -0.10795936] [ 0.11210163 -0.12160019 0.98622848 0.06546882] [ 0. 0. 0. 1. ]] SLAMing on 120.439928851 meters Centerline goodness : 0.789646 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.07 [[ 0.97975286 -0.15249638 -0.12972732 0.27488322] [ 0.16610839 0.98087104 0.10148895 -0.10799985] [ 0.11176907 -0.12098289 0.98634214 0.0662333 ] [ 0. 0. 0. 1. ]] SLAMing on 120.49992885099999 meters Centerline goodness : 0.796467 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.07 [[ 0.97916105 -0.1567074 -0.12917592 0.2749498 ] [ 0.1697748 0.98067633 0.09721341 -0.10647712] [ 0.11144571 -0.11711841 0.98684504 0.06644784] [ 0. 0. 0. 1. ]] SLAMing on 120.559928851 meters Centerline goodness : 0.796564 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:0.07 [[ 0.97852937 -0.16091694 -0.12878669 0.27544203] [ 0.17345166 0.98045757 0.0928303 -0.10489679] [ 0.11133192 -0.11317544 0.98731784 0.06665779] [ 0. 0. 0. 1. ]] SLAMing on 120.619928851 meters Centerline goodness : 0.798475 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:0.07 [[ 0.97786685 -0.16523477 -0.12835068 0.27601267] [ 0.17725312 0.98016899 0.08860067 -0.10351132] [ 0.11116544 -0.10939022 0.98776314 0.06654395] [ 0. 0. 0. 1. ]] SLAMing on 120.679928851 meters Centerline goodness : 0.797081 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:0.07 [[ 0.97724231 -0.16926345 -0.12785676 0.27638358] [ 0.18075943 0.97990425 0.08434274 -0.10174059] [ 0.11101124 -0.10553461 0.98819985 0.06674429] [ 0. 0. 0. 1. ]] SLAMing on 120.739928851 meters Centerline goodness : 0.790984 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:0.07 [[ 0.97666452 -0.17292257 -0.12737424 0.27724771] [ 0.18393472 0.97964554 0.08039054 -0.1000301 ] [ 0.11088027 -0.10194313 0.9885915 0.06640325] [ 0. 0. 0. 1. ]] SLAMing on 120.799928851 meters Centerline goodness : 0.796159 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:0.07 [[ 0.9766344 -0.17311081 -0.12734948 0.27713006] [ 0.18408075 0.97964747 0.08003191 -0.0993818 ] [ 0.1109032 -0.10160451 0.98862379 0.06651515] [ 0. 0. 0. 1. ]] SLAMing on 120.85992885099999 meters Centerline goodness : 0.794847 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:0.07 [[ 0.97683317 -0.17238189 -0.12681263 0.27668266] [ 0.18328248 0.97980578 0.07992601 -0.09746541] [ 0.11047396 -0.10131691 0.98870137 0.06596178] [ 0. 0. 0. 1. ]] SLAMing on 120.919928851 meters Centerline goodness : 0.794069 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.06 [[ 0.97880004 -0.16552323 -0.12063391 0.26970435] [ 0.17547933 0.98145652 0.0771369 -0.09640228] [ 0.10562899 -0.09667036 0.98969559 0.06042399] [ 0. 0. 0. 1. ]] SLAMing on 120.979928851 meters Centerline goodness : 0.787398 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.06 [[ 0.97990137 -0.16134744 -0.11730434 0.26574694] [ 0.17108651 0.98214187 0.0782736 -0.09508074] [ 0.10258026 -0.09676959 0.99000653 0.05833965] [ 0. 0. 0. 1. ]] SLAMing on 121.039928851 meters Centerline goodness : 0.793449 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.05 [[ 0.9814852 -0.15561298 -0.11167542 0.25943757] [ 0.16478118 0.98322954 0.07814624 -0.09417314] [ 0.097642 -0.09510139 0.99066733 0.05409554] [ 0. 0. 0. 1. ]] SLAMing on 121.099928851 meters Centerline goodness : 0.789345 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.05 [[ 0.98330944 -0.14809835 -0.10568545 0.2532585 ] [ 0.15668561 0.98455124 0.07815668 -0.09287115] [ 0.09247787 -0.09341159 0.99132342 0.04795913] [ 0. 0. 0. 1. ]] SLAMing on 121.159928851 meters Centerline goodness : 0.788716 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.05 [[ 0.98334918 -0.14765501 -0.10593573 0.25439376] [ 0.15624753 0.98463593 0.07796666 -0.09143338] [ 0.09279596 -0.09322065 0.99131167 0.04736103] [ 0. 0. 0. 1. ]] SLAMing on 121.21992885099999 meters Centerline goodness : 0.787363 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.05 [[ 0.98331531 -0.14791895 -0.10588197 0.25428052] [ 0.15648579 0.98461581 0.07774258 -0.09139892] [ 0.09275346 -0.0930145 0.99133501 0.04737816] [ 0. 0. 0. 1. ]] SLAMing on 121.279928851 meters Centerline goodness : 0.790217 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.05 [[ 0.98269898 -0.1522178 -0.10551045 0.25468724] [ 0.16032921 0.98434794 0.07316884 -0.08937351] [ 0.0927214 -0.08881935 0.99172268 0.0476629 ] [ 0. 0. 0. 1. ]] SLAMing on 121.339928851 meters Centerline goodness : 0.789422 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.05 [[ 0.9814585 -0.16059569 -0.1046338 0.25554337] [ 0.16788801 0.98365926 0.06502371 -0.08838925] [ 0.09248147 -0.08138483 0.99238283 0.04801739] [ 0. 0. 0. 1. ]] SLAMing on 121.399928851 meters Centerline goodness : 0.788594 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.05 [[ 0.98075672 -0.16513553 -0.10414658 0.25583286] [ 0.17204026 0.98318916 0.06116552 -0.08957873] [ 0.09229518 -0.0779059 0.99267934 0.04833922] [ 0. 0. 0. 1. ]] SLAMing on 121.459928851 meters Centerline goodness : 0.777121 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.05 [[ 0.97943867 -0.17322703 -0.10340356 0.25733979] [ 0.17940294 0.98230958 0.05368875 -0.09032517] [ 0.09227396 -0.07113574 0.99318942 0.04857363] [ 0. 0. 0. 1. ]] SLAMing on 121.519928851 meters Centerline goodness : 0.791533 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.05 [[ 0.97874893 -0.1772687 -0.10308418 0.25850977] [ 0.18312172 0.98180141 0.05032316 -0.0925116 ] [ 0.09228747 -0.06813069 0.99339883 0.04848939] [ 0. 0. 0. 1. ]] SLAMing on 121.579928851 meters Centerline goodness : 0.779274 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.05 [[ 0.97872352 -0.17738319 -0.10312841 0.2584026 ] [ 0.18326235 0.98176259 0.05056799 -0.09436739] [ 0.09227771 -0.06839163 0.9933818 0.04897251] [ 0. 0. 0. 1. ]] SLAMing on 121.639928851 meters Centerline goodness : 0.776204 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.97891464 -0.17599754 -0.10368696 0.26023022] [ 0.1819829 0.98196061 0.05133793 -0.09523596] [ 0.09278116 -0.06912471 0.99328416 0.0486692 ] [ 0. 0. 0. 1. ]] SLAMing on 121.699928851 meters Centerline goodness : 0.776735 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.97917354 -0.1742072 -0.10426426 0.26262745] [ 0.18030602 0.98222574 0.05217594 -0.09552053] [ 0.09332162 -0.06988877 0.99318006 0.04785905] [ 0. 0. 0. 1. ]] SLAMing on 121.759928851 meters Centerline goodness : 0.773149 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.98002466 -0.16886267 -0.10505745 0.26350925] [ 0.17544638 0.98284423 0.05688391 -0.09729989] [ 0.09364954 -0.07417959 0.99283793 0.04754202] [ 0. 0. 0. 1. ]] SLAMing on 121.819928851 meters Centerline goodness : 0.784349 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.9801807 -0.16766374 -0.10552095 0.26493671] [ 0.17436014 0.98298743 0.05774305 -0.09907164] [ 0.09404435 -0.07499727 0.99273918 0.04751641] [ 0. 0. 0. 1. ]] SLAMing on 121.879928851 meters Centerline goodness : 0.787033 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.98018262 -0.16760673 -0.10559363 0.26486071] [ 0.17434593 0.98296665 0.05813827 -0.10128486] [ 0.09405065 -0.07539594 0.99270838 0.04809088] [ 0. 0. 0. 1. ]] SLAMing on 121.939928851 meters Centerline goodness : 0.784826 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.05 [[ 0.9795657 -0.1713886 -0.10524727 0.26519236] [ 0.1777876 0.98254734 0.05470187 -0.10344624] [ 0.09403515 -0.07229573 0.99294044 0.04921749] [ 0. 0. 0. 1. ]] SLAMing on 121.99992885099999 meters Centerline goodness : 0.771538 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.05 [[ 0.97894389 -0.17505701 -0.10499476 0.26613052] [ 0.18110521 0.98213693 0.05106818 -0.10398981] [ 0.09417939 -0.06900798 0.99316068 0.04966307] [ 0. 0. 0. 1. ]] SLAMing on 122.059928851 meters Centerline goodness : 0.773379 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.05 [[ 0.97828209 -0.17895962 -0.10458298 0.26672181] [ 0.18468898 0.98163086 0.04786278 -0.10673389] [ 0.09409638 -0.06613862 0.99336376 0.05018592] [ 0. 0. 0. 1. ]] SLAMing on 122.119928851 meters Centerline goodness : 0.773518 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.05 [[ 0.97818109 -0.17941155 -0.10475325 0.26695098] [ 0.18524257 0.98148044 0.04879903 -0.10980182] [ 0.09405815 -0.06713905 0.99330026 0.05106129] [ 0. 0. 0. 1. ]] SLAMing on 122.179928851 meters Centerline goodness : 0.786919 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.05 [[ 0.97812181 -0.17950644 -0.10514357 0.26717393] [ 0.18543572 0.98140628 0.04955101 -0.11114996] [ 0.09429384 -0.06796429 0.99322179 0.0520566 ] [ 0. 0. 0. 1. ]] SLAMing on 122.239928851 meters Centerline goodness : 0.773101 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.05 [[ 0.97843963 -0.17834496 -0.10415834 0.26500736] [ 0.18412051 0.98169767 0.04867559 -0.10979752] [ 0.09357096 -0.06680382 0.99336888 0.05191061] [ 0. 0. 0. 1. ]] SLAMing on 122.299928851 meters Centerline goodness : 0.771250 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.05 [[ 0.97923525 -0.17381064 -0.10434649 0.2642263 ] [ 0.17993682 0.98228054 0.0524183 -0.11044921] [ 0.09338667 -0.07010563 0.99315866 0.05159787] [ 0. 0. 0. 1. ]] SLAMing on 122.35992885099999 meters Centerline goodness : 0.771099 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.05 [[ 0.9801884 -0.16840018 -0.10426925 0.26253952] [ 0.17476514 0.98306199 0.05519308 -0.108519 ] [ 0.09320862 -0.07232225 0.99301644 0.05122179] [ 0. 0. 0. 1. ]] SLAMing on 122.419928851 meters Centerline goodness : 0.784226 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.05 [[ 0.98087539 -0.16429136 -0.10436387 0.26147521] [ 0.17094118 0.98355614 0.05827894 -0.10771771] [ 0.093073 -0.07500446 0.99283017 0.05093159] [ 0. 0. 0. 1. ]] SLAMing on 122.479928851 meters Centerline goodness : 0.780972 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.05 [[ 0.98128615 -0.16264943 -0.10306627 0.25878843] [ 0.16909813 0.98393718 0.05721397 -0.10591367] [ 0.09210491 -0.07357159 0.99302765 0.05048918] [ 0. 0. 0. 1. ]] SLAMing on 122.539928851 meters Centerline goodness : 0.784104 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.05 [[ 0.98140862 -0.16224018 -0.10254383 0.25718051] [ 0.16860656 0.98404818 0.05675398 -0.10531484] [ 0.0917003 -0.07298841 0.99310813 0.05113813] [ 0. 0. 0. 1. ]] SLAMing on 122.599928851 meters Centerline goodness : 0.779532 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.05 [[ 0.98121038 -0.16333346 -0.10270526 0.25651784] [ 0.16971934 0.98385396 0.0568044 -0.10545736] [ 0.09176892 -0.07316814 0.99308856 0.05263684] [ 0. 0. 0. 1. ]] SLAMing on 122.659928851 meters Centerline goodness : 0.770197 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.980485 -0.16760949 -0.10274353 0.25754768] [ 0.17367587 0.98336524 0.05319303 -0.10497646] [ 0.09211876 -0.06999904 0.99328459 0.05314912] [ 0. 0. 0. 1. ]] SLAMing on 122.71992885099999 meters Centerline goodness : 0.768395 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.97953398 -0.17310388 -0.10270461 0.25876064] [ 0.17877608 0.98267896 0.0487972 -0.1036493 ] [ 0.09247867 -0.06615964 0.99351427 0.0534017 ] [ 0. 0. 0. 1. ]] SLAMing on 122.779928851 meters Centerline goodness : 0.764145 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.05 [[ 0.97855456 -0.17822472 -0.10328077 0.26081294] [ 0.18360131 0.98196788 0.0450515 -0.10245947] [ 0.09338911 -0.06304784 0.99363144 0.05401283] [ 0. 0. 0. 1. ]] SLAMing on 122.839928851 meters Centerline goodness : 0.764969 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.06 [[ 0.97733398 -0.18459326 -0.10365144 0.26234217] [ 0.18959745 0.98102141 0.04061783 -0.10061936] [ 0.0941865 -0.05934924 0.99378397 0.05500814] [ 0. 0. 0. 1. ]] SLAMing on 122.899928851 meters Centerline goodness : 0.765624 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.06 [[ 0.97633694 -0.18970566 -0.10381689 0.26346285] [ 0.19430876 0.98027625 0.03609115 -0.09839008] [ 0.09492253 -0.05540965 0.99394139 0.05577107] [ 0. 0. 0. 1. ]] SLAMing on 122.959928851 meters Centerline goodness : 0.782339 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.06 [[ 0.97622568 -0.19042277 -0.10354993 0.26280539] [ 0.19493273 0.98018333 0.03524012 -0.09636529] [ 0.0947874 -0.05458759 0.99399977 0.05571485] [ 0. 0. 0. 1. ]] SLAMing on 123.019928851 meters Centerline goodness : 0.767729 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.06 [[ 0.97611358 -0.19121689 -0.10314253 0.26125884] [ 0.19558045 0.98010148 0.03390244 -0.09338492] [ 0.09460743 -0.0532653 0.99408865 0.05652287] [ 0. 0. 0. 1. ]] SLAMing on 123.079928851 meters Centerline goodness : 0.767425 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.06 [[ 0.97599416 -0.19209255 -0.1026443 0.25933988] [ 0.19624749 0.98003382 0.03194734 -0.08832459] [ 0.09445804 -0.0513241 0.99420497 0.0575467 ] [ 0. 0. 0. 1. ]] SLAMing on 123.139928851 meters Centerline goodness : 0.767311 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.06 [[ 0.97600685 -0.19202031 -0.10265877 0.25960645] [ 0.19609719 0.98009047 0.03112187 -0.08505811] [ 0.09463885 -0.05050625 0.99422966 0.05727077] [ 0. 0. 0. 1. ]] SLAMing on 123.199928851 meters Centerline goodness : 0.766151 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:0.06 [[ 0.9766525 -0.1886284 -0.10280667 0.25830825] [ 0.19293199 0.98063764 0.03357173 -0.08074713] [ 0.09448351 -0.05262261 0.99413466 0.05688612] [ 0. 0. 0. 1. ]] SLAMing on 123.259928851 meters Centerline goodness : 0.765580 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:0.06 [[ 0.97735207 -0.18488265 -0.10296284 0.25698731] [ 0.18940706 0.98123973 0.03596619 -0.07588418] [ 0.0943817 -0.05465351 0.99403475 0.05675129] [ 0. 0. 0. 1. ]] SLAMing on 123.319928851 meters Centerline goodness : 0.764006 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:0.06 [[ 0.97803729 -0.18100835 -0.10333945 0.25630621] [ 0.18581367 0.98181627 0.03885985 -0.07268304] [ 0.0944264 -0.05720826 0.99388675 0.05647593] [ 0. 0. 0. 1. ]] SLAMing on 123.379928851 meters Centerline goodness : 0.765341 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:0.06 [[ 0.97893554 -0.17587713 -0.10369401 0.25657488] [ 0.18097517 0.9825937 0.04192397 -0.0671469 ] [ 0.09451561 -0.0598069 0.99372528 0.05533688] [ 0. 0. 0. 1. ]] SLAMing on 123.439928851 meters Centerline goodness : 0.764626 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:0.05 [[ 0.97958965 -0.17195235 -0.10409852 0.25635111] [ 0.17736785 0.98310846 0.04514858 -0.06451277] [ 0.09457673 -0.06269081 0.9935417 0.05450733] [ 0. 0. 0. 1. ]] SLAMing on 123.49992885099999 meters Centerline goodness : 0.773277 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:0.05 [[ 0.97959042 -0.17209083 -0.10386222 0.25633803] [ 0.1773644 0.98316975 0.04380771 -0.05904951] [ 0.09457529 -0.06133508 0.99362645 0.05380129] [ 0. 0. 0. 1. ]] SLAMing on 123.559928851 meters Centerline goodness : 0.764869 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.05 [[ 0.97881887 -0.17692153 -0.10301651 0.25569238] [ 0.18163887 0.98261936 0.03829509 -0.05408099] [ 0.09445079 -0.05619576 0.99394219 0.05425829] [ 0. 0. 0. 1. ]] SLAMing on 123.619928851 meters Centerline goodness : 0.765471 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:0.05 [[ 0.97800985 -0.18187818 -0.10206401 0.25484612] [ 0.18607284 0.98197743 0.03312433 -0.05048689] [ 0.09419996 -0.05138726 0.99422619 0.0546305 ] [ 0. 0. 0. 1. ]] SLAMing on 123.679928851 meters Centerline goodness : 0.767299 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:0.05 [[ 0.97706315 -0.1875638 -0.10083368 0.25337626] [ 0.19119836 0.98116355 0.02759111 -0.04630151] [ 0.09375924 -0.04623749 0.99452064 0.05482418] [ 0. 0. 0. 1. ]] SLAMing on 123.739928851 meters Centerline goodness : 0.767177 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:0.06 [[ 0.97609493 -0.19322837 -0.09950618 0.25107909] [ 0.19627124 0.98031032 0.0216629 -0.04111113] [ 0.09336104 -0.04067525 0.99480111 0.05595132] [ 0. 0. 0. 1. ]] SLAMing on 123.799928851 meters Centerline goodness : 0.767827 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:0.06 [[ 0.97584291 -0.19498572 -0.09854538 0.24760082] [ 0.19783997 0.98003073 0.01997792 -0.03860726] [ 0.09268209 -0.03899153 0.994932 0.05748009] [ 0. 0. 0. 1. ]] SLAMing on 123.85992885099999 meters Centerline goodness : 0.769863 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:0.06 [[ 0.97566395 -0.19615763 -0.09799002 0.24551052] [ 0.19886745 0.97984984 0.01860166 -0.03576575] [ 0.09236665 -0.03763599 0.99501353 0.05838979] [ 0. 0. 0. 1. ]] SLAMing on 123.919928851 meters Centerline goodness : 0.770275 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.97552752 -0.19711727 -0.09742094 0.2444212 ] [ 0.19970632 0.97969981 0.01748352 -0.03217052] [ 0.09199697 -0.03651123 0.99508969 0.05779271] [ 0. 0. 0. 1. ]] SLAMing on 123.979928851 meters Centerline goodness : 0.770632 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.97543756 -0.19773199 -0.09707535 0.24385901] [ 0.20022735 0.97960922 0.01657684 -0.02935479] [ 0.09181814 -0.03560681 0.99513898 0.05734278] [ 0. 0. 0. 1. ]] SLAMing on 124.039928851 meters Centerline goodness : 0.769655 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.97533686 -0.19838215 -0.09676014 0.24285291] [ 0.20076801 0.9795165 0.01548007 -0.02586443] [ 0.09170719 -0.03452463 0.99518734 0.05747384] [ 0. 0. 0. 1. ]] SLAMing on 124.099928851 meters Centerline goodness : 0.768886 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.97519657 -0.19930231 -0.0962821 0.24118984] [ 0.20154118 0.97937973 0.01401743 -0.02177315] [ 0.09150303 -0.03307456 0.99525538 0.05801553] [ 0. 0. 0. 1. ]] SLAMing on 124.159928851 meters Centerline goodness : 0.769834 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.9751109 -0.19994906 -0.09580765 0.23983196] [ 0.20210681 0.97927353 0.01327379 -0.01976561] [ 0.09116781 -0.0323068 0.99531136 0.05820148] [ 0. 0. 0. 1. ]] SLAMing on 124.21992885099999 meters Centerline goodness : 0.771719 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.97494797 -0.20108448 -0.09508675 0.23797206] [ 0.20314781 0.97906904 0.01244083 -0.0178778 ] [ 0.09059484 -0.03144583 0.99539125 0.05816353] [ 0. 0. 0. 1. ]] SLAMing on 124.279928851 meters Centerline goodness : 0.769542 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.97411639 -0.2053919 -0.09440037 0.23817921] [ 0.20703519 0.978302 0.00785023 -0.01573577] [ 0.0907397 -0.02719124 0.99550336 0.05848455] [ 0. 0. 0. 1. ]] SLAMing on 124.339928851 meters Centerline goodness : 0.769283 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.06 [[ 0.97311997 -0.21056136 -0.0932815 0.23687312] [ 0.21175845 0.97731739 0.00301349 -0.01389301] [ 0.09053111 -0.02268564 0.99563521 0.05925881] [ 0. 0. 0. 1. ]] SLAMing on 124.399928851 meters Centerline goodness : 0.767878 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.06 [[ 0.97295246 -0.21156707 -0.09275176 0.23543715] [ 0.21273232 0.97710665 0.00274757 -0.01420516] [ 0.09004706 -0.02240455 0.99568547 0.05929215] [ 0. 0. 0. 1. ]] SLAMing on 124.459928851 meters Centerline goodness : 0.768870 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:0.06 [[ 0.97281017 -0.21231844 -0.09252703 0.23473452] [ 0.21346515 0.97694732 0.00256294 -0.01496873] [ 0.08984987 -0.02224455 0.99570687 0.05941861] [ 0. 0. 0. 1. ]] SLAMing on 124.519928851 meters Centerline goodness : 0.767483 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:0.06 [[ 0.97282498 -0.2122345 -0.09256386 0.23497834] [ 0.21338253 0.97696534 0.00257227 -0.01493276] [ 0.08988576 -0.02225388 0.99570343 0.05934705] [ 0. 0. 0. 1. ]] SLAMing on 124.579928851 meters Centerline goodness : 0.769829 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.06 [[ 0.97286955 -0.21192463 -0.09280518 0.23528171] [ 0.21305261 0.97703801 0.00230567 -0.01381631] [ 0.09018556 -0.0220155 0.99568162 0.05984446] [ 0. 0. 0. 1. ]] SLAMing on 124.639928851 meters Centerline goodness : 0.768945 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.06 [[ 0.97294471 -0.21146834 -0.0930577 0.23562397] [ 0.21256988 0.97714387 0.00197461 -0.01237287] [ 0.0905132 -0.02170245 0.99565876 0.06043754] [ 0. 0. 0. 1. ]] SLAMing on 124.699928851 meters Centerline goodness : 0.770092 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.06 [[ 0.97300211 -0.2111939 -0.0930808 0.23542359] [ 0.21228949 0.97720494 0.00191665 -0.01242383] [ 0.09055423 -0.02162498 0.99565671 0.06108115] [ 0. 0. 0. 1. ]] SLAMing on 124.759928851 meters Centerline goodness : 0.769740 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.06 [[ 0.97304625 -0.21096683 -0.09313423 0.23545973] [ 0.21207817 0.97725048 0.00208772 -0.01325492] [ 0.09057503 -0.02178318 0.99565137 0.06142809] [ 0. 0. 0. 1. ]] SLAMing on 124.819928851 meters Centerline goodness : 0.768044 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.9731007 -0.21063732 -0.093311 0.23639666] [ 0.21184054 0.97729942 0.00306974 -0.01638333] [ 0.09054619 -0.02275422 0.99563228 0.06083822] [ 0. 0. 0. 1. ]] SLAMing on 124.879928851 meters Centerline goodness : 0.766472 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.97312184 -0.21052117 -0.09335271 0.23700987] [ 0.21179346 0.97730697 0.00382452 -0.01873659] [ 0.09042911 -0.02349321 0.99562576 0.06018614] [ 0. 0. 0. 1. ]] SLAMing on 124.939928851 meters Centerline goodness : 0.766592 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.06 [[ 0.97313189 -0.21040492 -0.09350981 0.2376672 ] [ 0.21177439 0.9773065 0.00485842 -0.02292284] [ 0.09036551 -0.02453086 0.9956065 0.0599453 ] [ 0. 0. 0. 1. ]] SLAMing on 124.99992885099999 meters Centerline goodness : 0.766456 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.97309125 -0.21061844 -0.09345206 0.23735708] [ 0.21204561 0.97724429 0.00550072 -0.02640091] [ 0.09016694 -0.0251688 0.99560859 0.06030109] [ 0. 0. 0. 1. ]] SLAMing on 125.059928851 meters Centerline goodness : 0.766745 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.97307376 -0.21074365 -0.09335189 0.23729552] [ 0.21221508 0.97720449 0.00601261 -0.02884289] [ 0.08995676 -0.02566139 0.99561502 0.0601892 ] [ 0. 0. 0. 1. ]] SLAMing on 125.119928851 meters Centerline goodness : 0.767239 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.9723826 -0.21402916 -0.09307843 0.23922952] [ 0.21521483 0.97656279 0.00277446 -0.03035447] [ 0.09030311 -0.02272969 0.99565491 0.05988991] [ 0. 0. 0. 1. ]] SLAMing on 125.179928851 meters Centerline goodness : 0.768238 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.06 [[ 0.97223272 -0.21487434 -0.09269605 0.23767218] [ 0.21605831 0.97637641 0.00281268 -0.03263624] [ 0.08990186 -0.02276233 0.99569048 0.06078414] [ 0. 0. 0. 1. ]] SLAMing on 125.239928851 meters Centerline goodness : 0.769266 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.06 [[ 0.97213779 -0.21534551 -0.09259822 0.23737857] [ 0.21657068 0.97626146 0.00327235 -0.03630327] [ 0.08969539 -0.02323524 0.99569818 0.06111511] [ 0. 0. 0. 1. ]] SLAMing on 125.299928851 meters Centerline goodness : 0.767776 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.06 [[ 0.97212223 -0.21543553 -0.09255215 0.23709131] [ 0.21671867 0.97622621 0.00392455 -0.03944967] [ 0.08950635 -0.02387293 0.9957001 0.06149351] [ 0. 0. 0. 1. ]] SLAMing on 125.35992885099999 meters Centerline goodness : 0.767366 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.06 [[ 0.97215942 -0.21525143 -0.09258981 0.23719887] [ 0.21657984 0.97625487 0.00442674 -0.04130076] [ 0.0894384 -0.02435658 0.9956945 0.06161252] [ 0. 0. 0. 1. ]] SLAMing on 125.419928851 meters Centerline goodness : 0.766759 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.06 [[ 0.97235262 -0.21412846 -0.09316322 0.23947814] [ 0.21557583 0.97647081 0.00564098 -0.04395499] [ 0.08976327 -0.02556876 0.99563487 0.06060719] [ 0. 0. 0. 1. ]] SLAMing on 125.479928851 meters Centerline goodness : 0.768060 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.06 [[ 0.97257058 -0.21289161 -0.09372106 0.24126077] [ 0.21440964 0.97672338 0.0063197 -0.04486219] [ 0.09019414 -0.02624105 0.99557844 0.06033044] [ 0. 0. 0. 1. ]] SLAMing on 125.539928851 meters Centerline goodness : 0.766301 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.06 [[ 0.97349195 -0.20824596 -0.0945888 0.24122992] [ 0.21016099 0.97760883 0.01064546 -0.04634975] [ 0.09025397 -0.03024215 0.99545951 0.0606008 ] [ 0. 0. 0. 1. ]] SLAMing on 125.599928851 meters Centerline goodness : 0.766639 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.06 [[ 0.97435125 -0.20391454 -0.09517619 0.24079887] [ 0.20621856 0.97839205 0.01492963 -0.04774266] [ 0.09007526 -0.0341738 0.99534848 0.06045716] [ 0. 0. 0. 1. ]] SLAMing on 125.659928851 meters Centerline goodness : 0.766485 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.06 [[ 0.974474 -0.20318066 -0.09548838 0.24164601] [ 0.20549577 0.97854355 0.01496678 -0.04735428] [ 0.09039858 -0.03420719 0.99531802 0.06064057] [ 0. 0. 0. 1. ]] SLAMing on 125.71992885099999 meters Centerline goodness : 0.765891 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.06 [[ 0.97458476 -0.20248742 -0.09582996 0.24311804] [ 0.20488167 0.97866022 0.01573792 -0.0490788 ] [ 0.09059824 -0.03497174 0.9952733 0.05992263] [ 0. 0. 0. 1. ]] SLAMing on 125.779928851 meters Centerline goodness : 0.767112 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.06 [[ 0.974591 -0.20244011 -0.09586646 0.2436459 ] [ 0.20488554 0.9786504 0.0162884 -0.05089613] [ 0.09052232 -0.03551618 0.99526093 0.05939143] [ 0. 0. 0. 1. ]] SLAMing on 125.839928851 meters Centerline goodness : 0.767569 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:0.06 [[ 0.97382767 -0.20623722 -0.09552946 0.24519346] [ 0.20839025 0.97795897 0.013029 -0.05281709] [ 0.09073683 -0.03259541 0.99534133 0.05903693] [ 0. 0. 0. 1. ]] SLAMing on 125.899928851 meters Centerline goodness : 0.768672 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:0.06 [[ 0.97306413 -0.20996117 -0.09519715 0.24646007] [ 0.211775 0.97727464 0.00925371 -0.05304167] [ 0.09109084 -0.02916483 0.99541543 0.05919275] [ 0. 0. 0. 1. ]] SLAMing on 125.959928851 meters Centerline goodness : 0.766987 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:0.06 [[ 0.9729725 -0.2105103 -0.09492068 0.24511941] [ 0.21231117 0.97715904 0.00917486 -0.05421628] [ 0.0908212 -0.02907961 0.99544256 0.06014142] [ 0. 0. 0. 1. ]] SLAMing on 126.019928851 meters Centerline goodness : 0.768844 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.06 [[ 0.9729665 -0.21055942 -0.09487322 0.24486861] [ 0.21236883 0.9771455 0.00928151 -0.05499163] [ 0.09075063 -0.02917872 0.99544609 0.06042961] [ 0. 0. 0. 1. ]] SLAMing on 126.079928851 meters Centerline goodness : 0.770820 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.06 [[ 0.97301886 -0.21028275 -0.09494984 0.24535618] [ 0.21213902 0.97719052 0.0097836 -0.05681421] [ 0.09072676 -0.0296622 0.99543398 0.06026562] [ 0. 0. 0. 1. ]] SLAMing on 126.139928851 meters Centerline goodness : 0.770062 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.06 [[ 0.97304004 -0.21016123 -0.09500182 0.24530363] [ 0.21202577 0.9772143 0.00986298 -0.05741826] [ 0.09076432 -0.02973991 0.99542824 0.06061925] [ 0. 0. 0. 1. ]] SLAMing on 126.199928851 meters Centerline goodness : 0.772194 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.06 [[ 0.97298228 -0.21057953 -0.09466654 0.24363479] [ 0.21241145 0.97713321 0.009595 -0.05799246] [ 0.09048131 -0.02944402 0.9954628 0.06194884] [ 0. 0. 0. 1. ]] SLAMing on 126.259928851 meters Centerline goodness : 0.771097 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.06 [[ 0.97299649 -0.21050419 -0.09468803 0.24403744] [ 0.21238103 0.97713488 0.0100859 -0.05986668] [ 0.09039985 -0.02992349 0.9954559 0.06163888] [ 0. 0. 0. 1. ]] SLAMing on 126.319928851 meters Centerline goodness : 0.769068 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.06 [[ 0.97300817 -0.21045937 -0.09466755 0.24478131] [ 0.21240084 0.97712286 0.01080722 -0.0622186 ] [ 0.09022734 -0.03062298 0.99545028 0.06068575] [ 0. 0. 0. 1. ]] SLAMing on 126.379928851 meters Centerline goodness : 0.769904 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.06 [[ 0.97299733 -0.21052521 -0.09463257 0.24467616] [ 0.21249133 0.97710004 0.01108817 -0.06355491] [ 0.09013115 -0.03089736 0.99545052 0.06079321] [ 0. 0. 0. 1. ]] SLAMing on 126.439928851 meters Centerline goodness : 0.768889 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.06 [[ 0.9729898 -0.21055194 -0.09465056 0.24466071] [ 0.21253349 0.977089 0.01125123 -0.06465544] [ 0.09011305 -0.03106374 0.99544698 0.06096788] [ 0. 0. 0. 1. ]] SLAMing on 126.49992885099999 meters Centerline goodness : 0.769902 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.06 [[ 0.97291013 -0.21099675 -0.0944788 0.24378662] [ 0.21296362 0.97699676 0.01112763 -0.06554832] [ 0.08995759 -0.03094674 0.99546468 0.06167923] [ 0. 0. 0. 1. ]] SLAMing on 126.559928851 meters Centerline goodness : 0.769318 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.06 [[ 0.97280228 -0.21157404 -0.09429816 0.24282751] [ 0.21352565 0.97687559 0.01099409 -0.06698997] [ 0.08979151 -0.03083016 0.99548329 0.06254892] [ 0. 0. 0. 1. ]] SLAMing on 126.619928851 meters Centerline goodness : 0.771989 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.06 [[ 0.97197846 -0.21561796 -0.09363102 0.24335906] [ 0.21723617 0.97609158 0.00732674 -0.06785949] [ 0.08981267 -0.02746147 0.99558001 0.0626015 ] [ 0. 0. 0. 1. ]] SLAMing on 126.679928851 meters Centerline goodness : 0.773055 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.06 [[ 0.97193098 -0.21589255 -0.09349108 0.24312334] [ 0.21753844 0.97602166 0.0076643 -0.06975045] [ 0.08959466 -0.02778707 0.99559062 0.0625909 ] [ 0. 0. 0. 1. ]] SLAMing on 126.739928851 meters Centerline goodness : 0.772616 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.06 [[ 0.97186092 -0.21631769 -0.09323633 0.24226915] [ 0.21797776 0.97592191 0.00788208 -0.07173998] [ 0.08928634 -0.02798373 0.99561281 0.0631045 ] [ 0. 0. 0. 1. ]] SLAMing on 126.799928851 meters Centerline goodness : 0.773932 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.06 [[ 0.97186141 -0.21631436 -0.09323888 0.24210429] [ 0.2180026 0.97591378 0.00819563 -0.07372946] [ 0.08922027 -0.02829133 0.99561004 0.06354817] [ 0. 0. 0. 1. ]] SLAMing on 126.85992885099999 meters Centerline goodness : 0.776005 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.06 [[ 0.97192711 -0.21594933 -0.09340008 0.24251272] [ 0.21769949 0.97597571 0.00885151 -0.07587183] [ 0.08924473 -0.02893617 0.99558931 0.06364317] [ 0. 0. 0. 1. ]] SLAMing on 126.919928851 meters Centerline goodness : 0.774088 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.06 [[ 0.97207716 -0.21510213 -0.09379268 0.24399562] [ 0.21693443 0.97613822 0.00967661 -0.07751353] [ 0.08947316 -0.02975328 0.99554472 0.06302176] [ 0. 0. 0. 1. ]] SLAMing on 126.979928851 meters Centerline goodness : 0.774699 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.07 [[ 0.97262985 -0.20721869 -0.10512658 0.24228687] [ 0.20963563 0.97770139 0.01236481 -0.08411374] [ 0.10022018 -0.03406466 0.99438198 0.06571476] [ 0. 0. 0. 1. ]] SLAMing on 127.039928851 meters Centerline goodness : 0.777194 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97338066 -0.20023575 -0.11151561 0.23562344] [ 0.20249989 0.97923865 0.00924431 -0.08805153] [ 0.10734936 -0.03158013 0.99371968 0.0700598 ] [ 0. 0. 0. 1. ]] SLAMing on 127.099928851 meters Centerline goodness : 0.776049 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97360393 -0.19920327 -0.11141565 0.23579148] [ 0.20150455 0.97943979 0.00967561 -0.08868665] [ 0.1071975 -0.03187098 0.99372679 0.06952633] [ 0. 0. 0. 1. ]] SLAMing on 127.159928851 meters Centerline goodness : 0.776631 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97385881 -0.19811036 -0.1111364 0.23550436] [ 0.20043373 0.97965597 0.01002512 -0.08923736] [ 0.10688936 -0.03203854 0.9937546 0.06910427] [ 0. 0. 0. 1. ]] SLAMing on 127.21992885099999 meters Centerline goodness : 0.776780 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.07 [[ 0.97356246 -0.19227424 -0.12331568 0.2344484 ] [ 0.19524601 0.98067629 0.01236984 -0.09499496] [ 0.11855436 -0.0361197 0.9922904 0.07389748] [ 0. 0. 0. 1. ]] SLAMing on 127.279928851 meters Centerline goodness : 0.776159 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.07 [[ 0.97334682 -0.19281926 -0.12416398 0.2366772 ] [ 0.19592595 0.98052986 0.01319918 -0.09702325] [ 0.11920144 -0.03717432 0.99217392 0.07373996] [ 0. 0. 0. 1. ]] SLAMing on 127.339928851 meters Centerline goodness : 0.775988 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.07 [[ 0.97295414 -0.19406766 -0.12529159 0.2384065 ] [ 0.19735681 0.98022778 0.01427561 -0.09878941] [ 0.12004386 -0.03861666 0.99201725 0.07477587] [ 0. 0. 0. 1. ]] SLAMing on 127.399928851 meters Centerline goodness : 0.776256 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97265601 -0.19490507 -0.12630242 0.2401011 ] [ 0.19829862 0.98003061 0.01475356 -0.09902971] [ 0.1209047 -0.03939574 0.99188206 0.0753464 ] [ 0. 0. 0. 1. ]] SLAMing on 127.459928851 meters Centerline goodness : 0.776343 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97254104 -0.19501564 -0.12701503 0.24132063] [ 0.198511 0.97997854 0.01534429 -0.09945213] [ 0.12147962 -0.04013683 0.9917821 0.07563971] [ 0. 0. 0. 1. ]] SLAMing on 127.519928851 meters Centerline goodness : 0.775163 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97240291 -0.19531637 -0.12760915 0.24242147] [ 0.19884543 0.97990983 0.01540204 -0.09875224] [ 0.12203719 -0.04035148 0.99170494 0.07567707] [ 0. 0. 0. 1. ]] SLAMing on 127.579928851 meters Centerline goodness : 0.778019 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97291447 -0.19192029 -0.12885668 0.24294476] [ 0.19597237 0.9804171 0.01942019 -0.09931928] [ 0.12260616 -0.04414653 0.99147305 0.07639091] [ 0. 0. 0. 1. ]] SLAMing on 127.639928851 meters Centerline goodness : 0.776712 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97307908 -0.19124722 -0.1286142 0.24256631] [ 0.1952138 0.9805794 0.0188578 -0.09744203] [ 0.12250993 -0.0434574 0.99151539 0.07586434] [ 0. 0. 0. 1. ]] SLAMing on 127.699928851 meters Centerline goodness : 0.776870 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97391196 -0.18673227 -0.128944 0.24212409] [ 0.19105121 0.98133643 0.02186901 -0.09585692] [ 0.1224538 -0.0459334 0.99141071 0.07501476] [ 0. 0. 0. 1. ]] SLAMing on 127.759928851 meters Centerline goodness : 0.776690 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97399899 -0.18630846 -0.12889967 0.24226171] [ 0.19054255 0.98144945 0.0212252 -0.09242578] [ 0.12255407 -0.0452342 0.99143046 0.07483894] [ 0. 0. 0. 1. ]] SLAMing on 127.819928851 meters Centerline goodness : 0.778486 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97389622 -0.18685627 -0.12888326 0.24230786] [ 0.19099553 0.98137827 0.0204305 -0.09114079] [ 0.12266566 -0.04451331 0.99144929 0.07469398] [ 0. 0. 0. 1. ]] SLAMing on 127.879928851 meters Centerline goodness : 0.778676 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97383384 -0.18684864 -0.12936474 0.24389142] [ 0.19107451 0.98135188 0.0209529 -0.09180769] [ 0.12303731 -0.04512294 0.99137568 0.07404814] [ 0. 0. 0. 1. ]] SLAMing on 127.939928851 meters Centerline goodness : 0.780574 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.07 [[ 0.97381329 -0.18666619 -0.12978213 0.24464608] [ 0.19096893 0.98136217 0.02142784 -0.09196314] [ 0.12336342 -0.04565107 0.99131097 0.07411028] [ 0. 0. 0. 1. ]] SLAMing on 127.99992885099999 meters Centerline goodness : 0.779046 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.07 [[ 0.97372261 -0.18686071 -0.13018202 0.24523743] [ 0.19118209 0.98132092 0.02141619 -0.09119419] [ 0.1237485 -0.0457419 0.99125879 0.07434665] [ 0. 0. 0. 1. ]] SLAMing on 128.059928851 meters Centerline goodness : 0.778113 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.07 [[ 0.973515 -0.1873024 -0.13109678 0.24719813] [ 0.19173769 0.9812006 0.02195547 -0.09176747] [ 0.12451992 -0.04651018 0.99112643 0.07435559] [ 0. 0. 0. 1. ]] SLAMing on 128.119928851 meters Centerline goodness : 0.780211 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97318581 -0.18867704 -0.13156883 0.24767657] [ 0.19308548 0.98094682 0.02147855 -0.091105 ] [ 0.12500952 -0.04630665 0.99107432 0.07510674] [ 0. 0. 0. 1. ]] SLAMing on 128.179928851 meters Centerline goodness : 0.780231 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97346373 -0.18600881 -0.13330075 0.24956391] [ 0.19101596 0.98125042 0.02570047 -0.09204583] [ 0.1260209 -0.05048104 0.99074235 0.07556727] [ 0. 0. 0. 1. ]] SLAMing on 128.239928851 meters Centerline goodness : 0.775833 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97336101 -0.18629649 -0.13364864 0.24930888] [ 0.19128398 0.98120635 0.02538795 -0.09001722] [ 0.12640721 -0.05027649 0.99070353 0.07631172] [ 0. 0. 0. 1. ]] SLAMing on 128.299928851 meters Centerline goodness : 0.779300 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.973984 -0.18236002 -0.13453623 0.24956077] [ 0.18783008 0.98177201 0.02904443 -0.08950262] [ 0.12678737 -0.05355876 0.99048292 0.0762205 ] [ 0. 0. 0. 1. ]] SLAMing on 128.359928851 meters Centerline goodness : 0.776816 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97491708 -0.1774082 -0.13439876 0.24789777] [ 0.18322876 0.98254433 0.03215379 -0.08799435] [ 0.12634839 -0.055973 0.99040553 0.07566111] [ 0. 0. 0. 1. ]] SLAMing on 128.419928851 meters Centerline goodness : 0.775642 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97502864 -0.17691526 -0.13423915 0.24749936] [ 0.18267938 0.98265773 0.03181247 -0.08704931] [ 0.12628303 -0.05554079 0.99043819 0.07558493] [ 0. 0. 0. 1. ]] SLAMing on 128.479928851 meters Centerline goodness : 0.775232 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97505021 -0.17679454 -0.13424151 0.24727509] [ 0.18245427 0.9827255 0.0310006 -0.08428303] [ 0.12644181 -0.05472007 0.99046362 0.07604636] [ 0. 0. 0. 1. ]] SLAMing on 128.53992885099998 meters Centerline goodness : 0.790976 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97514695 -0.17622892 -0.13428253 0.24755074] [ 0.18184297 0.98284947 0.0306601 -0.08218138] [ 0.12657632 -0.05431644 0.99046866 0.0761087 ] [ 0. 0. 0. 1. ]] SLAMing on 128.599928851 meters Centerline goodness : 0.789177 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.9751519 -0.17619351 -0.13429303 0.2475405 ] [ 0.18178242 0.98286687 0.03046105 -0.08171969] [ 0.12662513 -0.05411626 0.99047337 0.07629472] [ 0. 0. 0. 1. ]] SLAMing on 128.659928851 meters Centerline goodness : 0.773554 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97512577 -0.17624798 -0.13441122 0.24761762] [ 0.18183093 0.98286101 0.03036026 -0.08176037] [ 0.12675661 -0.05404519 0.99046044 0.07658331] [ 0. 0. 0. 1. ]] SLAMing on 128.719928851 meters Centerline goodness : 0.772198 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.9743575 -0.18087165 -0.13383914 0.24725418] [ 0.185914 0.98221975 0.02608357 -0.08162697] [ 0.12674167 -0.05029729 0.99065975 0.07761839] [ 0. 0. 0. 1. ]] SLAMing on 128.779928851 meters Centerline goodness : 0.772877 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97359758 -0.18536104 -0.13322553 0.24773751] [ 0.18993851 0.98154041 0.02240052 -0.08335695] [ 0.12661406 -0.04711375 0.99083257 0.07767364] [ 0. 0. 0. 1. ]] SLAMing on 128.839928851 meters Centerline goodness : 0.771554 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97285599 -0.18954433 -0.13275607 0.24814744] [ 0.19362297 0.98090347 0.01839899 -0.08309252] [ 0.12673347 -0.04360419 0.99097795 0.0782039 ] [ 0. 0. 0. 1. ]] SLAMing on 128.899928851 meters Centerline goodness : 0.773055 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97275127 -0.19030574 -0.13243369 0.2467113 ] [ 0.19436198 0.98075942 0.01828624 -0.08485422] [ 0.12640561 -0.04352803 0.99102317 0.07910613] [ 0. 0. 0. 1. ]] SLAMing on 128.959928851 meters Centerline goodness : 0.771275 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97267625 -0.1906534 -0.13248468 0.24619781] [ 0.19482964 0.98064941 0.01918733 -0.08769205] [ 0.12626289 -0.044475 0.99099932 0.08038993] [ 0. 0. 0. 1. ]] SLAMing on 129.019928851 meters Centerline goodness : 0.770466 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97270877 -0.19047868 -0.13249725 0.24663269] [ 0.19466816 0.9806793 0.01929802 -0.08839237] [ 0.12626145 -0.04456435 0.99099549 0.08003195] [ 0. 0. 0. 1. ]] SLAMing on 129.079928851 meters Centerline goodness : 0.772274 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97323205 -0.18695372 -0.13367003 0.24730527] [ 0.19175562 0.98115202 0.02388496 -0.09083525] [ 0.12668524 -0.04887759 0.99073802 0.08073238] [ 0. 0. 0. 1. ]] SLAMing on 129.139928851 meters Centerline goodness : 0.771163 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97379247 -0.18457243 -0.13289559 0.24649893] [ 0.18935968 0.98160897 0.02422262 -0.09132903] [ 0.12598068 -0.04875287 0.99083401 0.07951443] [ 0. 0. 0. 1. ]] SLAMing on 129.199928851 meters Centerline goodness : 0.770633 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.08 [[ 0.97475471 -0.17964108 -0.13259843 0.24454938] [ 0.18485898 0.98236474 0.02804781 -0.09333422] [ 0.12522148 -0.05185175 0.99077292 0.07956547] [ 0. 0. 0. 1. ]] SLAMing on 129.259928851 meters Centerline goodness : 0.771214 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.08 [[ 0.97513163 -0.17779757 -0.13231147 0.24407534] [ 0.18306487 0.98268261 0.02867299 -0.09380202] [ 0.12492219 -0.05218152 0.99079339 0.07914872] [ 0. 0. 0. 1. ]] SLAMing on 129.319928851 meters Centerline goodness : 0.771893 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.08 [[ 0.97534539 -0.17666755 -0.13224956 0.24448816] [ 0.18198453 0.98286885 0.02916259 -0.09472079] [ 0.12483189 -0.05251097 0.99078736 0.07849252] [ 0. 0. 0. 1. ]] SLAMing on 129.379928851 meters Centerline goodness : 0.771380 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.08 [[ 0.97527667 -0.17698424 -0.13233293 0.2447482 ] [ 0.18234509 0.98279327 0.02945595 -0.09588282] [ 0.12484268 -0.05285796 0.99076755 0.07874692] [ 0. 0. 0. 1. ]] SLAMing on 129.439928851 meters Centerline goodness : 0.771736 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97512223 -0.17743221 -0.13287005 0.24562088] [ 0.1829336 0.98265789 0.03031123 -0.09749002] [ 0.12518761 -0.05386355 0.99066986 0.07940318] [ 0. 0. 0. 1. ]] SLAMing on 129.499928851 meters Centerline goodness : 0.772023 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97436236 -0.18132575 -0.13318769 0.24784651] [ 0.1865326 0.9820607 0.02761106 -0.09838672] [ 0.1257918 -0.05174703 0.99070615 0.07940897] [ 0. 0. 0. 1. ]] SLAMing on 129.559928851 meters Centerline goodness : 0.772880 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97404256 -0.18256947 -0.13382632 0.24931027] [ 0.18784208 0.98180617 0.02778486 -0.09923494] [ 0.12631884 -0.05220185 0.99061522 0.07974861] [ 0. 0. 0. 1. ]] SLAMing on 129.619928851 meters Centerline goodness : 0.771658 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97335162 -0.18645666 -0.13349357 0.24968072] [ 0.19132137 0.98122219 0.02447727 -0.0991112 ] [ 0.1264229 -0.04936516 0.99074736 0.08029585] [ 0. 0. 0. 1. ]] SLAMing on 129.679928851 meters Centerline goodness : 0.771195 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97325922 -0.18680621 -0.13367844 0.25008397] [ 0.19177551 0.98111521 0.0252013 -0.10130974] [ 0.12644619 -0.05016365 0.99070428 0.08087501] [ 0. 0. 0. 1. ]] SLAMing on 129.739928851 meters Centerline goodness : 0.771143 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97309458 -0.18720903 -0.13431202 0.25103624] [ 0.19234496 0.98097694 0.02622323 -0.10325637] [ 0.12684777 -0.05135192 0.99059206 0.08173789] [ 0. 0. 0. 1. ]] SLAMing on 129.799928851 meters Centerline goodness : 0.771850 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97292209 -0.18795704 -0.13451673 0.25060353] [ 0.19316289 0.98080504 0.02663784 -0.10438395] [ 0.12692791 -0.05190018 0.99055322 0.08312953] [ 0. 0. 0. 1. ]] SLAMing on 129.859928851 meters Centerline goodness : 0.772845 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.08 [[ 0.97278141 -0.18817599 -0.13522621 0.25277936] [ 0.19352022 0.9807134 0.02740704 -0.10584037] [ 0.12746081 -0.05283007 0.99043562 0.08261297] [ 0. 0. 0. 1. ]] SLAMing on 129.919928851 meters Centerline goodness : 0.772665 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.08 [[ 0.97257802 -0.18899663 -0.13554434 0.25374882] [ 0.19434294 0.9805554 0.02723835 -0.10586597] [ 0.12776078 -0.0528335 0.99039679 0.08247298] [ 0. 0. 0. 1. ]] SLAMing on 129.979928851 meters Centerline goodness : 0.774291 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97249474 -0.18911784 -0.13597213 0.25425092] [ 0.19448326 0.98052863 0.0272004 -0.10465289] [ 0.12818049 -0.05289655 0.99033919 0.08272466] [ 0. 0. 0. 1. ]] SLAMing on 130.03992885099998 meters Centerline goodness : 0.774296 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.9726316 -0.18861325 -0.13569383 0.25387447] [ 0.19393344 0.98064311 0.02699835 -0.10435757] [ 0.12797497 -0.05257502 0.99038289 0.08235637] [ 0. 0. 0. 1. ]] SLAMing on 130.099928851 meters Centerline goodness : 0.771799 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97282072 -0.18788107 -0.1353534 0.25343063] [ 0.19311348 0.98081836 0.02650535 -0.10285903] [ 0.12777724 -0.05192352 0.99044279 0.08165231] [ 0. 0. 0. 1. ]] SLAMing on 130.159928851 meters Centerline goodness : 0.771513 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97277026 -0.18821626 -0.13525039 0.25290615] [ 0.19331644 0.980805 0.02550107 -0.10004127] [ 0.12785454 -0.05095281 0.99048323 0.08204654] [ 0. 0. 0. 1. ]] SLAMing on 130.219928851 meters Centerline goodness : 0.772708 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97291329 -0.18757615 -0.13511075 0.25356004] [ 0.19257896 0.98096694 0.02484348 -0.09832623] [ 0.12787913 -0.05019004 0.990519 0.08061085] [ 0. 0. 0. 1. ]] SLAMing on 130.279928851 meters Centerline goodness : 0.773303 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97293972 -0.18737586 -0.13519835 0.25418425] [ 0.19234438 0.98102019 0.02455639 -0.09771489] [ 0.12803103 -0.04989653 0.99051421 0.07997881] [ 0. 0. 0. 1. ]] SLAMing on 130.339928851 meters Centerline goodness : 0.773450 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.08 [[ 0.9733423 -0.18444613 -0.13632461 0.25501767] [ 0.18989598 0.98140479 0.02800287 -0.09749959] [ 0.1286246 -0.05314387 0.99026837 0.08013885] [ 0. 0. 0. 1. ]] SLAMing on 130.399928851 meters Centerline goodness : 0.773089 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:0.08 [[ 0.97400862 -0.18017282 -0.13727699 0.25552372] [ 0.18614779 0.98200375 0.03190024 -0.09667995] [ 0.12905897 -0.05662492 0.99001889 0.07974847] [ 0. 0. 0. 1. ]] SLAMing on 130.459928851 meters Centerline goodness : 0.772078 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97428607 -0.17932584 -0.13641447 0.25409795] [ 0.18504008 0.98226296 0.03032555 -0.0939903 ] [ 0.12855673 -0.0547879 0.99018759 0.07883052] [ 0. 0. 0. 1. ]] SLAMing on 130.519928851 meters Centerline goodness : 0.772505 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97505558 -0.1747674 -0.13683192 0.25525026] [ 0.18092387 0.98291502 0.03383224 -0.09379865] [ 0.12858137 -0.05774447 0.99001637 0.07654048] [ 0. 0. 0. 1. ]] SLAMing on 130.579928851 meters Centerline goodness : 0.773599 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97527493 -0.1741524 -0.13605056 0.25289787] [ 0.18012207 0.98309793 0.03277952 -0.09147452] [ 0.12804239 -0.05647475 0.99015946 0.07700361] [ 0. 0. 0. 1. ]] SLAMing on 130.639928851 meters Centerline goodness : 0.775609 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97551937 -0.17304061 -0.13571628 0.25185031] [ 0.1790111 0.98329334 0.03300351 -0.09079706] [ 0.12773797 -0.05649029 0.99019789 0.07705077] [ 0. 0. 0. 1. ]] SLAMing on 130.699928851 meters Centerline goodness : 0.773774 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97548229 -0.17333135 -0.13561176 0.251914 ] [ 0.17929728 0.98324142 0.03299688 -0.0912342 ] [ 0.12761971 -0.0565027 0.99021243 0.07693968] [ 0. 0. 0. 1. ]] SLAMing on 130.759928851 meters Centerline goodness : 0.775845 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97532961 -0.17410793 -0.13571508 0.2526418 ] [ 0.18012868 0.98307828 0.03332803 -0.09256882] [ 0.12761587 -0.05695199 0.99018718 0.07669956] [ 0. 0. 0. 1. ]] SLAMing on 130.819928851 meters Centerline goodness : 0.775442 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97462379 -0.17832301 -0.13531215 0.25362117] [ 0.18382037 0.9825266 0.02918142 -0.09144151] [ 0.12774406 -0.05331404 0.9903732 0.07651571] [ 0. 0. 0. 1. ]] SLAMing on 130.879928851 meters Centerline goodness : 0.775339 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97440928 -0.17902056 -0.13593454 0.25522067] [ 0.18463105 0.98235754 0.02974973 -0.09264749] [ 0.12821051 -0.05408615 0.99027105 0.07645989] [ 0. 0. 0. 1. ]] SLAMing on 130.939928851 meters Centerline goodness : 0.777206 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.9743344 -0.17966475 -0.13562099 0.25394662] [ 0.18516927 0.98227798 0.02902251 -0.0917882 ] [ 0.12800319 -0.05339047 0.99033562 0.07722885] [ 0. 0. 0. 1. ]] SLAMing on 130.999928851 meters Centerline goodness : 0.777374 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97449999 -0.17900636 -0.13530147 0.25295662] [ 0.18456394 0.98237437 0.02961013 -0.09312862] [ 0.12761629 -0.05382684 0.99036193 0.07773736] [ 0. 0. 0. 1. ]] SLAMing on 131.059928851 meters Centerline goodness : 0.778682 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97384798 -0.18296622 -0.13469774 0.25323164] [ 0.18796907 0.98184899 0.02530186 -0.09128233] [ 0.12762345 -0.04995918 0.99056364 0.07806595] [ 0. 0. 0. 1. ]] SLAMing on 131.119928851 meters Centerline goodness : 0.777138 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97315182 -0.18709153 -0.13406076 0.25390333] [ 0.1915604 0.98125327 0.02113355 -0.09002088] [ 0.12759365 -0.04624688 0.99074774 0.07785056] [ 0. 0. 0. 1. ]] SLAMing on 131.179928851 meters Centerline goodness : 0.776610 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97272844 -0.18836852 -0.13533913 0.2578263 ] [ 0.19293724 0.98097871 0.02135398 -0.09088542] [ 0.12874239 -0.04688358 0.99056919 0.07666921] [ 0. 0. 0. 1. ]] SLAMing on 131.239928851 meters Centerline goodness : 0.777031 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97212759 -0.19194574 -0.13462832 0.25766738] [ 0.19602901 0.98043953 0.01763389 -0.09038405] [ 0.12861018 -0.04353345 0.99073925 0.07687467] [ 0. 0. 0. 1. ]] SLAMing on 131.299928851 meters Centerline goodness : 0.779531 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.9713116 -0.19657633 -0.13383395 0.25719139] [ 0.20011993 0.9796794 0.01342728 -0.08996011] [ 0.12847488 -0.03982491 0.9909128 0.07750356] [ 0. 0. 0. 1. ]] SLAMing on 131.359928851 meters Centerline goodness : 0.781189 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97123848 -0.19697739 -0.13377492 0.25694094] [ 0.20051368 0.97959977 0.01336275 -0.09069241] [ 0.12841372 -0.03980212 0.99092165 0.07762703] [ 0. 0. 0. 1. ]] SLAMing on 131.419928851 meters Centerline goodness : 0.781433 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97116685 -0.19757021 -0.13342027 0.25610666] [ 0.20103597 0.97949907 0.01288879 -0.09005186] [ 0.12813859 -0.03933944 0.99097574 0.07765332] [ 0. 0. 0. 1. ]] SLAMing on 131.479928851 meters Centerline goodness : 0.782799 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.08 [[ 0.97107567 -0.19815294 -0.13321958 0.25508222] [ 0.201524 0.97940786 0.01217914 -0.08881247] [ 0.12806298 -0.03867381 0.99101171 0.07828198] [ 0. 0. 0. 1. ]] SLAMing on 131.53992885099998 meters Centerline goodness : 0.782801 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97101909 -0.19854 -0.13305563 0.25430569] [ 0.20182382 0.979354 0.01152778 -0.08744168] [ 0.12801984 -0.03804749 0.99104153 0.07881281] [ 0. 0. 0. 1. ]] SLAMing on 131.599928851 meters Centerline goodness : 0.776597 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.97096204 -0.19887444 -0.13297246 0.25427467] [ 0.20210159 0.97930175 0.01109161 -0.08646108] [ 0.12801432 -0.03764348 0.99105767 0.07862325] [ 0. 0. 0. 1. ]] SLAMing on 131.659928851 meters Centerline goodness : 0.777964 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97089455 -0.19927654 -0.13286319 0.25405796] [ 0.20241685 0.97924396 0.01042477 -0.08472357] [ 0.12802806 -0.0370151 0.99107956 0.07858319] [ 0. 0. 0. 1. ]] SLAMing on 131.719928851 meters Centerline goodness : 0.777640 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97081915 -0.19965972 -0.13283893 0.25422756] [ 0.2027295 0.97918513 0.00986047 -0.08283358] [ 0.12810517 -0.03650311 0.99108859 0.07817199] [ 0. 0. 0. 1. ]] SLAMing on 131.779928851 meters Centerline goodness : 0.775364 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97072814 -0.20024437 -0.1326238 0.25341493] [ 0.20321957 0.97909043 0.00915074 -0.08127978] [ 0.12801831 -0.03583463 0.99112421 0.0784596 ] [ 0. 0. 0. 1. ]] SLAMing on 131.839928851 meters Centerline goodness : 0.774830 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97062145 -0.20088797 -0.13243123 0.25209701] [ 0.20376593 0.97898352 0.00840863 -0.08039512] [ 0.1279588 -0.03514657 0.99115653 0.07949705] [ 0. 0. 0. 1. ]] SLAMing on 131.899928851 meters Centerline goodness : 0.774210 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.9705656 -0.20131211 -0.13219627 0.25102728] [ 0.20413382 0.97891023 0.00800916 -0.08003205] [ 0.12779594 -0.03475915 0.9911912 0.08010919] [ 0. 0. 0. 1. ]] SLAMing on 131.959928851 meters Centerline goodness : 0.777975 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.9704729 -0.20198997 -0.13184236 0.24972749] [ 0.20479475 0.97877282 0.00792968 -0.08147567] [ 0.127442 -0.03469616 0.99123898 0.08073823] [ 0. 0. 0. 1. ]] SLAMing on 132.019928851 meters Centerline goodness : 0.773446 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.08 [[ 0.97003654 -0.2045919 -0.13103918 0.24871443] [ 0.20708434 0.97830742 0.00553728 -0.08287363] [ 0.12706372 -0.03250753 0.99136173 0.08166889] [ 0. 0. 0. 1. ]] SLAMing on 132.079928851 meters Centerline goodness : 0.775102 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.96921863 -0.20884099 -0.1303867 0.24926841] [ 0.21095825 0.97749191 0.00248712 -0.08629829] [ 0.12693254 -0.02991672 0.9914601 0.08174266] [ 0. 0. 0. 1. ]] SLAMing on 132.139928851 meters Centerline goodness : 0.774534 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 9.68400566e-01 -2.12920853e-01 -1.29865521e-01 2.50077469e-01] [ 2.14624533e-01 9.76696220e-01 -8.96871175e-04 -8.82821281e-02] [ 1.27030126e-01 -2.70037963e-02 9.91531211e-01 8.19178271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199928851 meters Centerline goodness : 0.774226 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.96757213 -0.21694389 -0.12938133 0.25054086] [ 0.21826763 0.97588062 -0.00403198 -0.09125593] [ 0.12713545 -0.02433852 0.99158672 0.0826329 ] [ 0. 0. 0. 1. ]] SLAMing on 132.259928851 meters Centerline goodness : 0.776070 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.96755894 -0.21701904 -0.12935394 0.25031603] [ 0.21836264 0.97585999 -0.0038768 -0.09235858] [ 0.12707268 -0.02449503 0.99159091 0.08292645] [ 0. 0. 0. 1. ]] SLAMing on 132.319928851 meters Centerline goodness : 0.776752 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.08 [[ 0.96767405 -0.21633797 -0.12963337 0.25109939] [ 0.2178081 0.97598731 -0.00289941 -0.09417103] [ 0.12714778 -0.02542952 0.99155776 0.08272505] [ 0. 0. 0. 1. ]] SLAMing on 132.379928851 meters Centerline goodness : 0.778566 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.96794486 -0.21546681 -0.12906121 0.24991522] [ 0.21693394 0.97618242 -0.00274919 -0.09505468] [ 0.12657964 -0.02533669 0.99163282 0.08279667] [ 0. 0. 0. 1. ]] SLAMing on 132.439928851 meters Centerline goodness : 0.777820 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.96914487 -0.20992737 -0.12918484 0.24812534] [ 0.21197852 0.97727189 0.00218122 -0.09832198] [ 0.12579081 -0.02949833 0.99161813 0.08334821] [ 0. 0. 0. 1. ]] SLAMing on 132.499928851 meters Centerline goodness : 0.776927 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.96982364 -0.20737319 -0.1282126 0.24759325] [ 0.20943642 0.97781861 0.00267545 -0.09966494] [ 0.12481385 -0.02944711 0.9917431 0.08141006] [ 0. 0. 0. 1. ]] SLAMing on 132.559928851 meters Centerline goodness : 0.775792 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97075492 -0.20327741 -0.12772303 0.24683426] [ 0.20552238 0.97864202 0.00451009 -0.10044609] [ 0.12407832 -0.03062813 0.99179962 0.08014526] [ 0. 0. 0. 1. ]] SLAMing on 132.619928851 meters Centerline goodness : 0.774978 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97176902 -0.19788556 -0.12847678 0.24754018] [ 0.20067721 0.97961581 0.00902947 -0.10170412] [ 0.12407108 -0.03455692 0.99167141 0.07900418] [ 0. 0. 0. 1. ]] SLAMing on 132.679928851 meters Centerline goodness : 0.773220 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97295426 -0.19175336 -0.12880474 0.24762541] [ 0.19501452 0.98071309 0.01308318 -0.10194787] [ 0.12381175 -0.03784813 0.99158367 0.07723028] [ 0. 0. 0. 1. ]] SLAMing on 132.739928851 meters Centerline goodness : 0.776120 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.08 [[ 0.97399185 -0.18629034 -0.12897982 0.24810858] [ 0.18995714 0.98165159 0.01662665 -0.10272991] [ 0.12351586 -0.04069485 0.99150782 0.07521001] [ 0. 0. 0. 1. ]] SLAMing on 132.799928851 meters Centerline goodness : 0.775660 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97464987 -0.18219031 -0.12986272 0.24897811] [ 0.18632612 0.9822774 0.02033916 -0.10313603] [ 0.12385562 -0.04402038 0.99132335 0.0746057 ] [ 0. 0. 0. 1. ]] SLAMing on 132.859928851 meters Centerline goodness : 0.778379 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97540209 -0.17802567 -0.12999083 0.24756576] [ 0.18255004 0.98291173 0.02366455 -0.10303186] [ 0.12355661 -0.04681228 0.99123275 0.07482398] [ 0. 0. 0. 1. ]] SLAMing on 132.919928851 meters Centerline goodness : 0.778299 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97556172 -0.17725447 -0.12984676 0.24704619] [ 0.1817466 0.98306436 0.02350828 -0.10198377] [ 0.12348077 -0.04653299 0.99125536 0.074654 ] [ 0. 0. 0. 1. ]] SLAMing on 132.979928851 meters Centerline goodness : 0.777277 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97582407 -0.17618075 -0.12933568 0.24680021] [ 0.18061036 0.98327953 0.02326516 -0.10177426] [ 0.12307425 -0.04606206 0.9913279 0.07341254] [ 0. 0. 0. 1. ]] SLAMing on 133.03992885099998 meters Centerline goodness : 0.775670 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97593441 -0.17557259 -0.1293302 0.24710544] [ 0.18000977 0.98338727 0.0233656 -0.10142111] [ 0.12307932 -0.046084 0.99132626 0.07285844] [ 0. 0. 0. 1. ]] SLAMing on 133.099928851 meters Centerline goodness : 0.776307 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97606703 -0.17497301 -0.12914177 0.24707718] [ 0.17941106 0.98349394 0.02348066 -0.10178054] [ 0.12290167 -0.04608816 0.9913481 0.07231636] [ 0. 0. 0. 1. ]] SLAMing on 133.159928851 meters Centerline goodness : 0.776046 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.9763274 -0.17392239 -0.12859165 0.24619283] [ 0.17838942 0.98366752 0.02398816 -0.10301965] [ 0.12231935 -0.04635969 0.99140746 0.07196968] [ 0. 0. 0. 1. ]] SLAMing on 133.219928851 meters Centerline goodness : 0.775711 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.07 [[ 0.97664693 -0.17265156 -0.12787575 0.24552188] [ 0.17716481 0.98387079 0.02471649 -0.10529904] [ 0.12154587 -0.04679436 0.99148217 0.07116692] [ 0. 0. 0. 1. ]] SLAMing on 133.279928851 meters Centerline goodness : 0.776910 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.07 [[ 0.97685199 -0.1716975 -0.12759375 0.24521392] [ 0.17629235 0.98400618 0.02555093 -0.10681257] [ 0.12116601 -0.04745328 0.99149734 0.07089722] [ 0. 0. 0. 1. ]] SLAMing on 133.339928851 meters Centerline goodness : 0.775737 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97724711 -0.1703001 -0.12643562 0.24386299] [ 0.17482322 0.98426954 0.02550137 -0.10842141] [ 0.12010384 -0.04702502 0.99164697 0.06969859] [ 0. 0. 0. 1. ]] SLAMing on 133.399928851 meters Centerline goodness : 0.775156 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97751687 -0.16916984 -0.12586632 0.24276507] [ 0.17368289 0.98446598 0.02570981 -0.10934753] [ 0.11956179 -0.0469926 0.99171401 0.06954716] [ 0. 0. 0. 1. ]] SLAMing on 133.459928851 meters Centerline goodness : 0.775478 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97794823 -0.16742512 -0.12484425 0.24114063] [ 0.17189545 0.98477568 0.02586152 -0.11036658] [ 0.11861371 -0.04675139 0.99183925 0.0687339 ] [ 0. 0. 0. 1. ]] SLAMing on 133.519928851 meters Centerline goodness : 0.775743 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97819486 -0.16658297 -0.124036 0.24057263] [ 0.17098023 0.98494136 0.02561775 -0.11179154] [ 0.1179007 -0.04626685 0.99194698 0.06754838] [ 0. 0. 0. 1. ]] SLAMing on 133.579928851 meters Centerline goodness : 0.775909 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97838359 -0.16591908 -0.12343585 0.24011186] [ 0.17027483 0.9850655 0.02554314 -0.1128207 ] [ 0.1173543 -0.04600901 0.99202376 0.06665805] [ 0. 0. 0. 1. ]] SLAMing on 133.639928851 meters Centerline goodness : 0.774248 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97867445 -0.1647139 -0.12274223 0.23934505] [ 0.16902601 0.98528124 0.02551625 -0.11369741] [ 0.11673274 -0.04571873 0.99211051 0.06586589] [ 0. 0. 0. 1. ]] SLAMing on 133.699928851 meters Centerline goodness : 0.774075 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97888899 -0.16395672 -0.12204318 0.23802137] [ 0.16821266 0.98542456 0.02535613 -0.11420571] [ 0.11610704 -0.04535004 0.99220085 0.06563107] [ 0. 0. 0. 1. ]] SLAMing on 133.759928851 meters Centerline goodness : 0.773351 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.07 [[ 0.97933884 -0.16198703 -0.12106048 0.23588092] [ 0.1662342 0.98574923 0.02578071 -0.115415 ] [ 0.11515914 -0.04537244 0.99231029 0.06552164] [ 0. 0. 0. 1. ]] SLAMing on 133.819928851 meters Centerline goodness : 0.774166 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.07 [[ 0.97955802 -0.16118237 -0.12035918 0.23434075] [ 0.16538245 0.98589468 0.02569697 -0.11605521] [ 0.11451958 -0.04507697 0.99239777 0.06557513] [ 0. 0. 0. 1. ]] SLAMing on 133.879928851 meters Centerline goodness : 0.775401 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.06 [[ 0.97971072 -0.16075822 -0.1196817 0.23379681] [ 0.1649087 0.98597764 0.02555788 -0.11757759] [ 0.11389484 -0.04477588 0.99248329 0.06485373] [ 0. 0. 0. 1. ]] SLAMing on 133.939928851 meters Centerline goodness : 0.775009 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.06 [[ 0.97960573 -0.16228736 -0.11847117 0.23242052] [ 0.16605276 0.98585856 0.02256966 -0.11783341] [ 0.11313305 -0.04178183 0.99270096 0.06447061] [ 0. 0. 0. 1. ]] SLAMing on 133.999928851 meters Centerline goodness : 0.776490 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.06 [[ 0.9794508 -0.16308774 -0.11865293 0.23349298] [ 0.16687962 0.98571618 0.02268929 -0.11878422] [ 0.11325777 -0.0420238 0.99267652 0.06413815] [ 0. 0. 0. 1. ]] SLAMing on 134.059928851 meters Centerline goodness : 0.776847 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.06 [[ 0.9789479 -0.16564804 -0.11925491 0.23516684] [ 0.16951806 0.9852586 0.02300276 -0.1198945 ] [ 0.11368656 -0.04273436 0.99259717 0.0646918 ] [ 0. 0. 0. 1. ]] SLAMing on 134.119928851 meters Centerline goodness : 0.775829 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.07 [[ 0.9787203 -0.16661901 -0.11976931 0.23607413] [ 0.17058369 0.98506108 0.0235771 -0.12054618] [ 0.11405169 -0.04350608 0.99252175 0.06537275] [ 0. 0. 0. 1. ]] SLAMing on 134.179928851 meters Centerline goodness : 0.776204 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.07 [[ 0.97750943 -0.17283789 -0.12084027 0.23886995] [ 0.17655338 0.98407409 0.02066611 -0.12019108] [ 0.11534389 -0.04153607 0.99245682 0.06687475] [ 0. 0. 0. 1. ]] SLAMing on 134.239928851 meters Centerline goodness : 0.774239 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.07 [[ 0.97635819 -0.17781571 -0.12290751 0.24203531] [ 0.18158854 0.9831688 0.02011758 -0.11798993] [ 0.1172616 -0.04196055 0.9922142 0.06913261] [ 0. 0. 0. 1. ]] SLAMing on 134.299928851 meters Centerline goodness : 0.777682 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.07 [[ 0.97588427 -0.17967576 -0.12396176 0.24334896] [ 0.18345406 0.98283137 0.01967506 -0.11562774] [ 0.11829838 -0.04194187 0.99209192 0.07019033] [ 0. 0. 0. 1. ]] SLAMing on 134.359928851 meters Centerline goodness : 0.772184 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97593438 -0.17836675 -0.12544872 0.24390725] [ 0.18241512 0.98298724 0.02146652 -0.11062563] [ 0.11948558 -0.04383366 0.99186784 0.07110733] [ 0. 0. 0. 1. ]] SLAMing on 134.419928851 meters Centerline goodness : 0.786131 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.07 [[ 0.97638031 -0.17539663 -0.12616466 0.24358068] [ 0.17973191 0.98342885 0.02375143 -0.10705168] [ 0.11990804 -0.04586624 0.99172494 0.07100041] [ 0. 0. 0. 1. ]] SLAMing on 134.479928851 meters Centerline goodness : 0.776979 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.07 [[ 0.9767695 -0.17233207 -0.12736953 0.24427574] [ 0.17697862 0.98387054 0.02602568 -0.10272345] [ 0.12083007 -0.04796278 0.99151383 0.07078272] [ 0. 0. 0. 1. ]] SLAMing on 134.53992885099998 meters Centerline goodness : 0.777783 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.07 [[ 0.97683487 -0.17093568 -0.12874253 0.24543837] [ 0.17576431 0.98406076 0.0270432 -0.09584269] [ 0.12206782 -0.04904509 0.99130925 0.07029432] [ 0. 0. 0. 1. ]] SLAMing on 134.599928851 meters Centerline goodness : 0.768710 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.07 [[ 0.97624438 -0.17340531 -0.12991349 0.24627749] [ 0.17805315 0.98370402 0.02496962 -0.08970711] [ 0.12346656 -0.04750796 0.99121088 0.07146476] [ 0. 0. 0. 1. ]] SLAMing on 134.659928851 meters Centerline goodness : 0.769693 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.07 [[ 0.97532324 -0.17904454 -0.12918059 0.24505175] [ 0.18291666 0.98295128 0.01866231 -0.08167876] [ 0.12363685 -0.04183106 0.99144546 0.07236535] [ 0. 0. 0. 1. ]] SLAMing on 134.719928851 meters Centerline goodness : 0.767435 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.07 [[ 0.97493539 -0.18194708 -0.12804783 0.24157326] [ 0.18539073 0.98254408 0.01540799 -0.0736106 ] [ 0.1230092 -0.03876068 0.9916483 0.07284971] [ 0. 0. 0. 1. ]] SLAMing on 134.779928851 meters Centerline goodness : 0.766807 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.07 [[ 0.97467387 -0.18392376 -0.12721204 0.2388953 ] [ 0.18702588 0.98227182 0.01278268 -0.06694157] [ 0.12260577 -0.03625089 0.99179317 0.07345379] [ 0. 0. 0. 1. ]] SLAMing on 134.839928851 meters Centerline goodness : 0.766048 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.07 [[ 0.97440983 -0.18574618 -0.12658527 0.23661443] [ 0.18849108 0.98202444 0.00995592 -0.05888973] [ 0.12246056 -0.03356134 0.99190577 0.07413834] [ 0. 0. 0. 1. ]] SLAMing on 134.899928851 meters Centerline goodness : 0.765197 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.07 [[ 0.97421419 -0.18734043 -0.1257389 0.23415483] [ 0.18972422 0.98181139 0.00715022 -0.04815418] [ 0.12211235 -0.03082156 0.9920376 0.07398513] [ 0. 0. 0. 1. ]] SLAMing on 134.959928851 meters Centerline goodness : 0.766511 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:0.07 [[ 0.97406335 -0.18844834 -0.125251 0.23251185] [ 0.19056483 0.98166174 0.00502743 -0.04121361] [ 0.12200671 -0.02876547 0.99211235 0.07434061] [ 0. 0. 0. 1. ]] SLAMing on 135.019928851 meters Centerline goodness : 0.767366 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.07 [[ 0.97453398 -0.18643935 -0.12459494 0.22866508] [ 0.18869016 0.98201575 0.0064095 -0.03444509] [ 0.12115921 -0.02975612 0.99218699 0.07444645] [ 0. 0. 0. 1. ]] SLAMing on 135.079928851 meters Centerline goodness : 0.766263 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.07 [[ 0.97496124 -0.18431139 -0.12441824 0.22840831] [ 0.18673048 0.98237887 0.007968 -0.02864425] [ 0.12075725 -0.03100117 0.99219787 0.07249274] [ 0. 0. 0. 1. ]] SLAMing on 135.139928851 meters Centerline goodness : 0.766959 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:0.07 [[ 0.97485671 -0.1852278 -0.12387517 0.22670352] [ 0.18741067 0.98226268 0.00610448 -0.02148912] [ 0.12054724 -0.02916652 0.99227903 0.07267056] [ 0. 0. 0. 1. ]] SLAMing on 135.199928851 meters Centerline goodness : 0.769024 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.07 [[ 0.97470612 -0.18643341 -0.12325003 0.22450473] [ 0.18845001 0.98207102 0.00480755 -0.01827782] [ 0.120144 -0.02791242 0.992364 0.07327746] [ 0. 0. 0. 1. ]] SLAMing on 135.259928851 meters Centerline goodness : 0.770635 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.07 [[ 0.97444925 -0.18850055 -0.12213188 0.22110229] [ 0.19032207 0.9817161 0.00331755 -0.01506309] [ 0.11927348 -0.02647718 0.99250834 0.07354836] [ 0. 0. 0. 1. ]] SLAMing on 135.319928851 meters Centerline goodness : 0.773443 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.07 [[ 0.97422843 -0.19029369 -0.12110853 0.21773957] [ 0.19195755 0.98140095 0.00211463 -0.01317658] [ 0.11845363 -0.02530783 0.99263702 0.0742488 ] [ 0. 0. 0. 1. ]] SLAMing on 135.379928851 meters Centerline goodness : 0.775954 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.07 [[ 9.73944978e-01 -1.92462028e-01 -1.19956443e-01 2.14092123e-01] [ 1.93948007e-01 9.81011540e-01 7.27076242e-04 -1.12222204e-02] [ 1.17538720e-01 -2.39734453e-02 9.92778889e-01 7.48480570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439928851 meters Centerline goodness : 0.775143 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.07 [[ 9.73802844e-01 -1.93530914e-01 -1.19389308e-01 2.12446617e-01] [ 1.94941559e-01 9.80814850e-01 1.39460137e-04 -1.02345042e-02] [ 1.17071816e-01 -2.34097444e-02 9.92847508e-01 7.48466118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499928851 meters Centerline goodness : 0.777007 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.07 [[ 9.73684878e-01 -1.94433314e-01 -1.18884168e-01 2.10982779e-01] [ 1.95766090e-01 9.80650504e-01 -4.76483349e-04 -9.01255262e-03] [ 1.16676463e-01 -2.28095440e-02 9.92908016e-01 7.49657077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559928851 meters Centerline goodness : 0.775712 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97359298 -0.19506294 -0.11860504 0.20977291] [ 0.19629896 0.98054325 -0.0012846 -0.00728258] [ 0.11654795 -0.02203137 0.99294068 0.07560461] [ 0. 0. 0. 1. ]] SLAMing on 135.619928851 meters Centerline goodness : 0.777992 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97354169 -0.19547401 -0.11834899 0.20869939] [ 0.1966477 0.98047257 -0.00179275 -0.00658459] [ 0.11638837 -0.02152774 0.99297044 0.07626265] [ 0. 0. 0. 1. ]] SLAMing on 135.679928851 meters Centerline goodness : 0.778012 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97429201 -0.19156791 -0.1185614 0.20716301] [ 0.19317075 0.98116297 0.00206964 -0.00710127] [ 0.11593158 -0.02491903 0.99294457 0.07635544] [ 0. 0. 0. 1. ]] SLAMing on 135.739928851 meters Centerline goodness : 0.775370 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97510193 -0.18706274 -0.11909555 0.20690485] [ 0.18915869 0.98192539 0.00644316 -0.00831519] [ 0.11573766 -0.0288107 0.99286189 0.07593493] [ 0. 0. 0. 1. ]] SLAMing on 135.799928851 meters Centerline goodness : 0.776395 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97522646 -0.18612412 -0.11954567 0.20853515] [ 0.18825956 0.98209629 0.00672462 -0.00811127] [ 0.11615375 -0.02906364 0.99280593 0.07564388] [ 0. 0. 0. 1. ]] SLAMing on 135.859928851 meters Centerline goodness : 0.775983 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97603833 -0.18144239 -0.1201159 0.20858777] [ 0.18408832 0.98284569 0.01121742 -0.00940819] [ 0.11602008 -0.03306057 0.9926965 0.07507445] [ 0. 0. 0. 1. ]] SLAMing on 135.919928851 meters Centerline goodness : 0.776299 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.08 [[ 0.97611504 -0.18083729 -0.12040475 0.20954523] [ 0.18349646 0.98295561 0.01128383 -0.00912354] [ 0.11631199 -0.03310816 0.99266075 0.07511034] [ 0. 0. 0. 1. ]] SLAMing on 135.979928851 meters Centerline goodness : 0.775939 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.07 [[ 0.97617458 -0.18051199 -0.12041019 0.2099824 ] [ 0.18324824 0.98299392 0.01195976 -0.01155046] [ 0.11620361 -0.03373977 0.99265218 0.07481138] [ 0. 0. 0. 1. ]] SLAMing on 136.03992885099998 meters Centerline goodness : 0.778413 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.07 [[ 0.97617873 -0.18056237 -0.12030093 0.20977463] [ 0.18330352 0.98298275 0.01203069 -0.01215048] [ 0.11608144 -0.03379569 0.99266457 0.07487658] [ 0. 0. 0. 1. ]] SLAMing on 136.099928851 meters Centerline goodness : 0.779236 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.08 [[ 0.97609693 -0.1811277 -0.12011469 0.2087787 ] [ 0.18389182 0.98287017 0.01224855 -0.01504979] [ 0.11583859 -0.03404388 0.99268446 0.07553037] [ 0. 0. 0. 1. ]] SLAMing on 136.159928851 meters Centerline goodness : 0.782862 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.08 [[ 0.9754309 -0.18491148 -0.11975934 0.2097676 ] [ 0.18733668 0.98225249 0.00922034 -0.0185294 ] [ 0.11592897 -0.03142912 0.99276013 0.07579769] [ 0. 0. 0. 1. ]] SLAMing on 136.219928851 meters Centerline goodness : 0.782759 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.08 [[ 0.975419 -0.18509426 -0.11957378 0.209266 ] [ 0.18757299 0.98220258 0.00971949 -0.02116868] [ 0.11564665 -0.03190939 0.99277774 0.07590569] [ 0. 0. 0. 1. ]] SLAMing on 136.279928851 meters Centerline goodness : 0.781819 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.08 [[ 0.97544271 -0.18504736 -0.11945293 0.2091506 ] [ 0.18756261 0.98220103 0.01006985 -0.02246198] [ 0.11546339 -0.03222746 0.9927888 0.07577862] [ 0. 0. 0. 1. ]] SLAMing on 136.339928851 meters Centerline goodness : 0.780763 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.08 [[ 0.97549289 -0.18472648 -0.11953974 0.20976304] [ 0.18731683 0.98224116 0.01071018 -0.02446262] [ 0.1154384 -0.03283951 0.99277165 0.07542836] [ 0. 0. 0. 1. ]] SLAMing on 136.399928851 meters Centerline goodness : 0.782195 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.07 [[ 0.97557656 -0.18402675 -0.11993554 0.21115826] [ 0.18671196 0.98234795 0.01145204 -0.02597892] [ 0.11571095 -0.03356574 0.99271563 0.07493349] [ 0. 0. 0. 1. ]] SLAMing on 136.459928851 meters Centerline goodness : 0.781883 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.07 [[ 0.97567899 -0.18323326 -0.1203166 0.21260406] [ 0.18599738 0.98247618 0.01206334 -0.02700279] [ 0.11599779 -0.03414852 0.99266227 0.07442508] [ 0. 0. 0. 1. ]] SLAMing on 136.519928851 meters Centerline goodness : 0.781961 with order 3 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97593689 -0.18145883 -0.12091269 0.21535711] [ 0.18435137 0.98277327 0.01308726 -0.0282076 ] [ 0.11645496 -0.03506276 0.99257687 0.07346726] [ 0. 0. 0. 1. ]] SLAMing on 136.579928851 meters Centerline goodness : 0.777853 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97668665 -0.17699058 -0.12148054 0.21535662] [ 0.18038356 0.98344177 0.01743725 -0.02937101] [ 0.11638281 -0.03894382 0.99244064 0.07298171] [ 0. 0. 0. 1. ]] SLAMing on 136.639928851 meters Centerline goodness : 0.778306 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97750305 -0.17180184 -0.12235978 0.21697449] [ 0.17572509 0.98419462 0.02194646 -0.02952714] [ 0.11665539 -0.04295442 0.99224313 0.07157961] [ 0. 0. 0. 1. ]] SLAMing on 136.699928851 meters Centerline goodness : 0.776946 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97763916 -0.17074381 -0.12275272 0.21864584] [ 0.17468337 0.98437882 0.0220012 -0.0279685 ] [ 0.11707861 -0.04295209 0.99219339 0.07105413] [ 0. 0. 0. 1. ]] SLAMing on 136.759928851 meters Centerline goodness : 0.777545 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97762549 -0.17083577 -0.1227336 0.21844808] [ 0.17474853 0.98437227 0.0217758 -0.02747423] [ 0.11709547 -0.0427361 0.99220072 0.07126107] [ 0. 0. 0. 1. ]] SLAMing on 136.819928851 meters Centerline goodness : 0.775116 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97692022 -0.17518512 -0.12221729 0.21864028] [ 0.17861637 0.98376098 0.01762153 -0.02689166] [ 0.11714557 -0.03904484 0.99234692 0.07169318] [ 0. 0. 0. 1. ]] SLAMing on 136.879928851 meters Centerline goodness : 0.777962 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97613442 -0.18014005 -0.12128953 0.2177388 ] [ 0.18308865 0.98300332 0.01352857 -0.02760287] [ 0.11679097 -0.03541244 0.99252498 0.0722111 ] [ 0. 0. 0. 1. ]] SLAMing on 136.939928851 meters Centerline goodness : 0.775221 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.97451783 -0.18951187 -0.12000105 0.21744118] [ 0.19155211 0.9814665 0.00559491 -0.02894497] [ 0.11671671 -0.02843879 0.992758 0.07312792] [ 0. 0. 0. 1. ]] SLAMing on 136.999928851 meters Centerline goodness : 0.778048 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.07 [[ 0.9736348 -0.19456026 -0.11908644 0.21664892] [ 0.19615125 0.98057222 0.00167357 -0.03048457] [ 0.11644724 -0.0249884 0.99288248 0.07365139] [ 0. 0. 0. 1. ]] SLAMing on 137.059928851 meters Centerline goodness : 0.777953 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.08 [[ 0.97242982 -0.20118737 -0.11791475 0.21419816] [ 0.20224169 0.9793308 -0.00307964 -0.03423849] [ 0.11609713 -0.02085254 0.99301895 0.07570464] [ 0. 0. 0. 1. ]] SLAMing on 137.119928851 meters Centerline goodness : 0.782379 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.08 [[ 0.97156873 -0.20571604 -0.11719693 0.21401814] [ 0.20636543 0.97845206 -0.00669886 -0.03658702] [ 0.11604964 -0.01767699 0.9930861 0.07638079] [ 0. 0. 0. 1. ]] SLAMing on 137.179928851 meters Centerline goodness : 0.777507 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.08 [[ 0.97152865 -0.20605812 -0.11692789 0.21336286] [ 0.20674635 0.978374 -0.00634503 -0.03897967] [ 0.11570665 -0.01801004 0.99312014 0.07650226] [ 0. 0. 0. 1. ]] SLAMing on 137.239928851 meters Centerline goodness : 0.779038 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.08 [[ 0.97151969 -0.20615516 -0.11683121 0.21276985] [ 0.20686752 0.97834977 -0.0061284 -0.04079861] [ 0.11556519 -0.01821472 0.99313288 0.07712831] [ 0. 0. 0. 1. ]] SLAMing on 137.299928851 meters Centerline goodness : 0.777802 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.08 [[ 0.97168385 -0.20504057 -0.11742596 0.21408716] [ 0.20582506 0.97857313 -0.00553808 -0.04237478] [ 0.11604542 -0.01878794 0.9930662 0.07759402] [ 0. 0. 0. 1. ]] SLAMing on 137.359928851 meters Centerline goodness : 0.780377 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.08 [[ 9.72573738e-01 -2.00337804e-01 -1.18173973e-01 2.14403877e-01] [ 2.01636901e-01 9.79459849e-01 -9.82290863e-04 -4.47070276e-02] [ 1.15943451e-01 -2.28728833e-02 9.92992421e-01 7.72149811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419928851 meters Centerline goodness : 0.778855 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.07 [[ 0.97522683 -0.19065531 -0.11217478 0.20800708] [ 0.19204069 0.9813857 0.00157646 -0.04822844] [ 0.10978616 -0.02307953 0.99368724 0.07111133] [ 0. 0. 0. 1. ]] SLAMing on 137.479928851 meters Centerline goodness : 0.773789 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.07 [[ 0.97608348 -0.18572336 -0.11299503 0.20879 ] [ 0.18761535 0.98222267 0.00625298 -0.05054732] [ 0.10982495 -0.02730303 0.99357588 0.07058801] [ 0. 0. 0. 1. ]] SLAMing on 137.53992885099998 meters Centerline goodness : 0.771677 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.07 [[ 0.97624129 -0.18454111 -0.11356726 0.2106065 ] [ 0.18652915 0.98242418 0.00704261 -0.05173792] [ 0.11027158 -0.02805889 0.99350535 0.070256 ] [ 0. 0. 0. 1. ]] SLAMing on 137.599928851 meters Centerline goodness : 0.771995 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.07 [[ 0.97626758 -0.18434966 -0.11365216 0.21078084] [ 0.18638215 0.98244921 0.00743207 -0.05331557] [ 0.11028738 -0.02843843 0.9934928 0.07040836] [ 0. 0. 0. 1. ]] SLAMing on 137.659928851 meters Centerline goodness : 0.774408 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.07 [[ 0.97622604 -0.18466264 -0.11350081 0.21021635] [ 0.18673779 0.98237852 0.00783849 -0.05632615] [ 0.11005328 -0.02884703 0.99350698 0.0707951 ] [ 0. 0. 0. 1. ]] SLAMing on 137.719928851 meters Centerline goodness : 0.774587 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.07 [[ 0.97615616 -0.18512161 -0.11335404 0.20960419] [ 0.18721714 0.98228569 0.0080355 -0.05857579] [ 0.1098585 -0.02906572 0.99352217 0.07119266] [ 0. 0. 0. 1. ]] SLAMing on 137.779928851 meters Centerline goodness : 0.785675 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.07 [[ 0.97539095 -0.18937981 -0.11290606 0.20992137] [ 0.19108839 0.98156294 0.00440795 -0.06048055] [ 0.10998962 -0.02587451 0.99359589 0.07189714] [ 0. 0. 0. 1. ]] SLAMing on 137.839928851 meters Centerline goodness : 0.775397 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.07 [[ 9.74617253e-01 -1.93548888e-01 -1.12516833e-01 2.10759040e-01] [ 1.94879293e-01 9.80826871e-01 8.42280756e-04 -6.21812714e-02] [ 1.10196510e-01 -2.27481022e-02 9.93649462e-01 7.21403387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899928851 meters Centerline goodness : 0.774232 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.07 [[ 9.74589518e-01 -1.93717675e-01 -1.12466588e-01 2.10638376e-01] [ 1.95055254e-01 9.80791835e-01 9.07750566e-04 -6.28820747e-02] [ 1.10130464e-01 -2.28218831e-02 9.93655092e-01 7.21816586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959928851 meters Centerline goodness : 0.789027 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:0.07 [[ 9.74457641e-01 -1.94583622e-01 -1.12113870e-01 2.08895507e-01] [ 1.95901656e-01 9.80623257e-01 7.54946772e-04 -6.52772257e-02] [ 1.09794568e-01 -2.26989564e-02 9.93695079e-01 7.34362521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019928851 meters Centerline goodness : 0.789187 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:0.07 [[ 9.74457377e-01 -1.94697782e-01 -1.11917802e-01 2.08167728e-01] [ 1.96018282e-01 9.80599905e-01 8.11620816e-04 -6.63449629e-02] [ 1.09588565e-01 -2.27288251e-02 9.93717136e-01 7.39316983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079928851 meters Centerline goodness : 0.781776 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:0.07 [[ 0.97444203 -0.19484432 -0.1117963 0.20726209] [ 0.19619146 0.98056502 0.00107047 -0.06826676] [ 0.10941497 -0.02297659 0.99373057 0.07477715] [ 0. 0. 0. 1. ]] SLAMing on 138.139928851 meters Centerline goodness : 0.780820 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:0.08 [[ 0.97363008 -0.19926779 -0.11107126 0.20703293] [ 0.20024986 0.97974203 -0.00235654 -0.07110349] [ 0.10929076 -0.01994761 0.99380965 0.07543561] [ 0. 0. 0. 1. ]] SLAMing on 138.199928851 meters Centerline goodness : 0.785109 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:0.08 [[ 0.97203968 -0.20746974 -0.10997806 0.20783056] [ 0.20780691 0.97813281 -0.00851438 -0.07867349] [ 0.10933962 -0.01457788 0.99389755 0.07637638] [ 0. 0. 0. 1. ]] SLAMing on 138.259928851 meters Centerline goodness : 0.784462 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:0.08 [[ 0.97118185 -0.2118695 -0.10916558 0.20760604] [ 0.21190559 0.97722359 -0.01140479 -0.08325508] [ 0.10909551 -0.01205667 0.99395815 0.07692771] [ 0. 0. 0. 1. ]] SLAMing on 138.319928851 meters Centerline goodness : 0.785174 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.09, Z:0.08 [[ 0.96960707 -0.2195498 -0.10798156 0.20824275] [ 0.21907909 0.97557009 -0.01635075 -0.09249987] [ 0.10893339 -0.0078027 0.99401843 0.07750051] [ 0. 0. 0. 1. ]] SLAMing on 138.379928851 meters Centerline goodness : 0.783820 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:0.08 [[ 0.96878441 -0.22337522 -0.10751874 0.20975912] [ 0.22267287 0.97471483 -0.01864913 -0.09975039] [ 0.10896586 -0.00587452 0.99402813 0.07753365] [ 0. 0. 0. 1. ]] SLAMing on 138.439928851 meters Centerline goodness : 0.784490 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:0.08 [[ 0.96858197 -0.22314017 -0.10980632 0.21359298] [ 0.22310905 0.97471039 -0.01272823 -0.11079987] [ 0.10986954 -0.01217045 0.9938715 0.07815401] [ 0. 0. 0. 1. ]] SLAMing on 138.499928851 meters Centerline goodness : 0.784533 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:0.08 [[ 0.96878546 -0.22232877 -0.10965695 0.21392998] [ 0.22240495 0.97488426 -0.01169219 -0.11402704] [ 0.10950234 -0.01306103 0.99390072 0.07780796] [ 0. 0. 0. 1. ]] SLAMing on 138.559928851 meters Centerline goodness : 0.785697 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.96927875 -0.21551402 -0.11854284 0.20995892] [ 0.21649428 0.97627257 -0.00469977 -0.12877518] [ 0.11674299 -0.02110846 0.99293782 0.08073928] [ 0. 0. 0. 1. ]] SLAMing on 138.619928851 meters Centerline goodness : 0.785250 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.9694184 -0.21464775 -0.1189719 0.2110916 ] [ 0.21589281 0.97641393 -0.00247612 -0.13415241] [ 0.11669731 -0.02328478 0.99289453 0.08109396] [ 0. 0. 0. 1. ]] SLAMing on 138.679928851 meters Centerline goodness : 0.781550 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 9.71027283e-01 -2.08289416e-01 -1.17138953e-01 2.07247780e-01] [ 2.09795753e-01 9.77745084e-01 5.41643256e-04 -1.37640638e-01] [ 1.14419217e-01 -2.51012052e-02 9.93115387e-01 8.01685731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739928851 meters Centerline goodness : 0.782186 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.08 [[ 0.97232479 -0.20244257 -0.11662552 0.20496383] [ 0.20429824 0.97890028 0.00405709 -0.13754047] [ 0.11334343 -0.0277712 0.99316767 0.07930635] [ 0. 0. 0. 1. ]] SLAMing on 138.799928851 meters Centerline goodness : 0.781817 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.08 [[ 0.97374008 -0.19565727 -0.11639795 0.20320864] [ 0.19798892 0.9801656 0.00870483 -0.13900071] [ 0.11238611 -0.03152175 0.99316451 0.07853937] [ 0. 0. 0. 1. ]] SLAMing on 138.859928851 meters Centerline goodness : 0.781610 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.08 [[ 0.974776 -0.19025103 -0.1166889 0.20367163] [ 0.19307413 0.98109427 0.01328178 -0.14174798] [ 0.11195594 -0.03547637 0.9930797 0.07697399] [ 0. 0. 0. 1. ]] SLAMing on 138.919928851 meters Centerline goodness : 0.780330 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.08 [[ 0.97568606 -0.18519209 -0.11722034 0.20415255] [ 0.18846059 0.98192758 0.0173447 -0.14234879] [ 0.11188979 -0.0390144 0.99295446 0.0756839 ] [ 0. 0. 0. 1. ]] SLAMing on 138.979928851 meters Centerline goodness : 0.776250 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.07 [[ 0.97646498 -0.18070266 -0.11773989 0.20473765] [ 0.18430811 0.98265682 0.02039847 -0.14128214] [ 0.11201185 -0.04161881 0.99283494 0.07421818] [ 0. 0. 0. 1. ]] SLAMing on 139.03992885099998 meters Centerline goodness : 0.788780 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.07 [[ 0.97662316 -0.17987527 -0.11769487 0.2053121 ] [ 0.18338609 0.98284508 0.0196235 -0.1391246 ] [ 0.11214604 -0.04074837 0.9928559 0.07289831] [ 0. 0. 0. 1. ]] SLAMing on 139.099928851 meters Centerline goodness : 0.787435 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.07 [[ 0.97704897 -0.17674929 -0.11889069 0.2057418 ] [ 0.18077122 0.98323584 0.02385464 -0.1397495 ] [ 0.1126813 -0.04479917 0.99262075 0.07384256] [ 0. 0. 0. 1. ]] SLAMing on 139.159928851 meters Centerline goodness : 0.776290 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.07 [[ 0.97682262 -0.17745169 -0.11970158 0.20704841] [ 0.18154202 0.98308806 0.02409081 -0.139316 ] [ 0.11340224 -0.04526331 0.99251759 0.0743747 ] [ 0. 0. 0. 1. ]] SLAMing on 139.219928851 meters Centerline goodness : 0.776182 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.07 [[ 0.97627477 -0.17953368 -0.1210588 0.20988936] [ 0.18377805 0.98265574 0.02476541 -0.14061407] [ 0.1145129 -0.04642579 0.99233635 0.07495318] [ 0. 0. 0. 1. ]] SLAMing on 139.279928851 meters Centerline goodness : 0.774247 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97596166 -0.1806799 -0.12187541 0.21139446] [ 0.18502802 0.98240851 0.02526176 -0.14148737] [ 0.11516715 -0.04720487 0.99222388 0.07556124] [ 0. 0. 0. 1. ]] SLAMing on 139.339928851 meters Centerline goodness : 0.775333 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97537472 -0.18303833 -0.12304926 0.21262558] [ 0.18754381 0.98191237 0.02598864 -0.14264883] [ 0.11606668 -0.04842578 0.99206022 0.07767766] [ 0. 0. 0. 1. ]] SLAMing on 139.399928851 meters Centerline goodness : 0.775270 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97507938 -0.18409411 -0.12381258 0.21372047] [ 0.18868671 0.98168379 0.02634889 -0.1430296 ] [ 0.11669412 -0.04905405 0.99195574 0.07856231] [ 0. 0. 0. 1. ]] SLAMing on 139.459928851 meters Centerline goodness : 0.776141 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97494024 -0.18455034 -0.12422844 0.21406206] [ 0.18915551 0.98159612 0.02625338 -0.14197277] [ 0.11709708 -0.04909397 0.99190627 0.07905028] [ 0. 0. 0. 1. ]] SLAMing on 139.519928851 meters Centerline goodness : 0.776027 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97535847 -0.18140914 -0.12556508 0.21496077] [ 0.18649749 0.98199941 0.02993056 -0.14117875] [ 0.11787515 -0.0526106 0.99163379 0.07936662] [ 0. 0. 0. 1. ]] SLAMing on 139.579928851 meters Centerline goodness : 0.777627 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97543558 -0.18122072 -0.12523773 0.21415015] [ 0.18610141 0.98212176 0.02833915 -0.13754831] [ 0.11786306 -0.05094993 0.99172194 0.07889471] [ 0. 0. 0. 1. ]] SLAMing on 139.639928851 meters Centerline goodness : 0.774485 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.08 [[ 0.97600304 -0.17770876 -0.12584779 0.21437105] [ 0.18294369 0.98262674 0.03124581 -0.13657918] [ 0.11810875 -0.05351906 0.99155738 0.0783144 ] [ 0. 0. 0. 1. ]] SLAMing on 139.699928851 meters Centerline goodness : 0.794785 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97656003 -0.17387623 -0.12687615 0.21489758] [ 0.1795233 0.98315094 0.03443275 -0.13411259] [ 0.11875137 -0.05640287 0.99132075 0.07798765] [ 0. 0. 0. 1. ]] SLAMing on 139.75992885099998 meters Centerline goodness : 0.795784 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97649469 -0.1742748 -0.12683222 0.21403347] [ 0.17983064 0.9831212 0.03366975 -0.13215598] [ 0.11882365 -0.05568665 0.99135258 0.07867761] [ 0. 0. 0. 1. ]] SLAMing on 139.819928851 meters Centerline goodness : 0.774046 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.976403 -0.17448204 -0.12725248 0.21464793] [ 0.18007253 0.98307423 0.03374834 -0.13160429] [ 0.11921015 -0.05586665 0.99129605 0.07888735] [ 0. 0. 0. 1. ]] SLAMing on 139.879928851 meters Centerline goodness : 0.775326 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.08 [[ 0.97614489 -0.17539881 -0.12797038 0.21642035] [ 0.18108503 0.98287434 0.03415039 -0.1326523 ] [ 0.11978886 -0.05650925 0.99118986 0.07890678] [ 0. 0. 0. 1. ]] SLAMing on 139.939928851 meters Centerline goodness : 0.775678 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.08 [[ 0.97584312 -0.17637199 -0.12893072 0.21778827] [ 0.1822155 0.98263787 0.0349331 -0.13362861] [ 0.12053099 -0.0575824 0.99103812 0.07994767] [ 0. 0. 0. 1. ]] SLAMing on 139.999928851 meters Centerline goodness : 0.777245 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.08 [[ 0.97568221 -0.17693681 -0.12937388 0.21821603] [ 0.18287944 0.98249418 0.0355005 -0.13480179] [ 0.12082774 -0.05829703 0.9909602 0.08083724] [ 0. 0. 0. 1. ]] SLAMing on 140.059928851 meters Centerline goodness : 0.776657 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.08 [[ 0.97571324 -0.17690948 -0.12917701 0.21800247] [ 0.18290675 0.98246921 0.03604681 -0.13725651] [ 0.12053541 -0.05879869 0.99096616 0.08114524] [ 0. 0. 0. 1. ]] SLAMing on 140.119928851 meters Centerline goodness : 0.777302 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.08 [[ 0.97621525 -0.17309815 -0.13054049 0.21943689] [ 0.17971577 0.9828782 0.04065314 -0.13858417] [ 0.12126842 -0.0631464 0.99060916 0.08116152] [ 0. 0. 0. 1. ]] SLAMing on 140.179928851 meters Centerline goodness : 0.778312 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.08 [[ 0.97696168 -0.16868282 -0.13073627 0.21815463] [ 0.17565527 0.98348174 0.04369097 -0.13744708] [ 0.12120682 -0.06564892 0.990454 0.081249 ] [ 0. 0. 0. 1. ]] SLAMing on 140.239928851 meters Centerline goodness : 0.776467 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.08 [[ 0.9779649 -0.16325141 -0.13012928 0.21623313] [ 0.17041064 0.98430589 0.045849 -0.13504757] [ 0.12060211 -0.06701413 0.99043639 0.07985597] [ 0. 0. 0. 1. ]] SLAMing on 140.299928851 meters Centerline goodness : 0.778190 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.08 [[ 0.97876278 -0.15856672 -0.1299231 0.21501819] [ 0.16601163 0.98492735 0.04856189 -0.13372989] [ 0.12026451 -0.06909932 0.99033415 0.07880244] [ 0. 0. 0. 1. ]] SLAMing on 140.359928851 meters Centerline goodness : 0.778573 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97974204 -0.15320803 -0.12896836 0.21228978] [ 0.16072615 0.98573188 0.0499977 -0.12945336] [ 0.11946817 -0.06971344 0.9903875 0.0771775 ] [ 0. 0. 0. 1. ]] SLAMing on 140.419928851 meters Centerline goodness : 0.776178 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.9800426 -0.15210267 -0.12798941 0.20975817] [ 0.15939709 0.98600946 0.04876391 -0.12671973] [ 0.11878165 -0.06819185 0.99057599 0.07713755] [ 0. 0. 0. 1. ]] SLAMing on 140.479928851 meters Centerline goodness : 0.780172 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.98015677 -0.15186113 -0.12740054 0.2082947 ] [ 0.15905716 0.98608751 0.0482933 -0.12617872] [ 0.11829421 -0.06759898 0.99067495 0.07730091] [ 0. 0. 0. 1. ]] SLAMing on 140.53992885099998 meters Centerline goodness : 0.792932 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97962127 -0.15594718 -0.12658059 0.20707395] [ 0.16263223 0.98569379 0.04425506 -0.12521699] [ 0.11786825 -0.06393928 0.99096864 0.07813071] [ 0. 0. 0. 1. ]] SLAMing on 140.599928851 meters Centerline goodness : 0.781036 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97871975 -0.16138354 -0.12673993 0.20752038] [ 0.16776229 0.98496155 0.04131046 -0.12670223] [ 0.11816713 -0.06169354 0.99107539 0.08017735] [ 0. 0. 0. 1. ]] SLAMing on 140.659928851 meters Centerline goodness : 0.780302 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.9780146 -0.16571652 -0.1265918 0.20820187] [ 0.17178107 0.98438185 0.03851797 -0.12865349] [ 0.11823161 -0.05941721 0.99120678 0.08110623] [ 0. 0. 0. 1. ]] SLAMing on 140.719928851 meters Centerline goodness : 0.779232 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97731477 -0.17002319 -0.1262852 0.20875866] [ 0.17583792 0.98374822 0.03633828 -0.13210923] [ 0.11805449 -0.05771966 0.99132819 0.08210098] [ 0. 0. 0. 1. ]] SLAMing on 140.779928851 meters Centerline goodness : 0.780219 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.9768423 -0.17315128 -0.12568909 0.20923558] [ 0.17857235 0.98336848 0.03314145 -0.13311836] [ 0.1178602 -0.05481856 0.99151596 0.08189055] [ 0. 0. 0. 1. ]] SLAMing on 140.839928851 meters Centerline goodness : 0.780408 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97698201 -0.17236029 -0.12569039 0.21021546] [ 0.17777466 0.98351342 0.03312896 -0.1332373 ] [ 0.11790807 -0.05471096 0.99151621 0.0805918 ] [ 0. 0. 0. 1. ]] SLAMing on 140.899928851 meters Centerline goodness : 0.776589 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97780862 -0.1674025 -0.12596309 0.20998162] [ 0.1732265 0.98419727 0.03671939 -0.13311224] [ 0.11782561 -0.05772468 0.99135513 0.07958421] [ 0. 0. 0. 1. ]] SLAMing on 140.959928851 meters Centerline goodness : 0.775543 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.9796904 -0.15659943 -0.12523317 0.20608581] [ 0.1631126 0.98564792 0.04350236 -0.13222959] [ 0.11662337 -0.06304595 0.99117314 0.07859753] [ 0. 0. 0. 1. ]] SLAMing on 141.019928851 meters Centerline goodness : 0.778656 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.98083878 -0.15019127 -0.12408818 0.20236158] [ 0.15687434 0.98655083 0.04591182 -0.13043767] [ 0.11552374 -0.06449835 0.99120847 0.07794621] [ 0. 0. 0. 1. ]] SLAMing on 141.079928851 meters Centerline goodness : 0.778406 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.9820736 -0.14311978 -0.12267103 0.19921306] [ 0.14985202 0.98756739 0.04748712 -0.12730856] [ 0.11434956 -0.06501835 0.99131064 0.07557682] [ 0. 0. 0. 1. ]] SLAMing on 141.139928851 meters Centerline goodness : 0.778444 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.07 [[ 0.98246354 -0.14150649 -0.12141376 0.19662189] [ 0.14803999 0.98788529 0.04654915 -0.12633433] [ 0.11335586 -0.06370693 0.9915099 0.07492673] [ 0. 0. 0. 1. ]] SLAMing on 141.199928851 meters Centerline goodness : 0.777630 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.07 [[ 0.98227908 -0.14385145 -0.12014392 0.19494009] [ 0.14988134 0.98778099 0.04271188 -0.12616243] [ 0.11253171 -0.05996231 0.99183725 0.07481622] [ 0. 0. 0. 1. ]] SLAMing on 141.25992885099998 meters Centerline goodness : 0.777516 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.08 [[ 0.98163132 -0.1483611 -0.1199539 0.19477406] [ 0.1540431 0.98727347 0.03951979 -0.12646465] [ 0.11256411 -0.05727193 0.99199256 0.07622323] [ 0. 0. 0. 1. ]] SLAMing on 141.319928851 meters Centerline goodness : 0.777296 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.98006459 -0.1583673 -0.11997165 0.19630077] [ 0.16338238 0.98600655 0.03312519 -0.12840511] [ 0.11304688 -0.05206608 0.99222453 0.07849773] [ 0. 0. 0. 1. ]] SLAMing on 141.379928851 meters Centerline goodness : 0.776911 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.9786463 -0.16715489 -0.11962718 0.19803503] [ 0.17146118 0.9848321 0.02658554 -0.12976614] [ 0.11336878 -0.04652925 0.99246287 0.07938727] [ 0. 0. 0. 1. ]] SLAMing on 141.439928851 meters Centerline goodness : 0.778817 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.97697753 -0.17528043 -0.121621 0.20236861] [ 0.17954784 0.9834321 0.02497769 -0.13338808] [ 0.1152279 -0.04623943 0.99226229 0.08194409] [ 0. 0. 0. 1. ]] SLAMing on 141.499928851 meters Centerline goodness : 0.776524 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.97587687 -0.18099939 -0.12208009 0.20432993] [ 0.18496552 0.98250135 0.02188262 -0.13463638] [ 0.11598311 -0.04393535 0.99227899 0.08314245] [ 0. 0. 0. 1. ]] SLAMing on 141.559928851 meters Centerline goodness : 0.778508 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97569919 -0.18145413 -0.12282303 0.20617896] [ 0.18550303 0.98239113 0.02227781 -0.13496293] [ 0.11661786 -0.04452048 0.99217851 0.08288762] [ 0. 0. 0. 1. ]] SLAMing on 141.619928851 meters Centerline goodness : 0.776313 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.9762852 -0.17772287 -0.12361955 0.20593855] [ 0.18216574 0.98293647 0.02552536 -0.13343877] [ 0.11697372 -0.04743928 0.99200134 0.08305629] [ 0. 0. 0. 1. ]] SLAMing on 141.679928851 meters Centerline goodness : 0.777386 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97715595 -0.17275771 -0.12377814 0.2050755 ] [ 0.17753786 0.98369814 0.02860557 -0.13192551] [ 0.1168185 -0.04992741 0.99189752 0.08226769] [ 0. 0. 0. 1. ]] SLAMing on 141.739928851 meters Centerline goodness : 0.775159 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.08 [[ 0.97779961 -0.16865978 -0.12434549 0.20508121] [ 0.17386277 0.9842442 0.03217278 -0.13157503] [ 0.11696007 -0.05307758 0.99171725 0.08182818] [ 0. 0. 0. 1. ]] SLAMing on 141.799928851 meters Centerline goodness : 0.794001 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.08 [[ 0.97927467 -0.1593861 -0.12496875 0.20411598] [ 0.16522215 0.98553367 0.03774945 -0.12677152] [ 0.11714418 -0.05761468 0.99144228 0.08007487] [ 0. 0. 0. 1. ]] SLAMing on 141.859928851 meters Centerline goodness : 0.792348 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:0.08 [[ 0.98017097 -0.1542783 -0.12435058 0.20153245] [ 0.16021863 0.98630221 0.03921671 -0.12180517] [ 0.11659697 -0.05836236 0.99146305 0.07896157] [ 0. 0. 0. 1. ]] SLAMing on 141.919928851 meters Centerline goodness : 0.791470 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:0.08 [[ 0.98025183 -0.15411601 -0.12391369 0.20045797] [ 0.15983581 0.98642857 0.03756576 -0.11818119] [ 0.11644252 -0.05662975 0.99158167 0.07844679] [ 0. 0. 0. 1. ]] SLAMing on 141.979928851 meters Centerline goodness : 0.793990 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:0.08 [[ 0.98008624 -0.15499091 -0.1241321 0.20044912] [ 0.16051501 0.98638576 0.03575008 -0.11303959] [ 0.1169012 -0.05496322 0.99162148 0.07819621] [ 0. 0. 0. 1. ]] SLAMing on 142.03992885099998 meters Centerline goodness : 0.790962 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:0.08 [[ 0.9799987 -0.15542705 -0.12427788 0.20101362] [ 0.16085661 0.98636208 0.03485674 -0.11056317] [ 0.1171653 -0.05415048 0.99163502 0.07754196] [ 0. 0. 0. 1. ]] SLAMing on 142.099928851 meters Centerline goodness : 0.791292 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:0.08 [[ 0.97989034 -0.15625771 -0.12409052 0.20033435] [ 0.1615214 0.98630069 0.03349306 -0.10699416] [ 0.11715702 -0.0528628 0.99170548 0.07775029] [ 0. 0. 0. 1. ]] SLAMing on 142.159928851 meters Centerline goodness : 0.790039 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.08 [[ 0.97981527 -0.15691447 -0.12385431 0.19912574] [ 0.16197618 0.98628046 0.03185241 -0.10227847] [ 0.11715698 -0.05127093 0.99178906 0.07853256] [ 0. 0. 0. 1. ]] SLAMing on 142.219928851 meters Centerline goodness : 0.789522 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.08 [[ 0.97976061 -0.15722952 -0.12388712 0.19918416] [ 0.16217944 0.98627814 0.03087478 -0.09930227] [ 0.11733274 -0.05034183 0.99181587 0.07858794] [ 0. 0. 0. 1. ]] SLAMing on 142.279928851 meters Centerline goodness : 0.791165 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.08 [[ 0.97980105 -0.15701007 -0.12384565 0.19996385] [ 0.16188098 0.98634693 0.0302372 -0.09630039] [ 0.11740723 -0.0496747 0.9918407 0.07776568] [ 0. 0. 0. 1. ]] SLAMing on 142.339928851 meters Centerline goodness : 0.784988 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.08 [[ 0.97982366 -0.15672591 -0.12402652 0.20083502] [ 0.1615243 0.98642577 0.02956508 -0.09355951] [ 0.11770934 -0.04900187 0.99183836 0.07746778] [ 0. 0. 0. 1. ]] SLAMing on 142.399928851 meters Centerline goodness : 0.787774 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.08 [[ 0.98045979 -0.15247265 -0.1243008 0.19968323] [ 0.15758521 0.9869759 0.03233386 -0.08965333] [ 0.11775186 -0.05129002 0.99171762 0.07797149] [ 0. 0. 0. 1. ]] SLAMing on 142.459928851 meters Centerline goodness : 0.783126 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.08 [[ 0.98106144 -0.14846091 -0.12440988 0.19769319] [ 0.15388129 0.98746567 0.03510132 -0.08695676] [ 0.11763932 -0.0535809 0.99160984 0.07916791] [ 0. 0. 0. 1. ]] SLAMing on 142.519928851 meters Centerline goodness : 0.784222 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.08 [[ 0.98346582 -0.13772464 -0.11758787 0.188382 ] [ 0.14290484 0.98905273 0.03678186 -0.08468469] [ 0.11123483 -0.05297758 0.99238107 0.07531143] [ 0. 0. 0. 1. ]] SLAMing on 142.579928851 meters Centerline goodness : 0.783628 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.08 [[ 0.98357128 -0.13669533 -0.11790643 0.18971155] [ 0.14181124 0.98923485 0.03611066 -0.08115598] [ 0.11170099 -0.05223787 0.99236792 0.07534433] [ 0. 0. 0. 1. ]] SLAMing on 142.639928851 meters Centerline goodness : 0.783314 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.08 [[ 0.98357581 -0.1368298 -0.11771248 0.18951799] [ 0.14185841 0.98925311 0.03541852 -0.07899479] [ 0.11160113 -0.05153531 0.99241589 0.07522904] [ 0. 0. 0. 1. ]] SLAMing on 142.699928851 meters Centerline goodness : 0.783359 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.08 [[ 0.98297689 -0.14139261 -0.11732249 0.19015783] [ 0.14591924 0.98881409 0.0308912 -0.07751734] [ 0.11164235 -0.04748494 0.9926133 0.07515771] [ 0. 0. 0. 1. ]] SLAMing on 142.75992885099998 meters Centerline goodness : 0.784147 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.08 [[ 0.98241591 -0.14552979 -0.11696176 0.19035513] [ 0.14956434 0.9883983 0.02644452 -0.07489741] [ 0.11175634 -0.04347282 0.99278428 0.07561997] [ 0. 0. 0. 1. ]] SLAMing on 142.819928851 meters Centerline goodness : 0.786375 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.08 [[ 0.98183216 -0.14989612 -0.1163476 0.19002359] [ 0.15337712 0.98793349 0.02151476 -0.07175432] [ 0.11171871 -0.03896894 0.9929755 0.07638974] [ 0. 0. 0. 1. ]] SLAMing on 142.879928851 meters Centerline goodness : 0.772152 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.08 [[ 0.98131861 -0.15372493 -0.11568249 0.18982759] [ 0.15668824 0.98750319 0.01691896 -0.06859459] [ 0.11163596 -0.03472898 0.99314214 0.07702283] [ 0. 0. 0. 1. ]] SLAMing on 142.939928851 meters Centerline goodness : 0.783917 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.08 [[ 0.98119398 -0.15486475 -0.11521844 0.18766526] [ 0.15765747 0.98737255 0.01547806 -0.06579128] [ 0.11136652 -0.03335202 0.99321958 0.0783357 ] [ 0. 0. 0. 1. ]] SLAMing on 142.999928851 meters Centerline goodness : 0.783323 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.08 [[ 0.98114543 -0.15536192 -0.11496227 0.1870381 ] [ 0.15802594 0.98733028 0.01437781 -0.06266846] [ 0.11127197 -0.03227374 0.9932658 0.07847656] [ 0. 0. 0. 1. ]] SLAMing on 143.059928851 meters Centerline goodness : 0.782530 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.08 [[ 0.98109801 -0.15570677 -0.1149004 0.1868303 ] [ 0.15829338 0.98729728 0.01368533 -0.06105437] [ 0.11130995 -0.03161462 0.99328274 0.07867414] [ 0. 0. 0. 1. ]] SLAMing on 143.119928851 meters Centerline goodness : 0.774674 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.08 [[ 0.98105661 -0.15623035 -0.11454257 0.18614503] [ 0.15866339 0.98725506 0.01238462 -0.0566801 ] [ 0.11114788 -0.03032372 0.99334114 0.07857636] [ 0. 0. 0. 1. ]] SLAMing on 143.179928851 meters Centerline goodness : 0.777591 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.08 [[ 0.98097077 -0.15688255 -0.11438622 0.1863868 ] [ 0.15918019 0.98718624 0.01117982 -0.05206047] [ 0.11116658 -0.0291751 0.99337345 0.07772281] [ 0. 0. 0. 1. ]] SLAMing on 143.239928851 meters Centerline goodness : 0.775952 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.08 [[ 0.9808733 -0.15764564 -0.11417277 0.18575495] [ 0.1598234 0.98709374 0.01012043 -0.04888388] [ 0.11110379 -0.02817434 0.99340936 0.0777407 ] [ 0. 0. 0. 1. ]] SLAMing on 143.299928851 meters Centerline goodness : 0.775267 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.08 [[ 0.98072789 -0.15892488 -0.11364725 0.1841896 ] [ 0.16094861 0.98692356 0.00879987 -0.04565313] [ 0.11076263 -0.02692164 0.99348219 0.07796436] [ 0. 0. 0. 1. ]] SLAMing on 143.359928851 meters Centerline goodness : 0.777842 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.08 [[ 0.97990241 -0.16487442 -0.11228402 0.18216495] [ 0.16625014 0.98607924 0.00293602 -0.03975666] [ 0.11023686 -0.02154425 0.99367182 0.07816199] [ 0. 0. 0. 1. ]] SLAMing on 143.419928851 meters Centerline goodness : 0.779888 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.08 [[ 0.97897535 -0.17130059 -0.11074012 0.17927572] [ 0.17200628 0.98509059 -0.00322096 -0.03298091] [ 0.10964081 -0.01589476 0.99384418 0.07859173] [ 0. 0. 0. 1. ]] SLAMing on 143.479928851 meters Centerline goodness : 0.782014 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.08 [[ 0.97878764 -0.17288489 -0.10993435 0.17702712] [ 0.17343314 0.98483477 -0.0046285 -0.02928413] [ 0.10906737 -0.01453594 0.99392807 0.07863237] [ 0. 0. 0. 1. ]] SLAMing on 143.53992885099998 meters Centerline goodness : 0.785532 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.08 [[ 0.97856104 -0.17476043 -0.10898199 0.17421136] [ 0.1750874 0.98453053 -0.00663658 -0.02217685] [ 0.10845591 -0.01258708 0.99402157 0.07853418] [ 0. 0. 0. 1. ]] SLAMing on 143.599928851 meters Centerline goodness : 0.785584 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.08 [[ 0.97838692 -0.17625382 -0.1081371 0.17152559] [ 0.17639019 0.98428466 -0.00837905 -0.01639751] [ 0.10791453 -0.01087637 0.99410068 0.07898203] [ 0. 0. 0. 1. ]] SLAMing on 143.659928851 meters Centerline goodness : 0.785477 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.08 [[ 0.97830251 -0.17682816 -0.10796299 0.1708199 ] [ 0.17686565 0.98419102 -0.00930486 -0.01349451] [ 0.10790156 -0.00999198 0.99411137 0.07925025] [ 0. 0. 0. 1. ]] SLAMing on 143.719928851 meters Centerline goodness : 0.786554 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.08 [[ 0.97818356 -0.17781271 -0.1074224 0.17031898] [ 0.17770226 0.98402637 -0.01067716 -0.00757141] [ 0.10760501 -0.00864498 0.99415614 0.07795167] [ 0. 0. 0. 1. ]] SLAMing on 143.779928851 meters Centerline goodness : 0.790973 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:0.08 [[ 0.97804548 -0.17884567 -0.10696389 0.16883404] [ 0.17856739 0.9838514 -0.01225214 -0.00268327] [ 0.10742781 -0.00711712 0.99418741 0.07829049] [ 0. 0. 0. 1. ]] SLAMing on 143.839928851 meters Centerline goodness : 0.793752 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:0.08 [[ 0.97854908 -0.17636017 -0.10648374 0.16557338] [ 0.17628657 0.98428626 -0.01017838 0.00321202] [ 0.10660555 -0.00881161 0.99426235 0.07825501] [ 0. 0. 0. 1. ]] SLAMing on 143.899928851 meters Centerline goodness : 0.794250 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.08 [[ 0.9790882 -0.1734688 -0.1062773 0.1632679 ] [ 0.17369567 0.98477314 -0.00718907 0.0054445 ] [ 0.10590611 -0.01142117 0.99431054 0.07791979] [ 0. 0. 0. 1. ]] SLAMing on 143.959928851 meters Centerline goodness : 0.793848 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.08 [[ 0.97899356 -0.17448017 -0.10549066 0.16050326] [ 0.17450409 0.98461463 -0.00907519 0.01198834] [ 0.10545109 -0.009524 0.99437888 0.07901609] [ 0. 0. 0. 1. ]] SLAMing on 144.019928851 meters Centerline goodness : 0.796413 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.08 [[ 0.97885864 -0.17552323 -0.10501126 0.15835044] [ 0.17538877 0.98444233 -0.01058631 0.01684494] [ 0.10523567 -0.0080553 0.99441468 0.07999182] [ 0. 0. 0. 1. ]] SLAMing on 144.079928851 meters Centerline goodness : 0.799572 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.08 [[ 0.97867358 -0.1770109 -0.10423612 0.156318 ] [ 0.17673131 0.98418615 -0.01198637 0.02141279] [ 0.10470946 -0.00669104 0.99448035 0.07970219] [ 0. 0. 0. 1. ]] SLAMing on 144.139928851 meters Centerline goodness : 0.800810 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:0.08 [[ 0.97842215 -0.1790005 -0.10319356 0.15354472] [ 0.17860452 0.98383319 -0.01314051 0.02428142] [ 0.10387741 -0.00557387 0.99457449 0.0792167 ] [ 0. 0. 0. 1. ]] SLAMing on 144.199928851 meters Centerline goodness : 0.804296 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:0.08 [[ 0.97826331 -0.18027493 -0.10247848 0.15174349] [ 0.17980789 0.98360419 -0.01385383 0.02601838] [ 0.10329576 -0.00487374 0.99463875 0.07883715] [ 0. 0. 0. 1. ]] SLAMing on 144.25992885099998 meters Centerline goodness : 0.806237 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:0.08 [[ 0.97799566 -0.18234845 -0.10135846 0.14801133] [ 0.18175335 0.98322738 -0.01515408 0.02824517] [ 0.10242174 -0.00360162 0.99473455 0.07951924] [ 0. 0. 0. 1. ]] SLAMing on 144.319928851 meters Centerline goodness : 0.805218 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:0.08 [[ 0.97785447 -0.18346611 -0.10070169 0.14565309] [ 0.18278012 0.98302237 -0.01607653 0.02966076] [ 0.10194151 -0.00268576 0.99478677 0.08038263] [ 0. 0. 0. 1. ]] SLAMing on 144.379928851 meters Centerline goodness : 0.804828 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97775952 -0.18422424 -0.10023851 0.14393626] [ 0.18346115 0.98288239 -0.01685855 0.03110397] [ 0.10162842 -0.00190627 0.9948206 0.08114299] [ 0. 0. 0. 1. ]] SLAMing on 144.439928851 meters Centerline goodness : 0.804885 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97771479 -0.18463268 -0.09992279 0.14328472] [ 0.18386049 0.98280597 -0.01696293 0.03170303] [ 0.10133662 -0.00178695 0.99485059 0.08070549] [ 0. 0. 0. 1. ]] SLAMing on 144.499928851 meters Centerline goodness : 0.804469 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97770654 -0.18479394 -0.09970517 0.14338373] [ 0.18406666 0.98277484 -0.0165253 0.03061696] [ 0.10104151 -0.0021955 0.99487979 0.07969349] [ 0. 0. 0. 1. ]] SLAMing on 144.559928851 meters Centerline goodness : 0.800702 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97768389 -0.18500714 -0.09953172 0.14365496] [ 0.18435301 0.98273292 -0.01581045 0.02845321] [ 0.10073814 -0.00289136 0.99490877 0.07843471] [ 0. 0. 0. 1. ]] SLAMing on 144.619928851 meters Centerline goodness : 0.802913 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97769419 -0.18496497 -0.0995089 0.14362949] [ 0.18432297 0.98274052 -0.0156878 0.02808043] [ 0.10069312 -0.0030039 0.994913 0.07839297] [ 0. 0. 0. 1. ]] SLAMing on 144.679928851 meters Centerline goodness : 0.800954 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97772646 -0.18482212 -0.09945728 0.14362261] [ 0.18419605 0.98276696 -0.01552147 0.02733194] [ 0.10061204 -0.00314389 0.99492077 0.07840517] [ 0. 0. 0. 1. ]] SLAMing on 144.739928851 meters Centerline goodness : 0.800727 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.08 [[ 0.97765481 -0.18542164 -0.09904492 0.14209309] [ 0.18480459 0.98265384 -0.01544953 0.02571727] [ 0.10019154 -0.00319965 0.99496302 0.07888174] [ 0. 0. 0. 1. ]] SLAMing on 144.799928851 meters Centerline goodness : 0.798380 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.08 [[ 0.97753381 -0.18613864 -0.09889416 0.14129306] [ 0.18556681 0.98251668 -0.0150311 0.02225799] [ 0.09996303 -0.00365807 0.99498443 0.07905567] [ 0. 0. 0. 1. ]] SLAMing on 144.859928851 meters Centerline goodness : 0.797175 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.08 [[ 9.76841191e-01 -1.89885727e-01 -9.86138818e-02 1.42809936e-01] [ 1.89019249e-01 9.81805770e-01 -1.81426126e-02 1.92304678e-02] [ 1.00264701e-01 -9.17470599e-04 9.94960375e-01 7.88218313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919928851 meters Centerline goodness : 0.797255 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.08 [[ 0.97674203 -0.19047523 -0.09845911 0.14240126] [ 0.18964423 0.98169118 -0.01781819 0.01586801] [ 0.10005037 -0.00126843 0.99498157 0.07880758] [ 0. 0. 0. 1. ]] SLAMing on 144.979928851 meters Centerline goodness : 0.794461 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.08 [[ 0.97651054 -0.19168482 -0.09840782 0.14119639] [ 0.19085161 0.98145567 -0.01790047 0.01138664] [ 0.10001416 -0.00130129 0.99498516 0.08008089] [ 0. 0. 0. 1. ]] SLAMing on 145.03992885099998 meters Centerline goodness : 0.792487 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.08 [[ 0.97587165 -0.19496905 -0.09829341 0.14278727] [ 0.19387505 0.98080878 -0.02065446 0.00619726] [ 0.10043402 0.00109946 0.99494311 0.08071025] [ 0. 0. 0. 1. ]] SLAMing on 145.099928851 meters Centerline goodness : 0.791806 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.08 [[ 9.75864770e-01 -1.95092606e-01 -9.81163875e-02 1.42396868e-01] [ 1.94052183e-01 9.80784639e-01 -2.01306028e-02 3.78881284e-03] [ 1.00158378e-01 6.05046862e-04 9.94971323e-01 8.06346069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159928851 meters Centerline goodness : 0.793576 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.08 [[ 9.75233133e-01 -1.98184827e-01 -9.81993418e-02 1.43852852e-01] [ 1.96889411e-01 9.80160348e-01 -2.28090326e-02 -9.47158443e-04] [ 1.00771505e-01 2.90971378e-03 9.94905341e-01 8.17851429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219928851 meters Centerline goodness : 0.788766 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.08 [[ 0.9752286 -0.19815534 -0.09830376 0.14406139] [ 0.19693487 0.98016825 -0.02206483 -0.00621164] [ 0.10072649 0.00215881 0.99491181 0.08229593] [ 0. 0. 0. 1. ]] SLAMing on 145.279928851 meters Centerline goodness : 0.786280 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.08 [[ 0.9746852 -0.20062127 -0.09869078 0.14665454] [ 0.19920505 0.97966138 -0.02410253 -0.01252539] [ 0.10151903 0.00383268 0.99482621 0.08299374] [ 0. 0. 0. 1. ]] SLAMing on 145.339928851 meters Centerline goodness : 0.786083 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.08 [[ 0.97416217 -0.20288259 -0.09923065 0.1497113 ] [ 0.20128364 0.97918857 -0.02597383 -0.01928308] [ 0.10243516 0.00532921 0.99472541 0.0836396 ] [ 0. 0. 0. 1. ]] SLAMing on 145.399928851 meters Centerline goodness : 0.781802 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:0.08 [[ 0.97425741 -0.20229863 -0.09948751 0.15082627] [ 0.20083524 0.9793157 -0.02461619 -0.02540637] [ 0.1024095 0.00400191 0.99473428 0.08344933] [ 0. 0. 0. 1. ]] SLAMing on 145.459928851 meters Centerline goodness : 0.783236 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.08 [[ 0.97381149 -0.20407683 -0.10021896 0.15500099] [ 0.20248572 0.97894243 -0.0259087 -0.0325977 ] [ 0.10339596 0.00493728 0.99462802 0.08315381] [ 0. 0. 0. 1. ]] SLAMing on 145.519928851 meters Centerline goodness : 0.782516 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.08 [[ 0.97390401 -0.20355027 -0.10039053 0.15590636] [ 0.20206214 0.97905653 -0.02488382 -0.03566733] [ 0.10335311 0.00394932 0.99463689 0.08261714] [ 0. 0. 0. 1. ]] SLAMing on 145.579928851 meters Centerline goodness : 0.781339 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.08 [[ 0.9740669 -0.20250261 -0.10092753 0.15796599] [ 0.20116928 0.97927874 -0.02332529 -0.04136026] [ 0.10355962 0.00241687 0.99462031 0.08211195] [ 0. 0. 0. 1. ]] SLAMing on 145.639928851 meters Centerline goodness : 0.780317 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.08 [[ 0.97598905 -0.19597615 -0.09507222 0.15270258] [ 0.19467943 0.98060144 -0.02281948 -0.05092884] [ 0.09770003 0.00376296 0.99520879 0.07697913] [ 0. 0. 0. 1. ]] SLAMing on 145.699928851 meters Centerline goodness : 0.786033 with order 3 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.08 [[ 0.97611347 -0.19519369 -0.095404 0.15298196] [ 0.19397323 0.98076024 -0.02199417 -0.05449909] [ 0.09786158 0.00296298 0.99519563 0.07800616] [ 0. 0. 0. 1. ]] SLAMing on 145.75992885099998 meters Centerline goodness : 0.780241 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.08 [[ 0.97626907 -0.19414104 -0.09595815 0.15401394] [ 0.19307073 0.98097264 -0.02040543 -0.06158212] [ 0.09809385 0.00139447 0.99517619 0.07890377] [ 0. 0. 0. 1. ]] SLAMing on 145.819928851 meters Centerline goodness : 0.779572 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.08 [[ 9.76338128e-01 -1.93619883e-01 -9.63078437e-02 1.55296952e-01] [ 1.92663610e-01 9.81076601e-01 -1.92207447e-02 -6.71156484e-02] [ 9.82068903e-02 2.10929071e-04 9.95165997e-01 7.87298389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879928851 meters Centerline goodness : 0.780061 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.08 [[ 0.9765088 -0.19255742 -0.09670682 0.15710786] [ 0.19175211 0.98128483 -0.01764148 -0.07421809] [ 0.09829393 -0.00131668 0.99515656 0.07853729] [ 0. 0. 0. 1. ]] SLAMing on 145.939928851 meters Centerline goodness : 0.776646 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.08 [[ 0.97669316 -0.19132892 -0.09728161 0.15893126] [ 0.19066653 0.98152205 -0.01614751 -0.07821735] [ 0.09857353 -0.00277719 0.99512589 0.07812298] [ 0. 0. 0. 1. ]] SLAMing on 145.999928851 meters Centerline goodness : 0.771964 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.08 [[ 0.97694436 -0.18970799 -0.09793159 0.16110013] [ 0.18923272 0.98182952 -0.01420444 -0.08413113] [ 0.09884683 -0.00465491 0.99509177 0.07774754] [ 0. 0. 0. 1. ]] SLAMing on 146.059928851 meters Centerline goodness : 0.786992 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.08 [[ 0.9770839 -0.18885444 -0.0981889 0.16187026] [ 0.18853274 0.9819857 -0.01262927 -0.09049159] [ 0.09880519 -0.00617196 0.99508766 0.07797665] [ 0. 0. 0. 1. ]] SLAMing on 146.119928851 meters Centerline goodness : 0.787986 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.08 [[ 0.97714287 -0.18846042 -0.09835899 0.16257496] [ 0.18823233 0.9820551 -0.01167804 -0.09473517] [ 0.09879479 -0.00710323 0.99508248 0.07794873] [ 0. 0. 0. 1. ]] SLAMing on 146.179928851 meters Centerline goodness : 0.784849 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.08 [[ 0.97658502 -0.19134841 -0.09832334 0.16497244] [ 0.19094838 0.98150654 -0.01355106 -0.10070575] [ 0.09909797 -0.00554092 0.99506225 0.07727458] [ 0. 0. 0. 1. ]] SLAMing on 146.239928851 meters Centerline goodness : 0.774659 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.11, Z:0.08 [[ 0.97616151 -0.18729551 -0.10967722 0.16393184] [ 0.18716292 0.98226045 -0.01159518 -0.10999612] [ 0.10990332 -0.00920875 0.99389962 0.08093455] [ 0. 0. 0. 1. ]] SLAMing on 146.299928851 meters Centerline goodness : 0.773909 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.12, Z:0.08 [[ 0.97537388 -0.18423836 -0.12125187 0.16269149] [ 0.18439566 0.98280102 -0.01001989 -0.12044747] [ 0.12101251 -0.01258518 0.9925712 0.08473433] [ 0. 0. 0. 1. ]] SLAMing on 146.359928851 meters Centerline goodness : 0.786482 with order 3 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.12, Z:0.08 [[ 0.97524296 -0.18425602 -0.12227382 0.16554763] [ 0.1846798 0.98276653 -0.00795732 -0.12473236] [ 0.1216328 -0.01482118 0.99246451 0.08430653] [ 0. 0. 0. 1. ]] SLAMing on 146.419928851 meters Centerline goodness : 0.774585 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.08 [[ 0.975219 -0.18383784 -0.12309162 0.16902212] [ 0.18448192 0.98281608 -0.00624343 -0.12891718] [ 0.1221242 -0.01661946 0.99237567 0.0825473 ] [ 0. 0. 0. 1. ]] SLAMing on 146.479928851 meters Centerline goodness : 0.776711 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.08 [[ 0.97537822 -0.18290406 -0.12322111 0.17013834] [ 0.1836707 0.98297404 -0.00520641 -0.13087481] [ 0.12207543 -0.01755389 0.99236558 0.08167829] [ 0. 0. 0. 1. ]] SLAMing on 146.53992885099998 meters Centerline goodness : 0.774573 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.08 [[ 9.76149457e-01 -1.78240191e-01 -1.23946244e-01 1.70511627e-01] [ 1.79568002e-01 9.83745453e-01 -4.66090759e-04 -1.33514978e-01] [ 1.22014630e-01 -2.18018052e-02 9.92288825e-01 8.14744146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599928851 meters Centerline goodness : 0.777305 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.08 [[ 0.97731576 -0.17178533 -0.12386973 0.17016308] [ 0.17348683 0.98483162 0.00300145 -0.13279105] [ 0.12147522 -0.02442313 0.99229395 0.07946249] [ 0. 0. 0. 1. ]] SLAMing on 146.659928851 meters Centerline goodness : 0.775393 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.08 [[ 0.97915944 -0.16086292 -0.12397543 0.16957257] [ 0.16323224 0.98654543 0.00912939 -0.12962701] [ 0.12083882 -0.02917591 0.99224329 0.0759651 ] [ 0. 0. 0. 1. ]] SLAMing on 146.719928851 meters Centerline goodness : 0.778065 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.07 [[ 0.9808154 -0.15062068 -0.12375201 0.16803225] [ 0.15364714 0.98800837 0.01523197 -0.1275125 ] [ 0.11997378 -0.0339539 0.99219626 0.0732578 ] [ 0. 0. 0. 1. ]] SLAMing on 146.779928851 meters Centerline goodness : 0.777426 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.12, Z:0.07 [[ 0.98293109 -0.13791795 -0.12175838 0.16343611] [ 0.14126949 0.98978313 0.01929487 -0.1225539 ] [ 0.11785328 -0.03616627 0.99237221 0.06986755] [ 0. 0. 0. 1. ]] SLAMing on 146.839928851 meters Centerline goodness : 0.796113 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.11, Z:0.06 [[ 0.9845713 -0.13732158 -0.10845336 0.16118961] [ 0.13999997 0.98999783 0.01744422 -0.1141556 ] [ 0.10497312 -0.03235854 0.99394847 0.06411414] [ 0. 0. 0. 1. ]] SLAMing on 146.899928851 meters Centerline goodness : 0.796188 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.11, Z:0.06 [[ 0.9854371 -0.13139922 -0.10792574 0.15930885] [ 0.13423875 0.99075815 0.01944852 -0.10890172] [ 0.10437278 -0.03365311 0.99396871 0.06233957] [ 0. 0. 0. 1. ]] SLAMing on 146.959928851 meters Centerline goodness : 0.773302 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.11, Z:0.06 [[ 0.98561506 -0.13055992 -0.10731757 0.15856767] [ 0.13329595 0.99089987 0.01869851 -0.10709234] [ 0.10389969 -0.03273453 0.99404895 0.06118381] [ 0. 0. 0. 1. ]] SLAMing on 147.019928851 meters Centerline goodness : 0.795634 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.06 [[ 0.98534929 -0.13176311 -0.10828323 0.15935949] [ 0.13453121 0.99073409 0.0186366 -0.10454861] [ 0.10482427 -0.03293104 0.99394538 0.06240742] [ 0. 0. 0. 1. ]] SLAMing on 147.079928851 meters Centerline goodness : 0.796056 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.06 [[ 0.98488483 -0.13444547 -0.10920753 0.15994203] [ 0.13722929 0.99036925 0.01835395 -0.1030699 ] [ 0.10568817 -0.033063 0.99384951 0.06431473] [ 0. 0. 0. 1. ]] SLAMing on 147.139928851 meters Centerline goodness : 0.778025 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.07 [[ 0.98390523 -0.1405863 -0.11029958 0.16218245] [ 0.14307603 0.98959875 0.0149523 -0.10187411] [ 0.10705024 -0.03049288 0.99378591 0.06596507] [ 0. 0. 0. 1. ]] SLAMing on 147.199928851 meters Centerline goodness : 0.778788 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.07 [[ 0.98319397 -0.14566679 -0.11004913 0.16206037] [ 0.14774468 0.98896519 0.01092506 -0.10035274] [ 0.10724334 -0.02700062 0.9938661 0.06693504] [ 0. 0. 0. 1. ]] SLAMing on 147.25992885099998 meters Centerline goodness : 0.803113 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.07 [[ 0.98283346 -0.14755229 -0.11075523 0.16252787] [ 0.14967348 0.98867381 0.01104254 -0.09998089] [ 0.10787144 -0.0274301 0.99378637 0.06842579] [ 0. 0. 0. 1. ]] SLAMing on 147.319928851 meters Centerline goodness : 0.781072 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.07 [[ 0.98217715 -0.15214968 -0.11035632 0.16354738] [ 0.15375099 0.98809081 0.00609847 -0.09591909] [ 0.10811419 -0.02295717 0.99387338 0.06788321] [ 0. 0. 0. 1. ]] SLAMing on 147.379928851 meters Centerline goodness : 0.780582 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.07 [[ 0.98165888 -0.15578369 -0.10989672 0.16451175] [ 0.15690431 0.98761256 0.00157038 -0.09204999] [ 0.10829074 -0.01878485 0.99394177 0.0676741 ] [ 0. 0. 0. 1. ]] SLAMing on 147.439928851 meters Centerline goodness : 0.778140 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.07 [[ 9.81574859e-01 -1.56442478e-01 -1.09711202e-01 1.63844664e-01] [ 1.57437363e-01 9.87528890e-01 4.11001922e-04 -8.87867931e-02] [ 1.08278683e-01 -1.76760715e-02 9.93963422e-01 6.80071759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499928851 meters Centerline goodness : 0.782410 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.07 [[ 0.98148899 -0.15729271 -0.10926283 0.16233449] [ 0.15812355 0.98741875 -0.00107308 -0.08440941] [ 0.10805696 -0.01622381 0.99401232 0.06867302] [ 0. 0. 0. 1. ]] SLAMing on 147.559928851 meters Centerline goodness : 0.782687 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.07 [[ 0.98141159 -0.15800359 -0.10893187 0.1614892 ] [ 0.15873594 0.98731911 -0.00197068 -0.08215093] [ 0.10786189 -0.01535736 0.99404726 0.06879804] [ 0. 0. 0. 1. ]] SLAMing on 147.619928851 meters Centerline goodness : 0.780369 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.07 [[ 0.9806954 -0.16295675 -0.10808158 0.1610856 ] [ 0.16316401 0.98657425 -0.00698299 -0.07827835] [ 0.10776843 -0.01078683 0.9941175 0.0687311 ] [ 0. 0. 0. 1. ]] SLAMing on 147.679928851 meters Centerline goodness : 0.803147 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.07 [[ 0.97998257 -0.16748368 -0.10762616 0.16145001] [ 0.16722556 0.98585178 -0.01148369 -0.07462665] [ 0.10802677 -0.00674403 0.99412511 0.06851817] [ 0. 0. 0. 1. ]] SLAMing on 147.739928851 meters Centerline goodness : 0.778777 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.07 [[ 0.97914473 -0.17296738 -0.10657333 0.16006076] [ 0.17219456 0.98492507 -0.01648167 -0.07201318] [ 0.10781754 -0.00221341 0.99416823 0.06896557] [ 0. 0. 0. 1. ]] SLAMing on 147.799928851 meters Centerline goodness : 0.779442 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.07 [[ 0.97888045 -0.1749821 -0.10570865 0.15727303] [ 0.17412051 0.98457065 -0.01739759 -0.07231056] [ 0.1071219 -0.00137588 0.99424494 0.06962314] [ 0. 0. 0. 1. ]] SLAMing on 147.859928851 meters Centerline goodness : 0.780023 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 9.78553801e-01 -1.77257042e-01 -1.04939982e-01 1.54736694e-01] [ 1.76322923e-01 9.84164337e-01 -1.81874746e-02 -7.24562812e-02] [ 1.06502045e-01 -7.05901841e-04 9.94312233e-01 6.98697734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919928851 meters Centerline goodness : 0.797348 with order 3 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 9.78385378e-01 -1.78505286e-01 -1.04393082e-01 1.53258767e-01] [ 1.77556181e-01 9.83938804e-01 -1.83911259e-02 -7.31504708e-02] [ 1.05999318e-01 -5.42028291e-04 9.94366055e-01 6.97456820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979928851 meters Centerline goodness : 0.782016 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 9.78147319e-01 -1.80072114e-01 -1.03931973e-01 1.51855328e-01] [ 1.79069579e-01 9.83653410e-01 -1.89751074e-02 -7.44879758e-02] [ 1.05649928e-01 -5.06043103e-05 9.94403384e-01 6.99971964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03992885099998 meters Centerline goodness : 0.798387 with order 3 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 9.78081565e-01 -1.80606105e-01 -1.03623778e-01 1.50834459e-01] [ 1.79583421e-01 9.83555493e-01 -1.91934040e-02 -7.45645589e-02] [ 1.05386182e-01 1.63602119e-04 9.94431358e-01 7.02935412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099928851 meters Centerline goodness : 0.797934 with order 3 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 9.78118763e-01 -1.80318932e-01 -1.03772671e-01 1.51023853e-01] [ 1.79287966e-01 9.83608169e-01 -1.92560483e-02 -7.38528060e-02] [ 1.05543877e-01 2.29511068e-04 9.94414620e-01 7.05251270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159928851 meters Centerline goodness : 0.782838 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 9.78249234e-01 -1.79422712e-01 -1.04095756e-01 1.52392544e-01] [ 1.78420099e-01 9.83772071e-01 -1.89414762e-02 -7.34416361e-02] [ 1.05805029e-01 -4.32905992e-05 9.94386894e-01 6.99871709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219928851 meters Centerline goodness : 0.781879 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 0.9790452 -0.17455053 -0.10489334 0.15308579] [ 0.17396812 0.98464085 -0.01474764 -0.07292939] [ 0.10585647 -0.00380949 0.99437412 0.06938415] [ 0. 0. 0. 1. ]] SLAMing on 148.279928851 meters Centerline goodness : 0.781344 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.07 [[ 0.97982021 -0.1697635 -0.10551171 0.15347115] [ 0.16959067 0.98545678 -0.01067393 -0.07245659] [ 0.10578927 -0.00743527 0.99436077 0.06879718] [ 0. 0. 0. 1. ]] SLAMing on 148.339928851 meters Centerline goodness : 0.796022 with order 3 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.06 [[ 0.98246257 -0.15722538 -0.10023711 0.1471223 ] [ 0.15704431 0.98754348 -0.0097444 -0.07150894] [ 0.10052057 -0.00616815 0.99491586 0.06270027] [ 0. 0. 0. 1. ]] SLAMing on 148.399928851 meters Centerline goodness : 0.793818 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.06 [[ 0.98482802 -0.14599533 -0.09380371 0.13954839] [ 0.14593625 0.98926536 -0.0075265 -0.07109808] [ 0.09389559 -0.00627705 0.99556226 0.05670033] [ 0. 0. 0. 1. ]] SLAMing on 148.459928851 meters Centerline goodness : 0.791973 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.05 [[ 0.98767352 -0.12882496 -0.08891085 0.13329383] [ 0.12882051 0.99165089 -0.00581231 -0.06622806] [ 0.08891729 -0.00571287 0.99602263 0.05359985] [ 0. 0. 0. 1. ]] SLAMing on 148.519928851 meters Centerline goodness : 0.778275 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.05 [[ 0.98970295 -0.11687043 -0.08264006 0.12614717] [ 0.1170722 0.99312047 -0.00241659 -0.06566675] [ 0.08235397 -0.00728315 0.99657653 0.04807288] [ 0. 0. 0. 1. ]] SLAMing on 148.579928851 meters Centerline goodness : 0.781719 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.04 [[ 0.9916236 -0.10440514 -0.0760408 0.11826275] [ 0.10478938 0.99449386 0.00106993 -0.06616598] [ 0.0755104 -0.00902923 0.99710413 0.04310671] [ 0. 0. 0. 1. ]] SLAMing on 148.639928851 meters Centerline goodness : 0.780339 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.04 [[ 9.91671273e-01 -1.03690817e-01 -7.63956878e-02 1.19064453e-01] [ 1.04063978e-01 9.94570189e-01 9.09240229e-04 -6.58104844e-02] [ 7.58865938e-02 -8.85170662e-03 9.97077165e-01 4.38164141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699928851 meters Centerline goodness : 0.780557 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.04 [[ 0.99130971 -0.10719757 -0.07624791 0.11990899] [ 0.10731049 0.99422209 -0.00262642 -0.06694176] [ 0.0760889 -0.00557861 0.99708543 0.04413649] [ 0. 0. 0. 1. ]] SLAMing on 148.75992885099998 meters Centerline goodness : 0.780121 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.04 [[ 0.9909072 -0.11081129 -0.07631367 0.12158568] [ 0.11069223 0.9938378 -0.00580128 -0.06877423] [ 0.07648625 -0.0026988 0.99706698 0.04361765] [ 0. 0. 0. 1. ]] SLAMing on 148.819928851 meters Centerline goodness : 0.777243 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.04 [[ 9.90401722e-01 -1.15245402e-01 -7.63081051e-02 1.22741917e-01] [ 1.14902425e-01 9.93337051e-01 -8.88461434e-03 -7.38164241e-02] [ 7.68235791e-02 3.13510084e-05 9.97044701e-01 4.33719950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879928851 meters Centerline goodness : 0.788046 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.04 [[ 0.98995306 -0.11899518 -0.07637463 0.12405038] [ 0.11841945 0.99289067 -0.01203948 -0.07633834] [ 0.0772643 0.00287428 0.9970065 0.04335118] [ 0. 0. 0. 1. ]] SLAMing on 148.939928851 meters Centerline goodness : 0.788881 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.04 [[ 0.98944895 -0.12328183 -0.07610765 0.12390393] [ 0.12247332 0.99235512 -0.0152186 -0.08005 ] [ 0.077402 0.00573687 0.99698346 0.04410586] [ 0. 0. 0. 1. ]] SLAMing on 148.999928851 meters Centerline goodness : 0.774119 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.04 [[ 0.98936884 -0.12399573 -0.07598918 0.12334099] [ 0.12321074 0.9922679 -0.01495099 -0.08333224] [ 0.07725549 0.00542936 0.99699655 0.04432772] [ 0. 0. 0. 1. ]] SLAMing on 149.059928851 meters Centerline goodness : 0.774477 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.98895529 -0.12720806 -0.07606272 0.1253009 ] [ 0.12619301 0.99184193 -0.0180252 -0.08511648] [ 0.07773515 0.00822754 0.9969401 0.04390824] [ 0. 0. 0. 1. ]] SLAMing on 149.119928851 meters Centerline goodness : 0.772056 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:0.04 [[ 0.98854333 -0.13035363 -0.07609214 0.12687002] [ 0.12907266 0.99140122 -0.02153737 -0.08472655] [ 0.07824532 0.01146921 0.99686816 0.04389798] [ 0. 0. 0. 1. ]] SLAMing on 149.179928851 meters Centerline goodness : 0.788732 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.98807695 -0.1339208 -0.07595497 0.12762523] [ 0.13238303 0.99088446 -0.02495443 -0.0858444 ] [ 0.07860451 0.01460174 0.99679894 0.0443458 ] [ 0. 0. 0. 1. ]] SLAMing on 149.239928851 meters Centerline goodness : 0.775200 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.98798788 -0.13469399 -0.07574611 0.12682991] [ 0.13318534 0.99078453 -0.02465099 -0.08984134] [ 0.07836841 0.01426661 0.99682238 0.04470847] [ 0. 0. 0. 1. ]] SLAMing on 149.299928851 meters Centerline goodness : 0.772926 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.9875281 -0.13801073 -0.07577129 0.12851186] [ 0.13624152 0.99027799 -0.02806682 -0.09002265] [ 0.07890817 0.01739358 0.99673014 0.04449452] [ 0. 0. 0. 1. ]] SLAMing on 149.359928851 meters Centerline goodness : 0.775552 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.98754753 -0.13775759 -0.07597844 0.12930143] [ 0.13603174 0.99032369 -0.02746562 -0.09131958] [ 0.07902685 0.01678813 0.99673112 0.04394148] [ 0. 0. 0. 1. ]] SLAMing on 149.419928851 meters Centerline goodness : 0.777075 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.98710415 -0.14086123 -0.07604937 0.13148443] [ 0.13890695 0.98983782 -0.0304295 -0.09248668] [ 0.07956288 0.0194733 0.99663962 0.04309762] [ 0. 0. 0. 1. ]] SLAMing on 149.479928851 meters Centerline goodness : 0.776275 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.9866799 -0.14373226 -0.07618281 0.13385281] [ 0.14152005 0.98936126 -0.03371022 -0.09207392] [ 0.08021757 0.0224798 0.99652386 0.04249036] [ 0. 0. 0. 1. ]] SLAMing on 149.53992885099998 meters Centerline goodness : 0.791197 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.04 [[ 0.98671882 -0.14336295 -0.07637429 0.1349428 ] [ 0.14121315 0.98943338 -0.03286993 -0.0936605 ] [ 0.0802796 0.02164832 0.99653727 0.04142115] [ 0. 0. 0. 1. ]] SLAMing on 149.599928851 meters Centerline goodness : 0.775745 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.04 [[ 0.98678249 -0.14274085 -0.07671612 0.13620122] [ 0.14062328 0.98953427 -0.03235781 -0.09402261] [ 0.08053201 0.02114205 0.99652778 0.04082863] [ 0. 0. 0. 1. ]] SLAMing on 149.659928851 meters Centerline goodness : 0.774409 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.04 [[ 0.98679643 -0.14262084 -0.07676004 0.13664234] [ 0.14051653 0.98955529 -0.03217809 -0.09410313] [ 0.08054757 0.02096717 0.99653021 0.04040564] [ 0. 0. 0. 1. ]] SLAMing on 149.719928851 meters Centerline goodness : 0.791500 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.03 [[ 0.98772802 -0.14214748 -0.06471048 0.13961015] [ 0.14052357 0.98965213 -0.02901366 -0.09547027] [ 0.06816509 0.01956425 0.99748221 0.03194648] [ 0. 0. 0. 1. ]] SLAMing on 149.779928851 meters Centerline goodness : 0.794857 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.03 [[ 0.98767886 -0.14256777 -0.06453606 0.13934771] [ 0.14094591 0.98959112 -0.02904588 -0.09559976] [ 0.06800532 0.0195919 0.99749257 0.0316208 ] [ 0. 0. 0. 1. ]] SLAMing on 149.839928851 meters Centerline goodness : 0.794116 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.02 [[ 0.98853977 -0.14189669 -0.05152147 0.13947572] [ 0.14077386 0.98973053 -0.02482314 -0.09724397] [ 0.05451469 0.01728578 0.99836334 0.0236476 ] [ 0. 0. 0. 1. ]] SLAMing on 149.899928851 meters Centerline goodness : 0.776216 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.02 [[ 0.98889126 -0.13936455 -0.05168754 0.13803502] [ 0.13842004 0.99014148 -0.02144144 -0.09806018] [ 0.05416615 0.01404866 0.9984331 0.02388092] [ 0. 0. 0. 1. ]] SLAMing on 149.959928851 meters Centerline goodness : 0.777086 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.02 [[ 0.98891666 -0.13910262 -0.05190658 0.13887373] [ 0.13815147 0.99017771 -0.0215005 -0.09674615] [ 0.05438752 0.01409123 0.99842047 0.02340559] [ 0. 0. 0. 1. ]] SLAMing on 150.019928851 meters Centerline goodness : 0.795979 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.02 [[ 0.98929281 -0.13621689 -0.05238994 0.14140516] [ 0.13538068 0.99060744 -0.01920855 -0.09365381] [ 0.05451439 0.0119103 0.99844195 0.02078205] [ 0. 0. 0. 1. ]] SLAMing on 150.079928851 meters Centerline goodness : 0.794193 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.02 [[ 0.98988951 -0.13160008 -0.05291678 0.14205379] [ 0.13091579 0.99126094 -0.0162113 -0.08877694] [ 0.05458775 0.00911976 0.99846733 0.02034169] [ 0. 0. 0. 1. ]] SLAMing on 150.139928851 meters Centerline goodness : 0.778829 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:0.02 [[ 0.99040231 -0.12756789 -0.05319487 0.1416218 ] [ 0.12702994 0.99180853 -0.01338797 -0.08497579] [ 0.054467 0.00650213 0.9984944 0.02054533] [ 0. 0. 0. 1. ]] SLAMing on 150.199928851 meters Centerline goodness : 0.777030 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:0.02 [[ 0.9909806 -0.12313204 -0.05287679 0.14037492] [ 0.12270746 0.99237952 -0.01121482 -0.07819049] [ 0.05385475 0.00462529 0.99853807 0.02089824] [ 0. 0. 0. 1. ]] SLAMing on 150.25992885099998 meters Centerline goodness : 0.790375 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.02 [[ 0.99142593 -0.11940751 -0.05307049 0.13973398] [ 0.11913938 0.99284369 -0.00819901 -0.07477401] [ 0.05366972 0.00180593 0.99855711 0.02082524] [ 0. 0. 0. 1. ]] SLAMing on 150.319928851 meters Centerline goodness : 0.793910 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.02 [[ 0.99148566 -0.11883704 -0.05323485 0.14076943] [ 0.11852643 0.99291042 -0.0089657 -0.06898293] [ 0.05392289 0.00257963 0.99854177 0.02017896] [ 0. 0. 0. 1. ]] SLAMing on 150.379928851 meters Centerline goodness : 0.778535 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.02 [[ 0.99147026 -0.11892063 -0.05333479 0.14124616] [ 0.11859084 0.99289949 -0.00931738 -0.06720824] [ 0.05406411 0.00291288 0.99853322 0.01983062] [ 0. 0. 0. 1. ]] SLAMing on 150.439928851 meters Centerline goodness : 0.781655 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99116662 -0.12144131 -0.05329852 0.1430041 ] [ 0.12098241 0.99258492 -0.01176565 -0.06403723] [ 0.05433214 0.00521353 0.99850931 0.01793896] [ 0. 0. 0. 1. ]] SLAMing on 150.499928851 meters Centerline goodness : 0.779446 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.9910967 -0.12208224 -0.05313438 0.14291752] [ 0.12161225 0.99250511 -0.01200269 -0.06326551] [ 0.05420146 0.00543404 0.99851523 0.01722395] [ 0. 0. 0. 1. ]] SLAMing on 150.559928851 meters Centerline goodness : 0.780550 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99102969 -0.1226513 -0.05307369 0.1430696 ] [ 0.12217615 0.99243444 -0.01211866 -0.06275545] [ 0.05415853 0.00552562 0.99851706 0.01644986] [ 0. 0. 0. 1. ]] SLAMing on 150.619928851 meters Centerline goodness : 0.780740 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99093998 -0.12342767 -0.05294861 0.14293227] [ 0.12294985 0.99233788 -0.01220119 -0.06255814] [ 0.05404888 0.00558062 0.9985227 0.01565977] [ 0. 0. 0. 1. ]] SLAMing on 150.679928851 meters Centerline goodness : 0.780737 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99088592 -0.12389829 -0.05286112 0.14252979] [ 0.12340224 0.99227725 -0.01255957 -0.0611496 ] [ 0.054009 0.00592192 0.99852289 0.01568779] [ 0. 0. 0. 1. ]] SLAMing on 150.739928851 meters Centerline goodness : 0.783370 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99084315 -0.12434749 -0.05260763 0.14141284] [ 0.12382234 0.99221741 -0.01313925 -0.05944677] [ 0.05383204 0.00650494 0.99852882 0.01633698] [ 0. 0. 0. 1. ]] SLAMing on 150.799928851 meters Centerline goodness : 0.783272 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99079985 -0.12472534 -0.05252845 0.14104949] [ 0.12418093 0.99216753 -0.01351625 -0.05830907] [ 0.05380284 0.00686887 0.99852795 0.01640785] [ 0. 0. 0. 1. ]] SLAMing on 150.859928851 meters Centerline goodness : 0.783735 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.02 [[ 0.99076662 -0.12501359 -0.05247007 0.1413568 ] [ 0.12447054 0.99213138 -0.01350587 -0.05770627] [ 0.05374562 0.00685019 0.99853116 0.01550743] [ 0. 0. 0. 1. ]] SLAMing on 150.919928851 meters Centerline goodness : 0.781501 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.01 [[ 0.99070159 -0.12558535 -0.05233243 0.14159465] [ 0.12503644 0.99205829 -0.01364714 -0.05690378] [ 0.0536307 0.00697678 0.99853647 0.0143575 ] [ 0. 0. 0. 1. ]] SLAMing on 150.979928851 meters Centerline goodness : 0.786091 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.01 [[ 0.9906574 -0.12599962 -0.05217283 0.14109433] [ 0.12544688 0.99200505 -0.01375011 -0.05668746] [ 0.05348822 0.00707673 0.9985434 0.01429049] [ 0. 0. 0. 1. ]] SLAMing on 151.03992885099998 meters Centerline goodness : 0.786410 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.01 [[ 0.99046504 -0.12970259 -0.04643539 0.14915543] [ 0.12961553 0.99155225 -0.00489374 -0.05748936] [ 0.04667785 -0.00117167 0.99890931 0.01089524] [ 0. 0. 0. 1. ]] SLAMing on 151.099928851 meters Centerline goodness : 0.787708 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.01 [[ 9.90232303e-01 -1.31714277e-01 -4.57311117e-02 1.46514923e-01] [ 1.31604087e-01 9.91287512e-01 -5.42519737e-03 -5.84368966e-02] [ 4.60472559e-02 -6.46195510e-04 9.98939054e-01 1.14040097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159928851 meters Centerline goodness : 0.785353 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.01 [[ 9.90130085e-01 -1.32584989e-01 -4.54272636e-02 1.46205515e-01] [ 1.32483867e-01 9.91171295e-01 -5.24293581e-03 -5.96244603e-02] [ 4.57213343e-02 -8.27191078e-04 9.98953891e-01 1.03360543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219928851 meters Centerline goodness : 0.787143 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.01 [[ 0.99009966 -0.13287094 -0.04525447 0.14649244] [ 0.13278358 0.99113272 -0.00494437 -0.05993738] [ 0.04551015 -0.00111364 0.99896326 0.00909514] [ 0. 0. 0. 1. ]] SLAMing on 151.279928851 meters Centerline goodness : 0.784164 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.01 [[ 9.90068844e-01 -1.33140020e-01 -4.51377737e-02 1.46309121e-01] [ 1.33034286e-01 9.91096986e-01 -5.35185809e-03 -5.83724692e-02] [ 4.54484579e-02 -7.06163543e-04 9.98966435e-01 8.91603631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339928851 meters Centerline goodness : 0.782898 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.01 [[ 0.99052588 -0.12965929 -0.04524313 0.14531246] [ 0.12970445 0.99155078 -0.00194846 -0.05650448] [ 0.0451135 -0.00393823 0.9989741 0.00863758] [ 0. 0. 0. 1. ]] SLAMing on 151.399928851 meters Centerline goodness : 0.784310 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.01 [[ 0.99054178 -0.12951496 -0.04530856 0.14519918] [ 0.12952425 0.99157246 -0.00274306 -0.05346282] [ 0.04528198 -0.00315144 0.99896927 0.00932637] [ 0. 0. 0. 1. ]] SLAMing on 151.459928851 meters Centerline goodness : 0.782898 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 0.99046885 -0.13026404 -0.04475205 0.14284495] [ 0.1302108 0.99147779 -0.00411509 -0.05026849] [ 0.04490672 -0.00175133 0.99898965 0.01104548] [ 0. 0. 0. 1. ]] SLAMing on 151.519928851 meters Centerline goodness : 0.782920 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 0.99037427 -0.13116073 -0.04422303 0.14099648] [ 0.13107993 0.9913605 -0.00473463 -0.04921035] [ 0.04446197 -0.0011077 0.99901046 0.01167002] [ 0. 0. 0. 1. ]] SLAMing on 151.579928851 meters Centerline goodness : 0.781747 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 9.90302714e-01 -1.31822618e-01 -4.38558057e-02 1.40036978e-01] [ 1.31732714e-01 9.91272932e-01 -4.94642204e-03 -4.88198496e-02] [ 4.41251233e-02 -8.78789113e-04 9.99025626e-01 1.15859680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639928851 meters Centerline goodness : 0.780107 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 9.90210948e-01 -1.32674641e-01 -4.33557156e-02 1.39553800e-01] [ 1.32588238e-01 9.91159216e-01 -4.87520909e-03 -4.86096070e-02] [ 4.36192337e-02 -9.20972519e-04 9.99047804e-01 1.01209993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699928851 meters Centerline goodness : 0.781711 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 0.99017417 -0.13298636 -0.04324049 0.13998637] [ 0.13290676 0.99111729 -0.00472343 -0.04834429] [ 0.04348455 -0.00106993 0.99905353 0.00879024] [ 0. 0. 0. 1. ]] SLAMing on 151.75992885099998 meters Centerline goodness : 0.777912 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 0.99019559 -0.13279637 -0.04333374 0.14116711] [ 0.13272221 0.99114262 -0.00459671 -0.04713836] [ 0.04356034 -0.00119971 0.99905008 0.00733996] [ 0. 0. 0. 1. ]] SLAMing on 151.819928851 meters Centerline goodness : 0.777758 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 9.90187168e-01 -1.32823997e-01 -4.34414292e-02 1.41194171e-01] [ 1.32725106e-01 9.91139426e-01 -5.16564538e-03 -4.51981259e-02] [ 4.37426348e-02 -6.50812517e-04 9.99042621e-01 7.78764991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879928851 meters Centerline goodness : 0.775494 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.01 [[ 9.90179249e-01 -1.32880259e-01 -4.34498722e-02 1.40709673e-01] [ 1.32742108e-01 9.91132071e-01 -6.06229297e-03 -4.23843107e-02] [ 4.38701209e-02 2.35129078e-04 9.99037215e-01 8.79409519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939928851 meters Centerline goodness : 0.775630 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.01 [[ 9.90157668e-01 -1.33101411e-01 -4.32643771e-02 1.40124658e-01] [ 1.32949035e-01 9.91102255e-01 -6.39331205e-03 -4.14733807e-02] [ 4.37303806e-02 5.78429770e-04 9.99043202e-01 9.00804298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999928851 meters Centerline goodness : 0.773960 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.01 [[ 0.99011717 -0.13352568 -0.04288221 0.13891345] [ 0.13334962 0.99104467 -0.00695318 -0.04045292] [ 0.04342662 0.00116614 0.99905594 0.00958873] [ 0. 0. 0. 1. ]] SLAMing on 152.059928851 meters Centerline goodness : 0.773002 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.01 [[ 0.99002047 -0.1344429 -0.04224423 0.13687645] [ 0.13425262 0.99092009 -0.00732246 -0.0405273 ] [ 0.04284511 0.00157799 0.99908048 0.0101539 ] [ 0. 0. 0. 1. ]] SLAMing on 152.119928851 meters Centerline goodness : 0.774356 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.01 [[ 0.98992915 -0.13526158 -0.04176833 0.13529772] [ 0.13507185 0.99080859 -0.00734446 -0.04122711] [ 0.04237784 0.00162876 0.99910033 0.0104201 ] [ 0. 0. 0. 1. ]] SLAMing on 152.179928851 meters Centerline goodness : 0.771016 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:0.01 [[ 0.989291 -0.14005228 -0.04109341 0.1344981 ] [ 0.13970172 0.9901292 -0.01129612 -0.04210069] [ 0.04226983 0.00543433 0.99909145 0.01081644] [ 0. 0. 0. 1. ]] SLAMing on 152.239928851 meters Centerline goodness : 0.771390 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.01 [[ 0.98871263 -0.14417569 -0.04075177 0.13519475] [ 0.14367881 0.98951243 -0.01488468 -0.0434308 ] [ 0.04247039 0.0088615 0.99905843 0.01049029] [ 0. 0. 0. 1. ]] SLAMing on 152.299928851 meters Centerline goodness : 0.771431 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.01 [[ 0.98807063 -0.1487117 -0.04001573 0.13506623] [ 0.14807899 0.98880523 -0.01835305 -0.04543322] [ 0.04229707 0.01220862 0.99903048 0.00992803] [ 0. 0. 0. 1. ]] SLAMing on 152.359928851 meters Centerline goodness : 0.772390 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.01 [[ 0.98797683 -0.14948636 -0.03944121 0.13350712] [ 0.14886924 0.98869009 -0.01816167 -0.04728798] [ 0.04171005 0.01207173 0.99905683 0.00998972] [ 0. 0. 0. 1. ]] SLAMing on 152.419928851 meters Centerline goodness : 0.773140 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.01 [[ 0.98843104 -0.14646096 -0.03941156 0.13152588] [ 0.14599243 0.989179 -0.01453002 -0.04905259] [ 0.04111317 0.00860813 0.99911741 0.01061264] [ 0. 0. 0. 1. ]] SLAMing on 152.479928851 meters Centerline goodness : 0.774308 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.01 [[ 0.98893188 -0.14305709 -0.03934983 0.12950408] [ 0.14274223 0.98970192 -0.01071265 -0.05024358] [ 0.04047712 0.0049772 0.99916807 0.01124979] [ 0. 0. 0. 1. ]] SLAMing on 152.53992885099998 meters Centerline goodness : 0.775777 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.01 [[ 9.89529157e-01 -1.38791650e-01 -3.96096719e-02 1.28910962e-01] [ 1.38644685e-01 9.90321206e-01 -6.44679170e-03 -5.14332118e-02] [ 4.01210589e-02 8.87617846e-04 9.99194432e-01 1.12156843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599928851 meters Centerline goodness : 0.776276 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.01 [[ 0.99013572 -0.13425209 -0.04009518 0.12958524] [ 0.13429515 0.99094004 -0.00162985 -0.05370317] [ 0.03995073 -0.00377082 0.99919454 0.01007569] [ 0. 0. 0. 1. ]] SLAMing on 152.659928851 meters Centerline goodness : 0.777345 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.01 [[ 0.99020559 -0.13364732 -0.04038923 0.13067363] [ 0.13370864 0.99101997 -0.00119142 -0.05430425] [ 0.04018576 -0.00422064 0.99918331 0.00962806] [ 0. 0. 0. 1. ]] SLAMing on 152.719928851 meters Centerline goodness : 0.776661 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.01 [[ 9.90232272e-01 -1.33453806e-01 -4.03748670e-02 1.30880542e-01] [ 1.33528984e-01 9.91044551e-01 -8.41060958e-04 -5.53339922e-02] [ 4.01255348e-02 -4.55836928e-03 9.99184249e-01 9.33845916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779928851 meters Centerline goodness : 0.777868 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.01 [[ 9.90243055e-01 -1.33376089e-01 -4.03671946e-02 1.31286421e-01] [ 1.33467258e-01 9.91053125e-01 -4.40057427e-04 -5.66238684e-02] [ 4.00647275e-02 -4.95193498e-03 9.99184816e-01 8.72941661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839928851 meters Centerline goodness : 0.777750 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.01 [[ 9.90179312e-01 -1.33985362e-01 -3.99105567e-02 1.29782193e-01] [ 1.34076101e-01 9.90970955e-01 -4.06416242e-04 -5.80273826e-02] [ 3.96046563e-02 -4.94862688e-03 9.99203174e-01 9.25761394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899928851 meters Centerline goodness : 0.780765 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.01 [[ 9.90041559e-01 -1.35133518e-01 -3.94543295e-02 1.27684053e-01] [ 1.35222314e-01 9.90815194e-01 -4.21564718e-04 -6.04727189e-02] [ 3.91489166e-02 -4.91773913e-03 9.99221286e-01 1.02557827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959928851 meters Centerline goodness : 0.776614 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.01 [[ 9.89899940e-01 -1.36305582e-01 -3.89730245e-02 1.25770451e-01] [ 1.36388955e-01 9.90655227e-01 -5.23917986e-04 -6.27667821e-02] [ 3.86802434e-02 -4.79686370e-03 9.99240126e-01 1.10666640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019928851 meters Centerline goodness : 0.774334 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98931643 -0.14063645 -0.03839782 0.12542749] [ 0.14058494 0.99006033 -0.00405172 -0.0652463 ] [ 0.03858598 -0.00138972 0.99925432 0.01147558] [ 0. 0. 0. 1. ]] SLAMing on 153.079928851 meters Centerline goodness : 0.776995 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98925611 -0.14107372 -0.03834768 0.12550409] [ 0.14103986 0.98999737 -0.0036006 -0.06783649] [ 0.03847205 -0.00184664 0.99925797 0.01098018] [ 0. 0. 0. 1. ]] SLAMing on 153.139928851 meters Centerline goodness : 0.771727 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98926013 -0.1410151 -0.0384595 0.12618122] [ 0.14101155 0.99000394 -0.00281874 -0.07060732] [ 0.03847254 -0.00263477 0.99925618 0.01023173] [ 0. 0. 0. 1. ]] SLAMing on 153.199928851 meters Centerline goodness : 0.773606 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98926409 -0.1409775 -0.03849562 0.12610276] [ 0.14097194 0.99000942 -0.00287262 -0.0705183 ] [ 0.038516 -0.00258502 0.99925464 0.01049611] [ 0. 0. 0. 1. ]] SLAMing on 153.25992885099998 meters Centerline goodness : 0.773800 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98983373 -0.1367945 -0.03894173 0.12589392] [ 0.13695441 0.99057628 0.00145638 -0.07236083] [ 0.03837553 -0.00677482 0.99924042 0.01050884] [ 0. 0. 0. 1. ]] SLAMing on 153.319928851 meters Centerline goodness : 0.778650 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98998082 -0.13557932 -0.0394489 0.12759953] [ 0.13575196 0.99074136 0.00171859 -0.07176388] [ 0.03885065 -0.00705663 0.99922011 0.01030835] [ 0. 0. 0. 1. ]] SLAMing on 153.379928851 meters Centerline goodness : 0.772531 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.99061565 -0.1306228 -0.04022837 0.12865919] [ 0.1309716 0.99136705 0.00614921 -0.07208939] [ 0.03907785 -0.01136028 0.99917159 0.00980178] [ 0. 0. 0. 1. ]] SLAMing on 153.439928851 meters Centerline goodness : 0.770991 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.99117074 -0.12619126 -0.04069812 0.12908363] [ 0.1267079 0.99188592 0.01036482 -0.07266649] [ 0.03905995 -0.01543008 0.99911773 0.00920233] [ 0. 0. 0. 1. ]] SLAMing on 153.499928851 meters Centerline goodness : 0.772211 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.9917722 -0.1211952 -0.04122648 0.13010055] [ 0.12188115 0.99243814 0.01454405 -0.07179637] [ 0.03915206 -0.01944912 0.99904397 0.00826237] [ 0. 0. 0. 1. ]] SLAMing on 153.559928851 meters Centerline goodness : 0.772742 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.99177888 -0.12113726 -0.04123622 0.12956672] [ 0.12178874 0.99246202 0.0136618 -0.06944124] [ 0.03927043 -0.0185716 0.99905602 0.00951117] [ 0. 0. 0. 1. ]] SLAMing on 153.619928851 meters Centerline goodness : 0.773455 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.99174856 -0.12148325 -0.04094653 0.12877954] [ 0.12212829 0.99242074 0.01362888 -0.07009393] [ 0.03898051 -0.01851715 0.99906838 0.00969316] [ 0. 0. 0. 1. ]] SLAMing on 153.679928851 meters Centerline goodness : 0.772400 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.99124734 -0.12555864 -0.04078905 0.12932185] [ 0.1260403 0.99198012 0.00944943 -0.06963535] [ 0.03927547 -0.01450779 0.9991231 0.01015577] [ 0. 0. 0. 1. ]] SLAMing on 153.739928851 meters Centerline goodness : 0.772806 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.99061222 -0.13071887 -0.04000011 0.12823691] [ 0.13104066 0.99136162 0.00552028 -0.07138804] [ 0.03893297 -0.01071009 0.99918443 0.01043056] [ 0. 0. 0. 1. ]] SLAMing on 153.799928851 meters Centerline goodness : 0.774497 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98997681 -0.13566656 -0.0392491 0.1275532 ] [ 0.13584279 0.99072869 0.00184619 -0.07394159] [ 0.03863475 -0.00715939 0.99922775 0.01040013] [ 0. 0. 0. 1. ]] SLAMing on 153.859928851 meters Centerline goodness : 0.775441 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98941366 -0.13981793 -0.03887876 0.12795287] [ 0.13983474 0.99017218 -0.00230019 -0.07341417] [ 0.03881827 -0.00316076 0.99924129 0.01051396] [ 0. 0. 0. 1. ]] SLAMing on 153.919928851 meters Centerline goodness : 0.774292 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98934649 -0.14035694 -0.0386453 0.1275065 ] [ 0.14037161 0.99009611 -0.00234691 -0.07378849] [ 0.03859197 -0.0031028 0.99925024 0.0102358 ] [ 0. 0. 0. 1. ]] SLAMing on 153.979928851 meters Centerline goodness : 0.784660 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.01 [[ 0.98931734 -0.14062459 -0.03841791 0.12666957] [ 0.14062349 0.99005934 -0.0027443 -0.07331848] [ 0.03842193 -0.00268748 0.99925799 0.01082838] [ 0. 0. 0. 1. ]] SLAMing on 154.03992885099998 meters Centerline goodness : 0.775563 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 9.89776177e-01 -1.37400576e-01 -3.82648859e-02 1.24301872e-01] [ 1.37522231e-01 9.90498526e-01 5.53011179e-04 -7.29477282e-02] [ 3.78253290e-02 -5.80962978e-03 9.99267478e-01 1.18189280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099928851 meters Centerline goodness : 0.778183 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99029297 -0.13357646 -0.03843376 0.12343686] [ 0.13383605 0.99099437 0.00425105 -0.07263835] [ 0.0375198 -0.00935361 0.99925211 0.01182284] [ 0. 0. 0. 1. ]] SLAMing on 154.159928851 meters Centerline goodness : 0.776778 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99042862 -0.13252678 -0.03857203 0.12441359] [ 0.13278378 0.99113627 0.00416764 -0.0708521 ] [ 0.03767781 -0.00924949 0.99924713 0.01162566] [ 0. 0. 0. 1. ]] SLAMing on 154.219928851 meters Centerline goodness : 0.778877 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.9909597 -0.12849584 -0.03857064 0.12359358] [ 0.12889528 0.99162558 0.00804412 -0.07031614] [ 0.037214 -0.01294297 0.9992235 0.01115113] [ 0. 0. 0. 1. ]] SLAMing on 154.279928851 meters Centerline goodness : 0.777501 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99051022 -0.13200454 -0.03826623 0.12487073] [ 0.13227133 0.99120326 0.00451501 -0.07038511] [ 0.03733361 -0.00953369 0.99925738 0.0102541 ] [ 0. 0. 0. 1. ]] SLAMing on 154.339928851 meters Centerline goodness : 0.777501 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99051022 -0.13200454 -0.03826623 0.12487073] [ 0.13227133 0.99120326 0.00451501 -0.07038511] [ 0.03733361 -0.00953369 0.99925738 0.0102541 ] [ 0. 0. 0. 1. ]] SLAMing on 154.399928851 meters Centerline goodness : 0.775274 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99047466 -0.13235468 -0.03797615 0.12428388] [ 0.13262336 0.99115567 0.00463392 -0.07130805] [ 0.03702696 -0.0096263 0.9992679 0.01008249] [ 0. 0. 0. 1. ]] SLAMing on 154.459928851 meters Centerline goodness : 0.785931 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99031954 -0.13361983 -0.03758916 0.12275136] [ 0.13387548 0.99098858 0.00435691 -0.07271813] [ 0.03666826 -0.009347 0.99928378 0.01056869] [ 0. 0. 0. 1. ]] SLAMing on 154.519928851 meters Centerline goodness : 0.776115 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 9.89680333e-01 -1.38525014e-01 -3.66559409e-02 1.21395742e-01] [ 1.38627652e-01 9.90344539e-01 2.61055769e-04 -7.40618614e-02] [ 3.62658482e-02 -5.33988877e-03 9.99327911e-01 1.11904763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579928851 meters Centerline goodness : 0.774906 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.01 [[ 9.89522549e-01 -1.39727801e-01 -3.63492424e-02 1.20180913e-01] [ 1.39813786e-01 9.90177799e-01 -1.78071271e-04 -7.52048743e-02] [ 3.60170943e-02 -4.90591967e-03 9.99339132e-01 1.16501867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.639928851 meters Centerline goodness : 0.775935 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 9.89541765e-01 -1.39563431e-01 -3.64574392e-02 1.20767426e-01] [ 1.39644401e-01 9.90201663e-01 -3.28457721e-04 -7.42644291e-02] [ 3.61460576e-02 -4.76605464e-03 9.99335153e-01 1.12927907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.699928851 meters Centerline goodness : 0.774442 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99008649 -0.13558634 -0.03667536 0.12011522] [ 0.13578841 0.99073312 0.00306474 -0.07242262] [ 0.03591995 -0.00801445 0.99932253 0.01126352] [ 0. 0. 0. 1. ]] SLAMing on 154.75992885099998 meters Centerline goodness : 0.775089 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99062192 -0.13150522 -0.03707533 0.11963292] [ 0.13183121 0.99125101 0.00647871 -0.0706219 ] [ 0.03589897 -0.01130564 0.99929147 0.01157257] [ 0. 0. 0. 1. ]] SLAMing on 154.819928851 meters Centerline goodness : 0.777032 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99118224 -0.12716712 -0.0372328 0.11869486] [ 0.12761055 0.99177617 0.009776 -0.06819153] [ 0.03568342 -0.0144411 0.9992588 0.01210964] [ 0. 0. 0. 1. ]] SLAMing on 154.879928851 meters Centerline goodness : 0.776023 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99125344 -0.12657628 -0.03735063 0.11913507] [ 0.12700471 0.99185833 0.00932019 -0.06609965] [ 0.03586682 -0.01398238 0.99925876 0.01235959] [ 0. 0. 0. 1. ]] SLAMing on 154.939928851 meters Centerline goodness : 0.777685 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:0.01 [[ 0.99127252 -0.12647906 -0.03717308 0.11856085] [ 0.1268872 0.99187791 0.00882367 -0.06442753] [ 0.03575514 -0.01346345 0.99926989 0.01285811] [ 0. 0. 0. 1. ]] SLAMing on 154.999928851 meters Centerline goodness : 0.775963 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99069948 -0.13101815 -0.03672573 0.11875242] [ 0.1312969 0.99132906 0.00527355 -0.06609723] [ 0.03571636 -0.01004648 0.99931147 0.0124533 ] [ 0. 0. 0. 1. ]] SLAMing on 155.059928851 meters Centerline goodness : 0.775807 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.99019573 -0.13479861 -0.03662999 0.12015825] [ 0.13494623 0.99085167 0.00157675 -0.06625704] [ 0.03608234 -0.00650437 0.99932765 0.01192641] [ 0. 0. 0. 1. ]] SLAMing on 155.119928851 meters Centerline goodness : 0.773360 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.98947777 -0.14017293 -0.0358511 0.11931655] [ 0.1401954 0.99012203 -0.00189879 -0.06997563] [ 0.03576312 -0.00314735 0.99935534 0.01169473] [ 0. 0. 0. 1. ]] SLAMing on 155.179928851 meters Centerline goodness : 0.771923 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:0.01 [[ 0.98812094 -0.14966628 -0.0348856 0.1188897 ] [ 0.14943926 0.98872957 -0.00904124 -0.07493629] [ 0.03584559 0.00372056 0.99935041 0.01200183] [ 0. 0. 0. 1. ]] SLAMing on 155.239928851 meters Centerline goodness : 0.776137 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.01 [[ 0.98748927 -0.15387854 -0.0344432 0.11918762] [ 0.15353302 0.98806474 -0.01247707 -0.07715874] [ 0.03595207 0.00703281 0.99932877 0.01201532] [ 0. 0. 0. 1. ]] SLAMing on 155.299928851 meters Centerline goodness : 0.771926 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.01 [[ 0.98732482 -0.15498479 -0.03419664 0.11769207] [ 0.15464462 0.98789242 -0.01239369 -0.08074703] [ 0.03570343 0.00694827 0.99933827 0.01303581] [ 0. 0. 0. 1. ]] SLAMing on 155.359928851 meters Centerline goodness : 0.775978 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.02 [[ 0.98759911 -0.15329333 -0.03389916 0.1154281 ] [ 0.1530033 0.98816439 -0.01100577 -0.08245169] [ 0.03518505 0.0056826 0.99936466 0.01506501] [ 0. 0. 0. 1. ]] SLAMing on 155.419928851 meters Centerline goodness : 0.776547 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.08, Z:0.02 [[ 0.98817922 -0.14943616 -0.03421506 0.11449553] [ 0.14928458 0.9887698 -0.00695722 -0.08376004] [ 0.03487048 0.0017672 0.99939028 0.01542477] [ 0. 0. 0. 1. ]] SLAMing on 155.479928851 meters Centerline goodness : 0.781382 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 9.89736268e-01 -1.40170634e-01 -2.78264688e-02 1.06585503e-01] [ 1.40093487e-01 9.90127066e-01 -4.71253812e-03 -8.68209828e-02] [ 2.82122993e-02 7.65862851e-04 9.99601660e-01 1.03210374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53992885099998 meters Centerline goodness : 0.782079 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 9.90378803e-01 -1.35431532e-01 -2.84275739e-02 1.07111418e-01] [ 1.35481432e-01 9.90779871e-01 -1.72259284e-04 -8.79835394e-02] [ 2.81887973e-02 -3.68080648e-03 9.99595840e-01 9.85820831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599928851 meters Centerline goodness : 0.773403 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 0.99110934 -0.12977098 -0.02935599 0.10873582] [ 0.12996251 0.99150775 0.00470518 -0.08882775] [ 0.02849609 -0.00847853 0.99955795 0.00923543] [ 0. 0. 0. 1. ]] SLAMing on 155.659928851 meters Centerline goodness : 0.781898 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 0.99176845 -0.12445689 -0.03009691 0.11014797] [ 0.12479724 0.99213485 0.00970011 -0.09015203] [ 0.02865294 -0.01337627 0.99949992 0.00818133] [ 0. 0. 0. 1. ]] SLAMing on 155.719928851 meters Centerline goodness : 0.782562 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 0.99189665 -0.12333179 -0.03050103 0.11177322] [ 0.12369145 0.99226837 0.01019328 -0.09059484] [ 0.02900805 -0.01388339 0.99948276 0.00767351] [ 0. 0. 0. 1. ]] SLAMing on 155.779928851 meters Centerline goodness : 0.780982 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 0.99196731 -0.12274259 -0.03057964 0.11196215] [ 0.12311263 0.99233694 0.01051997 -0.09143904] [ 0.02905406 -0.0142002 0.99947697 0.00800098] [ 0. 0. 0. 1. ]] SLAMing on 155.839928851 meters Centerline goodness : 0.771546 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:0.01 [[ 0.99197383 -0.12267335 -0.03064604 0.11198177] [ 0.12304978 0.99234273 0.01070788 -0.0926467 ] [ 0.0290978 -0.01439292 0.99947294 0.00826749] [ 0. 0. 0. 1. ]] SLAMing on 155.899928851 meters Centerline goodness : 0.781667 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99196868 -0.12272474 -0.03060671 0.11205743] [ 0.12311711 0.99232809 0.01127565 -0.095037 ] [ 0.0289881 -0.0149533 0.9994679 0.00801801] [ 0. 0. 0. 1. ]] SLAMing on 155.959928851 meters Centerline goodness : 0.768252 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99193997 -0.12295655 -0.03060684 0.11200775] [ 0.12335934 0.99229389 0.01163225 -0.09690274] [ 0.02894072 -0.01531413 0.99946381 0.00794327] [ 0. 0. 0. 1. ]] SLAMing on 156.019928851 meters Centerline goodness : 0.770369 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99149204 -0.12653548 -0.03053373 0.11301301] [ 0.1268319 0.99189223 0.00796684 -0.0974022 ] [ 0.02927808 -0.01177171 0.99950199 0.00813547] [ 0. 0. 0. 1. ]] SLAMing on 156.079928851 meters Centerline goodness : 0.769088 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99143808 -0.1269951 -0.03037723 0.1125536 ] [ 0.12729875 0.99182993 0.00827203 -0.09977 ] [ 0.02907854 -0.01206819 0.99950428 0.00818571] [ 0. 0. 0. 1. ]] SLAMing on 156.139928851 meters Centerline goodness : 0.767412 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99095549 -0.13071412 -0.03034847 0.11346102] [ 0.13090856 0.99138422 0.00450259 -0.10058918] [ 0.02949844 -0.00843474 0.99952924 0.00868296] [ 0. 0. 0. 1. ]] SLAMing on 156.199928851 meters Centerline goodness : 0.784239 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99052441 -0.13394293 -0.03034267 0.11458989] [ 0.13403637 0.99097585 0.0010573 -0.10181495] [ 0.02992724 -0.0051143 0.999539 0.00913382] [ 0. 0. 0. 1. ]] SLAMing on 156.25992885099998 meters Centerline goodness : 0.785053 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:0.01 [[ 0.99053079 -0.13390748 -0.03029087 0.11421849] [ 0.1340135 0.99097839 0.00148829 -0.10398916] [ 0.02981831 -0.00553358 0.99954002 0.00957048] [ 0. 0. 0. 1. ]] SLAMing on 156.319928851 meters Centerline goodness : 0.784022 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.11, Z:0.01 [[ 0.9905273 -0.13397925 -0.03008685 0.11313269] [ 0.13409762 0.99096622 0.0019422 -0.10752267] [ 0.02955483 -0.00595838 0.9995454 0.0107868 ] [ 0. 0. 0. 1. ]] SLAMing on 156.379928851 meters Centerline goodness : 0.783941 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.11, Z:0.01 [[ 0.99054219 -0.13389598 -0.02996717 0.11260068] [ 0.13403466 0.99097308 0.00265861 -0.11088804] [ 0.02934068 -0.00665011 0.99954735 0.01129986] [ 0. 0. 0. 1. ]] SLAMing on 156.439928851 meters Centerline goodness : 0.786693 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.12, Z:0.01 [[ 9.90169908e-01 -1.36584559e-01 -3.01365602e-02 1.14609852e-01] [ 1.36659793e-01 9.90617942e-01 4.41342391e-04 -1.15107291e-01] [ 2.97935367e-02 -4.55546005e-03 9.99545693e-01 1.09026431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499928851 meters Centerline goodness : 0.771765 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.01 [[ 0.98975572 -0.13957659 -0.03003323 0.11611664] [ 0.13957274 0.9902093 -0.00223456 -0.11833826] [ 0.03005108 -0.00198016 0.9995464 0.01053173] [ 0. 0. 0. 1. ]] SLAMing on 156.559928851 meters Centerline goodness : 0.785598 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.01 [[ 9.89345795e-01 -1.42441169e-01 -3.00900669e-02 1.18358053e-01] [ 1.42378324e-01 9.89803265e-01 -4.23191067e-03 -1.23485788e-01] [ 3.03860447e-02 -9.73502591e-05 9.99538233e-01 9.47631609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619928851 meters Centerline goodness : 0.787419 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.13, Z:0.01 [[ 0.98938448 -0.14212948 -0.03029132 0.11918774] [ 0.14210279 0.98984723 -0.00304315 -0.1274206 ] [ 0.0304163 -0.00129363 0.99953648 0.00887645] [ 0. 0. 0. 1. ]] SLAMing on 156.679928851 meters Centerline goodness : 0.773549 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.14, Z:0.01 [[ 9.89507927e-01 -1.38290728e-01 -4.18298490e-02 1.17239404e-01] [ 1.38373142e-01 9.90379727e-01 -9.32636784e-04 -1.36655561e-01] [ 4.15564095e-02 -4.86527616e-03 9.99124314e-01 1.34069931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739928851 meters Centerline goodness : 0.789481 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.14, Z:0.02 [[ 0.98982147 -0.1321246 -0.05288231 0.11527787] [ 0.13241841 0.99119174 0.00207572 -0.14470674] [ 0.05214226 -0.00905718 0.99859859 0.01735983] [ 0. 0. 0. 1. ]] SLAMing on 156.799928851 meters Centerline goodness : 0.789849 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.15, Z:0.02 [[ 0.99012804 -0.1253194 -0.06278145 0.11231638] [ 0.12605696 0.99199145 0.00791246 -0.15382284] [ 0.06128707 -0.01574838 0.99799593 0.0212312 ] [ 0. 0. 0. 1. ]] SLAMing on 156.859928851 meters Centerline goodness : 0.787325 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.02 [[ 0.99036175 -0.12375135 -0.06220295 0.11146649] [ 0.1245716 0.99216542 0.00947123 -0.15802325] [ 0.06054353 -0.01712866 0.99801858 0.02121656] [ 0. 0. 0. 1. ]] SLAMing on 156.919928851 meters Centerline goodness : 0.789699 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.02 [[ 0.99053787 -0.12243165 -0.06200981 0.11164709] [ 0.12332064 0.99230915 0.01070343 -0.16107641] [ 0.06022246 -0.01824924 0.99801815 0.02082729] [ 0. 0. 0. 1. ]] SLAMing on 156.979928851 meters Centerline goodness : 0.789799 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.02 [[ 0.99060946 -0.12198427 -0.0617474 0.11156085] [ 0.12288796 0.99235913 0.01104127 -0.16251438] [ 0.05992873 -0.01852559 0.99803074 0.0203652 ] [ 0. 0. 0. 1. ]] SLAMing on 157.03992885099998 meters Centerline goodness : 0.780960 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:0.02 [[ 0.99095741 -0.11949121 -0.06103489 0.11166815] [ 0.12047245 0.99263614 0.01264481 -0.1665086 ] [ 0.05907449 -0.01988349 0.99805554 0.01839501] [ 0. 0. 0. 1. ]] SLAMing on 157.099928851 meters Centerline goodness : 0.789460 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:0.02 [[ 0.99136186 -0.11669427 -0.05986751 0.110036 ] [ 0.11773447 0.99294444 0.01414004 -0.17031147] [ 0.05779505 -0.02106637 0.99810618 0.01757324] [ 0. 0. 0. 1. ]] SLAMing on 157.159928851 meters Centerline goodness : 0.790567 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:0.02 [[ 0.99160468 -0.11498012 -0.05915849 0.10950993] [ 0.11605317 0.99312939 0.01502286 -0.17315064] [ 0.0570247 -0.02176227 0.99813556 0.01649838] [ 0. 0. 0. 1. ]] SLAMing on 157.219928851 meters Centerline goodness : 0.784729 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.02 [[ 0.9918435 -0.11329761 -0.0583963 0.10876641] [ 0.11441433 0.99330204 0.01613723 -0.17690749] [ 0.05617685 -0.02268698 0.99816304 0.01566398] [ 0. 0. 0. 1. ]] SLAMing on 157.279928851 meters Centerline goodness : 0.784129 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.02 [[ 0.99197517 -0.1123565 -0.0579765 0.10822636] [ 0.11350592 0.99339326 0.01691836 -0.17937129] [ 0.05569257 -0.02336327 0.99817458 0.01551549] [ 0. 0. 0. 1. ]] SLAMing on 157.339928851 meters Centerline goodness : 0.779444 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.01 [[ 0.99215868 -0.1108501 -0.05773565 0.10880335] [ 0.11206701 0.99353261 0.01827416 -0.18293654] [ 0.05533656 -0.02460113 0.99816464 0.01432554] [ 0. 0. 0. 1. ]] SLAMing on 157.399928851 meters Centerline goodness : 0.780553 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.01 [[ 0.99224546 -0.11026284 -0.05736769 0.10921269] [ 0.11142979 0.99361738 0.01754699 -0.18288064] [ 0.05506675 -0.02380339 0.9981989 0.01255703] [ 0. 0. 0. 1. ]] SLAMing on 157.459928851 meters Centerline goodness : 0.778959 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.01 [[ 0.9925027 -0.10813631 -0.05696419 0.10915565] [ 0.10926913 0.9938642 0.01715282 -0.18195951] [ 0.05475983 -0.02324864 0.99822886 0.01074809] [ 0. 0. 0. 1. ]] SLAMing on 157.519928851 meters Centerline goodness : 0.772540 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.01 [[ 0.99320404 -0.10210208 -0.05586497 0.10644243] [ 0.10332735 0.99445634 0.01949491 -0.18122376] [ 0.0535648 -0.0251348 0.99824799 0.0094346 ] [ 0. 0. 0. 1. ]] SLAMing on 157.579928851 meters Centerline goodness : 0.773881 with order 3 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.01 [[ 0.99369056 -0.09740363 -0.0556022 0.10482911] [ 0.09879832 0.99484384 0.02290472 -0.18106249] [ 0.05308451 -0.0282536 0.99819025 0.00953924] [ 0. 0. 0. 1. ]] SLAMing on 157.639928851 meters Centerline goodness : 0.768559 with order 3 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.01 [[ 0.99419876 -0.09305636 -0.05393832 0.10151356] [ 0.09440654 0.99526699 0.02304379 -0.18054208] [ 0.05153866 -0.02800224 0.99827834 0.00826768] [ 0. 0. 0. 1. ]] SLAMing on 157.699928851 meters Centerline goodness : 0.768705 with order 3 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.01 [[ 0.99436496 -0.09164262 -0.05329124 0.10063324] [ 0.09295117 0.99541386 0.02261257 -0.17986817] [ 0.05097456 -0.02743864 0.99832295 0.00720016] [ 0. 0. 0. 1. ]] SLAMing on 157.75992885099998 meters Centerline goodness : 0.766931 with order 3 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.01 [[ 0.99427718 -0.09262159 -0.05323662 0.10131643] [ 0.09389705 0.9953394 0.02197318 -0.17983322] [ 0.05095332 -0.0268462 0.99834014 0.00648653] [ 0. 0. 0. 1. ]] SLAMing on 157.819928851 meters Centerline goodness : 0.768616 with order 3 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.01 [[ 0.99390333 -0.09650914 -0.05331182 0.10221064] [ 0.09764113 0.9950394 0.01904725 -0.18017796] [ 0.05120913 -0.02413655 0.99839624 0.00687169] [ 0. 0. 0. 1. ]] SLAMing on 157.879928851 meters Centerline goodness : 0.764169 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.01 [[ 0.99308907 -0.10357156 -0.05519986 0.10770166] [ 0.10470716 0.99433863 0.0180858 -0.18436282] [ 0.05301418 -0.02374063 0.99831151 0.00682023] [ 0. 0. 0. 1. ]] SLAMing on 157.939928851 meters Centerline goodness : 0.761978 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.01 [[ 0.99236724 -0.10983805 -0.05606122 0.11080567] [ 0.11085648 0.99371738 0.0153824 -0.18633162] [ 0.05401943 -0.02147974 0.99830883 0.00737393] [ 0. 0. 0. 1. ]] SLAMing on 157.999928851 meters Centerline goodness : 0.763185 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.01 [[ 0.99149889 -0.11667806 -0.05758629 0.11546675] [ 0.11759426 0.99297955 0.01277484 -0.18749926] [ 0.05569146 -0.01943806 0.9982588 0.00750268] [ 0. 0. 0. 1. ]] SLAMing on 158.059928851 meters Centerline goodness : 0.762010 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.01 [[ 0.99132312 -0.11781903 -0.05828505 0.11732798] [ 0.11875879 0.99283908 0.01291914 -0.18764641] [ 0.05634555 -0.01972891 0.99821638 0.00723494] [ 0. 0. 0. 1. ]] SLAMing on 158.119928851 meters Centerline goodness : 0.756681 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.01 [[ 0.9914935 -0.11604319 -0.05894593 0.11830326] [ 0.11710735 0.99300718 0.01491983 -0.18648462] [ 0.05680238 -0.02169592 0.99814968 0.00675454] [ 0. 0. 0. 1. ]] SLAMing on 158.179928851 meters Centerline goodness : 0.755987 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.01 [[ 0.99184919 -0.11255951 -0.05971213 0.11936467] [ 0.11382806 0.99333236 0.01827551 -0.1857974 ] [ 0.05725691 -0.02492347 0.99804833 0.00609409] [ 0. 0. 0. 1. ]] SLAMing on 158.239928851 meters Centerline goodness : 0.760442 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:0.01 [[ 0.99220138 -0.10954519 -0.0594666 0.11866434] [ 0.11083177 0.9936618 0.01877622 -0.18368627] [ 0.05703285 -0.02522058 0.99805369 0.00516095] [ 0. 0. 0. 1. ]] SLAMing on 158.299928851 meters Centerline goodness : 0.759255 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:0.01 [[ 0.9921154 -0.11002223 -0.06001788 0.11965372] [ 0.11130606 0.99361445 0.01847416 -0.18181759] [ 0.05760207 -0.02500886 0.99802633 0.00521398] [ 0. 0. 0. 1. ]] SLAMing on 158.359928851 meters Centerline goodness : 0.763409 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:0.01 [[ 0.99174771 -0.11255599 -0.06138104 0.12172736] [ 0.11386683 0.9933278 0.01828207 -0.18029924] [ 0.05891374 -0.02512047 0.99794696 0.00649255] [ 0. 0. 0. 1. ]] SLAMing on 158.419928851 meters Centerline goodness : 0.760412 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:0.01 [[ 0.99136056 -0.11511494 -0.06287119 0.12385836] [ 0.11652256 0.99300266 0.01918892 -0.18104021] [ 0.06022233 -0.02634905 0.99783716 0.00843039] [ 0. 0. 0. 1. ]] SLAMing on 158.479928851 meters Centerline goodness : 0.757345 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.18, Z:0.01 [[ 0.99110763 -0.11680077 -0.06374361 0.12554435] [ 0.11825537 0.9927911 0.01953201 -0.18177894] [ 0.06100273 -0.02689634 0.99777515 0.00910595] [ 0. 0. 0. 1. ]] SLAMing on 158.53992885099998 meters Centerline goodness : 0.756429 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.18, Z:0.01 [[ 0.99085284 -0.1183216 -0.0648895 0.12790209] [ 0.11984158 0.99259073 0.020041 -0.18252196] [ 0.06203743 -0.02763414 0.99769119 0.0095729 ] [ 0. 0. 0. 1. ]] SLAMing on 158.599928851 meters Centerline goodness : 0.761733 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.18, Z:0.01 [[ 0.99045489 -0.12070955 -0.06654555 0.13124845] [ 0.12230431 0.99228254 0.02042086 -0.18264006] [ 0.063567 -0.02836475 0.9975744 0.00992633] [ 0. 0. 0. 1. ]] SLAMing on 158.659928851 meters Centerline goodness : 0.760531 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.18, Z:0.01 [[ 0.99023908 -0.12197796 -0.06743848 0.13329049] [ 0.12355893 0.99214017 0.01977578 -0.18122563] [ 0.06449622 -0.02791538 0.99752743 0.00961165] [ 0. 0. 0. 1. ]] SLAMing on 158.719928851 meters Centerline goodness : 0.756291 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.01 [[ 0.99042173 -0.11961917 -0.0689642 0.13527715] [ 0.12145677 0.99232827 0.02308364 -0.17992152] [ 0.06567388 -0.03123871 0.99735204 0.00983453] [ 0. 0. 0. 1. ]] SLAMing on 158.779928851 meters Centerline goodness : 0.754177 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.01 [[ 0.99073398 -0.11650634 -0.06980293 0.13528821] [ 0.11848995 0.99264122 0.02497064 -0.1745159 ] [ 0.06638003 -0.03301021 0.99724822 0.00997413] [ 0. 0. 0. 1. ]] SLAMing on 158.839928851 meters Centerline goodness : 0.755846 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.01 [[ 0.99111135 -0.11285837 -0.0704363 0.13611479] [ 0.11497097 0.99301041 0.02668353 -0.16982104] [ 0.06693252 -0.03454448 0.99715932 0.00852752] [ 0. 0. 0. 1. ]] SLAMing on 158.899928851 meters Centerline goodness : 0.753057 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.01 [[ 0.99147518 -0.10954106 -0.07055292 0.13564419] [ 0.11173578 0.99334512 0.02793893 -0.16537955] [ 0.06702294 -0.03558404 0.99711669 0.00765191] [ 0. 0. 0. 1. ]] SLAMing on 158.959928851 meters Centerline goodness : 0.753067 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.16, Z:0.01 [[ 0.99181216 -0.10604277 -0.07115873 0.13607822] [ 0.10837932 0.99366258 0.02980937 -0.1608642 ] [ 0.0675467 -0.03727743 0.99701948 0.00679167] [ 0. 0. 0. 1. ]] SLAMing on 159.019928851 meters Centerline goodness : 0.751625 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.15, Z:0.01 [[ 0.99204902 -0.10301978 -0.07228875 0.13692375] [ 0.1055196 0.99391345 0.03164908 -0.15434632] [ 0.06858828 -0.03902532 0.99688147 0.00655862] [ 0. 0. 0. 1. ]] SLAMing on 159.079928851 meters Centerline goodness : 0.753347 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.15, Z:0.01 [[ 0.9919783 -0.10377941 -0.07217257 0.13640132] [ 0.1061911 0.99388055 0.03041223 -0.15103996] [ 0.06857475 -0.03783235 0.99692839 0.00678437] [ 0. 0. 0. 1. ]] SLAMing on 159.139928851 meters Centerline goodness : 0.753881 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.01 [[ 0.99151585 -0.10838395 -0.07175819 0.13626647] [ 0.1104227 0.99356848 0.02507005 -0.14455731] [ 0.06857949 -0.03278108 0.99710694 0.00679401] [ 0. 0. 0. 1. ]] SLAMing on 159.199928851 meters Centerline goodness : 0.754947 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.01 [[ 0.99105132 -0.11266342 -0.07158383 0.1370846 ] [ 0.11436672 0.99323431 0.02014582 -0.1403497 ] [ 0.06882982 -0.02815235 0.99723112 0.00662788] [ 0. 0. 0. 1. ]] SLAMing on 159.25992885099998 meters Centerline goodness : 0.753550 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.01 [[ 0.99060507 -0.11649814 -0.07162244 0.139168 ] [ 0.11791067 0.9928984 0.0158063 -0.13598927] [ 0.0692724 -0.02410285 0.99730657 0.00529733] [ 0. 0. 0. 1. ]] SLAMing on 159.319928851 meters Centerline goodness : 0.750950 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.13, Z:0.01 [[ 0.99054586 -0.11704208 -0.07155454 0.13897272] [ 0.11835606 0.9928669 0.01439318 -0.13128512] [ 0.06935952 -0.02272602 0.99733284 0.00539932] [ 0. 0. 0. 1. ]] SLAMing on 159.379928851 meters Centerline goodness : 0.752204 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.13, Z:0.01 [[ 0.99053479 -0.11706072 -0.07167714 0.13909824] [ 0.11828641 0.99289328 0.0130864 -0.12664262] [ 0.06963584 -0.02144097 0.99734203 0.00589475] [ 0. 0. 0. 1. ]] SLAMing on 159.439928851 meters Centerline goodness : 0.751765 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.01 [[ 0.99095933 -0.11327055 -0.07189844 0.13870148] [ 0.11466595 0.99328203 0.01557319 -0.12168408] [ 0.06965144 -0.0236767 0.99729037 0.0057746 ] [ 0. 0. 0. 1. ]] SLAMing on 159.499928851 meters Centerline goodness : 0.750534 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.01 [[ 0.99108534 -0.11222191 -0.07180593 0.13896592] [ 0.11357258 0.99341648 0.01499909 -0.11604218] [ 0.06964996 -0.02302057 0.99730584 0.00564151] [ 0. 0. 0. 1. ]] SLAMing on 159.559928851 meters Centerline goodness : 0.751941 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.01 [[ 0.99147327 -0.10862063 -0.07198831 0.13818549] [ 0.11010066 0.99377661 0.01690855 -0.10946215] [ 0.06970368 -0.02469034 0.99726214 0.00605869] [ 0. 0. 0. 1. ]] SLAMing on 159.619928851 meters Centerline goodness : 0.752086 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.99149025 -0.10847159 -0.07197922 0.13863519] [ 0.1098721 0.99382046 0.01577998 -0.10463225] [ 0.06982274 -0.02355421 0.9972813 0.00582754] [ 0. 0. 0. 1. ]] SLAMing on 159.679928851 meters Centerline goodness : 0.750682 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.99145399 -0.10884648 -0.07191263 0.13904337] [ 0.11016076 0.99380716 0.01455816 -0.0996337 ] [ 0.06988268 -0.0223557 0.99730468 0.00511085] [ 0. 0. 0. 1. ]] SLAMing on 159.739928851 meters Centerline goodness : 0.752245 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.99137038 -0.10972859 -0.07172448 0.13819933] [ 0.11096249 0.99373372 0.01343936 -0.0967291 ] [ 0.06980036 -0.02128211 0.99733394 0.00547831] [ 0. 0. 0. 1. ]] SLAMing on 159.799928851 meters Centerline goodness : 0.752020 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.01 [[ 0.99088673 -0.11424809 -0.07135024 0.13847573] [ 0.1151448 0.99331175 0.00857015 -0.09372927] [ 0.06989391 -0.01670766 0.99741451 0.00554673] [ 0. 0. 0. 1. ]] SLAMing on 159.859928851 meters Centerline goodness : 0.754642 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.01 [[ 0.99038092 -0.11880171 -0.07093516 0.13787153] [ 0.11936649 0.99284314 0.00376166 -0.0914052 ] [ 0.0699806 -0.01219276 0.99747384 0.00667815] [ 0. 0. 0. 1. ]] SLAMing on 159.919928851 meters Centerline goodness : 0.753565 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.01 [[ 9.89820253e-01 -1.23817280e-01 -7.01794010e-02 1.36676898e-01] [ 1.24093390e-01 9.92270451e-01 -4.28582541e-04 -9.17623084e-02] [ 6.96900118e-02 -8.28458007e-03 9.97534294e-01 7.27574584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.979928851 meters Centerline goodness : 0.754471 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.01 [[ 0.98927392 -0.12839935 -0.06964712 0.13626747] [ 0.12838963 0.99171297 -0.00463458 -0.09172447] [ 0.06966503 -0.0043571 0.99756092 0.00781339] [ 0. 0. 0. 1. ]] SLAMing on 160.03992885099998 meters Centerline goodness : 0.756231 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:0.01 [[ 0.98873316 -0.13277142 -0.06912657 0.13659833] [ 0.13253279 0.99114595 -0.00804741 -0.09373856] [ 0.06958299 -0.0012048 0.99757544 0.00731299] [ 0. 0. 0. 1. ]] SLAMing on 160.099928851 meters Centerline goodness : 0.755286 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.9886723 -0.13330843 -0.06896331 0.13612461] [ 0.13308869 0.9910735 -0.00779184 -0.09638431] [ 0.06938642 -0.00147466 0.99758877 0.00733335] [ 0. 0. 0. 1. ]] SLAMing on 160.159928851 meters Centerline goodness : 0.755424 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.98873398 -0.1326689 -0.06931148 0.13728787] [ 0.13246411 0.99115895 -0.00756297 -0.09603236] [ 0.06970207 -0.00170352 0.9975664 0.00698664] [ 0. 0. 0. 1. ]] SLAMing on 160.219928851 meters Centerline goodness : 0.757298 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.98920996 -0.12901165 -0.06942372 0.13600738] [ 0.12905433 0.9916299 -0.00388899 -0.0964949 ] [ 0.06934436 -0.0051124 0.99757968 0.00734617] [ 0. 0. 0. 1. ]] SLAMing on 160.279928851 meters Centerline goodness : 0.755397 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 9.89710446e-01 -1.24975204e-01 -6.96737513e-02 1.35278776e-01] [ 1.25278832e-01 9.92121572e-01 -1.18761295e-05 -9.70579632e-02] [ 6.91263159e-02 -8.71689226e-03 9.97569831e-01 7.48986412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339928851 meters Centerline goodness : 0.758138 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:0.01 [[ 0.99021951 -0.1207513 -0.06988877 0.13452479] [ 0.1213097 0.99260749 0.00378592 -0.09727898] [ 0.06891496 -0.01222707 0.99754761 0.00778702] [ 0. 0. 0. 1. ]] SLAMing on 160.399928851 meters Centerline goodness : 0.757389 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:0.01 [[ 0.990274 -0.12017701 -0.07010626 0.13499209] [ 0.12076407 0.99267243 0.00418101 -0.09836544] [ 0.06909009 -0.01260666 0.99753077 0.00805747] [ 0. 0. 0. 1. ]] SLAMing on 160.459928851 meters Centerline goodness : 0.756429 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:0.01 [[ 0.99029457 -0.11999642 -0.07012508 0.13494554] [ 0.12060915 0.99268962 0.00455439 -0.10015492] [ 0.06906593 -0.01296792 0.99752781 0.00828703] [ 0. 0. 0. 1. ]] SLAMing on 160.519928851 meters Centerline goodness : 0.755142 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.01 [[ 0.98990936 -0.12305072 -0.07027076 0.13694365] [ 0.12348009 0.99234545 0.00178286 -0.10309684] [ 0.06951349 -0.01044191 0.99752636 0.00787386] [ 0. 0. 0. 1. ]] SLAMing on 160.579928851 meters Centerline goodness : 0.755660 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.01 [[ 0.9899096 -0.1230693 -0.0702348 0.13685526] [ 0.12355036 0.99233508 0.00253014 -0.10700148] [ 0.06938507 -0.01118214 0.99752728 0.00797123] [ 0. 0. 0. 1. ]] SLAMing on 160.639928851 meters Centerline goodness : 0.755084 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.01 [[ 9.89496821e-01 -1.26331145e-01 -7.02601157e-02 1.38556937e-01] [ 1.26629332e-01 9.91950083e-01 -2.11623895e-04 -1.10175956e-01] [ 6.97212623e-02 -8.68759031e-03 9.97528682e-01 7.53900110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.699928851 meters Centerline goodness : 0.753539 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.01 [[ 0.98961468 -0.12497608 -0.07101952 0.14165367] [ 0.12537019 0.99210942 0.00110158 -0.11259303] [ 0.07032146 -0.00999387 0.99747432 0.0059227 ] [ 0. 0. 0. 1. ]] SLAMing on 160.75992885099998 meters Centerline goodness : 0.751937 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.01 [[ 0.98966087 -0.12437378 -0.07143194 0.14296549] [ 0.12478252 0.9921833 0.00127092 -0.11197891] [ 0.07071551 -0.01017124 0.99744467 0.0055251 ] [ 0. 0. 0. 1. ]] SLAMing on 160.819928851 meters Centerline goodness : 0.754294 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.01 [[ 0.99021636 -0.11948311 -0.07207878 0.14382796] [ 0.12017309 0.99273882 0.00529756 -0.11124657] [ 0.07092243 -0.01390766 0.99738487 0.00510093] [ 0. 0. 0. 1. ]] SLAMing on 160.879928851 meters Centerline goodness : 0.749964 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.00 [[ 0.99212748 -0.10650712 -0.06587336 0.13599108] [ 0.10725064 0.99420106 0.00784567 -0.10778823] [ 0.06465575 -0.01484886 0.99779715 0.00272405] [ 0. 0. 0. 1. ]] SLAMing on 160.939928851 meters Centerline goodness : 0.749630 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.01 [[ 0.99339272 -0.09510064 -0.06423999 0.15595966] [ 0.09538157 0.99543992 0.00131348 -0.1013719 ] [ 0.06382213 -0.00743211 0.99793361 0.00854656] [ 0. 0. 0. 1. ]] SLAMing on 160.999928851 meters Centerline goodness : 0.749520 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.00 [[ 0.99517351 -0.07949769 -0.05753091 0.14754314] [ 0.07983646 0.99680144 0.00361055 -0.09686578] [ 0.05705986 -0.00818618 0.9983372 0.00439825] [ 0. 0. 0. 1. ]] SLAMing on 161.059928851 meters Centerline goodness : 0.750056 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:0.00 [[ 0.99552599 -0.07471787 -0.05783809 0.14823842] [ 0.0752506 0.99713948 0.00708504 -0.09396664] [ 0.05714327 -0.0114057 0.99830084 0.00389739] [ 0. 0. 0. 1. ]] SLAMing on 161.119928851 meters Centerline goodness : 0.752034 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:0.00 [[ 0.99557162 -0.07372579 -0.05832374 0.15014587] [ 0.07424216 0.99721751 0.00673363 -0.09113913] [ 0.05766501 -0.01103389 0.99827501 0.00348645] [ 0. 0. 0. 1. ]] SLAMing on 161.179928851 meters Centerline goodness : 0.750456 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:0.00 [[ 0.99527462 -0.0774625 -0.05854902 0.15147601] [ 0.07775173 0.99696916 0.00267456 -0.08987527] [ 0.05816439 -0.00721421 0.99828095 0.00356597] [ 0. 0. 0. 1. ]] SLAMing on 161.239928851 meters Centerline goodness : 0.749386 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.00 [[ 9.94909666e-01 -8.64153380e-02 -5.18376838e-02 1.59510712e-01] [ 8.68515848e-02 9.96201852e-01 6.21866992e-03 -9.32286328e-02] [ 5.11034082e-02 -1.06891998e-02 9.98636161e-01 7.56227304e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299928851 meters Centerline goodness : 0.760300 with order 3 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:-0.00 [[ 0.99451935 -0.09401189 -0.04574968 0.16932879] [ 0.09459748 0.99545699 0.01080277 -0.09700282] [ 0.04452625 -0.01507137 0.99889452 -0.00278011] [ 0. 0. 0. 1. ]] SLAMing on 161.359928851 meters Centerline goodness : 0.762073 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.01 [[ 0.99380311 -0.10413771 -0.03886803 0.17757631] [ 0.10473027 0.99440864 0.01352843 -0.10121848] [ 0.03724189 -0.01751525 0.99915277 -0.00584279] [ 0. 0. 0. 1. ]] SLAMing on 161.419928851 meters Centerline goodness : 0.751968 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.01 [[ 0.99292876 -0.1123722 -0.03827492 0.1781457 ] [ 0.11267573 0.99361453 0.00586077 -0.10232493] [ 0.03737193 -0.01013198 0.99925006 -0.00562022] [ 0. 0. 0. 1. ]] SLAMing on 161.479928851 meters Centerline goodness : 0.751397 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.01 [[ 0.99247063 -0.1164733 -0.03789492 0.17868724] [ 0.1166451 0.99317089 0.00234714 -0.10380871] [ 0.03736275 -0.00674973 0.99927897 -0.00609239] [ 0. 0. 0. 1. ]] SLAMing on 161.53992885099998 meters Centerline goodness : 0.750892 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.01 [[ 9.91994669e-01 -1.20583595e-01 -3.74989752e-02 1.79652706e-01] [ 1.20636765e-01 9.92696353e-01 -8.49806281e-04 -1.06102078e-01] [ 3.73275686e-02 -3.68075177e-03 9.99296305e-01 -7.26545872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599928851 meters Centerline goodness : 0.751100 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.01 [[ 9.91958438e-01 -1.20885175e-01 -3.74864171e-02 1.79620783e-01] [ 1.20947932e-01 9.92658673e-01 -5.97421739e-04 -1.07800335e-01] [ 3.72834365e-02 -3.94128710e-03 9.99296959e-01 -7.34367454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659928851 meters Centerline goodness : 0.749104 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.01 [[ 9.92000622e-01 -1.20473764e-01 -3.76940190e-02 1.80211802e-01] [ 1.20548098e-01 9.92707441e-01 -3.02786508e-04 -1.08476637e-01] [ 3.74556110e-02 -4.24357790e-03 9.99289282e-01 -7.36916416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719928851 meters Centerline goodness : 0.752945 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.01 [[ 9.92084074e-01 -1.19706526e-01 -3.79412390e-02 1.80601018e-01] [ 1.19776555e-01 9.92800782e-01 -4.30123272e-04 -1.07554945e-01] [ 3.77195803e-02 -4.11775247e-03 9.99279879e-01 -6.60992117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779928851 meters Centerline goodness : 0.750673 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.00 [[ 0.9926079 -0.11518604 -0.03823251 0.17939113] [ 0.11539192 0.99331484 0.00321534 -0.10782442] [ 0.03760656 -0.00760329 0.9992637 -0.00488014] [ 0. 0. 0. 1. ]] SLAMing on 161.839928851 meters Centerline goodness : 0.750897 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.00 [[ 0.99307634 -0.11100714 -0.03842913 0.1784126 ] [ 0.11136149 0.99375388 0.00719998 -0.10934496] [ 0.03738985 -0.01142966 0.99923539 -0.00408873] [ 0. 0. 0. 1. ]] SLAMing on 161.899928851 meters Centerline goodness : 0.750318 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.00 [[ 0.99354553 -0.10662807 -0.03870055 0.17752587] [ 0.10714168 0.9941779 0.01144349 -0.1113049 ] [ 0.03725504 -0.01551607 0.99918533 -0.00316134] [ 0. 0. 0. 1. ]] SLAMing on 161.959928851 meters Centerline goodness : 0.751324 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.00 [[ 0.99359503 -0.10607911 -0.03893763 0.17814906] [ 0.10660806 0.99423153 0.01176339 -0.1122484 ] [ 0.03746517 -0.01583911 0.9991724 -0.00299355] [ 0. 0. 0. 1. ]] SLAMing on 162.019928851 meters Centerline goodness : 0.750978 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.00 [[ 0.99364779 -0.10546855 -0.03924863 0.17907291] [ 0.10604133 0.99427928 0.01280414 -0.11546065] [ 0.03767366 -0.01688478 0.99914744 -0.00325678] [ 0. 0. 0. 1. ]] SLAMing on 162.079928851 meters Centerline goodness : 0.749463 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.00 [[ 0.99369327 -0.10487606 -0.03968253 0.1806217 ] [ 0.10547986 0.99433067 0.01343536 -0.11651672] [ 0.03804851 -0.01753633 0.99912201 -0.00401872] [ 0. 0. 0. 1. ]] SLAMing on 162.139928851 meters Centerline goodness : 0.748882 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.01 [[ 0.99380909 -0.10350738 -0.04036971 0.18336966] [ 0.1041415 0.99446495 0.01392899 -0.11593251] [ 0.0387045 -0.01804692 0.99908772 -0.00526837] [ 0. 0. 0. 1. ]] SLAMing on 162.199928851 meters Centerline goodness : 0.747371 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.01 [[ 0.99429478 -0.09848844 -0.04096231 0.18445377] [ 0.09927861 0.99490187 0.01772063 -0.11463841] [ 0.0390082 -0.02168621 0.99900354 -0.00558912] [ 0. 0. 0. 1. ]] SLAMing on 162.25992885099998 meters Centerline goodness : 0.757960 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.01 [[ 0.99471756 -0.09387059 -0.04153654 0.18501073] [ 0.09481516 0.99526522 0.0213827 -0.11287718] [ 0.03933267 -0.02520805 0.99890815 -0.00558321] [ 0. 0. 0. 1. ]] SLAMing on 162.319928851 meters Centerline goodness : 0.747113 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.00 [[ 0.99517222 -0.08842061 -0.04259154 0.18701536] [ 0.08951441 0.99568429 0.02449414 -0.11008436] [ 0.04024194 -0.02818845 0.99879227 -0.00493841] [ 0. 0. 0. 1. ]] SLAMing on 162.379928851 meters Centerline goodness : 0.745556 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.00 [[ 0.99529596 -0.08697107 -0.04268483 0.1878479 ] [ 0.08807217 0.99580959 0.02462811 -0.10848343] [ 0.04036403 -0.02827161 0.99878499 -0.00492281] [ 0. 0. 0. 1. ]] SLAMing on 162.439928851 meters Centerline goodness : 0.745283 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.00 [[ 0.99535667 -0.08609953 -0.04303458 0.18866485] [ 0.0872075 0.99588725 0.02456479 -0.10756525] [ 0.04074257 -0.02820366 0.99877154 -0.00439474] [ 0. 0. 0. 1. ]] SLAMing on 162.499928851 meters Centerline goodness : 0.745740 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.00 [[ 0.99507206 -0.08924214 -0.04321373 0.19008616] [ 0.09020013 0.99570754 0.020747 -0.1068201 ] [ 0.04117673 -0.02454264 0.99885041 -0.00417499] [ 0. 0. 0. 1. ]] SLAMing on 162.559928851 meters Centerline goodness : 0.745112 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.00 [[ 0.99473355 -0.09291078 -0.04327532 0.19128409] [ 0.09372145 0.99545173 0.01709218 -0.10814754] [ 0.04149045 -0.02105799 0.99891697 -0.00407708] [ 0. 0. 0. 1. ]] SLAMing on 162.619928851 meters Centerline goodness : 0.743329 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.00 [[ 0.99398271 -0.10077786 -0.04292074 0.19246199] [ 0.10127546 0.99481234 0.00957575 -0.10951857] [ 0.04173306 -0.01386494 0.99903259 -0.00390468] [ 0. 0. 0. 1. ]] SLAMing on 162.679928851 meters Centerline goodness : 0.744137 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:-0.00 [[ 0.99329436 -0.10734772 -0.04292755 0.19523028] [ 0.1075755 0.99419232 0.00302523 -0.10943711] [ 0.04235348 -0.00762289 0.99907361 -0.00497468] [ 0. 0. 0. 1. ]] SLAMing on 162.739928851 meters Centerline goodness : 0.744631 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:-0.01 [[ 0.99260296 -0.11375874 -0.04240643 0.19708208] [ 0.11371821 0.99350731 -0.00337466 -0.10949782] [ 0.04251499 -0.00147269 0.99909474 -0.00603385] [ 0. 0. 0. 1. ]] SLAMing on 162.799928851 meters Centerline goodness : 0.745483 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:-0.01 [[ 0.99204062 -0.12052707 -0.03645056 0.2062734 ] [ 0.12067371 0.99269052 0.00184201 -0.11208287] [ 0.03596212 -0.00622598 0.99933376 -0.00905755] [ 0. 0. 0. 1. ]] SLAMing on 162.859928851 meters Centerline goodness : 0.743445 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:-0.01 [[ 0.99156735 -0.12443416 -0.03619846 0.20669313] [ 0.12443338 0.99222534 -0.00228324 -0.11061876] [ 0.03620114 -0.00224031 0.99934201 -0.00881047] [ 0. 0. 0. 1. ]] SLAMing on 162.919928851 meters Centerline goodness : 0.745490 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:-0.01 [[ 0.99106868 -0.12840821 -0.03597498 0.20753933] [ 0.12826513 0.99172011 -0.00626681 -0.11007644] [ 0.03648183 0.0015965 0.99933304 -0.00905567] [ 0. 0. 0. 1. ]] SLAMing on 162.979928851 meters Centerline goodness : 0.746878 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:-0.01 [[ 0.99066341 -0.13151636 -0.03590889 0.20913138] [ 0.1312354 0.99129996 -0.01008257 -0.10841455] [ 0.0369225 0.00527592 0.9993042 -0.00949281] [ 0. 0. 0. 1. ]] SLAMing on 163.03992885099998 meters Centerline goodness : 0.745121 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:-0.01 [[ 0.99065245 -0.13155769 -0.03605969 0.20963979] [ 0.13126677 0.99129326 -0.01033035 -0.10674605] [ 0.03710477 0.00550035 0.99929624 -0.00989613] [ 0. 0. 0. 1. ]] SLAMing on 163.099928851 meters Centerline goodness : 0.754268 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.01 [[ 0.99065119 -0.13153655 -0.03617111 0.20997634] [ 0.13123419 0.9912945 -0.01062049 -0.10490253] [ 0.0372532 0.00577431 0.99928918 -0.01009486] [ 0. 0. 0. 1. ]] SLAMing on 163.159928851 meters Centerline goodness : 0.756022 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.01 [[ 0.99059632 -0.13197743 -0.0360677 0.20977889] [ 0.13165747 0.99123293 -0.01111714 -0.10273069] [ 0.0372187 0.00626402 0.99928751 -0.01042849] [ 0. 0. 0. 1. ]] SLAMing on 163.219928851 meters Centerline goodness : 0.757198 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.01 [[ 0.99024096 -0.13457605 -0.03622323 0.21095473] [ 0.13415424 0.99086374 -0.01384493 -0.09928565] [ 0.03775548 0.00885032 0.99924782 -0.01106643] [ 0. 0. 0. 1. ]] SLAMing on 163.279928851 meters Centerline goodness : 0.756378 with order 3 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.02 [[ 0.98966163 -0.14015594 -0.03043306 0.21828565] [ 0.14001848 0.99012681 -0.00661261 -0.09728424] [ 0.03105938 0.00228306 0.99951493 -0.01505214] [ 0. 0. 0. 1. ]] SLAMing on 163.339928851 meters Centerline goodness : 0.745189 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.02 [[ 0.98905172 -0.14447841 -0.03004475 0.21885098] [ 0.14419573 0.98948371 -0.01138292 -0.0930933 ] [ 0.03137338 0.00692597 0.99948374 -0.01547461] [ 0. 0. 0. 1. ]] SLAMing on 163.399928851 meters Centerline goodness : 0.744951 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.02 [[ 0.98879266 -0.14641105 -0.02920421 0.21682801] [ 0.14608008 0.98918506 -0.01317307 -0.08801787] [ 0.03081705 0.00875928 0.99948666 -0.01575418] [ 0. 0. 0. 1. ]] SLAMing on 163.459928851 meters Centerline goodness : 0.747780 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:-0.02 [[ 0.98865055 -0.14745377 -0.02876596 0.21567152] [ 0.1470892 0.9890182 -0.01441442 -0.08400872] [ 0.03057551 0.01001966 0.99948224 -0.01579213] [ 0. 0. 0. 1. ]] SLAMing on 163.519928851 meters Centerline goodness : 0.749914 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.02 [[ 0.98900571 -0.14712309 -0.01491646 0.21389107] [ 0.147025 0.98910451 -0.00747839 -0.0789139 ] [ 0.01585418 0.00520308 0.99986078 -0.02358948] [ 0. 0. 0. 1. ]] SLAMing on 163.579928851 meters Centerline goodness : 0.752092 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:-0.02 [[ 0.98888607 -0.14796317 -0.01453431 0.21292523] [ 0.14784587 0.98897087 -0.00884413 -0.0741482 ] [ 0.01568262 0.00659699 0.99985526 -0.02363265] [ 0. 0. 0. 1. ]] SLAMing on 163.639928851 meters Centerline goodness : 0.752738 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:-0.02 [[ 0.98872648 -0.14907642 -0.01400576 0.21188184] [ 0.14893749 0.98879093 -0.01049343 -0.06661381] [ 0.01541309 0.00828915 0.99984685 -0.02457881] [ 0. 0. 0. 1. ]] SLAMing on 163.699928851 meters Centerline goodness : 0.754672 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.02 [[ 0.98861832 -0.14981556 -0.01375188 0.21098335] [ 0.14965757 0.98866648 -0.0118829 -0.06125435] [ 0.01537626 0.00968958 0.99983483 -0.02444657] [ 0. 0. 0. 1. ]] SLAMing on 163.75992885099998 meters Centerline goodness : 0.754297 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.03 [[ 0.98856724 -0.15017417 -0.0135103 0.21069412] [ 0.14999993 0.98859916 -0.01310408 -0.05457674] [ 0.01532417 0.01092772 0.99982286 -0.02523716] [ 0. 0. 0. 1. ]] SLAMing on 163.819928851 meters Centerline goodness : 0.757626 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.03 [[ 0.98896075 -0.14760141 -0.0130558 0.20840344] [ 0.14747324 0.98901249 -0.01029303 -0.05015223] [ 0.01443161 0.00825402 0.99986179 -0.02608005] [ 0. 0. 0. 1. ]] SLAMing on 163.879928851 meters Centerline goodness : 0.758836 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.03 [[ 0.98932261 -0.14518785 -0.01269891 0.20591545] [ 0.14510666 0.98939053 -0.007102 -0.04860978] [ 0.01359531 0.00518347 0.99989414 -0.02629532] [ 0. 0. 0. 1. ]] SLAMing on 163.939928851 meters Centerline goodness : 0.759580 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.03 [[ 0.98926356 -0.14560454 -0.01252664 0.20572128] [ 0.14551389 0.98932489 -0.00787187 -0.04436317] [ 0.01353909 0.00596455 0.99989055 -0.02703674] [ 0. 0. 0. 1. ]] SLAMing on 163.999928851 meters Centerline goodness : 0.762907 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.03 [[ 0.98919795 -0.14606951 -0.01229324 0.2051094 ] [ 0.14596998 0.98925127 -0.00864201 -0.04146154] [ 0.01342344 0.00675421 0.99988709 -0.02707429] [ 0. 0. 0. 1. ]] SLAMing on 164.059928851 meters Centerline goodness : 0.762318 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:-0.03 [[ 0.98911691 -0.14663995 -0.01201928 0.20453561] [ 0.14652848 0.98915902 -0.00968661 -0.0370514 ] [ 0.01330943 0.00782003 0.99988085 -0.02743203] [ 0. 0. 0. 1. ]] SLAMing on 164.119928851 meters Centerline goodness : 0.763785 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 0.98904125 -0.14716835 -0.01178479 0.20390669] [ 0.14704909 0.98907429 -0.01042168 -0.03443266] [ 0.01318977 0.00857453 0.99987625 -0.02751273] [ 0. 0. 0. 1. ]] SLAMing on 164.179928851 meters Centerline goodness : 0.767326 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 0.98934453 -0.14515695 -0.01126334 0.20058104] [ 0.14507595 0.9893905 -0.00770703 -0.03233502] [ 0.01226257 0.00599087 0.99990687 -0.02707968] [ 0. 0. 0. 1. ]] SLAMing on 164.239928851 meters Centerline goodness : 0.766433 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 0.98928507 -0.14556713 -0.01119224 0.19989874] [ 0.14547573 0.98932451 -0.00859207 -0.02955279] [ 0.01232348 0.0068718 0.99990045 -0.02639346] [ 0. 0. 0. 1. ]] SLAMing on 164.299928851 meters Centerline goodness : 0.769190 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 0.98925181 -0.1457996 -0.01110529 0.19954674] [ 0.14570061 0.9892854 -0.00925946 -0.02710054] [ 0.01233633 0.00754189 0.99989546 -0.02618996] [ 0. 0. 0. 1. ]] SLAMing on 164.359928851 meters Centerline goodness : 0.768193 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 0.98916781 -0.14638305 -0.01091058 0.19846607] [ 0.14627641 0.98919313 -0.01000781 -0.02511152] [ 0.01225764 0.00830344 0.9998904 -0.02542918] [ 0. 0. 0. 1. ]] SLAMing on 164.419928851 meters Centerline goodness : 0.768831 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.03 [[ 0.98915651 -0.14646466 -0.01083987 0.19865845] [ 0.14635703 0.98917988 -0.01013786 -0.02418659] [ 0.01220742 0.00844144 0.99988985 -0.02601157] [ 0. 0. 0. 1. ]] SLAMing on 164.479928851 meters Centerline goodness : 0.767691 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.03 [[ 0.98919124 -0.14621865 -0.01099053 0.19945929] [ 0.14611109 0.98921736 -0.01002825 -0.02354409] [ 0.01233834 0.00831402 0.99988932 -0.02673771] [ 0. 0. 0. 1. ]] SLAMing on 164.53992885099998 meters Centerline goodness : 0.769154 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.03 [[ 0.98967827 -0.14288713 -0.01096315 0.19806244] [ 0.14282434 0.9897279 -0.00631537 -0.02329171] [ 0.01175292 0.00468438 0.99991996 -0.02692956] [ 0. 0. 0. 1. ]] SLAMing on 164.599928851 meters Centerline goodness : 0.770348 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.03 [[ 0.98969415 -0.14276655 -0.01109966 0.1982862 ] [ 0.14270028 0.98974425 -0.00655361 -0.02253818] [ 0.01192147 0.00490215 0.99991692 -0.02661916] [ 0. 0. 0. 1. ]] SLAMing on 164.659928851 meters Centerline goodness : 0.770170 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.03 [[ 0.98970417 -0.14269453 -0.0111323 0.19795934] [ 0.14262393 0.98975289 -0.00690093 -0.02196009] [ 0.01200295 0.00524215 0.99991422 -0.02580095] [ 0. 0. 0. 1. ]] SLAMing on 164.719928851 meters Centerline goodness : 0.772114 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.02 [[ 0.99005937 -0.14021206 -0.01109149 0.19552065] [ 0.14018084 0.99011956 -0.00354722 -0.02297481] [ 0.01147926 0.00195715 0.9999322 -0.02484159] [ 0. 0. 0. 1. ]] SLAMing on 164.779928851 meters Centerline goodness : 0.768997 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.02 [[ 0.99004371 -0.14032553 -0.01105415 0.19508714] [ 0.14029313 0.99010326 -0.00365766 -0.02285037] [ 0.01145801 0.00207042 0.99993221 -0.02438464] [ 0. 0. 0. 1. ]] SLAMing on 164.839928851 meters Centerline goodness : 0.771057 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.02 [[ 0.98996331 -0.1409165 -0.01073263 0.19436688] [ 0.14088685 0.99001961 -0.0034747 -0.02531455] [ 0.01111516 0.00192774 0.99993637 -0.02447 ] [ 0. 0. 0. 1. ]] SLAMing on 164.899928851 meters Centerline goodness : 0.772273 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.02 [[ 0.9898584 -0.14167913 -0.01036156 0.19346778] [ 0.14165156 0.98991091 -0.00335149 -0.02769948] [ 0.01073186 0.00184977 0.9999407 -0.02454548] [ 0. 0. 0. 1. ]] SLAMing on 164.959928851 meters Centerline goodness : 0.771043 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.02 [[ 0.98974762 -0.14246989 -0.01009844 0.19266882] [ 0.14244704 0.98979803 -0.00295047 -0.03001919] [ 0.01041577 0.00148173 0.99994466 -0.02486076] [ 0. 0. 0. 1. ]] SLAMing on 165.019928851 meters Centerline goodness : 0.769381 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.02 [[ 0.98965736 -0.14311968 -0.00975007 0.1914917 ] [ 0.14309839 0.98970436 -0.00285021 -0.0324511 ] [ 0.01005761 0.00142551 0.9999484 -0.02435201] [ 0. 0. 0. 1. ]] SLAMing on 165.079928851 meters Centerline goodness : 0.773211 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.02 [[ 0.98950184 -0.14422029 -0.00930655 0.1894547 ] [ 0.1441982 0.98954426 -0.00300656 -0.0350872 ] [ 0.00964285 0.00163301 0.99995217 -0.02307834] [ 0. 0. 0. 1. ]] SLAMing on 165.139928851 meters Centerline goodness : 0.771128 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.02 [[ 0.98924101 -0.14602799 -0.00883432 0.18680258] [ 0.14600273 0.9892782 -0.0034432 -0.0383477 ] [ 0.0092424 0.00211632 0.99995505 -0.02128828] [ 0. 0. 0. 1. ]] SLAMing on 165.199928851 meters Centerline goodness : 0.769313 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.02 [[ 0.98907241 -0.14718453 -0.00851409 0.18522348] [ 0.14715981 0.98910666 -0.00346376 -0.04152044] [ 0.00893115 0.00217297 0.99995776 -0.02034056] [ 0. 0. 0. 1. ]] SLAMing on 165.25992885099998 meters Centerline goodness : 0.769215 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 0.98847972 -0.1511461 -0.00791789 0.18504498] [ 0.15109475 0.98849639 -0.00672816 -0.04604682] [ 0.00884374 0.0054543 0.99994602 -0.0196323 ] [ 0. 0. 0. 1. ]] SLAMing on 165.319928851 meters Centerline goodness : 0.769328 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.02 [[ 0.98838076 -0.15180189 -0.00772422 0.18399646] [ 0.15175454 0.98839756 -0.00638891 -0.0495364 ] [ 0.00860445 0.00514249 0.99994976 -0.01891115] [ 0. 0. 0. 1. ]] SLAMing on 165.379928851 meters Centerline goodness : 0.766337 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.02 [[ 0.98831622 -0.1522182 -0.0077886 0.18407691] [ 0.15217492 0.98833608 -0.00588071 -0.05507357] [ 0.0085929 0.00462677 0.99995238 -0.01839327] [ 0. 0. 0. 1. ]] SLAMing on 165.439928851 meters Centerline goodness : 0.763749 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:-0.02 [[ 0.98785989 -0.15515022 -0.00782635 0.1858099 ] [ 0.15508506 0.98786589 -0.00834345 -0.06047993] [ 0.00902588 0.00702841 0.99993457 -0.01831461] [ 0. 0. 0. 1. ]] SLAMing on 165.499928851 meters Centerline goodness : 0.762337 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:-0.02 [[ 0.98787806 -0.15503012 -0.00791239 0.18580071] [ 0.15497124 0.98788988 -0.00758276 -0.06391646] [ 0.00899213 0.00626465 0.99993995 -0.01796152] [ 0. 0. 0. 1. ]] SLAMing on 165.559928851 meters Centerline goodness : 0.759567 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:-0.02 [[ 0.98800151 -0.15421746 -0.0083664 0.1873595 ] [ 0.15416779 0.98802465 -0.00629175 -0.0684164 ] [ 0.00923651 0.00492643 0.99994521 -0.0184095 ] [ 0. 0. 0. 1. ]] SLAMing on 165.619928851 meters Centerline goodness : 0.759488 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:-0.02 [[ 0.98807681 -0.15371597 -0.00869613 0.188225 ] [ 0.15367129 0.98810618 -0.00559482 -0.07130623] [ 0.00945271 0.00419177 0.99994654 -0.01832866] [ 0. 0. 0. 1. ]] SLAMing on 165.679928851 meters Centerline goodness : 0.756643 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:-0.02 [[ 0.98816278 -0.1531454 -0.0089894 0.18888794] [ 0.15310437 0.98819691 -0.00509159 -0.07275928] [ 0.00966305 0.003655 0.99994663 -0.01809848] [ 0. 0. 0. 1. ]] SLAMing on 165.739928851 meters Centerline goodness : 0.756334 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:-0.02 [[ 0.98835184 -0.15187872 -0.00966924 0.19061127] [ 0.15184442 0.98839551 -0.00419283 -0.07493784] [ 0.01019384 0.00267577 0.99994446 -0.01794134] [ 0. 0. 0. 1. ]] SLAMing on 165.799928851 meters Centerline goodness : 0.755763 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:-0.02 [[ 0.9884744 -0.15105549 -0.01002984 0.19157719] [ 0.15102794 0.98852346 -0.00345382 -0.07705462] [ 0.01043645 0.00189923 0.99994374 -0.01786443] [ 0. 0. 0. 1. ]] SLAMing on 165.859928851 meters Centerline goodness : 0.754514 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:-0.02 [[ 9.88634156e-01 -1.49970601e-01 -1.05510436e-02 1.92737532e-01] [ 1.49954443e-01 9.88690207e-01 -2.31066192e-03 -8.03080419e-02] [ 1.07782449e-02 7.02223430e-04 9.99941666e-01 -1.75240977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.919928851 meters Centerline goodness : 0.752825 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:-0.02 [[ 9.88712360e-01 -1.49440384e-01 -1.07442969e-02 1.93289299e-01] [ 1.49432702e-01 9.88770732e-01 -1.51872943e-03 -8.28724257e-02] [ 1.08506058e-02 -1.03962756e-04 9.99941125e-01 -1.74825745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.979928851 meters Centerline goodness : 0.762211 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:-0.02 [[ 9.88815025e-01 -1.48728700e-01 -1.11633331e-02 1.94810280e-01] [ 1.48734709e-01 9.88877090e-01 -2.94581158e-04 -8.77750424e-02] [ 1.10829770e-02 -1.36908883e-03 9.99937645e-01 -1.79071625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03992885099998 meters Centerline goodness : 0.754199 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.02 [[ 9.88875073e-01 -1.48322597e-01 -1.12471188e-02 1.95552023e-01] [ 1.48338153e-01 9.88936541e-01 5.57089488e-04 -9.04254972e-02] [ 1.10400578e-02 -2.21926873e-03 9.99936594e-01 -1.85383544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099928851 meters Centerline goodness : 0.752407 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.02 [[ 0.98892469 -0.14797668 -0.01143925 0.19617471] [ 0.14799915 0.98898683 0.00113891 -0.09211066] [ 0.01114473 -0.0028193 0.99993392 -0.01876312] [ 0. 0. 0. 1. ]] SLAMing on 166.159928851 meters Centerline goodness : 0.749637 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:-0.02 [[ 0.98896768 -0.1476858 -0.0114817 0.19644199] [ 0.14771658 0.98902795 0.00187548 -0.09529124] [ 0.01107874 -0.00355083 0.99993232 -0.01872024] [ 0. 0. 0. 1. ]] SLAMing on 166.219928851 meters Centerline goodness : 0.762356 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:-0.02 [[ 0.98898358 -0.14759209 -0.01131602 0.19595657] [ 0.14762868 0.98903979 0.00246495 -0.09821516] [ 0.01082818 -0.00410837 0.99993293 -0.01829027] [ 0. 0. 0. 1. ]] SLAMing on 166.279928851 meters Centerline goodness : 0.762887 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:-0.02 [[ 0.98896917 -0.1477019 -0.01114152 0.19537714] [ 0.14774093 0.98902224 0.00276138 -0.10013013] [ 0.01061135 -0.00437698 0.99993412 -0.01788076] [ 0. 0. 0. 1. ]] SLAMing on 166.339928851 meters Centerline goodness : 0.751695 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.10, Z:-0.02 [[ 0.98887475 -0.14835495 -0.0108418 0.19419453] [ 0.14839423 0.98892401 0.00290846 -0.10389673] [ 0.01029023 -0.00448497 0.999937 -0.01679711] [ 0. 0. 0. 1. ]] SLAMing on 166.399928851 meters Centerline goodness : 0.752708 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.02 [[ 0.98879083 -0.14892403 -0.0106928 0.19370176] [ 0.14896507 0.98883745 0.00314655 -0.10725666] [ 0.01010485 -0.00470413 0.99993788 -0.0163925 ] [ 0. 0. 0. 1. ]] SLAMing on 166.459928851 meters Centerline goodness : 0.753320 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.02 [[ 0.988545 -0.15057728 -0.01025989 0.19339664] [ 0.15060404 0.98859237 0.00188312 -0.11055812] [ 0.0098593 -0.00340673 0.99994559 -0.01597458] [ 0. 0. 0. 1. ]] SLAMing on 166.519928851 meters Centerline goodness : 0.751526 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:-0.02 [[ 0.98851419 -0.15079157 -0.0100797 0.19303482] [ 0.15082068 0.98855871 0.00218903 -0.11239126] [ 0.00963428 -0.00368412 0.9999468 -0.01592031] [ 0. 0. 0. 1. ]] SLAMing on 166.579928851 meters Centerline goodness : 0.750486 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:-0.02 [[ 9.88080459e-01 -1.53600880e-01 -1.01870941e-02 1.95451511e-01] [ 1.53609515e-01 9.88131627e-01 6.60251714e-05 -1.17468111e-01] [ 1.00560484e-02 -1.63007277e-03 9.99948108e-01 -1.68960479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.639928851 meters Centerline goodness : 0.751851 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.12, Z:-0.02 [[ 9.87862265e-01 -1.55014170e-01 -9.93740038e-03 1.94720482e-01] [ 1.55012568e-01 9.87912055e-01 -9.35938786e-04 -1.21257428e-01] [ 9.96236141e-03 -6.15843345e-04 9.99950185e-01 -1.55357067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.699928851 meters Centerline goodness : 0.752734 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:-0.01 [[ 0.98738397 -0.15803976 -0.00981511 0.19506929] [ 0.15801431 0.98743124 -0.00332172 -0.12623674] [ 0.01021671 0.00172888 0.99994631 -0.01439955] [ 0. 0. 0. 1. ]] SLAMing on 166.75992885099998 meters Centerline goodness : 0.754507 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:-0.01 [[ 0.98690093 -0.16104081 -0.00961299 0.19609994] [ 0.16099331 0.98694 -0.00553035 -0.13153359] [ 0.01037806 0.00391028 0.9999385 -0.01428859] [ 0. 0. 0. 1. ]] SLAMing on 166.819928851 meters Centerline goodness : 0.756005 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:-0.01 [[ 0.98683955 -0.16142234 -0.00951449 0.19592482] [ 0.16138032 0.98687945 -0.00503495 -0.13648272] [ 0.0102024 0.00343323 0.99994206 -0.01379787] [ 0. 0. 0. 1. ]] SLAMing on 166.879928851 meters Centerline goodness : 0.755472 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.01 [[ 9.87435261e-01 -1.56719267e-01 -2.02651693e-02 1.92410292e-01] [ 1.56683184e-01 9.87643179e-01 -3.36608831e-03 -1.45674392e-01] [ 2.05422872e-02 1.48583031e-04 9.99788974e-01 -8.76269338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939928851 meters Centerline goodness : 0.755842 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.01 [[ 9.87513335e-01 -1.56281735e-01 -1.98351144e-02 1.91945496e-01] [ 1.56257204e-01 9.87712459e-01 -2.79022045e-03 -1.48327972e-01] [ 2.00274501e-02 -3.43999612e-04 9.99799371e-01 -8.83225143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999928851 meters Centerline goodness : 0.753862 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:-0.01 [[ 0.98830517 -0.14933377 -0.0308595 0.1892688 ] [ 0.14947497 0.98876282 0.00230739 -0.15753323] [ 0.03016815 -0.00689313 0.99952107 -0.00579604] [ 0. 0. 0. 1. ]] SLAMing on 167.059928851 meters Centerline goodness : 0.756393 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:-0.00 [[ 9.88886169e-01 -1.42659358e-01 -4.18623074e-02 1.86609660e-01] [ 1.42949519e-01 9.89721872e-01 4.00634770e-03 -1.64183343e-01] [ 4.08604983e-02 -9.94601853e-03 9.99115357e-01 -9.26451850e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119928851 meters Centerline goodness : 0.756957 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.17, Z:0.00 [[ 0.98933828 -0.13550157 -0.0533769 0.1844381 ] [ 0.13622773 0.99062511 0.01019254 -0.17300297] [ 0.0514954 -0.01735528 0.99852242 0.00342442] [ 0. 0. 0. 1. ]] SLAMing on 167.179928851 meters Centerline goodness : 0.756630 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:0.01 [[ 0.98953313 -0.12908742 -0.06450287 0.18219917] [ 0.13024623 0.99138173 0.01407756 -0.18065464] [ 0.06212973 -0.02233147 0.99781822 0.0077044 ] [ 0. 0. 0. 1. ]] SLAMing on 167.239928851 meters Centerline goodness : 0.758915 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:0.01 [[ 0.98971089 -0.12821189 -0.06351429 0.18044423] [ 0.12939879 0.99148034 0.01492292 -0.18465833] [ 0.06105987 -0.02298805 0.99786935 0.00796156] [ 0. 0. 0. 1. ]] SLAMing on 167.299928851 meters Centerline goodness : 0.758468 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:0.01 [[ 0.98973794 -0.12811238 -0.0632932 0.18022055] [ 0.1293302 0.99148017 0.01551695 -0.18739552] [ 0.06076604 -0.02354344 0.99787434 0.00817243] [ 0. 0. 0. 1. ]] SLAMing on 167.359928851 meters Centerline goodness : 0.757782 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:0.01 [[ 0.98973438 -0.12785959 -0.0638575 0.18256965] [ 0.12922579 0.99145674 0.01772626 -0.19287466] [ 0.06104547 -0.02579632 0.99780158 0.00726515] [ 0. 0. 0. 1. ]] SLAMing on 167.419928851 meters Centerline goodness : 0.757628 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:0.01 [[ 0.98940396 -0.13060978 -0.0634105 0.18328637] [ 0.13180746 0.99116079 0.01506896 -0.19459352] [ 0.06088185 -0.02326726 0.99787376 0.0065682 ] [ 0. 0. 0. 1. ]] SLAMing on 167.479928851 meters Centerline goodness : 0.761860 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.98928573 -0.13127702 -0.06387555 0.1839333 ] [ 0.13257461 0.99103568 0.01650018 -0.19824524] [ 0.06113685 -0.02479167 0.99782146 0.00770309] [ 0. 0. 0. 1. ]] SLAMing on 167.53992885099998 meters Centerline goodness : 0.763149 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.98925833 -0.1314243 -0.06399689 0.18368879] [ 0.13275311 0.9910041 0.01695562 -0.19957637] [ 0.0611928 -0.02526927 0.99780605 0.00873604] [ 0. 0. 0. 1. ]] SLAMing on 167.599928851 meters Centerline goodness : 0.774733 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.9892836 -0.1311131 -0.06424418 0.18417198] [ 0.13250162 0.99102235 0.01783292 -0.20076754] [ 0.06132929 -0.02615428 0.99777486 0.0088873 ] [ 0. 0. 0. 1. ]] SLAMing on 167.659928851 meters Centerline goodness : 0.770197 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.9893402 -0.13067324 -0.06426873 0.18385688] [ 0.13205551 0.99108368 0.01773344 -0.2002665 ] [ 0.0613784 -0.02603144 0.99777505 0.00920439] [ 0. 0. 0. 1. ]] SLAMing on 167.719928851 meters Centerline goodness : 0.784379 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.98979004 -0.12690194 -0.06489664 0.18402841] [ 0.12854396 0.99146486 0.02176863 -0.20104732] [ 0.06158026 -0.02988844 0.99765453 0.00935432] [ 0. 0. 0. 1. ]] SLAMing on 167.779928851 meters Centerline goodness : 0.764917 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.98984207 -0.12632732 -0.06522336 0.18434254] [ 0.12799183 0.99153143 0.02198887 -0.19991357] [ 0.06189322 -0.03011356 0.99762839 0.00948348] [ 0. 0. 0. 1. ]] SLAMing on 167.839928851 meters Centerline goodness : 0.761237 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:0.01 [[ 0.98981694 -0.12651943 -0.06523231 0.18427882] [ 0.12818167 0.99150793 0.0219427 -0.19982252] [ 0.06190217 -0.03008084 0.99762882 0.00970019] [ 0. 0. 0. 1. ]] SLAMing on 167.899928851 meters Centerline goodness : 0.790592 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98973964 -0.12694519 -0.06557719 0.18526361] [ 0.12864141 0.99144022 0.02230858 -0.20075902] [ 0.0621839 -0.03051563 0.99759809 0.00955572] [ 0. 0. 0. 1. ]] SLAMing on 167.959928851 meters Centerline goodness : 0.785542 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98965531 -0.12751003 -0.06575383 0.18533022] [ 0.12921721 0.99136369 0.02238178 -0.20123614] [ 0.06233205 -0.03064678 0.99758483 0.01026507] [ 0. 0. 0. 1. ]] SLAMing on 168.019928851 meters Centerline goodness : 0.763342 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98958552 -0.12778833 -0.06626185 0.18625414] [ 0.1295331 0.99131472 0.02272243 -0.20073212] [ 0.06278269 -0.03106889 0.99754351 0.01038763] [ 0. 0. 0. 1. ]] SLAMing on 168.079928851 meters Centerline goodness : 0.785915 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98948486 -0.12839918 -0.06658344 0.18724014] [ 0.13013087 0.99124512 0.02233985 -0.2001934 ] [ 0.06313209 -0.03076951 0.99753074 0.01001741] [ 0. 0. 0. 1. ]] SLAMing on 168.139928851 meters Centerline goodness : 0.759693 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98942131 -0.12874474 -0.06686001 0.18793065] [ 0.13044924 0.991216 0.02176801 -0.19806307] [ 0.0634702 -0.03025957 0.99752488 0.00961298] [ 0. 0. 0. 1. ]] SLAMing on 168.199928851 meters Centerline goodness : 0.760434 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98981131 -0.1252731 -0.06767726 0.18834289] [ 0.12721884 0.99155369 0.02523205 -0.19679928] [ 0.06394474 -0.03358479 0.99738816 0.00968309] [ 0. 0. 0. 1. ]] SLAMing on 168.25992885099998 meters Centerline goodness : 0.760933 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99029157 -0.12131686 -0.06785884 0.18722306] [ 0.123362 0.99200002 0.02679119 -0.19149927] [ 0.06406575 -0.03490229 0.99733515 0.00952332] [ 0. 0. 0. 1. ]] SLAMing on 168.319928851 meters Centerline goodness : 0.760489 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99092207 -0.11604737 -0.06787082 0.18692416] [ 0.11819458 0.992581 0.028513 -0.18582389] [ 0.06405843 -0.03627613 0.9972866 0.00748686] [ 0. 0. 0. 1. ]] SLAMing on 168.379928851 meters Centerline goodness : 0.760556 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99125456 -0.11292198 -0.06828635 0.18689117] [ 0.11526355 0.9928395 0.03136949 -0.18481345] [ 0.06425508 -0.03896608 0.99717247 0.00734237] [ 0. 0. 0. 1. ]] SLAMing on 168.439928851 meters Centerline goodness : 0.760149 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99169936 -0.10882694 -0.06847682 0.18608424] [ 0.11131238 0.99321792 0.0335815 -0.18121547] [ 0.06435783 -0.04092507 0.99708736 0.00701941] [ 0. 0. 0. 1. ]] SLAMing on 168.499928851 meters Centerline goodness : 0.760606 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99209305 -0.10491687 -0.0688755 0.18506345] [ 0.1075875 0.99353367 0.03627374 -0.17720226] [ 0.0646244 -0.04339706 0.99696559 0.00756768] [ 0. 0. 0. 1. ]] SLAMing on 168.559928851 meters Centerline goodness : 0.762249 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:0.01 [[ 0.99208277 -0.10508977 -0.06875986 0.18417788] [ 0.10771777 0.99354072 0.03568923 -0.17585042] [ 0.06456515 -0.04281333 0.99699466 0.00828326] [ 0. 0. 0. 1. ]] SLAMing on 168.619928851 meters Centerline goodness : 0.765435 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:0.01 [[ 0.99166155 -0.10904647 -0.06867492 0.18450287] [ 0.11144259 0.9932532 0.03207238 -0.17517174] [ 0.06471421 -0.03945825 0.99712342 0.00879236] [ 0. 0. 0. 1. ]] SLAMing on 168.679928851 meters Centerline goodness : 0.786326 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99134046 -0.11131128 -0.06966987 0.18659358] [ 0.11379007 0.99296747 0.03267152 -0.17710946] [ 0.0655432 -0.04031634 0.99703494 0.00941763] [ 0. 0. 0. 1. ]] SLAMing on 168.739928851 meters Centerline goodness : 0.766977 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99089899 -0.11530372 -0.0694568 0.18708664] [ 0.11753564 0.9926469 0.02893983 -0.17677036] [ 0.0656092 -0.0368401 0.9971651 0.00945869] [ 0. 0. 0. 1. ]] SLAMing on 168.799928851 meters Centerline goodness : 0.787527 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99071204 -0.11652763 -0.07007828 0.18839814] [ 0.11881211 0.99248283 0.02935162 -0.17827228] [ 0.06613122 -0.03740515 0.99710958 0.00984656] [ 0. 0. 0. 1. ]] SLAMing on 168.859928851 meters Centerline goodness : 0.792222 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99060155 -0.11733975 -0.07028485 0.18857392] [ 0.11961166 0.99239642 0.02902405 -0.17788953] [ 0.06634476 -0.03715816 0.99710463 0.01025371] [ 0. 0. 0. 1. ]] SLAMing on 168.919928851 meters Centerline goodness : 0.792752 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99053781 -0.1175934 -0.07075767 0.18977214] [ 0.11991335 0.99234685 0.02947065 -0.17807142] [ 0.0667506 -0.03767659 0.99705809 0.00994062] [ 0. 0. 0. 1. ]] SLAMing on 168.97992885099998 meters Centerline goodness : 0.794907 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.9905166 -0.11779588 -0.07071775 0.18897266] [ 0.12012644 0.99231585 0.02964622 -0.1788472 ] [ 0.06668214 -0.03786014 0.99705572 0.01105846] [ 0. 0. 0. 1. ]] SLAMing on 169.03992885099998 meters Centerline goodness : 0.793862 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99052764 -0.11779259 -0.07056834 0.18792227] [ 0.120125 0.99231264 0.02975926 -0.17913992] [ 0.06652044 -0.03795439 0.99706293 0.01218155] [ 0. 0. 0. 1. ]] SLAMing on 169.099928851 meters Centerline goodness : 0.794783 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99055241 -0.11751158 -0.07068916 0.18769776] [ 0.11989365 0.99231993 0.03044115 -0.18032272] [ 0.06656907 -0.03862874 0.99703379 0.01302734] [ 0. 0. 0. 1. ]] SLAMing on 169.159928851 meters Centerline goodness : 0.796448 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99063596 -0.11681245 -0.07067709 0.18772285] [ 0.1192236 0.9923864 0.03090253 -0.1808022 ] [ 0.06652918 -0.03903953 0.99702045 0.01292973] [ 0. 0. 0. 1. ]] SLAMing on 169.219928851 meters Centerline goodness : 0.795117 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99068028 -0.1165232 -0.07053319 0.18779958] [ 0.11894911 0.99240951 0.03121661 -0.18225969] [ 0.06636035 -0.03931554 0.99702086 0.01263044] [ 0. 0. 0. 1. ]] SLAMing on 169.279928851 meters Centerline goodness : 0.799123 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.01 [[ 0.99070207 -0.11635008 -0.07051289 0.1886219 ] [ 0.11880036 0.99241521 0.03159957 -0.18448619] [ 0.06630145 -0.03968272 0.99701023 0.01191075] [ 0. 0. 0. 1. ]] SLAMing on 169.339928851 meters Centerline goodness : 0.782585 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99071026 -0.11633558 -0.07042162 0.18842658] [ 0.11880843 0.99240158 0.03199474 -0.18603863] [ 0.0661644 -0.0400642 0.99700408 0.01227021] [ 0. 0. 0. 1. ]] SLAMing on 169.399928851 meters Centerline goodness : 0.799600 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.9907095 -0.11622385 -0.07061659 0.18980084] [ 0.1187744 0.99237114 0.033048 -0.18928665] [ 0.0662369 -0.04112841 0.99695593 0.01154041] [ 0. 0. 0. 1. ]] SLAMing on 169.459928851 meters Centerline goodness : 0.790543 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99072919 -0.11602059 -0.07067455 0.19002691] [ 0.11860839 0.99237322 0.03357733 -0.19092962] [ 0.06623987 -0.04164864 0.99693414 0.01172999] [ 0. 0. 0. 1. ]] SLAMing on 169.519928851 meters Centerline goodness : 0.799884 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.9908026 -0.11548622 -0.07052054 0.18985427] [ 0.11808394 0.99242693 0.03383748 -0.19146369] [ 0.06607872 -0.0418536 0.99693625 0.01165529] [ 0. 0. 0. 1. ]] SLAMing on 169.579928851 meters Centerline goodness : 0.798750 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99094989 -0.11442888 -0.07017364 0.18940442] [ 0.11702094 0.99254732 0.03399873 -0.19158912] [ 0.06576022 -0.04190282 0.99695524 0.01115198] [ 0. 0. 0. 1. ]] SLAMing on 169.639928851 meters Centerline goodness : 0.784555 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99110867 -0.11321516 -0.06989941 0.18900166] [ 0.1157839 0.99269751 0.03384892 -0.1909429 ] [ 0.06555676 -0.04164119 0.9969796 0.01058006] [ 0. 0. 0. 1. ]] SLAMing on 169.699928851 meters Centerline goodness : 0.800680 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99113381 -0.11291748 -0.07002441 0.18952128] [ 0.1155425 0.99269864 0.03463143 -0.19234225] [ 0.06560264 -0.04241518 0.99694395 0.01046483] [ 0. 0. 0. 1. ]] SLAMing on 169.75992885099998 meters Centerline goodness : 0.792238 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.9907504 -0.11637286 -0.06979262 0.18934674] [ 0.11876127 0.99243583 0.03109472 -0.19192685] [ 0.06564611 -0.03909577 0.99707678 0.01131109] [ 0. 0. 0. 1. ]] SLAMing on 169.819928851 meters Centerline goodness : 0.787248 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.01 [[ 0.99060658 -0.11722401 -0.07040697 0.19065719] [ 0.11971673 0.99228316 0.03228046 -0.19477904] [ 0.06607961 -0.04040613 0.9969959 0.01183806] [ 0. 0. 0. 1. ]] SLAMing on 169.879928851 meters Centerline goodness : 0.783682 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.9901012 -0.12145103 -0.07035101 0.19176452] [ 0.12377703 0.99186582 0.02968906 -0.19775 ] [ 0.066173 -0.03810301 0.99708039 0.01220651] [ 0. 0. 0. 1. ]] SLAMing on 169.939928851 meters Centerline goodness : 0.798767 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.01 [[ 0.98960455 -0.12539332 -0.07042271 0.19341503] [ 0.12754979 0.99146485 0.02699096 -0.19955857] [ 0.06643716 -0.03569278 0.99715201 0.01185226] [ 0. 0. 0. 1. ]] SLAMing on 169.999928851 meters Centerline goodness : 0.799039 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.20, Z:0.01 [[ 0.9890732 -0.12949905 -0.07045705 0.19520172] [ 0.13149786 0.99101384 0.0244923 -0.20269505] [ 0.06665218 -0.03348963 0.99721408 0.01162422] [ 0. 0. 0. 1. ]] SLAMing on 170.059928851 meters Centerline goodness : 0.788078 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:0.01 [[ 0.98898746 -0.12978471 -0.0711318 0.19670343] [ 0.13190674 0.99092176 0.0259746 -0.20542872] [ 0.06711494 -0.03507132 0.99712867 0.01191518] [ 0. 0. 0. 1. ]] SLAMing on 170.119928851 meters Centerline goodness : 0.794667 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:0.01 [[ 0.98899535 -0.12979552 -0.07100224 0.19713228] [ 0.13192379 0.99091527 0.02613513 -0.20701097] [ 0.06696498 -0.03521441 0.99713371 0.0113781 ] [ 0. 0. 0. 1. ]] SLAMing on 170.179928851 meters Centerline goodness : 0.794733 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:0.01 [[ 0.9892075 -0.1284015 -0.07058022 0.19646408] [ 0.1305219 0.99109705 0.02628065 -0.20683944] [ 0.06657738 -0.03520928 0.99715985 0.01091191] [ 0. 0. 0. 1. ]] SLAMing on 170.239928851 meters Centerline goodness : 0.783266 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.01 [[ 0.9899294 -0.12302557 -0.07003215 0.19494777] [ 0.12533743 0.99167198 0.02961766 -0.20687898] [ 0.06580519 -0.03809704 0.99710496 0.00990178] [ 0. 0. 0. 1. ]] SLAMing on 170.299928851 meters Centerline goodness : 0.774652 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.01 [[ 0.99106707 -0.11382935 -0.06949059 0.19414802] [ 0.11647974 0.99256385 0.03534782 -0.20709039] [ 0.06495023 -0.0431263 0.99695616 0.00713055] [ 0. 0. 0. 1. ]] SLAMing on 170.359928851 meters Centerline goodness : 0.771595 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.01 [[ 0.99126738 -0.1124325 -0.06890517 0.19333722] [ 0.11502924 0.99274737 0.0349418 -0.20634658] [ 0.06447684 -0.04256277 0.99701111 0.00618402] [ 0. 0. 0. 1. ]] SLAMing on 170.419928851 meters Centerline goodness : 0.773248 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.00 [[ 0.99202853 -0.10609404 -0.06799592 0.19117729] [ 0.10885585 0.99332029 0.03827799 -0.20604056] [ 0.06348066 -0.04537461 0.99695103 0.00480298] [ 0. 0. 0. 1. ]] SLAMing on 170.47992885099998 meters Centerline goodness : 0.787988 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.00 [[ 0.99216518 -0.10515144 -0.06746428 0.19009455] [ 0.10785225 0.99345129 0.03771495 -0.2051692 ] [ 0.0630567 -0.04469564 0.9970086 0.0044405 ] [ 0. 0. 0. 1. ]] SLAMing on 170.53992885099998 meters Centerline goodness : 0.781995 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.00 [[ 0.99218701 -0.10511352 -0.06720187 0.19015433] [ 0.10781137 0.99345038 0.03785578 -0.20640829] [ 0.06278257 -0.04480514 0.99702099 0.00391143] [ 0. 0. 0. 1. ]] SLAMing on 170.599928851 meters Centerline goodness : 0.771581 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.00 [[ 0.99187113 -0.10838975 -0.06665833 0.18993342] [ 0.11083794 0.99325035 0.03418613 -0.20604539] [ 0.06250298 -0.0412965 0.99719004 0.00388376] [ 0. 0. 0. 1. ]] SLAMing on 170.659928851 meters Centerline goodness : 0.782659 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.00 [[ 0.99133464 -0.11299392 -0.06699261 0.19145858] [ 0.11528158 0.99283914 0.03131448 -0.2070613 ] [ 0.06297453 -0.03876614 0.99726195 0.00448197] [ 0. 0. 0. 1. ]] SLAMing on 170.719928851 meters Centerline goodness : 0.776530 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:0.00 [[ 0.99079895 -0.11739221 -0.06735364 0.19342516] [ 0.11952276 0.99242196 0.02851238 -0.20867335] [ 0.0634961 -0.03630033 0.99732168 0.00456185] [ 0. 0. 0. 1. ]] SLAMing on 170.779928851 meters Centerline goodness : 0.775939 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:0.00 [[ 0.99008938 -0.12280008 -0.06814079 0.19642807] [ 0.12480092 0.9918434 0.0259114 -0.21051555] [ 0.06440307 -0.03415864 0.99733918 0.00462457] [ 0. 0. 0. 1. ]] SLAMing on 170.839928851 meters Centerline goodness : 0.774989 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:0.00 [[ 0.98960728 -0.12667367 -0.06805299 0.19787513] [ 0.12839813 0.99148797 0.02157584 -0.20858459] [ 0.06474063 -0.03008949 0.99744838 0.00348279] [ 0. 0. 0. 1. ]] SLAMing on 170.899928851 meters Centerline goodness : 0.781913 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:0.00 [[ 0.99011073 -0.12239861 -0.06855162 0.19799861] [ 0.12431897 0.99194055 0.02446911 -0.20637212] [ 0.06500415 -0.03274939 0.99734745 0.00272964] [ 0. 0. 0. 1. ]] SLAMing on 170.959928851 meters Centerline goodness : 0.778737 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.20, Z:0.00 [[ 0.99076079 -0.11722855 -0.06819476 0.19648058] [ 0.11928329 0.99249665 0.02686812 -0.20409684] [ 0.06453336 -0.03475438 0.99731017 0.00184295] [ 0. 0. 0. 1. ]] SLAMing on 171.019928851 meters Centerline goodness : 0.781544 with order 3 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.20, Z:0.00 [[ 0.99173411 -0.10854021 -0.0684286 0.1951302 ] [ 0.11102237 0.99325083 0.03356804 -0.20255109] [ 0.06432328 -0.04088767 0.99709113 0.00122763] [ 0. 0. 0. 1. ]] SLAMing on 171.079928851 meters Centerline goodness : 0.766299 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:0.00 [[ 9.92929726e-01 -9.79665717e-02 -6.70306663e-02 1.90677451e-01] [ 1.00624257e-01 9.94218082e-01 3.74855095e-02 -1.95855735e-01] [ 6.29707736e-02 -4.39653876e-02 9.97046502e-01 4.36868441e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.139928851 meters Centerline goodness : 0.762724 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.00 [[ 0.99352262 -0.09240224 -0.06614097 0.18840443] [ 0.09509523 0.99471212 0.03879033 -0.19191569] [ 0.06220691 -0.04482876 0.99705601 -0.00152944] [ 0. 0. 0. 1. ]] SLAMing on 171.199928851 meters Centerline goodness : 0.763288 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.00 [[ 0.99410681 -0.08647714 -0.06537088 0.18701768] [ 0.08917038 0.99523422 0.03946517 -0.18598078] [ 0.0616465 -0.04506174 0.99708031 -0.00444254] [ 0. 0. 0. 1. ]] SLAMing on 171.25992885099998 meters Centerline goodness : 0.762913 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:-0.00 [[ 0.99416881 -0.08615287 -0.06485417 0.18549878] [ 0.08868505 0.99536373 0.03722919 -0.18128131] [ 0.06134608 -0.0427637 0.99720004 -0.00456457] [ 0. 0. 0. 1. ]] SLAMing on 171.319928851 meters Centerline goodness : 0.760926 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:-0.00 [[ 0.99400477 -0.08750832 -0.06555013 0.18652258] [ 0.09002136 0.99527394 0.03641351 -0.17832231] [ 0.06205385 -0.04209611 0.99718466 -0.00424347] [ 0. 0. 0. 1. ]] SLAMing on 171.379928851 meters Centerline goodness : 0.772343 with order 3 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:-0.00 [[ 0.9935891 -0.09186255 -0.06589367 0.18747905] [ 0.09416544 0.99501833 0.03273201 -0.17611037] [ 0.06255857 -0.03872707 0.99728965 -0.00374363] [ 0. 0. 0. 1. ]] SLAMing on 171.439928851 meters Centerline goodness : 0.761526 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:-0.00 [[ 0.99302791 -0.09738008 -0.06642808 0.18859074] [ 0.09943167 0.99464178 0.02830321 -0.17371255] [ 0.06331597 -0.03471093 0.99738971 -0.0026795 ] [ 0. 0. 0. 1. ]] SLAMing on 171.499928851 meters Centerline goodness : 0.761641 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:-0.00 [[ 0.99227981 -0.10372253 -0.06798839 0.19148641] [ 0.10563406 0.9940872 0.02514117 -0.17103832] [ 0.06497868 -0.03212897 0.99736929 -0.00120792] [ 0. 0. 0. 1. ]] SLAMing on 171.559928851 meters Centerline goodness : 0.761989 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:-0.00 [[ 9.91622206e-01 -1.09112913e-01 -6.91359068e-02 1.93865368e-01] [ 1.10783643e-01 9.93626873e-01 2.07995766e-02 -1.67309291e-01] [ 6.64257925e-02 -2.82844497e-02 9.97390397e-01 -3.58882214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619928851 meters Centerline goodness : 0.761023 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.17, Z:0.00 [[ 9.91387964e-01 -1.10464874e-01 -7.03378696e-02 1.95815868e-01] [ 1.12174963e-01 9.93470057e-01 2.08332137e-02 -1.66382545e-01] [ 6.75772290e-02 -2.85439452e-02 9.97305651e-01 3.12526901e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679928851 meters Centerline goodness : 0.763895 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.00 [[ 0.99115403 -0.11178495 -0.07153889 0.19757245] [ 0.11353426 0.99331508 0.02085942 -0.16482427] [ 0.06872889 -0.02879702 0.99721967 0.0011399 ] [ 0. 0. 0. 1. ]] SLAMing on 171.739928851 meters Centerline goodness : 0.763960 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.00 [[ 0.99110999 -0.11183602 -0.07206731 0.19830582] [ 0.11358306 0.99331482 0.02060478 -0.16313387] [ 0.06928117 -0.02860723 0.99718692 0.00137854] [ 0. 0. 0. 1. ]] SLAMing on 171.799928851 meters Centerline goodness : 0.763804 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.00 [[ 0.99151103 -0.10798714 -0.07241993 0.19782976] [ 0.10993513 0.99366178 0.02346326 -0.15985924] [ 0.06942719 -0.03122558 0.9970982 0.00172457] [ 0. 0. 0. 1. ]] SLAMing on 171.859928851 meters Centerline goodness : 0.765282 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.01 [[ 0.99227653 -0.10182308 -0.07084738 0.21907303] [ 0.10289447 0.99462427 0.01163151 -0.15313632] [ 0.06928216 -0.01883148 0.99741935 0.00766362] [ 0. 0. 0. 1. ]] SLAMing on 171.919928851 meters Centerline goodness : 0.784787 with order 3 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.01 [[ 0.99300562 -0.09418497 -0.07119718 0.21875113] [ 0.09560708 0.99527687 0.01682993 -0.14728095] [ 0.06927578 -0.02351917 0.99732027 0.00811531] [ 0. 0. 0. 1. ]] SLAMing on 171.97992885099998 meters Centerline goodness : 0.783712 with order 3 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.01 [[ 0.99339963 -0.08960761 -0.07160762 0.21906636] [ 0.09123665 0.99563227 0.01980553 -0.14340706] [ 0.06952013 -0.02620805 0.99723623 0.00824453] [ 0. 0. 0. 1. ]] SLAMing on 172.03992885099998 meters Centerline goodness : 0.783164 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.01 [[ 0.99426225 -0.08062497 -0.07030071 0.23864355] [ 0.08159993 0.99660331 0.011104 -0.13558146] [ 0.06916666 -0.01677682 0.99746404 0.0139806 ] [ 0. 0. 0. 1. ]] SLAMing on 172.099928851 meters Centerline goodness : 0.762130 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.13, Z:0.01 [[ 0.9943899 -0.07868947 -0.07068735 0.24128075] [ 0.07967952 0.99675656 0.01129278 -0.13231573] [ 0.06956946 -0.01686176 0.9974346 0.01279848] [ 0. 0. 0. 1. ]] SLAMing on 172.159928851 meters Centerline goodness : 0.790091 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.13, Z:0.01 [[ 0.99455045 -0.07629892 -0.07104846 0.24370551] [ 0.07733699 0.99693312 0.01197232 -0.12796161] [ 0.06991709 -0.01740175 0.99740101 0.01153238] [ 0. 0. 0. 1. ]] SLAMing on 172.219928851 meters Centerline goodness : 0.787988 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.13, Z:0.01 [[ 0.99455277 -0.07614542 -0.07118043 0.24423371] [ 0.07713876 0.99695624 0.01130804 -0.12581205] [ 0.07010272 -0.01673721 0.99739936 0.01175568] [ 0. 0. 0. 1. ]] SLAMing on 172.279928851 meters Centerline goodness : 0.761244 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.99434598 -0.07902391 -0.07093155 0.24520569] [ 0.07971542 0.99679331 0.00696732 -0.12229868] [ 0.07015351 -0.01258226 0.99745685 0.01197182] [ 0. 0. 0. 1. ]] SLAMing on 172.339928851 meters Centerline goodness : 0.787079 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.01 [[ 0.99432194 -0.07926116 -0.0710038 0.24494537] [ 0.07989939 0.99678372 0.0061896 -0.12026985] [ 0.07028484 -0.01182761 0.99745684 0.01271698] [ 0. 0. 0. 1. ]] SLAMing on 172.399928851 meters Centerline goodness : 0.763318 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.01 [[ 0.99430097 -0.07947617 -0.07105711 0.24468666] [ 0.0800763 0.99677282 0.00563282 -0.11916292] [ 0.07038013 -0.01129071 0.99745634 0.01331788] [ 0. 0. 0. 1. ]] SLAMing on 172.459928851 meters Centerline goodness : 0.779618 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.9940085 -0.08295327 -0.07117477 0.24579547] [ 0.08326306 0.99652663 0.00139162 -0.11749545] [ 0.07081212 -0.00730951 0.99746289 0.01385631] [ 0. 0. 0. 1. ]] SLAMing on 172.519928851 meters Centerline goodness : 0.763456 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.99369153 -0.08662134 -0.07123121 0.24714585] [ 0.08668695 0.99623323 -0.00217558 -0.11753659] [ 0.07115135 -0.00401296 0.99745746 0.01345798] [ 0. 0. 0. 1. ]] SLAMing on 172.579928851 meters Centerline goodness : 0.762147 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 9.93303805e-01 -9.11314738e-02 -7.10113046e-02 2.47406817e-01] [ 9.09540537e-02 9.95838578e-01 -5.73471661e-03 -1.19259733e-01] [ 7.12384098e-02 -7.62450183e-04 9.97459026e-01 1.33058636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.639928851 meters Centerline goodness : 0.761125 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.99295603 -0.0947874 -0.07108922 0.24915684] [ 0.09437084 0.99549457 -0.0092032 -0.11992308] [ 0.07164128 0.00242963 0.9974275 0.01256735] [ 0. 0. 0. 1. ]] SLAMing on 172.699928851 meters Centerline goodness : 0.779968 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.99259426 -0.09849182 -0.07110559 0.2509328 ] [ 0.09784201 0.99512253 -0.01257307 -0.12076664] [ 0.07199712 0.00552285 0.99738955 0.0115498 ] [ 0. 0. 0. 1. ]] SLAMing on 172.75992885099998 meters Centerline goodness : 0.760472 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.99256442 -0.0987763 -0.07112742 0.25092168] [ 0.09814368 0.99509571 -0.01234318 -0.12174104] [ 0.0719978 0.00527069 0.99739086 0.01136653] [ 0. 0. 0. 1. ]] SLAMing on 172.819928851 meters Centerline goodness : 0.780174 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.01 [[ 0.99254046 -0.0990174 -0.07112654 0.25087059] [ 0.09840921 0.99507352 -0.01201332 -0.12311315] [ 0.07196566 0.0049242 0.99739495 0.01118868] [ 0. 0. 0. 1. ]] SLAMing on 172.879928851 meters Centerline goodness : 0.758992 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99322105 -0.10104262 -0.057466 0.25245461] [ 0.10067348 0.99487614 -0.00929017 -0.12621707] [ 0.05811025 0.00344189 0.99830424 0.00356576] [ 0. 0. 0. 1. ]] SLAMing on 172.939928851 meters Centerline goodness : 0.779656 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99284568 -0.10461716 -0.05755613 0.25377422] [ 0.10403097 0.99448783 -0.01309652 -0.12527518] [ 0.05860899 0.00701521 0.99825637 0.00352641] [ 0. 0. 0. 1. ]] SLAMing on 172.999928851 meters Centerline goodness : 0.760799 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99278723 -0.10531199 -0.05729657 0.25296155] [ 0.1047366 0.99441551 -0.01296255 -0.12661005] [ 0.05834171 0.006868 0.99827305 0.00346618] [ 0. 0. 0. 1. ]] SLAMing on 173.059928851 meters Centerline goodness : 0.781307 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99236203 -0.10928058 -0.05723071 0.25419482] [ 0.10848344 0.9939552 -0.01686424 -0.12598576] [ 0.0587277 0.01052685 0.99821853 0.00295142] [ 0. 0. 0. 1. ]] SLAMing on 173.119928851 meters Centerline goodness : 0.779773 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99228679 -0.11007224 -0.05701788 0.25372897] [ 0.1092754 0.99386751 -0.01691899 -0.12652697] [ 0.05853053 0.01055784 0.99822979 0.00255603] [ 0. 0. 0. 1. ]] SLAMing on 173.179928851 meters Centerline goodness : 0.779407 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99207382 -0.11465225 -0.05142371 0.26239513] [ 0.11432931 0.99340042 -0.00918778 -0.12687936] [ 0.05213773 0.00323572 0.99863466 -0.00118835] [ 0. 0. 0. 1. ]] SLAMing on 173.239928851 meters Centerline goodness : 0.777100 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99202212 -0.11516757 -0.05126932 0.26203962] [ 0.11484244 0.99334063 -0.00925271 -0.12709238] [ 0.05199351 0.003291 0.998642 -0.00140432] [ 0. 0. 0. 1. ]] SLAMing on 173.299928851 meters Centerline goodness : 0.775047 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 9.91971585e-01 -1.15669766e-01 -5.11163396e-02 2.61247929e-01] [ 1.15295606e-01 9.93278662e-01 -1.02187632e-02 -1.24363687e-01] [ 5.19547713e-02 4.24323338e-03 9.98640424e-01 -6.98654498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359928851 meters Centerline goodness : 0.773319 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 9.91965650e-01 -1.15685769e-01 -5.11952386e-02 2.61201784e-01] [ 1.15278001e-01 9.93273931e-01 -1.08572711e-02 -1.21946110e-01] [ 5.21069277e-02 4.86835522e-03 9.98629645e-01 -2.59346436e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.419928851 meters Centerline goodness : 0.755702 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 9.91993001e-01 -1.15430719e-01 -5.12409451e-02 2.61912153e-01] [ 1.15003857e-01 9.93301768e-01 -1.12120414e-02 -1.19150486e-01] [ 5.21919353e-02 5.22936024e-03 9.98623380e-01 -9.76603074e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47992885099998 meters Centerline goodness : 0.770410 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 0.99197981 -0.1156053 -0.05110248 0.26205924] [ 0.11515244 0.99327859 -0.01172886 -0.11675581] [ 0.05211492 0.00575022 0.99862454 -0.0015671 ] [ 0. 0. 0. 1. ]] SLAMing on 173.53992885099998 meters Centerline goodness : 0.755736 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 0.99196108 -0.11581423 -0.05099288 0.26208094] [ 0.11534718 0.99325253 -0.01201861 -0.11540681] [ 0.05204073 0.00604011 0.9986267 -0.00196734] [ 0. 0. 0. 1. ]] SLAMing on 173.599928851 meters Centerline goodness : 0.753393 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.00 [[ 0.99189692 -0.11639842 -0.05091078 0.2617954 ] [ 0.11589754 0.99318008 -0.01269232 -0.11271217] [ 0.05204094 0.00668904 0.99862255 -0.00208755] [ 0. 0. 0. 1. ]] SLAMing on 173.659928851 meters Centerline goodness : 0.772535 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.00 [[ 0.99185165 -0.11685683 -0.05074234 0.26153535] [ 0.1163418 0.99312418 -0.01299778 -0.11143252] [ 0.05191232 0.00698841 0.99862719 -0.00241789] [ 0. 0. 0. 1. ]] SLAMing on 173.719928851 meters Centerline goodness : 0.770879 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 9.91517831e-01 -1.22021945e-01 -4.47552969e-02 2.69927258e-01] [ 1.21891634e-01 9.92527393e-01 -5.63943366e-03 -1.12018409e-01] [ 4.51089928e-02 1.36302778e-04 9.98982062e-01 -6.49325948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779928851 meters Centerline goodness : 0.758513 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 9.91396728e-01 -1.23157732e-01 -4.43249409e-02 2.68843636e-01] [ 1.23009432e-01 9.92386948e-01 -6.06831407e-03 -1.11614734e-01] [ 4.47348527e-02 5.63720926e-04 9.98998736e-01 -6.74931240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839928851 meters Centerline goodness : 0.757908 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 0.99083612 -0.1277037 -0.04399478 0.26918341] [ 0.12734856 0.99179929 -0.01079421 -0.10864429] [ 0.04501245 0.00509262 0.99897345 -0.00675202] [ 0. 0. 0. 1. ]] SLAMing on 173.899928851 meters Centerline goodness : 0.757302 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 0.99077537 -0.12832227 -0.043561 0.26832623] [ 0.12795697 0.99171777 -0.01108463 -0.10777637] [ 0.04462262 0.00540845 0.99898927 -0.00708244] [ 0. 0. 0. 1. ]] SLAMing on 173.959928851 meters Centerline goodness : 0.773732 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.01 [[ 0.99073846 -0.12860908 -0.0435547 0.26789423] [ 0.12819953 0.99167481 -0.01208096 -0.104296 ] [ 0.04474582 0.00638538 0.998978 -0.0064636 ] [ 0. 0. 0. 1. ]] SLAMing on 174.019928851 meters Centerline goodness : 0.769199 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.01 [[ 0.99117653 -0.12522953 -0.04343547 0.26618064] [ 0.12496978 0.99212279 -0.00865557 -0.10317177] [ 0.04417726 0.00315107 0.99901874 -0.00626159] [ 0. 0. 0. 1. ]] SLAMing on 174.079928851 meters Centerline goodness : 0.764881 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.01 [[ 9.91655392e-01 -1.21295298e-01 -4.36696033e-02 2.65573163e-01] [ 1.21161661e-01 9.92616400e-01 -5.70391713e-03 -9.93193537e-02] [ 4.40390227e-02 3.65238527e-04 9.99029745e-01 -6.13253916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.139928851 meters Centerline goodness : 0.773958 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.01 [[ 9.91670623e-01 -1.21095020e-01 -4.38790668e-02 2.66038015e-01] [ 1.20940905e-01 9.92640596e-01 -6.15988894e-03 -9.73222575e-02] [ 4.43020749e-02 8.01806841e-04 9.99017859e-01 -5.98013768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.199928851 meters Centerline goodness : 0.772655 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.01 [[ 0.99174229 -0.12043443 -0.04407691 0.26695989] [ 0.12026435 0.99272062 -0.00650002 -0.09459808] [ 0.04453888 0.00114547 0.99900699 -0.0062244 ] [ 0. 0. 0. 1. ]] SLAMing on 174.25992885099998 meters Centerline goodness : 0.764765 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.01 [[ 0.99215733 -0.11698154 -0.04403574 0.26597068] [ 0.11696338 0.9931317 -0.00299757 -0.09299667] [ 0.04408395 -0.0021765 0.99902546 -0.00677923] [ 0. 0. 0. 1. ]] SLAMing on 174.319928851 meters Centerline goodness : 0.764788 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.01 [[ 0.99210832 -0.11751173 -0.04372722 0.26549836] [ 0.11747309 0.99307003 -0.00346136 -0.09165165] [ 0.04383094 -0.00170273 0.99903751 -0.00723338] [ 0. 0. 0. 1. ]] SLAMing on 174.379928851 meters Centerline goodness : 0.765486 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 0.99203907 -0.11827389 -0.04324085 0.26432205] [ 0.1182203 0.99298011 -0.00380339 -0.09106641] [ 0.04338715 -0.00133883 0.99905744 -0.00737581] [ 0. 0. 0. 1. ]] SLAMing on 174.439928851 meters Centerline goodness : 0.768347 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.91869759e-01 -1.19864807e-01 -4.27412005e-02 2.62292716e-01] [ 1.19784499e-01 9.92789969e-01 -4.44432277e-03 -9.10277284e-02] [ 4.29657530e-02 -7.11543935e-04 9.99076292e-01 -6.82423011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499928851 meters Centerline goodness : 0.766400 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.91728248e-01 -1.21263242e-01 -4.20750396e-02 2.60010306e-01] [ 1.21164339e-01 9.92620356e-01 -4.90230793e-03 -9.18478392e-02] [ 4.23590106e-02 -2.36237118e-04 9.99102426e-01 -6.20706538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559928851 meters Centerline goodness : 0.771251 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.91625129e-01 -1.22299926e-01 -4.15009888e-02 2.58406597e-01] [ 1.22192176e-01 9.92493188e-01 -5.13266266e-03 -9.28641720e-02] [ 4.18171729e-02 1.85811350e-05 9.99125279e-01 -6.03562218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619928851 meters Centerline goodness : 0.766708 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.91554883e-01 -1.22995049e-01 -4.11233668e-02 2.57332891e-01] [ 1.22877116e-01 9.92407241e-01 -5.39287914e-03 -9.28234367e-02] [ 4.14744244e-02 2.94214938e-04 9.99139523e-01 -5.95086207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679928851 meters Centerline goodness : 0.764618 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.91552068e-01 -1.23000231e-01 -4.11757163e-02 2.57339220e-01] [ 1.22872411e-01 9.92406504e-01 -5.63039693e-03 -9.19139321e-02] [ 4.15555888e-02 5.23472172e-04 9.99136056e-01 -5.76353215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739928851 meters Centerline goodness : 0.762918 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.91590694e-01 -1.22668816e-01 -4.12341676e-02 2.57640280e-01] [ 1.22539351e-01 9.92447503e-01 -5.66228849e-03 -9.15441998e-02] [ 4.16173329e-02 5.61864424e-04 9.99133466e-01 -5.68875487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799928851 meters Centerline goodness : 0.765387 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 0.99205368 -0.11888543 -0.04117951 0.25638739] [ 0.11891391 0.992903 -0.00176594 -0.09186214] [ 0.0410972 -0.00314491 0.9991502 -0.00568934] [ 0. 0. 0. 1. ]] SLAMing on 174.859928851 meters Centerline goodness : 0.762696 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 0.99215097 -0.11799013 -0.04140987 0.25756117] [ 0.11802115 0.99300962 -0.00170341 -0.0905428 ] [ 0.04132139 -0.0031972 0.99914079 -0.00606861] [ 0. 0. 0. 1. ]] SLAMing on 174.919928851 meters Centerline goodness : 0.763020 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 0.9922816 -0.11679937 -0.04165502 0.25902983] [ 0.11684122 0.99314957 -0.00143688 -0.08953038] [ 0.0415375 -0.00344124 0.99913102 -0.00668298] [ 0. 0. 0. 1. ]] SLAMing on 174.97992885099998 meters Centerline goodness : 0.766091 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 0.99230583 -0.11657727 -0.0417 0.2593941 ] [ 0.11662352 0.9931753 -0.00133005 -0.08963787] [ 0.04157046 -0.00354339 0.99912929 -0.00690326] [ 0. 0. 0. 1. ]] SLAMing on 175.03992885099998 meters Centerline goodness : 0.764545 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.92292626e-01 -1.16835728e-01 -4.12887105e-02 2.58629756e-01] [ 1.16901192e-01 9.93143200e-01 -8.33590000e-04 -9.15923915e-02] [ 4.11029951e-02 -3.99953425e-03 9.99146910e-01 -7.30329598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099928851 meters Centerline goodness : 0.758395 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.01 [[ 9.92256954e-01 -1.17212898e-01 -4.10764332e-02 2.58389281e-01] [ 1.17297383e-01 9.93096771e-01 -3.55597297e-04 -9.40337049e-02] [ 4.08345538e-02 -4.46531423e-03 9.99155944e-01 -7.86072920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159928851 meters Centerline goodness : 0.760975 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.01 [[ 9.91795179e-01 -1.21155584e-01 -4.07878465e-02 2.58756239e-01] [ 1.21092531e-01 9.92633075e-01 -4.02207122e-03 -9.52222164e-02] [ 4.09746618e-02 -9.50032702e-04 9.99159734e-01 -7.63761209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219928851 meters Centerline goodness : 0.758410 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.01 [[ 0.99136087 -0.12468604 -0.04070642 0.26005196] [ 0.12449254 0.99219395 -0.00726431 -0.09677974] [ 0.04129442 0.0021339 0.99914474 -0.00799224] [ 0. 0. 0. 1. ]] SLAMing on 175.279928851 meters Centerline goodness : 0.755346 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.01 [[ 0.99081215 -0.12916728 -0.04008866 0.2594954 ] [ 0.12884478 0.99160878 -0.0105376 -0.10013139] [ 0.04111338 0.00527557 0.99914056 -0.0077918 ] [ 0. 0. 0. 1. ]] SLAMing on 175.339928851 meters Centerline goodness : 0.752983 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.01 [[ 0.99070278 -0.13005724 -0.03991389 0.25886401] [ 0.12973878 0.99149283 -0.01047891 -0.10388166] [ 0.0409372 0.00520311 0.99914817 -0.00747408] [ 0. 0. 0. 1. ]] SLAMing on 175.399928851 meters Centerline goodness : 0.755731 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.01 [[ 0.99070667 -0.13010411 -0.03966387 0.25821603] [ 0.12981698 0.99149012 -0.00974158 -0.10802233] [ 0.04059375 0.004502 0.99916559 -0.00722324] [ 0. 0. 0. 1. ]] SLAMing on 175.459928851 meters Centerline goodness : 0.754450 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.01 [[ 0.99078465 -0.12941949 -0.03995455 0.25902014] [ 0.12915361 0.99158214 -0.00917644 -0.1094672 ] [ 0.04080583 0.0039316 0.99915936 -0.0071922 ] [ 0. 0. 0. 1. ]] SLAMing on 175.519928851 meters Centerline goodness : 0.750354 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.01 [[ 0.99098845 -0.12761805 -0.04068823 0.26173433] [ 0.12740242 0.99181997 -0.00785985 -0.11164949] [ 0.04135846 0.00260524 0.99914098 -0.00815842] [ 0. 0. 0. 1. ]] SLAMing on 175.579928851 meters Centerline goodness : 0.752060 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.01 [[ 0.99108168 -0.12675166 -0.04112319 0.26302916] [ 0.12656157 0.99193259 -0.00720395 -0.11321276] [ 0.04170455 0.00193509 0.99912811 -0.00835652] [ 0. 0. 0. 1. ]] SLAMing on 175.639928851 meters Centerline goodness : 0.749757 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.01 [[ 9.91226771e-01 -1.25446339e-01 -4.16257579e-02 2.64599168e-01] [ 1.25295614e-01 9.92099951e-01 -6.22068383e-03 -1.15438203e-01] [ 4.20772744e-02 9.50583475e-04 9.99113907e-01 -8.58892891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.699928851 meters Centerline goodness : 0.752616 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 9.91312185e-01 -1.24653932e-01 -4.19708079e-02 2.65672011e-01] [ 1.24527418e-01 9.92200219e-01 -5.62561208e-03 -1.16740721e-01] [ 4.23446995e-02 3.50221450e-04 9.99103000e-01 -8.74701209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75992885099998 meters Centerline goodness : 0.746422 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 9.91419162e-01 -1.23600862e-01 -4.25543499e-02 2.67352047e-01] [ 1.23520575e-01 9.92331713e-01 -4.52105585e-03 -1.19631120e-01] [ 4.27868373e-02 -7.74076368e-04 9.99083924e-01 -9.10635343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819928851 meters Centerline goodness : 0.752581 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99143709 -0.12345537 -0.04255887 0.26763493] [ 0.12340654 0.99234899 -0.00378287 -0.12243358] [ 0.04270027 -0.00150157 0.9990868 -0.00944562] [ 0. 0. 0. 1. ]] SLAMing on 175.879928851 meters Centerline goodness : 0.745984 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99099156 -0.12697958 -0.04256649 0.26867162] [ 0.12678809 0.99190384 -0.00717963 -0.12432494] [ 0.04313353 0.00171803 0.99906784 -0.0090444 ] [ 0. 0. 0. 1. ]] SLAMing on 175.939928851 meters Centerline goodness : 0.745494 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.01 [[ 0.99090166 -0.12774768 -0.04236079 0.26769662] [ 0.12756063 0.99180536 -0.00710072 -0.1273949 ] [ 0.04292076 0.00163255 0.99907715 -0.0083584 ] [ 0. 0. 0. 1. ]] SLAMing on 175.999928851 meters Centerline goodness : 0.746031 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.01 [[ 0.99087662 -0.12799826 -0.04218964 0.26718585] [ 0.12782282 0.99177342 -0.00684123 -0.1291945 ] [ 0.04271823 0.00138601 0.9990862 -0.00818138] [ 0. 0. 0. 1. ]] SLAMing on 176.059928851 meters Centerline goodness : 0.746674 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.01 [[ 0.99043348 -0.13141096 -0.04210322 0.2684386 ] [ 0.13111011 0.99131897 -0.00984078 -0.1320319 ] [ 0.0430309 0.00422648 0.9990648 -0.00836584] [ 0. 0. 0. 1. ]] SLAMing on 176.119928851 meters Centerline goodness : 0.746879 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.01 [[ 0.99000783 -0.13455764 -0.04217518 0.270206 ] [ 0.13412831 0.9908805 -0.01286226 -0.13414048] [ 0.04352128 0.00707686 0.99902744 -0.00867857] [ 0. 0. 0. 1. ]] SLAMing on 176.179928851 meters Centerline goodness : 0.760323 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:-0.01 [[ 0.98956145 -0.13781643 -0.04212807 0.27131453] [ 0.13725993 0.99040836 -0.01584252 -0.13704678] [ 0.04390735 0.00989465 0.99898661 -0.00845265] [ 0. 0. 0. 1. ]] SLAMing on 176.239928851 meters Centerline goodness : 0.750491 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:-0.01 [[ 0.98960766 -0.13747309 -0.04216437 0.27142745] [ 0.13695402 0.9904642 -0.01497543 -0.13989175] [ 0.04382101 0.00904522 0.99899845 -0.00847948] [ 0. 0. 0. 1. ]] SLAMing on 176.299928851 meters Centerline goodness : 0.752873 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:-0.01 [[ 0.98967041 -0.13696295 -0.04235136 0.2714111 ] [ 0.13647949 0.9905423 -0.01411739 -0.14302428] [ 0.04388438 0.00819147 0.99900303 -0.0078467 ] [ 0. 0. 0. 1. ]] SLAMing on 176.359928851 meters Centerline goodness : 0.753421 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.01 [[ 0.98974388 -0.13637392 -0.04253476 0.27228013] [ 0.13593819 0.99063219 -0.01298716 -0.14636789] [ 0.04390741 0.00707187 0.99901057 -0.00840594] [ 0. 0. 0. 1. ]] SLAMing on 176.419928851 meters Centerline goodness : 0.751624 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.01 [[ 0.98971221 -0.13663711 -0.04242698 0.27356862] [ 0.13620133 0.99059574 -0.01301096 -0.15197045] [ 0.04380577 0.0070985 0.99901485 -0.00907355] [ 0. 0. 0. 1. ]] SLAMing on 176.47992885099998 meters Centerline goodness : 0.752390 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.01 [[ 0.98976363 -0.13622786 -0.04254328 0.2740865 ] [ 0.13583168 0.99065826 -0.01208186 -0.1547554 ] [ 0.04379174 0.00617946 0.99902157 -0.00945159] [ 0. 0. 0. 1. ]] SLAMing on 176.53992885099998 meters Centerline goodness : 0.753500 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.16, Z:-0.01 [[ 9.90071628e-01 -1.29892780e-01 -5.37218534e-02 2.71581918e-01] [ 1.29669823e-01 9.91527871e-01 -7.63002511e-03 -1.64610346e-01] [ 5.42578001e-02 5.88168166e-04 9.98526787e-01 -5.07281678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599928851 meters Centerline goodness : 0.752339 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:0.00 [[ 9.90325918e-01 -1.23372378e-01 -6.35124647e-02 2.68098671e-01] [ 1.23201934e-01 9.92359620e-01 -6.60811664e-03 -1.72079926e-01] [ 6.38424644e-02 -1.28066934e-03 9.97959167e-01 1.19309575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659928851 meters Centerline goodness : 0.754667 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.00 [[ 0.99010347 -0.11853555 -0.07512947 0.26624398] [ 0.11851526 0.9929409 -0.00474422 -0.18051099] [ 0.07516149 -0.00420672 0.9971625 0.00474879] [ 0. 0. 0. 1. ]] SLAMing on 176.719928851 meters Centerline goodness : 0.769231 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.00 [[ 0.99005704 -0.11852177 -0.07576045 0.26779546] [ 0.11863429 0.9929334 -0.00302932 -0.18455987] [ 0.07558412 -0.00598859 0.99712145 0.0049047 ] [ 0. 0. 0. 1. ]] SLAMing on 176.779928851 meters Centerline goodness : 0.768133 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:0.00 [[ 0.9896752 -0.12158684 -0.0758923 0.2694796 ] [ 0.12160669 0.99256872 -0.0043768 -0.18963803] [ 0.07586048 -0.0048974 0.99710642 0.00484235] [ 0. 0. 0. 1. ]] SLAMing on 176.839928851 meters Centerline goodness : 0.763316 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:0.00 [[ 0.98932803 -0.12463628 -0.07547087 0.26995091] [ 0.12447152 0.99219918 -0.00690144 -0.19217964] [ 0.0757423 -0.00256618 0.99712412 0.00464839] [ 0. 0. 0. 1. ]] SLAMing on 176.899928851 meters Centerline goodness : 0.766907 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.20, Z:0.00 [[ 0.98930398 -0.12455989 -0.07591095 0.27123123] [ 0.12460043 0.99219803 -0.00422037 -0.19912865] [ 0.07584438 -0.00528331 0.99710567 0.00486999] [ 0. 0. 0. 1. ]] SLAMing on 176.959928851 meters Centerline goodness : 0.770428 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.20, Z:0.00 [[ 0.98942498 -0.12347472 -0.07610655 0.27198881] [ 0.12368815 0.99231928 -0.00192102 -0.20367342] [ 0.0757592 -0.00751278 0.99709784 0.00481664] [ 0. 0. 0. 1. ]] SLAMing on 177.019928851 meters Centerline goodness : 0.771359 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.00 [[ 9.89680893e-01 -1.21559202e-01 -7.58623149e-02 2.71870794e-01] [ 1.21944387e-01 9.92536833e-01 4.48763699e-04 -2.08839328e-01] [ 7.52415904e-02 -9.69511637e-03 9.97118202e-01 4.65637120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079928851 meters Centerline goodness : 0.768630 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.00 [[ 0.98981909 -0.1203771 -0.07594421 0.27262977] [ 0.12088919 0.99266365 0.00216547 -0.21252535] [ 0.07512638 -0.01132426 0.99710972 0.004216 ] [ 0. 0. 0. 1. ]] SLAMing on 177.139928851 meters Centerline goodness : 0.766375 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:0.00 [[ 0.99007446 -0.11888919 -0.07495283 0.27150753] [ 0.11949059 0.9928289 0.00357499 -0.21885083] [ 0.07399031 -0.01249566 0.99718067 0.00386397] [ 0. 0. 0. 1. ]] SLAMing on 177.199928851 meters Centerline goodness : 0.761360 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:0.00 [[ 0.99027983 -0.11741066 -0.07456938 0.27126788] [ 0.11810598 0.99298856 0.00496887 -0.22211425] [ 0.07346315 -0.01372766 0.99720345 0.00329219] [ 0. 0. 0. 1. ]] SLAMing on 177.25992885099998 meters Centerline goodness : 0.767436 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:0.00 [[ 0.99052171 -0.11554313 -0.07427337 0.27135238] [ 0.11632526 0.99319133 0.00627769 -0.22442946] [ 0.07304232 -0.01485806 0.99721816 0.0022529 ] [ 0. 0. 0. 1. ]] SLAMing on 177.319928851 meters Centerline goodness : 0.762293 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:0.00 [[ 9.90610127e-01 -1.14915943e-01 -7.40668798e-02 2.72012291e-01] [ 1.15686061e-01 9.93266612e-01 6.17839546e-03 -2.24968773e-01] [ 7.28581626e-02 -1.46888867e-02 9.97234137e-01 7.34384860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379928851 meters Centerline goodness : 0.765118 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:-0.00 [[ 9.90795931e-01 -1.13462135e-01 -7.38225322e-02 2.72704395e-01] [ 1.14266268e-01 9.93427240e-01 6.74831924e-03 -2.26677429e-01] [ 7.25716356e-02 -1.51216325e-02 9.97248562e-01 -9.63802894e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439928851 meters Centerline goodness : 0.758212 with order 2 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:-0.00 [[ 0.99086951 -0.11277108 -0.0738938 0.27303592] [ 0.11360793 0.99349951 0.0072079 -0.22712781] [ 0.07260061 -0.01553701 0.99724007 -0.00128076] [ 0. 0. 0. 1. ]] SLAMing on 177.499928851 meters Centerline goodness : 0.764587 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:-0.00 [[ 0.99091894 -0.11226507 -0.07400137 0.27338592] [ 0.11314763 0.99354733 0.00783056 -0.22794097] [ 0.07264477 -0.01613253 0.9972274 -0.0014155 ] [ 0. 0. 0. 1. ]] SLAMing on 177.559928851 meters Centerline goodness : 0.763083 with order 2 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:-0.00 [[ 0.99097723 -0.1116617 -0.07413362 0.27395429] [ 0.11258028 0.99360782 0.00831689 -0.22855884] [ 0.07273107 -0.01658783 0.99721364 -0.00187405] [ 0. 0. 0. 1. ]] SLAMing on 177.619928851 meters Centerline goodness : 0.766198 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:-0.00 [[ 0.99096024 -0.11153977 -0.07454322 0.27510331] [ 0.11249446 0.99361408 0.0087205 -0.22872792] [ 0.07309451 -0.01702737 0.99717965 -0.00229306] [ 0. 0. 0. 1. ]] SLAMing on 177.679928851 meters Centerline goodness : 0.766897 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:-0.00 [[ 0.99095868 -0.11123433 -0.07501883 0.27594537] [ 0.11225115 0.9936348 0.00946353 -0.22895361] [ 0.07348865 -0.01779892 0.99713721 -0.00213351] [ 0. 0. 0. 1. ]] SLAMing on 177.739928851 meters Centerline goodness : 0.763647 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:-0.00 [[ 0.99097936 -0.11088065 -0.07526884 0.27634711] [ 0.11192123 0.99366937 0.00973731 -0.22803997] [ 0.07371266 -0.01807366 0.99711573 -0.0021449 ] [ 0. 0. 0. 1. ]] SLAMing on 177.799928851 meters Centerline goodness : 0.763129 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:-0.00 [[ 0.99098493 -0.11066072 -0.07551875 0.27663708] [ 0.11174214 0.99368453 0.01023505 -0.22790997] [ 0.07390919 -0.0185814 0.99709185 -0.00188838] [ 0. 0. 0. 1. ]] SLAMing on 177.859928851 meters Centerline goodness : 0.769643 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:-0.00 [[ 0.99082738 -0.11160564 -0.07619235 0.27809182] [ 0.1126768 0.99358243 0.00989411 -0.22623431] [ 0.07459915 -0.01838847 0.99704405 -0.00198861] [ 0. 0. 0. 1. ]] SLAMing on 177.919928851 meters Centerline goodness : 0.762045 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:-0.00 [[ 0.9906892 -0.11230395 -0.07695925 0.27974037] [ 0.11338138 0.99350357 0.0097628 -0.22482223] [ 0.07536289 -0.01839765 0.99698644 -0.00221827] [ 0. 0. 0. 1. ]] SLAMing on 177.97992885099998 meters Centerline goodness : 0.764041 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:-0.00 [[ 0.99053761 -0.11319534 -0.07760186 0.28121562] [ 0.11426107 0.99340611 0.00941909 -0.22367784] [ 0.07602397 -0.01819684 0.99693993 -0.00247884] [ 0. 0. 0. 1. ]] SLAMing on 178.03992885099998 meters Centerline goodness : 0.761308 with order 2 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:-0.00 [[ 0.99032732 -0.11445213 -0.07843788 0.2819888 ] [ 0.11547638 0.9932727 0.00863405 -0.22026248] [ 0.07692202 -0.01760825 0.99688161 -0.00145504] [ 0. 0. 0. 1. ]] SLAMing on 178.099928851 meters Centerline goodness : 0.771738 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:-0.00 [[ 9.90465252e-01 -1.12043349e-01 -8.01552973e-02 2.83320765e-01] [ 1.13253791e-01 9.93508438e-01 1.07033621e-02 -2.13882685e-01] [ 7.84357237e-02 -1.96791995e-02 9.96724920e-01 -6.69905650e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159928851 meters Centerline goodness : 0.774537 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.00 [[ 9.90520710e-01 -1.11517417e-01 -8.02034217e-02 2.82444763e-01] [ 1.12681888e-01 9.93579493e-01 1.01283099e-02 -2.11328433e-01] [ 7.85589921e-02 -1.90697737e-02 9.96727058e-01 6.21466888e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219928851 meters Centerline goodness : 0.774537 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.00 [[ 9.90520710e-01 -1.11517417e-01 -8.02034217e-02 2.82444763e-01] [ 1.12681888e-01 9.93579493e-01 1.01283099e-02 -2.11328433e-01] [ 7.85589921e-02 -1.90697737e-02 9.96727058e-01 6.21466888e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279928851 meters Centerline goodness : 0.774726 with order 2 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.00 [[ 9.90818944e-01 -1.08094192e-01 -8.12001655e-02 2.83000925e-01] [ 1.09587764e-01 9.93876332e-01 1.41548197e-02 -2.10680378e-01] [ 7.91728689e-02 -2.29234081e-02 9.96597298e-01 7.90579097e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339928851 meters Centerline goodness : 0.789118 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.00 [[ 0.99108237 -0.10495715 -0.08209591 0.28299388] [ 0.10674803 0.99412808 0.01772608 -0.20906862] [ 0.07975337 -0.02633158 0.99646678 0.00203489] [ 0. 0. 0. 1. ]] SLAMing on 178.399928851 meters Centerline goodness : 0.791024 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.00 [[ 0.99127975 -0.10253799 -0.08276725 0.28360408] [ 0.10458779 0.9942979 0.02081079 -0.2083854 ] [ 0.0801614 -0.02928576 0.99635159 0.00223111] [ 0. 0. 0. 1. ]] SLAMing on 178.459928851 meters Centerline goodness : 0.795899 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:0.00 [[ 0.99121102 -0.10328715 -0.08265876 0.28356423] [ 0.10519252 0.99426985 0.01902629 -0.20462579] [ 0.08021994 -0.02755415 0.99639627 0.00180705] [ 0. 0. 0. 1. ]] SLAMing on 178.519928851 meters Centerline goodness : 0.797989 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.00 [[ 9.91112065e-01 -1.03690352e-01 -8.33377763e-02 2.85619660e-01] [ 1.05603586e-01 9.94229153e-01 1.88752076e-02 -2.02947984e-01] [ 8.08996698e-02 -2.75082140e-02 9.96342582e-01 9.27186547e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579928851 meters Centerline goodness : 0.799309 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.00 [[ 0.99090561 -0.10521145 -0.0838846 0.28651542] [ 0.10704933 0.99409599 0.01770882 -0.19994991] [ 0.08152617 -0.02652756 0.99631811 0.00128763] [ 0. 0. 0. 1. ]] SLAMing on 178.639928851 meters Centerline goodness : 0.797628 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.00 [[ 0.99074319 -0.10626825 -0.08446886 0.28791691] [ 0.10809363 0.99398973 0.01732568 -0.19858071] [ 0.08212001 -0.02629584 0.99627548 0.00111706] [ 0. 0. 0. 1. ]] SLAMing on 178.699928851 meters Centerline goodness : 0.799938 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.00 [[ 9.90600372e-01 -1.07582802e-01 -8.44798403e-02 2.88270683e-01] [ 1.09295634e-01 9.93882027e-01 1.59053608e-02 -1.96091128e-01] [ 8.22518517e-02 -2.49891340e-02 9.96298237e-01 8.60751190e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75992885099998 meters Centerline goodness : 0.801061 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 9.90625887e-01 -1.07586687e-01 -8.41751536e-02 2.87527045e-01] [ 1.09205544e-01 9.93908161e-01 1.48565586e-02 -1.93025506e-01] [ 8.20640041e-02 -2.39096850e-02 9.96340216e-01 7.21641560e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819928851 meters Centerline goodness : 0.798287 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.99087021 -0.10502763 -0.08453064 0.28630518] [ 0.10691701 0.99410262 0.01813121 -0.19080017] [ 0.08212785 -0.02700344 0.99625591 0.00228553] [ 0. 0. 0. 1. ]] SLAMing on 178.879928851 meters Centerline goodness : 0.795743 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.99071746 -0.10621325 -0.08483908 0.2873955 ] [ 0.10807577 0.99398583 0.01765802 -0.18968318] [ 0.08245332 -0.02666316 0.99623819 0.00195098] [ 0. 0. 0. 1. ]] SLAMing on 178.939928851 meters Centerline goodness : 0.799740 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.9901286 -0.11156259 -0.08484779 0.2885005 ] [ 0.11308122 0.99349682 0.01329288 -0.18788593] [ 0.08281302 -0.02275636 0.99630525 0.00199243] [ 0. 0. 0. 1. ]] SLAMing on 178.999928851 meters Centerline goodness : 0.802621 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.9896292 -0.11631204 -0.08429445 0.28818952] [ 0.11744368 0.99304252 0.00857581 -0.18622759] [ 0.0827105 -0.01838672 0.99640398 0.0023964 ] [ 0. 0. 0. 1. ]] SLAMing on 179.059928851 meters Centerline goodness : 0.798978 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.98956009 -0.11686668 -0.0843386 0.28845747] [ 0.11801623 0.99297304 0.00875866 -0.1864096 ] [ 0.08272236 -0.01862054 0.99639866 0.0024087 ] [ 0. 0. 0. 1. ]] SLAMing on 179.119928851 meters Centerline goodness : 0.798996 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.98954577 -0.11674104 -0.08468002 0.28964957] [ 0.11791795 0.99298242 0.00901518 -0.18612682] [ 0.08303333 -0.01890623 0.99636741 0.00183242] [ 0. 0. 0. 1. ]] SLAMing on 179.179928851 meters Centerline goodness : 0.780618 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 0.9895778 -0.11634877 -0.08484535 0.29058516] [ 0.11754973 0.99302362 0.00928195 -0.18591698] [ 0.08317349 -0.01915876 0.9963509 0.00104798] [ 0. 0. 0. 1. ]] SLAMing on 179.239928851 meters Centerline goodness : 0.781531 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 9.89539150e-01 -1.16419953e-01 -8.51978007e-02 2.91715460e-01] [ 1.17696796e-01 9.92998180e-01 1.01033851e-02 -1.87426879e-01] [ 8.34250254e-02 -2.00252034e-02 9.96312831e-01 8.24370302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299928851 meters Centerline goodness : 0.789613 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 9.89507191e-01 -1.16753633e-01 -8.51123229e-02 2.91846863e-01] [ 1.18060350e-01 9.92951252e-01 1.04673316e-02 -1.88968761e-01] [ 8.32902886e-02 -2.04058905e-02 9.96316379e-01 8.17210742e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359928851 meters Centerline goodness : 0.776915 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 9.89422216e-01 -1.17268945e-01 -8.53912958e-02 2.92626924e-01] [ 1.18615812e-01 9.92880875e-01 1.08562266e-02 -1.90182460e-01] [ 8.35102862e-02 -2.08701496e-02 9.96288346e-01 8.83387313e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.419928851 meters Centerline goodness : 0.784432 with order 3 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.00 [[ 9.89282903e-01 -1.17948320e-01 -8.60670184e-02 2.94534073e-01] [ 1.19389855e-01 9.92777561e-01 1.17803225e-02 -1.92712027e-01] [ 8.40559354e-02 -2.19296005e-02 9.96219701e-01 6.22056529e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47992885099998 meters Centerline goodness : 0.774058 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.00 [[ 9.88992005e-01 -1.20740050e-01 -8.55374435e-02 2.95222849e-01] [ 1.21888001e-01 9.92509088e-01 8.30820138e-03 -1.92568790e-01] [ 8.38935574e-02 -1.86427328e-02 9.96300316e-01 -3.57399852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53992885099998 meters Centerline goodness : 0.773333 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.00 [[ 9.89084620e-01 -1.19961669e-01 -8.55617504e-02 2.95749960e-01] [ 1.21187972e-01 9.92586324e-01 9.26637574e-03 -1.93786438e-01] [ 8.38158134e-02 -1.95342847e-02 9.96289778e-01 -7.72862221e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599928851 meters Centerline goodness : 0.778775 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.00 [[ 0.98921061 -0.1189239 -0.08555389 0.2964441 ] [ 0.1201353 0.9927155 0.00913481 -0.19259825] [ 0.08384432 -0.0193143 0.99629167 -0.00181455] [ 0. 0. 0. 1. ]] SLAMing on 179.659928851 meters Centerline goodness : 0.771623 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.00 [[ 0.98983889 -0.11367509 -0.08542211 0.296653 ] [ 0.11518463 0.99325982 0.01293948 -0.19300923] [ 0.08337546 -0.02264732 0.99626083 -0.00377552] [ 0. 0. 0. 1. ]] SLAMing on 179.719928851 meters Centerline goodness : 0.769473 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.00 [[ 0.99039913 -0.1088116 -0.08526193 0.29608671] [ 0.11064062 0.99371483 0.01701439 -0.19397166] [ 0.08287468 -0.02628447 0.99621329 -0.00466842] [ 0. 0. 0. 1. ]] SLAMing on 179.779928851 meters Centerline goodness : 0.770032 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.01 [[ 0.99106852 -0.10281372 -0.08492662 0.29561452] [ 0.10497065 0.99424669 0.02132319 -0.19462283] [ 0.0822457 -0.03004754 0.99615902 -0.00622112] [ 0. 0. 0. 1. ]] SLAMing on 179.839928851 meters Centerline goodness : 0.770218 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.01 [[ 0.99118523 -0.10191932 -0.08464218 0.29538071] [ 0.10406169 0.99434305 0.02128539 -0.19402007] [ 0.08199397 -0.02990577 0.99618404 -0.00688668] [ 0. 0. 0. 1. ]] SLAMing on 179.899928851 meters Centerline goodness : 0.770154 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:-0.01 [[ 0.99134368 -0.10098711 -0.08390057 0.29414206] [ 0.10303539 0.99446762 0.02044166 -0.19271885] [ 0.08137206 -0.02890944 0.99626444 -0.00747874] [ 0. 0. 0. 1. ]] SLAMing on 179.959928851 meters Centerline goodness : 0.768087 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.01 [[ 0.99132284 -0.1010365 -0.08408715 0.29518668] [ 0.10312327 0.99445017 0.02084372 -0.1938799 ] [ 0.08151451 -0.0293342 0.99624038 -0.00819156] [ 0. 0. 0. 1. ]] SLAMing on 180.019928851 meters Centerline goodness : 0.767772 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.01 [[ 0.99097979 -0.10447793 -0.08392511 0.29656019] [ 0.10629746 0.99418036 0.01750038 -0.194748 ] [ 0.08160829 -0.02626355 0.99631838 -0.00913454] [ 0. 0. 0. 1. ]] SLAMing on 180.079928851 meters Centerline goodness : 0.766896 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.20, Z:-0.01 [[ 0.99080617 -0.10569737 -0.08444643 0.29757226] [ 0.10758696 0.99403026 0.01813503 -0.19665729] [ 0.08202548 -0.02705364 0.99626298 -0.00857771] [ 0. 0. 0. 1. ]] SLAMing on 180.139928851 meters Centerline goodness : 0.766628 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.20, Z:-0.01 [[ 0.99036714 -0.10962038 -0.08459491 0.29921115] [ 0.11126232 0.9936789 0.01493098 -0.19743205] [ 0.08242344 -0.02419938 0.99630355 -0.008953 ] [ 0. 0. 0. 1. ]] SLAMing on 180.199928851 meters Centerline goodness : 0.765276 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.20, Z:-0.01 [[ 0.99018511 -0.11102822 -0.08488922 0.29948484] [ 0.11267665 0.9935205 0.01486562 -0.1985029 ] [ 0.08268868 -0.02428475 0.9962795 -0.00810177] [ 0. 0. 0. 1. ]] SLAMing on 180.25992885099998 meters Centerline goodness : 0.764393 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.20, Z:-0.01 [[ 0.98999762 -0.11208059 -0.08568934 0.3009997 ] [ 0.11385261 0.99336776 0.01606459 -0.20124005] [ 0.0833205 -0.02565986 0.99619238 -0.0074593 ] [ 0. 0. 0. 1. ]] SLAMing on 180.319928851 meters Centerline goodness : 0.771991 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.20, Z:-0.01 [[ 0.98991585 -0.1123885 -0.08622902 0.30171176] [ 0.11424978 0.9933075 0.01694706 -0.20286147] [ 0.08374728 -0.02662781 0.99613119 -0.00662906] [ 0. 0. 0. 1. ]] SLAMing on 180.379928851 meters Centerline goodness : 0.772513 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.20, Z:-0.01 [[ 0.98990339 -0.11217363 -0.08665073 0.30274193] [ 0.1141247 0.99330543 0.01788496 -0.20442351] [ 0.08406442 -0.02759337 0.9960782 -0.00664475] [ 0. 0. 0. 1. ]] SLAMing on 180.439928851 meters Centerline goodness : 0.771892 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:-0.01 [[ 0.98991438 -0.11207451 -0.08665347 0.30254449] [ 0.11403866 0.99331245 0.01804313 -0.20504733] [ 0.0840518 -0.02774299 0.99607511 -0.00623011] [ 0. 0. 0. 1. ]] SLAMing on 180.499928851 meters Centerline goodness : 0.774302 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:-0.01 [[ 0.98985506 -0.11182994 -0.08764141 0.30432635] [ 0.11397862 0.99328403 0.0198927 -0.20722941] [ 0.08482821 -0.02968014 0.99595344 -0.00572469] [ 0. 0. 0. 1. ]] SLAMing on 180.559928851 meters Centerline goodness : 0.760920 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.21, Z:-0.01 [[ 0.98987238 -0.11190256 -0.08735268 0.30572692] [ 0.1140498 0.99327421 0.01997442 -0.21133265] [ 0.08452998 -0.02973469 0.99597717 -0.00742558] [ 0. 0. 0. 1. ]] SLAMing on 180.619928851 meters Centerline goodness : 0.774395 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.21, Z:-0.01 [[ 0.98974477 -0.11350785 -0.08672524 0.30526736] [ 0.11544837 0.9931561 0.01768119 -0.21206781] [ 0.08412475 -0.02751216 0.99607535 -0.0075465 ] [ 0. 0. 0. 1. ]] SLAMing on 180.679928851 meters Centerline goodness : 0.774351 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.01 [[ 0.98971831 -0.11344195 -0.08711249 0.30682938] [ 0.11549247 0.99312939 0.01885467 -0.21503842] [ 0.08437507 -0.02872165 0.99602004 -0.00817478] [ 0. 0. 0. 1. ]] SLAMing on 180.739928851 meters Centerline goodness : 0.774328 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.01 [[ 0.98973624 -0.1129987 -0.0874841 0.30831843] [ 0.11518404 0.99313607 0.02033203 -0.21868558] [ 0.08458612 -0.03020012 0.9959584 -0.00873061] [ 0. 0. 0. 1. ]] SLAMing on 180.799928851 meters Centerline goodness : 0.775976 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.01 [[ 0.98976214 -0.11281475 -0.08742843 0.30792106] [ 0.11504771 0.99313964 0.02092085 -0.22013715] [ 0.08446846 -0.03076511 0.9959511 -0.00804669] [ 0. 0. 0. 1. ]] SLAMing on 180.859928851 meters Centerline goodness : 0.766920 with order 2 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.01 [[ 0.98986591 -0.11207416 -0.0872059 0.30668086] [ 0.11439929 0.99318851 0.02212219 -0.22246073] [ 0.08413257 -0.03187429 0.99594465 -0.00678837] [ 0. 0. 0. 1. ]] SLAMing on 180.919928851 meters Centerline goodness : 0.760468 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 0.98987998 -0.11207217 -0.08704853 0.30678722] [ 0.11442488 0.99317686 0.02250935 -0.22500447] [ 0.08393191 -0.03224207 0.99594974 -0.00684364] [ 0. 0. 0. 1. ]] SLAMing on 180.97992885099998 meters Centerline goodness : 0.776553 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 0.98966589 -0.11443198 -0.08641037 0.30777244] [ 0.11654175 0.99298916 0.01976239 -0.22730499] [ 0.08354311 -0.02962858 0.9960636 -0.00843824] [ 0. 0. 0. 1. ]] SLAMing on 181.03992885099998 meters Centerline goodness : 0.773694 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 0.9896394 -0.11461025 -0.08647745 0.30818706] [ 0.11679169 0.99294306 0.02058576 -0.22971719] [ 0.08350785 -0.03047232 0.9960411 -0.00835025] [ 0. 0. 0. 1. ]] SLAMing on 181.099928851 meters Centerline goodness : 0.773872 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 0.98963242 -0.11480274 -0.08630179 0.30798083] [ 0.11711433 0.99287028 0.02220012 -0.23449227] [ 0.08313784 -0.03207713 0.99602166 -0.00770429] [ 0. 0. 0. 1. ]] SLAMing on 181.159928851 meters Centerline goodness : 0.763363 with order 2 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.98928373 -0.11806849 -0.08589252 0.30820732] [ 0.12022764 0.9925368 0.02039667 -0.23908049] [ 0.08284328 -0.03050475 0.9960956 -0.00712946] [ 0. 0. 0. 1. ]] SLAMing on 181.219928851 meters Centerline goodness : 0.774485 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.98913596 -0.11896242 -0.08635966 0.30941229] [ 0.12127604 0.99237413 0.02203873 -0.24358952] [ 0.08307932 -0.03227265 0.99602023 -0.00646343] [ 0. 0. 0. 1. ]] SLAMing on 181.279928851 meters Centerline goodness : 0.768160 with order 2 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.01 [[ 0.98860336 -0.12328402 -0.08639704 0.31072668] [ 0.12545411 0.9918951 0.02013421 -0.24838026] [ 0.08321457 -0.03074361 0.99605731 -0.00577066] [ 0. 0. 0. 1. ]] SLAMing on 181.339928851 meters Centerline goodness : 0.779859 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.01 [[ 0.98823273 -0.12635298 -0.08620326 0.31198642] [ 0.1283755 0.99155651 0.01831428 -0.25239559] [ 0.08316134 -0.02916516 0.99610922 -0.00600794] [ 0. 0. 0. 1. ]] SLAMing on 181.399928851 meters Centerline goodness : 0.770969 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.26, Z:-0.01 [[ 0.98783311 -0.12953906 -0.08605455 0.31332954] [ 0.13142751 0.99118628 0.01663023 -0.25677858] [ 0.08314182 -0.02773782 0.99615162 -0.00617802] [ 0. 0. 0. 1. ]] SLAMing on 181.459928851 meters Centerline goodness : 0.771898 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.01 [[ 0.98782962 -0.12917367 -0.0866418 0.31522234] [ 0.13122242 0.99118294 0.01835897 -0.26022286] [ 0.08350638 -0.02950489 0.99607035 -0.00661074] [ 0. 0. 0. 1. ]] SLAMing on 181.519928851 meters Centerline goodness : 0.771110 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.01 [[ 0.9880752 -0.12748577 -0.08634101 0.3155597 ] [ 0.12964106 0.99136308 0.01981024 -0.26340201] [ 0.08306976 -0.03076735 0.99606866 -0.00764334] [ 0. 0. 0. 1. ]] SLAMing on 181.579928851 meters Centerline goodness : 0.772457 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.27, Z:-0.01 [[ 0.98832321 -0.12572266 -0.08608743 0.3155846 ] [ 0.12795476 0.99155979 0.02089884 -0.26515351] [ 0.08273337 -0.0316701 0.99606837 -0.00843317] [ 0. 0. 0. 1. ]] SLAMing on 181.639928851 meters Centerline goodness : 0.773845 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.27, Z:-0.01 [[ 0.98896108 -0.12056524 -0.08613944 0.31490875] [ 0.12321518 0.99203618 0.02611965 -0.26891665] [ 0.08230431 -0.03644501 0.99594064 -0.00836882] [ 0. 0. 0. 1. ]] SLAMing on 181.699928851 meters Centerline goodness : 0.772814 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.27, Z:-0.01 [[ 0.98915998 -0.11907547 -0.08592764 0.31490803] [ 0.12182129 0.99217286 0.02743348 -0.27143304] [ 0.08198842 -0.03760391 0.99592361 -0.00885069] [ 0. 0. 0. 1. ]] SLAMing on 181.75992885099998 meters Centerline goodness : 0.777120 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.27, Z:-0.01 [[ 0.9893176 -0.11803149 -0.0855526 0.31492663] [ 0.1208128 0.99227813 0.02807817 -0.27379551] [ 0.08157786 -0.03811408 0.99593793 -0.00968008] [ 0. 0. 0. 1. ]] SLAMing on 181.819928851 meters Centerline goodness : 0.775144 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98942802 -0.11726746 -0.08532607 0.31544176] [ 0.12008926 0.99234793 0.02870818 -0.27590234] [ 0.08130661 -0.03865142 0.99593941 -0.01068921] [ 0. 0. 0. 1. ]] SLAMing on 181.879928851 meters Centerline goodness : 0.776857 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98948726 -0.11659516 -0.08556005 0.31634845] [ 0.11950131 0.99239116 0.02965184 -0.27741779] [ 0.08145178 -0.03956465 0.99589168 -0.01115483] [ 0. 0. 0. 1. ]] SLAMing on 181.939928851 meters Centerline goodness : 0.777918 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98963104 -0.11542145 -0.08548855 0.31637667] [ 0.11839874 0.99249454 0.03059952 -0.27840548] [ 0.08131508 -0.04040397 0.99586916 -0.01144824] [ 0. 0. 0. 1. ]] SLAMing on 181.999928851 meters Centerline goodness : 0.777236 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98966175 -0.11524606 -0.08536961 0.31609576] [ 0.1182496 0.99250029 0.03098717 -0.27962327] [ 0.08115822 -0.04076174 0.99586737 -0.0111167 ] [ 0. 0. 0. 1. ]] SLAMing on 182.059928851 meters Centerline goodness : 0.772844 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98968593 -0.11500105 -0.08541971 0.31591926] [ 0.1180856 0.99248882 0.03196455 -0.28198236] [ 0.08110215 -0.04172171 0.99583218 -0.01031917] [ 0. 0. 0. 1. ]] SLAMing on 182.119928851 meters Centerline goodness : 0.778296 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98968631 -0.11482777 -0.08564807 0.31661479] [ 0.1179691 0.9924837 0.03254844 -0.28268156] [ 0.08126685 -0.04231658 0.99579366 -0.01045665] [ 0. 0. 0. 1. ]] SLAMing on 182.179928851 meters Centerline goodness : 0.773672 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98965743 -0.11518642 -0.08550008 0.31629362] [ 0.11826509 0.99247131 0.03184445 -0.2820366 ] [ 0.08118833 -0.04162677 0.99582914 -0.01038916] [ 0. 0. 0. 1. ]] SLAMing on 182.239928851 meters Centerline goodness : 0.778019 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98965315 -0.11485599 -0.08599274 0.31710574] [ 0.1180217 0.99247359 0.0326657 -0.28220811] [ 0.08159367 -0.04247672 0.99576011 -0.01020313] [ 0. 0. 0. 1. ]] SLAMing on 182.299928851 meters Centerline goodness : 0.781593 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.9895954 -0.11528463 -0.08608371 0.31671756] [ 0.11846623 0.9924163 0.032797 -0.28213522] [ 0.08164989 -0.04265378 0.99574794 -0.00925277] [ 0. 0. 0. 1. ]] SLAMing on 182.359928851 meters Centerline goodness : 0.775765 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98929147 -0.11818094 -0.08564837 0.31650614] [ 0.12110206 0.9921946 0.02973489 -0.28157839] [ 0.08146575 -0.03978867 0.99588162 -0.00910291] [ 0. 0. 0. 1. ]] SLAMing on 182.419928851 meters Centerline goodness : 0.783783 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98927996 -0.11797962 -0.08605798 0.31742443] [ 0.1209832 0.99218447 0.03054577 -0.28228223] [ 0.08178162 -0.04062989 0.99582176 -0.00904725] [ 0. 0. 0. 1. ]] SLAMing on 182.47992885099998 meters Centerline goodness : 0.781264 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98933842 -0.11729501 -0.08632135 0.3180119 ] [ 0.1202676 0.99228619 0.03006369 -0.27911346] [ 0.08212916 -0.04012482 0.99581364 -0.00981122] [ 0. 0. 0. 1. ]] SLAMing on 182.53992885099998 meters Centerline goodness : 0.780226 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.01 [[ 0.98944901 -0.11639718 -0.08626902 0.31795144] [ 0.1193228 0.9924156 0.02955234 -0.27660749] [ 0.08217491 -0.0395344 0.99583348 -0.01047866] [ 0. 0. 0. 1. ]] SLAMing on 182.599928851 meters Centerline goodness : 0.783343 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.27, Z:-0.01 [[ 0.98971069 -0.11376058 -0.08678296 0.31710621] [ 0.11687827 0.9926397 0.03171595 -0.27343523] [ 0.08253619 -0.04153266 0.99572226 -0.00942971] [ 0. 0. 0. 1. ]] SLAMing on 182.659928851 meters Centerline goodness : 0.779664 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.27, Z:-0.01 [[ 0.98977364 -0.11328336 -0.08668927 0.3163115 ] [ 0.11632251 0.99273281 0.03083255 -0.26962411] [ 0.08256647 -0.04060116 0.99575817 -0.00941852] [ 0. 0. 0. 1. ]] SLAMing on 182.719928851 meters Centerline goodness : 0.781725 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.01 [[ 0.9899648 -0.11118616 -0.08721999 0.31563095] [ 0.11433774 0.99292657 0.03199555 -0.26428063] [ 0.08304558 -0.04164701 0.99567513 -0.00888018] [ 0. 0. 0. 1. ]] SLAMing on 182.779928851 meters Centerline goodness : 0.780043 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.01 [[ 0.98992091 -0.11134059 -0.08752065 0.31613718] [ 0.11436595 0.9929755 0.03033304 -0.25885918] [ 0.08352856 -0.04003669 0.99570078 -0.00963256] [ 0. 0. 0. 1. ]] SLAMing on 182.839928851 meters Centerline goodness : 0.785687 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.25, Z:-0.01 [[ 0.99015247 -0.1089095 -0.08795915 0.31549718] [ 0.11196469 0.99324195 0.03056679 -0.25119028] [ 0.0840357 -0.04011411 0.99565499 -0.00970443] [ 0. 0. 0. 1. ]] SLAMing on 182.899928851 meters Centerline goodness : 0.771481 with order 2 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.25, Z:-0.01 [[ 0.99039685 -0.10616213 -0.08856457 0.31527554] [ 0.10940924 0.99346078 0.032639 -0.24697324] [ 0.08452041 -0.04201535 0.99553554 -0.00945562] [ 0. 0. 0. 1. ]] SLAMing on 182.959928851 meters Centerline goodness : 0.773155 with order 2 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.01 [[ 0.99052998 -0.10418118 -0.08942394 0.31511553] [ 0.10751734 0.99364452 0.03332543 -0.23996769] [ 0.08538372 -0.04262446 0.99543597 -0.00880189] [ 0. 0. 0. 1. ]] SLAMing on 183.019928851 meters Centerline goodness : 0.781249 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.01 [[ 0.99031896 -0.10570382 -0.08997253 0.31534689] [ 0.10892 0.99354791 0.0316066 -0.23536105] [ 0.08605108 -0.04110042 0.9954426 -0.00803043] [ 0. 0. 0. 1. ]] SLAMing on 183.079928851 meters Centerline goodness : 0.781251 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.23, Z:-0.01 [[ 0.99020493 -0.10642802 -0.09037295 0.31547396] [ 0.10961947 0.99348687 0.03110334 -0.2325599 ] [ 0.08647407 -0.04070532 0.99542218 -0.00731655] [ 0. 0. 0. 1. ]] SLAMing on 183.139928851 meters Centerline goodness : 0.783030 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 0.98996031 -0.10826013 -0.09087531 0.31488873] [ 0.11133316 0.99334692 0.02944181 -0.22757454] [ 0.08708333 -0.03926366 0.99542697 -0.00558888] [ 0. 0. 0. 1. ]] SLAMing on 183.199928851 meters Centerline goodness : 0.768872 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.01 [[ 0.98988553 -0.10857356 -0.09131492 0.31607486] [ 0.11160671 0.99333568 0.02877811 -0.22488887] [ 0.08758182 -0.03867839 0.99540615 -0.00622728] [ 0. 0. 0. 1. ]] SLAMing on 183.25992885099998 meters Centerline goodness : 0.783853 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.01 [[ 0.98989954 -0.10734643 -0.09260477 0.31742772] [ 0.11061417 0.99338319 0.03089236 -0.22177943] [ 0.08867584 -0.04082374 0.9952236 -0.00586455] [ 0. 0. 0. 1. ]] SLAMing on 183.319928851 meters Centerline goodness : 0.782079 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.01 [[ 0.98985634 -0.10752129 -0.09286331 0.31726699] [ 0.11068607 0.99341409 0.02961486 -0.21692984] [ 0.08906749 -0.03959314 0.99523835 -0.00566376] [ 0. 0. 0. 1. ]] SLAMing on 183.379928851 meters Centerline goodness : 0.782430 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.01 [[ 0.98973268 -0.10854949 -0.09298511 0.31649389] [ 0.11147704 0.99340353 0.02687558 -0.21040799] [ 0.0894544 -0.03696535 0.99530471 -0.0050544 ] [ 0. 0. 0. 1. ]] SLAMing on 183.439928851 meters Centerline goodness : 0.782946 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.01 [[ 0.98972012 -0.10852075 -0.09315223 0.31661007] [ 0.11137986 0.99343648 0.02604781 -0.20715309] [ 0.0897141 -0.03615532 0.99531109 -0.0051344 ] [ 0. 0. 0. 1. ]] SLAMing on 183.499928851 meters Centerline goodness : 0.783735 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.00 [[ 0.98967112 -0.10885978 -0.09327717 0.31615824] [ 0.11158823 0.99345156 0.02453685 -0.20224748] [ 0.08999528 -0.03469204 0.99533779 -0.00479621] [ 0. 0. 0. 1. ]] SLAMing on 183.559928851 meters Centerline goodness : 0.782644 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.01 [[ 0.98969265 -0.10848621 -0.09348371 0.31653856] [ 0.11118795 0.99350523 0.0241783 -0.19954641] [ 0.09025355 -0.03432334 0.99532719 -0.00521824] [ 0. 0. 0. 1. ]] SLAMing on 183.619928851 meters Centerline goodness : 0.782776 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.01 [[ 0.9896506 -0.10863486 -0.09375578 0.31702105] [ 0.11130762 0.99350217 0.02374977 -0.1981523 ] [ 0.09056652 -0.03393971 0.99531191 -0.00523166] [ 0. 0. 0. 1. ]] SLAMing on 183.679928851 meters Centerline goodness : 0.784435 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.00 [[ 0.98972026 -0.10726331 -0.09459591 0.31751477] [ 0.11017256 0.99357044 0.0260726 -0.19632469] [ 0.09119107 -0.03622645 0.99517427 -0.00471452] [ 0. 0. 0. 1. ]] SLAMing on 183.739928851 meters Centerline goodness : 0.786092 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.19, Z:-0.00 [[ 0.98970783 -0.10713729 -0.09486838 0.31755588] [ 0.11006373 0.9935803 0.02615664 -0.19445914] [ 0.091457 -0.03632899 0.99514613 -0.0042884 ] [ 0. 0. 0. 1. ]] SLAMing on 183.799928851 meters Centerline goodness : 0.779609 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.19, Z:-0.00 [[ 0.98965931 -0.10775586 -0.09467374 0.31673881] [ 0.11053274 0.99356853 0.02457828 -0.19071377] [ 0.0914164 -0.03478867 0.9952049 -0.00411197] [ 0. 0. 0. 1. ]] SLAMing on 183.859928851 meters Centerline goodness : 0.778173 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.19, Z:-0.00 [[ 0.98989494 -0.10494928 -0.0953607 0.31754979] [ 0.10793817 0.99379818 0.02673064 -0.18784167] [ 0.09196393 -0.03675359 0.99508382 -0.00460059] [ 0. 0. 0. 1. ]] SLAMing on 183.919928851 meters Centerline goodness : 0.777620 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.01 [[ 0.99000673 -0.10413454 -0.095093 0.31728873] [ 0.10697251 0.99394164 0.02523679 -0.18332585] [ 0.09188887 -0.03515693 0.99514844 -0.00559413] [ 0. 0. 0. 1. ]] SLAMing on 183.97992885099998 meters Centerline goodness : 0.777009 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.01 [[ 0.99032786 -0.10073719 -0.09540828 0.31786966] [ 0.10375851 0.99422939 0.02724154 -0.17890473] [ 0.09211348 -0.03687747 0.9950654 -0.00597986] [ 0. 0. 0. 1. ]] SLAMing on 184.03992885099998 meters Centerline goodness : 0.775675 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.01 [[ 0.99034758 -0.10024169 -0.09572503 0.31906717] [ 0.10321725 0.99430193 0.02664347 -0.17560484] [ 0.09250879 -0.03626677 0.99505118 -0.00615328] [ 0. 0. 0. 1. ]] SLAMing on 184.099928851 meters Centerline goodness : 0.774533 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.01 [[ 0.99031299 -0.1003676 -0.09595064 0.319522 ] [ 0.10323437 0.99433313 0.0253829 -0.17120672] [ 0.09285928 -0.03504242 0.9950624 -0.00581165] [ 0. 0. 0. 1. ]] SLAMing on 184.159928851 meters Centerline goodness : 0.787275 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.01 [[ 0.99027074 -0.10073704 -0.09599954 0.31948616] [ 0.10354036 0.99431928 0.02466893 -0.16952918] [ 0.09296912 -0.03436875 0.99507564 -0.00553444] [ 0. 0. 0. 1. ]] SLAMing on 184.219928851 meters Centerline goodness : 0.772882 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.00 [[ 0.9898702 -0.10478885 -0.09579296 0.31990142] [ 0.10714621 0.99404627 0.01979135 -0.16574006] [ 0.09314873 -0.02985472 0.99520451 -0.00494501] [ 0. 0. 0. 1. ]] SLAMing on 184.279928851 meters Centerline goodness : 0.772220 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 0.98944354 -0.10894057 -0.09556899 0.3205124 ] [ 0.11088267 0.99371671 0.01523597 -0.16314692] [ 0.09330869 -0.02567208 0.9953062 -0.00475103] [ 0. 0. 0. 1. ]] SLAMing on 184.339928851 meters Centerline goodness : 0.772361 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 0.98895791 -0.11357856 -0.09519537 0.32089623] [ 0.11512008 0.9932924 0.01084295 -0.16161527] [ 0.09332531 -0.02168212 0.99539955 -0.00492529] [ 0. 0. 0. 1. ]] SLAMing on 184.399928851 meters Centerline goodness : 0.771967 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 0.98848637 -0.11783949 -0.09491334 0.32162493] [ 0.11898897 0.99287414 0.00652374 -0.1600811 ] [ 0.09346825 -0.01774227 0.99546416 -0.00498581] [ 0. 0. 0. 1. ]] SLAMing on 184.459928851 meters Centerline goodness : 0.772649 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 0.98796603 -0.12219851 -0.09481907 0.32259588] [ 0.12294426 0.99241148 0.00204129 -0.15783908] [ 0.09385009 -0.01367419 0.99549243 -0.0049598 ] [ 0. 0. 0. 1. ]] SLAMing on 184.519928851 meters Centerline goodness : 0.773874 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.01 [[ 0.98792228 -0.1225631 -0.09480428 0.32266466] [ 0.12326144 0.99237306 0.00152319 -0.15663859] [ 0.09389453 -0.01319051 0.99549477 -0.00500072] [ 0. 0. 0. 1. ]] SLAMing on 184.579928851 meters Centerline goodness : 0.773110 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 9.87881984e-01 -1.22924050e-01 -9.47568704e-02 3.22122995e-01] [ 1.23493652e-01 9.92345351e-01 1.48210223e-04 -1.52742875e-01] [ 9.40133213e-02 -1.18482862e-02 9.95500434e-01 -4.06482629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.639928851 meters Centerline goodness : 0.772628 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 9.87878784e-01 -1.22953750e-01 -9.47516920e-02 3.21903797e-01] [ 1.23458514e-01 9.92349588e-01 -5.38842861e-04 -1.50139113e-01] [ 9.40930552e-02 -1.11655917e-02 9.95500792e-01 -3.68892442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.699928851 meters Centerline goodness : 0.770672 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 0.98786366 -0.1231345 -0.09467465 0.32163885] [ 0.12353846 0.99233849 -0.00160498 -0.14686846] [ 0.09414693 -0.01011046 0.99550697 -0.00320831] [ 0. 0. 0. 1. ]] SLAMing on 184.75992885099998 meters Centerline goodness : 0.769094 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 0.98782526 -0.12350461 -0.09459316 0.32129771] [ 0.12385539 0.99229789 -0.00217652 -0.14571002] [ 0.09413341 -0.00956585 0.99551363 -0.0029071 ] [ 0. 0. 0. 1. ]] SLAMing on 184.819928851 meters Centerline goodness : 0.769303 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 0.98780492 -0.12370637 -0.09454192 0.32160281] [ 0.12405885 0.9922725 -0.00216285 -0.14576743] [ 0.09407891 -0.00959229 0.99551853 -0.00346064] [ 0. 0. 0. 1. ]] SLAMing on 184.879928851 meters Centerline goodness : 0.770583 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.14, Z:-0.00 [[ 0.98738297 -0.12709018 -0.09446138 0.32286761] [ 0.12710503 0.99187181 -0.00588419 -0.14456379] [ 0.0944414 -0.00619657 0.99551114 -0.00348451] [ 0. 0. 0. 1. ]] SLAMing on 184.939928851 meters Centerline goodness : 0.772584 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.14, Z:-0.00 [[ 0.9869386 -0.13064998 -0.09424855 0.32383753] [ 0.13033042 0.99142448 -0.00956481 -0.14438361] [ 0.09468996 -0.00284358 0.99550275 -0.0034464 ] [ 0. 0. 0. 1. ]] SLAMing on 184.999928851 meters Centerline goodness : 0.773377 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 0.98691424 -0.13098524 -0.09403798 0.32301293] [ 0.13067072 0.9913801 -0.00952125 -0.14554009] [ 0.09447453 -0.00289136 0.99552308 -0.00304725] [ 0. 0. 0. 1. ]] SLAMing on 185.059928851 meters Centerline goodness : 0.773735 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 0.98691945 -0.13093958 -0.09404695 0.32328944] [ 0.13065227 0.99138526 -0.00923268 -0.14693115] [ 0.09444569 -0.00317553 0.99552495 -0.0032364 ] [ 0. 0. 0. 1. ]] SLAMing on 185.119928851 meters Centerline goodness : 0.771966 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 9.86486859e-01 -1.34175075e-01 -9.40251383e-02 3.24666889e-01] [ 1.33585171e-01 9.90957629e-01 -1.25689645e-02 -1.47576663e-01] [ 9.48613699e-02 -1.61245811e-04 9.95490479e-01 -3.12046576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179928851 meters Centerline goodness : 0.770901 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 9.86459332e-01 -1.34531718e-01 -9.38040690e-02 3.23942899e-01] [ 1.33942160e-01 9.90909276e-01 -1.25819069e-02 -1.49272641e-01] [ 9.46439877e-02 -1.52780134e-04 9.95511171e-01 -2.68216530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239928851 meters Centerline goodness : 0.772421 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 9.86410207e-01 -1.35079216e-01 -9.35334590e-02 3.23062317e-01] [ 1.34501660e-01 9.90834766e-01 -1.24808110e-02 -1.51756509e-01] [ 9.43621011e-02 -2.69206098e-04 9.95537906e-01 -2.34834814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299928851 meters Centerline goodness : 0.771509 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.00 [[ 9.86371421e-01 -1.35413585e-01 -9.34589745e-02 3.22599283e-01] [ 1.34835669e-01 9.90789123e-01 -1.25002123e-02 -1.53372620e-01] [ 9.42908339e-02 -2.71751189e-04 9.95544657e-01 -1.87346573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359928851 meters Centerline goodness : 0.773242 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 9.86341040e-01 -1.35672820e-01 -9.34036353e-02 3.21920999e-01] [ 1.35114586e-01 9.90753578e-01 -1.23043464e-02 -1.56349764e-01] [ 9.42093512e-02 -4.83911725e-04 9.95552291e-01 -9.94429202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.419928851 meters Centerline goodness : 0.773324 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 0.98590509 -0.1387438 -0.09349498 0.3238126 ] [ 0.13796158 0.99032684 -0.01481022 -0.15980648] [ 0.09464542 0.00170275 0.99550959 -0.00135687] [ 0. 0. 0. 1. ]] SLAMing on 185.47992885099998 meters Centerline goodness : 0.773976 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.00 [[ 0.98575637 -0.14024669 -0.09281837 0.32424893] [ 0.13934395 0.99011203 -0.01616864 -0.16235628] [ 0.09416819 0.00300466 0.99555177 -0.0020425 ] [ 0. 0. 0. 1. ]] SLAMing on 185.53992885099998 meters Centerline goodness : 0.775894 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.00 [[ 0.98578537 -0.13992936 -0.0929891 0.32503814] [ 0.13907738 0.99015844 -0.01561251 -0.16398636] [ 0.09425859 0.0024579 0.99554471 -0.00245614] [ 0. 0. 0. 1. ]] SLAMing on 185.599928851 meters Centerline goodness : 0.777655 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.00 [[ 0.98585479 -0.13940425 -0.09304188 0.3253853 ] [ 0.1386383 0.99023431 -0.01467776 -0.16746399] [ 0.09417941 0.00157097 0.995554 -0.00250042] [ 0. 0. 0. 1. ]] SLAMing on 185.659928851 meters Centerline goodness : 0.774171 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.00 [[ 0.98594565 -0.13859775 -0.09328363 0.32633405] [ 0.13787857 0.99034817 -0.01414229 -0.16801014] [ 0.09434336 0.00108172 0.99553913 -0.00276507] [ 0. 0. 0. 1. ]] SLAMing on 185.719928851 meters Centerline goodness : 0.774287 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.00 [[ 9.86060470e-01 -1.37610470e-01 -9.35313198e-02 3.26999184e-01] [ 1.36934884e-01 9.90486221e-01 -1.36339189e-02 -1.68359600e-01] [ 9.45176535e-02 6.36168033e-04 9.95522982e-01 -2.60962831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779928851 meters Centerline goodness : 0.775479 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.00 [[ 9.86167519e-01 -1.36688838e-01 -9.37538557e-02 3.28233305e-01] [ 1.36080255e-01 9.90614031e-01 -1.28843070e-02 -1.69137481e-01] [ 9.46350258e-02 -5.19634725e-05 9.95512034e-01 -3.62704729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839928851 meters Centerline goodness : 0.771255 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.01 [[ 9.86308667e-01 -1.35600454e-01 -9.38495058e-02 3.29645380e-01] [ 1.35011515e-01 9.90763579e-01 -1.26262039e-02 -1.68827118e-01] [ 9.46947912e-02 -2.17429641e-04 9.95506328e-01 -5.36505168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899928851 meters Centerline goodness : 0.771362 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.01 [[ 0.98672275 -0.13187032 -0.09480731 0.33073769] [ 0.13166129 0.99125845 -0.00848441 -0.16946031] [ 0.09509739 -0.00411069 0.99545949 -0.00567652] [ 0. 0. 0. 1. ]] SLAMing on 185.959928851 meters Centerline goodness : 0.785446 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.01 [[ 0.9873391 -0.1269103 -0.09515923 0.331193 ] [ 0.1270315 0.99188703 -0.00480785 -0.16934784] [ 0.09499737 -0.00734124 0.99545045 -0.00681764] [ 0. 0. 0. 1. ]] SLAMing on 186.019928851 meters Centerline goodness : 0.772861 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.01 [[ 9.87648449e-01 -1.23748173e-01 -9.61089491e-02 3.31872758e-01] [ 1.24286339e-01 9.92246317e-01 -3.89748894e-04 -1.71242980e-01] [ 9.54119815e-02 -1.15600946e-02 9.95370744e-01 -6.16050713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079928851 meters Centerline goodness : 0.773963 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.01 [[ 9.87578768e-01 -1.24292713e-01 -9.61223102e-02 3.31790202e-01] [ 1.24912191e-01 9.92167707e-01 4.30825486e-04 -1.74205054e-01] [ 9.53159036e-02 -1.24323225e-02 9.95369437e-01 -5.49933397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.139928851 meters Centerline goodness : 0.775215 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.18, Z:-0.01 [[ 0.98729981 -0.12584186 -0.09696864 0.33404461] [ 0.12661074 0.99195086 0.00179249 -0.17860372] [ 0.09596256 -0.014047 0.99528582 -0.00537273] [ 0. 0. 0. 1. ]] SLAMing on 186.199928851 meters Centerline goodness : 0.775519 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.18, Z:-0.00 [[ 0.98707412 -0.12721595 -0.09747193 0.33482704] [ 0.12805295 0.99176454 0.00235437 -0.18077932] [ 0.09636969 -0.0148055 0.99523549 -0.00454052] [ 0. 0. 0. 1. ]] SLAMing on 186.25992885099998 meters Centerline goodness : 0.783537 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.19, Z:-0.00 [[ 0.98676204 -0.12901603 -0.09826261 0.33632415] [ 0.12995737 0.99151438 0.00321334 -0.18543424] [ 0.09701422 -0.01594075 0.99515533 -0.00343104] [ 0. 0. 0. 1. ]] SLAMing on 186.319928851 meters Centerline goodness : 0.786120 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.19, Z:-0.00 [[ 0.98665053 -0.129788 -0.0983657 0.33663246] [ 0.13083273 0.99139548 0.00421839 -0.18919103] [ 0.09697181 -0.01703153 0.99514139 -0.00286636] [ 0. 0. 0. 1. ]] SLAMing on 186.379928851 meters Centerline goodness : 0.783731 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.19, Z:-0.00 [[ 0.98633451 -0.13131384 -0.09950329 0.33885145] [ 0.13254471 0.99115986 0.00583308 -0.19415657] [ 0.0978577 -0.018942 0.99502014 -0.00198163] [ 0. 0. 0. 1. ]] SLAMing on 186.439928851 meters Centerline goodness : 0.783895 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98619152 -0.13191636 -0.1001217 0.34064655] [ 0.13325354 0.99105894 0.00675795 -0.19732564] [ 0.09833502 -0.02000621 0.99495225 -0.00209271] [ 0. 0. 0. 1. ]] SLAMing on 186.499928851 meters Centerline goodness : 0.783467 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98610612 -0.13201693 -0.10082778 0.34247375] [ 0.13354532 0.99100598 0.00853228 -0.20090716] [ 0.09879453 -0.02187881 0.99486731 -0.0023018 ] [ 0. 0. 0. 1. ]] SLAMing on 186.559928851 meters Centerline goodness : 0.784701 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98613767 -0.13160497 -0.1010576 0.34300486] [ 0.13320607 0.99104536 0.00923272 -0.20195418] [ 0.09893759 -0.02256622 0.99483773 -0.00231393] [ 0. 0. 0. 1. ]] SLAMing on 186.619928851 meters Centerline goodness : 0.784987 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98636164 -0.13018947 -0.10070456 0.34249922] [ 0.13184621 0.99122029 0.00994597 -0.20265366] [ 0.09852555 -0.02308784 0.99486666 -0.00271563] [ 0. 0. 0. 1. ]] SLAMing on 186.679928851 meters Centerline goodness : 0.781424 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98655572 -0.12894437 -0.10040503 0.34239965] [ 0.1306373 0.99137521 0.01044497 -0.20323425] [ 0.09819223 -0.02342119 0.99489182 -0.00340165] [ 0. 0. 0. 1. ]] SLAMing on 186.739928851 meters Centerline goodness : 0.783417 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.00 [[ 0.98711207 -0.12472563 -0.10026605 0.34293624] [ 0.1267102 0.99184587 0.0136493 -0.20562371] [ 0.09774605 -0.02617812 0.99486703 -0.00496828] [ 0. 0. 0. 1. ]] SLAMing on 186.799928851 meters Centerline goodness : 0.774987 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.01 [[ 0.98740966 -0.12269293 -0.09984293 0.34314247] [ 0.12472666 0.99208715 0.01436481 -0.20650458] [ 0.09729043 -0.02663703 0.99489951 -0.00644258] [ 0. 0. 0. 1. ]] SLAMing on 186.859928851 meters Centerline goodness : 0.775514 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.01 [[ 0.98776648 -0.11904092 -0.10073049 0.34462863] [ 0.1215638 0.99239659 0.01926767 -0.20971209] [ 0.09767095 -0.03127714 0.99472716 -0.0068137 ] [ 0. 0. 0. 1. ]] SLAMing on 186.919928851 meters Centerline goodness : 0.772130 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.01 [[ 0.98791455 -0.118117 -0.10036546 0.34437954] [ 0.12070648 0.99248452 0.02011047 -0.21158226] [ 0.09723578 -0.03198219 0.99474738 -0.00734466] [ 0. 0. 0. 1. ]] SLAMing on 186.97992885099998 meters Centerline goodness : 0.777614 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.21, Z:-0.01 [[ 0.98789502 -0.11797914 -0.10071917 0.34582762] [ 0.12065957 0.99247332 0.02092795 -0.21314563] [ 0.09749203 -0.03282735 0.99469476 -0.00802823] [ 0. 0. 0. 1. ]] SLAMing on 187.03992885099998 meters Centerline goodness : 0.766785 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98786666 -0.11892795 -0.0998779 0.34532275] [ 0.12144696 0.99240618 0.01950945 -0.21502608] [ 0.09679922 -0.0314026 0.99480842 -0.00872051] [ 0. 0. 0. 1. ]] SLAMing on 187.099928851 meters Centerline goodness : 0.784357 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98787522 -0.11871397 -0.10004772 0.34590595] [ 0.12131511 0.9924063 0.02030726 -0.21660419] [ 0.09687723 -0.03219834 0.99477539 -0.00870161] [ 0. 0. 0. 1. ]] SLAMing on 187.159928851 meters Centerline goodness : 0.784141 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98788809 -0.1190148 -0.09956208 0.34434537] [ 0.12162172 0.99236448 0.02051578 -0.21846308] [ 0.09636019 -0.03237621 0.99481983 -0.00754541] [ 0. 0. 0. 1. ]] SLAMing on 187.219928851 meters Centerline goodness : 0.768501 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98789458 -0.11872308 -0.09984552 0.34522912] [ 0.12143461 0.99236631 0.02151139 -0.22033286] [ 0.09652943 -0.03337569 0.99477039 -0.00768164] [ 0. 0. 0. 1. ]] SLAMing on 187.279928851 meters Centerline goodness : 0.782543 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98798874 -0.11825117 -0.09947316 0.34454383] [ 0.12096004 0.99242157 0.02163548 -0.22110163] [ 0.09616089 -0.03340789 0.994805 -0.00763605] [ 0. 0. 0. 1. ]] SLAMing on 187.339928851 meters Centerline goodness : 0.779960 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98816643 -0.11738501 -0.09873132 0.3429846 ] [ 0.12004827 0.99253608 0.02146042 -0.22117116] [ 0.09547527 -0.03305899 0.99488269 -0.00762113] [ 0. 0. 0. 1. ]] SLAMing on 187.399928851 meters Centerline goodness : 0.769138 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98826502 -0.11681221 -0.09842335 0.34262257] [ 0.11948432 0.99259921 0.02168662 -0.22215492] [ 0.09516168 -0.03319218 0.9949083 -0.00782289] [ 0. 0. 0. 1. ]] SLAMing on 187.459928851 meters Centerline goodness : 0.771111 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98830427 -0.11631304 -0.09862021 0.34327792] [ 0.1190564 0.99263514 0.02238427 -0.22295848] [ 0.09529031 -0.03386383 0.99487336 -0.0081025 ] [ 0. 0. 0. 1. ]] SLAMing on 187.519928851 meters Centerline goodness : 0.782046 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98843392 -0.11549742 -0.09827887 0.34265897] [ 0.11829053 0.99271111 0.02306504 -0.22367423] [ 0.09489857 -0.03442373 0.99489159 -0.00824751] [ 0. 0. 0. 1. ]] SLAMing on 187.579928851 meters Centerline goodness : 0.783464 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98844879 -0.11556452 -0.09805015 0.34207782] [ 0.11830379 0.99272069 0.02257978 -0.2233555 ] [ 0.09472699 -0.03391866 0.99492528 -0.00805908] [ 0. 0. 0. 1. ]] SLAMing on 187.639928851 meters Centerline goodness : 0.786399 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98836361 -0.11586883 -0.09854836 0.3437067 ] [ 0.1186376 0.99267821 0.02269574 -0.22321335] [ 0.09519708 -0.03412318 0.99487342 -0.00885084] [ 0. 0. 0. 1. ]] SLAMing on 187.699928851 meters Centerline goodness : 0.780901 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98824783 -0.1166322 -0.09880868 0.34408612] [ 0.11941452 0.99258476 0.0227085 -0.22294739] [ 0.09542745 -0.03424082 0.99484731 -0.00842379] [ 0. 0. 0. 1. ]] SLAMing on 187.75992885099998 meters Centerline goodness : 0.770433 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.9881386 -0.11752808 -0.09883958 0.34385056] [ 0.12032289 0.99247326 0.02278656 -0.22356251] [ 0.09541758 -0.03440894 0.99484246 -0.00769154] [ 0. 0. 0. 1. ]] SLAMing on 187.819928851 meters Centerline goodness : 0.770934 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98802469 -0.11832937 -0.09902204 0.34448635] [ 0.12108371 0.99239262 0.02226267 -0.22343076] [ 0.09563442 -0.03398603 0.99483617 -0.00779126] [ 0. 0. 0. 1. ]] SLAMing on 187.879928851 meters Centerline goodness : 0.785462 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98794288 -0.11901159 -0.09902075 0.34439228] [ 0.12170806 0.99233024 0.02162987 -0.22212019] [ 0.09568708 -0.0334207 0.99485026 -0.0077035 ] [ 0. 0. 0. 1. ]] SLAMing on 187.939928851 meters Centerline goodness : 0.776770 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.22, Z:-0.01 [[ 0.98793949 -0.11870236 -0.09942487 0.34487657] [ 0.12145453 0.99235139 0.0220797 -0.22151121] [ 0.0960435 -0.03388901 0.99480007 -0.00740315] [ 0. 0. 0. 1. ]] SLAMing on 187.999928851 meters Centerline goodness : 0.768626 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98791536 -0.11866743 -0.09970594 0.34523945] [ 0.12149293 0.99233179 0.02273959 -0.22190704] [ 0.09624293 -0.03457836 0.99475707 -0.0070631 ] [ 0. 0. 0. 1. ]] SLAMing on 188.059928851 meters Centerline goodness : 0.788740 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98783771 -0.11906081 -0.10000595 0.34612526] [ 0.12190365 0.99228022 0.022792 -0.22190452] [ 0.09652029 -0.03470588 0.99472576 -0.00724035] [ 0. 0. 0. 1. ]] SLAMing on 188.119928851 meters Centerline goodness : 0.786284 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98782462 -0.11920292 -0.0999659 0.34601087] [ 0.12201954 0.99227196 0.02252962 -0.22148811] [ 0.09650777 -0.0344531 0.99473576 -0.00714424] [ 0. 0. 0. 1. ]] SLAMing on 188.179928851 meters Centerline goodness : 0.787999 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98824757 -0.11543008 -0.10021293 0.34567855] [ 0.11854815 0.99261519 0.02571795 -0.22077799] [ 0.09650425 -0.03729576 0.99463358 -0.0074421 ] [ 0. 0. 0. 1. ]] SLAMing on 188.239928851 meters Centerline goodness : 0.788083 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98844738 -0.11363681 -0.10029186 0.34620514] [ 0.11675243 0.99282734 0.02574388 -0.21816556] [ 0.09664705 -0.03715579 0.99462495 -0.0086406 ] [ 0. 0. 0. 1. ]] SLAMing on 188.299928851 meters Centerline goodness : 0.779918 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.01 [[ 0.98886611 -0.10985113 -0.10038202 0.34519905] [ 0.11315974 0.99318597 0.02786585 -0.21523656] [ 0.09663691 -0.0389148 0.99455867 -0.0087461 ] [ 0. 0. 0. 1. ]] SLAMing on 188.359928851 meters Centerline goodness : 0.788269 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.01 [[ 0.98892257 -0.10969359 -0.09999734 0.34362395] [ 0.11285529 0.99325766 0.02651217 -0.21174761] [ 0.09641491 -0.03750371 0.99463442 -0.00830093] [ 0. 0. 0. 1. ]] SLAMing on 188.419928851 meters Centerline goodness : 0.768563 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.01 [[ 0.98887015 -0.11009878 -0.10007039 0.34342426] [ 0.11318453 0.993242 0.02568267 -0.2091607 ] [ 0.09656649 -0.03672325 0.99464884 -0.0082122 ] [ 0. 0. 0. 1. ]] SLAMing on 188.47992885099998 meters Centerline goodness : 0.788588 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.01 [[ 0.98866381 -0.11165203 -0.1003877 0.343776 ] [ 0.11464067 0.99310501 0.024494 -0.20733984] [ 0.09696072 -0.03572484 0.99464685 -0.00771238] [ 0. 0. 0. 1. ]] SLAMing on 188.53992885099998 meters Centerline goodness : 0.789292 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.01 [[ 0.98840689 -0.11340084 -0.10095581 0.34340508] [ 0.11629874 0.99294145 0.02327825 -0.20368231] [ 0.09760344 -0.03474942 0.99461854 -0.00606332] [ 0. 0. 0. 1. ]] SLAMing on 188.599928851 meters Centerline goodness : 0.788881 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.01 [[ 0.98827973 -0.11417293 -0.10132977 0.34328808] [ 0.11702636 0.99287032 0.02265736 -0.20074796] [ 0.09802046 -0.03425006 0.99459485 -0.00530036] [ 0. 0. 0. 1. ]] SLAMing on 188.659928851 meters Centerline goodness : 0.785762 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98819901 -0.11474849 -0.10146679 0.34298489] [ 0.11756622 0.99281641 0.02222047 -0.19873468] [ 0.09818813 -0.03388732 0.99459074 -0.0047594 ] [ 0. 0. 0. 1. ]] SLAMing on 188.719928851 meters Centerline goodness : 0.781181 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98816066 -0.1150189 -0.10153406 0.34253835] [ 0.11774317 0.99281693 0.02123876 -0.19507572] [ 0.09836188 -0.03294225 0.99460532 -0.00442755] [ 0. 0. 0. 1. ]] SLAMing on 188.779928851 meters Centerline goodness : 0.784845 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.00 [[ 0.98832634 -0.11268802 -0.10253029 0.34368527] [ 0.11579175 0.99296332 0.0248216 -0.19512345] [ 0.09901172 -0.036404 0.99442015 -0.00430867] [ 0. 0. 0. 1. ]] SLAMing on 188.839928851 meters Centerline goodness : 0.772504 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.19, Z:-0.00 [[ 0.98834223 -0.11263011 -0.10244073 0.34345655] [ 0.11560016 0.99301746 0.02351459 -0.19103523] [ 0.09907698 -0.03508263 0.99446114 -0.00488221] [ 0. 0. 0. 1. ]] SLAMing on 188.899928851 meters Centerline goodness : 0.774140 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.19, Z:-0.01 [[ 0.988402 -0.11237343 -0.10214546 0.3431198 ] [ 0.1152491 0.99307762 0.02268236 -0.18857426] [ 0.09888948 -0.03419146 0.99451084 -0.00556538] [ 0. 0. 0. 1. ]] SLAMing on 188.959928851 meters Centerline goodness : 0.784062 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.19, Z:-0.00 [[ 0.98866285 -0.10953199 -0.10270599 0.34265474] [ 0.11263229 0.99332541 0.02487151 -0.18536425] [ 0.09929624 -0.03615755 0.99440077 -0.00499697] [ 0. 0. 0. 1. ]] SLAMing on 189.019928851 meters Centerline goodness : 0.785019 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.01 [[ 0.98881285 -0.10838481 -0.10247867 0.34213695] [ 0.11145054 0.99346392 0.02466198 -0.18314585] [ 0.09913588 -0.03580739 0.99442944 -0.00548928] [ 0. 0. 0. 1. ]] SLAMing on 189.079928851 meters Centerline goodness : 0.786626 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.01 [[ 0.98898789 -0.10767808 -0.10153024 0.33956689] [ 0.11054113 0.99360559 0.02299112 -0.17912528] [ 0.09840537 -0.03396121 0.99456675 -0.00520707] [ 0. 0. 0. 1. ]] SLAMing on 189.139928851 meters Centerline goodness : 0.785558 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.01 [[ 0.98903214 -0.10728785 -0.10151232 0.33944278] [ 0.1101248 0.99365732 0.02275204 -0.17690672] [ 0.09842744 -0.03368153 0.99457408 -0.00544903] [ 0. 0. 0. 1. ]] SLAMing on 189.199928851 meters Centerline goodness : 0.783993 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.01 [[ 0.98910575 -0.10664499 -0.10147243 0.33904511] [ 0.10944782 0.99373896 0.02245125 -0.17392275] [ 0.09844279 -0.03331259 0.99458498 -0.00567021] [ 0. 0. 0. 1. ]] SLAMing on 189.25992885099998 meters Centerline goodness : 0.783786 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.01 [[ 0.98907293 -0.10670239 -0.10173169 0.33972635] [ 0.10947811 0.99374377 0.02208747 -0.17290425] [ 0.09873845 -0.03298351 0.99456664 -0.00572969] [ 0. 0. 0. 1. ]] SLAMing on 189.319928851 meters Centerline goodness : 0.770507 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.01 [[ 0.9890109 -0.10731414 -0.10169129 0.3392963 ] [ 0.10999328 0.99370836 0.02109902 -0.17017421] [ 0.09878727 -0.03205251 0.99459223 -0.00535666] [ 0. 0. 0. 1. ]] SLAMing on 189.379928851 meters Centerline goodness : 0.774219 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.00 [[ 0.9889654 -0.10776202 -0.10166011 0.33893685] [ 0.11037476 0.99368026 0.02041921 -0.16909307] [ 0.09881723 -0.0314146 0.99460961 -0.00488877] [ 0. 0. 0. 1. ]] SLAMing on 189.439928851 meters Centerline goodness : 0.783467 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.00 [[ 0.9889051 -0.10843361 -0.10153254 0.3386203 ] [ 0.1109551 0.99363393 0.01950854 -0.1668467 ] [ 0.09877079 -0.03055765 0.99464092 -0.00484934] [ 0. 0. 0. 1. ]] SLAMing on 189.499928851 meters Centerline goodness : 0.770206 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.16, Z:-0.00 [[ 0.98854115 -0.11185534 -0.10136455 0.33981873] [ 0.11395926 0.99336929 0.01519034 -0.16338364] [ 0.09899331 -0.0265677 0.99473337 -0.00499066] [ 0. 0. 0. 1. ]] SLAMing on 189.559928851 meters Centerline goodness : 0.769872 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.16, Z:-0.00 [[ 0.98844203 -0.1129532 -0.10111342 0.33840443] [ 0.11487498 0.99328997 0.01337098 -0.1589251 ] [ 0.09892465 -0.02483184 0.99478505 -0.00388523] [ 0. 0. 0. 1. ]] SLAMing on 189.619928851 meters Centerline goodness : 0.785233 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.16, Z:-0.00 [[ 0.98837352 -0.1135545 -0.10110959 0.3377325 ] [ 0.11535198 0.99325107 0.01209295 -0.15538544] [ 0.099054 -0.02361555 0.99480179 -0.00305716] [ 0. 0. 0. 1. ]] SLAMing on 189.679928851 meters Centerline goodness : 0.770580 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:-0.00 [[ 0.98831936 -0.11398903 -0.10115009 0.33765154] [ 0.11564882 0.99323274 0.01068045 -0.15065544] [ 0.09924813 -0.02225359 0.99481385 -0.00270877] [ 0. 0. 0. 1. ]] SLAMing on 189.739928851 meters Centerline goodness : 0.772050 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:-0.00 [[ 0.9882546 -0.11442712 -0.10128808 0.33758738] [ 0.1159967 0.99320199 0.00972502 -0.14789641] [ 0.09948672 -0.02135988 0.9948096 -0.00224187] [ 0. 0. 0. 1. ]] SLAMing on 189.799928851 meters Centerline goodness : 0.771360 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.14, Z:-0.00 [[ 0.98816092 -0.11535184 -0.10115311 0.33667165] [ 0.11679084 0.993121 0.00840123 -0.14429113] [ 0.09948818 -0.02011552 0.9948354 -0.0016304 ] [ 0. 0. 0. 1. ]] SLAMing on 189.859928851 meters Centerline goodness : 0.772453 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.14, Z:-0.00 [[ 0.98810063 -0.11586834 -0.10115174 0.33648949] [ 0.11723838 0.99307406 0.00768625 -0.14277091] [ 0.09956057 -0.01945366 0.99484132 -0.0013689 ] [ 0. 0. 0. 1. ]] SLAMing on 189.919928851 meters Centerline goodness : 0.773125 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.14, Z:-0.00 [[ 9.88010751e-01 -1.16850611e-01 -1.00899403e-01 3.35520109e-01] [ 1.18118386e-01 9.92977169e-01 6.66253214e-03 -1.41223667e-01] [ 9.94122827e-02 -1.85007280e-02 9.94874324e-01 -9.18292872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97992885099998 meters Centerline goodness : 0.774175 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.14, Z:-0.00 [[ 0.98795187 -0.11741239 -0.10082379 0.33546991] [ 0.11860787 0.9929235 0.00592471 -0.13890005] [ 0.09941468 -0.01781182 0.99488666 -0.00110914] [ 0. 0. 0. 1. ]] SLAMing on 190.03992885099998 meters Centerline goodness : 0.773636 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.14, Z:-0.00 [[ 9.87920320e-01 -1.17685342e-01 -1.00814685e-01 3.35367402e-01] [ 1.18813978e-01 9.92902685e-01 5.24379364e-03 -1.36683756e-01] [ 9.94820539e-02 -1.71586441e-02 9.94891402e-01 -8.96457320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099928851 meters Centerline goodness : 0.776193 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:-0.00 [[ 9.87871717e-01 -1.18172257e-01 -1.00721341e-01 3.34700203e-01] [ 1.19191292e-01 9.92862682e-01 4.13896639e-03 -1.33420460e-01] [ 9.95133501e-02 -1.60938746e-02 9.94906066e-01 -2.75472722e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159928851 meters Centerline goodness : 0.776720 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:0.00 [[ 9.87822000e-01 -1.18654792e-01 -1.00641629e-01 3.34282668e-01] [ 1.19594476e-01 9.92817227e-01 3.33394250e-03 -1.31342161e-01] [ 9.95231545e-02 -1.53295246e-02 9.94917156e-01 5.40642800e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219928851 meters Centerline goodness : 0.777342 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:0.00 [[ 9.87769223e-01 -1.19237477e-01 -1.00470828e-01 3.33832245e-01] [ 1.20082902e-01 9.92760997e-01 2.38754586e-03 -1.29063680e-01] [ 9.94588341e-02 -1.44231729e-02 9.94937140e-01 2.63553859e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279928851 meters Centerline goodness : 0.777626 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:0.00 [[ 9.87733706e-01 -1.19567684e-01 -1.00427565e-01 3.33585179e-01] [ 1.20347280e-01 9.92730366e-01 1.71859341e-03 -1.27351715e-01] [ 9.94920049e-02 -1.37836969e-02 9.94942888e-01 5.49658559e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339928851 meters Centerline goodness : 0.778965 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 9.87700263e-01 -1.19985033e-01 -1.00258579e-01 3.32672646e-01] [ 1.20650853e-01 9.92694834e-01 5.82059920e-04 -1.24074519e-01] [ 9.94563354e-02 -1.26711838e-02 9.94961245e-01 1.51741756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399928851 meters Centerline goodness : 0.780873 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 9.87673138e-01 -1.20220456e-01 -1.00243780e-01 3.32386811e-01] [ 1.20838203e-01 9.92672212e-01 9.11884868e-05 -1.23159520e-01] [ 9.94982519e-02 -1.22033426e-02 9.94962902e-01 2.00742922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459928851 meters Centerline goodness : 0.780250 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 9.87618541e-01 -1.21096101e-01 -9.97263804e-02 3.30527803e-01] [ 1.21631862e-01 9.92575026e-01 -7.12778077e-04 -1.22152505e-01] [ 9.90722293e-02 -1.14259525e-02 9.95014644e-01 2.81466360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519928851 meters Centerline goodness : 0.779854 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 9.87572456e-01 -1.21658345e-01 -9.94981980e-02 3.29927070e-01] [ 1.22173488e-01 9.92508332e-01 -9.22124808e-04 -1.22942317e-01] [ 9.88649747e-02 -1.12453768e-02 9.95037315e-01 2.89799983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579928851 meters Centerline goodness : 0.781297 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.98708961 -0.12574385 -0.09920984 0.3306657 ] [ 0.12586568 0.99203441 -0.00505519 -0.1209962 ] [ 0.09905523 -0.00749719 0.99505369 0.00272069] [ 0. 0. 0. 1. ]] SLAMing on 190.639928851 meters Centerline goodness : 0.783432 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.98655789 -0.13017856 -0.09877785 0.33093315] [ 0.12990893 0.99148339 -0.00918424 -0.12044116] [ 0.09913219 -0.00377134 0.99506713 0.00270873] [ 0. 0. 0. 1. ]] SLAMing on 190.699928851 meters Centerline goodness : 0.782028 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.98647629 -0.13108947 -0.0983874 0.32959514] [ 0.13078146 0.99136473 -0.00960156 -0.12101558] [ 0.09879646 -0.00339554 0.99510187 0.0031437 ] [ 0. 0. 0. 1. ]] SLAMing on 190.75992885099998 meters Centerline goodness : 0.781784 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.98646745 -0.13128825 -0.0982108 0.32918013] [ 0.13095161 0.99133939 -0.00989409 -0.12068579] [ 0.09865922 -0.00310066 0.99511645 0.00336164] [ 0. 0. 0. 1. ]] SLAMing on 190.819928851 meters Centerline goodness : 0.779818 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.98647145 -0.13130479 -0.09814851 0.32859382] [ 0.13093396 0.99133823 -0.010238 -0.11950751] [ 0.09864267 -0.00275147 0.99511911 0.00398964] [ 0. 0. 0. 1. ]] SLAMing on 190.879928851 meters Centerline goodness : 0.793643 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.9864258 -0.13176006 -0.09799708 0.32816077] [ 0.131392 0.99127772 -0.01022835 -0.12132744] [ 0.09849002 -0.00278652 0.99513414 0.00412074] [ 0. 0. 0. 1. ]] SLAMing on 190.939928851 meters Centerline goodness : 0.778689 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 0.98635848 -0.13242153 -0.09778284 0.32711279] [ 0.13202762 0.99119025 -0.01051686 -0.12282988] [ 0.09831405 -0.00253665 0.99515221 0.004896 ] [ 0. 0. 0. 1. ]] SLAMing on 190.999928851 meters Centerline goodness : 0.782000 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:0.01 [[ 0.98621933 -0.13351491 -0.0976996 0.32612429] [ 0.13310379 0.99104388 -0.01074314 -0.12599839] [ 0.09825896 -0.00240909 0.99515796 0.00578526] [ 0. 0. 0. 1. ]] SLAMing on 191.059928851 meters Centerline goodness : 0.782005 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:0.01 [[ 0.98621215 -0.13364633 -0.09759229 0.32614953] [ 0.13327631 0.99102508 -0.01033023 -0.12922717] [ 0.09809701 -0.00281895 0.99517286 0.00565371] [ 0. 0. 0. 1. ]] SLAMing on 191.119928851 meters Centerline goodness : 0.794020 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:0.01 [[ 9.85784532e-01 -1.36694593e-01 -9.76905582e-02 3.28056289e-01] [ 1.36081405e-01 9.90613095e-01 -1.29440253e-02 -1.32467044e-01] [ 9.85429244e-02 -5.33848544e-04 9.95132658e-01 5.41257950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179928851 meters Centerline goodness : 0.782494 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.14, Z:0.01 [[ 0.98576391 -0.13699008 -0.09748451 0.32685503] [ 0.13642757 0.99057188 -0.01244448 -0.13672521] [ 0.09827019 -0.00103225 0.99515924 0.00644172] [ 0. 0. 0. 1. ]] SLAMing on 191.239928851 meters Centerline goodness : 0.793294 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.14, Z:0.01 [[ 0.98578319 -0.13683207 -0.09751142 0.32703985] [ 0.13630736 0.99059326 -0.01205417 -0.13850753] [ 0.09824355 -0.00140873 0.9951614 0.00643422] [ 0. 0. 0. 1. ]] SLAMing on 191.299928851 meters Centerline goodness : 0.793555 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.14, Z:0.01 [[ 0.98580103 -0.13664033 -0.09759997 0.32717755] [ 0.13617659 0.99061866 -0.01142867 -0.14194836] [ 0.09824597 -0.00202444 0.9951601 0.00665449] [ 0. 0. 0. 1. ]] SLAMing on 191.359928851 meters Centerline goodness : 0.778998 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.15, Z:0.01 [[ 0.98589083 -0.13578996 -0.0978793 0.32792525] [ 0.13542965 0.99073294 -0.01034676 -0.14619503] [ 0.09837724 -0.00305498 0.99514451 0.0068515 ] [ 0. 0. 0. 1. ]] SLAMing on 191.419928851 meters Centerline goodness : 0.792418 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.15, Z:0.01 [[ 0.98599322 -0.13483322 -0.09817014 0.32886669] [ 0.13455947 0.9908606 -0.00943455 -0.1485901 ] [ 0.09854501 -0.00390732 0.99512492 0.00675749] [ 0. 0. 0. 1. ]] SLAMing on 191.47992885099998 meters Centerline goodness : 0.780030 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.15, Z:0.01 [[ 0.98616424 -0.13313869 -0.09876323 0.33058626] [ 0.13300019 0.99108361 -0.00801457 -0.15178434] [ 0.09894967 -0.00523185 0.99507869 0.00665845] [ 0. 0. 0. 1. ]] SLAMing on 191.53992885099998 meters Centerline goodness : 0.778737 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.15, Z:0.01 [[ 0.98627101 -0.13195968 -0.0992781 0.33198589] [ 0.13190292 0.99123675 -0.00716434 -0.15334024] [ 0.0993535 -0.00602909 0.99503394 0.00664403] [ 0. 0. 0. 1. ]] SLAMing on 191.599928851 meters Centerline goodness : 0.779698 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:0.01 [[ 0.98641195 -0.13050862 -0.09979459 0.33312395] [ 0.13055286 0.99142249 -0.0061154 -0.15581314] [ 0.09973671 -0.00699616 0.99498927 0.00713189] [ 0. 0. 0. 1. ]] SLAMing on 191.659928851 meters Centerline goodness : 0.780857 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:0.01 [[ 0.9864744 -0.12992867 -0.09993395 0.33348576] [ 0.13002623 0.99149494 -0.0055644 -0.15769786] [ 0.09980698 -0.00750489 0.99497851 0.00730053] [ 0. 0. 0. 1. ]] SLAMing on 191.719928851 meters Centerline goodness : 0.779412 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:0.01 [[ 0.98655169 -0.1291895 -0.10012911 0.33439628] [ 0.1293724 0.99158498 -0.00469202 -0.16052024] [ 0.09989268 -0.00832502 0.99496339 0.00700276] [ 0. 0. 0. 1. ]] SLAMing on 191.779928851 meters Centerline goodness : 0.775483 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:0.01 [[ 0.9865701 -0.12891096 -0.10030657 0.33494174] [ 0.12913573 0.99161771 -0.00427634 -0.1623287 ] [ 0.10001704 -0.00873425 0.99494739 0.00698822] [ 0. 0. 0. 1. ]] SLAMing on 191.839928851 meters Centerline goodness : 0.781505 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:0.01 [[ 0.9865748 -0.12887705 -0.10030391 0.3348331 ] [ 0.12913954 0.99161877 -0.00389898 -0.16494115] [ 0.09996573 -0.00910656 0.99494921 0.0073185 ] [ 0. 0. 0. 1. ]] SLAMing on 191.899928851 meters Centerline goodness : 0.781407 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.9861043 -0.13263451 -0.10003193 0.3354984 ] [ 0.13257166 0.9911465 -0.00730515 -0.16581074] [ 0.10011522 -0.00605776 0.99495741 0.00738823] [ 0. 0. 0. 1. ]] SLAMing on 191.959928851 meters Centerline goodness : 0.782484 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.98608358 -0.13290314 -0.09987959 0.33530446] [ 0.13283817 0.99111063 -0.00733057 -0.16682625] [ 0.09996597 -0.00603927 0.99497253 0.00734399] [ 0. 0. 0. 1. ]] SLAMing on 192.019928851 meters Centerline goodness : 0.780764 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.98605661 -0.13320636 -0.09974183 0.33506813] [ 0.13312518 0.99107086 -0.00749919 -0.16734079] [ 0.09985016 -0.00588352 0.99498509 0.00742245] [ 0. 0. 0. 1. ]] SLAMing on 192.079928851 meters Centerline goodness : 0.782378 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.98582542 -0.13506345 -0.09952939 0.33726247] [ 0.13476174 0.99082977 -0.00977938 -0.16671625] [ 0.09993752 -0.003772 0.99498656 0.00604512] [ 0. 0. 0. 1. ]] SLAMing on 192.139928851 meters Centerline goodness : 0.780558 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.98578871 -0.13542068 -0.0994075 0.33695869] [ 0.13509244 0.99078196 -0.01005724 -0.16728827] [ 0.09985311 -0.00351489 0.99499598 0.00626695] [ 0. 0. 0. 1. ]] SLAMing on 192.199928851 meters Centerline goodness : 0.773438 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.98576617 -0.1356123 -0.09936986 0.3370767 ] [ 0.13528636 0.99075564 -0.01004258 -0.16767852] [ 0.09981314 -0.00354375 0.99499989 0.00604568] [ 0. 0. 0. 1. ]] SLAMing on 192.25992885099998 meters Centerline goodness : 0.782220 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.985753 -0.13576146 -0.09929677 0.33713721] [ 0.13544204 0.99073498 -0.00998251 -0.16833823] [ 0.09973202 -0.00360866 0.99500779 0.00585257] [ 0. 0. 0. 1. ]] SLAMing on 192.319928851 meters Centerline goodness : 0.780511 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98542043 -0.13821574 -0.09921178 0.33927468] [ 0.13763678 0.99040148 -0.01268983 -0.16816054] [ 0.10001343 -0.00115037 0.99498542 0.00482115] [ 0. 0. 0. 1. ]] SLAMing on 192.379928851 meters Centerline goodness : 0.773622 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.9854131 -0.13825577 -0.09922883 0.33919607] [ 0.13766842 0.99039598 -0.0127755 -0.16819004] [ 0.10004212 -0.00107153 0.99498263 0.00508342] [ 0. 0. 0. 1. ]] SLAMing on 192.439928851 meters Centerline goodness : 0.773905 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98493712 -0.14168929 -0.09911111 0.34038575] [ 0.14078273 0.98990932 -0.0161174 -0.16846167] [ 0.10039468 0.00192149 0.99494584 0.00497358] [ 0. 0. 0. 1. ]] SLAMing on 192.499928851 meters Centerline goodness : 0.775718 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.01 [[ 0.98486785 -0.14241795 -0.09875444 0.33943037] [ 0.14151849 0.98980484 -0.01609005 -0.17058003] [ 0.10003914 0.00187099 0.99498174 0.00516274] [ 0. 0. 0. 1. ]] SLAMing on 192.559928851 meters Centerline goodness : 0.772887 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98437394 -0.14586983 -0.0986405 0.34101488] [ 0.14466467 0.98929249 -0.0193003 -0.1706763 ] [ 0.10039963 0.00472892 0.99493595 0.00450904] [ 0. 0. 0. 1. ]] SLAMing on 192.619928851 meters Centerline goodness : 0.773147 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98427725 -0.14659558 -0.09852935 0.34077335] [ 0.14540787 0.98918609 -0.01916842 -0.17301727] [ 0.10027387 0.0045401 0.99494952 0.00440168] [ 0. 0. 0. 1. ]] SLAMing on 192.679928851 meters Centerline goodness : 0.780063 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98426801 -0.1465413 -0.09870222 0.34136894] [ 0.14537813 0.98919534 -0.01891479 -0.17330734] [ 0.10040758 0.00426808 0.99493724 0.0040231 ] [ 0. 0. 0. 1. ]] SLAMing on 192.739928851 meters Centerline goodness : 0.772760 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98429387 -0.14637255 -0.09869473 0.34138492] [ 0.14520579 0.98922013 -0.01894226 -0.17297423] [ 0.10040344 0.00431371 0.99493746 0.00409335] [ 0. 0. 0. 1. ]] SLAMing on 192.799928851 meters Centerline goodness : 0.770322 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98444137 -0.14544924 -0.09858862 0.34146988] [ 0.14428327 0.98935604 -0.01889328 -0.17156885] [ 0.10028726 0.00437464 0.99494891 0.00413986] [ 0. 0. 0. 1. ]] SLAMing on 192.859928851 meters Centerline goodness : 0.778427 with order 3 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98454547 -0.14447942 -0.09897427 0.34278648] [ 0.14334497 0.98949955 -0.0185167 -0.170661 ] [ 0.10061028 0.00404307 0.9949177 0.0037447 ] [ 0. 0. 0. 1. ]] SLAMing on 192.919928851 meters Centerline goodness : 0.767184 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:0.00 [[ 0.98471479 -0.14307731 -0.0993261 0.34436138] [ 0.14201339 0.98970581 -0.01773715 -0.16988152] [ 0.1008414 0.00336039 0.99489684 0.00288915] [ 0. 0. 0. 1. ]] SLAMing on 192.97992885099998 meters Centerline goodness : 0.775837 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 9.85047197e-01 -1.40042537e-01 -1.00349921e-01 3.45653549e-01] [ 1.39343639e-01 9.90145464e-01 -1.39753192e-02 -1.71106721e-01] [ 1.01318158e-01 -2.16774053e-04 9.94854052e-01 2.74627889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03992885099998 meters Centerline goodness : 0.766980 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 9.85147871e-01 -1.39247790e-01 -1.00467531e-01 3.46541651e-01] [ 1.38568892e-01 9.90257494e-01 -1.37389479e-02 -1.70146007e-01] [ 1.01401843e-01 -3.86779149e-04 9.94845474e-01 2.19317651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099928851 meters Centerline goodness : 0.777430 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 0.98542757 -0.13646051 -0.10154321 0.34803856] [ 0.13615428 0.99063744 -0.00997322 -0.17118838] [ 0.10195346 -0.00399766 0.99478114 0.00193564] [ 0. 0. 0. 1. ]] SLAMing on 193.159928851 meters Centerline goodness : 0.778414 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 0.98534006 -0.13667348 -0.10210451 0.34888094] [ 0.13638435 0.99060712 -0.00984051 -0.17012679] [ 0.1024904 -0.0042292 0.994725 0.00214274] [ 0. 0. 0. 1. ]] SLAMing on 193.219928851 meters Centerline goodness : 0.780252 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 0.98489801 -0.1396913 -0.10228511 0.3512156 ] [ 0.13908752 0.99019415 -0.01304675 -0.16862349] [ 0.10310464 -0.00137686 0.99466956 0.00129359] [ 0. 0. 0. 1. ]] SLAMing on 193.279928851 meters Centerline goodness : 0.776197 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 0.98430718 -0.14413885 -0.10180059 0.3515202 ] [ 0.14312113 0.98955449 -0.0172699 -0.16725832] [ 0.10322649 0.00242907 0.99465491 0.00114961] [ 0. 0. 0. 1. ]] SLAMing on 193.339928851 meters Centerline goodness : 0.777065 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 0.98421773 -0.14487423 -0.10162141 0.35103295] [ 0.14383031 0.98944647 -0.01756468 -0.16729894] [ 0.10309362 0.00267123 0.99466807 0.00116965] [ 0. 0. 0. 1. ]] SLAMing on 193.399928851 meters Centerline goodness : 0.775687 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:0.00 [[ 0.9841199 -0.14577764 -0.10127633 0.35001095] [ 0.14467559 0.98931207 -0.01818239 -0.16624117] [ 0.10284448 0.00324144 0.99469217 0.00138482] [ 0. 0. 0. 1. ]] SLAMing on 193.459928851 meters Centerline goodness : 0.776673 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:0.00 [[ 9.84092359e-01 -1.45973540e-01 -1.01261808e-01 3.50374461e-01] [ 1.44850693e-01 9.89282536e-01 -1.83940427e-02 -1.64438806e-01] [ 1.02861582e-01 3.43359377e-03 9.94689753e-01 7.17911309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519928851 meters Centerline goodness : 0.778185 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:0.00 [[ 9.84094259e-01 -1.45819237e-01 -1.01465460e-01 3.51163686e-01] [ 1.44677393e-01 9.89304745e-01 -1.85626849e-02 -1.62979856e-01] [ 1.03087058e-01 3.58767342e-03 9.94665867e-01 3.49830099e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579928851 meters Centerline goodness : 0.778994 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:0.00 [[ 9.84076907e-01 -1.45916981e-01 -1.01493226e-01 3.51343471e-01] [ 1.44741822e-01 9.89289163e-01 -1.88879994e-02 -1.61547135e-01] [ 1.03162229e-01 3.89692965e-03 9.94656910e-01 2.36845272e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.639928851 meters Centerline goodness : 0.769454 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:0.00 [[ 9.84126017e-01 -1.45518783e-01 -1.01588714e-01 3.51466051e-01] [ 1.44300444e-01 9.89346081e-01 -1.92798643e-02 -1.58912231e-01] [ 1.03311978e-01 4.31451956e-03 9.94639643e-01 4.94271088e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.699928851 meters Centerline goodness : 0.779064 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 9.84182136e-01 -1.44779250e-01 -1.02100398e-01 3.53439767e-01] [ 1.43585249e-01 9.89455786e-01 -1.89874821e-02 -1.57404074e-01] [ 1.03772823e-01 4.02702967e-03 9.94592874e-01 -5.19549248e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75992885099998 meters Centerline goodness : 0.778587 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 9.84172200e-01 -1.44812606e-01 -1.02148864e-01 3.53775034e-01] [ 1.43600213e-01 9.89450221e-01 -1.91634777e-02 -1.56102158e-01] [ 1.03846330e-01 4.19156334e-03 9.94584522e-01 -8.39195817e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819928851 meters Centerline goodness : 0.779652 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 9.84142222e-01 -1.45075373e-01 -1.02064801e-01 3.53743280e-01] [ 1.43850091e-01 9.89411194e-01 -1.93039117e-02 -1.55924766e-01] [ 1.03784579e-01 4.31576372e-03 9.94590436e-01 -9.88616960e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879928851 meters Centerline goodness : 0.778127 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 9.84097659e-01 -1.45461113e-01 -1.01945390e-01 3.53306832e-01] [ 1.44185815e-01 9.89352353e-01 -1.98083724e-02 -1.54884667e-01] [ 1.03741259e-01 4.79429378e-03 9.94592764e-01 -6.78843472e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939928851 meters Centerline goodness : 0.777196 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98410026 -0.14538923 -0.10202278 0.35360655] [ 0.14410618 0.98936261 -0.01987533 -0.15336203] [ 0.10382718 0.0048572 0.99458349 -0.00101308] [ 0. 0. 0. 1. ]] SLAMing on 193.999928851 meters Centerline goodness : 0.779017 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98412636 -0.14515296 -0.1021074 0.35414087] [ 0.14384077 0.98939592 -0.02013816 -0.1516119 ] [ 0.10394776 0.00513129 0.99456952 -0.0012872 ] [ 0. 0. 0. 1. ]] SLAMing on 194.059928851 meters Centerline goodness : 0.776637 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.9841271 -0.14508708 -0.10219386 0.35417933] [ 0.14374969 0.98940438 -0.02037134 -0.1505877 ] [ 0.10406667 0.00535765 0.99455589 -0.00106717] [ 0. 0. 0. 1. ]] SLAMing on 194.119928851 meters Centerline goodness : 0.776696 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 9.84095027e-01 -1.45328391e-01 -1.02159856e-01 3.53534673e-01] [ 1.43968031e-01 9.89367797e-01 -2.06050364e-02 -1.49570847e-01] [ 1.04068169e-01 5.56956048e-03 9.94554572e-01 -5.96144177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179928851 meters Centerline goodness : 0.767182 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 9.84107849e-01 -1.45304692e-01 -1.02070012e-01 3.53504403e-01] [ 1.43962329e-01 9.89372123e-01 -2.04365002e-02 -1.50219490e-01] [ 1.03954743e-01 5.41748370e-03 9.94567274e-01 -7.22141174e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239928851 meters Centerline goodness : 0.781604 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 9.84075968e-01 -1.45907237e-01 -1.01516336e-01 3.52354933e-01] [ 1.44587986e-01 9.89284221e-01 -2.02742240e-02 -1.52731475e-01] [ 1.03386665e-01 5.27333401e-03 9.94627262e-01 -7.26397028e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299928851 meters Centerline goodness : 0.783312 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98410942 -0.14570321 -0.10148512 0.35270513] [ 0.14444793 0.98931728 -0.01964958 -0.15439965] [ 0.10326399 0.00467802 0.99464298 -0.00128205] [ 0. 0. 0. 1. ]] SLAMing on 194.359928851 meters Centerline goodness : 0.780881 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98415277 -0.14532018 -0.10161387 0.35350052] [ 0.14410832 0.98937552 -0.0192063 -0.15499679] [ 0.10332534 0.00425853 0.9946385 -0.00183175] [ 0. 0. 0. 1. ]] SLAMing on 194.419928851 meters Centerline goodness : 0.781121 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98416537 -0.14516224 -0.10171745 0.35403084] [ 0.14395328 0.98939886 -0.01916613 -0.15470626] [ 0.10342133 0.00422008 0.99462868 -0.00211933] [ 0. 0. 0. 1. ]] SLAMing on 194.47992885099998 meters Centerline goodness : 0.780036 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98417628 -0.14494582 -0.10192036 0.35457959] [ 0.14372933 0.9894304 -0.01921902 -0.15355612] [ 0.10362882 0.00426595 0.99460689 -0.00224229] [ 0. 0. 0. 1. ]] SLAMing on 194.53992885099998 meters Centerline goodness : 0.780159 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98416839 -0.14508625 -0.10179668 0.35403734] [ 0.1438378 0.98940838 -0.01953837 -0.15259291] [ 0.10355324 0.00458683 0.99461334 -0.00186564] [ 0. 0. 0. 1. ]] SLAMing on 194.599928851 meters Centerline goodness : 0.781837 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98417945 -0.1450791 -0.10169989 0.35410451] [ 0.1438221 0.98940896 -0.01962448 -0.15132775] [ 0.10346989 0.00468732 0.99462154 -0.0022636 ] [ 0. 0. 0. 1. ]] SLAMing on 194.659928851 meters Centerline goodness : 0.782961 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98417136 -0.1452175 -0.10158061 0.3540347 ] [ 0.14394329 0.98938778 -0.01980256 -0.15050998] [ 0.10337829 0.00486727 0.9946302 -0.00247358] [ 0. 0. 0. 1. ]] SLAMing on 194.719928851 meters Centerline goodness : 0.782123 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98418277 -0.14514007 -0.10158063 0.35408219] [ 0.14387872 0.98939972 -0.01967493 -0.15044808] [ 0.10335947 0.00474844 0.99463273 -0.00260157] [ 0. 0. 0. 1. ]] SLAMing on 194.779928851 meters Centerline goodness : 0.784142 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98420411 -0.14491915 -0.1016893 0.35483748] [ 0.14368595 0.9894334 -0.01938795 -0.15086192] [ 0.10342447 0.00447037 0.99462726 -0.00317904] [ 0. 0. 0. 1. ]] SLAMing on 194.839928851 meters Centerline goodness : 0.772735 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.15, Z:-0.00 [[ 0.98422106 -0.14480459 -0.1016884 0.35485154] [ 0.14358947 0.98945091 -0.01920824 -0.15075635] [ 0.10339712 0.00430378 0.99463084 -0.00327072] [ 0. 0. 0. 1. ]] SLAMing on 194.899928851 meters Centerline goodness : 0.783631 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.15, Z:-0.00 [[ 0.98427936 -0.1443995 -0.10170013 0.3552123 ] [ 0.14322296 0.98951157 -0.01881581 -0.15131779] [ 0.10335045 0.00395422 0.99463714 -0.00356898] [ 0. 0. 0. 1. ]] SLAMing on 194.959928851 meters Centerline goodness : 0.783791 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.15, Z:-0.00 [[ 0.98426676 -0.14444983 -0.10175066 0.35554363] [ 0.14330513 0.98950544 -0.01851005 -0.15266953] [ 0.1033566 0.00363743 0.99463771 -0.00383374] [ 0. 0. 0. 1. ]] SLAMing on 195.019928851 meters Centerline goodness : 0.786453 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.00 [[ 0.98417087 -0.14520727 -0.10159993 0.3551129 ] [ 0.14408491 0.98939538 -0.01833891 -0.15528516] [ 0.10318544 0.00340961 0.99465629 -0.00387867] [ 0. 0. 0. 1. ]] SLAMing on 195.079928851 meters Centerline goodness : 0.785978 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.00 [[ 0.98417851 -0.14519023 -0.10155031 0.3552262 ] [ 0.14410026 0.98939887 -0.01802722 -0.15643566] [ 0.10309114 0.00310858 0.99466706 -0.00410645] [ 0. 0. 0. 1. ]] SLAMing on 195.139928851 meters Centerline goodness : 0.785013 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.00 [[ 0.98413841 -0.14543125 -0.10159403 0.35529193] [ 0.14437788 0.98936458 -0.01768517 -0.15870409] [ 0.10308551 0.00273672 0.99466873 -0.0040801 ] [ 0. 0. 0. 1. ]] SLAMing on 195.199928851 meters Centerline goodness : 0.777631 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 0.98408435 -0.14611464 -0.10113602 0.35409167] [ 0.1450665 0.9892639 -0.0176818 -0.16068194] [ 0.10263378 0.00272893 0.99471547 -0.00383622] [ 0. 0. 0. 1. ]] SLAMing on 195.25992885099998 meters Centerline goodness : 0.779682 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 0.98407311 -0.14626916 -0.10102199 0.35378574] [ 0.14523297 0.98924135 -0.01757682 -0.1612031 ] [ 0.10250607 0.00262516 0.99472891 -0.00380446] [ 0. 0. 0. 1. ]] SLAMing on 195.319928851 meters Centerline goodness : 0.779054 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 0.98409201 -0.146134 -0.10103347 0.35424467] [ 0.14513939 0.98926229 -0.01716602 -0.16270135] [ 0.10245714 0.00222901 0.99473492 -0.00420159] [ 0. 0. 0. 1. ]] SLAMing on 195.379928851 meters Centerline goodness : 0.783202 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 0.98412906 -0.14587193 -0.1010513 0.35421213] [ 0.14491167 0.98930164 -0.01681876 -0.16417784] [ 0.1024236 0.00190831 0.99473904 -0.00392842] [ 0. 0. 0. 1. ]] SLAMing on 195.439928851 meters Centerline goodness : 0.784474 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.16, Z:-0.00 [[ 0.98423193 -0.14501759 -0.10127883 0.35468407] [ 0.14412132 0.98942822 -0.01615043 -0.1649049 ] [ 0.10255023 0.00129933 0.99472698 -0.0038556 ] [ 0. 0. 0. 1. ]] SLAMing on 195.499928851 meters Centerline goodness : 0.776286 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.00 [[ 9.84305036e-01 -1.44378200e-01 -1.01481682e-01 3.55646423e-01] [ 1.43529605e-01 9.89522221e-01 -1.56533080e-02 -1.65552204e-01] [ 1.02678376e-01 8.42004228e-04 9.94714252e-01 -4.32578672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559928851 meters Centerline goodness : 0.775764 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.00 [[ 9.84377179e-01 -1.43749841e-01 -1.01673753e-01 3.56388557e-01] [ 1.42958041e-01 9.89614012e-01 -1.50700032e-02 -1.66707868e-01] [ 1.02784081e-01 2.99486680e-04 9.94703646e-01 -4.58172745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619928851 meters Centerline goodness : 0.778070 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.00 [[ 9.84417016e-01 -1.43427364e-01 -1.01743454e-01 3.56759676e-01] [ 1.42661684e-01 9.89660845e-01 -1.48005380e-02 -1.66882160e-01] [ 1.02814315e-01 5.50090233e-05 9.94700565e-01 -4.80842121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679928851 meters Centerline goodness : 0.777934 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.01 [[ 9.84459514e-01 -1.42884732e-01 -1.02095141e-01 3.58066483e-01] [ 1.42154080e-01 9.89739290e-01 -1.44345334e-02 -1.66882046e-01] [ 1.03110047e-01 -3.03027118e-04 9.94669908e-01 -5.37263903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739928851 meters Centerline goodness : 0.778487 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.01 [[ 9.84502806e-01 -1.42360810e-01 -1.02409109e-01 3.59264047e-01] [ 1.41625100e-01 9.89814794e-01 -1.44569901e-02 -1.65679337e-01] [ 1.03424160e-01 -2.70753012e-04 9.94637306e-01 -5.81428078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799928851 meters Centerline goodness : 0.778648 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84531474e-01 -1.42061717e-01 -1.02548746e-01 3.59676107e-01] [ 1.41310081e-01 9.89857795e-01 -1.45947717e-02 -1.64246203e-01] [ 1.03582033e-01 -1.22159424e-04 9.94620906e-01 -5.88829032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859928851 meters Centerline goodness : 0.787837 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84522714e-01 -1.42075291e-01 -1.02614024e-01 3.59695222e-01] [ 1.41305599e-01 9.89855853e-01 -1.47688100e-02 -1.63352620e-01] [ 1.03671375e-01 4.02927807e-05 9.94611605e-01 -5.70592332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.919928851 meters Centerline goodness : 0.788889 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84528721e-01 -1.42060238e-01 -1.02577221e-01 3.59877226e-01] [ 1.41288477e-01 9.89858012e-01 -1.47878957e-02 -1.63330778e-01] [ 1.03637656e-01 6.61287677e-05 9.94615117e-01 -5.94112756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97992885099998 meters Centerline goodness : 0.778927 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84527177e-01 -1.42113738e-01 -1.02517917e-01 3.60051274e-01] [ 1.41342831e-01 9.89850333e-01 -1.47825068e-02 -1.63468434e-01] [ 1.03578192e-01 6.36069546e-05 9.94621312e-01 -6.18508539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03992885099998 meters Centerline goodness : 0.787979 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84541332e-01 -1.41971177e-01 -1.02579483e-01 3.60644370e-01] [ 1.41203024e-01 9.89870791e-01 -1.47486411e-02 -1.63024796e-01] [ 1.03634316e-01 3.61135845e-05 9.94615467e-01 -6.64633993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099928851 meters Centerline goodness : 0.788732 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84588690e-01 -1.41384606e-01 -1.02934464e-01 3.61837877e-01] [ 1.40646043e-01 9.89954708e-01 -1.44349435e-02 -1.62714359e-01] [ 1.03941336e-01 -2.64842825e-04 9.94583394e-01 -7.09921260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159928851 meters Centerline goodness : 0.778264 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84621755e-01 -1.41170349e-01 -1.02912252e-01 3.61865906e-01] [ 1.40431223e-01 9.89985289e-01 -1.44291092e-02 -1.62114592e-01] [ 1.03918578e-01 -2.44878504e-04 9.94585778e-01 -7.06572034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219928851 meters Centerline goodness : 0.779031 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84609846e-01 -1.41264489e-01 -1.02897014e-01 3.61962614e-01] [ 1.40521373e-01 9.89971868e-01 -1.44721727e-02 -1.62190448e-01] [ 1.03909553e-01 -2.09785916e-04 9.94586729e-01 -7.12474668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279928851 meters Centerline goodness : 0.786353 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84582210e-01 -1.41415770e-01 -1.02953640e-01 3.62186435e-01] [ 1.40664990e-01 9.89950280e-01 -1.45534861e-02 -1.62121139e-01] [ 1.03977077e-01 -1.52869271e-04 9.94579682e-01 -7.20512027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339928851 meters Centerline goodness : 0.778890 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84554176e-01 -1.41645704e-01 -1.02905628e-01 3.62579212e-01] [ 1.40887257e-01 9.89917414e-01 -1.46387654e-02 -1.61687745e-01] [ 1.03941591e-01 -8.54340076e-05 9.94583399e-01 -7.88388144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399928851 meters Centerline goodness : 0.786274 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84565485e-01 -1.41562605e-01 -1.02911779e-01 3.62964048e-01] [ 1.40787308e-01 9.89929302e-01 -1.47956478e-02 -1.60388491e-01] [ 1.03969896e-01 7.86117640e-05 9.94580441e-01 -8.25180279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459928851 meters Centerline goodness : 0.788279 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84555083e-01 -1.41589152e-01 -1.02974758e-01 3.63241251e-01] [ 1.40788129e-01 9.89925459e-01 -1.50428997e-02 -1.58893285e-01] [ 1.04067246e-01 3.12939968e-04 9.94570214e-01 -8.49577372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519928851 meters Centerline goodness : 0.777097 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84520898e-01 -1.41922238e-01 -1.02842981e-01 3.63127406e-01] [ 1.41084738e-01 9.89877589e-01 -1.54096076e-02 -1.58072283e-01] [ 1.03988928e-01 6.61505670e-04 9.94578235e-01 -8.61456813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579928851 meters Centerline goodness : 0.775725 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 9.84483400e-01 -1.42107353e-01 -1.02946278e-01 3.63351825e-01] [ 1.41251953e-01 9.89850923e-01 -1.55896005e-02 -1.57414381e-01] [ 1.04116866e-01 8.06340014e-04 9.94564743e-01 -8.61891333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.639928851 meters Centerline goodness : 0.785566 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 0.98445287 -0.14249044 -0.10270841 0.36267981] [ 0.14157414 0.98979519 -0.01619421 -0.15599526] [ 0.10396781 0.00140158 0.99457967 -0.00829506] [ 0. 0. 0. 1. ]] SLAMing on 196.699928851 meters Centerline goodness : 0.779145 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.16, Z:-0.01 [[ 0.98448 -0.14231545 -0.10269098 0.36298889] [ 0.1414035 0.9898204 -0.01614372 -0.15545229] [ 0.10394313 0.0013723 0.9945823 -0.00864303] [ 0. 0. 0. 1. ]] SLAMing on 196.75992885099998 meters Centerline goodness : 0.778459 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.15, Z:-0.01 [[ 0.98454325 -0.14191192 -0.10264308 0.36381257] [ 0.14099945 0.98987829 -0.01612847 -0.15361714] [ 0.10389298 0.00140656 0.99458749 -0.00963941] [ 0. 0. 0. 1. ]] SLAMing on 196.819928851 meters Centerline goodness : 0.788786 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98459661 -0.14118201 -0.10313664 0.36580239] [ 0.14029798 0.98998305 -0.01581276 -0.15280872] [ 0.104336 0.00109933 0.9945415 -0.01061372] [ 0. 0. 0. 1. ]] SLAMing on 196.879928851 meters Centerline goodness : 0.783443 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98460198 -0.14122399 -0.10302776 0.3656123 ] [ 0.14032295 0.98997685 -0.01597851 -0.15180977] [ 0.10425165 0.00127531 0.99455013 -0.01065429] [ 0. 0. 0. 1. ]] SLAMing on 196.939928851 meters Centerline goodness : 0.789420 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98458287 -0.14132633 -0.10307003 0.36578555] [ 0.14042083 0.9899622 -0.01602584 -0.15130171] [ 0.1043003 0.00130559 0.99454499 -0.01077653] [ 0. 0. 0. 1. ]] SLAMing on 196.999928851 meters Centerline goodness : 0.786929 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98455664 -0.14153596 -0.10303294 0.36590683] [ 0.14062096 0.98993214 -0.01612784 -0.1512601 ] [ 0.10427829 0.00139018 0.99454719 -0.01095355] [ 0. 0. 0. 1. ]] SLAMing on 197.059928851 meters Centerline goodness : 0.783982 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98454427 -0.14168334 -0.10294863 0.36604911] [ 0.14075787 0.9899109 -0.0162366 -0.15091682] [ 0.10421043 0.00149482 0.99455415 -0.01132908] [ 0. 0. 0. 1. ]] SLAMing on 197.119928851 meters Centerline goodness : 0.782583 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98451219 -0.14202822 -0.10278004 0.36528128] [ 0.1410617 0.9898608 -0.01664917 -0.14957689] [ 0.10410258 0.00189298 0.99456476 -0.01099331] [ 0. 0. 0. 1. ]] SLAMing on 197.179928851 meters Centerline goodness : 0.781553 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98451936 -0.14188884 -0.10290372 0.36578339] [ 0.14092364 0.98988083 -0.01662711 -0.14923661] [ 0.10422162 0.00186815 0.99455234 -0.01121502] [ 0. 0. 0. 1. ]] SLAMing on 197.239928851 meters Centerline goodness : 0.782049 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.9845458 -0.14171961 -0.10288399 0.36574836] [ 0.14076521 0.98990524 -0.01651562 -0.14923577] [ 0.10418599 0.0017779 0.99455624 -0.01123936] [ 0. 0. 0. 1. ]] SLAMing on 197.299928851 meters Centerline goodness : 0.780963 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98454605 -0.14152095 -0.10315468 0.36663593] [ 0.14058766 0.98993405 -0.01629967 -0.14942098] [ 0.10442308 0.0015455 0.99453177 -0.01156141] [ 0. 0. 0. 1. ]] SLAMing on 197.359928851 meters Centerline goodness : 0.785284 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98453607 -0.14167094 -0.10304399 0.36616971] [ 0.14074182 0.98991265 -0.0162693 -0.15038367] [ 0.10430943 0.00151512 0.99454374 -0.01125423] [ 0. 0. 0. 1. ]] SLAMing on 197.419928851 meters Centerline goodness : 0.780642 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98456147 -0.14137844 -0.103203 0.36670143] [ 0.14048058 0.98995489 -0.0159541 -0.15193979] [ 0.10442188 0.00120978 0.99453236 -0.01125961] [ 0. 0. 0. 1. ]] SLAMing on 197.47992885099998 meters Centerline goodness : 0.782853 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 0.98459524 -0.14113647 -0.10321194 0.36674877] [ 0.14026154 0.98998964 -0.01572297 -0.15265919] [ 0.10439783 0.00100409 0.99453511 -0.01117538] [ 0. 0. 0. 1. ]] SLAMing on 197.53992885099998 meters Centerline goodness : 0.784578 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.01 [[ 9.84657029e-01 -1.40576510e-01 -1.03386560e-01 3.67352182e-01] [ 1.39766578e-01 9.90069740e-01 -1.50735740e-02 -1.54590171e-01] [ 1.04478895e-01 3.92314849e-04 9.94527027e-01 -1.12008970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599928851 meters Centerline goodness : 0.785114 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 9.84707565e-01 -1.40133659e-01 -1.03506371e-01 3.67937701e-01] [ 1.39378050e-01 9.90132589e-01 -1.45332271e-02 -1.56158769e-01] [ 1.04521626e-01 -1.15537542e-04 9.94522607e-01 -1.14305856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659928851 meters Centerline goodness : 0.781562 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 9.84777830e-01 -1.39579968e-01 -1.03585993e-01 3.68499810e-01] [ 1.38875958e-01 9.90210629e-01 -1.40135062e-02 -1.57326710e-01] [ 1.04527956e-01 -5.85413796e-04 9.94521776e-01 -1.16537060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719928851 meters Centerline goodness : 0.781968 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 9.84794618e-01 -1.39442990e-01 -1.03610868e-01 3.68762020e-01] [ 1.38755046e-01 9.90229829e-01 -1.38536182e-02 -1.58503703e-01] [ 1.04530362e-01 -7.33562173e-04 9.94521425e-01 -1.16667204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779928851 meters Centerline goodness : 0.783229 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98482944 -0.13913853 -0.10368918 0.36910781] [ 0.13848208 0.9902724 -0.01353863 -0.15937554] [ 0.10456428 -0.00102586 0.9945176 -0.0117833 ] [ 0. 0. 0. 1. ]] SLAMing on 197.839928851 meters Centerline goodness : 0.781441 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98482564 -0.13911092 -0.1037623 0.36943715] [ 0.13847186 0.99027608 -0.01337263 -0.16015835] [ 0.1046136 -0.00119845 0.99451222 -0.01189099] [ 0. 0. 0. 1. ]] SLAMing on 197.899928851 meters Centerline goodness : 0.783173 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.9847962 -0.13949093 -0.10353123 0.36886427] [ 0.13885927 0.99022255 -0.01331952 -0.1618701 ] [ 0.10437691 -0.00125926 0.99453702 -0.01173534] [ 0. 0. 0. 1. ]] SLAMing on 197.959928851 meters Centerline goodness : 0.775933 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98479383 -0.13964817 -0.1033417 0.36855179] [ 0.13902367 0.99020032 -0.01325704 -0.16264543] [ 0.1041803 -0.00131149 0.99455756 -0.01173958] [ 0. 0. 0. 1. ]] SLAMing on 198.019928851 meters Centerline goodness : 0.784474 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98478492 -0.13968983 -0.10337024 0.36896081] [ 0.13905553 0.99019455 -0.01335313 -0.16249786] [ 0.10422194 -0.00122424 0.99455331 -0.01195776] [ 0. 0. 0. 1. ]] SLAMing on 198.079928851 meters Centerline goodness : 0.777291 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98479143 -0.13962862 -0.10339097 0.36933611] [ 0.13899881 0.99020313 -0.0133074 -0.16241176] [ 0.10423616 -0.0012662 0.99455177 -0.01225738] [ 0. 0. 0. 1. ]] SLAMing on 198.139928851 meters Centerline goodness : 0.775795 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98483241 -0.13939995 -0.10330916 0.3697669 ] [ 0.13880295 0.99023494 -0.01298099 -0.16264802] [ 0.10410989 -0.00155551 0.99456458 -0.01298088] [ 0. 0. 0. 1. ]] SLAMing on 198.199928851 meters Centerline goodness : 0.785138 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98476068 -0.14005098 -0.10311224 0.3694134 ] [ 0.13943774 0.99014329 -0.01316757 -0.16296554] [ 0.10394002 -0.00141084 0.99458257 -0.0131799 ] [ 0. 0. 0. 1. ]] SLAMing on 198.25992885099998 meters Centerline goodness : 0.785278 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98425151 -0.14353603 -0.10318126 0.37131532] [ 0.14259117 0.98964389 -0.01651442 -0.16264895] [ 0.10448312 0.00154161 0.99452547 -0.01368264] [ 0. 0. 0. 1. ]] SLAMing on 198.319928851 meters Centerline goodness : 0.785277 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98371965 -0.14729694 -0.10295275 0.37267726] [ 0.14602659 0.98908229 -0.01981069 -0.16319381] [ 0.1047468 0.00445432 0.99448895 -0.01434851] [ 0. 0. 0. 1. ]] SLAMing on 198.379928851 meters Centerline goodness : 0.783372 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.01 [[ 0.98309898 -0.15159547 -0.10264114 0.3731371 ] [ 0.14996254 0.98841264 -0.02348818 -0.1640193 ] [ 0.1050125 0.00769888 0.9944411 -0.01418048] [ 0. 0. 0. 1. ]] SLAMing on 198.439928851 meters Centerline goodness : 0.777268 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.01 [[ 0.98307019 -0.15172538 -0.10272489 0.37377388] [ 0.15013142 0.98839568 -0.02311985 -0.16547446] [ 0.1050407 0.0073062 0.99444108 -0.01475469] [ 0. 0. 0. 1. ]] SLAMing on 198.499928851 meters Centerline goodness : 0.783333 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.02 [[ 0.98305577 -0.15175494 -0.10281918 0.3744526 ] [ 0.15018841 0.98839318 -0.0228553 -0.16574105] [ 0.10509418 0.00702578 0.99443746 -0.01548107] [ 0. 0. 0. 1. ]] SLAMing on 198.559928851 meters Centerline goodness : 0.781574 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.02 [[ 0.9830826 -0.15156286 -0.10284597 0.37455846] [ 0.14998291 0.98842171 -0.02297062 -0.16505986] [ 0.10513669 0.00715688 0.99443203 -0.01537516] [ 0. 0. 0. 1. ]] SLAMing on 198.619928851 meters Centerline goodness : 0.782756 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.02 [[ 0.98321407 -0.1506562 -0.10292131 0.37460913] [ 0.14907647 0.98856008 -0.02291673 -0.16248 ] [ 0.10519644 0.00718891 0.99442548 -0.01506583] [ 0. 0. 0. 1. ]] SLAMing on 198.679928851 meters Centerline goodness : 0.783953 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.98331974 -0.14985027 -0.10308828 0.37528286] [ 0.14827186 0.98868259 -0.02285129 -0.1606207 ] [ 0.10534586 0.00718503 0.99440969 -0.01513919] [ 0. 0. 0. 1. ]] SLAMing on 198.739928851 meters Centerline goodness : 0.774986 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.9834577 -0.14877259 -0.10333279 0.37659305] [ 0.14722066 0.98884705 -0.02252959 -0.15951332] [ 0.10553211 0.00694417 0.99439165 -0.01573077] [ 0. 0. 0. 1. ]] SLAMing on 198.799928851 meters Centerline goodness : 0.785329 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.98354565 -0.14792016 -0.10371879 0.37838312] [ 0.14643137 0.98897912 -0.02186697 -0.15941172] [ 0.10581028 0.00631948 0.99436625 -0.01691232] [ 0. 0. 0. 1. ]] SLAMing on 198.859928851 meters Centerline goodness : 0.773746 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.98359359 -0.14743475 -0.10395505 0.37960173] [ 0.14597997 0.9890537 -0.02150861 -0.15929768] [ 0.10598824 0.00598037 0.9943494 -0.0176287 ] [ 0. 0. 0. 1. ]] SLAMing on 198.919928851 meters Centerline goodness : 0.785803 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.98360376 -0.1473285 -0.10400945 0.38004291] [ 0.14588905 0.98907042 -0.02135618 -0.15925402] [ 0.10601904 0.00583218 0.994347 -0.01801308] [ 0. 0. 0. 1. ]] SLAMing on 198.97992885099998 meters Centerline goodness : 0.774940 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.98356599 -0.1475243 -0.10408901 0.38059435] [ 0.14612017 0.98904327 -0.02103087 -0.16085716] [ 0.1060511 0.00547575 0.9943456 -0.01850489] [ 0. 0. 0. 1. ]] SLAMing on 199.03992885099998 meters Centerline goodness : 0.781869 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.02 [[ 0.98349816 -0.1480707 -0.10395401 0.38036583] [ 0.14668645 0.98896265 -0.0208798 -0.16272524] [ 0.10589832 0.0052866 0.99436291 -0.0186394 ] [ 0. 0. 0. 1. ]] SLAMing on 199.099928851 meters Centerline goodness : 0.771029 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.98462765 -0.14779075 -0.09309288 0.38004018] [ 0.14675464 0.98901065 -0.01791701 -0.16643027] [ 0.09471782 0.00397977 0.99549621 -0.02528069] [ 0. 0. 0. 1. ]] SLAMing on 199.159928851 meters Centerline goodness : 0.772484 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.9846705 -0.14741664 -0.09323277 0.38065587] [ 0.14642486 0.98906826 -0.0174282 -0.16774195] [ 0.09478278 0.00350944 0.99549179 -0.02556012] [ 0. 0. 0. 1. ]] SLAMing on 199.219928851 meters Centerline goodness : 0.771801 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.98477749 -0.14659618 -0.09339623 0.38183723] [ 0.14567136 0.9891924 -0.01668116 -0.16831839] [ 0.09483223 0.00282208 0.99548927 -0.02642768] [ 0. 0. 0. 1. ]] SLAMing on 199.279928851 meters Centerline goodness : 0.772233 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.98490309 -0.14566854 -0.09352317 0.38210127] [ 0.14478516 0.98933051 -0.01619902 -0.16866156] [ 0.09488501 0.0024137 0.99548531 -0.02612033] [ 0. 0. 0. 1. ]] SLAMing on 199.339928851 meters Centerline goodness : 0.781539 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.98502704 -0.14457793 -0.09390924 0.38347366] [ 0.1437433 0.9894916 -0.01562805 -0.16881902] [ 0.09518187 0.00189522 0.9954581 -0.02645976] [ 0. 0. 0. 1. ]] SLAMing on 199.399928851 meters Centerline goodness : 0.782360 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.98561741 -0.1401937 -0.09436122 0.38321572] [ 0.13972996 0.99012243 -0.01153706 -0.17027895] [ 0.09504658 -0.00181396 0.99547117 -0.02633895] [ 0. 0. 0. 1. ]] SLAMing on 199.459928851 meters Centerline goodness : 0.784978 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.03 [[ 0.98610531 -0.13595345 -0.09546191 0.38474212] [ 0.13593166 0.99069514 -0.00676183 -0.1720238 ] [ 0.09549294 -0.00630842 0.99541012 -0.02696965] [ 0. 0. 0. 1. ]] SLAMing on 199.519928851 meters Centerline goodness : 0.784924 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.03 [[ 0.98619572 -0.13503325 -0.09583333 0.3862403 ] [ 0.13504727 0.99081868 -0.0063697 -0.17217985] [ 0.09581357 -0.00666025 0.99537701 -0.02740077] [ 0. 0. 0. 1. ]] SLAMing on 199.579928851 meters Centerline goodness : 0.788105 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.03 [[ 0.98659471 -0.13150564 -0.0966289 0.38735514] [ 0.13195003 0.99125473 -0.0018047 -0.17477858] [ 0.09602118 -0.01096968 0.99531884 -0.02789847] [ 0. 0. 0. 1. ]] SLAMing on 199.639928851 meters Centerline goodness : 0.783636 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 0.98654534 -0.13143318 -0.09722968 0.38882857] [ 0.13195059 0.99125567 -0.00111745 -0.17559693] [ 0.09652634 -0.0117271 0.99526134 -0.02813588] [ 0. 0. 0. 1. ]] SLAMing on 199.699928851 meters Centerline goodness : 0.774282 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 9.86435698e-01 -1.31847729e-01 -9.77792977e-02 3.90366228e-01] [ 1.32463340e-01 9.91187886e-01 -1.97430076e-04 -1.77985110e-01] [ 9.69436861e-02 -1.27574202e-02 9.95208104e-01 -2.82849926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75992885099998 meters Centerline goodness : 0.773819 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 9.86403018e-01 -1.31722936e-01 -9.82759126e-02 3.91252063e-01] [ 1.32433599e-01 9.91191622e-01 7.14624584e-04 -1.79243468e-01] [ 9.73161287e-02 -1.37199406e-02 9.95158949e-01 -2.80141017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819928851 meters Centerline goodness : 0.781974 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 0.98655161 -0.13067808 -0.09817918 0.39091933] [ 0.13147355 0.99131831 0.0016487 -0.17994102] [ 0.09711137 -0.0145345 0.99516739 -0.02804466] [ 0. 0. 0. 1. ]] SLAMing on 199.879928851 meters Centerline goodness : 0.768935 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 0.98660096 -0.13020432 -0.09831268 0.39164342] [ 0.13100073 0.99138088 0.00166179 -0.17929938] [ 0.09724894 -0.01451856 0.99515419 -0.02830146] [ 0. 0. 0. 1. ]] SLAMing on 199.939928851 meters Centerline goodness : 0.783153 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 0.98703992 -0.12627863 -0.09902479 0.39312007] [ 0.12742006 0.99183488 0.00526272 -0.17941609] [ 0.09755168 -0.01781226 0.99507105 -0.02965964] [ 0. 0. 0. 1. ]] SLAMing on 199.999928851 meters Centerline goodness : 0.775269 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 0.98707464 -0.12589349 -0.099169 0.39373265] [ 0.12701167 0.99188853 0.00501856 -0.17819379] [ 0.09773279 -0.01754931 0.99505795 -0.02964846] [ 0. 0. 0. 1. ]] SLAMing on 200.059928851 meters Centerline goodness : 0.781923 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.03 [[ 0.98730344 -0.12436962 -0.09881353 0.39371501] [ 0.12549993 0.99207957 0.00528218 -0.17802146] [ 0.09737394 -0.01761621 0.99509195 -0.03071701] [ 0. 0. 0. 1. ]] SLAMing on 200.119928851 meters Centerline goodness : 0.775144 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.03 [[ 0.98763696 -0.12103096 -0.09962304 0.39504117] [ 0.12255547 0.99241804 0.0093051 -0.17952582] [ 0.09774149 -0.02139941 0.99498174 -0.03121728] [ 0. 0. 0. 1. ]] SLAMing on 200.179928851 meters Centerline goodness : 0.783541 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.03 [[ 0.98787673 -0.1185271 -0.10025417 0.39600344] [ 0.12041303 0.99263937 0.01295274 -0.18147093] [ 0.09798099 -0.02486762 0.99487754 -0.03156749] [ 0. 0. 0. 1. ]] SLAMing on 200.239928851 meters Centerline goodness : 0.781946 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.03 [[ 0.98794154 -0.11815545 -0.10005398 0.39584745] [ 0.12006318 0.99267791 0.01324381 -0.18255959] [ 0.09775655 -0.02509691 0.99489386 -0.03170537] [ 0. 0. 0. 1. ]] SLAMing on 200.299928851 meters Centerline goodness : 0.774370 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.03 [[ 0.98791403 -0.11841427 -0.1000197 0.39603907] [ 0.12039664 0.99262714 0.01400031 -0.18503351] [ 0.09762443 -0.02587314 0.99488695 -0.03160563] [ 0. 0. 0. 1. ]] SLAMing on 200.359928851 meters Centerline goodness : 0.773562 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.03 [[ 0.98782115 -0.11910433 -0.10011756 0.39590062] [ 0.12111094 0.99253758 0.0141875 -0.18617977] [ 0.09768065 -0.02614005 0.99487446 -0.03088742] [ 0. 0. 0. 1. ]] SLAMing on 200.419928851 meters Centerline goodness : 0.777368 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.03 [[ 0.98788581 -0.11940057 -0.09912184 0.39551047] [ 0.12119365 0.99255331 0.01224818 -0.18754316] [ 0.09692127 -0.02411274 0.99499992 -0.03210152] [ 0. 0. 0. 1. ]] SLAMing on 200.47992885099998 meters Centerline goodness : 0.776329 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.03 [[ 0.98784346 -0.11898253 -0.10004228 0.39741667] [ 0.12092772 0.99256831 0.01358795 -0.18825267] [ 0.09768207 -0.02552065 0.9948904 -0.03218888] [ 0. 0. 0. 1. ]] SLAMing on 200.53992885099998 meters Centerline goodness : 0.778626 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.03 [[ 0.98797142 -0.1184195 -0.09944497 0.39548875] [ 0.12033056 0.99264313 0.01342299 -0.1879065 ] [ 0.09712383 -0.0252278 0.99495252 -0.03132857] [ 0. 0. 0. 1. ]] SLAMing on 200.599928851 meters Centerline goodness : 0.779779 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.03 [[ 0.98820384 -0.1172922 -0.09846682 0.39340939] [ 0.11916896 0.99278384 0.01337941 -0.18912567] [ 0.09618696 -0.02495577 0.99505039 -0.03118141] [ 0. 0. 0. 1. ]] SLAMing on 200.659928851 meters Centerline goodness : 0.779598 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.03 [[ 0.98827953 -0.11675807 -0.09834189 0.39374736] [ 0.11865671 0.99284131 0.01366418 -0.18980738] [ 0.09604249 -0.02517295 0.99505887 -0.03181974] [ 0. 0. 0. 1. ]] SLAMing on 200.719928851 meters Centerline goodness : 0.780918 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.03 [[ 0.98831783 -0.11641077 -0.09836873 0.39467695] [ 0.11832973 0.99287729 0.01388419 -0.19065844] [ 0.09605181 -0.02536194 0.99505318 -0.03287285] [ 0. 0. 0. 1. ]] SLAMing on 200.779928851 meters Centerline goodness : 0.781002 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.03 [[ 0.9883379 -0.11622662 -0.09838475 0.39558866] [ 0.11816968 0.99289276 0.01413845 -0.19153376] [ 0.09604225 -0.02559966 0.99504801 -0.03379815] [ 0. 0. 0. 1. ]] SLAMing on 200.839928851 meters Centerline goodness : 0.784016 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.04 [[ 0.98831344 -0.11619782 -0.09866408 0.39766289] [ 0.11821401 0.99287753 0.0148209 -0.19383518] [ 0.09623919 -0.02631117 0.99501042 -0.03536762] [ 0. 0. 0. 1. ]] SLAMing on 200.899928851 meters Centerline goodness : 0.788148 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.04 [[ 0.98838819 -0.11557199 -0.09865043 0.39740608] [ 0.11767353 0.99292763 0.01573735 -0.19444757] [ 0.09613394 -0.02716315 0.9949977 -0.03508569] [ 0. 0. 0. 1. ]] SLAMing on 200.959928851 meters Centerline goodness : 0.792149 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.20, Z:-0.04 [[ 0.98856432 -0.11453044 -0.09809878 0.39670484] [ 0.11669384 0.9930294 0.01658813 -0.19673607] [ 0.09551513 -0.02784596 0.99503842 -0.03543309] [ 0. 0. 0. 1. ]] SLAMing on 201.019928851 meters Centerline goodness : 0.789981 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.20, Z:-0.04 [[ 0.98863193 -0.11435454 -0.09762141 0.39598922] [ 0.11651876 0.99304732 0.01674525 -0.19854779] [ 0.09502779 -0.02792962 0.99508274 -0.03548151] [ 0. 0. 0. 1. ]] SLAMing on 201.079928851 meters Centerline goodness : 0.795561 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.20, Z:-0.04 [[ 0.98867815 -0.11398102 -0.0975902 0.3960116 ] [ 0.1162375 0.99306303 0.01773885 -0.20033899] [ 0.09489133 -0.02888166 0.99506858 -0.03533593] [ 0. 0. 0. 1. ]] SLAMing on 201.139928851 meters Centerline goodness : 0.800203 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.20, Z:-0.04 [[ 0.98879505 -0.11341908 -0.09705901 0.39504449] [ 0.11567735 0.9931247 0.01794678 -0.201519 ] [ 0.0943562 -0.02897321 0.99511681 -0.03538554] [ 0. 0. 0. 1. ]] SLAMing on 201.19992885099998 meters Centerline goodness : 0.806263 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.20, Z:-0.04 [[ 0.98885794 -0.11306415 -0.09683216 0.39519318] [ 0.11529389 0.99317315 0.01773175 -0.20217867] [ 0.09416627 -0.02869834 0.99514276 -0.036057 ] [ 0. 0. 0. 1. ]] SLAMing on 201.25992885099998 meters Centerline goodness : 0.802515 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.04 [[ 0.98903364 -0.11193206 -0.09635178 0.39419052] [ 0.11423407 0.99327787 0.01869919 -0.20379068] [ 0.09361106 -0.02950079 0.99517168 -0.0360329 ] [ 0. 0. 0. 1. ]] SLAMing on 201.319928851 meters Centerline goodness : 0.809307 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.04 [[ 0.98912037 -0.1113584 -0.09612601 0.39347933] [ 0.11369423 0.99333107 0.01915742 -0.20464207] [ 0.09335161 -0.02987797 0.9951848 -0.03563137] [ 0. 0. 0. 1. ]] SLAMing on 201.379928851 meters Centerline goodness : 0.824621 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.04 [[ 0.98915274 -0.11112811 -0.09605931 0.3933477 ] [ 0.1135374 0.99333294 0.01997328 -0.20684273] [ 0.09319928 -0.03066295 0.9951752 -0.03529679] [ 0. 0. 0. 1. ]] SLAMing on 201.439928851 meters Centerline goodness : 0.831858 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.03 [[ 0.98890735 -0.11372069 -0.09555032 0.3923026 ] [ 0.11586383 0.99311668 0.01717082 -0.20659533] [ 0.09293994 -0.02805118 0.99527649 -0.03433123] [ 0. 0. 0. 1. ]] SLAMing on 201.499928851 meters Centerline goodness : 0.835250 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.03 [[ 0.98874067 -0.11458465 -0.09624057 0.39371674] [ 0.11685917 0.9929795 0.01832087 -0.20880829] [ 0.09346562 -0.02936118 0.99518948 -0.03392874] [ 0. 0. 0. 1. ]] SLAMing on 201.559928851 meters Centerline goodness : 0.847872 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.03 [[ 0.98865032 -0.11528307 -0.09633466 0.39494158] [ 0.11754041 0.99290357 0.01807651 -0.2108097 ] [ 0.09356711 -0.02919457 0.99518484 -0.03473972] [ 0. 0. 0. 1. ]] SLAMing on 201.619928851 meters Centerline goodness : 0.858492 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.03 [[ 0.98875084 -0.11463834 -0.09607197 0.39434558] [ 0.11693658 0.99296473 0.01862469 -0.21178821] [ 0.09326098 -0.0296495 0.99520013 -0.03456406] [ 0. 0. 0. 1. ]] SLAMing on 201.679928851 meters Centerline goodness : 0.859941 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.03 [[ 0.98909255 -0.11268878 -0.09485343 0.39065383] [ 0.11495193 0.99319454 0.01872588 -0.21244234] [ 0.09209771 -0.02942522 0.99531511 -0.03322183] [ 0. 0. 0. 1. ]] SLAMing on 201.739928851 meters Centerline goodness : 0.870576 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.03 [[ 0.98939645 -0.11043033 -0.09433883 0.38988244] [ 0.11275324 0.99342887 0.01964167 -0.21361546] [ 0.09154988 -0.0300704 0.99534637 -0.03396063] [ 0. 0. 0. 1. ]] SLAMing on 201.799928851 meters Centerline goodness : 0.882043 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.04 [[ 0.98971639 -0.10812564 -0.09364995 0.3890294 ] [ 0.11045676 0.99367844 0.02006143 -0.2145718 ] [ 0.09088878 -0.0301994 0.99540305 -0.03509669] [ 0. 0. 0. 1. ]] SLAMing on 201.859928851 meters Centerline goodness : 0.888272 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.04 [[ 0.98981239 -0.10761381 -0.09322396 0.38821929] [ 0.1099236 0.99373897 0.01999165 -0.21511089] [ 0.0904889 -0.0300355 0.99544444 -0.03521885] [ 0. 0. 0. 1. ]] SLAMing on 201.919928851 meters Centerline goodness : 0.898841 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.04 [[ 0.98984746 -0.10705211 -0.09349784 0.38888152] [ 0.10946372 0.99376804 0.02104233 -0.21728806] [ 0.09066254 -0.03106332 0.99539709 -0.03521851] [ 0. 0. 0. 1. ]] SLAMing on 201.97992885099998 meters Centerline goodness : 0.903396 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.03 [[ 0.98981611 -0.10750627 -0.09330852 0.38814388] [ 0.10991243 0.99371881 0.02102798 -0.21838728] [ 0.09046179 -0.0310696 0.99541516 -0.03444232] [ 0. 0. 0. 1. ]] SLAMing on 202.03992885099998 meters Centerline goodness : 0.912833 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.03 [[ 0.98984281 -0.10735956 -0.0931941 0.38724393] [ 0.10981772 0.99371599 0.02164699 -0.22027755] [ 0.09028446 -0.03166148 0.99541261 -0.03332647] [ 0. 0. 0. 1. ]] SLAMing on 202.099928851 meters Centerline goodness : 0.918020 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.03 [[ 0.9899165 -0.10686671 -0.09297753 0.38713918] [ 0.10934303 0.99376179 0.02194532 -0.22104877] [ 0.09005229 -0.03189048 0.99542633 -0.03373759] [ 0. 0. 0. 1. ]] SLAMing on 202.159928851 meters Centerline goodness : 0.925362 with order 3 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.03 [[ 0.99006185 -0.10592705 -0.09250401 0.38569917] [ 0.10838543 0.99386648 0.02195504 -0.22171247] [ 0.089611 -0.03176294 0.99547023 -0.03331406] [ 0. 0. 0. 1. ]] SLAMing on 202.219928851 meters Centerline goodness : 0.930146 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.22, Z:-0.03 [[ 0.99018748 -0.10501092 -0.09220341 0.38454745] [ 0.10751484 0.99394637 0.02260899 -0.22225651] [ 0.08927105 -0.03230038 0.99548348 -0.03275952] [ 0. 0. 0. 1. ]] SLAMing on 202.279928851 meters Centerline goodness : 0.938000 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.22, Z:-0.03 [[ 0.99027714 -0.10467103 -0.09162515 0.38244113] [ 0.10712861 0.99399473 0.02231435 -0.22278401] [ 0.08873925 -0.03191307 0.99554352 -0.03159165] [ 0. 0. 0. 1. ]] SLAMing on 202.339928851 meters Centerline goodness : 0.940628 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.22, Z:-0.03 [[ 0.99026752 -0.1048347 -0.0915419 0.38234721] [ 0.10727993 0.993981 0.02219891 -0.22345036] [ 0.08866369 -0.03180347 0.99555376 -0.03157095] [ 0. 0. 0. 1. ]] SLAMing on 202.399928851 meters Centerline goodness : 0.935220 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.22, Z:-0.03 [[ 0.99025136 -0.10511826 -0.09139146 0.38226031] [ 0.10748414 0.99397755 0.02134912 -0.2241602 ] [ 0.08859688 -0.03096412 0.99558617 -0.0317532 ] [ 0. 0. 0. 1. ]] SLAMing on 202.459928851 meters Centerline goodness : 0.939913 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.23, Z:-0.03 [[ 0.99031669 -0.10442897 -0.09147372 0.38222815] [ 0.10688602 0.99401952 0.02237338 -0.22577856] [ 0.08859023 -0.03193399 0.99555612 -0.03150421] [ 0. 0. 0. 1. ]] SLAMing on 202.519928851 meters Centerline goodness : 0.944679 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.23, Z:-0.03 [[ 0.9903906 -0.10408595 -0.09106354 0.38101488] [ 0.10652366 0.99405965 0.02231843 -0.22691513] [ 0.08819955 -0.03180438 0.99559496 -0.03094284] [ 0. 0. 0. 1. ]] SLAMing on 202.579928851 meters Centerline goodness : 0.951555 with order 1 Centerline is valid? [False, True] Translation: X:0.38, Y:-0.23, Z:-0.03 [[ 0.99060507 -0.10266247 -0.09034387 0.37892724] [ 0.10517326 0.99417688 0.02347156 -0.22902177] [ 0.08740814 -0.03275281 0.995634 -0.029957 ] [ 0. 0. 0. 1. ]] SLAMing on 202.639928851 meters Centerline goodness : 0.959762 with order 1 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.22, Z:-0.01 [[ 0.99105725 -0.09902063 -0.08944516 0.43752569] [ 0.09913906 0.99506867 -0.00312865 -0.22235013] [ 0.08931388 -0.00576684 0.99598683 -0.01471962] [ 0. 0. 0. 1. ]] SLAMing on 202.69992885099998 meters Centerline goodness : 0.958058 with order 1 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.21, Z:-0.01 [[ 0.99032747 -0.1060711 -0.08944504 0.49677831] [ 0.10621777 0.99433796 -0.00313208 -0.20963421] [ 0.08927082 -0.00639886 0.99598683 -0.00617958] [ 0. 0. 0. 1. ]] SLAMing on 202.75992885099998 meters Centerline goodness : 0.966231 with order 1 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.22, Z:-0.00 [[ 0.99110353 -0.0985565 -0.08944498 0.55717083] [ 0.09867259 0.99511502 -0.00313378 -0.21763572] [ 0.0893169 -0.00571987 0.99598683 -0.00233918] [ 0. 0. 0. 1. ]] SLAMing on 202.819928851 meters Centerline goodness : 0.968289 with order 1 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.21, Z:0.00 [[ 0.99076745 -0.10187967 -0.08944492 0.61578202] [ 0.10200906 0.99477853 -0.00313546 -0.21035722] [ 0.08929733 -0.00601768 0.99598683 0.00333884] [ 0. 0. 0. 1. ]] SLAMing on 202.879928851 meters Centerline goodness : 0.971213 with order 1 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.21, Z:0.01 [[ 0.99117082 -0.09787769 -0.08944481 0.67559709] [ 0.09799058 0.99518239 -0.00313875 -0.21299887] [ 0.08932111 -0.00565371 0.99598683 0.00683583] [ 0. 0. 0. 1. ]] SLAMing on 202.939928851 meters Centerline goodness : 0.977146 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.22, Z:0.01 [[ 0.99133727 -0.0961773 -0.08944469 0.73374146] [ 0.09628302 0.99534904 -0.00314198 -0.21728748] [ 0.08933088 -0.00549724 0.99598683 0.01266415] [ 0. 0. 0. 1. ]] SLAMing on 202.999928851 meters Centerline goodness : 0.978971 with order 1 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.21, Z:0.02 [[ 0.99075025 -0.10204767 -0.08944391 0.7914016 ] [ 0.10217516 0.99476139 -0.00316416 -0.20954327] [ 0.08929824 -0.00600405 0.99598683 0.01923059] [ 0. 0. 0. 1. ]] SLAMing on 203.059928851 meters Centerline goodness : 0.981858 with order 1 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.21, Z:0.03 [[ 0.99062103 -0.10329477 -0.08944362 0.84999138] [ 0.10342659 0.99463203 -0.0031722 -0.20995623] [ 0.08929117 -0.0061084 0.99598683 0.02718724] [ 0. 0. 0. 1. ]] SLAMing on 203.119928851 meters Centerline goodness : 0.982580 with order 1 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.21, Z:0.03 [[ 0.99033781 -0.1059765 -0.08944275 0.90856108] [ 0.10611698 0.99434851 -0.00319663 -0.20621104] [ 0.08927603 -0.00632565 0.99598684 0.03032924] [ 0. 0. 0. 1. ]] SLAMing on 203.179928851 meters Centerline goodness : 0.983521 with order 1 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.21, Z:0.04 [[ 0.99041133 -0.10528797 -0.08944188 0.96578283] [ 0.10542348 0.9944222 -0.0032209 -0.20752392] [ 0.08928211 -0.00623926 0.99598684 0.0359158 ] [ 0. 0. 0. 1. ]] SLAMing on 203.239928851 meters Centerline goodness : 0.982869 with order 1 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.21, Z:0.05 [[ 0.99013622 -0.10784478 -0.08944145 1.02458802] [ 0.10798958 0.99414677 -0.00323285 -0.20537311] [ 0.08926657 -0.00645778 0.99598684 0.04603376] [ 0. 0. 0. 1. ]] SLAMing on 203.299928851 meters Centerline goodness : 0.983620 with order 1 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.20, Z:0.05 [[ 0.98983693 -0.11055814 -0.08944132 1.08433816] [ 0.11071361 0.99384708 -0.00323639 -0.20050022] [ 0.0892488 -0.00669888 0.99598684 0.05196947] [ 0. 0. 0. 1. ]] SLAMing on 203.359928851 meters Centerline goodness : 0.983420 with order 1 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.20, Z:0.06 [[ 0.98951472 -0.11340585 -0.08944125 1.14247529] [ 0.11357269 0.99352441 -0.00323822 -0.19680109] [ 0.0892293 -0.00695382 0.99598684 0.05696584] [ 0. 0. 0. 1. ]] SLAMing on 203.419928851 meters Centerline goodness : 0.980577 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.19, Z:0.06 [[ 0.98909601 -0.11700172 -0.08944099 1.20123381] [ 0.11718248 0.9931051 -0.00324546 -0.19049766] [ 0.08920403 -0.00727084 0.99598684 0.0608925 ] [ 0. 0. 0. 1. ]] SLAMing on 203.47992885099998 meters Centerline goodness : 0.981013 with order 1 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.19, Z:0.07 [[ 0.98902995 -0.11755892 -0.08944083 1.25872008] [ 0.11774156 0.99303895 -0.00324968 -0.18615226] [ 0.08920026 -0.00731687 0.99598684 0.06744299] [ 0. 0. 0. 1. ]] SLAMing on 203.53992885099998 meters Centerline goodness : 0.981010 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.18, Z:0.07 [[ 0.98932995 -0.11500789 -0.08943954 1.31650689] [ 0.11517702 0.99333955 -0.003285 -0.18355669] [ 0.08922163 -0.00705143 0.99598684 0.07034741] [ 0. 0. 0. 1. ]] SLAMing on 203.599928851 meters Centerline goodness : 0.980005 with order 1 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.18, Z:0.08 [[ 0.98929295 -0.1153261 -0.08943914 1.37460688] [ 0.11549555 0.99330253 -0.00329576 -0.17689196] [ 0.08922021 -0.00706935 0.99598684 0.08102015] [ 0. 0. 0. 1. ]] SLAMing on 203.659928851 meters Centerline goodness : 0.983194 with order 1 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.20, Z:0.08 [[ 0.99103436 -0.0992559 -0.089438 1.43423993] [ 0.09935751 0.99504624 -0.00332643 -0.19881997] [ 0.08932511 -0.00558973 0.99598684 0.08390163] [ 0. 0. 0. 1. ]] SLAMing on 203.719928851 meters Centerline goodness : 0.980223 with order 1 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.17, Z:0.09 [[ 0.98956569 -0.11296368 -0.08943687 1.49178894] [ 0.11311809 0.99357588 -0.00335663 -0.1715225 ] [ 0.08924149 -0.00679532 0.99598684 0.0925343 ] [ 0. 0. 0. 1. ]] SLAMing on 203.779928851 meters Centerline goodness : 0.980014 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.17, Z:0.10 [[ 0.98958228 -0.11281909 -0.08943582 1.54892975] [ 0.11297043 0.99359259 -0.00338421 -0.16858616] [ 0.08924457 -0.00675465 0.99598684 0.09799048] [ 0. 0. 0. 1. ]] SLAMing on 203.839928851 meters Centerline goodness : 0.980010 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.17, Z:0.10 [[ 0.98975844 -0.11126407 -0.08943448 1.6068481 ] [ 0.11140597 0.9937691 -0.00341928 -0.1665353 ] [ 0.08925767 -0.00657928 0.99598684 0.10140659] [ 0. 0. 0. 1. ]] SLAMing on 203.899928851 meters Centerline goodness : 0.981168 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.16, Z:0.11 [[ 0.98975488 -0.11129611 -0.08943407 1.6647628 ] [ 0.11143717 0.99376556 -0.00342997 -0.16281273] [ 0.08925824 -0.00657145 0.99598684 0.10679083] [ 0. 0. 0. 1. ]] SLAMing on 203.959928851 meters Centerline goodness : 0.987157 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.18, Z:0.11 [[ 0.9915445 -0.09402816 -0.08943268 1.72306405] [ 0.09409606 0.99555709 -0.003466 -0.17750191] [ 0.08936124 -0.00497857 0.99598684 0.11464084] [ 0. 0. 0. 1. ]] SLAMing on 204.019928851 meters Centerline goodness : 0.985980 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.16, Z:0.13 [[ 0.99076117 -0.10195179 -0.08943225 1.78044383] [ 0.10205078 0.99477311 -0.00347695 -0.15600038] [ 0.08931928 -0.0056818 0.99598684 0.1277949 ] [ 0. 0. 0. 1. ]] SLAMing on 204.079928851 meters Centerline goodness : 0.987227 with order 1 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.17, Z:0.13 [[ 0.99272741 -0.08058742 -0.08943125 1.83901025] [ 0.08059767 0.99674056 -0.00350245 -0.17142654] [ 0.08942201 -0.00373098 0.99598684 0.12750235] [ 0. 0. 0. 1. ]] SLAMing on 204.139928851 meters Centerline goodness : 0.988356 with order 1 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.16, Z:0.14 [[ 0.99278309 -0.07989902 -0.08943089 1.89521254] [ 0.07990567 0.99679624 -0.00351154 -0.16419283] [ 0.08942495 -0.00365984 0.99598684 0.13785061] [ 0. 0. 0. 1. ]] SLAMing on 204.19992885099998 meters Centerline goodness : 0.988576 with order 1 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.16, Z:0.14 [[ 0.99290844 -0.07832638 -0.08943048 1.9531577 ] [ 0.07832573 0.9969216 -0.00352208 -0.16379825] [ 0.08943105 -0.00350761 0.99598684 0.1383637 ] [ 0. 0. 0. 1. ]] SLAMing on 204.25992885099998 meters Centerline goodness : 0.988749 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.16, Z:0.14 [[ 0.9928557 -0.07899321 -0.08942953 2.01109661] [ 0.0789931 0.99686886 -0.00354603 -0.16205142] [ 0.08942963 -0.00354362 0.99598684 0.14311532] [ 0. 0. 0. 1. ]] SLAMing on 204.319928851 meters Centerline goodness : 0.989175 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.16, Z:0.15 [[ 0.99266244 -0.08138625 -0.08942909 2.06806028] [ 0.08139482 0.99667559 -0.00355709 -0.15874295] [ 0.08942129 -0.00374807 0.99598684 0.14900976] [ 0. 0. 0. 1. ]] SLAMing on 204.379928851 meters Centerline goodness : 0.983491 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.14, Z:0.16 [[ 0.99140471 -0.0954945 -0.0894288 2.12565086] [ 0.09555949 0.99541734 -0.00356432 -0.13766943] [ 0.08935935 -0.00501209 0.99598684 0.15711496] [ 0. 0. 0. 1. ]] SLAMing on 204.439928851 meters Centerline goodness : 0.983098 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.13, Z:0.16 [[ 0.99110063 -0.09860134 -0.0894277 2.18297506] [ 0.09867644 0.99511309 -0.00359175 -0.13392212] [ 0.08934483 -0.00526463 0.99598684 0.16469118] [ 0. 0. 0. 1. ]] SLAMing on 204.499928851 meters Centerline goodness : 0.989508 with order 1 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.14, Z:0.18 [[ 0.99118473 -0.09775358 -0.08942631 2.24113717] [ 0.09782216 0.99519731 -0.00362607 -0.14106591] [ 0.08935128 -0.00515377 0.99598684 0.18166486] [ 0. 0. 0. 1. ]] SLAMing on 204.559928851 meters Centerline goodness : 0.988987 with order 1 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.14, Z:0.18 [[ 0.99074111 -0.10215286 -0.08942506 2.29885738] [ 0.10223651 0.9947534 -0.00365651 -0.14166038] [ 0.08932941 -0.00551985 0.99598684 0.18198473] [ 0. 0. 0. 1. ]] SLAMing on 204.619928851 meters Centerline goodness : 0.988970 with order 1 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.14, Z:0.19 [[ 0.99057976 -0.10370625 -0.08942459 2.35754829] [ 0.10379516 0.99459193 -0.0036681 -0.13850157] [ 0.08932138 -0.0056483 0.99598684 0.18744996] [ 0. 0. 0. 1. ]] SLAMing on 204.679928851 meters Centerline goodness : 0.989836 with order 1 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.13, Z:0.19 [[ 0.99031711 -0.10618577 -0.0894237 2.41543093] [ 0.10628277 0.9943291 -0.00368975 -0.1341638 ] [ 0.08930838 -0.00585018 0.99598684 0.1915877 ] [ 0. 0. 0. 1. ]] SLAMing on 204.739928851 meters Centerline goodness : 0.989381 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.12, Z:0.20 [[ 0.98932313 -0.11507914 -0.08942338 2.47317948] [ 0.11521151 0.9933341 -0.00369736 -0.11705192] [ 0.08925278 -0.00664472 0.99598684 0.19852544] [ 0. 0. 0. 1. ]] SLAMing on 204.799928851 meters Centerline goodness : 0.990126 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.12, Z:0.21 [[ 0.9900705 -0.10846223 -0.08942235 2.53174971] [ 0.10856556 0.99408232 -0.00372202 -0.12102638] [ 0.08929688 -0.00602313 0.99598684 0.20849958] [ 0. 0. 0. 1. ]] SLAMing on 204.859928851 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.11, Z:0.21 [[ 0.98961217 -0.11256809 -0.08942132 2.58870789] [ 0.11268583 0.9936236 -0.00374677 -0.10551014] [ 0.0892729 -0.00636866 0.99598684 0.21142784] [ 0. 0. 0. 1. ]] SLAMing on 204.919928851 meters Centerline goodness : 0.982387 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.10, Z:0.22 [[ 0.9896962 -0.11182779 -0.08942024 2.64688739] [ 0.11194023 0.99370778 -0.00377236 -0.09692656] [ 0.08927944 -0.00627624 0.99598684 0.21831497] [ 0. 0. 0. 1. ]] SLAMing on 204.97992885099998 meters Centerline goodness : 0.990792 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.10, Z:0.23 [[ 0.98995667 -0.10949893 -0.08941915 2.70442309] [ 0.10959962 0.99396856 -0.00379808 -0.0962277 ] [ 0.0892957 -0.00604037 0.99598684 0.22645417] [ 0. 0. 0. 1. ]] SLAMing on 205.03992885099998 meters Centerline goodness : 0.990193 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.09, Z:0.23 [[ 0.98965706 -0.1121757 -0.08941765 2.76212245] [ 0.1122841 0.99366875 -0.00383306 -0.08753813] [ 0.0892815 -0.00624677 0.99598684 0.22672895] [ 0. 0. 0. 1. ]] SLAMing on 205.099928851 meters Centerline goodness : 0.990001 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.09, Z:0.23 [[ 0.98970422 -0.11175919 -0.08941726 2.82005614] [ 0.11186508 0.99371598 -0.0038421 -0.0852926 ] [ 0.08928475 -0.00620013 0.99598684 0.23262994] [ 0. 0. 0. 1. ]] Total time of SLAM: 9609.72 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%| | 0/6838 [00:00